Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 34 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 34 FIX_MISSING_TIMEOUT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 4736 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -12218 R_PORT_OVSHOOT 17 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 18 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 3349 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21663.803 PITCH_W_GAIN 0 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 0 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.30000001 RAFOS_CORR_THRESH 60 AH0_10V 0 SEABIRD_T_G 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 ALTIM_TOP_PING_RANGE 0 TM_XMITPROFILE 3.0

KALMAN_USE 2 PITCH_ADJ_DBAND 2 ALTIM_BOTTOM_TURN_MARGIN 0 TM_LOGSAMPLE 0.0

HD_A 0.0031999999 ROLL_MIN 218 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.012 ROLL_MAX 3771 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 2.1999999e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 TM_LOGSAMPLE 0.0

ALTIM_SENSITIVITY 2 GLIDE_SLOPE 40 PRESSURE_SLOPE 0.0001159754 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -64.963387 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0031999999 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.012 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 2.1999999e-06 P_OVSHOOT_WITHG 0 T_ABORT 1440

CALL_NDIVES 1 HEADING -1 RAFOS_CORR_THRESH 60 T_BOOST 4

CALL_TRIES 3 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21663.803

COMM_SEQ 0 INT_PRESSURE_YINT 1.6 ROLL_ADJ_DBAND 0 T_LOITER 0

COMPASS2_DEVICE -1 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_MISSION 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 17 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 18 USE_ICE 0

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 10 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 34 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 688.85968

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 300714,112248,7105.341,-14440.307,40,0.9,60,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.82 MHEAD_RNG_PITCHd_Wd 300.3,69794,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -72.3 D_GRID 1000

GPS2 300714,113139,7105.375,-14440.422,4,0.8,25,22.3

Post-dive calculations and measurements:

FINISH 0.8,1.019270 _10V_AH 12.68,0.000

SM_CCo 8479,8.95,0.199,0,0,538,689.05 FG_AHR_24Vo 0.000

SM_GC 2.76,8.38,1.10,8.95,0.106,0.102,0.199,197,2208,538,-7.06,0.85,689.05,0,0,0,0,0,0,14.31,14.32,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 291 MEM 297960

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30050,834

IRIDIUM_FIX 7032.78,-14444.71,300714,085449 CAP_FILE_SIZE 131536,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2085748736

HUMID 52.48 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.50456 INTR 0,9045.27,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1451.0

XPDR_PINGS 0 EKF 8564,4266.321289,-8681.759766,0.815971,0.116755,0.075049,0.033031,0.000126,0.001200,0.000099,0.000025,0.000025,0.000050

SC_FREEKB 4013188 CURRENT 0.008,56.60,1

TM_FREEKB 7563072 GPS 300714,135438,7106.348,-14441.652,17,0.8,37,22.3

_24V_AH 12.87,62.504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 476 141.54 nil 0 0 0.00

Roll_motor 95 145 179.30 nil 0 0 0.00

VBD_pump_during_apogee 580 2191 16367.40 nil 0 0 0.00

VBD_pump_during_surface 8 198 22.91 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8481 15 1711.70

Iridium_during_xfer 319 194 799.62 TMICL 8508 12 1385.81

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.08

TT8 0 0 0.00

LPSleep 5935 2 173.84

TT8_Active 750 10 104.45

TT8_Sampling 2252 29 848.24

TT8_CF8 82 36 38.07

TT8_Kalman 0 0 0.00

Analog_circuits 1829 10 231.98

GPS_charging 0 0 0.00

Compass 1232 5 78.11

RAFOS 1499 48 912.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

18 -0.87 -145.9 196 2197 573 519 0.0 0.0 0 85 0.00 0.00 -63.83 0.000 16386 0.000 0.000 195 2197 2173 2182 2165 0 0 0 0 0 0 28.83 28.83 28.83

87 -0.87 -145.9 196 2197 2183 2162 3.5 -3.5 6 142 11.00 2.58 -32.47 0.000 18692 0.477 0.145 2172 3611 3947 4002 3893 0 0 0 0 0 0 14.05 14.21 14.48

366 -0.77 -145.9 2172 3612 4003 3899 77.2 -24.3 59 376 0.20 2.47 0.00 0.000 3078 0.331 0.093 2213 2189 3950 4002 3898 0 0 0 0 0 0 14.23 14.33 28.83

672 -0.77 -145.9 2214 2189 4004 3900 131.0 -16.2 90 679 0.00 2.58 0.00 0.000 260 0.000 0.130 2204 3611 3950 4002 3899 0 0 0 0 0 0 28.83 14.38 28.83

828 -0.77 -145.9 2204 3611 4003 3900 157.6 -16.9 121 839 0.00 2.45 0.00 0.000 1030 0.000 0.093 2205 2192 3950 4002 3899 0 0 0 0 0 0 28.83 14.42 28.83

1133 -0.77 -145.9 2206 2191 4001 3906 200.1 -13.1 152 1135 0.00 0.00 0.00 0.000 6 0.000 0.000 2204 2190 3950 4002 3899 0 0 0 0 0 0 28.83 28.83 28.83

1434 -0.77 -145.9 2205 2192 4001 3899 236.8 -11.8 182 1441 0.00 2.55 0.00 0.000 260 0.000 0.132 2194 3611 3950 4002 3898 0 0 0 0 0 0 28.83 14.45 28.83

1520 -0.77 -145.9 2195 3611 4001 3899 248.4 -13.7 199 1529 0.00 2.42 0.00 0.000 1030 0.000 0.091 2194 2194 3949 4001 3898 0 0 0 0 0 0 28.83 14.45 28.83

1835 -0.77 -145.9 2194 2194 4002 3898 286.8 -12.1 211 1843 0.00 2.55 0.00 0.000 260 0.000 0.130 2182 3611 3949 4002 3897 0 0 0 0 0 0 28.83 14.43 28.83

1897 -0.77 -145.9 2185 3611 4001 3897 294.7 -13.6 223 1905 0.15 2.42 0.00 0.000 3078 0.307 0.090 2214 2193 3948 4001 3896 0 0 0 0 0 0 14.35 14.45 28.83

2229 -0.80 -145.9 2214 2193 4003 3896 330.0 -10.5 239 2237 0.00 2.55 0.00 0.000 260 0.000 0.132 2205 3610 3948 4001 3895 0 0 0 0 0 0 28.83 14.42 28.83

2306 -0.80 -145.9 2204 3611 4003 3896 338.7 -11.4 254 2315 0.00 2.42 0.00 0.000 1030 0.000 0.090 2204 2201 3948 4001 3895 0 0 0 0 0 0 28.83 14.43 28.83

2624 -0.82 -145.9 2204 2196 4003 3896 373.8 -10.9 267 2632 0.00 2.55 0.00 0.000 260 0.000 0.129 2193 3617 3948 4002 3895 0 0 0 0 0 0 28.83 14.40 28.83

2670 -0.82 -145.9 2194 3617 4003 3895 379.5 -12.4 276 2679 0.00 2.45 0.00 0.000 1030 0.000 0.089 2194 2190 3948 4002 3894 0 0 0 0 0 0 28.83 14.40 28.83

2988 -0.82 -145.9 2194 2190 4003 3896 415.6 -11.4 289 2997 0.00 2.55 0.00 0.000 260 0.000 0.130 2184 3610 3947 4001 3894 0 0 0 0 0 0 28.83 14.40 28.83

3051 -0.82 -145.9 2183 3612 4003 3895 423.5 -12.6 301 3061 0.00 2.42 0.00 0.000 1030 0.000 0.089 2184 2198 3948 4002 3894 0 0 0 0 0 0 28.83 14.43 28.83

3385 -0.82 -145.9 2183 2198 4003 3895 462.7 -11.7 317 3394 0.00 2.53 0.00 0.000 260 0.000 0.129 2174 3610 3947 4001 3894 0 0 0 0 0 0 28.83 14.46 28.83

3438 -0.82 -145.9 2174 3612 4001 3894 469.5 -13.7 327 3446 0.12 2.42 0.00 0.000 3078 0.321 0.089 2196 2191 3948 4002 3894 0 0 0 0 0 0 14.37 14.47 28.83

3720 end dive: TARGET_DEPTH_EXCEEDED

state 3720 begin apogee

3723 -0.16 0.0 2195 2803 4001 3894 500.3 -10.8 338 3856 0.85 0.00 123.15 2.192 10246 0.285 0.000 2409 2803 3348 3400 3297 0 0 0 0 1 0 14.38 28.83 12.87

3858 end apogee: CONTROL_FINISHED_OK

state 3858 begin climb

3859 0.87 145.9 2411 2803 3407 3301 503.9 0.0 342 4005 1.12 1.85 130.55 1.675 10500 0.155 0.132 2740 3767 2746 2790 2702 0 0 0 0 0 0 13.73 13.54 12.97

4115 0.76 145.9 2741 3768 2785 2689 477.0 18.0 386 4123 0.15 1.70 0.00 0.000 5126 0.321 0.088 2717 2800 2736 2785 2688 0 0 0 0 0 0 13.81 13.95 28.83

4437 0.70 145.9 2721 2801 2784 2688 429.5 14.7 400 4445 0.00 2.47 0.00 0.000 516 0.000 0.099 2729 1394 2735 2785 2685 0 0 0 0 0 0 28.83 14.19 28.83

4499 0.65 145.9 2734 1395 2787 2688 420.8 13.5 412 4508 0.20 2.53 0.00 0.000 5126 0.308 0.109 2688 2799 2736 2785 2687 0 0 0 0 0 0 14.12 14.21 28.83

4832 0.62 145.9 2687 2800 2787 2687 378.6 12.5 428 4839 0.00 2.47 0.00 0.000 516 0.000 0.098 2696 1385 2737 2792 2683 0 0 0 0 0 0 28.83 14.35 28.83

4914 0.60 145.9 2696 1388 2787 2689 368.7 12.2 444 4922 0.15 2.53 0.00 0.000 5126 0.304 0.109 2666 2799 2736 2785 2687 0 0 0 0 0 0 14.26 14.35 28.83

5226 0.60 149.1 2668 2800 2785 2688 332.0 11.7 456 5234 0.00 2.45 0.00 0.000 516 0.000 0.097 2675 1389 2736 2785 2687 0 0 0 0 0 0 28.83 14.42 28.83

5283 0.62 164.5 2676 1389 2785 2688 325.5 11.1 467 5306 0.00 2.50 16.08 1.434 9222 0.000 0.110 2675 2799 2673 2729 2617 0 0 0 0 0 0 28.83 14.42 13.76

5625 0.62 164.5 2677 2800 2718 2602 282.7 12.5 484 5633 0.00 2.45 0.00 0.000 516 0.000 0.098 2686 1396 2660 2719 2602 0 0 0 0 0 0 28.83 14.42 28.83

5661 0.62 166.3 2685 1397 2720 2602 278.4 11.8 491 5670 0.00 2.50 0.00 0.000 1030 0.000 0.110 2686 2803 2659 2717 2601 0 0 0 0 0 0 28.83 14.42 28.83

5969 0.60 166.3 2687 2803 2719 2602 239.6 12.5 510 5976 0.00 2.45 0.00 0.000 516 0.000 0.097 2696 1394 2660 2719 2602 0 0 0 0 0 0 28.83 14.46 28.83

6035 0.60 166.3 2695 1395 2720 2602 231.4 12.1 523 6045 0.15 2.50 0.00 0.000 5126 0.311 0.109 2666 2807 2660 2719 2601 0 0 0 0 0 0 14.33 14.43 28.83

6341 0.62 182.8 2665 2808 2720 2600 197.4 11.0 554 6370 0.00 2.55 15.85 1.298 8708 0.000 0.098 2675 1387 2589 2651 2527 0 0 0 0 0 0 28.83 14.38 13.84

6433 0.65 210.4 2676 1387 2648 2522 187.7 10.4 571 6464 0.00 2.53 24.15 1.309 9222 0.000 0.110 2674 2796 2490 2555 2426 0 0 0 0 0 0 28.83 14.37 13.69

6768 0.70 250.6 2676 2800 2538 2403 152.2 9.7 606 6809 0.00 2.58 35.12 1.279 8708 0.000 0.098 2685 1394 2316 2387 2246 0 0 0 0 0 0 28.83 14.14 13.64

6859 0.80 300.5 2685 1395 2380 2234 143.9 9.2 622 6914 0.12 2.55 44.40 1.229 11270 0.171 0.109 2725 2802 2111 2191 2031 0 0 0 0 0 0 14.21 14.18 13.53

7208 0.80 300.5 2727 2804 2185 2010 99.6 12.8 660 7217 0.00 2.50 0.00 0.000 516 0.000 0.098 2736 1390 2097 2185 2009 0 0 0 0 0 0 28.83 14.28 28.83

7321 0.80 305.1 2736 1393 2186 2015 86.5 11.7 682 7329 0.00 2.53 0.00 0.000 1030 0.000 0.110 2736 2802 2096 2185 2008 0 0 0 0 0 0 28.83 14.30 28.83

7633 0.84 332.7 2736 2803 2186 2008 50.4 10.4 714 7654 0.00 2.47 13.68 0.304 8708 0.000 0.096 2746 1394 1992 2083 1901 0 0 0 0 0 0 28.83 14.35 14.23

7688 0.93 387.8 2745 1395 2095 1913 45.3 8.9 724 7731 0.00 2.53 29.50 0.302 9222 0.000 0.110 2745 2807 1769 1859 1679 0 0 0 0 0 0 28.83 14.36 14.20

8025 1.09 479.5 2745 2807 1865 1695 14.3 6.9 760 8081 0.25 2.55 48.12 0.215 10756 0.133 0.099 2838 1393 1392 1488 1296 0 0 0 0 0 0 14.41 14.33 14.28

8305 1.38 672.5 2838 1394 1494 1305 9.8 1.4 813 8414 0.22 2.53 99.65 0.202 11270 0.132 0.109 2913 2809 604 669 539 0 0 0 0 0 0 14.36 14.35 14.20

8447 end climb: SURFACE_DEPTH_REACHED

state 8447 begin surface coast

8458 end surface coast: CONTROL_FINISHED_OK

state 8458 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	34	FIX_MISSING_TIMEOUT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	4736	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-12218	R_PORT_OVSHOOT	17	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	18	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	3349	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21663.803	PITCH_W_GAIN	0	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	0	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.30000001	RAFOS_CORR_THRESH	60	AH0_10V	0	SEABIRD_T_G	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	ALTIM_TOP_PING_RANGE	0	TM_XMITPROFILE	3.0
KALMAN_USE	2	PITCH_ADJ_DBAND	2	ALTIM_BOTTOM_TURN_MARGIN	0	TM_LOGSAMPLE	0.0
HD_A	0.0031999999	ROLL_MIN	218	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.012	ROLL_MAX	3771	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	2.1999999e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2200	ALTIM_PING_DELTA	5

GPS1	300714,112248,7105.341,-14440.307,40,0.9,60,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.82	MHEAD_RNG_PITCHd_Wd	300.3,69794,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-72.3	D_GRID	1000
GPS2	300714,113139,7105.375,-14440.422,4,0.8,25,22.3

FINISH	0.8,1.019270	_10V_AH	12.68,0.000
SM_CCo	8479,8.95,0.199,0,0,538,689.05	FG_AHR_24Vo	0.000
SM_GC	2.76,8.38,1.10,8.95,0.106,0.102,0.199,197,2208,538,-7.06,0.85,689.05,0,0,0,0,0,0,14.31,14.32,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	291	MEM	297960
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30050,834
IRIDIUM_FIX	7032.78,-14444.71,300714,085449	CAP_FILE_SIZE	131536,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2085748736
HUMID	52.48	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.50456	INTR	0,9045.27,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1451.0
XPDR_PINGS	0	EKF	8564,4266.321289,-8681.759766,0.815971,0.116755,0.075049,0.033031,0.000126,0.001200,0.000099,0.000025,0.000025,0.000050
SC_FREEKB	4013188	CURRENT	0.008,56.60,1
TM_FREEKB	7563072	GPS	300714,135438,7106.348,-14441.652,17,0.8,37,22.3
_24V_AH	12.87,62.504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	476	141.54	nil	0	0	0.00
Roll_motor	95	145	179.30	nil	0	0	0.00
VBD_pump_during_apogee	580	2191	16367.40	nil	0	0	0.00
VBD_pump_during_surface	8	198	22.91	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8481	15	1711.70
Iridium_during_xfer	319	194	799.62	TMICL	8508	12	1385.81
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.08
TT8	0	0	0.00
LPSleep	5935	2	173.84
TT8_Active	750	10	104.45
TT8_Sampling	2252	29	848.24
TT8_CF8	82	36	38.07
TT8_Kalman	0	0	0.00
Analog_circuits	1829	10	231.98
GPS_charging	0	0	0.00
Compass	1232	5	78.11
RAFOS	1499	48	912.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
18	-0.87	-145.9	196	2197	573	519	0.0	0.0	0	85	0.00	0.00	-63.83	0.000	16386	0.000	0.000	195	2197	2173	2182	2165	0	0	0	0	0	0	28.83	28.83	28.83
87	-0.87	-145.9	196	2197	2183	2162	3.5	-3.5	6	142	11.00	2.58	-32.47	0.000	18692	0.477	0.145	2172	3611	3947	4002	3893	0	0	0	0	0	0	14.05	14.21	14.48
366	-0.77	-145.9	2172	3612	4003	3899	77.2	-24.3	59	376	0.20	2.47	0.00	0.000	3078	0.331	0.093	2213	2189	3950	4002	3898	0	0	0	0	0	0	14.23	14.33	28.83
672	-0.77	-145.9	2214	2189	4004	3900	131.0	-16.2	90	679	0.00	2.58	0.00	0.000	260	0.000	0.130	2204	3611	3950	4002	3899	0	0	0	0	0	0	28.83	14.38	28.83
828	-0.77	-145.9	2204	3611	4003	3900	157.6	-16.9	121	839	0.00	2.45	0.00	0.000	1030	0.000	0.093	2205	2192	3950	4002	3899	0	0	0	0	0	0	28.83	14.42	28.83
1133	-0.77	-145.9	2206	2191	4001	3906	200.1	-13.1	152	1135	0.00	0.00	0.00	0.000	6	0.000	0.000	2204	2190	3950	4002	3899	0	0	0	0	0	0	28.83	28.83	28.83
1434	-0.77	-145.9	2205	2192	4001	3899	236.8	-11.8	182	1441	0.00	2.55	0.00	0.000	260	0.000	0.132	2194	3611	3950	4002	3898	0	0	0	0	0	0	28.83	14.45	28.83
1520	-0.77	-145.9	2195	3611	4001	3899	248.4	-13.7	199	1529	0.00	2.42	0.00	0.000	1030	0.000	0.091	2194	2194	3949	4001	3898	0	0	0	0	0	0	28.83	14.45	28.83
1835	-0.77	-145.9	2194	2194	4002	3898	286.8	-12.1	211	1843	0.00	2.55	0.00	0.000	260	0.000	0.130	2182	3611	3949	4002	3897	0	0	0	0	0	0	28.83	14.43	28.83
1897	-0.77	-145.9	2185	3611	4001	3897	294.7	-13.6	223	1905	0.15	2.42	0.00	0.000	3078	0.307	0.090	2214	2193	3948	4001	3896	0	0	0	0	0	0	14.35	14.45	28.83
2229	-0.80	-145.9	2214	2193	4003	3896	330.0	-10.5	239	2237	0.00	2.55	0.00	0.000	260	0.000	0.132	2205	3610	3948	4001	3895	0	0	0	0	0	0	28.83	14.42	28.83
2306	-0.80	-145.9	2204	3611	4003	3896	338.7	-11.4	254	2315	0.00	2.42	0.00	0.000	1030	0.000	0.090	2204	2201	3948	4001	3895	0	0	0	0	0	0	28.83	14.43	28.83
2624	-0.82	-145.9	2204	2196	4003	3896	373.8	-10.9	267	2632	0.00	2.55	0.00	0.000	260	0.000	0.129	2193	3617	3948	4002	3895	0	0	0	0	0	0	28.83	14.40	28.83
2670	-0.82	-145.9	2194	3617	4003	3895	379.5	-12.4	276	2679	0.00	2.45	0.00	0.000	1030	0.000	0.089	2194	2190	3948	4002	3894	0	0	0	0	0	0	28.83	14.40	28.83
2988	-0.82	-145.9	2194	2190	4003	3896	415.6	-11.4	289	2997	0.00	2.55	0.00	0.000	260	0.000	0.130	2184	3610	3947	4001	3894	0	0	0	0	0	0	28.83	14.40	28.83
3051	-0.82	-145.9	2183	3612	4003	3895	423.5	-12.6	301	3061	0.00	2.42	0.00	0.000	1030	0.000	0.089	2184	2198	3948	4002	3894	0	0	0	0	0	0	28.83	14.43	28.83
3385	-0.82	-145.9	2183	2198	4003	3895	462.7	-11.7	317	3394	0.00	2.53	0.00	0.000	260	0.000	0.129	2174	3610	3947	4001	3894	0	0	0	0	0	0	28.83	14.46	28.83
3438	-0.82	-145.9	2174	3612	4001	3894	469.5	-13.7	327	3446	0.12	2.42	0.00	0.000	3078	0.321	0.089	2196	2191	3948	4002	3894	0	0	0	0	0	0	14.37	14.47	28.83
3720	end dive: TARGET_DEPTH_EXCEEDED
state	3720	begin apogee
3723	-0.16	0.0	2195	2803	4001	3894	500.3	-10.8	338	3856	0.85	0.00	123.15	2.192	10246	0.285	0.000	2409	2803	3348	3400	3297	0	0	0	0	1	0	14.38	28.83	12.87
3858	end apogee: CONTROL_FINISHED_OK
state	3858	begin climb
3859	0.87	145.9	2411	2803	3407	3301	503.9	0.0	342	4005	1.12	1.85	130.55	1.675	10500	0.155	0.132	2740	3767	2746	2790	2702	0	0	0	0	0	0	13.73	13.54	12.97
4115	0.76	145.9	2741	3768	2785	2689	477.0	18.0	386	4123	0.15	1.70	0.00	0.000	5126	0.321	0.088	2717	2800	2736	2785	2688	0	0	0	0	0	0	13.81	13.95	28.83
4437	0.70	145.9	2721	2801	2784	2688	429.5	14.7	400	4445	0.00	2.47	0.00	0.000	516	0.000	0.099	2729	1394	2735	2785	2685	0	0	0	0	0	0	28.83	14.19	28.83
4499	0.65	145.9	2734	1395	2787	2688	420.8	13.5	412	4508	0.20	2.53	0.00	0.000	5126	0.308	0.109	2688	2799	2736	2785	2687	0	0	0	0	0	0	14.12	14.21	28.83
4832	0.62	145.9	2687	2800	2787	2687	378.6	12.5	428	4839	0.00	2.47	0.00	0.000	516	0.000	0.098	2696	1385	2737	2792	2683	0	0	0	0	0	0	28.83	14.35	28.83
4914	0.60	145.9	2696	1388	2787	2689	368.7	12.2	444	4922	0.15	2.53	0.00	0.000	5126	0.304	0.109	2666	2799	2736	2785	2687	0	0	0	0	0	0	14.26	14.35	28.83
5226	0.60	149.1	2668	2800	2785	2688	332.0	11.7	456	5234	0.00	2.45	0.00	0.000	516	0.000	0.097	2675	1389	2736	2785	2687	0	0	0	0	0	0	28.83	14.42	28.83
5283	0.62	164.5	2676	1389	2785	2688	325.5	11.1	467	5306	0.00	2.50	16.08	1.434	9222	0.000	0.110	2675	2799	2673	2729	2617	0	0	0	0	0	0	28.83	14.42	13.76
5625	0.62	164.5	2677	2800	2718	2602	282.7	12.5	484	5633	0.00	2.45	0.00	0.000	516	0.000	0.098	2686	1396	2660	2719	2602	0	0	0	0	0	0	28.83	14.42	28.83
5661	0.62	166.3	2685	1397	2720	2602	278.4	11.8	491	5670	0.00	2.50	0.00	0.000	1030	0.000	0.110	2686	2803	2659	2717	2601	0	0	0	0	0	0	28.83	14.42	28.83
5969	0.60	166.3	2687	2803	2719	2602	239.6	12.5	510	5976	0.00	2.45	0.00	0.000	516	0.000	0.097	2696	1394	2660	2719	2602	0	0	0	0	0	0	28.83	14.46	28.83
6035	0.60	166.3	2695	1395	2720	2602	231.4	12.1	523	6045	0.15	2.50	0.00	0.000	5126	0.311	0.109	2666	2807	2660	2719	2601	0	0	0	0	0	0	14.33	14.43	28.83
6341	0.62	182.8	2665	2808	2720	2600	197.4	11.0	554	6370	0.00	2.55	15.85	1.298	8708	0.000	0.098	2675	1387	2589	2651	2527	0	0	0	0	0	0	28.83	14.38	13.84
6433	0.65	210.4	2676	1387	2648	2522	187.7	10.4	571	6464	0.00	2.53	24.15	1.309	9222	0.000	0.110	2674	2796	2490	2555	2426	0	0	0	0	0	0	28.83	14.37	13.69
6768	0.70	250.6	2676	2800	2538	2403	152.2	9.7	606	6809	0.00	2.58	35.12	1.279	8708	0.000	0.098	2685	1394	2316	2387	2246	0	0	0	0	0	0	28.83	14.14	13.64
6859	0.80	300.5	2685	1395	2380	2234	143.9	9.2	622	6914	0.12	2.55	44.40	1.229	11270	0.171	0.109	2725	2802	2111	2191	2031	0	0	0	0	0	0	14.21	14.18	13.53
7208	0.80	300.5	2727	2804	2185	2010	99.6	12.8	660	7217	0.00	2.50	0.00	0.000	516	0.000	0.098	2736	1390	2097	2185	2009	0	0	0	0	0	0	28.83	14.28	28.83
7321	0.80	305.1	2736	1393	2186	2015	86.5	11.7	682	7329	0.00	2.53	0.00	0.000	1030	0.000	0.110	2736	2802	2096	2185	2008	0	0	0	0	0	0	28.83	14.30	28.83
7633	0.84	332.7	2736	2803	2186	2008	50.4	10.4	714	7654	0.00	2.47	13.68	0.304	8708	0.000	0.096	2746	1394	1992	2083	1901	0	0	0	0	0	0	28.83	14.35	14.23
7688	0.93	387.8	2745	1395	2095	1913	45.3	8.9	724	7731	0.00	2.53	29.50	0.302	9222	0.000	0.110	2745	2807	1769	1859	1679	0	0	0	0	0	0	28.83	14.36	14.20
8025	1.09	479.5	2745	2807	1865	1695	14.3	6.9	760	8081	0.25	2.55	48.12	0.215	10756	0.133	0.099	2838	1393	1392	1488	1296	0	0	0	0	0	0	14.41	14.33	14.28
8305	1.38	672.5	2838	1394	1494	1305	9.8	1.4	813	8414	0.22	2.53	99.65	0.202	11270	0.132	0.109	2913	2809	604	669	539	0	0	0	0	0	0	14.36	14.35	14.20
8447	end climb: SURFACE_DEPTH_REACHED
state	8447	begin surface coast
8458	end surface coast: CONTROL_FINISHED_OK
state	8458	begin surface