Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 137 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 180 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 137 FIX_MISSING_TIMEOUT 4 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 26 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 669.66901 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 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 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3230 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 4.5 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 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 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21767.514 PITCH_W_GAIN 4 RAFOS_DEVICE 101

T_EPIRB 0 T_RSLEEP 3 PITCH_W_DBAND 0.5 XPDR_DEVICE 24

USE_BATHY -6 STROBE 0 CF8_MAXERRORS 20 SIM_W 0

USE_ICE 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.079999998 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 2435 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 180 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 35.5 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 0 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0 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 2360 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3900 SURFACE_URGENCY_TRY 10

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 0.001 TGT_DEFAULT_LAT 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 4 PITCH_W_GAIN 4 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 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.079999998 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 -21767.514

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 250

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 360

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 2435 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2600 LOGGERS 3 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2360 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3230 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 180 R_PORT_OVSHOOT 26 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 USE_ICE 1

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 0 SEABIRD_C_G -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 137 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 4.5 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

D_FINISH 9 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 SM_CC 669.66901

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 140814,135548,7210.553,-14552.061,67,0.9,87,22.2 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 9

_XMS_NAKs 0 TGT_LATLONG 7212.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.18 MHEAD_RNG_PITCHd_Wd 1.8,2892,-24.4,-11.628,-27.42,1523

_SM_ANGLEo -71.8 D_GRID 1000

GPS2 140814,140710,7210.574,-14552.080,4,0.8,24,22.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140814161636.284835,3,700,22,0137,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,12.9,1.1,-100,1.9,-01,0.5,24,900,0025*2F TM_FREEKB 5633344

FREEZE 1.17,3.946,-0.789,2,1,0 _24V_AH 12.38,105.598

FINISH 1.2,1.011568 _10V_AH 12.53,0.000

SM_CCo 10775,14.43,0.200,0,0,499,669.67 FG_AHR_24Vo 0.000

SM_GC 2.80,8.20,0.43,14.43,0.086,0.104,0.200,195,2360,499,-6.95,0.79,669.67,0,0,0,0,0,0,14.34,14.35,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 176 MEM 279220

RAFOS_FIX 7201.974609,-14548.847656,070814,040417,3,255,0.00 DATA_FILE_SIZE 26685,806

IRIDIUM_FIX 7132.53,-14547.52,140814,102448 CAP_FILE_SIZE 132947,0

TT8_MAMPS 0.046438,0.046438 CFSIZE 2097872896,2057764864

HUMID 52.75 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 8.47526 INTR 0,12896.30,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1451.1

XPDR_PINGS 0 GPS 140814,170854,7212.104,-14550.957,39,0.7,59,22.2

SC_FREEKB 4001460

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 468 126.35 nil 0 0 0.00

Roll_motor 46 140 80.29 nil 0 0 0.00

VBD_pump_during_apogee 628 1867 14526.76 nil 0 0 0.00

VBD_pump_during_surface 14 199 35.66 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 10784 12 1703.27

Iridium_during_xfer 401 194 964.69 TMICL 10831 44 5922.79

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.78

TT8 0 0 0.00

LPSleep 8380 2 242.57

TT8_Active 684 10 94.11

TT8_Sampling 2235 29 831.84

TT8_CF8 168 36 77.05

TT8_Kalman 0 0 0.00

Analog_circuits 1831 10 229.53

GPS_charging 0 0 0.00

Compass 1200 5 75.21

RAFOS 1472 48 885.32

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

19 -0.80 -115.0 178 2362 518 490 0.0 0.0 0 74 0.00 0.00 -51.00 0.000 16386 0.000 0.000 178 2361 1783 1792 1774 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.86 -175.1 180 2362 1792 1771 3.1 -2.2 5 140 10.82 2.62 -44.17 0.000 18692 0.468 0.141 2137 3765 3946 4000 3892 0 0 0 0 0 0 14.00 14.19 14.48

364 -0.86 -175.1 2137 3765 4000 3899 92.9 -27.2 63 371 0.00 2.42 0.00 0.000 1030 0.000 0.079 2139 2358 3949 4000 3898 0 0 0 0 0 0 28.83 14.34 28.83

675 -0.86 -175.1 2139 2356 4001 3900 165.7 -21.7 95 678 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2355 3950 4001 3899 0 0 0 0 0 0 28.83 28.83 28.83

975 -0.86 -175.1 2139 2355 4002 3899 224.8 -18.7 125 978 0.00 0.00 0.00 0.000 6 0.000 0.000 2139 2355 3953 4001 3905 0 0 0 0 0 0 28.83 28.83 28.83

1275 -0.86 -175.1 2140 2356 4000 3899 275.9 -16.7 145 1282 0.00 2.42 0.00 0.000 516 0.000 0.090 2139 954 3949 4000 3898 0 0 0 0 0 0 28.83 14.41 28.83

1337 -0.86 -175.1 2141 954 3999 3899 285.9 -16.0 157 1343 0.00 2.50 0.00 0.000 1030 0.000 0.102 2130 2366 3951 4000 3902 0 0 0 0 0 0 28.83 14.40 28.83

1668 -0.86 -175.1 2130 2367 4002 3898 341.4 -16.7 173 1671 0.12 0.00 0.00 0.000 2054 0.327 0.000 2152 2367 3948 4000 3897 0 0 0 0 0 0 14.28 28.83 28.83

1967 -0.86 -175.1 2153 2367 4000 3897 385.9 -14.7 183 1970 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2366 3948 4000 3896 0 0 0 0 0 0 28.83 28.83 28.83

2268 -0.86 -175.1 2152 2372 4001 3896 429.8 -14.5 193 2270 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2366 3947 4000 3895 0 0 0 0 0 0 28.83 28.83 28.83

2567 -0.86 -175.1 2153 2367 4000 3895 473.2 -14.4 203 2570 0.00 0.00 0.00 0.000 6 0.000 0.000 2153 2366 3947 4001 3894 0 0 0 0 0 0 28.83 28.83 28.83

2867 -0.86 -175.1 2152 2367 4002 3895 516.2 -14.2 213 2870 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2366 3947 4000 3895 0 0 0 0 0 0 28.83 28.83 28.83

3167 -0.86 -175.1 2152 2367 4001 3893 558.9 -14.1 223 3170 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2366 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

3467 -0.86 -175.1 2152 2367 4002 3895 601.2 -14.2 233 3470 0.00 0.00 0.00 0.000 6 0.000 0.000 2152 2366 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

3767 -0.86 -175.1 2152 2367 4002 3894 643.2 -13.8 243 3774 0.00 2.47 0.00 0.000 516 0.000 0.090 2152 946 3946 4000 3893 0 0 0 0 0 0 28.83 14.45 28.83

3808 -0.86 -175.1 2153 946 4000 3894 649.0 -14.3 251 3815 0.00 2.53 0.00 0.000 1030 0.000 0.103 2143 2369 3946 4000 3893 0 0 0 0 0 0 28.83 14.47 28.83

4130 -0.86 -175.1 2144 2370 4002 3894 695.3 -14.5 265 4132 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2369 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

4429 -0.86 -175.1 2144 2370 4002 3893 738.2 -14.2 275 4431 0.00 0.00 0.00 0.000 6 0.000 0.000 2144 2369 3946 4000 3893 0 0 0 0 0 0 28.83 28.83 28.83

4517 end dive: TARGET_DEPTH_EXCEEDED

state 4517 begin apogee

4521 -0.14 0.0 2144 2601 4000 3893 750.9 -14.1 278 4746 0.95 0.00 219.23 1.703 10246 0.289 0.000 2379 2601 3230 3283 3178 0 0 0 0 0 0 14.30 28.83 12.97

4748 end apogee: CONTROL_FINISHED_OK

state 4748 begin climb

4750 0.86 175.1 2381 2601 3279 3173 758.2 0.0 285 4919 1.12 2.38 152.90 1.867 10500 0.160 0.119 2705 3757 2508 2567 2450 0 0 0 0 0 0 13.55 12.99 12.38

5139 0.86 175.1 2701 3758 2562 2445 706.4 17.6 365 5146 0.00 2.10 0.00 0.000 1030 0.000 0.079 2709 2594 2502 2561 2443 0 0 0 0 0 0 28.83 13.78 28.83

5461 0.86 175.1 2705 2594 2564 2444 655.4 15.8 379 5463 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2593 2502 2562 2443 0 0 0 0 0 0 28.83 28.83 28.83

5760 0.86 175.1 2708 2600 2563 2443 608.4 15.6 389 5766 0.00 2.15 0.00 0.000 260 0.000 0.122 2708 3769 2500 2562 2439 0 0 0 0 0 0 28.83 14.26 28.83

5795 0.86 175.1 2709 3769 2562 2443 602.1 17.8 396 5802 0.00 2.03 0.00 0.000 1030 0.000 0.080 2717 2589 2502 2562 2442 0 0 0 0 0 0 28.83 14.30 28.83

6123 0.86 175.1 2717 2590 2564 2443 549.6 16.1 411 6125 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2590 2502 2562 2442 0 0 0 0 0 0 28.83 28.83 28.83

6421 0.86 175.1 2719 2590 2562 2442 501.3 16.0 421 6424 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2590 2502 2562 2442 0 0 0 0 0 0 28.83 28.83 28.83

6741 0.86 175.1 2726 2590 2562 2442 452.6 16.0 431 6748 0.00 2.15 0.00 0.000 260 0.000 0.122 2717 3771 2501 2562 2440 0 0 0 0 0 0 28.83 14.38 28.83

6777 0.86 175.1 2717 3772 2564 2449 443.1 18.2 438 6784 0.00 2.00 0.00 0.000 1030 0.000 0.081 2726 2601 2501 2562 2441 0 0 0 0 0 0 28.83 14.42 28.83

7104 0.86 175.1 2726 2602 2559 2439 389.6 16.3 453 7107 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2601 2501 2562 2441 0 0 0 0 0 0 28.83 28.83 28.83

7403 0.86 175.1 2727 2598 2562 2441 341.9 15.9 463 7406 0.00 0.00 0.00 0.000 6 0.000 0.000 2726 2599 2501 2562 2440 0 0 0 0 0 0 28.83 28.83 28.83

7703 0.86 175.1 2724 2601 2564 2442 294.4 15.8 473 7709 0.00 2.12 0.00 0.000 260 0.000 0.125 2722 3768 2501 2562 2440 0 0 0 0 0 0 28.83 14.33 28.83

7769 0.86 175.1 2726 3769 2564 2442 283.0 17.5 486 7775 0.00 2.00 0.00 0.000 1030 0.000 0.081 2735 2599 2504 2562 2446 0 0 0 0 0 0 28.83 14.38 28.83

8075 0.86 175.1 2736 2597 2562 2442 235.6 14.8 505 8081 0.00 2.12 0.00 0.000 260 0.000 0.123 2734 3767 2501 2562 2441 0 0 0 0 0 0 28.83 14.33 28.83

8130 0.86 175.1 2735 3767 2564 2442 226.3 17.0 516 8138 0.00 2.00 0.00 0.000 1030 0.000 0.080 2744 2601 2504 2562 2446 0 0 0 0 0 0 28.83 14.37 28.83

8436 0.86 175.1 2745 2601 2562 2443 186.0 11.9 547 8438 0.12 0.00 0.00 0.000 4102 0.321 0.000 2719 2601 2501 2562 2441 0 0 0 0 0 0 14.26 28.83 28.83

8736 0.90 212.9 2719 2602 2564 2442 156.3 9.1 577 8772 0.00 0.00 32.45 1.337 8710 0.000 0.000 2719 2601 2362 2424 2300 0 0 0 0 0 0 28.83 28.83 13.62

9068 0.97 212.9 2721 2601 2409 2282 123.7 9.8 611 9074 0.00 2.45 0.00 0.000 516 0.000 0.086 2728 1191 2346 2410 2282 0 0 0 0 0 0 28.83 14.32 28.83

9159 1.01 250.1 2730 1191 2409 2281 115.2 9.1 629 9202 0.00 2.53 31.17 1.320 9222 0.000 0.101 2728 2601 2202 2270 2134 0 0 0 0 0 0 28.83 14.33 13.60

9498 1.08 250.1 2730 2602 2268 2123 79.9 10.0 667 9501 0.17 0.00 0.00 0.000 2054 0.129 0.000 2789 2601 2195 2268 2122 0 0 0 0 0 0 14.29 28.83 28.83

9798 1.17 344.6 2789 2602 2269 2122 52.8 5.3 697 9850 0.00 0.00 44.42 0.327 8198 0.000 0.000 2789 2602 1825 1904 1746 0 0 0 0 0 0 28.83 28.83 14.12

10149 1.22 398.4 2789 2602 1919 1749 21.3 8.0 732 10183 0.12 0.00 27.35 0.243 10246 0.152 0.000 2834 2600 1603 1692 1515 0 0 0 0 0 0 14.33 28.83 14.21

10479 1.40 571.1 2834 2602 1702 1518 16.1 -0.0 765 10573 0.15 2.20 85.68 0.227 11012 0.143 0.125 2891 3771 900 975 825 0 0 0 0 0 0 14.34 14.19 14.17

10607 1.47 641.5 2891 3772 977 829 13.0 6.9 787 10649 0.00 2.03 35.17 0.218 9222 0.000 0.083 2900 2602 613 663 563 0 0 0 0 0 0 28.83 14.26 14.16

10732 end climb: SURFACE_DEPTH_REACHED

state 10732 begin surface coast

10753 end surface coast: CONTROL_FINISHED_OK

state 10753 begin surface

ID	199	ESCAPE_HEADING	180	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	137	FIX_MISSING_TIMEOUT	4	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	26	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	669.66901	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	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	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3230	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	4.5	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	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	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21767.514	PITCH_W_GAIN	4	RAFOS_DEVICE	101
T_EPIRB	0	T_RSLEEP	3	PITCH_W_DBAND	0.5	XPDR_DEVICE	24
USE_BATHY	-6	STROBE	0	CF8_MAXERRORS	20	SIM_W	0
USE_ICE	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.079999998	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	2435	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	180	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	35.5	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	0	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0	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	2360	ALTIM_PING_DELTA	5

GPS1	140814,135548,7210.553,-14552.061,67,0.9,87,22.2	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	9
_XMS_NAKs	0	TGT_LATLONG	7212.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.18	MHEAD_RNG_PITCHd_Wd	1.8,2892,-24.4,-11.628,-27.42,1523
_SM_ANGLEo	-71.8	D_GRID	1000
GPS2	140814,140710,7210.574,-14552.080,4,0.8,24,22.2

MODEM_MSG	CACST,6,1,20140814161636.284835,3,700,22,0137,0150,100,00,00,01,04,-1,-01,-01,1,3,0,0,150,12.9,1.1,-100,1.9,-01,0.5,24,900,0025*2F	TM_FREEKB	5633344
FREEZE	1.17,3.946,-0.789,2,1,0	_24V_AH	12.38,105.598
FINISH	1.2,1.011568	_10V_AH	12.53,0.000
SM_CCo	10775,14.43,0.200,0,0,499,669.67	FG_AHR_24Vo	0.000
SM_GC	2.80,8.20,0.43,14.43,0.086,0.104,0.200,195,2360,499,-6.95,0.79,669.67,0,0,0,0,0,0,14.34,14.35,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	176	MEM	279220
RAFOS_FIX	7201.974609,-14548.847656,070814,040417,3,255,0.00	DATA_FILE_SIZE	26685,806
IRIDIUM_FIX	7132.53,-14547.52,140814,102448	CAP_FILE_SIZE	132947,0
TT8_MAMPS	0.046438,0.046438	CFSIZE	2097872896,2057764864
HUMID	52.75	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	8.47526	INTR	0,12896.30,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1451.1
XPDR_PINGS	0	GPS	140814,170854,7212.104,-14550.957,39,0.7,59,22.2
SC_FREEKB	4001460

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	468	126.35	nil	0	0	0.00
Roll_motor	46	140	80.29	nil	0	0	0.00
VBD_pump_during_apogee	628	1867	14526.76	nil	0	0	0.00
VBD_pump_during_surface	14	199	35.66	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	10784	12	1703.27
Iridium_during_xfer	401	194	964.69	TMICL	10831	44	5922.79
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.78
TT8	0	0	0.00
LPSleep	8380	2	242.57
TT8_Active	684	10	94.11
TT8_Sampling	2235	29	831.84
TT8_CF8	168	36	77.05
TT8_Kalman	0	0	0.00
Analog_circuits	1831	10	229.53
GPS_charging	0	0	0.00
Compass	1200	5	75.21
RAFOS	1472	48	885.32
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
19	-0.80	-115.0	178	2362	518	490	0.0	0.0	0	74	0.00	0.00	-51.00	0.000	16386	0.000	0.000	178	2361	1783	1792	1774	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.86	-175.1	180	2362	1792	1771	3.1	-2.2	5	140	10.82	2.62	-44.17	0.000	18692	0.468	0.141	2137	3765	3946	4000	3892	0	0	0	0	0	0	14.00	14.19	14.48
364	-0.86	-175.1	2137	3765	4000	3899	92.9	-27.2	63	371	0.00	2.42	0.00	0.000	1030	0.000	0.079	2139	2358	3949	4000	3898	0	0	0	0	0	0	28.83	14.34	28.83
675	-0.86	-175.1	2139	2356	4001	3900	165.7	-21.7	95	678	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2355	3950	4001	3899	0	0	0	0	0	0	28.83	28.83	28.83
975	-0.86	-175.1	2139	2355	4002	3899	224.8	-18.7	125	978	0.00	0.00	0.00	0.000	6	0.000	0.000	2139	2355	3953	4001	3905	0	0	0	0	0	0	28.83	28.83	28.83
1275	-0.86	-175.1	2140	2356	4000	3899	275.9	-16.7	145	1282	0.00	2.42	0.00	0.000	516	0.000	0.090	2139	954	3949	4000	3898	0	0	0	0	0	0	28.83	14.41	28.83
1337	-0.86	-175.1	2141	954	3999	3899	285.9	-16.0	157	1343	0.00	2.50	0.00	0.000	1030	0.000	0.102	2130	2366	3951	4000	3902	0	0	0	0	0	0	28.83	14.40	28.83
1668	-0.86	-175.1	2130	2367	4002	3898	341.4	-16.7	173	1671	0.12	0.00	0.00	0.000	2054	0.327	0.000	2152	2367	3948	4000	3897	0	0	0	0	0	0	14.28	28.83	28.83
1967	-0.86	-175.1	2153	2367	4000	3897	385.9	-14.7	183	1970	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2366	3948	4000	3896	0	0	0	0	0	0	28.83	28.83	28.83
2268	-0.86	-175.1	2152	2372	4001	3896	429.8	-14.5	193	2270	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2366	3947	4000	3895	0	0	0	0	0	0	28.83	28.83	28.83
2567	-0.86	-175.1	2153	2367	4000	3895	473.2	-14.4	203	2570	0.00	0.00	0.00	0.000	6	0.000	0.000	2153	2366	3947	4001	3894	0	0	0	0	0	0	28.83	28.83	28.83
2867	-0.86	-175.1	2152	2367	4002	3895	516.2	-14.2	213	2870	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2366	3947	4000	3895	0	0	0	0	0	0	28.83	28.83	28.83
3167	-0.86	-175.1	2152	2367	4001	3893	558.9	-14.1	223	3170	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2366	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
3467	-0.86	-175.1	2152	2367	4002	3895	601.2	-14.2	233	3470	0.00	0.00	0.00	0.000	6	0.000	0.000	2152	2366	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
3767	-0.86	-175.1	2152	2367	4002	3894	643.2	-13.8	243	3774	0.00	2.47	0.00	0.000	516	0.000	0.090	2152	946	3946	4000	3893	0	0	0	0	0	0	28.83	14.45	28.83
3808	-0.86	-175.1	2153	946	4000	3894	649.0	-14.3	251	3815	0.00	2.53	0.00	0.000	1030	0.000	0.103	2143	2369	3946	4000	3893	0	0	0	0	0	0	28.83	14.47	28.83
4130	-0.86	-175.1	2144	2370	4002	3894	695.3	-14.5	265	4132	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2369	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
4429	-0.86	-175.1	2144	2370	4002	3893	738.2	-14.2	275	4431	0.00	0.00	0.00	0.000	6	0.000	0.000	2144	2369	3946	4000	3893	0	0	0	0	0	0	28.83	28.83	28.83
4517	end dive: TARGET_DEPTH_EXCEEDED
state	4517	begin apogee
4521	-0.14	0.0	2144	2601	4000	3893	750.9	-14.1	278	4746	0.95	0.00	219.23	1.703	10246	0.289	0.000	2379	2601	3230	3283	3178	0	0	0	0	0	0	14.30	28.83	12.97
4748	end apogee: CONTROL_FINISHED_OK
state	4748	begin climb
4750	0.86	175.1	2381	2601	3279	3173	758.2	0.0	285	4919	1.12	2.38	152.90	1.867	10500	0.160	0.119	2705	3757	2508	2567	2450	0	0	0	0	0	0	13.55	12.99	12.38
5139	0.86	175.1	2701	3758	2562	2445	706.4	17.6	365	5146	0.00	2.10	0.00	0.000	1030	0.000	0.079	2709	2594	2502	2561	2443	0	0	0	0	0	0	28.83	13.78	28.83
5461	0.86	175.1	2705	2594	2564	2444	655.4	15.8	379	5463	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2593	2502	2562	2443	0	0	0	0	0	0	28.83	28.83	28.83
5760	0.86	175.1	2708	2600	2563	2443	608.4	15.6	389	5766	0.00	2.15	0.00	0.000	260	0.000	0.122	2708	3769	2500	2562	2439	0	0	0	0	0	0	28.83	14.26	28.83
5795	0.86	175.1	2709	3769	2562	2443	602.1	17.8	396	5802	0.00	2.03	0.00	0.000	1030	0.000	0.080	2717	2589	2502	2562	2442	0	0	0	0	0	0	28.83	14.30	28.83
6123	0.86	175.1	2717	2590	2564	2443	549.6	16.1	411	6125	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2590	2502	2562	2442	0	0	0	0	0	0	28.83	28.83	28.83
6421	0.86	175.1	2719	2590	2562	2442	501.3	16.0	421	6424	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2590	2502	2562	2442	0	0	0	0	0	0	28.83	28.83	28.83
6741	0.86	175.1	2726	2590	2562	2442	452.6	16.0	431	6748	0.00	2.15	0.00	0.000	260	0.000	0.122	2717	3771	2501	2562	2440	0	0	0	0	0	0	28.83	14.38	28.83
6777	0.86	175.1	2717	3772	2564	2449	443.1	18.2	438	6784	0.00	2.00	0.00	0.000	1030	0.000	0.081	2726	2601	2501	2562	2441	0	0	0	0	0	0	28.83	14.42	28.83
7104	0.86	175.1	2726	2602	2559	2439	389.6	16.3	453	7107	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2601	2501	2562	2441	0	0	0	0	0	0	28.83	28.83	28.83
7403	0.86	175.1	2727	2598	2562	2441	341.9	15.9	463	7406	0.00	0.00	0.00	0.000	6	0.000	0.000	2726	2599	2501	2562	2440	0	0	0	0	0	0	28.83	28.83	28.83
7703	0.86	175.1	2724	2601	2564	2442	294.4	15.8	473	7709	0.00	2.12	0.00	0.000	260	0.000	0.125	2722	3768	2501	2562	2440	0	0	0	0	0	0	28.83	14.33	28.83
7769	0.86	175.1	2726	3769	2564	2442	283.0	17.5	486	7775	0.00	2.00	0.00	0.000	1030	0.000	0.081	2735	2599	2504	2562	2446	0	0	0	0	0	0	28.83	14.38	28.83
8075	0.86	175.1	2736	2597	2562	2442	235.6	14.8	505	8081	0.00	2.12	0.00	0.000	260	0.000	0.123	2734	3767	2501	2562	2441	0	0	0	0	0	0	28.83	14.33	28.83
8130	0.86	175.1	2735	3767	2564	2442	226.3	17.0	516	8138	0.00	2.00	0.00	0.000	1030	0.000	0.080	2744	2601	2504	2562	2446	0	0	0	0	0	0	28.83	14.37	28.83
8436	0.86	175.1	2745	2601	2562	2443	186.0	11.9	547	8438	0.12	0.00	0.00	0.000	4102	0.321	0.000	2719	2601	2501	2562	2441	0	0	0	0	0	0	14.26	28.83	28.83
8736	0.90	212.9	2719	2602	2564	2442	156.3	9.1	577	8772	0.00	0.00	32.45	1.337	8710	0.000	0.000	2719	2601	2362	2424	2300	0	0	0	0	0	0	28.83	28.83	13.62
9068	0.97	212.9	2721	2601	2409	2282	123.7	9.8	611	9074	0.00	2.45	0.00	0.000	516	0.000	0.086	2728	1191	2346	2410	2282	0	0	0	0	0	0	28.83	14.32	28.83
9159	1.01	250.1	2730	1191	2409	2281	115.2	9.1	629	9202	0.00	2.53	31.17	1.320	9222	0.000	0.101	2728	2601	2202	2270	2134	0	0	0	0	0	0	28.83	14.33	13.60
9498	1.08	250.1	2730	2602	2268	2123	79.9	10.0	667	9501	0.17	0.00	0.00	0.000	2054	0.129	0.000	2789	2601	2195	2268	2122	0	0	0	0	0	0	14.29	28.83	28.83
9798	1.17	344.6	2789	2602	2269	2122	52.8	5.3	697	9850	0.00	0.00	44.42	0.327	8198	0.000	0.000	2789	2602	1825	1904	1746	0	0	0	0	0	0	28.83	28.83	14.12
10149	1.22	398.4	2789	2602	1919	1749	21.3	8.0	732	10183	0.12	0.00	27.35	0.243	10246	0.152	0.000	2834	2600	1603	1692	1515	0	0	0	0	0	0	14.33	28.83	14.21
10479	1.40	571.1	2834	2602	1702	1518	16.1	-0.0	765	10573	0.15	2.20	85.68	0.227	11012	0.143	0.125	2891	3771	900	975	825	0	0	0	0	0	0	14.34	14.19	14.17
10607	1.47	641.5	2891	3772	977	829	13.0	6.9	787	10649	0.00	2.03	35.17	0.218	9222	0.000	0.083	2900	2602	613	663	563	0	0	0	0	0	0	28.83	14.26	14.16
10732	end climb: SURFACE_DEPTH_REACHED
state	10732	begin surface coast
10753	end surface coast: CONTROL_FINISHED_OK
state	10753	begin surface