Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 37 * 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 37 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 30 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 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 -21667.67 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 -21667.67

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 30 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 16 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 37 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 300714,190407,7108.141,-14444.110,28,0.7,48,22.3 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 1.93 MHEAD_RNG_PITCHd_Wd 298.4,64412,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -75.3 D_GRID 1000

GPS2 300714,191335,7108.105,-14444.188,4,0.8,24,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140730200421.876673,3,320,19,0106,0150,100,00,00,01,04,1,000,000,2,5,1,0,150,20.1,3.1,-100,-0.1,-01,0.2,14,900,0025*21 _24V_AH 12.93,63.497

FINISH 1.0,1.004647 _10V_AH 12.65,0.000

SM_CCo 8550,14.32,0.199,0,0,539,689.05 FG_AHR_24Vo 0.000

SM_GC 3.94,8.48,1.48,14.32,0.114,0.105,0.199,202,2203,539,-7.05,-0.59,689.05,0,0,0,0,0,0,14.33,14.33,14.26 FG_AHR_10Vo 0.000

RAFOS_CLK 247 MEM 296680

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 30067,895

IRIDIUM_FIX 7039.27,-14446.30,300714,163148 CAP_FILE_SIZE 136102,0

TT8_MAMPS 0.047187,0.047187 CFSIZE 2097872896,2084962304

HUMID 50.11 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.44597 INTR 1,5822.51,0x234484,1,24

TCM_TEMP 12.40 SOUNDSPEED 1449.6

XPDR_PINGS 0 EKF 8644,4269.076660,-8685.691406,1.020557,-0.041205,0.097021,0.005753,0.000113,0.001079,0.000095,0.001025,0.001025,0.000034

SC_FREEKB 4012876 CURRENT 0.018,85.77,1

TM_FREEKB 7522368 GPS 300714,213749,7109.081,-14445.405,20,0.8,40,22.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 475 141.05 nil 0 0 0.00

Roll_motor 96 149 186.42 nil 0 0 0.00

VBD_pump_during_apogee 631 1660 13549.97 nil 0 0 0.00

VBD_pump_during_surface 14 198 36.84 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 8551 15 1754.88

Iridium_during_xfer 357 161 745.98 TMICL 8579 12 1406.66

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.84

TT8 0 0 0.00

LPSleep 5849 2 170.93

TT8_Active 797 10 110.62

TT8_Sampling 2394 29 899.46

TT8_CF8 88 36 40.82

TT8_Kalman 0 0 0.00

Analog_circuits 1948 10 246.47

GPS_charging 0 0 0.00

Compass 1318 5 83.42

RAFOS 1472 48 893.80

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 -145.9 205 2190 547 452 0.0 0.0 0 75 0.00 0.00 -53.62 0.000 16386 0.000 0.000 205 2190 1910 1917 1904 0 0 0 0 0 0 28.83 28.83 28.83

77 -0.87 -145.9 203 2190 1919 1905 3.8 -4.0 5 134 10.88 2.67 -39.03 0.000 18692 0.476 0.149 2171 3619 3945 4001 3890 0 0 0 0 0 0 14.07 14.26 14.50

358 -0.77 -145.9 2171 3620 4003 3895 76.9 -22.4 58 367 0.20 2.45 0.00 0.000 3078 0.335 0.091 2213 2203 3947 4001 3894 0 0 0 0 0 0 14.23 14.35 28.83

663 -0.77 -145.9 2214 2203 4001 3895 129.8 -16.4 89 672 0.00 2.55 0.00 0.000 260 0.000 0.128 2204 3614 3950 4002 3899 0 0 0 0 0 0 28.83 14.39 28.83

776 -0.75 -145.9 2204 3622 4003 3896 149.1 -17.2 111 784 0.00 2.45 0.00 0.000 1030 0.000 0.090 2204 2191 3948 4001 3895 0 0 0 0 0 0 28.83 14.41 28.83

1088 -0.75 -145.9 2212 2192 4001 3895 193.2 -13.4 143 1096 0.00 2.55 0.00 0.000 260 0.000 0.129 2194 3615 3948 4001 3895 0 0 0 0 0 0 28.83 14.43 28.83

1165 -0.75 -145.9 2195 3616 4001 3896 203.9 -13.8 158 1174 0.12 2.42 0.00 0.000 3078 0.309 0.090 2221 2198 3948 4001 3895 0 0 0 0 0 0 14.35 14.46 28.83

1471 -0.77 -145.9 2222 2198 4001 3895 238.2 -10.9 189 1478 0.00 2.55 0.00 0.000 260 0.000 0.130 2211 3619 3948 4001 3895 0 0 0 0 0 0 28.83 14.40 28.83

1622 -0.77 -145.9 2213 3620 4002 3895 256.8 -11.8 219 1630 0.00 2.42 0.00 0.000 1030 0.000 0.089 2211 2199 3948 4001 3895 0 0 0 0 0 0 28.83 14.48 28.83

1955 -0.80 -145.9 2211 2199 4003 3895 293.9 -11.1 235 1962 0.00 2.53 0.00 0.000 260 0.000 0.129 2201 3616 3947 4000 3894 0 0 0 0 0 0 28.83 14.48 28.83

2081 -0.80 -145.9 2202 3616 4001 3895 309.2 -12.3 260 2091 0.00 2.42 0.00 0.000 1030 0.000 0.089 2201 2192 3947 4001 3894 0 0 0 0 0 0 28.83 14.50 28.83

2410 -0.80 -145.9 2201 2193 4001 3894 346.6 -11.3 275 2418 0.00 2.53 0.00 0.000 260 0.000 0.129 2190 3612 3947 4001 3893 0 0 0 0 0 0 28.83 14.47 28.83

2527 -0.80 -145.9 2190 3613 4002 3894 361.1 -12.7 298 2536 0.00 2.40 0.00 0.000 1030 0.000 0.089 2190 2198 3947 4001 3893 0 0 0 0 0 0 28.83 14.53 28.83

2832 -0.80 -145.9 2190 2199 4002 3894 396.6 -11.6 309 2840 0.00 2.53 0.00 0.000 260 0.000 0.128 2180 3612 3947 4001 3893 0 0 0 0 0 0 28.83 14.48 28.83

2949 -0.80 -145.9 2181 3613 4001 3893 411.6 -13.1 332 2960 0.12 2.40 0.00 0.000 3078 0.316 0.089 2204 2201 3946 4001 3892 0 0 0 0 0 0 14.38 14.49 28.83

3254 -0.82 -145.9 2203 2202 4002 3894 444.2 -10.6 343 3262 0.00 2.53 0.00 0.000 260 0.000 0.128 2195 3615 3947 4001 3893 0 0 0 0 0 0 28.83 14.44 28.83

3356 -0.82 -145.9 2196 3616 4000 3894 456.3 -11.2 363 3364 0.00 2.42 0.00 0.000 1030 0.000 0.089 2194 2198 3947 4001 3893 0 0 0 0 0 0 28.83 14.45 28.83

3679 -0.82 -145.9 2194 2198 4002 3894 492.0 -11.0 377 3686 0.00 2.53 0.00 0.000 260 0.000 0.128 2184 3612 3947 4001 3893 0 0 0 0 0 0 28.83 14.42 28.83

3744 end dive: TARGET_DEPTH_EXCEEDED

state 3744 begin apogee

3748 -0.16 0.0 2185 2802 4001 3893 500.0 -12.0 390 3936 0.90 0.00 182.62 1.502 10246 0.286 0.000 2411 2802 3348 3402 3295 0 0 0 0 0 0 14.32 28.83 13.16

3937 end apogee: CONTROL_FINISHED_OK

state 3937 begin climb

3938 0.87 145.9 2412 2802 3396 3289 505.3 0.0 396 4081 1.12 1.95 127.00 1.660 10500 0.155 0.130 2741 3775 2741 2789 2694 0 0 0 0 0 0 13.74 13.50 12.93

4205 0.76 145.9 2741 3771 2778 2680 474.2 17.9 442 4213 0.10 1.75 0.00 0.000 5126 0.309 0.087 2725 2801 2729 2778 2680 0 0 0 0 0 0 13.74 13.89 28.83

4517 0.70 145.9 2725 2802 2779 2679 427.2 14.9 454 4525 0.12 2.47 0.00 0.000 4612 0.331 0.097 2710 1396 2728 2778 2678 0 0 0 0 0 0 14.08 14.16 28.83

4579 0.67 145.9 2712 1396 2780 2678 418.9 13.3 466 4588 0.00 2.55 0.00 0.000 1030 0.000 0.109 2710 2803 2727 2778 2677 0 0 0 0 0 0 28.83 14.19 28.83

4913 0.62 145.9 2710 2804 2779 2678 372.0 14.2 482 4921 0.15 2.47 0.00 0.000 4612 0.304 0.093 2685 1387 2728 2778 2678 0 0 0 0 0 0 14.22 14.33 28.83

4975 0.62 148.8 2687 1388 2785 2677 364.4 11.7 494 4983 0.00 2.53 0.00 0.000 1030 0.000 0.109 2685 2801 2727 2778 2677 0 0 0 0 0 0 28.83 14.32 28.83

5307 0.59 148.8 2685 2802 2779 2679 322.5 12.6 510 5315 0.00 2.45 0.00 0.000 516 0.000 0.095 2695 1392 2727 2778 2677 0 0 0 0 0 0 28.83 14.41 28.83

5379 0.59 148.8 2695 1394 2779 2678 313.8 12.0 524 5389 0.15 2.53 0.00 0.000 5126 0.309 0.108 2665 2801 2727 2778 2677 0 0 0 0 0 0 14.32 14.41 28.83

5703 0.60 158.5 2665 2800 2779 2677 276.5 11.4 538 5713 0.00 2.53 3.25 0.860 8708 0.000 0.094 2675 1386 2700 2755 2646 0 0 0 0 0 0 28.83 14.45 13.76

5797 0.64 187.3 2674 1386 2775 2660 266.3 10.3 556 5840 0.00 2.50 32.80 1.347 9222 0.000 0.109 2674 2802 2572 2632 2512 0 0 0 0 0 0 28.83 14.45 13.73

6127 0.64 187.3 2674 2802 2625 2495 225.3 12.2 584 6136 0.00 2.45 0.00 0.000 516 0.000 0.095 2684 1394 2559 2624 2494 0 0 0 0 0 0 28.83 14.36 28.83

6225 0.65 196.1 2682 1395 2623 2495 213.9 11.4 603 6235 0.00 2.53 1.38 0.237 9222 0.000 0.108 2684 2805 2546 2611 2481 0 0 0 0 0 0 28.83 14.33 14.32

6531 0.67 210.4 2685 2806 2620 2493 177.2 11.1 634 6561 0.00 2.53 18.55 1.252 8708 0.000 0.096 2694 1400 2478 2545 2412 0 0 0 0 0 0 28.83 14.28 13.80

6600 0.68 218.8 2695 1400 2541 2404 169.4 11.4 646 6609 0.00 2.50 1.75 0.225 9222 0.000 0.108 2694 2801 2454 2523 2386 0 0 0 0 0 0 28.83 14.31 14.26

6913 0.71 246.8 2694 2802 2535 2402 136.7 10.4 678 6954 0.00 2.50 32.20 1.178 8708 0.000 0.093 2705 1390 2327 2396 2258 0 0 0 0 0 0 28.83 14.17 13.76

7053 0.78 286.9 2704 1390 2389 2245 122.7 9.7 704 7097 0.00 2.55 35.12 1.181 9222 0.000 0.109 2704 2810 2170 2247 2093 0 0 0 0 0 0 28.83 14.27 13.59

7391 0.83 303.8 2704 2808 2234 2068 85.4 11.0 740 7407 0.00 2.55 5.35 0.293 8708 0.000 0.096 2714 1396 2113 2199 2028 0 0 0 0 0 0 28.83 14.26 14.12

7537 0.91 343.3 2715 1396 2219 2051 70.8 9.7 768 7566 0.15 2.53 23.58 0.366 11270 0.155 0.109 2764 2801 1948 2036 1860 0 0 0 0 0 0 14.34 14.31 14.14

7860 0.98 399.0 2764 2801 2055 1886 34.2 8.9 802 7901 0.00 2.53 30.25 0.269 8708 0.000 0.098 2774 1394 1723 1813 1633 0 0 0 0 0 0 28.83 14.31 14.24

7981 1.06 443.5 2774 1393 1826 1645 22.7 9.5 824 8017 0.12 2.53 24.20 0.236 11270 0.171 0.109 2815 2806 1539 1634 1445 0 0 0 0 0 0 14.35 14.34 14.21

8321 1.37 663.4 2815 2807 1647 1457 9.3 -0.1 860 8445 0.30 2.50 113.22 0.200 10756 0.122 0.096 2924 1395 642 708 576 0 0 0 0 0 0 14.39 14.23 14.21

8498 end climb: SURFACE_DEPTH_REACHED

state 8498 begin surface coast

8528 end surface coast: CONTROL_FINISHED_OK

state 8528 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	37	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	30	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	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	-21667.67	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	300714,190407,7108.141,-14444.110,28,0.7,48,22.3	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	1.93	MHEAD_RNG_PITCHd_Wd	298.4,64412,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-75.3	D_GRID	1000
GPS2	300714,191335,7108.105,-14444.188,4,0.8,24,22.3

MODEM_MSG	CACST,6,1,20140730200421.876673,3,320,19,0106,0150,100,00,00,01,04,1,000,000,2,5,1,0,150,20.1,3.1,-100,-0.1,-01,0.2,14,900,0025*21	_24V_AH	12.93,63.497
FINISH	1.0,1.004647	_10V_AH	12.65,0.000
SM_CCo	8550,14.32,0.199,0,0,539,689.05	FG_AHR_24Vo	0.000
SM_GC	3.94,8.48,1.48,14.32,0.114,0.105,0.199,202,2203,539,-7.05,-0.59,689.05,0,0,0,0,0,0,14.33,14.33,14.26	FG_AHR_10Vo	0.000
RAFOS_CLK	247	MEM	296680
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	30067,895
IRIDIUM_FIX	7039.27,-14446.30,300714,163148	CAP_FILE_SIZE	136102,0
TT8_MAMPS	0.047187,0.047187	CFSIZE	2097872896,2084962304
HUMID	50.11	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.44597	INTR	1,5822.51,0x234484,1,24
TCM_TEMP	12.40	SOUNDSPEED	1449.6
XPDR_PINGS	0	EKF	8644,4269.076660,-8685.691406,1.020557,-0.041205,0.097021,0.005753,0.000113,0.001079,0.000095,0.001025,0.001025,0.000034
SC_FREEKB	4012876	CURRENT	0.018,85.77,1
TM_FREEKB	7522368	GPS	300714,213749,7109.081,-14445.405,20,0.8,40,22.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	475	141.05	nil	0	0	0.00
Roll_motor	96	149	186.42	nil	0	0	0.00
VBD_pump_during_apogee	631	1660	13549.97	nil	0	0	0.00
VBD_pump_during_surface	14	198	36.84	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	8551	15	1754.88
Iridium_during_xfer	357	161	745.98	TMICL	8579	12	1406.66
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.84
TT8	0	0	0.00
LPSleep	5849	2	170.93
TT8_Active	797	10	110.62
TT8_Sampling	2394	29	899.46
TT8_CF8	88	36	40.82
TT8_Kalman	0	0	0.00
Analog_circuits	1948	10	246.47
GPS_charging	0	0	0.00
Compass	1318	5	83.42
RAFOS	1472	48	893.80
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	205	2190	547	452	0.0	0.0	0	75	0.00	0.00	-53.62	0.000	16386	0.000	0.000	205	2190	1910	1917	1904	0	0	0	0	0	0	28.83	28.83	28.83
77	-0.87	-145.9	203	2190	1919	1905	3.8	-4.0	5	134	10.88	2.67	-39.03	0.000	18692	0.476	0.149	2171	3619	3945	4001	3890	0	0	0	0	0	0	14.07	14.26	14.50
358	-0.77	-145.9	2171	3620	4003	3895	76.9	-22.4	58	367	0.20	2.45	0.00	0.000	3078	0.335	0.091	2213	2203	3947	4001	3894	0	0	0	0	0	0	14.23	14.35	28.83
663	-0.77	-145.9	2214	2203	4001	3895	129.8	-16.4	89	672	0.00	2.55	0.00	0.000	260	0.000	0.128	2204	3614	3950	4002	3899	0	0	0	0	0	0	28.83	14.39	28.83
776	-0.75	-145.9	2204	3622	4003	3896	149.1	-17.2	111	784	0.00	2.45	0.00	0.000	1030	0.000	0.090	2204	2191	3948	4001	3895	0	0	0	0	0	0	28.83	14.41	28.83
1088	-0.75	-145.9	2212	2192	4001	3895	193.2	-13.4	143	1096	0.00	2.55	0.00	0.000	260	0.000	0.129	2194	3615	3948	4001	3895	0	0	0	0	0	0	28.83	14.43	28.83
1165	-0.75	-145.9	2195	3616	4001	3896	203.9	-13.8	158	1174	0.12	2.42	0.00	0.000	3078	0.309	0.090	2221	2198	3948	4001	3895	0	0	0	0	0	0	14.35	14.46	28.83
1471	-0.77	-145.9	2222	2198	4001	3895	238.2	-10.9	189	1478	0.00	2.55	0.00	0.000	260	0.000	0.130	2211	3619	3948	4001	3895	0	0	0	0	0	0	28.83	14.40	28.83
1622	-0.77	-145.9	2213	3620	4002	3895	256.8	-11.8	219	1630	0.00	2.42	0.00	0.000	1030	0.000	0.089	2211	2199	3948	4001	3895	0	0	0	0	0	0	28.83	14.48	28.83
1955	-0.80	-145.9	2211	2199	4003	3895	293.9	-11.1	235	1962	0.00	2.53	0.00	0.000	260	0.000	0.129	2201	3616	3947	4000	3894	0	0	0	0	0	0	28.83	14.48	28.83
2081	-0.80	-145.9	2202	3616	4001	3895	309.2	-12.3	260	2091	0.00	2.42	0.00	0.000	1030	0.000	0.089	2201	2192	3947	4001	3894	0	0	0	0	0	0	28.83	14.50	28.83
2410	-0.80	-145.9	2201	2193	4001	3894	346.6	-11.3	275	2418	0.00	2.53	0.00	0.000	260	0.000	0.129	2190	3612	3947	4001	3893	0	0	0	0	0	0	28.83	14.47	28.83
2527	-0.80	-145.9	2190	3613	4002	3894	361.1	-12.7	298	2536	0.00	2.40	0.00	0.000	1030	0.000	0.089	2190	2198	3947	4001	3893	0	0	0	0	0	0	28.83	14.53	28.83
2832	-0.80	-145.9	2190	2199	4002	3894	396.6	-11.6	309	2840	0.00	2.53	0.00	0.000	260	0.000	0.128	2180	3612	3947	4001	3893	0	0	0	0	0	0	28.83	14.48	28.83
2949	-0.80	-145.9	2181	3613	4001	3893	411.6	-13.1	332	2960	0.12	2.40	0.00	0.000	3078	0.316	0.089	2204	2201	3946	4001	3892	0	0	0	0	0	0	14.38	14.49	28.83
3254	-0.82	-145.9	2203	2202	4002	3894	444.2	-10.6	343	3262	0.00	2.53	0.00	0.000	260	0.000	0.128	2195	3615	3947	4001	3893	0	0	0	0	0	0	28.83	14.44	28.83
3356	-0.82	-145.9	2196	3616	4000	3894	456.3	-11.2	363	3364	0.00	2.42	0.00	0.000	1030	0.000	0.089	2194	2198	3947	4001	3893	0	0	0	0	0	0	28.83	14.45	28.83
3679	-0.82	-145.9	2194	2198	4002	3894	492.0	-11.0	377	3686	0.00	2.53	0.00	0.000	260	0.000	0.128	2184	3612	3947	4001	3893	0	0	0	0	0	0	28.83	14.42	28.83
3744	end dive: TARGET_DEPTH_EXCEEDED
state	3744	begin apogee
3748	-0.16	0.0	2185	2802	4001	3893	500.0	-12.0	390	3936	0.90	0.00	182.62	1.502	10246	0.286	0.000	2411	2802	3348	3402	3295	0	0	0	0	0	0	14.32	28.83	13.16
3937	end apogee: CONTROL_FINISHED_OK
state	3937	begin climb
3938	0.87	145.9	2412	2802	3396	3289	505.3	0.0	396	4081	1.12	1.95	127.00	1.660	10500	0.155	0.130	2741	3775	2741	2789	2694	0	0	0	0	0	0	13.74	13.50	12.93
4205	0.76	145.9	2741	3771	2778	2680	474.2	17.9	442	4213	0.10	1.75	0.00	0.000	5126	0.309	0.087	2725	2801	2729	2778	2680	0	0	0	0	0	0	13.74	13.89	28.83
4517	0.70	145.9	2725	2802	2779	2679	427.2	14.9	454	4525	0.12	2.47	0.00	0.000	4612	0.331	0.097	2710	1396	2728	2778	2678	0	0	0	0	0	0	14.08	14.16	28.83
4579	0.67	145.9	2712	1396	2780	2678	418.9	13.3	466	4588	0.00	2.55	0.00	0.000	1030	0.000	0.109	2710	2803	2727	2778	2677	0	0	0	0	0	0	28.83	14.19	28.83
4913	0.62	145.9	2710	2804	2779	2678	372.0	14.2	482	4921	0.15	2.47	0.00	0.000	4612	0.304	0.093	2685	1387	2728	2778	2678	0	0	0	0	0	0	14.22	14.33	28.83
4975	0.62	148.8	2687	1388	2785	2677	364.4	11.7	494	4983	0.00	2.53	0.00	0.000	1030	0.000	0.109	2685	2801	2727	2778	2677	0	0	0	0	0	0	28.83	14.32	28.83
5307	0.59	148.8	2685	2802	2779	2679	322.5	12.6	510	5315	0.00	2.45	0.00	0.000	516	0.000	0.095	2695	1392	2727	2778	2677	0	0	0	0	0	0	28.83	14.41	28.83
5379	0.59	148.8	2695	1394	2779	2678	313.8	12.0	524	5389	0.15	2.53	0.00	0.000	5126	0.309	0.108	2665	2801	2727	2778	2677	0	0	0	0	0	0	14.32	14.41	28.83
5703	0.60	158.5	2665	2800	2779	2677	276.5	11.4	538	5713	0.00	2.53	3.25	0.860	8708	0.000	0.094	2675	1386	2700	2755	2646	0	0	0	0	0	0	28.83	14.45	13.76
5797	0.64	187.3	2674	1386	2775	2660	266.3	10.3	556	5840	0.00	2.50	32.80	1.347	9222	0.000	0.109	2674	2802	2572	2632	2512	0	0	0	0	0	0	28.83	14.45	13.73
6127	0.64	187.3	2674	2802	2625	2495	225.3	12.2	584	6136	0.00	2.45	0.00	0.000	516	0.000	0.095	2684	1394	2559	2624	2494	0	0	0	0	0	0	28.83	14.36	28.83
6225	0.65	196.1	2682	1395	2623	2495	213.9	11.4	603	6235	0.00	2.53	1.38	0.237	9222	0.000	0.108	2684	2805	2546	2611	2481	0	0	0	0	0	0	28.83	14.33	14.32
6531	0.67	210.4	2685	2806	2620	2493	177.2	11.1	634	6561	0.00	2.53	18.55	1.252	8708	0.000	0.096	2694	1400	2478	2545	2412	0	0	0	0	0	0	28.83	14.28	13.80
6600	0.68	218.8	2695	1400	2541	2404	169.4	11.4	646	6609	0.00	2.50	1.75	0.225	9222	0.000	0.108	2694	2801	2454	2523	2386	0	0	0	0	0	0	28.83	14.31	14.26
6913	0.71	246.8	2694	2802	2535	2402	136.7	10.4	678	6954	0.00	2.50	32.20	1.178	8708	0.000	0.093	2705	1390	2327	2396	2258	0	0	0	0	0	0	28.83	14.17	13.76
7053	0.78	286.9	2704	1390	2389	2245	122.7	9.7	704	7097	0.00	2.55	35.12	1.181	9222	0.000	0.109	2704	2810	2170	2247	2093	0	0	0	0	0	0	28.83	14.27	13.59
7391	0.83	303.8	2704	2808	2234	2068	85.4	11.0	740	7407	0.00	2.55	5.35	0.293	8708	0.000	0.096	2714	1396	2113	2199	2028	0	0	0	0	0	0	28.83	14.26	14.12
7537	0.91	343.3	2715	1396	2219	2051	70.8	9.7	768	7566	0.15	2.53	23.58	0.366	11270	0.155	0.109	2764	2801	1948	2036	1860	0	0	0	0	0	0	14.34	14.31	14.14
7860	0.98	399.0	2764	2801	2055	1886	34.2	8.9	802	7901	0.00	2.53	30.25	0.269	8708	0.000	0.098	2774	1394	1723	1813	1633	0	0	0	0	0	0	28.83	14.31	14.24
7981	1.06	443.5	2774	1393	1826	1645	22.7	9.5	824	8017	0.12	2.53	24.20	0.236	11270	0.171	0.109	2815	2806	1539	1634	1445	0	0	0	0	0	0	14.35	14.34	14.21
8321	1.37	663.4	2815	2807	1647	1457	9.3	-0.1	860	8445	0.30	2.50	113.22	0.200	10756	0.122	0.096	2924	1395	642	708	576	0	0	0	0	0	0	14.39	14.23	14.21
8498	end climb: SURFACE_DEPTH_REACHED
state	8498	begin surface coast
8528	end surface coast: CONTROL_FINISHED_OK
state	8528	begin surface