Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 38 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2700 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 38 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 28 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

D_ABORT 1010 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 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 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21668.93 PITCH_W_GAIN 2 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 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 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 2400 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 750 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 0.5 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 2 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 0.30000001 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 -21668.93

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 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 2700 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2400 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 28 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 23 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 38 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 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 2

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 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 300714,213749,7109.081,-14445.405,20,0.8,40,22.3 SPEED_LIMITS 0.139,0.252

_CALLS 2 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.90 MHEAD_RNG_PITCHd_Wd 297.0,62539,-21.5,-11.628,-24.76,1932

_SM_ANGLEo -74.8 D_GRID 1000

GPS2 300714,215048,7109.079,-14445.415,4,0.8,24,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140731001621.113092,3,1127,30,0265,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,20.8,1.4,-100,1.7,-01,0.5,20,900,0025*1A SC_FREEKB 4012772

EKF 11545,4270.321777,-8687.957031,10.023335,-0.001374,0.007225,0.001734,0.000256,0.002460,0.000099,0.003025,0.003025,0.000050 TM_FREEKB 7504608

FREEZE 10.02,-0.149,-1.485,0,1,0 _24V_AH 12.74,63.861

SM_CCo 11153,152.15,0.200,0,0,498,698.86 _10V_AH 12.68,0.000

SM_GC 2.27,8.45,0.52,0.00,0.132,0.106,0.000,201,2397,497,-7.06,0.79,699.60,0,0,0,0,0,0,14.33,14.37,28.83 FG_AHR_24Vo 0.000

RAFOS_CLK 162 FG_AHR_10Vo 0.000

MODEM 13,1406765061,70.90120,-144.64200,260.644,377838.5 MEM 296148

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 DATA_FILE_SIZE 26720,754

IRIDIUM_FIX 7032.78,-14444.71,300714,214112 CAP_FILE_SIZE 132480,0

TT8_MAMPS 0.045689,0.045689 CFSIZE 2097872896,2084700160

HUMID 50.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 8.44597 SOUNDSPEED 1450.4

TCM_TEMP 11.50 CURRENT 0.030,86.97,1

XPDR_PINGS 0 GPS 310714,010324,7110.261,-14447.341,30,0.7,50,22.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 483 135.66 nil 0 0 0.00

Roll_motor 48 153 95.17 nil 0 0 0.00

VBD_pump_during_apogee 427 2371 12903.18 nil 0 0 0.00

VBD_pump_during_surface 152 199 387.03 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 11175 12 1748.87

Iridium_during_xfer 504 185 1190.13 TMICL 11197 12 1814.08

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 25 20 6.91

TT8 0 0 0.00

LPSleep 9104 2 266.69

TT8_Active 713 10 99.29

TT8_Sampling 2327 29 876.67

TT8_CF8 84 36 39.15

TT8_Kalman 0 0 0.00

Analog_circuits 1902 10 241.23

GPS_charging 0 0 0.00

Compass 1122 5 71.14

RAFOS 1427 48 868.53

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

16 end surface: CONTROL_FINISHED_OK

state 16 begin dive

18 -0.85 -145.9 201 2406 571 520 0.0 0.0 0 74 0.00 0.00 -53.28 0.000 16386 0.000 0.000 201 2405 1932 1940 1924 0 0 0 0 0 0 28.83 28.83 28.83

76 -0.85 -145.9 200 2406 1942 1926 3.5 -3.7 5 133 11.18 2.53 -39.70 0.000 18692 0.483 0.153 2182 3762 3946 4002 3890 0 0 0 0 0 0 14.03 14.23 14.47

357 -0.85 -145.9 2179 3762 4001 3895 73.5 -23.3 58 368 0.00 2.35 0.00 0.000 1030 0.000 0.090 2179 2400 3946 3997 3895 0 0 0 0 0 0 28.83 14.33 28.83

662 -0.85 -145.9 2181 2401 4001 3896 133.7 -18.8 89 670 0.00 2.45 0.00 0.000 260 0.000 0.129 2170 3759 3948 4002 3895 0 0 0 0 0 0 28.83 14.38 28.83

784 -0.85 -145.9 2172 3759 4001 3896 157.7 -19.0 113 792 0.00 2.33 0.00 0.000 1030 0.000 0.087 2171 2396 3951 4002 3901 0 0 0 0 0 0 28.83 14.41 28.83

1096 -0.85 -145.9 2170 2400 4003 3896 207.3 -14.6 145 1098 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2400 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

1396 -0.85 -145.9 2171 2400 4003 3896 250.6 -14.0 175 1399 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2399 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

1695 -0.85 -145.9 2169 2401 4007 3895 291.6 -13.4 185 1698 0.00 0.00 0.00 0.000 6 0.000 0.000 2170 2399 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

1996 -0.85 -145.9 2172 2400 4001 3894 331.0 -13.1 195 1998 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

2295 -0.85 -145.9 2172 2400 4001 3894 370.0 -12.9 205 2299 0.00 0.00 0.00 0.000 6 0.000 0.000 2175 2400 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

2596 -0.85 -145.9 2170 2400 4002 3894 408.8 -12.8 215 2598 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2399 3947 4002 3893 0 0 0 0 0 0 28.83 28.83 28.83

2895 -0.85 -145.9 2172 2400 4001 3893 446.7 -12.6 225 2898 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2399 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

3196 -0.85 -145.9 2171 2400 4003 3893 484.8 -12.6 235 3198 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

3496 -0.85 -145.9 2170 2407 4003 3892 521.9 -12.3 245 3498 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

3796 -0.85 -145.9 2171 2400 4001 3892 558.5 -12.2 255 3798 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3946 4001 3892 0 0 0 0 0 0 28.83 28.83 28.83

4095 -0.85 -145.9 2171 2400 4001 3893 595.0 -12.1 265 4098 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3947 4003 3892 0 0 0 0 0 0 28.83 28.83 28.83

4396 -0.85 -145.9 2170 2400 4003 3892 631.0 -12.1 275 4398 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3946 4002 3891 0 0 0 0 0 0 28.83 28.83 28.83

4695 -0.85 -145.9 2171 2400 4002 3892 666.8 -11.9 285 4699 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3947 4002 3892 0 0 0 0 0 0 28.83 28.83 28.83

4996 -0.85 -145.9 2171 2400 4003 3892 702.7 -11.9 295 4998 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2400 3946 4001 3892 0 0 0 0 0 0 28.83 28.83 28.83

5295 -0.85 -145.9 2171 2400 4003 3892 738.4 -11.9 305 5298 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2399 3946 4002 3891 0 0 0 0 0 0 28.83 28.83 28.83

5414 end dive: TARGET_DEPTH_EXCEEDED

state 5414 begin apogee

5418 -0.16 0.0 2168 2696 4002 3892 752.4 -11.7 309 5570 0.95 0.00 137.15 2.372 10246 0.295 0.000 2409 2696 3355 3409 3301 0 0 0 0 1 0 14.49 28.83 12.74

5572 end apogee: CONTROL_FINISHED_OK

state 5572 begin climb

5573 0.85 145.9 2410 2697 3412 3303 756.8 0.0 314 5722 1.10 2.08 133.52 2.007 10500 0.144 0.126 2737 3770 2743 2791 2696 0 0 0 0 0 0 13.72 13.43 12.74

5827 0.85 145.9 2738 3771 2785 2689 728.7 18.9 357 5834 0.00 1.92 0.00 0.000 1030 0.000 0.088 2746 2694 2736 2785 2688 0 0 0 0 0 0 28.83 13.82 28.83

6154 0.85 145.9 2747 2694 2788 2688 674.6 16.5 372 6156 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2694 2736 2786 2687 0 0 0 0 0 0 28.83 28.83 28.83

6453 0.85 145.9 2745 2694 2787 2688 625.2 16.6 382 6456 0.00 0.00 0.00 0.000 6 0.000 0.000 2746 2694 2736 2785 2687 0 0 0 0 0 0 28.83 28.83 28.83

6753 0.85 145.9 2746 2691 2787 2688 576.1 16.3 392 6761 0.00 2.45 0.00 0.000 516 0.000 0.102 2756 1289 2736 2786 2687 0 0 0 0 0 0 28.83 14.38 28.83

6785 0.85 145.9 2756 1290 2787 2688 571.0 15.9 398 6795 0.00 2.53 0.00 0.000 1030 0.000 0.107 2755 2706 2736 2786 2686 0 0 0 0 0 0 28.83 14.38 28.83

7119 0.85 145.9 2756 2706 2787 2689 515.6 16.5 414 7122 0.00 0.00 0.00 0.000 6 0.000 0.000 2756 2706 2736 2785 2687 0 0 0 0 0 0 28.83 28.83 28.83

7419 0.85 145.9 2757 2706 2785 2687 466.3 16.3 424 7426 0.00 2.47 0.00 0.000 516 0.000 0.099 2767 1286 2736 2786 2686 0 0 0 0 0 0 28.83 14.48 28.83

7460 0.85 145.9 2768 1287 2785 2686 459.7 15.8 432 7469 0.00 2.50 0.00 0.000 1030 0.000 0.107 2767 2703 2735 2785 2686 0 0 0 0 0 0 28.83 14.49 28.83

7783 0.85 145.9 2768 2703 2789 2687 406.2 16.5 446 7786 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2703 2735 2785 2686 0 0 0 0 0 0 28.83 28.83 28.83

8083 0.85 145.9 2768 2703 2785 2683 356.1 16.5 456 8090 0.00 2.45 0.00 0.000 516 0.000 0.099 2777 1295 2736 2786 2687 0 0 0 0 0 0 28.83 14.47 28.83

8100 0.85 145.9 2775 1296 2787 2687 353.4 16.1 459 8108 0.15 2.50 0.00 0.000 5126 0.333 0.106 2748 2707 2736 2786 2686 0 0 0 0 0 0 14.34 14.44 28.83

8417 0.85 145.9 2748 2708 2786 2686 304.4 15.2 472 8425 0.00 2.47 0.00 0.000 516 0.000 0.098 2757 1285 2735 2785 2686 0 0 0 0 0 0 28.83 14.45 28.83

8443 0.85 145.9 2759 1286 2784 2687 300.4 14.3 477 8453 0.00 2.50 0.00 0.000 1030 0.000 0.106 2757 2701 2735 2785 2686 0 0 0 0 0 0 28.83 14.45 28.83

8749 0.85 145.9 2753 2702 2787 2687 252.9 15.6 488 8757 0.00 2.47 0.00 0.000 516 0.000 0.098 2767 1286 2735 2784 2686 0 0 0 0 0 0 28.83 14.44 28.83

8786 0.85 145.9 2768 1286 2785 2687 247.3 14.5 495 8795 0.00 2.50 0.00 0.000 1030 0.000 0.106 2767 2701 2736 2785 2688 0 0 0 0 0 0 28.83 14.44 28.83

9091 0.85 145.9 2769 2702 2785 2687 201.4 14.6 526 9094 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2701 2735 2785 2686 0 0 0 0 0 0 28.83 28.83 28.83

9391 0.88 145.9 2768 2705 2785 2687 163.8 10.3 556 9394 0.00 0.00 0.00 0.000 6 0.000 0.000 2767 2701 2737 2787 2687 0 0 0 0 0 0 28.83 28.83 28.83

9691 0.97 224.7 2768 2701 2784 2687 136.4 7.4 586 9770 0.00 2.53 68.30 1.232 8708 0.000 0.095 2778 1294 2420 2482 2358 0 0 0 0 0 0 28.83 14.04 13.63

9828 0.97 224.7 2779 1294 2477 2348 122.6 11.3 608 9837 0.00 2.55 0.00 0.000 1030 0.000 0.106 2778 2704 2412 2477 2348 0 0 0 0 0 0 28.83 14.14 28.83

10141 0.97 224.7 2778 2705 2476 2347 85.0 11.4 640 10143 0.00 0.00 0.00 0.000 6 0.000 0.000 2777 2704 2411 2477 2345 0 0 0 0 0 0 28.83 28.83 28.83

10441 1.04 274.9 2779 2705 2477 2345 54.3 9.0 670 10467 0.00 0.00 22.98 0.326 8198 0.000 0.000 2777 2704 2226 2298 2155 0 0 0 0 0 0 28.83 28.83 14.23

10761 1.19 403.4 2778 2705 2315 2170 32.1 4.8 702 10837 0.20 1.95 65.12 0.262 10500 0.150 0.133 2846 3765 1702 1790 1614 0 0 0 0 0 0 14.41 14.29 14.22

10926 1.19 403.4 2846 3771 1793 1622 11.9 15.0 731 10935 0.00 1.88 0.00 0.000 1030 0.000 0.091 2854 2697 1706 1791 1621 0 0 0 0 0 0 28.83 14.35 28.83

11150 end climb: NO_VERTICAL_VELOCITY

state 11150 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2700	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	38	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	28	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
D_ABORT	1010	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	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	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21668.93	PITCH_W_GAIN	2	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	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	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	2400	ALTIM_PING_DELTA	5

GPS1	300714,213749,7109.081,-14445.405,20,0.8,40,22.3	SPEED_LIMITS	0.139,0.252
_CALLS	2	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.90	MHEAD_RNG_PITCHd_Wd	297.0,62539,-21.5,-11.628,-24.76,1932
_SM_ANGLEo	-74.8	D_GRID	1000
GPS2	300714,215048,7109.079,-14445.415,4,0.8,24,22.3

MODEM_MSG	CACST,6,1,20140731001621.113092,3,1127,30,0265,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,20.8,1.4,-100,1.7,-01,0.5,20,900,0025*1A	SC_FREEKB	4012772
EKF	11545,4270.321777,-8687.957031,10.023335,-0.001374,0.007225,0.001734,0.000256,0.002460,0.000099,0.003025,0.003025,0.000050	TM_FREEKB	7504608
FREEZE	10.02,-0.149,-1.485,0,1,0	_24V_AH	12.74,63.861
SM_CCo	11153,152.15,0.200,0,0,498,698.86	_10V_AH	12.68,0.000
SM_GC	2.27,8.45,0.52,0.00,0.132,0.106,0.000,201,2397,497,-7.06,0.79,699.60,0,0,0,0,0,0,14.33,14.37,28.83	FG_AHR_24Vo	0.000
RAFOS_CLK	162	FG_AHR_10Vo	0.000
MODEM	13,1406765061,70.90120,-144.64200,260.644,377838.5	MEM	296148
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	DATA_FILE_SIZE	26720,754
IRIDIUM_FIX	7032.78,-14444.71,300714,214112	CAP_FILE_SIZE	132480,0
TT8_MAMPS	0.045689,0.045689	CFSIZE	2097872896,2084700160
HUMID	50.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	8.44597	SOUNDSPEED	1450.4
TCM_TEMP	11.50	CURRENT	0.030,86.97,1
XPDR_PINGS	0	GPS	310714,010324,7110.261,-14447.341,30,0.7,50,22.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	483	135.66	nil	0	0	0.00
Roll_motor	48	153	95.17	nil	0	0	0.00
VBD_pump_during_apogee	427	2371	12903.18	nil	0	0	0.00
VBD_pump_during_surface	152	199	387.03	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	11175	12	1748.87
Iridium_during_xfer	504	185	1190.13	TMICL	11197	12	1814.08
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	25	20	6.91
TT8	0	0	0.00
LPSleep	9104	2	266.69
TT8_Active	713	10	99.29
TT8_Sampling	2327	29	876.67
TT8_CF8	84	36	39.15
TT8_Kalman	0	0	0.00
Analog_circuits	1902	10	241.23
GPS_charging	0	0	0.00
Compass	1122	5	71.14
RAFOS	1427	48	868.53
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
16	end surface: CONTROL_FINISHED_OK
state	16	begin dive
18	-0.85	-145.9	201	2406	571	520	0.0	0.0	0	74	0.00	0.00	-53.28	0.000	16386	0.000	0.000	201	2405	1932	1940	1924	0	0	0	0	0	0	28.83	28.83	28.83
76	-0.85	-145.9	200	2406	1942	1926	3.5	-3.7	5	133	11.18	2.53	-39.70	0.000	18692	0.483	0.153	2182	3762	3946	4002	3890	0	0	0	0	0	0	14.03	14.23	14.47
357	-0.85	-145.9	2179	3762	4001	3895	73.5	-23.3	58	368	0.00	2.35	0.00	0.000	1030	0.000	0.090	2179	2400	3946	3997	3895	0	0	0	0	0	0	28.83	14.33	28.83
662	-0.85	-145.9	2181	2401	4001	3896	133.7	-18.8	89	670	0.00	2.45	0.00	0.000	260	0.000	0.129	2170	3759	3948	4002	3895	0	0	0	0	0	0	28.83	14.38	28.83
784	-0.85	-145.9	2172	3759	4001	3896	157.7	-19.0	113	792	0.00	2.33	0.00	0.000	1030	0.000	0.087	2171	2396	3951	4002	3901	0	0	0	0	0	0	28.83	14.41	28.83
1096	-0.85	-145.9	2170	2400	4003	3896	207.3	-14.6	145	1098	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2400	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
1396	-0.85	-145.9	2171	2400	4003	3896	250.6	-14.0	175	1399	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2399	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
1695	-0.85	-145.9	2169	2401	4007	3895	291.6	-13.4	185	1698	0.00	0.00	0.00	0.000	6	0.000	0.000	2170	2399	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
1996	-0.85	-145.9	2172	2400	4001	3894	331.0	-13.1	195	1998	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
2295	-0.85	-145.9	2172	2400	4001	3894	370.0	-12.9	205	2299	0.00	0.00	0.00	0.000	6	0.000	0.000	2175	2400	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
2596	-0.85	-145.9	2170	2400	4002	3894	408.8	-12.8	215	2598	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2399	3947	4002	3893	0	0	0	0	0	0	28.83	28.83	28.83
2895	-0.85	-145.9	2172	2400	4001	3893	446.7	-12.6	225	2898	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2399	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
3196	-0.85	-145.9	2171	2400	4003	3893	484.8	-12.6	235	3198	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
3496	-0.85	-145.9	2170	2407	4003	3892	521.9	-12.3	245	3498	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
3796	-0.85	-145.9	2171	2400	4001	3892	558.5	-12.2	255	3798	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3946	4001	3892	0	0	0	0	0	0	28.83	28.83	28.83
4095	-0.85	-145.9	2171	2400	4001	3893	595.0	-12.1	265	4098	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3947	4003	3892	0	0	0	0	0	0	28.83	28.83	28.83
4396	-0.85	-145.9	2170	2400	4003	3892	631.0	-12.1	275	4398	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3946	4002	3891	0	0	0	0	0	0	28.83	28.83	28.83
4695	-0.85	-145.9	2171	2400	4002	3892	666.8	-11.9	285	4699	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3947	4002	3892	0	0	0	0	0	0	28.83	28.83	28.83
4996	-0.85	-145.9	2171	2400	4003	3892	702.7	-11.9	295	4998	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2400	3946	4001	3892	0	0	0	0	0	0	28.83	28.83	28.83
5295	-0.85	-145.9	2171	2400	4003	3892	738.4	-11.9	305	5298	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2399	3946	4002	3891	0	0	0	0	0	0	28.83	28.83	28.83
5414	end dive: TARGET_DEPTH_EXCEEDED
state	5414	begin apogee
5418	-0.16	0.0	2168	2696	4002	3892	752.4	-11.7	309	5570	0.95	0.00	137.15	2.372	10246	0.295	0.000	2409	2696	3355	3409	3301	0	0	0	0	1	0	14.49	28.83	12.74
5572	end apogee: CONTROL_FINISHED_OK
state	5572	begin climb
5573	0.85	145.9	2410	2697	3412	3303	756.8	0.0	314	5722	1.10	2.08	133.52	2.007	10500	0.144	0.126	2737	3770	2743	2791	2696	0	0	0	0	0	0	13.72	13.43	12.74
5827	0.85	145.9	2738	3771	2785	2689	728.7	18.9	357	5834	0.00	1.92	0.00	0.000	1030	0.000	0.088	2746	2694	2736	2785	2688	0	0	0	0	0	0	28.83	13.82	28.83
6154	0.85	145.9	2747	2694	2788	2688	674.6	16.5	372	6156	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2694	2736	2786	2687	0	0	0	0	0	0	28.83	28.83	28.83
6453	0.85	145.9	2745	2694	2787	2688	625.2	16.6	382	6456	0.00	0.00	0.00	0.000	6	0.000	0.000	2746	2694	2736	2785	2687	0	0	0	0	0	0	28.83	28.83	28.83
6753	0.85	145.9	2746	2691	2787	2688	576.1	16.3	392	6761	0.00	2.45	0.00	0.000	516	0.000	0.102	2756	1289	2736	2786	2687	0	0	0	0	0	0	28.83	14.38	28.83
6785	0.85	145.9	2756	1290	2787	2688	571.0	15.9	398	6795	0.00	2.53	0.00	0.000	1030	0.000	0.107	2755	2706	2736	2786	2686	0	0	0	0	0	0	28.83	14.38	28.83
7119	0.85	145.9	2756	2706	2787	2689	515.6	16.5	414	7122	0.00	0.00	0.00	0.000	6	0.000	0.000	2756	2706	2736	2785	2687	0	0	0	0	0	0	28.83	28.83	28.83
7419	0.85	145.9	2757	2706	2785	2687	466.3	16.3	424	7426	0.00	2.47	0.00	0.000	516	0.000	0.099	2767	1286	2736	2786	2686	0	0	0	0	0	0	28.83	14.48	28.83
7460	0.85	145.9	2768	1287	2785	2686	459.7	15.8	432	7469	0.00	2.50	0.00	0.000	1030	0.000	0.107	2767	2703	2735	2785	2686	0	0	0	0	0	0	28.83	14.49	28.83
7783	0.85	145.9	2768	2703	2789	2687	406.2	16.5	446	7786	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2703	2735	2785	2686	0	0	0	0	0	0	28.83	28.83	28.83
8083	0.85	145.9	2768	2703	2785	2683	356.1	16.5	456	8090	0.00	2.45	0.00	0.000	516	0.000	0.099	2777	1295	2736	2786	2687	0	0	0	0	0	0	28.83	14.47	28.83
8100	0.85	145.9	2775	1296	2787	2687	353.4	16.1	459	8108	0.15	2.50	0.00	0.000	5126	0.333	0.106	2748	2707	2736	2786	2686	0	0	0	0	0	0	14.34	14.44	28.83
8417	0.85	145.9	2748	2708	2786	2686	304.4	15.2	472	8425	0.00	2.47	0.00	0.000	516	0.000	0.098	2757	1285	2735	2785	2686	0	0	0	0	0	0	28.83	14.45	28.83
8443	0.85	145.9	2759	1286	2784	2687	300.4	14.3	477	8453	0.00	2.50	0.00	0.000	1030	0.000	0.106	2757	2701	2735	2785	2686	0	0	0	0	0	0	28.83	14.45	28.83
8749	0.85	145.9	2753	2702	2787	2687	252.9	15.6	488	8757	0.00	2.47	0.00	0.000	516	0.000	0.098	2767	1286	2735	2784	2686	0	0	0	0	0	0	28.83	14.44	28.83
8786	0.85	145.9	2768	1286	2785	2687	247.3	14.5	495	8795	0.00	2.50	0.00	0.000	1030	0.000	0.106	2767	2701	2736	2785	2688	0	0	0	0	0	0	28.83	14.44	28.83
9091	0.85	145.9	2769	2702	2785	2687	201.4	14.6	526	9094	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2701	2735	2785	2686	0	0	0	0	0	0	28.83	28.83	28.83
9391	0.88	145.9	2768	2705	2785	2687	163.8	10.3	556	9394	0.00	0.00	0.00	0.000	6	0.000	0.000	2767	2701	2737	2787	2687	0	0	0	0	0	0	28.83	28.83	28.83
9691	0.97	224.7	2768	2701	2784	2687	136.4	7.4	586	9770	0.00	2.53	68.30	1.232	8708	0.000	0.095	2778	1294	2420	2482	2358	0	0	0	0	0	0	28.83	14.04	13.63
9828	0.97	224.7	2779	1294	2477	2348	122.6	11.3	608	9837	0.00	2.55	0.00	0.000	1030	0.000	0.106	2778	2704	2412	2477	2348	0	0	0	0	0	0	28.83	14.14	28.83
10141	0.97	224.7	2778	2705	2476	2347	85.0	11.4	640	10143	0.00	0.00	0.00	0.000	6	0.000	0.000	2777	2704	2411	2477	2345	0	0	0	0	0	0	28.83	28.83	28.83
10441	1.04	274.9	2779	2705	2477	2345	54.3	9.0	670	10467	0.00	0.00	22.98	0.326	8198	0.000	0.000	2777	2704	2226	2298	2155	0	0	0	0	0	0	28.83	28.83	14.23
10761	1.19	403.4	2778	2705	2315	2170	32.1	4.8	702	10837	0.20	1.95	65.12	0.262	10500	0.150	0.133	2846	3765	1702	1790	1614	0	0	0	0	0	0	14.41	14.29	14.22
10926	1.19	403.4	2846	3771	1793	1622	11.9	15.0	731	10935	0.00	1.88	0.00	0.000	1030	0.000	0.091	2854	2697	1706	1791	1621	0	0	0	0	0	0	28.83	14.35	28.83
11150	end climb: NO_VERTICAL_VELOCITY
state	11150	begin surface