Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 53 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 0 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 53 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 750 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

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 3186 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 0.00069999998 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 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -3389.5876 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 0.0043931045

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063259818

T_WATCHDOG 10 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_I 2.5708419e-05

RELAUNCH 1 PITCH_MAX 3894 FG_AHR_10V 0 SEABIRD_T_J 3.1590957e-06

APOGEE_PITCH -5 C_PITCH 2590 FG_AHR_24V 0 SEABIRD_C_G -9.8238754

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1280942

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -84.212708 SEABIRD_C_I -0.0016420757

GLIDE_SLOPE 35 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001160319 SEABIRD_C_J 0.00020143802

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 36 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54305 PITCH_TIMEOUT 20 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 0.0023000001 ROLL_MIN 200 ALTIM_TOP_TURN_MARGIN 0 TM_XMITRAW 0.0

HD_B 0.014 ROLL_MAX 3790 ALTIM_TOP_MIN_OBSTACLE 1

HD_C 1e-06 ROLL_DEG 40 ALTIM_PING_DEPTH 0

HEADING -1 C_ROLL_DIVE 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 750 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3894 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 212 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 20 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.00069999998 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 35 PRESSURE_SLOPE 0.0001160319 TM_PROFILE 3.0

ALTIM_TOP_MIN_OBSTACLE 1 GPS_DEVICE 32 PRESSURE_YINT -84.212708 TM_RECORDABOVE 2000.0

ALTIM_TOP_PING_RANGE 0 HD_A 0.0023000001 PROTOCOL 9 TM_XMITPROFILE 3.0

ALTIM_TOP_TURN_MARGIN 0 HD_B 0.014 P_OVSHOOT 0.039999999 TM_XMITRAW 0.0

APOGEE_PITCH -5 HD_C 1e-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 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3389.5876

COMM_SEQ 0 INT_PRESSURE_YINT -0.44999999 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 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2680 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 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 -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 53 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1010 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.1590957e-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 648.87579

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 020814,200218,7136.755,-14411.215,35,0.9,55,22.6 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.04 MHEAD_RNG_PITCHd_Wd 108.7,1517,-30.9,-11.628,-35.00,1025

_SM_ANGLEo -73.8 D_GRID 1000

GPS2 020814,201332,7136.678,-14411.456,6,0.8,26,22.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140802201529.672314,3,177,04,0118,0150,100,00,00,03,05,-1,-01,-01,1,3,0,0,150,-1.7,0.6,-100,2.4,-01,0.8,31,900,0025*3C _24V_AH 13.04,18.869

FREEZE 12.38,1.760,-1.499,0,1,0 _10V_AH 12.76,0.000

SM_CCo 9655,171.98,0.210,0,0,499,658.88 FG_AHR_24Vo 0.000

SM_GC 2.10,8.48,0.65,0.00,0.112,0.086,0.000,207,2678,497,-7.39,0.96,659.61,0,0,0,0,0,0,14.47,14.48,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 629 MEM 288272

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 30008,905

IRIDIUM_FIX 7058.96,-14410.35,020814,170208 CAP_FILE_SIZE 138161,0

TT8_MAMPS 0.04494,0.04494 CFSIZE 2097872896,2079490048

HUMID 51.96 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.55425 INTR 0,10964.78,0x2378b6,7,5

TCM_TEMP 12.10 SOUNDSPEED 1450.5

XPDR_PINGS 0 EKF 10107,4296.139648,-8648.391602,12.377001,0.009364,-0.015635,0.004805,0.000169,0.001699,0.000099,0.002025,0.002025,0.000050

SC_FREEKB 3996640 CURRENT 0.023,284.16,1

TM_FREEKB 7143392 GPS 020814,230214,7136.173,-14408.797,15,0.9,36,22.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 460 133.47 nil 0 0 0.00

Roll_motor 59 130 100.99 nil 0 0 0.00

VBD_pump_during_apogee 365 1809 8615.32 nil 0 0 0.00

VBD_pump_during_surface 171 210 471.78 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 9676 12 1597.00

Iridium_during_xfer 415 202 1098.92 TMICL 9735 13 1693.18

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 0 0.26

TT8 0 0 0.00

LPSleep 7380 2 217.55

TT8_Active 680 8 75.79

TT8_Sampling 2541 28 914.43

TT8_CF8 104 35 47.45

TT8_Kalman 0 0 0.00

Analog_circuits 1900 10 242.53

GPS_charging 0 0 0.00

Compass 1336 0 12.79

RAFOS 578 48 354.01

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 -0.91 -77.4 204 2678 467 507 0.0 0.0 0 70 0.00 0.00 -48.42 0.000 16386 0.000 0.000 204 2681 1714 1746 1683 0 0 0 0 0 0 28.83 28.83 28.83

72 -0.96 -144.8 205 2680 1746 1683 4.0 -4.9 5 133 10.75 2.50 -39.65 0.000 19204 0.461 0.112 2269 1266 3780 3834 3727 0 0 0 0 0 0 14.09 14.30 14.50

357 -0.96 -144.8 2270 1266 3836 3732 70.9 -21.8 59 365 0.00 2.55 0.00 0.000 1030 0.000 0.113 2264 2686 3782 3834 3731 0 0 0 0 0 0 28.83 14.34 28.83

670 -0.96 -144.8 2265 2687 3835 3732 140.8 -21.5 91 679 0.00 2.38 0.00 0.000 516 0.000 0.086 2265 1270 3783 3834 3733 0 0 0 0 0 0 28.83 14.40 28.83

903 -0.99 -144.8 2265 1269 3835 3732 185.8 -18.5 137 911 0.00 2.53 0.00 0.000 1030 0.000 0.118 2264 2681 3783 3834 3732 0 0 0 0 0 0 28.83 14.45 28.83

1215 -1.01 -144.8 2265 2682 3835 3732 239.4 -16.5 169 1223 0.00 2.40 0.00 0.000 516 0.000 0.088 2264 1271 3785 3834 3736 0 0 0 0 0 0 28.83 14.50 28.83

1308 -1.05 -144.8 2265 1271 3835 3731 253.7 -15.2 187 1316 0.00 2.50 0.00 0.000 1030 0.000 0.119 2264 2682 3779 3829 3730 0 0 0 0 0 0 28.83 14.48 28.83

1641 -1.09 -144.8 2265 2682 3835 3729 305.3 -15.4 203 1644 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2682 3781 3834 3729 0 0 0 0 0 0 28.83 28.83 28.83

1940 -1.12 -144.8 2264 2682 3835 3729 351.2 -15.5 213 1943 0.12 0.00 0.00 0.000 4102 0.162 0.000 2215 2682 3781 3834 3728 0 0 0 0 0 0 14.61 28.83 28.83

2240 -1.12 -144.8 2216 2682 3835 3728 404.1 -17.7 223 2248 0.00 2.40 0.00 0.000 516 0.000 0.088 2215 1263 3780 3834 3727 0 0 0 0 0 0 28.83 14.61 28.83

2282 -1.12 -144.8 2217 1264 3834 3728 411.3 -16.8 231 2290 0.00 2.50 0.00 0.000 1030 0.000 0.114 2207 2682 3782 3838 3727 0 0 0 0 0 0 28.83 14.57 28.83

2604 -1.12 -144.8 2208 2683 3835 3728 468.0 -17.5 245 2607 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3780 3834 3727 0 0 0 0 0 0 28.83 28.83 28.83

2904 -1.12 -144.8 2204 2680 3836 3728 520.4 -17.4 255 2906 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3780 3834 3727 0 0 0 0 0 0 28.83 28.83 28.83

3204 -1.12 -144.8 2208 2682 3835 3726 572.4 -17.3 265 3207 0.00 0.00 0.00 0.000 6 0.000 0.000 2207 2682 3780 3834 3727 0 0 0 0 0 0 28.83 28.83 28.83

3504 -1.12 -144.8 2208 2683 3832 3735 623.6 -17.1 275 3512 0.00 2.38 0.00 0.000 516 0.000 0.087 2207 1267 3778 3834 3722 0 0 0 0 0 0 28.83 14.66 28.83

3545 -1.12 -144.8 2208 1267 3835 3725 630.5 -16.1 283 3554 0.12 2.47 0.00 0.000 3078 0.367 0.111 2223 2681 3779 3834 3725 0 0 0 0 0 0 14.51 14.62 28.83

3868 -1.12 -144.8 2221 2682 3834 3726 682.5 -16.1 297 3872 0.00 0.00 0.00 0.000 6 0.000 0.000 2220 2681 3779 3834 3724 0 0 0 0 0 0 28.83 28.83 28.83

4168 -1.12 -144.8 2220 2681 3835 3725 730.8 -16.0 307 4170 0.00 0.00 0.00 0.000 6 0.000 0.000 2219 2681 3777 3829 3725 0 0 0 0 0 0 28.83 28.83 28.83

4317 end dive: TARGET_DEPTH_EXCEEDED

state 4317 begin apogee

4320 -0.14 0.0 2218 3059 3835 3725 754.7 -16.0 312 4451 1.27 0.00 125.95 1.809 10246 0.324 0.000 2536 3057 3185 3285 3085 0 0 0 0 0 0 14.54 28.83 13.24

4453 end apogee: CONTROL_FINISHED_OK

state 4453 begin climb

4454 0.96 144.8 2537 3058 3280 3079 758.6 0.0 316 4591 1.23 1.45 123.05 1.777 10500 0.185 0.122 2889 3785 2588 2672 2504 0 0 0 0 0 0 13.87 13.64 13.04

4719 0.96 144.8 2889 3786 2662 2499 720.3 19.9 362 4729 0.00 1.33 0.00 0.000 1030 0.000 0.080 2894 3047 2579 2660 2499 0 0 0 0 0 0 28.83 14.03 28.83

5033 0.96 144.8 2894 3047 2661 2498 663.2 18.2 374 5042 0.00 1.38 0.00 0.000 260 0.000 0.126 2894 3780 2579 2660 2498 0 0 0 0 0 0 28.83 14.24 28.83

5236 0.94 144.8 2894 3781 2660 2498 622.7 20.1 414 5246 0.00 1.27 0.00 0.000 1030 0.000 0.082 2900 3048 2578 2659 2498 0 0 0 0 0 0 28.83 14.38 28.83

5551 0.94 144.8 2901 3049 2658 2499 564.0 18.7 426 5561 0.00 1.38 0.00 0.000 260 0.000 0.126 2900 3787 2578 2659 2498 0 0 0 0 0 0 28.83 14.43 28.83

5780 0.91 144.8 2900 3787 2660 2498 516.8 20.9 471 5788 0.00 1.27 0.00 0.000 1030 0.000 0.082 2905 3048 2578 2658 2498 0 0 0 0 0 0 28.83 14.52 28.83

6098 0.91 144.8 2907 3049 2659 2499 457.1 18.7 484 6105 0.00 1.35 0.00 0.000 260 0.000 0.126 2905 3781 2578 2659 2498 0 0 0 0 0 0 28.83 14.52 28.83

6329 0.88 144.8 2906 3784 2659 2498 409.4 21.0 530 6339 0.12 1.25 0.00 0.000 5126 0.317 0.083 2879 3051 2577 2658 2496 0 0 0 0 0 0 14.44 14.58 28.83

6643 0.88 144.8 2880 3051 2659 2498 354.8 17.2 542 6652 0.00 1.35 0.00 0.000 260 0.000 0.127 2879 3787 2576 2658 2495 0 0 0 0 0 0 28.83 14.56 28.83

6821 0.88 144.8 2880 3787 2654 2498 321.2 18.4 577 6831 0.00 1.25 0.00 0.000 1030 0.000 0.083 2885 3060 2577 2657 2498 0 0 0 0 0 0 28.83 14.61 28.83

7127 0.88 144.8 2885 3060 2660 2498 268.7 17.1 588 7134 0.00 1.33 0.00 0.000 260 0.000 0.125 2885 3785 2575 2653 2498 0 0 0 0 0 0 28.83 14.58 28.83

7248 0.88 144.8 2889 3789 2659 2498 246.7 17.6 612 7256 0.00 1.25 0.00 0.000 1030 0.000 0.083 2890 3050 2578 2658 2498 0 0 0 0 0 0 28.83 14.62 28.83

7560 0.88 144.8 2891 3049 2660 2498 196.8 15.3 644 7568 0.00 1.35 0.00 0.000 260 0.000 0.128 2891 3788 2577 2658 2497 0 0 0 0 0 0 28.83 14.57 28.83

7637 0.88 144.8 2891 3788 2659 2498 184.6 15.5 659 7646 0.00 1.25 0.00 0.000 1030 0.000 0.084 2896 3058 2578 2658 2498 0 0 0 0 0 0 28.83 14.61 28.83

7942 0.88 151.7 2901 3059 2659 2498 148.5 10.9 690 7953 0.00 1.30 1.35 0.236 8452 0.000 0.123 2896 3790 2569 2655 2483 0 0 0 0 0 0 28.83 14.55 14.51

8037 0.89 159.4 2897 3791 2666 2487 137.5 10.9 708 8059 0.00 1.27 10.95 1.148 9222 0.000 0.083 2902 3049 2530 2616 2444 0 0 0 0 0 0 28.83 14.59 14.07

8363 0.93 186.0 2902 3051 2612 2442 104.6 9.0 742 8392 0.00 1.40 23.08 1.051 8452 0.000 0.129 2902 3786 2422 2509 2335 0 0 0 0 0 0 28.83 14.38 14.00

8455 0.93 186.0 2902 3786 2498 2330 94.5 12.1 758 8467 0.00 1.27 0.00 0.000 1030 0.000 0.083 2908 3052 2413 2497 2330 0 0 0 0 0 0 28.83 14.43 28.83

8761 0.98 201.3 2908 3052 2498 2330 63.7 10.1 789 8778 0.00 2.40 6.25 0.355 8708 0.000 0.081 2918 1635 2370 2461 2280 0 0 0 0 0 0 28.83 14.48 14.29

8812 1.06 237.0 2919 1636 2474 2281 59.5 8.0 798 8842 0.00 2.53 20.30 0.353 9222 0.000 0.116 2918 3051 2222 2307 2138 0 0 0 0 0 0 28.83 14.45 14.29

9146 1.16 305.4 2919 3052 2320 2139 35.8 4.8 833 9191 0.12 2.47 37.25 0.281 10756 0.148 0.085 2981 1645 1942 2022 1863 0 0 0 0 0 0 14.52 14.42 14.31

9371 1.23 336.4 2982 1645 2033 1862 15.1 8.5 875 9399 0.00 2.53 17.00 0.220 9222 0.000 0.119 2981 3060 1813 1888 1739 0 0 0 0 0 0 28.83 14.42 14.38

9652 end climb: NO_VERTICAL_VELOCITY

state 9652 begin surface

ID	198	ESCAPE_HEADING	0	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	53	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	750	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
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	3186	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	0.00069999998	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	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-3389.5876	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	0.0043931045
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063259818
T_WATCHDOG	10	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_I	2.5708419e-05
RELAUNCH	1	PITCH_MAX	3894	FG_AHR_10V	0	SEABIRD_T_J	3.1590957e-06
APOGEE_PITCH	-5	C_PITCH	2590	FG_AHR_24V	0	SEABIRD_C_G	-9.8238754
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1280942
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-84.212708	SEABIRD_C_I	-0.0016420757
GLIDE_SLOPE	35	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001160319	SEABIRD_C_J	0.00020143802
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	36	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54305	PITCH_TIMEOUT	20	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	0.0023000001	ROLL_MIN	200	ALTIM_TOP_TURN_MARGIN	0	TM_XMITRAW	0.0
HD_B	0.014	ROLL_MAX	3790	ALTIM_TOP_MIN_OBSTACLE	1
HD_C	1e-06	ROLL_DEG	40	ALTIM_PING_DEPTH	0
HEADING	-1	C_ROLL_DIVE	2680	ALTIM_PING_DELTA	5

GPS1	020814,200218,7136.755,-14411.215,35,0.9,55,22.6	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.04	MHEAD_RNG_PITCHd_Wd	108.7,1517,-30.9,-11.628,-35.00,1025
_SM_ANGLEo	-73.8	D_GRID	1000
GPS2	020814,201332,7136.678,-14411.456,6,0.8,26,22.6

MODEM_MSG	CACST,6,1,20140802201529.672314,3,177,04,0118,0150,100,00,00,03,05,-1,-01,-01,1,3,0,0,150,-1.7,0.6,-100,2.4,-01,0.8,31,900,0025*3C	_24V_AH	13.04,18.869
FREEZE	12.38,1.760,-1.499,0,1,0	_10V_AH	12.76,0.000
SM_CCo	9655,171.98,0.210,0,0,499,658.88	FG_AHR_24Vo	0.000
SM_GC	2.10,8.48,0.65,0.00,0.112,0.086,0.000,207,2678,497,-7.39,0.96,659.61,0,0,0,0,0,0,14.47,14.48,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	629	MEM	288272
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	30008,905
IRIDIUM_FIX	7058.96,-14410.35,020814,170208	CAP_FILE_SIZE	138161,0
TT8_MAMPS	0.04494,0.04494	CFSIZE	2097872896,2079490048
HUMID	51.96	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.55425	INTR	0,10964.78,0x2378b6,7,5
TCM_TEMP	12.10	SOUNDSPEED	1450.5
XPDR_PINGS	0	EKF	10107,4296.139648,-8648.391602,12.377001,0.009364,-0.015635,0.004805,0.000169,0.001699,0.000099,0.002025,0.002025,0.000050
SC_FREEKB	3996640	CURRENT	0.023,284.16,1
TM_FREEKB	7143392	GPS	020814,230214,7136.173,-14408.797,15,0.9,36,22.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	460	133.47	nil	0	0	0.00
Roll_motor	59	130	100.99	nil	0	0	0.00
VBD_pump_during_apogee	365	1809	8615.32	nil	0	0	0.00
VBD_pump_during_surface	171	210	471.78	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	9676	12	1597.00
Iridium_during_xfer	415	202	1098.92	TMICL	9735	13	1693.18
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	0	0.26
TT8	0	0	0.00
LPSleep	7380	2	217.55
TT8_Active	680	8	75.79
TT8_Sampling	2541	28	914.43
TT8_CF8	104	35	47.45
TT8_Kalman	0	0	0.00
Analog_circuits	1900	10	242.53
GPS_charging	0	0	0.00
Compass	1336	0	12.79
RAFOS	578	48	354.01
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	-0.91	-77.4	204	2678	467	507	0.0	0.0	0	70	0.00	0.00	-48.42	0.000	16386	0.000	0.000	204	2681	1714	1746	1683	0	0	0	0	0	0	28.83	28.83	28.83
72	-0.96	-144.8	205	2680	1746	1683	4.0	-4.9	5	133	10.75	2.50	-39.65	0.000	19204	0.461	0.112	2269	1266	3780	3834	3727	0	0	0	0	0	0	14.09	14.30	14.50
357	-0.96	-144.8	2270	1266	3836	3732	70.9	-21.8	59	365	0.00	2.55	0.00	0.000	1030	0.000	0.113	2264	2686	3782	3834	3731	0	0	0	0	0	0	28.83	14.34	28.83
670	-0.96	-144.8	2265	2687	3835	3732	140.8	-21.5	91	679	0.00	2.38	0.00	0.000	516	0.000	0.086	2265	1270	3783	3834	3733	0	0	0	0	0	0	28.83	14.40	28.83
903	-0.99	-144.8	2265	1269	3835	3732	185.8	-18.5	137	911	0.00	2.53	0.00	0.000	1030	0.000	0.118	2264	2681	3783	3834	3732	0	0	0	0	0	0	28.83	14.45	28.83
1215	-1.01	-144.8	2265	2682	3835	3732	239.4	-16.5	169	1223	0.00	2.40	0.00	0.000	516	0.000	0.088	2264	1271	3785	3834	3736	0	0	0	0	0	0	28.83	14.50	28.83
1308	-1.05	-144.8	2265	1271	3835	3731	253.7	-15.2	187	1316	0.00	2.50	0.00	0.000	1030	0.000	0.119	2264	2682	3779	3829	3730	0	0	0	0	0	0	28.83	14.48	28.83
1641	-1.09	-144.8	2265	2682	3835	3729	305.3	-15.4	203	1644	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2682	3781	3834	3729	0	0	0	0	0	0	28.83	28.83	28.83
1940	-1.12	-144.8	2264	2682	3835	3729	351.2	-15.5	213	1943	0.12	0.00	0.00	0.000	4102	0.162	0.000	2215	2682	3781	3834	3728	0	0	0	0	0	0	14.61	28.83	28.83
2240	-1.12	-144.8	2216	2682	3835	3728	404.1	-17.7	223	2248	0.00	2.40	0.00	0.000	516	0.000	0.088	2215	1263	3780	3834	3727	0	0	0	0	0	0	28.83	14.61	28.83
2282	-1.12	-144.8	2217	1264	3834	3728	411.3	-16.8	231	2290	0.00	2.50	0.00	0.000	1030	0.000	0.114	2207	2682	3782	3838	3727	0	0	0	0	0	0	28.83	14.57	28.83
2604	-1.12	-144.8	2208	2683	3835	3728	468.0	-17.5	245	2607	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3780	3834	3727	0	0	0	0	0	0	28.83	28.83	28.83
2904	-1.12	-144.8	2204	2680	3836	3728	520.4	-17.4	255	2906	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3780	3834	3727	0	0	0	0	0	0	28.83	28.83	28.83
3204	-1.12	-144.8	2208	2682	3835	3726	572.4	-17.3	265	3207	0.00	0.00	0.00	0.000	6	0.000	0.000	2207	2682	3780	3834	3727	0	0	0	0	0	0	28.83	28.83	28.83
3504	-1.12	-144.8	2208	2683	3832	3735	623.6	-17.1	275	3512	0.00	2.38	0.00	0.000	516	0.000	0.087	2207	1267	3778	3834	3722	0	0	0	0	0	0	28.83	14.66	28.83
3545	-1.12	-144.8	2208	1267	3835	3725	630.5	-16.1	283	3554	0.12	2.47	0.00	0.000	3078	0.367	0.111	2223	2681	3779	3834	3725	0	0	0	0	0	0	14.51	14.62	28.83
3868	-1.12	-144.8	2221	2682	3834	3726	682.5	-16.1	297	3872	0.00	0.00	0.00	0.000	6	0.000	0.000	2220	2681	3779	3834	3724	0	0	0	0	0	0	28.83	28.83	28.83
4168	-1.12	-144.8	2220	2681	3835	3725	730.8	-16.0	307	4170	0.00	0.00	0.00	0.000	6	0.000	0.000	2219	2681	3777	3829	3725	0	0	0	0	0	0	28.83	28.83	28.83
4317	end dive: TARGET_DEPTH_EXCEEDED
state	4317	begin apogee
4320	-0.14	0.0	2218	3059	3835	3725	754.7	-16.0	312	4451	1.27	0.00	125.95	1.809	10246	0.324	0.000	2536	3057	3185	3285	3085	0	0	0	0	0	0	14.54	28.83	13.24
4453	end apogee: CONTROL_FINISHED_OK
state	4453	begin climb
4454	0.96	144.8	2537	3058	3280	3079	758.6	0.0	316	4591	1.23	1.45	123.05	1.777	10500	0.185	0.122	2889	3785	2588	2672	2504	0	0	0	0	0	0	13.87	13.64	13.04
4719	0.96	144.8	2889	3786	2662	2499	720.3	19.9	362	4729	0.00	1.33	0.00	0.000	1030	0.000	0.080	2894	3047	2579	2660	2499	0	0	0	0	0	0	28.83	14.03	28.83
5033	0.96	144.8	2894	3047	2661	2498	663.2	18.2	374	5042	0.00	1.38	0.00	0.000	260	0.000	0.126	2894	3780	2579	2660	2498	0	0	0	0	0	0	28.83	14.24	28.83
5236	0.94	144.8	2894	3781	2660	2498	622.7	20.1	414	5246	0.00	1.27	0.00	0.000	1030	0.000	0.082	2900	3048	2578	2659	2498	0	0	0	0	0	0	28.83	14.38	28.83
5551	0.94	144.8	2901	3049	2658	2499	564.0	18.7	426	5561	0.00	1.38	0.00	0.000	260	0.000	0.126	2900	3787	2578	2659	2498	0	0	0	0	0	0	28.83	14.43	28.83
5780	0.91	144.8	2900	3787	2660	2498	516.8	20.9	471	5788	0.00	1.27	0.00	0.000	1030	0.000	0.082	2905	3048	2578	2658	2498	0	0	0	0	0	0	28.83	14.52	28.83
6098	0.91	144.8	2907	3049	2659	2499	457.1	18.7	484	6105	0.00	1.35	0.00	0.000	260	0.000	0.126	2905	3781	2578	2659	2498	0	0	0	0	0	0	28.83	14.52	28.83
6329	0.88	144.8	2906	3784	2659	2498	409.4	21.0	530	6339	0.12	1.25	0.00	0.000	5126	0.317	0.083	2879	3051	2577	2658	2496	0	0	0	0	0	0	14.44	14.58	28.83
6643	0.88	144.8	2880	3051	2659	2498	354.8	17.2	542	6652	0.00	1.35	0.00	0.000	260	0.000	0.127	2879	3787	2576	2658	2495	0	0	0	0	0	0	28.83	14.56	28.83
6821	0.88	144.8	2880	3787	2654	2498	321.2	18.4	577	6831	0.00	1.25	0.00	0.000	1030	0.000	0.083	2885	3060	2577	2657	2498	0	0	0	0	0	0	28.83	14.61	28.83
7127	0.88	144.8	2885	3060	2660	2498	268.7	17.1	588	7134	0.00	1.33	0.00	0.000	260	0.000	0.125	2885	3785	2575	2653	2498	0	0	0	0	0	0	28.83	14.58	28.83
7248	0.88	144.8	2889	3789	2659	2498	246.7	17.6	612	7256	0.00	1.25	0.00	0.000	1030	0.000	0.083	2890	3050	2578	2658	2498	0	0	0	0	0	0	28.83	14.62	28.83
7560	0.88	144.8	2891	3049	2660	2498	196.8	15.3	644	7568	0.00	1.35	0.00	0.000	260	0.000	0.128	2891	3788	2577	2658	2497	0	0	0	0	0	0	28.83	14.57	28.83
7637	0.88	144.8	2891	3788	2659	2498	184.6	15.5	659	7646	0.00	1.25	0.00	0.000	1030	0.000	0.084	2896	3058	2578	2658	2498	0	0	0	0	0	0	28.83	14.61	28.83
7942	0.88	151.7	2901	3059	2659	2498	148.5	10.9	690	7953	0.00	1.30	1.35	0.236	8452	0.000	0.123	2896	3790	2569	2655	2483	0	0	0	0	0	0	28.83	14.55	14.51
8037	0.89	159.4	2897	3791	2666	2487	137.5	10.9	708	8059	0.00	1.27	10.95	1.148	9222	0.000	0.083	2902	3049	2530	2616	2444	0	0	0	0	0	0	28.83	14.59	14.07
8363	0.93	186.0	2902	3051	2612	2442	104.6	9.0	742	8392	0.00	1.40	23.08	1.051	8452	0.000	0.129	2902	3786	2422	2509	2335	0	0	0	0	0	0	28.83	14.38	14.00
8455	0.93	186.0	2902	3786	2498	2330	94.5	12.1	758	8467	0.00	1.27	0.00	0.000	1030	0.000	0.083	2908	3052	2413	2497	2330	0	0	0	0	0	0	28.83	14.43	28.83
8761	0.98	201.3	2908	3052	2498	2330	63.7	10.1	789	8778	0.00	2.40	6.25	0.355	8708	0.000	0.081	2918	1635	2370	2461	2280	0	0	0	0	0	0	28.83	14.48	14.29
8812	1.06	237.0	2919	1636	2474	2281	59.5	8.0	798	8842	0.00	2.53	20.30	0.353	9222	0.000	0.116	2918	3051	2222	2307	2138	0	0	0	0	0	0	28.83	14.45	14.29
9146	1.16	305.4	2919	3052	2320	2139	35.8	4.8	833	9191	0.12	2.47	37.25	0.281	10756	0.148	0.085	2981	1645	1942	2022	1863	0	0	0	0	0	0	14.52	14.42	14.31
9371	1.23	336.4	2982	1645	2033	1862	15.1	8.5	875	9399	0.00	2.53	17.00	0.220	9222	0.000	0.119	2981	3060	1813	1888	1739	0	0	0	0	0	0	28.83	14.42	14.38
9652	end climb: NO_VERTICAL_VELOCITY
state	9652	begin surface