Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 158 * 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 158 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 16 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 1

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 -21793.982 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 -21793.982

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 1 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 16 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 158 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 170814,154454,7245.521,-14555.422,37,0.8,57,22.3 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7305.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.25 MHEAD_RNG_PITCHd_Wd 342.4,36191,-19.5,-11.628,-22.92,2318

_SM_ANGLEo -69.4 D_GRID 1000

GPS2 170814,155125,7245.525,-14555.538,5,1.0,25,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140817160421.299397,3,272,24,0112,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,11.2,1.7,-100,1.3,-01,0.6,32,900,0025*26 SC_FREEKB 3999044

FREEZE 1.46,0.986,-0.734,2,1,0 _24V_AH 12.36,114.210

FINISH 1.5,1.010815 _10V_AH 12.61,0.000

SM_CCo 11669,47.92,0.190,0,0,498,669.67 FG_AHR_24Vo 0.000

SM_GC 2.22,8.07,0.43,47.92,0.093,0.096,0.190,195,2362,498,-6.95,0.96,669.67,0,0,0,0,0,0,14.45,14.48,14.35 FG_AHR_10Vo 0.000

RAFOS_CLK 490 MEM 267600

MODEM 4,1408291333,74.39360,-147.70641,132.482,192138.0 DATA_FILE_SIZE 26720,772

RAFOS_FIX 7210.390625,-14553.904297,150814,000043,2,255,0.00 CAP_FILE_SIZE 123466,0

IRIDIUM_FIX 7207.11,-14558.54,170814,122302 CFSIZE 2097872896,2052980736

TT8_MAMPS 0.050183,0.050183 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 51.22 INTR 0,12250.26,0x2378b6,7,5

INTERNAL_PRESSURE 8.42643 SOUNDSPEED 1450.4

TCM_TEMP 11.70 GPS 170814,190824,7247.199,-14555.236,29,0.8,49,22.3

XPDR_PINGS 0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 468 124.76 nil 0 0 0.00

Roll_motor 35 140 61.20 nil 0 0 0.00

VBD_pump_during_apogee 594 1974 14498.04 nil 0 0 0.00

VBD_pump_during_surface 47 189 112.38 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 11691 11 1725.19

Iridium_during_xfer 223 172 476.91 TMICL 0 0 0.00

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.16

TT8 0 0 0.00

LPSleep 9464 2 275.71

TT8_Active 683 10 94.55

TT8_Sampling 1816 29 680.26

TT8_CF8 143 36 66.09

TT8_Kalman 0 0 0.00

Analog_circuits 1530 10 193.03

GPS_charging 0 0 0.00

Compass 1152 5 72.70

RAFOS 1490 48 901.87

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

13 end surface: CONTROL_FINISHED_OK

state 13 begin dive

15 -0.72 -175.1 165 2366 516 499 0.0 0.0 0 69 0.00 0.00 -51.85 0.000 16386 0.000 0.000 164 2365 1801 1815 1788 0 0 0 0 0 0 28.83 28.83 28.83

71 -0.72 -175.1 164 2366 1818 1789 3.4 -2.9 5 134 11.05 2.53 -44.97 0.000 19204 0.469 0.141 2179 3768 3948 4002 3895 0 0 0 0 0 0 14.06 14.32 14.57

358 -0.72 -175.1 2179 3771 4004 3895 89.4 -26.2 63 364 0.00 2.45 0.00 0.000 1030 0.000 0.077 2179 2328 3948 4002 3895 0 0 0 0 0 0 28.83 14.44 28.83

673 -0.72 -175.1 2179 2327 4004 3892 158.0 -20.3 95 678 0.00 2.60 0.00 0.000 260 0.000 0.120 2168 3767 3948 4000 3896 0 0 0 0 0 0 28.83 14.39 28.83

847 -0.72 -175.1 2168 3768 4004 3896 194.7 -21.2 130 854 0.10 2.45 0.00 0.000 3078 0.294 0.077 2191 2363 3949 4003 3895 0 0 0 0 0 0 14.24 14.42 28.83

1152 -0.72 -175.1 2192 2359 4004 3896 243.6 -14.8 161 1153 0.00 0.00 0.00 0.000 6 0.000 0.000 2192 2357 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

1473 -0.72 -175.1 2190 2357 4002 3895 289.2 -14.2 175 1478 0.00 2.55 0.00 0.000 260 0.000 0.122 2181 3768 3948 4003 3894 0 0 0 0 0 0 28.83 14.43 28.83

1517 -0.72 -175.1 2184 3769 3997 3895 296.3 -15.5 184 1523 0.00 2.45 0.00 0.000 1030 0.000 0.077 2182 2357 3948 4002 3895 0 0 0 0 0 0 28.83 14.45 28.83

1833 -0.72 -175.1 2189 2357 4002 3895 341.5 -14.0 197 1834 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2357 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

2132 -0.72 -175.1 2184 2357 4002 3895 382.6 -13.7 207 2133 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2356 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

2432 -0.72 -175.1 2184 2357 4002 3895 423.4 -13.6 217 2433 0.00 0.00 0.00 0.000 6 0.000 0.000 2180 2356 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

2733 -0.72 -175.1 2182 2357 4004 3896 463.9 -13.5 227 2733 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2354 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

3032 -0.72 -175.1 2182 2357 4004 3895 503.7 -13.2 237 3033 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2356 3950 4002 3899 0 0 0 0 0 0 28.83 28.83 28.83

3332 -0.72 -175.1 2180 2357 4004 3891 543.4 -13.3 247 3333 0.00 0.00 0.00 0.000 6 0.000 0.000 2183 2356 3948 4002 3895 0 0 0 0 0 0 28.83 28.83 28.83

3632 -0.72 -175.1 2182 2357 4004 3896 583.3 -13.1 257 3633 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2353 3951 4008 3894 0 0 0 0 0 0 28.83 28.83 28.83

3932 -0.72 -175.1 2182 2357 4003 3895 622.6 -13.1 267 3933 0.00 0.00 0.00 0.000 6 0.000 0.000 2182 2361 3946 3998 3895 0 0 0 0 0 0 28.83 28.83 28.83

4233 -0.72 -175.1 2184 2357 4002 3895 661.5 -12.9 277 4233 0.00 0.00 0.00 0.000 6 0.000 0.000 2181 2359 3946 3998 3895 0 0 0 0 0 0 28.83 28.83 28.83

4532 -0.72 -175.1 2183 2357 4002 3895 699.7 -12.6 287 4538 0.00 2.53 0.00 0.000 260 0.000 0.123 2172 3772 3948 4002 3895 0 0 0 0 0 0 28.83 14.61 28.83

4572 -0.72 -175.1 2172 3773 4004 3896 705.3 -13.9 295 4578 0.00 2.42 0.00 0.000 1030 0.000 0.079 2172 2356 3951 4003 3900 0 0 0 0 0 0 28.83 14.65 28.83

4893 -0.72 -175.1 2173 2353 4001 3895 747.6 -13.2 309 4894 0.00 0.00 0.00 0.000 6 0.000 0.000 2171 2352 3947 4000 3894 0 0 0 0 0 0 28.83 28.83 28.83

4921 end dive: TARGET_DEPTH_EXCEEDED

state 4921 begin apogee

4925 -0.14 0.0 2170 2605 4004 3896 751.7 -13.2 310 5149 0.82 0.00 220.82 1.717 10246 0.279 0.000 2379 2604 3231 3283 3180 0 0 0 0 0 0 14.48 28.83 13.01

5150 end apogee: CONTROL_FINISHED_OK

state 5150 begin climb

5151 0.72 175.1 2379 2605 3279 3175 759.7 0.0 317 5315 0.98 2.40 155.40 1.974 10500 0.159 0.116 2659 3770 2509 2572 2447 0 0 0 0 0 0 13.57 13.02 12.36

5434 0.72 175.1 2658 3771 2567 2437 733.4 14.8 377 5440 0.00 2.15 0.00 0.000 1030 0.000 0.073 2668 2595 2501 2565 2437 0 0 0 0 0 0 28.83 13.64 28.83

5765 0.72 175.1 2669 2596 2566 2436 688.9 13.3 393 5766 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2500 2565 2435 0 0 0 0 0 0 28.83 28.83 28.83

6064 0.72 175.1 2668 2596 2567 2436 648.6 13.5 403 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2596 2500 2565 2435 0 0 0 0 0 0 28.83 28.83 28.83

6364 0.72 175.1 2668 2596 2567 2436 608.1 13.5 413 6365 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2500 2565 2435 0 0 0 0 0 0 28.83 28.83 28.83

6664 0.72 175.1 2669 2596 2565 2435 568.0 13.4 423 6665 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2502 2565 2440 0 0 0 0 0 0 28.83 28.83 28.83

6964 0.72 175.1 2669 2596 2565 2435 528.4 13.1 433 6965 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2499 2565 2434 0 0 0 0 0 0 28.83 28.83 28.83

7264 0.72 175.1 2667 2596 2567 2435 489.1 13.0 443 7265 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2596 2502 2565 2440 0 0 0 0 0 0 28.83 28.83 28.83

7564 0.72 175.1 2669 2596 2565 2434 449.9 13.0 453 7565 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2501 2568 2434 0 0 0 0 0 0 28.83 28.83 28.83

7864 0.72 175.1 2668 2596 2567 2435 411.4 12.8 463 7865 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2499 2565 2434 0 0 0 0 0 0 28.83 28.83 28.83

8164 0.72 175.1 2668 2596 2566 2435 372.9 12.8 473 8165 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2499 2565 2434 0 0 0 0 0 0 28.83 28.83 28.83

8464 0.72 175.1 2667 2596 2566 2435 334.9 12.6 483 8465 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2499 2565 2434 0 0 0 0 0 0 28.83 28.83 28.83

8764 0.72 175.1 2668 2596 2566 2435 297.0 12.7 493 8765 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2595 2502 2565 2440 0 0 0 0 0 0 28.83 28.83 28.83

9064 0.72 175.1 2669 2596 2565 2435 260.8 11.8 503 9065 0.00 0.00 0.00 0.000 6 0.000 0.000 2668 2596 2499 2565 2434 0 0 0 0 0 0 28.83 28.83 28.83

9364 0.80 175.1 2668 2596 2567 2435 229.0 9.8 525 9370 0.00 2.38 0.00 0.000 516 0.000 0.085 2675 1193 2500 2565 2435 0 0 0 0 0 0 28.83 14.59 28.83

9379 0.85 225.5 2680 1193 2565 2435 227.6 9.4 528 9426 0.00 2.45 41.70 1.437 9222 0.000 0.099 2677 2599 2309 2376 2242 0 0 0 0 0 0 28.83 14.60 13.73

9724 0.91 225.5 2678 2600 2367 2225 189.6 10.0 567 9726 0.17 0.00 0.00 0.000 2054 0.135 0.000 2741 2599 2297 2369 2225 0 0 0 0 0 0 14.47 28.83 28.83

10024 0.91 225.5 2742 2600 2365 2225 154.5 11.3 597 10025 0.00 0.00 0.00 0.000 6 0.000 0.000 2740 2599 2293 2363 2224 0 0 0 0 0 0 28.83 28.83 28.83

10324 0.94 225.5 2740 2600 2367 2225 121.7 10.8 627 10325 0.00 0.00 0.00 0.000 6 0.000 0.000 2737 2599 2297 2371 2224 0 0 0 0 0 0 28.83 28.83 28.83

10625 1.04 320.0 2742 2600 2365 2224 94.7 7.4 657 10676 0.00 2.42 45.58 0.449 8708 0.000 0.083 2751 1195 1927 2009 1845 0 0 0 0 0 0 28.83 14.42 14.16

10716 1.07 320.0 2751 1196 2024 1851 86.0 10.7 675 10722 0.00 2.50 1.35 0.259 9222 0.000 0.101 2751 2598 1924 2007 1841 0 0 0 0 0 0 28.83 14.42 14.35

11027 1.19 439.6 2752 2599 2024 1856 57.9 6.3 707 11091 0.20 0.00 61.83 0.337 10246 0.132 0.000 2820 2599 1438 1529 1348 0 0 0 0 0 0 14.47 28.83 14.20

11386 1.33 573.5 2821 2599 1535 1358 16.5 5.7 743 11458 0.12 0.00 67.40 0.229 10758 0.153 0.000 2863 2598 890 968 813 0 0 0 0 0 0 14.41 28.83 14.26

11636 end climb: SURFACE_DEPTH_REACHED

state 11636 begin surface coast

11655 end surface coast: CONTROL_FINISHED_OK

state 11655 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	158	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	16	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	1
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	-21793.982	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	170814,154454,7245.521,-14555.422,37,0.8,57,22.3	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7305.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.25	MHEAD_RNG_PITCHd_Wd	342.4,36191,-19.5,-11.628,-22.92,2318
_SM_ANGLEo	-69.4	D_GRID	1000
GPS2	170814,155125,7245.525,-14555.538,5,1.0,25,22.3

MODEM_MSG	CACST,6,1,20140817160421.299397,3,272,24,0112,0150,100,00,00,00,02,-1,-01,-01,1,3,1,0,150,11.2,1.7,-100,1.3,-01,0.6,32,900,0025*26	SC_FREEKB	3999044
FREEZE	1.46,0.986,-0.734,2,1,0	_24V_AH	12.36,114.210
FINISH	1.5,1.010815	_10V_AH	12.61,0.000
SM_CCo	11669,47.92,0.190,0,0,498,669.67	FG_AHR_24Vo	0.000
SM_GC	2.22,8.07,0.43,47.92,0.093,0.096,0.190,195,2362,498,-6.95,0.96,669.67,0,0,0,0,0,0,14.45,14.48,14.35	FG_AHR_10Vo	0.000
RAFOS_CLK	490	MEM	267600
MODEM	4,1408291333,74.39360,-147.70641,132.482,192138.0	DATA_FILE_SIZE	26720,772
RAFOS_FIX	7210.390625,-14553.904297,150814,000043,2,255,0.00	CAP_FILE_SIZE	123466,0
IRIDIUM_FIX	7207.11,-14558.54,170814,122302	CFSIZE	2097872896,2052980736
TT8_MAMPS	0.050183,0.050183	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	51.22	INTR	0,12250.26,0x2378b6,7,5
INTERNAL_PRESSURE	8.42643	SOUNDSPEED	1450.4
TCM_TEMP	11.70	GPS	170814,190824,7247.199,-14555.236,29,0.8,49,22.3
XPDR_PINGS	0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	468	124.76	nil	0	0	0.00
Roll_motor	35	140	61.20	nil	0	0	0.00
VBD_pump_during_apogee	594	1974	14498.04	nil	0	0	0.00
VBD_pump_during_surface	47	189	112.38	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	11691	11	1725.19
Iridium_during_xfer	223	172	476.91	TMICL	0	0	0.00
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.16
TT8	0	0	0.00
LPSleep	9464	2	275.71
TT8_Active	683	10	94.55
TT8_Sampling	1816	29	680.26
TT8_CF8	143	36	66.09
TT8_Kalman	0	0	0.00
Analog_circuits	1530	10	193.03
GPS_charging	0	0	0.00
Compass	1152	5	72.70
RAFOS	1490	48	901.87
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
13	end surface: CONTROL_FINISHED_OK
state	13	begin dive
15	-0.72	-175.1	165	2366	516	499	0.0	0.0	0	69	0.00	0.00	-51.85	0.000	16386	0.000	0.000	164	2365	1801	1815	1788	0	0	0	0	0	0	28.83	28.83	28.83
71	-0.72	-175.1	164	2366	1818	1789	3.4	-2.9	5	134	11.05	2.53	-44.97	0.000	19204	0.469	0.141	2179	3768	3948	4002	3895	0	0	0	0	0	0	14.06	14.32	14.57
358	-0.72	-175.1	2179	3771	4004	3895	89.4	-26.2	63	364	0.00	2.45	0.00	0.000	1030	0.000	0.077	2179	2328	3948	4002	3895	0	0	0	0	0	0	28.83	14.44	28.83
673	-0.72	-175.1	2179	2327	4004	3892	158.0	-20.3	95	678	0.00	2.60	0.00	0.000	260	0.000	0.120	2168	3767	3948	4000	3896	0	0	0	0	0	0	28.83	14.39	28.83
847	-0.72	-175.1	2168	3768	4004	3896	194.7	-21.2	130	854	0.10	2.45	0.00	0.000	3078	0.294	0.077	2191	2363	3949	4003	3895	0	0	0	0	0	0	14.24	14.42	28.83
1152	-0.72	-175.1	2192	2359	4004	3896	243.6	-14.8	161	1153	0.00	0.00	0.00	0.000	6	0.000	0.000	2192	2357	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
1473	-0.72	-175.1	2190	2357	4002	3895	289.2	-14.2	175	1478	0.00	2.55	0.00	0.000	260	0.000	0.122	2181	3768	3948	4003	3894	0	0	0	0	0	0	28.83	14.43	28.83
1517	-0.72	-175.1	2184	3769	3997	3895	296.3	-15.5	184	1523	0.00	2.45	0.00	0.000	1030	0.000	0.077	2182	2357	3948	4002	3895	0	0	0	0	0	0	28.83	14.45	28.83
1833	-0.72	-175.1	2189	2357	4002	3895	341.5	-14.0	197	1834	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2357	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
2132	-0.72	-175.1	2184	2357	4002	3895	382.6	-13.7	207	2133	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2356	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
2432	-0.72	-175.1	2184	2357	4002	3895	423.4	-13.6	217	2433	0.00	0.00	0.00	0.000	6	0.000	0.000	2180	2356	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
2733	-0.72	-175.1	2182	2357	4004	3896	463.9	-13.5	227	2733	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2354	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
3032	-0.72	-175.1	2182	2357	4004	3895	503.7	-13.2	237	3033	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2356	3950	4002	3899	0	0	0	0	0	0	28.83	28.83	28.83
3332	-0.72	-175.1	2180	2357	4004	3891	543.4	-13.3	247	3333	0.00	0.00	0.00	0.000	6	0.000	0.000	2183	2356	3948	4002	3895	0	0	0	0	0	0	28.83	28.83	28.83
3632	-0.72	-175.1	2182	2357	4004	3896	583.3	-13.1	257	3633	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2353	3951	4008	3894	0	0	0	0	0	0	28.83	28.83	28.83
3932	-0.72	-175.1	2182	2357	4003	3895	622.6	-13.1	267	3933	0.00	0.00	0.00	0.000	6	0.000	0.000	2182	2361	3946	3998	3895	0	0	0	0	0	0	28.83	28.83	28.83
4233	-0.72	-175.1	2184	2357	4002	3895	661.5	-12.9	277	4233	0.00	0.00	0.00	0.000	6	0.000	0.000	2181	2359	3946	3998	3895	0	0	0	0	0	0	28.83	28.83	28.83
4532	-0.72	-175.1	2183	2357	4002	3895	699.7	-12.6	287	4538	0.00	2.53	0.00	0.000	260	0.000	0.123	2172	3772	3948	4002	3895	0	0	0	0	0	0	28.83	14.61	28.83
4572	-0.72	-175.1	2172	3773	4004	3896	705.3	-13.9	295	4578	0.00	2.42	0.00	0.000	1030	0.000	0.079	2172	2356	3951	4003	3900	0	0	0	0	0	0	28.83	14.65	28.83
4893	-0.72	-175.1	2173	2353	4001	3895	747.6	-13.2	309	4894	0.00	0.00	0.00	0.000	6	0.000	0.000	2171	2352	3947	4000	3894	0	0	0	0	0	0	28.83	28.83	28.83
4921	end dive: TARGET_DEPTH_EXCEEDED
state	4921	begin apogee
4925	-0.14	0.0	2170	2605	4004	3896	751.7	-13.2	310	5149	0.82	0.00	220.82	1.717	10246	0.279	0.000	2379	2604	3231	3283	3180	0	0	0	0	0	0	14.48	28.83	13.01
5150	end apogee: CONTROL_FINISHED_OK
state	5150	begin climb
5151	0.72	175.1	2379	2605	3279	3175	759.7	0.0	317	5315	0.98	2.40	155.40	1.974	10500	0.159	0.116	2659	3770	2509	2572	2447	0	0	0	0	0	0	13.57	13.02	12.36
5434	0.72	175.1	2658	3771	2567	2437	733.4	14.8	377	5440	0.00	2.15	0.00	0.000	1030	0.000	0.073	2668	2595	2501	2565	2437	0	0	0	0	0	0	28.83	13.64	28.83
5765	0.72	175.1	2669	2596	2566	2436	688.9	13.3	393	5766	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2500	2565	2435	0	0	0	0	0	0	28.83	28.83	28.83
6064	0.72	175.1	2668	2596	2567	2436	648.6	13.5	403	6065	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2596	2500	2565	2435	0	0	0	0	0	0	28.83	28.83	28.83
6364	0.72	175.1	2668	2596	2567	2436	608.1	13.5	413	6365	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2500	2565	2435	0	0	0	0	0	0	28.83	28.83	28.83
6664	0.72	175.1	2669	2596	2565	2435	568.0	13.4	423	6665	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2502	2565	2440	0	0	0	0	0	0	28.83	28.83	28.83
6964	0.72	175.1	2669	2596	2565	2435	528.4	13.1	433	6965	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2499	2565	2434	0	0	0	0	0	0	28.83	28.83	28.83
7264	0.72	175.1	2667	2596	2567	2435	489.1	13.0	443	7265	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2596	2502	2565	2440	0	0	0	0	0	0	28.83	28.83	28.83
7564	0.72	175.1	2669	2596	2565	2434	449.9	13.0	453	7565	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2501	2568	2434	0	0	0	0	0	0	28.83	28.83	28.83
7864	0.72	175.1	2668	2596	2567	2435	411.4	12.8	463	7865	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2499	2565	2434	0	0	0	0	0	0	28.83	28.83	28.83
8164	0.72	175.1	2668	2596	2566	2435	372.9	12.8	473	8165	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2499	2565	2434	0	0	0	0	0	0	28.83	28.83	28.83
8464	0.72	175.1	2667	2596	2566	2435	334.9	12.6	483	8465	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2499	2565	2434	0	0	0	0	0	0	28.83	28.83	28.83
8764	0.72	175.1	2668	2596	2566	2435	297.0	12.7	493	8765	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2595	2502	2565	2440	0	0	0	0	0	0	28.83	28.83	28.83
9064	0.72	175.1	2669	2596	2565	2435	260.8	11.8	503	9065	0.00	0.00	0.00	0.000	6	0.000	0.000	2668	2596	2499	2565	2434	0	0	0	0	0	0	28.83	28.83	28.83
9364	0.80	175.1	2668	2596	2567	2435	229.0	9.8	525	9370	0.00	2.38	0.00	0.000	516	0.000	0.085	2675	1193	2500	2565	2435	0	0	0	0	0	0	28.83	14.59	28.83
9379	0.85	225.5	2680	1193	2565	2435	227.6	9.4	528	9426	0.00	2.45	41.70	1.437	9222	0.000	0.099	2677	2599	2309	2376	2242	0	0	0	0	0	0	28.83	14.60	13.73
9724	0.91	225.5	2678	2600	2367	2225	189.6	10.0	567	9726	0.17	0.00	0.00	0.000	2054	0.135	0.000	2741	2599	2297	2369	2225	0	0	0	0	0	0	14.47	28.83	28.83
10024	0.91	225.5	2742	2600	2365	2225	154.5	11.3	597	10025	0.00	0.00	0.00	0.000	6	0.000	0.000	2740	2599	2293	2363	2224	0	0	0	0	0	0	28.83	28.83	28.83
10324	0.94	225.5	2740	2600	2367	2225	121.7	10.8	627	10325	0.00	0.00	0.00	0.000	6	0.000	0.000	2737	2599	2297	2371	2224	0	0	0	0	0	0	28.83	28.83	28.83
10625	1.04	320.0	2742	2600	2365	2224	94.7	7.4	657	10676	0.00	2.42	45.58	0.449	8708	0.000	0.083	2751	1195	1927	2009	1845	0	0	0	0	0	0	28.83	14.42	14.16
10716	1.07	320.0	2751	1196	2024	1851	86.0	10.7	675	10722	0.00	2.50	1.35	0.259	9222	0.000	0.101	2751	2598	1924	2007	1841	0	0	0	0	0	0	28.83	14.42	14.35
11027	1.19	439.6	2752	2599	2024	1856	57.9	6.3	707	11091	0.20	0.00	61.83	0.337	10246	0.132	0.000	2820	2599	1438	1529	1348	0	0	0	0	0	0	14.47	28.83	14.20
11386	1.33	573.5	2821	2599	1535	1358	16.5	5.7	743	11458	0.12	0.00	67.40	0.229	10758	0.153	0.000	2863	2598	890	968	813	0	0	0	0	0	0	14.41	28.83	14.26
11636	end climb: SURFACE_DEPTH_REACHED
state	11636	begin surface coast
11655	end surface coast: CONTROL_FINISHED_OK
state	11655	begin surface