Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 17 * 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 17 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 21 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 420 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 480 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 -1 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 5 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 115 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 145 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 5 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 -3342.4556 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 0 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 2600 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 37 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 2800 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 420 PITCH_GAIN 37 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 5 HEAD_ERRBAND 10 RAFOS_DEVICE 101 T_DIVE 115

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 0 T_GPS 5

CAPUPLOAD 0 ID 198 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -3342.4556

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 145

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 2600 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2800 MASS 54305 ROLL_MIN 200 UNCOM_BLEED 60

C_VBD 3186 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX -1

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 21 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 17 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 480 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 280714,222208,7053.526,-14429.713,13,0.8,33,22.3 SPEED_LIMITS 0.174,0.236

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.75 MHEAD_RNG_PITCHd_Wd 344.6,79609,-22.4,-12.174,-27.24,1846

_SM_ANGLEo -73.6 D_GRID 1000

GPS2 280714,223206,7053.467,-14429.710,6,0.8,26,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140729000506.903363,3,278,00,0123,0150,100,00,00,04,06,1,004,000,0,5,1,0,150,-13.0,1.9,-100,1.2,-01,-0.3,14,900,0025*0E TM_FREEKB 7763904

EKF 7553,4254.312500,-8669.616211,11.152144,0.001238,0.002058,0.014065,0.000084,0.000786,0.000099,0.002025,0.002025,0.000050 _24V_AH 12.74,6.047

FREEZE 11.15,3.432,-1.434,0,1,0 _10V_AH 12.62,0.000

SM_CCo 7185,140.68,0.199,0,0,499,658.88 FG_AHR_24Vo 0.000

SM_GC 2.20,7.93,0.43,0.00,0.080,0.106,0.000,203,2803,504,-7.43,0.93,657.89,0,0,0,0,0,0,14.44,14.43,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 141 MEM 305312

MODEM 4,1406592306,74.83900,-143.51601,306.903,444416.0 DATA_FILE_SIZE 23440,716

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 119992,0

IRIDIUM_FIX 7019.90,-14429.27,280714,201153 CFSIZE 2097872896,2089877504

TT8_MAMPS 0.046438,0.046438 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0

HUMID 49.84 INTR 0,8038.25,0x2378b6,7,5

INTERNAL_PRESSURE 8.54449 SOUNDSPEED 1448.3

TCM_TEMP 12.10 CURRENT 0.057,189.58,1

XPDR_PINGS 0 GPS 290714,003813,7054.084,-14429.733,14,0.7,34,22.3

SC_FREEKB 4012768

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 478 134.53 nil 0 0 0.00

Roll_motor 60 166 127.64 nil 0 0 0.00

VBD_pump_during_apogee 475 2684 16267.64 nil 0 0 0.00

VBD_pump_during_surface 140 198 356.47 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 7204 16 1552.26

Iridium_during_xfer 381 194 944.10 TMICL 7241 13 1246.49

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 5140 2 149.86

TT8_Active 774 8 85.29

TT8_Sampling 2099 28 747.13

TT8_CF8 68 35 30.63

TT8_Kalman 0 0 0.00

Analog_circuits 1798 10 226.99

GPS_charging 0 0 0.00

Compass 1061 0 10.04

RAFOS 1434 48 868.66

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 -0.71 -145.9 208 2800 474 540 0.0 0.0 0 84 0.00 0.00 -62.67 0.000 16386 0.000 0.000 206 2800 2067 2109 2025 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.71 -145.9 207 2801 2111 2025 3.4 -3.4 6 141 11.65 1.88 -32.03 0.000 18692 0.479 0.167 2354 3786 3783 3853 3713 0 0 0 0 0 0 14.13 14.28 14.53

365 -0.64 -145.9 2355 3786 3855 3714 70.2 -19.7 59 376 0.10 1.75 0.00 0.000 3078 0.328 0.084 2379 2788 3786 3858 3715 0 0 0 0 0 0 14.28 14.43 28.83

671 -0.64 -145.9 2379 2788 3863 3715 120.1 -15.8 90 679 0.00 2.35 0.00 0.000 516 0.000 0.096 2379 1385 3784 3853 3715 0 0 0 0 0 0 28.83 14.45 28.83

743 -0.64 -145.9 2380 1386 3854 3716 130.5 -14.2 104 751 0.00 2.58 0.00 0.000 1030 0.000 0.127 2374 2806 3784 3853 3715 0 0 0 0 0 0 28.83 14.45 28.83

1055 -0.64 -145.9 2375 2805 3854 3715 175.1 -13.5 136 1062 0.00 2.42 0.00 0.000 516 0.000 0.095 2374 1391 3784 3853 3715 0 0 0 0 0 0 28.83 14.52 28.83

1132 -0.67 -145.9 2375 1390 3854 3715 184.5 -12.1 151 1141 0.00 2.55 0.00 0.000 1030 0.000 0.127 2379 2803 3784 3853 3716 0 0 0 0 0 0 28.83 14.47 28.83

1437 -0.69 -145.9 2375 2804 3854 3716 219.9 -10.9 182 1445 0.00 2.42 0.00 0.000 516 0.000 0.095 2374 1390 3784 3853 3715 0 0 0 0 0 0 28.83 14.54 28.83

1490 -0.73 -145.9 2374 1389 3854 3715 225.4 -9.8 192 1497 0.00 2.55 0.00 0.000 1030 0.000 0.127 2374 2804 3784 3853 3715 0 0 0 0 0 0 28.83 14.51 28.83

1822 -0.76 -145.9 2375 2804 3852 3716 259.8 -10.3 220 1829 0.00 2.42 0.00 0.000 516 0.000 0.096 2374 1395 3783 3851 3715 0 0 0 0 0 0 28.83 14.54 28.83

1919 -0.81 -145.9 2375 1391 3852 3715 269.4 -9.9 239 1926 0.12 2.53 0.00 0.000 5126 0.164 0.127 2325 2799 3783 3851 3715 0 0 0 0 0 0 14.58 14.54 28.83

2245 -0.81 -145.9 2326 2800 3852 3716 309.4 -12.2 254 2253 0.00 2.40 0.00 0.000 516 0.000 0.094 2325 1390 3782 3850 3715 0 0 0 0 0 0 28.83 14.59 28.83

2307 -0.81 -145.9 2326 1394 3851 3716 316.7 -11.5 266 2315 0.00 2.53 0.00 0.000 1030 0.000 0.125 2316 2799 3782 3850 3715 0 0 0 0 0 0 28.83 14.57 28.83

2639 -0.81 -145.9 2314 2800 3850 3716 358.3 -12.6 282 2647 0.00 2.42 0.00 0.000 516 0.000 0.094 2316 1382 3782 3850 3715 0 0 0 0 0 0 28.83 14.62 28.83

2721 -0.81 -145.9 2317 1382 3850 3716 368.2 -12.1 298 2729 0.12 2.55 0.00 0.000 3078 0.344 0.125 2330 2799 3782 3849 3715 0 0 0 0 0 0 14.46 14.55 28.83

3034 -0.81 -145.9 2331 2799 3850 3715 405.2 -11.9 310 3041 0.00 2.40 0.00 0.000 516 0.000 0.094 2330 1388 3781 3849 3714 0 0 0 0 0 0 28.83 14.62 28.83

3126 -0.81 -145.9 2331 1387 3849 3715 415.7 -11.6 328 3133 0.00 2.53 0.00 0.000 1030 0.000 0.126 2321 2802 3779 3849 3710 0 0 0 0 0 0 28.83 14.59 28.83

3186 end dive: TARGET_DEPTH_EXCEEDED

state 3186 begin apogee

3189 -0.14 0.0 2321 3050 3849 3716 423.1 -12.1 335 3331 0.90 0.00 131.95 2.684 10246 0.304 0.000 2547 3050 3188 3264 3112 0 0 0 0 1 0 14.49 28.83 12.74

3333 end apogee: CONTROL_FINISHED_OK

state 3333 begin climb

3334 0.71 145.9 2548 3050 3284 3112 427.1 0.0 339 3477 0.98 1.48 130.05 1.329 10500 0.197 0.132 2819 3784 2583 2649 2518 0 0 0 0 0 0 13.70 13.67 13.27

3572 0.67 145.9 2820 3785 2634 2504 406.0 14.0 379 3580 0.00 1.33 0.00 0.000 1030 0.000 0.087 2824 3048 2568 2632 2504 0 0 0 0 0 0 28.83 14.00 28.83

3884 0.65 145.9 2825 3049 2633 2500 364.9 13.2 391 3892 0.00 1.40 0.00 0.000 260 0.000 0.135 2824 3786 2567 2633 2502 0 0 0 0 0 0 28.83 14.23 28.83

3976 0.60 145.9 2825 3787 2632 2503 351.5 14.6 409 3986 0.10 1.27 0.00 0.000 5126 0.294 0.088 2803 3060 2567 2631 2503 0 0 0 0 0 0 14.21 14.33 28.83

4310 0.60 148.8 2803 3059 2633 2502 311.4 12.0 425 4312 0.00 0.00 0.00 0.000 6 0.000 0.000 2803 3060 2567 2631 2503 0 0 0 0 0 0 28.83 28.83 28.83

4610 0.60 150.0 2804 3060 2637 2504 275.1 12.1 435 4617 0.00 1.35 0.00 0.000 260 0.000 0.135 2803 3788 2566 2631 2502 0 0 0 0 0 0 28.83 14.47 28.83

4722 0.57 150.0 2804 3792 2632 2503 260.7 12.8 457 4731 0.00 1.30 0.00 0.000 1030 0.000 0.090 2808 3047 2567 2631 2503 0 0 0 0 0 0 28.83 14.50 28.83

5035 0.58 163.5 2809 3047 2633 2502 224.1 11.4 483 5058 0.00 0.00 14.27 1.080 8198 0.000 0.000 2808 3047 2508 2577 2440 0 0 0 0 0 0 28.83 28.83 14.03

5366 0.60 193.1 2809 3047 2569 2428 186.9 10.5 515 5402 0.00 0.00 26.38 1.044 8198 0.000 0.000 2808 3047 2384 2451 2317 0 0 0 0 0 0 28.83 28.83 13.93

5696 0.64 245.4 2806 3048 2441 2310 154.0 9.3 548 5752 0.00 2.47 46.88 0.978 8708 0.000 0.090 2819 1639 2172 2235 2110 0 0 0 0 0 0 28.83 14.17 13.79

5772 0.72 302.7 2820 1640 2225 2104 147.0 9.0 560 5832 0.00 2.60 53.53 0.933 9222 0.000 0.123 2819 3057 1946 2003 1889 0 0 0 0 0 0 28.83 14.15 13.67

6136 0.78 323.5 2820 3058 1982 1864 106.5 11.0 600 6162 0.00 0.00 17.88 0.926 8198 0.000 0.000 2820 3057 1854 1913 1795 0 0 0 0 0 0 28.83 28.83 13.85

6457 0.87 362.5 2817 3058 1899 1785 73.8 10.0 632 6485 0.15 2.47 18.17 0.364 10756 0.142 0.096 2889 1642 1712 1774 1651 0 0 0 0 0 0 14.35 14.31 14.13

6549 0.89 362.5 2896 1642 1803 1651 61.8 12.9 649 6561 0.00 2.55 2.80 0.207 9222 0.000 0.123 2889 3047 1711 1774 1649 0 0 0 0 0 0 28.83 14.31 14.22

6855 0.95 409.6 2890 3048 1803 1649 28.1 9.5 680 6894 0.00 1.38 29.45 0.250 8452 0.000 0.133 2890 3803 1519 1579 1459 0 0 0 0 0 0 28.83 14.33 14.27

6917 0.95 413.3 2890 3800 1594 1460 21.2 12.0 689 6929 0.00 1.33 4.32 0.220 9222 0.000 0.093 2893 3051 1502 1563 1442 0 0 0 0 0 0 28.83 14.40 14.26

7182 end climb: NO_VERTICAL_VELOCITY

state 7182 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	17	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	21	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	420	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	480	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	-1	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	5	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	115	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	145	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	5	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	-3342.4556	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	0	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	2600	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	37	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	2800	ALTIM_PING_DELTA	5

GPS1	280714,222208,7053.526,-14429.713,13,0.8,33,22.3	SPEED_LIMITS	0.174,0.236
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.75	MHEAD_RNG_PITCHd_Wd	344.6,79609,-22.4,-12.174,-27.24,1846
_SM_ANGLEo	-73.6	D_GRID	1000
GPS2	280714,223206,7053.467,-14429.710,6,0.8,26,22.3

MODEM_MSG	CACST,6,0,20140729000506.903363,3,278,00,0123,0150,100,00,00,04,06,1,004,000,0,5,1,0,150,-13.0,1.9,-100,1.2,-01,-0.3,14,900,0025*0E	TM_FREEKB	7763904
EKF	7553,4254.312500,-8669.616211,11.152144,0.001238,0.002058,0.014065,0.000084,0.000786,0.000099,0.002025,0.002025,0.000050	_24V_AH	12.74,6.047
FREEZE	11.15,3.432,-1.434,0,1,0	_10V_AH	12.62,0.000
SM_CCo	7185,140.68,0.199,0,0,499,658.88	FG_AHR_24Vo	0.000
SM_GC	2.20,7.93,0.43,0.00,0.080,0.106,0.000,203,2803,504,-7.43,0.93,657.89,0,0,0,0,0,0,14.44,14.43,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	141	MEM	305312
MODEM	4,1406592306,74.83900,-143.51601,306.903,444416.0	DATA_FILE_SIZE	23440,716
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	119992,0
IRIDIUM_FIX	7019.90,-14429.27,280714,201153	CFSIZE	2097872896,2089877504
TT8_MAMPS	0.046438,0.046438	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
HUMID	49.84	INTR	0,8038.25,0x2378b6,7,5
INTERNAL_PRESSURE	8.54449	SOUNDSPEED	1448.3
TCM_TEMP	12.10	CURRENT	0.057,189.58,1
XPDR_PINGS	0	GPS	290714,003813,7054.084,-14429.733,14,0.7,34,22.3
SC_FREEKB	4012768

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	478	134.53	nil	0	0	0.00
Roll_motor	60	166	127.64	nil	0	0	0.00
VBD_pump_during_apogee	475	2684	16267.64	nil	0	0	0.00
VBD_pump_during_surface	140	198	356.47	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	7204	16	1552.26
Iridium_during_xfer	381	194	944.10	TMICL	7241	13	1246.49
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	5140	2	149.86
TT8_Active	774	8	85.29
TT8_Sampling	2099	28	747.13
TT8_CF8	68	35	30.63
TT8_Kalman	0	0	0.00
Analog_circuits	1798	10	226.99
GPS_charging	0	0	0.00
Compass	1061	0	10.04
RAFOS	1434	48	868.66
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	-0.71	-145.9	208	2800	474	540	0.0	0.0	0	84	0.00	0.00	-62.67	0.000	16386	0.000	0.000	206	2800	2067	2109	2025	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.71	-145.9	207	2801	2111	2025	3.4	-3.4	6	141	11.65	1.88	-32.03	0.000	18692	0.479	0.167	2354	3786	3783	3853	3713	0	0	0	0	0	0	14.13	14.28	14.53
365	-0.64	-145.9	2355	3786	3855	3714	70.2	-19.7	59	376	0.10	1.75	0.00	0.000	3078	0.328	0.084	2379	2788	3786	3858	3715	0	0	0	0	0	0	14.28	14.43	28.83
671	-0.64	-145.9	2379	2788	3863	3715	120.1	-15.8	90	679	0.00	2.35	0.00	0.000	516	0.000	0.096	2379	1385	3784	3853	3715	0	0	0	0	0	0	28.83	14.45	28.83
743	-0.64	-145.9	2380	1386	3854	3716	130.5	-14.2	104	751	0.00	2.58	0.00	0.000	1030	0.000	0.127	2374	2806	3784	3853	3715	0	0	0	0	0	0	28.83	14.45	28.83
1055	-0.64	-145.9	2375	2805	3854	3715	175.1	-13.5	136	1062	0.00	2.42	0.00	0.000	516	0.000	0.095	2374	1391	3784	3853	3715	0	0	0	0	0	0	28.83	14.52	28.83
1132	-0.67	-145.9	2375	1390	3854	3715	184.5	-12.1	151	1141	0.00	2.55	0.00	0.000	1030	0.000	0.127	2379	2803	3784	3853	3716	0	0	0	0	0	0	28.83	14.47	28.83
1437	-0.69	-145.9	2375	2804	3854	3716	219.9	-10.9	182	1445	0.00	2.42	0.00	0.000	516	0.000	0.095	2374	1390	3784	3853	3715	0	0	0	0	0	0	28.83	14.54	28.83
1490	-0.73	-145.9	2374	1389	3854	3715	225.4	-9.8	192	1497	0.00	2.55	0.00	0.000	1030	0.000	0.127	2374	2804	3784	3853	3715	0	0	0	0	0	0	28.83	14.51	28.83
1822	-0.76	-145.9	2375	2804	3852	3716	259.8	-10.3	220	1829	0.00	2.42	0.00	0.000	516	0.000	0.096	2374	1395	3783	3851	3715	0	0	0	0	0	0	28.83	14.54	28.83
1919	-0.81	-145.9	2375	1391	3852	3715	269.4	-9.9	239	1926	0.12	2.53	0.00	0.000	5126	0.164	0.127	2325	2799	3783	3851	3715	0	0	0	0	0	0	14.58	14.54	28.83
2245	-0.81	-145.9	2326	2800	3852	3716	309.4	-12.2	254	2253	0.00	2.40	0.00	0.000	516	0.000	0.094	2325	1390	3782	3850	3715	0	0	0	0	0	0	28.83	14.59	28.83
2307	-0.81	-145.9	2326	1394	3851	3716	316.7	-11.5	266	2315	0.00	2.53	0.00	0.000	1030	0.000	0.125	2316	2799	3782	3850	3715	0	0	0	0	0	0	28.83	14.57	28.83
2639	-0.81	-145.9	2314	2800	3850	3716	358.3	-12.6	282	2647	0.00	2.42	0.00	0.000	516	0.000	0.094	2316	1382	3782	3850	3715	0	0	0	0	0	0	28.83	14.62	28.83
2721	-0.81	-145.9	2317	1382	3850	3716	368.2	-12.1	298	2729	0.12	2.55	0.00	0.000	3078	0.344	0.125	2330	2799	3782	3849	3715	0	0	0	0	0	0	14.46	14.55	28.83
3034	-0.81	-145.9	2331	2799	3850	3715	405.2	-11.9	310	3041	0.00	2.40	0.00	0.000	516	0.000	0.094	2330	1388	3781	3849	3714	0	0	0	0	0	0	28.83	14.62	28.83
3126	-0.81	-145.9	2331	1387	3849	3715	415.7	-11.6	328	3133	0.00	2.53	0.00	0.000	1030	0.000	0.126	2321	2802	3779	3849	3710	0	0	0	0	0	0	28.83	14.59	28.83
3186	end dive: TARGET_DEPTH_EXCEEDED
state	3186	begin apogee
3189	-0.14	0.0	2321	3050	3849	3716	423.1	-12.1	335	3331	0.90	0.00	131.95	2.684	10246	0.304	0.000	2547	3050	3188	3264	3112	0	0	0	0	1	0	14.49	28.83	12.74
3333	end apogee: CONTROL_FINISHED_OK
state	3333	begin climb
3334	0.71	145.9	2548	3050	3284	3112	427.1	0.0	339	3477	0.98	1.48	130.05	1.329	10500	0.197	0.132	2819	3784	2583	2649	2518	0	0	0	0	0	0	13.70	13.67	13.27
3572	0.67	145.9	2820	3785	2634	2504	406.0	14.0	379	3580	0.00	1.33	0.00	0.000	1030	0.000	0.087	2824	3048	2568	2632	2504	0	0	0	0	0	0	28.83	14.00	28.83
3884	0.65	145.9	2825	3049	2633	2500	364.9	13.2	391	3892	0.00	1.40	0.00	0.000	260	0.000	0.135	2824	3786	2567	2633	2502	0	0	0	0	0	0	28.83	14.23	28.83
3976	0.60	145.9	2825	3787	2632	2503	351.5	14.6	409	3986	0.10	1.27	0.00	0.000	5126	0.294	0.088	2803	3060	2567	2631	2503	0	0	0	0	0	0	14.21	14.33	28.83
4310	0.60	148.8	2803	3059	2633	2502	311.4	12.0	425	4312	0.00	0.00	0.00	0.000	6	0.000	0.000	2803	3060	2567	2631	2503	0	0	0	0	0	0	28.83	28.83	28.83
4610	0.60	150.0	2804	3060	2637	2504	275.1	12.1	435	4617	0.00	1.35	0.00	0.000	260	0.000	0.135	2803	3788	2566	2631	2502	0	0	0	0	0	0	28.83	14.47	28.83
4722	0.57	150.0	2804	3792	2632	2503	260.7	12.8	457	4731	0.00	1.30	0.00	0.000	1030	0.000	0.090	2808	3047	2567	2631	2503	0	0	0	0	0	0	28.83	14.50	28.83
5035	0.58	163.5	2809	3047	2633	2502	224.1	11.4	483	5058	0.00	0.00	14.27	1.080	8198	0.000	0.000	2808	3047	2508	2577	2440	0	0	0	0	0	0	28.83	28.83	14.03
5366	0.60	193.1	2809	3047	2569	2428	186.9	10.5	515	5402	0.00	0.00	26.38	1.044	8198	0.000	0.000	2808	3047	2384	2451	2317	0	0	0	0	0	0	28.83	28.83	13.93
5696	0.64	245.4	2806	3048	2441	2310	154.0	9.3	548	5752	0.00	2.47	46.88	0.978	8708	0.000	0.090	2819	1639	2172	2235	2110	0	0	0	0	0	0	28.83	14.17	13.79
5772	0.72	302.7	2820	1640	2225	2104	147.0	9.0	560	5832	0.00	2.60	53.53	0.933	9222	0.000	0.123	2819	3057	1946	2003	1889	0	0	0	0	0	0	28.83	14.15	13.67
6136	0.78	323.5	2820	3058	1982	1864	106.5	11.0	600	6162	0.00	0.00	17.88	0.926	8198	0.000	0.000	2820	3057	1854	1913	1795	0	0	0	0	0	0	28.83	28.83	13.85
6457	0.87	362.5	2817	3058	1899	1785	73.8	10.0	632	6485	0.15	2.47	18.17	0.364	10756	0.142	0.096	2889	1642	1712	1774	1651	0	0	0	0	0	0	14.35	14.31	14.13
6549	0.89	362.5	2896	1642	1803	1651	61.8	12.9	649	6561	0.00	2.55	2.80	0.207	9222	0.000	0.123	2889	3047	1711	1774	1649	0	0	0	0	0	0	28.83	14.31	14.22
6855	0.95	409.6	2890	3048	1803	1649	28.1	9.5	680	6894	0.00	1.38	29.45	0.250	8452	0.000	0.133	2890	3803	1519	1579	1459	0	0	0	0	0	0	28.83	14.33	14.27
6917	0.95	413.3	2890	3800	1594	1460	21.2	12.0	689	6929	0.00	1.33	4.32	0.220	9222	0.000	0.093	2893	3051	1502	1563	1442	0	0	0	0	0	0	28.83	14.40	14.26
7182	end climb: NO_VERTICAL_VELOCITY
state	7182	begin surface