Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 34 * 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 34 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 35 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 648.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 600 N_FILEKB 8 ROLL_MAXERRORS 1 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 0 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 0 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 0 N_NOCOMM 1 C_VBD 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 140 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 180 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 120 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -3365.6458 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 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 2800 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 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 140

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 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 -3365.6458

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 180

COMPASS_DEVICE 97 LOGGERDEVICE1 54 ROLL_AD_RATE 350 T_NO_W 120

COMPASS_USE 4 LOGGERDEVICE2 71 ROLL_CNV 0.028270001 T_RSLEEP 3

COURSE_BIAS 0 LOGGERDEVICE3 -1 ROLL_DEG 40 T_TURN 225

C_PITCH 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 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 35 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 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 34 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 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 300714,185338,7108.755,-14424.902,41,0.8,61,22.4 SPEED_LIMITS 0.170,0.235

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.03 MHEAD_RNG_PITCHd_Wd 345.0,51279,-21.9,-11.905,-26.85,1887

_SM_ANGLEo -75.4 D_GRID 1000

GPS2 300714,190453,7108.707,-14424.774,4,0.7,24,22.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140730200421.415339,3,1466,19,0160,0150,100,00,00,02,04,1,013,000,0,5,1,0,150,19.1,3.6,-100,-0.6,-01,0.3,18,900,0025*13 TM_FREEKB 7527712

EKF 9316,4269.809082,-8664.518555,0.908535,0.012958,-0.002860,-0.030722,0.000158,0.001513,0.000095,0.001525,0.001525,0.000034 _24V_AH 12.83,11.918

FINISH 0.9,1.018307 _10V_AH 12.62,0.000

SM_CCo 9231,0.00,0.000,0,0,531,652.50 FG_AHR_24Vo 0.000

SM_GC 2.27,8.52,1.75,0.00,0.107,0.080,0.000,203,2791,531,-7.43,0.76,652.50,0,0,0,0,0,0,14.42,14.42,28.83 FG_AHR_10Vo 0.000

RAFOS_CLK 384 MEM 297552

MODEM 13,1406750661,70.88620,-144.44479,261.415,378375.8 DATA_FILE_SIZE 26686,783

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CAP_FILE_SIZE 130739,0

IRIDIUM_FIX 7032.78,-14313.10,300714,161611 CFSIZE 2097872896,2085519360

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

HUMID 50.47 INTR 0,9736.04,0x2378b6,7,5

INTERNAL_PRESSURE 8.53472 SOUNDSPEED 1448.2

TCM_TEMP 12.20 CURRENT 0.031,37.88,1

XPDR_PINGS 1 GPS 300714,214024,7109.908,-14424.224,27,0.7,47,22.4

SC_FREEKB 4005152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 475 138.73 nil 0 0 0.00

Roll_motor 58 143 107.85 nil 0 0 0.00

VBD_pump_during_apogee 586 2451 18447.91 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9173 15 1804.18

Iridium_during_xfer 434 193 1080.06 TMICL 9228 13 1577.73

Transponder_ping 0 420 1.35 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 0 0.25

TT8 0 0 0.00

LPSleep 6829 2 199.11

TT8_Active 688 8 75.81

TT8_Sampling 2310 28 822.31

TT8_CF8 80 35 36.05

TT8_Kalman 0 0 0.00

Analog_circuits 1824 10 230.24

GPS_charging 0 0 0.00

Compass 1165 0 11.04

RAFOS 1482 48 897.74

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 -0.71 -145.9 207 2811 499 596 0.0 0.0 0 64 0.00 0.00 -42.92 0.000 16386 0.000 0.000 206 2810 1648 1674 1622 0 0 0 0 0 0 28.83 28.83 28.83

65 -0.71 -145.9 207 2811 1676 1623 3.2 -4.0 4 128 11.57 2.53 -45.22 0.000 18948 0.476 0.107 2361 1393 3782 3851 3713 0 0 0 0 0 0 14.12 14.33 14.52

138 -0.59 -145.9 2362 1393 3852 3715 17.7 -20.4 14 146 0.20 2.55 0.00 0.000 3078 0.374 0.118 2400 2800 3782 3851 3714 0 0 0 0 0 0 14.19 14.31 28.83

450 -0.59 -145.9 2400 2800 3852 3717 74.9 -15.2 46 458 0.00 2.40 0.00 0.000 516 0.000 0.083 2400 1392 3784 3851 3717 0 0 0 0 0 0 28.83 14.42 28.83

552 -0.59 -145.9 2401 1392 3852 3718 89.4 -14.2 66 560 0.00 2.55 0.00 0.000 1030 0.000 0.117 2400 2810 3784 3852 3717 0 0 0 0 0 0 28.83 14.43 28.83

864 -0.59 -145.9 2401 2811 3852 3718 133.0 -13.3 98 867 0.00 0.00 0.00 0.000 6 0.000 0.000 2400 2810 3784 3851 3717 0 0 0 0 0 0 28.83 28.83 28.83

1164 -0.62 -145.9 2401 2815 3852 3717 168.6 -11.3 128 1172 0.00 2.40 0.00 0.000 516 0.000 0.085 2400 1394 3784 3851 3717 0 0 0 0 0 0 28.83 14.54 28.83

1232 -0.66 -145.9 2401 1394 3852 3717 175.7 -10.2 141 1241 0.00 2.53 0.00 0.000 1030 0.000 0.119 2399 2806 3784 3851 3717 0 0 0 0 0 0 28.83 14.50 28.83

1537 -0.70 -145.9 2401 2807 3853 3716 206.2 -9.7 172 1544 0.00 2.38 0.00 0.000 516 0.000 0.083 2400 1397 3784 3851 3717 0 0 0 0 0 0 28.83 14.55 28.83

1589 -0.75 -145.9 2400 1397 3852 3717 211.1 -9.3 182 1597 0.12 2.50 0.00 0.000 5126 0.161 0.119 2349 2798 3784 3851 3717 0 0 0 0 0 0 14.57 14.52 28.83

1901 -0.75 -145.9 2350 2798 3851 3717 247.6 -11.5 214 1904 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2798 3783 3851 3716 0 0 0 0 0 0 28.83 28.83 28.83

2221 -0.75 -145.9 2356 2798 3852 3716 284.2 -11.3 226 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2349 2798 3783 3851 3715 0 0 0 0 0 0 28.83 28.83 28.83

2521 -0.75 -145.9 2346 2798 3852 3716 316.9 -10.7 236 2529 0.00 2.38 0.00 0.000 516 0.000 0.083 2349 1387 3783 3852 3715 0 0 0 0 0 0 28.83 14.60 28.83

2583 -0.77 -145.9 2350 1388 3852 3716 323.5 -10.4 248 2591 0.00 2.50 0.00 0.000 1030 0.000 0.118 2347 2806 3783 3851 3715 0 0 0 0 0 0 28.83 14.58 28.83

2915 -0.77 -145.9 2348 2802 3852 3715 359.8 -11.0 264 2923 0.00 2.38 0.00 0.000 516 0.000 0.083 2347 1387 3783 3852 3715 0 0 0 0 0 0 28.83 14.63 28.83

2957 -0.79 -145.9 2349 1389 3847 3715 364.4 -10.7 272 2965 0.00 2.50 0.00 0.000 1030 0.000 0.117 2347 2795 3783 3851 3715 0 0 0 0 0 0 28.83 14.59 28.83

3279 -0.79 -145.9 2348 2795 3852 3715 398.7 -10.6 286 3281 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2795 3783 3851 3715 0 0 0 0 0 0 28.83 28.83 28.83

3579 -0.79 -145.9 2348 2795 3852 3714 430.2 -10.4 296 3586 0.00 2.38 0.00 0.000 516 0.000 0.082 2347 1389 3783 3851 3715 0 0 0 0 0 0 28.83 14.57 28.83

3645 -0.81 -145.9 2348 1390 3853 3716 437.0 -9.5 309 3653 0.00 2.53 0.00 0.000 1030 0.000 0.117 2347 2810 3782 3851 3714 0 0 0 0 0 0 28.83 14.54 28.83

3973 -0.81 -145.9 2348 2810 3852 3715 471.4 -10.5 324 3975 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2810 3782 3851 3714 0 0 0 0 0 0 28.83 28.83 28.83

4271 end dive: TARGET_DEPTH_EXCEEDED

state 4271 begin apogee

4274 -0.14 0.0 2348 3057 3852 3715 502.7 -10.5 334 4415 0.77 0.00 130.25 2.452 10246 0.283 0.000 2547 3056 3189 3270 3108 0 0 0 0 1 0 14.43 28.83 12.83

4417 end apogee: CONTROL_FINISHED_OK

state 4417 begin climb

4418 0.71 145.9 2549 3056 3281 3109 505.9 0.0 338 4567 0.95 1.45 130.80 1.662 10500 0.190 0.125 2816 3784 2584 2655 2514 0 0 0 0 0 0 13.70 13.50 12.96

4736 0.67 145.9 2816 3787 2641 2508 470.9 14.7 394 4744 0.00 1.30 0.00 0.000 1030 0.000 0.080 2821 3055 2574 2640 2508 0 0 0 0 0 0 28.83 13.95 28.83

5058 0.65 145.9 2825 3055 2641 2507 427.4 13.5 408 5060 0.00 0.00 0.00 0.000 6 0.000 0.000 2821 3055 2573 2640 2507 0 0 0 0 0 0 28.83 28.83 28.83

5358 0.62 145.9 2822 3055 2641 2507 386.4 13.6 418 5365 0.00 1.38 0.00 0.000 260 0.000 0.125 2821 3787 2572 2639 2506 0 0 0 0 0 0 28.83 14.33 28.83

5429 0.57 145.9 2822 3788 2642 2508 375.8 14.8 432 5437 0.12 1.27 0.00 0.000 5126 0.288 0.081 2793 3051 2573 2640 2507 0 0 0 0 0 0 14.27 14.40 28.83

5752 0.57 145.9 2793 3051 2641 2507 337.0 12.0 446 5754 0.00 0.00 0.00 0.000 6 0.000 0.000 2792 3051 2573 2640 2507 0 0 0 0 0 0 28.83 28.83 28.83

6051 0.57 145.9 2794 3047 2640 2508 300.9 12.0 456 6054 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 3051 2573 2640 2507 0 0 0 0 0 0 28.83 28.83 28.83

6352 0.58 151.1 2794 3051 2641 2507 265.8 11.6 466 6355 0.00 0.00 0.00 0.000 6 0.000 0.000 2793 3051 2573 2640 2506 0 0 0 0 0 0 28.83 28.83 28.83

6651 0.58 159.5 2793 3051 2640 2508 231.7 11.4 486 6666 0.00 0.00 11.18 1.387 8198 0.000 0.000 2793 3051 2532 2602 2462 0 0 0 0 0 0 28.83 28.83 13.95

6961 0.60 190.2 2799 3051 2593 2453 197.6 10.2 517 6997 0.00 0.00 27.23 1.356 8198 0.000 0.000 2793 3049 2399 2468 2331 0 0 0 0 0 0 28.83 28.83 13.84

7292 0.65 220.6 2794 3057 2460 2326 162.4 10.3 550 7327 0.00 2.42 27.00 1.327 8708 0.000 0.079 2803 1639 2279 2348 2210 0 0 0 0 0 0 28.83 14.28 13.79

7367 0.72 260.1 2804 1639 2335 2206 155.0 9.8 563 7410 0.00 2.55 35.45 1.324 9222 0.000 0.113 2803 3056 2117 2183 2051 0 0 0 0 0 0 28.83 14.29 13.64

7715 0.79 293.6 2804 3056 2169 2037 118.9 10.1 600 7750 0.15 2.53 29.30 1.213 10756 0.135 0.082 2868 1641 1980 2044 1917 0 0 0 0 0 0 14.40 14.18 13.78

7799 0.79 293.6 2869 1641 2030 1911 108.3 13.0 615 7810 0.00 2.55 0.00 0.000 1030 0.000 0.112 2868 3052 1969 2029 1909 0 0 0 0 0 0 28.83 14.24 28.83

8104 0.79 293.6 2869 3052 2030 1909 68.5 13.0 646 8107 0.00 0.00 0.00 0.000 6 0.000 0.000 2868 3052 1965 2028 1903 0 0 0 0 0 0 28.83 28.83 28.83

8405 0.86 358.2 2869 3052 2029 1902 37.2 8.4 676 8446 0.00 2.40 32.90 0.289 8708 0.000 0.079 2876 1641 1726 1786 1667 0 0 0 0 0 0 28.83 14.41 14.28

8580 0.96 434.7 2877 1640 1804 1667 23.6 7.7 709 8631 0.10 2.53 43.33 0.242 11270 0.175 0.116 2921 3056 1411 1461 1361 0 0 0 0 0 0 14.45 14.42 14.31

8925 1.19 651.8 2922 3055 1477 1361 8.9 0.1 746 9050 0.20 1.40 119.03 0.207 11012 0.135 0.132 3000 3788 526 485 567 0 0 0 0 0 0 14.49 14.32 14.28

9118 end climb: SURFACE_DEPTH_REACHED

state 9118 begin surface coast

9149 end surface coast: CONTROL_FINISHED_OK

state 9149 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	34	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	35	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	648.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	600	N_FILEKB	8	ROLL_MAXERRORS	1	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	0	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	0	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	0	N_NOCOMM	1	C_VBD	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	140	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	180	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	120	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-3365.6458	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	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	2800	ALTIM_PING_DELTA	5

GPS1	300714,185338,7108.755,-14424.902,41,0.8,61,22.4	SPEED_LIMITS	0.170,0.235
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.03	MHEAD_RNG_PITCHd_Wd	345.0,51279,-21.9,-11.905,-26.85,1887
_SM_ANGLEo	-75.4	D_GRID	1000
GPS2	300714,190453,7108.707,-14424.774,4,0.7,24,22.4

MODEM_MSG	CACST,6,0,20140730200421.415339,3,1466,19,0160,0150,100,00,00,02,04,1,013,000,0,5,1,0,150,19.1,3.6,-100,-0.6,-01,0.3,18,900,0025*13	TM_FREEKB	7527712
EKF	9316,4269.809082,-8664.518555,0.908535,0.012958,-0.002860,-0.030722,0.000158,0.001513,0.000095,0.001525,0.001525,0.000034	_24V_AH	12.83,11.918
FINISH	0.9,1.018307	_10V_AH	12.62,0.000
SM_CCo	9231,0.00,0.000,0,0,531,652.50	FG_AHR_24Vo	0.000
SM_GC	2.27,8.52,1.75,0.00,0.107,0.080,0.000,203,2791,531,-7.43,0.76,652.50,0,0,0,0,0,0,14.42,14.42,28.83	FG_AHR_10Vo	0.000
RAFOS_CLK	384	MEM	297552
MODEM	13,1406750661,70.88620,-144.44479,261.415,378375.8	DATA_FILE_SIZE	26686,783
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CAP_FILE_SIZE	130739,0
IRIDIUM_FIX	7032.78,-14313.10,300714,161611	CFSIZE	2097872896,2085519360
TT8_MAMPS	0.046438,0.046438	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
HUMID	50.47	INTR	0,9736.04,0x2378b6,7,5
INTERNAL_PRESSURE	8.53472	SOUNDSPEED	1448.2
TCM_TEMP	12.20	CURRENT	0.031,37.88,1
XPDR_PINGS	1	GPS	300714,214024,7109.908,-14424.224,27,0.7,47,22.4
SC_FREEKB	4005152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	475	138.73	nil	0	0	0.00
Roll_motor	58	143	107.85	nil	0	0	0.00
VBD_pump_during_apogee	586	2451	18447.91	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9173	15	1804.18
Iridium_during_xfer	434	193	1080.06	TMICL	9228	13	1577.73
Transponder_ping	0	420	1.35	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	0	0.25
TT8	0	0	0.00
LPSleep	6829	2	199.11
TT8_Active	688	8	75.81
TT8_Sampling	2310	28	822.31
TT8_CF8	80	35	36.05
TT8_Kalman	0	0	0.00
Analog_circuits	1824	10	230.24
GPS_charging	0	0	0.00
Compass	1165	0	11.04
RAFOS	1482	48	897.74
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	-0.71	-145.9	207	2811	499	596	0.0	0.0	0	64	0.00	0.00	-42.92	0.000	16386	0.000	0.000	206	2810	1648	1674	1622	0	0	0	0	0	0	28.83	28.83	28.83
65	-0.71	-145.9	207	2811	1676	1623	3.2	-4.0	4	128	11.57	2.53	-45.22	0.000	18948	0.476	0.107	2361	1393	3782	3851	3713	0	0	0	0	0	0	14.12	14.33	14.52
138	-0.59	-145.9	2362	1393	3852	3715	17.7	-20.4	14	146	0.20	2.55	0.00	0.000	3078	0.374	0.118	2400	2800	3782	3851	3714	0	0	0	0	0	0	14.19	14.31	28.83
450	-0.59	-145.9	2400	2800	3852	3717	74.9	-15.2	46	458	0.00	2.40	0.00	0.000	516	0.000	0.083	2400	1392	3784	3851	3717	0	0	0	0	0	0	28.83	14.42	28.83
552	-0.59	-145.9	2401	1392	3852	3718	89.4	-14.2	66	560	0.00	2.55	0.00	0.000	1030	0.000	0.117	2400	2810	3784	3852	3717	0	0	0	0	0	0	28.83	14.43	28.83
864	-0.59	-145.9	2401	2811	3852	3718	133.0	-13.3	98	867	0.00	0.00	0.00	0.000	6	0.000	0.000	2400	2810	3784	3851	3717	0	0	0	0	0	0	28.83	28.83	28.83
1164	-0.62	-145.9	2401	2815	3852	3717	168.6	-11.3	128	1172	0.00	2.40	0.00	0.000	516	0.000	0.085	2400	1394	3784	3851	3717	0	0	0	0	0	0	28.83	14.54	28.83
1232	-0.66	-145.9	2401	1394	3852	3717	175.7	-10.2	141	1241	0.00	2.53	0.00	0.000	1030	0.000	0.119	2399	2806	3784	3851	3717	0	0	0	0	0	0	28.83	14.50	28.83
1537	-0.70	-145.9	2401	2807	3853	3716	206.2	-9.7	172	1544	0.00	2.38	0.00	0.000	516	0.000	0.083	2400	1397	3784	3851	3717	0	0	0	0	0	0	28.83	14.55	28.83
1589	-0.75	-145.9	2400	1397	3852	3717	211.1	-9.3	182	1597	0.12	2.50	0.00	0.000	5126	0.161	0.119	2349	2798	3784	3851	3717	0	0	0	0	0	0	14.57	14.52	28.83
1901	-0.75	-145.9	2350	2798	3851	3717	247.6	-11.5	214	1904	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2798	3783	3851	3716	0	0	0	0	0	0	28.83	28.83	28.83
2221	-0.75	-145.9	2356	2798	3852	3716	284.2	-11.3	226	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2349	2798	3783	3851	3715	0	0	0	0	0	0	28.83	28.83	28.83
2521	-0.75	-145.9	2346	2798	3852	3716	316.9	-10.7	236	2529	0.00	2.38	0.00	0.000	516	0.000	0.083	2349	1387	3783	3852	3715	0	0	0	0	0	0	28.83	14.60	28.83
2583	-0.77	-145.9	2350	1388	3852	3716	323.5	-10.4	248	2591	0.00	2.50	0.00	0.000	1030	0.000	0.118	2347	2806	3783	3851	3715	0	0	0	0	0	0	28.83	14.58	28.83
2915	-0.77	-145.9	2348	2802	3852	3715	359.8	-11.0	264	2923	0.00	2.38	0.00	0.000	516	0.000	0.083	2347	1387	3783	3852	3715	0	0	0	0	0	0	28.83	14.63	28.83
2957	-0.79	-145.9	2349	1389	3847	3715	364.4	-10.7	272	2965	0.00	2.50	0.00	0.000	1030	0.000	0.117	2347	2795	3783	3851	3715	0	0	0	0	0	0	28.83	14.59	28.83
3279	-0.79	-145.9	2348	2795	3852	3715	398.7	-10.6	286	3281	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2795	3783	3851	3715	0	0	0	0	0	0	28.83	28.83	28.83
3579	-0.79	-145.9	2348	2795	3852	3714	430.2	-10.4	296	3586	0.00	2.38	0.00	0.000	516	0.000	0.082	2347	1389	3783	3851	3715	0	0	0	0	0	0	28.83	14.57	28.83
3645	-0.81	-145.9	2348	1390	3853	3716	437.0	-9.5	309	3653	0.00	2.53	0.00	0.000	1030	0.000	0.117	2347	2810	3782	3851	3714	0	0	0	0	0	0	28.83	14.54	28.83
3973	-0.81	-145.9	2348	2810	3852	3715	471.4	-10.5	324	3975	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2810	3782	3851	3714	0	0	0	0	0	0	28.83	28.83	28.83
4271	end dive: TARGET_DEPTH_EXCEEDED
state	4271	begin apogee
4274	-0.14	0.0	2348	3057	3852	3715	502.7	-10.5	334	4415	0.77	0.00	130.25	2.452	10246	0.283	0.000	2547	3056	3189	3270	3108	0	0	0	0	1	0	14.43	28.83	12.83
4417	end apogee: CONTROL_FINISHED_OK
state	4417	begin climb
4418	0.71	145.9	2549	3056	3281	3109	505.9	0.0	338	4567	0.95	1.45	130.80	1.662	10500	0.190	0.125	2816	3784	2584	2655	2514	0	0	0	0	0	0	13.70	13.50	12.96
4736	0.67	145.9	2816	3787	2641	2508	470.9	14.7	394	4744	0.00	1.30	0.00	0.000	1030	0.000	0.080	2821	3055	2574	2640	2508	0	0	0	0	0	0	28.83	13.95	28.83
5058	0.65	145.9	2825	3055	2641	2507	427.4	13.5	408	5060	0.00	0.00	0.00	0.000	6	0.000	0.000	2821	3055	2573	2640	2507	0	0	0	0	0	0	28.83	28.83	28.83
5358	0.62	145.9	2822	3055	2641	2507	386.4	13.6	418	5365	0.00	1.38	0.00	0.000	260	0.000	0.125	2821	3787	2572	2639	2506	0	0	0	0	0	0	28.83	14.33	28.83
5429	0.57	145.9	2822	3788	2642	2508	375.8	14.8	432	5437	0.12	1.27	0.00	0.000	5126	0.288	0.081	2793	3051	2573	2640	2507	0	0	0	0	0	0	14.27	14.40	28.83
5752	0.57	145.9	2793	3051	2641	2507	337.0	12.0	446	5754	0.00	0.00	0.00	0.000	6	0.000	0.000	2792	3051	2573	2640	2507	0	0	0	0	0	0	28.83	28.83	28.83
6051	0.57	145.9	2794	3047	2640	2508	300.9	12.0	456	6054	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	3051	2573	2640	2507	0	0	0	0	0	0	28.83	28.83	28.83
6352	0.58	151.1	2794	3051	2641	2507	265.8	11.6	466	6355	0.00	0.00	0.00	0.000	6	0.000	0.000	2793	3051	2573	2640	2506	0	0	0	0	0	0	28.83	28.83	28.83
6651	0.58	159.5	2793	3051	2640	2508	231.7	11.4	486	6666	0.00	0.00	11.18	1.387	8198	0.000	0.000	2793	3051	2532	2602	2462	0	0	0	0	0	0	28.83	28.83	13.95
6961	0.60	190.2	2799	3051	2593	2453	197.6	10.2	517	6997	0.00	0.00	27.23	1.356	8198	0.000	0.000	2793	3049	2399	2468	2331	0	0	0	0	0	0	28.83	28.83	13.84
7292	0.65	220.6	2794	3057	2460	2326	162.4	10.3	550	7327	0.00	2.42	27.00	1.327	8708	0.000	0.079	2803	1639	2279	2348	2210	0	0	0	0	0	0	28.83	14.28	13.79
7367	0.72	260.1	2804	1639	2335	2206	155.0	9.8	563	7410	0.00	2.55	35.45	1.324	9222	0.000	0.113	2803	3056	2117	2183	2051	0	0	0	0	0	0	28.83	14.29	13.64
7715	0.79	293.6	2804	3056	2169	2037	118.9	10.1	600	7750	0.15	2.53	29.30	1.213	10756	0.135	0.082	2868	1641	1980	2044	1917	0	0	0	0	0	0	14.40	14.18	13.78
7799	0.79	293.6	2869	1641	2030	1911	108.3	13.0	615	7810	0.00	2.55	0.00	0.000	1030	0.000	0.112	2868	3052	1969	2029	1909	0	0	0	0	0	0	28.83	14.24	28.83
8104	0.79	293.6	2869	3052	2030	1909	68.5	13.0	646	8107	0.00	0.00	0.00	0.000	6	0.000	0.000	2868	3052	1965	2028	1903	0	0	0	0	0	0	28.83	28.83	28.83
8405	0.86	358.2	2869	3052	2029	1902	37.2	8.4	676	8446	0.00	2.40	32.90	0.289	8708	0.000	0.079	2876	1641	1726	1786	1667	0	0	0	0	0	0	28.83	14.41	14.28
8580	0.96	434.7	2877	1640	1804	1667	23.6	7.7	709	8631	0.10	2.53	43.33	0.242	11270	0.175	0.116	2921	3056	1411	1461	1361	0	0	0	0	0	0	14.45	14.42	14.31
8925	1.19	651.8	2922	3055	1477	1361	8.9	0.1	746	9050	0.20	1.40	119.03	0.207	11012	0.135	0.132	3000	3788	526	485	567	0	0	0	0	0	0	14.49	14.32	14.28
9118	end climb: SURFACE_DEPTH_REACHED
state	9118	begin surface coast
9149	end surface coast: CONTROL_FINISHED_OK
state	9149	begin surface