Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 35 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2800 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 35 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 19 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 16 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 500 SM_CC 688.85968 ROLL_AD_RATE 350 INT_PRESSURE_YINT 1.6

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 3349 DEVICE4 -1

D_SAFE 0 NOCOMM_ACTION 163 VBD_DBAND 2 DEVICE5 -1

D_CALL 0 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 0 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 0 CALL_TRIES 3 PITCH_VBD_SHIFT 0.0012300001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 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 -21665.154 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 0.0044001359

D_OFFGRID 1000 RAFOS_HIT_WINDOW 3600 MINV_24V 11 SEABIRD_T_H 0.00063958467

T_WATCHDOG 10 PITCH_MIN 200 MINV_10V 11 SEABIRD_T_I 2.6420161e-05

RELAUNCH 1 PITCH_MAX 3900 FG_AHR_10V 0 SEABIRD_T_J 3.2747387e-06

APOGEE_PITCH -5 C_PITCH 2470 FG_AHR_24V 0 SEABIRD_C_G -9.7531748

MAX_BUOY 150 PITCH_DBAND 0.1 PHONE_SUPPLY -2 SEABIRD_C_H 1.1147131

COURSE_BIAS 0 PITCH_CNV 0.003125763 PRESSURE_YINT -64.963387 SEABIRD_C_I -0.0015239087

GLIDE_SLOPE 40 P_OVSHOOT 0.039999999 PRESSURE_SLOPE 0.0001159754 SEABIRD_C_J 0.00019379995

SPEED_FACTOR 1 P_OVSHOOT_WITHG 0 AD7714Ch0Gain 128 SC_RECORDABOVE 2000.0

RHO 1.028 PITCH_GAIN 32 TCM_PITCH_OFFSET 0 SC_PROFILE 3.0

MASS 54269 PITCH_TIMEOUT 17 TCM_ROLL_OFFSET 0 SC_XMITPROFILE 3.0

MASS_COMP 0 PITCH_AD_RATE 160 COMPASS_USE 4 TM_RECORDABOVE 2000.0

NAV_MODE 10 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 TM_PROFILE 3.0

FERRY_MAX 45 PITCH_ADJ_GAIN 0.0099999998 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 0.0031999999 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 2200 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 0

AH0_10V 0 D_TGT 500 PITCH_GAIN 32 SURFACE_URGENCY_FORCE 0

AH0_24V 350 ESCAPE_HEADING 0 PITCH_MAX 3900 SURFACE_URGENCY_TRY 0

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 200 TCM_ROLL_OFFSET 0

ALTIM_FREQUENCY 13 FG_AHR_10V 0 PITCH_TIMEOUT 17 TGT_AUTO_DEFAULT 0

ALTIM_PING_DELTA 5 FG_AHR_24V 0 PITCH_VBD_SHIFT 0.0012300001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 PITCH_W_GAIN 0 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 140

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1 T_GPS 3

CAPUPLOAD 0 ID 199 RELAUNCH 1 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.028 T_GPS_CHARGE -21665.154

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 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 2470 LOGGERDEVICE4 -1 ROLL_MAX 3771 T_TURN_SAMPINT -5

C_ROLL_CLIMB 2800 LOGGERS 3 ROLL_MAXERRORS 1 T_WATCHDOG 10

C_ROLL_DIVE 2200 MASS 54269 ROLL_MIN 218 UNCOM_BLEED 60

C_VBD 3349 MASS_COMP 0 ROLL_TIMEOUT 15 UPLOAD_DIVES_MAX 3

DBDW 0 MAX_BUOY 150 R_PORT_OVSHOOT 19 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 -9.7531748 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 163 SEABIRD_C_H 1.1147131 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0015239087 VBD_MIN 500

DIVE 35 N_FILEKB 8 SEABIRD_C_J 0.00019379995 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 600 N_GPS -20 SEABIRD_T_G 0.0044001359 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 0

D_FINISH 0 PHONE_DEVICE 49 SEABIRD_T_J 3.2747387e-06 XPDR_DEVICE 24

D_FLARE 3 PHONE_SUPPLY -2 SIM_PITCH 0 XPDR_INHIBIT 90

D_NO_BLEED 50 PITCH_ADJ_DBAND 2 SIM_W 0 XPDR_VALID 2

D_OFFGRID 1000 PITCH_ADJ_GAIN 0.0099999998 SM_CC 688.85968

D_PITCH 0 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 0 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 300714,135438,7106.348,-14441.652,17,0.8,37,22.3 SPEED_LIMITS 0.142,0.254

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.80 MHEAD_RNG_PITCHd_Wd 299.9,67886,-21.9,-11.905,-25.13,1887

_SM_ANGLEo -72.8 D_GRID 1000

GPS2 300714,140329,7106.371,-14441.627,4,0.9,25,22.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140730161546.649987,3,148,03,0106,0150,100,00,00,03,07,1,010,000,0,5,1,0,150,-8.3,1.9,-100,1.1,-01,-0.3,16,900,0025*33 TM_FREEKB 7549376

EKF 8681,4267.309570,-8683.188477,0.822008,-0.021653,-0.016306,0.020939,0.000118,0.001128,0.000099,0.001025,0.001025,0.000050 _24V_AH 12.97,62.845

FINISH 0.8,1.010795 _10V_AH 12.73,0.000

SM_CCo 8570,38.38,0.194,0,0,537,689.05 FG_AHR_24Vo 0.000

SM_GC 1.66,8.32,1.10,38.38,0.109,0.099,0.194,197,2194,537,-7.06,0.62,689.05,0,0,0,0,0,0,14.31,14.31,14.23 FG_AHR_10Vo 0.000

RAFOS_CLK 73 MEM 297532

MODEM 10,1406736946,73.97700,-146.63480,225.650,327414.6 DATA_FILE_SIZE 30004,880

RAFOS_FIX 7052.601562,-14431.230469,290714,000043,2,255,0.50 CAP_FILE_SIZE 135250,0

IRIDIUM_FIX 7032.78,-14435.46,300714,112611 CFSIZE 2097872896,2085486592

TT8_MAMPS 0.047187,0.047187 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0

HUMID 50.15 INTR 0,9109.35,0x2378b6,7,5

INTERNAL_PRESSURE 8.50456 SOUNDSPEED 1450.5

TCM_TEMP 12.10 CURRENT 0.026,112.30,1

XPDR_PINGS 0 GPS 300714,162825,7107.262,-14442.842,14,0.8,34,22.3

SC_FREEKB 4013080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 482 143.84 nil 0 0 0.00

Roll_motor 93 143 173.53 nil 0 0 0.00

VBD_pump_during_apogee 611 1676 13295.70 nil 0 0 0.00

VBD_pump_during_surface 38 193 96.33 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 8573 15 1768.17

Iridium_during_xfer 319 195 809.01 TMICL 8599 12 1411.96

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 26 20 7.13

TT8 0 0 0.00

LPSleep 5901 2 173.54

TT8_Active 815 10 113.89

TT8_Sampling 2340 29 884.83

TT8_CF8 84 36 39.41

TT8_Kalman 0 0 0.00

Analog_circuits 1919 10 244.41

GPS_charging 0 0 0.00

Compass 1296 5 82.54

RAFOS 1498 48 915.34

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 -0.87 -145.9 195 2205 580 509 0.0 0.0 0 84 0.00 0.00 -62.97 0.000 16386 0.000 0.000 194 2205 2141 2151 2132 0 0 0 0 0 0 28.83 28.83 28.83

86 -0.87 -145.9 196 2206 2151 2140 3.4 -3.2 6 141 11.15 2.55 -33.30 0.000 18692 0.483 0.143 2172 3613 3946 4001 3892 0 0 0 0 0 0 14.04 14.22 14.48

300 -0.76 -145.9 2173 3613 3999 3896 61.5 -24.5 46 310 0.22 2.45 0.00 0.000 3078 0.334 0.091 2219 2195 3948 4001 3896 0 0 0 0 0 0 14.17 14.31 28.83

614 -0.76 -145.9 2219 2195 4003 3898 117.5 -16.5 78 623 0.00 2.58 0.00 0.000 260 0.000 0.129 2210 3620 3949 4001 3897 0 0 0 0 0 0 28.83 14.38 28.83

637 -0.74 -145.9 2210 3620 4002 3898 121.6 -17.1 82 646 0.00 2.45 0.00 0.000 1030 0.000 0.090 2210 2196 3949 4001 3898 0 0 0 0 0 0 28.83 14.41 28.83

950 -0.74 -145.9 2210 2193 4002 3898 169.6 -13.7 114 960 0.00 2.55 0.00 0.000 260 0.000 0.130 2199 3613 3949 4001 3898 0 0 0 0 0 0 28.83 14.40 28.83

1004 -0.74 -145.9 2199 3614 4002 3898 177.6 -14.9 124 1012 0.12 2.42 0.00 0.000 3078 0.305 0.089 2223 2197 3949 4001 3898 0 0 0 0 0 0 14.35 14.45 28.83

1317 -0.77 -145.9 2224 2197 4001 3898 214.9 -11.3 156 1319 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2197 3949 4001 3898 0 0 0 0 0 0 28.83 28.83 28.83

1616 -0.80 -145.9 2225 2198 4000 3898 248.1 -10.5 186 1626 0.00 2.55 0.00 0.000 260 0.000 0.131 2214 3617 3948 4000 3897 0 0 0 0 0 0 28.83 14.45 28.83

1754 -0.80 -145.9 2215 3617 4000 3897 264.4 -12.0 213 1762 0.00 2.42 0.00 0.000 1030 0.000 0.090 2213 2197 3948 4001 3896 0 0 0 0 0 0 28.83 14.50 28.83

2072 -0.83 -145.9 2213 2197 4002 3896 299.5 -10.9 226 2082 0.00 2.53 0.00 0.000 260 0.000 0.131 2202 3612 3948 4001 3895 0 0 0 0 0 0 28.83 14.50 28.83

2141 -0.83 -145.9 2210 3613 4001 3901 307.9 -12.0 239 2149 0.00 2.40 0.00 0.000 1030 0.000 0.088 2203 2200 3948 4001 3895 0 0 0 0 0 0 28.83 14.52 28.83

2469 -0.85 -145.9 2203 2199 4002 3895 345.6 -11.3 254 2479 0.00 2.53 0.00 0.000 260 0.000 0.129 2192 3619 3947 4001 3894 0 0 0 0 0 0 28.83 14.51 28.83

2553 -0.85 -145.9 2192 3619 4002 3895 356.0 -12.6 270 2563 0.00 2.42 0.00 0.000 1030 0.000 0.089 2193 2193 3946 4001 3891 0 0 0 0 0 0 28.83 14.54 28.83

2868 -0.85 -145.9 2193 2191 4007 3894 392.5 -11.4 282 2877 0.00 2.53 0.00 0.000 260 0.000 0.129 2182 3613 3947 4001 3893 0 0 0 0 0 0 28.83 14.52 28.83

2972 -0.85 -145.9 2183 3614 3999 3894 405.7 -12.5 302 2982 0.00 2.40 0.00 0.000 1030 0.000 0.089 2182 2197 3946 4000 3893 0 0 0 0 0 0 28.83 14.56 28.83

3297 -0.85 -145.9 2183 2197 4002 3894 444.6 -12.0 316 3304 0.00 2.53 0.00 0.000 260 0.000 0.128 2171 3619 3947 4001 3893 0 0 0 0 0 0 28.83 14.53 28.83

3383 -0.85 -145.9 2173 3620 4001 3893 456.1 -13.3 333 3392 0.00 2.42 0.00 0.000 1030 0.000 0.089 2172 2190 3946 4000 3893 0 0 0 0 0 0 28.83 14.57 28.83

3688 -0.85 -145.9 2169 2190 4000 3893 493.9 -12.2 344 3696 0.00 2.55 0.00 0.000 260 0.000 0.129 2161 3621 3947 4001 3893 0 0 0 0 0 0 28.83 14.54 28.83

3734 end dive: TARGET_DEPTH_EXCEEDED

state 3734 begin apogee

3738 -0.16 0.0 2161 2800 4002 3894 500.2 -13.5 353 3924 1.00 0.00 181.02 1.424 10246 0.300 0.000 2410 2799 3346 3400 3293 0 0 0 0 0 0 14.44 28.83 13.24

3926 end apogee: CONTROL_FINISHED_OK

state 3926 begin climb

3927 0.87 145.9 2412 2800 3395 3287 505.8 0.0 359 4069 1.12 1.88 126.57 1.676 10500 0.158 0.129 2742 3766 2741 2789 2694 0 0 0 0 0 0 13.80 13.58 12.97

4233 0.76 145.9 2742 3768 2780 2682 467.5 18.0 413 4241 0.10 1.75 0.00 0.000 5126 0.308 0.087 2715 2791 2729 2778 2681 0 0 0 0 0 0 13.90 14.04 28.83

4565 0.70 145.9 2717 2791 2778 2680 418.4 14.5 429 4573 0.00 2.45 0.00 0.000 516 0.000 0.098 2725 1395 2728 2778 2679 0 0 0 0 0 0 28.83 14.23 28.83

4622 0.66 145.9 2725 1395 2780 2680 410.4 13.7 440 4631 0.17 2.53 0.00 0.000 5126 0.304 0.107 2689 2802 2728 2778 2679 0 0 0 0 0 0 14.17 14.31 28.83

4928 0.63 145.9 2689 2802 2780 2679 370.2 13.1 451 4935 0.00 2.47 0.00 0.000 516 0.000 0.096 2698 1385 2728 2778 2678 0 0 0 0 0 0 28.83 14.37 28.83

4999 0.61 145.9 2699 1385 2778 2680 361.3 12.5 465 5007 0.12 2.53 0.00 0.000 5126 0.304 0.109 2673 2804 2728 2778 2678 0 0 0 0 0 0 14.28 14.38 28.83

5322 0.61 146.5 2672 2804 2780 2679 322.3 11.9 479 5329 0.00 2.45 0.00 0.000 516 0.000 0.096 2682 1393 2728 2778 2678 0 0 0 0 0 0 28.83 14.45 28.83

5429 0.62 152.1 2682 1394 2780 2679 310.1 11.6 500 5436 0.00 2.50 0.00 0.000 1030 0.000 0.108 2682 2805 2728 2778 2678 0 0 0 0 0 0 28.83 14.45 28.83

5746 0.59 152.1 2682 2806 2780 2679 271.5 12.0 513 5753 0.00 2.42 0.00 0.000 516 0.000 0.096 2693 1393 2728 2778 2678 0 0 0 0 0 0 28.83 14.50 28.83

5832 0.59 152.5 2691 1393 2778 2679 261.3 11.9 530 5845 0.12 2.50 0.00 0.000 5126 0.318 0.109 2668 2805 2728 2779 2678 0 0 0 0 0 0 14.39 14.49 28.83

6137 0.62 173.0 2668 2806 2778 2678 227.3 10.8 553 6167 0.00 2.55 22.23 1.386 8708 0.000 0.096 2677 1389 2631 2688 2575 0 0 0 0 0 0 28.83 14.34 13.79

6231 0.63 183.5 2678 1390 2681 2562 216.8 11.3 570 6243 0.00 2.53 2.78 0.705 9222 0.000 0.108 2677 2798 2598 2659 2538 0 0 0 0 0 0 28.83 14.35 13.64

6538 0.66 206.3 2682 2799 2675 2553 182.5 10.7 601 6573 0.00 2.50 27.23 1.332 8708 0.000 0.095 2687 1387 2497 2563 2432 0 0 0 0 0 0 28.83 14.23 13.71

6712 0.71 251.4 2687 1388 2554 2418 165.0 9.4 634 6762 0.00 2.53 39.90 1.311 9222 0.000 0.109 2687 2799 2310 2379 2242 0 0 1 0 0 0 28.83 14.31 13.57

7060 0.74 274.0 2688 2796 2370 2223 127.3 10.7 671 7088 0.00 2.50 18.52 1.242 8708 0.000 0.095 2697 1396 2217 2294 2141 0 0 0 0 0 0 28.83 14.14 13.65

7263 0.83 319.4 2698 1395 2290 2135 107.9 9.4 710 7313 0.12 2.55 41.22 1.243 11270 0.167 0.109 2739 2807 2037 2124 1951 0 0 0 0 0 0 14.23 14.21 13.52

7607 0.83 319.4 2738 2808 2110 1924 63.3 12.9 747 7615 0.00 2.53 0.00 0.000 516 0.000 0.098 2746 1385 2015 2109 1922 0 0 0 0 0 0 28.83 14.23 28.83

7734 0.90 357.6 2749 1383 2108 1921 49.8 9.8 772 7758 0.00 2.55 16.00 0.302 9222 0.000 0.110 2749 2799 1891 1984 1798 0 0 0 0 0 0 28.83 14.22 14.12

8052 0.98 415.2 2750 2800 1996 1827 20.4 8.8 805 8095 0.12 2.50 31.38 0.233 10756 0.176 0.098 2798 1389 1652 1742 1562 0 0 0 0 0 0 14.30 14.21 14.19

8269 1.27 616.8 2800 1389 1757 1572 13.0 0.9 846 8385 0.25 2.53 104.75 0.210 11270 0.132 0.108 2881 2802 831 911 751 0 0 0 0 0 0 14.29 14.27 14.12

8498 end climb: SURFACE_DEPTH_REACHED

state 8498 begin surface coast

8548 end surface coast: CONTROL_FINISHED_OK

state 8548 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2800	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	35	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	19	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	16	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	500	SM_CC	688.85968	ROLL_AD_RATE	350	INT_PRESSURE_YINT	1.6
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	3349	DEVICE4	-1
D_SAFE	0	NOCOMM_ACTION	163	VBD_DBAND	2	DEVICE5	-1
D_CALL	0	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	0	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	0	CALL_TRIES	3	PITCH_VBD_SHIFT	0.0012300001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	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	-21665.154	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	0.0044001359
D_OFFGRID	1000	RAFOS_HIT_WINDOW	3600	MINV_24V	11	SEABIRD_T_H	0.00063958467
T_WATCHDOG	10	PITCH_MIN	200	MINV_10V	11	SEABIRD_T_I	2.6420161e-05
RELAUNCH	1	PITCH_MAX	3900	FG_AHR_10V	0	SEABIRD_T_J	3.2747387e-06
APOGEE_PITCH	-5	C_PITCH	2470	FG_AHR_24V	0	SEABIRD_C_G	-9.7531748
MAX_BUOY	150	PITCH_DBAND	0.1	PHONE_SUPPLY	-2	SEABIRD_C_H	1.1147131
COURSE_BIAS	0	PITCH_CNV	0.003125763	PRESSURE_YINT	-64.963387	SEABIRD_C_I	-0.0015239087
GLIDE_SLOPE	40	P_OVSHOOT	0.039999999	PRESSURE_SLOPE	0.0001159754	SEABIRD_C_J	0.00019379995
SPEED_FACTOR	1	P_OVSHOOT_WITHG	0	AD7714Ch0Gain	128	SC_RECORDABOVE	2000.0
RHO	1.028	PITCH_GAIN	32	TCM_PITCH_OFFSET	0	SC_PROFILE	3.0
MASS	54269	PITCH_TIMEOUT	17	TCM_ROLL_OFFSET	0	SC_XMITPROFILE	3.0
MASS_COMP	0	PITCH_AD_RATE	160	COMPASS_USE	4	TM_RECORDABOVE	2000.0
NAV_MODE	10	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	TM_PROFILE	3.0
FERRY_MAX	45	PITCH_ADJ_GAIN	0.0099999998	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	0.0031999999	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	2200	ALTIM_PING_DELTA	5

GPS1	300714,135438,7106.348,-14441.652,17,0.8,37,22.3	SPEED_LIMITS	0.142,0.254
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.80	MHEAD_RNG_PITCHd_Wd	299.9,67886,-21.9,-11.905,-25.13,1887
_SM_ANGLEo	-72.8	D_GRID	1000
GPS2	300714,140329,7106.371,-14441.627,4,0.9,25,22.3

MODEM_MSG	CACST,6,0,20140730161546.649987,3,148,03,0106,0150,100,00,00,03,07,1,010,000,0,5,1,0,150,-8.3,1.9,-100,1.1,-01,-0.3,16,900,0025*33	TM_FREEKB	7549376
EKF	8681,4267.309570,-8683.188477,0.822008,-0.021653,-0.016306,0.020939,0.000118,0.001128,0.000099,0.001025,0.001025,0.000050	_24V_AH	12.97,62.845
FINISH	0.8,1.010795	_10V_AH	12.73,0.000
SM_CCo	8570,38.38,0.194,0,0,537,689.05	FG_AHR_24Vo	0.000
SM_GC	1.66,8.32,1.10,38.38,0.109,0.099,0.194,197,2194,537,-7.06,0.62,689.05,0,0,0,0,0,0,14.31,14.31,14.23	FG_AHR_10Vo	0.000
RAFOS_CLK	73	MEM	297532
MODEM	10,1406736946,73.97700,-146.63480,225.650,327414.6	DATA_FILE_SIZE	30004,880
RAFOS_FIX	7052.601562,-14431.230469,290714,000043,2,255,0.50	CAP_FILE_SIZE	135250,0
IRIDIUM_FIX	7032.78,-14435.46,300714,112611	CFSIZE	2097872896,2085486592
TT8_MAMPS	0.047187,0.047187	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
HUMID	50.15	INTR	0,9109.35,0x2378b6,7,5
INTERNAL_PRESSURE	8.50456	SOUNDSPEED	1450.5
TCM_TEMP	12.10	CURRENT	0.026,112.30,1
XPDR_PINGS	0	GPS	300714,162825,7107.262,-14442.842,14,0.8,34,22.3
SC_FREEKB	4013080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	482	143.84	nil	0	0	0.00
Roll_motor	93	143	173.53	nil	0	0	0.00
VBD_pump_during_apogee	611	1676	13295.70	nil	0	0	0.00
VBD_pump_during_surface	38	193	96.33	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	8573	15	1768.17
Iridium_during_xfer	319	195	809.01	TMICL	8599	12	1411.96
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	26	20	7.13
TT8	0	0	0.00
LPSleep	5901	2	173.54
TT8_Active	815	10	113.89
TT8_Sampling	2340	29	884.83
TT8_CF8	84	36	39.41
TT8_Kalman	0	0	0.00
Analog_circuits	1919	10	244.41
GPS_charging	0	0	0.00
Compass	1296	5	82.54
RAFOS	1498	48	915.34
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	-0.87	-145.9	195	2205	580	509	0.0	0.0	0	84	0.00	0.00	-62.97	0.000	16386	0.000	0.000	194	2205	2141	2151	2132	0	0	0	0	0	0	28.83	28.83	28.83
86	-0.87	-145.9	196	2206	2151	2140	3.4	-3.2	6	141	11.15	2.55	-33.30	0.000	18692	0.483	0.143	2172	3613	3946	4001	3892	0	0	0	0	0	0	14.04	14.22	14.48
300	-0.76	-145.9	2173	3613	3999	3896	61.5	-24.5	46	310	0.22	2.45	0.00	0.000	3078	0.334	0.091	2219	2195	3948	4001	3896	0	0	0	0	0	0	14.17	14.31	28.83
614	-0.76	-145.9	2219	2195	4003	3898	117.5	-16.5	78	623	0.00	2.58	0.00	0.000	260	0.000	0.129	2210	3620	3949	4001	3897	0	0	0	0	0	0	28.83	14.38	28.83
637	-0.74	-145.9	2210	3620	4002	3898	121.6	-17.1	82	646	0.00	2.45	0.00	0.000	1030	0.000	0.090	2210	2196	3949	4001	3898	0	0	0	0	0	0	28.83	14.41	28.83
950	-0.74	-145.9	2210	2193	4002	3898	169.6	-13.7	114	960	0.00	2.55	0.00	0.000	260	0.000	0.130	2199	3613	3949	4001	3898	0	0	0	0	0	0	28.83	14.40	28.83
1004	-0.74	-145.9	2199	3614	4002	3898	177.6	-14.9	124	1012	0.12	2.42	0.00	0.000	3078	0.305	0.089	2223	2197	3949	4001	3898	0	0	0	0	0	0	14.35	14.45	28.83
1317	-0.77	-145.9	2224	2197	4001	3898	214.9	-11.3	156	1319	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2197	3949	4001	3898	0	0	0	0	0	0	28.83	28.83	28.83
1616	-0.80	-145.9	2225	2198	4000	3898	248.1	-10.5	186	1626	0.00	2.55	0.00	0.000	260	0.000	0.131	2214	3617	3948	4000	3897	0	0	0	0	0	0	28.83	14.45	28.83
1754	-0.80	-145.9	2215	3617	4000	3897	264.4	-12.0	213	1762	0.00	2.42	0.00	0.000	1030	0.000	0.090	2213	2197	3948	4001	3896	0	0	0	0	0	0	28.83	14.50	28.83
2072	-0.83	-145.9	2213	2197	4002	3896	299.5	-10.9	226	2082	0.00	2.53	0.00	0.000	260	0.000	0.131	2202	3612	3948	4001	3895	0	0	0	0	0	0	28.83	14.50	28.83
2141	-0.83	-145.9	2210	3613	4001	3901	307.9	-12.0	239	2149	0.00	2.40	0.00	0.000	1030	0.000	0.088	2203	2200	3948	4001	3895	0	0	0	0	0	0	28.83	14.52	28.83
2469	-0.85	-145.9	2203	2199	4002	3895	345.6	-11.3	254	2479	0.00	2.53	0.00	0.000	260	0.000	0.129	2192	3619	3947	4001	3894	0	0	0	0	0	0	28.83	14.51	28.83
2553	-0.85	-145.9	2192	3619	4002	3895	356.0	-12.6	270	2563	0.00	2.42	0.00	0.000	1030	0.000	0.089	2193	2193	3946	4001	3891	0	0	0	0	0	0	28.83	14.54	28.83
2868	-0.85	-145.9	2193	2191	4007	3894	392.5	-11.4	282	2877	0.00	2.53	0.00	0.000	260	0.000	0.129	2182	3613	3947	4001	3893	0	0	0	0	0	0	28.83	14.52	28.83
2972	-0.85	-145.9	2183	3614	3999	3894	405.7	-12.5	302	2982	0.00	2.40	0.00	0.000	1030	0.000	0.089	2182	2197	3946	4000	3893	0	0	0	0	0	0	28.83	14.56	28.83
3297	-0.85	-145.9	2183	2197	4002	3894	444.6	-12.0	316	3304	0.00	2.53	0.00	0.000	260	0.000	0.128	2171	3619	3947	4001	3893	0	0	0	0	0	0	28.83	14.53	28.83
3383	-0.85	-145.9	2173	3620	4001	3893	456.1	-13.3	333	3392	0.00	2.42	0.00	0.000	1030	0.000	0.089	2172	2190	3946	4000	3893	0	0	0	0	0	0	28.83	14.57	28.83
3688	-0.85	-145.9	2169	2190	4000	3893	493.9	-12.2	344	3696	0.00	2.55	0.00	0.000	260	0.000	0.129	2161	3621	3947	4001	3893	0	0	0	0	0	0	28.83	14.54	28.83
3734	end dive: TARGET_DEPTH_EXCEEDED
state	3734	begin apogee
3738	-0.16	0.0	2161	2800	4002	3894	500.2	-13.5	353	3924	1.00	0.00	181.02	1.424	10246	0.300	0.000	2410	2799	3346	3400	3293	0	0	0	0	0	0	14.44	28.83	13.24
3926	end apogee: CONTROL_FINISHED_OK
state	3926	begin climb
3927	0.87	145.9	2412	2800	3395	3287	505.8	0.0	359	4069	1.12	1.88	126.57	1.676	10500	0.158	0.129	2742	3766	2741	2789	2694	0	0	0	0	0	0	13.80	13.58	12.97
4233	0.76	145.9	2742	3768	2780	2682	467.5	18.0	413	4241	0.10	1.75	0.00	0.000	5126	0.308	0.087	2715	2791	2729	2778	2681	0	0	0	0	0	0	13.90	14.04	28.83
4565	0.70	145.9	2717	2791	2778	2680	418.4	14.5	429	4573	0.00	2.45	0.00	0.000	516	0.000	0.098	2725	1395	2728	2778	2679	0	0	0	0	0	0	28.83	14.23	28.83
4622	0.66	145.9	2725	1395	2780	2680	410.4	13.7	440	4631	0.17	2.53	0.00	0.000	5126	0.304	0.107	2689	2802	2728	2778	2679	0	0	0	0	0	0	14.17	14.31	28.83
4928	0.63	145.9	2689	2802	2780	2679	370.2	13.1	451	4935	0.00	2.47	0.00	0.000	516	0.000	0.096	2698	1385	2728	2778	2678	0	0	0	0	0	0	28.83	14.37	28.83
4999	0.61	145.9	2699	1385	2778	2680	361.3	12.5	465	5007	0.12	2.53	0.00	0.000	5126	0.304	0.109	2673	2804	2728	2778	2678	0	0	0	0	0	0	14.28	14.38	28.83
5322	0.61	146.5	2672	2804	2780	2679	322.3	11.9	479	5329	0.00	2.45	0.00	0.000	516	0.000	0.096	2682	1393	2728	2778	2678	0	0	0	0	0	0	28.83	14.45	28.83
5429	0.62	152.1	2682	1394	2780	2679	310.1	11.6	500	5436	0.00	2.50	0.00	0.000	1030	0.000	0.108	2682	2805	2728	2778	2678	0	0	0	0	0	0	28.83	14.45	28.83
5746	0.59	152.1	2682	2806	2780	2679	271.5	12.0	513	5753	0.00	2.42	0.00	0.000	516	0.000	0.096	2693	1393	2728	2778	2678	0	0	0	0	0	0	28.83	14.50	28.83
5832	0.59	152.5	2691	1393	2778	2679	261.3	11.9	530	5845	0.12	2.50	0.00	0.000	5126	0.318	0.109	2668	2805	2728	2779	2678	0	0	0	0	0	0	14.39	14.49	28.83
6137	0.62	173.0	2668	2806	2778	2678	227.3	10.8	553	6167	0.00	2.55	22.23	1.386	8708	0.000	0.096	2677	1389	2631	2688	2575	0	0	0	0	0	0	28.83	14.34	13.79
6231	0.63	183.5	2678	1390	2681	2562	216.8	11.3	570	6243	0.00	2.53	2.78	0.705	9222	0.000	0.108	2677	2798	2598	2659	2538	0	0	0	0	0	0	28.83	14.35	13.64
6538	0.66	206.3	2682	2799	2675	2553	182.5	10.7	601	6573	0.00	2.50	27.23	1.332	8708	0.000	0.095	2687	1387	2497	2563	2432	0	0	0	0	0	0	28.83	14.23	13.71
6712	0.71	251.4	2687	1388	2554	2418	165.0	9.4	634	6762	0.00	2.53	39.90	1.311	9222	0.000	0.109	2687	2799	2310	2379	2242	0	0	1	0	0	0	28.83	14.31	13.57
7060	0.74	274.0	2688	2796	2370	2223	127.3	10.7	671	7088	0.00	2.50	18.52	1.242	8708	0.000	0.095	2697	1396	2217	2294	2141	0	0	0	0	0	0	28.83	14.14	13.65
7263	0.83	319.4	2698	1395	2290	2135	107.9	9.4	710	7313	0.12	2.55	41.22	1.243	11270	0.167	0.109	2739	2807	2037	2124	1951	0	0	0	0	0	0	14.23	14.21	13.52
7607	0.83	319.4	2738	2808	2110	1924	63.3	12.9	747	7615	0.00	2.53	0.00	0.000	516	0.000	0.098	2746	1385	2015	2109	1922	0	0	0	0	0	0	28.83	14.23	28.83
7734	0.90	357.6	2749	1383	2108	1921	49.8	9.8	772	7758	0.00	2.55	16.00	0.302	9222	0.000	0.110	2749	2799	1891	1984	1798	0	0	0	0	0	0	28.83	14.22	14.12
8052	0.98	415.2	2750	2800	1996	1827	20.4	8.8	805	8095	0.12	2.50	31.38	0.233	10756	0.176	0.098	2798	1389	1652	1742	1562	0	0	0	0	0	0	14.30	14.21	14.19
8269	1.27	616.8	2800	1389	1757	1572	13.0	0.9	846	8385	0.25	2.53	104.75	0.210	11270	0.132	0.108	2881	2802	831	911	751	0	0	0	0	0	0	14.29	14.27	14.12
8498	end climb: SURFACE_DEPTH_REACHED
state	8498	begin surface coast
8548	end surface coast: CONTROL_FINISHED_OK
state	8548	begin surface