Glider dive log

MIZ Jul14 * SG199 * Dive index * Mission links * Dive 70 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 199 ESCAPE_HEADING 0 C_ROLL_CLIMB 2600 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 70 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 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 23 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 688.85968 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 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 3230 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 0.001 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 2 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -21709.252 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 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 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 10 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 0

AH0_10V 0 D_TGT 750 PITCH_GAIN 35.5 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 0.001 TGT_DEFAULT_LAT 4736

ALTIM_PING_DEPTH 0 FILEMGR 0 PITCH_W_DBAND 0.5 TGT_DEFAULT_LON -12218

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 0 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 0.30000001 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 -21709.252

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 3 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 31 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 23 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 70 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 1 SEABIRD_T_H 0.00063958467 VBD_TIMEOUT 720

D_CALL 0 N_NOSURFACE 0 SEABIRD_T_I 2.6420161e-05 W_ADJ_DBAND 2

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 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 040814,155124,7136.178,-14549.039,29,0.8,49,22.0 SPEED_LIMITS 0.139,0.275

_CALLS 1 TGT_NAME 5

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14550.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.06 MHEAD_RNG_PITCHd_Wd 169.1,627,-37.8,-11.628,-40.00,661

_SM_ANGLEo -74.8 D_GRID 1000

GPS2 040814,160154,7136.242,-14549.251,5,0.8,26,22.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,0,20140804161636.088606,3,523,27,0133,0150,100,00,00,00,03,1,014,000,0,5,1,0,150,23.2,4.0,-100,-1.0,-01,0.3,20,900,0025*2A TM_FREEKB 6897120

EKF 11194,4295.338867,-8750.175781,1.037513,0.135790,-0.028489,-0.008935,0.000202,0.002030,0.000099,0.000025,0.000025,0.000050 _24V_AH 12.83,75.498

FINISH 1.0,1.017671 _10V_AH 12.75,0.000

SM_CCo 11095,-0.03,0.000,0,0,501,668.93 FG_AHR_24Vo 0.000

SM_GC 2.21,8.50,0.45,-0.03,0.105,0.102,0.000,199,2362,501,-6.94,0.88,668.93,0,0,0,0,0,0,14.42,14.43,14.07 FG_AHR_10Vo 0.000

RAFOS_CLK 479 MEM 280096

MODEM 9,1407168689,74.24220,-147.76401,208.953,302919.2 DATA_FILE_SIZE 33324,961

RAFOS_FIX 7134.431641,-14552.332031,040814,161602,2,255,5.25 CAP_FILE_SIZE 146998,0

IRIDIUM_FIX 7058.96,-14544.58,040814,124240 CFSIZE 2097872896,2075656192

TT8_MAMPS 0.047936,0.047936 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

HUMID 51.77 INTR 0,11593.85,0x2378b6,7,5

INTERNAL_PRESSURE 8.51433 SOUNDSPEED 1449.7

TCM_TEMP 12.40 CURRENT 0.080,310.89,1

XPDR_PINGS 0 GPS 040814,190843,7135.671,-14551.350,38,0.7,58,22.0

SC_FREEKB 4009080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 483 139.41 nil 0 0 0.00

Roll_motor 66 146 123.87 nil 0 0 0.00

VBD_pump_during_apogee 458 2028 11946.77 nil 0 0 0.00

VBD_pump_during_surface 57 187 138.45 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 11043 14 2021.94

Iridium_during_xfer 382 192 946.00 TMICL 11077 12 1793.67

Transponder_ping 0 420 0.00 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 27 20 7.36

TT8 0 0 0.00

LPSleep 8362 2 246.30

TT8_Active 621 10 86.87

TT8_Sampling 2619 29 992.08

TT8_CF8 121 36 56.56

TT8_Kalman 0 0 0.00

Analog_circuits 1850 10 235.98

GPS_charging 0 0 0.00

Compass 1423 5 90.75

RAFOS 1276 48 780.91

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

19 -1.11 -49.9 198 2350 513 493 0.0 0.0 0 70 0.00 0.00 -48.50 0.000 16386 0.000 0.000 199 2350 1740 1761 1719 0 0 0 0 0 0 28.83 28.83 28.83

72 -1.17 -103.7 201 2350 1761 1719 3.4 -3.2 5 134 10.48 2.67 -45.38 0.000 18692 0.483 0.146 2040 3770 3655 3696 3614 0 0 0 0 0 0 13.98 14.20 14.43

358 -1.17 -103.7 2040 3771 3696 3620 79.5 -27.4 59 366 0.00 2.42 0.00 0.000 1030 0.000 0.083 2043 2362 3659 3696 3622 0 0 0 0 0 0 28.83 14.31 28.83

670 -1.17 -103.7 2044 2361 3696 3621 154.0 -22.5 91 678 0.00 2.53 0.00 0.000 260 0.000 0.122 2034 3766 3658 3696 3621 0 0 0 0 0 0 28.83 14.28 28.83

903 -1.17 -103.7 2035 3762 3696 3621 207.3 -20.3 137 910 0.00 2.42 0.00 0.000 1030 0.000 0.083 2037 2352 3658 3696 3621 0 0 0 0 0 0 28.83 14.35 28.83

1235 -1.17 -103.7 2034 2353 3697 3621 266.2 -16.7 165 1242 0.00 2.55 0.00 0.000 260 0.000 0.124 2023 3767 3658 3696 3621 0 0 0 0 0 0 28.83 14.34 28.83

1469 -1.17 -103.7 2024 3768 3696 3621 309.9 -18.1 211 1477 0.15 2.42 0.00 0.000 3078 0.363 0.082 2048 2348 3658 3696 3621 0 0 0 0 0 0 14.26 14.43 28.83

1782 -1.17 -103.7 2050 2349 3697 3620 358.0 -15.1 223 1790 0.00 2.53 0.00 0.000 260 0.000 0.123 2044 3763 3657 3696 3619 0 0 0 0 0 0 28.83 14.45 28.83

1924 -1.17 -103.7 2046 3763 3696 3619 381.8 -17.0 251 1932 0.00 2.40 0.00 0.000 1030 0.000 0.081 2044 2351 3657 3696 3619 0 0 0 0 0 0 28.83 14.50 28.83

2236 -1.17 -103.7 2044 2353 3698 3619 428.3 -14.7 263 2244 0.00 2.50 0.00 0.000 260 0.000 0.121 2034 3763 3656 3696 3617 0 0 0 0 0 0 28.83 14.48 28.83

2298 -1.17 -103.7 2035 3763 3696 3618 438.5 -16.6 275 2306 0.00 2.38 0.00 0.000 1030 0.000 0.081 2033 2357 3656 3696 3617 0 0 0 0 0 0 28.83 14.53 28.83

2630 -1.17 -103.7 2034 2359 3698 3618 487.9 -14.7 291 2633 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2358 3656 3696 3617 0 0 0 0 0 0 28.83 28.83 28.83

2930 -1.17 -103.7 2033 2359 3698 3618 532.2 -14.8 301 2933 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2358 3656 3696 3617 0 0 0 0 0 0 28.83 28.83 28.83

3230 -1.17 -103.7 2035 2359 3696 3616 576.3 -14.7 311 3232 0.00 0.00 0.00 0.000 6 0.000 0.000 2034 2358 3659 3703 3616 0 0 0 0 0 0 28.83 28.83 28.83

3530 -1.17 -103.7 2034 2359 3697 3617 620.1 -14.7 321 3537 0.00 2.53 0.00 0.000 260 0.000 0.122 2023 3769 3655 3696 3615 0 0 0 0 0 0 28.83 14.54 28.83

3546 -1.17 -103.7 2024 3769 3696 3616 622.7 -14.5 324 3556 0.15 2.38 0.00 0.000 3078 0.358 0.080 2051 2360 3655 3696 3615 0 0 0 0 0 0 14.42 14.59 28.83

3866 -1.17 -103.7 2050 2360 3698 3616 667.4 -13.8 337 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2360 3655 3696 3615 0 0 0 0 0 0 28.83 28.83 28.83

4165 -1.17 -103.7 2052 2360 3695 3616 708.8 -13.7 347 4169 0.00 0.00 0.00 0.000 6 0.000 0.000 2051 2360 3655 3696 3615 0 0 0 0 0 0 28.83 28.83 28.83

4466 -1.17 -103.7 2050 2361 3698 3616 749.7 -13.5 357 4473 0.00 2.38 0.00 0.000 516 0.000 0.091 2051 950 3655 3696 3615 0 0 0 0 0 0 28.83 14.59 28.83

4476 end dive: TARGET_DEPTH_EXCEEDED

state 4476 begin apogee

4481 -0.14 0.0 2041 2596 3697 3615 751.3 -13.6 359 4616 1.45 0.00 130.23 1.763 10246 0.350 0.000 2378 2596 3230 3277 3183 0 0 0 0 0 0 14.42 28.83 13.15

4619 end apogee: CONTROL_FINISHED_OK

state 4619 begin climb

4620 1.17 103.7 2377 2597 3275 3178 755.0 0.0 363 4727 1.48 2.22 91.18 2.029 10500 0.176 0.120 2800 3769 2798 2834 2762 0 0 0 0 0 0 13.81 13.56 12.83

4806 1.17 103.7 2801 3769 2827 2759 729.0 21.0 394 4814 0.00 2.08 0.00 0.000 1030 0.000 0.079 2809 2594 2792 2826 2758 0 0 0 0 0 0 28.83 13.89 28.83

5134 1.17 103.7 2809 2594 2828 2757 668.1 18.5 409 5137 0.00 0.00 0.00 0.000 6 0.000 0.000 2809 2594 2792 2828 2756 0 0 0 0 0 0 28.83 28.83 28.83

5433 1.17 103.7 2806 2594 2827 2756 612.1 18.7 419 5441 0.00 2.12 0.00 0.000 260 0.000 0.125 2809 3767 2791 2828 2755 0 0 0 0 0 0 28.83 14.31 28.83

5485 1.17 103.7 2809 3768 2829 2760 601.5 20.9 429 5492 0.00 2.00 0.00 0.000 1030 0.000 0.084 2817 2599 2791 2828 2755 0 0 0 0 0 0 28.83 14.37 28.83

5797 1.17 103.7 2818 2600 2832 2752 542.6 18.8 441 5800 0.00 0.00 0.00 0.000 6 0.000 0.000 2818 2599 2791 2828 2755 0 0 0 0 0 0 28.83 28.83 28.83

6096 1.17 103.7 2819 2600 2827 2754 486.4 18.6 451 6104 0.00 2.10 0.00 0.000 260 0.000 0.126 2818 3770 2791 2828 2755 0 0 0 0 0 0 28.83 14.43 28.83

6148 1.17 103.7 2818 3771 2829 2755 475.7 21.0 461 6156 0.00 2.00 0.00 0.000 1030 0.000 0.085 2826 2594 2791 2828 2754 0 0 0 0 0 0 28.83 14.50 28.83

6461 1.17 103.7 2834 2594 2827 2755 417.7 18.4 473 6463 0.00 0.00 0.00 0.000 6 0.000 0.000 2826 2594 2791 2828 2754 0 0 0 0 0 0 28.83 28.83 28.83

6760 1.17 103.7 2825 2594 2829 2755 362.6 18.3 483 6763 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2593 2791 2828 2754 0 0 0 0 0 0 28.83 28.83 28.83

7061 1.17 103.7 2826 2594 2830 2754 308.1 18.1 493 7063 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2593 2791 2828 2754 0 0 0 0 0 0 28.83 28.83 28.83

7360 1.17 103.7 2826 2594 2829 2755 254.9 17.5 503 7363 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2594 2791 2828 2754 0 0 0 0 0 0 28.83 28.83 28.83

7660 1.17 103.7 2828 2594 2827 2754 206.0 14.8 531 7663 0.00 0.00 0.00 0.000 6 0.000 0.000 2827 2593 2791 2828 2754 0 0 0 0 0 0 28.83 28.83 28.83

7961 1.21 103.7 2826 2591 2829 2755 169.4 10.6 561 7968 0.00 2.38 0.00 0.000 516 0.000 0.088 2837 1195 2790 2826 2754 0 0 0 0 0 0 28.83 14.54 28.83

8092 1.23 123.6 2838 1195 2828 2754 157.3 8.5 587 8115 0.00 2.47 16.42 1.362 9222 0.000 0.102 2837 2602 2724 2762 2686 0 0 0 0 0 0 28.83 14.51 13.82

8420 1.25 146.4 2836 2602 2755 2671 127.4 8.1 621 8444 0.00 0.00 20.08 1.349 8454 0.000 0.000 2837 2602 2628 2672 2584 0 0 0 0 0 0 28.83 28.83 13.74

8740 1.27 163.0 2837 2602 2666 2569 95.9 9.0 654 8753 0.00 0.00 6.28 0.399 8198 0.000 0.000 2837 2602 2567 2616 2518 0 0 0 0 0 0 28.83 28.83 14.18

9049 1.30 194.3 2837 2603 2631 2533 69.5 6.8 685 9070 0.00 0.00 17.35 0.371 8710 0.000 0.000 2837 2602 2437 2488 2386 0 0 0 0 0 0 28.83 28.83 14.23

9375 1.36 256.3 2838 2602 2504 2399 49.4 2.0 719 9418 0.12 2.10 31.58 0.317 10500 0.171 0.127 2882 3769 2188 2246 2130 0 0 0 0 0 0 14.44 14.33 14.25

9642 1.40 256.3 2882 3772 2254 2141 22.1 10.6 770 9652 0.00 2.00 1.55 0.249 9222 0.000 0.088 2891 2601 2183 2241 2125 0 0 0 0 0 0 28.83 14.42 14.33

9948 1.47 325.9 2892 2602 2258 2134 12.8 0.8 801 9990 0.00 2.12 33.45 0.216 8452 0.000 0.126 2892 3773 1899 1974 1824 0 0 0 0 0 0 28.83 14.36 14.32

10214 1.55 404.4 2893 3773 1974 1831 11.4 -0.6 852 10259 0.00 2.00 37.38 0.210 9222 0.000 0.089 2901 2601 1578 1660 1496 0 0 0 0 0 0 28.83 14.44 14.29

10563 1.62 474.9 2900 2601 1663 1497 6.6 0.7 889 10606 0.15 2.50 33.83 0.200 10756 0.154 0.090 2963 1194 1293 1379 1208 0 0 0 0 0 0 14.41 14.39 14.33

10830 1.70 554.2 2961 1195 1384 1209 5.0 -0.7 940 10880 0.00 2.50 39.67 0.196 9222 0.000 0.103 2964 2609 968 1051 886 0 0 0 0 0 0 28.83 14.40 14.31

10963 end climb: SURFACE_DEPTH_REACHED

state 10963 begin surface coast

11013 end surface coast: CONTROL_FINISHED_OK

state 11013 begin surface

ID	199	ESCAPE_HEADING	0	C_ROLL_CLIMB	2600	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	70	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	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	23	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	688.85968	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	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	3230	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	0.001	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	2	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-21709.252	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	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	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	10	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	040814,155124,7136.178,-14549.039,29,0.8,49,22.0	SPEED_LIMITS	0.139,0.275
_CALLS	1	TGT_NAME	5
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14550.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.06	MHEAD_RNG_PITCHd_Wd	169.1,627,-37.8,-11.628,-40.00,661
_SM_ANGLEo	-74.8	D_GRID	1000
GPS2	040814,160154,7136.242,-14549.251,5,0.8,26,22.0

MODEM_MSG	CACST,6,0,20140804161636.088606,3,523,27,0133,0150,100,00,00,00,03,1,014,000,0,5,1,0,150,23.2,4.0,-100,-1.0,-01,0.3,20,900,0025*2A	TM_FREEKB	6897120
EKF	11194,4295.338867,-8750.175781,1.037513,0.135790,-0.028489,-0.008935,0.000202,0.002030,0.000099,0.000025,0.000025,0.000050	_24V_AH	12.83,75.498
FINISH	1.0,1.017671	_10V_AH	12.75,0.000
SM_CCo	11095,-0.03,0.000,0,0,501,668.93	FG_AHR_24Vo	0.000
SM_GC	2.21,8.50,0.45,-0.03,0.105,0.102,0.000,199,2362,501,-6.94,0.88,668.93,0,0,0,0,0,0,14.42,14.43,14.07	FG_AHR_10Vo	0.000
RAFOS_CLK	479	MEM	280096
MODEM	9,1407168689,74.24220,-147.76401,208.953,302919.2	DATA_FILE_SIZE	33324,961
RAFOS_FIX	7134.431641,-14552.332031,040814,161602,2,255,5.25	CAP_FILE_SIZE	146998,0
IRIDIUM_FIX	7058.96,-14544.58,040814,124240	CFSIZE	2097872896,2075656192
TT8_MAMPS	0.047936,0.047936	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
HUMID	51.77	INTR	0,11593.85,0x2378b6,7,5
INTERNAL_PRESSURE	8.51433	SOUNDSPEED	1449.7
TCM_TEMP	12.40	CURRENT	0.080,310.89,1
XPDR_PINGS	0	GPS	040814,190843,7135.671,-14551.350,38,0.7,58,22.0
SC_FREEKB	4009080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	483	139.41	nil	0	0	0.00
Roll_motor	66	146	123.87	nil	0	0	0.00
VBD_pump_during_apogee	458	2028	11946.77	nil	0	0	0.00
VBD_pump_during_surface	57	187	138.45	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	11043	14	2021.94
Iridium_during_xfer	382	192	946.00	TMICL	11077	12	1793.67
Transponder_ping	0	420	0.00	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	27	20	7.36
TT8	0	0	0.00
LPSleep	8362	2	246.30
TT8_Active	621	10	86.87
TT8_Sampling	2619	29	992.08
TT8_CF8	121	36	56.56
TT8_Kalman	0	0	0.00
Analog_circuits	1850	10	235.98
GPS_charging	0	0	0.00
Compass	1423	5	90.75
RAFOS	1276	48	780.91
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
19	-1.11	-49.9	198	2350	513	493	0.0	0.0	0	70	0.00	0.00	-48.50	0.000	16386	0.000	0.000	199	2350	1740	1761	1719	0	0	0	0	0	0	28.83	28.83	28.83
72	-1.17	-103.7	201	2350	1761	1719	3.4	-3.2	5	134	10.48	2.67	-45.38	0.000	18692	0.483	0.146	2040	3770	3655	3696	3614	0	0	0	0	0	0	13.98	14.20	14.43
358	-1.17	-103.7	2040	3771	3696	3620	79.5	-27.4	59	366	0.00	2.42	0.00	0.000	1030	0.000	0.083	2043	2362	3659	3696	3622	0	0	0	0	0	0	28.83	14.31	28.83
670	-1.17	-103.7	2044	2361	3696	3621	154.0	-22.5	91	678	0.00	2.53	0.00	0.000	260	0.000	0.122	2034	3766	3658	3696	3621	0	0	0	0	0	0	28.83	14.28	28.83
903	-1.17	-103.7	2035	3762	3696	3621	207.3	-20.3	137	910	0.00	2.42	0.00	0.000	1030	0.000	0.083	2037	2352	3658	3696	3621	0	0	0	0	0	0	28.83	14.35	28.83
1235	-1.17	-103.7	2034	2353	3697	3621	266.2	-16.7	165	1242	0.00	2.55	0.00	0.000	260	0.000	0.124	2023	3767	3658	3696	3621	0	0	0	0	0	0	28.83	14.34	28.83
1469	-1.17	-103.7	2024	3768	3696	3621	309.9	-18.1	211	1477	0.15	2.42	0.00	0.000	3078	0.363	0.082	2048	2348	3658	3696	3621	0	0	0	0	0	0	14.26	14.43	28.83
1782	-1.17	-103.7	2050	2349	3697	3620	358.0	-15.1	223	1790	0.00	2.53	0.00	0.000	260	0.000	0.123	2044	3763	3657	3696	3619	0	0	0	0	0	0	28.83	14.45	28.83
1924	-1.17	-103.7	2046	3763	3696	3619	381.8	-17.0	251	1932	0.00	2.40	0.00	0.000	1030	0.000	0.081	2044	2351	3657	3696	3619	0	0	0	0	0	0	28.83	14.50	28.83
2236	-1.17	-103.7	2044	2353	3698	3619	428.3	-14.7	263	2244	0.00	2.50	0.00	0.000	260	0.000	0.121	2034	3763	3656	3696	3617	0	0	0	0	0	0	28.83	14.48	28.83
2298	-1.17	-103.7	2035	3763	3696	3618	438.5	-16.6	275	2306	0.00	2.38	0.00	0.000	1030	0.000	0.081	2033	2357	3656	3696	3617	0	0	0	0	0	0	28.83	14.53	28.83
2630	-1.17	-103.7	2034	2359	3698	3618	487.9	-14.7	291	2633	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2358	3656	3696	3617	0	0	0	0	0	0	28.83	28.83	28.83
2930	-1.17	-103.7	2033	2359	3698	3618	532.2	-14.8	301	2933	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2358	3656	3696	3617	0	0	0	0	0	0	28.83	28.83	28.83
3230	-1.17	-103.7	2035	2359	3696	3616	576.3	-14.7	311	3232	0.00	0.00	0.00	0.000	6	0.000	0.000	2034	2358	3659	3703	3616	0	0	0	0	0	0	28.83	28.83	28.83
3530	-1.17	-103.7	2034	2359	3697	3617	620.1	-14.7	321	3537	0.00	2.53	0.00	0.000	260	0.000	0.122	2023	3769	3655	3696	3615	0	0	0	0	0	0	28.83	14.54	28.83
3546	-1.17	-103.7	2024	3769	3696	3616	622.7	-14.5	324	3556	0.15	2.38	0.00	0.000	3078	0.358	0.080	2051	2360	3655	3696	3615	0	0	0	0	0	0	14.42	14.59	28.83
3866	-1.17	-103.7	2050	2360	3698	3616	667.4	-13.8	337	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2360	3655	3696	3615	0	0	0	0	0	0	28.83	28.83	28.83
4165	-1.17	-103.7	2052	2360	3695	3616	708.8	-13.7	347	4169	0.00	0.00	0.00	0.000	6	0.000	0.000	2051	2360	3655	3696	3615	0	0	0	0	0	0	28.83	28.83	28.83
4466	-1.17	-103.7	2050	2361	3698	3616	749.7	-13.5	357	4473	0.00	2.38	0.00	0.000	516	0.000	0.091	2051	950	3655	3696	3615	0	0	0	0	0	0	28.83	14.59	28.83
4476	end dive: TARGET_DEPTH_EXCEEDED
state	4476	begin apogee
4481	-0.14	0.0	2041	2596	3697	3615	751.3	-13.6	359	4616	1.45	0.00	130.23	1.763	10246	0.350	0.000	2378	2596	3230	3277	3183	0	0	0	0	0	0	14.42	28.83	13.15
4619	end apogee: CONTROL_FINISHED_OK
state	4619	begin climb
4620	1.17	103.7	2377	2597	3275	3178	755.0	0.0	363	4727	1.48	2.22	91.18	2.029	10500	0.176	0.120	2800	3769	2798	2834	2762	0	0	0	0	0	0	13.81	13.56	12.83
4806	1.17	103.7	2801	3769	2827	2759	729.0	21.0	394	4814	0.00	2.08	0.00	0.000	1030	0.000	0.079	2809	2594	2792	2826	2758	0	0	0	0	0	0	28.83	13.89	28.83
5134	1.17	103.7	2809	2594	2828	2757	668.1	18.5	409	5137	0.00	0.00	0.00	0.000	6	0.000	0.000	2809	2594	2792	2828	2756	0	0	0	0	0	0	28.83	28.83	28.83
5433	1.17	103.7	2806	2594	2827	2756	612.1	18.7	419	5441	0.00	2.12	0.00	0.000	260	0.000	0.125	2809	3767	2791	2828	2755	0	0	0	0	0	0	28.83	14.31	28.83
5485	1.17	103.7	2809	3768	2829	2760	601.5	20.9	429	5492	0.00	2.00	0.00	0.000	1030	0.000	0.084	2817	2599	2791	2828	2755	0	0	0	0	0	0	28.83	14.37	28.83
5797	1.17	103.7	2818	2600	2832	2752	542.6	18.8	441	5800	0.00	0.00	0.00	0.000	6	0.000	0.000	2818	2599	2791	2828	2755	0	0	0	0	0	0	28.83	28.83	28.83
6096	1.17	103.7	2819	2600	2827	2754	486.4	18.6	451	6104	0.00	2.10	0.00	0.000	260	0.000	0.126	2818	3770	2791	2828	2755	0	0	0	0	0	0	28.83	14.43	28.83
6148	1.17	103.7	2818	3771	2829	2755	475.7	21.0	461	6156	0.00	2.00	0.00	0.000	1030	0.000	0.085	2826	2594	2791	2828	2754	0	0	0	0	0	0	28.83	14.50	28.83
6461	1.17	103.7	2834	2594	2827	2755	417.7	18.4	473	6463	0.00	0.00	0.00	0.000	6	0.000	0.000	2826	2594	2791	2828	2754	0	0	0	0	0	0	28.83	28.83	28.83
6760	1.17	103.7	2825	2594	2829	2755	362.6	18.3	483	6763	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2593	2791	2828	2754	0	0	0	0	0	0	28.83	28.83	28.83
7061	1.17	103.7	2826	2594	2830	2754	308.1	18.1	493	7063	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2593	2791	2828	2754	0	0	0	0	0	0	28.83	28.83	28.83
7360	1.17	103.7	2826	2594	2829	2755	254.9	17.5	503	7363	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2594	2791	2828	2754	0	0	0	0	0	0	28.83	28.83	28.83
7660	1.17	103.7	2828	2594	2827	2754	206.0	14.8	531	7663	0.00	0.00	0.00	0.000	6	0.000	0.000	2827	2593	2791	2828	2754	0	0	0	0	0	0	28.83	28.83	28.83
7961	1.21	103.7	2826	2591	2829	2755	169.4	10.6	561	7968	0.00	2.38	0.00	0.000	516	0.000	0.088	2837	1195	2790	2826	2754	0	0	0	0	0	0	28.83	14.54	28.83
8092	1.23	123.6	2838	1195	2828	2754	157.3	8.5	587	8115	0.00	2.47	16.42	1.362	9222	0.000	0.102	2837	2602	2724	2762	2686	0	0	0	0	0	0	28.83	14.51	13.82
8420	1.25	146.4	2836	2602	2755	2671	127.4	8.1	621	8444	0.00	0.00	20.08	1.349	8454	0.000	0.000	2837	2602	2628	2672	2584	0	0	0	0	0	0	28.83	28.83	13.74
8740	1.27	163.0	2837	2602	2666	2569	95.9	9.0	654	8753	0.00	0.00	6.28	0.399	8198	0.000	0.000	2837	2602	2567	2616	2518	0	0	0	0	0	0	28.83	28.83	14.18
9049	1.30	194.3	2837	2603	2631	2533	69.5	6.8	685	9070	0.00	0.00	17.35	0.371	8710	0.000	0.000	2837	2602	2437	2488	2386	0	0	0	0	0	0	28.83	28.83	14.23
9375	1.36	256.3	2838	2602	2504	2399	49.4	2.0	719	9418	0.12	2.10	31.58	0.317	10500	0.171	0.127	2882	3769	2188	2246	2130	0	0	0	0	0	0	14.44	14.33	14.25
9642	1.40	256.3	2882	3772	2254	2141	22.1	10.6	770	9652	0.00	2.00	1.55	0.249	9222	0.000	0.088	2891	2601	2183	2241	2125	0	0	0	0	0	0	28.83	14.42	14.33
9948	1.47	325.9	2892	2602	2258	2134	12.8	0.8	801	9990	0.00	2.12	33.45	0.216	8452	0.000	0.126	2892	3773	1899	1974	1824	0	0	0	0	0	0	28.83	14.36	14.32
10214	1.55	404.4	2893	3773	1974	1831	11.4	-0.6	852	10259	0.00	2.00	37.38	0.210	9222	0.000	0.089	2901	2601	1578	1660	1496	0	0	0	0	0	0	28.83	14.44	14.29
10563	1.62	474.9	2900	2601	1663	1497	6.6	0.7	889	10606	0.15	2.50	33.83	0.200	10756	0.154	0.090	2963	1194	1293	1379	1208	0	0	0	0	0	0	14.41	14.39	14.33
10830	1.70	554.2	2961	1195	1384	1209	5.0	-0.7	940	10880	0.00	2.50	39.67	0.196	9222	0.000	0.103	2964	2609	968	1051	886	0	0	0	0	0	0	28.83	14.40	14.31
10963	end climb: SURFACE_DEPTH_REACHED
state	10963	begin surface coast
11013	end surface coast: CONTROL_FINISHED_OK
state	11013	begin surface