Glider dive log

MIZ Jul14 * SG198 * Dive index * Mission links * Dive 94 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 180 C_ROLL_CLIMB 3050 ALTIM_FREQUENCY 13

MISSION 5 ESCAPE_HEADING_DELTA 10 HEAD_ERRBAND 10 ALTIM_PULSE 3

DIVE 94 FIX_MISSING_TIMEOUT 3 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 ROLL_TIMEOUT 15 XPDR_VALID 2

D_SURF 2 TGT_DEFAULT_LON -14430 R_PORT_OVSHOOT 31 XPDR_INHIBIT 90

D_FLARE 3 TGT_AUTO_DEFAULT 0 R_STBD_OVSHOOT 17 INT_PRESSURE_SLOPE 0.0097660003

D_TGT 750 SM_CC 658.87579 ROLL_AD_RATE 350 INT_PRESSURE_YINT -0.44999999

D_ABORT 800 N_FILEKB 8 ROLL_MAXERRORS 2 DEEPGLIDER 0

D_NO_BLEED 50 FILEMGR 2 ROLL_ADJ_GAIN 0 MOTHERBOARD 4

D_BOOST 100 CALL_NDIVES 1 ROLL_ADJ_DBAND 0 DEVICE1 -1

T_BOOST 4 COMM_SEQ 0 VBD_MIN 500 DEVICE2 -1

D_FINISH 9 PROTOCOL 9 VBD_MAX 3960 DEVICE3 -1

D_PITCH 1.75 N_NOCOMM 6 C_VBD 3186 DEVICE4 -1

D_SAFE 500 NOCOMM_ACTION 161 VBD_DBAND 2 DEVICE5 -1

D_CALL 3 N_NOSURFACE 0 VBD_CNV -0.24529999 DEVICE6 -1

SURFACE_URGENCY 5 UPLOAD_DIVES_MAX 3 VBD_TIMEOUT 720 LOGGERS 3

SURFACE_URGENCY_TRY 10 CALL_TRIES 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERDEVICE1 54

SURFACE_URGENCY_FORCE 20 CALL_WAIT 60 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE2 71

T_DIVE 215 CAPUPLOAD 0 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE3 -1

T_MISSION 250 CAPMAXSIZE 100000 VBD_BLEED_AD_RATE 8 LOGGERDEVICE4 -1

T_ABORT 1440 HEAPDBG 0 UNCOM_BLEED 60 COMPASS_DEVICE 97

T_TURN 225 T_GPS 3 VBD_MAXERRORS 1 COMPASS2_DEVICE -1

T_TURN_SAMPINT -5 N_GPS -20 W_ADJ_DBAND 0 PHONE_DEVICE 49

T_NO_W 360 T_GPS_ALMANAC 0 DBDW 0 GPS_DEVICE 32

T_LOITER 0 T_GPS_CHARGE -3428.1331 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 1 RAFOS_PEAK_OFFSET 1 AH0_24V 350 SIM_PITCH 0

ICE_FREEZE_MARGIN 0.1 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 2590 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 0 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 2680 ALTIM_PING_DELTA 5

AD7714Ch0Gain 128 D_SURF 2 PITCH_DBAND 0.1 SURFACE_URGENCY 5

AH0_10V 0 D_TGT 750 PITCH_GAIN 36 SURFACE_URGENCY_FORCE 20

AH0_24V 350 ESCAPE_HEADING 180 PITCH_MAX 3894 SURFACE_URGENCY_TRY 10

ALTIM_BOTTOM_PING_RANGE 0 ESCAPE_HEADING_DELTA 10 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0

ALTIM_BOTTOM_TURN_MARGIN 0 FERRY_MAX 45 PITCH_MIN 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 7100

ALTIM_PING_DEPTH 0 FILEMGR 2 PITCH_W_DBAND 0 TGT_DEFAULT_LON -14430

ALTIM_PULSE 3 FIX_MISSING_TIMEOUT 3 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 215

CALL_WAIT 60 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_EPIRB 0

CAPMAXSIZE 100000 ICE_FREEZE_MARGIN 0.1 RAFOS_PEAK_OFFSET 1 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 -3428.1331

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 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 2590 LOGGERDEVICE4 -1 ROLL_MAX 3790 T_TURN_SAMPINT -5

C_ROLL_CLIMB 3050 LOGGERS 3 ROLL_MAXERRORS 2 T_WATCHDOG 10

C_ROLL_DIVE 2680 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 31 USE_BATHY -6

DEEPGLIDER 0 MINV_10V 11 R_STBD_OVSHOOT 17 USE_ICE 1

DEVICE1 -1 MINV_24V 11 SC_PROFILE 3.0 VBD_BLEED_AD_RATE 8

DEVICE2 -1 MISSION 5 SC_RECORDABOVE 2000.0 VBD_CNV -0.24529999

DEVICE3 -1 MOTHERBOARD 4 SC_XMITPROFILE 3.0 VBD_DBAND 2

DEVICE4 -1 NAV_MODE 0 SEABIRD_C_G -9.8238754 VBD_MAX 3960

DEVICE5 -1 NOCOMM_ACTION 161 SEABIRD_C_H 1.1280942 VBD_MAXERRORS 1

DEVICE6 -1 N_DIVES 0 SEABIRD_C_I -0.0016420757 VBD_MIN 500

DIVE 94 N_FILEKB 8 SEABIRD_C_J 0.00020143802 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 800 N_GPS -20 SEABIRD_T_G 0.0043931045 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_NOCOMM 6 SEABIRD_T_H 0.00063259818 VBD_TIMEOUT 720

D_CALL 3 N_NOSURFACE 0 SEABIRD_T_I 2.5708419e-05 W_ADJ_DBAND 0

D_FINISH 9 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 658.87579

D_PITCH 1.75 PITCH_AD_RATE 160 SPEED_FACTOR 1

D_SAFE 500 PITCH_CNV 0.003125763 STROBE 0

Pre-dive calculations and measurements:

GPS1 100814,082124,7155.452,-14440.670,39,0.9,59,22.5 SPEED_LIMITS 0.166,0.234

_CALLS 1 TGT_NAME 4

_XMS_NAKs 0 TGT_LATLONG 7136.000,-14410.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 2.13 MHEAD_RNG_PITCHd_Wd 130.8,40307,-21.4,-11.628,-26.45,1932

_SM_ANGLEo -72.6 D_GRID 1000

GPS2 100814,082957,7155.451,-14440.932,6,0.9,26,22.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20140810081636.600796,3,595,21,0107,0150,100,00,00,01,02,-1,-01,-01,1,3,1,0,150,18.1,3.3,-100,-0.3,-01,-0.0,22,900,0025*20 _24V_AH 13.06,34.065

FREEZE 1.29,3.422,-1.162,2,1,0 _10V_AH 12.86,0.000

FINISH 1.3,1.017033 FG_AHR_24Vo 0.000

SM_CCo 13763,33.72,0.194,0,0,501,658.88 FG_AHR_10Vo 0.000

SM_GC 2.08,8.30,1.92,33.72,0.092,0.115,0.194,206,2680,501,-7.38,-0.51,658.88,0,0,0,0,0,0,14.40,14.35,14.28 MEM 318096

RAFOS_CLK 74 DATA_FILE_SIZE 23455,677

MODEM 4,1407657790,74.37260,-145.13519,189.736,275273.0 CAP_FILE_SIZE 186225,0

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 CFSIZE 2097872896,2068709376

IRIDIUM_FIX 7125.74,-14447.95,100814,041712 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TT8_MAMPS 0.080143,0.080143 INTR 0,14208.64,0x2378b6,7,5

HUMID 46.88 SOUNDSPEED 1450.6

INTERNAL_PRESSURE 8.56402 GPS 100814,122218,7154.056,-14438.870,35,0.8,55,22.5

TCM_TEMP 13.00 ESCAPE_REASON NO_RECOVERY_REASON

XPDR_PINGS 0 ESCAPE_STARTED_DIVE 0

SC_FREEKB 3979744

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 456 130.18 nil 0 0 0.00

Roll_motor 32 128 54.68 nil 0 0 0.00

VBD_pump_during_apogee 531 1793 12451.71 nil 0 0 0.00

VBD_pump_during_surface 33 193 85.25 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 13762 12 2175.29

Iridium_during_xfer 318 190 791.35 TMICL 0 -9223372036854775808 0.00

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 6723 2 199.72

TT8_Active 398 8 44.75

TT8_Sampling 7054 28 2558.18

TT8_CF8 157 35 72.21

TT8_Kalman 0 0 0.00

Analog_circuits 3007 10 386.75

GPS_charging 0 0 0.00

Compass 1014 0 9.79

RAFOS 1488 48 918.51

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

26 end surface: CONTROL_FINISHED_OK

state 26 begin dive

28 -0.70 -145.9 203 2674 457 532 0.0 0.0 0 114 0.00 0.00 -57.60 0.000 16386 0.000 0.000 202 2673 1921 1953 1890 0 0 0 0 0 0 28.83 28.83 28.83

116 -0.70 -145.9 206 2674 1955 1891 3.5 -3.6 7 192 11.12 2.45 -29.83 0.000 18948 0.457 0.107 2356 1276 3785 3862 3708 0 0 0 0 0 0 14.14 14.35 14.58

337 -0.64 -145.9 2357 1276 3863 3713 54.2 -21.5 46 367 0.15 2.50 0.00 0.000 3078 0.344 0.103 2383 2685 3787 3862 3713 0 0 0 0 0 0 14.31 14.40 28.83

662 -0.64 -145.9 2378 2685 3863 3714 110.0 -16.1 77 690 0.00 2.40 0.00 0.000 516 0.000 0.081 2377 1265 3788 3862 3714 0 0 0 0 0 0 28.83 14.52 28.83

739 -0.64 -145.9 2378 1265 3862 3715 121.9 -14.5 88 769 0.00 2.50 0.00 0.000 1030 0.000 0.108 2373 2683 3788 3862 3714 0 0 0 0 0 0 28.83 14.47 28.83

1063 -0.64 -145.9 2376 2682 3863 3714 169.2 -13.9 119 1092 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2682 3788 3862 3714 0 0 0 0 0 0 28.83 28.83 28.83

1386 -0.64 -145.9 2375 2683 3862 3715 211.0 -11.7 150 1415 0.00 1.95 0.00 0.000 260 0.000 0.125 2374 3787 3788 3862 3714 0 0 0 0 0 0 28.83 14.56 28.83

1549 -0.64 -145.9 2375 3786 3863 3714 231.9 -12.1 178 1577 0.00 1.85 0.00 0.000 1030 0.000 0.076 2374 2676 3787 3861 3714 0 0 0 0 0 0 28.83 14.63 28.83

1892 -0.67 -145.9 2374 2681 3861 3714 268.9 -10.3 199 1920 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2676 3787 3860 3714 0 0 0 0 0 0 28.83 28.83 28.83

2196 -0.69 -145.9 2375 2676 3859 3715 298.8 -9.7 209 2224 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2675 3786 3859 3714 0 0 0 0 0 0 28.83 28.83 28.83

2500 -0.72 -145.9 2375 2676 3859 3715 328.4 -9.8 219 2528 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2675 3786 3858 3714 0 0 0 0 0 0 28.83 28.83 28.83

2804 -0.75 -145.9 2375 2676 3858 3715 357.7 -9.5 229 2832 0.00 0.00 0.00 0.000 6 0.000 0.000 2374 2675 3786 3858 3714 0 0 0 0 0 0 28.83 28.83 28.83

3108 -0.78 -145.9 2374 2675 3858 3714 386.9 -9.6 239 3137 0.12 1.98 0.00 0.000 4356 0.156 0.123 2313 3787 3787 3857 3718 0 0 0 0 0 0 14.72 14.67 28.83

3226 -0.75 -145.9 2314 3788 3857 3715 402.2 -13.4 258 3255 0.12 1.83 0.00 0.000 3078 0.309 0.075 2339 2678 3785 3857 3714 0 0 0 0 0 0 14.57 14.72 28.83

3574 -0.75 -145.9 2340 2679 3857 3715 442.2 -11.4 273 3603 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

3878 -0.75 -145.9 2340 2677 3858 3714 476.1 -11.1 283 3906 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

4181 -0.75 -145.9 2340 2678 3858 3715 509.8 -11.0 293 4210 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3713 0 0 0 0 0 0 28.83 28.83 28.83

4485 -0.75 -145.9 2340 2678 3858 3714 543.3 -11.0 303 4513 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2678 3785 3857 3713 0 0 0 0 0 0 28.83 28.83 28.83

4789 -0.75 -145.9 2339 2678 3859 3714 576.5 -10.8 313 4817 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3788 3864 3713 0 0 0 0 0 0 28.83 28.83 28.83

5092 -0.75 -145.9 2340 2678 3858 3714 608.8 -10.6 323 5121 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

5396 -0.75 -145.9 2339 2678 3859 3714 640.0 -10.2 333 5425 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

5700 -0.75 -145.9 2339 2679 3858 3714 671.1 -10.2 343 5728 0.00 0.00 0.00 0.000 6 0.000 0.000 2338 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

6003 -0.75 -145.9 2339 2678 3858 3714 702.0 -10.2 353 6032 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

6307 -0.75 -145.9 2340 2678 3858 3714 732.3 -9.8 363 6336 0.00 0.00 0.00 0.000 6 0.000 0.000 2339 2678 3785 3857 3714 0 0 0 0 0 0 28.83 28.83 28.83

6489 end dive: TARGET_DEPTH_EXCEEDED

state 6489 begin apogee

6492 -0.14 0.0 2337 3052 3858 3713 750.4 -9.9 369 6644 0.73 0.00 125.95 1.793 10246 0.274 0.000 2534 3052 3185 3262 3108 0 0 0 0 0 0 14.61 28.83 13.32

6645 end apogee: CONTROL_FINISHED_OK

state 6645 begin climb

6646 0.70 145.9 2535 3053 3254 3102 754.4 0.0 373 6814 0.95 0.00 124.07 1.779 10502 0.207 0.000 2801 3052 2579 2643 2516 0 0 0 0 0 0 13.97 28.83 13.06

7100 0.70 145.9 2802 3052 2641 2510 706.4 13.0 391 7149 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2574 2639 2510 0 0 0 0 0 0 28.83 28.83 28.83

7435 0.70 145.9 2803 3053 2640 2510 663.1 13.0 402 7483 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2574 2639 2509 0 0 0 0 0 0 28.83 28.83 28.83

7769 0.70 145.9 2802 3052 2640 2508 620.3 12.8 413 7818 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2574 2640 2509 0 0 0 0 0 0 28.83 28.83 28.83

8104 0.70 145.9 2803 3052 2640 2509 578.0 12.5 424 8152 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

8439 0.70 145.9 2802 3053 2640 2509 536.0 12.5 435 8487 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

8773 0.70 145.9 2803 3052 2640 2509 494.0 12.7 446 8822 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

9108 0.70 145.9 2802 3052 2641 2508 452.4 12.5 457 9156 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

9443 0.70 145.9 2802 3053 2640 2509 410.3 12.6 468 9491 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

9777 0.70 145.9 2803 3053 2640 2509 368.8 12.3 479 9826 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

10112 0.70 145.9 2802 3052 2641 2508 328.6 11.9 490 10160 0.00 0.00 0.00 0.000 6 0.000 0.000 2801 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

10446 0.70 147.5 2806 3052 2640 2508 289.4 11.5 501 10495 0.00 0.00 0.00 0.000 6 0.000 0.000 2802 3052 2573 2639 2508 0 0 0 0 0 0 28.83 28.83 28.83

10781 0.70 154.2 2802 3052 2640 2509 252.1 11.3 512 10830 0.00 1.35 1.92 0.258 8452 0.000 0.122 2802 3794 2566 2648 2485 0 0 0 0 0 0 28.83 14.64 14.50

10965 0.68 154.2 2802 3794 2655 2490 230.4 12.3 521 11014 0.00 1.25 1.62 0.234 9222 0.000 0.077 2807 3055 2568 2649 2488 0 0 0 0 0 0 28.83 14.67 14.52

11522 0.73 226.8 2809 3056 2657 2489 182.2 7.8 552 11622 0.00 2.45 66.72 1.110 8708 0.000 0.077 2816 1641 2253 2317 2190 0 0 0 0 0 0 28.83 14.26 13.80

11892 0.82 283.0 2817 1640 2303 2186 149.5 8.6 572 11976 0.08 2.47 47.35 1.081 11270 0.108 0.108 2858 3047 2027 2088 1967 0 0 0 0 0 0 14.43 14.40 13.77

12499 0.82 289.2 2860 3048 2072 1955 79.6 11.3 606 12562 0.00 1.35 0.00 0.000 260 0.000 0.122 2860 3791 2012 2072 1953 0 0 0 0 0 0 28.83 14.40 28.83

12783 0.88 368.8 2859 3790 2072 1950 51.8 7.4 620 12866 0.00 1.27 43.17 0.337 9222 0.000 0.079 2862 3048 1685 1744 1626 0 0 0 0 0 0 28.83 14.47 14.21

13387 1.13 596.6 2863 3049 1748 1628 15.1 -0.5 654 13556 0.25 2.38 120.88 0.228 10756 0.119 0.079 2968 1640 753 730 777 0 0 0 0 0 0 14.47 14.26 14.23

13708 end climb: SURFACE_DEPTH_REACHED

state 13708 begin surface coast

13736 end surface coast: CONTROL_FINISHED_OK

state 13736 begin surface

ID	198	ESCAPE_HEADING	180	C_ROLL_CLIMB	3050	ALTIM_FREQUENCY	13
MISSION	5	ESCAPE_HEADING_DELTA	10	HEAD_ERRBAND	10	ALTIM_PULSE	3
DIVE	94	FIX_MISSING_TIMEOUT	3	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	ROLL_TIMEOUT	15	XPDR_VALID	2
D_SURF	2	TGT_DEFAULT_LON	-14430	R_PORT_OVSHOOT	31	XPDR_INHIBIT	90
D_FLARE	3	TGT_AUTO_DEFAULT	0	R_STBD_OVSHOOT	17	INT_PRESSURE_SLOPE	0.0097660003
D_TGT	750	SM_CC	658.87579	ROLL_AD_RATE	350	INT_PRESSURE_YINT	-0.44999999
D_ABORT	800	N_FILEKB	8	ROLL_MAXERRORS	2	DEEPGLIDER	0
D_NO_BLEED	50	FILEMGR	2	ROLL_ADJ_GAIN	0	MOTHERBOARD	4
D_BOOST	100	CALL_NDIVES	1	ROLL_ADJ_DBAND	0	DEVICE1	-1
T_BOOST	4	COMM_SEQ	0	VBD_MIN	500	DEVICE2	-1
D_FINISH	9	PROTOCOL	9	VBD_MAX	3960	DEVICE3	-1
D_PITCH	1.75	N_NOCOMM	6	C_VBD	3186	DEVICE4	-1
D_SAFE	500	NOCOMM_ACTION	161	VBD_DBAND	2	DEVICE5	-1
D_CALL	3	N_NOSURFACE	0	VBD_CNV	-0.24529999	DEVICE6	-1
SURFACE_URGENCY	5	UPLOAD_DIVES_MAX	3	VBD_TIMEOUT	720	LOGGERS	3
SURFACE_URGENCY_TRY	10	CALL_TRIES	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERDEVICE1	54
SURFACE_URGENCY_FORCE	20	CALL_WAIT	60	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE2	71
T_DIVE	215	CAPUPLOAD	0	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE3	-1
T_MISSION	250	CAPMAXSIZE	100000	VBD_BLEED_AD_RATE	8	LOGGERDEVICE4	-1
T_ABORT	1440	HEAPDBG	0	UNCOM_BLEED	60	COMPASS_DEVICE	97
T_TURN	225	T_GPS	3	VBD_MAXERRORS	1	COMPASS2_DEVICE	-1
T_TURN_SAMPINT	-5	N_GPS	-20	W_ADJ_DBAND	0	PHONE_DEVICE	49
T_NO_W	360	T_GPS_ALMANAC	0	DBDW	0	GPS_DEVICE	32
T_LOITER	0	T_GPS_CHARGE	-3428.1331	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	1	RAFOS_PEAK_OFFSET	1	AH0_24V	350	SIM_PITCH	0
ICE_FREEZE_MARGIN	0.1	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	2590	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	0	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	2680	ALTIM_PING_DELTA	5

GPS1	100814,082124,7155.452,-14440.670,39,0.9,59,22.5	SPEED_LIMITS	0.166,0.234
_CALLS	1	TGT_NAME	4
_XMS_NAKs	0	TGT_LATLONG	7136.000,-14410.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	2.13	MHEAD_RNG_PITCHd_Wd	130.8,40307,-21.4,-11.628,-26.45,1932
_SM_ANGLEo	-72.6	D_GRID	1000
GPS2	100814,082957,7155.451,-14440.932,6,0.9,26,22.5

MODEM_MSG	CACST,6,1,20140810081636.600796,3,595,21,0107,0150,100,00,00,01,02,-1,-01,-01,1,3,1,0,150,18.1,3.3,-100,-0.3,-01,-0.0,22,900,0025*20	_24V_AH	13.06,34.065
FREEZE	1.29,3.422,-1.162,2,1,0	_10V_AH	12.86,0.000
FINISH	1.3,1.017033	FG_AHR_24Vo	0.000
SM_CCo	13763,33.72,0.194,0,0,501,658.88	FG_AHR_10Vo	0.000
SM_GC	2.08,8.30,1.92,33.72,0.092,0.115,0.194,206,2680,501,-7.38,-0.51,658.88,0,0,0,0,0,0,14.40,14.35,14.28	MEM	318096
RAFOS_CLK	74	DATA_FILE_SIZE	23455,677
MODEM	4,1407657790,74.37260,-145.13519,189.736,275273.0	CAP_FILE_SIZE	186225,0
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	CFSIZE	2097872896,2068709376
IRIDIUM_FIX	7125.74,-14447.95,100814,041712	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TT8_MAMPS	0.080143,0.080143	INTR	0,14208.64,0x2378b6,7,5
HUMID	46.88	SOUNDSPEED	1450.6
INTERNAL_PRESSURE	8.56402	GPS	100814,122218,7154.056,-14438.870,35,0.8,55,22.5
TCM_TEMP	13.00	ESCAPE_REASON	NO_RECOVERY_REASON
XPDR_PINGS	0	ESCAPE_STARTED_DIVE	0
SC_FREEKB	3979744

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	456	130.18	nil	0	0	0.00
Roll_motor	32	128	54.68	nil	0	0	0.00
VBD_pump_during_apogee	531	1793	12451.71	nil	0	0	0.00
VBD_pump_during_surface	33	193	85.25	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	13762	12	2175.29
Iridium_during_xfer	318	190	791.35	TMICL	0	-9223372036854775808	0.00
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	6723	2	199.72
TT8_Active	398	8	44.75
TT8_Sampling	7054	28	2558.18
TT8_CF8	157	35	72.21
TT8_Kalman	0	0	0.00
Analog_circuits	3007	10	386.75
GPS_charging	0	0	0.00
Compass	1014	0	9.79
RAFOS	1488	48	918.51
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
26	end surface: CONTROL_FINISHED_OK
state	26	begin dive
28	-0.70	-145.9	203	2674	457	532	0.0	0.0	0	114	0.00	0.00	-57.60	0.000	16386	0.000	0.000	202	2673	1921	1953	1890	0	0	0	0	0	0	28.83	28.83	28.83
116	-0.70	-145.9	206	2674	1955	1891	3.5	-3.6	7	192	11.12	2.45	-29.83	0.000	18948	0.457	0.107	2356	1276	3785	3862	3708	0	0	0	0	0	0	14.14	14.35	14.58
337	-0.64	-145.9	2357	1276	3863	3713	54.2	-21.5	46	367	0.15	2.50	0.00	0.000	3078	0.344	0.103	2383	2685	3787	3862	3713	0	0	0	0	0	0	14.31	14.40	28.83
662	-0.64	-145.9	2378	2685	3863	3714	110.0	-16.1	77	690	0.00	2.40	0.00	0.000	516	0.000	0.081	2377	1265	3788	3862	3714	0	0	0	0	0	0	28.83	14.52	28.83
739	-0.64	-145.9	2378	1265	3862	3715	121.9	-14.5	88	769	0.00	2.50	0.00	0.000	1030	0.000	0.108	2373	2683	3788	3862	3714	0	0	0	0	0	0	28.83	14.47	28.83
1063	-0.64	-145.9	2376	2682	3863	3714	169.2	-13.9	119	1092	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2682	3788	3862	3714	0	0	0	0	0	0	28.83	28.83	28.83
1386	-0.64	-145.9	2375	2683	3862	3715	211.0	-11.7	150	1415	0.00	1.95	0.00	0.000	260	0.000	0.125	2374	3787	3788	3862	3714	0	0	0	0	0	0	28.83	14.56	28.83
1549	-0.64	-145.9	2375	3786	3863	3714	231.9	-12.1	178	1577	0.00	1.85	0.00	0.000	1030	0.000	0.076	2374	2676	3787	3861	3714	0	0	0	0	0	0	28.83	14.63	28.83
1892	-0.67	-145.9	2374	2681	3861	3714	268.9	-10.3	199	1920	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2676	3787	3860	3714	0	0	0	0	0	0	28.83	28.83	28.83
2196	-0.69	-145.9	2375	2676	3859	3715	298.8	-9.7	209	2224	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2675	3786	3859	3714	0	0	0	0	0	0	28.83	28.83	28.83
2500	-0.72	-145.9	2375	2676	3859	3715	328.4	-9.8	219	2528	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2675	3786	3858	3714	0	0	0	0	0	0	28.83	28.83	28.83
2804	-0.75	-145.9	2375	2676	3858	3715	357.7	-9.5	229	2832	0.00	0.00	0.00	0.000	6	0.000	0.000	2374	2675	3786	3858	3714	0	0	0	0	0	0	28.83	28.83	28.83
3108	-0.78	-145.9	2374	2675	3858	3714	386.9	-9.6	239	3137	0.12	1.98	0.00	0.000	4356	0.156	0.123	2313	3787	3787	3857	3718	0	0	0	0	0	0	14.72	14.67	28.83
3226	-0.75	-145.9	2314	3788	3857	3715	402.2	-13.4	258	3255	0.12	1.83	0.00	0.000	3078	0.309	0.075	2339	2678	3785	3857	3714	0	0	0	0	0	0	14.57	14.72	28.83
3574	-0.75	-145.9	2340	2679	3857	3715	442.2	-11.4	273	3603	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
3878	-0.75	-145.9	2340	2677	3858	3714	476.1	-11.1	283	3906	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
4181	-0.75	-145.9	2340	2678	3858	3715	509.8	-11.0	293	4210	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3713	0	0	0	0	0	0	28.83	28.83	28.83
4485	-0.75	-145.9	2340	2678	3858	3714	543.3	-11.0	303	4513	0.00	0.00	0.00	0.000	6	0.000	0.000	2338	2678	3785	3857	3713	0	0	0	0	0	0	28.83	28.83	28.83
4789	-0.75	-145.9	2339	2678	3859	3714	576.5	-10.8	313	4817	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3788	3864	3713	0	0	0	0	0	0	28.83	28.83	28.83
5092	-0.75	-145.9	2340	2678	3858	3714	608.8	-10.6	323	5121	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
5396	-0.75	-145.9	2339	2678	3859	3714	640.0	-10.2	333	5425	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
5700	-0.75	-145.9	2339	2679	3858	3714	671.1	-10.2	343	5728	0.00	0.00	0.00	0.000	6	0.000	0.000	2338	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
6003	-0.75	-145.9	2339	2678	3858	3714	702.0	-10.2	353	6032	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
6307	-0.75	-145.9	2340	2678	3858	3714	732.3	-9.8	363	6336	0.00	0.00	0.00	0.000	6	0.000	0.000	2339	2678	3785	3857	3714	0	0	0	0	0	0	28.83	28.83	28.83
6489	end dive: TARGET_DEPTH_EXCEEDED
state	6489	begin apogee
6492	-0.14	0.0	2337	3052	3858	3713	750.4	-9.9	369	6644	0.73	0.00	125.95	1.793	10246	0.274	0.000	2534	3052	3185	3262	3108	0	0	0	0	0	0	14.61	28.83	13.32
6645	end apogee: CONTROL_FINISHED_OK
state	6645	begin climb
6646	0.70	145.9	2535	3053	3254	3102	754.4	0.0	373	6814	0.95	0.00	124.07	1.779	10502	0.207	0.000	2801	3052	2579	2643	2516	0	0	0	0	0	0	13.97	28.83	13.06
7100	0.70	145.9	2802	3052	2641	2510	706.4	13.0	391	7149	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2574	2639	2510	0	0	0	0	0	0	28.83	28.83	28.83
7435	0.70	145.9	2803	3053	2640	2510	663.1	13.0	402	7483	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2574	2639	2509	0	0	0	0	0	0	28.83	28.83	28.83
7769	0.70	145.9	2802	3052	2640	2508	620.3	12.8	413	7818	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2574	2640	2509	0	0	0	0	0	0	28.83	28.83	28.83
8104	0.70	145.9	2803	3052	2640	2509	578.0	12.5	424	8152	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
8439	0.70	145.9	2802	3053	2640	2509	536.0	12.5	435	8487	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
8773	0.70	145.9	2803	3052	2640	2509	494.0	12.7	446	8822	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
9108	0.70	145.9	2802	3052	2641	2508	452.4	12.5	457	9156	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
9443	0.70	145.9	2802	3053	2640	2509	410.3	12.6	468	9491	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
9777	0.70	145.9	2803	3053	2640	2509	368.8	12.3	479	9826	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
10112	0.70	145.9	2802	3052	2641	2508	328.6	11.9	490	10160	0.00	0.00	0.00	0.000	6	0.000	0.000	2801	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
10446	0.70	147.5	2806	3052	2640	2508	289.4	11.5	501	10495	0.00	0.00	0.00	0.000	6	0.000	0.000	2802	3052	2573	2639	2508	0	0	0	0	0	0	28.83	28.83	28.83
10781	0.70	154.2	2802	3052	2640	2509	252.1	11.3	512	10830	0.00	1.35	1.92	0.258	8452	0.000	0.122	2802	3794	2566	2648	2485	0	0	0	0	0	0	28.83	14.64	14.50
10965	0.68	154.2	2802	3794	2655	2490	230.4	12.3	521	11014	0.00	1.25	1.62	0.234	9222	0.000	0.077	2807	3055	2568	2649	2488	0	0	0	0	0	0	28.83	14.67	14.52
11522	0.73	226.8	2809	3056	2657	2489	182.2	7.8	552	11622	0.00	2.45	66.72	1.110	8708	0.000	0.077	2816	1641	2253	2317	2190	0	0	0	0	0	0	28.83	14.26	13.80
11892	0.82	283.0	2817	1640	2303	2186	149.5	8.6	572	11976	0.08	2.47	47.35	1.081	11270	0.108	0.108	2858	3047	2027	2088	1967	0	0	0	0	0	0	14.43	14.40	13.77
12499	0.82	289.2	2860	3048	2072	1955	79.6	11.3	606	12562	0.00	1.35	0.00	0.000	260	0.000	0.122	2860	3791	2012	2072	1953	0	0	0	0	0	0	28.83	14.40	28.83
12783	0.88	368.8	2859	3790	2072	1950	51.8	7.4	620	12866	0.00	1.27	43.17	0.337	9222	0.000	0.079	2862	3048	1685	1744	1626	0	0	0	0	0	0	28.83	14.47	14.21
13387	1.13	596.6	2863	3049	1748	1628	15.1	-0.5	654	13556	0.25	2.38	120.88	0.228	10756	0.119	0.079	2968	1640	753	730	777	0	0	0	0	0	0	14.47	14.26	14.23
13708	end climb: SURFACE_DEPTH_REACHED
state	13708	begin surface coast
13736	end surface coast: CONTROL_FINISHED_OK
state	13736	begin surface