Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 225 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 14 TGT_DEFAULT_LAT 7100 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 225 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 702.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 480 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 650 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 135

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 160 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 195 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00061896152

USE_BATHY 0 PITCH_MIN 208 MINV_24V 11 SEABIRD_T_I 2.1649632e-05

USE_ICE 0 PITCH_MAX 3950 MINV_10V 11 SEABIRD_T_J 2.1628491e-06

ICE_FREEZE_MARGIN 0.050000001 C_PITCH 2580 MAXI_24V 0.60000002 SEABIRD_C_G -9.8804169

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_C_H 1.1388741

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0017082796

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021409935

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 38 PRESSURE_YINT -162.29706 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 CP_RECORDABOVE 1000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 CP_PROFILE 3.0

MASS 55566 PITCH_ADJ_DBAND 1 COMPASS_USE 4 CP_XMITPROFILE 0.0

MASS_COMP 0 ROLL_MIN 218 ALTIM_BOTTOM_PING_RANGE 0 CP_UPLOADMAX 100000.0

NAV_MODE 2 ROLL_MAX 3787 ALTIM_TOP_PING_RANGE 0 CP_STARTS 634.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 634.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 28 VBD_MIN 500

DIVE 225 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 020917,024038,7436.2339,-15304.8760,16,0.7,27,19.6,0.0,277.1,12,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 7.7,134371,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 020917,025503,7436.2485,-15304.8984,38,0.7,39,19.6,0.0,0.0,12,8.5

Post-dive calculations and measurements:

FINISH 0.6,1.021333 _24V_AH 12.28,150.915

SM_CCo 9553,29.23,0.213,0,0,500,703.03 _10V_AH 12.14,0.000

SM_GC 1.41,7.97,0.17,29.23,0.059,0.119,0.213,203,2225,500,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 264 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323356

IRIDIUM_FIX 7435.36,-15308.00,020917,024427 DATA_FILE_SIZE 23425,708

TT8_MAMPS 0.040446,0.910035 CAP_FILE_SIZE 101224,0

HUMID 46.45 CFSIZE 2097872896,2019098624

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1445.7

XPDR_PINGS 20 CURRENT 0.046,267.24,1

CP_FREE 15976071168.000000 GPS 020917,053625,7437.239,-15302.672,17,0.8,20,19.7,0.4,63.6,11,9.5

PM_FREEKB_00 51283968

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 140.94 nil 0 0 0.00

Roll_motor 74 2147 1955.96 nil 0 0 0.00

VBD_pump_during_apogee 1310 1305 21003.14 nil 0 0 0.00

VBD_pump_during_surface 29 212 76.32 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 5253 15 970.89

Iridium_during_xfer 546 165 1109.74 NCP 9524 20 2339.09

Transponder_ping 5 420 25.79 PMAR 9506 9 1155.20

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.24

TT8 0 0 0.00

LPSleep 6573 2 184.33

TT8_Active 1121 13 190.23

TT8_Sampling 2471 33 1003.38

TT8_CF8 297 38 139.81

TT8_Kalman 0 0 0.00

Analog_circuits 2758 10 334.86

GPS_charging 0 0 0.00

Compass 1013 7 86.15

RAFOS 2197 48 1280.24

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 190 2218 517 488 0.0 0.0 0 142 0.00 0.00 -91.05 0.000 16386 0.000 0.000 188 2217 2126 2054 2199 0 0 0 0 0 0 14.53 28.83 14.55

145 -0.57 -145.9 189 2218 2057 2201 3.1 -3.6 9 202 12.70 2.75 -37.78 0.000 18724 0.454 2.147 2377 3597 3963 3946 3981 0 0 0 0 0 0 13.66 12.57 14.16

348 -0.69 -145.9 2377 3599 3952 3982 44.8 -14.1 49 352 0.00 2.38 0.00 0.000 1158 0.000 0.060 2377 2195 3966 3951 3981 0 0 0 0 0 0 14.35 14.22 14.38

658 -0.79 -145.9 2375 2196 3954 3982 85.5 -10.8 81 659 0.17 0.00 0.00 0.000 4230 0.119 0.000 2308 2194 3967 3953 3981 0 0 0 0 0 0 14.30 14.41 14.38

967 -0.79 -145.9 2308 2195 3953 3982 133.4 -14.7 98 972 0.00 2.45 0.00 0.000 260 0.000 0.087 2307 3598 3965 3953 3978 0 0 0 0 0 0 14.73 14.23 14.74

1017 -0.91 -145.9 2304 3600 3954 3981 140.0 -12.2 108 1023 0.00 2.38 0.00 0.000 1158 0.000 0.057 2304 2188 3967 3953 3981 0 0 0 0 0 0 14.34 14.20 14.38

1329 -0.95 -145.9 2303 2187 3953 3982 181.5 -12.9 120 1335 0.00 2.45 0.00 0.000 388 0.000 0.086 2295 3595 3967 3953 3981 0 0 0 0 0 0 14.74 14.19 14.76

1390 -1.08 -145.9 2296 3596 3954 3981 188.7 -11.0 132 1396 0.20 2.35 0.00 0.000 5254 0.105 0.056 2224 2201 3966 3952 3981 0 0 0 0 0 0 13.73 13.55 14.38

1721 -1.01 -145.9 2225 2202 3953 3982 248.8 -17.7 148 1727 0.12 2.45 0.00 0.000 2436 0.298 0.083 2244 3595 3967 3953 3981 0 0 0 0 0 0 13.97 14.23 14.12

1867 -1.05 -145.9 2244 3596 3954 3981 269.1 -12.9 177 1873 0.00 2.35 0.00 0.000 1158 0.000 0.058 2244 2198 3967 3953 3981 0 0 0 0 0 0 14.42 14.29 14.46

2172 -1.05 -145.9 2244 2197 3953 3982 309.8 -13.0 188 2178 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3595 3967 3953 3981 0 0 0 0 0 0 14.76 14.13 14.77

2228 -1.11 -145.9 2237 3595 3953 3981 316.8 -12.1 199 2234 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2194 3967 3953 3981 0 0 0 0 0 0 14.43 14.29 14.47

2533 -1.11 -145.9 2236 2194 3953 3981 355.9 -12.5 210 2538 0.00 2.47 0.00 0.000 260 0.000 0.089 2236 3600 3966 3952 3980 0 0 0 0 0 0 14.75 14.14 14.77

2603 -1.18 -145.9 2236 3601 3953 3980 364.2 -11.3 224 2609 0.12 2.35 0.00 0.000 5254 0.142 0.057 2184 2199 3966 3952 3980 0 0 0 0 0 0 14.31 14.30 14.42

2924 -1.09 -145.9 2185 2198 3953 3980 417.0 -16.5 238 2929 0.17 2.45 0.00 0.000 2436 0.292 0.085 2218 3595 3965 3951 3980 0 0 0 0 0 0 13.90 14.16 14.07

3031 -1.13 -145.9 2218 3596 3952 3981 430.7 -12.0 259 3036 0.00 2.35 0.00 0.000 1158 0.000 0.056 2218 2194 3966 3952 3980 0 0 0 0 0 0 14.42 14.33 14.45

3346 -1.13 -145.9 2218 2194 3952 3980 472.4 -13.1 272 3351 0.00 2.45 0.00 0.000 260 0.000 0.087 2210 3595 3964 3950 3979 0 0 0 0 0 0 14.76 14.21 14.78

3404 end dive: TARGET_DEPTH_EXCEEDED

state 3404 begin apogee

3412 -0.13 0.0 2211 2097 3952 3979 480.4 -12.7 284 3911 1.27 0.00 494.58 1.148 10246 0.243 0.000 2533 2095 3367 3388 3347 0 0 0 0 0 0 13.91 13.01 12.50

3916 end apogee: CONTROL_FINISHED_OK

state 3917 begin climb

3919 0.57 145.9 2533 2096 3381 3338 508.6 0.0 300 4311 0.75 2.72 216.30 1.305 10756 0.061 0.080 2782 701 2745 2786 2704 0 0 0 0 0 0 13.31 12.86 12.28

4339 0.20 145.9 2782 696 2786 2703 488.6 15.3 307 4344 0.62 2.55 0.00 0.000 5254 0.318 0.075 2652 2086 2744 2786 2702 0 0 0 0 0 0 13.26 13.58 13.59

4664 0.04 152.1 2652 2087 2787 2697 455.6 9.7 322 4666 0.25 0.00 0.00 0.000 4262 0.266 0.000 2596 2087 2741 2786 2696 0 0 0 0 0 0 13.79 14.12 14.05

4965 0.04 213.3 2596 2087 2786 2702 433.8 7.2 332 5095 0.00 0.00 128.15 1.225 8870 0.000 0.000 2596 2086 2496 2556 2436 0 0 0 0 0 0 14.46 13.74 13.02

5384 0.06 242.1 2597 2088 2538 2413 398.5 8.7 361 5439 0.00 2.55 47.90 1.273 8740 0.000 0.085 2602 690 2374 2431 2317 0 0 0 0 0 0 14.37 13.90 13.16

5471 0.15 265.8 2608 690 2422 2310 391.0 8.9 378 5519 0.00 2.53 40.05 1.263 9382 0.000 0.079 2602 2108 2277 2334 2220 0 0 0 0 0 0 14.04 13.93 13.09

5836 0.22 290.0 2602 2109 2323 2204 358.1 8.9 401 5879 0.15 0.00 38.33 1.300 10662 0.115 0.000 2670 2109 2178 2232 2125 0 0 0 0 0 0 14.15 13.78 13.22

6196 0.16 290.0 2670 2110 2218 2111 310.4 13.1 418 6202 0.12 2.45 0.00 0.000 4740 0.262 0.083 2648 692 2164 2218 2110 0 0 0 0 0 0 13.92 14.07 14.06

6272 0.21 296.9 2648 691 2217 2109 302.1 9.7 433 6278 0.00 2.42 0.00 0.000 1190 0.000 0.079 2647 2100 2162 2215 2110 0 0 0 0 0 0 14.25 14.12 14.28

6588 0.21 296.9 2648 2101 2216 2108 269.0 10.2 446 6593 0.00 2.45 0.00 0.000 516 0.000 0.085 2648 692 2161 2215 2107 0 0 0 0 0 0 14.62 14.16 14.61

6648 0.29 317.1 2648 692 2214 2109 263.4 9.1 458 6703 0.00 2.45 48.28 1.255 9382 0.000 0.079 2654 2106 2069 2120 2018 0 0 0 0 0 0 14.36 14.21 13.30

7010 0.33 341.0 2649 2106 2109 2003 231.0 8.9 480 7050 0.12 0.00 38.35 1.284 10406 0.129 0.000 2702 2107 1974 2023 1926 0 0 0 0 0 0 14.33 14.08 13.30

7338 0.29 341.0 2703 2106 2004 1905 191.7 11.7 491 7343 0.00 2.50 0.00 0.000 644 0.000 0.086 2706 691 1954 2003 1905 0 0 0 0 0 0 14.58 14.17 14.59

7453 0.29 341.0 2706 692 2002 1906 179.2 10.6 514 7460 0.12 2.45 0.00 0.000 5126 0.225 0.079 2679 2104 1952 2001 1904 0 0 0 0 0 0 14.08 14.20 14.31

7759 0.33 371.0 2680 2101 2002 1903 152.0 8.6 525 7820 0.00 0.00 57.03 1.219 8358 0.000 0.000 2679 2100 1857 1894 1820 0 0 0 0 0 0 14.64 14.05 13.33

8119 0.42 413.4 2679 2101 1876 1803 122.1 8.0 537 8198 0.12 0.00 76.28 1.188 10918 0.139 0.000 2740 2100 1677 1707 1648 0 0 0 0 0 0 14.28 13.95 13.23

8479 0.42 413.4 2740 2101 1698 1623 81.9 10.7 569 8484 0.00 2.47 0.00 0.000 516 0.000 0.086 2745 691 1658 1696 1621 0 0 0 0 0 0 14.50 14.12 14.52

8626 0.47 433.7 2745 692 1691 1623 67.8 9.1 598 8642 0.00 2.47 8.62 0.367 9382 0.000 0.080 2745 2103 1595 1631 1560 0 0 0 0 0 0 14.32 14.19 13.64

8940 0.57 532.6 2745 2104 1638 1570 44.5 5.4 631 8994 0.00 0.00 53.05 0.332 8870 0.000 0.000 2745 2103 1192 1257 1128 0 0 0 0 0 0 14.57 14.05 13.69

9290 0.81 648.2 2745 2103 1258 1137 25.3 4.7 668 9359 0.28 2.50 63.62 0.282 10916 0.091 0.089 2856 692 719 781 658 0 0 0 0 0 0 14.26 14.02 13.81

9444 0.89 648.2 2861 692 784 650 10.0 10.0 698 9449 0.00 2.47 0.00 0.000 1158 0.000 0.079 2861 2105 715 781 650 0 0 0 0 0 0 14.22 14.09 14.27

9521 end climb: SURFACE_DEPTH_REACHED

state 9521 begin surface coast

9532 end surface coast: CONTROL_FINISHED_OK

state 9532 begin surface

ID	196	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	14	TGT_DEFAULT_LAT	7100	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	225	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	702.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	480	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	650	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	135
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	160	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	195	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00061896152
USE_BATHY	0	PITCH_MIN	208	MINV_24V	11	SEABIRD_T_I	2.1649632e-05
USE_ICE	0	PITCH_MAX	3950	MINV_10V	11	SEABIRD_T_J	2.1628491e-06
ICE_FREEZE_MARGIN	0.050000001	C_PITCH	2580	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8804169
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_C_H	1.1388741
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0017082796
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021409935
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	38	PRESSURE_YINT	-162.29706	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	CP_RECORDABOVE	1000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	CP_PROFILE	3.0
MASS	55566	PITCH_ADJ_DBAND	1	COMPASS_USE	4	CP_XMITPROFILE	0.0
MASS_COMP	0	ROLL_MIN	218	ALTIM_BOTTOM_PING_RANGE	0	CP_UPLOADMAX	100000.0
NAV_MODE	2	ROLL_MAX	3787	ALTIM_TOP_PING_RANGE	0	CP_STARTS	634.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,024038,7436.2339,-15304.8760,16,0.7,27,19.6,0.0,277.1,12,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	7.7,134371,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	020917,025503,7436.2485,-15304.8984,38,0.7,39,19.6,0.0,0.0,12,8.5

FINISH	0.6,1.021333	_24V_AH	12.28,150.915
SM_CCo	9553,29.23,0.213,0,0,500,703.03	_10V_AH	12.14,0.000
SM_GC	1.41,7.97,0.17,29.23,0.059,0.119,0.213,203,2225,500,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	264	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323356
IRIDIUM_FIX	7435.36,-15308.00,020917,024427	DATA_FILE_SIZE	23425,708
TT8_MAMPS	0.040446,0.910035	CAP_FILE_SIZE	101224,0
HUMID	46.45	CFSIZE	2097872896,2019098624
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1445.7
XPDR_PINGS	20	CURRENT	0.046,267.24,1
CP_FREE	15976071168.000000	GPS	020917,053625,7437.239,-15302.672,17,0.8,20,19.7,0.4,63.6,11,9.5
PM_FREEKB_00	51283968

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	140.94	nil	0	0	0.00
Roll_motor	74	2147	1955.96	nil	0	0	0.00
VBD_pump_during_apogee	1310	1305	21003.14	nil	0	0	0.00
VBD_pump_during_surface	29	212	76.32	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	5253	15	970.89
Iridium_during_xfer	546	165	1109.74	NCP	9524	20	2339.09
Transponder_ping	5	420	25.79	PMAR	9506	9	1155.20
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.24
TT8	0	0	0.00
LPSleep	6573	2	184.33
TT8_Active	1121	13	190.23
TT8_Sampling	2471	33	1003.38
TT8_CF8	297	38	139.81
TT8_Kalman	0	0	0.00
Analog_circuits	2758	10	334.86
GPS_charging	0	0	0.00
Compass	1013	7	86.15
RAFOS	2197	48	1280.24
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	190	2218	517	488	0.0	0.0	0	142	0.00	0.00	-91.05	0.000	16386	0.000	0.000	188	2217	2126	2054	2199	0	0	0	0	0	0	14.53	28.83	14.55
145	-0.57	-145.9	189	2218	2057	2201	3.1	-3.6	9	202	12.70	2.75	-37.78	0.000	18724	0.454	2.147	2377	3597	3963	3946	3981	0	0	0	0	0	0	13.66	12.57	14.16
348	-0.69	-145.9	2377	3599	3952	3982	44.8	-14.1	49	352	0.00	2.38	0.00	0.000	1158	0.000	0.060	2377	2195	3966	3951	3981	0	0	0	0	0	0	14.35	14.22	14.38
658	-0.79	-145.9	2375	2196	3954	3982	85.5	-10.8	81	659	0.17	0.00	0.00	0.000	4230	0.119	0.000	2308	2194	3967	3953	3981	0	0	0	0	0	0	14.30	14.41	14.38
967	-0.79	-145.9	2308	2195	3953	3982	133.4	-14.7	98	972	0.00	2.45	0.00	0.000	260	0.000	0.087	2307	3598	3965	3953	3978	0	0	0	0	0	0	14.73	14.23	14.74
1017	-0.91	-145.9	2304	3600	3954	3981	140.0	-12.2	108	1023	0.00	2.38	0.00	0.000	1158	0.000	0.057	2304	2188	3967	3953	3981	0	0	0	0	0	0	14.34	14.20	14.38
1329	-0.95	-145.9	2303	2187	3953	3982	181.5	-12.9	120	1335	0.00	2.45	0.00	0.000	388	0.000	0.086	2295	3595	3967	3953	3981	0	0	0	0	0	0	14.74	14.19	14.76
1390	-1.08	-145.9	2296	3596	3954	3981	188.7	-11.0	132	1396	0.20	2.35	0.00	0.000	5254	0.105	0.056	2224	2201	3966	3952	3981	0	0	0	0	0	0	13.73	13.55	14.38
1721	-1.01	-145.9	2225	2202	3953	3982	248.8	-17.7	148	1727	0.12	2.45	0.00	0.000	2436	0.298	0.083	2244	3595	3967	3953	3981	0	0	0	0	0	0	13.97	14.23	14.12
1867	-1.05	-145.9	2244	3596	3954	3981	269.1	-12.9	177	1873	0.00	2.35	0.00	0.000	1158	0.000	0.058	2244	2198	3967	3953	3981	0	0	0	0	0	0	14.42	14.29	14.46
2172	-1.05	-145.9	2244	2197	3953	3982	309.8	-13.0	188	2178	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3595	3967	3953	3981	0	0	0	0	0	0	14.76	14.13	14.77
2228	-1.11	-145.9	2237	3595	3953	3981	316.8	-12.1	199	2234	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2194	3967	3953	3981	0	0	0	0	0	0	14.43	14.29	14.47
2533	-1.11	-145.9	2236	2194	3953	3981	355.9	-12.5	210	2538	0.00	2.47	0.00	0.000	260	0.000	0.089	2236	3600	3966	3952	3980	0	0	0	0	0	0	14.75	14.14	14.77
2603	-1.18	-145.9	2236	3601	3953	3980	364.2	-11.3	224	2609	0.12	2.35	0.00	0.000	5254	0.142	0.057	2184	2199	3966	3952	3980	0	0	0	0	0	0	14.31	14.30	14.42
2924	-1.09	-145.9	2185	2198	3953	3980	417.0	-16.5	238	2929	0.17	2.45	0.00	0.000	2436	0.292	0.085	2218	3595	3965	3951	3980	0	0	0	0	0	0	13.90	14.16	14.07
3031	-1.13	-145.9	2218	3596	3952	3981	430.7	-12.0	259	3036	0.00	2.35	0.00	0.000	1158	0.000	0.056	2218	2194	3966	3952	3980	0	0	0	0	0	0	14.42	14.33	14.45
3346	-1.13	-145.9	2218	2194	3952	3980	472.4	-13.1	272	3351	0.00	2.45	0.00	0.000	260	0.000	0.087	2210	3595	3964	3950	3979	0	0	0	0	0	0	14.76	14.21	14.78
3404	end dive: TARGET_DEPTH_EXCEEDED
state	3404	begin apogee
3412	-0.13	0.0	2211	2097	3952	3979	480.4	-12.7	284	3911	1.27	0.00	494.58	1.148	10246	0.243	0.000	2533	2095	3367	3388	3347	0	0	0	0	0	0	13.91	13.01	12.50
3916	end apogee: CONTROL_FINISHED_OK
state	3917	begin climb
3919	0.57	145.9	2533	2096	3381	3338	508.6	0.0	300	4311	0.75	2.72	216.30	1.305	10756	0.061	0.080	2782	701	2745	2786	2704	0	0	0	0	0	0	13.31	12.86	12.28
4339	0.20	145.9	2782	696	2786	2703	488.6	15.3	307	4344	0.62	2.55	0.00	0.000	5254	0.318	0.075	2652	2086	2744	2786	2702	0	0	0	0	0	0	13.26	13.58	13.59
4664	0.04	152.1	2652	2087	2787	2697	455.6	9.7	322	4666	0.25	0.00	0.00	0.000	4262	0.266	0.000	2596	2087	2741	2786	2696	0	0	0	0	0	0	13.79	14.12	14.05
4965	0.04	213.3	2596	2087	2786	2702	433.8	7.2	332	5095	0.00	0.00	128.15	1.225	8870	0.000	0.000	2596	2086	2496	2556	2436	0	0	0	0	0	0	14.46	13.74	13.02
5384	0.06	242.1	2597	2088	2538	2413	398.5	8.7	361	5439	0.00	2.55	47.90	1.273	8740	0.000	0.085	2602	690	2374	2431	2317	0	0	0	0	0	0	14.37	13.90	13.16
5471	0.15	265.8	2608	690	2422	2310	391.0	8.9	378	5519	0.00	2.53	40.05	1.263	9382	0.000	0.079	2602	2108	2277	2334	2220	0	0	0	0	0	0	14.04	13.93	13.09
5836	0.22	290.0	2602	2109	2323	2204	358.1	8.9	401	5879	0.15	0.00	38.33	1.300	10662	0.115	0.000	2670	2109	2178	2232	2125	0	0	0	0	0	0	14.15	13.78	13.22
6196	0.16	290.0	2670	2110	2218	2111	310.4	13.1	418	6202	0.12	2.45	0.00	0.000	4740	0.262	0.083	2648	692	2164	2218	2110	0	0	0	0	0	0	13.92	14.07	14.06
6272	0.21	296.9	2648	691	2217	2109	302.1	9.7	433	6278	0.00	2.42	0.00	0.000	1190	0.000	0.079	2647	2100	2162	2215	2110	0	0	0	0	0	0	14.25	14.12	14.28
6588	0.21	296.9	2648	2101	2216	2108	269.0	10.2	446	6593	0.00	2.45	0.00	0.000	516	0.000	0.085	2648	692	2161	2215	2107	0	0	0	0	0	0	14.62	14.16	14.61
6648	0.29	317.1	2648	692	2214	2109	263.4	9.1	458	6703	0.00	2.45	48.28	1.255	9382	0.000	0.079	2654	2106	2069	2120	2018	0	0	0	0	0	0	14.36	14.21	13.30
7010	0.33	341.0	2649	2106	2109	2003	231.0	8.9	480	7050	0.12	0.00	38.35	1.284	10406	0.129	0.000	2702	2107	1974	2023	1926	0	0	0	0	0	0	14.33	14.08	13.30
7338	0.29	341.0	2703	2106	2004	1905	191.7	11.7	491	7343	0.00	2.50	0.00	0.000	644	0.000	0.086	2706	691	1954	2003	1905	0	0	0	0	0	0	14.58	14.17	14.59
7453	0.29	341.0	2706	692	2002	1906	179.2	10.6	514	7460	0.12	2.45	0.00	0.000	5126	0.225	0.079	2679	2104	1952	2001	1904	0	0	0	0	0	0	14.08	14.20	14.31
7759	0.33	371.0	2680	2101	2002	1903	152.0	8.6	525	7820	0.00	0.00	57.03	1.219	8358	0.000	0.000	2679	2100	1857	1894	1820	0	0	0	0	0	0	14.64	14.05	13.33
8119	0.42	413.4	2679	2101	1876	1803	122.1	8.0	537	8198	0.12	0.00	76.28	1.188	10918	0.139	0.000	2740	2100	1677	1707	1648	0	0	0	0	0	0	14.28	13.95	13.23
8479	0.42	413.4	2740	2101	1698	1623	81.9	10.7	569	8484	0.00	2.47	0.00	0.000	516	0.000	0.086	2745	691	1658	1696	1621	0	0	0	0	0	0	14.50	14.12	14.52
8626	0.47	433.7	2745	692	1691	1623	67.8	9.1	598	8642	0.00	2.47	8.62	0.367	9382	0.000	0.080	2745	2103	1595	1631	1560	0	0	0	0	0	0	14.32	14.19	13.64
8940	0.57	532.6	2745	2104	1638	1570	44.5	5.4	631	8994	0.00	0.00	53.05	0.332	8870	0.000	0.000	2745	2103	1192	1257	1128	0	0	0	0	0	0	14.57	14.05	13.69
9290	0.81	648.2	2745	2103	1258	1137	25.3	4.7	668	9359	0.28	2.50	63.62	0.282	10916	0.091	0.089	2856	692	719	781	658	0	0	0	0	0	0	14.26	14.02	13.81
9444	0.89	648.2	2861	692	784	650	10.0	10.0	698	9449	0.00	2.47	0.00	0.000	1158	0.000	0.079	2861	2105	715	781	650	0	0	0	0	0	0	14.22	14.09	14.27
9521	end climb: SURFACE_DEPTH_REACHED
state	9521	begin surface coast
9532	end surface coast: CONTROL_FINISHED_OK
state	9532	begin surface