Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 228 * 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 228 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 644.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 644.0 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 27 VBD_MIN 500

DIVE 228 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 020917,110903,7439.2593,-15257.6289,30,0.8,30,19.7,0.0,0.0,10,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 14.0,127965,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 020917,111531,7439.2500,-15257.6455,6,0.8,8,19.7,0.0,0.0,10,9.6

Post-dive calculations and measurements:

FINISH 0.3,1.005045 _24V_AH 12.28,152.266

SM_CCo 8979,47.25,0.210,0,0,498,702.78 _10V_AH 12.21,0.000

SM_GC 1.32,8.18,0.17,47.25,0.087,0.111,0.210,197,2228,498,-7.39,-0.68,702.78,0,0,0,0,0,0,14.33,14.33,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 299 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7440.57,-15307.91,020917,083441 DATA_FILE_SIZE 23410,709

TT8_MAMPS 0.039697,0.911533 CAP_FILE_SIZE 96485,0

HUMID 47.00 CFSIZE 2097872896,2018443264

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1446.7

XPDR_PINGS 14 CURRENT 0.050,274.72,1

CP_FREE 15974924288.000000 GPS 020917,134750,7440.176,-15255.176,23,0.7,32,19.7,0.0,298.0,11,9.9

PM_FREEKB_00 51197440

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 143.73 nil 0 0 0.00

Roll_motor 78 2142 2077.42 nil 0 0 0.00

VBD_pump_during_apogee 895 1422 15655.56 nil 0 0 0.00

VBD_pump_during_surface 47 209 121.62 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 5296 15 996.20

Iridium_during_xfer 200 130 319.76 NCP 5438 20 1335.57

Transponder_ping 3 420 18.05 PMAR 8918 9 1083.85

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.20

TT8 0 0 0.00

LPSleep 6476 2 182.68

TT8_Active 842 13 143.65

TT8_Sampling 1875 33 765.88

TT8_CF8 235 38 111.31

TT8_Kalman 0 0 0.00

Analog_circuits 1856 10 226.67

GPS_charging 0 0 0.00

Compass 1017 7 86.98

RAFOS 2209 48 1294.65

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

63 end surface: CONTROL_FINISHED_OK

state 63 begin dive

66 -0.57 -145.9 193 2228 496 494 0.0 0.0 0 169 0.00 0.00 -101.55 0.000 16386 0.000 0.000 192 2227 2364 2312 2417 0 0 0 0 0 0 14.59 28.83 14.61

172 -0.57 -145.9 193 2228 2315 2418 4.7 -7.2 10 219 12.80 2.70 -28.98 0.000 18724 0.459 2.143 2377 3585 3963 3940 3986 0 0 0 0 0 0 13.66 12.88 14.18

329 -0.73 -145.9 2377 3587 3946 3985 41.1 -12.7 41 337 0.00 2.33 0.00 0.000 1158 0.000 0.057 2377 2202 3965 3946 3984 0 0 0 0 0 0 14.38 14.26 14.41

636 -0.84 -145.9 2377 2202 3948 3984 80.7 -10.7 72 638 0.20 0.00 0.00 0.000 4230 0.114 0.000 2297 2201 3966 3948 3984 0 0 0 0 0 0 14.35 14.50 14.47

935 -0.84 -145.9 2298 2201 3949 3984 129.4 -15.6 90 939 0.00 2.42 0.00 0.000 260 0.000 0.086 2289 3597 3965 3947 3984 0 0 0 0 0 0 14.78 14.28 14.80

1000 -0.95 -145.9 2289 3598 3948 3985 138.1 -12.1 103 1004 0.00 2.35 0.00 0.000 1158 0.000 0.059 2289 2200 3965 3947 3984 0 0 0 0 0 0 14.46 14.33 14.50

1325 -0.97 -145.9 2289 2200 3949 3984 184.6 -14.1 118 1330 0.00 2.42 0.00 0.000 388 0.000 0.085 2280 3597 3967 3948 3987 0 0 0 0 0 0 14.81 14.29 14.82

1365 -1.07 -145.9 2281 3598 3949 3984 189.8 -12.5 126 1370 0.15 2.35 0.00 0.000 5254 0.117 0.060 2223 2197 3965 3947 3984 0 0 0 0 0 0 14.40 14.35 14.50

1685 -0.99 -145.9 2224 2196 3948 3984 248.4 -18.0 140 1690 0.12 2.42 0.00 0.000 2436 0.298 0.084 2241 3591 3965 3947 3984 0 0 0 0 0 0 14.05 14.30 14.22

1787 -1.04 -145.9 2243 3593 3948 3985 262.5 -13.0 160 1792 0.00 2.33 0.00 0.000 1158 0.000 0.057 2243 2199 3965 3947 3984 0 0 0 0 0 0 14.47 14.36 14.52

2107 -1.04 -145.9 2243 2199 3948 3985 306.4 -13.2 174 2112 0.00 2.42 0.00 0.000 260 0.000 0.088 2236 3594 3966 3948 3984 0 0 0 0 0 0 14.82 14.29 14.84

2182 -1.12 -145.9 2237 3594 3949 3984 315.6 -11.4 189 2188 0.00 2.33 0.00 0.000 1158 0.000 0.058 2236 2199 3966 3948 3984 0 0 0 0 0 0 14.49 14.35 14.52

2498 -1.12 -145.9 2237 2198 3948 3984 355.3 -12.4 202 2503 0.00 2.42 0.00 0.000 260 0.000 0.088 2236 3589 3966 3948 3984 0 0 0 0 0 0 14.83 14.28 14.84

2553 -1.21 -145.9 2236 3592 3949 3984 361.8 -11.2 213 2560 0.15 2.33 0.00 0.000 5254 0.132 0.057 2172 2199 3966 3948 3984 0 0 0 0 0 0 14.39 14.35 14.50

2860 -1.09 -145.9 2172 2198 3948 3986 414.8 -17.5 224 2865 0.22 2.45 0.00 0.000 2436 0.294 0.082 2213 3594 3965 3947 3983 0 0 0 0 0 0 13.81 14.14 14.00

2967 -1.12 -145.9 2213 3595 3944 3984 429.1 -12.1 245 2972 0.00 2.38 0.00 0.000 1158 0.000 0.057 2213 2190 3965 3947 3983 0 0 0 0 0 0 14.29 14.18 14.34

3282 -1.12 -145.9 2212 2189 3948 3983 470.9 -13.2 258 3287 0.00 2.47 0.00 0.000 260 0.000 0.087 2209 3592 3965 3947 3983 0 0 0 0 0 0 14.58 14.09 14.59

3355 end dive: TARGET_DEPTH_EXCEEDED

state 3355 begin apogee

3363 -0.13 0.0 2210 2094 3948 3983 480.6 -12.4 273 3583 1.27 0.00 216.18 1.419 10246 0.242 0.000 2528 2094 3367 3385 3350 0 0 0 0 0 0 13.81 13.48 12.66

3584 end apogee: CONTROL_FINISHED_OK

state 3584 begin climb

3587 0.57 145.9 2529 2093 3381 3342 491.7 0.0 280 3800 0.75 0.00 210.93 1.369 10502 0.063 0.000 2780 2093 2770 2813 2727 0 0 0 0 0 0 13.57 12.87 12.28

4078 0.16 145.9 2780 2093 2798 2714 460.8 15.4 302 4083 0.62 2.53 0.00 0.000 4740 0.324 0.078 2654 691 2755 2797 2713 0 0 0 0 0 0 13.40 13.74 13.62

4138 0.03 145.9 2655 691 2798 2714 454.1 10.0 314 4143 0.28 2.50 0.00 0.000 5254 0.271 0.078 2596 2083 2754 2794 2715 0 0 0 0 0 0 13.59 13.83 13.90

4470 0.03 213.7 2595 2084 2798 2713 430.5 6.9 330 4571 0.00 0.00 98.70 1.366 8614 0.000 0.000 2595 2085 2495 2553 2437 0 0 0 0 0 0 14.40 13.75 12.98

4858 0.05 251.7 2596 2079 2544 2417 399.0 8.2 358 4920 0.00 2.58 55.78 1.382 8484 0.000 0.083 2596 3508 2338 2396 2280 0 0 0 0 0 0 14.37 13.87 13.12

4952 0.08 251.7 2595 3511 2379 2280 390.8 10.1 371 4957 0.00 2.42 0.00 0.000 1158 0.000 0.060 2602 2092 2328 2378 2278 0 0 0 0 0 0 14.04 13.94 14.09

5284 0.14 276.7 2605 2093 2375 2276 361.2 8.8 387 5327 0.00 2.55 35.53 1.423 8868 0.000 0.088 2602 687 2233 2282 2184 0 0 0 0 0 0 14.42 14.02 13.22

5412 0.27 310.6 2602 688 2278 2185 350.0 8.4 413 5473 0.20 2.47 52.72 1.363 11430 0.096 0.080 2682 2101 2098 2148 2048 0 0 0 0 0 0 14.21 14.12 13.13

5793 0.20 310.6 2683 2101 2137 2037 296.0 14.1 439 5798 0.15 2.47 0.00 0.000 4740 0.246 0.082 2654 684 2086 2136 2037 0 0 0 0 0 0 13.97 14.18 14.14

5885 0.26 311.2 2655 684 2134 2037 285.9 10.0 457 5891 0.00 2.47 0.00 0.000 1190 0.000 0.079 2654 2102 2085 2133 2037 0 0 0 0 0 0 14.35 14.21 14.39

6216 0.26 314.7 2654 2104 2133 2035 251.3 9.8 473 6217 0.00 0.00 0.00 0.000 38 0.000 0.000 2654 2103 2083 2133 2034 0 0 0 0 0 0 14.64 14.66 14.66

6516 0.27 336.3 2655 2103 2134 2033 224.1 9.0 483 6557 0.00 0.00 38.72 1.367 8742 0.000 0.000 2653 2103 1995 2046 1945 0 0 0 0 0 0 14.66 14.09 13.31

6877 0.35 370.6 2655 2103 2036 1934 193.2 8.4 500 6943 0.12 2.55 57.78 1.289 10916 0.128 0.086 2717 692 1850 1882 1818 0 0 0 0 0 0 14.33 14.02 13.26

7008 0.35 370.6 2717 692 1875 1817 178.3 11.0 526 7013 0.00 2.50 0.00 0.000 1030 0.000 0.078 2717 2108 1845 1874 1817 0 0 0 0 0 0 14.20 14.08 14.23

7328 0.32 370.6 2717 2109 1873 1812 140.8 11.2 540 7333 0.00 2.53 0.00 0.000 644 0.000 0.086 2717 685 1841 1873 1810 0 0 0 0 0 0 14.57 14.19 14.57

7393 0.36 370.6 2717 685 1872 1812 133.8 10.2 553 7399 0.00 2.47 0.00 0.000 1158 0.000 0.079 2717 2101 1842 1874 1811 0 0 0 0 0 0 14.35 14.22 14.40

7719 0.36 378.3 2717 2100 1872 1810 101.1 9.6 568 7723 0.00 0.00 2.85 1.107 8230 0.000 0.000 2717 2101 1820 1852 1789 0 0 0 0 0 0 14.61 14.18 12.86

8019 0.39 417.3 2717 2101 1854 1794 74.6 8.2 596 8046 0.00 2.47 21.70 0.428 8740 0.000 0.083 2717 691 1663 1690 1636 0 0 0 0 0 0 14.58 14.01 13.70

8101 0.52 464.3 2715 692 1691 1637 68.1 7.8 612 8134 0.00 2.47 25.23 0.405 9382 0.000 0.080 2717 2105 1471 1510 1433 0 0 0 0 0 0 14.19 14.06 13.66

8431 0.71 566.8 2717 2106 1511 1426 45.7 5.3 648 8491 0.28 2.58 53.67 0.337 10916 0.087 0.088 2822 690 1053 1120 986 0 0 0 0 0 0 14.31 13.99 13.78

8528 0.74 566.8 2822 688 1122 984 36.5 10.7 665 8533 0.00 2.47 0.00 0.000 1158 0.000 0.076 2822 2100 1052 1120 984 0 0 0 0 0 0 14.24 14.09 14.27

8839 0.81 616.4 2822 2101 1122 975 9.6 7.7 697 8869 0.00 0.00 26.20 0.236 8358 0.000 0.000 2822 2100 849 917 781 0 0 0 0 0 0 14.57 14.19 13.81

8936 end climb: SURFACE_DEPTH_REACHED

state 8936 begin surface coast

8956 end surface coast: CONTROL_FINISHED_OK

state 8956 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	228	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	644.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,110903,7439.2593,-15257.6289,30,0.8,30,19.7,0.0,0.0,10,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	14.0,127965,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	020917,111531,7439.2500,-15257.6455,6,0.8,8,19.7,0.0,0.0,10,9.6

FINISH	0.3,1.005045	_24V_AH	12.28,152.266
SM_CCo	8979,47.25,0.210,0,0,498,702.78	_10V_AH	12.21,0.000
SM_GC	1.32,8.18,0.17,47.25,0.087,0.111,0.210,197,2228,498,-7.39,-0.68,702.78,0,0,0,0,0,0,14.33,14.33,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	299	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7440.57,-15307.91,020917,083441	DATA_FILE_SIZE	23410,709
TT8_MAMPS	0.039697,0.911533	CAP_FILE_SIZE	96485,0
HUMID	47.00	CFSIZE	2097872896,2018443264
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1446.7
XPDR_PINGS	14	CURRENT	0.050,274.72,1
CP_FREE	15974924288.000000	GPS	020917,134750,7440.176,-15255.176,23,0.7,32,19.7,0.0,298.0,11,9.9
PM_FREEKB_00	51197440

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	143.73	nil	0	0	0.00
Roll_motor	78	2142	2077.42	nil	0	0	0.00
VBD_pump_during_apogee	895	1422	15655.56	nil	0	0	0.00
VBD_pump_during_surface	47	209	121.62	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	5296	15	996.20
Iridium_during_xfer	200	130	319.76	NCP	5438	20	1335.57
Transponder_ping	3	420	18.05	PMAR	8918	9	1083.85
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.20
TT8	0	0	0.00
LPSleep	6476	2	182.68
TT8_Active	842	13	143.65
TT8_Sampling	1875	33	765.88
TT8_CF8	235	38	111.31
TT8_Kalman	0	0	0.00
Analog_circuits	1856	10	226.67
GPS_charging	0	0	0.00
Compass	1017	7	86.98
RAFOS	2209	48	1294.65
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
63	end surface: CONTROL_FINISHED_OK
state	63	begin dive
66	-0.57	-145.9	193	2228	496	494	0.0	0.0	0	169	0.00	0.00	-101.55	0.000	16386	0.000	0.000	192	2227	2364	2312	2417	0	0	0	0	0	0	14.59	28.83	14.61
172	-0.57	-145.9	193	2228	2315	2418	4.7	-7.2	10	219	12.80	2.70	-28.98	0.000	18724	0.459	2.143	2377	3585	3963	3940	3986	0	0	0	0	0	0	13.66	12.88	14.18
329	-0.73	-145.9	2377	3587	3946	3985	41.1	-12.7	41	337	0.00	2.33	0.00	0.000	1158	0.000	0.057	2377	2202	3965	3946	3984	0	0	0	0	0	0	14.38	14.26	14.41
636	-0.84	-145.9	2377	2202	3948	3984	80.7	-10.7	72	638	0.20	0.00	0.00	0.000	4230	0.114	0.000	2297	2201	3966	3948	3984	0	0	0	0	0	0	14.35	14.50	14.47
935	-0.84	-145.9	2298	2201	3949	3984	129.4	-15.6	90	939	0.00	2.42	0.00	0.000	260	0.000	0.086	2289	3597	3965	3947	3984	0	0	0	0	0	0	14.78	14.28	14.80
1000	-0.95	-145.9	2289	3598	3948	3985	138.1	-12.1	103	1004	0.00	2.35	0.00	0.000	1158	0.000	0.059	2289	2200	3965	3947	3984	0	0	0	0	0	0	14.46	14.33	14.50
1325	-0.97	-145.9	2289	2200	3949	3984	184.6	-14.1	118	1330	0.00	2.42	0.00	0.000	388	0.000	0.085	2280	3597	3967	3948	3987	0	0	0	0	0	0	14.81	14.29	14.82
1365	-1.07	-145.9	2281	3598	3949	3984	189.8	-12.5	126	1370	0.15	2.35	0.00	0.000	5254	0.117	0.060	2223	2197	3965	3947	3984	0	0	0	0	0	0	14.40	14.35	14.50
1685	-0.99	-145.9	2224	2196	3948	3984	248.4	-18.0	140	1690	0.12	2.42	0.00	0.000	2436	0.298	0.084	2241	3591	3965	3947	3984	0	0	0	0	0	0	14.05	14.30	14.22
1787	-1.04	-145.9	2243	3593	3948	3985	262.5	-13.0	160	1792	0.00	2.33	0.00	0.000	1158	0.000	0.057	2243	2199	3965	3947	3984	0	0	0	0	0	0	14.47	14.36	14.52
2107	-1.04	-145.9	2243	2199	3948	3985	306.4	-13.2	174	2112	0.00	2.42	0.00	0.000	260	0.000	0.088	2236	3594	3966	3948	3984	0	0	0	0	0	0	14.82	14.29	14.84
2182	-1.12	-145.9	2237	3594	3949	3984	315.6	-11.4	189	2188	0.00	2.33	0.00	0.000	1158	0.000	0.058	2236	2199	3966	3948	3984	0	0	0	0	0	0	14.49	14.35	14.52
2498	-1.12	-145.9	2237	2198	3948	3984	355.3	-12.4	202	2503	0.00	2.42	0.00	0.000	260	0.000	0.088	2236	3589	3966	3948	3984	0	0	0	0	0	0	14.83	14.28	14.84
2553	-1.21	-145.9	2236	3592	3949	3984	361.8	-11.2	213	2560	0.15	2.33	0.00	0.000	5254	0.132	0.057	2172	2199	3966	3948	3984	0	0	0	0	0	0	14.39	14.35	14.50
2860	-1.09	-145.9	2172	2198	3948	3986	414.8	-17.5	224	2865	0.22	2.45	0.00	0.000	2436	0.294	0.082	2213	3594	3965	3947	3983	0	0	0	0	0	0	13.81	14.14	14.00
2967	-1.12	-145.9	2213	3595	3944	3984	429.1	-12.1	245	2972	0.00	2.38	0.00	0.000	1158	0.000	0.057	2213	2190	3965	3947	3983	0	0	0	0	0	0	14.29	14.18	14.34
3282	-1.12	-145.9	2212	2189	3948	3983	470.9	-13.2	258	3287	0.00	2.47	0.00	0.000	260	0.000	0.087	2209	3592	3965	3947	3983	0	0	0	0	0	0	14.58	14.09	14.59
3355	end dive: TARGET_DEPTH_EXCEEDED
state	3355	begin apogee
3363	-0.13	0.0	2210	2094	3948	3983	480.6	-12.4	273	3583	1.27	0.00	216.18	1.419	10246	0.242	0.000	2528	2094	3367	3385	3350	0	0	0	0	0	0	13.81	13.48	12.66
3584	end apogee: CONTROL_FINISHED_OK
state	3584	begin climb
3587	0.57	145.9	2529	2093	3381	3342	491.7	0.0	280	3800	0.75	0.00	210.93	1.369	10502	0.063	0.000	2780	2093	2770	2813	2727	0	0	0	0	0	0	13.57	12.87	12.28
4078	0.16	145.9	2780	2093	2798	2714	460.8	15.4	302	4083	0.62	2.53	0.00	0.000	4740	0.324	0.078	2654	691	2755	2797	2713	0	0	0	0	0	0	13.40	13.74	13.62
4138	0.03	145.9	2655	691	2798	2714	454.1	10.0	314	4143	0.28	2.50	0.00	0.000	5254	0.271	0.078	2596	2083	2754	2794	2715	0	0	0	0	0	0	13.59	13.83	13.90
4470	0.03	213.7	2595	2084	2798	2713	430.5	6.9	330	4571	0.00	0.00	98.70	1.366	8614	0.000	0.000	2595	2085	2495	2553	2437	0	0	0	0	0	0	14.40	13.75	12.98
4858	0.05	251.7	2596	2079	2544	2417	399.0	8.2	358	4920	0.00	2.58	55.78	1.382	8484	0.000	0.083	2596	3508	2338	2396	2280	0	0	0	0	0	0	14.37	13.87	13.12
4952	0.08	251.7	2595	3511	2379	2280	390.8	10.1	371	4957	0.00	2.42	0.00	0.000	1158	0.000	0.060	2602	2092	2328	2378	2278	0	0	0	0	0	0	14.04	13.94	14.09
5284	0.14	276.7	2605	2093	2375	2276	361.2	8.8	387	5327	0.00	2.55	35.53	1.423	8868	0.000	0.088	2602	687	2233	2282	2184	0	0	0	0	0	0	14.42	14.02	13.22
5412	0.27	310.6	2602	688	2278	2185	350.0	8.4	413	5473	0.20	2.47	52.72	1.363	11430	0.096	0.080	2682	2101	2098	2148	2048	0	0	0	0	0	0	14.21	14.12	13.13
5793	0.20	310.6	2683	2101	2137	2037	296.0	14.1	439	5798	0.15	2.47	0.00	0.000	4740	0.246	0.082	2654	684	2086	2136	2037	0	0	0	0	0	0	13.97	14.18	14.14
5885	0.26	311.2	2655	684	2134	2037	285.9	10.0	457	5891	0.00	2.47	0.00	0.000	1190	0.000	0.079	2654	2102	2085	2133	2037	0	0	0	0	0	0	14.35	14.21	14.39
6216	0.26	314.7	2654	2104	2133	2035	251.3	9.8	473	6217	0.00	0.00	0.00	0.000	38	0.000	0.000	2654	2103	2083	2133	2034	0	0	0	0	0	0	14.64	14.66	14.66
6516	0.27	336.3	2655	2103	2134	2033	224.1	9.0	483	6557	0.00	0.00	38.72	1.367	8742	0.000	0.000	2653	2103	1995	2046	1945	0	0	0	0	0	0	14.66	14.09	13.31
6877	0.35	370.6	2655	2103	2036	1934	193.2	8.4	500	6943	0.12	2.55	57.78	1.289	10916	0.128	0.086	2717	692	1850	1882	1818	0	0	0	0	0	0	14.33	14.02	13.26
7008	0.35	370.6	2717	692	1875	1817	178.3	11.0	526	7013	0.00	2.50	0.00	0.000	1030	0.000	0.078	2717	2108	1845	1874	1817	0	0	0	0	0	0	14.20	14.08	14.23
7328	0.32	370.6	2717	2109	1873	1812	140.8	11.2	540	7333	0.00	2.53	0.00	0.000	644	0.000	0.086	2717	685	1841	1873	1810	0	0	0	0	0	0	14.57	14.19	14.57
7393	0.36	370.6	2717	685	1872	1812	133.8	10.2	553	7399	0.00	2.47	0.00	0.000	1158	0.000	0.079	2717	2101	1842	1874	1811	0	0	0	0	0	0	14.35	14.22	14.40
7719	0.36	378.3	2717	2100	1872	1810	101.1	9.6	568	7723	0.00	0.00	2.85	1.107	8230	0.000	0.000	2717	2101	1820	1852	1789	0	0	0	0	0	0	14.61	14.18	12.86
8019	0.39	417.3	2717	2101	1854	1794	74.6	8.2	596	8046	0.00	2.47	21.70	0.428	8740	0.000	0.083	2717	691	1663	1690	1636	0	0	0	0	0	0	14.58	14.01	13.70
8101	0.52	464.3	2715	692	1691	1637	68.1	7.8	612	8134	0.00	2.47	25.23	0.405	9382	0.000	0.080	2717	2105	1471	1510	1433	0	0	0	0	0	0	14.19	14.06	13.66
8431	0.71	566.8	2717	2106	1511	1426	45.7	5.3	648	8491	0.28	2.58	53.67	0.337	10916	0.087	0.088	2822	690	1053	1120	986	0	0	0	0	0	0	14.31	13.99	13.78
8528	0.74	566.8	2822	688	1122	984	36.5	10.7	665	8533	0.00	2.47	0.00	0.000	1158	0.000	0.076	2822	2100	1052	1120	984	0	0	0	0	0	0	14.24	14.09	14.27
8839	0.81	616.4	2822	2101	1122	975	9.6	7.7	697	8869	0.00	0.00	26.20	0.236	8358	0.000	0.000	2822	2100	849	917	781	0	0	0	0	0	0	14.57	14.19	13.81
8936	end climb: SURFACE_DEPTH_REACHED
state	8936	begin surface coast
8956	end surface coast: CONTROL_FINISHED_OK
state	8956	begin surface