Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 357 * 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 357 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 998.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 56 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 998.0 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 62 VBD_MIN 500

DIVE 357 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 170917,053521,7441.0483,-15126.2793,40,0.8,40,20.4,0.6,81.5,10,8.2 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 217.3,82308,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 170917,055036,7441.0576,-15126.3594,7,0.8,10,20.4,0.6,272.3,9,9.7

Post-dive calculations and measurements:

FINISH 0.9,1.021256 _24V_AH 12.34,215.863

SM_CCo 9432,18.15,0.202,0,0,499,702.78 _10V_AH 12.28,0.000

SM_GC 0.87,8.18,2.72,18.15,0.063,0.075,0.202,201,2216,499,-7.38,-0.37,702.78,0,0,0,0,0,0,14.13,14.06,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 87 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323488

IRIDIUM_FIX 7440.98,-15125.97,170917,054008 DATA_FILE_SIZE 26758,757

TT8_MAMPS 0.085386,0.901047 CAP_FILE_SIZE 101816,0

HUMID 43.73 CFSIZE 2097872896,1986232320

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.8

XPDR_PINGS 13 CURRENT 0.017,354.24,1

CP_FREE 15919185920.000000 GPS 170917,083002,7440.604,-15130.945,32,0.8,33,20.4,0.3,181.5,9,9.2

PM_FREEKB_00 46176896

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.61 nil 0 0 0.00

Roll_motor 80 2167 2153.54 nil 0 0 0.00

VBD_pump_during_apogee 996 1410 17338.35 nil 0 0 0.00

VBD_pump_during_surface 18 201 45.23 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 9364 14 1653.55

Iridium_during_xfer 564 171 1193.73 NCP 9413 20 2323.13

Transponder_ping 3 420 16.84 PMAR 9382 10 1220.95

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.05

TT8 0 0 0.00

LPSleep 6888 2 195.39

TT8_Active 865 13 148.56

TT8_Sampling 2257 33 927.03

TT8_CF8 367 38 174.75

TT8_Kalman 0 0 0.00

Analog_circuits 2276 10 279.61

GPS_charging 0 0 0.00

Compass 1085 7 93.35

RAFOS 2201 48 1297.36

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 179 2236 505 485 0.0 0.0 0 144 0.00 0.00 -91.68 0.000 16386 0.000 0.000 183 2235 2164 2090 2239 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 178 2236 2095 2239 4.2 -6.0 9 201 13.05 2.80 -33.75 0.000 18980 0.454 2.167 2385 831 3963 3944 3982 1 0 0 0 0 0 13.24 13.02 14.04

346 -0.72 -145.9 2385 831 3950 3977 47.9 -12.9 48 354 0.12 2.38 0.00 0.000 5254 0.124 0.085 2331 2164 3962 3949 3976 0 0 0 0 0 0 14.19 14.09 14.28

651 -0.76 -145.9 2331 2165 3950 3977 99.8 -13.5 79 656 0.00 2.58 0.00 0.000 388 0.000 0.086 2323 3614 3963 3950 3976 0 0 0 0 0 0 14.57 14.09 14.59

774 -0.91 -145.9 2322 3615 3951 3977 113.6 -10.6 103 779 0.12 2.35 0.00 0.000 5254 0.129 0.054 2267 2225 3963 3950 3976 0 0 0 0 0 0 14.19 14.16 14.29

1104 -0.91 -145.9 2267 2224 3952 3976 167.3 -15.7 119 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2267 2224 3961 3946 3976 0 0 0 0 0 0 14.62 14.62 14.62

1405 -0.94 -145.9 2267 2224 3952 3976 210.2 -13.6 129 1406 0.00 0.00 0.00 0.000 134 0.000 0.000 2266 2224 3963 3950 3976 0 0 0 0 0 0 14.66 14.69 14.68

1705 -0.99 -145.9 2267 2224 3952 3976 248.8 -12.5 139 1705 0.00 0.00 0.00 0.000 134 0.000 0.000 2267 2224 3963 3950 3976 0 0 0 0 0 0 14.65 14.66 14.66

2005 -1.07 -145.9 2267 2224 3951 3976 281.2 -10.3 149 2006 0.00 0.00 0.00 0.000 134 0.000 0.000 2267 2224 3963 3950 3976 0 0 0 0 0 0 14.68 14.69 14.69

2305 -1.16 -145.9 2267 2223 3951 3976 310.8 -9.7 159 2306 0.20 0.00 0.00 0.000 4262 0.106 0.000 2194 2224 3963 3950 3976 0 0 0 0 0 0 14.21 14.32 14.31

2605 -1.12 -145.9 2195 2224 3952 3976 356.0 -15.1 169 2610 0.00 2.47 0.00 0.000 388 0.000 0.086 2184 3614 3963 3950 3976 0 0 0 0 0 0 14.68 14.07 14.69

2705 -1.12 -145.9 2185 3616 3951 3975 370.8 -14.2 189 2711 0.15 2.42 0.00 0.000 3078 0.239 0.059 2214 2203 3963 3950 3976 0 0 0 0 0 0 13.86 14.14 14.12

3026 -1.12 -145.9 2215 2202 3951 3976 411.1 -12.3 203 3027 0.00 0.00 0.00 0.000 6 0.000 0.000 2214 2202 3963 3950 3976 0 0 0 0 0 0 14.72 14.71 14.71

3326 -1.12 -145.9 2214 2203 3950 3977 447.2 -12.0 213 3331 0.00 2.50 0.00 0.000 260 0.000 0.086 2210 3610 3963 3950 3977 0 0 0 0 0 0 14.69 14.07 14.71

3406 -1.21 -145.9 2210 3611 3950 3976 456.4 -10.3 229 3411 0.00 2.40 0.00 0.000 1158 0.000 0.057 2210 2199 3962 3949 3976 0 0 0 0 0 0 14.26 14.13 14.31

3624 end dive: TARGET_DEPTH_EXCEEDED

state 3624 begin apogee

3630 -0.13 0.0 2209 2056 3949 3977 483.4 -12.4 238 3862 1.25 0.10 227.40 1.411 10246 0.225 0.158 2528 2119 3362 3370 3355 0 0 0 0 0 0 13.74 13.51 12.66

3911 end apogee: CONTROL_FINISHED_OK

state 3913 begin climb

3916 0.57 145.9 2528 2120 3359 3340 495.5 0.0 245 4138 0.75 2.62 215.55 1.362 11012 0.060 0.072 2788 3500 2759 2786 2732 0 0 0 0 0 0 13.85 12.96 12.34

4307 0.07 145.9 2786 3504 2770 2724 489.6 15.5 339 4312 0.93 2.38 0.00 0.000 5254 0.345 0.057 2610 2131 2749 2773 2725 0 0 0 0 0 0 13.39 13.81 13.80

4618 -0.02 196.8 2610 2130 2770 2723 464.5 7.7 351 4698 0.15 2.58 74.22 1.385 12964 0.278 0.086 2579 694 2557 2602 2513 0 0 0 0 0 0 13.87 13.66 13.04

4708 0.03 257.4 2583 694 2595 2507 458.1 7.2 364 4809 0.00 2.47 93.95 1.322 9254 0.000 0.080 2579 2088 2311 2359 2264 0 0 0 0 0 0 14.06 13.95 12.86

5130 0.10 289.3 2580 2088 2342 2241 422.4 8.5 398 5184 0.10 2.53 46.80 1.366 10916 0.161 0.088 2630 705 2179 2223 2135 0 0 0 0 0 0 14.25 13.97 13.14

5200 0.10 289.3 2630 703 2214 2133 414.6 11.4 412 5204 0.00 2.47 0.00 0.000 1030 0.000 0.079 2630 2108 2172 2213 2131 0 0 0 0 0 0 14.16 14.04 14.21

5520 0.08 289.3 2631 2110 2213 2122 376.1 12.0 426 5526 0.00 2.50 0.00 0.000 644 0.000 0.087 2630 691 2166 2212 2121 0 0 0 0 0 0 14.59 14.11 14.60

5556 0.08 289.3 2631 690 2212 2121 371.8 11.8 433 5561 0.00 2.47 0.00 0.000 1030 0.000 0.078 2630 2109 2165 2210 2121 0 0 0 0 0 0 14.31 14.17 14.36

5881 0.08 289.3 2631 2111 2211 2120 334.4 11.3 448 5886 0.00 2.50 0.00 0.000 516 0.000 0.087 2630 694 2165 2210 2120 0 0 0 0 0 0 14.64 14.14 14.66

5917 0.10 289.3 2631 694 2205 2121 330.5 10.9 455 5921 0.00 2.45 0.00 0.000 1158 0.000 0.078 2630 2101 2164 2209 2120 0 0 0 0 0 0 14.26 14.11 14.32

6242 0.10 289.3 2630 2102 2211 2119 294.9 10.8 470 6247 0.00 2.47 0.00 0.000 516 0.000 0.086 2630 697 2164 2209 2120 0 0 0 0 0 0 14.65 14.14 14.67

6263 0.10 289.3 2630 698 2210 2120 292.7 10.7 474 6269 0.00 2.47 0.00 0.000 1030 0.000 0.077 2630 2105 2164 2209 2120 0 0 0 0 0 0 14.19 14.08 14.25

6574 0.11 294.7 2631 2105 2209 2120 261.0 9.7 486 6575 0.00 0.00 0.00 0.000 38 0.000 0.000 2630 2106 2163 2209 2117 0 0 0 0 0 0 14.64 14.67 14.68

6875 0.14 338.4 2630 2106 2209 2120 236.0 8.0 496 6965 0.00 2.53 83.47 1.271 8740 0.000 0.085 2630 696 1979 2017 1942 0 0 0 0 0 0 14.64 13.74 13.15

7021 0.29 385.6 2631 696 2003 1940 224.2 7.8 525 7112 0.15 2.50 81.60 1.215 11430 0.109 0.078 2690 2101 1787 1807 1768 0 0 0 0 0 0 13.92 14.03 13.06

7417 0.29 385.6 2691 2101 1796 1750 178.3 11.4 554 7423 0.00 2.50 0.00 0.000 516 0.000 0.086 2698 690 1771 1794 1749 0 0 0 0 0 0 14.56 14.11 14.57

7453 0.31 385.6 2698 689 1792 1750 174.2 11.3 561 7458 0.00 2.47 0.00 0.000 1158 0.000 0.077 2698 2100 1770 1792 1749 0 0 0 0 0 0 14.10 13.96 14.14

7781 0.31 385.6 2699 2101 1791 1746 138.8 10.6 576 7785 0.00 2.50 0.00 0.000 516 0.000 0.086 2698 694 1768 1791 1746 0 0 0 0 0 0 14.45 14.02 14.47

7826 0.36 386.7 2699 694 1789 1747 134.1 9.9 585 7831 0.00 2.47 0.00 0.000 1190 0.000 0.076 2699 2096 1768 1789 1747 0 0 0 0 0 0 14.18 14.03 14.21

8141 0.38 403.9 2699 2101 1788 1746 104.1 9.2 598 8168 0.00 2.58 22.05 1.320 8740 0.000 0.087 2698 692 1717 1737 1697 0 0 0 0 0 0 14.41 13.69 13.06

8198 0.47 429.0 2699 694 1726 1691 98.9 8.8 609 8216 0.00 2.50 12.93 0.464 9382 0.000 0.079 2697 2109 1614 1632 1596 0 0 0 0 0 0 14.04 13.93 13.57

8513 0.59 516.9 2699 2107 1651 1598 75.4 5.9 642 8570 0.20 2.58 48.85 0.418 10916 0.095 0.089 2787 695 1259 1306 1213 0 0 0 0 0 0 14.14 13.91 13.59

8595 0.59 516.9 2791 694 1310 1215 66.5 12.5 658 8601 0.00 2.50 0.00 0.000 1030 0.000 0.078 2790 2099 1262 1309 1216 0 0 0 0 0 0 14.12 13.97 14.15

8907 0.62 560.6 2791 2100 1309 1214 37.3 8.0 690 8937 0.00 0.00 25.33 0.305 8230 0.000 0.000 2790 2100 1077 1134 1020 0 0 0 0 0 0 14.38 13.89 13.68

9237 0.78 675.2 2791 2097 1144 1029 17.7 4.7 723 9310 0.12 2.58 63.88 0.252 10916 0.128 0.088 2856 703 614 652 576 0 0 0 0 0 0 14.06 13.95 13.69

9398 end climb: SURFACE_DEPTH_REACHED

state 9398 begin surface coast

9408 end surface coast: CONTROL_FINISHED_OK

state 9408 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	357	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	998.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,053521,7441.0483,-15126.2793,40,0.8,40,20.4,0.6,81.5,10,8.2	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	217.3,82308,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	170917,055036,7441.0576,-15126.3594,7,0.8,10,20.4,0.6,272.3,9,9.7

FINISH	0.9,1.021256	_24V_AH	12.34,215.863
SM_CCo	9432,18.15,0.202,0,0,499,702.78	_10V_AH	12.28,0.000
SM_GC	0.87,8.18,2.72,18.15,0.063,0.075,0.202,201,2216,499,-7.38,-0.37,702.78,0,0,0,0,0,0,14.13,14.06,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	87	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323488
IRIDIUM_FIX	7440.98,-15125.97,170917,054008	DATA_FILE_SIZE	26758,757
TT8_MAMPS	0.085386,0.901047	CAP_FILE_SIZE	101816,0
HUMID	43.73	CFSIZE	2097872896,1986232320
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.8
XPDR_PINGS	13	CURRENT	0.017,354.24,1
CP_FREE	15919185920.000000	GPS	170917,083002,7440.604,-15130.945,32,0.8,33,20.4,0.3,181.5,9,9.2
PM_FREEKB_00	46176896

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.61	nil	0	0	0.00
Roll_motor	80	2167	2153.54	nil	0	0	0.00
VBD_pump_during_apogee	996	1410	17338.35	nil	0	0	0.00
VBD_pump_during_surface	18	201	45.23	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	9364	14	1653.55
Iridium_during_xfer	564	171	1193.73	NCP	9413	20	2323.13
Transponder_ping	3	420	16.84	PMAR	9382	10	1220.95
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.05
TT8	0	0	0.00
LPSleep	6888	2	195.39
TT8_Active	865	13	148.56
TT8_Sampling	2257	33	927.03
TT8_CF8	367	38	174.75
TT8_Kalman	0	0	0.00
Analog_circuits	2276	10	279.61
GPS_charging	0	0	0.00
Compass	1085	7	93.35
RAFOS	2201	48	1297.36
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	179	2236	505	485	0.0	0.0	0	144	0.00	0.00	-91.68	0.000	16386	0.000	0.000	183	2235	2164	2090	2239	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	178	2236	2095	2239	4.2	-6.0	9	201	13.05	2.80	-33.75	0.000	18980	0.454	2.167	2385	831	3963	3944	3982	1	0	0	0	0	0	13.24	13.02	14.04
346	-0.72	-145.9	2385	831	3950	3977	47.9	-12.9	48	354	0.12	2.38	0.00	0.000	5254	0.124	0.085	2331	2164	3962	3949	3976	0	0	0	0	0	0	14.19	14.09	14.28
651	-0.76	-145.9	2331	2165	3950	3977	99.8	-13.5	79	656	0.00	2.58	0.00	0.000	388	0.000	0.086	2323	3614	3963	3950	3976	0	0	0	0	0	0	14.57	14.09	14.59
774	-0.91	-145.9	2322	3615	3951	3977	113.6	-10.6	103	779	0.12	2.35	0.00	0.000	5254	0.129	0.054	2267	2225	3963	3950	3976	0	0	0	0	0	0	14.19	14.16	14.29
1104	-0.91	-145.9	2267	2224	3952	3976	167.3	-15.7	119	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2267	2224	3961	3946	3976	0	0	0	0	0	0	14.62	14.62	14.62
1405	-0.94	-145.9	2267	2224	3952	3976	210.2	-13.6	129	1406	0.00	0.00	0.00	0.000	134	0.000	0.000	2266	2224	3963	3950	3976	0	0	0	0	0	0	14.66	14.69	14.68
1705	-0.99	-145.9	2267	2224	3952	3976	248.8	-12.5	139	1705	0.00	0.00	0.00	0.000	134	0.000	0.000	2267	2224	3963	3950	3976	0	0	0	0	0	0	14.65	14.66	14.66
2005	-1.07	-145.9	2267	2224	3951	3976	281.2	-10.3	149	2006	0.00	0.00	0.00	0.000	134	0.000	0.000	2267	2224	3963	3950	3976	0	0	0	0	0	0	14.68	14.69	14.69
2305	-1.16	-145.9	2267	2223	3951	3976	310.8	-9.7	159	2306	0.20	0.00	0.00	0.000	4262	0.106	0.000	2194	2224	3963	3950	3976	0	0	0	0	0	0	14.21	14.32	14.31
2605	-1.12	-145.9	2195	2224	3952	3976	356.0	-15.1	169	2610	0.00	2.47	0.00	0.000	388	0.000	0.086	2184	3614	3963	3950	3976	0	0	0	0	0	0	14.68	14.07	14.69
2705	-1.12	-145.9	2185	3616	3951	3975	370.8	-14.2	189	2711	0.15	2.42	0.00	0.000	3078	0.239	0.059	2214	2203	3963	3950	3976	0	0	0	0	0	0	13.86	14.14	14.12
3026	-1.12	-145.9	2215	2202	3951	3976	411.1	-12.3	203	3027	0.00	0.00	0.00	0.000	6	0.000	0.000	2214	2202	3963	3950	3976	0	0	0	0	0	0	14.72	14.71	14.71
3326	-1.12	-145.9	2214	2203	3950	3977	447.2	-12.0	213	3331	0.00	2.50	0.00	0.000	260	0.000	0.086	2210	3610	3963	3950	3977	0	0	0	0	0	0	14.69	14.07	14.71
3406	-1.21	-145.9	2210	3611	3950	3976	456.4	-10.3	229	3411	0.00	2.40	0.00	0.000	1158	0.000	0.057	2210	2199	3962	3949	3976	0	0	0	0	0	0	14.26	14.13	14.31
3624	end dive: TARGET_DEPTH_EXCEEDED
state	3624	begin apogee
3630	-0.13	0.0	2209	2056	3949	3977	483.4	-12.4	238	3862	1.25	0.10	227.40	1.411	10246	0.225	0.158	2528	2119	3362	3370	3355	0	0	0	0	0	0	13.74	13.51	12.66
3911	end apogee: CONTROL_FINISHED_OK
state	3913	begin climb
3916	0.57	145.9	2528	2120	3359	3340	495.5	0.0	245	4138	0.75	2.62	215.55	1.362	11012	0.060	0.072	2788	3500	2759	2786	2732	0	0	0	0	0	0	13.85	12.96	12.34
4307	0.07	145.9	2786	3504	2770	2724	489.6	15.5	339	4312	0.93	2.38	0.00	0.000	5254	0.345	0.057	2610	2131	2749	2773	2725	0	0	0	0	0	0	13.39	13.81	13.80
4618	-0.02	196.8	2610	2130	2770	2723	464.5	7.7	351	4698	0.15	2.58	74.22	1.385	12964	0.278	0.086	2579	694	2557	2602	2513	0	0	0	0	0	0	13.87	13.66	13.04
4708	0.03	257.4	2583	694	2595	2507	458.1	7.2	364	4809	0.00	2.47	93.95	1.322	9254	0.000	0.080	2579	2088	2311	2359	2264	0	0	0	0	0	0	14.06	13.95	12.86
5130	0.10	289.3	2580	2088	2342	2241	422.4	8.5	398	5184	0.10	2.53	46.80	1.366	10916	0.161	0.088	2630	705	2179	2223	2135	0	0	0	0	0	0	14.25	13.97	13.14
5200	0.10	289.3	2630	703	2214	2133	414.6	11.4	412	5204	0.00	2.47	0.00	0.000	1030	0.000	0.079	2630	2108	2172	2213	2131	0	0	0	0	0	0	14.16	14.04	14.21
5520	0.08	289.3	2631	2110	2213	2122	376.1	12.0	426	5526	0.00	2.50	0.00	0.000	644	0.000	0.087	2630	691	2166	2212	2121	0	0	0	0	0	0	14.59	14.11	14.60
5556	0.08	289.3	2631	690	2212	2121	371.8	11.8	433	5561	0.00	2.47	0.00	0.000	1030	0.000	0.078	2630	2109	2165	2210	2121	0	0	0	0	0	0	14.31	14.17	14.36
5881	0.08	289.3	2631	2111	2211	2120	334.4	11.3	448	5886	0.00	2.50	0.00	0.000	516	0.000	0.087	2630	694	2165	2210	2120	0	0	0	0	0	0	14.64	14.14	14.66
5917	0.10	289.3	2631	694	2205	2121	330.5	10.9	455	5921	0.00	2.45	0.00	0.000	1158	0.000	0.078	2630	2101	2164	2209	2120	0	0	0	0	0	0	14.26	14.11	14.32
6242	0.10	289.3	2630	2102	2211	2119	294.9	10.8	470	6247	0.00	2.47	0.00	0.000	516	0.000	0.086	2630	697	2164	2209	2120	0	0	0	0	0	0	14.65	14.14	14.67
6263	0.10	289.3	2630	698	2210	2120	292.7	10.7	474	6269	0.00	2.47	0.00	0.000	1030	0.000	0.077	2630	2105	2164	2209	2120	0	0	0	0	0	0	14.19	14.08	14.25
6574	0.11	294.7	2631	2105	2209	2120	261.0	9.7	486	6575	0.00	0.00	0.00	0.000	38	0.000	0.000	2630	2106	2163	2209	2117	0	0	0	0	0	0	14.64	14.67	14.68
6875	0.14	338.4	2630	2106	2209	2120	236.0	8.0	496	6965	0.00	2.53	83.47	1.271	8740	0.000	0.085	2630	696	1979	2017	1942	0	0	0	0	0	0	14.64	13.74	13.15
7021	0.29	385.6	2631	696	2003	1940	224.2	7.8	525	7112	0.15	2.50	81.60	1.215	11430	0.109	0.078	2690	2101	1787	1807	1768	0	0	0	0	0	0	13.92	14.03	13.06
7417	0.29	385.6	2691	2101	1796	1750	178.3	11.4	554	7423	0.00	2.50	0.00	0.000	516	0.000	0.086	2698	690	1771	1794	1749	0	0	0	0	0	0	14.56	14.11	14.57
7453	0.31	385.6	2698	689	1792	1750	174.2	11.3	561	7458	0.00	2.47	0.00	0.000	1158	0.000	0.077	2698	2100	1770	1792	1749	0	0	0	0	0	0	14.10	13.96	14.14
7781	0.31	385.6	2699	2101	1791	1746	138.8	10.6	576	7785	0.00	2.50	0.00	0.000	516	0.000	0.086	2698	694	1768	1791	1746	0	0	0	0	0	0	14.45	14.02	14.47
7826	0.36	386.7	2699	694	1789	1747	134.1	9.9	585	7831	0.00	2.47	0.00	0.000	1190	0.000	0.076	2699	2096	1768	1789	1747	0	0	0	0	0	0	14.18	14.03	14.21
8141	0.38	403.9	2699	2101	1788	1746	104.1	9.2	598	8168	0.00	2.58	22.05	1.320	8740	0.000	0.087	2698	692	1717	1737	1697	0	0	0	0	0	0	14.41	13.69	13.06
8198	0.47	429.0	2699	694	1726	1691	98.9	8.8	609	8216	0.00	2.50	12.93	0.464	9382	0.000	0.079	2697	2109	1614	1632	1596	0	0	0	0	0	0	14.04	13.93	13.57
8513	0.59	516.9	2699	2107	1651	1598	75.4	5.9	642	8570	0.20	2.58	48.85	0.418	10916	0.095	0.089	2787	695	1259	1306	1213	0	0	0	0	0	0	14.14	13.91	13.59
8595	0.59	516.9	2791	694	1310	1215	66.5	12.5	658	8601	0.00	2.50	0.00	0.000	1030	0.000	0.078	2790	2099	1262	1309	1216	0	0	0	0	0	0	14.12	13.97	14.15
8907	0.62	560.6	2791	2100	1309	1214	37.3	8.0	690	8937	0.00	0.00	25.33	0.305	8230	0.000	0.000	2790	2100	1077	1134	1020	0	0	0	0	0	0	14.38	13.89	13.68
9237	0.78	675.2	2791	2097	1144	1029	17.7	4.7	723	9310	0.12	2.58	63.88	0.252	10916	0.128	0.088	2856	703	614	652	576	0	0	0	0	0	0	14.06	13.95	13.69
9398	end climb: SURFACE_DEPTH_REACHED
state	9398	begin surface coast
9408	end surface coast: CONTROL_FINISHED_OK
state	9408	begin surface