Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 382 * 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 382 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 1061.0

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 59 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 1061.0 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 59 VBD_MIN 500

DIVE 382 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 200917,020703,7429.9907,-15302.3730,29,0.9,30,19.6,0.0,0.0,9,7.0 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 208.2,31484,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.1 D_GRID 480

GPS2 200917,022412,7430.0430,-15302.2881,8,0.8,8,19.6,0.0,28.5,11,10.0

Post-dive calculations and measurements:

FINISH 0.3,1.021025 _24V_AH 12.28,227.950

SM_CCo 8895,7.55,0.216,0,0,499,702.78 _10V_AH 12.47,0.000

SM_GC 2.26,8.32,0.17,7.55,0.077,0.114,0.216,202,2222,499,-7.38,-0.62,702.78,0,0,0,0,0,0,14.25,14.26,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 151 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323648

IRIDIUM_FIX 7430.15,-15308.10,200917,021355 DATA_FILE_SIZE 26753,727

TT8_MAMPS 0.039697,0.910035 CAP_FILE_SIZE 105201,0

HUMID 45.66 CFSIZE 2097872896,1980170240

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.3

XPDR_PINGS 14 CURRENT 0.047,56.18,1

CP_FREE 15906504704.000000 GPS 200917,045412,7429.532,-15306.089,16,0.7,18,19.6,0.0,0.0,11,9.4

PM_FREEKB_00 45370560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 446 143.74 nil 0 0 0.00

Roll_motor 95 2159 2540.60 nil 0 0 0.00

VBD_pump_during_apogee 994 1488 18181.02 nil 0 0 0.00

VBD_pump_during_surface 7 215 20.00 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 8908 14 1560.12

Iridium_during_xfer 609 166 1247.45 NCP 8873 20 2179.21

Transponder_ping 3 420 18.05 PMAR 8844 9 1073.66

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.49

TT8 0 0 0.00

LPSleep 6406 2 184.56

TT8_Active 1003 13 174.90

TT8_Sampling 2135 33 890.52

TT8_CF8 392 38 189.53

TT8_Kalman 0 0 0.00

Analog_circuits 2330 10 290.63

GPS_charging 0 0 0.00

Compass 1044 7 91.14

RAFOS 2200 48 1316.83

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

50 end surface: CONTROL_FINISHED_OK

state 50 begin dive

54 -0.57 -145.9 190 2232 492 497 0.0 0.0 0 136 0.00 0.00 -80.70 0.000 16386 0.000 0.000 183 2233 1967 1894 2041 0 0 0 0 0 0 14.47 28.83 14.50

140 -0.57 -145.9 183 2234 1896 2044 3.1 -3.5 8 203 12.80 2.62 -42.05 0.000 18724 0.447 2.160 2375 3580 3963 3949 3978 1 0 0 0 0 0 13.39 12.58 14.04

284 -0.73 -145.9 2376 3581 3954 3979 34.6 -12.5 36 289 0.00 2.30 0.00 0.000 1158 0.000 0.057 2375 2230 3966 3953 3979 0 0 0 0 0 0 14.22 14.10 14.24

595 -0.85 -145.9 2376 2228 3956 3980 76.8 -10.1 68 600 0.20 2.53 0.00 0.000 4740 0.107 0.082 2290 793 3967 3955 3979 0 0 0 0 0 0 14.14 14.10 14.21

640 -0.88 -145.9 2290 793 3956 3980 83.4 -15.6 77 646 0.00 2.45 0.00 0.000 1158 0.000 0.086 2283 2169 3965 3955 3976 0 0 0 0 0 0 14.17 14.02 14.21

945 -0.88 -145.9 2284 2172 3956 3981 133.6 -15.2 94 950 0.00 2.55 0.00 0.000 260 0.000 0.087 2279 3613 3968 3955 3982 0 0 0 0 0 0 14.60 14.03 14.62

1088 -1.00 -145.9 2280 3611 3952 3980 151.3 -11.7 122 1093 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2201 3967 3955 3979 0 0 0 0 0 0 14.27 14.14 14.31

1398 -1.04 -145.9 2280 2199 3955 3980 193.2 -13.1 134 1399 0.00 0.00 0.00 0.000 134 0.000 0.000 2279 2199 3967 3955 3980 0 0 0 0 0 0 14.60 14.62 14.62

1699 -1.10 -145.9 2280 2199 3956 3980 229.7 -11.9 144 1704 0.15 2.50 0.00 0.000 4484 0.122 0.083 2209 3614 3967 3955 3980 0 0 0 0 0 0 14.22 14.04 14.26

1764 -1.10 -145.9 2209 3615 3956 3981 239.9 -15.9 157 1769 0.00 2.45 0.00 0.000 1030 0.000 0.060 2209 2191 3966 3955 3978 0 0 0 0 0 0 14.16 14.02 14.20

2090 -1.06 -145.9 2210 2191 3955 3980 293.1 -15.7 172 2095 0.12 2.53 0.00 0.000 2436 0.299 0.083 2229 3613 3967 3955 3979 0 0 0 0 0 0 13.83 14.04 13.97

2175 -1.16 -145.9 2230 3614 3956 3980 303.7 -11.3 189 2181 0.00 2.42 0.00 0.000 1158 0.000 0.057 2229 2194 3967 3955 3979 0 0 0 0 0 0 14.14 13.99 14.18

2480 -1.18 -145.9 2230 2194 3956 3979 340.8 -11.9 200 2486 0.00 2.58 0.00 0.000 388 0.000 0.086 2223 3614 3966 3954 3979 0 0 0 0 0 0 14.63 13.97 14.65

2556 -1.28 -145.9 2223 3615 3955 3980 349.2 -10.4 215 2562 0.17 2.45 0.00 0.000 5254 0.110 0.054 2156 2184 3966 3954 3979 0 0 0 0 0 0 14.16 14.10 14.26

2873 -1.17 -145.9 2157 2183 3955 3977 405.2 -18.0 228 2878 0.17 2.55 0.00 0.000 2436 0.316 0.082 2182 3614 3965 3954 3977 0 0 0 0 0 0 13.58 13.95 13.81

2991 -1.17 -145.9 2183 3614 3955 3977 422.1 -13.6 251 2997 0.00 2.45 0.00 0.000 1030 0.000 0.057 2182 2193 3965 3954 3977 0 0 0 0 0 0 14.18 14.02 14.23

3294 -1.11 -145.9 2182 2193 3955 3978 468.1 -15.1 262 3299 0.12 2.53 0.00 0.000 2436 0.318 0.082 2201 3614 3965 3954 3977 0 0 0 0 0 0 13.77 14.01 13.93

3387 end dive: TARGET_DEPTH_EXCEEDED

state 3387 begin apogee

3398 -0.13 0.0 2201 2101 3954 3978 480.2 -11.7 281 3618 1.30 0.00 216.35 1.424 10246 0.226 0.000 2531 2095 3362 3383 3342 0 0 0 0 0 0 13.76 13.57 12.75

3622 end apogee: CONTROL_FINISHED_OK

state 3622 begin climb

3625 0.57 145.9 2532 2096 3379 3334 492.8 0.0 288 3842 0.73 2.72 205.30 1.380 11012 0.063 0.080 2781 694 2765 2807 2723 0 0 0 0 0 0 13.74 12.88 12.28

3882 0.16 145.9 2781 695 2798 2723 502.0 11.4 332 3888 0.70 2.62 0.00 0.000 5254 0.321 0.073 2642 2107 2758 2797 2720 0 0 0 0 0 0 13.00 13.31 13.35

4204 -0.01 169.8 2642 2108 2797 2715 472.8 8.9 346 4241 0.25 2.60 31.40 1.489 12964 0.264 0.086 2589 688 2668 2713 2624 0 0 0 0 0 0 13.59 13.98 13.09

4261 0.00 221.2 2589 688 2712 2622 468.6 7.6 352 4342 0.00 2.50 75.20 1.389 9382 0.000 0.080 2589 2100 2462 2525 2399 0 0 0 0 0 0 14.02 13.90 12.95

4658 0.02 250.3 2590 2100 2516 2385 434.8 8.7 381 4701 0.00 0.00 41.85 1.430 8230 0.000 0.000 2589 2100 2343 2400 2287 0 0 0 0 0 0 14.56 13.99 13.14

4988 0.06 272.5 2588 2102 2391 2277 405.3 9.0 392 5021 0.00 0.00 31.45 1.460 8358 0.000 0.000 2589 2100 2259 2317 2201 0 0 0 0 0 0 14.59 14.03 13.21

5318 0.12 296.4 2589 2100 2302 2189 375.9 8.9 403 5363 0.00 2.58 35.80 1.440 8868 0.000 0.090 2589 687 2149 2202 2096 0 0 0 0 0 0 14.60 14.09 13.21

5389 0.25 326.7 2589 686 2197 2099 369.7 8.6 417 5440 0.22 2.47 45.45 1.386 11430 0.090 0.079 2679 2101 2034 2081 1988 0 0 0 0 0 0 14.21 14.12 13.11

5738 0.17 326.7 2680 2101 2072 1972 316.8 15.2 437 5743 0.15 2.50 0.00 0.000 4740 0.262 0.086 2647 691 2024 2074 1974 0 0 0 0 0 0 13.81 14.02 13.98

5774 0.17 326.7 2648 693 2069 1975 312.1 12.0 444 5779 0.00 2.47 0.00 0.000 1030 0.000 0.078 2647 2100 2020 2066 1974 0 0 0 0 0 0 14.18 14.04 14.23

6099 0.17 326.7 2647 2098 2069 1971 274.1 11.5 459 6105 0.00 2.53 0.00 0.000 516 0.000 0.088 2647 684 2019 2067 1971 0 0 0 0 0 0 14.45 14.02 14.46

6156 0.22 326.7 2648 687 2067 1971 267.9 10.3 470 6161 0.00 2.50 0.00 0.000 1158 0.000 0.076 2646 2101 2018 2066 1971 0 0 0 0 0 0 14.14 14.00 14.18

6461 0.22 333.0 2648 2102 2067 1971 237.1 9.7 481 6470 0.00 2.55 3.25 1.387 8740 0.000 0.087 2647 694 2005 2055 1955 0 0 0 0 0 0 14.42 14.06 13.01

6491 0.27 352.5 2647 694 2057 1962 234.3 9.1 487 6536 0.00 2.47 37.33 1.381 9382 0.000 0.078 2647 2103 1923 1964 1882 0 0 0 0 0 0 14.23 14.07 13.20

6854 0.33 378.4 2647 2104 1955 1878 201.4 8.8 509 6901 0.12 2.53 42.90 1.331 10916 0.125 0.086 2697 689 1819 1846 1792 0 0 0 0 0 0 14.17 13.77 13.19

6932 0.33 378.4 2704 689 1840 1790 192.1 12.2 520 6937 0.00 2.50 0.00 0.000 1030 0.000 0.076 2702 2100 1814 1838 1791 0 0 0 0 0 0 14.04 13.90 14.04

7242 0.29 378.4 2704 2102 1837 1787 155.4 11.5 532 7247 0.12 2.53 0.00 0.000 4740 0.231 0.086 2672 691 1811 1836 1786 0 0 0 0 0 0 13.92 14.00 14.02

7278 0.38 404.0 2672 692 1834 1787 152.0 8.8 539 7328 0.00 2.53 42.95 1.300 9382 0.000 0.078 2672 2105 1714 1737 1691 0 0 0 0 0 0 14.17 14.06 13.18

7636 0.47 437.5 2673 2105 1734 1684 121.2 8.5 560 7696 0.15 2.55 52.65 1.245 10916 0.112 0.087 2750 692 1576 1603 1550 0 0 0 0 0 0 14.15 13.72 13.19

7746 0.47 437.5 2751 692 1599 1550 106.5 13.0 582 7751 0.00 2.50 0.00 0.000 1030 0.000 0.078 2751 2104 1575 1598 1553 0 0 0 0 0 0 14.14 14.02 14.18

8057 0.43 437.5 2751 2105 1599 1543 67.6 11.8 610 8061 0.00 2.53 0.00 0.000 644 0.000 0.088 2750 691 1570 1598 1543 0 0 0 0 0 0 14.54 13.99 14.55

8222 0.50 488.0 2751 691 1597 1543 53.4 7.7 643 8255 0.00 2.50 25.77 0.360 9382 0.000 0.077 2750 2105 1374 1413 1335 0 0 0 0 0 0 14.07 13.94 13.68

8561 0.63 584.9 2751 2106 1413 1329 30.3 5.5 680 8617 0.00 2.53 51.05 0.289 8868 0.000 0.086 2750 689 976 1043 910 0 0 0 0 0 0 14.54 13.95 13.75

8666 0.90 689.2 2751 689 1044 909 24.7 5.2 700 8730 0.38 2.47 55.83 0.275 11430 0.084 0.077 2882 2103 552 585 519 0 0 0 0 0 0 14.16 14.06 13.74

8862 end climb: SURFACE_DEPTH_REACHED

state 8862 begin surface coast

8872 end surface coast: CONTROL_FINISHED_OK

state 8873 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	382	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	1061.0
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	59	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,020703,7429.9907,-15302.3730,29,0.9,30,19.6,0.0,0.0,9,7.0	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	208.2,31484,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.1	D_GRID	480
GPS2	200917,022412,7430.0430,-15302.2881,8,0.8,8,19.6,0.0,28.5,11,10.0

FINISH	0.3,1.021025	_24V_AH	12.28,227.950
SM_CCo	8895,7.55,0.216,0,0,499,702.78	_10V_AH	12.47,0.000
SM_GC	2.26,8.32,0.17,7.55,0.077,0.114,0.216,202,2222,499,-7.38,-0.62,702.78,0,0,0,0,0,0,14.25,14.26,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	151	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323648
IRIDIUM_FIX	7430.15,-15308.10,200917,021355	DATA_FILE_SIZE	26753,727
TT8_MAMPS	0.039697,0.910035	CAP_FILE_SIZE	105201,0
HUMID	45.66	CFSIZE	2097872896,1980170240
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.3
XPDR_PINGS	14	CURRENT	0.047,56.18,1
CP_FREE	15906504704.000000	GPS	200917,045412,7429.532,-15306.089,16,0.7,18,19.6,0.0,0.0,11,9.4
PM_FREEKB_00	45370560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	446	143.74	nil	0	0	0.00
Roll_motor	95	2159	2540.60	nil	0	0	0.00
VBD_pump_during_apogee	994	1488	18181.02	nil	0	0	0.00
VBD_pump_during_surface	7	215	20.00	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	8908	14	1560.12
Iridium_during_xfer	609	166	1247.45	NCP	8873	20	2179.21
Transponder_ping	3	420	18.05	PMAR	8844	9	1073.66
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.49
TT8	0	0	0.00
LPSleep	6406	2	184.56
TT8_Active	1003	13	174.90
TT8_Sampling	2135	33	890.52
TT8_CF8	392	38	189.53
TT8_Kalman	0	0	0.00
Analog_circuits	2330	10	290.63
GPS_charging	0	0	0.00
Compass	1044	7	91.14
RAFOS	2200	48	1316.83
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
50	end surface: CONTROL_FINISHED_OK
state	50	begin dive
54	-0.57	-145.9	190	2232	492	497	0.0	0.0	0	136	0.00	0.00	-80.70	0.000	16386	0.000	0.000	183	2233	1967	1894	2041	0	0	0	0	0	0	14.47	28.83	14.50
140	-0.57	-145.9	183	2234	1896	2044	3.1	-3.5	8	203	12.80	2.62	-42.05	0.000	18724	0.447	2.160	2375	3580	3963	3949	3978	1	0	0	0	0	0	13.39	12.58	14.04
284	-0.73	-145.9	2376	3581	3954	3979	34.6	-12.5	36	289	0.00	2.30	0.00	0.000	1158	0.000	0.057	2375	2230	3966	3953	3979	0	0	0	0	0	0	14.22	14.10	14.24
595	-0.85	-145.9	2376	2228	3956	3980	76.8	-10.1	68	600	0.20	2.53	0.00	0.000	4740	0.107	0.082	2290	793	3967	3955	3979	0	0	0	0	0	0	14.14	14.10	14.21
640	-0.88	-145.9	2290	793	3956	3980	83.4	-15.6	77	646	0.00	2.45	0.00	0.000	1158	0.000	0.086	2283	2169	3965	3955	3976	0	0	0	0	0	0	14.17	14.02	14.21
945	-0.88	-145.9	2284	2172	3956	3981	133.6	-15.2	94	950	0.00	2.55	0.00	0.000	260	0.000	0.087	2279	3613	3968	3955	3982	0	0	0	0	0	0	14.60	14.03	14.62
1088	-1.00	-145.9	2280	3611	3952	3980	151.3	-11.7	122	1093	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2201	3967	3955	3979	0	0	0	0	0	0	14.27	14.14	14.31
1398	-1.04	-145.9	2280	2199	3955	3980	193.2	-13.1	134	1399	0.00	0.00	0.00	0.000	134	0.000	0.000	2279	2199	3967	3955	3980	0	0	0	0	0	0	14.60	14.62	14.62
1699	-1.10	-145.9	2280	2199	3956	3980	229.7	-11.9	144	1704	0.15	2.50	0.00	0.000	4484	0.122	0.083	2209	3614	3967	3955	3980	0	0	0	0	0	0	14.22	14.04	14.26
1764	-1.10	-145.9	2209	3615	3956	3981	239.9	-15.9	157	1769	0.00	2.45	0.00	0.000	1030	0.000	0.060	2209	2191	3966	3955	3978	0	0	0	0	0	0	14.16	14.02	14.20
2090	-1.06	-145.9	2210	2191	3955	3980	293.1	-15.7	172	2095	0.12	2.53	0.00	0.000	2436	0.299	0.083	2229	3613	3967	3955	3979	0	0	0	0	0	0	13.83	14.04	13.97
2175	-1.16	-145.9	2230	3614	3956	3980	303.7	-11.3	189	2181	0.00	2.42	0.00	0.000	1158	0.000	0.057	2229	2194	3967	3955	3979	0	0	0	0	0	0	14.14	13.99	14.18
2480	-1.18	-145.9	2230	2194	3956	3979	340.8	-11.9	200	2486	0.00	2.58	0.00	0.000	388	0.000	0.086	2223	3614	3966	3954	3979	0	0	0	0	0	0	14.63	13.97	14.65
2556	-1.28	-145.9	2223	3615	3955	3980	349.2	-10.4	215	2562	0.17	2.45	0.00	0.000	5254	0.110	0.054	2156	2184	3966	3954	3979	0	0	0	0	0	0	14.16	14.10	14.26
2873	-1.17	-145.9	2157	2183	3955	3977	405.2	-18.0	228	2878	0.17	2.55	0.00	0.000	2436	0.316	0.082	2182	3614	3965	3954	3977	0	0	0	0	0	0	13.58	13.95	13.81
2991	-1.17	-145.9	2183	3614	3955	3977	422.1	-13.6	251	2997	0.00	2.45	0.00	0.000	1030	0.000	0.057	2182	2193	3965	3954	3977	0	0	0	0	0	0	14.18	14.02	14.23
3294	-1.11	-145.9	2182	2193	3955	3978	468.1	-15.1	262	3299	0.12	2.53	0.00	0.000	2436	0.318	0.082	2201	3614	3965	3954	3977	0	0	0	0	0	0	13.77	14.01	13.93
3387	end dive: TARGET_DEPTH_EXCEEDED
state	3387	begin apogee
3398	-0.13	0.0	2201	2101	3954	3978	480.2	-11.7	281	3618	1.30	0.00	216.35	1.424	10246	0.226	0.000	2531	2095	3362	3383	3342	0	0	0	0	0	0	13.76	13.57	12.75
3622	end apogee: CONTROL_FINISHED_OK
state	3622	begin climb
3625	0.57	145.9	2532	2096	3379	3334	492.8	0.0	288	3842	0.73	2.72	205.30	1.380	11012	0.063	0.080	2781	694	2765	2807	2723	0	0	0	0	0	0	13.74	12.88	12.28
3882	0.16	145.9	2781	695	2798	2723	502.0	11.4	332	3888	0.70	2.62	0.00	0.000	5254	0.321	0.073	2642	2107	2758	2797	2720	0	0	0	0	0	0	13.00	13.31	13.35
4204	-0.01	169.8	2642	2108	2797	2715	472.8	8.9	346	4241	0.25	2.60	31.40	1.489	12964	0.264	0.086	2589	688	2668	2713	2624	0	0	0	0	0	0	13.59	13.98	13.09
4261	0.00	221.2	2589	688	2712	2622	468.6	7.6	352	4342	0.00	2.50	75.20	1.389	9382	0.000	0.080	2589	2100	2462	2525	2399	0	0	0	0	0	0	14.02	13.90	12.95
4658	0.02	250.3	2590	2100	2516	2385	434.8	8.7	381	4701	0.00	0.00	41.85	1.430	8230	0.000	0.000	2589	2100	2343	2400	2287	0	0	0	0	0	0	14.56	13.99	13.14
4988	0.06	272.5	2588	2102	2391	2277	405.3	9.0	392	5021	0.00	0.00	31.45	1.460	8358	0.000	0.000	2589	2100	2259	2317	2201	0	0	0	0	0	0	14.59	14.03	13.21
5318	0.12	296.4	2589	2100	2302	2189	375.9	8.9	403	5363	0.00	2.58	35.80	1.440	8868	0.000	0.090	2589	687	2149	2202	2096	0	0	0	0	0	0	14.60	14.09	13.21
5389	0.25	326.7	2589	686	2197	2099	369.7	8.6	417	5440	0.22	2.47	45.45	1.386	11430	0.090	0.079	2679	2101	2034	2081	1988	0	0	0	0	0	0	14.21	14.12	13.11
5738	0.17	326.7	2680	2101	2072	1972	316.8	15.2	437	5743	0.15	2.50	0.00	0.000	4740	0.262	0.086	2647	691	2024	2074	1974	0	0	0	0	0	0	13.81	14.02	13.98
5774	0.17	326.7	2648	693	2069	1975	312.1	12.0	444	5779	0.00	2.47	0.00	0.000	1030	0.000	0.078	2647	2100	2020	2066	1974	0	0	0	0	0	0	14.18	14.04	14.23
6099	0.17	326.7	2647	2098	2069	1971	274.1	11.5	459	6105	0.00	2.53	0.00	0.000	516	0.000	0.088	2647	684	2019	2067	1971	0	0	0	0	0	0	14.45	14.02	14.46
6156	0.22	326.7	2648	687	2067	1971	267.9	10.3	470	6161	0.00	2.50	0.00	0.000	1158	0.000	0.076	2646	2101	2018	2066	1971	0	0	0	0	0	0	14.14	14.00	14.18
6461	0.22	333.0	2648	2102	2067	1971	237.1	9.7	481	6470	0.00	2.55	3.25	1.387	8740	0.000	0.087	2647	694	2005	2055	1955	0	0	0	0	0	0	14.42	14.06	13.01
6491	0.27	352.5	2647	694	2057	1962	234.3	9.1	487	6536	0.00	2.47	37.33	1.381	9382	0.000	0.078	2647	2103	1923	1964	1882	0	0	0	0	0	0	14.23	14.07	13.20
6854	0.33	378.4	2647	2104	1955	1878	201.4	8.8	509	6901	0.12	2.53	42.90	1.331	10916	0.125	0.086	2697	689	1819	1846	1792	0	0	0	0	0	0	14.17	13.77	13.19
6932	0.33	378.4	2704	689	1840	1790	192.1	12.2	520	6937	0.00	2.50	0.00	0.000	1030	0.000	0.076	2702	2100	1814	1838	1791	0	0	0	0	0	0	14.04	13.90	14.04
7242	0.29	378.4	2704	2102	1837	1787	155.4	11.5	532	7247	0.12	2.53	0.00	0.000	4740	0.231	0.086	2672	691	1811	1836	1786	0	0	0	0	0	0	13.92	14.00	14.02
7278	0.38	404.0	2672	692	1834	1787	152.0	8.8	539	7328	0.00	2.53	42.95	1.300	9382	0.000	0.078	2672	2105	1714	1737	1691	0	0	0	0	0	0	14.17	14.06	13.18
7636	0.47	437.5	2673	2105	1734	1684	121.2	8.5	560	7696	0.15	2.55	52.65	1.245	10916	0.112	0.087	2750	692	1576	1603	1550	0	0	0	0	0	0	14.15	13.72	13.19
7746	0.47	437.5	2751	692	1599	1550	106.5	13.0	582	7751	0.00	2.50	0.00	0.000	1030	0.000	0.078	2751	2104	1575	1598	1553	0	0	0	0	0	0	14.14	14.02	14.18
8057	0.43	437.5	2751	2105	1599	1543	67.6	11.8	610	8061	0.00	2.53	0.00	0.000	644	0.000	0.088	2750	691	1570	1598	1543	0	0	0	0	0	0	14.54	13.99	14.55
8222	0.50	488.0	2751	691	1597	1543	53.4	7.7	643	8255	0.00	2.50	25.77	0.360	9382	0.000	0.077	2750	2105	1374	1413	1335	0	0	0	0	0	0	14.07	13.94	13.68
8561	0.63	584.9	2751	2106	1413	1329	30.3	5.5	680	8617	0.00	2.53	51.05	0.289	8868	0.000	0.086	2750	689	976	1043	910	0	0	0	0	0	0	14.54	13.95	13.75
8666	0.90	689.2	2751	689	1044	909	24.7	5.2	700	8730	0.38	2.47	55.83	0.275	11430	0.084	0.077	2882	2103	552	585	519	0	0	0	0	0	0	14.16	14.06	13.74
8862	end climb: SURFACE_DEPTH_REACHED
state	8862	begin surface coast
8872	end surface coast: CONTROL_FINISHED_OK
state	8873	begin surface