Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 12 * 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 12 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 12 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 692.78448 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 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 450 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 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 165 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 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 3.0

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 73.0

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 3.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 360 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 692.78448

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 0 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 3.0 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 120

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 165

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 73.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 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 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 25 VBD_MIN 500

DIVE 12 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 450 N_DIVES 12 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 070817,200552,7116.4014,-14735.6650,7,1.0,24,21.2,0.0,0.0,7,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7127.254,-14735.842

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 346.5,20000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 360

GPS2 070817,202743,7116.4546,-14735.8418,10,0.9,38,21.2,0.0,286.2,10,9.6

Post-dive calculations and measurements:

FREEZE 13.93,5.303,-1.378,0,1,0 _24V_AH 12.74,47.792

SM_CCo 6946,76.93,0.241,0,0,499,703.03 _10V_AH 12.78,0.000

SM_GC 1.24,8.23,0.17,0.00,0.084,0.122,0.000,206,2220,495,-7.37,-0.74,703.77,0,0,0,0,0,0,14.12,14.14,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 247 FG_AHR_10Vo 0.000

RAFOS_FIX 7109.520996,-14750.911133,070817,161645,2,255,10.14 MEM 324708

IRIDIUM_FIX 7116.48,-14744.06,070817,201030 DATA_FILE_SIZE 43220,1295

TT8_MAMPS 0.040446,0.873334 CAP_FILE_SIZE 138342,0

HUMID 47.48 CFSIZE 2097872896,2084601856

INTERNAL_PRESSURE 7.77175 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.40 SOUNDSPEED 1448.8

XPDR_PINGS 17 CURRENT 0.106,298.51,1

CP_FREE 16016572416.000000 GPS 070817,223004,7117.584,-14735.861,20,0.9,35,21.2,0.0,301.8,9,9.4

PM_FREEKB_00 61837120

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 445 137.22 nil 0 0 0.00

Roll_motor 76 2137 2084.50 nil 0 0 0.00

VBD_pump_during_apogee 796 1478 15002.13 nil 0 0 0.00

VBD_pump_during_surface 76 240 236.16 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 6964 17 1581.72

Iridium_during_xfer 939 187 2242.56 NCP 6958 111 9839.59

Transponder_ping 4 420 22.74 PMAR 6915 16 1459.33

GUMSTIX_24V 0 0 0.00

GPS 39 22 11.48

TT8 0 0 0.00

LPSleep 3712 2 109.59

TT8_Active 932 13 166.45

TT8_Sampling 3499 33 1495.64

TT8_CF8 404 38 200.03

TT8_Kalman 0 0 0.00

Analog_circuits 2912 10 372.23

GPS_charging 0 0 0.00

Compass 1866 7 166.99

RAFOS 0 0 0.00

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 208 2191 512 465 0.0 0.0 0 131 0.00 0.00 -83.62 0.000 16386 0.000 0.000 208 2191 2237 2166 2308 0 0 0 0 0 0 14.12 28.83 14.12

134 -0.57 -145.9 208 2193 2170 2309 3.4 -6.9 15 183 12.35 2.88 -30.73 0.000 18724 0.446 2.137 2378 3610 3965 3953 3977 0 0 0 0 0 0 13.62 12.74 13.83

403 -0.52 -145.9 2377 3611 3962 3978 67.5 -17.9 67 409 0.15 2.47 0.00 0.000 3206 0.268 0.063 2405 2191 3969 3962 3977 0 0 0 0 0 0 13.74 13.91 13.96

589 -0.52 -145.9 2406 2196 3964 3978 96.9 -14.1 104 595 0.00 2.55 0.00 0.000 260 0.000 0.088 2400 3612 3970 3963 3977 0 0 0 0 0 0 14.16 13.92 14.19

606 -0.52 -145.9 2400 3620 3964 3977 99.2 -14.1 107 612 0.00 2.45 0.00 0.000 1030 0.000 0.059 2400 2202 3970 3964 3977 0 0 0 0 0 0 13.98 13.88 13.98

793 -0.57 -145.9 2400 2202 3964 3978 122.0 -10.2 144 798 0.00 0.00 0.00 0.000 134 0.000 0.000 2400 2201 3970 3963 3977 0 0 0 0 0 0 14.19 14.21 14.21

980 -0.66 -145.9 2400 2201 3965 3977 140.9 -10.2 181 986 0.00 2.55 0.00 0.000 388 0.000 0.093 2392 3610 3970 3964 3977 0 0 0 0 0 0 14.26 13.56 14.28

1062 -0.84 -145.9 2392 3611 3963 3977 148.5 -8.0 197 1068 0.28 2.42 0.00 0.000 5286 0.090 0.059 2289 2198 3970 3963 3977 0 0 0 0 0 0 14.05 14.02 14.13

1248 -0.73 -145.9 2289 2198 3964 3978 180.2 -15.9 234 1256 0.20 2.55 0.00 0.000 2436 0.284 0.088 2326 3617 3969 3963 3976 0 0 0 0 0 0 13.81 13.97 13.99

1363 -0.77 -145.9 2327 3617 3964 3976 195.2 -12.5 256 1369 0.00 2.45 0.00 0.000 1158 0.000 0.063 2326 2192 3968 3959 3977 0 0 0 0 0 0 14.12 14.00 14.17

1549 -0.77 -145.9 2327 2193 3964 3975 218.5 -11.9 293 1554 0.00 0.00 0.00 0.000 6 0.000 0.000 2326 2192 3968 3963 3974 0 0 0 0 0 0 14.37 14.39 14.40

1734 -0.77 -145.9 2327 2192 3964 3973 239.9 -11.4 330 1741 0.00 2.55 0.00 0.000 260 0.000 0.094 2319 3614 3967 3963 3972 0 0 0 0 0 0 14.36 14.01 14.38

1858 -0.81 -145.9 2319 3615 3963 3973 253.8 -11.1 354 1865 0.00 2.42 0.00 0.000 1158 0.000 0.063 2319 2197 3967 3962 3973 0 0 0 0 0 0 14.16 14.05 14.18

2045 -0.81 -145.9 2319 2199 3963 3971 277.3 -12.8 391 2051 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2199 3966 3962 3971 0 0 0 0 0 0 14.38 14.40 14.40

2230 -0.81 -145.9 2319 2199 3963 3970 300.3 -12.2 428 2237 0.00 2.53 0.00 0.000 260 0.000 0.093 2312 3606 3965 3961 3970 0 0 0 0 0 0 14.40 14.05 14.42

2332 -0.87 -145.9 2313 3608 3962 3970 312.1 -10.6 448 2338 0.00 2.45 0.00 0.000 1158 0.000 0.063 2312 2197 3965 3961 3970 0 0 0 0 0 0 14.20 14.07 14.23

2518 -0.87 -145.9 2312 2199 3962 3970 333.9 -11.6 485 2524 0.00 0.00 0.00 0.000 6 0.000 0.000 2312 2198 3965 3961 3969 0 0 0 0 0 0 14.40 14.42 14.42

2721 -0.87 -145.9 2311 2199 3962 3969 357.2 -11.6 515 2726 0.00 2.55 0.00 0.000 260 0.000 0.093 2306 3617 3964 3961 3968 0 0 0 0 0 0 14.42 14.08 14.44

2743 end dive: TARGET_DEPTH_EXCEEDED

state 2743 begin apogee

2751 -0.13 0.0 2307 2101 3961 3967 360.4 -12.2 520 2958 0.88 0.00 200.57 1.356 10246 0.241 0.000 2527 2100 3363 3393 3333 0 0 0 0 0 0 13.87 13.54 13.00

2962 end apogee: CONTROL_FINISHED_OK

state 2962 begin climb

2964 0.57 145.9 2527 2101 3391 3331 369.5 0.0 527 3169 0.75 2.72 191.50 1.291 11012 0.072 0.086 2777 3512 2761 2809 2713 0 0 0 0 0 0 13.62 13.28 12.78

3269 0.19 145.9 2777 3513 2795 2713 351.3 17.9 582 3275 0.68 2.53 0.00 0.000 5254 0.342 0.062 2651 2097 2753 2794 2713 0 0 0 0 0 0 13.35 13.62 13.62

3455 0.13 164.4 2651 2096 2795 2710 332.6 9.1 619 3479 0.00 0.00 20.52 1.418 8870 0.000 0.000 2651 2096 2695 2742 2648 0 0 0 0 0 0 14.00 13.74 13.14

3660 0.09 180.9 2651 2096 2737 2640 313.6 9.2 659 3690 0.15 2.55 23.30 1.422 12964 0.288 0.091 2616 691 2623 2674 2572 0 0 0 0 0 0 13.69 13.76 13.19

3726 0.23 242.4 2616 691 2672 2571 308.7 7.2 671 3822 0.12 2.55 88.85 1.285 11430 0.133 0.087 2667 2100 2374 2430 2318 0 0 0 0 0 0 13.85 13.80 13.02

4002 0.24 247.8 2667 2101 2419 2307 280.5 9.8 723 4008 0.00 0.00 1.00 0.303 8230 0.000 0.000 2667 2101 2356 2410 2302 0 0 0 0 0 0 14.03 13.77 13.58

4188 0.24 247.8 2667 2101 2414 2306 261.5 10.2 760 4194 0.00 0.00 0.70 0.320 8198 0.000 0.000 2667 2099 2353 2406 2300 0 0 0 0 0 0 14.15 13.89 13.75

4374 0.24 247.8 2665 2102 2411 2304 241.3 10.9 797 4380 0.00 0.00 0.00 0.000 6 0.000 0.000 2666 2101 2357 2410 2305 0 0 0 0 0 0 14.24 14.26 14.24

4560 0.24 250.9 2667 2101 2410 2306 222.2 9.9 834 4567 0.00 0.00 3.80 1.479 8486 0.000 0.000 2669 2101 2342 2394 2291 0 0 0 0 0 0 14.30 14.05 13.02

4747 0.25 262.8 2667 2102 2399 2296 204.1 9.4 871 4771 0.00 0.00 22.02 1.408 8230 0.000 0.000 2667 2100 2297 2351 2243 0 0 0 0 0 0 14.32 13.99 13.39

4951 0.26 281.6 2667 2102 2343 2235 185.0 9.1 911 4987 0.00 2.55 29.10 1.350 8484 0.000 0.090 2667 3511 2213 2265 2162 0 0 0 0 0 0 14.28 13.80 13.32

5052 0.26 281.6 2667 3512 2257 2163 174.6 10.4 930 5059 0.00 2.47 0.00 0.000 1030 0.000 0.067 2673 2102 2208 2255 2161 0 0 0 0 0 0 14.04 13.93 14.05

5240 0.32 306.1 2674 2102 2256 2158 157.8 8.9 967 5280 0.00 0.00 37.50 1.302 8870 0.000 0.000 2673 2101 2117 2167 2067 0 0 0 0 0 0 14.27 13.88 13.31

5461 0.42 343.6 2674 2102 2159 2057 139.2 8.3 1010 5527 0.12 2.65 60.47 1.232 10916 0.143 0.093 2729 687 1962 2007 1917 0 0 0 0 0 0 13.99 13.74 13.21

5559 0.42 343.6 2728 687 2000 1916 128.7 11.0 1027 5565 0.00 2.55 0.00 0.000 1030 0.000 0.085 2728 2100 1956 1998 1915 0 0 0 0 0 0 13.90 13.80 13.92

5745 0.42 343.6 2729 2102 1998 1908 108.5 10.8 1064 5751 0.00 2.58 0.00 0.000 260 0.000 0.091 2729 3517 1951 1995 1907 0 0 0 0 0 0 14.17 13.85 14.19

5781 0.42 343.6 2729 3517 1997 1907 104.5 11.6 1071 5788 0.00 2.50 0.00 0.000 1030 0.000 0.069 2737 2097 1951 1996 1907 0 0 0 0 0 0 14.04 13.95 14.07

5968 0.42 355.0 2737 2097 1997 1905 86.7 9.5 1108 5979 0.00 2.53 4.82 0.442 8740 0.000 0.093 2742 685 1914 1955 1874 0 0 0 0 0 0 14.24 13.96 13.60

6135 0.51 396.1 2743 684 1961 1877 72.1 8.1 1141 6165 0.00 2.53 22.55 0.421 9382 0.000 0.087 2738 2098 1749 1780 1719 0 0 0 0 0 0 14.05 13.93 13.70

6345 0.61 456.9 2742 2099 1782 1719 54.8 7.2 1182 6383 0.12 2.58 32.67 0.364 10916 0.135 0.092 2794 689 1503 1548 1458 0 0 0 0 0 0 14.08 13.95 13.75

6435 0.70 483.2 2795 690 1543 1458 46.6 8.8 1198 6454 0.00 2.53 14.43 0.340 9382 0.000 0.086 2794 2103 1393 1446 1340 0 0 0 0 0 0 14.02 13.90 13.71

6634 0.78 516.7 2795 2103 1446 1336 29.0 8.5 1237 6659 0.12 2.55 18.10 0.288 10916 0.141 0.090 2860 685 1256 1318 1194 0 0 0 0 0 0 14.05 13.90 13.73

6726 0.78 516.7 2860 686 1319 1196 19.0 10.9 1254 6733 0.00 2.53 0.00 0.000 1030 0.000 0.086 2860 2101 1256 1318 1195 0 0 0 0 0 0 14.12 13.96 14.11

6913 0.94 736.4 2856 2101 1314 1191 14.1 -0.1 1291 6939 0.00 0.00 24.40 0.253 8738 0.000 0.000 2860 2100 1071 1140 1002 0 0 0 0 0 0 14.29 28.83 14.31

6940 end climb: NO_VERTICAL_VELOCITY

state 6940 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	12	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	12	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	692.78448	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	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	450	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	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	165	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	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	3.0
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	73.0
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	3.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070817,200552,7116.4014,-14735.6650,7,1.0,24,21.2,0.0,0.0,7,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7127.254,-14735.842
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	346.5,20000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	360
GPS2	070817,202743,7116.4546,-14735.8418,10,0.9,38,21.2,0.0,286.2,10,9.6

FREEZE	13.93,5.303,-1.378,0,1,0	_24V_AH	12.74,47.792
SM_CCo	6946,76.93,0.241,0,0,499,703.03	_10V_AH	12.78,0.000
SM_GC	1.24,8.23,0.17,0.00,0.084,0.122,0.000,206,2220,495,-7.37,-0.74,703.77,0,0,0,0,0,0,14.12,14.14,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	247	FG_AHR_10Vo	0.000
RAFOS_FIX	7109.520996,-14750.911133,070817,161645,2,255,10.14	MEM	324708
IRIDIUM_FIX	7116.48,-14744.06,070817,201030	DATA_FILE_SIZE	43220,1295
TT8_MAMPS	0.040446,0.873334	CAP_FILE_SIZE	138342,0
HUMID	47.48	CFSIZE	2097872896,2084601856
INTERNAL_PRESSURE	7.77175	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.40	SOUNDSPEED	1448.8
XPDR_PINGS	17	CURRENT	0.106,298.51,1
CP_FREE	16016572416.000000	GPS	070817,223004,7117.584,-14735.861,20,0.9,35,21.2,0.0,301.8,9,9.4
PM_FREEKB_00	61837120

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	445	137.22	nil	0	0	0.00
Roll_motor	76	2137	2084.50	nil	0	0	0.00
VBD_pump_during_apogee	796	1478	15002.13	nil	0	0	0.00
VBD_pump_during_surface	76	240	236.16	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	6964	17	1581.72
Iridium_during_xfer	939	187	2242.56	NCP	6958	111	9839.59
Transponder_ping	4	420	22.74	PMAR	6915	16	1459.33
GUMSTIX_24V	0	0	0.00
GPS	39	22	11.48
TT8	0	0	0.00
LPSleep	3712	2	109.59
TT8_Active	932	13	166.45
TT8_Sampling	3499	33	1495.64
TT8_CF8	404	38	200.03
TT8_Kalman	0	0	0.00
Analog_circuits	2912	10	372.23
GPS_charging	0	0	0.00
Compass	1866	7	166.99
RAFOS	0	0	0.00
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	208	2191	512	465	0.0	0.0	0	131	0.00	0.00	-83.62	0.000	16386	0.000	0.000	208	2191	2237	2166	2308	0	0	0	0	0	0	14.12	28.83	14.12
134	-0.57	-145.9	208	2193	2170	2309	3.4	-6.9	15	183	12.35	2.88	-30.73	0.000	18724	0.446	2.137	2378	3610	3965	3953	3977	0	0	0	0	0	0	13.62	12.74	13.83
403	-0.52	-145.9	2377	3611	3962	3978	67.5	-17.9	67	409	0.15	2.47	0.00	0.000	3206	0.268	0.063	2405	2191	3969	3962	3977	0	0	0	0	0	0	13.74	13.91	13.96
589	-0.52	-145.9	2406	2196	3964	3978	96.9	-14.1	104	595	0.00	2.55	0.00	0.000	260	0.000	0.088	2400	3612	3970	3963	3977	0	0	0	0	0	0	14.16	13.92	14.19
606	-0.52	-145.9	2400	3620	3964	3977	99.2	-14.1	107	612	0.00	2.45	0.00	0.000	1030	0.000	0.059	2400	2202	3970	3964	3977	0	0	0	0	0	0	13.98	13.88	13.98
793	-0.57	-145.9	2400	2202	3964	3978	122.0	-10.2	144	798	0.00	0.00	0.00	0.000	134	0.000	0.000	2400	2201	3970	3963	3977	0	0	0	0	0	0	14.19	14.21	14.21
980	-0.66	-145.9	2400	2201	3965	3977	140.9	-10.2	181	986	0.00	2.55	0.00	0.000	388	0.000	0.093	2392	3610	3970	3964	3977	0	0	0	0	0	0	14.26	13.56	14.28
1062	-0.84	-145.9	2392	3611	3963	3977	148.5	-8.0	197	1068	0.28	2.42	0.00	0.000	5286	0.090	0.059	2289	2198	3970	3963	3977	0	0	0	0	0	0	14.05	14.02	14.13
1248	-0.73	-145.9	2289	2198	3964	3978	180.2	-15.9	234	1256	0.20	2.55	0.00	0.000	2436	0.284	0.088	2326	3617	3969	3963	3976	0	0	0	0	0	0	13.81	13.97	13.99
1363	-0.77	-145.9	2327	3617	3964	3976	195.2	-12.5	256	1369	0.00	2.45	0.00	0.000	1158	0.000	0.063	2326	2192	3968	3959	3977	0	0	0	0	0	0	14.12	14.00	14.17
1549	-0.77	-145.9	2327	2193	3964	3975	218.5	-11.9	293	1554	0.00	0.00	0.00	0.000	6	0.000	0.000	2326	2192	3968	3963	3974	0	0	0	0	0	0	14.37	14.39	14.40
1734	-0.77	-145.9	2327	2192	3964	3973	239.9	-11.4	330	1741	0.00	2.55	0.00	0.000	260	0.000	0.094	2319	3614	3967	3963	3972	0	0	0	0	0	0	14.36	14.01	14.38
1858	-0.81	-145.9	2319	3615	3963	3973	253.8	-11.1	354	1865	0.00	2.42	0.00	0.000	1158	0.000	0.063	2319	2197	3967	3962	3973	0	0	0	0	0	0	14.16	14.05	14.18
2045	-0.81	-145.9	2319	2199	3963	3971	277.3	-12.8	391	2051	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2199	3966	3962	3971	0	0	0	0	0	0	14.38	14.40	14.40
2230	-0.81	-145.9	2319	2199	3963	3970	300.3	-12.2	428	2237	0.00	2.53	0.00	0.000	260	0.000	0.093	2312	3606	3965	3961	3970	0	0	0	0	0	0	14.40	14.05	14.42
2332	-0.87	-145.9	2313	3608	3962	3970	312.1	-10.6	448	2338	0.00	2.45	0.00	0.000	1158	0.000	0.063	2312	2197	3965	3961	3970	0	0	0	0	0	0	14.20	14.07	14.23
2518	-0.87	-145.9	2312	2199	3962	3970	333.9	-11.6	485	2524	0.00	0.00	0.00	0.000	6	0.000	0.000	2312	2198	3965	3961	3969	0	0	0	0	0	0	14.40	14.42	14.42
2721	-0.87	-145.9	2311	2199	3962	3969	357.2	-11.6	515	2726	0.00	2.55	0.00	0.000	260	0.000	0.093	2306	3617	3964	3961	3968	0	0	0	0	0	0	14.42	14.08	14.44
2743	end dive: TARGET_DEPTH_EXCEEDED
state	2743	begin apogee
2751	-0.13	0.0	2307	2101	3961	3967	360.4	-12.2	520	2958	0.88	0.00	200.57	1.356	10246	0.241	0.000	2527	2100	3363	3393	3333	0	0	0	0	0	0	13.87	13.54	13.00
2962	end apogee: CONTROL_FINISHED_OK
state	2962	begin climb
2964	0.57	145.9	2527	2101	3391	3331	369.5	0.0	527	3169	0.75	2.72	191.50	1.291	11012	0.072	0.086	2777	3512	2761	2809	2713	0	0	0	0	0	0	13.62	13.28	12.78
3269	0.19	145.9	2777	3513	2795	2713	351.3	17.9	582	3275	0.68	2.53	0.00	0.000	5254	0.342	0.062	2651	2097	2753	2794	2713	0	0	0	0	0	0	13.35	13.62	13.62
3455	0.13	164.4	2651	2096	2795	2710	332.6	9.1	619	3479	0.00	0.00	20.52	1.418	8870	0.000	0.000	2651	2096	2695	2742	2648	0	0	0	0	0	0	14.00	13.74	13.14
3660	0.09	180.9	2651	2096	2737	2640	313.6	9.2	659	3690	0.15	2.55	23.30	1.422	12964	0.288	0.091	2616	691	2623	2674	2572	0	0	0	0	0	0	13.69	13.76	13.19
3726	0.23	242.4	2616	691	2672	2571	308.7	7.2	671	3822	0.12	2.55	88.85	1.285	11430	0.133	0.087	2667	2100	2374	2430	2318	0	0	0	0	0	0	13.85	13.80	13.02
4002	0.24	247.8	2667	2101	2419	2307	280.5	9.8	723	4008	0.00	0.00	1.00	0.303	8230	0.000	0.000	2667	2101	2356	2410	2302	0	0	0	0	0	0	14.03	13.77	13.58
4188	0.24	247.8	2667	2101	2414	2306	261.5	10.2	760	4194	0.00	0.00	0.70	0.320	8198	0.000	0.000	2667	2099	2353	2406	2300	0	0	0	0	0	0	14.15	13.89	13.75
4374	0.24	247.8	2665	2102	2411	2304	241.3	10.9	797	4380	0.00	0.00	0.00	0.000	6	0.000	0.000	2666	2101	2357	2410	2305	0	0	0	0	0	0	14.24	14.26	14.24
4560	0.24	250.9	2667	2101	2410	2306	222.2	9.9	834	4567	0.00	0.00	3.80	1.479	8486	0.000	0.000	2669	2101	2342	2394	2291	0	0	0	0	0	0	14.30	14.05	13.02
4747	0.25	262.8	2667	2102	2399	2296	204.1	9.4	871	4771	0.00	0.00	22.02	1.408	8230	0.000	0.000	2667	2100	2297	2351	2243	0	0	0	0	0	0	14.32	13.99	13.39
4951	0.26	281.6	2667	2102	2343	2235	185.0	9.1	911	4987	0.00	2.55	29.10	1.350	8484	0.000	0.090	2667	3511	2213	2265	2162	0	0	0	0	0	0	14.28	13.80	13.32
5052	0.26	281.6	2667	3512	2257	2163	174.6	10.4	930	5059	0.00	2.47	0.00	0.000	1030	0.000	0.067	2673	2102	2208	2255	2161	0	0	0	0	0	0	14.04	13.93	14.05
5240	0.32	306.1	2674	2102	2256	2158	157.8	8.9	967	5280	0.00	0.00	37.50	1.302	8870	0.000	0.000	2673	2101	2117	2167	2067	0	0	0	0	0	0	14.27	13.88	13.31
5461	0.42	343.6	2674	2102	2159	2057	139.2	8.3	1010	5527	0.12	2.65	60.47	1.232	10916	0.143	0.093	2729	687	1962	2007	1917	0	0	0	0	0	0	13.99	13.74	13.21
5559	0.42	343.6	2728	687	2000	1916	128.7	11.0	1027	5565	0.00	2.55	0.00	0.000	1030	0.000	0.085	2728	2100	1956	1998	1915	0	0	0	0	0	0	13.90	13.80	13.92
5745	0.42	343.6	2729	2102	1998	1908	108.5	10.8	1064	5751	0.00	2.58	0.00	0.000	260	0.000	0.091	2729	3517	1951	1995	1907	0	0	0	0	0	0	14.17	13.85	14.19
5781	0.42	343.6	2729	3517	1997	1907	104.5	11.6	1071	5788	0.00	2.50	0.00	0.000	1030	0.000	0.069	2737	2097	1951	1996	1907	0	0	0	0	0	0	14.04	13.95	14.07
5968	0.42	355.0	2737	2097	1997	1905	86.7	9.5	1108	5979	0.00	2.53	4.82	0.442	8740	0.000	0.093	2742	685	1914	1955	1874	0	0	0	0	0	0	14.24	13.96	13.60
6135	0.51	396.1	2743	684	1961	1877	72.1	8.1	1141	6165	0.00	2.53	22.55	0.421	9382	0.000	0.087	2738	2098	1749	1780	1719	0	0	0	0	0	0	14.05	13.93	13.70
6345	0.61	456.9	2742	2099	1782	1719	54.8	7.2	1182	6383	0.12	2.58	32.67	0.364	10916	0.135	0.092	2794	689	1503	1548	1458	0	0	0	0	0	0	14.08	13.95	13.75
6435	0.70	483.2	2795	690	1543	1458	46.6	8.8	1198	6454	0.00	2.53	14.43	0.340	9382	0.000	0.086	2794	2103	1393	1446	1340	0	0	0	0	0	0	14.02	13.90	13.71
6634	0.78	516.7	2795	2103	1446	1336	29.0	8.5	1237	6659	0.12	2.55	18.10	0.288	10916	0.141	0.090	2860	685	1256	1318	1194	0	0	0	0	0	0	14.05	13.90	13.73
6726	0.78	516.7	2860	686	1319	1196	19.0	10.9	1254	6733	0.00	2.53	0.00	0.000	1030	0.000	0.086	2860	2101	1256	1318	1195	0	0	0	0	0	0	14.12	13.96	14.11
6913	0.94	736.4	2856	2101	1314	1191	14.1	-0.1	1291	6939	0.00	0.00	24.40	0.253	8738	0.000	0.000	2860	2100	1071	1140	1002	0	0	0	0	0	0	14.29	28.83	14.31
6940	end climb: NO_VERTICAL_VELOCITY
state	6940	begin surface