Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 190 * 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 190 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 48

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 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 536.0

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 39 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 536.0 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 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 190 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 290817,012311,7411.2109,-15255.4023,20,0.7,28,19.6,0.6,315.2,11,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 277.2,32933,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.8 D_GRID 480

GPS2 290817,015026,7411.3672,-15256.1699,8,0.7,29,19.6,0.5,284.0,11,9.9

Post-dive calculations and measurements:

FINISH 0.6,1.021395 _24V_AH 12.36,134.179

SM_CCo 8811,56.72,0.207,0,0,500,703.03 _10V_AH 12.20,0.000

SM_GC 1.27,8.25,0.17,56.72,0.082,0.117,0.207,204,2235,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.21,14.19,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 60 FG_AHR_10Vo 0.000

RAFOS_FIX 7410.698730,-15249.871094,290817,000056,4,255,0.22 MEM 323404

IRIDIUM_FIX 7410.43,-15250.84,290817,013913 DATA_FILE_SIZE 23389,716

TT8_MAMPS 0.083888,0.92127 CAP_FILE_SIZE 109484,0

HUMID 44.80 CFSIZE 2097872896,2029256704

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

TCM_TEMP 13.20 INTR 0,7642.52,0x2341ea,1,24

XPDR_PINGS 27 SOUNDSPEED 1448.0

CP_FREE 15985999872.000000 CURRENT 0.027,247.28,1

PM_FREEKB_00 52276800 GPS 290817,042003,7412.189,-15300.104,31,0.8,32,19.6,0.0,0.0,11,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 143.86 nil 0 0 0.00

Roll_motor 88 2145 2349.05 nil 0 0 0.00

VBD_pump_during_apogee 923 1461 16677.79 nil 0 0 0.00

VBD_pump_during_surface 56 206 144.82 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 8820 14 1541.47

Iridium_during_xfer 1081 182 2433.57 NCP 8808 20 2177.34

Transponder_ping 6 420 35.04 PMAR 8765 9 1069.60

GUMSTIX_24V 0 0 0.00

GPS 30 22 8.31

TT8 0 0 0.00

LPSleep 6522 2 183.82

TT8_Active 872 13 148.78

TT8_Sampling 2763 33 1127.48

TT8_CF8 359 38 169.79

TT8_Kalman 0 0 0.00

Analog_circuits 2796 10 341.16

GPS_charging 0 0 0.00

Compass 1029 7 87.88

RAFOS 2207 48 1292.42

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 176 2224 498 490 0.0 0.0 0 141 0.00 0.00 -91.75 0.000 16386 0.000 0.000 176 2222 2161 2088 2235 0 0 0 0 0 0 14.48 28.83 14.50

144 -0.57 -145.9 176 2224 2091 2237 3.3 -4.3 9 201 12.88 2.70 -37.83 0.000 18724 0.458 2.145 2375 3594 3963 3947 3980 1 0 0 0 0 0 13.52 12.59 14.02

427 -0.72 -145.9 2375 3595 3955 3982 58.3 -13.2 65 432 0.10 2.33 0.00 0.000 5254 0.148 0.059 2335 2233 3967 3954 3981 0 0 0 0 0 0 14.13 14.16 14.24

737 -0.72 -145.9 2335 2233 3956 3980 110.2 -15.4 93 742 0.00 2.40 0.00 0.000 260 0.000 0.086 2332 3593 3967 3955 3980 0 0 0 0 0 0 14.57 14.14 14.60

807 -0.86 -145.9 2333 3593 3956 3981 119.1 -11.1 107 812 0.00 2.38 0.00 0.000 1158 0.000 0.056 2332 2198 3967 3954 3981 0 0 0 0 0 0 14.36 14.24 14.40

1127 -0.92 -145.9 2332 2198 3955 3981 159.3 -12.2 121 1129 0.15 0.00 0.00 0.000 4230 0.123 0.000 2271 2197 3968 3955 3981 0 0 0 0 0 0 14.22 14.28 14.25

1427 -0.89 -145.9 2271 2197 3955 3982 208.2 -16.0 131 1432 0.00 2.47 0.00 0.000 388 0.000 0.088 2263 3595 3967 3954 3980 0 0 0 0 0 0 14.64 13.47 14.68

1559 -0.94 -145.9 2263 3596 3955 3982 226.8 -13.1 157 1564 0.00 2.35 0.00 0.000 1158 0.000 0.057 2262 2199 3968 3955 3981 0 0 0 0 0 0 14.38 14.28 14.43

1879 -0.94 -145.9 2263 2199 3955 3982 273.5 -14.0 171 1884 0.00 2.45 0.00 0.000 260 0.000 0.088 2254 3593 3967 3955 3980 0 0 0 0 0 0 14.67 14.21 14.69

1949 -0.99 -145.9 2253 3594 3956 3981 282.9 -12.7 185 1954 0.00 2.35 0.00 0.000 1158 0.000 0.057 2253 2198 3967 3955 3980 0 0 0 0 0 0 14.40 14.28 14.43

2269 -0.99 -145.9 2252 2198 3955 3981 324.0 -12.5 199 2274 0.00 2.45 0.00 0.000 260 0.000 0.088 2244 3594 3967 3955 3980 0 0 0 0 0 0 14.68 14.21 14.69

2369 -1.05 -145.9 2245 3594 3956 3980 336.0 -11.5 219 2374 0.00 2.35 0.00 0.000 1158 0.000 0.057 2246 2195 3967 3954 3980 0 0 0 0 0 0 14.40 14.28 14.43

2689 -1.05 -145.9 2244 2194 3954 3981 376.4 -12.6 233 2694 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3600 3971 3962 3980 0 0 0 0 0 0 14.67 14.21 14.69

2769 -1.11 -145.9 2237 3601 3954 3980 386.2 -11.7 249 2774 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2196 3966 3953 3980 0 0 0 0 0 0 14.40 14.27 14.43

3079 -1.11 -145.9 2236 2196 3954 3981 425.6 -12.6 261 3084 0.00 2.47 0.00 0.000 260 0.000 0.090 2235 3600 3964 3953 3976 0 0 0 0 0 0 14.69 14.20 14.70

3140 -1.18 -145.9 2236 3601 3953 3980 432.9 -11.6 273 3144 0.00 2.35 0.00 0.000 1158 0.000 0.056 2235 2201 3966 3953 3980 0 0 0 0 0 0 14.40 14.27 14.43

3469 -1.18 -145.9 2236 2200 3953 3981 474.0 -12.4 289 3474 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3594 3966 3953 3979 0 0 0 0 0 0 14.69 14.20 14.71

3517 end dive: TARGET_DEPTH_EXCEEDED

state 3517 begin apogee

3525 -0.13 0.0 2237 2102 3953 3979 480.1 -11.6 299 3745 1.15 0.00 216.00 1.442 10246 0.233 0.000 2532 2101 3362 3381 3344 0 0 0 0 0 0 13.95 13.49 12.69

3749 end apogee: CONTROL_FINISHED_OK

state 3749 begin climb

3751 0.57 145.9 2533 2101 3378 3338 491.5 0.0 306 3973 0.73 2.28 207.25 1.388 11012 0.064 0.071 2777 3507 2759 2796 2723 0 0 0 0 0 0 13.59 12.95 12.36

4108 0.12 145.9 2777 3508 2787 2723 477.2 17.2 335 4115 0.80 2.50 0.00 0.000 5254 0.349 0.057 2632 2099 2754 2786 2722 0 0 0 0 0 0 13.24 13.58 13.60

4414 0.03 176.7 2628 2099 2787 2721 449.6 8.6 346 4463 0.12 2.55 42.15 1.450 12964 0.295 0.084 2602 699 2639 2681 2597 0 0 0 0 0 0 13.79 13.87 13.06

4534 0.07 213.8 2602 699 2680 2594 440.2 8.3 370 4595 0.00 2.45 53.50 1.428 9382 0.000 0.079 2602 2084 2489 2546 2433 0 0 0 0 0 0 14.09 13.97 13.00

4896 0.10 244.3 2603 2085 2544 2422 409.3 8.6 392 4943 0.00 0.00 45.38 1.434 8230 0.000 0.000 2602 2084 2370 2429 2312 0 0 0 0 0 0 14.46 13.95 13.14

5224 0.15 277.6 2603 2086 2409 2302 381.1 8.5 403 5279 0.00 2.47 49.50 1.410 8868 0.000 0.083 2602 694 2228 2279 2178 0 0 0 0 0 0 14.51 13.78 13.16

5299 0.28 323.7 2602 692 2275 2179 374.7 7.9 418 5377 0.20 2.47 70.00 1.353 11430 0.099 0.078 2685 2098 2042 2088 1997 0 0 0 0 0 0 14.09 14.02 12.97

5674 0.22 323.7 2681 2100 2081 1983 321.1 14.5 443 5679 0.00 2.47 0.00 0.000 644 0.000 0.088 2684 693 2031 2080 1983 0 0 0 0 0 0 14.47 14.08 14.49

5744 0.22 323.7 2685 694 2077 1983 311.3 13.6 457 5749 0.12 2.45 0.00 0.000 5126 0.245 0.079 2660 2101 2029 2077 1982 0 0 0 0 0 0 14.02 14.18 14.27

6065 0.22 323.7 2659 2102 2077 1980 274.5 11.1 471 6065 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2101 2028 2076 1980 0 0 0 0 0 0 14.62 14.64 14.64

6365 0.22 326.1 2658 2102 2077 1979 243.7 9.9 481 6370 0.00 2.45 0.00 0.000 548 0.000 0.086 2660 692 2027 2076 1978 0 0 0 0 0 0 14.66 14.23 14.67

6420 0.31 341.5 2660 691 2076 1978 238.4 9.3 492 6451 0.00 2.45 24.35 1.423 9382 0.000 0.079 2659 2109 1970 2017 1923 0 0 0 0 0 0 14.38 14.23 13.36

6758 0.37 365.0 2661 2109 2013 1916 207.6 8.9 509 6802 0.12 2.50 38.72 1.369 10916 0.135 0.083 2727 687 1872 1907 1838 0 0 0 0 0 0 14.34 13.89 13.31

6839 0.35 365.0 2728 688 1900 1840 197.9 12.8 525 6844 0.15 2.47 0.00 0.000 5254 0.230 0.078 2695 2100 1869 1900 1839 0 0 0 0 0 0 13.97 14.12 14.21

7149 0.35 365.0 2696 2101 1899 1833 165.5 10.1 537 7154 0.00 2.47 0.00 0.000 516 0.000 0.086 2699 689 1864 1897 1832 0 0 0 0 0 0 14.59 14.17 14.60

7204 0.41 378.5 2699 691 1895 1833 160.2 9.4 548 7230 0.00 2.45 19.45 1.428 9382 0.000 0.078 2699 2101 1821 1849 1793 0 0 0 0 0 0 14.33 14.20 13.31

7543 0.45 390.3 2699 2099 1843 1788 127.5 9.5 565 7562 0.00 2.53 14.55 1.461 8868 0.000 0.086 2699 693 1770 1796 1745 0 0 0 0 0 0 14.60 14.22 13.33

7592 0.56 420.2 2699 694 1792 1746 123.0 8.6 575 7651 0.20 2.45 48.35 1.283 11430 0.100 0.078 2779 2099 1647 1672 1623 0 0 0 0 0 0 14.29 14.21 13.21

7957 0.48 420.2 2780 2099 1672 1611 74.3 12.3 610 7962 0.15 2.53 0.00 0.000 4740 0.270 0.082 2753 688 1640 1670 1611 0 0 0 0 0 0 13.81 13.98 14.02

8003 0.53 428.4 2755 688 1669 1611 69.6 9.6 619 8014 0.00 2.50 3.38 0.399 9382 0.000 0.080 2754 2096 1617 1647 1588 0 0 0 0 0 0 14.20 14.07 13.59

8319 0.60 531.2 2754 2103 1648 1587 45.2 5.3 652 8381 0.00 2.55 53.75 0.337 8740 0.000 0.085 2755 697 1197 1256 1139 0 0 0 0 0 0 14.42 13.97 13.66

8452 0.82 602.6 2754 698 1256 1136 37.3 6.7 678 8495 0.28 2.50 37.15 0.312 11430 0.089 0.079 2859 2110 907 977 838 0 0 0 0 0 0 14.02 13.94 13.72

8779 end climb: SURFACE_DEPTH_REACHED

state 8779 begin surface coast

8789 end surface coast: CONTROL_FINISHED_OK

state 8789 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	190	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	48
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	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	536.0
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	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,012311,7411.2109,-15255.4023,20,0.7,28,19.6,0.6,315.2,11,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	277.2,32933,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.8	D_GRID	480
GPS2	290817,015026,7411.3672,-15256.1699,8,0.7,29,19.6,0.5,284.0,11,9.9

FINISH	0.6,1.021395	_24V_AH	12.36,134.179
SM_CCo	8811,56.72,0.207,0,0,500,703.03	_10V_AH	12.20,0.000
SM_GC	1.27,8.25,0.17,56.72,0.082,0.117,0.207,204,2235,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.21,14.19,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	60	FG_AHR_10Vo	0.000
RAFOS_FIX	7410.698730,-15249.871094,290817,000056,4,255,0.22	MEM	323404
IRIDIUM_FIX	7410.43,-15250.84,290817,013913	DATA_FILE_SIZE	23389,716
TT8_MAMPS	0.083888,0.92127	CAP_FILE_SIZE	109484,0
HUMID	44.80	CFSIZE	2097872896,2029256704
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	INTR	0,7642.52,0x2341ea,1,24
XPDR_PINGS	27	SOUNDSPEED	1448.0
CP_FREE	15985999872.000000	CURRENT	0.027,247.28,1
PM_FREEKB_00	52276800	GPS	290817,042003,7412.189,-15300.104,31,0.8,32,19.6,0.0,0.0,11,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	143.86	nil	0	0	0.00
Roll_motor	88	2145	2349.05	nil	0	0	0.00
VBD_pump_during_apogee	923	1461	16677.79	nil	0	0	0.00
VBD_pump_during_surface	56	206	144.82	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	8820	14	1541.47
Iridium_during_xfer	1081	182	2433.57	NCP	8808	20	2177.34
Transponder_ping	6	420	35.04	PMAR	8765	9	1069.60
GUMSTIX_24V	0	0	0.00
GPS	30	22	8.31
TT8	0	0	0.00
LPSleep	6522	2	183.82
TT8_Active	872	13	148.78
TT8_Sampling	2763	33	1127.48
TT8_CF8	359	38	169.79
TT8_Kalman	0	0	0.00
Analog_circuits	2796	10	341.16
GPS_charging	0	0	0.00
Compass	1029	7	87.88
RAFOS	2207	48	1292.42
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	176	2224	498	490	0.0	0.0	0	141	0.00	0.00	-91.75	0.000	16386	0.000	0.000	176	2222	2161	2088	2235	0	0	0	0	0	0	14.48	28.83	14.50
144	-0.57	-145.9	176	2224	2091	2237	3.3	-4.3	9	201	12.88	2.70	-37.83	0.000	18724	0.458	2.145	2375	3594	3963	3947	3980	1	0	0	0	0	0	13.52	12.59	14.02
427	-0.72	-145.9	2375	3595	3955	3982	58.3	-13.2	65	432	0.10	2.33	0.00	0.000	5254	0.148	0.059	2335	2233	3967	3954	3981	0	0	0	0	0	0	14.13	14.16	14.24
737	-0.72	-145.9	2335	2233	3956	3980	110.2	-15.4	93	742	0.00	2.40	0.00	0.000	260	0.000	0.086	2332	3593	3967	3955	3980	0	0	0	0	0	0	14.57	14.14	14.60
807	-0.86	-145.9	2333	3593	3956	3981	119.1	-11.1	107	812	0.00	2.38	0.00	0.000	1158	0.000	0.056	2332	2198	3967	3954	3981	0	0	0	0	0	0	14.36	14.24	14.40
1127	-0.92	-145.9	2332	2198	3955	3981	159.3	-12.2	121	1129	0.15	0.00	0.00	0.000	4230	0.123	0.000	2271	2197	3968	3955	3981	0	0	0	0	0	0	14.22	14.28	14.25
1427	-0.89	-145.9	2271	2197	3955	3982	208.2	-16.0	131	1432	0.00	2.47	0.00	0.000	388	0.000	0.088	2263	3595	3967	3954	3980	0	0	0	0	0	0	14.64	13.47	14.68
1559	-0.94	-145.9	2263	3596	3955	3982	226.8	-13.1	157	1564	0.00	2.35	0.00	0.000	1158	0.000	0.057	2262	2199	3968	3955	3981	0	0	0	0	0	0	14.38	14.28	14.43
1879	-0.94	-145.9	2263	2199	3955	3982	273.5	-14.0	171	1884	0.00	2.45	0.00	0.000	260	0.000	0.088	2254	3593	3967	3955	3980	0	0	0	0	0	0	14.67	14.21	14.69
1949	-0.99	-145.9	2253	3594	3956	3981	282.9	-12.7	185	1954	0.00	2.35	0.00	0.000	1158	0.000	0.057	2253	2198	3967	3955	3980	0	0	0	0	0	0	14.40	14.28	14.43
2269	-0.99	-145.9	2252	2198	3955	3981	324.0	-12.5	199	2274	0.00	2.45	0.00	0.000	260	0.000	0.088	2244	3594	3967	3955	3980	0	0	0	0	0	0	14.68	14.21	14.69
2369	-1.05	-145.9	2245	3594	3956	3980	336.0	-11.5	219	2374	0.00	2.35	0.00	0.000	1158	0.000	0.057	2246	2195	3967	3954	3980	0	0	0	0	0	0	14.40	14.28	14.43
2689	-1.05	-145.9	2244	2194	3954	3981	376.4	-12.6	233	2694	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3600	3971	3962	3980	0	0	0	0	0	0	14.67	14.21	14.69
2769	-1.11	-145.9	2237	3601	3954	3980	386.2	-11.7	249	2774	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2196	3966	3953	3980	0	0	0	0	0	0	14.40	14.27	14.43
3079	-1.11	-145.9	2236	2196	3954	3981	425.6	-12.6	261	3084	0.00	2.47	0.00	0.000	260	0.000	0.090	2235	3600	3964	3953	3976	0	0	0	0	0	0	14.69	14.20	14.70
3140	-1.18	-145.9	2236	3601	3953	3980	432.9	-11.6	273	3144	0.00	2.35	0.00	0.000	1158	0.000	0.056	2235	2201	3966	3953	3980	0	0	0	0	0	0	14.40	14.27	14.43
3469	-1.18	-145.9	2236	2200	3953	3981	474.0	-12.4	289	3474	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3594	3966	3953	3979	0	0	0	0	0	0	14.69	14.20	14.71
3517	end dive: TARGET_DEPTH_EXCEEDED
state	3517	begin apogee
3525	-0.13	0.0	2237	2102	3953	3979	480.1	-11.6	299	3745	1.15	0.00	216.00	1.442	10246	0.233	0.000	2532	2101	3362	3381	3344	0	0	0	0	0	0	13.95	13.49	12.69
3749	end apogee: CONTROL_FINISHED_OK
state	3749	begin climb
3751	0.57	145.9	2533	2101	3378	3338	491.5	0.0	306	3973	0.73	2.28	207.25	1.388	11012	0.064	0.071	2777	3507	2759	2796	2723	0	0	0	0	0	0	13.59	12.95	12.36
4108	0.12	145.9	2777	3508	2787	2723	477.2	17.2	335	4115	0.80	2.50	0.00	0.000	5254	0.349	0.057	2632	2099	2754	2786	2722	0	0	0	0	0	0	13.24	13.58	13.60
4414	0.03	176.7	2628	2099	2787	2721	449.6	8.6	346	4463	0.12	2.55	42.15	1.450	12964	0.295	0.084	2602	699	2639	2681	2597	0	0	0	0	0	0	13.79	13.87	13.06
4534	0.07	213.8	2602	699	2680	2594	440.2	8.3	370	4595	0.00	2.45	53.50	1.428	9382	0.000	0.079	2602	2084	2489	2546	2433	0	0	0	0	0	0	14.09	13.97	13.00
4896	0.10	244.3	2603	2085	2544	2422	409.3	8.6	392	4943	0.00	0.00	45.38	1.434	8230	0.000	0.000	2602	2084	2370	2429	2312	0	0	0	0	0	0	14.46	13.95	13.14
5224	0.15	277.6	2603	2086	2409	2302	381.1	8.5	403	5279	0.00	2.47	49.50	1.410	8868	0.000	0.083	2602	694	2228	2279	2178	0	0	0	0	0	0	14.51	13.78	13.16
5299	0.28	323.7	2602	692	2275	2179	374.7	7.9	418	5377	0.20	2.47	70.00	1.353	11430	0.099	0.078	2685	2098	2042	2088	1997	0	0	0	0	0	0	14.09	14.02	12.97
5674	0.22	323.7	2681	2100	2081	1983	321.1	14.5	443	5679	0.00	2.47	0.00	0.000	644	0.000	0.088	2684	693	2031	2080	1983	0	0	0	0	0	0	14.47	14.08	14.49
5744	0.22	323.7	2685	694	2077	1983	311.3	13.6	457	5749	0.12	2.45	0.00	0.000	5126	0.245	0.079	2660	2101	2029	2077	1982	0	0	0	0	0	0	14.02	14.18	14.27
6065	0.22	323.7	2659	2102	2077	1980	274.5	11.1	471	6065	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2101	2028	2076	1980	0	0	0	0	0	0	14.62	14.64	14.64
6365	0.22	326.1	2658	2102	2077	1979	243.7	9.9	481	6370	0.00	2.45	0.00	0.000	548	0.000	0.086	2660	692	2027	2076	1978	0	0	0	0	0	0	14.66	14.23	14.67
6420	0.31	341.5	2660	691	2076	1978	238.4	9.3	492	6451	0.00	2.45	24.35	1.423	9382	0.000	0.079	2659	2109	1970	2017	1923	0	0	0	0	0	0	14.38	14.23	13.36
6758	0.37	365.0	2661	2109	2013	1916	207.6	8.9	509	6802	0.12	2.50	38.72	1.369	10916	0.135	0.083	2727	687	1872	1907	1838	0	0	0	0	0	0	14.34	13.89	13.31
6839	0.35	365.0	2728	688	1900	1840	197.9	12.8	525	6844	0.15	2.47	0.00	0.000	5254	0.230	0.078	2695	2100	1869	1900	1839	0	0	0	0	0	0	13.97	14.12	14.21
7149	0.35	365.0	2696	2101	1899	1833	165.5	10.1	537	7154	0.00	2.47	0.00	0.000	516	0.000	0.086	2699	689	1864	1897	1832	0	0	0	0	0	0	14.59	14.17	14.60
7204	0.41	378.5	2699	691	1895	1833	160.2	9.4	548	7230	0.00	2.45	19.45	1.428	9382	0.000	0.078	2699	2101	1821	1849	1793	0	0	0	0	0	0	14.33	14.20	13.31
7543	0.45	390.3	2699	2099	1843	1788	127.5	9.5	565	7562	0.00	2.53	14.55	1.461	8868	0.000	0.086	2699	693	1770	1796	1745	0	0	0	0	0	0	14.60	14.22	13.33
7592	0.56	420.2	2699	694	1792	1746	123.0	8.6	575	7651	0.20	2.45	48.35	1.283	11430	0.100	0.078	2779	2099	1647	1672	1623	0	0	0	0	0	0	14.29	14.21	13.21
7957	0.48	420.2	2780	2099	1672	1611	74.3	12.3	610	7962	0.15	2.53	0.00	0.000	4740	0.270	0.082	2753	688	1640	1670	1611	0	0	0	0	0	0	13.81	13.98	14.02
8003	0.53	428.4	2755	688	1669	1611	69.6	9.6	619	8014	0.00	2.50	3.38	0.399	9382	0.000	0.080	2754	2096	1617	1647	1588	0	0	0	0	0	0	14.20	14.07	13.59
8319	0.60	531.2	2754	2103	1648	1587	45.2	5.3	652	8381	0.00	2.55	53.75	0.337	8740	0.000	0.085	2755	697	1197	1256	1139	0	0	0	0	0	0	14.42	13.97	13.66
8452	0.82	602.6	2754	698	1256	1136	37.3	6.7	678	8495	0.28	2.50	37.15	0.312	11430	0.089	0.079	2859	2110	907	977	838	0	0	0	0	0	0	14.02	13.94	13.72
8779	end climb: SURFACE_DEPTH_REACHED
state	8779	begin surface coast
8789	end surface coast: CONTROL_FINISHED_OK
state	8789	begin surface