Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 216 * 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 216 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 1.4 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 610.0

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 40 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 52 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 610.0 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 40 VBD_MIN 500

DIVE 216 NOCOMM_ACTION 161 R_STBD_OVSHOOT 52 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 010917,020451,7427.7734,-15328.4902,39,0.8,40,19.4,0.0,0.0,10,7.5 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 13.4,153161,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 010917,022731,7427.7622,-15328.8730,6,0.7,8,19.4,0.0,171.5,12,9.8

Post-dive calculations and measurements:

FINISH 0.1,1.021218 _24V_AH 12.33,146.668

SM_CCo 8926,44.00,0.209,0,0,501,702.78 _10V_AH 12.21,0.000

SM_GC 1.14,8.18,0.20,44.00,0.080,0.109,0.209,204,2231,501,-7.37,-0.31,702.78,0,0,0,0,0,0,14.33,14.32,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 165 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323480

IRIDIUM_FIX 7425.53,-15326.10,010917,022048 DATA_FILE_SIZE 26776,726

TT8_MAMPS 0.038948,0.896553 CAP_FILE_SIZE 109902,0

HUMID 45.39 CFSIZE 2097872896,2021195776

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

TCM_TEMP 13.20 SOUNDSPEED 1448.6

XPDR_PINGS 9 CURRENT 0.055,276.28,1

CP_FREE 15979249664.000000 GPS 010917,045837,7428.732,-15326.369,13,0.7,17,19.4,0.4,241.7,12,10.0

PM_FREEKB_00 51543552

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 145.25 nil 0 0 0.00

Roll_motor 77 2140 2057.92 nil 0 0 0.00

VBD_pump_during_apogee 919 1559 17668.65 nil 0 0 0.00

VBD_pump_during_surface 44 208 113.30 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 8898 14 1598.62

Iridium_during_xfer 829 173 1775.19 NCP 8933 20 2202.88

Transponder_ping 2 420 11.65 PMAR 8880 9 1085.71

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.75

TT8 0 0 0.00

LPSleep 6677 2 188.33

TT8_Active 865 13 147.69

TT8_Sampling 2469 33 1008.39

TT8_CF8 333 38 157.54

TT8_Kalman 0 0 0.00

Analog_circuits 2497 10 304.95

GPS_charging 0 0 0.00

Compass 1041 7 89.01

RAFOS 2219 48 1300.51

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 -145.9 195 2185 489 492 0.0 0.0 0 141 0.00 0.00 -91.28 0.000 16386 0.000 0.000 194 2184 2132 2056 2208 0 0 0 0 0 0 14.50 28.83 14.53

144 -0.57 -145.9 195 2185 2059 2209 3.2 -3.8 9 202 12.75 2.78 -37.60 0.000 18724 0.454 2.140 2375 3576 3962 3947 3978 0 0 0 0 0 0 13.54 12.58 14.01

272 -0.68 -145.9 2375 3578 3954 3979 34.7 -15.1 34 278 0.00 2.35 0.00 0.000 1158 0.000 0.060 2379 2213 3965 3952 3978 0 0 0 0 0 0 14.23 14.10 14.27

579 -0.75 -145.9 2375 2212 3955 3978 82.1 -12.2 65 584 0.12 2.40 0.00 0.000 4484 0.147 0.084 2319 3579 3966 3954 3978 0 0 0 0 0 0 14.16 14.10 14.22

629 -0.84 -145.9 2320 3581 3955 3979 89.3 -13.7 75 634 0.00 2.35 0.00 0.000 1158 0.000 0.057 2319 2198 3966 3954 3978 0 0 0 0 0 0 14.25 14.13 14.28

949 -0.87 -145.9 2319 2197 3955 3976 135.4 -13.6 92 955 0.00 2.45 0.00 0.000 388 0.000 0.087 2319 3585 3966 3953 3979 0 0 0 0 0 0 14.64 14.17 14.65

1000 -1.02 -145.9 2319 3586 3955 3979 141.4 -10.7 102 1005 0.22 2.35 0.00 0.000 5254 0.096 0.056 2238 2192 3966 3954 3978 0 0 0 0 0 0 14.25 14.20 14.38

1310 -0.95 -145.9 2239 2191 3955 3979 199.9 -18.5 114 1315 0.12 2.45 0.00 0.000 2436 0.291 0.083 2258 3583 3966 3954 3979 0 0 0 0 0 0 13.93 14.19 14.09

1422 -1.01 -145.9 2258 3586 3954 3979 215.9 -13.2 136 1428 0.00 2.33 0.00 0.000 1158 0.000 0.057 2258 2201 3965 3954 3977 0 0 0 0 0 0 14.39 14.26 14.40

1733 -1.01 -145.9 2260 2201 3955 3979 260.8 -13.9 148 1738 0.00 2.40 0.00 0.000 260 0.000 0.087 2249 3579 3966 3954 3978 0 0 0 0 0 0 14.68 14.19 14.71

1789 -1.07 -145.9 2249 3580 3953 3980 268.0 -12.4 159 1795 0.00 2.35 0.00 0.000 1158 0.000 0.057 2249 2194 3966 3954 3978 0 0 0 0 0 0 14.34 14.21 14.38

2094 -1.07 -145.9 2249 2194 3954 3979 307.2 -12.6 170 2099 0.00 2.42 0.00 0.000 260 0.000 0.087 2242 3580 3966 3954 3978 0 0 0 0 0 0 14.69 14.20 14.70

2189 -1.14 -145.9 2243 3581 3954 3979 318.4 -11.3 189 2194 0.00 2.35 0.00 0.000 1158 0.000 0.057 2242 2198 3966 3954 3978 0 0 0 0 0 0 14.40 14.26 14.42

2514 -1.14 -145.9 2243 2197 3955 3977 357.8 -11.9 204 2520 0.00 2.42 0.00 0.000 260 0.000 0.087 2239 3580 3965 3954 3977 0 0 0 0 0 0 14.69 14.19 14.70

2600 -1.22 -145.9 2237 3581 3954 3977 367.8 -11.0 221 2606 0.17 2.33 0.00 0.000 5254 0.115 0.056 2169 2201 3965 3953 3977 0 0 0 0 0 0 14.23 14.16 14.34

2905 -1.09 -145.9 2169 2202 3954 3977 422.7 -18.6 232 2911 0.22 2.42 0.00 0.000 2436 0.308 0.083 2211 3580 3965 3954 3976 0 0 0 0 0 0 13.85 14.19 14.05

3033 -1.11 -145.9 2211 3582 3954 3977 440.2 -12.7 257 3038 0.00 2.33 0.00 0.000 1158 0.000 0.056 2211 2200 3969 3962 3976 0 0 0 0 0 0 14.14 14.16 14.14

3326 end dive: TARGET_DEPTH_EXCEEDED

state 3326 begin apogee

3332 -0.13 0.0 2211 2057 3954 3976 480.5 -13.6 271 3550 1.27 0.00 214.88 1.433 10246 0.247 0.000 2528 2056 3365 3389 3341 0 0 0 0 0 0 13.83 13.51 12.69

3554 end apogee: CONTROL_FINISHED_OK

state 3554 begin climb

3556 0.57 145.9 2529 2056 3385 3336 491.7 0.0 278 3771 0.75 2.55 209.65 1.379 10756 0.065 0.081 2783 735 2764 2809 2720 0 0 0 0 0 0 13.62 12.93 12.33

3953 0.20 145.9 2783 734 2797 2716 474.4 15.0 361 3959 0.62 2.42 0.00 0.000 5254 0.317 0.076 2652 2074 2755 2796 2715 0 0 0 0 0 0 13.32 13.64 13.69

4258 0.03 149.5 2653 2075 2797 2711 443.8 9.8 372 4260 0.25 0.00 0.00 0.000 4262 0.271 0.000 2596 2075 2753 2795 2711 0 0 0 0 0 0 13.83 14.21 14.12

4558 0.03 216.1 2597 2075 2796 2711 422.6 6.9 382 4663 0.00 0.00 103.20 1.372 8358 0.000 0.000 2596 2074 2483 2545 2422 0 0 0 0 0 0 14.62 13.84 13.06

4948 0.08 248.8 2596 2080 2535 2407 390.6 8.5 395 4998 0.00 0.00 47.50 1.411 8870 0.000 0.000 2596 2074 2348 2404 2292 0 0 0 0 0 0 14.50 13.97 13.16

5278 0.15 282.7 2597 2074 2394 2281 362.4 8.4 411 5334 0.12 2.40 49.85 1.386 10916 0.132 0.085 2669 723 2210 2262 2158 0 0 0 0 0 0 14.28 13.81 13.20

5365 0.12 282.7 2669 723 2255 2157 351.7 13.4 428 5373 0.20 2.42 0.00 0.000 5254 0.236 0.080 2620 2099 2205 2255 2155 0 0 0 0 0 0 13.89 14.03 14.09

5671 0.15 286.3 2624 2100 2255 2146 321.1 9.8 439 5671 0.00 0.00 0.00 0.000 166 0.000 0.000 2622 2100 2200 2254 2146 0 0 0 0 0 0 14.45 14.47 14.47

5969 0.20 302.0 2624 2101 2252 2145 292.7 9.3 449 6001 0.00 2.50 27.02 1.431 8868 0.000 0.086 2629 723 2131 2184 2078 0 0 0 0 0 0 14.48 14.09 13.28

6046 0.32 323.6 2630 722 2177 2077 285.6 9.0 464 6086 0.17 2.42 33.95 1.391 11430 0.101 0.079 2697 2104 2044 2091 1997 0 0 0 0 0 0 14.15 14.08 13.17

6393 0.25 323.6 2697 2104 2085 1986 238.6 13.4 483 6398 0.12 2.42 0.00 0.000 4740 0.229 0.083 2672 730 2036 2083 1989 0 0 0 0 0 0 13.89 14.07 14.01

6453 0.29 323.6 2672 731 2082 1987 231.9 10.2 495 6458 0.00 2.40 0.00 0.000 1158 0.000 0.078 2672 2099 2034 2082 1986 0 0 0 0 0 0 14.25 14.12 14.28

6783 0.30 333.0 2675 2098 2079 1984 199.3 9.6 511 6795 0.00 0.00 10.77 1.559 8230 0.000 0.000 2672 2100 2009 2058 1960 0 0 0 0 0 0 14.48 14.12 13.24

7084 0.33 352.9 2673 2100 2053 1952 171.5 9.1 521 7124 0.00 2.45 33.58 1.368 8868 0.000 0.088 2673 722 1922 1964 1881 0 0 0 0 0 0 14.47 14.04 13.26

7186 0.46 392.2 2672 723 1958 1882 163.0 8.2 541 7260 0.12 2.45 67.85 1.261 11430 0.083 0.081 2740 2099 1764 1791 1738 0 0 0 0 0 0 14.06 13.97 13.12

7565 0.42 392.2 2739 2100 1781 1730 115.3 12.3 567 7570 0.00 2.42 0.00 0.000 644 0.000 0.086 2747 730 1753 1781 1725 0 0 0 0 0 0 14.39 13.96 14.41

7640 0.42 392.2 2748 730 1779 1725 106.5 11.4 582 7646 0.15 2.40 0.00 0.000 5126 0.241 0.078 2716 2102 1751 1777 1726 0 0 0 0 0 0 13.83 14.10 14.07

7946 0.47 422.2 2716 2102 1779 1722 78.0 8.6 610 7963 0.00 0.00 14.50 0.439 8614 0.000 0.000 2716 2102 1643 1671 1615 0 0 0 0 0 0 14.42 14.05 13.62

8268 0.62 506.7 2716 2103 1672 1612 54.8 6.1 644 8322 0.20 2.50 43.90 0.366 10916 0.096 0.087 2794 727 1299 1348 1250 0 0 0 0 0 0 14.21 14.02 13.67

8354 0.66 534.7 2800 728 1348 1251 47.8 8.7 659 8376 0.00 2.40 15.20 0.346 9382 0.000 0.077 2794 2101 1187 1244 1130 0 0 0 0 0 0 14.21 14.09 13.74

8673 0.79 619.0 2795 2101 1245 1115 22.0 6.1 693 8726 0.12 2.50 43.85 0.275 10916 0.138 0.090 2862 727 839 907 771 0 0 0 0 0 0 14.13 14.09 13.82

8773 0.84 625.0 2860 728 903 771 12.9 9.7 712 8780 0.00 2.40 3.42 0.265 9382 0.000 0.076 2861 2099 814 882 746 0 0 0 0 0 0 14.21 14.09 13.77

8884 end climb: SURFACE_DEPTH_REACHED

state 8884 begin surface coast

8906 end surface coast: CONTROL_FINISHED_OK

state 8906 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	216	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	1.4	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	610.0
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	40	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	52	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,020451,7427.7734,-15328.4902,39,0.8,40,19.4,0.0,0.0,10,7.5	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	13.4,153161,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	010917,022731,7427.7622,-15328.8730,6,0.7,8,19.4,0.0,171.5,12,9.8

FINISH	0.1,1.021218	_24V_AH	12.33,146.668
SM_CCo	8926,44.00,0.209,0,0,501,702.78	_10V_AH	12.21,0.000
SM_GC	1.14,8.18,0.20,44.00,0.080,0.109,0.209,204,2231,501,-7.37,-0.31,702.78,0,0,0,0,0,0,14.33,14.32,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	165	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323480
IRIDIUM_FIX	7425.53,-15326.10,010917,022048	DATA_FILE_SIZE	26776,726
TT8_MAMPS	0.038948,0.896553	CAP_FILE_SIZE	109902,0
HUMID	45.39	CFSIZE	2097872896,2021195776
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.6
XPDR_PINGS	9	CURRENT	0.055,276.28,1
CP_FREE	15979249664.000000	GPS	010917,045837,7428.732,-15326.369,13,0.7,17,19.4,0.4,241.7,12,10.0
PM_FREEKB_00	51543552

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	145.25	nil	0	0	0.00
Roll_motor	77	2140	2057.92	nil	0	0	0.00
VBD_pump_during_apogee	919	1559	17668.65	nil	0	0	0.00
VBD_pump_during_surface	44	208	113.30	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	8898	14	1598.62
Iridium_during_xfer	829	173	1775.19	NCP	8933	20	2202.88
Transponder_ping	2	420	11.65	PMAR	8880	9	1085.71
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.75
TT8	0	0	0.00
LPSleep	6677	2	188.33
TT8_Active	865	13	147.69
TT8_Sampling	2469	33	1008.39
TT8_CF8	333	38	157.54
TT8_Kalman	0	0	0.00
Analog_circuits	2497	10	304.95
GPS_charging	0	0	0.00
Compass	1041	7	89.01
RAFOS	2219	48	1300.51
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	195	2185	489	492	0.0	0.0	0	141	0.00	0.00	-91.28	0.000	16386	0.000	0.000	194	2184	2132	2056	2208	0	0	0	0	0	0	14.50	28.83	14.53
144	-0.57	-145.9	195	2185	2059	2209	3.2	-3.8	9	202	12.75	2.78	-37.60	0.000	18724	0.454	2.140	2375	3576	3962	3947	3978	0	0	0	0	0	0	13.54	12.58	14.01
272	-0.68	-145.9	2375	3578	3954	3979	34.7	-15.1	34	278	0.00	2.35	0.00	0.000	1158	0.000	0.060	2379	2213	3965	3952	3978	0	0	0	0	0	0	14.23	14.10	14.27
579	-0.75	-145.9	2375	2212	3955	3978	82.1	-12.2	65	584	0.12	2.40	0.00	0.000	4484	0.147	0.084	2319	3579	3966	3954	3978	0	0	0	0	0	0	14.16	14.10	14.22
629	-0.84	-145.9	2320	3581	3955	3979	89.3	-13.7	75	634	0.00	2.35	0.00	0.000	1158	0.000	0.057	2319	2198	3966	3954	3978	0	0	0	0	0	0	14.25	14.13	14.28
949	-0.87	-145.9	2319	2197	3955	3976	135.4	-13.6	92	955	0.00	2.45	0.00	0.000	388	0.000	0.087	2319	3585	3966	3953	3979	0	0	0	0	0	0	14.64	14.17	14.65
1000	-1.02	-145.9	2319	3586	3955	3979	141.4	-10.7	102	1005	0.22	2.35	0.00	0.000	5254	0.096	0.056	2238	2192	3966	3954	3978	0	0	0	0	0	0	14.25	14.20	14.38
1310	-0.95	-145.9	2239	2191	3955	3979	199.9	-18.5	114	1315	0.12	2.45	0.00	0.000	2436	0.291	0.083	2258	3583	3966	3954	3979	0	0	0	0	0	0	13.93	14.19	14.09
1422	-1.01	-145.9	2258	3586	3954	3979	215.9	-13.2	136	1428	0.00	2.33	0.00	0.000	1158	0.000	0.057	2258	2201	3965	3954	3977	0	0	0	0	0	0	14.39	14.26	14.40
1733	-1.01	-145.9	2260	2201	3955	3979	260.8	-13.9	148	1738	0.00	2.40	0.00	0.000	260	0.000	0.087	2249	3579	3966	3954	3978	0	0	0	0	0	0	14.68	14.19	14.71
1789	-1.07	-145.9	2249	3580	3953	3980	268.0	-12.4	159	1795	0.00	2.35	0.00	0.000	1158	0.000	0.057	2249	2194	3966	3954	3978	0	0	0	0	0	0	14.34	14.21	14.38
2094	-1.07	-145.9	2249	2194	3954	3979	307.2	-12.6	170	2099	0.00	2.42	0.00	0.000	260	0.000	0.087	2242	3580	3966	3954	3978	0	0	0	0	0	0	14.69	14.20	14.70
2189	-1.14	-145.9	2243	3581	3954	3979	318.4	-11.3	189	2194	0.00	2.35	0.00	0.000	1158	0.000	0.057	2242	2198	3966	3954	3978	0	0	0	0	0	0	14.40	14.26	14.42
2514	-1.14	-145.9	2243	2197	3955	3977	357.8	-11.9	204	2520	0.00	2.42	0.00	0.000	260	0.000	0.087	2239	3580	3965	3954	3977	0	0	0	0	0	0	14.69	14.19	14.70
2600	-1.22	-145.9	2237	3581	3954	3977	367.8	-11.0	221	2606	0.17	2.33	0.00	0.000	5254	0.115	0.056	2169	2201	3965	3953	3977	0	0	0	0	0	0	14.23	14.16	14.34
2905	-1.09	-145.9	2169	2202	3954	3977	422.7	-18.6	232	2911	0.22	2.42	0.00	0.000	2436	0.308	0.083	2211	3580	3965	3954	3976	0	0	0	0	0	0	13.85	14.19	14.05
3033	-1.11	-145.9	2211	3582	3954	3977	440.2	-12.7	257	3038	0.00	2.33	0.00	0.000	1158	0.000	0.056	2211	2200	3969	3962	3976	0	0	0	0	0	0	14.14	14.16	14.14
3326	end dive: TARGET_DEPTH_EXCEEDED
state	3326	begin apogee
3332	-0.13	0.0	2211	2057	3954	3976	480.5	-13.6	271	3550	1.27	0.00	214.88	1.433	10246	0.247	0.000	2528	2056	3365	3389	3341	0	0	0	0	0	0	13.83	13.51	12.69
3554	end apogee: CONTROL_FINISHED_OK
state	3554	begin climb
3556	0.57	145.9	2529	2056	3385	3336	491.7	0.0	278	3771	0.75	2.55	209.65	1.379	10756	0.065	0.081	2783	735	2764	2809	2720	0	0	0	0	0	0	13.62	12.93	12.33
3953	0.20	145.9	2783	734	2797	2716	474.4	15.0	361	3959	0.62	2.42	0.00	0.000	5254	0.317	0.076	2652	2074	2755	2796	2715	0	0	0	0	0	0	13.32	13.64	13.69
4258	0.03	149.5	2653	2075	2797	2711	443.8	9.8	372	4260	0.25	0.00	0.00	0.000	4262	0.271	0.000	2596	2075	2753	2795	2711	0	0	0	0	0	0	13.83	14.21	14.12
4558	0.03	216.1	2597	2075	2796	2711	422.6	6.9	382	4663	0.00	0.00	103.20	1.372	8358	0.000	0.000	2596	2074	2483	2545	2422	0	0	0	0	0	0	14.62	13.84	13.06
4948	0.08	248.8	2596	2080	2535	2407	390.6	8.5	395	4998	0.00	0.00	47.50	1.411	8870	0.000	0.000	2596	2074	2348	2404	2292	0	0	0	0	0	0	14.50	13.97	13.16
5278	0.15	282.7	2597	2074	2394	2281	362.4	8.4	411	5334	0.12	2.40	49.85	1.386	10916	0.132	0.085	2669	723	2210	2262	2158	0	0	0	0	0	0	14.28	13.81	13.20
5365	0.12	282.7	2669	723	2255	2157	351.7	13.4	428	5373	0.20	2.42	0.00	0.000	5254	0.236	0.080	2620	2099	2205	2255	2155	0	0	0	0	0	0	13.89	14.03	14.09
5671	0.15	286.3	2624	2100	2255	2146	321.1	9.8	439	5671	0.00	0.00	0.00	0.000	166	0.000	0.000	2622	2100	2200	2254	2146	0	0	0	0	0	0	14.45	14.47	14.47
5969	0.20	302.0	2624	2101	2252	2145	292.7	9.3	449	6001	0.00	2.50	27.02	1.431	8868	0.000	0.086	2629	723	2131	2184	2078	0	0	0	0	0	0	14.48	14.09	13.28
6046	0.32	323.6	2630	722	2177	2077	285.6	9.0	464	6086	0.17	2.42	33.95	1.391	11430	0.101	0.079	2697	2104	2044	2091	1997	0	0	0	0	0	0	14.15	14.08	13.17
6393	0.25	323.6	2697	2104	2085	1986	238.6	13.4	483	6398	0.12	2.42	0.00	0.000	4740	0.229	0.083	2672	730	2036	2083	1989	0	0	0	0	0	0	13.89	14.07	14.01
6453	0.29	323.6	2672	731	2082	1987	231.9	10.2	495	6458	0.00	2.40	0.00	0.000	1158	0.000	0.078	2672	2099	2034	2082	1986	0	0	0	0	0	0	14.25	14.12	14.28
6783	0.30	333.0	2675	2098	2079	1984	199.3	9.6	511	6795	0.00	0.00	10.77	1.559	8230	0.000	0.000	2672	2100	2009	2058	1960	0	0	0	0	0	0	14.48	14.12	13.24
7084	0.33	352.9	2673	2100	2053	1952	171.5	9.1	521	7124	0.00	2.45	33.58	1.368	8868	0.000	0.088	2673	722	1922	1964	1881	0	0	0	0	0	0	14.47	14.04	13.26
7186	0.46	392.2	2672	723	1958	1882	163.0	8.2	541	7260	0.12	2.45	67.85	1.261	11430	0.083	0.081	2740	2099	1764	1791	1738	0	0	0	0	0	0	14.06	13.97	13.12
7565	0.42	392.2	2739	2100	1781	1730	115.3	12.3	567	7570	0.00	2.42	0.00	0.000	644	0.000	0.086	2747	730	1753	1781	1725	0	0	0	0	0	0	14.39	13.96	14.41
7640	0.42	392.2	2748	730	1779	1725	106.5	11.4	582	7646	0.15	2.40	0.00	0.000	5126	0.241	0.078	2716	2102	1751	1777	1726	0	0	0	0	0	0	13.83	14.10	14.07
7946	0.47	422.2	2716	2102	1779	1722	78.0	8.6	610	7963	0.00	0.00	14.50	0.439	8614	0.000	0.000	2716	2102	1643	1671	1615	0	0	0	0	0	0	14.42	14.05	13.62
8268	0.62	506.7	2716	2103	1672	1612	54.8	6.1	644	8322	0.20	2.50	43.90	0.366	10916	0.096	0.087	2794	727	1299	1348	1250	0	0	0	0	0	0	14.21	14.02	13.67
8354	0.66	534.7	2800	728	1348	1251	47.8	8.7	659	8376	0.00	2.40	15.20	0.346	9382	0.000	0.077	2794	2101	1187	1244	1130	0	0	0	0	0	0	14.21	14.09	13.74
8673	0.79	619.0	2795	2101	1245	1115	22.0	6.1	693	8726	0.12	2.50	43.85	0.275	10916	0.138	0.090	2862	727	839	907	771	0	0	0	0	0	0	14.13	14.09	13.82
8773	0.84	625.0	2860	728	903	771	12.9	9.7	712	8780	0.00	2.40	3.42	0.265	9382	0.000	0.076	2861	2099	814	882	746	0	0	0	0	0	0	14.21	14.09	13.77
8884	end climb: SURFACE_DEPTH_REACHED
state	8884	begin surface coast
8906	end surface coast: CONTROL_FINISHED_OK
state	8906	begin surface