Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 227 * 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 227 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 640.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 640.0 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 60 VBD_MIN 500

DIVE 227 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 020917,081932,7438.2310,-15300.2236,26,0.8,26,19.7,0.0,0.0,10,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 14.7,130142,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.7 D_GRID 480

GPS2 020917,083510,7438.2373,-15300.1855,6,0.8,10,19.7,0.0,118.8,9,8.8

Post-dive calculations and measurements:

FINISH 0.3,1.021561 _24V_AH 12.32,151.831

SM_CCo 9098,26.85,0.211,0,0,500,702.78 _10V_AH 12.20,0.000

SM_GC 1.39,8.10,0.17,26.85,0.063,0.116,0.211,196,2225,500,-7.38,-0.59,702.78,0,0,0,0,0,0,14.30,14.28,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323516

IRIDIUM_FIX 7437.21,-15304.34,020917,082832 DATA_FILE_SIZE 26724,764

TT8_MAMPS 0.040446,0.862099 CAP_FILE_SIZE 111376,0

HUMID 46.73 CFSIZE 2097872896,2018639872

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1448.5

XPDR_PINGS 17 CURRENT 0.051,280.40,1

CP_FREE 15975219200.000000 GPS 020917,110903,7439.259,-15257.629,30,0.8,30,19.7,0.0,0.0,10,9.2

PM_FREEKB_00 51227200

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 460 145.53 nil 0 0 0.00

Roll_motor 89 2135 2359.71 nil 0 0 0.00

VBD_pump_during_apogee 932 1523 17492.99 nil 0 0 0.00

VBD_pump_during_surface 26 211 69.84 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 9040 14 1618.36

Iridium_during_xfer 593 163 1197.89 NCP 9063 20 2233.12

Transponder_ping 4 420 21.99 PMAR 9052 9 1101.71

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.22

TT8 0 0 0.00

LPSleep 6686 2 188.43

TT8_Active 840 13 143.21

TT8_Sampling 2245 33 916.03

TT8_CF8 307 38 144.96

TT8_Kalman 0 0 0.00

Analog_circuits 2290 10 279.40

GPS_charging 0 0 0.00

Compass 1096 7 93.66

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 191 2217 488 494 0.0 0.0 0 142 0.00 0.00 -91.40 0.000 16386 0.000 0.000 190 2217 2130 2059 2202 0 0 0 0 0 0 14.36 28.83 14.38

145 -0.57 -145.9 191 2218 2064 2204 3.1 -3.7 9 203 12.95 2.75 -38.47 0.000 18724 0.461 2.136 2377 3595 3964 3947 3981 1 0 0 0 0 0 13.46 12.68 14.07

299 -0.71 -145.9 2377 3596 3953 3982 35.4 -13.3 39 304 0.00 2.33 0.00 0.000 1158 0.000 0.058 2377 2234 3966 3953 3980 0 0 0 0 0 0 14.15 14.00 14.18

609 -0.81 -145.9 2377 2237 3951 3982 78.9 -10.9 71 614 0.17 2.53 0.00 0.000 4740 0.119 0.080 2303 791 3967 3954 3981 0 0 0 0 0 0 14.19 14.03 14.23

649 -0.81 -145.9 2304 790 3955 3981 84.8 -15.5 79 655 0.00 2.50 0.00 0.000 1030 0.000 0.086 2303 2184 3968 3955 3981 0 0 0 0 0 0 14.15 13.99 14.19

960 -0.81 -145.9 2306 2186 3955 3982 132.5 -14.6 97 965 0.00 2.53 0.00 0.000 260 0.000 0.088 2296 3620 3968 3955 3981 0 0 0 0 0 0 14.59 14.06 14.63

1065 -0.92 -145.9 2297 3620 3956 3982 145.5 -11.8 118 1070 0.00 2.42 0.00 0.000 1158 0.000 0.058 2296 2191 3967 3954 3981 0 0 0 0 0 0 14.23 14.11 14.27

1380 -0.96 -145.9 2296 2191 3955 3982 187.7 -13.2 131 1385 0.00 2.50 0.00 0.000 388 0.000 0.085 2286 3614 3968 3955 3982 0 0 0 0 0 0 14.68 14.19 14.65

1415 -1.05 -145.9 2287 3615 3955 3982 192.2 -12.5 138 1421 0.15 2.40 0.00 0.000 5254 0.115 0.057 2231 2199 3967 3954 3981 0 0 0 0 0 0 14.30 14.26 14.40

1741 -1.00 -145.9 2232 2198 3956 3981 248.7 -17.0 153 1746 0.00 2.50 0.00 0.000 388 0.000 0.086 2223 3616 3968 3955 3981 0 0 0 0 0 0 14.68 14.12 14.68

1831 -1.00 -145.9 2223 3618 3955 3982 262.9 -14.8 171 1836 0.15 2.40 0.00 0.000 3078 0.249 0.057 2252 2200 3967 3954 3981 0 0 0 0 0 0 13.93 14.25 14.19

2161 -1.02 -145.9 2253 2199 3956 3981 304.6 -12.2 187 2166 0.00 2.50 0.00 0.000 388 0.000 0.086 2246 3617 3968 3955 3981 0 0 0 0 0 0 14.67 14.19 14.69

2226 -1.13 -145.9 2246 3620 3955 3982 312.1 -11.3 200 2232 0.00 2.40 0.00 0.000 1158 0.000 0.058 2246 2201 3967 3954 3981 0 0 0 0 0 0 14.35 14.19 14.35

2552 -1.16 -145.9 2247 2202 3955 3982 351.0 -11.8 215 2557 0.12 2.47 0.00 0.000 4484 0.145 0.083 2185 3612 3967 3953 3981 0 0 0 0 0 0 14.19 14.13 14.23

2632 -1.11 -145.9 2184 3614 3954 3978 363.5 -16.0 231 2637 0.15 2.38 0.00 0.000 3206 0.265 0.057 2214 2201 3967 3953 3981 0 0 0 0 0 0 13.94 14.25 14.22

2943 -1.11 -145.9 2215 2200 3954 3981 407.0 -13.7 243 2948 0.00 2.50 0.00 0.000 260 0.000 0.087 2209 3618 3967 3953 3981 0 0 0 0 0 0 14.65 14.12 14.68

3003 -1.14 -145.9 2209 3620 3953 3982 415.2 -13.1 255 3008 0.00 2.40 0.00 0.000 1158 0.000 0.057 2209 2200 3967 3953 3981 0 0 0 0 0 0 14.31 14.18 14.39

3333 -1.11 -145.9 2210 2198 3954 3980 461.6 -14.1 271 3338 0.00 2.45 0.00 0.000 388 0.000 0.086 2200 3619 3966 3953 3980 0 0 0 0 0 0 14.64 14.17 14.69

3413 -1.11 -145.9 2200 3621 3953 3981 472.9 -13.7 287 3418 0.00 2.40 0.00 0.000 1030 0.000 0.056 2200 2195 3966 3953 3980 0 0 0 0 0 0 14.29 14.20 14.29

3481 end dive: TARGET_DEPTH_EXCEEDED

state 3481 begin apogee

3486 -0.13 0.0 2201 2066 3953 3981 483.0 -14.5 291 3707 1.33 0.08 216.90 1.434 10246 0.249 0.180 2532 2113 3365 3388 3342 0 0 0 0 0 0 13.85 13.45 12.67

3711 end apogee: CONTROL_FINISHED_OK

state 3711 begin climb

3715 0.57 145.9 2532 2114 3382 3335 494.7 0.0 298 3931 0.73 2.65 209.57 1.379 11012 0.063 0.072 2779 3500 2763 2808 2719 0 0 0 0 0 0 13.62 12.93 12.32

3968 0.10 145.9 2778 3500 2797 2718 500.0 14.4 353 3974 0.85 2.47 0.00 0.000 5254 0.346 0.055 2622 2130 2757 2796 2718 0 0 0 0 0 0 13.05 13.33 13.35

4294 0.01 182.3 2622 2130 2796 2714 471.7 8.3 368 4355 0.12 2.65 51.25 1.440 12964 0.300 0.084 2598 693 2614 2665 2563 0 0 0 0 0 0 13.73 13.76 12.98

4405 0.05 227.1 2602 698 2665 2560 463.1 7.9 390 4476 0.00 2.50 64.43 1.397 9254 0.000 0.079 2602 2092 2435 2497 2374 0 0 0 0 0 0 14.04 13.92 12.88

4777 0.06 249.5 2601 2093 2491 2364 430.3 9.0 414 4810 0.00 0.00 31.92 1.461 8230 0.000 0.000 2601 2092 2348 2405 2291 0 0 0 0 0 0 14.45 13.99 13.14

5105 0.11 265.0 2602 2091 2394 2279 400.1 9.3 425 5136 0.00 2.53 21.42 1.523 8868 0.000 0.084 2602 692 2279 2332 2226 0 0 0 0 0 0 14.56 14.13 13.25

5167 0.22 284.7 2602 693 2331 2223 394.5 9.1 437 5202 0.15 2.47 29.30 1.468 11430 0.116 0.077 2668 2105 2203 2256 2151 0 0 0 0 0 0 14.21 14.14 13.16

5527 0.16 284.7 2669 2105 2249 2139 345.3 13.6 459 5528 0.15 0.00 0.00 0.000 4230 0.254 0.000 2636 2105 2193 2248 2139 0 0 0 0 0 0 14.02 14.15 14.15

5827 0.16 284.7 2637 2106 2247 2138 312.9 10.6 469 5832 0.00 2.50 0.00 0.000 516 0.000 0.086 2645 685 2192 2248 2137 0 0 0 0 0 0 14.64 14.24 14.66

5902 0.20 284.7 2645 686 2246 2144 305.1 10.6 484 5908 0.00 2.47 0.00 0.000 1158 0.000 0.080 2645 2106 2191 2246 2136 0 0 0 0 0 0 14.40 14.26 14.45

6218 0.20 284.7 2645 2107 2247 2136 272.0 10.2 497 6219 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2107 2191 2245 2137 0 0 0 0 0 0 14.70 14.69 14.69

6518 0.21 302.0 2645 2108 2245 2137 243.7 9.2 507 6550 0.00 2.47 25.75 1.441 8740 0.000 0.083 2646 690 2128 2180 2076 0 0 0 0 0 0 14.66 13.97 13.35

6595 0.32 338.3 2647 690 2176 2075 237.0 8.3 522 6661 0.12 2.45 60.45 1.312 11430 0.127 0.080 2696 2099 1985 2032 1938 0 0 0 0 0 0 14.14 14.19 13.17

6971 0.29 338.3 2697 2100 2024 1921 194.1 11.2 547 6972 0.00 0.00 0.00 0.000 134 0.000 0.000 2697 2099 1971 2023 1920 0 0 0 0 0 0 14.55 14.57 14.57

7271 0.27 338.3 2696 2100 2023 1920 162.7 10.1 557 7276 0.00 2.45 0.00 0.000 644 0.000 0.085 2699 694 1970 2022 1919 0 0 0 0 0 0 14.62 14.10 14.64

7341 0.32 354.2 2699 694 2019 1919 156.0 9.3 571 7372 0.00 2.45 22.88 1.385 9382 0.000 0.077 2699 2100 1917 1961 1874 0 0 0 0 0 0 14.33 14.21 13.37

7694 0.33 369.7 2699 2101 1953 1872 122.4 9.3 591 7717 0.00 2.45 19.33 1.404 8740 0.000 0.084 2698 693 1856 1892 1821 0 0 0 0 0 0 14.59 13.94 13.33

7779 0.43 398.6 2700 693 1884 1822 114.9 8.7 608 7832 0.00 2.45 45.55 1.258 9382 0.000 0.078 2698 2100 1738 1768 1709 0 0 0 0 0 0 14.24 14.13 13.21

8133 0.51 434.5 2699 2100 1766 1698 83.4 8.3 642 8154 0.15 0.00 18.90 0.455 10406 0.119 0.000 2765 2100 1590 1625 1556 0 0 0 0 0 0 14.14 14.10 13.67

8453 0.54 479.2 2766 2100 1626 1555 49.5 7.9 674 8484 0.00 2.53 23.27 0.350 8740 0.000 0.085 2768 702 1411 1454 1368 0 0 0 0 0 0 14.57 14.02 13.76

8567 0.66 541.3 2768 702 1453 1367 41.1 7.1 696 8608 0.00 2.45 33.17 0.323 9382 0.000 0.079 2770 2103 1155 1220 1091 0 0 0 0 0 0 14.20 14.04 13.76

8905 0.86 652.9 2768 2103 1221 1082 19.3 4.8 734 8969 0.25 2.50 58.12 0.264 10916 0.091 0.086 2877 695 700 759 641 0 0 0 0 0 0 14.23 13.93 13.75

9035 0.89 652.9 2877 695 759 638 5.7 10.9 759 9041 0.00 2.47 0.00 0.000 1158 0.000 0.079 2876 2102 698 758 638 0 0 0 0 0 0 13.71 13.74 13.72

9067 end climb: SURFACE_DEPTH_REACHED

state 9067 begin surface coast

9077 end surface coast: CONTROL_FINISHED_OK

state 9077 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	227	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	640.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,081932,7438.2310,-15300.2236,26,0.8,26,19.7,0.0,0.0,10,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	14.7,130142,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.7	D_GRID	480
GPS2	020917,083510,7438.2373,-15300.1855,6,0.8,10,19.7,0.0,118.8,9,8.8

FINISH	0.3,1.021561	_24V_AH	12.32,151.831
SM_CCo	9098,26.85,0.211,0,0,500,702.78	_10V_AH	12.20,0.000
SM_GC	1.39,8.10,0.17,26.85,0.063,0.116,0.211,196,2225,500,-7.38,-0.59,702.78,0,0,0,0,0,0,14.30,14.28,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323516
IRIDIUM_FIX	7437.21,-15304.34,020917,082832	DATA_FILE_SIZE	26724,764
TT8_MAMPS	0.040446,0.862099	CAP_FILE_SIZE	111376,0
HUMID	46.73	CFSIZE	2097872896,2018639872
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1448.5
XPDR_PINGS	17	CURRENT	0.051,280.40,1
CP_FREE	15975219200.000000	GPS	020917,110903,7439.259,-15257.629,30,0.8,30,19.7,0.0,0.0,10,9.2
PM_FREEKB_00	51227200

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	460	145.53	nil	0	0	0.00
Roll_motor	89	2135	2359.71	nil	0	0	0.00
VBD_pump_during_apogee	932	1523	17492.99	nil	0	0	0.00
VBD_pump_during_surface	26	211	69.84	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	9040	14	1618.36
Iridium_during_xfer	593	163	1197.89	NCP	9063	20	2233.12
Transponder_ping	4	420	21.99	PMAR	9052	9	1101.71
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.22
TT8	0	0	0.00
LPSleep	6686	2	188.43
TT8_Active	840	13	143.21
TT8_Sampling	2245	33	916.03
TT8_CF8	307	38	144.96
TT8_Kalman	0	0	0.00
Analog_circuits	2290	10	279.40
GPS_charging	0	0	0.00
Compass	1096	7	93.66
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	191	2217	488	494	0.0	0.0	0	142	0.00	0.00	-91.40	0.000	16386	0.000	0.000	190	2217	2130	2059	2202	0	0	0	0	0	0	14.36	28.83	14.38
145	-0.57	-145.9	191	2218	2064	2204	3.1	-3.7	9	203	12.95	2.75	-38.47	0.000	18724	0.461	2.136	2377	3595	3964	3947	3981	1	0	0	0	0	0	13.46	12.68	14.07
299	-0.71	-145.9	2377	3596	3953	3982	35.4	-13.3	39	304	0.00	2.33	0.00	0.000	1158	0.000	0.058	2377	2234	3966	3953	3980	0	0	0	0	0	0	14.15	14.00	14.18
609	-0.81	-145.9	2377	2237	3951	3982	78.9	-10.9	71	614	0.17	2.53	0.00	0.000	4740	0.119	0.080	2303	791	3967	3954	3981	0	0	0	0	0	0	14.19	14.03	14.23
649	-0.81	-145.9	2304	790	3955	3981	84.8	-15.5	79	655	0.00	2.50	0.00	0.000	1030	0.000	0.086	2303	2184	3968	3955	3981	0	0	0	0	0	0	14.15	13.99	14.19
960	-0.81	-145.9	2306	2186	3955	3982	132.5	-14.6	97	965	0.00	2.53	0.00	0.000	260	0.000	0.088	2296	3620	3968	3955	3981	0	0	0	0	0	0	14.59	14.06	14.63
1065	-0.92	-145.9	2297	3620	3956	3982	145.5	-11.8	118	1070	0.00	2.42	0.00	0.000	1158	0.000	0.058	2296	2191	3967	3954	3981	0	0	0	0	0	0	14.23	14.11	14.27
1380	-0.96	-145.9	2296	2191	3955	3982	187.7	-13.2	131	1385	0.00	2.50	0.00	0.000	388	0.000	0.085	2286	3614	3968	3955	3982	0	0	0	0	0	0	14.68	14.19	14.65
1415	-1.05	-145.9	2287	3615	3955	3982	192.2	-12.5	138	1421	0.15	2.40	0.00	0.000	5254	0.115	0.057	2231	2199	3967	3954	3981	0	0	0	0	0	0	14.30	14.26	14.40
1741	-1.00	-145.9	2232	2198	3956	3981	248.7	-17.0	153	1746	0.00	2.50	0.00	0.000	388	0.000	0.086	2223	3616	3968	3955	3981	0	0	0	0	0	0	14.68	14.12	14.68
1831	-1.00	-145.9	2223	3618	3955	3982	262.9	-14.8	171	1836	0.15	2.40	0.00	0.000	3078	0.249	0.057	2252	2200	3967	3954	3981	0	0	0	0	0	0	13.93	14.25	14.19
2161	-1.02	-145.9	2253	2199	3956	3981	304.6	-12.2	187	2166	0.00	2.50	0.00	0.000	388	0.000	0.086	2246	3617	3968	3955	3981	0	0	0	0	0	0	14.67	14.19	14.69
2226	-1.13	-145.9	2246	3620	3955	3982	312.1	-11.3	200	2232	0.00	2.40	0.00	0.000	1158	0.000	0.058	2246	2201	3967	3954	3981	0	0	0	0	0	0	14.35	14.19	14.35
2552	-1.16	-145.9	2247	2202	3955	3982	351.0	-11.8	215	2557	0.12	2.47	0.00	0.000	4484	0.145	0.083	2185	3612	3967	3953	3981	0	0	0	0	0	0	14.19	14.13	14.23
2632	-1.11	-145.9	2184	3614	3954	3978	363.5	-16.0	231	2637	0.15	2.38	0.00	0.000	3206	0.265	0.057	2214	2201	3967	3953	3981	0	0	0	0	0	0	13.94	14.25	14.22
2943	-1.11	-145.9	2215	2200	3954	3981	407.0	-13.7	243	2948	0.00	2.50	0.00	0.000	260	0.000	0.087	2209	3618	3967	3953	3981	0	0	0	0	0	0	14.65	14.12	14.68
3003	-1.14	-145.9	2209	3620	3953	3982	415.2	-13.1	255	3008	0.00	2.40	0.00	0.000	1158	0.000	0.057	2209	2200	3967	3953	3981	0	0	0	0	0	0	14.31	14.18	14.39
3333	-1.11	-145.9	2210	2198	3954	3980	461.6	-14.1	271	3338	0.00	2.45	0.00	0.000	388	0.000	0.086	2200	3619	3966	3953	3980	0	0	0	0	0	0	14.64	14.17	14.69
3413	-1.11	-145.9	2200	3621	3953	3981	472.9	-13.7	287	3418	0.00	2.40	0.00	0.000	1030	0.000	0.056	2200	2195	3966	3953	3980	0	0	0	0	0	0	14.29	14.20	14.29
3481	end dive: TARGET_DEPTH_EXCEEDED
state	3481	begin apogee
3486	-0.13	0.0	2201	2066	3953	3981	483.0	-14.5	291	3707	1.33	0.08	216.90	1.434	10246	0.249	0.180	2532	2113	3365	3388	3342	0	0	0	0	0	0	13.85	13.45	12.67
3711	end apogee: CONTROL_FINISHED_OK
state	3711	begin climb
3715	0.57	145.9	2532	2114	3382	3335	494.7	0.0	298	3931	0.73	2.65	209.57	1.379	11012	0.063	0.072	2779	3500	2763	2808	2719	0	0	0	0	0	0	13.62	12.93	12.32
3968	0.10	145.9	2778	3500	2797	2718	500.0	14.4	353	3974	0.85	2.47	0.00	0.000	5254	0.346	0.055	2622	2130	2757	2796	2718	0	0	0	0	0	0	13.05	13.33	13.35
4294	0.01	182.3	2622	2130	2796	2714	471.7	8.3	368	4355	0.12	2.65	51.25	1.440	12964	0.300	0.084	2598	693	2614	2665	2563	0	0	0	0	0	0	13.73	13.76	12.98
4405	0.05	227.1	2602	698	2665	2560	463.1	7.9	390	4476	0.00	2.50	64.43	1.397	9254	0.000	0.079	2602	2092	2435	2497	2374	0	0	0	0	0	0	14.04	13.92	12.88
4777	0.06	249.5	2601	2093	2491	2364	430.3	9.0	414	4810	0.00	0.00	31.92	1.461	8230	0.000	0.000	2601	2092	2348	2405	2291	0	0	0	0	0	0	14.45	13.99	13.14
5105	0.11	265.0	2602	2091	2394	2279	400.1	9.3	425	5136	0.00	2.53	21.42	1.523	8868	0.000	0.084	2602	692	2279	2332	2226	0	0	0	0	0	0	14.56	14.13	13.25
5167	0.22	284.7	2602	693	2331	2223	394.5	9.1	437	5202	0.15	2.47	29.30	1.468	11430	0.116	0.077	2668	2105	2203	2256	2151	0	0	0	0	0	0	14.21	14.14	13.16
5527	0.16	284.7	2669	2105	2249	2139	345.3	13.6	459	5528	0.15	0.00	0.00	0.000	4230	0.254	0.000	2636	2105	2193	2248	2139	0	0	0	0	0	0	14.02	14.15	14.15
5827	0.16	284.7	2637	2106	2247	2138	312.9	10.6	469	5832	0.00	2.50	0.00	0.000	516	0.000	0.086	2645	685	2192	2248	2137	0	0	0	0	0	0	14.64	14.24	14.66
5902	0.20	284.7	2645	686	2246	2144	305.1	10.6	484	5908	0.00	2.47	0.00	0.000	1158	0.000	0.080	2645	2106	2191	2246	2136	0	0	0	0	0	0	14.40	14.26	14.45
6218	0.20	284.7	2645	2107	2247	2136	272.0	10.2	497	6219	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2107	2191	2245	2137	0	0	0	0	0	0	14.70	14.69	14.69
6518	0.21	302.0	2645	2108	2245	2137	243.7	9.2	507	6550	0.00	2.47	25.75	1.441	8740	0.000	0.083	2646	690	2128	2180	2076	0	0	0	0	0	0	14.66	13.97	13.35
6595	0.32	338.3	2647	690	2176	2075	237.0	8.3	522	6661	0.12	2.45	60.45	1.312	11430	0.127	0.080	2696	2099	1985	2032	1938	0	0	0	0	0	0	14.14	14.19	13.17
6971	0.29	338.3	2697	2100	2024	1921	194.1	11.2	547	6972	0.00	0.00	0.00	0.000	134	0.000	0.000	2697	2099	1971	2023	1920	0	0	0	0	0	0	14.55	14.57	14.57
7271	0.27	338.3	2696	2100	2023	1920	162.7	10.1	557	7276	0.00	2.45	0.00	0.000	644	0.000	0.085	2699	694	1970	2022	1919	0	0	0	0	0	0	14.62	14.10	14.64
7341	0.32	354.2	2699	694	2019	1919	156.0	9.3	571	7372	0.00	2.45	22.88	1.385	9382	0.000	0.077	2699	2100	1917	1961	1874	0	0	0	0	0	0	14.33	14.21	13.37
7694	0.33	369.7	2699	2101	1953	1872	122.4	9.3	591	7717	0.00	2.45	19.33	1.404	8740	0.000	0.084	2698	693	1856	1892	1821	0	0	0	0	0	0	14.59	13.94	13.33
7779	0.43	398.6	2700	693	1884	1822	114.9	8.7	608	7832	0.00	2.45	45.55	1.258	9382	0.000	0.078	2698	2100	1738	1768	1709	0	0	0	0	0	0	14.24	14.13	13.21
8133	0.51	434.5	2699	2100	1766	1698	83.4	8.3	642	8154	0.15	0.00	18.90	0.455	10406	0.119	0.000	2765	2100	1590	1625	1556	0	0	0	0	0	0	14.14	14.10	13.67
8453	0.54	479.2	2766	2100	1626	1555	49.5	7.9	674	8484	0.00	2.53	23.27	0.350	8740	0.000	0.085	2768	702	1411	1454	1368	0	0	0	0	0	0	14.57	14.02	13.76
8567	0.66	541.3	2768	702	1453	1367	41.1	7.1	696	8608	0.00	2.45	33.17	0.323	9382	0.000	0.079	2770	2103	1155	1220	1091	0	0	0	0	0	0	14.20	14.04	13.76
8905	0.86	652.9	2768	2103	1221	1082	19.3	4.8	734	8969	0.25	2.50	58.12	0.264	10916	0.091	0.086	2877	695	700	759	641	0	0	0	0	0	0	14.23	13.93	13.75
9035	0.89	652.9	2877	695	759	638	5.7	10.9	759	9041	0.00	2.47	0.00	0.000	1158	0.000	0.079	2876	2102	698	758	638	0	0	0	0	0	0	13.71	13.74	13.72
9067	end climb: SURFACE_DEPTH_REACHED
state	9067	begin surface coast
9077	end surface coast: CONTROL_FINISHED_OK
state	9077	begin surface