Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 229 * 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 229 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 646.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 646.0 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 25 VBD_MIN 500

DIVE 229 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 020917,134750,7440.1758,-15255.1758,23,0.7,32,19.7,0.0,298.0,11,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 13.3,125988,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 020917,135544,7440.1646,-15255.2881,18,0.7,22,19.7,0.0,0.0,12,8.8

Post-dive calculations and measurements:

FINISH 0.5,1.021471 _24V_AH 12.33,152.715

SM_CCo 9034,37.30,0.208,0,0,500,703.03 _10V_AH 12.22,0.000

SM_GC 1.02,8.07,0.20,37.30,0.075,0.106,0.208,200,2222,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.20,14.21,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 82 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323496

IRIDIUM_FIX 7439.65,-15318.83,020917,111221 DATA_FILE_SIZE 26723,734

TT8_MAMPS 0.086135,0.96621 CAP_FILE_SIZE 97551,0

HUMID 44.21 CFSIZE 2097872896,2018246656

INTERNAL_PRESSURE 7.74246 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 INTR 0,3590.64,0x2341e8,1,24

XPDR_PINGS 22 SOUNDSPEED 1435.7

CP_FREE 15974596608.000000 CURRENT 0.058,267.02,1

PM_FREEKB_00 51172544 GPS 020917,162855,7441.075,-15252.918,38,0.8,40,19.7,0.3,291.6,11,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 144.17 nil 0 0 0.00

Roll_motor 83 2142 2205.31 nil 0 0 0.00

VBD_pump_during_apogee 935 1421 16397.73 nil 0 0 0.00

VBD_pump_during_surface 37 208 95.70 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 5432 14 1002.17

Iridium_during_xfer 225 125 348.64 NCP 5479 20 1351.12

Transponder_ping 5 420 28.48 PMAR 8972 9 1090.87

GUMSTIX_24V 0 0 0.00

GPS 23 22 6.50

TT8 0 0 0.00

LPSleep 6518 2 184.00

TT8_Active 877 13 149.88

TT8_Sampling 1938 33 792.31

TT8_CF8 226 38 107.06

TT8_Kalman 0 0 0.00

Analog_circuits 1937 10 236.78

GPS_charging 0 0 0.00

Compass 1050 7 89.90

RAFOS 2193 48 1286.33

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

62 end surface: CONTROL_FINISHED_OK

state 62 begin dive

65 -0.57 -145.9 196 2230 489 496 0.0 0.0 0 168 0.00 0.00 -100.97 0.000 16386 0.000 0.000 196 2230 2327 2272 2383 0 0 0 0 0 0 14.60 28.83 14.62

171 -0.57 -145.9 196 2231 2275 2385 4.2 -6.0 10 224 12.82 2.72 -30.88 0.000 18724 0.459 2.142 2376 3573 3964 3946 3983 0 0 0 0 0 0 13.65 12.46 14.16

314 -0.68 -145.9 2376 3574 3952 3984 37.4 -14.5 38 319 0.00 2.33 0.00 0.000 1158 0.000 0.060 2376 2201 3967 3951 3983 0 0 0 0 0 0 14.36 14.23 14.40

624 -0.78 -145.9 2376 2200 3954 3983 79.7 -10.8 70 629 0.12 2.45 0.00 0.000 4740 0.148 0.083 2327 786 3968 3953 3983 0 0 0 0 0 0 14.33 14.25 14.38

654 -0.83 -145.9 2327 785 3955 3982 83.7 -13.7 76 659 0.00 2.42 0.00 0.000 1158 0.000 0.086 2326 2172 3968 3953 3983 0 0 0 0 0 0 14.40 14.25 14.45

984 -0.89 -145.9 2326 2173 3954 3983 128.6 -12.7 96 989 0.00 2.53 0.00 0.000 388 0.000 0.089 2319 3623 3967 3953 3982 0 0 0 0 0 0 14.77 14.28 14.78

1089 -1.05 -145.9 2320 3624 3954 3983 140.0 -10.2 117 1095 0.25 2.38 0.00 0.000 5254 0.092 0.057 2229 2196 3968 3953 3983 0 0 0 0 0 0 14.42 14.34 14.50

1406 -0.96 -145.9 2229 2197 3954 3984 201.5 -19.3 130 1411 0.12 2.47 0.00 0.000 2436 0.293 0.085 2248 3619 3967 3951 3983 0 0 0 0 0 0 14.03 14.28 14.21

1498 -1.01 -145.9 2249 3621 3954 3984 215.9 -14.1 148 1503 0.00 2.40 0.00 0.000 1158 0.000 0.059 2248 2192 3967 3953 3982 0 0 0 0 0 0 14.47 14.37 14.50

1828 -0.99 -145.9 2249 2191 3954 3983 266.2 -14.6 164 1833 0.00 2.47 0.00 0.000 388 0.000 0.086 2240 3614 3968 3953 3983 0 0 0 0 0 0 14.81 14.28 14.83

1903 -1.06 -145.9 2240 3616 3954 3983 276.4 -13.2 179 1908 0.00 2.38 0.00 0.000 1158 0.000 0.057 2240 2196 3968 3953 3983 0 0 0 0 0 0 14.48 14.36 14.52

2218 -1.06 -145.9 2240 2196 3953 3984 318.6 -13.1 192 2223 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3614 3967 3953 3982 0 0 0 0 0 0 14.83 14.28 14.84

2298 -1.14 -145.9 2236 3616 3954 3984 328.4 -11.5 208 2303 0.00 2.38 0.00 0.000 1158 0.000 0.056 2235 2192 3967 3953 3982 0 0 0 0 0 0 14.48 14.36 14.52

2608 -1.14 -145.9 2235 2191 3953 3984 366.8 -12.2 220 2613 0.00 2.47 0.00 0.000 260 0.000 0.088 2235 3613 3967 3952 3983 0 0 0 0 0 0 14.83 14.28 14.84

2658 -1.22 -145.9 2236 3615 3953 3983 372.6 -11.1 230 2663 0.15 2.38 0.00 0.000 5254 0.127 0.056 2178 2193 3967 3952 3982 0 0 0 0 0 0 14.38 14.35 14.49

2969 -1.12 -145.9 2178 2192 3953 3981 424.7 -17.0 242 2974 0.15 2.47 0.00 0.000 2436 0.313 0.083 2201 3618 3966 3952 3981 0 0 0 0 0 0 13.71 14.21 14.02

3075 -1.12 -145.9 2201 3617 3953 3982 439.5 -13.1 263 3080 0.00 2.35 0.00 0.000 1030 0.000 0.056 2201 2203 3966 3952 3981 0 0 0 0 0 0 14.49 14.35 14.55

3358 end dive: TARGET_DEPTH_EXCEEDED

state 3358 begin apogee

3364 -0.13 0.0 2202 2057 3953 3980 480.0 -14.1 275 3586 1.30 0.10 217.88 1.421 10246 0.249 0.162 2529 2123 3364 3388 3340 0 0 0 0 0 0 13.95 13.57 12.76

3587 end apogee: CONTROL_FINISHED_OK

state 3587 begin climb

3590 0.57 145.9 2530 2125 3383 3335 491.2 0.0 282 3806 0.75 2.62 209.12 1.369 10756 0.063 0.076 2793 730 2763 2809 2718 0 0 0 0 0 0 13.69 12.94 12.33

4012 0.18 145.9 2794 731 2797 2717 470.4 15.8 328 4017 0.70 2.45 0.00 0.000 5254 0.320 0.074 2647 2097 2755 2796 2715 0 0 0 0 0 0 13.38 13.75 13.76

4322 0.02 154.0 2647 2098 2797 2710 439.6 9.6 340 4327 0.22 0.00 3.20 1.321 12454 0.267 0.000 2596 2098 2738 2782 2695 0 0 0 0 0 0 13.82 14.04 12.68

4622 0.02 213.7 2596 2098 2789 2702 417.5 7.2 350 4727 0.00 2.50 96.88 1.379 8868 0.000 0.082 2602 733 2486 2546 2427 0 0 0 0 0 0 14.59 13.85 13.06

4798 0.10 245.0 2601 734 2543 2426 403.1 8.6 385 4848 0.00 2.42 44.00 1.410 9382 0.000 0.077 2602 2099 2367 2426 2308 0 0 0 0 0 0 14.08 13.91 13.00

5165 0.15 272.6 2603 2098 2418 2295 370.6 8.7 408 5209 0.00 0.00 42.05 1.401 8358 0.000 0.000 2598 2099 2252 2309 2195 0 0 0 0 0 0 14.52 13.97 13.16

5493 0.23 301.4 2602 2099 2301 2181 342.0 8.7 419 5544 0.15 2.47 42.60 1.392 10916 0.116 0.086 2682 733 2130 2183 2077 0 0 0 0 0 0 14.29 14.04 13.23

5596 0.20 301.4 2682 734 2177 2077 328.7 13.4 439 5602 0.15 2.40 0.00 0.000 5254 0.236 0.078 2650 2103 2126 2176 2076 0 0 0 0 0 0 13.93 14.08 14.16

5917 0.20 301.4 2650 2106 2175 2071 292.1 11.1 453 5922 0.00 2.40 0.00 0.000 516 0.000 0.084 2655 730 2122 2175 2070 0 0 0 0 0 0 14.61 14.22 14.62

5957 0.23 301.4 2655 731 2175 2071 287.7 11.2 461 5962 0.00 2.38 0.00 0.000 1158 0.000 0.077 2655 2103 2122 2174 2070 0 0 0 0 0 0 14.37 14.24 14.41

6277 0.23 301.4 2656 2104 2174 2069 253.6 10.3 475 6278 0.00 0.00 0.00 0.000 6 0.000 0.000 2662 2101 2121 2174 2068 0 0 0 0 0 0 14.65 14.67 14.66

6577 0.24 320.7 2655 2104 2174 2068 225.4 9.1 485 6613 0.00 2.45 27.92 1.415 8740 0.000 0.083 2655 730 2052 2102 2003 0 0 0 0 0 0 14.64 14.19 13.35

6671 0.35 359.4 2656 730 2100 2004 217.6 8.2 503 6744 0.12 2.42 64.75 1.287 11430 0.128 0.078 2706 2105 1895 1933 1858 0 0 0 0 0 0 14.12 14.06 13.16

7059 0.33 359.4 2706 2106 1927 1849 172.4 11.5 531 7065 0.00 2.42 0.00 0.000 644 0.000 0.085 2712 724 1886 1924 1849 0 0 0 0 0 0 14.55 14.18 14.57

7100 0.33 359.4 2712 725 1922 1850 167.8 11.1 539 7106 0.00 2.40 0.00 0.000 1030 0.000 0.079 2712 2099 1885 1922 1849 0 0 0 0 0 0 14.29 14.16 14.33

7423 0.31 359.4 2712 2101 1922 1849 132.7 10.7 553 7428 0.12 2.40 0.00 0.000 4740 0.230 0.082 2685 731 1884 1921 1847 0 0 0 0 0 0 13.93 14.12 14.04

7473 0.43 399.1 2686 732 1921 1847 128.1 8.2 563 7545 0.10 2.40 63.80 1.248 11430 0.158 0.078 2732 2097 1740 1765 1715 0 0 0 0 0 0 13.66 13.40 13.28

7843 0.43 399.1 2733 2098 1762 1695 88.0 10.3 593 7848 0.00 2.42 0.00 0.000 516 0.000 0.084 2740 730 1728 1762 1695 0 0 0 0 0 0 14.38 14.04 14.40

7903 0.46 404.5 2741 730 1758 1694 82.1 9.8 605 7914 0.00 2.42 1.83 0.386 9382 0.000 0.079 2740 2115 1713 1746 1680 0 0 0 0 0 0 14.20 14.08 13.54

8213 0.50 460.4 2741 2111 1749 1686 54.5 7.4 637 8245 0.00 0.00 30.50 0.364 8230 0.000 0.000 2746 2111 1487 1524 1451 0 0 0 0 0 0 14.42 14.09 13.70

8543 0.67 577.3 2741 2111 1524 1444 34.3 4.6 670 8611 0.15 2.50 60.70 0.301 10916 0.112 0.086 2807 714 1010 1081 939 0 0 0 0 0 0 14.04 13.90 13.75

8681 0.80 634.5 2808 714 1080 938 23.8 7.4 697 8719 0.00 2.45 30.42 0.280 9382 0.000 0.079 2808 2090 777 847 707 0 0 0 0 0 0 14.13 14.01 13.72

8994 end climb: SURFACE_DEPTH_REACHED

state 8994 begin surface coast

9014 end surface coast: CONTROL_FINISHED_OK

state 9014 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	229	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	646.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,134750,7440.1758,-15255.1758,23,0.7,32,19.7,0.0,298.0,11,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	13.3,125988,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	020917,135544,7440.1646,-15255.2881,18,0.7,22,19.7,0.0,0.0,12,8.8

FINISH	0.5,1.021471	_24V_AH	12.33,152.715
SM_CCo	9034,37.30,0.208,0,0,500,703.03	_10V_AH	12.22,0.000
SM_GC	1.02,8.07,0.20,37.30,0.075,0.106,0.208,200,2222,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.20,14.21,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	82	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323496
IRIDIUM_FIX	7439.65,-15318.83,020917,111221	DATA_FILE_SIZE	26723,734
TT8_MAMPS	0.086135,0.96621	CAP_FILE_SIZE	97551,0
HUMID	44.21	CFSIZE	2097872896,2018246656
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	INTR	0,3590.64,0x2341e8,1,24
XPDR_PINGS	22	SOUNDSPEED	1435.7
CP_FREE	15974596608.000000	CURRENT	0.058,267.02,1
PM_FREEKB_00	51172544	GPS	020917,162855,7441.075,-15252.918,38,0.8,40,19.7,0.3,291.6,11,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	144.17	nil	0	0	0.00
Roll_motor	83	2142	2205.31	nil	0	0	0.00
VBD_pump_during_apogee	935	1421	16397.73	nil	0	0	0.00
VBD_pump_during_surface	37	208	95.70	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	5432	14	1002.17
Iridium_during_xfer	225	125	348.64	NCP	5479	20	1351.12
Transponder_ping	5	420	28.48	PMAR	8972	9	1090.87
GUMSTIX_24V	0	0	0.00
GPS	23	22	6.50
TT8	0	0	0.00
LPSleep	6518	2	184.00
TT8_Active	877	13	149.88
TT8_Sampling	1938	33	792.31
TT8_CF8	226	38	107.06
TT8_Kalman	0	0	0.00
Analog_circuits	1937	10	236.78
GPS_charging	0	0	0.00
Compass	1050	7	89.90
RAFOS	2193	48	1286.33
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
62	end surface: CONTROL_FINISHED_OK
state	62	begin dive
65	-0.57	-145.9	196	2230	489	496	0.0	0.0	0	168	0.00	0.00	-100.97	0.000	16386	0.000	0.000	196	2230	2327	2272	2383	0	0	0	0	0	0	14.60	28.83	14.62
171	-0.57	-145.9	196	2231	2275	2385	4.2	-6.0	10	224	12.82	2.72	-30.88	0.000	18724	0.459	2.142	2376	3573	3964	3946	3983	0	0	0	0	0	0	13.65	12.46	14.16
314	-0.68	-145.9	2376	3574	3952	3984	37.4	-14.5	38	319	0.00	2.33	0.00	0.000	1158	0.000	0.060	2376	2201	3967	3951	3983	0	0	0	0	0	0	14.36	14.23	14.40
624	-0.78	-145.9	2376	2200	3954	3983	79.7	-10.8	70	629	0.12	2.45	0.00	0.000	4740	0.148	0.083	2327	786	3968	3953	3983	0	0	0	0	0	0	14.33	14.25	14.38
654	-0.83	-145.9	2327	785	3955	3982	83.7	-13.7	76	659	0.00	2.42	0.00	0.000	1158	0.000	0.086	2326	2172	3968	3953	3983	0	0	0	0	0	0	14.40	14.25	14.45
984	-0.89	-145.9	2326	2173	3954	3983	128.6	-12.7	96	989	0.00	2.53	0.00	0.000	388	0.000	0.089	2319	3623	3967	3953	3982	0	0	0	0	0	0	14.77	14.28	14.78
1089	-1.05	-145.9	2320	3624	3954	3983	140.0	-10.2	117	1095	0.25	2.38	0.00	0.000	5254	0.092	0.057	2229	2196	3968	3953	3983	0	0	0	0	0	0	14.42	14.34	14.50
1406	-0.96	-145.9	2229	2197	3954	3984	201.5	-19.3	130	1411	0.12	2.47	0.00	0.000	2436	0.293	0.085	2248	3619	3967	3951	3983	0	0	0	0	0	0	14.03	14.28	14.21
1498	-1.01	-145.9	2249	3621	3954	3984	215.9	-14.1	148	1503	0.00	2.40	0.00	0.000	1158	0.000	0.059	2248	2192	3967	3953	3982	0	0	0	0	0	0	14.47	14.37	14.50
1828	-0.99	-145.9	2249	2191	3954	3983	266.2	-14.6	164	1833	0.00	2.47	0.00	0.000	388	0.000	0.086	2240	3614	3968	3953	3983	0	0	0	0	0	0	14.81	14.28	14.83
1903	-1.06	-145.9	2240	3616	3954	3983	276.4	-13.2	179	1908	0.00	2.38	0.00	0.000	1158	0.000	0.057	2240	2196	3968	3953	3983	0	0	0	0	0	0	14.48	14.36	14.52
2218	-1.06	-145.9	2240	2196	3953	3984	318.6	-13.1	192	2223	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3614	3967	3953	3982	0	0	0	0	0	0	14.83	14.28	14.84
2298	-1.14	-145.9	2236	3616	3954	3984	328.4	-11.5	208	2303	0.00	2.38	0.00	0.000	1158	0.000	0.056	2235	2192	3967	3953	3982	0	0	0	0	0	0	14.48	14.36	14.52
2608	-1.14	-145.9	2235	2191	3953	3984	366.8	-12.2	220	2613	0.00	2.47	0.00	0.000	260	0.000	0.088	2235	3613	3967	3952	3983	0	0	0	0	0	0	14.83	14.28	14.84
2658	-1.22	-145.9	2236	3615	3953	3983	372.6	-11.1	230	2663	0.15	2.38	0.00	0.000	5254	0.127	0.056	2178	2193	3967	3952	3982	0	0	0	0	0	0	14.38	14.35	14.49
2969	-1.12	-145.9	2178	2192	3953	3981	424.7	-17.0	242	2974	0.15	2.47	0.00	0.000	2436	0.313	0.083	2201	3618	3966	3952	3981	0	0	0	0	0	0	13.71	14.21	14.02
3075	-1.12	-145.9	2201	3617	3953	3982	439.5	-13.1	263	3080	0.00	2.35	0.00	0.000	1030	0.000	0.056	2201	2203	3966	3952	3981	0	0	0	0	0	0	14.49	14.35	14.55
3358	end dive: TARGET_DEPTH_EXCEEDED
state	3358	begin apogee
3364	-0.13	0.0	2202	2057	3953	3980	480.0	-14.1	275	3586	1.30	0.10	217.88	1.421	10246	0.249	0.162	2529	2123	3364	3388	3340	0	0	0	0	0	0	13.95	13.57	12.76
3587	end apogee: CONTROL_FINISHED_OK
state	3587	begin climb
3590	0.57	145.9	2530	2125	3383	3335	491.2	0.0	282	3806	0.75	2.62	209.12	1.369	10756	0.063	0.076	2793	730	2763	2809	2718	0	0	0	0	0	0	13.69	12.94	12.33
4012	0.18	145.9	2794	731	2797	2717	470.4	15.8	328	4017	0.70	2.45	0.00	0.000	5254	0.320	0.074	2647	2097	2755	2796	2715	0	0	0	0	0	0	13.38	13.75	13.76
4322	0.02	154.0	2647	2098	2797	2710	439.6	9.6	340	4327	0.22	0.00	3.20	1.321	12454	0.267	0.000	2596	2098	2738	2782	2695	0	0	0	0	0	0	13.82	14.04	12.68
4622	0.02	213.7	2596	2098	2789	2702	417.5	7.2	350	4727	0.00	2.50	96.88	1.379	8868	0.000	0.082	2602	733	2486	2546	2427	0	0	0	0	0	0	14.59	13.85	13.06
4798	0.10	245.0	2601	734	2543	2426	403.1	8.6	385	4848	0.00	2.42	44.00	1.410	9382	0.000	0.077	2602	2099	2367	2426	2308	0	0	0	0	0	0	14.08	13.91	13.00
5165	0.15	272.6	2603	2098	2418	2295	370.6	8.7	408	5209	0.00	0.00	42.05	1.401	8358	0.000	0.000	2598	2099	2252	2309	2195	0	0	0	0	0	0	14.52	13.97	13.16
5493	0.23	301.4	2602	2099	2301	2181	342.0	8.7	419	5544	0.15	2.47	42.60	1.392	10916	0.116	0.086	2682	733	2130	2183	2077	0	0	0	0	0	0	14.29	14.04	13.23
5596	0.20	301.4	2682	734	2177	2077	328.7	13.4	439	5602	0.15	2.40	0.00	0.000	5254	0.236	0.078	2650	2103	2126	2176	2076	0	0	0	0	0	0	13.93	14.08	14.16
5917	0.20	301.4	2650	2106	2175	2071	292.1	11.1	453	5922	0.00	2.40	0.00	0.000	516	0.000	0.084	2655	730	2122	2175	2070	0	0	0	0	0	0	14.61	14.22	14.62
5957	0.23	301.4	2655	731	2175	2071	287.7	11.2	461	5962	0.00	2.38	0.00	0.000	1158	0.000	0.077	2655	2103	2122	2174	2070	0	0	0	0	0	0	14.37	14.24	14.41
6277	0.23	301.4	2656	2104	2174	2069	253.6	10.3	475	6278	0.00	0.00	0.00	0.000	6	0.000	0.000	2662	2101	2121	2174	2068	0	0	0	0	0	0	14.65	14.67	14.66
6577	0.24	320.7	2655	2104	2174	2068	225.4	9.1	485	6613	0.00	2.45	27.92	1.415	8740	0.000	0.083	2655	730	2052	2102	2003	0	0	0	0	0	0	14.64	14.19	13.35
6671	0.35	359.4	2656	730	2100	2004	217.6	8.2	503	6744	0.12	2.42	64.75	1.287	11430	0.128	0.078	2706	2105	1895	1933	1858	0	0	0	0	0	0	14.12	14.06	13.16
7059	0.33	359.4	2706	2106	1927	1849	172.4	11.5	531	7065	0.00	2.42	0.00	0.000	644	0.000	0.085	2712	724	1886	1924	1849	0	0	0	0	0	0	14.55	14.18	14.57
7100	0.33	359.4	2712	725	1922	1850	167.8	11.1	539	7106	0.00	2.40	0.00	0.000	1030	0.000	0.079	2712	2099	1885	1922	1849	0	0	0	0	0	0	14.29	14.16	14.33
7423	0.31	359.4	2712	2101	1922	1849	132.7	10.7	553	7428	0.12	2.40	0.00	0.000	4740	0.230	0.082	2685	731	1884	1921	1847	0	0	0	0	0	0	13.93	14.12	14.04
7473	0.43	399.1	2686	732	1921	1847	128.1	8.2	563	7545	0.10	2.40	63.80	1.248	11430	0.158	0.078	2732	2097	1740	1765	1715	0	0	0	0	0	0	13.66	13.40	13.28
7843	0.43	399.1	2733	2098	1762	1695	88.0	10.3	593	7848	0.00	2.42	0.00	0.000	516	0.000	0.084	2740	730	1728	1762	1695	0	0	0	0	0	0	14.38	14.04	14.40
7903	0.46	404.5	2741	730	1758	1694	82.1	9.8	605	7914	0.00	2.42	1.83	0.386	9382	0.000	0.079	2740	2115	1713	1746	1680	0	0	0	0	0	0	14.20	14.08	13.54
8213	0.50	460.4	2741	2111	1749	1686	54.5	7.4	637	8245	0.00	0.00	30.50	0.364	8230	0.000	0.000	2746	2111	1487	1524	1451	0	0	0	0	0	0	14.42	14.09	13.70
8543	0.67	577.3	2741	2111	1524	1444	34.3	4.6	670	8611	0.15	2.50	60.70	0.301	10916	0.112	0.086	2807	714	1010	1081	939	0	0	0	0	0	0	14.04	13.90	13.75
8681	0.80	634.5	2808	714	1080	938	23.8	7.4	697	8719	0.00	2.45	30.42	0.280	9382	0.000	0.079	2808	2090	777	847	707	0	0	0	0	0	0	14.13	14.01	13.72
8994	end climb: SURFACE_DEPTH_REACHED
state	8994	begin surface coast
9014	end surface coast: CONTROL_FINISHED_OK
state	9014	begin surface