Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 230 * 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 230 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 648.0

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 37 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 648.0 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 62 VBD_MIN 500

DIVE 230 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 020917,162855,7441.0747,-15252.9180,38,0.8,40,19.7,0.3,291.6,11,8.7 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 1.20 MHEAD_RNG_PITCHd_Wd 14.3,124021,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 020917,164654,7441.0869,-15253.0557,6,0.7,8,19.7,0.0,191.2,12,9.8

Post-dive calculations and measurements:

FINISH 0.4,1.021610 _24V_AH 12.32,153.166

SM_CCo 9034,40.25,0.210,0,0,499,703.03 _10V_AH 12.18,0.000

SM_GC 1.10,8.05,0.17,40.25,0.067,0.105,0.210,202,2239,499,-7.37,-0.65,703.03,0,0,0,0,0,0,14.33,14.35,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323716

IRIDIUM_FIX 7440.53,-15249.72,020917,164215 DATA_FILE_SIZE 23419,709

TT8_MAMPS 0.038948,0.931756 CAP_FILE_SIZE 102065,0

HUMID 47.32 CFSIZE 2097872896,2017918976

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

TCM_TEMP 13.10 SOUNDSPEED 1447.5

XPDR_PINGS 12 CURRENT 0.056,270.41,1

CP_FREE 0.000000 GPS 020917,192003,7441.995,-15250.590,38,0.8,38,19.8,0.0,0.0,10,9.6

PM_FREEKB_00 51146304

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.78 nil 0 0 0.00

Roll_motor 79 2140 2093.17 nil 0 0 0.00

VBD_pump_during_apogee 920 1435 16278.22 nil 0 0 0.00

VBD_pump_during_surface 40 209 103.94 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 8982 14 1600.45

Iridium_during_xfer 615 168 1276.52 NCP 8998 20 2217.11

Transponder_ping 3 420 15.52 PMAR 8988 9 1090.16

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.68

TT8 0 0 0.00

LPSleep 6727 2 189.27

TT8_Active 852 13 144.97

TT8_Sampling 2294 33 934.46

TT8_CF8 293 38 138.26

TT8_Kalman 0 0 0.00

Analog_circuits 2302 10 280.39

GPS_charging 0 0 0.00

Compass 1020 7 86.98

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 196 2225 495 490 0.0 0.0 0 151 0.00 0.00 -100.65 0.000 16386 0.000 0.000 195 2220 2315 2259 2372 0 0 0 0 0 0 14.39 28.83 14.40

154 -0.57 -145.9 196 2230 2258 2369 3.9 -5.3 10 207 12.82 2.72 -31.92 0.000 18724 0.455 2.140 2375 3593 3964 3948 3981 0 0 0 0 0 0 13.53 12.58 14.00

327 -0.70 -145.9 2378 3594 3954 3982 40.9 -13.4 44 332 0.00 2.33 0.00 0.000 1158 0.000 0.058 2378 2238 3967 3954 3980 0 0 0 0 0 0 14.28 14.13 14.28

638 -0.80 -145.9 2378 2235 3956 3980 80.3 -10.6 76 643 0.15 2.53 0.00 0.000 4740 0.128 0.082 2314 791 3968 3955 3981 0 0 0 0 0 0 14.09 14.13 14.14

668 -0.83 -145.9 2316 790 3955 3982 84.5 -15.1 82 673 0.00 2.45 0.00 0.000 1158 0.000 0.084 2315 2186 3968 3956 3981 0 0 0 0 0 0 14.26 14.16 14.31

988 -0.87 -145.9 2316 2188 3956 3986 130.1 -13.3 101 994 0.00 2.50 0.00 0.000 388 0.000 0.088 2310 3613 3967 3954 3981 0 0 0 0 0 0 14.62 14.15 14.64

1079 -1.01 -145.9 2311 3614 3956 3980 140.4 -10.8 119 1085 0.17 2.42 0.00 0.000 5254 0.107 0.057 2242 2194 3967 3955 3980 0 0 0 0 0 0 13.84 13.36 14.28

1410 -0.94 -145.9 2242 2194 3956 3981 200.3 -18.0 135 1415 0.12 2.50 0.00 0.000 2436 0.284 0.083 2261 3614 3968 3955 3981 0 0 0 0 0 0 13.92 14.19 14.08

1507 -1.03 -145.9 2261 3614 3956 3981 214.0 -13.0 154 1512 0.00 2.40 0.00 0.000 1158 0.000 0.057 2260 2190 3967 3954 3981 0 0 0 0 0 0 14.37 14.23 14.40

1832 -1.03 -145.9 2261 2189 3956 3980 260.0 -13.5 169 1838 0.00 2.50 0.00 0.000 260 0.000 0.086 2253 3614 3967 3955 3980 0 0 0 0 0 0 14.66 14.18 14.66

1923 -1.11 -145.9 2254 3615 3956 3980 271.4 -11.6 187 1928 0.00 2.40 0.00 0.000 1158 0.000 0.055 2253 2193 3967 3955 3980 0 0 0 0 0 0 14.38 14.25 14.42

2253 -1.14 -145.9 2252 2192 3956 3981 312.1 -11.9 203 2258 0.12 2.50 0.00 0.000 4484 0.147 0.083 2193 3619 3967 3955 3980 0 0 0 0 0 0 14.30 14.19 14.35

2293 -1.09 -145.9 2193 3620 3955 3980 318.0 -15.6 211 2299 0.15 2.40 0.00 0.000 3206 0.270 0.056 2221 2196 3968 3954 3982 0 0 0 0 0 0 13.90 14.23 14.19

2614 -1.09 -145.9 2222 2196 3955 3981 361.7 -13.4 225 2619 0.00 2.50 0.00 0.000 260 0.000 0.089 2222 3617 3967 3954 3980 0 0 0 0 0 0 14.68 14.19 14.70

2720 -1.15 -145.9 2222 3618 3955 3980 374.8 -11.7 246 2724 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2195 3967 3954 3980 0 0 0 0 0 0 14.33 14.19 14.35

3035 -1.15 -145.9 2222 2194 3956 3978 415.4 -12.8 259 3039 0.00 2.50 0.00 0.000 260 0.000 0.088 2222 3614 3966 3954 3978 0 0 0 0 0 0 14.66 14.18 14.70

3105 -1.21 -145.9 2222 3617 3954 3979 424.0 -11.7 273 3110 0.00 2.38 0.00 0.000 1158 0.000 0.056 2221 2207 3966 3954 3978 0 0 0 0 0 0 14.23 14.16 14.37

3426 -1.21 -145.9 2221 2206 3955 3979 464.2 -12.5 287 3430 0.00 2.47 0.00 0.000 260 0.000 0.086 2221 3613 3966 3954 3978 0 0 0 0 0 0 14.66 14.15 14.69

3501 -1.29 -145.9 2222 3613 3955 3978 473.0 -11.5 302 3506 0.17 2.40 0.00 0.000 5254 0.118 0.056 2156 2188 3966 3954 3978 0 0 0 0 0 0 14.26 14.23 14.38

3544 end dive: TARGET_DEPTH_EXCEEDED

state 3544 begin apogee

3550 -0.13 0.0 2156 2067 3954 3978 480.2 -16.3 306 3771 1.58 0.08 216.85 1.424 10246 0.282 0.182 2529 2112 3363 3388 3338 0 0 0 0 0 0 13.79 13.46 12.68

3775 end apogee: CONTROL_FINISHED_OK

state 3775 begin climb

3779 0.57 145.9 2530 2113 3383 3332 491.2 0.0 313 4002 0.75 2.30 207.48 1.379 10500 0.061 0.070 2784 3517 2759 2803 2716 0 0 0 0 0 0 13.63 12.93 12.32

4099 0.10 145.9 2784 3518 2795 2716 483.1 17.2 334 4105 0.88 2.47 0.00 0.000 5254 0.345 0.057 2626 2125 2755 2795 2716 0 0 0 0 0 0 13.19 13.54 13.54

4415 0.02 182.9 2622 2126 2796 2715 454.6 8.3 347 4470 0.15 0.00 52.55 1.436 12454 0.289 0.000 2591 2125 2617 2669 2565 0 0 0 0 0 0 13.84 13.87 13.05

4746 0.05 231.0 2594 2125 2665 2550 429.3 7.8 358 4821 0.00 2.58 70.00 1.400 8740 0.000 0.087 2591 688 2419 2479 2359 0 0 0 0 0 0 14.52 13.69 13.07

4881 0.18 278.6 2591 689 2471 2358 418.7 7.8 385 4958 0.15 2.50 70.57 1.367 11430 0.117 0.080 2655 2093 2228 2286 2171 0 0 0 0 0 0 14.06 14.00 12.94

5256 0.13 278.6 2656 2094 2277 2157 372.6 12.4 410 5257 0.12 0.00 0.00 0.000 4230 0.246 0.000 2626 2092 2214 2276 2152 0 0 0 0 0 0 13.89 14.16 14.14

5556 0.13 278.6 2630 2094 2276 2155 341.0 10.4 420 5557 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2093 2214 2275 2154 0 0 0 0 0 0 14.62 14.64 14.64

5856 0.13 280.8 2630 2093 2275 2153 310.5 9.9 430 5862 0.00 2.47 0.00 0.000 548 0.000 0.086 2630 691 2212 2274 2151 0 0 0 0 0 0 14.66 14.24 14.68

5907 0.22 300.4 2631 690 2273 2153 305.7 9.1 440 5943 0.00 2.42 30.38 1.429 9382 0.000 0.077 2630 2101 2138 2194 2083 0 0 0 0 0 0 14.44 14.27 13.31

6250 0.27 318.6 2630 2101 2188 2076 273.8 9.2 458 6285 0.12 2.47 28.65 1.415 10916 0.127 0.088 2698 697 2061 2112 2010 0 0 0 0 0 0 14.34 14.16 13.31

6332 0.23 318.6 2699 697 2106 2010 263.4 14.0 474 6338 0.17 2.45 0.00 0.000 5254 0.219 0.077 2658 2101 2057 2105 2010 0 0 0 0 0 0 14.00 14.12 14.24

6643 0.23 321.1 2659 2102 2106 2005 231.3 9.9 486 6644 0.00 0.00 0.00 0.000 38 0.000 0.000 2658 2102 2054 2105 2004 0 0 0 0 0 0 14.60 14.62 14.62

6943 0.28 351.2 2659 2101 2107 2003 204.5 8.6 496 7005 0.00 2.50 53.78 1.329 8868 0.000 0.087 2658 692 1925 1971 1879 0 0 0 0 0 0 14.64 14.07 13.29

7062 0.42 391.6 2659 692 1964 1883 194.8 8.1 519 7136 0.17 2.50 67.35 1.257 11430 0.110 0.079 2728 2108 1767 1796 1738 0 0 0 0 0 0 14.19 14.09 13.12

7456 0.39 391.6 2728 2109 1791 1726 144.5 12.5 548 7457 0.00 0.00 0.00 0.000 134 0.000 0.000 2728 2105 1756 1790 1723 0 0 0 0 0 0 14.52 14.54 14.54

7756 0.37 391.6 2729 2107 1790 1721 109.2 11.3 558 7762 0.00 2.50 0.00 0.000 644 0.000 0.086 2735 691 1754 1788 1721 0 0 0 0 0 0 14.60 14.20 14.62

7879 0.39 391.6 2734 692 1783 1721 95.8 10.4 582 7885 0.00 2.47 0.00 0.000 1158 0.000 0.078 2735 2106 1751 1782 1720 0 0 0 0 0 0 14.24 14.12 14.26

8190 0.41 412.8 2735 2107 1783 1720 63.9 9.0 614 8202 0.00 0.00 9.98 0.394 8230 0.000 0.000 2734 2107 1681 1712 1651 0 0 0 0 0 0 14.60 14.12 13.66

8500 0.54 537.2 2735 2108 1713 1651 43.5 4.3 645 8574 0.00 2.55 64.72 0.331 8868 0.000 0.086 2737 698 1175 1242 1108 0 0 0 0 0 0 14.57 14.04 13.76

8632 0.79 628.1 2738 698 1243 1105 36.9 5.8 670 8685 0.30 2.47 47.88 0.307 11430 0.086 0.079 2852 2101 801 875 728 0 0 0 0 0 0 14.18 14.04 13.75

8958 end climb: SURFACE_DEPTH_REACHED

state 8958 begin surface coast

8968 end surface coast: CONTROL_FINISHED_OK

state 8968 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	230	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	648.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,162855,7441.0747,-15252.9180,38,0.8,40,19.7,0.3,291.6,11,8.7	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	1.20	MHEAD_RNG_PITCHd_Wd	14.3,124021,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	020917,164654,7441.0869,-15253.0557,6,0.7,8,19.7,0.0,191.2,12,9.8

FINISH	0.4,1.021610	_24V_AH	12.32,153.166
SM_CCo	9034,40.25,0.210,0,0,499,703.03	_10V_AH	12.18,0.000
SM_GC	1.10,8.05,0.17,40.25,0.067,0.105,0.210,202,2239,499,-7.37,-0.65,703.03,0,0,0,0,0,0,14.33,14.35,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323716
IRIDIUM_FIX	7440.53,-15249.72,020917,164215	DATA_FILE_SIZE	23419,709
TT8_MAMPS	0.038948,0.931756	CAP_FILE_SIZE	102065,0
HUMID	47.32	CFSIZE	2097872896,2017918976
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.5
XPDR_PINGS	12	CURRENT	0.056,270.41,1
CP_FREE	0.000000	GPS	020917,192003,7441.995,-15250.590,38,0.8,38,19.8,0.0,0.0,10,9.6
PM_FREEKB_00	51146304

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.78	nil	0	0	0.00
Roll_motor	79	2140	2093.17	nil	0	0	0.00
VBD_pump_during_apogee	920	1435	16278.22	nil	0	0	0.00
VBD_pump_during_surface	40	209	103.94	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	8982	14	1600.45
Iridium_during_xfer	615	168	1276.52	NCP	8998	20	2217.11
Transponder_ping	3	420	15.52	PMAR	8988	9	1090.16
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.68
TT8	0	0	0.00
LPSleep	6727	2	189.27
TT8_Active	852	13	144.97
TT8_Sampling	2294	33	934.46
TT8_CF8	293	38	138.26
TT8_Kalman	0	0	0.00
Analog_circuits	2302	10	280.39
GPS_charging	0	0	0.00
Compass	1020	7	86.98
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	196	2225	495	490	0.0	0.0	0	151	0.00	0.00	-100.65	0.000	16386	0.000	0.000	195	2220	2315	2259	2372	0	0	0	0	0	0	14.39	28.83	14.40
154	-0.57	-145.9	196	2230	2258	2369	3.9	-5.3	10	207	12.82	2.72	-31.92	0.000	18724	0.455	2.140	2375	3593	3964	3948	3981	0	0	0	0	0	0	13.53	12.58	14.00
327	-0.70	-145.9	2378	3594	3954	3982	40.9	-13.4	44	332	0.00	2.33	0.00	0.000	1158	0.000	0.058	2378	2238	3967	3954	3980	0	0	0	0	0	0	14.28	14.13	14.28
638	-0.80	-145.9	2378	2235	3956	3980	80.3	-10.6	76	643	0.15	2.53	0.00	0.000	4740	0.128	0.082	2314	791	3968	3955	3981	0	0	0	0	0	0	14.09	14.13	14.14
668	-0.83	-145.9	2316	790	3955	3982	84.5	-15.1	82	673	0.00	2.45	0.00	0.000	1158	0.000	0.084	2315	2186	3968	3956	3981	0	0	0	0	0	0	14.26	14.16	14.31
988	-0.87	-145.9	2316	2188	3956	3986	130.1	-13.3	101	994	0.00	2.50	0.00	0.000	388	0.000	0.088	2310	3613	3967	3954	3981	0	0	0	0	0	0	14.62	14.15	14.64
1079	-1.01	-145.9	2311	3614	3956	3980	140.4	-10.8	119	1085	0.17	2.42	0.00	0.000	5254	0.107	0.057	2242	2194	3967	3955	3980	0	0	0	0	0	0	13.84	13.36	14.28
1410	-0.94	-145.9	2242	2194	3956	3981	200.3	-18.0	135	1415	0.12	2.50	0.00	0.000	2436	0.284	0.083	2261	3614	3968	3955	3981	0	0	0	0	0	0	13.92	14.19	14.08
1507	-1.03	-145.9	2261	3614	3956	3981	214.0	-13.0	154	1512	0.00	2.40	0.00	0.000	1158	0.000	0.057	2260	2190	3967	3954	3981	0	0	0	0	0	0	14.37	14.23	14.40
1832	-1.03	-145.9	2261	2189	3956	3980	260.0	-13.5	169	1838	0.00	2.50	0.00	0.000	260	0.000	0.086	2253	3614	3967	3955	3980	0	0	0	0	0	0	14.66	14.18	14.66
1923	-1.11	-145.9	2254	3615	3956	3980	271.4	-11.6	187	1928	0.00	2.40	0.00	0.000	1158	0.000	0.055	2253	2193	3967	3955	3980	0	0	0	0	0	0	14.38	14.25	14.42
2253	-1.14	-145.9	2252	2192	3956	3981	312.1	-11.9	203	2258	0.12	2.50	0.00	0.000	4484	0.147	0.083	2193	3619	3967	3955	3980	0	0	0	0	0	0	14.30	14.19	14.35
2293	-1.09	-145.9	2193	3620	3955	3980	318.0	-15.6	211	2299	0.15	2.40	0.00	0.000	3206	0.270	0.056	2221	2196	3968	3954	3982	0	0	0	0	0	0	13.90	14.23	14.19
2614	-1.09	-145.9	2222	2196	3955	3981	361.7	-13.4	225	2619	0.00	2.50	0.00	0.000	260	0.000	0.089	2222	3617	3967	3954	3980	0	0	0	0	0	0	14.68	14.19	14.70
2720	-1.15	-145.9	2222	3618	3955	3980	374.8	-11.7	246	2724	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2195	3967	3954	3980	0	0	0	0	0	0	14.33	14.19	14.35
3035	-1.15	-145.9	2222	2194	3956	3978	415.4	-12.8	259	3039	0.00	2.50	0.00	0.000	260	0.000	0.088	2222	3614	3966	3954	3978	0	0	0	0	0	0	14.66	14.18	14.70
3105	-1.21	-145.9	2222	3617	3954	3979	424.0	-11.7	273	3110	0.00	2.38	0.00	0.000	1158	0.000	0.056	2221	2207	3966	3954	3978	0	0	0	0	0	0	14.23	14.16	14.37
3426	-1.21	-145.9	2221	2206	3955	3979	464.2	-12.5	287	3430	0.00	2.47	0.00	0.000	260	0.000	0.086	2221	3613	3966	3954	3978	0	0	0	0	0	0	14.66	14.15	14.69
3501	-1.29	-145.9	2222	3613	3955	3978	473.0	-11.5	302	3506	0.17	2.40	0.00	0.000	5254	0.118	0.056	2156	2188	3966	3954	3978	0	0	0	0	0	0	14.26	14.23	14.38
3544	end dive: TARGET_DEPTH_EXCEEDED
state	3544	begin apogee
3550	-0.13	0.0	2156	2067	3954	3978	480.2	-16.3	306	3771	1.58	0.08	216.85	1.424	10246	0.282	0.182	2529	2112	3363	3388	3338	0	0	0	0	0	0	13.79	13.46	12.68
3775	end apogee: CONTROL_FINISHED_OK
state	3775	begin climb
3779	0.57	145.9	2530	2113	3383	3332	491.2	0.0	313	4002	0.75	2.30	207.48	1.379	10500	0.061	0.070	2784	3517	2759	2803	2716	0	0	0	0	0	0	13.63	12.93	12.32
4099	0.10	145.9	2784	3518	2795	2716	483.1	17.2	334	4105	0.88	2.47	0.00	0.000	5254	0.345	0.057	2626	2125	2755	2795	2716	0	0	0	0	0	0	13.19	13.54	13.54
4415	0.02	182.9	2622	2126	2796	2715	454.6	8.3	347	4470	0.15	0.00	52.55	1.436	12454	0.289	0.000	2591	2125	2617	2669	2565	0	0	0	0	0	0	13.84	13.87	13.05
4746	0.05	231.0	2594	2125	2665	2550	429.3	7.8	358	4821	0.00	2.58	70.00	1.400	8740	0.000	0.087	2591	688	2419	2479	2359	0	0	0	0	0	0	14.52	13.69	13.07
4881	0.18	278.6	2591	689	2471	2358	418.7	7.8	385	4958	0.15	2.50	70.57	1.367	11430	0.117	0.080	2655	2093	2228	2286	2171	0	0	0	0	0	0	14.06	14.00	12.94
5256	0.13	278.6	2656	2094	2277	2157	372.6	12.4	410	5257	0.12	0.00	0.00	0.000	4230	0.246	0.000	2626	2092	2214	2276	2152	0	0	0	0	0	0	13.89	14.16	14.14
5556	0.13	278.6	2630	2094	2276	2155	341.0	10.4	420	5557	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2093	2214	2275	2154	0	0	0	0	0	0	14.62	14.64	14.64
5856	0.13	280.8	2630	2093	2275	2153	310.5	9.9	430	5862	0.00	2.47	0.00	0.000	548	0.000	0.086	2630	691	2212	2274	2151	0	0	0	0	0	0	14.66	14.24	14.68
5907	0.22	300.4	2631	690	2273	2153	305.7	9.1	440	5943	0.00	2.42	30.38	1.429	9382	0.000	0.077	2630	2101	2138	2194	2083	0	0	0	0	0	0	14.44	14.27	13.31
6250	0.27	318.6	2630	2101	2188	2076	273.8	9.2	458	6285	0.12	2.47	28.65	1.415	10916	0.127	0.088	2698	697	2061	2112	2010	0	0	0	0	0	0	14.34	14.16	13.31
6332	0.23	318.6	2699	697	2106	2010	263.4	14.0	474	6338	0.17	2.45	0.00	0.000	5254	0.219	0.077	2658	2101	2057	2105	2010	0	0	0	0	0	0	14.00	14.12	14.24
6643	0.23	321.1	2659	2102	2106	2005	231.3	9.9	486	6644	0.00	0.00	0.00	0.000	38	0.000	0.000	2658	2102	2054	2105	2004	0	0	0	0	0	0	14.60	14.62	14.62
6943	0.28	351.2	2659	2101	2107	2003	204.5	8.6	496	7005	0.00	2.50	53.78	1.329	8868	0.000	0.087	2658	692	1925	1971	1879	0	0	0	0	0	0	14.64	14.07	13.29
7062	0.42	391.6	2659	692	1964	1883	194.8	8.1	519	7136	0.17	2.50	67.35	1.257	11430	0.110	0.079	2728	2108	1767	1796	1738	0	0	0	0	0	0	14.19	14.09	13.12
7456	0.39	391.6	2728	2109	1791	1726	144.5	12.5	548	7457	0.00	0.00	0.00	0.000	134	0.000	0.000	2728	2105	1756	1790	1723	0	0	0	0	0	0	14.52	14.54	14.54
7756	0.37	391.6	2729	2107	1790	1721	109.2	11.3	558	7762	0.00	2.50	0.00	0.000	644	0.000	0.086	2735	691	1754	1788	1721	0	0	0	0	0	0	14.60	14.20	14.62
7879	0.39	391.6	2734	692	1783	1721	95.8	10.4	582	7885	0.00	2.47	0.00	0.000	1158	0.000	0.078	2735	2106	1751	1782	1720	0	0	0	0	0	0	14.24	14.12	14.26
8190	0.41	412.8	2735	2107	1783	1720	63.9	9.0	614	8202	0.00	0.00	9.98	0.394	8230	0.000	0.000	2734	2107	1681	1712	1651	0	0	0	0	0	0	14.60	14.12	13.66
8500	0.54	537.2	2735	2108	1713	1651	43.5	4.3	645	8574	0.00	2.55	64.72	0.331	8868	0.000	0.086	2737	698	1175	1242	1108	0	0	0	0	0	0	14.57	14.04	13.76
8632	0.79	628.1	2738	698	1243	1105	36.9	5.8	670	8685	0.30	2.47	47.88	0.307	11430	0.086	0.079	2852	2101	801	875	728	0	0	0	0	0	0	14.18	14.04	13.75
8958	end climb: SURFACE_DEPTH_REACHED
state	8958	begin surface coast
8968	end surface coast: CONTROL_FINISHED_OK
state	8968	begin surface