Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 231 * 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 231 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 651.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 58 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 651.0 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 29 VBD_MIN 500

DIVE 231 NOCOMM_ACTION 161 R_STBD_OVSHOOT 58 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 020917,192003,7441.9946,-15250.5898,38,0.8,38,19.8,0.0,0.0,10,9.6 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 1.21 MHEAD_RNG_PITCHd_Wd 14.0,122087,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 020917,193839,7441.9771,-15250.6846,7,0.7,9,19.8,0.0,61.9,11,9.9

Post-dive calculations and measurements:

FINISH 0.1,1.021511 _24V_AH 12.30,153.651

SM_CCo 9060,68.00,0.208,0,0,499,702.78 _10V_AH 12.14,0.000

SM_GC 1.26,8.25,0.17,68.00,0.076,0.125,0.208,198,2215,499,-7.39,-0.62,702.78,0,0,0,0,0,0,14.33,14.30,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 362 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7441.48,-15256.96,020917,192958 DATA_FILE_SIZE 23399,666

TT8_MAMPS 0.039697,0.961716 CAP_FILE_SIZE 100424,0

HUMID 47.08 CFSIZE 2097872896,2017460224

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 1447.2

XPDR_PINGS 9 CURRENT 0.066,265.84,1

CP_FREE 15973711872.000000 GPS 020917,221233,7442.840,-15248.444,18,0.7,24,19.8,0.0,0.0,10,9.8

PM_FREEKB_00 51115776

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.84 nil 0 0 0.00

Roll_motor 68 2138 1810.06 nil 0 0 0.00

VBD_pump_during_apogee 912 1487 16694.26 nil 0 0 0.00

VBD_pump_during_surface 68 208 174.04 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 9070 14 1636.27

Iridium_during_xfer 608 157 1179.88 NCP 9033 20 2222.12

Transponder_ping 2 420 11.62 PMAR 9015 9 1099.42

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.19

TT8 0 0 0.00

LPSleep 6681 2 187.36

TT8_Active 891 13 151.16

TT8_Sampling 2389 33 970.21

TT8_CF8 299 38 140.79

TT8_Kalman 0 0 0.00

Analog_circuits 2454 10 297.94

GPS_charging 0 0 0.00

Compass 956 7 81.32

RAFOS 2192 48 1277.32

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 -145.9 197 2241 495 490 0.0 0.0 0 150 0.00 0.00 -100.72 0.000 16386 0.000 0.000 196 2246 2319 2262 2376 0 0 0 0 0 0 14.53 28.83 14.55

153 -0.57 -145.9 197 2240 2262 2376 3.9 -5.1 10 206 12.85 2.65 -31.98 0.000 18724 0.455 2.139 2377 3572 3965 3949 3981 0 0 0 0 0 0 13.60 12.59 14.11

326 -0.69 -145.9 2377 3573 3954 3981 40.9 -14.1 44 331 0.00 2.38 0.00 0.000 1158 0.000 0.060 2376 2205 3966 3952 3981 0 0 0 0 0 0 14.28 14.15 14.32

638 -0.80 -145.9 2377 2206 3955 3982 81.0 -10.4 76 639 0.17 0.00 0.00 0.000 4230 0.116 0.000 2309 2204 3967 3954 3981 0 0 0 0 0 0 14.24 14.38 14.33

946 -0.83 -145.9 2309 2204 3955 3981 127.1 -14.2 95 951 0.00 2.42 0.00 0.000 388 0.000 0.086 2305 3579 3967 3954 3981 0 0 0 0 0 0 14.62 14.16 14.64

986 -0.94 -145.9 2306 3579 3955 3980 132.1 -11.6 103 991 0.00 2.35 0.00 0.000 1158 0.000 0.057 2305 2197 3967 3954 3981 0 0 0 0 0 0 14.35 14.23 14.38

1308 -0.99 -145.9 2306 2198 3955 3982 172.2 -12.2 117 1314 0.12 2.45 0.00 0.000 4484 0.135 0.083 2243 3580 3965 3950 3981 0 0 0 0 0 0 14.19 14.07 14.23

1344 -0.99 -145.9 2243 3581 3954 3982 177.9 -16.0 124 1349 0.00 2.38 0.00 0.000 1030 0.000 0.058 2242 2199 3967 3954 3981 0 0 0 0 0 0 14.19 14.09 14.23

1669 -0.95 -145.9 2243 2198 3955 3982 232.5 -16.4 139 1674 0.12 2.45 0.00 0.000 2436 0.290 0.084 2262 3575 3967 3954 3981 0 0 0 0 0 0 13.80 14.02 13.96

1766 -1.05 -145.9 2267 3576 3955 3980 244.9 -12.1 158 1771 0.00 2.38 0.00 0.000 1158 0.000 0.057 2262 2193 3967 3954 3981 0 0 0 0 0 0 14.20 14.08 14.23

2091 -1.07 -145.9 2269 2192 3952 3981 286.8 -12.1 173 2097 0.00 2.45 0.00 0.000 388 0.000 0.086 2253 3572 3967 3954 3981 0 0 0 0 0 0 14.45 14.02 14.47

2152 -1.16 -145.9 2253 3574 3955 3982 293.9 -11.1 185 2158 0.15 2.35 0.00 0.000 5254 0.127 0.057 2197 2199 3967 3954 3981 0 0 0 0 0 0 14.04 14.00 14.15

2483 -1.09 -145.9 2197 2198 3954 3982 347.1 -15.8 201 2489 0.12 2.45 0.00 0.000 2436 0.298 0.086 2221 3573 3967 3954 3980 0 0 0 0 0 0 13.72 13.97 13.90

2620 -1.12 -145.9 2222 3573 3954 3981 364.5 -12.1 228 2624 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2194 3968 3957 3980 0 0 0 0 0 0 14.16 14.03 14.19

2935 -1.12 -145.9 2222 2193 3955 3980 406.2 -13.1 241 2940 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3573 3966 3953 3980 0 0 0 0 0 0 14.44 13.97 14.46

3035 -1.19 -145.9 2222 3574 3960 3981 418.6 -11.6 261 3041 0.00 2.35 0.00 0.000 1158 0.000 0.057 2221 2199 3964 3949 3980 0 0 0 0 0 0 14.19 14.07 14.26

3356 -1.19 -145.9 2222 2199 3953 3979 459.8 -12.9 275 3360 0.00 2.47 0.00 0.000 260 0.000 0.087 2222 3580 3966 3953 3979 0 0 0 0 0 0 14.45 14.00 14.46

3431 -1.26 -145.9 2222 3581 3954 3979 469.0 -11.9 290 3436 0.15 2.38 0.00 0.000 5254 0.125 0.056 2163 2195 3965 3952 3979 0 0 0 0 0 0 14.10 14.07 14.21

3504 end dive: TARGET_DEPTH_EXCEEDED

state 3504 begin apogee

3510 -0.13 0.0 2164 2067 3953 3981 481.5 -17.2 295 3729 1.55 0.00 215.70 1.428 10246 0.276 0.000 2528 2065 3366 3388 3344 0 0 0 0 0 0 13.66 13.39 12.59

3733 end apogee: CONTROL_FINISHED_OK

state 3735 begin climb

3737 0.57 145.9 2529 2065 3383 3336 493.6 0.0 302 4130 0.75 0.00 208.55 1.379 10502 0.064 0.000 2779 2065 2756 2801 2712 0 0 0 0 0 0 13.50 12.88 12.30

4450 0.17 145.9 2780 2065 2798 2711 428.2 15.0 318 4452 0.62 0.00 0.00 0.000 4230 0.318 0.000 2644 2065 2754 2797 2711 0 0 0 0 0 0 13.73 14.21 14.14

4750 0.03 167.3 2643 2066 2798 2711 400.2 9.0 328 4782 0.17 0.00 27.27 1.487 12966 0.278 0.000 2601 2065 2681 2725 2637 0 0 0 0 0 0 13.94 14.11 13.28

5080 0.03 218.3 2601 2066 2723 2625 375.0 7.6 344 5165 0.00 2.53 78.40 1.379 8612 0.000 0.084 2601 3472 2468 2526 2410 0 0 0 0 0 0 14.59 13.93 13.14

5190 0.03 218.3 2601 3472 2518 2411 365.7 10.0 356 5195 0.00 2.33 0.00 0.000 1030 0.000 0.060 2602 2129 2465 2519 2411 0 0 0 0 0 0 14.08 14.00 14.13

5500 0.05 245.6 2602 2129 2516 2407 338.4 8.7 368 5545 0.00 2.55 39.67 1.399 8740 0.000 0.086 2603 686 2360 2408 2312 0 0 0 0 0 0 14.56 13.85 13.22

5613 0.18 279.4 2602 686 2401 2310 328.9 8.4 390 5671 0.12 2.42 52.12 1.353 11430 0.129 0.079 2661 2063 2220 2267 2173 0 0 0 0 0 0 14.15 14.07 13.12

5981 0.13 279.4 2661 2062 2267 2158 283.8 12.1 414 5983 0.15 0.00 0.00 0.000 4230 0.239 0.000 2628 2063 2214 2266 2162 0 0 0 0 0 0 14.04 14.34 14.28

6282 0.20 319.9 2628 2064 2265 2156 257.5 8.1 424 6346 0.00 0.00 62.92 1.310 8358 0.000 0.000 2625 2063 2059 2109 2009 0 0 0 0 0 0 14.63 14.00 13.24

6642 0.31 371.8 2628 2065 2102 1998 229.1 7.6 436 6733 0.12 2.47 84.50 1.259 10916 0.126 0.086 2697 687 1844 1878 1811 0 0 0 0 0 0 14.31 13.72 13.17

6783 0.37 371.8 2698 687 1869 1811 213.6 11.0 464 6788 0.00 2.50 0.00 0.000 1158 0.000 0.078 2697 2099 1838 1866 1810 0 0 0 0 0 0 14.12 14.00 14.14

7093 0.37 371.8 2697 2101 1867 1804 179.4 10.7 476 7094 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2099 1835 1868 1803 0 0 0 0 0 0 14.57 14.59 14.59

7393 0.37 371.8 2698 2100 1867 1800 148.3 10.2 486 7398 0.00 2.47 0.00 0.000 516 0.000 0.088 2699 682 1833 1866 1800 0 0 0 0 0 0 14.62 14.25 14.66

7488 0.44 383.7 2699 682 1863 1800 139.2 9.5 505 7509 0.00 2.45 14.18 1.458 9382 0.000 0.079 2699 2101 1798 1829 1768 0 0 0 0 0 0 14.39 14.26 13.32

7814 0.49 409.6 2699 2101 1827 1763 109.3 8.8 520 7860 0.12 0.00 40.88 1.296 10662 0.134 0.000 2758 2101 1692 1718 1666 0 0 0 0 0 0 14.34 14.05 13.31

8165 0.45 409.6 2759 2101 1715 1655 67.2 11.7 554 8170 0.12 2.47 0.00 0.000 4740 0.247 0.083 2732 689 1684 1714 1655 0 0 0 0 0 0 13.92 14.14 14.07

8267 0.56 457.7 2732 690 1711 1656 58.6 7.8 574 8299 0.00 2.47 24.65 0.378 9382 0.000 0.080 2728 2108 1497 1531 1464 0 0 0 0 0 0 14.23 14.10 13.66

8595 0.74 573.0 2732 2108 1532 1458 38.0 4.7 610 8660 0.22 2.58 59.88 0.311 10916 0.093 0.088 2822 691 1026 1094 958 0 0 0 0 0 0 13.87 14.09 13.83

8707 0.79 573.0 2822 689 1094 957 27.8 10.0 631 8714 0.00 2.47 0.00 0.000 1158 0.000 0.076 2822 2103 1025 1093 957 0 0 0 0 0 0 14.14 14.02 14.17

9011 0.86 608.7 2822 2105 1093 950 2.1 8.4 662 9016 0.12 0.00 3.92 0.223 10914 0.127 0.000 2883 2105 991 1064 919 0 0 0 0 0 0 14.18 28.83 14.23

9017 end climb: SURFACE_DEPTH_REACHED

state 9017 begin surface coast

9039 end surface coast: CONTROL_FINISHED_OK

state 9039 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	231	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	651.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	58	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,192003,7441.9946,-15250.5898,38,0.8,38,19.8,0.0,0.0,10,9.6	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	1.21	MHEAD_RNG_PITCHd_Wd	14.0,122087,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	020917,193839,7441.9771,-15250.6846,7,0.7,9,19.8,0.0,61.9,11,9.9

FINISH	0.1,1.021511	_24V_AH	12.30,153.651
SM_CCo	9060,68.00,0.208,0,0,499,702.78	_10V_AH	12.14,0.000
SM_GC	1.26,8.25,0.17,68.00,0.076,0.125,0.208,198,2215,499,-7.39,-0.62,702.78,0,0,0,0,0,0,14.33,14.30,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	362	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7441.48,-15256.96,020917,192958	DATA_FILE_SIZE	23399,666
TT8_MAMPS	0.039697,0.961716	CAP_FILE_SIZE	100424,0
HUMID	47.08	CFSIZE	2097872896,2017460224
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	1447.2
XPDR_PINGS	9	CURRENT	0.066,265.84,1
CP_FREE	15973711872.000000	GPS	020917,221233,7442.840,-15248.444,18,0.7,24,19.8,0.0,0.0,10,9.8
PM_FREEKB_00	51115776

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.84	nil	0	0	0.00
Roll_motor	68	2138	1810.06	nil	0	0	0.00
VBD_pump_during_apogee	912	1487	16694.26	nil	0	0	0.00
VBD_pump_during_surface	68	208	174.04	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	9070	14	1636.27
Iridium_during_xfer	608	157	1179.88	NCP	9033	20	2222.12
Transponder_ping	2	420	11.62	PMAR	9015	9	1099.42
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.19
TT8	0	0	0.00
LPSleep	6681	2	187.36
TT8_Active	891	13	151.16
TT8_Sampling	2389	33	970.21
TT8_CF8	299	38	140.79
TT8_Kalman	0	0	0.00
Analog_circuits	2454	10	297.94
GPS_charging	0	0	0.00
Compass	956	7	81.32
RAFOS	2192	48	1277.32
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	197	2241	495	490	0.0	0.0	0	150	0.00	0.00	-100.72	0.000	16386	0.000	0.000	196	2246	2319	2262	2376	0	0	0	0	0	0	14.53	28.83	14.55
153	-0.57	-145.9	197	2240	2262	2376	3.9	-5.1	10	206	12.85	2.65	-31.98	0.000	18724	0.455	2.139	2377	3572	3965	3949	3981	0	0	0	0	0	0	13.60	12.59	14.11
326	-0.69	-145.9	2377	3573	3954	3981	40.9	-14.1	44	331	0.00	2.38	0.00	0.000	1158	0.000	0.060	2376	2205	3966	3952	3981	0	0	0	0	0	0	14.28	14.15	14.32
638	-0.80	-145.9	2377	2206	3955	3982	81.0	-10.4	76	639	0.17	0.00	0.00	0.000	4230	0.116	0.000	2309	2204	3967	3954	3981	0	0	0	0	0	0	14.24	14.38	14.33
946	-0.83	-145.9	2309	2204	3955	3981	127.1	-14.2	95	951	0.00	2.42	0.00	0.000	388	0.000	0.086	2305	3579	3967	3954	3981	0	0	0	0	0	0	14.62	14.16	14.64
986	-0.94	-145.9	2306	3579	3955	3980	132.1	-11.6	103	991	0.00	2.35	0.00	0.000	1158	0.000	0.057	2305	2197	3967	3954	3981	0	0	0	0	0	0	14.35	14.23	14.38
1308	-0.99	-145.9	2306	2198	3955	3982	172.2	-12.2	117	1314	0.12	2.45	0.00	0.000	4484	0.135	0.083	2243	3580	3965	3950	3981	0	0	0	0	0	0	14.19	14.07	14.23
1344	-0.99	-145.9	2243	3581	3954	3982	177.9	-16.0	124	1349	0.00	2.38	0.00	0.000	1030	0.000	0.058	2242	2199	3967	3954	3981	0	0	0	0	0	0	14.19	14.09	14.23
1669	-0.95	-145.9	2243	2198	3955	3982	232.5	-16.4	139	1674	0.12	2.45	0.00	0.000	2436	0.290	0.084	2262	3575	3967	3954	3981	0	0	0	0	0	0	13.80	14.02	13.96
1766	-1.05	-145.9	2267	3576	3955	3980	244.9	-12.1	158	1771	0.00	2.38	0.00	0.000	1158	0.000	0.057	2262	2193	3967	3954	3981	0	0	0	0	0	0	14.20	14.08	14.23
2091	-1.07	-145.9	2269	2192	3952	3981	286.8	-12.1	173	2097	0.00	2.45	0.00	0.000	388	0.000	0.086	2253	3572	3967	3954	3981	0	0	0	0	0	0	14.45	14.02	14.47
2152	-1.16	-145.9	2253	3574	3955	3982	293.9	-11.1	185	2158	0.15	2.35	0.00	0.000	5254	0.127	0.057	2197	2199	3967	3954	3981	0	0	0	0	0	0	14.04	14.00	14.15
2483	-1.09	-145.9	2197	2198	3954	3982	347.1	-15.8	201	2489	0.12	2.45	0.00	0.000	2436	0.298	0.086	2221	3573	3967	3954	3980	0	0	0	0	0	0	13.72	13.97	13.90
2620	-1.12	-145.9	2222	3573	3954	3981	364.5	-12.1	228	2624	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2194	3968	3957	3980	0	0	0	0	0	0	14.16	14.03	14.19
2935	-1.12	-145.9	2222	2193	3955	3980	406.2	-13.1	241	2940	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3573	3966	3953	3980	0	0	0	0	0	0	14.44	13.97	14.46
3035	-1.19	-145.9	2222	3574	3960	3981	418.6	-11.6	261	3041	0.00	2.35	0.00	0.000	1158	0.000	0.057	2221	2199	3964	3949	3980	0	0	0	0	0	0	14.19	14.07	14.26
3356	-1.19	-145.9	2222	2199	3953	3979	459.8	-12.9	275	3360	0.00	2.47	0.00	0.000	260	0.000	0.087	2222	3580	3966	3953	3979	0	0	0	0	0	0	14.45	14.00	14.46
3431	-1.26	-145.9	2222	3581	3954	3979	469.0	-11.9	290	3436	0.15	2.38	0.00	0.000	5254	0.125	0.056	2163	2195	3965	3952	3979	0	0	0	0	0	0	14.10	14.07	14.21
3504	end dive: TARGET_DEPTH_EXCEEDED
state	3504	begin apogee
3510	-0.13	0.0	2164	2067	3953	3981	481.5	-17.2	295	3729	1.55	0.00	215.70	1.428	10246	0.276	0.000	2528	2065	3366	3388	3344	0	0	0	0	0	0	13.66	13.39	12.59
3733	end apogee: CONTROL_FINISHED_OK
state	3735	begin climb
3737	0.57	145.9	2529	2065	3383	3336	493.6	0.0	302	4130	0.75	0.00	208.55	1.379	10502	0.064	0.000	2779	2065	2756	2801	2712	0	0	0	0	0	0	13.50	12.88	12.30
4450	0.17	145.9	2780	2065	2798	2711	428.2	15.0	318	4452	0.62	0.00	0.00	0.000	4230	0.318	0.000	2644	2065	2754	2797	2711	0	0	0	0	0	0	13.73	14.21	14.14
4750	0.03	167.3	2643	2066	2798	2711	400.2	9.0	328	4782	0.17	0.00	27.27	1.487	12966	0.278	0.000	2601	2065	2681	2725	2637	0	0	0	0	0	0	13.94	14.11	13.28
5080	0.03	218.3	2601	2066	2723	2625	375.0	7.6	344	5165	0.00	2.53	78.40	1.379	8612	0.000	0.084	2601	3472	2468	2526	2410	0	0	0	0	0	0	14.59	13.93	13.14
5190	0.03	218.3	2601	3472	2518	2411	365.7	10.0	356	5195	0.00	2.33	0.00	0.000	1030	0.000	0.060	2602	2129	2465	2519	2411	0	0	0	0	0	0	14.08	14.00	14.13
5500	0.05	245.6	2602	2129	2516	2407	338.4	8.7	368	5545	0.00	2.55	39.67	1.399	8740	0.000	0.086	2603	686	2360	2408	2312	0	0	0	0	0	0	14.56	13.85	13.22
5613	0.18	279.4	2602	686	2401	2310	328.9	8.4	390	5671	0.12	2.42	52.12	1.353	11430	0.129	0.079	2661	2063	2220	2267	2173	0	0	0	0	0	0	14.15	14.07	13.12
5981	0.13	279.4	2661	2062	2267	2158	283.8	12.1	414	5983	0.15	0.00	0.00	0.000	4230	0.239	0.000	2628	2063	2214	2266	2162	0	0	0	0	0	0	14.04	14.34	14.28
6282	0.20	319.9	2628	2064	2265	2156	257.5	8.1	424	6346	0.00	0.00	62.92	1.310	8358	0.000	0.000	2625	2063	2059	2109	2009	0	0	0	0	0	0	14.63	14.00	13.24
6642	0.31	371.8	2628	2065	2102	1998	229.1	7.6	436	6733	0.12	2.47	84.50	1.259	10916	0.126	0.086	2697	687	1844	1878	1811	0	0	0	0	0	0	14.31	13.72	13.17
6783	0.37	371.8	2698	687	1869	1811	213.6	11.0	464	6788	0.00	2.50	0.00	0.000	1158	0.000	0.078	2697	2099	1838	1866	1810	0	0	0	0	0	0	14.12	14.00	14.14
7093	0.37	371.8	2697	2101	1867	1804	179.4	10.7	476	7094	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2099	1835	1868	1803	0	0	0	0	0	0	14.57	14.59	14.59
7393	0.37	371.8	2698	2100	1867	1800	148.3	10.2	486	7398	0.00	2.47	0.00	0.000	516	0.000	0.088	2699	682	1833	1866	1800	0	0	0	0	0	0	14.62	14.25	14.66
7488	0.44	383.7	2699	682	1863	1800	139.2	9.5	505	7509	0.00	2.45	14.18	1.458	9382	0.000	0.079	2699	2101	1798	1829	1768	0	0	0	0	0	0	14.39	14.26	13.32
7814	0.49	409.6	2699	2101	1827	1763	109.3	8.8	520	7860	0.12	0.00	40.88	1.296	10662	0.134	0.000	2758	2101	1692	1718	1666	0	0	0	0	0	0	14.34	14.05	13.31
8165	0.45	409.6	2759	2101	1715	1655	67.2	11.7	554	8170	0.12	2.47	0.00	0.000	4740	0.247	0.083	2732	689	1684	1714	1655	0	0	0	0	0	0	13.92	14.14	14.07
8267	0.56	457.7	2732	690	1711	1656	58.6	7.8	574	8299	0.00	2.47	24.65	0.378	9382	0.000	0.080	2728	2108	1497	1531	1464	0	0	0	0	0	0	14.23	14.10	13.66
8595	0.74	573.0	2732	2108	1532	1458	38.0	4.7	610	8660	0.22	2.58	59.88	0.311	10916	0.093	0.088	2822	691	1026	1094	958	0	0	0	0	0	0	13.87	14.09	13.83
8707	0.79	573.0	2822	689	1094	957	27.8	10.0	631	8714	0.00	2.47	0.00	0.000	1158	0.000	0.076	2822	2103	1025	1093	957	0	0	0	0	0	0	14.14	14.02	14.17
9011	0.86	608.7	2822	2105	1093	950	2.1	8.4	662	9016	0.12	0.00	3.92	0.223	10914	0.127	0.000	2883	2105	991	1064	919	0	0	0	0	0	0	14.18	28.83	14.23
9017	end climb: SURFACE_DEPTH_REACHED
state	9017	begin surface coast
9039	end surface coast: CONTROL_FINISHED_OK
state	9039	begin surface