Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 270 * 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 270 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 752.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 18 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 752.0 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 61 VBD_MIN 500

DIVE 270 NOCOMM_ACTION 161 R_STBD_OVSHOOT 18 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 070917,061158,7518.7275,-15126.9629,38,0.8,39,20.6,0.5,67.0,10,8.4 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 358.7,45698,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.0 D_GRID 480

GPS2 070917,061754,7518.7598,-15127.0156,8,0.8,10,20.6,0.6,43.8,11,9.4

Post-dive calculations and measurements:

FINISH 0.2,1.007306 _24V_AH 12.30,172.049

SM_CCo 9520,0.00,0.000,0,0,496,703.77 _10V_AH 12.16,0.000

SM_GC 1.26,8.20,0.17,0.00,0.076,0.121,0.000,202,2224,496,-7.37,-0.59,703.77,0,0,0,0,0,0,14.32,14.29,14.39 FG_AHR_24Vo 0.000

RAFOS_CLK 162 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323604

IRIDIUM_FIX 7517.53,-15117.29,070917,032207 DATA_FILE_SIZE 26697,734

TT8_MAMPS 0.039697,0.925764 CAP_FILE_SIZE 102190,0

HUMID 45.55 CFSIZE 2097872896,2008317952

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1447.7

XPDR_PINGS 3 CURRENT 0.052,291.66,1

CP_FREE 0.000000 GPS 070917,085818,7519.871,-15125.499,24,0.7,26,20.6,0.5,59.9,12,10.0

PM_FREEKB_00 49987456

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 148.22 nil 0 0 0.00

Roll_motor 84 2135 2218.61 nil 0 0 0.00

VBD_pump_during_apogee 1040 1419 18158.48 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9388 14 1693.86

Iridium_during_xfer 159 136 269.02 NCP 9431 20 2320.03

Transponder_ping 0 420 3.87 PMAR 9412 9 1144.48

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.17

TT8 0 0 0.00

LPSleep 6635 2 186.39

TT8_Active 911 13 154.76

TT8_Sampling 2107 33 857.13

TT8_CF8 232 38 109.57

TT8_Kalman 0 0 0.00

Analog_circuits 2117 10 257.44

GPS_charging 0 0 0.00

Compass 1052 7 89.61

RAFOS 2202 48 1285.26

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 47 begin dive

50 -0.57 -145.9 188 2204 515 492 0.0 0.0 0 142 0.00 0.00 -91.12 0.000 16386 0.000 0.000 185 2203 2170 2098 2242 0 0 0 0 0 0 14.55 28.83 14.57

145 -0.57 -145.9 186 2203 2102 2248 3.8 -5.5 9 199 12.93 2.88 -35.45 0.000 19236 0.455 2.136 2376 3611 3963 3947 3979 0 0 0 0 0 0 13.56 12.57 14.07

354 -0.74 -145.9 2376 3613 3954 3979 43.0 -12.4 50 360 0.00 2.35 0.00 0.000 1158 0.000 0.056 2375 2227 3965 3953 3978 0 0 0 0 0 0 14.26 14.12 14.27

659 -0.85 -145.9 2376 2226 3955 3980 82.0 -10.4 81 664 0.20 2.50 0.00 0.000 4740 0.106 0.081 2290 793 3966 3954 3979 0 0 0 0 0 0 14.20 14.04 14.24

714 -0.88 -145.9 2292 793 3955 3979 89.9 -14.8 92 721 0.00 2.50 0.00 0.000 1158 0.000 0.090 2286 2200 3966 3954 3979 0 0 0 0 0 0 14.09 13.95 14.13

1029 -0.88 -145.9 2287 2202 3955 3980 136.5 -14.0 108 1035 0.00 2.50 0.00 0.000 260 0.000 0.090 2280 3614 3966 3954 3979 0 0 0 0 0 0 14.64 14.07 14.67

1115 -0.98 -145.9 2281 3617 3955 3980 147.1 -11.5 125 1121 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2201 3966 3954 3979 0 0 0 0 0 0 14.19 14.06 14.23

1420 -1.01 -145.9 2279 2200 3955 3980 186.6 -12.9 136 1421 0.00 0.00 0.00 0.000 134 0.000 0.000 2280 2199 3966 3954 3979 0 0 0 0 0 0 14.66 14.70 14.67

1720 -1.06 -145.9 2280 2200 3955 3980 222.7 -11.7 146 1721 0.12 0.00 0.00 0.000 4230 0.137 0.000 2232 2199 3966 3954 3979 0 0 0 0 0 0 14.30 14.39 14.36

2020 -1.06 -145.9 2235 2200 3955 3987 264.2 -13.4 156 2026 0.00 2.53 0.00 0.000 260 0.000 0.091 2235 3614 3967 3955 3979 0 0 0 0 0 0 14.69 14.09 14.69

2111 -1.13 -145.9 2236 3616 3955 3979 275.2 -11.4 174 2116 0.00 2.42 0.00 0.000 1158 0.000 0.057 2235 2196 3966 3954 3979 0 0 0 0 0 0 14.38 14.23 14.40

2441 -1.13 -145.9 2235 2196 3955 3980 315.2 -11.8 190 2442 0.00 0.00 0.00 0.000 6 0.000 0.000 2235 2195 3965 3952 3979 0 0 0 0 0 0 14.68 14.70 14.70

2741 -1.16 -145.9 2235 2196 3955 3980 349.7 -11.3 200 2747 0.00 2.53 0.00 0.000 388 0.000 0.089 2226 3614 3964 3954 3975 0 0 0 0 0 0 14.69 14.19 14.70

2787 -1.24 -145.9 2228 3616 3955 3979 354.9 -10.8 209 2792 0.15 2.40 0.00 0.000 5254 0.122 0.057 2166 2196 3966 3954 3979 0 0 0 0 0 0 14.28 14.23 14.39

3102 -1.15 -145.9 2166 2195 3955 3979 405.5 -16.2 222 3107 0.17 2.50 0.00 0.000 2436 0.303 0.083 2194 3617 3966 3953 3979 0 0 0 0 0 0 13.75 13.78 13.94

3183 -1.17 -145.9 2195 3618 3954 3976 416.3 -12.5 238 3187 0.00 2.40 0.00 0.000 1158 0.000 0.058 2194 2195 3966 3953 3979 0 0 0 0 0 0 14.35 14.22 14.39

3493 -1.14 -145.9 2194 2194 3955 3981 457.8 -13.3 250 3498 0.00 2.50 0.00 0.000 388 0.000 0.087 2185 3616 3966 3953 3979 0 0 0 0 0 0 14.69 14.16 14.69

3543 -1.14 -145.9 2185 3616 3954 3980 464.6 -13.2 260 3549 0.00 2.40 0.00 0.000 1030 0.000 0.057 2184 2193 3965 3952 3979 0 0 0 0 0 0 14.35 14.22 14.37

3672 end dive: TARGET_DEPTH_EXCEEDED

state 3672 begin apogee

3678 -0.13 0.0 2185 2064 3953 3979 482.9 -14.1 266 3916 1.38 0.08 228.93 1.405 10246 0.247 0.177 2527 2116 3355 3374 3336 0 0 0 0 0 0 13.83 13.47 12.65

3920 end apogee: CONTROL_FINISHED_OK

state 3920 begin climb

3922 0.57 145.9 2527 2117 3373 3332 496.7 0.0 274 4318 0.75 2.00 211.10 1.360 11012 0.062 0.077 2787 725 2752 2788 2716 0 0 0 0 0 0 13.65 13.16 12.30

4545 0.17 145.9 2788 725 2788 2716 455.7 13.4 321 4552 0.70 2.40 0.00 0.000 5254 0.329 0.076 2638 2095 2751 2787 2715 0 0 0 0 0 0 13.63 14.03 14.04

4848 0.02 181.3 2638 2095 2788 2712 429.1 8.4 332 4903 0.17 0.00 50.72 1.400 12966 0.275 0.000 2597 2095 2623 2671 2575 0 0 0 0 0 0 13.93 14.02 13.21

5210 0.01 225.2 2597 2096 2665 2557 401.0 8.0 354 5283 0.00 0.00 70.93 1.344 8870 0.000 0.000 2597 2095 2445 2502 2388 0 0 0 0 0 0 14.57 13.90 13.14

5599 0.03 255.8 2597 2095 2489 2372 367.7 8.6 377 5653 0.00 2.45 47.05 1.368 8740 0.000 0.086 2602 725 2314 2364 2265 0 0 0 0 0 0 14.58 14.04 13.19

5690 0.12 287.2 2602 725 2359 2261 360.0 8.6 395 5745 0.00 2.42 49.05 1.351 9382 0.000 0.079 2602 2106 2192 2245 2140 0 0 0 0 0 0 14.19 14.08 13.09

6070 0.18 311.3 2602 2107 2231 2122 327.3 8.9 417 6113 0.12 2.50 35.47 1.375 10660 0.129 0.081 2667 3513 2090 2138 2042 0 0 0 0 0 0 14.21 14.04 13.19

6150 0.06 311.3 2666 3513 2127 2039 315.1 15.5 433 6156 0.30 2.40 0.00 0.000 5254 0.262 0.064 2606 2131 2082 2126 2039 0 0 0 0 0 0 13.34 13.96 13.55

6461 0.14 339.8 2607 2131 2127 2032 286.3 8.7 445 6515 0.00 2.62 45.90 1.333 8868 0.000 0.090 2606 685 1972 2018 1926 0 0 0 0 0 0 14.47 13.98 13.22

6611 0.32 388.7 2607 685 2008 1921 274.0 7.7 475 6702 0.25 2.50 83.30 1.254 11430 0.086 0.080 2699 2102 1777 1804 1750 0 0 0 0 0 0 14.14 14.05 13.06

7001 0.28 388.7 2699 2103 1794 1734 220.5 13.1 503 7006 0.00 2.53 0.00 0.000 644 0.000 0.090 2700 686 1763 1793 1733 0 0 0 0 0 0 14.40 14.06 14.42

7036 0.28 388.7 2699 691 1790 1734 216.1 12.2 510 7040 0.00 2.50 0.00 0.000 1030 0.000 0.077 2699 2105 1760 1788 1733 0 0 0 0 0 0 14.21 14.10 14.26

7361 0.28 388.7 2700 2105 1791 1730 177.4 11.4 525 7366 0.00 2.53 0.00 0.000 516 0.000 0.088 2700 687 1759 1788 1731 0 0 0 0 0 0 14.47 14.07 14.48

7396 0.31 388.7 2699 688 1788 1733 173.5 10.8 532 7401 0.00 2.50 0.00 0.000 1158 0.000 0.077 2699 2106 1763 1790 1736 0 0 0 0 0 0 14.28 14.11 14.29

7721 0.31 388.7 2700 2106 1787 1730 138.7 10.5 547 7722 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2106 1758 1787 1730 0 0 0 0 0 0 14.47 14.49 14.49

8021 0.31 400.2 2700 2107 1787 1730 108.9 9.5 557 8032 0.00 2.53 4.05 1.419 8740 0.000 0.087 2700 696 1732 1762 1703 0 0 0 0 0 0 14.47 14.11 13.03

8097 0.42 434.8 2700 697 1769 1711 102.1 8.4 572 8175 0.00 2.47 70.40 1.240 9382 0.000 0.079 2699 2105 1590 1621 1559 0 0 0 0 0 0 14.25 14.12 13.18

8474 0.55 503.6 2700 2105 1617 1548 72.4 6.8 617 8515 0.17 2.47 34.42 0.415 10660 0.108 0.078 2774 3511 1311 1361 1262 0 0 0 0 0 0 14.14 13.87 13.59

8527 0.48 503.6 2774 3511 1362 1273 67.1 11.6 625 8533 0.20 2.42 0.00 0.000 5254 0.269 0.067 2739 2098 1314 1362 1267 0 0 0 0 0 0 13.80 13.99 14.07

8839 0.64 585.7 2739 2099 1362 1268 44.3 6.2 657 8892 0.12 2.53 43.97 0.332 10916 0.122 0.090 2796 691 978 1043 913 0 0 0 0 0 0 14.27 14.04 13.74

8987 0.77 638.1 2795 692 1044 915 32.2 7.6 686 9024 0.00 2.47 29.15 0.295 9382 0.000 0.078 2795 2103 761 827 696 0 0 0 0 0 0 14.24 14.09 13.73

9323 0.97 727.2 2795 2103 828 701 8.8 5.9 723 9366 0.30 2.53 35.88 0.231 10916 0.086 0.093 2912 687 495 516 474 0 0 0 0 0 0 14.31 13.97 13.84

9371 0.86 727.2 2911 688 518 473 3.3 13.1 731 9377 0.22 2.47 0.00 0.000 5254 0.256 0.073 2863 2107 498 516 480 0 0 0 0 0 0 13.86 14.10 14.19

9383 end climb: SURFACE_DEPTH_REACHED

state 9383 begin surface coast

9394 end surface coast: CONTROL_FINISHED_OK

state 9394 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	270	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	752.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	18	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,061158,7518.7275,-15126.9629,38,0.8,39,20.6,0.5,67.0,10,8.4	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	358.7,45698,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.0	D_GRID	480
GPS2	070917,061754,7518.7598,-15127.0156,8,0.8,10,20.6,0.6,43.8,11,9.4

FINISH	0.2,1.007306	_24V_AH	12.30,172.049
SM_CCo	9520,0.00,0.000,0,0,496,703.77	_10V_AH	12.16,0.000
SM_GC	1.26,8.20,0.17,0.00,0.076,0.121,0.000,202,2224,496,-7.37,-0.59,703.77,0,0,0,0,0,0,14.32,14.29,14.39	FG_AHR_24Vo	0.000
RAFOS_CLK	162	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323604
IRIDIUM_FIX	7517.53,-15117.29,070917,032207	DATA_FILE_SIZE	26697,734
TT8_MAMPS	0.039697,0.925764	CAP_FILE_SIZE	102190,0
HUMID	45.55	CFSIZE	2097872896,2008317952
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.7
XPDR_PINGS	3	CURRENT	0.052,291.66,1
CP_FREE	0.000000	GPS	070917,085818,7519.871,-15125.499,24,0.7,26,20.6,0.5,59.9,12,10.0
PM_FREEKB_00	49987456

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	148.22	nil	0	0	0.00
Roll_motor	84	2135	2218.61	nil	0	0	0.00
VBD_pump_during_apogee	1040	1419	18158.48	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9388	14	1693.86
Iridium_during_xfer	159	136	269.02	NCP	9431	20	2320.03
Transponder_ping	0	420	3.87	PMAR	9412	9	1144.48
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.17
TT8	0	0	0.00
LPSleep	6635	2	186.39
TT8_Active	911	13	154.76
TT8_Sampling	2107	33	857.13
TT8_CF8	232	38	109.57
TT8_Kalman	0	0	0.00
Analog_circuits	2117	10	257.44
GPS_charging	0	0	0.00
Compass	1052	7	89.61
RAFOS	2202	48	1285.26
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	47	begin dive
50	-0.57	-145.9	188	2204	515	492	0.0	0.0	0	142	0.00	0.00	-91.12	0.000	16386	0.000	0.000	185	2203	2170	2098	2242	0	0	0	0	0	0	14.55	28.83	14.57
145	-0.57	-145.9	186	2203	2102	2248	3.8	-5.5	9	199	12.93	2.88	-35.45	0.000	19236	0.455	2.136	2376	3611	3963	3947	3979	0	0	0	0	0	0	13.56	12.57	14.07
354	-0.74	-145.9	2376	3613	3954	3979	43.0	-12.4	50	360	0.00	2.35	0.00	0.000	1158	0.000	0.056	2375	2227	3965	3953	3978	0	0	0	0	0	0	14.26	14.12	14.27
659	-0.85	-145.9	2376	2226	3955	3980	82.0	-10.4	81	664	0.20	2.50	0.00	0.000	4740	0.106	0.081	2290	793	3966	3954	3979	0	0	0	0	0	0	14.20	14.04	14.24
714	-0.88	-145.9	2292	793	3955	3979	89.9	-14.8	92	721	0.00	2.50	0.00	0.000	1158	0.000	0.090	2286	2200	3966	3954	3979	0	0	0	0	0	0	14.09	13.95	14.13
1029	-0.88	-145.9	2287	2202	3955	3980	136.5	-14.0	108	1035	0.00	2.50	0.00	0.000	260	0.000	0.090	2280	3614	3966	3954	3979	0	0	0	0	0	0	14.64	14.07	14.67
1115	-0.98	-145.9	2281	3617	3955	3980	147.1	-11.5	125	1121	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2201	3966	3954	3979	0	0	0	0	0	0	14.19	14.06	14.23
1420	-1.01	-145.9	2279	2200	3955	3980	186.6	-12.9	136	1421	0.00	0.00	0.00	0.000	134	0.000	0.000	2280	2199	3966	3954	3979	0	0	0	0	0	0	14.66	14.70	14.67
1720	-1.06	-145.9	2280	2200	3955	3980	222.7	-11.7	146	1721	0.12	0.00	0.00	0.000	4230	0.137	0.000	2232	2199	3966	3954	3979	0	0	0	0	0	0	14.30	14.39	14.36
2020	-1.06	-145.9	2235	2200	3955	3987	264.2	-13.4	156	2026	0.00	2.53	0.00	0.000	260	0.000	0.091	2235	3614	3967	3955	3979	0	0	0	0	0	0	14.69	14.09	14.69
2111	-1.13	-145.9	2236	3616	3955	3979	275.2	-11.4	174	2116	0.00	2.42	0.00	0.000	1158	0.000	0.057	2235	2196	3966	3954	3979	0	0	0	0	0	0	14.38	14.23	14.40
2441	-1.13	-145.9	2235	2196	3955	3980	315.2	-11.8	190	2442	0.00	0.00	0.00	0.000	6	0.000	0.000	2235	2195	3965	3952	3979	0	0	0	0	0	0	14.68	14.70	14.70
2741	-1.16	-145.9	2235	2196	3955	3980	349.7	-11.3	200	2747	0.00	2.53	0.00	0.000	388	0.000	0.089	2226	3614	3964	3954	3975	0	0	0	0	0	0	14.69	14.19	14.70
2787	-1.24	-145.9	2228	3616	3955	3979	354.9	-10.8	209	2792	0.15	2.40	0.00	0.000	5254	0.122	0.057	2166	2196	3966	3954	3979	0	0	0	0	0	0	14.28	14.23	14.39
3102	-1.15	-145.9	2166	2195	3955	3979	405.5	-16.2	222	3107	0.17	2.50	0.00	0.000	2436	0.303	0.083	2194	3617	3966	3953	3979	0	0	0	0	0	0	13.75	13.78	13.94
3183	-1.17	-145.9	2195	3618	3954	3976	416.3	-12.5	238	3187	0.00	2.40	0.00	0.000	1158	0.000	0.058	2194	2195	3966	3953	3979	0	0	0	0	0	0	14.35	14.22	14.39
3493	-1.14	-145.9	2194	2194	3955	3981	457.8	-13.3	250	3498	0.00	2.50	0.00	0.000	388	0.000	0.087	2185	3616	3966	3953	3979	0	0	0	0	0	0	14.69	14.16	14.69
3543	-1.14	-145.9	2185	3616	3954	3980	464.6	-13.2	260	3549	0.00	2.40	0.00	0.000	1030	0.000	0.057	2184	2193	3965	3952	3979	0	0	0	0	0	0	14.35	14.22	14.37
3672	end dive: TARGET_DEPTH_EXCEEDED
state	3672	begin apogee
3678	-0.13	0.0	2185	2064	3953	3979	482.9	-14.1	266	3916	1.38	0.08	228.93	1.405	10246	0.247	0.177	2527	2116	3355	3374	3336	0	0	0	0	0	0	13.83	13.47	12.65
3920	end apogee: CONTROL_FINISHED_OK
state	3920	begin climb
3922	0.57	145.9	2527	2117	3373	3332	496.7	0.0	274	4318	0.75	2.00	211.10	1.360	11012	0.062	0.077	2787	725	2752	2788	2716	0	0	0	0	0	0	13.65	13.16	12.30
4545	0.17	145.9	2788	725	2788	2716	455.7	13.4	321	4552	0.70	2.40	0.00	0.000	5254	0.329	0.076	2638	2095	2751	2787	2715	0	0	0	0	0	0	13.63	14.03	14.04
4848	0.02	181.3	2638	2095	2788	2712	429.1	8.4	332	4903	0.17	0.00	50.72	1.400	12966	0.275	0.000	2597	2095	2623	2671	2575	0	0	0	0	0	0	13.93	14.02	13.21
5210	0.01	225.2	2597	2096	2665	2557	401.0	8.0	354	5283	0.00	0.00	70.93	1.344	8870	0.000	0.000	2597	2095	2445	2502	2388	0	0	0	0	0	0	14.57	13.90	13.14
5599	0.03	255.8	2597	2095	2489	2372	367.7	8.6	377	5653	0.00	2.45	47.05	1.368	8740	0.000	0.086	2602	725	2314	2364	2265	0	0	0	0	0	0	14.58	14.04	13.19
5690	0.12	287.2	2602	725	2359	2261	360.0	8.6	395	5745	0.00	2.42	49.05	1.351	9382	0.000	0.079	2602	2106	2192	2245	2140	0	0	0	0	0	0	14.19	14.08	13.09
6070	0.18	311.3	2602	2107	2231	2122	327.3	8.9	417	6113	0.12	2.50	35.47	1.375	10660	0.129	0.081	2667	3513	2090	2138	2042	0	0	0	0	0	0	14.21	14.04	13.19
6150	0.06	311.3	2666	3513	2127	2039	315.1	15.5	433	6156	0.30	2.40	0.00	0.000	5254	0.262	0.064	2606	2131	2082	2126	2039	0	0	0	0	0	0	13.34	13.96	13.55
6461	0.14	339.8	2607	2131	2127	2032	286.3	8.7	445	6515	0.00	2.62	45.90	1.333	8868	0.000	0.090	2606	685	1972	2018	1926	0	0	0	0	0	0	14.47	13.98	13.22
6611	0.32	388.7	2607	685	2008	1921	274.0	7.7	475	6702	0.25	2.50	83.30	1.254	11430	0.086	0.080	2699	2102	1777	1804	1750	0	0	0	0	0	0	14.14	14.05	13.06
7001	0.28	388.7	2699	2103	1794	1734	220.5	13.1	503	7006	0.00	2.53	0.00	0.000	644	0.000	0.090	2700	686	1763	1793	1733	0	0	0	0	0	0	14.40	14.06	14.42
7036	0.28	388.7	2699	691	1790	1734	216.1	12.2	510	7040	0.00	2.50	0.00	0.000	1030	0.000	0.077	2699	2105	1760	1788	1733	0	0	0	0	0	0	14.21	14.10	14.26
7361	0.28	388.7	2700	2105	1791	1730	177.4	11.4	525	7366	0.00	2.53	0.00	0.000	516	0.000	0.088	2700	687	1759	1788	1731	0	0	0	0	0	0	14.47	14.07	14.48
7396	0.31	388.7	2699	688	1788	1733	173.5	10.8	532	7401	0.00	2.50	0.00	0.000	1158	0.000	0.077	2699	2106	1763	1790	1736	0	0	0	0	0	0	14.28	14.11	14.29
7721	0.31	388.7	2700	2106	1787	1730	138.7	10.5	547	7722	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2106	1758	1787	1730	0	0	0	0	0	0	14.47	14.49	14.49
8021	0.31	400.2	2700	2107	1787	1730	108.9	9.5	557	8032	0.00	2.53	4.05	1.419	8740	0.000	0.087	2700	696	1732	1762	1703	0	0	0	0	0	0	14.47	14.11	13.03
8097	0.42	434.8	2700	697	1769	1711	102.1	8.4	572	8175	0.00	2.47	70.40	1.240	9382	0.000	0.079	2699	2105	1590	1621	1559	0	0	0	0	0	0	14.25	14.12	13.18
8474	0.55	503.6	2700	2105	1617	1548	72.4	6.8	617	8515	0.17	2.47	34.42	0.415	10660	0.108	0.078	2774	3511	1311	1361	1262	0	0	0	0	0	0	14.14	13.87	13.59
8527	0.48	503.6	2774	3511	1362	1273	67.1	11.6	625	8533	0.20	2.42	0.00	0.000	5254	0.269	0.067	2739	2098	1314	1362	1267	0	0	0	0	0	0	13.80	13.99	14.07
8839	0.64	585.7	2739	2099	1362	1268	44.3	6.2	657	8892	0.12	2.53	43.97	0.332	10916	0.122	0.090	2796	691	978	1043	913	0	0	0	0	0	0	14.27	14.04	13.74
8987	0.77	638.1	2795	692	1044	915	32.2	7.6	686	9024	0.00	2.47	29.15	0.295	9382	0.000	0.078	2795	2103	761	827	696	0	0	0	0	0	0	14.24	14.09	13.73
9323	0.97	727.2	2795	2103	828	701	8.8	5.9	723	9366	0.30	2.53	35.88	0.231	10916	0.086	0.093	2912	687	495	516	474	0	0	0	0	0	0	14.31	13.97	13.84
9371	0.86	727.2	2911	688	518	473	3.3	13.1	731	9377	0.22	2.47	0.00	0.000	5254	0.256	0.073	2863	2107	498	516	480	0	0	0	0	0	0	13.86	14.10	14.19
9383	end climb: SURFACE_DEPTH_REACHED
state	9383	begin surface coast
9394	end surface coast: CONTROL_FINISHED_OK
state	9394	begin surface