Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 275 * 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 275 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 767.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 767.0 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 31 VBD_MIN 500

DIVE 275 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 070917,194702,7524.4658,-15118.4004,33,0.8,33,20.7,1.1,288.1,10,9.0 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 1.24 MHEAD_RNG_PITCHd_Wd 352.6,34646,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.4 D_GRID 480

GPS2 070917,195721,7524.4941,-15118.4824,5,0.7,10,20.7,0.0,182.8,10,9.7

Post-dive calculations and measurements:

FINISH 0.4,1.021485 _24V_AH 12.28,174.335

SM_CCo 8979,0.00,0.000,0,0,494,704.01 _10V_AH 12.17,0.000

SM_GC 1.26,8.02,0.17,0.00,0.063,0.117,0.000,202,2218,494,-7.37,-0.57,704.01,0,0,0,0,0,0,14.28,14.28,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323564

IRIDIUM_FIX 7523.72,-15124.05,070917,171043 DATA_FILE_SIZE 26765,758

TT8_MAMPS 0.040446,0.902545 CAP_FILE_SIZE 99854,0

HUMID 46.41 CFSIZE 2097872896,2007171072

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

TCM_TEMP 13.10 SOUNDSPEED 1446.9

XPDR_PINGS 12 CURRENT 0.021,275.59,1

CP_FREE 15954837504.000000 GPS 070917,222857,7525.582,-15117.129,28,0.8,39,20.7,0.5,245.7,11,9.2

PM_FREEKB_00 49841728

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.07 nil 0 0 0.00

Roll_motor 79 2134 2084.99 nil 0 0 0.00

VBD_pump_during_apogee 1068 1405 18439.26 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 8912 14 1621.34

Iridium_during_xfer 327 169 683.58 NCP 8884 20 2181.91

Transponder_ping 3 420 15.47 PMAR 8870 9 1079.11

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.11

TT8 0 0 0.00

LPSleep 6038 2 169.77

TT8_Active 842 13 143.16

TT8_Sampling 2466 33 1003.63

TT8_CF8 266 38 125.70

TT8_Kalman 0 0 0.00

Analog_circuits 2454 10 298.72

GPS_charging 0 0 0.00

Compass 1086 7 92.55

RAFOS 2212 48 1292.16

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

52 -0.57 -145.9 173 2233 493 479 0.0 0.0 0 140 0.00 0.00 -87.43 0.000 16386 0.000 0.000 171 2232 2032 1965 2100 0 0 0 0 0 0 14.51 28.83 14.56

143 -0.57 -145.9 170 2233 1965 2102 3.1 -3.4 9 207 13.18 2.78 -44.33 0.000 18724 0.455 2.134 2375 3585 3964 3949 3979 1 0 0 0 0 0 13.24 12.61 14.01

327 -0.71 -145.9 2375 3587 3955 3981 39.0 -13.7 45 332 0.00 2.42 0.00 0.000 1158 0.000 0.058 2375 2208 3966 3954 3979 0 0 0 0 0 0 13.90 13.33 14.00

638 -0.83 -145.9 2375 2206 3957 3979 83.4 -11.3 77 639 0.20 0.00 0.00 0.000 4230 0.111 0.000 2299 2206 3968 3956 3980 0 0 0 0 0 0 13.95 14.07 14.04

957 -0.86 -145.9 2299 2207 3956 3980 132.4 -14.1 95 963 0.00 2.50 0.00 0.000 388 0.000 0.087 2294 3590 3967 3956 3978 0 0 0 0 0 0 14.43 13.96 14.45

1068 -0.97 -145.9 2293 3593 3956 3981 145.7 -11.8 117 1073 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2188 3967 3955 3979 0 0 0 0 0 0 14.14 14.02 14.18

1379 -1.03 -145.9 2293 2187 3962 3981 184.2 -12.1 129 1384 0.12 2.53 0.00 0.000 4484 0.135 0.085 2236 3594 3967 3955 3979 0 0 0 0 0 0 14.09 14.00 14.13

1444 -1.06 -145.9 2235 3594 3954 3980 194.1 -14.9 142 1449 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2192 3967 3956 3979 0 0 0 0 0 0 14.18 14.06 14.22

1769 -1.04 -145.9 2236 2191 3956 3980 247.3 -15.8 157 1774 0.00 2.50 0.00 0.000 388 0.000 0.087 2235 3588 3966 3955 3977 0 0 0 0 0 0 14.45 13.99 14.46

1849 -1.10 -145.9 2235 3589 3956 3979 258.2 -12.7 173 1854 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2196 3967 3955 3980 0 0 0 0 0 0 14.18 14.06 14.21

2159 -1.10 -145.9 2235 2196 3955 3980 299.6 -12.9 185 2164 0.00 2.50 0.00 0.000 260 0.000 0.088 2235 3590 3967 3955 3979 0 0 0 0 0 0 14.45 13.99 14.47

2249 -1.19 -145.9 2236 3593 3955 3980 310.0 -10.7 203 2255 0.12 2.40 0.00 0.000 5254 0.135 0.055 2185 2195 3967 3955 3979 0 0 0 0 0 0 14.08 14.05 14.19

2581 -1.12 -145.9 2186 2193 3956 3979 364.2 -16.4 219 2587 0.12 2.45 0.00 0.000 2436 0.304 0.083 2203 3596 3966 3955 3978 0 0 0 0 0 0 13.70 13.95 13.85

2687 -1.15 -145.9 2204 3595 3955 3980 378.6 -12.5 240 2692 0.00 2.38 0.00 0.000 1158 0.000 0.054 2203 2191 3967 3955 3979 0 0 0 0 0 0 14.20 14.02 14.20

3002 -1.15 -145.9 2203 2191 3955 3980 422.4 -13.8 253 3007 0.00 2.47 0.00 0.000 260 0.000 0.087 2198 3593 3967 3955 3979 0 0 0 0 0 0 14.61 14.09 14.62

3107 -1.18 -145.9 2198 3594 3955 3979 436.2 -12.5 274 3112 0.00 2.35 0.00 0.000 1158 0.000 0.055 2196 2199 3966 3954 3979 0 0 0 0 0 0 14.32 14.19 14.35

3420 end dive: TARGET_DEPTH_EXCEEDED

state 3420 begin apogee

3426 -0.13 0.0 2198 2062 3955 3979 480.2 -14.0 287 3663 1.33 0.00 230.27 1.405 10246 0.239 0.000 2531 2061 3357 3376 3339 0 0 0 0 0 0 13.83 13.21 12.63

3667 end apogee: CONTROL_FINISHED_OK

state 3667 begin climb

3670 0.57 145.9 2532 2062 3373 3336 493.4 0.0 295 4230 0.73 2.58 214.20 1.343 10756 0.060 0.080 2781 732 2749 2785 2714 0 0 0 0 0 0 13.64 12.88 12.28

4242 0.57 145.9 2781 733 2786 2714 458.2 7.1 298 4247 0.00 2.38 0.00 0.000 1030 0.000 0.076 2781 2086 2748 2785 2712 0 0 0 0 0 0 14.12 14.00 14.16

4557 0.15 145.9 2782 2086 2786 2707 412.5 14.1 311 4563 0.62 2.47 0.00 0.000 4484 0.314 0.075 2640 3516 2746 2784 2709 0 0 0 0 0 0 13.71 14.10 13.96

4713 -0.06 150.0 2640 3517 2783 2709 396.5 9.8 342 4718 0.35 2.33 0.00 0.000 5286 0.281 0.058 2569 2133 2745 2782 2709 0 0 0 0 0 0 13.91 14.26 14.29

5038 0.01 251.4 2569 2133 2782 2710 378.1 5.3 357 5223 0.00 2.65 174.73 1.269 8740 0.000 0.086 2572 697 2332 2381 2283 0 0 0 0 0 0 14.67 13.73 12.94

5283 0.19 318.1 2573 697 2375 2273 362.8 6.9 405 5398 0.22 2.53 108.05 1.231 11430 0.093 0.080 2663 2094 2067 2116 2019 0 0 0 0 0 0 13.93 13.84 12.82

5706 0.16 318.1 2663 2096 2096 1997 308.0 13.1 439 5711 0.12 2.47 0.00 0.000 4740 0.256 0.083 2638 689 2045 2095 1996 0 0 0 0 0 0 13.95 14.08 14.09

5736 0.19 318.1 2639 690 2093 1997 304.4 11.5 445 5741 0.00 2.47 0.00 0.000 1158 0.000 0.078 2639 2104 2044 2093 1996 0 0 0 0 0 0 14.21 14.07 14.26

6066 0.21 318.1 2638 2106 2093 1994 269.4 10.3 461 6067 0.00 0.00 0.00 0.000 134 0.000 0.000 2638 2105 2042 2092 1992 0 0 0 0 0 0 14.62 14.63 14.64

6366 0.26 347.0 2639 2106 2092 1993 242.0 8.7 471 6417 0.00 2.50 42.12 1.294 8868 0.000 0.086 2644 702 1944 1990 1899 0 0 0 0 0 0 14.65 14.09 13.26

6507 0.39 382.9 2644 703 1979 1896 230.2 8.3 499 6572 0.20 2.45 60.08 1.236 11430 0.099 0.080 2719 2105 1805 1833 1778 0 0 0 0 0 0 14.23 14.16 13.19

6878 0.33 382.9 2720 2105 1815 1757 181.2 13.0 523 6879 0.12 0.00 0.00 0.000 4230 0.232 0.000 2691 2105 1785 1814 1757 0 0 0 0 0 0 14.05 14.33 14.27

7177 0.33 382.9 2691 2106 1815 1754 150.2 10.1 533 7182 0.00 2.50 0.00 0.000 516 0.000 0.090 2691 691 1783 1813 1753 0 0 0 0 0 0 14.62 14.16 14.64

7258 0.43 400.3 2691 691 1811 1753 142.7 9.2 549 7288 0.00 2.47 23.12 1.317 9382 0.000 0.078 2690 2106 1730 1757 1703 0 0 0 0 0 0 14.35 14.21 13.31

7600 0.50 431.3 2692 2106 1750 1688 111.9 8.6 567 7660 0.12 2.55 54.25 1.227 10916 0.135 0.089 2756 697 1606 1639 1574 0 0 0 0 0 0 14.30 14.05 13.26

7765 0.50 431.3 2758 697 1618 1568 92.1 11.2 600 7772 0.00 2.47 0.00 0.000 1030 0.000 0.079 2756 2102 1591 1616 1566 0 0 0 0 0 0 14.21 14.08 14.25

8070 0.48 449.7 2757 2103 1618 1559 60.6 9.1 631 8083 0.00 2.53 8.98 0.355 8612 0.000 0.083 2757 3510 1529 1562 1497 0 0 0 0 0 0 14.60 14.09 13.62

8274 0.53 563.0 2757 3512 1564 1515 46.3 4.8 671 8348 0.00 2.42 66.95 0.334 9382 0.000 0.063 2766 2095 1067 1133 1002 0 0 0 0 0 0 14.34 14.23 13.71

8644 0.77 683.5 2765 2094 1135 1008 24.0 4.4 715 8724 0.17 2.53 71.47 0.262 10916 0.106 0.091 2849 691 576 617 536 0 0 0 0 0 0 14.14 13.93 13.82

8809 0.92 729.9 2850 692 620 538 10.2 7.9 747 8831 0.00 2.47 14.27 0.233 9382 0.000 0.077 2849 2105 495 521 469 0 0 0 0 0 0 14.26 14.13 13.82

8887 end climb: SURFACE_DEPTH_REACHED

state 8887 begin surface coast

8897 end surface coast: CONTROL_FINISHED_OK

state 8897 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	275	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	767.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,194702,7524.4658,-15118.4004,33,0.8,33,20.7,1.1,288.1,10,9.0	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	1.24	MHEAD_RNG_PITCHd_Wd	352.6,34646,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.4	D_GRID	480
GPS2	070917,195721,7524.4941,-15118.4824,5,0.7,10,20.7,0.0,182.8,10,9.7

FINISH	0.4,1.021485	_24V_AH	12.28,174.335
SM_CCo	8979,0.00,0.000,0,0,494,704.01	_10V_AH	12.17,0.000
SM_GC	1.26,8.02,0.17,0.00,0.063,0.117,0.000,202,2218,494,-7.37,-0.57,704.01,0,0,0,0,0,0,14.28,14.28,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323564
IRIDIUM_FIX	7523.72,-15124.05,070917,171043	DATA_FILE_SIZE	26765,758
TT8_MAMPS	0.040446,0.902545	CAP_FILE_SIZE	99854,0
HUMID	46.41	CFSIZE	2097872896,2007171072
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.9
XPDR_PINGS	12	CURRENT	0.021,275.59,1
CP_FREE	15954837504.000000	GPS	070917,222857,7525.582,-15117.129,28,0.8,39,20.7,0.5,245.7,11,9.2
PM_FREEKB_00	49841728

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.07	nil	0	0	0.00
Roll_motor	79	2134	2084.99	nil	0	0	0.00
VBD_pump_during_apogee	1068	1405	18439.26	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	8912	14	1621.34
Iridium_during_xfer	327	169	683.58	NCP	8884	20	2181.91
Transponder_ping	3	420	15.47	PMAR	8870	9	1079.11
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.11
TT8	0	0	0.00
LPSleep	6038	2	169.77
TT8_Active	842	13	143.16
TT8_Sampling	2466	33	1003.63
TT8_CF8	266	38	125.70
TT8_Kalman	0	0	0.00
Analog_circuits	2454	10	298.72
GPS_charging	0	0	0.00
Compass	1086	7	92.55
RAFOS	2212	48	1292.16
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
52	-0.57	-145.9	173	2233	493	479	0.0	0.0	0	140	0.00	0.00	-87.43	0.000	16386	0.000	0.000	171	2232	2032	1965	2100	0	0	0	0	0	0	14.51	28.83	14.56
143	-0.57	-145.9	170	2233	1965	2102	3.1	-3.4	9	207	13.18	2.78	-44.33	0.000	18724	0.455	2.134	2375	3585	3964	3949	3979	1	0	0	0	0	0	13.24	12.61	14.01
327	-0.71	-145.9	2375	3587	3955	3981	39.0	-13.7	45	332	0.00	2.42	0.00	0.000	1158	0.000	0.058	2375	2208	3966	3954	3979	0	0	0	0	0	0	13.90	13.33	14.00
638	-0.83	-145.9	2375	2206	3957	3979	83.4	-11.3	77	639	0.20	0.00	0.00	0.000	4230	0.111	0.000	2299	2206	3968	3956	3980	0	0	0	0	0	0	13.95	14.07	14.04
957	-0.86	-145.9	2299	2207	3956	3980	132.4	-14.1	95	963	0.00	2.50	0.00	0.000	388	0.000	0.087	2294	3590	3967	3956	3978	0	0	0	0	0	0	14.43	13.96	14.45
1068	-0.97	-145.9	2293	3593	3956	3981	145.7	-11.8	117	1073	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2188	3967	3955	3979	0	0	0	0	0	0	14.14	14.02	14.18
1379	-1.03	-145.9	2293	2187	3962	3981	184.2	-12.1	129	1384	0.12	2.53	0.00	0.000	4484	0.135	0.085	2236	3594	3967	3955	3979	0	0	0	0	0	0	14.09	14.00	14.13
1444	-1.06	-145.9	2235	3594	3954	3980	194.1	-14.9	142	1449	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2192	3967	3956	3979	0	0	0	0	0	0	14.18	14.06	14.22
1769	-1.04	-145.9	2236	2191	3956	3980	247.3	-15.8	157	1774	0.00	2.50	0.00	0.000	388	0.000	0.087	2235	3588	3966	3955	3977	0	0	0	0	0	0	14.45	13.99	14.46
1849	-1.10	-145.9	2235	3589	3956	3979	258.2	-12.7	173	1854	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2196	3967	3955	3980	0	0	0	0	0	0	14.18	14.06	14.21
2159	-1.10	-145.9	2235	2196	3955	3980	299.6	-12.9	185	2164	0.00	2.50	0.00	0.000	260	0.000	0.088	2235	3590	3967	3955	3979	0	0	0	0	0	0	14.45	13.99	14.47
2249	-1.19	-145.9	2236	3593	3955	3980	310.0	-10.7	203	2255	0.12	2.40	0.00	0.000	5254	0.135	0.055	2185	2195	3967	3955	3979	0	0	0	0	0	0	14.08	14.05	14.19
2581	-1.12	-145.9	2186	2193	3956	3979	364.2	-16.4	219	2587	0.12	2.45	0.00	0.000	2436	0.304	0.083	2203	3596	3966	3955	3978	0	0	0	0	0	0	13.70	13.95	13.85
2687	-1.15	-145.9	2204	3595	3955	3980	378.6	-12.5	240	2692	0.00	2.38	0.00	0.000	1158	0.000	0.054	2203	2191	3967	3955	3979	0	0	0	0	0	0	14.20	14.02	14.20
3002	-1.15	-145.9	2203	2191	3955	3980	422.4	-13.8	253	3007	0.00	2.47	0.00	0.000	260	0.000	0.087	2198	3593	3967	3955	3979	0	0	0	0	0	0	14.61	14.09	14.62
3107	-1.18	-145.9	2198	3594	3955	3979	436.2	-12.5	274	3112	0.00	2.35	0.00	0.000	1158	0.000	0.055	2196	2199	3966	3954	3979	0	0	0	0	0	0	14.32	14.19	14.35
3420	end dive: TARGET_DEPTH_EXCEEDED
state	3420	begin apogee
3426	-0.13	0.0	2198	2062	3955	3979	480.2	-14.0	287	3663	1.33	0.00	230.27	1.405	10246	0.239	0.000	2531	2061	3357	3376	3339	0	0	0	0	0	0	13.83	13.21	12.63
3667	end apogee: CONTROL_FINISHED_OK
state	3667	begin climb
3670	0.57	145.9	2532	2062	3373	3336	493.4	0.0	295	4230	0.73	2.58	214.20	1.343	10756	0.060	0.080	2781	732	2749	2785	2714	0	0	0	0	0	0	13.64	12.88	12.28
4242	0.57	145.9	2781	733	2786	2714	458.2	7.1	298	4247	0.00	2.38	0.00	0.000	1030	0.000	0.076	2781	2086	2748	2785	2712	0	0	0	0	0	0	14.12	14.00	14.16
4557	0.15	145.9	2782	2086	2786	2707	412.5	14.1	311	4563	0.62	2.47	0.00	0.000	4484	0.314	0.075	2640	3516	2746	2784	2709	0	0	0	0	0	0	13.71	14.10	13.96
4713	-0.06	150.0	2640	3517	2783	2709	396.5	9.8	342	4718	0.35	2.33	0.00	0.000	5286	0.281	0.058	2569	2133	2745	2782	2709	0	0	0	0	0	0	13.91	14.26	14.29
5038	0.01	251.4	2569	2133	2782	2710	378.1	5.3	357	5223	0.00	2.65	174.73	1.269	8740	0.000	0.086	2572	697	2332	2381	2283	0	0	0	0	0	0	14.67	13.73	12.94
5283	0.19	318.1	2573	697	2375	2273	362.8	6.9	405	5398	0.22	2.53	108.05	1.231	11430	0.093	0.080	2663	2094	2067	2116	2019	0	0	0	0	0	0	13.93	13.84	12.82
5706	0.16	318.1	2663	2096	2096	1997	308.0	13.1	439	5711	0.12	2.47	0.00	0.000	4740	0.256	0.083	2638	689	2045	2095	1996	0	0	0	0	0	0	13.95	14.08	14.09
5736	0.19	318.1	2639	690	2093	1997	304.4	11.5	445	5741	0.00	2.47	0.00	0.000	1158	0.000	0.078	2639	2104	2044	2093	1996	0	0	0	0	0	0	14.21	14.07	14.26
6066	0.21	318.1	2638	2106	2093	1994	269.4	10.3	461	6067	0.00	0.00	0.00	0.000	134	0.000	0.000	2638	2105	2042	2092	1992	0	0	0	0	0	0	14.62	14.63	14.64
6366	0.26	347.0	2639	2106	2092	1993	242.0	8.7	471	6417	0.00	2.50	42.12	1.294	8868	0.000	0.086	2644	702	1944	1990	1899	0	0	0	0	0	0	14.65	14.09	13.26
6507	0.39	382.9	2644	703	1979	1896	230.2	8.3	499	6572	0.20	2.45	60.08	1.236	11430	0.099	0.080	2719	2105	1805	1833	1778	0	0	0	0	0	0	14.23	14.16	13.19
6878	0.33	382.9	2720	2105	1815	1757	181.2	13.0	523	6879	0.12	0.00	0.00	0.000	4230	0.232	0.000	2691	2105	1785	1814	1757	0	0	0	0	0	0	14.05	14.33	14.27
7177	0.33	382.9	2691	2106	1815	1754	150.2	10.1	533	7182	0.00	2.50	0.00	0.000	516	0.000	0.090	2691	691	1783	1813	1753	0	0	0	0	0	0	14.62	14.16	14.64
7258	0.43	400.3	2691	691	1811	1753	142.7	9.2	549	7288	0.00	2.47	23.12	1.317	9382	0.000	0.078	2690	2106	1730	1757	1703	0	0	0	0	0	0	14.35	14.21	13.31
7600	0.50	431.3	2692	2106	1750	1688	111.9	8.6	567	7660	0.12	2.55	54.25	1.227	10916	0.135	0.089	2756	697	1606	1639	1574	0	0	0	0	0	0	14.30	14.05	13.26
7765	0.50	431.3	2758	697	1618	1568	92.1	11.2	600	7772	0.00	2.47	0.00	0.000	1030	0.000	0.079	2756	2102	1591	1616	1566	0	0	0	0	0	0	14.21	14.08	14.25
8070	0.48	449.7	2757	2103	1618	1559	60.6	9.1	631	8083	0.00	2.53	8.98	0.355	8612	0.000	0.083	2757	3510	1529	1562	1497	0	0	0	0	0	0	14.60	14.09	13.62
8274	0.53	563.0	2757	3512	1564	1515	46.3	4.8	671	8348	0.00	2.42	66.95	0.334	9382	0.000	0.063	2766	2095	1067	1133	1002	0	0	0	0	0	0	14.34	14.23	13.71
8644	0.77	683.5	2765	2094	1135	1008	24.0	4.4	715	8724	0.17	2.53	71.47	0.262	10916	0.106	0.091	2849	691	576	617	536	0	0	0	0	0	0	14.14	13.93	13.82
8809	0.92	729.9	2850	692	620	538	10.2	7.9	747	8831	0.00	2.47	14.27	0.233	9382	0.000	0.077	2849	2105	495	521	469	0	0	0	0	0	0	14.26	14.13	13.82
8887	end climb: SURFACE_DEPTH_REACHED
state	8887	begin surface coast
8897	end surface coast: CONTROL_FINISHED_OK
state	8897	begin surface