Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 293 * 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 293 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 813.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 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 813.0 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 60 VBD_MIN 500

DIVE 293 NOCOMM_ACTION 161 R_STBD_OVSHOOT 53 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 090917,202534,7540.9829,-15109.3574,31,0.9,32,20.8,0.5,151.2,9,8.9 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 1.11 MHEAD_RNG_PITCHd_Wd 326.9,3974,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.1 D_GRID 480

GPS2 090917,203226,7540.9756,-15109.3701,5,0.9,12,20.8,0.0,330.9,9,9.2

Post-dive calculations and measurements:

FINISH 0.1,1.016603 _24V_AH 12.20,183.635

SM_CCo 8951,15.88,0.200,0,0,502,703.28 _10V_AH 12.06,0.000

SM_GC 1.10,8.27,0.15,15.88,0.074,0.097,0.200,203,2202,502,-7.36,-0.85,703.28,0,0,0,0,0,0,14.24,14.27,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 853 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323656

IRIDIUM_FIX 7543.41,-15121.29,090917,174621 DATA_FILE_SIZE 23412,686

TT8_MAMPS 0.038948,0.967708 CAP_FILE_SIZE 97468,0

HUMID 47.00 CFSIZE 2097872896,2003238912

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

TCM_TEMP 13.30 SOUNDSPEED 1447.7

XPDR_PINGS 10 CURRENT 0.059,242.70,1

CP_FREE 15947137024.000000 GPS 090917,230336,7542.157,-15110.235,24,0.7,27,20.8,0.5,302.7,12,9.8

PM_FREEKB_00 48981888

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 458 147.45 nil 0 0 0.00

Roll_motor 79 110 107.11 nil 0 0 0.00

VBD_pump_during_apogee 947 1468 16965.27 nil 0 0 0.00

VBD_pump_during_surface 15 199 38.67 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 8522 14 1547.26

Iridium_during_xfer 212 135 351.12 NCP 8920 20 2176.48

Transponder_ping 2 420 12.81 PMAR 8903 103 11193.27

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.39

TT8 0 0 0.00

LPSleep 6263 2 174.49

TT8_Active 858 13 144.69

TT8_Sampling 2016 33 813.14

TT8_CF8 250 38 116.78

TT8_Kalman 0 0 0.00

Analog_circuits 2060 10 248.54

GPS_charging 0 0 0.00

Compass 984 7 83.15

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 187 2235 497 486 0.0 0.0 0 146 0.00 0.00 -92.22 0.000 16386 0.000 0.000 185 2235 2143 2071 2215 0 0 0 0 0 0 14.36 28.83 14.38

149 -0.57 -145.9 186 2234 2075 2215 3.6 -4.7 9 203 13.23 0.00 -36.80 0.000 18982 0.458 0.000 2382 2233 3963 3947 3979 1 0 0 0 0 0 13.40 12.55 13.91

504 -0.68 -145.9 2384 2235 3955 3982 70.8 -11.2 46 510 0.00 2.45 0.00 0.000 388 0.000 0.086 2377 3582 3967 3954 3981 0 0 0 0 0 0 14.16 13.85 14.17

540 -0.88 -145.9 2377 3587 3955 3981 74.5 -9.4 53 547 0.25 2.35 0.00 0.000 5286 0.096 0.054 2282 2228 3967 3954 3981 0 0 0 0 0 0 13.84 13.79 13.93

865 -0.88 -145.9 2282 2227 3956 3981 130.2 -15.9 74 870 0.00 2.42 0.00 0.000 260 0.000 0.087 2279 3577 3967 3954 3981 0 0 0 0 0 0 14.28 13.88 14.29

900 -0.94 -145.9 2280 3579 3956 3980 135.4 -14.3 81 905 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2202 3967 3954 3981 0 0 0 0 0 0 14.05 13.90 14.07

1225 -0.98 -145.9 2280 2200 3956 3981 180.7 -13.5 96 1231 0.00 2.47 0.00 0.000 388 0.000 0.087 2276 3579 3967 3954 3981 0 0 0 0 0 0 14.29 13.93 14.31

1302 -1.11 -145.9 2277 3581 3955 3981 189.9 -11.5 111 1307 0.17 2.40 0.00 0.000 5254 0.109 0.057 2213 2194 3967 3953 3981 0 0 0 0 0 0 13.96 13.91 14.04

1617 -1.04 -145.9 2213 2193 3956 3980 247.5 -18.0 124 1623 0.12 2.50 0.00 0.000 2436 0.293 0.083 2235 3578 3968 3955 3981 0 0 0 0 0 0 13.71 13.87 13.87

1736 -1.13 -145.9 2236 3580 3955 3982 262.8 -11.7 147 1742 0.00 2.40 0.00 0.000 1158 0.000 0.057 2233 2190 3967 3954 3981 0 0 0 0 0 0 14.05 13.90 14.06

2039 -1.15 -145.9 2236 2189 3955 3982 301.1 -12.1 158 2044 0.00 2.50 0.00 0.000 388 0.000 0.087 2235 3573 3967 3954 3981 0 0 0 0 0 0 14.29 13.22 14.31

2119 -1.26 -145.9 2236 3574 3955 3982 309.9 -10.4 174 2124 0.20 2.38 0.00 0.000 5254 0.105 0.056 2164 2194 3968 3955 3981 0 0 0 0 0 0 14.02 13.95 14.09

2430 -1.15 -145.9 2164 2194 3955 3980 366.2 -18.5 186 2435 0.17 2.50 0.00 0.000 2436 0.319 0.081 2191 3579 3968 3955 3981 0 0 0 0 0 0 13.56 13.88 13.77

2570 -1.17 -145.9 2192 3580 3955 3980 386.5 -13.6 214 2575 0.00 2.40 0.00 0.000 1158 0.000 0.056 2191 2193 3967 3954 3981 0 0 0 0 0 0 14.06 13.95 14.09

2880 -1.13 -145.9 2191 2193 3955 3982 432.1 -14.7 226 2885 0.00 2.50 0.00 0.000 388 0.000 0.085 2184 3579 3969 3954 3984 0 0 0 0 0 0 14.28 13.89 14.30

2975 -1.13 -145.9 2185 3579 3955 3980 445.8 -13.8 245 2980 0.15 2.40 0.00 0.000 3078 0.243 0.055 2213 2191 3967 3954 3981 0 0 0 0 0 0 13.64 13.84 13.88

3268 end dive: TARGET_DEPTH_EXCEEDED

state 3268 begin apogee

3274 -0.13 0.0 2214 2069 3954 3982 482.4 -12.2 259 3496 1.25 0.00 218.05 1.427 10246 0.225 0.000 2532 2067 3363 3379 3348 0 0 0 0 0 0 13.71 13.34 12.56

3500 end apogee: CONTROL_FINISHED_OK

state 3500 begin climb

3502 0.57 145.9 2533 2068 3380 3339 494.7 0.0 266 3897 0.75 2.62 212.73 1.375 10756 0.060 0.080 2782 728 2757 2792 2723 0 0 0 0 0 0 13.54 12.79 12.20

4070 0.17 145.9 2782 728 2790 2721 463.4 13.6 302 4076 0.68 2.40 0.00 0.000 5254 0.324 0.076 2641 2069 2755 2789 2721 0 0 0 0 0 0 13.47 13.82 13.86

4403 0.02 173.6 2642 2069 2790 2716 433.5 8.7 318 4447 0.22 2.45 36.75 1.468 12964 0.259 0.084 2590 730 2653 2697 2610 0 0 0 0 0 0 13.78 13.95 13.12

4492 0.06 230.2 2591 730 2697 2606 426.9 7.4 331 4584 0.00 2.45 85.40 1.373 9254 0.000 0.079 2590 2106 2423 2481 2365 0 0 0 0 0 0 14.07 13.95 12.92

4882 0.10 257.9 2591 2106 2472 2352 393.6 8.7 359 4924 0.00 0.00 40.05 1.414 8358 0.000 0.000 2590 2107 2312 2366 2259 0 0 0 0 0 0 14.28 13.90 13.12

5212 0.16 285.8 2590 2107 2357 2246 364.8 8.7 370 5257 0.15 0.00 42.60 1.393 10406 0.117 0.000 2657 2106 2196 2246 2146 0 0 0 0 0 0 14.12 13.91 13.14

5542 0.09 285.8 2657 2107 2239 2133 322.1 13.0 381 5547 0.15 2.47 0.00 0.000 4740 0.252 0.082 2629 723 2184 2237 2132 0 0 0 0 0 0 13.83 13.93 13.98

5629 0.15 288.9 2629 724 2236 2134 313.2 9.9 398 5635 0.00 2.45 0.00 0.000 1190 0.000 0.078 2629 2105 2184 2235 2133 0 0 0 0 0 0 14.09 13.93 14.13

5932 0.15 289.6 2630 2105 2236 2131 282.3 10.0 409 5933 0.00 0.00 0.00 0.000 38 0.000 0.000 2629 2105 2183 2234 2133 0 0 0 0 0 0 14.35 14.37 14.37

6233 0.16 307.3 2629 2106 2235 2131 254.1 9.2 419 6269 0.00 2.53 29.98 1.406 8740 0.000 0.086 2628 727 2108 2157 2060 0 0 0 0 0 0 14.33 14.00 13.18

6295 0.25 334.2 2631 727 2154 2060 248.6 8.8 431 6346 0.00 2.45 44.00 1.333 9382 0.000 0.079 2630 2106 2000 2047 1953 0 0 0 0 0 0 14.09 13.98 13.11

6658 0.34 375.5 2630 2107 2042 1940 218.5 8.1 453 6732 0.17 2.50 68.03 1.273 10916 0.103 0.086 2706 721 1830 1861 1800 0 0 0 0 0 0 14.05 13.67 13.12

6797 0.34 375.5 2705 722 1851 1800 201.5 11.7 481 6802 0.00 2.47 0.00 0.000 1030 0.000 0.076 2706 2103 1824 1850 1798 0 0 0 0 0 0 13.92 13.81 13.94

7107 0.31 375.5 2707 2108 1850 1787 164.2 11.6 493 7112 0.00 2.47 0.00 0.000 644 0.000 0.086 2706 724 1819 1848 1790 0 0 0 0 0 0 14.32 14.00 14.32

7157 0.33 375.5 2706 724 1847 1791 158.7 10.6 503 7162 0.00 2.45 0.00 0.000 1158 0.000 0.076 2706 2107 1818 1846 1790 0 0 0 0 0 0 14.07 13.92 14.11

7467 0.33 375.5 2706 2110 1845 1790 125.1 10.7 515 7468 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2109 1815 1840 1790 0 0 0 0 0 0 14.33 14.35 14.35

7767 0.34 390.1 2707 2109 1846 1787 95.5 9.3 527 7780 0.00 2.58 6.70 0.468 8740 0.000 0.084 2706 717 1774 1803 1746 0 0 0 0 0 0 14.29 13.93 13.43

7882 0.43 437.7 2706 718 1804 1749 86.1 7.8 549 7918 0.00 2.47 28.02 0.457 9382 0.000 0.076 2706 2108 1578 1607 1550 0 0 0 0 0 0 14.06 13.99 13.51

8224 0.56 519.5 2707 2108 1609 1547 61.2 6.2 587 8277 0.15 2.50 45.55 0.379 10660 0.116 0.080 2776 3507 1245 1302 1188 0 0 0 0 0 0 13.92 13.90 13.60

8303 0.56 519.5 2776 3509 1302 1190 53.6 11.3 602 8309 0.00 2.42 0.00 0.000 1030 0.000 0.064 2781 2127 1245 1302 1189 0 0 0 0 0 0 13.99 13.88 14.04

8608 0.64 581.4 2781 2127 1305 1182 30.1 7.1 633 8651 0.00 2.58 34.38 0.294 8868 0.000 0.090 2787 692 992 1061 923 0 0 0 0 0 0 14.28 13.90 13.67

8761 0.88 677.3 2781 693 1061 924 20.7 5.6 663 8826 0.28 2.50 55.03 0.259 11430 0.085 0.076 2884 2106 600 644 557 0 0 0 0 0 0 13.99 13.88 13.64

8918 end climb: SURFACE_DEPTH_REACHED

state 8919 begin surface coast

8929 end surface coast: CONTROL_FINISHED_OK

state 8929 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	293	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	813.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,202534,7540.9829,-15109.3574,31,0.9,32,20.8,0.5,151.2,9,8.9	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	1.11	MHEAD_RNG_PITCHd_Wd	326.9,3974,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	090917,203226,7540.9756,-15109.3701,5,0.9,12,20.8,0.0,330.9,9,9.2

FINISH	0.1,1.016603	_24V_AH	12.20,183.635
SM_CCo	8951,15.88,0.200,0,0,502,703.28	_10V_AH	12.06,0.000
SM_GC	1.10,8.27,0.15,15.88,0.074,0.097,0.200,203,2202,502,-7.36,-0.85,703.28,0,0,0,0,0,0,14.24,14.27,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	853	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323656
IRIDIUM_FIX	7543.41,-15121.29,090917,174621	DATA_FILE_SIZE	23412,686
TT8_MAMPS	0.038948,0.967708	CAP_FILE_SIZE	97468,0
HUMID	47.00	CFSIZE	2097872896,2003238912
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1447.7
XPDR_PINGS	10	CURRENT	0.059,242.70,1
CP_FREE	15947137024.000000	GPS	090917,230336,7542.157,-15110.235,24,0.7,27,20.8,0.5,302.7,12,9.8
PM_FREEKB_00	48981888

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	458	147.45	nil	0	0	0.00
Roll_motor	79	110	107.11	nil	0	0	0.00
VBD_pump_during_apogee	947	1468	16965.27	nil	0	0	0.00
VBD_pump_during_surface	15	199	38.67	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	8522	14	1547.26
Iridium_during_xfer	212	135	351.12	NCP	8920	20	2176.48
Transponder_ping	2	420	12.81	PMAR	8903	103	11193.27
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.39
TT8	0	0	0.00
LPSleep	6263	2	174.49
TT8_Active	858	13	144.69
TT8_Sampling	2016	33	813.14
TT8_CF8	250	38	116.78
TT8_Kalman	0	0	0.00
Analog_circuits	2060	10	248.54
GPS_charging	0	0	0.00
Compass	984	7	83.15
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	187	2235	497	486	0.0	0.0	0	146	0.00	0.00	-92.22	0.000	16386	0.000	0.000	185	2235	2143	2071	2215	0	0	0	0	0	0	14.36	28.83	14.38
149	-0.57	-145.9	186	2234	2075	2215	3.6	-4.7	9	203	13.23	0.00	-36.80	0.000	18982	0.458	0.000	2382	2233	3963	3947	3979	1	0	0	0	0	0	13.40	12.55	13.91
504	-0.68	-145.9	2384	2235	3955	3982	70.8	-11.2	46	510	0.00	2.45	0.00	0.000	388	0.000	0.086	2377	3582	3967	3954	3981	0	0	0	0	0	0	14.16	13.85	14.17
540	-0.88	-145.9	2377	3587	3955	3981	74.5	-9.4	53	547	0.25	2.35	0.00	0.000	5286	0.096	0.054	2282	2228	3967	3954	3981	0	0	0	0	0	0	13.84	13.79	13.93
865	-0.88	-145.9	2282	2227	3956	3981	130.2	-15.9	74	870	0.00	2.42	0.00	0.000	260	0.000	0.087	2279	3577	3967	3954	3981	0	0	0	0	0	0	14.28	13.88	14.29
900	-0.94	-145.9	2280	3579	3956	3980	135.4	-14.3	81	905	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2202	3967	3954	3981	0	0	0	0	0	0	14.05	13.90	14.07
1225	-0.98	-145.9	2280	2200	3956	3981	180.7	-13.5	96	1231	0.00	2.47	0.00	0.000	388	0.000	0.087	2276	3579	3967	3954	3981	0	0	0	0	0	0	14.29	13.93	14.31
1302	-1.11	-145.9	2277	3581	3955	3981	189.9	-11.5	111	1307	0.17	2.40	0.00	0.000	5254	0.109	0.057	2213	2194	3967	3953	3981	0	0	0	0	0	0	13.96	13.91	14.04
1617	-1.04	-145.9	2213	2193	3956	3980	247.5	-18.0	124	1623	0.12	2.50	0.00	0.000	2436	0.293	0.083	2235	3578	3968	3955	3981	0	0	0	0	0	0	13.71	13.87	13.87
1736	-1.13	-145.9	2236	3580	3955	3982	262.8	-11.7	147	1742	0.00	2.40	0.00	0.000	1158	0.000	0.057	2233	2190	3967	3954	3981	0	0	0	0	0	0	14.05	13.90	14.06
2039	-1.15	-145.9	2236	2189	3955	3982	301.1	-12.1	158	2044	0.00	2.50	0.00	0.000	388	0.000	0.087	2235	3573	3967	3954	3981	0	0	0	0	0	0	14.29	13.22	14.31
2119	-1.26	-145.9	2236	3574	3955	3982	309.9	-10.4	174	2124	0.20	2.38	0.00	0.000	5254	0.105	0.056	2164	2194	3968	3955	3981	0	0	0	0	0	0	14.02	13.95	14.09
2430	-1.15	-145.9	2164	2194	3955	3980	366.2	-18.5	186	2435	0.17	2.50	0.00	0.000	2436	0.319	0.081	2191	3579	3968	3955	3981	0	0	0	0	0	0	13.56	13.88	13.77
2570	-1.17	-145.9	2192	3580	3955	3980	386.5	-13.6	214	2575	0.00	2.40	0.00	0.000	1158	0.000	0.056	2191	2193	3967	3954	3981	0	0	0	0	0	0	14.06	13.95	14.09
2880	-1.13	-145.9	2191	2193	3955	3982	432.1	-14.7	226	2885	0.00	2.50	0.00	0.000	388	0.000	0.085	2184	3579	3969	3954	3984	0	0	0	0	0	0	14.28	13.89	14.30
2975	-1.13	-145.9	2185	3579	3955	3980	445.8	-13.8	245	2980	0.15	2.40	0.00	0.000	3078	0.243	0.055	2213	2191	3967	3954	3981	0	0	0	0	0	0	13.64	13.84	13.88
3268	end dive: TARGET_DEPTH_EXCEEDED
state	3268	begin apogee
3274	-0.13	0.0	2214	2069	3954	3982	482.4	-12.2	259	3496	1.25	0.00	218.05	1.427	10246	0.225	0.000	2532	2067	3363	3379	3348	0	0	0	0	0	0	13.71	13.34	12.56
3500	end apogee: CONTROL_FINISHED_OK
state	3500	begin climb
3502	0.57	145.9	2533	2068	3380	3339	494.7	0.0	266	3897	0.75	2.62	212.73	1.375	10756	0.060	0.080	2782	728	2757	2792	2723	0	0	0	0	0	0	13.54	12.79	12.20
4070	0.17	145.9	2782	728	2790	2721	463.4	13.6	302	4076	0.68	2.40	0.00	0.000	5254	0.324	0.076	2641	2069	2755	2789	2721	0	0	0	0	0	0	13.47	13.82	13.86
4403	0.02	173.6	2642	2069	2790	2716	433.5	8.7	318	4447	0.22	2.45	36.75	1.468	12964	0.259	0.084	2590	730	2653	2697	2610	0	0	0	0	0	0	13.78	13.95	13.12
4492	0.06	230.2	2591	730	2697	2606	426.9	7.4	331	4584	0.00	2.45	85.40	1.373	9254	0.000	0.079	2590	2106	2423	2481	2365	0	0	0	0	0	0	14.07	13.95	12.92
4882	0.10	257.9	2591	2106	2472	2352	393.6	8.7	359	4924	0.00	0.00	40.05	1.414	8358	0.000	0.000	2590	2107	2312	2366	2259	0	0	0	0	0	0	14.28	13.90	13.12
5212	0.16	285.8	2590	2107	2357	2246	364.8	8.7	370	5257	0.15	0.00	42.60	1.393	10406	0.117	0.000	2657	2106	2196	2246	2146	0	0	0	0	0	0	14.12	13.91	13.14
5542	0.09	285.8	2657	2107	2239	2133	322.1	13.0	381	5547	0.15	2.47	0.00	0.000	4740	0.252	0.082	2629	723	2184	2237	2132	0	0	0	0	0	0	13.83	13.93	13.98
5629	0.15	288.9	2629	724	2236	2134	313.2	9.9	398	5635	0.00	2.45	0.00	0.000	1190	0.000	0.078	2629	2105	2184	2235	2133	0	0	0	0	0	0	14.09	13.93	14.13
5932	0.15	289.6	2630	2105	2236	2131	282.3	10.0	409	5933	0.00	0.00	0.00	0.000	38	0.000	0.000	2629	2105	2183	2234	2133	0	0	0	0	0	0	14.35	14.37	14.37
6233	0.16	307.3	2629	2106	2235	2131	254.1	9.2	419	6269	0.00	2.53	29.98	1.406	8740	0.000	0.086	2628	727	2108	2157	2060	0	0	0	0	0	0	14.33	14.00	13.18
6295	0.25	334.2	2631	727	2154	2060	248.6	8.8	431	6346	0.00	2.45	44.00	1.333	9382	0.000	0.079	2630	2106	2000	2047	1953	0	0	0	0	0	0	14.09	13.98	13.11
6658	0.34	375.5	2630	2107	2042	1940	218.5	8.1	453	6732	0.17	2.50	68.03	1.273	10916	0.103	0.086	2706	721	1830	1861	1800	0	0	0	0	0	0	14.05	13.67	13.12
6797	0.34	375.5	2705	722	1851	1800	201.5	11.7	481	6802	0.00	2.47	0.00	0.000	1030	0.000	0.076	2706	2103	1824	1850	1798	0	0	0	0	0	0	13.92	13.81	13.94
7107	0.31	375.5	2707	2108	1850	1787	164.2	11.6	493	7112	0.00	2.47	0.00	0.000	644	0.000	0.086	2706	724	1819	1848	1790	0	0	0	0	0	0	14.32	14.00	14.32
7157	0.33	375.5	2706	724	1847	1791	158.7	10.6	503	7162	0.00	2.45	0.00	0.000	1158	0.000	0.076	2706	2107	1818	1846	1790	0	0	0	0	0	0	14.07	13.92	14.11
7467	0.33	375.5	2706	2110	1845	1790	125.1	10.7	515	7468	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2109	1815	1840	1790	0	0	0	0	0	0	14.33	14.35	14.35
7767	0.34	390.1	2707	2109	1846	1787	95.5	9.3	527	7780	0.00	2.58	6.70	0.468	8740	0.000	0.084	2706	717	1774	1803	1746	0	0	0	0	0	0	14.29	13.93	13.43
7882	0.43	437.7	2706	718	1804	1749	86.1	7.8	549	7918	0.00	2.47	28.02	0.457	9382	0.000	0.076	2706	2108	1578	1607	1550	0	0	0	0	0	0	14.06	13.99	13.51
8224	0.56	519.5	2707	2108	1609	1547	61.2	6.2	587	8277	0.15	2.50	45.55	0.379	10660	0.116	0.080	2776	3507	1245	1302	1188	0	0	0	0	0	0	13.92	13.90	13.60
8303	0.56	519.5	2776	3509	1302	1190	53.6	11.3	602	8309	0.00	2.42	0.00	0.000	1030	0.000	0.064	2781	2127	1245	1302	1189	0	0	0	0	0	0	13.99	13.88	14.04
8608	0.64	581.4	2781	2127	1305	1182	30.1	7.1	633	8651	0.00	2.58	34.38	0.294	8868	0.000	0.090	2787	692	992	1061	923	0	0	0	0	0	0	14.28	13.90	13.67
8761	0.88	677.3	2781	693	1061	924	20.7	5.6	663	8826	0.28	2.50	55.03	0.259	11430	0.085	0.076	2884	2106	600	644	557	0	0	0	0	0	0	13.99	13.88	13.64
8918	end climb: SURFACE_DEPTH_REACHED
state	8919	begin surface coast
8929	end surface coast: CONTROL_FINISHED_OK
state	8929	begin surface