Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 7 * 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 7 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 10 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 692.78448 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 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 450 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 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 165 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 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 3.0

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 62.0

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 3.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 360 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 692.78448

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 0 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 3.0 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 120

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 165

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 62.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 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 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 27 VBD_MIN 500

DIVE 7 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 450 N_DIVES 10 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 070817,091506,7110.6401,-14737.2793,37,0.8,39,21.2,0.0,0.0,10,8.3 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7121.470,-14737.209

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 293.8,20000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 360

GPS2 070817,092523,7110.6709,-14737.2090,8,0.8,8,21.2,0.0,0.0,10,9.6

Post-dive calculations and measurements:

FINISH 0.2,1.019993 _24V_AH 12.78,45.571

SM_CCo 6940,3.67,0.228,0,0,540,692.97 _10V_AH 12.77,0.000

SM_GC 2.34,8.45,0.17,3.67,0.093,0.125,0.228,209,2213,540,-7.38,-0.74,692.97,0,0,0,0,0,0,14.02,14.03,13.85 FG_AHR_24Vo 0.000

RAFOS_CLK 256 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 324780

IRIDIUM_FIX 7110.16,-14739.90,070817,070931 DATA_FILE_SIZE 43260,1288

TT8_MAMPS 0.040446,0.80892 CAP_FILE_SIZE 122177,0

HUMID 49.17 CFSIZE 2097872896,2086141952

INTERNAL_PRESSURE 7.78152 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.50 SOUNDSPEED 1449.8

XPDR_PINGS 2 CURRENT 0.197,64.49,1

CP_FREE 0.000000 GPS 070817,112259,7111.606,-14736.467,7,0.9,32,21.2,0.0,50.4,10,9.8

PM_FREEKB_00 62087360

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 449 142.86 nil 0 0 0.00

Roll_motor 81 2154 2251.36 nil 0 0 0.00

VBD_pump_during_apogee 944 1327 16015.64 nil 0 0 0.00

VBD_pump_during_surface 3 227 10.71 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 6944 17 1595.27

Iridium_during_xfer 390 179 892.97 NCP 6908 111 9799.55

Transponder_ping 0 420 2.68 PMAR 6917 16 1466.63

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.74

TT8 0 0 0.00

LPSleep 3401 2 100.34

TT8_Active 994 13 177.50

TT8_Sampling 2844 33 1214.89

TT8_CF8 329 38 162.88

TT8_Kalman 0 0 0.00

Analog_circuits 2422 10 309.33

GPS_charging 0 0 0.00

Compass 1846 7 165.08

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.57 -145.9 208 2196 531 465 0.0 0.0 0 109 0.00 0.00 -83.70 0.000 16386 0.000 0.000 207 2195 2147 2067 2227 0 0 0 0 0 0 14.21 28.83 14.23

112 -0.57 -145.9 210 2195 2072 2228 3.5 -7.9 15 166 12.35 2.83 -33.78 0.000 18724 0.450 2.154 2370 3621 3964 3946 3982 0 0 0 0 0 0 13.67 12.78 13.91

391 -0.49 -145.9 2371 3623 3954 3982 70.9 -18.3 69 397 0.20 2.47 0.00 0.000 3206 0.270 0.063 2415 2200 3967 3953 3982 0 0 0 0 0 0 13.81 14.02 14.04

577 -0.49 -145.9 2415 2200 3956 3982 99.8 -14.4 106 585 0.00 2.55 0.00 0.000 260 0.000 0.095 2406 3609 3968 3955 3982 0 0 0 0 0 0 14.28 13.98 14.29

765 -0.58 -145.9 2406 3610 3956 3982 121.4 -10.5 143 771 0.00 2.45 0.00 0.000 1158 0.000 0.063 2401 2198 3968 3954 3982 0 0 0 0 0 0 14.14 14.04 14.17

951 -0.62 -145.9 2406 2196 3956 3982 143.0 -11.1 180 956 0.00 0.00 0.00 0.000 134 0.000 0.000 2406 2196 3968 3955 3982 0 0 0 0 0 0 14.34 14.35 14.35

1137 -0.70 -145.9 2406 2197 3956 3983 162.4 -10.0 217 1143 0.12 2.50 0.00 0.000 4772 0.142 0.086 2354 790 3968 3955 3982 0 0 0 0 0 0 14.12 14.01 14.17

1153 -0.73 -145.9 2354 788 3956 3982 164.3 -11.8 220 1159 0.00 2.55 0.00 0.000 1158 0.000 0.096 2346 2206 3968 3954 3982 0 0 0 0 0 0 14.14 14.02 14.19

1339 -0.71 -145.9 2347 2206 3956 3982 190.9 -14.1 257 1345 0.00 0.00 0.00 0.000 134 0.000 0.000 2344 2207 3967 3954 3981 0 0 0 0 0 0 14.38 14.39 14.38

1525 -0.71 -145.9 2346 2209 3956 3983 215.7 -13.2 294 1532 0.00 2.53 0.00 0.000 260 0.000 0.099 2346 3610 3968 3955 3982 0 0 0 0 0 0 14.38 14.03 14.40

1644 -0.79 -145.9 2346 3612 3955 3983 229.2 -10.4 317 1650 0.00 2.45 0.00 0.000 1158 0.000 0.065 2346 2190 3968 3955 3982 0 0 0 0 0 0 14.18 14.06 14.21

1830 -0.79 -145.9 2346 2192 3955 3981 250.2 -11.0 354 1837 0.00 0.00 0.00 0.000 6 0.000 0.000 2346 2191 3968 3955 3982 0 0 0 0 0 0 14.44 14.40 14.40

2017 -0.82 -145.9 2346 2192 3955 3980 270.5 -10.9 391 2023 0.00 2.58 0.00 0.000 388 0.000 0.100 2346 3614 3964 3952 3976 0 0 0 0 0 0 14.39 14.03 14.41

2103 -0.92 -145.9 2346 3614 3956 3979 278.9 -9.3 408 2110 0.20 2.45 0.00 0.000 5286 0.116 0.067 2274 2202 3966 3955 3978 0 0 0 0 0 0 14.09 14.07 14.19

2290 -0.80 -145.9 2275 2203 3955 3978 308.4 -16.5 445 2296 0.17 2.53 0.00 0.000 2436 0.292 0.094 2305 3610 3966 3955 3977 0 0 0 0 0 0 13.83 14.03 14.01

2367 -0.80 -145.9 2305 3611 3955 3977 319.3 -12.5 460 2373 0.00 2.45 0.00 0.000 1030 0.000 0.067 2305 2197 3965 3955 3976 0 0 0 0 0 0 14.16 14.04 14.19

2553 -0.75 -145.9 2305 2197 3955 3977 344.9 -13.6 497 2559 0.12 2.55 0.00 0.000 2436 0.295 0.096 2320 3612 3965 3954 3976 0 0 0 0 0 0 13.86 14.02 14.07

2609 -0.79 -145.9 2321 3612 3955 3975 351.7 -11.5 508 2615 0.00 2.45 0.00 0.000 1158 0.000 0.067 2318 2199 3965 3955 3975 0 0 0 0 0 0 14.11 14.00 14.14

2702 end dive: TARGET_DEPTH_EXCEEDED

state 2702 begin apogee

2708 -0.13 0.0 2321 2076 3956 3975 363.2 -12.1 512 2936 0.85 0.00 225.10 1.317 10246 0.253 0.000 2524 2074 3363 3389 3338 0 0 0 0 0 0 13.83 13.50 12.97

2939 end apogee: CONTROL_FINISHED_OK

state 2939 begin climb

2942 0.57 145.9 2530 2075 3382 3329 372.6 0.0 519 3162 0.75 2.75 212.20 1.228 10500 0.073 0.089 2777 3512 2763 2809 2718 0 0 0 0 0 0 13.56 13.19 12.78

3389 0.22 145.9 2778 3511 2780 2711 334.7 16.4 607 3396 0.62 2.47 0.00 0.000 5254 0.339 0.065 2660 2114 2745 2779 2711 0 0 0 0 0 0 13.46 13.70 13.77

3576 0.19 182.9 2660 2115 2781 2711 317.7 8.3 644 3636 0.00 2.62 51.62 1.262 8612 0.000 0.093 2660 3508 2609 2653 2566 0 0 0 0 0 0 14.11 13.64 13.13

3861 0.15 182.9 2661 3508 2641 2555 289.2 10.5 699 3868 0.15 2.47 0.00 0.000 5254 0.275 0.068 2637 2100 2596 2640 2553 0 0 0 0 0 0 13.70 13.88 13.95

4048 0.23 235.6 2637 2102 2641 2552 274.6 7.6 736 4138 0.00 2.60 82.57 1.217 8868 0.000 0.093 2646 686 2397 2443 2351 0 0 0 0 0 0 14.23 13.64 13.17

4160 0.35 277.7 2646 686 2434 2345 266.1 8.1 755 4233 0.15 2.60 65.82 1.184 11430 0.120 0.091 2704 2106 2231 2279 2183 0 0 0 0 0 0 13.76 13.72 13.08

4413 0.35 277.7 2700 2106 2262 2159 236.5 11.7 803 4419 0.00 0.00 0.00 0.000 6 0.000 0.000 2700 2105 2206 2255 2158 0 0 0 0 0 0 14.04 14.04 14.07

4599 0.35 277.7 2700 2106 2260 2155 214.6 11.5 840 4606 0.00 2.58 0.00 0.000 516 0.000 0.093 2707 690 2207 2259 2155 0 0 0 0 0 0 14.16 13.85 14.18

4636 0.38 277.7 2708 690 2258 2155 210.3 11.3 847 4642 0.00 2.55 0.00 0.000 1158 0.000 0.088 2707 2100 2206 2256 2156 0 0 0 0 0 0 14.01 13.87 14.04

4822 0.38 277.7 2708 2101 2257 2154 188.7 11.3 884 4828 0.00 0.00 0.00 0.000 6 0.000 0.000 2708 2100 2207 2261 2154 0 0 0 0 0 0 14.24 14.26 14.26

5008 0.38 277.7 2708 2101 2257 2153 168.6 10.1 921 5015 0.00 2.55 0.00 0.000 516 0.000 0.090 2710 691 2204 2255 2153 0 0 0 0 0 0 14.29 13.99 14.31

5117 0.44 292.2 2710 691 2256 2153 158.3 9.3 942 5129 0.00 2.53 6.45 1.327 9382 0.000 0.088 2710 2105 2174 2226 2123 0 0 0 0 0 0 14.08 13.95 13.35

5309 0.45 317.9 2710 2106 2230 2129 141.0 8.8 980 5370 0.00 2.62 51.97 1.199 8740 0.000 0.092 2710 690 2060 2105 2016 0 0 0 0 0 0 14.31 13.82 13.33

5450 0.55 342.6 2711 689 2093 2012 128.4 8.9 1006 5493 0.15 2.55 38.42 1.180 11430 0.123 0.089 2767 2101 1968 2009 1928 0 0 0 0 0 0 13.95 13.90 13.25

5673 0.50 342.6 2766 2101 1990 1904 101.9 11.5 1049 5679 0.00 0.00 0.00 0.000 134 0.000 0.000 2767 2101 1944 1989 1899 0 0 0 0 0 0 14.15 14.17 14.17

5859 0.47 342.6 2768 2102 1989 1902 81.4 10.8 1086 5866 0.15 2.53 0.00 0.000 4740 0.240 0.089 2739 691 1943 1988 1898 0 0 0 0 0 0 13.76 13.93 13.89

5926 0.60 385.3 2741 691 1986 1900 75.7 8.0 1099 5957 0.12 2.53 23.27 0.415 11430 0.132 0.090 2786 2100 1791 1819 1763 0 0 0 0 0 0 13.97 13.93 13.68

6137 0.61 404.3 2786 2101 1833 1769 53.5 9.1 1140 6156 0.00 2.55 13.18 0.344 8484 0.000 0.093 2786 3513 1714 1742 1686 0 0 0 0 0 0 14.24 13.86 13.66

6258 0.63 428.6 2786 3513 1744 1701 42.7 8.9 1163 6282 0.00 2.47 16.45 0.321 9254 0.000 0.072 2794 2102 1613 1643 1583 0 0 0 0 0 0 14.09 13.95 13.75

6463 0.72 509.0 2794 2102 1656 1586 28.7 6.3 1203 6523 0.00 2.58 51.30 0.279 8868 0.000 0.098 2794 683 1288 1349 1227 0 0 0 0 0 0 14.27 13.94 13.72

6575 0.92 570.4 2795 686 1345 1227 21.3 7.2 1223 6618 0.28 2.55 36.80 0.256 11430 0.096 0.089 2890 2100 1034 1110 959 0 0 0 0 0 0 14.00 13.97 13.74

6798 1.00 685.8 2890 2101 1111 950 7.6 4.7 1266 6870 0.00 0.00 69.00 0.217 8486 0.000 0.000 2890 2101 567 624 511 0 0 0 0 0 0 14.23 14.01 13.79

6892 end climb: SURFACE_DEPTH_REACHED

state 6892 begin surface coast

6919 end surface coast: CONTROL_FINISHED_OK

state 6919 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	7	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	10	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	692.78448	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	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	450	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	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	165	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	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	3.0
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	62.0
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	3.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070817,091506,7110.6401,-14737.2793,37,0.8,39,21.2,0.0,0.0,10,8.3	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7121.470,-14737.209
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	293.8,20000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	360
GPS2	070817,092523,7110.6709,-14737.2090,8,0.8,8,21.2,0.0,0.0,10,9.6

FINISH	0.2,1.019993	_24V_AH	12.78,45.571
SM_CCo	6940,3.67,0.228,0,0,540,692.97	_10V_AH	12.77,0.000
SM_GC	2.34,8.45,0.17,3.67,0.093,0.125,0.228,209,2213,540,-7.38,-0.74,692.97,0,0,0,0,0,0,14.02,14.03,13.85	FG_AHR_24Vo	0.000
RAFOS_CLK	256	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	324780
IRIDIUM_FIX	7110.16,-14739.90,070817,070931	DATA_FILE_SIZE	43260,1288
TT8_MAMPS	0.040446,0.80892	CAP_FILE_SIZE	122177,0
HUMID	49.17	CFSIZE	2097872896,2086141952
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.50	SOUNDSPEED	1449.8
XPDR_PINGS	2	CURRENT	0.197,64.49,1
CP_FREE	0.000000	GPS	070817,112259,7111.606,-14736.467,7,0.9,32,21.2,0.0,50.4,10,9.8
PM_FREEKB_00	62087360

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	449	142.86	nil	0	0	0.00
Roll_motor	81	2154	2251.36	nil	0	0	0.00
VBD_pump_during_apogee	944	1327	16015.64	nil	0	0	0.00
VBD_pump_during_surface	3	227	10.71	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	6944	17	1595.27
Iridium_during_xfer	390	179	892.97	NCP	6908	111	9799.55
Transponder_ping	0	420	2.68	PMAR	6917	16	1466.63
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.74
TT8	0	0	0.00
LPSleep	3401	2	100.34
TT8_Active	994	13	177.50
TT8_Sampling	2844	33	1214.89
TT8_CF8	329	38	162.88
TT8_Kalman	0	0	0.00
Analog_circuits	2422	10	309.33
GPS_charging	0	0	0.00
Compass	1846	7	165.08
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.57	-145.9	208	2196	531	465	0.0	0.0	0	109	0.00	0.00	-83.70	0.000	16386	0.000	0.000	207	2195	2147	2067	2227	0	0	0	0	0	0	14.21	28.83	14.23
112	-0.57	-145.9	210	2195	2072	2228	3.5	-7.9	15	166	12.35	2.83	-33.78	0.000	18724	0.450	2.154	2370	3621	3964	3946	3982	0	0	0	0	0	0	13.67	12.78	13.91
391	-0.49	-145.9	2371	3623	3954	3982	70.9	-18.3	69	397	0.20	2.47	0.00	0.000	3206	0.270	0.063	2415	2200	3967	3953	3982	0	0	0	0	0	0	13.81	14.02	14.04
577	-0.49	-145.9	2415	2200	3956	3982	99.8	-14.4	106	585	0.00	2.55	0.00	0.000	260	0.000	0.095	2406	3609	3968	3955	3982	0	0	0	0	0	0	14.28	13.98	14.29
765	-0.58	-145.9	2406	3610	3956	3982	121.4	-10.5	143	771	0.00	2.45	0.00	0.000	1158	0.000	0.063	2401	2198	3968	3954	3982	0	0	0	0	0	0	14.14	14.04	14.17
951	-0.62	-145.9	2406	2196	3956	3982	143.0	-11.1	180	956	0.00	0.00	0.00	0.000	134	0.000	0.000	2406	2196	3968	3955	3982	0	0	0	0	0	0	14.34	14.35	14.35
1137	-0.70	-145.9	2406	2197	3956	3983	162.4	-10.0	217	1143	0.12	2.50	0.00	0.000	4772	0.142	0.086	2354	790	3968	3955	3982	0	0	0	0	0	0	14.12	14.01	14.17
1153	-0.73	-145.9	2354	788	3956	3982	164.3	-11.8	220	1159	0.00	2.55	0.00	0.000	1158	0.000	0.096	2346	2206	3968	3954	3982	0	0	0	0	0	0	14.14	14.02	14.19
1339	-0.71	-145.9	2347	2206	3956	3982	190.9	-14.1	257	1345	0.00	0.00	0.00	0.000	134	0.000	0.000	2344	2207	3967	3954	3981	0	0	0	0	0	0	14.38	14.39	14.38
1525	-0.71	-145.9	2346	2209	3956	3983	215.7	-13.2	294	1532	0.00	2.53	0.00	0.000	260	0.000	0.099	2346	3610	3968	3955	3982	0	0	0	0	0	0	14.38	14.03	14.40
1644	-0.79	-145.9	2346	3612	3955	3983	229.2	-10.4	317	1650	0.00	2.45	0.00	0.000	1158	0.000	0.065	2346	2190	3968	3955	3982	0	0	0	0	0	0	14.18	14.06	14.21
1830	-0.79	-145.9	2346	2192	3955	3981	250.2	-11.0	354	1837	0.00	0.00	0.00	0.000	6	0.000	0.000	2346	2191	3968	3955	3982	0	0	0	0	0	0	14.44	14.40	14.40
2017	-0.82	-145.9	2346	2192	3955	3980	270.5	-10.9	391	2023	0.00	2.58	0.00	0.000	388	0.000	0.100	2346	3614	3964	3952	3976	0	0	0	0	0	0	14.39	14.03	14.41
2103	-0.92	-145.9	2346	3614	3956	3979	278.9	-9.3	408	2110	0.20	2.45	0.00	0.000	5286	0.116	0.067	2274	2202	3966	3955	3978	0	0	0	0	0	0	14.09	14.07	14.19
2290	-0.80	-145.9	2275	2203	3955	3978	308.4	-16.5	445	2296	0.17	2.53	0.00	0.000	2436	0.292	0.094	2305	3610	3966	3955	3977	0	0	0	0	0	0	13.83	14.03	14.01
2367	-0.80	-145.9	2305	3611	3955	3977	319.3	-12.5	460	2373	0.00	2.45	0.00	0.000	1030	0.000	0.067	2305	2197	3965	3955	3976	0	0	0	0	0	0	14.16	14.04	14.19
2553	-0.75	-145.9	2305	2197	3955	3977	344.9	-13.6	497	2559	0.12	2.55	0.00	0.000	2436	0.295	0.096	2320	3612	3965	3954	3976	0	0	0	0	0	0	13.86	14.02	14.07
2609	-0.79	-145.9	2321	3612	3955	3975	351.7	-11.5	508	2615	0.00	2.45	0.00	0.000	1158	0.000	0.067	2318	2199	3965	3955	3975	0	0	0	0	0	0	14.11	14.00	14.14
2702	end dive: TARGET_DEPTH_EXCEEDED
state	2702	begin apogee
2708	-0.13	0.0	2321	2076	3956	3975	363.2	-12.1	512	2936	0.85	0.00	225.10	1.317	10246	0.253	0.000	2524	2074	3363	3389	3338	0	0	0	0	0	0	13.83	13.50	12.97
2939	end apogee: CONTROL_FINISHED_OK
state	2939	begin climb
2942	0.57	145.9	2530	2075	3382	3329	372.6	0.0	519	3162	0.75	2.75	212.20	1.228	10500	0.073	0.089	2777	3512	2763	2809	2718	0	0	0	0	0	0	13.56	13.19	12.78
3389	0.22	145.9	2778	3511	2780	2711	334.7	16.4	607	3396	0.62	2.47	0.00	0.000	5254	0.339	0.065	2660	2114	2745	2779	2711	0	0	0	0	0	0	13.46	13.70	13.77
3576	0.19	182.9	2660	2115	2781	2711	317.7	8.3	644	3636	0.00	2.62	51.62	1.262	8612	0.000	0.093	2660	3508	2609	2653	2566	0	0	0	0	0	0	14.11	13.64	13.13
3861	0.15	182.9	2661	3508	2641	2555	289.2	10.5	699	3868	0.15	2.47	0.00	0.000	5254	0.275	0.068	2637	2100	2596	2640	2553	0	0	0	0	0	0	13.70	13.88	13.95
4048	0.23	235.6	2637	2102	2641	2552	274.6	7.6	736	4138	0.00	2.60	82.57	1.217	8868	0.000	0.093	2646	686	2397	2443	2351	0	0	0	0	0	0	14.23	13.64	13.17
4160	0.35	277.7	2646	686	2434	2345	266.1	8.1	755	4233	0.15	2.60	65.82	1.184	11430	0.120	0.091	2704	2106	2231	2279	2183	0	0	0	0	0	0	13.76	13.72	13.08
4413	0.35	277.7	2700	2106	2262	2159	236.5	11.7	803	4419	0.00	0.00	0.00	0.000	6	0.000	0.000	2700	2105	2206	2255	2158	0	0	0	0	0	0	14.04	14.04	14.07
4599	0.35	277.7	2700	2106	2260	2155	214.6	11.5	840	4606	0.00	2.58	0.00	0.000	516	0.000	0.093	2707	690	2207	2259	2155	0	0	0	0	0	0	14.16	13.85	14.18
4636	0.38	277.7	2708	690	2258	2155	210.3	11.3	847	4642	0.00	2.55	0.00	0.000	1158	0.000	0.088	2707	2100	2206	2256	2156	0	0	0	0	0	0	14.01	13.87	14.04
4822	0.38	277.7	2708	2101	2257	2154	188.7	11.3	884	4828	0.00	0.00	0.00	0.000	6	0.000	0.000	2708	2100	2207	2261	2154	0	0	0	0	0	0	14.24	14.26	14.26
5008	0.38	277.7	2708	2101	2257	2153	168.6	10.1	921	5015	0.00	2.55	0.00	0.000	516	0.000	0.090	2710	691	2204	2255	2153	0	0	0	0	0	0	14.29	13.99	14.31
5117	0.44	292.2	2710	691	2256	2153	158.3	9.3	942	5129	0.00	2.53	6.45	1.327	9382	0.000	0.088	2710	2105	2174	2226	2123	0	0	0	0	0	0	14.08	13.95	13.35
5309	0.45	317.9	2710	2106	2230	2129	141.0	8.8	980	5370	0.00	2.62	51.97	1.199	8740	0.000	0.092	2710	690	2060	2105	2016	0	0	0	0	0	0	14.31	13.82	13.33
5450	0.55	342.6	2711	689	2093	2012	128.4	8.9	1006	5493	0.15	2.55	38.42	1.180	11430	0.123	0.089	2767	2101	1968	2009	1928	0	0	0	0	0	0	13.95	13.90	13.25
5673	0.50	342.6	2766	2101	1990	1904	101.9	11.5	1049	5679	0.00	0.00	0.00	0.000	134	0.000	0.000	2767	2101	1944	1989	1899	0	0	0	0	0	0	14.15	14.17	14.17
5859	0.47	342.6	2768	2102	1989	1902	81.4	10.8	1086	5866	0.15	2.53	0.00	0.000	4740	0.240	0.089	2739	691	1943	1988	1898	0	0	0	0	0	0	13.76	13.93	13.89
5926	0.60	385.3	2741	691	1986	1900	75.7	8.0	1099	5957	0.12	2.53	23.27	0.415	11430	0.132	0.090	2786	2100	1791	1819	1763	0	0	0	0	0	0	13.97	13.93	13.68
6137	0.61	404.3	2786	2101	1833	1769	53.5	9.1	1140	6156	0.00	2.55	13.18	0.344	8484	0.000	0.093	2786	3513	1714	1742	1686	0	0	0	0	0	0	14.24	13.86	13.66
6258	0.63	428.6	2786	3513	1744	1701	42.7	8.9	1163	6282	0.00	2.47	16.45	0.321	9254	0.000	0.072	2794	2102	1613	1643	1583	0	0	0	0	0	0	14.09	13.95	13.75
6463	0.72	509.0	2794	2102	1656	1586	28.7	6.3	1203	6523	0.00	2.58	51.30	0.279	8868	0.000	0.098	2794	683	1288	1349	1227	0	0	0	0	0	0	14.27	13.94	13.72
6575	0.92	570.4	2795	686	1345	1227	21.3	7.2	1223	6618	0.28	2.55	36.80	0.256	11430	0.096	0.089	2890	2100	1034	1110	959	0	0	0	0	0	0	14.00	13.97	13.74
6798	1.00	685.8	2890	2101	1111	950	7.6	4.7	1266	6870	0.00	0.00	69.00	0.217	8486	0.000	0.000	2890	2101	567	624	511	0	0	0	0	0	0	14.23	14.01	13.79
6892	end climb: SURFACE_DEPTH_REACHED
state	6892	begin surface coast
6919	end surface coast: CONTROL_FINISHED_OK
state	6919	begin surface