Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 9 * 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 9 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 66.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 66.0 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 22 VBD_MIN 500

DIVE 9 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 070817,133056,7112.7861,-14735.7656,7,0.8,34,21.2,0.4,61.7,10,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7123.661,-14735.534

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 296.3,20000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.2 D_GRID 360

GPS2 070817,134139,7112.8613,-14735.5342,8,0.7,13,21.2,0.0,308.2,11,9.5

Post-dive calculations and measurements:

FINISH 0.3,1.011245 _24V_AH 12.76,46.444

SM_CCo 6960,0.00,0.000,0,0,497,703.77 _10V_AH 12.71,0.000

SM_GC 1.19,8.30,2.75,0.00,0.085,0.079,0.000,205,2213,497,-7.38,-0.34,703.77,0,0,0,0,0,0,14.03,14.00,14.12 FG_AHR_24Vo 0.000

RAFOS_CLK 260 FG_AHR_10Vo 0.000

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 MEM 324740

IRIDIUM_FIX 7111.88,-14736.33,070817,112642 DATA_FILE_SIZE 43322,1281

TT8_MAMPS 0.041195,0.880824 CAP_FILE_SIZE 124073,0

HUMID 48.18 CFSIZE 2097872896,2085552128

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

TCM_TEMP 13.60 SOUNDSPEED 1450.4

XPDR_PINGS 4 CURRENT 0.148,43.74,1

CP_FREE 0.000000 GPS 070817,153912,7113.976,-14735.618,7,0.9,18,21.2,0.3,76.3,8,9.5

PM_FREEKB_00 61989184

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 447 142.62 nil 0 0 0.00

Roll_motor 92 2151 2527.58 nil 0 0 0.00

VBD_pump_during_apogee 954 1350 16441.08 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 6902 18 1593.35

Iridium_during_xfer 410 177 929.41 NCP 6862 111 9719.06

Transponder_ping 1 420 5.36 PMAR 6879 16 1454.10

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.18

TT8 0 0 0.00

LPSleep 3424 2 100.53

TT8_Active 1006 13 178.66

TT8_Sampling 2850 33 1211.59

TT8_CF8 327 38 160.95

TT8_Kalman 0 0 0.00

Analog_circuits 2453 10 311.83

GPS_charging 0 0 0.00

Compass 1833 7 163.13

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

21 -0.57 -145.9 205 2218 562 505 0.0 0.0 0 106 0.00 0.00 -83.43 0.000 16386 0.000 0.000 204 2218 2162 2086 2239 0 0 0 0 0 0 14.21 28.83 14.21

109 -0.57 -145.9 205 2218 2089 2240 3.7 -9.1 15 163 12.32 2.75 -32.80 0.000 18724 0.448 2.152 2375 3599 3967 3949 3985 0 0 0 0 0 0 13.64 12.76 13.88

388 -0.51 -145.9 2375 3601 3958 3986 73.0 -18.3 69 395 0.17 2.45 0.00 0.000 3206 0.269 0.063 2410 2189 3969 3954 3985 0 0 0 0 0 0 13.80 13.95 14.02

575 -0.51 -145.9 2411 2189 3960 3985 100.3 -12.8 106 582 0.00 2.55 0.00 0.000 260 0.000 0.092 2402 3605 3972 3960 3985 0 0 0 0 0 0 14.26 13.96 14.28

714 -0.60 -145.9 2402 3608 3960 3986 115.6 -10.7 133 720 0.00 2.45 0.00 0.000 1158 0.000 0.063 2402 2187 3972 3960 3984 0 0 0 0 0 0 14.11 14.00 14.13

900 -0.66 -145.9 2402 2188 3961 3985 137.1 -10.9 170 907 0.00 2.47 0.00 0.000 644 0.000 0.089 2402 794 3972 3960 3985 0 0 0 0 0 0 14.33 14.01 14.34

962 -0.79 -145.9 2402 794 3961 3985 143.5 -9.2 182 970 0.25 2.53 0.00 0.000 5286 0.099 0.094 2316 2197 3972 3960 3984 0 0 0 0 0 0 14.07 14.01 14.15

1150 -0.70 -145.9 2315 2198 3959 3985 174.3 -16.8 219 1157 0.15 2.55 0.00 0.000 2436 0.286 0.095 2345 3607 3972 3960 3984 0 0 0 0 0 0 13.82 13.74 14.00

1222 -0.74 -145.9 2346 3607 3961 3984 183.3 -11.2 233 1228 0.00 2.47 0.00 0.000 1158 0.000 0.070 2344 2195 3972 3960 3984 0 0 0 0 0 0 14.16 14.04 14.19

1408 -0.74 -145.9 2346 2195 3960 3984 206.3 -12.3 270 1414 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2194 3971 3960 3983 0 0 0 0 0 0 14.35 14.40 14.38

1594 -0.74 -145.9 2345 2195 3961 3984 227.2 -11.1 307 1600 0.00 0.00 0.00 0.000 6 0.000 0.000 2345 2194 3971 3959 3983 0 0 0 0 0 0 14.36 14.38 14.38

1780 -0.77 -145.9 2346 2194 3961 3982 248.2 -10.7 344 1786 0.00 2.55 0.00 0.000 388 0.000 0.097 2337 3608 3971 3960 3982 0 0 0 0 0 0 14.37 13.88 14.39

1913 -0.84 -145.9 2337 3609 3961 3982 261.8 -10.1 370 1920 0.00 2.42 0.00 0.000 1158 0.000 0.065 2337 2202 3970 3960 3981 0 0 0 0 0 0 14.16 14.04 14.20

2100 -0.87 -145.9 2337 2203 3960 3981 282.4 -10.8 407 2106 0.12 0.00 0.00 0.000 4230 0.145 0.000 2287 2201 3969 3959 3979 0 0 0 0 0 0 14.11 14.19 14.18

2286 -0.79 -145.9 2288 2202 3960 3979 310.3 -15.3 444 2293 0.15 2.53 0.00 0.000 2436 0.277 0.093 2313 3608 3967 3955 3979 0 0 0 0 0 0 13.83 14.01 13.99

2348 -0.82 -145.9 2313 3609 3960 3979 318.5 -12.4 456 2354 0.00 2.45 0.00 0.000 1158 0.000 0.067 2313 2194 3969 3960 3978 0 0 0 0 0 0 14.15 14.03 14.19

2534 -0.80 -145.9 2313 2194 3960 3978 342.6 -12.7 493 2540 0.00 2.55 0.00 0.000 388 0.000 0.096 2305 3610 3968 3959 3977 0 0 0 0 0 0 14.39 14.02 14.41

2590 -0.80 -145.9 2306 3611 3960 3978 349.9 -12.5 504 2596 0.00 2.45 0.00 0.000 1030 0.000 0.067 2305 2199 3968 3960 3977 0 0 0 0 0 0 14.02 13.52 14.12

2683 end dive: TARGET_DEPTH_EXCEEDED

state 2683 begin apogee

2689 -0.13 0.0 2306 2074 3961 3977 362.5 -13.2 508 2907 0.90 0.00 214.43 1.350 10246 0.257 0.000 2527 2072 3366 3394 3339 0 0 0 0 0 0 13.84 13.50 12.95

2911 end apogee: CONTROL_FINISHED_OK

state 2911 begin climb

2913 0.57 145.9 2528 2073 3388 3335 372.9 0.0 515 3127 0.75 2.80 204.60 1.269 10500 0.073 0.088 2776 3509 2764 2813 2715 0 0 0 0 0 0 13.57 13.26 12.76

3354 0.21 145.9 2776 3510 2790 2713 338.5 16.0 602 3361 0.62 2.45 0.00 0.000 5254 0.336 0.063 2657 2121 2751 2788 2714 0 0 0 0 0 0 13.46 13.72 13.77

3541 0.16 181.7 2658 2121 2790 2712 322.2 8.4 639 3595 0.00 2.62 49.67 1.315 8612 0.000 0.091 2657 3509 2619 2668 2571 0 0 0 0 0 0 14.10 13.64 13.12

3730 0.11 181.7 2658 3509 2654 2562 303.6 10.5 675 3737 0.20 2.50 0.00 0.000 5254 0.274 0.067 2621 2101 2607 2653 2561 0 0 0 0 0 0 13.65 13.81 13.86

3917 0.19 238.9 2622 2100 2654 2560 289.6 7.4 712 4013 0.00 2.70 90.03 1.249 8868 0.000 0.096 2618 681 2387 2439 2336 0 0 0 0 0 0 14.14 13.59 13.10

4050 0.38 286.0 2622 685 2428 2334 279.5 7.8 735 4134 0.28 2.60 76.57 1.220 11430 0.093 0.088 2715 2101 2196 2249 2144 0 0 0 0 0 0 13.73 13.69 13.00

4315 0.34 286.0 2715 2100 2237 2126 242.8 13.7 785 4320 0.00 0.00 0.00 0.000 134 0.000 0.000 2715 2101 2180 2235 2126 0 0 0 0 0 0 14.00 14.02 14.02

4501 0.27 286.0 2715 2102 2235 2124 218.9 12.6 822 4507 0.17 2.55 0.00 0.000 4484 0.231 0.090 2673 3504 2178 2233 2123 0 0 0 0 0 0 13.66 13.83 13.80

4537 0.29 286.0 2673 3509 2230 2124 214.5 11.6 829 4543 0.00 2.47 0.00 0.000 1158 0.000 0.070 2679 2101 2176 2229 2123 0 0 0 0 0 0 13.99 13.88 14.02

4723 0.30 295.5 2679 2101 2230 2122 194.9 9.6 866 4730 0.00 2.60 2.60 0.813 8740 0.000 0.096 2685 691 2159 2213 2105 0 0 0 0 0 0 14.23 13.98 12.87

4837 0.35 295.5 2685 692 2219 2118 183.8 10.1 888 4845 0.00 2.53 1.67 0.260 9350 0.000 0.090 2685 2100 2160 2211 2109 0 0 0 0 0 0 14.08 13.96 13.74

5025 0.39 313.9 2686 2101 2223 2114 165.3 9.1 925 5072 0.00 0.00 40.25 1.278 8358 0.000 0.000 2685 2101 2077 2128 2027 0 0 0 0 0 0 14.28 13.88 13.32

5253 0.45 331.0 2685 2101 2120 2020 144.2 9.2 969 5283 0.12 2.55 24.73 1.310 10916 0.144 0.090 2749 691 2011 2056 1966 0 0 0 0 0 0 14.00 13.77 13.31

5368 0.45 331.0 2750 690 2045 1962 130.0 12.2 991 5375 0.00 2.55 0.00 0.000 1030 0.000 0.088 2750 2101 2003 2044 1962 0 0 0 0 0 0 13.95 13.83 13.97

5555 0.40 331.0 2750 2102 2045 1957 107.4 11.3 1028 5562 0.15 2.55 0.00 0.000 4740 0.248 0.089 2726 690 2000 2043 1958 0 0 0 0 0 0 13.81 13.95 13.95

5592 0.49 357.5 2721 690 2042 1957 103.7 8.8 1035 5641 0.00 2.55 40.80 1.251 9382 0.000 0.089 2721 2108 1903 1940 1867 0 0 0 0 0 0 14.08 13.95 13.28

5821 0.58 399.8 2721 2108 1932 1856 84.7 8.0 1079 5852 0.12 2.55 24.52 0.450 10660 0.137 0.090 2774 3511 1732 1761 1704 0 0 0 0 0 0 13.90 13.79 13.57

5924 0.56 399.8 2775 3513 1762 1709 72.8 12.3 1098 5930 0.00 2.50 0.00 0.000 1158 0.000 0.074 2783 2099 1735 1761 1709 0 0 0 0 0 0 13.95 13.86 13.97

6110 0.57 423.3 2782 2099 1762 1709 53.4 8.9 1135 6129 0.00 2.62 14.32 0.356 8740 0.000 0.096 2792 685 1638 1669 1607 0 0 0 0 0 0 14.23 13.95 13.69

6169 0.62 449.2 2793 686 1671 1611 48.0 8.8 1146 6194 0.00 2.55 16.92 0.342 9382 0.000 0.090 2793 2101 1531 1567 1495 0 0 0 0 0 0 14.07 13.95 13.70

6374 0.71 505.0 2793 2102 1570 1497 31.0 7.4 1186 6416 0.00 2.60 33.20 0.291 8612 0.000 0.094 2793 3511 1303 1362 1244 0 0 0 0 0 0 14.25 13.85 13.77

6457 0.83 540.8 2793 3513 1362 1251 24.6 8.3 1201 6487 0.17 2.50 22.17 0.274 11430 0.116 0.076 2862 2099 1157 1225 1090 0 0 0 0 0 0 14.02 13.95 13.77

6667 0.98 705.3 2862 2099 1225 1094 12.0 2.4 1242 6775 0.00 2.60 97.78 0.233 8868 0.000 0.096 2861 692 496 538 454 0 0 0 0 0 0 14.24 13.86 13.74

6852 end climb: SURFACE_DEPTH_REACHED

state 6852 begin surface coast

6878 end surface coast: CONTROL_FINISHED_OK

state 6878 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	9	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	66.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070817,133056,7112.7861,-14735.7656,7,0.8,34,21.2,0.4,61.7,10,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7123.661,-14735.534
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	296.3,20000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.2	D_GRID	360
GPS2	070817,134139,7112.8613,-14735.5342,8,0.7,13,21.2,0.0,308.2,11,9.5

FINISH	0.3,1.011245	_24V_AH	12.76,46.444
SM_CCo	6960,0.00,0.000,0,0,497,703.77	_10V_AH	12.71,0.000
SM_GC	1.19,8.30,2.75,0.00,0.085,0.079,0.000,205,2213,497,-7.38,-0.34,703.77,0,0,0,0,0,0,14.03,14.00,14.12	FG_AHR_24Vo	0.000
RAFOS_CLK	260	FG_AHR_10Vo	0.000
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	MEM	324740
IRIDIUM_FIX	7111.88,-14736.33,070817,112642	DATA_FILE_SIZE	43322,1281
TT8_MAMPS	0.041195,0.880824	CAP_FILE_SIZE	124073,0
HUMID	48.18	CFSIZE	2097872896,2085552128
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.60	SOUNDSPEED	1450.4
XPDR_PINGS	4	CURRENT	0.148,43.74,1
CP_FREE	0.000000	GPS	070817,153912,7113.976,-14735.618,7,0.9,18,21.2,0.3,76.3,8,9.5
PM_FREEKB_00	61989184

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	447	142.62	nil	0	0	0.00
Roll_motor	92	2151	2527.58	nil	0	0	0.00
VBD_pump_during_apogee	954	1350	16441.08	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	6902	18	1593.35
Iridium_during_xfer	410	177	929.41	NCP	6862	111	9719.06
Transponder_ping	1	420	5.36	PMAR	6879	16	1454.10
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.18
TT8	0	0	0.00
LPSleep	3424	2	100.53
TT8_Active	1006	13	178.66
TT8_Sampling	2850	33	1211.59
TT8_CF8	327	38	160.95
TT8_Kalman	0	0	0.00
Analog_circuits	2453	10	311.83
GPS_charging	0	0	0.00
Compass	1833	7	163.13
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
21	-0.57	-145.9	205	2218	562	505	0.0	0.0	0	106	0.00	0.00	-83.43	0.000	16386	0.000	0.000	204	2218	2162	2086	2239	0	0	0	0	0	0	14.21	28.83	14.21
109	-0.57	-145.9	205	2218	2089	2240	3.7	-9.1	15	163	12.32	2.75	-32.80	0.000	18724	0.448	2.152	2375	3599	3967	3949	3985	0	0	0	0	0	0	13.64	12.76	13.88
388	-0.51	-145.9	2375	3601	3958	3986	73.0	-18.3	69	395	0.17	2.45	0.00	0.000	3206	0.269	0.063	2410	2189	3969	3954	3985	0	0	0	0	0	0	13.80	13.95	14.02
575	-0.51	-145.9	2411	2189	3960	3985	100.3	-12.8	106	582	0.00	2.55	0.00	0.000	260	0.000	0.092	2402	3605	3972	3960	3985	0	0	0	0	0	0	14.26	13.96	14.28
714	-0.60	-145.9	2402	3608	3960	3986	115.6	-10.7	133	720	0.00	2.45	0.00	0.000	1158	0.000	0.063	2402	2187	3972	3960	3984	0	0	0	0	0	0	14.11	14.00	14.13
900	-0.66	-145.9	2402	2188	3961	3985	137.1	-10.9	170	907	0.00	2.47	0.00	0.000	644	0.000	0.089	2402	794	3972	3960	3985	0	0	0	0	0	0	14.33	14.01	14.34
962	-0.79	-145.9	2402	794	3961	3985	143.5	-9.2	182	970	0.25	2.53	0.00	0.000	5286	0.099	0.094	2316	2197	3972	3960	3984	0	0	0	0	0	0	14.07	14.01	14.15
1150	-0.70	-145.9	2315	2198	3959	3985	174.3	-16.8	219	1157	0.15	2.55	0.00	0.000	2436	0.286	0.095	2345	3607	3972	3960	3984	0	0	0	0	0	0	13.82	13.74	14.00
1222	-0.74	-145.9	2346	3607	3961	3984	183.3	-11.2	233	1228	0.00	2.47	0.00	0.000	1158	0.000	0.070	2344	2195	3972	3960	3984	0	0	0	0	0	0	14.16	14.04	14.19
1408	-0.74	-145.9	2346	2195	3960	3984	206.3	-12.3	270	1414	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2194	3971	3960	3983	0	0	0	0	0	0	14.35	14.40	14.38
1594	-0.74	-145.9	2345	2195	3961	3984	227.2	-11.1	307	1600	0.00	0.00	0.00	0.000	6	0.000	0.000	2345	2194	3971	3959	3983	0	0	0	0	0	0	14.36	14.38	14.38
1780	-0.77	-145.9	2346	2194	3961	3982	248.2	-10.7	344	1786	0.00	2.55	0.00	0.000	388	0.000	0.097	2337	3608	3971	3960	3982	0	0	0	0	0	0	14.37	13.88	14.39
1913	-0.84	-145.9	2337	3609	3961	3982	261.8	-10.1	370	1920	0.00	2.42	0.00	0.000	1158	0.000	0.065	2337	2202	3970	3960	3981	0	0	0	0	0	0	14.16	14.04	14.20
2100	-0.87	-145.9	2337	2203	3960	3981	282.4	-10.8	407	2106	0.12	0.00	0.00	0.000	4230	0.145	0.000	2287	2201	3969	3959	3979	0	0	0	0	0	0	14.11	14.19	14.18
2286	-0.79	-145.9	2288	2202	3960	3979	310.3	-15.3	444	2293	0.15	2.53	0.00	0.000	2436	0.277	0.093	2313	3608	3967	3955	3979	0	0	0	0	0	0	13.83	14.01	13.99
2348	-0.82	-145.9	2313	3609	3960	3979	318.5	-12.4	456	2354	0.00	2.45	0.00	0.000	1158	0.000	0.067	2313	2194	3969	3960	3978	0	0	0	0	0	0	14.15	14.03	14.19
2534	-0.80	-145.9	2313	2194	3960	3978	342.6	-12.7	493	2540	0.00	2.55	0.00	0.000	388	0.000	0.096	2305	3610	3968	3959	3977	0	0	0	0	0	0	14.39	14.02	14.41
2590	-0.80	-145.9	2306	3611	3960	3978	349.9	-12.5	504	2596	0.00	2.45	0.00	0.000	1030	0.000	0.067	2305	2199	3968	3960	3977	0	0	0	0	0	0	14.02	13.52	14.12
2683	end dive: TARGET_DEPTH_EXCEEDED
state	2683	begin apogee
2689	-0.13	0.0	2306	2074	3961	3977	362.5	-13.2	508	2907	0.90	0.00	214.43	1.350	10246	0.257	0.000	2527	2072	3366	3394	3339	0	0	0	0	0	0	13.84	13.50	12.95
2911	end apogee: CONTROL_FINISHED_OK
state	2911	begin climb
2913	0.57	145.9	2528	2073	3388	3335	372.9	0.0	515	3127	0.75	2.80	204.60	1.269	10500	0.073	0.088	2776	3509	2764	2813	2715	0	0	0	0	0	0	13.57	13.26	12.76
3354	0.21	145.9	2776	3510	2790	2713	338.5	16.0	602	3361	0.62	2.45	0.00	0.000	5254	0.336	0.063	2657	2121	2751	2788	2714	0	0	0	0	0	0	13.46	13.72	13.77
3541	0.16	181.7	2658	2121	2790	2712	322.2	8.4	639	3595	0.00	2.62	49.67	1.315	8612	0.000	0.091	2657	3509	2619	2668	2571	0	0	0	0	0	0	14.10	13.64	13.12
3730	0.11	181.7	2658	3509	2654	2562	303.6	10.5	675	3737	0.20	2.50	0.00	0.000	5254	0.274	0.067	2621	2101	2607	2653	2561	0	0	0	0	0	0	13.65	13.81	13.86
3917	0.19	238.9	2622	2100	2654	2560	289.6	7.4	712	4013	0.00	2.70	90.03	1.249	8868	0.000	0.096	2618	681	2387	2439	2336	0	0	0	0	0	0	14.14	13.59	13.10
4050	0.38	286.0	2622	685	2428	2334	279.5	7.8	735	4134	0.28	2.60	76.57	1.220	11430	0.093	0.088	2715	2101	2196	2249	2144	0	0	0	0	0	0	13.73	13.69	13.00
4315	0.34	286.0	2715	2100	2237	2126	242.8	13.7	785	4320	0.00	0.00	0.00	0.000	134	0.000	0.000	2715	2101	2180	2235	2126	0	0	0	0	0	0	14.00	14.02	14.02
4501	0.27	286.0	2715	2102	2235	2124	218.9	12.6	822	4507	0.17	2.55	0.00	0.000	4484	0.231	0.090	2673	3504	2178	2233	2123	0	0	0	0	0	0	13.66	13.83	13.80
4537	0.29	286.0	2673	3509	2230	2124	214.5	11.6	829	4543	0.00	2.47	0.00	0.000	1158	0.000	0.070	2679	2101	2176	2229	2123	0	0	0	0	0	0	13.99	13.88	14.02
4723	0.30	295.5	2679	2101	2230	2122	194.9	9.6	866	4730	0.00	2.60	2.60	0.813	8740	0.000	0.096	2685	691	2159	2213	2105	0	0	0	0	0	0	14.23	13.98	12.87
4837	0.35	295.5	2685	692	2219	2118	183.8	10.1	888	4845	0.00	2.53	1.67	0.260	9350	0.000	0.090	2685	2100	2160	2211	2109	0	0	0	0	0	0	14.08	13.96	13.74
5025	0.39	313.9	2686	2101	2223	2114	165.3	9.1	925	5072	0.00	0.00	40.25	1.278	8358	0.000	0.000	2685	2101	2077	2128	2027	0	0	0	0	0	0	14.28	13.88	13.32
5253	0.45	331.0	2685	2101	2120	2020	144.2	9.2	969	5283	0.12	2.55	24.73	1.310	10916	0.144	0.090	2749	691	2011	2056	1966	0	0	0	0	0	0	14.00	13.77	13.31
5368	0.45	331.0	2750	690	2045	1962	130.0	12.2	991	5375	0.00	2.55	0.00	0.000	1030	0.000	0.088	2750	2101	2003	2044	1962	0	0	0	0	0	0	13.95	13.83	13.97
5555	0.40	331.0	2750	2102	2045	1957	107.4	11.3	1028	5562	0.15	2.55	0.00	0.000	4740	0.248	0.089	2726	690	2000	2043	1958	0	0	0	0	0	0	13.81	13.95	13.95
5592	0.49	357.5	2721	690	2042	1957	103.7	8.8	1035	5641	0.00	2.55	40.80	1.251	9382	0.000	0.089	2721	2108	1903	1940	1867	0	0	0	0	0	0	14.08	13.95	13.28
5821	0.58	399.8	2721	2108	1932	1856	84.7	8.0	1079	5852	0.12	2.55	24.52	0.450	10660	0.137	0.090	2774	3511	1732	1761	1704	0	0	0	0	0	0	13.90	13.79	13.57
5924	0.56	399.8	2775	3513	1762	1709	72.8	12.3	1098	5930	0.00	2.50	0.00	0.000	1158	0.000	0.074	2783	2099	1735	1761	1709	0	0	0	0	0	0	13.95	13.86	13.97
6110	0.57	423.3	2782	2099	1762	1709	53.4	8.9	1135	6129	0.00	2.62	14.32	0.356	8740	0.000	0.096	2792	685	1638	1669	1607	0	0	0	0	0	0	14.23	13.95	13.69
6169	0.62	449.2	2793	686	1671	1611	48.0	8.8	1146	6194	0.00	2.55	16.92	0.342	9382	0.000	0.090	2793	2101	1531	1567	1495	0	0	0	0	0	0	14.07	13.95	13.70
6374	0.71	505.0	2793	2102	1570	1497	31.0	7.4	1186	6416	0.00	2.60	33.20	0.291	8612	0.000	0.094	2793	3511	1303	1362	1244	0	0	0	0	0	0	14.25	13.85	13.77
6457	0.83	540.8	2793	3513	1362	1251	24.6	8.3	1201	6487	0.17	2.50	22.17	0.274	11430	0.116	0.076	2862	2099	1157	1225	1090	0	0	0	0	0	0	14.02	13.95	13.77
6667	0.98	705.3	2862	2099	1225	1094	12.0	2.4	1242	6775	0.00	2.60	97.78	0.233	8868	0.000	0.096	2861	692	496	538	454	0	0	0	0	0	0	14.24	13.86	13.74
6852	end climb: SURFACE_DEPTH_REACHED
state	6852	begin surface coast
6878	end surface coast: CONTROL_FINISHED_OK
state	6878	begin surface