Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 237 * 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 237 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 670.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 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 670.0 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 27 VBD_MIN 500

DIVE 237 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 030917,120625,7446.4888,-15238.5479,34,0.7,39,19.9,0.2,256.3,12,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 18.9,112316,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 030917,121639,7446.4854,-15238.7344,6,0.7,10,19.9,0.0,0.0,12,9.7

Post-dive calculations and measurements:

FINISH 0.2,1.021315 _24V_AH 12.31,156.462

SM_CCo 9200,49.33,0.211,0,0,500,702.78 _10V_AH 12.19,0.000

SM_GC 1.46,8.10,0.17,49.33,0.080,0.110,0.211,202,2232,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.33,14.33,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 419 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323484

IRIDIUM_FIX 7445.17,-15249.53,030917,092937 DATA_FILE_SIZE 26723,756

TT8_MAMPS 0.038948,0.85386 CAP_FILE_SIZE 101917,0

HUMID 47.16 CFSIZE 2097872896,2016182272

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1446.1

XPDR_PINGS 17 CURRENT 0.089,261.83,1

CP_FREE 0.000000 GPS 030917,145233,7447.206,-15236.469,31,0.9,32,19.9,0.0,0.0,10,9.5

PM_FREEKB_00 50941632

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.68 nil 0 0 0.00

Roll_motor 84 2136 2211.35 nil 0 0 0.00

VBD_pump_during_apogee 941 1461 16941.28 nil 0 0 0.00

VBD_pump_during_surface 49 211 128.20 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 5308 14 946.54

Iridium_during_xfer 381 174 819.39 NCP 9185 20 2261.35

Transponder_ping 4 420 21.97 PMAR 9154 9 1114.91

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.29

TT8 0 0 0.00

LPSleep 6589 2 185.54

TT8_Active 876 13 149.27

TT8_Sampling 2130 33 868.46

TT8_CF8 275 38 130.07

TT8_Kalman 0 0 0.00

Analog_circuits 2104 10 256.48

GPS_charging 0 0 0.00

Compass 1082 7 92.33

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 203 2222 490 493 0.0 0.0 0 152 0.00 0.00 -101.50 0.000 16386 0.000 0.000 202 2221 2374 2322 2426 0 0 0 0 0 0 14.35 28.83 14.39

155 -0.57 -145.9 203 2221 2325 2426 4.8 -7.5 10 202 12.82 2.72 -29.00 0.000 18724 0.456 2.137 2377 3589 3962 3942 3983 0 0 0 0 0 0 13.59 12.81 14.07

427 -0.73 -145.9 2377 3590 3951 3984 54.3 -11.5 64 432 0.00 2.38 0.00 0.000 1158 0.000 0.056 2377 2198 3966 3950 3983 0 0 0 0 0 0 14.23 14.12 14.26

739 -0.85 -145.9 2377 2199 3952 3984 89.4 -9.7 96 744 0.20 2.47 0.00 0.000 4516 0.109 0.084 2286 3600 3966 3950 3983 0 0 0 0 0 0 14.18 14.09 14.21

764 -0.88 -145.9 2286 3600 3952 3983 92.9 -14.1 101 771 0.00 2.40 0.00 0.000 1158 0.000 0.058 2285 2193 3966 3950 3983 0 0 0 0 0 0 14.27 14.14 14.29

1079 -0.88 -145.9 2285 2194 3951 3984 143.6 -15.3 115 1084 0.00 2.47 0.00 0.000 260 0.000 0.086 2280 3594 3966 3950 3983 0 0 0 0 0 0 14.53 14.09 14.54

1204 -0.97 -145.9 2286 3596 3951 3985 160.1 -12.7 140 1209 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2199 3966 3950 3983 0 0 0 0 0 0 14.21 14.10 14.27

1531 -0.99 -145.9 2280 2197 3951 3984 204.7 -13.4 155 1536 0.00 2.42 0.00 0.000 388 0.000 0.086 2272 3592 3966 3950 3983 0 0 0 0 0 0 14.48 14.01 14.50

1587 -1.09 -145.9 2273 3592 3952 3983 211.9 -11.9 166 1593 0.15 2.38 0.00 0.000 5254 0.121 0.057 2219 2199 3967 3951 3983 0 0 0 0 0 0 14.11 14.07 14.20

1891 -1.02 -145.9 2219 2199 3951 3984 264.6 -16.9 177 1897 0.12 2.45 0.00 0.000 2436 0.295 0.083 2238 3600 3967 3951 3983 0 0 0 0 0 0 13.95 14.19 14.12

1994 -1.06 -145.9 2238 3601 3951 3984 278.3 -12.8 197 2000 0.00 2.35 0.00 0.000 1158 0.000 0.056 2238 2198 3966 3950 3983 0 0 0 0 0 0 14.38 14.26 14.44

2315 -1.06 -145.9 2238 2197 3952 3983 321.0 -12.9 211 2320 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3594 3966 3950 3983 0 0 0 0 0 0 14.71 14.14 14.73

2390 -1.13 -145.9 2236 3595 3951 3984 330.1 -11.5 226 2395 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2196 3966 3950 3982 0 0 0 0 0 0 14.31 14.22 14.38

2705 -1.16 -145.9 2236 2196 3951 3984 368.0 -11.8 239 2706 0.00 0.00 0.00 0.000 134 0.000 0.000 2236 2195 3966 3950 3983 0 0 0 0 0 0 14.72 14.74 14.72

3005 -1.19 -145.9 2237 2195 3952 3982 402.7 -11.5 249 3011 0.12 2.45 0.00 0.000 4484 0.149 0.084 2172 3594 3966 3950 3982 0 0 0 0 0 0 14.35 14.20 14.38

3133 -1.12 -145.9 2173 3595 3949 3983 422.9 -16.4 274 3138 0.20 2.35 0.00 0.000 3206 0.272 0.057 2213 2201 3965 3949 3982 0 0 0 0 0 0 13.92 14.28 14.23

3458 -1.12 -145.9 2213 2200 3950 3983 466.3 -12.8 289 3464 0.00 2.45 0.00 0.000 260 0.000 0.086 2209 3593 3965 3949 3982 0 0 0 0 0 0 14.73 14.12 14.76

3519 -1.16 -145.9 2210 3594 3950 3982 474.1 -12.4 301 3525 0.00 2.35 0.00 0.000 1158 0.000 0.055 2209 2195 3965 3949 3982 0 0 0 0 0 0 14.40 14.28 14.44

3578 end dive: TARGET_DEPTH_EXCEEDED

state 3578 begin apogee

3583 -0.13 0.0 2210 2065 3950 3982 482.1 -13.2 308 3811 1.25 0.00 224.80 1.391 10246 0.239 0.000 2528 2063 3367 3385 3349 0 0 0 0 0 0 13.91 13.52 12.69

3815 end apogee: CONTROL_FINISHED_OK

state 3815 begin climb

3818 0.57 145.9 2528 2064 3377 3339 493.2 0.0 315 4033 0.75 2.72 210.50 1.374 11012 0.062 0.073 2782 3485 2765 2807 2724 0 0 0 0 0 0 13.64 12.96 12.31

4065 0.10 145.9 2781 3488 2787 2718 497.2 15.3 345 4071 0.88 2.45 0.00 0.000 5254 0.343 0.054 2620 2133 2752 2786 2718 0 0 0 0 0 0 13.04 13.31 13.35

4392 0.02 180.8 2620 2133 2787 2713 468.4 8.4 360 4447 0.12 2.62 48.35 1.439 12964 0.286 0.084 2598 701 2621 2670 2573 0 0 0 0 0 0 13.76 13.83 12.98

4518 0.08 228.3 2604 698 2662 2567 458.8 7.8 385 4593 0.00 2.45 69.28 1.395 9382 0.000 0.079 2600 2083 2433 2491 2376 0 0 0 0 0 0 14.07 13.96 12.92

4903 0.12 257.6 2600 2083 2477 2358 425.7 8.6 412 4949 0.00 0.00 43.92 1.427 8358 0.000 0.000 2600 2083 2313 2366 2260 0 0 0 0 0 0 14.49 13.96 13.15

5233 0.19 281.3 2599 2083 2353 2243 396.5 8.9 423 5268 0.12 0.00 32.78 1.461 10406 0.128 0.000 2661 2084 2215 2267 2163 0 0 0 0 0 0 14.30 14.06 13.22

5563 0.13 281.3 2661 2084 2258 2152 353.9 13.0 434 5568 0.12 2.42 0.00 0.000 4740 0.263 0.083 2638 694 2204 2257 2152 0 0 0 0 0 0 14.07 14.17 14.20

5665 0.18 281.3 2638 694 2256 2153 342.9 10.5 454 5670 0.00 2.45 0.00 0.000 1158 0.000 0.078 2638 2102 2204 2255 2154 0 0 0 0 0 0 14.38 14.24 14.42

5985 0.18 281.3 2638 2103 2256 2151 307.9 10.8 468 5990 0.00 2.45 0.00 0.000 516 0.000 0.085 2644 694 2203 2255 2151 0 0 0 0 0 0 14.65 14.25 14.67

6035 0.23 281.3 2644 695 2255 2152 302.6 10.1 478 6040 0.00 2.45 0.00 0.000 1158 0.000 0.079 2644 2108 2202 2254 2151 0 0 0 0 0 0 14.40 14.27 14.49

6346 0.23 287.3 2644 2111 2254 2152 271.1 9.7 490 6346 0.00 0.00 0.00 0.000 38 0.000 0.000 2644 2109 2202 2253 2151 0 0 0 0 0 0 14.67 14.67 14.69

6646 0.26 323.5 2644 2111 2253 2151 245.1 8.3 500 6717 0.00 2.58 66.12 1.333 8740 0.000 0.085 2644 695 2043 2088 1998 0 0 0 0 0 0 14.68 13.96 13.23

6764 0.41 368.6 2644 696 2079 1998 235.5 7.9 523 6843 0.22 2.47 72.95 1.273 11430 0.093 0.080 2729 2101 1863 1894 1832 0 0 0 0 0 0 13.77 13.77 13.06

7158 0.34 368.6 2729 2101 1883 1819 181.9 13.3 552 7163 0.12 2.47 0.00 0.000 4740 0.239 0.083 2699 694 1850 1882 1818 0 0 0 0 0 0 14.02 14.11 14.14

7193 0.38 368.6 2697 695 1880 1819 177.8 11.0 559 7198 0.00 2.47 0.00 0.000 1158 0.000 0.077 2699 2107 1848 1879 1818 0 0 0 0 0 0 14.20 14.07 14.26

7518 0.38 369.9 2699 2109 1879 1817 144.1 9.9 574 7519 0.00 0.00 0.00 0.000 38 0.000 0.000 2699 2109 1847 1878 1816 0 0 0 0 0 0 14.63 14.64 14.64

7818 0.39 385.8 2699 2109 1879 1815 115.8 9.3 584 7843 0.00 2.47 18.88 1.388 8740 0.000 0.086 2700 695 1790 1818 1763 0 0 0 0 0 0 14.69 14.15 13.26

7935 0.49 418.0 2699 695 1811 1763 105.7 8.5 607 7994 0.12 2.47 53.47 1.249 11430 0.132 0.079 2758 2109 1660 1686 1634 0 0 0 0 0 0 14.22 14.17 13.26

8300 0.47 418.0 2758 2109 1682 1617 63.1 10.3 650 8305 0.00 2.50 0.00 0.000 644 0.000 0.085 2765 695 1651 1681 1621 0 0 0 0 0 0 14.52 14.12 14.54

8390 0.49 448.4 2765 696 1678 1618 54.8 8.6 668 8411 0.00 2.47 15.12 0.367 9254 0.000 0.080 2771 2103 1536 1568 1505 0 0 0 0 0 0 14.27 14.14 13.75

8710 0.57 536.7 2765 2104 1569 1504 32.2 5.9 702 8761 0.00 2.55 46.42 0.299 8612 0.000 0.083 2765 3514 1176 1236 1117 0 0 0 0 0 0 14.59 14.10 13.81

8814 0.74 610.9 2766 3515 1237 1117 25.6 6.6 719 8862 0.15 2.42 39.28 0.278 11430 0.113 0.064 2826 2102 871 940 802 0 0 0 0 0 0 14.17 14.05 13.76

9114 end climb: SURFACE_DEPTH_REACHED

state 9114 begin surface coast

9135 end surface coast: CONTROL_FINISHED_OK

state 9135 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	237	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	670.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,120625,7446.4888,-15238.5479,34,0.7,39,19.9,0.2,256.3,12,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	18.9,112316,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	030917,121639,7446.4854,-15238.7344,6,0.7,10,19.9,0.0,0.0,12,9.7

FINISH	0.2,1.021315	_24V_AH	12.31,156.462
SM_CCo	9200,49.33,0.211,0,0,500,702.78	_10V_AH	12.19,0.000
SM_GC	1.46,8.10,0.17,49.33,0.080,0.110,0.211,202,2232,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.33,14.33,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	419	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323484
IRIDIUM_FIX	7445.17,-15249.53,030917,092937	DATA_FILE_SIZE	26723,756
TT8_MAMPS	0.038948,0.85386	CAP_FILE_SIZE	101917,0
HUMID	47.16	CFSIZE	2097872896,2016182272
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1446.1
XPDR_PINGS	17	CURRENT	0.089,261.83,1
CP_FREE	0.000000	GPS	030917,145233,7447.206,-15236.469,31,0.9,32,19.9,0.0,0.0,10,9.5
PM_FREEKB_00	50941632

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.68	nil	0	0	0.00
Roll_motor	84	2136	2211.35	nil	0	0	0.00
VBD_pump_during_apogee	941	1461	16941.28	nil	0	0	0.00
VBD_pump_during_surface	49	211	128.20	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	5308	14	946.54
Iridium_during_xfer	381	174	819.39	NCP	9185	20	2261.35
Transponder_ping	4	420	21.97	PMAR	9154	9	1114.91
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.29
TT8	0	0	0.00
LPSleep	6589	2	185.54
TT8_Active	876	13	149.27
TT8_Sampling	2130	33	868.46
TT8_CF8	275	38	130.07
TT8_Kalman	0	0	0.00
Analog_circuits	2104	10	256.48
GPS_charging	0	0	0.00
Compass	1082	7	92.33
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	203	2222	490	493	0.0	0.0	0	152	0.00	0.00	-101.50	0.000	16386	0.000	0.000	202	2221	2374	2322	2426	0	0	0	0	0	0	14.35	28.83	14.39
155	-0.57	-145.9	203	2221	2325	2426	4.8	-7.5	10	202	12.82	2.72	-29.00	0.000	18724	0.456	2.137	2377	3589	3962	3942	3983	0	0	0	0	0	0	13.59	12.81	14.07
427	-0.73	-145.9	2377	3590	3951	3984	54.3	-11.5	64	432	0.00	2.38	0.00	0.000	1158	0.000	0.056	2377	2198	3966	3950	3983	0	0	0	0	0	0	14.23	14.12	14.26
739	-0.85	-145.9	2377	2199	3952	3984	89.4	-9.7	96	744	0.20	2.47	0.00	0.000	4516	0.109	0.084	2286	3600	3966	3950	3983	0	0	0	0	0	0	14.18	14.09	14.21
764	-0.88	-145.9	2286	3600	3952	3983	92.9	-14.1	101	771	0.00	2.40	0.00	0.000	1158	0.000	0.058	2285	2193	3966	3950	3983	0	0	0	0	0	0	14.27	14.14	14.29
1079	-0.88	-145.9	2285	2194	3951	3984	143.6	-15.3	115	1084	0.00	2.47	0.00	0.000	260	0.000	0.086	2280	3594	3966	3950	3983	0	0	0	0	0	0	14.53	14.09	14.54
1204	-0.97	-145.9	2286	3596	3951	3985	160.1	-12.7	140	1209	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2199	3966	3950	3983	0	0	0	0	0	0	14.21	14.10	14.27
1531	-0.99	-145.9	2280	2197	3951	3984	204.7	-13.4	155	1536	0.00	2.42	0.00	0.000	388	0.000	0.086	2272	3592	3966	3950	3983	0	0	0	0	0	0	14.48	14.01	14.50
1587	-1.09	-145.9	2273	3592	3952	3983	211.9	-11.9	166	1593	0.15	2.38	0.00	0.000	5254	0.121	0.057	2219	2199	3967	3951	3983	0	0	0	0	0	0	14.11	14.07	14.20
1891	-1.02	-145.9	2219	2199	3951	3984	264.6	-16.9	177	1897	0.12	2.45	0.00	0.000	2436	0.295	0.083	2238	3600	3967	3951	3983	0	0	0	0	0	0	13.95	14.19	14.12
1994	-1.06	-145.9	2238	3601	3951	3984	278.3	-12.8	197	2000	0.00	2.35	0.00	0.000	1158	0.000	0.056	2238	2198	3966	3950	3983	0	0	0	0	0	0	14.38	14.26	14.44
2315	-1.06	-145.9	2238	2197	3952	3983	321.0	-12.9	211	2320	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3594	3966	3950	3983	0	0	0	0	0	0	14.71	14.14	14.73
2390	-1.13	-145.9	2236	3595	3951	3984	330.1	-11.5	226	2395	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2196	3966	3950	3982	0	0	0	0	0	0	14.31	14.22	14.38
2705	-1.16	-145.9	2236	2196	3951	3984	368.0	-11.8	239	2706	0.00	0.00	0.00	0.000	134	0.000	0.000	2236	2195	3966	3950	3983	0	0	0	0	0	0	14.72	14.74	14.72
3005	-1.19	-145.9	2237	2195	3952	3982	402.7	-11.5	249	3011	0.12	2.45	0.00	0.000	4484	0.149	0.084	2172	3594	3966	3950	3982	0	0	0	0	0	0	14.35	14.20	14.38
3133	-1.12	-145.9	2173	3595	3949	3983	422.9	-16.4	274	3138	0.20	2.35	0.00	0.000	3206	0.272	0.057	2213	2201	3965	3949	3982	0	0	0	0	0	0	13.92	14.28	14.23
3458	-1.12	-145.9	2213	2200	3950	3983	466.3	-12.8	289	3464	0.00	2.45	0.00	0.000	260	0.000	0.086	2209	3593	3965	3949	3982	0	0	0	0	0	0	14.73	14.12	14.76
3519	-1.16	-145.9	2210	3594	3950	3982	474.1	-12.4	301	3525	0.00	2.35	0.00	0.000	1158	0.000	0.055	2209	2195	3965	3949	3982	0	0	0	0	0	0	14.40	14.28	14.44
3578	end dive: TARGET_DEPTH_EXCEEDED
state	3578	begin apogee
3583	-0.13	0.0	2210	2065	3950	3982	482.1	-13.2	308	3811	1.25	0.00	224.80	1.391	10246	0.239	0.000	2528	2063	3367	3385	3349	0	0	0	0	0	0	13.91	13.52	12.69
3815	end apogee: CONTROL_FINISHED_OK
state	3815	begin climb
3818	0.57	145.9	2528	2064	3377	3339	493.2	0.0	315	4033	0.75	2.72	210.50	1.374	11012	0.062	0.073	2782	3485	2765	2807	2724	0	0	0	0	0	0	13.64	12.96	12.31
4065	0.10	145.9	2781	3488	2787	2718	497.2	15.3	345	4071	0.88	2.45	0.00	0.000	5254	0.343	0.054	2620	2133	2752	2786	2718	0	0	0	0	0	0	13.04	13.31	13.35
4392	0.02	180.8	2620	2133	2787	2713	468.4	8.4	360	4447	0.12	2.62	48.35	1.439	12964	0.286	0.084	2598	701	2621	2670	2573	0	0	0	0	0	0	13.76	13.83	12.98
4518	0.08	228.3	2604	698	2662	2567	458.8	7.8	385	4593	0.00	2.45	69.28	1.395	9382	0.000	0.079	2600	2083	2433	2491	2376	0	0	0	0	0	0	14.07	13.96	12.92
4903	0.12	257.6	2600	2083	2477	2358	425.7	8.6	412	4949	0.00	0.00	43.92	1.427	8358	0.000	0.000	2600	2083	2313	2366	2260	0	0	0	0	0	0	14.49	13.96	13.15
5233	0.19	281.3	2599	2083	2353	2243	396.5	8.9	423	5268	0.12	0.00	32.78	1.461	10406	0.128	0.000	2661	2084	2215	2267	2163	0	0	0	0	0	0	14.30	14.06	13.22
5563	0.13	281.3	2661	2084	2258	2152	353.9	13.0	434	5568	0.12	2.42	0.00	0.000	4740	0.263	0.083	2638	694	2204	2257	2152	0	0	0	0	0	0	14.07	14.17	14.20
5665	0.18	281.3	2638	694	2256	2153	342.9	10.5	454	5670	0.00	2.45	0.00	0.000	1158	0.000	0.078	2638	2102	2204	2255	2154	0	0	0	0	0	0	14.38	14.24	14.42
5985	0.18	281.3	2638	2103	2256	2151	307.9	10.8	468	5990	0.00	2.45	0.00	0.000	516	0.000	0.085	2644	694	2203	2255	2151	0	0	0	0	0	0	14.65	14.25	14.67
6035	0.23	281.3	2644	695	2255	2152	302.6	10.1	478	6040	0.00	2.45	0.00	0.000	1158	0.000	0.079	2644	2108	2202	2254	2151	0	0	0	0	0	0	14.40	14.27	14.49
6346	0.23	287.3	2644	2111	2254	2152	271.1	9.7	490	6346	0.00	0.00	0.00	0.000	38	0.000	0.000	2644	2109	2202	2253	2151	0	0	0	0	0	0	14.67	14.67	14.69
6646	0.26	323.5	2644	2111	2253	2151	245.1	8.3	500	6717	0.00	2.58	66.12	1.333	8740	0.000	0.085	2644	695	2043	2088	1998	0	0	0	0	0	0	14.68	13.96	13.23
6764	0.41	368.6	2644	696	2079	1998	235.5	7.9	523	6843	0.22	2.47	72.95	1.273	11430	0.093	0.080	2729	2101	1863	1894	1832	0	0	0	0	0	0	13.77	13.77	13.06
7158	0.34	368.6	2729	2101	1883	1819	181.9	13.3	552	7163	0.12	2.47	0.00	0.000	4740	0.239	0.083	2699	694	1850	1882	1818	0	0	0	0	0	0	14.02	14.11	14.14
7193	0.38	368.6	2697	695	1880	1819	177.8	11.0	559	7198	0.00	2.47	0.00	0.000	1158	0.000	0.077	2699	2107	1848	1879	1818	0	0	0	0	0	0	14.20	14.07	14.26
7518	0.38	369.9	2699	2109	1879	1817	144.1	9.9	574	7519	0.00	0.00	0.00	0.000	38	0.000	0.000	2699	2109	1847	1878	1816	0	0	0	0	0	0	14.63	14.64	14.64
7818	0.39	385.8	2699	2109	1879	1815	115.8	9.3	584	7843	0.00	2.47	18.88	1.388	8740	0.000	0.086	2700	695	1790	1818	1763	0	0	0	0	0	0	14.69	14.15	13.26
7935	0.49	418.0	2699	695	1811	1763	105.7	8.5	607	7994	0.12	2.47	53.47	1.249	11430	0.132	0.079	2758	2109	1660	1686	1634	0	0	0	0	0	0	14.22	14.17	13.26
8300	0.47	418.0	2758	2109	1682	1617	63.1	10.3	650	8305	0.00	2.50	0.00	0.000	644	0.000	0.085	2765	695	1651	1681	1621	0	0	0	0	0	0	14.52	14.12	14.54
8390	0.49	448.4	2765	696	1678	1618	54.8	8.6	668	8411	0.00	2.47	15.12	0.367	9254	0.000	0.080	2771	2103	1536	1568	1505	0	0	0	0	0	0	14.27	14.14	13.75
8710	0.57	536.7	2765	2104	1569	1504	32.2	5.9	702	8761	0.00	2.55	46.42	0.299	8612	0.000	0.083	2765	3514	1176	1236	1117	0	0	0	0	0	0	14.59	14.10	13.81
8814	0.74	610.9	2766	3515	1237	1117	25.6	6.6	719	8862	0.15	2.42	39.28	0.278	11430	0.113	0.064	2826	2102	871	940	802	0	0	0	0	0	0	14.17	14.05	13.76
9114	end climb: SURFACE_DEPTH_REACHED
state	9114	begin surface coast
9135	end surface coast: CONTROL_FINISHED_OK
state	9135	begin surface