Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 240 * 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 240 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 677.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 29 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 677.0 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 26 VBD_MIN 500

DIVE 240 NOCOMM_ACTION 161 R_STBD_OVSHOOT 29 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 030917,203451,7448.5132,-15233.0254,36,0.8,37,19.9,0.0,0.0,9,7.7 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 19.1,107908,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 030917,205052,7448.5029,-15233.0830,11,0.9,12,19.9,0.0,31.8,9,8.9

Post-dive calculations and measurements:

FINISH 0.6,1.021385 _24V_AH 12.29,157.908

SM_CCo 8820,22.08,0.214,0,0,501,702.78 _10V_AH 12.14,0.000

SM_GC 1.03,8.30,0.17,22.08,0.078,0.117,0.214,200,2218,501,-7.38,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 391 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323700

IRIDIUM_FIX 7449.36,-15223.67,030917,180256 DATA_FILE_SIZE 26751,785

TT8_MAMPS 0.039697,0.903294 CAP_FILE_SIZE 103052,0

HUMID 46.37 CFSIZE 2097872896,2015363072

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 11 CURRENT 0.104,258.15,1

CP_FREE 15969812480.000000 GPS 030917,231954,7449.110,-15231.108,17,0.7,20,20.0,0.0,0.0,12,9.9

PM_FREEKB_00 50860032

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 147.23 nil 0 0 0.00

Roll_motor 84 2136 2221.54 nil 0 0 0.00

VBD_pump_during_apogee 935 1471 16929.64 nil 0 0 0.00

VBD_pump_during_surface 22 214 58.11 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 8828 14 1599.78

Iridium_during_xfer 568 185 1294.45 NCP 8800 20 2163.04

Transponder_ping 2 420 14.19 PMAR 8771 9 1061.68

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.48

TT8 0 0 0.00

LPSleep 6372 2 178.69

TT8_Active 958 13 162.63

TT8_Sampling 2175 33 883.04

TT8_CF8 311 38 146.52

TT8_Kalman 0 0 0.00

Analog_circuits 2277 10 276.53

GPS_charging 0 0 0.00

Compass 1124 7 95.57

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 202 2216 484 496 0.0 0.0 0 141 0.00 0.00 -92.00 0.000 16386 0.000 0.000 202 2216 2146 2076 2217 0 0 0 0 0 0 14.33 28.83 14.35

144 -0.57 -145.9 203 2216 2081 2218 3.2 -3.5 9 202 12.82 2.78 -38.50 0.000 18724 0.456 2.137 2375 3606 3966 3951 3981 0 0 0 0 0 0 13.57 12.81 13.99

427 -0.71 -145.9 2376 3608 3958 3983 52.3 -12.2 65 432 0.00 2.40 0.00 0.000 1158 0.000 0.058 2375 2196 3969 3957 3981 0 0 0 0 0 0 14.30 14.17 14.33

739 -0.83 -145.9 2376 2196 3959 3983 88.2 -10.2 97 744 0.17 2.50 0.00 0.000 4484 0.122 0.086 2291 3610 3970 3959 3982 0 0 0 0 0 0 14.17 14.04 14.23

784 -0.86 -145.9 2292 3611 3960 3982 94.8 -15.1 106 790 0.00 2.40 0.00 0.000 1158 0.000 0.057 2296 2201 3969 3958 3981 0 0 0 0 0 0 14.14 14.04 14.16

1089 -0.86 -145.9 2291 2200 3959 3982 141.0 -14.2 119 1094 0.00 2.47 0.00 0.000 260 0.000 0.086 2282 3610 3970 3959 3981 0 0 0 0 0 0 14.63 14.13 14.65

1179 -0.96 -145.9 2282 3613 3958 3982 152.6 -12.1 137 1184 0.00 2.38 0.00 0.000 1158 0.000 0.057 2282 2199 3969 3958 3981 0 0 0 0 0 0 14.31 14.19 14.35

1509 -0.99 -145.9 2283 2198 3960 3982 198.1 -13.5 153 1514 0.00 2.47 0.00 0.000 388 0.000 0.088 2279 3607 3970 3959 3981 0 0 0 0 0 0 14.66 14.14 14.67

1554 -1.10 -145.9 2280 3607 3960 3981 203.7 -11.7 162 1559 0.17 2.40 0.00 0.000 5254 0.110 0.057 2214 2183 3969 3958 3981 0 0 0 0 0 0 14.25 14.19 14.34

1870 -1.02 -145.9 2215 2182 3960 3981 260.9 -17.8 175 1875 0.12 2.50 0.00 0.000 2436 0.299 0.083 2236 3610 3970 3959 3981 0 0 0 0 0 0 13.95 14.20 14.10

1955 -1.07 -145.9 2236 3610 3960 3981 273.0 -12.6 192 1962 0.00 2.42 0.00 0.000 1158 0.000 0.056 2236 2195 3970 3959 3981 0 0 0 0 0 0 14.25 14.11 14.28

2260 -1.07 -145.9 2236 2195 3959 3983 314.1 -12.9 203 2265 0.00 2.47 0.00 0.000 260 0.000 0.088 2227 3603 3970 3959 3981 0 0 0 0 0 0 14.68 14.19 14.69

2350 -1.12 -145.9 2227 3603 3959 3980 325.3 -12.0 221 2355 0.00 2.38 0.00 0.000 1158 0.000 0.057 2227 2198 3969 3958 3981 0 0 0 0 0 0 14.38 14.26 14.42

2680 -1.12 -145.9 2228 2194 3958 3981 367.4 -12.4 237 2685 0.00 2.47 0.00 0.000 260 0.000 0.089 2224 3601 3969 3958 3981 0 0 0 0 0 0 14.69 14.18 14.71

2791 -1.18 -145.9 2222 3602 3957 3977 380.5 -11.0 259 2796 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2192 3969 3957 3981 0 0 0 0 0 0 14.39 14.26 14.42

3101 -1.18 -145.9 2223 2191 3957 3980 419.0 -12.4 271 3106 0.00 2.50 0.00 0.000 260 0.000 0.090 2224 3608 3968 3957 3980 0 0 0 0 0 0 14.69 14.15 14.70

3181 -1.25 -145.9 2223 3608 3957 3980 428.5 -11.1 287 3186 0.15 2.40 0.00 0.000 5254 0.122 0.055 2162 2193 3967 3956 3979 0 0 0 0 0 0 14.28 14.24 14.39

3489 end dive: TARGET_DEPTH_EXCEEDED

state 3489 begin apogee

3495 -0.13 0.0 2163 2065 3955 3981 483.6 -18.1 299 3716 1.55 0.03 216.73 1.472 10246 0.278 0.307 2530 2095 3363 3385 3342 0 0 0 0 0 0 13.72 13.40 12.63

3720 end apogee: CONTROL_FINISHED_OK

state 3720 begin climb

3724 0.57 145.9 2530 2095 3381 3336 495.0 0.0 306 3943 0.75 2.72 204.88 1.411 10500 0.063 0.074 2781 3511 2764 2805 2723 0 0 0 0 0 0 13.61 13.09 12.29

4169 0.11 145.9 2781 3512 2791 2723 464.7 17.3 388 4175 0.82 2.40 0.00 0.000 5254 0.346 0.057 2622 2131 2756 2790 2722 0 0 0 0 0 0 13.44 13.81 13.81

4485 0.02 179.8 2623 2131 2790 2721 436.4 8.4 401 4540 0.12 2.60 48.10 1.440 12964 0.288 0.084 2602 695 2626 2672 2580 0 0 0 0 0 0 13.86 13.98 13.13

4592 0.08 224.2 2600 695 2670 2579 428.3 8.0 422 4667 0.00 2.47 64.35 1.410 9382 0.000 0.079 2600 2101 2447 2505 2389 0 0 0 0 0 0 14.14 14.02 12.97

4965 0.09 250.0 2603 2101 2499 2380 395.5 8.8 447 5004 0.00 0.00 37.35 1.434 8230 0.000 0.000 2602 2100 2346 2399 2294 0 0 0 0 0 0 14.52 14.00 13.18

5296 0.15 273.0 2602 2101 2391 2282 366.0 8.9 458 5336 0.00 2.53 34.22 1.427 8868 0.000 0.086 2602 702 2247 2298 2197 0 0 0 0 0 0 14.57 14.09 13.23

5372 0.28 302.3 2602 703 2295 2196 359.3 8.6 473 5423 0.22 2.45 44.50 1.398 11430 0.092 0.079 2690 2098 2130 2179 2082 0 0 0 0 0 0 14.18 14.09 13.11

5748 0.20 302.3 2690 2103 2171 2070 304.8 14.5 498 5753 0.17 2.47 0.00 0.000 4740 0.236 0.083 2655 692 2120 2171 2069 0 0 0 0 0 0 13.95 14.19 14.11

5788 0.23 302.3 2655 692 2170 2072 299.9 11.5 506 5793 0.00 2.45 0.00 0.000 1158 0.000 0.079 2651 2104 2118 2168 2069 0 0 0 0 0 0 14.34 14.22 14.40

6108 0.23 302.3 2655 2105 2170 2067 264.9 10.6 520 6114 0.00 2.47 0.00 0.000 516 0.000 0.085 2655 696 2118 2169 2067 0 0 0 0 0 0 14.64 14.23 14.66

6154 0.29 304.5 2655 696 2168 2068 260.1 9.9 529 6159 0.00 2.45 0.00 0.000 1190 0.000 0.079 2655 2105 2117 2167 2067 0 0 0 0 0 0 14.42 14.25 14.42

6469 0.30 319.8 2656 2105 2168 2065 230.0 9.3 542 6500 0.00 2.47 24.00 1.444 8740 0.000 0.085 2654 697 2058 2106 2010 0 0 0 0 0 0 14.65 14.18 13.33

6582 0.42 352.1 2656 697 2102 2008 220.1 8.5 564 6647 0.20 2.45 54.45 1.342 11430 0.100 0.080 2735 2099 1924 1961 1888 0 0 0 0 0 0 14.18 14.09 13.18

6952 0.32 352.1 2736 2099 1954 1880 169.0 13.7 588 6958 0.17 2.45 0.00 0.000 4740 0.228 0.081 2699 698 1915 1952 1879 0 0 0 0 0 0 13.97 13.88 14.09

7023 0.38 355.3 2699 698 1950 1879 161.4 9.9 602 7028 0.00 2.45 0.00 0.000 1190 0.000 0.078 2699 2106 1912 1949 1876 0 0 0 0 0 0 14.35 14.21 14.38

7343 0.38 358.9 2699 2108 1950 1878 129.4 9.8 616 7349 0.00 0.00 1.70 0.492 8742 0.000 0.000 2699 2108 1903 1938 1868 0 0 0 0 0 0 14.62 14.09 13.45

7674 0.41 395.4 2700 2108 1946 1867 100.0 8.3 632 7747 0.00 2.53 65.75 1.270 8740 0.000 0.086 2699 693 1752 1775 1729 0 0 0 0 0 0 14.65 14.02 13.24

7848 0.55 447.1 2699 693 1768 1726 86.3 7.6 666 7880 0.17 2.50 26.95 0.464 11430 0.107 0.079 2771 2109 1542 1571 1514 0 0 0 0 0 0 14.09 13.97 13.62

8178 0.56 472.1 2772 2110 1572 1506 49.8 8.8 702 8192 0.00 0.00 13.30 0.354 8742 0.000 0.000 2771 2109 1438 1478 1399 0 0 0 0 0 0 14.57 14.20 13.77

8488 0.66 564.1 2772 2110 1478 1395 27.9 5.8 734 8541 0.00 2.58 48.25 0.292 8868 0.000 0.086 2772 690 1066 1134 999 0 0 0 0 0 0 14.58 14.02 13.81

8636 0.92 661.9 2772 690 1126 995 20.0 5.5 763 8696 0.32 2.47 51.38 0.266 11430 0.081 0.078 2891 2103 662 713 612 0 0 0 0 0 0 14.13 14.11 13.83

8791 end climb: SURFACE_DEPTH_REACHED

state 8791 begin surface coast

8799 end surface coast: CONTROL_FINISHED_OK

state 8799 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	240	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	677.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,203451,7448.5132,-15233.0254,36,0.8,37,19.9,0.0,0.0,9,7.7	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	19.1,107908,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	030917,205052,7448.5029,-15233.0830,11,0.9,12,19.9,0.0,31.8,9,8.9

FINISH	0.6,1.021385	_24V_AH	12.29,157.908
SM_CCo	8820,22.08,0.214,0,0,501,702.78	_10V_AH	12.14,0.000
SM_GC	1.03,8.30,0.17,22.08,0.078,0.117,0.214,200,2218,501,-7.38,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	391	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323700
IRIDIUM_FIX	7449.36,-15223.67,030917,180256	DATA_FILE_SIZE	26751,785
TT8_MAMPS	0.039697,0.903294	CAP_FILE_SIZE	103052,0
HUMID	46.37	CFSIZE	2097872896,2015363072
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	11	CURRENT	0.104,258.15,1
CP_FREE	15969812480.000000	GPS	030917,231954,7449.110,-15231.108,17,0.7,20,20.0,0.0,0.0,12,9.9
PM_FREEKB_00	50860032

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	147.23	nil	0	0	0.00
Roll_motor	84	2136	2221.54	nil	0	0	0.00
VBD_pump_during_apogee	935	1471	16929.64	nil	0	0	0.00
VBD_pump_during_surface	22	214	58.11	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	8828	14	1599.78
Iridium_during_xfer	568	185	1294.45	NCP	8800	20	2163.04
Transponder_ping	2	420	14.19	PMAR	8771	9	1061.68
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.48
TT8	0	0	0.00
LPSleep	6372	2	178.69
TT8_Active	958	13	162.63
TT8_Sampling	2175	33	883.04
TT8_CF8	311	38	146.52
TT8_Kalman	0	0	0.00
Analog_circuits	2277	10	276.53
GPS_charging	0	0	0.00
Compass	1124	7	95.57
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	202	2216	484	496	0.0	0.0	0	141	0.00	0.00	-92.00	0.000	16386	0.000	0.000	202	2216	2146	2076	2217	0	0	0	0	0	0	14.33	28.83	14.35
144	-0.57	-145.9	203	2216	2081	2218	3.2	-3.5	9	202	12.82	2.78	-38.50	0.000	18724	0.456	2.137	2375	3606	3966	3951	3981	0	0	0	0	0	0	13.57	12.81	13.99
427	-0.71	-145.9	2376	3608	3958	3983	52.3	-12.2	65	432	0.00	2.40	0.00	0.000	1158	0.000	0.058	2375	2196	3969	3957	3981	0	0	0	0	0	0	14.30	14.17	14.33
739	-0.83	-145.9	2376	2196	3959	3983	88.2	-10.2	97	744	0.17	2.50	0.00	0.000	4484	0.122	0.086	2291	3610	3970	3959	3982	0	0	0	0	0	0	14.17	14.04	14.23
784	-0.86	-145.9	2292	3611	3960	3982	94.8	-15.1	106	790	0.00	2.40	0.00	0.000	1158	0.000	0.057	2296	2201	3969	3958	3981	0	0	0	0	0	0	14.14	14.04	14.16
1089	-0.86	-145.9	2291	2200	3959	3982	141.0	-14.2	119	1094	0.00	2.47	0.00	0.000	260	0.000	0.086	2282	3610	3970	3959	3981	0	0	0	0	0	0	14.63	14.13	14.65
1179	-0.96	-145.9	2282	3613	3958	3982	152.6	-12.1	137	1184	0.00	2.38	0.00	0.000	1158	0.000	0.057	2282	2199	3969	3958	3981	0	0	0	0	0	0	14.31	14.19	14.35
1509	-0.99	-145.9	2283	2198	3960	3982	198.1	-13.5	153	1514	0.00	2.47	0.00	0.000	388	0.000	0.088	2279	3607	3970	3959	3981	0	0	0	0	0	0	14.66	14.14	14.67
1554	-1.10	-145.9	2280	3607	3960	3981	203.7	-11.7	162	1559	0.17	2.40	0.00	0.000	5254	0.110	0.057	2214	2183	3969	3958	3981	0	0	0	0	0	0	14.25	14.19	14.34
1870	-1.02	-145.9	2215	2182	3960	3981	260.9	-17.8	175	1875	0.12	2.50	0.00	0.000	2436	0.299	0.083	2236	3610	3970	3959	3981	0	0	0	0	0	0	13.95	14.20	14.10
1955	-1.07	-145.9	2236	3610	3960	3981	273.0	-12.6	192	1962	0.00	2.42	0.00	0.000	1158	0.000	0.056	2236	2195	3970	3959	3981	0	0	0	0	0	0	14.25	14.11	14.28
2260	-1.07	-145.9	2236	2195	3959	3983	314.1	-12.9	203	2265	0.00	2.47	0.00	0.000	260	0.000	0.088	2227	3603	3970	3959	3981	0	0	0	0	0	0	14.68	14.19	14.69
2350	-1.12	-145.9	2227	3603	3959	3980	325.3	-12.0	221	2355	0.00	2.38	0.00	0.000	1158	0.000	0.057	2227	2198	3969	3958	3981	0	0	0	0	0	0	14.38	14.26	14.42
2680	-1.12	-145.9	2228	2194	3958	3981	367.4	-12.4	237	2685	0.00	2.47	0.00	0.000	260	0.000	0.089	2224	3601	3969	3958	3981	0	0	0	0	0	0	14.69	14.18	14.71
2791	-1.18	-145.9	2222	3602	3957	3977	380.5	-11.0	259	2796	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2192	3969	3957	3981	0	0	0	0	0	0	14.39	14.26	14.42
3101	-1.18	-145.9	2223	2191	3957	3980	419.0	-12.4	271	3106	0.00	2.50	0.00	0.000	260	0.000	0.090	2224	3608	3968	3957	3980	0	0	0	0	0	0	14.69	14.15	14.70
3181	-1.25	-145.9	2223	3608	3957	3980	428.5	-11.1	287	3186	0.15	2.40	0.00	0.000	5254	0.122	0.055	2162	2193	3967	3956	3979	0	0	0	0	0	0	14.28	14.24	14.39
3489	end dive: TARGET_DEPTH_EXCEEDED
state	3489	begin apogee
3495	-0.13	0.0	2163	2065	3955	3981	483.6	-18.1	299	3716	1.55	0.03	216.73	1.472	10246	0.278	0.307	2530	2095	3363	3385	3342	0	0	0	0	0	0	13.72	13.40	12.63
3720	end apogee: CONTROL_FINISHED_OK
state	3720	begin climb
3724	0.57	145.9	2530	2095	3381	3336	495.0	0.0	306	3943	0.75	2.72	204.88	1.411	10500	0.063	0.074	2781	3511	2764	2805	2723	0	0	0	0	0	0	13.61	13.09	12.29
4169	0.11	145.9	2781	3512	2791	2723	464.7	17.3	388	4175	0.82	2.40	0.00	0.000	5254	0.346	0.057	2622	2131	2756	2790	2722	0	0	0	0	0	0	13.44	13.81	13.81
4485	0.02	179.8	2623	2131	2790	2721	436.4	8.4	401	4540	0.12	2.60	48.10	1.440	12964	0.288	0.084	2602	695	2626	2672	2580	0	0	0	0	0	0	13.86	13.98	13.13
4592	0.08	224.2	2600	695	2670	2579	428.3	8.0	422	4667	0.00	2.47	64.35	1.410	9382	0.000	0.079	2600	2101	2447	2505	2389	0	0	0	0	0	0	14.14	14.02	12.97
4965	0.09	250.0	2603	2101	2499	2380	395.5	8.8	447	5004	0.00	0.00	37.35	1.434	8230	0.000	0.000	2602	2100	2346	2399	2294	0	0	0	0	0	0	14.52	14.00	13.18
5296	0.15	273.0	2602	2101	2391	2282	366.0	8.9	458	5336	0.00	2.53	34.22	1.427	8868	0.000	0.086	2602	702	2247	2298	2197	0	0	0	0	0	0	14.57	14.09	13.23
5372	0.28	302.3	2602	703	2295	2196	359.3	8.6	473	5423	0.22	2.45	44.50	1.398	11430	0.092	0.079	2690	2098	2130	2179	2082	0	0	0	0	0	0	14.18	14.09	13.11
5748	0.20	302.3	2690	2103	2171	2070	304.8	14.5	498	5753	0.17	2.47	0.00	0.000	4740	0.236	0.083	2655	692	2120	2171	2069	0	0	0	0	0	0	13.95	14.19	14.11
5788	0.23	302.3	2655	692	2170	2072	299.9	11.5	506	5793	0.00	2.45	0.00	0.000	1158	0.000	0.079	2651	2104	2118	2168	2069	0	0	0	0	0	0	14.34	14.22	14.40
6108	0.23	302.3	2655	2105	2170	2067	264.9	10.6	520	6114	0.00	2.47	0.00	0.000	516	0.000	0.085	2655	696	2118	2169	2067	0	0	0	0	0	0	14.64	14.23	14.66
6154	0.29	304.5	2655	696	2168	2068	260.1	9.9	529	6159	0.00	2.45	0.00	0.000	1190	0.000	0.079	2655	2105	2117	2167	2067	0	0	0	0	0	0	14.42	14.25	14.42
6469	0.30	319.8	2656	2105	2168	2065	230.0	9.3	542	6500	0.00	2.47	24.00	1.444	8740	0.000	0.085	2654	697	2058	2106	2010	0	0	0	0	0	0	14.65	14.18	13.33
6582	0.42	352.1	2656	697	2102	2008	220.1	8.5	564	6647	0.20	2.45	54.45	1.342	11430	0.100	0.080	2735	2099	1924	1961	1888	0	0	0	0	0	0	14.18	14.09	13.18
6952	0.32	352.1	2736	2099	1954	1880	169.0	13.7	588	6958	0.17	2.45	0.00	0.000	4740	0.228	0.081	2699	698	1915	1952	1879	0	0	0	0	0	0	13.97	13.88	14.09
7023	0.38	355.3	2699	698	1950	1879	161.4	9.9	602	7028	0.00	2.45	0.00	0.000	1190	0.000	0.078	2699	2106	1912	1949	1876	0	0	0	0	0	0	14.35	14.21	14.38
7343	0.38	358.9	2699	2108	1950	1878	129.4	9.8	616	7349	0.00	0.00	1.70	0.492	8742	0.000	0.000	2699	2108	1903	1938	1868	0	0	0	0	0	0	14.62	14.09	13.45
7674	0.41	395.4	2700	2108	1946	1867	100.0	8.3	632	7747	0.00	2.53	65.75	1.270	8740	0.000	0.086	2699	693	1752	1775	1729	0	0	0	0	0	0	14.65	14.02	13.24
7848	0.55	447.1	2699	693	1768	1726	86.3	7.6	666	7880	0.17	2.50	26.95	0.464	11430	0.107	0.079	2771	2109	1542	1571	1514	0	0	0	0	0	0	14.09	13.97	13.62
8178	0.56	472.1	2772	2110	1572	1506	49.8	8.8	702	8192	0.00	0.00	13.30	0.354	8742	0.000	0.000	2771	2109	1438	1478	1399	0	0	0	0	0	0	14.57	14.20	13.77
8488	0.66	564.1	2772	2110	1478	1395	27.9	5.8	734	8541	0.00	2.58	48.25	0.292	8868	0.000	0.086	2772	690	1066	1134	999	0	0	0	0	0	0	14.58	14.02	13.81
8636	0.92	661.9	2772	690	1126	995	20.0	5.5	763	8696	0.32	2.47	51.38	0.266	11430	0.081	0.078	2891	2103	662	713	612	0	0	0	0	0	0	14.13	14.11	13.83
8791	end climb: SURFACE_DEPTH_REACHED
state	8791	begin surface coast
8799	end surface coast: CONTROL_FINISHED_OK
state	8799	begin surface