Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 255 * 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 255 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 716.0

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 20 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 716.0 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 20 VBD_MIN 500

DIVE 255 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 050917,134232,7500.9775,-15200.8848,29,0.7,29,20.2,0.0,0.0,11,7.1 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 5.7,81263,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 050917,135134,7501.0112,-15200.8760,8,0.7,8,20.2,0.0,0.0,11,8.8

Post-dive calculations and measurements:

FINISH 0.3,1.021429 _24V_AH 12.26,165.040

SM_CCo 9356,33.25,0.211,0,0,502,702.78 _10V_AH 12.16,0.000

SM_GC 1.39,8.07,0.17,33.25,0.068,0.115,0.211,198,2224,502,-7.39,-0.71,702.78,0,0,0,0,0,0,14.15,14.15,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 85 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323568

IRIDIUM_FIX 7500.94,-15200.54,050917,134544 DATA_FILE_SIZE 30001,816

TT8_MAMPS 0.085386,0.935501 CAP_FILE_SIZE 104457,0

HUMID 43.54 CFSIZE 2097872896,2011627520

INTERNAL_PRESSURE 7.75222 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 INTR 0,4714.64,0x2341ea,1,24

XPDR_PINGS 12 SOUNDSPEED 1448.7

CP_FREE 15963324416.000000 CURRENT 0.036,313.58,1

PM_FREEKB_00 50417088 GPS 050917,163002,7502.153,-15158.384,28,0.7,40,20.3,1.0,324.7,11,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.34 nil 0 0 0.00

Roll_motor 89 2139 2349.80 nil 0 0 0.00

VBD_pump_during_apogee 931 1518 17339.05 nil 0 0 0.00

VBD_pump_during_surface 33 211 86.07 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 9282 14 1657.91

Iridium_during_xfer 290 149 531.93 NCP 9335 20 2288.94

Transponder_ping 3 420 15.45 PMAR 9307 9 1125.86

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.62

TT8 0 0 0.00

LPSleep 6721 2 188.81

TT8_Active 981 13 166.70

TT8_Sampling 1995 33 811.38

TT8_CF8 246 38 116.03

TT8_Kalman 0 0 0.00

Analog_circuits 2026 10 246.39

GPS_charging 0 0 0.00

Compass 1168 7 99.46

RAFOS 2209 48 1289.35

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 193 2219 504 491 0.0 0.0 0 143 0.00 0.00 -91.25 0.000 16386 0.000 0.000 191 2219 2140 2071 2210 0 0 0 0 0 0 14.54 28.83 14.57

146 -0.57 -145.9 191 2219 2074 2211 3.3 -4.2 9 203 12.95 2.75 -37.65 0.000 18724 0.457 2.140 2376 3594 3964 3947 3982 0 0 0 0 0 0 13.59 12.56 14.08

364 -0.72 -145.9 2380 3596 3953 3980 43.7 -12.9 52 370 0.00 2.40 0.00 0.000 1158 0.000 0.060 2376 2195 3966 3952 3980 0 0 0 0 0 0 14.25 14.14 14.34

671 -0.84 -145.9 2376 2195 3954 3980 83.2 -10.6 83 672 0.20 0.00 0.00 0.000 4230 0.112 0.000 2297 2194 3966 3953 3980 0 0 0 0 0 0 14.28 14.40 14.37

989 -0.86 -145.9 2297 2195 3954 3982 131.2 -14.3 101 994 0.00 2.47 0.00 0.000 388 0.000 0.090 2291 3600 3966 3953 3980 0 0 0 0 0 0 14.63 14.16 14.64

1094 -0.98 -145.9 2291 3601 3955 3980 144.3 -11.7 122 1099 0.00 2.38 0.00 0.000 1158 0.000 0.058 2291 2194 3966 3953 3980 0 0 0 0 0 0 14.35 14.23 14.40

1409 -1.03 -145.9 2291 2194 3954 3979 184.6 -12.5 135 1410 0.15 0.00 0.00 0.000 4230 0.124 0.000 2237 2193 3966 3953 3979 0 0 0 0 0 0 14.33 14.45 14.42

1709 -1.00 -145.9 2238 2193 3954 3980 233.1 -16.0 145 1714 0.00 2.47 0.00 0.000 388 0.000 0.090 2235 3597 3966 3953 3979 0 0 0 0 0 0 14.64 14.17 14.68

1899 -1.07 -145.9 2236 3598 3953 3981 258.4 -12.4 183 1904 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2201 3966 3953 3980 0 0 0 0 0 0 14.36 14.23 14.40

2219 -1.07 -145.9 2236 2199 3954 3980 301.2 -13.2 197 2224 0.00 2.47 0.00 0.000 260 0.000 0.090 2236 3602 3966 3953 3980 0 0 0 0 0 0 14.66 14.16 14.67

2259 -1.14 -145.9 2236 3606 3954 3980 306.2 -12.1 205 2264 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2198 3966 3952 3980 0 0 0 0 0 0 14.36 14.23 14.41

2579 -1.18 -145.9 2236 2197 3954 3980 344.5 -11.6 219 2584 0.12 2.47 0.00 0.000 4484 0.150 0.086 2172 3601 3966 3953 3979 0 0 0 0 0 0 14.29 14.16 14.34

2650 -1.12 -145.9 2173 3603 3954 3980 355.3 -16.2 233 2655 0.20 2.38 0.00 0.000 3206 0.265 0.057 2213 2197 3966 3953 3979 0 0 0 0 0 0 13.88 14.22 14.19

2970 -1.12 -145.9 2214 2197 3953 3980 397.9 -12.9 247 2975 0.00 2.47 0.00 0.000 260 0.000 0.089 2209 3601 3965 3952 3979 0 0 0 0 0 0 14.66 14.16 14.67

3065 -1.17 -145.9 2209 3603 3954 3979 409.7 -11.9 266 3070 0.00 2.38 0.00 0.000 1158 0.000 0.057 2209 2200 3966 3953 3979 0 0 0 0 0 0 14.23 14.11 14.28

3390 -1.17 -145.9 2209 2201 3953 3980 452.0 -12.9 281 3395 0.00 2.45 0.00 0.000 260 0.000 0.088 2201 3598 3965 3952 3978 0 0 0 0 0 0 14.66 14.16 14.67

3455 -1.21 -145.9 2202 3599 3954 3979 460.4 -12.3 294 3460 0.00 2.38 0.00 0.000 1158 0.000 0.056 2201 2203 3965 3952 3978 0 0 0 0 0 0 14.23 14.11 14.27

3628 end dive: TARGET_DEPTH_EXCEEDED

state 3628 begin apogee

3634 -0.13 0.0 2202 2052 3954 3977 483.9 -13.5 304 3863 1.30 0.08 225.57 1.435 10246 0.241 0.180 2530 2097 3363 3386 3340 0 0 0 0 0 0 13.85 13.44 12.64

3912 end apogee: CONTROL_FINISHED_OK

state 3913 begin climb

3916 0.57 145.9 2530 2099 3375 3327 495.4 0.0 311 4134 0.73 2.65 207.27 1.389 11012 0.063 0.073 2778 3507 2760 2803 2717 0 0 0 0 0 0 13.74 12.90 12.26

4359 0.10 145.9 2778 3507 2784 2715 474.5 16.0 398 4364 0.82 2.40 0.00 0.000 5254 0.343 0.058 2619 2128 2748 2783 2714 0 0 0 0 0 0 13.47 13.81 13.82

4675 0.02 190.1 2618 2128 2784 2713 447.9 8.0 411 4743 0.12 2.58 62.80 1.407 12964 0.295 0.085 2590 688 2585 2638 2533 0 0 0 0 0 0 13.79 13.70 13.08

4795 0.10 241.6 2590 689 2630 2523 439.0 7.6 434 4879 0.00 2.50 78.62 1.366 9382 0.000 0.080 2591 2094 2380 2440 2321 0 0 0 0 0 0 14.10 13.97 12.92

5189 0.17 273.6 2591 2093 2418 2302 406.0 8.5 463 5245 0.15 2.53 47.50 1.379 10916 0.119 0.086 2659 705 2242 2295 2189 0 0 0 0 0 0 14.25 13.97 13.14

5275 0.13 273.6 2659 703 2289 2187 395.0 13.1 475 5281 0.15 2.47 0.00 0.000 5254 0.242 0.078 2627 2102 2236 2287 2185 0 0 0 0 0 0 13.83 14.00 14.08

5580 0.13 273.6 2631 2104 2287 2179 361.9 10.7 486 5581 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2103 2232 2286 2178 0 0 0 0 0 0 14.57 14.58 14.58

5880 0.13 273.6 2624 2101 2284 2176 330.7 10.2 496 5886 0.00 2.47 0.00 0.000 516 0.000 0.086 2631 690 2231 2286 2176 0 0 0 0 0 0 14.62 14.21 14.64

5961 0.19 283.1 2631 690 2286 2175 322.7 9.6 512 5972 0.00 2.45 3.42 1.303 9382 0.000 0.078 2631 2106 2209 2263 2155 0 0 0 0 0 0 14.38 14.24 12.81

6271 0.19 283.1 2631 2107 2275 2165 291.3 10.1 524 6276 0.00 2.47 0.00 0.000 516 0.000 0.085 2631 688 2219 2273 2165 0 0 0 0 0 0 14.65 14.19 14.68

6312 0.25 289.6 2630 689 2274 2167 287.3 9.7 532 6333 0.00 2.45 16.10 1.519 9382 0.000 0.079 2631 2103 2183 2237 2130 0 0 0 0 0 0 14.40 14.26 13.32

6632 0.30 317.4 2632 2103 2226 2120 257.5 8.7 546 6688 0.12 2.50 48.08 1.347 10916 0.126 0.086 2699 691 2064 2112 2017 0 0 0 0 0 0 14.36 14.09 13.26

6743 0.26 317.4 2699 691 2102 2014 244.4 11.7 568 6749 0.15 2.47 0.00 0.000 5254 0.220 0.077 2666 2101 2057 2101 2013 0 0 0 0 0 0 13.87 13.98 14.09

7054 0.27 329.8 2667 2101 2101 2006 214.2 9.4 580 7070 0.00 0.00 14.57 1.478 8230 0.000 0.000 2666 2101 2021 2068 1975 0 0 0 0 0 0 14.59 14.15 13.31

7354 0.28 353.9 2667 2102 2058 1960 187.5 8.9 590 7400 0.00 2.47 40.90 1.335 8740 0.000 0.085 2672 694 1919 1960 1878 0 0 0 0 0 0 14.60 13.91 13.26

7467 0.39 380.4 2673 694 1946 1880 177.6 8.8 612 7521 0.10 2.47 46.10 1.294 11430 0.157 0.080 2713 2101 1810 1838 1782 0 0 0 0 0 0 14.14 14.12 13.17

7836 0.39 380.4 2714 2101 1828 1766 135.3 11.2 636 7841 0.00 2.47 0.00 0.000 516 0.000 0.086 2721 695 1796 1826 1766 0 0 0 0 0 0 14.43 14.08 14.45

7881 0.41 380.4 2722 697 1826 1767 130.3 10.8 645 7886 0.00 2.47 0.00 0.000 1158 0.000 0.079 2721 2105 1795 1825 1766 0 0 0 0 0 0 14.23 14.10 14.28

8196 0.41 380.4 2722 2107 1825 1764 97.1 10.2 658 8202 0.00 2.50 0.00 0.000 516 0.000 0.085 2725 690 1794 1824 1764 0 0 0 0 0 0 14.45 14.04 14.45

8299 0.45 403.5 2725 689 1821 1765 87.7 8.9 678 8315 0.00 2.50 10.45 0.439 9382 0.000 0.079 2725 2102 1719 1746 1693 0 0 0 0 0 0 14.17 14.03 13.55

8620 0.53 486.1 2725 2103 1756 1698 62.2 6.2 712 8673 0.00 2.55 44.20 0.383 8868 0.000 0.084 2726 703 1383 1430 1337 0 0 0 0 0 0 14.42 13.96 13.64

8730 0.72 562.3 2727 703 1432 1339 55.3 6.5 733 8778 0.25 2.50 40.80 0.363 11430 0.089 0.079 2822 2102 1071 1140 1002 0 0 0 0 0 0 14.08 14.00 13.64

9073 0.74 587.9 2822 2102 1143 1004 20.5 8.8 772 9094 0.00 2.53 14.27 0.272 8740 0.000 0.088 2822 688 967 1038 896 0 0 0 0 0 0 14.38 13.91 13.71

9214 0.85 642.7 2822 689 1040 905 9.4 7.5 800 9251 0.00 2.50 30.67 0.233 9382 0.000 0.076 2819 2101 743 808 679 0 0 0 0 0 0 14.11 14.00 13.81

9313 end climb: SURFACE_DEPTH_REACHED

state 9313 begin surface coast

9335 end surface coast: CONTROL_FINISHED_OK

state 9335 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	255	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	716.0
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	20	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,134232,7500.9775,-15200.8848,29,0.7,29,20.2,0.0,0.0,11,7.1	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	5.7,81263,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	050917,135134,7501.0112,-15200.8760,8,0.7,8,20.2,0.0,0.0,11,8.8

FINISH	0.3,1.021429	_24V_AH	12.26,165.040
SM_CCo	9356,33.25,0.211,0,0,502,702.78	_10V_AH	12.16,0.000
SM_GC	1.39,8.07,0.17,33.25,0.068,0.115,0.211,198,2224,502,-7.39,-0.71,702.78,0,0,0,0,0,0,14.15,14.15,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	85	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323568
IRIDIUM_FIX	7500.94,-15200.54,050917,134544	DATA_FILE_SIZE	30001,816
TT8_MAMPS	0.085386,0.935501	CAP_FILE_SIZE	104457,0
HUMID	43.54	CFSIZE	2097872896,2011627520
INTERNAL_PRESSURE	7.75222	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	INTR	0,4714.64,0x2341ea,1,24
XPDR_PINGS	12	SOUNDSPEED	1448.7
CP_FREE	15963324416.000000	CURRENT	0.036,313.58,1
PM_FREEKB_00	50417088	GPS	050917,163002,7502.153,-15158.384,28,0.7,40,20.3,1.0,324.7,11,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.34	nil	0	0	0.00
Roll_motor	89	2139	2349.80	nil	0	0	0.00
VBD_pump_during_apogee	931	1518	17339.05	nil	0	0	0.00
VBD_pump_during_surface	33	211	86.07	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	9282	14	1657.91
Iridium_during_xfer	290	149	531.93	NCP	9335	20	2288.94
Transponder_ping	3	420	15.45	PMAR	9307	9	1125.86
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.62
TT8	0	0	0.00
LPSleep	6721	2	188.81
TT8_Active	981	13	166.70
TT8_Sampling	1995	33	811.38
TT8_CF8	246	38	116.03
TT8_Kalman	0	0	0.00
Analog_circuits	2026	10	246.39
GPS_charging	0	0	0.00
Compass	1168	7	99.46
RAFOS	2209	48	1289.35
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	193	2219	504	491	0.0	0.0	0	143	0.00	0.00	-91.25	0.000	16386	0.000	0.000	191	2219	2140	2071	2210	0	0	0	0	0	0	14.54	28.83	14.57
146	-0.57	-145.9	191	2219	2074	2211	3.3	-4.2	9	203	12.95	2.75	-37.65	0.000	18724	0.457	2.140	2376	3594	3964	3947	3982	0	0	0	0	0	0	13.59	12.56	14.08
364	-0.72	-145.9	2380	3596	3953	3980	43.7	-12.9	52	370	0.00	2.40	0.00	0.000	1158	0.000	0.060	2376	2195	3966	3952	3980	0	0	0	0	0	0	14.25	14.14	14.34
671	-0.84	-145.9	2376	2195	3954	3980	83.2	-10.6	83	672	0.20	0.00	0.00	0.000	4230	0.112	0.000	2297	2194	3966	3953	3980	0	0	0	0	0	0	14.28	14.40	14.37
989	-0.86	-145.9	2297	2195	3954	3982	131.2	-14.3	101	994	0.00	2.47	0.00	0.000	388	0.000	0.090	2291	3600	3966	3953	3980	0	0	0	0	0	0	14.63	14.16	14.64
1094	-0.98	-145.9	2291	3601	3955	3980	144.3	-11.7	122	1099	0.00	2.38	0.00	0.000	1158	0.000	0.058	2291	2194	3966	3953	3980	0	0	0	0	0	0	14.35	14.23	14.40
1409	-1.03	-145.9	2291	2194	3954	3979	184.6	-12.5	135	1410	0.15	0.00	0.00	0.000	4230	0.124	0.000	2237	2193	3966	3953	3979	0	0	0	0	0	0	14.33	14.45	14.42
1709	-1.00	-145.9	2238	2193	3954	3980	233.1	-16.0	145	1714	0.00	2.47	0.00	0.000	388	0.000	0.090	2235	3597	3966	3953	3979	0	0	0	0	0	0	14.64	14.17	14.68
1899	-1.07	-145.9	2236	3598	3953	3981	258.4	-12.4	183	1904	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2201	3966	3953	3980	0	0	0	0	0	0	14.36	14.23	14.40
2219	-1.07	-145.9	2236	2199	3954	3980	301.2	-13.2	197	2224	0.00	2.47	0.00	0.000	260	0.000	0.090	2236	3602	3966	3953	3980	0	0	0	0	0	0	14.66	14.16	14.67
2259	-1.14	-145.9	2236	3606	3954	3980	306.2	-12.1	205	2264	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2198	3966	3952	3980	0	0	0	0	0	0	14.36	14.23	14.41
2579	-1.18	-145.9	2236	2197	3954	3980	344.5	-11.6	219	2584	0.12	2.47	0.00	0.000	4484	0.150	0.086	2172	3601	3966	3953	3979	0	0	0	0	0	0	14.29	14.16	14.34
2650	-1.12	-145.9	2173	3603	3954	3980	355.3	-16.2	233	2655	0.20	2.38	0.00	0.000	3206	0.265	0.057	2213	2197	3966	3953	3979	0	0	0	0	0	0	13.88	14.22	14.19
2970	-1.12	-145.9	2214	2197	3953	3980	397.9	-12.9	247	2975	0.00	2.47	0.00	0.000	260	0.000	0.089	2209	3601	3965	3952	3979	0	0	0	0	0	0	14.66	14.16	14.67
3065	-1.17	-145.9	2209	3603	3954	3979	409.7	-11.9	266	3070	0.00	2.38	0.00	0.000	1158	0.000	0.057	2209	2200	3966	3953	3979	0	0	0	0	0	0	14.23	14.11	14.28
3390	-1.17	-145.9	2209	2201	3953	3980	452.0	-12.9	281	3395	0.00	2.45	0.00	0.000	260	0.000	0.088	2201	3598	3965	3952	3978	0	0	0	0	0	0	14.66	14.16	14.67
3455	-1.21	-145.9	2202	3599	3954	3979	460.4	-12.3	294	3460	0.00	2.38	0.00	0.000	1158	0.000	0.056	2201	2203	3965	3952	3978	0	0	0	0	0	0	14.23	14.11	14.27
3628	end dive: TARGET_DEPTH_EXCEEDED
state	3628	begin apogee
3634	-0.13	0.0	2202	2052	3954	3977	483.9	-13.5	304	3863	1.30	0.08	225.57	1.435	10246	0.241	0.180	2530	2097	3363	3386	3340	0	0	0	0	0	0	13.85	13.44	12.64
3912	end apogee: CONTROL_FINISHED_OK
state	3913	begin climb
3916	0.57	145.9	2530	2099	3375	3327	495.4	0.0	311	4134	0.73	2.65	207.27	1.389	11012	0.063	0.073	2778	3507	2760	2803	2717	0	0	0	0	0	0	13.74	12.90	12.26
4359	0.10	145.9	2778	3507	2784	2715	474.5	16.0	398	4364	0.82	2.40	0.00	0.000	5254	0.343	0.058	2619	2128	2748	2783	2714	0	0	0	0	0	0	13.47	13.81	13.82
4675	0.02	190.1	2618	2128	2784	2713	447.9	8.0	411	4743	0.12	2.58	62.80	1.407	12964	0.295	0.085	2590	688	2585	2638	2533	0	0	0	0	0	0	13.79	13.70	13.08
4795	0.10	241.6	2590	689	2630	2523	439.0	7.6	434	4879	0.00	2.50	78.62	1.366	9382	0.000	0.080	2591	2094	2380	2440	2321	0	0	0	0	0	0	14.10	13.97	12.92
5189	0.17	273.6	2591	2093	2418	2302	406.0	8.5	463	5245	0.15	2.53	47.50	1.379	10916	0.119	0.086	2659	705	2242	2295	2189	0	0	0	0	0	0	14.25	13.97	13.14
5275	0.13	273.6	2659	703	2289	2187	395.0	13.1	475	5281	0.15	2.47	0.00	0.000	5254	0.242	0.078	2627	2102	2236	2287	2185	0	0	0	0	0	0	13.83	14.00	14.08
5580	0.13	273.6	2631	2104	2287	2179	361.9	10.7	486	5581	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2103	2232	2286	2178	0	0	0	0	0	0	14.57	14.58	14.58
5880	0.13	273.6	2624	2101	2284	2176	330.7	10.2	496	5886	0.00	2.47	0.00	0.000	516	0.000	0.086	2631	690	2231	2286	2176	0	0	0	0	0	0	14.62	14.21	14.64
5961	0.19	283.1	2631	690	2286	2175	322.7	9.6	512	5972	0.00	2.45	3.42	1.303	9382	0.000	0.078	2631	2106	2209	2263	2155	0	0	0	0	0	0	14.38	14.24	12.81
6271	0.19	283.1	2631	2107	2275	2165	291.3	10.1	524	6276	0.00	2.47	0.00	0.000	516	0.000	0.085	2631	688	2219	2273	2165	0	0	0	0	0	0	14.65	14.19	14.68
6312	0.25	289.6	2630	689	2274	2167	287.3	9.7	532	6333	0.00	2.45	16.10	1.519	9382	0.000	0.079	2631	2103	2183	2237	2130	0	0	0	0	0	0	14.40	14.26	13.32
6632	0.30	317.4	2632	2103	2226	2120	257.5	8.7	546	6688	0.12	2.50	48.08	1.347	10916	0.126	0.086	2699	691	2064	2112	2017	0	0	0	0	0	0	14.36	14.09	13.26
6743	0.26	317.4	2699	691	2102	2014	244.4	11.7	568	6749	0.15	2.47	0.00	0.000	5254	0.220	0.077	2666	2101	2057	2101	2013	0	0	0	0	0	0	13.87	13.98	14.09
7054	0.27	329.8	2667	2101	2101	2006	214.2	9.4	580	7070	0.00	0.00	14.57	1.478	8230	0.000	0.000	2666	2101	2021	2068	1975	0	0	0	0	0	0	14.59	14.15	13.31
7354	0.28	353.9	2667	2102	2058	1960	187.5	8.9	590	7400	0.00	2.47	40.90	1.335	8740	0.000	0.085	2672	694	1919	1960	1878	0	0	0	0	0	0	14.60	13.91	13.26
7467	0.39	380.4	2673	694	1946	1880	177.6	8.8	612	7521	0.10	2.47	46.10	1.294	11430	0.157	0.080	2713	2101	1810	1838	1782	0	0	0	0	0	0	14.14	14.12	13.17
7836	0.39	380.4	2714	2101	1828	1766	135.3	11.2	636	7841	0.00	2.47	0.00	0.000	516	0.000	0.086	2721	695	1796	1826	1766	0	0	0	0	0	0	14.43	14.08	14.45
7881	0.41	380.4	2722	697	1826	1767	130.3	10.8	645	7886	0.00	2.47	0.00	0.000	1158	0.000	0.079	2721	2105	1795	1825	1766	0	0	0	0	0	0	14.23	14.10	14.28
8196	0.41	380.4	2722	2107	1825	1764	97.1	10.2	658	8202	0.00	2.50	0.00	0.000	516	0.000	0.085	2725	690	1794	1824	1764	0	0	0	0	0	0	14.45	14.04	14.45
8299	0.45	403.5	2725	689	1821	1765	87.7	8.9	678	8315	0.00	2.50	10.45	0.439	9382	0.000	0.079	2725	2102	1719	1746	1693	0	0	0	0	0	0	14.17	14.03	13.55
8620	0.53	486.1	2725	2103	1756	1698	62.2	6.2	712	8673	0.00	2.55	44.20	0.383	8868	0.000	0.084	2726	703	1383	1430	1337	0	0	0	0	0	0	14.42	13.96	13.64
8730	0.72	562.3	2727	703	1432	1339	55.3	6.5	733	8778	0.25	2.50	40.80	0.363	11430	0.089	0.079	2822	2102	1071	1140	1002	0	0	0	0	0	0	14.08	14.00	13.64
9073	0.74	587.9	2822	2102	1143	1004	20.5	8.8	772	9094	0.00	2.53	14.27	0.272	8740	0.000	0.088	2822	688	967	1038	896	0	0	0	0	0	0	14.38	13.91	13.71
9214	0.85	642.7	2822	689	1040	905	9.4	7.5	800	9251	0.00	2.50	30.67	0.233	9382	0.000	0.076	2819	2101	743	808	679	0	0	0	0	0	0	14.11	14.00	13.81
9313	end climb: SURFACE_DEPTH_REACHED
state	9313	begin surface coast
9335	end surface coast: CONTROL_FINISHED_OK
state	9335	begin surface