Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 234 * 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 234 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 659.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 54 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 659.0 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 61 VBD_MIN 500

DIVE 234 NOCOMM_ACTION 161 R_STBD_OVSHOOT 54 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 030917,035146,7444.3809,-15244.2080,18,0.8,28,19.8,0.0,259.8,11,9.8 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 1.22 MHEAD_RNG_PITCHd_Wd 16.1,116903,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 030917,040102,7444.3579,-15244.2578,8,0.8,28,19.8,0.0,0.0,10,5.6

Post-dive calculations and measurements:

FINISH 0.3,1.015127 _24V_AH 12.31,155.066

SM_CCo 8685,52.20,0.210,0,0,499,702.78 _10V_AH 12.19,0.000

SM_GC 1.30,8.07,2.60,52.20,0.072,0.071,0.210,205,2201,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.33,14.23,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323536

IRIDIUM_FIX 7442.38,-15246.00,030917,011724 DATA_FILE_SIZE 23462,681

TT8_MAMPS 0.038199,0.934003 CAP_FILE_SIZE 97847,0

HUMID 47.12 CFSIZE 2097872896,2016935936

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 1445.9

XPDR_PINGS 11 CURRENT 0.099,260.50,1

CP_FREE 15972433920.000000 GPS 030917,062820,7445.123,-15242.352,18,0.8,22,19.8,0.3,236.1,11,9.4

PM_FREEKB_00 51030144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 145.47 nil 0 0 0.00

Roll_motor 83 2139 2207.27 nil 0 0 0.00

VBD_pump_during_apogee 937 1509 17409.96 nil 0 0 0.00

VBD_pump_during_surface 52 209 134.69 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 5038 14 904.41

Iridium_during_xfer 313 173 669.95 NCP 8649 20 2129.38

Transponder_ping 2 420 14.22 PMAR 8638 9 1054.09

GUMSTIX_24V 0 0 0.00

GPS 29 22 8.20

TT8 0 0 0.00

LPSleep 6181 2 174.06

TT8_Active 807 13 137.43

TT8_Sampling 2062 33 840.61

TT8_CF8 258 38 121.79

TT8_Kalman 0 0 0.00

Analog_circuits 2044 10 249.22

GPS_charging 0 0 0.00

Compass 976 7 83.31

RAFOS 2006 48 1173.75

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 -145.9 202 2233 489 492 0.0 0.0 0 148 0.00 0.00 -97.40 0.000 16386 0.000 0.000 202 2234 2253 2194 2312 0 0 0 0 0 0 14.52 28.83 14.57

151 -0.57 -145.9 202 2235 2197 2314 4.8 -7.5 10 203 12.82 2.67 -33.12 0.000 18724 0.457 2.140 2376 3576 3961 3942 3981 0 0 0 0 0 0 13.59 12.83 14.07

265 -0.72 -145.9 2376 3578 3950 3982 32.3 -13.4 32 270 0.00 2.30 0.00 0.000 1158 0.000 0.059 2376 2234 3965 3949 3981 0 0 0 0 0 0 14.22 14.10 14.23

576 -0.82 -145.9 2376 2238 3952 3982 75.3 -11.2 64 581 0.17 2.53 0.00 0.000 4740 0.119 0.083 2301 793 3966 3951 3981 0 0 0 0 0 0 14.14 14.09 14.20

616 -0.85 -145.9 2301 794 3954 3982 81.3 -15.5 72 621 0.00 2.42 0.00 0.000 1158 0.000 0.087 2295 2165 3966 3951 3981 0 0 0 0 0 0 14.23 14.08 14.26

946 -0.85 -145.9 2295 2167 3951 3982 133.2 -14.6 92 951 0.00 2.58 0.00 0.000 260 0.000 0.090 2292 3619 3966 3951 3981 0 0 0 0 0 0 14.50 14.07 14.52

1093 -0.95 -145.9 2292 3621 3947 3982 151.3 -12.2 121 1100 0.00 2.42 0.00 0.000 1158 0.000 0.058 2292 2199 3966 3951 3981 0 0 0 0 0 0 14.24 14.12 14.28

1396 -1.00 -145.9 2292 2199 3953 3982 189.9 -12.3 132 1401 0.00 2.50 0.00 0.000 388 0.000 0.087 2285 3613 3966 3951 3981 0 0 0 0 0 0 14.50 14.07 14.52

1431 -1.09 -145.9 2285 3614 3950 3982 194.1 -12.0 139 1436 0.17 2.40 0.00 0.000 5254 0.106 0.058 2220 2201 3966 3951 3981 0 0 0 0 0 0 14.18 14.12 14.27

1757 -1.01 -145.9 2221 2201 3952 3981 253.5 -18.3 154 1762 0.12 2.50 0.00 0.000 2436 0.295 0.084 2238 3614 3964 3951 3977 0 0 0 0 0 0 13.83 14.07 14.00

1892 -1.05 -145.9 2239 3615 3952 3982 272.2 -12.6 181 1898 0.00 2.42 0.00 0.000 1158 0.000 0.056 2238 2196 3966 3951 3981 0 0 0 0 0 0 14.24 14.12 14.27

2208 -1.05 -145.9 2239 2197 3951 3982 313.6 -12.9 194 2213 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3611 3970 3959 3981 0 0 0 0 0 0 14.47 14.01 14.50

2285 -1.12 -145.9 2236 3613 3951 3982 322.7 -11.4 209 2291 0.00 2.40 0.00 0.000 1158 0.000 0.056 2235 2201 3966 3951 3981 0 0 0 0 0 0 14.21 14.04 14.23

2604 -1.15 -145.9 2236 2201 3951 3982 360.9 -11.8 222 2608 0.00 2.50 0.00 0.000 388 0.000 0.088 2235 3616 3964 3948 3981 0 0 0 0 0 0 14.64 14.09 14.65

2684 -1.23 -145.9 2236 3617 3952 3981 370.0 -10.6 238 2689 0.17 2.40 0.00 0.000 5254 0.116 0.057 2164 2197 3966 3951 3981 0 0 0 0 0 0 14.27 14.23 14.38

2994 -1.10 -145.9 2164 2195 3949 3981 425.9 -18.4 250 2999 0.25 2.47 0.00 0.000 2436 0.302 0.083 2210 3614 3965 3949 3981 0 0 0 0 0 0 13.83 14.14 14.04

3101 -1.13 -145.9 2211 3614 3950 3980 440.3 -12.4 271 3106 0.00 2.40 0.00 0.000 1158 0.000 0.057 2210 2194 3965 3949 3981 0 0 0 0 0 0 13.85 13.88 13.86

3414 end dive: TARGET_DEPTH_EXCEEDED

state 3414 begin apogee

3420 -0.13 0.0 2210 2067 3949 3982 481.8 -13.0 284 3646 1.25 0.08 222.12 1.416 10246 0.240 0.177 2528 2112 3364 3383 3345 0 0 0 0 0 0 13.92 13.09 12.66

3649 end apogee: CONTROL_FINISHED_OK

state 3649 begin climb

3651 0.57 145.9 2529 2113 3377 3338 492.2 0.0 291 3911 0.75 2.67 207.98 1.372 10756 0.063 0.079 2781 726 2756 2797 2715 0 0 0 0 0 0 13.63 12.92 12.31

3923 0.57 145.9 2781 726 2797 2716 493.4 0.7 294 3927 0.00 2.53 0.00 0.000 1030 0.000 0.074 2781 2092 2756 2799 2714 0 0 0 0 0 0 13.49 13.38 13.52

4238 0.16 145.9 2781 2093 2793 2708 442.0 16.0 307 4240 0.65 0.00 0.00 0.000 4230 0.313 0.000 2642 2092 2751 2793 2709 0 0 0 0 0 0 13.59 14.09 14.00

4538 0.03 166.1 2641 2092 2794 2708 413.5 9.1 317 4564 0.17 0.00 24.42 1.509 12966 0.274 0.000 2599 2092 2688 2733 2644 0 0 0 0 0 0 13.89 14.11 13.24

4869 0.04 221.2 2598 2093 2725 2633 388.6 7.5 333 4961 0.00 2.50 82.75 1.379 8868 0.000 0.084 2602 726 2457 2513 2402 0 0 0 0 0 0 14.60 13.90 13.12

5046 0.14 265.4 2603 726 2509 2399 374.6 8.0 368 5118 0.00 2.42 65.68 1.358 9382 0.000 0.077 2602 2102 2282 2337 2227 0 0 0 0 0 0 14.08 14.00 13.00

5443 0.22 302.6 2603 2102 2330 2212 341.3 8.3 397 5504 0.15 0.00 55.55 1.359 10406 0.116 0.000 2674 2102 2129 2180 2079 0 0 0 0 0 0 14.28 13.74 13.16

5803 0.18 302.6 2671 2102 2173 2069 294.8 13.0 409 5809 0.12 2.40 0.00 0.000 4740 0.251 0.082 2647 727 2123 2178 2069 0 0 0 0 0 0 14.02 14.19 14.16

5884 0.24 302.6 2647 727 2170 2070 286.0 10.2 425 5890 0.00 2.40 0.00 0.000 1158 0.000 0.078 2647 2111 2119 2169 2069 0 0 0 0 0 0 14.35 14.22 14.40

6195 0.24 302.6 2648 2111 2170 2067 253.7 10.1 437 6196 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2111 2117 2169 2066 0 0 0 0 0 0 14.64 14.66 14.66

6495 0.29 338.4 2647 2112 2169 2067 227.3 8.3 447 6557 0.00 2.53 57.50 1.328 8868 0.000 0.085 2647 726 1982 2030 1934 0 0 0 0 0 0 14.66 14.04 13.24

6614 0.44 386.5 2647 726 2020 1932 217.9 7.8 470 6698 0.25 2.42 78.05 1.255 11430 0.091 0.080 2747 2102 1789 1814 1764 0 0 0 0 0 0 14.15 14.07 13.08

7008 0.37 386.5 2747 2104 1810 1747 161.3 14.2 499 7013 0.17 2.42 0.00 0.000 4740 0.226 0.082 2711 727 1777 1809 1746 0 0 0 0 0 0 13.66 13.64 13.62

7089 0.42 386.5 2711 727 1806 1748 152.3 10.4 515 7093 0.00 2.38 0.00 0.000 1158 0.000 0.078 2711 2099 1775 1805 1746 0 0 0 0 0 0 14.32 14.19 14.36

7399 0.42 386.5 2712 2101 1806 1745 120.2 10.2 527 7403 0.00 2.40 0.00 0.000 516 0.000 0.086 2713 724 1774 1805 1744 0 0 0 0 0 0 14.62 14.23 14.63

7454 0.51 415.5 2713 725 1803 1744 114.9 8.7 538 7504 0.00 2.40 42.60 1.281 9382 0.000 0.078 2709 2102 1669 1699 1640 0 0 0 0 0 0 14.32 14.19 13.30

7809 0.58 437.7 2713 2103 1697 1629 80.7 9.0 574 7825 0.15 2.42 11.40 0.438 10916 0.115 0.083 2792 730 1579 1611 1548 0 0 0 0 0 0 14.18 13.96 13.66

7887 0.53 437.7 2792 729 1612 1549 70.8 13.1 589 7894 0.17 2.42 0.00 0.000 5254 0.246 0.077 2757 2103 1579 1611 1547 0 0 0 0 0 0 13.84 14.06 14.11

8190 0.58 507.2 2756 2103 1612 1545 43.8 6.8 620 8234 0.00 2.42 36.80 0.334 8740 0.000 0.084 2755 729 1295 1344 1246 0 0 0 0 0 0 14.59 14.01 13.76

8264 0.76 583.1 2756 729 1344 1247 39.0 6.5 632 8311 0.22 2.40 39.95 0.316 11430 0.099 0.077 2842 2100 985 1053 918 0 0 0 0 0 0 14.16 14.07 13.78

8617 0.78 606.8 2842 2102 1053 907 3.8 8.9 672 8633 0.00 2.42 12.23 0.220 8740 0.000 0.084 2850 724 887 956 818 0 0 0 0 0 0 14.56 13.96 13.81

8641 end climb: SURFACE_DEPTH_REACHED

state 8641 begin surface coast

8661 end surface coast: CONTROL_FINISHED_OK

state 8661 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	234	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	659.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	54	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,035146,7444.3809,-15244.2080,18,0.8,28,19.8,0.0,259.8,11,9.8	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	1.22	MHEAD_RNG_PITCHd_Wd	16.1,116903,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	030917,040102,7444.3579,-15244.2578,8,0.8,28,19.8,0.0,0.0,10,5.6

FINISH	0.3,1.015127	_24V_AH	12.31,155.066
SM_CCo	8685,52.20,0.210,0,0,499,702.78	_10V_AH	12.19,0.000
SM_GC	1.30,8.07,2.60,52.20,0.072,0.071,0.210,205,2201,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.33,14.23,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323536
IRIDIUM_FIX	7442.38,-15246.00,030917,011724	DATA_FILE_SIZE	23462,681
TT8_MAMPS	0.038199,0.934003	CAP_FILE_SIZE	97847,0
HUMID	47.12	CFSIZE	2097872896,2016935936
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	1445.9
XPDR_PINGS	11	CURRENT	0.099,260.50,1
CP_FREE	15972433920.000000	GPS	030917,062820,7445.123,-15242.352,18,0.8,22,19.8,0.3,236.1,11,9.4
PM_FREEKB_00	51030144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	145.47	nil	0	0	0.00
Roll_motor	83	2139	2207.27	nil	0	0	0.00
VBD_pump_during_apogee	937	1509	17409.96	nil	0	0	0.00
VBD_pump_during_surface	52	209	134.69	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	5038	14	904.41
Iridium_during_xfer	313	173	669.95	NCP	8649	20	2129.38
Transponder_ping	2	420	14.22	PMAR	8638	9	1054.09
GUMSTIX_24V	0	0	0.00
GPS	29	22	8.20
TT8	0	0	0.00
LPSleep	6181	2	174.06
TT8_Active	807	13	137.43
TT8_Sampling	2062	33	840.61
TT8_CF8	258	38	121.79
TT8_Kalman	0	0	0.00
Analog_circuits	2044	10	249.22
GPS_charging	0	0	0.00
Compass	976	7	83.31
RAFOS	2006	48	1173.75
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	202	2233	489	492	0.0	0.0	0	148	0.00	0.00	-97.40	0.000	16386	0.000	0.000	202	2234	2253	2194	2312	0	0	0	0	0	0	14.52	28.83	14.57
151	-0.57	-145.9	202	2235	2197	2314	4.8	-7.5	10	203	12.82	2.67	-33.12	0.000	18724	0.457	2.140	2376	3576	3961	3942	3981	0	0	0	0	0	0	13.59	12.83	14.07
265	-0.72	-145.9	2376	3578	3950	3982	32.3	-13.4	32	270	0.00	2.30	0.00	0.000	1158	0.000	0.059	2376	2234	3965	3949	3981	0	0	0	0	0	0	14.22	14.10	14.23
576	-0.82	-145.9	2376	2238	3952	3982	75.3	-11.2	64	581	0.17	2.53	0.00	0.000	4740	0.119	0.083	2301	793	3966	3951	3981	0	0	0	0	0	0	14.14	14.09	14.20
616	-0.85	-145.9	2301	794	3954	3982	81.3	-15.5	72	621	0.00	2.42	0.00	0.000	1158	0.000	0.087	2295	2165	3966	3951	3981	0	0	0	0	0	0	14.23	14.08	14.26
946	-0.85	-145.9	2295	2167	3951	3982	133.2	-14.6	92	951	0.00	2.58	0.00	0.000	260	0.000	0.090	2292	3619	3966	3951	3981	0	0	0	0	0	0	14.50	14.07	14.52
1093	-0.95	-145.9	2292	3621	3947	3982	151.3	-12.2	121	1100	0.00	2.42	0.00	0.000	1158	0.000	0.058	2292	2199	3966	3951	3981	0	0	0	0	0	0	14.24	14.12	14.28
1396	-1.00	-145.9	2292	2199	3953	3982	189.9	-12.3	132	1401	0.00	2.50	0.00	0.000	388	0.000	0.087	2285	3613	3966	3951	3981	0	0	0	0	0	0	14.50	14.07	14.52
1431	-1.09	-145.9	2285	3614	3950	3982	194.1	-12.0	139	1436	0.17	2.40	0.00	0.000	5254	0.106	0.058	2220	2201	3966	3951	3981	0	0	0	0	0	0	14.18	14.12	14.27
1757	-1.01	-145.9	2221	2201	3952	3981	253.5	-18.3	154	1762	0.12	2.50	0.00	0.000	2436	0.295	0.084	2238	3614	3964	3951	3977	0	0	0	0	0	0	13.83	14.07	14.00
1892	-1.05	-145.9	2239	3615	3952	3982	272.2	-12.6	181	1898	0.00	2.42	0.00	0.000	1158	0.000	0.056	2238	2196	3966	3951	3981	0	0	0	0	0	0	14.24	14.12	14.27
2208	-1.05	-145.9	2239	2197	3951	3982	313.6	-12.9	194	2213	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3611	3970	3959	3981	0	0	0	0	0	0	14.47	14.01	14.50
2285	-1.12	-145.9	2236	3613	3951	3982	322.7	-11.4	209	2291	0.00	2.40	0.00	0.000	1158	0.000	0.056	2235	2201	3966	3951	3981	0	0	0	0	0	0	14.21	14.04	14.23
2604	-1.15	-145.9	2236	2201	3951	3982	360.9	-11.8	222	2608	0.00	2.50	0.00	0.000	388	0.000	0.088	2235	3616	3964	3948	3981	0	0	0	0	0	0	14.64	14.09	14.65
2684	-1.23	-145.9	2236	3617	3952	3981	370.0	-10.6	238	2689	0.17	2.40	0.00	0.000	5254	0.116	0.057	2164	2197	3966	3951	3981	0	0	0	0	0	0	14.27	14.23	14.38
2994	-1.10	-145.9	2164	2195	3949	3981	425.9	-18.4	250	2999	0.25	2.47	0.00	0.000	2436	0.302	0.083	2210	3614	3965	3949	3981	0	0	0	0	0	0	13.83	14.14	14.04
3101	-1.13	-145.9	2211	3614	3950	3980	440.3	-12.4	271	3106	0.00	2.40	0.00	0.000	1158	0.000	0.057	2210	2194	3965	3949	3981	0	0	0	0	0	0	13.85	13.88	13.86
3414	end dive: TARGET_DEPTH_EXCEEDED
state	3414	begin apogee
3420	-0.13	0.0	2210	2067	3949	3982	481.8	-13.0	284	3646	1.25	0.08	222.12	1.416	10246	0.240	0.177	2528	2112	3364	3383	3345	0	0	0	0	0	0	13.92	13.09	12.66
3649	end apogee: CONTROL_FINISHED_OK
state	3649	begin climb
3651	0.57	145.9	2529	2113	3377	3338	492.2	0.0	291	3911	0.75	2.67	207.98	1.372	10756	0.063	0.079	2781	726	2756	2797	2715	0	0	0	0	0	0	13.63	12.92	12.31
3923	0.57	145.9	2781	726	2797	2716	493.4	0.7	294	3927	0.00	2.53	0.00	0.000	1030	0.000	0.074	2781	2092	2756	2799	2714	0	0	0	0	0	0	13.49	13.38	13.52
4238	0.16	145.9	2781	2093	2793	2708	442.0	16.0	307	4240	0.65	0.00	0.00	0.000	4230	0.313	0.000	2642	2092	2751	2793	2709	0	0	0	0	0	0	13.59	14.09	14.00
4538	0.03	166.1	2641	2092	2794	2708	413.5	9.1	317	4564	0.17	0.00	24.42	1.509	12966	0.274	0.000	2599	2092	2688	2733	2644	0	0	0	0	0	0	13.89	14.11	13.24
4869	0.04	221.2	2598	2093	2725	2633	388.6	7.5	333	4961	0.00	2.50	82.75	1.379	8868	0.000	0.084	2602	726	2457	2513	2402	0	0	0	0	0	0	14.60	13.90	13.12
5046	0.14	265.4	2603	726	2509	2399	374.6	8.0	368	5118	0.00	2.42	65.68	1.358	9382	0.000	0.077	2602	2102	2282	2337	2227	0	0	0	0	0	0	14.08	14.00	13.00
5443	0.22	302.6	2603	2102	2330	2212	341.3	8.3	397	5504	0.15	0.00	55.55	1.359	10406	0.116	0.000	2674	2102	2129	2180	2079	0	0	0	0	0	0	14.28	13.74	13.16
5803	0.18	302.6	2671	2102	2173	2069	294.8	13.0	409	5809	0.12	2.40	0.00	0.000	4740	0.251	0.082	2647	727	2123	2178	2069	0	0	0	0	0	0	14.02	14.19	14.16
5884	0.24	302.6	2647	727	2170	2070	286.0	10.2	425	5890	0.00	2.40	0.00	0.000	1158	0.000	0.078	2647	2111	2119	2169	2069	0	0	0	0	0	0	14.35	14.22	14.40
6195	0.24	302.6	2648	2111	2170	2067	253.7	10.1	437	6196	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2111	2117	2169	2066	0	0	0	0	0	0	14.64	14.66	14.66
6495	0.29	338.4	2647	2112	2169	2067	227.3	8.3	447	6557	0.00	2.53	57.50	1.328	8868	0.000	0.085	2647	726	1982	2030	1934	0	0	0	0	0	0	14.66	14.04	13.24
6614	0.44	386.5	2647	726	2020	1932	217.9	7.8	470	6698	0.25	2.42	78.05	1.255	11430	0.091	0.080	2747	2102	1789	1814	1764	0	0	0	0	0	0	14.15	14.07	13.08
7008	0.37	386.5	2747	2104	1810	1747	161.3	14.2	499	7013	0.17	2.42	0.00	0.000	4740	0.226	0.082	2711	727	1777	1809	1746	0	0	0	0	0	0	13.66	13.64	13.62
7089	0.42	386.5	2711	727	1806	1748	152.3	10.4	515	7093	0.00	2.38	0.00	0.000	1158	0.000	0.078	2711	2099	1775	1805	1746	0	0	0	0	0	0	14.32	14.19	14.36
7399	0.42	386.5	2712	2101	1806	1745	120.2	10.2	527	7403	0.00	2.40	0.00	0.000	516	0.000	0.086	2713	724	1774	1805	1744	0	0	0	0	0	0	14.62	14.23	14.63
7454	0.51	415.5	2713	725	1803	1744	114.9	8.7	538	7504	0.00	2.40	42.60	1.281	9382	0.000	0.078	2709	2102	1669	1699	1640	0	0	0	0	0	0	14.32	14.19	13.30
7809	0.58	437.7	2713	2103	1697	1629	80.7	9.0	574	7825	0.15	2.42	11.40	0.438	10916	0.115	0.083	2792	730	1579	1611	1548	0	0	0	0	0	0	14.18	13.96	13.66
7887	0.53	437.7	2792	729	1612	1549	70.8	13.1	589	7894	0.17	2.42	0.00	0.000	5254	0.246	0.077	2757	2103	1579	1611	1547	0	0	0	0	0	0	13.84	14.06	14.11
8190	0.58	507.2	2756	2103	1612	1545	43.8	6.8	620	8234	0.00	2.42	36.80	0.334	8740	0.000	0.084	2755	729	1295	1344	1246	0	0	0	0	0	0	14.59	14.01	13.76
8264	0.76	583.1	2756	729	1344	1247	39.0	6.5	632	8311	0.22	2.40	39.95	0.316	11430	0.099	0.077	2842	2100	985	1053	918	0	0	0	0	0	0	14.16	14.07	13.78
8617	0.78	606.8	2842	2102	1053	907	3.8	8.9	672	8633	0.00	2.42	12.23	0.220	8740	0.000	0.084	2850	724	887	956	818	0	0	0	0	0	0	14.56	13.96	13.81
8641	end climb: SURFACE_DEPTH_REACHED
state	8641	begin surface coast
8661	end surface coast: CONTROL_FINISHED_OK
state	8661	begin surface