Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 247 * 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 247 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 692.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 692.0 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 63 VBD_MIN 500

DIVE 247 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 040917,160532,7453.4004,-15219.3379,27,0.7,27,20.1,0.0,0.0,11,8.2 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 15.6,97190,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 040917,161112,7453.4404,-15219.3809,8,0.8,10,20.1,0.0,348.6,10,8.7

Post-dive calculations and measurements:

FINISH 0.2,1.010611 _24V_AH 12.27,161.227

SM_CCo 8966,6.43,0.204,0,0,499,703.28 _10V_AH 12.15,0.000

SM_GC 2.00,8.27,0.17,6.43,0.078,0.138,0.204,196,2203,499,-7.39,-0.76,703.28,0,0,0,0,0,0,14.29,14.23,13.96 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 323448

IRIDIUM_FIX 7453.03,-15216.02,040917,132532 DATA_FILE_SIZE 23380,711

TT8_MAMPS 0.038948,0.856856 CAP_FILE_SIZE 98655,0

HUMID 47.32 CFSIZE 2097872896,2013593600

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 1445.7

XPDR_PINGS 17 CURRENT 0.065,247.28,1

CP_FREE 15966797824.000000 GPS 040917,184222,7454.102,-15217.014,16,0.8,17,20.1,0.0,0.0,10,9.6

PM_FREEKB_00 50654144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.17 nil 0 0 0.00

Roll_motor 83 2139 2203.38 nil 0 0 0.00

VBD_pump_during_apogee 993 1489 18161.85 nil 0 0 0.00

VBD_pump_during_surface 6 204 16.10 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 4924 15 929.95

Iridium_during_xfer 149 139 255.19 NCP 8924 20 2189.95

Transponder_ping 4 420 21.90 PMAR 8917 9 1082.30

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.22

TT8 0 0 0.00

LPSleep 6052 2 169.88

TT8_Active 882 13 149.75

TT8_Sampling 2167 33 880.45

TT8_CF8 225 38 106.17

TT8_Kalman 0 0 0.00

Analog_circuits 2207 10 268.26

GPS_charging 0 0 0.00

Compass 1018 7 86.59

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 200 2225 507 495 0.0 0.0 0 143 0.00 0.00 -91.22 0.000 16386 0.000 0.000 199 2226 2173 2108 2238 0 0 0 0 0 0 14.42 28.83 14.44

146 -0.57 -145.9 200 2226 2112 2238 3.8 -5.2 9 203 12.80 2.78 -36.10 0.000 18724 0.454 2.140 2375 3585 3961 3942 3981 0 0 0 0 0 0 13.61 12.59 14.08

413 -0.72 -145.9 2376 3587 3949 3982 51.2 -12.4 62 419 0.00 2.30 0.00 0.000 1158 0.000 0.057 2376 2231 3964 3948 3980 0 0 0 0 0 0 14.24 14.12 14.27

720 -0.84 -145.9 2376 2231 3950 3982 87.9 -10.4 93 721 0.22 0.00 0.00 0.000 4230 0.099 0.000 2288 2230 3965 3949 3981 0 0 0 0 0 0 14.19 14.33 14.30

1038 -0.84 -145.9 2288 2231 3950 3982 137.9 -14.6 109 1042 0.00 2.42 0.00 0.000 260 0.000 0.088 2279 3597 3965 3950 3981 0 0 0 0 0 0 14.52 14.08 14.54

1108 -0.92 -145.9 2280 3600 3950 3982 147.4 -12.8 123 1113 0.00 2.40 0.00 0.000 1158 0.000 0.058 2279 2195 3965 3950 3981 0 0 0 0 0 0 14.25 14.13 14.28

1428 -0.95 -145.9 2280 2195 3950 3980 191.5 -13.4 137 1433 0.00 2.47 0.00 0.000 388 0.000 0.087 2270 3594 3965 3950 3981 0 0 0 0 0 0 14.52 14.09 14.54

1493 -1.04 -145.9 2270 3596 3950 3982 199.8 -12.1 150 1498 0.00 2.40 0.00 0.000 1158 0.000 0.057 2270 2196 3965 3950 3981 0 0 0 0 0 0 14.21 14.09 14.28

1820 -1.07 -145.9 2270 2196 3950 3982 242.8 -12.9 165 1826 0.12 2.50 0.00 0.000 4484 0.140 0.085 2210 3592 3965 3950 3981 0 0 0 0 0 0 14.12 14.00 14.16

1878 -1.03 -145.9 2210 3595 3950 3982 252.1 -17.0 176 1885 0.17 2.40 0.00 0.000 3206 0.255 0.057 2245 2191 3966 3952 3981 0 0 0 0 0 0 13.78 14.05 14.07

2181 -1.03 -145.9 2246 2189 3951 3981 292.1 -12.3 187 2186 0.00 2.45 0.00 0.000 260 0.000 0.086 2238 3588 3965 3950 3980 0 0 0 0 0 0 14.66 14.17 14.68

2251 -1.11 -145.9 2238 3589 3950 3982 300.5 -11.5 201 2256 0.00 2.35 0.00 0.000 1158 0.000 0.056 2238 2190 3965 3949 3981 0 0 0 0 0 0 14.37 14.25 14.40

2571 -1.13 -145.9 2238 2190 3950 3982 339.5 -12.0 215 2576 0.00 2.47 0.00 0.000 388 0.000 0.088 2235 3595 3965 3949 3981 0 0 0 0 0 0 14.69 14.19 14.71

2621 -1.22 -145.9 2235 3598 3950 3982 345.3 -11.1 225 2626 0.15 2.35 0.00 0.000 5254 0.125 0.056 2177 2201 3967 3954 3980 0 0 0 0 0 0 14.24 14.21 14.35

2932 -1.12 -145.9 2178 2199 3950 3980 397.4 -16.9 237 2937 0.15 2.45 0.00 0.000 2436 0.307 0.082 2200 3599 3964 3949 3980 0 0 0 0 0 0 13.69 14.14 13.97

3049 -1.12 -145.9 2200 3600 3949 3981 413.7 -13.1 260 3055 0.00 2.35 0.00 0.000 1030 0.000 0.056 2200 2201 3964 3948 3980 0 0 0 0 0 0 14.39 14.26 14.43

3352 -1.08 -145.9 2200 2201 3950 3979 456.4 -14.0 271 3357 0.12 2.45 0.00 0.000 2436 0.308 0.085 2222 3595 3964 3948 3980 0 0 0 0 0 0 13.74 14.09 13.88

3433 -1.16 -145.9 2222 3597 3950 3980 465.9 -10.9 287 3437 0.00 2.38 0.00 0.000 1158 0.000 0.056 2222 2199 3964 3948 3980 0 0 0 0 0 0 14.38 14.22 14.40

3560 end dive: TARGET_DEPTH_EXCEEDED

state 3560 begin apogee

3566 -0.13 0.0 2223 2063 3949 3980 481.3 -11.9 293 3819 1.20 0.00 249.10 1.417 10246 0.229 0.000 2530 2062 3366 3384 3349 0 0 0 0 0 0 13.88 13.44 12.61

3822 end apogee: CONTROL_FINISHED_OK

state 3822 begin climb

3825 0.57 145.9 2531 2062 3378 3341 493.9 0.0 301 4386 0.75 2.72 211.02 1.385 10500 0.062 0.074 2781 3484 2748 2780 2716 0 0 0 0 0 0 13.57 12.89 12.27

4396 0.57 145.9 2781 3485 2779 2717 445.6 9.7 304 4402 0.00 2.33 0.00 0.000 1030 0.000 0.057 2789 2129 2746 2778 2715 0 0 0 0 0 0 14.10 14.00 14.14

4718 0.15 145.9 2789 2129 2780 2717 394.9 15.3 318 4723 0.65 2.50 0.00 0.000 4740 0.306 0.078 2647 687 2747 2779 2716 0 0 0 0 0 0 13.81 14.16 14.04

4948 0.05 181.1 2644 686 2780 2717 374.1 8.4 364 5008 0.20 2.45 50.90 1.397 13478 0.271 0.080 2605 2088 2622 2667 2577 0 0 0 0 0 0 13.92 14.19 13.21

5318 0.06 224.5 2605 2090 2659 2561 344.4 8.0 388 5389 0.00 2.47 66.05 1.349 8868 0.000 0.081 2606 693 2445 2499 2392 0 0 0 0 0 0 14.59 13.76 13.16

5455 0.16 275.8 2606 694 2489 2385 333.7 7.6 415 5545 0.00 2.47 83.43 1.300 9382 0.000 0.080 2606 2101 2241 2300 2183 0 0 0 0 0 0 14.19 14.06 13.00

5861 0.24 312.3 2606 2102 2281 2162 299.4 8.3 446 5927 0.17 2.55 59.03 1.302 10916 0.106 0.086 2684 703 2085 2132 2038 0 0 0 0 0 0 14.28 13.95 13.18

5953 0.20 312.3 2686 702 2126 2042 287.7 13.7 454 5958 0.17 2.47 0.00 0.000 5254 0.232 0.078 2647 2105 2078 2123 2034 0 0 0 0 0 0 13.84 14.01 14.09

6283 0.23 324.6 2648 2106 2124 2023 254.2 9.4 470 6298 0.00 0.00 13.00 1.489 8358 0.000 0.000 2647 2106 2042 2089 1995 0 0 0 0 0 0 14.59 14.15 13.27

6583 0.29 349.7 2647 2107 2080 1981 227.1 8.8 480 6629 0.00 2.50 38.85 1.362 8868 0.000 0.086 2654 694 1935 1980 1890 0 0 0 0 0 0 14.62 14.06 13.28

6701 0.42 385.5 2655 694 1971 1889 217.2 8.3 503 6766 0.20 2.47 57.90 1.304 11430 0.100 0.080 2737 2103 1791 1819 1764 0 0 0 0 0 0 13.86 14.11 13.13

7064 0.36 385.5 2733 2103 1813 1750 167.3 13.5 526 7069 0.12 2.45 0.00 0.000 4740 0.239 0.081 2711 695 1780 1812 1749 0 0 0 0 0 0 14.04 14.17 14.20

7109 0.39 385.5 2712 695 1810 1749 161.8 11.6 535 7114 0.00 2.45 0.00 0.000 1158 0.000 0.079 2710 2099 1778 1807 1749 0 0 0 0 0 0 14.33 14.20 14.38

7424 0.39 385.5 2711 2102 1809 1747 126.6 10.8 548 7430 0.00 2.47 0.00 0.000 516 0.000 0.086 2712 692 1776 1807 1746 0 0 0 0 0 0 14.63 14.21 14.65

7455 0.43 385.5 2713 693 1806 1741 123.5 10.4 554 7460 0.00 2.45 0.00 0.000 1158 0.000 0.078 2713 2105 1775 1805 1746 0 0 0 0 0 0 14.36 14.21 14.40

7765 0.45 407.8 2713 2105 1807 1745 94.1 9.0 572 7781 0.00 2.47 10.52 0.483 8740 0.000 0.085 2713 697 1701 1729 1674 0 0 0 0 0 0 14.62 14.12 13.48

7832 0.54 433.2 2716 694 1729 1673 88.2 8.8 585 7853 0.15 2.45 14.75 0.467 11430 0.117 0.078 2776 2101 1597 1625 1570 0 0 0 0 0 0 14.26 14.17 13.62

8159 0.52 481.4 2777 2101 1625 1568 52.1 7.8 620 8191 0.00 2.50 25.65 0.357 8868 0.000 0.086 2781 691 1399 1438 1361 0 0 0 0 0 0 14.60 13.82 13.62

8211 0.55 515.6 2781 691 1440 1357 47.9 8.4 630 8234 0.00 2.47 18.42 0.344 9254 0.000 0.079 2781 2100 1263 1315 1211 0 0 0 0 0 0 14.28 14.18 13.69

8532 0.67 608.5 2781 2101 1315 1203 24.6 5.7 664 8583 0.00 0.00 49.03 0.282 8614 0.000 0.000 2781 2100 882 949 815 0 0 0 0 0 0 14.57 14.09 13.78

8882 0.91 706.4 2781 2101 950 806 6.3 5.5 700 8930 0.25 0.00 46.12 0.220 10914 0.095 0.000 2883 2100 534 560 508 0 0 0 0 0 0 14.27 28.83 14.31

8931 end climb: SURFACE_DEPTH_REACHED

state 8931 begin surface coast

8943 end surface coast: CONTROL_FINISHED_OK

state 8943 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	247	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	692.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,160532,7453.4004,-15219.3379,27,0.7,27,20.1,0.0,0.0,11,8.2	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	15.6,97190,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	040917,161112,7453.4404,-15219.3809,8,0.8,10,20.1,0.0,348.6,10,8.7

FINISH	0.2,1.010611	_24V_AH	12.27,161.227
SM_CCo	8966,6.43,0.204,0,0,499,703.28	_10V_AH	12.15,0.000
SM_GC	2.00,8.27,0.17,6.43,0.078,0.138,0.204,196,2203,499,-7.39,-0.76,703.28,0,0,0,0,0,0,14.29,14.23,13.96	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	323448
IRIDIUM_FIX	7453.03,-15216.02,040917,132532	DATA_FILE_SIZE	23380,711
TT8_MAMPS	0.038948,0.856856	CAP_FILE_SIZE	98655,0
HUMID	47.32	CFSIZE	2097872896,2013593600
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	1445.7
XPDR_PINGS	17	CURRENT	0.065,247.28,1
CP_FREE	15966797824.000000	GPS	040917,184222,7454.102,-15217.014,16,0.8,17,20.1,0.0,0.0,10,9.6
PM_FREEKB_00	50654144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.17	nil	0	0	0.00
Roll_motor	83	2139	2203.38	nil	0	0	0.00
VBD_pump_during_apogee	993	1489	18161.85	nil	0	0	0.00
VBD_pump_during_surface	6	204	16.10	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	4924	15	929.95
Iridium_during_xfer	149	139	255.19	NCP	8924	20	2189.95
Transponder_ping	4	420	21.90	PMAR	8917	9	1082.30
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.22
TT8	0	0	0.00
LPSleep	6052	2	169.88
TT8_Active	882	13	149.75
TT8_Sampling	2167	33	880.45
TT8_CF8	225	38	106.17
TT8_Kalman	0	0	0.00
Analog_circuits	2207	10	268.26
GPS_charging	0	0	0.00
Compass	1018	7	86.59
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	200	2225	507	495	0.0	0.0	0	143	0.00	0.00	-91.22	0.000	16386	0.000	0.000	199	2226	2173	2108	2238	0	0	0	0	0	0	14.42	28.83	14.44
146	-0.57	-145.9	200	2226	2112	2238	3.8	-5.2	9	203	12.80	2.78	-36.10	0.000	18724	0.454	2.140	2375	3585	3961	3942	3981	0	0	0	0	0	0	13.61	12.59	14.08
413	-0.72	-145.9	2376	3587	3949	3982	51.2	-12.4	62	419	0.00	2.30	0.00	0.000	1158	0.000	0.057	2376	2231	3964	3948	3980	0	0	0	0	0	0	14.24	14.12	14.27
720	-0.84	-145.9	2376	2231	3950	3982	87.9	-10.4	93	721	0.22	0.00	0.00	0.000	4230	0.099	0.000	2288	2230	3965	3949	3981	0	0	0	0	0	0	14.19	14.33	14.30
1038	-0.84	-145.9	2288	2231	3950	3982	137.9	-14.6	109	1042	0.00	2.42	0.00	0.000	260	0.000	0.088	2279	3597	3965	3950	3981	0	0	0	0	0	0	14.52	14.08	14.54
1108	-0.92	-145.9	2280	3600	3950	3982	147.4	-12.8	123	1113	0.00	2.40	0.00	0.000	1158	0.000	0.058	2279	2195	3965	3950	3981	0	0	0	0	0	0	14.25	14.13	14.28
1428	-0.95	-145.9	2280	2195	3950	3980	191.5	-13.4	137	1433	0.00	2.47	0.00	0.000	388	0.000	0.087	2270	3594	3965	3950	3981	0	0	0	0	0	0	14.52	14.09	14.54
1493	-1.04	-145.9	2270	3596	3950	3982	199.8	-12.1	150	1498	0.00	2.40	0.00	0.000	1158	0.000	0.057	2270	2196	3965	3950	3981	0	0	0	0	0	0	14.21	14.09	14.28
1820	-1.07	-145.9	2270	2196	3950	3982	242.8	-12.9	165	1826	0.12	2.50	0.00	0.000	4484	0.140	0.085	2210	3592	3965	3950	3981	0	0	0	0	0	0	14.12	14.00	14.16
1878	-1.03	-145.9	2210	3595	3950	3982	252.1	-17.0	176	1885	0.17	2.40	0.00	0.000	3206	0.255	0.057	2245	2191	3966	3952	3981	0	0	0	0	0	0	13.78	14.05	14.07
2181	-1.03	-145.9	2246	2189	3951	3981	292.1	-12.3	187	2186	0.00	2.45	0.00	0.000	260	0.000	0.086	2238	3588	3965	3950	3980	0	0	0	0	0	0	14.66	14.17	14.68
2251	-1.11	-145.9	2238	3589	3950	3982	300.5	-11.5	201	2256	0.00	2.35	0.00	0.000	1158	0.000	0.056	2238	2190	3965	3949	3981	0	0	0	0	0	0	14.37	14.25	14.40
2571	-1.13	-145.9	2238	2190	3950	3982	339.5	-12.0	215	2576	0.00	2.47	0.00	0.000	388	0.000	0.088	2235	3595	3965	3949	3981	0	0	0	0	0	0	14.69	14.19	14.71
2621	-1.22	-145.9	2235	3598	3950	3982	345.3	-11.1	225	2626	0.15	2.35	0.00	0.000	5254	0.125	0.056	2177	2201	3967	3954	3980	0	0	0	0	0	0	14.24	14.21	14.35
2932	-1.12	-145.9	2178	2199	3950	3980	397.4	-16.9	237	2937	0.15	2.45	0.00	0.000	2436	0.307	0.082	2200	3599	3964	3949	3980	0	0	0	0	0	0	13.69	14.14	13.97
3049	-1.12	-145.9	2200	3600	3949	3981	413.7	-13.1	260	3055	0.00	2.35	0.00	0.000	1030	0.000	0.056	2200	2201	3964	3948	3980	0	0	0	0	0	0	14.39	14.26	14.43
3352	-1.08	-145.9	2200	2201	3950	3979	456.4	-14.0	271	3357	0.12	2.45	0.00	0.000	2436	0.308	0.085	2222	3595	3964	3948	3980	0	0	0	0	0	0	13.74	14.09	13.88
3433	-1.16	-145.9	2222	3597	3950	3980	465.9	-10.9	287	3437	0.00	2.38	0.00	0.000	1158	0.000	0.056	2222	2199	3964	3948	3980	0	0	0	0	0	0	14.38	14.22	14.40
3560	end dive: TARGET_DEPTH_EXCEEDED
state	3560	begin apogee
3566	-0.13	0.0	2223	2063	3949	3980	481.3	-11.9	293	3819	1.20	0.00	249.10	1.417	10246	0.229	0.000	2530	2062	3366	3384	3349	0	0	0	0	0	0	13.88	13.44	12.61
3822	end apogee: CONTROL_FINISHED_OK
state	3822	begin climb
3825	0.57	145.9	2531	2062	3378	3341	493.9	0.0	301	4386	0.75	2.72	211.02	1.385	10500	0.062	0.074	2781	3484	2748	2780	2716	0	0	0	0	0	0	13.57	12.89	12.27
4396	0.57	145.9	2781	3485	2779	2717	445.6	9.7	304	4402	0.00	2.33	0.00	0.000	1030	0.000	0.057	2789	2129	2746	2778	2715	0	0	0	0	0	0	14.10	14.00	14.14
4718	0.15	145.9	2789	2129	2780	2717	394.9	15.3	318	4723	0.65	2.50	0.00	0.000	4740	0.306	0.078	2647	687	2747	2779	2716	0	0	0	0	0	0	13.81	14.16	14.04
4948	0.05	181.1	2644	686	2780	2717	374.1	8.4	364	5008	0.20	2.45	50.90	1.397	13478	0.271	0.080	2605	2088	2622	2667	2577	0	0	0	0	0	0	13.92	14.19	13.21
5318	0.06	224.5	2605	2090	2659	2561	344.4	8.0	388	5389	0.00	2.47	66.05	1.349	8868	0.000	0.081	2606	693	2445	2499	2392	0	0	0	0	0	0	14.59	13.76	13.16
5455	0.16	275.8	2606	694	2489	2385	333.7	7.6	415	5545	0.00	2.47	83.43	1.300	9382	0.000	0.080	2606	2101	2241	2300	2183	0	0	0	0	0	0	14.19	14.06	13.00
5861	0.24	312.3	2606	2102	2281	2162	299.4	8.3	446	5927	0.17	2.55	59.03	1.302	10916	0.106	0.086	2684	703	2085	2132	2038	0	0	0	0	0	0	14.28	13.95	13.18
5953	0.20	312.3	2686	702	2126	2042	287.7	13.7	454	5958	0.17	2.47	0.00	0.000	5254	0.232	0.078	2647	2105	2078	2123	2034	0	0	0	0	0	0	13.84	14.01	14.09
6283	0.23	324.6	2648	2106	2124	2023	254.2	9.4	470	6298	0.00	0.00	13.00	1.489	8358	0.000	0.000	2647	2106	2042	2089	1995	0	0	0	0	0	0	14.59	14.15	13.27
6583	0.29	349.7	2647	2107	2080	1981	227.1	8.8	480	6629	0.00	2.50	38.85	1.362	8868	0.000	0.086	2654	694	1935	1980	1890	0	0	0	0	0	0	14.62	14.06	13.28
6701	0.42	385.5	2655	694	1971	1889	217.2	8.3	503	6766	0.20	2.47	57.90	1.304	11430	0.100	0.080	2737	2103	1791	1819	1764	0	0	0	0	0	0	13.86	14.11	13.13
7064	0.36	385.5	2733	2103	1813	1750	167.3	13.5	526	7069	0.12	2.45	0.00	0.000	4740	0.239	0.081	2711	695	1780	1812	1749	0	0	0	0	0	0	14.04	14.17	14.20
7109	0.39	385.5	2712	695	1810	1749	161.8	11.6	535	7114	0.00	2.45	0.00	0.000	1158	0.000	0.079	2710	2099	1778	1807	1749	0	0	0	0	0	0	14.33	14.20	14.38
7424	0.39	385.5	2711	2102	1809	1747	126.6	10.8	548	7430	0.00	2.47	0.00	0.000	516	0.000	0.086	2712	692	1776	1807	1746	0	0	0	0	0	0	14.63	14.21	14.65
7455	0.43	385.5	2713	693	1806	1741	123.5	10.4	554	7460	0.00	2.45	0.00	0.000	1158	0.000	0.078	2713	2105	1775	1805	1746	0	0	0	0	0	0	14.36	14.21	14.40
7765	0.45	407.8	2713	2105	1807	1745	94.1	9.0	572	7781	0.00	2.47	10.52	0.483	8740	0.000	0.085	2713	697	1701	1729	1674	0	0	0	0	0	0	14.62	14.12	13.48
7832	0.54	433.2	2716	694	1729	1673	88.2	8.8	585	7853	0.15	2.45	14.75	0.467	11430	0.117	0.078	2776	2101	1597	1625	1570	0	0	0	0	0	0	14.26	14.17	13.62
8159	0.52	481.4	2777	2101	1625	1568	52.1	7.8	620	8191	0.00	2.50	25.65	0.357	8868	0.000	0.086	2781	691	1399	1438	1361	0	0	0	0	0	0	14.60	13.82	13.62
8211	0.55	515.6	2781	691	1440	1357	47.9	8.4	630	8234	0.00	2.47	18.42	0.344	9254	0.000	0.079	2781	2100	1263	1315	1211	0	0	0	0	0	0	14.28	14.18	13.69
8532	0.67	608.5	2781	2101	1315	1203	24.6	5.7	664	8583	0.00	0.00	49.03	0.282	8614	0.000	0.000	2781	2100	882	949	815	0	0	0	0	0	0	14.57	14.09	13.78
8882	0.91	706.4	2781	2101	950	806	6.3	5.5	700	8930	0.25	0.00	46.12	0.220	10914	0.095	0.000	2883	2100	534	560	508	0	0	0	0	0	0	14.27	28.83	14.31
8931	end climb: SURFACE_DEPTH_REACHED
state	8931	begin surface coast
8943	end surface coast: CONTROL_FINISHED_OK
state	8943	begin surface