Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 250 * 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 250 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 702.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 702.0 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 31 VBD_MIN 500

DIVE 250 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 040917,235804,7455.7222,-15212.4805,25,0.8,27,20.1,0.3,18.1,10,8.5 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 8.8,92153,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 050917,001811,7455.7397,-15212.4629,8,0.7,12,20.1,0.0,323.2,11,9.7

Post-dive calculations and measurements:

FINISH 0.1,1.021396 _24V_AH 12.28,162.661

SM_CCo 9066,31.50,0.211,0,0,499,703.28 _10V_AH 12.13,0.000

SM_GC 1.42,7.95,0.17,31.50,0.062,0.122,0.211,206,2217,499,-7.36,-0.54,703.28,0,0,0,0,0,0,14.33,14.28,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 413 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323460

IRIDIUM_FIX 7455.74,-15201.00,050917,001121 DATA_FILE_SIZE 26754,769

TT8_MAMPS 0.038948,0.929509 CAP_FILE_SIZE 110260,0

HUMID 47.12 CFSIZE 2097872896,2012905472

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 1448.7

XPDR_PINGS 17 CURRENT 0.043,267.85,1

CP_FREE 15965487104.000000 GPS 050917,025152,7456.733,-15209.950,41,0.8,42,20.2,0.0,0.0,11,8.5

PM_FREEKB_00 50569280

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 144.98 nil 0 0 0.00

Roll_motor 84 2135 2205.04 nil 0 0 0.00

VBD_pump_during_apogee 952 1536 17968.01 nil 0 0 0.00

VBD_pump_during_surface 31 211 81.67 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 9036 14 1651.45

Iridium_during_xfer 761 166 1553.06 NCP 9051 20 2222.93

Transponder_ping 4 420 21.92 PMAR 9019 9 1093.91

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.71

TT8 0 0 0.00

LPSleep 6672 2 186.96

TT8_Active 814 13 138.07

TT8_Sampling 2494 33 1011.89

TT8_CF8 338 38 158.75

TT8_Kalman 0 0 0.00

Analog_circuits 2479 10 300.72

GPS_charging 0 0 0.00

Compass 1102 7 93.58

RAFOS 974 48 567.10

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 -145.9 188 2204 505 492 0.0 0.0 0 140 0.00 0.00 -88.47 0.000 16386 0.000 0.000 186 2205 2081 2006 2157 0 0 0 0 0 0 14.51 28.83 14.52

143 -0.57 -145.9 188 2204 2009 2159 3.4 -4.4 9 205 12.93 2.83 -40.33 0.000 18724 0.454 2.135 2375 3609 3964 3950 3979 0 0 0 0 0 0 13.56 12.61 14.04

340 -0.70 -145.9 2376 3610 3956 3979 41.1 -14.1 48 347 0.00 2.45 0.00 0.000 1158 0.000 0.060 2375 2202 3967 3955 3979 0 0 0 0 0 0 13.99 13.87 14.02

647 -0.81 -145.9 2375 2203 3957 3980 82.8 -10.9 79 652 0.15 2.53 0.00 0.000 4484 0.125 0.084 2305 3618 3967 3956 3979 0 0 0 0 0 0 13.97 14.02 14.00

672 -0.85 -145.9 2304 3619 3957 3979 86.4 -13.6 84 679 0.00 2.47 0.00 0.000 1158 0.000 0.058 2304 2195 3968 3958 3979 0 0 0 0 0 0 14.11 13.99 14.17

998 -0.89 -145.9 2304 2194 3957 3980 135.1 -13.9 101 1002 0.00 2.53 0.00 0.000 388 0.000 0.086 2294 3613 3967 3956 3979 0 0 0 0 0 0 14.44 14.00 14.45

1072 -1.02 -145.9 2295 3614 3956 3980 144.6 -11.8 116 1079 0.15 2.42 0.00 0.000 5254 0.115 0.056 2240 2196 3968 3957 3979 0 0 0 0 0 0 14.10 14.05 14.19

1391 -0.97 -145.9 2240 2196 3957 3980 201.1 -17.5 129 1392 0.00 0.00 0.00 0.000 134 0.000 0.000 2240 2195 3967 3956 3979 0 0 0 0 0 0 14.59 14.61 14.61

1689 -0.95 -145.9 2241 2195 3957 3979 248.9 -15.4 139 1694 0.12 2.50 0.00 0.000 2436 0.284 0.084 2259 3613 3967 3956 3979 0 0 0 0 0 0 13.93 14.12 14.06

1811 -1.05 -145.9 2260 3615 3957 3980 263.1 -11.1 163 1816 0.00 2.40 0.00 0.000 1158 0.000 0.056 2259 2199 3968 3957 3979 0 0 0 0 0 0 14.31 14.19 14.35

2141 -1.11 -145.9 2260 2199 3956 3976 301.5 -11.2 179 2146 0.12 2.50 0.00 0.000 4484 0.140 0.085 2198 3614 3967 3956 3979 0 0 0 0 0 0 14.21 14.14 14.30

2182 -1.08 -145.9 2198 3616 3957 3981 307.2 -15.2 187 2187 0.15 2.40 0.00 0.000 3206 0.256 0.057 2228 2198 3967 3956 3979 0 0 0 0 0 0 13.96 14.24 14.23

2502 -1.08 -145.9 2227 2197 3956 3980 348.9 -12.7 201 2507 0.00 2.53 0.00 0.000 260 0.000 0.088 2222 3617 3967 3955 3979 0 0 0 0 0 0 14.65 14.07 14.67

2582 -1.15 -145.9 2222 3619 3956 3980 358.6 -11.6 217 2587 0.00 2.40 0.00 0.000 1158 0.000 0.057 2223 2193 3965 3955 3975 0 0 0 0 0 0 14.37 14.24 14.40

2892 -1.15 -145.9 2223 2193 3955 3980 397.6 -12.4 229 2897 0.00 2.53 0.00 0.000 260 0.000 0.090 2222 3614 3966 3954 3979 0 0 0 0 0 0 14.66 14.12 14.68

2952 -1.23 -145.9 2223 3616 3956 3979 404.7 -11.2 241 2957 0.12 2.40 0.00 0.000 5254 0.134 0.056 2169 2199 3966 3954 3979 0 0 0 0 0 0 14.21 14.19 14.32

3283 -1.13 -145.9 2169 2199 3954 3980 460.4 -17.1 257 3288 0.17 2.50 0.00 0.000 2436 0.311 0.083 2198 3614 3966 3954 3979 0 0 0 0 0 0 13.78 14.12 13.98

3405 -1.13 -145.9 2198 3614 3955 3979 477.0 -12.8 281 3410 0.00 2.38 0.00 0.000 1030 0.000 0.055 2198 2199 3966 3953 3979 0 0 0 0 0 0 14.37 14.23 14.40

3427 end dive: TARGET_DEPTH_EXCEEDED

state 3427 begin apogee

3433 -0.13 0.0 2199 2057 3955 3980 480.6 -13.6 286 3660 1.33 0.10 223.70 1.446 10246 0.244 0.158 2526 2123 3366 3384 3349 0 0 0 0 0 0 13.11 13.47 12.63

3664 end apogee: CONTROL_FINISHED_OK

state 3664 begin climb

3668 0.57 145.9 2527 2124 3375 3339 492.2 0.0 293 3883 0.75 2.67 209.27 1.395 10756 0.061 0.077 2790 734 2767 2806 2729 0 0 0 0 0 0 13.61 12.89 12.28

4045 0.18 145.9 2789 733 2788 2721 480.9 14.7 374 4051 0.70 2.45 0.00 0.000 5254 0.321 0.075 2645 2087 2753 2788 2719 0 0 0 0 0 0 13.30 13.65 13.67

4361 0.03 163.5 2647 2088 2790 2714 450.8 9.2 387 4385 0.22 0.00 21.73 1.536 12454 0.264 0.000 2594 2088 2697 2738 2656 0 0 0 0 0 0 13.82 14.02 13.15

4662 0.04 219.2 2595 2088 2730 2640 428.4 7.4 397 4752 0.00 0.00 86.00 1.392 8358 0.000 0.000 2592 2088 2467 2523 2412 0 0 0 0 0 0 14.57 13.88 13.07

5051 0.09 255.2 2595 2088 2513 2396 396.3 8.3 410 5113 0.00 2.42 55.25 1.387 8868 0.000 0.083 2600 723 2318 2368 2268 0 0 0 0 0 0 14.54 13.76 13.15

5160 0.21 290.8 2600 724 2361 2263 387.4 8.4 431 5223 0.15 2.45 56.12 1.360 11430 0.114 0.079 2665 2109 2174 2224 2125 0 0 0 0 0 0 14.01 13.98 13.04

5534 0.15 290.8 2665 2107 2211 2108 337.7 13.4 456 5539 0.12 2.40 0.00 0.000 4740 0.262 0.080 2644 727 2158 2210 2107 0 0 0 0 0 0 14.01 14.18 14.14

5594 0.19 290.8 2645 727 2210 2107 330.7 10.9 468 5599 0.00 2.40 0.00 0.000 1158 0.000 0.078 2644 2102 2158 2209 2107 0 0 0 0 0 0 14.34 14.21 14.38

5924 0.19 290.8 2645 2104 2210 2105 293.7 11.0 484 5929 0.00 2.40 0.00 0.000 516 0.000 0.085 2644 727 2157 2209 2105 0 0 0 0 0 0 14.68 14.25 14.66

5969 0.24 290.8 2644 728 2208 2106 288.9 10.2 493 5974 0.00 2.38 0.00 0.000 1158 0.000 0.078 2644 2100 2156 2207 2105 0 0 0 0 0 0 14.22 14.12 14.26

6284 0.24 297.4 2644 2102 2207 2105 257.3 9.7 506 6289 0.00 2.40 0.00 0.000 548 0.000 0.084 2644 717 2156 2207 2105 0 0 0 0 0 0 14.67 14.26 14.69

6340 0.33 326.5 2645 717 2207 2104 252.3 8.7 517 6406 0.12 2.42 56.15 1.332 11430 0.129 0.079 2696 2106 2028 2073 1984 0 0 0 0 0 0 14.28 14.22 13.25

6705 0.27 326.5 2696 2107 2066 1971 209.4 11.4 540 6706 0.00 0.00 0.00 0.000 134 0.000 0.000 2696 2106 2018 2065 1971 0 0 0 0 0 0 14.61 14.60 14.61

7005 0.23 326.5 2696 2107 2064 1970 176.9 10.5 550 7011 0.15 2.45 0.00 0.000 4740 0.226 0.083 2660 721 2017 2064 1970 0 0 0 0 0 0 14.04 14.19 14.17

7093 0.35 372.6 2660 720 2062 1970 170.0 7.9 567 7181 0.10 2.40 81.90 1.265 11430 0.154 0.080 2701 2101 1848 1881 1815 0 0 0 0 0 0 14.20 14.17 13.21

7486 0.35 375.6 2702 2101 1861 1802 130.0 9.9 596 7491 0.00 2.42 0.00 0.000 548 0.000 0.085 2703 721 1830 1860 1801 0 0 0 0 0 0 14.55 14.15 14.57

7551 0.43 391.6 2704 721 1859 1800 123.8 9.3 609 7583 0.00 2.42 27.48 1.320 9382 0.000 0.077 2703 2105 1767 1793 1742 0 0 0 0 0 0 14.31 14.18 13.30

7889 0.50 426.3 2704 2105 1781 1725 93.7 8.4 634 7911 0.12 2.50 17.02 0.471 10916 0.130 0.086 2768 728 1627 1653 1601 0 0 0 0 0 0 14.30 14.08 13.57

7951 0.47 426.3 2768 729 1659 1602 86.5 12.2 646 7957 0.15 2.40 0.00 0.000 5254 0.247 0.077 2737 2101 1631 1660 1602 0 0 0 0 0 0 13.99 14.19 14.23

8262 0.54 496.5 2737 2102 1662 1602 59.1 6.8 678 8304 0.00 0.00 37.75 0.376 8870 0.000 0.000 2737 2101 1340 1387 1294 0 0 0 0 0 0 14.57 14.09 13.68

8602 0.72 607.9 2737 2101 1389 1296 39.8 4.9 713 8667 0.22 2.45 58.95 0.315 10916 0.093 0.085 2835 721 884 953 816 0 0 0 0 0 0 14.17 14.13 13.74

8705 0.77 607.9 2836 722 954 818 30.1 10.8 732 8710 0.00 2.45 0.00 0.000 1158 0.000 0.079 2835 2105 885 953 818 0 0 0 0 0 0 14.16 14.01 14.21

9008 0.86 659.7 2835 2107 954 819 3.6 7.6 763 9031 0.00 0.00 21.20 0.216 8866 0.000 0.000 2835 2106 727 789 665 0 0 0 0 0 0 14.58 28.83 14.59

9031 end climb: SURFACE_DEPTH_REACHED

state 9031 begin surface coast

9045 end surface coast: CONTROL_FINISHED_OK

state 9045 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	250	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	702.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,235804,7455.7222,-15212.4805,25,0.8,27,20.1,0.3,18.1,10,8.5	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	8.8,92153,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	050917,001811,7455.7397,-15212.4629,8,0.7,12,20.1,0.0,323.2,11,9.7

FINISH	0.1,1.021396	_24V_AH	12.28,162.661
SM_CCo	9066,31.50,0.211,0,0,499,703.28	_10V_AH	12.13,0.000
SM_GC	1.42,7.95,0.17,31.50,0.062,0.122,0.211,206,2217,499,-7.36,-0.54,703.28,0,0,0,0,0,0,14.33,14.28,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	413	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323460
IRIDIUM_FIX	7455.74,-15201.00,050917,001121	DATA_FILE_SIZE	26754,769
TT8_MAMPS	0.038948,0.929509	CAP_FILE_SIZE	110260,0
HUMID	47.12	CFSIZE	2097872896,2012905472
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	1448.7
XPDR_PINGS	17	CURRENT	0.043,267.85,1
CP_FREE	15965487104.000000	GPS	050917,025152,7456.733,-15209.950,41,0.8,42,20.2,0.0,0.0,11,8.5
PM_FREEKB_00	50569280

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	144.98	nil	0	0	0.00
Roll_motor	84	2135	2205.04	nil	0	0	0.00
VBD_pump_during_apogee	952	1536	17968.01	nil	0	0	0.00
VBD_pump_during_surface	31	211	81.67	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	9036	14	1651.45
Iridium_during_xfer	761	166	1553.06	NCP	9051	20	2222.93
Transponder_ping	4	420	21.92	PMAR	9019	9	1093.91
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.71
TT8	0	0	0.00
LPSleep	6672	2	186.96
TT8_Active	814	13	138.07
TT8_Sampling	2494	33	1011.89
TT8_CF8	338	38	158.75
TT8_Kalman	0	0	0.00
Analog_circuits	2479	10	300.72
GPS_charging	0	0	0.00
Compass	1102	7	93.58
RAFOS	974	48	567.10
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	188	2204	505	492	0.0	0.0	0	140	0.00	0.00	-88.47	0.000	16386	0.000	0.000	186	2205	2081	2006	2157	0	0	0	0	0	0	14.51	28.83	14.52
143	-0.57	-145.9	188	2204	2009	2159	3.4	-4.4	9	205	12.93	2.83	-40.33	0.000	18724	0.454	2.135	2375	3609	3964	3950	3979	0	0	0	0	0	0	13.56	12.61	14.04
340	-0.70	-145.9	2376	3610	3956	3979	41.1	-14.1	48	347	0.00	2.45	0.00	0.000	1158	0.000	0.060	2375	2202	3967	3955	3979	0	0	0	0	0	0	13.99	13.87	14.02
647	-0.81	-145.9	2375	2203	3957	3980	82.8	-10.9	79	652	0.15	2.53	0.00	0.000	4484	0.125	0.084	2305	3618	3967	3956	3979	0	0	0	0	0	0	13.97	14.02	14.00
672	-0.85	-145.9	2304	3619	3957	3979	86.4	-13.6	84	679	0.00	2.47	0.00	0.000	1158	0.000	0.058	2304	2195	3968	3958	3979	0	0	0	0	0	0	14.11	13.99	14.17
998	-0.89	-145.9	2304	2194	3957	3980	135.1	-13.9	101	1002	0.00	2.53	0.00	0.000	388	0.000	0.086	2294	3613	3967	3956	3979	0	0	0	0	0	0	14.44	14.00	14.45
1072	-1.02	-145.9	2295	3614	3956	3980	144.6	-11.8	116	1079	0.15	2.42	0.00	0.000	5254	0.115	0.056	2240	2196	3968	3957	3979	0	0	0	0	0	0	14.10	14.05	14.19
1391	-0.97	-145.9	2240	2196	3957	3980	201.1	-17.5	129	1392	0.00	0.00	0.00	0.000	134	0.000	0.000	2240	2195	3967	3956	3979	0	0	0	0	0	0	14.59	14.61	14.61
1689	-0.95	-145.9	2241	2195	3957	3979	248.9	-15.4	139	1694	0.12	2.50	0.00	0.000	2436	0.284	0.084	2259	3613	3967	3956	3979	0	0	0	0	0	0	13.93	14.12	14.06
1811	-1.05	-145.9	2260	3615	3957	3980	263.1	-11.1	163	1816	0.00	2.40	0.00	0.000	1158	0.000	0.056	2259	2199	3968	3957	3979	0	0	0	0	0	0	14.31	14.19	14.35
2141	-1.11	-145.9	2260	2199	3956	3976	301.5	-11.2	179	2146	0.12	2.50	0.00	0.000	4484	0.140	0.085	2198	3614	3967	3956	3979	0	0	0	0	0	0	14.21	14.14	14.30
2182	-1.08	-145.9	2198	3616	3957	3981	307.2	-15.2	187	2187	0.15	2.40	0.00	0.000	3206	0.256	0.057	2228	2198	3967	3956	3979	0	0	0	0	0	0	13.96	14.24	14.23
2502	-1.08	-145.9	2227	2197	3956	3980	348.9	-12.7	201	2507	0.00	2.53	0.00	0.000	260	0.000	0.088	2222	3617	3967	3955	3979	0	0	0	0	0	0	14.65	14.07	14.67
2582	-1.15	-145.9	2222	3619	3956	3980	358.6	-11.6	217	2587	0.00	2.40	0.00	0.000	1158	0.000	0.057	2223	2193	3965	3955	3975	0	0	0	0	0	0	14.37	14.24	14.40
2892	-1.15	-145.9	2223	2193	3955	3980	397.6	-12.4	229	2897	0.00	2.53	0.00	0.000	260	0.000	0.090	2222	3614	3966	3954	3979	0	0	0	0	0	0	14.66	14.12	14.68
2952	-1.23	-145.9	2223	3616	3956	3979	404.7	-11.2	241	2957	0.12	2.40	0.00	0.000	5254	0.134	0.056	2169	2199	3966	3954	3979	0	0	0	0	0	0	14.21	14.19	14.32
3283	-1.13	-145.9	2169	2199	3954	3980	460.4	-17.1	257	3288	0.17	2.50	0.00	0.000	2436	0.311	0.083	2198	3614	3966	3954	3979	0	0	0	0	0	0	13.78	14.12	13.98
3405	-1.13	-145.9	2198	3614	3955	3979	477.0	-12.8	281	3410	0.00	2.38	0.00	0.000	1030	0.000	0.055	2198	2199	3966	3953	3979	0	0	0	0	0	0	14.37	14.23	14.40
3427	end dive: TARGET_DEPTH_EXCEEDED
state	3427	begin apogee
3433	-0.13	0.0	2199	2057	3955	3980	480.6	-13.6	286	3660	1.33	0.10	223.70	1.446	10246	0.244	0.158	2526	2123	3366	3384	3349	0	0	0	0	0	0	13.11	13.47	12.63
3664	end apogee: CONTROL_FINISHED_OK
state	3664	begin climb
3668	0.57	145.9	2527	2124	3375	3339	492.2	0.0	293	3883	0.75	2.67	209.27	1.395	10756	0.061	0.077	2790	734	2767	2806	2729	0	0	0	0	0	0	13.61	12.89	12.28
4045	0.18	145.9	2789	733	2788	2721	480.9	14.7	374	4051	0.70	2.45	0.00	0.000	5254	0.321	0.075	2645	2087	2753	2788	2719	0	0	0	0	0	0	13.30	13.65	13.67
4361	0.03	163.5	2647	2088	2790	2714	450.8	9.2	387	4385	0.22	0.00	21.73	1.536	12454	0.264	0.000	2594	2088	2697	2738	2656	0	0	0	0	0	0	13.82	14.02	13.15
4662	0.04	219.2	2595	2088	2730	2640	428.4	7.4	397	4752	0.00	0.00	86.00	1.392	8358	0.000	0.000	2592	2088	2467	2523	2412	0	0	0	0	0	0	14.57	13.88	13.07
5051	0.09	255.2	2595	2088	2513	2396	396.3	8.3	410	5113	0.00	2.42	55.25	1.387	8868	0.000	0.083	2600	723	2318	2368	2268	0	0	0	0	0	0	14.54	13.76	13.15
5160	0.21	290.8	2600	724	2361	2263	387.4	8.4	431	5223	0.15	2.45	56.12	1.360	11430	0.114	0.079	2665	2109	2174	2224	2125	0	0	0	0	0	0	14.01	13.98	13.04
5534	0.15	290.8	2665	2107	2211	2108	337.7	13.4	456	5539	0.12	2.40	0.00	0.000	4740	0.262	0.080	2644	727	2158	2210	2107	0	0	0	0	0	0	14.01	14.18	14.14
5594	0.19	290.8	2645	727	2210	2107	330.7	10.9	468	5599	0.00	2.40	0.00	0.000	1158	0.000	0.078	2644	2102	2158	2209	2107	0	0	0	0	0	0	14.34	14.21	14.38
5924	0.19	290.8	2645	2104	2210	2105	293.7	11.0	484	5929	0.00	2.40	0.00	0.000	516	0.000	0.085	2644	727	2157	2209	2105	0	0	0	0	0	0	14.68	14.25	14.66
5969	0.24	290.8	2644	728	2208	2106	288.9	10.2	493	5974	0.00	2.38	0.00	0.000	1158	0.000	0.078	2644	2100	2156	2207	2105	0	0	0	0	0	0	14.22	14.12	14.26
6284	0.24	297.4	2644	2102	2207	2105	257.3	9.7	506	6289	0.00	2.40	0.00	0.000	548	0.000	0.084	2644	717	2156	2207	2105	0	0	0	0	0	0	14.67	14.26	14.69
6340	0.33	326.5	2645	717	2207	2104	252.3	8.7	517	6406	0.12	2.42	56.15	1.332	11430	0.129	0.079	2696	2106	2028	2073	1984	0	0	0	0	0	0	14.28	14.22	13.25
6705	0.27	326.5	2696	2107	2066	1971	209.4	11.4	540	6706	0.00	0.00	0.00	0.000	134	0.000	0.000	2696	2106	2018	2065	1971	0	0	0	0	0	0	14.61	14.60	14.61
7005	0.23	326.5	2696	2107	2064	1970	176.9	10.5	550	7011	0.15	2.45	0.00	0.000	4740	0.226	0.083	2660	721	2017	2064	1970	0	0	0	0	0	0	14.04	14.19	14.17
7093	0.35	372.6	2660	720	2062	1970	170.0	7.9	567	7181	0.10	2.40	81.90	1.265	11430	0.154	0.080	2701	2101	1848	1881	1815	0	0	0	0	0	0	14.20	14.17	13.21
7486	0.35	375.6	2702	2101	1861	1802	130.0	9.9	596	7491	0.00	2.42	0.00	0.000	548	0.000	0.085	2703	721	1830	1860	1801	0	0	0	0	0	0	14.55	14.15	14.57
7551	0.43	391.6	2704	721	1859	1800	123.8	9.3	609	7583	0.00	2.42	27.48	1.320	9382	0.000	0.077	2703	2105	1767	1793	1742	0	0	0	0	0	0	14.31	14.18	13.30
7889	0.50	426.3	2704	2105	1781	1725	93.7	8.4	634	7911	0.12	2.50	17.02	0.471	10916	0.130	0.086	2768	728	1627	1653	1601	0	0	0	0	0	0	14.30	14.08	13.57
7951	0.47	426.3	2768	729	1659	1602	86.5	12.2	646	7957	0.15	2.40	0.00	0.000	5254	0.247	0.077	2737	2101	1631	1660	1602	0	0	0	0	0	0	13.99	14.19	14.23
8262	0.54	496.5	2737	2102	1662	1602	59.1	6.8	678	8304	0.00	0.00	37.75	0.376	8870	0.000	0.000	2737	2101	1340	1387	1294	0	0	0	0	0	0	14.57	14.09	13.68
8602	0.72	607.9	2737	2101	1389	1296	39.8	4.9	713	8667	0.22	2.45	58.95	0.315	10916	0.093	0.085	2835	721	884	953	816	0	0	0	0	0	0	14.17	14.13	13.74
8705	0.77	607.9	2836	722	954	818	30.1	10.8	732	8710	0.00	2.45	0.00	0.000	1158	0.000	0.079	2835	2105	885	953	818	0	0	0	0	0	0	14.16	14.01	14.21
9008	0.86	659.7	2835	2107	954	819	3.6	7.6	763	9031	0.00	0.00	21.20	0.216	8866	0.000	0.000	2835	2106	727	789	665	0	0	0	0	0	0	14.58	28.83	14.59
9031	end climb: SURFACE_DEPTH_REACHED
state	9031	begin surface coast
9045	end surface coast: CONTROL_FINISHED_OK
state	9045	begin surface