Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 252 * 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 252 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 707.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 707.0 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 30 VBD_MIN 500

DIVE 252 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 050917,053725,7457.7427,-15207.2715,16,0.7,38,20.2,0.7,35.4,11,5.6 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 3.6,87844,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 050917,054552,7457.7720,-15207.2285,9,0.7,10,20.2,0.0,0.0,11,10.0

Post-dive calculations and measurements:

FINISH 0.8,1.021417 _24V_AH 12.28,163.640

SM_CCo 9103,21.23,0.212,0,0,499,702.78 _10V_AH 11.75,0.000

SM_GC 1.17,8.30,0.17,21.23,0.073,0.113,0.212,201,2236,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.16,14.17,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 60 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323608

IRIDIUM_FIX 7459.10,-15204.44,050917,025823 DATA_FILE_SIZE 29987,827

TT8_MAMPS 0.084637,0.871087 CAP_FILE_SIZE 105834,0

HUMID 43.85 CFSIZE 2097872896,2012381184

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

TCM_TEMP 13.20 SOUNDSPEED 1449.3

XPDR_PINGS 15 CURRENT 0.037,286.54,1

CP_FREE 15964602368.000000 GPS 050917,081957,7458.777,-15205.331,38,0.8,39,20.2,0.6,303.5,9,7.4

PM_FREEKB_00 50509568

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 149.24 nil 0 0 0.00

Roll_motor 88 2137 2324.86 nil 0 0 0.00

VBD_pump_during_apogee 1020 1497 18763.56 nil 0 0 0.00

VBD_pump_during_surface 21 211 55.23 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 9045 14 1575.45

Iridium_during_xfer 280 167 577.18 NCP 9089 20 2232.26

Transponder_ping 3 420 19.34 PMAR 9055 9 1096.83

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.80

TT8 0 0 0.00

LPSleep 6396 2 173.63

TT8_Active 893 13 146.60

TT8_Sampling 2086 33 819.78

TT8_CF8 274 38 124.98

TT8_Kalman 0 0 0.00

Analog_circuits 2080 10 244.43

GPS_charging 0 0 0.00

Compass 1185 7 97.53

RAFOS 2217 48 1250.39

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 193 2232 499 500 0.0 0.0 0 144 0.00 0.00 -91.07 0.000 16386 0.000 0.000 192 2232 2142 2075 2210 0 0 0 0 0 0 14.50 28.83 14.53

147 -0.57 -145.9 192 2233 2077 2211 3.4 -4.3 9 204 12.93 2.75 -36.90 0.000 18724 0.455 2.137 2376 3576 3962 3946 3978 0 0 0 0 0 0 13.57 12.58 14.04

360 -0.74 -145.9 2377 3578 3953 3980 43.7 -12.3 51 365 0.12 2.35 0.00 0.000 5254 0.132 0.056 2329 2199 3966 3952 3980 0 0 0 0 0 0 14.20 14.17 14.31

670 -0.78 -145.9 2330 2198 3955 3979 96.0 -13.9 83 671 0.00 0.00 0.00 0.000 134 0.000 0.000 2329 2198 3966 3953 3980 0 0 0 0 0 0 14.59 14.60 14.60

970 -0.86 -145.9 2330 2198 3955 3980 132.7 -11.4 95 975 0.00 2.45 0.00 0.000 388 0.000 0.087 2323 3586 3966 3953 3980 0 0 0 0 0 0 14.64 14.16 14.65

1015 -1.03 -145.9 2324 3587 3954 3981 137.4 -9.8 104 1022 0.22 2.35 0.00 0.000 5286 0.096 0.057 2239 2190 3967 3954 3980 0 0 0 0 0 0 14.32 14.23 14.40

1332 -0.97 -145.9 2239 2190 3954 3981 194.6 -18.0 117 1337 0.00 2.45 0.00 0.000 388 0.000 0.087 2233 3582 3967 3954 3980 0 0 0 0 0 0 14.66 14.17 14.68

1469 -1.01 -145.9 2234 3583 3955 3980 216.2 -14.7 144 1474 0.00 2.33 0.00 0.000 1158 0.000 0.057 2233 2202 3966 3954 3979 0 0 0 0 0 0 14.36 14.24 14.40

1785 -0.99 -145.9 2234 2201 3955 3979 265.7 -14.9 157 1790 0.00 2.42 0.00 0.000 388 0.000 0.088 2224 3581 3966 3954 3979 0 0 0 0 0 0 14.67 14.17 14.67

1805 -0.96 -145.9 2225 3583 3954 3981 268.6 -14.7 161 1810 0.17 2.33 0.00 0.000 3206 0.252 0.056 2261 2199 3966 3953 3980 0 0 0 0 0 0 13.90 14.26 14.14

2115 -1.02 -145.9 2261 2198 3955 3980 303.0 -10.4 173 2120 0.00 2.45 0.00 0.000 388 0.000 0.087 2254 3587 3967 3954 3980 0 0 0 0 0 0 14.64 14.16 14.68

2176 -1.16 -145.9 2255 3588 3954 3981 309.0 -9.3 185 2181 0.15 2.35 0.00 0.000 5286 0.127 0.057 2201 2192 3967 3954 3980 0 0 0 0 0 0 14.26 14.23 14.37

2506 -1.10 -145.9 2196 2191 3954 3981 358.9 -15.3 201 2511 0.00 2.45 0.00 0.000 388 0.000 0.086 2186 3587 3966 3953 3980 0 0 0 0 0 0 14.65 14.18 14.67

2616 -1.07 -145.9 2186 3589 3953 3981 375.6 -14.7 223 2621 0.20 2.35 0.00 0.000 3206 0.247 0.056 2228 2196 3966 3952 3980 0 0 0 0 0 0 13.86 14.17 14.15

2927 -1.10 -145.9 2229 2195 3954 3979 412.1 -11.5 235 2932 0.00 2.45 0.00 0.000 388 0.000 0.086 2222 3588 3966 3953 3980 0 0 0 0 0 0 14.66 14.16 14.68

2992 -1.19 -145.9 2223 3589 3954 3981 419.5 -10.7 248 2998 0.00 2.38 0.00 0.000 1158 0.000 0.055 2222 2193 3966 3953 3980 0 0 0 0 0 0 14.21 14.09 14.27

3318 -1.21 -145.9 2222 2193 3954 3980 457.6 -11.6 263 3323 0.00 2.45 0.00 0.000 388 0.000 0.088 2222 3581 3966 3953 3980 0 0 0 0 0 0 14.66 14.14 14.66

3393 -1.30 -145.9 2223 3582 3954 3979 465.9 -10.8 278 3398 0.20 2.35 0.00 0.000 5254 0.109 0.055 2149 2192 3965 3952 3979 0 0 0 0 0 0 14.28 14.23 14.38

3496 end dive: TARGET_DEPTH_EXCEEDED

state 3496 begin apogee

3502 -0.13 0.0 2150 2060 3953 3980 484.2 -18.0 284 3734 1.60 0.00 227.80 1.439 10246 0.282 0.000 2525 2060 3365 3383 3347 0 0 0 0 0 0 13.61 13.43 12.62

3737 end apogee: CONTROL_FINISHED_OK

state 3737 begin climb

3740 0.57 145.9 2527 2059 3375 3336 496.0 0.0 291 3956 0.75 2.72 211.62 1.385 11012 0.061 0.073 2779 3478 2765 2808 2723 0 0 0 0 0 0 13.59 12.89 12.28

3965 0.14 173.0 2778 3478 2792 2718 506.5 8.7 342 4010 0.80 2.45 36.92 1.444 13478 0.347 0.054 2633 2136 2656 2708 2605 0 0 0 0 0 0 12.90 13.21 12.31

4310 0.01 173.0 2634 2136 2698 2582 471.6 10.2 361 4315 0.17 2.40 0.00 0.000 4484 0.277 0.076 2593 3483 2640 2696 2584 0 0 0 0 0 0 13.64 13.88 13.83

4541 -0.03 193.3 2593 3484 2693 2584 450.2 9.1 407 4572 0.00 2.35 25.98 1.498 9382 0.000 0.059 2598 2096 2577 2636 2519 0 0 0 0 0 0 14.30 14.19 13.16

4882 -0.01 224.6 2598 2096 2625 2501 421.2 8.6 425 4937 0.00 2.53 46.65 1.427 8484 0.000 0.080 2594 3498 2442 2498 2387 0 0 0 0 0 0 14.59 14.04 13.20

5052 -0.01 224.6 2598 3498 2484 2386 404.7 10.1 459 5057 0.00 2.40 0.00 0.000 1030 0.000 0.060 2602 2099 2434 2482 2386 0 0 0 0 0 0 13.61 13.61 13.62

5362 0.01 247.9 2602 2099 2484 2384 376.6 8.9 471 5403 0.00 2.50 34.15 1.449 8740 0.000 0.088 2602 690 2350 2394 2306 0 0 0 0 0 0 14.62 14.10 13.26

5498 0.11 280.5 2602 690 2387 2303 364.8 8.5 498 5555 0.00 2.40 52.45 1.380 9382 0.000 0.079 2602 2073 2222 2270 2175 0 0 0 0 0 0 14.23 14.14 13.14

5875 0.19 306.0 2603 2074 2255 2153 331.8 8.8 523 5915 0.12 0.00 37.80 1.392 10406 0.130 0.000 2662 2073 2120 2168 2072 0 0 0 0 0 0 14.22 14.06 13.25

6205 0.16 306.0 2663 2073 2155 2052 289.8 12.6 534 6210 0.00 2.45 0.00 0.000 644 0.000 0.089 2668 690 2102 2154 2051 0 0 0 0 0 0 14.59 14.19 14.60

6270 0.16 306.0 2667 690 2152 2052 282.0 11.4 547 6275 0.15 2.45 0.00 0.000 5126 0.236 0.078 2634 2100 2101 2151 2052 0 0 0 0 0 0 14.05 14.23 14.31

6596 0.22 327.6 2634 2101 2152 2050 251.5 9.0 562 6636 0.00 2.53 33.08 1.368 8868 0.000 0.088 2634 693 2026 2070 1982 0 0 0 0 0 0 14.66 14.16 13.33

6672 0.36 362.9 2635 692 2062 1976 245.0 8.4 572 6738 0.20 2.45 60.50 1.297 11430 0.098 0.078 2709 2099 1885 1919 1852 0 0 0 0 0 0 14.21 14.17 13.15

7049 0.31 362.9 2709 2099 1904 1835 197.3 12.5 597 7053 0.00 2.50 0.00 0.000 644 0.000 0.086 2713 686 1869 1902 1836 0 0 0 0 0 0 14.55 14.16 14.57

7143 0.31 362.9 2713 686 1900 1836 186.0 11.7 616 7149 0.12 2.47 0.00 0.000 5126 0.228 0.077 2685 2104 1867 1898 1836 0 0 0 0 0 0 14.07 14.20 14.30

7470 0.34 376.8 2686 2104 1899 1833 154.3 9.4 631 7490 0.00 0.00 18.50 1.407 8358 0.000 0.000 2685 2104 1830 1861 1800 0 0 0 0 0 0 14.62 14.16 13.32

7770 0.41 403.3 2686 2104 1846 1786 127.5 8.8 641 7820 0.00 2.50 44.97 1.309 8868 0.000 0.086 2685 696 1715 1741 1690 0 0 0 0 0 0 14.62 13.87 13.28

7887 0.56 445.3 2684 692 1729 1688 117.6 8.1 664 7976 0.22 2.47 74.32 1.223 11430 0.096 0.079 2775 2096 1542 1578 1506 0 0 0 0 0 0 14.07 13.97 13.08

8283 0.51 445.3 2774 2099 1576 1488 66.1 11.4 709 8288 0.00 2.50 0.00 0.000 644 0.000 0.087 2781 691 1532 1575 1490 0 0 0 0 0 0 14.36 13.95 14.38

8425 0.55 498.5 2785 691 1572 1489 53.3 7.5 737 8456 0.00 2.50 26.08 0.357 9254 0.000 0.078 2781 2109 1329 1377 1282 0 0 0 0 0 0 14.17 14.05 13.66

8753 0.64 577.4 2782 2108 1377 1284 29.7 6.4 773 8800 0.00 2.53 42.17 0.294 8868 0.000 0.084 2781 691 1007 1074 941 0 0 0 0 0 0 14.41 13.85 13.65

8916 0.86 665.1 2781 691 1075 947 20.5 6.0 805 8969 0.25 2.50 47.10 0.266 11430 0.092 0.078 2877 2108 650 702 599 0 0 0 0 0 0 14.07 14.03 13.74

9075 end climb: SURFACE_DEPTH_REACHED

state 9075 begin surface coast

9083 end surface coast: CONTROL_FINISHED_OK

state 9083 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	252	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	707.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,053725,7457.7427,-15207.2715,16,0.7,38,20.2,0.7,35.4,11,5.6	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	3.6,87844,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	050917,054552,7457.7720,-15207.2285,9,0.7,10,20.2,0.0,0.0,11,10.0

FINISH	0.8,1.021417	_24V_AH	12.28,163.640
SM_CCo	9103,21.23,0.212,0,0,499,702.78	_10V_AH	11.75,0.000
SM_GC	1.17,8.30,0.17,21.23,0.073,0.113,0.212,201,2236,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.16,14.17,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	60	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323608
IRIDIUM_FIX	7459.10,-15204.44,050917,025823	DATA_FILE_SIZE	29987,827
TT8_MAMPS	0.084637,0.871087	CAP_FILE_SIZE	105834,0
HUMID	43.85	CFSIZE	2097872896,2012381184
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1449.3
XPDR_PINGS	15	CURRENT	0.037,286.54,1
CP_FREE	15964602368.000000	GPS	050917,081957,7458.777,-15205.331,38,0.8,39,20.2,0.6,303.5,9,7.4
PM_FREEKB_00	50509568

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	149.24	nil	0	0	0.00
Roll_motor	88	2137	2324.86	nil	0	0	0.00
VBD_pump_during_apogee	1020	1497	18763.56	nil	0	0	0.00
VBD_pump_during_surface	21	211	55.23	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	9045	14	1575.45
Iridium_during_xfer	280	167	577.18	NCP	9089	20	2232.26
Transponder_ping	3	420	19.34	PMAR	9055	9	1096.83
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.80
TT8	0	0	0.00
LPSleep	6396	2	173.63
TT8_Active	893	13	146.60
TT8_Sampling	2086	33	819.78
TT8_CF8	274	38	124.98
TT8_Kalman	0	0	0.00
Analog_circuits	2080	10	244.43
GPS_charging	0	0	0.00
Compass	1185	7	97.53
RAFOS	2217	48	1250.39
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	193	2232	499	500	0.0	0.0	0	144	0.00	0.00	-91.07	0.000	16386	0.000	0.000	192	2232	2142	2075	2210	0	0	0	0	0	0	14.50	28.83	14.53
147	-0.57	-145.9	192	2233	2077	2211	3.4	-4.3	9	204	12.93	2.75	-36.90	0.000	18724	0.455	2.137	2376	3576	3962	3946	3978	0	0	0	0	0	0	13.57	12.58	14.04
360	-0.74	-145.9	2377	3578	3953	3980	43.7	-12.3	51	365	0.12	2.35	0.00	0.000	5254	0.132	0.056	2329	2199	3966	3952	3980	0	0	0	0	0	0	14.20	14.17	14.31
670	-0.78	-145.9	2330	2198	3955	3979	96.0	-13.9	83	671	0.00	0.00	0.00	0.000	134	0.000	0.000	2329	2198	3966	3953	3980	0	0	0	0	0	0	14.59	14.60	14.60
970	-0.86	-145.9	2330	2198	3955	3980	132.7	-11.4	95	975	0.00	2.45	0.00	0.000	388	0.000	0.087	2323	3586	3966	3953	3980	0	0	0	0	0	0	14.64	14.16	14.65
1015	-1.03	-145.9	2324	3587	3954	3981	137.4	-9.8	104	1022	0.22	2.35	0.00	0.000	5286	0.096	0.057	2239	2190	3967	3954	3980	0	0	0	0	0	0	14.32	14.23	14.40
1332	-0.97	-145.9	2239	2190	3954	3981	194.6	-18.0	117	1337	0.00	2.45	0.00	0.000	388	0.000	0.087	2233	3582	3967	3954	3980	0	0	0	0	0	0	14.66	14.17	14.68
1469	-1.01	-145.9	2234	3583	3955	3980	216.2	-14.7	144	1474	0.00	2.33	0.00	0.000	1158	0.000	0.057	2233	2202	3966	3954	3979	0	0	0	0	0	0	14.36	14.24	14.40
1785	-0.99	-145.9	2234	2201	3955	3979	265.7	-14.9	157	1790	0.00	2.42	0.00	0.000	388	0.000	0.088	2224	3581	3966	3954	3979	0	0	0	0	0	0	14.67	14.17	14.67
1805	-0.96	-145.9	2225	3583	3954	3981	268.6	-14.7	161	1810	0.17	2.33	0.00	0.000	3206	0.252	0.056	2261	2199	3966	3953	3980	0	0	0	0	0	0	13.90	14.26	14.14
2115	-1.02	-145.9	2261	2198	3955	3980	303.0	-10.4	173	2120	0.00	2.45	0.00	0.000	388	0.000	0.087	2254	3587	3967	3954	3980	0	0	0	0	0	0	14.64	14.16	14.68
2176	-1.16	-145.9	2255	3588	3954	3981	309.0	-9.3	185	2181	0.15	2.35	0.00	0.000	5286	0.127	0.057	2201	2192	3967	3954	3980	0	0	0	0	0	0	14.26	14.23	14.37
2506	-1.10	-145.9	2196	2191	3954	3981	358.9	-15.3	201	2511	0.00	2.45	0.00	0.000	388	0.000	0.086	2186	3587	3966	3953	3980	0	0	0	0	0	0	14.65	14.18	14.67
2616	-1.07	-145.9	2186	3589	3953	3981	375.6	-14.7	223	2621	0.20	2.35	0.00	0.000	3206	0.247	0.056	2228	2196	3966	3952	3980	0	0	0	0	0	0	13.86	14.17	14.15
2927	-1.10	-145.9	2229	2195	3954	3979	412.1	-11.5	235	2932	0.00	2.45	0.00	0.000	388	0.000	0.086	2222	3588	3966	3953	3980	0	0	0	0	0	0	14.66	14.16	14.68
2992	-1.19	-145.9	2223	3589	3954	3981	419.5	-10.7	248	2998	0.00	2.38	0.00	0.000	1158	0.000	0.055	2222	2193	3966	3953	3980	0	0	0	0	0	0	14.21	14.09	14.27
3318	-1.21	-145.9	2222	2193	3954	3980	457.6	-11.6	263	3323	0.00	2.45	0.00	0.000	388	0.000	0.088	2222	3581	3966	3953	3980	0	0	0	0	0	0	14.66	14.14	14.66
3393	-1.30	-145.9	2223	3582	3954	3979	465.9	-10.8	278	3398	0.20	2.35	0.00	0.000	5254	0.109	0.055	2149	2192	3965	3952	3979	0	0	0	0	0	0	14.28	14.23	14.38
3496	end dive: TARGET_DEPTH_EXCEEDED
state	3496	begin apogee
3502	-0.13	0.0	2150	2060	3953	3980	484.2	-18.0	284	3734	1.60	0.00	227.80	1.439	10246	0.282	0.000	2525	2060	3365	3383	3347	0	0	0	0	0	0	13.61	13.43	12.62
3737	end apogee: CONTROL_FINISHED_OK
state	3737	begin climb
3740	0.57	145.9	2527	2059	3375	3336	496.0	0.0	291	3956	0.75	2.72	211.62	1.385	11012	0.061	0.073	2779	3478	2765	2808	2723	0	0	0	0	0	0	13.59	12.89	12.28
3965	0.14	173.0	2778	3478	2792	2718	506.5	8.7	342	4010	0.80	2.45	36.92	1.444	13478	0.347	0.054	2633	2136	2656	2708	2605	0	0	0	0	0	0	12.90	13.21	12.31
4310	0.01	173.0	2634	2136	2698	2582	471.6	10.2	361	4315	0.17	2.40	0.00	0.000	4484	0.277	0.076	2593	3483	2640	2696	2584	0	0	0	0	0	0	13.64	13.88	13.83
4541	-0.03	193.3	2593	3484	2693	2584	450.2	9.1	407	4572	0.00	2.35	25.98	1.498	9382	0.000	0.059	2598	2096	2577	2636	2519	0	0	0	0	0	0	14.30	14.19	13.16
4882	-0.01	224.6	2598	2096	2625	2501	421.2	8.6	425	4937	0.00	2.53	46.65	1.427	8484	0.000	0.080	2594	3498	2442	2498	2387	0	0	0	0	0	0	14.59	14.04	13.20
5052	-0.01	224.6	2598	3498	2484	2386	404.7	10.1	459	5057	0.00	2.40	0.00	0.000	1030	0.000	0.060	2602	2099	2434	2482	2386	0	0	0	0	0	0	13.61	13.61	13.62
5362	0.01	247.9	2602	2099	2484	2384	376.6	8.9	471	5403	0.00	2.50	34.15	1.449	8740	0.000	0.088	2602	690	2350	2394	2306	0	0	0	0	0	0	14.62	14.10	13.26
5498	0.11	280.5	2602	690	2387	2303	364.8	8.5	498	5555	0.00	2.40	52.45	1.380	9382	0.000	0.079	2602	2073	2222	2270	2175	0	0	0	0	0	0	14.23	14.14	13.14
5875	0.19	306.0	2603	2074	2255	2153	331.8	8.8	523	5915	0.12	0.00	37.80	1.392	10406	0.130	0.000	2662	2073	2120	2168	2072	0	0	0	0	0	0	14.22	14.06	13.25
6205	0.16	306.0	2663	2073	2155	2052	289.8	12.6	534	6210	0.00	2.45	0.00	0.000	644	0.000	0.089	2668	690	2102	2154	2051	0	0	0	0	0	0	14.59	14.19	14.60
6270	0.16	306.0	2667	690	2152	2052	282.0	11.4	547	6275	0.15	2.45	0.00	0.000	5126	0.236	0.078	2634	2100	2101	2151	2052	0	0	0	0	0	0	14.05	14.23	14.31
6596	0.22	327.6	2634	2101	2152	2050	251.5	9.0	562	6636	0.00	2.53	33.08	1.368	8868	0.000	0.088	2634	693	2026	2070	1982	0	0	0	0	0	0	14.66	14.16	13.33
6672	0.36	362.9	2635	692	2062	1976	245.0	8.4	572	6738	0.20	2.45	60.50	1.297	11430	0.098	0.078	2709	2099	1885	1919	1852	0	0	0	0	0	0	14.21	14.17	13.15
7049	0.31	362.9	2709	2099	1904	1835	197.3	12.5	597	7053	0.00	2.50	0.00	0.000	644	0.000	0.086	2713	686	1869	1902	1836	0	0	0	0	0	0	14.55	14.16	14.57
7143	0.31	362.9	2713	686	1900	1836	186.0	11.7	616	7149	0.12	2.47	0.00	0.000	5126	0.228	0.077	2685	2104	1867	1898	1836	0	0	0	0	0	0	14.07	14.20	14.30
7470	0.34	376.8	2686	2104	1899	1833	154.3	9.4	631	7490	0.00	0.00	18.50	1.407	8358	0.000	0.000	2685	2104	1830	1861	1800	0	0	0	0	0	0	14.62	14.16	13.32
7770	0.41	403.3	2686	2104	1846	1786	127.5	8.8	641	7820	0.00	2.50	44.97	1.309	8868	0.000	0.086	2685	696	1715	1741	1690	0	0	0	0	0	0	14.62	13.87	13.28
7887	0.56	445.3	2684	692	1729	1688	117.6	8.1	664	7976	0.22	2.47	74.32	1.223	11430	0.096	0.079	2775	2096	1542	1578	1506	0	0	0	0	0	0	14.07	13.97	13.08
8283	0.51	445.3	2774	2099	1576	1488	66.1	11.4	709	8288	0.00	2.50	0.00	0.000	644	0.000	0.087	2781	691	1532	1575	1490	0	0	0	0	0	0	14.36	13.95	14.38
8425	0.55	498.5	2785	691	1572	1489	53.3	7.5	737	8456	0.00	2.50	26.08	0.357	9254	0.000	0.078	2781	2109	1329	1377	1282	0	0	0	0	0	0	14.17	14.05	13.66
8753	0.64	577.4	2782	2108	1377	1284	29.7	6.4	773	8800	0.00	2.53	42.17	0.294	8868	0.000	0.084	2781	691	1007	1074	941	0	0	0	0	0	0	14.41	13.85	13.65
8916	0.86	665.1	2781	691	1075	947	20.5	6.0	805	8969	0.25	2.50	47.10	0.266	11430	0.092	0.078	2877	2108	650	702	599	0	0	0	0	0	0	14.07	14.03	13.74
9075	end climb: SURFACE_DEPTH_REACHED
state	9075	begin surface coast
9083	end surface coast: CONTROL_FINISHED_OK
state	9083	begin surface