Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 258 * 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 258 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 724.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 724.0 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 28 VBD_MIN 500

DIVE 258 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 050917,215422,7504.5210,-15153.6748,35,1.9,37,20.3,0.7,332.7,4,10.0 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 9.2,74021,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 050917,220326,7504.5737,-15153.7207,5,0.8,37,20.3,0.5,101.9,11,9.2

Post-dive calculations and measurements:

FINISH 0.7,1.021327 _24V_AH 12.28,166.444

SM_CCo 9142,30.02,0.209,0,0,498,703.28 _10V_AH 12.15,0.000

SM_GC 1.40,8.30,0.20,30.02,0.083,0.098,0.209,201,2232,498,-7.38,-0.54,703.28,0,0,0,0,0,0,14.15,14.19,13.87 FG_AHR_24Vo 0.000

RAFOS_CLK 107 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7506.14,-15200.08,050917,191652 DATA_FILE_SIZE 26705,762

TT8_MAMPS 0.094374,0.8988 CAP_FILE_SIZE 100409,0

HUMID 43.66 CFSIZE 2097872896,2010906624

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

TCM_TEMP 13.10 SOUNDSPEED 1447.5

XPDR_PINGS 18 CURRENT 0.072,315.77,1

CP_FREE 15962046464.000000 GPS 060917,003755,7505.799,-15151.192,12,0.7,16,20.3,0.0,346.7,11,9.3

PM_FREEKB_00 50330816

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 456 148.34 nil 0 0 0.00

Roll_motor 85 2138 2246.42 nil 0 0 0.00

VBD_pump_during_apogee 1027 1508 19032.03 nil 0 0 0.00

VBD_pump_during_surface 30 208 77.00 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 8923 14 1614.69

Iridium_during_xfer 285 166 582.00 NCP 9115 20 2238.64

Transponder_ping 4 420 23.21 PMAR 9093 9 1102.55

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.59

TT8 0 0 0.00

LPSleep 6460 2 181.32

TT8_Active 904 13 153.59

TT8_Sampling 2096 33 851.60

TT8_CF8 269 38 126.86

TT8_Kalman 0 0 0.00

Analog_circuits 2081 10 252.87

GPS_charging 0 0 0.00

Compass 1092 7 92.88

RAFOS 2149 48 1253.30

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 -145.9 190 2194 517 485 0.0 0.0 0 143 0.00 0.00 -91.32 0.000 16386 0.000 0.000 189 2193 2157 2089 2226 0 0 0 0 0 0 14.53 28.83 14.54

146 -0.57 -145.9 190 2193 2094 2227 3.7 -4.9 9 203 12.98 2.90 -35.78 0.000 18724 0.457 2.139 2378 3609 3964 3949 3979 0 0 0 0 0 0 13.53 12.60 14.06

349 -0.73 -145.9 2378 3610 3954 3979 42.9 -12.9 49 353 0.00 2.40 0.00 0.000 1158 0.000 0.056 2377 2195 3965 3952 3979 0 0 0 0 0 0 14.26 14.14 14.28

659 -0.84 -145.9 2378 2193 3955 3979 84.3 -10.5 81 660 0.22 0.00 0.00 0.000 4230 0.106 0.000 2289 2193 3966 3954 3979 0 0 0 0 0 0 14.19 14.30 14.28

969 -0.84 -145.9 2290 2193 3955 3975 133.3 -14.9 98 973 0.00 2.50 0.00 0.000 260 0.000 0.088 2277 3608 3963 3949 3978 0 0 0 0 0 0 14.64 14.10 14.66

1069 -0.94 -145.9 2278 3609 3955 3980 146.8 -12.8 118 1073 0.00 2.40 0.00 0.000 1158 0.000 0.059 2280 2190 3966 3954 3979 0 0 0 0 0 0 14.35 14.23 14.39

1389 -0.97 -145.9 2280 2189 3956 3979 191.2 -13.4 132 1394 0.00 2.50 0.00 0.000 388 0.000 0.087 2272 3609 3966 3954 3978 0 0 0 0 0 0 14.66 14.12 14.68

1430 -1.08 -145.9 2272 3610 3955 3979 196.5 -12.3 140 1436 0.12 2.40 0.00 0.000 5254 0.128 0.058 2224 2192 3966 3954 3979 0 0 0 0 0 0 14.09 14.05 14.19

1751 -1.03 -145.9 2224 2191 3955 3979 252.2 -16.8 154 1756 0.00 2.53 0.00 0.000 388 0.000 0.090 2222 3609 3967 3954 3980 0 0 0 0 0 0 14.66 14.12 14.69

1846 -1.06 -145.9 2223 3611 3955 3980 266.4 -13.2 173 1851 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2188 3966 3954 3979 0 0 0 0 0 0 14.36 14.23 14.40

2171 -1.06 -145.9 2222 2188 3958 3980 313.1 -13.9 188 2177 0.00 2.55 0.00 0.000 260 0.000 0.090 2222 3613 3966 3954 3979 0 0 0 0 0 0 14.67 14.11 14.72

2289 -1.12 -145.9 2223 3615 3955 3978 327.4 -11.7 211 2295 0.00 2.40 0.00 0.000 1158 0.000 0.055 2222 2195 3966 3954 3979 0 0 0 0 0 0 14.28 14.16 14.32

2592 -1.12 -145.9 2222 2196 3955 3979 366.4 -12.6 222 2597 0.00 2.53 0.00 0.000 260 0.000 0.090 2222 3611 3966 3954 3978 0 0 0 0 0 0 14.66 14.15 14.69

2687 -1.20 -145.9 2223 3613 3955 3977 377.5 -11.0 241 2692 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2201 3966 3954 3978 0 0 0 0 0 0 14.36 14.23 14.40

3013 -1.22 -145.9 2222 2200 3955 3978 416.6 -11.8 256 3018 0.12 2.50 0.00 0.000 4484 0.158 0.085 2158 3614 3965 3954 3977 0 0 0 0 0 0 14.23 14.16 14.28

3079 -1.14 -145.9 2158 3612 3954 3978 427.1 -16.7 269 3084 0.22 2.40 0.00 0.000 3206 0.272 0.057 2203 2199 3965 3954 3977 0 0 0 0 0 0 13.82 14.22 14.19

3404 -1.14 -145.9 2205 2198 3954 3978 470.6 -13.1 284 3410 0.00 2.50 0.00 0.000 260 0.000 0.088 2197 3614 3965 3954 3977 0 0 0 0 0 0 14.67 14.15 14.69

3478 end dive: TARGET_DEPTH_EXCEEDED

state 3478 begin apogee

3486 -0.13 0.0 2197 2100 3954 3978 480.6 -12.8 299 3739 1.33 0.00 249.38 1.388 10246 0.241 0.000 2530 2099 3366 3391 3341 0 0 0 0 0 0 13.85 13.44 12.64

3742 end apogee: CONTROL_FINISHED_OK

state 3742 begin climb

3745 0.57 145.9 2531 2099 3384 3333 493.8 0.0 307 3969 0.75 2.70 215.07 1.362 10756 0.062 0.078 2794 697 2759 2803 2716 0 0 0 0 0 0 13.58 12.90 12.28

4057 0.17 145.9 2793 696 2795 2710 493.9 14.2 326 4062 0.75 2.60 0.00 0.000 5254 0.323 0.074 2642 2101 2751 2794 2709 0 0 0 0 0 0 13.12 13.45 13.45

4388 0.02 166.7 2642 2102 2795 2703 463.0 9.0 342 4419 0.22 0.00 25.55 1.489 12454 0.268 0.000 2592 2102 2680 2729 2632 0 0 0 0 0 0 13.81 13.74 13.13

4718 0.03 226.9 2591 2102 2724 2620 438.8 7.2 353 4819 0.00 2.60 92.40 1.373 8868 0.000 0.087 2591 690 2434 2494 2375 0 0 0 0 0 0 14.57 13.85 13.07

4859 0.14 272.7 2592 691 2488 2365 428.0 7.9 381 4935 0.12 2.53 70.65 1.350 11430 0.132 0.080 2648 2108 2253 2312 2194 0 0 0 0 0 0 14.00 13.92 12.90

5260 0.09 272.7 2648 2110 2294 2170 378.9 12.5 411 5265 0.12 2.50 0.00 0.000 4740 0.249 0.081 2624 689 2231 2294 2169 0 0 0 0 0 0 14.01 14.14 14.14

5310 0.15 272.7 2625 688 2291 2170 373.4 10.3 421 5315 0.00 2.45 0.00 0.000 1158 0.000 0.078 2624 2100 2230 2290 2170 0 0 0 0 0 0 14.31 14.18 14.35

5620 0.15 272.7 2625 2102 2291 2168 340.6 10.4 433 5621 0.00 0.00 0.00 0.000 6 0.000 0.000 2625 2101 2228 2290 2167 0 0 0 0 0 0 14.64 14.65 14.65

5920 0.15 274.0 2625 2101 2291 2167 310.5 9.9 443 5925 0.00 2.47 0.00 0.000 548 0.000 0.085 2630 691 2228 2290 2167 0 0 0 0 0 0 14.65 14.23 14.67

5991 0.22 301.2 2630 692 2289 2168 304.0 8.7 457 6036 0.00 2.45 40.53 1.355 9382 0.000 0.079 2630 2100 2138 2195 2082 0 0 0 0 0 0 14.31 14.21 13.27

6343 0.26 312.1 2630 2101 2181 2067 269.7 9.5 477 6363 0.10 2.45 13.75 1.509 10916 0.148 0.083 2685 691 2087 2141 2034 0 0 0 0 0 0 14.32 13.94 13.29

6408 0.23 312.1 2686 691 2134 2032 262.1 11.6 490 6413 0.00 2.47 0.00 0.000 1158 0.000 0.079 2685 2109 2082 2132 2032 0 0 0 0 0 0 14.33 14.20 14.38

6733 0.17 312.1 2685 2109 2133 2027 224.3 11.2 505 6735 0.20 0.00 0.00 0.000 4230 0.236 0.000 2640 2109 2080 2132 2028 0 0 0 0 0 0 13.97 14.37 14.30

7035 0.26 364.4 2640 2109 2131 2026 200.7 7.6 515 7138 0.00 2.60 95.50 1.268 8868 0.000 0.086 2644 691 1875 1913 1837 0 0 0 0 0 0 14.50 13.87 13.18

7204 0.44 416.4 2644 691 1899 1834 187.7 7.6 549 7306 0.25 2.53 94.07 1.209 11430 0.091 0.080 2741 2107 1665 1697 1634 0 0 0 0 0 0 14.02 13.94 12.97

7603 0.39 416.4 2742 2109 1691 1611 133.5 13.2 579 7608 0.12 2.55 0.00 0.000 4740 0.241 0.084 2713 685 1650 1690 1611 0 0 0 0 0 0 13.90 13.94 14.03

7696 0.46 419.5 2713 685 1686 1610 124.1 9.9 597 7700 0.00 2.50 0.00 0.000 1190 0.000 0.078 2713 2103 1647 1684 1611 0 0 0 0 0 0 14.19 14.07 14.23

8006 0.52 444.4 2713 2105 1686 1608 93.8 8.9 615 8022 0.10 0.00 13.48 0.461 10918 0.148 0.000 2762 2105 1552 1590 1515 0 0 0 0 0 0 14.09 14.04 13.55

8327 0.51 463.8 2762 2105 1596 1523 58.4 9.1 649 8343 0.00 2.53 11.80 0.363 8868 0.000 0.083 2767 688 1473 1513 1433 0 0 0 0 0 0 14.42 13.35 13.12

8539 0.62 559.3 2768 689 1518 1442 43.8 5.6 691 8601 0.00 2.50 53.53 0.326 9382 0.000 0.080 2768 2101 1086 1154 1018 0 0 0 0 0 0 14.04 13.93 13.59

8899 0.82 651.3 2764 2102 1154 1022 20.3 5.8 733 8956 0.25 2.50 51.65 0.260 10660 0.090 0.080 2863 3509 706 767 645 0 0 0 0 0 0 14.11 13.81 13.65

8976 0.80 651.3 2866 3513 769 649 13.0 11.5 747 8982 0.15 2.47 0.00 0.000 5254 0.265 0.066 2850 2093 709 768 650 0 0 0 0 0 0 13.76 13.98 13.91

9098 end climb: SURFACE_DEPTH_REACHED

state 9098 begin surface coast

9121 end surface coast: CONTROL_FINISHED_OK

state 9121 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	258	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	724.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,215422,7504.5210,-15153.6748,35,1.9,37,20.3,0.7,332.7,4,10.0	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	9.2,74021,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	050917,220326,7504.5737,-15153.7207,5,0.8,37,20.3,0.5,101.9,11,9.2

FINISH	0.7,1.021327	_24V_AH	12.28,166.444
SM_CCo	9142,30.02,0.209,0,0,498,703.28	_10V_AH	12.15,0.000
SM_GC	1.40,8.30,0.20,30.02,0.083,0.098,0.209,201,2232,498,-7.38,-0.54,703.28,0,0,0,0,0,0,14.15,14.19,13.87	FG_AHR_24Vo	0.000
RAFOS_CLK	107	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7506.14,-15200.08,050917,191652	DATA_FILE_SIZE	26705,762
TT8_MAMPS	0.094374,0.8988	CAP_FILE_SIZE	100409,0
HUMID	43.66	CFSIZE	2097872896,2010906624
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.5
XPDR_PINGS	18	CURRENT	0.072,315.77,1
CP_FREE	15962046464.000000	GPS	060917,003755,7505.799,-15151.192,12,0.7,16,20.3,0.0,346.7,11,9.3
PM_FREEKB_00	50330816

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	456	148.34	nil	0	0	0.00
Roll_motor	85	2138	2246.42	nil	0	0	0.00
VBD_pump_during_apogee	1027	1508	19032.03	nil	0	0	0.00
VBD_pump_during_surface	30	208	77.00	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	8923	14	1614.69
Iridium_during_xfer	285	166	582.00	NCP	9115	20	2238.64
Transponder_ping	4	420	23.21	PMAR	9093	9	1102.55
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.59
TT8	0	0	0.00
LPSleep	6460	2	181.32
TT8_Active	904	13	153.59
TT8_Sampling	2096	33	851.60
TT8_CF8	269	38	126.86
TT8_Kalman	0	0	0.00
Analog_circuits	2081	10	252.87
GPS_charging	0	0	0.00
Compass	1092	7	92.88
RAFOS	2149	48	1253.30
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	190	2194	517	485	0.0	0.0	0	143	0.00	0.00	-91.32	0.000	16386	0.000	0.000	189	2193	2157	2089	2226	0	0	0	0	0	0	14.53	28.83	14.54
146	-0.57	-145.9	190	2193	2094	2227	3.7	-4.9	9	203	12.98	2.90	-35.78	0.000	18724	0.457	2.139	2378	3609	3964	3949	3979	0	0	0	0	0	0	13.53	12.60	14.06
349	-0.73	-145.9	2378	3610	3954	3979	42.9	-12.9	49	353	0.00	2.40	0.00	0.000	1158	0.000	0.056	2377	2195	3965	3952	3979	0	0	0	0	0	0	14.26	14.14	14.28
659	-0.84	-145.9	2378	2193	3955	3979	84.3	-10.5	81	660	0.22	0.00	0.00	0.000	4230	0.106	0.000	2289	2193	3966	3954	3979	0	0	0	0	0	0	14.19	14.30	14.28
969	-0.84	-145.9	2290	2193	3955	3975	133.3	-14.9	98	973	0.00	2.50	0.00	0.000	260	0.000	0.088	2277	3608	3963	3949	3978	0	0	0	0	0	0	14.64	14.10	14.66
1069	-0.94	-145.9	2278	3609	3955	3980	146.8	-12.8	118	1073	0.00	2.40	0.00	0.000	1158	0.000	0.059	2280	2190	3966	3954	3979	0	0	0	0	0	0	14.35	14.23	14.39
1389	-0.97	-145.9	2280	2189	3956	3979	191.2	-13.4	132	1394	0.00	2.50	0.00	0.000	388	0.000	0.087	2272	3609	3966	3954	3978	0	0	0	0	0	0	14.66	14.12	14.68
1430	-1.08	-145.9	2272	3610	3955	3979	196.5	-12.3	140	1436	0.12	2.40	0.00	0.000	5254	0.128	0.058	2224	2192	3966	3954	3979	0	0	0	0	0	0	14.09	14.05	14.19
1751	-1.03	-145.9	2224	2191	3955	3979	252.2	-16.8	154	1756	0.00	2.53	0.00	0.000	388	0.000	0.090	2222	3609	3967	3954	3980	0	0	0	0	0	0	14.66	14.12	14.69
1846	-1.06	-145.9	2223	3611	3955	3980	266.4	-13.2	173	1851	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2188	3966	3954	3979	0	0	0	0	0	0	14.36	14.23	14.40
2171	-1.06	-145.9	2222	2188	3958	3980	313.1	-13.9	188	2177	0.00	2.55	0.00	0.000	260	0.000	0.090	2222	3613	3966	3954	3979	0	0	0	0	0	0	14.67	14.11	14.72
2289	-1.12	-145.9	2223	3615	3955	3978	327.4	-11.7	211	2295	0.00	2.40	0.00	0.000	1158	0.000	0.055	2222	2195	3966	3954	3979	0	0	0	0	0	0	14.28	14.16	14.32
2592	-1.12	-145.9	2222	2196	3955	3979	366.4	-12.6	222	2597	0.00	2.53	0.00	0.000	260	0.000	0.090	2222	3611	3966	3954	3978	0	0	0	0	0	0	14.66	14.15	14.69
2687	-1.20	-145.9	2223	3613	3955	3977	377.5	-11.0	241	2692	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2201	3966	3954	3978	0	0	0	0	0	0	14.36	14.23	14.40
3013	-1.22	-145.9	2222	2200	3955	3978	416.6	-11.8	256	3018	0.12	2.50	0.00	0.000	4484	0.158	0.085	2158	3614	3965	3954	3977	0	0	0	0	0	0	14.23	14.16	14.28
3079	-1.14	-145.9	2158	3612	3954	3978	427.1	-16.7	269	3084	0.22	2.40	0.00	0.000	3206	0.272	0.057	2203	2199	3965	3954	3977	0	0	0	0	0	0	13.82	14.22	14.19
3404	-1.14	-145.9	2205	2198	3954	3978	470.6	-13.1	284	3410	0.00	2.50	0.00	0.000	260	0.000	0.088	2197	3614	3965	3954	3977	0	0	0	0	0	0	14.67	14.15	14.69
3478	end dive: TARGET_DEPTH_EXCEEDED
state	3478	begin apogee
3486	-0.13	0.0	2197	2100	3954	3978	480.6	-12.8	299	3739	1.33	0.00	249.38	1.388	10246	0.241	0.000	2530	2099	3366	3391	3341	0	0	0	0	0	0	13.85	13.44	12.64
3742	end apogee: CONTROL_FINISHED_OK
state	3742	begin climb
3745	0.57	145.9	2531	2099	3384	3333	493.8	0.0	307	3969	0.75	2.70	215.07	1.362	10756	0.062	0.078	2794	697	2759	2803	2716	0	0	0	0	0	0	13.58	12.90	12.28
4057	0.17	145.9	2793	696	2795	2710	493.9	14.2	326	4062	0.75	2.60	0.00	0.000	5254	0.323	0.074	2642	2101	2751	2794	2709	0	0	0	0	0	0	13.12	13.45	13.45
4388	0.02	166.7	2642	2102	2795	2703	463.0	9.0	342	4419	0.22	0.00	25.55	1.489	12454	0.268	0.000	2592	2102	2680	2729	2632	0	0	0	0	0	0	13.81	13.74	13.13
4718	0.03	226.9	2591	2102	2724	2620	438.8	7.2	353	4819	0.00	2.60	92.40	1.373	8868	0.000	0.087	2591	690	2434	2494	2375	0	0	0	0	0	0	14.57	13.85	13.07
4859	0.14	272.7	2592	691	2488	2365	428.0	7.9	381	4935	0.12	2.53	70.65	1.350	11430	0.132	0.080	2648	2108	2253	2312	2194	0	0	0	0	0	0	14.00	13.92	12.90
5260	0.09	272.7	2648	2110	2294	2170	378.9	12.5	411	5265	0.12	2.50	0.00	0.000	4740	0.249	0.081	2624	689	2231	2294	2169	0	0	0	0	0	0	14.01	14.14	14.14
5310	0.15	272.7	2625	688	2291	2170	373.4	10.3	421	5315	0.00	2.45	0.00	0.000	1158	0.000	0.078	2624	2100	2230	2290	2170	0	0	0	0	0	0	14.31	14.18	14.35
5620	0.15	272.7	2625	2102	2291	2168	340.6	10.4	433	5621	0.00	0.00	0.00	0.000	6	0.000	0.000	2625	2101	2228	2290	2167	0	0	0	0	0	0	14.64	14.65	14.65
5920	0.15	274.0	2625	2101	2291	2167	310.5	9.9	443	5925	0.00	2.47	0.00	0.000	548	0.000	0.085	2630	691	2228	2290	2167	0	0	0	0	0	0	14.65	14.23	14.67
5991	0.22	301.2	2630	692	2289	2168	304.0	8.7	457	6036	0.00	2.45	40.53	1.355	9382	0.000	0.079	2630	2100	2138	2195	2082	0	0	0	0	0	0	14.31	14.21	13.27
6343	0.26	312.1	2630	2101	2181	2067	269.7	9.5	477	6363	0.10	2.45	13.75	1.509	10916	0.148	0.083	2685	691	2087	2141	2034	0	0	0	0	0	0	14.32	13.94	13.29
6408	0.23	312.1	2686	691	2134	2032	262.1	11.6	490	6413	0.00	2.47	0.00	0.000	1158	0.000	0.079	2685	2109	2082	2132	2032	0	0	0	0	0	0	14.33	14.20	14.38
6733	0.17	312.1	2685	2109	2133	2027	224.3	11.2	505	6735	0.20	0.00	0.00	0.000	4230	0.236	0.000	2640	2109	2080	2132	2028	0	0	0	0	0	0	13.97	14.37	14.30
7035	0.26	364.4	2640	2109	2131	2026	200.7	7.6	515	7138	0.00	2.60	95.50	1.268	8868	0.000	0.086	2644	691	1875	1913	1837	0	0	0	0	0	0	14.50	13.87	13.18
7204	0.44	416.4	2644	691	1899	1834	187.7	7.6	549	7306	0.25	2.53	94.07	1.209	11430	0.091	0.080	2741	2107	1665	1697	1634	0	0	0	0	0	0	14.02	13.94	12.97
7603	0.39	416.4	2742	2109	1691	1611	133.5	13.2	579	7608	0.12	2.55	0.00	0.000	4740	0.241	0.084	2713	685	1650	1690	1611	0	0	0	0	0	0	13.90	13.94	14.03
7696	0.46	419.5	2713	685	1686	1610	124.1	9.9	597	7700	0.00	2.50	0.00	0.000	1190	0.000	0.078	2713	2103	1647	1684	1611	0	0	0	0	0	0	14.19	14.07	14.23
8006	0.52	444.4	2713	2105	1686	1608	93.8	8.9	615	8022	0.10	0.00	13.48	0.461	10918	0.148	0.000	2762	2105	1552	1590	1515	0	0	0	0	0	0	14.09	14.04	13.55
8327	0.51	463.8	2762	2105	1596	1523	58.4	9.1	649	8343	0.00	2.53	11.80	0.363	8868	0.000	0.083	2767	688	1473	1513	1433	0	0	0	0	0	0	14.42	13.35	13.12
8539	0.62	559.3	2768	689	1518	1442	43.8	5.6	691	8601	0.00	2.50	53.53	0.326	9382	0.000	0.080	2768	2101	1086	1154	1018	0	0	0	0	0	0	14.04	13.93	13.59
8899	0.82	651.3	2764	2102	1154	1022	20.3	5.8	733	8956	0.25	2.50	51.65	0.260	10660	0.090	0.080	2863	3509	706	767	645	0	0	0	0	0	0	14.11	13.81	13.65
8976	0.80	651.3	2866	3513	769	649	13.0	11.5	747	8982	0.15	2.47	0.00	0.000	5254	0.265	0.066	2850	2093	709	768	650	0	0	0	0	0	0	13.76	13.98	13.91
9098	end climb: SURFACE_DEPTH_REACHED
state	9098	begin surface coast
9121	end surface coast: CONTROL_FINISHED_OK
state	9121	begin surface