Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 260 * 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 260 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 729.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 729.0 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 62 VBD_MIN 500

DIVE 260 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 060917,032143,7507.0518,-15148.3418,15,0.7,19,20.4,0.4,346.3,12,10.0 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 5.7,68881,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 060917,032736,7507.0918,-15148.3408,6,0.8,19,20.4,0.6,332.0,11,9.5

Post-dive calculations and measurements:

FINISH 0.1,1.021316 _24V_AH 12.26,167.351

SM_CCo 8817,30.98,0.209,0,0,499,702.78 _10V_AH 12.32,0.000

SM_GC 1.50,8.23,0.17,30.98,0.074,0.112,0.209,197,2228,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.30,14.31,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 328 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7507.00,-15148.76,060917,004103 DATA_FILE_SIZE 26693,740

TT8_MAMPS 0.038948,0.996919 CAP_FILE_SIZE 97618,0

HUMID 46.49 CFSIZE 2097872896,2010546176

INTERNAL_PRESSURE 7.74246 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 INTR 0,5385.79,0x2341e8,1,24

XPDR_PINGS 15 SOUNDSPEED 1446.9

CP_FREE 15961325568.000000 CURRENT 0.047,310.19,1

PM_FREEKB_00 50274688 GPS 060917,055657,7508.243,-15145.863,37,0.8,38,20.4,0.0,0.0,10,8.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 457 146.66 nil 0 0 0.00

Roll_motor 78 2142 2056.89 nil 0 0 0.00

VBD_pump_during_apogee 980 1558 18730.36 nil 0 0 0.00

VBD_pump_during_surface 30 208 79.31 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 5217 14 917.26

Iridium_during_xfer 150 135 250.05 NCP 5276 20 1293.68

Transponder_ping 3 420 19.31 PMAR 8752 9 1063.12

GUMSTIX_24V 0 0 0.00

GPS 20 22 5.63

TT8 0 0 0.00

LPSleep 6256 2 178.05

TT8_Active 1015 13 174.80

TT8_Sampling 1710 33 704.66

TT8_CF8 228 38 108.94

TT8_Kalman 0 0 0.00

Analog_circuits 1874 10 230.88

GPS_charging 0 0 0.00

Compass 1059 7 91.37

RAFOS 2215 48 1309.86

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

64 end surface: CONTROL_FINISHED_OK

state 64 begin dive

67 -0.57 -145.9 195 2229 508 479 0.0 0.0 0 160 0.00 0.00 -91.75 0.000 16386 0.000 0.000 196 2229 2170 2102 2239 0 0 0 0 0 0 14.61 28.83 14.63

163 -0.57 -145.9 196 2229 2109 2240 3.9 -5.2 9 216 12.82 2.70 -34.10 0.000 18724 0.457 2.142 2375 3586 3962 3945 3980 0 0 0 0 0 0 13.63 12.88 14.15

357 -0.73 -145.9 2375 3587 3951 3981 43.7 -13.1 47 361 0.00 2.30 0.00 0.000 1158 0.000 0.059 2374 2228 3964 3949 3980 0 0 0 0 0 0 14.38 14.26 14.43

667 -0.84 -145.9 2375 2227 3954 3980 84.8 -10.8 79 668 0.20 0.00 0.00 0.000 4230 0.112 0.000 2293 2227 3966 3952 3980 0 0 0 0 0 0 14.38 14.50 14.46

977 -0.86 -145.9 2294 2227 3953 3980 132.5 -14.5 96 982 0.00 2.38 0.00 0.000 388 0.000 0.087 2284 3588 3966 3952 3980 0 0 0 0 0 0 14.78 14.26 14.81

1038 -0.97 -145.9 2284 3589 3953 3981 140.5 -12.0 108 1043 0.00 2.35 0.00 0.000 1158 0.000 0.059 2284 2193 3966 3952 3980 0 0 0 0 0 0 14.45 14.33 14.49

1368 -1.01 -145.9 2284 2193 3953 3981 185.1 -13.1 124 1374 0.00 2.45 0.00 0.000 388 0.000 0.088 2280 3595 3966 3952 3980 0 0 0 0 0 0 14.83 14.26 14.83

1429 -1.15 -145.9 2280 3597 3953 3980 192.6 -11.3 136 1435 0.22 2.35 0.00 0.000 5254 0.099 0.057 2193 2193 3966 3952 3980 0 0 0 0 0 0 14.40 14.33 14.49

1760 -1.03 -145.9 2194 2192 3953 3981 260.7 -20.0 152 1766 0.20 2.45 0.00 0.000 2436 0.295 0.084 2231 3596 3966 3952 3981 0 0 0 0 0 0 13.93 14.26 14.13

1933 -1.10 -145.9 2231 3598 3952 3981 284.3 -12.2 183 1938 0.00 2.38 0.00 0.000 1158 0.000 0.057 2231 2194 3966 3952 3980 0 0 0 0 0 0 14.34 14.21 14.38

2258 -1.10 -145.9 2231 2193 3952 3980 326.6 -12.7 198 2263 0.00 2.47 0.00 0.000 260 0.000 0.088 2223 3589 3966 3952 3980 0 0 0 0 0 0 14.60 14.09 14.62

2323 -1.17 -145.9 2223 3591 3952 3981 334.6 -11.6 211 2329 0.00 2.38 0.00 0.000 1158 0.000 0.057 2223 2193 3966 3952 3980 0 0 0 0 0 0 14.28 14.15 14.32

2649 -1.17 -145.9 2223 2192 3953 3980 375.2 -12.4 226 2653 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3588 3965 3951 3980 0 0 0 0 0 0 14.57 14.06 14.59

2709 -1.25 -145.9 2223 3588 3953 3979 382.3 -11.2 238 2714 0.15 2.35 0.00 0.000 5254 0.123 0.055 2162 2201 3965 3952 3979 0 0 0 0 0 0 14.17 14.14 14.27

3039 -1.13 -145.9 2163 2200 3952 3979 440.8 -17.9 254 3044 0.20 2.47 0.00 0.000 2436 0.309 0.083 2196 3597 3965 3951 3979 0 0 0 0 0 0 13.69 14.04 13.90

3151 -1.16 -145.9 2198 3597 3952 3979 456.4 -13.1 276 3156 0.00 2.38 0.00 0.000 1158 0.000 0.055 2196 2199 3965 3951 3979 0 0 0 0 0 0 14.24 14.12 14.29

3339 end dive: TARGET_DEPTH_EXCEEDED

state 3339 begin apogee

3345 -0.13 0.0 2196 2055 3952 3980 483.5 -14.2 284 3583 1.33 0.00 234.35 1.413 10246 0.242 0.000 2527 2053 3363 3385 3342 0 0 0 0 0 0 13.76 13.43 12.62

3584 end apogee: CONTROL_FINISHED_OK

state 3585 begin climb

3587 0.57 145.9 2528 2053 3379 3334 496.7 0.0 292 3811 0.75 2.58 212.70 1.349 10756 0.062 0.080 2781 730 2760 2805 2716 0 0 0 0 0 0 13.53 13.04 12.26

3867 0.19 145.9 2782 730 2795 2707 500.8 13.2 347 3873 0.68 2.53 0.00 0.000 5254 0.317 0.074 2647 2083 2749 2794 2705 0 0 0 0 0 0 13.01 13.30 13.35

4195 0.03 160.2 2647 2084 2794 2700 469.7 9.3 362 4209 0.22 0.00 11.82 1.558 12454 0.273 0.000 2598 2082 2714 2762 2667 0 0 0 0 0 0 13.65 13.90 13.00

4495 0.01 214.4 2597 2084 2753 2654 447.0 7.5 372 4588 0.00 2.50 84.75 1.360 8868 0.000 0.083 2598 727 2488 2549 2427 0 0 0 0 0 0 14.43 13.86 13.05

4623 0.07 244.0 2603 728 2537 2417 436.5 8.6 397 4673 0.00 2.45 43.22 1.375 9382 0.000 0.079 2602 2100 2366 2425 2307 0 0 0 0 0 0 14.03 13.89 12.91

4980 0.11 263.8 2602 2102 2407 2289 404.0 9.1 418 5009 0.00 0.00 25.10 1.416 8358 0.000 0.000 2602 2101 2286 2343 2230 0 0 0 0 0 0 14.50 14.06 13.19

5308 0.15 283.3 2602 2101 2333 2216 373.9 9.1 429 5340 0.00 2.50 27.08 1.413 8868 0.000 0.085 2602 724 2208 2264 2153 0 0 0 0 0 0 14.59 14.09 13.23

5386 0.28 308.9 2602 725 2251 2148 367.1 8.8 444 5434 0.22 2.40 39.83 1.361 11430 0.092 0.078 2690 2109 2100 2151 2049 0 0 0 0 0 0 14.26 14.16 13.17

5732 0.19 308.9 2690 2109 2138 2032 315.3 15.1 463 5737 0.17 2.42 0.00 0.000 4740 0.249 0.081 2655 724 2084 2137 2031 0 0 0 0 0 0 13.92 14.07 14.06

5803 0.22 308.9 2655 724 2135 2031 306.3 11.3 477 5808 0.00 2.38 0.00 0.000 1158 0.000 0.078 2655 2099 2082 2134 2031 0 0 0 0 0 0 14.35 14.22 14.40

6123 0.22 308.9 2655 2100 2135 2030 269.6 11.2 491 6128 0.00 2.40 0.00 0.000 516 0.000 0.084 2655 730 2081 2134 2029 0 0 0 0 0 0 14.65 14.17 14.68

6184 0.27 318.6 2654 730 2134 2030 263.5 9.6 503 6194 0.00 2.40 2.30 0.565 9382 0.000 0.077 2655 2100 2065 2116 2014 0 0 0 0 0 0 14.33 14.19 12.82

6514 0.27 328.4 2655 2100 2130 2024 231.5 9.5 519 6545 0.00 0.00 25.25 1.375 8230 0.000 0.000 2655 2100 2020 2070 1970 0 0 0 0 0 0 14.67 13.92 13.32

6844 0.32 358.7 2656 2100 2061 1960 201.8 8.6 530 6905 0.00 2.50 50.80 1.290 8868 0.000 0.085 2655 727 1895 1933 1858 0 0 0 0 0 0 14.64 14.02 13.23

6957 0.45 403.3 2656 728 1921 1857 192.6 7.9 552 7041 0.22 2.42 77.78 1.213 11430 0.096 0.079 2745 2111 1724 1751 1697 0 0 0 0 0 0 14.17 14.10 13.10

7357 0.38 403.3 2746 2112 1737 1673 136.6 13.8 582 7362 0.15 2.42 0.00 0.000 4740 0.233 0.083 2713 727 1702 1732 1672 0 0 0 0 0 0 14.00 14.16 14.14

7432 0.44 403.3 2713 728 1732 1673 128.3 10.2 597 7438 0.00 2.40 0.00 0.000 1158 0.000 0.077 2713 2108 1701 1731 1671 0 0 0 0 0 0 14.33 14.20 14.38

7738 0.45 417.8 2713 2109 1732 1667 98.0 9.3 611 7749 0.00 2.50 6.15 0.410 8740 0.000 0.084 2712 729 1663 1696 1630 0 0 0 0 0 0 14.59 14.16 13.56

7805 0.54 452.3 2713 731 1704 1638 92.2 8.4 624 7833 0.12 2.40 21.75 0.463 11430 0.131 0.078 2769 2101 1518 1547 1490 0 0 0 0 0 0 14.23 14.17 13.60

8130 0.54 502.1 2770 2102 1564 1497 56.5 7.7 659 8162 0.00 0.00 29.73 0.360 8358 0.000 0.000 2770 2101 1316 1363 1269 0 0 0 0 0 0 14.59 14.09 13.67

8460 0.64 584.3 2769 2102 1366 1277 33.1 6.2 692 8514 0.00 2.50 47.17 0.293 8868 0.000 0.086 2772 728 983 1052 914 0 0 0 0 0 0 14.59 14.02 13.74

8566 0.85 649.2 2772 729 1053 924 26.0 7.0 712 8613 0.25 2.40 40.62 0.269 11430 0.091 0.078 2871 2097 715 776 654 0 0 0 0 0 0 14.24 14.13 13.76

8786 end climb: SURFACE_DEPTH_REACHED

state 8786 begin surface coast

8796 end surface coast: CONTROL_FINISHED_OK

state 8796 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	260	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	729.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,032143,7507.0518,-15148.3418,15,0.7,19,20.4,0.4,346.3,12,10.0	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	5.7,68881,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	060917,032736,7507.0918,-15148.3408,6,0.8,19,20.4,0.6,332.0,11,9.5

FINISH	0.1,1.021316	_24V_AH	12.26,167.351
SM_CCo	8817,30.98,0.209,0,0,499,702.78	_10V_AH	12.32,0.000
SM_GC	1.50,8.23,0.17,30.98,0.074,0.112,0.209,197,2228,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.30,14.31,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	328	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7507.00,-15148.76,060917,004103	DATA_FILE_SIZE	26693,740
TT8_MAMPS	0.038948,0.996919	CAP_FILE_SIZE	97618,0
HUMID	46.49	CFSIZE	2097872896,2010546176
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	INTR	0,5385.79,0x2341e8,1,24
XPDR_PINGS	15	SOUNDSPEED	1446.9
CP_FREE	15961325568.000000	CURRENT	0.047,310.19,1
PM_FREEKB_00	50274688	GPS	060917,055657,7508.243,-15145.863,37,0.8,38,20.4,0.0,0.0,10,8.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	457	146.66	nil	0	0	0.00
Roll_motor	78	2142	2056.89	nil	0	0	0.00
VBD_pump_during_apogee	980	1558	18730.36	nil	0	0	0.00
VBD_pump_during_surface	30	208	79.31	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	5217	14	917.26
Iridium_during_xfer	150	135	250.05	NCP	5276	20	1293.68
Transponder_ping	3	420	19.31	PMAR	8752	9	1063.12
GUMSTIX_24V	0	0	0.00
GPS	20	22	5.63
TT8	0	0	0.00
LPSleep	6256	2	178.05
TT8_Active	1015	13	174.80
TT8_Sampling	1710	33	704.66
TT8_CF8	228	38	108.94
TT8_Kalman	0	0	0.00
Analog_circuits	1874	10	230.88
GPS_charging	0	0	0.00
Compass	1059	7	91.37
RAFOS	2215	48	1309.86
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
64	end surface: CONTROL_FINISHED_OK
state	64	begin dive
67	-0.57	-145.9	195	2229	508	479	0.0	0.0	0	160	0.00	0.00	-91.75	0.000	16386	0.000	0.000	196	2229	2170	2102	2239	0	0	0	0	0	0	14.61	28.83	14.63
163	-0.57	-145.9	196	2229	2109	2240	3.9	-5.2	9	216	12.82	2.70	-34.10	0.000	18724	0.457	2.142	2375	3586	3962	3945	3980	0	0	0	0	0	0	13.63	12.88	14.15
357	-0.73	-145.9	2375	3587	3951	3981	43.7	-13.1	47	361	0.00	2.30	0.00	0.000	1158	0.000	0.059	2374	2228	3964	3949	3980	0	0	0	0	0	0	14.38	14.26	14.43
667	-0.84	-145.9	2375	2227	3954	3980	84.8	-10.8	79	668	0.20	0.00	0.00	0.000	4230	0.112	0.000	2293	2227	3966	3952	3980	0	0	0	0	0	0	14.38	14.50	14.46
977	-0.86	-145.9	2294	2227	3953	3980	132.5	-14.5	96	982	0.00	2.38	0.00	0.000	388	0.000	0.087	2284	3588	3966	3952	3980	0	0	0	0	0	0	14.78	14.26	14.81
1038	-0.97	-145.9	2284	3589	3953	3981	140.5	-12.0	108	1043	0.00	2.35	0.00	0.000	1158	0.000	0.059	2284	2193	3966	3952	3980	0	0	0	0	0	0	14.45	14.33	14.49
1368	-1.01	-145.9	2284	2193	3953	3981	185.1	-13.1	124	1374	0.00	2.45	0.00	0.000	388	0.000	0.088	2280	3595	3966	3952	3980	0	0	0	0	0	0	14.83	14.26	14.83
1429	-1.15	-145.9	2280	3597	3953	3980	192.6	-11.3	136	1435	0.22	2.35	0.00	0.000	5254	0.099	0.057	2193	2193	3966	3952	3980	0	0	0	0	0	0	14.40	14.33	14.49
1760	-1.03	-145.9	2194	2192	3953	3981	260.7	-20.0	152	1766	0.20	2.45	0.00	0.000	2436	0.295	0.084	2231	3596	3966	3952	3981	0	0	0	0	0	0	13.93	14.26	14.13
1933	-1.10	-145.9	2231	3598	3952	3981	284.3	-12.2	183	1938	0.00	2.38	0.00	0.000	1158	0.000	0.057	2231	2194	3966	3952	3980	0	0	0	0	0	0	14.34	14.21	14.38
2258	-1.10	-145.9	2231	2193	3952	3980	326.6	-12.7	198	2263	0.00	2.47	0.00	0.000	260	0.000	0.088	2223	3589	3966	3952	3980	0	0	0	0	0	0	14.60	14.09	14.62
2323	-1.17	-145.9	2223	3591	3952	3981	334.6	-11.6	211	2329	0.00	2.38	0.00	0.000	1158	0.000	0.057	2223	2193	3966	3952	3980	0	0	0	0	0	0	14.28	14.15	14.32
2649	-1.17	-145.9	2223	2192	3953	3980	375.2	-12.4	226	2653	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3588	3965	3951	3980	0	0	0	0	0	0	14.57	14.06	14.59
2709	-1.25	-145.9	2223	3588	3953	3979	382.3	-11.2	238	2714	0.15	2.35	0.00	0.000	5254	0.123	0.055	2162	2201	3965	3952	3979	0	0	0	0	0	0	14.17	14.14	14.27
3039	-1.13	-145.9	2163	2200	3952	3979	440.8	-17.9	254	3044	0.20	2.47	0.00	0.000	2436	0.309	0.083	2196	3597	3965	3951	3979	0	0	0	0	0	0	13.69	14.04	13.90
3151	-1.16	-145.9	2198	3597	3952	3979	456.4	-13.1	276	3156	0.00	2.38	0.00	0.000	1158	0.000	0.055	2196	2199	3965	3951	3979	0	0	0	0	0	0	14.24	14.12	14.29
3339	end dive: TARGET_DEPTH_EXCEEDED
state	3339	begin apogee
3345	-0.13	0.0	2196	2055	3952	3980	483.5	-14.2	284	3583	1.33	0.00	234.35	1.413	10246	0.242	0.000	2527	2053	3363	3385	3342	0	0	0	0	0	0	13.76	13.43	12.62
3584	end apogee: CONTROL_FINISHED_OK
state	3585	begin climb
3587	0.57	145.9	2528	2053	3379	3334	496.7	0.0	292	3811	0.75	2.58	212.70	1.349	10756	0.062	0.080	2781	730	2760	2805	2716	0	0	0	0	0	0	13.53	13.04	12.26
3867	0.19	145.9	2782	730	2795	2707	500.8	13.2	347	3873	0.68	2.53	0.00	0.000	5254	0.317	0.074	2647	2083	2749	2794	2705	0	0	0	0	0	0	13.01	13.30	13.35
4195	0.03	160.2	2647	2084	2794	2700	469.7	9.3	362	4209	0.22	0.00	11.82	1.558	12454	0.273	0.000	2598	2082	2714	2762	2667	0	0	0	0	0	0	13.65	13.90	13.00
4495	0.01	214.4	2597	2084	2753	2654	447.0	7.5	372	4588	0.00	2.50	84.75	1.360	8868	0.000	0.083	2598	727	2488	2549	2427	0	0	0	0	0	0	14.43	13.86	13.05
4623	0.07	244.0	2603	728	2537	2417	436.5	8.6	397	4673	0.00	2.45	43.22	1.375	9382	0.000	0.079	2602	2100	2366	2425	2307	0	0	0	0	0	0	14.03	13.89	12.91
4980	0.11	263.8	2602	2102	2407	2289	404.0	9.1	418	5009	0.00	0.00	25.10	1.416	8358	0.000	0.000	2602	2101	2286	2343	2230	0	0	0	0	0	0	14.50	14.06	13.19
5308	0.15	283.3	2602	2101	2333	2216	373.9	9.1	429	5340	0.00	2.50	27.08	1.413	8868	0.000	0.085	2602	724	2208	2264	2153	0	0	0	0	0	0	14.59	14.09	13.23
5386	0.28	308.9	2602	725	2251	2148	367.1	8.8	444	5434	0.22	2.40	39.83	1.361	11430	0.092	0.078	2690	2109	2100	2151	2049	0	0	0	0	0	0	14.26	14.16	13.17
5732	0.19	308.9	2690	2109	2138	2032	315.3	15.1	463	5737	0.17	2.42	0.00	0.000	4740	0.249	0.081	2655	724	2084	2137	2031	0	0	0	0	0	0	13.92	14.07	14.06
5803	0.22	308.9	2655	724	2135	2031	306.3	11.3	477	5808	0.00	2.38	0.00	0.000	1158	0.000	0.078	2655	2099	2082	2134	2031	0	0	0	0	0	0	14.35	14.22	14.40
6123	0.22	308.9	2655	2100	2135	2030	269.6	11.2	491	6128	0.00	2.40	0.00	0.000	516	0.000	0.084	2655	730	2081	2134	2029	0	0	0	0	0	0	14.65	14.17	14.68
6184	0.27	318.6	2654	730	2134	2030	263.5	9.6	503	6194	0.00	2.40	2.30	0.565	9382	0.000	0.077	2655	2100	2065	2116	2014	0	0	0	0	0	0	14.33	14.19	12.82
6514	0.27	328.4	2655	2100	2130	2024	231.5	9.5	519	6545	0.00	0.00	25.25	1.375	8230	0.000	0.000	2655	2100	2020	2070	1970	0	0	0	0	0	0	14.67	13.92	13.32
6844	0.32	358.7	2656	2100	2061	1960	201.8	8.6	530	6905	0.00	2.50	50.80	1.290	8868	0.000	0.085	2655	727	1895	1933	1858	0	0	0	0	0	0	14.64	14.02	13.23
6957	0.45	403.3	2656	728	1921	1857	192.6	7.9	552	7041	0.22	2.42	77.78	1.213	11430	0.096	0.079	2745	2111	1724	1751	1697	0	0	0	0	0	0	14.17	14.10	13.10
7357	0.38	403.3	2746	2112	1737	1673	136.6	13.8	582	7362	0.15	2.42	0.00	0.000	4740	0.233	0.083	2713	727	1702	1732	1672	0	0	0	0	0	0	14.00	14.16	14.14
7432	0.44	403.3	2713	728	1732	1673	128.3	10.2	597	7438	0.00	2.40	0.00	0.000	1158	0.000	0.077	2713	2108	1701	1731	1671	0	0	0	0	0	0	14.33	14.20	14.38
7738	0.45	417.8	2713	2109	1732	1667	98.0	9.3	611	7749	0.00	2.50	6.15	0.410	8740	0.000	0.084	2712	729	1663	1696	1630	0	0	0	0	0	0	14.59	14.16	13.56
7805	0.54	452.3	2713	731	1704	1638	92.2	8.4	624	7833	0.12	2.40	21.75	0.463	11430	0.131	0.078	2769	2101	1518	1547	1490	0	0	0	0	0	0	14.23	14.17	13.60
8130	0.54	502.1	2770	2102	1564	1497	56.5	7.7	659	8162	0.00	0.00	29.73	0.360	8358	0.000	0.000	2770	2101	1316	1363	1269	0	0	0	0	0	0	14.59	14.09	13.67
8460	0.64	584.3	2769	2102	1366	1277	33.1	6.2	692	8514	0.00	2.50	47.17	0.293	8868	0.000	0.086	2772	728	983	1052	914	0	0	0	0	0	0	14.59	14.02	13.74
8566	0.85	649.2	2772	729	1053	924	26.0	7.0	712	8613	0.25	2.40	40.62	0.269	11430	0.091	0.078	2871	2097	715	776	654	0	0	0	0	0	0	14.24	14.13	13.76
8786	end climb: SURFACE_DEPTH_REACHED
state	8786	begin surface coast
8796	end surface coast: CONTROL_FINISHED_OK
state	8796	begin surface