Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 263 * 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 263 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 735.0

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 27 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 735.0 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 263 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 060917,111902,7510.7036,-15141.6357,14,0.7,19,20.4,0.0,33.0,12,9.3 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 1.26 MHEAD_RNG_PITCHd_Wd 6.6,61609,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 060917,112520,7510.7310,-15141.7002,5,0.9,38,20.4,0.2,52.2,10,9.2

Post-dive calculations and measurements:

FINISH 0.2,1.010742 _24V_AH 12.24,168.726

SM_CCo 8795,37.67,0.207,0,0,501,703.28 _10V_AH 12.11,0.000

SM_GC 1.10,8.15,0.17,37.67,0.073,0.118,0.207,204,2220,501,-7.36,-0.74,703.28,0,0,0,0,0,0,14.31,14.30,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 306 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323576

IRIDIUM_FIX 7508.83,-15144.79,060917,084147 DATA_FILE_SIZE 26715,731

TT8_MAMPS 0.040446,0.922768 CAP_FILE_SIZE 99300,0

HUMID 46.81 CFSIZE 2097872896,2009923584

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

TCM_TEMP 13.30 SOUNDSPEED 1446.0

XPDR_PINGS 13 CURRENT 0.043,323.19,1

CP_FREE 15960047616.000000 GPS 060917,135411,7511.902,-15139.208,18,0.7,19,20.4,0.5,355.4,12,9.6

PM_FREEKB_00 50194560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.24 nil 0 0 0.00

Roll_motor 85 2141 2230.36 nil 0 0 0.00

VBD_pump_during_apogee 1010 1439 17801.16 nil 0 0 0.00

VBD_pump_during_surface 37 207 95.60 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 4659 15 900.44

Iridium_during_xfer 159 129 252.91 NCP 8766 20 2145.92

Transponder_ping 3 420 16.71 PMAR 8750 9 1059.65

GUMSTIX_24V 0 0 0.00

GPS 39 22 10.80

TT8 0 0 0.00

LPSleep 5991 2 167.59

TT8_Active 895 13 151.50

TT8_Sampling 2108 33 853.89

TT8_CF8 231 38 108.64

TT8_Kalman 0 0 0.00

Analog_circuits 2109 10 255.48

GPS_charging 0 0 0.00

Compass 1046 7 88.71

RAFOS 2203 48 1280.56

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

51 -0.57 -145.9 194 2213 508 489 0.0 0.0 0 143 0.00 0.00 -91.12 0.000 16386 0.000 0.000 193 2214 2158 2090 2227 0 0 0 0 0 0 14.59 28.83 14.60

146 -0.57 -145.9 194 2213 2095 2227 3.6 -4.6 9 203 12.85 2.85 -35.62 0.000 18724 0.456 2.141 2378 3607 3965 3949 3981 0 0 0 0 0 0 13.63 12.56 14.15

364 -0.71 -145.9 2377 3607 3954 3981 45.8 -13.6 52 371 0.00 2.38 0.00 0.000 1158 0.000 0.060 2376 2204 3967 3954 3981 0 0 0 0 0 0 14.35 14.23 14.39

670 -0.82 -145.9 2377 2204 3956 3980 85.3 -11.0 83 675 0.17 2.47 0.00 0.000 4740 0.117 0.083 2299 784 3967 3955 3980 0 0 0 0 0 0 14.33 13.64 14.37

691 -0.88 -145.9 2299 785 3955 3981 88.3 -13.7 87 696 0.00 2.45 0.00 0.000 1158 0.000 0.086 2298 2195 3967 3954 3981 0 0 0 0 0 0 14.36 14.21 14.42

1011 -0.91 -145.9 2299 2197 3956 3981 135.6 -13.8 104 1017 0.00 2.47 0.00 0.000 388 0.000 0.090 2294 3610 3968 3955 3981 0 0 0 0 0 0 14.73 14.21 14.74

1144 -1.04 -145.9 2294 3611 3955 3982 151.3 -11.4 130 1149 0.15 2.38 0.00 0.000 5254 0.115 0.058 2235 2199 3968 3955 3981 0 0 0 0 0 0 14.34 14.28 14.45

1464 -0.99 -145.9 2235 2198 3956 3982 207.8 -17.3 144 1465 0.00 0.00 0.00 0.000 134 0.000 0.000 2235 2198 3968 3955 3981 0 0 0 0 0 0 14.74 14.76 14.76

1764 -0.99 -145.9 2236 2198 3956 3981 255.1 -15.0 154 1769 0.00 2.47 0.00 0.000 260 0.000 0.089 2225 3610 3968 3955 3981 0 0 0 0 0 0 14.76 14.22 14.77

1906 -1.04 -145.9 2225 3609 3956 3981 274.2 -13.0 182 1911 0.00 2.40 0.00 0.000 1158 0.000 0.058 2225 2191 3968 3955 3981 0 0 0 0 0 0 14.43 14.27 14.45

2216 -1.04 -145.9 2225 2189 3956 3980 316.5 -13.2 194 2220 0.00 2.55 0.00 0.000 260 0.000 0.089 2222 3615 3967 3954 3980 0 0 0 0 0 0 14.55 13.98 14.57

2291 -1.11 -145.9 2222 3615 3955 3981 325.9 -11.7 209 2296 0.00 2.42 0.00 0.000 1158 0.000 0.056 2222 2197 3967 3955 3980 0 0 0 0 0 0 14.20 14.07 14.24

2606 -1.11 -145.9 2223 2197 3956 3981 365.5 -12.4 222 2611 0.00 2.55 0.00 0.000 260 0.000 0.090 2222 3615 3967 3954 3980 0 0 0 0 0 0 14.52 13.98 14.54

2691 -1.20 -145.9 2222 3616 3955 3981 375.4 -11.0 239 2697 0.00 2.42 0.00 0.000 1158 0.000 0.057 2222 2193 3967 3954 3981 0 0 0 0 0 0 14.22 14.09 14.25

2996 -1.22 -145.9 2223 2192 3953 3981 412.1 -12.0 250 3001 0.12 2.55 0.00 0.000 4484 0.149 0.085 2161 3615 3967 3954 3980 0 0 0 0 0 0 14.14 13.98 14.19

3061 -1.15 -145.9 2162 3614 3955 3980 422.5 -16.5 263 3067 0.20 2.45 0.00 0.000 3206 0.265 0.056 2202 2196 3967 3954 3980 0 0 0 0 0 0 13.73 14.09 14.05

3387 -1.15 -145.9 2202 2195 3955 3980 467.1 -13.5 278 3391 0.00 2.53 0.00 0.000 260 0.000 0.086 2197 3609 3966 3954 3979 0 0 0 0 0 0 14.51 13.94 14.52

3477 -1.19 -145.9 2197 3610 3953 3980 479.1 -12.7 296 3482 0.00 2.42 0.00 0.000 1158 0.000 0.054 2196 2196 3968 3954 3982 0 0 0 0 0 0 14.13 14.05 14.19

3484 end dive: TARGET_DEPTH_EXCEEDED

state 3484 begin apogee

3490 -0.13 0.0 2197 2073 3955 3979 480.4 -12.1 298 3718 1.35 0.00 223.43 1.440 10246 0.247 0.000 2530 2072 3363 3385 3342 0 0 0 0 0 0 13.73 13.40 12.59

3721 end apogee: CONTROL_FINISHED_OK

state 3721 begin climb

3723 0.57 145.9 2531 2073 3380 3332 492.0 0.0 305 4118 0.75 2.60 210.57 1.386 10756 0.061 0.076 2788 730 2753 2793 2713 0 0 0 0 0 0 13.52 12.85 12.24

4128 0.57 145.9 2788 726 2794 2712 477.8 3.9 308 4138 0.00 2.47 0.00 0.000 1030 0.000 0.075 2788 2100 2752 2794 2710 0 0 0 0 0 0 13.62 13.56 13.62

4454 0.14 145.9 2788 2099 2793 2708 427.5 15.0 321 4459 0.68 2.45 0.00 0.000 4484 0.310 0.075 2637 3517 2749 2791 2707 0 0 0 0 0 0 13.60 13.96 13.84

4489 -0.06 145.9 2637 3517 2790 2708 423.2 10.8 328 4495 0.28 2.38 0.00 0.000 5254 0.255 0.057 2574 2127 2747 2789 2706 0 0 0 0 0 0 13.76 14.04 14.07

4815 0.01 238.7 2570 2128 2789 2707 403.7 5.7 343 4972 0.00 2.60 149.40 1.320 8740 0.000 0.086 2572 694 2390 2449 2331 0 0 0 0 0 0 14.59 13.53 12.94

5043 0.18 299.9 2573 694 2439 2325 388.6 7.2 388 5149 0.20 2.53 95.28 1.307 11430 0.099 0.081 2655 2105 2138 2195 2081 0 0 0 0 0 0 13.98 13.90 12.83

5448 0.14 299.9 2655 2106 2182 2067 337.2 12.8 419 5452 0.00 2.53 0.00 0.000 644 0.000 0.087 2655 685 2124 2181 2067 0 0 0 0 0 0 14.47 14.10 14.49

5497 0.14 299.9 2655 685 2180 2068 331.0 12.2 429 5502 0.00 2.50 0.00 0.000 1030 0.000 0.079 2655 2106 2125 2183 2067 0 0 0 0 0 0 14.23 14.10 14.29

5808 0.12 299.9 2655 2108 2178 2066 294.0 11.7 441 5813 0.12 2.47 0.00 0.000 4740 0.254 0.083 2631 690 2123 2181 2065 0 0 0 0 0 0 13.95 14.17 14.09

5864 0.20 315.7 2631 690 2176 2067 288.5 9.3 452 5888 0.00 2.45 18.90 1.429 9382 0.000 0.079 2630 2101 2077 2132 2022 0 0 0 0 0 0 14.33 14.20 13.31

6200 0.26 336.7 2631 2101 2123 2012 257.3 9.0 469 6240 0.12 2.50 33.22 1.375 10916 0.125 0.086 2699 693 1989 2039 1940 0 0 0 0 0 0 14.38 14.14 13.29

6296 0.26 336.7 2696 691 2030 1937 245.4 12.6 488 6301 0.00 2.47 0.00 0.000 1030 0.000 0.078 2695 2099 1982 2029 1935 0 0 0 0 0 0 14.27 14.14 14.32

6622 0.21 336.7 2696 2101 2029 1931 206.3 11.6 503 6623 0.17 0.00 0.00 0.000 4230 0.217 0.000 2655 2100 1979 2028 1930 0 0 0 0 0 0 14.07 14.38 14.32

6922 0.29 375.9 2656 2100 2030 1927 180.8 8.2 513 7001 0.00 2.58 70.85 1.287 8868 0.000 0.089 2655 693 1826 1858 1795 0 0 0 0 0 0 14.65 13.98 13.19

7072 0.46 426.5 2655 693 1847 1793 168.9 7.7 543 7172 0.22 2.47 91.95 1.213 11430 0.099 0.079 2745 2100 1619 1656 1583 0 0 0 0 0 0 14.15 14.08 13.05

7493 0.42 426.5 2746 2101 1651 1566 113.0 12.8 577 7498 0.00 2.50 0.00 0.000 644 0.000 0.087 2750 690 1608 1651 1566 0 0 0 0 0 0 14.53 14.14 14.54

7563 0.42 426.5 2751 691 1647 1567 104.5 11.7 591 7568 0.15 2.47 0.00 0.000 5126 0.239 0.078 2719 2099 1606 1646 1566 0 0 0 0 0 0 13.95 14.18 14.24

7873 0.50 465.0 2719 2100 1647 1563 75.8 8.2 622 7900 0.00 2.55 18.55 0.419 8868 0.000 0.086 2725 688 1468 1511 1425 0 0 0 0 0 0 14.57 14.09 13.65

7992 0.65 517.2 2725 689 1513 1431 66.5 7.6 645 8030 0.20 2.47 29.88 0.394 11430 0.095 0.079 2803 2098 1255 1310 1201 0 0 0 0 0 0 14.19 14.09 13.64

8326 0.68 554.5 2799 2100 1311 1209 33.3 8.3 682 8348 0.00 0.00 21.62 0.297 8230 0.000 0.000 2799 2100 1102 1164 1040 0 0 0 0 0 0 14.57 14.07 13.79

8646 0.81 637.4 2800 2099 1165 1049 12.0 6.2 714 8698 0.12 0.00 46.50 0.235 10662 0.135 0.000 2864 2100 763 822 704 0 0 0 0 0 0 14.23 14.00 13.76

8753 end climb: SURFACE_DEPTH_REACHED

state 8753 begin surface coast

8775 end surface coast: CONTROL_FINISHED_OK

state 8775 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	263	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	735.0
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	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,111902,7510.7036,-15141.6357,14,0.7,19,20.4,0.0,33.0,12,9.3	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	1.26	MHEAD_RNG_PITCHd_Wd	6.6,61609,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	060917,112520,7510.7310,-15141.7002,5,0.9,38,20.4,0.2,52.2,10,9.2

FINISH	0.2,1.010742	_24V_AH	12.24,168.726
SM_CCo	8795,37.67,0.207,0,0,501,703.28	_10V_AH	12.11,0.000
SM_GC	1.10,8.15,0.17,37.67,0.073,0.118,0.207,204,2220,501,-7.36,-0.74,703.28,0,0,0,0,0,0,14.31,14.30,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	306	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323576
IRIDIUM_FIX	7508.83,-15144.79,060917,084147	DATA_FILE_SIZE	26715,731
TT8_MAMPS	0.040446,0.922768	CAP_FILE_SIZE	99300,0
HUMID	46.81	CFSIZE	2097872896,2009923584
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1446.0
XPDR_PINGS	13	CURRENT	0.043,323.19,1
CP_FREE	15960047616.000000	GPS	060917,135411,7511.902,-15139.208,18,0.7,19,20.4,0.5,355.4,12,9.6
PM_FREEKB_00	50194560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.24	nil	0	0	0.00
Roll_motor	85	2141	2230.36	nil	0	0	0.00
VBD_pump_during_apogee	1010	1439	17801.16	nil	0	0	0.00
VBD_pump_during_surface	37	207	95.60	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	4659	15	900.44
Iridium_during_xfer	159	129	252.91	NCP	8766	20	2145.92
Transponder_ping	3	420	16.71	PMAR	8750	9	1059.65
GUMSTIX_24V	0	0	0.00
GPS	39	22	10.80
TT8	0	0	0.00
LPSleep	5991	2	167.59
TT8_Active	895	13	151.50
TT8_Sampling	2108	33	853.89
TT8_CF8	231	38	108.64
TT8_Kalman	0	0	0.00
Analog_circuits	2109	10	255.48
GPS_charging	0	0	0.00
Compass	1046	7	88.71
RAFOS	2203	48	1280.56
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
51	-0.57	-145.9	194	2213	508	489	0.0	0.0	0	143	0.00	0.00	-91.12	0.000	16386	0.000	0.000	193	2214	2158	2090	2227	0	0	0	0	0	0	14.59	28.83	14.60
146	-0.57	-145.9	194	2213	2095	2227	3.6	-4.6	9	203	12.85	2.85	-35.62	0.000	18724	0.456	2.141	2378	3607	3965	3949	3981	0	0	0	0	0	0	13.63	12.56	14.15
364	-0.71	-145.9	2377	3607	3954	3981	45.8	-13.6	52	371	0.00	2.38	0.00	0.000	1158	0.000	0.060	2376	2204	3967	3954	3981	0	0	0	0	0	0	14.35	14.23	14.39
670	-0.82	-145.9	2377	2204	3956	3980	85.3	-11.0	83	675	0.17	2.47	0.00	0.000	4740	0.117	0.083	2299	784	3967	3955	3980	0	0	0	0	0	0	14.33	13.64	14.37
691	-0.88	-145.9	2299	785	3955	3981	88.3	-13.7	87	696	0.00	2.45	0.00	0.000	1158	0.000	0.086	2298	2195	3967	3954	3981	0	0	0	0	0	0	14.36	14.21	14.42
1011	-0.91	-145.9	2299	2197	3956	3981	135.6	-13.8	104	1017	0.00	2.47	0.00	0.000	388	0.000	0.090	2294	3610	3968	3955	3981	0	0	0	0	0	0	14.73	14.21	14.74
1144	-1.04	-145.9	2294	3611	3955	3982	151.3	-11.4	130	1149	0.15	2.38	0.00	0.000	5254	0.115	0.058	2235	2199	3968	3955	3981	0	0	0	0	0	0	14.34	14.28	14.45
1464	-0.99	-145.9	2235	2198	3956	3982	207.8	-17.3	144	1465	0.00	0.00	0.00	0.000	134	0.000	0.000	2235	2198	3968	3955	3981	0	0	0	0	0	0	14.74	14.76	14.76
1764	-0.99	-145.9	2236	2198	3956	3981	255.1	-15.0	154	1769	0.00	2.47	0.00	0.000	260	0.000	0.089	2225	3610	3968	3955	3981	0	0	0	0	0	0	14.76	14.22	14.77
1906	-1.04	-145.9	2225	3609	3956	3981	274.2	-13.0	182	1911	0.00	2.40	0.00	0.000	1158	0.000	0.058	2225	2191	3968	3955	3981	0	0	0	0	0	0	14.43	14.27	14.45
2216	-1.04	-145.9	2225	2189	3956	3980	316.5	-13.2	194	2220	0.00	2.55	0.00	0.000	260	0.000	0.089	2222	3615	3967	3954	3980	0	0	0	0	0	0	14.55	13.98	14.57
2291	-1.11	-145.9	2222	3615	3955	3981	325.9	-11.7	209	2296	0.00	2.42	0.00	0.000	1158	0.000	0.056	2222	2197	3967	3955	3980	0	0	0	0	0	0	14.20	14.07	14.24
2606	-1.11	-145.9	2223	2197	3956	3981	365.5	-12.4	222	2611	0.00	2.55	0.00	0.000	260	0.000	0.090	2222	3615	3967	3954	3980	0	0	0	0	0	0	14.52	13.98	14.54
2691	-1.20	-145.9	2222	3616	3955	3981	375.4	-11.0	239	2697	0.00	2.42	0.00	0.000	1158	0.000	0.057	2222	2193	3967	3954	3981	0	0	0	0	0	0	14.22	14.09	14.25
2996	-1.22	-145.9	2223	2192	3953	3981	412.1	-12.0	250	3001	0.12	2.55	0.00	0.000	4484	0.149	0.085	2161	3615	3967	3954	3980	0	0	0	0	0	0	14.14	13.98	14.19
3061	-1.15	-145.9	2162	3614	3955	3980	422.5	-16.5	263	3067	0.20	2.45	0.00	0.000	3206	0.265	0.056	2202	2196	3967	3954	3980	0	0	0	0	0	0	13.73	14.09	14.05
3387	-1.15	-145.9	2202	2195	3955	3980	467.1	-13.5	278	3391	0.00	2.53	0.00	0.000	260	0.000	0.086	2197	3609	3966	3954	3979	0	0	0	0	0	0	14.51	13.94	14.52
3477	-1.19	-145.9	2197	3610	3953	3980	479.1	-12.7	296	3482	0.00	2.42	0.00	0.000	1158	0.000	0.054	2196	2196	3968	3954	3982	0	0	0	0	0	0	14.13	14.05	14.19
3484	end dive: TARGET_DEPTH_EXCEEDED
state	3484	begin apogee
3490	-0.13	0.0	2197	2073	3955	3979	480.4	-12.1	298	3718	1.35	0.00	223.43	1.440	10246	0.247	0.000	2530	2072	3363	3385	3342	0	0	0	0	0	0	13.73	13.40	12.59
3721	end apogee: CONTROL_FINISHED_OK
state	3721	begin climb
3723	0.57	145.9	2531	2073	3380	3332	492.0	0.0	305	4118	0.75	2.60	210.57	1.386	10756	0.061	0.076	2788	730	2753	2793	2713	0	0	0	0	0	0	13.52	12.85	12.24
4128	0.57	145.9	2788	726	2794	2712	477.8	3.9	308	4138	0.00	2.47	0.00	0.000	1030	0.000	0.075	2788	2100	2752	2794	2710	0	0	0	0	0	0	13.62	13.56	13.62
4454	0.14	145.9	2788	2099	2793	2708	427.5	15.0	321	4459	0.68	2.45	0.00	0.000	4484	0.310	0.075	2637	3517	2749	2791	2707	0	0	0	0	0	0	13.60	13.96	13.84
4489	-0.06	145.9	2637	3517	2790	2708	423.2	10.8	328	4495	0.28	2.38	0.00	0.000	5254	0.255	0.057	2574	2127	2747	2789	2706	0	0	0	0	0	0	13.76	14.04	14.07
4815	0.01	238.7	2570	2128	2789	2707	403.7	5.7	343	4972	0.00	2.60	149.40	1.320	8740	0.000	0.086	2572	694	2390	2449	2331	0	0	0	0	0	0	14.59	13.53	12.94
5043	0.18	299.9	2573	694	2439	2325	388.6	7.2	388	5149	0.20	2.53	95.28	1.307	11430	0.099	0.081	2655	2105	2138	2195	2081	0	0	0	0	0	0	13.98	13.90	12.83
5448	0.14	299.9	2655	2106	2182	2067	337.2	12.8	419	5452	0.00	2.53	0.00	0.000	644	0.000	0.087	2655	685	2124	2181	2067	0	0	0	0	0	0	14.47	14.10	14.49
5497	0.14	299.9	2655	685	2180	2068	331.0	12.2	429	5502	0.00	2.50	0.00	0.000	1030	0.000	0.079	2655	2106	2125	2183	2067	0	0	0	0	0	0	14.23	14.10	14.29
5808	0.12	299.9	2655	2108	2178	2066	294.0	11.7	441	5813	0.12	2.47	0.00	0.000	4740	0.254	0.083	2631	690	2123	2181	2065	0	0	0	0	0	0	13.95	14.17	14.09
5864	0.20	315.7	2631	690	2176	2067	288.5	9.3	452	5888	0.00	2.45	18.90	1.429	9382	0.000	0.079	2630	2101	2077	2132	2022	0	0	0	0	0	0	14.33	14.20	13.31
6200	0.26	336.7	2631	2101	2123	2012	257.3	9.0	469	6240	0.12	2.50	33.22	1.375	10916	0.125	0.086	2699	693	1989	2039	1940	0	0	0	0	0	0	14.38	14.14	13.29
6296	0.26	336.7	2696	691	2030	1937	245.4	12.6	488	6301	0.00	2.47	0.00	0.000	1030	0.000	0.078	2695	2099	1982	2029	1935	0	0	0	0	0	0	14.27	14.14	14.32
6622	0.21	336.7	2696	2101	2029	1931	206.3	11.6	503	6623	0.17	0.00	0.00	0.000	4230	0.217	0.000	2655	2100	1979	2028	1930	0	0	0	0	0	0	14.07	14.38	14.32
6922	0.29	375.9	2656	2100	2030	1927	180.8	8.2	513	7001	0.00	2.58	70.85	1.287	8868	0.000	0.089	2655	693	1826	1858	1795	0	0	0	0	0	0	14.65	13.98	13.19
7072	0.46	426.5	2655	693	1847	1793	168.9	7.7	543	7172	0.22	2.47	91.95	1.213	11430	0.099	0.079	2745	2100	1619	1656	1583	0	0	0	0	0	0	14.15	14.08	13.05
7493	0.42	426.5	2746	2101	1651	1566	113.0	12.8	577	7498	0.00	2.50	0.00	0.000	644	0.000	0.087	2750	690	1608	1651	1566	0	0	0	0	0	0	14.53	14.14	14.54
7563	0.42	426.5	2751	691	1647	1567	104.5	11.7	591	7568	0.15	2.47	0.00	0.000	5126	0.239	0.078	2719	2099	1606	1646	1566	0	0	0	0	0	0	13.95	14.18	14.24
7873	0.50	465.0	2719	2100	1647	1563	75.8	8.2	622	7900	0.00	2.55	18.55	0.419	8868	0.000	0.086	2725	688	1468	1511	1425	0	0	0	0	0	0	14.57	14.09	13.65
7992	0.65	517.2	2725	689	1513	1431	66.5	7.6	645	8030	0.20	2.47	29.88	0.394	11430	0.095	0.079	2803	2098	1255	1310	1201	0	0	0	0	0	0	14.19	14.09	13.64
8326	0.68	554.5	2799	2100	1311	1209	33.3	8.3	682	8348	0.00	0.00	21.62	0.297	8230	0.000	0.000	2799	2100	1102	1164	1040	0	0	0	0	0	0	14.57	14.07	13.79
8646	0.81	637.4	2800	2099	1165	1049	12.0	6.2	714	8698	0.12	0.00	46.50	0.235	10662	0.135	0.000	2864	2100	763	822	704	0	0	0	0	0	0	14.23	14.00	13.76
8753	end climb: SURFACE_DEPTH_REACHED
state	8753	begin surface coast
8775	end surface coast: CONTROL_FINISHED_OK
state	8775	begin surface