Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 265 * 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 265 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 741.0

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 31 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 741.0 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 265 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 060917,163456,7513.0854,-15136.7881,40,0.7,40,20.5,0.5,297.2,12,7.9 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 1.23 MHEAD_RNG_PITCHd_Wd 359.4,56793,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.7 D_GRID 480

GPS2 060917,164051,7513.1216,-15136.7744,8,0.7,8,20.5,0.0,81.5,11,9.0

Post-dive calculations and measurements:

FINISH 0.2,1.007180 _24V_AH 12.29,169.635

SM_CCo 9005,28.83,0.210,0,0,499,703.03 _10V_AH 12.16,0.000

SM_GC 1.50,8.20,0.17,28.83,0.073,0.134,0.210,201,2210,499,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.23,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323496

IRIDIUM_FIX 7513.04,-15136.82,060917,135758 DATA_FILE_SIZE 30012,859

TT8_MAMPS 0.039697,0.868091 CAP_FILE_SIZE 105725,0

HUMID 47.04 CFSIZE 2097872896,2009497600

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 23 CURRENT 0.037,314.03,1

CP_FREE 15959195648.000000 GPS 060917,191306,7514.213,-15134.832,16,0.8,19,20.5,0.6,63.1,10,9.3

PM_FREEKB_00 50144064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.25 nil 0 0 0.00

Roll_motor 94 2135 2467.92 nil 0 0 0.00

VBD_pump_during_apogee 990 1505 18321.98 nil 0 0 0.00

VBD_pump_during_surface 28 210 74.53 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 5273 14 961.06

Iridium_during_xfer 163 133 267.68 NCP 8991 20 2209.99

Transponder_ping 5 420 29.68 PMAR 8958 9 1084.20

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.14

TT8 0 0 0.00

LPSleep 6253 2 175.66

TT8_Active 875 13 148.72

TT8_Sampling 2040 33 829.73

TT8_CF8 236 38 111.15

TT8_Kalman 0 0 0.00

Analog_circuits 1961 10 238.47

GPS_charging 0 0 0.00

Compass 1227 7 104.48

RAFOS 0 0 0.00

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 -145.9 194 2213 507 493 0.0 0.0 0 144 0.00 0.00 -91.00 0.000 16386 0.000 0.000 193 2213 2190 2128 2253 0 0 0 0 0 0 14.40 28.83 14.42

147 -0.57 -145.9 193 2215 2132 2255 4.0 -5.7 9 200 12.80 2.78 -34.12 0.000 18724 0.456 2.135 2376 3603 3963 3947 3980 0 0 0 0 0 0 13.56 12.81 14.04

405 -0.71 -145.9 2376 3605 3953 3981 51.4 -12.8 60 412 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2228 3966 3953 3980 0 0 0 0 0 0 14.32 14.16 14.35

713 -0.83 -145.9 2376 2229 3954 3981 88.2 -10.1 91 718 0.17 2.40 0.00 0.000 4484 0.114 0.083 2292 3602 3967 3954 3980 0 0 0 0 0 0 14.31 14.19 14.35

738 -0.87 -145.9 2293 3602 3955 3980 91.8 -14.4 96 745 0.00 2.40 0.00 0.000 1158 0.000 0.058 2292 2194 3967 3954 3980 0 0 0 0 0 0 14.38 14.23 14.41

1063 -0.90 -145.9 2293 2194 3955 3980 141.7 -14.2 111 1068 0.00 2.47 0.00 0.000 388 0.000 0.086 2283 3607 3968 3957 3980 0 0 0 0 0 0 14.71 14.21 14.72

1078 -0.93 -145.9 2284 3609 3954 3981 143.8 -13.7 114 1083 0.00 2.38 0.00 0.000 1158 0.000 0.054 2284 2193 3966 3953 3980 0 0 0 0 0 0 14.40 14.27 14.43

1393 -0.98 -145.9 2285 2192 3955 3980 186.4 -13.1 127 1398 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3601 3967 3954 3980 0 0 0 0 0 0 14.71 14.21 14.73

1468 -1.10 -145.9 2280 3602 3955 3981 195.2 -11.1 142 1473 0.17 2.35 0.00 0.000 5254 0.112 0.057 2217 2201 3966 3954 3979 0 0 0 0 0 0 14.32 14.28 14.42

1784 -1.03 -145.9 2217 2200 3955 3981 251.7 -17.6 155 1789 0.12 2.45 0.00 0.000 2436 0.302 0.083 2236 3600 3967 3954 3980 0 0 0 0 0 0 13.97 14.20 14.13

1881 -1.11 -145.9 2236 3601 3954 3981 264.4 -12.1 174 1886 0.00 2.38 0.00 0.000 1158 0.000 0.056 2236 2192 3967 3954 3980 0 0 0 0 0 0 14.39 14.26 14.43

2206 -1.11 -145.9 2236 2191 3955 3980 306.9 -12.7 189 2211 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3608 3966 3954 3979 0 0 0 0 0 0 14.73 14.12 14.75

2276 -1.20 -145.9 2236 3609 3955 3980 315.1 -10.9 203 2281 0.15 2.38 0.00 0.000 5254 0.127 0.056 2176 2197 3967 3954 3980 0 0 0 0 0 0 14.29 14.26 14.40

2597 -1.11 -145.9 2176 2196 3954 3981 369.6 -17.3 217 2602 0.17 2.47 0.00 0.000 2436 0.299 0.083 2211 3601 3966 3953 3979 0 0 0 0 0 0 13.88 14.13 14.05

2724 -1.15 -145.9 2206 3603 3954 3980 386.5 -12.6 242 2729 0.00 2.38 0.00 0.000 1158 0.000 0.056 2206 2193 3966 3953 3980 0 0 0 0 0 0 14.38 14.26 14.42

3049 -1.15 -145.9 2208 2192 3954 3980 431.0 -13.6 257 3054 0.00 2.50 0.00 0.000 260 0.000 0.087 2197 3603 3966 3953 3979 0 0 0 0 0 0 14.73 13.28 14.76

3114 -1.18 -145.9 2197 3603 3954 3979 439.9 -13.1 270 3119 0.00 2.38 0.00 0.000 1158 0.000 0.055 2197 2189 3966 3953 3979 0 0 0 0 0 0 14.38 14.25 14.42

3406 end dive: TARGET_DEPTH_EXCEEDED

state 3406 begin apogee

3412 -0.13 0.0 2198 2059 3953 3980 482.0 -14.3 284 3649 1.33 0.05 228.38 1.432 10246 0.242 0.224 2531 2094 3359 3380 3338 0 0 0 0 0 0 13.87 13.45 12.65

3698 end apogee: CONTROL_FINISHED_OK

state 3698 begin climb

3700 0.57 145.9 2532 2094 3377 3330 495.2 0.0 292 3917 0.73 2.70 210.23 1.387 11012 0.062 0.073 2778 3510 2762 2807 2718 0 0 0 0 0 0 13.75 12.92 12.29

4144 0.10 145.9 2779 3509 2785 2716 473.5 16.0 391 4149 0.85 2.40 0.00 0.000 5254 0.348 0.057 2617 2131 2750 2784 2716 0 0 0 0 0 0 12.88 13.83 13.16

4460 0.02 195.2 2618 2130 2784 2716 447.6 7.7 404 4540 0.12 2.47 73.93 1.388 12708 0.299 0.080 2589 3513 2563 2616 2510 0 0 0 0 0 0 13.85 13.68 13.05

4695 0.02 229.5 2589 3514 2598 2504 428.4 8.4 451 4751 0.00 2.42 49.05 1.413 9382 0.000 0.061 2589 2099 2424 2477 2372 0 0 0 0 0 0 14.20 14.12 13.09

5063 0.08 272.4 2586 2100 2465 2360 398.9 8.0 474 5136 0.00 2.53 68.15 1.369 8868 0.000 0.089 2588 687 2251 2302 2200 0 0 0 0 0 0 14.55 13.74 13.12

5222 0.23 316.4 2590 687 2288 2192 385.9 8.0 506 5297 0.20 2.47 68.72 1.336 11430 0.098 0.079 2672 2097 2076 2126 2026 0 0 0 0 0 0 14.16 14.07 13.02

5602 0.17 316.4 2672 2099 2111 2006 332.9 14.1 532 5607 0.15 2.45 0.00 0.000 4740 0.265 0.083 2646 693 2057 2110 2005 0 0 0 0 0 0 13.97 14.17 14.13

5668 0.22 316.4 2646 694 2107 2006 325.2 11.0 545 5673 0.00 2.45 0.00 0.000 1158 0.000 0.077 2646 2101 2055 2106 2005 0 0 0 0 0 0 14.34 14.19 14.36

5993 0.22 316.4 2646 2103 2105 2004 288.1 11.2 560 5998 0.00 2.47 0.00 0.000 516 0.000 0.086 2646 687 2054 2106 2003 0 0 0 0 0 0 14.66 14.23 14.65

6033 0.27 316.4 2647 688 2105 2004 283.7 10.6 568 6038 0.00 2.45 0.00 0.000 1158 0.000 0.078 2646 2100 2053 2104 2003 0 0 0 0 0 0 14.39 14.25 14.44

6353 0.27 318.9 2647 2101 2104 2004 250.8 9.9 582 6358 0.00 2.45 0.00 0.000 548 0.000 0.086 2647 692 2053 2103 2003 0 0 0 0 0 0 14.67 14.24 14.69

6408 0.36 335.3 2647 692 2103 2003 245.5 9.2 593 6439 0.17 2.45 25.83 1.410 11430 0.107 0.077 2713 2106 1995 2045 1946 0 0 0 0 0 0 14.32 14.20 13.32

6746 0.27 335.3 2714 2106 2034 1934 201.8 12.5 610 6751 0.15 2.47 0.00 0.000 4740 0.233 0.082 2684 685 1983 2032 1934 0 0 0 0 0 0 13.99 14.21 14.15

6843 0.31 349.8 2685 685 2031 1934 192.0 9.3 629 6869 0.00 2.47 19.70 1.435 9382 0.000 0.078 2684 2106 1937 1982 1892 0 0 0 0 0 0 14.33 14.16 13.28

7167 0.32 359.2 2685 2107 1974 1880 159.8 9.6 644 7181 0.00 0.00 10.85 1.506 8742 0.000 0.000 2684 2107 1897 1938 1857 0 0 0 0 0 0 14.62 13.89 13.26

7497 0.34 384.2 2684 2107 1927 1852 129.8 8.8 660 7548 0.00 2.53 43.40 1.326 8740 0.000 0.086 2685 694 1792 1821 1764 0 0 0 0 0 0 14.63 14.08 13.26

7658 0.47 423.7 2685 694 1810 1764 116.2 8.2 692 7734 0.15 2.45 70.90 1.232 11430 0.119 0.080 2750 2103 1637 1668 1607 0 0 0 0 0 0 14.07 14.01 13.17

8039 0.44 423.7 2750 2099 1658 1581 72.0 10.4 734 8044 0.00 2.50 0.00 0.000 644 0.000 0.086 2755 690 1619 1658 1580 0 0 0 0 0 0 14.52 14.13 14.53

8104 0.46 446.8 2755 690 1656 1581 65.8 8.9 747 8122 0.12 2.50 10.50 0.381 13350 0.236 0.080 2728 2098 1543 1581 1505 0 0 0 0 0 0 13.95 14.07 13.71

8419 0.62 567.3 2728 2100 1584 1511 47.3 4.4 780 8488 0.17 2.50 63.65 0.340 10916 0.103 0.086 2799 695 1051 1120 983 0 0 0 0 0 0 14.32 13.97 13.76

8530 0.71 583.0 2799 690 1121 988 38.7 9.3 800 8548 0.00 2.47 9.57 0.313 9382 0.000 0.076 2797 2098 986 1058 914 0 0 0 0 0 0 14.19 14.06 13.69

8843 0.85 651.4 2799 2098 1059 924 15.0 6.8 833 8886 0.15 2.55 37.38 0.251 10916 0.118 0.088 2876 685 706 766 646 0 0 0 0 0 0 14.27 14.05 13.76

8961 0.88 651.4 2877 685 768 645 3.0 10.5 856 8967 0.00 2.50 0.00 0.000 1158 0.000 0.075 2876 2107 708 766 650 0 0 0 0 0 0 14.23 14.07 14.29

8974 end climb: SURFACE_DEPTH_REACHED

state 8974 begin surface coast

8984 end surface coast: CONTROL_FINISHED_OK

state 8984 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	265	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	741.0
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	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,163456,7513.0854,-15136.7881,40,0.7,40,20.5,0.5,297.2,12,7.9	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	1.23	MHEAD_RNG_PITCHd_Wd	359.4,56793,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.7	D_GRID	480
GPS2	060917,164051,7513.1216,-15136.7744,8,0.7,8,20.5,0.0,81.5,11,9.0

FINISH	0.2,1.007180	_24V_AH	12.29,169.635
SM_CCo	9005,28.83,0.210,0,0,499,703.03	_10V_AH	12.16,0.000
SM_GC	1.50,8.20,0.17,28.83,0.073,0.134,0.210,201,2210,499,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.23,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323496
IRIDIUM_FIX	7513.04,-15136.82,060917,135758	DATA_FILE_SIZE	30012,859
TT8_MAMPS	0.039697,0.868091	CAP_FILE_SIZE	105725,0
HUMID	47.04	CFSIZE	2097872896,2009497600
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	23	CURRENT	0.037,314.03,1
CP_FREE	15959195648.000000	GPS	060917,191306,7514.213,-15134.832,16,0.8,19,20.5,0.6,63.1,10,9.3
PM_FREEKB_00	50144064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.25	nil	0	0	0.00
Roll_motor	94	2135	2467.92	nil	0	0	0.00
VBD_pump_during_apogee	990	1505	18321.98	nil	0	0	0.00
VBD_pump_during_surface	28	210	74.53	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	5273	14	961.06
Iridium_during_xfer	163	133	267.68	NCP	8991	20	2209.99
Transponder_ping	5	420	29.68	PMAR	8958	9	1084.20
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.14
TT8	0	0	0.00
LPSleep	6253	2	175.66
TT8_Active	875	13	148.72
TT8_Sampling	2040	33	829.73
TT8_CF8	236	38	111.15
TT8_Kalman	0	0	0.00
Analog_circuits	1961	10	238.47
GPS_charging	0	0	0.00
Compass	1227	7	104.48
RAFOS	0	0	0.00
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	194	2213	507	493	0.0	0.0	0	144	0.00	0.00	-91.00	0.000	16386	0.000	0.000	193	2213	2190	2128	2253	0	0	0	0	0	0	14.40	28.83	14.42
147	-0.57	-145.9	193	2215	2132	2255	4.0	-5.7	9	200	12.80	2.78	-34.12	0.000	18724	0.456	2.135	2376	3603	3963	3947	3980	0	0	0	0	0	0	13.56	12.81	14.04
405	-0.71	-145.9	2376	3605	3953	3981	51.4	-12.8	60	412	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2228	3966	3953	3980	0	0	0	0	0	0	14.32	14.16	14.35
713	-0.83	-145.9	2376	2229	3954	3981	88.2	-10.1	91	718	0.17	2.40	0.00	0.000	4484	0.114	0.083	2292	3602	3967	3954	3980	0	0	0	0	0	0	14.31	14.19	14.35
738	-0.87	-145.9	2293	3602	3955	3980	91.8	-14.4	96	745	0.00	2.40	0.00	0.000	1158	0.000	0.058	2292	2194	3967	3954	3980	0	0	0	0	0	0	14.38	14.23	14.41
1063	-0.90	-145.9	2293	2194	3955	3980	141.7	-14.2	111	1068	0.00	2.47	0.00	0.000	388	0.000	0.086	2283	3607	3968	3957	3980	0	0	0	0	0	0	14.71	14.21	14.72
1078	-0.93	-145.9	2284	3609	3954	3981	143.8	-13.7	114	1083	0.00	2.38	0.00	0.000	1158	0.000	0.054	2284	2193	3966	3953	3980	0	0	0	0	0	0	14.40	14.27	14.43
1393	-0.98	-145.9	2285	2192	3955	3980	186.4	-13.1	127	1398	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3601	3967	3954	3980	0	0	0	0	0	0	14.71	14.21	14.73
1468	-1.10	-145.9	2280	3602	3955	3981	195.2	-11.1	142	1473	0.17	2.35	0.00	0.000	5254	0.112	0.057	2217	2201	3966	3954	3979	0	0	0	0	0	0	14.32	14.28	14.42
1784	-1.03	-145.9	2217	2200	3955	3981	251.7	-17.6	155	1789	0.12	2.45	0.00	0.000	2436	0.302	0.083	2236	3600	3967	3954	3980	0	0	0	0	0	0	13.97	14.20	14.13
1881	-1.11	-145.9	2236	3601	3954	3981	264.4	-12.1	174	1886	0.00	2.38	0.00	0.000	1158	0.000	0.056	2236	2192	3967	3954	3980	0	0	0	0	0	0	14.39	14.26	14.43
2206	-1.11	-145.9	2236	2191	3955	3980	306.9	-12.7	189	2211	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3608	3966	3954	3979	0	0	0	0	0	0	14.73	14.12	14.75
2276	-1.20	-145.9	2236	3609	3955	3980	315.1	-10.9	203	2281	0.15	2.38	0.00	0.000	5254	0.127	0.056	2176	2197	3967	3954	3980	0	0	0	0	0	0	14.29	14.26	14.40
2597	-1.11	-145.9	2176	2196	3954	3981	369.6	-17.3	217	2602	0.17	2.47	0.00	0.000	2436	0.299	0.083	2211	3601	3966	3953	3979	0	0	0	0	0	0	13.88	14.13	14.05
2724	-1.15	-145.9	2206	3603	3954	3980	386.5	-12.6	242	2729	0.00	2.38	0.00	0.000	1158	0.000	0.056	2206	2193	3966	3953	3980	0	0	0	0	0	0	14.38	14.26	14.42
3049	-1.15	-145.9	2208	2192	3954	3980	431.0	-13.6	257	3054	0.00	2.50	0.00	0.000	260	0.000	0.087	2197	3603	3966	3953	3979	0	0	0	0	0	0	14.73	13.28	14.76
3114	-1.18	-145.9	2197	3603	3954	3979	439.9	-13.1	270	3119	0.00	2.38	0.00	0.000	1158	0.000	0.055	2197	2189	3966	3953	3979	0	0	0	0	0	0	14.38	14.25	14.42
3406	end dive: TARGET_DEPTH_EXCEEDED
state	3406	begin apogee
3412	-0.13	0.0	2198	2059	3953	3980	482.0	-14.3	284	3649	1.33	0.05	228.38	1.432	10246	0.242	0.224	2531	2094	3359	3380	3338	0	0	0	0	0	0	13.87	13.45	12.65
3698	end apogee: CONTROL_FINISHED_OK
state	3698	begin climb
3700	0.57	145.9	2532	2094	3377	3330	495.2	0.0	292	3917	0.73	2.70	210.23	1.387	11012	0.062	0.073	2778	3510	2762	2807	2718	0	0	0	0	0	0	13.75	12.92	12.29
4144	0.10	145.9	2779	3509	2785	2716	473.5	16.0	391	4149	0.85	2.40	0.00	0.000	5254	0.348	0.057	2617	2131	2750	2784	2716	0	0	0	0	0	0	12.88	13.83	13.16
4460	0.02	195.2	2618	2130	2784	2716	447.6	7.7	404	4540	0.12	2.47	73.93	1.388	12708	0.299	0.080	2589	3513	2563	2616	2510	0	0	0	0	0	0	13.85	13.68	13.05
4695	0.02	229.5	2589	3514	2598	2504	428.4	8.4	451	4751	0.00	2.42	49.05	1.413	9382	0.000	0.061	2589	2099	2424	2477	2372	0	0	0	0	0	0	14.20	14.12	13.09
5063	0.08	272.4	2586	2100	2465	2360	398.9	8.0	474	5136	0.00	2.53	68.15	1.369	8868	0.000	0.089	2588	687	2251	2302	2200	0	0	0	0	0	0	14.55	13.74	13.12
5222	0.23	316.4	2590	687	2288	2192	385.9	8.0	506	5297	0.20	2.47	68.72	1.336	11430	0.098	0.079	2672	2097	2076	2126	2026	0	0	0	0	0	0	14.16	14.07	13.02
5602	0.17	316.4	2672	2099	2111	2006	332.9	14.1	532	5607	0.15	2.45	0.00	0.000	4740	0.265	0.083	2646	693	2057	2110	2005	0	0	0	0	0	0	13.97	14.17	14.13
5668	0.22	316.4	2646	694	2107	2006	325.2	11.0	545	5673	0.00	2.45	0.00	0.000	1158	0.000	0.077	2646	2101	2055	2106	2005	0	0	0	0	0	0	14.34	14.19	14.36
5993	0.22	316.4	2646	2103	2105	2004	288.1	11.2	560	5998	0.00	2.47	0.00	0.000	516	0.000	0.086	2646	687	2054	2106	2003	0	0	0	0	0	0	14.66	14.23	14.65
6033	0.27	316.4	2647	688	2105	2004	283.7	10.6	568	6038	0.00	2.45	0.00	0.000	1158	0.000	0.078	2646	2100	2053	2104	2003	0	0	0	0	0	0	14.39	14.25	14.44
6353	0.27	318.9	2647	2101	2104	2004	250.8	9.9	582	6358	0.00	2.45	0.00	0.000	548	0.000	0.086	2647	692	2053	2103	2003	0	0	0	0	0	0	14.67	14.24	14.69
6408	0.36	335.3	2647	692	2103	2003	245.5	9.2	593	6439	0.17	2.45	25.83	1.410	11430	0.107	0.077	2713	2106	1995	2045	1946	0	0	0	0	0	0	14.32	14.20	13.32
6746	0.27	335.3	2714	2106	2034	1934	201.8	12.5	610	6751	0.15	2.47	0.00	0.000	4740	0.233	0.082	2684	685	1983	2032	1934	0	0	0	0	0	0	13.99	14.21	14.15
6843	0.31	349.8	2685	685	2031	1934	192.0	9.3	629	6869	0.00	2.47	19.70	1.435	9382	0.000	0.078	2684	2106	1937	1982	1892	0	0	0	0	0	0	14.33	14.16	13.28
7167	0.32	359.2	2685	2107	1974	1880	159.8	9.6	644	7181	0.00	0.00	10.85	1.506	8742	0.000	0.000	2684	2107	1897	1938	1857	0	0	0	0	0	0	14.62	13.89	13.26
7497	0.34	384.2	2684	2107	1927	1852	129.8	8.8	660	7548	0.00	2.53	43.40	1.326	8740	0.000	0.086	2685	694	1792	1821	1764	0	0	0	0	0	0	14.63	14.08	13.26
7658	0.47	423.7	2685	694	1810	1764	116.2	8.2	692	7734	0.15	2.45	70.90	1.232	11430	0.119	0.080	2750	2103	1637	1668	1607	0	0	0	0	0	0	14.07	14.01	13.17
8039	0.44	423.7	2750	2099	1658	1581	72.0	10.4	734	8044	0.00	2.50	0.00	0.000	644	0.000	0.086	2755	690	1619	1658	1580	0	0	0	0	0	0	14.52	14.13	14.53
8104	0.46	446.8	2755	690	1656	1581	65.8	8.9	747	8122	0.12	2.50	10.50	0.381	13350	0.236	0.080	2728	2098	1543	1581	1505	0	0	0	0	0	0	13.95	14.07	13.71
8419	0.62	567.3	2728	2100	1584	1511	47.3	4.4	780	8488	0.17	2.50	63.65	0.340	10916	0.103	0.086	2799	695	1051	1120	983	0	0	0	0	0	0	14.32	13.97	13.76
8530	0.71	583.0	2799	690	1121	988	38.7	9.3	800	8548	0.00	2.47	9.57	0.313	9382	0.000	0.076	2797	2098	986	1058	914	0	0	0	0	0	0	14.19	14.06	13.69
8843	0.85	651.4	2799	2098	1059	924	15.0	6.8	833	8886	0.15	2.55	37.38	0.251	10916	0.118	0.088	2876	685	706	766	646	0	0	0	0	0	0	14.27	14.05	13.76
8961	0.88	651.4	2877	685	768	645	3.0	10.5	856	8967	0.00	2.50	0.00	0.000	1158	0.000	0.075	2876	2107	708	766	650	0	0	0	0	0	0	14.23	14.07	14.29
8974	end climb: SURFACE_DEPTH_REACHED
state	8974	begin surface coast
8984	end surface coast: CONTROL_FINISHED_OK
state	8984	begin surface