Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 279 * 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 279 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 777.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 777.0 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 26 VBD_MIN 500

DIVE 279 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 080917,064050,7529.1548,-15113.6992,41,0.8,41,20.7,0.0,0.0,10,8.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 347.1,25862,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.7 D_GRID 480

GPS2 080917,064830,7529.1582,-15113.7930,5,0.8,11,20.7,0.6,263.1,9,8.8

Post-dive calculations and measurements:

FINISH 0.4,1.021571 _24V_AH 12.26,176.155

SM_CCo 8832,42.53,0.207,0,0,499,702.78 _10V_AH 12.15,0.000

SM_GC 1.20,8.05,0.17,42.53,0.071,0.112,0.207,206,2233,499,-7.36,-0.68,702.78,0,0,0,0,0,0,14.32,14.33,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 210 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323420

IRIDIUM_FIX 7529.54,-15052.56,080917,064403 DATA_FILE_SIZE 23389,643

TT8_MAMPS 0.040446,0.92876 CAP_FILE_SIZE 93109,0

HUMID 46.29 CFSIZE 2097872896,2006384640

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

TCM_TEMP 13.10 SOUNDSPEED 1447.2

XPDR_PINGS 8 CURRENT 0.049,252.03,1

CP_FREE 0.000000 GPS 080917,091819,7530.293,-15112.728,14,0.7,36,20.7,0.7,280.0,11,4.8

PM_FREEKB_00 49722560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 459 147.86 nil 0 0 0.00

Roll_motor 68 111 93.11 nil 0 0 0.00

VBD_pump_during_apogee 1008 1409 17428.78 nil 0 0 0.00

VBD_pump_during_surface 42 207 108.09 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 8761 14 1563.03

Iridium_during_xfer 207 130 332.03 NCP 8799 20 2157.51

Transponder_ping 2 420 10.30 PMAR 8787 9 1067.27

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.36

TT8 0 0 0.00

LPSleep 6018 2 168.93

TT8_Active 952 13 161.66

TT8_Sampling 2161 33 878.22

TT8_CF8 219 38 103.06

TT8_Kalman 0 0 0.00

Analog_circuits 2266 10 275.41

GPS_charging 0 0 0.00

Compass 926 7 78.76

RAFOS 2204 48 1285.37

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 183 2230 520 482 0.0 0.0 0 142 0.00 0.00 -91.28 0.000 16386 0.000 0.000 183 2229 2140 2071 2209 0 0 0 0 0 0 14.54 28.83 14.56

145 -0.57 -145.9 181 2229 2074 2208 3.4 -4.0 9 201 13.20 0.00 -37.33 0.000 18982 0.459 0.000 2384 2230 3961 3946 3977 1 0 0 0 0 0 13.46 13.15 14.04

500 -0.67 -145.9 2384 2230 3953 3978 71.0 -12.2 46 505 0.00 2.40 0.00 0.000 388 0.000 0.086 2378 3585 3965 3952 3978 0 0 0 0 0 0 14.59 14.04 14.61

556 -0.92 -145.9 2378 3586 3954 3978 76.7 -9.0 57 562 0.30 2.35 0.00 0.000 5286 0.090 0.054 2267 2199 3964 3951 3978 0 0 0 0 0 0 14.25 14.14 14.29

862 -0.87 -145.9 2268 2198 3953 3977 134.8 -18.4 76 869 0.12 2.47 0.00 0.000 2436 0.279 0.083 2288 3582 3964 3951 3977 0 0 0 0 0 0 13.83 13.74 13.96

929 -1.00 -145.9 2288 3585 3952 3979 144.1 -11.4 89 934 0.00 2.35 0.00 0.000 1158 0.000 0.059 2287 2200 3965 3952 3978 0 0 0 0 0 0 14.31 14.19 14.35

1254 -1.06 -145.9 2288 2199 3953 3978 186.4 -12.8 104 1260 0.15 2.45 0.00 0.000 4484 0.129 0.084 2223 3582 3965 3952 3978 0 0 0 0 0 0 14.20 14.09 14.24

1310 -1.06 -145.9 2224 3583 3956 3977 195.6 -16.7 115 1316 0.00 2.38 0.00 0.000 1030 0.000 0.060 2223 2198 3964 3951 3978 0 0 0 0 0 0 14.16 14.02 14.19

1615 -1.01 -145.9 2223 2196 3952 3979 249.3 -17.2 126 1620 0.12 2.45 0.00 0.000 2436 0.295 0.084 2242 3588 3965 3952 3978 0 0 0 0 0 0 13.90 14.14 14.07

1742 -1.10 -145.9 2243 3589 3953 3978 265.1 -10.5 151 1747 0.00 2.38 0.00 0.000 1158 0.000 0.057 2242 2195 3964 3952 3977 0 0 0 0 0 0 14.32 14.19 14.35

2067 -1.14 -145.9 2242 2194 3953 3978 304.9 -11.9 166 2072 0.00 2.45 0.00 0.000 388 0.000 0.088 2236 3583 3965 3952 3978 0 0 0 0 0 0 14.68 14.14 14.69

2148 -1.24 -145.9 2236 3586 3952 3979 313.9 -10.8 182 2153 0.17 2.35 0.00 0.000 5254 0.116 0.056 2169 2199 3965 3952 3978 0 0 0 0 0 0 14.24 14.20 14.35

2458 -1.13 -145.9 2169 2198 3953 3977 369.7 -18.1 194 2463 0.17 2.45 0.00 0.000 2436 0.287 0.082 2199 3587 3964 3951 3978 0 0 0 0 0 0 13.83 14.04 14.00

2560 -1.17 -145.9 2200 3591 3953 3978 384.0 -12.9 214 2565 0.00 2.35 0.00 0.000 1158 0.000 0.056 2199 2198 3964 3951 3978 0 0 0 0 0 0 14.32 14.19 14.36

2880 -1.14 -145.9 2200 2197 3952 3978 430.0 -14.3 228 2885 0.00 2.45 0.00 0.000 388 0.000 0.086 2190 3585 3964 3951 3978 0 0 0 0 0 0 14.67 14.07 14.68

2950 -1.14 -145.9 2190 3585 3952 3978 440.2 -14.2 242 2955 0.00 2.35 0.00 0.000 1030 0.000 0.057 2190 2196 3964 3951 3978 0 0 0 0 0 0 14.33 14.21 14.37

3238 end dive: TARGET_DEPTH_EXCEEDED

state 3238 begin apogee

3244 -0.13 0.0 2191 2065 3952 3978 482.8 -14.7 255 3475 1.35 0.00 227.27 1.410 10246 0.243 0.000 2529 2065 3364 3380 3349 0 0 0 0 0 0 13.85 13.50 12.64

3479 end apogee: CONTROL_FINISHED_OK

state 3479 begin climb

3481 0.57 145.9 2530 2065 3374 3339 494.4 0.0 262 4040 0.75 2.58 212.00 1.354 11012 0.062 0.077 2790 730 2751 2787 2716 0 0 0 0 0 0 13.64 12.86 12.26

4139 0.17 145.9 2789 730 2788 2716 449.2 13.8 283 4145 0.70 2.38 0.00 0.000 5254 0.323 0.076 2643 2084 2750 2787 2714 0 0 0 0 0 0 13.62 13.99 14.03

4457 0.02 178.8 2643 2086 2787 2712 421.4 8.5 296 4507 0.22 0.00 47.42 1.399 12454 0.262 0.000 2592 2088 2636 2683 2589 0 0 0 0 0 0 13.81 13.98 13.17

4785 0.02 229.6 2592 2085 2671 2571 396.5 7.7 307 4869 0.00 0.00 81.57 1.333 8870 0.000 0.000 2592 2084 2429 2484 2374 0 0 0 0 0 0 14.42 13.84 13.07

5145 0.07 268.4 2592 2085 2473 2353 366.9 8.2 324 5216 0.00 2.45 62.70 1.326 8868 0.000 0.086 2593 733 2263 2314 2213 0 0 0 0 0 0 14.41 13.89 13.13

5263 0.21 307.8 2592 734 2309 2209 357.4 8.2 347 5333 0.17 2.42 61.65 1.305 11430 0.106 0.080 2670 2098 2108 2156 2060 0 0 0 0 0 0 14.00 13.93 13.02

5658 0.15 307.8 2667 2098 2143 2044 304.2 13.4 376 5664 0.12 2.42 0.00 0.000 4740 0.253 0.082 2648 724 2092 2141 2043 0 0 0 0 0 0 13.90 14.07 14.07

5689 0.15 307.8 2645 724 2141 2043 300.4 11.8 382 5694 0.00 2.42 0.00 0.000 1030 0.000 0.078 2644 2103 2091 2140 2043 0 0 0 0 0 0 14.22 14.09 14.28

6019 0.15 307.8 2645 2105 2140 2041 263.6 10.7 398 6020 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2105 2089 2137 2042 0 0 0 0 0 0 14.47 14.50 14.50

6319 0.17 332.3 2644 2106 2140 2041 235.1 8.9 408 6365 0.00 2.45 37.12 1.338 8740 0.000 0.084 2644 733 2004 2049 1960 0 0 0 0 0 0 14.47 14.03 13.26

6437 0.28 371.6 2645 738 2042 1958 225.2 8.2 431 6513 0.00 2.42 68.38 1.255 9382 0.000 0.077 2644 2111 1852 1884 1821 0 0 0 0 0 0 14.13 14.01 13.12

6839 0.39 416.2 2644 2107 1867 1803 192.0 7.9 460 6921 0.22 0.00 80.05 1.216 10406 0.093 0.000 2732 2107 1669 1696 1642 0 0 0 0 0 0 14.10 13.85 13.14

7198 0.35 416.2 2732 2107 1686 1620 143.4 13.7 472 7204 0.12 2.42 0.00 0.000 4740 0.242 0.084 2709 727 1652 1685 1619 0 0 0 0 0 0 14.01 14.16 14.12

7289 0.42 416.2 2709 728 1683 1620 133.1 10.3 490 7295 0.00 2.40 0.00 0.000 1158 0.000 0.077 2709 2095 1650 1682 1619 0 0 0 0 0 0 14.31 14.20 14.37

7620 0.43 430.9 2710 2096 1683 1616 100.2 9.3 506 7645 0.00 2.42 17.52 1.347 8740 0.000 0.086 2709 731 1602 1636 1569 0 0 0 0 0 0 14.62 14.21 13.31

7670 0.53 452.3 2709 732 1629 1568 95.7 9.0 516 7687 0.12 2.40 11.00 0.456 11430 0.131 0.077 2766 2109 1521 1554 1489 0 0 0 0 0 0 14.17 14.16 13.64

7992 0.51 470.5 2766 2109 1560 1496 59.2 9.2 550 8009 0.00 2.45 11.45 0.366 8868 0.000 0.084 2768 727 1445 1483 1408 0 0 0 0 0 0 14.59 13.90 13.66

8106 0.60 541.3 2767 727 1488 1414 51.0 6.7 572 8154 0.00 2.40 40.30 0.350 9382 0.000 0.079 2768 2100 1156 1217 1096 0 0 0 0 0 0 14.14 14.05 13.69

8459 0.77 630.3 2768 2101 1218 1099 27.7 5.9 612 8512 0.17 0.00 49.85 0.279 10406 0.108 0.000 2839 2100 792 858 727 0 0 0 0 0 0 14.19 14.04 13.76

8757 end climb: SURFACE_DEPTH_REACHED

state 8757 begin surface coast

8767 end surface coast: CONTROL_FINISHED_OK

state 8767 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	279	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	777.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,064050,7529.1548,-15113.6992,41,0.8,41,20.7,0.0,0.0,10,8.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	347.1,25862,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.7	D_GRID	480
GPS2	080917,064830,7529.1582,-15113.7930,5,0.8,11,20.7,0.6,263.1,9,8.8

FINISH	0.4,1.021571	_24V_AH	12.26,176.155
SM_CCo	8832,42.53,0.207,0,0,499,702.78	_10V_AH	12.15,0.000
SM_GC	1.20,8.05,0.17,42.53,0.071,0.112,0.207,206,2233,499,-7.36,-0.68,702.78,0,0,0,0,0,0,14.32,14.33,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	210	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323420
IRIDIUM_FIX	7529.54,-15052.56,080917,064403	DATA_FILE_SIZE	23389,643
TT8_MAMPS	0.040446,0.92876	CAP_FILE_SIZE	93109,0
HUMID	46.29	CFSIZE	2097872896,2006384640
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.2
XPDR_PINGS	8	CURRENT	0.049,252.03,1
CP_FREE	0.000000	GPS	080917,091819,7530.293,-15112.728,14,0.7,36,20.7,0.7,280.0,11,4.8
PM_FREEKB_00	49722560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	459	147.86	nil	0	0	0.00
Roll_motor	68	111	93.11	nil	0	0	0.00
VBD_pump_during_apogee	1008	1409	17428.78	nil	0	0	0.00
VBD_pump_during_surface	42	207	108.09	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	8761	14	1563.03
Iridium_during_xfer	207	130	332.03	NCP	8799	20	2157.51
Transponder_ping	2	420	10.30	PMAR	8787	9	1067.27
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.36
TT8	0	0	0.00
LPSleep	6018	2	168.93
TT8_Active	952	13	161.66
TT8_Sampling	2161	33	878.22
TT8_CF8	219	38	103.06
TT8_Kalman	0	0	0.00
Analog_circuits	2266	10	275.41
GPS_charging	0	0	0.00
Compass	926	7	78.76
RAFOS	2204	48	1285.37
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	183	2230	520	482	0.0	0.0	0	142	0.00	0.00	-91.28	0.000	16386	0.000	0.000	183	2229	2140	2071	2209	0	0	0	0	0	0	14.54	28.83	14.56
145	-0.57	-145.9	181	2229	2074	2208	3.4	-4.0	9	201	13.20	0.00	-37.33	0.000	18982	0.459	0.000	2384	2230	3961	3946	3977	1	0	0	0	0	0	13.46	13.15	14.04
500	-0.67	-145.9	2384	2230	3953	3978	71.0	-12.2	46	505	0.00	2.40	0.00	0.000	388	0.000	0.086	2378	3585	3965	3952	3978	0	0	0	0	0	0	14.59	14.04	14.61
556	-0.92	-145.9	2378	3586	3954	3978	76.7	-9.0	57	562	0.30	2.35	0.00	0.000	5286	0.090	0.054	2267	2199	3964	3951	3978	0	0	0	0	0	0	14.25	14.14	14.29
862	-0.87	-145.9	2268	2198	3953	3977	134.8	-18.4	76	869	0.12	2.47	0.00	0.000	2436	0.279	0.083	2288	3582	3964	3951	3977	0	0	0	0	0	0	13.83	13.74	13.96
929	-1.00	-145.9	2288	3585	3952	3979	144.1	-11.4	89	934	0.00	2.35	0.00	0.000	1158	0.000	0.059	2287	2200	3965	3952	3978	0	0	0	0	0	0	14.31	14.19	14.35
1254	-1.06	-145.9	2288	2199	3953	3978	186.4	-12.8	104	1260	0.15	2.45	0.00	0.000	4484	0.129	0.084	2223	3582	3965	3952	3978	0	0	0	0	0	0	14.20	14.09	14.24
1310	-1.06	-145.9	2224	3583	3956	3977	195.6	-16.7	115	1316	0.00	2.38	0.00	0.000	1030	0.000	0.060	2223	2198	3964	3951	3978	0	0	0	0	0	0	14.16	14.02	14.19
1615	-1.01	-145.9	2223	2196	3952	3979	249.3	-17.2	126	1620	0.12	2.45	0.00	0.000	2436	0.295	0.084	2242	3588	3965	3952	3978	0	0	0	0	0	0	13.90	14.14	14.07
1742	-1.10	-145.9	2243	3589	3953	3978	265.1	-10.5	151	1747	0.00	2.38	0.00	0.000	1158	0.000	0.057	2242	2195	3964	3952	3977	0	0	0	0	0	0	14.32	14.19	14.35
2067	-1.14	-145.9	2242	2194	3953	3978	304.9	-11.9	166	2072	0.00	2.45	0.00	0.000	388	0.000	0.088	2236	3583	3965	3952	3978	0	0	0	0	0	0	14.68	14.14	14.69
2148	-1.24	-145.9	2236	3586	3952	3979	313.9	-10.8	182	2153	0.17	2.35	0.00	0.000	5254	0.116	0.056	2169	2199	3965	3952	3978	0	0	0	0	0	0	14.24	14.20	14.35
2458	-1.13	-145.9	2169	2198	3953	3977	369.7	-18.1	194	2463	0.17	2.45	0.00	0.000	2436	0.287	0.082	2199	3587	3964	3951	3978	0	0	0	0	0	0	13.83	14.04	14.00
2560	-1.17	-145.9	2200	3591	3953	3978	384.0	-12.9	214	2565	0.00	2.35	0.00	0.000	1158	0.000	0.056	2199	2198	3964	3951	3978	0	0	0	0	0	0	14.32	14.19	14.36
2880	-1.14	-145.9	2200	2197	3952	3978	430.0	-14.3	228	2885	0.00	2.45	0.00	0.000	388	0.000	0.086	2190	3585	3964	3951	3978	0	0	0	0	0	0	14.67	14.07	14.68
2950	-1.14	-145.9	2190	3585	3952	3978	440.2	-14.2	242	2955	0.00	2.35	0.00	0.000	1030	0.000	0.057	2190	2196	3964	3951	3978	0	0	0	0	0	0	14.33	14.21	14.37
3238	end dive: TARGET_DEPTH_EXCEEDED
state	3238	begin apogee
3244	-0.13	0.0	2191	2065	3952	3978	482.8	-14.7	255	3475	1.35	0.00	227.27	1.410	10246	0.243	0.000	2529	2065	3364	3380	3349	0	0	0	0	0	0	13.85	13.50	12.64
3479	end apogee: CONTROL_FINISHED_OK
state	3479	begin climb
3481	0.57	145.9	2530	2065	3374	3339	494.4	0.0	262	4040	0.75	2.58	212.00	1.354	11012	0.062	0.077	2790	730	2751	2787	2716	0	0	0	0	0	0	13.64	12.86	12.26
4139	0.17	145.9	2789	730	2788	2716	449.2	13.8	283	4145	0.70	2.38	0.00	0.000	5254	0.323	0.076	2643	2084	2750	2787	2714	0	0	0	0	0	0	13.62	13.99	14.03
4457	0.02	178.8	2643	2086	2787	2712	421.4	8.5	296	4507	0.22	0.00	47.42	1.399	12454	0.262	0.000	2592	2088	2636	2683	2589	0	0	0	0	0	0	13.81	13.98	13.17
4785	0.02	229.6	2592	2085	2671	2571	396.5	7.7	307	4869	0.00	0.00	81.57	1.333	8870	0.000	0.000	2592	2084	2429	2484	2374	0	0	0	0	0	0	14.42	13.84	13.07
5145	0.07	268.4	2592	2085	2473	2353	366.9	8.2	324	5216	0.00	2.45	62.70	1.326	8868	0.000	0.086	2593	733	2263	2314	2213	0	0	0	0	0	0	14.41	13.89	13.13
5263	0.21	307.8	2592	734	2309	2209	357.4	8.2	347	5333	0.17	2.42	61.65	1.305	11430	0.106	0.080	2670	2098	2108	2156	2060	0	0	0	0	0	0	14.00	13.93	13.02
5658	0.15	307.8	2667	2098	2143	2044	304.2	13.4	376	5664	0.12	2.42	0.00	0.000	4740	0.253	0.082	2648	724	2092	2141	2043	0	0	0	0	0	0	13.90	14.07	14.07
5689	0.15	307.8	2645	724	2141	2043	300.4	11.8	382	5694	0.00	2.42	0.00	0.000	1030	0.000	0.078	2644	2103	2091	2140	2043	0	0	0	0	0	0	14.22	14.09	14.28
6019	0.15	307.8	2645	2105	2140	2041	263.6	10.7	398	6020	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2105	2089	2137	2042	0	0	0	0	0	0	14.47	14.50	14.50
6319	0.17	332.3	2644	2106	2140	2041	235.1	8.9	408	6365	0.00	2.45	37.12	1.338	8740	0.000	0.084	2644	733	2004	2049	1960	0	0	0	0	0	0	14.47	14.03	13.26
6437	0.28	371.6	2645	738	2042	1958	225.2	8.2	431	6513	0.00	2.42	68.38	1.255	9382	0.000	0.077	2644	2111	1852	1884	1821	0	0	0	0	0	0	14.13	14.01	13.12
6839	0.39	416.2	2644	2107	1867	1803	192.0	7.9	460	6921	0.22	0.00	80.05	1.216	10406	0.093	0.000	2732	2107	1669	1696	1642	0	0	0	0	0	0	14.10	13.85	13.14
7198	0.35	416.2	2732	2107	1686	1620	143.4	13.7	472	7204	0.12	2.42	0.00	0.000	4740	0.242	0.084	2709	727	1652	1685	1619	0	0	0	0	0	0	14.01	14.16	14.12
7289	0.42	416.2	2709	728	1683	1620	133.1	10.3	490	7295	0.00	2.40	0.00	0.000	1158	0.000	0.077	2709	2095	1650	1682	1619	0	0	0	0	0	0	14.31	14.20	14.37
7620	0.43	430.9	2710	2096	1683	1616	100.2	9.3	506	7645	0.00	2.42	17.52	1.347	8740	0.000	0.086	2709	731	1602	1636	1569	0	0	0	0	0	0	14.62	14.21	13.31
7670	0.53	452.3	2709	732	1629	1568	95.7	9.0	516	7687	0.12	2.40	11.00	0.456	11430	0.131	0.077	2766	2109	1521	1554	1489	0	0	0	0	0	0	14.17	14.16	13.64
7992	0.51	470.5	2766	2109	1560	1496	59.2	9.2	550	8009	0.00	2.45	11.45	0.366	8868	0.000	0.084	2768	727	1445	1483	1408	0	0	0	0	0	0	14.59	13.90	13.66
8106	0.60	541.3	2767	727	1488	1414	51.0	6.7	572	8154	0.00	2.40	40.30	0.350	9382	0.000	0.079	2768	2100	1156	1217	1096	0	0	0	0	0	0	14.14	14.05	13.69
8459	0.77	630.3	2768	2101	1218	1099	27.7	5.9	612	8512	0.17	0.00	49.85	0.279	10406	0.108	0.000	2839	2100	792	858	727	0	0	0	0	0	0	14.19	14.04	13.76
8757	end climb: SURFACE_DEPTH_REACHED
state	8757	begin surface coast
8767	end surface coast: CONTROL_FINISHED_OK
state	8767	begin surface