Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 281 * 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 281 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 783.0

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 66 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 783.0 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 66 VBD_MIN 500

DIVE 281 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 080917,120231,7531.4531,-15111.2412,22,0.7,38,20.7,0.6,332.8,10,7.1 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 1.25 MHEAD_RNG_PITCHd_Wd 350.7,21573,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 080917,120806,7531.4526,-15111.1816,7,0.7,7,20.7,1.2,187.2,11,0.0

Post-dive calculations and measurements:

FINISH 0.2,1.021565 _24V_AH 12.32,177.085

SM_CCo 8992,21.30,0.210,0,0,496,703.28 _10V_AH 12.18,0.000

SM_GC 1.09,8.18,0.15,21.30,0.075,0.117,0.210,199,2226,496,-7.39,-0.82,703.28,0,0,0,0,0,0,14.28,14.30,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323444

IRIDIUM_FIX 7530.74,-15119.26,080917,092236 DATA_FILE_SIZE 23383,701

TT8_MAMPS 0.038948,0.923517 CAP_FILE_SIZE 97599,0

HUMID 46.88 CFSIZE 2097872896,2005925888

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

TCM_TEMP 13.20 SOUNDSPEED 1447.4

XPDR_PINGS 11 CURRENT 0.045,291.14,1

CP_FREE 15952248832.000000 GPS 080917,144003,7532.655,-15109.736,15,0.7,21,20.7,0.9,123.0,12,9.5

PM_FREEKB_00 49666368

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.56 nil 0 0 0.00

Roll_motor 78 2134 2051.02 nil 0 0 0.00

VBD_pump_during_apogee 979 1523 18380.57 nil 0 0 0.00

VBD_pump_during_surface 21 209 55.01 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 8581 14 1548.66

Iridium_during_xfer 148 140 256.96 NCP 8960 20 2207.74

Transponder_ping 2 420 14.23 PMAR 8946 9 1090.13

GUMSTIX_24V 0 0 0.00

GPS 7 22 2.14

TT8 0 0 0.00

LPSleep 6241 2 175.62

TT8_Active 895 13 152.37

TT8_Sampling 1996 33 813.33

TT8_CF8 231 38 108.96

TT8_Kalman 0 0 0.00

Analog_circuits 2034 10 247.79

GPS_charging 0 0 0.00

Compass 1005 7 85.74

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 190 2230 507 495 0.0 0.0 0 144 0.00 0.00 -91.93 0.000 16386 0.000 0.000 188 2229 2157 2089 2226 0 0 0 0 0 0 14.40 28.83 14.41

147 -0.57 -145.9 197 2230 2092 2227 3.7 -4.3 9 204 12.95 2.72 -36.12 0.000 18724 0.454 2.134 2375 3575 3964 3947 3981 0 0 0 0 0 0 13.57 12.59 14.00

270 -0.77 -145.9 2376 3575 3952 3981 34.0 -12.4 33 275 0.15 2.30 0.00 0.000 5254 0.114 0.057 2317 2234 3966 3951 3981 0 0 0 0 0 0 14.09 14.02 14.19

580 -0.77 -145.9 2317 2233 3952 3981 95.6 -15.6 65 584 0.00 2.40 0.00 0.000 260 0.000 0.086 2309 3583 3966 3952 3981 0 0 0 0 0 0 14.39 13.98 14.41

615 -0.84 -145.9 2309 3581 3953 3980 100.8 -14.5 72 621 0.00 2.38 0.00 0.000 1158 0.000 0.059 2308 2198 3964 3952 3976 0 0 0 0 0 0 14.12 14.06 14.12

941 -0.90 -145.9 2308 2196 3954 3981 143.4 -12.4 87 946 0.00 2.47 0.00 0.000 388 0.000 0.087 2307 3581 3966 3953 3980 0 0 0 0 0 0 14.44 14.02 14.45

991 -1.07 -145.9 2307 3582 3949 3982 149.0 -10.4 97 996 0.22 2.38 0.00 0.000 5254 0.095 0.057 2226 2197 3966 3952 3980 0 0 0 0 0 0 14.09 14.02 14.17

1302 -1.00 -145.9 2227 2197 3953 3980 207.7 -18.6 109 1307 0.12 2.47 0.00 0.000 2436 0.290 0.083 2244 3579 3967 3952 3983 0 0 0 0 0 0 13.77 14.01 13.95

1447 -1.06 -145.9 2244 3581 3953 3981 228.1 -12.9 138 1453 0.00 2.40 0.00 0.000 1158 0.000 0.059 2245 2198 3967 3954 3980 0 0 0 0 0 0 14.15 14.02 14.18

1752 -1.06 -145.9 2245 2200 3953 3978 269.8 -13.0 149 1757 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3585 3966 3953 3980 0 0 0 0 0 0 14.47 13.97 14.46

1814 -1.14 -145.9 2236 3586 3953 3981 277.2 -11.7 161 1819 0.00 2.40 0.00 0.000 1158 0.000 0.058 2236 2197 3966 3952 3980 0 0 0 0 0 0 14.12 13.97 14.14

2147 -1.17 -145.9 2236 2197 3953 3981 318.6 -12.1 177 2152 0.00 2.47 0.00 0.000 388 0.000 0.089 2236 3585 3967 3953 3981 0 0 0 0 0 0 14.53 14.07 14.54

2247 -1.27 -145.9 2236 3588 3953 3981 330.0 -10.8 197 2253 0.20 2.38 0.00 0.000 5254 0.108 0.057 2161 2185 3966 3953 3980 0 0 0 0 0 0 14.22 14.16 14.32

2568 -1.15 -145.9 2161 2185 3953 3980 388.8 -18.5 211 2573 0.20 2.50 0.00 0.000 2436 0.300 0.082 2195 3586 3966 3953 3980 0 0 0 0 0 0 13.73 14.07 13.93

2708 -1.18 -145.9 2196 3587 3953 3980 408.3 -13.1 239 2713 0.00 2.35 0.00 0.000 1158 0.000 0.057 2195 2197 3966 3952 3980 0 0 0 0 0 0 14.34 14.20 14.37

3019 -1.15 -145.9 2195 2195 3953 3981 452.6 -14.2 251 3023 0.00 2.45 0.00 0.000 388 0.000 0.086 2185 3581 3966 3953 3980 0 0 0 0 0 0 14.66 14.11 14.69

3103 -1.15 -145.9 2186 3582 3952 3981 464.8 -13.9 268 3111 0.00 2.35 0.00 0.000 1030 0.000 0.057 2185 2194 3966 3952 3980 0 0 0 0 0 0 14.27 14.18 14.33

3226 end dive: TARGET_DEPTH_EXCEEDED

state 3226 begin apogee

3232 -0.13 0.0 2186 2066 3952 3980 483.6 -15.2 273 3460 1.38 0.00 224.60 1.408 10246 0.246 0.000 2528 2065 3367 3383 3351 0 0 0 0 0 0 13.84 13.51 12.68

3464 end apogee: CONTROL_FINISHED_OK

state 3464 begin climb

3466 0.57 145.9 2529 2066 3374 3341 495.9 0.0 280 3860 0.75 2.58 214.77 1.349 10756 0.061 0.077 2792 729 2755 2789 2722 0 0 0 0 0 0 13.66 12.92 12.32

4069 0.16 145.9 2793 730 2787 2716 459.5 13.8 322 4075 0.73 2.38 0.00 0.000 5254 0.325 0.075 2638 2078 2749 2786 2713 0 0 0 0 0 0 13.62 14.00 14.01

4402 0.02 180.4 2639 2078 2787 2709 430.6 8.4 338 4453 0.20 0.00 48.90 1.395 12454 0.267 0.000 2594 2078 2629 2677 2582 0 0 0 0 0 0 13.89 14.03 13.19

4730 0.03 232.4 2594 2079 2668 2561 405.6 7.6 349 4814 0.00 0.00 81.70 1.340 8358 0.000 0.000 2594 2078 2418 2476 2361 0 0 0 0 0 0 14.59 13.91 13.12

5090 0.08 268.6 2594 2078 2457 2341 376.1 8.3 361 5151 0.00 0.00 55.55 1.338 8870 0.000 0.000 2594 2078 2266 2319 2213 0 0 0 0 0 0 14.56 13.97 13.19

5452 0.16 304.3 2594 2079 2309 2197 345.9 8.4 383 5512 0.12 2.45 56.22 1.326 10916 0.130 0.086 2653 723 2123 2170 2077 0 0 0 0 0 0 14.31 14.04 13.19

5552 0.16 304.3 2655 726 2156 2067 333.9 12.8 393 5558 0.00 2.42 0.00 0.000 1030 0.000 0.079 2654 2098 2110 2154 2067 0 0 0 0 0 0 14.16 14.04 14.20

5874 0.12 304.3 2654 2100 2155 2059 294.5 12.0 407 5879 0.12 2.40 0.00 0.000 4740 0.243 0.082 2627 723 2106 2154 2058 0 0 0 0 0 0 14.08 14.21 14.20

5924 0.21 318.0 2627 723 2153 2059 289.4 9.4 417 5945 0.00 2.40 15.77 1.461 9382 0.000 0.078 2627 2106 2068 2115 2021 0 0 0 0 0 0 14.33 14.16 13.29

6267 0.27 339.6 2628 2106 2104 2005 257.6 9.0 435 6306 0.12 2.42 33.67 1.366 10916 0.129 0.084 2696 730 1976 2023 1930 0 0 0 0 0 0 14.38 13.90 13.28

6338 0.23 339.6 2697 729 2012 1928 248.9 12.9 449 6344 0.17 2.40 0.00 0.000 5254 0.223 0.077 2657 2105 1968 2010 1927 0 0 0 0 0 0 14.00 14.16 14.25

6660 0.23 349.9 2658 2105 2011 1919 216.6 9.5 463 6670 0.00 2.40 4.75 1.523 8740 0.000 0.086 2658 726 1941 1988 1895 0 0 0 0 0 0 14.62 14.21 13.07

6705 0.32 373.3 2658 725 1990 1899 212.5 8.9 472 6757 0.00 2.40 46.55 1.343 9382 0.000 0.079 2658 2109 1844 1876 1812 0 0 0 0 0 0 14.37 14.19 13.24

7084 0.40 404.2 2658 2107 1864 1801 179.2 8.6 497 7143 0.12 2.47 50.72 1.299 10916 0.131 0.086 2723 726 1714 1737 1691 0 0 0 0 0 0 14.30 14.02 13.23

7218 0.40 404.2 2724 725 1731 1688 162.7 11.8 524 7223 0.00 2.40 0.00 0.000 1030 0.000 0.076 2723 2099 1707 1729 1686 0 0 0 0 0 0 14.25 14.12 14.28

7534 0.37 404.2 2724 2100 1730 1683 124.5 11.8 537 7534 0.00 0.00 0.00 0.000 134 0.000 0.000 2724 2099 1705 1729 1681 0 0 0 0 0 0 14.61 14.63 14.62

7833 0.38 411.7 2724 2099 1731 1678 92.4 9.7 551 7844 0.00 2.45 2.97 0.417 8740 0.000 0.085 2724 727 1684 1712 1657 0 0 0 0 0 0 14.61 14.09 13.54

7905 0.44 444.5 2725 727 1715 1660 86.1 8.5 565 7931 0.00 2.40 19.62 0.458 9382 0.000 0.076 2724 2097 1552 1581 1523 0 0 0 0 0 0 13.78 13.37 13.63

8237 0.55 512.6 2725 2097 1583 1522 59.0 6.9 601 8278 0.12 0.00 37.80 0.374 10918 0.125 0.000 2786 2097 1273 1322 1225 0 0 0 0 0 0 14.21 14.10 13.68

8577 0.59 569.8 2787 2098 1323 1221 32.1 7.4 637 8613 0.00 2.42 31.83 0.295 8740 0.000 0.084 2793 727 1039 1105 974 0 0 0 0 0 0 14.59 13.96 13.74

8769 0.79 666.8 2794 726 1104 974 19.9 5.5 675 8828 0.12 2.42 54.08 0.261 11430 0.132 0.078 2851 2113 645 698 592 0 0 0 0 0 0 14.21 14.16 13.81

8961 end climb: SURFACE_DEPTH_REACHED

state 8961 begin surface coast

8971 end surface coast: CONTROL_FINISHED_OK

state 8971 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	281	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	783.0
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	66	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,120231,7531.4531,-15111.2412,22,0.7,38,20.7,0.6,332.8,10,7.1	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	1.25	MHEAD_RNG_PITCHd_Wd	350.7,21573,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	080917,120806,7531.4526,-15111.1816,7,0.7,7,20.7,1.2,187.2,11,0.0

FINISH	0.2,1.021565	_24V_AH	12.32,177.085
SM_CCo	8992,21.30,0.210,0,0,496,703.28	_10V_AH	12.18,0.000
SM_GC	1.09,8.18,0.15,21.30,0.075,0.117,0.210,199,2226,496,-7.39,-0.82,703.28,0,0,0,0,0,0,14.28,14.30,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323444
IRIDIUM_FIX	7530.74,-15119.26,080917,092236	DATA_FILE_SIZE	23383,701
TT8_MAMPS	0.038948,0.923517	CAP_FILE_SIZE	97599,0
HUMID	46.88	CFSIZE	2097872896,2005925888
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.4
XPDR_PINGS	11	CURRENT	0.045,291.14,1
CP_FREE	15952248832.000000	GPS	080917,144003,7532.655,-15109.736,15,0.7,21,20.7,0.9,123.0,12,9.5
PM_FREEKB_00	49666368

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.56	nil	0	0	0.00
Roll_motor	78	2134	2051.02	nil	0	0	0.00
VBD_pump_during_apogee	979	1523	18380.57	nil	0	0	0.00
VBD_pump_during_surface	21	209	55.01	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	8581	14	1548.66
Iridium_during_xfer	148	140	256.96	NCP	8960	20	2207.74
Transponder_ping	2	420	14.23	PMAR	8946	9	1090.13
GUMSTIX_24V	0	0	0.00
GPS	7	22	2.14
TT8	0	0	0.00
LPSleep	6241	2	175.62
TT8_Active	895	13	152.37
TT8_Sampling	1996	33	813.33
TT8_CF8	231	38	108.96
TT8_Kalman	0	0	0.00
Analog_circuits	2034	10	247.79
GPS_charging	0	0	0.00
Compass	1005	7	85.74
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	190	2230	507	495	0.0	0.0	0	144	0.00	0.00	-91.93	0.000	16386	0.000	0.000	188	2229	2157	2089	2226	0	0	0	0	0	0	14.40	28.83	14.41
147	-0.57	-145.9	197	2230	2092	2227	3.7	-4.3	9	204	12.95	2.72	-36.12	0.000	18724	0.454	2.134	2375	3575	3964	3947	3981	0	0	0	0	0	0	13.57	12.59	14.00
270	-0.77	-145.9	2376	3575	3952	3981	34.0	-12.4	33	275	0.15	2.30	0.00	0.000	5254	0.114	0.057	2317	2234	3966	3951	3981	0	0	0	0	0	0	14.09	14.02	14.19
580	-0.77	-145.9	2317	2233	3952	3981	95.6	-15.6	65	584	0.00	2.40	0.00	0.000	260	0.000	0.086	2309	3583	3966	3952	3981	0	0	0	0	0	0	14.39	13.98	14.41
615	-0.84	-145.9	2309	3581	3953	3980	100.8	-14.5	72	621	0.00	2.38	0.00	0.000	1158	0.000	0.059	2308	2198	3964	3952	3976	0	0	0	0	0	0	14.12	14.06	14.12
941	-0.90	-145.9	2308	2196	3954	3981	143.4	-12.4	87	946	0.00	2.47	0.00	0.000	388	0.000	0.087	2307	3581	3966	3953	3980	0	0	0	0	0	0	14.44	14.02	14.45
991	-1.07	-145.9	2307	3582	3949	3982	149.0	-10.4	97	996	0.22	2.38	0.00	0.000	5254	0.095	0.057	2226	2197	3966	3952	3980	0	0	0	0	0	0	14.09	14.02	14.17
1302	-1.00	-145.9	2227	2197	3953	3980	207.7	-18.6	109	1307	0.12	2.47	0.00	0.000	2436	0.290	0.083	2244	3579	3967	3952	3983	0	0	0	0	0	0	13.77	14.01	13.95
1447	-1.06	-145.9	2244	3581	3953	3981	228.1	-12.9	138	1453	0.00	2.40	0.00	0.000	1158	0.000	0.059	2245	2198	3967	3954	3980	0	0	0	0	0	0	14.15	14.02	14.18
1752	-1.06	-145.9	2245	2200	3953	3978	269.8	-13.0	149	1757	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3585	3966	3953	3980	0	0	0	0	0	0	14.47	13.97	14.46
1814	-1.14	-145.9	2236	3586	3953	3981	277.2	-11.7	161	1819	0.00	2.40	0.00	0.000	1158	0.000	0.058	2236	2197	3966	3952	3980	0	0	0	0	0	0	14.12	13.97	14.14
2147	-1.17	-145.9	2236	2197	3953	3981	318.6	-12.1	177	2152	0.00	2.47	0.00	0.000	388	0.000	0.089	2236	3585	3967	3953	3981	0	0	0	0	0	0	14.53	14.07	14.54
2247	-1.27	-145.9	2236	3588	3953	3981	330.0	-10.8	197	2253	0.20	2.38	0.00	0.000	5254	0.108	0.057	2161	2185	3966	3953	3980	0	0	0	0	0	0	14.22	14.16	14.32
2568	-1.15	-145.9	2161	2185	3953	3980	388.8	-18.5	211	2573	0.20	2.50	0.00	0.000	2436	0.300	0.082	2195	3586	3966	3953	3980	0	0	0	0	0	0	13.73	14.07	13.93
2708	-1.18	-145.9	2196	3587	3953	3980	408.3	-13.1	239	2713	0.00	2.35	0.00	0.000	1158	0.000	0.057	2195	2197	3966	3952	3980	0	0	0	0	0	0	14.34	14.20	14.37
3019	-1.15	-145.9	2195	2195	3953	3981	452.6	-14.2	251	3023	0.00	2.45	0.00	0.000	388	0.000	0.086	2185	3581	3966	3953	3980	0	0	0	0	0	0	14.66	14.11	14.69
3103	-1.15	-145.9	2186	3582	3952	3981	464.8	-13.9	268	3111	0.00	2.35	0.00	0.000	1030	0.000	0.057	2185	2194	3966	3952	3980	0	0	0	0	0	0	14.27	14.18	14.33
3226	end dive: TARGET_DEPTH_EXCEEDED
state	3226	begin apogee
3232	-0.13	0.0	2186	2066	3952	3980	483.6	-15.2	273	3460	1.38	0.00	224.60	1.408	10246	0.246	0.000	2528	2065	3367	3383	3351	0	0	0	0	0	0	13.84	13.51	12.68
3464	end apogee: CONTROL_FINISHED_OK
state	3464	begin climb
3466	0.57	145.9	2529	2066	3374	3341	495.9	0.0	280	3860	0.75	2.58	214.77	1.349	10756	0.061	0.077	2792	729	2755	2789	2722	0	0	0	0	0	0	13.66	12.92	12.32
4069	0.16	145.9	2793	730	2787	2716	459.5	13.8	322	4075	0.73	2.38	0.00	0.000	5254	0.325	0.075	2638	2078	2749	2786	2713	0	0	0	0	0	0	13.62	14.00	14.01
4402	0.02	180.4	2639	2078	2787	2709	430.6	8.4	338	4453	0.20	0.00	48.90	1.395	12454	0.267	0.000	2594	2078	2629	2677	2582	0	0	0	0	0	0	13.89	14.03	13.19
4730	0.03	232.4	2594	2079	2668	2561	405.6	7.6	349	4814	0.00	0.00	81.70	1.340	8358	0.000	0.000	2594	2078	2418	2476	2361	0	0	0	0	0	0	14.59	13.91	13.12
5090	0.08	268.6	2594	2078	2457	2341	376.1	8.3	361	5151	0.00	0.00	55.55	1.338	8870	0.000	0.000	2594	2078	2266	2319	2213	0	0	0	0	0	0	14.56	13.97	13.19
5452	0.16	304.3	2594	2079	2309	2197	345.9	8.4	383	5512	0.12	2.45	56.22	1.326	10916	0.130	0.086	2653	723	2123	2170	2077	0	0	0	0	0	0	14.31	14.04	13.19
5552	0.16	304.3	2655	726	2156	2067	333.9	12.8	393	5558	0.00	2.42	0.00	0.000	1030	0.000	0.079	2654	2098	2110	2154	2067	0	0	0	0	0	0	14.16	14.04	14.20
5874	0.12	304.3	2654	2100	2155	2059	294.5	12.0	407	5879	0.12	2.40	0.00	0.000	4740	0.243	0.082	2627	723	2106	2154	2058	0	0	0	0	0	0	14.08	14.21	14.20
5924	0.21	318.0	2627	723	2153	2059	289.4	9.4	417	5945	0.00	2.40	15.77	1.461	9382	0.000	0.078	2627	2106	2068	2115	2021	0	0	0	0	0	0	14.33	14.16	13.29
6267	0.27	339.6	2628	2106	2104	2005	257.6	9.0	435	6306	0.12	2.42	33.67	1.366	10916	0.129	0.084	2696	730	1976	2023	1930	0	0	0	0	0	0	14.38	13.90	13.28
6338	0.23	339.6	2697	729	2012	1928	248.9	12.9	449	6344	0.17	2.40	0.00	0.000	5254	0.223	0.077	2657	2105	1968	2010	1927	0	0	0	0	0	0	14.00	14.16	14.25
6660	0.23	349.9	2658	2105	2011	1919	216.6	9.5	463	6670	0.00	2.40	4.75	1.523	8740	0.000	0.086	2658	726	1941	1988	1895	0	0	0	0	0	0	14.62	14.21	13.07
6705	0.32	373.3	2658	725	1990	1899	212.5	8.9	472	6757	0.00	2.40	46.55	1.343	9382	0.000	0.079	2658	2109	1844	1876	1812	0	0	0	0	0	0	14.37	14.19	13.24
7084	0.40	404.2	2658	2107	1864	1801	179.2	8.6	497	7143	0.12	2.47	50.72	1.299	10916	0.131	0.086	2723	726	1714	1737	1691	0	0	0	0	0	0	14.30	14.02	13.23
7218	0.40	404.2	2724	725	1731	1688	162.7	11.8	524	7223	0.00	2.40	0.00	0.000	1030	0.000	0.076	2723	2099	1707	1729	1686	0	0	0	0	0	0	14.25	14.12	14.28
7534	0.37	404.2	2724	2100	1730	1683	124.5	11.8	537	7534	0.00	0.00	0.00	0.000	134	0.000	0.000	2724	2099	1705	1729	1681	0	0	0	0	0	0	14.61	14.63	14.62
7833	0.38	411.7	2724	2099	1731	1678	92.4	9.7	551	7844	0.00	2.45	2.97	0.417	8740	0.000	0.085	2724	727	1684	1712	1657	0	0	0	0	0	0	14.61	14.09	13.54
7905	0.44	444.5	2725	727	1715	1660	86.1	8.5	565	7931	0.00	2.40	19.62	0.458	9382	0.000	0.076	2724	2097	1552	1581	1523	0	0	0	0	0	0	13.78	13.37	13.63
8237	0.55	512.6	2725	2097	1583	1522	59.0	6.9	601	8278	0.12	0.00	37.80	0.374	10918	0.125	0.000	2786	2097	1273	1322	1225	0	0	0	0	0	0	14.21	14.10	13.68
8577	0.59	569.8	2787	2098	1323	1221	32.1	7.4	637	8613	0.00	2.42	31.83	0.295	8740	0.000	0.084	2793	727	1039	1105	974	0	0	0	0	0	0	14.59	13.96	13.74
8769	0.79	666.8	2794	726	1104	974	19.9	5.5	675	8828	0.12	2.42	54.08	0.261	11430	0.132	0.078	2851	2113	645	698	592	0	0	0	0	0	0	14.21	14.16	13.81
8961	end climb: SURFACE_DEPTH_REACHED
state	8961	begin surface coast
8971	end surface coast: CONTROL_FINISHED_OK
state	8971	begin surface