Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 284 * 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 284 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 790.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 790.0 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 29 VBD_MIN 500

DIVE 284 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 080917,200056,7535.0684,-15107.4082,38,0.7,38,20.8,0.0,0.0,10,8.3 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 1.22 MHEAD_RNG_PITCHd_Wd 336.6,14914,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 080917,201446,7535.0864,-15107.4082,9,0.9,9,20.8,0.5,344.5,9,0.0

Post-dive calculations and measurements:

FINISH 0.2,1.021592 _24V_AH 12.28,178.470

SM_CCo 8730,36.85,0.206,0,0,498,703.03 _10V_AH 12.15,0.000

SM_GC 1.02,8.05,0.17,36.85,0.076,0.116,0.206,195,2235,498,-7.39,-0.48,703.03,0,0,0,0,0,0,14.33,14.31,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323228

IRIDIUM_FIX 7535.21,-15059.24,080917,200524 DATA_FILE_SIZE 23406,722

TT8_MAMPS 0.040446,0.862099 CAP_FILE_SIZE 101958,0

HUMID 47.59 CFSIZE 2097872896,2005237760

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1445.5

XPDR_PINGS 21 CURRENT 0.027,244.60,1

CP_FREE 15950970880.000000 GPS 080917,224238,7536.283,-15107.022,22,0.7,27,20.8,0.3,121.5,11,9.6

PM_FREEKB_00 49574144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.14 nil 0 0 0.00

Roll_motor 83 214 219.69 nil 0 0 0.00

VBD_pump_during_apogee 998 1433 17577.00 nil 0 0 0.00

VBD_pump_during_surface 36 205 93.12 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 5171 15 956.31

Iridium_during_xfer 506 175 1089.89 NCP 8702 20 2137.21

Transponder_ping 5 420 27.08 PMAR 8682 9 1057.94

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.66

TT8 0 0 0.00

LPSleep 6047 2 169.73

TT8_Active 840 13 142.58

TT8_Sampling 2411 33 979.87

TT8_CF8 310 38 145.84

TT8_Kalman 0 0 0.00

Analog_circuits 2436 10 296.02

GPS_charging 0 0 0.00

Compass 1033 7 87.94

RAFOS 1180 48 688.18

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 -145.9 193 2194 496 491 0.0 0.0 0 141 0.00 0.00 -88.10 0.000 16386 0.000 0.000 190 2195 2043 1969 2117 0 0 0 0 0 0 14.53 28.83 14.53

144 -0.57 -145.9 191 2195 1971 2119 3.3 -4.2 9 203 13.02 0.00 -42.58 0.000 18470 0.454 0.000 2386 2195 3963 3948 3979 1 0 0 0 0 0 13.41 12.53 14.04

502 -0.67 -145.9 2386 2194 3956 3979 69.6 -12.5 45 507 0.00 2.47 0.00 0.000 388 0.000 0.086 2378 3588 3967 3955 3979 0 0 0 0 0 0 14.47 14.02 14.49

547 -0.87 -145.9 2379 3587 3957 3980 74.4 -9.8 54 554 0.25 2.35 0.00 0.000 5286 0.091 0.053 2279 2202 3967 3955 3979 0 0 0 0 0 0 14.17 14.10 14.23

874 -0.87 -145.9 2279 2202 3955 3980 132.3 -16.3 75 880 0.00 2.45 0.00 0.000 260 0.000 0.086 2268 3581 3967 3955 3979 0 0 0 0 0 0 14.49 14.03 14.50

925 -0.93 -145.9 2268 3581 3956 3979 140.1 -13.5 85 930 0.00 2.38 0.00 0.000 1158 0.000 0.057 2268 2198 3967 3955 3979 0 0 0 0 0 0 14.07 14.04 14.13

1235 -0.93 -145.9 2268 2197 3955 3980 186.3 -14.5 97 1240 0.00 2.47 0.00 0.000 260 0.000 0.087 2261 3582 3967 3955 3979 0 0 0 0 0 0 14.49 14.02 14.50

1307 -1.04 -145.9 2261 3582 3954 3979 195.8 -12.5 111 1313 0.00 2.38 0.00 0.000 1158 0.000 0.058 2261 2195 3967 3955 3979 0 0 0 0 0 0 14.15 14.00 14.19

1630 -1.07 -145.9 2261 2195 3956 3980 239.9 -13.2 125 1635 0.00 2.45 0.00 0.000 388 0.000 0.087 2253 3581 3967 3955 3980 0 0 0 0 0 0 14.64 14.07 14.66

1710 -1.20 -145.9 2254 3581 3956 3979 249.6 -10.9 141 1715 0.20 2.35 0.00 0.000 5254 0.108 0.057 2176 2199 3967 3955 3979 0 0 0 0 0 0 14.25 14.20 14.35

2021 -1.08 -145.9 2176 2199 3955 3980 307.3 -18.6 153 2026 0.20 2.45 0.00 0.000 2436 0.283 0.083 2213 3586 3967 3955 3979 0 0 0 0 0 0 13.87 14.10 14.05

2151 -1.12 -145.9 2214 3588 3956 3979 325.1 -12.6 179 2157 0.00 2.35 0.00 0.000 1158 0.000 0.057 2213 2199 3967 3955 3979 0 0 0 0 0 0 14.35 14.23 14.41

2472 -1.12 -145.9 2213 2199 3955 3980 368.2 -13.3 193 2477 0.00 2.45 0.00 0.000 260 0.000 0.089 2210 3582 3966 3954 3979 0 0 0 0 0 0 14.72 14.12 14.73

2542 -1.18 -145.9 2210 3586 3955 3980 377.1 -12.2 207 2548 0.00 2.35 0.00 0.000 1158 0.000 0.057 2210 2193 3966 3954 3979 0 0 0 0 0 0 14.39 14.23 14.40

2863 -1.18 -145.9 2210 2192 3955 3979 419.2 -13.1 221 2868 0.00 2.47 0.00 0.000 260 0.000 0.089 2209 3582 3966 3955 3978 0 0 0 0 0 0 14.73 14.05 14.74

2928 -1.25 -145.9 2209 3583 3954 3980 427.4 -11.9 234 2933 0.00 2.35 0.00 0.000 1158 0.000 0.056 2209 2193 3966 3954 3979 0 0 0 0 0 0 14.36 14.23 14.38

3253 -1.25 -145.9 2209 2192 3954 3980 468.9 -12.7 249 3258 0.00 2.47 0.00 0.000 260 0.000 0.088 2208 3586 3966 3953 3979 0 0 0 0 0 0 14.73 14.11 14.76

3346 end dive: TARGET_DEPTH_EXCEEDED

state 3346 begin apogee

3354 -0.13 0.0 2210 2098 3954 3980 480.1 -11.2 268 3579 1.25 0.00 220.95 1.434 10246 0.224 0.000 2532 2094 3366 3383 3349 0 0 0 0 0 0 13.88 13.52 12.67

3582 end apogee: CONTROL_FINISHED_OK

state 3582 begin climb

3584 0.57 145.9 2533 2095 3378 3339 491.8 0.0 275 3980 0.73 1.92 210.12 1.375 10500 0.062 0.073 2777 3484 2755 2785 2725 0 0 0 0 0 0 13.66 13.14 12.28

4165 0.10 145.9 2777 3485 2784 2723 449.5 15.5 314 4170 0.80 2.38 0.00 0.000 5254 0.343 0.058 2618 2097 2752 2783 2722 0 0 0 0 0 0 13.64 14.06 14.03

4481 0.01 195.7 2619 2096 2783 2719 423.7 7.7 327 4561 0.12 2.58 71.07 1.388 12964 0.293 0.087 2590 692 2560 2609 2512 0 0 0 0 0 0 13.94 13.97 13.10

4616 0.10 256.5 2590 693 2608 2509 413.9 7.2 354 4712 0.00 2.45 91.22 1.349 9382 0.000 0.080 2590 2075 2319 2372 2267 0 0 0 0 0 0 14.16 14.05 12.93

5023 0.19 296.6 2590 2075 2359 2249 380.6 8.2 385 5090 0.12 2.55 59.33 1.363 10660 0.132 0.082 2656 3508 2150 2197 2103 0 0 0 0 0 0 14.26 13.97 13.14

5105 0.10 296.6 2656 3511 2189 2101 370.4 14.1 396 5111 0.20 2.42 0.00 0.000 5254 0.280 0.063 2617 2104 2146 2192 2101 0 0 0 0 0 0 13.84 14.01 14.08

5417 0.14 301.0 2617 2105 2191 2092 338.9 9.8 408 5422 0.00 2.50 0.00 0.000 676 0.000 0.090 2615 683 2140 2189 2091 0 0 0 0 0 0 14.58 14.15 14.59

5525 0.25 323.9 2617 683 2188 2092 329.3 8.9 429 5570 0.15 2.47 39.83 1.382 11430 0.112 0.080 2681 2108 2043 2089 1997 0 0 0 0 0 0 14.23 14.19 13.24

5870 0.18 323.9 2682 2108 2083 1988 280.9 13.8 448 5875 0.15 2.50 0.00 0.000 4740 0.255 0.084 2647 685 2034 2082 1986 0 0 0 0 0 0 14.00 14.04 14.16

5901 0.20 323.9 2649 685 2081 1986 277.0 11.4 454 5906 0.00 2.47 0.00 0.000 1158 0.000 0.078 2647 2104 2033 2080 1986 0 0 0 0 0 0 14.35 14.21 14.39

6231 0.20 325.2 2647 2106 2080 1985 242.2 9.9 470 6232 0.00 0.00 0.00 0.000 38 0.000 0.000 2647 2105 2030 2079 1981 0 0 0 0 0 0 14.65 14.67 14.68

6531 0.25 357.2 2647 2106 2080 1985 215.4 8.5 480 6592 0.00 2.50 54.55 1.320 8868 0.000 0.085 2647 691 1903 1941 1866 0 0 0 0 0 0 14.66 13.85 13.24

6658 0.39 398.0 2647 692 1933 1866 205.0 8.1 505 6732 0.20 2.47 68.00 1.261 11430 0.103 0.080 2724 2102 1741 1765 1717 0 0 0 0 0 0 14.20 14.12 13.13

7043 0.35 398.0 2724 2103 1759 1701 154.0 13.2 532 7043 0.00 0.00 0.00 0.000 134 0.000 0.000 2724 2102 1733 1758 1709 0 0 0 0 0 0 14.57 14.58 14.56

7343 0.32 398.0 2724 2103 1758 1700 117.3 11.8 542 7348 0.15 2.50 0.00 0.000 4740 0.230 0.086 2682 679 1728 1757 1699 0 0 0 0 0 0 14.06 14.19 14.19

7440 0.46 441.5 2685 680 1755 1701 109.1 8.0 561 7519 0.15 2.50 71.95 1.214 11430 0.122 0.080 2751 2100 1562 1591 1534 0 0 0 0 0 0 14.28 14.18 13.25

7825 0.47 455.2 2752 2101 1590 1517 66.1 9.4 608 7837 0.00 2.50 6.68 0.389 8740 0.000 0.084 2754 692 1509 1546 1473 0 0 0 0 0 0 14.52 13.84 13.59

7882 0.54 489.6 2754 694 1548 1475 61.2 8.4 619 7909 0.00 2.47 20.17 0.382 9382 0.000 0.079 2758 2101 1368 1412 1324 0 0 0 0 0 0 14.26 14.13 13.70

8207 0.67 589.5 2755 2101 1413 1321 39.2 5.4 654 8271 0.12 2.53 55.83 0.313 10916 0.127 0.090 2814 693 959 1024 895 0 0 0 0 0 0 14.17 14.04 13.77

8361 0.80 639.6 2812 687 1027 894 26.4 7.7 684 8395 0.00 2.50 28.73 0.276 9382 0.000 0.079 2812 2108 756 820 693 0 0 0 0 0 0 14.25 14.12 13.83

8689 end climb: SURFACE_DEPTH_REACHED

state 8689 begin surface coast

8709 end surface coast: CONTROL_FINISHED_OK

state 8709 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	284	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	790.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,200056,7535.0684,-15107.4082,38,0.7,38,20.8,0.0,0.0,10,8.3	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	1.22	MHEAD_RNG_PITCHd_Wd	336.6,14914,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	080917,201446,7535.0864,-15107.4082,9,0.9,9,20.8,0.5,344.5,9,0.0

FINISH	0.2,1.021592	_24V_AH	12.28,178.470
SM_CCo	8730,36.85,0.206,0,0,498,703.03	_10V_AH	12.15,0.000
SM_GC	1.02,8.05,0.17,36.85,0.076,0.116,0.206,195,2235,498,-7.39,-0.48,703.03,0,0,0,0,0,0,14.33,14.31,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323228
IRIDIUM_FIX	7535.21,-15059.24,080917,200524	DATA_FILE_SIZE	23406,722
TT8_MAMPS	0.040446,0.862099	CAP_FILE_SIZE	101958,0
HUMID	47.59	CFSIZE	2097872896,2005237760
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1445.5
XPDR_PINGS	21	CURRENT	0.027,244.60,1
CP_FREE	15950970880.000000	GPS	080917,224238,7536.283,-15107.022,22,0.7,27,20.8,0.3,121.5,11,9.6
PM_FREEKB_00	49574144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.14	nil	0	0	0.00
Roll_motor	83	214	219.69	nil	0	0	0.00
VBD_pump_during_apogee	998	1433	17577.00	nil	0	0	0.00
VBD_pump_during_surface	36	205	93.12	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	5171	15	956.31
Iridium_during_xfer	506	175	1089.89	NCP	8702	20	2137.21
Transponder_ping	5	420	27.08	PMAR	8682	9	1057.94
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.66
TT8	0	0	0.00
LPSleep	6047	2	169.73
TT8_Active	840	13	142.58
TT8_Sampling	2411	33	979.87
TT8_CF8	310	38	145.84
TT8_Kalman	0	0	0.00
Analog_circuits	2436	10	296.02
GPS_charging	0	0	0.00
Compass	1033	7	87.94
RAFOS	1180	48	688.18
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	193	2194	496	491	0.0	0.0	0	141	0.00	0.00	-88.10	0.000	16386	0.000	0.000	190	2195	2043	1969	2117	0	0	0	0	0	0	14.53	28.83	14.53
144	-0.57	-145.9	191	2195	1971	2119	3.3	-4.2	9	203	13.02	0.00	-42.58	0.000	18470	0.454	0.000	2386	2195	3963	3948	3979	1	0	0	0	0	0	13.41	12.53	14.04
502	-0.67	-145.9	2386	2194	3956	3979	69.6	-12.5	45	507	0.00	2.47	0.00	0.000	388	0.000	0.086	2378	3588	3967	3955	3979	0	0	0	0	0	0	14.47	14.02	14.49
547	-0.87	-145.9	2379	3587	3957	3980	74.4	-9.8	54	554	0.25	2.35	0.00	0.000	5286	0.091	0.053	2279	2202	3967	3955	3979	0	0	0	0	0	0	14.17	14.10	14.23
874	-0.87	-145.9	2279	2202	3955	3980	132.3	-16.3	75	880	0.00	2.45	0.00	0.000	260	0.000	0.086	2268	3581	3967	3955	3979	0	0	0	0	0	0	14.49	14.03	14.50
925	-0.93	-145.9	2268	3581	3956	3979	140.1	-13.5	85	930	0.00	2.38	0.00	0.000	1158	0.000	0.057	2268	2198	3967	3955	3979	0	0	0	0	0	0	14.07	14.04	14.13
1235	-0.93	-145.9	2268	2197	3955	3980	186.3	-14.5	97	1240	0.00	2.47	0.00	0.000	260	0.000	0.087	2261	3582	3967	3955	3979	0	0	0	0	0	0	14.49	14.02	14.50
1307	-1.04	-145.9	2261	3582	3954	3979	195.8	-12.5	111	1313	0.00	2.38	0.00	0.000	1158	0.000	0.058	2261	2195	3967	3955	3979	0	0	0	0	0	0	14.15	14.00	14.19
1630	-1.07	-145.9	2261	2195	3956	3980	239.9	-13.2	125	1635	0.00	2.45	0.00	0.000	388	0.000	0.087	2253	3581	3967	3955	3980	0	0	0	0	0	0	14.64	14.07	14.66
1710	-1.20	-145.9	2254	3581	3956	3979	249.6	-10.9	141	1715	0.20	2.35	0.00	0.000	5254	0.108	0.057	2176	2199	3967	3955	3979	0	0	0	0	0	0	14.25	14.20	14.35
2021	-1.08	-145.9	2176	2199	3955	3980	307.3	-18.6	153	2026	0.20	2.45	0.00	0.000	2436	0.283	0.083	2213	3586	3967	3955	3979	0	0	0	0	0	0	13.87	14.10	14.05
2151	-1.12	-145.9	2214	3588	3956	3979	325.1	-12.6	179	2157	0.00	2.35	0.00	0.000	1158	0.000	0.057	2213	2199	3967	3955	3979	0	0	0	0	0	0	14.35	14.23	14.41
2472	-1.12	-145.9	2213	2199	3955	3980	368.2	-13.3	193	2477	0.00	2.45	0.00	0.000	260	0.000	0.089	2210	3582	3966	3954	3979	0	0	0	0	0	0	14.72	14.12	14.73
2542	-1.18	-145.9	2210	3586	3955	3980	377.1	-12.2	207	2548	0.00	2.35	0.00	0.000	1158	0.000	0.057	2210	2193	3966	3954	3979	0	0	0	0	0	0	14.39	14.23	14.40
2863	-1.18	-145.9	2210	2192	3955	3979	419.2	-13.1	221	2868	0.00	2.47	0.00	0.000	260	0.000	0.089	2209	3582	3966	3955	3978	0	0	0	0	0	0	14.73	14.05	14.74
2928	-1.25	-145.9	2209	3583	3954	3980	427.4	-11.9	234	2933	0.00	2.35	0.00	0.000	1158	0.000	0.056	2209	2193	3966	3954	3979	0	0	0	0	0	0	14.36	14.23	14.38
3253	-1.25	-145.9	2209	2192	3954	3980	468.9	-12.7	249	3258	0.00	2.47	0.00	0.000	260	0.000	0.088	2208	3586	3966	3953	3979	0	0	0	0	0	0	14.73	14.11	14.76
3346	end dive: TARGET_DEPTH_EXCEEDED
state	3346	begin apogee
3354	-0.13	0.0	2210	2098	3954	3980	480.1	-11.2	268	3579	1.25	0.00	220.95	1.434	10246	0.224	0.000	2532	2094	3366	3383	3349	0	0	0	0	0	0	13.88	13.52	12.67
3582	end apogee: CONTROL_FINISHED_OK
state	3582	begin climb
3584	0.57	145.9	2533	2095	3378	3339	491.8	0.0	275	3980	0.73	1.92	210.12	1.375	10500	0.062	0.073	2777	3484	2755	2785	2725	0	0	0	0	0	0	13.66	13.14	12.28
4165	0.10	145.9	2777	3485	2784	2723	449.5	15.5	314	4170	0.80	2.38	0.00	0.000	5254	0.343	0.058	2618	2097	2752	2783	2722	0	0	0	0	0	0	13.64	14.06	14.03
4481	0.01	195.7	2619	2096	2783	2719	423.7	7.7	327	4561	0.12	2.58	71.07	1.388	12964	0.293	0.087	2590	692	2560	2609	2512	0	0	0	0	0	0	13.94	13.97	13.10
4616	0.10	256.5	2590	693	2608	2509	413.9	7.2	354	4712	0.00	2.45	91.22	1.349	9382	0.000	0.080	2590	2075	2319	2372	2267	0	0	0	0	0	0	14.16	14.05	12.93
5023	0.19	296.6	2590	2075	2359	2249	380.6	8.2	385	5090	0.12	2.55	59.33	1.363	10660	0.132	0.082	2656	3508	2150	2197	2103	0	0	0	0	0	0	14.26	13.97	13.14
5105	0.10	296.6	2656	3511	2189	2101	370.4	14.1	396	5111	0.20	2.42	0.00	0.000	5254	0.280	0.063	2617	2104	2146	2192	2101	0	0	0	0	0	0	13.84	14.01	14.08
5417	0.14	301.0	2617	2105	2191	2092	338.9	9.8	408	5422	0.00	2.50	0.00	0.000	676	0.000	0.090	2615	683	2140	2189	2091	0	0	0	0	0	0	14.58	14.15	14.59
5525	0.25	323.9	2617	683	2188	2092	329.3	8.9	429	5570	0.15	2.47	39.83	1.382	11430	0.112	0.080	2681	2108	2043	2089	1997	0	0	0	0	0	0	14.23	14.19	13.24
5870	0.18	323.9	2682	2108	2083	1988	280.9	13.8	448	5875	0.15	2.50	0.00	0.000	4740	0.255	0.084	2647	685	2034	2082	1986	0	0	0	0	0	0	14.00	14.04	14.16
5901	0.20	323.9	2649	685	2081	1986	277.0	11.4	454	5906	0.00	2.47	0.00	0.000	1158	0.000	0.078	2647	2104	2033	2080	1986	0	0	0	0	0	0	14.35	14.21	14.39
6231	0.20	325.2	2647	2106	2080	1985	242.2	9.9	470	6232	0.00	0.00	0.00	0.000	38	0.000	0.000	2647	2105	2030	2079	1981	0	0	0	0	0	0	14.65	14.67	14.68
6531	0.25	357.2	2647	2106	2080	1985	215.4	8.5	480	6592	0.00	2.50	54.55	1.320	8868	0.000	0.085	2647	691	1903	1941	1866	0	0	0	0	0	0	14.66	13.85	13.24
6658	0.39	398.0	2647	692	1933	1866	205.0	8.1	505	6732	0.20	2.47	68.00	1.261	11430	0.103	0.080	2724	2102	1741	1765	1717	0	0	0	0	0	0	14.20	14.12	13.13
7043	0.35	398.0	2724	2103	1759	1701	154.0	13.2	532	7043	0.00	0.00	0.00	0.000	134	0.000	0.000	2724	2102	1733	1758	1709	0	0	0	0	0	0	14.57	14.58	14.56
7343	0.32	398.0	2724	2103	1758	1700	117.3	11.8	542	7348	0.15	2.50	0.00	0.000	4740	0.230	0.086	2682	679	1728	1757	1699	0	0	0	0	0	0	14.06	14.19	14.19
7440	0.46	441.5	2685	680	1755	1701	109.1	8.0	561	7519	0.15	2.50	71.95	1.214	11430	0.122	0.080	2751	2100	1562	1591	1534	0	0	0	0	0	0	14.28	14.18	13.25
7825	0.47	455.2	2752	2101	1590	1517	66.1	9.4	608	7837	0.00	2.50	6.68	0.389	8740	0.000	0.084	2754	692	1509	1546	1473	0	0	0	0	0	0	14.52	13.84	13.59
7882	0.54	489.6	2754	694	1548	1475	61.2	8.4	619	7909	0.00	2.47	20.17	0.382	9382	0.000	0.079	2758	2101	1368	1412	1324	0	0	0	0	0	0	14.26	14.13	13.70
8207	0.67	589.5	2755	2101	1413	1321	39.2	5.4	654	8271	0.12	2.53	55.83	0.313	10916	0.127	0.090	2814	693	959	1024	895	0	0	0	0	0	0	14.17	14.04	13.77
8361	0.80	639.6	2812	687	1027	894	26.4	7.7	684	8395	0.00	2.50	28.73	0.276	9382	0.000	0.079	2812	2108	756	820	693	0	0	0	0	0	0	14.25	14.12	13.83
8689	end climb: SURFACE_DEPTH_REACHED
state	8689	begin surface coast
8709	end surface coast: CONTROL_FINISHED_OK
state	8709	begin surface