Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 287 * 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 287 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 798.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 57 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 798.0 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 35 VBD_MIN 500

DIVE 287 NOCOMM_ACTION 161 R_STBD_OVSHOOT 57 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 090917,040342,7538.6611,-15106.4170,15,0.8,18,20.8,0.6,97.4,11,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 333.2,8514,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 090917,041555,7538.6182,-15106.4570,6,0.7,38,20.8,0.5,267.4,12,8.2

Post-dive calculations and measurements:

FINISH 0.1,1.021497 _24V_AH 12.31,179.822

SM_CCo 9116,12.73,0.196,0,0,500,702.78 _10V_AH 12.18,0.000

SM_GC 0.97,8.07,0.20,12.73,0.063,0.105,0.196,204,2238,500,-7.38,-0.45,702.78,0,0,0,0,0,0,14.26,14.28,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 414 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7538.57,-15102.62,090917,041028 DATA_FILE_SIZE 26746,814

TT8_MAMPS 0.040446,0.894306 CAP_FILE_SIZE 105912,0

HUMID 46.61 CFSIZE 2097872896,2004549632

INTERNAL_PRESSURE 7.73269 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 INTR 0,5416.00,0x2341ea,1,24

XPDR_PINGS 18 SOUNDSPEED 1446.2

CP_FREE 15949692928.000000 CURRENT 0.028,241.85,1

PM_FREEKB_00 49482560 GPS 090917,064957,7539.775,-15106.401,38,0.7,39,20.8,0.5,302.9,11,9.4

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.24 nil 0 0 0.00

Roll_motor 84 2138 2234.65 nil 0 0 0.00

VBD_pump_during_apogee 960 1484 17563.53 nil 0 0 0.00

VBD_pump_during_surface 12 195 30.68 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 5318 15 995.85

Iridium_during_xfer 389 127 612.00 NCP 9101 20 2240.67

Transponder_ping 4 420 23.27 PMAR 9071 9 1109.83

GUMSTIX_24V 0 0 0.00

GPS 39 22 10.78

TT8 0 0 0.00

LPSleep 6555 2 184.44

TT8_Active 867 13 147.63

TT8_Sampling 2178 33 887.14

TT8_CF8 270 38 127.41

TT8_Kalman 0 0 0.00

Analog_circuits 2123 10 258.61

GPS_charging 0 0 0.00

Compass 1164 7 99.26

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 -145.9 190 2188 496 486 0.0 0.0 0 143 0.00 0.00 -91.18 0.000 16386 0.000 0.000 188 2187 2101 2030 2173 0 0 0 0 0 0 14.41 28.83 14.42

146 -0.57 -145.9 188 2188 2032 2176 3.0 -3.6 9 208 12.95 2.78 -40.17 0.000 18980 0.455 2.138 2384 806 3963 3948 3979 0 0 0 0 0 0 13.58 12.58 14.07

274 -0.71 -145.9 2384 807 3953 3980 32.1 -13.4 34 280 0.00 2.42 0.00 0.000 1158 0.000 0.088 2382 2170 3966 3953 3979 0 0 0 0 0 0 14.19 14.05 14.26

581 -0.82 -145.9 2382 2167 3955 3980 76.1 -11.2 65 586 0.20 2.58 0.00 0.000 4484 0.107 0.088 2292 3607 3965 3952 3979 0 0 0 0 0 0 14.14 13.99 14.19

761 -0.89 -145.9 2293 3608 3955 3979 102.1 -13.6 101 766 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2207 3966 3954 3979 0 0 0 0 0 0 14.16 14.04 14.19

1091 -0.93 -145.9 2291 2207 3955 3979 150.2 -13.8 117 1096 0.00 2.50 0.00 0.000 388 0.000 0.086 2283 3613 3966 3954 3979 0 0 0 0 0 0 14.51 14.00 14.53

1151 -1.06 -145.9 2283 3615 3955 3980 157.7 -11.4 129 1156 0.15 2.42 0.00 0.000 5254 0.118 0.057 2230 2197 3966 3954 3979 0 0 0 0 0 0 14.09 14.04 14.19

1482 -1.00 -145.9 2230 2197 3958 3980 216.6 -17.3 145 1487 0.00 2.47 0.00 0.000 388 0.000 0.086 2223 3611 3966 3954 3979 0 0 0 0 0 0 14.50 13.98 14.51

1567 -1.00 -145.9 2223 3614 3955 3980 230.2 -15.1 162 1573 0.15 2.42 0.00 0.000 3078 0.243 0.057 2252 2201 3966 3954 3979 0 0 0 0 0 0 13.78 14.03 14.04

1872 -1.04 -145.9 2253 2200 3955 3980 268.7 -11.8 173 1877 0.00 2.50 0.00 0.000 388 0.000 0.088 2245 3610 3966 3954 3979 0 0 0 0 0 0 14.66 14.14 14.66

1942 -1.14 -145.9 2246 3612 3955 3979 276.6 -10.5 187 1947 0.00 2.40 0.00 0.000 1158 0.000 0.057 2245 2198 3966 3954 3979 0 0 0 0 0 0 14.33 14.21 14.38

2263 -1.19 -145.9 2245 2197 3955 3980 313.0 -11.0 201 2264 0.15 0.00 0.00 0.000 4230 0.132 0.000 2188 2197 3966 3954 3979 0 0 0 0 0 0 14.32 14.45 14.41

2562 -1.13 -145.9 2187 2197 3954 3980 360.1 -15.9 211 2567 0.12 2.50 0.00 0.000 2436 0.274 0.085 2209 3615 3966 3954 3979 0 0 0 0 0 0 13.71 14.07 13.87

2708 -1.19 -145.9 2209 3617 3954 3980 378.7 -11.9 240 2714 0.00 2.40 0.00 0.000 1158 0.000 0.057 2209 2191 3966 3954 3979 0 0 0 0 0 0 14.36 14.23 14.40

3013 -1.19 -145.9 2209 2191 3954 3980 419.2 -13.3 251 3017 0.00 2.50 0.00 0.000 260 0.000 0.086 2200 3613 3966 3953 3979 0 0 0 0 0 0 14.72 14.12 14.74

3108 -1.24 -145.9 2201 3614 3953 3977 431.6 -12.4 270 3113 0.00 2.40 0.00 0.000 1158 0.000 0.055 2200 2196 3967 3956 3979 0 0 0 0 0 0 14.33 14.19 14.40

3433 -1.24 -145.9 2201 2195 3954 3979 475.8 -13.6 285 3437 0.00 2.47 0.00 0.000 260 0.000 0.086 2192 3609 3965 3952 3979 0 0 0 0 0 0 14.73 14.12 14.74

3460 end dive: TARGET_DEPTH_EXCEEDED

state 3460 begin apogee

3468 -0.13 0.0 2193 2101 3953 3979 480.1 -14.1 291 3691 1.35 0.00 218.65 1.424 10246 0.240 0.000 2527 2101 3365 3383 3348 0 0 0 0 0 0 13.85 13.54 12.69

3739 end apogee: CONTROL_FINISHED_OK

state 3739 begin climb

3742 0.57 145.9 2527 2101 3376 3338 492.0 0.0 298 3957 0.75 2.67 210.43 1.374 11012 0.060 0.071 2785 3504 2766 2803 2729 0 0 0 0 0 0 13.81 12.94 12.31

4183 0.09 145.9 2784 3507 2784 2724 470.2 16.5 400 4189 0.88 2.45 0.00 0.000 5254 0.345 0.057 2616 2098 2753 2784 2723 0 0 0 0 0 0 13.45 13.81 13.83

4509 0.01 188.2 2617 2099 2784 2722 442.4 8.0 415 4571 0.15 0.00 59.53 1.414 12966 0.282 0.000 2586 2097 2598 2645 2551 0 0 0 0 0 0 13.91 13.93 13.09

4869 0.04 237.0 2586 2098 2639 2534 414.7 7.7 432 4949 0.00 2.55 72.07 1.382 8740 0.000 0.089 2589 699 2394 2444 2344 0 0 0 0 0 0 14.57 13.93 13.11

4994 0.17 288.6 2589 699 2438 2344 404.9 7.6 457 5081 0.15 2.47 77.72 1.349 11430 0.116 0.080 2655 2101 2184 2233 2136 0 0 0 0 0 0 14.09 14.02 12.94

5379 0.11 288.6 2656 2101 2225 2123 354.5 13.2 484 5385 0.12 2.47 0.00 0.000 4740 0.249 0.083 2630 694 2174 2225 2123 0 0 0 0 0 0 14.00 14.13 14.13

5415 0.15 288.6 2631 693 2224 2123 350.3 10.8 491 5423 0.00 2.45 0.00 0.000 1158 0.000 0.079 2630 2105 2172 2223 2122 0 0 0 0 0 0 14.23 14.12 14.32

5744 0.15 288.6 2631 2105 2223 2121 313.6 11.2 506 5744 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2105 2171 2222 2121 0 0 0 0 0 0 14.64 14.66 14.66

6044 0.15 288.6 2630 2106 2223 2122 281.2 10.6 516 6049 0.00 2.47 0.00 0.000 516 0.000 0.087 2633 692 2170 2221 2120 0 0 0 0 0 0 14.67 14.15 14.71

6114 0.22 302.1 2631 693 2220 2121 274.4 9.4 530 6136 0.00 2.47 15.43 1.485 9382 0.000 0.079 2630 2107 2132 2181 2084 0 0 0 0 0 0 14.36 14.22 13.26

6434 0.27 324.1 2632 2107 2179 2077 244.8 9.0 544 6475 0.12 0.00 36.35 1.388 10918 0.126 0.000 2688 2108 2042 2087 1997 0 0 0 0 0 0 14.35 13.86 13.24

6796 0.21 324.1 2687 2108 2083 1988 202.6 11.3 561 6801 0.12 2.50 0.00 0.000 4740 0.249 0.086 2659 686 2034 2082 1987 0 0 0 0 0 0 14.03 14.16 14.14

6861 0.31 356.7 2660 687 2081 1987 196.6 8.5 574 6923 0.00 2.50 54.50 1.318 9382 0.000 0.080 2659 2109 1906 1944 1869 0 0 0 0 0 0 14.21 14.09 13.21

7248 0.38 392.2 2659 2109 1936 1862 163.6 8.4 601 7310 0.12 0.00 58.65 1.271 10918 0.134 0.000 2719 2110 1766 1791 1742 0 0 0 0 0 0 14.30 14.00 13.24

7608 0.36 392.2 2725 2110 1789 1730 121.4 11.3 618 7613 0.00 2.50 0.00 0.000 644 0.000 0.088 2722 693 1756 1782 1730 0 0 0 0 0 0 14.58 14.07 14.59

7750 0.36 394.7 2723 693 1779 1729 106.7 9.9 646 7754 0.00 2.45 0.00 0.000 1062 0.000 0.077 2722 2101 1754 1778 1730 0 0 0 0 0 0 14.33 14.20 14.38

8060 0.38 430.5 2722 2102 1778 1728 77.1 8.4 674 8086 0.00 2.53 19.67 0.434 8484 0.000 0.083 2722 3507 1608 1634 1583 0 0 0 0 0 0 14.60 14.09 13.68

8163 0.42 453.7 2721 3510 1635 1583 67.9 8.9 694 8184 0.00 2.42 13.12 0.403 9382 0.000 0.066 2726 2101 1513 1543 1484 0 0 0 0 0 0 14.09 13.97 13.63

8482 0.59 552.3 2726 2103 1544 1480 47.6 5.5 728 8540 0.12 2.50 51.92 0.343 11172 0.122 0.090 2788 689 1112 1174 1051 0 0 0 0 0 0 14.24 14.09 13.72

8675 0.72 604.7 2791 688 1173 1047 33.0 7.6 766 8708 0.00 2.50 28.25 0.298 9382 0.000 0.078 2790 2108 901 973 830 0 0 0 0 0 0 14.23 14.09 13.72

9005 0.90 686.2 2791 2108 965 823 11.5 6.2 802 9058 0.25 2.47 44.58 0.236 10660 0.088 0.080 2885 3511 563 596 531 0 0 0 0 0 0 14.15 13.86 13.67

9063 0.86 686.2 2885 3512 599 531 4.8 12.9 810 9069 0.15 2.45 0.00 0.000 5254 0.286 0.066 2859 2096 563 596 531 0 0 0 0 0 0 13.71 13.99 14.00

9086 end climb: SURFACE_DEPTH_REACHED

state 9086 begin surface coast

9096 end surface coast: CONTROL_FINISHED_OK

state 9096 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	287	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	798.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,040342,7538.6611,-15106.4170,15,0.8,18,20.8,0.6,97.4,11,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	333.2,8514,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	090917,041555,7538.6182,-15106.4570,6,0.7,38,20.8,0.5,267.4,12,8.2

FINISH	0.1,1.021497	_24V_AH	12.31,179.822
SM_CCo	9116,12.73,0.196,0,0,500,702.78	_10V_AH	12.18,0.000
SM_GC	0.97,8.07,0.20,12.73,0.063,0.105,0.196,204,2238,500,-7.38,-0.45,702.78,0,0,0,0,0,0,14.26,14.28,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	414	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7538.57,-15102.62,090917,041028	DATA_FILE_SIZE	26746,814
TT8_MAMPS	0.040446,0.894306	CAP_FILE_SIZE	105912,0
HUMID	46.61	CFSIZE	2097872896,2004549632
INTERNAL_PRESSURE	7.73269	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	0,5416.00,0x2341ea,1,24
XPDR_PINGS	18	SOUNDSPEED	1446.2
CP_FREE	15949692928.000000	CURRENT	0.028,241.85,1
PM_FREEKB_00	49482560	GPS	090917,064957,7539.775,-15106.401,38,0.7,39,20.8,0.5,302.9,11,9.4

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.24	nil	0	0	0.00
Roll_motor	84	2138	2234.65	nil	0	0	0.00
VBD_pump_during_apogee	960	1484	17563.53	nil	0	0	0.00
VBD_pump_during_surface	12	195	30.68	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	5318	15	995.85
Iridium_during_xfer	389	127	612.00	NCP	9101	20	2240.67
Transponder_ping	4	420	23.27	PMAR	9071	9	1109.83
GUMSTIX_24V	0	0	0.00
GPS	39	22	10.78
TT8	0	0	0.00
LPSleep	6555	2	184.44
TT8_Active	867	13	147.63
TT8_Sampling	2178	33	887.14
TT8_CF8	270	38	127.41
TT8_Kalman	0	0	0.00
Analog_circuits	2123	10	258.61
GPS_charging	0	0	0.00
Compass	1164	7	99.26
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	190	2188	496	486	0.0	0.0	0	143	0.00	0.00	-91.18	0.000	16386	0.000	0.000	188	2187	2101	2030	2173	0	0	0	0	0	0	14.41	28.83	14.42
146	-0.57	-145.9	188	2188	2032	2176	3.0	-3.6	9	208	12.95	2.78	-40.17	0.000	18980	0.455	2.138	2384	806	3963	3948	3979	0	0	0	0	0	0	13.58	12.58	14.07
274	-0.71	-145.9	2384	807	3953	3980	32.1	-13.4	34	280	0.00	2.42	0.00	0.000	1158	0.000	0.088	2382	2170	3966	3953	3979	0	0	0	0	0	0	14.19	14.05	14.26
581	-0.82	-145.9	2382	2167	3955	3980	76.1	-11.2	65	586	0.20	2.58	0.00	0.000	4484	0.107	0.088	2292	3607	3965	3952	3979	0	0	0	0	0	0	14.14	13.99	14.19
761	-0.89	-145.9	2293	3608	3955	3979	102.1	-13.6	101	766	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2207	3966	3954	3979	0	0	0	0	0	0	14.16	14.04	14.19
1091	-0.93	-145.9	2291	2207	3955	3979	150.2	-13.8	117	1096	0.00	2.50	0.00	0.000	388	0.000	0.086	2283	3613	3966	3954	3979	0	0	0	0	0	0	14.51	14.00	14.53
1151	-1.06	-145.9	2283	3615	3955	3980	157.7	-11.4	129	1156	0.15	2.42	0.00	0.000	5254	0.118	0.057	2230	2197	3966	3954	3979	0	0	0	0	0	0	14.09	14.04	14.19
1482	-1.00	-145.9	2230	2197	3958	3980	216.6	-17.3	145	1487	0.00	2.47	0.00	0.000	388	0.000	0.086	2223	3611	3966	3954	3979	0	0	0	0	0	0	14.50	13.98	14.51
1567	-1.00	-145.9	2223	3614	3955	3980	230.2	-15.1	162	1573	0.15	2.42	0.00	0.000	3078	0.243	0.057	2252	2201	3966	3954	3979	0	0	0	0	0	0	13.78	14.03	14.04
1872	-1.04	-145.9	2253	2200	3955	3980	268.7	-11.8	173	1877	0.00	2.50	0.00	0.000	388	0.000	0.088	2245	3610	3966	3954	3979	0	0	0	0	0	0	14.66	14.14	14.66
1942	-1.14	-145.9	2246	3612	3955	3979	276.6	-10.5	187	1947	0.00	2.40	0.00	0.000	1158	0.000	0.057	2245	2198	3966	3954	3979	0	0	0	0	0	0	14.33	14.21	14.38
2263	-1.19	-145.9	2245	2197	3955	3980	313.0	-11.0	201	2264	0.15	0.00	0.00	0.000	4230	0.132	0.000	2188	2197	3966	3954	3979	0	0	0	0	0	0	14.32	14.45	14.41
2562	-1.13	-145.9	2187	2197	3954	3980	360.1	-15.9	211	2567	0.12	2.50	0.00	0.000	2436	0.274	0.085	2209	3615	3966	3954	3979	0	0	0	0	0	0	13.71	14.07	13.87
2708	-1.19	-145.9	2209	3617	3954	3980	378.7	-11.9	240	2714	0.00	2.40	0.00	0.000	1158	0.000	0.057	2209	2191	3966	3954	3979	0	0	0	0	0	0	14.36	14.23	14.40
3013	-1.19	-145.9	2209	2191	3954	3980	419.2	-13.3	251	3017	0.00	2.50	0.00	0.000	260	0.000	0.086	2200	3613	3966	3953	3979	0	0	0	0	0	0	14.72	14.12	14.74
3108	-1.24	-145.9	2201	3614	3953	3977	431.6	-12.4	270	3113	0.00	2.40	0.00	0.000	1158	0.000	0.055	2200	2196	3967	3956	3979	0	0	0	0	0	0	14.33	14.19	14.40
3433	-1.24	-145.9	2201	2195	3954	3979	475.8	-13.6	285	3437	0.00	2.47	0.00	0.000	260	0.000	0.086	2192	3609	3965	3952	3979	0	0	0	0	0	0	14.73	14.12	14.74
3460	end dive: TARGET_DEPTH_EXCEEDED
state	3460	begin apogee
3468	-0.13	0.0	2193	2101	3953	3979	480.1	-14.1	291	3691	1.35	0.00	218.65	1.424	10246	0.240	0.000	2527	2101	3365	3383	3348	0	0	0	0	0	0	13.85	13.54	12.69
3739	end apogee: CONTROL_FINISHED_OK
state	3739	begin climb
3742	0.57	145.9	2527	2101	3376	3338	492.0	0.0	298	3957	0.75	2.67	210.43	1.374	11012	0.060	0.071	2785	3504	2766	2803	2729	0	0	0	0	0	0	13.81	12.94	12.31
4183	0.09	145.9	2784	3507	2784	2724	470.2	16.5	400	4189	0.88	2.45	0.00	0.000	5254	0.345	0.057	2616	2098	2753	2784	2723	0	0	0	0	0	0	13.45	13.81	13.83
4509	0.01	188.2	2617	2099	2784	2722	442.4	8.0	415	4571	0.15	0.00	59.53	1.414	12966	0.282	0.000	2586	2097	2598	2645	2551	0	0	0	0	0	0	13.91	13.93	13.09
4869	0.04	237.0	2586	2098	2639	2534	414.7	7.7	432	4949	0.00	2.55	72.07	1.382	8740	0.000	0.089	2589	699	2394	2444	2344	0	0	0	0	0	0	14.57	13.93	13.11
4994	0.17	288.6	2589	699	2438	2344	404.9	7.6	457	5081	0.15	2.47	77.72	1.349	11430	0.116	0.080	2655	2101	2184	2233	2136	0	0	0	0	0	0	14.09	14.02	12.94
5379	0.11	288.6	2656	2101	2225	2123	354.5	13.2	484	5385	0.12	2.47	0.00	0.000	4740	0.249	0.083	2630	694	2174	2225	2123	0	0	0	0	0	0	14.00	14.13	14.13
5415	0.15	288.6	2631	693	2224	2123	350.3	10.8	491	5423	0.00	2.45	0.00	0.000	1158	0.000	0.079	2630	2105	2172	2223	2122	0	0	0	0	0	0	14.23	14.12	14.32
5744	0.15	288.6	2631	2105	2223	2121	313.6	11.2	506	5744	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2105	2171	2222	2121	0	0	0	0	0	0	14.64	14.66	14.66
6044	0.15	288.6	2630	2106	2223	2122	281.2	10.6	516	6049	0.00	2.47	0.00	0.000	516	0.000	0.087	2633	692	2170	2221	2120	0	0	0	0	0	0	14.67	14.15	14.71
6114	0.22	302.1	2631	693	2220	2121	274.4	9.4	530	6136	0.00	2.47	15.43	1.485	9382	0.000	0.079	2630	2107	2132	2181	2084	0	0	0	0	0	0	14.36	14.22	13.26
6434	0.27	324.1	2632	2107	2179	2077	244.8	9.0	544	6475	0.12	0.00	36.35	1.388	10918	0.126	0.000	2688	2108	2042	2087	1997	0	0	0	0	0	0	14.35	13.86	13.24
6796	0.21	324.1	2687	2108	2083	1988	202.6	11.3	561	6801	0.12	2.50	0.00	0.000	4740	0.249	0.086	2659	686	2034	2082	1987	0	0	0	0	0	0	14.03	14.16	14.14
6861	0.31	356.7	2660	687	2081	1987	196.6	8.5	574	6923	0.00	2.50	54.50	1.318	9382	0.000	0.080	2659	2109	1906	1944	1869	0	0	0	0	0	0	14.21	14.09	13.21
7248	0.38	392.2	2659	2109	1936	1862	163.6	8.4	601	7310	0.12	0.00	58.65	1.271	10918	0.134	0.000	2719	2110	1766	1791	1742	0	0	0	0	0	0	14.30	14.00	13.24
7608	0.36	392.2	2725	2110	1789	1730	121.4	11.3	618	7613	0.00	2.50	0.00	0.000	644	0.000	0.088	2722	693	1756	1782	1730	0	0	0	0	0	0	14.58	14.07	14.59
7750	0.36	394.7	2723	693	1779	1729	106.7	9.9	646	7754	0.00	2.45	0.00	0.000	1062	0.000	0.077	2722	2101	1754	1778	1730	0	0	0	0	0	0	14.33	14.20	14.38
8060	0.38	430.5	2722	2102	1778	1728	77.1	8.4	674	8086	0.00	2.53	19.67	0.434	8484	0.000	0.083	2722	3507	1608	1634	1583	0	0	0	0	0	0	14.60	14.09	13.68
8163	0.42	453.7	2721	3510	1635	1583	67.9	8.9	694	8184	0.00	2.42	13.12	0.403	9382	0.000	0.066	2726	2101	1513	1543	1484	0	0	0	0	0	0	14.09	13.97	13.63
8482	0.59	552.3	2726	2103	1544	1480	47.6	5.5	728	8540	0.12	2.50	51.92	0.343	11172	0.122	0.090	2788	689	1112	1174	1051	0	0	0	0	0	0	14.24	14.09	13.72
8675	0.72	604.7	2791	688	1173	1047	33.0	7.6	766	8708	0.00	2.50	28.25	0.298	9382	0.000	0.078	2790	2108	901	973	830	0	0	0	0	0	0	14.23	14.09	13.72
9005	0.90	686.2	2791	2108	965	823	11.5	6.2	802	9058	0.25	2.47	44.58	0.236	10660	0.088	0.080	2885	3511	563	596	531	0	0	0	0	0	0	14.15	13.86	13.67
9063	0.86	686.2	2885	3512	599	531	4.8	12.9	810	9069	0.15	2.45	0.00	0.000	5254	0.286	0.066	2859	2096	563	596	531	0	0	0	0	0	0	13.71	13.99	14.00
9086	end climb: SURFACE_DEPTH_REACHED
state	9086	begin surface coast
9096	end surface coast: CONTROL_FINISHED_OK
state	9096	begin surface