Glider dive log

CABAGE Aug16 * SG196 * Dive index * Mission links * Dive 57 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 3

DIVE 57 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 29 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 R_STBD_OVSHOOT 16 XPDR_VALID 2

STOP_T 0 TGT_DEFAULT_LON -14430 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 692.78448 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.75

D_TGT 300 N_FILEKB 8 ROLL_ADJ_DBAND 0.050000001 DEEPGLIDER 0

D_ABORT 350 FILEMGR 0 VBD_MIN 500 MOTHERBOARD 4

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 100 COMM_SEQ 0 C_VBD 3179 DEVICE2 -1

T_BOOST 4 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00069999998 LOGGERS 3

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 54

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 87

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 100 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_MISSION 130 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE 150

T_TURN 225 N_GPS 100440 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE 101

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 350 SIM_W 0

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_PITCH 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SEABIRD_T_G 0.0043055275

ICE_FREEZE_MARGIN 0.050000001 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_H 0.00061896152

D_OFFGRID 1000 PITCH_MAX 3950 MAXI_24V 0.60000002 SEABIRD_T_I 2.1649632e-05

T_WATCHDOG 10 C_PITCH 2980 MAXI_10V 1 SEABIRD_T_J 2.1628491e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.8804169

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1388741

MAX_BUOY 150 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PRESSURE_YINT -162.35156 SEABIRD_C_J 0.00021409935

GLIDE_SLOPE 30 PITCH_GAIN 38 PRESSURE_SLOPE 0.00010687162 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 1 SC_PROFILE 3.0

RHO 1.028 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 53599 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MIN 218 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

KALMAN_USE 2 ROLL_MAX 3787 ALTIM_BOTTOM_TURN_MARGIN 10 PM_NDIVE 0.0

HD_A 0.0031999999 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0103 C_ROLL_DIVE 3100 ALTIM_TOP_MIN_OBSTACLE 1 PM_SENDDEPTH 0.0

HD_C 1.06e-05 C_ROLL_CLIMB 2200 ALTIM_PING_DEPTH 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 20

AD7714Ch0Gain 1 D_TGT 300 PITCH_DBAND 0.1 SEABIRD_T_I 2.1649632e-05

AH0_10V 0 ESCAPE_HEADING 0 PITCH_GAIN 38 SEABIRD_T_J 2.1628491e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3950 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 10 FG_AHR_10V 0 PITCH_MIN 208 SM_CC 692.78448

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 20 SPEED_FACTOR 1

ALTIM_PING_DELTA 20 FILEMGR 0 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 STROBE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.0031999999 PM_NDIVE 0.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0103 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.06e-05 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 7100

CALL_TRIES 5 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LON -14430

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.050000001 PRESSURE_SLOPE 0.00010687162 T_ABORT 1440

CAPMAXSIZE 100000 ID 196 PRESSURE_YINT -162.35156 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_DIVE 100

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.75 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 150 LOGGERDEVICE1 54 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE2 87 RAFOS_DEVICE 101 T_MISSION 130

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 2980 LOGGERS 3 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_ROLL_CLIMB 2200 MASS 53599 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 3100 MASS_COMP 0 RHO 1.028 T_WATCHDOG 10

C_VBD 3179 MAXI_10V 1 ROLL_ADJ_DBAND 0.050000001 UNCOM_BLEED 20

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_BATHY -6

DEVICE1 -1 MINV_10V 11 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_24V 11 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MISSION 10 ROLL_MAX 3787 VBD_CNV -0.24529999

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 218 VBD_LP_IGNORE 0

DEVICE6 -1 NOCOMM_ACTION 161 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 57 N_DIVES 0 R_PORT_OVSHOOT 29 VBD_MAXERRORS 1

D_ABORT 350 N_FILEKB 8 R_STBD_OVSHOOT 16 VBD_MIN 500

D_BOOST 100 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 0 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_C_G -9.8804169 W_ADJ_DBAND 0

D_NO_BLEED 50 PHONE_SUPPLY -2 SEABIRD_C_H 1.1388741 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_ADJ_DBAND 1 SEABIRD_C_I -0.0017082796 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_GAIN 0.02 SEABIRD_C_J 0.00021409935 XPDR_VALID 2

D_SAFE 0 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043055275

D_SURF 2 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00061896152

Pre-dive calculations and measurements:

GPS1 040916,020721,7318.9233,-15023.3848,4,0.8,10,20.6,0.0,0.0,9,7.8 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 115.8,19911,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.3 D_GRID 1000

GPS2 040916,021656,7318.9253,-15023.3857,6,0.7,12,20.6,0.0,0.0,11,7.0

Post-dive calculations and measurements:

FINISH 0.3,1.021088 _24V_AH 12.95,30.326

SM_CCo 6139,0.28,0.513,0,0,499,657.65 _10V_AH 12.92,0.000

SM_GC 1.06,9.73,1.65,0.28,0.087,0.091,0.513,207,3098,499,-8.62,-0.59,657.65,0,0,0,0,0,0,14.11,14.09,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 279 FG_AHR_10Vo 0.000

RAFOS_FIX 7606.781250,-15446.650391,030916,202003,3,255,236.67 MEM 311136

IRIDIUM_FIX 7235.57,-15028.33,040916,001824 DATA_FILE_SIZE 20121,619

TT8_MAMPS 0.041195,1.04336 CAP_FILE_SIZE 82857,0

HUMID 58.26 CFSIZE 2097872896,2079227904

INTERNAL_PRESSURE 8.6214 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 INTR 0,6631.73,0x213880,7,24

XPDR_PINGS 2 SOUNDSPEED 1445.1

SC_FREEKB 4004404 CURRENT 0.112,327.27,1

PM_FREEKB 56089152 GPS 040916,040057,7318.682,-15022.169,34,0.8,35,20.6,0.0,0.0,10,6.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 406 133.60 nil 0 0 0.00

Roll_motor 58 2194 1654.32 nil 0 0 0.00

VBD_pump_during_apogee 851 1330 14667.78 nil 0 0 0.00

VBD_pump_during_surface 43 512 290.89 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 6094 21 1717.79

Iridium_during_xfer 371 170 820.28 PMAR 6069 18 1468.76

Transponder_ping 0 420 2.72 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 13 20 3.76

TT8 0 0 0.00

LPSleep 3932 2 117.38

TT8_Active 946 11 143.31

TT8_Sampling 1591 30 626.03

TT8_CF8 250 35 115.58

TT8_Kalman 0 0 0.00

Analog_circuits 1894 10 244.81

GPS_charging 0 0 0.00

Compass 890 6 77.53

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

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.57 -145.9 177 3105 535 466 0.0 0.0 0 128 0.00 0.00 -111.12 0.000 16386 0.000 0.000 175 3105 2348 2297 2400 0 0 0 0 0 0 14.29 28.83 14.31

131 -0.57 -145.9 177 3104 2298 2401 3.2 -3.5 11 184 12.90 2.62 -33.28 0.000 18980 0.407 2.194 2785 1695 3776 3758 3794 0 0 0 0 0 0 13.95 13.28 14.17

409 -0.57 -145.9 2786 1696 3764 3795 60.7 -15.7 66 416 0.00 2.53 0.00 0.000 1030 0.000 0.096 2784 3099 3779 3764 3794 0 0 0 0 0 0 14.21 14.12 14.23

594 -0.62 -145.9 2783 3099 3767 3795 84.8 -11.1 85 599 0.00 2.40 0.00 0.000 644 0.000 0.061 2784 1693 3779 3765 3794 0 0 0 0 0 0 14.38 14.17 14.40

731 -0.69 -145.9 2784 1694 3766 3795 98.7 -9.8 112 737 0.00 2.53 0.00 0.000 1190 0.000 0.099 2780 3102 3780 3765 3796 0 0 0 0 0 0 14.29 14.21 14.31

925 -0.78 -145.9 2780 3102 3766 3794 117.7 -9.7 123 926 0.17 0.00 0.00 0.000 4262 0.122 0.000 2717 3102 3780 3766 3794 0 0 0 0 0 0 14.28 14.36 14.34

1104 -0.78 -145.9 2717 3102 3767 3795 141.0 -13.1 132 1105 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 3102 3780 3766 3794 0 0 0 0 0 0 14.47 14.50 14.50

1284 -0.78 -145.9 2717 3103 3766 3794 163.2 -12.0 141 1289 0.00 2.38 0.00 0.000 516 0.000 0.061 2716 1696 3779 3765 3794 0 0 0 0 0 0 14.50 14.31 14.52

1329 -0.80 -145.9 2716 1697 3767 3795 168.6 -11.8 150 1335 0.00 2.53 0.00 0.000 1158 0.000 0.103 2715 3104 3780 3766 3794 0 0 0 0 0 0 14.38 14.28 14.40

1525 -0.82 -145.9 2716 3105 3766 3795 191.4 -11.5 162 1526 0.00 0.00 0.00 0.000 134 0.000 0.000 2715 3105 3779 3765 3794 0 0 0 0 0 0 14.52 14.54 14.54

1705 -0.86 -145.9 2716 3106 3766 3795 211.9 -11.3 171 1710 0.00 2.40 0.00 0.000 644 0.000 0.063 2716 1692 3780 3766 3794 0 0 0 0 0 0 14.54 14.35 14.55

1735 -0.89 -145.9 2715 1692 3767 3795 215.2 -10.8 177 1740 0.00 2.53 0.00 0.000 1158 0.000 0.105 2716 3103 3780 3766 3794 0 0 0 0 0 0 14.42 14.33 14.45

1926 -0.93 -145.9 2716 3104 3766 3795 234.8 -9.8 188 1927 0.12 0.00 0.00 0.000 4262 0.143 0.000 2668 3103 3780 3766 3794 0 0 0 0 0 0 14.35 14.42 14.40

2106 -0.91 -145.9 2669 3104 3766 3795 255.9 -11.5 197 2110 0.00 2.38 0.00 0.000 644 0.000 0.063 2668 1696 3780 3766 3794 0 0 0 0 0 0 14.57 14.37 14.58

2155 -0.91 -145.9 2668 1697 3767 3795 261.4 -10.3 207 2160 0.00 2.53 0.00 0.000 1030 0.000 0.103 2667 3109 3779 3765 3794 0 0 0 0 0 0 14.45 14.35 14.47

2345 -0.89 -145.9 2663 3110 3767 3795 282.0 -11.0 218 2347 0.12 0.00 0.00 0.000 2182 0.291 0.000 2687 3109 3779 3765 3794 0 0 0 0 0 0 14.31 14.47 14.45

2526 -0.92 -145.9 2687 3109 3767 3795 298.9 -9.1 227 2527 0.00 0.00 0.00 0.000 166 0.000 0.000 2687 3109 3779 3765 3794 0 0 0 0 0 0 14.59 14.61 14.61

2543 end dive: TARGET_DEPTH_EXCEEDED

state 2543 begin apogee

2550 -0.13 0.0 2688 2189 3767 3794 300.7 -9.0 228 2773 0.88 0.00 219.27 1.298 10246 0.212 0.000 2929 2187 3178 3198 3159 0 0 0 0 0 0 14.33 13.65 13.14

2775 end apogee: CONTROL_FINISHED_OK

state 2775 begin climb

2777 0.57 145.9 2930 2188 3193 3150 307.5 0.0 239 3005 0.73 2.62 218.23 1.185 10756 0.078 0.081 3178 808 2576 2634 2519 0 0 0 0 0 0 13.66 13.38 12.95

3231 0.46 145.9 3177 808 2624 2510 258.3 13.2 329 3236 0.20 2.50 0.00 0.000 5254 0.294 0.079 3136 2206 2566 2624 2509 0 0 0 0 0 0 13.67 13.76 13.83

3421 0.41 160.1 3136 2207 2626 2506 239.2 9.3 340 3443 0.00 2.53 14.98 1.330 8868 0.000 0.081 3138 800 2518 2577 2460 0 0 0 0 0 0 14.14 13.87 13.40

3593 0.41 186.3 3138 801 2569 2458 223.1 8.8 374 3634 0.00 2.50 35.92 1.255 9382 0.000 0.077 3138 2207 2420 2475 2366 0 0 0 0 0 0 14.05 13.97 13.32

3826 0.40 205.8 3138 2209 2458 2350 201.9 9.1 393 3853 0.00 0.00 26.17 1.279 8358 0.000 0.000 3138 2208 2340 2387 2293 0 0 0 0 0 0 14.16 13.87 13.39

4024 0.40 210.6 3138 2210 2371 2277 182.7 9.8 403 4025 0.00 0.00 0.00 0.000 38 0.000 0.000 3138 2209 2323 2371 2276 0 0 0 0 0 0 14.17 14.19 14.19

4204 0.42 233.9 3138 2210 2370 2275 166.3 8.9 412 4246 0.00 0.00 40.62 1.245 8230 0.000 0.000 3138 2208 2226 2272 2180 0 0 0 0 0 0 14.26 13.90 13.42

4424 0.45 258.9 3138 2210 2255 2160 146.8 8.8 423 4464 0.00 0.00 35.72 1.232 8358 0.000 0.000 3138 2209 2117 2162 2072 0 0 0 0 0 0 14.20 13.78 13.40

4644 0.52 290.1 3138 2210 2154 2056 127.8 8.6 434 4692 0.00 0.00 46.10 1.190 8358 0.000 0.000 3138 2209 1996 2042 1950 0 0 0 0 0 0 14.20 13.83 13.37

4864 0.61 329.7 3138 2209 2028 1928 109.5 8.2 445 4935 0.12 2.60 62.58 1.150 10916 0.143 0.084 3191 813 1824 1854 1794 0 0 0 0 0 0 13.98 13.71 13.30

4975 0.61 329.7 3191 814 1843 1786 97.6 11.0 467 4980 0.00 2.50 0.00 0.000 1030 0.000 0.081 3191 2198 1814 1843 1786 0 0 0 0 0 0 13.87 13.78 13.89

5167 0.64 335.7 3191 2199 1844 1778 76.9 9.7 487 5172 0.00 2.50 0.00 0.000 676 0.000 0.086 3191 803 1810 1843 1777 0 0 0 0 0 0 14.15 13.96 14.17

5274 0.72 368.7 3191 804 1841 1779 67.7 8.5 508 5301 0.00 2.47 20.60 0.404 9382 0.000 0.082 3191 2200 1673 1701 1645 0 0 0 0 0 0 14.11 14.02 13.81

5479 0.84 436.6 3191 2201 1706 1653 52.9 6.9 531 5526 0.17 2.55 41.40 0.365 10660 0.126 0.095 3259 3609 1396 1444 1349 0 0 0 0 0 0 14.08 13.97 13.84

5606 0.82 436.6 3259 3610 1445 1357 39.0 12.5 556 5612 0.00 2.40 0.00 0.000 1158 0.000 0.055 3259 2207 1400 1444 1356 0 0 0 0 0 0 14.11 14.04 14.12

5792 0.89 482.8 3260 2207 1443 1356 22.4 7.9 575 5825 0.00 2.58 28.33 0.282 8868 0.000 0.086 3259 791 1207 1267 1147 0 0 0 0 0 0 14.30 14.04 13.97

5917 1.07 585.2 3260 791 1268 1155 15.1 5.3 597 5984 0.20 2.47 61.47 0.249 11430 0.116 0.080 3327 2199 788 871 705 0 0 0 0 0 0 14.12 14.08 13.96

6059 end climb: SURFACE_DEPTH_REACHED

state 6059 begin surface coast

6067 end surface coast: CONTROL_FINISHED_OK

state 6067 begin surface

ID	196	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	3
DIVE	57	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	29	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	R_STBD_OVSHOOT	16	XPDR_VALID	2
STOP_T	0	TGT_DEFAULT_LON	-14430	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	692.78448	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.75
D_TGT	300	N_FILEKB	8	ROLL_ADJ_DBAND	0.050000001	DEEPGLIDER	0
D_ABORT	350	FILEMGR	0	VBD_MIN	500	MOTHERBOARD	4
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	100	COMM_SEQ	0	C_VBD	3179	DEVICE2	-1
T_BOOST	4	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00069999998	LOGGERS	3
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	54
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	87
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	100	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_MISSION	130	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	150
T_TURN	225	N_GPS	100440	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	101
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	350	SIM_W	0
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_PITCH	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SEABIRD_T_G	0.0043055275
ICE_FREEZE_MARGIN	0.050000001	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_H	0.00061896152
D_OFFGRID	1000	PITCH_MAX	3950	MAXI_24V	0.60000002	SEABIRD_T_I	2.1649632e-05
T_WATCHDOG	10	C_PITCH	2980	MAXI_10V	1	SEABIRD_T_J	2.1628491e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.8804169
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1388741
MAX_BUOY	150	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	-0.0017082796
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-162.35156	SEABIRD_C_J	0.00021409935
GLIDE_SLOPE	30	PITCH_GAIN	38	PRESSURE_SLOPE	0.00010687162	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	1	SC_PROFILE	3.0
RHO	1.028	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	53599	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MIN	218	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
KALMAN_USE	2	ROLL_MAX	3787	ALTIM_BOTTOM_TURN_MARGIN	10	PM_NDIVE	0.0
HD_A	0.0031999999	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0103	C_ROLL_DIVE	3100	ALTIM_TOP_MIN_OBSTACLE	1	PM_SENDDEPTH	0.0
HD_C	1.06e-05	C_ROLL_CLIMB	2200	ALTIM_PING_DEPTH	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	20

GPS1	040916,020721,7318.9233,-15023.3848,4,0.8,10,20.6,0.0,0.0,9,7.8	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	115.8,19911,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.3	D_GRID	1000
GPS2	040916,021656,7318.9253,-15023.3857,6,0.7,12,20.6,0.0,0.0,11,7.0

FINISH	0.3,1.021088	_24V_AH	12.95,30.326
SM_CCo	6139,0.28,0.513,0,0,499,657.65	_10V_AH	12.92,0.000
SM_GC	1.06,9.73,1.65,0.28,0.087,0.091,0.513,207,3098,499,-8.62,-0.59,657.65,0,0,0,0,0,0,14.11,14.09,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	279	FG_AHR_10Vo	0.000
RAFOS_FIX	7606.781250,-15446.650391,030916,202003,3,255,236.67	MEM	311136
IRIDIUM_FIX	7235.57,-15028.33,040916,001824	DATA_FILE_SIZE	20121,619
TT8_MAMPS	0.041195,1.04336	CAP_FILE_SIZE	82857,0
HUMID	58.26	CFSIZE	2097872896,2079227904
INTERNAL_PRESSURE	8.6214	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	INTR	0,6631.73,0x213880,7,24
XPDR_PINGS	2	SOUNDSPEED	1445.1
SC_FREEKB	4004404	CURRENT	0.112,327.27,1
PM_FREEKB	56089152	GPS	040916,040057,7318.682,-15022.169,34,0.8,35,20.6,0.0,0.0,10,6.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	406	133.60	nil	0	0	0.00
Roll_motor	58	2194	1654.32	nil	0	0	0.00
VBD_pump_during_apogee	851	1330	14667.78	nil	0	0	0.00
VBD_pump_during_surface	43	512	290.89	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	6094	21	1717.79
Iridium_during_xfer	371	170	820.28	PMAR	6069	18	1468.76
Transponder_ping	0	420	2.72	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	13	20	3.76
TT8	0	0	0.00
LPSleep	3932	2	117.38
TT8_Active	946	11	143.31
TT8_Sampling	1591	30	626.03
TT8_CF8	250	35	115.58
TT8_Kalman	0	0	0.00
Analog_circuits	1894	10	244.81
GPS_charging	0	0	0.00
Compass	890	6	77.53
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
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.57	-145.9	177	3105	535	466	0.0	0.0	0	128	0.00	0.00	-111.12	0.000	16386	0.000	0.000	175	3105	2348	2297	2400	0	0	0	0	0	0	14.29	28.83	14.31
131	-0.57	-145.9	177	3104	2298	2401	3.2	-3.5	11	184	12.90	2.62	-33.28	0.000	18980	0.407	2.194	2785	1695	3776	3758	3794	0	0	0	0	0	0	13.95	13.28	14.17
409	-0.57	-145.9	2786	1696	3764	3795	60.7	-15.7	66	416	0.00	2.53	0.00	0.000	1030	0.000	0.096	2784	3099	3779	3764	3794	0	0	0	0	0	0	14.21	14.12	14.23
594	-0.62	-145.9	2783	3099	3767	3795	84.8	-11.1	85	599	0.00	2.40	0.00	0.000	644	0.000	0.061	2784	1693	3779	3765	3794	0	0	0	0	0	0	14.38	14.17	14.40
731	-0.69	-145.9	2784	1694	3766	3795	98.7	-9.8	112	737	0.00	2.53	0.00	0.000	1190	0.000	0.099	2780	3102	3780	3765	3796	0	0	0	0	0	0	14.29	14.21	14.31
925	-0.78	-145.9	2780	3102	3766	3794	117.7	-9.7	123	926	0.17	0.00	0.00	0.000	4262	0.122	0.000	2717	3102	3780	3766	3794	0	0	0	0	0	0	14.28	14.36	14.34
1104	-0.78	-145.9	2717	3102	3767	3795	141.0	-13.1	132	1105	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	3102	3780	3766	3794	0	0	0	0	0	0	14.47	14.50	14.50
1284	-0.78	-145.9	2717	3103	3766	3794	163.2	-12.0	141	1289	0.00	2.38	0.00	0.000	516	0.000	0.061	2716	1696	3779	3765	3794	0	0	0	0	0	0	14.50	14.31	14.52
1329	-0.80	-145.9	2716	1697	3767	3795	168.6	-11.8	150	1335	0.00	2.53	0.00	0.000	1158	0.000	0.103	2715	3104	3780	3766	3794	0	0	0	0	0	0	14.38	14.28	14.40
1525	-0.82	-145.9	2716	3105	3766	3795	191.4	-11.5	162	1526	0.00	0.00	0.00	0.000	134	0.000	0.000	2715	3105	3779	3765	3794	0	0	0	0	0	0	14.52	14.54	14.54
1705	-0.86	-145.9	2716	3106	3766	3795	211.9	-11.3	171	1710	0.00	2.40	0.00	0.000	644	0.000	0.063	2716	1692	3780	3766	3794	0	0	0	0	0	0	14.54	14.35	14.55
1735	-0.89	-145.9	2715	1692	3767	3795	215.2	-10.8	177	1740	0.00	2.53	0.00	0.000	1158	0.000	0.105	2716	3103	3780	3766	3794	0	0	0	0	0	0	14.42	14.33	14.45
1926	-0.93	-145.9	2716	3104	3766	3795	234.8	-9.8	188	1927	0.12	0.00	0.00	0.000	4262	0.143	0.000	2668	3103	3780	3766	3794	0	0	0	0	0	0	14.35	14.42	14.40
2106	-0.91	-145.9	2669	3104	3766	3795	255.9	-11.5	197	2110	0.00	2.38	0.00	0.000	644	0.000	0.063	2668	1696	3780	3766	3794	0	0	0	0	0	0	14.57	14.37	14.58
2155	-0.91	-145.9	2668	1697	3767	3795	261.4	-10.3	207	2160	0.00	2.53	0.00	0.000	1030	0.000	0.103	2667	3109	3779	3765	3794	0	0	0	0	0	0	14.45	14.35	14.47
2345	-0.89	-145.9	2663	3110	3767	3795	282.0	-11.0	218	2347	0.12	0.00	0.00	0.000	2182	0.291	0.000	2687	3109	3779	3765	3794	0	0	0	0	0	0	14.31	14.47	14.45
2526	-0.92	-145.9	2687	3109	3767	3795	298.9	-9.1	227	2527	0.00	0.00	0.00	0.000	166	0.000	0.000	2687	3109	3779	3765	3794	0	0	0	0	0	0	14.59	14.61	14.61
2543	end dive: TARGET_DEPTH_EXCEEDED
state	2543	begin apogee
2550	-0.13	0.0	2688	2189	3767	3794	300.7	-9.0	228	2773	0.88	0.00	219.27	1.298	10246	0.212	0.000	2929	2187	3178	3198	3159	0	0	0	0	0	0	14.33	13.65	13.14
2775	end apogee: CONTROL_FINISHED_OK
state	2775	begin climb
2777	0.57	145.9	2930	2188	3193	3150	307.5	0.0	239	3005	0.73	2.62	218.23	1.185	10756	0.078	0.081	3178	808	2576	2634	2519	0	0	0	0	0	0	13.66	13.38	12.95
3231	0.46	145.9	3177	808	2624	2510	258.3	13.2	329	3236	0.20	2.50	0.00	0.000	5254	0.294	0.079	3136	2206	2566	2624	2509	0	0	0	0	0	0	13.67	13.76	13.83
3421	0.41	160.1	3136	2207	2626	2506	239.2	9.3	340	3443	0.00	2.53	14.98	1.330	8868	0.000	0.081	3138	800	2518	2577	2460	0	0	0	0	0	0	14.14	13.87	13.40
3593	0.41	186.3	3138	801	2569	2458	223.1	8.8	374	3634	0.00	2.50	35.92	1.255	9382	0.000	0.077	3138	2207	2420	2475	2366	0	0	0	0	0	0	14.05	13.97	13.32
3826	0.40	205.8	3138	2209	2458	2350	201.9	9.1	393	3853	0.00	0.00	26.17	1.279	8358	0.000	0.000	3138	2208	2340	2387	2293	0	0	0	0	0	0	14.16	13.87	13.39
4024	0.40	210.6	3138	2210	2371	2277	182.7	9.8	403	4025	0.00	0.00	0.00	0.000	38	0.000	0.000	3138	2209	2323	2371	2276	0	0	0	0	0	0	14.17	14.19	14.19
4204	0.42	233.9	3138	2210	2370	2275	166.3	8.9	412	4246	0.00	0.00	40.62	1.245	8230	0.000	0.000	3138	2208	2226	2272	2180	0	0	0	0	0	0	14.26	13.90	13.42
4424	0.45	258.9	3138	2210	2255	2160	146.8	8.8	423	4464	0.00	0.00	35.72	1.232	8358	0.000	0.000	3138	2209	2117	2162	2072	0	0	0	0	0	0	14.20	13.78	13.40
4644	0.52	290.1	3138	2210	2154	2056	127.8	8.6	434	4692	0.00	0.00	46.10	1.190	8358	0.000	0.000	3138	2209	1996	2042	1950	0	0	0	0	0	0	14.20	13.83	13.37
4864	0.61	329.7	3138	2209	2028	1928	109.5	8.2	445	4935	0.12	2.60	62.58	1.150	10916	0.143	0.084	3191	813	1824	1854	1794	0	0	0	0	0	0	13.98	13.71	13.30
4975	0.61	329.7	3191	814	1843	1786	97.6	11.0	467	4980	0.00	2.50	0.00	0.000	1030	0.000	0.081	3191	2198	1814	1843	1786	0	0	0	0	0	0	13.87	13.78	13.89
5167	0.64	335.7	3191	2199	1844	1778	76.9	9.7	487	5172	0.00	2.50	0.00	0.000	676	0.000	0.086	3191	803	1810	1843	1777	0	0	0	0	0	0	14.15	13.96	14.17
5274	0.72	368.7	3191	804	1841	1779	67.7	8.5	508	5301	0.00	2.47	20.60	0.404	9382	0.000	0.082	3191	2200	1673	1701	1645	0	0	0	0	0	0	14.11	14.02	13.81
5479	0.84	436.6	3191	2201	1706	1653	52.9	6.9	531	5526	0.17	2.55	41.40	0.365	10660	0.126	0.095	3259	3609	1396	1444	1349	0	0	0	0	0	0	14.08	13.97	13.84
5606	0.82	436.6	3259	3610	1445	1357	39.0	12.5	556	5612	0.00	2.40	0.00	0.000	1158	0.000	0.055	3259	2207	1400	1444	1356	0	0	0	0	0	0	14.11	14.04	14.12
5792	0.89	482.8	3260	2207	1443	1356	22.4	7.9	575	5825	0.00	2.58	28.33	0.282	8868	0.000	0.086	3259	791	1207	1267	1147	0	0	0	0	0	0	14.30	14.04	13.97
5917	1.07	585.2	3260	791	1268	1155	15.1	5.3	597	5984	0.20	2.47	61.47	0.249	11430	0.116	0.080	3327	2199	788	871	705	0	0	0	0	0	0	14.12	14.08	13.96
6059	end climb: SURFACE_DEPTH_REACHED
state	6059	begin surface coast
6067	end surface coast: CONTROL_FINISHED_OK
state	6067	begin surface