Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 233 * 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 233 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 656.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 656.0 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 32 VBD_MIN 500

DIVE 233 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 030917,010333,7443.6611,-15246.4375,32,0.8,33,19.8,0.0,0.0,10,7.7 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 1.22 MHEAD_RNG_PITCHd_Wd 19.2,118527,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 030917,012141,7443.6577,-15246.7422,9,0.6,9,19.8,0.0,312.4,12,8.8

Post-dive calculations and measurements:

FINISH 0.2,1.021442 _24V_AH 12.33,154.606

SM_CCo 8861,38.78,0.210,0,0,500,702.78 _10V_AH 12.20,0.000

SM_GC 1.08,8.27,0.15,38.78,0.083,0.120,0.210,203,2232,500,-7.37,-0.85,702.78,0,0,0,0,0,0,14.31,14.32,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323404

IRIDIUM_FIX 7446.07,-15238.51,030917,011319 DATA_FILE_SIZE 23398,706

TT8_MAMPS 0.039697,0.904792 CAP_FILE_SIZE 99832,0

HUMID 46.92 CFSIZE 2097872896,2017132544

INTERNAL_PRESSURE 7.72292 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1446.0

XPDR_PINGS 19 CURRENT 0.072,263.47,1

CP_FREE 15972859904.000000 GPS 030917,035146,7444.381,-15244.208,18,0.8,28,19.8,0.0,259.8,11,9.8

PM_FREEKB_00 51059648

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.07 nil 0 0 0.00

Roll_motor 73 2142 1944.53 nil 0 0 0.00

VBD_pump_during_apogee 948 1556 18189.87 nil 0 0 0.00

VBD_pump_during_surface 38 210 100.58 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 5209 14 940.09

Iridium_during_xfer 706 178 1552.06 NCP 8832 20 2177.97

Transponder_ping 4 420 24.60 PMAR 8815 9 1071.67

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.99

TT8 0 0 0.00

LPSleep 6295 2 177.43

TT8_Active 891 13 151.89

TT8_Sampling 2507 33 1022.85

TT8_CF8 306 38 144.82

TT8_Kalman 0 0 0.00

Analog_circuits 2581 10 314.99

GPS_charging 0 0 0.00

Compass 1011 7 86.36

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 205 2183 488 496 0.0 0.0 0 151 0.00 0.00 -100.75 0.000 16386 0.000 0.000 204 2183 2354 2297 2412 0 0 0 0 0 0 14.52 28.83 14.54

154 -0.57 -145.9 205 2183 2301 2411 4.6 -7.0 10 202 12.65 2.85 -29.77 0.000 18724 0.454 2.143 2377 3613 3963 3946 3981 0 0 0 0 0 0 13.65 12.85 14.14

302 -0.71 -145.9 2377 3615 3953 3982 37.6 -13.4 39 308 0.00 2.38 0.00 0.000 1158 0.000 0.060 2377 2208 3966 3952 3981 0 0 0 0 0 0 14.34 14.21 14.38

609 -0.82 -145.9 2377 2206 3955 3981 77.8 -10.8 70 610 0.20 0.00 0.00 0.000 4230 0.109 0.000 2297 2206 3967 3954 3981 0 0 0 0 0 0 14.35 14.46 14.44

927 -0.82 -145.9 2298 2206 3954 3982 128.3 -15.0 90 932 0.00 2.47 0.00 0.000 260 0.000 0.089 2293 3614 3967 3954 3981 0 0 0 0 0 0 14.73 14.16 14.76

1017 -0.92 -145.9 2293 3616 3954 3981 140.1 -12.4 108 1022 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2191 3967 3954 3981 0 0 0 0 0 0 14.35 14.23 14.38

1347 -0.96 -145.9 2293 2189 3955 3981 183.9 -12.8 124 1352 0.00 2.50 0.00 0.000 388 0.000 0.086 2283 3616 3967 3954 3981 0 0 0 0 0 0 14.76 14.19 14.81

1392 -1.07 -145.9 2283 3616 3955 3981 189.5 -11.9 133 1398 0.15 2.40 0.00 0.000 5254 0.116 0.059 2226 2193 3967 3953 3981 0 0 0 0 0 0 14.29 14.23 14.38

1708 -1.00 -145.9 2227 2193 3955 3981 246.4 -17.7 146 1713 0.12 2.47 0.00 0.000 2436 0.294 0.084 2245 3610 3967 3954 3981 0 0 0 0 0 0 13.77 14.05 13.83

1854 -1.05 -145.9 2245 3612 3955 3981 266.0 -12.5 175 1860 0.00 2.38 0.00 0.000 1158 0.000 0.057 2245 2198 3967 3954 3981 0 0 0 0 0 0 14.40 14.28 14.43

2159 -1.05 -145.9 2245 2198 3954 3982 305.3 -12.3 186 2163 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3610 3967 3954 3981 0 0 0 0 0 0 14.75 14.24 14.77

2209 -1.12 -145.9 2236 3612 3954 3982 311.4 -11.8 196 2213 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2190 3967 3954 3981 0 0 0 0 0 0 14.37 14.26 14.43

2519 -1.12 -145.9 2237 2190 3954 3981 348.6 -11.7 208 2523 0.00 2.50 0.00 0.000 260 0.000 0.090 2236 3616 3967 3953 3981 0 0 0 0 0 0 14.75 14.23 14.76

2604 -1.21 -145.9 2236 3618 3954 3982 357.9 -10.4 225 2611 0.15 2.40 0.00 0.000 5254 0.126 0.057 2176 2192 3967 3953 3981 0 0 0 0 0 0 14.34 14.31 14.43

2909 -1.10 -145.9 2176 2192 3954 3979 409.4 -17.3 236 2914 0.20 2.47 0.00 0.000 2436 0.297 0.083 2210 3610 3966 3952 3980 0 0 0 0 0 0 13.90 14.23 14.10

3016 -1.13 -145.9 2211 3614 3953 3980 423.6 -12.3 257 3021 0.00 2.38 0.00 0.000 1158 0.000 0.056 2211 2193 3965 3952 3979 0 0 0 0 0 0 14.43 14.31 14.46

3331 -1.13 -145.9 2211 2193 3953 3981 465.5 -13.2 270 3336 0.00 2.47 0.00 0.000 260 0.000 0.087 2204 3610 3966 3953 3980 0 0 0 0 0 0 14.76 14.23 14.78

3431 -1.13 -145.9 2204 3612 3952 3981 478.6 -12.7 290 3436 0.00 2.38 0.00 0.000 1030 0.000 0.055 2204 2197 3965 3951 3980 0 0 0 0 0 0 14.43 14.31 14.50

3444 end dive: TARGET_DEPTH_EXCEEDED

state 3444 begin apogee

3450 -0.13 0.0 2204 2067 3953 3979 480.6 -13.0 293 3673 1.30 0.05 218.93 1.414 10246 0.250 0.222 2530 2104 3364 3384 3344 0 0 0 0 0 0 13.93 13.49 12.71

3676 end apogee: CONTROL_FINISHED_OK

state 3676 begin climb

3679 0.57 145.9 2531 2104 3380 3338 491.3 0.0 300 4073 0.73 0.00 208.25 1.368 10502 0.063 0.000 2778 2104 2754 2796 2712 0 0 0 0 0 0 13.66 13.12 12.33

4393 0.17 145.9 2777 2106 2795 2713 423.6 15.4 316 4398 0.60 2.40 0.00 0.000 4740 0.319 0.079 2652 727 2753 2794 2712 0 0 0 0 0 0 13.71 14.09 13.95

4568 0.05 160.4 2653 728 2795 2713 406.4 9.3 351 4589 0.22 2.40 16.50 1.556 13478 0.269 0.080 2605 2106 2713 2757 2669 0 0 0 0 0 0 13.90 14.19 13.19

4906 0.04 214.4 2604 2104 2747 2659 380.5 7.5 368 4996 0.00 2.47 81.57 1.375 8868 0.000 0.085 2604 721 2488 2542 2434 0 0 0 0 0 0 14.59 13.91 13.12

5037 0.13 256.2 2604 720 2540 2429 370.1 8.1 394 5106 0.00 2.45 63.00 1.356 9382 0.000 0.079 2603 2101 2318 2373 2263 0 0 0 0 0 0 14.12 14.00 12.97

5417 0.20 291.0 2604 2102 2364 2250 337.8 8.4 420 5470 0.12 0.00 51.92 1.364 10406 0.129 0.000 2662 2101 2179 2231 2128 0 0 0 0 0 0 14.26 13.97 13.17

5747 0.16 291.0 2662 2101 2220 2112 296.5 12.6 431 5751 0.00 2.42 0.00 0.000 644 0.000 0.086 2664 728 2166 2219 2113 0 0 0 0 0 0 14.56 14.19 14.59

5851 0.16 291.0 2664 729 2217 2113 284.5 10.6 452 5857 0.12 2.40 0.00 0.000 5126 0.243 0.078 2638 2099 2164 2216 2113 0 0 0 0 0 0 14.03 14.19 14.29

6167 0.21 316.5 2637 2101 2223 2112 255.3 8.8 465 6208 0.00 0.00 39.15 1.374 8358 0.000 0.000 2637 2100 2074 2124 2024 0 0 0 0 0 0 14.67 14.10 13.30

6497 0.30 360.7 2638 2100 2114 2011 228.7 8.0 476 6572 0.12 0.00 70.82 1.285 10918 0.125 0.000 2692 2100 1894 1932 1857 0 0 0 0 0 0 14.28 13.73 13.19

6887 0.30 360.7 2692 2100 1920 1849 186.2 10.8 494 6892 0.00 2.40 0.00 0.000 516 0.000 0.086 2699 729 1883 1919 1847 0 0 0 0 0 0 14.56 14.18 14.57

6978 0.35 363.3 2699 730 1917 1848 176.8 9.9 512 6982 0.00 2.38 0.00 0.000 1190 0.000 0.076 2699 2099 1881 1916 1847 0 0 0 0 0 0 14.34 14.21 14.38

7307 0.35 363.3 2699 2101 1916 1845 142.8 10.1 528 7308 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2101 1880 1915 1845 0 0 0 0 0 0 14.62 14.64 14.65

7608 0.36 377.1 2699 2101 1915 1845 113.7 9.4 538 7633 0.00 2.40 20.60 1.392 8740 0.000 0.083 2699 728 1823 1853 1793 0 0 0 0 0 0 14.64 13.95 13.35

7720 0.47 414.5 2699 729 1844 1794 104.1 8.3 560 7790 0.10 2.40 62.83 1.228 11430 0.152 0.079 2748 2108 1673 1700 1646 0 0 0 0 0 0 14.09 14.14 13.24

8088 0.47 414.5 2748 2110 1697 1631 63.0 10.2 604 8093 0.00 2.45 0.00 0.000 516 0.000 0.085 2754 722 1662 1694 1630 0 0 0 0 0 0 14.50 14.15 14.52

8153 0.52 436.8 2755 722 1692 1632 56.7 9.0 617 8170 0.00 2.42 10.98 0.370 9382 0.000 0.080 2755 2102 1581 1615 1547 0 0 0 0 0 0 14.24 14.12 13.74

8468 0.63 551.5 2754 2103 1616 1552 36.2 4.7 650 8533 0.00 2.50 59.67 0.308 8868 0.000 0.085 2754 722 1116 1181 1051 0 0 0 0 0 0 14.57 14.06 13.81

8613 0.88 634.0 2755 723 1182 1049 27.8 6.2 678 8666 0.32 2.42 43.88 0.287 11430 0.083 0.078 2877 2109 774 841 708 0 0 0 0 0 0 14.21 14.11 13.82

8830 end climb: SURFACE_DEPTH_REACHED

state 8830 begin surface coast

8841 end surface coast: CONTROL_FINISHED_OK

state 8841 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	233	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	656.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,010333,7443.6611,-15246.4375,32,0.8,33,19.8,0.0,0.0,10,7.7	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	1.22	MHEAD_RNG_PITCHd_Wd	19.2,118527,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	030917,012141,7443.6577,-15246.7422,9,0.6,9,19.8,0.0,312.4,12,8.8

FINISH	0.2,1.021442	_24V_AH	12.33,154.606
SM_CCo	8861,38.78,0.210,0,0,500,702.78	_10V_AH	12.20,0.000
SM_GC	1.08,8.27,0.15,38.78,0.083,0.120,0.210,203,2232,500,-7.37,-0.85,702.78,0,0,0,0,0,0,14.31,14.32,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323404
IRIDIUM_FIX	7446.07,-15238.51,030917,011319	DATA_FILE_SIZE	23398,706
TT8_MAMPS	0.039697,0.904792	CAP_FILE_SIZE	99832,0
HUMID	46.92	CFSIZE	2097872896,2017132544
INTERNAL_PRESSURE	7.72292	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1446.0
XPDR_PINGS	19	CURRENT	0.072,263.47,1
CP_FREE	15972859904.000000	GPS	030917,035146,7444.381,-15244.208,18,0.8,28,19.8,0.0,259.8,11,9.8
PM_FREEKB_00	51059648

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.07	nil	0	0	0.00
Roll_motor	73	2142	1944.53	nil	0	0	0.00
VBD_pump_during_apogee	948	1556	18189.87	nil	0	0	0.00
VBD_pump_during_surface	38	210	100.58	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	5209	14	940.09
Iridium_during_xfer	706	178	1552.06	NCP	8832	20	2177.97
Transponder_ping	4	420	24.60	PMAR	8815	9	1071.67
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.99
TT8	0	0	0.00
LPSleep	6295	2	177.43
TT8_Active	891	13	151.89
TT8_Sampling	2507	33	1022.85
TT8_CF8	306	38	144.82
TT8_Kalman	0	0	0.00
Analog_circuits	2581	10	314.99
GPS_charging	0	0	0.00
Compass	1011	7	86.36
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	205	2183	488	496	0.0	0.0	0	151	0.00	0.00	-100.75	0.000	16386	0.000	0.000	204	2183	2354	2297	2412	0	0	0	0	0	0	14.52	28.83	14.54
154	-0.57	-145.9	205	2183	2301	2411	4.6	-7.0	10	202	12.65	2.85	-29.77	0.000	18724	0.454	2.143	2377	3613	3963	3946	3981	0	0	0	0	0	0	13.65	12.85	14.14
302	-0.71	-145.9	2377	3615	3953	3982	37.6	-13.4	39	308	0.00	2.38	0.00	0.000	1158	0.000	0.060	2377	2208	3966	3952	3981	0	0	0	0	0	0	14.34	14.21	14.38
609	-0.82	-145.9	2377	2206	3955	3981	77.8	-10.8	70	610	0.20	0.00	0.00	0.000	4230	0.109	0.000	2297	2206	3967	3954	3981	0	0	0	0	0	0	14.35	14.46	14.44
927	-0.82	-145.9	2298	2206	3954	3982	128.3	-15.0	90	932	0.00	2.47	0.00	0.000	260	0.000	0.089	2293	3614	3967	3954	3981	0	0	0	0	0	0	14.73	14.16	14.76
1017	-0.92	-145.9	2293	3616	3954	3981	140.1	-12.4	108	1022	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2191	3967	3954	3981	0	0	0	0	0	0	14.35	14.23	14.38
1347	-0.96	-145.9	2293	2189	3955	3981	183.9	-12.8	124	1352	0.00	2.50	0.00	0.000	388	0.000	0.086	2283	3616	3967	3954	3981	0	0	0	0	0	0	14.76	14.19	14.81
1392	-1.07	-145.9	2283	3616	3955	3981	189.5	-11.9	133	1398	0.15	2.40	0.00	0.000	5254	0.116	0.059	2226	2193	3967	3953	3981	0	0	0	0	0	0	14.29	14.23	14.38
1708	-1.00	-145.9	2227	2193	3955	3981	246.4	-17.7	146	1713	0.12	2.47	0.00	0.000	2436	0.294	0.084	2245	3610	3967	3954	3981	0	0	0	0	0	0	13.77	14.05	13.83
1854	-1.05	-145.9	2245	3612	3955	3981	266.0	-12.5	175	1860	0.00	2.38	0.00	0.000	1158	0.000	0.057	2245	2198	3967	3954	3981	0	0	0	0	0	0	14.40	14.28	14.43
2159	-1.05	-145.9	2245	2198	3954	3982	305.3	-12.3	186	2163	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3610	3967	3954	3981	0	0	0	0	0	0	14.75	14.24	14.77
2209	-1.12	-145.9	2236	3612	3954	3982	311.4	-11.8	196	2213	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2190	3967	3954	3981	0	0	0	0	0	0	14.37	14.26	14.43
2519	-1.12	-145.9	2237	2190	3954	3981	348.6	-11.7	208	2523	0.00	2.50	0.00	0.000	260	0.000	0.090	2236	3616	3967	3953	3981	0	0	0	0	0	0	14.75	14.23	14.76
2604	-1.21	-145.9	2236	3618	3954	3982	357.9	-10.4	225	2611	0.15	2.40	0.00	0.000	5254	0.126	0.057	2176	2192	3967	3953	3981	0	0	0	0	0	0	14.34	14.31	14.43
2909	-1.10	-145.9	2176	2192	3954	3979	409.4	-17.3	236	2914	0.20	2.47	0.00	0.000	2436	0.297	0.083	2210	3610	3966	3952	3980	0	0	0	0	0	0	13.90	14.23	14.10
3016	-1.13	-145.9	2211	3614	3953	3980	423.6	-12.3	257	3021	0.00	2.38	0.00	0.000	1158	0.000	0.056	2211	2193	3965	3952	3979	0	0	0	0	0	0	14.43	14.31	14.46
3331	-1.13	-145.9	2211	2193	3953	3981	465.5	-13.2	270	3336	0.00	2.47	0.00	0.000	260	0.000	0.087	2204	3610	3966	3953	3980	0	0	0	0	0	0	14.76	14.23	14.78
3431	-1.13	-145.9	2204	3612	3952	3981	478.6	-12.7	290	3436	0.00	2.38	0.00	0.000	1030	0.000	0.055	2204	2197	3965	3951	3980	0	0	0	0	0	0	14.43	14.31	14.50
3444	end dive: TARGET_DEPTH_EXCEEDED
state	3444	begin apogee
3450	-0.13	0.0	2204	2067	3953	3979	480.6	-13.0	293	3673	1.30	0.05	218.93	1.414	10246	0.250	0.222	2530	2104	3364	3384	3344	0	0	0	0	0	0	13.93	13.49	12.71
3676	end apogee: CONTROL_FINISHED_OK
state	3676	begin climb
3679	0.57	145.9	2531	2104	3380	3338	491.3	0.0	300	4073	0.73	0.00	208.25	1.368	10502	0.063	0.000	2778	2104	2754	2796	2712	0	0	0	0	0	0	13.66	13.12	12.33
4393	0.17	145.9	2777	2106	2795	2713	423.6	15.4	316	4398	0.60	2.40	0.00	0.000	4740	0.319	0.079	2652	727	2753	2794	2712	0	0	0	0	0	0	13.71	14.09	13.95
4568	0.05	160.4	2653	728	2795	2713	406.4	9.3	351	4589	0.22	2.40	16.50	1.556	13478	0.269	0.080	2605	2106	2713	2757	2669	0	0	0	0	0	0	13.90	14.19	13.19
4906	0.04	214.4	2604	2104	2747	2659	380.5	7.5	368	4996	0.00	2.47	81.57	1.375	8868	0.000	0.085	2604	721	2488	2542	2434	0	0	0	0	0	0	14.59	13.91	13.12
5037	0.13	256.2	2604	720	2540	2429	370.1	8.1	394	5106	0.00	2.45	63.00	1.356	9382	0.000	0.079	2603	2101	2318	2373	2263	0	0	0	0	0	0	14.12	14.00	12.97
5417	0.20	291.0	2604	2102	2364	2250	337.8	8.4	420	5470	0.12	0.00	51.92	1.364	10406	0.129	0.000	2662	2101	2179	2231	2128	0	0	0	0	0	0	14.26	13.97	13.17
5747	0.16	291.0	2662	2101	2220	2112	296.5	12.6	431	5751	0.00	2.42	0.00	0.000	644	0.000	0.086	2664	728	2166	2219	2113	0	0	0	0	0	0	14.56	14.19	14.59
5851	0.16	291.0	2664	729	2217	2113	284.5	10.6	452	5857	0.12	2.40	0.00	0.000	5126	0.243	0.078	2638	2099	2164	2216	2113	0	0	0	0	0	0	14.03	14.19	14.29
6167	0.21	316.5	2637	2101	2223	2112	255.3	8.8	465	6208	0.00	0.00	39.15	1.374	8358	0.000	0.000	2637	2100	2074	2124	2024	0	0	0	0	0	0	14.67	14.10	13.30
6497	0.30	360.7	2638	2100	2114	2011	228.7	8.0	476	6572	0.12	0.00	70.82	1.285	10918	0.125	0.000	2692	2100	1894	1932	1857	0	0	0	0	0	0	14.28	13.73	13.19
6887	0.30	360.7	2692	2100	1920	1849	186.2	10.8	494	6892	0.00	2.40	0.00	0.000	516	0.000	0.086	2699	729	1883	1919	1847	0	0	0	0	0	0	14.56	14.18	14.57
6978	0.35	363.3	2699	730	1917	1848	176.8	9.9	512	6982	0.00	2.38	0.00	0.000	1190	0.000	0.076	2699	2099	1881	1916	1847	0	0	0	0	0	0	14.34	14.21	14.38
7307	0.35	363.3	2699	2101	1916	1845	142.8	10.1	528	7308	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2101	1880	1915	1845	0	0	0	0	0	0	14.62	14.64	14.65
7608	0.36	377.1	2699	2101	1915	1845	113.7	9.4	538	7633	0.00	2.40	20.60	1.392	8740	0.000	0.083	2699	728	1823	1853	1793	0	0	0	0	0	0	14.64	13.95	13.35
7720	0.47	414.5	2699	729	1844	1794	104.1	8.3	560	7790	0.10	2.40	62.83	1.228	11430	0.152	0.079	2748	2108	1673	1700	1646	0	0	0	0	0	0	14.09	14.14	13.24
8088	0.47	414.5	2748	2110	1697	1631	63.0	10.2	604	8093	0.00	2.45	0.00	0.000	516	0.000	0.085	2754	722	1662	1694	1630	0	0	0	0	0	0	14.50	14.15	14.52
8153	0.52	436.8	2755	722	1692	1632	56.7	9.0	617	8170	0.00	2.42	10.98	0.370	9382	0.000	0.080	2755	2102	1581	1615	1547	0	0	0	0	0	0	14.24	14.12	13.74
8468	0.63	551.5	2754	2103	1616	1552	36.2	4.7	650	8533	0.00	2.50	59.67	0.308	8868	0.000	0.085	2754	722	1116	1181	1051	0	0	0	0	0	0	14.57	14.06	13.81
8613	0.88	634.0	2755	723	1182	1049	27.8	6.2	678	8666	0.32	2.42	43.88	0.287	11430	0.083	0.078	2877	2109	774	841	708	0	0	0	0	0	0	14.21	14.11	13.82
8830	end climb: SURFACE_DEPTH_REACHED
state	8830	begin surface coast
8841	end surface coast: CONTROL_FINISHED_OK
state	8841	begin surface