Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 236 * 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 236 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 48

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 667.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 667.0 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 24 VBD_MIN 500

DIVE 236 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 030917,090839,7445.8003,-15240.5879,22,0.7,29,19.9,0.0,0.0,12,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 21.8,113981,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 030917,093045,7445.7324,-15240.9434,7,0.7,28,19.9,0.4,257.5,11,9.4

Post-dive calculations and measurements:

FINISH 0.1,1.021148 _24V_AH 12.32,156.020

SM_CCo 9199,24.58,0.211,0,0,502,702.78 _10V_AH 12.19,0.000

SM_GC 1.36,8.35,0.17,24.58,0.078,0.112,0.211,202,2219,502,-7.38,-0.74,702.78,0,0,0,0,0,0,14.17,14.19,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 23 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323488

IRIDIUM_FIX 7446.07,-15238.51,030917,092525 DATA_FILE_SIZE 23404,725

TT8_MAMPS 0.084637,0.868091 CAP_FILE_SIZE 107334,0

HUMID 46.14 CFSIZE 2097872896,2016378880

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

TCM_TEMP 13.10 SOUNDSPEED 1438.9

XPDR_PINGS 21 CURRENT 0.087,263.99,1

CP_FREE 0.000000 GPS 030917,120625,7446.489,-15238.548,34,0.7,39,19.9,0.2,256.3,12,9.1

PM_FREEKB_00 50973120

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 143.19 nil 0 0 0.00

Roll_motor 79 2142 2087.49 nil 0 0 0.00

VBD_pump_during_apogee 956 1507 17766.35 nil 0 0 0.00

VBD_pump_during_surface 24 211 63.93 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 5247 14 963.57

Iridium_during_xfer 797 169 1668.51 NCP 9173 20 2260.23

Transponder_ping 5 420 27.17 PMAR 9153 9 1112.20

GUMSTIX_24V 0 0 0.00

GPS 29 22 8.02

TT8 0 0 0.00

LPSleep 6795 2 191.34

TT8_Active 879 13 149.84

TT8_Sampling 2555 33 1041.75

TT8_CF8 332 38 156.77

TT8_Kalman 0 0 0.00

Analog_circuits 2528 10 308.28

GPS_charging 0 0 0.00

Compass 1038 7 88.64

RAFOS 2213 48 1294.87

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 -145.9 201 2232 492 491 0.0 0.0 0 152 0.00 0.00 -101.50 0.000 16386 0.000 0.000 201 2231 2361 2305 2417 0 0 0 0 0 0 14.59 28.83 14.59

155 -0.57 -145.9 201 2231 2310 2417 4.4 -6.4 10 202 12.60 2.67 -30.17 0.000 18724 0.451 2.143 2376 3581 3962 3945 3979 0 0 0 0 0 0 13.64 12.86 14.16

323 -0.73 -145.9 2376 3583 3953 3981 40.6 -12.4 43 329 0.00 2.35 0.00 0.000 1158 0.000 0.059 2376 2189 3966 3952 3980 0 0 0 0 0 0 14.35 14.23 14.39

630 -0.84 -145.9 2376 2189 3955 3980 79.3 -10.5 74 631 0.22 0.00 0.00 0.000 4230 0.105 0.000 2286 2189 3967 3954 3980 0 0 0 0 0 0 14.35 14.49 14.44

938 -0.84 -145.9 2287 2189 3955 3980 129.3 -15.3 93 943 0.00 2.45 0.00 0.000 260 0.000 0.087 2277 3594 3967 3954 3980 0 0 0 0 0 0 14.73 14.23 14.76

1099 -0.92 -145.9 2278 3595 3954 3981 151.2 -13.0 125 1104 0.00 2.35 0.00 0.000 1158 0.000 0.057 2277 2196 3966 3954 3979 0 0 0 0 0 0 14.42 14.31 14.47

1419 -0.94 -145.9 2278 2196 3955 3981 196.8 -13.9 139 1420 0.00 0.00 0.00 0.000 134 0.000 0.000 2278 2195 3967 3954 3980 0 0 0 0 0 0 14.76 14.78 14.78

1719 -0.98 -145.9 2278 2195 3955 3980 235.1 -12.1 149 1725 0.00 2.45 0.00 0.000 388 0.000 0.087 2268 3588 3966 3954 3979 0 0 0 0 0 0 14.77 14.19 14.79

1805 -1.08 -145.9 2268 3589 3954 3981 245.0 -11.1 166 1812 0.12 2.33 0.00 0.000 5254 0.132 0.057 2221 2199 3967 3955 3980 0 0 0 0 0 0 14.34 14.31 14.45

2110 -1.04 -145.9 2221 2199 3954 3981 292.8 -15.3 177 2116 0.00 2.45 0.00 0.000 388 0.000 0.086 2211 3592 3966 3954 3979 0 0 0 0 0 0 14.76 14.22 14.78

2196 -1.04 -145.9 2211 3592 3955 3980 305.8 -14.5 194 2202 0.15 2.33 0.00 0.000 3078 0.259 0.057 2245 2197 3967 3954 3980 0 0 0 0 0 0 14.01 14.31 14.27

2501 -1.07 -145.9 2241 2197 3954 3981 342.4 -11.5 205 2507 0.00 2.45 0.00 0.000 388 0.000 0.086 2236 3593 3967 3954 3980 0 0 0 0 0 0 14.76 14.12 14.78

2558 -1.15 -145.9 2237 3593 3954 3980 348.8 -11.0 216 2564 0.00 2.33 0.00 0.000 1158 0.000 0.056 2236 2203 3967 3954 3980 0 0 0 0 0 0 14.43 14.31 14.45

2862 -1.18 -145.9 2236 2202 3954 3980 383.9 -11.4 227 2867 0.00 2.45 0.00 0.000 388 0.000 0.088 2235 3594 3966 3953 3979 0 0 0 0 0 0 14.79 14.22 14.78

2938 -1.27 -145.9 2236 3594 3953 3981 392.1 -10.3 242 2943 0.20 2.35 0.00 0.000 5254 0.109 0.056 2158 2196 3965 3952 3979 0 0 0 0 0 0 14.35 14.30 14.44

3253 -1.13 -145.9 2159 2195 3953 3979 449.5 -18.7 255 3258 0.22 2.42 0.00 0.000 2436 0.317 0.082 2198 3586 3966 3954 3979 0 0 0 0 0 0 13.76 14.13 13.97

3433 -1.13 -145.9 2200 3587 3952 3980 475.1 -13.3 291 3438 0.00 2.35 0.00 0.000 1030 0.000 0.054 2198 2190 3965 3951 3979 0 0 0 0 0 0 14.41 14.29 14.45

3491 end dive: TARGET_DEPTH_EXCEEDED

state 3491 begin apogee

3497 -0.13 0.0 2199 2061 3953 3979 483.6 -14.3 298 3717 1.33 0.00 215.75 1.433 10246 0.246 0.000 2532 2060 3365 3385 3345 0 0 0 0 0 0 13.89 13.54 12.69

3720 end apogee: CONTROL_FINISHED_OK

state 3720 begin climb

3722 0.57 145.9 2536 2060 3382 3339 494.9 0.0 305 3943 0.73 2.72 208.98 1.379 11012 0.064 0.073 2781 3484 2762 2802 2722 0 0 0 0 0 0 13.64 12.93 12.32

3968 0.11 145.9 2779 3484 2797 2721 499.0 13.0 311 3973 0.85 2.45 0.00 0.000 5254 0.343 0.056 2622 2130 2758 2796 2720 0 0 0 0 0 0 13.04 13.33 13.35

4300 0.02 181.0 2622 2129 2797 2716 469.7 8.4 327 4360 0.12 2.65 49.25 1.443 12964 0.295 0.084 2601 690 2619 2666 2573 0 0 0 0 0 0 13.80 13.85 12.99

4426 0.08 226.7 2602 689 2670 2568 459.9 7.9 352 4501 0.00 2.45 66.53 1.411 9382 0.000 0.078 2601 2074 2434 2492 2376 0 0 0 0 0 0 14.08 13.96 12.91

4812 0.09 250.5 2602 2075 2489 2368 425.9 8.9 379 4846 0.00 0.00 33.50 1.460 8230 0.000 0.000 2601 2074 2343 2397 2290 0 0 0 0 0 0 14.50 14.00 13.17

5142 0.14 271.3 2602 2075 2388 2280 396.2 9.0 390 5174 0.00 0.00 30.05 1.468 8358 0.000 0.000 2602 2074 2258 2311 2206 0 0 0 0 0 0 14.57 14.08 13.26

5472 0.21 289.9 2602 2075 2304 2196 366.1 9.1 401 5504 0.12 0.00 26.80 1.478 10918 0.132 0.000 2668 2074 2177 2228 2127 0 0 0 0 0 0 14.28 14.08 13.25

5802 0.16 289.9 2669 2075 2225 2123 322.3 13.1 417 5807 0.12 2.42 0.00 0.000 4740 0.260 0.083 2645 690 2173 2224 2122 0 0 0 0 0 0 14.02 14.21 14.16

5887 0.20 289.9 2646 690 2223 2124 312.8 10.6 434 5894 0.00 2.45 0.00 0.000 1158 0.000 0.078 2646 2100 2172 2222 2123 0 0 0 0 0 0 14.25 14.16 14.31

6192 0.20 289.9 2646 2101 2223 2122 280.1 10.5 445 6193 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2101 2172 2222 2122 0 0 0 0 0 0 14.66 14.71 14.68

6492 0.21 303.2 2646 2101 2223 2122 250.6 9.4 455 6517 0.00 2.50 18.42 1.508 8740 0.000 0.086 2647 673 2124 2173 2076 0 0 0 0 0 0 14.68 14.26 13.38

6594 0.32 338.1 2647 675 2169 2077 241.8 8.4 475 6658 0.12 2.50 57.62 1.334 11430 0.132 0.079 2698 2111 1985 2029 1942 0 0 0 0 0 0 14.24 14.19 13.21

6973 0.29 338.1 2698 2112 2024 1928 197.5 11.4 501 6978 0.00 2.47 0.00 0.000 644 0.000 0.085 2699 694 1974 2022 1927 0 0 0 0 0 0 14.56 14.14 14.58

7028 0.31 338.1 2699 695 2021 1928 191.7 10.3 512 7034 0.00 2.45 0.00 0.000 1158 0.000 0.077 2699 2102 1976 2025 1927 0 0 0 0 0 0 14.31 14.17 14.35

7334 0.29 338.1 2700 2103 2022 1926 159.3 10.4 523 7338 0.00 2.47 0.00 0.000 644 0.000 0.084 2698 685 1972 2018 1926 0 0 0 0 0 0 14.63 14.17 14.65

7404 0.34 351.4 2699 684 2020 1925 152.4 9.4 537 7429 0.00 2.45 18.30 1.439 9382 0.000 0.077 2699 2106 1931 1976 1887 0 0 0 0 0 0 14.38 14.25 13.34

7756 0.35 372.9 2700 2103 1966 1884 118.9 9.0 557 7795 0.00 2.55 31.58 1.345 8740 0.000 0.086 2699 693 1841 1872 1811 0 0 0 0 0 0 14.60 13.98 13.34

7852 0.46 417.1 2699 694 1866 1811 110.9 8.0 576 7931 0.00 2.45 73.15 1.207 9382 0.000 0.078 2699 2095 1663 1693 1634 0 0 0 0 0 0 14.16 14.03 13.18

8236 0.57 464.7 2699 2094 1690 1615 79.6 7.8 619 8267 0.20 0.00 24.27 0.444 10406 0.099 0.000 2780 2092 1468 1505 1432 0 0 0 0 0 0 14.23 14.12 13.67

8566 0.60 501.6 2781 2096 1505 1425 42.5 8.3 652 8593 0.00 2.53 19.30 0.332 8740 0.000 0.086 2781 698 1318 1365 1272 0 0 0 0 0 0 14.59 14.11 13.78

8680 0.71 557.7 2781 697 1365 1271 33.9 7.4 674 8717 0.00 2.45 30.33 0.303 9382 0.000 0.078 2781 2103 1090 1149 1031 0 0 0 0 0 0 14.26 14.14 13.81

9033 0.90 657.4 2781 2103 1150 1017 11.6 5.4 712 9095 0.28 2.58 52.58 0.238 10916 0.085 0.092 2889 694 680 732 628 0 0 0 0 0 0 14.16 13.93 13.82

9105 0.87 657.4 2889 693 732 626 3.8 11.7 721 9110 0.00 2.47 0.00 0.000 1158 0.000 0.076 2889 2099 680 732 628 0 0 0 0 0 0 14.18 14.05 14.21

9123 end climb: SURFACE_DEPTH_REACHED

state 9123 begin surface coast

9133 end surface coast: CONTROL_FINISHED_OK

state 9133 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	236	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	48
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	667.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,090839,7445.8003,-15240.5879,22,0.7,29,19.9,0.0,0.0,12,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	21.8,113981,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	030917,093045,7445.7324,-15240.9434,7,0.7,28,19.9,0.4,257.5,11,9.4

FINISH	0.1,1.021148	_24V_AH	12.32,156.020
SM_CCo	9199,24.58,0.211,0,0,502,702.78	_10V_AH	12.19,0.000
SM_GC	1.36,8.35,0.17,24.58,0.078,0.112,0.211,202,2219,502,-7.38,-0.74,702.78,0,0,0,0,0,0,14.17,14.19,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	23	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323488
IRIDIUM_FIX	7446.07,-15238.51,030917,092525	DATA_FILE_SIZE	23404,725
TT8_MAMPS	0.084637,0.868091	CAP_FILE_SIZE	107334,0
HUMID	46.14	CFSIZE	2097872896,2016378880
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1438.9
XPDR_PINGS	21	CURRENT	0.087,263.99,1
CP_FREE	0.000000	GPS	030917,120625,7446.489,-15238.548,34,0.7,39,19.9,0.2,256.3,12,9.1
PM_FREEKB_00	50973120

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	143.19	nil	0	0	0.00
Roll_motor	79	2142	2087.49	nil	0	0	0.00
VBD_pump_during_apogee	956	1507	17766.35	nil	0	0	0.00
VBD_pump_during_surface	24	211	63.93	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	5247	14	963.57
Iridium_during_xfer	797	169	1668.51	NCP	9173	20	2260.23
Transponder_ping	5	420	27.17	PMAR	9153	9	1112.20
GUMSTIX_24V	0	0	0.00
GPS	29	22	8.02
TT8	0	0	0.00
LPSleep	6795	2	191.34
TT8_Active	879	13	149.84
TT8_Sampling	2555	33	1041.75
TT8_CF8	332	38	156.77
TT8_Kalman	0	0	0.00
Analog_circuits	2528	10	308.28
GPS_charging	0	0	0.00
Compass	1038	7	88.64
RAFOS	2213	48	1294.87
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	201	2232	492	491	0.0	0.0	0	152	0.00	0.00	-101.50	0.000	16386	0.000	0.000	201	2231	2361	2305	2417	0	0	0	0	0	0	14.59	28.83	14.59
155	-0.57	-145.9	201	2231	2310	2417	4.4	-6.4	10	202	12.60	2.67	-30.17	0.000	18724	0.451	2.143	2376	3581	3962	3945	3979	0	0	0	0	0	0	13.64	12.86	14.16
323	-0.73	-145.9	2376	3583	3953	3981	40.6	-12.4	43	329	0.00	2.35	0.00	0.000	1158	0.000	0.059	2376	2189	3966	3952	3980	0	0	0	0	0	0	14.35	14.23	14.39
630	-0.84	-145.9	2376	2189	3955	3980	79.3	-10.5	74	631	0.22	0.00	0.00	0.000	4230	0.105	0.000	2286	2189	3967	3954	3980	0	0	0	0	0	0	14.35	14.49	14.44
938	-0.84	-145.9	2287	2189	3955	3980	129.3	-15.3	93	943	0.00	2.45	0.00	0.000	260	0.000	0.087	2277	3594	3967	3954	3980	0	0	0	0	0	0	14.73	14.23	14.76
1099	-0.92	-145.9	2278	3595	3954	3981	151.2	-13.0	125	1104	0.00	2.35	0.00	0.000	1158	0.000	0.057	2277	2196	3966	3954	3979	0	0	0	0	0	0	14.42	14.31	14.47
1419	-0.94	-145.9	2278	2196	3955	3981	196.8	-13.9	139	1420	0.00	0.00	0.00	0.000	134	0.000	0.000	2278	2195	3967	3954	3980	0	0	0	0	0	0	14.76	14.78	14.78
1719	-0.98	-145.9	2278	2195	3955	3980	235.1	-12.1	149	1725	0.00	2.45	0.00	0.000	388	0.000	0.087	2268	3588	3966	3954	3979	0	0	0	0	0	0	14.77	14.19	14.79
1805	-1.08	-145.9	2268	3589	3954	3981	245.0	-11.1	166	1812	0.12	2.33	0.00	0.000	5254	0.132	0.057	2221	2199	3967	3955	3980	0	0	0	0	0	0	14.34	14.31	14.45
2110	-1.04	-145.9	2221	2199	3954	3981	292.8	-15.3	177	2116	0.00	2.45	0.00	0.000	388	0.000	0.086	2211	3592	3966	3954	3979	0	0	0	0	0	0	14.76	14.22	14.78
2196	-1.04	-145.9	2211	3592	3955	3980	305.8	-14.5	194	2202	0.15	2.33	0.00	0.000	3078	0.259	0.057	2245	2197	3967	3954	3980	0	0	0	0	0	0	14.01	14.31	14.27
2501	-1.07	-145.9	2241	2197	3954	3981	342.4	-11.5	205	2507	0.00	2.45	0.00	0.000	388	0.000	0.086	2236	3593	3967	3954	3980	0	0	0	0	0	0	14.76	14.12	14.78
2558	-1.15	-145.9	2237	3593	3954	3980	348.8	-11.0	216	2564	0.00	2.33	0.00	0.000	1158	0.000	0.056	2236	2203	3967	3954	3980	0	0	0	0	0	0	14.43	14.31	14.45
2862	-1.18	-145.9	2236	2202	3954	3980	383.9	-11.4	227	2867	0.00	2.45	0.00	0.000	388	0.000	0.088	2235	3594	3966	3953	3979	0	0	0	0	0	0	14.79	14.22	14.78
2938	-1.27	-145.9	2236	3594	3953	3981	392.1	-10.3	242	2943	0.20	2.35	0.00	0.000	5254	0.109	0.056	2158	2196	3965	3952	3979	0	0	0	0	0	0	14.35	14.30	14.44
3253	-1.13	-145.9	2159	2195	3953	3979	449.5	-18.7	255	3258	0.22	2.42	0.00	0.000	2436	0.317	0.082	2198	3586	3966	3954	3979	0	0	0	0	0	0	13.76	14.13	13.97
3433	-1.13	-145.9	2200	3587	3952	3980	475.1	-13.3	291	3438	0.00	2.35	0.00	0.000	1030	0.000	0.054	2198	2190	3965	3951	3979	0	0	0	0	0	0	14.41	14.29	14.45
3491	end dive: TARGET_DEPTH_EXCEEDED
state	3491	begin apogee
3497	-0.13	0.0	2199	2061	3953	3979	483.6	-14.3	298	3717	1.33	0.00	215.75	1.433	10246	0.246	0.000	2532	2060	3365	3385	3345	0	0	0	0	0	0	13.89	13.54	12.69
3720	end apogee: CONTROL_FINISHED_OK
state	3720	begin climb
3722	0.57	145.9	2536	2060	3382	3339	494.9	0.0	305	3943	0.73	2.72	208.98	1.379	11012	0.064	0.073	2781	3484	2762	2802	2722	0	0	0	0	0	0	13.64	12.93	12.32
3968	0.11	145.9	2779	3484	2797	2721	499.0	13.0	311	3973	0.85	2.45	0.00	0.000	5254	0.343	0.056	2622	2130	2758	2796	2720	0	0	0	0	0	0	13.04	13.33	13.35
4300	0.02	181.0	2622	2129	2797	2716	469.7	8.4	327	4360	0.12	2.65	49.25	1.443	12964	0.295	0.084	2601	690	2619	2666	2573	0	0	0	0	0	0	13.80	13.85	12.99
4426	0.08	226.7	2602	689	2670	2568	459.9	7.9	352	4501	0.00	2.45	66.53	1.411	9382	0.000	0.078	2601	2074	2434	2492	2376	0	0	0	0	0	0	14.08	13.96	12.91
4812	0.09	250.5	2602	2075	2489	2368	425.9	8.9	379	4846	0.00	0.00	33.50	1.460	8230	0.000	0.000	2601	2074	2343	2397	2290	0	0	0	0	0	0	14.50	14.00	13.17
5142	0.14	271.3	2602	2075	2388	2280	396.2	9.0	390	5174	0.00	0.00	30.05	1.468	8358	0.000	0.000	2602	2074	2258	2311	2206	0	0	0	0	0	0	14.57	14.08	13.26
5472	0.21	289.9	2602	2075	2304	2196	366.1	9.1	401	5504	0.12	0.00	26.80	1.478	10918	0.132	0.000	2668	2074	2177	2228	2127	0	0	0	0	0	0	14.28	14.08	13.25
5802	0.16	289.9	2669	2075	2225	2123	322.3	13.1	417	5807	0.12	2.42	0.00	0.000	4740	0.260	0.083	2645	690	2173	2224	2122	0	0	0	0	0	0	14.02	14.21	14.16
5887	0.20	289.9	2646	690	2223	2124	312.8	10.6	434	5894	0.00	2.45	0.00	0.000	1158	0.000	0.078	2646	2100	2172	2222	2123	0	0	0	0	0	0	14.25	14.16	14.31
6192	0.20	289.9	2646	2101	2223	2122	280.1	10.5	445	6193	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2101	2172	2222	2122	0	0	0	0	0	0	14.66	14.71	14.68
6492	0.21	303.2	2646	2101	2223	2122	250.6	9.4	455	6517	0.00	2.50	18.42	1.508	8740	0.000	0.086	2647	673	2124	2173	2076	0	0	0	0	0	0	14.68	14.26	13.38
6594	0.32	338.1	2647	675	2169	2077	241.8	8.4	475	6658	0.12	2.50	57.62	1.334	11430	0.132	0.079	2698	2111	1985	2029	1942	0	0	0	0	0	0	14.24	14.19	13.21
6973	0.29	338.1	2698	2112	2024	1928	197.5	11.4	501	6978	0.00	2.47	0.00	0.000	644	0.000	0.085	2699	694	1974	2022	1927	0	0	0	0	0	0	14.56	14.14	14.58
7028	0.31	338.1	2699	695	2021	1928	191.7	10.3	512	7034	0.00	2.45	0.00	0.000	1158	0.000	0.077	2699	2102	1976	2025	1927	0	0	0	0	0	0	14.31	14.17	14.35
7334	0.29	338.1	2700	2103	2022	1926	159.3	10.4	523	7338	0.00	2.47	0.00	0.000	644	0.000	0.084	2698	685	1972	2018	1926	0	0	0	0	0	0	14.63	14.17	14.65
7404	0.34	351.4	2699	684	2020	1925	152.4	9.4	537	7429	0.00	2.45	18.30	1.439	9382	0.000	0.077	2699	2106	1931	1976	1887	0	0	0	0	0	0	14.38	14.25	13.34
7756	0.35	372.9	2700	2103	1966	1884	118.9	9.0	557	7795	0.00	2.55	31.58	1.345	8740	0.000	0.086	2699	693	1841	1872	1811	0	0	0	0	0	0	14.60	13.98	13.34
7852	0.46	417.1	2699	694	1866	1811	110.9	8.0	576	7931	0.00	2.45	73.15	1.207	9382	0.000	0.078	2699	2095	1663	1693	1634	0	0	0	0	0	0	14.16	14.03	13.18
8236	0.57	464.7	2699	2094	1690	1615	79.6	7.8	619	8267	0.20	0.00	24.27	0.444	10406	0.099	0.000	2780	2092	1468	1505	1432	0	0	0	0	0	0	14.23	14.12	13.67
8566	0.60	501.6	2781	2096	1505	1425	42.5	8.3	652	8593	0.00	2.53	19.30	0.332	8740	0.000	0.086	2781	698	1318	1365	1272	0	0	0	0	0	0	14.59	14.11	13.78
8680	0.71	557.7	2781	697	1365	1271	33.9	7.4	674	8717	0.00	2.45	30.33	0.303	9382	0.000	0.078	2781	2103	1090	1149	1031	0	0	0	0	0	0	14.26	14.14	13.81
9033	0.90	657.4	2781	2103	1150	1017	11.6	5.4	712	9095	0.28	2.58	52.58	0.238	10916	0.085	0.092	2889	694	680	732	628	0	0	0	0	0	0	14.16	13.93	13.82
9105	0.87	657.4	2889	693	732	626	3.8	11.7	721	9110	0.00	2.47	0.00	0.000	1158	0.000	0.076	2889	2099	680	732	628	0	0	0	0	0	0	14.18	14.05	14.21
9123	end climb: SURFACE_DEPTH_REACHED
state	9123	begin surface coast
9133	end surface coast: CONTROL_FINISHED_OK
state	9133	begin surface