Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 239 * 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 239 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 674.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 39 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 674.0 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 62 VBD_MIN 500

DIVE 239 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 030917,174141,7447.9048,-15234.4316,13,0.8,15,19.9,0.2,0.0,11,9.5 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 1.26 MHEAD_RNG_PITCHd_Wd 17.0,109167,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 030917,180336,7447.9199,-15234.6299,11,0.8,16,19.9,0.0,0.0,11,9.0

Post-dive calculations and measurements:

FINISH 0.1,1.011087 _24V_AH 12.31,157.449

SM_CCo 8917,42.08,0.210,0,0,498,702.78 _10V_AH 12.18,0.000

SM_GC 1.11,8.23,0.17,42.08,0.075,0.123,0.210,202,2212,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.17,14.14,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 101 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323352

IRIDIUM_FIX 7450.38,-15249.33,030917,175809 DATA_FILE_SIZE 26727,743

TT8_MAMPS 0.085386,1.02763 CAP_FILE_SIZE 108374,0

HUMID 43.77 CFSIZE 2097872896,2015526912

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1447.2

XPDR_PINGS 17 CURRENT 0.109,248.88,1

CP_FREE 15970238464.000000 GPS 030917,203451,7448.513,-15233.025,36,0.8,37,19.9,0.0,0.0,9,7.7

PM_FREEKB_00 50885568

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.08 nil 0 0 0.00

Roll_motor 89 2139 2367.95 nil 0 0 0.00

VBD_pump_during_apogee 887 1476 16127.22 nil 0 0 0.00

VBD_pump_during_surface 42 210 108.96 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 8925 14 1634.93

Iridium_during_xfer 798 171 1684.23 NCP 8887 20 2187.98

Transponder_ping 4 420 21.97 PMAR 8869 9 1077.58

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.78

TT8 0 0 0.00

LPSleep 6435 2 181.07

TT8_Active 832 13 141.69

TT8_Sampling 2675 33 1089.62

TT8_CF8 345 38 162.59

TT8_Kalman 0 0 0.00

Analog_circuits 2657 10 323.64

GPS_charging 0 0 0.00

Compass 1065 7 90.81

RAFOS 2210 48 1292.05

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 -145.9 197 2222 483 497 0.0 0.0 0 152 0.00 0.00 -101.12 0.000 16386 0.000 0.000 196 2219 2366 2313 2420 0 0 0 0 0 0 14.54 28.83 14.57

155 -0.57 -145.9 197 2223 2315 2421 4.7 -7.1 10 203 12.88 2.72 -29.00 0.000 18724 0.457 2.140 2377 3589 3962 3944 3981 0 0 0 0 0 0 13.54 12.84 14.02

418 -0.72 -145.9 2377 3591 3952 3981 53.2 -11.9 62 423 0.00 2.30 0.00 0.000 1158 0.000 0.057 2377 2236 3965 3951 3980 0 0 0 0 0 0 14.29 14.17 14.33

730 -0.85 -145.9 2378 2235 3953 3980 87.4 -9.7 94 735 0.20 2.53 0.00 0.000 4772 0.108 0.081 2291 790 3966 3952 3980 0 0 0 0 0 0 14.25 14.06 14.30

745 -0.92 -145.9 2291 791 3951 3981 89.4 -10.4 97 752 0.00 2.45 0.00 0.000 1158 0.000 0.083 2288 2180 3966 3952 3980 0 0 0 0 0 0 14.12 13.98 14.16

1050 -0.92 -145.9 2288 2182 3953 3981 137.9 -15.1 112 1055 0.00 2.53 0.00 0.000 260 0.000 0.090 2280 3615 3966 3952 3980 0 0 0 0 0 0 14.64 14.13 14.66

1187 -1.02 -145.9 2280 3617 3953 3981 155.6 -12.4 139 1192 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2195 3966 3952 3980 0 0 0 0 0 0 14.33 14.18 14.36

1502 -1.04 -145.9 2280 2194 3952 3981 199.4 -13.4 152 1507 0.12 2.50 0.00 0.000 4484 0.141 0.085 2222 3615 3966 3952 3980 0 0 0 0 0 0 14.31 14.13 14.35

1567 -1.04 -145.9 2223 3617 3953 3972 210.0 -16.2 165 1573 0.00 2.40 0.00 0.000 1030 0.000 0.057 2222 2199 3966 3952 3980 0 0 0 0 0 0 14.37 14.24 14.40

1893 -0.98 -145.9 2222 2198 3953 3980 267.2 -16.7 180 1898 0.15 2.50 0.00 0.000 2436 0.293 0.083 2248 3620 3965 3951 3980 0 0 0 0 0 0 13.90 14.09 14.09

1995 -1.06 -145.9 2248 3620 3953 3980 279.9 -11.4 200 2000 0.00 2.40 0.00 0.000 1158 0.000 0.058 2247 2198 3966 3952 3980 0 0 0 0 0 0 14.38 14.24 14.40

2315 -1.08 -145.9 2248 2197 3952 3981 318.9 -11.9 214 2320 0.00 2.53 0.00 0.000 388 0.000 0.088 2241 3620 3966 3952 3980 0 0 0 0 0 0 14.67 14.07 14.69

2437 -1.17 -145.9 2241 3621 3959 3981 332.7 -11.1 238 2442 0.12 2.42 0.00 0.000 5254 0.143 0.057 2190 2191 3966 3952 3980 0 0 0 0 0 0 14.26 14.25 14.38

2768 -1.10 -145.9 2190 2190 3951 3981 384.8 -15.6 254 2773 0.12 2.50 0.00 0.000 2436 0.291 0.083 2208 3613 3965 3950 3980 0 0 0 0 0 0 13.26 13.96 13.69

2884 -1.10 -145.9 2208 3613 3951 3980 400.3 -12.7 277 2891 0.00 2.40 0.00 0.000 1030 0.000 0.055 2208 2190 3965 3950 3980 0 0 0 0 0 0 14.32 14.20 14.36

3188 -1.08 -145.9 2208 2190 3951 3981 442.2 -13.8 288 3193 0.00 2.50 0.00 0.000 388 0.000 0.086 2197 3614 3965 3950 3980 0 0 0 0 0 0 14.68 14.18 14.69

3258 -1.08 -145.9 2201 3615 3950 3981 452.1 -13.6 302 3263 0.15 2.38 0.00 0.000 3078 0.253 0.054 2227 2202 3964 3949 3980 0 0 0 0 0 0 13.93 14.26 14.16

3516 end dive: TARGET_DEPTH_EXCEEDED

state 3516 begin apogee

3522 -0.13 0.0 2228 2058 3950 3981 482.6 -11.5 314 3745 1.15 0.10 218.98 1.421 10246 0.224 0.158 2527 2120 3362 3378 3346 0 0 0 0 0 0 13.80 13.47 12.65

3749 end apogee: CONTROL_FINISHED_OK

state 3749 begin climb

3753 0.57 145.9 2528 2121 3374 3338 493.5 0.0 321 4147 0.75 2.70 207.27 1.380 11012 0.061 0.080 2791 724 2756 2793 2720 0 0 0 0 0 0 13.64 13.14 12.31

4152 0.57 145.9 2792 725 2795 2720 473.3 5.3 324 4157 0.00 2.47 0.00 0.000 1030 0.000 0.074 2791 2092 2755 2793 2718 0 0 0 0 0 0 13.78 13.69 13.83

4467 0.15 145.9 2792 2093 2792 2715 421.8 16.3 337 4469 0.70 0.00 0.00 0.000 4230 0.314 0.000 2637 2093 2753 2791 2715 0 0 0 0 0 0 13.73 14.23 14.13

4768 0.03 165.3 2637 2093 2796 2714 393.3 9.1 347 4799 0.15 2.40 24.23 1.476 12964 0.280 0.083 2602 724 2685 2726 2644 0 0 0 0 0 0 13.98 14.15 13.26

4879 0.07 219.9 2603 725 2724 2640 384.7 7.5 369 4970 0.00 2.42 81.75 1.363 9254 0.000 0.078 2602 2109 2461 2515 2408 0 0 0 0 0 0 14.20 14.08 13.05

5280 0.09 250.8 2602 2109 2509 2395 350.2 8.6 399 5330 0.00 2.47 44.00 1.386 8484 0.000 0.084 2602 3507 2339 2389 2289 0 0 0 0 0 0 14.54 14.02 13.19

5382 0.13 252.5 2603 3508 2378 2287 341.0 9.9 419 5387 0.00 2.38 0.00 0.000 1190 0.000 0.061 2602 2122 2331 2377 2286 0 0 0 0 0 0 14.19 14.11 14.24

5702 0.20 284.5 2602 2122 2376 2285 313.2 8.5 433 5758 0.12 2.55 50.67 1.365 10916 0.127 0.085 2672 685 2203 2246 2161 0 0 0 0 0 0 14.34 13.83 13.22

5858 0.20 284.5 2673 685 2238 2157 294.4 11.7 464 5863 0.00 2.47 0.00 0.000 1030 0.000 0.079 2672 2095 2196 2237 2156 0 0 0 0 0 0 14.24 14.11 14.29

6184 0.15 284.5 2671 2096 2237 2150 255.5 11.5 479 6189 0.15 2.45 0.00 0.000 4740 0.261 0.081 2644 685 2194 2237 2151 0 0 0 0 0 0 14.02 14.23 14.16

6254 0.25 314.3 2644 686 2237 2157 249.1 8.6 493 6307 0.00 2.47 46.40 1.349 9382 0.000 0.078 2644 2114 2081 2125 2038 0 0 0 0 0 0 14.31 14.21 13.26

6606 0.32 360.5 2645 2114 2120 2027 219.9 7.9 513 6689 0.12 2.60 75.05 1.294 10916 0.128 0.086 2705 692 1890 1923 1858 0 0 0 0 0 0 14.31 13.94 13.17

6779 0.32 360.5 2707 691 1913 1855 199.9 11.0 548 6785 0.00 2.47 0.00 0.000 1030 0.000 0.076 2706 2099 1884 1912 1857 0 0 0 0 0 0 14.11 14.00 14.16

7084 0.32 360.5 2707 2100 1912 1850 166.0 10.9 559 7089 0.00 2.47 0.00 0.000 516 0.000 0.086 2706 693 1880 1911 1850 0 0 0 0 0 0 14.46 14.05 14.47

7144 0.36 360.5 2707 694 1906 1851 159.8 10.2 571 7149 0.00 2.47 0.00 0.000 1158 0.000 0.077 2706 2103 1879 1908 1850 0 0 0 0 0 0 14.21 14.09 14.26

7474 0.36 360.5 2707 2104 1909 1848 125.8 10.1 587 7475 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2104 1878 1908 1848 0 0 0 0 0 0 14.47 14.50 14.50

7775 0.37 380.8 2706 2104 1908 1848 97.5 9.1 597 7791 0.00 2.55 9.48 0.496 8740 0.000 0.086 2709 696 1811 1837 1786 0 0 0 0 0 0 14.46 13.97 13.54

7858 0.48 415.2 2707 697 1839 1787 90.5 8.4 613 7883 0.00 2.47 19.38 0.474 9382 0.000 0.078 2707 2102 1669 1695 1644 0 0 0 0 0 0 14.14 14.02 13.59

8188 0.59 480.6 2707 2102 1695 1641 63.6 7.0 649 8231 0.17 2.55 34.30 0.391 10916 0.104 0.086 2794 694 1406 1447 1365 0 0 0 0 0 0 14.08 13.96 13.68

8288 0.59 480.6 2794 695 1442 1364 52.9 10.9 668 8294 0.00 2.53 0.00 0.000 1030 0.000 0.078 2794 2112 1402 1441 1363 0 0 0 0 0 0 14.14 14.01 14.17

8591 0.65 554.4 2795 2112 1442 1354 26.9 6.6 699 8638 0.00 2.58 38.20 0.291 8740 0.000 0.086 2794 696 1103 1163 1043 0 0 0 0 0 0 14.41 13.91 13.72

8701 0.81 625.4 2794 697 1163 1042 20.0 6.7 719 8743 0.15 2.50 37.62 0.269 11430 0.120 0.076 2858 2107 813 876 750 0 0 0 0 0 0 14.05 13.99 13.73

8876 end climb: SURFACE_DEPTH_REACHED

state 8876 begin surface coast

8897 end surface coast: CONTROL_FINISHED_OK

state 8897 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	239	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	674.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,174141,7447.9048,-15234.4316,13,0.8,15,19.9,0.2,0.0,11,9.5	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	1.26	MHEAD_RNG_PITCHd_Wd	17.0,109167,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	030917,180336,7447.9199,-15234.6299,11,0.8,16,19.9,0.0,0.0,11,9.0

FINISH	0.1,1.011087	_24V_AH	12.31,157.449
SM_CCo	8917,42.08,0.210,0,0,498,702.78	_10V_AH	12.18,0.000
SM_GC	1.11,8.23,0.17,42.08,0.075,0.123,0.210,202,2212,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.17,14.14,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	101	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323352
IRIDIUM_FIX	7450.38,-15249.33,030917,175809	DATA_FILE_SIZE	26727,743
TT8_MAMPS	0.085386,1.02763	CAP_FILE_SIZE	108374,0
HUMID	43.77	CFSIZE	2097872896,2015526912
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.2
XPDR_PINGS	17	CURRENT	0.109,248.88,1
CP_FREE	15970238464.000000	GPS	030917,203451,7448.513,-15233.025,36,0.8,37,19.9,0.0,0.0,9,7.7
PM_FREEKB_00	50885568

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.08	nil	0	0	0.00
Roll_motor	89	2139	2367.95	nil	0	0	0.00
VBD_pump_during_apogee	887	1476	16127.22	nil	0	0	0.00
VBD_pump_during_surface	42	210	108.96	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	8925	14	1634.93
Iridium_during_xfer	798	171	1684.23	NCP	8887	20	2187.98
Transponder_ping	4	420	21.97	PMAR	8869	9	1077.58
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.78
TT8	0	0	0.00
LPSleep	6435	2	181.07
TT8_Active	832	13	141.69
TT8_Sampling	2675	33	1089.62
TT8_CF8	345	38	162.59
TT8_Kalman	0	0	0.00
Analog_circuits	2657	10	323.64
GPS_charging	0	0	0.00
Compass	1065	7	90.81
RAFOS	2210	48	1292.05
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	197	2222	483	497	0.0	0.0	0	152	0.00	0.00	-101.12	0.000	16386	0.000	0.000	196	2219	2366	2313	2420	0	0	0	0	0	0	14.54	28.83	14.57
155	-0.57	-145.9	197	2223	2315	2421	4.7	-7.1	10	203	12.88	2.72	-29.00	0.000	18724	0.457	2.140	2377	3589	3962	3944	3981	0	0	0	0	0	0	13.54	12.84	14.02
418	-0.72	-145.9	2377	3591	3952	3981	53.2	-11.9	62	423	0.00	2.30	0.00	0.000	1158	0.000	0.057	2377	2236	3965	3951	3980	0	0	0	0	0	0	14.29	14.17	14.33
730	-0.85	-145.9	2378	2235	3953	3980	87.4	-9.7	94	735	0.20	2.53	0.00	0.000	4772	0.108	0.081	2291	790	3966	3952	3980	0	0	0	0	0	0	14.25	14.06	14.30
745	-0.92	-145.9	2291	791	3951	3981	89.4	-10.4	97	752	0.00	2.45	0.00	0.000	1158	0.000	0.083	2288	2180	3966	3952	3980	0	0	0	0	0	0	14.12	13.98	14.16
1050	-0.92	-145.9	2288	2182	3953	3981	137.9	-15.1	112	1055	0.00	2.53	0.00	0.000	260	0.000	0.090	2280	3615	3966	3952	3980	0	0	0	0	0	0	14.64	14.13	14.66
1187	-1.02	-145.9	2280	3617	3953	3981	155.6	-12.4	139	1192	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2195	3966	3952	3980	0	0	0	0	0	0	14.33	14.18	14.36
1502	-1.04	-145.9	2280	2194	3952	3981	199.4	-13.4	152	1507	0.12	2.50	0.00	0.000	4484	0.141	0.085	2222	3615	3966	3952	3980	0	0	0	0	0	0	14.31	14.13	14.35
1567	-1.04	-145.9	2223	3617	3953	3972	210.0	-16.2	165	1573	0.00	2.40	0.00	0.000	1030	0.000	0.057	2222	2199	3966	3952	3980	0	0	0	0	0	0	14.37	14.24	14.40
1893	-0.98	-145.9	2222	2198	3953	3980	267.2	-16.7	180	1898	0.15	2.50	0.00	0.000	2436	0.293	0.083	2248	3620	3965	3951	3980	0	0	0	0	0	0	13.90	14.09	14.09
1995	-1.06	-145.9	2248	3620	3953	3980	279.9	-11.4	200	2000	0.00	2.40	0.00	0.000	1158	0.000	0.058	2247	2198	3966	3952	3980	0	0	0	0	0	0	14.38	14.24	14.40
2315	-1.08	-145.9	2248	2197	3952	3981	318.9	-11.9	214	2320	0.00	2.53	0.00	0.000	388	0.000	0.088	2241	3620	3966	3952	3980	0	0	0	0	0	0	14.67	14.07	14.69
2437	-1.17	-145.9	2241	3621	3959	3981	332.7	-11.1	238	2442	0.12	2.42	0.00	0.000	5254	0.143	0.057	2190	2191	3966	3952	3980	0	0	0	0	0	0	14.26	14.25	14.38
2768	-1.10	-145.9	2190	2190	3951	3981	384.8	-15.6	254	2773	0.12	2.50	0.00	0.000	2436	0.291	0.083	2208	3613	3965	3950	3980	0	0	0	0	0	0	13.26	13.96	13.69
2884	-1.10	-145.9	2208	3613	3951	3980	400.3	-12.7	277	2891	0.00	2.40	0.00	0.000	1030	0.000	0.055	2208	2190	3965	3950	3980	0	0	0	0	0	0	14.32	14.20	14.36
3188	-1.08	-145.9	2208	2190	3951	3981	442.2	-13.8	288	3193	0.00	2.50	0.00	0.000	388	0.000	0.086	2197	3614	3965	3950	3980	0	0	0	0	0	0	14.68	14.18	14.69
3258	-1.08	-145.9	2201	3615	3950	3981	452.1	-13.6	302	3263	0.15	2.38	0.00	0.000	3078	0.253	0.054	2227	2202	3964	3949	3980	0	0	0	0	0	0	13.93	14.26	14.16
3516	end dive: TARGET_DEPTH_EXCEEDED
state	3516	begin apogee
3522	-0.13	0.0	2228	2058	3950	3981	482.6	-11.5	314	3745	1.15	0.10	218.98	1.421	10246	0.224	0.158	2527	2120	3362	3378	3346	0	0	0	0	0	0	13.80	13.47	12.65
3749	end apogee: CONTROL_FINISHED_OK
state	3749	begin climb
3753	0.57	145.9	2528	2121	3374	3338	493.5	0.0	321	4147	0.75	2.70	207.27	1.380	11012	0.061	0.080	2791	724	2756	2793	2720	0	0	0	0	0	0	13.64	13.14	12.31
4152	0.57	145.9	2792	725	2795	2720	473.3	5.3	324	4157	0.00	2.47	0.00	0.000	1030	0.000	0.074	2791	2092	2755	2793	2718	0	0	0	0	0	0	13.78	13.69	13.83
4467	0.15	145.9	2792	2093	2792	2715	421.8	16.3	337	4469	0.70	0.00	0.00	0.000	4230	0.314	0.000	2637	2093	2753	2791	2715	0	0	0	0	0	0	13.73	14.23	14.13
4768	0.03	165.3	2637	2093	2796	2714	393.3	9.1	347	4799	0.15	2.40	24.23	1.476	12964	0.280	0.083	2602	724	2685	2726	2644	0	0	0	0	0	0	13.98	14.15	13.26
4879	0.07	219.9	2603	725	2724	2640	384.7	7.5	369	4970	0.00	2.42	81.75	1.363	9254	0.000	0.078	2602	2109	2461	2515	2408	0	0	0	0	0	0	14.20	14.08	13.05
5280	0.09	250.8	2602	2109	2509	2395	350.2	8.6	399	5330	0.00	2.47	44.00	1.386	8484	0.000	0.084	2602	3507	2339	2389	2289	0	0	0	0	0	0	14.54	14.02	13.19
5382	0.13	252.5	2603	3508	2378	2287	341.0	9.9	419	5387	0.00	2.38	0.00	0.000	1190	0.000	0.061	2602	2122	2331	2377	2286	0	0	0	0	0	0	14.19	14.11	14.24
5702	0.20	284.5	2602	2122	2376	2285	313.2	8.5	433	5758	0.12	2.55	50.67	1.365	10916	0.127	0.085	2672	685	2203	2246	2161	0	0	0	0	0	0	14.34	13.83	13.22
5858	0.20	284.5	2673	685	2238	2157	294.4	11.7	464	5863	0.00	2.47	0.00	0.000	1030	0.000	0.079	2672	2095	2196	2237	2156	0	0	0	0	0	0	14.24	14.11	14.29
6184	0.15	284.5	2671	2096	2237	2150	255.5	11.5	479	6189	0.15	2.45	0.00	0.000	4740	0.261	0.081	2644	685	2194	2237	2151	0	0	0	0	0	0	14.02	14.23	14.16
6254	0.25	314.3	2644	686	2237	2157	249.1	8.6	493	6307	0.00	2.47	46.40	1.349	9382	0.000	0.078	2644	2114	2081	2125	2038	0	0	0	0	0	0	14.31	14.21	13.26
6606	0.32	360.5	2645	2114	2120	2027	219.9	7.9	513	6689	0.12	2.60	75.05	1.294	10916	0.128	0.086	2705	692	1890	1923	1858	0	0	0	0	0	0	14.31	13.94	13.17
6779	0.32	360.5	2707	691	1913	1855	199.9	11.0	548	6785	0.00	2.47	0.00	0.000	1030	0.000	0.076	2706	2099	1884	1912	1857	0	0	0	0	0	0	14.11	14.00	14.16
7084	0.32	360.5	2707	2100	1912	1850	166.0	10.9	559	7089	0.00	2.47	0.00	0.000	516	0.000	0.086	2706	693	1880	1911	1850	0	0	0	0	0	0	14.46	14.05	14.47
7144	0.36	360.5	2707	694	1906	1851	159.8	10.2	571	7149	0.00	2.47	0.00	0.000	1158	0.000	0.077	2706	2103	1879	1908	1850	0	0	0	0	0	0	14.21	14.09	14.26
7474	0.36	360.5	2707	2104	1909	1848	125.8	10.1	587	7475	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2104	1878	1908	1848	0	0	0	0	0	0	14.47	14.50	14.50
7775	0.37	380.8	2706	2104	1908	1848	97.5	9.1	597	7791	0.00	2.55	9.48	0.496	8740	0.000	0.086	2709	696	1811	1837	1786	0	0	0	0	0	0	14.46	13.97	13.54
7858	0.48	415.2	2707	697	1839	1787	90.5	8.4	613	7883	0.00	2.47	19.38	0.474	9382	0.000	0.078	2707	2102	1669	1695	1644	0	0	0	0	0	0	14.14	14.02	13.59
8188	0.59	480.6	2707	2102	1695	1641	63.6	7.0	649	8231	0.17	2.55	34.30	0.391	10916	0.104	0.086	2794	694	1406	1447	1365	0	0	0	0	0	0	14.08	13.96	13.68
8288	0.59	480.6	2794	695	1442	1364	52.9	10.9	668	8294	0.00	2.53	0.00	0.000	1030	0.000	0.078	2794	2112	1402	1441	1363	0	0	0	0	0	0	14.14	14.01	14.17
8591	0.65	554.4	2795	2112	1442	1354	26.9	6.6	699	8638	0.00	2.58	38.20	0.291	8740	0.000	0.086	2794	696	1103	1163	1043	0	0	0	0	0	0	14.41	13.91	13.72
8701	0.81	625.4	2794	697	1163	1042	20.0	6.7	719	8743	0.15	2.50	37.62	0.269	11430	0.120	0.076	2858	2107	813	876	750	0	0	0	0	0	0	14.05	13.99	13.73
8876	end climb: SURFACE_DEPTH_REACHED
state	8876	begin surface coast
8897	end surface coast: CONTROL_FINISHED_OK
state	8897	begin surface