Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 242 * 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 242 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 681.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 681.0 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 25 VBD_MIN 500

DIVE 242 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 040917,020627,7449.7217,-15228.8945,36,0.8,37,20.0,0.0,0.0,10,7.2 SPEED_LIMITS 0.173,0.256

_CALLS 1 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 16.8,105177,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 040917,021702,7449.7012,-15228.9717,11,0.7,11,20.0,0.0,0.0,12,9.4

Post-dive calculations and measurements:

FINISH 0.1,1.019642 _24V_AH 12.28,158.877

SM_CCo 8970,61.12,0.210,0,0,501,702.78 _10V_AH 12.16,0.000

SM_GC 1.15,8.12,0.17,61.12,0.078,0.121,0.210,197,2216,501,-7.38,-0.79,702.78,0,0,0,0,0,0,14.33,14.31,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 142 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323564

IRIDIUM_FIX 7449.36,-15223.67,030917,233348 DATA_FILE_SIZE 26725,728

TT8_MAMPS 0.038948,0.956473 CAP_FILE_SIZE 102590,0

HUMID 44.09 CFSIZE 2097872896,2014838784

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.5

XPDR_PINGS 16 CURRENT 0.089,244.96,1

CP_FREE 15968960512.000000 GPS 040917,044914,7450.294,-15226.823,18,0.7,21,20.0,0.3,331.7,12,8.9

PM_FREEKB_00 50798912

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 141.83 nil 0 0 0.00

Roll_motor 85 2139 2238.02 nil 0 0 0.00

VBD_pump_during_apogee 912 1531 17167.67 nil 0 0 0.00

VBD_pump_during_surface 61 210 157.91 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 8981 14 1630.59

Iridium_during_xfer 373 187 859.87 NCP 8942 20 2196.16

Transponder_ping 4 420 20.63 PMAR 8921 9 1084.00

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.73

TT8 0 0 0.00

LPSleep 6239 2 175.26

TT8_Active 877 13 149.12

TT8_Sampling 2268 33 922.54

TT8_CF8 296 38 139.33

TT8_Kalman 0 0 0.00

Analog_circuits 2265 10 275.47

GPS_charging 0 0 0.00

Compass 1044 7 88.87

RAFOS 2206 48 1287.60

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 198 2203 489 494 0.0 0.0 0 153 0.00 0.00 -101.03 0.000 16386 0.000 0.000 203 2203 2367 2316 2418 0 0 0 0 0 0 14.50 28.83 14.52

156 -0.57 -145.9 197 2204 2319 2420 4.7 -7.2 10 204 12.88 2.83 -28.88 0.000 18724 0.455 2.140 2377 3616 3965 3949 3982 0 0 0 0 0 0 13.61 12.82 14.11

369 -0.71 -145.9 2375 3616 3950 3983 47.7 -13.1 52 374 0.00 2.42 0.00 0.000 1158 0.000 0.060 2376 2198 3965 3949 3982 0 0 0 0 0 0 14.26 14.12 14.28

679 -0.83 -145.9 2377 2196 3952 3982 84.7 -10.4 84 680 0.20 0.00 0.00 0.000 4230 0.109 0.000 2297 2196 3966 3950 3982 0 0 0 0 0 0 14.28 14.40 14.37

989 -0.83 -145.9 2298 2197 3952 3982 132.1 -14.6 101 994 0.00 2.50 0.00 0.000 260 0.000 0.089 2292 3619 3966 3950 3982 0 0 0 0 0 0 14.62 14.17 14.64

1090 -0.93 -145.9 2293 3620 3952 3982 144.9 -11.9 121 1095 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2195 3966 3950 3982 0 0 0 0 0 0 14.37 14.24 14.40

1411 -0.97 -145.9 2292 2197 3952 3982 187.0 -12.8 135 1415 0.00 2.50 0.00 0.000 388 0.000 0.087 2284 3619 3966 3951 3982 0 0 0 0 0 0 14.65 14.18 14.66

1446 -1.08 -145.9 2284 3621 3951 3983 191.3 -11.9 142 1451 0.17 2.40 0.00 0.000 5254 0.109 0.057 2219 2201 3965 3949 3982 0 0 0 0 0 0 14.23 14.14 14.35

1771 -1.00 -145.9 2219 2200 3951 3982 249.8 -17.4 157 1777 0.12 2.47 0.00 0.000 2436 0.303 0.083 2238 3610 3966 3950 3982 0 0 0 0 0 0 13.94 14.19 14.10

1894 -1.03 -145.9 2238 3611 3951 3983 266.5 -12.6 181 1899 0.00 2.40 0.00 0.000 1158 0.000 0.057 2238 2196 3965 3949 3981 0 0 0 0 0 0 14.38 14.25 14.41

2225 -1.03 -145.9 2238 2196 3951 3983 310.8 -13.1 197 2230 0.00 2.50 0.00 0.000 260 0.000 0.090 2236 3610 3966 3950 3982 0 0 0 0 0 0 14.68 14.12 14.70

2295 -1.11 -145.9 2236 3612 3951 3983 319.7 -12.0 211 2300 0.00 2.40 0.00 0.000 1158 0.000 0.056 2236 2189 3966 3950 3982 0 0 0 0 0 0 14.38 14.26 14.42

2616 -1.11 -145.9 2236 2188 3951 3982 359.6 -12.1 225 2621 0.00 2.53 0.00 0.000 260 0.000 0.090 2236 3614 3965 3950 3981 0 0 0 0 0 0 14.69 14.12 14.71

2656 -1.19 -145.9 2236 3615 3951 3982 364.5 -11.7 233 2663 0.12 2.38 0.00 0.000 5254 0.145 0.056 2182 2201 3965 3950 3981 0 0 0 0 0 0 14.26 14.26 14.38

2978 -1.10 -145.9 2185 2200 3947 3981 414.8 -15.8 247 2983 0.15 2.50 0.00 0.000 2436 0.291 0.083 2209 3614 3965 3949 3981 0 0 0 0 0 0 13.85 14.15 14.02

3063 -1.14 -145.9 2209 3615 3950 3981 426.0 -12.1 264 3069 0.00 2.40 0.00 0.000 1158 0.000 0.056 2209 2193 3964 3949 3980 0 0 0 0 0 0 14.29 14.14 14.33

3369 -1.14 -145.9 2209 2191 3950 3980 465.9 -13.1 275 3373 0.00 2.53 0.00 0.000 260 0.000 0.089 2205 3616 3964 3948 3980 0 0 0 0 0 0 14.67 14.17 14.69

3433 -1.17 -145.9 2207 3616 3949 3981 474.3 -12.3 288 3438 0.00 2.40 0.00 0.000 1158 0.000 0.056 2206 2194 3964 3948 3980 0 0 0 0 0 0 14.37 14.23 14.40

3486 end dive: TARGET_DEPTH_EXCEEDED

state 3486 begin apogee

3492 -0.13 0.0 2207 2065 3949 3980 481.4 -13.0 294 3718 1.30 0.08 222.27 1.458 10246 0.239 0.179 2532 2119 3364 3382 3347 0 0 0 0 0 0 13.77 13.43 12.62

3722 end apogee: CONTROL_FINISHED_OK

state 3722 begin climb

3726 0.57 145.9 2533 2114 3375 3337 492.5 0.0 301 4122 0.73 2.65 207.82 1.398 11012 0.063 0.075 2777 3491 2750 2783 2717 0 0 0 0 0 0 13.59 13.11 12.28

4127 0.57 145.9 2778 3491 2785 2717 468.8 6.1 304 4132 0.00 2.40 0.00 0.000 1030 0.000 0.057 2786 2129 2750 2783 2717 0 0 0 0 0 0 13.79 13.69 13.82

4442 0.16 145.9 2786 2129 2785 2716 417.7 16.1 317 4448 0.65 2.53 0.00 0.000 4740 0.308 0.077 2646 684 2750 2784 2716 0 0 0 0 0 0 13.72 14.07 13.96

4673 0.05 165.3 2650 684 2785 2716 395.5 9.1 363 4703 0.20 2.47 22.95 1.493 13478 0.265 0.080 2605 2094 2688 2726 2650 0 0 0 0 0 0 13.93 14.16 13.23

5015 0.05 208.1 2605 2094 2721 2639 367.7 8.0 381 5084 0.00 2.50 63.47 1.393 8868 0.000 0.081 2604 685 2512 2565 2460 0 0 0 0 0 0 14.59 13.78 13.16

5145 0.13 244.0 2604 686 2561 2455 356.9 8.3 407 5206 0.00 2.50 53.30 1.379 9382 0.000 0.078 2604 2099 2367 2420 2314 0 0 0 0 0 0 14.19 14.04 13.04

5526 0.19 275.4 2601 2099 2412 2304 323.5 8.5 433 5578 0.12 2.58 47.00 1.375 10916 0.127 0.085 2672 687 2237 2287 2188 0 0 0 0 0 0 14.26 14.02 13.19

5630 0.17 275.4 2672 688 2280 2187 310.9 12.6 453 5635 0.15 2.50 0.00 0.000 5254 0.243 0.079 2640 2101 2232 2279 2186 0 0 0 0 0 0 13.90 14.05 14.14

5950 0.17 276.5 2640 2103 2280 2177 277.4 10.0 467 5955 0.00 2.47 0.00 0.000 548 0.000 0.084 2645 690 2228 2279 2177 0 0 0 0 0 0 14.58 14.18 14.59

5985 0.22 285.9 2644 690 2280 2178 274.0 9.6 474 6005 0.00 2.45 11.88 1.532 9382 0.000 0.079 2644 2101 2196 2245 2147 0 0 0 0 0 0 14.35 14.22 13.27

6312 0.24 308.7 2645 2101 2249 2140 244.3 9.0 489 6351 0.00 0.00 37.58 1.385 8230 0.000 0.000 2644 2101 2105 2154 2057 0 0 0 0 0 0 14.47 14.03 13.24

6640 0.30 344.6 2645 2103 2146 2046 216.3 8.3 500 6701 0.00 0.00 57.97 1.330 8870 0.000 0.000 2644 2101 1958 2003 1913 0 0 0 0 0 0 14.43 13.93 13.16

7002 0.43 398.0 2644 2102 1997 1900 187.6 7.5 522 7101 0.20 2.60 89.07 1.269 10916 0.100 0.086 2733 698 1737 1765 1710 0 0 0 0 0 0 14.16 13.75 13.09

7183 0.43 398.0 2733 699 1756 1709 165.2 12.3 558 7188 0.00 2.50 0.00 0.000 1030 0.000 0.079 2733 2098 1733 1758 1709 0 0 0 0 0 0 13.95 13.83 13.98

7514 0.40 398.0 2730 2100 1756 1705 124.0 12.1 574 7519 0.00 2.50 0.00 0.000 644 0.000 0.086 2732 685 1727 1755 1700 0 0 0 0 0 0 14.46 14.02 14.45

7559 0.42 398.0 2734 687 1753 1702 118.8 11.2 583 7564 0.00 2.50 0.00 0.000 1158 0.000 0.077 2733 2107 1728 1751 1706 0 0 0 0 0 0 14.23 14.11 14.28

7864 0.42 398.0 2733 2109 1752 1701 85.3 10.4 603 7869 0.00 2.53 0.00 0.000 516 0.000 0.084 2733 690 1729 1758 1700 0 0 0 0 0 0 14.45 14.00 14.47

7920 0.47 406.8 2732 690 1752 1700 79.9 9.6 614 7927 0.00 2.50 3.20 0.411 9382 0.000 0.077 2733 2108 1704 1730 1679 0 0 0 0 0 0 14.23 14.09 13.52

8225 0.55 483.9 2733 2112 1733 1682 54.5 6.4 645 8267 0.00 0.00 41.15 0.365 8358 0.000 0.000 2733 2110 1390 1434 1347 0 0 0 0 0 0 14.43 14.00 13.64

8565 0.74 590.6 2733 2112 1435 1342 34.9 5.1 679 8630 0.25 2.58 55.15 0.301 10916 0.092 0.088 2836 697 956 1023 890 0 0 0 0 0 0 13.97 13.94 13.71

8677 0.80 590.6 2833 698 1023 888 23.4 10.7 700 8684 0.00 2.47 0.00 0.000 1158 0.000 0.077 2836 2103 954 1021 888 0 0 0 0 0 0 14.03 13.92 14.06

8930 end climb: SURFACE_DEPTH_REACHED

state 8930 begin surface coast

8950 end surface coast: CONTROL_FINISHED_OK

state 8950 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	242	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	681.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,020627,7449.7217,-15228.8945,36,0.8,37,20.0,0.0,0.0,10,7.2	SPEED_LIMITS	0.173,0.256
_CALLS	1	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	16.8,105177,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	040917,021702,7449.7012,-15228.9717,11,0.7,11,20.0,0.0,0.0,12,9.4

FINISH	0.1,1.019642	_24V_AH	12.28,158.877
SM_CCo	8970,61.12,0.210,0,0,501,702.78	_10V_AH	12.16,0.000
SM_GC	1.15,8.12,0.17,61.12,0.078,0.121,0.210,197,2216,501,-7.38,-0.79,702.78,0,0,0,0,0,0,14.33,14.31,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	142	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323564
IRIDIUM_FIX	7449.36,-15223.67,030917,233348	DATA_FILE_SIZE	26725,728
TT8_MAMPS	0.038948,0.956473	CAP_FILE_SIZE	102590,0
HUMID	44.09	CFSIZE	2097872896,2014838784
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.5
XPDR_PINGS	16	CURRENT	0.089,244.96,1
CP_FREE	15968960512.000000	GPS	040917,044914,7450.294,-15226.823,18,0.7,21,20.0,0.3,331.7,12,8.9
PM_FREEKB_00	50798912

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	141.83	nil	0	0	0.00
Roll_motor	85	2139	2238.02	nil	0	0	0.00
VBD_pump_during_apogee	912	1531	17167.67	nil	0	0	0.00
VBD_pump_during_surface	61	210	157.91	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	8981	14	1630.59
Iridium_during_xfer	373	187	859.87	NCP	8942	20	2196.16
Transponder_ping	4	420	20.63	PMAR	8921	9	1084.00
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.73
TT8	0	0	0.00
LPSleep	6239	2	175.26
TT8_Active	877	13	149.12
TT8_Sampling	2268	33	922.54
TT8_CF8	296	38	139.33
TT8_Kalman	0	0	0.00
Analog_circuits	2265	10	275.47
GPS_charging	0	0	0.00
Compass	1044	7	88.87
RAFOS	2206	48	1287.60
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	198	2203	489	494	0.0	0.0	0	153	0.00	0.00	-101.03	0.000	16386	0.000	0.000	203	2203	2367	2316	2418	0	0	0	0	0	0	14.50	28.83	14.52
156	-0.57	-145.9	197	2204	2319	2420	4.7	-7.2	10	204	12.88	2.83	-28.88	0.000	18724	0.455	2.140	2377	3616	3965	3949	3982	0	0	0	0	0	0	13.61	12.82	14.11
369	-0.71	-145.9	2375	3616	3950	3983	47.7	-13.1	52	374	0.00	2.42	0.00	0.000	1158	0.000	0.060	2376	2198	3965	3949	3982	0	0	0	0	0	0	14.26	14.12	14.28
679	-0.83	-145.9	2377	2196	3952	3982	84.7	-10.4	84	680	0.20	0.00	0.00	0.000	4230	0.109	0.000	2297	2196	3966	3950	3982	0	0	0	0	0	0	14.28	14.40	14.37
989	-0.83	-145.9	2298	2197	3952	3982	132.1	-14.6	101	994	0.00	2.50	0.00	0.000	260	0.000	0.089	2292	3619	3966	3950	3982	0	0	0	0	0	0	14.62	14.17	14.64
1090	-0.93	-145.9	2293	3620	3952	3982	144.9	-11.9	121	1095	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2195	3966	3950	3982	0	0	0	0	0	0	14.37	14.24	14.40
1411	-0.97	-145.9	2292	2197	3952	3982	187.0	-12.8	135	1415	0.00	2.50	0.00	0.000	388	0.000	0.087	2284	3619	3966	3951	3982	0	0	0	0	0	0	14.65	14.18	14.66
1446	-1.08	-145.9	2284	3621	3951	3983	191.3	-11.9	142	1451	0.17	2.40	0.00	0.000	5254	0.109	0.057	2219	2201	3965	3949	3982	0	0	0	0	0	0	14.23	14.14	14.35
1771	-1.00	-145.9	2219	2200	3951	3982	249.8	-17.4	157	1777	0.12	2.47	0.00	0.000	2436	0.303	0.083	2238	3610	3966	3950	3982	0	0	0	0	0	0	13.94	14.19	14.10
1894	-1.03	-145.9	2238	3611	3951	3983	266.5	-12.6	181	1899	0.00	2.40	0.00	0.000	1158	0.000	0.057	2238	2196	3965	3949	3981	0	0	0	0	0	0	14.38	14.25	14.41
2225	-1.03	-145.9	2238	2196	3951	3983	310.8	-13.1	197	2230	0.00	2.50	0.00	0.000	260	0.000	0.090	2236	3610	3966	3950	3982	0	0	0	0	0	0	14.68	14.12	14.70
2295	-1.11	-145.9	2236	3612	3951	3983	319.7	-12.0	211	2300	0.00	2.40	0.00	0.000	1158	0.000	0.056	2236	2189	3966	3950	3982	0	0	0	0	0	0	14.38	14.26	14.42
2616	-1.11	-145.9	2236	2188	3951	3982	359.6	-12.1	225	2621	0.00	2.53	0.00	0.000	260	0.000	0.090	2236	3614	3965	3950	3981	0	0	0	0	0	0	14.69	14.12	14.71
2656	-1.19	-145.9	2236	3615	3951	3982	364.5	-11.7	233	2663	0.12	2.38	0.00	0.000	5254	0.145	0.056	2182	2201	3965	3950	3981	0	0	0	0	0	0	14.26	14.26	14.38
2978	-1.10	-145.9	2185	2200	3947	3981	414.8	-15.8	247	2983	0.15	2.50	0.00	0.000	2436	0.291	0.083	2209	3614	3965	3949	3981	0	0	0	0	0	0	13.85	14.15	14.02
3063	-1.14	-145.9	2209	3615	3950	3981	426.0	-12.1	264	3069	0.00	2.40	0.00	0.000	1158	0.000	0.056	2209	2193	3964	3949	3980	0	0	0	0	0	0	14.29	14.14	14.33
3369	-1.14	-145.9	2209	2191	3950	3980	465.9	-13.1	275	3373	0.00	2.53	0.00	0.000	260	0.000	0.089	2205	3616	3964	3948	3980	0	0	0	0	0	0	14.67	14.17	14.69
3433	-1.17	-145.9	2207	3616	3949	3981	474.3	-12.3	288	3438	0.00	2.40	0.00	0.000	1158	0.000	0.056	2206	2194	3964	3948	3980	0	0	0	0	0	0	14.37	14.23	14.40
3486	end dive: TARGET_DEPTH_EXCEEDED
state	3486	begin apogee
3492	-0.13	0.0	2207	2065	3949	3980	481.4	-13.0	294	3718	1.30	0.08	222.27	1.458	10246	0.239	0.179	2532	2119	3364	3382	3347	0	0	0	0	0	0	13.77	13.43	12.62
3722	end apogee: CONTROL_FINISHED_OK
state	3722	begin climb
3726	0.57	145.9	2533	2114	3375	3337	492.5	0.0	301	4122	0.73	2.65	207.82	1.398	11012	0.063	0.075	2777	3491	2750	2783	2717	0	0	0	0	0	0	13.59	13.11	12.28
4127	0.57	145.9	2778	3491	2785	2717	468.8	6.1	304	4132	0.00	2.40	0.00	0.000	1030	0.000	0.057	2786	2129	2750	2783	2717	0	0	0	0	0	0	13.79	13.69	13.82
4442	0.16	145.9	2786	2129	2785	2716	417.7	16.1	317	4448	0.65	2.53	0.00	0.000	4740	0.308	0.077	2646	684	2750	2784	2716	0	0	0	0	0	0	13.72	14.07	13.96
4673	0.05	165.3	2650	684	2785	2716	395.5	9.1	363	4703	0.20	2.47	22.95	1.493	13478	0.265	0.080	2605	2094	2688	2726	2650	0	0	0	0	0	0	13.93	14.16	13.23
5015	0.05	208.1	2605	2094	2721	2639	367.7	8.0	381	5084	0.00	2.50	63.47	1.393	8868	0.000	0.081	2604	685	2512	2565	2460	0	0	0	0	0	0	14.59	13.78	13.16
5145	0.13	244.0	2604	686	2561	2455	356.9	8.3	407	5206	0.00	2.50	53.30	1.379	9382	0.000	0.078	2604	2099	2367	2420	2314	0	0	0	0	0	0	14.19	14.04	13.04
5526	0.19	275.4	2601	2099	2412	2304	323.5	8.5	433	5578	0.12	2.58	47.00	1.375	10916	0.127	0.085	2672	687	2237	2287	2188	0	0	0	0	0	0	14.26	14.02	13.19
5630	0.17	275.4	2672	688	2280	2187	310.9	12.6	453	5635	0.15	2.50	0.00	0.000	5254	0.243	0.079	2640	2101	2232	2279	2186	0	0	0	0	0	0	13.90	14.05	14.14
5950	0.17	276.5	2640	2103	2280	2177	277.4	10.0	467	5955	0.00	2.47	0.00	0.000	548	0.000	0.084	2645	690	2228	2279	2177	0	0	0	0	0	0	14.58	14.18	14.59
5985	0.22	285.9	2644	690	2280	2178	274.0	9.6	474	6005	0.00	2.45	11.88	1.532	9382	0.000	0.079	2644	2101	2196	2245	2147	0	0	0	0	0	0	14.35	14.22	13.27
6312	0.24	308.7	2645	2101	2249	2140	244.3	9.0	489	6351	0.00	0.00	37.58	1.385	8230	0.000	0.000	2644	2101	2105	2154	2057	0	0	0	0	0	0	14.47	14.03	13.24
6640	0.30	344.6	2645	2103	2146	2046	216.3	8.3	500	6701	0.00	0.00	57.97	1.330	8870	0.000	0.000	2644	2101	1958	2003	1913	0	0	0	0	0	0	14.43	13.93	13.16
7002	0.43	398.0	2644	2102	1997	1900	187.6	7.5	522	7101	0.20	2.60	89.07	1.269	10916	0.100	0.086	2733	698	1737	1765	1710	0	0	0	0	0	0	14.16	13.75	13.09
7183	0.43	398.0	2733	699	1756	1709	165.2	12.3	558	7188	0.00	2.50	0.00	0.000	1030	0.000	0.079	2733	2098	1733	1758	1709	0	0	0	0	0	0	13.95	13.83	13.98
7514	0.40	398.0	2730	2100	1756	1705	124.0	12.1	574	7519	0.00	2.50	0.00	0.000	644	0.000	0.086	2732	685	1727	1755	1700	0	0	0	0	0	0	14.46	14.02	14.45
7559	0.42	398.0	2734	687	1753	1702	118.8	11.2	583	7564	0.00	2.50	0.00	0.000	1158	0.000	0.077	2733	2107	1728	1751	1706	0	0	0	0	0	0	14.23	14.11	14.28
7864	0.42	398.0	2733	2109	1752	1701	85.3	10.4	603	7869	0.00	2.53	0.00	0.000	516	0.000	0.084	2733	690	1729	1758	1700	0	0	0	0	0	0	14.45	14.00	14.47
7920	0.47	406.8	2732	690	1752	1700	79.9	9.6	614	7927	0.00	2.50	3.20	0.411	9382	0.000	0.077	2733	2108	1704	1730	1679	0	0	0	0	0	0	14.23	14.09	13.52
8225	0.55	483.9	2733	2112	1733	1682	54.5	6.4	645	8267	0.00	0.00	41.15	0.365	8358	0.000	0.000	2733	2110	1390	1434	1347	0	0	0	0	0	0	14.43	14.00	13.64
8565	0.74	590.6	2733	2112	1435	1342	34.9	5.1	679	8630	0.25	2.58	55.15	0.301	10916	0.092	0.088	2836	697	956	1023	890	0	0	0	0	0	0	13.97	13.94	13.71
8677	0.80	590.6	2833	698	1023	888	23.4	10.7	700	8684	0.00	2.47	0.00	0.000	1158	0.000	0.077	2836	2103	954	1021	888	0	0	0	0	0	0	14.03	13.92	14.06
8930	end climb: SURFACE_DEPTH_REACHED
state	8930	begin surface coast
8950	end surface coast: CONTROL_FINISHED_OK
state	8950	begin surface