Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 244 * 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 244 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 686.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 29 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 686.0 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 61 VBD_MIN 500

DIVE 244 NOCOMM_ACTION 161 R_STBD_OVSHOOT 29 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 040917,073019,7451.0366,-15225.5078,15,0.8,23,20.0,0.0,336.0,10,9.7 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 1.25 MHEAD_RNG_PITCHd_Wd 18.2,102218,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 040917,074530,7451.1084,-15225.6895,3,0.9,28,20.0,0.3,337.0,9,9.6

Post-dive calculations and measurements:

FINISH 0.3,1.021320 _24V_AH 12.28,159.815

SM_CCo 9375,38.60,0.210,0,0,501,703.03 _10V_AH 12.14,0.000

SM_GC 1.12,8.15,0.17,38.60,0.076,0.131,0.210,200,2213,501,-7.37,-0.59,703.03,0,0,0,0,0,0,14.33,14.28,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323336

IRIDIUM_FIX 7451.27,-15238.25,040917,073844 DATA_FILE_SIZE 26752,762

TT8_MAMPS 0.038948,0.924266 CAP_FILE_SIZE 103594,0

HUMID 47.28 CFSIZE 2097872896,2014347264

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1448.3

XPDR_PINGS 11 CURRENT 0.103,260.23,1

CP_FREE 15968108544.000000 GPS 040917,102425,7451.824,-15223.746,40,0.9,43,20.0,0.0,319.1,10,8.0

PM_FREEKB_00 50742272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.02 nil 0 0 0.00

Roll_motor 74 2138 1952.89 nil 0 0 0.00

VBD_pump_during_apogee 950 1453 16964.56 nil 0 0 0.00

VBD_pump_during_surface 38 210 99.72 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 9333 14 1694.15

Iridium_during_xfer 543 163 1093.08 NCP 9360 20 2298.82

Transponder_ping 2 420 14.18 PMAR 9327 9 1135.16

GUMSTIX_24V 0 0 0.00

GPS 29 22 8.13

TT8 0 0 0.00

LPSleep 6918 2 194.00

TT8_Active 888 13 150.74

TT8_Sampling 2244 33 911.08

TT8_CF8 289 38 135.96

TT8_Kalman 0 0 0.00

Analog_circuits 2250 10 273.22

GPS_charging 0 0 0.00

Compass 1092 7 92.85

RAFOS 2210 48 1287.81

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 -145.9 200 2211 480 495 0.0 0.0 0 143 0.00 0.00 -91.38 0.000 16386 0.000 0.000 199 2213 2125 2058 2192 0 0 0 0 0 0 14.51 28.83 14.54

146 -0.57 -145.9 204 2212 2060 2195 3.1 -3.4 9 204 12.75 2.78 -39.65 0.000 18724 0.452 2.139 2375 3603 3962 3944 3980 0 0 0 0 0 0 13.60 12.81 14.08

399 -0.72 -145.9 2375 3604 3952 3981 47.7 -12.2 59 404 0.00 2.33 0.00 0.000 1158 0.000 0.057 2375 2240 3965 3951 3980 0 0 0 0 0 0 14.27 14.14 14.32

709 -0.84 -145.9 2375 2234 3953 3980 85.1 -10.2 91 714 0.17 2.53 0.00 0.000 4740 0.116 0.083 2297 789 3966 3952 3980 0 0 0 0 0 0 14.21 14.00 14.25

740 -0.84 -145.9 2298 789 3953 3980 89.3 -15.6 97 744 0.00 2.50 0.00 0.000 1030 0.000 0.086 2293 2197 3966 3952 3980 0 0 0 0 0 0 14.13 14.00 14.16

1080 -0.84 -145.9 2293 2199 3953 3981 140.5 -14.1 113 1085 0.00 2.53 0.00 0.000 260 0.000 0.090 2298 3616 3965 3952 3979 0 0 0 0 0 0 14.44 14.04 14.46

1222 -0.95 -145.9 2293 3617 3953 3981 157.8 -11.7 141 1227 0.00 2.45 0.00 0.000 1158 0.000 0.057 2292 2194 3965 3952 3979 0 0 0 0 0 0 13.76 13.26 13.94

1532 -1.00 -145.9 2292 2194 3953 3980 197.2 -12.2 153 1533 0.00 0.00 0.00 0.000 134 0.000 0.000 2292 2193 3965 3952 3979 0 0 0 0 0 0 14.44 14.49 14.47

1832 -1.07 -145.9 2292 2194 3953 3980 231.7 -11.2 163 1837 0.15 2.53 0.00 0.000 4484 0.123 0.085 2226 3610 3965 3952 3979 0 0 0 0 0 0 14.14 14.03 14.18

1877 -1.07 -145.9 2226 3610 3953 3978 238.1 -15.2 172 1883 0.00 2.42 0.00 0.000 1030 0.000 0.057 2226 2194 3965 3952 3979 0 0 0 0 0 0 14.22 14.09 14.24

2193 -1.03 -145.9 2226 2194 3953 3981 287.7 -14.9 185 2198 0.00 2.53 0.00 0.000 388 0.000 0.089 2223 3610 3965 3952 3979 0 0 0 0 0 0 14.46 14.02 14.47

2288 -1.03 -145.9 2223 3610 3953 3979 301.1 -13.3 204 2294 0.00 2.42 0.00 0.000 1030 0.000 0.055 2222 2199 3965 3952 3979 0 0 0 0 0 0 14.15 14.04 14.19

2614 -1.03 -145.9 2223 2198 3952 3979 346.2 -13.6 219 2618 0.00 2.53 0.00 0.000 260 0.000 0.090 2222 3613 3965 3952 3979 0 0 0 0 0 0 14.46 13.96 14.47

2724 -1.08 -145.9 2222 3614 3952 3976 360.1 -12.0 241 2729 0.00 2.42 0.00 0.000 1158 0.000 0.055 2222 2196 3964 3951 3977 0 0 0 0 0 0 14.20 14.09 14.23

3036 -1.08 -145.9 2223 2195 3952 3979 399.2 -12.4 253 3041 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3610 3964 3949 3979 0 0 0 0 0 0 14.45 13.97 14.46

3122 -1.15 -145.9 2223 3610 3952 3979 409.5 -10.9 270 3128 0.00 2.42 0.00 0.000 1158 0.000 0.055 2222 2190 3964 3950 3979 0 0 0 0 0 0 14.14 14.02 14.17

3427 -1.15 -145.9 2222 2190 3952 3979 445.8 -11.9 281 3432 0.00 2.55 0.00 0.000 260 0.000 0.089 2222 3610 3965 3950 3980 0 0 0 0 0 0 14.45 13.97 14.47

3504 -1.23 -145.9 2222 3610 3950 3980 454.4 -11.0 296 3509 0.12 2.38 0.00 0.000 5254 0.142 0.054 2169 2201 3964 3949 3979 0 0 0 0 0 0 14.13 14.18 14.23

3667 end dive: TARGET_DEPTH_EXCEEDED

state 3667 begin apogee

3673 -0.13 0.0 2170 2056 3950 3979 481.1 -16.6 304 3899 1.48 0.10 221.85 1.454 10246 0.268 0.158 2527 2118 3365 3379 3351 0 0 0 0 0 0 13.78 13.43 12.60

3903 end apogee: CONTROL_FINISHED_OK

state 3903 begin climb

3907 0.57 145.9 2528 2123 3373 3341 492.0 0.0 311 4123 0.75 2.67 210.43 1.397 10756 0.063 0.078 2785 734 2765 2802 2728 0 0 0 0 0 0 13.58 12.89 12.28

4245 0.19 145.9 2784 735 2789 2720 482.1 15.6 384 4251 0.65 2.50 0.00 0.000 5254 0.309 0.074 2650 2099 2753 2789 2717 0 0 0 0 0 0 13.23 13.54 13.57

4572 0.03 150.4 2650 2099 2790 2712 448.7 9.8 399 4573 0.25 0.00 0.00 0.000 4262 0.281 0.000 2594 2099 2750 2789 2712 0 0 0 0 0 0 13.81 14.19 14.10

4871 0.03 216.9 2591 2098 2790 2711 427.4 6.9 409 4980 0.00 0.00 106.62 1.381 8870 0.000 0.000 2594 2099 2480 2534 2426 0 0 0 0 0 0 14.59 13.82 13.02

5261 0.09 257.5 2594 2097 2520 2405 396.4 8.1 427 5332 0.00 2.50 61.75 1.369 8868 0.000 0.083 2601 732 2309 2359 2260 0 0 0 0 0 0 14.51 13.95 13.12

5385 0.21 292.4 2602 732 2355 2256 386.3 8.4 451 5444 0.15 2.42 52.00 1.382 11430 0.112 0.077 2668 2101 2168 2218 2119 0 0 0 0 0 0 14.10 14.03 13.02

5743 0.16 292.4 2668 2104 2208 2103 338.2 13.7 473 5744 0.15 0.00 0.00 0.000 4230 0.252 0.000 2636 2104 2154 2207 2102 0 0 0 0 0 0 14.01 14.32 14.27

6042 0.16 292.4 2637 2104 2207 2101 305.7 10.5 483 6047 0.00 2.40 0.00 0.000 516 0.000 0.084 2644 731 2153 2206 2101 0 0 0 0 0 0 14.66 14.15 14.65

6118 0.22 292.4 2645 731 2204 2101 297.9 10.2 498 6122 0.00 2.38 0.00 0.000 1158 0.000 0.078 2644 2101 2152 2203 2101 0 0 0 0 0 0 14.40 14.26 14.45

6433 0.22 297.2 2644 2103 2204 2101 265.7 9.8 511 6438 0.00 2.40 0.00 0.000 548 0.000 0.083 2644 725 2151 2203 2099 0 0 0 0 0 0 14.66 14.26 14.69

6483 0.30 318.9 2644 726 2201 2100 261.1 9.0 521 6526 0.00 2.38 37.10 1.381 9382 0.000 0.078 2644 2101 2063 2107 2019 0 0 0 0 0 0 14.40 14.27 13.32

6825 0.36 348.6 2644 2102 2102 2008 230.9 8.6 539 6879 0.12 2.42 48.20 1.350 10916 0.125 0.083 2706 730 1939 1981 1897 0 0 0 0 0 0 14.28 13.84 13.24

6944 0.36 348.6 2707 730 1973 1896 216.9 11.5 563 6949 0.00 2.40 0.00 0.000 1030 0.000 0.077 2706 2101 1933 1971 1896 0 0 0 0 0 0 14.23 14.10 14.26

7274 0.33 348.6 2706 2102 1972 1890 178.0 11.6 579 7275 0.00 0.00 0.00 0.000 134 0.000 0.000 2706 2102 1930 1972 1888 0 0 0 0 0 0 14.58 14.61 14.61

7574 0.30 348.6 2706 2102 1972 1887 145.1 10.6 589 7579 0.00 2.40 0.00 0.000 644 0.000 0.084 2712 722 1928 1971 1886 0 0 0 0 0 0 14.64 14.24 14.66

7684 0.31 354.2 2713 721 1970 1886 134.2 9.7 611 7689 0.12 2.40 0.77 0.312 13350 0.224 0.080 2683 2100 1920 1961 1880 0 0 0 0 0 0 14.11 14.23 13.90

7995 0.39 404.7 2684 2101 1966 1882 109.6 7.7 623 8089 0.00 0.00 92.45 1.249 8358 0.000 0.000 2683 2100 1717 1745 1690 0 0 0 0 0 0 14.64 13.94 13.19

8385 0.53 472.8 2684 2101 1738 1673 80.6 6.9 652 8427 0.20 2.42 35.10 0.444 10916 0.102 0.089 2769 732 1435 1474 1397 0 0 0 0 0 0 14.12 14.05 13.60

8484 0.56 472.8 2769 732 1475 1398 69.2 11.6 671 8490 0.00 2.42 0.00 0.000 1158 0.000 0.077 2769 2105 1435 1474 1397 0 0 0 0 0 0 14.19 14.07 14.22

8788 0.62 531.8 2769 2106 1475 1389 41.3 7.3 702 8820 0.00 0.00 30.90 0.326 8358 0.000 0.000 2768 2106 1197 1254 1141 0 0 0 0 0 0 14.57 14.17 13.80

9118 0.80 632.3 2769 2105 1254 1134 19.8 5.4 735 9178 0.17 0.00 53.28 0.267 11174 0.114 0.000 2849 2105 784 845 723 0 0 0 0 0 0 14.26 14.17 13.86

9337 end climb: SURFACE_DEPTH_REACHED

state 9337 begin surface coast

9355 end surface coast: CONTROL_FINISHED_OK

state 9355 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	244	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	686.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,073019,7451.0366,-15225.5078,15,0.8,23,20.0,0.0,336.0,10,9.7	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	1.25	MHEAD_RNG_PITCHd_Wd	18.2,102218,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	040917,074530,7451.1084,-15225.6895,3,0.9,28,20.0,0.3,337.0,9,9.6

FINISH	0.3,1.021320	_24V_AH	12.28,159.815
SM_CCo	9375,38.60,0.210,0,0,501,703.03	_10V_AH	12.14,0.000
SM_GC	1.12,8.15,0.17,38.60,0.076,0.131,0.210,200,2213,501,-7.37,-0.59,703.03,0,0,0,0,0,0,14.33,14.28,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323336
IRIDIUM_FIX	7451.27,-15238.25,040917,073844	DATA_FILE_SIZE	26752,762
TT8_MAMPS	0.038948,0.924266	CAP_FILE_SIZE	103594,0
HUMID	47.28	CFSIZE	2097872896,2014347264
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1448.3
XPDR_PINGS	11	CURRENT	0.103,260.23,1
CP_FREE	15968108544.000000	GPS	040917,102425,7451.824,-15223.746,40,0.9,43,20.0,0.0,319.1,10,8.0
PM_FREEKB_00	50742272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.02	nil	0	0	0.00
Roll_motor	74	2138	1952.89	nil	0	0	0.00
VBD_pump_during_apogee	950	1453	16964.56	nil	0	0	0.00
VBD_pump_during_surface	38	210	99.72	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	9333	14	1694.15
Iridium_during_xfer	543	163	1093.08	NCP	9360	20	2298.82
Transponder_ping	2	420	14.18	PMAR	9327	9	1135.16
GUMSTIX_24V	0	0	0.00
GPS	29	22	8.13
TT8	0	0	0.00
LPSleep	6918	2	194.00
TT8_Active	888	13	150.74
TT8_Sampling	2244	33	911.08
TT8_CF8	289	38	135.96
TT8_Kalman	0	0	0.00
Analog_circuits	2250	10	273.22
GPS_charging	0	0	0.00
Compass	1092	7	92.85
RAFOS	2210	48	1287.81
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	200	2211	480	495	0.0	0.0	0	143	0.00	0.00	-91.38	0.000	16386	0.000	0.000	199	2213	2125	2058	2192	0	0	0	0	0	0	14.51	28.83	14.54
146	-0.57	-145.9	204	2212	2060	2195	3.1	-3.4	9	204	12.75	2.78	-39.65	0.000	18724	0.452	2.139	2375	3603	3962	3944	3980	0	0	0	0	0	0	13.60	12.81	14.08
399	-0.72	-145.9	2375	3604	3952	3981	47.7	-12.2	59	404	0.00	2.33	0.00	0.000	1158	0.000	0.057	2375	2240	3965	3951	3980	0	0	0	0	0	0	14.27	14.14	14.32
709	-0.84	-145.9	2375	2234	3953	3980	85.1	-10.2	91	714	0.17	2.53	0.00	0.000	4740	0.116	0.083	2297	789	3966	3952	3980	0	0	0	0	0	0	14.21	14.00	14.25
740	-0.84	-145.9	2298	789	3953	3980	89.3	-15.6	97	744	0.00	2.50	0.00	0.000	1030	0.000	0.086	2293	2197	3966	3952	3980	0	0	0	0	0	0	14.13	14.00	14.16
1080	-0.84	-145.9	2293	2199	3953	3981	140.5	-14.1	113	1085	0.00	2.53	0.00	0.000	260	0.000	0.090	2298	3616	3965	3952	3979	0	0	0	0	0	0	14.44	14.04	14.46
1222	-0.95	-145.9	2293	3617	3953	3981	157.8	-11.7	141	1227	0.00	2.45	0.00	0.000	1158	0.000	0.057	2292	2194	3965	3952	3979	0	0	0	0	0	0	13.76	13.26	13.94
1532	-1.00	-145.9	2292	2194	3953	3980	197.2	-12.2	153	1533	0.00	0.00	0.00	0.000	134	0.000	0.000	2292	2193	3965	3952	3979	0	0	0	0	0	0	14.44	14.49	14.47
1832	-1.07	-145.9	2292	2194	3953	3980	231.7	-11.2	163	1837	0.15	2.53	0.00	0.000	4484	0.123	0.085	2226	3610	3965	3952	3979	0	0	0	0	0	0	14.14	14.03	14.18
1877	-1.07	-145.9	2226	3610	3953	3978	238.1	-15.2	172	1883	0.00	2.42	0.00	0.000	1030	0.000	0.057	2226	2194	3965	3952	3979	0	0	0	0	0	0	14.22	14.09	14.24
2193	-1.03	-145.9	2226	2194	3953	3981	287.7	-14.9	185	2198	0.00	2.53	0.00	0.000	388	0.000	0.089	2223	3610	3965	3952	3979	0	0	0	0	0	0	14.46	14.02	14.47
2288	-1.03	-145.9	2223	3610	3953	3979	301.1	-13.3	204	2294	0.00	2.42	0.00	0.000	1030	0.000	0.055	2222	2199	3965	3952	3979	0	0	0	0	0	0	14.15	14.04	14.19
2614	-1.03	-145.9	2223	2198	3952	3979	346.2	-13.6	219	2618	0.00	2.53	0.00	0.000	260	0.000	0.090	2222	3613	3965	3952	3979	0	0	0	0	0	0	14.46	13.96	14.47
2724	-1.08	-145.9	2222	3614	3952	3976	360.1	-12.0	241	2729	0.00	2.42	0.00	0.000	1158	0.000	0.055	2222	2196	3964	3951	3977	0	0	0	0	0	0	14.20	14.09	14.23
3036	-1.08	-145.9	2223	2195	3952	3979	399.2	-12.4	253	3041	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3610	3964	3949	3979	0	0	0	0	0	0	14.45	13.97	14.46
3122	-1.15	-145.9	2223	3610	3952	3979	409.5	-10.9	270	3128	0.00	2.42	0.00	0.000	1158	0.000	0.055	2222	2190	3964	3950	3979	0	0	0	0	0	0	14.14	14.02	14.17
3427	-1.15	-145.9	2222	2190	3952	3979	445.8	-11.9	281	3432	0.00	2.55	0.00	0.000	260	0.000	0.089	2222	3610	3965	3950	3980	0	0	0	0	0	0	14.45	13.97	14.47
3504	-1.23	-145.9	2222	3610	3950	3980	454.4	-11.0	296	3509	0.12	2.38	0.00	0.000	5254	0.142	0.054	2169	2201	3964	3949	3979	0	0	0	0	0	0	14.13	14.18	14.23
3667	end dive: TARGET_DEPTH_EXCEEDED
state	3667	begin apogee
3673	-0.13	0.0	2170	2056	3950	3979	481.1	-16.6	304	3899	1.48	0.10	221.85	1.454	10246	0.268	0.158	2527	2118	3365	3379	3351	0	0	0	0	0	0	13.78	13.43	12.60
3903	end apogee: CONTROL_FINISHED_OK
state	3903	begin climb
3907	0.57	145.9	2528	2123	3373	3341	492.0	0.0	311	4123	0.75	2.67	210.43	1.397	10756	0.063	0.078	2785	734	2765	2802	2728	0	0	0	0	0	0	13.58	12.89	12.28
4245	0.19	145.9	2784	735	2789	2720	482.1	15.6	384	4251	0.65	2.50	0.00	0.000	5254	0.309	0.074	2650	2099	2753	2789	2717	0	0	0	0	0	0	13.23	13.54	13.57
4572	0.03	150.4	2650	2099	2790	2712	448.7	9.8	399	4573	0.25	0.00	0.00	0.000	4262	0.281	0.000	2594	2099	2750	2789	2712	0	0	0	0	0	0	13.81	14.19	14.10
4871	0.03	216.9	2591	2098	2790	2711	427.4	6.9	409	4980	0.00	0.00	106.62	1.381	8870	0.000	0.000	2594	2099	2480	2534	2426	0	0	0	0	0	0	14.59	13.82	13.02
5261	0.09	257.5	2594	2097	2520	2405	396.4	8.1	427	5332	0.00	2.50	61.75	1.369	8868	0.000	0.083	2601	732	2309	2359	2260	0	0	0	0	0	0	14.51	13.95	13.12
5385	0.21	292.4	2602	732	2355	2256	386.3	8.4	451	5444	0.15	2.42	52.00	1.382	11430	0.112	0.077	2668	2101	2168	2218	2119	0	0	0	0	0	0	14.10	14.03	13.02
5743	0.16	292.4	2668	2104	2208	2103	338.2	13.7	473	5744	0.15	0.00	0.00	0.000	4230	0.252	0.000	2636	2104	2154	2207	2102	0	0	0	0	0	0	14.01	14.32	14.27
6042	0.16	292.4	2637	2104	2207	2101	305.7	10.5	483	6047	0.00	2.40	0.00	0.000	516	0.000	0.084	2644	731	2153	2206	2101	0	0	0	0	0	0	14.66	14.15	14.65
6118	0.22	292.4	2645	731	2204	2101	297.9	10.2	498	6122	0.00	2.38	0.00	0.000	1158	0.000	0.078	2644	2101	2152	2203	2101	0	0	0	0	0	0	14.40	14.26	14.45
6433	0.22	297.2	2644	2103	2204	2101	265.7	9.8	511	6438	0.00	2.40	0.00	0.000	548	0.000	0.083	2644	725	2151	2203	2099	0	0	0	0	0	0	14.66	14.26	14.69
6483	0.30	318.9	2644	726	2201	2100	261.1	9.0	521	6526	0.00	2.38	37.10	1.381	9382	0.000	0.078	2644	2101	2063	2107	2019	0	0	0	0	0	0	14.40	14.27	13.32
6825	0.36	348.6	2644	2102	2102	2008	230.9	8.6	539	6879	0.12	2.42	48.20	1.350	10916	0.125	0.083	2706	730	1939	1981	1897	0	0	0	0	0	0	14.28	13.84	13.24
6944	0.36	348.6	2707	730	1973	1896	216.9	11.5	563	6949	0.00	2.40	0.00	0.000	1030	0.000	0.077	2706	2101	1933	1971	1896	0	0	0	0	0	0	14.23	14.10	14.26
7274	0.33	348.6	2706	2102	1972	1890	178.0	11.6	579	7275	0.00	0.00	0.00	0.000	134	0.000	0.000	2706	2102	1930	1972	1888	0	0	0	0	0	0	14.58	14.61	14.61
7574	0.30	348.6	2706	2102	1972	1887	145.1	10.6	589	7579	0.00	2.40	0.00	0.000	644	0.000	0.084	2712	722	1928	1971	1886	0	0	0	0	0	0	14.64	14.24	14.66
7684	0.31	354.2	2713	721	1970	1886	134.2	9.7	611	7689	0.12	2.40	0.77	0.312	13350	0.224	0.080	2683	2100	1920	1961	1880	0	0	0	0	0	0	14.11	14.23	13.90
7995	0.39	404.7	2684	2101	1966	1882	109.6	7.7	623	8089	0.00	0.00	92.45	1.249	8358	0.000	0.000	2683	2100	1717	1745	1690	0	0	0	0	0	0	14.64	13.94	13.19
8385	0.53	472.8	2684	2101	1738	1673	80.6	6.9	652	8427	0.20	2.42	35.10	0.444	10916	0.102	0.089	2769	732	1435	1474	1397	0	0	0	0	0	0	14.12	14.05	13.60
8484	0.56	472.8	2769	732	1475	1398	69.2	11.6	671	8490	0.00	2.42	0.00	0.000	1158	0.000	0.077	2769	2105	1435	1474	1397	0	0	0	0	0	0	14.19	14.07	14.22
8788	0.62	531.8	2769	2106	1475	1389	41.3	7.3	702	8820	0.00	0.00	30.90	0.326	8358	0.000	0.000	2768	2106	1197	1254	1141	0	0	0	0	0	0	14.57	14.17	13.80
9118	0.80	632.3	2769	2105	1254	1134	19.8	5.4	735	9178	0.17	0.00	53.28	0.267	11174	0.114	0.000	2849	2105	784	845	723	0	0	0	0	0	0	14.26	14.17	13.86
9337	end climb: SURFACE_DEPTH_REACHED
state	9337	begin surface coast
9355	end surface coast: CONTROL_FINISHED_OK
state	9355	begin surface