Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 246 * 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 246 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 690.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 690.0 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 60 VBD_MIN 500

DIVE 246 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 040917,132108,7452.6187,-15221.6172,15,0.8,20,20.0,0.5,328.0,10,8.6 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 1.25 MHEAD_RNG_PITCHd_Wd 18.5,98919,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 040917,133152,7452.6562,-15221.7656,6,0.7,6,20.0,0.0,0.0,11,0.0

Post-dive calculations and measurements:

FINISH 0.6,1.021310 _24V_AH 12.30,160.800

SM_CCo 9080,29.50,0.207,0,0,498,702.78 _10V_AH 12.36,0.000

SM_GC 1.37,8.30,0.17,29.50,0.081,0.113,0.207,204,2223,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.18,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 19 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323712

IRIDIUM_FIX 7451.20,-15219.85,040917,104257 DATA_FILE_SIZE 26699,771

TT8_MAMPS 0.083888,0.845621 CAP_FILE_SIZE 100440,0

HUMID 46.37 CFSIZE 2097872896,2013790208

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

TCM_TEMP 13.20 SOUNDSPEED 1448.8

XPDR_PINGS 18 CURRENT 0.082,263.80,1

CP_FREE 0.000000 GPS 040917,160532,7453.400,-15219.338,27,0.7,27,20.1,0.0,0.0,11,8.2

PM_FREEKB_00 50684608

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.42 nil 0 0 0.00

Roll_motor 73 2138 1929.07 nil 0 0 0.00

VBD_pump_during_apogee 942 1477 17130.89 nil 0 0 0.00

VBD_pump_during_surface 29 206 74.95 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 9047 14 1620.32

Iridium_during_xfer 386 178 848.08 NCP 9066 20 2230.24

Transponder_ping 4 420 23.25 PMAR 9035 9 1094.41

GUMSTIX_24V 0 0 0.00

GPS 7 22 2.19

TT8 0 0 0.00

LPSleep 6452 2 184.24

TT8_Active 975 13 168.37

TT8_Sampling 2044 33 845.08

TT8_CF8 299 38 143.18

TT8_Kalman 0 0 0.00

Analog_circuits 2087 10 258.03

GPS_charging 0 0 0.00

Compass 1105 7 95.61

RAFOS 2210 48 1311.15

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 -145.9 192 2214 496 491 0.0 0.0 0 142 0.00 0.00 -91.38 0.000 16386 0.000 0.000 192 2215 2146 2077 2216 0 0 0 0 0 0 14.50 28.83 14.51

145 -0.57 -145.9 192 2212 2083 2217 3.4 -4.3 9 202 12.80 2.80 -37.05 0.000 18724 0.455 2.138 2375 3592 3965 3949 3982 0 0 0 0 0 0 13.60 12.56 14.09

378 -0.69 -145.9 2376 3591 3955 3982 46.7 -13.9 55 383 0.00 2.33 0.00 0.000 1158 0.000 0.061 2375 2228 3968 3954 3982 0 0 0 0 0 0 14.30 14.17 14.34

688 -0.80 -145.9 2376 2228 3956 3984 85.5 -10.8 87 689 0.17 0.00 0.00 0.000 4230 0.122 0.000 2306 2227 3968 3955 3982 0 0 0 0 0 0 14.26 14.39 14.38

998 -0.84 -145.9 2306 2228 3956 3983 130.4 -13.7 104 1004 0.00 2.42 0.00 0.000 388 0.000 0.086 2301 3601 3968 3955 3982 0 0 0 0 0 0 14.64 14.17 14.69

1084 -0.97 -145.9 2301 3603 3956 3982 140.6 -11.2 121 1090 0.00 2.38 0.00 0.000 1158 0.000 0.057 2300 2201 3968 3955 3982 0 0 0 0 0 0 14.14 14.06 14.19

1389 -1.03 -145.9 2301 2200 3956 3983 178.8 -12.2 132 1390 0.17 0.00 0.00 0.000 4230 0.114 0.000 2238 2199 3968 3955 3982 0 0 0 0 0 0 14.31 14.41 14.38

1689 -0.99 -145.9 2239 2199 3957 3982 228.4 -16.3 142 1694 0.00 2.45 0.00 0.000 388 0.000 0.089 2236 3595 3969 3956 3982 0 0 0 0 0 0 14.67 14.14 14.68

1844 -1.02 -145.9 2236 3595 3956 3982 250.7 -13.7 173 1849 0.00 2.35 0.00 0.000 1158 0.000 0.056 2236 2198 3968 3955 3982 0 0 0 0 0 0 14.33 14.21 14.36

2169 -1.02 -145.9 2236 2198 3956 3983 296.7 -13.5 188 2175 0.00 2.47 0.00 0.000 260 0.000 0.090 2235 3603 3968 3955 3982 0 0 0 0 0 0 14.68 14.17 14.70

2240 -1.09 -145.9 2236 3604 3956 3983 305.4 -11.6 202 2245 0.00 2.38 0.00 0.000 1158 0.000 0.056 2236 2198 3969 3956 3982 0 0 0 0 0 0 14.38 14.25 14.42

2560 -1.11 -145.9 2236 2197 3955 3983 344.7 -12.1 216 2566 0.00 2.47 0.00 0.000 388 0.000 0.089 2235 3603 3968 3955 3982 0 0 0 0 0 0 14.68 14.17 14.68

2611 -1.20 -145.9 2236 3603 3956 3982 350.6 -10.5 226 2616 0.12 2.38 0.00 0.000 5254 0.138 0.057 2183 2199 3968 3955 3982 0 0 0 0 0 0 14.25 14.23 14.37

2921 -1.11 -145.9 2184 2198 3956 3981 400.5 -16.3 238 2926 0.12 2.45 0.00 0.000 2436 0.303 0.083 2202 3595 3968 3955 3981 0 0 0 0 0 0 13.91 14.16 14.08

3048 -1.11 -145.9 2202 3595 3955 3981 417.7 -13.2 263 3053 0.00 2.35 0.00 0.000 1030 0.000 0.055 2202 2199 3967 3954 3981 0 0 0 0 0 0 14.33 14.15 14.35

3373 -1.08 -145.9 2202 2198 3955 3981 462.8 -13.7 278 3378 0.12 2.45 0.00 0.000 2436 0.306 0.083 2222 3594 3966 3953 3980 0 0 0 0 0 0 13.93 14.16 14.09

3480 -1.17 -145.9 2222 3596 3955 3982 474.8 -10.7 299 3485 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2197 3967 3953 3981 0 0 0 0 0 0 14.36 14.24 14.40

3522 end dive: TARGET_DEPTH_EXCEEDED

state 3522 begin apogee

3528 -0.13 0.0 2223 2066 3954 3981 480.1 -11.4 303 3755 1.20 0.00 223.23 1.449 10246 0.230 0.000 2530 2063 3365 3387 3344 0 0 0 0 0 0 13.83 13.47 12.63

3759 end apogee: CONTROL_FINISHED_OK

state 3759 begin climb

3761 0.57 145.9 2531 2063 3379 3334 490.9 0.0 310 3979 0.75 2.53 206.90 1.372 10756 0.062 0.079 2791 731 2761 2802 2721 0 0 0 0 0 0 13.59 13.14 12.30

4170 0.18 145.9 2792 732 2793 2713 469.6 15.6 385 4175 0.70 2.45 0.00 0.000 5254 0.323 0.075 2646 2088 2752 2793 2711 0 0 0 0 0 0 13.36 13.71 13.74

4486 0.03 156.4 2647 2088 2794 2706 438.1 9.5 398 4491 0.20 0.00 3.30 1.209 12966 0.271 0.000 2597 2088 2726 2770 2683 0 0 0 0 0 0 13.84 13.99 12.66

4816 0.03 220.6 2598 2088 2786 2696 414.3 7.0 414 4938 0.00 2.50 112.35 1.361 8868 0.000 0.084 2602 729 2455 2513 2397 0 0 0 0 0 0 14.62 13.82 13.02

5000 0.12 256.3 2603 729 2507 2393 399.7 8.4 450 5057 0.00 2.45 51.88 1.369 9382 0.000 0.079 2602 2105 2322 2379 2266 0 0 0 0 0 0 14.07 13.95 12.95

5364 0.18 279.6 2602 2106 2360 2242 367.6 8.9 472 5399 0.12 0.00 33.35 1.397 10406 0.128 0.000 2661 2105 2226 2281 2172 0 0 0 0 0 0 14.22 14.05 13.19

5692 0.13 279.6 2662 2105 2263 2153 325.6 12.7 483 5697 0.15 2.40 0.00 0.000 4740 0.256 0.083 2630 730 2208 2263 2153 0 0 0 0 0 0 14.02 14.17 14.13

5779 0.21 290.1 2630 731 2261 2154 316.9 9.5 500 5787 0.00 2.40 4.07 1.477 9382 0.000 0.079 2630 2098 2182 2238 2126 0 0 0 0 0 0 14.31 14.19 13.07

6082 0.24 300.0 2631 2098 2248 2139 287.1 9.5 511 6115 0.00 2.40 24.80 1.434 8868 0.000 0.083 2631 729 2135 2187 2084 0 0 0 0 0 0 14.64 13.93 13.30

6177 0.36 326.8 2631 729 2179 2083 278.7 8.8 529 6225 0.20 2.42 43.78 1.355 11430 0.096 0.078 2706 2101 2032 2079 1986 0 0 0 0 0 0 14.27 14.16 13.19

6535 0.29 326.8 2706 2106 2064 1968 230.6 12.7 551 6537 0.15 0.00 0.00 0.000 4230 0.227 0.000 2673 2105 2014 2062 1967 0 0 0 0 0 0 14.08 14.36 14.31

6835 0.29 336.3 2673 2106 2063 1962 201.0 9.6 561 6845 0.00 2.45 3.22 1.233 8740 0.000 0.087 2673 735 1995 2045 1945 0 0 0 0 0 0 14.63 14.05 12.83

6922 0.38 359.2 2673 737 2050 1953 193.2 8.9 578 6977 0.00 2.38 47.10 1.353 9382 0.000 0.080 2673 2105 1894 1935 1853 0 0 0 0 0 0 14.35 14.21 13.25

7289 0.45 391.0 2673 2106 1922 1850 160.4 8.5 601 7348 0.17 2.50 51.17 1.315 10916 0.114 0.086 2755 729 1766 1791 1742 0 0 0 0 0 0 14.27 14.03 13.24

7400 0.41 391.0 2754 728 1784 1742 146.2 13.2 618 7405 0.17 2.40 0.00 0.000 5254 0.245 0.078 2716 2099 1762 1783 1741 0 0 0 0 0 0 13.92 14.09 14.17

7710 0.41 391.0 2717 2099 1784 1734 112.6 10.5 630 7715 0.00 2.40 0.00 0.000 516 0.000 0.086 2721 730 1758 1782 1734 0 0 0 0 0 0 14.58 14.21 14.59

7765 0.45 391.0 2722 730 1783 1733 106.9 10.3 641 7771 0.00 2.40 0.00 0.000 1158 0.000 0.078 2721 2102 1757 1781 1733 0 0 0 0 0 0 14.31 14.17 14.35

8072 0.47 420.2 2722 2101 1782 1731 77.4 8.7 666 8092 0.00 2.50 14.62 0.434 8740 0.000 0.084 2726 728 1650 1676 1624 0 0 0 0 0 0 14.59 14.06 13.64

8142 0.58 454.5 2727 725 1679 1624 71.2 8.4 678 8169 0.12 2.42 19.17 0.416 11430 0.127 0.079 2780 2102 1512 1538 1486 0 0 0 0 0 0 14.19 14.05 13.61

8474 0.63 527.0 2781 2103 1539 1480 41.0 6.7 714 8517 0.00 0.00 38.05 0.324 8486 0.000 0.000 2781 2102 1214 1269 1160 0 0 0 0 0 0 14.59 14.09 13.72

8825 0.81 652.2 2787 2102 1271 1152 18.6 4.2 752 8895 0.20 0.00 65.82 0.261 10406 0.101 0.000 2862 2102 703 760 646 0 0 0 0 0 0 14.05 14.04 13.76

9002 end climb: SURFACE_DEPTH_REACHED

state 9002 begin surface coast

9014 end surface coast: CONTROL_FINISHED_OK

state 9014 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	246	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	690.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,132108,7452.6187,-15221.6172,15,0.8,20,20.0,0.5,328.0,10,8.6	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	1.25	MHEAD_RNG_PITCHd_Wd	18.5,98919,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	040917,133152,7452.6562,-15221.7656,6,0.7,6,20.0,0.0,0.0,11,0.0

FINISH	0.6,1.021310	_24V_AH	12.30,160.800
SM_CCo	9080,29.50,0.207,0,0,498,702.78	_10V_AH	12.36,0.000
SM_GC	1.37,8.30,0.17,29.50,0.081,0.113,0.207,204,2223,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.18,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	19	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323712
IRIDIUM_FIX	7451.20,-15219.85,040917,104257	DATA_FILE_SIZE	26699,771
TT8_MAMPS	0.083888,0.845621	CAP_FILE_SIZE	100440,0
HUMID	46.37	CFSIZE	2097872896,2013790208
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.8
XPDR_PINGS	18	CURRENT	0.082,263.80,1
CP_FREE	0.000000	GPS	040917,160532,7453.400,-15219.338,27,0.7,27,20.1,0.0,0.0,11,8.2
PM_FREEKB_00	50684608

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.42	nil	0	0	0.00
Roll_motor	73	2138	1929.07	nil	0	0	0.00
VBD_pump_during_apogee	942	1477	17130.89	nil	0	0	0.00
VBD_pump_during_surface	29	206	74.95	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	9047	14	1620.32
Iridium_during_xfer	386	178	848.08	NCP	9066	20	2230.24
Transponder_ping	4	420	23.25	PMAR	9035	9	1094.41
GUMSTIX_24V	0	0	0.00
GPS	7	22	2.19
TT8	0	0	0.00
LPSleep	6452	2	184.24
TT8_Active	975	13	168.37
TT8_Sampling	2044	33	845.08
TT8_CF8	299	38	143.18
TT8_Kalman	0	0	0.00
Analog_circuits	2087	10	258.03
GPS_charging	0	0	0.00
Compass	1105	7	95.61
RAFOS	2210	48	1311.15
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	192	2214	496	491	0.0	0.0	0	142	0.00	0.00	-91.38	0.000	16386	0.000	0.000	192	2215	2146	2077	2216	0	0	0	0	0	0	14.50	28.83	14.51
145	-0.57	-145.9	192	2212	2083	2217	3.4	-4.3	9	202	12.80	2.80	-37.05	0.000	18724	0.455	2.138	2375	3592	3965	3949	3982	0	0	0	0	0	0	13.60	12.56	14.09
378	-0.69	-145.9	2376	3591	3955	3982	46.7	-13.9	55	383	0.00	2.33	0.00	0.000	1158	0.000	0.061	2375	2228	3968	3954	3982	0	0	0	0	0	0	14.30	14.17	14.34
688	-0.80	-145.9	2376	2228	3956	3984	85.5	-10.8	87	689	0.17	0.00	0.00	0.000	4230	0.122	0.000	2306	2227	3968	3955	3982	0	0	0	0	0	0	14.26	14.39	14.38
998	-0.84	-145.9	2306	2228	3956	3983	130.4	-13.7	104	1004	0.00	2.42	0.00	0.000	388	0.000	0.086	2301	3601	3968	3955	3982	0	0	0	0	0	0	14.64	14.17	14.69
1084	-0.97	-145.9	2301	3603	3956	3982	140.6	-11.2	121	1090	0.00	2.38	0.00	0.000	1158	0.000	0.057	2300	2201	3968	3955	3982	0	0	0	0	0	0	14.14	14.06	14.19
1389	-1.03	-145.9	2301	2200	3956	3983	178.8	-12.2	132	1390	0.17	0.00	0.00	0.000	4230	0.114	0.000	2238	2199	3968	3955	3982	0	0	0	0	0	0	14.31	14.41	14.38
1689	-0.99	-145.9	2239	2199	3957	3982	228.4	-16.3	142	1694	0.00	2.45	0.00	0.000	388	0.000	0.089	2236	3595	3969	3956	3982	0	0	0	0	0	0	14.67	14.14	14.68
1844	-1.02	-145.9	2236	3595	3956	3982	250.7	-13.7	173	1849	0.00	2.35	0.00	0.000	1158	0.000	0.056	2236	2198	3968	3955	3982	0	0	0	0	0	0	14.33	14.21	14.36
2169	-1.02	-145.9	2236	2198	3956	3983	296.7	-13.5	188	2175	0.00	2.47	0.00	0.000	260	0.000	0.090	2235	3603	3968	3955	3982	0	0	0	0	0	0	14.68	14.17	14.70
2240	-1.09	-145.9	2236	3604	3956	3983	305.4	-11.6	202	2245	0.00	2.38	0.00	0.000	1158	0.000	0.056	2236	2198	3969	3956	3982	0	0	0	0	0	0	14.38	14.25	14.42
2560	-1.11	-145.9	2236	2197	3955	3983	344.7	-12.1	216	2566	0.00	2.47	0.00	0.000	388	0.000	0.089	2235	3603	3968	3955	3982	0	0	0	0	0	0	14.68	14.17	14.68
2611	-1.20	-145.9	2236	3603	3956	3982	350.6	-10.5	226	2616	0.12	2.38	0.00	0.000	5254	0.138	0.057	2183	2199	3968	3955	3982	0	0	0	0	0	0	14.25	14.23	14.37
2921	-1.11	-145.9	2184	2198	3956	3981	400.5	-16.3	238	2926	0.12	2.45	0.00	0.000	2436	0.303	0.083	2202	3595	3968	3955	3981	0	0	0	0	0	0	13.91	14.16	14.08
3048	-1.11	-145.9	2202	3595	3955	3981	417.7	-13.2	263	3053	0.00	2.35	0.00	0.000	1030	0.000	0.055	2202	2199	3967	3954	3981	0	0	0	0	0	0	14.33	14.15	14.35
3373	-1.08	-145.9	2202	2198	3955	3981	462.8	-13.7	278	3378	0.12	2.45	0.00	0.000	2436	0.306	0.083	2222	3594	3966	3953	3980	0	0	0	0	0	0	13.93	14.16	14.09
3480	-1.17	-145.9	2222	3596	3955	3982	474.8	-10.7	299	3485	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2197	3967	3953	3981	0	0	0	0	0	0	14.36	14.24	14.40
3522	end dive: TARGET_DEPTH_EXCEEDED
state	3522	begin apogee
3528	-0.13	0.0	2223	2066	3954	3981	480.1	-11.4	303	3755	1.20	0.00	223.23	1.449	10246	0.230	0.000	2530	2063	3365	3387	3344	0	0	0	0	0	0	13.83	13.47	12.63
3759	end apogee: CONTROL_FINISHED_OK
state	3759	begin climb
3761	0.57	145.9	2531	2063	3379	3334	490.9	0.0	310	3979	0.75	2.53	206.90	1.372	10756	0.062	0.079	2791	731	2761	2802	2721	0	0	0	0	0	0	13.59	13.14	12.30
4170	0.18	145.9	2792	732	2793	2713	469.6	15.6	385	4175	0.70	2.45	0.00	0.000	5254	0.323	0.075	2646	2088	2752	2793	2711	0	0	0	0	0	0	13.36	13.71	13.74
4486	0.03	156.4	2647	2088	2794	2706	438.1	9.5	398	4491	0.20	0.00	3.30	1.209	12966	0.271	0.000	2597	2088	2726	2770	2683	0	0	0	0	0	0	13.84	13.99	12.66
4816	0.03	220.6	2598	2088	2786	2696	414.3	7.0	414	4938	0.00	2.50	112.35	1.361	8868	0.000	0.084	2602	729	2455	2513	2397	0	0	0	0	0	0	14.62	13.82	13.02
5000	0.12	256.3	2603	729	2507	2393	399.7	8.4	450	5057	0.00	2.45	51.88	1.369	9382	0.000	0.079	2602	2105	2322	2379	2266	0	0	0	0	0	0	14.07	13.95	12.95
5364	0.18	279.6	2602	2106	2360	2242	367.6	8.9	472	5399	0.12	0.00	33.35	1.397	10406	0.128	0.000	2661	2105	2226	2281	2172	0	0	0	0	0	0	14.22	14.05	13.19
5692	0.13	279.6	2662	2105	2263	2153	325.6	12.7	483	5697	0.15	2.40	0.00	0.000	4740	0.256	0.083	2630	730	2208	2263	2153	0	0	0	0	0	0	14.02	14.17	14.13
5779	0.21	290.1	2630	731	2261	2154	316.9	9.5	500	5787	0.00	2.40	4.07	1.477	9382	0.000	0.079	2630	2098	2182	2238	2126	0	0	0	0	0	0	14.31	14.19	13.07
6082	0.24	300.0	2631	2098	2248	2139	287.1	9.5	511	6115	0.00	2.40	24.80	1.434	8868	0.000	0.083	2631	729	2135	2187	2084	0	0	0	0	0	0	14.64	13.93	13.30
6177	0.36	326.8	2631	729	2179	2083	278.7	8.8	529	6225	0.20	2.42	43.78	1.355	11430	0.096	0.078	2706	2101	2032	2079	1986	0	0	0	0	0	0	14.27	14.16	13.19
6535	0.29	326.8	2706	2106	2064	1968	230.6	12.7	551	6537	0.15	0.00	0.00	0.000	4230	0.227	0.000	2673	2105	2014	2062	1967	0	0	0	0	0	0	14.08	14.36	14.31
6835	0.29	336.3	2673	2106	2063	1962	201.0	9.6	561	6845	0.00	2.45	3.22	1.233	8740	0.000	0.087	2673	735	1995	2045	1945	0	0	0	0	0	0	14.63	14.05	12.83
6922	0.38	359.2	2673	737	2050	1953	193.2	8.9	578	6977	0.00	2.38	47.10	1.353	9382	0.000	0.080	2673	2105	1894	1935	1853	0	0	0	0	0	0	14.35	14.21	13.25
7289	0.45	391.0	2673	2106	1922	1850	160.4	8.5	601	7348	0.17	2.50	51.17	1.315	10916	0.114	0.086	2755	729	1766	1791	1742	0	0	0	0	0	0	14.27	14.03	13.24
7400	0.41	391.0	2754	728	1784	1742	146.2	13.2	618	7405	0.17	2.40	0.00	0.000	5254	0.245	0.078	2716	2099	1762	1783	1741	0	0	0	0	0	0	13.92	14.09	14.17
7710	0.41	391.0	2717	2099	1784	1734	112.6	10.5	630	7715	0.00	2.40	0.00	0.000	516	0.000	0.086	2721	730	1758	1782	1734	0	0	0	0	0	0	14.58	14.21	14.59
7765	0.45	391.0	2722	730	1783	1733	106.9	10.3	641	7771	0.00	2.40	0.00	0.000	1158	0.000	0.078	2721	2102	1757	1781	1733	0	0	0	0	0	0	14.31	14.17	14.35
8072	0.47	420.2	2722	2101	1782	1731	77.4	8.7	666	8092	0.00	2.50	14.62	0.434	8740	0.000	0.084	2726	728	1650	1676	1624	0	0	0	0	0	0	14.59	14.06	13.64
8142	0.58	454.5	2727	725	1679	1624	71.2	8.4	678	8169	0.12	2.42	19.17	0.416	11430	0.127	0.079	2780	2102	1512	1538	1486	0	0	0	0	0	0	14.19	14.05	13.61
8474	0.63	527.0	2781	2103	1539	1480	41.0	6.7	714	8517	0.00	0.00	38.05	0.324	8486	0.000	0.000	2781	2102	1214	1269	1160	0	0	0	0	0	0	14.59	14.09	13.72
8825	0.81	652.2	2787	2102	1271	1152	18.6	4.2	752	8895	0.20	0.00	65.82	0.261	10406	0.101	0.000	2862	2102	703	760	646	0	0	0	0	0	0	14.05	14.04	13.76
9002	end climb: SURFACE_DEPTH_REACHED
state	9002	begin surface coast
9014	end surface coast: CONTROL_FINISHED_OK
state	9014	begin surface