Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 248 * 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 248 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 696.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 696.0 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 29 VBD_MIN 500

DIVE 248 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 040917,184222,7454.1016,-15217.0137,16,0.8,17,20.1,0.0,0.0,10,9.6 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 9.5,95639,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 040917,184805,7454.1279,-15217.0205,5,0.8,20,20.1,0.0,355.5,10,9.5

Post-dive calculations and measurements:

FINISH 0.2,1.021338 _24V_AH 12.27,161.704

SM_CCo 8915,21.75,0.213,0,0,500,702.78 _10V_AH 12.15,0.000

SM_GC 1.00,8.30,2.70,21.75,0.080,0.079,0.213,199,2205,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.31,14.18,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 216 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323404

IRIDIUM_FIX 7454.96,-15230.65,040917,160840 DATA_FILE_SIZE 26693,731

TT8_MAMPS 0.038948,1.44108 CAP_FILE_SIZE 99120,0

HUMID 46.06 CFSIZE 2097872896,2013396992

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1438.6

XPDR_PINGS 19 CURRENT 0.071,250.34,1

CP_FREE 15966339072.000000 GPS 040917,211858,7454.838,-15214.844,36,1.3,38,20.1,0.0,0.0,5,8.5

PM_FREEKB_00 50623808

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 147.47 nil 0 0 0.00

Roll_motor 84 2138 2224.25 nil 0 0 0.00

VBD_pump_during_apogee 1023 1530 19217.30 nil 0 0 0.00

VBD_pump_during_surface 21 212 56.76 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 4994 14 890.53

Iridium_during_xfer 143 139 247.10 NCP 8881 20 2179.40

Transponder_ping 4 420 24.48 PMAR 8867 9 1076.12

GUMSTIX_24V 0 0 0.00

GPS 21 22 5.84

TT8 0 0 0.00

LPSleep 6098 2 171.16

TT8_Active 915 13 155.46

TT8_Sampling 2051 33 833.66

TT8_CF8 229 38 107.86

TT8_Kalman 0 0 0.00

Analog_circuits 2089 10 253.85

GPS_charging 0 0 0.00

Compass 1046 7 89.00

RAFOS 2215 48 1291.79

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 192 2206 506 494 0.0 0.0 0 144 0.00 0.00 -91.97 0.000 16386 0.000 0.000 190 2207 2198 2136 2261 0 0 0 0 0 0 14.58 28.83 14.60

147 -0.57 -145.9 191 2206 2138 2262 4.1 -6.2 9 200 12.80 2.80 -34.12 0.000 18724 0.454 2.139 2377 3609 3963 3947 3980 0 0 0 0 0 0 13.64 12.86 14.15

426 -0.70 -145.9 2378 3610 3954 3980 54.1 -13.4 64 433 0.00 2.40 0.00 0.000 1158 0.000 0.060 2377 2196 3966 3953 3980 0 0 0 0 0 0 14.37 14.23 14.40

733 -0.82 -145.9 2377 2195 3956 3980 88.5 -9.9 95 738 0.17 2.50 0.00 0.000 4516 0.115 0.086 2306 3609 3967 3954 3980 0 0 0 0 0 0 14.28 14.20 14.32

753 -0.89 -145.9 2306 3609 3955 3981 91.2 -12.3 99 758 0.00 2.38 0.00 0.000 1158 0.000 0.056 2306 2199 3967 3954 3980 0 0 0 0 0 0 14.39 14.28 14.45

1083 -0.93 -145.9 2306 2198 3955 3980 137.9 -13.2 115 1088 0.00 2.47 0.00 0.000 388 0.000 0.087 2297 3614 3967 3954 3980 0 0 0 0 0 0 14.75 14.23 14.76

1113 -1.01 -145.9 2297 3615 3954 3981 141.7 -12.9 121 1118 0.12 2.38 0.00 0.000 5254 0.129 0.058 2244 2199 3967 3954 3980 0 0 0 0 0 0 14.33 14.29 14.44

1444 -0.97 -145.9 2245 2198 3955 3980 198.1 -16.8 137 1449 0.00 2.47 0.00 0.000 388 0.000 0.087 2236 3614 3967 3954 3980 0 0 0 0 0 0 14.76 14.23 14.76

1591 -1.00 -145.9 2236 3615 3954 3981 220.3 -14.5 166 1597 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2189 3966 3953 3980 0 0 0 0 0 0 14.42 14.29 14.46

1894 -0.98 -145.9 2237 2188 3955 3979 266.8 -14.6 177 1899 0.12 2.47 0.00 0.000 2436 0.287 0.085 2256 3607 3966 3953 3980 0 0 0 0 0 0 14.02 14.23 14.17

1964 -1.08 -145.9 2256 3609 3954 3981 275.2 -10.8 191 1969 0.00 2.38 0.00 0.000 1158 0.000 0.057 2256 2201 3967 3954 3980 0 0 0 0 0 0 14.33 14.21 14.38

2285 -1.13 -145.9 2256 2200 3954 3981 312.2 -11.3 205 2290 0.12 2.47 0.00 0.000 4484 0.145 0.085 2196 3613 3966 3953 3980 0 0 0 0 0 0 14.35 14.23 14.40

2330 -1.09 -145.9 2196 3613 3954 3980 318.7 -15.3 214 2335 0.00 2.38 0.00 0.000 1158 0.000 0.057 2196 2197 3966 3953 3980 0 0 0 0 0 0 14.42 14.28 14.46

2645 -1.03 -145.9 2196 2198 3953 3981 367.5 -15.1 227 2650 0.20 2.47 0.00 0.000 2436 0.291 0.085 2235 3611 3966 3953 3980 0 0 0 0 0 0 13.89 14.21 14.08

2747 -1.14 -145.9 2236 3609 3954 3980 378.7 -10.2 247 2752 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2197 3966 3953 3980 0 0 0 0 0 0 14.41 14.28 14.45

3067 -1.17 -145.9 2236 2196 3954 3981 414.8 -11.2 261 3072 0.00 2.47 0.00 0.000 388 0.000 0.088 2235 3607 3966 3953 3979 0 0 0 0 0 0 14.73 14.21 14.76

3107 -1.27 -145.9 2236 3606 3953 3980 419.2 -10.7 269 3112 0.20 2.38 0.00 0.000 5254 0.112 0.056 2158 2195 3966 3952 3980 0 0 0 0 0 0 14.33 14.28 14.43

3428 -1.14 -145.9 2159 2195 3952 3981 476.2 -18.2 283 3433 0.22 2.47 0.00 0.000 2436 0.309 0.083 2198 3613 3965 3951 3980 0 0 0 0 0 0 13.82 14.19 14.04

3450 end dive: TARGET_DEPTH_EXCEEDED

state 3450 begin apogee

3459 -0.13 0.0 2199 2102 3952 3981 480.5 -15.7 288 3694 1.33 0.00 228.93 1.444 10246 0.243 0.000 2532 2101 3356 3373 3340 0 0 0 0 0 0 13.90 13.22 12.59

3697 end apogee: CONTROL_FINISHED_OK

state 3697 begin climb

3700 0.57 145.9 2532 2102 3371 3336 493.2 0.0 296 4094 0.73 2.72 210.82 1.392 10756 0.063 0.079 2787 688 2752 2789 2716 0 0 0 0 0 0 13.62 12.89 12.27

4306 0.20 145.9 2782 688 2788 2717 445.6 14.6 337 4314 0.60 2.53 0.00 0.000 5254 0.322 0.076 2653 2105 2750 2787 2714 0 0 0 0 0 0 13.59 13.95 13.97

4612 0.03 157.3 2653 2105 2788 2710 415.6 9.5 348 4617 0.25 0.00 4.00 1.531 12454 0.268 0.000 2598 2105 2723 2763 2684 0 0 0 0 0 0 13.83 14.08 12.90

4912 0.03 225.9 2597 2106 2780 2697 394.6 6.8 358 5038 0.00 0.00 121.70 1.346 8870 0.000 0.000 2596 2105 2441 2496 2386 0 0 0 0 0 0 14.47 13.73 12.95

5363 0.07 259.1 2597 2105 2484 2369 357.6 8.5 393 5424 0.00 2.60 51.60 1.363 8868 0.000 0.085 2602 687 2301 2351 2252 0 0 0 0 0 0 14.43 13.90 13.12

5490 0.20 291.4 2603 682 2346 2246 346.8 8.5 418 5546 0.15 2.50 50.15 1.354 11430 0.115 0.080 2667 2098 2175 2225 2126 0 0 0 0 0 0 14.03 13.93 13.02

5844 0.15 291.4 2667 2097 2212 2106 300.7 13.0 439 5846 0.17 0.00 0.00 0.000 4230 0.244 0.000 2630 2098 2158 2211 2105 0 0 0 0 0 0 13.87 14.16 14.11

6145 0.20 309.8 2630 2098 2210 2103 272.0 9.2 449 6176 0.00 2.50 23.98 1.406 8868 0.000 0.087 2630 688 2100 2146 2054 0 0 0 0 0 0 14.48 14.09 13.26

6226 0.33 344.8 2630 689 2139 2047 264.9 8.4 465 6292 0.17 2.47 58.00 1.317 11430 0.105 0.079 2698 2099 1957 2002 1912 0 0 0 0 0 0 14.16 14.09 13.12

6598 0.29 344.8 2698 2099 1994 1896 218.5 12.2 489 6603 0.00 2.47 0.00 0.000 644 0.000 0.085 2699 685 1942 1992 1892 0 0 0 0 0 0 14.42 14.02 14.47

6689 0.29 344.8 2699 686 1989 1897 208.2 10.8 507 6694 0.00 2.45 0.00 0.000 1030 0.000 0.077 2699 2102 1943 1991 1895 0 0 0 0 0 0 14.20 14.07 14.24

7019 0.26 344.8 2699 2106 1989 1894 172.4 10.5 523 7024 0.12 2.47 0.00 0.000 4740 0.226 0.082 2672 687 1941 1988 1894 0 0 0 0 0 0 14.08 14.19 14.23

7099 0.37 385.0 2673 687 1987 1894 165.5 8.1 539 7176 0.00 2.47 69.75 1.281 9382 0.000 0.079 2673 2111 1794 1825 1763 0 0 0 0 0 0 14.29 14.14 13.21

7501 0.48 428.2 2673 2111 1814 1747 132.4 8.0 569 7582 0.20 0.00 78.60 1.238 10406 0.103 0.000 2757 2111 1620 1650 1590 0 0 0 0 0 0 14.31 13.94 13.19

7863 0.44 428.2 2757 2110 1641 1563 86.0 12.3 587 7868 0.12 2.50 0.00 0.000 4740 0.246 0.083 2733 691 1606 1645 1567 0 0 0 0 0 0 13.90 14.10 14.03

7965 0.52 442.9 2734 691 1637 1567 75.7 9.3 607 7976 0.00 2.47 6.40 0.390 9382 0.000 0.080 2733 2108 1559 1595 1523 0 0 0 0 0 0 14.16 14.04 13.70

8273 0.64 533.5 2734 2108 1602 1529 51.3 5.8 639 8327 0.12 2.58 48.38 0.352 10916 0.127 0.087 2794 691 1190 1249 1131 0 0 0 0 0 0 14.19 14.07 13.64

8422 0.73 578.0 2795 691 1251 1133 39.2 7.9 668 8455 0.00 2.50 24.73 0.315 9382 0.000 0.078 2795 2108 1005 1072 939 0 0 0 0 0 0 14.20 14.08 13.78

8760 0.90 663.8 2795 2109 1075 945 15.1 6.0 705 8814 0.20 2.53 46.12 0.250 10916 0.103 0.088 2890 691 658 711 605 0 0 0 0 0 0 14.26 14.09 13.87

8882 end climb: SURFACE_DEPTH_REACHED

state 8882 begin surface coast

8892 end surface coast: CONTROL_FINISHED_OK

state 8892 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	248	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	696.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,184222,7454.1016,-15217.0137,16,0.8,17,20.1,0.0,0.0,10,9.6	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	9.5,95639,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	040917,184805,7454.1279,-15217.0205,5,0.8,20,20.1,0.0,355.5,10,9.5

FINISH	0.2,1.021338	_24V_AH	12.27,161.704
SM_CCo	8915,21.75,0.213,0,0,500,702.78	_10V_AH	12.15,0.000
SM_GC	1.00,8.30,2.70,21.75,0.080,0.079,0.213,199,2205,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.31,14.18,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	216	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323404
IRIDIUM_FIX	7454.96,-15230.65,040917,160840	DATA_FILE_SIZE	26693,731
TT8_MAMPS	0.038948,1.44108	CAP_FILE_SIZE	99120,0
HUMID	46.06	CFSIZE	2097872896,2013396992
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1438.6
XPDR_PINGS	19	CURRENT	0.071,250.34,1
CP_FREE	15966339072.000000	GPS	040917,211858,7454.838,-15214.844,36,1.3,38,20.1,0.0,0.0,5,8.5
PM_FREEKB_00	50623808

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	147.47	nil	0	0	0.00
Roll_motor	84	2138	2224.25	nil	0	0	0.00
VBD_pump_during_apogee	1023	1530	19217.30	nil	0	0	0.00
VBD_pump_during_surface	21	212	56.76	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	4994	14	890.53
Iridium_during_xfer	143	139	247.10	NCP	8881	20	2179.40
Transponder_ping	4	420	24.48	PMAR	8867	9	1076.12
GUMSTIX_24V	0	0	0.00
GPS	21	22	5.84
TT8	0	0	0.00
LPSleep	6098	2	171.16
TT8_Active	915	13	155.46
TT8_Sampling	2051	33	833.66
TT8_CF8	229	38	107.86
TT8_Kalman	0	0	0.00
Analog_circuits	2089	10	253.85
GPS_charging	0	0	0.00
Compass	1046	7	89.00
RAFOS	2215	48	1291.79
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	192	2206	506	494	0.0	0.0	0	144	0.00	0.00	-91.97	0.000	16386	0.000	0.000	190	2207	2198	2136	2261	0	0	0	0	0	0	14.58	28.83	14.60
147	-0.57	-145.9	191	2206	2138	2262	4.1	-6.2	9	200	12.80	2.80	-34.12	0.000	18724	0.454	2.139	2377	3609	3963	3947	3980	0	0	0	0	0	0	13.64	12.86	14.15
426	-0.70	-145.9	2378	3610	3954	3980	54.1	-13.4	64	433	0.00	2.40	0.00	0.000	1158	0.000	0.060	2377	2196	3966	3953	3980	0	0	0	0	0	0	14.37	14.23	14.40
733	-0.82	-145.9	2377	2195	3956	3980	88.5	-9.9	95	738	0.17	2.50	0.00	0.000	4516	0.115	0.086	2306	3609	3967	3954	3980	0	0	0	0	0	0	14.28	14.20	14.32
753	-0.89	-145.9	2306	3609	3955	3981	91.2	-12.3	99	758	0.00	2.38	0.00	0.000	1158	0.000	0.056	2306	2199	3967	3954	3980	0	0	0	0	0	0	14.39	14.28	14.45
1083	-0.93	-145.9	2306	2198	3955	3980	137.9	-13.2	115	1088	0.00	2.47	0.00	0.000	388	0.000	0.087	2297	3614	3967	3954	3980	0	0	0	0	0	0	14.75	14.23	14.76
1113	-1.01	-145.9	2297	3615	3954	3981	141.7	-12.9	121	1118	0.12	2.38	0.00	0.000	5254	0.129	0.058	2244	2199	3967	3954	3980	0	0	0	0	0	0	14.33	14.29	14.44
1444	-0.97	-145.9	2245	2198	3955	3980	198.1	-16.8	137	1449	0.00	2.47	0.00	0.000	388	0.000	0.087	2236	3614	3967	3954	3980	0	0	0	0	0	0	14.76	14.23	14.76
1591	-1.00	-145.9	2236	3615	3954	3981	220.3	-14.5	166	1597	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2189	3966	3953	3980	0	0	0	0	0	0	14.42	14.29	14.46
1894	-0.98	-145.9	2237	2188	3955	3979	266.8	-14.6	177	1899	0.12	2.47	0.00	0.000	2436	0.287	0.085	2256	3607	3966	3953	3980	0	0	0	0	0	0	14.02	14.23	14.17
1964	-1.08	-145.9	2256	3609	3954	3981	275.2	-10.8	191	1969	0.00	2.38	0.00	0.000	1158	0.000	0.057	2256	2201	3967	3954	3980	0	0	0	0	0	0	14.33	14.21	14.38
2285	-1.13	-145.9	2256	2200	3954	3981	312.2	-11.3	205	2290	0.12	2.47	0.00	0.000	4484	0.145	0.085	2196	3613	3966	3953	3980	0	0	0	0	0	0	14.35	14.23	14.40
2330	-1.09	-145.9	2196	3613	3954	3980	318.7	-15.3	214	2335	0.00	2.38	0.00	0.000	1158	0.000	0.057	2196	2197	3966	3953	3980	0	0	0	0	0	0	14.42	14.28	14.46
2645	-1.03	-145.9	2196	2198	3953	3981	367.5	-15.1	227	2650	0.20	2.47	0.00	0.000	2436	0.291	0.085	2235	3611	3966	3953	3980	0	0	0	0	0	0	13.89	14.21	14.08
2747	-1.14	-145.9	2236	3609	3954	3980	378.7	-10.2	247	2752	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2197	3966	3953	3980	0	0	0	0	0	0	14.41	14.28	14.45
3067	-1.17	-145.9	2236	2196	3954	3981	414.8	-11.2	261	3072	0.00	2.47	0.00	0.000	388	0.000	0.088	2235	3607	3966	3953	3979	0	0	0	0	0	0	14.73	14.21	14.76
3107	-1.27	-145.9	2236	3606	3953	3980	419.2	-10.7	269	3112	0.20	2.38	0.00	0.000	5254	0.112	0.056	2158	2195	3966	3952	3980	0	0	0	0	0	0	14.33	14.28	14.43
3428	-1.14	-145.9	2159	2195	3952	3981	476.2	-18.2	283	3433	0.22	2.47	0.00	0.000	2436	0.309	0.083	2198	3613	3965	3951	3980	0	0	0	0	0	0	13.82	14.19	14.04
3450	end dive: TARGET_DEPTH_EXCEEDED
state	3450	begin apogee
3459	-0.13	0.0	2199	2102	3952	3981	480.5	-15.7	288	3694	1.33	0.00	228.93	1.444	10246	0.243	0.000	2532	2101	3356	3373	3340	0	0	0	0	0	0	13.90	13.22	12.59
3697	end apogee: CONTROL_FINISHED_OK
state	3697	begin climb
3700	0.57	145.9	2532	2102	3371	3336	493.2	0.0	296	4094	0.73	2.72	210.82	1.392	10756	0.063	0.079	2787	688	2752	2789	2716	0	0	0	0	0	0	13.62	12.89	12.27
4306	0.20	145.9	2782	688	2788	2717	445.6	14.6	337	4314	0.60	2.53	0.00	0.000	5254	0.322	0.076	2653	2105	2750	2787	2714	0	0	0	0	0	0	13.59	13.95	13.97
4612	0.03	157.3	2653	2105	2788	2710	415.6	9.5	348	4617	0.25	0.00	4.00	1.531	12454	0.268	0.000	2598	2105	2723	2763	2684	0	0	0	0	0	0	13.83	14.08	12.90
4912	0.03	225.9	2597	2106	2780	2697	394.6	6.8	358	5038	0.00	0.00	121.70	1.346	8870	0.000	0.000	2596	2105	2441	2496	2386	0	0	0	0	0	0	14.47	13.73	12.95
5363	0.07	259.1	2597	2105	2484	2369	357.6	8.5	393	5424	0.00	2.60	51.60	1.363	8868	0.000	0.085	2602	687	2301	2351	2252	0	0	0	0	0	0	14.43	13.90	13.12
5490	0.20	291.4	2603	682	2346	2246	346.8	8.5	418	5546	0.15	2.50	50.15	1.354	11430	0.115	0.080	2667	2098	2175	2225	2126	0	0	0	0	0	0	14.03	13.93	13.02
5844	0.15	291.4	2667	2097	2212	2106	300.7	13.0	439	5846	0.17	0.00	0.00	0.000	4230	0.244	0.000	2630	2098	2158	2211	2105	0	0	0	0	0	0	13.87	14.16	14.11
6145	0.20	309.8	2630	2098	2210	2103	272.0	9.2	449	6176	0.00	2.50	23.98	1.406	8868	0.000	0.087	2630	688	2100	2146	2054	0	0	0	0	0	0	14.48	14.09	13.26
6226	0.33	344.8	2630	689	2139	2047	264.9	8.4	465	6292	0.17	2.47	58.00	1.317	11430	0.105	0.079	2698	2099	1957	2002	1912	0	0	0	0	0	0	14.16	14.09	13.12
6598	0.29	344.8	2698	2099	1994	1896	218.5	12.2	489	6603	0.00	2.47	0.00	0.000	644	0.000	0.085	2699	685	1942	1992	1892	0	0	0	0	0	0	14.42	14.02	14.47
6689	0.29	344.8	2699	686	1989	1897	208.2	10.8	507	6694	0.00	2.45	0.00	0.000	1030	0.000	0.077	2699	2102	1943	1991	1895	0	0	0	0	0	0	14.20	14.07	14.24
7019	0.26	344.8	2699	2106	1989	1894	172.4	10.5	523	7024	0.12	2.47	0.00	0.000	4740	0.226	0.082	2672	687	1941	1988	1894	0	0	0	0	0	0	14.08	14.19	14.23
7099	0.37	385.0	2673	687	1987	1894	165.5	8.1	539	7176	0.00	2.47	69.75	1.281	9382	0.000	0.079	2673	2111	1794	1825	1763	0	0	0	0	0	0	14.29	14.14	13.21
7501	0.48	428.2	2673	2111	1814	1747	132.4	8.0	569	7582	0.20	0.00	78.60	1.238	10406	0.103	0.000	2757	2111	1620	1650	1590	0	0	0	0	0	0	14.31	13.94	13.19
7863	0.44	428.2	2757	2110	1641	1563	86.0	12.3	587	7868	0.12	2.50	0.00	0.000	4740	0.246	0.083	2733	691	1606	1645	1567	0	0	0	0	0	0	13.90	14.10	14.03
7965	0.52	442.9	2734	691	1637	1567	75.7	9.3	607	7976	0.00	2.47	6.40	0.390	9382	0.000	0.080	2733	2108	1559	1595	1523	0	0	0	0	0	0	14.16	14.04	13.70
8273	0.64	533.5	2734	2108	1602	1529	51.3	5.8	639	8327	0.12	2.58	48.38	0.352	10916	0.127	0.087	2794	691	1190	1249	1131	0	0	0	0	0	0	14.19	14.07	13.64
8422	0.73	578.0	2795	691	1251	1133	39.2	7.9	668	8455	0.00	2.50	24.73	0.315	9382	0.000	0.078	2795	2108	1005	1072	939	0	0	0	0	0	0	14.20	14.08	13.78
8760	0.90	663.8	2795	2109	1075	945	15.1	6.0	705	8814	0.20	2.53	46.12	0.250	10916	0.103	0.088	2890	691	658	711	605	0	0	0	0	0	0	14.26	14.09	13.87
8882	end climb: SURFACE_DEPTH_REACHED
state	8882	begin surface coast
8892	end surface coast: CONTROL_FINISHED_OK
state	8892	begin surface