Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 268 * 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 268 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 747.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 747.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 62 VBD_MIN 500

DIVE 268 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 070917,003750,7516.6382,-15130.5166,17,0.8,38,20.5,0.5,34.3,10,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 358.8,49782,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.1 D_GRID 480

GPS2 070917,004511,7516.6738,-15130.5381,8,0.8,9,20.5,0.0,337.4,10,10.0

Post-dive calculations and measurements:

FINISH 0.2,1.011762 _24V_AH 12.28,171.041

SM_CCo 9048,0.00,0.000,0,0,500,702.78 _10V_AH 12.17,0.000

SM_GC 0.95,8.25,0.12,0.00,0.076,0.142,0.000,201,2226,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.32,14.28,14.61 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323720

IRIDIUM_FIX 7517.69,-15136.22,060917,215702 DATA_FILE_SIZE 30056,835

TT8_MAMPS 0.040446,0.895055 CAP_FILE_SIZE 100911,0

HUMID 47.32 CFSIZE 2097872896,2008776704

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

TCM_TEMP 13.20 SOUNDSPEED 1447.2

XPDR_PINGS 21 CURRENT 0.046,297.30,1

CP_FREE 15957917696.000000 GPS 070917,031814,7517.768,-15128.250,36,0.7,54,20.6,0.9,283.4,12,9.9

PM_FREEKB_00 50049536

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 459 146.83 nil 0 0 0.00

Roll_motor 82 2140 2179.02 nil 0 0 0.00

VBD_pump_during_apogee 1057 1506 19554.76 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 5330 14 971.51

Iridium_during_xfer 185 141 322.47 NCP 9034 20 2218.75

Transponder_ping 5 420 27.08 PMAR 9001 9 1088.74

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.89

TT8 0 0 0.00

LPSleep 6369 2 179.06

TT8_Active 915 13 155.63

TT8_Sampling 1987 33 808.72

TT8_CF8 231 38 109.11

TT8_Kalman 0 0 0.00

Analog_circuits 1996 10 243.00

GPS_charging 0 0 0.00

Compass 1193 7 101.68

RAFOS 0 0 0.00

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

51 -0.57 -145.9 186 2220 498 488 0.0 0.0 0 143 0.00 0.00 -91.15 0.000 16386 0.000 0.000 188 2220 2169 2102 2236 0 0 0 0 0 0 14.42 28.83 14.45

146 -0.57 -145.9 189 2220 2107 2237 3.9 -5.3 9 200 12.93 2.83 -34.75 0.000 18724 0.459 2.140 2374 3595 3965 3949 3981 0 0 0 0 0 0 13.59 12.51 14.12

350 -0.71 -145.9 2375 3596 3954 3981 45.7 -13.1 49 355 0.00 2.33 0.00 0.000 1158 0.000 0.058 2374 2228 3967 3955 3980 0 0 0 0 0 0 14.33 14.20 14.38

660 -0.81 -145.9 2375 2227 3958 3980 87.1 -10.6 81 661 0.17 0.00 0.00 0.000 4230 0.115 0.000 2303 2227 3969 3957 3981 0 0 0 0 0 0 14.34 14.45 14.42

960 -0.84 -145.9 2304 2228 3957 3981 130.8 -13.8 97 965 0.00 2.40 0.00 0.000 388 0.000 0.090 2293 3599 3968 3956 3980 0 0 0 0 0 0 14.71 14.15 14.72

1055 -0.96 -145.9 2294 3600 3957 3980 142.6 -11.7 116 1061 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2192 3968 3956 3980 0 0 0 0 0 0 14.40 14.27 14.44

1382 -1.01 -145.9 2294 2192 3957 3981 184.4 -12.3 131 1387 0.12 2.50 0.00 0.000 4484 0.137 0.087 2236 3600 3968 3956 3981 0 0 0 0 0 0 14.39 14.14 14.41

1472 -1.05 -145.9 2235 3604 3957 3981 197.8 -14.4 149 1477 0.00 2.38 0.00 0.000 1158 0.000 0.056 2235 2196 3968 3956 3980 0 0 0 0 0 0 14.34 14.21 14.36

1802 -1.03 -145.9 2236 2195 3957 3981 251.6 -15.4 165 1807 0.00 2.47 0.00 0.000 388 0.000 0.090 2235 3600 3968 3956 3980 0 0 0 0 0 0 14.73 14.14 14.75

1929 -1.09 -145.9 2236 3600 3958 3981 268.0 -12.2 190 1934 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2200 3968 3957 3980 0 0 0 0 0 0 14.40 14.27 14.43

2254 -1.09 -145.9 2236 2200 3957 3981 309.9 -12.5 205 2259 0.00 2.50 0.00 0.000 260 0.000 0.090 2235 3607 3968 3956 3980 0 0 0 0 0 0 14.73 14.14 14.76

2344 -1.19 -145.9 2236 3607 3957 3980 320.1 -10.6 223 2349 0.12 2.40 0.00 0.000 5254 0.137 0.056 2184 2198 3968 3956 3980 0 0 0 0 0 0 14.23 14.21 14.35

2675 -1.12 -145.9 2185 2196 3957 3979 373.1 -16.2 239 2680 0.12 2.47 0.00 0.000 2436 0.299 0.084 2202 3598 3966 3954 3979 0 0 0 0 0 0 13.90 14.17 14.07

2802 -1.15 -145.9 2203 3600 3957 3980 390.3 -12.9 264 2807 0.00 2.35 0.00 0.000 1158 0.000 0.057 2202 2200 3967 3956 3979 0 0 0 0 0 0 14.38 14.26 14.42

3127 -1.13 -145.9 2203 2199 3961 3978 435.8 -13.8 279 3132 0.00 2.45 0.00 0.000 388 0.000 0.087 2196 3598 3967 3956 3978 0 0 0 0 0 0 14.73 14.17 14.75

3192 -1.16 -145.9 2197 3601 3957 3979 444.7 -13.1 292 3198 0.00 2.38 0.00 0.000 1158 0.000 0.057 2197 2195 3966 3955 3978 0 0 0 0 0 0 14.38 14.26 14.42

3456 end dive: TARGET_DEPTH_EXCEEDED

state 3456 begin apogee

3462 -0.13 0.0 2198 2062 3957 3978 482.1 -14.0 305 3685 1.33 0.00 219.18 1.440 10246 0.239 0.000 2532 2060 3367 3394 3340 0 0 0 0 0 0 13.87 13.52 12.67

3688 end apogee: CONTROL_FINISHED_OK

state 3688 begin climb

3690 0.57 145.9 2533 2061 3389 3333 493.8 0.0 312 3909 0.73 2.58 211.20 1.382 10756 0.063 0.080 2781 731 2766 2818 2715 0 0 0 0 0 0 13.66 12.88 12.28

4134 0.19 145.9 2782 731 2800 2712 475.7 14.0 405 4140 0.62 2.42 0.00 0.000 5254 0.321 0.076 2650 2091 2754 2799 2710 0 0 0 0 0 0 13.43 13.80 13.82

4450 0.02 165.4 2650 2093 2799 2707 445.9 9.1 418 4482 0.22 2.40 24.80 1.506 12964 0.267 0.080 2602 724 2684 2733 2636 0 0 0 0 0 0 13.85 13.83 13.16

4549 0.06 226.7 2602 724 2731 2635 438.7 7.2 437 4647 0.00 2.42 90.80 1.390 9254 0.000 0.079 2602 2103 2436 2502 2371 0 0 0 0 0 0 14.25 14.12 12.97

4962 0.07 242.5 2603 2103 2493 2360 401.7 9.3 470 4985 0.00 0.00 21.17 1.506 8230 0.000 0.000 2603 2103 2378 2441 2315 0 0 0 0 0 0 14.53 14.07 13.19

5262 0.09 259.8 2602 2103 2427 2306 373.9 9.2 480 5294 0.00 2.40 24.23 1.486 8740 0.000 0.086 2602 731 2300 2357 2244 0 0 0 0 0 0 14.58 14.16 13.25

5345 0.19 286.1 2603 732 2354 2245 366.3 8.8 496 5391 0.12 2.40 40.38 1.424 11430 0.129 0.079 2660 2108 2201 2261 2141 0 0 0 0 0 0 14.10 14.16 13.15

5716 0.13 286.1 2661 2109 2244 2130 317.7 13.1 520 5721 0.12 2.40 0.00 0.000 4740 0.251 0.081 2638 730 2186 2244 2129 0 0 0 0 0 0 14.04 14.21 14.17

5767 0.17 286.1 2638 730 2244 2129 311.9 10.8 530 5771 0.00 2.40 0.00 0.000 1158 0.000 0.077 2637 2100 2185 2242 2129 0 0 0 0 0 0 14.33 14.19 14.37

6076 0.17 286.1 2638 2101 2244 2128 278.6 10.5 542 6081 0.00 2.40 0.00 0.000 516 0.000 0.085 2637 730 2182 2242 2123 0 0 0 0 0 0 14.66 14.24 14.68

6112 0.21 287.6 2638 730 2242 2128 275.2 9.9 549 6118 0.00 2.40 0.00 0.000 1190 0.000 0.078 2638 2107 2184 2241 2127 0 0 0 0 0 0 14.38 14.22 14.42

6438 0.23 314.8 2638 2107 2241 2128 245.0 8.7 564 6488 0.00 2.42 45.28 1.375 8740 0.000 0.083 2637 724 2077 2131 2023 0 0 0 0 0 0 14.68 13.90 13.27

6528 0.35 355.0 2638 725 2123 2025 237.4 8.1 577 6599 0.17 2.42 64.50 1.294 11430 0.105 0.078 2703 2106 1917 1960 1875 0 0 0 0 0 0 14.21 14.14 13.10

6920 0.30 355.0 2704 2107 1946 1868 189.8 11.9 605 6925 0.00 2.42 0.00 0.000 644 0.000 0.083 2706 730 1906 1945 1867 0 0 0 0 0 0 14.57 14.18 14.59

6975 0.30 355.0 2708 731 1943 1868 183.2 11.5 616 6981 0.00 2.40 0.00 0.000 1030 0.000 0.076 2708 2102 1904 1942 1867 0 0 0 0 0 0 14.23 14.09 14.28

7281 0.26 355.0 2708 2102 1941 1865 148.9 11.0 627 7286 0.15 2.40 0.00 0.000 4740 0.227 0.082 2672 730 1902 1940 1865 0 0 0 0 0 0 14.04 14.11 14.18

7361 0.38 405.5 2670 731 1938 1866 142.3 7.7 643 7457 0.00 2.38 87.47 1.242 9382 0.000 0.079 2672 2099 1709 1738 1681 0 0 0 0 0 0 14.38 14.23 13.19

7762 0.51 459.9 2670 2096 1737 1667 111.0 7.5 673 7856 0.22 0.00 92.00 1.188 10406 0.095 0.000 2763 2099 1490 1531 1450 0 0 0 0 0 0 14.15 13.89 13.17

8152 0.39 492.9 2764 2100 1527 1429 64.0 8.5 706 8175 0.20 2.47 16.95 0.393 12964 0.259 0.082 2716 728 1354 1405 1304 0 0 0 0 0 0 13.79 14.12 13.69

8400 0.62 602.9 2717 729 1407 1304 49.0 4.9 755 8470 0.20 2.40 60.95 0.346 11430 0.096 0.079 2793 2100 903 976 831 0 0 0 0 0 0 14.16 14.05 13.71

8766 0.73 681.4 2793 2101 977 828 21.8 6.4 798 8814 0.00 2.55 43.58 0.269 8612 0.000 0.080 2793 3514 585 632 539 0 0 0 0 0 0 14.57 13.96 13.86

8861 0.89 740.0 2793 3515 634 541 15.3 7.3 816 8883 0.22 2.35 14.70 0.242 11430 0.091 0.061 2883 2134 498 522 475 0 0 0 0 0 0 14.24 14.09 13.85

9006 end climb: SURFACE_DEPTH_REACHED

state 9009 begin surface coast

9027 end surface coast: CONTROL_FINISHED_OK

state 9027 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	268	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	747.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,003750,7516.6382,-15130.5166,17,0.8,38,20.5,0.5,34.3,10,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	358.8,49782,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.1	D_GRID	480
GPS2	070917,004511,7516.6738,-15130.5381,8,0.8,9,20.5,0.0,337.4,10,10.0

FINISH	0.2,1.011762	_24V_AH	12.28,171.041
SM_CCo	9048,0.00,0.000,0,0,500,702.78	_10V_AH	12.17,0.000
SM_GC	0.95,8.25,0.12,0.00,0.076,0.142,0.000,201,2226,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.32,14.28,14.61	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323720
IRIDIUM_FIX	7517.69,-15136.22,060917,215702	DATA_FILE_SIZE	30056,835
TT8_MAMPS	0.040446,0.895055	CAP_FILE_SIZE	100911,0
HUMID	47.32	CFSIZE	2097872896,2008776704
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.2
XPDR_PINGS	21	CURRENT	0.046,297.30,1
CP_FREE	15957917696.000000	GPS	070917,031814,7517.768,-15128.250,36,0.7,54,20.6,0.9,283.4,12,9.9
PM_FREEKB_00	50049536

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	459	146.83	nil	0	0	0.00
Roll_motor	82	2140	2179.02	nil	0	0	0.00
VBD_pump_during_apogee	1057	1506	19554.76	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	5330	14	971.51
Iridium_during_xfer	185	141	322.47	NCP	9034	20	2218.75
Transponder_ping	5	420	27.08	PMAR	9001	9	1088.74
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.89
TT8	0	0	0.00
LPSleep	6369	2	179.06
TT8_Active	915	13	155.63
TT8_Sampling	1987	33	808.72
TT8_CF8	231	38	109.11
TT8_Kalman	0	0	0.00
Analog_circuits	1996	10	243.00
GPS_charging	0	0	0.00
Compass	1193	7	101.68
RAFOS	0	0	0.00
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
51	-0.57	-145.9	186	2220	498	488	0.0	0.0	0	143	0.00	0.00	-91.15	0.000	16386	0.000	0.000	188	2220	2169	2102	2236	0	0	0	0	0	0	14.42	28.83	14.45
146	-0.57	-145.9	189	2220	2107	2237	3.9	-5.3	9	200	12.93	2.83	-34.75	0.000	18724	0.459	2.140	2374	3595	3965	3949	3981	0	0	0	0	0	0	13.59	12.51	14.12
350	-0.71	-145.9	2375	3596	3954	3981	45.7	-13.1	49	355	0.00	2.33	0.00	0.000	1158	0.000	0.058	2374	2228	3967	3955	3980	0	0	0	0	0	0	14.33	14.20	14.38
660	-0.81	-145.9	2375	2227	3958	3980	87.1	-10.6	81	661	0.17	0.00	0.00	0.000	4230	0.115	0.000	2303	2227	3969	3957	3981	0	0	0	0	0	0	14.34	14.45	14.42
960	-0.84	-145.9	2304	2228	3957	3981	130.8	-13.8	97	965	0.00	2.40	0.00	0.000	388	0.000	0.090	2293	3599	3968	3956	3980	0	0	0	0	0	0	14.71	14.15	14.72
1055	-0.96	-145.9	2294	3600	3957	3980	142.6	-11.7	116	1061	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2192	3968	3956	3980	0	0	0	0	0	0	14.40	14.27	14.44
1382	-1.01	-145.9	2294	2192	3957	3981	184.4	-12.3	131	1387	0.12	2.50	0.00	0.000	4484	0.137	0.087	2236	3600	3968	3956	3981	0	0	0	0	0	0	14.39	14.14	14.41
1472	-1.05	-145.9	2235	3604	3957	3981	197.8	-14.4	149	1477	0.00	2.38	0.00	0.000	1158	0.000	0.056	2235	2196	3968	3956	3980	0	0	0	0	0	0	14.34	14.21	14.36
1802	-1.03	-145.9	2236	2195	3957	3981	251.6	-15.4	165	1807	0.00	2.47	0.00	0.000	388	0.000	0.090	2235	3600	3968	3956	3980	0	0	0	0	0	0	14.73	14.14	14.75
1929	-1.09	-145.9	2236	3600	3958	3981	268.0	-12.2	190	1934	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2200	3968	3957	3980	0	0	0	0	0	0	14.40	14.27	14.43
2254	-1.09	-145.9	2236	2200	3957	3981	309.9	-12.5	205	2259	0.00	2.50	0.00	0.000	260	0.000	0.090	2235	3607	3968	3956	3980	0	0	0	0	0	0	14.73	14.14	14.76
2344	-1.19	-145.9	2236	3607	3957	3980	320.1	-10.6	223	2349	0.12	2.40	0.00	0.000	5254	0.137	0.056	2184	2198	3968	3956	3980	0	0	0	0	0	0	14.23	14.21	14.35
2675	-1.12	-145.9	2185	2196	3957	3979	373.1	-16.2	239	2680	0.12	2.47	0.00	0.000	2436	0.299	0.084	2202	3598	3966	3954	3979	0	0	0	0	0	0	13.90	14.17	14.07
2802	-1.15	-145.9	2203	3600	3957	3980	390.3	-12.9	264	2807	0.00	2.35	0.00	0.000	1158	0.000	0.057	2202	2200	3967	3956	3979	0	0	0	0	0	0	14.38	14.26	14.42
3127	-1.13	-145.9	2203	2199	3961	3978	435.8	-13.8	279	3132	0.00	2.45	0.00	0.000	388	0.000	0.087	2196	3598	3967	3956	3978	0	0	0	0	0	0	14.73	14.17	14.75
3192	-1.16	-145.9	2197	3601	3957	3979	444.7	-13.1	292	3198	0.00	2.38	0.00	0.000	1158	0.000	0.057	2197	2195	3966	3955	3978	0	0	0	0	0	0	14.38	14.26	14.42
3456	end dive: TARGET_DEPTH_EXCEEDED
state	3456	begin apogee
3462	-0.13	0.0	2198	2062	3957	3978	482.1	-14.0	305	3685	1.33	0.00	219.18	1.440	10246	0.239	0.000	2532	2060	3367	3394	3340	0	0	0	0	0	0	13.87	13.52	12.67
3688	end apogee: CONTROL_FINISHED_OK
state	3688	begin climb
3690	0.57	145.9	2533	2061	3389	3333	493.8	0.0	312	3909	0.73	2.58	211.20	1.382	10756	0.063	0.080	2781	731	2766	2818	2715	0	0	0	0	0	0	13.66	12.88	12.28
4134	0.19	145.9	2782	731	2800	2712	475.7	14.0	405	4140	0.62	2.42	0.00	0.000	5254	0.321	0.076	2650	2091	2754	2799	2710	0	0	0	0	0	0	13.43	13.80	13.82
4450	0.02	165.4	2650	2093	2799	2707	445.9	9.1	418	4482	0.22	2.40	24.80	1.506	12964	0.267	0.080	2602	724	2684	2733	2636	0	0	0	0	0	0	13.85	13.83	13.16
4549	0.06	226.7	2602	724	2731	2635	438.7	7.2	437	4647	0.00	2.42	90.80	1.390	9254	0.000	0.079	2602	2103	2436	2502	2371	0	0	0	0	0	0	14.25	14.12	12.97
4962	0.07	242.5	2603	2103	2493	2360	401.7	9.3	470	4985	0.00	0.00	21.17	1.506	8230	0.000	0.000	2603	2103	2378	2441	2315	0	0	0	0	0	0	14.53	14.07	13.19
5262	0.09	259.8	2602	2103	2427	2306	373.9	9.2	480	5294	0.00	2.40	24.23	1.486	8740	0.000	0.086	2602	731	2300	2357	2244	0	0	0	0	0	0	14.58	14.16	13.25
5345	0.19	286.1	2603	732	2354	2245	366.3	8.8	496	5391	0.12	2.40	40.38	1.424	11430	0.129	0.079	2660	2108	2201	2261	2141	0	0	0	0	0	0	14.10	14.16	13.15
5716	0.13	286.1	2661	2109	2244	2130	317.7	13.1	520	5721	0.12	2.40	0.00	0.000	4740	0.251	0.081	2638	730	2186	2244	2129	0	0	0	0	0	0	14.04	14.21	14.17
5767	0.17	286.1	2638	730	2244	2129	311.9	10.8	530	5771	0.00	2.40	0.00	0.000	1158	0.000	0.077	2637	2100	2185	2242	2129	0	0	0	0	0	0	14.33	14.19	14.37
6076	0.17	286.1	2638	2101	2244	2128	278.6	10.5	542	6081	0.00	2.40	0.00	0.000	516	0.000	0.085	2637	730	2182	2242	2123	0	0	0	0	0	0	14.66	14.24	14.68
6112	0.21	287.6	2638	730	2242	2128	275.2	9.9	549	6118	0.00	2.40	0.00	0.000	1190	0.000	0.078	2638	2107	2184	2241	2127	0	0	0	0	0	0	14.38	14.22	14.42
6438	0.23	314.8	2638	2107	2241	2128	245.0	8.7	564	6488	0.00	2.42	45.28	1.375	8740	0.000	0.083	2637	724	2077	2131	2023	0	0	0	0	0	0	14.68	13.90	13.27
6528	0.35	355.0	2638	725	2123	2025	237.4	8.1	577	6599	0.17	2.42	64.50	1.294	11430	0.105	0.078	2703	2106	1917	1960	1875	0	0	0	0	0	0	14.21	14.14	13.10
6920	0.30	355.0	2704	2107	1946	1868	189.8	11.9	605	6925	0.00	2.42	0.00	0.000	644	0.000	0.083	2706	730	1906	1945	1867	0	0	0	0	0	0	14.57	14.18	14.59
6975	0.30	355.0	2708	731	1943	1868	183.2	11.5	616	6981	0.00	2.40	0.00	0.000	1030	0.000	0.076	2708	2102	1904	1942	1867	0	0	0	0	0	0	14.23	14.09	14.28
7281	0.26	355.0	2708	2102	1941	1865	148.9	11.0	627	7286	0.15	2.40	0.00	0.000	4740	0.227	0.082	2672	730	1902	1940	1865	0	0	0	0	0	0	14.04	14.11	14.18
7361	0.38	405.5	2670	731	1938	1866	142.3	7.7	643	7457	0.00	2.38	87.47	1.242	9382	0.000	0.079	2672	2099	1709	1738	1681	0	0	0	0	0	0	14.38	14.23	13.19
7762	0.51	459.9	2670	2096	1737	1667	111.0	7.5	673	7856	0.22	0.00	92.00	1.188	10406	0.095	0.000	2763	2099	1490	1531	1450	0	0	0	0	0	0	14.15	13.89	13.17
8152	0.39	492.9	2764	2100	1527	1429	64.0	8.5	706	8175	0.20	2.47	16.95	0.393	12964	0.259	0.082	2716	728	1354	1405	1304	0	0	0	0	0	0	13.79	14.12	13.69
8400	0.62	602.9	2717	729	1407	1304	49.0	4.9	755	8470	0.20	2.40	60.95	0.346	11430	0.096	0.079	2793	2100	903	976	831	0	0	0	0	0	0	14.16	14.05	13.71
8766	0.73	681.4	2793	2101	977	828	21.8	6.4	798	8814	0.00	2.55	43.58	0.269	8612	0.000	0.080	2793	3514	585	632	539	0	0	0	0	0	0	14.57	13.96	13.86
8861	0.89	740.0	2793	3515	634	541	15.3	7.3	816	8883	0.22	2.35	14.70	0.242	11430	0.091	0.061	2883	2134	498	522	475	0	0	0	0	0	0	14.24	14.09	13.85
9006	end climb: SURFACE_DEPTH_REACHED
state	9009	begin surface coast
9027	end surface coast: CONTROL_FINISHED_OK
state	9027	begin surface