Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 272 * 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 272 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 758.0

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 39 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 758.0 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 39 VBD_MIN 500

DIVE 272 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070917,114447,7521.0527,-15123.5039,27,0.7,29,20.6,0.4,258.2,12,9.9 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 1.22 MHEAD_RNG_PITCHd_Wd 358.6,41247,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.9 D_GRID 480

GPS2 070917,115034,7521.0601,-15123.5801,5,0.8,15,20.6,0.0,245.4,11,9.7

Post-dive calculations and measurements:

FINISH 0.2,1.011751 _24V_AH 12.29,172.945

SM_CCo 9045,52.83,0.205,0,0,499,702.78 _10V_AH 12.16,0.000

SM_GC 1.33,8.20,0.20,52.83,0.081,0.097,0.205,204,2245,499,-7.37,-0.37,702.78,0,0,0,0,0,0,14.33,14.35,13.95 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 323524

IRIDIUM_FIX 7518.52,-15124.73,070917,090241 DATA_FILE_SIZE 26798,741

TT8_MAMPS 0.038948,0.862099 CAP_FILE_SIZE 99754,0

HUMID 47.48 CFSIZE 2097872896,2007826432

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1446.5

XPDR_PINGS 12 CURRENT 0.050,285.39,1

CP_FREE 15956180992.000000 GPS 070917,142402,7522.245,-15121.493,29,0.8,29,20.6,0.5,173.8,10,8.9

PM_FREEKB_00 49932288

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.39 nil 0 0 0.00

Roll_motor 80 2147 2113.26 nil 0 0 0.00

VBD_pump_during_apogee 916 1463 16492.47 nil 0 0 0.00

VBD_pump_during_surface 52 205 133.10 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 5445 14 979.83

Iridium_during_xfer 152 143 267.46 NCP 9018 20 2216.62

Transponder_ping 3 420 15.49 PMAR 8999 9 1094.92

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.49

TT8 0 0 0.00

LPSleep 6467 2 181.68

TT8_Active 863 13 146.76

TT8_Sampling 1898 33 772.01

TT8_CF8 232 38 109.41

TT8_Kalman 0 0 0.00

Analog_circuits 1865 10 226.79

GPS_charging 0 0 0.00

Compass 1060 7 90.30

RAFOS 2214 48 1292.27

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 -145.9 185 2180 504 491 0.0 0.0 0 144 0.00 0.00 -91.70 0.000 16386 0.000 0.000 183 2180 2185 2120 2251 0 0 0 0 0 0 14.60 28.83 14.63

147 -0.57 -145.9 183 2181 2125 2252 3.9 -5.2 9 200 12.88 2.88 -34.12 0.000 18724 0.456 2.147 2374 3616 3962 3945 3980 0 0 0 0 0 0 13.64 12.86 14.15

291 -0.71 -145.9 2374 3620 3951 3982 37.3 -13.5 37 295 0.00 2.38 0.00 0.000 1158 0.000 0.057 2374 2209 3965 3950 3981 0 0 0 0 0 0 14.34 14.23 14.39

612 -0.82 -145.9 2376 2209 3952 3982 83.2 -11.1 69 613 0.20 0.00 0.00 0.000 4230 0.111 0.000 2295 2207 3965 3951 3980 0 0 0 0 0 0 14.22 14.33 14.33

932 -0.84 -145.9 2297 2209 3952 3981 132.4 -14.2 87 937 0.00 2.47 0.00 0.000 388 0.000 0.087 2288 3610 3966 3951 3981 0 0 0 0 0 0 14.54 14.09 14.55

977 -0.95 -145.9 2288 3611 3952 3980 138.4 -12.3 96 983 0.00 2.42 0.00 0.000 1158 0.000 0.059 2288 2192 3965 3950 3980 0 0 0 0 0 0 14.25 14.12 14.27

1293 -1.00 -145.9 2287 2191 3953 3980 180.3 -12.9 109 1298 0.00 2.53 0.00 0.000 388 0.000 0.086 2279 3613 3965 3950 3981 0 0 0 0 0 0 14.53 14.07 14.54

1373 -1.14 -145.9 2281 3614 3953 3980 189.4 -10.7 125 1378 0.22 2.42 0.00 0.000 5254 0.099 0.057 2196 2191 3966 3952 3981 0 0 0 0 0 0 14.19 14.12 14.28

1684 -1.03 -145.9 2196 2191 3951 3982 252.0 -20.2 137 1689 0.20 2.53 0.00 0.000 2436 0.294 0.084 2232 3613 3966 3951 3981 0 0 0 0 0 0 13.68 13.99 13.88

1811 -1.09 -145.9 2232 3615 3952 3983 269.2 -12.1 162 1815 0.00 2.40 0.00 0.000 1158 0.000 0.056 2232 2201 3966 3951 3981 0 0 0 0 0 0 14.24 14.12 14.27

2135 -1.09 -145.9 2233 2199 3952 3980 312.8 -13.0 177 2140 0.00 2.53 0.00 0.000 260 0.000 0.087 2223 3622 3965 3951 3980 0 0 0 0 0 0 14.51 14.04 14.53

2226 -1.17 -145.9 2223 3623 3952 3981 323.8 -11.4 195 2230 0.00 2.45 0.00 0.000 1158 0.000 0.058 2223 2192 3965 3951 3980 0 0 0 0 0 0 14.23 14.09 14.26

2555 -1.17 -145.9 2223 2191 3952 3980 365.3 -12.5 211 2560 0.00 2.53 0.00 0.000 260 0.000 0.090 2222 3610 3965 3951 3980 0 0 0 0 0 0 14.50 14.03 14.53

2672 -1.25 -145.9 2222 3611 3952 3981 378.2 -10.8 234 2678 0.15 2.42 0.00 0.000 5254 0.121 0.057 2162 2193 3965 3951 3980 0 0 0 0 0 0 14.14 14.09 14.23

2978 -1.14 -145.9 2162 2192 3951 3980 431.5 -17.8 245 2983 0.20 2.50 0.00 0.000 2436 0.308 0.083 2195 3620 3965 3950 3980 0 0 0 0 0 0 13.62 13.97 13.83

3133 -1.17 -145.9 2196 3620 3952 3980 453.1 -12.7 276 3139 0.00 2.40 0.00 0.000 1158 0.000 0.056 2195 2190 3966 3950 3983 0 0 0 0 0 0 14.15 14.01 14.19

3337 end dive: TARGET_DEPTH_EXCEEDED

state 3337 begin apogee

3343 -0.13 0.0 2196 2060 3952 3980 482.4 -14.3 287 3570 1.33 0.08 223.38 1.412 10246 0.239 0.181 2529 2112 3365 3381 3350 0 0 0 0 0 0 13.83 13.49 12.64

3574 end apogee: CONTROL_FINISHED_OK

state 3574 begin climb

3576 0.57 145.9 2530 2113 3373 3340 494.4 0.0 294 3801 0.75 2.65 211.65 1.359 11012 0.061 0.073 2783 3498 2758 2792 2724 0 0 0 0 0 0 13.64 12.91 12.29

3861 0.08 145.9 2784 3498 2783 2720 500.3 14.4 308 3868 0.90 2.47 0.00 0.000 5254 0.347 0.056 2619 2127 2751 2782 2720 0 0 0 0 0 0 13.11 13.38 13.46

4183 -0.01 195.5 2619 2127 2783 2717 474.4 7.7 322 4263 0.15 2.55 73.18 1.378 12964 0.288 0.086 2589 695 2559 2613 2505 0 0 0 0 0 0 13.80 13.85 13.01

4349 0.07 247.4 2586 696 2604 2498 462.2 7.6 355 4439 0.00 2.47 80.55 1.336 9382 0.000 0.080 2589 2090 2349 2404 2294 0 0 0 0 0 0 14.12 13.99 12.93

4754 0.14 277.5 2589 2090 2393 2279 427.7 8.6 386 4802 0.12 0.00 45.00 1.378 10406 0.134 0.000 2648 2090 2231 2284 2179 0 0 0 0 0 0 14.15 14.00 13.19

5084 0.09 277.5 2649 2090 2268 2160 386.6 12.6 397 5089 0.12 2.45 0.00 0.000 4740 0.253 0.084 2619 691 2213 2266 2160 0 0 0 0 0 0 13.94 14.15 14.11

5171 0.16 282.5 2620 691 2267 2160 377.8 9.8 414 5178 0.00 2.45 0.00 0.000 1190 0.000 0.078 2619 2096 2213 2266 2160 0 0 0 0 0 0 14.18 14.05 14.21

5474 0.16 282.5 2619 2101 2267 2159 346.2 10.3 425 5475 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2100 2210 2266 2154 0 0 0 0 0 0 14.65 14.67 14.66

5775 0.16 294.0 2620 2101 2266 2156 317.2 9.5 435 5800 0.00 2.45 19.55 1.463 8740 0.000 0.086 2619 697 2159 2206 2113 0 0 0 0 0 0 14.67 14.00 13.32

5877 0.26 314.3 2618 696 2202 2110 307.9 9.1 455 5916 0.15 2.45 32.67 1.379 11430 0.111 0.079 2689 2109 2083 2128 2038 0 0 0 0 0 0 14.31 14.22 13.24

6228 0.19 314.3 2684 2110 2115 2020 260.4 13.3 475 6233 0.15 2.47 0.00 0.000 4740 0.244 0.083 2654 691 2066 2114 2019 0 0 0 0 0 0 14.00 14.20 14.17

6303 0.23 314.3 2655 691 2113 2019 252.4 10.0 490 6308 0.00 2.45 0.00 0.000 1158 0.000 0.080 2655 2100 2065 2112 2019 0 0 0 0 0 0 14.35 14.22 14.40

6618 0.25 334.6 2655 2101 2113 2019 222.6 9.1 503 6655 0.00 2.50 29.95 1.373 8740 0.000 0.087 2655 695 1996 2041 1952 0 0 0 0 0 0 14.65 14.14 13.29

6722 0.35 365.7 2655 695 2031 1949 213.6 8.6 523 6781 0.12 2.47 53.38 1.280 11430 0.129 0.080 2706 2103 1875 1906 1844 0 0 0 0 0 0 14.20 14.14 13.19

7101 0.32 365.7 2706 2104 1889 1828 169.7 11.4 549 7106 0.00 2.47 0.00 0.000 644 0.000 0.086 2706 695 1858 1889 1827 0 0 0 0 0 0 14.57 14.13 14.59

7196 0.32 365.7 2706 694 1886 1826 159.7 10.1 568 7202 0.00 2.45 0.00 0.000 1030 0.000 0.077 2706 2104 1856 1885 1827 0 0 0 0 0 0 14.24 14.16 14.23

7522 0.29 365.7 2707 2106 1885 1825 126.0 10.2 583 7523 0.00 0.00 0.00 0.000 134 0.000 0.000 2706 2105 1854 1884 1824 0 0 0 0 0 0 14.64 14.66 14.66

7822 0.31 391.3 2707 2105 1885 1823 97.6 8.8 593 7844 0.00 2.50 12.75 0.465 8740 0.000 0.086 2706 691 1774 1804 1744 0 0 0 0 0 0 14.63 14.14 13.53

7949 0.42 439.6 2707 692 1804 1752 87.3 7.8 618 7988 0.00 2.47 29.90 0.452 9382 0.000 0.079 2706 2100 1571 1600 1543 0 0 0 0 0 0 14.29 14.15 13.64

8284 0.57 525.9 2706 2100 1607 1543 63.2 6.0 655 8341 0.15 2.47 50.20 0.381 10916 0.114 0.087 2781 695 1219 1279 1160 0 0 0 0 0 0 14.09 13.96 13.66

8383 0.63 540.7 2781 696 1280 1165 54.3 9.3 673 8400 0.00 2.47 9.60 0.349 9382 0.000 0.078 2781 2098 1159 1223 1096 0 0 0 0 0 0 14.23 14.09 13.67

8697 0.75 617.0 2781 2099 1225 1106 30.6 6.5 706 8749 0.12 0.00 45.22 0.284 10918 0.132 0.000 2843 2099 850 915 785 0 0 0 0 0 0 14.22 13.90 13.69

9004 end climb: SURFACE_DEPTH_REACHED

state 9004 begin surface coast

9024 end surface coast: CONTROL_FINISHED_OK

state 9024 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	272	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	758.0
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	39	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,114447,7521.0527,-15123.5039,27,0.7,29,20.6,0.4,258.2,12,9.9	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	1.22	MHEAD_RNG_PITCHd_Wd	358.6,41247,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.9	D_GRID	480
GPS2	070917,115034,7521.0601,-15123.5801,5,0.8,15,20.6,0.0,245.4,11,9.7

FINISH	0.2,1.011751	_24V_AH	12.29,172.945
SM_CCo	9045,52.83,0.205,0,0,499,702.78	_10V_AH	12.16,0.000
SM_GC	1.33,8.20,0.20,52.83,0.081,0.097,0.205,204,2245,499,-7.37,-0.37,702.78,0,0,0,0,0,0,14.33,14.35,13.95	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	323524
IRIDIUM_FIX	7518.52,-15124.73,070917,090241	DATA_FILE_SIZE	26798,741
TT8_MAMPS	0.038948,0.862099	CAP_FILE_SIZE	99754,0
HUMID	47.48	CFSIZE	2097872896,2007826432
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.5
XPDR_PINGS	12	CURRENT	0.050,285.39,1
CP_FREE	15956180992.000000	GPS	070917,142402,7522.245,-15121.493,29,0.8,29,20.6,0.5,173.8,10,8.9
PM_FREEKB_00	49932288

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.39	nil	0	0	0.00
Roll_motor	80	2147	2113.26	nil	0	0	0.00
VBD_pump_during_apogee	916	1463	16492.47	nil	0	0	0.00
VBD_pump_during_surface	52	205	133.10	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	5445	14	979.83
Iridium_during_xfer	152	143	267.46	NCP	9018	20	2216.62
Transponder_ping	3	420	15.49	PMAR	8999	9	1094.92
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.49
TT8	0	0	0.00
LPSleep	6467	2	181.68
TT8_Active	863	13	146.76
TT8_Sampling	1898	33	772.01
TT8_CF8	232	38	109.41
TT8_Kalman	0	0	0.00
Analog_circuits	1865	10	226.79
GPS_charging	0	0	0.00
Compass	1060	7	90.30
RAFOS	2214	48	1292.27
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	185	2180	504	491	0.0	0.0	0	144	0.00	0.00	-91.70	0.000	16386	0.000	0.000	183	2180	2185	2120	2251	0	0	0	0	0	0	14.60	28.83	14.63
147	-0.57	-145.9	183	2181	2125	2252	3.9	-5.2	9	200	12.88	2.88	-34.12	0.000	18724	0.456	2.147	2374	3616	3962	3945	3980	0	0	0	0	0	0	13.64	12.86	14.15
291	-0.71	-145.9	2374	3620	3951	3982	37.3	-13.5	37	295	0.00	2.38	0.00	0.000	1158	0.000	0.057	2374	2209	3965	3950	3981	0	0	0	0	0	0	14.34	14.23	14.39
612	-0.82	-145.9	2376	2209	3952	3982	83.2	-11.1	69	613	0.20	0.00	0.00	0.000	4230	0.111	0.000	2295	2207	3965	3951	3980	0	0	0	0	0	0	14.22	14.33	14.33
932	-0.84	-145.9	2297	2209	3952	3981	132.4	-14.2	87	937	0.00	2.47	0.00	0.000	388	0.000	0.087	2288	3610	3966	3951	3981	0	0	0	0	0	0	14.54	14.09	14.55
977	-0.95	-145.9	2288	3611	3952	3980	138.4	-12.3	96	983	0.00	2.42	0.00	0.000	1158	0.000	0.059	2288	2192	3965	3950	3980	0	0	0	0	0	0	14.25	14.12	14.27
1293	-1.00	-145.9	2287	2191	3953	3980	180.3	-12.9	109	1298	0.00	2.53	0.00	0.000	388	0.000	0.086	2279	3613	3965	3950	3981	0	0	0	0	0	0	14.53	14.07	14.54
1373	-1.14	-145.9	2281	3614	3953	3980	189.4	-10.7	125	1378	0.22	2.42	0.00	0.000	5254	0.099	0.057	2196	2191	3966	3952	3981	0	0	0	0	0	0	14.19	14.12	14.28
1684	-1.03	-145.9	2196	2191	3951	3982	252.0	-20.2	137	1689	0.20	2.53	0.00	0.000	2436	0.294	0.084	2232	3613	3966	3951	3981	0	0	0	0	0	0	13.68	13.99	13.88
1811	-1.09	-145.9	2232	3615	3952	3983	269.2	-12.1	162	1815	0.00	2.40	0.00	0.000	1158	0.000	0.056	2232	2201	3966	3951	3981	0	0	0	0	0	0	14.24	14.12	14.27
2135	-1.09	-145.9	2233	2199	3952	3980	312.8	-13.0	177	2140	0.00	2.53	0.00	0.000	260	0.000	0.087	2223	3622	3965	3951	3980	0	0	0	0	0	0	14.51	14.04	14.53
2226	-1.17	-145.9	2223	3623	3952	3981	323.8	-11.4	195	2230	0.00	2.45	0.00	0.000	1158	0.000	0.058	2223	2192	3965	3951	3980	0	0	0	0	0	0	14.23	14.09	14.26
2555	-1.17	-145.9	2223	2191	3952	3980	365.3	-12.5	211	2560	0.00	2.53	0.00	0.000	260	0.000	0.090	2222	3610	3965	3951	3980	0	0	0	0	0	0	14.50	14.03	14.53
2672	-1.25	-145.9	2222	3611	3952	3981	378.2	-10.8	234	2678	0.15	2.42	0.00	0.000	5254	0.121	0.057	2162	2193	3965	3951	3980	0	0	0	0	0	0	14.14	14.09	14.23
2978	-1.14	-145.9	2162	2192	3951	3980	431.5	-17.8	245	2983	0.20	2.50	0.00	0.000	2436	0.308	0.083	2195	3620	3965	3950	3980	0	0	0	0	0	0	13.62	13.97	13.83
3133	-1.17	-145.9	2196	3620	3952	3980	453.1	-12.7	276	3139	0.00	2.40	0.00	0.000	1158	0.000	0.056	2195	2190	3966	3950	3983	0	0	0	0	0	0	14.15	14.01	14.19
3337	end dive: TARGET_DEPTH_EXCEEDED
state	3337	begin apogee
3343	-0.13	0.0	2196	2060	3952	3980	482.4	-14.3	287	3570	1.33	0.08	223.38	1.412	10246	0.239	0.181	2529	2112	3365	3381	3350	0	0	0	0	0	0	13.83	13.49	12.64
3574	end apogee: CONTROL_FINISHED_OK
state	3574	begin climb
3576	0.57	145.9	2530	2113	3373	3340	494.4	0.0	294	3801	0.75	2.65	211.65	1.359	11012	0.061	0.073	2783	3498	2758	2792	2724	0	0	0	0	0	0	13.64	12.91	12.29
3861	0.08	145.9	2784	3498	2783	2720	500.3	14.4	308	3868	0.90	2.47	0.00	0.000	5254	0.347	0.056	2619	2127	2751	2782	2720	0	0	0	0	0	0	13.11	13.38	13.46
4183	-0.01	195.5	2619	2127	2783	2717	474.4	7.7	322	4263	0.15	2.55	73.18	1.378	12964	0.288	0.086	2589	695	2559	2613	2505	0	0	0	0	0	0	13.80	13.85	13.01
4349	0.07	247.4	2586	696	2604	2498	462.2	7.6	355	4439	0.00	2.47	80.55	1.336	9382	0.000	0.080	2589	2090	2349	2404	2294	0	0	0	0	0	0	14.12	13.99	12.93
4754	0.14	277.5	2589	2090	2393	2279	427.7	8.6	386	4802	0.12	0.00	45.00	1.378	10406	0.134	0.000	2648	2090	2231	2284	2179	0	0	0	0	0	0	14.15	14.00	13.19
5084	0.09	277.5	2649	2090	2268	2160	386.6	12.6	397	5089	0.12	2.45	0.00	0.000	4740	0.253	0.084	2619	691	2213	2266	2160	0	0	0	0	0	0	13.94	14.15	14.11
5171	0.16	282.5	2620	691	2267	2160	377.8	9.8	414	5178	0.00	2.45	0.00	0.000	1190	0.000	0.078	2619	2096	2213	2266	2160	0	0	0	0	0	0	14.18	14.05	14.21
5474	0.16	282.5	2619	2101	2267	2159	346.2	10.3	425	5475	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2100	2210	2266	2154	0	0	0	0	0	0	14.65	14.67	14.66
5775	0.16	294.0	2620	2101	2266	2156	317.2	9.5	435	5800	0.00	2.45	19.55	1.463	8740	0.000	0.086	2619	697	2159	2206	2113	0	0	0	0	0	0	14.67	14.00	13.32
5877	0.26	314.3	2618	696	2202	2110	307.9	9.1	455	5916	0.15	2.45	32.67	1.379	11430	0.111	0.079	2689	2109	2083	2128	2038	0	0	0	0	0	0	14.31	14.22	13.24
6228	0.19	314.3	2684	2110	2115	2020	260.4	13.3	475	6233	0.15	2.47	0.00	0.000	4740	0.244	0.083	2654	691	2066	2114	2019	0	0	0	0	0	0	14.00	14.20	14.17
6303	0.23	314.3	2655	691	2113	2019	252.4	10.0	490	6308	0.00	2.45	0.00	0.000	1158	0.000	0.080	2655	2100	2065	2112	2019	0	0	0	0	0	0	14.35	14.22	14.40
6618	0.25	334.6	2655	2101	2113	2019	222.6	9.1	503	6655	0.00	2.50	29.95	1.373	8740	0.000	0.087	2655	695	1996	2041	1952	0	0	0	0	0	0	14.65	14.14	13.29
6722	0.35	365.7	2655	695	2031	1949	213.6	8.6	523	6781	0.12	2.47	53.38	1.280	11430	0.129	0.080	2706	2103	1875	1906	1844	0	0	0	0	0	0	14.20	14.14	13.19
7101	0.32	365.7	2706	2104	1889	1828	169.7	11.4	549	7106	0.00	2.47	0.00	0.000	644	0.000	0.086	2706	695	1858	1889	1827	0	0	0	0	0	0	14.57	14.13	14.59
7196	0.32	365.7	2706	694	1886	1826	159.7	10.1	568	7202	0.00	2.45	0.00	0.000	1030	0.000	0.077	2706	2104	1856	1885	1827	0	0	0	0	0	0	14.24	14.16	14.23
7522	0.29	365.7	2707	2106	1885	1825	126.0	10.2	583	7523	0.00	0.00	0.00	0.000	134	0.000	0.000	2706	2105	1854	1884	1824	0	0	0	0	0	0	14.64	14.66	14.66
7822	0.31	391.3	2707	2105	1885	1823	97.6	8.8	593	7844	0.00	2.50	12.75	0.465	8740	0.000	0.086	2706	691	1774	1804	1744	0	0	0	0	0	0	14.63	14.14	13.53
7949	0.42	439.6	2707	692	1804	1752	87.3	7.8	618	7988	0.00	2.47	29.90	0.452	9382	0.000	0.079	2706	2100	1571	1600	1543	0	0	0	0	0	0	14.29	14.15	13.64
8284	0.57	525.9	2706	2100	1607	1543	63.2	6.0	655	8341	0.15	2.47	50.20	0.381	10916	0.114	0.087	2781	695	1219	1279	1160	0	0	0	0	0	0	14.09	13.96	13.66
8383	0.63	540.7	2781	696	1280	1165	54.3	9.3	673	8400	0.00	2.47	9.60	0.349	9382	0.000	0.078	2781	2098	1159	1223	1096	0	0	0	0	0	0	14.23	14.09	13.67
8697	0.75	617.0	2781	2099	1225	1106	30.6	6.5	706	8749	0.12	0.00	45.22	0.284	10918	0.132	0.000	2843	2099	850	915	785	0	0	0	0	0	0	14.22	13.90	13.69
9004	end climb: SURFACE_DEPTH_REACHED
state	9004	begin surface coast
9024	end surface coast: CONTROL_FINISHED_OK
state	9024	begin surface