Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 274 * 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 274 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 764.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 764.0 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 24 VBD_MIN 500

DIVE 274 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 070917,170249,7523.3232,-15119.4941,18,0.7,22,20.6,0.4,309.3,12,9.9 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 1.19 MHEAD_RNG_PITCHd_Wd 351.1,36834,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -68.7 D_GRID 480

GPS2 070917,171131,7523.3369,-15119.6348,5,0.9,27,20.6,0.7,261.1,10,8.4

Post-dive calculations and measurements:

FINISH 0.2,1.014694 _24V_AH 12.30,173.838

SM_CCo 9221,0.00,0.000,0,0,493,704.50 _10V_AH 12.17,0.000

SM_GC 1.27,8.18,0.17,0.00,0.063,0.127,0.000,199,2231,493,-7.38,-0.51,704.50,0,0,0,0,0,0,14.26,14.22,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 420 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323436

IRIDIUM_FIX 7522.72,-15116.58,070917,142947 DATA_FILE_SIZE 23389,712

TT8_MAMPS 0.038948,1.3879 CAP_FILE_SIZE 93370,0

HUMID 47.20 CFSIZE 2097872896,2007433216

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1445.8

XPDR_PINGS 25 CURRENT 0.033,275.01,1

CP_FREE 15955263488.000000 GPS 070917,194702,7524.466,-15118.400,33,0.8,33,20.7,1.1,288.1,10,9.0

PM_FREEKB_00 49874432

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.97 nil 0 0 0.00

Roll_motor 69 2142 1830.43 nil 0 0 0.00

VBD_pump_during_apogee 987 1575 19126.66 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 5161 15 1000.70

Iridium_during_xfer 275 166 562.12 NCP 9135 20 2247.21

Transponder_ping 6 420 32.29 PMAR 9114 9 1103.53

GUMSTIX_24V 0 0 0.00

GPS 28 22 7.87

TT8 0 0 0.00

LPSleep 6480 2 182.18

TT8_Active 857 13 145.72

TT8_Sampling 2160 33 879.11

TT8_CF8 260 38 122.71

TT8_Kalman 0 0 0.00

Analog_circuits 2097 10 255.27

GPS_charging 0 0 0.00

Compass 1019 7 86.87

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 177 2207 502 487 0.0 0.0 0 144 0.00 0.00 -91.90 0.000 16386 0.000 0.000 175 2206 2182 2116 2249 0 0 0 0 0 0 14.56 28.83 14.58

147 -0.57 -145.9 175 2206 2120 2251 4.1 -6.0 9 200 12.93 2.80 -34.10 0.000 18724 0.456 2.142 2374 3604 3962 3946 3979 1 0 0 0 0 0 13.44 12.85 14.14

376 -0.72 -145.9 2376 3607 3953 3980 48.6 -13.1 54 382 0.00 2.40 0.00 0.000 1158 0.000 0.058 2375 2190 3965 3951 3979 0 0 0 0 0 0 14.35 14.22 14.39

683 -0.84 -145.9 2375 2190 3953 3981 88.1 -10.4 85 688 0.17 2.50 0.00 0.000 4484 0.117 0.084 2287 3616 3965 3952 3979 0 0 0 0 0 0 14.32 14.20 14.35

708 -0.87 -145.9 2288 3617 3953 3981 91.6 -13.7 90 714 0.00 2.40 0.00 0.000 1158 0.000 0.057 2287 2195 3966 3953 3980 0 0 0 0 0 0 14.40 14.26 14.45

1033 -0.90 -145.9 2288 2194 3954 3979 141.7 -14.3 105 1038 0.00 2.50 0.00 0.000 388 0.000 0.088 2279 3614 3966 3954 3979 0 0 0 0 0 0 14.74 14.09 14.76

1143 -1.02 -145.9 2279 3615 3953 3980 155.3 -11.8 127 1148 0.00 2.40 0.00 0.000 1158 0.000 0.058 2279 2192 3966 3953 3979 0 0 0 0 0 0 14.40 14.26 14.44

1454 -1.06 -145.9 2280 2190 3954 3979 195.9 -12.7 139 1459 0.12 2.50 0.00 0.000 4484 0.140 0.086 2222 3609 3967 3955 3979 0 0 0 0 0 0 14.33 14.13 14.35

1539 -1.06 -145.9 2222 3610 3953 3980 209.3 -15.6 156 1546 0.00 2.38 0.00 0.000 1030 0.000 0.058 2222 2201 3966 3953 3979 0 0 0 0 0 0 14.41 14.28 14.45

1844 -1.02 -145.9 2222 2201 3953 3981 260.3 -16.1 167 1849 0.12 2.47 0.00 0.000 2436 0.298 0.084 2241 3609 3966 3953 3979 0 0 0 0 0 0 13.93 14.13 14.10

1951 -1.12 -145.9 2242 3609 3954 3980 273.5 -11.3 188 1957 0.00 2.38 0.00 0.000 1158 0.000 0.058 2242 2201 3966 3953 3979 0 0 0 0 0 0 14.40 14.26 14.44

2267 -1.15 -145.9 2243 2199 3954 3980 311.9 -11.9 201 2272 0.00 2.47 0.00 0.000 388 0.000 0.089 2236 3609 3965 3952 3979 0 0 0 0 0 0 14.76 14.19 14.78

2342 -1.26 -145.9 2237 3610 3953 3980 320.5 -10.8 216 2349 0.20 2.38 0.00 0.000 5254 0.106 0.058 2160 2199 3966 3953 3979 0 0 0 0 0 0 14.33 14.26 14.42

2659 -1.13 -145.9 2161 2198 3951 3979 379.5 -18.8 229 2664 0.22 2.47 0.00 0.000 2436 0.311 0.083 2200 3610 3965 3952 3979 0 0 0 0 0 0 13.81 14.18 14.02

2761 -1.18 -145.9 2200 3613 3952 3980 393.8 -12.7 249 2766 0.00 2.38 0.00 0.000 1158 0.000 0.055 2201 2199 3965 3952 3979 0 0 0 0 0 0 14.40 14.26 14.43

3081 -1.15 -145.9 2201 2199 3953 3979 438.9 -14.2 263 3086 0.00 2.50 0.00 0.000 388 0.000 0.086 2192 3613 3965 3951 3979 0 0 0 0 0 0 14.76 14.18 14.78

3161 -1.15 -145.9 2192 3615 3952 3980 450.0 -13.2 279 3166 0.00 2.38 0.00 0.000 1030 0.000 0.057 2192 2199 3964 3950 3979 0 0 0 0 0 0 14.39 14.26 14.43

3379 end dive: TARGET_DEPTH_EXCEEDED

state 3379 begin apogee

3385 -0.13 0.0 2193 2052 3953 3979 482.3 -14.8 288 3609 1.35 0.10 220.62 1.429 10246 0.243 0.158 2530 2118 3367 3381 3353 0 0 0 0 0 0 13.80 13.50 12.50

3657 end apogee: CONTROL_FINISHED_OK

state 3657 begin climb

3660 0.57 145.9 2531 2120 3375 3345 494.4 0.0 295 4016 0.73 2.62 212.95 1.384 11012 0.061 0.072 2781 3493 2755 2784 2726 0 0 0 0 0 0 13.78 12.91 12.30

4252 0.09 145.9 2781 3494 2781 2726 454.9 15.5 341 4258 0.85 2.33 0.00 0.000 5254 0.348 0.058 2615 2131 2753 2781 2725 0 0 0 0 0 0 13.64 14.09 14.04

4563 0.02 200.5 2612 2131 2782 2725 429.8 7.5 353 4644 0.00 0.00 79.47 1.388 8614 0.000 0.000 2612 2130 2547 2594 2501 0 0 0 0 0 0 14.63 13.88 13.07

4923 -0.03 212.0 2611 2131 2588 2481 396.9 9.5 370 4939 0.12 0.00 13.68 1.575 12966 0.278 0.000 2582 2130 2498 2552 2445 0 0 0 0 0 0 13.87 14.11 13.19

5255 0.04 268.3 2582 2131 2546 2437 371.7 7.4 386 5351 0.00 2.58 88.10 1.363 8868 0.000 0.087 2588 685 2265 2312 2218 0 0 0 0 0 0 14.62 13.92 13.11

5406 0.19 313.1 2589 684 2306 2217 360.2 7.9 416 5482 0.17 2.50 68.30 1.330 11430 0.106 0.080 2664 2086 2086 2131 2042 0 0 0 0 0 0 14.09 14.01 13.00

5797 0.14 313.1 2665 2087 2122 2026 308.9 13.3 444 5803 0.12 2.45 0.00 0.000 4740 0.247 0.082 2644 696 2073 2120 2026 0 0 0 0 0 0 13.45 13.51 13.47

5838 0.19 313.1 2642 697 2118 2027 303.8 11.3 452 5844 0.00 2.40 0.00 0.000 1158 0.000 0.078 2643 2101 2072 2118 2027 0 0 0 0 0 0 14.26 14.12 14.31

6159 0.19 313.1 2644 2103 2119 2025 268.4 10.8 466 6164 0.00 2.47 0.00 0.000 516 0.000 0.087 2643 691 2071 2118 2024 0 0 0 0 0 0 14.64 14.21 14.65

6199 0.24 313.1 2644 692 2117 2024 264.3 10.1 474 6204 0.00 2.45 0.00 0.000 1158 0.000 0.079 2644 2100 2070 2116 2024 0 0 0 0 0 0 14.32 14.20 14.38

6519 0.26 338.5 2645 2102 2117 2023 234.3 8.8 488 6558 0.00 0.00 37.03 1.362 8230 0.000 0.000 2644 2102 1986 2031 1942 0 0 0 0 0 0 14.70 14.12 13.28

6850 0.34 382.4 2645 2102 2023 1927 206.7 8.0 499 6930 0.12 2.50 73.75 1.282 10916 0.127 0.086 2706 699 1804 1832 1776 0 0 0 0 0 0 14.32 13.94 13.19

6975 0.34 382.4 2706 701 1820 1776 192.6 11.5 524 6981 0.00 2.47 0.00 0.000 1030 0.000 0.078 2706 2105 1796 1819 1774 0 0 0 0 0 0 14.04 13.95 14.07

7301 0.34 382.4 2706 2106 1820 1765 155.2 11.4 539 7301 0.00 0.00 0.00 0.000 6 0.000 0.000 2706 2106 1796 1819 1773 0 0 0 0 0 0 14.59 14.61 14.61

7601 0.34 382.4 2706 2107 1819 1765 122.8 10.7 549 7606 0.00 2.47 0.00 0.000 516 0.000 0.088 2706 698 1790 1817 1764 0 0 0 0 0 0 14.64 14.21 14.65

7696 0.41 398.6 2706 698 1815 1765 113.6 9.3 568 7723 0.00 2.47 19.27 1.372 9382 0.000 0.078 2702 2108 1736 1761 1712 0 0 0 0 0 0 14.36 14.22 13.31

8022 0.48 431.8 2707 2110 1758 1704 84.8 8.5 593 8042 0.00 0.00 18.60 0.454 8358 0.000 0.000 2706 2108 1602 1629 1576 0 0 0 0 0 0 14.59 14.10 13.63

8341 0.63 517.7 2706 2109 1633 1575 61.8 6.0 625 8393 0.20 0.00 48.65 0.381 10662 0.097 0.000 2792 2109 1254 1307 1201 0 0 0 0 0 0 14.29 14.08 13.68

8691 0.67 571.0 2792 2109 1306 1196 32.2 7.5 662 8723 0.00 0.00 30.33 0.295 8230 0.000 0.000 2792 2109 1036 1101 971 0 0 0 0 0 0 14.57 14.13 13.78

9021 0.91 715.8 2792 2109 1102 968 12.7 3.3 695 9103 0.22 0.00 76.47 0.234 11174 0.095 0.000 2885 2113 491 508 475 0 0 0 0 0 0 14.20 14.09 13.84

9129 end climb: SURFACE_DEPTH_REACHED

state 9129 begin surface coast

9141 end surface coast: CONTROL_FINISHED_OK

state 9141 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	274	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	764.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,170249,7523.3232,-15119.4941,18,0.7,22,20.6,0.4,309.3,12,9.9	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	1.19	MHEAD_RNG_PITCHd_Wd	351.1,36834,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-68.7	D_GRID	480
GPS2	070917,171131,7523.3369,-15119.6348,5,0.9,27,20.6,0.7,261.1,10,8.4

FINISH	0.2,1.014694	_24V_AH	12.30,173.838
SM_CCo	9221,0.00,0.000,0,0,493,704.50	_10V_AH	12.17,0.000
SM_GC	1.27,8.18,0.17,0.00,0.063,0.127,0.000,199,2231,493,-7.38,-0.51,704.50,0,0,0,0,0,0,14.26,14.22,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	420	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323436
IRIDIUM_FIX	7522.72,-15116.58,070917,142947	DATA_FILE_SIZE	23389,712
TT8_MAMPS	0.038948,1.3879	CAP_FILE_SIZE	93370,0
HUMID	47.20	CFSIZE	2097872896,2007433216
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1445.8
XPDR_PINGS	25	CURRENT	0.033,275.01,1
CP_FREE	15955263488.000000	GPS	070917,194702,7524.466,-15118.400,33,0.8,33,20.7,1.1,288.1,10,9.0
PM_FREEKB_00	49874432

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.97	nil	0	0	0.00
Roll_motor	69	2142	1830.43	nil	0	0	0.00
VBD_pump_during_apogee	987	1575	19126.66	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	5161	15	1000.70
Iridium_during_xfer	275	166	562.12	NCP	9135	20	2247.21
Transponder_ping	6	420	32.29	PMAR	9114	9	1103.53
GUMSTIX_24V	0	0	0.00
GPS	28	22	7.87
TT8	0	0	0.00
LPSleep	6480	2	182.18
TT8_Active	857	13	145.72
TT8_Sampling	2160	33	879.11
TT8_CF8	260	38	122.71
TT8_Kalman	0	0	0.00
Analog_circuits	2097	10	255.27
GPS_charging	0	0	0.00
Compass	1019	7	86.87
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	177	2207	502	487	0.0	0.0	0	144	0.00	0.00	-91.90	0.000	16386	0.000	0.000	175	2206	2182	2116	2249	0	0	0	0	0	0	14.56	28.83	14.58
147	-0.57	-145.9	175	2206	2120	2251	4.1	-6.0	9	200	12.93	2.80	-34.10	0.000	18724	0.456	2.142	2374	3604	3962	3946	3979	1	0	0	0	0	0	13.44	12.85	14.14
376	-0.72	-145.9	2376	3607	3953	3980	48.6	-13.1	54	382	0.00	2.40	0.00	0.000	1158	0.000	0.058	2375	2190	3965	3951	3979	0	0	0	0	0	0	14.35	14.22	14.39
683	-0.84	-145.9	2375	2190	3953	3981	88.1	-10.4	85	688	0.17	2.50	0.00	0.000	4484	0.117	0.084	2287	3616	3965	3952	3979	0	0	0	0	0	0	14.32	14.20	14.35
708	-0.87	-145.9	2288	3617	3953	3981	91.6	-13.7	90	714	0.00	2.40	0.00	0.000	1158	0.000	0.057	2287	2195	3966	3953	3980	0	0	0	0	0	0	14.40	14.26	14.45
1033	-0.90	-145.9	2288	2194	3954	3979	141.7	-14.3	105	1038	0.00	2.50	0.00	0.000	388	0.000	0.088	2279	3614	3966	3954	3979	0	0	0	0	0	0	14.74	14.09	14.76
1143	-1.02	-145.9	2279	3615	3953	3980	155.3	-11.8	127	1148	0.00	2.40	0.00	0.000	1158	0.000	0.058	2279	2192	3966	3953	3979	0	0	0	0	0	0	14.40	14.26	14.44
1454	-1.06	-145.9	2280	2190	3954	3979	195.9	-12.7	139	1459	0.12	2.50	0.00	0.000	4484	0.140	0.086	2222	3609	3967	3955	3979	0	0	0	0	0	0	14.33	14.13	14.35
1539	-1.06	-145.9	2222	3610	3953	3980	209.3	-15.6	156	1546	0.00	2.38	0.00	0.000	1030	0.000	0.058	2222	2201	3966	3953	3979	0	0	0	0	0	0	14.41	14.28	14.45
1844	-1.02	-145.9	2222	2201	3953	3981	260.3	-16.1	167	1849	0.12	2.47	0.00	0.000	2436	0.298	0.084	2241	3609	3966	3953	3979	0	0	0	0	0	0	13.93	14.13	14.10
1951	-1.12	-145.9	2242	3609	3954	3980	273.5	-11.3	188	1957	0.00	2.38	0.00	0.000	1158	0.000	0.058	2242	2201	3966	3953	3979	0	0	0	0	0	0	14.40	14.26	14.44
2267	-1.15	-145.9	2243	2199	3954	3980	311.9	-11.9	201	2272	0.00	2.47	0.00	0.000	388	0.000	0.089	2236	3609	3965	3952	3979	0	0	0	0	0	0	14.76	14.19	14.78
2342	-1.26	-145.9	2237	3610	3953	3980	320.5	-10.8	216	2349	0.20	2.38	0.00	0.000	5254	0.106	0.058	2160	2199	3966	3953	3979	0	0	0	0	0	0	14.33	14.26	14.42
2659	-1.13	-145.9	2161	2198	3951	3979	379.5	-18.8	229	2664	0.22	2.47	0.00	0.000	2436	0.311	0.083	2200	3610	3965	3952	3979	0	0	0	0	0	0	13.81	14.18	14.02
2761	-1.18	-145.9	2200	3613	3952	3980	393.8	-12.7	249	2766	0.00	2.38	0.00	0.000	1158	0.000	0.055	2201	2199	3965	3952	3979	0	0	0	0	0	0	14.40	14.26	14.43
3081	-1.15	-145.9	2201	2199	3953	3979	438.9	-14.2	263	3086	0.00	2.50	0.00	0.000	388	0.000	0.086	2192	3613	3965	3951	3979	0	0	0	0	0	0	14.76	14.18	14.78
3161	-1.15	-145.9	2192	3615	3952	3980	450.0	-13.2	279	3166	0.00	2.38	0.00	0.000	1030	0.000	0.057	2192	2199	3964	3950	3979	0	0	0	0	0	0	14.39	14.26	14.43
3379	end dive: TARGET_DEPTH_EXCEEDED
state	3379	begin apogee
3385	-0.13	0.0	2193	2052	3953	3979	482.3	-14.8	288	3609	1.35	0.10	220.62	1.429	10246	0.243	0.158	2530	2118	3367	3381	3353	0	0	0	0	0	0	13.80	13.50	12.50
3657	end apogee: CONTROL_FINISHED_OK
state	3657	begin climb
3660	0.57	145.9	2531	2120	3375	3345	494.4	0.0	295	4016	0.73	2.62	212.95	1.384	11012	0.061	0.072	2781	3493	2755	2784	2726	0	0	0	0	0	0	13.78	12.91	12.30
4252	0.09	145.9	2781	3494	2781	2726	454.9	15.5	341	4258	0.85	2.33	0.00	0.000	5254	0.348	0.058	2615	2131	2753	2781	2725	0	0	0	0	0	0	13.64	14.09	14.04
4563	0.02	200.5	2612	2131	2782	2725	429.8	7.5	353	4644	0.00	0.00	79.47	1.388	8614	0.000	0.000	2612	2130	2547	2594	2501	0	0	0	0	0	0	14.63	13.88	13.07
4923	-0.03	212.0	2611	2131	2588	2481	396.9	9.5	370	4939	0.12	0.00	13.68	1.575	12966	0.278	0.000	2582	2130	2498	2552	2445	0	0	0	0	0	0	13.87	14.11	13.19
5255	0.04	268.3	2582	2131	2546	2437	371.7	7.4	386	5351	0.00	2.58	88.10	1.363	8868	0.000	0.087	2588	685	2265	2312	2218	0	0	0	0	0	0	14.62	13.92	13.11
5406	0.19	313.1	2589	684	2306	2217	360.2	7.9	416	5482	0.17	2.50	68.30	1.330	11430	0.106	0.080	2664	2086	2086	2131	2042	0	0	0	0	0	0	14.09	14.01	13.00
5797	0.14	313.1	2665	2087	2122	2026	308.9	13.3	444	5803	0.12	2.45	0.00	0.000	4740	0.247	0.082	2644	696	2073	2120	2026	0	0	0	0	0	0	13.45	13.51	13.47
5838	0.19	313.1	2642	697	2118	2027	303.8	11.3	452	5844	0.00	2.40	0.00	0.000	1158	0.000	0.078	2643	2101	2072	2118	2027	0	0	0	0	0	0	14.26	14.12	14.31
6159	0.19	313.1	2644	2103	2119	2025	268.4	10.8	466	6164	0.00	2.47	0.00	0.000	516	0.000	0.087	2643	691	2071	2118	2024	0	0	0	0	0	0	14.64	14.21	14.65
6199	0.24	313.1	2644	692	2117	2024	264.3	10.1	474	6204	0.00	2.45	0.00	0.000	1158	0.000	0.079	2644	2100	2070	2116	2024	0	0	0	0	0	0	14.32	14.20	14.38
6519	0.26	338.5	2645	2102	2117	2023	234.3	8.8	488	6558	0.00	0.00	37.03	1.362	8230	0.000	0.000	2644	2102	1986	2031	1942	0	0	0	0	0	0	14.70	14.12	13.28
6850	0.34	382.4	2645	2102	2023	1927	206.7	8.0	499	6930	0.12	2.50	73.75	1.282	10916	0.127	0.086	2706	699	1804	1832	1776	0	0	0	0	0	0	14.32	13.94	13.19
6975	0.34	382.4	2706	701	1820	1776	192.6	11.5	524	6981	0.00	2.47	0.00	0.000	1030	0.000	0.078	2706	2105	1796	1819	1774	0	0	0	0	0	0	14.04	13.95	14.07
7301	0.34	382.4	2706	2106	1820	1765	155.2	11.4	539	7301	0.00	0.00	0.00	0.000	6	0.000	0.000	2706	2106	1796	1819	1773	0	0	0	0	0	0	14.59	14.61	14.61
7601	0.34	382.4	2706	2107	1819	1765	122.8	10.7	549	7606	0.00	2.47	0.00	0.000	516	0.000	0.088	2706	698	1790	1817	1764	0	0	0	0	0	0	14.64	14.21	14.65
7696	0.41	398.6	2706	698	1815	1765	113.6	9.3	568	7723	0.00	2.47	19.27	1.372	9382	0.000	0.078	2702	2108	1736	1761	1712	0	0	0	0	0	0	14.36	14.22	13.31
8022	0.48	431.8	2707	2110	1758	1704	84.8	8.5	593	8042	0.00	0.00	18.60	0.454	8358	0.000	0.000	2706	2108	1602	1629	1576	0	0	0	0	0	0	14.59	14.10	13.63
8341	0.63	517.7	2706	2109	1633	1575	61.8	6.0	625	8393	0.20	0.00	48.65	0.381	10662	0.097	0.000	2792	2109	1254	1307	1201	0	0	0	0	0	0	14.29	14.08	13.68
8691	0.67	571.0	2792	2109	1306	1196	32.2	7.5	662	8723	0.00	0.00	30.33	0.295	8230	0.000	0.000	2792	2109	1036	1101	971	0	0	0	0	0	0	14.57	14.13	13.78
9021	0.91	715.8	2792	2109	1102	968	12.7	3.3	695	9103	0.22	0.00	76.47	0.234	11174	0.095	0.000	2885	2113	491	508	475	0	0	0	0	0	0	14.20	14.09	13.84
9129	end climb: SURFACE_DEPTH_REACHED
state	9129	begin surface coast
9141	end surface coast: CONTROL_FINISHED_OK
state	9141	begin surface