Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 278 * 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 278 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 775.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 775.0 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 23 VBD_MIN 500

DIVE 278 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 080917,035511,7528.0176,-15114.7539,40,0.7,41,20.7,0.5,268.1,12,10.0 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 1.24 MHEAD_RNG_PITCHd_Wd 350.9,28018,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.6 D_GRID 480

GPS2 080917,040359,7528.0093,-15114.8984,5,0.7,17,20.7,0.4,210.1,12,9.1

Post-dive calculations and measurements:

FINISH 0.3,1.013277 _24V_AH 12.31,175.670

SM_CCo 9289,1.92,0.236,0,0,498,702.78 _10V_AH 12.17,0.000

SM_GC 1.21,8.18,0.17,1.92,0.067,0.112,0.236,196,2228,498,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.33,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 428 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323640

IRIDIUM_FIX 7528.37,-15123.37,080917,011914 DATA_FILE_SIZE 26736,791

TT8_MAMPS 0.038948,0.865095 CAP_FILE_SIZE 102302,0

HUMID 47.75 CFSIZE 2097872896,2006548480

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

TCM_TEMP 11.20 SOUNDSPEED 1446.4

XPDR_PINGS 15 CURRENT 0.022,251.69,1

CP_FREE 0.000000 GPS 080917,064050,7529.155,-15113.699,41,0.8,41,20.7,0.0,0.0,10,8.6

PM_FREEKB_00 49751296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.37 nil 0 0 0.00

Roll_motor 79 2140 2092.13 nil 0 0 0.00

VBD_pump_during_apogee 1001 1573 19397.71 nil 0 0 0.00

VBD_pump_during_surface 1 236 5.60 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 5244 15 985.93

Iridium_during_xfer 289 164 585.79 NCP 9275 20 2283.51

Transponder_ping 3 420 19.39 PMAR 9242 9 1124.72

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.22

TT8 0 0 0.00

LPSleep 6493 2 182.54

TT8_Active 797 13 135.54

TT8_Sampling 2275 33 926.05

TT8_CF8 269 38 126.89

TT8_Kalman 0 0 0.00

Analog_circuits 2057 10 250.35

GPS_charging 0 0 0.00

Compass 1136 7 96.80

RAFOS 1825 48 1066.09

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 -145.9 176 2230 503 491 0.0 0.0 0 141 0.00 0.00 -88.50 0.000 16386 0.000 0.000 173 2230 2084 2010 2158 0 0 0 0 0 0 14.55 28.83 14.57

144 -0.57 -145.9 175 2230 2013 2158 3.9 -5.3 9 206 13.07 2.80 -39.08 0.000 18724 0.456 2.140 2375 3604 3966 3951 3981 0 0 0 0 0 0 13.54 12.65 14.04

327 -0.72 -145.9 2375 3600 3955 3981 40.7 -13.8 45 331 0.00 2.42 0.00 0.000 1158 0.000 0.060 2374 2191 3967 3954 3981 0 0 0 0 0 0 14.15 14.02 14.19

639 -0.83 -145.9 2376 2188 3957 3981 83.4 -10.9 77 640 0.20 0.00 0.00 0.000 4230 0.110 0.000 2297 2189 3968 3955 3981 0 0 0 0 0 0 14.16 14.28 14.25

957 -0.85 -145.9 2298 2189 3956 3980 131.5 -14.0 95 961 0.00 2.50 0.00 0.000 388 0.000 0.087 2293 3588 3967 3955 3980 0 0 0 0 0 0 14.50 13.99 14.52

1088 -0.99 -145.9 2293 3590 3956 3981 147.1 -11.3 121 1094 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2198 3967 3955 3980 0 0 0 0 0 0 14.22 14.10 14.26

1409 -1.05 -145.9 2292 2197 3957 3981 187.3 -12.1 135 1410 0.17 0.00 0.00 0.000 4230 0.112 0.000 2231 2196 3968 3955 3981 0 0 0 0 0 0 14.12 14.23 14.19

1709 -1.02 -145.9 2231 2196 3956 3980 237.8 -16.6 145 1714 0.00 2.50 0.00 0.000 388 0.000 0.087 2223 3589 3968 3955 3981 0 0 0 0 0 0 14.50 14.02 14.51

1879 -1.06 -145.9 2223 3592 3957 3980 262.1 -13.2 179 1884 0.00 2.38 0.00 0.000 1158 0.000 0.056 2223 2199 3967 3955 3980 0 0 0 0 0 0 14.19 14.09 14.24

2189 -1.06 -145.9 2222 2195 3956 3981 306.4 -14.0 191 2194 0.00 2.50 0.00 0.000 260 0.000 0.089 2222 3588 3967 3955 3980 0 0 0 0 0 0 14.47 13.97 14.48

2235 -1.12 -145.9 2223 3591 3954 3981 312.4 -12.7 200 2241 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2195 3967 3955 3980 0 0 0 0 0 0 14.16 14.03 14.19

2551 -1.12 -145.9 2222 2194 3956 3981 353.0 -12.5 213 2556 0.00 2.47 0.00 0.000 260 0.000 0.089 2221 3590 3967 3955 3979 0 0 0 0 0 0 14.71 14.06 14.71

2631 -1.20 -145.9 2223 3593 3957 3980 362.3 -11.0 229 2636 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2198 3967 3955 3980 0 0 0 0 0 0 14.34 14.22 14.38

2942 -1.23 -145.9 2223 2197 3956 3980 400.1 -12.2 241 2947 0.12 2.47 0.00 0.000 4484 0.147 0.084 2157 3599 3967 3955 3979 0 0 0 0 0 0 14.31 14.09 14.35

2997 -1.16 -145.9 2158 3601 3956 3980 409.1 -17.0 252 3004 0.20 2.38 0.00 0.000 3206 0.273 0.057 2198 2193 3967 3955 3979 0 0 0 0 0 0 13.82 14.23 14.16

3302 -1.14 -145.9 2198 2194 3956 3978 453.0 -14.1 263 3307 0.00 2.45 0.00 0.000 388 0.000 0.085 2190 3589 3967 3955 3979 0 0 0 0 0 0 14.73 14.09 14.73

3402 -1.16 -145.9 2190 3589 3957 3979 466.8 -13.3 283 3407 0.00 2.35 0.00 0.000 1158 0.000 0.056 2189 2194 3967 3955 3979 0 0 0 0 0 0 14.36 14.23 14.40

3510 end dive: TARGET_DEPTH_EXCEEDED

state 3510 begin apogee

3516 -0.13 0.0 2190 2065 3955 3980 482.9 -14.7 290 3754 1.38 0.00 228.90 1.408 10246 0.243 0.000 2530 2061 3361 3389 3334 0 0 0 0 0 0 13.84 13.52 12.67

3802 end apogee: CONTROL_FINISHED_OK

state 3802 begin climb

3805 0.57 145.9 2531 2061 3386 3329 496.8 0.0 298 4028 0.73 2.72 214.77 1.368 10500 0.062 0.072 2779 3490 2761 2808 2714 0 0 0 0 0 0 13.78 12.93 12.31

4259 0.09 145.9 2780 3489 2786 2711 478.6 15.4 347 4264 0.82 2.38 0.00 0.000 5254 0.345 0.060 2617 2128 2748 2785 2711 0 0 0 0 0 0 12.90 13.86 13.45

4585 -0.00 192.9 2617 2128 2787 2710 451.6 7.8 362 4660 0.12 2.42 69.65 1.369 12708 0.296 0.080 2589 3492 2573 2630 2517 0 0 0 0 0 0 13.91 13.68 13.07

4810 -0.03 203.3 2589 3492 2612 2510 432.4 9.5 407 4820 0.00 2.38 4.20 1.525 9382 0.000 0.060 2589 2101 2536 2591 2482 0 0 0 0 0 0 14.25 14.14 12.87

5125 -0.00 246.0 2589 2101 2604 2490 406.9 8.0 420 5211 0.00 2.53 79.68 1.363 8740 0.000 0.086 2588 691 2354 2411 2298 0 0 0 0 0 0 14.61 13.68 13.08

5266 0.12 283.2 2590 690 2397 2298 395.3 8.3 448 5331 0.00 2.45 56.72 1.359 9382 0.000 0.078 2589 2083 2204 2263 2146 0 0 0 0 0 0 14.15 14.02 12.99

5636 0.22 317.8 2589 2081 2253 2130 364.0 8.4 472 5697 0.20 0.00 54.40 1.327 10918 0.100 0.000 2675 2083 2064 2118 2010 0 0 0 0 0 0 14.30 13.98 13.19

5996 0.15 317.8 2676 2080 2106 1998 312.7 14.3 489 6002 0.15 2.45 0.00 0.000 4740 0.248 0.083 2646 686 2051 2105 1998 0 0 0 0 0 0 13.33 13.51 13.46

6087 0.20 317.8 2646 688 2102 2000 302.3 10.7 507 6092 0.00 2.47 0.00 0.000 1158 0.000 0.078 2646 2107 2052 2102 2003 0 0 0 0 0 0 14.35 14.21 14.40

6417 0.20 317.8 2645 2108 2103 1997 266.2 10.4 523 6422 0.00 2.47 0.00 0.000 516 0.000 0.086 2647 691 2049 2101 1997 0 0 0 0 0 0 14.67 14.22 14.68

6483 0.27 329.1 2647 694 2101 1998 259.8 9.5 536 6498 0.00 2.45 9.18 1.574 9382 0.000 0.078 2647 2110 2024 2074 1974 0 0 0 0 0 0 14.38 14.24 13.26

6808 0.29 352.7 2647 2112 2068 1968 229.3 8.9 551 6858 0.00 2.53 43.03 1.342 8740 0.000 0.086 2647 696 1920 1962 1879 0 0 0 0 0 0 14.65 14.09 13.27

6878 0.39 389.5 2647 698 1954 1877 223.4 8.3 565 6949 0.17 2.45 64.07 1.258 11430 0.108 0.077 2713 2099 1774 1804 1745 0 0 0 0 0 0 14.14 14.07 13.09

7259 0.35 389.5 2714 2099 1793 1727 174.9 12.4 591 7260 0.00 0.00 0.00 0.000 134 0.000 0.000 2713 2099 1759 1792 1727 0 0 0 0 0 0 14.56 14.58 14.57

7559 0.33 389.5 2714 2099 1792 1725 139.4 11.5 601 7565 0.00 2.50 0.00 0.000 644 0.000 0.086 2718 685 1757 1790 1725 0 0 0 0 0 0 14.63 14.10 14.65

7682 0.35 389.5 2719 686 1787 1725 126.4 10.4 625 7687 0.00 2.47 0.00 0.000 1158 0.000 0.077 2718 2106 1755 1785 1725 0 0 0 0 0 0 14.37 14.23 14.41

7993 0.36 400.1 2718 2107 1786 1724 94.6 9.5 643 7997 0.00 0.00 3.33 0.358 8230 0.000 0.000 2718 2107 1733 1765 1702 0 0 0 0 0 0 14.62 14.00 13.45

8293 0.40 462.6 2718 2108 1773 1712 69.9 7.1 673 8335 0.00 2.53 36.75 0.405 8740 0.000 0.085 2719 689 1479 1517 1441 0 0 0 0 0 0 14.59 13.94 13.64

8412 0.58 543.7 2720 690 1521 1447 62.1 6.3 696 8466 0.15 2.47 46.38 0.379 11430 0.114 0.079 2782 2101 1148 1215 1081 0 0 0 0 0 0 14.14 14.07 13.68

8771 0.67 607.9 2781 2100 1216 1084 32.7 7.0 737 8812 0.00 0.00 36.88 0.294 8358 0.000 0.000 2782 2101 883 956 811 0 0 0 0 0 0 14.57 14.07 13.73

9111 0.89 699.8 2781 2103 957 821 13.2 5.8 771 9170 0.22 2.58 53.45 0.235 10916 0.095 0.091 2876 694 508 534 483 0 0 0 0 0 0 14.11 14.03 13.74

9203 0.95 699.8 2878 694 539 485 2.6 12.4 788 9209 0.00 2.47 0.00 0.000 1158 0.000 0.079 2876 2100 511 540 483 0 0 0 0 0 0 14.21 14.06 14.24

9214 end climb: SURFACE_DEPTH_REACHED

state 9214 begin surface coast

9224 end surface coast: CONTROL_FINISHED_OK

state 9224 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	278	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	775.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,035511,7528.0176,-15114.7539,40,0.7,41,20.7,0.5,268.1,12,10.0	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	1.24	MHEAD_RNG_PITCHd_Wd	350.9,28018,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.6	D_GRID	480
GPS2	080917,040359,7528.0093,-15114.8984,5,0.7,17,20.7,0.4,210.1,12,9.1

FINISH	0.3,1.013277	_24V_AH	12.31,175.670
SM_CCo	9289,1.92,0.236,0,0,498,702.78	_10V_AH	12.17,0.000
SM_GC	1.21,8.18,0.17,1.92,0.067,0.112,0.236,196,2228,498,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.33,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	428	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323640
IRIDIUM_FIX	7528.37,-15123.37,080917,011914	DATA_FILE_SIZE	26736,791
TT8_MAMPS	0.038948,0.865095	CAP_FILE_SIZE	102302,0
HUMID	47.75	CFSIZE	2097872896,2006548480
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	11.20	SOUNDSPEED	1446.4
XPDR_PINGS	15	CURRENT	0.022,251.69,1
CP_FREE	0.000000	GPS	080917,064050,7529.155,-15113.699,41,0.8,41,20.7,0.0,0.0,10,8.6
PM_FREEKB_00	49751296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.37	nil	0	0	0.00
Roll_motor	79	2140	2092.13	nil	0	0	0.00
VBD_pump_during_apogee	1001	1573	19397.71	nil	0	0	0.00
VBD_pump_during_surface	1	236	5.60	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	5244	15	985.93
Iridium_during_xfer	289	164	585.79	NCP	9275	20	2283.51
Transponder_ping	3	420	19.39	PMAR	9242	9	1124.72
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.22
TT8	0	0	0.00
LPSleep	6493	2	182.54
TT8_Active	797	13	135.54
TT8_Sampling	2275	33	926.05
TT8_CF8	269	38	126.89
TT8_Kalman	0	0	0.00
Analog_circuits	2057	10	250.35
GPS_charging	0	0	0.00
Compass	1136	7	96.80
RAFOS	1825	48	1066.09
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	176	2230	503	491	0.0	0.0	0	141	0.00	0.00	-88.50	0.000	16386	0.000	0.000	173	2230	2084	2010	2158	0	0	0	0	0	0	14.55	28.83	14.57
144	-0.57	-145.9	175	2230	2013	2158	3.9	-5.3	9	206	13.07	2.80	-39.08	0.000	18724	0.456	2.140	2375	3604	3966	3951	3981	0	0	0	0	0	0	13.54	12.65	14.04
327	-0.72	-145.9	2375	3600	3955	3981	40.7	-13.8	45	331	0.00	2.42	0.00	0.000	1158	0.000	0.060	2374	2191	3967	3954	3981	0	0	0	0	0	0	14.15	14.02	14.19
639	-0.83	-145.9	2376	2188	3957	3981	83.4	-10.9	77	640	0.20	0.00	0.00	0.000	4230	0.110	0.000	2297	2189	3968	3955	3981	0	0	0	0	0	0	14.16	14.28	14.25
957	-0.85	-145.9	2298	2189	3956	3980	131.5	-14.0	95	961	0.00	2.50	0.00	0.000	388	0.000	0.087	2293	3588	3967	3955	3980	0	0	0	0	0	0	14.50	13.99	14.52
1088	-0.99	-145.9	2293	3590	3956	3981	147.1	-11.3	121	1094	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2198	3967	3955	3980	0	0	0	0	0	0	14.22	14.10	14.26
1409	-1.05	-145.9	2292	2197	3957	3981	187.3	-12.1	135	1410	0.17	0.00	0.00	0.000	4230	0.112	0.000	2231	2196	3968	3955	3981	0	0	0	0	0	0	14.12	14.23	14.19
1709	-1.02	-145.9	2231	2196	3956	3980	237.8	-16.6	145	1714	0.00	2.50	0.00	0.000	388	0.000	0.087	2223	3589	3968	3955	3981	0	0	0	0	0	0	14.50	14.02	14.51
1879	-1.06	-145.9	2223	3592	3957	3980	262.1	-13.2	179	1884	0.00	2.38	0.00	0.000	1158	0.000	0.056	2223	2199	3967	3955	3980	0	0	0	0	0	0	14.19	14.09	14.24
2189	-1.06	-145.9	2222	2195	3956	3981	306.4	-14.0	191	2194	0.00	2.50	0.00	0.000	260	0.000	0.089	2222	3588	3967	3955	3980	0	0	0	0	0	0	14.47	13.97	14.48
2235	-1.12	-145.9	2223	3591	3954	3981	312.4	-12.7	200	2241	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2195	3967	3955	3980	0	0	0	0	0	0	14.16	14.03	14.19
2551	-1.12	-145.9	2222	2194	3956	3981	353.0	-12.5	213	2556	0.00	2.47	0.00	0.000	260	0.000	0.089	2221	3590	3967	3955	3979	0	0	0	0	0	0	14.71	14.06	14.71
2631	-1.20	-145.9	2223	3593	3957	3980	362.3	-11.0	229	2636	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2198	3967	3955	3980	0	0	0	0	0	0	14.34	14.22	14.38
2942	-1.23	-145.9	2223	2197	3956	3980	400.1	-12.2	241	2947	0.12	2.47	0.00	0.000	4484	0.147	0.084	2157	3599	3967	3955	3979	0	0	0	0	0	0	14.31	14.09	14.35
2997	-1.16	-145.9	2158	3601	3956	3980	409.1	-17.0	252	3004	0.20	2.38	0.00	0.000	3206	0.273	0.057	2198	2193	3967	3955	3979	0	0	0	0	0	0	13.82	14.23	14.16
3302	-1.14	-145.9	2198	2194	3956	3978	453.0	-14.1	263	3307	0.00	2.45	0.00	0.000	388	0.000	0.085	2190	3589	3967	3955	3979	0	0	0	0	0	0	14.73	14.09	14.73
3402	-1.16	-145.9	2190	3589	3957	3979	466.8	-13.3	283	3407	0.00	2.35	0.00	0.000	1158	0.000	0.056	2189	2194	3967	3955	3979	0	0	0	0	0	0	14.36	14.23	14.40
3510	end dive: TARGET_DEPTH_EXCEEDED
state	3510	begin apogee
3516	-0.13	0.0	2190	2065	3955	3980	482.9	-14.7	290	3754	1.38	0.00	228.90	1.408	10246	0.243	0.000	2530	2061	3361	3389	3334	0	0	0	0	0	0	13.84	13.52	12.67
3802	end apogee: CONTROL_FINISHED_OK
state	3802	begin climb
3805	0.57	145.9	2531	2061	3386	3329	496.8	0.0	298	4028	0.73	2.72	214.77	1.368	10500	0.062	0.072	2779	3490	2761	2808	2714	0	0	0	0	0	0	13.78	12.93	12.31
4259	0.09	145.9	2780	3489	2786	2711	478.6	15.4	347	4264	0.82	2.38	0.00	0.000	5254	0.345	0.060	2617	2128	2748	2785	2711	0	0	0	0	0	0	12.90	13.86	13.45
4585	-0.00	192.9	2617	2128	2787	2710	451.6	7.8	362	4660	0.12	2.42	69.65	1.369	12708	0.296	0.080	2589	3492	2573	2630	2517	0	0	0	0	0	0	13.91	13.68	13.07
4810	-0.03	203.3	2589	3492	2612	2510	432.4	9.5	407	4820	0.00	2.38	4.20	1.525	9382	0.000	0.060	2589	2101	2536	2591	2482	0	0	0	0	0	0	14.25	14.14	12.87
5125	-0.00	246.0	2589	2101	2604	2490	406.9	8.0	420	5211	0.00	2.53	79.68	1.363	8740	0.000	0.086	2588	691	2354	2411	2298	0	0	0	0	0	0	14.61	13.68	13.08
5266	0.12	283.2	2590	690	2397	2298	395.3	8.3	448	5331	0.00	2.45	56.72	1.359	9382	0.000	0.078	2589	2083	2204	2263	2146	0	0	0	0	0	0	14.15	14.02	12.99
5636	0.22	317.8	2589	2081	2253	2130	364.0	8.4	472	5697	0.20	0.00	54.40	1.327	10918	0.100	0.000	2675	2083	2064	2118	2010	0	0	0	0	0	0	14.30	13.98	13.19
5996	0.15	317.8	2676	2080	2106	1998	312.7	14.3	489	6002	0.15	2.45	0.00	0.000	4740	0.248	0.083	2646	686	2051	2105	1998	0	0	0	0	0	0	13.33	13.51	13.46
6087	0.20	317.8	2646	688	2102	2000	302.3	10.7	507	6092	0.00	2.47	0.00	0.000	1158	0.000	0.078	2646	2107	2052	2102	2003	0	0	0	0	0	0	14.35	14.21	14.40
6417	0.20	317.8	2645	2108	2103	1997	266.2	10.4	523	6422	0.00	2.47	0.00	0.000	516	0.000	0.086	2647	691	2049	2101	1997	0	0	0	0	0	0	14.67	14.22	14.68
6483	0.27	329.1	2647	694	2101	1998	259.8	9.5	536	6498	0.00	2.45	9.18	1.574	9382	0.000	0.078	2647	2110	2024	2074	1974	0	0	0	0	0	0	14.38	14.24	13.26
6808	0.29	352.7	2647	2112	2068	1968	229.3	8.9	551	6858	0.00	2.53	43.03	1.342	8740	0.000	0.086	2647	696	1920	1962	1879	0	0	0	0	0	0	14.65	14.09	13.27
6878	0.39	389.5	2647	698	1954	1877	223.4	8.3	565	6949	0.17	2.45	64.07	1.258	11430	0.108	0.077	2713	2099	1774	1804	1745	0	0	0	0	0	0	14.14	14.07	13.09
7259	0.35	389.5	2714	2099	1793	1727	174.9	12.4	591	7260	0.00	0.00	0.00	0.000	134	0.000	0.000	2713	2099	1759	1792	1727	0	0	0	0	0	0	14.56	14.58	14.57
7559	0.33	389.5	2714	2099	1792	1725	139.4	11.5	601	7565	0.00	2.50	0.00	0.000	644	0.000	0.086	2718	685	1757	1790	1725	0	0	0	0	0	0	14.63	14.10	14.65
7682	0.35	389.5	2719	686	1787	1725	126.4	10.4	625	7687	0.00	2.47	0.00	0.000	1158	0.000	0.077	2718	2106	1755	1785	1725	0	0	0	0	0	0	14.37	14.23	14.41
7993	0.36	400.1	2718	2107	1786	1724	94.6	9.5	643	7997	0.00	0.00	3.33	0.358	8230	0.000	0.000	2718	2107	1733	1765	1702	0	0	0	0	0	0	14.62	14.00	13.45
8293	0.40	462.6	2718	2108	1773	1712	69.9	7.1	673	8335	0.00	2.53	36.75	0.405	8740	0.000	0.085	2719	689	1479	1517	1441	0	0	0	0	0	0	14.59	13.94	13.64
8412	0.58	543.7	2720	690	1521	1447	62.1	6.3	696	8466	0.15	2.47	46.38	0.379	11430	0.114	0.079	2782	2101	1148	1215	1081	0	0	0	0	0	0	14.14	14.07	13.68
8771	0.67	607.9	2781	2100	1216	1084	32.7	7.0	737	8812	0.00	0.00	36.88	0.294	8358	0.000	0.000	2782	2101	883	956	811	0	0	0	0	0	0	14.57	14.07	13.73
9111	0.89	699.8	2781	2103	957	821	13.2	5.8	771	9170	0.22	2.58	53.45	0.235	10916	0.095	0.091	2876	694	508	534	483	0	0	0	0	0	0	14.11	14.03	13.74
9203	0.95	699.8	2878	694	539	485	2.6	12.4	788	9209	0.00	2.47	0.00	0.000	1158	0.000	0.079	2876	2100	511	540	483	0	0	0	0	0	0	14.21	14.06	14.24
9214	end climb: SURFACE_DEPTH_REACHED
state	9214	begin surface coast
9224	end surface coast: CONTROL_FINISHED_OK
state	9224	begin surface