Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 282 * 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 282 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 786.0

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 50 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 786.0 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 282 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 080917,144003,7532.6548,-15109.7363,15,0.7,21,20.7,0.9,123.0,12,9.5 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 1.21 MHEAD_RNG_PITCHd_Wd 347.6,19372,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 080917,144556,7532.6426,-15109.6836,9,0.7,40,20.7,0.4,99.2,11,8.5

Post-dive calculations and measurements:

FINISH 0.1,1.020095 _24V_AH 12.26,177.563

SM_CCo 9099,42.85,0.209,0,0,500,702.78 _10V_AH 12.15,0.000

SM_GC 1.13,8.18,0.17,42.85,0.071,0.113,0.209,203,2223,500,-7.37,-0.79,702.78,0,0,0,0,0,0,14.32,14.31,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 225 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323536

IRIDIUM_FIX 7531.56,-15107.58,080917,120540 DATA_FILE_SIZE 26742,788

TT8_MAMPS 0.038948,0.871836 CAP_FILE_SIZE 98885,0

HUMID 46.96 CFSIZE 2097872896,2005696512

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1449.0

XPDR_PINGS 6 CURRENT 0.025,279.20,1

CP_FREE 0.000000 GPS 080917,171952,7533.850,-15108.136,15,0.8,16,20.8,0.0,0.0,10,9.5

PM_FREEKB_00 49634496

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 145.30 nil 0 0 0.00

Roll_motor 68 113 95.05 nil 0 0 0.00

VBD_pump_during_apogee 967 1500 17798.76 nil 0 0 0.00

VBD_pump_during_surface 42 208 109.71 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 9000 14 1636.78

Iridium_during_xfer 132 137 223.48 NCP 9083 20 2227.15

Transponder_ping 1 420 7.72 PMAR 9053 9 1099.24

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.35

TT8 0 0 0.00

LPSleep 6468 2 181.54

TT8_Active 862 13 146.37

TT8_Sampling 1948 33 791.78

TT8_CF8 228 38 107.44

TT8_Kalman 0 0 0.00

Analog_circuits 1857 10 225.68

GPS_charging 0 0 0.00

Compass 1129 7 96.05

RAFOS 2208 48 1287.71

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 -145.9 193 2229 505 481 0.0 0.0 0 144 0.00 0.00 -91.60 0.000 16386 0.000 0.000 191 2228 2159 2090 2229 0 0 0 0 0 0 14.56 28.83 14.58

147 -0.57 -145.9 192 2229 2094 2231 4.0 -5.4 9 204 12.88 0.00 -36.08 0.000 18982 0.454 0.000 2386 2228 3964 3949 3979 0 0 0 0 0 0 13.62 12.53 14.05

502 -0.68 -145.9 2386 2229 3954 3981 69.9 -11.7 47 503 0.00 0.00 0.00 0.000 134 0.000 0.000 2386 2228 3967 3954 3980 0 0 0 0 0 0 14.57 14.59 14.59

804 -0.86 -145.9 2386 2228 3955 3980 98.0 -7.9 77 806 0.28 0.00 0.00 0.000 4262 0.087 0.000 2281 2228 3967 3954 3980 0 0 0 0 0 0 14.28 14.39 14.38

1122 -0.86 -145.9 2281 2228 3955 3980 146.9 -15.0 89 1127 0.00 2.40 0.00 0.000 260 0.000 0.087 2271 3585 3967 3954 3980 0 0 0 0 0 0 14.64 14.10 14.66

1269 -0.98 -145.9 2271 3586 3955 3980 165.3 -11.5 118 1275 0.00 2.30 0.00 0.000 1158 0.000 0.058 2271 2236 3966 3954 3979 0 0 0 0 0 0 14.31 14.17 14.33

1572 -1.01 -145.9 2271 2236 3955 3981 206.9 -13.4 129 1573 0.00 0.00 0.00 0.000 134 0.000 0.000 2271 2235 3967 3954 3980 0 0 0 0 0 0 14.66 14.68 14.67

1872 -1.07 -145.9 2271 2235 3955 3980 244.0 -11.9 139 1878 0.10 2.40 0.00 0.000 4484 0.153 0.084 2224 3585 3966 3954 3979 0 0 0 0 0 0 14.26 14.15 14.28

1938 -1.11 -145.9 2229 3586 3955 3980 253.0 -13.7 152 1944 0.00 2.35 0.00 0.000 1158 0.000 0.057 2224 2201 3967 3954 3980 0 0 0 0 0 0 13.70 13.72 13.70

2264 -1.11 -145.9 2225 2201 3955 3981 299.2 -13.7 167 2268 0.00 2.45 0.00 0.000 260 0.000 0.090 2222 3585 3967 3954 3980 0 0 0 0 0 0 14.67 14.14 14.69

2344 -1.19 -145.9 2223 3586 3956 3980 309.2 -11.8 183 2349 0.00 2.35 0.00 0.000 1158 0.000 0.057 2222 2200 3967 3954 3981 0 0 0 0 0 0 14.20 14.13 14.26

2654 -1.19 -145.9 2223 2201 3954 3981 349.5 -12.9 195 2659 0.00 2.45 0.00 0.000 260 0.000 0.090 2222 3585 3966 3953 3980 0 0 0 0 0 0 14.66 14.09 14.69

2724 -1.28 -145.9 2223 3586 3955 3980 357.9 -11.4 209 2729 0.17 2.35 0.00 0.000 5254 0.112 0.057 2156 2196 3967 3954 3980 0 0 0 0 0 0 14.27 14.21 14.36

3044 -1.15 -145.9 2156 2196 3953 3981 417.9 -19.0 223 3049 0.20 2.45 0.00 0.000 2436 0.314 0.082 2190 3588 3967 3954 3980 0 0 0 0 0 0 13.71 14.07 13.92

3144 -1.15 -145.9 2190 3588 3954 3980 432.9 -13.7 243 3149 0.00 2.35 0.00 0.000 1030 0.000 0.056 2192 2200 3967 3954 3980 0 0 0 0 0 0 14.34 14.21 14.38

3462 end dive: TARGET_DEPTH_EXCEEDED

state 3462 begin apogee

3468 -0.13 0.0 2191 2055 3954 3980 480.4 -14.8 257 3693 1.35 0.00 221.25 1.421 10246 0.243 0.000 2527 2053 3364 3380 3348 0 0 0 0 0 0 13.78 13.52 12.66

3697 end apogee: CONTROL_FINISHED_OK

state 3697 begin climb

3699 0.57 145.9 2527 2054 3375 3339 492.5 0.0 264 3919 0.75 2.58 211.52 1.366 10756 0.062 0.080 2781 725 2765 2804 2726 0 0 0 0 0 0 13.66 12.86 12.26

4145 0.18 145.9 2781 725 2793 2722 477.6 13.4 358 4150 0.65 2.40 0.00 0.000 5254 0.325 0.074 2647 2073 2755 2792 2719 0 0 0 0 0 0 13.40 13.81 13.78

4457 0.02 174.4 2647 2074 2793 2715 449.7 8.7 370 4501 0.22 2.40 38.05 1.452 12964 0.262 0.079 2600 721 2651 2696 2606 0 0 0 0 0 0 13.76 13.76 13.12

4626 0.06 231.0 2600 723 2694 2602 437.1 7.4 404 4717 0.00 2.45 84.90 1.381 9254 0.000 0.079 2600 2107 2421 2477 2366 0 0 0 0 0 0 14.15 14.02 12.96

5027 0.08 257.5 2598 2108 2469 2352 402.5 8.8 434 5067 0.00 0.00 37.85 1.434 8742 0.000 0.000 2599 2107 2316 2369 2264 0 0 0 0 0 0 14.40 13.95 13.14

5358 0.12 285.1 2600 2107 2359 2251 373.6 8.7 450 5407 0.00 2.47 42.08 1.417 8868 0.000 0.084 2600 730 2195 2245 2146 0 0 0 0 0 0 14.45 13.96 13.15

5459 0.25 323.5 2602 730 2241 2145 365.0 8.2 470 5523 0.20 2.42 58.42 1.355 11430 0.098 0.078 2678 2103 2044 2089 1999 0 0 0 0 0 0 14.07 13.99 13.05

5838 0.18 323.5 2679 2103 2082 1984 310.7 14.4 496 5843 0.15 2.42 0.00 0.000 4740 0.251 0.083 2652 731 2035 2080 1991 0 0 0 0 0 0 13.81 14.02 13.94

5883 0.22 323.5 2647 732 2077 1985 305.1 11.5 505 5889 0.00 2.40 0.00 0.000 1158 0.000 0.078 2646 2102 2030 2077 1984 0 0 0 0 0 0 14.23 14.10 14.27

6199 0.22 323.5 2647 2102 2078 1982 269.2 11.0 518 6204 0.00 2.42 0.00 0.000 516 0.000 0.085 2645 730 2029 2077 1982 0 0 0 0 0 0 14.49 14.07 14.50

6255 0.28 326.7 2647 731 2077 1983 263.6 9.9 529 6262 0.00 2.40 0.00 0.000 1190 0.000 0.078 2647 2103 2027 2075 1980 0 0 0 0 0 0 14.25 14.09 14.25

6560 0.29 336.0 2647 2102 2077 1982 233.4 9.6 540 6575 0.00 0.00 14.00 1.501 8230 0.000 0.000 2647 2101 1998 2045 1951 0 0 0 0 0 0 14.49 14.06 13.22

6862 0.35 364.9 2647 2102 2040 1942 206.8 8.7 550 6922 0.12 2.55 49.28 1.339 10660 0.128 0.081 2704 3512 1875 1911 1839 0 0 0 0 0 0 14.15 13.98 13.19

6945 0.28 364.9 2705 3514 1899 1842 196.5 13.8 566 6950 0.17 2.38 0.00 0.000 5254 0.253 0.063 2672 2132 1869 1899 1840 0 0 0 0 0 0 13.85 14.03 14.09

7257 0.33 390.2 2672 2132 1897 1833 167.7 8.8 578 7305 0.00 2.55 41.55 1.320 8868 0.000 0.090 2672 687 1771 1797 1746 0 0 0 0 0 0 14.57 14.06 13.26

7450 0.45 423.3 2673 687 1787 1744 150.8 8.5 617 7516 0.17 2.47 57.80 1.258 11430 0.110 0.080 2747 2099 1636 1663 1610 0 0 0 0 0 0 14.14 14.07 13.19

7827 0.40 423.3 2747 2100 1663 1596 101.7 12.3 642 7828 0.15 0.00 0.00 0.000 4230 0.229 0.000 2714 2099 1629 1663 1595 0 0 0 0 0 0 14.07 14.33 14.30

8127 0.47 463.5 2714 2100 1662 1591 74.4 8.1 670 8154 0.00 2.50 20.58 0.426 8868 0.000 0.088 2714 683 1472 1510 1435 0 0 0 0 0 0 14.58 14.07 13.59

8269 0.67 538.8 2715 687 1510 1435 64.2 6.5 698 8317 0.25 2.47 40.95 0.392 11430 0.086 0.078 2803 2097 1165 1226 1105 0 0 0 0 0 0 14.21 14.14 13.62

8622 0.69 572.9 2803 2099 1227 1097 30.4 8.4 738 8645 0.00 2.55 18.20 0.295 8484 0.000 0.082 2803 3511 1026 1093 960 0 0 0 0 0 0 14.56 13.98 13.78

8680 0.75 589.1 2803 3511 1095 963 24.9 9.3 749 8698 0.00 2.42 9.52 0.281 9382 0.000 0.064 2807 2099 964 1032 896 0 0 0 0 0 0 14.15 14.04 13.74

8996 0.86 642.4 2808 2099 1033 894 3.4 7.5 782 9019 0.12 0.00 21.30 0.214 10914 0.129 0.000 2870 2098 806 872 741 0 0 0 0 0 0 14.26 28.83 14.28

9019 end climb: SURFACE_DEPTH_REACHED

state 9019 begin surface coast

9033 end surface coast: CONTROL_FINISHED_OK

state 9033 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	282	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	786.0
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	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,144003,7532.6548,-15109.7363,15,0.7,21,20.7,0.9,123.0,12,9.5	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	1.21	MHEAD_RNG_PITCHd_Wd	347.6,19372,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	080917,144556,7532.6426,-15109.6836,9,0.7,40,20.7,0.4,99.2,11,8.5

FINISH	0.1,1.020095	_24V_AH	12.26,177.563
SM_CCo	9099,42.85,0.209,0,0,500,702.78	_10V_AH	12.15,0.000
SM_GC	1.13,8.18,0.17,42.85,0.071,0.113,0.209,203,2223,500,-7.37,-0.79,702.78,0,0,0,0,0,0,14.32,14.31,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	225	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323536
IRIDIUM_FIX	7531.56,-15107.58,080917,120540	DATA_FILE_SIZE	26742,788
TT8_MAMPS	0.038948,0.871836	CAP_FILE_SIZE	98885,0
HUMID	46.96	CFSIZE	2097872896,2005696512
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1449.0
XPDR_PINGS	6	CURRENT	0.025,279.20,1
CP_FREE	0.000000	GPS	080917,171952,7533.850,-15108.136,15,0.8,16,20.8,0.0,0.0,10,9.5
PM_FREEKB_00	49634496

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	145.30	nil	0	0	0.00
Roll_motor	68	113	95.05	nil	0	0	0.00
VBD_pump_during_apogee	967	1500	17798.76	nil	0	0	0.00
VBD_pump_during_surface	42	208	109.71	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	9000	14	1636.78
Iridium_during_xfer	132	137	223.48	NCP	9083	20	2227.15
Transponder_ping	1	420	7.72	PMAR	9053	9	1099.24
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.35
TT8	0	0	0.00
LPSleep	6468	2	181.54
TT8_Active	862	13	146.37
TT8_Sampling	1948	33	791.78
TT8_CF8	228	38	107.44
TT8_Kalman	0	0	0.00
Analog_circuits	1857	10	225.68
GPS_charging	0	0	0.00
Compass	1129	7	96.05
RAFOS	2208	48	1287.71
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	193	2229	505	481	0.0	0.0	0	144	0.00	0.00	-91.60	0.000	16386	0.000	0.000	191	2228	2159	2090	2229	0	0	0	0	0	0	14.56	28.83	14.58
147	-0.57	-145.9	192	2229	2094	2231	4.0	-5.4	9	204	12.88	0.00	-36.08	0.000	18982	0.454	0.000	2386	2228	3964	3949	3979	0	0	0	0	0	0	13.62	12.53	14.05
502	-0.68	-145.9	2386	2229	3954	3981	69.9	-11.7	47	503	0.00	0.00	0.00	0.000	134	0.000	0.000	2386	2228	3967	3954	3980	0	0	0	0	0	0	14.57	14.59	14.59
804	-0.86	-145.9	2386	2228	3955	3980	98.0	-7.9	77	806	0.28	0.00	0.00	0.000	4262	0.087	0.000	2281	2228	3967	3954	3980	0	0	0	0	0	0	14.28	14.39	14.38
1122	-0.86	-145.9	2281	2228	3955	3980	146.9	-15.0	89	1127	0.00	2.40	0.00	0.000	260	0.000	0.087	2271	3585	3967	3954	3980	0	0	0	0	0	0	14.64	14.10	14.66
1269	-0.98	-145.9	2271	3586	3955	3980	165.3	-11.5	118	1275	0.00	2.30	0.00	0.000	1158	0.000	0.058	2271	2236	3966	3954	3979	0	0	0	0	0	0	14.31	14.17	14.33
1572	-1.01	-145.9	2271	2236	3955	3981	206.9	-13.4	129	1573	0.00	0.00	0.00	0.000	134	0.000	0.000	2271	2235	3967	3954	3980	0	0	0	0	0	0	14.66	14.68	14.67
1872	-1.07	-145.9	2271	2235	3955	3980	244.0	-11.9	139	1878	0.10	2.40	0.00	0.000	4484	0.153	0.084	2224	3585	3966	3954	3979	0	0	0	0	0	0	14.26	14.15	14.28
1938	-1.11	-145.9	2229	3586	3955	3980	253.0	-13.7	152	1944	0.00	2.35	0.00	0.000	1158	0.000	0.057	2224	2201	3967	3954	3980	0	0	0	0	0	0	13.70	13.72	13.70
2264	-1.11	-145.9	2225	2201	3955	3981	299.2	-13.7	167	2268	0.00	2.45	0.00	0.000	260	0.000	0.090	2222	3585	3967	3954	3980	0	0	0	0	0	0	14.67	14.14	14.69
2344	-1.19	-145.9	2223	3586	3956	3980	309.2	-11.8	183	2349	0.00	2.35	0.00	0.000	1158	0.000	0.057	2222	2200	3967	3954	3981	0	0	0	0	0	0	14.20	14.13	14.26
2654	-1.19	-145.9	2223	2201	3954	3981	349.5	-12.9	195	2659	0.00	2.45	0.00	0.000	260	0.000	0.090	2222	3585	3966	3953	3980	0	0	0	0	0	0	14.66	14.09	14.69
2724	-1.28	-145.9	2223	3586	3955	3980	357.9	-11.4	209	2729	0.17	2.35	0.00	0.000	5254	0.112	0.057	2156	2196	3967	3954	3980	0	0	0	0	0	0	14.27	14.21	14.36
3044	-1.15	-145.9	2156	2196	3953	3981	417.9	-19.0	223	3049	0.20	2.45	0.00	0.000	2436	0.314	0.082	2190	3588	3967	3954	3980	0	0	0	0	0	0	13.71	14.07	13.92
3144	-1.15	-145.9	2190	3588	3954	3980	432.9	-13.7	243	3149	0.00	2.35	0.00	0.000	1030	0.000	0.056	2192	2200	3967	3954	3980	0	0	0	0	0	0	14.34	14.21	14.38
3462	end dive: TARGET_DEPTH_EXCEEDED
state	3462	begin apogee
3468	-0.13	0.0	2191	2055	3954	3980	480.4	-14.8	257	3693	1.35	0.00	221.25	1.421	10246	0.243	0.000	2527	2053	3364	3380	3348	0	0	0	0	0	0	13.78	13.52	12.66
3697	end apogee: CONTROL_FINISHED_OK
state	3697	begin climb
3699	0.57	145.9	2527	2054	3375	3339	492.5	0.0	264	3919	0.75	2.58	211.52	1.366	10756	0.062	0.080	2781	725	2765	2804	2726	0	0	0	0	0	0	13.66	12.86	12.26
4145	0.18	145.9	2781	725	2793	2722	477.6	13.4	358	4150	0.65	2.40	0.00	0.000	5254	0.325	0.074	2647	2073	2755	2792	2719	0	0	0	0	0	0	13.40	13.81	13.78
4457	0.02	174.4	2647	2074	2793	2715	449.7	8.7	370	4501	0.22	2.40	38.05	1.452	12964	0.262	0.079	2600	721	2651	2696	2606	0	0	0	0	0	0	13.76	13.76	13.12
4626	0.06	231.0	2600	723	2694	2602	437.1	7.4	404	4717	0.00	2.45	84.90	1.381	9254	0.000	0.079	2600	2107	2421	2477	2366	0	0	0	0	0	0	14.15	14.02	12.96
5027	0.08	257.5	2598	2108	2469	2352	402.5	8.8	434	5067	0.00	0.00	37.85	1.434	8742	0.000	0.000	2599	2107	2316	2369	2264	0	0	0	0	0	0	14.40	13.95	13.14
5358	0.12	285.1	2600	2107	2359	2251	373.6	8.7	450	5407	0.00	2.47	42.08	1.417	8868	0.000	0.084	2600	730	2195	2245	2146	0	0	0	0	0	0	14.45	13.96	13.15
5459	0.25	323.5	2602	730	2241	2145	365.0	8.2	470	5523	0.20	2.42	58.42	1.355	11430	0.098	0.078	2678	2103	2044	2089	1999	0	0	0	0	0	0	14.07	13.99	13.05
5838	0.18	323.5	2679	2103	2082	1984	310.7	14.4	496	5843	0.15	2.42	0.00	0.000	4740	0.251	0.083	2652	731	2035	2080	1991	0	0	0	0	0	0	13.81	14.02	13.94
5883	0.22	323.5	2647	732	2077	1985	305.1	11.5	505	5889	0.00	2.40	0.00	0.000	1158	0.000	0.078	2646	2102	2030	2077	1984	0	0	0	0	0	0	14.23	14.10	14.27
6199	0.22	323.5	2647	2102	2078	1982	269.2	11.0	518	6204	0.00	2.42	0.00	0.000	516	0.000	0.085	2645	730	2029	2077	1982	0	0	0	0	0	0	14.49	14.07	14.50
6255	0.28	326.7	2647	731	2077	1983	263.6	9.9	529	6262	0.00	2.40	0.00	0.000	1190	0.000	0.078	2647	2103	2027	2075	1980	0	0	0	0	0	0	14.25	14.09	14.25
6560	0.29	336.0	2647	2102	2077	1982	233.4	9.6	540	6575	0.00	0.00	14.00	1.501	8230	0.000	0.000	2647	2101	1998	2045	1951	0	0	0	0	0	0	14.49	14.06	13.22
6862	0.35	364.9	2647	2102	2040	1942	206.8	8.7	550	6922	0.12	2.55	49.28	1.339	10660	0.128	0.081	2704	3512	1875	1911	1839	0	0	0	0	0	0	14.15	13.98	13.19
6945	0.28	364.9	2705	3514	1899	1842	196.5	13.8	566	6950	0.17	2.38	0.00	0.000	5254	0.253	0.063	2672	2132	1869	1899	1840	0	0	0	0	0	0	13.85	14.03	14.09
7257	0.33	390.2	2672	2132	1897	1833	167.7	8.8	578	7305	0.00	2.55	41.55	1.320	8868	0.000	0.090	2672	687	1771	1797	1746	0	0	0	0	0	0	14.57	14.06	13.26
7450	0.45	423.3	2673	687	1787	1744	150.8	8.5	617	7516	0.17	2.47	57.80	1.258	11430	0.110	0.080	2747	2099	1636	1663	1610	0	0	0	0	0	0	14.14	14.07	13.19
7827	0.40	423.3	2747	2100	1663	1596	101.7	12.3	642	7828	0.15	0.00	0.00	0.000	4230	0.229	0.000	2714	2099	1629	1663	1595	0	0	0	0	0	0	14.07	14.33	14.30
8127	0.47	463.5	2714	2100	1662	1591	74.4	8.1	670	8154	0.00	2.50	20.58	0.426	8868	0.000	0.088	2714	683	1472	1510	1435	0	0	0	0	0	0	14.58	14.07	13.59
8269	0.67	538.8	2715	687	1510	1435	64.2	6.5	698	8317	0.25	2.47	40.95	0.392	11430	0.086	0.078	2803	2097	1165	1226	1105	0	0	0	0	0	0	14.21	14.14	13.62
8622	0.69	572.9	2803	2099	1227	1097	30.4	8.4	738	8645	0.00	2.55	18.20	0.295	8484	0.000	0.082	2803	3511	1026	1093	960	0	0	0	0	0	0	14.56	13.98	13.78
8680	0.75	589.1	2803	3511	1095	963	24.9	9.3	749	8698	0.00	2.42	9.52	0.281	9382	0.000	0.064	2807	2099	964	1032	896	0	0	0	0	0	0	14.15	14.04	13.74
8996	0.86	642.4	2808	2099	1033	894	3.4	7.5	782	9019	0.12	0.00	21.30	0.214	10914	0.129	0.000	2870	2098	806	872	741	0	0	0	0	0	0	14.26	28.83	14.28
9019	end climb: SURFACE_DEPTH_REACHED
state	9019	begin surface coast
9033	end surface coast: CONTROL_FINISHED_OK
state	9033	begin surface