Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 283 * 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 283 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 788.0

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 43 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 788.0 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 283 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 080917,171952,7533.8496,-15108.1357,15,0.8,16,20.8,0.0,0.0,10,9.5 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 1.20 MHEAD_RNG_PITCHd_Wd 340.8,17180,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.0 D_GRID 480

GPS2 080917,172535,7533.8433,-15108.1660,8,0.9,16,20.8,0.0,264.2,9,9.8

Post-dive calculations and measurements:

FINISH 0.3,1.021571 _24V_AH 12.28,177.990

SM_CCo 9175,32.92,0.207,0,0,499,702.78 _10V_AH 12.16,0.000

SM_GC 1.17,8.07,0.17,32.92,0.063,0.109,0.207,207,2234,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 423 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323540

IRIDIUM_FIX 7531.56,-15107.58,080917,144311 DATA_FILE_SIZE 26760,781

TT8_MAMPS 0.038948,0.892808 CAP_FILE_SIZE 101423,0

HUMID 47.04 CFSIZE 2097872896,2005499904

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 1448.5

XPDR_PINGS 17 CURRENT 0.019,219.56,1

CP_FREE 15951396864.000000 GPS 080917,200056,7535.068,-15107.408,38,0.7,38,20.8,0.0,0.0,10,8.3

PM_FREEKB_00 49606528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 144.27 nil 0 0 0.00

Roll_motor 89 2140 2347.25 nil 0 0 0.00

VBD_pump_during_apogee 914 1562 17547.13 nil 0 0 0.00

VBD_pump_during_surface 32 207 83.82 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 9097 14 1633.33

Iridium_during_xfer 144 139 246.80 NCP 9160 20 2249.70

Transponder_ping 4 420 21.92 PMAR 9127 9 1105.44

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.90

TT8 0 0 0.00

LPSleep 6638 2 186.47

TT8_Active 826 13 140.34

TT8_Sampling 1863 33 757.75

TT8_CF8 235 38 110.72

TT8_Kalman 0 0 0.00

Analog_circuits 1829 10 222.46

GPS_charging 0 0 0.00

Compass 1119 7 95.28

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 49 begin dive

52 -0.57 -145.9 197 2225 494 494 0.0 0.0 0 144 0.00 0.00 -91.18 0.000 16386 0.000 0.000 195 2225 2115 2047 2184 0 0 0 0 0 0 14.56 28.83 14.57

147 -0.57 -145.9 197 2225 2049 2191 3.0 -3.4 9 205 12.98 2.78 -38.95 0.000 18724 0.457 2.140 2375 3586 3964 3947 3981 0 0 0 0 0 0 13.56 12.51 14.06

230 -0.57 -145.9 2376 3587 3952 3981 27.0 -25.0 22 237 0.00 2.40 0.00 0.000 1030 0.000 0.063 2375 2193 3966 3951 3981 0 0 0 0 0 0 14.16 13.97 14.21

537 -0.67 -145.9 2376 2191 3954 3981 74.8 -11.7 53 538 0.00 0.00 0.00 0.000 134 0.000 0.000 2375 2191 3967 3954 3980 0 0 0 0 0 0 14.58 14.59 14.59

858 -0.82 -145.9 2375 2194 3955 3981 105.6 -8.4 81 863 0.17 2.50 0.00 0.000 4516 0.113 0.086 2294 3599 3967 3954 3981 0 0 0 0 0 0 14.28 14.14 14.32

953 -0.96 -145.9 2295 3601 3955 3981 117.0 -11.3 100 959 0.00 2.42 0.00 0.000 1158 0.000 0.057 2295 2185 3967 3954 3981 0 0 0 0 0 0 13.63 13.64 13.62

1279 -1.02 -145.9 2295 2184 3955 3981 159.3 -12.5 115 1284 0.12 2.50 0.00 0.000 4484 0.136 0.084 2236 3594 3965 3954 3976 0 0 0 0 0 0 14.18 14.07 14.20

1319 -1.02 -145.9 2237 3595 3955 3982 165.4 -15.8 123 1324 0.00 2.38 0.00 0.000 1030 0.000 0.057 2236 2193 3967 3954 3981 0 0 0 0 0 0 14.35 14.22 14.38

1639 -0.99 -145.9 2235 2192 3956 3981 219.9 -16.7 137 1644 0.00 2.47 0.00 0.000 388 0.000 0.088 2236 3590 3967 3954 3981 0 0 0 0 0 0 14.65 14.12 14.66

1729 -1.05 -145.9 2236 3591 3955 3982 233.4 -13.7 155 1734 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2193 3967 3954 3981 0 0 0 0 0 0 14.26 14.14 14.33

2059 -1.05 -145.9 2236 2195 3955 3981 279.6 -13.3 171 2064 0.00 2.47 0.00 0.000 260 0.000 0.088 2235 3592 3967 3954 3981 0 0 0 0 0 0 14.67 14.14 14.67

2140 -1.14 -145.9 2236 3594 3955 3982 288.9 -10.9 187 2144 0.00 2.38 0.00 0.000 1158 0.000 0.055 2236 2190 3967 3954 3981 0 0 0 0 0 0 14.35 14.22 14.38

2450 -1.18 -145.9 2236 2190 3955 3982 325.7 -11.7 199 2455 0.10 2.47 0.00 0.000 4484 0.173 0.084 2186 3594 3967 3954 3981 0 0 0 0 0 0 14.28 14.09 14.33

2520 -1.18 -145.9 2186 3595 3955 3981 335.9 -14.5 213 2525 0.00 2.35 0.00 0.000 1030 0.000 0.055 2186 2196 3967 3954 3981 0 0 0 0 0 0 14.35 14.23 14.39

2840 -1.12 -145.9 2186 2196 3954 3981 386.6 -15.7 227 2845 0.12 2.45 0.00 0.000 2436 0.304 0.084 2209 3588 3967 3954 3980 0 0 0 0 0 0 13.89 13.96 14.07

2920 -1.18 -145.9 2209 3589 3954 3981 396.9 -11.8 243 2925 0.00 2.35 0.00 0.000 1158 0.000 0.055 2209 2199 3967 3954 3981 0 0 0 0 0 0 14.35 14.22 14.38

3230 -1.18 -145.9 2210 2197 3955 3980 436.7 -12.7 255 3235 0.00 2.45 0.00 0.000 260 0.000 0.088 2209 3588 3968 3954 3983 0 0 0 0 0 0 14.67 13.99 14.69

3310 -1.25 -145.9 2210 3588 3955 3981 446.3 -11.3 271 3315 0.00 2.35 0.00 0.000 1158 0.000 0.056 2209 2197 3967 3954 3981 0 0 0 0 0 0 14.34 14.22 14.38

3588 end dive: TARGET_DEPTH_EXCEEDED

state 3588 begin apogee

3594 -0.13 0.0 2210 2053 3954 3981 481.1 -12.4 282 3816 1.25 0.00 218.55 1.427 10246 0.233 0.000 2528 2051 3369 3391 3348 0 0 0 0 0 0 13.81 13.52 12.67

3819 end apogee: CONTROL_FINISHED_OK

state 3819 begin climb

3822 0.57 145.9 2528 2051 3376 3341 492.5 0.0 289 4039 0.75 2.75 211.20 1.371 11012 0.060 0.073 2782 3486 2765 2805 2725 0 0 0 0 0 0 13.66 12.90 12.28

4090 0.08 145.9 2782 3486 2788 2724 498.5 14.3 347 4096 0.90 2.45 0.00 0.000 5254 0.344 0.054 2616 2128 2755 2788 2722 0 0 0 0 0 0 13.07 13.39 13.40

4401 -0.01 187.4 2616 2128 2788 2719 472.2 8.1 359 4463 0.12 0.00 58.05 1.421 12966 0.284 0.000 2592 2127 2598 2648 2548 0 0 0 0 0 0 13.78 13.83 13.00

4763 0.02 226.6 2588 2127 2646 2535 443.3 8.2 381 4827 0.00 2.58 56.88 1.418 8740 0.000 0.087 2590 697 2435 2491 2379 0 0 0 0 0 0 14.54 13.95 13.12

4917 0.12 267.8 2588 698 2486 2378 430.5 8.1 412 4983 0.00 2.45 61.78 1.392 9382 0.000 0.080 2589 2082 2272 2326 2218 0 0 0 0 0 0 14.16 14.04 13.03

5304 0.20 297.3 2590 2083 2318 2202 397.0 8.6 439 5349 0.15 0.00 42.67 1.414 10662 0.118 0.000 2664 2082 2152 2201 2103 0 0 0 0 0 0 14.28 14.01 13.17

5666 0.13 297.3 2664 2083 2191 2092 348.1 13.7 461 5671 0.15 2.47 0.00 0.000 4740 0.255 0.085 2630 688 2140 2190 2091 0 0 0 0 0 0 13.97 14.16 14.12

5722 0.19 297.3 2630 689 2188 2092 341.6 11.0 472 5728 0.00 2.45 0.00 0.000 1158 0.000 0.079 2630 2101 2139 2186 2093 0 0 0 0 0 0 14.30 14.19 14.36

6027 0.19 297.3 2630 2103 2188 2089 308.6 10.7 483 6027 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2102 2137 2186 2089 0 0 0 0 0 0 14.66 14.69 14.68

6327 0.19 298.1 2630 2102 2189 2088 278.1 10.0 493 6331 0.00 2.50 0.00 0.000 548 0.000 0.085 2630 694 2137 2187 2088 0 0 0 0 0 0 14.71 14.23 14.70

6387 0.29 314.2 2631 694 2188 2088 272.4 9.3 505 6419 0.15 2.47 23.35 1.447 11430 0.112 0.078 2692 2101 2082 2128 2037 0 0 0 0 0 0 14.34 14.25 13.30

6718 0.20 314.2 2692 2102 2125 2030 229.7 12.1 521 6723 0.15 2.47 0.00 0.000 4740 0.237 0.083 2658 689 2077 2125 2029 0 0 0 0 0 0 14.00 14.17 14.14

6764 0.26 335.1 2657 688 2123 2029 225.1 9.0 530 6804 0.00 2.45 33.75 1.381 9382 0.000 0.079 2657 2100 1996 2041 1951 0 0 0 0 0 0 14.36 14.23 13.26

7111 0.30 357.5 2658 2101 2039 1943 193.6 9.0 549 7154 0.00 2.53 35.80 1.359 8612 0.000 0.083 2657 3510 1903 1940 1867 0 0 0 0 0 0 14.58 14.12 13.26

7191 0.35 362.8 2658 3511 1936 1867 186.3 9.8 565 7203 0.12 2.42 4.18 1.562 11430 0.124 0.063 2706 2096 1886 1920 1853 0 0 0 0 0 0 14.18 14.15 12.95

7499 0.31 362.8 2706 2095 1921 1854 152.0 10.9 577 7504 0.00 2.45 0.00 0.000 644 0.000 0.087 2708 689 1885 1920 1851 0 0 0 0 0 0 14.60 14.12 14.62

7659 0.32 368.5 2709 689 1918 1852 136.0 9.7 609 7674 0.00 2.45 9.35 1.550 9254 0.000 0.077 2708 2101 1863 1894 1832 0 0 0 0 0 0 14.14 14.01 13.24

7980 0.33 383.1 2714 2102 1886 1827 104.3 9.3 623 8005 0.00 2.47 19.05 1.393 8740 0.000 0.087 2709 682 1801 1826 1776 0 0 0 0 0 0 14.63 14.22 13.31

8082 0.41 413.2 2710 682 1821 1776 95.4 8.6 643 8104 0.00 2.53 16.38 0.493 9382 0.000 0.078 2710 2111 1677 1698 1656 0 0 0 0 0 0 14.31 14.17 13.61

8400 0.50 472.5 2710 2111 1703 1651 69.7 7.3 677 8438 0.00 2.47 31.30 0.412 8612 0.000 0.083 2710 3509 1437 1476 1399 0 0 0 0 0 0 14.57 14.07 13.62

8490 0.66 524.5 2710 3511 1480 1398 63.1 7.6 694 8523 0.28 2.45 27.73 0.392 11430 0.082 0.066 2807 2091 1227 1284 1170 0 0 0 0 0 0 14.07 14.00 13.71

8828 0.68 558.1 2807 2092 1284 1160 30.2 8.5 731 8851 0.00 2.55 17.65 0.298 8740 0.000 0.090 2808 688 1088 1153 1024 0 0 0 0 0 0 14.55 14.07 13.79

8958 0.83 646.4 2808 689 1153 1024 21.4 5.9 756 9011 0.12 2.47 47.08 0.271 11430 0.130 0.076 2865 2105 729 788 670 0 0 0 0 0 0 14.19 14.14 13.80

9144 end climb: SURFACE_DEPTH_REACHED

state 9144 begin surface coast

9154 end surface coast: CONTROL_FINISHED_OK

state 9154 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	283	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	788.0
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	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,171952,7533.8496,-15108.1357,15,0.8,16,20.8,0.0,0.0,10,9.5	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	1.20	MHEAD_RNG_PITCHd_Wd	340.8,17180,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.0	D_GRID	480
GPS2	080917,172535,7533.8433,-15108.1660,8,0.9,16,20.8,0.0,264.2,9,9.8

FINISH	0.3,1.021571	_24V_AH	12.28,177.990
SM_CCo	9175,32.92,0.207,0,0,499,702.78	_10V_AH	12.16,0.000
SM_GC	1.17,8.07,0.17,32.92,0.063,0.109,0.207,207,2234,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	423	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323540
IRIDIUM_FIX	7531.56,-15107.58,080917,144311	DATA_FILE_SIZE	26760,781
TT8_MAMPS	0.038948,0.892808	CAP_FILE_SIZE	101423,0
HUMID	47.04	CFSIZE	2097872896,2005499904
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	1448.5
XPDR_PINGS	17	CURRENT	0.019,219.56,1
CP_FREE	15951396864.000000	GPS	080917,200056,7535.068,-15107.408,38,0.7,38,20.8,0.0,0.0,10,8.3
PM_FREEKB_00	49606528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	144.27	nil	0	0	0.00
Roll_motor	89	2140	2347.25	nil	0	0	0.00
VBD_pump_during_apogee	914	1562	17547.13	nil	0	0	0.00
VBD_pump_during_surface	32	207	83.82	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	9097	14	1633.33
Iridium_during_xfer	144	139	246.80	NCP	9160	20	2249.70
Transponder_ping	4	420	21.92	PMAR	9127	9	1105.44
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.90
TT8	0	0	0.00
LPSleep	6638	2	186.47
TT8_Active	826	13	140.34
TT8_Sampling	1863	33	757.75
TT8_CF8	235	38	110.72
TT8_Kalman	0	0	0.00
Analog_circuits	1829	10	222.46
GPS_charging	0	0	0.00
Compass	1119	7	95.28
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	49	begin dive
52	-0.57	-145.9	197	2225	494	494	0.0	0.0	0	144	0.00	0.00	-91.18	0.000	16386	0.000	0.000	195	2225	2115	2047	2184	0	0	0	0	0	0	14.56	28.83	14.57
147	-0.57	-145.9	197	2225	2049	2191	3.0	-3.4	9	205	12.98	2.78	-38.95	0.000	18724	0.457	2.140	2375	3586	3964	3947	3981	0	0	0	0	0	0	13.56	12.51	14.06
230	-0.57	-145.9	2376	3587	3952	3981	27.0	-25.0	22	237	0.00	2.40	0.00	0.000	1030	0.000	0.063	2375	2193	3966	3951	3981	0	0	0	0	0	0	14.16	13.97	14.21
537	-0.67	-145.9	2376	2191	3954	3981	74.8	-11.7	53	538	0.00	0.00	0.00	0.000	134	0.000	0.000	2375	2191	3967	3954	3980	0	0	0	0	0	0	14.58	14.59	14.59
858	-0.82	-145.9	2375	2194	3955	3981	105.6	-8.4	81	863	0.17	2.50	0.00	0.000	4516	0.113	0.086	2294	3599	3967	3954	3981	0	0	0	0	0	0	14.28	14.14	14.32
953	-0.96	-145.9	2295	3601	3955	3981	117.0	-11.3	100	959	0.00	2.42	0.00	0.000	1158	0.000	0.057	2295	2185	3967	3954	3981	0	0	0	0	0	0	13.63	13.64	13.62
1279	-1.02	-145.9	2295	2184	3955	3981	159.3	-12.5	115	1284	0.12	2.50	0.00	0.000	4484	0.136	0.084	2236	3594	3965	3954	3976	0	0	0	0	0	0	14.18	14.07	14.20
1319	-1.02	-145.9	2237	3595	3955	3982	165.4	-15.8	123	1324	0.00	2.38	0.00	0.000	1030	0.000	0.057	2236	2193	3967	3954	3981	0	0	0	0	0	0	14.35	14.22	14.38
1639	-0.99	-145.9	2235	2192	3956	3981	219.9	-16.7	137	1644	0.00	2.47	0.00	0.000	388	0.000	0.088	2236	3590	3967	3954	3981	0	0	0	0	0	0	14.65	14.12	14.66
1729	-1.05	-145.9	2236	3591	3955	3982	233.4	-13.7	155	1734	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2193	3967	3954	3981	0	0	0	0	0	0	14.26	14.14	14.33
2059	-1.05	-145.9	2236	2195	3955	3981	279.6	-13.3	171	2064	0.00	2.47	0.00	0.000	260	0.000	0.088	2235	3592	3967	3954	3981	0	0	0	0	0	0	14.67	14.14	14.67
2140	-1.14	-145.9	2236	3594	3955	3982	288.9	-10.9	187	2144	0.00	2.38	0.00	0.000	1158	0.000	0.055	2236	2190	3967	3954	3981	0	0	0	0	0	0	14.35	14.22	14.38
2450	-1.18	-145.9	2236	2190	3955	3982	325.7	-11.7	199	2455	0.10	2.47	0.00	0.000	4484	0.173	0.084	2186	3594	3967	3954	3981	0	0	0	0	0	0	14.28	14.09	14.33
2520	-1.18	-145.9	2186	3595	3955	3981	335.9	-14.5	213	2525	0.00	2.35	0.00	0.000	1030	0.000	0.055	2186	2196	3967	3954	3981	0	0	0	0	0	0	14.35	14.23	14.39
2840	-1.12	-145.9	2186	2196	3954	3981	386.6	-15.7	227	2845	0.12	2.45	0.00	0.000	2436	0.304	0.084	2209	3588	3967	3954	3980	0	0	0	0	0	0	13.89	13.96	14.07
2920	-1.18	-145.9	2209	3589	3954	3981	396.9	-11.8	243	2925	0.00	2.35	0.00	0.000	1158	0.000	0.055	2209	2199	3967	3954	3981	0	0	0	0	0	0	14.35	14.22	14.38
3230	-1.18	-145.9	2210	2197	3955	3980	436.7	-12.7	255	3235	0.00	2.45	0.00	0.000	260	0.000	0.088	2209	3588	3968	3954	3983	0	0	0	0	0	0	14.67	13.99	14.69
3310	-1.25	-145.9	2210	3588	3955	3981	446.3	-11.3	271	3315	0.00	2.35	0.00	0.000	1158	0.000	0.056	2209	2197	3967	3954	3981	0	0	0	0	0	0	14.34	14.22	14.38
3588	end dive: TARGET_DEPTH_EXCEEDED
state	3588	begin apogee
3594	-0.13	0.0	2210	2053	3954	3981	481.1	-12.4	282	3816	1.25	0.00	218.55	1.427	10246	0.233	0.000	2528	2051	3369	3391	3348	0	0	0	0	0	0	13.81	13.52	12.67
3819	end apogee: CONTROL_FINISHED_OK
state	3819	begin climb
3822	0.57	145.9	2528	2051	3376	3341	492.5	0.0	289	4039	0.75	2.75	211.20	1.371	11012	0.060	0.073	2782	3486	2765	2805	2725	0	0	0	0	0	0	13.66	12.90	12.28
4090	0.08	145.9	2782	3486	2788	2724	498.5	14.3	347	4096	0.90	2.45	0.00	0.000	5254	0.344	0.054	2616	2128	2755	2788	2722	0	0	0	0	0	0	13.07	13.39	13.40
4401	-0.01	187.4	2616	2128	2788	2719	472.2	8.1	359	4463	0.12	0.00	58.05	1.421	12966	0.284	0.000	2592	2127	2598	2648	2548	0	0	0	0	0	0	13.78	13.83	13.00
4763	0.02	226.6	2588	2127	2646	2535	443.3	8.2	381	4827	0.00	2.58	56.88	1.418	8740	0.000	0.087	2590	697	2435	2491	2379	0	0	0	0	0	0	14.54	13.95	13.12
4917	0.12	267.8	2588	698	2486	2378	430.5	8.1	412	4983	0.00	2.45	61.78	1.392	9382	0.000	0.080	2589	2082	2272	2326	2218	0	0	0	0	0	0	14.16	14.04	13.03
5304	0.20	297.3	2590	2083	2318	2202	397.0	8.6	439	5349	0.15	0.00	42.67	1.414	10662	0.118	0.000	2664	2082	2152	2201	2103	0	0	0	0	0	0	14.28	14.01	13.17
5666	0.13	297.3	2664	2083	2191	2092	348.1	13.7	461	5671	0.15	2.47	0.00	0.000	4740	0.255	0.085	2630	688	2140	2190	2091	0	0	0	0	0	0	13.97	14.16	14.12
5722	0.19	297.3	2630	689	2188	2092	341.6	11.0	472	5728	0.00	2.45	0.00	0.000	1158	0.000	0.079	2630	2101	2139	2186	2093	0	0	0	0	0	0	14.30	14.19	14.36
6027	0.19	297.3	2630	2103	2188	2089	308.6	10.7	483	6027	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2102	2137	2186	2089	0	0	0	0	0	0	14.66	14.69	14.68
6327	0.19	298.1	2630	2102	2189	2088	278.1	10.0	493	6331	0.00	2.50	0.00	0.000	548	0.000	0.085	2630	694	2137	2187	2088	0	0	0	0	0	0	14.71	14.23	14.70
6387	0.29	314.2	2631	694	2188	2088	272.4	9.3	505	6419	0.15	2.47	23.35	1.447	11430	0.112	0.078	2692	2101	2082	2128	2037	0	0	0	0	0	0	14.34	14.25	13.30
6718	0.20	314.2	2692	2102	2125	2030	229.7	12.1	521	6723	0.15	2.47	0.00	0.000	4740	0.237	0.083	2658	689	2077	2125	2029	0	0	0	0	0	0	14.00	14.17	14.14
6764	0.26	335.1	2657	688	2123	2029	225.1	9.0	530	6804	0.00	2.45	33.75	1.381	9382	0.000	0.079	2657	2100	1996	2041	1951	0	0	0	0	0	0	14.36	14.23	13.26
7111	0.30	357.5	2658	2101	2039	1943	193.6	9.0	549	7154	0.00	2.53	35.80	1.359	8612	0.000	0.083	2657	3510	1903	1940	1867	0	0	0	0	0	0	14.58	14.12	13.26
7191	0.35	362.8	2658	3511	1936	1867	186.3	9.8	565	7203	0.12	2.42	4.18	1.562	11430	0.124	0.063	2706	2096	1886	1920	1853	0	0	0	0	0	0	14.18	14.15	12.95
7499	0.31	362.8	2706	2095	1921	1854	152.0	10.9	577	7504	0.00	2.45	0.00	0.000	644	0.000	0.087	2708	689	1885	1920	1851	0	0	0	0	0	0	14.60	14.12	14.62
7659	0.32	368.5	2709	689	1918	1852	136.0	9.7	609	7674	0.00	2.45	9.35	1.550	9254	0.000	0.077	2708	2101	1863	1894	1832	0	0	0	0	0	0	14.14	14.01	13.24
7980	0.33	383.1	2714	2102	1886	1827	104.3	9.3	623	8005	0.00	2.47	19.05	1.393	8740	0.000	0.087	2709	682	1801	1826	1776	0	0	0	0	0	0	14.63	14.22	13.31
8082	0.41	413.2	2710	682	1821	1776	95.4	8.6	643	8104	0.00	2.53	16.38	0.493	9382	0.000	0.078	2710	2111	1677	1698	1656	0	0	0	0	0	0	14.31	14.17	13.61
8400	0.50	472.5	2710	2111	1703	1651	69.7	7.3	677	8438	0.00	2.47	31.30	0.412	8612	0.000	0.083	2710	3509	1437	1476	1399	0	0	0	0	0	0	14.57	14.07	13.62
8490	0.66	524.5	2710	3511	1480	1398	63.1	7.6	694	8523	0.28	2.45	27.73	0.392	11430	0.082	0.066	2807	2091	1227	1284	1170	0	0	0	0	0	0	14.07	14.00	13.71
8828	0.68	558.1	2807	2092	1284	1160	30.2	8.5	731	8851	0.00	2.55	17.65	0.298	8740	0.000	0.090	2808	688	1088	1153	1024	0	0	0	0	0	0	14.55	14.07	13.79
8958	0.83	646.4	2808	689	1153	1024	21.4	5.9	756	9011	0.12	2.47	47.08	0.271	11430	0.130	0.076	2865	2105	729	788	670	0	0	0	0	0	0	14.19	14.14	13.80
9144	end climb: SURFACE_DEPTH_REACHED
state	9144	begin surface coast
9154	end surface coast: CONTROL_FINISHED_OK
state	9154	begin surface