Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 285 * 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 285 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 793.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 793.0 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 28 VBD_MIN 500

DIVE 285 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 080917,224238,7536.2832,-15107.0225,22,0.7,27,20.8,0.3,121.5,11,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 337.5,12749,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 080917,225402,7536.2759,-15106.9355,16,0.8,40,20.8,0.5,31.4,10,9.5

Post-dive calculations and measurements:

FINISH 0.4,1.021566 _24V_AH 12.30,178.930

SM_CCo 8796,39.97,0.207,0,0,498,702.78 _10V_AH 12.16,0.000

SM_GC 1.01,8.27,0.17,39.97,0.083,0.119,0.207,201,2229,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.32,14.30,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 222 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7537.22,-15114.39,080917,201146 DATA_FILE_SIZE 23441,649

TT8_MAMPS 0.038948,0.939246 CAP_FILE_SIZE 95486,0

HUMID 47.00 CFSIZE 2097872896,2005041152

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

TCM_TEMP 13.20 SOUNDSPEED 1444.3

XPDR_PINGS 19 CURRENT 0.032,276.26,1

CP_FREE 0.000000 GPS 090917,012300,7537.517,-15106.489,16,0.7,19,20.8,0.2,126.1,11,8.7

PM_FREEKB_00 49540544

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 145.35 nil 0 0 0.00

Roll_motor 68 212 178.20 nil 0 0 0.00

VBD_pump_during_apogee 939 1431 16538.30 nil 0 0 0.00

VBD_pump_during_surface 39 206 101.56 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 4985 14 908.57

Iridium_during_xfer 361 159 710.08 NCP 8767 20 2156.68

Transponder_ping 4 420 24.54 PMAR 8749 9 1068.70

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.35

TT8 0 0 0.00

LPSleep 6187 2 173.80

TT8_Active 892 13 151.56

TT8_Sampling 2179 33 886.06

TT8_CF8 278 38 130.90

TT8_Kalman 0 0 0.00

Analog_circuits 2215 10 269.40

GPS_charging 0 0 0.00

Compass 930 7 79.25

RAFOS 2121 48 1237.99

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 -145.9 189 2195 496 492 0.0 0.0 0 143 0.00 0.00 -91.10 0.000 16386 0.000 0.000 188 2194 2109 2038 2180 0 0 0 0 0 0 14.54 28.83 14.57

146 -0.57 -145.9 188 2195 2039 2183 3.1 -3.8 9 203 12.90 0.00 -40.17 0.000 18470 0.454 0.000 2384 2195 3963 3947 3980 0 0 0 0 0 0 13.62 12.52 14.14

501 -0.67 -145.9 2385 2195 3955 3981 69.8 -12.7 45 506 0.00 2.45 0.00 0.000 388 0.000 0.086 2379 3590 3967 3955 3980 0 0 0 0 0 0 14.69 14.17 14.69

542 -0.87 -145.9 2380 3592 3956 3979 74.1 -9.7 53 547 0.25 2.35 0.00 0.000 5286 0.100 0.056 2289 2201 3968 3956 3980 0 0 0 0 0 0 14.21 14.17 14.31

874 -0.87 -145.9 2289 2201 3956 3980 129.0 -15.3 75 875 0.00 0.00 0.00 0.000 6 0.000 0.000 2288 2201 3967 3955 3980 0 0 0 0 0 0 14.72 14.74 14.74

1172 -0.91 -145.9 2289 2202 3956 3981 169.6 -12.9 85 1177 0.00 2.45 0.00 0.000 388 0.000 0.087 2281 3588 3967 3955 3979 0 0 0 0 0 0 14.76 14.19 14.78

1237 -1.05 -145.9 2281 3589 3956 3981 177.3 -10.9 98 1242 0.12 2.35 0.00 0.000 5254 0.129 0.057 2232 2190 3967 3955 3980 0 0 0 0 0 0 14.31 14.27 14.40

1562 -1.01 -145.9 2232 2190 3956 3979 232.8 -16.8 113 1567 0.00 2.45 0.00 0.000 388 0.000 0.086 2223 3581 3967 3955 3980 0 0 0 0 0 0 14.75 14.19 14.78

1653 -1.05 -145.9 2223 3581 3956 3980 246.4 -13.6 131 1658 0.00 2.35 0.00 0.000 1158 0.000 0.057 2223 2199 3967 3955 3979 0 0 0 0 0 0 14.39 14.26 14.45

1983 -1.05 -145.9 2223 2199 3956 3981 294.3 -14.0 147 1989 0.00 2.45 0.00 0.000 260 0.000 0.089 2222 3587 3967 3955 3980 0 0 0 0 0 0 14.76 14.19 14.78

2116 -1.13 -145.9 2223 3588 3956 3980 310.4 -11.5 173 2121 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2198 3967 3955 3980 0 0 0 0 0 0 14.30 14.17 14.33

2436 -1.13 -145.9 2222 2197 3955 3980 350.7 -12.3 187 2441 0.00 2.45 0.00 0.000 260 0.000 0.088 2222 3587 3967 3954 3980 0 0 0 0 0 0 14.76 14.18 14.78

2531 -1.22 -145.9 2222 3588 3955 3980 361.4 -10.6 206 2537 0.12 2.33 0.00 0.000 5254 0.135 0.055 2172 2199 3966 3954 3979 0 0 0 0 0 0 14.28 14.26 14.40

2857 -1.13 -145.9 2173 2198 3956 3978 414.6 -16.5 221 2862 0.15 2.42 0.00 0.000 2436 0.288 0.082 2198 3582 3966 3954 3978 0 0 0 0 0 0 13.90 14.18 14.07

2932 -1.16 -145.9 2198 3583 3955 3979 424.9 -12.6 236 2937 0.00 2.33 0.00 0.000 1158 0.000 0.055 2198 2199 3966 3954 3978 0 0 0 0 0 0 14.42 14.26 14.42

3247 -1.14 -145.9 2198 2198 3955 3978 467.8 -13.6 249 3252 0.00 2.42 0.00 0.000 388 0.000 0.085 2188 3582 3966 3954 3978 0 0 0 0 0 0 14.74 14.18 14.76

3327 -1.14 -145.9 2189 3582 3954 3978 478.8 -13.3 265 3332 0.00 2.33 0.00 0.000 1030 0.000 0.055 2190 2199 3966 3954 3978 0 0 0 0 0 0 14.31 14.19 14.35

3334 end dive: TARGET_DEPTH_EXCEEDED

state 3334 begin apogee

3340 -0.13 0.0 2189 2072 3955 3978 480.1 -12.9 267 3564 1.38 0.00 220.23 1.422 10246 0.251 0.000 2529 2070 3365 3386 3344 0 0 0 0 0 0 13.82 13.54 12.69

3568 end apogee: CONTROL_FINISHED_OK

state 3568 begin climb

3570 0.57 145.9 2530 2070 3382 3337 491.8 0.0 274 3981 0.75 0.00 211.25 1.373 11014 0.062 0.000 2783 2070 2755 2794 2716 0 0 0 0 0 0 13.69 12.89 12.30

4302 0.14 145.9 2783 2069 2793 2714 429.5 14.7 290 4307 0.65 2.40 0.00 0.000 4740 0.317 0.079 2646 707 2753 2792 2714 0 0 0 0 0 0 13.64 14.00 13.88

4452 0.03 182.7 2647 707 2800 2713 415.6 8.3 320 4514 0.22 2.40 51.00 1.413 13478 0.269 0.079 2595 2074 2615 2665 2566 0 0 0 0 0 0 13.80 14.08 13.12

4812 0.03 225.5 2600 2074 2665 2556 386.9 8.0 342 4878 0.00 0.00 63.97 1.385 8358 0.000 0.000 2599 2074 2443 2499 2388 0 0 0 0 0 0 14.42 13.89 13.11

5172 0.05 256.9 2599 2075 2493 2374 356.4 8.6 354 5222 0.00 0.00 48.00 1.390 8230 0.000 0.000 2599 2074 2315 2367 2263 0 0 0 0 0 0 14.42 13.95 13.15

5502 0.11 284.6 2599 2075 2359 2251 327.7 8.7 365 5545 0.00 0.00 41.35 1.391 8358 0.000 0.000 2599 2075 2204 2256 2153 0 0 0 0 0 0 14.42 13.88 13.16

5832 0.20 314.4 2600 2074 2248 2139 299.1 8.6 376 5881 0.15 0.00 46.60 1.361 10406 0.112 0.000 2665 2074 2081 2131 2032 0 0 0 0 0 0 14.18 13.97 13.19

6162 0.16 314.4 2666 2075 2117 2019 257.9 12.2 387 6168 0.12 2.38 0.00 0.000 4740 0.261 0.083 2644 708 2069 2121 2018 0 0 0 0 0 0 13.89 14.03 13.99

6199 0.23 316.3 2644 709 2120 2022 254.1 9.9 394 6204 0.00 2.40 0.00 0.000 1190 0.000 0.078 2644 2103 2070 2119 2021 0 0 0 0 0 0 14.20 14.06 14.23

6526 0.27 345.3 2643 2104 2120 2017 224.4 8.7 409 6580 0.00 2.47 47.17 1.334 8868 0.000 0.085 2644 711 1952 1999 1906 0 0 0 0 0 0 14.45 13.81 13.25

6646 0.41 390.6 2644 711 1993 1906 214.4 7.9 433 6726 0.22 2.45 74.80 1.258 11430 0.093 0.080 2732 2099 1773 1800 1747 0 0 0 0 0 0 14.09 14.01 13.10

7036 0.34 390.6 2732 2100 1789 1732 160.0 13.9 461 7041 0.15 2.45 0.00 0.000 4740 0.230 0.084 2699 716 1760 1789 1732 0 0 0 0 0 0 13.96 14.10 14.13

7101 0.40 390.6 2699 716 1785 1733 152.6 10.5 474 7106 0.00 2.42 0.00 0.000 1158 0.000 0.077 2699 2103 1760 1785 1735 0 0 0 0 0 0 14.33 14.20 14.38

7427 0.41 398.9 2699 2106 1785 1730 119.9 9.6 489 7436 0.00 2.50 2.65 1.036 8484 0.000 0.082 2699 3509 1739 1768 1711 0 0 0 0 0 0 14.65 14.21 12.79

7457 0.42 407.2 2699 3510 1769 1715 116.8 9.6 495 7477 0.00 2.38 13.90 1.431 9254 0.000 0.062 2699 2122 1701 1729 1674 0 0 0 0 0 0 14.35 14.21 13.26

7777 0.49 448.3 2699 2122 1727 1665 88.5 8.1 518 7804 0.12 2.53 21.33 0.467 10916 0.131 0.087 2767 689 1537 1567 1508 0 0 0 0 0 0 14.16 13.97 13.64

7944 0.49 448.3 2768 690 1565 1507 70.0 10.1 551 7951 0.12 2.47 0.00 0.000 5126 0.244 0.079 2742 2102 1534 1563 1506 0 0 0 0 0 0 13.97 14.14 14.20

8249 0.60 546.3 2742 2104 1564 1501 48.2 5.5 582 8308 0.00 2.53 51.08 0.345 8868 0.000 0.086 2742 693 1137 1200 1074 0 0 0 0 0 0 14.59 13.95 13.74

8393 0.84 633.5 2744 695 1200 1070 40.0 6.0 610 8447 0.32 2.47 46.08 0.317 11430 0.081 0.077 2866 2106 780 846 714 0 0 0 0 0 0 14.15 14.08 13.69

8720 end climb: SURFACE_DEPTH_REACHED

state 8720 begin surface coast

8730 end surface coast: CONTROL_FINISHED_OK

state 8731 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	285	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	793.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,224238,7536.2832,-15107.0225,22,0.7,27,20.8,0.3,121.5,11,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	337.5,12749,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	080917,225402,7536.2759,-15106.9355,16,0.8,40,20.8,0.5,31.4,10,9.5

FINISH	0.4,1.021566	_24V_AH	12.30,178.930
SM_CCo	8796,39.97,0.207,0,0,498,702.78	_10V_AH	12.16,0.000
SM_GC	1.01,8.27,0.17,39.97,0.083,0.119,0.207,201,2229,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.32,14.30,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	222	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7537.22,-15114.39,080917,201146	DATA_FILE_SIZE	23441,649
TT8_MAMPS	0.038948,0.939246	CAP_FILE_SIZE	95486,0
HUMID	47.00	CFSIZE	2097872896,2005041152
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1444.3
XPDR_PINGS	19	CURRENT	0.032,276.26,1
CP_FREE	0.000000	GPS	090917,012300,7537.517,-15106.489,16,0.7,19,20.8,0.2,126.1,11,8.7
PM_FREEKB_00	49540544

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	145.35	nil	0	0	0.00
Roll_motor	68	212	178.20	nil	0	0	0.00
VBD_pump_during_apogee	939	1431	16538.30	nil	0	0	0.00
VBD_pump_during_surface	39	206	101.56	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	4985	14	908.57
Iridium_during_xfer	361	159	710.08	NCP	8767	20	2156.68
Transponder_ping	4	420	24.54	PMAR	8749	9	1068.70
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.35
TT8	0	0	0.00
LPSleep	6187	2	173.80
TT8_Active	892	13	151.56
TT8_Sampling	2179	33	886.06
TT8_CF8	278	38	130.90
TT8_Kalman	0	0	0.00
Analog_circuits	2215	10	269.40
GPS_charging	0	0	0.00
Compass	930	7	79.25
RAFOS	2121	48	1237.99
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	189	2195	496	492	0.0	0.0	0	143	0.00	0.00	-91.10	0.000	16386	0.000	0.000	188	2194	2109	2038	2180	0	0	0	0	0	0	14.54	28.83	14.57
146	-0.57	-145.9	188	2195	2039	2183	3.1	-3.8	9	203	12.90	0.00	-40.17	0.000	18470	0.454	0.000	2384	2195	3963	3947	3980	0	0	0	0	0	0	13.62	12.52	14.14
501	-0.67	-145.9	2385	2195	3955	3981	69.8	-12.7	45	506	0.00	2.45	0.00	0.000	388	0.000	0.086	2379	3590	3967	3955	3980	0	0	0	0	0	0	14.69	14.17	14.69
542	-0.87	-145.9	2380	3592	3956	3979	74.1	-9.7	53	547	0.25	2.35	0.00	0.000	5286	0.100	0.056	2289	2201	3968	3956	3980	0	0	0	0	0	0	14.21	14.17	14.31
874	-0.87	-145.9	2289	2201	3956	3980	129.0	-15.3	75	875	0.00	0.00	0.00	0.000	6	0.000	0.000	2288	2201	3967	3955	3980	0	0	0	0	0	0	14.72	14.74	14.74
1172	-0.91	-145.9	2289	2202	3956	3981	169.6	-12.9	85	1177	0.00	2.45	0.00	0.000	388	0.000	0.087	2281	3588	3967	3955	3979	0	0	0	0	0	0	14.76	14.19	14.78
1237	-1.05	-145.9	2281	3589	3956	3981	177.3	-10.9	98	1242	0.12	2.35	0.00	0.000	5254	0.129	0.057	2232	2190	3967	3955	3980	0	0	0	0	0	0	14.31	14.27	14.40
1562	-1.01	-145.9	2232	2190	3956	3979	232.8	-16.8	113	1567	0.00	2.45	0.00	0.000	388	0.000	0.086	2223	3581	3967	3955	3980	0	0	0	0	0	0	14.75	14.19	14.78
1653	-1.05	-145.9	2223	3581	3956	3980	246.4	-13.6	131	1658	0.00	2.35	0.00	0.000	1158	0.000	0.057	2223	2199	3967	3955	3979	0	0	0	0	0	0	14.39	14.26	14.45
1983	-1.05	-145.9	2223	2199	3956	3981	294.3	-14.0	147	1989	0.00	2.45	0.00	0.000	260	0.000	0.089	2222	3587	3967	3955	3980	0	0	0	0	0	0	14.76	14.19	14.78
2116	-1.13	-145.9	2223	3588	3956	3980	310.4	-11.5	173	2121	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2198	3967	3955	3980	0	0	0	0	0	0	14.30	14.17	14.33
2436	-1.13	-145.9	2222	2197	3955	3980	350.7	-12.3	187	2441	0.00	2.45	0.00	0.000	260	0.000	0.088	2222	3587	3967	3954	3980	0	0	0	0	0	0	14.76	14.18	14.78
2531	-1.22	-145.9	2222	3588	3955	3980	361.4	-10.6	206	2537	0.12	2.33	0.00	0.000	5254	0.135	0.055	2172	2199	3966	3954	3979	0	0	0	0	0	0	14.28	14.26	14.40
2857	-1.13	-145.9	2173	2198	3956	3978	414.6	-16.5	221	2862	0.15	2.42	0.00	0.000	2436	0.288	0.082	2198	3582	3966	3954	3978	0	0	0	0	0	0	13.90	14.18	14.07
2932	-1.16	-145.9	2198	3583	3955	3979	424.9	-12.6	236	2937	0.00	2.33	0.00	0.000	1158	0.000	0.055	2198	2199	3966	3954	3978	0	0	0	0	0	0	14.42	14.26	14.42
3247	-1.14	-145.9	2198	2198	3955	3978	467.8	-13.6	249	3252	0.00	2.42	0.00	0.000	388	0.000	0.085	2188	3582	3966	3954	3978	0	0	0	0	0	0	14.74	14.18	14.76
3327	-1.14	-145.9	2189	3582	3954	3978	478.8	-13.3	265	3332	0.00	2.33	0.00	0.000	1030	0.000	0.055	2190	2199	3966	3954	3978	0	0	0	0	0	0	14.31	14.19	14.35
3334	end dive: TARGET_DEPTH_EXCEEDED
state	3334	begin apogee
3340	-0.13	0.0	2189	2072	3955	3978	480.1	-12.9	267	3564	1.38	0.00	220.23	1.422	10246	0.251	0.000	2529	2070	3365	3386	3344	0	0	0	0	0	0	13.82	13.54	12.69
3568	end apogee: CONTROL_FINISHED_OK
state	3568	begin climb
3570	0.57	145.9	2530	2070	3382	3337	491.8	0.0	274	3981	0.75	0.00	211.25	1.373	11014	0.062	0.000	2783	2070	2755	2794	2716	0	0	0	0	0	0	13.69	12.89	12.30
4302	0.14	145.9	2783	2069	2793	2714	429.5	14.7	290	4307	0.65	2.40	0.00	0.000	4740	0.317	0.079	2646	707	2753	2792	2714	0	0	0	0	0	0	13.64	14.00	13.88
4452	0.03	182.7	2647	707	2800	2713	415.6	8.3	320	4514	0.22	2.40	51.00	1.413	13478	0.269	0.079	2595	2074	2615	2665	2566	0	0	0	0	0	0	13.80	14.08	13.12
4812	0.03	225.5	2600	2074	2665	2556	386.9	8.0	342	4878	0.00	0.00	63.97	1.385	8358	0.000	0.000	2599	2074	2443	2499	2388	0	0	0	0	0	0	14.42	13.89	13.11
5172	0.05	256.9	2599	2075	2493	2374	356.4	8.6	354	5222	0.00	0.00	48.00	1.390	8230	0.000	0.000	2599	2074	2315	2367	2263	0	0	0	0	0	0	14.42	13.95	13.15
5502	0.11	284.6	2599	2075	2359	2251	327.7	8.7	365	5545	0.00	0.00	41.35	1.391	8358	0.000	0.000	2599	2075	2204	2256	2153	0	0	0	0	0	0	14.42	13.88	13.16
5832	0.20	314.4	2600	2074	2248	2139	299.1	8.6	376	5881	0.15	0.00	46.60	1.361	10406	0.112	0.000	2665	2074	2081	2131	2032	0	0	0	0	0	0	14.18	13.97	13.19
6162	0.16	314.4	2666	2075	2117	2019	257.9	12.2	387	6168	0.12	2.38	0.00	0.000	4740	0.261	0.083	2644	708	2069	2121	2018	0	0	0	0	0	0	13.89	14.03	13.99
6199	0.23	316.3	2644	709	2120	2022	254.1	9.9	394	6204	0.00	2.40	0.00	0.000	1190	0.000	0.078	2644	2103	2070	2119	2021	0	0	0	0	0	0	14.20	14.06	14.23
6526	0.27	345.3	2643	2104	2120	2017	224.4	8.7	409	6580	0.00	2.47	47.17	1.334	8868	0.000	0.085	2644	711	1952	1999	1906	0	0	0	0	0	0	14.45	13.81	13.25
6646	0.41	390.6	2644	711	1993	1906	214.4	7.9	433	6726	0.22	2.45	74.80	1.258	11430	0.093	0.080	2732	2099	1773	1800	1747	0	0	0	0	0	0	14.09	14.01	13.10
7036	0.34	390.6	2732	2100	1789	1732	160.0	13.9	461	7041	0.15	2.45	0.00	0.000	4740	0.230	0.084	2699	716	1760	1789	1732	0	0	0	0	0	0	13.96	14.10	14.13
7101	0.40	390.6	2699	716	1785	1733	152.6	10.5	474	7106	0.00	2.42	0.00	0.000	1158	0.000	0.077	2699	2103	1760	1785	1735	0	0	0	0	0	0	14.33	14.20	14.38
7427	0.41	398.9	2699	2106	1785	1730	119.9	9.6	489	7436	0.00	2.50	2.65	1.036	8484	0.000	0.082	2699	3509	1739	1768	1711	0	0	0	0	0	0	14.65	14.21	12.79
7457	0.42	407.2	2699	3510	1769	1715	116.8	9.6	495	7477	0.00	2.38	13.90	1.431	9254	0.000	0.062	2699	2122	1701	1729	1674	0	0	0	0	0	0	14.35	14.21	13.26
7777	0.49	448.3	2699	2122	1727	1665	88.5	8.1	518	7804	0.12	2.53	21.33	0.467	10916	0.131	0.087	2767	689	1537	1567	1508	0	0	0	0	0	0	14.16	13.97	13.64
7944	0.49	448.3	2768	690	1565	1507	70.0	10.1	551	7951	0.12	2.47	0.00	0.000	5126	0.244	0.079	2742	2102	1534	1563	1506	0	0	0	0	0	0	13.97	14.14	14.20
8249	0.60	546.3	2742	2104	1564	1501	48.2	5.5	582	8308	0.00	2.53	51.08	0.345	8868	0.000	0.086	2742	693	1137	1200	1074	0	0	0	0	0	0	14.59	13.95	13.74
8393	0.84	633.5	2744	695	1200	1070	40.0	6.0	610	8447	0.32	2.47	46.08	0.317	11430	0.081	0.077	2866	2106	780	846	714	0	0	0	0	0	0	14.15	14.08	13.69
8720	end climb: SURFACE_DEPTH_REACHED
state	8720	begin surface coast
8730	end surface coast: CONTROL_FINISHED_OK
state	8731	begin surface