Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 291 * 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 291 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 807.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 807.0 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 26 VBD_MIN 500

DIVE 291 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 090917,150050,7541.1343,-15107.0742,57,0.8,57,20.8,1.2,129.7,10,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 309.1,4020,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.3 D_GRID 480

GPS2 090917,150722,7541.1138,-15107.0557,5,0.9,10,20.8,0.0,269.4,10,9.2

Post-dive calculations and measurements:

FINISH 0.0,1.021593 _24V_AH 12.17,182.291

SM_CCo 9147,53.83,0.207,0,0,501,703.03 _10V_AH 12.03,0.000

SM_GC 1.02,7.93,0.12,53.83,0.063,0.112,0.207,207,2231,501,-7.36,-0.62,703.03,0,0,0,0,0,0,14.26,14.30,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 270 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323676

IRIDIUM_FIX 7543.23,-15101.80,090917,122646 DATA_FILE_SIZE 23419,685

TT8_MAMPS 0.038948,1.00965 CAP_FILE_SIZE 101181,0

HUMID 47.16 CFSIZE 2097872896,2003632128

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

TCM_TEMP 13.40 SOUNDSPEED 1445.3

XPDR_PINGS 18 CURRENT 0.025,217.61,1

CP_FREE 15947988992.000000 GPS 090917,174230,7542.259,-15109.281,22,0.8,28,20.8,0.5,181.8,11,9.4

PM_FREEKB_00 49167040

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 144.44 nil 0 0 0.00

Roll_motor 84 2134 2189.70 nil 0 0 0.00

VBD_pump_during_apogee 977 1425 16959.14 nil 0 0 0.00

VBD_pump_during_surface 53 206 135.30 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 5184 14 910.82

Iridium_during_xfer 197 134 324.15 NCP 9118 20 2219.32

Transponder_ping 4 420 23.00 PMAR 9105 98 10934.96

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.13

TT8 0 0 0.00

LPSleep 6561 2 182.33

TT8_Active 942 13 158.37

TT8_Sampling 1851 33 744.69

TT8_CF8 253 38 117.90

TT8_Kalman 0 0 0.00

Analog_circuits 1952 10 234.92

GPS_charging 0 0 0.00

Compass 983 7 82.78

RAFOS 2194 48 1266.90

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 -145.9 192 2234 516 489 0.0 0.0 0 144 0.00 0.00 -91.55 0.000 16386 0.000 0.000 190 2233 2134 2065 2203 0 0 0 0 0 0 14.53 28.83 14.53

147 -0.57 -145.9 191 2234 2066 2205 3.4 -4.6 9 205 13.05 2.70 -37.05 0.000 19236 0.458 2.134 2376 3582 3962 3946 3978 0 0 0 0 0 0 13.55 12.83 14.02

235 -0.61 -145.9 2376 3582 3951 3978 28.7 -20.7 23 240 0.00 2.40 0.00 0.000 1158 0.000 0.063 2376 2199 3962 3949 3976 0 0 0 0 0 0 14.10 13.99 14.14

545 -0.71 -145.9 2376 2198 3952 3978 75.8 -11.5 55 546 0.00 0.00 0.00 0.000 134 0.000 0.000 2375 2198 3964 3951 3978 0 0 0 0 0 0 14.37 14.39 14.38

867 -0.88 -145.9 2376 2198 3955 3978 105.6 -8.2 83 872 0.22 2.50 0.00 0.000 4516 0.099 0.086 2277 3586 3964 3952 3977 0 0 0 0 0 0 14.03 13.99 14.08

953 -0.98 -145.9 2277 3589 3952 3979 116.8 -12.8 100 960 0.00 2.40 0.00 0.000 1158 0.000 0.058 2277 2197 3964 3951 3978 0 0 0 0 0 0 14.15 14.03 14.18

1257 -0.98 -145.9 2277 2196 3952 3978 162.9 -14.5 111 1262 0.00 2.50 0.00 0.000 260 0.000 0.086 2267 3588 3964 3951 3978 0 0 0 0 0 0 14.41 13.99 14.42

1318 -1.08 -145.9 2264 3590 3952 3976 170.8 -12.3 123 1322 0.00 2.40 0.00 0.000 1158 0.000 0.057 2267 2201 3964 3951 3978 0 0 0 0 0 0 14.14 14.02 14.17

1648 -1.11 -145.9 2267 2200 3953 3978 217.4 -13.7 139 1653 0.12 2.47 0.00 0.000 4484 0.142 0.083 2209 3581 3964 3951 3978 0 0 0 0 0 0 14.04 13.93 14.07

1713 -1.09 -145.9 2209 3582 3952 3979 228.2 -16.6 152 1719 0.00 2.38 0.00 0.000 1158 0.000 0.057 2210 2198 3964 3951 3977 0 0 0 0 0 0 14.13 14.02 14.18

2039 -1.03 -145.9 2209 2196 3953 3978 283.1 -15.9 167 2044 0.12 2.50 0.00 0.000 2436 0.309 0.085 2231 3588 3965 3952 3978 0 0 0 0 0 0 13.68 13.92 13.85

2120 -1.12 -145.9 2231 3589 3952 3979 293.3 -11.5 183 2124 0.00 2.40 0.00 0.000 1158 0.000 0.057 2229 2195 3964 3951 3978 0 0 0 0 0 0 14.14 14.02 14.17

2430 -1.14 -145.9 2231 2193 3952 3978 331.6 -12.0 195 2434 0.00 2.50 0.00 0.000 388 0.000 0.087 2223 3586 3964 3951 3977 0 0 0 0 0 0 14.41 13.97 14.42

2505 -1.23 -145.9 2223 3589 3952 3979 340.3 -11.0 210 2510 0.12 2.40 0.00 0.000 5254 0.133 0.055 2175 2192 3964 3951 3978 0 0 0 0 0 0 14.05 14.02 14.15

2820 -1.15 -145.9 2174 2192 3951 3978 392.3 -16.4 223 2825 0.12 2.50 0.00 0.000 2436 0.328 0.082 2190 3581 3964 3951 3977 0 0 0 0 0 0 13.57 13.92 13.78

2927 -1.15 -145.9 2191 3581 3952 3977 407.2 -13.2 244 2933 0.00 2.38 0.00 0.000 1030 0.000 0.055 2191 2196 3964 3951 3977 0 0 0 0 0 0 14.12 14.00 14.16

3245 -1.11 -145.9 2190 2196 3952 3977 453.3 -14.5 257 3250 0.12 2.50 0.00 0.000 2436 0.313 0.083 2210 3580 3964 3951 3977 0 0 0 0 0 0 13.62 13.85 13.80

3330 -1.18 -145.9 2210 3582 3950 3978 463.9 -11.2 274 3336 0.00 2.40 0.00 0.000 1158 0.000 0.054 2209 2201 3964 3951 3977 0 0 0 0 0 0 13.96 13.85 14.00

3482 end dive: TARGET_DEPTH_EXCEEDED

state 3483 begin apogee

3488 -0.13 0.0 2210 2061 3951 3979 483.1 -12.5 280 3720 1.27 0.00 228.62 1.383 10246 0.230 0.000 2527 2059 3365 3386 3344 0 0 0 0 0 0 13.63 13.28 12.48

3724 end apogee: CONTROL_FINISHED_OK

state 3724 begin climb

3726 0.57 145.9 2528 2060 3377 3335 494.7 0.0 287 3949 0.75 2.62 216.40 1.324 10756 0.060 0.079 2788 724 2765 2808 2722 0 0 0 0 0 0 13.45 12.75 12.17

4147 0.17 145.9 2781 724 2792 2711 483.3 13.7 328 4154 0.68 2.47 0.00 0.000 5254 0.321 0.074 2644 2073 2749 2791 2708 0 0 0 0 0 0 13.21 13.49 13.55

4452 0.02 173.0 2645 2074 2792 2704 455.6 8.7 339 4493 0.22 0.00 36.25 1.425 12966 0.259 0.000 2594 2073 2654 2703 2606 0 0 0 0 0 0 13.65 13.62 13.04

4815 0.01 222.5 2595 2073 2696 2587 428.3 7.7 356 4893 0.00 0.00 76.53 1.349 8870 0.000 0.000 2597 2073 2453 2516 2391 0 0 0 0 0 0 14.23 13.76 13.03

5203 0.03 249.4 2598 2074 2500 2375 394.6 8.8 374 5243 0.00 0.00 38.12 1.385 8230 0.000 0.000 2594 2073 2347 2402 2293 0 0 0 0 0 0 14.21 13.85 13.11

5535 0.08 276.1 2595 2073 2385 2274 365.6 8.8 385 5584 0.00 2.47 39.80 1.362 8868 0.000 0.088 2594 706 2232 2285 2179 0 0 0 0 0 0 14.22 13.86 13.12

5614 0.20 309.9 2594 705 2277 2174 358.7 8.4 401 5676 0.17 2.45 53.28 1.300 11430 0.105 0.078 2667 2099 2097 2148 2047 0 0 0 0 0 0 13.96 13.87 12.99

5988 0.15 309.9 2667 2099 2134 2028 307.7 13.7 425 5993 0.12 2.45 0.00 0.000 4740 0.251 0.083 2644 722 2080 2133 2027 0 0 0 0 0 0 13.84 14.01 13.98

6033 0.18 309.9 2644 721 2133 2027 302.2 11.3 434 6038 0.00 2.45 0.00 0.000 1158 0.000 0.079 2644 2106 2079 2131 2027 0 0 0 0 0 0 14.12 14.00 14.16

6348 0.18 309.9 2644 2110 2132 2026 267.2 10.9 447 6353 0.00 2.47 0.00 0.000 516 0.000 0.085 2644 721 2078 2132 2025 0 0 0 0 0 0 14.36 14.02 14.38

6393 0.23 309.9 2645 722 2130 2026 262.5 10.2 456 6400 0.00 2.42 0.00 0.000 1158 0.000 0.077 2644 2104 2077 2130 2025 0 0 0 0 0 0 14.15 14.02 14.19

6710 0.24 326.3 2645 2105 2130 2026 231.4 9.2 469 6730 0.00 0.00 19.35 1.405 8230 0.000 0.000 2644 2105 2034 2085 1984 0 0 0 0 0 0 14.33 14.01 13.19

7010 0.30 360.2 2644 2105 2072 1970 205.7 8.4 479 7073 0.12 2.55 58.08 1.265 10916 0.124 0.086 2698 729 1891 1929 1854 0 0 0 0 0 0 14.05 13.90 13.16

7094 0.28 360.2 2699 730 1915 1853 196.3 11.8 485 7098 0.00 2.45 0.00 0.000 1158 0.000 0.077 2699 2103 1882 1914 1850 0 0 0 0 0 0 13.98 13.88 14.01

7404 0.25 360.2 2699 2105 1909 1844 161.3 10.9 497 7409 0.12 2.45 0.00 0.000 4740 0.223 0.083 2672 729 1877 1910 1844 0 0 0 0 0 0 13.92 14.02 14.03

7440 0.35 389.2 2672 729 1911 1844 158.1 8.7 504 7495 0.00 2.42 47.75 1.251 9382 0.000 0.079 2672 2099 1770 1796 1745 0 0 0 0 0 0 14.14 14.00 13.18

7796 0.43 425.2 2673 2099 1792 1729 127.0 8.3 525 7866 0.12 2.53 61.42 1.197 10916 0.131 0.088 2733 729 1625 1655 1596 0 0 0 0 0 0 14.06 13.87 13.16

7916 0.46 425.2 2733 729 1644 1591 112.8 11.5 549 7921 0.00 2.45 0.00 0.000 1158 0.000 0.076 2733 2100 1616 1643 1590 0 0 0 0 0 0 13.99 13.89 14.06

8226 0.46 425.2 2734 2102 1644 1581 78.5 10.2 577 8227 0.00 0.00 0.00 0.000 6 0.000 0.000 2734 2101 1612 1643 1581 0 0 0 0 0 0 14.28 14.30 14.29

8528 0.55 515.3 2734 2101 1643 1579 55.7 5.8 607 8582 0.00 2.53 46.72 0.363 8868 0.000 0.086 2733 728 1264 1321 1207 0 0 0 0 0 0 14.31 13.93 13.58

8639 0.76 596.0 2734 728 1323 1213 48.9 6.3 628 8689 0.30 2.45 45.08 0.339 11430 0.083 0.077 2845 2102 940 1010 870 0 0 0 0 0 0 13.96 13.85 13.59

8984 0.74 612.0 2846 2102 1011 874 12.8 9.3 667 9001 0.00 2.60 10.38 0.243 8612 0.000 0.082 2845 3517 869 941 798 0 0 0 0 0 0 14.29 13.90 13.62

9021 0.71 612.0 2846 3519 939 802 9.3 10.3 674 9028 0.17 2.42 0.00 0.000 5254 0.252 0.068 2813 2134 870 938 802 0 0 0 0 0 0 13.78 13.95 13.99

9104 end climb: SURFACE_DEPTH_REACHED

state 9104 begin surface coast

9124 end surface coast: CONTROL_FINISHED_OK

state 9124 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	291	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	807.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,150050,7541.1343,-15107.0742,57,0.8,57,20.8,1.2,129.7,10,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	309.1,4020,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.3	D_GRID	480
GPS2	090917,150722,7541.1138,-15107.0557,5,0.9,10,20.8,0.0,269.4,10,9.2

FINISH	0.0,1.021593	_24V_AH	12.17,182.291
SM_CCo	9147,53.83,0.207,0,0,501,703.03	_10V_AH	12.03,0.000
SM_GC	1.02,7.93,0.12,53.83,0.063,0.112,0.207,207,2231,501,-7.36,-0.62,703.03,0,0,0,0,0,0,14.26,14.30,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	270	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323676
IRIDIUM_FIX	7543.23,-15101.80,090917,122646	DATA_FILE_SIZE	23419,685
TT8_MAMPS	0.038948,1.00965	CAP_FILE_SIZE	101181,0
HUMID	47.16	CFSIZE	2097872896,2003632128
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1445.3
XPDR_PINGS	18	CURRENT	0.025,217.61,1
CP_FREE	15947988992.000000	GPS	090917,174230,7542.259,-15109.281,22,0.8,28,20.8,0.5,181.8,11,9.4
PM_FREEKB_00	49167040

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	144.44	nil	0	0	0.00
Roll_motor	84	2134	2189.70	nil	0	0	0.00
VBD_pump_during_apogee	977	1425	16959.14	nil	0	0	0.00
VBD_pump_during_surface	53	206	135.30	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	5184	14	910.82
Iridium_during_xfer	197	134	324.15	NCP	9118	20	2219.32
Transponder_ping	4	420	23.00	PMAR	9105	98	10934.96
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.13
TT8	0	0	0.00
LPSleep	6561	2	182.33
TT8_Active	942	13	158.37
TT8_Sampling	1851	33	744.69
TT8_CF8	253	38	117.90
TT8_Kalman	0	0	0.00
Analog_circuits	1952	10	234.92
GPS_charging	0	0	0.00
Compass	983	7	82.78
RAFOS	2194	48	1266.90
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	192	2234	516	489	0.0	0.0	0	144	0.00	0.00	-91.55	0.000	16386	0.000	0.000	190	2233	2134	2065	2203	0	0	0	0	0	0	14.53	28.83	14.53
147	-0.57	-145.9	191	2234	2066	2205	3.4	-4.6	9	205	13.05	2.70	-37.05	0.000	19236	0.458	2.134	2376	3582	3962	3946	3978	0	0	0	0	0	0	13.55	12.83	14.02
235	-0.61	-145.9	2376	3582	3951	3978	28.7	-20.7	23	240	0.00	2.40	0.00	0.000	1158	0.000	0.063	2376	2199	3962	3949	3976	0	0	0	0	0	0	14.10	13.99	14.14
545	-0.71	-145.9	2376	2198	3952	3978	75.8	-11.5	55	546	0.00	0.00	0.00	0.000	134	0.000	0.000	2375	2198	3964	3951	3978	0	0	0	0	0	0	14.37	14.39	14.38
867	-0.88	-145.9	2376	2198	3955	3978	105.6	-8.2	83	872	0.22	2.50	0.00	0.000	4516	0.099	0.086	2277	3586	3964	3952	3977	0	0	0	0	0	0	14.03	13.99	14.08
953	-0.98	-145.9	2277	3589	3952	3979	116.8	-12.8	100	960	0.00	2.40	0.00	0.000	1158	0.000	0.058	2277	2197	3964	3951	3978	0	0	0	0	0	0	14.15	14.03	14.18
1257	-0.98	-145.9	2277	2196	3952	3978	162.9	-14.5	111	1262	0.00	2.50	0.00	0.000	260	0.000	0.086	2267	3588	3964	3951	3978	0	0	0	0	0	0	14.41	13.99	14.42
1318	-1.08	-145.9	2264	3590	3952	3976	170.8	-12.3	123	1322	0.00	2.40	0.00	0.000	1158	0.000	0.057	2267	2201	3964	3951	3978	0	0	0	0	0	0	14.14	14.02	14.17
1648	-1.11	-145.9	2267	2200	3953	3978	217.4	-13.7	139	1653	0.12	2.47	0.00	0.000	4484	0.142	0.083	2209	3581	3964	3951	3978	0	0	0	0	0	0	14.04	13.93	14.07
1713	-1.09	-145.9	2209	3582	3952	3979	228.2	-16.6	152	1719	0.00	2.38	0.00	0.000	1158	0.000	0.057	2210	2198	3964	3951	3977	0	0	0	0	0	0	14.13	14.02	14.18
2039	-1.03	-145.9	2209	2196	3953	3978	283.1	-15.9	167	2044	0.12	2.50	0.00	0.000	2436	0.309	0.085	2231	3588	3965	3952	3978	0	0	0	0	0	0	13.68	13.92	13.85
2120	-1.12	-145.9	2231	3589	3952	3979	293.3	-11.5	183	2124	0.00	2.40	0.00	0.000	1158	0.000	0.057	2229	2195	3964	3951	3978	0	0	0	0	0	0	14.14	14.02	14.17
2430	-1.14	-145.9	2231	2193	3952	3978	331.6	-12.0	195	2434	0.00	2.50	0.00	0.000	388	0.000	0.087	2223	3586	3964	3951	3977	0	0	0	0	0	0	14.41	13.97	14.42
2505	-1.23	-145.9	2223	3589	3952	3979	340.3	-11.0	210	2510	0.12	2.40	0.00	0.000	5254	0.133	0.055	2175	2192	3964	3951	3978	0	0	0	0	0	0	14.05	14.02	14.15
2820	-1.15	-145.9	2174	2192	3951	3978	392.3	-16.4	223	2825	0.12	2.50	0.00	0.000	2436	0.328	0.082	2190	3581	3964	3951	3977	0	0	0	0	0	0	13.57	13.92	13.78
2927	-1.15	-145.9	2191	3581	3952	3977	407.2	-13.2	244	2933	0.00	2.38	0.00	0.000	1030	0.000	0.055	2191	2196	3964	3951	3977	0	0	0	0	0	0	14.12	14.00	14.16
3245	-1.11	-145.9	2190	2196	3952	3977	453.3	-14.5	257	3250	0.12	2.50	0.00	0.000	2436	0.313	0.083	2210	3580	3964	3951	3977	0	0	0	0	0	0	13.62	13.85	13.80
3330	-1.18	-145.9	2210	3582	3950	3978	463.9	-11.2	274	3336	0.00	2.40	0.00	0.000	1158	0.000	0.054	2209	2201	3964	3951	3977	0	0	0	0	0	0	13.96	13.85	14.00
3482	end dive: TARGET_DEPTH_EXCEEDED
state	3483	begin apogee
3488	-0.13	0.0	2210	2061	3951	3979	483.1	-12.5	280	3720	1.27	0.00	228.62	1.383	10246	0.230	0.000	2527	2059	3365	3386	3344	0	0	0	0	0	0	13.63	13.28	12.48
3724	end apogee: CONTROL_FINISHED_OK
state	3724	begin climb
3726	0.57	145.9	2528	2060	3377	3335	494.7	0.0	287	3949	0.75	2.62	216.40	1.324	10756	0.060	0.079	2788	724	2765	2808	2722	0	0	0	0	0	0	13.45	12.75	12.17
4147	0.17	145.9	2781	724	2792	2711	483.3	13.7	328	4154	0.68	2.47	0.00	0.000	5254	0.321	0.074	2644	2073	2749	2791	2708	0	0	0	0	0	0	13.21	13.49	13.55
4452	0.02	173.0	2645	2074	2792	2704	455.6	8.7	339	4493	0.22	0.00	36.25	1.425	12966	0.259	0.000	2594	2073	2654	2703	2606	0	0	0	0	0	0	13.65	13.62	13.04
4815	0.01	222.5	2595	2073	2696	2587	428.3	7.7	356	4893	0.00	0.00	76.53	1.349	8870	0.000	0.000	2597	2073	2453	2516	2391	0	0	0	0	0	0	14.23	13.76	13.03
5203	0.03	249.4	2598	2074	2500	2375	394.6	8.8	374	5243	0.00	0.00	38.12	1.385	8230	0.000	0.000	2594	2073	2347	2402	2293	0	0	0	0	0	0	14.21	13.85	13.11
5535	0.08	276.1	2595	2073	2385	2274	365.6	8.8	385	5584	0.00	2.47	39.80	1.362	8868	0.000	0.088	2594	706	2232	2285	2179	0	0	0	0	0	0	14.22	13.86	13.12
5614	0.20	309.9	2594	705	2277	2174	358.7	8.4	401	5676	0.17	2.45	53.28	1.300	11430	0.105	0.078	2667	2099	2097	2148	2047	0	0	0	0	0	0	13.96	13.87	12.99
5988	0.15	309.9	2667	2099	2134	2028	307.7	13.7	425	5993	0.12	2.45	0.00	0.000	4740	0.251	0.083	2644	722	2080	2133	2027	0	0	0	0	0	0	13.84	14.01	13.98
6033	0.18	309.9	2644	721	2133	2027	302.2	11.3	434	6038	0.00	2.45	0.00	0.000	1158	0.000	0.079	2644	2106	2079	2131	2027	0	0	0	0	0	0	14.12	14.00	14.16
6348	0.18	309.9	2644	2110	2132	2026	267.2	10.9	447	6353	0.00	2.47	0.00	0.000	516	0.000	0.085	2644	721	2078	2132	2025	0	0	0	0	0	0	14.36	14.02	14.38
6393	0.23	309.9	2645	722	2130	2026	262.5	10.2	456	6400	0.00	2.42	0.00	0.000	1158	0.000	0.077	2644	2104	2077	2130	2025	0	0	0	0	0	0	14.15	14.02	14.19
6710	0.24	326.3	2645	2105	2130	2026	231.4	9.2	469	6730	0.00	0.00	19.35	1.405	8230	0.000	0.000	2644	2105	2034	2085	1984	0	0	0	0	0	0	14.33	14.01	13.19
7010	0.30	360.2	2644	2105	2072	1970	205.7	8.4	479	7073	0.12	2.55	58.08	1.265	10916	0.124	0.086	2698	729	1891	1929	1854	0	0	0	0	0	0	14.05	13.90	13.16
7094	0.28	360.2	2699	730	1915	1853	196.3	11.8	485	7098	0.00	2.45	0.00	0.000	1158	0.000	0.077	2699	2103	1882	1914	1850	0	0	0	0	0	0	13.98	13.88	14.01
7404	0.25	360.2	2699	2105	1909	1844	161.3	10.9	497	7409	0.12	2.45	0.00	0.000	4740	0.223	0.083	2672	729	1877	1910	1844	0	0	0	0	0	0	13.92	14.02	14.03
7440	0.35	389.2	2672	729	1911	1844	158.1	8.7	504	7495	0.00	2.42	47.75	1.251	9382	0.000	0.079	2672	2099	1770	1796	1745	0	0	0	0	0	0	14.14	14.00	13.18
7796	0.43	425.2	2673	2099	1792	1729	127.0	8.3	525	7866	0.12	2.53	61.42	1.197	10916	0.131	0.088	2733	729	1625	1655	1596	0	0	0	0	0	0	14.06	13.87	13.16
7916	0.46	425.2	2733	729	1644	1591	112.8	11.5	549	7921	0.00	2.45	0.00	0.000	1158	0.000	0.076	2733	2100	1616	1643	1590	0	0	0	0	0	0	13.99	13.89	14.06
8226	0.46	425.2	2734	2102	1644	1581	78.5	10.2	577	8227	0.00	0.00	0.00	0.000	6	0.000	0.000	2734	2101	1612	1643	1581	0	0	0	0	0	0	14.28	14.30	14.29
8528	0.55	515.3	2734	2101	1643	1579	55.7	5.8	607	8582	0.00	2.53	46.72	0.363	8868	0.000	0.086	2733	728	1264	1321	1207	0	0	0	0	0	0	14.31	13.93	13.58
8639	0.76	596.0	2734	728	1323	1213	48.9	6.3	628	8689	0.30	2.45	45.08	0.339	11430	0.083	0.077	2845	2102	940	1010	870	0	0	0	0	0	0	13.96	13.85	13.59
8984	0.74	612.0	2846	2102	1011	874	12.8	9.3	667	9001	0.00	2.60	10.38	0.243	8612	0.000	0.082	2845	3517	869	941	798	0	0	0	0	0	0	14.29	13.90	13.62
9021	0.71	612.0	2846	3519	939	802	9.3	10.3	674	9028	0.17	2.42	0.00	0.000	5254	0.252	0.068	2813	2134	870	938	802	0	0	0	0	0	0	13.78	13.95	13.99
9104	end climb: SURFACE_DEPTH_REACHED
state	9104	begin surface coast
9124	end surface coast: CONTROL_FINISHED_OK
state	9124	begin surface