Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 296 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 12 TGT_DEFAULT_LAT 7545 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 296 TGT_DEFAULT_LON -15041 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.44999999

STOP_T 0 SM_CC 692.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3107 DEVICE1 -1

D_TGT 180 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 820 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 83

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 60 LOGGERDEVICE3 135

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 60 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 85 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 0.004407478

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00064096908

USE_BATHY 0 PITCH_MIN 212 MINV_24V 11 SEABIRD_T_I 2.5637486e-05

USE_ICE 0 PITCH_MAX 3894 MINV_10V 11 SEABIRD_T_J 3.1305062e-06

ICE_FREEZE_MARGIN 0.1 C_PITCH 2200 MAXI_24V 0.60000002 SEABIRD_C_G -9.8934832

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_C_H 1.0879974

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0021788499

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021905446

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 36 PRESSURE_YINT -160.33199 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010704049 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 PM_RECORDABOVE 2000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

MASS 55522 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

MASS_COMP 0 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 PM_NDIVE 1.0

NAV_MODE 2 ROLL_MAX 3790 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

KALMAN_USE 2 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 0.0

HD_A 0.0022 C_ROLL_CLIMB 2320 ALTIM_TOP_MIN_OBSTACLE 1 CP_RECORDABOVE 1000.0

HD_B 0.0185 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_PROFILE 3.0

HD_C 1.91e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_XMITPROFILE 3.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_UPLOADMAX 100000.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 32 ALTIM_PULSE 3 CP_STARTS 774.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 30 ALTIM_SENSITIVITY 2 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0021788499

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021905446

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.004407478

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00064096908

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SEABIRD_T_I 2.5637486e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 3.1305062e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 692.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 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 0.0022 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0185 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.91e-06 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 7545

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -15041

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 198 PRESSURE_SLOPE 0.00010704049 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -160.33199 T_DIVE 60

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 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 83 RAFOS_CORR_THRESH 60 T_MISSION 85

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 774.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2200 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2320 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 60

C_ROLL_DIVE 2500 MASS 55522 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3107 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 3790 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 12 ROLL_MIN 200 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 32 VBD_MIN 500

DIVE 296 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 820 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 -9.8934832 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.0879974 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 230917,150719,7418.8979,-15346.6367,7,0.8,39,19.2,0.0,0.0,10,8.4 SPEED_LIMITS 0.173,0.195

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.04 MHEAD_RNG_PITCHd_Wd 204.5,1556,-19.7,-10.000,-27.15,2241

_SM_ANGLEo -69.7 D_GRID 180

GPS2 230917,151631,7418.9233,-15346.3877,9,0.7,11,19.2,0.0,0.0,12,9.3

Post-dive calculations and measurements:

FINISH 0.0,1.020576 _24V_AH 12.55,189.449

SM_CCo 3941,0.03,2.595,0,0,499,639.99 _10V_AH 12.43,0.000

SM_GC 0.89,7.20,2.83,0.03,0.067,0.083,2.595,182,2500,499,-6.18,-0.76,639.99,0,0,0,0,0,0,14.21,14.04,12.90 FG_AHR_24Vo 0.000

RAFOS_CLK 91 FG_AHR_10Vo 0.000

RAFOS_FIX 7445.924316,-14631.064453,310817,202010,4,255,0.21 MEM 323608

IRIDIUM_FIX 7418.45,-15347.43,230917,142624 DATA_FILE_SIZE 23375,686

TT8_MAMPS 0.087633,0.886067 CAP_FILE_SIZE 77056,0

HUMID 41.92 CFSIZE 2097872896,2001436672

INTERNAL_PRESSURE 7.55812 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 12.90 SOUNDSPEED 1442.9

XPDR_PINGS 8 CURRENT 0.091,79.84,1

PM_FREEKB_00 33627840 GPS 230917,162354,7418.823,-15346.982,4,0.9,10,19.2,0.0,0.0,9,8.6

CP_FREE 15938682880.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 488 126.69 nil 0 0 0.00

Roll_motor 39 2148 1071.32 nil 0 0 0.00

VBD_pump_during_apogee 777 1192 11631.67 nil 0 0 0.00

VBD_pump_during_surface 37 2594 1222.84 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 3893 19 965.91

Iridium_during_xfer 308 169 657.63 PMAR 3880 16 793.71

Transponder_ping 2 420 10.54 NCP 3848 30 1448.77

GUMSTIX_24V 0 0 0.00

GPS 11 20 3.03

TT8 0 0 0.00

LPSleep 1618 2 46.46

TT8_Active 702 10 93.22

TT8_Sampling 1915 30 717.78

TT8_CF8 291 35 128.07

TT8_Kalman 0 0 0.00

Analog_circuits 1808 10 231.56

GPS_charging 0 0 0.00

Compass 993 6 83.26

RAFOS 2218 48 1323.35

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.65 -145.9 183 2519 516 485 0.0 0.0 0 163 0.00 0.00 -111.40 0.000 16386 0.000 0.000 182 2519 2140 2097 2183 0 0 0 0 0 0 14.47 28.83 14.46

166 -0.65 -145.9 180 2519 2101 2184 3.6 -8.5 19 221 10.80 2.58 -35.53 0.000 18724 0.489 2.149 1970 3764 3706 3679 3734 0 0 0 0 0 0 13.51 12.66 14.08

347 -0.56 -145.9 1973 3765 3674 3735 53.7 -24.2 53 354 0.17 2.12 0.00 0.000 3206 0.276 0.048 2008 2494 3704 3674 3735 0 0 0 0 0 0 13.78 14.10 14.11

534 -0.56 -145.9 2011 2495 3675 3737 84.2 -14.8 90 540 0.00 0.00 0.00 0.000 6 0.000 0.000 2010 2494 3705 3675 3736 0 0 0 0 0 0 14.56 14.57 14.57

721 -0.61 -145.9 2010 2495 3673 3737 109.2 -12.5 127 726 0.00 0.00 0.00 0.000 134 0.000 0.000 2010 2493 3703 3670 3736 0 0 0 0 0 0 14.57 14.58 14.59

906 -0.67 -145.9 2011 2494 3675 3737 131.1 -11.2 164 912 0.00 0.00 0.00 0.000 134 0.000 0.000 2011 2494 3704 3673 3736 0 0 0 0 0 0 14.58 14.60 14.62

1092 -0.76 -145.9 2011 2495 3676 3737 151.2 -10.5 201 1098 0.15 0.00 0.00 0.000 4230 0.118 0.000 1938 2491 3703 3670 3736 0 0 0 0 0 0 14.23 14.28 14.26

1279 -0.76 -145.9 1938 2494 3675 3737 178.6 -14.6 238 1284 0.00 0.00 0.00 0.000 6 0.000 0.000 1938 2494 3706 3676 3736 0 0 0 0 0 0 14.59 14.63 14.62

1286 end dive: TARGET_DEPTH_EXCEEDED

state 1286 begin apogee

1292 -0.14 0.0 1938 2295 3674 3737 180.1 -14.7 240 1538 0.80 0.00 236.32 1.133 10246 0.248 0.000 2144 2291 3106 3066 3146 0 0 0 0 0 0 13.71 13.47 12.95

1542 end apogee: CONTROL_FINISHED_OK

state 1542 begin climb

1544 0.65 145.9 2144 2294 3065 3145 190.9 0.0 282 1757 0.85 2.47 186.18 1.099 10756 0.149 0.066 2402 942 2497 2435 2560 0 0 0 0 0 0 13.69 13.20 12.67

1767 0.65 145.9 2402 943 2434 2558 190.8 0.3 284 1773 0.00 2.47 0.00 0.000 1030 0.000 0.073 2403 2312 2494 2432 2557 0 0 0 0 0 0 13.64 13.51 13.66

1953 0.70 221.3 2402 2313 2426 2555 178.2 6.5 321 2059 0.00 2.42 97.53 1.108 8740 0.000 0.070 2401 935 2194 2128 2260 0 0 0 0 0 0 14.28 13.78 13.03

2286 0.83 272.5 2403 936 2118 2253 153.3 7.7 384 2359 0.20 2.40 66.62 1.108 11430 0.098 0.076 2502 2321 1995 1925 2066 0 0 0 0 0 0 14.18 14.08 13.26

2557 0.77 272.5 2503 2321 1906 2051 117.8 13.8 432 2563 0.20 2.38 0.00 0.000 4740 0.253 0.070 2458 945 1977 1905 2050 0 0 0 0 0 0 13.75 14.01 13.91

2718 0.82 287.2 2457 944 1904 2047 101.2 9.3 464 2742 0.00 2.40 15.68 1.193 9382 0.000 0.075 2458 2326 1931 1860 2002 0 0 0 0 0 0 14.16 14.02 13.29

2922 0.87 316.1 2458 2327 1851 1998 82.3 8.7 504 2946 0.00 2.60 14.80 0.411 8612 0.000 0.106 2458 3730 1825 1751 1899 0 0 0 0 0 0 14.41 13.99 13.59

3011 0.87 316.1 2458 3730 1756 1902 73.0 11.0 521 3018 0.00 2.35 1.73 0.249 9222 0.000 0.050 2458 2345 1818 1746 1891 0 0 0 0 0 0 14.16 14.07 13.80

3199 1.00 391.1 2457 2346 1753 1902 58.5 6.6 558 3253 0.15 2.53 44.75 0.356 10916 0.111 0.074 2548 919 1516 1445 1588 0 0 0 0 0 0 14.19 13.97 13.70

3315 1.02 414.2 2548 920 1446 1595 47.8 8.9 579 3339 0.00 2.45 15.62 0.321 9254 0.000 0.073 2548 2324 1419 1348 1491 0 0 0 0 0 0 14.05 13.93 13.65

3519 1.03 430.2 2547 2325 1350 1501 28.4 9.3 619 3538 0.00 2.60 10.60 0.269 8484 0.000 0.103 2548 3726 1355 1285 1425 0 0 0 0 0 0 14.39 13.95 13.75

3573 1.08 498.2 2546 3727 1288 1436 23.8 6.9 629 3621 0.00 2.38 41.90 0.258 9254 0.000 0.049 2554 2314 1073 1015 1132 0 0 0 0 0 0 14.17 14.05 13.76

3801 1.23 576.2 2555 2315 1022 1143 8.0 6.4 673 3855 0.12 2.47 45.40 0.209 10916 0.126 0.076 2641 922 755 709 802 0 0 0 0 0 0 14.05 13.96 13.74

3858 end climb: SURFACE_DEPTH_REACHED

state 3858 begin surface coast

3875 end surface coast: CONTROL_FINISHED_OK

state 3875 begin surface

ID	198	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	12	TGT_DEFAULT_LAT	7545	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	296	TGT_DEFAULT_LON	-15041	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.44999999
STOP_T	0	SM_CC	692.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3107	DEVICE1	-1
D_TGT	180	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	820	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	83
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	60	LOGGERDEVICE3	135
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	60	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	85	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	0.004407478
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00064096908
USE_BATHY	0	PITCH_MIN	212	MINV_24V	11	SEABIRD_T_I	2.5637486e-05
USE_ICE	0	PITCH_MAX	3894	MINV_10V	11	SEABIRD_T_J	3.1305062e-06
ICE_FREEZE_MARGIN	0.1	C_PITCH	2200	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8934832
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_C_H	1.0879974
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0021788499
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021905446
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	36	PRESSURE_YINT	-160.33199	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010704049	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	PM_RECORDABOVE	2000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
MASS	55522	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
MASS_COMP	0	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	PM_NDIVE	1.0
NAV_MODE	2	ROLL_MAX	3790	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
KALMAN_USE	2	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	0.0
HD_A	0.0022	C_ROLL_CLIMB	2320	ALTIM_TOP_MIN_OBSTACLE	1	CP_RECORDABOVE	1000.0
HD_B	0.0185	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_PROFILE	3.0
HD_C	1.91e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_XMITPROFILE	3.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_UPLOADMAX	100000.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	32	ALTIM_PULSE	3	CP_STARTS	774.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	230917,150719,7418.8979,-15346.6367,7,0.8,39,19.2,0.0,0.0,10,8.4	SPEED_LIMITS	0.173,0.195
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.04	MHEAD_RNG_PITCHd_Wd	204.5,1556,-19.7,-10.000,-27.15,2241
_SM_ANGLEo	-69.7	D_GRID	180
GPS2	230917,151631,7418.9233,-15346.3877,9,0.7,11,19.2,0.0,0.0,12,9.3

FINISH	0.0,1.020576	_24V_AH	12.55,189.449
SM_CCo	3941,0.03,2.595,0,0,499,639.99	_10V_AH	12.43,0.000
SM_GC	0.89,7.20,2.83,0.03,0.067,0.083,2.595,182,2500,499,-6.18,-0.76,639.99,0,0,0,0,0,0,14.21,14.04,12.90	FG_AHR_24Vo	0.000
RAFOS_CLK	91	FG_AHR_10Vo	0.000
RAFOS_FIX	7445.924316,-14631.064453,310817,202010,4,255,0.21	MEM	323608
IRIDIUM_FIX	7418.45,-15347.43,230917,142624	DATA_FILE_SIZE	23375,686
TT8_MAMPS	0.087633,0.886067	CAP_FILE_SIZE	77056,0
HUMID	41.92	CFSIZE	2097872896,2001436672
INTERNAL_PRESSURE	7.55812	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	12.90	SOUNDSPEED	1442.9
XPDR_PINGS	8	CURRENT	0.091,79.84,1
PM_FREEKB_00	33627840	GPS	230917,162354,7418.823,-15346.982,4,0.9,10,19.2,0.0,0.0,9,8.6
CP_FREE	15938682880.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	488	126.69	nil	0	0	0.00
Roll_motor	39	2148	1071.32	nil	0	0	0.00
VBD_pump_during_apogee	777	1192	11631.67	nil	0	0	0.00
VBD_pump_during_surface	37	2594	1222.84	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	3893	19	965.91
Iridium_during_xfer	308	169	657.63	PMAR	3880	16	793.71
Transponder_ping	2	420	10.54	NCP	3848	30	1448.77
GUMSTIX_24V	0	0	0.00
GPS	11	20	3.03
TT8	0	0	0.00
LPSleep	1618	2	46.46
TT8_Active	702	10	93.22
TT8_Sampling	1915	30	717.78
TT8_CF8	291	35	128.07
TT8_Kalman	0	0	0.00
Analog_circuits	1808	10	231.56
GPS_charging	0	0	0.00
Compass	993	6	83.26
RAFOS	2218	48	1323.35
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.65	-145.9	183	2519	516	485	0.0	0.0	0	163	0.00	0.00	-111.40	0.000	16386	0.000	0.000	182	2519	2140	2097	2183	0	0	0	0	0	0	14.47	28.83	14.46
166	-0.65	-145.9	180	2519	2101	2184	3.6	-8.5	19	221	10.80	2.58	-35.53	0.000	18724	0.489	2.149	1970	3764	3706	3679	3734	0	0	0	0	0	0	13.51	12.66	14.08
347	-0.56	-145.9	1973	3765	3674	3735	53.7	-24.2	53	354	0.17	2.12	0.00	0.000	3206	0.276	0.048	2008	2494	3704	3674	3735	0	0	0	0	0	0	13.78	14.10	14.11
534	-0.56	-145.9	2011	2495	3675	3737	84.2	-14.8	90	540	0.00	0.00	0.00	0.000	6	0.000	0.000	2010	2494	3705	3675	3736	0	0	0	0	0	0	14.56	14.57	14.57
721	-0.61	-145.9	2010	2495	3673	3737	109.2	-12.5	127	726	0.00	0.00	0.00	0.000	134	0.000	0.000	2010	2493	3703	3670	3736	0	0	0	0	0	0	14.57	14.58	14.59
906	-0.67	-145.9	2011	2494	3675	3737	131.1	-11.2	164	912	0.00	0.00	0.00	0.000	134	0.000	0.000	2011	2494	3704	3673	3736	0	0	0	0	0	0	14.58	14.60	14.62
1092	-0.76	-145.9	2011	2495	3676	3737	151.2	-10.5	201	1098	0.15	0.00	0.00	0.000	4230	0.118	0.000	1938	2491	3703	3670	3736	0	0	0	0	0	0	14.23	14.28	14.26
1279	-0.76	-145.9	1938	2494	3675	3737	178.6	-14.6	238	1284	0.00	0.00	0.00	0.000	6	0.000	0.000	1938	2494	3706	3676	3736	0	0	0	0	0	0	14.59	14.63	14.62
1286	end dive: TARGET_DEPTH_EXCEEDED
state	1286	begin apogee
1292	-0.14	0.0	1938	2295	3674	3737	180.1	-14.7	240	1538	0.80	0.00	236.32	1.133	10246	0.248	0.000	2144	2291	3106	3066	3146	0	0	0	0	0	0	13.71	13.47	12.95
1542	end apogee: CONTROL_FINISHED_OK
state	1542	begin climb
1544	0.65	145.9	2144	2294	3065	3145	190.9	0.0	282	1757	0.85	2.47	186.18	1.099	10756	0.149	0.066	2402	942	2497	2435	2560	0	0	0	0	0	0	13.69	13.20	12.67
1767	0.65	145.9	2402	943	2434	2558	190.8	0.3	284	1773	0.00	2.47	0.00	0.000	1030	0.000	0.073	2403	2312	2494	2432	2557	0	0	0	0	0	0	13.64	13.51	13.66
1953	0.70	221.3	2402	2313	2426	2555	178.2	6.5	321	2059	0.00	2.42	97.53	1.108	8740	0.000	0.070	2401	935	2194	2128	2260	0	0	0	0	0	0	14.28	13.78	13.03
2286	0.83	272.5	2403	936	2118	2253	153.3	7.7	384	2359	0.20	2.40	66.62	1.108	11430	0.098	0.076	2502	2321	1995	1925	2066	0	0	0	0	0	0	14.18	14.08	13.26
2557	0.77	272.5	2503	2321	1906	2051	117.8	13.8	432	2563	0.20	2.38	0.00	0.000	4740	0.253	0.070	2458	945	1977	1905	2050	0	0	0	0	0	0	13.75	14.01	13.91
2718	0.82	287.2	2457	944	1904	2047	101.2	9.3	464	2742	0.00	2.40	15.68	1.193	9382	0.000	0.075	2458	2326	1931	1860	2002	0	0	0	0	0	0	14.16	14.02	13.29
2922	0.87	316.1	2458	2327	1851	1998	82.3	8.7	504	2946	0.00	2.60	14.80	0.411	8612	0.000	0.106	2458	3730	1825	1751	1899	0	0	0	0	0	0	14.41	13.99	13.59
3011	0.87	316.1	2458	3730	1756	1902	73.0	11.0	521	3018	0.00	2.35	1.73	0.249	9222	0.000	0.050	2458	2345	1818	1746	1891	0	0	0	0	0	0	14.16	14.07	13.80
3199	1.00	391.1	2457	2346	1753	1902	58.5	6.6	558	3253	0.15	2.53	44.75	0.356	10916	0.111	0.074	2548	919	1516	1445	1588	0	0	0	0	0	0	14.19	13.97	13.70
3315	1.02	414.2	2548	920	1446	1595	47.8	8.9	579	3339	0.00	2.45	15.62	0.321	9254	0.000	0.073	2548	2324	1419	1348	1491	0	0	0	0	0	0	14.05	13.93	13.65
3519	1.03	430.2	2547	2325	1350	1501	28.4	9.3	619	3538	0.00	2.60	10.60	0.269	8484	0.000	0.103	2548	3726	1355	1285	1425	0	0	0	0	0	0	14.39	13.95	13.75
3573	1.08	498.2	2546	3727	1288	1436	23.8	6.9	629	3621	0.00	2.38	41.90	0.258	9254	0.000	0.049	2554	2314	1073	1015	1132	0	0	0	0	0	0	14.17	14.05	13.76
3801	1.23	576.2	2555	2315	1022	1143	8.0	6.4	673	3855	0.12	2.47	45.40	0.209	10916	0.126	0.076	2641	922	755	709	802	0	0	0	0	0	0	14.05	13.96	13.74
3858	end climb: SURFACE_DEPTH_REACHED
state	3858	begin surface coast
3875	end surface coast: CONTROL_FINISHED_OK
state	3875	begin surface