Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 299 * 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 299 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 832.0

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 58 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 832.0 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 58 VBD_MIN 500

DIVE 299 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 100917,123403,7540.8579,-15109.6328,19,0.7,37,20.8,0.2,78.5,11,7.1 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 1.17 MHEAD_RNG_PITCHd_Wd 330.0,4184,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 100917,124528,7540.8574,-15109.5039,10,0.7,11,20.8,0.0,108.9,11,8.5

Post-dive calculations and measurements:

FINISH 0.0,1.021564 _24V_AH 12.25,186.911

SM_CCo 8930,10.40,0.214,0,0,498,703.52 _10V_AH 12.14,0.000

SM_GC 1.57,8.25,0.15,10.40,0.076,0.119,0.214,196,2231,498,-7.39,-0.88,703.52,0,0,0,0,0,0,14.30,14.28,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 404 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323696

IRIDIUM_FIX 7540.39,-15058.41,100917,095047 DATA_FILE_SIZE 26689,739

TT8_MAMPS 0.039697,0.935501 CAP_FILE_SIZE 101211,0

HUMID 46.69 CFSIZE 2097872896,2001829888

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 9 CURRENT 0.053,277.22,1

CP_FREE 15944581120.000000 GPS 100917,151622,7542.057,-15109.625,14,0.8,33,20.8,0.7,95.9,10,10.0

PM_FREEKB_00 48633856

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 145.32 nil 0 0 0.00

Roll_motor 84 2138 2218.52 nil 0 0 0.00

VBD_pump_during_apogee 1039 1394 17761.59 nil 0 0 0.00

VBD_pump_during_surface 10 214 27.29 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 8942 14 1609.46

Iridium_during_xfer 415 175 891.67 NCP 8897 20 2179.76

Transponder_ping 2 420 11.58 PMAR 8885 15 1678.99

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.44

TT8 0 0 0.00

LPSleep 5941 2 166.62

TT8_Active 925 13 156.99

TT8_Sampling 2455 33 996.72

TT8_CF8 318 38 149.76

TT8_Kalman 0 0 0.00

Analog_circuits 2542 10 308.63

GPS_charging 0 0 0.00

Compass 1060 7 90.11

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 176 2235 513 483 0.0 0.0 0 143 0.00 0.00 -91.35 0.000 16386 0.000 0.000 173 2236 2128 2054 2203 0 0 0 0 0 0 14.37 28.83 14.39

146 -0.57 -145.9 174 2236 2057 2204 3.5 -4.7 9 204 12.95 2.88 -36.67 0.000 18980 0.454 2.138 2384 826 3964 3949 3979 1 0 0 0 0 0 13.35 12.57 14.08

274 -0.73 -145.9 2384 826 3954 3979 34.7 -12.7 34 280 0.10 2.40 0.00 0.000 5254 0.138 0.086 2334 2178 3965 3953 3977 0 0 0 0 0 0 14.00 13.95 14.09

579 -0.78 -145.9 2334 2179 3954 3980 88.7 -14.2 65 584 0.00 2.55 0.00 0.000 388 0.000 0.090 2332 3613 3966 3953 3979 0 0 0 0 0 0 14.56 13.96 14.57

722 -0.95 -145.9 2333 3616 3954 3980 103.8 -9.9 93 727 0.20 2.35 0.00 0.000 5286 0.101 0.052 2256 2221 3966 3954 3979 0 0 0 0 0 0 14.27 14.21 14.36

1032 -0.92 -145.9 2257 2221 3954 3980 159.0 -17.0 105 1037 0.00 2.47 0.00 0.000 388 0.000 0.086 2248 3611 3966 3953 3979 0 0 0 0 0 0 14.65 14.15 14.66

1112 -0.98 -145.9 2249 3612 3954 3979 171.2 -14.1 121 1117 0.00 2.40 0.00 0.000 1158 0.000 0.057 2248 2195 3966 3954 3979 0 0 0 0 0 0 14.35 14.21 14.38

1422 -0.98 -145.9 2248 2195 3954 3980 220.0 -15.3 133 1427 0.00 2.53 0.00 0.000 260 0.000 0.086 2239 3620 3966 3954 3979 0 0 0 0 0 0 14.67 14.16 14.69

1518 -1.06 -145.9 2238 3621 3955 3980 232.9 -12.9 152 1523 0.00 2.40 0.00 0.000 1158 0.000 0.057 2239 2196 3966 3954 3979 0 0 0 0 0 0 14.35 14.23 14.39

1844 -1.06 -145.9 2239 2196 3949 3980 277.9 -13.1 167 1848 0.00 2.50 0.00 0.000 260 0.000 0.088 2234 3613 3966 3953 3979 0 0 0 0 0 0 14.68 14.16 14.70

1919 -1.15 -145.9 2236 3614 3955 3980 286.7 -11.1 182 1923 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2194 3965 3952 3979 0 0 0 0 0 0 14.35 14.23 14.39

2234 -1.20 -145.9 2236 2192 3955 3982 325.0 -11.9 195 2239 0.12 2.53 0.00 0.000 4484 0.146 0.084 2169 3610 3966 3954 3979 0 0 0 0 0 0 14.09 14.02 14.15

2309 -1.15 -145.9 2170 3610 3955 3979 337.1 -16.5 210 2314 0.17 2.42 0.00 0.000 3206 0.264 0.056 2204 2193 3966 3954 3979 0 0 0 0 0 0 13.73 14.04 14.04

2625 -1.15 -145.9 2204 2193 3953 3980 382.1 -13.9 223 2629 0.00 2.53 0.00 0.000 260 0.000 0.086 2196 3610 3966 3954 3978 0 0 0 0 0 0 14.47 14.00 14.49

2720 -1.19 -145.9 2196 3612 3954 3980 394.8 -12.9 242 2724 0.00 2.40 0.00 0.000 1158 0.000 0.055 2196 2199 3966 3954 3979 0 0 0 0 0 0 14.16 14.02 14.21

3045 -1.16 -145.9 2196 2199 3954 3979 441.4 -14.3 257 3050 0.00 2.50 0.00 0.000 388 0.000 0.086 2186 3618 3966 3954 3978 0 0 0 0 0 0 14.64 14.12 14.66

3150 -1.19 -145.9 2186 3621 3954 3979 456.1 -13.5 278 3155 0.00 2.40 0.00 0.000 1158 0.000 0.056 2186 2198 3966 3953 3979 0 0 0 0 0 0 14.32 14.19 14.34

3312 end dive: TARGET_DEPTH_EXCEEDED

state 3312 begin apogee

3318 -0.13 0.0 2187 2055 3954 3978 481.0 -15.3 286 3557 1.38 0.10 231.43 1.395 10246 0.242 0.155 2527 2120 3357 3373 3342 0 0 0 0 0 0 13.72 13.42 12.63

3560 end apogee: CONTROL_FINISHED_OK

state 3560 begin climb

3563 0.57 145.9 2527 2122 3371 3337 495.0 0.0 294 4122 0.75 2.65 212.25 1.349 10500 0.060 0.071 2782 3500 2745 2773 2718 0 0 0 0 0 0 13.66 12.86 12.25

4134 0.57 145.9 2783 3500 2775 2718 459.7 7.3 297 4140 0.00 2.33 0.00 0.000 1030 0.000 0.056 2791 2131 2745 2773 2718 0 0 0 0 0 0 14.16 14.05 14.19

4450 0.12 145.9 2792 2130 2775 2719 415.0 13.6 310 4455 0.73 2.47 0.00 0.000 4740 0.319 0.077 2644 695 2745 2774 2717 0 0 0 0 0 0 13.74 14.14 14.00

4681 0.03 199.3 2637 697 2775 2719 396.4 7.5 356 4771 0.20 2.42 80.47 1.338 13478 0.277 0.079 2596 2093 2546 2595 2498 0 0 0 0 0 0 13.91 14.23 13.11

5082 0.04 240.7 2596 2093 2589 2480 364.9 8.1 386 5152 0.00 2.47 65.45 1.310 8868 0.000 0.081 2601 698 2381 2431 2332 0 0 0 0 0 0 14.59 13.77 13.16

5237 0.12 271.8 2602 699 2419 2324 351.7 8.6 417 5294 0.00 2.45 47.90 1.319 9382 0.000 0.077 2602 2099 2254 2305 2204 0 0 0 0 0 0 14.23 14.11 13.12

5595 0.17 297.3 2603 2100 2295 2185 319.8 8.8 438 5635 0.00 0.00 38.90 1.327 8358 0.000 0.000 2601 2100 2153 2203 2104 0 0 0 0 0 0 14.57 14.03 13.24

5923 0.26 333.1 2602 2101 2187 2085 291.6 8.3 449 5989 0.17 2.55 58.25 1.280 10916 0.105 0.088 2685 703 2002 2050 1955 0 0 0 0 0 0 14.26 13.97 13.19

6055 0.22 333.1 2684 702 2031 1951 274.2 13.5 475 6060 0.15 2.45 0.00 0.000 5254 0.234 0.076 2653 2105 1990 2030 1951 0 0 0 0 0 0 13.94 14.11 14.19

6375 0.22 333.1 2654 2105 2032 1945 239.9 10.1 489 6381 0.00 2.50 0.00 0.000 516 0.000 0.086 2654 691 1986 2030 1942 0 0 0 0 0 0 14.64 14.14 14.62

6426 0.29 343.0 2655 691 2030 1942 234.9 9.5 499 6437 0.00 2.45 3.17 1.050 9382 0.000 0.078 2654 2106 1965 2011 1920 0 0 0 0 0 0 14.35 14.22 12.88

6736 0.30 354.6 2654 2106 2024 1929 204.9 9.5 511 6768 0.00 2.55 26.88 1.339 8740 0.000 0.085 2654 694 1918 1958 1878 0 0 0 0 0 0 14.66 14.10 13.29

6823 0.41 383.0 2655 694 1942 1875 197.1 8.7 523 6880 0.17 2.45 49.58 1.257 11430 0.106 0.077 2722 2101 1800 1825 1776 0 0 0 0 0 0 14.10 14.08 13.19

7190 0.35 383.0 2722 2102 1810 1760 150.6 12.5 546 7191 0.00 0.00 0.00 0.000 134 0.000 0.000 2721 2101 1784 1809 1759 0 0 0 0 0 0 14.58 14.60 14.60

7490 0.31 383.0 2722 2102 1810 1757 116.0 11.2 556 7495 0.15 2.47 0.00 0.000 4740 0.227 0.083 2685 698 1782 1808 1757 0 0 0 0 0 0 13.90 14.12 14.02

7583 0.41 425.9 2685 697 1806 1758 108.1 8.0 574 7662 0.00 2.45 74.80 1.200 9382 0.000 0.079 2685 2107 1629 1656 1602 0 0 0 0 0 0 14.20 14.08 13.19

7963 0.55 483.8 2686 2106 1644 1573 78.6 7.3 619 7999 0.22 2.53 31.25 0.426 10916 0.093 0.085 2781 692 1389 1430 1349 0 0 0 0 0 0 14.28 13.49 13.61

8035 0.53 483.8 2781 692 1437 1356 70.2 12.4 632 8040 0.12 2.42 0.00 0.000 5254 0.249 0.078 2757 2098 1396 1436 1356 0 0 0 0 0 0 13.97 14.14 14.21

8345 0.62 558.0 2757 2099 1437 1355 45.0 6.6 664 8396 0.00 0.00 43.72 0.330 8358 0.000 0.000 2757 2100 1087 1150 1025 0 0 0 0 0 0 14.57 14.13 13.76

8695 0.88 684.3 2757 2100 1152 1034 24.5 4.2 699 8781 0.30 2.55 75.62 0.261 10916 0.083 0.093 2883 702 571 609 534 0 0 0 0 0 0 14.15 14.03 13.78

8886 0.88 684.3 2876 702 610 531 2.1 13.9 736 8892 0.00 2.45 0.00 0.000 1030 0.000 0.070 2880 2108 569 608 530 0 0 0 0 0 0 14.19 14.07 14.23

8899 end climb: SURFACE_DEPTH_REACHED

state 8899 begin surface coast

8909 end surface coast: CONTROL_FINISHED_OK

state 8909 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	299	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	832.0
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	58	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,123403,7540.8579,-15109.6328,19,0.7,37,20.8,0.2,78.5,11,7.1	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	1.17	MHEAD_RNG_PITCHd_Wd	330.0,4184,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	100917,124528,7540.8574,-15109.5039,10,0.7,11,20.8,0.0,108.9,11,8.5

FINISH	0.0,1.021564	_24V_AH	12.25,186.911
SM_CCo	8930,10.40,0.214,0,0,498,703.52	_10V_AH	12.14,0.000
SM_GC	1.57,8.25,0.15,10.40,0.076,0.119,0.214,196,2231,498,-7.39,-0.88,703.52,0,0,0,0,0,0,14.30,14.28,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	404	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323696
IRIDIUM_FIX	7540.39,-15058.41,100917,095047	DATA_FILE_SIZE	26689,739
TT8_MAMPS	0.039697,0.935501	CAP_FILE_SIZE	101211,0
HUMID	46.69	CFSIZE	2097872896,2001829888
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	9	CURRENT	0.053,277.22,1
CP_FREE	15944581120.000000	GPS	100917,151622,7542.057,-15109.625,14,0.8,33,20.8,0.7,95.9,10,10.0
PM_FREEKB_00	48633856

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	145.32	nil	0	0	0.00
Roll_motor	84	2138	2218.52	nil	0	0	0.00
VBD_pump_during_apogee	1039	1394	17761.59	nil	0	0	0.00
VBD_pump_during_surface	10	214	27.29	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	8942	14	1609.46
Iridium_during_xfer	415	175	891.67	NCP	8897	20	2179.76
Transponder_ping	2	420	11.58	PMAR	8885	15	1678.99
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.44
TT8	0	0	0.00
LPSleep	5941	2	166.62
TT8_Active	925	13	156.99
TT8_Sampling	2455	33	996.72
TT8_CF8	318	38	149.76
TT8_Kalman	0	0	0.00
Analog_circuits	2542	10	308.63
GPS_charging	0	0	0.00
Compass	1060	7	90.11
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	176	2235	513	483	0.0	0.0	0	143	0.00	0.00	-91.35	0.000	16386	0.000	0.000	173	2236	2128	2054	2203	0	0	0	0	0	0	14.37	28.83	14.39
146	-0.57	-145.9	174	2236	2057	2204	3.5	-4.7	9	204	12.95	2.88	-36.67	0.000	18980	0.454	2.138	2384	826	3964	3949	3979	1	0	0	0	0	0	13.35	12.57	14.08
274	-0.73	-145.9	2384	826	3954	3979	34.7	-12.7	34	280	0.10	2.40	0.00	0.000	5254	0.138	0.086	2334	2178	3965	3953	3977	0	0	0	0	0	0	14.00	13.95	14.09
579	-0.78	-145.9	2334	2179	3954	3980	88.7	-14.2	65	584	0.00	2.55	0.00	0.000	388	0.000	0.090	2332	3613	3966	3953	3979	0	0	0	0	0	0	14.56	13.96	14.57
722	-0.95	-145.9	2333	3616	3954	3980	103.8	-9.9	93	727	0.20	2.35	0.00	0.000	5286	0.101	0.052	2256	2221	3966	3954	3979	0	0	0	0	0	0	14.27	14.21	14.36
1032	-0.92	-145.9	2257	2221	3954	3980	159.0	-17.0	105	1037	0.00	2.47	0.00	0.000	388	0.000	0.086	2248	3611	3966	3953	3979	0	0	0	0	0	0	14.65	14.15	14.66
1112	-0.98	-145.9	2249	3612	3954	3979	171.2	-14.1	121	1117	0.00	2.40	0.00	0.000	1158	0.000	0.057	2248	2195	3966	3954	3979	0	0	0	0	0	0	14.35	14.21	14.38
1422	-0.98	-145.9	2248	2195	3954	3980	220.0	-15.3	133	1427	0.00	2.53	0.00	0.000	260	0.000	0.086	2239	3620	3966	3954	3979	0	0	0	0	0	0	14.67	14.16	14.69
1518	-1.06	-145.9	2238	3621	3955	3980	232.9	-12.9	152	1523	0.00	2.40	0.00	0.000	1158	0.000	0.057	2239	2196	3966	3954	3979	0	0	0	0	0	0	14.35	14.23	14.39
1844	-1.06	-145.9	2239	2196	3949	3980	277.9	-13.1	167	1848	0.00	2.50	0.00	0.000	260	0.000	0.088	2234	3613	3966	3953	3979	0	0	0	0	0	0	14.68	14.16	14.70
1919	-1.15	-145.9	2236	3614	3955	3980	286.7	-11.1	182	1923	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2194	3965	3952	3979	0	0	0	0	0	0	14.35	14.23	14.39
2234	-1.20	-145.9	2236	2192	3955	3982	325.0	-11.9	195	2239	0.12	2.53	0.00	0.000	4484	0.146	0.084	2169	3610	3966	3954	3979	0	0	0	0	0	0	14.09	14.02	14.15
2309	-1.15	-145.9	2170	3610	3955	3979	337.1	-16.5	210	2314	0.17	2.42	0.00	0.000	3206	0.264	0.056	2204	2193	3966	3954	3979	0	0	0	0	0	0	13.73	14.04	14.04
2625	-1.15	-145.9	2204	2193	3953	3980	382.1	-13.9	223	2629	0.00	2.53	0.00	0.000	260	0.000	0.086	2196	3610	3966	3954	3978	0	0	0	0	0	0	14.47	14.00	14.49
2720	-1.19	-145.9	2196	3612	3954	3980	394.8	-12.9	242	2724	0.00	2.40	0.00	0.000	1158	0.000	0.055	2196	2199	3966	3954	3979	0	0	0	0	0	0	14.16	14.02	14.21
3045	-1.16	-145.9	2196	2199	3954	3979	441.4	-14.3	257	3050	0.00	2.50	0.00	0.000	388	0.000	0.086	2186	3618	3966	3954	3978	0	0	0	0	0	0	14.64	14.12	14.66
3150	-1.19	-145.9	2186	3621	3954	3979	456.1	-13.5	278	3155	0.00	2.40	0.00	0.000	1158	0.000	0.056	2186	2198	3966	3953	3979	0	0	0	0	0	0	14.32	14.19	14.34
3312	end dive: TARGET_DEPTH_EXCEEDED
state	3312	begin apogee
3318	-0.13	0.0	2187	2055	3954	3978	481.0	-15.3	286	3557	1.38	0.10	231.43	1.395	10246	0.242	0.155	2527	2120	3357	3373	3342	0	0	0	0	0	0	13.72	13.42	12.63
3560	end apogee: CONTROL_FINISHED_OK
state	3560	begin climb
3563	0.57	145.9	2527	2122	3371	3337	495.0	0.0	294	4122	0.75	2.65	212.25	1.349	10500	0.060	0.071	2782	3500	2745	2773	2718	0	0	0	0	0	0	13.66	12.86	12.25
4134	0.57	145.9	2783	3500	2775	2718	459.7	7.3	297	4140	0.00	2.33	0.00	0.000	1030	0.000	0.056	2791	2131	2745	2773	2718	0	0	0	0	0	0	14.16	14.05	14.19
4450	0.12	145.9	2792	2130	2775	2719	415.0	13.6	310	4455	0.73	2.47	0.00	0.000	4740	0.319	0.077	2644	695	2745	2774	2717	0	0	0	0	0	0	13.74	14.14	14.00
4681	0.03	199.3	2637	697	2775	2719	396.4	7.5	356	4771	0.20	2.42	80.47	1.338	13478	0.277	0.079	2596	2093	2546	2595	2498	0	0	0	0	0	0	13.91	14.23	13.11
5082	0.04	240.7	2596	2093	2589	2480	364.9	8.1	386	5152	0.00	2.47	65.45	1.310	8868	0.000	0.081	2601	698	2381	2431	2332	0	0	0	0	0	0	14.59	13.77	13.16
5237	0.12	271.8	2602	699	2419	2324	351.7	8.6	417	5294	0.00	2.45	47.90	1.319	9382	0.000	0.077	2602	2099	2254	2305	2204	0	0	0	0	0	0	14.23	14.11	13.12
5595	0.17	297.3	2603	2100	2295	2185	319.8	8.8	438	5635	0.00	0.00	38.90	1.327	8358	0.000	0.000	2601	2100	2153	2203	2104	0	0	0	0	0	0	14.57	14.03	13.24
5923	0.26	333.1	2602	2101	2187	2085	291.6	8.3	449	5989	0.17	2.55	58.25	1.280	10916	0.105	0.088	2685	703	2002	2050	1955	0	0	0	0	0	0	14.26	13.97	13.19
6055	0.22	333.1	2684	702	2031	1951	274.2	13.5	475	6060	0.15	2.45	0.00	0.000	5254	0.234	0.076	2653	2105	1990	2030	1951	0	0	0	0	0	0	13.94	14.11	14.19
6375	0.22	333.1	2654	2105	2032	1945	239.9	10.1	489	6381	0.00	2.50	0.00	0.000	516	0.000	0.086	2654	691	1986	2030	1942	0	0	0	0	0	0	14.64	14.14	14.62
6426	0.29	343.0	2655	691	2030	1942	234.9	9.5	499	6437	0.00	2.45	3.17	1.050	9382	0.000	0.078	2654	2106	1965	2011	1920	0	0	0	0	0	0	14.35	14.22	12.88
6736	0.30	354.6	2654	2106	2024	1929	204.9	9.5	511	6768	0.00	2.55	26.88	1.339	8740	0.000	0.085	2654	694	1918	1958	1878	0	0	0	0	0	0	14.66	14.10	13.29
6823	0.41	383.0	2655	694	1942	1875	197.1	8.7	523	6880	0.17	2.45	49.58	1.257	11430	0.106	0.077	2722	2101	1800	1825	1776	0	0	0	0	0	0	14.10	14.08	13.19
7190	0.35	383.0	2722	2102	1810	1760	150.6	12.5	546	7191	0.00	0.00	0.00	0.000	134	0.000	0.000	2721	2101	1784	1809	1759	0	0	0	0	0	0	14.58	14.60	14.60
7490	0.31	383.0	2722	2102	1810	1757	116.0	11.2	556	7495	0.15	2.47	0.00	0.000	4740	0.227	0.083	2685	698	1782	1808	1757	0	0	0	0	0	0	13.90	14.12	14.02
7583	0.41	425.9	2685	697	1806	1758	108.1	8.0	574	7662	0.00	2.45	74.80	1.200	9382	0.000	0.079	2685	2107	1629	1656	1602	0	0	0	0	0	0	14.20	14.08	13.19
7963	0.55	483.8	2686	2106	1644	1573	78.6	7.3	619	7999	0.22	2.53	31.25	0.426	10916	0.093	0.085	2781	692	1389	1430	1349	0	0	0	0	0	0	14.28	13.49	13.61
8035	0.53	483.8	2781	692	1437	1356	70.2	12.4	632	8040	0.12	2.42	0.00	0.000	5254	0.249	0.078	2757	2098	1396	1436	1356	0	0	0	0	0	0	13.97	14.14	14.21
8345	0.62	558.0	2757	2099	1437	1355	45.0	6.6	664	8396	0.00	0.00	43.72	0.330	8358	0.000	0.000	2757	2100	1087	1150	1025	0	0	0	0	0	0	14.57	14.13	13.76
8695	0.88	684.3	2757	2100	1152	1034	24.5	4.2	699	8781	0.30	2.55	75.62	0.261	10916	0.083	0.093	2883	702	571	609	534	0	0	0	0	0	0	14.15	14.03	13.78
8886	0.88	684.3	2876	702	610	531	2.1	13.9	736	8892	0.00	2.45	0.00	0.000	1030	0.000	0.070	2880	2108	569	608	530	0	0	0	0	0	0	14.19	14.07	14.23
8899	end climb: SURFACE_DEPTH_REACHED
state	8899	begin surface coast
8909	end surface coast: CONTROL_FINISHED_OK
state	8909	begin surface