Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 300 * 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 300 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 836.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 55 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 836.0 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 31 VBD_MIN 500

DIVE 300 NOCOMM_ACTION 161 R_STBD_OVSHOOT 55 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 100917,151622,7542.0566,-15109.6250,14,0.8,33,20.8,0.7,95.9,10,10.0 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 1.14 MHEAD_RNG_PITCHd_Wd 339.0,2033,-23.8,-10.000,-26.66,1307

_SM_ANGLEo -74.1 D_GRID 480

GPS2 100917,152801,7542.0371,-15109.4941,5,0.7,29,20.8,0.4,0.5,11,5.0

Post-dive calculations and measurements:

FINISH 0.1,1.011360 _24V_AH 12.02,187.363

SM_CCo 8640,92.62,0.202,0,0,497,702.78 _10V_AH 12.09,0.000

SM_GC 1.07,8.15,0.17,92.62,0.074,0.105,0.202,196,2248,497,-7.38,-0.71,702.78,0,0,0,0,0,0,14.29,14.32,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 312 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323660

IRIDIUM_FIX 7542.41,-15113.64,100917,123829 DATA_FILE_SIZE 26746,742

TT8_MAMPS 0.040446,0.989429 CAP_FILE_SIZE 101104,0

HUMID 45.98 CFSIZE 2097872896,2001567744

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.5

XPDR_PINGS 10 CURRENT 0.015,240.72,1

CP_FREE 15944155136.000000 GPS 100917,175521,7543.000,-15108.854,13,0.8,25,20.8,0.0,137.4,9,10.0

PM_FREEKB_00 48596352

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 138.71 nil 0 0 0.00

Roll_motor 79 2139 2040.18 nil 0 0 0.00

VBD_pump_during_apogee 789 1591 15104.94 nil 0 0 0.00

VBD_pump_during_surface 92 201 224.85 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 8654 14 1522.66

Iridium_during_xfer 410 174 860.15 NCP 8616 20 2071.29

Transponder_ping 2 420 12.62 PMAR 8595 18 1953.63

GUMSTIX_24V 0 0 0.00

GPS 32 22 8.87

TT8 0 0 0.00

LPSleep 6142 2 171.56

TT8_Active 817 13 138.12

TT8_Sampling 2156 33 871.92

TT8_CF8 331 38 154.96

TT8_Kalman 0 0 0.00

Analog_circuits 2049 10 247.74

GPS_charging 0 0 0.00

Compass 1063 7 90.03

RAFOS 2218 48 1287.15

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 -0.68 -85.3 184 2234 502 484 0.0 0.0 0 143 0.00 0.00 -91.55 0.000 16386 0.000 0.000 181 2236 2166 2093 2239 0 0 0 0 0 0 14.50 28.83 14.55

146 -0.72 -129.3 182 2234 2095 2236 4.2 -6.5 9 200 12.62 2.85 -32.95 0.000 18980 0.452 2.140 2339 801 3898 3882 3914 0 0 0 0 0 0 13.56 12.60 14.09

252 -0.88 -129.3 2341 803 3888 3915 36.4 -19.3 29 257 0.12 2.45 0.00 0.000 5254 0.135 0.087 2282 2170 3900 3887 3914 0 0 0 0 0 0 14.17 14.09 14.24

562 -0.94 -129.3 2282 2172 3889 3915 106.7 -17.5 59 567 0.00 2.55 0.00 0.000 388 0.000 0.087 2272 3614 3901 3888 3914 0 0 0 0 0 0 14.57 14.07 14.59

792 -1.14 -129.3 2272 3615 3889 3914 140.6 -13.1 105 797 0.20 2.40 0.00 0.000 5254 0.111 0.058 2197 2205 3901 3888 3914 0 0 0 0 0 0 14.24 14.20 14.35

1103 -1.11 -129.3 2197 2204 3888 3915 209.6 -22.0 117 1107 0.00 2.47 0.00 0.000 388 0.000 0.084 2185 3616 3901 3888 3914 0 0 0 0 0 0 14.66 14.17 14.67

1234 -1.16 -129.3 2186 3617 3889 3915 235.7 -18.5 143 1239 0.00 2.40 0.00 0.000 1158 0.000 0.059 2185 2201 3901 3888 3914 0 0 0 0 0 0 14.21 14.08 14.24

1554 -1.16 -129.3 2185 2200 3889 3914 296.6 -18.1 157 1559 0.00 2.50 0.00 0.000 260 0.000 0.086 2175 3614 3901 3888 3914 0 0 0 0 0 0 14.64 14.08 14.66

1686 -1.22 -129.3 2175 3615 3889 3914 318.9 -16.3 183 1692 0.00 2.40 0.00 0.000 1158 0.000 0.057 2174 2198 3900 3888 3913 0 0 0 0 0 0 14.35 14.21 14.41

2008 -1.22 -129.3 2173 2199 3889 3922 374.5 -17.1 197 2013 0.00 2.53 0.00 0.000 260 0.000 0.085 2164 3617 3900 3887 3914 0 0 0 0 0 0 14.46 14.02 14.50

2089 -1.27 -129.3 2165 3619 3889 3915 388.3 -16.4 213 2093 0.00 2.42 0.00 0.000 1158 0.000 0.057 2165 2198 3899 3886 3913 0 0 0 0 0 0 14.20 14.08 14.23

2398 -1.27 -129.3 2165 2197 3888 3913 442.3 -17.4 225 2403 0.00 2.53 0.00 0.000 260 0.000 0.085 2155 3616 3900 3887 3914 0 0 0 0 0 0 14.45 14.01 14.50

2545 -1.31 -129.3 2157 3616 3889 3914 467.2 -16.7 254 2551 0.00 2.45 0.00 0.000 1158 0.000 0.056 2155 2193 3901 3889 3914 0 0 0 0 0 0 14.12 13.99 14.15

2636 end dive: TARGET_DEPTH_EXCEEDED

state 2636 begin apogee

2642 -0.13 0.0 2156 2063 3888 3914 484.0 -17.7 258 2841 1.58 0.08 195.55 1.434 10246 0.274 0.180 2525 2110 3365 3374 3357 0 0 0 0 0 0 13.66 13.46 12.68

2845 end apogee: CONTROL_FINISHED_OK

state 2845 begin climb

2847 0.72 129.3 2527 2109 3370 3351 494.0 0.0 264 3060 0.88 2.65 187.95 1.378 10756 0.058 0.073 2822 736 2828 2867 2790 0 0 0 0 0 0 13.60 12.63 12.02

3253 0.36 129.3 2823 737 2860 2791 489.5 12.0 303 3258 0.62 2.45 0.00 0.000 5254 0.341 0.073 2699 2101 2823 2858 2789 0 0 0 0 0 0 13.34 13.70 13.72

3569 0.17 141.8 2699 2102 2859 2789 460.0 9.0 316 3589 0.22 2.42 13.95 1.591 12964 0.303 0.082 2655 723 2783 2818 2749 0 0 0 0 0 0 13.65 14.01 13.09

3661 0.13 161.7 2652 724 2816 2749 452.8 8.4 334 3695 0.00 2.42 27.70 1.520 9382 0.000 0.078 2652 2098 2706 2742 2670 0 0 0 0 0 0 14.12 13.97 13.08

4022 0.07 164.7 2651 2098 2740 2661 418.2 9.8 356 4023 0.20 0.00 0.00 0.000 4262 0.260 0.000 2609 2098 2699 2737 2661 0 0 0 0 0 0 13.89 14.22 14.15

4322 0.11 194.9 2609 2099 2739 2660 395.0 7.6 366 4380 0.00 0.00 51.00 1.435 8358 0.000 0.000 2609 2097 2566 2614 2518 0 0 0 0 0 0 14.48 13.92 13.12

4682 0.19 212.8 2609 2098 2613 2512 364.3 8.6 378 4711 0.00 2.45 24.62 1.487 8868 0.000 0.082 2615 727 2497 2552 2442 0 0 0 0 0 0 14.56 14.13 13.21

4798 0.31 228.3 2616 729 2542 2443 354.1 8.8 401 4828 0.20 2.40 23.23 1.483 11430 0.092 0.078 2694 2106 2430 2478 2382 0 0 0 0 0 0 14.23 14.14 13.19

5136 0.22 228.3 2695 2106 2473 2373 306.7 14.3 418 5141 0.15 2.40 0.00 0.000 4740 0.256 0.080 2663 727 2424 2476 2373 0 0 0 0 0 0 13.89 14.15 14.04

5191 0.26 228.3 2662 728 2472 2374 299.7 11.5 429 5198 0.00 2.40 0.00 0.000 1158 0.000 0.077 2663 2101 2422 2471 2373 0 0 0 0 0 0 14.21 14.09 14.25

5496 0.26 228.3 2664 2101 2472 2373 265.6 10.8 440 5497 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2100 2421 2471 2372 0 0 0 0 0 0 14.54 14.57 14.57

5796 0.27 243.5 2663 2102 2471 2372 237.8 8.8 450 5822 0.00 2.47 21.35 1.460 8740 0.000 0.081 2671 722 2368 2413 2324 0 0 0 0 0 0 14.66 13.76 13.28

5877 0.33 264.8 2672 723 2410 2324 231.0 8.3 466 5919 0.00 2.40 34.30 1.379 9382 0.000 0.079 2671 2100 2285 2332 2239 0 0 0 0 0 0 14.33 14.20 13.21

6219 0.37 285.4 2672 2101 2322 2229 201.8 8.4 484 6253 0.00 0.00 32.83 1.368 8358 0.000 0.000 2670 2100 2203 2246 2160 0 0 0 0 0 0 14.59 14.08 13.27

6547 0.46 309.6 2672 2101 2239 2144 174.3 8.1 495 6593 0.15 2.42 40.22 1.319 10916 0.120 0.080 2752 723 2098 2136 2060 0 0 0 0 0 0 14.29 13.88 13.26

6663 0.42 309.6 2752 724 2130 2060 160.9 12.2 518 6669 0.15 2.42 0.00 0.000 5254 0.272 0.078 2723 2101 2094 2130 2058 0 0 0 0 0 0 13.82 14.02 14.09

6968 0.42 309.6 2723 2103 2130 2047 129.0 10.1 529 6973 0.00 2.40 0.00 0.000 516 0.000 0.083 2729 729 2090 2130 2050 0 0 0 0 0 0 14.63 14.19 14.68

7049 0.46 318.5 2730 730 2128 2052 121.3 9.3 545 7060 0.00 2.40 4.12 1.519 9382 0.000 0.078 2729 2111 2064 2102 2027 0 0 0 0 0 0 14.36 14.23 13.12

7360 0.48 347.9 2730 2111 2107 2027 94.5 7.7 561 7382 0.00 2.53 17.65 0.489 8484 0.000 0.081 2729 3517 1944 1982 1907 0 0 0 0 0 0 14.61 14.15 13.62

7428 0.48 347.9 2730 3512 1982 1908 87.9 10.1 574 7434 0.00 2.38 0.00 0.000 1030 0.000 0.062 2733 2128 1944 1981 1907 0 0 0 0 0 0 14.13 14.02 14.16

7733 0.57 419.3 2733 2128 1982 1903 65.9 4.4 605 7781 0.00 2.58 40.12 0.399 8868 0.000 0.086 2740 690 1654 1682 1627 0 0 0 0 0 0 14.60 13.47 13.60

7921 0.77 477.3 2740 690 1678 1626 55.1 5.4 642 7959 0.28 2.47 32.47 0.362 11430 0.084 0.077 2839 2102 1417 1456 1378 0 0 0 0 0 0 14.13 13.97 13.71

8256 0.80 517.2 2839 2103 1457 1369 26.2 6.9 679 8283 0.00 2.47 22.23 0.283 8484 0.000 0.077 2839 3511 1254 1308 1201 0 0 0 0 0 0 14.59 13.97 13.74

8498 0.85 553.0 2840 3511 1308 1198 9.7 7.2 727 8525 0.00 2.42 20.45 0.231 9382 0.000 0.063 2849 2101 1108 1168 1048 0 0 0 0 0 0 14.21 14.04 13.81

8598 end climb: SURFACE_DEPTH_REACHED

state 8598 begin surface coast

8620 end surface coast: CONTROL_FINISHED_OK

state 8620 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	300	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	836.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	55	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,151622,7542.0566,-15109.6250,14,0.8,33,20.8,0.7,95.9,10,10.0	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	1.14	MHEAD_RNG_PITCHd_Wd	339.0,2033,-23.8,-10.000,-26.66,1307
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	100917,152801,7542.0371,-15109.4941,5,0.7,29,20.8,0.4,0.5,11,5.0

FINISH	0.1,1.011360	_24V_AH	12.02,187.363
SM_CCo	8640,92.62,0.202,0,0,497,702.78	_10V_AH	12.09,0.000
SM_GC	1.07,8.15,0.17,92.62,0.074,0.105,0.202,196,2248,497,-7.38,-0.71,702.78,0,0,0,0,0,0,14.29,14.32,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	312	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323660
IRIDIUM_FIX	7542.41,-15113.64,100917,123829	DATA_FILE_SIZE	26746,742
TT8_MAMPS	0.040446,0.989429	CAP_FILE_SIZE	101104,0
HUMID	45.98	CFSIZE	2097872896,2001567744
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.5
XPDR_PINGS	10	CURRENT	0.015,240.72,1
CP_FREE	15944155136.000000	GPS	100917,175521,7543.000,-15108.854,13,0.8,25,20.8,0.0,137.4,9,10.0
PM_FREEKB_00	48596352

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	138.71	nil	0	0	0.00
Roll_motor	79	2139	2040.18	nil	0	0	0.00
VBD_pump_during_apogee	789	1591	15104.94	nil	0	0	0.00
VBD_pump_during_surface	92	201	224.85	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	8654	14	1522.66
Iridium_during_xfer	410	174	860.15	NCP	8616	20	2071.29
Transponder_ping	2	420	12.62	PMAR	8595	18	1953.63
GUMSTIX_24V	0	0	0.00
GPS	32	22	8.87
TT8	0	0	0.00
LPSleep	6142	2	171.56
TT8_Active	817	13	138.12
TT8_Sampling	2156	33	871.92
TT8_CF8	331	38	154.96
TT8_Kalman	0	0	0.00
Analog_circuits	2049	10	247.74
GPS_charging	0	0	0.00
Compass	1063	7	90.03
RAFOS	2218	48	1287.15
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	-0.68	-85.3	184	2234	502	484	0.0	0.0	0	143	0.00	0.00	-91.55	0.000	16386	0.000	0.000	181	2236	2166	2093	2239	0	0	0	0	0	0	14.50	28.83	14.55
146	-0.72	-129.3	182	2234	2095	2236	4.2	-6.5	9	200	12.62	2.85	-32.95	0.000	18980	0.452	2.140	2339	801	3898	3882	3914	0	0	0	0	0	0	13.56	12.60	14.09
252	-0.88	-129.3	2341	803	3888	3915	36.4	-19.3	29	257	0.12	2.45	0.00	0.000	5254	0.135	0.087	2282	2170	3900	3887	3914	0	0	0	0	0	0	14.17	14.09	14.24
562	-0.94	-129.3	2282	2172	3889	3915	106.7	-17.5	59	567	0.00	2.55	0.00	0.000	388	0.000	0.087	2272	3614	3901	3888	3914	0	0	0	0	0	0	14.57	14.07	14.59
792	-1.14	-129.3	2272	3615	3889	3914	140.6	-13.1	105	797	0.20	2.40	0.00	0.000	5254	0.111	0.058	2197	2205	3901	3888	3914	0	0	0	0	0	0	14.24	14.20	14.35
1103	-1.11	-129.3	2197	2204	3888	3915	209.6	-22.0	117	1107	0.00	2.47	0.00	0.000	388	0.000	0.084	2185	3616	3901	3888	3914	0	0	0	0	0	0	14.66	14.17	14.67
1234	-1.16	-129.3	2186	3617	3889	3915	235.7	-18.5	143	1239	0.00	2.40	0.00	0.000	1158	0.000	0.059	2185	2201	3901	3888	3914	0	0	0	0	0	0	14.21	14.08	14.24
1554	-1.16	-129.3	2185	2200	3889	3914	296.6	-18.1	157	1559	0.00	2.50	0.00	0.000	260	0.000	0.086	2175	3614	3901	3888	3914	0	0	0	0	0	0	14.64	14.08	14.66
1686	-1.22	-129.3	2175	3615	3889	3914	318.9	-16.3	183	1692	0.00	2.40	0.00	0.000	1158	0.000	0.057	2174	2198	3900	3888	3913	0	0	0	0	0	0	14.35	14.21	14.41
2008	-1.22	-129.3	2173	2199	3889	3922	374.5	-17.1	197	2013	0.00	2.53	0.00	0.000	260	0.000	0.085	2164	3617	3900	3887	3914	0	0	0	0	0	0	14.46	14.02	14.50
2089	-1.27	-129.3	2165	3619	3889	3915	388.3	-16.4	213	2093	0.00	2.42	0.00	0.000	1158	0.000	0.057	2165	2198	3899	3886	3913	0	0	0	0	0	0	14.20	14.08	14.23
2398	-1.27	-129.3	2165	2197	3888	3913	442.3	-17.4	225	2403	0.00	2.53	0.00	0.000	260	0.000	0.085	2155	3616	3900	3887	3914	0	0	0	0	0	0	14.45	14.01	14.50
2545	-1.31	-129.3	2157	3616	3889	3914	467.2	-16.7	254	2551	0.00	2.45	0.00	0.000	1158	0.000	0.056	2155	2193	3901	3889	3914	0	0	0	0	0	0	14.12	13.99	14.15
2636	end dive: TARGET_DEPTH_EXCEEDED
state	2636	begin apogee
2642	-0.13	0.0	2156	2063	3888	3914	484.0	-17.7	258	2841	1.58	0.08	195.55	1.434	10246	0.274	0.180	2525	2110	3365	3374	3357	0	0	0	0	0	0	13.66	13.46	12.68
2845	end apogee: CONTROL_FINISHED_OK
state	2845	begin climb
2847	0.72	129.3	2527	2109	3370	3351	494.0	0.0	264	3060	0.88	2.65	187.95	1.378	10756	0.058	0.073	2822	736	2828	2867	2790	0	0	0	0	0	0	13.60	12.63	12.02
3253	0.36	129.3	2823	737	2860	2791	489.5	12.0	303	3258	0.62	2.45	0.00	0.000	5254	0.341	0.073	2699	2101	2823	2858	2789	0	0	0	0	0	0	13.34	13.70	13.72
3569	0.17	141.8	2699	2102	2859	2789	460.0	9.0	316	3589	0.22	2.42	13.95	1.591	12964	0.303	0.082	2655	723	2783	2818	2749	0	0	0	0	0	0	13.65	14.01	13.09
3661	0.13	161.7	2652	724	2816	2749	452.8	8.4	334	3695	0.00	2.42	27.70	1.520	9382	0.000	0.078	2652	2098	2706	2742	2670	0	0	0	0	0	0	14.12	13.97	13.08
4022	0.07	164.7	2651	2098	2740	2661	418.2	9.8	356	4023	0.20	0.00	0.00	0.000	4262	0.260	0.000	2609	2098	2699	2737	2661	0	0	0	0	0	0	13.89	14.22	14.15
4322	0.11	194.9	2609	2099	2739	2660	395.0	7.6	366	4380	0.00	0.00	51.00	1.435	8358	0.000	0.000	2609	2097	2566	2614	2518	0	0	0	0	0	0	14.48	13.92	13.12
4682	0.19	212.8	2609	2098	2613	2512	364.3	8.6	378	4711	0.00	2.45	24.62	1.487	8868	0.000	0.082	2615	727	2497	2552	2442	0	0	0	0	0	0	14.56	14.13	13.21
4798	0.31	228.3	2616	729	2542	2443	354.1	8.8	401	4828	0.20	2.40	23.23	1.483	11430	0.092	0.078	2694	2106	2430	2478	2382	0	0	0	0	0	0	14.23	14.14	13.19
5136	0.22	228.3	2695	2106	2473	2373	306.7	14.3	418	5141	0.15	2.40	0.00	0.000	4740	0.256	0.080	2663	727	2424	2476	2373	0	0	0	0	0	0	13.89	14.15	14.04
5191	0.26	228.3	2662	728	2472	2374	299.7	11.5	429	5198	0.00	2.40	0.00	0.000	1158	0.000	0.077	2663	2101	2422	2471	2373	0	0	0	0	0	0	14.21	14.09	14.25
5496	0.26	228.3	2664	2101	2472	2373	265.6	10.8	440	5497	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2100	2421	2471	2372	0	0	0	0	0	0	14.54	14.57	14.57
5796	0.27	243.5	2663	2102	2471	2372	237.8	8.8	450	5822	0.00	2.47	21.35	1.460	8740	0.000	0.081	2671	722	2368	2413	2324	0	0	0	0	0	0	14.66	13.76	13.28
5877	0.33	264.8	2672	723	2410	2324	231.0	8.3	466	5919	0.00	2.40	34.30	1.379	9382	0.000	0.079	2671	2100	2285	2332	2239	0	0	0	0	0	0	14.33	14.20	13.21
6219	0.37	285.4	2672	2101	2322	2229	201.8	8.4	484	6253	0.00	0.00	32.83	1.368	8358	0.000	0.000	2670	2100	2203	2246	2160	0	0	0	0	0	0	14.59	14.08	13.27
6547	0.46	309.6	2672	2101	2239	2144	174.3	8.1	495	6593	0.15	2.42	40.22	1.319	10916	0.120	0.080	2752	723	2098	2136	2060	0	0	0	0	0	0	14.29	13.88	13.26
6663	0.42	309.6	2752	724	2130	2060	160.9	12.2	518	6669	0.15	2.42	0.00	0.000	5254	0.272	0.078	2723	2101	2094	2130	2058	0	0	0	0	0	0	13.82	14.02	14.09
6968	0.42	309.6	2723	2103	2130	2047	129.0	10.1	529	6973	0.00	2.40	0.00	0.000	516	0.000	0.083	2729	729	2090	2130	2050	0	0	0	0	0	0	14.63	14.19	14.68
7049	0.46	318.5	2730	730	2128	2052	121.3	9.3	545	7060	0.00	2.40	4.12	1.519	9382	0.000	0.078	2729	2111	2064	2102	2027	0	0	0	0	0	0	14.36	14.23	13.12
7360	0.48	347.9	2730	2111	2107	2027	94.5	7.7	561	7382	0.00	2.53	17.65	0.489	8484	0.000	0.081	2729	3517	1944	1982	1907	0	0	0	0	0	0	14.61	14.15	13.62
7428	0.48	347.9	2730	3512	1982	1908	87.9	10.1	574	7434	0.00	2.38	0.00	0.000	1030	0.000	0.062	2733	2128	1944	1981	1907	0	0	0	0	0	0	14.13	14.02	14.16
7733	0.57	419.3	2733	2128	1982	1903	65.9	4.4	605	7781	0.00	2.58	40.12	0.399	8868	0.000	0.086	2740	690	1654	1682	1627	0	0	0	0	0	0	14.60	13.47	13.60
7921	0.77	477.3	2740	690	1678	1626	55.1	5.4	642	7959	0.28	2.47	32.47	0.362	11430	0.084	0.077	2839	2102	1417	1456	1378	0	0	0	0	0	0	14.13	13.97	13.71
8256	0.80	517.2	2839	2103	1457	1369	26.2	6.9	679	8283	0.00	2.47	22.23	0.283	8484	0.000	0.077	2839	3511	1254	1308	1201	0	0	0	0	0	0	14.59	13.97	13.74
8498	0.85	553.0	2840	3511	1308	1198	9.7	7.2	727	8525	0.00	2.42	20.45	0.231	9382	0.000	0.063	2849	2101	1108	1168	1048	0	0	0	0	0	0	14.21	14.04	13.81
8598	end climb: SURFACE_DEPTH_REACHED
state	8598	begin surface coast
8620	end surface coast: CONTROL_FINISHED_OK
state	8620	begin surface