Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 243 * 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 243 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 684.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 37 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 684.0 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 27 VBD_MIN 500

DIVE 243 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 040917,044914,7450.2939,-15226.8232,18,0.7,21,20.0,0.3,331.7,12,8.9 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 1.26 MHEAD_RNG_PITCHd_Wd 13.9,103772,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 040917,050031,7450.3276,-15226.9404,4,0.7,38,20.0,0.4,324.0,12,6.1

Post-dive calculations and measurements:

FINISH 0.2,1.006961 _24V_AH 12.25,159.318

SM_CCo 8828,57.92,0.210,0,0,500,702.78 _10V_AH 12.16,0.000

SM_GC 1.19,8.07,0.17,57.92,0.072,0.136,0.210,201,2209,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.27,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323300

IRIDIUM_FIX 7450.32,-15230.95,040917,021045 DATA_FILE_SIZE 26764,794

TT8_MAMPS 0.039697,0.888314 CAP_FILE_SIZE 101521,0

HUMID 47.04 CFSIZE 2097872896,2014576640

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1446.0

XPDR_PINGS 25 CURRENT 0.108,248.64,1

CP_FREE 15968534528.000000 GPS 040917,073019,7451.037,-15225.508,15,0.8,23,20.0,0.0,336.0,10,9.7

PM_FREEKB_00 50773760

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 141.86 nil 0 0 0.00

Roll_motor 83 2138 2194.94 nil 0 0 0.00

VBD_pump_during_apogee 913 1500 16786.95 nil 0 0 0.00

VBD_pump_during_surface 57 210 149.28 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 5142 14 930.42

Iridium_during_xfer 384 180 849.92 NCP 8814 20 2159.43

Transponder_ping 6 420 32.16 PMAR 8781 9 1060.61

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.40

TT8 0 0 0.00

LPSleep 6278 2 176.36

TT8_Active 854 13 145.22

TT8_Sampling 2145 33 872.51

TT8_CF8 298 38 140.23

TT8_Kalman 0 0 0.00

Analog_circuits 2095 10 254.80

GPS_charging 0 0 0.00

Compass 1135 7 96.66

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 198 2219 482 497 0.0 0.0 0 144 0.00 0.00 -92.05 0.000 16386 0.000 0.000 197 2219 2154 2088 2221 0 0 0 0 0 0 14.54 28.83 14.56

147 -0.57 -145.9 198 2219 2090 2222 3.3 -3.9 9 204 12.62 2.85 -37.85 0.000 19236 0.451 2.138 2386 792 3963 3947 3980 0 0 0 0 0 0 13.65 12.51 14.16

395 -0.70 -145.9 2386 792 3954 3981 48.1 -13.1 58 401 0.00 2.45 0.00 0.000 1158 0.000 0.089 2386 2181 3967 3953 3981 0 0 0 0 0 0 14.35 14.19 14.38

702 -0.84 -145.9 2387 2183 3953 3981 82.5 -9.5 89 707 0.22 2.53 0.00 0.000 4516 0.102 0.087 2286 3613 3967 3954 3981 0 0 0 0 0 0 14.30 14.21 14.34

842 -0.90 -145.9 2287 3614 3955 3980 103.3 -14.5 117 847 0.00 2.38 0.00 0.000 1158 0.000 0.057 2286 2202 3967 3954 3980 0 0 0 0 0 0 14.41 14.28 14.45

1152 -0.90 -145.9 2287 2201 3953 3980 150.9 -14.5 129 1157 0.00 2.50 0.00 0.000 260 0.000 0.086 2279 3623 3967 3954 3981 0 0 0 0 0 0 14.75 14.23 14.77

1192 -0.97 -145.9 2280 3624 3955 3981 156.5 -13.3 137 1197 0.00 2.40 0.00 0.000 1158 0.000 0.058 2279 2195 3967 3954 3980 0 0 0 0 0 0 14.43 14.31 14.47

1513 -1.00 -145.9 2279 2195 3954 3982 200.8 -13.6 151 1518 0.00 2.50 0.00 0.000 388 0.000 0.087 2270 3617 3967 3953 3981 0 0 0 0 0 0 14.76 14.20 14.77

1593 -1.09 -145.9 2270 3615 3955 3981 211.0 -12.0 167 1598 0.15 2.38 0.00 0.000 5254 0.120 0.057 2215 2199 3967 3954 3981 0 0 0 0 0 0 14.34 14.31 14.45

1903 -1.02 -145.9 2216 2198 3955 3981 266.5 -17.4 179 1908 0.12 2.50 0.00 0.000 2436 0.299 0.085 2236 3620 3966 3952 3980 0 0 0 0 0 0 13.85 14.16 14.05

1978 -1.07 -145.9 2236 3620 3954 3981 277.1 -12.9 194 1983 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2201 3967 3954 3981 0 0 0 0 0 0 14.30 14.14 14.37

2293 -1.07 -145.9 2236 2200 3954 3981 318.6 -12.8 207 2298 0.00 2.50 0.00 0.000 260 0.000 0.090 2235 3619 3967 3954 3980 0 0 0 0 0 0 14.77 14.16 14.78

2384 -1.15 -145.9 2235 3620 3954 3980 329.2 -11.0 225 2388 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2199 3966 3952 3980 0 0 0 0 0 0 14.37 14.22 14.38

2714 -1.17 -145.9 2236 2198 3953 3981 368.4 -11.8 241 2718 0.00 2.50 0.00 0.000 388 0.000 0.089 2235 3619 3966 3953 3980 0 0 0 0 0 0 14.77 14.16 14.78

2774 -1.27 -145.9 2235 3621 3953 3980 375.1 -10.6 253 2779 0.20 2.40 0.00 0.000 5254 0.109 0.057 2160 2195 3966 3952 3980 0 0 0 0 0 0 14.27 14.21 14.36

3104 -1.13 -145.9 2160 2194 3951 3981 435.3 -18.6 269 3109 0.22 2.50 0.00 0.000 2436 0.312 0.083 2199 3619 3965 3951 3980 0 0 0 0 0 0 13.78 14.12 13.97

3234 -1.13 -145.9 2199 3621 3951 3981 453.7 -13.1 295 3240 0.00 2.40 0.00 0.000 1030 0.000 0.057 2199 2194 3965 3951 3980 0 0 0 0 0 0 14.42 14.29 14.46

3432 end dive: TARGET_DEPTH_EXCEEDED

state 3432 begin apogee

3438 -0.13 0.0 2200 2065 3952 3980 481.8 -14.1 305 3664 1.30 0.08 222.15 1.453 10246 0.243 0.180 2528 2114 3365 3386 3345 0 0 0 0 0 0 13.91 13.46 12.64

3668 end apogee: CONTROL_FINISHED_OK

state 3668 begin climb

3670 0.57 145.9 2533 2114 3380 3338 493.0 0.0 312 3888 0.75 2.67 210.48 1.397 10756 0.063 0.077 2788 728 2762 2804 2720 0 0 0 0 0 0 13.62 12.89 12.25

4065 0.19 145.9 2788 727 2793 2713 474.9 15.1 396 4070 0.68 2.47 0.00 0.000 5254 0.321 0.075 2648 2096 2751 2790 2712 0 0 0 0 0 0 13.31 13.66 13.69

4397 0.03 155.1 2649 2096 2792 2708 441.8 9.6 412 4408 0.20 2.45 2.20 0.543 12964 0.265 0.082 2602 730 2739 2779 2699 0 0 0 0 0 0 13.85 14.07 12.57

4463 0.07 213.0 2603 730 2786 2703 436.4 7.3 425 4563 0.00 2.40 95.10 1.415 9254 0.000 0.079 2602 2099 2495 2554 2436 0 0 0 0 0 0 14.29 14.16 12.95

4879 0.09 241.1 2603 2099 2542 2416 401.2 8.7 458 4919 0.00 0.00 38.40 1.500 8230 0.000 0.000 2602 2099 2383 2441 2325 0 0 0 0 0 0 14.52 14.01 13.16

5209 0.14 265.2 2602 2100 2428 2315 371.9 8.9 469 5249 0.00 2.42 35.12 1.465 8868 0.000 0.082 2602 721 2279 2332 2227 0 0 0 0 0 0 14.57 13.85 13.21

5301 0.27 298.8 2603 722 2326 2227 364.0 8.5 487 5361 0.20 2.42 51.30 1.381 11430 0.097 0.078 2682 2101 2143 2193 2094 0 0 0 0 0 0 14.21 14.12 13.08

5659 0.19 298.8 2683 2102 2187 2083 312.9 14.3 509 5665 0.12 2.40 0.00 0.000 4740 0.255 0.082 2659 729 2135 2186 2084 0 0 0 0 0 0 14.01 14.19 14.15

5705 0.19 298.8 2659 730 2184 2084 307.1 12.4 518 5710 0.00 2.40 0.00 0.000 1030 0.000 0.077 2659 2109 2133 2184 2083 0 0 0 0 0 0 14.33 14.21 14.38

6020 0.17 298.8 2659 2112 2184 2082 270.8 11.1 531 6021 0.00 0.00 0.00 0.000 134 0.000 0.000 2659 2111 2131 2183 2080 0 0 0 0 0 0 14.64 14.66 14.66

6320 0.17 300.3 2658 2112 2184 2080 239.8 9.9 541 6326 0.00 2.42 0.00 0.000 548 0.000 0.085 2659 725 2131 2183 2079 0 0 0 0 0 0 14.65 14.25 14.67

6401 0.24 322.7 2660 726 2182 2080 232.3 9.0 557 6443 0.00 2.40 35.58 1.388 9382 0.000 0.078 2659 2104 2045 2092 1998 0 0 0 0 0 0 14.40 14.26 13.30

6743 0.28 345.7 2660 2103 2091 1990 200.9 8.9 575 6786 0.00 2.45 37.35 1.365 8868 0.000 0.086 2659 723 1951 1997 1905 0 0 0 0 0 0 14.59 14.12 13.27

6859 0.41 386.7 2660 723 1990 1906 191.2 8.1 598 6932 0.17 2.42 67.72 1.291 11430 0.109 0.081 2729 2102 1793 1816 1771 0 0 0 0 0 0 14.16 14.06 13.11

7253 0.38 386.7 2729 2102 1809 1745 141.2 12.5 627 7257 0.00 2.40 0.00 0.000 644 0.000 0.084 2737 729 1777 1808 1746 0 0 0 0 0 0 14.55 14.04 14.57

7288 0.38 386.7 2740 730 1806 1747 136.8 12.7 634 7293 0.15 2.40 0.00 0.000 5126 0.229 0.079 2704 2100 1775 1805 1746 0 0 0 0 0 0 13.34 14.17 13.53

7613 0.42 401.6 2707 2101 1806 1745 105.0 9.3 649 7633 0.00 2.47 16.12 1.400 8868 0.000 0.085 2712 727 1725 1755 1696 0 0 0 0 0 0 14.62 14.21 13.32

7706 0.52 420.5 2712 728 1746 1703 96.6 9.1 667 7722 0.12 2.40 10.27 0.493 11430 0.130 0.077 2769 2102 1650 1674 1626 0 0 0 0 0 0 14.22 14.16 13.66

8027 0.47 420.5 2769 2102 1676 1620 57.7 10.3 701 8033 0.12 2.40 0.00 0.000 4740 0.259 0.081 2747 729 1646 1673 1620 0 0 0 0 0 0 13.97 14.16 14.11

8130 0.59 507.1 2748 729 1674 1621 50.5 6.0 721 8184 0.00 2.40 45.12 0.353 9382 0.000 0.079 2747 2102 1295 1345 1246 0 0 0 0 0 0 14.34 14.21 13.74

8479 0.76 595.8 2748 2103 1348 1234 28.8 5.9 761 8531 0.25 0.00 46.55 0.287 10406 0.089 0.000 2842 2103 932 997 868 0 0 0 0 0 0 14.25 14.13 13.78

8787 end climb: SURFACE_DEPTH_REACHED

state 8787 begin surface coast

8807 end surface coast: CONTROL_FINISHED_OK

state 8807 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	243	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	684.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,044914,7450.2939,-15226.8232,18,0.7,21,20.0,0.3,331.7,12,8.9	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	1.26	MHEAD_RNG_PITCHd_Wd	13.9,103772,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	040917,050031,7450.3276,-15226.9404,4,0.7,38,20.0,0.4,324.0,12,6.1

FINISH	0.2,1.006961	_24V_AH	12.25,159.318
SM_CCo	8828,57.92,0.210,0,0,500,702.78	_10V_AH	12.16,0.000
SM_GC	1.19,8.07,0.17,57.92,0.072,0.136,0.210,201,2209,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.27,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323300
IRIDIUM_FIX	7450.32,-15230.95,040917,021045	DATA_FILE_SIZE	26764,794
TT8_MAMPS	0.039697,0.888314	CAP_FILE_SIZE	101521,0
HUMID	47.04	CFSIZE	2097872896,2014576640
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1446.0
XPDR_PINGS	25	CURRENT	0.108,248.64,1
CP_FREE	15968534528.000000	GPS	040917,073019,7451.037,-15225.508,15,0.8,23,20.0,0.0,336.0,10,9.7
PM_FREEKB_00	50773760

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	141.86	nil	0	0	0.00
Roll_motor	83	2138	2194.94	nil	0	0	0.00
VBD_pump_during_apogee	913	1500	16786.95	nil	0	0	0.00
VBD_pump_during_surface	57	210	149.28	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	5142	14	930.42
Iridium_during_xfer	384	180	849.92	NCP	8814	20	2159.43
Transponder_ping	6	420	32.16	PMAR	8781	9	1060.61
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.40
TT8	0	0	0.00
LPSleep	6278	2	176.36
TT8_Active	854	13	145.22
TT8_Sampling	2145	33	872.51
TT8_CF8	298	38	140.23
TT8_Kalman	0	0	0.00
Analog_circuits	2095	10	254.80
GPS_charging	0	0	0.00
Compass	1135	7	96.66
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	198	2219	482	497	0.0	0.0	0	144	0.00	0.00	-92.05	0.000	16386	0.000	0.000	197	2219	2154	2088	2221	0	0	0	0	0	0	14.54	28.83	14.56
147	-0.57	-145.9	198	2219	2090	2222	3.3	-3.9	9	204	12.62	2.85	-37.85	0.000	19236	0.451	2.138	2386	792	3963	3947	3980	0	0	0	0	0	0	13.65	12.51	14.16
395	-0.70	-145.9	2386	792	3954	3981	48.1	-13.1	58	401	0.00	2.45	0.00	0.000	1158	0.000	0.089	2386	2181	3967	3953	3981	0	0	0	0	0	0	14.35	14.19	14.38
702	-0.84	-145.9	2387	2183	3953	3981	82.5	-9.5	89	707	0.22	2.53	0.00	0.000	4516	0.102	0.087	2286	3613	3967	3954	3981	0	0	0	0	0	0	14.30	14.21	14.34
842	-0.90	-145.9	2287	3614	3955	3980	103.3	-14.5	117	847	0.00	2.38	0.00	0.000	1158	0.000	0.057	2286	2202	3967	3954	3980	0	0	0	0	0	0	14.41	14.28	14.45
1152	-0.90	-145.9	2287	2201	3953	3980	150.9	-14.5	129	1157	0.00	2.50	0.00	0.000	260	0.000	0.086	2279	3623	3967	3954	3981	0	0	0	0	0	0	14.75	14.23	14.77
1192	-0.97	-145.9	2280	3624	3955	3981	156.5	-13.3	137	1197	0.00	2.40	0.00	0.000	1158	0.000	0.058	2279	2195	3967	3954	3980	0	0	0	0	0	0	14.43	14.31	14.47
1513	-1.00	-145.9	2279	2195	3954	3982	200.8	-13.6	151	1518	0.00	2.50	0.00	0.000	388	0.000	0.087	2270	3617	3967	3953	3981	0	0	0	0	0	0	14.76	14.20	14.77
1593	-1.09	-145.9	2270	3615	3955	3981	211.0	-12.0	167	1598	0.15	2.38	0.00	0.000	5254	0.120	0.057	2215	2199	3967	3954	3981	0	0	0	0	0	0	14.34	14.31	14.45
1903	-1.02	-145.9	2216	2198	3955	3981	266.5	-17.4	179	1908	0.12	2.50	0.00	0.000	2436	0.299	0.085	2236	3620	3966	3952	3980	0	0	0	0	0	0	13.85	14.16	14.05
1978	-1.07	-145.9	2236	3620	3954	3981	277.1	-12.9	194	1983	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2201	3967	3954	3981	0	0	0	0	0	0	14.30	14.14	14.37
2293	-1.07	-145.9	2236	2200	3954	3981	318.6	-12.8	207	2298	0.00	2.50	0.00	0.000	260	0.000	0.090	2235	3619	3967	3954	3980	0	0	0	0	0	0	14.77	14.16	14.78
2384	-1.15	-145.9	2235	3620	3954	3980	329.2	-11.0	225	2388	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2199	3966	3952	3980	0	0	0	0	0	0	14.37	14.22	14.38
2714	-1.17	-145.9	2236	2198	3953	3981	368.4	-11.8	241	2718	0.00	2.50	0.00	0.000	388	0.000	0.089	2235	3619	3966	3953	3980	0	0	0	0	0	0	14.77	14.16	14.78
2774	-1.27	-145.9	2235	3621	3953	3980	375.1	-10.6	253	2779	0.20	2.40	0.00	0.000	5254	0.109	0.057	2160	2195	3966	3952	3980	0	0	0	0	0	0	14.27	14.21	14.36
3104	-1.13	-145.9	2160	2194	3951	3981	435.3	-18.6	269	3109	0.22	2.50	0.00	0.000	2436	0.312	0.083	2199	3619	3965	3951	3980	0	0	0	0	0	0	13.78	14.12	13.97
3234	-1.13	-145.9	2199	3621	3951	3981	453.7	-13.1	295	3240	0.00	2.40	0.00	0.000	1030	0.000	0.057	2199	2194	3965	3951	3980	0	0	0	0	0	0	14.42	14.29	14.46
3432	end dive: TARGET_DEPTH_EXCEEDED
state	3432	begin apogee
3438	-0.13	0.0	2200	2065	3952	3980	481.8	-14.1	305	3664	1.30	0.08	222.15	1.453	10246	0.243	0.180	2528	2114	3365	3386	3345	0	0	0	0	0	0	13.91	13.46	12.64
3668	end apogee: CONTROL_FINISHED_OK
state	3668	begin climb
3670	0.57	145.9	2533	2114	3380	3338	493.0	0.0	312	3888	0.75	2.67	210.48	1.397	10756	0.063	0.077	2788	728	2762	2804	2720	0	0	0	0	0	0	13.62	12.89	12.25
4065	0.19	145.9	2788	727	2793	2713	474.9	15.1	396	4070	0.68	2.47	0.00	0.000	5254	0.321	0.075	2648	2096	2751	2790	2712	0	0	0	0	0	0	13.31	13.66	13.69
4397	0.03	155.1	2649	2096	2792	2708	441.8	9.6	412	4408	0.20	2.45	2.20	0.543	12964	0.265	0.082	2602	730	2739	2779	2699	0	0	0	0	0	0	13.85	14.07	12.57
4463	0.07	213.0	2603	730	2786	2703	436.4	7.3	425	4563	0.00	2.40	95.10	1.415	9254	0.000	0.079	2602	2099	2495	2554	2436	0	0	0	0	0	0	14.29	14.16	12.95
4879	0.09	241.1	2603	2099	2542	2416	401.2	8.7	458	4919	0.00	0.00	38.40	1.500	8230	0.000	0.000	2602	2099	2383	2441	2325	0	0	0	0	0	0	14.52	14.01	13.16
5209	0.14	265.2	2602	2100	2428	2315	371.9	8.9	469	5249	0.00	2.42	35.12	1.465	8868	0.000	0.082	2602	721	2279	2332	2227	0	0	0	0	0	0	14.57	13.85	13.21
5301	0.27	298.8	2603	722	2326	2227	364.0	8.5	487	5361	0.20	2.42	51.30	1.381	11430	0.097	0.078	2682	2101	2143	2193	2094	0	0	0	0	0	0	14.21	14.12	13.08
5659	0.19	298.8	2683	2102	2187	2083	312.9	14.3	509	5665	0.12	2.40	0.00	0.000	4740	0.255	0.082	2659	729	2135	2186	2084	0	0	0	0	0	0	14.01	14.19	14.15
5705	0.19	298.8	2659	730	2184	2084	307.1	12.4	518	5710	0.00	2.40	0.00	0.000	1030	0.000	0.077	2659	2109	2133	2184	2083	0	0	0	0	0	0	14.33	14.21	14.38
6020	0.17	298.8	2659	2112	2184	2082	270.8	11.1	531	6021	0.00	0.00	0.00	0.000	134	0.000	0.000	2659	2111	2131	2183	2080	0	0	0	0	0	0	14.64	14.66	14.66
6320	0.17	300.3	2658	2112	2184	2080	239.8	9.9	541	6326	0.00	2.42	0.00	0.000	548	0.000	0.085	2659	725	2131	2183	2079	0	0	0	0	0	0	14.65	14.25	14.67
6401	0.24	322.7	2660	726	2182	2080	232.3	9.0	557	6443	0.00	2.40	35.58	1.388	9382	0.000	0.078	2659	2104	2045	2092	1998	0	0	0	0	0	0	14.40	14.26	13.30
6743	0.28	345.7	2660	2103	2091	1990	200.9	8.9	575	6786	0.00	2.45	37.35	1.365	8868	0.000	0.086	2659	723	1951	1997	1905	0	0	0	0	0	0	14.59	14.12	13.27
6859	0.41	386.7	2660	723	1990	1906	191.2	8.1	598	6932	0.17	2.42	67.72	1.291	11430	0.109	0.081	2729	2102	1793	1816	1771	0	0	0	0	0	0	14.16	14.06	13.11
7253	0.38	386.7	2729	2102	1809	1745	141.2	12.5	627	7257	0.00	2.40	0.00	0.000	644	0.000	0.084	2737	729	1777	1808	1746	0	0	0	0	0	0	14.55	14.04	14.57
7288	0.38	386.7	2740	730	1806	1747	136.8	12.7	634	7293	0.15	2.40	0.00	0.000	5126	0.229	0.079	2704	2100	1775	1805	1746	0	0	0	0	0	0	13.34	14.17	13.53
7613	0.42	401.6	2707	2101	1806	1745	105.0	9.3	649	7633	0.00	2.47	16.12	1.400	8868	0.000	0.085	2712	727	1725	1755	1696	0	0	0	0	0	0	14.62	14.21	13.32
7706	0.52	420.5	2712	728	1746	1703	96.6	9.1	667	7722	0.12	2.40	10.27	0.493	11430	0.130	0.077	2769	2102	1650	1674	1626	0	0	0	0	0	0	14.22	14.16	13.66
8027	0.47	420.5	2769	2102	1676	1620	57.7	10.3	701	8033	0.12	2.40	0.00	0.000	4740	0.259	0.081	2747	729	1646	1673	1620	0	0	0	0	0	0	13.97	14.16	14.11
8130	0.59	507.1	2748	729	1674	1621	50.5	6.0	721	8184	0.00	2.40	45.12	0.353	9382	0.000	0.079	2747	2102	1295	1345	1246	0	0	0	0	0	0	14.34	14.21	13.74
8479	0.76	595.8	2748	2103	1348	1234	28.8	5.9	761	8531	0.25	0.00	46.55	0.287	10406	0.089	0.000	2842	2103	932	997	868	0	0	0	0	0	0	14.25	14.13	13.78
8787	end climb: SURFACE_DEPTH_REACHED
state	8787	begin surface coast
8807	end surface coast: CONTROL_FINISHED_OK
state	8807	begin surface