Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 273 * 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 273 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 761.0

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 44 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 51 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 761.0 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 44 VBD_MIN 500

DIVE 273 NOCOMM_ACTION 161 R_STBD_OVSHOOT 51 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 070917,142402,7522.2446,-15121.4932,29,0.8,29,20.6,0.5,173.8,10,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 357.9,38931,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.1 D_GRID 480

GPS2 070917,143015,7522.2554,-15121.6221,5,0.8,9,20.6,0.0,0.0,11,9.6

Post-dive calculations and measurements:

FINISH 0.3,1.021449 _24V_AH 12.28,173.405

SM_CCo 9042,15.57,0.213,0,0,498,702.78 _10V_AH 12.16,0.000

SM_GC 1.11,8.15,0.17,15.57,0.069,0.147,0.213,203,2203,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.28,14.21,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 175 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323576

IRIDIUM_FIX 7520.89,-15120.66,070917,114756 DATA_FILE_SIZE 26719,749

TT8_MAMPS 0.040446,0.862099 CAP_FILE_SIZE 99614,0

HUMID 45.43 CFSIZE 2097872896,2007629824

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

TCM_TEMP 13.20 SOUNDSPEED 1438.5

XPDR_PINGS 20 CURRENT 0.023,285.11,1

CP_FREE 15955722240.000000 GPS 070917,170249,7523.323,-15119.494,18,0.7,22,20.6,0.4,309.3,12,9.9

PM_FREEKB_00 49901376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 142.25 nil 0 0 0.00

Roll_motor 78 2143 2074.22 nil 0 0 0.00

VBD_pump_during_apogee 1013 1508 18771.29 nil 0 0 0.00

VBD_pump_during_surface 15 212 40.68 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 4822 15 920.13

Iridium_during_xfer 182 134 301.25 NCP 9013 20 2213.59

Transponder_ping 5 420 25.79 PMAR 8996 9 1092.67

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.84

TT8 0 0 0.00

LPSleep 6181 2 173.63

TT8_Active 855 13 145.40

TT8_Sampling 2177 33 885.56

TT8_CF8 227 38 107.07

TT8_Kalman 0 0 0.00

Analog_circuits 2108 10 256.40

GPS_charging 0 0 0.00

Compass 1071 7 91.23

RAFOS 2219 48 1295.19

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 -145.9 184 2184 502 495 0.0 0.0 0 144 0.00 0.00 -91.82 0.000 16386 0.000 0.000 179 2183 2171 2112 2231 0 0 0 0 0 0 14.57 28.83 14.59

147 -0.57 -145.9 180 2184 2113 2234 3.6 -4.2 9 200 12.93 2.88 -34.85 0.000 18724 0.455 2.144 2376 3580 3964 3948 3981 0 0 0 0 0 0 13.62 12.59 14.14

341 -0.71 -145.9 2376 3581 3954 3981 43.5 -13.5 47 346 0.00 2.30 0.00 0.000 1158 0.000 0.059 2376 2219 3967 3954 3981 0 0 0 0 0 0 14.35 14.21 14.38

651 -0.82 -145.9 2376 2219 3955 3982 84.2 -10.7 79 652 0.20 0.00 0.00 0.000 4230 0.106 0.000 2296 2218 3968 3954 3982 0 0 0 0 0 0 14.34 14.47 14.44

961 -0.85 -145.9 2296 2219 3955 3983 130.1 -13.7 96 967 0.00 2.40 0.00 0.000 388 0.000 0.090 2289 3581 3967 3954 3981 0 0 0 0 0 0 14.74 14.13 14.76

1079 -0.96 -145.9 2289 3582 3955 3982 144.1 -11.4 119 1085 0.00 2.35 0.00 0.000 1158 0.000 0.058 2289 2195 3967 3954 3981 0 0 0 0 0 0 14.34 14.21 14.38

1382 -1.02 -145.9 2289 2194 3956 3981 182.5 -12.1 130 1383 0.12 0.00 0.00 0.000 4230 0.135 0.000 2241 2194 3967 3954 3981 0 0 0 0 0 0 14.42 14.50 14.47

1682 -1.02 -145.9 2241 2195 3955 3982 229.9 -15.6 140 1687 0.00 2.45 0.00 0.000 260 0.000 0.090 2236 3585 3968 3954 3982 0 0 0 0 0 0 14.77 14.12 14.78

1837 -1.08 -145.9 2237 3586 3956 3981 250.9 -12.8 171 1842 0.00 2.33 0.00 0.000 1158 0.000 0.057 2236 2200 3967 3954 3981 0 0 0 0 0 0 14.40 14.28 14.44

2162 -1.08 -145.9 2237 2200 3955 3982 294.3 -12.9 186 2167 0.00 2.45 0.00 0.000 260 0.000 0.090 2236 3585 3967 3954 3981 0 0 0 0 0 0 14.78 14.19 14.79

2304 -1.17 -145.9 2236 3585 3955 3981 310.2 -10.9 214 2309 0.00 2.33 0.00 0.000 1158 0.000 0.057 2236 2202 3967 3954 3981 0 0 0 0 0 0 14.40 14.27 14.42

2614 -1.22 -145.9 2236 2201 3955 3981 347.0 -11.5 226 2619 0.12 2.42 0.00 0.000 4484 0.148 0.086 2169 3581 3967 3954 3981 0 0 0 0 0 0 14.35 14.19 14.39

2680 -1.17 -145.9 2169 3581 3955 3981 357.2 -16.1 239 2685 0.15 2.35 0.00 0.000 3206 0.272 0.059 2198 2189 3967 3954 3980 0 0 0 0 0 0 13.91 14.26 14.22

3005 -1.14 -145.9 2198 2189 3955 3981 404.1 -14.2 254 3010 0.00 2.45 0.00 0.000 388 0.000 0.087 2190 3586 3967 3954 3980 0 0 0 0 0 0 14.79 14.19 14.78

3142 -1.14 -145.9 2190 3587 3955 3981 423.1 -13.7 281 3147 0.00 2.33 0.00 0.000 1030 0.000 0.057 2190 2201 3967 3954 3980 0 0 0 0 0 0 14.39 14.26 14.43

3457 -1.10 -145.9 2190 2200 3955 3981 470.2 -14.8 294 3462 0.12 2.42 0.00 0.000 2436 0.309 0.084 2209 3581 3966 3954 3979 0 0 0 0 0 0 13.95 14.18 14.12

3534 end dive: TARGET_DEPTH_EXCEEDED

state 3535 begin apogee

3543 -0.13 0.0 2210 2102 3955 3980 480.3 -11.7 310 3778 1.25 0.00 228.93 1.415 10246 0.226 0.000 2530 2100 3357 3381 3334 0 0 0 0 0 0 13.83 13.28 12.65

3781 end apogee: CONTROL_FINISHED_OK

state 3781 begin climb

3784 0.57 145.9 2530 2102 3379 3330 494.6 0.0 318 4178 0.75 2.65 214.30 1.361 10500 0.062 0.073 2783 3481 2747 2783 2712 0 0 0 0 0 0 13.66 12.90 12.28

4437 0.09 145.9 2783 3481 2781 2712 443.1 15.2 365 4444 0.85 2.38 0.00 0.000 5254 0.344 0.057 2615 2087 2745 2780 2711 0 0 0 0 0 0 13.64 14.09 14.02

4742 0.02 205.9 2616 2089 2781 2711 419.7 7.2 376 4836 0.00 0.00 92.15 1.335 8358 0.000 0.000 2615 2088 2527 2583 2471 0 0 0 0 0 0 14.60 13.90 13.10

5133 -0.02 219.7 2616 2088 2568 2447 384.5 9.4 389 5154 0.15 2.45 15.52 1.509 12964 0.275 0.086 2580 691 2465 2524 2407 0 0 0 0 0 0 13.90 13.89 13.26

5241 0.11 284.0 2580 691 2515 2402 376.7 7.0 410 5356 0.12 2.42 106.82 1.292 11430 0.139 0.081 2640 2079 2208 2266 2151 0 0 0 0 0 0 14.22 14.16 13.01

5671 0.11 284.0 2639 2079 2248 2133 328.7 11.4 446 5675 0.00 2.45 0.00 0.000 516 0.000 0.086 2640 697 2187 2246 2129 0 0 0 0 0 0 14.42 14.06 14.45

5716 0.14 284.0 2641 701 2244 2129 323.8 10.4 455 5720 0.00 2.45 0.00 0.000 1158 0.000 0.080 2640 2099 2186 2243 2129 0 0 0 0 0 0 14.22 14.09 14.26

6031 0.14 284.0 2641 2100 2241 2128 288.9 10.7 468 6036 0.00 2.47 0.00 0.000 516 0.000 0.086 2640 694 2185 2241 2129 0 0 0 0 0 0 14.48 14.10 14.50

6081 0.18 287.6 2641 694 2242 2129 283.8 9.8 478 6086 0.00 2.47 0.00 0.000 1190 0.000 0.079 2640 2100 2184 2240 2128 0 0 0 0 0 0 14.22 14.09 14.23

6391 0.19 301.8 2641 2100 2241 2128 253.4 9.3 490 6415 0.00 0.00 22.80 1.393 8230 0.000 0.000 2640 2100 2135 2191 2080 0 0 0 0 0 0 14.50 14.09 13.30

6692 0.24 338.3 2641 2101 2177 2069 227.4 8.3 500 6762 0.00 2.55 63.28 1.279 8868 0.000 0.086 2639 694 1978 2029 1928 0 0 0 0 0 0 14.45 13.94 13.18

6838 0.38 390.1 2641 695 2015 1927 216.0 7.6 529 6934 0.20 2.50 90.30 1.204 11430 0.097 0.080 2712 2105 1774 1805 1743 0 0 0 0 0 0 14.05 13.98 13.05

7233 0.36 390.1 2713 2106 1789 1721 168.2 12.0 558 7237 0.00 2.50 0.00 0.000 644 0.000 0.087 2713 697 1754 1789 1720 0 0 0 0 0 0 14.39 14.04 14.41

7338 0.39 390.1 2713 697 1784 1720 156.7 10.5 579 7342 0.00 2.45 0.00 0.000 1158 0.000 0.078 2713 2099 1751 1783 1720 0 0 0 0 0 0 14.22 14.09 14.26

7653 0.39 390.1 2714 2101 1783 1719 122.6 10.6 592 7658 0.00 2.45 0.00 0.000 516 0.000 0.086 2713 697 1751 1782 1720 0 0 0 0 0 0 14.45 14.04 14.47

7716 0.45 405.2 2713 698 1777 1720 116.6 9.3 604 7741 0.00 2.42 16.62 1.315 9382 0.000 0.076 2713 2097 1709 1741 1678 0 0 0 0 0 0 14.21 14.09 13.27

8046 0.51 437.7 2713 2098 1736 1667 85.4 8.5 630 8069 0.00 2.58 17.80 0.438 8612 0.000 0.083 2712 3524 1579 1613 1545 0 0 0 0 0 0 14.54 14.14 13.63

8079 0.55 463.4 2713 3524 1614 1551 82.5 8.8 635 8101 0.15 2.42 15.90 0.441 11430 0.112 0.064 2774 2080 1475 1513 1438 0 0 0 0 0 0 14.12 14.02 13.62

8399 0.55 499.3 2774 2081 1520 1446 50.0 8.3 669 8426 0.00 2.45 22.05 0.343 8868 0.000 0.086 2780 689 1326 1373 1280 0 0 0 0 0 0 14.56 13.88 13.62

8481 0.64 567.3 2781 689 1376 1288 44.1 6.9 685 8529 0.00 2.47 40.58 0.327 9382 0.000 0.078 2781 2106 1048 1117 980 0 0 0 0 0 0 14.26 14.12 13.73

8834 0.83 680.3 2782 2106 1121 991 21.0 4.8 725 8906 0.17 0.00 66.22 0.252 10918 0.110 0.000 2861 2104 590 633 547 0 0 0 0 0 0 14.23 14.00 13.76

9013 end climb: SURFACE_DEPTH_REACHED

state 9013 begin surface coast

9022 end surface coast: CONTROL_FINISHED_OK

state 9022 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	273	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	761.0
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	44	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	51	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,142402,7522.2446,-15121.4932,29,0.8,29,20.6,0.5,173.8,10,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	357.9,38931,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.1	D_GRID	480
GPS2	070917,143015,7522.2554,-15121.6221,5,0.8,9,20.6,0.0,0.0,11,9.6

FINISH	0.3,1.021449	_24V_AH	12.28,173.405
SM_CCo	9042,15.57,0.213,0,0,498,702.78	_10V_AH	12.16,0.000
SM_GC	1.11,8.15,0.17,15.57,0.069,0.147,0.213,203,2203,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.28,14.21,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	175	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323576
IRIDIUM_FIX	7520.89,-15120.66,070917,114756	DATA_FILE_SIZE	26719,749
TT8_MAMPS	0.040446,0.862099	CAP_FILE_SIZE	99614,0
HUMID	45.43	CFSIZE	2097872896,2007629824
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1438.5
XPDR_PINGS	20	CURRENT	0.023,285.11,1
CP_FREE	15955722240.000000	GPS	070917,170249,7523.323,-15119.494,18,0.7,22,20.6,0.4,309.3,12,9.9
PM_FREEKB_00	49901376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	142.25	nil	0	0	0.00
Roll_motor	78	2143	2074.22	nil	0	0	0.00
VBD_pump_during_apogee	1013	1508	18771.29	nil	0	0	0.00
VBD_pump_during_surface	15	212	40.68	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	4822	15	920.13
Iridium_during_xfer	182	134	301.25	NCP	9013	20	2213.59
Transponder_ping	5	420	25.79	PMAR	8996	9	1092.67
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.84
TT8	0	0	0.00
LPSleep	6181	2	173.63
TT8_Active	855	13	145.40
TT8_Sampling	2177	33	885.56
TT8_CF8	227	38	107.07
TT8_Kalman	0	0	0.00
Analog_circuits	2108	10	256.40
GPS_charging	0	0	0.00
Compass	1071	7	91.23
RAFOS	2219	48	1295.19
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	184	2184	502	495	0.0	0.0	0	144	0.00	0.00	-91.82	0.000	16386	0.000	0.000	179	2183	2171	2112	2231	0	0	0	0	0	0	14.57	28.83	14.59
147	-0.57	-145.9	180	2184	2113	2234	3.6	-4.2	9	200	12.93	2.88	-34.85	0.000	18724	0.455	2.144	2376	3580	3964	3948	3981	0	0	0	0	0	0	13.62	12.59	14.14
341	-0.71	-145.9	2376	3581	3954	3981	43.5	-13.5	47	346	0.00	2.30	0.00	0.000	1158	0.000	0.059	2376	2219	3967	3954	3981	0	0	0	0	0	0	14.35	14.21	14.38
651	-0.82	-145.9	2376	2219	3955	3982	84.2	-10.7	79	652	0.20	0.00	0.00	0.000	4230	0.106	0.000	2296	2218	3968	3954	3982	0	0	0	0	0	0	14.34	14.47	14.44
961	-0.85	-145.9	2296	2219	3955	3983	130.1	-13.7	96	967	0.00	2.40	0.00	0.000	388	0.000	0.090	2289	3581	3967	3954	3981	0	0	0	0	0	0	14.74	14.13	14.76
1079	-0.96	-145.9	2289	3582	3955	3982	144.1	-11.4	119	1085	0.00	2.35	0.00	0.000	1158	0.000	0.058	2289	2195	3967	3954	3981	0	0	0	0	0	0	14.34	14.21	14.38
1382	-1.02	-145.9	2289	2194	3956	3981	182.5	-12.1	130	1383	0.12	0.00	0.00	0.000	4230	0.135	0.000	2241	2194	3967	3954	3981	0	0	0	0	0	0	14.42	14.50	14.47
1682	-1.02	-145.9	2241	2195	3955	3982	229.9	-15.6	140	1687	0.00	2.45	0.00	0.000	260	0.000	0.090	2236	3585	3968	3954	3982	0	0	0	0	0	0	14.77	14.12	14.78
1837	-1.08	-145.9	2237	3586	3956	3981	250.9	-12.8	171	1842	0.00	2.33	0.00	0.000	1158	0.000	0.057	2236	2200	3967	3954	3981	0	0	0	0	0	0	14.40	14.28	14.44
2162	-1.08	-145.9	2237	2200	3955	3982	294.3	-12.9	186	2167	0.00	2.45	0.00	0.000	260	0.000	0.090	2236	3585	3967	3954	3981	0	0	0	0	0	0	14.78	14.19	14.79
2304	-1.17	-145.9	2236	3585	3955	3981	310.2	-10.9	214	2309	0.00	2.33	0.00	0.000	1158	0.000	0.057	2236	2202	3967	3954	3981	0	0	0	0	0	0	14.40	14.27	14.42
2614	-1.22	-145.9	2236	2201	3955	3981	347.0	-11.5	226	2619	0.12	2.42	0.00	0.000	4484	0.148	0.086	2169	3581	3967	3954	3981	0	0	0	0	0	0	14.35	14.19	14.39
2680	-1.17	-145.9	2169	3581	3955	3981	357.2	-16.1	239	2685	0.15	2.35	0.00	0.000	3206	0.272	0.059	2198	2189	3967	3954	3980	0	0	0	0	0	0	13.91	14.26	14.22
3005	-1.14	-145.9	2198	2189	3955	3981	404.1	-14.2	254	3010	0.00	2.45	0.00	0.000	388	0.000	0.087	2190	3586	3967	3954	3980	0	0	0	0	0	0	14.79	14.19	14.78
3142	-1.14	-145.9	2190	3587	3955	3981	423.1	-13.7	281	3147	0.00	2.33	0.00	0.000	1030	0.000	0.057	2190	2201	3967	3954	3980	0	0	0	0	0	0	14.39	14.26	14.43
3457	-1.10	-145.9	2190	2200	3955	3981	470.2	-14.8	294	3462	0.12	2.42	0.00	0.000	2436	0.309	0.084	2209	3581	3966	3954	3979	0	0	0	0	0	0	13.95	14.18	14.12
3534	end dive: TARGET_DEPTH_EXCEEDED
state	3535	begin apogee
3543	-0.13	0.0	2210	2102	3955	3980	480.3	-11.7	310	3778	1.25	0.00	228.93	1.415	10246	0.226	0.000	2530	2100	3357	3381	3334	0	0	0	0	0	0	13.83	13.28	12.65
3781	end apogee: CONTROL_FINISHED_OK
state	3781	begin climb
3784	0.57	145.9	2530	2102	3379	3330	494.6	0.0	318	4178	0.75	2.65	214.30	1.361	10500	0.062	0.073	2783	3481	2747	2783	2712	0	0	0	0	0	0	13.66	12.90	12.28
4437	0.09	145.9	2783	3481	2781	2712	443.1	15.2	365	4444	0.85	2.38	0.00	0.000	5254	0.344	0.057	2615	2087	2745	2780	2711	0	0	0	0	0	0	13.64	14.09	14.02
4742	0.02	205.9	2616	2089	2781	2711	419.7	7.2	376	4836	0.00	0.00	92.15	1.335	8358	0.000	0.000	2615	2088	2527	2583	2471	0	0	0	0	0	0	14.60	13.90	13.10
5133	-0.02	219.7	2616	2088	2568	2447	384.5	9.4	389	5154	0.15	2.45	15.52	1.509	12964	0.275	0.086	2580	691	2465	2524	2407	0	0	0	0	0	0	13.90	13.89	13.26
5241	0.11	284.0	2580	691	2515	2402	376.7	7.0	410	5356	0.12	2.42	106.82	1.292	11430	0.139	0.081	2640	2079	2208	2266	2151	0	0	0	0	0	0	14.22	14.16	13.01
5671	0.11	284.0	2639	2079	2248	2133	328.7	11.4	446	5675	0.00	2.45	0.00	0.000	516	0.000	0.086	2640	697	2187	2246	2129	0	0	0	0	0	0	14.42	14.06	14.45
5716	0.14	284.0	2641	701	2244	2129	323.8	10.4	455	5720	0.00	2.45	0.00	0.000	1158	0.000	0.080	2640	2099	2186	2243	2129	0	0	0	0	0	0	14.22	14.09	14.26
6031	0.14	284.0	2641	2100	2241	2128	288.9	10.7	468	6036	0.00	2.47	0.00	0.000	516	0.000	0.086	2640	694	2185	2241	2129	0	0	0	0	0	0	14.48	14.10	14.50
6081	0.18	287.6	2641	694	2242	2129	283.8	9.8	478	6086	0.00	2.47	0.00	0.000	1190	0.000	0.079	2640	2100	2184	2240	2128	0	0	0	0	0	0	14.22	14.09	14.23
6391	0.19	301.8	2641	2100	2241	2128	253.4	9.3	490	6415	0.00	0.00	22.80	1.393	8230	0.000	0.000	2640	2100	2135	2191	2080	0	0	0	0	0	0	14.50	14.09	13.30
6692	0.24	338.3	2641	2101	2177	2069	227.4	8.3	500	6762	0.00	2.55	63.28	1.279	8868	0.000	0.086	2639	694	1978	2029	1928	0	0	0	0	0	0	14.45	13.94	13.18
6838	0.38	390.1	2641	695	2015	1927	216.0	7.6	529	6934	0.20	2.50	90.30	1.204	11430	0.097	0.080	2712	2105	1774	1805	1743	0	0	0	0	0	0	14.05	13.98	13.05
7233	0.36	390.1	2713	2106	1789	1721	168.2	12.0	558	7237	0.00	2.50	0.00	0.000	644	0.000	0.087	2713	697	1754	1789	1720	0	0	0	0	0	0	14.39	14.04	14.41
7338	0.39	390.1	2713	697	1784	1720	156.7	10.5	579	7342	0.00	2.45	0.00	0.000	1158	0.000	0.078	2713	2099	1751	1783	1720	0	0	0	0	0	0	14.22	14.09	14.26
7653	0.39	390.1	2714	2101	1783	1719	122.6	10.6	592	7658	0.00	2.45	0.00	0.000	516	0.000	0.086	2713	697	1751	1782	1720	0	0	0	0	0	0	14.45	14.04	14.47
7716	0.45	405.2	2713	698	1777	1720	116.6	9.3	604	7741	0.00	2.42	16.62	1.315	9382	0.000	0.076	2713	2097	1709	1741	1678	0	0	0	0	0	0	14.21	14.09	13.27
8046	0.51	437.7	2713	2098	1736	1667	85.4	8.5	630	8069	0.00	2.58	17.80	0.438	8612	0.000	0.083	2712	3524	1579	1613	1545	0	0	0	0	0	0	14.54	14.14	13.63
8079	0.55	463.4	2713	3524	1614	1551	82.5	8.8	635	8101	0.15	2.42	15.90	0.441	11430	0.112	0.064	2774	2080	1475	1513	1438	0	0	0	0	0	0	14.12	14.02	13.62
8399	0.55	499.3	2774	2081	1520	1446	50.0	8.3	669	8426	0.00	2.45	22.05	0.343	8868	0.000	0.086	2780	689	1326	1373	1280	0	0	0	0	0	0	14.56	13.88	13.62
8481	0.64	567.3	2781	689	1376	1288	44.1	6.9	685	8529	0.00	2.47	40.58	0.327	9382	0.000	0.078	2781	2106	1048	1117	980	0	0	0	0	0	0	14.26	14.12	13.73
8834	0.83	680.3	2782	2106	1121	991	21.0	4.8	725	8906	0.17	0.00	66.22	0.252	10918	0.110	0.000	2861	2104	590	633	547	0	0	0	0	0	0	14.23	14.00	13.76
9013	end climb: SURFACE_DEPTH_REACHED
state	9013	begin surface coast
9022	end surface coast: CONTROL_FINISHED_OK
state	9022	begin surface