Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 289 * 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 289 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 802.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 802.0 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 60 VBD_MIN 500

DIVE 289 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 090917,093651,7540.9390,-15106.9717,38,0.8,39,20.8,0.0,317.4,10,9.8 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 1.13 MHEAD_RNG_PITCHd_Wd 326.8,4327,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 090917,094749,7540.9385,-15107.0098,5,0.7,13,20.8,0.0,0.0,12,9.9

Post-dive calculations and measurements:

FINISH 0.5,1.021630 _24V_AH 12.26,180.906

SM_CCo 9191,0.00,0.000,0,0,503,702.78 _10V_AH 12.11,0.000

SM_GC 1.20,8.40,0.17,0.00,0.067,0.109,0.000,199,2222,503,-7.38,-0.74,702.78,0,0,0,0,0,0,14.14,14.12,14.40 FG_AHR_24Vo 0.000

RAFOS_CLK 67 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323644

IRIDIUM_FIX 7539.58,-15110.21,090917,070009 DATA_FILE_SIZE 23407,668

TT8_MAMPS 0.085386,0.953477 CAP_FILE_SIZE 98421,0

HUMID 44.21 CFSIZE 2097872896,2004025344

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 1447.4

XPDR_PINGS 11 CURRENT 0.050,260.25,1

CP_FREE 0.000000 GPS 090917,122333,7542.211,-15108.285,72,0.8,72,20.8,0.6,351.5,10,8.7

PM_FREEKB_00 49363072

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 456 147.82 nil 0 0 0.00

Roll_motor 79 2138 2094.50 nil 0 0 0.00

VBD_pump_during_apogee 998 1513 18531.15 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8944 14 1640.42

Iridium_during_xfer 387 175 833.23 NCP 9162 20 2246.52

Transponder_ping 2 420 14.16 PMAR 9143 56 6300.76

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.30

TT8 0 0 0.00

LPSleep 6593 2 184.45

TT8_Active 892 13 151.05

TT8_Sampling 2053 33 831.42

TT8_CF8 324 38 152.10

TT8_Kalman 0 0 0.00

Analog_circuits 2089 10 252.99

GPS_charging 0 0 0.00

Compass 959 7 81.37

RAFOS 2194 48 1275.33

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 -145.9 187 2227 506 489 0.0 0.0 0 143 0.00 0.00 -91.90 0.000 16386 0.000 0.000 186 2227 2129 2058 2201 0 0 0 0 0 0 14.51 28.83 14.53

146 -0.57 -145.9 186 2227 2060 2201 3.3 -4.6 9 204 13.02 2.80 -37.55 0.000 18980 0.457 2.138 2384 835 3964 3947 3981 0 0 0 0 0 0 13.60 12.60 14.04

226 -0.49 -145.9 2385 829 3952 3981 26.9 -28.4 24 233 0.17 2.40 0.00 0.000 3206 0.269 0.088 2414 2176 3966 3951 3981 0 0 0 0 0 0 13.84 14.07 14.09

529 -0.64 -145.9 2414 2178 3955 3980 65.6 -9.4 55 534 0.12 2.58 0.00 0.000 4516 0.133 0.089 2350 3614 3967 3954 3981 0 0 0 0 0 0 14.26 14.00 14.28

610 -0.80 -145.9 2351 3616 3954 3980 74.5 -11.1 71 614 0.00 2.35 0.00 0.000 1158 0.000 0.055 2350 2233 3966 3952 3981 0 0 0 0 0 0 14.13 14.02 14.15

942 -0.91 -145.9 2350 2234 3954 3982 112.7 -10.2 97 943 0.20 0.00 0.00 0.000 4230 0.107 0.000 2276 2234 3968 3955 3981 0 0 0 0 0 0 14.09 14.19 14.16

1239 -0.91 -145.9 2273 2233 3955 3981 158.6 -15.0 107 1244 0.00 2.45 0.00 0.000 260 0.000 0.088 2265 3614 3968 3955 3981 0 0 0 0 0 0 14.67 14.03 14.67

1320 -1.02 -145.9 2266 3615 3954 3982 169.2 -12.0 123 1325 0.00 2.40 0.00 0.000 1158 0.000 0.058 2265 2201 3967 3954 3981 0 0 0 0 0 0 14.30 14.17 14.33

1630 -1.04 -145.9 2265 2200 3954 3982 212.7 -13.7 135 1635 0.00 2.50 0.00 0.000 388 0.000 0.087 2257 3613 3967 3954 3981 0 0 0 0 0 0 14.69 14.09 14.70

1685 -1.15 -145.9 2258 3613 3955 3977 219.9 -12.0 146 1691 0.15 2.42 0.00 0.000 5254 0.121 0.058 2199 2195 3967 3954 3981 0 0 0 0 0 0 14.16 14.00 14.28

1990 -1.06 -145.9 2200 2194 3954 3982 275.6 -17.4 157 1995 0.12 2.55 0.00 0.000 2436 0.314 0.083 2217 3619 3967 3954 3981 0 0 0 0 0 0 13.74 13.95 13.89

2066 -1.10 -145.9 2219 3620 3955 3980 286.6 -13.4 172 2071 0.00 2.42 0.00 0.000 1158 0.000 0.056 2222 2194 3967 3954 3981 0 0 0 0 0 0 13.78 13.80 13.78

2382 -1.10 -145.9 2219 2193 3954 3982 329.9 -13.5 185 2386 0.00 2.55 0.00 0.000 260 0.000 0.086 2211 3619 3967 3954 3981 0 0 0 0 0 0 14.64 14.06 14.64

2482 -1.15 -145.9 2210 3621 3954 3982 342.6 -12.1 205 2486 0.00 2.45 0.00 0.000 1158 0.000 0.056 2210 2196 3970 3961 3980 0 0 0 0 0 0 14.14 14.02 14.17

2802 -1.15 -145.9 2210 2196 3954 3981 384.6 -13.0 219 2806 0.00 2.58 0.00 0.000 260 0.000 0.088 2207 3620 3967 3954 3980 0 0 0 0 0 0 14.47 13.96 14.49

2882 -1.21 -145.9 2208 3620 3955 3980 394.5 -11.9 235 2886 0.00 2.45 0.00 0.000 1158 0.000 0.055 2208 2198 3966 3953 3980 0 0 0 0 0 0 14.11 14.00 14.16

3192 -1.21 -145.9 2208 2197 3958 3979 434.9 -13.1 247 3196 0.00 2.53 0.00 0.000 260 0.000 0.086 2198 3613 3966 3953 3979 0 0 0 0 0 0 14.60 14.07 14.63

3257 -1.25 -145.9 2198 3615 3954 3980 443.5 -12.4 260 3262 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2201 3966 3953 3979 0 0 0 0 0 0 14.29 14.15 14.33

3520 end dive: TARGET_DEPTH_EXCEEDED

state 3520 begin apogee

3526 -0.13 0.0 2198 2059 3954 3980 480.4 -14.0 273 3752 1.35 0.10 221.93 1.417 10246 0.240 0.158 2532 2121 3365 3389 3341 0 0 0 0 0 0 13.68 13.38 12.60

3756 end apogee: CONTROL_FINISHED_OK

state 3756 begin climb

3761 0.57 145.9 2533 2121 3380 3333 492.3 0.0 280 3985 0.73 2.70 212.90 1.357 10756 0.062 0.080 2780 728 2757 2801 2714 0 0 0 0 0 0 13.60 12.86 12.26

4033 0.18 145.9 2781 727 2794 2711 498.3 13.1 291 4038 0.68 2.55 0.00 0.000 5254 0.321 0.074 2647 2095 2753 2793 2714 0 0 0 0 0 0 13.04 13.35 13.40

4344 0.01 155.4 2646 2094 2793 2706 468.0 9.6 303 4348 0.25 0.00 2.30 0.623 12454 0.256 0.000 2590 2093 2731 2774 2689 0 0 0 0 0 0 13.69 13.83 12.47

4644 0.00 220.6 2590 2094 2789 2702 446.6 7.0 313 4765 0.00 0.00 115.62 1.335 8358 0.000 0.000 2589 2095 2457 2518 2397 0 0 0 0 0 0 14.33 13.56 12.98

5064 0.03 256.1 2590 2093 2510 2382 411.8 8.4 327 5125 0.00 2.47 52.83 1.375 8740 0.000 0.088 2589 736 2316 2373 2260 0 0 0 0 0 0 14.54 13.95 13.14

5172 0.17 303.4 2590 737 2358 2256 403.0 7.8 348 5252 0.15 2.40 74.30 1.325 11430 0.118 0.079 2663 2099 2128 2182 2075 0 0 0 0 0 0 14.14 14.05 13.00

5577 0.12 303.4 2656 2099 2164 2053 349.8 13.3 379 5582 0.12 2.40 0.00 0.000 4740 0.245 0.083 2632 729 2108 2163 2053 0 0 0 0 0 0 14.02 14.18 14.16

5607 0.15 303.4 2633 729 2162 2053 346.1 11.4 385 5613 0.00 2.40 0.00 0.000 1158 0.000 0.078 2632 2103 2107 2161 2053 0 0 0 0 0 0 14.33 14.19 14.37

5939 0.15 303.4 2633 2104 2162 2051 308.9 11.0 401 5940 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2103 2105 2160 2051 0 0 0 0 0 0 14.41 14.42 14.42

6238 0.15 303.4 2632 2105 2160 2056 277.4 10.3 411 6244 0.00 2.45 0.00 0.000 516 0.000 0.086 2633 730 2105 2160 2050 0 0 0 0 0 0 14.38 13.88 14.40

6289 0.24 314.3 2632 731 2158 2051 272.4 9.5 421 6301 0.00 2.42 4.05 1.514 9382 0.000 0.078 2633 2101 2084 2137 2032 0 0 0 0 0 0 14.09 13.97 13.00

6599 0.28 335.8 2634 2102 2146 2038 243.4 9.0 433 6646 0.12 0.00 45.85 1.348 10406 0.129 0.000 2689 2102 1996 2045 1948 0 0 0 0 0 0 14.11 13.95 13.18

6929 0.23 335.8 2690 2102 2030 1931 204.6 11.6 444 6934 0.12 2.47 0.00 0.000 4740 0.252 0.086 2660 728 1980 2030 1930 0 0 0 0 0 0 13.81 13.90 13.96

7021 0.32 364.3 2661 728 2030 1931 196.3 8.7 462 7074 0.00 2.45 47.12 1.300 9382 0.000 0.079 2655 2102 1878 1916 1840 0 0 0 0 0 0 14.15 14.01 13.19

7381 0.40 396.4 2660 2103 1900 1832 164.7 8.5 484 7446 0.15 2.53 56.00 1.261 10916 0.115 0.087 2723 732 1748 1769 1727 0 0 0 0 0 0 14.01 13.92 13.18

7493 0.40 396.4 2724 728 1762 1718 151.8 11.3 501 7498 0.00 2.45 0.00 0.000 1030 0.000 0.077 2723 2105 1739 1761 1717 0 0 0 0 0 0 14.01 13.90 14.02

7804 0.38 396.4 2724 2105 1761 1709 114.8 11.4 513 7805 0.00 0.00 0.00 0.000 134 0.000 0.000 2723 2105 1736 1760 1712 0 0 0 0 0 0 14.32 14.33 14.34

8104 0.39 414.3 2724 2104 1760 1708 83.9 9.2 533 8116 0.00 2.55 8.15 0.422 8740 0.000 0.084 2724 729 1677 1705 1649 0 0 0 0 0 0 14.21 13.90 13.45

8193 0.47 459.4 2723 729 1709 1653 76.7 7.9 550 8224 0.00 2.45 25.40 0.425 9382 0.000 0.076 2723 2102 1491 1524 1458 0 0 0 0 0 0 13.95 13.84 13.48

8530 0.62 553.7 2724 2103 1528 1459 52.7 5.6 587 8582 0.15 0.00 50.38 0.353 10662 0.112 0.000 2790 2102 1105 1171 1040 0 0 0 0 0 0 13.90 13.86 13.51

8880 0.75 638.9 2791 2103 1171 1046 24.9 6.1 627 8933 0.00 2.47 45.67 0.278 8868 0.000 0.089 2792 729 758 826 691 0 0 0 0 0 0 14.17 13.84 13.57

9010 1.02 743.5 2792 729 827 696 17.9 5.2 652 9053 0.38 2.45 35.90 0.255 11430 0.075 0.077 2923 2098 499 520 478 0 0 0 0 0 0 13.90 13.78 13.67

9115 end climb: SURFACE_DEPTH_REACHED

state 9115 begin surface coast

9125 end surface coast: CONTROL_FINISHED_OK

state 9126 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	289	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	802.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,093651,7540.9390,-15106.9717,38,0.8,39,20.8,0.0,317.4,10,9.8	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	1.13	MHEAD_RNG_PITCHd_Wd	326.8,4327,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	090917,094749,7540.9385,-15107.0098,5,0.7,13,20.8,0.0,0.0,12,9.9

FINISH	0.5,1.021630	_24V_AH	12.26,180.906
SM_CCo	9191,0.00,0.000,0,0,503,702.78	_10V_AH	12.11,0.000
SM_GC	1.20,8.40,0.17,0.00,0.067,0.109,0.000,199,2222,503,-7.38,-0.74,702.78,0,0,0,0,0,0,14.14,14.12,14.40	FG_AHR_24Vo	0.000
RAFOS_CLK	67	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323644
IRIDIUM_FIX	7539.58,-15110.21,090917,070009	DATA_FILE_SIZE	23407,668
TT8_MAMPS	0.085386,0.953477	CAP_FILE_SIZE	98421,0
HUMID	44.21	CFSIZE	2097872896,2004025344
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	1447.4
XPDR_PINGS	11	CURRENT	0.050,260.25,1
CP_FREE	0.000000	GPS	090917,122333,7542.211,-15108.285,72,0.8,72,20.8,0.6,351.5,10,8.7
PM_FREEKB_00	49363072

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	456	147.82	nil	0	0	0.00
Roll_motor	79	2138	2094.50	nil	0	0	0.00
VBD_pump_during_apogee	998	1513	18531.15	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8944	14	1640.42
Iridium_during_xfer	387	175	833.23	NCP	9162	20	2246.52
Transponder_ping	2	420	14.16	PMAR	9143	56	6300.76
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.30
TT8	0	0	0.00
LPSleep	6593	2	184.45
TT8_Active	892	13	151.05
TT8_Sampling	2053	33	831.42
TT8_CF8	324	38	152.10
TT8_Kalman	0	0	0.00
Analog_circuits	2089	10	252.99
GPS_charging	0	0	0.00
Compass	959	7	81.37
RAFOS	2194	48	1275.33
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	187	2227	506	489	0.0	0.0	0	143	0.00	0.00	-91.90	0.000	16386	0.000	0.000	186	2227	2129	2058	2201	0	0	0	0	0	0	14.51	28.83	14.53
146	-0.57	-145.9	186	2227	2060	2201	3.3	-4.6	9	204	13.02	2.80	-37.55	0.000	18980	0.457	2.138	2384	835	3964	3947	3981	0	0	0	0	0	0	13.60	12.60	14.04
226	-0.49	-145.9	2385	829	3952	3981	26.9	-28.4	24	233	0.17	2.40	0.00	0.000	3206	0.269	0.088	2414	2176	3966	3951	3981	0	0	0	0	0	0	13.84	14.07	14.09
529	-0.64	-145.9	2414	2178	3955	3980	65.6	-9.4	55	534	0.12	2.58	0.00	0.000	4516	0.133	0.089	2350	3614	3967	3954	3981	0	0	0	0	0	0	14.26	14.00	14.28
610	-0.80	-145.9	2351	3616	3954	3980	74.5	-11.1	71	614	0.00	2.35	0.00	0.000	1158	0.000	0.055	2350	2233	3966	3952	3981	0	0	0	0	0	0	14.13	14.02	14.15
942	-0.91	-145.9	2350	2234	3954	3982	112.7	-10.2	97	943	0.20	0.00	0.00	0.000	4230	0.107	0.000	2276	2234	3968	3955	3981	0	0	0	0	0	0	14.09	14.19	14.16
1239	-0.91	-145.9	2273	2233	3955	3981	158.6	-15.0	107	1244	0.00	2.45	0.00	0.000	260	0.000	0.088	2265	3614	3968	3955	3981	0	0	0	0	0	0	14.67	14.03	14.67
1320	-1.02	-145.9	2266	3615	3954	3982	169.2	-12.0	123	1325	0.00	2.40	0.00	0.000	1158	0.000	0.058	2265	2201	3967	3954	3981	0	0	0	0	0	0	14.30	14.17	14.33
1630	-1.04	-145.9	2265	2200	3954	3982	212.7	-13.7	135	1635	0.00	2.50	0.00	0.000	388	0.000	0.087	2257	3613	3967	3954	3981	0	0	0	0	0	0	14.69	14.09	14.70
1685	-1.15	-145.9	2258	3613	3955	3977	219.9	-12.0	146	1691	0.15	2.42	0.00	0.000	5254	0.121	0.058	2199	2195	3967	3954	3981	0	0	0	0	0	0	14.16	14.00	14.28
1990	-1.06	-145.9	2200	2194	3954	3982	275.6	-17.4	157	1995	0.12	2.55	0.00	0.000	2436	0.314	0.083	2217	3619	3967	3954	3981	0	0	0	0	0	0	13.74	13.95	13.89
2066	-1.10	-145.9	2219	3620	3955	3980	286.6	-13.4	172	2071	0.00	2.42	0.00	0.000	1158	0.000	0.056	2222	2194	3967	3954	3981	0	0	0	0	0	0	13.78	13.80	13.78
2382	-1.10	-145.9	2219	2193	3954	3982	329.9	-13.5	185	2386	0.00	2.55	0.00	0.000	260	0.000	0.086	2211	3619	3967	3954	3981	0	0	0	0	0	0	14.64	14.06	14.64
2482	-1.15	-145.9	2210	3621	3954	3982	342.6	-12.1	205	2486	0.00	2.45	0.00	0.000	1158	0.000	0.056	2210	2196	3970	3961	3980	0	0	0	0	0	0	14.14	14.02	14.17
2802	-1.15	-145.9	2210	2196	3954	3981	384.6	-13.0	219	2806	0.00	2.58	0.00	0.000	260	0.000	0.088	2207	3620	3967	3954	3980	0	0	0	0	0	0	14.47	13.96	14.49
2882	-1.21	-145.9	2208	3620	3955	3980	394.5	-11.9	235	2886	0.00	2.45	0.00	0.000	1158	0.000	0.055	2208	2198	3966	3953	3980	0	0	0	0	0	0	14.11	14.00	14.16
3192	-1.21	-145.9	2208	2197	3958	3979	434.9	-13.1	247	3196	0.00	2.53	0.00	0.000	260	0.000	0.086	2198	3613	3966	3953	3979	0	0	0	0	0	0	14.60	14.07	14.63
3257	-1.25	-145.9	2198	3615	3954	3980	443.5	-12.4	260	3262	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2201	3966	3953	3979	0	0	0	0	0	0	14.29	14.15	14.33
3520	end dive: TARGET_DEPTH_EXCEEDED
state	3520	begin apogee
3526	-0.13	0.0	2198	2059	3954	3980	480.4	-14.0	273	3752	1.35	0.10	221.93	1.417	10246	0.240	0.158	2532	2121	3365	3389	3341	0	0	0	0	0	0	13.68	13.38	12.60
3756	end apogee: CONTROL_FINISHED_OK
state	3756	begin climb
3761	0.57	145.9	2533	2121	3380	3333	492.3	0.0	280	3985	0.73	2.70	212.90	1.357	10756	0.062	0.080	2780	728	2757	2801	2714	0	0	0	0	0	0	13.60	12.86	12.26
4033	0.18	145.9	2781	727	2794	2711	498.3	13.1	291	4038	0.68	2.55	0.00	0.000	5254	0.321	0.074	2647	2095	2753	2793	2714	0	0	0	0	0	0	13.04	13.35	13.40
4344	0.01	155.4	2646	2094	2793	2706	468.0	9.6	303	4348	0.25	0.00	2.30	0.623	12454	0.256	0.000	2590	2093	2731	2774	2689	0	0	0	0	0	0	13.69	13.83	12.47
4644	0.00	220.6	2590	2094	2789	2702	446.6	7.0	313	4765	0.00	0.00	115.62	1.335	8358	0.000	0.000	2589	2095	2457	2518	2397	0	0	0	0	0	0	14.33	13.56	12.98
5064	0.03	256.1	2590	2093	2510	2382	411.8	8.4	327	5125	0.00	2.47	52.83	1.375	8740	0.000	0.088	2589	736	2316	2373	2260	0	0	0	0	0	0	14.54	13.95	13.14
5172	0.17	303.4	2590	737	2358	2256	403.0	7.8	348	5252	0.15	2.40	74.30	1.325	11430	0.118	0.079	2663	2099	2128	2182	2075	0	0	0	0	0	0	14.14	14.05	13.00
5577	0.12	303.4	2656	2099	2164	2053	349.8	13.3	379	5582	0.12	2.40	0.00	0.000	4740	0.245	0.083	2632	729	2108	2163	2053	0	0	0	0	0	0	14.02	14.18	14.16
5607	0.15	303.4	2633	729	2162	2053	346.1	11.4	385	5613	0.00	2.40	0.00	0.000	1158	0.000	0.078	2632	2103	2107	2161	2053	0	0	0	0	0	0	14.33	14.19	14.37
5939	0.15	303.4	2633	2104	2162	2051	308.9	11.0	401	5940	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2103	2105	2160	2051	0	0	0	0	0	0	14.41	14.42	14.42
6238	0.15	303.4	2632	2105	2160	2056	277.4	10.3	411	6244	0.00	2.45	0.00	0.000	516	0.000	0.086	2633	730	2105	2160	2050	0	0	0	0	0	0	14.38	13.88	14.40
6289	0.24	314.3	2632	731	2158	2051	272.4	9.5	421	6301	0.00	2.42	4.05	1.514	9382	0.000	0.078	2633	2101	2084	2137	2032	0	0	0	0	0	0	14.09	13.97	13.00
6599	0.28	335.8	2634	2102	2146	2038	243.4	9.0	433	6646	0.12	0.00	45.85	1.348	10406	0.129	0.000	2689	2102	1996	2045	1948	0	0	0	0	0	0	14.11	13.95	13.18
6929	0.23	335.8	2690	2102	2030	1931	204.6	11.6	444	6934	0.12	2.47	0.00	0.000	4740	0.252	0.086	2660	728	1980	2030	1930	0	0	0	0	0	0	13.81	13.90	13.96
7021	0.32	364.3	2661	728	2030	1931	196.3	8.7	462	7074	0.00	2.45	47.12	1.300	9382	0.000	0.079	2655	2102	1878	1916	1840	0	0	0	0	0	0	14.15	14.01	13.19
7381	0.40	396.4	2660	2103	1900	1832	164.7	8.5	484	7446	0.15	2.53	56.00	1.261	10916	0.115	0.087	2723	732	1748	1769	1727	0	0	0	0	0	0	14.01	13.92	13.18
7493	0.40	396.4	2724	728	1762	1718	151.8	11.3	501	7498	0.00	2.45	0.00	0.000	1030	0.000	0.077	2723	2105	1739	1761	1717	0	0	0	0	0	0	14.01	13.90	14.02
7804	0.38	396.4	2724	2105	1761	1709	114.8	11.4	513	7805	0.00	0.00	0.00	0.000	134	0.000	0.000	2723	2105	1736	1760	1712	0	0	0	0	0	0	14.32	14.33	14.34
8104	0.39	414.3	2724	2104	1760	1708	83.9	9.2	533	8116	0.00	2.55	8.15	0.422	8740	0.000	0.084	2724	729	1677	1705	1649	0	0	0	0	0	0	14.21	13.90	13.45
8193	0.47	459.4	2723	729	1709	1653	76.7	7.9	550	8224	0.00	2.45	25.40	0.425	9382	0.000	0.076	2723	2102	1491	1524	1458	0	0	0	0	0	0	13.95	13.84	13.48
8530	0.62	553.7	2724	2103	1528	1459	52.7	5.6	587	8582	0.15	0.00	50.38	0.353	10662	0.112	0.000	2790	2102	1105	1171	1040	0	0	0	0	0	0	13.90	13.86	13.51
8880	0.75	638.9	2791	2103	1171	1046	24.9	6.1	627	8933	0.00	2.47	45.67	0.278	8868	0.000	0.089	2792	729	758	826	691	0	0	0	0	0	0	14.17	13.84	13.57
9010	1.02	743.5	2792	729	827	696	17.9	5.2	652	9053	0.38	2.45	35.90	0.255	11430	0.075	0.077	2923	2098	499	520	478	0	0	0	0	0	0	13.90	13.78	13.67
9115	end climb: SURFACE_DEPTH_REACHED
state	9115	begin surface coast
9125	end surface coast: CONTROL_FINISHED_OK
state	9126	begin surface