Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 413 * 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 413 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 90 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 30 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 60 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 1158.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 90 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 30

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 60

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 1158.0 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 23 VBD_MIN 500

DIVE 413 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 230917,122221,7418.0571,-15345.6006,8,0.7,10,19.2,0.0,15.6,12,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 238.3,789,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 90

GPS2 230917,123114,7418.1016,-15345.4268,5,0.7,11,19.2,0.0,306.8,11,9.3

Post-dive calculations and measurements:

FINISH 0.4,1.020883 _24V_AH 12.62,241.574

SM_CCo 2633,27.48,0.199,0,0,499,702.78 _10V_AH 12.38,0.000

SM_GC 1.48,8.25,2.62,27.48,0.072,0.065,0.199,205,2215,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.22,14.15,13.87 FG_AHR_24Vo 0.000

RAFOS_CLK 88 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323568

IRIDIUM_FIX 7416.59,-15350.93,230917,113312 DATA_FILE_SIZE 6810,262

TT8_MAMPS 0.038948,0.963963 CAP_FILE_SIZE 48069,0

HUMID 45.78 CFSIZE 2097872896,1971748864

INTERNAL_PRESSURE 7.77175 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1442.7

XPDR_PINGS 1 CURRENT 0.143,57.88,1

CP_FREE 15891038208.000000 GPS 230917,131708,7418.183,-15345.908,8,0.7,12,19.2,0.0,0.0,12,10.0

PM_FREEKB_00 44437056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 446 131.09 nil 0 0 0.00

Roll_motor 20 2162 554.72 nil 0 0 0.00

VBD_pump_during_apogee 884 1060 11833.70 nil 0 0 0.00

VBD_pump_during_surface 27 198 68.97 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 2632 27 919.25

Iridium_during_xfer 270 162 557.17 NCP 2558 20 645.64

Transponder_ping 0 420 1.33 PMAR 2578 9 323.23

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.51

TT8 0 0 0.00

LPSleep 1034 2 29.58

TT8_Active 855 13 147.90

TT8_Sampling 1051 33 435.30

TT8_CF8 271 38 130.02

TT8_Kalman 0 0 0.00

Analog_circuits 1532 10 189.78

GPS_charging 0 0 0.00

Compass 384 7 33.28

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

52 end surface: CONTROL_FINISHED_OK

state 52 begin dive

56 -0.57 -145.9 197 2220 495 495 0.0 0.0 0 138 0.00 0.00 -80.80 0.000 16386 0.000 0.000 195 2221 2017 1949 2086 0 0 0 0 0 0 14.30 28.83 14.31

142 -0.57 -145.9 197 2219 1951 2092 3.5 -4.0 8 198 12.73 2.67 -38.12 0.000 19236 0.447 2.163 2375 3586 3961 3942 3980 0 0 0 0 0 0 13.58 12.98 14.03

241 -0.70 -145.9 2379 3589 3947 3982 30.2 -14.8 27 248 0.00 2.42 0.00 0.000 1158 0.000 0.060 2378 2196 3964 3947 3981 0 0 0 0 0 0 14.06 13.95 14.09

544 -0.81 -145.9 2379 2195 3956 3981 73.5 -10.9 58 550 0.17 2.47 0.00 0.000 4484 0.111 0.084 2298 3595 3966 3950 3982 0 0 0 0 0 0 14.04 13.80 14.07

603 -0.89 -145.9 2295 3596 3951 3981 81.6 -14.3 69 609 0.00 2.42 0.00 0.000 1158 0.000 0.057 2298 2198 3965 3950 3981 0 0 0 0 0 0 14.07 13.94 14.09

653 end dive: TARGET_DEPTH_EXCEEDED

state 653 begin apogee

660 -0.13 0.0 2299 2057 3951 3981 90.0 -16.3 75 737 0.93 0.00 73.75 0.479 10246 0.238 0.000 2528 2055 3367 3383 3352 0 0 0 0 0 0 13.43 13.95 13.52

741 end apogee: CONTROL_FINISHED_OK

state 741 begin climb

746 0.57 145.9 2529 2055 3382 3352 95.0 0.0 83 868 0.77 0.00 75.62 0.503 10758 0.106 0.000 2768 2055 2768 2812 2725 0 0 0 0 0 0 14.02 13.76 13.45

1164 0.67 537.6 2767 2056 2811 2726 130.5 -8.1 95 1843 0.00 2.53 665.65 1.060 9124 0.000 0.093 2769 735 1165 1230 1100 0 0 0 0 0 0 14.54 13.26 12.62

1894 0.73 537.6 2769 736 1221 1093 60.8 11.0 180 1900 0.15 2.50 0.00 0.000 3206 0.112 0.075 2830 2080 1155 1221 1090 0 0 0 0 0 0 13.52 13.43 13.62

2206 0.68 540.8 2831 2081 1222 1087 22.3 9.9 212 2208 0.12 0.00 0.00 0.000 4262 0.237 0.000 2806 2081 1153 1219 1087 0 0 0 0 0 0 13.89 14.15 14.09

2506 0.82 660.1 2805 2081 1222 1085 9.3 4.5 242 2585 0.12 2.50 69.35 0.215 10916 0.122 0.091 2873 723 670 723 617 0 0 0 0 0 0 14.20 13.90 13.84

2600 end climb: SURFACE_DEPTH_REACHED

state 2600 begin surface coast

2608 end surface coast: CONTROL_FINISHED_OK

state 2608 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	413	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	90	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	30	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	60	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	1158.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,122221,7418.0571,-15345.6006,8,0.7,10,19.2,0.0,15.6,12,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	238.3,789,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	90
GPS2	230917,123114,7418.1016,-15345.4268,5,0.7,11,19.2,0.0,306.8,11,9.3

FINISH	0.4,1.020883	_24V_AH	12.62,241.574
SM_CCo	2633,27.48,0.199,0,0,499,702.78	_10V_AH	12.38,0.000
SM_GC	1.48,8.25,2.62,27.48,0.072,0.065,0.199,205,2215,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.22,14.15,13.87	FG_AHR_24Vo	0.000
RAFOS_CLK	88	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323568
IRIDIUM_FIX	7416.59,-15350.93,230917,113312	DATA_FILE_SIZE	6810,262
TT8_MAMPS	0.038948,0.963963	CAP_FILE_SIZE	48069,0
HUMID	45.78	CFSIZE	2097872896,1971748864
INTERNAL_PRESSURE	7.77175	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1442.7
XPDR_PINGS	1	CURRENT	0.143,57.88,1
CP_FREE	15891038208.000000	GPS	230917,131708,7418.183,-15345.908,8,0.7,12,19.2,0.0,0.0,12,10.0
PM_FREEKB_00	44437056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	446	131.09	nil	0	0	0.00
Roll_motor	20	2162	554.72	nil	0	0	0.00
VBD_pump_during_apogee	884	1060	11833.70	nil	0	0	0.00
VBD_pump_during_surface	27	198	68.97	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	2632	27	919.25
Iridium_during_xfer	270	162	557.17	NCP	2558	20	645.64
Transponder_ping	0	420	1.33	PMAR	2578	9	323.23
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.51
TT8	0	0	0.00
LPSleep	1034	2	29.58
TT8_Active	855	13	147.90
TT8_Sampling	1051	33	435.30
TT8_CF8	271	38	130.02
TT8_Kalman	0	0	0.00
Analog_circuits	1532	10	189.78
GPS_charging	0	0	0.00
Compass	384	7	33.28
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
52	end surface: CONTROL_FINISHED_OK
state	52	begin dive
56	-0.57	-145.9	197	2220	495	495	0.0	0.0	0	138	0.00	0.00	-80.80	0.000	16386	0.000	0.000	195	2221	2017	1949	2086	0	0	0	0	0	0	14.30	28.83	14.31
142	-0.57	-145.9	197	2219	1951	2092	3.5	-4.0	8	198	12.73	2.67	-38.12	0.000	19236	0.447	2.163	2375	3586	3961	3942	3980	0	0	0	0	0	0	13.58	12.98	14.03
241	-0.70	-145.9	2379	3589	3947	3982	30.2	-14.8	27	248	0.00	2.42	0.00	0.000	1158	0.000	0.060	2378	2196	3964	3947	3981	0	0	0	0	0	0	14.06	13.95	14.09
544	-0.81	-145.9	2379	2195	3956	3981	73.5	-10.9	58	550	0.17	2.47	0.00	0.000	4484	0.111	0.084	2298	3595	3966	3950	3982	0	0	0	0	0	0	14.04	13.80	14.07
603	-0.89	-145.9	2295	3596	3951	3981	81.6	-14.3	69	609	0.00	2.42	0.00	0.000	1158	0.000	0.057	2298	2198	3965	3950	3981	0	0	0	0	0	0	14.07	13.94	14.09
653	end dive: TARGET_DEPTH_EXCEEDED
state	653	begin apogee
660	-0.13	0.0	2299	2057	3951	3981	90.0	-16.3	75	737	0.93	0.00	73.75	0.479	10246	0.238	0.000	2528	2055	3367	3383	3352	0	0	0	0	0	0	13.43	13.95	13.52
741	end apogee: CONTROL_FINISHED_OK
state	741	begin climb
746	0.57	145.9	2529	2055	3382	3352	95.0	0.0	83	868	0.77	0.00	75.62	0.503	10758	0.106	0.000	2768	2055	2768	2812	2725	0	0	0	0	0	0	14.02	13.76	13.45
1164	0.67	537.6	2767	2056	2811	2726	130.5	-8.1	95	1843	0.00	2.53	665.65	1.060	9124	0.000	0.093	2769	735	1165	1230	1100	0	0	0	0	0	0	14.54	13.26	12.62
1894	0.73	537.6	2769	736	1221	1093	60.8	11.0	180	1900	0.15	2.50	0.00	0.000	3206	0.112	0.075	2830	2080	1155	1221	1090	0	0	0	0	0	0	13.52	13.43	13.62
2206	0.68	540.8	2831	2081	1222	1087	22.3	9.9	212	2208	0.12	0.00	0.00	0.000	4262	0.237	0.000	2806	2081	1153	1219	1087	0	0	0	0	0	0	13.89	14.15	14.09
2506	0.82	660.1	2805	2081	1222	1085	9.3	4.5	242	2585	0.12	2.50	69.35	0.215	10916	0.122	0.091	2873	723	670	723	617	0	0	0	0	0	0	14.20	13.90	13.84
2600	end climb: SURFACE_DEPTH_REACHED
state	2600	begin surface coast
2608	end surface coast: CONTROL_FINISHED_OK
state	2608	begin surface