Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 414 * 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 414 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 1163.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 26 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 1163.0 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 63 VBD_MIN 500

DIVE 414 NOCOMM_ACTION 161 R_STBD_OVSHOOT 26 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 230917,131708,7418.1826,-15345.9082,8,0.7,12,19.2,0.0,0.0,12,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 223.2,744,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 90

GPS2 230917,133021,7418.2510,-15345.6240,5,0.9,17,19.2,0.5,34.9,9,8.9

Post-dive calculations and measurements:

FINISH 0.2,1.018302 _24V_AH 12.71,241.867

SM_CCo 2571,29.05,0.201,0,0,498,702.78 _10V_AH 12.47,0.000

SM_GC 1.63,8.05,2.60,29.05,0.070,0.070,0.201,205,2204,498,-7.37,-0.79,702.78,0,0,0,0,0,0,14.25,14.16,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 90 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323696

IRIDIUM_FIX 7418.45,-15347.43,230917,132127 DATA_FILE_SIZE 10152,332

TT8_MAMPS 0.040446,0.938497 CAP_FILE_SIZE 46078,0

HUMID 45.66 CFSIZE 2097872896,1971486720

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

TCM_TEMP 13.60 INTR 0,1871.64,0x213af4,1,24

XPDR_PINGS 6 SOUNDSPEED 1442.5

CP_FREE 0.000000 CURRENT 0.172,56.43,1

PM_FREEKB_00 44430144 GPS 230917,141532,7418.382,-15345.859,29,0.9,30,19.2,0.6,127.7,10,8.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 447 130.82 nil 0 0 0.00

Roll_motor 20 2164 566.64 nil 0 0 0.00

VBD_pump_during_apogee 878 1048 11703.25 nil 0 0 0.00

VBD_pump_during_surface 29 201 74.29 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 2486 27 865.22

Iridium_during_xfer 460 162 954.43 NCP 2531 20 643.38

Transponder_ping 1 420 8.01 PMAR 2519 9 316.23

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.34

TT8 0 0 0.00

LPSleep 1064 2 30.67

TT8_Active 796 13 138.81

TT8_Sampling 1267 33 528.51

TT8_CF8 281 38 135.98

TT8_Kalman 0 0 0.00

Analog_circuits 1681 10 209.72

GPS_charging 0 0 0.00

Compass 482 7 42.15

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 2218 503 493 0.0 0.0 0 138 0.00 0.00 -80.85 0.000 16386 0.000 0.000 196 2218 2010 1934 2086 0 0 0 0 0 0 14.48 28.83 14.50

142 -0.57 -145.9 197 2216 1937 2088 3.2 -3.5 8 199 12.65 2.70 -39.35 0.000 18724 0.448 2.164 2374 3607 3957 3940 3975 0 0 0 0 0 0 13.66 13.06 14.11

295 -0.71 -145.9 2376 3609 3946 3975 35.6 -13.1 38 300 0.00 2.35 0.00 0.000 1158 0.000 0.057 2375 2232 3960 3945 3975 0 0 0 0 0 0 14.09 13.98 14.13

606 -0.83 -145.9 2376 2230 3952 3975 77.5 -10.4 70 611 0.17 2.58 0.00 0.000 4740 0.110 0.082 2297 786 3961 3947 3975 0 0 0 0 0 0 14.14 14.07 14.18

642 -0.86 -145.9 2298 786 3948 3975 82.8 -15.7 77 648 0.00 2.53 0.00 0.000 1158 0.000 0.083 2293 2200 3960 3946 3975 0 0 0 0 0 0 14.18 14.04 14.25

694 end dive: TARGET_DEPTH_EXCEEDED

state 694 begin apogee

701 -0.13 0.0 2293 2058 3947 3976 91.6 -16.7 83 778 0.93 0.10 72.80 0.480 10246 0.236 0.158 2525 2124 3366 3377 3356 0 0 0 0 0 0 13.73 14.01 13.47

827 end apogee: CONTROL_FINISHED_OK

state 827 begin climb

830 0.57 145.9 2526 2125 3395 3358 96.3 0.0 91 914 0.75 0.00 77.53 0.522 10758 0.096 0.000 2766 2125 2769 2814 2724 0 0 0 0 0 0 14.14 14.00 13.50

1197 0.81 535.3 2767 2125 2813 2729 131.2 -8.0 110 1873 0.22 2.65 660.08 1.048 10916 0.090 0.091 2863 737 1174 1232 1116 0 0 0 0 0 0 14.00 13.28 12.71

2044 0.72 535.3 2864 737 1221 1106 23.3 10.5 271 2049 0.22 2.42 0.00 0.000 5254 0.265 0.075 2817 2092 1162 1221 1104 0 0 0 0 0 0 13.52 13.78 13.83

2355 0.81 656.2 2817 2090 1221 1101 8.5 4.4 303 2429 0.00 2.50 68.18 0.215 8740 0.000 0.087 2818 732 686 745 628 0 0 0 0 0 0 14.46 14.02 13.83

2474 end climb: SURFACE_DEPTH_REACHED

state 2474 begin surface coast

2502 end surface coast: CONTROL_FINISHED_OK

state 2502 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	414	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	1163.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,131708,7418.1826,-15345.9082,8,0.7,12,19.2,0.0,0.0,12,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	223.2,744,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	90
GPS2	230917,133021,7418.2510,-15345.6240,5,0.9,17,19.2,0.5,34.9,9,8.9

FINISH	0.2,1.018302	_24V_AH	12.71,241.867
SM_CCo	2571,29.05,0.201,0,0,498,702.78	_10V_AH	12.47,0.000
SM_GC	1.63,8.05,2.60,29.05,0.070,0.070,0.201,205,2204,498,-7.37,-0.79,702.78,0,0,0,0,0,0,14.25,14.16,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	90	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323696
IRIDIUM_FIX	7418.45,-15347.43,230917,132127	DATA_FILE_SIZE	10152,332
TT8_MAMPS	0.040446,0.938497	CAP_FILE_SIZE	46078,0
HUMID	45.66	CFSIZE	2097872896,1971486720
INTERNAL_PRESSURE	7.77175	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.60	INTR	0,1871.64,0x213af4,1,24
XPDR_PINGS	6	SOUNDSPEED	1442.5
CP_FREE	0.000000	CURRENT	0.172,56.43,1
PM_FREEKB_00	44430144	GPS	230917,141532,7418.382,-15345.859,29,0.9,30,19.2,0.6,127.7,10,8.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	447	130.82	nil	0	0	0.00
Roll_motor	20	2164	566.64	nil	0	0	0.00
VBD_pump_during_apogee	878	1048	11703.25	nil	0	0	0.00
VBD_pump_during_surface	29	201	74.29	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	2486	27	865.22
Iridium_during_xfer	460	162	954.43	NCP	2531	20	643.38
Transponder_ping	1	420	8.01	PMAR	2519	9	316.23
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.34
TT8	0	0	0.00
LPSleep	1064	2	30.67
TT8_Active	796	13	138.81
TT8_Sampling	1267	33	528.51
TT8_CF8	281	38	135.98
TT8_Kalman	0	0	0.00
Analog_circuits	1681	10	209.72
GPS_charging	0	0	0.00
Compass	482	7	42.15
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	2218	503	493	0.0	0.0	0	138	0.00	0.00	-80.85	0.000	16386	0.000	0.000	196	2218	2010	1934	2086	0	0	0	0	0	0	14.48	28.83	14.50
142	-0.57	-145.9	197	2216	1937	2088	3.2	-3.5	8	199	12.65	2.70	-39.35	0.000	18724	0.448	2.164	2374	3607	3957	3940	3975	0	0	0	0	0	0	13.66	13.06	14.11
295	-0.71	-145.9	2376	3609	3946	3975	35.6	-13.1	38	300	0.00	2.35	0.00	0.000	1158	0.000	0.057	2375	2232	3960	3945	3975	0	0	0	0	0	0	14.09	13.98	14.13
606	-0.83	-145.9	2376	2230	3952	3975	77.5	-10.4	70	611	0.17	2.58	0.00	0.000	4740	0.110	0.082	2297	786	3961	3947	3975	0	0	0	0	0	0	14.14	14.07	14.18
642	-0.86	-145.9	2298	786	3948	3975	82.8	-15.7	77	648	0.00	2.53	0.00	0.000	1158	0.000	0.083	2293	2200	3960	3946	3975	0	0	0	0	0	0	14.18	14.04	14.25
694	end dive: TARGET_DEPTH_EXCEEDED
state	694	begin apogee
701	-0.13	0.0	2293	2058	3947	3976	91.6	-16.7	83	778	0.93	0.10	72.80	0.480	10246	0.236	0.158	2525	2124	3366	3377	3356	0	0	0	0	0	0	13.73	14.01	13.47
827	end apogee: CONTROL_FINISHED_OK
state	827	begin climb
830	0.57	145.9	2526	2125	3395	3358	96.3	0.0	91	914	0.75	0.00	77.53	0.522	10758	0.096	0.000	2766	2125	2769	2814	2724	0	0	0	0	0	0	14.14	14.00	13.50
1197	0.81	535.3	2767	2125	2813	2729	131.2	-8.0	110	1873	0.22	2.65	660.08	1.048	10916	0.090	0.091	2863	737	1174	1232	1116	0	0	0	0	0	0	14.00	13.28	12.71
2044	0.72	535.3	2864	737	1221	1106	23.3	10.5	271	2049	0.22	2.42	0.00	0.000	5254	0.265	0.075	2817	2092	1162	1221	1104	0	0	0	0	0	0	13.52	13.78	13.83
2355	0.81	656.2	2817	2090	1221	1101	8.5	4.4	303	2429	0.00	2.50	68.18	0.215	8740	0.000	0.087	2818	732	686	745	628	0	0	0	0	0	0	14.46	14.02	13.83
2474	end climb: SURFACE_DEPTH_REACHED
state	2474	begin surface coast
2502	end surface coast: CONTROL_FINISHED_OK
state	2502	begin surface