Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 204 * 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 204 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 48

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 574.0

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 38 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 574.0 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 204 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 300817,172031,7418.4922,-15353.6826,20,0.7,29,19.2,0.0,40.6,10,6.1 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 3.4,173661,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 300817,173956,7418.3999,-15353.6836,6,0.8,10,19.2,0.0,0.0,11,9.8

Post-dive calculations and measurements:

FINISH 0.1,1.021534 _24V_AH 12.33,140.984

SM_CCo 8779,63.17,0.209,0,0,499,702.78 _10V_AH 12.20,0.000

SM_GC 1.13,8.18,0.17,63.17,0.079,0.116,0.209,200,2233,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.17,14.17,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 30 FG_AHR_10Vo 0.000

RAFOS_FIX 7417.623047,-15349.572266,300817,161657,3,255,0.23 MEM 323708

IRIDIUM_FIX 7417.50,-15358.06,300817,173409 DATA_FILE_SIZE 23412,716

TT8_MAMPS 0.085386,0.92127 CAP_FILE_SIZE 107283,0

HUMID 45.07 CFSIZE 2097872896,2024636416

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.9

XPDR_PINGS 17 CURRENT 0.037,226.72,1

CP_FREE 15982329856.000000 GPS 300817,200914,7419.299,-15352.194,17,0.7,34,19.2,0.3,167.4,11,9.8

PM_FREEKB_00 51874304

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.88 nil 0 0 0.00

Roll_motor 89 2145 2359.21 nil 0 0 0.00

VBD_pump_during_apogee 892 1558 17151.29 nil 0 0 0.00

VBD_pump_during_surface 63 208 162.68 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 8787 14 1606.74

Iridium_during_xfer 621 166 1272.11 NCP 8765 20 2161.45

Transponder_ping 4 420 22.01 PMAR 8732 9 1061.58

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.31

TT8 0 0 0.00

LPSleep 6185 2 174.33

TT8_Active 863 13 147.09

TT8_Sampling 2646 33 1079.64

TT8_CF8 327 38 154.72

TT8_Kalman 0 0 0.00

Analog_circuits 2636 10 321.59

GPS_charging 0 0 0.00

Compass 1026 7 87.70

RAFOS 2219 48 1299.45

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 195 2219 492 497 0.0 0.0 0 151 0.00 0.00 -101.05 0.000 16386 0.000 0.000 194 2219 2329 2273 2386 0 0 0 0 0 0 14.52 28.83 14.57

154 -0.57 -145.9 195 2220 2276 2388 4.1 -5.5 10 203 12.80 2.80 -30.70 0.000 18724 0.456 2.145 2376 3592 3961 3940 3983 1 0 0 0 0 0 13.52 12.62 14.02

223 -0.48 -145.9 2377 3593 3943 3983 28.0 -26.9 21 229 0.20 2.33 0.00 0.000 3206 0.235 0.060 2422 2232 3962 3942 3983 0 0 0 0 0 0 13.94 14.14 14.19

534 -0.63 -145.9 2422 2231 3948 3984 68.0 -9.4 53 539 0.12 2.53 0.00 0.000 4772 0.138 0.080 2363 789 3964 3947 3982 0 0 0 0 0 0 14.23 13.98 14.27

559 -0.74 -145.9 2364 790 3948 3984 70.9 -12.1 58 565 0.00 2.47 0.00 0.000 1158 0.000 0.088 2362 2184 3965 3947 3983 0 0 0 0 0 0 14.17 14.03 14.21

876 -0.82 -145.9 2362 2186 3948 3984 110.1 -11.2 84 882 0.12 2.53 0.00 0.000 4484 0.140 0.088 2301 3613 3965 3947 3983 0 0 0 0 0 0 14.28 14.16 14.32

1032 -0.91 -145.9 2301 3615 3948 3984 130.2 -12.5 115 1037 0.00 2.40 0.00 0.000 1158 0.000 0.057 2301 2198 3964 3947 3982 0 0 0 0 0 0 14.16 14.16 14.15

1358 -0.94 -145.9 2302 2197 3948 3983 176.1 -13.9 130 1362 0.00 2.50 0.00 0.000 388 0.000 0.088 2294 3614 3964 3947 3982 0 0 0 0 0 0 14.63 14.14 14.64

1413 -1.05 -145.9 2293 3614 3948 3982 183.3 -12.0 141 1419 0.17 2.40 0.00 0.000 5254 0.112 0.057 2230 2198 3965 3947 3983 0 0 0 0 0 0 14.24 14.19 14.32

1718 -0.96 -145.9 2230 2197 3948 3983 240.9 -18.8 152 1724 0.15 2.50 0.00 0.000 2436 0.295 0.084 2254 3620 3965 3947 3983 0 0 0 0 0 0 13.79 14.14 14.00

1804 -1.02 -145.9 2255 3621 3944 3984 253.5 -12.5 169 1810 0.00 2.40 0.00 0.000 1158 0.000 0.057 2254 2199 3965 3947 3983 0 0 0 0 0 0 14.21 14.09 14.24

2109 -1.02 -145.9 2255 2199 3947 3984 293.9 -12.8 180 2115 0.00 2.47 0.00 0.000 260 0.000 0.090 2248 3614 3965 3947 3983 0 0 0 0 0 0 14.67 14.20 14.69

2247 -1.11 -145.9 2249 3614 3948 3983 309.6 -10.7 207 2251 0.00 2.40 0.00 0.000 1158 0.000 0.057 2248 2193 3964 3947 3982 0 0 0 0 0 0 14.32 14.21 14.38

2562 -1.11 -145.9 2248 2192 3947 3982 347.0 -11.6 220 2567 0.00 2.50 0.00 0.000 260 0.000 0.089 2241 3614 3964 3947 3982 0 0 0 0 0 0 14.66 14.14 14.69

2612 -1.18 -145.9 2242 3614 3947 3982 352.8 -11.4 230 2618 0.12 2.38 0.00 0.000 5254 0.142 0.056 2189 2198 3964 3946 3982 0 0 0 0 0 0 14.28 14.26 14.39

2923 -1.08 -145.9 2189 2197 3946 3983 404.4 -16.9 242 2928 0.15 2.50 0.00 0.000 2436 0.300 0.084 2212 3619 3963 3945 3982 0 0 0 0 0 0 13.84 14.15 14.03

3058 -1.08 -145.9 2213 3620 3946 3983 423.3 -13.1 269 3063 0.00 2.42 0.00 0.000 1030 0.000 0.057 2213 2195 3963 3944 3982 0 0 0 0 0 0 14.38 14.26 14.42

3373 -1.04 -145.9 2213 2194 3946 3981 468.1 -14.2 282 3378 0.12 2.50 0.00 0.000 2436 0.315 0.086 2232 3616 3963 3945 3982 0 0 0 0 0 0 13.93 14.19 14.09

3459 -1.11 -145.9 2233 3618 3946 3982 478.6 -11.3 299 3465 0.00 2.40 0.00 0.000 1158 0.000 0.056 2232 2191 3963 3945 3982 0 0 0 0 0 0 14.33 14.20 14.36

3491 end dive: TARGET_DEPTH_EXCEEDED

state 3491 begin apogee

3497 -0.13 0.0 2235 2064 3946 3980 482.8 -11.9 301 3718 1.17 0.08 217.55 1.426 10246 0.237 0.183 2531 2111 3364 3381 3347 0 0 0 0 0 0 13.84 13.45 12.67

3722 end apogee: CONTROL_FINISHED_OK

state 3722 begin climb

3726 0.57 145.9 2531 2112 3376 3339 494.3 0.0 308 4269 0.73 2.12 207.82 1.385 10756 0.063 0.078 2781 720 2754 2792 2717 0 0 0 0 0 0 13.61 12.94 12.33

4281 0.57 145.9 2781 721 2793 2718 454.4 8.3 311 4286 0.00 2.45 0.00 0.000 1030 0.000 0.077 2781 2103 2754 2792 2716 0 0 0 0 0 0 14.03 13.91 14.07

4596 0.17 145.9 2781 2104 2791 2715 404.5 15.4 324 4601 0.60 2.45 0.00 0.000 4484 0.317 0.076 2645 3517 2751 2790 2713 0 0 0 0 0 0 13.78 14.15 14.02

4807 -0.03 145.9 2645 3518 2788 2714 381.5 10.3 366 4812 0.32 2.33 0.00 0.000 5254 0.282 0.059 2579 2129 2750 2787 2713 0 0 0 0 0 0 13.94 14.27 14.28

5137 0.03 236.8 2579 2130 2787 2713 361.5 5.8 382 5278 0.00 2.65 135.12 1.320 8740 0.000 0.088 2580 700 2394 2444 2344 0 0 0 0 0 0 14.66 13.78 13.02

5335 0.21 298.5 2580 699 2441 2340 348.2 7.2 421 5436 0.20 2.50 93.38 1.294 11430 0.100 0.081 2661 2098 2145 2197 2094 0 0 0 0 0 0 13.97 13.89 12.83

5743 0.18 298.5 2663 2098 2185 2078 297.3 12.5 452 5748 0.00 2.50 0.00 0.000 644 0.000 0.086 2672 689 2131 2185 2077 0 0 0 0 0 0 14.42 14.07 14.44

5788 0.18 298.5 2672 690 2183 2078 291.7 12.4 461 5794 0.15 2.47 0.00 0.000 5126 0.237 0.080 2639 2101 2129 2182 2077 0 0 0 0 0 0 13.95 14.12 14.21

6104 0.21 309.2 2640 2103 2182 2077 260.4 9.5 474 6116 0.00 0.00 10.12 1.558 8358 0.000 0.000 2640 2102 2105 2156 2055 0 0 0 0 0 0 14.60 14.18 13.26

6404 0.28 343.7 2639 2102 2150 2049 233.9 8.4 484 6466 0.00 2.58 56.80 1.327 8868 0.000 0.086 2644 692 1962 2008 1917 0 0 0 0 0 0 14.62 13.97 13.26

6541 0.43 384.0 2644 694 1997 1916 222.8 8.1 511 6612 0.22 2.47 65.40 1.268 11430 0.096 0.080 2733 2099 1802 1829 1775 0 0 0 0 0 0 14.12 14.05 13.10

6917 0.37 384.0 2733 2100 1818 1759 171.2 13.5 536 6922 0.12 2.47 0.00 0.000 4740 0.240 0.083 2711 688 1787 1817 1757 0 0 0 0 0 0 14.00 14.15 14.12

6967 0.43 384.0 2711 689 1815 1759 165.5 10.8 546 6972 0.00 2.47 0.00 0.000 1158 0.000 0.079 2711 2102 1786 1814 1758 0 0 0 0 0 0 14.32 14.19 14.35

7277 0.43 384.0 2711 2104 1814 1758 131.5 10.7 558 7282 0.00 2.47 0.00 0.000 516 0.000 0.086 2712 693 1785 1814 1756 0 0 0 0 0 0 14.62 14.23 14.64

7312 0.47 384.0 2713 694 1812 1757 127.9 10.3 565 7318 0.00 2.45 0.00 0.000 1158 0.000 0.080 2713 2099 1783 1811 1756 0 0 0 0 0 0 14.39 14.25 14.43

7618 0.48 399.9 2713 2101 1811 1755 98.6 9.3 580 7629 0.00 0.00 7.40 0.496 8230 0.000 0.000 2713 2097 1733 1760 1706 0 0 0 0 0 0 14.62 14.15 13.60

7928 0.56 449.6 2713 2101 1764 1706 72.1 7.7 611 7961 0.12 2.47 26.80 0.418 10916 0.129 0.085 2781 692 1531 1559 1504 0 0 0 0 0 0 14.16 13.97 13.67

8041 0.56 449.6 2780 693 1558 1505 58.9 10.5 633 8047 0.00 2.45 0.00 0.000 1030 0.000 0.078 2781 2096 1530 1558 1503 0 0 0 0 0 0 14.10 14.02 14.14

8363 0.61 522.1 2781 2097 1559 1497 33.1 6.7 665 8405 0.00 2.55 38.05 0.310 8740 0.000 0.085 2781 698 1234 1286 1182 0 0 0 0 0 0 14.46 13.97 13.72

8463 0.77 587.1 2781 699 1285 1179 26.4 7.0 682 8505 0.15 2.50 34.20 0.286 11430 0.125 0.079 2845 2107 970 1038 903 0 0 0 0 0 0 14.04 13.97 13.66

8738 end climb: SURFACE_DEPTH_REACHED

state 8738 begin surface coast

8758 end surface coast: CONTROL_FINISHED_OK

state 8758 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	204	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	48
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	574.0
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	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,172031,7418.4922,-15353.6826,20,0.7,29,19.2,0.0,40.6,10,6.1	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	3.4,173661,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	300817,173956,7418.3999,-15353.6836,6,0.8,10,19.2,0.0,0.0,11,9.8

FINISH	0.1,1.021534	_24V_AH	12.33,140.984
SM_CCo	8779,63.17,0.209,0,0,499,702.78	_10V_AH	12.20,0.000
SM_GC	1.13,8.18,0.17,63.17,0.079,0.116,0.209,200,2233,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.17,14.17,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	30	FG_AHR_10Vo	0.000
RAFOS_FIX	7417.623047,-15349.572266,300817,161657,3,255,0.23	MEM	323708
IRIDIUM_FIX	7417.50,-15358.06,300817,173409	DATA_FILE_SIZE	23412,716
TT8_MAMPS	0.085386,0.92127	CAP_FILE_SIZE	107283,0
HUMID	45.07	CFSIZE	2097872896,2024636416
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.9
XPDR_PINGS	17	CURRENT	0.037,226.72,1
CP_FREE	15982329856.000000	GPS	300817,200914,7419.299,-15352.194,17,0.7,34,19.2,0.3,167.4,11,9.8
PM_FREEKB_00	51874304

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.88	nil	0	0	0.00
Roll_motor	89	2145	2359.21	nil	0	0	0.00
VBD_pump_during_apogee	892	1558	17151.29	nil	0	0	0.00
VBD_pump_during_surface	63	208	162.68	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	8787	14	1606.74
Iridium_during_xfer	621	166	1272.11	NCP	8765	20	2161.45
Transponder_ping	4	420	22.01	PMAR	8732	9	1061.58
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.31
TT8	0	0	0.00
LPSleep	6185	2	174.33
TT8_Active	863	13	147.09
TT8_Sampling	2646	33	1079.64
TT8_CF8	327	38	154.72
TT8_Kalman	0	0	0.00
Analog_circuits	2636	10	321.59
GPS_charging	0	0	0.00
Compass	1026	7	87.70
RAFOS	2219	48	1299.45
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	195	2219	492	497	0.0	0.0	0	151	0.00	0.00	-101.05	0.000	16386	0.000	0.000	194	2219	2329	2273	2386	0	0	0	0	0	0	14.52	28.83	14.57
154	-0.57	-145.9	195	2220	2276	2388	4.1	-5.5	10	203	12.80	2.80	-30.70	0.000	18724	0.456	2.145	2376	3592	3961	3940	3983	1	0	0	0	0	0	13.52	12.62	14.02
223	-0.48	-145.9	2377	3593	3943	3983	28.0	-26.9	21	229	0.20	2.33	0.00	0.000	3206	0.235	0.060	2422	2232	3962	3942	3983	0	0	0	0	0	0	13.94	14.14	14.19
534	-0.63	-145.9	2422	2231	3948	3984	68.0	-9.4	53	539	0.12	2.53	0.00	0.000	4772	0.138	0.080	2363	789	3964	3947	3982	0	0	0	0	0	0	14.23	13.98	14.27
559	-0.74	-145.9	2364	790	3948	3984	70.9	-12.1	58	565	0.00	2.47	0.00	0.000	1158	0.000	0.088	2362	2184	3965	3947	3983	0	0	0	0	0	0	14.17	14.03	14.21
876	-0.82	-145.9	2362	2186	3948	3984	110.1	-11.2	84	882	0.12	2.53	0.00	0.000	4484	0.140	0.088	2301	3613	3965	3947	3983	0	0	0	0	0	0	14.28	14.16	14.32
1032	-0.91	-145.9	2301	3615	3948	3984	130.2	-12.5	115	1037	0.00	2.40	0.00	0.000	1158	0.000	0.057	2301	2198	3964	3947	3982	0	0	0	0	0	0	14.16	14.16	14.15
1358	-0.94	-145.9	2302	2197	3948	3983	176.1	-13.9	130	1362	0.00	2.50	0.00	0.000	388	0.000	0.088	2294	3614	3964	3947	3982	0	0	0	0	0	0	14.63	14.14	14.64
1413	-1.05	-145.9	2293	3614	3948	3982	183.3	-12.0	141	1419	0.17	2.40	0.00	0.000	5254	0.112	0.057	2230	2198	3965	3947	3983	0	0	0	0	0	0	14.24	14.19	14.32
1718	-0.96	-145.9	2230	2197	3948	3983	240.9	-18.8	152	1724	0.15	2.50	0.00	0.000	2436	0.295	0.084	2254	3620	3965	3947	3983	0	0	0	0	0	0	13.79	14.14	14.00
1804	-1.02	-145.9	2255	3621	3944	3984	253.5	-12.5	169	1810	0.00	2.40	0.00	0.000	1158	0.000	0.057	2254	2199	3965	3947	3983	0	0	0	0	0	0	14.21	14.09	14.24
2109	-1.02	-145.9	2255	2199	3947	3984	293.9	-12.8	180	2115	0.00	2.47	0.00	0.000	260	0.000	0.090	2248	3614	3965	3947	3983	0	0	0	0	0	0	14.67	14.20	14.69
2247	-1.11	-145.9	2249	3614	3948	3983	309.6	-10.7	207	2251	0.00	2.40	0.00	0.000	1158	0.000	0.057	2248	2193	3964	3947	3982	0	0	0	0	0	0	14.32	14.21	14.38
2562	-1.11	-145.9	2248	2192	3947	3982	347.0	-11.6	220	2567	0.00	2.50	0.00	0.000	260	0.000	0.089	2241	3614	3964	3947	3982	0	0	0	0	0	0	14.66	14.14	14.69
2612	-1.18	-145.9	2242	3614	3947	3982	352.8	-11.4	230	2618	0.12	2.38	0.00	0.000	5254	0.142	0.056	2189	2198	3964	3946	3982	0	0	0	0	0	0	14.28	14.26	14.39
2923	-1.08	-145.9	2189	2197	3946	3983	404.4	-16.9	242	2928	0.15	2.50	0.00	0.000	2436	0.300	0.084	2212	3619	3963	3945	3982	0	0	0	0	0	0	13.84	14.15	14.03
3058	-1.08	-145.9	2213	3620	3946	3983	423.3	-13.1	269	3063	0.00	2.42	0.00	0.000	1030	0.000	0.057	2213	2195	3963	3944	3982	0	0	0	0	0	0	14.38	14.26	14.42
3373	-1.04	-145.9	2213	2194	3946	3981	468.1	-14.2	282	3378	0.12	2.50	0.00	0.000	2436	0.315	0.086	2232	3616	3963	3945	3982	0	0	0	0	0	0	13.93	14.19	14.09
3459	-1.11	-145.9	2233	3618	3946	3982	478.6	-11.3	299	3465	0.00	2.40	0.00	0.000	1158	0.000	0.056	2232	2191	3963	3945	3982	0	0	0	0	0	0	14.33	14.20	14.36
3491	end dive: TARGET_DEPTH_EXCEEDED
state	3491	begin apogee
3497	-0.13	0.0	2235	2064	3946	3980	482.8	-11.9	301	3718	1.17	0.08	217.55	1.426	10246	0.237	0.183	2531	2111	3364	3381	3347	0	0	0	0	0	0	13.84	13.45	12.67
3722	end apogee: CONTROL_FINISHED_OK
state	3722	begin climb
3726	0.57	145.9	2531	2112	3376	3339	494.3	0.0	308	4269	0.73	2.12	207.82	1.385	10756	0.063	0.078	2781	720	2754	2792	2717	0	0	0	0	0	0	13.61	12.94	12.33
4281	0.57	145.9	2781	721	2793	2718	454.4	8.3	311	4286	0.00	2.45	0.00	0.000	1030	0.000	0.077	2781	2103	2754	2792	2716	0	0	0	0	0	0	14.03	13.91	14.07
4596	0.17	145.9	2781	2104	2791	2715	404.5	15.4	324	4601	0.60	2.45	0.00	0.000	4484	0.317	0.076	2645	3517	2751	2790	2713	0	0	0	0	0	0	13.78	14.15	14.02
4807	-0.03	145.9	2645	3518	2788	2714	381.5	10.3	366	4812	0.32	2.33	0.00	0.000	5254	0.282	0.059	2579	2129	2750	2787	2713	0	0	0	0	0	0	13.94	14.27	14.28
5137	0.03	236.8	2579	2130	2787	2713	361.5	5.8	382	5278	0.00	2.65	135.12	1.320	8740	0.000	0.088	2580	700	2394	2444	2344	0	0	0	0	0	0	14.66	13.78	13.02
5335	0.21	298.5	2580	699	2441	2340	348.2	7.2	421	5436	0.20	2.50	93.38	1.294	11430	0.100	0.081	2661	2098	2145	2197	2094	0	0	0	0	0	0	13.97	13.89	12.83
5743	0.18	298.5	2663	2098	2185	2078	297.3	12.5	452	5748	0.00	2.50	0.00	0.000	644	0.000	0.086	2672	689	2131	2185	2077	0	0	0	0	0	0	14.42	14.07	14.44
5788	0.18	298.5	2672	690	2183	2078	291.7	12.4	461	5794	0.15	2.47	0.00	0.000	5126	0.237	0.080	2639	2101	2129	2182	2077	0	0	0	0	0	0	13.95	14.12	14.21
6104	0.21	309.2	2640	2103	2182	2077	260.4	9.5	474	6116	0.00	0.00	10.12	1.558	8358	0.000	0.000	2640	2102	2105	2156	2055	0	0	0	0	0	0	14.60	14.18	13.26
6404	0.28	343.7	2639	2102	2150	2049	233.9	8.4	484	6466	0.00	2.58	56.80	1.327	8868	0.000	0.086	2644	692	1962	2008	1917	0	0	0	0	0	0	14.62	13.97	13.26
6541	0.43	384.0	2644	694	1997	1916	222.8	8.1	511	6612	0.22	2.47	65.40	1.268	11430	0.096	0.080	2733	2099	1802	1829	1775	0	0	0	0	0	0	14.12	14.05	13.10
6917	0.37	384.0	2733	2100	1818	1759	171.2	13.5	536	6922	0.12	2.47	0.00	0.000	4740	0.240	0.083	2711	688	1787	1817	1757	0	0	0	0	0	0	14.00	14.15	14.12
6967	0.43	384.0	2711	689	1815	1759	165.5	10.8	546	6972	0.00	2.47	0.00	0.000	1158	0.000	0.079	2711	2102	1786	1814	1758	0	0	0	0	0	0	14.32	14.19	14.35
7277	0.43	384.0	2711	2104	1814	1758	131.5	10.7	558	7282	0.00	2.47	0.00	0.000	516	0.000	0.086	2712	693	1785	1814	1756	0	0	0	0	0	0	14.62	14.23	14.64
7312	0.47	384.0	2713	694	1812	1757	127.9	10.3	565	7318	0.00	2.45	0.00	0.000	1158	0.000	0.080	2713	2099	1783	1811	1756	0	0	0	0	0	0	14.39	14.25	14.43
7618	0.48	399.9	2713	2101	1811	1755	98.6	9.3	580	7629	0.00	0.00	7.40	0.496	8230	0.000	0.000	2713	2097	1733	1760	1706	0	0	0	0	0	0	14.62	14.15	13.60
7928	0.56	449.6	2713	2101	1764	1706	72.1	7.7	611	7961	0.12	2.47	26.80	0.418	10916	0.129	0.085	2781	692	1531	1559	1504	0	0	0	0	0	0	14.16	13.97	13.67
8041	0.56	449.6	2780	693	1558	1505	58.9	10.5	633	8047	0.00	2.45	0.00	0.000	1030	0.000	0.078	2781	2096	1530	1558	1503	0	0	0	0	0	0	14.10	14.02	14.14
8363	0.61	522.1	2781	2097	1559	1497	33.1	6.7	665	8405	0.00	2.55	38.05	0.310	8740	0.000	0.085	2781	698	1234	1286	1182	0	0	0	0	0	0	14.46	13.97	13.72
8463	0.77	587.1	2781	699	1285	1179	26.4	7.0	682	8505	0.15	2.50	34.20	0.286	11430	0.125	0.079	2845	2107	970	1038	903	0	0	0	0	0	0	14.04	13.97	13.66
8738	end climb: SURFACE_DEPTH_REACHED
state	8738	begin surface coast
8758	end surface coast: CONTROL_FINISHED_OK
state	8758	begin surface