Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 207 * 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 207 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 584.0

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 24 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 584.0 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 24 VBD_MIN 500

DIVE 207 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 310817,005852,7419.9268,-15349.2090,36,0.7,37,19.2,0.4,163.8,11,7.5 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 1.24 MHEAD_RNG_PITCHd_Wd 10.9,170456,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 310817,012253,7419.8091,-15349.3555,7,0.7,7,19.2,0.0,0.0,11,9.8

Post-dive calculations and measurements:

FINISH 0.2,1.021500 _24V_AH 12.34,142.413

SM_CCo 8921,23.30,0.212,0,0,498,702.78 _10V_AH 12.21,0.000

SM_GC 1.10,8.18,0.17,23.30,0.080,0.122,0.212,199,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.31,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

RAFOS_FIX 7418.881836,-15350.428711,310817,000001,4,255,0.14 MEM 323348

IRIDIUM_FIX 7417.52,-15304.79,310817,011733 DATA_FILE_SIZE 23424,674

TT8_MAMPS 0.039697,0.905541 CAP_FILE_SIZE 107115,0

HUMID 47.12 CFSIZE 2097872896,2023981056

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

TCM_TEMP 13.10 SOUNDSPEED 1448.2

XPDR_PINGS 16 CURRENT 0.055,255.93,1

CP_FREE 15981641728.000000 GPS 310817,035342,7420.720,-15347.217,16,0.8,25,19.2,0.0,0.0,11,9.5

PM_FREEKB_00 51809152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.61 nil 0 0 0.00

Roll_motor 88 2145 2341.45 nil 0 0 0.00

VBD_pump_during_apogee 920 1449 16473.52 nil 0 0 0.00

VBD_pump_during_surface 23 211 60.93 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 8931 14 1605.41

Iridium_during_xfer 912 169 1911.65 NCP 8919 20 2201.21

Transponder_ping 4 420 20.73 PMAR 8875 9 1080.39

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.47

TT8 0 0 0.00

LPSleep 6674 2 188.26

TT8_Active 879 13 149.94

TT8_Sampling 2512 33 1025.77

TT8_CF8 333 38 157.55

TT8_Kalman 0 0 0.00

Analog_circuits 2587 10 315.91

GPS_charging 0 0 0.00

Compass 974 7 83.27

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 196 2228 503 478 0.0 0.0 0 141 0.00 0.00 -92.07 0.000 16386 0.000 0.000 195 2228 2143 2066 2221 0 0 0 0 0 0 14.50 28.83 14.52

144 -0.57 -145.9 196 2228 2071 2223 3.2 -3.8 9 201 12.73 2.75 -36.80 0.000 18724 0.456 2.146 2375 3581 3961 3943 3979 0 0 0 0 0 0 13.59 12.61 14.07

267 -0.71 -145.9 2376 3582 3949 3979 35.2 -14.1 33 272 0.00 2.35 0.00 0.000 1158 0.000 0.058 2375 2199 3963 3948 3979 0 0 0 0 0 0 14.28 14.16 14.35

579 -0.79 -145.9 2375 2200 3951 3980 83.1 -11.9 65 584 0.15 2.45 0.00 0.000 4484 0.136 0.085 2305 3587 3964 3950 3979 0 0 0 0 0 0 14.14 14.04 14.19

609 -0.79 -145.9 2305 3588 3950 3980 87.6 -16.0 71 614 0.00 2.38 0.00 0.000 1030 0.000 0.059 2301 2199 3964 3950 3978 0 0 0 0 0 0 14.29 14.16 14.33

929 -0.79 -145.9 2305 2198 3952 3979 138.4 -15.1 88 935 0.00 2.45 0.00 0.000 260 0.000 0.087 2298 3594 3964 3950 3979 0 0 0 0 0 0 14.62 14.14 14.64

1010 -0.90 -145.9 2299 3594 3951 3979 149.1 -11.9 104 1016 0.00 2.35 0.00 0.000 1158 0.000 0.058 2298 2202 3964 3950 3979 0 0 0 0 0 0 14.31 14.19 14.35

1321 -0.93 -145.9 2299 2198 3951 3979 192.0 -13.4 116 1327 0.00 2.42 0.00 0.000 388 0.000 0.088 2293 3588 3967 3950 3985 0 0 0 0 0 0 14.64 14.19 14.66

1377 -1.05 -145.9 2293 3589 3952 3979 198.5 -11.3 127 1383 0.17 2.38 0.00 0.000 5254 0.111 0.057 2230 2184 3964 3950 3978 0 0 0 0 0 0 14.27 14.23 14.35

1682 -0.98 -145.9 2231 2187 3951 3980 252.9 -17.4 138 1687 0.12 2.45 0.00 0.000 2436 0.295 0.085 2246 3588 3964 3950 3978 0 0 0 0 0 0 13.97 14.19 14.19

1767 -1.03 -145.9 2246 3589 3951 3980 264.5 -12.7 155 1774 0.00 2.38 0.00 0.000 1158 0.000 0.058 2243 2196 3964 3950 3978 0 0 0 0 0 0 14.35 14.21 14.36

2072 -1.03 -145.9 2249 2195 3951 3978 306.0 -13.6 166 2077 0.00 2.42 0.00 0.000 260 0.000 0.089 2239 3588 3965 3952 3978 0 0 0 0 0 0 14.67 14.20 14.69

2127 -1.09 -145.9 2240 3589 3951 3979 313.3 -12.6 177 2133 0.00 2.35 0.00 0.000 1158 0.000 0.057 2239 2197 3964 3950 3978 0 0 0 0 0 0 14.35 14.21 14.39

2432 -1.09 -145.9 2240 2197 3951 3979 353.9 -13.2 188 2438 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3592 3964 3950 3978 0 0 0 0 0 0 14.68 14.20 14.69

2508 -1.17 -145.9 2237 3598 3949 3979 363.4 -11.9 203 2513 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2195 3964 3950 3978 0 0 0 0 0 0 14.40 14.27 14.43

2823 -1.17 -145.9 2237 2193 3951 3978 403.6 -12.6 216 2829 0.00 2.45 0.00 0.000 260 0.000 0.090 2236 3587 3963 3950 3977 0 0 0 0 0 0 14.68 14.19 14.70

2904 -1.26 -145.9 2236 3589 3950 3979 413.0 -10.9 232 2910 0.20 2.35 0.00 0.000 5254 0.106 0.056 2159 2191 3964 3950 3978 0 0 0 0 0 0 14.33 14.27 14.42

3215 -1.11 -145.9 2158 2192 3949 3978 473.3 -19.8 244 3221 0.25 2.45 0.00 0.000 2436 0.322 0.083 2204 3590 3963 3949 3977 0 0 0 0 0 0 13.83 14.18 14.04

3254 end dive: TARGET_DEPTH_EXCEEDED

state 3254 begin apogee

3262 -0.13 0.0 2205 2099 3949 3978 480.4 -15.5 252 3484 1.30 0.00 219.10 1.421 10246 0.249 0.000 2529 2097 3360 3377 3343 0 0 0 0 0 0 13.85 13.50 12.69

3488 end apogee: CONTROL_FINISHED_OK

state 3488 begin climb

3491 0.57 145.9 2530 2097 3380 3338 491.9 0.0 259 3714 0.75 2.10 209.35 1.370 10756 0.063 0.079 2792 699 2763 2802 2724 0 0 0 0 0 0 13.61 13.14 12.34

3929 0.17 145.9 2793 700 2797 2720 474.9 14.3 304 3935 0.73 2.47 0.00 0.000 5254 0.325 0.076 2641 2082 2756 2796 2716 0 0 0 0 0 0 13.40 13.76 13.78

4246 0.03 175.9 2641 2082 2796 2714 446.5 8.6 317 4290 0.20 0.00 42.17 1.450 12454 0.272 0.000 2597 2081 2646 2695 2598 0 0 0 0 0 0 13.87 13.95 13.14

4576 0.04 226.0 2598 2082 2690 2586 421.1 7.7 328 4655 0.00 2.47 74.45 1.395 8868 0.000 0.083 2602 692 2437 2495 2380 0 0 0 0 0 0 14.54 13.71 13.09

4681 0.10 262.6 2607 692 2491 2377 412.6 8.3 344 4741 0.00 2.50 53.80 1.389 9382 0.000 0.080 2602 2098 2296 2349 2243 0 0 0 0 0 0 14.05 13.94 12.95

5056 0.16 285.8 2602 2099 2340 2224 379.0 8.9 369 5091 0.00 0.00 33.38 1.424 8358 0.000 0.000 2602 2096 2199 2254 2144 0 0 0 0 0 0 14.48 14.01 13.18

5386 0.24 312.8 2602 2098 2247 2131 349.7 8.8 380 5433 0.15 2.58 40.65 1.405 10916 0.116 0.086 2685 687 2086 2135 2037 0 0 0 0 0 0 14.30 14.04 13.23

5490 0.20 312.8 2685 687 2128 2037 336.1 13.4 400 5496 0.15 2.50 0.00 0.000 5254 0.242 0.079 2653 2110 2081 2127 2035 0 0 0 0 0 0 13.93 14.10 14.19

5811 0.20 312.8 2653 2111 2128 2028 297.8 11.4 414 5816 0.00 2.50 0.00 0.000 516 0.000 0.086 2655 690 2078 2128 2028 0 0 0 0 0 0 14.59 14.21 14.62

5862 0.24 312.8 2656 690 2126 2028 292.2 11.0 424 5867 0.00 2.47 0.00 0.000 1158 0.000 0.080 2655 2108 2076 2125 2027 0 0 0 0 0 0 14.37 14.24 14.42

6172 0.24 312.8 2656 2112 2126 2027 257.9 10.7 436 6173 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2111 2075 2125 2026 0 0 0 0 0 0 14.62 14.66 14.66

6473 0.25 336.7 2656 2111 2126 2025 229.6 8.9 446 6514 0.00 2.47 36.30 1.385 8740 0.000 0.084 2658 691 1988 2036 1941 0 0 0 0 0 0 14.66 13.95 13.33

6544 0.35 361.9 2659 691 2031 1940 223.1 8.8 460 6591 0.10 2.45 41.22 1.336 11430 0.152 0.080 2702 2100 1889 1924 1854 0 0 0 0 0 0 14.19 14.16 13.19

6898 0.32 361.9 2702 2101 1912 1845 182.3 11.4 480 6904 0.00 2.47 0.00 0.000 644 0.000 0.086 2709 684 1877 1911 1844 0 0 0 0 0 0 14.55 14.19 14.57

6979 0.35 361.9 2710 684 1909 1844 173.2 10.7 496 6985 0.00 2.47 0.00 0.000 1158 0.000 0.078 2709 2102 1876 1908 1844 0 0 0 0 0 0 14.35 14.22 14.40

7290 0.32 361.9 2710 2104 1908 1843 138.9 10.7 508 7295 0.00 2.47 0.00 0.000 644 0.000 0.086 2710 691 1874 1907 1842 0 0 0 0 0 0 14.64 14.25 14.67

7366 0.34 369.0 2710 690 1906 1842 131.3 9.7 523 7376 0.00 2.45 3.47 1.436 9382 0.000 0.079 2710 2098 1859 1891 1827 0 0 0 0 0 0 14.00 13.48 12.90

7682 0.35 381.6 2710 2099 1896 1828 101.0 9.4 536 7703 0.00 0.00 20.08 1.404 8230 0.000 0.000 2710 2098 1809 1837 1781 0 0 0 0 0 0 14.65 14.20 13.36

7982 0.42 420.9 2710 2098 1830 1773 75.8 8.2 564 8009 0.00 2.50 20.35 0.433 8868 0.000 0.086 2710 685 1649 1676 1623 0 0 0 0 0 0 14.59 14.13 13.72

8071 0.59 485.4 2710 686 1678 1624 69.3 7.0 581 8113 0.20 2.50 34.38 0.409 11430 0.097 0.080 2787 2103 1387 1428 1347 0 0 0 0 0 0 14.12 14.02 13.67

8419 0.63 546.2 2788 2106 1430 1331 35.5 7.2 620 8452 0.00 0.00 31.70 0.321 8230 0.000 0.000 2787 2106 1137 1201 1073 0 0 0 0 0 0 14.55 14.21 13.81

8749 0.80 654.3 2788 2107 1201 1067 14.9 5.0 653 8812 0.15 2.60 56.92 0.249 10916 0.119 0.090 2862 685 693 757 630 0 0 0 0 0 0 14.14 14.02 13.87

8845 0.86 661.1 2863 685 758 629 6.7 9.7 667 8856 0.00 2.50 3.55 0.243 9382 0.000 0.084 2862 2102 667 730 605 0 0 0 0 0 0 14.19 14.04 13.84

8890 end climb: SURFACE_DEPTH_REACHED

state 8890 begin surface coast

8900 end surface coast: CONTROL_FINISHED_OK

state 8900 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	207	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	584.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,005852,7419.9268,-15349.2090,36,0.7,37,19.2,0.4,163.8,11,7.5	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	1.24	MHEAD_RNG_PITCHd_Wd	10.9,170456,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	310817,012253,7419.8091,-15349.3555,7,0.7,7,19.2,0.0,0.0,11,9.8

FINISH	0.2,1.021500	_24V_AH	12.34,142.413
SM_CCo	8921,23.30,0.212,0,0,498,702.78	_10V_AH	12.21,0.000
SM_GC	1.10,8.18,0.17,23.30,0.080,0.122,0.212,199,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.31,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
RAFOS_FIX	7418.881836,-15350.428711,310817,000001,4,255,0.14	MEM	323348
IRIDIUM_FIX	7417.52,-15304.79,310817,011733	DATA_FILE_SIZE	23424,674
TT8_MAMPS	0.039697,0.905541	CAP_FILE_SIZE	107115,0
HUMID	47.12	CFSIZE	2097872896,2023981056
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.2
XPDR_PINGS	16	CURRENT	0.055,255.93,1
CP_FREE	15981641728.000000	GPS	310817,035342,7420.720,-15347.217,16,0.8,25,19.2,0.0,0.0,11,9.5
PM_FREEKB_00	51809152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.61	nil	0	0	0.00
Roll_motor	88	2145	2341.45	nil	0	0	0.00
VBD_pump_during_apogee	920	1449	16473.52	nil	0	0	0.00
VBD_pump_during_surface	23	211	60.93	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	8931	14	1605.41
Iridium_during_xfer	912	169	1911.65	NCP	8919	20	2201.21
Transponder_ping	4	420	20.73	PMAR	8875	9	1080.39
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.47
TT8	0	0	0.00
LPSleep	6674	2	188.26
TT8_Active	879	13	149.94
TT8_Sampling	2512	33	1025.77
TT8_CF8	333	38	157.55
TT8_Kalman	0	0	0.00
Analog_circuits	2587	10	315.91
GPS_charging	0	0	0.00
Compass	974	7	83.27
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	196	2228	503	478	0.0	0.0	0	141	0.00	0.00	-92.07	0.000	16386	0.000	0.000	195	2228	2143	2066	2221	0	0	0	0	0	0	14.50	28.83	14.52
144	-0.57	-145.9	196	2228	2071	2223	3.2	-3.8	9	201	12.73	2.75	-36.80	0.000	18724	0.456	2.146	2375	3581	3961	3943	3979	0	0	0	0	0	0	13.59	12.61	14.07
267	-0.71	-145.9	2376	3582	3949	3979	35.2	-14.1	33	272	0.00	2.35	0.00	0.000	1158	0.000	0.058	2375	2199	3963	3948	3979	0	0	0	0	0	0	14.28	14.16	14.35
579	-0.79	-145.9	2375	2200	3951	3980	83.1	-11.9	65	584	0.15	2.45	0.00	0.000	4484	0.136	0.085	2305	3587	3964	3950	3979	0	0	0	0	0	0	14.14	14.04	14.19
609	-0.79	-145.9	2305	3588	3950	3980	87.6	-16.0	71	614	0.00	2.38	0.00	0.000	1030	0.000	0.059	2301	2199	3964	3950	3978	0	0	0	0	0	0	14.29	14.16	14.33
929	-0.79	-145.9	2305	2198	3952	3979	138.4	-15.1	88	935	0.00	2.45	0.00	0.000	260	0.000	0.087	2298	3594	3964	3950	3979	0	0	0	0	0	0	14.62	14.14	14.64
1010	-0.90	-145.9	2299	3594	3951	3979	149.1	-11.9	104	1016	0.00	2.35	0.00	0.000	1158	0.000	0.058	2298	2202	3964	3950	3979	0	0	0	0	0	0	14.31	14.19	14.35
1321	-0.93	-145.9	2299	2198	3951	3979	192.0	-13.4	116	1327	0.00	2.42	0.00	0.000	388	0.000	0.088	2293	3588	3967	3950	3985	0	0	0	0	0	0	14.64	14.19	14.66
1377	-1.05	-145.9	2293	3589	3952	3979	198.5	-11.3	127	1383	0.17	2.38	0.00	0.000	5254	0.111	0.057	2230	2184	3964	3950	3978	0	0	0	0	0	0	14.27	14.23	14.35
1682	-0.98	-145.9	2231	2187	3951	3980	252.9	-17.4	138	1687	0.12	2.45	0.00	0.000	2436	0.295	0.085	2246	3588	3964	3950	3978	0	0	0	0	0	0	13.97	14.19	14.19
1767	-1.03	-145.9	2246	3589	3951	3980	264.5	-12.7	155	1774	0.00	2.38	0.00	0.000	1158	0.000	0.058	2243	2196	3964	3950	3978	0	0	0	0	0	0	14.35	14.21	14.36
2072	-1.03	-145.9	2249	2195	3951	3978	306.0	-13.6	166	2077	0.00	2.42	0.00	0.000	260	0.000	0.089	2239	3588	3965	3952	3978	0	0	0	0	0	0	14.67	14.20	14.69
2127	-1.09	-145.9	2240	3589	3951	3979	313.3	-12.6	177	2133	0.00	2.35	0.00	0.000	1158	0.000	0.057	2239	2197	3964	3950	3978	0	0	0	0	0	0	14.35	14.21	14.39
2432	-1.09	-145.9	2240	2197	3951	3979	353.9	-13.2	188	2438	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3592	3964	3950	3978	0	0	0	0	0	0	14.68	14.20	14.69
2508	-1.17	-145.9	2237	3598	3949	3979	363.4	-11.9	203	2513	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2195	3964	3950	3978	0	0	0	0	0	0	14.40	14.27	14.43
2823	-1.17	-145.9	2237	2193	3951	3978	403.6	-12.6	216	2829	0.00	2.45	0.00	0.000	260	0.000	0.090	2236	3587	3963	3950	3977	0	0	0	0	0	0	14.68	14.19	14.70
2904	-1.26	-145.9	2236	3589	3950	3979	413.0	-10.9	232	2910	0.20	2.35	0.00	0.000	5254	0.106	0.056	2159	2191	3964	3950	3978	0	0	0	0	0	0	14.33	14.27	14.42
3215	-1.11	-145.9	2158	2192	3949	3978	473.3	-19.8	244	3221	0.25	2.45	0.00	0.000	2436	0.322	0.083	2204	3590	3963	3949	3977	0	0	0	0	0	0	13.83	14.18	14.04
3254	end dive: TARGET_DEPTH_EXCEEDED
state	3254	begin apogee
3262	-0.13	0.0	2205	2099	3949	3978	480.4	-15.5	252	3484	1.30	0.00	219.10	1.421	10246	0.249	0.000	2529	2097	3360	3377	3343	0	0	0	0	0	0	13.85	13.50	12.69
3488	end apogee: CONTROL_FINISHED_OK
state	3488	begin climb
3491	0.57	145.9	2530	2097	3380	3338	491.9	0.0	259	3714	0.75	2.10	209.35	1.370	10756	0.063	0.079	2792	699	2763	2802	2724	0	0	0	0	0	0	13.61	13.14	12.34
3929	0.17	145.9	2793	700	2797	2720	474.9	14.3	304	3935	0.73	2.47	0.00	0.000	5254	0.325	0.076	2641	2082	2756	2796	2716	0	0	0	0	0	0	13.40	13.76	13.78
4246	0.03	175.9	2641	2082	2796	2714	446.5	8.6	317	4290	0.20	0.00	42.17	1.450	12454	0.272	0.000	2597	2081	2646	2695	2598	0	0	0	0	0	0	13.87	13.95	13.14
4576	0.04	226.0	2598	2082	2690	2586	421.1	7.7	328	4655	0.00	2.47	74.45	1.395	8868	0.000	0.083	2602	692	2437	2495	2380	0	0	0	0	0	0	14.54	13.71	13.09
4681	0.10	262.6	2607	692	2491	2377	412.6	8.3	344	4741	0.00	2.50	53.80	1.389	9382	0.000	0.080	2602	2098	2296	2349	2243	0	0	0	0	0	0	14.05	13.94	12.95
5056	0.16	285.8	2602	2099	2340	2224	379.0	8.9	369	5091	0.00	0.00	33.38	1.424	8358	0.000	0.000	2602	2096	2199	2254	2144	0	0	0	0	0	0	14.48	14.01	13.18
5386	0.24	312.8	2602	2098	2247	2131	349.7	8.8	380	5433	0.15	2.58	40.65	1.405	10916	0.116	0.086	2685	687	2086	2135	2037	0	0	0	0	0	0	14.30	14.04	13.23
5490	0.20	312.8	2685	687	2128	2037	336.1	13.4	400	5496	0.15	2.50	0.00	0.000	5254	0.242	0.079	2653	2110	2081	2127	2035	0	0	0	0	0	0	13.93	14.10	14.19
5811	0.20	312.8	2653	2111	2128	2028	297.8	11.4	414	5816	0.00	2.50	0.00	0.000	516	0.000	0.086	2655	690	2078	2128	2028	0	0	0	0	0	0	14.59	14.21	14.62
5862	0.24	312.8	2656	690	2126	2028	292.2	11.0	424	5867	0.00	2.47	0.00	0.000	1158	0.000	0.080	2655	2108	2076	2125	2027	0	0	0	0	0	0	14.37	14.24	14.42
6172	0.24	312.8	2656	2112	2126	2027	257.9	10.7	436	6173	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2111	2075	2125	2026	0	0	0	0	0	0	14.62	14.66	14.66
6473	0.25	336.7	2656	2111	2126	2025	229.6	8.9	446	6514	0.00	2.47	36.30	1.385	8740	0.000	0.084	2658	691	1988	2036	1941	0	0	0	0	0	0	14.66	13.95	13.33
6544	0.35	361.9	2659	691	2031	1940	223.1	8.8	460	6591	0.10	2.45	41.22	1.336	11430	0.152	0.080	2702	2100	1889	1924	1854	0	0	0	0	0	0	14.19	14.16	13.19
6898	0.32	361.9	2702	2101	1912	1845	182.3	11.4	480	6904	0.00	2.47	0.00	0.000	644	0.000	0.086	2709	684	1877	1911	1844	0	0	0	0	0	0	14.55	14.19	14.57
6979	0.35	361.9	2710	684	1909	1844	173.2	10.7	496	6985	0.00	2.47	0.00	0.000	1158	0.000	0.078	2709	2102	1876	1908	1844	0	0	0	0	0	0	14.35	14.22	14.40
7290	0.32	361.9	2710	2104	1908	1843	138.9	10.7	508	7295	0.00	2.47	0.00	0.000	644	0.000	0.086	2710	691	1874	1907	1842	0	0	0	0	0	0	14.64	14.25	14.67
7366	0.34	369.0	2710	690	1906	1842	131.3	9.7	523	7376	0.00	2.45	3.47	1.436	9382	0.000	0.079	2710	2098	1859	1891	1827	0	0	0	0	0	0	14.00	13.48	12.90
7682	0.35	381.6	2710	2099	1896	1828	101.0	9.4	536	7703	0.00	0.00	20.08	1.404	8230	0.000	0.000	2710	2098	1809	1837	1781	0	0	0	0	0	0	14.65	14.20	13.36
7982	0.42	420.9	2710	2098	1830	1773	75.8	8.2	564	8009	0.00	2.50	20.35	0.433	8868	0.000	0.086	2710	685	1649	1676	1623	0	0	0	0	0	0	14.59	14.13	13.72
8071	0.59	485.4	2710	686	1678	1624	69.3	7.0	581	8113	0.20	2.50	34.38	0.409	11430	0.097	0.080	2787	2103	1387	1428	1347	0	0	0	0	0	0	14.12	14.02	13.67
8419	0.63	546.2	2788	2106	1430	1331	35.5	7.2	620	8452	0.00	0.00	31.70	0.321	8230	0.000	0.000	2787	2106	1137	1201	1073	0	0	0	0	0	0	14.55	14.21	13.81
8749	0.80	654.3	2788	2107	1201	1067	14.9	5.0	653	8812	0.15	2.60	56.92	0.249	10916	0.119	0.090	2862	685	693	757	630	0	0	0	0	0	0	14.14	14.02	13.87
8845	0.86	661.1	2863	685	758	629	6.7	9.7	667	8856	0.00	2.50	3.55	0.243	9382	0.000	0.084	2862	2102	667	730	605	0	0	0	0	0	0	14.19	14.04	13.84
8890	end climb: SURFACE_DEPTH_REACHED
state	8890	begin surface coast
8900	end surface coast: CONTROL_FINISHED_OK
state	8900	begin surface