Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 210 * 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 210 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 594.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 594.0 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 25 VBD_MIN 500

DIVE 210 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 310817,092456,7422.4873,-15343.0078,37,0.8,37,19.3,0.0,0.0,10,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 3 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 23.1,164812,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 310817,094154,7422.4648,-15343.2168,7,0.7,10,19.3,0.0,0.0,11,9.8

Post-dive calculations and measurements:

FINISH 0.3,1.013667 _24V_AH 12.34,143.845

SM_CCo 9169,30.60,0.207,0,0,499,702.78 _10V_AH 12.38,0.000

SM_GC 1.44,8.20,0.20,30.60,0.072,0.100,0.207,197,2231,499,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.16,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 52 FG_AHR_10Vo 0.000

RAFOS_FIX 7421.005371,-15345.310547,310817,080841,2,255,0.19 MEM 323460

IRIDIUM_FIX 7422.16,-15340.38,310817,093450 DATA_FILE_SIZE 26723,765

TT8_MAMPS 0.083888,0.886067 CAP_FILE_SIZE 106294,0

HUMID 44.25 CFSIZE 2097872896,2023096320

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

TCM_TEMP 13.30 SOUNDSPEED 1441.1

XPDR_PINGS 27 CURRENT 0.049,273.88,1

CP_FREE 15980789760.000000 GPS 310817,121703,7423.292,-15340.313,21,0.7,29,19.3,0.4,220.7,12,8.6

PM_FREEKB_00 51722752

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 144.67 nil 0 0 0.00

Roll_motor 89 2145 2356.50 nil 0 0 0.00

VBD_pump_during_apogee 978 1390 16784.54 nil 0 0 0.00

VBD_pump_during_surface 30 207 78.28 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 5328 14 963.14

Iridium_during_xfer 613 168 1274.18 NCP 9157 20 2259.95

Transponder_ping 6 420 34.98 PMAR 9104 9 1107.59

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.05

TT8 0 0 0.00

LPSleep 6666 2 190.66

TT8_Active 1026 13 177.56

TT8_Sampling 2229 33 923.07

TT8_CF8 309 38 148.14

TT8_Kalman 0 0 0.00

Analog_circuits 2371 10 293.55

GPS_charging 0 0 0.00

Compass 1095 7 94.90

RAFOS 2212 48 1314.46

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 197 2228 503 477 0.0 0.0 0 142 0.00 0.00 -91.78 0.000 16386 0.000 0.000 196 2227 2133 2058 2209 0 0 0 0 0 0 14.52 28.83 14.54

145 -0.57 -145.9 196 2227 2060 2209 3.1 -3.4 9 203 12.70 2.78 -38.45 0.000 18724 0.454 2.145 2375 3586 3963 3947 3980 0 0 0 0 0 0 13.66 12.52 14.16

233 -0.54 -145.9 2376 3588 3952 3980 28.6 -23.6 22 238 0.12 2.38 0.00 0.000 3206 0.252 0.063 2400 2195 3965 3951 3979 0 0 0 0 0 0 13.96 14.14 14.21

544 -0.64 -145.9 2400 2194 3953 3980 74.3 -10.9 54 544 0.00 0.00 0.00 0.000 134 0.000 0.000 2400 2193 3966 3954 3979 0 0 0 0 0 0 14.68 14.69 14.67

866 -0.83 -145.9 2400 2191 3955 3979 102.9 -7.8 84 871 0.25 2.47 0.00 0.000 4516 0.093 0.088 2302 3596 3966 3954 3979 0 0 0 0 0 0 14.31 14.16 14.35

891 -0.91 -145.9 2302 3600 3955 3979 106.0 -12.5 89 897 0.00 2.38 0.00 0.000 1158 0.000 0.059 2301 2187 3966 3954 3979 0 0 0 0 0 0 14.42 14.31 14.46

1196 -0.91 -145.9 2302 2186 3955 3979 151.8 -14.5 100 1201 0.00 2.47 0.00 0.000 260 0.000 0.087 2293 3597 3966 3954 3979 0 0 0 0 0 0 14.76 14.19 14.80

1276 -1.02 -145.9 2294 3599 3954 3980 162.2 -12.0 116 1281 0.12 2.35 0.00 0.000 5254 0.131 0.057 2245 2193 3966 3954 3979 0 0 0 0 0 0 14.35 14.33 14.46

1586 -0.96 -145.9 2246 2192 3954 3980 217.8 -17.6 128 1591 0.00 2.45 0.00 0.000 388 0.000 0.086 2236 3591 3966 3953 3979 0 0 0 0 0 0 14.77 14.26 14.78

1723 -0.96 -145.9 2237 3592 3955 3979 239.2 -14.7 155 1729 0.15 2.33 0.00 0.000 3078 0.257 0.056 2266 2197 3966 3954 3979 0 0 0 0 0 0 14.03 14.35 14.32

2039 -0.99 -145.9 2266 2198 3954 3980 279.3 -11.9 168 2040 0.00 0.00 0.00 0.000 134 0.000 0.000 2266 2197 3966 3954 3979 0 0 0 0 0 0 14.77 14.79 14.78

2339 -1.04 -145.9 2266 2198 3954 3980 313.4 -11.2 178 2344 0.00 2.42 0.00 0.000 388 0.000 0.089 2260 3589 3966 3954 3979 0 0 0 0 0 0 14.78 14.26 14.80

2359 -1.09 -145.9 2260 3590 3954 3980 315.6 -11.5 182 2365 0.10 2.33 0.00 0.000 5254 0.154 0.057 2222 2202 3966 3954 3979 0 0 0 0 0 0 14.33 14.33 14.46

2670 -1.07 -145.9 2222 2202 3954 3980 360.4 -14.5 194 2675 0.00 2.42 0.00 0.000 388 0.000 0.086 2211 3594 3965 3953 3978 0 0 0 0 0 0 14.78 14.26 14.80

2765 -1.07 -145.9 2211 3594 3954 3982 373.9 -13.7 213 2770 0.00 2.35 0.00 0.000 1030 0.000 0.057 2211 2195 3965 3952 3978 0 0 0 0 0 0 14.45 14.33 14.49

3090 -1.03 -145.9 2211 2191 3954 3978 421.0 -14.3 228 3095 0.12 2.45 0.00 0.000 2436 0.304 0.086 2235 3592 3965 3953 3978 0 0 0 0 0 0 14.02 14.24 14.18

3207 -1.11 -145.9 2236 3594 3953 3978 434.3 -10.7 251 3214 0.00 2.35 0.00 0.000 1158 0.000 0.055 2235 2189 3965 3952 3978 0 0 0 0 0 0 14.45 14.33 14.48

3510 -1.11 -145.9 2235 2189 3953 3979 470.8 -12.0 262 3515 0.00 2.45 0.00 0.000 260 0.000 0.088 2235 3589 3965 3952 3978 0 0 0 0 0 0 14.78 14.24 14.80

3593 end dive: TARGET_DEPTH_EXCEEDED

state 3593 begin apogee

3601 -0.13 0.0 2236 2095 3952 3979 480.4 -10.6 279 3839 1.12 0.00 234.18 1.382 10246 0.228 0.000 2527 2094 3364 3382 3347 0 0 0 0 0 0 13.99 13.50 12.69

3842 end apogee: CONTROL_FINISHED_OK

state 3842 begin climb

3845 0.57 145.9 2526 2094 3375 3337 493.7 0.0 287 4069 0.75 2.67 211.30 1.328 10500 0.063 0.074 2780 3485 2759 2796 2722 0 0 0 0 0 0 13.62 13.14 12.34

4184 0.11 145.9 2781 3485 2779 2715 485.2 16.4 345 4190 0.85 2.47 0.00 0.000 5254 0.356 0.058 2623 2098 2746 2778 2715 0 0 0 0 0 0 13.23 13.58 13.59

4500 0.03 183.6 2623 2098 2780 2714 457.7 8.3 358 4555 0.15 0.00 53.20 1.366 12454 0.289 0.000 2593 2094 2617 2663 2571 0 0 0 0 0 0 13.71 13.88 13.07

4830 0.06 231.7 2593 2097 2651 2542 432.3 7.8 369 4911 0.00 2.58 72.65 1.331 8740 0.000 0.086 2601 689 2414 2465 2363 0 0 0 0 0 0 14.50 13.88 13.11

4966 0.15 265.0 2602 688 2458 2352 421.1 8.5 396 5022 0.00 2.47 49.72 1.332 9382 0.000 0.080 2601 2080 2283 2336 2230 0 0 0 0 0 0 14.08 13.96 13.02

5343 0.22 286.1 2602 2081 2320 2209 387.2 9.0 421 5374 0.15 0.00 27.50 1.391 10406 0.115 0.000 2670 2079 2194 2248 2141 0 0 0 0 0 0 14.27 14.00 13.21

5673 0.15 286.1 2670 2081 2234 2131 342.9 13.5 432 5678 0.15 2.42 0.00 0.000 4740 0.252 0.083 2642 688 2181 2233 2130 0 0 0 0 0 0 14.02 14.21 14.18

5724 0.19 286.1 2642 689 2233 2131 337.0 10.8 442 5728 0.00 2.45 0.00 0.000 1158 0.000 0.079 2642 2100 2180 2231 2130 0 0 0 0 0 0 14.36 14.23 14.40

6033 0.19 286.1 2643 2102 2232 2128 302.6 11.0 454 6034 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2101 2179 2231 2128 0 0 0 0 0 0 14.63 14.66 14.66

6333 0.19 286.1 2641 2102 2231 2125 270.6 10.5 464 6339 0.00 2.45 0.00 0.000 516 0.000 0.086 2647 692 2179 2230 2128 0 0 0 0 0 0 14.67 14.26 14.69

6384 0.24 286.1 2647 693 2228 2129 265.5 10.3 474 6389 0.00 2.45 0.00 0.000 1158 0.000 0.080 2646 2103 2178 2229 2128 0 0 0 0 0 0 14.41 14.27 14.46

6694 0.26 312.2 2647 2104 2229 2126 236.3 8.8 486 6744 0.00 2.55 41.47 1.321 8740 0.000 0.084 2647 690 2085 2132 2039 0 0 0 0 0 0 14.66 14.15 13.33

6844 0.38 359.1 2648 690 2120 2037 223.5 7.8 516 6931 0.17 2.47 80.53 1.226 11430 0.109 0.080 2714 2102 1902 1937 1868 0 0 0 0 0 0 14.21 14.13 13.17

7236 0.34 359.1 2715 2102 1914 1848 175.3 12.2 544 7242 0.00 2.47 0.00 0.000 644 0.000 0.084 2723 693 1880 1913 1848 0 0 0 0 0 0 14.52 14.14 14.54

7297 0.34 359.1 2723 693 1911 1849 168.2 11.4 556 7303 0.15 2.45 0.00 0.000 5126 0.237 0.078 2691 2099 1879 1910 1848 0 0 0 0 0 0 13.82 13.84 14.23

7628 0.34 370.7 2692 2101 1908 1846 136.1 9.5 572 7639 0.00 2.50 3.60 1.158 8740 0.000 0.087 2690 694 1854 1886 1823 0 0 0 0 0 0 14.63 14.24 12.93

7674 0.45 395.5 2692 694 1893 1830 132.1 8.9 581 7735 0.12 2.45 56.33 1.260 11430 0.135 0.079 2747 2103 1754 1777 1732 0 0 0 0 0 0 14.28 14.25 13.28

8041 0.40 395.5 2747 2104 1762 1710 88.1 11.0 611 8046 0.12 2.47 0.00 0.000 4740 0.240 0.082 2721 693 1735 1761 1709 0 0 0 0 0 0 13.93 14.13 14.03

8106 0.49 423.6 2724 692 1759 1710 82.2 8.7 624 8127 0.00 2.47 14.73 0.425 9382 0.000 0.079 2723 2109 1635 1661 1610 0 0 0 0 0 0 14.28 14.15 13.61

8442 0.60 504.3 2724 2108 1675 1611 54.7 6.3 659 8495 0.12 2.53 46.28 0.357 10916 0.126 0.084 2794 688 1307 1357 1258 0 0 0 0 0 0 14.19 13.92 13.67

8666 0.68 549.9 2794 689 1354 1263 36.3 7.9 703 8698 0.00 2.50 26.80 0.302 9382 0.000 0.078 2794 2106 1119 1182 1057 0 0 0 0 0 0 14.14 14.03 13.69

8996 0.84 653.1 2794 2107 1184 1069 15.6 5.2 739 9063 0.15 2.55 59.72 0.241 10660 0.120 0.082 2864 3514 696 754 638 0 0 0 0 0 0 14.05 13.96 13.69

9101 0.86 653.1 2863 3515 761 644 5.6 11.1 759 9105 0.00 2.47 0.00 0.000 1158 0.000 0.067 2873 2092 701 759 644 0 0 0 0 0 0 14.15 14.03 14.19

9138 end climb: SURFACE_DEPTH_REACHED

state 9138 begin surface coast

9148 end surface coast: CONTROL_FINISHED_OK

state 9148 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	210	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	594.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,092456,7422.4873,-15343.0078,37,0.8,37,19.3,0.0,0.0,10,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	3	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	23.1,164812,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	310817,094154,7422.4648,-15343.2168,7,0.7,10,19.3,0.0,0.0,11,9.8

FINISH	0.3,1.013667	_24V_AH	12.34,143.845
SM_CCo	9169,30.60,0.207,0,0,499,702.78	_10V_AH	12.38,0.000
SM_GC	1.44,8.20,0.20,30.60,0.072,0.100,0.207,197,2231,499,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.16,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	52	FG_AHR_10Vo	0.000
RAFOS_FIX	7421.005371,-15345.310547,310817,080841,2,255,0.19	MEM	323460
IRIDIUM_FIX	7422.16,-15340.38,310817,093450	DATA_FILE_SIZE	26723,765
TT8_MAMPS	0.083888,0.886067	CAP_FILE_SIZE	106294,0
HUMID	44.25	CFSIZE	2097872896,2023096320
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1441.1
XPDR_PINGS	27	CURRENT	0.049,273.88,1
CP_FREE	15980789760.000000	GPS	310817,121703,7423.292,-15340.313,21,0.7,29,19.3,0.4,220.7,12,8.6
PM_FREEKB_00	51722752

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	144.67	nil	0	0	0.00
Roll_motor	89	2145	2356.50	nil	0	0	0.00
VBD_pump_during_apogee	978	1390	16784.54	nil	0	0	0.00
VBD_pump_during_surface	30	207	78.28	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	5328	14	963.14
Iridium_during_xfer	613	168	1274.18	NCP	9157	20	2259.95
Transponder_ping	6	420	34.98	PMAR	9104	9	1107.59
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.05
TT8	0	0	0.00
LPSleep	6666	2	190.66
TT8_Active	1026	13	177.56
TT8_Sampling	2229	33	923.07
TT8_CF8	309	38	148.14
TT8_Kalman	0	0	0.00
Analog_circuits	2371	10	293.55
GPS_charging	0	0	0.00
Compass	1095	7	94.90
RAFOS	2212	48	1314.46
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	197	2228	503	477	0.0	0.0	0	142	0.00	0.00	-91.78	0.000	16386	0.000	0.000	196	2227	2133	2058	2209	0	0	0	0	0	0	14.52	28.83	14.54
145	-0.57	-145.9	196	2227	2060	2209	3.1	-3.4	9	203	12.70	2.78	-38.45	0.000	18724	0.454	2.145	2375	3586	3963	3947	3980	0	0	0	0	0	0	13.66	12.52	14.16
233	-0.54	-145.9	2376	3588	3952	3980	28.6	-23.6	22	238	0.12	2.38	0.00	0.000	3206	0.252	0.063	2400	2195	3965	3951	3979	0	0	0	0	0	0	13.96	14.14	14.21
544	-0.64	-145.9	2400	2194	3953	3980	74.3	-10.9	54	544	0.00	0.00	0.00	0.000	134	0.000	0.000	2400	2193	3966	3954	3979	0	0	0	0	0	0	14.68	14.69	14.67
866	-0.83	-145.9	2400	2191	3955	3979	102.9	-7.8	84	871	0.25	2.47	0.00	0.000	4516	0.093	0.088	2302	3596	3966	3954	3979	0	0	0	0	0	0	14.31	14.16	14.35
891	-0.91	-145.9	2302	3600	3955	3979	106.0	-12.5	89	897	0.00	2.38	0.00	0.000	1158	0.000	0.059	2301	2187	3966	3954	3979	0	0	0	0	0	0	14.42	14.31	14.46
1196	-0.91	-145.9	2302	2186	3955	3979	151.8	-14.5	100	1201	0.00	2.47	0.00	0.000	260	0.000	0.087	2293	3597	3966	3954	3979	0	0	0	0	0	0	14.76	14.19	14.80
1276	-1.02	-145.9	2294	3599	3954	3980	162.2	-12.0	116	1281	0.12	2.35	0.00	0.000	5254	0.131	0.057	2245	2193	3966	3954	3979	0	0	0	0	0	0	14.35	14.33	14.46
1586	-0.96	-145.9	2246	2192	3954	3980	217.8	-17.6	128	1591	0.00	2.45	0.00	0.000	388	0.000	0.086	2236	3591	3966	3953	3979	0	0	0	0	0	0	14.77	14.26	14.78
1723	-0.96	-145.9	2237	3592	3955	3979	239.2	-14.7	155	1729	0.15	2.33	0.00	0.000	3078	0.257	0.056	2266	2197	3966	3954	3979	0	0	0	0	0	0	14.03	14.35	14.32
2039	-0.99	-145.9	2266	2198	3954	3980	279.3	-11.9	168	2040	0.00	0.00	0.00	0.000	134	0.000	0.000	2266	2197	3966	3954	3979	0	0	0	0	0	0	14.77	14.79	14.78
2339	-1.04	-145.9	2266	2198	3954	3980	313.4	-11.2	178	2344	0.00	2.42	0.00	0.000	388	0.000	0.089	2260	3589	3966	3954	3979	0	0	0	0	0	0	14.78	14.26	14.80
2359	-1.09	-145.9	2260	3590	3954	3980	315.6	-11.5	182	2365	0.10	2.33	0.00	0.000	5254	0.154	0.057	2222	2202	3966	3954	3979	0	0	0	0	0	0	14.33	14.33	14.46
2670	-1.07	-145.9	2222	2202	3954	3980	360.4	-14.5	194	2675	0.00	2.42	0.00	0.000	388	0.000	0.086	2211	3594	3965	3953	3978	0	0	0	0	0	0	14.78	14.26	14.80
2765	-1.07	-145.9	2211	3594	3954	3982	373.9	-13.7	213	2770	0.00	2.35	0.00	0.000	1030	0.000	0.057	2211	2195	3965	3952	3978	0	0	0	0	0	0	14.45	14.33	14.49
3090	-1.03	-145.9	2211	2191	3954	3978	421.0	-14.3	228	3095	0.12	2.45	0.00	0.000	2436	0.304	0.086	2235	3592	3965	3953	3978	0	0	0	0	0	0	14.02	14.24	14.18
3207	-1.11	-145.9	2236	3594	3953	3978	434.3	-10.7	251	3214	0.00	2.35	0.00	0.000	1158	0.000	0.055	2235	2189	3965	3952	3978	0	0	0	0	0	0	14.45	14.33	14.48
3510	-1.11	-145.9	2235	2189	3953	3979	470.8	-12.0	262	3515	0.00	2.45	0.00	0.000	260	0.000	0.088	2235	3589	3965	3952	3978	0	0	0	0	0	0	14.78	14.24	14.80
3593	end dive: TARGET_DEPTH_EXCEEDED
state	3593	begin apogee
3601	-0.13	0.0	2236	2095	3952	3979	480.4	-10.6	279	3839	1.12	0.00	234.18	1.382	10246	0.228	0.000	2527	2094	3364	3382	3347	0	0	0	0	0	0	13.99	13.50	12.69
3842	end apogee: CONTROL_FINISHED_OK
state	3842	begin climb
3845	0.57	145.9	2526	2094	3375	3337	493.7	0.0	287	4069	0.75	2.67	211.30	1.328	10500	0.063	0.074	2780	3485	2759	2796	2722	0	0	0	0	0	0	13.62	13.14	12.34
4184	0.11	145.9	2781	3485	2779	2715	485.2	16.4	345	4190	0.85	2.47	0.00	0.000	5254	0.356	0.058	2623	2098	2746	2778	2715	0	0	0	0	0	0	13.23	13.58	13.59
4500	0.03	183.6	2623	2098	2780	2714	457.7	8.3	358	4555	0.15	0.00	53.20	1.366	12454	0.289	0.000	2593	2094	2617	2663	2571	0	0	0	0	0	0	13.71	13.88	13.07
4830	0.06	231.7	2593	2097	2651	2542	432.3	7.8	369	4911	0.00	2.58	72.65	1.331	8740	0.000	0.086	2601	689	2414	2465	2363	0	0	0	0	0	0	14.50	13.88	13.11
4966	0.15	265.0	2602	688	2458	2352	421.1	8.5	396	5022	0.00	2.47	49.72	1.332	9382	0.000	0.080	2601	2080	2283	2336	2230	0	0	0	0	0	0	14.08	13.96	13.02
5343	0.22	286.1	2602	2081	2320	2209	387.2	9.0	421	5374	0.15	0.00	27.50	1.391	10406	0.115	0.000	2670	2079	2194	2248	2141	0	0	0	0	0	0	14.27	14.00	13.21
5673	0.15	286.1	2670	2081	2234	2131	342.9	13.5	432	5678	0.15	2.42	0.00	0.000	4740	0.252	0.083	2642	688	2181	2233	2130	0	0	0	0	0	0	14.02	14.21	14.18
5724	0.19	286.1	2642	689	2233	2131	337.0	10.8	442	5728	0.00	2.45	0.00	0.000	1158	0.000	0.079	2642	2100	2180	2231	2130	0	0	0	0	0	0	14.36	14.23	14.40
6033	0.19	286.1	2643	2102	2232	2128	302.6	11.0	454	6034	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2101	2179	2231	2128	0	0	0	0	0	0	14.63	14.66	14.66
6333	0.19	286.1	2641	2102	2231	2125	270.6	10.5	464	6339	0.00	2.45	0.00	0.000	516	0.000	0.086	2647	692	2179	2230	2128	0	0	0	0	0	0	14.67	14.26	14.69
6384	0.24	286.1	2647	693	2228	2129	265.5	10.3	474	6389	0.00	2.45	0.00	0.000	1158	0.000	0.080	2646	2103	2178	2229	2128	0	0	0	0	0	0	14.41	14.27	14.46
6694	0.26	312.2	2647	2104	2229	2126	236.3	8.8	486	6744	0.00	2.55	41.47	1.321	8740	0.000	0.084	2647	690	2085	2132	2039	0	0	0	0	0	0	14.66	14.15	13.33
6844	0.38	359.1	2648	690	2120	2037	223.5	7.8	516	6931	0.17	2.47	80.53	1.226	11430	0.109	0.080	2714	2102	1902	1937	1868	0	0	0	0	0	0	14.21	14.13	13.17
7236	0.34	359.1	2715	2102	1914	1848	175.3	12.2	544	7242	0.00	2.47	0.00	0.000	644	0.000	0.084	2723	693	1880	1913	1848	0	0	0	0	0	0	14.52	14.14	14.54
7297	0.34	359.1	2723	693	1911	1849	168.2	11.4	556	7303	0.15	2.45	0.00	0.000	5126	0.237	0.078	2691	2099	1879	1910	1848	0	0	0	0	0	0	13.82	13.84	14.23
7628	0.34	370.7	2692	2101	1908	1846	136.1	9.5	572	7639	0.00	2.50	3.60	1.158	8740	0.000	0.087	2690	694	1854	1886	1823	0	0	0	0	0	0	14.63	14.24	12.93
7674	0.45	395.5	2692	694	1893	1830	132.1	8.9	581	7735	0.12	2.45	56.33	1.260	11430	0.135	0.079	2747	2103	1754	1777	1732	0	0	0	0	0	0	14.28	14.25	13.28
8041	0.40	395.5	2747	2104	1762	1710	88.1	11.0	611	8046	0.12	2.47	0.00	0.000	4740	0.240	0.082	2721	693	1735	1761	1709	0	0	0	0	0	0	13.93	14.13	14.03
8106	0.49	423.6	2724	692	1759	1710	82.2	8.7	624	8127	0.00	2.47	14.73	0.425	9382	0.000	0.079	2723	2109	1635	1661	1610	0	0	0	0	0	0	14.28	14.15	13.61
8442	0.60	504.3	2724	2108	1675	1611	54.7	6.3	659	8495	0.12	2.53	46.28	0.357	10916	0.126	0.084	2794	688	1307	1357	1258	0	0	0	0	0	0	14.19	13.92	13.67
8666	0.68	549.9	2794	689	1354	1263	36.3	7.9	703	8698	0.00	2.50	26.80	0.302	9382	0.000	0.078	2794	2106	1119	1182	1057	0	0	0	0	0	0	14.14	14.03	13.69
8996	0.84	653.1	2794	2107	1184	1069	15.6	5.2	739	9063	0.15	2.55	59.72	0.241	10660	0.120	0.082	2864	3514	696	754	638	0	0	0	0	0	0	14.05	13.96	13.69
9101	0.86	653.1	2863	3515	761	644	5.6	11.1	759	9105	0.00	2.47	0.00	0.000	1158	0.000	0.067	2873	2092	701	759	644	0	0	0	0	0	0	14.15	14.03	14.19
9138	end climb: SURFACE_DEPTH_REACHED
state	9138	begin surface coast
9148	end surface coast: CONTROL_FINISHED_OK
state	9148	begin surface