Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 214 * 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 214 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 604.0

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 24 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 604.0 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 214 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 310817,204035,7426.0757,-15333.9863,27,0.7,29,19.4,0.3,39.5,10,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 22.2,156991,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 310817,205401,7426.0874,-15334.1914,7,0.8,13,19.4,0.0,0.0,9,7.4

Post-dive calculations and measurements:

FINISH 0.2,1.021180 _24V_AH 12.34,145.710

SM_CCo 8906,48.58,0.210,0,0,500,702.78 _10V_AH 12.25,0.000

SM_GC 1.24,8.25,0.17,48.58,0.087,0.119,0.210,198,2223,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.33,14.28,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323448

IRIDIUM_FIX 7426.45,-15333.27,310817,204521 DATA_FILE_SIZE 26734,746

TT8_MAMPS 0.040446,0.845621 CAP_FILE_SIZE 102240,0

HUMID 47.51 CFSIZE 2097872896,2021883904

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1448.6

XPDR_PINGS 15 CURRENT 0.053,305.24,1

CP_FREE 15979773952.000000 GPS 310817,232502,7426.963,-15331.218,22,0.7,27,19.4,0.3,202.6,12,6.4

PM_FREEKB_00 51605120

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 145.09 nil 0 0 0.00

Roll_motor 79 2141 2099.96 nil 0 0 0.00

VBD_pump_during_apogee 895 1432 15839.36 nil 0 0 0.00

VBD_pump_during_surface 48 210 126.10 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 8915 14 1591.31

Iridium_during_xfer 453 175 981.18 NCP 8901 20 2196.77

Transponder_ping 3 420 19.44 PMAR 8858 9 1077.99

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.93

TT8 0 0 0.00

LPSleep 6481 2 183.42

TT8_Active 937 13 160.50

TT8_Sampling 2047 33 838.65

TT8_CF8 307 38 145.68

TT8_Kalman 0 0 0.00

Analog_circuits 2116 10 259.21

GPS_charging 0 0 0.00

Compass 1070 7 91.78

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 199 2212 501 488 0.0 0.0 0 142 0.00 0.00 -91.60 0.000 16386 0.000 0.000 198 2212 2180 2112 2249 0 0 0 0 0 0 14.35 28.83 14.37

145 -0.57 -145.9 199 2212 2116 2249 4.0 -5.8 9 199 12.70 2.85 -34.45 0.000 18724 0.454 2.141 2376 3605 3959 3941 3977 0 0 0 0 0 0 13.59 12.74 14.04

324 -0.69 -145.9 2377 3608 3949 3978 43.3 -14.2 44 331 0.00 2.42 0.00 0.000 1158 0.000 0.058 2376 2196 3963 3948 3978 0 0 0 0 0 0 14.26 14.12 14.29

631 -0.78 -145.9 2376 2197 3950 3978 86.9 -11.5 75 636 0.12 2.50 0.00 0.000 4484 0.145 0.085 2319 3607 3963 3950 3976 0 0 0 0 0 0 14.21 14.05 14.26

686 -0.86 -145.9 2320 3607 3951 3977 94.6 -13.5 86 692 0.00 2.42 0.00 0.000 1158 0.000 0.060 2319 2192 3963 3949 3977 0 0 0 0 0 0 14.22 14.04 14.28

1001 -0.90 -145.9 2319 2194 3955 3977 138.9 -13.2 100 1007 0.00 2.50 0.00 0.000 388 0.000 0.088 2319 3607 3962 3948 3977 0 0 0 0 0 0 14.64 14.14 14.65

1047 -1.05 -145.9 2319 3607 3951 3977 144.2 -10.6 109 1053 0.25 2.40 0.00 0.000 5254 0.091 0.057 2227 2190 3963 3949 3977 0 0 0 0 0 0 14.26 14.20 14.35

1363 -0.95 -145.9 2229 2189 3951 3977 206.9 -19.6 122 1368 0.17 2.50 0.00 0.000 2436 0.289 0.083 2259 3607 3963 3950 3977 0 0 0 0 0 0 13.83 13.67 14.01

1480 -1.01 -145.9 2259 3609 3951 3978 223.4 -13.0 145 1486 0.00 2.38 0.00 0.000 1158 0.000 0.057 2258 2202 3963 3949 3977 0 0 0 0 0 0 14.25 14.17 14.28

1783 -1.01 -145.9 2258 2202 3950 3978 266.1 -13.4 156 1789 0.00 2.47 0.00 0.000 260 0.000 0.088 2249 3607 3963 3949 3978 0 0 0 0 0 0 14.68 13.85 14.70

1844 -1.07 -145.9 2249 3608 3957 3977 273.7 -12.1 168 1850 0.00 2.40 0.00 0.000 1158 0.000 0.058 2249 2198 3963 3949 3977 0 0 0 0 0 0 14.42 14.26 14.42

2175 -1.07 -145.9 2249 2198 3950 3978 315.8 -12.5 184 2181 0.00 2.47 0.00 0.000 260 0.000 0.087 2240 3604 3963 3949 3977 0 0 0 0 0 0 14.69 14.21 14.71

2276 -1.15 -145.9 2240 3606 3950 3978 327.7 -11.3 204 2281 0.00 2.38 0.00 0.000 1158 0.000 0.058 2240 2199 3963 3949 3977 0 0 0 0 0 0 14.39 14.27 14.46

2597 -1.15 -145.9 2240 2199 3950 3978 367.1 -12.3 218 2601 0.00 2.47 0.00 0.000 260 0.000 0.089 2234 3607 3962 3949 3976 0 0 0 0 0 0 14.67 14.19 14.69

2637 -1.21 -145.9 2237 3609 3950 3977 371.9 -12.0 226 2642 0.15 2.38 0.00 0.000 5254 0.127 0.059 2172 2200 3962 3949 3976 0 0 0 0 0 0 14.23 14.20 14.34

2957 -1.09 -145.9 2173 2204 3945 3976 429.2 -17.9 240 2963 0.22 2.47 0.00 0.000 2436 0.295 0.083 2212 3610 3961 3948 3974 0 0 0 0 0 0 13.83 14.16 14.04

3103 -1.11 -145.9 2214 3612 3949 3976 448.6 -12.7 269 3109 0.00 2.40 0.00 0.000 1158 0.000 0.056 2213 2201 3961 3948 3975 0 0 0 0 0 0 14.00 13.68 14.14

3346 end dive: TARGET_DEPTH_EXCEEDED

state 3346 begin apogee

3352 -0.13 0.0 2214 2058 3949 3976 482.3 -13.8 278 3572 1.25 0.08 216.62 1.427 10246 0.245 0.183 2528 2105 3365 3387 3343 0 0 0 0 0 0 13.88 13.46 12.68

3575 end apogee: CONTROL_FINISHED_OK

state 3576 begin climb

3580 0.57 145.9 2529 2105 3380 3333 493.8 0.0 285 3795 0.75 2.62 205.40 1.375 10500 0.063 0.073 2782 3506 2765 2809 2722 0 0 0 0 0 0 13.63 12.93 12.34

3947 0.11 145.9 2782 3506 2789 2718 479.4 16.8 347 3953 0.85 2.42 0.00 0.000 5254 0.350 0.056 2623 2132 2752 2788 2717 0 0 0 0 0 0 13.31 13.65 13.66

4268 0.02 184.8 2623 2131 2789 2715 451.2 8.2 361 4330 0.12 2.55 54.70 1.427 12964 0.295 0.083 2602 695 2605 2655 2555 0 0 0 0 0 0 13.87 13.69 13.07

4390 0.08 230.6 2601 695 2652 2550 441.8 7.9 385 4461 0.00 2.47 66.70 1.392 9382 0.000 0.080 2600 2096 2424 2485 2364 0 0 0 0 0 0 14.12 14.00 12.95

4782 0.12 259.1 2600 2096 2471 2350 408.0 8.7 413 4826 0.00 0.00 39.67 1.433 8614 0.000 0.000 2600 2095 2306 2360 2252 0 0 0 0 0 0 14.49 13.76 13.15

5143 0.19 289.5 2601 2092 2361 2242 376.6 8.6 435 5193 0.12 0.00 47.20 1.405 10406 0.131 0.000 2660 2095 2186 2233 2139 0 0 0 0 0 0 14.28 14.02 13.22

5472 0.15 289.5 2660 2095 2225 2118 335.2 12.7 446 5477 0.12 2.45 0.00 0.000 4740 0.253 0.083 2633 694 2171 2224 2118 0 0 0 0 0 0 14.04 14.17 14.19

5589 0.21 289.5 2637 694 2223 2118 323.0 10.0 469 5595 0.00 2.45 0.00 0.000 1158 0.000 0.080 2636 2105 2173 2222 2125 0 0 0 0 0 0 14.34 14.20 14.37

5892 0.21 289.5 2637 2106 2222 2117 290.7 10.5 480 5893 0.00 0.00 0.00 0.000 6 0.000 0.000 2637 2105 2169 2222 2116 0 0 0 0 0 0 14.66 14.68 14.67

6193 0.21 296.1 2637 2104 2222 2115 261.1 9.7 490 6199 0.00 2.53 1.75 0.469 8740 0.000 0.084 2637 696 2161 2214 2109 0 0 0 0 0 0 14.68 14.08 13.48

6274 0.32 327.8 2637 696 2215 2115 253.9 8.5 506 6341 0.15 2.42 59.85 1.334 11430 0.114 0.079 2696 2101 2024 2071 1978 0 0 0 0 0 0 14.31 14.28 13.25

6646 0.27 327.8 2696 2101 2065 1969 209.3 11.7 530 6647 0.00 0.00 0.00 0.000 134 0.000 0.000 2695 2100 2016 2064 1969 0 0 0 0 0 0 14.57 14.59 14.59

6946 0.23 327.8 2701 2101 2058 1968 176.9 10.6 540 6951 0.15 2.47 0.00 0.000 4740 0.227 0.085 2659 690 2014 2061 1967 0 0 0 0 0 0 14.09 14.23 14.23

7022 0.36 373.4 2660 690 2060 1968 170.5 7.9 555 7103 0.12 2.47 75.80 1.267 11430 0.134 0.080 2710 2107 1841 1871 1812 0 0 0 0 0 0 14.30 14.24 13.23

7428 0.36 373.4 2710 2108 1860 1802 126.8 10.3 586 7434 0.00 2.47 0.00 0.000 516 0.000 0.086 2712 695 1830 1860 1801 0 0 0 0 0 0 14.56 14.19 14.57

7479 0.41 379.2 2712 696 1859 1802 121.7 9.7 596 7485 0.00 2.45 1.25 0.392 9382 0.000 0.078 2712 2099 1821 1850 1792 0 0 0 0 0 0 14.25 14.12 13.51

7791 0.42 397.4 2713 2100 1857 1792 91.8 9.2 614 7807 0.00 2.45 11.35 0.479 8740 0.000 0.085 2712 697 1744 1770 1718 0 0 0 0 0 0 14.59 13.90 13.57

7852 0.52 430.7 2713 698 1773 1719 86.5 8.5 625 7879 0.12 2.45 18.70 0.464 11430 0.130 0.078 2768 2100 1609 1637 1582 0 0 0 0 0 0 14.18 14.14 13.66

8184 0.52 468.6 2769 2100 1638 1575 51.7 8.3 661 8205 0.00 0.00 19.88 0.357 8614 0.000 0.000 2768 2100 1455 1491 1419 0 0 0 0 0 0 14.57 14.14 13.75

8504 0.63 567.2 2769 2101 1492 1414 31.9 5.4 694 8562 0.00 2.50 52.05 0.308 8612 0.000 0.084 2769 3508 1053 1121 986 0 0 0 0 0 0 14.58 14.07 13.71

8619 0.81 613.4 2769 3509 1121 985 24.1 7.9 716 8651 0.22 2.42 24.90 0.283 11430 0.096 0.067 2859 2106 862 934 791 0 0 0 0 0 0 14.14 14.15 13.69

8865 end climb: SURFACE_DEPTH_REACHED

state 8865 begin surface coast

8885 end surface coast: CONTROL_FINISHED_OK

state 8885 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	214	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	604.0
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	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,204035,7426.0757,-15333.9863,27,0.7,29,19.4,0.3,39.5,10,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	22.2,156991,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	310817,205401,7426.0874,-15334.1914,7,0.8,13,19.4,0.0,0.0,9,7.4

FINISH	0.2,1.021180	_24V_AH	12.34,145.710
SM_CCo	8906,48.58,0.210,0,0,500,702.78	_10V_AH	12.25,0.000
SM_GC	1.24,8.25,0.17,48.58,0.087,0.119,0.210,198,2223,500,-7.37,-0.59,702.78,0,0,0,0,0,0,14.33,14.28,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323448
IRIDIUM_FIX	7426.45,-15333.27,310817,204521	DATA_FILE_SIZE	26734,746
TT8_MAMPS	0.040446,0.845621	CAP_FILE_SIZE	102240,0
HUMID	47.51	CFSIZE	2097872896,2021883904
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.6
XPDR_PINGS	15	CURRENT	0.053,305.24,1
CP_FREE	15979773952.000000	GPS	310817,232502,7426.963,-15331.218,22,0.7,27,19.4,0.3,202.6,12,6.4
PM_FREEKB_00	51605120

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	145.09	nil	0	0	0.00
Roll_motor	79	2141	2099.96	nil	0	0	0.00
VBD_pump_during_apogee	895	1432	15839.36	nil	0	0	0.00
VBD_pump_during_surface	48	210	126.10	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	8915	14	1591.31
Iridium_during_xfer	453	175	981.18	NCP	8901	20	2196.77
Transponder_ping	3	420	19.44	PMAR	8858	9	1077.99
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.93
TT8	0	0	0.00
LPSleep	6481	2	183.42
TT8_Active	937	13	160.50
TT8_Sampling	2047	33	838.65
TT8_CF8	307	38	145.68
TT8_Kalman	0	0	0.00
Analog_circuits	2116	10	259.21
GPS_charging	0	0	0.00
Compass	1070	7	91.78
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	199	2212	501	488	0.0	0.0	0	142	0.00	0.00	-91.60	0.000	16386	0.000	0.000	198	2212	2180	2112	2249	0	0	0	0	0	0	14.35	28.83	14.37
145	-0.57	-145.9	199	2212	2116	2249	4.0	-5.8	9	199	12.70	2.85	-34.45	0.000	18724	0.454	2.141	2376	3605	3959	3941	3977	0	0	0	0	0	0	13.59	12.74	14.04
324	-0.69	-145.9	2377	3608	3949	3978	43.3	-14.2	44	331	0.00	2.42	0.00	0.000	1158	0.000	0.058	2376	2196	3963	3948	3978	0	0	0	0	0	0	14.26	14.12	14.29
631	-0.78	-145.9	2376	2197	3950	3978	86.9	-11.5	75	636	0.12	2.50	0.00	0.000	4484	0.145	0.085	2319	3607	3963	3950	3976	0	0	0	0	0	0	14.21	14.05	14.26
686	-0.86	-145.9	2320	3607	3951	3977	94.6	-13.5	86	692	0.00	2.42	0.00	0.000	1158	0.000	0.060	2319	2192	3963	3949	3977	0	0	0	0	0	0	14.22	14.04	14.28
1001	-0.90	-145.9	2319	2194	3955	3977	138.9	-13.2	100	1007	0.00	2.50	0.00	0.000	388	0.000	0.088	2319	3607	3962	3948	3977	0	0	0	0	0	0	14.64	14.14	14.65
1047	-1.05	-145.9	2319	3607	3951	3977	144.2	-10.6	109	1053	0.25	2.40	0.00	0.000	5254	0.091	0.057	2227	2190	3963	3949	3977	0	0	0	0	0	0	14.26	14.20	14.35
1363	-0.95	-145.9	2229	2189	3951	3977	206.9	-19.6	122	1368	0.17	2.50	0.00	0.000	2436	0.289	0.083	2259	3607	3963	3950	3977	0	0	0	0	0	0	13.83	13.67	14.01
1480	-1.01	-145.9	2259	3609	3951	3978	223.4	-13.0	145	1486	0.00	2.38	0.00	0.000	1158	0.000	0.057	2258	2202	3963	3949	3977	0	0	0	0	0	0	14.25	14.17	14.28
1783	-1.01	-145.9	2258	2202	3950	3978	266.1	-13.4	156	1789	0.00	2.47	0.00	0.000	260	0.000	0.088	2249	3607	3963	3949	3978	0	0	0	0	0	0	14.68	13.85	14.70
1844	-1.07	-145.9	2249	3608	3957	3977	273.7	-12.1	168	1850	0.00	2.40	0.00	0.000	1158	0.000	0.058	2249	2198	3963	3949	3977	0	0	0	0	0	0	14.42	14.26	14.42
2175	-1.07	-145.9	2249	2198	3950	3978	315.8	-12.5	184	2181	0.00	2.47	0.00	0.000	260	0.000	0.087	2240	3604	3963	3949	3977	0	0	0	0	0	0	14.69	14.21	14.71
2276	-1.15	-145.9	2240	3606	3950	3978	327.7	-11.3	204	2281	0.00	2.38	0.00	0.000	1158	0.000	0.058	2240	2199	3963	3949	3977	0	0	0	0	0	0	14.39	14.27	14.46
2597	-1.15	-145.9	2240	2199	3950	3978	367.1	-12.3	218	2601	0.00	2.47	0.00	0.000	260	0.000	0.089	2234	3607	3962	3949	3976	0	0	0	0	0	0	14.67	14.19	14.69
2637	-1.21	-145.9	2237	3609	3950	3977	371.9	-12.0	226	2642	0.15	2.38	0.00	0.000	5254	0.127	0.059	2172	2200	3962	3949	3976	0	0	0	0	0	0	14.23	14.20	14.34
2957	-1.09	-145.9	2173	2204	3945	3976	429.2	-17.9	240	2963	0.22	2.47	0.00	0.000	2436	0.295	0.083	2212	3610	3961	3948	3974	0	0	0	0	0	0	13.83	14.16	14.04
3103	-1.11	-145.9	2214	3612	3949	3976	448.6	-12.7	269	3109	0.00	2.40	0.00	0.000	1158	0.000	0.056	2213	2201	3961	3948	3975	0	0	0	0	0	0	14.00	13.68	14.14
3346	end dive: TARGET_DEPTH_EXCEEDED
state	3346	begin apogee
3352	-0.13	0.0	2214	2058	3949	3976	482.3	-13.8	278	3572	1.25	0.08	216.62	1.427	10246	0.245	0.183	2528	2105	3365	3387	3343	0	0	0	0	0	0	13.88	13.46	12.68
3575	end apogee: CONTROL_FINISHED_OK
state	3576	begin climb
3580	0.57	145.9	2529	2105	3380	3333	493.8	0.0	285	3795	0.75	2.62	205.40	1.375	10500	0.063	0.073	2782	3506	2765	2809	2722	0	0	0	0	0	0	13.63	12.93	12.34
3947	0.11	145.9	2782	3506	2789	2718	479.4	16.8	347	3953	0.85	2.42	0.00	0.000	5254	0.350	0.056	2623	2132	2752	2788	2717	0	0	0	0	0	0	13.31	13.65	13.66
4268	0.02	184.8	2623	2131	2789	2715	451.2	8.2	361	4330	0.12	2.55	54.70	1.427	12964	0.295	0.083	2602	695	2605	2655	2555	0	0	0	0	0	0	13.87	13.69	13.07
4390	0.08	230.6	2601	695	2652	2550	441.8	7.9	385	4461	0.00	2.47	66.70	1.392	9382	0.000	0.080	2600	2096	2424	2485	2364	0	0	0	0	0	0	14.12	14.00	12.95
4782	0.12	259.1	2600	2096	2471	2350	408.0	8.7	413	4826	0.00	0.00	39.67	1.433	8614	0.000	0.000	2600	2095	2306	2360	2252	0	0	0	0	0	0	14.49	13.76	13.15
5143	0.19	289.5	2601	2092	2361	2242	376.6	8.6	435	5193	0.12	0.00	47.20	1.405	10406	0.131	0.000	2660	2095	2186	2233	2139	0	0	0	0	0	0	14.28	14.02	13.22
5472	0.15	289.5	2660	2095	2225	2118	335.2	12.7	446	5477	0.12	2.45	0.00	0.000	4740	0.253	0.083	2633	694	2171	2224	2118	0	0	0	0	0	0	14.04	14.17	14.19
5589	0.21	289.5	2637	694	2223	2118	323.0	10.0	469	5595	0.00	2.45	0.00	0.000	1158	0.000	0.080	2636	2105	2173	2222	2125	0	0	0	0	0	0	14.34	14.20	14.37
5892	0.21	289.5	2637	2106	2222	2117	290.7	10.5	480	5893	0.00	0.00	0.00	0.000	6	0.000	0.000	2637	2105	2169	2222	2116	0	0	0	0	0	0	14.66	14.68	14.67
6193	0.21	296.1	2637	2104	2222	2115	261.1	9.7	490	6199	0.00	2.53	1.75	0.469	8740	0.000	0.084	2637	696	2161	2214	2109	0	0	0	0	0	0	14.68	14.08	13.48
6274	0.32	327.8	2637	696	2215	2115	253.9	8.5	506	6341	0.15	2.42	59.85	1.334	11430	0.114	0.079	2696	2101	2024	2071	1978	0	0	0	0	0	0	14.31	14.28	13.25
6646	0.27	327.8	2696	2101	2065	1969	209.3	11.7	530	6647	0.00	0.00	0.00	0.000	134	0.000	0.000	2695	2100	2016	2064	1969	0	0	0	0	0	0	14.57	14.59	14.59
6946	0.23	327.8	2701	2101	2058	1968	176.9	10.6	540	6951	0.15	2.47	0.00	0.000	4740	0.227	0.085	2659	690	2014	2061	1967	0	0	0	0	0	0	14.09	14.23	14.23
7022	0.36	373.4	2660	690	2060	1968	170.5	7.9	555	7103	0.12	2.47	75.80	1.267	11430	0.134	0.080	2710	2107	1841	1871	1812	0	0	0	0	0	0	14.30	14.24	13.23
7428	0.36	373.4	2710	2108	1860	1802	126.8	10.3	586	7434	0.00	2.47	0.00	0.000	516	0.000	0.086	2712	695	1830	1860	1801	0	0	0	0	0	0	14.56	14.19	14.57
7479	0.41	379.2	2712	696	1859	1802	121.7	9.7	596	7485	0.00	2.45	1.25	0.392	9382	0.000	0.078	2712	2099	1821	1850	1792	0	0	0	0	0	0	14.25	14.12	13.51
7791	0.42	397.4	2713	2100	1857	1792	91.8	9.2	614	7807	0.00	2.45	11.35	0.479	8740	0.000	0.085	2712	697	1744	1770	1718	0	0	0	0	0	0	14.59	13.90	13.57
7852	0.52	430.7	2713	698	1773	1719	86.5	8.5	625	7879	0.12	2.45	18.70	0.464	11430	0.130	0.078	2768	2100	1609	1637	1582	0	0	0	0	0	0	14.18	14.14	13.66
8184	0.52	468.6	2769	2100	1638	1575	51.7	8.3	661	8205	0.00	0.00	19.88	0.357	8614	0.000	0.000	2768	2100	1455	1491	1419	0	0	0	0	0	0	14.57	14.14	13.75
8504	0.63	567.2	2769	2101	1492	1414	31.9	5.4	694	8562	0.00	2.50	52.05	0.308	8612	0.000	0.084	2769	3508	1053	1121	986	0	0	0	0	0	0	14.58	14.07	13.71
8619	0.81	613.4	2769	3509	1121	985	24.1	7.9	716	8651	0.22	2.42	24.90	0.283	11430	0.096	0.067	2859	2106	862	934	791	0	0	0	0	0	0	14.14	14.15	13.69
8865	end climb: SURFACE_DEPTH_REACHED
state	8865	begin surface coast
8885	end surface coast: CONTROL_FINISHED_OK
state	8885	begin surface