Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 215 * 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 215 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 607.0

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 21 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 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 607.0 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 21 VBD_MIN 500

DIVE 215 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 310817,232502,7426.9634,-15331.2178,22,0.7,27,19.4,0.3,202.6,12,6.4 SPEED_LIMITS 0.173,0.256

_CALLS 1 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 16.9,155008,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 310817,233555,7426.9429,-15331.3398,7,0.8,10,19.4,0.0,0.0,11,9.9

Post-dive calculations and measurements:

FINISH 0.2,1.015208 _24V_AH 12.30,146.174

SM_CCo 8773,41.60,0.212,0,0,498,702.78 _10V_AH 12.18,0.000

SM_GC 1.07,8.07,0.17,41.60,0.085,0.115,0.212,198,2234,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.32,14.33,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 331 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323468

IRIDIUM_FIX 7427.38,-15340.45,310817,205103 DATA_FILE_SIZE 23337,679

TT8_MAMPS 0.039697,0.916776 CAP_FILE_SIZE 99663,0

HUMID 46.65 CFSIZE 2097872896,2021588992

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 1448.0

XPDR_PINGS 11 CURRENT 0.038,285.62,1

CP_FREE 15979511808.000000 GPS 010917,020451,7427.773,-15328.490,39,0.8,40,19.4,0.0,0.0,10,7.5

PM_FREEKB_00 51574720

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.41 nil 0 0 0.00

Roll_motor 84 2142 2219.83 nil 0 0 0.00

VBD_pump_during_apogee 901 1548 17166.06 nil 0 0 0.00

VBD_pump_during_surface 41 211 108.43 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 8406 14 1518.85

Iridium_during_xfer 367 180 816.47 NCP 8768 20 2156.93

Transponder_ping 2 420 14.21 PMAR 8727 9 1065.48

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.01

TT8 0 0 0.00

LPSleep 6133 2 172.58

TT8_Active 840 13 142.99

TT8_Sampling 2207 33 899.29

TT8_CF8 303 38 143.05

TT8_Kalman 0 0 0.00

Analog_circuits 2184 10 266.09

GPS_charging 0 0 0.00

Compass 974 7 83.10

RAFOS 2155 48 1259.90

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 -145.9 196 2225 496 492 0.0 0.0 0 142 0.00 0.00 -92.03 0.000 16386 0.000 0.000 195 2225 2190 2129 2252 0 0 0 0 0 0 14.50 28.83 14.52

145 -0.57 -145.9 196 2225 2133 2252 4.1 -5.9 9 198 12.75 2.72 -33.65 0.000 18724 0.456 2.143 2375 3588 3964 3941 3987 0 0 0 0 0 0 13.56 12.62 14.02

240 -0.66 -145.9 2376 3590 3947 3987 31.8 -16.6 27 246 0.00 2.40 0.00 0.000 1158 0.000 0.061 2375 2193 3966 3946 3987 0 0 0 0 0 0 14.13 14.01 14.16

545 -0.72 -145.9 2375 2193 3950 3987 81.0 -12.6 58 550 0.00 2.47 0.00 0.000 388 0.000 0.086 2366 3592 3968 3949 3987 0 0 0 0 0 0 14.54 14.00 14.56

590 -0.90 -145.9 2366 3594 3950 3988 86.1 -10.0 67 596 0.25 2.38 0.00 0.000 5254 0.095 0.056 2267 2197 3967 3949 3986 0 0 0 0 0 0 14.12 14.05 14.19

905 -0.84 -145.9 2267 2197 3950 3984 144.4 -17.8 83 910 0.15 2.45 0.00 0.000 2436 0.278 0.084 2293 3594 3968 3949 3987 0 0 0 0 0 0 13.95 14.19 14.10

1017 -0.94 -145.9 2293 3595 3949 3987 158.9 -12.1 105 1022 0.00 2.38 0.00 0.000 1158 0.000 0.059 2292 2189 3967 3949 3986 0 0 0 0 0 0 14.38 14.24 14.40

1327 -0.96 -145.9 2293 2188 3950 3985 200.8 -13.2 117 1332 0.00 2.47 0.00 0.000 388 0.000 0.086 2284 3594 3968 3949 3987 0 0 0 0 0 0 14.64 14.16 14.66

1367 -1.07 -145.9 2284 3596 3950 3991 205.7 -12.0 125 1372 0.15 2.38 0.00 0.000 5254 0.116 0.057 2228 2201 3968 3950 3986 0 0 0 0 0 0 14.27 14.25 14.36

1690 -1.01 -145.9 2227 2200 3950 3988 260.7 -16.4 139 1694 0.00 2.47 0.00 0.000 388 0.000 0.087 2222 3595 3967 3949 3986 0 0 0 0 0 0 14.47 14.07 14.50

1826 -1.01 -145.9 2223 3596 3950 3987 280.8 -14.0 166 1831 0.15 2.38 0.00 0.000 3078 0.249 0.056 2252 2205 3967 3948 3986 0 0 0 0 0 0 13.76 14.06 14.06

2141 -1.03 -145.9 2252 2200 3950 3988 319.4 -11.8 179 2146 0.00 2.47 0.00 0.000 388 0.000 0.086 2248 3594 3967 3949 3986 0 0 0 0 0 0 14.47 14.00 14.49

2201 -1.13 -145.9 2248 3595 3949 3989 326.2 -10.2 191 2206 0.00 2.40 0.00 0.000 1158 0.000 0.057 2247 2192 3967 3949 3986 0 0 0 0 0 0 14.16 14.04 14.20

2531 -1.16 -145.9 2247 2191 3950 3987 364.5 -11.5 207 2536 0.12 2.47 0.00 0.000 4484 0.148 0.083 2185 3592 3968 3949 3987 0 0 0 0 0 0 14.13 13.98 14.16

2628 -1.11 -145.9 2185 3593 3956 3987 379.0 -15.4 226 2633 0.17 2.38 0.00 0.000 3206 0.260 0.056 2220 2198 3967 3948 3987 0 0 0 0 0 0 13.79 14.10 14.09

2954 -1.11 -145.9 2221 2196 3950 3986 422.6 -13.2 241 2958 0.00 2.50 0.00 0.000 260 0.000 0.090 2220 3592 3967 3948 3986 0 0 0 0 0 0 14.46 13.98 14.48

3023 -1.16 -145.9 2221 3592 3949 3986 431.4 -12.0 255 3028 0.00 2.38 0.00 0.000 1158 0.000 0.056 2220 2201 3967 3948 3986 0 0 0 0 0 0 14.19 14.09 14.24

3344 -1.16 -145.9 2220 2200 3949 3987 472.9 -12.9 269 3348 0.00 2.50 0.00 0.000 260 0.000 0.088 2220 3595 3966 3947 3986 0 0 0 0 0 0 14.46 14.01 14.47

3401 end dive: TARGET_DEPTH_EXCEEDED

state 3401 begin apogee

3409 -0.13 0.0 2221 2102 3948 3987 480.4 -11.8 281 3629 1.23 0.00 215.75 1.424 10246 0.239 0.000 2530 2100 3365 3381 3350 0 0 0 0 0 0 13.79 13.31 12.43

3633 end apogee: CONTROL_FINISHED_OK

state 3633 begin climb

3635 0.57 145.9 2531 2100 3379 3344 491.6 0.0 288 4028 0.75 2.67 210.23 1.378 10500 0.063 0.074 2786 3489 2753 2783 2724 0 0 0 0 0 0 13.50 12.88 12.30

4038 0.57 145.9 2779 3490 2785 2723 471.1 5.4 291 4043 0.00 2.42 0.00 0.000 1030 0.000 0.057 2788 2097 2753 2784 2723 0 0 0 0 0 0 13.68 13.59 13.71

4354 0.15 145.9 2786 2098 2784 2724 420.2 15.6 304 4359 0.65 2.45 0.00 0.000 4740 0.313 0.079 2649 691 2753 2784 2723 0 0 0 0 0 0 13.69 14.04 13.92

4569 0.04 161.6 2649 691 2785 2723 400.1 9.3 347 4595 0.22 2.42 17.88 1.548 13478 0.266 0.080 2600 2082 2703 2738 2668 0 0 0 0 0 0 13.92 14.19 13.26

4896 0.04 213.1 2600 2088 2742 2664 375.9 7.6 362 4977 0.00 0.00 78.93 1.375 8614 0.000 0.000 2599 2083 2495 2547 2444 0 0 0 0 0 0 14.59 13.93 13.13

5254 0.06 245.7 2602 2082 2541 2428 345.7 8.5 379 5304 0.00 0.00 48.78 1.387 8230 0.000 0.000 2600 2083 2363 2414 2313 0 0 0 0 0 0 14.56 14.02 13.20

5584 0.13 284.9 2600 2083 2402 2301 318.5 8.2 390 5651 0.00 2.58 59.45 1.350 8612 0.000 0.085 2599 3502 2199 2248 2151 0 0 0 0 0 0 14.55 13.96 13.19

5683 0.20 293.4 2603 3504 2240 2150 310.2 9.6 409 5698 0.15 2.42 9.77 1.542 11430 0.109 0.062 2668 2101 2169 2212 2126 0 0 0 0 0 0 14.07 14.04 13.11

6010 0.16 293.4 2669 2101 2207 2114 269.1 12.5 424 6015 0.12 2.45 0.00 0.000 4740 0.274 0.083 2647 690 2159 2206 2113 0 0 0 0 0 0 13.99 14.19 14.14

6155 0.23 312.2 2647 691 2203 2114 254.8 9.1 453 6191 0.00 2.47 28.75 1.401 9382 0.000 0.080 2647 2108 2088 2133 2044 0 0 0 0 0 0 14.33 14.21 13.29

6492 0.28 339.5 2648 2108 2131 2037 224.5 8.7 470 6541 0.00 2.50 43.30 1.345 8868 0.000 0.084 2650 691 1977 2021 1934 0 0 0 0 0 0 14.59 13.87 13.32

6578 0.41 373.9 2650 692 2014 1934 217.2 8.4 487 6642 0.20 2.50 56.45 1.286 11430 0.102 0.080 2730 2109 1836 1864 1809 0 0 0 0 0 0 14.15 14.06 13.14

6941 0.35 373.9 2731 2109 1858 1799 167.8 13.3 510 6946 0.12 2.50 0.00 0.000 4740 0.248 0.085 2700 691 1830 1857 1803 0 0 0 0 0 0 14.03 14.06 14.17

7028 0.41 376.2 2700 692 1857 1799 158.7 9.9 527 7034 0.00 2.47 0.00 0.000 1190 0.000 0.078 2699 2111 1824 1850 1798 0 0 0 0 0 0 14.31 14.18 14.35

7331 0.41 376.2 2700 2109 1853 1795 127.7 10.0 538 7332 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2108 1823 1852 1795 0 0 0 0 0 0 14.64 14.64 14.64

7631 0.46 398.8 2700 2109 1852 1793 99.8 9.0 548 7648 0.00 2.50 11.77 0.509 8868 0.000 0.086 2700 687 1738 1765 1711 0 0 0 0 0 0 14.64 13.93 13.52

7688 0.59 436.0 2700 687 1766 1712 95.1 8.3 559 7716 0.22 2.47 20.70 0.494 11430 0.094 0.078 2786 2105 1585 1609 1561 0 0 0 0 0 0 14.26 14.17 13.64

8013 0.54 456.5 2786 2105 1611 1556 54.1 9.1 594 8029 0.12 2.50 10.73 0.363 12964 0.262 0.086 2757 689 1503 1535 1471 0 0 0 0 0 0 13.99 13.95 13.67

8081 0.67 537.7 2758 688 1537 1472 49.3 6.2 607 8130 0.12 2.47 42.83 0.349 11430 0.128 0.080 2805 2103 1173 1229 1118 0 0 0 0 0 0 14.12 14.07 13.76

8426 0.78 625.8 2807 2103 1230 1101 20.2 5.9 646 8476 0.00 0.00 46.05 0.272 8358 0.000 0.000 2805 2102 810 877 743 0 0 0 0 0 0 14.55 14.01 13.81

8725 end climb: SURFACE_DEPTH_REACHED

state 8725 begin surface coast

8753 end surface coast: CONTROL_FINISHED_OK

state 8753 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	215	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	607.0
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	21	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,232502,7426.9634,-15331.2178,22,0.7,27,19.4,0.3,202.6,12,6.4	SPEED_LIMITS	0.173,0.256
_CALLS	1	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	16.9,155008,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	310817,233555,7426.9429,-15331.3398,7,0.8,10,19.4,0.0,0.0,11,9.9

FINISH	0.2,1.015208	_24V_AH	12.30,146.174
SM_CCo	8773,41.60,0.212,0,0,498,702.78	_10V_AH	12.18,0.000
SM_GC	1.07,8.07,0.17,41.60,0.085,0.115,0.212,198,2234,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.32,14.33,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	331	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323468
IRIDIUM_FIX	7427.38,-15340.45,310817,205103	DATA_FILE_SIZE	23337,679
TT8_MAMPS	0.039697,0.916776	CAP_FILE_SIZE	99663,0
HUMID	46.65	CFSIZE	2097872896,2021588992
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	1448.0
XPDR_PINGS	11	CURRENT	0.038,285.62,1
CP_FREE	15979511808.000000	GPS	010917,020451,7427.773,-15328.490,39,0.8,40,19.4,0.0,0.0,10,7.5
PM_FREEKB_00	51574720

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.41	nil	0	0	0.00
Roll_motor	84	2142	2219.83	nil	0	0	0.00
VBD_pump_during_apogee	901	1548	17166.06	nil	0	0	0.00
VBD_pump_during_surface	41	211	108.43	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	8406	14	1518.85
Iridium_during_xfer	367	180	816.47	NCP	8768	20	2156.93
Transponder_ping	2	420	14.21	PMAR	8727	9	1065.48
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.01
TT8	0	0	0.00
LPSleep	6133	2	172.58
TT8_Active	840	13	142.99
TT8_Sampling	2207	33	899.29
TT8_CF8	303	38	143.05
TT8_Kalman	0	0	0.00
Analog_circuits	2184	10	266.09
GPS_charging	0	0	0.00
Compass	974	7	83.10
RAFOS	2155	48	1259.90
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	196	2225	496	492	0.0	0.0	0	142	0.00	0.00	-92.03	0.000	16386	0.000	0.000	195	2225	2190	2129	2252	0	0	0	0	0	0	14.50	28.83	14.52
145	-0.57	-145.9	196	2225	2133	2252	4.1	-5.9	9	198	12.75	2.72	-33.65	0.000	18724	0.456	2.143	2375	3588	3964	3941	3987	0	0	0	0	0	0	13.56	12.62	14.02
240	-0.66	-145.9	2376	3590	3947	3987	31.8	-16.6	27	246	0.00	2.40	0.00	0.000	1158	0.000	0.061	2375	2193	3966	3946	3987	0	0	0	0	0	0	14.13	14.01	14.16
545	-0.72	-145.9	2375	2193	3950	3987	81.0	-12.6	58	550	0.00	2.47	0.00	0.000	388	0.000	0.086	2366	3592	3968	3949	3987	0	0	0	0	0	0	14.54	14.00	14.56
590	-0.90	-145.9	2366	3594	3950	3988	86.1	-10.0	67	596	0.25	2.38	0.00	0.000	5254	0.095	0.056	2267	2197	3967	3949	3986	0	0	0	0	0	0	14.12	14.05	14.19
905	-0.84	-145.9	2267	2197	3950	3984	144.4	-17.8	83	910	0.15	2.45	0.00	0.000	2436	0.278	0.084	2293	3594	3968	3949	3987	0	0	0	0	0	0	13.95	14.19	14.10
1017	-0.94	-145.9	2293	3595	3949	3987	158.9	-12.1	105	1022	0.00	2.38	0.00	0.000	1158	0.000	0.059	2292	2189	3967	3949	3986	0	0	0	0	0	0	14.38	14.24	14.40
1327	-0.96	-145.9	2293	2188	3950	3985	200.8	-13.2	117	1332	0.00	2.47	0.00	0.000	388	0.000	0.086	2284	3594	3968	3949	3987	0	0	0	0	0	0	14.64	14.16	14.66
1367	-1.07	-145.9	2284	3596	3950	3991	205.7	-12.0	125	1372	0.15	2.38	0.00	0.000	5254	0.116	0.057	2228	2201	3968	3950	3986	0	0	0	0	0	0	14.27	14.25	14.36
1690	-1.01	-145.9	2227	2200	3950	3988	260.7	-16.4	139	1694	0.00	2.47	0.00	0.000	388	0.000	0.087	2222	3595	3967	3949	3986	0	0	0	0	0	0	14.47	14.07	14.50
1826	-1.01	-145.9	2223	3596	3950	3987	280.8	-14.0	166	1831	0.15	2.38	0.00	0.000	3078	0.249	0.056	2252	2205	3967	3948	3986	0	0	0	0	0	0	13.76	14.06	14.06
2141	-1.03	-145.9	2252	2200	3950	3988	319.4	-11.8	179	2146	0.00	2.47	0.00	0.000	388	0.000	0.086	2248	3594	3967	3949	3986	0	0	0	0	0	0	14.47	14.00	14.49
2201	-1.13	-145.9	2248	3595	3949	3989	326.2	-10.2	191	2206	0.00	2.40	0.00	0.000	1158	0.000	0.057	2247	2192	3967	3949	3986	0	0	0	0	0	0	14.16	14.04	14.20
2531	-1.16	-145.9	2247	2191	3950	3987	364.5	-11.5	207	2536	0.12	2.47	0.00	0.000	4484	0.148	0.083	2185	3592	3968	3949	3987	0	0	0	0	0	0	14.13	13.98	14.16
2628	-1.11	-145.9	2185	3593	3956	3987	379.0	-15.4	226	2633	0.17	2.38	0.00	0.000	3206	0.260	0.056	2220	2198	3967	3948	3987	0	0	0	0	0	0	13.79	14.10	14.09
2954	-1.11	-145.9	2221	2196	3950	3986	422.6	-13.2	241	2958	0.00	2.50	0.00	0.000	260	0.000	0.090	2220	3592	3967	3948	3986	0	0	0	0	0	0	14.46	13.98	14.48
3023	-1.16	-145.9	2221	3592	3949	3986	431.4	-12.0	255	3028	0.00	2.38	0.00	0.000	1158	0.000	0.056	2220	2201	3967	3948	3986	0	0	0	0	0	0	14.19	14.09	14.24
3344	-1.16	-145.9	2220	2200	3949	3987	472.9	-12.9	269	3348	0.00	2.50	0.00	0.000	260	0.000	0.088	2220	3595	3966	3947	3986	0	0	0	0	0	0	14.46	14.01	14.47
3401	end dive: TARGET_DEPTH_EXCEEDED
state	3401	begin apogee
3409	-0.13	0.0	2221	2102	3948	3987	480.4	-11.8	281	3629	1.23	0.00	215.75	1.424	10246	0.239	0.000	2530	2100	3365	3381	3350	0	0	0	0	0	0	13.79	13.31	12.43
3633	end apogee: CONTROL_FINISHED_OK
state	3633	begin climb
3635	0.57	145.9	2531	2100	3379	3344	491.6	0.0	288	4028	0.75	2.67	210.23	1.378	10500	0.063	0.074	2786	3489	2753	2783	2724	0	0	0	0	0	0	13.50	12.88	12.30
4038	0.57	145.9	2779	3490	2785	2723	471.1	5.4	291	4043	0.00	2.42	0.00	0.000	1030	0.000	0.057	2788	2097	2753	2784	2723	0	0	0	0	0	0	13.68	13.59	13.71
4354	0.15	145.9	2786	2098	2784	2724	420.2	15.6	304	4359	0.65	2.45	0.00	0.000	4740	0.313	0.079	2649	691	2753	2784	2723	0	0	0	0	0	0	13.69	14.04	13.92
4569	0.04	161.6	2649	691	2785	2723	400.1	9.3	347	4595	0.22	2.42	17.88	1.548	13478	0.266	0.080	2600	2082	2703	2738	2668	0	0	0	0	0	0	13.92	14.19	13.26
4896	0.04	213.1	2600	2088	2742	2664	375.9	7.6	362	4977	0.00	0.00	78.93	1.375	8614	0.000	0.000	2599	2083	2495	2547	2444	0	0	0	0	0	0	14.59	13.93	13.13
5254	0.06	245.7	2602	2082	2541	2428	345.7	8.5	379	5304	0.00	0.00	48.78	1.387	8230	0.000	0.000	2600	2083	2363	2414	2313	0	0	0	0	0	0	14.56	14.02	13.20
5584	0.13	284.9	2600	2083	2402	2301	318.5	8.2	390	5651	0.00	2.58	59.45	1.350	8612	0.000	0.085	2599	3502	2199	2248	2151	0	0	0	0	0	0	14.55	13.96	13.19
5683	0.20	293.4	2603	3504	2240	2150	310.2	9.6	409	5698	0.15	2.42	9.77	1.542	11430	0.109	0.062	2668	2101	2169	2212	2126	0	0	0	0	0	0	14.07	14.04	13.11
6010	0.16	293.4	2669	2101	2207	2114	269.1	12.5	424	6015	0.12	2.45	0.00	0.000	4740	0.274	0.083	2647	690	2159	2206	2113	0	0	0	0	0	0	13.99	14.19	14.14
6155	0.23	312.2	2647	691	2203	2114	254.8	9.1	453	6191	0.00	2.47	28.75	1.401	9382	0.000	0.080	2647	2108	2088	2133	2044	0	0	0	0	0	0	14.33	14.21	13.29
6492	0.28	339.5	2648	2108	2131	2037	224.5	8.7	470	6541	0.00	2.50	43.30	1.345	8868	0.000	0.084	2650	691	1977	2021	1934	0	0	0	0	0	0	14.59	13.87	13.32
6578	0.41	373.9	2650	692	2014	1934	217.2	8.4	487	6642	0.20	2.50	56.45	1.286	11430	0.102	0.080	2730	2109	1836	1864	1809	0	0	0	0	0	0	14.15	14.06	13.14
6941	0.35	373.9	2731	2109	1858	1799	167.8	13.3	510	6946	0.12	2.50	0.00	0.000	4740	0.248	0.085	2700	691	1830	1857	1803	0	0	0	0	0	0	14.03	14.06	14.17
7028	0.41	376.2	2700	692	1857	1799	158.7	9.9	527	7034	0.00	2.47	0.00	0.000	1190	0.000	0.078	2699	2111	1824	1850	1798	0	0	0	0	0	0	14.31	14.18	14.35
7331	0.41	376.2	2700	2109	1853	1795	127.7	10.0	538	7332	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2108	1823	1852	1795	0	0	0	0	0	0	14.64	14.64	14.64
7631	0.46	398.8	2700	2109	1852	1793	99.8	9.0	548	7648	0.00	2.50	11.77	0.509	8868	0.000	0.086	2700	687	1738	1765	1711	0	0	0	0	0	0	14.64	13.93	13.52
7688	0.59	436.0	2700	687	1766	1712	95.1	8.3	559	7716	0.22	2.47	20.70	0.494	11430	0.094	0.078	2786	2105	1585	1609	1561	0	0	0	0	0	0	14.26	14.17	13.64
8013	0.54	456.5	2786	2105	1611	1556	54.1	9.1	594	8029	0.12	2.50	10.73	0.363	12964	0.262	0.086	2757	689	1503	1535	1471	0	0	0	0	0	0	13.99	13.95	13.67
8081	0.67	537.7	2758	688	1537	1472	49.3	6.2	607	8130	0.12	2.47	42.83	0.349	11430	0.128	0.080	2805	2103	1173	1229	1118	0	0	0	0	0	0	14.12	14.07	13.76
8426	0.78	625.8	2807	2103	1230	1101	20.2	5.9	646	8476	0.00	0.00	46.05	0.272	8358	0.000	0.000	2805	2102	810	877	743	0	0	0	0	0	0	14.55	14.01	13.81
8725	end climb: SURFACE_DEPTH_REACHED
state	8725	begin surface coast
8753	end surface coast: CONTROL_FINISHED_OK
state	8753	begin surface