Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 217 * 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 217 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 612.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 612.0 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 62 VBD_MIN 500

DIVE 217 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 010917,045837,7428.7319,-15326.3691,13,0.7,17,19.4,0.4,241.7,12,10.0 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 16.7,151032,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 010917,051402,7428.7622,-15326.5273,7,0.6,26,19.4,0.0,344.6,12,9.6

Post-dive calculations and measurements:

FINISH 0.2,1.012837 _24V_AH 12.34,147.130

SM_CCo 8812,6.10,0.204,0,0,499,702.78 _10V_AH 12.20,0.000

SM_GC 1.94,8.43,0.17,6.10,0.081,0.104,0.204,198,2234,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.26,14.28,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323400

IRIDIUM_FIX 7431.66,-15333.30,010917,022658 DATA_FILE_SIZE 23455,717

TT8_MAMPS 0.040446,0.904792 CAP_FILE_SIZE 100637,0

HUMID 46.29 CFSIZE 2097872896,2020966400

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 1448.1

XPDR_PINGS 19 CURRENT 0.042,283.42,1

CP_FREE 15978987520.000000 GPS 010917,074250,7429.685,-15323.619,37,0.8,37,19.5,0.0,0.0,9,9.5

PM_FREEKB_00 51517440

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.93 nil 0 0 0.00

Roll_motor 84 2141 2226.12 nil 0 0 0.00

VBD_pump_during_apogee 992 1507 18463.17 nil 0 0 0.00

VBD_pump_during_surface 6 204 15.38 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 8818 14 1586.73

Iridium_during_xfer 554 179 1223.83 NCP 8805 20 2173.07

Transponder_ping 4 420 24.62 PMAR 8763 9 1065.57

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.61

TT8 0 0 0.00

LPSleep 6291 2 177.30

TT8_Active 890 13 151.80

TT8_Sampling 2254 33 919.78

TT8_CF8 315 38 148.85

TT8_Kalman 0 0 0.00

Analog_circuits 2290 10 279.42

GPS_charging 0 0 0.00

Compass 1028 7 87.82

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 -145.9 201 2233 490 493 0.0 0.0 0 142 0.00 0.00 -91.88 0.000 16386 0.000 0.000 199 2233 2150 2082 2218 0 0 0 0 0 0 14.49 28.83 14.52

145 -0.57 -145.9 201 2233 2086 2219 3.5 -4.3 9 202 12.70 2.75 -36.70 0.000 18724 0.454 2.141 2375 3588 3963 3946 3981 0 0 0 0 0 0 13.59 12.59 14.05

292 -0.68 -145.9 2376 3588 3952 3980 37.7 -14.3 38 298 0.00 2.33 0.00 0.000 1158 0.000 0.058 2375 2236 3966 3951 3981 0 0 0 0 0 0 14.26 14.15 14.33

599 -0.76 -145.9 2375 2236 3954 3981 84.0 -12.1 69 601 0.12 0.00 0.00 0.000 4230 0.152 0.000 2333 2235 3967 3953 3981 0 0 0 0 0 0 14.21 14.33 14.31

898 -0.81 -145.9 2332 2235 3953 3982 124.4 -12.5 87 902 0.00 2.40 0.00 0.000 388 0.000 0.088 2332 3595 3967 3953 3981 0 0 0 0 0 0 14.62 14.17 14.64

968 -0.98 -145.9 2333 3595 3954 3981 131.7 -9.2 101 973 0.22 2.38 0.00 0.000 5286 0.096 0.054 2246 2195 3967 3953 3981 0 0 0 0 0 0 14.22 14.21 14.30

1288 -0.92 -145.9 2246 2195 3952 3982 189.0 -17.5 115 1293 0.12 2.45 0.00 0.000 2436 0.293 0.083 2264 3595 3967 3953 3981 0 0 0 0 0 0 13.91 14.13 14.03

1374 -0.99 -145.9 2264 3595 3953 3982 201.3 -13.1 132 1380 0.00 2.38 0.00 0.000 1158 0.000 0.058 2264 2198 3967 3953 3981 0 0 0 0 0 0 14.34 14.20 14.38

1678 -0.99 -145.9 2265 2197 3953 3981 245.7 -14.0 143 1683 0.00 2.47 0.00 0.000 260 0.000 0.087 2254 3603 3966 3953 3980 0 0 0 0 0 0 14.68 14.21 14.69

1754 -1.06 -145.9 2255 3605 3954 3982 255.4 -12.1 158 1758 0.00 2.38 0.00 0.000 1158 0.000 0.058 2254 2192 3967 3953 3981 0 0 0 0 0 0 14.40 14.26 14.41

2069 -1.06 -145.9 2254 2191 3954 3981 295.6 -12.2 171 2073 0.00 2.47 0.00 0.000 260 0.000 0.087 2248 3603 3967 3953 3981 0 0 0 0 0 0 14.69 14.21 14.70

2159 -1.16 -145.9 2249 3603 3954 3981 305.9 -10.7 189 2164 0.12 2.38 0.00 0.000 5254 0.145 0.057 2200 2193 3967 3953 3981 0 0 0 0 0 0 14.28 14.28 14.39

2490 -1.08 -145.9 2201 2192 3954 3981 358.6 -16.1 205 2495 0.12 2.47 0.00 0.000 2436 0.300 0.086 2222 3599 3966 3952 3980 0 0 0 0 0 0 13.97 14.20 14.13

2635 -1.12 -145.9 2223 3598 3953 3980 377.5 -12.4 234 2641 0.00 2.38 0.00 0.000 1158 0.000 0.057 2221 2196 3966 3952 3980 0 0 0 0 0 0 14.21 14.09 14.26

2940 -1.12 -145.9 2222 2196 3953 3980 417.6 -13.0 245 2945 0.00 2.45 0.00 0.000 260 0.000 0.086 2213 3594 3965 3951 3979 0 0 0 0 0 0 14.68 14.21 14.69

3015 -1.15 -145.9 2210 3597 3952 3980 427.4 -12.6 260 3021 0.00 2.35 0.00 0.000 1158 0.000 0.056 2213 2195 3965 3952 3979 0 0 0 0 0 0 14.39 14.27 14.43

3331 -1.13 -145.9 2214 2194 3953 3978 470.8 -13.8 273 3336 0.00 2.45 0.00 0.000 388 0.000 0.087 2209 3594 3965 3952 3979 0 0 0 0 0 0 14.68 14.19 14.69

3398 end dive: TARGET_DEPTH_EXCEEDED

state 3399 begin apogee

3407 -0.13 0.0 2206 2106 3947 3980 480.3 -12.9 287 3627 1.27 0.00 216.85 1.422 10246 0.247 0.000 2529 2099 3364 3386 3342 0 0 0 0 0 0 13.90 13.54 12.70

3631 end apogee: CONTROL_FINISHED_OK

state 3631 begin climb

3634 0.57 145.9 2530 2099 3382 3335 491.5 0.0 294 3859 0.75 2.70 207.65 1.385 10756 0.063 0.080 2784 697 2761 2800 2722 0 0 0 0 0 0 13.63 13.09 12.34

4065 0.20 145.9 2784 698 2797 2722 468.4 15.0 337 4070 0.65 2.50 0.00 0.000 5254 0.316 0.076 2648 2085 2758 2797 2719 0 0 0 0 0 0 13.39 13.69 13.75

4397 0.04 153.6 2649 2086 2798 2714 435.6 9.6 353 4403 0.22 0.00 3.60 1.508 12454 0.269 0.000 2598 2086 2740 2782 2698 0 0 0 0 0 0 13.84 14.08 12.71

4696 0.04 212.7 2598 2087 2788 2704 413.4 7.3 363 4794 0.00 0.00 95.78 1.384 8870 0.000 0.000 2598 2084 2495 2554 2436 0 0 0 0 0 0 14.62 13.89 13.08

5087 0.06 246.4 2598 2087 2546 2420 381.1 8.4 386 5142 0.00 2.47 48.67 1.394 8740 0.000 0.085 2602 694 2356 2411 2301 0 0 0 0 0 0 14.54 13.78 13.17

5174 0.16 275.1 2608 695 2405 2307 373.8 8.7 403 5223 0.00 2.50 42.88 1.392 9382 0.000 0.080 2602 2105 2240 2297 2184 0 0 0 0 0 0 14.15 14.02 13.06

5540 0.25 307.4 2602 2106 2291 2172 342.1 8.5 426 5589 0.17 0.00 47.58 1.375 10406 0.106 0.000 2675 2105 2113 2165 2062 0 0 0 0 0 0 14.26 14.00 13.21

5868 0.19 307.4 2679 2105 2157 2048 296.2 14.0 437 5873 0.12 2.47 0.00 0.000 4740 0.260 0.086 2655 692 2102 2155 2049 0 0 0 0 0 0 14.01 14.17 14.16

5949 0.23 307.4 2661 691 2152 2048 286.6 11.5 453 5954 0.00 2.45 0.00 0.000 1158 0.000 0.080 2655 2099 2100 2152 2048 0 0 0 0 0 0 14.34 14.23 14.40

6259 0.23 307.4 2656 2099 2152 2047 252.1 10.8 465 6264 0.00 2.45 0.00 0.000 516 0.000 0.086 2659 691 2098 2151 2046 0 0 0 0 0 0 14.64 14.24 14.65

6294 0.28 307.4 2659 693 2157 2047 248.2 10.2 472 6300 0.00 2.45 0.00 0.000 1158 0.000 0.080 2659 2101 2098 2151 2046 0 0 0 0 0 0 14.40 14.26 14.44

6620 0.30 327.4 2660 2103 2151 2047 216.8 9.1 487 6652 0.00 0.00 29.65 1.398 8486 0.000 0.000 2659 2102 2030 2080 1980 0 0 0 0 0 0 14.67 14.16 13.35

6950 0.36 358.4 2659 2103 2073 1971 187.7 8.6 503 7011 0.00 2.55 51.53 1.306 8868 0.000 0.086 2659 698 1900 1938 1862 0 0 0 0 0 0 14.61 14.02 13.28

7044 0.51 404.5 2659 699 1933 1861 180.3 7.9 521 7133 0.28 2.47 78.53 1.231 11430 0.092 0.080 2767 2100 1710 1737 1684 0 0 0 0 0 0 14.14 14.05 13.08

7431 0.41 404.5 2768 2099 1733 1672 120.8 15.1 549 7437 0.20 2.47 0.00 0.000 4740 0.252 0.083 2728 687 1701 1732 1671 0 0 0 0 0 0 13.92 14.12 14.09

7482 0.46 404.5 2728 687 1729 1672 114.8 11.0 559 7487 0.00 2.47 0.00 0.000 1158 0.000 0.078 2728 2103 1700 1728 1672 0 0 0 0 0 0 14.18 14.06 14.21

7794 0.47 414.0 2728 2106 1729 1669 81.7 9.6 581 7804 0.00 2.50 3.22 0.421 8740 0.000 0.086 2730 692 1677 1708 1646 0 0 0 0 0 0 14.58 14.05 13.66

7835 0.54 438.7 2730 693 1709 1648 77.9 8.9 589 7857 0.00 2.45 14.05 0.438 9382 0.000 0.078 2730 2101 1576 1607 1546 0 0 0 0 0 0 14.31 14.18 13.67

8155 0.67 511.9 2731 2100 1609 1542 52.6 6.6 623 8198 0.17 2.55 38.65 0.359 10916 0.106 0.086 2808 692 1275 1324 1226 0 0 0 0 0 0 14.13 14.10 13.69

8284 0.69 539.9 2808 693 1324 1225 41.3 8.7 648 8305 0.00 2.50 14.85 0.326 9254 0.000 0.078 2808 2114 1164 1224 1104 0 0 0 0 0 0 14.28 14.15 13.74

8610 0.81 624.5 2804 2116 1222 1098 15.6 6.1 683 8664 0.00 2.58 44.38 0.256 8868 0.000 0.086 2808 688 815 881 749 0 0 0 0 0 0 14.57 14.04 13.85

8721 1.02 702.5 2808 689 882 748 8.9 6.4 704 8781 0.32 2.47 54.45 0.213 11426 0.080 0.076 2926 2101 527 552 503 0 0 0 0 0 0 14.12 14.08 14.20

8781 end climb: SURFACE_DEPTH_REACHED

state 8782 begin surface coast

8789 end surface coast: CONTROL_FINISHED_OK

state 8789 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	217	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	612.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,045837,7428.7319,-15326.3691,13,0.7,17,19.4,0.4,241.7,12,10.0	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	16.7,151032,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	010917,051402,7428.7622,-15326.5273,7,0.6,26,19.4,0.0,344.6,12,9.6

FINISH	0.2,1.012837	_24V_AH	12.34,147.130
SM_CCo	8812,6.10,0.204,0,0,499,702.78	_10V_AH	12.20,0.000
SM_GC	1.94,8.43,0.17,6.10,0.081,0.104,0.204,198,2234,499,-7.38,-0.51,702.78,0,0,0,0,0,0,14.26,14.28,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323400
IRIDIUM_FIX	7431.66,-15333.30,010917,022658	DATA_FILE_SIZE	23455,717
TT8_MAMPS	0.040446,0.904792	CAP_FILE_SIZE	100637,0
HUMID	46.29	CFSIZE	2097872896,2020966400
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	1448.1
XPDR_PINGS	19	CURRENT	0.042,283.42,1
CP_FREE	15978987520.000000	GPS	010917,074250,7429.685,-15323.619,37,0.8,37,19.5,0.0,0.0,9,9.5
PM_FREEKB_00	51517440

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.93	nil	0	0	0.00
Roll_motor	84	2141	2226.12	nil	0	0	0.00
VBD_pump_during_apogee	992	1507	18463.17	nil	0	0	0.00
VBD_pump_during_surface	6	204	15.38	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	8818	14	1586.73
Iridium_during_xfer	554	179	1223.83	NCP	8805	20	2173.07
Transponder_ping	4	420	24.62	PMAR	8763	9	1065.57
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.61
TT8	0	0	0.00
LPSleep	6291	2	177.30
TT8_Active	890	13	151.80
TT8_Sampling	2254	33	919.78
TT8_CF8	315	38	148.85
TT8_Kalman	0	0	0.00
Analog_circuits	2290	10	279.42
GPS_charging	0	0	0.00
Compass	1028	7	87.82
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	201	2233	490	493	0.0	0.0	0	142	0.00	0.00	-91.88	0.000	16386	0.000	0.000	199	2233	2150	2082	2218	0	0	0	0	0	0	14.49	28.83	14.52
145	-0.57	-145.9	201	2233	2086	2219	3.5	-4.3	9	202	12.70	2.75	-36.70	0.000	18724	0.454	2.141	2375	3588	3963	3946	3981	0	0	0	0	0	0	13.59	12.59	14.05
292	-0.68	-145.9	2376	3588	3952	3980	37.7	-14.3	38	298	0.00	2.33	0.00	0.000	1158	0.000	0.058	2375	2236	3966	3951	3981	0	0	0	0	0	0	14.26	14.15	14.33
599	-0.76	-145.9	2375	2236	3954	3981	84.0	-12.1	69	601	0.12	0.00	0.00	0.000	4230	0.152	0.000	2333	2235	3967	3953	3981	0	0	0	0	0	0	14.21	14.33	14.31
898	-0.81	-145.9	2332	2235	3953	3982	124.4	-12.5	87	902	0.00	2.40	0.00	0.000	388	0.000	0.088	2332	3595	3967	3953	3981	0	0	0	0	0	0	14.62	14.17	14.64
968	-0.98	-145.9	2333	3595	3954	3981	131.7	-9.2	101	973	0.22	2.38	0.00	0.000	5286	0.096	0.054	2246	2195	3967	3953	3981	0	0	0	0	0	0	14.22	14.21	14.30
1288	-0.92	-145.9	2246	2195	3952	3982	189.0	-17.5	115	1293	0.12	2.45	0.00	0.000	2436	0.293	0.083	2264	3595	3967	3953	3981	0	0	0	0	0	0	13.91	14.13	14.03
1374	-0.99	-145.9	2264	3595	3953	3982	201.3	-13.1	132	1380	0.00	2.38	0.00	0.000	1158	0.000	0.058	2264	2198	3967	3953	3981	0	0	0	0	0	0	14.34	14.20	14.38
1678	-0.99	-145.9	2265	2197	3953	3981	245.7	-14.0	143	1683	0.00	2.47	0.00	0.000	260	0.000	0.087	2254	3603	3966	3953	3980	0	0	0	0	0	0	14.68	14.21	14.69
1754	-1.06	-145.9	2255	3605	3954	3982	255.4	-12.1	158	1758	0.00	2.38	0.00	0.000	1158	0.000	0.058	2254	2192	3967	3953	3981	0	0	0	0	0	0	14.40	14.26	14.41
2069	-1.06	-145.9	2254	2191	3954	3981	295.6	-12.2	171	2073	0.00	2.47	0.00	0.000	260	0.000	0.087	2248	3603	3967	3953	3981	0	0	0	0	0	0	14.69	14.21	14.70
2159	-1.16	-145.9	2249	3603	3954	3981	305.9	-10.7	189	2164	0.12	2.38	0.00	0.000	5254	0.145	0.057	2200	2193	3967	3953	3981	0	0	0	0	0	0	14.28	14.28	14.39
2490	-1.08	-145.9	2201	2192	3954	3981	358.6	-16.1	205	2495	0.12	2.47	0.00	0.000	2436	0.300	0.086	2222	3599	3966	3952	3980	0	0	0	0	0	0	13.97	14.20	14.13
2635	-1.12	-145.9	2223	3598	3953	3980	377.5	-12.4	234	2641	0.00	2.38	0.00	0.000	1158	0.000	0.057	2221	2196	3966	3952	3980	0	0	0	0	0	0	14.21	14.09	14.26
2940	-1.12	-145.9	2222	2196	3953	3980	417.6	-13.0	245	2945	0.00	2.45	0.00	0.000	260	0.000	0.086	2213	3594	3965	3951	3979	0	0	0	0	0	0	14.68	14.21	14.69
3015	-1.15	-145.9	2210	3597	3952	3980	427.4	-12.6	260	3021	0.00	2.35	0.00	0.000	1158	0.000	0.056	2213	2195	3965	3952	3979	0	0	0	0	0	0	14.39	14.27	14.43
3331	-1.13	-145.9	2214	2194	3953	3978	470.8	-13.8	273	3336	0.00	2.45	0.00	0.000	388	0.000	0.087	2209	3594	3965	3952	3979	0	0	0	0	0	0	14.68	14.19	14.69
3398	end dive: TARGET_DEPTH_EXCEEDED
state	3399	begin apogee
3407	-0.13	0.0	2206	2106	3947	3980	480.3	-12.9	287	3627	1.27	0.00	216.85	1.422	10246	0.247	0.000	2529	2099	3364	3386	3342	0	0	0	0	0	0	13.90	13.54	12.70
3631	end apogee: CONTROL_FINISHED_OK
state	3631	begin climb
3634	0.57	145.9	2530	2099	3382	3335	491.5	0.0	294	3859	0.75	2.70	207.65	1.385	10756	0.063	0.080	2784	697	2761	2800	2722	0	0	0	0	0	0	13.63	13.09	12.34
4065	0.20	145.9	2784	698	2797	2722	468.4	15.0	337	4070	0.65	2.50	0.00	0.000	5254	0.316	0.076	2648	2085	2758	2797	2719	0	0	0	0	0	0	13.39	13.69	13.75
4397	0.04	153.6	2649	2086	2798	2714	435.6	9.6	353	4403	0.22	0.00	3.60	1.508	12454	0.269	0.000	2598	2086	2740	2782	2698	0	0	0	0	0	0	13.84	14.08	12.71
4696	0.04	212.7	2598	2087	2788	2704	413.4	7.3	363	4794	0.00	0.00	95.78	1.384	8870	0.000	0.000	2598	2084	2495	2554	2436	0	0	0	0	0	0	14.62	13.89	13.08
5087	0.06	246.4	2598	2087	2546	2420	381.1	8.4	386	5142	0.00	2.47	48.67	1.394	8740	0.000	0.085	2602	694	2356	2411	2301	0	0	0	0	0	0	14.54	13.78	13.17
5174	0.16	275.1	2608	695	2405	2307	373.8	8.7	403	5223	0.00	2.50	42.88	1.392	9382	0.000	0.080	2602	2105	2240	2297	2184	0	0	0	0	0	0	14.15	14.02	13.06
5540	0.25	307.4	2602	2106	2291	2172	342.1	8.5	426	5589	0.17	0.00	47.58	1.375	10406	0.106	0.000	2675	2105	2113	2165	2062	0	0	0	0	0	0	14.26	14.00	13.21
5868	0.19	307.4	2679	2105	2157	2048	296.2	14.0	437	5873	0.12	2.47	0.00	0.000	4740	0.260	0.086	2655	692	2102	2155	2049	0	0	0	0	0	0	14.01	14.17	14.16
5949	0.23	307.4	2661	691	2152	2048	286.6	11.5	453	5954	0.00	2.45	0.00	0.000	1158	0.000	0.080	2655	2099	2100	2152	2048	0	0	0	0	0	0	14.34	14.23	14.40
6259	0.23	307.4	2656	2099	2152	2047	252.1	10.8	465	6264	0.00	2.45	0.00	0.000	516	0.000	0.086	2659	691	2098	2151	2046	0	0	0	0	0	0	14.64	14.24	14.65
6294	0.28	307.4	2659	693	2157	2047	248.2	10.2	472	6300	0.00	2.45	0.00	0.000	1158	0.000	0.080	2659	2101	2098	2151	2046	0	0	0	0	0	0	14.40	14.26	14.44
6620	0.30	327.4	2660	2103	2151	2047	216.8	9.1	487	6652	0.00	0.00	29.65	1.398	8486	0.000	0.000	2659	2102	2030	2080	1980	0	0	0	0	0	0	14.67	14.16	13.35
6950	0.36	358.4	2659	2103	2073	1971	187.7	8.6	503	7011	0.00	2.55	51.53	1.306	8868	0.000	0.086	2659	698	1900	1938	1862	0	0	0	0	0	0	14.61	14.02	13.28
7044	0.51	404.5	2659	699	1933	1861	180.3	7.9	521	7133	0.28	2.47	78.53	1.231	11430	0.092	0.080	2767	2100	1710	1737	1684	0	0	0	0	0	0	14.14	14.05	13.08
7431	0.41	404.5	2768	2099	1733	1672	120.8	15.1	549	7437	0.20	2.47	0.00	0.000	4740	0.252	0.083	2728	687	1701	1732	1671	0	0	0	0	0	0	13.92	14.12	14.09
7482	0.46	404.5	2728	687	1729	1672	114.8	11.0	559	7487	0.00	2.47	0.00	0.000	1158	0.000	0.078	2728	2103	1700	1728	1672	0	0	0	0	0	0	14.18	14.06	14.21
7794	0.47	414.0	2728	2106	1729	1669	81.7	9.6	581	7804	0.00	2.50	3.22	0.421	8740	0.000	0.086	2730	692	1677	1708	1646	0	0	0	0	0	0	14.58	14.05	13.66
7835	0.54	438.7	2730	693	1709	1648	77.9	8.9	589	7857	0.00	2.45	14.05	0.438	9382	0.000	0.078	2730	2101	1576	1607	1546	0	0	0	0	0	0	14.31	14.18	13.67
8155	0.67	511.9	2731	2100	1609	1542	52.6	6.6	623	8198	0.17	2.55	38.65	0.359	10916	0.106	0.086	2808	692	1275	1324	1226	0	0	0	0	0	0	14.13	14.10	13.69
8284	0.69	539.9	2808	693	1324	1225	41.3	8.7	648	8305	0.00	2.50	14.85	0.326	9254	0.000	0.078	2808	2114	1164	1224	1104	0	0	0	0	0	0	14.28	14.15	13.74
8610	0.81	624.5	2804	2116	1222	1098	15.6	6.1	683	8664	0.00	2.58	44.38	0.256	8868	0.000	0.086	2808	688	815	881	749	0	0	0	0	0	0	14.57	14.04	13.85
8721	1.02	702.5	2808	689	882	748	8.9	6.4	704	8781	0.32	2.47	54.45	0.213	11426	0.080	0.076	2926	2101	527	552	503	0	0	0	0	0	0	14.12	14.08	14.20
8781	end climb: SURFACE_DEPTH_REACHED
state	8782	begin surface coast
8789	end surface coast: CONTROL_FINISHED_OK
state	8789	begin surface