Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 218 * 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 218 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 615.0

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 40 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 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 615.0 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 40 VBD_MIN 500

DIVE 218 NOCOMM_ACTION 161 R_STBD_OVSHOOT 53 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 010917,074250,7429.6846,-15323.6191,37,0.8,37,19.5,0.0,0.0,9,9.5 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 1.22 MHEAD_RNG_PITCHd_Wd 13.9,148923,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 010917,074851,7429.6865,-15323.6006,6,0.8,9,19.5,0.0,0.0,9,8.4

Post-dive calculations and measurements:

FINISH 0.6,1.021232 _24V_AH 12.33,147.601

SM_CCo 8949,15.70,0.215,0,0,499,703.03 _10V_AH 12.22,0.000

SM_GC 1.14,8.12,2.72,15.70,0.065,0.090,0.215,205,2198,499,-7.37,-0.74,703.03,0,0,0,0,0,0,14.30,14.19,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 381 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323508

IRIDIUM_FIX 7428.31,-15329.69,010917,050508 DATA_FILE_SIZE 30021,819

TT8_MAMPS 0.040446,0.898051 CAP_FILE_SIZE 106450,0

HUMID 46.49 CFSIZE 2097872896,2020737024

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

TCM_TEMP 13.20 SOUNDSPEED 1448.8

XPDR_PINGS 5 CURRENT 0.034,297.17,1

CP_FREE 15978725376.000000 GPS 010917,102002,7430.612,-15320.633,16,0.7,27,19.5,0.5,278.5,11,7.5

PM_FREEKB_00 51487104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 144.66 nil 0 0 0.00

Roll_motor 88 2142 2346.60 nil 0 0 0.00

VBD_pump_during_apogee 976 1640 19756.13 nil 0 0 0.00

VBD_pump_during_surface 15 214 41.61 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 8848 14 1571.09

Iridium_during_xfer 143 136 242.29 NCP 8954 20 2208.06

Transponder_ping 1 420 6.47 PMAR 8900 9 1089.58

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.00

TT8 0 0 0.00

LPSleep 6270 2 177.00

TT8_Active 867 13 148.11

TT8_Sampling 1962 33 801.82

TT8_CF8 241 38 114.09

TT8_Kalman 0 0 0.00

Analog_circuits 1890 10 231.07

GPS_charging 0 0 0.00

Compass 1174 7 100.49

RAFOS 2211 48 1296.88

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 197 2184 505 494 0.0 0.0 0 141 0.00 0.00 -91.35 0.000 16386 0.000 0.000 196 2185 2152 2084 2220 0 0 0 0 0 0 14.54 28.83 14.55

144 -0.57 -145.9 197 2187 2087 2222 3.6 -4.5 9 201 12.65 2.85 -35.85 0.000 18724 0.452 2.142 2375 3577 3968 3947 3989 1 0 0 0 0 0 13.47 12.54 14.02

352 -0.70 -145.9 2375 3581 3953 3984 47.7 -13.7 50 358 0.00 2.35 0.00 0.000 1158 0.000 0.060 2375 2209 3967 3952 3983 0 0 0 0 0 0 14.26 14.14 14.30

668 -0.80 -145.9 2375 2208 3962 3983 90.0 -10.8 81 673 0.15 2.42 0.00 0.000 4484 0.125 0.085 2307 3584 3968 3954 3983 0 0 0 0 0 0 14.08 14.07 14.09

698 -0.82 -145.9 2308 3579 3954 3983 94.1 -14.2 87 702 0.00 2.35 0.00 0.000 1158 0.000 0.058 2307 2201 3968 3954 3982 0 0 0 0 0 0 14.27 14.12 14.28

1008 -0.82 -145.9 2306 2200 3955 3984 141.2 -14.3 101 1012 0.00 2.45 0.00 0.000 260 0.000 0.086 2307 3579 3968 3953 3983 0 0 0 0 0 0 14.47 13.99 14.49

1073 -0.93 -145.9 2302 3579 3955 3986 149.4 -11.5 114 1077 0.00 2.38 0.00 0.000 1158 0.000 0.058 2301 2191 3968 3953 3983 0 0 0 0 0 0 14.19 14.07 14.26

1398 -0.98 -145.9 2302 2192 3955 3983 191.0 -12.5 129 1403 0.00 2.47 0.00 0.000 388 0.000 0.086 2295 3582 3966 3949 3983 0 0 0 0 0 0 14.47 14.02 14.49

1448 -1.12 -145.9 2296 3582 3955 3983 196.8 -10.8 139 1453 0.25 2.38 0.00 0.000 5254 0.090 0.057 2204 2193 3968 3954 3982 0 0 0 0 0 0 14.16 14.07 14.26

1758 -1.00 -145.9 2204 2193 3954 3984 258.8 -19.0 151 1763 0.20 2.47 0.00 0.000 2436 0.298 0.083 2239 3581 3968 3954 3983 0 0 0 0 0 0 13.75 14.00 13.91

1914 -1.05 -145.9 2240 3581 3955 3983 280.2 -12.3 182 1918 0.00 2.35 0.00 0.000 1158 0.000 0.056 2239 2198 3968 3954 3982 0 0 0 0 0 0 14.23 14.12 14.26

2239 -1.05 -145.9 2245 2197 3955 3983 323.5 -13.0 197 2243 0.00 2.47 0.00 0.000 260 0.000 0.087 2236 3582 3968 3954 3983 0 0 0 0 0 0 14.47 14.04 14.49

2309 -1.12 -145.9 2236 3582 3954 3983 332.0 -11.4 211 2313 0.00 2.38 0.00 0.000 1158 0.000 0.058 2236 2193 3968 3954 3983 0 0 0 0 0 0 14.23 14.09 14.26

2629 -1.12 -145.9 2235 2193 3954 3982 372.8 -12.8 225 2633 0.00 2.47 0.00 0.000 260 0.000 0.086 2235 3578 3967 3954 3981 0 0 0 0 0 0 14.47 14.01 14.48

2724 -1.21 -145.9 2236 3583 3955 3982 383.9 -11.0 244 2729 0.15 2.35 0.00 0.000 5254 0.124 0.055 2176 2197 3967 3954 3981 0 0 0 0 0 0 14.14 14.12 14.23

3052 -1.09 -145.9 2177 2195 3955 3980 440.9 -17.8 259 3057 0.20 2.40 0.00 0.000 2436 0.286 0.083 2211 3574 3967 3954 3980 0 0 0 0 0 0 13.74 14.04 13.93

3214 -1.12 -145.9 2212 3576 3959 3980 463.2 -12.9 291 3219 0.00 2.35 0.00 0.000 1158 0.000 0.055 2211 2194 3967 3954 3980 0 0 0 0 0 0 14.22 14.07 14.23

3351 end dive: TARGET_DEPTH_EXCEEDED

state 3351 begin apogee

3357 -0.13 0.0 2212 2068 3955 3980 483.1 -14.1 299 3584 1.27 0.00 222.98 1.408 10246 0.245 0.000 2534 2066 3364 3390 3339 0 0 0 0 0 0 13.82 13.45 12.64

3588 end apogee: CONTROL_FINISHED_OK

state 3588 begin climb

3591 0.57 145.9 2531 2067 3382 3330 494.9 0.0 306 3807 0.75 2.58 208.93 1.369 10756 0.062 0.077 2792 729 2765 2811 2719 0 0 0 0 0 0 13.57 12.92 12.33

4036 0.18 145.9 2793 729 2800 2713 471.0 15.0 400 4042 0.70 2.40 0.00 0.000 5254 0.321 0.076 2646 2072 2754 2798 2710 0 0 0 0 0 0 13.44 13.78 13.81

4347 0.03 158.9 2646 2073 2799 2708 440.6 9.4 412 4367 0.20 2.42 13.00 1.641 12964 0.275 0.082 2602 719 2714 2760 2669 0 0 0 0 0 0 13.86 13.74 13.07

4454 0.07 210.1 2602 719 2757 2665 432.3 7.6 433 4542 0.00 2.42 80.68 1.376 9254 0.000 0.080 2602 2106 2504 2568 2440 0 0 0 0 0 0 14.27 14.15 13.05

4857 0.09 238.2 2602 2107 2558 2424 397.6 8.7 464 4900 0.00 0.00 41.45 1.411 8230 0.000 0.000 2602 2106 2393 2455 2331 0 0 0 0 0 0 14.52 14.02 13.19

5188 0.13 262.2 2603 2107 2439 2315 368.3 8.9 475 5225 0.00 0.00 35.58 1.411 8358 0.000 0.000 2602 2105 2296 2356 2237 0 0 0 0 0 0 14.56 14.07 13.26

5517 0.19 289.5 2603 2106 2339 2223 339.1 8.7 486 5567 0.12 2.53 41.55 1.384 10916 0.131 0.087 2672 720 2178 2231 2126 0 0 0 0 0 0 14.28 14.07 13.24

5609 0.17 289.5 2672 718 2223 2123 327.8 12.6 504 5615 0.15 2.45 0.00 0.000 5254 0.243 0.079 2640 2106 2172 2222 2122 0 0 0 0 0 0 13.95 14.10 14.18

5941 0.17 289.5 2641 2107 2224 2114 291.5 10.6 520 5941 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2107 2167 2222 2113 0 0 0 0 0 0 14.61 14.62 14.62

6241 0.18 298.7 2641 2106 2223 2112 261.7 9.6 530 6250 0.00 2.40 3.58 1.400 8740 0.000 0.085 2644 724 2149 2203 2095 0 0 0 0 0 0 14.66 14.14 12.86

6316 0.25 322.9 2644 725 2208 2105 254.8 8.9 545 6367 0.00 2.38 46.72 1.369 9382 0.000 0.080 2644 2098 2049 2100 1998 0 0 0 0 0 0 14.42 14.28 13.27

6692 0.32 358.0 2644 2102 2089 1987 221.5 8.4 570 6755 0.12 2.58 56.30 1.312 10660 0.126 0.083 2703 3518 1901 1940 1863 0 0 0 0 0 0 14.28 13.97 13.24

6792 0.26 358.0 2704 3524 1932 1863 209.3 13.8 589 6797 0.20 2.40 0.00 0.000 5254 0.242 0.062 2667 2122 1896 1930 1863 0 0 0 0 0 0 13.89 14.06 14.09

7117 0.32 376.4 2668 2121 1929 1856 178.6 9.2 604 7153 0.00 2.58 27.83 1.367 8868 0.000 0.087 2672 688 1825 1855 1796 0 0 0 0 0 0 14.58 14.06 13.33

7288 0.46 411.7 2672 689 1848 1797 163.9 8.4 638 7353 0.17 2.47 59.75 1.265 11430 0.114 0.081 2746 2106 1689 1713 1665 0 0 0 0 0 0 14.26 14.19 13.19

7659 0.41 411.7 2746 2107 1708 1644 114.2 13.1 662 7664 0.12 2.47 0.00 0.000 4740 0.235 0.084 2723 691 1675 1708 1643 0 0 0 0 0 0 14.07 14.19 14.19

7699 0.47 411.7 2724 691 1706 1643 109.5 10.9 670 7704 0.00 2.47 0.00 0.000 1158 0.000 0.079 2724 2108 1674 1705 1643 0 0 0 0 0 0 14.34 14.21 14.38

8011 0.50 428.6 2724 2109 1706 1640 78.4 9.2 697 8026 0.00 2.55 8.12 0.437 8868 0.000 0.086 2725 688 1616 1650 1582 0 0 0 0 0 0 14.59 14.13 13.66

8076 0.61 461.9 2725 689 1650 1583 72.5 8.5 710 8104 0.17 2.47 18.50 0.422 11430 0.104 0.079 2793 2102 1478 1511 1446 0 0 0 0 0 0 14.28 14.12 13.61

8401 0.61 518.1 2793 2103 1511 1439 39.2 7.4 745 8437 0.00 2.50 29.55 0.327 8868 0.000 0.086 2794 691 1250 1301 1199 0 0 0 0 0 0 14.60 14.13 13.83

8514 0.73 571.3 2794 689 1301 1198 31.1 7.5 767 8547 0.00 2.45 28.20 0.304 9382 0.000 0.077 2794 2099 1033 1100 967 0 0 0 0 0 0 14.31 14.19 13.78

8842 0.91 673.6 2794 2102 1101 958 9.7 5.3 803 8901 0.22 2.50 53.75 0.231 10916 0.096 0.086 2888 694 615 661 569 0 0 0 0 0 0 14.17 14.06 13.88

8914 end climb: SURFACE_DEPTH_REACHED

state 8914 begin surface coast

8926 end surface coast: CONTROL_FINISHED_OK

state 8926 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	218	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	615.0
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	40	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,074250,7429.6846,-15323.6191,37,0.8,37,19.5,0.0,0.0,9,9.5	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	1.22	MHEAD_RNG_PITCHd_Wd	13.9,148923,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	010917,074851,7429.6865,-15323.6006,6,0.8,9,19.5,0.0,0.0,9,8.4

FINISH	0.6,1.021232	_24V_AH	12.33,147.601
SM_CCo	8949,15.70,0.215,0,0,499,703.03	_10V_AH	12.22,0.000
SM_GC	1.14,8.12,2.72,15.70,0.065,0.090,0.215,205,2198,499,-7.37,-0.74,703.03,0,0,0,0,0,0,14.30,14.19,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	381	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323508
IRIDIUM_FIX	7428.31,-15329.69,010917,050508	DATA_FILE_SIZE	30021,819
TT8_MAMPS	0.040446,0.898051	CAP_FILE_SIZE	106450,0
HUMID	46.49	CFSIZE	2097872896,2020737024
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.8
XPDR_PINGS	5	CURRENT	0.034,297.17,1
CP_FREE	15978725376.000000	GPS	010917,102002,7430.612,-15320.633,16,0.7,27,19.5,0.5,278.5,11,7.5
PM_FREEKB_00	51487104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	144.66	nil	0	0	0.00
Roll_motor	88	2142	2346.60	nil	0	0	0.00
VBD_pump_during_apogee	976	1640	19756.13	nil	0	0	0.00
VBD_pump_during_surface	15	214	41.61	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	8848	14	1571.09
Iridium_during_xfer	143	136	242.29	NCP	8954	20	2208.06
Transponder_ping	1	420	6.47	PMAR	8900	9	1089.58
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.00
TT8	0	0	0.00
LPSleep	6270	2	177.00
TT8_Active	867	13	148.11
TT8_Sampling	1962	33	801.82
TT8_CF8	241	38	114.09
TT8_Kalman	0	0	0.00
Analog_circuits	1890	10	231.07
GPS_charging	0	0	0.00
Compass	1174	7	100.49
RAFOS	2211	48	1296.88
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	197	2184	505	494	0.0	0.0	0	141	0.00	0.00	-91.35	0.000	16386	0.000	0.000	196	2185	2152	2084	2220	0	0	0	0	0	0	14.54	28.83	14.55
144	-0.57	-145.9	197	2187	2087	2222	3.6	-4.5	9	201	12.65	2.85	-35.85	0.000	18724	0.452	2.142	2375	3577	3968	3947	3989	1	0	0	0	0	0	13.47	12.54	14.02
352	-0.70	-145.9	2375	3581	3953	3984	47.7	-13.7	50	358	0.00	2.35	0.00	0.000	1158	0.000	0.060	2375	2209	3967	3952	3983	0	0	0	0	0	0	14.26	14.14	14.30
668	-0.80	-145.9	2375	2208	3962	3983	90.0	-10.8	81	673	0.15	2.42	0.00	0.000	4484	0.125	0.085	2307	3584	3968	3954	3983	0	0	0	0	0	0	14.08	14.07	14.09
698	-0.82	-145.9	2308	3579	3954	3983	94.1	-14.2	87	702	0.00	2.35	0.00	0.000	1158	0.000	0.058	2307	2201	3968	3954	3982	0	0	0	0	0	0	14.27	14.12	14.28
1008	-0.82	-145.9	2306	2200	3955	3984	141.2	-14.3	101	1012	0.00	2.45	0.00	0.000	260	0.000	0.086	2307	3579	3968	3953	3983	0	0	0	0	0	0	14.47	13.99	14.49
1073	-0.93	-145.9	2302	3579	3955	3986	149.4	-11.5	114	1077	0.00	2.38	0.00	0.000	1158	0.000	0.058	2301	2191	3968	3953	3983	0	0	0	0	0	0	14.19	14.07	14.26
1398	-0.98	-145.9	2302	2192	3955	3983	191.0	-12.5	129	1403	0.00	2.47	0.00	0.000	388	0.000	0.086	2295	3582	3966	3949	3983	0	0	0	0	0	0	14.47	14.02	14.49
1448	-1.12	-145.9	2296	3582	3955	3983	196.8	-10.8	139	1453	0.25	2.38	0.00	0.000	5254	0.090	0.057	2204	2193	3968	3954	3982	0	0	0	0	0	0	14.16	14.07	14.26
1758	-1.00	-145.9	2204	2193	3954	3984	258.8	-19.0	151	1763	0.20	2.47	0.00	0.000	2436	0.298	0.083	2239	3581	3968	3954	3983	0	0	0	0	0	0	13.75	14.00	13.91
1914	-1.05	-145.9	2240	3581	3955	3983	280.2	-12.3	182	1918	0.00	2.35	0.00	0.000	1158	0.000	0.056	2239	2198	3968	3954	3982	0	0	0	0	0	0	14.23	14.12	14.26
2239	-1.05	-145.9	2245	2197	3955	3983	323.5	-13.0	197	2243	0.00	2.47	0.00	0.000	260	0.000	0.087	2236	3582	3968	3954	3983	0	0	0	0	0	0	14.47	14.04	14.49
2309	-1.12	-145.9	2236	3582	3954	3983	332.0	-11.4	211	2313	0.00	2.38	0.00	0.000	1158	0.000	0.058	2236	2193	3968	3954	3983	0	0	0	0	0	0	14.23	14.09	14.26
2629	-1.12	-145.9	2235	2193	3954	3982	372.8	-12.8	225	2633	0.00	2.47	0.00	0.000	260	0.000	0.086	2235	3578	3967	3954	3981	0	0	0	0	0	0	14.47	14.01	14.48
2724	-1.21	-145.9	2236	3583	3955	3982	383.9	-11.0	244	2729	0.15	2.35	0.00	0.000	5254	0.124	0.055	2176	2197	3967	3954	3981	0	0	0	0	0	0	14.14	14.12	14.23
3052	-1.09	-145.9	2177	2195	3955	3980	440.9	-17.8	259	3057	0.20	2.40	0.00	0.000	2436	0.286	0.083	2211	3574	3967	3954	3980	0	0	0	0	0	0	13.74	14.04	13.93
3214	-1.12	-145.9	2212	3576	3959	3980	463.2	-12.9	291	3219	0.00	2.35	0.00	0.000	1158	0.000	0.055	2211	2194	3967	3954	3980	0	0	0	0	0	0	14.22	14.07	14.23
3351	end dive: TARGET_DEPTH_EXCEEDED
state	3351	begin apogee
3357	-0.13	0.0	2212	2068	3955	3980	483.1	-14.1	299	3584	1.27	0.00	222.98	1.408	10246	0.245	0.000	2534	2066	3364	3390	3339	0	0	0	0	0	0	13.82	13.45	12.64
3588	end apogee: CONTROL_FINISHED_OK
state	3588	begin climb
3591	0.57	145.9	2531	2067	3382	3330	494.9	0.0	306	3807	0.75	2.58	208.93	1.369	10756	0.062	0.077	2792	729	2765	2811	2719	0	0	0	0	0	0	13.57	12.92	12.33
4036	0.18	145.9	2793	729	2800	2713	471.0	15.0	400	4042	0.70	2.40	0.00	0.000	5254	0.321	0.076	2646	2072	2754	2798	2710	0	0	0	0	0	0	13.44	13.78	13.81
4347	0.03	158.9	2646	2073	2799	2708	440.6	9.4	412	4367	0.20	2.42	13.00	1.641	12964	0.275	0.082	2602	719	2714	2760	2669	0	0	0	0	0	0	13.86	13.74	13.07
4454	0.07	210.1	2602	719	2757	2665	432.3	7.6	433	4542	0.00	2.42	80.68	1.376	9254	0.000	0.080	2602	2106	2504	2568	2440	0	0	0	0	0	0	14.27	14.15	13.05
4857	0.09	238.2	2602	2107	2558	2424	397.6	8.7	464	4900	0.00	0.00	41.45	1.411	8230	0.000	0.000	2602	2106	2393	2455	2331	0	0	0	0	0	0	14.52	14.02	13.19
5188	0.13	262.2	2603	2107	2439	2315	368.3	8.9	475	5225	0.00	0.00	35.58	1.411	8358	0.000	0.000	2602	2105	2296	2356	2237	0	0	0	0	0	0	14.56	14.07	13.26
5517	0.19	289.5	2603	2106	2339	2223	339.1	8.7	486	5567	0.12	2.53	41.55	1.384	10916	0.131	0.087	2672	720	2178	2231	2126	0	0	0	0	0	0	14.28	14.07	13.24
5609	0.17	289.5	2672	718	2223	2123	327.8	12.6	504	5615	0.15	2.45	0.00	0.000	5254	0.243	0.079	2640	2106	2172	2222	2122	0	0	0	0	0	0	13.95	14.10	14.18
5941	0.17	289.5	2641	2107	2224	2114	291.5	10.6	520	5941	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2107	2167	2222	2113	0	0	0	0	0	0	14.61	14.62	14.62
6241	0.18	298.7	2641	2106	2223	2112	261.7	9.6	530	6250	0.00	2.40	3.58	1.400	8740	0.000	0.085	2644	724	2149	2203	2095	0	0	0	0	0	0	14.66	14.14	12.86
6316	0.25	322.9	2644	725	2208	2105	254.8	8.9	545	6367	0.00	2.38	46.72	1.369	9382	0.000	0.080	2644	2098	2049	2100	1998	0	0	0	0	0	0	14.42	14.28	13.27
6692	0.32	358.0	2644	2102	2089	1987	221.5	8.4	570	6755	0.12	2.58	56.30	1.312	10660	0.126	0.083	2703	3518	1901	1940	1863	0	0	0	0	0	0	14.28	13.97	13.24
6792	0.26	358.0	2704	3524	1932	1863	209.3	13.8	589	6797	0.20	2.40	0.00	0.000	5254	0.242	0.062	2667	2122	1896	1930	1863	0	0	0	0	0	0	13.89	14.06	14.09
7117	0.32	376.4	2668	2121	1929	1856	178.6	9.2	604	7153	0.00	2.58	27.83	1.367	8868	0.000	0.087	2672	688	1825	1855	1796	0	0	0	0	0	0	14.58	14.06	13.33
7288	0.46	411.7	2672	689	1848	1797	163.9	8.4	638	7353	0.17	2.47	59.75	1.265	11430	0.114	0.081	2746	2106	1689	1713	1665	0	0	0	0	0	0	14.26	14.19	13.19
7659	0.41	411.7	2746	2107	1708	1644	114.2	13.1	662	7664	0.12	2.47	0.00	0.000	4740	0.235	0.084	2723	691	1675	1708	1643	0	0	0	0	0	0	14.07	14.19	14.19
7699	0.47	411.7	2724	691	1706	1643	109.5	10.9	670	7704	0.00	2.47	0.00	0.000	1158	0.000	0.079	2724	2108	1674	1705	1643	0	0	0	0	0	0	14.34	14.21	14.38
8011	0.50	428.6	2724	2109	1706	1640	78.4	9.2	697	8026	0.00	2.55	8.12	0.437	8868	0.000	0.086	2725	688	1616	1650	1582	0	0	0	0	0	0	14.59	14.13	13.66
8076	0.61	461.9	2725	689	1650	1583	72.5	8.5	710	8104	0.17	2.47	18.50	0.422	11430	0.104	0.079	2793	2102	1478	1511	1446	0	0	0	0	0	0	14.28	14.12	13.61
8401	0.61	518.1	2793	2103	1511	1439	39.2	7.4	745	8437	0.00	2.50	29.55	0.327	8868	0.000	0.086	2794	691	1250	1301	1199	0	0	0	0	0	0	14.60	14.13	13.83
8514	0.73	571.3	2794	689	1301	1198	31.1	7.5	767	8547	0.00	2.45	28.20	0.304	9382	0.000	0.077	2794	2099	1033	1100	967	0	0	0	0	0	0	14.31	14.19	13.78
8842	0.91	673.6	2794	2102	1101	958	9.7	5.3	803	8901	0.22	2.50	53.75	0.231	10916	0.096	0.086	2888	694	615	661	569	0	0	0	0	0	0	14.17	14.06	13.88
8914	end climb: SURFACE_DEPTH_REACHED
state	8914	begin surface coast
8926	end surface coast: CONTROL_FINISHED_OK
state	8926	begin surface