Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 219 * 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 219 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 617.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 617.0 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 24 VBD_MIN 500

DIVE 219 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 010917,102002,7430.6118,-15320.6328,16,0.7,27,19.5,0.5,278.5,11,7.5 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 12.1,146919,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 010917,104453,7430.5610,-15320.7832,7,0.8,9,19.5,0.0,0.0,11,10.0

Post-dive calculations and measurements:

FINISH 1.2,1.021222 _24V_AH 12.34,148.106

SM_CCo 9030,16.23,0.214,0,0,502,702.78 _10V_AH 12.20,0.000

SM_GC 0.87,8.15,2.62,16.23,0.065,0.061,0.214,201,2199,502,-7.38,-0.85,702.78,0,0,0,0,0,0,14.29,14.20,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 214 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323528

IRIDIUM_FIX 7430.74,-15326.10,010917,103700 DATA_FILE_SIZE 26737,729

TT8_MAMPS 0.039697,0.907788 CAP_FILE_SIZE 108674,0

HUMID 46.41 CFSIZE 2097872896,2020409344

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

TCM_TEMP 13.20 SOUNDSPEED 1448.1

XPDR_PINGS 14 CURRENT 0.016,262.30,1

CP_FREE 15978463232.000000 GPS 010917,131731,7431.410,-15317.632,17,0.7,32,19.5,0.5,333.1,11,6.1

PM_FREEKB_00 51456064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 143.03 nil 0 0 0.00

Roll_motor 79 2139 2094.49 nil 0 0 0.00

VBD_pump_during_apogee 946 1635 19110.72 nil 0 0 0.00

VBD_pump_during_surface 16 214 42.89 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 9038 14 1636.80

Iridium_during_xfer 964 169 2012.93 NCP 9024 20 2227.12

Transponder_ping 3 420 18.14 PMAR 8982 9 1097.52

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.74

TT8 0 0 0.00

LPSleep 6532 2 184.09

TT8_Active 847 13 144.38

TT8_Sampling 2832 33 1155.61

TT8_CF8 340 38 160.52

TT8_Kalman 0 0 0.00

Analog_circuits 2825 10 344.72

GPS_charging 0 0 0.00

Compass 1049 7 89.61

RAFOS 2216 48 1297.69

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 2201 489 493 0.0 0.0 0 142 0.00 0.00 -91.80 0.000 16386 0.000 0.000 194 2201 2143 2072 2215 0 0 0 0 0 0 14.49 28.83 14.50

145 -0.57 -145.9 195 2201 2075 2217 3.3 -4.0 9 202 12.73 2.80 -37.42 0.000 18724 0.454 2.140 2375 3607 3963 3946 3980 0 0 0 0 0 0 13.58 12.59 14.05

288 -0.68 -145.9 2375 3609 3952 3981 36.8 -14.8 37 292 0.00 2.40 0.00 0.000 1158 0.000 0.059 2374 2201 3965 3951 3980 0 0 0 0 0 0 14.26 14.12 14.30

599 -0.77 -145.9 2375 2202 3954 3981 83.8 -11.5 69 601 0.15 0.00 0.00 0.000 4230 0.137 0.000 2322 2200 3968 3956 3980 0 0 0 0 0 0 14.16 14.30 14.31

918 -0.80 -145.9 2323 2201 3954 3977 128.7 -13.0 87 922 0.00 2.50 0.00 0.000 388 0.000 0.089 2319 3617 3966 3953 3980 0 0 0 0 0 0 14.63 14.17 14.66

993 -0.96 -145.9 2320 3617 3954 3980 137.2 -10.3 102 998 0.15 2.40 0.00 0.000 5254 0.119 0.056 2256 2195 3966 3953 3980 0 0 0 0 0 0 14.26 14.21 14.34

1308 -0.91 -145.9 2256 2195 3953 3981 191.5 -16.9 115 1313 0.12 2.50 0.00 0.000 2436 0.295 0.083 2273 3613 3966 3953 3980 0 0 0 0 0 0 13.88 14.14 14.03

1405 -0.99 -145.9 2273 3615 3954 3981 204.2 -12.4 134 1410 0.00 2.38 0.00 0.000 1158 0.000 0.057 2273 2201 3967 3954 3980 0 0 0 0 0 0 14.39 14.27 14.43

1730 -1.02 -145.9 2273 2199 3954 3980 248.5 -13.1 149 1735 0.00 2.47 0.00 0.000 388 0.000 0.087 2267 3613 3966 3953 3980 0 0 0 0 0 0 14.64 14.19 14.66

1820 -1.09 -145.9 2267 3615 3954 3981 259.2 -11.6 167 1825 0.12 2.38 0.00 0.000 5254 0.135 0.057 2220 2201 3966 3953 3980 0 0 0 0 0 0 14.29 14.26 14.40

2151 -1.05 -145.9 2220 2200 3954 3981 309.8 -14.9 183 2156 0.00 2.47 0.00 0.000 388 0.000 0.087 2210 3613 3966 3953 3979 0 0 0 0 0 0 14.68 14.21 14.69

2226 -1.05 -145.9 2210 3614 3954 3979 320.8 -14.2 198 2231 0.12 2.38 0.00 0.000 3078 0.261 0.057 2234 2201 3966 3953 3980 0 0 0 0 0 0 14.01 14.27 14.27

2541 -1.05 -145.9 2235 2200 3953 3980 361.0 -12.4 211 2546 0.00 2.47 0.00 0.000 260 0.000 0.090 2235 3613 3965 3952 3979 0 0 0 0 0 0 14.67 14.20 14.70

2611 -1.13 -145.9 2235 3612 3953 3979 369.2 -11.1 225 2616 0.00 2.40 0.00 0.000 1158 0.000 0.057 2234 2190 3965 3952 3979 0 0 0 0 0 0 14.40 14.27 14.45

2931 -1.13 -145.9 2235 2189 3953 3979 408.6 -12.3 239 2936 0.00 2.50 0.00 0.000 260 0.000 0.089 2234 3613 3965 3952 3978 0 0 0 0 0 0 14.68 14.19 14.69

3007 -1.21 -145.9 2234 3615 3953 3978 417.3 -11.0 254 3012 0.15 2.38 0.00 0.000 5254 0.129 0.056 2177 2199 3965 3952 3978 0 0 0 0 0 0 14.27 14.25 14.38

3322 -1.11 -145.9 2177 2198 3952 3978 470.9 -17.2 267 3327 0.17 2.47 0.00 0.000 2436 0.291 0.083 2206 3614 3964 3951 3978 0 0 0 0 0 0 13.85 14.16 14.04

3385 end dive: TARGET_DEPTH_EXCEEDED

state 3385 begin apogee

3393 -0.13 0.0 2207 2097 3952 3979 480.2 -13.3 280 3612 1.27 0.00 215.35 1.427 10246 0.246 0.000 2527 2095 3363 3385 3342 0 0 0 0 0 0 13.89 13.50 12.69

3615 end apogee: CONTROL_FINISHED_OK

state 3615 begin climb

3618 0.57 145.9 2527 2096 3381 3337 491.5 0.0 287 4011 0.75 2.05 208.32 1.382 11012 0.063 0.080 2781 691 2756 2793 2719 0 0 0 0 0 0 13.63 13.15 12.34

4238 0.20 145.9 2781 692 2790 2721 442.2 14.6 334 4244 0.60 2.50 0.00 0.000 5254 0.322 0.077 2652 2113 2754 2790 2718 0 0 0 0 0 0 13.65 13.99 14.02

4543 0.04 157.4 2653 2113 2791 2715 412.2 9.5 345 4562 0.22 2.55 11.15 1.636 12964 0.277 0.083 2602 693 2720 2759 2681 0 0 0 0 0 0 13.79 14.12 13.22

4732 0.09 223.6 2602 694 2758 2680 398.2 6.9 383 4844 0.00 2.47 100.60 1.369 9254 0.000 0.080 2604 2103 2449 2507 2391 0 0 0 0 0 0 14.25 14.12 13.01

5143 0.11 259.6 2603 2103 2501 2379 364.5 8.3 415 5204 0.00 0.00 53.90 1.382 8230 0.000 0.000 2602 2103 2300 2353 2247 0 0 0 0 0 0 14.38 13.90 13.13

5503 0.18 291.2 2603 2104 2349 2239 333.6 8.5 427 5554 0.12 2.60 46.53 1.381 10916 0.129 0.087 2672 693 2175 2224 2127 0 0 0 0 0 0 14.14 13.95 13.19

5609 0.18 291.2 2672 690 2216 2122 320.4 12.3 448 5616 0.15 2.53 0.00 0.000 5126 0.241 0.080 2640 2108 2169 2215 2124 0 0 0 0 0 0 13.84 13.97 14.04

5926 0.18 291.2 2641 2109 2216 2116 285.9 10.7 461 5927 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2108 2165 2215 2116 0 0 0 0 0 0 14.45 14.47 14.47

6226 0.19 306.7 2640 2109 2216 2113 256.6 9.3 471 6250 0.00 0.00 21.70 1.454 8742 0.000 0.000 2639 2108 2112 2162 2063 0 0 0 0 0 0 14.51 14.12 13.30

6556 0.26 347.4 2640 2108 2157 2054 228.8 8.1 487 6625 0.00 0.00 67.57 1.308 8870 0.000 0.000 2640 2108 1950 2000 1901 0 0 0 0 0 0 14.46 13.91 13.18

6916 0.38 393.9 2642 2110 1985 1887 200.6 7.9 509 7000 0.17 2.60 74.75 1.262 10916 0.103 0.089 2713 684 1755 1783 1727 0 0 0 0 0 0 14.13 13.83 13.13

7110 0.42 393.9 2714 687 1772 1727 177.8 10.7 547 7115 0.00 2.47 0.00 0.000 1158 0.000 0.078 2713 2105 1748 1772 1725 0 0 0 0 0 0 14.08 13.97 14.12

7430 0.42 393.9 2713 2105 1772 1719 140.8 11.4 561 7435 0.00 2.47 0.00 0.000 516 0.000 0.088 2717 691 1745 1771 1719 0 0 0 0 0 0 14.57 14.15 14.59

7455 0.42 393.9 2717 691 1771 1719 138.1 10.8 566 7461 0.00 2.45 0.00 0.000 1030 0.000 0.078 2716 2099 1744 1769 1719 0 0 0 0 0 0 14.33 14.20 14.37

7761 0.42 393.9 2717 2101 1770 1717 105.6 10.4 577 7762 0.00 0.00 0.00 0.000 6 0.000 0.000 2717 2101 1742 1769 1716 0 0 0 0 0 0 14.62 14.65 14.64

8062 0.47 424.6 2717 2101 1770 1715 77.7 8.6 603 8084 0.00 2.47 14.35 0.434 8868 0.000 0.086 2717 693 1638 1667 1609 0 0 0 0 0 0 14.61 14.19 13.72

8186 0.59 482.6 2717 692 1667 1610 67.7 7.3 627 8224 0.17 2.47 31.73 0.404 11430 0.106 0.079 2788 2106 1395 1435 1356 0 0 0 0 0 0 14.26 14.17 13.67

8529 0.63 538.2 2788 2106 1436 1349 35.7 7.4 665 8565 0.00 2.53 29.20 0.312 8484 0.000 0.082 2788 3515 1168 1227 1110 0 0 0 0 0 0 14.58 14.02 13.78

8600 0.70 560.1 2788 3514 1227 1112 29.9 9.0 679 8617 0.00 2.42 12.45 0.295 9382 0.000 0.065 2794 2100 1079 1142 1016 0 0 0 0 0 0 14.29 14.12 13.76

8923 0.88 672.8 2794 2100 1142 1013 9.9 4.8 713 8987 0.20 2.58 59.28 0.232 10916 0.103 0.091 2889 690 620 666 575 0 0 0 0 0 0 14.19 14.02 13.85

9000 end climb: SURFACE_DEPTH_REACHED

state 9000 begin surface coast

9007 end surface coast: CONTROL_FINISHED_OK

state 9007 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	219	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	617.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,102002,7430.6118,-15320.6328,16,0.7,27,19.5,0.5,278.5,11,7.5	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	12.1,146919,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	010917,104453,7430.5610,-15320.7832,7,0.8,9,19.5,0.0,0.0,11,10.0

FINISH	1.2,1.021222	_24V_AH	12.34,148.106
SM_CCo	9030,16.23,0.214,0,0,502,702.78	_10V_AH	12.20,0.000
SM_GC	0.87,8.15,2.62,16.23,0.065,0.061,0.214,201,2199,502,-7.38,-0.85,702.78,0,0,0,0,0,0,14.29,14.20,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	214	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323528
IRIDIUM_FIX	7430.74,-15326.10,010917,103700	DATA_FILE_SIZE	26737,729
TT8_MAMPS	0.039697,0.907788	CAP_FILE_SIZE	108674,0
HUMID	46.41	CFSIZE	2097872896,2020409344
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.1
XPDR_PINGS	14	CURRENT	0.016,262.30,1
CP_FREE	15978463232.000000	GPS	010917,131731,7431.410,-15317.632,17,0.7,32,19.5,0.5,333.1,11,6.1
PM_FREEKB_00	51456064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	143.03	nil	0	0	0.00
Roll_motor	79	2139	2094.49	nil	0	0	0.00
VBD_pump_during_apogee	946	1635	19110.72	nil	0	0	0.00
VBD_pump_during_surface	16	214	42.89	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	9038	14	1636.80
Iridium_during_xfer	964	169	2012.93	NCP	9024	20	2227.12
Transponder_ping	3	420	18.14	PMAR	8982	9	1097.52
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.74
TT8	0	0	0.00
LPSleep	6532	2	184.09
TT8_Active	847	13	144.38
TT8_Sampling	2832	33	1155.61
TT8_CF8	340	38	160.52
TT8_Kalman	0	0	0.00
Analog_circuits	2825	10	344.72
GPS_charging	0	0	0.00
Compass	1049	7	89.61
RAFOS	2216	48	1297.69
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	2201	489	493	0.0	0.0	0	142	0.00	0.00	-91.80	0.000	16386	0.000	0.000	194	2201	2143	2072	2215	0	0	0	0	0	0	14.49	28.83	14.50
145	-0.57	-145.9	195	2201	2075	2217	3.3	-4.0	9	202	12.73	2.80	-37.42	0.000	18724	0.454	2.140	2375	3607	3963	3946	3980	0	0	0	0	0	0	13.58	12.59	14.05
288	-0.68	-145.9	2375	3609	3952	3981	36.8	-14.8	37	292	0.00	2.40	0.00	0.000	1158	0.000	0.059	2374	2201	3965	3951	3980	0	0	0	0	0	0	14.26	14.12	14.30
599	-0.77	-145.9	2375	2202	3954	3981	83.8	-11.5	69	601	0.15	0.00	0.00	0.000	4230	0.137	0.000	2322	2200	3968	3956	3980	0	0	0	0	0	0	14.16	14.30	14.31
918	-0.80	-145.9	2323	2201	3954	3977	128.7	-13.0	87	922	0.00	2.50	0.00	0.000	388	0.000	0.089	2319	3617	3966	3953	3980	0	0	0	0	0	0	14.63	14.17	14.66
993	-0.96	-145.9	2320	3617	3954	3980	137.2	-10.3	102	998	0.15	2.40	0.00	0.000	5254	0.119	0.056	2256	2195	3966	3953	3980	0	0	0	0	0	0	14.26	14.21	14.34
1308	-0.91	-145.9	2256	2195	3953	3981	191.5	-16.9	115	1313	0.12	2.50	0.00	0.000	2436	0.295	0.083	2273	3613	3966	3953	3980	0	0	0	0	0	0	13.88	14.14	14.03
1405	-0.99	-145.9	2273	3615	3954	3981	204.2	-12.4	134	1410	0.00	2.38	0.00	0.000	1158	0.000	0.057	2273	2201	3967	3954	3980	0	0	0	0	0	0	14.39	14.27	14.43
1730	-1.02	-145.9	2273	2199	3954	3980	248.5	-13.1	149	1735	0.00	2.47	0.00	0.000	388	0.000	0.087	2267	3613	3966	3953	3980	0	0	0	0	0	0	14.64	14.19	14.66
1820	-1.09	-145.9	2267	3615	3954	3981	259.2	-11.6	167	1825	0.12	2.38	0.00	0.000	5254	0.135	0.057	2220	2201	3966	3953	3980	0	0	0	0	0	0	14.29	14.26	14.40
2151	-1.05	-145.9	2220	2200	3954	3981	309.8	-14.9	183	2156	0.00	2.47	0.00	0.000	388	0.000	0.087	2210	3613	3966	3953	3979	0	0	0	0	0	0	14.68	14.21	14.69
2226	-1.05	-145.9	2210	3614	3954	3979	320.8	-14.2	198	2231	0.12	2.38	0.00	0.000	3078	0.261	0.057	2234	2201	3966	3953	3980	0	0	0	0	0	0	14.01	14.27	14.27
2541	-1.05	-145.9	2235	2200	3953	3980	361.0	-12.4	211	2546	0.00	2.47	0.00	0.000	260	0.000	0.090	2235	3613	3965	3952	3979	0	0	0	0	0	0	14.67	14.20	14.70
2611	-1.13	-145.9	2235	3612	3953	3979	369.2	-11.1	225	2616	0.00	2.40	0.00	0.000	1158	0.000	0.057	2234	2190	3965	3952	3979	0	0	0	0	0	0	14.40	14.27	14.45
2931	-1.13	-145.9	2235	2189	3953	3979	408.6	-12.3	239	2936	0.00	2.50	0.00	0.000	260	0.000	0.089	2234	3613	3965	3952	3978	0	0	0	0	0	0	14.68	14.19	14.69
3007	-1.21	-145.9	2234	3615	3953	3978	417.3	-11.0	254	3012	0.15	2.38	0.00	0.000	5254	0.129	0.056	2177	2199	3965	3952	3978	0	0	0	0	0	0	14.27	14.25	14.38
3322	-1.11	-145.9	2177	2198	3952	3978	470.9	-17.2	267	3327	0.17	2.47	0.00	0.000	2436	0.291	0.083	2206	3614	3964	3951	3978	0	0	0	0	0	0	13.85	14.16	14.04
3385	end dive: TARGET_DEPTH_EXCEEDED
state	3385	begin apogee
3393	-0.13	0.0	2207	2097	3952	3979	480.2	-13.3	280	3612	1.27	0.00	215.35	1.427	10246	0.246	0.000	2527	2095	3363	3385	3342	0	0	0	0	0	0	13.89	13.50	12.69
3615	end apogee: CONTROL_FINISHED_OK
state	3615	begin climb
3618	0.57	145.9	2527	2096	3381	3337	491.5	0.0	287	4011	0.75	2.05	208.32	1.382	11012	0.063	0.080	2781	691	2756	2793	2719	0	0	0	0	0	0	13.63	13.15	12.34
4238	0.20	145.9	2781	692	2790	2721	442.2	14.6	334	4244	0.60	2.50	0.00	0.000	5254	0.322	0.077	2652	2113	2754	2790	2718	0	0	0	0	0	0	13.65	13.99	14.02
4543	0.04	157.4	2653	2113	2791	2715	412.2	9.5	345	4562	0.22	2.55	11.15	1.636	12964	0.277	0.083	2602	693	2720	2759	2681	0	0	0	0	0	0	13.79	14.12	13.22
4732	0.09	223.6	2602	694	2758	2680	398.2	6.9	383	4844	0.00	2.47	100.60	1.369	9254	0.000	0.080	2604	2103	2449	2507	2391	0	0	0	0	0	0	14.25	14.12	13.01
5143	0.11	259.6	2603	2103	2501	2379	364.5	8.3	415	5204	0.00	0.00	53.90	1.382	8230	0.000	0.000	2602	2103	2300	2353	2247	0	0	0	0	0	0	14.38	13.90	13.13
5503	0.18	291.2	2603	2104	2349	2239	333.6	8.5	427	5554	0.12	2.60	46.53	1.381	10916	0.129	0.087	2672	693	2175	2224	2127	0	0	0	0	0	0	14.14	13.95	13.19
5609	0.18	291.2	2672	690	2216	2122	320.4	12.3	448	5616	0.15	2.53	0.00	0.000	5126	0.241	0.080	2640	2108	2169	2215	2124	0	0	0	0	0	0	13.84	13.97	14.04
5926	0.18	291.2	2641	2109	2216	2116	285.9	10.7	461	5927	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2108	2165	2215	2116	0	0	0	0	0	0	14.45	14.47	14.47
6226	0.19	306.7	2640	2109	2216	2113	256.6	9.3	471	6250	0.00	0.00	21.70	1.454	8742	0.000	0.000	2639	2108	2112	2162	2063	0	0	0	0	0	0	14.51	14.12	13.30
6556	0.26	347.4	2640	2108	2157	2054	228.8	8.1	487	6625	0.00	0.00	67.57	1.308	8870	0.000	0.000	2640	2108	1950	2000	1901	0	0	0	0	0	0	14.46	13.91	13.18
6916	0.38	393.9	2642	2110	1985	1887	200.6	7.9	509	7000	0.17	2.60	74.75	1.262	10916	0.103	0.089	2713	684	1755	1783	1727	0	0	0	0	0	0	14.13	13.83	13.13
7110	0.42	393.9	2714	687	1772	1727	177.8	10.7	547	7115	0.00	2.47	0.00	0.000	1158	0.000	0.078	2713	2105	1748	1772	1725	0	0	0	0	0	0	14.08	13.97	14.12
7430	0.42	393.9	2713	2105	1772	1719	140.8	11.4	561	7435	0.00	2.47	0.00	0.000	516	0.000	0.088	2717	691	1745	1771	1719	0	0	0	0	0	0	14.57	14.15	14.59
7455	0.42	393.9	2717	691	1771	1719	138.1	10.8	566	7461	0.00	2.45	0.00	0.000	1030	0.000	0.078	2716	2099	1744	1769	1719	0	0	0	0	0	0	14.33	14.20	14.37
7761	0.42	393.9	2717	2101	1770	1717	105.6	10.4	577	7762	0.00	0.00	0.00	0.000	6	0.000	0.000	2717	2101	1742	1769	1716	0	0	0	0	0	0	14.62	14.65	14.64
8062	0.47	424.6	2717	2101	1770	1715	77.7	8.6	603	8084	0.00	2.47	14.35	0.434	8868	0.000	0.086	2717	693	1638	1667	1609	0	0	0	0	0	0	14.61	14.19	13.72
8186	0.59	482.6	2717	692	1667	1610	67.7	7.3	627	8224	0.17	2.47	31.73	0.404	11430	0.106	0.079	2788	2106	1395	1435	1356	0	0	0	0	0	0	14.26	14.17	13.67
8529	0.63	538.2	2788	2106	1436	1349	35.7	7.4	665	8565	0.00	2.53	29.20	0.312	8484	0.000	0.082	2788	3515	1168	1227	1110	0	0	0	0	0	0	14.58	14.02	13.78
8600	0.70	560.1	2788	3514	1227	1112	29.9	9.0	679	8617	0.00	2.42	12.45	0.295	9382	0.000	0.065	2794	2100	1079	1142	1016	0	0	0	0	0	0	14.29	14.12	13.76
8923	0.88	672.8	2794	2100	1142	1013	9.9	4.8	713	8987	0.20	2.58	59.28	0.232	10916	0.103	0.091	2889	690	620	666	575	0	0	0	0	0	0	14.19	14.02	13.85
9000	end climb: SURFACE_DEPTH_REACHED
state	9000	begin surface coast
9007	end surface coast: CONTROL_FINISHED_OK
state	9007	begin surface