Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 220 * 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 220 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 620.0

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 20 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 620.0 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 220 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 010917,131731,7431.4102,-15317.6318,17,0.7,32,19.5,0.5,333.1,11,6.1 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 1.21 MHEAD_RNG_PITCHd_Wd 7.3,144918,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 010917,132404,7431.4082,-15317.7100,6,0.8,8,19.5,0.0,342.1,10,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.021222 _24V_AH 12.33,148.537

SM_CCo 9258,16.38,0.214,0,0,500,702.78 _10V_AH 12.20,0.000

SM_GC 0.97,8.07,0.17,16.38,0.060,0.122,0.214,197,2222,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.29,14.27,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 429 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323416

IRIDIUM_FIX 7430.16,-15326.10,010917,104426 DATA_FILE_SIZE 26702,776

TT8_MAMPS 0.040446,0.913031 CAP_FILE_SIZE 102039,0

HUMID 46.81 CFSIZE 2097872896,2020179968

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

TCM_TEMP 13.10 SOUNDSPEED 1446.9

XPDR_PINGS 25 CURRENT 0.036,261.50,1

CP_FREE 15978135552.000000 GPS 010917,160027,7432.408,-15315.218,35,0.8,36,19.5,0.0,0.0,11,7.6

PM_FREEKB_00 51429824

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 145.29 nil 0 0 0.00

Roll_motor 84 2144 2236.75 nil 0 0 0.00

VBD_pump_during_apogee 966 1465 17458.56 nil 0 0 0.00

VBD_pump_during_surface 16 214 43.25 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 5493 14 1000.83

Iridium_during_xfer 176 128 278.98 NCP 9264 20 2284.50

Transponder_ping 6 420 32.37 PMAR 9211 9 1119.93

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.74

TT8 0 0 0.00

LPSleep 6640 2 187.14

TT8_Active 892 13 152.10

TT8_Sampling 1904 33 777.13

TT8_CF8 238 38 112.62

TT8_Kalman 0 0 0.00

Analog_circuits 1917 10 233.88

GPS_charging 0 0 0.00

Compass 1110 7 94.83

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 47 begin dive

50 -0.57 -145.9 196 2201 500 493 0.0 0.0 0 142 0.00 0.00 -91.12 0.000 16386 0.000 0.000 195 2202 2147 2080 2215 0 0 0 0 0 0 14.57 28.83 14.60

145 -0.57 -145.9 196 2202 2083 2215 3.6 -4.8 9 204 12.60 2.88 -36.00 0.000 18724 0.454 2.144 2374 3610 3963 3945 3982 0 0 0 0 0 0 13.66 12.47 14.17

274 -0.71 -145.9 2374 3612 3949 3982 35.2 -13.9 34 279 0.00 2.40 0.00 0.000 1158 0.000 0.060 2373 2196 3964 3948 3981 0 0 0 0 0 0 14.35 14.21 14.38

586 -0.79 -145.9 2375 2196 3951 3983 82.1 -11.8 66 587 0.17 0.00 0.00 0.000 4230 0.126 0.000 2306 2195 3966 3951 3982 0 0 0 0 0 0 14.33 14.46 14.43

884 -0.79 -145.9 2308 2196 3952 3983 128.6 -14.8 84 890 0.00 2.47 0.00 0.000 260 0.000 0.088 2305 3610 3965 3950 3981 0 0 0 0 0 0 14.73 14.26 14.75

965 -0.92 -145.9 2306 3610 3952 3982 138.9 -11.6 100 971 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2191 3966 3950 3982 0 0 0 0 0 0 14.45 14.33 14.48

1276 -0.96 -145.9 2306 2190 3952 3982 180.1 -13.0 112 1282 0.12 2.47 0.00 0.000 4484 0.138 0.084 2241 3612 3966 3951 3982 0 0 0 0 0 0 14.42 14.27 14.45

1347 -0.96 -145.9 2242 3611 3951 3983 191.5 -15.7 126 1352 0.00 2.38 0.00 0.000 1030 0.000 0.057 2241 2204 3965 3950 3981 0 0 0 0 0 0 14.38 14.26 14.42

1667 -0.93 -145.9 2241 2202 3952 3984 244.4 -15.7 140 1673 0.12 2.45 0.00 0.000 2436 0.295 0.085 2261 3610 3965 3950 3981 0 0 0 0 0 0 14.04 14.27 14.21

1780 -1.01 -145.9 2262 3612 3951 3983 258.6 -11.5 162 1785 0.00 2.38 0.00 0.000 1158 0.000 0.058 2261 2199 3966 3951 3982 0 0 0 0 0 0 14.39 14.26 14.43

2090 -1.03 -145.9 2262 2199 3951 3982 296.2 -11.7 174 2095 0.00 2.47 0.00 0.000 388 0.000 0.088 2253 3616 3965 3950 3981 0 0 0 0 0 0 14.76 14.27 14.78

2140 -1.13 -145.9 2253 3618 3952 3981 301.8 -10.7 184 2146 0.12 2.40 0.00 0.000 5254 0.142 0.058 2204 2196 3966 3951 3981 0 0 0 0 0 0 14.28 14.24 14.40

2451 -1.07 -145.9 2205 2195 3952 3980 349.1 -15.4 196 2457 0.12 2.47 0.00 0.000 2436 0.301 0.086 2223 3613 3965 3951 3980 0 0 0 0 0 0 14.02 14.26 14.19

2554 -1.11 -145.9 2223 3615 3952 3981 362.4 -12.3 216 2560 0.00 2.38 0.00 0.000 1158 0.000 0.058 2223 2196 3965 3950 3980 0 0 0 0 0 0 14.45 14.33 14.49

2875 -1.11 -145.9 2223 2195 3951 3978 405.3 -13.2 230 2880 0.00 2.50 0.00 0.000 260 0.000 0.090 2222 3614 3964 3950 3979 0 0 0 0 0 0 14.78 14.21 14.80

2965 -1.17 -145.9 2222 3616 3951 3980 416.5 -11.8 248 2971 0.00 2.40 0.00 0.000 1158 0.000 0.058 2222 2191 3965 3951 3979 0 0 0 0 0 0 14.38 14.26 14.43

3296 -1.17 -145.9 2222 2190 3952 3980 458.9 -12.8 264 3301 0.00 2.50 0.00 0.000 260 0.000 0.088 2222 3614 3964 3951 3978 0 0 0 0 0 0 14.78 14.22 14.80

3407 -1.23 -145.9 2222 3615 3951 3979 472.0 -11.3 286 3412 0.12 2.38 0.00 0.000 5254 0.142 0.056 2171 2194 3964 3950 3978 0 0 0 0 0 0 14.33 14.33 14.45

3474 end dive: TARGET_DEPTH_EXCEEDED

state 3474 begin apogee

3480 -0.13 0.0 2172 2064 3952 3979 483.0 -15.8 290 3701 1.48 0.08 217.07 1.428 10246 0.272 0.181 2530 2112 3364 3390 3339 0 0 0 0 0 0 13.89 13.51 12.71

3705 end apogee: CONTROL_FINISHED_OK

state 3705 begin climb

3707 0.57 145.9 2531 2112 3384 3333 493.7 0.0 297 3925 0.75 2.65 210.30 1.379 10500 0.063 0.073 2784 3498 2761 2809 2714 0 0 0 0 0 0 13.66 12.92 12.33

3957 0.09 145.9 2783 3498 2796 2715 497.7 15.0 346 3963 0.90 2.47 0.00 0.000 5254 0.350 0.056 2620 2132 2755 2796 2714 0 0 0 0 0 0 13.05 13.33 13.40

4290 0.01 177.9 2621 2131 2797 2710 468.1 8.5 362 4339 0.12 2.58 43.65 1.454 12964 0.290 0.082 2600 690 2634 2686 2582 0 0 0 0 0 0 13.76 13.62 12.99

4425 0.06 222.0 2601 689 2682 2578 457.5 8.0 389 4496 0.00 2.50 63.22 1.409 9382 0.000 0.080 2600 2097 2458 2523 2393 0 0 0 0 0 0 14.08 13.95 12.93

4801 0.08 244.2 2601 2098 2516 2383 424.0 9.0 414 4834 0.00 0.00 31.65 1.466 8230 0.000 0.000 2600 2097 2371 2433 2310 0 0 0 0 0 0 14.49 14.01 13.18

5131 0.12 265.7 2597 2098 2425 2302 394.3 9.0 425 5167 0.00 0.00 32.40 1.466 8870 0.000 0.000 2601 2097 2277 2333 2221 0 0 0 0 0 0 14.59 14.08 13.24

5493 0.19 287.7 2601 2097 2329 2213 361.7 9.0 442 5533 0.12 2.53 32.47 1.447 10916 0.132 0.087 2672 695 2187 2240 2134 0 0 0 0 0 0 14.32 14.07 13.26

5585 0.16 287.7 2672 696 2235 2134 349.8 13.2 460 5590 0.17 2.47 0.00 0.000 5254 0.243 0.078 2633 2105 2183 2234 2133 0 0 0 0 0 0 13.93 14.13 14.16

5916 0.16 287.7 2633 2105 2235 2127 313.9 10.4 476 5920 0.00 2.47 0.00 0.000 516 0.000 0.086 2639 691 2180 2234 2126 0 0 0 0 0 0 14.62 14.19 14.63

5961 0.21 287.7 2639 692 2234 2127 309.2 10.3 485 5965 0.00 2.45 0.00 0.000 1158 0.000 0.080 2639 2104 2179 2233 2126 0 0 0 0 0 0 14.40 14.26 14.43

6276 0.21 287.7 2639 2104 2234 2133 276.5 10.2 498 6281 0.00 2.45 0.00 0.000 260 0.000 0.083 2639 3511 2178 2232 2125 0 0 0 0 0 0 14.67 14.21 14.69

6331 0.21 287.7 2639 3512 2232 2125 270.3 10.9 509 6337 0.00 2.40 0.00 0.000 1030 0.000 0.062 2646 2098 2178 2231 2125 0 0 0 0 0 0 14.38 14.24 14.42

6636 0.23 313.9 2646 2098 2232 2124 241.8 8.8 520 6682 0.00 2.55 41.40 1.387 8740 0.000 0.086 2651 685 2080 2132 2029 0 0 0 0 0 0 14.69 13.79 13.21

6822 0.32 340.8 2651 686 2122 2028 225.4 8.8 557 6873 0.00 2.50 43.00 1.343 9382 0.000 0.080 2651 2109 1970 2017 1924 0 0 0 0 0 0 14.29 14.16 13.21

7181 0.40 375.0 2652 2111 2014 1914 194.1 8.4 578 7240 0.17 0.00 56.08 1.295 10406 0.106 0.000 2724 2109 1835 1868 1803 0 0 0 0 0 0 14.31 14.02 13.24

7539 0.36 375.0 2724 2109 1860 1792 149.1 12.1 590 7545 0.12 2.47 0.00 0.000 4740 0.244 0.084 2699 694 1825 1858 1793 0 0 0 0 0 0 14.05 14.17 14.18

7620 0.44 393.7 2699 695 1855 1794 141.2 9.1 606 7655 0.00 2.45 29.48 1.342 9382 0.000 0.079 2698 2105 1757 1786 1729 0 0 0 0 0 0 14.35 14.22 13.31

7962 0.50 414.7 2699 2106 1782 1719 109.4 9.0 624 7997 0.12 2.50 29.27 1.306 10916 0.132 0.086 2768 692 1671 1700 1643 0 0 0 0 0 0 14.32 13.92 13.33

8034 0.46 414.7 2768 692 1696 1644 100.5 13.2 638 8040 0.17 2.47 0.00 0.000 5254 0.239 0.080 2729 2107 1669 1696 1643 0 0 0 0 0 0 13.98 14.14 14.21

8346 0.50 442.0 2732 2108 1696 1636 70.1 8.7 671 8368 0.00 2.50 14.20 0.416 8868 0.000 0.087 2730 693 1562 1595 1529 0 0 0 0 0 0 14.56 14.03 13.74

8455 0.63 494.9 2730 693 1595 1529 61.8 7.6 692 8493 0.15 2.47 28.25 0.389 11430 0.115 0.079 2792 2108 1344 1389 1300 0 0 0 0 0 0 14.07 14.13 13.71

8788 0.67 549.1 2792 2108 1391 1291 31.6 7.5 729 8819 0.00 0.00 28.52 0.301 8230 0.000 0.000 2791 2108 1121 1181 1062 0 0 0 0 0 0 14.57 14.13 13.80

9118 0.85 672.6 2792 2108 1187 1053 11.7 4.3 762 9190 0.20 0.00 65.05 0.238 10662 0.099 0.000 2873 2108 621 668 575 0 0 0 0 0 0 14.22 13.98 13.81

9226 end climb: SURFACE_DEPTH_REACHED

state 9226 begin surface coast

9236 end surface coast: CONTROL_FINISHED_OK

state 9236 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	220	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	620.0
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	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,131731,7431.4102,-15317.6318,17,0.7,32,19.5,0.5,333.1,11,6.1	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	1.21	MHEAD_RNG_PITCHd_Wd	7.3,144918,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	010917,132404,7431.4082,-15317.7100,6,0.8,8,19.5,0.0,342.1,10,10.0

FINISH	0.4,1.021222	_24V_AH	12.33,148.537
SM_CCo	9258,16.38,0.214,0,0,500,702.78	_10V_AH	12.20,0.000
SM_GC	0.97,8.07,0.17,16.38,0.060,0.122,0.214,197,2222,500,-7.38,-0.51,702.78,0,0,0,0,0,0,14.29,14.27,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	429	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323416
IRIDIUM_FIX	7430.16,-15326.10,010917,104426	DATA_FILE_SIZE	26702,776
TT8_MAMPS	0.040446,0.913031	CAP_FILE_SIZE	102039,0
HUMID	46.81	CFSIZE	2097872896,2020179968
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.9
XPDR_PINGS	25	CURRENT	0.036,261.50,1
CP_FREE	15978135552.000000	GPS	010917,160027,7432.408,-15315.218,35,0.8,36,19.5,0.0,0.0,11,7.6
PM_FREEKB_00	51429824

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	145.29	nil	0	0	0.00
Roll_motor	84	2144	2236.75	nil	0	0	0.00
VBD_pump_during_apogee	966	1465	17458.56	nil	0	0	0.00
VBD_pump_during_surface	16	214	43.25	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	5493	14	1000.83
Iridium_during_xfer	176	128	278.98	NCP	9264	20	2284.50
Transponder_ping	6	420	32.37	PMAR	9211	9	1119.93
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.74
TT8	0	0	0.00
LPSleep	6640	2	187.14
TT8_Active	892	13	152.10
TT8_Sampling	1904	33	777.13
TT8_CF8	238	38	112.62
TT8_Kalman	0	0	0.00
Analog_circuits	1917	10	233.88
GPS_charging	0	0	0.00
Compass	1110	7	94.83
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	47	begin dive
50	-0.57	-145.9	196	2201	500	493	0.0	0.0	0	142	0.00	0.00	-91.12	0.000	16386	0.000	0.000	195	2202	2147	2080	2215	0	0	0	0	0	0	14.57	28.83	14.60
145	-0.57	-145.9	196	2202	2083	2215	3.6	-4.8	9	204	12.60	2.88	-36.00	0.000	18724	0.454	2.144	2374	3610	3963	3945	3982	0	0	0	0	0	0	13.66	12.47	14.17
274	-0.71	-145.9	2374	3612	3949	3982	35.2	-13.9	34	279	0.00	2.40	0.00	0.000	1158	0.000	0.060	2373	2196	3964	3948	3981	0	0	0	0	0	0	14.35	14.21	14.38
586	-0.79	-145.9	2375	2196	3951	3983	82.1	-11.8	66	587	0.17	0.00	0.00	0.000	4230	0.126	0.000	2306	2195	3966	3951	3982	0	0	0	0	0	0	14.33	14.46	14.43
884	-0.79	-145.9	2308	2196	3952	3983	128.6	-14.8	84	890	0.00	2.47	0.00	0.000	260	0.000	0.088	2305	3610	3965	3950	3981	0	0	0	0	0	0	14.73	14.26	14.75
965	-0.92	-145.9	2306	3610	3952	3982	138.9	-11.6	100	971	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2191	3966	3950	3982	0	0	0	0	0	0	14.45	14.33	14.48
1276	-0.96	-145.9	2306	2190	3952	3982	180.1	-13.0	112	1282	0.12	2.47	0.00	0.000	4484	0.138	0.084	2241	3612	3966	3951	3982	0	0	0	0	0	0	14.42	14.27	14.45
1347	-0.96	-145.9	2242	3611	3951	3983	191.5	-15.7	126	1352	0.00	2.38	0.00	0.000	1030	0.000	0.057	2241	2204	3965	3950	3981	0	0	0	0	0	0	14.38	14.26	14.42
1667	-0.93	-145.9	2241	2202	3952	3984	244.4	-15.7	140	1673	0.12	2.45	0.00	0.000	2436	0.295	0.085	2261	3610	3965	3950	3981	0	0	0	0	0	0	14.04	14.27	14.21
1780	-1.01	-145.9	2262	3612	3951	3983	258.6	-11.5	162	1785	0.00	2.38	0.00	0.000	1158	0.000	0.058	2261	2199	3966	3951	3982	0	0	0	0	0	0	14.39	14.26	14.43
2090	-1.03	-145.9	2262	2199	3951	3982	296.2	-11.7	174	2095	0.00	2.47	0.00	0.000	388	0.000	0.088	2253	3616	3965	3950	3981	0	0	0	0	0	0	14.76	14.27	14.78
2140	-1.13	-145.9	2253	3618	3952	3981	301.8	-10.7	184	2146	0.12	2.40	0.00	0.000	5254	0.142	0.058	2204	2196	3966	3951	3981	0	0	0	0	0	0	14.28	14.24	14.40
2451	-1.07	-145.9	2205	2195	3952	3980	349.1	-15.4	196	2457	0.12	2.47	0.00	0.000	2436	0.301	0.086	2223	3613	3965	3951	3980	0	0	0	0	0	0	14.02	14.26	14.19
2554	-1.11	-145.9	2223	3615	3952	3981	362.4	-12.3	216	2560	0.00	2.38	0.00	0.000	1158	0.000	0.058	2223	2196	3965	3950	3980	0	0	0	0	0	0	14.45	14.33	14.49
2875	-1.11	-145.9	2223	2195	3951	3978	405.3	-13.2	230	2880	0.00	2.50	0.00	0.000	260	0.000	0.090	2222	3614	3964	3950	3979	0	0	0	0	0	0	14.78	14.21	14.80
2965	-1.17	-145.9	2222	3616	3951	3980	416.5	-11.8	248	2971	0.00	2.40	0.00	0.000	1158	0.000	0.058	2222	2191	3965	3951	3979	0	0	0	0	0	0	14.38	14.26	14.43
3296	-1.17	-145.9	2222	2190	3952	3980	458.9	-12.8	264	3301	0.00	2.50	0.00	0.000	260	0.000	0.088	2222	3614	3964	3951	3978	0	0	0	0	0	0	14.78	14.22	14.80
3407	-1.23	-145.9	2222	3615	3951	3979	472.0	-11.3	286	3412	0.12	2.38	0.00	0.000	5254	0.142	0.056	2171	2194	3964	3950	3978	0	0	0	0	0	0	14.33	14.33	14.45
3474	end dive: TARGET_DEPTH_EXCEEDED
state	3474	begin apogee
3480	-0.13	0.0	2172	2064	3952	3979	483.0	-15.8	290	3701	1.48	0.08	217.07	1.428	10246	0.272	0.181	2530	2112	3364	3390	3339	0	0	0	0	0	0	13.89	13.51	12.71
3705	end apogee: CONTROL_FINISHED_OK
state	3705	begin climb
3707	0.57	145.9	2531	2112	3384	3333	493.7	0.0	297	3925	0.75	2.65	210.30	1.379	10500	0.063	0.073	2784	3498	2761	2809	2714	0	0	0	0	0	0	13.66	12.92	12.33
3957	0.09	145.9	2783	3498	2796	2715	497.7	15.0	346	3963	0.90	2.47	0.00	0.000	5254	0.350	0.056	2620	2132	2755	2796	2714	0	0	0	0	0	0	13.05	13.33	13.40
4290	0.01	177.9	2621	2131	2797	2710	468.1	8.5	362	4339	0.12	2.58	43.65	1.454	12964	0.290	0.082	2600	690	2634	2686	2582	0	0	0	0	0	0	13.76	13.62	12.99
4425	0.06	222.0	2601	689	2682	2578	457.5	8.0	389	4496	0.00	2.50	63.22	1.409	9382	0.000	0.080	2600	2097	2458	2523	2393	0	0	0	0	0	0	14.08	13.95	12.93
4801	0.08	244.2	2601	2098	2516	2383	424.0	9.0	414	4834	0.00	0.00	31.65	1.466	8230	0.000	0.000	2600	2097	2371	2433	2310	0	0	0	0	0	0	14.49	14.01	13.18
5131	0.12	265.7	2597	2098	2425	2302	394.3	9.0	425	5167	0.00	0.00	32.40	1.466	8870	0.000	0.000	2601	2097	2277	2333	2221	0	0	0	0	0	0	14.59	14.08	13.24
5493	0.19	287.7	2601	2097	2329	2213	361.7	9.0	442	5533	0.12	2.53	32.47	1.447	10916	0.132	0.087	2672	695	2187	2240	2134	0	0	0	0	0	0	14.32	14.07	13.26
5585	0.16	287.7	2672	696	2235	2134	349.8	13.2	460	5590	0.17	2.47	0.00	0.000	5254	0.243	0.078	2633	2105	2183	2234	2133	0	0	0	0	0	0	13.93	14.13	14.16
5916	0.16	287.7	2633	2105	2235	2127	313.9	10.4	476	5920	0.00	2.47	0.00	0.000	516	0.000	0.086	2639	691	2180	2234	2126	0	0	0	0	0	0	14.62	14.19	14.63
5961	0.21	287.7	2639	692	2234	2127	309.2	10.3	485	5965	0.00	2.45	0.00	0.000	1158	0.000	0.080	2639	2104	2179	2233	2126	0	0	0	0	0	0	14.40	14.26	14.43
6276	0.21	287.7	2639	2104	2234	2133	276.5	10.2	498	6281	0.00	2.45	0.00	0.000	260	0.000	0.083	2639	3511	2178	2232	2125	0	0	0	0	0	0	14.67	14.21	14.69
6331	0.21	287.7	2639	3512	2232	2125	270.3	10.9	509	6337	0.00	2.40	0.00	0.000	1030	0.000	0.062	2646	2098	2178	2231	2125	0	0	0	0	0	0	14.38	14.24	14.42
6636	0.23	313.9	2646	2098	2232	2124	241.8	8.8	520	6682	0.00	2.55	41.40	1.387	8740	0.000	0.086	2651	685	2080	2132	2029	0	0	0	0	0	0	14.69	13.79	13.21
6822	0.32	340.8	2651	686	2122	2028	225.4	8.8	557	6873	0.00	2.50	43.00	1.343	9382	0.000	0.080	2651	2109	1970	2017	1924	0	0	0	0	0	0	14.29	14.16	13.21
7181	0.40	375.0	2652	2111	2014	1914	194.1	8.4	578	7240	0.17	0.00	56.08	1.295	10406	0.106	0.000	2724	2109	1835	1868	1803	0	0	0	0	0	0	14.31	14.02	13.24
7539	0.36	375.0	2724	2109	1860	1792	149.1	12.1	590	7545	0.12	2.47	0.00	0.000	4740	0.244	0.084	2699	694	1825	1858	1793	0	0	0	0	0	0	14.05	14.17	14.18
7620	0.44	393.7	2699	695	1855	1794	141.2	9.1	606	7655	0.00	2.45	29.48	1.342	9382	0.000	0.079	2698	2105	1757	1786	1729	0	0	0	0	0	0	14.35	14.22	13.31
7962	0.50	414.7	2699	2106	1782	1719	109.4	9.0	624	7997	0.12	2.50	29.27	1.306	10916	0.132	0.086	2768	692	1671	1700	1643	0	0	0	0	0	0	14.32	13.92	13.33
8034	0.46	414.7	2768	692	1696	1644	100.5	13.2	638	8040	0.17	2.47	0.00	0.000	5254	0.239	0.080	2729	2107	1669	1696	1643	0	0	0	0	0	0	13.98	14.14	14.21
8346	0.50	442.0	2732	2108	1696	1636	70.1	8.7	671	8368	0.00	2.50	14.20	0.416	8868	0.000	0.087	2730	693	1562	1595	1529	0	0	0	0	0	0	14.56	14.03	13.74
8455	0.63	494.9	2730	693	1595	1529	61.8	7.6	692	8493	0.15	2.47	28.25	0.389	11430	0.115	0.079	2792	2108	1344	1389	1300	0	0	0	0	0	0	14.07	14.13	13.71
8788	0.67	549.1	2792	2108	1391	1291	31.6	7.5	729	8819	0.00	0.00	28.52	0.301	8230	0.000	0.000	2791	2108	1121	1181	1062	0	0	0	0	0	0	14.57	14.13	13.80
9118	0.85	672.6	2792	2108	1187	1053	11.7	4.3	762	9190	0.20	0.00	65.05	0.238	10662	0.099	0.000	2873	2108	621	668	575	0	0	0	0	0	0	14.22	13.98	13.81
9226	end climb: SURFACE_DEPTH_REACHED
state	9226	begin surface coast
9236	end surface coast: CONTROL_FINISHED_OK
state	9236	begin surface