Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 221 * 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 221 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 622.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 622.0 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 26 VBD_MIN 500

DIVE 221 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 010917,160027,7432.4082,-15315.2178,35,0.8,36,19.5,0.0,0.0,11,7.6 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 1.20 MHEAD_RNG_PITCHd_Wd 10.9,142755,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 010917,160700,7432.4233,-15315.3037,7,0.7,9,19.5,0.0,0.0,12,9.7

Post-dive calculations and measurements:

FINISH 0.1,1.021227 _24V_AH 12.33,149.002

SM_CCo 8978,50.88,0.210,0,0,501,702.78 _10V_AH 12.21,0.000

SM_GC 1.30,8.12,0.20,50.88,0.075,0.106,0.210,203,2219,501,-7.37,-0.23,702.78,0,0,0,0,0,0,14.33,14.32,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 418 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323752

IRIDIUM_FIX 7434.44,-15318.87,010917,132111 DATA_FILE_SIZE 23403,710

TT8_MAMPS 0.040446,0.938497 CAP_FILE_SIZE 97514,0

HUMID 47.12 CFSIZE 2097872896,2020016128

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 1447.4

XPDR_PINGS 7 CURRENT 0.047,285.08,1

CP_FREE 15977775104.000000 GPS 010917,183924,7433.375,-15312.643,15,0.8,35,19.6,0.9,316.6,9,9.8

PM_FREEKB_00 51399680

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.65 nil 0 0 0.00

Roll_motor 74 2143 1967.03 nil 0 0 0.00

VBD_pump_during_apogee 939 1435 16633.13 nil 0 0 0.00

VBD_pump_during_surface 50 209 131.49 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 8732 14 1595.50

Iridium_during_xfer 173 132 282.47 NCP 8972 20 2212.50

Transponder_ping 1 420 9.06 PMAR 8930 9 1089.51

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.74

TT8 0 0 0.00

LPSleep 6454 2 182.05

TT8_Active 804 13 137.28

TT8_Sampling 1943 33 793.70

TT8_CF8 234 38 110.65

TT8_Kalman 0 0 0.00

Analog_circuits 1877 10 229.26

GPS_charging 0 0 0.00

Compass 1018 7 87.07

RAFOS 1646 48 964.69

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 -145.9 195 2225 493 498 0.0 0.0 0 139 0.00 0.00 -88.40 0.000 16386 0.000 0.000 194 2226 2065 1995 2135 0 0 0 0 0 0 14.53 28.83 14.56

142 -0.57 -145.9 194 2225 1996 2132 3.7 -4.8 9 204 12.75 2.78 -40.28 0.000 18724 0.453 2.144 2377 3587 3962 3944 3980 0 0 0 0 0 0 13.59 12.62 14.08

304 -0.69 -145.9 2378 3588 3950 3984 37.8 -14.5 41 309 0.00 2.38 0.00 0.000 1158 0.000 0.060 2377 2201 3964 3944 3985 0 0 0 0 0 0 14.19 14.08 14.23

616 -0.78 -145.9 2377 2203 3952 3985 82.6 -11.0 73 621 0.12 2.50 0.00 0.000 4740 0.139 0.081 2324 789 3968 3951 3985 0 0 0 0 0 0 14.12 14.06 14.16

631 -0.85 -145.9 2325 790 3952 3986 84.8 -12.2 76 638 0.00 2.50 0.00 0.000 1158 0.000 0.083 2319 2190 3967 3950 3984 0 0 0 0 0 0 14.12 13.99 14.16

946 -0.89 -145.9 2320 2191 3952 3983 130.5 -13.5 94 951 0.00 2.53 0.00 0.000 388 0.000 0.089 2319 3613 3967 3950 3985 0 0 0 0 0 0 14.44 14.04 14.49

1051 -1.03 -145.9 2315 3615 3951 3985 142.2 -10.6 115 1056 0.22 2.42 0.00 0.000 5254 0.097 0.055 2239 2197 3968 3951 3985 0 0 0 0 0 0 14.13 14.06 14.23

1367 -0.96 -145.9 2240 2191 3950 3985 200.3 -18.0 128 1372 0.12 2.53 0.00 0.000 2436 0.291 0.083 2258 3613 3968 3951 3985 0 0 0 0 0 0 13.83 14.07 14.00

1469 -1.02 -145.9 2259 3614 3952 3985 214.8 -12.8 148 1475 0.00 2.42 0.00 0.000 1158 0.000 0.057 2258 2190 3967 3950 3984 0 0 0 0 0 0 14.24 14.12 14.27

1790 -1.02 -145.9 2258 2189 3952 3985 260.4 -13.6 162 1795 0.00 2.50 0.00 0.000 260 0.000 0.086 2249 3620 3968 3952 3985 0 0 0 0 0 0 14.45 14.00 14.47

1845 -1.11 -145.9 2249 3621 3951 3986 267.4 -11.9 173 1852 0.00 2.42 0.00 0.000 1158 0.000 0.057 2249 2202 3965 3945 3985 0 0 0 0 0 0 14.09 13.95 14.12

2150 -1.11 -145.9 2249 2201 3952 3985 306.5 -12.6 184 2156 0.00 2.50 0.00 0.000 260 0.000 0.088 2241 3620 3967 3951 3984 0 0 0 0 0 0 14.59 14.15 14.61

2261 -1.18 -145.9 2241 3620 3952 3984 319.8 -11.6 206 2266 0.12 2.42 0.00 0.000 5254 0.139 0.058 2192 2190 3967 3950 3984 0 0 0 0 0 0 13.74 14.18 13.73

2571 -1.09 -145.9 2192 2189 3951 3984 371.3 -16.7 218 2577 0.12 2.50 0.00 0.000 2436 0.309 0.084 2209 3613 3967 3950 3984 0 0 0 0 0 0 13.93 14.18 14.11

2671 -1.09 -145.9 2210 3613 3952 3984 385.6 -13.5 238 2676 0.00 2.38 0.00 0.000 1030 0.000 0.057 2209 2199 3967 3950 3984 0 0 0 0 0 0 14.38 14.25 14.41

2992 -1.06 -145.9 2210 2199 3951 3985 431.0 -14.1 252 2998 0.00 2.47 0.00 0.000 388 0.000 0.088 2202 3607 3966 3950 3983 0 0 0 0 0 0 14.64 14.19 14.66

3108 -1.06 -145.9 2203 3609 3951 3984 447.0 -13.5 275 3114 0.15 2.40 0.00 0.000 3078 0.248 0.056 2233 2196 3962 3941 3983 0 0 0 0 0 0 13.95 14.19 14.23

3410 end dive: TARGET_DEPTH_EXCEEDED

state 3411 begin apogee

3416 -0.13 0.0 2234 2068 3951 3984 483.5 -11.8 286 3639 1.12 0.08 218.15 1.423 10246 0.228 0.183 2527 2112 3362 3382 3343 0 0 0 0 0 0 13.94 13.45 12.68

3642 end apogee: CONTROL_FINISHED_OK

state 3642 begin climb

3647 0.57 145.9 2528 2113 3378 3338 494.9 0.0 293 3868 0.75 2.67 209.82 1.381 11012 0.063 0.081 2780 729 2763 2804 2722 0 0 0 0 0 0 13.62 12.94 12.33

3992 0.20 145.9 2781 730 2798 2719 485.9 14.9 318 3998 0.62 2.50 0.00 0.000 5254 0.319 0.076 2652 2096 2756 2797 2716 0 0 0 0 0 0 13.25 13.58 13.62

4319 0.03 149.8 2652 2097 2797 2711 452.9 9.8 333 4320 0.25 0.00 0.00 0.000 4262 0.268 0.000 2596 2096 2754 2796 2712 0 0 0 0 0 0 13.81 14.19 14.09

4619 0.03 211.6 2596 2096 2802 2711 431.0 7.2 343 4720 0.00 2.53 95.25 1.379 8868 0.000 0.083 2602 727 2502 2557 2448 0 0 0 0 0 0 14.60 13.87 13.07

4765 0.11 247.9 2602 728 2550 2438 419.4 8.3 372 4825 0.00 2.45 53.67 1.393 9382 0.000 0.078 2602 2105 2350 2407 2293 0 0 0 0 0 0 14.01 13.89 12.93

5132 0.16 272.1 2603 2106 2398 2282 386.6 8.9 395 5168 0.00 0.00 34.17 1.436 8358 0.000 0.000 2601 2106 2256 2312 2200 0 0 0 0 0 0 14.48 14.00 13.18

5461 0.23 297.6 2603 2106 2304 2186 357.2 8.8 406 5501 0.17 0.00 38.45 1.422 10406 0.105 0.000 2679 2106 2150 2202 2099 0 0 0 0 0 0 14.33 14.05 13.24

5791 0.16 297.6 2680 2106 2192 2086 311.2 14.1 417 5796 0.17 2.42 0.00 0.000 4740 0.246 0.083 2644 726 2138 2191 2086 0 0 0 0 0 0 13.98 14.20 14.13

5866 0.22 297.6 2644 726 2189 2087 302.8 10.2 432 5871 0.00 2.40 0.00 0.000 1158 0.000 0.078 2644 2101 2136 2188 2085 0 0 0 0 0 0 14.35 14.23 14.40

6181 0.22 297.6 2644 2102 2188 2085 269.2 10.4 445 6182 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2101 2133 2183 2084 0 0 0 0 0 0 14.64 14.65 14.66

6481 0.25 317.3 2645 2101 2189 2083 240.3 9.1 455 6516 0.00 2.50 27.62 1.416 8868 0.000 0.085 2644 719 2068 2118 2019 0 0 0 0 0 0 14.65 14.14 13.33

6604 0.37 356.7 2644 720 2112 2020 230.2 8.2 479 6677 0.17 2.42 65.32 1.306 11430 0.106 0.080 2711 2104 1908 1945 1871 0 0 0 0 0 0 14.27 14.16 13.17

6992 0.33 356.7 2708 2107 1931 1862 182.2 12.0 507 6993 0.00 0.00 0.00 0.000 134 0.000 0.000 2711 2104 1898 1935 1862 0 0 0 0 0 0 14.54 14.57 14.56

7292 0.30 356.7 2711 2104 1935 1861 148.3 11.0 517 7298 0.12 2.40 0.00 0.000 4740 0.230 0.083 2685 726 1897 1933 1861 0 0 0 0 0 0 14.12 14.24 14.24

7380 0.41 387.9 2686 727 1931 1862 140.5 8.6 534 7438 0.00 2.40 51.62 1.292 9382 0.000 0.079 2685 2101 1780 1808 1752 0 0 0 0 0 0 14.35 14.23 13.29

7745 0.49 417.6 2685 2102 1804 1742 108.4 8.6 557 7798 0.17 0.00 46.85 1.255 10918 0.109 0.000 2761 2101 1658 1685 1631 0 0 0 0 0 0 14.32 14.04 13.29

8103 0.45 417.6 2761 2101 1685 1620 65.0 10.7 592 8108 0.12 2.42 0.00 0.000 4740 0.250 0.083 2739 723 1651 1684 1619 0 0 0 0 0 0 14.00 14.06 14.14

8284 0.58 508.1 2740 723 1681 1619 51.5 5.8 628 8336 0.00 2.40 46.12 0.356 9382 0.000 0.078 2739 2103 1295 1345 1245 0 0 0 0 0 0 14.23 14.12 13.75

8634 0.79 609.1 2739 2103 1345 1230 32.4 5.3 668 8692 0.28 2.42 52.40 0.295 10916 0.088 0.086 2860 728 879 948 811 0 0 0 0 0 0 14.27 14.02 13.79

8734 0.79 609.1 2860 729 949 810 21.5 11.7 687 8740 0.00 2.40 0.00 0.000 1030 0.000 0.076 2860 2094 879 948 810 0 0 0 0 0 0 14.12 13.99 14.14

8935 end climb: SURFACE_DEPTH_REACHED

state 8935 begin surface coast

8957 end surface coast: CONTROL_FINISHED_OK

state 8957 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	221	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	622.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,160027,7432.4082,-15315.2178,35,0.8,36,19.5,0.0,0.0,11,7.6	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	1.20	MHEAD_RNG_PITCHd_Wd	10.9,142755,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	010917,160700,7432.4233,-15315.3037,7,0.7,9,19.5,0.0,0.0,12,9.7

FINISH	0.1,1.021227	_24V_AH	12.33,149.002
SM_CCo	8978,50.88,0.210,0,0,501,702.78	_10V_AH	12.21,0.000
SM_GC	1.30,8.12,0.20,50.88,0.075,0.106,0.210,203,2219,501,-7.37,-0.23,702.78,0,0,0,0,0,0,14.33,14.32,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	418	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323752
IRIDIUM_FIX	7434.44,-15318.87,010917,132111	DATA_FILE_SIZE	23403,710
TT8_MAMPS	0.040446,0.938497	CAP_FILE_SIZE	97514,0
HUMID	47.12	CFSIZE	2097872896,2020016128
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	1447.4
XPDR_PINGS	7	CURRENT	0.047,285.08,1
CP_FREE	15977775104.000000	GPS	010917,183924,7433.375,-15312.643,15,0.8,35,19.6,0.9,316.6,9,9.8
PM_FREEKB_00	51399680

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.65	nil	0	0	0.00
Roll_motor	74	2143	1967.03	nil	0	0	0.00
VBD_pump_during_apogee	939	1435	16633.13	nil	0	0	0.00
VBD_pump_during_surface	50	209	131.49	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	8732	14	1595.50
Iridium_during_xfer	173	132	282.47	NCP	8972	20	2212.50
Transponder_ping	1	420	9.06	PMAR	8930	9	1089.51
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.74
TT8	0	0	0.00
LPSleep	6454	2	182.05
TT8_Active	804	13	137.28
TT8_Sampling	1943	33	793.70
TT8_CF8	234	38	110.65
TT8_Kalman	0	0	0.00
Analog_circuits	1877	10	229.26
GPS_charging	0	0	0.00
Compass	1018	7	87.07
RAFOS	1646	48	964.69
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	195	2225	493	498	0.0	0.0	0	139	0.00	0.00	-88.40	0.000	16386	0.000	0.000	194	2226	2065	1995	2135	0	0	0	0	0	0	14.53	28.83	14.56
142	-0.57	-145.9	194	2225	1996	2132	3.7	-4.8	9	204	12.75	2.78	-40.28	0.000	18724	0.453	2.144	2377	3587	3962	3944	3980	0	0	0	0	0	0	13.59	12.62	14.08
304	-0.69	-145.9	2378	3588	3950	3984	37.8	-14.5	41	309	0.00	2.38	0.00	0.000	1158	0.000	0.060	2377	2201	3964	3944	3985	0	0	0	0	0	0	14.19	14.08	14.23
616	-0.78	-145.9	2377	2203	3952	3985	82.6	-11.0	73	621	0.12	2.50	0.00	0.000	4740	0.139	0.081	2324	789	3968	3951	3985	0	0	0	0	0	0	14.12	14.06	14.16
631	-0.85	-145.9	2325	790	3952	3986	84.8	-12.2	76	638	0.00	2.50	0.00	0.000	1158	0.000	0.083	2319	2190	3967	3950	3984	0	0	0	0	0	0	14.12	13.99	14.16
946	-0.89	-145.9	2320	2191	3952	3983	130.5	-13.5	94	951	0.00	2.53	0.00	0.000	388	0.000	0.089	2319	3613	3967	3950	3985	0	0	0	0	0	0	14.44	14.04	14.49
1051	-1.03	-145.9	2315	3615	3951	3985	142.2	-10.6	115	1056	0.22	2.42	0.00	0.000	5254	0.097	0.055	2239	2197	3968	3951	3985	0	0	0	0	0	0	14.13	14.06	14.23
1367	-0.96	-145.9	2240	2191	3950	3985	200.3	-18.0	128	1372	0.12	2.53	0.00	0.000	2436	0.291	0.083	2258	3613	3968	3951	3985	0	0	0	0	0	0	13.83	14.07	14.00
1469	-1.02	-145.9	2259	3614	3952	3985	214.8	-12.8	148	1475	0.00	2.42	0.00	0.000	1158	0.000	0.057	2258	2190	3967	3950	3984	0	0	0	0	0	0	14.24	14.12	14.27
1790	-1.02	-145.9	2258	2189	3952	3985	260.4	-13.6	162	1795	0.00	2.50	0.00	0.000	260	0.000	0.086	2249	3620	3968	3952	3985	0	0	0	0	0	0	14.45	14.00	14.47
1845	-1.11	-145.9	2249	3621	3951	3986	267.4	-11.9	173	1852	0.00	2.42	0.00	0.000	1158	0.000	0.057	2249	2202	3965	3945	3985	0	0	0	0	0	0	14.09	13.95	14.12
2150	-1.11	-145.9	2249	2201	3952	3985	306.5	-12.6	184	2156	0.00	2.50	0.00	0.000	260	0.000	0.088	2241	3620	3967	3951	3984	0	0	0	0	0	0	14.59	14.15	14.61
2261	-1.18	-145.9	2241	3620	3952	3984	319.8	-11.6	206	2266	0.12	2.42	0.00	0.000	5254	0.139	0.058	2192	2190	3967	3950	3984	0	0	0	0	0	0	13.74	14.18	13.73
2571	-1.09	-145.9	2192	2189	3951	3984	371.3	-16.7	218	2577	0.12	2.50	0.00	0.000	2436	0.309	0.084	2209	3613	3967	3950	3984	0	0	0	0	0	0	13.93	14.18	14.11
2671	-1.09	-145.9	2210	3613	3952	3984	385.6	-13.5	238	2676	0.00	2.38	0.00	0.000	1030	0.000	0.057	2209	2199	3967	3950	3984	0	0	0	0	0	0	14.38	14.25	14.41
2992	-1.06	-145.9	2210	2199	3951	3985	431.0	-14.1	252	2998	0.00	2.47	0.00	0.000	388	0.000	0.088	2202	3607	3966	3950	3983	0	0	0	0	0	0	14.64	14.19	14.66
3108	-1.06	-145.9	2203	3609	3951	3984	447.0	-13.5	275	3114	0.15	2.40	0.00	0.000	3078	0.248	0.056	2233	2196	3962	3941	3983	0	0	0	0	0	0	13.95	14.19	14.23
3410	end dive: TARGET_DEPTH_EXCEEDED
state	3411	begin apogee
3416	-0.13	0.0	2234	2068	3951	3984	483.5	-11.8	286	3639	1.12	0.08	218.15	1.423	10246	0.228	0.183	2527	2112	3362	3382	3343	0	0	0	0	0	0	13.94	13.45	12.68
3642	end apogee: CONTROL_FINISHED_OK
state	3642	begin climb
3647	0.57	145.9	2528	2113	3378	3338	494.9	0.0	293	3868	0.75	2.67	209.82	1.381	11012	0.063	0.081	2780	729	2763	2804	2722	0	0	0	0	0	0	13.62	12.94	12.33
3992	0.20	145.9	2781	730	2798	2719	485.9	14.9	318	3998	0.62	2.50	0.00	0.000	5254	0.319	0.076	2652	2096	2756	2797	2716	0	0	0	0	0	0	13.25	13.58	13.62
4319	0.03	149.8	2652	2097	2797	2711	452.9	9.8	333	4320	0.25	0.00	0.00	0.000	4262	0.268	0.000	2596	2096	2754	2796	2712	0	0	0	0	0	0	13.81	14.19	14.09
4619	0.03	211.6	2596	2096	2802	2711	431.0	7.2	343	4720	0.00	2.53	95.25	1.379	8868	0.000	0.083	2602	727	2502	2557	2448	0	0	0	0	0	0	14.60	13.87	13.07
4765	0.11	247.9	2602	728	2550	2438	419.4	8.3	372	4825	0.00	2.45	53.67	1.393	9382	0.000	0.078	2602	2105	2350	2407	2293	0	0	0	0	0	0	14.01	13.89	12.93
5132	0.16	272.1	2603	2106	2398	2282	386.6	8.9	395	5168	0.00	0.00	34.17	1.436	8358	0.000	0.000	2601	2106	2256	2312	2200	0	0	0	0	0	0	14.48	14.00	13.18
5461	0.23	297.6	2603	2106	2304	2186	357.2	8.8	406	5501	0.17	0.00	38.45	1.422	10406	0.105	0.000	2679	2106	2150	2202	2099	0	0	0	0	0	0	14.33	14.05	13.24
5791	0.16	297.6	2680	2106	2192	2086	311.2	14.1	417	5796	0.17	2.42	0.00	0.000	4740	0.246	0.083	2644	726	2138	2191	2086	0	0	0	0	0	0	13.98	14.20	14.13
5866	0.22	297.6	2644	726	2189	2087	302.8	10.2	432	5871	0.00	2.40	0.00	0.000	1158	0.000	0.078	2644	2101	2136	2188	2085	0	0	0	0	0	0	14.35	14.23	14.40
6181	0.22	297.6	2644	2102	2188	2085	269.2	10.4	445	6182	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2101	2133	2183	2084	0	0	0	0	0	0	14.64	14.65	14.66
6481	0.25	317.3	2645	2101	2189	2083	240.3	9.1	455	6516	0.00	2.50	27.62	1.416	8868	0.000	0.085	2644	719	2068	2118	2019	0	0	0	0	0	0	14.65	14.14	13.33
6604	0.37	356.7	2644	720	2112	2020	230.2	8.2	479	6677	0.17	2.42	65.32	1.306	11430	0.106	0.080	2711	2104	1908	1945	1871	0	0	0	0	0	0	14.27	14.16	13.17
6992	0.33	356.7	2708	2107	1931	1862	182.2	12.0	507	6993	0.00	0.00	0.00	0.000	134	0.000	0.000	2711	2104	1898	1935	1862	0	0	0	0	0	0	14.54	14.57	14.56
7292	0.30	356.7	2711	2104	1935	1861	148.3	11.0	517	7298	0.12	2.40	0.00	0.000	4740	0.230	0.083	2685	726	1897	1933	1861	0	0	0	0	0	0	14.12	14.24	14.24
7380	0.41	387.9	2686	727	1931	1862	140.5	8.6	534	7438	0.00	2.40	51.62	1.292	9382	0.000	0.079	2685	2101	1780	1808	1752	0	0	0	0	0	0	14.35	14.23	13.29
7745	0.49	417.6	2685	2102	1804	1742	108.4	8.6	557	7798	0.17	0.00	46.85	1.255	10918	0.109	0.000	2761	2101	1658	1685	1631	0	0	0	0	0	0	14.32	14.04	13.29
8103	0.45	417.6	2761	2101	1685	1620	65.0	10.7	592	8108	0.12	2.42	0.00	0.000	4740	0.250	0.083	2739	723	1651	1684	1619	0	0	0	0	0	0	14.00	14.06	14.14
8284	0.58	508.1	2740	723	1681	1619	51.5	5.8	628	8336	0.00	2.40	46.12	0.356	9382	0.000	0.078	2739	2103	1295	1345	1245	0	0	0	0	0	0	14.23	14.12	13.75
8634	0.79	609.1	2739	2103	1345	1230	32.4	5.3	668	8692	0.28	2.42	52.40	0.295	10916	0.088	0.086	2860	728	879	948	811	0	0	0	0	0	0	14.27	14.02	13.79
8734	0.79	609.1	2860	729	949	810	21.5	11.7	687	8740	0.00	2.40	0.00	0.000	1030	0.000	0.076	2860	2094	879	948	810	0	0	0	0	0	0	14.12	13.99	14.14
8935	end climb: SURFACE_DEPTH_REACHED
state	8935	begin surface coast
8957	end surface coast: CONTROL_FINISHED_OK
state	8957	begin surface