Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 222 * 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 222 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 625.0

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 58 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 625.0 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 58 VBD_MIN 500

DIVE 222 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 010917,183924,7433.3745,-15312.6426,15,0.8,35,19.6,0.9,316.6,9,9.8 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 1.18 MHEAD_RNG_PITCHd_Wd 14.3,140625,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.6 D_GRID 480

GPS2 010917,184540,7433.3984,-15312.7002,7,0.9,11,19.6,0.0,0.0,10,9.3

Post-dive calculations and measurements:

FINISH 1.3,1.021226 _24V_AH 12.32,149.451

SM_CCo 9125,43.92,0.207,0,0,501,702.78 _10V_AH 12.20,0.000

SM_GC 1.14,8.12,2.67,43.92,0.079,0.084,0.207,202,2194,501,-7.37,-0.88,702.78,0,0,0,0,0,0,14.33,14.17,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 222 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323488

IRIDIUM_FIX 7432.59,-15322.49,010917,160632 DATA_FILE_SIZE 26702,771

TT8_MAMPS 0.040446,0.88382 CAP_FILE_SIZE 100889,0

HUMID 46.06 CFSIZE 2097872896,2019786752

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

TCM_TEMP 13.10 SOUNDSPEED 1446.3

XPDR_PINGS 16 CURRENT 0.046,288.33,1

CP_FREE 15977316352.000000 GPS 010917,212021,7434.373,-15309.880,36,0.8,37,19.6,0.0,281.8,10,7.2

PM_FREEKB_00 51368768

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.34 nil 0 0 0.00

Roll_motor 85 2147 2249.37 nil 0 0 0.00

VBD_pump_during_apogee 933 1497 17232.12 nil 0 0 0.00

VBD_pump_during_surface 43 206 111.78 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 5261 14 971.84

Iridium_during_xfer 190 126 295.86 NCP 9106 20 2243.72

Transponder_ping 4 420 20.70 PMAR 9077 9 1106.66

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.28

TT8 0 0 0.00

LPSleep 6534 2 184.14

TT8_Active 885 13 151.00

TT8_Sampling 1899 33 775.08

TT8_CF8 237 38 111.99

TT8_Kalman 0 0 0.00

Analog_circuits 1911 10 233.15

GPS_charging 0 0 0.00

Compass 1103 7 94.21

RAFOS 2197 48 1286.56

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

50 -0.57 -145.9 197 2222 488 493 0.0 0.0 0 142 0.00 0.00 -91.18 0.000 16386 0.000 0.000 196 2222 2126 2058 2195 0 0 0 0 0 0 14.58 28.83 14.59

145 -0.57 -145.9 196 2222 2059 2196 3.4 -4.1 9 203 12.62 2.80 -37.17 0.000 18724 0.454 2.147 2375 3600 3964 3942 3986 0 0 0 0 0 0 13.69 12.52 14.19

298 -0.68 -145.9 2376 3600 3948 3986 38.7 -14.6 39 303 0.00 2.33 0.00 0.000 1158 0.000 0.060 2375 2233 3966 3947 3986 0 0 0 0 0 0 14.28 14.16 14.32

608 -0.78 -145.9 2376 2234 3951 3988 83.0 -11.0 71 613 0.15 2.50 0.00 0.000 4740 0.134 0.081 2312 788 3968 3950 3987 0 0 0 0 0 0 14.32 14.25 14.37

638 -0.78 -145.9 2313 788 3952 3986 87.3 -15.5 77 643 0.00 2.47 0.00 0.000 1030 0.000 0.086 2308 2201 3968 3950 3986 0 0 0 0 0 0 14.39 14.24 14.43

958 -0.78 -145.9 2308 2203 3951 3987 135.6 -14.2 94 963 0.00 2.45 0.00 0.000 260 0.000 0.090 2305 3611 3968 3950 3987 0 0 0 0 0 0 14.73 14.23 14.74

1080 -0.91 -145.9 2305 3613 3952 3986 149.9 -11.4 118 1085 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2199 3968 3950 3986 0 0 0 0 0 0 14.44 14.31 14.47

1410 -0.96 -145.9 2306 2198 3951 3987 191.7 -12.1 134 1411 0.12 0.00 0.00 0.000 4230 0.135 0.000 2255 2198 3968 3950 3986 0 0 0 0 0 0 14.37 14.45 14.43

1710 -0.96 -145.9 2255 2198 3951 3986 237.2 -14.8 144 1716 0.00 2.50 0.00 0.000 260 0.000 0.090 2249 3619 3968 3950 3986 0 0 0 0 0 0 14.79 14.26 14.76

1853 -1.01 -145.9 2249 3621 3951 3987 255.9 -12.5 172 1858 0.00 2.38 0.00 0.000 1158 0.000 0.057 2249 2199 3968 3950 3986 0 0 0 0 0 0 14.45 14.32 14.47

2164 -1.01 -145.9 2249 2197 3951 3986 296.6 -12.8 184 2169 0.00 2.47 0.00 0.000 260 0.000 0.089 2241 3613 3968 3950 3986 0 0 0 0 0 0 14.76 14.25 14.77

2225 -1.08 -145.9 2241 3614 3951 3986 304.2 -11.9 196 2230 0.00 2.38 0.00 0.000 1158 0.000 0.057 2241 2197 3968 3950 3986 0 0 0 0 0 0 14.45 14.31 14.47

2555 -1.08 -145.9 2241 2197 3951 3987 345.0 -12.1 212 2561 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3613 3967 3950 3985 0 0 0 0 0 0 14.75 14.25 14.76

2678 -1.16 -145.9 2236 3615 3951 3986 358.8 -10.9 236 2684 0.00 2.38 0.00 0.000 1158 0.000 0.055 2236 2192 3967 3950 3985 0 0 0 0 0 0 14.44 14.32 14.51

3009 -1.16 -145.9 2237 2191 3951 3983 398.6 -11.9 252 3014 0.00 2.50 0.00 0.000 260 0.000 0.088 2236 3620 3967 3951 3984 0 0 0 0 0 0 14.76 14.21 14.78

3095 -1.25 -145.9 2236 3620 3951 3983 408.1 -10.5 269 3101 0.17 2.38 0.00 0.000 5254 0.116 0.056 2167 2199 3966 3950 3983 0 0 0 0 0 0 14.35 14.31 14.45

3400 -1.13 -145.9 2168 2200 3951 3983 462.2 -18.1 280 3406 0.20 2.50 0.00 0.000 2436 0.308 0.083 2201 3614 3966 3949 3983 0 0 0 0 0 0 13.88 14.16 14.09

3525 end dive: TARGET_DEPTH_EXCEEDED

state 3525 begin apogee

3533 -0.13 0.0 2202 2103 3951 3984 480.4 -13.5 305 3767 1.30 0.00 225.68 1.405 10246 0.249 0.000 2527 2101 3357 3381 3334 0 0 0 0 0 0 13.93 13.51 12.70

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3773 0.57 145.9 2528 2102 3381 3332 493.4 0.0 313 3989 0.75 2.72 210.55 1.369 10756 0.061 0.080 2787 689 2764 2812 2717 0 0 0 0 0 0 13.64 12.92 12.32

4151 0.20 145.9 2784 689 2799 2711 477.9 15.2 390 4157 0.65 2.58 0.00 0.000 5254 0.318 0.076 2648 2106 2754 2799 2709 0 0 0 0 0 0 13.26 13.60 13.64

4458 0.04 153.0 2650 2107 2799 2704 447.3 9.7 401 4461 0.22 0.00 1.15 0.285 12454 0.281 0.000 2600 2107 2741 2787 2695 0 0 0 0 0 0 13.73 13.93 13.69

4756 0.03 211.7 2600 2107 2796 2703 424.9 7.3 411 4857 0.00 2.55 94.43 1.375 8868 0.000 0.084 2602 693 2499 2561 2437 0 0 0 0 0 0 14.44 13.60 13.02

4907 0.11 246.6 2603 693 2553 2434 412.9 8.4 441 4969 0.00 2.53 51.45 1.398 9382 0.000 0.080 2602 2100 2352 2413 2292 0 0 0 0 0 0 13.88 13.76 12.88

5269 0.16 267.8 2601 2103 2406 2283 380.6 9.0 463 5298 0.00 0.00 28.27 1.456 8358 0.000 0.000 2602 2102 2274 2333 2216 0 0 0 0 0 0 14.37 13.95 13.13

5597 0.23 297.3 2603 2102 2323 2204 351.6 8.6 474 5645 0.17 0.00 46.05 1.393 10406 0.106 0.000 2676 2102 2151 2205 2097 0 0 0 0 0 0 14.21 13.95 13.16

5927 0.16 297.3 2679 2099 2193 2083 306.2 13.9 485 5932 0.15 2.50 0.00 0.000 4740 0.249 0.083 2649 691 2139 2195 2084 0 0 0 0 0 0 13.92 13.96 14.07

5992 0.22 297.3 2649 691 2193 2079 298.6 10.9 498 5997 0.00 2.47 0.00 0.000 1158 0.000 0.078 2649 2102 2138 2193 2084 0 0 0 0 0 0 14.24 14.13 14.28

6317 0.22 297.3 2650 2104 2192 2083 263.1 10.5 513 6322 0.00 2.50 0.00 0.000 516 0.000 0.086 2650 692 2137 2193 2082 0 0 0 0 0 0 14.50 14.00 14.51

6382 0.29 310.1 2651 691 2192 2083 256.7 9.4 526 6403 0.00 2.47 15.77 1.498 9382 0.000 0.080 2651 2106 2101 2155 2047 0 0 0 0 0 0 14.28 14.14 13.28

6710 0.33 334.0 2648 2107 2150 2039 226.4 8.9 541 6752 0.12 0.00 39.65 1.371 10406 0.129 0.000 2705 2106 2003 2053 1954 0 0 0 0 0 0 14.10 14.01 13.24

7040 0.27 334.0 2705 2107 2046 1944 188.0 11.4 552 7046 0.12 2.45 0.00 0.000 4740 0.238 0.086 2675 694 1993 2045 1942 0 0 0 0 0 0 13.85 14.07 13.98

7098 0.38 363.8 2675 694 2043 1943 182.6 8.6 563 7155 0.00 2.47 49.53 1.314 9382 0.000 0.080 2675 2106 1877 1916 1839 0 0 0 0 0 0 14.19 14.07 13.24

7463 0.46 393.9 2675 2107 1910 1833 150.6 8.6 586 7518 0.15 2.58 49.95 1.273 10916 0.122 0.086 2753 692 1756 1786 1727 0 0 0 0 0 0 14.28 14.04 13.26

7583 0.44 393.9 2754 691 1778 1726 134.9 13.0 610 7589 0.12 2.47 0.00 0.000 5254 0.252 0.078 2727 2101 1751 1777 1726 0 0 0 0 0 0 13.94 14.09 14.16

7914 0.44 394.3 2728 2101 1777 1721 99.2 10.0 626 7915 0.00 0.00 0.00 0.000 38 0.000 0.000 2727 2101 1748 1777 1720 0 0 0 0 0 0 14.58 14.60 14.59

8216 0.46 421.5 2728 2101 1778 1718 71.1 8.7 656 8237 0.00 2.50 14.00 0.416 8740 0.000 0.086 2730 685 1644 1676 1613 0 0 0 0 0 0 14.57 14.12 13.68

8319 0.56 470.4 2730 688 1676 1614 62.4 7.7 676 8351 0.00 2.47 26.15 0.389 9382 0.000 0.079 2730 2106 1445 1485 1406 0 0 0 0 0 0 14.35 14.22 13.72

8647 0.75 580.4 2730 2108 1486 1397 42.0 4.9 712 8710 0.25 2.58 57.25 0.324 10916 0.090 0.086 2835 688 997 1067 927 0 0 0 0 0 0 14.23 14.09 13.72

8756 0.78 580.4 2837 688 1067 926 31.3 10.8 732 8764 0.00 2.47 0.00 0.000 1158 0.000 0.076 2836 2104 996 1066 926 0 0 0 0 0 0 14.23 14.09 14.26

9060 0.84 625.9 2836 2103 1067 917 4.6 7.9 763 9093 0.00 2.55 23.92 0.220 8868 0.000 0.090 2844 702 809 878 740 0 0 0 0 0 0 14.57 14.04 13.85

9095 end climb: SURFACE_DEPTH_REACHED

state 9095 begin surface coast

9100 end surface coast: CONTROL_FINISHED_OK

state 9101 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	222	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	625.0
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	58	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,183924,7433.3745,-15312.6426,15,0.8,35,19.6,0.9,316.6,9,9.8	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	1.18	MHEAD_RNG_PITCHd_Wd	14.3,140625,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.6	D_GRID	480
GPS2	010917,184540,7433.3984,-15312.7002,7,0.9,11,19.6,0.0,0.0,10,9.3

FINISH	1.3,1.021226	_24V_AH	12.32,149.451
SM_CCo	9125,43.92,0.207,0,0,501,702.78	_10V_AH	12.20,0.000
SM_GC	1.14,8.12,2.67,43.92,0.079,0.084,0.207,202,2194,501,-7.37,-0.88,702.78,0,0,0,0,0,0,14.33,14.17,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	222	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323488
IRIDIUM_FIX	7432.59,-15322.49,010917,160632	DATA_FILE_SIZE	26702,771
TT8_MAMPS	0.040446,0.88382	CAP_FILE_SIZE	100889,0
HUMID	46.06	CFSIZE	2097872896,2019786752
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.3
XPDR_PINGS	16	CURRENT	0.046,288.33,1
CP_FREE	15977316352.000000	GPS	010917,212021,7434.373,-15309.880,36,0.8,37,19.6,0.0,281.8,10,7.2
PM_FREEKB_00	51368768

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.34	nil	0	0	0.00
Roll_motor	85	2147	2249.37	nil	0	0	0.00
VBD_pump_during_apogee	933	1497	17232.12	nil	0	0	0.00
VBD_pump_during_surface	43	206	111.78	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	5261	14	971.84
Iridium_during_xfer	190	126	295.86	NCP	9106	20	2243.72
Transponder_ping	4	420	20.70	PMAR	9077	9	1106.66
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.28
TT8	0	0	0.00
LPSleep	6534	2	184.14
TT8_Active	885	13	151.00
TT8_Sampling	1899	33	775.08
TT8_CF8	237	38	111.99
TT8_Kalman	0	0	0.00
Analog_circuits	1911	10	233.15
GPS_charging	0	0	0.00
Compass	1103	7	94.21
RAFOS	2197	48	1286.56
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
50	-0.57	-145.9	197	2222	488	493	0.0	0.0	0	142	0.00	0.00	-91.18	0.000	16386	0.000	0.000	196	2222	2126	2058	2195	0	0	0	0	0	0	14.58	28.83	14.59
145	-0.57	-145.9	196	2222	2059	2196	3.4	-4.1	9	203	12.62	2.80	-37.17	0.000	18724	0.454	2.147	2375	3600	3964	3942	3986	0	0	0	0	0	0	13.69	12.52	14.19
298	-0.68	-145.9	2376	3600	3948	3986	38.7	-14.6	39	303	0.00	2.33	0.00	0.000	1158	0.000	0.060	2375	2233	3966	3947	3986	0	0	0	0	0	0	14.28	14.16	14.32
608	-0.78	-145.9	2376	2234	3951	3988	83.0	-11.0	71	613	0.15	2.50	0.00	0.000	4740	0.134	0.081	2312	788	3968	3950	3987	0	0	0	0	0	0	14.32	14.25	14.37
638	-0.78	-145.9	2313	788	3952	3986	87.3	-15.5	77	643	0.00	2.47	0.00	0.000	1030	0.000	0.086	2308	2201	3968	3950	3986	0	0	0	0	0	0	14.39	14.24	14.43
958	-0.78	-145.9	2308	2203	3951	3987	135.6	-14.2	94	963	0.00	2.45	0.00	0.000	260	0.000	0.090	2305	3611	3968	3950	3987	0	0	0	0	0	0	14.73	14.23	14.74
1080	-0.91	-145.9	2305	3613	3952	3986	149.9	-11.4	118	1085	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2199	3968	3950	3986	0	0	0	0	0	0	14.44	14.31	14.47
1410	-0.96	-145.9	2306	2198	3951	3987	191.7	-12.1	134	1411	0.12	0.00	0.00	0.000	4230	0.135	0.000	2255	2198	3968	3950	3986	0	0	0	0	0	0	14.37	14.45	14.43
1710	-0.96	-145.9	2255	2198	3951	3986	237.2	-14.8	144	1716	0.00	2.50	0.00	0.000	260	0.000	0.090	2249	3619	3968	3950	3986	0	0	0	0	0	0	14.79	14.26	14.76
1853	-1.01	-145.9	2249	3621	3951	3987	255.9	-12.5	172	1858	0.00	2.38	0.00	0.000	1158	0.000	0.057	2249	2199	3968	3950	3986	0	0	0	0	0	0	14.45	14.32	14.47
2164	-1.01	-145.9	2249	2197	3951	3986	296.6	-12.8	184	2169	0.00	2.47	0.00	0.000	260	0.000	0.089	2241	3613	3968	3950	3986	0	0	0	0	0	0	14.76	14.25	14.77
2225	-1.08	-145.9	2241	3614	3951	3986	304.2	-11.9	196	2230	0.00	2.38	0.00	0.000	1158	0.000	0.057	2241	2197	3968	3950	3986	0	0	0	0	0	0	14.45	14.31	14.47
2555	-1.08	-145.9	2241	2197	3951	3987	345.0	-12.1	212	2561	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3613	3967	3950	3985	0	0	0	0	0	0	14.75	14.25	14.76
2678	-1.16	-145.9	2236	3615	3951	3986	358.8	-10.9	236	2684	0.00	2.38	0.00	0.000	1158	0.000	0.055	2236	2192	3967	3950	3985	0	0	0	0	0	0	14.44	14.32	14.51
3009	-1.16	-145.9	2237	2191	3951	3983	398.6	-11.9	252	3014	0.00	2.50	0.00	0.000	260	0.000	0.088	2236	3620	3967	3951	3984	0	0	0	0	0	0	14.76	14.21	14.78
3095	-1.25	-145.9	2236	3620	3951	3983	408.1	-10.5	269	3101	0.17	2.38	0.00	0.000	5254	0.116	0.056	2167	2199	3966	3950	3983	0	0	0	0	0	0	14.35	14.31	14.45
3400	-1.13	-145.9	2168	2200	3951	3983	462.2	-18.1	280	3406	0.20	2.50	0.00	0.000	2436	0.308	0.083	2201	3614	3966	3949	3983	0	0	0	0	0	0	13.88	14.16	14.09
3525	end dive: TARGET_DEPTH_EXCEEDED
state	3525	begin apogee
3533	-0.13	0.0	2202	2103	3951	3984	480.4	-13.5	305	3767	1.30	0.00	225.68	1.405	10246	0.249	0.000	2527	2101	3357	3381	3334	0	0	0	0	0	0	13.93	13.51	12.70
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3773	0.57	145.9	2528	2102	3381	3332	493.4	0.0	313	3989	0.75	2.72	210.55	1.369	10756	0.061	0.080	2787	689	2764	2812	2717	0	0	0	0	0	0	13.64	12.92	12.32
4151	0.20	145.9	2784	689	2799	2711	477.9	15.2	390	4157	0.65	2.58	0.00	0.000	5254	0.318	0.076	2648	2106	2754	2799	2709	0	0	0	0	0	0	13.26	13.60	13.64
4458	0.04	153.0	2650	2107	2799	2704	447.3	9.7	401	4461	0.22	0.00	1.15	0.285	12454	0.281	0.000	2600	2107	2741	2787	2695	0	0	0	0	0	0	13.73	13.93	13.69
4756	0.03	211.7	2600	2107	2796	2703	424.9	7.3	411	4857	0.00	2.55	94.43	1.375	8868	0.000	0.084	2602	693	2499	2561	2437	0	0	0	0	0	0	14.44	13.60	13.02
4907	0.11	246.6	2603	693	2553	2434	412.9	8.4	441	4969	0.00	2.53	51.45	1.398	9382	0.000	0.080	2602	2100	2352	2413	2292	0	0	0	0	0	0	13.88	13.76	12.88
5269	0.16	267.8	2601	2103	2406	2283	380.6	9.0	463	5298	0.00	0.00	28.27	1.456	8358	0.000	0.000	2602	2102	2274	2333	2216	0	0	0	0	0	0	14.37	13.95	13.13
5597	0.23	297.3	2603	2102	2323	2204	351.6	8.6	474	5645	0.17	0.00	46.05	1.393	10406	0.106	0.000	2676	2102	2151	2205	2097	0	0	0	0	0	0	14.21	13.95	13.16
5927	0.16	297.3	2679	2099	2193	2083	306.2	13.9	485	5932	0.15	2.50	0.00	0.000	4740	0.249	0.083	2649	691	2139	2195	2084	0	0	0	0	0	0	13.92	13.96	14.07
5992	0.22	297.3	2649	691	2193	2079	298.6	10.9	498	5997	0.00	2.47	0.00	0.000	1158	0.000	0.078	2649	2102	2138	2193	2084	0	0	0	0	0	0	14.24	14.13	14.28
6317	0.22	297.3	2650	2104	2192	2083	263.1	10.5	513	6322	0.00	2.50	0.00	0.000	516	0.000	0.086	2650	692	2137	2193	2082	0	0	0	0	0	0	14.50	14.00	14.51
6382	0.29	310.1	2651	691	2192	2083	256.7	9.4	526	6403	0.00	2.47	15.77	1.498	9382	0.000	0.080	2651	2106	2101	2155	2047	0	0	0	0	0	0	14.28	14.14	13.28
6710	0.33	334.0	2648	2107	2150	2039	226.4	8.9	541	6752	0.12	0.00	39.65	1.371	10406	0.129	0.000	2705	2106	2003	2053	1954	0	0	0	0	0	0	14.10	14.01	13.24
7040	0.27	334.0	2705	2107	2046	1944	188.0	11.4	552	7046	0.12	2.45	0.00	0.000	4740	0.238	0.086	2675	694	1993	2045	1942	0	0	0	0	0	0	13.85	14.07	13.98
7098	0.38	363.8	2675	694	2043	1943	182.6	8.6	563	7155	0.00	2.47	49.53	1.314	9382	0.000	0.080	2675	2106	1877	1916	1839	0	0	0	0	0	0	14.19	14.07	13.24
7463	0.46	393.9	2675	2107	1910	1833	150.6	8.6	586	7518	0.15	2.58	49.95	1.273	10916	0.122	0.086	2753	692	1756	1786	1727	0	0	0	0	0	0	14.28	14.04	13.26
7583	0.44	393.9	2754	691	1778	1726	134.9	13.0	610	7589	0.12	2.47	0.00	0.000	5254	0.252	0.078	2727	2101	1751	1777	1726	0	0	0	0	0	0	13.94	14.09	14.16
7914	0.44	394.3	2728	2101	1777	1721	99.2	10.0	626	7915	0.00	0.00	0.00	0.000	38	0.000	0.000	2727	2101	1748	1777	1720	0	0	0	0	0	0	14.58	14.60	14.59
8216	0.46	421.5	2728	2101	1778	1718	71.1	8.7	656	8237	0.00	2.50	14.00	0.416	8740	0.000	0.086	2730	685	1644	1676	1613	0	0	0	0	0	0	14.57	14.12	13.68
8319	0.56	470.4	2730	688	1676	1614	62.4	7.7	676	8351	0.00	2.47	26.15	0.389	9382	0.000	0.079	2730	2106	1445	1485	1406	0	0	0	0	0	0	14.35	14.22	13.72
8647	0.75	580.4	2730	2108	1486	1397	42.0	4.9	712	8710	0.25	2.58	57.25	0.324	10916	0.090	0.086	2835	688	997	1067	927	0	0	0	0	0	0	14.23	14.09	13.72
8756	0.78	580.4	2837	688	1067	926	31.3	10.8	732	8764	0.00	2.47	0.00	0.000	1158	0.000	0.076	2836	2104	996	1066	926	0	0	0	0	0	0	14.23	14.09	14.26
9060	0.84	625.9	2836	2103	1067	917	4.6	7.9	763	9093	0.00	2.55	23.92	0.220	8868	0.000	0.090	2844	702	809	878	740	0	0	0	0	0	0	14.57	14.04	13.85
9095	end climb: SURFACE_DEPTH_REACHED
state	9095	begin surface coast
9100	end surface coast: CONTROL_FINISHED_OK
state	9101	begin surface