Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 223 * 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 223 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 627.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 17 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 627.0 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 25 VBD_MIN 500

DIVE 223 NOCOMM_ACTION 161 R_STBD_OVSHOOT 17 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 010917,212021,7434.3726,-15309.8799,36,0.8,37,19.6,0.0,281.8,10,7.2 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 13.9,138443,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 010917,212607,7434.3794,-15309.8574,6,0.7,7,19.6,0.0,0.0,11,9.9

Post-dive calculations and measurements:

FINISH 0.7,1.021277 _24V_AH 12.31,149.891

SM_CCo 8681,36.28,0.208,0,0,498,703.03 _10V_AH 12.20,0.000

SM_GC 1.15,8.20,2.67,36.28,0.083,0.075,0.208,198,2205,498,-7.38,-0.68,703.03,0,0,0,0,0,0,14.31,14.22,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323740

IRIDIUM_FIX 7432.59,-15322.49,010917,184243 DATA_FILE_SIZE 23395,704

TT8_MAMPS 0.039697,0.871836 CAP_FILE_SIZE 95422,0

HUMID 47.00 CFSIZE 2097872896,2019622912

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 1447.6

XPDR_PINGS 16 CURRENT 0.022,288.73,1

CP_FREE 15976923136.000000 GPS 010917,235307,7435.306,-15307.106,17,0.8,21,19.6,0.3,73.2,12,9.9

PM_FREEKB_00 51344000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.50 nil 0 0 0.00

Roll_motor 85 2142 2246.70 nil 0 0 0.00

VBD_pump_during_apogee 968 1490 17758.96 nil 0 0 0.00

VBD_pump_during_surface 36 208 92.92 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 8260 14 1517.89

Iridium_during_xfer 159 135 265.78 NCP 8649 20 2129.38

Transponder_ping 4 420 20.68 PMAR 8632 9 1047.19

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.90

TT8 0 0 0.00

LPSleep 5999 2 169.08

TT8_Active 857 13 146.16

TT8_Sampling 1995 33 814.27

TT8_CF8 228 38 107.63

TT8_Kalman 0 0 0.00

Analog_circuits 2044 10 249.37

GPS_charging 0 0 0.00

Compass 1011 7 86.39

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 196 2197 496 493 0.0 0.0 0 141 0.00 0.00 -91.95 0.000 16386 0.000 0.000 194 2197 2147 2078 2217 0 0 0 0 0 0 14.54 28.83 14.56

144 -0.57 -145.9 195 2198 2082 2218 3.6 -4.4 9 201 12.73 2.88 -35.90 0.000 18724 0.454 2.143 2372 3605 3964 3941 3987 0 0 0 0 0 0 13.59 12.54 14.07

342 -0.70 -145.9 2376 3608 3948 3989 45.6 -14.2 48 349 0.00 2.40 0.00 0.000 1158 0.000 0.060 2376 2202 3967 3948 3987 0 0 0 0 0 0 14.28 14.15 14.31

648 -0.80 -145.9 2376 2201 3951 3987 86.0 -10.8 79 650 0.17 0.00 0.00 0.000 4230 0.119 0.000 2308 2201 3968 3950 3987 0 0 0 0 0 0 14.22 14.35 14.32

947 -0.80 -145.9 2308 2202 3950 3988 131.6 -14.6 95 951 0.00 2.50 0.00 0.000 260 0.000 0.086 2301 3620 3968 3950 3987 0 0 0 0 0 0 14.62 14.12 14.64

1037 -0.91 -145.9 2301 3625 3951 3988 143.0 -12.0 113 1042 0.00 2.42 0.00 0.000 1158 0.000 0.058 2301 2195 3969 3950 3988 0 0 0 0 0 0 14.32 14.19 14.37

1368 -0.95 -145.9 2301 2194 3951 3987 185.7 -12.4 129 1368 0.00 0.00 0.00 0.000 134 0.000 0.000 2300 2193 3968 3950 3987 0 0 0 0 0 0 14.65 14.67 14.67

1667 -1.01 -145.9 2301 2194 3951 3988 221.4 -11.6 139 1672 0.12 2.50 0.00 0.000 4484 0.137 0.085 2238 3617 3968 3950 3987 0 0 0 0 0 0 14.23 14.20 14.26

1753 -1.04 -145.9 2238 3620 3950 3988 233.6 -14.3 156 1759 0.00 2.40 0.00 0.000 1158 0.000 0.058 2238 2199 3968 3950 3987 0 0 0 0 0 0 14.31 14.18 14.35

2058 -1.01 -145.9 2239 2198 3951 3987 279.3 -14.5 167 2062 0.00 2.50 0.00 0.000 388 0.000 0.089 2235 3619 3972 3949 3995 0 0 0 0 0 0 14.68 14.20 14.70

2180 -1.06 -145.9 2235 3620 3951 3987 295.1 -12.6 191 2184 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2199 3968 3950 3987 0 0 0 0 0 0 14.38 14.26 14.42

2509 -1.06 -145.9 2236 2199 3950 3988 338.3 -12.7 207 2514 0.00 2.50 0.00 0.000 260 0.000 0.090 2236 3619 3968 3949 3987 0 0 0 0 0 0 14.68 14.20 14.70

2589 -1.13 -145.9 2236 3621 3950 3988 347.8 -11.3 223 2594 0.00 2.40 0.00 0.000 1158 0.000 0.058 2235 2197 3968 3949 3987 0 0 0 0 0 0 14.38 14.26 14.42

2899 -1.13 -145.9 2236 2196 3951 3986 386.2 -12.3 235 2904 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3620 3968 3950 3986 0 0 0 0 0 0 14.68 14.19 14.70

2990 -1.22 -145.9 2236 3620 3951 3986 396.5 -10.8 253 2995 0.15 2.40 0.00 0.000 5254 0.129 0.057 2172 2192 3967 3949 3985 0 0 0 0 0 0 14.28 14.26 14.42

3320 -1.10 -145.9 2172 2192 3951 3985 453.9 -17.7 269 3325 0.20 2.50 0.00 0.000 2436 0.295 0.083 2208 3620 3966 3950 3983 0 0 0 0 0 0 13.86 14.19 14.07

3461 -1.13 -145.9 2208 3620 3951 3984 473.1 -12.3 297 3466 0.00 2.40 0.00 0.000 1158 0.000 0.056 2208 2194 3966 3949 3984 0 0 0 0 0 0 14.33 14.18 14.34

3528 end dive: TARGET_DEPTH_EXCEEDED

state 3528 begin apogee

3534 -0.13 0.0 2208 2069 3950 3985 482.9 -14.0 301 3758 1.27 0.08 220.15 1.418 10246 0.245 0.180 2529 2114 3364 3388 3341 0 0 0 0 0 0 13.88 13.45 12.67

3762 end apogee: CONTROL_FINISHED_OK

state 3762 begin climb

3766 0.57 145.9 2530 2114 3382 3334 493.9 0.0 308 4159 0.75 2.67 210.57 1.375 11012 0.063 0.077 2793 723 2755 2797 2714 0 0 0 0 0 0 13.62 12.93 12.31

4169 0.57 145.9 2793 722 2800 2713 476.6 4.7 311 4179 0.00 2.45 0.00 0.000 1030 0.000 0.075 2793 2088 2755 2799 2712 0 0 0 0 0 0 13.60 13.59 13.60

4494 0.14 145.9 2793 2089 2797 2709 423.9 15.9 324 4499 0.70 2.47 0.00 0.000 4484 0.317 0.075 2636 3510 2752 2797 2708 0 0 0 0 0 0 13.69 14.01 13.94

4584 -0.04 145.9 2636 3512 2795 2709 413.7 10.4 342 4590 0.30 2.35 0.00 0.000 5254 0.278 0.057 2576 2127 2750 2792 2708 0 0 0 0 0 0 13.83 14.14 14.11

4915 0.02 233.8 2577 2127 2795 2708 393.2 5.9 358 5055 0.00 2.65 130.27 1.333 8740 0.000 0.086 2576 697 2404 2464 2345 0 0 0 0 0 0 14.62 13.78 13.00

5103 0.20 294.5 2573 698 2459 2346 380.5 7.2 395 5199 0.22 2.53 91.10 1.312 11430 0.096 0.081 2665 2106 2165 2224 2106 0 0 0 0 0 0 13.96 13.88 12.81

5520 0.15 294.5 2666 2106 2210 2088 326.4 12.9 428 5525 0.12 2.50 0.00 0.000 4740 0.257 0.083 2645 694 2148 2209 2088 0 0 0 0 0 0 13.88 14.08 14.02

5580 0.20 294.5 2645 695 2206 2089 319.7 10.4 440 5585 0.00 2.47 0.00 0.000 1158 0.000 0.079 2645 2101 2146 2205 2087 0 0 0 0 0 0 14.27 14.14 14.31

5910 0.20 294.5 2645 2102 2206 2088 284.0 10.6 456 5910 0.00 0.00 0.00 0.000 6 0.000 0.000 2645 2101 2149 2205 2093 0 0 0 0 0 0 14.62 14.63 14.64

6210 0.21 302.6 2645 2101 2205 2086 254.2 9.6 466 6215 0.00 0.00 3.22 1.349 8230 0.000 0.000 2645 2101 2131 2188 2075 0 0 0 0 0 0 14.66 14.19 12.86

6510 0.26 341.3 2645 2101 2195 2078 228.2 8.2 476 6589 0.00 2.58 70.82 1.308 8868 0.000 0.086 2646 691 1968 2019 1918 0 0 0 0 0 0 14.66 14.01 13.23

6635 0.41 383.9 2647 691 2014 1918 218.0 8.0 501 6710 0.22 2.50 70.03 1.253 11430 0.093 0.080 2730 2103 1800 1834 1767 0 0 0 0 0 0 13.51 14.00 13.06

7020 0.36 383.9 2730 2104 1826 1751 167.3 12.9 528 7025 0.12 2.47 0.00 0.000 4740 0.239 0.083 2699 697 1788 1825 1751 0 0 0 0 0 0 14.02 14.04 14.14

7066 0.42 383.9 2699 698 1821 1752 162.4 10.0 537 7072 0.00 2.47 0.00 0.000 1158 0.000 0.078 2699 2109 1785 1820 1751 0 0 0 0 0 0 14.21 14.08 14.24

7382 0.46 394.3 2699 2110 1820 1749 131.7 9.5 550 7397 0.00 2.55 10.85 1.490 8868 0.000 0.086 2699 690 1754 1790 1719 0 0 0 0 0 0 14.61 14.21 13.19

7448 0.57 423.7 2699 690 1783 1720 125.7 8.6 563 7505 0.20 2.45 48.80 1.265 11430 0.099 0.076 2777 2103 1633 1666 1600 0 0 0 0 0 0 14.25 14.16 13.26

7803 0.49 423.7 2780 2102 1665 1587 75.5 13.1 594 7808 0.15 2.47 0.00 0.000 4740 0.272 0.082 2754 696 1625 1664 1587 0 0 0 0 0 0 13.82 14.08 13.99

7848 0.52 423.7 2754 698 1662 1588 70.1 10.8 603 7854 0.00 2.45 0.00 0.000 1158 0.000 0.077 2754 2099 1624 1662 1587 0 0 0 0 0 0 14.26 14.14 14.31

8153 0.58 511.5 2754 2102 1663 1586 44.7 5.9 634 8206 0.00 2.53 44.70 0.337 8740 0.000 0.086 2754 694 1273 1326 1221 0 0 0 0 0 0 14.55 14.09 13.77

8263 0.77 590.2 2755 694 1332 1221 38.3 6.4 655 8312 0.22 2.50 41.35 0.314 11430 0.099 0.079 2842 2112 956 1027 885 0 0 0 0 0 0 14.20 14.15 13.71

8607 0.80 640.1 2842 2112 1026 876 5.6 7.7 694 8639 0.00 2.50 26.20 0.222 8740 0.000 0.083 2850 692 750 817 684 0 0 0 0 0 0 14.57 14.01 13.82

8647 end climb: SURFACE_DEPTH_REACHED

state 8647 begin surface coast

8657 end surface coast: CONTROL_FINISHED_OK

state 8657 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	223	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	627.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	17	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,212021,7434.3726,-15309.8799,36,0.8,37,19.6,0.0,281.8,10,7.2	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	13.9,138443,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	010917,212607,7434.3794,-15309.8574,6,0.7,7,19.6,0.0,0.0,11,9.9

FINISH	0.7,1.021277	_24V_AH	12.31,149.891
SM_CCo	8681,36.28,0.208,0,0,498,703.03	_10V_AH	12.20,0.000
SM_GC	1.15,8.20,2.67,36.28,0.083,0.075,0.208,198,2205,498,-7.38,-0.68,703.03,0,0,0,0,0,0,14.31,14.22,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323740
IRIDIUM_FIX	7432.59,-15322.49,010917,184243	DATA_FILE_SIZE	23395,704
TT8_MAMPS	0.039697,0.871836	CAP_FILE_SIZE	95422,0
HUMID	47.00	CFSIZE	2097872896,2019622912
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	1447.6
XPDR_PINGS	16	CURRENT	0.022,288.73,1
CP_FREE	15976923136.000000	GPS	010917,235307,7435.306,-15307.106,17,0.8,21,19.6,0.3,73.2,12,9.9
PM_FREEKB_00	51344000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.50	nil	0	0	0.00
Roll_motor	85	2142	2246.70	nil	0	0	0.00
VBD_pump_during_apogee	968	1490	17758.96	nil	0	0	0.00
VBD_pump_during_surface	36	208	92.92	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	8260	14	1517.89
Iridium_during_xfer	159	135	265.78	NCP	8649	20	2129.38
Transponder_ping	4	420	20.68	PMAR	8632	9	1047.19
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.90
TT8	0	0	0.00
LPSleep	5999	2	169.08
TT8_Active	857	13	146.16
TT8_Sampling	1995	33	814.27
TT8_CF8	228	38	107.63
TT8_Kalman	0	0	0.00
Analog_circuits	2044	10	249.37
GPS_charging	0	0	0.00
Compass	1011	7	86.39
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	196	2197	496	493	0.0	0.0	0	141	0.00	0.00	-91.95	0.000	16386	0.000	0.000	194	2197	2147	2078	2217	0	0	0	0	0	0	14.54	28.83	14.56
144	-0.57	-145.9	195	2198	2082	2218	3.6	-4.4	9	201	12.73	2.88	-35.90	0.000	18724	0.454	2.143	2372	3605	3964	3941	3987	0	0	0	0	0	0	13.59	12.54	14.07
342	-0.70	-145.9	2376	3608	3948	3989	45.6	-14.2	48	349	0.00	2.40	0.00	0.000	1158	0.000	0.060	2376	2202	3967	3948	3987	0	0	0	0	0	0	14.28	14.15	14.31
648	-0.80	-145.9	2376	2201	3951	3987	86.0	-10.8	79	650	0.17	0.00	0.00	0.000	4230	0.119	0.000	2308	2201	3968	3950	3987	0	0	0	0	0	0	14.22	14.35	14.32
947	-0.80	-145.9	2308	2202	3950	3988	131.6	-14.6	95	951	0.00	2.50	0.00	0.000	260	0.000	0.086	2301	3620	3968	3950	3987	0	0	0	0	0	0	14.62	14.12	14.64
1037	-0.91	-145.9	2301	3625	3951	3988	143.0	-12.0	113	1042	0.00	2.42	0.00	0.000	1158	0.000	0.058	2301	2195	3969	3950	3988	0	0	0	0	0	0	14.32	14.19	14.37
1368	-0.95	-145.9	2301	2194	3951	3987	185.7	-12.4	129	1368	0.00	0.00	0.00	0.000	134	0.000	0.000	2300	2193	3968	3950	3987	0	0	0	0	0	0	14.65	14.67	14.67
1667	-1.01	-145.9	2301	2194	3951	3988	221.4	-11.6	139	1672	0.12	2.50	0.00	0.000	4484	0.137	0.085	2238	3617	3968	3950	3987	0	0	0	0	0	0	14.23	14.20	14.26
1753	-1.04	-145.9	2238	3620	3950	3988	233.6	-14.3	156	1759	0.00	2.40	0.00	0.000	1158	0.000	0.058	2238	2199	3968	3950	3987	0	0	0	0	0	0	14.31	14.18	14.35
2058	-1.01	-145.9	2239	2198	3951	3987	279.3	-14.5	167	2062	0.00	2.50	0.00	0.000	388	0.000	0.089	2235	3619	3972	3949	3995	0	0	0	0	0	0	14.68	14.20	14.70
2180	-1.06	-145.9	2235	3620	3951	3987	295.1	-12.6	191	2184	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2199	3968	3950	3987	0	0	0	0	0	0	14.38	14.26	14.42
2509	-1.06	-145.9	2236	2199	3950	3988	338.3	-12.7	207	2514	0.00	2.50	0.00	0.000	260	0.000	0.090	2236	3619	3968	3949	3987	0	0	0	0	0	0	14.68	14.20	14.70
2589	-1.13	-145.9	2236	3621	3950	3988	347.8	-11.3	223	2594	0.00	2.40	0.00	0.000	1158	0.000	0.058	2235	2197	3968	3949	3987	0	0	0	0	0	0	14.38	14.26	14.42
2899	-1.13	-145.9	2236	2196	3951	3986	386.2	-12.3	235	2904	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3620	3968	3950	3986	0	0	0	0	0	0	14.68	14.19	14.70
2990	-1.22	-145.9	2236	3620	3951	3986	396.5	-10.8	253	2995	0.15	2.40	0.00	0.000	5254	0.129	0.057	2172	2192	3967	3949	3985	0	0	0	0	0	0	14.28	14.26	14.42
3320	-1.10	-145.9	2172	2192	3951	3985	453.9	-17.7	269	3325	0.20	2.50	0.00	0.000	2436	0.295	0.083	2208	3620	3966	3950	3983	0	0	0	0	0	0	13.86	14.19	14.07
3461	-1.13	-145.9	2208	3620	3951	3984	473.1	-12.3	297	3466	0.00	2.40	0.00	0.000	1158	0.000	0.056	2208	2194	3966	3949	3984	0	0	0	0	0	0	14.33	14.18	14.34
3528	end dive: TARGET_DEPTH_EXCEEDED
state	3528	begin apogee
3534	-0.13	0.0	2208	2069	3950	3985	482.9	-14.0	301	3758	1.27	0.08	220.15	1.418	10246	0.245	0.180	2529	2114	3364	3388	3341	0	0	0	0	0	0	13.88	13.45	12.67
3762	end apogee: CONTROL_FINISHED_OK
state	3762	begin climb
3766	0.57	145.9	2530	2114	3382	3334	493.9	0.0	308	4159	0.75	2.67	210.57	1.375	11012	0.063	0.077	2793	723	2755	2797	2714	0	0	0	0	0	0	13.62	12.93	12.31
4169	0.57	145.9	2793	722	2800	2713	476.6	4.7	311	4179	0.00	2.45	0.00	0.000	1030	0.000	0.075	2793	2088	2755	2799	2712	0	0	0	0	0	0	13.60	13.59	13.60
4494	0.14	145.9	2793	2089	2797	2709	423.9	15.9	324	4499	0.70	2.47	0.00	0.000	4484	0.317	0.075	2636	3510	2752	2797	2708	0	0	0	0	0	0	13.69	14.01	13.94
4584	-0.04	145.9	2636	3512	2795	2709	413.7	10.4	342	4590	0.30	2.35	0.00	0.000	5254	0.278	0.057	2576	2127	2750	2792	2708	0	0	0	0	0	0	13.83	14.14	14.11
4915	0.02	233.8	2577	2127	2795	2708	393.2	5.9	358	5055	0.00	2.65	130.27	1.333	8740	0.000	0.086	2576	697	2404	2464	2345	0	0	0	0	0	0	14.62	13.78	13.00
5103	0.20	294.5	2573	698	2459	2346	380.5	7.2	395	5199	0.22	2.53	91.10	1.312	11430	0.096	0.081	2665	2106	2165	2224	2106	0	0	0	0	0	0	13.96	13.88	12.81
5520	0.15	294.5	2666	2106	2210	2088	326.4	12.9	428	5525	0.12	2.50	0.00	0.000	4740	0.257	0.083	2645	694	2148	2209	2088	0	0	0	0	0	0	13.88	14.08	14.02
5580	0.20	294.5	2645	695	2206	2089	319.7	10.4	440	5585	0.00	2.47	0.00	0.000	1158	0.000	0.079	2645	2101	2146	2205	2087	0	0	0	0	0	0	14.27	14.14	14.31
5910	0.20	294.5	2645	2102	2206	2088	284.0	10.6	456	5910	0.00	0.00	0.00	0.000	6	0.000	0.000	2645	2101	2149	2205	2093	0	0	0	0	0	0	14.62	14.63	14.64
6210	0.21	302.6	2645	2101	2205	2086	254.2	9.6	466	6215	0.00	0.00	3.22	1.349	8230	0.000	0.000	2645	2101	2131	2188	2075	0	0	0	0	0	0	14.66	14.19	12.86
6510	0.26	341.3	2645	2101	2195	2078	228.2	8.2	476	6589	0.00	2.58	70.82	1.308	8868	0.000	0.086	2646	691	1968	2019	1918	0	0	0	0	0	0	14.66	14.01	13.23
6635	0.41	383.9	2647	691	2014	1918	218.0	8.0	501	6710	0.22	2.50	70.03	1.253	11430	0.093	0.080	2730	2103	1800	1834	1767	0	0	0	0	0	0	13.51	14.00	13.06
7020	0.36	383.9	2730	2104	1826	1751	167.3	12.9	528	7025	0.12	2.47	0.00	0.000	4740	0.239	0.083	2699	697	1788	1825	1751	0	0	0	0	0	0	14.02	14.04	14.14
7066	0.42	383.9	2699	698	1821	1752	162.4	10.0	537	7072	0.00	2.47	0.00	0.000	1158	0.000	0.078	2699	2109	1785	1820	1751	0	0	0	0	0	0	14.21	14.08	14.24
7382	0.46	394.3	2699	2110	1820	1749	131.7	9.5	550	7397	0.00	2.55	10.85	1.490	8868	0.000	0.086	2699	690	1754	1790	1719	0	0	0	0	0	0	14.61	14.21	13.19
7448	0.57	423.7	2699	690	1783	1720	125.7	8.6	563	7505	0.20	2.45	48.80	1.265	11430	0.099	0.076	2777	2103	1633	1666	1600	0	0	0	0	0	0	14.25	14.16	13.26
7803	0.49	423.7	2780	2102	1665	1587	75.5	13.1	594	7808	0.15	2.47	0.00	0.000	4740	0.272	0.082	2754	696	1625	1664	1587	0	0	0	0	0	0	13.82	14.08	13.99
7848	0.52	423.7	2754	698	1662	1588	70.1	10.8	603	7854	0.00	2.45	0.00	0.000	1158	0.000	0.077	2754	2099	1624	1662	1587	0	0	0	0	0	0	14.26	14.14	14.31
8153	0.58	511.5	2754	2102	1663	1586	44.7	5.9	634	8206	0.00	2.53	44.70	0.337	8740	0.000	0.086	2754	694	1273	1326	1221	0	0	0	0	0	0	14.55	14.09	13.77
8263	0.77	590.2	2755	694	1332	1221	38.3	6.4	655	8312	0.22	2.50	41.35	0.314	11430	0.099	0.079	2842	2112	956	1027	885	0	0	0	0	0	0	14.20	14.15	13.71
8607	0.80	640.1	2842	2112	1026	876	5.6	7.7	694	8639	0.00	2.50	26.20	0.222	8740	0.000	0.083	2850	692	750	817	684	0	0	0	0	0	0	14.57	14.01	13.82
8647	end climb: SURFACE_DEPTH_REACHED
state	8647	begin surface coast
8657	end surface coast: CONTROL_FINISHED_OK
state	8657	begin surface