Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 224 * 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 224 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 630.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 630.0 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 29 VBD_MIN 500

DIVE 224 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 010917,235307,7435.3057,-15307.1064,17,0.8,21,19.6,0.3,73.2,12,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 8.3,136346,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.1 D_GRID 480

GPS2 020917,001450,7435.3174,-15307.0693,7,0.8,39,19.6,0.3,116.2,10,8.7

Post-dive calculations and measurements:

FINISH 0.5,1.021297 _24V_AH 12.33,150.350

SM_CCo 8640,1.92,0.210,0,0,503,702.78 _10V_AH 12.21,0.000

SM_GC 1.52,8.27,0.17,1.92,0.073,0.122,0.210,198,2215,503,-7.38,-0.71,702.78,0,0,0,0,0,0,14.26,14.23,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323676

IRIDIUM_FIX 7438.15,-15311.58,020917,000833 DATA_FILE_SIZE 23404,697

TT8_MAMPS 0.038948,0.892059 CAP_FILE_SIZE 106165,0

HUMID 45.94 CFSIZE 2097872896,2019196928

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

TCM_TEMP 11.10 SOUNDSPEED 1445.8

XPDR_PINGS 17 CURRENT 0.025,255.51,1

CP_FREE 15976529920.000000 GPS 020917,024038,7436.234,-15304.876,16,0.7,27,19.6,0.0,277.1,12,10.0

PM_FREEKB_00 51316544

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.45 nil 0 0 0.00

Roll_motor 89 2141 2371.51 nil 0 0 0.00

VBD_pump_during_apogee 987 1541 18767.38 nil 0 0 0.00

VBD_pump_during_surface 1 210 4.99 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 4449 15 869.31

Iridium_during_xfer 774 162 1548.10 NCP 8595 20 2119.53

Transponder_ping 4 420 22.01 PMAR 8591 9 1047.62

GUMSTIX_24V 0 0 0.00

GPS 40 22 11.12

TT8 0 0 0.00

LPSleep 6005 2 169.40

TT8_Active 796 13 135.93

TT8_Sampling 2826 33 1153.87

TT8_CF8 332 38 156.98

TT8_Kalman 0 0 0.00

Analog_circuits 2811 10 343.28

GPS_charging 0 0 0.00

Compass 998 7 85.33

RAFOS 1177 48 689.82

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 190 2209 492 494 0.0 0.0 0 140 0.00 0.00 -88.60 0.000 16386 0.000 0.000 189 2209 2056 1980 2132 0 0 0 0 0 0 14.58 28.83 14.59

143 -0.57 -145.9 189 2209 1986 2133 3.1 -3.7 9 205 12.80 2.78 -42.28 0.000 18724 0.454 2.141 2378 3605 3961 3944 3979 0 0 0 0 0 0 13.61 12.85 14.09

330 -0.69 -145.9 2374 3608 3951 3979 40.1 -13.9 46 337 0.00 2.40 0.00 0.000 1158 0.000 0.059 2378 2205 3964 3950 3978 0 0 0 0 0 0 14.23 14.11 14.26

637 -0.78 -145.9 2378 2204 3952 3979 82.2 -11.1 77 643 0.12 2.47 0.00 0.000 4740 0.144 0.082 2329 792 3965 3951 3979 0 0 0 0 0 0 14.15 14.09 14.20

658 -0.84 -145.9 2329 792 3952 3979 85.2 -13.4 81 663 0.00 2.50 0.00 0.000 1158 0.000 0.086 2327 2195 3964 3951 3978 0 0 0 0 0 0 14.23 14.09 14.27

968 -0.89 -145.9 2329 2197 3952 3979 128.6 -13.0 99 973 0.12 2.50 0.00 0.000 4484 0.143 0.086 2267 3610 3964 3951 3978 0 0 0 0 0 0 14.20 14.01 14.23

1085 -0.93 -145.9 2267 3611 3952 3978 145.7 -14.6 122 1091 0.00 2.40 0.00 0.000 1158 0.000 0.058 2267 2201 3964 3951 3978 0 0 0 0 0 0 14.25 14.13 14.31

1388 -0.93 -145.9 2269 2200 3952 3978 195.0 -15.7 133 1393 0.00 2.47 0.00 0.000 260 0.000 0.086 2257 3619 3964 3951 3978 0 0 0 0 0 0 14.49 14.04 14.50

1460 -0.99 -145.9 2260 3620 3951 3978 205.3 -13.7 147 1465 0.00 2.40 0.00 0.000 1158 0.000 0.057 2257 2189 3964 3950 3979 0 0 0 0 0 0 14.19 14.07 14.23

1780 -0.99 -145.9 2258 2189 3951 3978 253.7 -14.5 161 1785 0.00 2.50 0.00 0.000 260 0.000 0.086 2249 3613 3964 3951 3978 0 0 0 0 0 0 14.69 14.15 14.70

1897 -1.06 -145.9 2249 3615 3952 3978 268.6 -12.2 184 1904 0.00 2.40 0.00 0.000 1158 0.000 0.057 2249 2185 3964 3951 3978 0 0 0 0 0 0 14.40 14.26 14.42

2200 -1.06 -145.9 2249 2186 3952 3979 307.9 -12.5 195 2205 0.00 2.50 0.00 0.000 260 0.000 0.086 2240 3610 3964 3951 3978 0 0 0 0 0 0 14.72 14.17 14.74

2265 -1.13 -145.9 2240 3612 3951 3979 315.8 -11.6 208 2271 0.00 2.38 0.00 0.000 1158 0.000 0.057 2240 2201 3964 3951 3978 0 0 0 0 0 0 14.40 14.28 14.45

2591 -1.13 -145.9 2241 2199 3952 3976 356.2 -12.2 223 2596 0.00 2.50 0.00 0.000 260 0.000 0.088 2236 3613 3963 3950 3977 0 0 0 0 0 0 14.75 13.33 14.74

2641 -1.21 -145.9 2236 3615 3951 3978 362.1 -11.4 233 2646 0.15 2.38 0.00 0.000 5254 0.125 0.058 2176 2202 3963 3950 3977 0 0 0 0 0 0 14.31 14.27 14.42

2952 -1.09 -145.9 2177 2201 3952 3976 415.7 -17.4 245 2957 0.20 2.50 0.00 0.000 2436 0.297 0.083 2211 3620 3962 3950 3975 0 0 0 0 0 0 13.83 14.17 14.03

3074 -1.12 -145.9 2212 3620 3952 3976 431.9 -12.4 269 3078 0.00 2.40 0.00 0.000 1158 0.000 0.057 2211 2199 3962 3950 3975 0 0 0 0 0 0 14.40 14.28 14.44

3404 -1.09 -145.9 2211 2198 3952 3975 476.4 -13.4 285 3409 0.00 2.47 0.00 0.000 388 0.000 0.087 2205 3612 3962 3950 3975 0 0 0 0 0 0 14.73 14.21 14.73

3431 end dive: TARGET_DEPTH_EXCEEDED

state 3431 begin apogee

3439 -0.13 0.0 2206 2096 3952 3975 480.6 -14.4 291 3664 1.30 0.00 221.52 1.408 10246 0.247 0.000 2532 2094 3366 3389 3343 0 0 0 0 0 0 13.91 13.52 12.69

3667 end apogee: CONTROL_FINISHED_OK

state 3667 begin climb

3670 0.57 145.9 2532 2096 3381 3334 492.2 0.0 298 4229 0.73 2.70 210.88 1.363 10756 0.065 0.080 2781 693 2752 2792 2712 0 0 0 0 0 0 13.63 12.94 12.33

4245 0.57 145.9 2781 694 2791 2713 450.3 8.5 301 4250 0.00 2.50 0.00 0.000 1030 0.000 0.075 2781 2108 2751 2791 2711 0 0 0 0 0 0 14.08 13.96 14.12

4566 0.16 145.9 2781 2109 2791 2708 399.6 15.2 315 4571 0.62 2.45 0.00 0.000 4484 0.321 0.075 2640 3519 2748 2791 2706 0 0 0 0 0 0 13.78 14.15 14.02

4721 -0.03 150.6 2640 3520 2788 2707 383.0 9.8 346 4726 0.32 2.40 0.00 0.000 5286 0.279 0.058 2576 2093 2746 2787 2706 0 0 0 0 0 0 13.88 14.21 14.19

5046 0.04 249.4 2576 2093 2789 2705 363.8 5.4 361 5210 0.00 2.55 154.30 1.307 8740 0.000 0.085 2583 687 2343 2400 2287 0 0 0 0 0 0 14.66 13.54 12.97

5275 0.23 317.2 2576 687 2391 2282 349.2 6.9 406 5386 0.25 2.55 103.05 1.291 11430 0.093 0.080 2673 2103 2067 2121 2013 0 0 0 0 0 0 13.95 13.87 12.79

5713 0.20 317.2 2673 2105 2109 1994 292.7 12.9 443 5718 0.00 2.50 0.00 0.000 644 0.000 0.088 2673 695 2052 2108 1997 0 0 0 0 0 0 14.44 14.07 14.46

5768 0.22 317.2 2673 695 2105 1997 285.9 11.6 454 5774 0.00 2.47 0.00 0.000 1158 0.000 0.078 2673 2106 2050 2104 1997 0 0 0 0 0 0 14.22 14.09 14.29

6073 0.20 317.2 2673 2107 2105 1997 249.9 11.4 465 6074 0.00 0.00 0.00 0.000 134 0.000 0.000 2673 2107 2050 2104 1997 0 0 0 0 0 0 14.60 14.62 14.62

6373 0.20 317.2 2673 2108 2103 1997 218.2 10.3 475 6378 0.12 2.45 0.00 0.000 4612 0.263 0.085 2655 695 2049 2103 1995 0 0 0 0 0 0 14.12 14.23 14.35

6470 0.32 349.5 2654 695 2102 1996 210.0 8.5 494 6526 0.00 2.47 47.60 1.323 9382 0.000 0.080 2656 2102 1935 1986 1884 0 0 0 0 0 0 14.04 13.41 13.28

6825 0.42 391.2 2654 2103 1982 1880 180.1 8.1 515 6898 0.20 0.00 70.85 1.261 10406 0.102 0.000 2737 2102 1771 1804 1738 0 0 0 0 0 0 14.31 13.93 13.19

7183 0.37 391.2 2737 2103 1794 1725 133.6 12.8 527 7188 0.12 2.47 0.00 0.000 4740 0.243 0.084 2713 690 1759 1793 1725 0 0 0 0 0 0 14.02 14.16 14.19

7259 0.44 399.9 2713 690 1789 1726 125.8 9.6 542 7269 0.00 2.47 4.15 1.541 9382 0.000 0.078 2713 2112 1735 1768 1703 0 0 0 0 0 0 14.30 14.14 13.09

7576 0.48 414.6 2713 2113 1769 1705 95.1 9.3 557 7591 0.00 2.50 9.00 0.488 8868 0.000 0.085 2712 695 1673 1707 1640 0 0 0 0 0 0 14.58 14.16 13.62

7626 0.58 439.4 2713 696 1708 1642 90.5 8.9 567 7648 0.17 2.47 14.15 0.476 11430 0.105 0.078 2782 2108 1573 1604 1542 0 0 0 0 0 0 14.26 14.16 13.61

7946 0.53 451.8 2784 2109 1605 1537 51.4 9.4 601 7958 0.00 2.58 7.10 0.355 8868 0.000 0.083 2792 687 1519 1553 1486 0 0 0 0 0 0 14.57 14.12 13.71

8083 0.57 504.4 2792 688 1558 1487 40.0 7.6 628 8116 0.00 2.47 27.88 0.321 9254 0.000 0.079 2792 2100 1308 1355 1261 0 0 0 0 0 0 14.25 14.12 13.79

8421 0.70 615.7 2792 2101 1355 1254 17.3 4.9 665 8485 0.00 2.58 58.25 0.261 8868 0.000 0.087 2792 689 851 920 783 0 0 0 0 0 0 14.56 14.10 13.87

8521 0.95 701.7 2794 689 921 780 12.1 6.0 681 8584 0.30 2.47 58.70 0.227 11430 0.087 0.076 2900 2101 506 526 487 0 0 0 0 0 0 14.17 14.13 13.92

8607 end climb: SURFACE_DEPTH_REACHED

state 8607 begin surface coast

8619 end surface coast: CONTROL_FINISHED_OK

state 8619 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	224	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	630.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	010917,235307,7435.3057,-15307.1064,17,0.8,21,19.6,0.3,73.2,12,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	8.3,136346,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	020917,001450,7435.3174,-15307.0693,7,0.8,39,19.6,0.3,116.2,10,8.7

FINISH	0.5,1.021297	_24V_AH	12.33,150.350
SM_CCo	8640,1.92,0.210,0,0,503,702.78	_10V_AH	12.21,0.000
SM_GC	1.52,8.27,0.17,1.92,0.073,0.122,0.210,198,2215,503,-7.38,-0.71,702.78,0,0,0,0,0,0,14.26,14.23,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323676
IRIDIUM_FIX	7438.15,-15311.58,020917,000833	DATA_FILE_SIZE	23404,697
TT8_MAMPS	0.038948,0.892059	CAP_FILE_SIZE	106165,0
HUMID	45.94	CFSIZE	2097872896,2019196928
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	11.10	SOUNDSPEED	1445.8
XPDR_PINGS	17	CURRENT	0.025,255.51,1
CP_FREE	15976529920.000000	GPS	020917,024038,7436.234,-15304.876,16,0.7,27,19.6,0.0,277.1,12,10.0
PM_FREEKB_00	51316544

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.45	nil	0	0	0.00
Roll_motor	89	2141	2371.51	nil	0	0	0.00
VBD_pump_during_apogee	987	1541	18767.38	nil	0	0	0.00
VBD_pump_during_surface	1	210	4.99	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	4449	15	869.31
Iridium_during_xfer	774	162	1548.10	NCP	8595	20	2119.53
Transponder_ping	4	420	22.01	PMAR	8591	9	1047.62
GUMSTIX_24V	0	0	0.00
GPS	40	22	11.12
TT8	0	0	0.00
LPSleep	6005	2	169.40
TT8_Active	796	13	135.93
TT8_Sampling	2826	33	1153.87
TT8_CF8	332	38	156.98
TT8_Kalman	0	0	0.00
Analog_circuits	2811	10	343.28
GPS_charging	0	0	0.00
Compass	998	7	85.33
RAFOS	1177	48	689.82
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	190	2209	492	494	0.0	0.0	0	140	0.00	0.00	-88.60	0.000	16386	0.000	0.000	189	2209	2056	1980	2132	0	0	0	0	0	0	14.58	28.83	14.59
143	-0.57	-145.9	189	2209	1986	2133	3.1	-3.7	9	205	12.80	2.78	-42.28	0.000	18724	0.454	2.141	2378	3605	3961	3944	3979	0	0	0	0	0	0	13.61	12.85	14.09
330	-0.69	-145.9	2374	3608	3951	3979	40.1	-13.9	46	337	0.00	2.40	0.00	0.000	1158	0.000	0.059	2378	2205	3964	3950	3978	0	0	0	0	0	0	14.23	14.11	14.26
637	-0.78	-145.9	2378	2204	3952	3979	82.2	-11.1	77	643	0.12	2.47	0.00	0.000	4740	0.144	0.082	2329	792	3965	3951	3979	0	0	0	0	0	0	14.15	14.09	14.20
658	-0.84	-145.9	2329	792	3952	3979	85.2	-13.4	81	663	0.00	2.50	0.00	0.000	1158	0.000	0.086	2327	2195	3964	3951	3978	0	0	0	0	0	0	14.23	14.09	14.27
968	-0.89	-145.9	2329	2197	3952	3979	128.6	-13.0	99	973	0.12	2.50	0.00	0.000	4484	0.143	0.086	2267	3610	3964	3951	3978	0	0	0	0	0	0	14.20	14.01	14.23
1085	-0.93	-145.9	2267	3611	3952	3978	145.7	-14.6	122	1091	0.00	2.40	0.00	0.000	1158	0.000	0.058	2267	2201	3964	3951	3978	0	0	0	0	0	0	14.25	14.13	14.31
1388	-0.93	-145.9	2269	2200	3952	3978	195.0	-15.7	133	1393	0.00	2.47	0.00	0.000	260	0.000	0.086	2257	3619	3964	3951	3978	0	0	0	0	0	0	14.49	14.04	14.50
1460	-0.99	-145.9	2260	3620	3951	3978	205.3	-13.7	147	1465	0.00	2.40	0.00	0.000	1158	0.000	0.057	2257	2189	3964	3950	3979	0	0	0	0	0	0	14.19	14.07	14.23
1780	-0.99	-145.9	2258	2189	3951	3978	253.7	-14.5	161	1785	0.00	2.50	0.00	0.000	260	0.000	0.086	2249	3613	3964	3951	3978	0	0	0	0	0	0	14.69	14.15	14.70
1897	-1.06	-145.9	2249	3615	3952	3978	268.6	-12.2	184	1904	0.00	2.40	0.00	0.000	1158	0.000	0.057	2249	2185	3964	3951	3978	0	0	0	0	0	0	14.40	14.26	14.42
2200	-1.06	-145.9	2249	2186	3952	3979	307.9	-12.5	195	2205	0.00	2.50	0.00	0.000	260	0.000	0.086	2240	3610	3964	3951	3978	0	0	0	0	0	0	14.72	14.17	14.74
2265	-1.13	-145.9	2240	3612	3951	3979	315.8	-11.6	208	2271	0.00	2.38	0.00	0.000	1158	0.000	0.057	2240	2201	3964	3951	3978	0	0	0	0	0	0	14.40	14.28	14.45
2591	-1.13	-145.9	2241	2199	3952	3976	356.2	-12.2	223	2596	0.00	2.50	0.00	0.000	260	0.000	0.088	2236	3613	3963	3950	3977	0	0	0	0	0	0	14.75	13.33	14.74
2641	-1.21	-145.9	2236	3615	3951	3978	362.1	-11.4	233	2646	0.15	2.38	0.00	0.000	5254	0.125	0.058	2176	2202	3963	3950	3977	0	0	0	0	0	0	14.31	14.27	14.42
2952	-1.09	-145.9	2177	2201	3952	3976	415.7	-17.4	245	2957	0.20	2.50	0.00	0.000	2436	0.297	0.083	2211	3620	3962	3950	3975	0	0	0	0	0	0	13.83	14.17	14.03
3074	-1.12	-145.9	2212	3620	3952	3976	431.9	-12.4	269	3078	0.00	2.40	0.00	0.000	1158	0.000	0.057	2211	2199	3962	3950	3975	0	0	0	0	0	0	14.40	14.28	14.44
3404	-1.09	-145.9	2211	2198	3952	3975	476.4	-13.4	285	3409	0.00	2.47	0.00	0.000	388	0.000	0.087	2205	3612	3962	3950	3975	0	0	0	0	0	0	14.73	14.21	14.73
3431	end dive: TARGET_DEPTH_EXCEEDED
state	3431	begin apogee
3439	-0.13	0.0	2206	2096	3952	3975	480.6	-14.4	291	3664	1.30	0.00	221.52	1.408	10246	0.247	0.000	2532	2094	3366	3389	3343	0	0	0	0	0	0	13.91	13.52	12.69
3667	end apogee: CONTROL_FINISHED_OK
state	3667	begin climb
3670	0.57	145.9	2532	2096	3381	3334	492.2	0.0	298	4229	0.73	2.70	210.88	1.363	10756	0.065	0.080	2781	693	2752	2792	2712	0	0	0	0	0	0	13.63	12.94	12.33
4245	0.57	145.9	2781	694	2791	2713	450.3	8.5	301	4250	0.00	2.50	0.00	0.000	1030	0.000	0.075	2781	2108	2751	2791	2711	0	0	0	0	0	0	14.08	13.96	14.12
4566	0.16	145.9	2781	2109	2791	2708	399.6	15.2	315	4571	0.62	2.45	0.00	0.000	4484	0.321	0.075	2640	3519	2748	2791	2706	0	0	0	0	0	0	13.78	14.15	14.02
4721	-0.03	150.6	2640	3520	2788	2707	383.0	9.8	346	4726	0.32	2.40	0.00	0.000	5286	0.279	0.058	2576	2093	2746	2787	2706	0	0	0	0	0	0	13.88	14.21	14.19
5046	0.04	249.4	2576	2093	2789	2705	363.8	5.4	361	5210	0.00	2.55	154.30	1.307	8740	0.000	0.085	2583	687	2343	2400	2287	0	0	0	0	0	0	14.66	13.54	12.97
5275	0.23	317.2	2576	687	2391	2282	349.2	6.9	406	5386	0.25	2.55	103.05	1.291	11430	0.093	0.080	2673	2103	2067	2121	2013	0	0	0	0	0	0	13.95	13.87	12.79
5713	0.20	317.2	2673	2105	2109	1994	292.7	12.9	443	5718	0.00	2.50	0.00	0.000	644	0.000	0.088	2673	695	2052	2108	1997	0	0	0	0	0	0	14.44	14.07	14.46
5768	0.22	317.2	2673	695	2105	1997	285.9	11.6	454	5774	0.00	2.47	0.00	0.000	1158	0.000	0.078	2673	2106	2050	2104	1997	0	0	0	0	0	0	14.22	14.09	14.29
6073	0.20	317.2	2673	2107	2105	1997	249.9	11.4	465	6074	0.00	0.00	0.00	0.000	134	0.000	0.000	2673	2107	2050	2104	1997	0	0	0	0	0	0	14.60	14.62	14.62
6373	0.20	317.2	2673	2108	2103	1997	218.2	10.3	475	6378	0.12	2.45	0.00	0.000	4612	0.263	0.085	2655	695	2049	2103	1995	0	0	0	0	0	0	14.12	14.23	14.35
6470	0.32	349.5	2654	695	2102	1996	210.0	8.5	494	6526	0.00	2.47	47.60	1.323	9382	0.000	0.080	2656	2102	1935	1986	1884	0	0	0	0	0	0	14.04	13.41	13.28
6825	0.42	391.2	2654	2103	1982	1880	180.1	8.1	515	6898	0.20	0.00	70.85	1.261	10406	0.102	0.000	2737	2102	1771	1804	1738	0	0	0	0	0	0	14.31	13.93	13.19
7183	0.37	391.2	2737	2103	1794	1725	133.6	12.8	527	7188	0.12	2.47	0.00	0.000	4740	0.243	0.084	2713	690	1759	1793	1725	0	0	0	0	0	0	14.02	14.16	14.19
7259	0.44	399.9	2713	690	1789	1726	125.8	9.6	542	7269	0.00	2.47	4.15	1.541	9382	0.000	0.078	2713	2112	1735	1768	1703	0	0	0	0	0	0	14.30	14.14	13.09
7576	0.48	414.6	2713	2113	1769	1705	95.1	9.3	557	7591	0.00	2.50	9.00	0.488	8868	0.000	0.085	2712	695	1673	1707	1640	0	0	0	0	0	0	14.58	14.16	13.62
7626	0.58	439.4	2713	696	1708	1642	90.5	8.9	567	7648	0.17	2.47	14.15	0.476	11430	0.105	0.078	2782	2108	1573	1604	1542	0	0	0	0	0	0	14.26	14.16	13.61
7946	0.53	451.8	2784	2109	1605	1537	51.4	9.4	601	7958	0.00	2.58	7.10	0.355	8868	0.000	0.083	2792	687	1519	1553	1486	0	0	0	0	0	0	14.57	14.12	13.71
8083	0.57	504.4	2792	688	1558	1487	40.0	7.6	628	8116	0.00	2.47	27.88	0.321	9254	0.000	0.079	2792	2100	1308	1355	1261	0	0	0	0	0	0	14.25	14.12	13.79
8421	0.70	615.7	2792	2101	1355	1254	17.3	4.9	665	8485	0.00	2.58	58.25	0.261	8868	0.000	0.087	2792	689	851	920	783	0	0	0	0	0	0	14.56	14.10	13.87
8521	0.95	701.7	2794	689	921	780	12.1	6.0	681	8584	0.30	2.47	58.70	0.227	11430	0.087	0.076	2900	2101	506	526	487	0	0	0	0	0	0	14.17	14.13	13.92
8607	end climb: SURFACE_DEPTH_REACHED
state	8607	begin surface coast
8619	end surface coast: CONTROL_FINISHED_OK
state	8619	begin surface