Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 226 * 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 226 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 637.0

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 41 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 637.0 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 226 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 020917,053625,7437.2393,-15302.6719,17,0.8,20,19.7,0.4,63.6,11,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 12.4,132250,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 020917,054903,7437.2534,-15302.6055,7,0.9,20,19.7,0.0,76.0,10,9.3

Post-dive calculations and measurements:

FINISH 0.7,1.021383 _24V_AH 12.31,151.374

SM_CCo 8885,38.85,0.210,0,0,500,702.78 _10V_AH 12.16,0.000

SM_GC 1.15,8.32,0.17,38.85,0.078,0.122,0.210,196,2214,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.18,14.14,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 57 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323748

IRIDIUM_FIX 7437.21,-15304.34,020917,054009 DATA_FILE_SIZE 23361,673

TT8_MAMPS 0.092876,0.929509 CAP_FILE_SIZE 96033,0

HUMID 44.05 CFSIZE 2097872896,2018902016

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 1445.6

XPDR_PINGS 22 CURRENT 0.054,275.47,1

CP_FREE 15975645184.000000 GPS 020917,081932,7438.231,-15300.224,26,0.8,26,19.7,0.0,0.0,10,9.5

PM_FREEKB_00 51258304

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.78 nil 0 0 0.00

Roll_motor 72 2145 1914.41 nil 0 0 0.00

VBD_pump_during_apogee 910 1447 16229.29 nil 0 0 0.00

VBD_pump_during_surface 38 209 100.24 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 5297 14 953.51

Iridium_during_xfer 464 158 904.64 NCP 8861 20 2181.58

Transponder_ping 5 420 28.44 PMAR 8838 9 1074.14

GUMSTIX_24V 0 0 0.00

GPS 21 22 5.79

TT8 0 0 0.00

LPSleep 6329 2 177.79

TT8_Active 855 13 145.36

TT8_Sampling 2234 33 908.61

TT8_CF8 280 38 131.75

TT8_Kalman 0 0 0.00

Analog_circuits 2279 10 277.13

GPS_charging 0 0 0.00

Compass 964 7 82.10

RAFOS 2218 48 1294.60

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 -145.9 194 2228 496 486 0.0 0.0 0 142 0.00 0.00 -91.35 0.000 16386 0.000 0.000 193 2227 2119 2045 2193 0 0 0 0 0 0 14.55 28.83 14.56

145 -0.57 -145.9 192 2228 2048 2194 3.1 -3.6 9 203 12.73 2.72 -38.25 0.000 18724 0.457 2.145 2376 3589 3964 3947 3982 0 0 0 0 0 0 13.64 12.55 14.16

338 -0.72 -145.9 2376 3590 3954 3982 42.4 -13.3 47 343 0.00 2.35 0.00 0.000 1158 0.000 0.059 2375 2199 3967 3952 3982 0 0 0 0 0 0 14.35 14.23 14.39

650 -0.82 -145.9 2375 2199 3955 3982 83.8 -10.9 79 651 0.20 0.00 0.00 0.000 4230 0.121 0.000 2301 2198 3968 3954 3982 0 0 0 0 0 0 14.33 14.46 14.42

958 -0.82 -145.9 2298 2202 3954 3983 132.8 -15.0 96 964 0.00 2.45 0.00 0.000 260 0.000 0.087 2293 3595 3968 3954 3982 0 0 0 0 0 0 14.73 14.17 14.76

1024 -0.93 -145.9 2293 3596 3955 3983 141.3 -11.7 109 1028 0.00 2.35 0.00 0.000 1158 0.000 0.058 2295 2196 3968 3954 3982 0 0 0 0 0 0 14.43 14.31 14.47

1349 -0.96 -145.9 2293 2195 3955 3982 185.7 -13.3 124 1354 0.00 2.45 0.00 0.000 388 0.000 0.086 2284 3598 3967 3953 3982 0 0 0 0 0 0 14.76 14.26 14.77

1390 -1.08 -145.9 2284 3600 3955 3983 190.8 -11.9 132 1396 0.17 2.35 0.00 0.000 5254 0.103 0.058 2220 2201 3968 3954 3983 0 0 0 0 0 0 13.77 14.25 13.76

1711 -1.00 -145.9 2221 2200 3954 3983 249.8 -18.2 146 1716 0.12 2.42 0.00 0.000 2436 0.301 0.084 2239 3589 3968 3954 3982 0 0 0 0 0 0 14.00 14.25 14.18

1803 -1.05 -145.9 2240 3590 3954 3982 262.9 -13.1 164 1808 0.00 2.35 0.00 0.000 1158 0.000 0.057 2240 2194 3968 3954 3982 0 0 0 0 0 0 14.44 14.31 14.47

2133 -1.05 -145.9 2240 2192 3955 3982 308.8 -13.4 180 2139 0.00 2.42 0.00 0.000 260 0.000 0.088 2236 3594 3968 3954 3982 0 0 0 0 0 0 14.76 14.21 14.77

2205 -1.11 -145.9 2236 3594 3955 3982 317.9 -12.2 194 2209 0.00 2.35 0.00 0.000 1158 0.000 0.056 2236 2191 3968 3954 3982 0 0 0 0 0 0 14.44 14.31 14.47

2524 -1.11 -145.9 2236 2191 3954 3982 358.1 -12.3 208 2530 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3589 3967 3954 3981 0 0 0 0 0 0 14.75 14.23 14.77

2615 -1.21 -145.9 2236 3590 3954 3982 368.3 -10.6 226 2620 0.15 2.35 0.00 0.000 5254 0.130 0.055 2174 2190 3967 3953 3981 0 0 0 0 0 0 14.33 14.31 14.46

2946 -1.10 -145.9 2177 2190 3954 3981 424.8 -17.4 242 2951 0.17 2.45 0.00 0.000 2436 0.303 0.083 2206 3594 3966 3953 3980 0 0 0 0 0 0 13.80 14.21 14.04

3086 -1.12 -145.9 2206 3596 3954 3982 444.1 -12.9 270 3091 0.00 2.35 0.00 0.000 1158 0.000 0.055 2205 2199 3966 3953 3980 0 0 0 0 0 0 14.38 14.27 14.38

3363 end dive: TARGET_DEPTH_EXCEEDED

state 3363 begin apogee

3369 -0.13 0.0 2205 2067 3954 3980 483.3 -14.0 281 3590 1.27 0.00 217.07 1.443 10246 0.246 0.000 2528 2066 3364 3389 3340 0 0 0 0 0 0 13.93 13.52 12.69

3593 end apogee: CONTROL_FINISHED_OK

state 3593 begin climb

3596 0.57 145.9 2529 2066 3385 3335 494.6 0.0 288 3989 0.75 1.90 209.40 1.385 10756 0.063 0.079 2791 733 2759 2802 2716 0 0 0 0 0 0 13.64 13.12 12.31

3994 0.57 145.9 2791 734 2803 2716 479.9 3.9 291 3999 0.00 2.45 0.00 0.000 1030 0.000 0.075 2791 2087 2758 2802 2715 0 0 0 0 0 0 13.78 13.66 13.81

4309 0.13 145.9 2791 2089 2801 2713 431.1 15.4 304 4315 0.70 2.40 0.00 0.000 4740 0.308 0.075 2640 720 2755 2800 2711 0 0 0 0 0 0 13.70 14.08 13.95

4422 0.04 177.3 2641 719 2802 2712 420.5 8.6 326 4471 0.17 2.42 43.53 1.444 13478 0.265 0.079 2602 2102 2640 2691 2589 0 0 0 0 0 0 13.85 14.16 13.19

4791 0.04 217.1 2604 2102 2689 2575 390.6 8.2 350 4852 0.00 0.00 59.08 1.405 8358 0.000 0.000 2604 2102 2479 2542 2417 0 0 0 0 0 0 14.57 13.97 13.17

5151 0.06 249.8 2604 2102 2535 2403 359.9 8.5 362 5206 0.00 0.00 49.00 1.392 8742 0.000 0.000 2603 2103 2345 2406 2284 0 0 0 0 0 0 14.55 13.99 13.20

5513 0.13 287.2 2603 2103 2392 2277 329.6 8.3 384 5573 0.00 0.00 57.25 1.362 8358 0.000 0.000 2606 2099 2196 2250 2143 0 0 0 0 0 0 14.56 13.98 13.19

5871 0.22 326.0 2603 2104 2241 2127 300.0 8.2 396 5938 0.12 2.47 60.35 1.336 10916 0.130 0.085 2669 718 2030 2082 1979 0 0 0 0 0 0 14.30 13.78 13.20

5974 0.25 326.0 2668 719 2075 1978 287.9 12.1 416 5979 0.00 2.45 0.00 0.000 1158 0.000 0.079 2671 2106 2026 2074 1978 0 0 0 0 0 0 14.14 14.02 14.18

6294 0.25 326.0 2670 2108 2074 1971 250.5 11.1 430 6299 0.00 2.42 0.00 0.000 516 0.000 0.086 2669 726 2021 2073 1970 0 0 0 0 0 0 14.58 14.21 14.60

6344 0.29 326.0 2670 727 2072 1971 245.2 10.2 440 6349 0.00 2.40 0.00 0.000 1158 0.000 0.079 2669 2103 2020 2070 1970 0 0 0 0 0 0 14.33 14.20 14.39

6654 0.29 326.1 2670 2105 2076 1969 213.2 10.0 452 6659 0.00 2.40 0.00 0.000 548 0.000 0.086 2670 727 2020 2071 1969 0 0 0 0 0 0 14.64 14.25 14.65

6709 0.36 345.3 2670 728 2069 1970 208.0 9.1 463 6746 0.00 2.40 27.83 1.395 9382 0.000 0.080 2669 2113 1953 2002 1905 0 0 0 0 0 0 14.35 14.22 13.32

7046 0.41 369.6 2670 2111 1998 1899 177.2 8.9 480 7089 0.12 0.00 40.45 1.332 10918 0.134 0.000 2731 2111 1858 1894 1823 0 0 0 0 0 0 14.32 14.08 13.28

7375 0.35 369.6 2731 2112 1885 1815 137.4 12.0 496 7380 0.12 2.42 0.00 0.000 4740 0.249 0.081 2709 720 1849 1884 1814 0 0 0 0 0 0 14.04 14.16 14.17

7482 0.40 381.7 2710 720 1882 1814 126.8 9.4 517 7501 0.00 2.40 13.85 1.447 9382 0.000 0.078 2710 2100 1806 1837 1775 0 0 0 0 0 0 14.33 14.19 13.31

7818 0.41 405.1 2714 2100 1830 1766 95.1 8.9 538 7832 0.00 0.00 12.40 0.491 8230 0.000 0.000 2710 2100 1712 1742 1682 0 0 0 0 0 0 14.45 14.05 13.59

8128 0.49 447.3 2710 2100 1743 1681 68.6 8.1 569 8155 0.00 2.50 22.85 0.408 8868 0.000 0.085 2709 727 1543 1582 1505 0 0 0 0 0 0 14.47 13.98 13.65

8242 0.68 513.6 2710 728 1573 1506 60.1 6.9 591 8284 0.28 2.42 35.12 0.380 11430 0.086 0.078 2803 2103 1269 1323 1215 0 0 0 0 0 0 14.13 13.96 13.64

8580 0.72 561.0 2808 2106 1325 1202 26.4 7.8 629 8612 0.00 2.45 24.92 0.293 8740 0.000 0.086 2806 727 1074 1141 1007 0 0 0 0 0 0 14.45 14.02 13.76

8699 0.85 632.1 2808 727 1142 1007 18.6 6.7 652 8741 0.15 2.42 37.78 0.263 11430 0.116 0.077 2870 2101 788 853 723 0 0 0 0 0 0 14.08 13.98 13.79

8856 end climb: SURFACE_DEPTH_REACHED

state 8856 begin surface coast

8864 end surface coast: CONTROL_FINISHED_OK

state 8864 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	226	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	637.0
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	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,053625,7437.2393,-15302.6719,17,0.8,20,19.7,0.4,63.6,11,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	12.4,132250,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	020917,054903,7437.2534,-15302.6055,7,0.9,20,19.7,0.0,76.0,10,9.3

FINISH	0.7,1.021383	_24V_AH	12.31,151.374
SM_CCo	8885,38.85,0.210,0,0,500,702.78	_10V_AH	12.16,0.000
SM_GC	1.15,8.32,0.17,38.85,0.078,0.122,0.210,196,2214,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.18,14.14,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	57	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323748
IRIDIUM_FIX	7437.21,-15304.34,020917,054009	DATA_FILE_SIZE	23361,673
TT8_MAMPS	0.092876,0.929509	CAP_FILE_SIZE	96033,0
HUMID	44.05	CFSIZE	2097872896,2018902016
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	1445.6
XPDR_PINGS	22	CURRENT	0.054,275.47,1
CP_FREE	15975645184.000000	GPS	020917,081932,7438.231,-15300.224,26,0.8,26,19.7,0.0,0.0,10,9.5
PM_FREEKB_00	51258304

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.78	nil	0	0	0.00
Roll_motor	72	2145	1914.41	nil	0	0	0.00
VBD_pump_during_apogee	910	1447	16229.29	nil	0	0	0.00
VBD_pump_during_surface	38	209	100.24	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	5297	14	953.51
Iridium_during_xfer	464	158	904.64	NCP	8861	20	2181.58
Transponder_ping	5	420	28.44	PMAR	8838	9	1074.14
GUMSTIX_24V	0	0	0.00
GPS	21	22	5.79
TT8	0	0	0.00
LPSleep	6329	2	177.79
TT8_Active	855	13	145.36
TT8_Sampling	2234	33	908.61
TT8_CF8	280	38	131.75
TT8_Kalman	0	0	0.00
Analog_circuits	2279	10	277.13
GPS_charging	0	0	0.00
Compass	964	7	82.10
RAFOS	2218	48	1294.60
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	194	2228	496	486	0.0	0.0	0	142	0.00	0.00	-91.35	0.000	16386	0.000	0.000	193	2227	2119	2045	2193	0	0	0	0	0	0	14.55	28.83	14.56
145	-0.57	-145.9	192	2228	2048	2194	3.1	-3.6	9	203	12.73	2.72	-38.25	0.000	18724	0.457	2.145	2376	3589	3964	3947	3982	0	0	0	0	0	0	13.64	12.55	14.16
338	-0.72	-145.9	2376	3590	3954	3982	42.4	-13.3	47	343	0.00	2.35	0.00	0.000	1158	0.000	0.059	2375	2199	3967	3952	3982	0	0	0	0	0	0	14.35	14.23	14.39
650	-0.82	-145.9	2375	2199	3955	3982	83.8	-10.9	79	651	0.20	0.00	0.00	0.000	4230	0.121	0.000	2301	2198	3968	3954	3982	0	0	0	0	0	0	14.33	14.46	14.42
958	-0.82	-145.9	2298	2202	3954	3983	132.8	-15.0	96	964	0.00	2.45	0.00	0.000	260	0.000	0.087	2293	3595	3968	3954	3982	0	0	0	0	0	0	14.73	14.17	14.76
1024	-0.93	-145.9	2293	3596	3955	3983	141.3	-11.7	109	1028	0.00	2.35	0.00	0.000	1158	0.000	0.058	2295	2196	3968	3954	3982	0	0	0	0	0	0	14.43	14.31	14.47
1349	-0.96	-145.9	2293	2195	3955	3982	185.7	-13.3	124	1354	0.00	2.45	0.00	0.000	388	0.000	0.086	2284	3598	3967	3953	3982	0	0	0	0	0	0	14.76	14.26	14.77
1390	-1.08	-145.9	2284	3600	3955	3983	190.8	-11.9	132	1396	0.17	2.35	0.00	0.000	5254	0.103	0.058	2220	2201	3968	3954	3983	0	0	0	0	0	0	13.77	14.25	13.76
1711	-1.00	-145.9	2221	2200	3954	3983	249.8	-18.2	146	1716	0.12	2.42	0.00	0.000	2436	0.301	0.084	2239	3589	3968	3954	3982	0	0	0	0	0	0	14.00	14.25	14.18
1803	-1.05	-145.9	2240	3590	3954	3982	262.9	-13.1	164	1808	0.00	2.35	0.00	0.000	1158	0.000	0.057	2240	2194	3968	3954	3982	0	0	0	0	0	0	14.44	14.31	14.47
2133	-1.05	-145.9	2240	2192	3955	3982	308.8	-13.4	180	2139	0.00	2.42	0.00	0.000	260	0.000	0.088	2236	3594	3968	3954	3982	0	0	0	0	0	0	14.76	14.21	14.77
2205	-1.11	-145.9	2236	3594	3955	3982	317.9	-12.2	194	2209	0.00	2.35	0.00	0.000	1158	0.000	0.056	2236	2191	3968	3954	3982	0	0	0	0	0	0	14.44	14.31	14.47
2524	-1.11	-145.9	2236	2191	3954	3982	358.1	-12.3	208	2530	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3589	3967	3954	3981	0	0	0	0	0	0	14.75	14.23	14.77
2615	-1.21	-145.9	2236	3590	3954	3982	368.3	-10.6	226	2620	0.15	2.35	0.00	0.000	5254	0.130	0.055	2174	2190	3967	3953	3981	0	0	0	0	0	0	14.33	14.31	14.46
2946	-1.10	-145.9	2177	2190	3954	3981	424.8	-17.4	242	2951	0.17	2.45	0.00	0.000	2436	0.303	0.083	2206	3594	3966	3953	3980	0	0	0	0	0	0	13.80	14.21	14.04
3086	-1.12	-145.9	2206	3596	3954	3982	444.1	-12.9	270	3091	0.00	2.35	0.00	0.000	1158	0.000	0.055	2205	2199	3966	3953	3980	0	0	0	0	0	0	14.38	14.27	14.38
3363	end dive: TARGET_DEPTH_EXCEEDED
state	3363	begin apogee
3369	-0.13	0.0	2205	2067	3954	3980	483.3	-14.0	281	3590	1.27	0.00	217.07	1.443	10246	0.246	0.000	2528	2066	3364	3389	3340	0	0	0	0	0	0	13.93	13.52	12.69
3593	end apogee: CONTROL_FINISHED_OK
state	3593	begin climb
3596	0.57	145.9	2529	2066	3385	3335	494.6	0.0	288	3989	0.75	1.90	209.40	1.385	10756	0.063	0.079	2791	733	2759	2802	2716	0	0	0	0	0	0	13.64	13.12	12.31
3994	0.57	145.9	2791	734	2803	2716	479.9	3.9	291	3999	0.00	2.45	0.00	0.000	1030	0.000	0.075	2791	2087	2758	2802	2715	0	0	0	0	0	0	13.78	13.66	13.81
4309	0.13	145.9	2791	2089	2801	2713	431.1	15.4	304	4315	0.70	2.40	0.00	0.000	4740	0.308	0.075	2640	720	2755	2800	2711	0	0	0	0	0	0	13.70	14.08	13.95
4422	0.04	177.3	2641	719	2802	2712	420.5	8.6	326	4471	0.17	2.42	43.53	1.444	13478	0.265	0.079	2602	2102	2640	2691	2589	0	0	0	0	0	0	13.85	14.16	13.19
4791	0.04	217.1	2604	2102	2689	2575	390.6	8.2	350	4852	0.00	0.00	59.08	1.405	8358	0.000	0.000	2604	2102	2479	2542	2417	0	0	0	0	0	0	14.57	13.97	13.17
5151	0.06	249.8	2604	2102	2535	2403	359.9	8.5	362	5206	0.00	0.00	49.00	1.392	8742	0.000	0.000	2603	2103	2345	2406	2284	0	0	0	0	0	0	14.55	13.99	13.20
5513	0.13	287.2	2603	2103	2392	2277	329.6	8.3	384	5573	0.00	0.00	57.25	1.362	8358	0.000	0.000	2606	2099	2196	2250	2143	0	0	0	0	0	0	14.56	13.98	13.19
5871	0.22	326.0	2603	2104	2241	2127	300.0	8.2	396	5938	0.12	2.47	60.35	1.336	10916	0.130	0.085	2669	718	2030	2082	1979	0	0	0	0	0	0	14.30	13.78	13.20
5974	0.25	326.0	2668	719	2075	1978	287.9	12.1	416	5979	0.00	2.45	0.00	0.000	1158	0.000	0.079	2671	2106	2026	2074	1978	0	0	0	0	0	0	14.14	14.02	14.18
6294	0.25	326.0	2670	2108	2074	1971	250.5	11.1	430	6299	0.00	2.42	0.00	0.000	516	0.000	0.086	2669	726	2021	2073	1970	0	0	0	0	0	0	14.58	14.21	14.60
6344	0.29	326.0	2670	727	2072	1971	245.2	10.2	440	6349	0.00	2.40	0.00	0.000	1158	0.000	0.079	2669	2103	2020	2070	1970	0	0	0	0	0	0	14.33	14.20	14.39
6654	0.29	326.1	2670	2105	2076	1969	213.2	10.0	452	6659	0.00	2.40	0.00	0.000	548	0.000	0.086	2670	727	2020	2071	1969	0	0	0	0	0	0	14.64	14.25	14.65
6709	0.36	345.3	2670	728	2069	1970	208.0	9.1	463	6746	0.00	2.40	27.83	1.395	9382	0.000	0.080	2669	2113	1953	2002	1905	0	0	0	0	0	0	14.35	14.22	13.32
7046	0.41	369.6	2670	2111	1998	1899	177.2	8.9	480	7089	0.12	0.00	40.45	1.332	10918	0.134	0.000	2731	2111	1858	1894	1823	0	0	0	0	0	0	14.32	14.08	13.28
7375	0.35	369.6	2731	2112	1885	1815	137.4	12.0	496	7380	0.12	2.42	0.00	0.000	4740	0.249	0.081	2709	720	1849	1884	1814	0	0	0	0	0	0	14.04	14.16	14.17
7482	0.40	381.7	2710	720	1882	1814	126.8	9.4	517	7501	0.00	2.40	13.85	1.447	9382	0.000	0.078	2710	2100	1806	1837	1775	0	0	0	0	0	0	14.33	14.19	13.31
7818	0.41	405.1	2714	2100	1830	1766	95.1	8.9	538	7832	0.00	0.00	12.40	0.491	8230	0.000	0.000	2710	2100	1712	1742	1682	0	0	0	0	0	0	14.45	14.05	13.59
8128	0.49	447.3	2710	2100	1743	1681	68.6	8.1	569	8155	0.00	2.50	22.85	0.408	8868	0.000	0.085	2709	727	1543	1582	1505	0	0	0	0	0	0	14.47	13.98	13.65
8242	0.68	513.6	2710	728	1573	1506	60.1	6.9	591	8284	0.28	2.42	35.12	0.380	11430	0.086	0.078	2803	2103	1269	1323	1215	0	0	0	0	0	0	14.13	13.96	13.64
8580	0.72	561.0	2808	2106	1325	1202	26.4	7.8	629	8612	0.00	2.45	24.92	0.293	8740	0.000	0.086	2806	727	1074	1141	1007	0	0	0	0	0	0	14.45	14.02	13.76
8699	0.85	632.1	2808	727	1142	1007	18.6	6.7	652	8741	0.15	2.42	37.78	0.263	11430	0.116	0.077	2870	2101	788	853	723	0	0	0	0	0	0	14.08	13.98	13.79
8856	end climb: SURFACE_DEPTH_REACHED
state	8856	begin surface coast
8864	end surface coast: CONTROL_FINISHED_OK
state	8864	begin surface