Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 232 * 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 232 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 654.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 654.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 26 VBD_MIN 500

DIVE 232 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 020917,221233,7442.8398,-15248.4443,18,0.7,24,19.8,0.0,0.0,10,9.8 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 1.22 MHEAD_RNG_PITCHd_Wd 15.4,120333,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 020917,222903,7442.7871,-15248.5635,6,0.7,9,19.8,0.0,75.3,12,9.7

Post-dive calculations and measurements:

FINISH 0.5,1.021442 _24V_AH 12.31,154.150

SM_CCo 9124,30.20,0.210,0,0,498,702.78 _10V_AH 12.27,0.000

SM_GC 1.41,8.18,2.28,30.20,0.080,0.050,0.210,205,2184,498,-7.37,0.54,702.78,0,0,0,0,0,0,14.30,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 172 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323548

IRIDIUM_FIX 7440.53,-15249.72,020917,193807 DATA_FILE_SIZE 26710,779

TT8_MAMPS 0.038948,0.897302 CAP_FILE_SIZE 106151,0

HUMID 45.47 CFSIZE 2097872896,2017427456

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.3

XPDR_PINGS 12 CURRENT 0.082,268.99,1

CP_FREE 15973285888.000000 GPS 030917,010333,7443.661,-15246.438,32,0.8,33,19.8,0.0,0.0,10,7.7

PM_FREEKB_00 51085120

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.08 nil 0 0 0.00

Roll_motor 88 2140 2333.88 nil 0 0 0.00

VBD_pump_during_apogee 950 1653 19346.97 nil 0 0 0.00

VBD_pump_during_surface 30 210 78.21 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 9135 14 1607.16

Iridium_during_xfer 661 185 1512.61 NCP 9105 20 2241.65

Transponder_ping 3 420 15.51 PMAR 9074 9 1106.62

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.47

TT8 0 0 0.00

LPSleep 6541 2 185.42

TT8_Active 1013 13 173.65

TT8_Sampling 2287 33 938.40

TT8_CF8 322 38 152.90

TT8_Kalman 0 0 0.00

Analog_circuits 2398 10 294.35

GPS_charging 0 0 0.00

Compass 1116 7 95.87

RAFOS 2149 48 1265.68

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 2217 480 495 0.0 0.0 0 152 0.00 0.00 -100.88 0.000 16386 0.000 0.000 195 2221 2337 2282 2393 0 0 0 0 0 0 14.47 28.83 14.50

155 -0.57 -145.9 196 2218 2285 2393 4.2 -6.1 10 208 12.77 2.78 -30.50 0.000 18724 0.454 2.140 2375 3585 3963 3944 3983 0 0 0 0 0 0 13.54 12.61 14.00

328 -0.72 -145.9 2377 3588 3951 3982 42.2 -13.0 44 333 0.00 2.40 0.00 0.000 1158 0.000 0.059 2375 2196 3966 3950 3982 0 0 0 0 0 0 14.19 14.09 14.23

639 -0.83 -145.9 2376 2195 3952 3982 81.7 -10.7 76 640 0.20 0.00 0.00 0.000 4230 0.107 0.000 2298 2195 3966 3951 3981 0 0 0 0 0 0 14.15 14.26 14.24

938 -0.83 -145.9 2298 2195 3951 3982 128.3 -14.8 94 943 0.00 2.47 0.00 0.000 260 0.000 0.086 2293 3600 3965 3951 3980 0 0 0 0 0 0 14.61 14.11 14.62

1048 -0.94 -145.9 2294 3601 3952 3982 142.1 -11.8 116 1053 0.00 2.40 0.00 0.000 1158 0.000 0.059 2292 2190 3966 3951 3982 0 0 0 0 0 0 14.19 14.17 14.23

1359 -0.98 -145.9 2293 2190 3952 3978 184.0 -13.3 128 1363 0.00 2.47 0.00 0.000 388 0.000 0.085 2283 3601 3966 3950 3982 0 0 0 0 0 0 14.65 14.14 14.65

1389 -1.04 -145.9 2284 3604 3952 3983 187.9 -12.5 134 1394 0.12 2.38 0.00 0.000 5254 0.126 0.058 2237 2201 3966 3951 3982 0 0 0 0 0 0 14.23 14.21 14.34

1720 -0.99 -145.9 2238 2200 3952 3982 244.1 -17.0 150 1725 0.00 2.47 0.00 0.000 388 0.000 0.089 2235 3606 3966 3951 3982 0 0 0 0 0 0 14.67 14.19 14.66

1846 -1.03 -145.9 2236 3607 3952 3982 262.7 -14.1 175 1851 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2191 3966 3951 3982 0 0 0 0 0 0 14.36 14.23 14.40

2171 -1.03 -145.9 2236 2190 3952 3982 308.1 -13.4 190 2176 0.00 2.47 0.00 0.000 260 0.000 0.089 2235 3600 3966 3951 3982 0 0 0 0 0 0 14.66 14.19 14.69

2231 -1.09 -145.9 2236 3601 3951 3983 315.7 -11.9 202 2236 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2189 3966 3951 3982 0 0 0 0 0 0 14.38 14.26 14.40

2561 -1.09 -145.9 2236 2188 3953 3982 356.8 -12.3 218 2566 0.00 2.47 0.00 0.000 260 0.000 0.088 2235 3599 3968 3954 3982 0 0 0 0 0 0 14.69 14.19 14.70

2661 -1.18 -145.9 2236 3600 3952 3981 367.8 -10.4 238 2666 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2198 3966 3951 3981 0 0 0 0 0 0 14.38 14.26 14.42

2981 -1.20 -145.9 2236 2198 3951 3982 404.9 -11.5 252 2986 0.12 2.45 0.00 0.000 4484 0.149 0.084 2172 3600 3965 3950 3981 0 0 0 0 0 0 14.31 14.18 14.33

3032 -1.12 -145.9 2172 3600 3948 3981 412.6 -16.2 262 3037 0.20 2.38 0.00 0.000 3206 0.271 0.057 2213 2196 3965 3949 3981 0 0 0 0 0 0 13.88 14.23 14.20

3342 -1.12 -145.9 2214 2197 3950 3981 454.2 -13.1 274 3347 0.00 2.42 0.00 0.000 260 0.000 0.086 2209 3599 3964 3948 3981 0 0 0 0 0 0 14.66 14.07 14.68

3427 -1.16 -145.9 2210 3600 3950 3982 465.1 -12.5 291 3433 0.00 2.40 0.00 0.000 1158 0.000 0.057 2209 2191 3964 3948 3981 0 0 0 0 0 0 14.31 14.19 14.35

3550 end dive: TARGET_DEPTH_EXCEEDED

state 3550 begin apogee

3556 -0.13 0.0 2210 2061 3950 3982 482.0 -13.5 296 3774 1.27 0.00 215.65 1.424 10246 0.240 0.000 2530 2060 3365 3382 3349 0 0 0 0 0 0 13.85 13.51 12.69

3778 end apogee: CONTROL_FINISHED_OK

state 3778 begin climb

3781 0.57 145.9 2531 2061 3377 3341 493.0 0.0 303 3997 0.75 2.53 205.60 1.372 10756 0.063 0.077 2791 725 2764 2805 2724 0 0 0 0 0 0 13.64 12.92 12.31

4207 0.18 145.9 2790 725 2795 2721 470.3 15.2 382 4212 0.70 2.45 0.00 0.000 5254 0.321 0.075 2647 2091 2756 2794 2718 0 0 0 0 0 0 13.33 13.63 13.70

4533 0.03 156.8 2648 2091 2795 2713 438.4 9.5 397 4545 0.22 0.00 11.05 1.654 12454 0.260 0.000 2595 2092 2726 2768 2685 0 0 0 0 0 0 13.88 14.09 13.14

4833 0.04 215.9 2596 2092 2763 2678 416.4 7.3 407 4929 0.00 2.50 90.00 1.385 8868 0.000 0.083 2605 724 2480 2534 2426 0 0 0 0 0 0 14.59 13.88 13.07

4960 0.11 245.9 2603 725 2532 2425 406.3 8.6 417 5009 0.00 2.45 44.38 1.401 9382 0.000 0.078 2602 2103 2360 2413 2308 0 0 0 0 0 0 14.06 13.95 12.99

5317 0.17 270.7 2603 2103 2404 2294 374.5 8.9 438 5353 0.00 0.00 33.92 1.432 8358 0.000 0.000 2602 2098 2264 2317 2211 0 0 0 0 0 0 14.49 14.02 13.19

5647 0.24 304.7 2602 2103 2310 2200 346.2 8.4 449 5706 0.15 2.45 52.95 1.365 10916 0.115 0.085 2681 731 2119 2165 2073 0 0 0 0 0 0 14.20 13.75 13.19

5751 0.21 304.7 2681 731 2158 2072 332.3 13.7 470 5757 0.15 2.42 0.00 0.000 5254 0.239 0.078 2651 2103 2112 2157 2068 0 0 0 0 0 0 13.84 13.99 14.07

6067 0.21 304.7 2652 2104 2158 2062 295.9 11.3 483 6071 0.00 2.42 0.00 0.000 516 0.000 0.085 2656 730 2110 2157 2063 0 0 0 0 0 0 14.45 14.12 14.47

6122 0.23 304.7 2656 731 2157 2063 289.7 11.1 494 6128 0.00 2.40 0.00 0.000 1158 0.000 0.078 2655 2103 2109 2156 2062 0 0 0 0 0 0 14.22 14.09 14.26

6427 0.23 304.7 2656 2106 2155 2062 256.0 10.7 505 6432 0.00 2.47 0.00 0.000 260 0.000 0.084 2656 3511 2108 2156 2061 0 0 0 0 0 0 14.50 14.12 14.51

6458 0.21 304.7 2655 3512 2155 2062 252.4 12.2 511 6462 0.00 2.35 0.00 0.000 1158 0.000 0.063 2659 2136 2107 2154 2061 0 0 0 0 0 0 14.14 14.03 14.18

6788 0.22 324.7 2660 2136 2154 2060 220.1 9.1 527 6824 0.00 2.58 29.45 1.396 8740 0.000 0.090 2660 688 2036 2081 1992 0 0 0 0 0 0 14.49 14.04 13.29

6934 0.33 363.5 2660 689 2075 1993 207.9 8.2 556 7006 0.00 2.50 64.50 1.285 9382 0.000 0.080 2661 2103 1881 1915 1848 0 0 0 0 0 0 14.17 14.05 13.14

7331 0.43 401.9 2660 2105 1907 1837 174.7 8.2 585 7401 0.17 2.55 64.97 1.249 10916 0.110 0.086 2740 689 1728 1757 1699 0 0 0 0 0 0 14.16 13.71 13.18

7436 0.43 401.9 2741 690 1742 1699 161.4 13.3 596 7441 0.00 2.53 0.00 0.000 1030 0.000 0.079 2741 2103 1719 1741 1698 0 0 0 0 0 0 14.05 13.95 14.09

7752 0.39 401.9 2741 2106 1741 1690 120.5 12.6 609 7758 0.12 2.45 0.00 0.000 4740 0.239 0.084 2713 695 1715 1741 1689 0 0 0 0 0 0 13.94 14.03 14.05

7815 0.48 415.9 2713 696 1739 1690 114.3 9.4 621 7835 0.00 2.47 15.30 1.402 9382 0.000 0.077 2719 2105 1669 1699 1640 0 0 0 0 0 0 14.20 14.07 13.28

8135 0.54 436.2 2713 2106 1695 1627 84.1 9.1 648 8147 0.12 0.00 10.68 0.455 10406 0.129 0.000 2771 2101 1583 1617 1550 0 0 0 0 0 0 14.17 14.15 13.67

8445 0.53 467.8 2778 2106 1616 1550 49.4 8.5 679 8467 0.00 2.50 16.73 0.350 8868 0.000 0.085 2780 686 1456 1493 1420 0 0 0 0 0 0 14.57 14.01 13.75

8598 0.62 526.1 2780 686 1493 1420 37.2 7.3 709 8635 0.00 2.47 31.10 0.313 9382 0.000 0.080 2780 2101 1219 1272 1166 0 0 0 0 0 0 14.19 14.06 13.81

8940 0.78 648.8 2781 2101 1272 1156 15.3 4.3 747 9014 0.12 2.55 63.97 0.252 10660 0.133 0.083 2844 3513 716 772 661 0 0 0 0 0 0 14.19 14.07 13.80

9092 end climb: SURFACE_DEPTH_REACHED

state 9092 begin surface coast

9102 end surface coast: CONTROL_FINISHED_OK

state 9102 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	232	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	654.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	020917,221233,7442.8398,-15248.4443,18,0.7,24,19.8,0.0,0.0,10,9.8	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	1.22	MHEAD_RNG_PITCHd_Wd	15.4,120333,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	020917,222903,7442.7871,-15248.5635,6,0.7,9,19.8,0.0,75.3,12,9.7

FINISH	0.5,1.021442	_24V_AH	12.31,154.150
SM_CCo	9124,30.20,0.210,0,0,498,702.78	_10V_AH	12.27,0.000
SM_GC	1.41,8.18,2.28,30.20,0.080,0.050,0.210,205,2184,498,-7.37,0.54,702.78,0,0,0,0,0,0,14.30,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	172	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323548
IRIDIUM_FIX	7440.53,-15249.72,020917,193807	DATA_FILE_SIZE	26710,779
TT8_MAMPS	0.038948,0.897302	CAP_FILE_SIZE	106151,0
HUMID	45.47	CFSIZE	2097872896,2017427456
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.3
XPDR_PINGS	12	CURRENT	0.082,268.99,1
CP_FREE	15973285888.000000	GPS	030917,010333,7443.661,-15246.438,32,0.8,33,19.8,0.0,0.0,10,7.7
PM_FREEKB_00	51085120

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.08	nil	0	0	0.00
Roll_motor	88	2140	2333.88	nil	0	0	0.00
VBD_pump_during_apogee	950	1653	19346.97	nil	0	0	0.00
VBD_pump_during_surface	30	210	78.21	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	9135	14	1607.16
Iridium_during_xfer	661	185	1512.61	NCP	9105	20	2241.65
Transponder_ping	3	420	15.51	PMAR	9074	9	1106.62
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.47
TT8	0	0	0.00
LPSleep	6541	2	185.42
TT8_Active	1013	13	173.65
TT8_Sampling	2287	33	938.40
TT8_CF8	322	38	152.90
TT8_Kalman	0	0	0.00
Analog_circuits	2398	10	294.35
GPS_charging	0	0	0.00
Compass	1116	7	95.87
RAFOS	2149	48	1265.68
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	2217	480	495	0.0	0.0	0	152	0.00	0.00	-100.88	0.000	16386	0.000	0.000	195	2221	2337	2282	2393	0	0	0	0	0	0	14.47	28.83	14.50
155	-0.57	-145.9	196	2218	2285	2393	4.2	-6.1	10	208	12.77	2.78	-30.50	0.000	18724	0.454	2.140	2375	3585	3963	3944	3983	0	0	0	0	0	0	13.54	12.61	14.00
328	-0.72	-145.9	2377	3588	3951	3982	42.2	-13.0	44	333	0.00	2.40	0.00	0.000	1158	0.000	0.059	2375	2196	3966	3950	3982	0	0	0	0	0	0	14.19	14.09	14.23
639	-0.83	-145.9	2376	2195	3952	3982	81.7	-10.7	76	640	0.20	0.00	0.00	0.000	4230	0.107	0.000	2298	2195	3966	3951	3981	0	0	0	0	0	0	14.15	14.26	14.24
938	-0.83	-145.9	2298	2195	3951	3982	128.3	-14.8	94	943	0.00	2.47	0.00	0.000	260	0.000	0.086	2293	3600	3965	3951	3980	0	0	0	0	0	0	14.61	14.11	14.62
1048	-0.94	-145.9	2294	3601	3952	3982	142.1	-11.8	116	1053	0.00	2.40	0.00	0.000	1158	0.000	0.059	2292	2190	3966	3951	3982	0	0	0	0	0	0	14.19	14.17	14.23
1359	-0.98	-145.9	2293	2190	3952	3978	184.0	-13.3	128	1363	0.00	2.47	0.00	0.000	388	0.000	0.085	2283	3601	3966	3950	3982	0	0	0	0	0	0	14.65	14.14	14.65
1389	-1.04	-145.9	2284	3604	3952	3983	187.9	-12.5	134	1394	0.12	2.38	0.00	0.000	5254	0.126	0.058	2237	2201	3966	3951	3982	0	0	0	0	0	0	14.23	14.21	14.34
1720	-0.99	-145.9	2238	2200	3952	3982	244.1	-17.0	150	1725	0.00	2.47	0.00	0.000	388	0.000	0.089	2235	3606	3966	3951	3982	0	0	0	0	0	0	14.67	14.19	14.66
1846	-1.03	-145.9	2236	3607	3952	3982	262.7	-14.1	175	1851	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2191	3966	3951	3982	0	0	0	0	0	0	14.36	14.23	14.40
2171	-1.03	-145.9	2236	2190	3952	3982	308.1	-13.4	190	2176	0.00	2.47	0.00	0.000	260	0.000	0.089	2235	3600	3966	3951	3982	0	0	0	0	0	0	14.66	14.19	14.69
2231	-1.09	-145.9	2236	3601	3951	3983	315.7	-11.9	202	2236	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2189	3966	3951	3982	0	0	0	0	0	0	14.38	14.26	14.40
2561	-1.09	-145.9	2236	2188	3953	3982	356.8	-12.3	218	2566	0.00	2.47	0.00	0.000	260	0.000	0.088	2235	3599	3968	3954	3982	0	0	0	0	0	0	14.69	14.19	14.70
2661	-1.18	-145.9	2236	3600	3952	3981	367.8	-10.4	238	2666	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2198	3966	3951	3981	0	0	0	0	0	0	14.38	14.26	14.42
2981	-1.20	-145.9	2236	2198	3951	3982	404.9	-11.5	252	2986	0.12	2.45	0.00	0.000	4484	0.149	0.084	2172	3600	3965	3950	3981	0	0	0	0	0	0	14.31	14.18	14.33
3032	-1.12	-145.9	2172	3600	3948	3981	412.6	-16.2	262	3037	0.20	2.38	0.00	0.000	3206	0.271	0.057	2213	2196	3965	3949	3981	0	0	0	0	0	0	13.88	14.23	14.20
3342	-1.12	-145.9	2214	2197	3950	3981	454.2	-13.1	274	3347	0.00	2.42	0.00	0.000	260	0.000	0.086	2209	3599	3964	3948	3981	0	0	0	0	0	0	14.66	14.07	14.68
3427	-1.16	-145.9	2210	3600	3950	3982	465.1	-12.5	291	3433	0.00	2.40	0.00	0.000	1158	0.000	0.057	2209	2191	3964	3948	3981	0	0	0	0	0	0	14.31	14.19	14.35
3550	end dive: TARGET_DEPTH_EXCEEDED
state	3550	begin apogee
3556	-0.13	0.0	2210	2061	3950	3982	482.0	-13.5	296	3774	1.27	0.00	215.65	1.424	10246	0.240	0.000	2530	2060	3365	3382	3349	0	0	0	0	0	0	13.85	13.51	12.69
3778	end apogee: CONTROL_FINISHED_OK
state	3778	begin climb
3781	0.57	145.9	2531	2061	3377	3341	493.0	0.0	303	3997	0.75	2.53	205.60	1.372	10756	0.063	0.077	2791	725	2764	2805	2724	0	0	0	0	0	0	13.64	12.92	12.31
4207	0.18	145.9	2790	725	2795	2721	470.3	15.2	382	4212	0.70	2.45	0.00	0.000	5254	0.321	0.075	2647	2091	2756	2794	2718	0	0	0	0	0	0	13.33	13.63	13.70
4533	0.03	156.8	2648	2091	2795	2713	438.4	9.5	397	4545	0.22	0.00	11.05	1.654	12454	0.260	0.000	2595	2092	2726	2768	2685	0	0	0	0	0	0	13.88	14.09	13.14
4833	0.04	215.9	2596	2092	2763	2678	416.4	7.3	407	4929	0.00	2.50	90.00	1.385	8868	0.000	0.083	2605	724	2480	2534	2426	0	0	0	0	0	0	14.59	13.88	13.07
4960	0.11	245.9	2603	725	2532	2425	406.3	8.6	417	5009	0.00	2.45	44.38	1.401	9382	0.000	0.078	2602	2103	2360	2413	2308	0	0	0	0	0	0	14.06	13.95	12.99
5317	0.17	270.7	2603	2103	2404	2294	374.5	8.9	438	5353	0.00	0.00	33.92	1.432	8358	0.000	0.000	2602	2098	2264	2317	2211	0	0	0	0	0	0	14.49	14.02	13.19
5647	0.24	304.7	2602	2103	2310	2200	346.2	8.4	449	5706	0.15	2.45	52.95	1.365	10916	0.115	0.085	2681	731	2119	2165	2073	0	0	0	0	0	0	14.20	13.75	13.19
5751	0.21	304.7	2681	731	2158	2072	332.3	13.7	470	5757	0.15	2.42	0.00	0.000	5254	0.239	0.078	2651	2103	2112	2157	2068	0	0	0	0	0	0	13.84	13.99	14.07
6067	0.21	304.7	2652	2104	2158	2062	295.9	11.3	483	6071	0.00	2.42	0.00	0.000	516	0.000	0.085	2656	730	2110	2157	2063	0	0	0	0	0	0	14.45	14.12	14.47
6122	0.23	304.7	2656	731	2157	2063	289.7	11.1	494	6128	0.00	2.40	0.00	0.000	1158	0.000	0.078	2655	2103	2109	2156	2062	0	0	0	0	0	0	14.22	14.09	14.26
6427	0.23	304.7	2656	2106	2155	2062	256.0	10.7	505	6432	0.00	2.47	0.00	0.000	260	0.000	0.084	2656	3511	2108	2156	2061	0	0	0	0	0	0	14.50	14.12	14.51
6458	0.21	304.7	2655	3512	2155	2062	252.4	12.2	511	6462	0.00	2.35	0.00	0.000	1158	0.000	0.063	2659	2136	2107	2154	2061	0	0	0	0	0	0	14.14	14.03	14.18
6788	0.22	324.7	2660	2136	2154	2060	220.1	9.1	527	6824	0.00	2.58	29.45	1.396	8740	0.000	0.090	2660	688	2036	2081	1992	0	0	0	0	0	0	14.49	14.04	13.29
6934	0.33	363.5	2660	689	2075	1993	207.9	8.2	556	7006	0.00	2.50	64.50	1.285	9382	0.000	0.080	2661	2103	1881	1915	1848	0	0	0	0	0	0	14.17	14.05	13.14
7331	0.43	401.9	2660	2105	1907	1837	174.7	8.2	585	7401	0.17	2.55	64.97	1.249	10916	0.110	0.086	2740	689	1728	1757	1699	0	0	0	0	0	0	14.16	13.71	13.18
7436	0.43	401.9	2741	690	1742	1699	161.4	13.3	596	7441	0.00	2.53	0.00	0.000	1030	0.000	0.079	2741	2103	1719	1741	1698	0	0	0	0	0	0	14.05	13.95	14.09
7752	0.39	401.9	2741	2106	1741	1690	120.5	12.6	609	7758	0.12	2.45	0.00	0.000	4740	0.239	0.084	2713	695	1715	1741	1689	0	0	0	0	0	0	13.94	14.03	14.05
7815	0.48	415.9	2713	696	1739	1690	114.3	9.4	621	7835	0.00	2.47	15.30	1.402	9382	0.000	0.077	2719	2105	1669	1699	1640	0	0	0	0	0	0	14.20	14.07	13.28
8135	0.54	436.2	2713	2106	1695	1627	84.1	9.1	648	8147	0.12	0.00	10.68	0.455	10406	0.129	0.000	2771	2101	1583	1617	1550	0	0	0	0	0	0	14.17	14.15	13.67
8445	0.53	467.8	2778	2106	1616	1550	49.4	8.5	679	8467	0.00	2.50	16.73	0.350	8868	0.000	0.085	2780	686	1456	1493	1420	0	0	0	0	0	0	14.57	14.01	13.75
8598	0.62	526.1	2780	686	1493	1420	37.2	7.3	709	8635	0.00	2.47	31.10	0.313	9382	0.000	0.080	2780	2101	1219	1272	1166	0	0	0	0	0	0	14.19	14.06	13.81
8940	0.78	648.8	2781	2101	1272	1156	15.3	4.3	747	9014	0.12	2.55	63.97	0.252	10660	0.133	0.083	2844	3513	716	772	661	0	0	0	0	0	0	14.19	14.07	13.80
9092	end climb: SURFACE_DEPTH_REACHED
state	9092	begin surface coast
9102	end surface coast: CONTROL_FINISHED_OK
state	9102	begin surface