Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 254 * 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 254 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 713.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 37 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 713.0 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 30 VBD_MIN 500

DIVE 254 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 050917,110120,7459.8618,-15203.2539,38,0.8,38,20.2,0.0,0.0,10,7.4 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 1.23 MHEAD_RNG_PITCHd_Wd 9.2,83550,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 050917,111141,7459.8916,-15203.1807,8,0.9,11,20.2,0.0,0.0,9,8.9

Post-dive calculations and measurements:

FINISH 0.2,1.021484 _24V_AH 12.24,164.572

SM_CCo 8917,26.20,0.210,0,0,498,703.28 _10V_AH 12.12,0.000

SM_GC 1.45,8.15,0.17,26.20,0.074,0.124,0.210,201,2216,498,-7.37,-0.62,703.28,0,0,0,0,0,0,14.31,14.30,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 270 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323680

IRIDIUM_FIX 7500.94,-15200.54,050917,082417 DATA_FILE_SIZE 26702,743

TT8_MAMPS 0.038199,0.924266 CAP_FILE_SIZE 102881,0

HUMID 47.12 CFSIZE 2097872896,2011824128

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1446.8

XPDR_PINGS 18 CURRENT 0.048,313.80,1

CP_FREE 0.000000 GPS 050917,134232,7500.978,-15200.885,29,0.7,29,20.2,0.0,0.0,11,7.1

PM_FREEKB_00 50445632

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 145.75 nil 0 0 0.00

Roll_motor 84 2140 2211.88 nil 0 0 0.00

VBD_pump_during_apogee 972 1487 17699.07 nil 0 0 0.00

VBD_pump_during_surface 26 209 67.22 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 4863 15 903.92

Iridium_during_xfer 357 175 766.47 NCP 8889 20 2176.03

Transponder_ping 4 420 23.13 PMAR 8870 9 1074.72

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.44

TT8 0 0 0.00

LPSleep 6083 2 170.32

TT8_Active 866 13 146.75

TT8_Sampling 2329 33 944.31

TT8_CF8 298 38 140.13

TT8_Kalman 0 0 0.00

Analog_circuits 2264 10 274.49

GPS_charging 0 0 0.00

Compass 1063 7 90.22

RAFOS 2213 48 1287.43

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 197 2222 499 497 0.0 0.0 0 145 0.00 0.00 -91.93 0.000 16386 0.000 0.000 196 2222 2177 2113 2241 0 0 0 0 0 0 14.55 28.83 14.57

147 -0.57 -145.9 196 2223 2114 2243 3.6 -5.1 9 205 12.93 2.80 -35.80 0.000 18724 0.460 2.140 2377 3592 3961 3945 3977 0 0 0 0 0 0 13.62 12.59 14.14

355 -0.70 -145.9 2377 3594 3951 3977 43.2 -13.2 50 361 0.00 2.35 0.00 0.000 1158 0.000 0.059 2377 2207 3963 3950 3976 0 0 0 0 0 0 14.34 14.24 14.36

662 -0.82 -145.9 2377 2205 3952 3977 83.4 -10.7 81 663 0.20 0.00 0.00 0.000 4230 0.109 0.000 2298 2205 3964 3951 3977 0 0 0 0 0 0 14.27 14.38 14.35

980 -0.85 -145.9 2298 2205 3952 3977 131.7 -14.2 99 985 0.00 2.45 0.00 0.000 388 0.000 0.089 2292 3602 3963 3950 3976 0 0 0 0 0 0 14.71 14.22 14.74

1045 -0.98 -145.9 2293 3604 3952 3977 139.9 -11.6 112 1051 0.00 2.38 0.00 0.000 1158 0.000 0.059 2293 2198 3964 3951 3977 0 0 0 0 0 0 14.35 14.22 14.39

1371 -1.04 -145.9 2294 2196 3952 3977 182.1 -12.4 127 1376 0.12 2.45 0.00 0.000 4484 0.138 0.086 2236 3599 3963 3950 3977 0 0 0 0 0 0 14.39 14.23 14.42

1416 -1.04 -145.9 2237 3598 3952 3977 188.9 -15.3 136 1422 0.00 2.35 0.00 0.000 1030 0.000 0.059 2236 2199 3963 3951 3976 0 0 0 0 0 0 14.45 14.28 14.45

1732 -1.00 -145.9 2236 2199 3950 3978 240.8 -15.9 149 1737 0.00 2.45 0.00 0.000 388 0.000 0.090 2235 3595 3964 3951 3977 0 0 0 0 0 0 14.73 14.22 14.76

1842 -1.06 -145.9 2236 3595 3952 3977 256.1 -13.1 171 1847 0.00 2.38 0.00 0.000 1158 0.000 0.058 2236 2193 3964 3951 3977 0 0 0 0 0 0 14.40 14.25 14.43

2152 -1.06 -145.9 2236 2192 3952 3977 298.1 -13.1 183 2157 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3595 3964 3951 3977 0 0 0 0 0 0 14.74 14.22 14.77

2218 -1.15 -145.9 2236 3596 3952 3982 305.9 -11.2 196 2223 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2190 3964 3951 3977 0 0 0 0 0 0 14.40 14.30 14.43

2544 -1.17 -145.9 2236 2190 3951 3978 345.0 -11.9 211 2548 0.00 2.47 0.00 0.000 388 0.000 0.089 2236 3601 3964 3951 3977 0 0 0 0 0 0 14.76 14.21 14.77

2618 -1.28 -145.9 2236 3602 3951 3978 353.3 -10.4 226 2624 0.22 2.38 0.00 0.000 5254 0.105 0.057 2152 2191 3963 3950 3976 0 0 0 0 0 0 14.35 14.28 14.44

2936 -1.13 -145.9 2153 2188 3950 3977 413.7 -19.6 239 2941 0.25 2.50 0.00 0.000 2436 0.315 0.082 2197 3595 3962 3949 3976 0 0 0 0 0 0 13.69 14.04 13.92

3071 -1.13 -145.9 2197 3598 3950 3977 433.3 -13.0 266 3076 0.00 2.40 0.00 0.000 1030 0.000 0.057 2196 2196 3962 3949 3976 0 0 0 0 0 0 14.19 14.07 14.21

3386 -1.10 -145.9 2197 2201 3950 3977 477.6 -14.1 279 3391 0.00 2.50 0.00 0.000 388 0.000 0.085 2187 3596 3962 3949 3976 0 0 0 0 0 0 14.52 14.00 14.54

3404 end dive: TARGET_DEPTH_EXCEEDED

state 3404 begin apogee

3412 -0.13 0.0 2188 2099 3950 3976 480.6 -15.1 283 3647 1.38 0.00 228.02 1.433 10246 0.247 0.000 2526 2098 3356 3377 3336 0 0 0 0 0 0 13.78 13.19 12.58

3650 end apogee: CONTROL_FINISHED_OK

state 3650 begin climb

3653 0.57 145.9 2526 2099 3375 3334 494.3 0.0 291 4047 0.75 2.67 211.27 1.379 10500 0.062 0.073 2777 3490 2748 2782 2715 0 0 0 0 0 0 13.52 12.85 12.24

4274 0.11 145.9 2778 3491 2775 2716 443.3 15.7 338 4281 0.80 2.40 0.00 0.000 5254 0.344 0.058 2621 2099 2746 2778 2714 0 0 0 0 0 0 13.61 14.00 13.97

4580 0.02 192.2 2621 2099 2780 2714 417.9 7.9 349 4655 0.12 2.55 67.40 1.388 12708 0.292 0.081 2592 3493 2576 2627 2525 0 0 0 0 0 0 13.90 13.88 13.10

4755 0.00 208.7 2592 3493 2608 2518 403.2 9.2 384 4781 0.00 2.40 19.90 1.487 9382 0.000 0.059 2599 2105 2513 2563 2464 0 0 0 0 0 0 14.07 13.97 13.10

5093 0.03 245.2 2598 2100 2554 2448 375.1 8.3 401 5158 0.00 2.60 56.15 1.381 8740 0.000 0.088 2602 685 2357 2404 2311 0 0 0 0 0 0 14.42 13.90 13.14

5231 0.13 279.9 2603 685 2396 2308 363.3 8.4 428 5291 0.00 2.42 53.85 1.357 9382 0.000 0.077 2602 2084 2221 2272 2171 0 0 0 0 0 0 14.07 13.96 13.02

5606 0.20 304.1 2603 2085 2259 2149 330.2 8.9 453 5643 0.15 0.00 35.08 1.376 10406 0.119 0.000 2672 2085 2124 2175 2074 0 0 0 0 0 0 14.26 14.04 13.21

5936 0.15 304.1 2672 2086 2161 2058 286.0 13.2 464 5942 0.15 2.45 0.00 0.000 4740 0.254 0.083 2643 684 2108 2160 2056 0 0 0 0 0 0 14.00 14.16 14.14

5997 0.21 304.1 2644 684 2158 2057 279.5 10.5 476 6003 0.00 2.47 0.00 0.000 1158 0.000 0.078 2644 2100 2106 2157 2056 0 0 0 0 0 0 14.31 14.19 14.35

6328 0.22 323.3 2644 2102 2157 2056 247.5 9.1 492 6360 0.00 2.55 27.10 1.395 8740 0.000 0.086 2644 687 2046 2096 1996 0 0 0 0 0 0 14.64 14.14 13.30

6410 0.35 360.0 2644 688 2082 1992 240.4 8.3 508 6482 0.15 2.47 63.67 1.290 11430 0.115 0.079 2703 2107 1893 1930 1857 0 0 0 0 0 0 14.21 14.19 13.16

6780 0.31 360.0 2704 2107 1915 1846 195.5 12.1 532 6781 0.00 0.00 0.00 0.000 134 0.000 0.000 2704 2107 1879 1914 1845 0 0 0 0 0 0 14.56 14.57 14.57

7080 0.28 360.0 2703 2109 1913 1845 162.3 10.7 542 7085 0.12 2.47 0.00 0.000 4740 0.230 0.085 2672 688 1877 1911 1844 0 0 0 0 0 0 13.84 14.07 14.00

7187 0.40 399.3 2673 688 1909 1843 153.4 8.2 563 7262 0.12 2.47 68.28 1.260 11430 0.138 0.080 2725 2101 1735 1760 1710 0 0 0 0 0 0 14.23 14.19 13.25

7560 0.38 399.3 2727 2100 1752 1693 110.4 11.0 588 7566 0.00 2.50 0.00 0.000 644 0.000 0.087 2726 684 1721 1750 1693 0 0 0 0 0 0 14.56 14.04 14.57

7611 0.41 399.3 2727 684 1747 1693 105.1 10.1 598 7616 0.00 2.47 0.00 0.000 1158 0.000 0.078 2726 2100 1719 1746 1693 0 0 0 0 0 0 14.21 14.09 14.27

7923 0.44 439.0 2727 2101 1747 1690 75.4 8.2 626 7948 0.00 2.53 19.55 0.418 8740 0.000 0.086 2726 680 1574 1603 1545 0 0 0 0 0 0 14.57 14.08 13.61

8016 0.57 489.9 2727 681 1609 1547 68.0 7.7 644 8052 0.12 2.47 28.80 0.400 11430 0.126 0.078 2781 2100 1369 1413 1325 0 0 0 0 0 0 14.14 14.08 13.69

8358 0.62 563.9 2781 2101 1409 1326 38.4 6.6 682 8400 0.00 0.00 40.70 0.311 8486 0.000 0.000 2781 2100 1063 1128 999 0 0 0 0 0 0 14.58 14.04 13.70

8698 0.79 656.9 2781 2101 1128 1005 16.0 5.7 717 8756 0.15 2.53 51.00 0.249 10916 0.118 0.091 2858 679 682 740 625 0 0 0 0 0 0 14.17 14.12 13.88

8803 0.86 659.6 2859 679 742 626 5.7 9.9 737 8808 0.00 2.50 1.55 0.264 9382 0.000 0.076 2858 2104 675 732 619 0 0 0 0 0 0 14.16 14.11 13.88

8841 end climb: SURFACE_DEPTH_REACHED

state 8841 begin surface coast

8851 end surface coast: CONTROL_FINISHED_OK

state 8851 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	254	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	713.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,110120,7459.8618,-15203.2539,38,0.8,38,20.2,0.0,0.0,10,7.4	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	1.23	MHEAD_RNG_PITCHd_Wd	9.2,83550,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	050917,111141,7459.8916,-15203.1807,8,0.9,11,20.2,0.0,0.0,9,8.9

FINISH	0.2,1.021484	_24V_AH	12.24,164.572
SM_CCo	8917,26.20,0.210,0,0,498,703.28	_10V_AH	12.12,0.000
SM_GC	1.45,8.15,0.17,26.20,0.074,0.124,0.210,201,2216,498,-7.37,-0.62,703.28,0,0,0,0,0,0,14.31,14.30,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	270	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323680
IRIDIUM_FIX	7500.94,-15200.54,050917,082417	DATA_FILE_SIZE	26702,743
TT8_MAMPS	0.038199,0.924266	CAP_FILE_SIZE	102881,0
HUMID	47.12	CFSIZE	2097872896,2011824128
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1446.8
XPDR_PINGS	18	CURRENT	0.048,313.80,1
CP_FREE	0.000000	GPS	050917,134232,7500.978,-15200.885,29,0.7,29,20.2,0.0,0.0,11,7.1
PM_FREEKB_00	50445632

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	145.75	nil	0	0	0.00
Roll_motor	84	2140	2211.88	nil	0	0	0.00
VBD_pump_during_apogee	972	1487	17699.07	nil	0	0	0.00
VBD_pump_during_surface	26	209	67.22	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	4863	15	903.92
Iridium_during_xfer	357	175	766.47	NCP	8889	20	2176.03
Transponder_ping	4	420	23.13	PMAR	8870	9	1074.72
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.44
TT8	0	0	0.00
LPSleep	6083	2	170.32
TT8_Active	866	13	146.75
TT8_Sampling	2329	33	944.31
TT8_CF8	298	38	140.13
TT8_Kalman	0	0	0.00
Analog_circuits	2264	10	274.49
GPS_charging	0	0	0.00
Compass	1063	7	90.22
RAFOS	2213	48	1287.43
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	197	2222	499	497	0.0	0.0	0	145	0.00	0.00	-91.93	0.000	16386	0.000	0.000	196	2222	2177	2113	2241	0	0	0	0	0	0	14.55	28.83	14.57
147	-0.57	-145.9	196	2223	2114	2243	3.6	-5.1	9	205	12.93	2.80	-35.80	0.000	18724	0.460	2.140	2377	3592	3961	3945	3977	0	0	0	0	0	0	13.62	12.59	14.14
355	-0.70	-145.9	2377	3594	3951	3977	43.2	-13.2	50	361	0.00	2.35	0.00	0.000	1158	0.000	0.059	2377	2207	3963	3950	3976	0	0	0	0	0	0	14.34	14.24	14.36
662	-0.82	-145.9	2377	2205	3952	3977	83.4	-10.7	81	663	0.20	0.00	0.00	0.000	4230	0.109	0.000	2298	2205	3964	3951	3977	0	0	0	0	0	0	14.27	14.38	14.35
980	-0.85	-145.9	2298	2205	3952	3977	131.7	-14.2	99	985	0.00	2.45	0.00	0.000	388	0.000	0.089	2292	3602	3963	3950	3976	0	0	0	0	0	0	14.71	14.22	14.74
1045	-0.98	-145.9	2293	3604	3952	3977	139.9	-11.6	112	1051	0.00	2.38	0.00	0.000	1158	0.000	0.059	2293	2198	3964	3951	3977	0	0	0	0	0	0	14.35	14.22	14.39
1371	-1.04	-145.9	2294	2196	3952	3977	182.1	-12.4	127	1376	0.12	2.45	0.00	0.000	4484	0.138	0.086	2236	3599	3963	3950	3977	0	0	0	0	0	0	14.39	14.23	14.42
1416	-1.04	-145.9	2237	3598	3952	3977	188.9	-15.3	136	1422	0.00	2.35	0.00	0.000	1030	0.000	0.059	2236	2199	3963	3951	3976	0	0	0	0	0	0	14.45	14.28	14.45
1732	-1.00	-145.9	2236	2199	3950	3978	240.8	-15.9	149	1737	0.00	2.45	0.00	0.000	388	0.000	0.090	2235	3595	3964	3951	3977	0	0	0	0	0	0	14.73	14.22	14.76
1842	-1.06	-145.9	2236	3595	3952	3977	256.1	-13.1	171	1847	0.00	2.38	0.00	0.000	1158	0.000	0.058	2236	2193	3964	3951	3977	0	0	0	0	0	0	14.40	14.25	14.43
2152	-1.06	-145.9	2236	2192	3952	3977	298.1	-13.1	183	2157	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3595	3964	3951	3977	0	0	0	0	0	0	14.74	14.22	14.77
2218	-1.15	-145.9	2236	3596	3952	3982	305.9	-11.2	196	2223	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2190	3964	3951	3977	0	0	0	0	0	0	14.40	14.30	14.43
2544	-1.17	-145.9	2236	2190	3951	3978	345.0	-11.9	211	2548	0.00	2.47	0.00	0.000	388	0.000	0.089	2236	3601	3964	3951	3977	0	0	0	0	0	0	14.76	14.21	14.77
2618	-1.28	-145.9	2236	3602	3951	3978	353.3	-10.4	226	2624	0.22	2.38	0.00	0.000	5254	0.105	0.057	2152	2191	3963	3950	3976	0	0	0	0	0	0	14.35	14.28	14.44
2936	-1.13	-145.9	2153	2188	3950	3977	413.7	-19.6	239	2941	0.25	2.50	0.00	0.000	2436	0.315	0.082	2197	3595	3962	3949	3976	0	0	0	0	0	0	13.69	14.04	13.92
3071	-1.13	-145.9	2197	3598	3950	3977	433.3	-13.0	266	3076	0.00	2.40	0.00	0.000	1030	0.000	0.057	2196	2196	3962	3949	3976	0	0	0	0	0	0	14.19	14.07	14.21
3386	-1.10	-145.9	2197	2201	3950	3977	477.6	-14.1	279	3391	0.00	2.50	0.00	0.000	388	0.000	0.085	2187	3596	3962	3949	3976	0	0	0	0	0	0	14.52	14.00	14.54
3404	end dive: TARGET_DEPTH_EXCEEDED
state	3404	begin apogee
3412	-0.13	0.0	2188	2099	3950	3976	480.6	-15.1	283	3647	1.38	0.00	228.02	1.433	10246	0.247	0.000	2526	2098	3356	3377	3336	0	0	0	0	0	0	13.78	13.19	12.58
3650	end apogee: CONTROL_FINISHED_OK
state	3650	begin climb
3653	0.57	145.9	2526	2099	3375	3334	494.3	0.0	291	4047	0.75	2.67	211.27	1.379	10500	0.062	0.073	2777	3490	2748	2782	2715	0	0	0	0	0	0	13.52	12.85	12.24
4274	0.11	145.9	2778	3491	2775	2716	443.3	15.7	338	4281	0.80	2.40	0.00	0.000	5254	0.344	0.058	2621	2099	2746	2778	2714	0	0	0	0	0	0	13.61	14.00	13.97
4580	0.02	192.2	2621	2099	2780	2714	417.9	7.9	349	4655	0.12	2.55	67.40	1.388	12708	0.292	0.081	2592	3493	2576	2627	2525	0	0	0	0	0	0	13.90	13.88	13.10
4755	0.00	208.7	2592	3493	2608	2518	403.2	9.2	384	4781	0.00	2.40	19.90	1.487	9382	0.000	0.059	2599	2105	2513	2563	2464	0	0	0	0	0	0	14.07	13.97	13.10
5093	0.03	245.2	2598	2100	2554	2448	375.1	8.3	401	5158	0.00	2.60	56.15	1.381	8740	0.000	0.088	2602	685	2357	2404	2311	0	0	0	0	0	0	14.42	13.90	13.14
5231	0.13	279.9	2603	685	2396	2308	363.3	8.4	428	5291	0.00	2.42	53.85	1.357	9382	0.000	0.077	2602	2084	2221	2272	2171	0	0	0	0	0	0	14.07	13.96	13.02
5606	0.20	304.1	2603	2085	2259	2149	330.2	8.9	453	5643	0.15	0.00	35.08	1.376	10406	0.119	0.000	2672	2085	2124	2175	2074	0	0	0	0	0	0	14.26	14.04	13.21
5936	0.15	304.1	2672	2086	2161	2058	286.0	13.2	464	5942	0.15	2.45	0.00	0.000	4740	0.254	0.083	2643	684	2108	2160	2056	0	0	0	0	0	0	14.00	14.16	14.14
5997	0.21	304.1	2644	684	2158	2057	279.5	10.5	476	6003	0.00	2.47	0.00	0.000	1158	0.000	0.078	2644	2100	2106	2157	2056	0	0	0	0	0	0	14.31	14.19	14.35
6328	0.22	323.3	2644	2102	2157	2056	247.5	9.1	492	6360	0.00	2.55	27.10	1.395	8740	0.000	0.086	2644	687	2046	2096	1996	0	0	0	0	0	0	14.64	14.14	13.30
6410	0.35	360.0	2644	688	2082	1992	240.4	8.3	508	6482	0.15	2.47	63.67	1.290	11430	0.115	0.079	2703	2107	1893	1930	1857	0	0	0	0	0	0	14.21	14.19	13.16
6780	0.31	360.0	2704	2107	1915	1846	195.5	12.1	532	6781	0.00	0.00	0.00	0.000	134	0.000	0.000	2704	2107	1879	1914	1845	0	0	0	0	0	0	14.56	14.57	14.57
7080	0.28	360.0	2703	2109	1913	1845	162.3	10.7	542	7085	0.12	2.47	0.00	0.000	4740	0.230	0.085	2672	688	1877	1911	1844	0	0	0	0	0	0	13.84	14.07	14.00
7187	0.40	399.3	2673	688	1909	1843	153.4	8.2	563	7262	0.12	2.47	68.28	1.260	11430	0.138	0.080	2725	2101	1735	1760	1710	0	0	0	0	0	0	14.23	14.19	13.25
7560	0.38	399.3	2727	2100	1752	1693	110.4	11.0	588	7566	0.00	2.50	0.00	0.000	644	0.000	0.087	2726	684	1721	1750	1693	0	0	0	0	0	0	14.56	14.04	14.57
7611	0.41	399.3	2727	684	1747	1693	105.1	10.1	598	7616	0.00	2.47	0.00	0.000	1158	0.000	0.078	2726	2100	1719	1746	1693	0	0	0	0	0	0	14.21	14.09	14.27
7923	0.44	439.0	2727	2101	1747	1690	75.4	8.2	626	7948	0.00	2.53	19.55	0.418	8740	0.000	0.086	2726	680	1574	1603	1545	0	0	0	0	0	0	14.57	14.08	13.61
8016	0.57	489.9	2727	681	1609	1547	68.0	7.7	644	8052	0.12	2.47	28.80	0.400	11430	0.126	0.078	2781	2100	1369	1413	1325	0	0	0	0	0	0	14.14	14.08	13.69
8358	0.62	563.9	2781	2101	1409	1326	38.4	6.6	682	8400	0.00	0.00	40.70	0.311	8486	0.000	0.000	2781	2100	1063	1128	999	0	0	0	0	0	0	14.58	14.04	13.70
8698	0.79	656.9	2781	2101	1128	1005	16.0	5.7	717	8756	0.15	2.53	51.00	0.249	10916	0.118	0.091	2858	679	682	740	625	0	0	0	0	0	0	14.17	14.12	13.88
8803	0.86	659.6	2859	679	742	626	5.7	9.9	737	8808	0.00	2.50	1.55	0.264	9382	0.000	0.076	2858	2104	675	732	619	0	0	0	0	0	0	14.16	14.11	13.88
8841	end climb: SURFACE_DEPTH_REACHED
state	8841	begin surface coast
8851	end surface coast: CONTROL_FINISHED_OK
state	8851	begin surface