Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 295 * 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 295 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 819.0

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 59 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 819.0 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 59 VBD_MIN 500

DIVE 295 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 100917,014339,7541.1040,-15109.4629,36,0.7,43,20.8,0.3,325.1,12,9.2 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 1.15 MHEAD_RNG_PITCHd_Wd 324.1,3867,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.5 D_GRID 480

GPS2 100917,015958,7541.0366,-15109.3115,14,0.7,22,20.8,0.5,37.5,10,9.8

Post-dive calculations and measurements:

FINISH 0.4,1.021594 _24V_AH 12.28,184.876

SM_CCo 8701,48.30,0.209,0,0,499,702.78 _10V_AH 12.17,0.000

SM_GC 1.22,8.12,0.17,48.30,0.070,0.099,0.209,201,2238,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.21,14.21,13.87 FG_AHR_24Vo 0.000

RAFOS_CLK 78 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323696

IRIDIUM_FIX 7544.23,-15109.44,100917,014805 DATA_FILE_SIZE 23440,689

TT8_MAMPS 0.083888,1.00441 CAP_FILE_SIZE 102678,0

HUMID 44.36 CFSIZE 2097872896,2002747392

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.7

XPDR_PINGS 15 CURRENT 0.029,239.03,1

CP_FREE 15946285056.000000 GPS 100917,042734,7542.214,-15110.241,31,0.7,32,20.8,0.0,0.0,11,9.9

PM_FREEKB_00 48833280

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 145.32 nil 0 0 0.00

Roll_motor 95 2133 2493.63 nil 0 0 0.00

VBD_pump_during_apogee 984 1404 16979.12 nil 0 0 0.00

VBD_pump_during_surface 48 208 123.87 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 8507 14 1495.64

Iridium_during_xfer 638 169 1326.38 NCP 8672 20 2129.84

Transponder_ping 3 420 19.34 PMAR 8655 27 2943.09

GUMSTIX_24V 0 0 0.00

GPS 23 22 6.35

TT8 0 0 0.00

LPSleep 6051 2 170.11

TT8_Active 912 13 155.22

TT8_Sampling 2427 33 987.99

TT8_CF8 346 38 163.13

TT8_Kalman 0 0 0.00

Analog_circuits 2565 10 312.17

GPS_charging 0 0 0.00

Compass 989 7 84.26

RAFOS 2191 48 1279.89

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 -145.9 167 2225 523 485 0.0 0.0 0 144 0.00 0.00 -91.85 0.000 16386 0.000 0.000 165 2224 2146 2073 2220 0 0 0 0 0 0 14.49 28.83 14.50

147 -0.57 -145.9 166 2226 2075 2221 3.7 -5.0 9 206 13.10 2.85 -36.70 0.000 18980 0.452 2.134 2384 826 3963 3949 3978 1 0 0 0 0 0 13.31 12.56 13.99

272 -0.71 -145.9 2384 827 3955 3978 33.5 -13.2 33 277 0.12 2.45 0.00 0.000 5254 0.121 0.086 2335 2185 3966 3954 3978 0 0 0 0 0 0 14.03 13.93 14.09

582 -0.76 -145.9 2335 2187 3956 3978 88.4 -14.1 65 587 0.00 2.55 0.00 0.000 388 0.000 0.089 2333 3620 3964 3955 3973 0 0 0 0 0 0 14.50 14.10 14.52

709 -0.93 -145.9 2333 3620 3957 3978 102.2 -10.0 90 714 0.17 2.38 0.00 0.000 5254 0.110 0.054 2266 2222 3966 3955 3977 0 0 0 0 0 0 14.21 14.14 14.31

1034 -0.93 -145.9 2266 2222 3956 3979 156.6 -16.1 105 1039 0.00 2.47 0.00 0.000 260 0.000 0.088 2259 3621 3966 3955 3978 0 0 0 0 0 0 14.57 14.07 14.58

1129 -1.01 -145.9 2260 3622 3956 3977 169.6 -12.9 124 1134 0.00 2.42 0.00 0.000 1158 0.000 0.058 2259 2205 3966 3955 3977 0 0 0 0 0 0 14.31 14.17 14.34

1454 -1.01 -145.9 2260 2204 3956 3978 217.4 -14.3 139 1460 0.00 2.50 0.00 0.000 260 0.000 0.087 2249 3617 3966 3955 3978 0 0 0 0 0 0 14.59 14.09 14.62

1530 -1.11 -145.9 2249 3619 3957 3978 227.5 -12.3 154 1535 0.00 2.42 0.00 0.000 1158 0.000 0.057 2249 2189 3970 3963 3977 0 0 0 0 0 0 14.24 14.16 14.28

1845 -1.14 -145.9 2249 2189 3956 3978 268.4 -12.2 167 1851 0.12 2.50 0.00 0.000 4484 0.145 0.084 2185 3615 3966 3955 3977 0 0 0 0 0 0 14.30 14.12 14.35

1917 -1.11 -145.9 2186 3615 3957 3977 279.5 -15.9 181 1922 0.15 2.40 0.00 0.000 3206 0.257 0.057 2215 2195 3966 3955 3977 0 0 0 0 0 0 13.96 14.24 14.23

2237 -1.11 -145.9 2215 2194 3956 3978 324.4 -13.6 195 2243 0.00 2.50 0.00 0.000 260 0.000 0.087 2210 3613 3966 3955 3977 0 0 0 0 0 0 14.68 14.14 14.69

2308 -1.17 -145.9 2210 3614 3957 3977 333.6 -12.4 209 2313 0.00 2.40 0.00 0.000 1158 0.000 0.056 2210 2193 3967 3956 3978 0 0 0 0 0 0 14.36 14.23 14.40

2628 -1.17 -145.9 2210 2193 3956 3978 376.7 -13.3 223 2634 0.00 2.53 0.00 0.000 260 0.000 0.087 2202 3616 3966 3955 3977 0 0 0 0 0 0 14.71 14.13 14.69

2709 -1.22 -145.9 2203 3616 3956 3977 387.1 -12.3 239 2715 0.00 2.40 0.00 0.000 1158 0.000 0.056 2202 2192 3966 3955 3977 0 0 0 0 0 0 14.36 14.23 14.40

3020 -1.22 -145.9 2202 2191 3956 3978 429.4 -13.5 251 3026 0.00 2.53 0.00 0.000 260 0.000 0.087 2197 3614 3966 3956 3977 0 0 0 0 0 0 14.67 14.16 14.69

3116 -1.26 -145.9 2197 3614 3956 3977 441.8 -12.4 270 3121 0.00 2.40 0.00 0.000 1158 0.000 0.055 2196 2192 3966 3955 3977 0 0 0 0 0 0 14.37 14.24 14.40

3408 end dive: TARGET_DEPTH_EXCEEDED

state 3408 begin apogee

3414 -0.13 0.0 2197 2061 3956 3977 482.0 -13.6 284 3652 1.30 0.08 227.80 1.405 10246 0.236 0.177 2527 2113 3356 3368 3345 0 0 0 0 0 0 13.89 13.47 12.67

3655 end apogee: CONTROL_FINISHED_OK

state 3655 begin climb

3658 0.57 145.9 2528 2114 3365 3343 495.2 0.0 292 4052 0.75 2.65 213.85 1.356 10756 0.060 0.076 2793 733 2754 2791 2718 0 0 0 0 0 0 13.69 12.88 12.28

4057 0.57 145.9 2793 733 2784 2718 484.0 2.8 295 4063 0.00 2.45 0.00 0.000 1030 0.000 0.074 2796 2095 2749 2782 2716 0 0 0 0 0 0 13.85 13.74 13.90

4374 0.12 145.9 2793 2097 2781 2714 438.4 14.2 308 4379 0.73 2.45 0.00 0.000 4484 0.311 0.074 2628 3511 2747 2781 2714 0 0 0 0 0 0 13.74 14.14 13.99

4415 -0.07 149.4 2628 3512 2779 2711 434.0 9.8 316 4420 0.30 2.33 0.00 0.000 5286 0.275 0.059 2566 2135 2744 2778 2711 0 0 0 0 0 0 13.90 14.21 14.23

4736 0.00 250.4 2566 2136 2779 2713 415.9 5.3 330 4913 0.00 2.65 166.95 1.295 8740 0.000 0.089 2566 698 2337 2384 2291 0 0 0 0 0 0 14.41 13.62 12.85

4958 0.19 315.6 2566 698 2377 2284 401.7 7.0 369 5070 0.25 2.55 103.95 1.279 11430 0.088 0.080 2662 2104 2079 2119 2040 0 0 0 0 0 0 13.76 13.69 12.69

5368 0.14 315.6 2662 2102 2102 2011 346.2 13.8 401 5373 0.12 2.53 0.00 0.000 4740 0.265 0.084 2640 693 2055 2100 2011 0 0 0 0 0 0 13.81 13.86 13.94

5419 0.19 315.6 2640 693 2100 2007 340.1 11.5 411 5424 0.00 2.50 0.00 0.000 1158 0.000 0.078 2640 2105 2056 2100 2012 0 0 0 0 0 0 14.11 13.98 14.15

5730 0.19 315.6 2641 2106 2098 2009 303.8 11.6 423 5735 0.00 2.50 0.00 0.000 516 0.000 0.087 2640 697 2053 2098 2009 0 0 0 0 0 0 14.53 14.14 14.56

5765 0.23 315.6 2642 696 2097 2009 299.8 10.9 430 5770 0.00 2.45 0.00 0.000 1158 0.000 0.079 2640 2106 2052 2096 2008 0 0 0 0 0 0 14.31 14.17 14.35

6090 0.23 315.6 2640 2108 2096 2010 263.8 10.6 445 6095 0.00 2.50 0.00 0.000 516 0.000 0.085 2640 688 2051 2095 2008 0 0 0 0 0 0 14.60 14.18 14.62

6121 0.28 315.6 2641 689 2094 2009 260.8 10.1 451 6127 0.00 2.47 0.00 0.000 1158 0.000 0.079 2645 2111 2051 2094 2009 0 0 0 0 0 0 14.34 14.20 14.39

6452 0.31 339.0 2641 2112 2095 2009 229.8 8.9 467 6487 0.12 0.00 32.95 1.340 10406 0.129 0.000 2697 2119 1982 2022 1942 0 0 0 0 0 0 14.33 14.07 13.25

6782 0.25 339.0 2698 2113 2011 1934 190.2 11.8 478 6787 0.12 2.50 0.00 0.000 4740 0.246 0.084 2672 693 1968 2010 1926 0 0 0 0 0 0 14.01 14.18 14.14

6863 0.32 362.8 2673 692 2009 1926 182.5 8.9 494 6908 0.00 2.45 39.40 1.318 9382 0.000 0.079 2672 2103 1882 1915 1850 0 0 0 0 0 0 14.28 14.15 13.25

7234 0.37 386.8 2672 2103 1901 1838 149.0 8.9 518 7278 0.00 2.55 38.00 1.304 8868 0.000 0.088 2672 702 1783 1806 1761 0 0 0 0 0 0 14.45 14.01 13.24

7341 0.50 420.4 2672 704 1796 1758 139.8 8.5 539 7405 0.22 2.47 59.05 1.226 11430 0.097 0.079 2763 2105 1652 1674 1631 0 0 0 0 0 0 14.14 14.05 13.12

7705 0.42 420.4 2764 2106 1665 1606 89.2 13.3 569 7710 0.17 2.50 0.00 0.000 4740 0.249 0.085 2727 695 1634 1664 1605 0 0 0 0 0 0 13.74 13.98 13.89

7741 0.46 420.4 2728 695 1663 1605 85.2 10.4 576 7747 0.00 2.47 0.00 0.000 1158 0.000 0.078 2727 2099 1633 1663 1603 0 0 0 0 0 0 14.14 14.02 14.17

8046 0.54 495.9 2728 2100 1662 1602 59.8 6.5 607 8093 0.00 2.58 37.45 0.379 8868 0.000 0.086 2728 694 1342 1387 1297 0 0 0 0 0 0 14.43 13.96 13.65

8123 0.73 574.9 2728 694 1389 1300 54.8 6.3 622 8171 0.28 2.47 42.30 0.361 11430 0.085 0.078 2829 2100 1018 1084 953 0 0 0 0 0 0 13.98 13.90 13.64

8468 0.76 616.6 2830 2100 1086 958 19.5 8.1 661 8495 0.00 2.58 22.73 0.266 8484 0.000 0.080 2829 3518 852 915 790 0 0 0 0 0 0 14.40 14.00 13.67

8530 0.76 616.6 2830 3519 915 790 13.6 11.5 673 8535 0.00 2.47 0.00 0.000 1030 0.000 0.067 2835 2101 852 915 789 0 0 0 0 0 0 14.19 14.07 14.23

8658 end climb: SURFACE_DEPTH_REACHED

state 8658 begin surface coast

8678 end surface coast: CONTROL_FINISHED_OK

state 8678 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	295	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	819.0
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	59	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,014339,7541.1040,-15109.4629,36,0.7,43,20.8,0.3,325.1,12,9.2	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	1.15	MHEAD_RNG_PITCHd_Wd	324.1,3867,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.5	D_GRID	480
GPS2	100917,015958,7541.0366,-15109.3115,14,0.7,22,20.8,0.5,37.5,10,9.8

FINISH	0.4,1.021594	_24V_AH	12.28,184.876
SM_CCo	8701,48.30,0.209,0,0,499,702.78	_10V_AH	12.17,0.000
SM_GC	1.22,8.12,0.17,48.30,0.070,0.099,0.209,201,2238,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.21,14.21,13.87	FG_AHR_24Vo	0.000
RAFOS_CLK	78	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323696
IRIDIUM_FIX	7544.23,-15109.44,100917,014805	DATA_FILE_SIZE	23440,689
TT8_MAMPS	0.083888,1.00441	CAP_FILE_SIZE	102678,0
HUMID	44.36	CFSIZE	2097872896,2002747392
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.7
XPDR_PINGS	15	CURRENT	0.029,239.03,1
CP_FREE	15946285056.000000	GPS	100917,042734,7542.214,-15110.241,31,0.7,32,20.8,0.0,0.0,11,9.9
PM_FREEKB_00	48833280

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	145.32	nil	0	0	0.00
Roll_motor	95	2133	2493.63	nil	0	0	0.00
VBD_pump_during_apogee	984	1404	16979.12	nil	0	0	0.00
VBD_pump_during_surface	48	208	123.87	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	8507	14	1495.64
Iridium_during_xfer	638	169	1326.38	NCP	8672	20	2129.84
Transponder_ping	3	420	19.34	PMAR	8655	27	2943.09
GUMSTIX_24V	0	0	0.00
GPS	23	22	6.35
TT8	0	0	0.00
LPSleep	6051	2	170.11
TT8_Active	912	13	155.22
TT8_Sampling	2427	33	987.99
TT8_CF8	346	38	163.13
TT8_Kalman	0	0	0.00
Analog_circuits	2565	10	312.17
GPS_charging	0	0	0.00
Compass	989	7	84.26
RAFOS	2191	48	1279.89
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	167	2225	523	485	0.0	0.0	0	144	0.00	0.00	-91.85	0.000	16386	0.000	0.000	165	2224	2146	2073	2220	0	0	0	0	0	0	14.49	28.83	14.50
147	-0.57	-145.9	166	2226	2075	2221	3.7	-5.0	9	206	13.10	2.85	-36.70	0.000	18980	0.452	2.134	2384	826	3963	3949	3978	1	0	0	0	0	0	13.31	12.56	13.99
272	-0.71	-145.9	2384	827	3955	3978	33.5	-13.2	33	277	0.12	2.45	0.00	0.000	5254	0.121	0.086	2335	2185	3966	3954	3978	0	0	0	0	0	0	14.03	13.93	14.09
582	-0.76	-145.9	2335	2187	3956	3978	88.4	-14.1	65	587	0.00	2.55	0.00	0.000	388	0.000	0.089	2333	3620	3964	3955	3973	0	0	0	0	0	0	14.50	14.10	14.52
709	-0.93	-145.9	2333	3620	3957	3978	102.2	-10.0	90	714	0.17	2.38	0.00	0.000	5254	0.110	0.054	2266	2222	3966	3955	3977	0	0	0	0	0	0	14.21	14.14	14.31
1034	-0.93	-145.9	2266	2222	3956	3979	156.6	-16.1	105	1039	0.00	2.47	0.00	0.000	260	0.000	0.088	2259	3621	3966	3955	3978	0	0	0	0	0	0	14.57	14.07	14.58
1129	-1.01	-145.9	2260	3622	3956	3977	169.6	-12.9	124	1134	0.00	2.42	0.00	0.000	1158	0.000	0.058	2259	2205	3966	3955	3977	0	0	0	0	0	0	14.31	14.17	14.34
1454	-1.01	-145.9	2260	2204	3956	3978	217.4	-14.3	139	1460	0.00	2.50	0.00	0.000	260	0.000	0.087	2249	3617	3966	3955	3978	0	0	0	0	0	0	14.59	14.09	14.62
1530	-1.11	-145.9	2249	3619	3957	3978	227.5	-12.3	154	1535	0.00	2.42	0.00	0.000	1158	0.000	0.057	2249	2189	3970	3963	3977	0	0	0	0	0	0	14.24	14.16	14.28
1845	-1.14	-145.9	2249	2189	3956	3978	268.4	-12.2	167	1851	0.12	2.50	0.00	0.000	4484	0.145	0.084	2185	3615	3966	3955	3977	0	0	0	0	0	0	14.30	14.12	14.35
1917	-1.11	-145.9	2186	3615	3957	3977	279.5	-15.9	181	1922	0.15	2.40	0.00	0.000	3206	0.257	0.057	2215	2195	3966	3955	3977	0	0	0	0	0	0	13.96	14.24	14.23
2237	-1.11	-145.9	2215	2194	3956	3978	324.4	-13.6	195	2243	0.00	2.50	0.00	0.000	260	0.000	0.087	2210	3613	3966	3955	3977	0	0	0	0	0	0	14.68	14.14	14.69
2308	-1.17	-145.9	2210	3614	3957	3977	333.6	-12.4	209	2313	0.00	2.40	0.00	0.000	1158	0.000	0.056	2210	2193	3967	3956	3978	0	0	0	0	0	0	14.36	14.23	14.40
2628	-1.17	-145.9	2210	2193	3956	3978	376.7	-13.3	223	2634	0.00	2.53	0.00	0.000	260	0.000	0.087	2202	3616	3966	3955	3977	0	0	0	0	0	0	14.71	14.13	14.69
2709	-1.22	-145.9	2203	3616	3956	3977	387.1	-12.3	239	2715	0.00	2.40	0.00	0.000	1158	0.000	0.056	2202	2192	3966	3955	3977	0	0	0	0	0	0	14.36	14.23	14.40
3020	-1.22	-145.9	2202	2191	3956	3978	429.4	-13.5	251	3026	0.00	2.53	0.00	0.000	260	0.000	0.087	2197	3614	3966	3956	3977	0	0	0	0	0	0	14.67	14.16	14.69
3116	-1.26	-145.9	2197	3614	3956	3977	441.8	-12.4	270	3121	0.00	2.40	0.00	0.000	1158	0.000	0.055	2196	2192	3966	3955	3977	0	0	0	0	0	0	14.37	14.24	14.40
3408	end dive: TARGET_DEPTH_EXCEEDED
state	3408	begin apogee
3414	-0.13	0.0	2197	2061	3956	3977	482.0	-13.6	284	3652	1.30	0.08	227.80	1.405	10246	0.236	0.177	2527	2113	3356	3368	3345	0	0	0	0	0	0	13.89	13.47	12.67
3655	end apogee: CONTROL_FINISHED_OK
state	3655	begin climb
3658	0.57	145.9	2528	2114	3365	3343	495.2	0.0	292	4052	0.75	2.65	213.85	1.356	10756	0.060	0.076	2793	733	2754	2791	2718	0	0	0	0	0	0	13.69	12.88	12.28
4057	0.57	145.9	2793	733	2784	2718	484.0	2.8	295	4063	0.00	2.45	0.00	0.000	1030	0.000	0.074	2796	2095	2749	2782	2716	0	0	0	0	0	0	13.85	13.74	13.90
4374	0.12	145.9	2793	2097	2781	2714	438.4	14.2	308	4379	0.73	2.45	0.00	0.000	4484	0.311	0.074	2628	3511	2747	2781	2714	0	0	0	0	0	0	13.74	14.14	13.99
4415	-0.07	149.4	2628	3512	2779	2711	434.0	9.8	316	4420	0.30	2.33	0.00	0.000	5286	0.275	0.059	2566	2135	2744	2778	2711	0	0	0	0	0	0	13.90	14.21	14.23
4736	0.00	250.4	2566	2136	2779	2713	415.9	5.3	330	4913	0.00	2.65	166.95	1.295	8740	0.000	0.089	2566	698	2337	2384	2291	0	0	0	0	0	0	14.41	13.62	12.85
4958	0.19	315.6	2566	698	2377	2284	401.7	7.0	369	5070	0.25	2.55	103.95	1.279	11430	0.088	0.080	2662	2104	2079	2119	2040	0	0	0	0	0	0	13.76	13.69	12.69
5368	0.14	315.6	2662	2102	2102	2011	346.2	13.8	401	5373	0.12	2.53	0.00	0.000	4740	0.265	0.084	2640	693	2055	2100	2011	0	0	0	0	0	0	13.81	13.86	13.94
5419	0.19	315.6	2640	693	2100	2007	340.1	11.5	411	5424	0.00	2.50	0.00	0.000	1158	0.000	0.078	2640	2105	2056	2100	2012	0	0	0	0	0	0	14.11	13.98	14.15
5730	0.19	315.6	2641	2106	2098	2009	303.8	11.6	423	5735	0.00	2.50	0.00	0.000	516	0.000	0.087	2640	697	2053	2098	2009	0	0	0	0	0	0	14.53	14.14	14.56
5765	0.23	315.6	2642	696	2097	2009	299.8	10.9	430	5770	0.00	2.45	0.00	0.000	1158	0.000	0.079	2640	2106	2052	2096	2008	0	0	0	0	0	0	14.31	14.17	14.35
6090	0.23	315.6	2640	2108	2096	2010	263.8	10.6	445	6095	0.00	2.50	0.00	0.000	516	0.000	0.085	2640	688	2051	2095	2008	0	0	0	0	0	0	14.60	14.18	14.62
6121	0.28	315.6	2641	689	2094	2009	260.8	10.1	451	6127	0.00	2.47	0.00	0.000	1158	0.000	0.079	2645	2111	2051	2094	2009	0	0	0	0	0	0	14.34	14.20	14.39
6452	0.31	339.0	2641	2112	2095	2009	229.8	8.9	467	6487	0.12	0.00	32.95	1.340	10406	0.129	0.000	2697	2119	1982	2022	1942	0	0	0	0	0	0	14.33	14.07	13.25
6782	0.25	339.0	2698	2113	2011	1934	190.2	11.8	478	6787	0.12	2.50	0.00	0.000	4740	0.246	0.084	2672	693	1968	2010	1926	0	0	0	0	0	0	14.01	14.18	14.14
6863	0.32	362.8	2673	692	2009	1926	182.5	8.9	494	6908	0.00	2.45	39.40	1.318	9382	0.000	0.079	2672	2103	1882	1915	1850	0	0	0	0	0	0	14.28	14.15	13.25
7234	0.37	386.8	2672	2103	1901	1838	149.0	8.9	518	7278	0.00	2.55	38.00	1.304	8868	0.000	0.088	2672	702	1783	1806	1761	0	0	0	0	0	0	14.45	14.01	13.24
7341	0.50	420.4	2672	704	1796	1758	139.8	8.5	539	7405	0.22	2.47	59.05	1.226	11430	0.097	0.079	2763	2105	1652	1674	1631	0	0	0	0	0	0	14.14	14.05	13.12
7705	0.42	420.4	2764	2106	1665	1606	89.2	13.3	569	7710	0.17	2.50	0.00	0.000	4740	0.249	0.085	2727	695	1634	1664	1605	0	0	0	0	0	0	13.74	13.98	13.89
7741	0.46	420.4	2728	695	1663	1605	85.2	10.4	576	7747	0.00	2.47	0.00	0.000	1158	0.000	0.078	2727	2099	1633	1663	1603	0	0	0	0	0	0	14.14	14.02	14.17
8046	0.54	495.9	2728	2100	1662	1602	59.8	6.5	607	8093	0.00	2.58	37.45	0.379	8868	0.000	0.086	2728	694	1342	1387	1297	0	0	0	0	0	0	14.43	13.96	13.65
8123	0.73	574.9	2728	694	1389	1300	54.8	6.3	622	8171	0.28	2.47	42.30	0.361	11430	0.085	0.078	2829	2100	1018	1084	953	0	0	0	0	0	0	13.98	13.90	13.64
8468	0.76	616.6	2830	2100	1086	958	19.5	8.1	661	8495	0.00	2.58	22.73	0.266	8484	0.000	0.080	2829	3518	852	915	790	0	0	0	0	0	0	14.40	14.00	13.67
8530	0.76	616.6	2830	3519	915	790	13.6	11.5	673	8535	0.00	2.47	0.00	0.000	1030	0.000	0.067	2835	2101	852	915	789	0	0	0	0	0	0	14.19	14.07	14.23
8658	end climb: SURFACE_DEPTH_REACHED
state	8658	begin surface coast
8678	end surface coast: CONTROL_FINISHED_OK
state	8678	begin surface