Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 159 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 12 TGT_DEFAULT_LAT 7545 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 159 TGT_DEFAULT_LON -15041 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.44999999

STOP_T 0 SM_CC 692.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3107 DEVICE1 -1

D_TGT 150 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 820 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 3

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 83

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 60 LOGGERDEVICE3 135

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 50 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 140 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 3600 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.004407478

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00064096908

USE_BATHY 0 PITCH_MIN 212 MINV_24V 11 SEABIRD_T_I 2.5637486e-05

USE_ICE 0 PITCH_MAX 3894 MINV_10V 11 SEABIRD_T_J 3.1305062e-06

ICE_FREEZE_MARGIN 0.1 C_PITCH 2200 MAXI_24V 0.60000002 SEABIRD_C_G -9.8934832

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1.4 SEABIRD_C_H 1.0879974

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0021788499

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021905446

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 36 PRESSURE_YINT -160.33199 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010704049 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 PM_RECORDABOVE 2000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

MASS 55522 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

MASS_COMP 0 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 PM_NDIVE 1.0

NAV_MODE 2 ROLL_MAX 3790 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

KALMAN_USE 2 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 0.0

HD_A 0.0022 C_ROLL_CLIMB 2320 ALTIM_TOP_MIN_OBSTACLE 1 CP_RECORDABOVE 1000.0

HD_B 0.0185 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_PROFILE 3.0

HD_C 1.91e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_XMITPROFILE 3.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_UPLOADMAX 100000.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 36 ALTIM_PULSE 3 CP_STARTS 448.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 ALTIM_SENSITIVITY 2 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0021788499

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021905446

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.004407478

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00064096908

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 150 PITCH_CNV 0.003125763 SEABIRD_T_I 2.5637486e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 3.1305062e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 692.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 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 0.0022 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0185 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.91e-06 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 7545

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -15041

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 198 PRESSURE_SLOPE 0.00010704049 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -160.33199 T_DIVE 50

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 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 3600

CP_PROFILE 3.0 LOGGERDEVICE2 83 RAFOS_CORR_THRESH 60 T_MISSION 140

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 448.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 3 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2200 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2320 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 60

C_ROLL_DIVE 2500 MASS 55522 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3107 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 3790 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 12 ROLL_MIN 200 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 36 VBD_MIN 500

DIVE 159 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 820 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 -9.8934832 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.0879974 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 310817,210514,7446.3516,-14629.2344,4,0.8,44,22.6,0.3,249.0,10,14.8 SPEED_LIMITS 0.173,0.195

_CALLS 1 TGT_NAME T1

_XMS_NAKs 0 TGT_LATLONG 7521.800,-14503.100

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.94 MHEAD_RNG_PITCHd_Wd 16.9,77014,-19.7,-10.000,-27.15,2241

_SM_ANGLEo -70.4 D_GRID 150

GPS2 310817,211350,7446.3726,-14629.2725,41,0.9,41,22.6,0.0,0.0,9,9.2

Post-dive calculations and measurements:

FINISH 0.1,1.020979 _24V_AH 12.59,124.581

SM_CCo 6625,-0.05,0.000,0,0,499,639.50 _10V_AH 12.82,0.000

SM_GC 1.04,6.95,0.32,-0.05,0.076,0.104,0.000,180,2510,499,-6.19,-0.59,639.50,0,0,0,0,0,0,14.34,14.26,13.74 FG_AHR_24Vo 0.000

RAFOS_CLK 412 FG_AHR_10Vo 0.000

RAFOS_FIX 7445.924316,-14631.064453,310817,202010,4,255,0.21 MEM 323420

IRIDIUM_FIX 7445.61,-14639.02,310817,190620 DATA_FILE_SIZE 39926,1266

TT8_MAMPS 0.041944,0.517559 CAP_FILE_SIZE 108741,0

HUMID 46.53 CFSIZE 2097872896,2041380864

INTERNAL_PRESSURE 7.52882 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 12.90 SOUNDSPEED 1441.5

XPDR_PINGS 13 CURRENT 0.026,192.44,1

PM_FREEKB_00 47388672 GPS 310817,230544,7446.548,-14628.501,3,0.8,12,22.6,0.0,0.0,10,6.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 494 126.97 nil 0 0 0.00

Roll_motor 28 112 40.92 nil 0 0 0.00

VBD_pump_during_apogee 756 1510 14374.71 nil 0 0 0.00

VBD_pump_during_surface 44 201 111.77 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 2979 21 801.57

Iridium_during_xfer 284 178 638.67 PMAR 2972 16 607.77

Transponder_ping 3 420 17.19 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 42 20 11.41

TT8 0 0 0.00

LPSleep 3320 2 98.33

TT8_Active 867 10 118.61

TT8_Sampling 2686 30 1038.48

TT8_CF8 280 35 127.44

TT8_Kalman 0 0 0.00

Analog_circuits 2145 10 283.34

GPS_charging 0 0 0.00

Compass 1805 6 155.98

RAFOS 0 0 0.00

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.65 -145.9 187 2514 510 490 0.0 0.0 0 135 0.00 0.00 -120.35 0.000 16386 0.000 0.000 187 2513 2178 2143 2214 0 0 0 0 0 0 14.51 28.83 14.53

138 -0.65 -145.9 187 2514 2145 2214 3.4 -8.0 20 188 10.73 0.00 -35.97 0.000 18982 0.495 0.000 1981 2514 3703 3673 3734 0 0 0 0 0 0 13.59 12.59 14.13

368 -0.55 -145.9 1982 2515 3676 3737 68.4 -22.7 64 374 0.15 2.28 0.00 0.000 2436 0.346 0.108 2008 3779 3705 3674 3736 0 0 0 0 0 0 13.83 14.04 14.04

414 -0.53 -145.9 2007 3779 3674 3737 77.5 -18.1 73 420 0.00 2.12 0.00 0.000 1158 0.000 0.050 2004 2495 3706 3674 3738 0 0 0 0 0 0 14.26 14.20 14.29

600 -0.53 -145.9 2008 2494 3675 3737 106.4 -13.8 110 606 0.00 0.00 0.00 0.000 6 0.000 0.000 2008 2494 3705 3674 3737 0 0 0 0 0 0 14.57 14.59 14.59

786 -0.56 -145.9 2007 2494 3674 3737 131.0 -12.6 147 792 0.00 2.33 0.00 0.000 388 0.000 0.112 2001 3781 3707 3677 3737 0 0 0 0 0 0 14.62 14.14 14.64

837 -0.60 -145.9 2002 3782 3675 3737 137.7 -13.1 157 843 0.00 2.10 0.00 0.000 1158 0.000 0.049 2001 2496 3705 3674 3737 0 0 0 0 0 0 14.40 14.31 14.40

936 end dive: TARGET_DEPTH_EXCEEDED

state 936 begin apogee

942 -0.14 0.0 2001 2296 3673 3739 150.2 -12.2 177 1143 0.55 0.00 192.12 1.124 10246 0.249 0.000 2145 2293 3101 3063 3139 0 0 0 0 0 0 13.91 13.71 13.02

1145 end apogee: CONTROL_FINISHED_OK

state 1145 begin loiter

1325 -0.09 71.5 2145 2295 3058 3137 165.3 -3.3 247 1421 0.00 0.00 94.35 1.106 8230 0.000 0.000 2144 2294 2815 2757 2874 0 0 0 0 0 0 14.38 13.76 13.05

1602 -0.27 94.8 2145 2295 2738 2866 170.3 -1.1 299 1633 0.00 0.00 27.45 1.211 8358 0.000 0.000 2144 2294 2718 2659 2777 0 0 0 0 0 0 14.40 13.95 13.22

1813 -0.46 94.8 2145 2295 2652 2771 167.6 1.9 340 1818 0.28 0.00 0.00 0.000 4230 0.081 0.000 2023 2293 2709 2650 2769 0 0 0 0 0 0 14.23 14.30 14.27

1999 -0.41 94.8 2023 2294 2650 2767 163.9 1.8 377 2004 0.17 0.00 0.00 0.000 2182 0.305 0.000 2060 2294 2708 2650 2767 0 0 0 0 0 0 13.97 14.32 14.26

2184 -0.41 94.8 2059 2295 2650 2767 161.3 1.2 414 2190 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2294 2708 2650 2766 0 0 0 0 0 0 14.73 14.73 14.75

2370 -0.41 94.8 2059 2294 2650 2767 159.2 1.2 451 2376 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2708 2650 2766 0 0 0 0 0 0 14.77 14.79 14.79

2555 -0.41 94.8 2060 2295 2651 2767 157.1 0.9 488 2561 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2708 2650 2766 0 0 0 0 0 0 14.80 14.83 14.82

2741 -0.41 94.8 2059 2294 2650 2766 156.0 0.3 525 2747 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2708 2650 2766 0 0 0 0 0 0 14.81 14.84 14.84

2927 -0.41 99.9 2060 2294 2650 2766 155.9 -0.2 562 2932 0.00 0.00 0.00 0.000 38 0.000 0.000 2060 2293 2708 2650 2766 0 0 0 0 0 0 14.84 14.86 14.85

3112 -0.40 105.6 2059 2295 2651 2766 156.5 -0.3 599 3127 0.00 0.00 11.23 1.510 8230 0.000 0.000 2060 2293 2673 2616 2730 0 0 0 0 0 0 14.85 14.34 13.48

3307 -0.40 105.6 2060 2294 2613 2727 153.5 2.0 637 3312 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2669 2612 2726 0 0 0 0 0 0 14.80 14.82 14.81

3492 -0.40 105.6 2059 2294 2612 2727 150.4 1.5 674 3497 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2669 2612 2726 0 0 0 0 0 0 14.83 14.85 14.85

3677 -0.40 105.6 2059 2294 2611 2727 148.0 1.2 711 3683 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2294 2669 2612 2726 0 0 0 0 0 0 14.85 14.87 14.87

3863 -0.40 105.6 2060 2295 2613 2727 146.2 0.8 748 3869 0.00 0.00 0.00 0.000 6 0.000 0.000 2060 2294 2668 2611 2726 0 0 0 0 0 0 14.87 14.88 14.88

4048 -0.40 105.6 2060 2294 2613 2727 145.3 0.4 785 4055 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2668 2611 2726 0 0 0 0 0 0 14.87 14.89 14.88

4234 -0.40 105.6 2060 2295 2613 2726 144.7 0.3 822 4240 0.00 0.00 0.00 0.000 6 0.000 0.000 2059 2294 2668 2611 2725 0 0 0 0 0 0 14.88 14.90 14.90

4420 -0.40 106.7 2059 2294 2611 2726 144.5 -0.0 859 4426 0.00 0.00 0.00 0.000 38 0.000 0.000 2059 2294 2668 2611 2726 0 0 0 0 0 0 14.87 14.90 14.89

4606 -0.40 110.5 2060 2294 2613 2726 144.8 -0.2 896 4614 0.00 0.00 1.55 0.287 8230 0.000 0.000 2059 2294 2662 2604 2720 0 0 0 0 0 0 14.88 14.11 13.83

4739 end loiter: LOITER_COMPLETE

state 4739 begin climb

4741 0.65 145.9 2059 2294 2608 2726 145.0 0.0 922 4805 1.25 2.58 56.60 1.207 10500 0.256 0.106 2395 3721 2505 2447 2564 0 0 0 0 0 0 14.02 14.02 13.44

4901 0.68 242.3 2395 3722 2444 2557 138.9 5.6 950 5044 0.00 2.28 137.00 1.101 9382 0.000 0.048 2396 2333 2118 2048 2189 0 0 0 0 0 0 14.28 14.20 13.09

5228 0.80 304.8 2396 2334 2031 2175 117.2 7.1 1010 5323 0.17 0.00 88.68 1.073 10406 0.110 0.000 2479 2334 1857 1784 1930 0 0 0 0 0 0 13.97 13.74 13.10

5503 0.80 304.8 2480 2334 1773 1921 86.0 10.3 1062 5509 0.00 2.45 0.00 0.000 516 0.000 0.074 2484 923 1845 1771 1919 0 0 0 0 0 0 14.30 13.98 14.31

5534 0.80 304.8 2485 924 1772 1918 82.8 10.3 1068 5540 0.00 2.42 0.00 0.000 1030 0.000 0.073 2484 2315 1843 1770 1917 0 0 0 0 0 0 14.14 14.02 14.17

5720 0.83 347.6 2484 2316 1769 1915 65.5 8.0 1105 5751 0.00 2.60 21.23 0.385 8484 0.000 0.105 2484 3724 1694 1621 1767 0 0 0 0 0 0 14.45 14.03 13.70

5848 0.86 380.6 2484 3724 1626 1769 54.9 8.5 1129 5872 0.00 2.33 20.62 0.353 9254 0.000 0.050 2485 2328 1554 1489 1620 0 0 0 0 0 0 14.30 14.21 13.73

6053 1.01 481.4 2484 2329 1491 1634 42.2 5.4 1169 6119 0.12 2.42 59.17 0.315 10916 0.129 0.074 2552 921 1141 1087 1196 0 0 0 0 0 0 14.18 13.95 13.72

6151 1.06 483.6 2552 921 1087 1202 34.0 9.9 1186 6157 0.00 2.40 0.00 0.000 1190 0.000 0.072 2552 2320 1144 1087 1202 0 0 0 0 0 0 14.19 14.07 14.23

6337 1.19 561.1 2549 2321 1088 1203 17.2 6.4 1223 6385 0.00 0.00 46.08 0.245 8358 0.000 0.000 2552 2320 817 767 867 0 0 0 0 0 0 14.52 14.13 13.85

6538 end climb: SURFACE_DEPTH_REACHED

state 6538 begin surface coast

6558 end surface coast: CONTROL_FINISHED_OK

state 6558 begin surface

ID	198	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	12	TGT_DEFAULT_LAT	7545	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	159	TGT_DEFAULT_LON	-15041	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.44999999
STOP_T	0	SM_CC	692.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3107	DEVICE1	-1
D_TGT	150	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	820	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	3
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	83
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	60	LOGGERDEVICE3	135
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	50	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	140	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	3600	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.004407478
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00064096908
USE_BATHY	0	PITCH_MIN	212	MINV_24V	11	SEABIRD_T_I	2.5637486e-05
USE_ICE	0	PITCH_MAX	3894	MINV_10V	11	SEABIRD_T_J	3.1305062e-06
ICE_FREEZE_MARGIN	0.1	C_PITCH	2200	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8934832
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1.4	SEABIRD_C_H	1.0879974
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0021788499
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021905446
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	36	PRESSURE_YINT	-160.33199	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010704049	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	PM_RECORDABOVE	2000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
MASS	55522	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
MASS_COMP	0	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	PM_NDIVE	1.0
NAV_MODE	2	ROLL_MAX	3790	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
KALMAN_USE	2	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	0.0
HD_A	0.0022	C_ROLL_CLIMB	2320	ALTIM_TOP_MIN_OBSTACLE	1	CP_RECORDABOVE	1000.0
HD_B	0.0185	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_PROFILE	3.0
HD_C	1.91e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_XMITPROFILE	3.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_UPLOADMAX	100000.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	36	ALTIM_PULSE	3	CP_STARTS	448.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	310817,210514,7446.3516,-14629.2344,4,0.8,44,22.6,0.3,249.0,10,14.8	SPEED_LIMITS	0.173,0.195
_CALLS	1	TGT_NAME	T1
_XMS_NAKs	0	TGT_LATLONG	7521.800,-14503.100
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.94	MHEAD_RNG_PITCHd_Wd	16.9,77014,-19.7,-10.000,-27.15,2241
_SM_ANGLEo	-70.4	D_GRID	150
GPS2	310817,211350,7446.3726,-14629.2725,41,0.9,41,22.6,0.0,0.0,9,9.2

FINISH	0.1,1.020979	_24V_AH	12.59,124.581
SM_CCo	6625,-0.05,0.000,0,0,499,639.50	_10V_AH	12.82,0.000
SM_GC	1.04,6.95,0.32,-0.05,0.076,0.104,0.000,180,2510,499,-6.19,-0.59,639.50,0,0,0,0,0,0,14.34,14.26,13.74	FG_AHR_24Vo	0.000
RAFOS_CLK	412	FG_AHR_10Vo	0.000
RAFOS_FIX	7445.924316,-14631.064453,310817,202010,4,255,0.21	MEM	323420
IRIDIUM_FIX	7445.61,-14639.02,310817,190620	DATA_FILE_SIZE	39926,1266
TT8_MAMPS	0.041944,0.517559	CAP_FILE_SIZE	108741,0
HUMID	46.53	CFSIZE	2097872896,2041380864
INTERNAL_PRESSURE	7.52882	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	12.90	SOUNDSPEED	1441.5
XPDR_PINGS	13	CURRENT	0.026,192.44,1
PM_FREEKB_00	47388672	GPS	310817,230544,7446.548,-14628.501,3,0.8,12,22.6,0.0,0.0,10,6.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	494	126.97	nil	0	0	0.00
Roll_motor	28	112	40.92	nil	0	0	0.00
VBD_pump_during_apogee	756	1510	14374.71	nil	0	0	0.00
VBD_pump_during_surface	44	201	111.77	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	2979	21	801.57
Iridium_during_xfer	284	178	638.67	PMAR	2972	16	607.77
Transponder_ping	3	420	17.19	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	42	20	11.41
TT8	0	0	0.00
LPSleep	3320	2	98.33
TT8_Active	867	10	118.61
TT8_Sampling	2686	30	1038.48
TT8_CF8	280	35	127.44
TT8_Kalman	0	0	0.00
Analog_circuits	2145	10	283.34
GPS_charging	0	0	0.00
Compass	1805	6	155.98
RAFOS	0	0	0.00
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.65	-145.9	187	2514	510	490	0.0	0.0	0	135	0.00	0.00	-120.35	0.000	16386	0.000	0.000	187	2513	2178	2143	2214	0	0	0	0	0	0	14.51	28.83	14.53
138	-0.65	-145.9	187	2514	2145	2214	3.4	-8.0	20	188	10.73	0.00	-35.97	0.000	18982	0.495	0.000	1981	2514	3703	3673	3734	0	0	0	0	0	0	13.59	12.59	14.13
368	-0.55	-145.9	1982	2515	3676	3737	68.4	-22.7	64	374	0.15	2.28	0.00	0.000	2436	0.346	0.108	2008	3779	3705	3674	3736	0	0	0	0	0	0	13.83	14.04	14.04
414	-0.53	-145.9	2007	3779	3674	3737	77.5	-18.1	73	420	0.00	2.12	0.00	0.000	1158	0.000	0.050	2004	2495	3706	3674	3738	0	0	0	0	0	0	14.26	14.20	14.29
600	-0.53	-145.9	2008	2494	3675	3737	106.4	-13.8	110	606	0.00	0.00	0.00	0.000	6	0.000	0.000	2008	2494	3705	3674	3737	0	0	0	0	0	0	14.57	14.59	14.59
786	-0.56	-145.9	2007	2494	3674	3737	131.0	-12.6	147	792	0.00	2.33	0.00	0.000	388	0.000	0.112	2001	3781	3707	3677	3737	0	0	0	0	0	0	14.62	14.14	14.64
837	-0.60	-145.9	2002	3782	3675	3737	137.7	-13.1	157	843	0.00	2.10	0.00	0.000	1158	0.000	0.049	2001	2496	3705	3674	3737	0	0	0	0	0	0	14.40	14.31	14.40
936	end dive: TARGET_DEPTH_EXCEEDED
state	936	begin apogee
942	-0.14	0.0	2001	2296	3673	3739	150.2	-12.2	177	1143	0.55	0.00	192.12	1.124	10246	0.249	0.000	2145	2293	3101	3063	3139	0	0	0	0	0	0	13.91	13.71	13.02
1145	end apogee: CONTROL_FINISHED_OK
state	1145	begin loiter
1325	-0.09	71.5	2145	2295	3058	3137	165.3	-3.3	247	1421	0.00	0.00	94.35	1.106	8230	0.000	0.000	2144	2294	2815	2757	2874	0	0	0	0	0	0	14.38	13.76	13.05
1602	-0.27	94.8	2145	2295	2738	2866	170.3	-1.1	299	1633	0.00	0.00	27.45	1.211	8358	0.000	0.000	2144	2294	2718	2659	2777	0	0	0	0	0	0	14.40	13.95	13.22
1813	-0.46	94.8	2145	2295	2652	2771	167.6	1.9	340	1818	0.28	0.00	0.00	0.000	4230	0.081	0.000	2023	2293	2709	2650	2769	0	0	0	0	0	0	14.23	14.30	14.27
1999	-0.41	94.8	2023	2294	2650	2767	163.9	1.8	377	2004	0.17	0.00	0.00	0.000	2182	0.305	0.000	2060	2294	2708	2650	2767	0	0	0	0	0	0	13.97	14.32	14.26
2184	-0.41	94.8	2059	2295	2650	2767	161.3	1.2	414	2190	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2294	2708	2650	2766	0	0	0	0	0	0	14.73	14.73	14.75
2370	-0.41	94.8	2059	2294	2650	2767	159.2	1.2	451	2376	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2708	2650	2766	0	0	0	0	0	0	14.77	14.79	14.79
2555	-0.41	94.8	2060	2295	2651	2767	157.1	0.9	488	2561	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2708	2650	2766	0	0	0	0	0	0	14.80	14.83	14.82
2741	-0.41	94.8	2059	2294	2650	2766	156.0	0.3	525	2747	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2708	2650	2766	0	0	0	0	0	0	14.81	14.84	14.84
2927	-0.41	99.9	2060	2294	2650	2766	155.9	-0.2	562	2932	0.00	0.00	0.00	0.000	38	0.000	0.000	2060	2293	2708	2650	2766	0	0	0	0	0	0	14.84	14.86	14.85
3112	-0.40	105.6	2059	2295	2651	2766	156.5	-0.3	599	3127	0.00	0.00	11.23	1.510	8230	0.000	0.000	2060	2293	2673	2616	2730	0	0	0	0	0	0	14.85	14.34	13.48
3307	-0.40	105.6	2060	2294	2613	2727	153.5	2.0	637	3312	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2669	2612	2726	0	0	0	0	0	0	14.80	14.82	14.81
3492	-0.40	105.6	2059	2294	2612	2727	150.4	1.5	674	3497	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2669	2612	2726	0	0	0	0	0	0	14.83	14.85	14.85
3677	-0.40	105.6	2059	2294	2611	2727	148.0	1.2	711	3683	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2294	2669	2612	2726	0	0	0	0	0	0	14.85	14.87	14.87
3863	-0.40	105.6	2060	2295	2613	2727	146.2	0.8	748	3869	0.00	0.00	0.00	0.000	6	0.000	0.000	2060	2294	2668	2611	2726	0	0	0	0	0	0	14.87	14.88	14.88
4048	-0.40	105.6	2060	2294	2613	2727	145.3	0.4	785	4055	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2668	2611	2726	0	0	0	0	0	0	14.87	14.89	14.88
4234	-0.40	105.6	2060	2295	2613	2726	144.7	0.3	822	4240	0.00	0.00	0.00	0.000	6	0.000	0.000	2059	2294	2668	2611	2725	0	0	0	0	0	0	14.88	14.90	14.90
4420	-0.40	106.7	2059	2294	2611	2726	144.5	-0.0	859	4426	0.00	0.00	0.00	0.000	38	0.000	0.000	2059	2294	2668	2611	2726	0	0	0	0	0	0	14.87	14.90	14.89
4606	-0.40	110.5	2060	2294	2613	2726	144.8	-0.2	896	4614	0.00	0.00	1.55	0.287	8230	0.000	0.000	2059	2294	2662	2604	2720	0	0	0	0	0	0	14.88	14.11	13.83
4739	end loiter: LOITER_COMPLETE
state	4739	begin climb
4741	0.65	145.9	2059	2294	2608	2726	145.0	0.0	922	4805	1.25	2.58	56.60	1.207	10500	0.256	0.106	2395	3721	2505	2447	2564	0	0	0	0	0	0	14.02	14.02	13.44
4901	0.68	242.3	2395	3722	2444	2557	138.9	5.6	950	5044	0.00	2.28	137.00	1.101	9382	0.000	0.048	2396	2333	2118	2048	2189	0	0	0	0	0	0	14.28	14.20	13.09
5228	0.80	304.8	2396	2334	2031	2175	117.2	7.1	1010	5323	0.17	0.00	88.68	1.073	10406	0.110	0.000	2479	2334	1857	1784	1930	0	0	0	0	0	0	13.97	13.74	13.10
5503	0.80	304.8	2480	2334	1773	1921	86.0	10.3	1062	5509	0.00	2.45	0.00	0.000	516	0.000	0.074	2484	923	1845	1771	1919	0	0	0	0	0	0	14.30	13.98	14.31
5534	0.80	304.8	2485	924	1772	1918	82.8	10.3	1068	5540	0.00	2.42	0.00	0.000	1030	0.000	0.073	2484	2315	1843	1770	1917	0	0	0	0	0	0	14.14	14.02	14.17
5720	0.83	347.6	2484	2316	1769	1915	65.5	8.0	1105	5751	0.00	2.60	21.23	0.385	8484	0.000	0.105	2484	3724	1694	1621	1767	0	0	0	0	0	0	14.45	14.03	13.70
5848	0.86	380.6	2484	3724	1626	1769	54.9	8.5	1129	5872	0.00	2.33	20.62	0.353	9254	0.000	0.050	2485	2328	1554	1489	1620	0	0	0	0	0	0	14.30	14.21	13.73
6053	1.01	481.4	2484	2329	1491	1634	42.2	5.4	1169	6119	0.12	2.42	59.17	0.315	10916	0.129	0.074	2552	921	1141	1087	1196	0	0	0	0	0	0	14.18	13.95	13.72
6151	1.06	483.6	2552	921	1087	1202	34.0	9.9	1186	6157	0.00	2.40	0.00	0.000	1190	0.000	0.072	2552	2320	1144	1087	1202	0	0	0	0	0	0	14.19	14.07	14.23
6337	1.19	561.1	2549	2321	1088	1203	17.2	6.4	1223	6385	0.00	0.00	46.08	0.245	8358	0.000	0.000	2552	2320	817	767	867	0	0	0	0	0	0	14.52	14.13	13.85
6538	end climb: SURFACE_DEPTH_REACHED
state	6538	begin surface coast
6558	end surface coast: CONTROL_FINISHED_OK
state	6558	begin surface