Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 238 * 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 238 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 672.0

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 52 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 672.0 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 238 NOCOMM_ACTION 161 R_STBD_OVSHOOT 52 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 030917,145233,7447.2061,-15236.4688,31,0.9,32,19.9,0.0,0.0,10,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.26 MHEAD_RNG_PITCHd_Wd 18.7,110665,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 030917,150855,7447.2466,-15236.6807,6,0.7,7,19.9,0.0,0.0,11,9.4

Post-dive calculations and measurements:

FINISH 0.4,1.011013 _24V_AH 12.25,156.972

SM_CCo 9027,43.92,0.210,0,0,499,702.78 _10V_AH 12.29,0.000

SM_GC 1.22,8.18,0.17,43.92,0.077,0.117,0.210,196,2221,499,-7.39,-0.59,702.78,0,0,0,0,0,0,14.33,14.33,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 279 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323428

IRIDIUM_FIX 7447.91,-15234.74,030917,150344 DATA_FILE_SIZE 26722,747

TT8_MAMPS 0.040446,0.919023 CAP_FILE_SIZE 106559,0

HUMID 46.65 CFSIZE 2097872896,2015952896

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1448.4

XPDR_PINGS 13 CURRENT 0.095,250.18,1

CP_FREE 15970664448.000000 GPS 030917,174141,7447.905,-15234.432,13,0.8,15,19.9,0.2,0.0,11,9.5

PM_FREEKB_00 50911104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 144.34 nil 0 0 0.00

Roll_motor 82 2142 2173.29 nil 0 0 0.00

VBD_pump_during_apogee 984 1602 19335.33 nil 0 0 0.00

VBD_pump_during_surface 43 209 112.79 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 9019 14 1555.60

Iridium_during_xfer 575 168 1186.70 NCP 9011 20 2207.70

Transponder_ping 3 420 16.72 PMAR 8982 9 1088.85

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.48

TT8 0 0 0.00

LPSleep 6621 2 188.00

TT8_Active 1032 13 177.34

TT8_Sampling 2129 33 875.03

TT8_CF8 285 38 135.55

TT8_Kalman 0 0 0.00

Analog_circuits 2330 10 286.36

GPS_charging 0 0 0.00

Compass 1071 7 92.14

RAFOS 2193 48 1293.69

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 203 2234 487 496 0.0 0.0 0 152 0.00 0.00 -101.12 0.000 16386 0.000 0.000 205 2233 2378 2327 2430 0 0 0 0 0 0 14.52 28.83 14.54

155 -0.57 -145.9 203 2234 2330 2431 4.9 -7.7 10 203 12.85 2.70 -28.58 0.000 18724 0.457 2.142 2376 3580 3963 3944 3983 0 0 0 0 0 0 13.53 12.61 14.02

378 -0.74 -145.9 2377 3579 3952 3983 49.0 -11.8 54 383 0.12 2.35 0.00 0.000 5254 0.129 0.057 2327 2201 3967 3951 3983 0 0 0 0 0 0 14.18 14.14 14.32

688 -0.77 -145.9 2328 2200 3952 3983 98.4 -14.3 86 693 0.00 2.45 0.00 0.000 388 0.000 0.087 2319 3581 3967 3951 3983 0 0 0 0 0 0 14.57 13.97 14.59

768 -0.91 -145.9 2319 3583 3952 3984 108.2 -11.4 102 773 0.00 2.35 0.00 0.000 1158 0.000 0.058 2319 2199 3967 3951 3983 0 0 0 0 0 0 14.33 14.21 14.35

1078 -0.98 -145.9 2320 2199 3952 3984 146.2 -11.7 114 1080 0.17 0.00 0.00 0.000 4230 0.113 0.000 2253 2198 3967 3951 3983 0 0 0 0 0 0 14.23 14.31 14.30

1378 -0.95 -145.9 2251 2198 3952 3983 195.4 -16.3 124 1383 0.00 2.45 0.00 0.000 388 0.000 0.088 2245 3586 3968 3954 3983 0 0 0 0 0 0 14.64 14.06 14.67

1520 -0.99 -145.9 2245 3587 3953 3983 216.4 -14.1 152 1525 0.00 2.35 0.00 0.000 1158 0.000 0.057 2244 2192 3967 3952 3983 0 0 0 0 0 0 14.37 14.25 14.40

1830 -0.99 -145.9 2244 2192 3952 3984 263.0 -14.2 164 1835 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3579 3966 3950 3983 0 0 0 0 0 0 14.65 14.12 14.66

1935 -1.04 -145.9 2236 3581 3952 3983 277.0 -12.8 185 1940 0.00 2.33 0.00 0.000 1158 0.000 0.056 2236 2199 3967 3951 3983 0 0 0 0 0 0 14.13 14.15 14.13

2251 -1.04 -145.9 2236 2199 3953 3984 318.0 -12.6 198 2256 0.00 2.45 0.00 0.000 260 0.000 0.090 2236 3579 3967 3951 3983 0 0 0 0 0 0 14.68 14.16 14.69

2341 -1.11 -145.9 2236 3579 3953 3983 328.6 -11.3 216 2346 0.00 2.35 0.00 0.000 1158 0.000 0.057 2242 2199 3967 3951 3983 0 0 0 0 0 0 14.35 14.23 14.40

2671 -1.13 -145.9 2236 2198 3953 3982 368.0 -11.9 232 2676 0.00 2.45 0.00 0.000 388 0.000 0.088 2236 3581 3966 3951 3982 0 0 0 0 0 0 14.68 14.16 14.69

2696 -1.17 -145.9 2236 3582 3951 3983 371.0 -11.8 237 2703 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2192 3967 3951 3984 0 0 0 0 0 0 14.20 14.06 14.24

3018 -1.20 -145.9 2236 2193 3951 3984 407.0 -11.8 248 3023 0.12 2.45 0.00 0.000 4484 0.151 0.084 2172 3576 3966 3951 3982 0 0 0 0 0 0 14.14 14.07 14.19

3078 -1.14 -145.9 2173 3580 3952 3983 418.4 -16.1 260 3083 0.17 2.35 0.00 0.000 3206 0.275 0.055 2206 2195 3968 3955 3982 0 0 0 0 0 0 13.73 14.13 14.03

3409 -1.12 -145.9 2206 2194 3951 3984 464.1 -13.5 276 3413 0.00 2.42 0.00 0.000 388 0.000 0.086 2198 3582 3966 3950 3982 0 0 0 0 0 0 14.48 13.97 14.49

3489 -1.12 -145.9 2196 3583 3959 3983 475.0 -13.3 292 3493 0.00 2.35 0.00 0.000 1030 0.000 0.054 2198 2201 3966 3950 3982 0 0 0 0 0 0 14.15 14.03 14.18

3526 end dive: TARGET_DEPTH_EXCEEDED

state 3526 begin apogee

3532 -0.13 0.0 2199 2058 3951 3984 480.7 -14.0 295 3753 1.33 0.00 217.20 1.427 10246 0.246 0.000 2527 2056 3364 3381 3347 0 0 0 0 0 0 13.74 13.39 12.59

3757 end apogee: CONTROL_FINISHED_OK

state 3757 begin climb

3759 0.57 145.9 2528 2056 3379 3339 491.9 0.0 302 3976 0.75 2.53 206.10 1.385 10756 0.061 0.080 2781 732 2765 2808 2723 0 0 0 0 0 0 13.51 12.86 12.25

4002 0.19 145.9 2781 732 2800 2721 496.8 13.2 345 4007 0.68 2.50 0.00 0.000 5254 0.313 0.074 2646 2069 2760 2802 2719 0 0 0 0 0 0 12.93 13.20 13.23

4327 0.03 151.5 2646 2070 2802 2711 464.3 9.7 360 4333 0.20 2.40 1.20 0.268 12964 0.265 0.078 2603 722 2746 2791 2702 0 0 0 0 0 0 13.62 13.74 13.50

4353 -0.00 187.8 2602 722 2794 2709 462.1 8.3 365 4419 0.00 2.45 58.97 1.431 9382 0.000 0.078 2601 2100 2596 2651 2542 0 0 0 0 0 0 13.97 13.87 12.92

4720 -0.01 213.1 2602 2102 2648 2530 430.2 8.8 388 4759 0.00 0.00 35.03 1.481 8870 0.000 0.000 2598 2101 2494 2552 2436 0 0 0 0 0 0 14.36 13.95 13.13

5079 0.00 235.2 2603 2101 2547 2426 397.5 9.0 410 5116 0.00 2.45 32.47 1.480 8740 0.000 0.082 2602 724 2402 2459 2346 0 0 0 0 0 0 14.43 13.82 13.19

5188 0.11 270.0 2603 724 2452 2341 388.1 8.4 431 5248 0.00 2.42 52.50 1.405 9382 0.000 0.078 2602 2106 2261 2314 2208 0 0 0 0 0 0 14.16 14.03 13.05

5563 0.18 298.9 2603 2107 2309 2196 355.0 8.7 456 5614 0.12 2.50 42.78 1.411 10916 0.128 0.086 2663 732 2141 2189 2093 0 0 0 0 0 0 14.15 13.95 13.16

5654 0.18 298.9 2666 734 2184 2094 343.5 13.0 469 5659 0.00 2.42 0.00 0.000 1030 0.000 0.079 2665 2098 2138 2184 2093 0 0 0 0 0 0 13.97 13.85 14.01

5986 0.15 298.9 2666 2099 2185 2085 300.7 12.7 485 5987 0.15 0.00 0.00 0.000 4230 0.256 0.000 2633 2099 2135 2184 2086 0 0 0 0 0 0 14.06 14.23 14.22

6285 0.19 308.1 2634 2099 2184 2084 270.8 9.6 495 6299 0.00 2.38 10.75 1.603 8868 0.000 0.083 2642 728 2106 2154 2059 0 0 0 0 0 0 14.65 13.95 13.26

6365 0.29 332.2 2643 731 2149 2059 263.5 8.9 511 6411 0.00 2.40 39.58 1.382 9382 0.000 0.079 2643 2108 2007 2053 1962 0 0 0 0 0 0 14.38 14.25 13.23

6738 0.37 366.2 2643 2108 2049 1951 231.0 8.4 535 6798 0.17 0.00 54.70 1.326 10406 0.105 0.000 2714 2109 1870 1904 1837 0 0 0 0 0 0 14.33 14.02 13.24

7097 0.34 366.2 2716 2109 1896 1829 186.0 12.4 547 7102 0.00 2.42 0.00 0.000 644 0.000 0.085 2723 725 1862 1895 1829 0 0 0 0 0 0 14.56 14.19 14.60

7207 0.34 366.2 2724 726 1891 1828 172.8 11.6 569 7212 0.15 2.38 0.00 0.000 5126 0.231 0.078 2690 2098 1860 1891 1829 0 0 0 0 0 0 14.07 14.24 14.33

7518 0.37 380.6 2692 2099 1892 1826 143.1 9.3 581 7541 0.00 0.00 21.50 1.414 8358 0.000 0.000 2690 2099 1813 1842 1785 0 0 0 0 0 0 14.65 14.18 13.35

7818 0.45 416.7 2691 2100 1834 1777 117.1 8.3 591 7884 0.00 2.50 57.40 1.265 8868 0.000 0.086 2691 724 1663 1689 1637 0 0 0 0 0 0 14.60 14.04 13.28

7960 0.61 459.2 2692 725 1684 1637 105.4 8.0 619 8037 0.28 2.42 70.35 1.053 11430 0.086 0.079 2792 2105 1492 1528 1457 0 0 0 0 0 0 14.11 14.02 13.22

8342 0.55 459.2 2792 2105 1526 1437 52.7 11.2 665 8347 0.12 2.42 0.00 0.000 4740 0.245 0.083 2768 724 1480 1525 1436 0 0 0 0 0 0 13.88 14.08 14.02

8427 0.63 508.9 2767 725 1520 1436 45.5 7.7 682 8460 0.00 2.40 24.98 0.340 9382 0.000 0.079 2767 2100 1289 1340 1239 0 0 0 0 0 0 14.30 14.16 13.75

8765 0.80 621.6 2767 2100 1341 1235 23.2 4.8 719 8831 0.22 2.45 59.35 0.276 10916 0.096 0.090 2863 727 828 891 766 0 0 0 0 0 0 14.31 14.14 13.85

8861 0.80 621.6 2864 726 892 764 14.2 10.8 732 8867 0.00 2.42 0.00 0.000 1030 0.000 0.078 2862 2102 827 890 764 0 0 0 0 0 0 13.52 13.45 13.70

8984 end climb: SURFACE_DEPTH_REACHED

state 8984 begin surface coast

9004 end surface coast: CONTROL_FINISHED_OK

state 9004 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	238	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	672.0
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	52	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,145233,7447.2061,-15236.4688,31,0.9,32,19.9,0.0,0.0,10,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.26	MHEAD_RNG_PITCHd_Wd	18.7,110665,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	030917,150855,7447.2466,-15236.6807,6,0.7,7,19.9,0.0,0.0,11,9.4

FINISH	0.4,1.011013	_24V_AH	12.25,156.972
SM_CCo	9027,43.92,0.210,0,0,499,702.78	_10V_AH	12.29,0.000
SM_GC	1.22,8.18,0.17,43.92,0.077,0.117,0.210,196,2221,499,-7.39,-0.59,702.78,0,0,0,0,0,0,14.33,14.33,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	279	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323428
IRIDIUM_FIX	7447.91,-15234.74,030917,150344	DATA_FILE_SIZE	26722,747
TT8_MAMPS	0.040446,0.919023	CAP_FILE_SIZE	106559,0
HUMID	46.65	CFSIZE	2097872896,2015952896
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.4
XPDR_PINGS	13	CURRENT	0.095,250.18,1
CP_FREE	15970664448.000000	GPS	030917,174141,7447.905,-15234.432,13,0.8,15,19.9,0.2,0.0,11,9.5
PM_FREEKB_00	50911104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	144.34	nil	0	0	0.00
Roll_motor	82	2142	2173.29	nil	0	0	0.00
VBD_pump_during_apogee	984	1602	19335.33	nil	0	0	0.00
VBD_pump_during_surface	43	209	112.79	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	9019	14	1555.60
Iridium_during_xfer	575	168	1186.70	NCP	9011	20	2207.70
Transponder_ping	3	420	16.72	PMAR	8982	9	1088.85
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.48
TT8	0	0	0.00
LPSleep	6621	2	188.00
TT8_Active	1032	13	177.34
TT8_Sampling	2129	33	875.03
TT8_CF8	285	38	135.55
TT8_Kalman	0	0	0.00
Analog_circuits	2330	10	286.36
GPS_charging	0	0	0.00
Compass	1071	7	92.14
RAFOS	2193	48	1293.69
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	203	2234	487	496	0.0	0.0	0	152	0.00	0.00	-101.12	0.000	16386	0.000	0.000	205	2233	2378	2327	2430	0	0	0	0	0	0	14.52	28.83	14.54
155	-0.57	-145.9	203	2234	2330	2431	4.9	-7.7	10	203	12.85	2.70	-28.58	0.000	18724	0.457	2.142	2376	3580	3963	3944	3983	0	0	0	0	0	0	13.53	12.61	14.02
378	-0.74	-145.9	2377	3579	3952	3983	49.0	-11.8	54	383	0.12	2.35	0.00	0.000	5254	0.129	0.057	2327	2201	3967	3951	3983	0	0	0	0	0	0	14.18	14.14	14.32
688	-0.77	-145.9	2328	2200	3952	3983	98.4	-14.3	86	693	0.00	2.45	0.00	0.000	388	0.000	0.087	2319	3581	3967	3951	3983	0	0	0	0	0	0	14.57	13.97	14.59
768	-0.91	-145.9	2319	3583	3952	3984	108.2	-11.4	102	773	0.00	2.35	0.00	0.000	1158	0.000	0.058	2319	2199	3967	3951	3983	0	0	0	0	0	0	14.33	14.21	14.35
1078	-0.98	-145.9	2320	2199	3952	3984	146.2	-11.7	114	1080	0.17	0.00	0.00	0.000	4230	0.113	0.000	2253	2198	3967	3951	3983	0	0	0	0	0	0	14.23	14.31	14.30
1378	-0.95	-145.9	2251	2198	3952	3983	195.4	-16.3	124	1383	0.00	2.45	0.00	0.000	388	0.000	0.088	2245	3586	3968	3954	3983	0	0	0	0	0	0	14.64	14.06	14.67
1520	-0.99	-145.9	2245	3587	3953	3983	216.4	-14.1	152	1525	0.00	2.35	0.00	0.000	1158	0.000	0.057	2244	2192	3967	3952	3983	0	0	0	0	0	0	14.37	14.25	14.40
1830	-0.99	-145.9	2244	2192	3952	3984	263.0	-14.2	164	1835	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3579	3966	3950	3983	0	0	0	0	0	0	14.65	14.12	14.66
1935	-1.04	-145.9	2236	3581	3952	3983	277.0	-12.8	185	1940	0.00	2.33	0.00	0.000	1158	0.000	0.056	2236	2199	3967	3951	3983	0	0	0	0	0	0	14.13	14.15	14.13
2251	-1.04	-145.9	2236	2199	3953	3984	318.0	-12.6	198	2256	0.00	2.45	0.00	0.000	260	0.000	0.090	2236	3579	3967	3951	3983	0	0	0	0	0	0	14.68	14.16	14.69
2341	-1.11	-145.9	2236	3579	3953	3983	328.6	-11.3	216	2346	0.00	2.35	0.00	0.000	1158	0.000	0.057	2242	2199	3967	3951	3983	0	0	0	0	0	0	14.35	14.23	14.40
2671	-1.13	-145.9	2236	2198	3953	3982	368.0	-11.9	232	2676	0.00	2.45	0.00	0.000	388	0.000	0.088	2236	3581	3966	3951	3982	0	0	0	0	0	0	14.68	14.16	14.69
2696	-1.17	-145.9	2236	3582	3951	3983	371.0	-11.8	237	2703	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2192	3967	3951	3984	0	0	0	0	0	0	14.20	14.06	14.24
3018	-1.20	-145.9	2236	2193	3951	3984	407.0	-11.8	248	3023	0.12	2.45	0.00	0.000	4484	0.151	0.084	2172	3576	3966	3951	3982	0	0	0	0	0	0	14.14	14.07	14.19
3078	-1.14	-145.9	2173	3580	3952	3983	418.4	-16.1	260	3083	0.17	2.35	0.00	0.000	3206	0.275	0.055	2206	2195	3968	3955	3982	0	0	0	0	0	0	13.73	14.13	14.03
3409	-1.12	-145.9	2206	2194	3951	3984	464.1	-13.5	276	3413	0.00	2.42	0.00	0.000	388	0.000	0.086	2198	3582	3966	3950	3982	0	0	0	0	0	0	14.48	13.97	14.49
3489	-1.12	-145.9	2196	3583	3959	3983	475.0	-13.3	292	3493	0.00	2.35	0.00	0.000	1030	0.000	0.054	2198	2201	3966	3950	3982	0	0	0	0	0	0	14.15	14.03	14.18
3526	end dive: TARGET_DEPTH_EXCEEDED
state	3526	begin apogee
3532	-0.13	0.0	2199	2058	3951	3984	480.7	-14.0	295	3753	1.33	0.00	217.20	1.427	10246	0.246	0.000	2527	2056	3364	3381	3347	0	0	0	0	0	0	13.74	13.39	12.59
3757	end apogee: CONTROL_FINISHED_OK
state	3757	begin climb
3759	0.57	145.9	2528	2056	3379	3339	491.9	0.0	302	3976	0.75	2.53	206.10	1.385	10756	0.061	0.080	2781	732	2765	2808	2723	0	0	0	0	0	0	13.51	12.86	12.25
4002	0.19	145.9	2781	732	2800	2721	496.8	13.2	345	4007	0.68	2.50	0.00	0.000	5254	0.313	0.074	2646	2069	2760	2802	2719	0	0	0	0	0	0	12.93	13.20	13.23
4327	0.03	151.5	2646	2070	2802	2711	464.3	9.7	360	4333	0.20	2.40	1.20	0.268	12964	0.265	0.078	2603	722	2746	2791	2702	0	0	0	0	0	0	13.62	13.74	13.50
4353	-0.00	187.8	2602	722	2794	2709	462.1	8.3	365	4419	0.00	2.45	58.97	1.431	9382	0.000	0.078	2601	2100	2596	2651	2542	0	0	0	0	0	0	13.97	13.87	12.92
4720	-0.01	213.1	2602	2102	2648	2530	430.2	8.8	388	4759	0.00	0.00	35.03	1.481	8870	0.000	0.000	2598	2101	2494	2552	2436	0	0	0	0	0	0	14.36	13.95	13.13
5079	0.00	235.2	2603	2101	2547	2426	397.5	9.0	410	5116	0.00	2.45	32.47	1.480	8740	0.000	0.082	2602	724	2402	2459	2346	0	0	0	0	0	0	14.43	13.82	13.19
5188	0.11	270.0	2603	724	2452	2341	388.1	8.4	431	5248	0.00	2.42	52.50	1.405	9382	0.000	0.078	2602	2106	2261	2314	2208	0	0	0	0	0	0	14.16	14.03	13.05
5563	0.18	298.9	2603	2107	2309	2196	355.0	8.7	456	5614	0.12	2.50	42.78	1.411	10916	0.128	0.086	2663	732	2141	2189	2093	0	0	0	0	0	0	14.15	13.95	13.16
5654	0.18	298.9	2666	734	2184	2094	343.5	13.0	469	5659	0.00	2.42	0.00	0.000	1030	0.000	0.079	2665	2098	2138	2184	2093	0	0	0	0	0	0	13.97	13.85	14.01
5986	0.15	298.9	2666	2099	2185	2085	300.7	12.7	485	5987	0.15	0.00	0.00	0.000	4230	0.256	0.000	2633	2099	2135	2184	2086	0	0	0	0	0	0	14.06	14.23	14.22
6285	0.19	308.1	2634	2099	2184	2084	270.8	9.6	495	6299	0.00	2.38	10.75	1.603	8868	0.000	0.083	2642	728	2106	2154	2059	0	0	0	0	0	0	14.65	13.95	13.26
6365	0.29	332.2	2643	731	2149	2059	263.5	8.9	511	6411	0.00	2.40	39.58	1.382	9382	0.000	0.079	2643	2108	2007	2053	1962	0	0	0	0	0	0	14.38	14.25	13.23
6738	0.37	366.2	2643	2108	2049	1951	231.0	8.4	535	6798	0.17	0.00	54.70	1.326	10406	0.105	0.000	2714	2109	1870	1904	1837	0	0	0	0	0	0	14.33	14.02	13.24
7097	0.34	366.2	2716	2109	1896	1829	186.0	12.4	547	7102	0.00	2.42	0.00	0.000	644	0.000	0.085	2723	725	1862	1895	1829	0	0	0	0	0	0	14.56	14.19	14.60
7207	0.34	366.2	2724	726	1891	1828	172.8	11.6	569	7212	0.15	2.38	0.00	0.000	5126	0.231	0.078	2690	2098	1860	1891	1829	0	0	0	0	0	0	14.07	14.24	14.33
7518	0.37	380.6	2692	2099	1892	1826	143.1	9.3	581	7541	0.00	0.00	21.50	1.414	8358	0.000	0.000	2690	2099	1813	1842	1785	0	0	0	0	0	0	14.65	14.18	13.35
7818	0.45	416.7	2691	2100	1834	1777	117.1	8.3	591	7884	0.00	2.50	57.40	1.265	8868	0.000	0.086	2691	724	1663	1689	1637	0	0	0	0	0	0	14.60	14.04	13.28
7960	0.61	459.2	2692	725	1684	1637	105.4	8.0	619	8037	0.28	2.42	70.35	1.053	11430	0.086	0.079	2792	2105	1492	1528	1457	0	0	0	0	0	0	14.11	14.02	13.22
8342	0.55	459.2	2792	2105	1526	1437	52.7	11.2	665	8347	0.12	2.42	0.00	0.000	4740	0.245	0.083	2768	724	1480	1525	1436	0	0	0	0	0	0	13.88	14.08	14.02
8427	0.63	508.9	2767	725	1520	1436	45.5	7.7	682	8460	0.00	2.40	24.98	0.340	9382	0.000	0.079	2767	2100	1289	1340	1239	0	0	0	0	0	0	14.30	14.16	13.75
8765	0.80	621.6	2767	2100	1341	1235	23.2	4.8	719	8831	0.22	2.45	59.35	0.276	10916	0.096	0.090	2863	727	828	891	766	0	0	0	0	0	0	14.31	14.14	13.85
8861	0.80	621.6	2864	726	892	764	14.2	10.8	732	8867	0.00	2.42	0.00	0.000	1030	0.000	0.078	2862	2102	827	890	764	0	0	0	0	0	0	13.52	13.45	13.70
8984	end climb: SURFACE_DEPTH_REACHED
state	8984	begin surface coast
9004	end surface coast: CONTROL_FINISHED_OK
state	9004	begin surface