Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 241 * 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 241 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 679.0

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 679.0 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 241 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 030917,231954,7449.1099,-15231.1084,17,0.7,20,20.0,0.0,0.0,12,9.9 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 1.27 MHEAD_RNG_PITCHd_Wd 20.4,106580,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 030917,233434,7449.0942,-15231.1865,10,0.7,25,20.0,0.0,258.4,11,9.4

Post-dive calculations and measurements:

FINISH 0.8,1.021410 _24V_AH 12.25,158.392

SM_CCo 8979,17.98,0.215,0,0,500,702.78 _10V_AH 12.28,0.000

SM_GC 0.90,8.23,2.67,17.98,0.075,0.074,0.215,197,2201,500,-7.39,-0.76,702.78,0,0,0,0,0,0,14.29,14.19,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 340 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323384

IRIDIUM_FIX 7450.32,-15230.95,030917,232426 DATA_FILE_SIZE 26716,722

TT8_MAMPS 0.040446,0.940744 CAP_FILE_SIZE 105630,0

HUMID 46.69 CFSIZE 2097872896,2015100928

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 1447.7

XPDR_PINGS 13 CURRENT 0.093,253.18,1

CP_FREE 15969386496.000000 GPS 040917,020627,7449.722,-15228.895,36,0.8,37,20.0,0.0,0.0,10,7.2

PM_FREEKB_00 50829568

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.50 nil 0 0 0.00

Roll_motor 94 2141 2477.44 nil 0 0 0.00

VBD_pump_during_apogee 937 1477 16960.37 nil 0 0 0.00

VBD_pump_during_surface 17 214 47.33 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 8987 14 1629.23

Iridium_during_xfer 543 162 1084.72 NCP 8958 20 2194.71

Transponder_ping 3 420 16.72 PMAR 8929 9 1084.51

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.46

TT8 0 0 0.00

LPSleep 6490 2 184.12

TT8_Active 993 13 170.52

TT8_Sampling 2094 33 859.90

TT8_CF8 313 38 149.04

TT8_Kalman 0 0 0.00

Analog_circuits 2241 10 275.22

GPS_charging 0 0 0.00

Compass 1035 7 89.04

RAFOS 2158 48 1272.01

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 -145.9 200 2219 497 488 0.0 0.0 0 152 0.00 0.00 -101.38 0.000 16386 0.000 0.000 200 2219 2381 2332 2431 0 0 0 0 0 0 14.52 28.83 14.54

155 -0.57 -145.9 199 2220 2333 2433 4.9 -7.3 10 203 12.85 2.75 -28.65 0.000 18724 0.456 2.141 2375 3594 3963 3945 3982 0 0 0 0 0 0 13.54 12.62 14.03

413 -0.74 -145.9 2376 3595 3953 3983 53.8 -12.1 61 420 0.00 2.38 0.00 0.000 1158 0.000 0.059 2375 2204 3967 3953 3982 0 0 0 0 0 0 14.22 14.10 14.26

720 -0.86 -145.9 2376 2203 3955 3983 88.8 -9.9 92 725 0.20 2.47 0.00 0.000 4516 0.108 0.084 2283 3600 3968 3954 3982 0 0 0 0 0 0 14.23 13.93 14.29

735 -0.94 -145.9 2283 3601 3954 3982 90.9 -11.0 95 741 0.00 2.38 0.00 0.000 1158 0.000 0.054 2283 2200 3968 3954 3982 0 0 0 0 0 0 14.06 14.02 14.06

1060 -0.94 -145.9 2283 2201 3955 3982 144.7 -15.8 110 1065 0.00 2.45 0.00 0.000 260 0.000 0.087 2279 3595 3968 3954 3982 0 0 0 0 0 0 14.63 14.17 14.65

1150 -1.02 -145.9 2279 3595 3955 3982 156.9 -12.7 128 1155 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2192 3968 3954 3982 0 0 0 0 0 0 14.36 14.23 14.40

1481 -1.04 -145.9 2280 2191 3954 3982 203.7 -13.8 144 1485 0.00 2.45 0.00 0.000 388 0.000 0.086 2269 3595 3968 3954 3982 0 0 0 0 0 0 14.69 14.19 14.69

1519 -1.09 -145.9 2271 3595 3955 3982 208.9 -13.1 149 1527 0.15 2.38 0.00 0.000 5254 0.122 0.057 2220 2201 3968 3954 3982 0 0 0 0 0 0 13.97 14.10 14.07

1825 -1.01 -145.9 2217 2199 3955 3982 263.2 -17.5 160 1830 0.12 2.47 0.00 0.000 2436 0.294 0.083 2236 3597 3967 3953 3982 0 0 0 0 0 0 13.81 14.04 13.97

1932 -1.06 -145.9 2237 3599 3955 3982 277.6 -12.5 181 1937 0.00 2.35 0.00 0.000 1158 0.000 0.056 2237 2196 3966 3951 3982 0 0 0 0 0 0 14.20 14.08 14.26

2247 -1.06 -145.9 2236 2195 3954 3983 319.8 -13.0 194 2252 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3598 3965 3950 3981 0 0 0 0 0 0 14.45 14.02 14.47

2287 -1.12 -145.9 2236 3599 3954 3981 324.8 -12.2 202 2292 0.00 2.40 0.00 0.000 1158 0.000 0.057 2239 2193 3967 3953 3981 0 0 0 0 0 0 14.19 14.07 14.23

2607 -1.12 -145.9 2236 2192 3954 3981 364.7 -12.3 216 2612 0.00 2.50 0.00 0.000 260 0.000 0.087 2235 3594 3967 3953 3981 0 0 0 0 0 0 14.45 14.01 14.46

2647 -1.19 -145.9 2235 3596 3953 3983 369.4 -11.6 224 2652 0.12 2.38 0.00 0.000 5254 0.145 0.057 2186 2199 3966 3952 3981 0 0 0 0 0 0 14.09 14.09 14.20

2968 -1.12 -145.9 2186 2196 3952 3983 420.2 -15.9 238 2973 0.12 2.47 0.00 0.000 2436 0.295 0.082 2204 3596 3966 3951 3981 0 0 0 0 0 0 13.76 13.95 13.93

3080 -1.12 -145.9 2204 3597 3952 3983 435.3 -13.0 260 3084 0.00 2.40 0.00 0.000 1030 0.000 0.056 2203 2192 3966 3951 3981 0 0 0 0 0 0 14.04 13.92 14.04

3390 -1.09 -145.9 2204 2190 3952 3981 478.3 -13.7 272 3395 0.00 2.45 0.00 0.000 388 0.000 0.085 2201 3594 3966 3951 3982 0 0 0 0 0 0 14.45 13.94 14.47

3402 end dive: TARGET_DEPTH_EXCEEDED

state 3402 begin apogee

3411 -0.13 0.0 2193 2096 3951 3982 480.5 -13.7 275 3631 1.35 0.00 217.40 1.467 10246 0.250 0.000 2524 2093 3366 3382 3351 0 0 0 0 0 0 13.64 13.37 12.56

3635 end apogee: CONTROL_FINISHED_OK

state 3635 begin climb

3638 0.57 145.9 2527 2095 3375 3344 491.8 0.0 282 3854 0.77 2.70 205.05 1.402 10756 0.061 0.077 2794 692 2765 2804 2726 0 0 0 0 0 0 13.47 13.05 12.25

3904 0.18 145.9 2794 692 2797 2722 492.4 15.2 327 3911 0.73 2.58 0.00 0.000 5254 0.318 0.073 2650 2094 2760 2800 2721 0 0 0 0 0 0 12.98 13.26 13.31

4223 0.02 148.3 2647 2092 2797 2714 460.0 9.9 340 4228 0.20 2.47 0.00 0.000 4772 0.263 0.077 2602 691 2755 2796 2714 0 0 0 0 0 0 13.71 13.95 13.88

4263 0.06 195.9 2603 691 2797 2714 456.4 7.8 348 4345 0.00 2.50 71.75 1.414 9254 0.000 0.078 2602 2102 2557 2611 2504 0 0 0 0 0 0 14.14 14.01 12.95

4643 0.07 219.0 2602 2103 2609 2494 423.1 8.9 374 4680 0.00 2.50 30.17 1.473 8740 0.000 0.084 2602 691 2469 2525 2413 0 0 0 0 0 0 14.50 14.05 13.17

4700 0.13 256.4 2603 696 2523 2413 418.0 8.3 380 4767 0.00 2.47 57.40 1.407 9382 0.000 0.079 2602 2101 2315 2364 2267 0 0 0 0 0 0 14.19 14.07 13.03

5067 0.18 274.5 2602 2102 2359 2252 384.4 9.2 403 5097 0.12 0.00 24.30 1.477 10406 0.130 0.000 2663 2100 2242 2293 2192 0 0 0 0 0 0 14.28 14.06 13.21

5395 0.13 274.5 2662 2101 2290 2185 341.2 13.2 414 5400 0.15 2.47 0.00 0.000 4740 0.259 0.083 2630 684 2236 2288 2185 0 0 0 0 0 0 14.04 14.21 14.19

5470 0.19 274.5 2630 684 2288 2186 333.2 10.6 429 5475 0.00 2.45 0.00 0.000 1158 0.000 0.078 2630 2100 2235 2286 2185 0 0 0 0 0 0 14.38 14.25 14.42

5785 0.19 274.5 2631 2101 2288 2184 300.0 10.3 442 5790 0.00 2.47 0.00 0.000 516 0.000 0.085 2630 682 2235 2286 2184 0 0 0 0 0 0 14.66 14.26 14.67

5821 0.26 277.0 2631 682 2287 2191 296.6 9.9 449 5825 0.00 2.45 0.00 0.000 1190 0.000 0.077 2630 2101 2235 2286 2184 0 0 0 0 0 0 14.41 14.27 14.45

6146 0.29 296.9 2631 2102 2287 2183 265.7 9.1 464 6182 0.15 0.00 34.88 1.414 10406 0.115 0.000 2696 2102 2154 2199 2109 0 0 0 0 0 0 14.41 14.15 13.31

6476 0.21 296.9 2696 2103 2190 2098 225.3 11.9 475 6481 0.15 2.47 0.00 0.000 4740 0.241 0.083 2659 688 2142 2189 2096 0 0 0 0 0 0 14.01 14.18 14.16

6594 0.29 336.8 2660 688 2189 2097 215.1 8.2 498 6667 0.00 2.47 65.47 1.327 9382 0.000 0.080 2659 2111 1988 2031 1945 0 0 0 0 0 0 14.28 14.14 13.21

6988 0.37 373.7 2659 2112 2027 1934 180.9 8.3 527 7054 0.12 2.60 61.72 1.300 10916 0.130 0.084 2726 691 1835 1866 1804 0 0 0 0 0 0 14.26 14.00 13.23

7106 0.37 373.7 2727 691 1858 1807 167.2 12.0 545 7112 0.00 2.47 0.00 0.000 1030 0.000 0.078 2726 2099 1831 1856 1806 0 0 0 0 0 0 14.15 14.03 14.19

7409 0.33 373.7 2727 2100 1856 1800 130.5 11.7 556 7415 0.12 2.47 0.00 0.000 4740 0.237 0.082 2699 688 1827 1854 1800 0 0 0 0 0 0 14.07 14.04 14.20

7455 0.42 390.8 2699 688 1853 1800 126.0 9.2 565 7481 0.00 2.47 21.42 1.370 9382 0.000 0.077 2699 2106 1771 1796 1746 0 0 0 0 0 0 14.19 14.09 13.32

7783 0.49 419.3 2699 2108 1790 1736 97.1 8.7 584 7803 0.12 0.00 14.93 0.500 10406 0.131 0.000 2757 2107 1655 1679 1631 0 0 0 0 0 0 14.29 14.14 13.62

8101 0.47 427.8 2758 2108 1680 1628 60.8 9.6 616 8113 0.00 2.50 5.07 0.382 8868 0.000 0.083 2766 691 1622 1653 1591 0 0 0 0 0 0 14.58 13.92 13.64

8168 0.53 465.1 2766 691 1649 1592 54.9 8.3 629 8195 0.00 2.47 20.12 0.367 9382 0.000 0.082 2766 2102 1469 1500 1438 0 0 0 0 0 0 14.30 14.16 13.64

8493 0.63 557.7 2767 2102 1502 1429 32.6 5.7 664 8545 0.00 0.00 48.85 0.300 8614 0.000 0.000 2766 2102 1089 1150 1028 0 0 0 0 0 0 14.57 14.15 13.81

8843 0.86 669.6 2766 2103 1150 1018 12.7 4.8 700 8908 0.25 2.58 58.70 0.241 10916 0.092 0.089 2877 689 632 677 587 0 0 0 0 0 0 14.21 14.08 13.87

8948 end climb: SURFACE_DEPTH_REACHED

state 8948 begin surface coast

8956 end surface coast: CONTROL_FINISHED_OK

state 8956 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	241	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	679.0
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	030917,231954,7449.1099,-15231.1084,17,0.7,20,20.0,0.0,0.0,12,9.9	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	1.27	MHEAD_RNG_PITCHd_Wd	20.4,106580,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	030917,233434,7449.0942,-15231.1865,10,0.7,25,20.0,0.0,258.4,11,9.4

FINISH	0.8,1.021410	_24V_AH	12.25,158.392
SM_CCo	8979,17.98,0.215,0,0,500,702.78	_10V_AH	12.28,0.000
SM_GC	0.90,8.23,2.67,17.98,0.075,0.074,0.215,197,2201,500,-7.39,-0.76,702.78,0,0,0,0,0,0,14.29,14.19,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	340	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323384
IRIDIUM_FIX	7450.32,-15230.95,030917,232426	DATA_FILE_SIZE	26716,722
TT8_MAMPS	0.040446,0.940744	CAP_FILE_SIZE	105630,0
HUMID	46.69	CFSIZE	2097872896,2015100928
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	1447.7
XPDR_PINGS	13	CURRENT	0.093,253.18,1
CP_FREE	15969386496.000000	GPS	040917,020627,7449.722,-15228.895,36,0.8,37,20.0,0.0,0.0,10,7.2
PM_FREEKB_00	50829568

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.50	nil	0	0	0.00
Roll_motor	94	2141	2477.44	nil	0	0	0.00
VBD_pump_during_apogee	937	1477	16960.37	nil	0	0	0.00
VBD_pump_during_surface	17	214	47.33	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	8987	14	1629.23
Iridium_during_xfer	543	162	1084.72	NCP	8958	20	2194.71
Transponder_ping	3	420	16.72	PMAR	8929	9	1084.51
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.46
TT8	0	0	0.00
LPSleep	6490	2	184.12
TT8_Active	993	13	170.52
TT8_Sampling	2094	33	859.90
TT8_CF8	313	38	149.04
TT8_Kalman	0	0	0.00
Analog_circuits	2241	10	275.22
GPS_charging	0	0	0.00
Compass	1035	7	89.04
RAFOS	2158	48	1272.01
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	200	2219	497	488	0.0	0.0	0	152	0.00	0.00	-101.38	0.000	16386	0.000	0.000	200	2219	2381	2332	2431	0	0	0	0	0	0	14.52	28.83	14.54
155	-0.57	-145.9	199	2220	2333	2433	4.9	-7.3	10	203	12.85	2.75	-28.65	0.000	18724	0.456	2.141	2375	3594	3963	3945	3982	0	0	0	0	0	0	13.54	12.62	14.03
413	-0.74	-145.9	2376	3595	3953	3983	53.8	-12.1	61	420	0.00	2.38	0.00	0.000	1158	0.000	0.059	2375	2204	3967	3953	3982	0	0	0	0	0	0	14.22	14.10	14.26
720	-0.86	-145.9	2376	2203	3955	3983	88.8	-9.9	92	725	0.20	2.47	0.00	0.000	4516	0.108	0.084	2283	3600	3968	3954	3982	0	0	0	0	0	0	14.23	13.93	14.29
735	-0.94	-145.9	2283	3601	3954	3982	90.9	-11.0	95	741	0.00	2.38	0.00	0.000	1158	0.000	0.054	2283	2200	3968	3954	3982	0	0	0	0	0	0	14.06	14.02	14.06
1060	-0.94	-145.9	2283	2201	3955	3982	144.7	-15.8	110	1065	0.00	2.45	0.00	0.000	260	0.000	0.087	2279	3595	3968	3954	3982	0	0	0	0	0	0	14.63	14.17	14.65
1150	-1.02	-145.9	2279	3595	3955	3982	156.9	-12.7	128	1155	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2192	3968	3954	3982	0	0	0	0	0	0	14.36	14.23	14.40
1481	-1.04	-145.9	2280	2191	3954	3982	203.7	-13.8	144	1485	0.00	2.45	0.00	0.000	388	0.000	0.086	2269	3595	3968	3954	3982	0	0	0	0	0	0	14.69	14.19	14.69
1519	-1.09	-145.9	2271	3595	3955	3982	208.9	-13.1	149	1527	0.15	2.38	0.00	0.000	5254	0.122	0.057	2220	2201	3968	3954	3982	0	0	0	0	0	0	13.97	14.10	14.07
1825	-1.01	-145.9	2217	2199	3955	3982	263.2	-17.5	160	1830	0.12	2.47	0.00	0.000	2436	0.294	0.083	2236	3597	3967	3953	3982	0	0	0	0	0	0	13.81	14.04	13.97
1932	-1.06	-145.9	2237	3599	3955	3982	277.6	-12.5	181	1937	0.00	2.35	0.00	0.000	1158	0.000	0.056	2237	2196	3966	3951	3982	0	0	0	0	0	0	14.20	14.08	14.26
2247	-1.06	-145.9	2236	2195	3954	3983	319.8	-13.0	194	2252	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3598	3965	3950	3981	0	0	0	0	0	0	14.45	14.02	14.47
2287	-1.12	-145.9	2236	3599	3954	3981	324.8	-12.2	202	2292	0.00	2.40	0.00	0.000	1158	0.000	0.057	2239	2193	3967	3953	3981	0	0	0	0	0	0	14.19	14.07	14.23
2607	-1.12	-145.9	2236	2192	3954	3981	364.7	-12.3	216	2612	0.00	2.50	0.00	0.000	260	0.000	0.087	2235	3594	3967	3953	3981	0	0	0	0	0	0	14.45	14.01	14.46
2647	-1.19	-145.9	2235	3596	3953	3983	369.4	-11.6	224	2652	0.12	2.38	0.00	0.000	5254	0.145	0.057	2186	2199	3966	3952	3981	0	0	0	0	0	0	14.09	14.09	14.20
2968	-1.12	-145.9	2186	2196	3952	3983	420.2	-15.9	238	2973	0.12	2.47	0.00	0.000	2436	0.295	0.082	2204	3596	3966	3951	3981	0	0	0	0	0	0	13.76	13.95	13.93
3080	-1.12	-145.9	2204	3597	3952	3983	435.3	-13.0	260	3084	0.00	2.40	0.00	0.000	1030	0.000	0.056	2203	2192	3966	3951	3981	0	0	0	0	0	0	14.04	13.92	14.04
3390	-1.09	-145.9	2204	2190	3952	3981	478.3	-13.7	272	3395	0.00	2.45	0.00	0.000	388	0.000	0.085	2201	3594	3966	3951	3982	0	0	0	0	0	0	14.45	13.94	14.47
3402	end dive: TARGET_DEPTH_EXCEEDED
state	3402	begin apogee
3411	-0.13	0.0	2193	2096	3951	3982	480.5	-13.7	275	3631	1.35	0.00	217.40	1.467	10246	0.250	0.000	2524	2093	3366	3382	3351	0	0	0	0	0	0	13.64	13.37	12.56
3635	end apogee: CONTROL_FINISHED_OK
state	3635	begin climb
3638	0.57	145.9	2527	2095	3375	3344	491.8	0.0	282	3854	0.77	2.70	205.05	1.402	10756	0.061	0.077	2794	692	2765	2804	2726	0	0	0	0	0	0	13.47	13.05	12.25
3904	0.18	145.9	2794	692	2797	2722	492.4	15.2	327	3911	0.73	2.58	0.00	0.000	5254	0.318	0.073	2650	2094	2760	2800	2721	0	0	0	0	0	0	12.98	13.26	13.31
4223	0.02	148.3	2647	2092	2797	2714	460.0	9.9	340	4228	0.20	2.47	0.00	0.000	4772	0.263	0.077	2602	691	2755	2796	2714	0	0	0	0	0	0	13.71	13.95	13.88
4263	0.06	195.9	2603	691	2797	2714	456.4	7.8	348	4345	0.00	2.50	71.75	1.414	9254	0.000	0.078	2602	2102	2557	2611	2504	0	0	0	0	0	0	14.14	14.01	12.95
4643	0.07	219.0	2602	2103	2609	2494	423.1	8.9	374	4680	0.00	2.50	30.17	1.473	8740	0.000	0.084	2602	691	2469	2525	2413	0	0	0	0	0	0	14.50	14.05	13.17
4700	0.13	256.4	2603	696	2523	2413	418.0	8.3	380	4767	0.00	2.47	57.40	1.407	9382	0.000	0.079	2602	2101	2315	2364	2267	0	0	0	0	0	0	14.19	14.07	13.03
5067	0.18	274.5	2602	2102	2359	2252	384.4	9.2	403	5097	0.12	0.00	24.30	1.477	10406	0.130	0.000	2663	2100	2242	2293	2192	0	0	0	0	0	0	14.28	14.06	13.21
5395	0.13	274.5	2662	2101	2290	2185	341.2	13.2	414	5400	0.15	2.47	0.00	0.000	4740	0.259	0.083	2630	684	2236	2288	2185	0	0	0	0	0	0	14.04	14.21	14.19
5470	0.19	274.5	2630	684	2288	2186	333.2	10.6	429	5475	0.00	2.45	0.00	0.000	1158	0.000	0.078	2630	2100	2235	2286	2185	0	0	0	0	0	0	14.38	14.25	14.42
5785	0.19	274.5	2631	2101	2288	2184	300.0	10.3	442	5790	0.00	2.47	0.00	0.000	516	0.000	0.085	2630	682	2235	2286	2184	0	0	0	0	0	0	14.66	14.26	14.67
5821	0.26	277.0	2631	682	2287	2191	296.6	9.9	449	5825	0.00	2.45	0.00	0.000	1190	0.000	0.077	2630	2101	2235	2286	2184	0	0	0	0	0	0	14.41	14.27	14.45
6146	0.29	296.9	2631	2102	2287	2183	265.7	9.1	464	6182	0.15	0.00	34.88	1.414	10406	0.115	0.000	2696	2102	2154	2199	2109	0	0	0	0	0	0	14.41	14.15	13.31
6476	0.21	296.9	2696	2103	2190	2098	225.3	11.9	475	6481	0.15	2.47	0.00	0.000	4740	0.241	0.083	2659	688	2142	2189	2096	0	0	0	0	0	0	14.01	14.18	14.16
6594	0.29	336.8	2660	688	2189	2097	215.1	8.2	498	6667	0.00	2.47	65.47	1.327	9382	0.000	0.080	2659	2111	1988	2031	1945	0	0	0	0	0	0	14.28	14.14	13.21
6988	0.37	373.7	2659	2112	2027	1934	180.9	8.3	527	7054	0.12	2.60	61.72	1.300	10916	0.130	0.084	2726	691	1835	1866	1804	0	0	0	0	0	0	14.26	14.00	13.23
7106	0.37	373.7	2727	691	1858	1807	167.2	12.0	545	7112	0.00	2.47	0.00	0.000	1030	0.000	0.078	2726	2099	1831	1856	1806	0	0	0	0	0	0	14.15	14.03	14.19
7409	0.33	373.7	2727	2100	1856	1800	130.5	11.7	556	7415	0.12	2.47	0.00	0.000	4740	0.237	0.082	2699	688	1827	1854	1800	0	0	0	0	0	0	14.07	14.04	14.20
7455	0.42	390.8	2699	688	1853	1800	126.0	9.2	565	7481	0.00	2.47	21.42	1.370	9382	0.000	0.077	2699	2106	1771	1796	1746	0	0	0	0	0	0	14.19	14.09	13.32
7783	0.49	419.3	2699	2108	1790	1736	97.1	8.7	584	7803	0.12	0.00	14.93	0.500	10406	0.131	0.000	2757	2107	1655	1679	1631	0	0	0	0	0	0	14.29	14.14	13.62
8101	0.47	427.8	2758	2108	1680	1628	60.8	9.6	616	8113	0.00	2.50	5.07	0.382	8868	0.000	0.083	2766	691	1622	1653	1591	0	0	0	0	0	0	14.58	13.92	13.64
8168	0.53	465.1	2766	691	1649	1592	54.9	8.3	629	8195	0.00	2.47	20.12	0.367	9382	0.000	0.082	2766	2102	1469	1500	1438	0	0	0	0	0	0	14.30	14.16	13.64
8493	0.63	557.7	2767	2102	1502	1429	32.6	5.7	664	8545	0.00	0.00	48.85	0.300	8614	0.000	0.000	2766	2102	1089	1150	1028	0	0	0	0	0	0	14.57	14.15	13.81
8843	0.86	669.6	2766	2103	1150	1018	12.7	4.8	700	8908	0.25	2.58	58.70	0.241	10916	0.092	0.089	2877	689	632	677	587	0	0	0	0	0	0	14.21	14.08	13.87
8948	end climb: SURFACE_DEPTH_REACHED
state	8948	begin surface coast
8956	end surface coast: CONTROL_FINISHED_OK
state	8956	begin surface