Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 249 * 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 249 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 699.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 18 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 699.0 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 24 VBD_MIN 500

DIVE 249 NOCOMM_ACTION 161 R_STBD_OVSHOOT 18 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 040917,211858,7454.8379,-15214.8438,36,1.3,38,20.1,0.0,0.0,5,8.5 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 1.22 MHEAD_RNG_PITCHd_Wd 10.7,94028,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 040917,212857,7454.8613,-15214.7803,5,0.8,13,20.1,0.0,0.0,11,9.0

Post-dive calculations and measurements:

FINISH 0.1,1.021372 _24V_AH 12.28,162.174

SM_CCo 8819,20.98,0.212,0,0,498,702.78 _10V_AH 12.15,0.000

SM_GC 1.19,8.07,0.17,20.98,0.070,0.148,0.212,198,2201,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.29,14.21,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323536

IRIDIUM_FIX 7455.52,-15230.65,040917,184530 DATA_FILE_SIZE 23413,714

TT8_MAMPS 0.038199,0.915278 CAP_FILE_SIZE 97396,0

HUMID 47.12 CFSIZE 2097872896,2013200384

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

TCM_TEMP 13.20 SOUNDSPEED 1447.6

XPDR_PINGS 16 CURRENT 0.056,258.11,1

CP_FREE 15965913088.000000 GPS 040917,235804,7455.722,-15212.480,25,0.8,27,20.1,0.3,18.1,10,8.5

PM_FREEKB_00 50598016

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.47 nil 0 0 0.00

Roll_motor 84 2138 2215.55 nil 0 0 0.00

VBD_pump_during_apogee 1022 1549 19444.14 nil 0 0 0.00

VBD_pump_during_surface 20 211 54.58 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 8808 14 1575.60

Iridium_during_xfer 307 169 641.92 NCP 8791 20 2159.07

Transponder_ping 4 420 20.63 PMAR 8770 9 1061.66

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.08

TT8 0 0 0.00

LPSleep 6119 2 171.75

TT8_Active 919 13 156.13

TT8_Sampling 2147 33 872.71

TT8_CF8 269 38 126.58

TT8_Kalman 0 0 0.00

Analog_circuits 2244 10 272.67

GPS_charging 0 0 0.00

Compass 1024 7 87.11

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

47 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 193 2207 506 490 0.0 0.0 0 143 0.00 0.00 -91.18 0.000 16386 0.000 0.000 192 2208 2174 2107 2242 0 0 0 0 0 0 14.52 28.83 14.54

146 -0.57 -145.9 193 2208 2110 2243 3.8 -5.5 9 200 12.80 2.88 -34.70 0.000 18724 0.454 2.139 2375 3614 3962 3945 3980 0 0 0 0 0 0 13.65 12.55 14.09

375 -0.73 -145.9 2375 3612 3953 3980 48.4 -11.9 54 381 0.00 2.42 0.00 0.000 1158 0.000 0.060 2374 2196 3965 3951 3980 0 0 0 0 0 0 14.26 14.16 14.26

682 -0.84 -145.9 2374 2191 3953 3981 86.8 -10.8 85 683 0.22 0.00 0.00 0.000 4230 0.107 0.000 2287 2189 3966 3953 3980 0 0 0 0 0 0 14.16 14.26 14.26

980 -0.84 -145.9 2288 2190 3953 3981 134.7 -15.2 101 985 0.00 2.53 0.00 0.000 260 0.000 0.088 2280 3620 3966 3953 3980 0 0 0 0 0 0 14.64 14.07 14.64

1080 -0.94 -145.9 2280 3621 3954 3980 148.0 -12.4 121 1085 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2194 3966 3953 3980 0 0 0 0 0 0 14.19 14.08 14.22

1400 -0.97 -145.9 2280 2194 3954 3980 192.8 -13.6 135 1405 0.00 2.50 0.00 0.000 388 0.000 0.087 2271 3614 3966 3953 3980 0 0 0 0 0 0 14.64 14.08 14.70

1465 -1.08 -145.9 2272 3614 3953 3980 200.9 -11.7 148 1471 0.12 2.40 0.00 0.000 5254 0.132 0.057 2226 2193 3965 3951 3980 0 0 0 0 0 0 14.23 14.18 14.32

1791 -1.03 -145.9 2226 2192 3953 3981 256.5 -16.6 163 1796 0.00 2.50 0.00 0.000 388 0.000 0.088 2222 3614 3966 3952 3980 0 0 0 0 0 0 14.69 14.14 14.69

1866 -1.03 -145.9 2223 3615 3953 3980 268.0 -14.3 178 1871 0.00 2.40 0.00 0.000 1030 0.000 0.056 2222 2198 3966 3952 3980 0 0 0 0 0 0 14.33 14.21 14.36

2181 -1.03 -145.9 2222 2197 3954 3980 313.8 -13.9 191 2186 0.00 2.53 0.00 0.000 260 0.000 0.090 2222 3614 3966 3953 3980 0 0 0 0 0 0 14.67 14.13 14.69

2246 -1.08 -145.9 2222 3615 3954 3980 322.6 -12.1 204 2252 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2192 3966 3952 3980 0 0 0 0 0 0 14.38 14.25 14.41

2572 -1.08 -145.9 2223 2190 3953 3979 364.7 -12.8 219 2577 0.00 2.55 0.00 0.000 260 0.000 0.090 2222 3622 3965 3952 3979 0 0 0 0 0 0 14.68 14.09 14.68

2699 -1.16 -145.9 2222 3623 3953 3980 379.4 -10.8 244 2704 0.00 2.40 0.00 0.000 1158 0.000 0.056 2222 2198 3965 3952 3978 0 0 0 0 0 0 14.37 14.25 14.40

3024 -1.16 -145.9 2222 2197 3953 3979 419.5 -12.2 259 3029 0.00 2.50 0.00 0.000 260 0.000 0.089 2222 3615 3965 3952 3979 0 0 0 0 0 0 14.68 14.17 14.69

3109 -1.25 -145.9 2223 3614 3953 3978 429.3 -10.8 276 3116 0.15 2.40 0.00 0.000 5254 0.122 0.056 2162 2193 3965 3952 3978 0 0 0 0 0 0 14.19 14.16 14.29

3412 end dive: TARGET_DEPTH_EXCEEDED

state 3412 begin apogee

3418 -0.13 0.0 2163 2063 3953 3977 483.1 -18.0 287 3685 1.52 0.08 258.20 1.392 10246 0.276 0.176 2527 2111 3360 3383 3337 0 0 0 0 0 0 13.82 13.38 12.62

3688 end apogee: CONTROL_FINISHED_OK

state 3689 begin climb

3693 0.57 145.9 2528 2113 3380 3335 498.4 0.0 296 4087 0.75 2.03 209.52 1.393 10500 0.062 0.073 2778 3517 2748 2784 2713 0 0 0 0 0 0 13.57 13.12 12.28

4228 0.11 145.9 2778 3518 2783 2714 456.8 16.5 326 4233 0.80 2.38 0.00 0.000 5254 0.347 0.058 2626 2131 2747 2782 2713 0 0 0 0 0 0 13.57 13.90 13.96

4560 0.02 182.7 2624 2130 2784 2711 428.1 8.3 342 4620 0.12 2.53 52.67 1.414 12964 0.295 0.083 2602 697 2611 2659 2564 0 0 0 0 0 0 13.93 13.78 13.15

4662 0.05 223.2 2601 698 2654 2558 420.2 8.1 362 4736 0.00 2.47 65.03 1.343 9254 0.000 0.080 2602 2100 2451 2510 2393 0 0 0 0 0 0 14.16 14.03 13.02

5041 0.06 243.7 2602 2101 2501 2379 386.0 9.1 388 5072 0.00 0.00 29.27 1.435 8230 0.000 0.000 2602 2099 2371 2427 2316 0 0 0 0 0 0 14.52 14.02 13.20

5371 0.11 271.1 2602 2100 2413 2298 356.7 8.7 399 5420 0.00 2.55 41.22 1.410 8868 0.000 0.085 2602 698 2254 2306 2202 0 0 0 0 0 0 14.59 14.07 13.23

5463 0.24 305.0 2602 698 2300 2199 348.9 8.4 417 5522 0.17 2.47 52.70 1.356 11430 0.107 0.080 2675 2111 2120 2172 2069 0 0 0 0 0 0 14.19 14.11 13.10

5821 0.18 305.0 2675 2111 2158 2050 300.6 13.4 439 5826 0.12 2.47 0.00 0.000 4740 0.267 0.081 2660 697 2104 2158 2050 0 0 0 0 0 0 14.02 14.17 14.16

5846 0.18 305.0 2653 698 2157 2051 297.5 12.5 444 5852 0.00 2.45 0.00 0.000 1030 0.000 0.080 2652 2098 2103 2156 2050 0 0 0 0 0 0 14.30 14.16 14.34

6151 0.18 305.0 2654 2098 2158 2048 264.1 10.4 455 6156 0.00 2.47 0.00 0.000 516 0.000 0.086 2654 688 2102 2156 2048 0 0 0 0 0 0 14.64 14.19 14.66

6216 0.24 316.9 2654 688 2157 2048 257.7 9.4 468 6232 0.00 2.47 11.38 1.549 9382 0.000 0.079 2654 2105 2075 2127 2023 0 0 0 0 0 0 14.39 14.26 13.28

6542 0.25 338.9 2655 2105 2116 2011 227.0 9.0 483 6582 0.00 0.00 38.88 1.362 8230 0.000 0.000 2654 2105 1983 2033 1934 0 0 0 0 0 0 14.64 14.05 13.26

6872 0.32 370.1 2654 2107 2020 1917 198.4 8.6 494 6934 0.00 2.55 52.42 1.315 8868 0.000 0.087 2653 707 1850 1884 1817 0 0 0 0 0 0 14.59 14.01 13.20

6999 0.49 412.2 2654 706 1875 1817 188.1 8.1 519 7080 0.28 2.47 75.30 1.250 11430 0.089 0.080 2762 2102 1684 1712 1657 0 0 0 0 0 0 14.17 14.09 13.09

7385 0.40 412.2 2762 2103 1703 1633 130.0 14.8 546 7390 0.17 2.47 0.00 0.000 4740 0.252 0.083 2723 692 1667 1702 1632 0 0 0 0 0 0 13.90 14.15 14.07

7461 0.46 412.2 2723 693 1700 1633 121.4 10.3 561 7466 0.00 2.45 0.00 0.000 1158 0.000 0.077 2723 2104 1665 1698 1632 0 0 0 0 0 0 14.35 14.20 14.36

7766 0.47 418.4 2724 2105 1700 1630 89.7 9.7 579 7771 0.00 2.47 0.00 0.000 548 0.000 0.086 2722 692 1665 1700 1630 0 0 0 0 0 0 14.59 14.10 14.58

7821 0.56 442.8 2723 695 1697 1631 84.7 8.9 590 7843 0.12 2.45 14.40 0.441 11430 0.128 0.076 2778 2105 1558 1590 1527 0 0 0 0 0 0 14.26 14.20 13.66

8149 0.55 483.1 2778 2106 1597 1529 49.5 8.1 625 8176 0.00 2.55 22.15 0.347 8868 0.000 0.084 2781 694 1394 1436 1353 0 0 0 0 0 0 14.61 14.12 13.73

8206 0.62 550.2 2782 693 1438 1356 45.7 6.9 636 8248 0.00 2.45 36.17 0.337 9382 0.000 0.078 2781 2099 1119 1184 1055 0 0 0 0 0 0 14.28 14.15 13.67

8554 0.78 645.5 2782 2100 1185 1058 22.1 5.6 675 8612 0.12 2.50 50.80 0.271 10916 0.137 0.090 2852 694 731 792 670 0 0 0 0 0 0 14.28 14.04 13.71

8687 0.89 666.3 2846 694 792 672 9.9 9.0 701 8703 0.00 2.47 12.00 0.239 9382 0.000 0.078 2846 2107 647 702 592 0 0 0 0 0 0 14.12 13.97 13.88

8776 end climb: SURFACE_DEPTH_REACHED

state 8776 begin surface coast

8797 end surface coast: CONTROL_FINISHED_OK

state 8797 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	249	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	699.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	18	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,211858,7454.8379,-15214.8438,36,1.3,38,20.1,0.0,0.0,5,8.5	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	1.22	MHEAD_RNG_PITCHd_Wd	10.7,94028,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	040917,212857,7454.8613,-15214.7803,5,0.8,13,20.1,0.0,0.0,11,9.0

FINISH	0.1,1.021372	_24V_AH	12.28,162.174
SM_CCo	8819,20.98,0.212,0,0,498,702.78	_10V_AH	12.15,0.000
SM_GC	1.19,8.07,0.17,20.98,0.070,0.148,0.212,198,2201,498,-7.38,-0.62,702.78,0,0,0,0,0,0,14.29,14.21,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323536
IRIDIUM_FIX	7455.52,-15230.65,040917,184530	DATA_FILE_SIZE	23413,714
TT8_MAMPS	0.038199,0.915278	CAP_FILE_SIZE	97396,0
HUMID	47.12	CFSIZE	2097872896,2013200384
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.6
XPDR_PINGS	16	CURRENT	0.056,258.11,1
CP_FREE	15965913088.000000	GPS	040917,235804,7455.722,-15212.480,25,0.8,27,20.1,0.3,18.1,10,8.5
PM_FREEKB_00	50598016

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.47	nil	0	0	0.00
Roll_motor	84	2138	2215.55	nil	0	0	0.00
VBD_pump_during_apogee	1022	1549	19444.14	nil	0	0	0.00
VBD_pump_during_surface	20	211	54.58	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	8808	14	1575.60
Iridium_during_xfer	307	169	641.92	NCP	8791	20	2159.07
Transponder_ping	4	420	20.63	PMAR	8770	9	1061.66
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.08
TT8	0	0	0.00
LPSleep	6119	2	171.75
TT8_Active	919	13	156.13
TT8_Sampling	2147	33	872.71
TT8_CF8	269	38	126.58
TT8_Kalman	0	0	0.00
Analog_circuits	2244	10	272.67
GPS_charging	0	0	0.00
Compass	1024	7	87.11
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
47	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	193	2207	506	490	0.0	0.0	0	143	0.00	0.00	-91.18	0.000	16386	0.000	0.000	192	2208	2174	2107	2242	0	0	0	0	0	0	14.52	28.83	14.54
146	-0.57	-145.9	193	2208	2110	2243	3.8	-5.5	9	200	12.80	2.88	-34.70	0.000	18724	0.454	2.139	2375	3614	3962	3945	3980	0	0	0	0	0	0	13.65	12.55	14.09
375	-0.73	-145.9	2375	3612	3953	3980	48.4	-11.9	54	381	0.00	2.42	0.00	0.000	1158	0.000	0.060	2374	2196	3965	3951	3980	0	0	0	0	0	0	14.26	14.16	14.26
682	-0.84	-145.9	2374	2191	3953	3981	86.8	-10.8	85	683	0.22	0.00	0.00	0.000	4230	0.107	0.000	2287	2189	3966	3953	3980	0	0	0	0	0	0	14.16	14.26	14.26
980	-0.84	-145.9	2288	2190	3953	3981	134.7	-15.2	101	985	0.00	2.53	0.00	0.000	260	0.000	0.088	2280	3620	3966	3953	3980	0	0	0	0	0	0	14.64	14.07	14.64
1080	-0.94	-145.9	2280	3621	3954	3980	148.0	-12.4	121	1085	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2194	3966	3953	3980	0	0	0	0	0	0	14.19	14.08	14.22
1400	-0.97	-145.9	2280	2194	3954	3980	192.8	-13.6	135	1405	0.00	2.50	0.00	0.000	388	0.000	0.087	2271	3614	3966	3953	3980	0	0	0	0	0	0	14.64	14.08	14.70
1465	-1.08	-145.9	2272	3614	3953	3980	200.9	-11.7	148	1471	0.12	2.40	0.00	0.000	5254	0.132	0.057	2226	2193	3965	3951	3980	0	0	0	0	0	0	14.23	14.18	14.32
1791	-1.03	-145.9	2226	2192	3953	3981	256.5	-16.6	163	1796	0.00	2.50	0.00	0.000	388	0.000	0.088	2222	3614	3966	3952	3980	0	0	0	0	0	0	14.69	14.14	14.69
1866	-1.03	-145.9	2223	3615	3953	3980	268.0	-14.3	178	1871	0.00	2.40	0.00	0.000	1030	0.000	0.056	2222	2198	3966	3952	3980	0	0	0	0	0	0	14.33	14.21	14.36
2181	-1.03	-145.9	2222	2197	3954	3980	313.8	-13.9	191	2186	0.00	2.53	0.00	0.000	260	0.000	0.090	2222	3614	3966	3953	3980	0	0	0	0	0	0	14.67	14.13	14.69
2246	-1.08	-145.9	2222	3615	3954	3980	322.6	-12.1	204	2252	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2192	3966	3952	3980	0	0	0	0	0	0	14.38	14.25	14.41
2572	-1.08	-145.9	2223	2190	3953	3979	364.7	-12.8	219	2577	0.00	2.55	0.00	0.000	260	0.000	0.090	2222	3622	3965	3952	3979	0	0	0	0	0	0	14.68	14.09	14.68
2699	-1.16	-145.9	2222	3623	3953	3980	379.4	-10.8	244	2704	0.00	2.40	0.00	0.000	1158	0.000	0.056	2222	2198	3965	3952	3978	0	0	0	0	0	0	14.37	14.25	14.40
3024	-1.16	-145.9	2222	2197	3953	3979	419.5	-12.2	259	3029	0.00	2.50	0.00	0.000	260	0.000	0.089	2222	3615	3965	3952	3979	0	0	0	0	0	0	14.68	14.17	14.69
3109	-1.25	-145.9	2223	3614	3953	3978	429.3	-10.8	276	3116	0.15	2.40	0.00	0.000	5254	0.122	0.056	2162	2193	3965	3952	3978	0	0	0	0	0	0	14.19	14.16	14.29
3412	end dive: TARGET_DEPTH_EXCEEDED
state	3412	begin apogee
3418	-0.13	0.0	2163	2063	3953	3977	483.1	-18.0	287	3685	1.52	0.08	258.20	1.392	10246	0.276	0.176	2527	2111	3360	3383	3337	0	0	0	0	0	0	13.82	13.38	12.62
3688	end apogee: CONTROL_FINISHED_OK
state	3689	begin climb
3693	0.57	145.9	2528	2113	3380	3335	498.4	0.0	296	4087	0.75	2.03	209.52	1.393	10500	0.062	0.073	2778	3517	2748	2784	2713	0	0	0	0	0	0	13.57	13.12	12.28
4228	0.11	145.9	2778	3518	2783	2714	456.8	16.5	326	4233	0.80	2.38	0.00	0.000	5254	0.347	0.058	2626	2131	2747	2782	2713	0	0	0	0	0	0	13.57	13.90	13.96
4560	0.02	182.7	2624	2130	2784	2711	428.1	8.3	342	4620	0.12	2.53	52.67	1.414	12964	0.295	0.083	2602	697	2611	2659	2564	0	0	0	0	0	0	13.93	13.78	13.15
4662	0.05	223.2	2601	698	2654	2558	420.2	8.1	362	4736	0.00	2.47	65.03	1.343	9254	0.000	0.080	2602	2100	2451	2510	2393	0	0	0	0	0	0	14.16	14.03	13.02
5041	0.06	243.7	2602	2101	2501	2379	386.0	9.1	388	5072	0.00	0.00	29.27	1.435	8230	0.000	0.000	2602	2099	2371	2427	2316	0	0	0	0	0	0	14.52	14.02	13.20
5371	0.11	271.1	2602	2100	2413	2298	356.7	8.7	399	5420	0.00	2.55	41.22	1.410	8868	0.000	0.085	2602	698	2254	2306	2202	0	0	0	0	0	0	14.59	14.07	13.23
5463	0.24	305.0	2602	698	2300	2199	348.9	8.4	417	5522	0.17	2.47	52.70	1.356	11430	0.107	0.080	2675	2111	2120	2172	2069	0	0	0	0	0	0	14.19	14.11	13.10
5821	0.18	305.0	2675	2111	2158	2050	300.6	13.4	439	5826	0.12	2.47	0.00	0.000	4740	0.267	0.081	2660	697	2104	2158	2050	0	0	0	0	0	0	14.02	14.17	14.16
5846	0.18	305.0	2653	698	2157	2051	297.5	12.5	444	5852	0.00	2.45	0.00	0.000	1030	0.000	0.080	2652	2098	2103	2156	2050	0	0	0	0	0	0	14.30	14.16	14.34
6151	0.18	305.0	2654	2098	2158	2048	264.1	10.4	455	6156	0.00	2.47	0.00	0.000	516	0.000	0.086	2654	688	2102	2156	2048	0	0	0	0	0	0	14.64	14.19	14.66
6216	0.24	316.9	2654	688	2157	2048	257.7	9.4	468	6232	0.00	2.47	11.38	1.549	9382	0.000	0.079	2654	2105	2075	2127	2023	0	0	0	0	0	0	14.39	14.26	13.28
6542	0.25	338.9	2655	2105	2116	2011	227.0	9.0	483	6582	0.00	0.00	38.88	1.362	8230	0.000	0.000	2654	2105	1983	2033	1934	0	0	0	0	0	0	14.64	14.05	13.26
6872	0.32	370.1	2654	2107	2020	1917	198.4	8.6	494	6934	0.00	2.55	52.42	1.315	8868	0.000	0.087	2653	707	1850	1884	1817	0	0	0	0	0	0	14.59	14.01	13.20
6999	0.49	412.2	2654	706	1875	1817	188.1	8.1	519	7080	0.28	2.47	75.30	1.250	11430	0.089	0.080	2762	2102	1684	1712	1657	0	0	0	0	0	0	14.17	14.09	13.09
7385	0.40	412.2	2762	2103	1703	1633	130.0	14.8	546	7390	0.17	2.47	0.00	0.000	4740	0.252	0.083	2723	692	1667	1702	1632	0	0	0	0	0	0	13.90	14.15	14.07
7461	0.46	412.2	2723	693	1700	1633	121.4	10.3	561	7466	0.00	2.45	0.00	0.000	1158	0.000	0.077	2723	2104	1665	1698	1632	0	0	0	0	0	0	14.35	14.20	14.36
7766	0.47	418.4	2724	2105	1700	1630	89.7	9.7	579	7771	0.00	2.47	0.00	0.000	548	0.000	0.086	2722	692	1665	1700	1630	0	0	0	0	0	0	14.59	14.10	14.58
7821	0.56	442.8	2723	695	1697	1631	84.7	8.9	590	7843	0.12	2.45	14.40	0.441	11430	0.128	0.076	2778	2105	1558	1590	1527	0	0	0	0	0	0	14.26	14.20	13.66
8149	0.55	483.1	2778	2106	1597	1529	49.5	8.1	625	8176	0.00	2.55	22.15	0.347	8868	0.000	0.084	2781	694	1394	1436	1353	0	0	0	0	0	0	14.61	14.12	13.73
8206	0.62	550.2	2782	693	1438	1356	45.7	6.9	636	8248	0.00	2.45	36.17	0.337	9382	0.000	0.078	2781	2099	1119	1184	1055	0	0	0	0	0	0	14.28	14.15	13.67
8554	0.78	645.5	2782	2100	1185	1058	22.1	5.6	675	8612	0.12	2.50	50.80	0.271	10916	0.137	0.090	2852	694	731	792	670	0	0	0	0	0	0	14.28	14.04	13.71
8687	0.89	666.3	2846	694	792	672	9.9	9.0	701	8703	0.00	2.47	12.00	0.239	9382	0.000	0.078	2846	2107	647	702	592	0	0	0	0	0	0	14.12	13.97	13.88
8776	end climb: SURFACE_DEPTH_REACHED
state	8776	begin surface coast
8797	end surface coast: CONTROL_FINISHED_OK
state	8797	begin surface