Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 259 * 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 259 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 727.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 727.0 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 35 VBD_MIN 500

DIVE 259 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 060917,003755,7505.7993,-15151.1924,12,0.7,16,20.3,0.0,346.7,11,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 8.8,71458,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 060917,004401,7505.8418,-15151.2510,6,0.8,41,20.3,0.0,337.2,9,6.7

Post-dive calculations and measurements:

FINISH 0.3,1.021350 _24V_AH 12.28,166.900

SM_CCo 9367,0.00,0.000,0,0,495,704.50 _10V_AH 12.32,0.000

SM_GC 1.34,8.30,0.17,0.00,0.071,0.117,0.000,198,2226,495,-7.38,-0.57,704.50,0,0,0,0,0,0,14.29,14.26,14.38 FG_AHR_24Vo 0.000

RAFOS_CLK 431 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323572

IRIDIUM_FIX 7507.00,-15148.76,050917,215811 DATA_FILE_SIZE 26711,763

TT8_MAMPS 0.038948,0.86884 CAP_FILE_SIZE 97733,0

HUMID 46.69 CFSIZE 2097872896,2010742784

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 1448.0

XPDR_PINGS 15 CURRENT 0.059,315.03,1

CP_FREE 15961620480.000000 GPS 060917,032143,7507.052,-15148.342,15,0.7,19,20.4,0.4,346.3,12,10.0

PM_FREEKB_00 50303552

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 144.81 nil 0 0 0.00

Roll_motor 78 2138 2055.99 nil 0 0 0.00

VBD_pump_during_apogee 1029 1490 18847.53 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9277 14 1650.04

Iridium_during_xfer 143 141 249.22 NCP 9287 20 2280.89

Transponder_ping 3 420 19.34 PMAR 9260 9 1120.30

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.74

TT8 0 0 0.00

LPSleep 6723 2 191.35

TT8_Active 1030 13 177.38

TT8_Sampling 1762 33 726.15

TT8_CF8 226 38 108.14

TT8_Kalman 0 0 0.00

Analog_circuits 1902 10 234.36

GPS_charging 0 0 0.00

Compass 1095 7 94.50

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 -145.9 197 2190 503 493 0.0 0.0 0 143 0.00 0.00 -91.05 0.000 16386 0.000 0.000 195 2191 2159 2095 2224 0 0 0 0 0 0 14.40 28.83 14.41

146 -0.57 -145.9 196 2192 2099 2226 3.8 -5.1 9 199 12.85 2.85 -34.83 0.000 18724 0.454 2.139 2373 3580 3963 3946 3981 0 0 0 0 0 0 13.59 12.55 14.08

350 -0.73 -145.9 2378 3580 3953 3981 44.1 -12.9 49 355 0.00 2.35 0.00 0.000 1158 0.000 0.058 2378 2202 3966 3952 3981 0 0 0 0 0 0 14.13 14.04 14.16

662 -0.85 -145.9 2378 2201 3955 3981 84.3 -10.3 81 663 0.22 0.00 0.00 0.000 4230 0.106 0.000 2289 2201 3967 3953 3981 0 0 0 0 0 0 14.22 14.35 14.31

970 -0.85 -145.9 2290 2201 3954 3981 132.8 -14.8 98 974 0.00 2.45 0.00 0.000 260 0.000 0.090 2280 3588 3966 3952 3981 0 0 0 0 0 0 14.64 14.10 14.66

1117 -0.95 -145.9 2281 3589 3954 3982 151.4 -12.2 127 1122 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2199 3967 3953 3981 0 0 0 0 0 0 14.30 14.17 14.34

1420 -0.98 -145.9 2281 2198 3954 3981 192.4 -13.1 138 1425 0.00 2.45 0.00 0.000 388 0.000 0.089 2271 3582 3967 3953 3981 0 0 0 0 0 0 14.66 14.11 14.68

1450 -1.05 -145.9 2272 3585 3954 3982 196.3 -13.2 144 1456 0.00 2.35 0.00 0.000 1158 0.000 0.058 2271 2198 3967 3953 3981 0 0 0 0 0 0 14.31 14.18 14.35

1781 -1.10 -145.9 2272 2198 3954 3982 238.9 -12.6 160 1787 0.12 2.45 0.00 0.000 4484 0.139 0.086 2209 3584 3967 3953 3981 0 0 0 0 0 0 14.28 14.15 14.33

1867 -1.10 -145.9 2215 3585 3958 3981 252.1 -15.6 177 1873 0.00 2.38 0.00 0.000 1030 0.000 0.059 2210 2201 3967 3953 3981 0 0 0 0 0 0 14.35 14.19 14.36

2173 -1.05 -145.9 2210 2199 3954 3981 301.0 -15.5 188 2179 0.12 2.47 0.00 0.000 2436 0.301 0.087 2235 3587 3967 3953 3981 0 0 0 0 0 0 13.88 13.66 14.04

2239 -1.14 -145.9 2236 3589 3954 3982 309.3 -11.1 201 2244 0.00 2.35 0.00 0.000 1158 0.000 0.058 2235 2196 3967 3953 3981 0 0 0 0 0 0 14.36 14.23 14.40

2564 -1.18 -145.9 2236 2196 3954 3981 348.2 -11.8 216 2570 0.12 2.47 0.00 0.000 4484 0.145 0.086 2172 3591 3967 3953 3981 0 0 0 0 0 0 14.25 14.14 14.28

2655 -1.12 -145.9 2172 3591 3953 3982 362.8 -16.8 234 2660 0.20 2.35 0.00 0.000 3206 0.262 0.057 2213 2199 3967 3953 3981 0 0 0 0 0 0 13.88 14.23 14.19

2985 -1.12 -145.9 2214 2198 3954 3981 406.9 -13.0 250 2990 0.00 2.45 0.00 0.000 260 0.000 0.088 2209 3588 3966 3953 3980 0 0 0 0 0 0 14.69 14.14 14.70

3070 -1.18 -145.9 2209 3589 3953 3982 417.6 -12.0 267 3077 0.00 2.38 0.00 0.000 1158 0.000 0.057 2209 2199 3967 3953 3981 0 0 0 0 0 0 14.23 14.07 14.28

3375 -1.18 -145.9 2209 2198 3953 3981 457.1 -12.8 278 3380 0.00 2.45 0.00 0.000 260 0.000 0.087 2204 3589 3966 3953 3980 0 0 0 0 0 0 14.69 14.15 14.71

3445 -1.22 -145.9 2205 3591 3954 3980 466.0 -12.2 292 3451 0.00 2.38 0.00 0.000 1158 0.000 0.057 2204 2195 3969 3959 3980 0 0 0 0 0 0 14.28 14.14 14.31

3554 end dive: TARGET_DEPTH_EXCEEDED

state 3554 begin apogee

3560 -0.13 0.0 2205 2063 3954 3981 480.7 -13.3 299 3792 1.27 0.00 228.20 1.431 10246 0.237 0.000 2528 2061 3364 3383 3345 0 0 0 0 0 0 13.87 13.47 12.65

3795 end apogee: CONTROL_FINISHED_OK

state 3795 begin climb

3798 0.57 145.9 2529 2060 3378 3336 491.7 0.0 306 4020 0.75 2.58 209.02 1.384 10756 0.063 0.080 2780 736 2763 2805 2722 0 0 0 0 0 0 13.61 13.12 12.28

4158 0.18 145.9 2781 737 2796 2715 485.8 14.2 371 4164 0.65 2.42 0.00 0.000 5254 0.321 0.075 2648 2075 2758 2804 2713 0 0 0 0 0 0 13.24 13.59 13.60

4461 0.02 165.0 2649 2078 2796 2709 456.9 9.1 382 4492 0.25 0.00 24.55 1.490 12454 0.268 0.000 2591 2076 2686 2734 2638 0 0 0 0 0 0 13.80 13.76 13.12

4791 0.03 223.2 2592 2077 2731 2629 432.5 7.3 393 4884 0.00 0.00 91.35 1.378 8358 0.000 0.000 2592 2076 2456 2516 2397 0 0 0 0 0 0 14.56 13.86 13.07

5181 0.08 263.5 2592 2076 2501 2376 401.1 8.1 406 5245 0.00 0.00 62.65 1.374 8870 0.000 0.000 2592 2076 2292 2347 2237 0 0 0 0 0 0 14.54 13.94 13.12

5543 0.16 303.9 2590 2077 2333 2218 371.6 8.1 428 5612 0.12 2.42 63.15 1.357 10916 0.132 0.087 2659 726 2121 2172 2071 0 0 0 0 0 0 14.27 13.95 13.14

5672 0.16 303.9 2659 726 2159 2069 355.7 12.2 454 5677 0.00 2.45 0.00 0.000 1030 0.000 0.079 2659 2104 2112 2158 2067 0 0 0 0 0 0 14.18 14.06 14.21

5993 0.12 303.9 2660 2105 2159 2060 315.1 12.6 468 5999 0.12 2.40 0.00 0.000 4740 0.261 0.083 2634 730 2109 2158 2060 0 0 0 0 0 0 14.02 14.21 14.18

6039 0.19 303.9 2635 729 2157 2061 310.0 10.2 477 6044 0.00 2.38 0.00 0.000 1158 0.000 0.079 2634 2101 2108 2157 2060 0 0 0 0 0 0 14.36 14.23 14.40

6354 0.21 303.9 2634 2102 2156 2058 278.0 10.0 490 6359 0.00 2.40 0.00 0.000 644 0.000 0.084 2641 724 2106 2156 2057 0 0 0 0 0 0 14.65 14.10 14.67

6424 0.27 311.1 2642 724 2157 2057 271.1 9.7 504 6431 0.00 2.40 1.35 0.262 9382 0.000 0.080 2641 2100 2095 2144 2047 0 0 0 0 0 0 14.35 14.21 13.99

6746 0.28 335.6 2641 2101 2155 2060 241.1 8.9 518 6800 0.00 0.00 52.83 1.333 8230 0.000 0.000 2641 2100 1995 2043 1948 0 0 0 0 0 0 14.66 14.06 13.27

7076 0.37 374.9 2642 2100 2033 1930 213.7 8.2 529 7152 0.15 2.50 68.03 1.278 10916 0.115 0.086 2712 730 1831 1862 1801 0 0 0 0 0 0 14.15 13.98 13.19

7207 0.37 374.9 2713 731 1850 1800 198.1 12.0 555 7212 0.00 2.42 0.00 0.000 1030 0.000 0.076 2712 2097 1826 1850 1803 0 0 0 0 0 0 13.81 13.46 14.03

7527 0.34 374.9 2713 2098 1851 1790 159.5 11.7 569 7528 0.00 0.00 0.00 0.000 134 0.000 0.000 2712 2098 1820 1850 1790 0 0 0 0 0 0 14.58 14.60 14.60

7827 0.31 374.9 2712 2099 1850 1789 126.6 10.5 579 7832 0.12 2.40 0.00 0.000 4740 0.236 0.082 2685 720 1818 1849 1788 0 0 0 0 0 0 14.04 14.23 14.22

7930 0.42 418.6 2686 720 1845 1788 118.2 8.0 599 8009 0.00 2.42 75.15 1.239 9382 0.000 0.079 2685 2112 1660 1689 1631 0 0 0 0 0 0 14.23 14.12 13.24

8308 0.55 478.5 2686 2113 1680 1607 87.9 7.2 635 8340 0.17 0.00 30.17 0.461 10918 0.109 0.000 2766 2112 1413 1456 1371 0 0 0 0 0 0 14.17 14.07 13.62

8638 0.58 513.6 2767 2111 1458 1375 52.7 8.4 669 8664 0.00 2.50 19.70 0.355 8740 0.000 0.087 2768 727 1271 1322 1220 0 0 0 0 0 0 14.58 14.08 13.76

8810 0.71 589.6 2768 728 1323 1227 40.7 6.5 703 8857 0.12 2.40 41.28 0.321 11430 0.134 0.079 2816 2100 959 1026 893 0 0 0 0 0 0 14.07 14.07 13.77

9162 0.82 665.8 2817 2100 1027 898 11.1 6.5 743 9209 0.00 2.45 41.70 0.239 8868 0.000 0.083 2821 724 648 701 596 0 0 0 0 0 0 14.56 14.00 13.82

9235 1.00 724.2 2822 725 701 595 6.1 7.3 755 9262 0.25 2.42 20.80 0.223 11430 0.090 0.079 2911 2106 495 515 476 0 0 0 0 0 0 14.19 14.04 13.87

9274 end climb: SURFACE_DEPTH_REACHED

state 9274 begin surface coast

9284 end surface coast: CONTROL_FINISHED_OK

state 9285 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	259	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	727.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,003755,7505.7993,-15151.1924,12,0.7,16,20.3,0.0,346.7,11,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	8.8,71458,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	060917,004401,7505.8418,-15151.2510,6,0.8,41,20.3,0.0,337.2,9,6.7

FINISH	0.3,1.021350	_24V_AH	12.28,166.900
SM_CCo	9367,0.00,0.000,0,0,495,704.50	_10V_AH	12.32,0.000
SM_GC	1.34,8.30,0.17,0.00,0.071,0.117,0.000,198,2226,495,-7.38,-0.57,704.50,0,0,0,0,0,0,14.29,14.26,14.38	FG_AHR_24Vo	0.000
RAFOS_CLK	431	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323572
IRIDIUM_FIX	7507.00,-15148.76,050917,215811	DATA_FILE_SIZE	26711,763
TT8_MAMPS	0.038948,0.86884	CAP_FILE_SIZE	97733,0
HUMID	46.69	CFSIZE	2097872896,2010742784
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	1448.0
XPDR_PINGS	15	CURRENT	0.059,315.03,1
CP_FREE	15961620480.000000	GPS	060917,032143,7507.052,-15148.342,15,0.7,19,20.4,0.4,346.3,12,10.0
PM_FREEKB_00	50303552

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	144.81	nil	0	0	0.00
Roll_motor	78	2138	2055.99	nil	0	0	0.00
VBD_pump_during_apogee	1029	1490	18847.53	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9277	14	1650.04
Iridium_during_xfer	143	141	249.22	NCP	9287	20	2280.89
Transponder_ping	3	420	19.34	PMAR	9260	9	1120.30
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.74
TT8	0	0	0.00
LPSleep	6723	2	191.35
TT8_Active	1030	13	177.38
TT8_Sampling	1762	33	726.15
TT8_CF8	226	38	108.14
TT8_Kalman	0	0	0.00
Analog_circuits	1902	10	234.36
GPS_charging	0	0	0.00
Compass	1095	7	94.50
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	197	2190	503	493	0.0	0.0	0	143	0.00	0.00	-91.05	0.000	16386	0.000	0.000	195	2191	2159	2095	2224	0	0	0	0	0	0	14.40	28.83	14.41
146	-0.57	-145.9	196	2192	2099	2226	3.8	-5.1	9	199	12.85	2.85	-34.83	0.000	18724	0.454	2.139	2373	3580	3963	3946	3981	0	0	0	0	0	0	13.59	12.55	14.08
350	-0.73	-145.9	2378	3580	3953	3981	44.1	-12.9	49	355	0.00	2.35	0.00	0.000	1158	0.000	0.058	2378	2202	3966	3952	3981	0	0	0	0	0	0	14.13	14.04	14.16
662	-0.85	-145.9	2378	2201	3955	3981	84.3	-10.3	81	663	0.22	0.00	0.00	0.000	4230	0.106	0.000	2289	2201	3967	3953	3981	0	0	0	0	0	0	14.22	14.35	14.31
970	-0.85	-145.9	2290	2201	3954	3981	132.8	-14.8	98	974	0.00	2.45	0.00	0.000	260	0.000	0.090	2280	3588	3966	3952	3981	0	0	0	0	0	0	14.64	14.10	14.66
1117	-0.95	-145.9	2281	3589	3954	3982	151.4	-12.2	127	1122	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2199	3967	3953	3981	0	0	0	0	0	0	14.30	14.17	14.34
1420	-0.98	-145.9	2281	2198	3954	3981	192.4	-13.1	138	1425	0.00	2.45	0.00	0.000	388	0.000	0.089	2271	3582	3967	3953	3981	0	0	0	0	0	0	14.66	14.11	14.68
1450	-1.05	-145.9	2272	3585	3954	3982	196.3	-13.2	144	1456	0.00	2.35	0.00	0.000	1158	0.000	0.058	2271	2198	3967	3953	3981	0	0	0	0	0	0	14.31	14.18	14.35
1781	-1.10	-145.9	2272	2198	3954	3982	238.9	-12.6	160	1787	0.12	2.45	0.00	0.000	4484	0.139	0.086	2209	3584	3967	3953	3981	0	0	0	0	0	0	14.28	14.15	14.33
1867	-1.10	-145.9	2215	3585	3958	3981	252.1	-15.6	177	1873	0.00	2.38	0.00	0.000	1030	0.000	0.059	2210	2201	3967	3953	3981	0	0	0	0	0	0	14.35	14.19	14.36
2173	-1.05	-145.9	2210	2199	3954	3981	301.0	-15.5	188	2179	0.12	2.47	0.00	0.000	2436	0.301	0.087	2235	3587	3967	3953	3981	0	0	0	0	0	0	13.88	13.66	14.04
2239	-1.14	-145.9	2236	3589	3954	3982	309.3	-11.1	201	2244	0.00	2.35	0.00	0.000	1158	0.000	0.058	2235	2196	3967	3953	3981	0	0	0	0	0	0	14.36	14.23	14.40
2564	-1.18	-145.9	2236	2196	3954	3981	348.2	-11.8	216	2570	0.12	2.47	0.00	0.000	4484	0.145	0.086	2172	3591	3967	3953	3981	0	0	0	0	0	0	14.25	14.14	14.28
2655	-1.12	-145.9	2172	3591	3953	3982	362.8	-16.8	234	2660	0.20	2.35	0.00	0.000	3206	0.262	0.057	2213	2199	3967	3953	3981	0	0	0	0	0	0	13.88	14.23	14.19
2985	-1.12	-145.9	2214	2198	3954	3981	406.9	-13.0	250	2990	0.00	2.45	0.00	0.000	260	0.000	0.088	2209	3588	3966	3953	3980	0	0	0	0	0	0	14.69	14.14	14.70
3070	-1.18	-145.9	2209	3589	3953	3982	417.6	-12.0	267	3077	0.00	2.38	0.00	0.000	1158	0.000	0.057	2209	2199	3967	3953	3981	0	0	0	0	0	0	14.23	14.07	14.28
3375	-1.18	-145.9	2209	2198	3953	3981	457.1	-12.8	278	3380	0.00	2.45	0.00	0.000	260	0.000	0.087	2204	3589	3966	3953	3980	0	0	0	0	0	0	14.69	14.15	14.71
3445	-1.22	-145.9	2205	3591	3954	3980	466.0	-12.2	292	3451	0.00	2.38	0.00	0.000	1158	0.000	0.057	2204	2195	3969	3959	3980	0	0	0	0	0	0	14.28	14.14	14.31
3554	end dive: TARGET_DEPTH_EXCEEDED
state	3554	begin apogee
3560	-0.13	0.0	2205	2063	3954	3981	480.7	-13.3	299	3792	1.27	0.00	228.20	1.431	10246	0.237	0.000	2528	2061	3364	3383	3345	0	0	0	0	0	0	13.87	13.47	12.65
3795	end apogee: CONTROL_FINISHED_OK
state	3795	begin climb
3798	0.57	145.9	2529	2060	3378	3336	491.7	0.0	306	4020	0.75	2.58	209.02	1.384	10756	0.063	0.080	2780	736	2763	2805	2722	0	0	0	0	0	0	13.61	13.12	12.28
4158	0.18	145.9	2781	737	2796	2715	485.8	14.2	371	4164	0.65	2.42	0.00	0.000	5254	0.321	0.075	2648	2075	2758	2804	2713	0	0	0	0	0	0	13.24	13.59	13.60
4461	0.02	165.0	2649	2078	2796	2709	456.9	9.1	382	4492	0.25	0.00	24.55	1.490	12454	0.268	0.000	2591	2076	2686	2734	2638	0	0	0	0	0	0	13.80	13.76	13.12
4791	0.03	223.2	2592	2077	2731	2629	432.5	7.3	393	4884	0.00	0.00	91.35	1.378	8358	0.000	0.000	2592	2076	2456	2516	2397	0	0	0	0	0	0	14.56	13.86	13.07
5181	0.08	263.5	2592	2076	2501	2376	401.1	8.1	406	5245	0.00	0.00	62.65	1.374	8870	0.000	0.000	2592	2076	2292	2347	2237	0	0	0	0	0	0	14.54	13.94	13.12
5543	0.16	303.9	2590	2077	2333	2218	371.6	8.1	428	5612	0.12	2.42	63.15	1.357	10916	0.132	0.087	2659	726	2121	2172	2071	0	0	0	0	0	0	14.27	13.95	13.14
5672	0.16	303.9	2659	726	2159	2069	355.7	12.2	454	5677	0.00	2.45	0.00	0.000	1030	0.000	0.079	2659	2104	2112	2158	2067	0	0	0	0	0	0	14.18	14.06	14.21
5993	0.12	303.9	2660	2105	2159	2060	315.1	12.6	468	5999	0.12	2.40	0.00	0.000	4740	0.261	0.083	2634	730	2109	2158	2060	0	0	0	0	0	0	14.02	14.21	14.18
6039	0.19	303.9	2635	729	2157	2061	310.0	10.2	477	6044	0.00	2.38	0.00	0.000	1158	0.000	0.079	2634	2101	2108	2157	2060	0	0	0	0	0	0	14.36	14.23	14.40
6354	0.21	303.9	2634	2102	2156	2058	278.0	10.0	490	6359	0.00	2.40	0.00	0.000	644	0.000	0.084	2641	724	2106	2156	2057	0	0	0	0	0	0	14.65	14.10	14.67
6424	0.27	311.1	2642	724	2157	2057	271.1	9.7	504	6431	0.00	2.40	1.35	0.262	9382	0.000	0.080	2641	2100	2095	2144	2047	0	0	0	0	0	0	14.35	14.21	13.99
6746	0.28	335.6	2641	2101	2155	2060	241.1	8.9	518	6800	0.00	0.00	52.83	1.333	8230	0.000	0.000	2641	2100	1995	2043	1948	0	0	0	0	0	0	14.66	14.06	13.27
7076	0.37	374.9	2642	2100	2033	1930	213.7	8.2	529	7152	0.15	2.50	68.03	1.278	10916	0.115	0.086	2712	730	1831	1862	1801	0	0	0	0	0	0	14.15	13.98	13.19
7207	0.37	374.9	2713	731	1850	1800	198.1	12.0	555	7212	0.00	2.42	0.00	0.000	1030	0.000	0.076	2712	2097	1826	1850	1803	0	0	0	0	0	0	13.81	13.46	14.03
7527	0.34	374.9	2713	2098	1851	1790	159.5	11.7	569	7528	0.00	0.00	0.00	0.000	134	0.000	0.000	2712	2098	1820	1850	1790	0	0	0	0	0	0	14.58	14.60	14.60
7827	0.31	374.9	2712	2099	1850	1789	126.6	10.5	579	7832	0.12	2.40	0.00	0.000	4740	0.236	0.082	2685	720	1818	1849	1788	0	0	0	0	0	0	14.04	14.23	14.22
7930	0.42	418.6	2686	720	1845	1788	118.2	8.0	599	8009	0.00	2.42	75.15	1.239	9382	0.000	0.079	2685	2112	1660	1689	1631	0	0	0	0	0	0	14.23	14.12	13.24
8308	0.55	478.5	2686	2113	1680	1607	87.9	7.2	635	8340	0.17	0.00	30.17	0.461	10918	0.109	0.000	2766	2112	1413	1456	1371	0	0	0	0	0	0	14.17	14.07	13.62
8638	0.58	513.6	2767	2111	1458	1375	52.7	8.4	669	8664	0.00	2.50	19.70	0.355	8740	0.000	0.087	2768	727	1271	1322	1220	0	0	0	0	0	0	14.58	14.08	13.76
8810	0.71	589.6	2768	728	1323	1227	40.7	6.5	703	8857	0.12	2.40	41.28	0.321	11430	0.134	0.079	2816	2100	959	1026	893	0	0	0	0	0	0	14.07	14.07	13.77
9162	0.82	665.8	2817	2100	1027	898	11.1	6.5	743	9209	0.00	2.45	41.70	0.239	8868	0.000	0.083	2821	724	648	701	596	0	0	0	0	0	0	14.56	14.00	13.82
9235	1.00	724.2	2822	725	701	595	6.1	7.3	755	9262	0.25	2.42	20.80	0.223	11430	0.090	0.079	2911	2106	495	515	476	0	0	0	0	0	0	14.19	14.04	13.87
9274	end climb: SURFACE_DEPTH_REACHED
state	9274	begin surface coast
9284	end surface coast: CONTROL_FINISHED_OK
state	9285	begin surface