Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 261 * 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 261 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 731.0

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 63 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 731.0 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 63 VBD_MIN 500

DIVE 261 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 060917,055657,7508.2432,-15145.8633,37,0.8,38,20.4,0.0,0.0,10,8.0 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 1.25 MHEAD_RNG_PITCHd_Wd 3.1,66485,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 060917,060225,7508.2705,-15145.8535,8,0.8,8,20.4,0.0,270.9,10,9.8

Post-dive calculations and measurements:

FINISH 0.1,1.011082 _24V_AH 12.27,167.826

SM_CCo 9194,57.53,0.210,0,0,498,702.78 _10V_AH 12.15,0.000

SM_GC 1.17,8.12,0.17,57.53,0.071,0.122,0.210,205,2218,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.22,14.19,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 112 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7507.00,-15148.76,060917,032456 DATA_FILE_SIZE 26740,775

TT8_MAMPS 0.087633,1.37666 CAP_FILE_SIZE 94572,0

HUMID 44.48 CFSIZE 2097872896,2010349568

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 12 CURRENT 0.060,314.03,1

CP_FREE 0.000000 GPS 060917,083832,7509.453,-15143.649,33,0.7,34,20.4,0.6,302.0,11,8.8

PM_FREEKB_00 50249152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.60 nil 0 0 0.00

Roll_motor 63 2137 1660.11 nil 0 0 0.00

VBD_pump_during_apogee 928 1617 18429.34 nil 0 0 0.00

VBD_pump_during_surface 57 209 147.95 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 9048 14 1622.54

Iridium_during_xfer 151 135 252.24 NCP 9167 20 2249.58

Transponder_ping 3 420 15.46 PMAR 9147 9 1107.52

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.61

TT8 0 0 0.00

LPSleep 6615 2 185.67

TT8_Active 866 13 147.07

TT8_Sampling 1895 33 770.03

TT8_CF8 218 38 102.74

TT8_Kalman 0 0 0.00

Analog_circuits 1844 10 224.14

GPS_charging 0 0 0.00

Compass 1110 7 94.47

RAFOS 2215 48 1291.79

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 47 begin dive

50 -0.57 -145.9 196 2230 498 493 0.0 0.0 0 143 0.00 0.00 -91.28 0.000 16386 0.000 0.000 196 2230 2181 2117 2245 0 0 0 0 0 0 14.56 28.83 14.56

146 -0.57 -145.9 195 2231 2120 2246 4.2 -6.1 9 199 12.95 2.70 -33.55 0.000 18724 0.457 2.137 2376 3581 3964 3947 3982 0 0 0 0 0 0 13.59 12.82 14.08

350 -0.73 -145.9 2376 3582 3954 3982 45.0 -12.6 49 354 0.00 2.30 0.00 0.000 1158 0.000 0.057 2377 2230 3966 3953 3979 0 0 0 0 0 0 14.22 14.12 14.23

660 -0.84 -145.9 2376 2228 3955 3982 85.3 -10.5 81 661 0.22 0.00 0.00 0.000 4230 0.103 0.000 2287 2228 3968 3954 3982 0 0 0 0 0 0 14.26 14.38 14.35

960 -0.84 -145.9 2288 2228 3955 3982 133.0 -15.0 97 964 0.00 2.38 0.00 0.000 260 0.000 0.087 2279 3583 3968 3954 3982 0 0 0 0 0 0 14.63 14.09 14.66

1035 -0.95 -145.9 2280 3585 3955 3986 143.0 -12.2 112 1040 0.00 2.35 0.00 0.000 1158 0.000 0.058 2279 2195 3968 3955 3982 0 0 0 0 0 0 14.29 14.17 14.33

1351 -0.99 -145.9 2279 2194 3955 3983 186.6 -13.5 125 1356 0.00 2.45 0.00 0.000 388 0.000 0.086 2271 3585 3965 3954 3977 0 0 0 0 0 0 14.67 14.16 14.66

1436 -1.11 -145.9 2271 3586 3955 3982 196.9 -11.6 142 1442 0.17 2.38 0.00 0.000 5254 0.109 0.058 2206 2191 3968 3954 3982 0 0 0 0 0 0 14.19 14.09 14.31

1741 -1.02 -145.9 2205 2189 3956 3982 254.8 -18.4 153 1746 0.17 2.45 0.00 0.000 2436 0.294 0.083 2238 3585 3968 3954 3982 0 0 0 0 0 0 13.84 14.15 14.04

1838 -1.11 -145.9 2238 3586 3955 3982 267.8 -11.8 172 1844 0.00 2.35 0.00 0.000 1158 0.000 0.056 2238 2197 3968 3954 3982 0 0 0 0 0 0 14.35 14.22 14.38

2164 -1.11 -145.9 2238 2196 3955 3982 309.4 -12.2 187 2169 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3584 3968 3954 3982 0 0 0 0 0 0 14.66 14.08 14.69

2269 -1.20 -145.9 2236 3586 3955 3983 321.3 -10.8 208 2275 0.15 2.35 0.00 0.000 5254 0.125 0.057 2175 2196 3968 3954 3982 0 0 0 0 0 0 14.20 14.07 14.26

2586 -1.11 -145.9 2176 2196 3955 3982 374.9 -17.2 221 2591 0.17 2.45 0.00 0.000 2436 0.299 0.083 2205 3585 3967 3954 3981 0 0 0 0 0 0 13.81 14.12 13.97

2671 -1.15 -145.9 2206 3587 3954 3981 386.7 -12.3 238 2677 0.00 2.35 0.00 0.000 1158 0.000 0.055 2205 2200 3967 3954 3981 0 0 0 0 0 0 14.29 14.17 14.34

2976 -1.15 -145.9 2206 2195 3955 3977 427.7 -13.4 249 2981 0.00 2.45 0.00 0.000 260 0.000 0.087 2200 3583 3967 3953 3981 0 0 0 0 0 0 14.68 14.09 14.70

3056 -1.19 -145.9 2200 3586 3958 3983 438.2 -12.7 265 3061 0.00 2.33 0.00 0.000 1158 0.000 0.055 2199 2195 3968 3954 3982 0 0 0 0 0 0 14.35 14.25 14.38

3364 end dive: TARGET_DEPTH_EXCEEDED

state 3364 begin apogee

3370 -0.13 0.0 2200 2064 3955 3982 481.3 -14.0 277 3593 1.30 0.00 218.77 1.446 10246 0.239 0.000 2529 2061 3364 3383 3345 0 0 0 0 0 0 13.85 13.48 12.64

3597 end apogee: CONTROL_FINISHED_OK

state 3597 begin climb

3599 0.57 145.9 2529 2061 3379 3338 493.3 0.0 284 3816 0.75 2.58 211.10 1.395 10756 0.062 0.079 2782 731 2765 2808 2723 0 0 0 0 0 0 13.63 12.89 12.27

4018 0.18 145.9 2782 732 2796 2717 480.0 14.0 372 4025 0.65 2.42 0.00 0.000 5254 0.318 0.075 2646 2079 2755 2796 2715 0 0 0 0 0 0 13.35 13.70 13.73

4322 0.02 167.5 2647 2079 2797 2711 451.7 9.0 383 4353 0.25 0.00 27.23 1.499 12454 0.269 0.000 2590 2079 2680 2726 2635 0 0 0 0 0 0 13.84 14.02 13.15

4652 0.03 227.5 2591 2079 2725 2625 427.9 7.2 394 4744 0.00 0.00 90.60 1.402 8870 0.000 0.000 2591 2079 2437 2495 2380 0 0 0 0 0 0 14.59 13.85 13.03

5043 0.08 264.1 2591 2079 2486 2364 396.0 8.3 417 5102 0.00 0.00 53.83 1.401 8870 0.000 0.000 2588 2079 2285 2339 2231 0 0 0 0 0 0 14.54 13.75 13.15

5403 0.16 297.9 2591 2080 2333 2222 365.7 8.4 439 5463 0.12 2.40 51.83 1.397 10916 0.132 0.087 2655 731 2144 2194 2094 0 0 0 0 0 0 14.29 14.02 13.19

5533 0.16 297.9 2655 732 2187 2094 349.7 12.0 465 5539 0.00 2.40 0.00 0.000 1030 0.000 0.079 2655 2099 2139 2186 2093 0 0 0 0 0 0 14.17 14.06 14.21

5854 0.13 297.9 2656 2099 2187 2085 309.9 12.1 479 5859 0.12 2.40 0.00 0.000 4740 0.261 0.081 2631 728 2135 2185 2085 0 0 0 0 0 0 13.91 14.14 14.08

5910 0.20 305.2 2629 729 2185 2086 304.3 9.7 490 5920 0.00 2.40 4.28 1.617 9382 0.000 0.078 2630 2105 2121 2169 2073 0 0 0 0 0 0 14.35 14.19 13.05

6248 0.24 320.0 2630 2108 2168 2074 271.8 9.3 507 6277 0.00 0.00 27.08 1.436 8358 0.000 0.000 2630 2105 2062 2114 2010 0 0 0 0 0 0 14.64 14.11 13.29

6576 0.32 361.2 2631 2106 2103 2004 243.1 8.1 518 6647 0.12 0.00 69.00 1.330 10918 0.128 0.000 2692 2105 1893 1930 1856 0 0 0 0 0 0 14.29 13.98 13.19

6986 0.30 361.2 2692 2105 1915 1845 197.6 11.4 541 6991 0.00 2.42 0.00 0.000 644 0.000 0.086 2698 734 1879 1914 1845 0 0 0 0 0 0 14.46 14.10 14.51

7157 0.32 361.2 2698 735 1911 1850 177.5 10.2 575 7161 0.00 2.40 0.00 0.000 1158 0.000 0.077 2697 2108 1877 1910 1845 0 0 0 0 0 0 14.26 14.13 14.30

7467 0.32 361.2 2698 2109 1910 1845 145.1 10.4 587 7467 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2109 1876 1908 1844 0 0 0 0 0 0 14.49 14.50 14.50

7767 0.33 378.1 2699 2109 1910 1842 116.2 9.2 597 7793 0.00 2.42 20.05 1.395 8740 0.000 0.083 2699 731 1820 1849 1792 0 0 0 0 0 0 14.49 13.90 13.28

7898 0.43 413.0 2702 731 1842 1791 104.9 8.4 623 7963 0.00 2.42 58.20 1.264 9382 0.000 0.079 2698 2106 1679 1706 1653 0 0 0 0 0 0 14.12 14.00 13.16

8268 0.55 476.5 2699 2107 1704 1640 75.2 7.1 668 8303 0.20 0.00 32.80 0.428 10918 0.097 0.000 2780 2106 1421 1461 1381 0 0 0 0 0 0 14.16 14.01 13.61

8609 0.59 529.9 2778 2107 1462 1372 42.9 7.5 703 8645 0.00 2.53 28.00 0.330 8740 0.000 0.086 2782 717 1203 1261 1146 0 0 0 0 0 0 14.42 13.88 13.71

8771 0.73 596.9 2782 717 1262 1147 31.0 6.9 735 8813 0.12 2.45 36.00 0.291 11430 0.138 0.080 2837 2101 927 992 862 0 0 0 0 0 0 14.09 14.07 13.65

9108 end climb: SURFACE_DEPTH_REACHED

state 9108 begin surface coast

9128 end surface coast: CONTROL_FINISHED_OK

state 9128 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	261	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	731.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,055657,7508.2432,-15145.8633,37,0.8,38,20.4,0.0,0.0,10,8.0	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	1.25	MHEAD_RNG_PITCHd_Wd	3.1,66485,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	060917,060225,7508.2705,-15145.8535,8,0.8,8,20.4,0.0,270.9,10,9.8

FINISH	0.1,1.011082	_24V_AH	12.27,167.826
SM_CCo	9194,57.53,0.210,0,0,498,702.78	_10V_AH	12.15,0.000
SM_GC	1.17,8.12,0.17,57.53,0.071,0.122,0.210,205,2218,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.22,14.19,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	112	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323384
IRIDIUM_FIX	7507.00,-15148.76,060917,032456	DATA_FILE_SIZE	26740,775
TT8_MAMPS	0.087633,1.37666	CAP_FILE_SIZE	94572,0
HUMID	44.48	CFSIZE	2097872896,2010349568
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	12	CURRENT	0.060,314.03,1
CP_FREE	0.000000	GPS	060917,083832,7509.453,-15143.649,33,0.7,34,20.4,0.6,302.0,11,8.8
PM_FREEKB_00	50249152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.60	nil	0	0	0.00
Roll_motor	63	2137	1660.11	nil	0	0	0.00
VBD_pump_during_apogee	928	1617	18429.34	nil	0	0	0.00
VBD_pump_during_surface	57	209	147.95	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	9048	14	1622.54
Iridium_during_xfer	151	135	252.24	NCP	9167	20	2249.58
Transponder_ping	3	420	15.46	PMAR	9147	9	1107.52
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.61
TT8	0	0	0.00
LPSleep	6615	2	185.67
TT8_Active	866	13	147.07
TT8_Sampling	1895	33	770.03
TT8_CF8	218	38	102.74
TT8_Kalman	0	0	0.00
Analog_circuits	1844	10	224.14
GPS_charging	0	0	0.00
Compass	1110	7	94.47
RAFOS	2215	48	1291.79
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	47	begin dive
50	-0.57	-145.9	196	2230	498	493	0.0	0.0	0	143	0.00	0.00	-91.28	0.000	16386	0.000	0.000	196	2230	2181	2117	2245	0	0	0	0	0	0	14.56	28.83	14.56
146	-0.57	-145.9	195	2231	2120	2246	4.2	-6.1	9	199	12.95	2.70	-33.55	0.000	18724	0.457	2.137	2376	3581	3964	3947	3982	0	0	0	0	0	0	13.59	12.82	14.08
350	-0.73	-145.9	2376	3582	3954	3982	45.0	-12.6	49	354	0.00	2.30	0.00	0.000	1158	0.000	0.057	2377	2230	3966	3953	3979	0	0	0	0	0	0	14.22	14.12	14.23
660	-0.84	-145.9	2376	2228	3955	3982	85.3	-10.5	81	661	0.22	0.00	0.00	0.000	4230	0.103	0.000	2287	2228	3968	3954	3982	0	0	0	0	0	0	14.26	14.38	14.35
960	-0.84	-145.9	2288	2228	3955	3982	133.0	-15.0	97	964	0.00	2.38	0.00	0.000	260	0.000	0.087	2279	3583	3968	3954	3982	0	0	0	0	0	0	14.63	14.09	14.66
1035	-0.95	-145.9	2280	3585	3955	3986	143.0	-12.2	112	1040	0.00	2.35	0.00	0.000	1158	0.000	0.058	2279	2195	3968	3955	3982	0	0	0	0	0	0	14.29	14.17	14.33
1351	-0.99	-145.9	2279	2194	3955	3983	186.6	-13.5	125	1356	0.00	2.45	0.00	0.000	388	0.000	0.086	2271	3585	3965	3954	3977	0	0	0	0	0	0	14.67	14.16	14.66
1436	-1.11	-145.9	2271	3586	3955	3982	196.9	-11.6	142	1442	0.17	2.38	0.00	0.000	5254	0.109	0.058	2206	2191	3968	3954	3982	0	0	0	0	0	0	14.19	14.09	14.31
1741	-1.02	-145.9	2205	2189	3956	3982	254.8	-18.4	153	1746	0.17	2.45	0.00	0.000	2436	0.294	0.083	2238	3585	3968	3954	3982	0	0	0	0	0	0	13.84	14.15	14.04
1838	-1.11	-145.9	2238	3586	3955	3982	267.8	-11.8	172	1844	0.00	2.35	0.00	0.000	1158	0.000	0.056	2238	2197	3968	3954	3982	0	0	0	0	0	0	14.35	14.22	14.38
2164	-1.11	-145.9	2238	2196	3955	3982	309.4	-12.2	187	2169	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3584	3968	3954	3982	0	0	0	0	0	0	14.66	14.08	14.69
2269	-1.20	-145.9	2236	3586	3955	3983	321.3	-10.8	208	2275	0.15	2.35	0.00	0.000	5254	0.125	0.057	2175	2196	3968	3954	3982	0	0	0	0	0	0	14.20	14.07	14.26
2586	-1.11	-145.9	2176	2196	3955	3982	374.9	-17.2	221	2591	0.17	2.45	0.00	0.000	2436	0.299	0.083	2205	3585	3967	3954	3981	0	0	0	0	0	0	13.81	14.12	13.97
2671	-1.15	-145.9	2206	3587	3954	3981	386.7	-12.3	238	2677	0.00	2.35	0.00	0.000	1158	0.000	0.055	2205	2200	3967	3954	3981	0	0	0	0	0	0	14.29	14.17	14.34
2976	-1.15	-145.9	2206	2195	3955	3977	427.7	-13.4	249	2981	0.00	2.45	0.00	0.000	260	0.000	0.087	2200	3583	3967	3953	3981	0	0	0	0	0	0	14.68	14.09	14.70
3056	-1.19	-145.9	2200	3586	3958	3983	438.2	-12.7	265	3061	0.00	2.33	0.00	0.000	1158	0.000	0.055	2199	2195	3968	3954	3982	0	0	0	0	0	0	14.35	14.25	14.38
3364	end dive: TARGET_DEPTH_EXCEEDED
state	3364	begin apogee
3370	-0.13	0.0	2200	2064	3955	3982	481.3	-14.0	277	3593	1.30	0.00	218.77	1.446	10246	0.239	0.000	2529	2061	3364	3383	3345	0	0	0	0	0	0	13.85	13.48	12.64
3597	end apogee: CONTROL_FINISHED_OK
state	3597	begin climb
3599	0.57	145.9	2529	2061	3379	3338	493.3	0.0	284	3816	0.75	2.58	211.10	1.395	10756	0.062	0.079	2782	731	2765	2808	2723	0	0	0	0	0	0	13.63	12.89	12.27
4018	0.18	145.9	2782	732	2796	2717	480.0	14.0	372	4025	0.65	2.42	0.00	0.000	5254	0.318	0.075	2646	2079	2755	2796	2715	0	0	0	0	0	0	13.35	13.70	13.73
4322	0.02	167.5	2647	2079	2797	2711	451.7	9.0	383	4353	0.25	0.00	27.23	1.499	12454	0.269	0.000	2590	2079	2680	2726	2635	0	0	0	0	0	0	13.84	14.02	13.15
4652	0.03	227.5	2591	2079	2725	2625	427.9	7.2	394	4744	0.00	0.00	90.60	1.402	8870	0.000	0.000	2591	2079	2437	2495	2380	0	0	0	0	0	0	14.59	13.85	13.03
5043	0.08	264.1	2591	2079	2486	2364	396.0	8.3	417	5102	0.00	0.00	53.83	1.401	8870	0.000	0.000	2588	2079	2285	2339	2231	0	0	0	0	0	0	14.54	13.75	13.15
5403	0.16	297.9	2591	2080	2333	2222	365.7	8.4	439	5463	0.12	2.40	51.83	1.397	10916	0.132	0.087	2655	731	2144	2194	2094	0	0	0	0	0	0	14.29	14.02	13.19
5533	0.16	297.9	2655	732	2187	2094	349.7	12.0	465	5539	0.00	2.40	0.00	0.000	1030	0.000	0.079	2655	2099	2139	2186	2093	0	0	0	0	0	0	14.17	14.06	14.21
5854	0.13	297.9	2656	2099	2187	2085	309.9	12.1	479	5859	0.12	2.40	0.00	0.000	4740	0.261	0.081	2631	728	2135	2185	2085	0	0	0	0	0	0	13.91	14.14	14.08
5910	0.20	305.2	2629	729	2185	2086	304.3	9.7	490	5920	0.00	2.40	4.28	1.617	9382	0.000	0.078	2630	2105	2121	2169	2073	0	0	0	0	0	0	14.35	14.19	13.05
6248	0.24	320.0	2630	2108	2168	2074	271.8	9.3	507	6277	0.00	0.00	27.08	1.436	8358	0.000	0.000	2630	2105	2062	2114	2010	0	0	0	0	0	0	14.64	14.11	13.29
6576	0.32	361.2	2631	2106	2103	2004	243.1	8.1	518	6647	0.12	0.00	69.00	1.330	10918	0.128	0.000	2692	2105	1893	1930	1856	0	0	0	0	0	0	14.29	13.98	13.19
6986	0.30	361.2	2692	2105	1915	1845	197.6	11.4	541	6991	0.00	2.42	0.00	0.000	644	0.000	0.086	2698	734	1879	1914	1845	0	0	0	0	0	0	14.46	14.10	14.51
7157	0.32	361.2	2698	735	1911	1850	177.5	10.2	575	7161	0.00	2.40	0.00	0.000	1158	0.000	0.077	2697	2108	1877	1910	1845	0	0	0	0	0	0	14.26	14.13	14.30
7467	0.32	361.2	2698	2109	1910	1845	145.1	10.4	587	7467	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2109	1876	1908	1844	0	0	0	0	0	0	14.49	14.50	14.50
7767	0.33	378.1	2699	2109	1910	1842	116.2	9.2	597	7793	0.00	2.42	20.05	1.395	8740	0.000	0.083	2699	731	1820	1849	1792	0	0	0	0	0	0	14.49	13.90	13.28
7898	0.43	413.0	2702	731	1842	1791	104.9	8.4	623	7963	0.00	2.42	58.20	1.264	9382	0.000	0.079	2698	2106	1679	1706	1653	0	0	0	0	0	0	14.12	14.00	13.16
8268	0.55	476.5	2699	2107	1704	1640	75.2	7.1	668	8303	0.20	0.00	32.80	0.428	10918	0.097	0.000	2780	2106	1421	1461	1381	0	0	0	0	0	0	14.16	14.01	13.61
8609	0.59	529.9	2778	2107	1462	1372	42.9	7.5	703	8645	0.00	2.53	28.00	0.330	8740	0.000	0.086	2782	717	1203	1261	1146	0	0	0	0	0	0	14.42	13.88	13.71
8771	0.73	596.9	2782	717	1262	1147	31.0	6.9	735	8813	0.12	2.45	36.00	0.291	11430	0.138	0.080	2837	2101	927	992	862	0	0	0	0	0	0	14.09	14.07	13.65
9108	end climb: SURFACE_DEPTH_REACHED
state	9108	begin surface coast
9128	end surface coast: CONTROL_FINISHED_OK
state	9128	begin surface