Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 262 * 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 262 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 733.0

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 39 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 733.0 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 262 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 060917,083832,7509.4531,-15143.6494,33,0.7,34,20.4,0.6,302.0,11,8.8 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 1.26 MHEAD_RNG_PITCHd_Wd 5.0,64081,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 060917,084420,7509.4736,-15143.6484,8,0.8,10,20.4,0.0,233.3,10,8.6

Post-dive calculations and measurements:

FINISH 0.1,1.021338 _24V_AH 12.27,168.254

SM_CCo 9185,4.22,0.212,0,0,498,702.78 _10V_AH 12.21,0.000

SM_GC 1.81,8.35,0.17,4.22,0.076,0.136,0.212,198,2210,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.29,14.23,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323680

IRIDIUM_FIX 7509.81,-15152.19,060917,055957 DATA_FILE_SIZE 30034,831

TT8_MAMPS 0.040446,0.916027 CAP_FILE_SIZE 102212,0

HUMID 47.04 CFSIZE 2097872896,2010120192

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 1449.2

XPDR_PINGS 14 CURRENT 0.071,313.99,1

CP_FREE 0.000000 GPS 060917,111902,7510.704,-15141.636,14,0.7,19,20.4,0.0,33.0,12,9.3

PM_FREEKB_00 50223744

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 456 146.82 nil 0 0 0.00

Roll_motor 89 2137 2353.13 nil 0 0 0.00

VBD_pump_during_apogee 949 1621 18891.62 nil 0 0 0.00

VBD_pump_during_surface 4 211 10.99 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 9109 14 1633.82

Iridium_during_xfer 154 130 247.19 NCP 9165 20 2249.09

Transponder_ping 3 420 18.04 PMAR 9135 9 1104.50

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.18

TT8 0 0 0.00

LPSleep 6478 2 182.73

TT8_Active 937 13 159.89

TT8_Sampling 1894 33 773.37

TT8_CF8 235 38 111.32

TT8_Kalman 0 0 0.00

Analog_circuits 1877 10 229.30

GPS_charging 0 0 0.00

Compass 1189 7 101.68

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 47 begin dive

50 -0.57 -145.9 201 2220 486 496 0.0 0.0 0 143 0.00 0.00 -91.20 0.000 16386 0.000 0.000 200 2219 2162 2097 2227 0 0 0 0 0 0 14.40 28.83 14.39

146 -0.57 -145.9 201 2220 2101 2228 3.7 -5.0 9 200 12.88 2.80 -35.42 0.000 18724 0.457 2.137 2376 3587 3966 3944 3988 0 0 0 0 0 0 13.57 12.54 14.07

325 -0.72 -145.9 2377 3584 3952 3981 40.9 -13.1 44 332 0.00 2.30 0.00 0.000 1158 0.000 0.057 2376 2237 3965 3951 3980 0 0 0 0 0 0 14.20 14.14 14.20

630 -0.83 -145.9 2376 2236 3954 3981 82.1 -10.9 75 635 0.17 2.53 0.00 0.000 4740 0.117 0.082 2300 796 3966 3953 3980 0 0 0 0 0 0 14.23 14.04 14.28

660 -0.83 -145.9 2299 793 3954 3981 86.6 -15.7 81 666 0.00 2.47 0.00 0.000 1030 0.000 0.086 2294 2191 3967 3953 3981 0 0 0 0 0 0 14.20 14.06 14.23

991 -0.86 -145.9 2295 2192 3954 3981 137.3 -14.3 99 996 0.00 2.53 0.00 0.000 388 0.000 0.090 2293 3620 3967 3953 3981 0 0 0 0 0 0 14.66 14.04 14.64

1086 -0.98 -145.9 2293 3620 3954 3981 149.1 -11.6 118 1091 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2203 3967 3953 3981 0 0 0 0 0 0 14.34 14.22 14.37

1411 -1.05 -145.9 2293 2201 3954 3979 190.0 -12.3 133 1416 0.12 2.50 0.00 0.000 4484 0.133 0.086 2236 3615 3967 3953 3981 0 0 0 0 0 0 14.33 14.18 14.37

1467 -1.08 -145.9 2236 3615 3953 3982 198.5 -15.2 144 1474 0.00 2.40 0.00 0.000 1158 0.000 0.058 2235 2198 3967 3953 3981 0 0 0 0 0 0 14.32 14.17 14.35

1772 -1.06 -145.9 2236 2198 3953 3982 247.5 -15.4 155 1777 0.00 2.50 0.00 0.000 388 0.000 0.087 2230 3610 3967 3953 3981 0 0 0 0 0 0 14.66 14.12 14.68

1852 -1.12 -145.9 2230 3613 3954 3980 258.9 -12.6 171 1857 0.00 2.42 0.00 0.000 1158 0.000 0.057 2229 2191 3970 3959 3981 0 0 0 0 0 0 13.98 13.33 14.14

2162 -1.12 -145.9 2230 2191 3954 3981 301.3 -13.2 183 2167 0.00 2.53 0.00 0.000 260 0.000 0.088 2222 3614 3966 3952 3981 0 0 0 0 0 0 14.66 14.17 14.71

2289 -1.18 -145.9 2224 3615 3954 3981 316.9 -12.3 208 2294 0.00 2.40 0.00 0.000 1158 0.000 0.056 2223 2196 3967 3953 3981 0 0 0 0 0 0 14.36 14.24 14.40

2614 -1.18 -145.9 2224 2195 3954 3981 358.1 -12.5 223 2619 0.00 2.50 0.00 0.000 260 0.000 0.089 2222 3613 3963 3946 3981 0 0 0 0 0 0 14.65 14.09 14.66

2685 -1.27 -145.9 2223 3614 3952 3982 366.3 -10.9 237 2690 0.17 2.40 0.00 0.000 5254 0.116 0.057 2156 2199 3966 3952 3981 0 0 0 0 0 0 14.28 14.24 14.38

3005 -1.14 -145.9 2156 2198 3953 3981 424.5 -18.5 251 3010 0.22 2.50 0.00 0.000 2436 0.314 0.083 2194 3616 3966 3951 3981 0 0 0 0 0 0 13.62 14.04 13.87

3155 -1.16 -145.9 2195 3618 3951 3982 445.3 -13.0 281 3160 0.00 2.40 0.00 0.000 1158 0.000 0.056 2194 2199 3966 3951 3981 0 0 0 0 0 0 14.28 14.16 14.33

3423 end dive: TARGET_DEPTH_EXCEEDED

state 3423 begin apogee

3429 -0.13 0.0 2195 2063 3952 3981 483.6 -14.3 295 3651 1.35 0.08 218.68 1.450 10246 0.243 0.180 2529 2110 3365 3386 3345 0 0 0 0 0 0 13.84 13.44 12.63

3655 end apogee: CONTROL_FINISHED_OK

state 3655 begin climb

3659 0.57 145.9 2529 2110 3380 3336 495.4 0.0 302 3878 0.75 2.65 207.02 1.395 10500 0.062 0.074 2783 3511 2763 2806 2721 0 0 0 0 0 0 13.63 13.12 12.27

4103 0.09 145.9 2782 3512 2787 2720 472.7 16.1 384 4109 0.88 2.42 0.00 0.000 5254 0.348 0.057 2616 2128 2750 2782 2719 0 0 0 0 0 0 13.21 13.82 13.21

4414 0.02 192.1 2617 2127 2787 2717 446.8 7.9 396 4486 0.00 2.47 65.18 1.412 8612 0.000 0.082 2616 3509 2577 2628 2527 0 0 0 0 0 0 14.52 13.94 13.09

4656 -0.07 192.1 2616 3510 2616 2523 422.8 10.5 444 4662 0.28 2.42 0.00 0.000 5254 0.249 0.060 2560 2095 2568 2615 2522 0 0 0 0 0 0 13.84 14.06 14.13

4987 0.05 281.1 2561 2096 2615 2521 402.4 5.9 460 5135 0.12 2.60 135.95 1.349 10916 0.125 0.087 2615 692 2209 2257 2161 0 0 0 0 0 0 14.33 13.72 12.97

5185 0.15 299.2 2616 693 2257 2159 384.4 9.2 499 5216 0.00 2.50 24.73 1.434 9382 0.000 0.077 2615 2095 2142 2194 2091 0 0 0 0 0 0 13.94 13.83 12.94

5533 0.19 300.8 2616 2095 2188 2076 350.3 9.9 518 5534 0.00 0.00 0.00 0.000 166 0.000 0.000 2615 2095 2131 2186 2076 0 0 0 0 0 0 14.56 14.55 14.55

5832 0.24 311.0 2617 2095 2185 2075 321.3 9.5 528 5852 0.12 2.45 13.77 1.561 10916 0.128 0.087 2686 696 2094 2146 2043 0 0 0 0 0 0 14.31 14.23 13.27

5909 0.20 311.0 2685 692 2141 2042 311.3 13.8 543 5914 0.15 2.47 0.00 0.000 5254 0.231 0.077 2651 2106 2091 2140 2042 0 0 0 0 0 0 14.03 14.21 14.27

6224 0.20 311.0 2650 2106 2141 2038 275.0 11.1 556 6230 0.00 2.47 0.00 0.000 516 0.000 0.086 2652 695 2089 2140 2038 0 0 0 0 0 0 14.64 14.21 14.66

6265 0.24 311.0 2653 694 2141 2038 270.6 10.4 564 6271 0.00 2.45 0.00 0.000 1158 0.000 0.077 2652 2105 2088 2139 2038 0 0 0 0 0 0 14.33 14.20 14.35

6586 0.24 316.5 2653 2106 2140 2038 237.8 9.7 578 6596 0.00 2.45 4.00 1.621 8740 0.000 0.086 2657 694 2074 2125 2023 0 0 0 0 0 0 14.66 14.16 13.01

6667 0.33 348.1 2655 695 2127 2032 230.6 8.5 594 6731 0.00 2.45 58.67 1.356 9382 0.000 0.079 2655 2102 1942 1989 1895 0 0 0 0 0 0 14.38 14.26 13.20

7038 0.39 376.8 2655 2103 1981 1886 197.6 8.7 618 7087 0.12 0.00 46.67 1.333 10662 0.126 0.000 2715 2108 1829 1862 1797 0 0 0 0 0 0 14.30 14.04 13.25

7367 0.36 376.8 2718 2102 1853 1785 157.5 11.7 634 7372 0.00 2.47 0.00 0.000 644 0.000 0.087 2716 676 1818 1851 1785 0 0 0 0 0 0 14.57 14.17 14.59

7467 0.39 376.8 2716 677 1848 1785 146.7 10.3 654 7472 0.00 2.47 0.00 0.000 1158 0.000 0.080 2716 2099 1816 1847 1785 0 0 0 0 0 0 14.33 14.20 14.38

7787 0.39 376.8 2716 2100 1848 1783 112.1 10.5 668 7788 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2099 1815 1847 1783 0 0 0 0 0 0 14.64 14.66 14.66

8087 0.41 407.4 2716 2100 1848 1782 84.2 8.6 688 8108 0.00 2.47 15.57 0.455 8740 0.000 0.085 2716 695 1702 1730 1675 0 0 0 0 0 0 14.62 13.87 13.56

8191 0.51 457.0 2716 695 1732 1677 75.8 7.7 708 8224 0.00 2.47 27.83 0.428 9382 0.000 0.078 2716 2106 1501 1537 1465 0 0 0 0 0 0 14.21 14.09 13.66

8519 0.69 554.3 2717 2106 1538 1457 52.7 5.5 744 8577 0.25 2.50 52.65 0.356 10916 0.088 0.086 2824 695 1107 1176 1038 0 0 0 0 0 0 14.27 13.90 13.64

8672 0.73 555.7 2819 699 1170 1036 37.7 9.9 774 8677 0.00 2.47 0.00 0.000 1190 0.000 0.077 2819 2105 1101 1169 1034 0 0 0 0 0 0 14.27 14.14 14.31

8982 0.81 625.8 2819 2105 1170 1024 11.8 6.8 806 9026 0.00 2.58 38.78 0.239 8868 0.000 0.086 2818 694 810 879 742 0 0 0 0 0 0 14.57 14.08 13.81

9056 1.00 696.1 2819 695 880 742 6.9 6.8 820 9104 0.25 2.47 40.30 0.217 11430 0.089 0.077 2908 2107 523 549 498 0 0 0 0 0 0 14.16 14.01 13.88

9107 end climb: SURFACE_DEPTH_REACHED

state 9107 begin surface coast

9117 end surface coast: CONTROL_FINISHED_OK

state 9117 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	262	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	733.0
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	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,083832,7509.4531,-15143.6494,33,0.7,34,20.4,0.6,302.0,11,8.8	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	1.26	MHEAD_RNG_PITCHd_Wd	5.0,64081,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	060917,084420,7509.4736,-15143.6484,8,0.8,10,20.4,0.0,233.3,10,8.6

FINISH	0.1,1.021338	_24V_AH	12.27,168.254
SM_CCo	9185,4.22,0.212,0,0,498,702.78	_10V_AH	12.21,0.000
SM_GC	1.81,8.35,0.17,4.22,0.076,0.136,0.212,198,2210,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.29,14.23,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323680
IRIDIUM_FIX	7509.81,-15152.19,060917,055957	DATA_FILE_SIZE	30034,831
TT8_MAMPS	0.040446,0.916027	CAP_FILE_SIZE	102212,0
HUMID	47.04	CFSIZE	2097872896,2010120192
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	1449.2
XPDR_PINGS	14	CURRENT	0.071,313.99,1
CP_FREE	0.000000	GPS	060917,111902,7510.704,-15141.636,14,0.7,19,20.4,0.0,33.0,12,9.3
PM_FREEKB_00	50223744

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	456	146.82	nil	0	0	0.00
Roll_motor	89	2137	2353.13	nil	0	0	0.00
VBD_pump_during_apogee	949	1621	18891.62	nil	0	0	0.00
VBD_pump_during_surface	4	211	10.99	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	9109	14	1633.82
Iridium_during_xfer	154	130	247.19	NCP	9165	20	2249.09
Transponder_ping	3	420	18.04	PMAR	9135	9	1104.50
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.18
TT8	0	0	0.00
LPSleep	6478	2	182.73
TT8_Active	937	13	159.89
TT8_Sampling	1894	33	773.37
TT8_CF8	235	38	111.32
TT8_Kalman	0	0	0.00
Analog_circuits	1877	10	229.30
GPS_charging	0	0	0.00
Compass	1189	7	101.68
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	47	begin dive
50	-0.57	-145.9	201	2220	486	496	0.0	0.0	0	143	0.00	0.00	-91.20	0.000	16386	0.000	0.000	200	2219	2162	2097	2227	0	0	0	0	0	0	14.40	28.83	14.39
146	-0.57	-145.9	201	2220	2101	2228	3.7	-5.0	9	200	12.88	2.80	-35.42	0.000	18724	0.457	2.137	2376	3587	3966	3944	3988	0	0	0	0	0	0	13.57	12.54	14.07
325	-0.72	-145.9	2377	3584	3952	3981	40.9	-13.1	44	332	0.00	2.30	0.00	0.000	1158	0.000	0.057	2376	2237	3965	3951	3980	0	0	0	0	0	0	14.20	14.14	14.20
630	-0.83	-145.9	2376	2236	3954	3981	82.1	-10.9	75	635	0.17	2.53	0.00	0.000	4740	0.117	0.082	2300	796	3966	3953	3980	0	0	0	0	0	0	14.23	14.04	14.28
660	-0.83	-145.9	2299	793	3954	3981	86.6	-15.7	81	666	0.00	2.47	0.00	0.000	1030	0.000	0.086	2294	2191	3967	3953	3981	0	0	0	0	0	0	14.20	14.06	14.23
991	-0.86	-145.9	2295	2192	3954	3981	137.3	-14.3	99	996	0.00	2.53	0.00	0.000	388	0.000	0.090	2293	3620	3967	3953	3981	0	0	0	0	0	0	14.66	14.04	14.64
1086	-0.98	-145.9	2293	3620	3954	3981	149.1	-11.6	118	1091	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2203	3967	3953	3981	0	0	0	0	0	0	14.34	14.22	14.37
1411	-1.05	-145.9	2293	2201	3954	3979	190.0	-12.3	133	1416	0.12	2.50	0.00	0.000	4484	0.133	0.086	2236	3615	3967	3953	3981	0	0	0	0	0	0	14.33	14.18	14.37
1467	-1.08	-145.9	2236	3615	3953	3982	198.5	-15.2	144	1474	0.00	2.40	0.00	0.000	1158	0.000	0.058	2235	2198	3967	3953	3981	0	0	0	0	0	0	14.32	14.17	14.35
1772	-1.06	-145.9	2236	2198	3953	3982	247.5	-15.4	155	1777	0.00	2.50	0.00	0.000	388	0.000	0.087	2230	3610	3967	3953	3981	0	0	0	0	0	0	14.66	14.12	14.68
1852	-1.12	-145.9	2230	3613	3954	3980	258.9	-12.6	171	1857	0.00	2.42	0.00	0.000	1158	0.000	0.057	2229	2191	3970	3959	3981	0	0	0	0	0	0	13.98	13.33	14.14
2162	-1.12	-145.9	2230	2191	3954	3981	301.3	-13.2	183	2167	0.00	2.53	0.00	0.000	260	0.000	0.088	2222	3614	3966	3952	3981	0	0	0	0	0	0	14.66	14.17	14.71
2289	-1.18	-145.9	2224	3615	3954	3981	316.9	-12.3	208	2294	0.00	2.40	0.00	0.000	1158	0.000	0.056	2223	2196	3967	3953	3981	0	0	0	0	0	0	14.36	14.24	14.40
2614	-1.18	-145.9	2224	2195	3954	3981	358.1	-12.5	223	2619	0.00	2.50	0.00	0.000	260	0.000	0.089	2222	3613	3963	3946	3981	0	0	0	0	0	0	14.65	14.09	14.66
2685	-1.27	-145.9	2223	3614	3952	3982	366.3	-10.9	237	2690	0.17	2.40	0.00	0.000	5254	0.116	0.057	2156	2199	3966	3952	3981	0	0	0	0	0	0	14.28	14.24	14.38
3005	-1.14	-145.9	2156	2198	3953	3981	424.5	-18.5	251	3010	0.22	2.50	0.00	0.000	2436	0.314	0.083	2194	3616	3966	3951	3981	0	0	0	0	0	0	13.62	14.04	13.87
3155	-1.16	-145.9	2195	3618	3951	3982	445.3	-13.0	281	3160	0.00	2.40	0.00	0.000	1158	0.000	0.056	2194	2199	3966	3951	3981	0	0	0	0	0	0	14.28	14.16	14.33
3423	end dive: TARGET_DEPTH_EXCEEDED
state	3423	begin apogee
3429	-0.13	0.0	2195	2063	3952	3981	483.6	-14.3	295	3651	1.35	0.08	218.68	1.450	10246	0.243	0.180	2529	2110	3365	3386	3345	0	0	0	0	0	0	13.84	13.44	12.63
3655	end apogee: CONTROL_FINISHED_OK
state	3655	begin climb
3659	0.57	145.9	2529	2110	3380	3336	495.4	0.0	302	3878	0.75	2.65	207.02	1.395	10500	0.062	0.074	2783	3511	2763	2806	2721	0	0	0	0	0	0	13.63	13.12	12.27
4103	0.09	145.9	2782	3512	2787	2720	472.7	16.1	384	4109	0.88	2.42	0.00	0.000	5254	0.348	0.057	2616	2128	2750	2782	2719	0	0	0	0	0	0	13.21	13.82	13.21
4414	0.02	192.1	2617	2127	2787	2717	446.8	7.9	396	4486	0.00	2.47	65.18	1.412	8612	0.000	0.082	2616	3509	2577	2628	2527	0	0	0	0	0	0	14.52	13.94	13.09
4656	-0.07	192.1	2616	3510	2616	2523	422.8	10.5	444	4662	0.28	2.42	0.00	0.000	5254	0.249	0.060	2560	2095	2568	2615	2522	0	0	0	0	0	0	13.84	14.06	14.13
4987	0.05	281.1	2561	2096	2615	2521	402.4	5.9	460	5135	0.12	2.60	135.95	1.349	10916	0.125	0.087	2615	692	2209	2257	2161	0	0	0	0	0	0	14.33	13.72	12.97
5185	0.15	299.2	2616	693	2257	2159	384.4	9.2	499	5216	0.00	2.50	24.73	1.434	9382	0.000	0.077	2615	2095	2142	2194	2091	0	0	0	0	0	0	13.94	13.83	12.94
5533	0.19	300.8	2616	2095	2188	2076	350.3	9.9	518	5534	0.00	0.00	0.00	0.000	166	0.000	0.000	2615	2095	2131	2186	2076	0	0	0	0	0	0	14.56	14.55	14.55
5832	0.24	311.0	2617	2095	2185	2075	321.3	9.5	528	5852	0.12	2.45	13.77	1.561	10916	0.128	0.087	2686	696	2094	2146	2043	0	0	0	0	0	0	14.31	14.23	13.27
5909	0.20	311.0	2685	692	2141	2042	311.3	13.8	543	5914	0.15	2.47	0.00	0.000	5254	0.231	0.077	2651	2106	2091	2140	2042	0	0	0	0	0	0	14.03	14.21	14.27
6224	0.20	311.0	2650	2106	2141	2038	275.0	11.1	556	6230	0.00	2.47	0.00	0.000	516	0.000	0.086	2652	695	2089	2140	2038	0	0	0	0	0	0	14.64	14.21	14.66
6265	0.24	311.0	2653	694	2141	2038	270.6	10.4	564	6271	0.00	2.45	0.00	0.000	1158	0.000	0.077	2652	2105	2088	2139	2038	0	0	0	0	0	0	14.33	14.20	14.35
6586	0.24	316.5	2653	2106	2140	2038	237.8	9.7	578	6596	0.00	2.45	4.00	1.621	8740	0.000	0.086	2657	694	2074	2125	2023	0	0	0	0	0	0	14.66	14.16	13.01
6667	0.33	348.1	2655	695	2127	2032	230.6	8.5	594	6731	0.00	2.45	58.67	1.356	9382	0.000	0.079	2655	2102	1942	1989	1895	0	0	0	0	0	0	14.38	14.26	13.20
7038	0.39	376.8	2655	2103	1981	1886	197.6	8.7	618	7087	0.12	0.00	46.67	1.333	10662	0.126	0.000	2715	2108	1829	1862	1797	0	0	0	0	0	0	14.30	14.04	13.25
7367	0.36	376.8	2718	2102	1853	1785	157.5	11.7	634	7372	0.00	2.47	0.00	0.000	644	0.000	0.087	2716	676	1818	1851	1785	0	0	0	0	0	0	14.57	14.17	14.59
7467	0.39	376.8	2716	677	1848	1785	146.7	10.3	654	7472	0.00	2.47	0.00	0.000	1158	0.000	0.080	2716	2099	1816	1847	1785	0	0	0	0	0	0	14.33	14.20	14.38
7787	0.39	376.8	2716	2100	1848	1783	112.1	10.5	668	7788	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2099	1815	1847	1783	0	0	0	0	0	0	14.64	14.66	14.66
8087	0.41	407.4	2716	2100	1848	1782	84.2	8.6	688	8108	0.00	2.47	15.57	0.455	8740	0.000	0.085	2716	695	1702	1730	1675	0	0	0	0	0	0	14.62	13.87	13.56
8191	0.51	457.0	2716	695	1732	1677	75.8	7.7	708	8224	0.00	2.47	27.83	0.428	9382	0.000	0.078	2716	2106	1501	1537	1465	0	0	0	0	0	0	14.21	14.09	13.66
8519	0.69	554.3	2717	2106	1538	1457	52.7	5.5	744	8577	0.25	2.50	52.65	0.356	10916	0.088	0.086	2824	695	1107	1176	1038	0	0	0	0	0	0	14.27	13.90	13.64
8672	0.73	555.7	2819	699	1170	1036	37.7	9.9	774	8677	0.00	2.47	0.00	0.000	1190	0.000	0.077	2819	2105	1101	1169	1034	0	0	0	0	0	0	14.27	14.14	14.31
8982	0.81	625.8	2819	2105	1170	1024	11.8	6.8	806	9026	0.00	2.58	38.78	0.239	8868	0.000	0.086	2818	694	810	879	742	0	0	0	0	0	0	14.57	14.08	13.81
9056	1.00	696.1	2819	695	880	742	6.9	6.8	820	9104	0.25	2.47	40.30	0.217	11430	0.089	0.077	2908	2107	523	549	498	0	0	0	0	0	0	14.16	14.01	13.88
9107	end climb: SURFACE_DEPTH_REACHED
state	9107	begin surface coast
9117	end surface coast: CONTROL_FINISHED_OK
state	9117	begin surface