Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 266 * 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 266 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 743.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 26 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 743.0 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 26 VBD_MIN 500

DIVE 266 NOCOMM_ACTION 161 R_STBD_OVSHOOT 26 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 060917,191306,7514.2129,-15134.8320,16,0.8,19,20.5,0.6,63.1,10,9.3 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 358.2,54603,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.6 D_GRID 480

GPS2 060917,191922,7514.2280,-15134.8096,7,0.8,24,20.5,0.6,280.8,10,9.8

Post-dive calculations and measurements:

FINISH 0.2,1.021315 _24V_AH 12.24,170.107

SM_CCo 9067,12.65,0.216,0,0,502,702.78 _10V_AH 12.11,0.000

SM_GC 1.85,8.32,2.70,12.65,0.082,0.081,0.216,204,2198,502,-7.36,-0.76,702.78,0,0,0,0,0,0,14.29,14.17,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 297 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323388

IRIDIUM_FIX 7513.04,-15136.82,060917,163805 DATA_FILE_SIZE 30064,816

TT8_MAMPS 0.039697,1.02838 CAP_FILE_SIZE 104920,0

HUMID 46.45 CFSIZE 2097872896,2009268224

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 1448.3

XPDR_PINGS 12 CURRENT 0.054,287.58,1

CP_FREE 15958769664.000000 GPS 060917,215232,7515.415,-15132.989,37,0.8,37,20.5,0.0,0.0,10,9.4

PM_FREEKB_00 50111872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.16 nil 0 0 0.00

Roll_motor 100 2138 2623.95 nil 0 0 0.00

VBD_pump_during_apogee 965 1518 17948.29 nil 0 0 0.00

VBD_pump_during_surface 12 216 33.52 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 8968 14 1614.69

Iridium_during_xfer 167 138 283.50 NCP 9045 20 2214.22

Transponder_ping 3 420 15.42 PMAR 9018 9 1093.43

GUMSTIX_24V 0 0 0.00

GPS 25 22 7.07

TT8 0 0 0.00

LPSleep 6399 2 179.02

TT8_Active 851 13 144.03

TT8_Sampling 1972 33 798.82

TT8_CF8 238 38 111.88

TT8_Kalman 0 0 0.00

Analog_circuits 1905 10 230.74

GPS_charging 0 0 0.00

Compass 1168 7 99.04

RAFOS 2210 48 1284.63

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 -145.9 192 2214 504 494 0.0 0.0 0 143 0.00 0.00 -91.30 0.000 16386 0.000 0.000 191 2213 2177 2112 2242 0 0 0 0 0 0 14.54 28.83 14.56

146 -0.57 -145.9 192 2214 2115 2242 3.9 -5.3 9 199 12.93 2.85 -34.38 0.000 18724 0.455 2.139 2376 3601 3962 3945 3980 0 0 0 0 0 0 13.59 12.57 14.09

340 -0.70 -145.9 2377 3603 3953 3980 44.5 -13.6 47 344 0.00 2.38 0.00 0.000 1158 0.000 0.057 2375 2202 3964 3951 3978 0 0 0 0 0 0 14.17 14.05 14.21

650 -0.81 -145.9 2376 2202 3953 3981 86.5 -10.9 79 651 0.17 0.00 0.00 0.000 4230 0.117 0.000 2306 2201 3966 3953 3980 0 0 0 0 0 0 14.26 14.39 14.35

950 -0.85 -145.9 2306 2202 3954 3981 130.6 -13.7 95 955 0.00 2.50 0.00 0.000 388 0.000 0.090 2298 3611 3969 3951 3987 0 0 0 0 0 0 14.64 14.06 14.66

1060 -0.97 -145.9 2303 3614 3953 3981 143.5 -11.2 117 1065 0.12 2.40 0.00 0.000 5254 0.128 0.057 2253 2190 3966 3953 3980 0 0 0 0 0 0 14.21 14.17 14.31

1371 -0.95 -145.9 2253 2189 3954 3980 194.9 -16.5 129 1375 0.00 2.50 0.00 0.000 388 0.000 0.087 2243 3604 3969 3958 3980 0 0 0 0 0 0 14.66 14.09 14.67

1492 -0.99 -145.9 2243 3606 3954 3981 212.6 -13.8 153 1497 0.00 2.40 0.00 0.000 1158 0.000 0.056 2242 2199 3966 3952 3980 0 0 0 0 0 0 14.31 14.19 14.35

1822 -0.99 -145.9 2243 2199 3954 3981 262.1 -14.2 169 1827 0.00 2.50 0.00 0.000 260 0.000 0.087 2236 3604 3966 3953 3980 0 0 0 0 0 0 14.66 14.11 14.67

1882 -1.06 -145.9 2236 3605 3953 3981 270.1 -12.6 181 1887 0.00 2.35 0.00 0.000 1158 0.000 0.055 2236 2195 3966 3953 3980 0 0 0 0 0 0 14.31 14.16 14.34

2213 -1.06 -145.9 2237 2194 3954 3980 313.2 -12.7 197 2217 0.00 2.53 0.00 0.000 260 0.000 0.090 2236 3617 3966 3953 3980 0 0 0 0 0 0 14.69 14.12 14.69

2329 -1.16 -145.9 2236 3614 3953 3981 326.5 -10.9 220 2336 0.00 2.40 0.00 0.000 1158 0.000 0.056 2235 2193 3966 3953 3980 0 0 0 0 0 0 14.18 14.03 14.23

2633 -1.19 -145.9 2236 2193 3953 3981 362.6 -11.6 231 2638 0.12 2.55 0.00 0.000 4484 0.144 0.086 2170 3613 3965 3952 3979 0 0 0 0 0 0 14.08 14.02 14.13

2703 -1.14 -145.9 2171 3614 3953 3980 373.5 -16.0 245 2708 0.17 2.42 0.00 0.000 3206 0.269 0.057 2206 2199 3965 3952 3979 0 0 0 0 0 0 13.72 14.03 14.04

3023 -1.14 -145.9 2205 2199 3953 3980 417.4 -13.5 259 3028 0.00 2.53 0.00 0.000 260 0.000 0.086 2198 3607 3966 3953 3980 0 0 0 0 0 0 14.47 14.00 14.49

3128 -1.16 -145.9 2198 3608 3955 3980 431.3 -12.8 280 3134 0.00 2.42 0.00 0.000 1158 0.000 0.055 2198 2192 3965 3952 3979 0 0 0 0 0 0 14.19 14.07 14.22

3444 -1.13 -145.9 2198 2191 3954 3978 475.7 -14.1 293 3449 0.00 2.53 0.00 0.000 388 0.000 0.086 2188 3607 3965 3952 3978 0 0 0 0 0 0 14.45 14.00 14.50

3472 end dive: TARGET_DEPTH_EXCEEDED

state 3472 begin apogee

3480 -0.13 0.0 2189 2100 3953 3979 480.1 -14.7 299 3706 1.38 0.00 221.52 1.435 10246 0.248 0.000 2527 2098 3365 3387 3343 0 0 0 0 0 0 13.72 13.39 12.57

3709 end apogee: CONTROL_FINISHED_OK

state 3709 begin climb

3712 0.57 145.9 2528 2099 3380 3334 492.0 0.0 306 3927 0.75 2.72 210.57 1.379 10756 0.061 0.081 2782 700 2766 2812 2721 0 0 0 0 0 0 13.52 12.83 12.24

4009 0.19 145.9 2782 699 2798 2714 493.9 13.7 366 4016 0.68 2.60 0.00 0.000 5254 0.317 0.074 2646 2092 2753 2795 2712 0 0 0 0 0 0 13.04 13.33 13.38

4314 0.03 166.8 2647 2093 2797 2707 465.3 9.0 377 4347 0.20 2.55 27.02 1.478 12964 0.272 0.083 2601 691 2684 2734 2634 0 0 0 0 0 0 13.66 13.91 13.05

4398 0.07 214.8 2603 692 2724 2628 459.0 7.8 393 4478 0.00 2.53 73.15 1.393 9254 0.000 0.078 2602 2109 2486 2549 2424 0 0 0 0 0 0 14.04 13.93 12.90

4798 0.08 237.8 2603 2109 2538 2404 423.8 8.9 423 4832 0.00 0.00 32.03 1.443 8230 0.000 0.000 2602 2109 2394 2456 2333 0 0 0 0 0 0 14.37 13.99 13.15

5128 0.09 255.7 2602 2110 2441 2321 393.5 9.2 434 5160 0.00 2.50 25.58 1.471 8740 0.000 0.085 2602 693 2316 2369 2263 0 0 0 0 0 0 14.54 13.86 13.22

5222 0.20 285.3 2602 694 2364 2261 385.3 8.6 452 5275 0.12 2.47 46.75 1.405 11430 0.129 0.079 2660 2102 2203 2262 2145 0 0 0 0 0 0 14.20 14.15 13.13

5580 0.13 285.3 2660 2103 2241 2128 338.1 13.3 474 5585 0.15 2.47 0.00 0.000 4740 0.244 0.082 2631 687 2183 2239 2128 0 0 0 0 0 0 13.97 14.15 14.12

5616 0.17 285.3 2631 688 2238 2129 334.0 10.6 481 5621 0.00 2.45 0.00 0.000 1158 0.000 0.078 2631 2100 2182 2237 2128 0 0 0 0 0 0 14.35 14.22 14.39

5941 0.17 285.3 2631 2101 2237 2127 300.1 10.2 496 5946 0.00 2.47 0.00 0.000 516 0.000 0.086 2633 690 2181 2237 2126 0 0 0 0 0 0 14.65 14.23 14.66

5972 0.20 288.3 2632 689 2237 2127 296.9 9.9 502 5977 0.00 2.47 0.00 0.000 1190 0.000 0.078 2633 2107 2180 2235 2126 0 0 0 0 0 0 13.93 13.95 13.94

6302 0.21 298.2 2633 2109 2236 2127 264.5 9.5 518 6322 0.00 2.50 13.23 1.519 8740 0.000 0.086 2633 695 2145 2198 2093 0 0 0 0 0 0 14.66 14.20 13.25

6347 0.29 325.8 2633 696 2196 2094 260.3 8.7 527 6399 0.12 2.45 45.78 1.378 11430 0.128 0.078 2688 2103 2034 2082 1987 0 0 0 0 0 0 14.28 14.21 13.21

6724 0.23 325.8 2690 2105 2072 1975 215.1 11.3 552 6730 0.12 2.47 0.00 0.000 4740 0.239 0.083 2660 689 2025 2075 1975 0 0 0 0 0 0 14.07 14.15 14.19

6861 0.32 359.8 2659 688 2073 1975 203.2 8.4 579 6921 0.00 2.47 55.35 1.323 9382 0.000 0.079 2660 2109 1898 1937 1860 0 0 0 0 0 0 14.31 14.18 13.24

7236 0.40 399.7 2660 2108 1923 1849 171.5 8.2 604 7311 0.12 2.55 66.75 1.278 10916 0.130 0.086 2726 691 1733 1760 1706 0 0 0 0 0 0 14.33 13.95 13.21

7361 0.40 399.7 2727 691 1752 1707 156.7 12.0 629 7366 0.00 2.47 0.00 0.000 1030 0.000 0.077 2726 2103 1728 1751 1706 0 0 0 0 0 0 14.10 14.03 14.15

7687 0.37 399.7 2726 2104 1747 1700 117.2 11.7 644 7692 0.00 2.47 0.00 0.000 644 0.000 0.086 2726 694 1725 1751 1700 0 0 0 0 0 0 14.58 14.19 14.60

7732 0.37 399.7 2727 693 1752 1700 112.1 10.9 653 7737 0.00 2.45 0.00 0.000 1030 0.000 0.077 2726 2101 1724 1751 1697 0 0 0 0 0 0 14.35 14.22 14.40

8040 0.39 420.7 2727 2101 1751 1697 80.7 9.0 677 8054 0.00 2.47 10.48 0.443 8740 0.000 0.083 2726 693 1648 1678 1619 0 0 0 0 0 0 14.59 13.93 13.65

8120 0.49 466.2 2727 693 1679 1619 74.0 7.9 693 8152 0.00 2.50 24.60 0.424 9382 0.000 0.078 2726 2108 1462 1499 1426 0 0 0 0 0 0 14.15 14.00 13.62

8450 0.65 558.9 2727 2109 1499 1420 50.8 5.7 729 8504 0.15 2.55 48.25 0.353 10916 0.116 0.087 2799 693 1087 1154 1021 0 0 0 0 0 0 14.28 14.01 13.72

8599 0.75 591.0 2799 692 1153 1019 38.0 8.5 758 8621 0.00 2.47 17.52 0.317 9382 0.000 0.076 2797 2106 954 1024 884 0 0 0 0 0 0 14.16 14.04 13.75

8927 0.92 679.0 2799 2107 1024 880 14.4 5.9 793 8980 0.22 2.53 47.08 0.247 10916 0.092 0.089 2890 690 596 642 551 0 0 0 0 0 0 14.12 13.94 13.78

9034 end climb: SURFACE_DEPTH_REACHED

state 9034 begin surface coast

9043 end surface coast: CONTROL_FINISHED_OK

state 9043 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	266	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	743.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,191306,7514.2129,-15134.8320,16,0.8,19,20.5,0.6,63.1,10,9.3	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	358.2,54603,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.6	D_GRID	480
GPS2	060917,191922,7514.2280,-15134.8096,7,0.8,24,20.5,0.6,280.8,10,9.8

FINISH	0.2,1.021315	_24V_AH	12.24,170.107
SM_CCo	9067,12.65,0.216,0,0,502,702.78	_10V_AH	12.11,0.000
SM_GC	1.85,8.32,2.70,12.65,0.082,0.081,0.216,204,2198,502,-7.36,-0.76,702.78,0,0,0,0,0,0,14.29,14.17,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	297	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323388
IRIDIUM_FIX	7513.04,-15136.82,060917,163805	DATA_FILE_SIZE	30064,816
TT8_MAMPS	0.039697,1.02838	CAP_FILE_SIZE	104920,0
HUMID	46.45	CFSIZE	2097872896,2009268224
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	1448.3
XPDR_PINGS	12	CURRENT	0.054,287.58,1
CP_FREE	15958769664.000000	GPS	060917,215232,7515.415,-15132.989,37,0.8,37,20.5,0.0,0.0,10,9.4
PM_FREEKB_00	50111872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.16	nil	0	0	0.00
Roll_motor	100	2138	2623.95	nil	0	0	0.00
VBD_pump_during_apogee	965	1518	17948.29	nil	0	0	0.00
VBD_pump_during_surface	12	216	33.52	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	8968	14	1614.69
Iridium_during_xfer	167	138	283.50	NCP	9045	20	2214.22
Transponder_ping	3	420	15.42	PMAR	9018	9	1093.43
GUMSTIX_24V	0	0	0.00
GPS	25	22	7.07
TT8	0	0	0.00
LPSleep	6399	2	179.02
TT8_Active	851	13	144.03
TT8_Sampling	1972	33	798.82
TT8_CF8	238	38	111.88
TT8_Kalman	0	0	0.00
Analog_circuits	1905	10	230.74
GPS_charging	0	0	0.00
Compass	1168	7	99.04
RAFOS	2210	48	1284.63
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	192	2214	504	494	0.0	0.0	0	143	0.00	0.00	-91.30	0.000	16386	0.000	0.000	191	2213	2177	2112	2242	0	0	0	0	0	0	14.54	28.83	14.56
146	-0.57	-145.9	192	2214	2115	2242	3.9	-5.3	9	199	12.93	2.85	-34.38	0.000	18724	0.455	2.139	2376	3601	3962	3945	3980	0	0	0	0	0	0	13.59	12.57	14.09
340	-0.70	-145.9	2377	3603	3953	3980	44.5	-13.6	47	344	0.00	2.38	0.00	0.000	1158	0.000	0.057	2375	2202	3964	3951	3978	0	0	0	0	0	0	14.17	14.05	14.21
650	-0.81	-145.9	2376	2202	3953	3981	86.5	-10.9	79	651	0.17	0.00	0.00	0.000	4230	0.117	0.000	2306	2201	3966	3953	3980	0	0	0	0	0	0	14.26	14.39	14.35
950	-0.85	-145.9	2306	2202	3954	3981	130.6	-13.7	95	955	0.00	2.50	0.00	0.000	388	0.000	0.090	2298	3611	3969	3951	3987	0	0	0	0	0	0	14.64	14.06	14.66
1060	-0.97	-145.9	2303	3614	3953	3981	143.5	-11.2	117	1065	0.12	2.40	0.00	0.000	5254	0.128	0.057	2253	2190	3966	3953	3980	0	0	0	0	0	0	14.21	14.17	14.31
1371	-0.95	-145.9	2253	2189	3954	3980	194.9	-16.5	129	1375	0.00	2.50	0.00	0.000	388	0.000	0.087	2243	3604	3969	3958	3980	0	0	0	0	0	0	14.66	14.09	14.67
1492	-0.99	-145.9	2243	3606	3954	3981	212.6	-13.8	153	1497	0.00	2.40	0.00	0.000	1158	0.000	0.056	2242	2199	3966	3952	3980	0	0	0	0	0	0	14.31	14.19	14.35
1822	-0.99	-145.9	2243	2199	3954	3981	262.1	-14.2	169	1827	0.00	2.50	0.00	0.000	260	0.000	0.087	2236	3604	3966	3953	3980	0	0	0	0	0	0	14.66	14.11	14.67
1882	-1.06	-145.9	2236	3605	3953	3981	270.1	-12.6	181	1887	0.00	2.35	0.00	0.000	1158	0.000	0.055	2236	2195	3966	3953	3980	0	0	0	0	0	0	14.31	14.16	14.34
2213	-1.06	-145.9	2237	2194	3954	3980	313.2	-12.7	197	2217	0.00	2.53	0.00	0.000	260	0.000	0.090	2236	3617	3966	3953	3980	0	0	0	0	0	0	14.69	14.12	14.69
2329	-1.16	-145.9	2236	3614	3953	3981	326.5	-10.9	220	2336	0.00	2.40	0.00	0.000	1158	0.000	0.056	2235	2193	3966	3953	3980	0	0	0	0	0	0	14.18	14.03	14.23
2633	-1.19	-145.9	2236	2193	3953	3981	362.6	-11.6	231	2638	0.12	2.55	0.00	0.000	4484	0.144	0.086	2170	3613	3965	3952	3979	0	0	0	0	0	0	14.08	14.02	14.13
2703	-1.14	-145.9	2171	3614	3953	3980	373.5	-16.0	245	2708	0.17	2.42	0.00	0.000	3206	0.269	0.057	2206	2199	3965	3952	3979	0	0	0	0	0	0	13.72	14.03	14.04
3023	-1.14	-145.9	2205	2199	3953	3980	417.4	-13.5	259	3028	0.00	2.53	0.00	0.000	260	0.000	0.086	2198	3607	3966	3953	3980	0	0	0	0	0	0	14.47	14.00	14.49
3128	-1.16	-145.9	2198	3608	3955	3980	431.3	-12.8	280	3134	0.00	2.42	0.00	0.000	1158	0.000	0.055	2198	2192	3965	3952	3979	0	0	0	0	0	0	14.19	14.07	14.22
3444	-1.13	-145.9	2198	2191	3954	3978	475.7	-14.1	293	3449	0.00	2.53	0.00	0.000	388	0.000	0.086	2188	3607	3965	3952	3978	0	0	0	0	0	0	14.45	14.00	14.50
3472	end dive: TARGET_DEPTH_EXCEEDED
state	3472	begin apogee
3480	-0.13	0.0	2189	2100	3953	3979	480.1	-14.7	299	3706	1.38	0.00	221.52	1.435	10246	0.248	0.000	2527	2098	3365	3387	3343	0	0	0	0	0	0	13.72	13.39	12.57
3709	end apogee: CONTROL_FINISHED_OK
state	3709	begin climb
3712	0.57	145.9	2528	2099	3380	3334	492.0	0.0	306	3927	0.75	2.72	210.57	1.379	10756	0.061	0.081	2782	700	2766	2812	2721	0	0	0	0	0	0	13.52	12.83	12.24
4009	0.19	145.9	2782	699	2798	2714	493.9	13.7	366	4016	0.68	2.60	0.00	0.000	5254	0.317	0.074	2646	2092	2753	2795	2712	0	0	0	0	0	0	13.04	13.33	13.38
4314	0.03	166.8	2647	2093	2797	2707	465.3	9.0	377	4347	0.20	2.55	27.02	1.478	12964	0.272	0.083	2601	691	2684	2734	2634	0	0	0	0	0	0	13.66	13.91	13.05
4398	0.07	214.8	2603	692	2724	2628	459.0	7.8	393	4478	0.00	2.53	73.15	1.393	9254	0.000	0.078	2602	2109	2486	2549	2424	0	0	0	0	0	0	14.04	13.93	12.90
4798	0.08	237.8	2603	2109	2538	2404	423.8	8.9	423	4832	0.00	0.00	32.03	1.443	8230	0.000	0.000	2602	2109	2394	2456	2333	0	0	0	0	0	0	14.37	13.99	13.15
5128	0.09	255.7	2602	2110	2441	2321	393.5	9.2	434	5160	0.00	2.50	25.58	1.471	8740	0.000	0.085	2602	693	2316	2369	2263	0	0	0	0	0	0	14.54	13.86	13.22
5222	0.20	285.3	2602	694	2364	2261	385.3	8.6	452	5275	0.12	2.47	46.75	1.405	11430	0.129	0.079	2660	2102	2203	2262	2145	0	0	0	0	0	0	14.20	14.15	13.13
5580	0.13	285.3	2660	2103	2241	2128	338.1	13.3	474	5585	0.15	2.47	0.00	0.000	4740	0.244	0.082	2631	687	2183	2239	2128	0	0	0	0	0	0	13.97	14.15	14.12
5616	0.17	285.3	2631	688	2238	2129	334.0	10.6	481	5621	0.00	2.45	0.00	0.000	1158	0.000	0.078	2631	2100	2182	2237	2128	0	0	0	0	0	0	14.35	14.22	14.39
5941	0.17	285.3	2631	2101	2237	2127	300.1	10.2	496	5946	0.00	2.47	0.00	0.000	516	0.000	0.086	2633	690	2181	2237	2126	0	0	0	0	0	0	14.65	14.23	14.66
5972	0.20	288.3	2632	689	2237	2127	296.9	9.9	502	5977	0.00	2.47	0.00	0.000	1190	0.000	0.078	2633	2107	2180	2235	2126	0	0	0	0	0	0	13.93	13.95	13.94
6302	0.21	298.2	2633	2109	2236	2127	264.5	9.5	518	6322	0.00	2.50	13.23	1.519	8740	0.000	0.086	2633	695	2145	2198	2093	0	0	0	0	0	0	14.66	14.20	13.25
6347	0.29	325.8	2633	696	2196	2094	260.3	8.7	527	6399	0.12	2.45	45.78	1.378	11430	0.128	0.078	2688	2103	2034	2082	1987	0	0	0	0	0	0	14.28	14.21	13.21
6724	0.23	325.8	2690	2105	2072	1975	215.1	11.3	552	6730	0.12	2.47	0.00	0.000	4740	0.239	0.083	2660	689	2025	2075	1975	0	0	0	0	0	0	14.07	14.15	14.19
6861	0.32	359.8	2659	688	2073	1975	203.2	8.4	579	6921	0.00	2.47	55.35	1.323	9382	0.000	0.079	2660	2109	1898	1937	1860	0	0	0	0	0	0	14.31	14.18	13.24
7236	0.40	399.7	2660	2108	1923	1849	171.5	8.2	604	7311	0.12	2.55	66.75	1.278	10916	0.130	0.086	2726	691	1733	1760	1706	0	0	0	0	0	0	14.33	13.95	13.21
7361	0.40	399.7	2727	691	1752	1707	156.7	12.0	629	7366	0.00	2.47	0.00	0.000	1030	0.000	0.077	2726	2103	1728	1751	1706	0	0	0	0	0	0	14.10	14.03	14.15
7687	0.37	399.7	2726	2104	1747	1700	117.2	11.7	644	7692	0.00	2.47	0.00	0.000	644	0.000	0.086	2726	694	1725	1751	1700	0	0	0	0	0	0	14.58	14.19	14.60
7732	0.37	399.7	2727	693	1752	1700	112.1	10.9	653	7737	0.00	2.45	0.00	0.000	1030	0.000	0.077	2726	2101	1724	1751	1697	0	0	0	0	0	0	14.35	14.22	14.40
8040	0.39	420.7	2727	2101	1751	1697	80.7	9.0	677	8054	0.00	2.47	10.48	0.443	8740	0.000	0.083	2726	693	1648	1678	1619	0	0	0	0	0	0	14.59	13.93	13.65
8120	0.49	466.2	2727	693	1679	1619	74.0	7.9	693	8152	0.00	2.50	24.60	0.424	9382	0.000	0.078	2726	2108	1462	1499	1426	0	0	0	0	0	0	14.15	14.00	13.62
8450	0.65	558.9	2727	2109	1499	1420	50.8	5.7	729	8504	0.15	2.55	48.25	0.353	10916	0.116	0.087	2799	693	1087	1154	1021	0	0	0	0	0	0	14.28	14.01	13.72
8599	0.75	591.0	2799	692	1153	1019	38.0	8.5	758	8621	0.00	2.47	17.52	0.317	9382	0.000	0.076	2797	2106	954	1024	884	0	0	0	0	0	0	14.16	14.04	13.75
8927	0.92	679.0	2799	2107	1024	880	14.4	5.9	793	8980	0.22	2.53	47.08	0.247	10916	0.092	0.089	2890	690	596	642	551	0	0	0	0	0	0	14.12	13.94	13.78
9034	end climb: SURFACE_DEPTH_REACHED
state	9034	begin surface coast
9043	end surface coast: CONTROL_FINISHED_OK
state	9043	begin surface