Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 267 * 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 267 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 745.0

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 20 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 745.0 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 267 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 060917,215232,7515.4146,-15132.9893,37,0.8,37,20.5,0.0,0.0,10,9.4 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 1.30 MHEAD_RNG_PITCHd_Wd 2.8,52231,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 060917,220244,7515.4448,-15133.0156,9,0.7,11,20.5,0.0,0.0,12,8.3

Post-dive calculations and measurements:

FINISH 0.2,1.021332 _24V_AH 12.29,170.582

SM_CCo 9146,41.30,0.202,0,0,500,703.03 _10V_AH 12.16,0.000

SM_GC 1.06,8.12,0.17,41.30,0.060,0.119,0.202,203,2215,500,-7.37,-0.62,703.03,0,0,0,0,0,0,14.18,14.16,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 105 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323532

IRIDIUM_FIX 7514.02,-15144.24,060917,191620 DATA_FILE_SIZE 26659,802

TT8_MAMPS 0.088382,1.59687 CAP_FILE_SIZE 103252,0

HUMID 43.81 CFSIZE 2097872896,2008973312

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

TCM_TEMP 13.10 SOUNDSPEED 1448.9

XPDR_PINGS 15 CURRENT 0.050,318.90,1

CP_FREE 15958343680.000000 GPS 070917,003750,7516.638,-15130.517,17,0.8,38,20.5,0.5,34.3,10,9.8

PM_FREEKB_00 50077312

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 142.85 nil 0 0 0.00

Roll_motor 84 2136 2209.73 nil 0 0 0.00

VBD_pump_during_apogee 917 1500 16916.89 nil 0 0 0.00

VBD_pump_during_surface 41 201 102.51 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 9108 14 1617.27

Iridium_during_xfer 346 180 768.77 NCP 9131 20 2244.40

Transponder_ping 3 420 19.36 PMAR 9098 9 1102.94

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.67

TT8 0 0 0.00

LPSleep 6558 2 184.21

TT8_Active 842 13 143.17

TT8_Sampling 2111 33 858.79

TT8_CF8 301 38 141.69

TT8_Kalman 0 0 0.00

Analog_circuits 2045 10 248.70

GPS_charging 0 0 0.00

Compass 1148 7 97.79

RAFOS 2137 48 1247.32

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 192 2202 503 491 0.0 0.0 0 144 0.00 0.00 -91.90 0.000 16386 0.000 0.000 191 2203 2173 2106 2240 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 191 2202 2108 2242 3.9 -4.8 9 204 13.00 2.90 -35.38 0.000 18724 0.457 2.137 2377 3614 3964 3947 3981 0 0 0 0 0 0 13.54 12.57 14.07

324 -0.70 -145.9 2377 3615 3954 3982 41.2 -13.7 44 332 0.00 2.42 0.00 0.000 1158 0.000 0.058 2376 2200 3967 3954 3981 0 0 0 0 0 0 14.24 14.12 14.28

632 -0.80 -145.9 2378 2201 3956 3980 84.0 -11.1 75 633 0.17 0.00 0.00 0.000 4230 0.114 0.000 2308 2200 3967 3954 3981 0 0 0 0 0 0 14.17 14.30 14.25

950 -0.84 -145.9 2309 2200 3955 3981 130.5 -13.6 93 954 0.00 2.50 0.00 0.000 388 0.000 0.090 2302 3610 3968 3955 3981 0 0 0 0 0 0 14.64 14.12 14.66

1055 -0.96 -145.9 2303 3611 3956 3984 142.8 -11.3 114 1059 0.00 2.40 0.00 0.000 1158 0.000 0.057 2302 2192 3968 3955 3981 0 0 0 0 0 0 14.35 14.23 14.39

1370 -1.03 -145.9 2303 2191 3957 3981 181.6 -12.1 127 1375 0.15 2.53 0.00 0.000 4484 0.121 0.086 2236 3613 3968 3955 3981 0 0 0 0 0 0 14.29 14.12 14.32

1440 -1.06 -145.9 2236 3614 3957 3981 192.4 -15.1 141 1445 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2198 3968 3955 3981 0 0 0 0 0 0 14.04 13.99 14.11

1760 -1.03 -145.9 2235 2195 3956 3981 244.5 -15.6 155 1765 0.00 2.50 0.00 0.000 388 0.000 0.087 2227 3614 3968 3956 3981 0 0 0 0 0 0 14.66 14.14 14.69

1825 -1.08 -145.9 2228 3615 3956 3982 253.9 -13.3 168 1831 0.00 2.40 0.00 0.000 1158 0.000 0.057 2228 2196 3968 3955 3981 0 0 0 0 0 0 14.34 14.18 14.34

2151 -1.08 -145.9 2228 2196 3956 3982 300.1 -13.7 183 2156 0.00 2.50 0.00 0.000 260 0.000 0.089 2225 3614 3968 3955 3981 0 0 0 0 0 0 14.69 14.16 14.69

2283 -1.15 -145.9 2223 3615 3956 3982 316.5 -11.8 209 2288 0.00 2.42 0.00 0.000 1158 0.000 0.056 2223 2195 3967 3955 3980 0 0 0 0 0 0 14.12 13.66 14.21

2603 -1.15 -145.9 2223 2194 3956 3981 358.2 -12.8 223 2608 0.00 2.50 0.00 0.000 260 0.000 0.090 2223 3612 3968 3955 3981 0 0 0 0 0 0 14.67 14.16 14.69

2698 -1.23 -145.9 2223 3613 3956 3981 369.3 -11.1 242 2703 0.12 2.40 0.00 0.000 5254 0.139 0.055 2168 2190 3967 3955 3980 0 0 0 0 0 0 14.25 14.24 14.37

3024 -1.14 -145.9 2169 2189 3956 3980 424.3 -17.0 257 3029 0.17 2.50 0.00 0.000 2436 0.304 0.083 2197 3614 3967 3954 3980 0 0 0 0 0 0 13.83 14.16 14.02

3164 -1.17 -145.9 2198 3614 3957 3981 443.5 -12.7 285 3169 0.00 2.38 0.00 0.000 1158 0.000 0.055 2197 2201 3967 3954 3980 0 0 0 0 0 0 14.30 14.17 14.32

3442 end dive: TARGET_DEPTH_EXCEEDED

state 3442 begin apogee

3448 -0.13 0.0 2198 2056 3953 3981 482.0 -13.8 296 3669 1.33 0.10 217.52 1.444 10246 0.239 0.158 2532 2122 3365 3382 3349 0 0 0 0 0 0 13.85 13.50 12.66

3673 end apogee: CONTROL_FINISHED_OK

state 3673 begin climb

3677 0.57 145.9 2532 2123 3376 3341 493.4 0.0 303 3892 0.73 2.67 210.35 1.384 10756 0.063 0.079 2781 736 2764 2803 2726 0 0 0 0 0 0 13.66 12.90 12.29

4121 0.19 145.9 2782 736 2792 2721 474.3 14.1 396 4127 0.65 2.42 0.00 0.000 5254 0.325 0.075 2646 2087 2755 2791 2720 0 0 0 0 0 0 13.43 13.80 13.81

4438 0.03 165.3 2646 2088 2791 2716 444.1 9.1 409 4463 0.20 0.00 23.62 1.500 12966 0.269 0.000 2598 2088 2693 2734 2652 0 0 0 0 0 0 13.86 14.01 13.16

4769 0.02 217.7 2598 2089 2729 2640 418.8 7.6 425 4854 0.00 2.45 78.90 1.404 8868 0.000 0.085 2602 724 2469 2521 2417 0 0 0 0 0 0 14.59 13.94 13.10

4909 0.09 251.0 2602 724 2524 2416 407.4 8.5 453 4964 0.00 2.45 48.97 1.409 9382 0.000 0.080 2602 2105 2342 2397 2287 0 0 0 0 0 0 14.03 13.92 12.99

5281 0.13 272.5 2603 2105 2384 2274 374.0 9.0 477 5313 0.00 0.00 30.73 1.451 8358 0.000 0.000 2601 2105 2254 2306 2202 0 0 0 0 0 0 14.52 14.05 13.19

5610 0.20 300.0 2603 2105 2299 2187 345.0 8.7 488 5656 0.12 2.50 40.90 1.405 10916 0.128 0.087 2672 731 2138 2186 2091 0 0 0 0 0 0 14.30 14.07 13.20

5708 0.18 300.0 2673 732 2180 2088 332.7 13.1 507 5713 0.15 2.40 0.00 0.000 5254 0.246 0.078 2640 2101 2133 2178 2089 0 0 0 0 0 0 13.95 14.10 14.19

6033 0.18 300.0 2640 2102 2179 2082 296.5 10.8 522 6038 0.00 2.42 0.00 0.000 516 0.000 0.086 2644 728 2129 2177 2082 0 0 0 0 0 0 14.62 14.19 14.64

6078 0.22 300.0 2640 729 2178 2084 291.7 10.6 531 6083 0.00 2.40 0.00 0.000 1158 0.000 0.078 2644 2105 2129 2176 2082 0 0 0 0 0 0 14.34 14.21 14.38

6393 0.22 300.0 2645 2105 2177 2081 258.9 10.0 544 6399 0.00 2.42 0.00 0.000 516 0.000 0.085 2644 721 2128 2176 2081 0 0 0 0 0 0 14.66 14.21 14.69

6434 0.28 315.8 2644 722 2176 2082 255.1 9.3 552 6461 0.00 2.38 22.67 1.434 9382 0.000 0.078 2644 2101 2077 2125 2030 0 0 0 0 0 0 14.40 14.26 13.32

6789 0.33 345.5 2644 2102 2118 2020 223.0 8.6 572 6840 0.12 0.00 50.17 1.346 10406 0.128 0.000 2698 2100 1959 2008 1911 0 0 0 0 0 0 14.35 14.04 13.25

7118 0.28 345.5 2698 2098 1991 1900 185.6 11.1 583 7123 0.00 2.45 0.00 0.000 644 0.000 0.086 2698 721 1946 1989 1904 0 0 0 0 0 0 14.43 14.06 14.45

7238 0.28 345.5 2700 722 1989 1898 172.9 10.1 607 7243 0.00 2.42 0.00 0.000 1030 0.000 0.077 2699 2100 1943 1988 1899 0 0 0 0 0 0 14.21 14.08 14.25

7568 0.28 345.5 2699 2101 1988 1896 138.9 10.1 623 7573 0.00 2.42 0.00 0.000 516 0.000 0.083 2699 729 1941 1987 1896 0 0 0 0 0 0 14.50 14.07 14.50

7624 0.33 367.0 2698 729 1987 1897 133.8 9.0 634 7661 0.00 2.40 31.73 1.359 9382 0.000 0.077 2698 2102 1868 1904 1833 0 0 0 0 0 0 14.21 14.08 13.24

7958 0.34 388.0 2699 2103 1895 1828 102.8 9.0 651 7995 0.00 2.45 30.52 1.326 8740 0.000 0.084 2702 729 1779 1804 1754 0 0 0 0 0 0 14.45 13.97 13.24

8062 0.45 427.2 2701 729 1802 1753 94.1 8.2 671 8088 0.00 2.42 20.95 0.488 9382 0.000 0.076 2699 2100 1622 1650 1595 0 0 0 0 0 0 14.13 14.01 13.60

8393 0.59 506.7 2699 2101 1651 1588 69.2 6.3 707 8440 0.20 2.45 41.67 0.408 10916 0.098 0.085 2784 725 1296 1348 1245 0 0 0 0 0 0 14.12 13.90 13.62

8488 0.59 506.7 2786 725 1348 1246 59.6 10.9 725 8492 0.00 2.45 0.00 0.000 1030 0.000 0.076 2786 2113 1296 1348 1245 0 0 0 0 0 0 14.09 13.97 14.13

8797 0.63 563.0 2786 2114 1347 1235 32.1 7.4 757 8833 0.00 2.53 29.15 0.300 8740 0.000 0.087 2786 728 1069 1133 1005 0 0 0 0 0 0 14.40 13.96 13.68

8874 0.82 636.8 2786 728 1134 1005 26.6 6.6 772 8922 0.20 2.42 39.67 0.279 11430 0.100 0.077 2866 2105 765 829 702 0 0 0 0 0 0 14.01 14.03 13.64

9116 end climb: SURFACE_DEPTH_REACHED

state 9116 begin surface coast

9126 end surface coast: CONTROL_FINISHED_OK

state 9126 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	267	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	745.0
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	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,215232,7515.4146,-15132.9893,37,0.8,37,20.5,0.0,0.0,10,9.4	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	1.30	MHEAD_RNG_PITCHd_Wd	2.8,52231,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	060917,220244,7515.4448,-15133.0156,9,0.7,11,20.5,0.0,0.0,12,8.3

FINISH	0.2,1.021332	_24V_AH	12.29,170.582
SM_CCo	9146,41.30,0.202,0,0,500,703.03	_10V_AH	12.16,0.000
SM_GC	1.06,8.12,0.17,41.30,0.060,0.119,0.202,203,2215,500,-7.37,-0.62,703.03,0,0,0,0,0,0,14.18,14.16,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	105	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323532
IRIDIUM_FIX	7514.02,-15144.24,060917,191620	DATA_FILE_SIZE	26659,802
TT8_MAMPS	0.088382,1.59687	CAP_FILE_SIZE	103252,0
HUMID	43.81	CFSIZE	2097872896,2008973312
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.9
XPDR_PINGS	15	CURRENT	0.050,318.90,1
CP_FREE	15958343680.000000	GPS	070917,003750,7516.638,-15130.517,17,0.8,38,20.5,0.5,34.3,10,9.8
PM_FREEKB_00	50077312

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	142.85	nil	0	0	0.00
Roll_motor	84	2136	2209.73	nil	0	0	0.00
VBD_pump_during_apogee	917	1500	16916.89	nil	0	0	0.00
VBD_pump_during_surface	41	201	102.51	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	9108	14	1617.27
Iridium_during_xfer	346	180	768.77	NCP	9131	20	2244.40
Transponder_ping	3	420	19.36	PMAR	9098	9	1102.94
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.67
TT8	0	0	0.00
LPSleep	6558	2	184.21
TT8_Active	842	13	143.17
TT8_Sampling	2111	33	858.79
TT8_CF8	301	38	141.69
TT8_Kalman	0	0	0.00
Analog_circuits	2045	10	248.70
GPS_charging	0	0	0.00
Compass	1148	7	97.79
RAFOS	2137	48	1247.32
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	192	2202	503	491	0.0	0.0	0	144	0.00	0.00	-91.90	0.000	16386	0.000	0.000	191	2203	2173	2106	2240	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	191	2202	2108	2242	3.9	-4.8	9	204	13.00	2.90	-35.38	0.000	18724	0.457	2.137	2377	3614	3964	3947	3981	0	0	0	0	0	0	13.54	12.57	14.07
324	-0.70	-145.9	2377	3615	3954	3982	41.2	-13.7	44	332	0.00	2.42	0.00	0.000	1158	0.000	0.058	2376	2200	3967	3954	3981	0	0	0	0	0	0	14.24	14.12	14.28
632	-0.80	-145.9	2378	2201	3956	3980	84.0	-11.1	75	633	0.17	0.00	0.00	0.000	4230	0.114	0.000	2308	2200	3967	3954	3981	0	0	0	0	0	0	14.17	14.30	14.25
950	-0.84	-145.9	2309	2200	3955	3981	130.5	-13.6	93	954	0.00	2.50	0.00	0.000	388	0.000	0.090	2302	3610	3968	3955	3981	0	0	0	0	0	0	14.64	14.12	14.66
1055	-0.96	-145.9	2303	3611	3956	3984	142.8	-11.3	114	1059	0.00	2.40	0.00	0.000	1158	0.000	0.057	2302	2192	3968	3955	3981	0	0	0	0	0	0	14.35	14.23	14.39
1370	-1.03	-145.9	2303	2191	3957	3981	181.6	-12.1	127	1375	0.15	2.53	0.00	0.000	4484	0.121	0.086	2236	3613	3968	3955	3981	0	0	0	0	0	0	14.29	14.12	14.32
1440	-1.06	-145.9	2236	3614	3957	3981	192.4	-15.1	141	1445	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2198	3968	3955	3981	0	0	0	0	0	0	14.04	13.99	14.11
1760	-1.03	-145.9	2235	2195	3956	3981	244.5	-15.6	155	1765	0.00	2.50	0.00	0.000	388	0.000	0.087	2227	3614	3968	3956	3981	0	0	0	0	0	0	14.66	14.14	14.69
1825	-1.08	-145.9	2228	3615	3956	3982	253.9	-13.3	168	1831	0.00	2.40	0.00	0.000	1158	0.000	0.057	2228	2196	3968	3955	3981	0	0	0	0	0	0	14.34	14.18	14.34
2151	-1.08	-145.9	2228	2196	3956	3982	300.1	-13.7	183	2156	0.00	2.50	0.00	0.000	260	0.000	0.089	2225	3614	3968	3955	3981	0	0	0	0	0	0	14.69	14.16	14.69
2283	-1.15	-145.9	2223	3615	3956	3982	316.5	-11.8	209	2288	0.00	2.42	0.00	0.000	1158	0.000	0.056	2223	2195	3967	3955	3980	0	0	0	0	0	0	14.12	13.66	14.21
2603	-1.15	-145.9	2223	2194	3956	3981	358.2	-12.8	223	2608	0.00	2.50	0.00	0.000	260	0.000	0.090	2223	3612	3968	3955	3981	0	0	0	0	0	0	14.67	14.16	14.69
2698	-1.23	-145.9	2223	3613	3956	3981	369.3	-11.1	242	2703	0.12	2.40	0.00	0.000	5254	0.139	0.055	2168	2190	3967	3955	3980	0	0	0	0	0	0	14.25	14.24	14.37
3024	-1.14	-145.9	2169	2189	3956	3980	424.3	-17.0	257	3029	0.17	2.50	0.00	0.000	2436	0.304	0.083	2197	3614	3967	3954	3980	0	0	0	0	0	0	13.83	14.16	14.02
3164	-1.17	-145.9	2198	3614	3957	3981	443.5	-12.7	285	3169	0.00	2.38	0.00	0.000	1158	0.000	0.055	2197	2201	3967	3954	3980	0	0	0	0	0	0	14.30	14.17	14.32
3442	end dive: TARGET_DEPTH_EXCEEDED
state	3442	begin apogee
3448	-0.13	0.0	2198	2056	3953	3981	482.0	-13.8	296	3669	1.33	0.10	217.52	1.444	10246	0.239	0.158	2532	2122	3365	3382	3349	0	0	0	0	0	0	13.85	13.50	12.66
3673	end apogee: CONTROL_FINISHED_OK
state	3673	begin climb
3677	0.57	145.9	2532	2123	3376	3341	493.4	0.0	303	3892	0.73	2.67	210.35	1.384	10756	0.063	0.079	2781	736	2764	2803	2726	0	0	0	0	0	0	13.66	12.90	12.29
4121	0.19	145.9	2782	736	2792	2721	474.3	14.1	396	4127	0.65	2.42	0.00	0.000	5254	0.325	0.075	2646	2087	2755	2791	2720	0	0	0	0	0	0	13.43	13.80	13.81
4438	0.03	165.3	2646	2088	2791	2716	444.1	9.1	409	4463	0.20	0.00	23.62	1.500	12966	0.269	0.000	2598	2088	2693	2734	2652	0	0	0	0	0	0	13.86	14.01	13.16
4769	0.02	217.7	2598	2089	2729	2640	418.8	7.6	425	4854	0.00	2.45	78.90	1.404	8868	0.000	0.085	2602	724	2469	2521	2417	0	0	0	0	0	0	14.59	13.94	13.10
4909	0.09	251.0	2602	724	2524	2416	407.4	8.5	453	4964	0.00	2.45	48.97	1.409	9382	0.000	0.080	2602	2105	2342	2397	2287	0	0	0	0	0	0	14.03	13.92	12.99
5281	0.13	272.5	2603	2105	2384	2274	374.0	9.0	477	5313	0.00	0.00	30.73	1.451	8358	0.000	0.000	2601	2105	2254	2306	2202	0	0	0	0	0	0	14.52	14.05	13.19
5610	0.20	300.0	2603	2105	2299	2187	345.0	8.7	488	5656	0.12	2.50	40.90	1.405	10916	0.128	0.087	2672	731	2138	2186	2091	0	0	0	0	0	0	14.30	14.07	13.20
5708	0.18	300.0	2673	732	2180	2088	332.7	13.1	507	5713	0.15	2.40	0.00	0.000	5254	0.246	0.078	2640	2101	2133	2178	2089	0	0	0	0	0	0	13.95	14.10	14.19
6033	0.18	300.0	2640	2102	2179	2082	296.5	10.8	522	6038	0.00	2.42	0.00	0.000	516	0.000	0.086	2644	728	2129	2177	2082	0	0	0	0	0	0	14.62	14.19	14.64
6078	0.22	300.0	2640	729	2178	2084	291.7	10.6	531	6083	0.00	2.40	0.00	0.000	1158	0.000	0.078	2644	2105	2129	2176	2082	0	0	0	0	0	0	14.34	14.21	14.38
6393	0.22	300.0	2645	2105	2177	2081	258.9	10.0	544	6399	0.00	2.42	0.00	0.000	516	0.000	0.085	2644	721	2128	2176	2081	0	0	0	0	0	0	14.66	14.21	14.69
6434	0.28	315.8	2644	722	2176	2082	255.1	9.3	552	6461	0.00	2.38	22.67	1.434	9382	0.000	0.078	2644	2101	2077	2125	2030	0	0	0	0	0	0	14.40	14.26	13.32
6789	0.33	345.5	2644	2102	2118	2020	223.0	8.6	572	6840	0.12	0.00	50.17	1.346	10406	0.128	0.000	2698	2100	1959	2008	1911	0	0	0	0	0	0	14.35	14.04	13.25
7118	0.28	345.5	2698	2098	1991	1900	185.6	11.1	583	7123	0.00	2.45	0.00	0.000	644	0.000	0.086	2698	721	1946	1989	1904	0	0	0	0	0	0	14.43	14.06	14.45
7238	0.28	345.5	2700	722	1989	1898	172.9	10.1	607	7243	0.00	2.42	0.00	0.000	1030	0.000	0.077	2699	2100	1943	1988	1899	0	0	0	0	0	0	14.21	14.08	14.25
7568	0.28	345.5	2699	2101	1988	1896	138.9	10.1	623	7573	0.00	2.42	0.00	0.000	516	0.000	0.083	2699	729	1941	1987	1896	0	0	0	0	0	0	14.50	14.07	14.50
7624	0.33	367.0	2698	729	1987	1897	133.8	9.0	634	7661	0.00	2.40	31.73	1.359	9382	0.000	0.077	2698	2102	1868	1904	1833	0	0	0	0	0	0	14.21	14.08	13.24
7958	0.34	388.0	2699	2103	1895	1828	102.8	9.0	651	7995	0.00	2.45	30.52	1.326	8740	0.000	0.084	2702	729	1779	1804	1754	0	0	0	0	0	0	14.45	13.97	13.24
8062	0.45	427.2	2701	729	1802	1753	94.1	8.2	671	8088	0.00	2.42	20.95	0.488	9382	0.000	0.076	2699	2100	1622	1650	1595	0	0	0	0	0	0	14.13	14.01	13.60
8393	0.59	506.7	2699	2101	1651	1588	69.2	6.3	707	8440	0.20	2.45	41.67	0.408	10916	0.098	0.085	2784	725	1296	1348	1245	0	0	0	0	0	0	14.12	13.90	13.62
8488	0.59	506.7	2786	725	1348	1246	59.6	10.9	725	8492	0.00	2.45	0.00	0.000	1030	0.000	0.076	2786	2113	1296	1348	1245	0	0	0	0	0	0	14.09	13.97	14.13
8797	0.63	563.0	2786	2114	1347	1235	32.1	7.4	757	8833	0.00	2.53	29.15	0.300	8740	0.000	0.087	2786	728	1069	1133	1005	0	0	0	0	0	0	14.40	13.96	13.68
8874	0.82	636.8	2786	728	1134	1005	26.6	6.6	772	8922	0.20	2.42	39.67	0.279	11430	0.100	0.077	2866	2105	765	829	702	0	0	0	0	0	0	14.01	14.03	13.64
9116	end climb: SURFACE_DEPTH_REACHED
state	9116	begin surface coast
9126	end surface coast: CONTROL_FINISHED_OK
state	9126	begin surface