Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 271 * 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 271 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 755.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 755.0 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 24 VBD_MIN 500

DIVE 271 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 070917,085818,7519.8706,-15125.4990,24,0.7,26,20.6,0.5,59.9,12,10.0 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 1.24 MHEAD_RNG_PITCHd_Wd 359.9,43471,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 070917,090937,7519.9209,-15125.5967,6,0.8,45,20.6,1.0,245.8,10,8.5

Post-dive calculations and measurements:

FINISH 0.5,1.021434 _24V_AH 12.33,172.509

SM_CCo 9150,49.92,0.205,0,0,498,702.78 _10V_AH 12.18,0.000

SM_GC 1.27,8.07,0.17,49.92,0.070,0.101,0.205,195,2254,498,-7.38,-0.45,702.78,0,0,0,0,0,0,14.35,14.38,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 413 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323452

IRIDIUM_FIX 7520.35,-15120.66,070917,061725 DATA_FILE_SIZE 26757,808

TT8_MAMPS 0.040446,0.854609 CAP_FILE_SIZE 105279,0

HUMID 46.77 CFSIZE 2097872896,2008055808

INTERNAL_PRESSURE 7.74246 ERRORS 0,2,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.10 INTR 1,6036.22,0x2341e8,1,24

XPDR_PINGS 16 SOUNDSPEED 1448.1

CP_FREE 15956606976.000000 CURRENT 0.050,290.48,1

PM_FREEKB_00 49962176 GPS 070917,114447,7521.053,-15123.504,27,0.7,29,20.6,0.4,258.2,12,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 459 148.99 nil 0 0 0.00

Roll_motor 89 2138 2358.23 nil 0 0 0.00

VBD_pump_during_apogee 973 1386 16647.00 nil 0 0 0.00

VBD_pump_during_surface 49 205 126.21 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 9164 14 1643.36

Iridium_during_xfer 378 185 864.27 NCP 9127 20 2250.72

Transponder_ping 4 420 20.71 PMAR 9102 9 1105.11

GUMSTIX_24V 0 0 0.00

GPS 48 22 13.16

TT8 0 0 0.00

LPSleep 6430 2 180.94

TT8_Active 901 13 153.44

TT8_Sampling 2253 33 918.03

TT8_CF8 311 38 146.56

TT8_Kalman 0 0 0.00

Analog_circuits 2190 10 266.85

GPS_charging 0 0 0.00

Compass 1156 7 98.64

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

51 -0.57 -145.9 177 2226 507 474 0.0 0.0 0 143 0.00 0.00 -91.18 0.000 16386 0.000 0.000 173 2227 2152 2075 2230 0 0 0 0 0 0 14.53 28.83 14.54

146 -0.57 -145.9 174 2227 2077 2232 3.7 -5.0 9 204 13.12 2.75 -36.10 0.000 18724 0.459 2.138 2375 3582 3963 3951 3976 1 0 0 0 0 0 13.50 12.57 14.09

394 -0.71 -145.9 2375 3583 3955 3977 48.8 -12.7 58 400 0.00 2.38 0.00 0.000 1158 0.000 0.059 2375 2201 3965 3954 3976 0 0 0 0 0 0 14.28 14.15 14.31

701 -0.83 -145.9 2376 2201 3956 3977 88.1 -10.7 89 703 0.20 0.00 0.00 0.000 4230 0.106 0.000 2296 2200 3966 3956 3976 0 0 0 0 0 0 14.23 14.35 14.33

1019 -0.86 -145.9 2296 2201 3956 3977 135.8 -14.0 105 1024 0.00 2.45 0.00 0.000 388 0.000 0.089 2287 3594 3966 3956 3976 0 0 0 0 0 0 14.63 14.16 14.65

1094 -0.98 -145.9 2287 3594 3957 3976 145.4 -11.9 120 1100 0.00 2.35 0.00 0.000 1158 0.000 0.058 2287 2199 3966 3956 3976 0 0 0 0 0 0 14.36 14.24 14.40

1410 -1.03 -145.9 2292 2194 3954 3976 186.4 -12.6 133 1415 0.12 2.45 0.00 0.000 4484 0.137 0.086 2224 3591 3966 3956 3976 0 0 0 0 0 0 14.33 14.17 14.36

1515 -1.03 -145.9 2225 3593 3957 3977 202.8 -15.3 154 1520 0.00 2.35 0.00 0.000 1030 0.000 0.057 2222 2198 3966 3956 3976 0 0 0 0 0 0 14.35 14.21 14.40

1831 -0.99 -145.9 2224 2197 3957 3976 255.8 -16.2 167 1836 0.15 2.45 0.00 0.000 2436 0.286 0.086 2246 3589 3966 3956 3976 0 0 0 0 0 0 13.93 14.17 14.09

1961 -1.09 -145.9 2250 3590 3957 3975 271.3 -10.8 193 1966 0.00 2.38 0.00 0.000 1158 0.000 0.056 2249 2191 3965 3956 3975 0 0 0 0 0 0 14.29 14.12 14.35

2281 -1.14 -145.9 2250 2190 3956 3975 308.0 -11.2 207 2286 0.00 2.47 0.00 0.000 388 0.000 0.088 2242 3595 3965 3955 3976 0 0 0 0 0 0 14.66 14.16 14.66

2356 -1.25 -145.9 2243 3595 3956 3976 316.5 -11.0 222 2361 0.20 2.35 0.00 0.000 5254 0.108 0.057 2166 2199 3965 3955 3975 0 0 0 0 0 0 14.29 14.24 14.39

2672 -1.13 -145.9 2166 2198 3955 3975 374.0 -18.4 235 2677 0.17 2.45 0.00 0.000 2436 0.309 0.083 2194 3590 3965 3955 3975 0 0 0 0 0 0 13.82 14.11 13.97

2817 -1.13 -145.9 2195 3592 3956 3975 394.9 -13.5 264 2824 0.00 2.35 0.00 0.000 1030 0.000 0.057 2194 2199 3964 3954 3975 0 0 0 0 0 0 14.31 14.17 14.34

3122 -1.09 -145.9 2195 2198 3956 3974 438.9 -14.4 275 3127 0.12 2.45 0.00 0.000 2436 0.300 0.085 2213 3592 3963 3953 3974 0 0 0 0 0 0 13.90 14.16 14.04

3244 -1.17 -145.9 2214 3592 3955 3974 453.3 -11.3 299 3249 0.00 2.35 0.00 0.000 1158 0.000 0.056 2213 2199 3963 3954 3973 0 0 0 0 0 0 14.28 14.14 14.31

3482 end dive: TARGET_DEPTH_EXCEEDED

state 3482 begin apogee

3488 -0.13 0.0 2214 2053 3955 3974 483.4 -12.5 312 3732 1.25 0.00 240.25 1.377 10246 0.229 0.000 2533 2053 3365 3393 3338 0 0 0 0 0 0 13.84 13.48 12.64

3735 end apogee: CONTROL_FINISHED_OK

state 3735 begin climb

3738 0.57 145.9 2534 2054 3380 3328 497.2 0.0 320 3965 0.73 2.78 214.93 1.329 11012 0.063 0.073 2778 3495 2757 2801 2713 0 0 0 0 0 0 13.63 12.90 12.33

3985 0.09 145.9 2779 3496 2789 2708 506.8 10.4 326 3990 0.90 2.47 0.00 0.000 5254 0.347 0.055 2614 2135 2747 2787 2707 0 0 0 0 0 0 13.00 13.23 13.33

4317 0.01 195.9 2615 2135 2788 2699 480.6 7.7 342 4397 0.00 2.62 72.75 1.337 8868 0.000 0.086 2614 687 2558 2618 2499 0 0 0 0 0 0 14.38 13.59 12.99

4522 0.03 223.7 2614 687 2610 2483 462.8 8.7 383 4564 0.00 2.47 37.90 1.369 9254 0.000 0.080 2614 2085 2452 2518 2387 0 0 0 0 0 0 14.09 13.97 13.08

4892 0.01 230.9 2615 2084 2495 2363 427.5 9.7 406 4896 0.00 2.45 0.00 0.000 676 0.000 0.086 2614 691 2428 2493 2363 0 0 0 0 0 0 14.57 13.50 14.57

4947 0.05 248.6 2615 691 2494 2363 422.1 9.2 417 4987 0.00 2.47 33.17 1.387 9382 0.000 0.080 2614 2104 2348 2407 2289 0 0 0 0 0 0 14.33 14.16 13.23

5314 0.05 252.3 2614 2104 2391 2273 386.1 9.8 440 5319 0.00 2.47 0.00 0.000 548 0.000 0.086 2614 688 2331 2390 2273 0 0 0 0 0 0 14.59 14.08 14.60

5374 0.12 270.6 2615 688 2391 2274 380.3 9.2 452 5411 0.00 2.47 31.02 1.373 9382 0.000 0.080 2614 2105 2260 2317 2204 0 0 0 0 0 0 14.28 14.16 13.28

5738 0.15 279.8 2615 2105 2303 2185 345.3 9.6 474 5742 0.00 0.00 3.00 0.979 8358 0.000 0.000 2614 2105 2222 2280 2164 0 0 0 0 0 0 14.60 14.15 12.88

6036 0.19 300.1 2615 2105 2291 2177 317.6 9.1 484 6087 0.00 2.53 42.40 1.330 8868 0.000 0.086 2614 690 2134 2187 2081 0 0 0 0 0 0 14.66 14.11 13.30

6154 0.31 329.3 2615 690 2176 2076 307.4 8.7 507 6208 0.22 2.47 46.83 1.291 11430 0.091 0.080 2698 2098 2018 2064 1972 0 0 0 0 0 0 14.17 14.09 13.18

6519 0.23 329.3 2697 2099 2051 1953 255.0 14.0 530 6524 0.15 2.47 0.00 0.000 4740 0.231 0.086 2660 688 2001 2050 1953 0 0 0 0 0 0 14.04 14.18 14.16

6631 0.28 340.9 2661 688 2047 1952 243.7 9.5 552 6642 0.00 2.47 3.88 1.232 9382 0.000 0.080 2660 2109 1974 2022 1926 0 0 0 0 0 0 14.29 14.19 12.87

6939 0.29 355.2 2661 2109 2038 1935 214.2 9.3 564 6980 0.00 2.50 34.90 1.280 8740 0.000 0.087 2660 699 1909 1951 1868 0 0 0 0 0 0 14.64 14.12 13.31

7010 0.39 376.2 2661 700 1938 1868 207.7 9.0 573 7050 0.15 2.47 32.75 1.263 11430 0.118 0.079 2720 2105 1827 1857 1798 0 0 0 0 0 0 14.21 14.14 13.21

7362 0.34 376.2 2720 2106 1840 1783 163.6 12.2 593 7368 0.00 2.50 0.00 0.000 644 0.000 0.086 2723 693 1810 1839 1782 0 0 0 0 0 0 14.57 14.16 14.58

7433 0.34 376.2 2723 694 1838 1783 154.9 11.3 607 7438 0.15 2.47 0.00 0.000 5126 0.230 0.078 2691 2101 1809 1837 1782 0 0 0 0 0 0 13.97 14.16 14.25

7754 0.37 390.9 2691 2100 1837 1779 123.9 9.3 621 7779 0.00 2.53 16.48 1.336 8868 0.000 0.087 2690 684 1765 1791 1740 0 0 0 0 0 0 14.65 14.22 13.32

7824 0.50 418.5 2690 685 1783 1737 117.7 8.7 635 7881 0.17 2.47 48.38 1.219 11430 0.106 0.078 2763 2101 1654 1678 1630 0 0 0 0 0 0 14.15 14.04 13.26

8186 0.43 418.5 2764 2102 1674 1608 73.1 10.2 675 8191 0.15 2.50 0.00 0.000 4740 0.252 0.083 2729 687 1640 1672 1608 0 0 0 0 0 0 13.81 14.04 13.95

8372 0.56 498.8 2730 686 1669 1609 59.9 6.3 712 8420 0.00 2.50 43.35 0.373 9382 0.000 0.078 2729 2110 1329 1378 1281 0 0 0 0 0 0 13.56 13.57 13.57

8717 0.77 622.3 2730 2108 1380 1287 40.2 4.3 751 8796 0.28 2.50 71.47 0.311 10916 0.087 0.090 2849 693 827 900 754 0 0 0 0 0 0 14.11 14.00 13.78

8871 0.83 622.3 2847 694 902 757 24.1 10.8 781 8877 0.00 2.50 0.00 0.000 1158 0.000 0.080 2846 2106 829 901 758 0 0 0 0 0 0 14.28 14.13 14.31

9110 end climb: SURFACE_DEPTH_REACHED

state 9112 begin surface coast

9130 end surface coast: CONTROL_FINISHED_OK

state 9130 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	271	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	755.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070917,085818,7519.8706,-15125.4990,24,0.7,26,20.6,0.5,59.9,12,10.0	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	1.24	MHEAD_RNG_PITCHd_Wd	359.9,43471,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	070917,090937,7519.9209,-15125.5967,6,0.8,45,20.6,1.0,245.8,10,8.5

FINISH	0.5,1.021434	_24V_AH	12.33,172.509
SM_CCo	9150,49.92,0.205,0,0,498,702.78	_10V_AH	12.18,0.000
SM_GC	1.27,8.07,0.17,49.92,0.070,0.101,0.205,195,2254,498,-7.38,-0.45,702.78,0,0,0,0,0,0,14.35,14.38,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	413	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323452
IRIDIUM_FIX	7520.35,-15120.66,070917,061725	DATA_FILE_SIZE	26757,808
TT8_MAMPS	0.040446,0.854609	CAP_FILE_SIZE	105279,0
HUMID	46.77	CFSIZE	2097872896,2008055808
INTERNAL_PRESSURE	7.74246	ERRORS	0,2,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	INTR	1,6036.22,0x2341e8,1,24
XPDR_PINGS	16	SOUNDSPEED	1448.1
CP_FREE	15956606976.000000	CURRENT	0.050,290.48,1
PM_FREEKB_00	49962176	GPS	070917,114447,7521.053,-15123.504,27,0.7,29,20.6,0.4,258.2,12,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	459	148.99	nil	0	0	0.00
Roll_motor	89	2138	2358.23	nil	0	0	0.00
VBD_pump_during_apogee	973	1386	16647.00	nil	0	0	0.00
VBD_pump_during_surface	49	205	126.21	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	9164	14	1643.36
Iridium_during_xfer	378	185	864.27	NCP	9127	20	2250.72
Transponder_ping	4	420	20.71	PMAR	9102	9	1105.11
GUMSTIX_24V	0	0	0.00
GPS	48	22	13.16
TT8	0	0	0.00
LPSleep	6430	2	180.94
TT8_Active	901	13	153.44
TT8_Sampling	2253	33	918.03
TT8_CF8	311	38	146.56
TT8_Kalman	0	0	0.00
Analog_circuits	2190	10	266.85
GPS_charging	0	0	0.00
Compass	1156	7	98.64
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
51	-0.57	-145.9	177	2226	507	474	0.0	0.0	0	143	0.00	0.00	-91.18	0.000	16386	0.000	0.000	173	2227	2152	2075	2230	0	0	0	0	0	0	14.53	28.83	14.54
146	-0.57	-145.9	174	2227	2077	2232	3.7	-5.0	9	204	13.12	2.75	-36.10	0.000	18724	0.459	2.138	2375	3582	3963	3951	3976	1	0	0	0	0	0	13.50	12.57	14.09
394	-0.71	-145.9	2375	3583	3955	3977	48.8	-12.7	58	400	0.00	2.38	0.00	0.000	1158	0.000	0.059	2375	2201	3965	3954	3976	0	0	0	0	0	0	14.28	14.15	14.31
701	-0.83	-145.9	2376	2201	3956	3977	88.1	-10.7	89	703	0.20	0.00	0.00	0.000	4230	0.106	0.000	2296	2200	3966	3956	3976	0	0	0	0	0	0	14.23	14.35	14.33
1019	-0.86	-145.9	2296	2201	3956	3977	135.8	-14.0	105	1024	0.00	2.45	0.00	0.000	388	0.000	0.089	2287	3594	3966	3956	3976	0	0	0	0	0	0	14.63	14.16	14.65
1094	-0.98	-145.9	2287	3594	3957	3976	145.4	-11.9	120	1100	0.00	2.35	0.00	0.000	1158	0.000	0.058	2287	2199	3966	3956	3976	0	0	0	0	0	0	14.36	14.24	14.40
1410	-1.03	-145.9	2292	2194	3954	3976	186.4	-12.6	133	1415	0.12	2.45	0.00	0.000	4484	0.137	0.086	2224	3591	3966	3956	3976	0	0	0	0	0	0	14.33	14.17	14.36
1515	-1.03	-145.9	2225	3593	3957	3977	202.8	-15.3	154	1520	0.00	2.35	0.00	0.000	1030	0.000	0.057	2222	2198	3966	3956	3976	0	0	0	0	0	0	14.35	14.21	14.40
1831	-0.99	-145.9	2224	2197	3957	3976	255.8	-16.2	167	1836	0.15	2.45	0.00	0.000	2436	0.286	0.086	2246	3589	3966	3956	3976	0	0	0	0	0	0	13.93	14.17	14.09
1961	-1.09	-145.9	2250	3590	3957	3975	271.3	-10.8	193	1966	0.00	2.38	0.00	0.000	1158	0.000	0.056	2249	2191	3965	3956	3975	0	0	0	0	0	0	14.29	14.12	14.35
2281	-1.14	-145.9	2250	2190	3956	3975	308.0	-11.2	207	2286	0.00	2.47	0.00	0.000	388	0.000	0.088	2242	3595	3965	3955	3976	0	0	0	0	0	0	14.66	14.16	14.66
2356	-1.25	-145.9	2243	3595	3956	3976	316.5	-11.0	222	2361	0.20	2.35	0.00	0.000	5254	0.108	0.057	2166	2199	3965	3955	3975	0	0	0	0	0	0	14.29	14.24	14.39
2672	-1.13	-145.9	2166	2198	3955	3975	374.0	-18.4	235	2677	0.17	2.45	0.00	0.000	2436	0.309	0.083	2194	3590	3965	3955	3975	0	0	0	0	0	0	13.82	14.11	13.97
2817	-1.13	-145.9	2195	3592	3956	3975	394.9	-13.5	264	2824	0.00	2.35	0.00	0.000	1030	0.000	0.057	2194	2199	3964	3954	3975	0	0	0	0	0	0	14.31	14.17	14.34
3122	-1.09	-145.9	2195	2198	3956	3974	438.9	-14.4	275	3127	0.12	2.45	0.00	0.000	2436	0.300	0.085	2213	3592	3963	3953	3974	0	0	0	0	0	0	13.90	14.16	14.04
3244	-1.17	-145.9	2214	3592	3955	3974	453.3	-11.3	299	3249	0.00	2.35	0.00	0.000	1158	0.000	0.056	2213	2199	3963	3954	3973	0	0	0	0	0	0	14.28	14.14	14.31
3482	end dive: TARGET_DEPTH_EXCEEDED
state	3482	begin apogee
3488	-0.13	0.0	2214	2053	3955	3974	483.4	-12.5	312	3732	1.25	0.00	240.25	1.377	10246	0.229	0.000	2533	2053	3365	3393	3338	0	0	0	0	0	0	13.84	13.48	12.64
3735	end apogee: CONTROL_FINISHED_OK
state	3735	begin climb
3738	0.57	145.9	2534	2054	3380	3328	497.2	0.0	320	3965	0.73	2.78	214.93	1.329	11012	0.063	0.073	2778	3495	2757	2801	2713	0	0	0	0	0	0	13.63	12.90	12.33
3985	0.09	145.9	2779	3496	2789	2708	506.8	10.4	326	3990	0.90	2.47	0.00	0.000	5254	0.347	0.055	2614	2135	2747	2787	2707	0	0	0	0	0	0	13.00	13.23	13.33
4317	0.01	195.9	2615	2135	2788	2699	480.6	7.7	342	4397	0.00	2.62	72.75	1.337	8868	0.000	0.086	2614	687	2558	2618	2499	0	0	0	0	0	0	14.38	13.59	12.99
4522	0.03	223.7	2614	687	2610	2483	462.8	8.7	383	4564	0.00	2.47	37.90	1.369	9254	0.000	0.080	2614	2085	2452	2518	2387	0	0	0	0	0	0	14.09	13.97	13.08
4892	0.01	230.9	2615	2084	2495	2363	427.5	9.7	406	4896	0.00	2.45	0.00	0.000	676	0.000	0.086	2614	691	2428	2493	2363	0	0	0	0	0	0	14.57	13.50	14.57
4947	0.05	248.6	2615	691	2494	2363	422.1	9.2	417	4987	0.00	2.47	33.17	1.387	9382	0.000	0.080	2614	2104	2348	2407	2289	0	0	0	0	0	0	14.33	14.16	13.23
5314	0.05	252.3	2614	2104	2391	2273	386.1	9.8	440	5319	0.00	2.47	0.00	0.000	548	0.000	0.086	2614	688	2331	2390	2273	0	0	0	0	0	0	14.59	14.08	14.60
5374	0.12	270.6	2615	688	2391	2274	380.3	9.2	452	5411	0.00	2.47	31.02	1.373	9382	0.000	0.080	2614	2105	2260	2317	2204	0	0	0	0	0	0	14.28	14.16	13.28
5738	0.15	279.8	2615	2105	2303	2185	345.3	9.6	474	5742	0.00	0.00	3.00	0.979	8358	0.000	0.000	2614	2105	2222	2280	2164	0	0	0	0	0	0	14.60	14.15	12.88
6036	0.19	300.1	2615	2105	2291	2177	317.6	9.1	484	6087	0.00	2.53	42.40	1.330	8868	0.000	0.086	2614	690	2134	2187	2081	0	0	0	0	0	0	14.66	14.11	13.30
6154	0.31	329.3	2615	690	2176	2076	307.4	8.7	507	6208	0.22	2.47	46.83	1.291	11430	0.091	0.080	2698	2098	2018	2064	1972	0	0	0	0	0	0	14.17	14.09	13.18
6519	0.23	329.3	2697	2099	2051	1953	255.0	14.0	530	6524	0.15	2.47	0.00	0.000	4740	0.231	0.086	2660	688	2001	2050	1953	0	0	0	0	0	0	14.04	14.18	14.16
6631	0.28	340.9	2661	688	2047	1952	243.7	9.5	552	6642	0.00	2.47	3.88	1.232	9382	0.000	0.080	2660	2109	1974	2022	1926	0	0	0	0	0	0	14.29	14.19	12.87
6939	0.29	355.2	2661	2109	2038	1935	214.2	9.3	564	6980	0.00	2.50	34.90	1.280	8740	0.000	0.087	2660	699	1909	1951	1868	0	0	0	0	0	0	14.64	14.12	13.31
7010	0.39	376.2	2661	700	1938	1868	207.7	9.0	573	7050	0.15	2.47	32.75	1.263	11430	0.118	0.079	2720	2105	1827	1857	1798	0	0	0	0	0	0	14.21	14.14	13.21
7362	0.34	376.2	2720	2106	1840	1783	163.6	12.2	593	7368	0.00	2.50	0.00	0.000	644	0.000	0.086	2723	693	1810	1839	1782	0	0	0	0	0	0	14.57	14.16	14.58
7433	0.34	376.2	2723	694	1838	1783	154.9	11.3	607	7438	0.15	2.47	0.00	0.000	5126	0.230	0.078	2691	2101	1809	1837	1782	0	0	0	0	0	0	13.97	14.16	14.25
7754	0.37	390.9	2691	2100	1837	1779	123.9	9.3	621	7779	0.00	2.53	16.48	1.336	8868	0.000	0.087	2690	684	1765	1791	1740	0	0	0	0	0	0	14.65	14.22	13.32
7824	0.50	418.5	2690	685	1783	1737	117.7	8.7	635	7881	0.17	2.47	48.38	1.219	11430	0.106	0.078	2763	2101	1654	1678	1630	0	0	0	0	0	0	14.15	14.04	13.26
8186	0.43	418.5	2764	2102	1674	1608	73.1	10.2	675	8191	0.15	2.50	0.00	0.000	4740	0.252	0.083	2729	687	1640	1672	1608	0	0	0	0	0	0	13.81	14.04	13.95
8372	0.56	498.8	2730	686	1669	1609	59.9	6.3	712	8420	0.00	2.50	43.35	0.373	9382	0.000	0.078	2729	2110	1329	1378	1281	0	0	0	0	0	0	13.56	13.57	13.57
8717	0.77	622.3	2730	2108	1380	1287	40.2	4.3	751	8796	0.28	2.50	71.47	0.311	10916	0.087	0.090	2849	693	827	900	754	0	0	0	0	0	0	14.11	14.00	13.78
8871	0.83	622.3	2847	694	902	757	24.1	10.8	781	8877	0.00	2.50	0.00	0.000	1158	0.000	0.080	2846	2106	829	901	758	0	0	0	0	0	0	14.28	14.13	14.31
9110	end climb: SURFACE_DEPTH_REACHED
state	9112	begin surface coast
9130	end surface coast: CONTROL_FINISHED_OK
state	9130	begin surface