Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 277 * 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 277 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 773.0

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 46 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 773.0 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 46 VBD_MIN 500

DIVE 277 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 080917,011604,7526.8296,-15115.7949,36,0.7,38,20.7,1.0,306.2,12,7.3 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 1.21 MHEAD_RNG_PITCHd_Wd 349.5,30254,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.5 D_GRID 480

GPS2 080917,012201,7526.8154,-15115.8271,5,0.8,10,20.7,0.0,262.4,10,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.021565 _24V_AH 12.26,175.209

SM_CCo 9017,52.45,0.207,0,0,497,702.78 _10V_AH 12.14,0.000

SM_GC 1.34,8.00,0.20,52.45,0.063,0.116,0.207,198,2228,497,-7.38,-0.42,702.78,0,0,0,0,0,0,14.33,14.29,13.94 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 323588

IRIDIUM_FIX 7525.54,-15119.96,070917,223938 DATA_FILE_SIZE 26719,806

TT8_MAMPS 0.039697,0.956473 CAP_FILE_SIZE 100406,0

HUMID 46.92 CFSIZE 2097872896,2006777856

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

TCM_TEMP 13.10 SOUNDSPEED 1446.5

XPDR_PINGS 24 CURRENT 0.033,273.07,1

CP_FREE 15953985536.000000 GPS 080917,035511,7528.018,-15114.754,40,0.7,41,20.7,0.5,268.1,12,10.0

PM_FREEKB_00 49780544

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.75 nil 0 0 0.00

Roll_motor 83 2141 2198.57 nil 0 0 0.00

VBD_pump_during_apogee 957 1455 17082.75 nil 0 0 0.00

VBD_pump_during_surface 52 207 133.31 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 5361 14 973.99

Iridium_during_xfer 163 135 271.59 NCP 9000 20 2206.80

Transponder_ping 6 420 30.90 PMAR 8972 9 1082.48

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.10

TT8 0 0 0.00

LPSleep 6408 2 179.72

TT8_Active 884 13 149.92

TT8_Sampling 1917 33 778.42

TT8_CF8 230 38 108.42

TT8_Kalman 0 0 0.00

Analog_circuits 1914 10 232.40

GPS_charging 0 0 0.00

Compass 1152 7 97.96

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 -145.9 185 2176 506 490 0.0 0.0 0 143 0.00 0.00 -91.25 0.000 16386 0.000 0.000 181 2176 2148 2082 2215 0 0 0 0 0 0 14.57 28.83 14.59

146 -0.57 -145.9 182 2176 2086 2215 3.7 -5.1 9 204 12.98 2.85 -36.58 0.000 18724 0.456 2.141 2375 3575 3965 3949 3982 1 0 0 0 0 0 13.48 12.55 14.14

324 -0.71 -145.9 2375 3578 3954 3984 41.6 -13.5 44 330 0.00 2.30 0.00 0.000 1158 0.000 0.059 2375 2217 3967 3953 3982 0 0 0 0 0 0 14.34 14.21 14.38

629 -0.82 -145.9 2376 2216 3956 3983 83.0 -11.0 75 630 0.20 0.00 0.00 0.000 4230 0.108 0.000 2297 2216 3966 3954 3978 0 0 0 0 0 0 14.34 14.46 14.43

949 -0.84 -145.9 2296 2217 3954 3983 132.7 -14.4 93 954 0.00 2.40 0.00 0.000 388 0.000 0.086 2288 3586 3968 3954 3982 0 0 0 0 0 0 14.74 14.21 14.76

1009 -0.97 -145.9 2289 3588 3955 3983 140.7 -12.1 105 1014 0.00 2.33 0.00 0.000 1158 0.000 0.057 2288 2202 3968 3954 3982 0 0 0 0 0 0 14.40 14.27 14.44

1339 -1.02 -145.9 2288 2202 3956 3983 183.8 -12.6 121 1344 0.12 2.42 0.00 0.000 4484 0.138 0.083 2224 3587 3968 3954 3982 0 0 0 0 0 0 14.38 14.21 14.41

1389 -1.02 -145.9 2225 3588 3955 3981 191.6 -15.9 131 1394 0.00 2.35 0.00 0.000 1030 0.000 0.059 2224 2190 3968 3954 3982 0 0 0 0 0 0 14.40 14.27 14.45

1700 -0.97 -145.9 2224 2190 3955 3982 246.0 -16.6 143 1705 0.15 2.45 0.00 0.000 2436 0.292 0.082 2250 3593 3968 3954 3982 0 0 0 0 0 0 13.93 14.21 14.10

1797 -1.07 -145.9 2250 3595 3955 3983 258.3 -11.6 162 1801 0.00 2.35 0.00 0.000 1158 0.000 0.057 2250 2196 3968 3954 3982 0 0 0 0 0 0 14.40 14.26 14.45

2122 -1.11 -145.9 2250 2196 3955 3983 297.4 -11.4 177 2126 0.00 2.42 0.00 0.000 388 0.000 0.087 2241 3581 3968 3955 3982 0 0 0 0 0 0 14.73 14.19 14.76

2162 -1.20 -145.9 2241 3583 3955 3983 302.0 -11.1 185 2167 0.15 2.35 0.00 0.000 5254 0.125 0.057 2182 2192 3968 3954 3982 0 0 0 0 0 0 14.26 14.18 14.39

2482 -1.12 -145.9 2183 2190 3955 3982 356.3 -17.1 199 2487 0.12 2.45 0.00 0.000 2436 0.308 0.083 2201 3592 3968 3954 3982 0 0 0 0 0 0 13.93 14.20 14.11

2590 -1.15 -145.9 2202 3593 3955 3983 371.1 -13.0 220 2595 0.00 2.35 0.00 0.000 1158 0.000 0.057 2201 2194 3968 3954 3982 0 0 0 0 0 0 14.39 14.26 14.43

2905 -1.12 -145.9 2201 2194 3955 3982 416.4 -14.2 233 2910 0.00 2.45 0.00 0.000 388 0.000 0.086 2194 3587 3968 3954 3982 0 0 0 0 0 0 14.73 14.19 14.75

2971 -1.15 -145.9 2194 3588 3955 3982 425.5 -13.3 246 2975 0.00 2.35 0.00 0.000 1158 0.000 0.055 2194 2199 3968 3954 3982 0 0 0 0 0 0 14.33 14.17 14.33

3296 -1.12 -145.9 2195 2199 3952 3983 472.7 -14.5 261 3301 0.00 2.42 0.00 0.000 388 0.000 0.085 2185 3586 3968 3954 3982 0 0 0 0 0 0 14.75 14.19 14.76

3344 end dive: TARGET_DEPTH_EXCEEDED

state 3344 begin apogee

3352 -0.13 0.0 2186 2089 3955 3982 480.1 -14.4 271 3597 1.38 0.00 241.60 1.386 10246 0.243 0.000 2530 2088 3365 3381 3350 0 0 0 0 0 0 13.85 13.50 12.68

3601 end apogee: CONTROL_FINISHED_OK

state 3601 begin climb

3603 0.57 145.9 2531 2088 3377 3344 494.1 0.0 279 3824 0.75 2.67 214.10 1.356 10500 0.060 0.071 2784 3485 2763 2799 2727 0 0 0 0 0 0 13.64 12.90 12.26

4026 0.08 145.9 2784 3485 2778 2720 479.0 15.5 367 4032 0.90 2.42 0.00 0.000 5254 0.347 0.057 2613 2097 2748 2777 2719 0 0 0 0 0 0 13.38 13.78 13.76

4337 0.01 201.8 2613 2097 2779 2718 454.6 7.4 379 4429 0.12 2.53 84.15 1.360 12964 0.290 0.084 2589 685 2533 2584 2482 0 0 0 0 0 0 13.87 13.65 13.03

4479 0.09 248.0 2589 686 2580 2477 444.4 7.9 407 4556 0.00 2.47 72.18 1.336 9382 0.000 0.080 2596 2081 2353 2406 2300 0 0 0 0 0 0 14.09 13.96 12.93

4882 0.15 279.3 2589 2081 2387 2276 410.4 8.6 437 4930 0.12 0.00 46.17 1.369 10406 0.134 0.000 2649 2081 2225 2276 2174 0 0 0 0 0 0 14.26 13.99 13.16

5212 0.10 279.3 2649 2081 2260 2155 368.8 12.7 448 5213 0.15 0.00 0.00 0.000 4230 0.239 0.000 2616 2081 2206 2258 2154 0 0 0 0 0 0 14.01 14.31 14.26

5512 0.10 280.7 2616 2086 2258 2154 338.5 9.9 458 5516 0.00 2.45 0.00 0.000 548 0.000 0.088 2615 687 2205 2258 2152 0 0 0 0 0 0 14.65 14.21 14.66

5582 0.19 298.3 2617 685 2257 2153 331.9 9.2 472 5612 0.00 2.45 24.60 1.419 9382 0.000 0.078 2616 2101 2147 2196 2098 0 0 0 0 0 0 14.32 14.19 13.29

5935 0.23 312.4 2616 2103 2186 2084 298.4 9.3 492 5956 0.12 0.00 19.52 1.455 10406 0.128 0.000 2677 2103 2091 2139 2044 0 0 0 0 0 0 14.35 14.16 13.31

6233 0.17 312.4 2677 2104 2126 2030 258.8 13.2 502 6238 0.15 2.47 0.00 0.000 4740 0.248 0.084 2644 687 2076 2125 2028 0 0 0 0 0 0 14.02 14.19 14.18

6330 0.24 328.3 2644 688 2123 2029 249.2 9.3 521 6359 0.00 2.45 22.60 1.413 9382 0.000 0.079 2644 2101 2023 2070 1977 0 0 0 0 0 0 14.36 14.21 13.29

6686 0.30 362.6 2645 2102 2060 1965 217.8 8.4 542 6750 0.00 2.50 58.88 1.306 8612 0.000 0.081 2644 3511 1881 1915 1847 0 0 0 0 0 0 14.62 13.80 13.21

6778 0.36 366.5 2645 3511 1903 1845 209.9 9.8 560 6784 0.17 2.42 0.00 0.000 3238 0.103 0.064 2708 2102 1872 1901 1844 0 0 0 0 0 0 14.07 14.07 14.14

7109 0.31 366.5 2709 2102 1900 1837 169.4 11.8 576 7115 0.00 2.47 0.00 0.000 644 0.000 0.089 2710 692 1867 1898 1837 0 0 0 0 0 0 14.59 14.17 14.61

7275 0.31 366.5 2708 693 1895 1837 151.8 10.5 609 7280 0.00 2.45 0.00 0.000 1030 0.000 0.078 2710 2101 1865 1894 1837 0 0 0 0 0 0 14.35 14.21 14.38

7590 0.28 366.8 2709 2102 1894 1835 119.3 10.0 622 7595 0.12 2.47 0.00 0.000 4516 0.231 0.080 2677 3519 1864 1894 1834 0 0 0 0 0 0 14.03 14.16 14.12

7646 0.34 391.7 2678 3519 1894 1834 114.3 8.8 633 7696 0.00 2.42 45.75 1.284 9382 0.000 0.062 2681 2098 1768 1793 1744 0 0 0 0 0 0 14.34 14.22 13.30

8001 0.46 465.1 2680 2099 1778 1726 87.7 6.6 667 8049 0.12 2.53 40.10 0.455 10916 0.132 0.089 2742 694 1467 1504 1430 0 0 0 0 0 0 14.21 14.06 13.65

8249 0.57 517.8 2743 694 1507 1432 65.0 7.6 716 8288 0.00 2.47 30.60 0.386 9382 0.000 0.077 2742 2102 1254 1310 1199 0 0 0 0 0 0 14.22 14.09 13.66

8584 0.75 617.4 2743 2101 1311 1206 42.4 5.4 753 8649 0.22 2.55 57.38 0.319 10660 0.098 0.080 2833 3513 848 917 780 0 0 0 0 0 0 14.20 13.97 13.73

8699 0.75 617.4 2833 3514 918 786 29.7 12.4 775 8704 0.00 2.45 0.00 0.000 1030 0.000 0.066 2840 2096 851 917 786 0 0 0 0 0 0 14.16 14.03 14.21

8987 end climb: SURFACE_DEPTH_REACHED

state 8987 begin surface coast

8997 end surface coast: CONTROL_FINISHED_OK

state 8997 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	277	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	773.0
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	46	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,011604,7526.8296,-15115.7949,36,0.7,38,20.7,1.0,306.2,12,7.3	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	1.21	MHEAD_RNG_PITCHd_Wd	349.5,30254,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.5	D_GRID	480
GPS2	080917,012201,7526.8154,-15115.8271,5,0.8,10,20.7,0.0,262.4,10,10.0

FINISH	0.1,1.021565	_24V_AH	12.26,175.209
SM_CCo	9017,52.45,0.207,0,0,497,702.78	_10V_AH	12.14,0.000
SM_GC	1.34,8.00,0.20,52.45,0.063,0.116,0.207,198,2228,497,-7.38,-0.42,702.78,0,0,0,0,0,0,14.33,14.29,13.94	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	323588
IRIDIUM_FIX	7525.54,-15119.96,070917,223938	DATA_FILE_SIZE	26719,806
TT8_MAMPS	0.039697,0.956473	CAP_FILE_SIZE	100406,0
HUMID	46.92	CFSIZE	2097872896,2006777856
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.5
XPDR_PINGS	24	CURRENT	0.033,273.07,1
CP_FREE	15953985536.000000	GPS	080917,035511,7528.018,-15114.754,40,0.7,41,20.7,0.5,268.1,12,10.0
PM_FREEKB_00	49780544

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.75	nil	0	0	0.00
Roll_motor	83	2141	2198.57	nil	0	0	0.00
VBD_pump_during_apogee	957	1455	17082.75	nil	0	0	0.00
VBD_pump_during_surface	52	207	133.31	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	5361	14	973.99
Iridium_during_xfer	163	135	271.59	NCP	9000	20	2206.80
Transponder_ping	6	420	30.90	PMAR	8972	9	1082.48
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.10
TT8	0	0	0.00
LPSleep	6408	2	179.72
TT8_Active	884	13	149.92
TT8_Sampling	1917	33	778.42
TT8_CF8	230	38	108.42
TT8_Kalman	0	0	0.00
Analog_circuits	1914	10	232.40
GPS_charging	0	0	0.00
Compass	1152	7	97.96
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	185	2176	506	490	0.0	0.0	0	143	0.00	0.00	-91.25	0.000	16386	0.000	0.000	181	2176	2148	2082	2215	0	0	0	0	0	0	14.57	28.83	14.59
146	-0.57	-145.9	182	2176	2086	2215	3.7	-5.1	9	204	12.98	2.85	-36.58	0.000	18724	0.456	2.141	2375	3575	3965	3949	3982	1	0	0	0	0	0	13.48	12.55	14.14
324	-0.71	-145.9	2375	3578	3954	3984	41.6	-13.5	44	330	0.00	2.30	0.00	0.000	1158	0.000	0.059	2375	2217	3967	3953	3982	0	0	0	0	0	0	14.34	14.21	14.38
629	-0.82	-145.9	2376	2216	3956	3983	83.0	-11.0	75	630	0.20	0.00	0.00	0.000	4230	0.108	0.000	2297	2216	3966	3954	3978	0	0	0	0	0	0	14.34	14.46	14.43
949	-0.84	-145.9	2296	2217	3954	3983	132.7	-14.4	93	954	0.00	2.40	0.00	0.000	388	0.000	0.086	2288	3586	3968	3954	3982	0	0	0	0	0	0	14.74	14.21	14.76
1009	-0.97	-145.9	2289	3588	3955	3983	140.7	-12.1	105	1014	0.00	2.33	0.00	0.000	1158	0.000	0.057	2288	2202	3968	3954	3982	0	0	0	0	0	0	14.40	14.27	14.44
1339	-1.02	-145.9	2288	2202	3956	3983	183.8	-12.6	121	1344	0.12	2.42	0.00	0.000	4484	0.138	0.083	2224	3587	3968	3954	3982	0	0	0	0	0	0	14.38	14.21	14.41
1389	-1.02	-145.9	2225	3588	3955	3981	191.6	-15.9	131	1394	0.00	2.35	0.00	0.000	1030	0.000	0.059	2224	2190	3968	3954	3982	0	0	0	0	0	0	14.40	14.27	14.45
1700	-0.97	-145.9	2224	2190	3955	3982	246.0	-16.6	143	1705	0.15	2.45	0.00	0.000	2436	0.292	0.082	2250	3593	3968	3954	3982	0	0	0	0	0	0	13.93	14.21	14.10
1797	-1.07	-145.9	2250	3595	3955	3983	258.3	-11.6	162	1801	0.00	2.35	0.00	0.000	1158	0.000	0.057	2250	2196	3968	3954	3982	0	0	0	0	0	0	14.40	14.26	14.45
2122	-1.11	-145.9	2250	2196	3955	3983	297.4	-11.4	177	2126	0.00	2.42	0.00	0.000	388	0.000	0.087	2241	3581	3968	3955	3982	0	0	0	0	0	0	14.73	14.19	14.76
2162	-1.20	-145.9	2241	3583	3955	3983	302.0	-11.1	185	2167	0.15	2.35	0.00	0.000	5254	0.125	0.057	2182	2192	3968	3954	3982	0	0	0	0	0	0	14.26	14.18	14.39
2482	-1.12	-145.9	2183	2190	3955	3982	356.3	-17.1	199	2487	0.12	2.45	0.00	0.000	2436	0.308	0.083	2201	3592	3968	3954	3982	0	0	0	0	0	0	13.93	14.20	14.11
2590	-1.15	-145.9	2202	3593	3955	3983	371.1	-13.0	220	2595	0.00	2.35	0.00	0.000	1158	0.000	0.057	2201	2194	3968	3954	3982	0	0	0	0	0	0	14.39	14.26	14.43
2905	-1.12	-145.9	2201	2194	3955	3982	416.4	-14.2	233	2910	0.00	2.45	0.00	0.000	388	0.000	0.086	2194	3587	3968	3954	3982	0	0	0	0	0	0	14.73	14.19	14.75
2971	-1.15	-145.9	2194	3588	3955	3982	425.5	-13.3	246	2975	0.00	2.35	0.00	0.000	1158	0.000	0.055	2194	2199	3968	3954	3982	0	0	0	0	0	0	14.33	14.17	14.33
3296	-1.12	-145.9	2195	2199	3952	3983	472.7	-14.5	261	3301	0.00	2.42	0.00	0.000	388	0.000	0.085	2185	3586	3968	3954	3982	0	0	0	0	0	0	14.75	14.19	14.76
3344	end dive: TARGET_DEPTH_EXCEEDED
state	3344	begin apogee
3352	-0.13	0.0	2186	2089	3955	3982	480.1	-14.4	271	3597	1.38	0.00	241.60	1.386	10246	0.243	0.000	2530	2088	3365	3381	3350	0	0	0	0	0	0	13.85	13.50	12.68
3601	end apogee: CONTROL_FINISHED_OK
state	3601	begin climb
3603	0.57	145.9	2531	2088	3377	3344	494.1	0.0	279	3824	0.75	2.67	214.10	1.356	10500	0.060	0.071	2784	3485	2763	2799	2727	0	0	0	0	0	0	13.64	12.90	12.26
4026	0.08	145.9	2784	3485	2778	2720	479.0	15.5	367	4032	0.90	2.42	0.00	0.000	5254	0.347	0.057	2613	2097	2748	2777	2719	0	0	0	0	0	0	13.38	13.78	13.76
4337	0.01	201.8	2613	2097	2779	2718	454.6	7.4	379	4429	0.12	2.53	84.15	1.360	12964	0.290	0.084	2589	685	2533	2584	2482	0	0	0	0	0	0	13.87	13.65	13.03
4479	0.09	248.0	2589	686	2580	2477	444.4	7.9	407	4556	0.00	2.47	72.18	1.336	9382	0.000	0.080	2596	2081	2353	2406	2300	0	0	0	0	0	0	14.09	13.96	12.93
4882	0.15	279.3	2589	2081	2387	2276	410.4	8.6	437	4930	0.12	0.00	46.17	1.369	10406	0.134	0.000	2649	2081	2225	2276	2174	0	0	0	0	0	0	14.26	13.99	13.16
5212	0.10	279.3	2649	2081	2260	2155	368.8	12.7	448	5213	0.15	0.00	0.00	0.000	4230	0.239	0.000	2616	2081	2206	2258	2154	0	0	0	0	0	0	14.01	14.31	14.26
5512	0.10	280.7	2616	2086	2258	2154	338.5	9.9	458	5516	0.00	2.45	0.00	0.000	548	0.000	0.088	2615	687	2205	2258	2152	0	0	0	0	0	0	14.65	14.21	14.66
5582	0.19	298.3	2617	685	2257	2153	331.9	9.2	472	5612	0.00	2.45	24.60	1.419	9382	0.000	0.078	2616	2101	2147	2196	2098	0	0	0	0	0	0	14.32	14.19	13.29
5935	0.23	312.4	2616	2103	2186	2084	298.4	9.3	492	5956	0.12	0.00	19.52	1.455	10406	0.128	0.000	2677	2103	2091	2139	2044	0	0	0	0	0	0	14.35	14.16	13.31
6233	0.17	312.4	2677	2104	2126	2030	258.8	13.2	502	6238	0.15	2.47	0.00	0.000	4740	0.248	0.084	2644	687	2076	2125	2028	0	0	0	0	0	0	14.02	14.19	14.18
6330	0.24	328.3	2644	688	2123	2029	249.2	9.3	521	6359	0.00	2.45	22.60	1.413	9382	0.000	0.079	2644	2101	2023	2070	1977	0	0	0	0	0	0	14.36	14.21	13.29
6686	0.30	362.6	2645	2102	2060	1965	217.8	8.4	542	6750	0.00	2.50	58.88	1.306	8612	0.000	0.081	2644	3511	1881	1915	1847	0	0	0	0	0	0	14.62	13.80	13.21
6778	0.36	366.5	2645	3511	1903	1845	209.9	9.8	560	6784	0.17	2.42	0.00	0.000	3238	0.103	0.064	2708	2102	1872	1901	1844	0	0	0	0	0	0	14.07	14.07	14.14
7109	0.31	366.5	2709	2102	1900	1837	169.4	11.8	576	7115	0.00	2.47	0.00	0.000	644	0.000	0.089	2710	692	1867	1898	1837	0	0	0	0	0	0	14.59	14.17	14.61
7275	0.31	366.5	2708	693	1895	1837	151.8	10.5	609	7280	0.00	2.45	0.00	0.000	1030	0.000	0.078	2710	2101	1865	1894	1837	0	0	0	0	0	0	14.35	14.21	14.38
7590	0.28	366.8	2709	2102	1894	1835	119.3	10.0	622	7595	0.12	2.47	0.00	0.000	4516	0.231	0.080	2677	3519	1864	1894	1834	0	0	0	0	0	0	14.03	14.16	14.12
7646	0.34	391.7	2678	3519	1894	1834	114.3	8.8	633	7696	0.00	2.42	45.75	1.284	9382	0.000	0.062	2681	2098	1768	1793	1744	0	0	0	0	0	0	14.34	14.22	13.30
8001	0.46	465.1	2680	2099	1778	1726	87.7	6.6	667	8049	0.12	2.53	40.10	0.455	10916	0.132	0.089	2742	694	1467	1504	1430	0	0	0	0	0	0	14.21	14.06	13.65
8249	0.57	517.8	2743	694	1507	1432	65.0	7.6	716	8288	0.00	2.47	30.60	0.386	9382	0.000	0.077	2742	2102	1254	1310	1199	0	0	0	0	0	0	14.22	14.09	13.66
8584	0.75	617.4	2743	2101	1311	1206	42.4	5.4	753	8649	0.22	2.55	57.38	0.319	10660	0.098	0.080	2833	3513	848	917	780	0	0	0	0	0	0	14.20	13.97	13.73
8699	0.75	617.4	2833	3514	918	786	29.7	12.4	775	8704	0.00	2.45	0.00	0.000	1030	0.000	0.066	2840	2096	851	917	786	0	0	0	0	0	0	14.16	14.03	14.21
8987	end climb: SURFACE_DEPTH_REACHED
state	8987	begin surface coast
8997	end surface coast: CONTROL_FINISHED_OK
state	8997	begin surface