Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 280 * 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 280 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 781.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 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 781.0 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 61 VBD_MIN 500

DIVE 280 NOCOMM_ACTION 161 R_STBD_OVSHOOT 53 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 080917,091819,7530.2935,-15112.7275,14,0.7,36,20.7,0.7,280.0,11,4.8 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 351.8,23726,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 080917,092830,7530.2998,-15112.7285,5,0.8,10,20.7,0.0,0.0,10,9.5

Post-dive calculations and measurements:

FINISH 0.6,1.021566 _24V_AH 12.28,176.646

SM_CCo 9091,32.50,0.208,0,0,500,702.78 _10V_AH 12.14,0.000

SM_GC 1.47,8.23,0.15,32.50,0.075,0.116,0.208,199,2227,500,-7.37,-0.90,702.78,0,0,0,0,0,0,14.21,14.20,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 11 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7533.95,-15220.51,080917,064604 DATA_FILE_SIZE 26729,789

TT8_MAMPS 0.093625,0.87633 CAP_FILE_SIZE 101214,0

HUMID 46.77 CFSIZE 2097872896,2006089728

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 1448.6

XPDR_PINGS 11 CURRENT 0.048,277.83,1

CP_FREE 15952674816.000000 GPS 080917,120231,7531.453,-15111.241,22,0.7,38,20.7,0.6,332.8,10,7.1

PM_FREEKB_00 49698944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.61 nil 0 0 0.00

Roll_motor 78 2132 2062.54 nil 0 0 0.00

VBD_pump_during_apogee 991 1464 17832.16 nil 0 0 0.00

VBD_pump_during_surface 32 208 83.04 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 9052 14 1624.58

Iridium_during_xfer 350 177 763.46 NCP 9076 20 2229.07

Transponder_ping 2 420 14.18 PMAR 9043 9 1094.71

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.10

TT8 0 0 0.00

LPSleep 6456 2 181.05

TT8_Active 905 13 153.51

TT8_Sampling 2097 33 851.69

TT8_CF8 291 38 136.82

TT8_Kalman 0 0 0.00

Analog_circuits 2116 10 256.93

GPS_charging 0 0 0.00

Compass 1130 7 96.06

RAFOS 2216 48 1291.31

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 49 begin dive

52 -0.57 -145.9 181 2238 504 495 0.0 0.0 0 144 0.00 0.00 -91.12 0.000 16386 0.000 0.000 173 2236 2145 2075 2216 0 0 0 0 0 0 14.51 28.83 14.52

147 -0.57 -145.9 178 2237 2077 2218 3.6 -4.8 9 205 13.02 2.72 -36.60 0.000 18724 0.455 2.133 2373 3575 3961 3945 3978 1 0 0 0 0 0 13.37 12.60 14.09

305 -0.73 -145.9 2376 3578 3950 3977 38.2 -13.3 40 312 0.00 2.30 0.00 0.000 1158 0.000 0.059 2380 2228 3964 3950 3978 0 0 0 0 0 0 14.26 14.11 14.28

610 -0.83 -145.9 2376 2228 3952 3978 81.7 -11.5 71 615 0.17 2.53 0.00 0.000 4740 0.118 0.082 2301 795 3964 3950 3978 0 0 0 0 0 0 14.16 14.02 14.23

645 -0.83 -145.9 2301 795 3951 3978 87.1 -16.4 78 651 0.00 2.45 0.00 0.000 1030 0.000 0.087 2293 2172 3964 3951 3978 0 0 0 0 0 0 14.08 13.94 14.10

970 -0.86 -145.9 2295 2173 3952 3978 137.8 -14.4 95 975 0.00 2.55 0.00 0.000 388 0.000 0.091 2293 3614 3964 3951 3978 0 0 0 0 0 0 14.66 14.09 14.66

1107 -0.99 -145.9 2293 3614 3952 3978 153.9 -11.3 122 1112 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2199 3964 3951 3978 0 0 0 0 0 0 14.34 14.21 14.38

1422 -1.05 -145.9 2293 2198 3950 3978 193.1 -12.0 135 1427 0.15 2.50 0.00 0.000 4484 0.122 0.085 2222 3616 3964 3950 3978 0 0 0 0 0 0 14.21 14.11 14.24

1498 -1.05 -145.9 2223 3614 3952 3978 204.7 -15.8 150 1502 0.00 2.40 0.00 0.000 1030 0.000 0.058 2222 2195 3964 3951 3978 0 0 0 0 0 0 14.33 14.20 14.37

1813 -1.01 -145.9 2222 2199 3951 3980 258.7 -16.4 163 1818 0.12 2.50 0.00 0.000 2436 0.297 0.085 2242 3614 3964 3951 3978 0 0 0 0 0 0 13.87 14.14 14.02

1878 -1.09 -145.9 2241 3615 3952 3978 267.3 -11.9 176 1884 0.00 2.40 0.00 0.000 1158 0.000 0.057 2241 2203 3964 3951 3978 0 0 0 0 0 0 14.33 14.20 14.37

2204 -1.13 -145.9 2242 2202 3951 3979 308.2 -12.1 191 2209 0.00 2.50 0.00 0.000 388 0.000 0.089 2236 3619 3964 3950 3978 0 0 0 0 0 0 14.66 14.14 14.67

2269 -1.24 -145.9 2236 3621 3951 3979 315.5 -10.6 204 2275 0.17 2.40 0.00 0.000 5254 0.114 0.058 2166 2201 3963 3950 3977 0 0 0 0 0 0 14.26 14.16 14.35

2596 -1.12 -145.9 2166 2199 3952 3978 374.1 -18.0 219 2601 0.20 2.50 0.00 0.000 2436 0.304 0.083 2201 3620 3963 3950 3977 0 0 0 0 0 0 13.78 14.16 14.00

2693 -1.16 -145.9 2202 3622 3952 3978 387.3 -12.5 238 2698 0.00 2.42 0.00 0.000 1158 0.000 0.057 2201 2202 3964 3950 3978 0 0 0 0 0 0 13.40 13.41 13.74

3018 -1.14 -145.9 2201 2202 3951 3979 432.8 -13.9 253 3023 0.00 2.50 0.00 0.000 388 0.000 0.086 2192 3622 3964 3950 3978 0 0 0 0 0 0 14.66 14.15 14.69

3123 -1.17 -145.9 2192 3622 3951 3978 447.0 -12.9 274 3128 0.00 2.42 0.00 0.000 1158 0.000 0.058 2192 2188 3963 3949 3978 0 0 0 0 0 0 14.33 14.21 14.38

3376 end dive: TARGET_DEPTH_EXCEEDED

state 3376 begin apogee

3382 -0.13 0.0 2193 2055 3950 3978 483.4 -14.3 285 3620 1.35 0.08 229.80 1.407 10246 0.239 0.110 2527 2123 3357 3376 3338 0 0 0 0 0 0 13.67 13.26 12.66

3624 end apogee: CONTROL_FINISHED_OK

state 3624 begin climb

3627 0.57 145.9 2528 2120 3375 3335 496.7 0.0 293 3846 0.75 2.67 213.32 1.359 10756 0.060 0.080 2781 736 2764 2803 2725 0 0 0 0 0 0 13.65 12.90 12.28

4073 0.18 145.9 2782 736 2791 2715 480.0 13.7 384 4079 0.65 2.45 0.00 0.000 5254 0.324 0.075 2647 2092 2751 2788 2714 0 0 0 0 0 0 13.42 13.80 13.81

4400 0.02 169.8 2647 2093 2792 2709 449.9 8.9 399 4436 0.20 2.38 30.50 1.464 12964 0.264 0.082 2602 733 2668 2711 2625 0 0 0 0 0 0 13.86 14.02 13.19

4504 0.06 223.5 2603 733 2708 2614 442.2 7.5 419 4593 0.00 2.40 83.20 1.349 9254 0.000 0.078 2602 2103 2452 2509 2395 0 0 0 0 0 0 14.26 14.13 13.02

4913 0.07 245.8 2603 2107 2495 2374 406.0 9.0 451 4950 0.00 2.42 31.05 1.424 8740 0.000 0.085 2602 726 2358 2411 2305 0 0 0 0 0 0 14.55 14.09 13.22

4986 0.16 273.8 2602 721 2411 2301 399.6 8.7 460 5037 0.00 2.40 43.40 1.372 9382 0.000 0.078 2602 2103 2242 2298 2187 0 0 0 0 0 0 14.23 14.11 13.10

5338 0.21 295.5 2602 2104 2289 2172 368.0 9.0 480 5368 0.15 0.00 29.10 1.418 10406 0.116 0.000 2671 2102 2161 2212 2111 0 0 0 0 0 0 14.28 13.70 13.19

5666 0.13 295.5 2672 2103 2197 2094 323.1 13.7 491 5671 0.17 2.40 0.00 0.000 4740 0.249 0.082 2633 733 2145 2196 2094 0 0 0 0 0 0 14.00 14.21 14.12

5721 0.19 295.5 2634 733 2197 2095 317.0 10.0 502 5727 0.00 2.38 0.00 0.000 1158 0.000 0.079 2634 2099 2144 2195 2094 0 0 0 0 0 0 14.18 14.02 14.19

6026 0.19 295.5 2634 2100 2195 2093 285.6 10.1 513 6031 0.00 2.40 0.00 0.000 516 0.000 0.084 2636 732 2143 2193 2093 0 0 0 0 0 0 14.66 14.23 14.69

6076 0.26 302.0 2634 732 2194 2094 280.7 9.7 523 6081 0.00 2.38 1.35 0.254 9382 0.000 0.078 2633 2104 2132 2182 2083 0 0 0 0 0 0 14.38 14.25 14.00

6386 0.27 317.2 2634 2105 2191 2087 250.7 9.3 535 6421 0.00 0.00 33.70 1.376 8230 0.000 0.000 2633 2105 2072 2121 2023 0 0 0 0 0 0 14.69 14.14 13.30

6717 0.34 357.8 2634 2105 2107 2008 223.0 8.1 546 6797 0.15 2.47 72.57 1.268 10916 0.114 0.086 2703 732 1898 1936 1860 0 0 0 0 0 0 14.28 13.95 13.21

6902 0.34 357.8 2704 733 1920 1864 201.3 11.7 583 6907 0.00 2.42 0.00 0.000 1030 0.000 0.076 2703 2103 1891 1920 1862 0 0 0 0 0 0 14.21 14.09 14.26

7227 0.29 357.8 2704 2106 1920 1856 164.9 11.1 598 7228 0.00 0.00 0.00 0.000 134 0.000 0.000 2703 2105 1887 1919 1855 0 0 0 0 0 0 14.59 14.62 14.61

7527 0.26 357.8 2703 2105 1920 1854 133.3 10.2 608 7534 0.12 2.42 0.00 0.000 4740 0.235 0.083 2672 729 1885 1918 1853 0 0 0 0 0 0 14.03 14.14 14.15

7584 0.39 407.4 2672 729 1916 1855 128.5 7.7 619 7680 0.10 2.40 87.78 1.206 11430 0.153 0.079 2714 2105 1699 1721 1677 0 0 0 0 0 0 14.20 14.17 13.21

7979 0.41 438.1 2715 2106 1719 1658 90.4 8.6 654 8000 0.00 0.00 15.82 0.454 8742 0.000 0.000 2714 2105 1579 1611 1548 0 0 0 0 0 0 14.52 13.93 13.60

8299 0.51 510.8 2715 2106 1617 1551 64.9 6.6 687 8342 0.00 0.00 41.67 0.392 8870 0.000 0.000 2712 2104 1280 1334 1226 0 0 0 0 0 0 14.57 14.13 13.71

8639 0.77 628.0 2713 2106 1335 1232 45.7 4.6 722 8713 0.32 2.47 65.18 0.329 10916 0.086 0.088 2850 730 805 875 736 0 0 0 0 0 0 14.23 13.93 13.76

8873 0.82 649.4 2850 730 877 739 21.1 9.0 768 8895 0.00 2.40 13.30 0.263 9382 0.000 0.076 2849 2105 716 780 652 0 0 0 0 0 0 14.22 14.11 13.78

9060 end climb: SURFACE_DEPTH_REACHED

state 9060 begin surface coast

9070 end surface coast: CONTROL_FINISHED_OK

state 9070 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	280	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	781.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	080917,091819,7530.2935,-15112.7275,14,0.7,36,20.7,0.7,280.0,11,4.8	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	351.8,23726,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	080917,092830,7530.2998,-15112.7285,5,0.8,10,20.7,0.0,0.0,10,9.5

FINISH	0.6,1.021566	_24V_AH	12.28,176.646
SM_CCo	9091,32.50,0.208,0,0,500,702.78	_10V_AH	12.14,0.000
SM_GC	1.47,8.23,0.15,32.50,0.075,0.116,0.208,199,2227,500,-7.37,-0.90,702.78,0,0,0,0,0,0,14.21,14.20,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	11	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323680
IRIDIUM_FIX	7533.95,-15220.51,080917,064604	DATA_FILE_SIZE	26729,789
TT8_MAMPS	0.093625,0.87633	CAP_FILE_SIZE	101214,0
HUMID	46.77	CFSIZE	2097872896,2006089728
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	1448.6
XPDR_PINGS	11	CURRENT	0.048,277.83,1
CP_FREE	15952674816.000000	GPS	080917,120231,7531.453,-15111.241,22,0.7,38,20.7,0.6,332.8,10,7.1
PM_FREEKB_00	49698944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.61	nil	0	0	0.00
Roll_motor	78	2132	2062.54	nil	0	0	0.00
VBD_pump_during_apogee	991	1464	17832.16	nil	0	0	0.00
VBD_pump_during_surface	32	208	83.04	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	9052	14	1624.58
Iridium_during_xfer	350	177	763.46	NCP	9076	20	2229.07
Transponder_ping	2	420	14.18	PMAR	9043	9	1094.71
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.10
TT8	0	0	0.00
LPSleep	6456	2	181.05
TT8_Active	905	13	153.51
TT8_Sampling	2097	33	851.69
TT8_CF8	291	38	136.82
TT8_Kalman	0	0	0.00
Analog_circuits	2116	10	256.93
GPS_charging	0	0	0.00
Compass	1130	7	96.06
RAFOS	2216	48	1291.31
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	49	begin dive
52	-0.57	-145.9	181	2238	504	495	0.0	0.0	0	144	0.00	0.00	-91.12	0.000	16386	0.000	0.000	173	2236	2145	2075	2216	0	0	0	0	0	0	14.51	28.83	14.52
147	-0.57	-145.9	178	2237	2077	2218	3.6	-4.8	9	205	13.02	2.72	-36.60	0.000	18724	0.455	2.133	2373	3575	3961	3945	3978	1	0	0	0	0	0	13.37	12.60	14.09
305	-0.73	-145.9	2376	3578	3950	3977	38.2	-13.3	40	312	0.00	2.30	0.00	0.000	1158	0.000	0.059	2380	2228	3964	3950	3978	0	0	0	0	0	0	14.26	14.11	14.28
610	-0.83	-145.9	2376	2228	3952	3978	81.7	-11.5	71	615	0.17	2.53	0.00	0.000	4740	0.118	0.082	2301	795	3964	3950	3978	0	0	0	0	0	0	14.16	14.02	14.23
645	-0.83	-145.9	2301	795	3951	3978	87.1	-16.4	78	651	0.00	2.45	0.00	0.000	1030	0.000	0.087	2293	2172	3964	3951	3978	0	0	0	0	0	0	14.08	13.94	14.10
970	-0.86	-145.9	2295	2173	3952	3978	137.8	-14.4	95	975	0.00	2.55	0.00	0.000	388	0.000	0.091	2293	3614	3964	3951	3978	0	0	0	0	0	0	14.66	14.09	14.66
1107	-0.99	-145.9	2293	3614	3952	3978	153.9	-11.3	122	1112	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2199	3964	3951	3978	0	0	0	0	0	0	14.34	14.21	14.38
1422	-1.05	-145.9	2293	2198	3950	3978	193.1	-12.0	135	1427	0.15	2.50	0.00	0.000	4484	0.122	0.085	2222	3616	3964	3950	3978	0	0	0	0	0	0	14.21	14.11	14.24
1498	-1.05	-145.9	2223	3614	3952	3978	204.7	-15.8	150	1502	0.00	2.40	0.00	0.000	1030	0.000	0.058	2222	2195	3964	3951	3978	0	0	0	0	0	0	14.33	14.20	14.37
1813	-1.01	-145.9	2222	2199	3951	3980	258.7	-16.4	163	1818	0.12	2.50	0.00	0.000	2436	0.297	0.085	2242	3614	3964	3951	3978	0	0	0	0	0	0	13.87	14.14	14.02
1878	-1.09	-145.9	2241	3615	3952	3978	267.3	-11.9	176	1884	0.00	2.40	0.00	0.000	1158	0.000	0.057	2241	2203	3964	3951	3978	0	0	0	0	0	0	14.33	14.20	14.37
2204	-1.13	-145.9	2242	2202	3951	3979	308.2	-12.1	191	2209	0.00	2.50	0.00	0.000	388	0.000	0.089	2236	3619	3964	3950	3978	0	0	0	0	0	0	14.66	14.14	14.67
2269	-1.24	-145.9	2236	3621	3951	3979	315.5	-10.6	204	2275	0.17	2.40	0.00	0.000	5254	0.114	0.058	2166	2201	3963	3950	3977	0	0	0	0	0	0	14.26	14.16	14.35
2596	-1.12	-145.9	2166	2199	3952	3978	374.1	-18.0	219	2601	0.20	2.50	0.00	0.000	2436	0.304	0.083	2201	3620	3963	3950	3977	0	0	0	0	0	0	13.78	14.16	14.00
2693	-1.16	-145.9	2202	3622	3952	3978	387.3	-12.5	238	2698	0.00	2.42	0.00	0.000	1158	0.000	0.057	2201	2202	3964	3950	3978	0	0	0	0	0	0	13.40	13.41	13.74
3018	-1.14	-145.9	2201	2202	3951	3979	432.8	-13.9	253	3023	0.00	2.50	0.00	0.000	388	0.000	0.086	2192	3622	3964	3950	3978	0	0	0	0	0	0	14.66	14.15	14.69
3123	-1.17	-145.9	2192	3622	3951	3978	447.0	-12.9	274	3128	0.00	2.42	0.00	0.000	1158	0.000	0.058	2192	2188	3963	3949	3978	0	0	0	0	0	0	14.33	14.21	14.38
3376	end dive: TARGET_DEPTH_EXCEEDED
state	3376	begin apogee
3382	-0.13	0.0	2193	2055	3950	3978	483.4	-14.3	285	3620	1.35	0.08	229.80	1.407	10246	0.239	0.110	2527	2123	3357	3376	3338	0	0	0	0	0	0	13.67	13.26	12.66
3624	end apogee: CONTROL_FINISHED_OK
state	3624	begin climb
3627	0.57	145.9	2528	2120	3375	3335	496.7	0.0	293	3846	0.75	2.67	213.32	1.359	10756	0.060	0.080	2781	736	2764	2803	2725	0	0	0	0	0	0	13.65	12.90	12.28
4073	0.18	145.9	2782	736	2791	2715	480.0	13.7	384	4079	0.65	2.45	0.00	0.000	5254	0.324	0.075	2647	2092	2751	2788	2714	0	0	0	0	0	0	13.42	13.80	13.81
4400	0.02	169.8	2647	2093	2792	2709	449.9	8.9	399	4436	0.20	2.38	30.50	1.464	12964	0.264	0.082	2602	733	2668	2711	2625	0	0	0	0	0	0	13.86	14.02	13.19
4504	0.06	223.5	2603	733	2708	2614	442.2	7.5	419	4593	0.00	2.40	83.20	1.349	9254	0.000	0.078	2602	2103	2452	2509	2395	0	0	0	0	0	0	14.26	14.13	13.02
4913	0.07	245.8	2603	2107	2495	2374	406.0	9.0	451	4950	0.00	2.42	31.05	1.424	8740	0.000	0.085	2602	726	2358	2411	2305	0	0	0	0	0	0	14.55	14.09	13.22
4986	0.16	273.8	2602	721	2411	2301	399.6	8.7	460	5037	0.00	2.40	43.40	1.372	9382	0.000	0.078	2602	2103	2242	2298	2187	0	0	0	0	0	0	14.23	14.11	13.10
5338	0.21	295.5	2602	2104	2289	2172	368.0	9.0	480	5368	0.15	0.00	29.10	1.418	10406	0.116	0.000	2671	2102	2161	2212	2111	0	0	0	0	0	0	14.28	13.70	13.19
5666	0.13	295.5	2672	2103	2197	2094	323.1	13.7	491	5671	0.17	2.40	0.00	0.000	4740	0.249	0.082	2633	733	2145	2196	2094	0	0	0	0	0	0	14.00	14.21	14.12
5721	0.19	295.5	2634	733	2197	2095	317.0	10.0	502	5727	0.00	2.38	0.00	0.000	1158	0.000	0.079	2634	2099	2144	2195	2094	0	0	0	0	0	0	14.18	14.02	14.19
6026	0.19	295.5	2634	2100	2195	2093	285.6	10.1	513	6031	0.00	2.40	0.00	0.000	516	0.000	0.084	2636	732	2143	2193	2093	0	0	0	0	0	0	14.66	14.23	14.69
6076	0.26	302.0	2634	732	2194	2094	280.7	9.7	523	6081	0.00	2.38	1.35	0.254	9382	0.000	0.078	2633	2104	2132	2182	2083	0	0	0	0	0	0	14.38	14.25	14.00
6386	0.27	317.2	2634	2105	2191	2087	250.7	9.3	535	6421	0.00	0.00	33.70	1.376	8230	0.000	0.000	2633	2105	2072	2121	2023	0	0	0	0	0	0	14.69	14.14	13.30
6717	0.34	357.8	2634	2105	2107	2008	223.0	8.1	546	6797	0.15	2.47	72.57	1.268	10916	0.114	0.086	2703	732	1898	1936	1860	0	0	0	0	0	0	14.28	13.95	13.21
6902	0.34	357.8	2704	733	1920	1864	201.3	11.7	583	6907	0.00	2.42	0.00	0.000	1030	0.000	0.076	2703	2103	1891	1920	1862	0	0	0	0	0	0	14.21	14.09	14.26
7227	0.29	357.8	2704	2106	1920	1856	164.9	11.1	598	7228	0.00	0.00	0.00	0.000	134	0.000	0.000	2703	2105	1887	1919	1855	0	0	0	0	0	0	14.59	14.62	14.61
7527	0.26	357.8	2703	2105	1920	1854	133.3	10.2	608	7534	0.12	2.42	0.00	0.000	4740	0.235	0.083	2672	729	1885	1918	1853	0	0	0	0	0	0	14.03	14.14	14.15
7584	0.39	407.4	2672	729	1916	1855	128.5	7.7	619	7680	0.10	2.40	87.78	1.206	11430	0.153	0.079	2714	2105	1699	1721	1677	0	0	0	0	0	0	14.20	14.17	13.21
7979	0.41	438.1	2715	2106	1719	1658	90.4	8.6	654	8000	0.00	0.00	15.82	0.454	8742	0.000	0.000	2714	2105	1579	1611	1548	0	0	0	0	0	0	14.52	13.93	13.60
8299	0.51	510.8	2715	2106	1617	1551	64.9	6.6	687	8342	0.00	0.00	41.67	0.392	8870	0.000	0.000	2712	2104	1280	1334	1226	0	0	0	0	0	0	14.57	14.13	13.71
8639	0.77	628.0	2713	2106	1335	1232	45.7	4.6	722	8713	0.32	2.47	65.18	0.329	10916	0.086	0.088	2850	730	805	875	736	0	0	0	0	0	0	14.23	13.93	13.76
8873	0.82	649.4	2850	730	877	739	21.1	9.0	768	8895	0.00	2.40	13.30	0.263	9382	0.000	0.076	2849	2105	716	780	652	0	0	0	0	0	0	14.22	14.11	13.78
9060	end climb: SURFACE_DEPTH_REACHED
state	9060	begin surface coast
9070	end surface coast: CONTROL_FINISHED_OK
state	9070	begin surface