Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 286 * 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 286 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 796.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 796.0 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 25 VBD_MIN 500

DIVE 286 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 090917,012300,7537.5166,-15106.4893,16,0.7,19,20.8,0.2,126.1,11,8.7 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 1.22 MHEAD_RNG_PITCHd_Wd 335.6,10560,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 090917,013219,7537.4932,-15106.4043,5,0.7,40,20.8,0.0,0.0,11,8.7

Post-dive calculations and measurements:

FINISH 0.3,1.021587 _24V_AH 12.26,179.393

SM_CCo 8962,24.55,0.210,0,0,499,702.78 _10V_AH 12.16,0.000

SM_GC 1.25,8.18,0.20,24.55,0.060,0.091,0.210,199,2245,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.22,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 15 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7539.58,-15110.21,080917,224809 DATA_FILE_SIZE 26751,814

TT8_MAMPS 0.083888,1.06733 CAP_FILE_SIZE 104347,0

HUMID 46.77 CFSIZE 2097872896,2004779008

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

TCM_TEMP 13.20 SOUNDSPEED 1446.6

XPDR_PINGS 24 CURRENT 0.032,275.92,1

CP_FREE 0.000000 GPS 090917,040342,7538.661,-15106.417,15,0.8,18,20.8,0.6,97.4,11,9.6

PM_FREEKB_00 49514752

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.65 nil 0 0 0.00

Roll_motor 89 2142 2352.32 nil 0 0 0.00

VBD_pump_during_apogee 951 1526 17799.22 nil 0 0 0.00

VBD_pump_during_surface 24 209 63.09 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 5251 14 953.81

Iridium_during_xfer 305 156 585.32 NCP 8945 20 2193.31

Transponder_ping 6 420 30.90 PMAR 8913 9 1080.17

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.46

TT8 0 0 0.00

LPSleep 6278 2 176.36

TT8_Active 849 13 144.24

TT8_Sampling 2145 33 872.29

TT8_CF8 291 38 137.29

TT8_Kalman 0 0 0.00

Analog_circuits 2034 10 247.41

GPS_charging 0 0 0.00

Compass 1164 7 99.08

RAFOS 2213 48 1291.68

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 195 2231 497 490 0.0 0.0 0 144 0.00 0.00 -91.15 0.000 16386 0.000 0.000 194 2230 2121 2051 2192 0 0 0 0 0 0 14.57 28.83 14.59

147 -0.57 -145.9 194 2232 2055 2194 3.3 -4.4 9 205 12.85 2.88 -38.42 0.000 18980 0.455 2.142 2384 792 3964 3949 3980 0 0 0 0 0 0 13.62 12.53 14.13

262 -0.69 -145.9 2384 792 3955 3980 32.0 -15.1 31 267 0.00 2.47 0.00 0.000 1158 0.000 0.088 2383 2186 3966 3954 3979 0 0 0 0 0 0 14.31 14.16 14.35

573 -0.81 -145.9 2385 2188 3956 3979 76.1 -11.2 63 578 0.17 2.50 0.00 0.000 4484 0.115 0.087 2305 3609 3967 3955 3979 0 0 0 0 0 0 14.23 14.18 14.30

685 -0.92 -145.9 2305 3611 3956 3979 90.9 -12.5 85 690 0.00 2.38 0.00 0.000 1158 0.000 0.059 2305 2202 3967 3955 3979 0 0 0 0 0 0 14.38 14.24 14.42

995 -0.96 -145.9 2305 2202 3956 3980 133.8 -12.9 101 1000 0.12 2.47 0.00 0.000 4484 0.137 0.085 2241 3613 3968 3958 3979 0 0 0 0 0 0 14.38 14.20 14.40

1060 -0.96 -145.9 2241 3615 3956 3980 144.2 -16.1 114 1065 0.00 2.40 0.00 0.000 1030 0.000 0.059 2241 2196 3967 3955 3979 0 0 0 0 0 0 14.39 14.25 14.42

1386 -0.92 -145.9 2242 2195 3956 3979 201.6 -17.0 129 1391 0.15 2.47 0.00 0.000 2436 0.289 0.082 2266 3613 3967 3956 3979 0 0 0 0 0 0 13.95 14.21 14.12

1478 -1.03 -145.9 2267 3614 3956 3979 213.0 -11.4 147 1482 0.00 2.40 0.00 0.000 1158 0.000 0.057 2266 2186 3967 3955 3979 0 0 0 0 0 0 14.39 14.26 14.43

1808 -1.08 -145.9 2266 2185 3956 3980 253.4 -11.7 163 1813 0.00 2.50 0.00 0.000 388 0.000 0.087 2256 3613 3966 3954 3979 0 0 0 0 0 0 14.73 14.20 14.73

1838 -1.17 -145.9 2256 3615 3956 3980 256.9 -11.7 169 1843 0.17 2.38 0.00 0.000 5254 0.112 0.057 2186 2201 3967 3955 3979 0 0 0 0 0 0 14.31 14.26 14.42

2168 -1.07 -145.9 2187 2200 3956 3980 314.3 -17.2 185 2174 0.17 2.47 0.00 0.000 2436 0.292 0.084 2218 3614 3967 3955 3979 0 0 0 0 0 0 13.88 14.20 14.07

2296 -1.15 -145.9 2219 3617 3956 3979 330.2 -11.5 210 2300 0.00 2.40 0.00 0.000 1158 0.000 0.056 2218 2195 3966 3955 3977 0 0 0 0 0 0 14.30 14.17 14.34

2621 -1.15 -145.9 2218 2195 3955 3980 371.6 -12.6 225 2625 0.00 2.50 0.00 0.000 260 0.000 0.086 2210 3614 3967 3955 3979 0 0 0 0 0 0 14.74 14.19 14.78

2706 -1.21 -145.9 2211 3616 3955 3979 382.0 -11.7 242 2712 0.00 2.40 0.00 0.000 1158 0.000 0.057 2210 2191 3967 3955 3979 0 0 0 0 0 0 14.39 14.26 14.42

3011 -1.21 -145.9 2210 2192 3955 3979 421.0 -12.8 253 3015 0.00 2.50 0.00 0.000 260 0.000 0.088 2209 3613 3967 3955 3979 0 0 0 0 0 0 14.76 14.15 14.78

3086 -1.28 -145.9 2210 3613 3955 3979 430.2 -11.7 268 3092 0.12 2.38 0.00 0.000 5254 0.135 0.056 2158 2198 3966 3954 3978 0 0 0 0 0 0 14.21 14.19 14.33

3369 end dive: TARGET_DEPTH_EXCEEDED

state 3370 begin apogee

3376 -0.13 0.0 2159 2054 3955 3979 480.4 -18.0 280 3598 1.55 0.10 218.23 1.435 10246 0.272 0.158 2528 2119 3367 3380 3354 0 0 0 0 0 0 13.74 13.54 12.68

3601 end apogee: CONTROL_FINISHED_OK

state 3601 begin climb

3604 0.57 145.9 2529 2119 3374 3346 492.5 0.0 287 3820 0.75 2.62 211.73 1.376 11012 0.063 0.072 2781 3491 2765 2801 2730 0 0 0 0 0 0 13.69 12.83 12.26

4047 0.09 145.9 2782 3493 2780 2725 469.6 16.4 380 4054 0.85 2.38 0.00 0.000 5254 0.345 0.055 2618 2133 2752 2779 2725 0 0 0 0 0 0 13.45 13.83 13.83

4359 -0.00 185.7 2619 2132 2780 2723 442.6 8.2 392 4421 0.12 2.50 55.83 1.421 12708 0.293 0.081 2588 3498 2601 2642 2560 0 0 0 0 0 0 13.90 13.98 13.12

4648 -0.03 202.7 2589 3499 2634 2555 417.4 9.2 449 4677 0.00 2.38 22.08 1.526 9382 0.000 0.060 2589 2104 2534 2580 2489 0 0 0 0 0 0 14.27 14.12 13.18

4994 -0.01 234.1 2589 2104 2578 2478 388.2 8.6 468 5042 0.00 0.00 47.12 1.430 8230 0.000 0.000 2588 2105 2408 2455 2362 0 0 0 0 0 0 14.60 14.03 13.18

5322 0.05 264.2 2590 2104 2446 2352 359.5 8.6 479 5373 0.00 2.53 45.60 1.411 8868 0.000 0.089 2588 685 2281 2324 2239 0 0 0 0 0 0 14.59 13.78 13.17

5430 0.20 308.2 2589 685 2319 2236 350.6 8.0 500 5505 0.17 2.47 67.22 1.341 11430 0.106 0.080 2665 2092 2105 2148 2063 0 0 0 0 0 0 14.19 14.09 13.05

5803 0.14 308.2 2666 2092 2141 2048 300.4 13.4 525 5809 0.12 2.47 0.00 0.000 4740 0.253 0.083 2644 690 2094 2140 2048 0 0 0 0 0 0 13.93 13.63 14.08

5854 0.19 308.2 2644 693 2139 2048 294.4 11.1 535 5859 0.00 2.47 0.00 0.000 1158 0.000 0.078 2644 2111 2093 2138 2048 0 0 0 0 0 0 14.33 14.19 14.37

6164 0.19 308.2 2644 2113 2138 2046 260.0 10.9 547 6164 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2112 2092 2138 2046 0 0 0 0 0 0 14.65 14.69 14.66

6464 0.20 325.2 2644 2112 2139 2045 230.8 9.2 557 6495 0.00 2.53 22.45 1.437 8740 0.000 0.087 2644 688 2035 2078 1992 0 0 0 0 0 0 14.66 14.20 13.31

6567 0.32 366.3 2644 689 2074 1993 222.2 8.1 577 6640 0.12 2.47 68.30 1.298 11430 0.129 0.079 2695 2103 1871 1901 1842 0 0 0 0 0 0 14.21 14.15 13.16

6946 0.29 366.3 2696 2104 1889 1828 178.3 11.2 603 6950 0.00 2.50 0.00 0.000 644 0.000 0.088 2696 691 1858 1888 1828 0 0 0 0 0 0 14.58 13.98 14.59

6996 0.33 366.3 2695 691 1885 1829 173.1 10.1 613 7000 0.00 2.47 0.00 0.000 1158 0.000 0.079 2696 2101 1856 1884 1828 0 0 0 0 0 0 14.28 14.14 14.31

7306 0.33 366.3 2696 2103 1885 1826 140.8 10.3 625 7310 0.00 2.47 0.00 0.000 516 0.000 0.086 2695 694 1855 1884 1826 0 0 0 0 0 0 14.67 14.00 14.66

7361 0.38 377.4 2697 693 1883 1826 135.4 9.5 636 7377 0.00 2.45 11.12 1.486 9382 0.000 0.078 2696 2101 1829 1855 1803 0 0 0 0 0 0 14.26 14.14 13.28

7697 0.40 404.3 2696 2102 1851 1796 104.2 8.8 653 7748 0.00 2.50 44.08 1.290 8484 0.000 0.083 2696 3511 1713 1735 1691 0 0 0 0 0 0 14.62 14.12 13.28

7773 0.43 404.3 2696 3512 1731 1692 97.3 10.2 668 7780 0.00 2.42 0.00 0.000 1158 0.000 0.063 2698 2101 1710 1730 1690 0 0 0 0 0 0 14.21 14.10 14.24

8078 0.54 466.4 2699 2102 1730 1683 73.1 7.1 699 8116 0.15 2.50 32.55 0.419 10916 0.115 0.088 2772 689 1464 1498 1430 0 0 0 0 0 0 14.12 13.97 13.67

8271 0.57 504.5 2772 690 1491 1427 54.3 8.2 737 8298 0.00 2.47 20.70 0.364 9254 0.000 0.077 2772 2102 1306 1351 1261 0 0 0 0 0 0 14.17 14.05 13.72

8604 0.68 587.6 2773 2105 1352 1253 31.2 6.2 773 8656 0.00 2.53 44.60 0.291 8612 0.000 0.081 2772 3508 965 1032 899 0 0 0 0 0 0 14.57 14.06 13.71

8694 0.89 659.7 2771 3511 1035 904 25.3 6.7 790 8742 0.30 2.45 39.67 0.272 11430 0.083 0.067 2884 2094 671 725 617 0 0 0 0 0 0 14.16 14.06 13.74

8886 end climb: SURFACE_DEPTH_REACHED

state 8886 begin surface coast

8896 end surface coast: CONTROL_FINISHED_OK

state 8896 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	286	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	796.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,012300,7537.5166,-15106.4893,16,0.7,19,20.8,0.2,126.1,11,8.7	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	1.22	MHEAD_RNG_PITCHd_Wd	335.6,10560,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	090917,013219,7537.4932,-15106.4043,5,0.7,40,20.8,0.0,0.0,11,8.7

FINISH	0.3,1.021587	_24V_AH	12.26,179.393
SM_CCo	8962,24.55,0.210,0,0,499,702.78	_10V_AH	12.16,0.000
SM_GC	1.25,8.18,0.20,24.55,0.060,0.091,0.210,199,2245,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.22,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	15	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323680
IRIDIUM_FIX	7539.58,-15110.21,080917,224809	DATA_FILE_SIZE	26751,814
TT8_MAMPS	0.083888,1.06733	CAP_FILE_SIZE	104347,0
HUMID	46.77	CFSIZE	2097872896,2004779008
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1446.6
XPDR_PINGS	24	CURRENT	0.032,275.92,1
CP_FREE	0.000000	GPS	090917,040342,7538.661,-15106.417,15,0.8,18,20.8,0.6,97.4,11,9.6
PM_FREEKB_00	49514752

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.65	nil	0	0	0.00
Roll_motor	89	2142	2352.32	nil	0	0	0.00
VBD_pump_during_apogee	951	1526	17799.22	nil	0	0	0.00
VBD_pump_during_surface	24	209	63.09	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	5251	14	953.81
Iridium_during_xfer	305	156	585.32	NCP	8945	20	2193.31
Transponder_ping	6	420	30.90	PMAR	8913	9	1080.17
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.46
TT8	0	0	0.00
LPSleep	6278	2	176.36
TT8_Active	849	13	144.24
TT8_Sampling	2145	33	872.29
TT8_CF8	291	38	137.29
TT8_Kalman	0	0	0.00
Analog_circuits	2034	10	247.41
GPS_charging	0	0	0.00
Compass	1164	7	99.08
RAFOS	2213	48	1291.68
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	195	2231	497	490	0.0	0.0	0	144	0.00	0.00	-91.15	0.000	16386	0.000	0.000	194	2230	2121	2051	2192	0	0	0	0	0	0	14.57	28.83	14.59
147	-0.57	-145.9	194	2232	2055	2194	3.3	-4.4	9	205	12.85	2.88	-38.42	0.000	18980	0.455	2.142	2384	792	3964	3949	3980	0	0	0	0	0	0	13.62	12.53	14.13
262	-0.69	-145.9	2384	792	3955	3980	32.0	-15.1	31	267	0.00	2.47	0.00	0.000	1158	0.000	0.088	2383	2186	3966	3954	3979	0	0	0	0	0	0	14.31	14.16	14.35
573	-0.81	-145.9	2385	2188	3956	3979	76.1	-11.2	63	578	0.17	2.50	0.00	0.000	4484	0.115	0.087	2305	3609	3967	3955	3979	0	0	0	0	0	0	14.23	14.18	14.30
685	-0.92	-145.9	2305	3611	3956	3979	90.9	-12.5	85	690	0.00	2.38	0.00	0.000	1158	0.000	0.059	2305	2202	3967	3955	3979	0	0	0	0	0	0	14.38	14.24	14.42
995	-0.96	-145.9	2305	2202	3956	3980	133.8	-12.9	101	1000	0.12	2.47	0.00	0.000	4484	0.137	0.085	2241	3613	3968	3958	3979	0	0	0	0	0	0	14.38	14.20	14.40
1060	-0.96	-145.9	2241	3615	3956	3980	144.2	-16.1	114	1065	0.00	2.40	0.00	0.000	1030	0.000	0.059	2241	2196	3967	3955	3979	0	0	0	0	0	0	14.39	14.25	14.42
1386	-0.92	-145.9	2242	2195	3956	3979	201.6	-17.0	129	1391	0.15	2.47	0.00	0.000	2436	0.289	0.082	2266	3613	3967	3956	3979	0	0	0	0	0	0	13.95	14.21	14.12
1478	-1.03	-145.9	2267	3614	3956	3979	213.0	-11.4	147	1482	0.00	2.40	0.00	0.000	1158	0.000	0.057	2266	2186	3967	3955	3979	0	0	0	0	0	0	14.39	14.26	14.43
1808	-1.08	-145.9	2266	2185	3956	3980	253.4	-11.7	163	1813	0.00	2.50	0.00	0.000	388	0.000	0.087	2256	3613	3966	3954	3979	0	0	0	0	0	0	14.73	14.20	14.73
1838	-1.17	-145.9	2256	3615	3956	3980	256.9	-11.7	169	1843	0.17	2.38	0.00	0.000	5254	0.112	0.057	2186	2201	3967	3955	3979	0	0	0	0	0	0	14.31	14.26	14.42
2168	-1.07	-145.9	2187	2200	3956	3980	314.3	-17.2	185	2174	0.17	2.47	0.00	0.000	2436	0.292	0.084	2218	3614	3967	3955	3979	0	0	0	0	0	0	13.88	14.20	14.07
2296	-1.15	-145.9	2219	3617	3956	3979	330.2	-11.5	210	2300	0.00	2.40	0.00	0.000	1158	0.000	0.056	2218	2195	3966	3955	3977	0	0	0	0	0	0	14.30	14.17	14.34
2621	-1.15	-145.9	2218	2195	3955	3980	371.6	-12.6	225	2625	0.00	2.50	0.00	0.000	260	0.000	0.086	2210	3614	3967	3955	3979	0	0	0	0	0	0	14.74	14.19	14.78
2706	-1.21	-145.9	2211	3616	3955	3979	382.0	-11.7	242	2712	0.00	2.40	0.00	0.000	1158	0.000	0.057	2210	2191	3967	3955	3979	0	0	0	0	0	0	14.39	14.26	14.42
3011	-1.21	-145.9	2210	2192	3955	3979	421.0	-12.8	253	3015	0.00	2.50	0.00	0.000	260	0.000	0.088	2209	3613	3967	3955	3979	0	0	0	0	0	0	14.76	14.15	14.78
3086	-1.28	-145.9	2210	3613	3955	3979	430.2	-11.7	268	3092	0.12	2.38	0.00	0.000	5254	0.135	0.056	2158	2198	3966	3954	3978	0	0	0	0	0	0	14.21	14.19	14.33
3369	end dive: TARGET_DEPTH_EXCEEDED
state	3370	begin apogee
3376	-0.13	0.0	2159	2054	3955	3979	480.4	-18.0	280	3598	1.55	0.10	218.23	1.435	10246	0.272	0.158	2528	2119	3367	3380	3354	0	0	0	0	0	0	13.74	13.54	12.68
3601	end apogee: CONTROL_FINISHED_OK
state	3601	begin climb
3604	0.57	145.9	2529	2119	3374	3346	492.5	0.0	287	3820	0.75	2.62	211.73	1.376	11012	0.063	0.072	2781	3491	2765	2801	2730	0	0	0	0	0	0	13.69	12.83	12.26
4047	0.09	145.9	2782	3493	2780	2725	469.6	16.4	380	4054	0.85	2.38	0.00	0.000	5254	0.345	0.055	2618	2133	2752	2779	2725	0	0	0	0	0	0	13.45	13.83	13.83
4359	-0.00	185.7	2619	2132	2780	2723	442.6	8.2	392	4421	0.12	2.50	55.83	1.421	12708	0.293	0.081	2588	3498	2601	2642	2560	0	0	0	0	0	0	13.90	13.98	13.12
4648	-0.03	202.7	2589	3499	2634	2555	417.4	9.2	449	4677	0.00	2.38	22.08	1.526	9382	0.000	0.060	2589	2104	2534	2580	2489	0	0	0	0	0	0	14.27	14.12	13.18
4994	-0.01	234.1	2589	2104	2578	2478	388.2	8.6	468	5042	0.00	0.00	47.12	1.430	8230	0.000	0.000	2588	2105	2408	2455	2362	0	0	0	0	0	0	14.60	14.03	13.18
5322	0.05	264.2	2590	2104	2446	2352	359.5	8.6	479	5373	0.00	2.53	45.60	1.411	8868	0.000	0.089	2588	685	2281	2324	2239	0	0	0	0	0	0	14.59	13.78	13.17
5430	0.20	308.2	2589	685	2319	2236	350.6	8.0	500	5505	0.17	2.47	67.22	1.341	11430	0.106	0.080	2665	2092	2105	2148	2063	0	0	0	0	0	0	14.19	14.09	13.05
5803	0.14	308.2	2666	2092	2141	2048	300.4	13.4	525	5809	0.12	2.47	0.00	0.000	4740	0.253	0.083	2644	690	2094	2140	2048	0	0	0	0	0	0	13.93	13.63	14.08
5854	0.19	308.2	2644	693	2139	2048	294.4	11.1	535	5859	0.00	2.47	0.00	0.000	1158	0.000	0.078	2644	2111	2093	2138	2048	0	0	0	0	0	0	14.33	14.19	14.37
6164	0.19	308.2	2644	2113	2138	2046	260.0	10.9	547	6164	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2112	2092	2138	2046	0	0	0	0	0	0	14.65	14.69	14.66
6464	0.20	325.2	2644	2112	2139	2045	230.8	9.2	557	6495	0.00	2.53	22.45	1.437	8740	0.000	0.087	2644	688	2035	2078	1992	0	0	0	0	0	0	14.66	14.20	13.31
6567	0.32	366.3	2644	689	2074	1993	222.2	8.1	577	6640	0.12	2.47	68.30	1.298	11430	0.129	0.079	2695	2103	1871	1901	1842	0	0	0	0	0	0	14.21	14.15	13.16
6946	0.29	366.3	2696	2104	1889	1828	178.3	11.2	603	6950	0.00	2.50	0.00	0.000	644	0.000	0.088	2696	691	1858	1888	1828	0	0	0	0	0	0	14.58	13.98	14.59
6996	0.33	366.3	2695	691	1885	1829	173.1	10.1	613	7000	0.00	2.47	0.00	0.000	1158	0.000	0.079	2696	2101	1856	1884	1828	0	0	0	0	0	0	14.28	14.14	14.31
7306	0.33	366.3	2696	2103	1885	1826	140.8	10.3	625	7310	0.00	2.47	0.00	0.000	516	0.000	0.086	2695	694	1855	1884	1826	0	0	0	0	0	0	14.67	14.00	14.66
7361	0.38	377.4	2697	693	1883	1826	135.4	9.5	636	7377	0.00	2.45	11.12	1.486	9382	0.000	0.078	2696	2101	1829	1855	1803	0	0	0	0	0	0	14.26	14.14	13.28
7697	0.40	404.3	2696	2102	1851	1796	104.2	8.8	653	7748	0.00	2.50	44.08	1.290	8484	0.000	0.083	2696	3511	1713	1735	1691	0	0	0	0	0	0	14.62	14.12	13.28
7773	0.43	404.3	2696	3512	1731	1692	97.3	10.2	668	7780	0.00	2.42	0.00	0.000	1158	0.000	0.063	2698	2101	1710	1730	1690	0	0	0	0	0	0	14.21	14.10	14.24
8078	0.54	466.4	2699	2102	1730	1683	73.1	7.1	699	8116	0.15	2.50	32.55	0.419	10916	0.115	0.088	2772	689	1464	1498	1430	0	0	0	0	0	0	14.12	13.97	13.67
8271	0.57	504.5	2772	690	1491	1427	54.3	8.2	737	8298	0.00	2.47	20.70	0.364	9254	0.000	0.077	2772	2102	1306	1351	1261	0	0	0	0	0	0	14.17	14.05	13.72
8604	0.68	587.6	2773	2105	1352	1253	31.2	6.2	773	8656	0.00	2.53	44.60	0.291	8612	0.000	0.081	2772	3508	965	1032	899	0	0	0	0	0	0	14.57	14.06	13.71
8694	0.89	659.7	2771	3511	1035	904	25.3	6.7	790	8742	0.30	2.45	39.67	0.272	11430	0.083	0.067	2884	2094	671	725	617	0	0	0	0	0	0	14.16	14.06	13.74
8886	end climb: SURFACE_DEPTH_REACHED
state	8886	begin surface coast
8896	end surface coast: CONTROL_FINISHED_OK
state	8896	begin surface