Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 288 * 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 288 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 800.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 800.0 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 35 VBD_MIN 500

DIVE 288 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 090917,064957,7539.7749,-15106.4014,38,0.7,39,20.8,0.5,302.9,11,9.4 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 328.4,6495,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.3 D_GRID 480

GPS2 090917,070233,7539.7456,-15106.4521,5,0.7,11,20.8,0.5,204.2,11,8.6

Post-dive calculations and measurements:

FINISH 0.2,1.013138 _24V_AH 12.23,180.304

SM_CCo 9121,12.40,0.214,0,0,499,703.03 _10V_AH 12.09,0.000

SM_GC 0.95,8.12,0.17,12.40,0.063,0.093,0.214,202,2225,499,-7.36,-0.62,703.03,0,0,0,0,0,0,14.30,14.33,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 258 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323628

IRIDIUM_FIX 7538.57,-15102.62,090917,065351 DATA_FILE_SIZE 23437,715

TT8_MAMPS 0.040446,0.926513 CAP_FILE_SIZE 100314,0

HUMID 47.04 CFSIZE 2097872896,2004287488

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

TCM_TEMP 13.10 SOUNDSPEED 1448.2

XPDR_PINGS 9 CURRENT 0.044,237.82,1

CP_FREE 15949266944.000000 GPS 090917,093651,7540.939,-15106.972,38,0.8,39,20.8,0.0,317.4,10,9.8

PM_FREEKB_00 49438656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 143.80 nil 0 0 0.00

Roll_motor 74 2135 1934.97 nil 0 0 0.00

VBD_pump_during_apogee 977 1432 17121.09 nil 0 0 0.00

VBD_pump_during_surface 12 214 32.48 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 9079 14 1597.03

Iridium_during_xfer 459 166 937.96 NCP 9092 20 2223.90

Transponder_ping 2 420 11.56 PMAR 9055 10 1118.50

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.42

TT8 0 0 0.00

LPSleep 6630 2 185.17

TT8_Active 910 13 153.80

TT8_Sampling 2047 33 827.69

TT8_CF8 317 38 148.29

TT8_Kalman 0 0 0.00

Analog_circuits 2168 10 262.13

GPS_charging 0 0 0.00

Compass 1027 7 86.95

RAFOS 2215 48 1285.41

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 -145.9 190 2182 509 493 0.0 0.0 0 153 0.00 0.00 -100.97 0.000 16386 0.000 0.000 188 2185 2341 2285 2398 0 0 0 0 0 0 14.51 28.83 14.51

156 -0.57 -145.9 188 2182 2288 2398 4.5 -7.1 10 204 12.98 2.78 -29.88 0.000 18724 0.454 2.136 2375 3579 3964 3947 3981 0 0 0 0 0 0 13.54 12.81 14.04

279 -0.74 -145.9 2374 3579 3954 3982 36.5 -12.4 34 284 0.12 2.33 0.00 0.000 5254 0.129 0.057 2325 2209 3967 3952 3982 0 0 0 0 0 0 14.18 14.09 14.27

589 -0.74 -145.9 2325 2209 3954 3983 94.0 -14.6 66 594 0.00 2.45 0.00 0.000 260 0.000 0.086 2319 3586 3967 3954 3981 0 0 0 0 0 0 14.56 13.97 14.57

669 -0.87 -145.9 2320 3587 3954 3982 104.1 -11.6 82 674 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2195 3967 3954 3981 0 0 0 0 0 0 14.14 13.99 14.14

980 -0.95 -145.9 2320 2194 3955 3981 142.3 -11.8 94 985 0.12 2.47 0.00 0.000 4740 0.135 0.083 2259 784 3970 3954 3986 0 0 0 0 0 0 14.26 14.13 14.30

995 -1.00 -145.9 2259 784 3955 3982 144.4 -12.1 97 1001 0.00 2.45 0.00 0.000 1158 0.000 0.086 2252 2175 3967 3954 3981 0 0 0 0 0 0 14.29 14.12 14.34

1311 -1.00 -145.9 2253 2176 3955 3982 196.6 -16.0 110 1316 0.00 2.55 0.00 0.000 260 0.000 0.090 2244 3617 3967 3954 3981 0 0 0 0 0 0 14.64 14.12 14.65

1477 -1.07 -145.9 2245 3619 3955 3982 219.4 -13.0 143 1481 0.00 2.40 0.00 0.000 1158 0.000 0.058 2244 2202 3967 3954 3981 0 0 0 0 0 0 14.31 14.18 14.36

1791 -1.07 -145.9 2244 2202 3955 3982 263.9 -13.2 156 1796 0.00 2.50 0.00 0.000 260 0.000 0.087 2236 3610 3967 3954 3981 0 0 0 0 0 0 14.65 14.12 14.66

1877 -1.15 -145.9 2237 3610 3955 3980 274.1 -11.4 173 1884 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2198 3967 3954 3981 0 0 0 0 0 0 14.26 14.13 14.30

2182 -1.17 -145.9 2238 2198 3956 3981 311.8 -12.0 184 2187 0.10 2.50 0.00 0.000 4484 0.166 0.086 2189 3613 3967 3954 3981 0 0 0 0 0 0 14.27 14.13 14.32

2232 -1.15 -145.9 2190 3614 3955 3982 319.1 -14.9 194 2237 0.00 2.40 0.00 0.000 1158 0.000 0.057 2190 2196 3967 3954 3981 0 0 0 0 0 0 14.33 14.19 14.37

2542 -1.08 -145.9 2187 2196 3951 3980 368.3 -15.8 206 2548 0.15 2.50 0.00 0.000 2436 0.302 0.083 2214 3614 3967 3954 3981 0 0 0 0 0 0 13.85 14.14 14.02

2623 -1.15 -145.9 2214 3616 3954 3982 378.6 -11.6 222 2628 0.00 2.40 0.00 0.000 1158 0.000 0.057 2214 2195 3967 3954 3981 0 0 0 0 0 0 14.26 14.16 14.31

2933 -1.15 -145.9 2215 2194 3955 3980 417.9 -12.6 234 2938 0.00 2.50 0.00 0.000 260 0.000 0.088 2210 3609 3967 3954 3980 0 0 0 0 0 0 14.66 14.12 14.68

3023 -1.22 -145.9 2210 3610 3955 3980 428.7 -11.4 252 3028 0.00 2.40 0.00 0.000 1158 0.000 0.055 2210 2193 3966 3954 3979 0 0 0 0 0 0 14.33 14.21 14.37

3353 -1.22 -145.9 2210 2193 3955 3980 470.5 -12.7 268 3373 0.00 2.50 0.00 0.000 260 0.000 0.087 2209 3611 3969 3955 3983 0 0 0 0 0 0 14.66 14.12 14.68

3418 -1.29 -145.9 2210 3610 3955 3980 478.4 -11.4 278 3424 0.15 2.40 0.00 0.000 5254 0.120 0.054 2152 2201 3966 3954 3979 0 0 0 0 0 0 14.12 14.07 14.22

3456 end dive: TARGET_DEPTH_EXCEEDED

state 3456 begin apogee

3462 -0.13 0.0 2152 2061 3954 3980 484.5 -14.8 281 3700 1.60 0.08 231.62 1.386 10246 0.276 0.180 2528 2108 3360 3382 3338 0 0 0 0 0 0 13.66 13.40 12.59

3704 end apogee: CONTROL_FINISHED_OK

state 3704 begin climb

3707 0.57 145.9 2528 2109 3376 3331 497.8 0.0 289 3920 0.75 0.00 210.98 1.349 10758 0.060 0.000 2781 2107 2771 2814 2728 0 0 0 0 0 0 13.56 12.83 12.23

4209 0.14 145.9 2781 2108 2789 2709 467.7 15.0 331 4214 0.68 2.47 0.00 0.000 4740 0.320 0.079 2643 726 2748 2787 2709 0 0 0 0 0 0 13.43 13.79 13.66

4321 0.03 174.7 2643 727 2788 2710 457.2 8.7 353 4365 0.22 2.45 37.75 1.433 13478 0.261 0.080 2595 2097 2651 2699 2604 0 0 0 0 0 0 13.69 13.95 13.05

4690 0.02 221.2 2596 2103 2689 2584 428.3 7.9 377 4764 0.00 0.00 72.45 1.362 8358 0.000 0.000 2595 2097 2464 2524 2405 0 0 0 0 0 0 14.42 13.87 13.09

5050 0.05 252.7 2595 2098 2507 2385 397.9 8.5 389 5099 0.00 0.00 47.70 1.383 8230 0.000 0.000 2595 2097 2336 2390 2283 0 0 0 0 0 0 14.42 13.95 13.16

5380 0.11 284.2 2596 2098 2374 2266 369.5 8.5 400 5436 0.00 2.47 49.25 1.362 8868 0.000 0.086 2597 720 2203 2254 2152 0 0 0 0 0 0 14.43 13.69 13.17

5483 0.25 321.9 2597 720 2241 2148 361.0 8.3 420 5551 0.20 2.45 59.35 1.333 11430 0.095 0.079 2677 2106 2053 2104 2002 0 0 0 0 0 0 14.06 13.97 13.03

5862 0.18 321.9 2677 2105 2086 1987 306.9 14.3 446 5863 0.15 0.00 0.00 0.000 4230 0.252 0.000 2645 2105 2035 2085 1985 0 0 0 0 0 0 13.90 14.19 14.14

6161 0.18 321.9 2647 2105 2085 1984 273.3 10.9 456 6166 0.00 2.45 0.00 0.000 516 0.000 0.090 2646 720 2033 2084 1983 0 0 0 0 0 0 14.58 14.12 14.62

6278 0.25 328.0 2648 720 2083 1983 261.7 9.7 479 6284 0.00 2.40 0.00 0.000 1190 0.000 0.079 2646 2102 2032 2081 1983 0 0 0 0 0 0 14.28 14.14 14.31

6581 0.26 342.5 2646 2104 2082 1982 231.8 9.3 490 6614 0.00 0.00 30.23 1.374 8230 0.000 0.000 2646 2103 1968 2017 1919 0 0 0 0 0 0 14.66 14.13 13.29

6912 0.33 371.8 2646 2104 2004 1907 203.2 8.6 501 6968 0.12 2.50 51.65 1.294 10916 0.129 0.086 2703 730 1848 1883 1814 0 0 0 0 0 0 14.34 14.07 13.26

7025 0.33 371.8 2704 731 1865 1813 190.0 11.7 518 7031 0.00 2.40 0.00 0.000 1030 0.000 0.077 2704 2101 1837 1865 1810 0 0 0 0 0 0 14.24 14.11 14.28

7336 0.31 371.8 2704 2100 1863 1806 154.2 11.2 530 7337 0.00 0.00 0.00 0.000 134 0.000 0.000 2704 2101 1834 1863 1805 0 0 0 0 0 0 14.61 14.63 14.63

7636 0.31 371.8 2704 2102 1862 1804 122.8 10.2 540 7641 0.00 2.38 0.00 0.000 516 0.000 0.087 2704 720 1836 1869 1803 0 0 0 0 0 0 14.67 14.20 14.67

7711 0.37 393.0 2704 721 1859 1804 115.8 9.0 555 7752 0.00 2.40 31.60 1.314 9382 0.000 0.078 2703 2106 1757 1782 1733 0 0 0 0 0 0 14.37 14.23 13.29

8057 0.43 439.5 2705 2107 1777 1724 85.1 7.9 584 8087 0.00 0.00 23.85 0.452 8870 0.000 0.000 2704 2106 1573 1603 1543 0 0 0 0 0 0 14.57 14.05 13.57

8387 0.59 518.3 2704 2106 1607 1544 61.1 6.4 618 8435 0.17 2.50 42.40 0.379 10916 0.103 0.089 2785 727 1247 1304 1190 0 0 0 0 0 0 14.23 14.09 13.66

8600 0.70 584.8 2785 728 1308 1197 42.9 6.9 660 8644 0.00 2.40 35.70 0.327 9382 0.000 0.078 2786 2099 977 1044 910 0 0 0 0 0 0 14.30 14.16 13.71

8940 0.88 681.3 2786 2100 1048 922 19.8 5.5 698 8995 0.22 0.00 52.50 0.262 10918 0.093 0.000 2878 2100 587 626 548 0 0 0 0 0 0 14.14 14.06 13.74

9088 end climb: SURFACE_DEPTH_REACHED

state 9088 begin surface coast

9100 end surface coast: CONTROL_FINISHED_OK

state 9100 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	288	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	800.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,064957,7539.7749,-15106.4014,38,0.7,39,20.8,0.5,302.9,11,9.4	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	328.4,6495,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.3	D_GRID	480
GPS2	090917,070233,7539.7456,-15106.4521,5,0.7,11,20.8,0.5,204.2,11,8.6

FINISH	0.2,1.013138	_24V_AH	12.23,180.304
SM_CCo	9121,12.40,0.214,0,0,499,703.03	_10V_AH	12.09,0.000
SM_GC	0.95,8.12,0.17,12.40,0.063,0.093,0.214,202,2225,499,-7.36,-0.62,703.03,0,0,0,0,0,0,14.30,14.33,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	258	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323628
IRIDIUM_FIX	7538.57,-15102.62,090917,065351	DATA_FILE_SIZE	23437,715
TT8_MAMPS	0.040446,0.926513	CAP_FILE_SIZE	100314,0
HUMID	47.04	CFSIZE	2097872896,2004287488
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.2
XPDR_PINGS	9	CURRENT	0.044,237.82,1
CP_FREE	15949266944.000000	GPS	090917,093651,7540.939,-15106.972,38,0.8,39,20.8,0.0,317.4,10,9.8
PM_FREEKB_00	49438656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	143.80	nil	0	0	0.00
Roll_motor	74	2135	1934.97	nil	0	0	0.00
VBD_pump_during_apogee	977	1432	17121.09	nil	0	0	0.00
VBD_pump_during_surface	12	214	32.48	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	9079	14	1597.03
Iridium_during_xfer	459	166	937.96	NCP	9092	20	2223.90
Transponder_ping	2	420	11.56	PMAR	9055	10	1118.50
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.42
TT8	0	0	0.00
LPSleep	6630	2	185.17
TT8_Active	910	13	153.80
TT8_Sampling	2047	33	827.69
TT8_CF8	317	38	148.29
TT8_Kalman	0	0	0.00
Analog_circuits	2168	10	262.13
GPS_charging	0	0	0.00
Compass	1027	7	86.95
RAFOS	2215	48	1285.41
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	190	2182	509	493	0.0	0.0	0	153	0.00	0.00	-100.97	0.000	16386	0.000	0.000	188	2185	2341	2285	2398	0	0	0	0	0	0	14.51	28.83	14.51
156	-0.57	-145.9	188	2182	2288	2398	4.5	-7.1	10	204	12.98	2.78	-29.88	0.000	18724	0.454	2.136	2375	3579	3964	3947	3981	0	0	0	0	0	0	13.54	12.81	14.04
279	-0.74	-145.9	2374	3579	3954	3982	36.5	-12.4	34	284	0.12	2.33	0.00	0.000	5254	0.129	0.057	2325	2209	3967	3952	3982	0	0	0	0	0	0	14.18	14.09	14.27
589	-0.74	-145.9	2325	2209	3954	3983	94.0	-14.6	66	594	0.00	2.45	0.00	0.000	260	0.000	0.086	2319	3586	3967	3954	3981	0	0	0	0	0	0	14.56	13.97	14.57
669	-0.87	-145.9	2320	3587	3954	3982	104.1	-11.6	82	674	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2195	3967	3954	3981	0	0	0	0	0	0	14.14	13.99	14.14
980	-0.95	-145.9	2320	2194	3955	3981	142.3	-11.8	94	985	0.12	2.47	0.00	0.000	4740	0.135	0.083	2259	784	3970	3954	3986	0	0	0	0	0	0	14.26	14.13	14.30
995	-1.00	-145.9	2259	784	3955	3982	144.4	-12.1	97	1001	0.00	2.45	0.00	0.000	1158	0.000	0.086	2252	2175	3967	3954	3981	0	0	0	0	0	0	14.29	14.12	14.34
1311	-1.00	-145.9	2253	2176	3955	3982	196.6	-16.0	110	1316	0.00	2.55	0.00	0.000	260	0.000	0.090	2244	3617	3967	3954	3981	0	0	0	0	0	0	14.64	14.12	14.65
1477	-1.07	-145.9	2245	3619	3955	3982	219.4	-13.0	143	1481	0.00	2.40	0.00	0.000	1158	0.000	0.058	2244	2202	3967	3954	3981	0	0	0	0	0	0	14.31	14.18	14.36
1791	-1.07	-145.9	2244	2202	3955	3982	263.9	-13.2	156	1796	0.00	2.50	0.00	0.000	260	0.000	0.087	2236	3610	3967	3954	3981	0	0	0	0	0	0	14.65	14.12	14.66
1877	-1.15	-145.9	2237	3610	3955	3980	274.1	-11.4	173	1884	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2198	3967	3954	3981	0	0	0	0	0	0	14.26	14.13	14.30
2182	-1.17	-145.9	2238	2198	3956	3981	311.8	-12.0	184	2187	0.10	2.50	0.00	0.000	4484	0.166	0.086	2189	3613	3967	3954	3981	0	0	0	0	0	0	14.27	14.13	14.32
2232	-1.15	-145.9	2190	3614	3955	3982	319.1	-14.9	194	2237	0.00	2.40	0.00	0.000	1158	0.000	0.057	2190	2196	3967	3954	3981	0	0	0	0	0	0	14.33	14.19	14.37
2542	-1.08	-145.9	2187	2196	3951	3980	368.3	-15.8	206	2548	0.15	2.50	0.00	0.000	2436	0.302	0.083	2214	3614	3967	3954	3981	0	0	0	0	0	0	13.85	14.14	14.02
2623	-1.15	-145.9	2214	3616	3954	3982	378.6	-11.6	222	2628	0.00	2.40	0.00	0.000	1158	0.000	0.057	2214	2195	3967	3954	3981	0	0	0	0	0	0	14.26	14.16	14.31
2933	-1.15	-145.9	2215	2194	3955	3980	417.9	-12.6	234	2938	0.00	2.50	0.00	0.000	260	0.000	0.088	2210	3609	3967	3954	3980	0	0	0	0	0	0	14.66	14.12	14.68
3023	-1.22	-145.9	2210	3610	3955	3980	428.7	-11.4	252	3028	0.00	2.40	0.00	0.000	1158	0.000	0.055	2210	2193	3966	3954	3979	0	0	0	0	0	0	14.33	14.21	14.37
3353	-1.22	-145.9	2210	2193	3955	3980	470.5	-12.7	268	3373	0.00	2.50	0.00	0.000	260	0.000	0.087	2209	3611	3969	3955	3983	0	0	0	0	0	0	14.66	14.12	14.68
3418	-1.29	-145.9	2210	3610	3955	3980	478.4	-11.4	278	3424	0.15	2.40	0.00	0.000	5254	0.120	0.054	2152	2201	3966	3954	3979	0	0	0	0	0	0	14.12	14.07	14.22
3456	end dive: TARGET_DEPTH_EXCEEDED
state	3456	begin apogee
3462	-0.13	0.0	2152	2061	3954	3980	484.5	-14.8	281	3700	1.60	0.08	231.62	1.386	10246	0.276	0.180	2528	2108	3360	3382	3338	0	0	0	0	0	0	13.66	13.40	12.59
3704	end apogee: CONTROL_FINISHED_OK
state	3704	begin climb
3707	0.57	145.9	2528	2109	3376	3331	497.8	0.0	289	3920	0.75	0.00	210.98	1.349	10758	0.060	0.000	2781	2107	2771	2814	2728	0	0	0	0	0	0	13.56	12.83	12.23
4209	0.14	145.9	2781	2108	2789	2709	467.7	15.0	331	4214	0.68	2.47	0.00	0.000	4740	0.320	0.079	2643	726	2748	2787	2709	0	0	0	0	0	0	13.43	13.79	13.66
4321	0.03	174.7	2643	727	2788	2710	457.2	8.7	353	4365	0.22	2.45	37.75	1.433	13478	0.261	0.080	2595	2097	2651	2699	2604	0	0	0	0	0	0	13.69	13.95	13.05
4690	0.02	221.2	2596	2103	2689	2584	428.3	7.9	377	4764	0.00	0.00	72.45	1.362	8358	0.000	0.000	2595	2097	2464	2524	2405	0	0	0	0	0	0	14.42	13.87	13.09
5050	0.05	252.7	2595	2098	2507	2385	397.9	8.5	389	5099	0.00	0.00	47.70	1.383	8230	0.000	0.000	2595	2097	2336	2390	2283	0	0	0	0	0	0	14.42	13.95	13.16
5380	0.11	284.2	2596	2098	2374	2266	369.5	8.5	400	5436	0.00	2.47	49.25	1.362	8868	0.000	0.086	2597	720	2203	2254	2152	0	0	0	0	0	0	14.43	13.69	13.17
5483	0.25	321.9	2597	720	2241	2148	361.0	8.3	420	5551	0.20	2.45	59.35	1.333	11430	0.095	0.079	2677	2106	2053	2104	2002	0	0	0	0	0	0	14.06	13.97	13.03
5862	0.18	321.9	2677	2105	2086	1987	306.9	14.3	446	5863	0.15	0.00	0.00	0.000	4230	0.252	0.000	2645	2105	2035	2085	1985	0	0	0	0	0	0	13.90	14.19	14.14
6161	0.18	321.9	2647	2105	2085	1984	273.3	10.9	456	6166	0.00	2.45	0.00	0.000	516	0.000	0.090	2646	720	2033	2084	1983	0	0	0	0	0	0	14.58	14.12	14.62
6278	0.25	328.0	2648	720	2083	1983	261.7	9.7	479	6284	0.00	2.40	0.00	0.000	1190	0.000	0.079	2646	2102	2032	2081	1983	0	0	0	0	0	0	14.28	14.14	14.31
6581	0.26	342.5	2646	2104	2082	1982	231.8	9.3	490	6614	0.00	0.00	30.23	1.374	8230	0.000	0.000	2646	2103	1968	2017	1919	0	0	0	0	0	0	14.66	14.13	13.29
6912	0.33	371.8	2646	2104	2004	1907	203.2	8.6	501	6968	0.12	2.50	51.65	1.294	10916	0.129	0.086	2703	730	1848	1883	1814	0	0	0	0	0	0	14.34	14.07	13.26
7025	0.33	371.8	2704	731	1865	1813	190.0	11.7	518	7031	0.00	2.40	0.00	0.000	1030	0.000	0.077	2704	2101	1837	1865	1810	0	0	0	0	0	0	14.24	14.11	14.28
7336	0.31	371.8	2704	2100	1863	1806	154.2	11.2	530	7337	0.00	0.00	0.00	0.000	134	0.000	0.000	2704	2101	1834	1863	1805	0	0	0	0	0	0	14.61	14.63	14.63
7636	0.31	371.8	2704	2102	1862	1804	122.8	10.2	540	7641	0.00	2.38	0.00	0.000	516	0.000	0.087	2704	720	1836	1869	1803	0	0	0	0	0	0	14.67	14.20	14.67
7711	0.37	393.0	2704	721	1859	1804	115.8	9.0	555	7752	0.00	2.40	31.60	1.314	9382	0.000	0.078	2703	2106	1757	1782	1733	0	0	0	0	0	0	14.37	14.23	13.29
8057	0.43	439.5	2705	2107	1777	1724	85.1	7.9	584	8087	0.00	0.00	23.85	0.452	8870	0.000	0.000	2704	2106	1573	1603	1543	0	0	0	0	0	0	14.57	14.05	13.57
8387	0.59	518.3	2704	2106	1607	1544	61.1	6.4	618	8435	0.17	2.50	42.40	0.379	10916	0.103	0.089	2785	727	1247	1304	1190	0	0	0	0	0	0	14.23	14.09	13.66
8600	0.70	584.8	2785	728	1308	1197	42.9	6.9	660	8644	0.00	2.40	35.70	0.327	9382	0.000	0.078	2786	2099	977	1044	910	0	0	0	0	0	0	14.30	14.16	13.71
8940	0.88	681.3	2786	2100	1048	922	19.8	5.5	698	8995	0.22	0.00	52.50	0.262	10918	0.093	0.000	2878	2100	587	626	548	0	0	0	0	0	0	14.14	14.06	13.74
9088	end climb: SURFACE_DEPTH_REACHED
state	9088	begin surface coast
9100	end surface coast: CONTROL_FINISHED_OK
state	9100	begin surface