Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 297 * 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 297 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 824.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 824.0 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 62 VBD_MIN 500

DIVE 297 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 100917,070932,7540.9033,-15109.6631,26,0.9,26,20.8,0.0,0.0,9,8.2 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 1.17 MHEAD_RNG_PITCHd_Wd 326.4,4119,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.6 D_GRID 480

GPS2 100917,071628,7540.8877,-15109.6660,6,0.8,12,20.8,0.0,77.7,9,8.6

Post-dive calculations and measurements:

FINISH 0.1,1.021589 _24V_AH 12.17,185.863

SM_CCo 8780,53.70,0.203,0,0,500,702.78 _10V_AH 12.02,0.000

SM_GC 1.22,8.02,0.17,53.70,0.063,0.104,0.203,205,2242,500,-7.36,-0.51,702.78,0,0,0,0,0,0,14.33,14.35,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 274 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323632

IRIDIUM_FIX 7542.41,-15113.64,100917,043047 DATA_FILE_SIZE 23355,646

TT8_MAMPS 0.040446,0.986433 CAP_FILE_SIZE 96552,0

HUMID 46.45 CFSIZE 2097872896,2002386944

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 1447.2

XPDR_PINGS 9 CURRENT 0.054,225.41,1

CP_FREE 15945433088.000000 GPS 100917,094633,7542.037,-15110.323,91,0.7,92,20.8,0.0,113.2,12,7.2

PM_FREEKB_00 48739456

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 461 148.63 nil 0 0 0.00

Roll_motor 79 2138 2068.15 nil 0 0 0.00

VBD_pump_during_apogee 976 1412 16796.29 nil 0 0 0.00

VBD_pump_during_surface 53 202 132.49 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 8200 15 1502.90

Iridium_during_xfer 219 131 351.17 NCP 8735 20 2126.10

Transponder_ping 2 420 11.50 PMAR 8735 26 2774.45

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.39

TT8 0 0 0.00

LPSleep 5981 2 166.10

TT8_Active 897 13 150.69

TT8_Sampling 2133 33 857.59

TT8_CF8 250 38 116.52

TT8_Kalman 0 0 0.00

Analog_circuits 2255 10 271.09

GPS_charging 0 0 0.00

Compass 928 7 78.11

RAFOS 2219 48 1280.27

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 48 begin dive

51 -0.57 -145.9 187 2223 513 491 0.0 0.0 0 144 0.00 0.00 -91.93 0.000 16386 0.000 0.000 184 2222 2137 2073 2202 0 0 0 0 0 0 14.53 28.83 14.54

147 -0.57 -145.9 187 2221 2070 2204 3.6 -4.5 9 205 13.27 2.83 -36.95 0.000 18980 0.461 2.139 2385 828 3964 3950 3979 0 0 0 0 0 0 13.56 12.59 14.07

227 -0.51 -145.9 2385 830 3954 3979 27.1 -28.5 24 234 0.15 2.42 0.00 0.000 3206 0.257 0.087 2410 2194 3966 3953 3979 0 0 0 0 0 0 13.92 14.08 14.16

530 -0.66 -145.9 2410 2194 3956 3979 66.6 -9.7 55 535 0.12 2.55 0.00 0.000 4516 0.134 0.090 2350 3608 3967 3955 3979 0 0 0 0 0 0 14.09 13.94 14.10

611 -0.83 -145.9 2350 3609 3956 3979 75.3 -10.7 71 616 0.12 2.35 0.00 0.000 5254 0.134 0.057 2300 2237 3967 3955 3979 0 0 0 0 0 0 14.09 14.05 14.21

923 -0.86 -145.9 2300 2236 3956 3979 122.9 -14.1 93 928 0.00 2.42 0.00 0.000 388 0.000 0.086 2293 3609 3965 3955 3976 0 0 0 0 0 0 14.58 14.10 14.59

973 -1.00 -145.9 2294 3610 3956 3979 129.5 -11.7 103 978 0.12 2.45 0.00 0.000 5254 0.126 0.058 2243 2190 3966 3955 3978 0 0 0 0 0 0 14.09 14.04 14.19

1283 -0.96 -145.9 2244 2189 3956 3979 184.2 -17.5 115 1288 0.00 2.50 0.00 0.000 388 0.000 0.087 2236 3610 3967 3955 3979 0 0 0 0 0 0 14.63 14.14 14.64

1363 -1.01 -145.9 2237 3610 3956 3979 196.5 -13.7 131 1368 0.00 2.42 0.00 0.000 1158 0.000 0.059 2236 2196 3967 3955 3979 0 0 0 0 0 0 14.31 14.19 14.35

1673 -1.01 -145.9 2237 2194 3956 3979 244.8 -15.3 143 1678 0.00 2.50 0.00 0.000 260 0.000 0.089 2236 3608 3967 3955 3979 0 0 0 0 0 0 14.66 14.14 14.66

1785 -1.09 -145.9 2236 3609 3956 3974 259.3 -12.3 165 1790 0.00 2.40 0.00 0.000 1158 0.000 0.058 2235 2190 3967 3955 3979 0 0 0 0 0 0 14.33 14.20 14.37

2096 -1.11 -145.9 2236 2189 3956 3979 299.4 -12.6 177 2100 0.00 2.53 0.00 0.000 388 0.000 0.089 2235 3614 3966 3954 3979 0 0 0 0 0 0 14.70 14.09 14.69

2156 -1.23 -145.9 2236 3615 3956 3979 306.4 -10.9 189 2161 0.17 2.40 0.00 0.000 5254 0.116 0.057 2168 2199 3967 3955 3979 0 0 0 0 0 0 14.26 14.14 14.34

2486 -1.13 -145.9 2169 2198 3956 3975 364.9 -18.0 205 2491 0.17 2.50 0.00 0.000 2436 0.292 0.083 2199 3614 3966 3955 3978 0 0 0 0 0 0 13.79 14.11 14.00

2595 -1.17 -145.9 2199 3614 3956 3979 380.1 -12.9 224 2601 0.00 2.42 0.00 0.000 1158 0.000 0.057 2198 2192 3967 3955 3979 0 0 0 0 0 0 14.21 14.09 14.25

2922 -1.15 -145.9 2199 2191 3956 3980 425.9 -14.1 239 2926 0.00 2.55 0.00 0.000 388 0.000 0.086 2189 3616 3967 3955 3979 0 0 0 0 0 0 14.47 13.91 14.49

3001 -1.17 -145.9 2190 3616 3956 3979 437.0 -13.5 255 3006 0.00 2.42 0.00 0.000 1158 0.000 0.057 2189 2199 3966 3954 3979 0 0 0 0 0 0 14.12 14.01 14.21

3309 end dive: TARGET_DEPTH_EXCEEDED

state 3309 begin apogee

3315 -0.13 0.0 2190 2056 3956 3979 482.1 -14.6 267 3555 1.38 0.10 236.07 1.391 10246 0.242 0.158 2530 2122 3363 3375 3352 0 0 0 0 0 0 13.72 13.33 12.55

3559 end apogee: CONTROL_FINISHED_OK

state 3559 begin climb

3563 0.57 145.9 2531 2124 3367 3340 495.7 0.0 275 4123 0.75 2.72 214.45 1.361 10756 0.061 0.077 2792 727 2751 2784 2719 0 0 0 0 0 0 13.52 12.76 12.17

4151 0.14 145.9 2792 727 2786 2719 460.4 13.0 281 4156 0.75 2.45 0.00 0.000 5254 0.328 0.074 2635 2093 2750 2783 2717 0 0 0 0 0 0 13.43 13.74 13.77

4484 0.01 186.6 2635 2094 2784 2713 432.1 8.1 297 4548 0.20 2.45 58.72 1.388 12964 0.269 0.083 2589 722 2599 2646 2553 0 0 0 0 0 0 13.81 13.70 13.09

4594 0.08 246.3 2588 723 2640 2544 424.3 7.2 319 4695 0.00 2.45 93.45 1.317 9382 0.000 0.079 2588 2101 2358 2409 2307 0 0 0 0 0 0 14.09 13.98 12.88

4994 0.14 283.4 2588 2101 2393 2288 391.6 8.3 349 5055 0.12 0.00 56.28 1.340 10406 0.130 0.000 2648 2100 2205 2254 2156 0 0 0 0 0 0 14.02 13.82 13.07

5356 0.09 283.4 2648 2101 2241 2139 347.5 12.4 361 5361 0.12 2.45 0.00 0.000 4740 0.251 0.085 2620 723 2192 2240 2144 0 0 0 0 0 0 13.88 14.09 14.02

5401 0.16 288.0 2619 724 2240 2139 342.5 9.8 370 5406 0.00 2.42 0.00 0.000 1190 0.000 0.078 2620 2109 2188 2239 2138 0 0 0 0 0 0 14.31 14.17 14.33

5716 0.16 288.0 2620 2112 2240 2137 310.6 10.1 383 5717 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2111 2188 2239 2137 0 0 0 0 0 0 14.64 14.66 14.66

6016 0.19 300.5 2620 2112 2238 2137 281.6 9.4 393 6046 0.00 2.50 21.00 1.413 8868 0.000 0.085 2620 726 2132 2178 2086 0 0 0 0 0 0 14.56 14.17 13.31

6103 0.31 329.0 2619 727 2171 2084 274.0 8.7 410 6158 0.17 2.40 48.05 1.303 11430 0.099 0.076 2691 2108 2021 2062 1980 0 0 0 0 0 0 14.24 14.16 13.20

6468 0.23 329.0 2691 2110 2050 1962 226.3 12.4 433 6473 0.12 2.42 0.00 0.000 4740 0.236 0.082 2669 731 2005 2050 1961 0 0 0 0 0 0 14.05 14.17 14.15

6523 0.27 338.1 2669 731 2048 1961 220.8 9.6 444 6531 0.00 2.38 2.83 0.910 9382 0.000 0.079 2669 2100 1986 2030 1942 0 0 0 0 0 0 14.35 14.19 12.80

6828 0.27 346.9 2669 2101 2044 1948 191.4 9.6 455 6851 0.00 0.00 21.42 1.369 8230 0.000 0.000 2669 2101 1952 1997 1908 0 0 0 0 0 0 14.66 14.13 13.29

7128 0.29 368.0 2669 2101 1984 1895 163.7 9.0 465 7170 0.00 2.42 35.60 1.324 8740 0.000 0.086 2669 724 1859 1892 1827 0 0 0 0 0 0 14.62 13.87 13.26

7227 0.41 402.1 2668 725 1879 1825 155.2 8.4 484 7295 0.15 2.42 61.03 1.229 11430 0.119 0.080 2732 2101 1721 1743 1699 0 0 0 0 0 0 14.14 14.08 13.14

7611 0.36 402.1 2733 2101 1735 1678 107.7 11.6 511 7612 0.15 0.00 0.00 0.000 4230 0.232 0.000 2699 2100 1705 1734 1677 0 0 0 0 0 0 14.05 14.35 14.29

7913 0.44 459.1 2699 2101 1736 1673 83.0 7.4 535 7950 0.00 2.50 30.70 0.440 8868 0.000 0.089 2699 699 1494 1525 1464 0 0 0 0 0 0 14.57 14.07 13.58

7995 0.63 517.0 2699 699 1533 1463 76.8 7.3 551 8038 0.25 2.45 35.30 0.421 11430 0.088 0.079 2792 2103 1255 1310 1200 0 0 0 0 0 0 14.28 14.16 13.59

8335 0.66 561.1 2792 2104 1311 1207 40.3 8.0 589 8367 0.00 2.45 26.62 0.316 8740 0.000 0.086 2794 723 1076 1138 1015 0 0 0 0 0 0 14.54 13.94 13.72

8444 0.78 618.5 2794 724 1139 1023 31.9 7.4 610 8487 0.12 2.42 35.25 0.289 11430 0.131 0.076 2850 2105 840 905 775 0 0 0 0 0 0 14.12 14.07 13.74

8750 end climb: SURFACE_DEPTH_REACHED

state 8750 begin surface coast

8760 end surface coast: CONTROL_FINISHED_OK

state 8760 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	297	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	824.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,070932,7540.9033,-15109.6631,26,0.9,26,20.8,0.0,0.0,9,8.2	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	1.17	MHEAD_RNG_PITCHd_Wd	326.4,4119,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.6	D_GRID	480
GPS2	100917,071628,7540.8877,-15109.6660,6,0.8,12,20.8,0.0,77.7,9,8.6

FINISH	0.1,1.021589	_24V_AH	12.17,185.863
SM_CCo	8780,53.70,0.203,0,0,500,702.78	_10V_AH	12.02,0.000
SM_GC	1.22,8.02,0.17,53.70,0.063,0.104,0.203,205,2242,500,-7.36,-0.51,702.78,0,0,0,0,0,0,14.33,14.35,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	274	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323632
IRIDIUM_FIX	7542.41,-15113.64,100917,043047	DATA_FILE_SIZE	23355,646
TT8_MAMPS	0.040446,0.986433	CAP_FILE_SIZE	96552,0
HUMID	46.45	CFSIZE	2097872896,2002386944
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	1447.2
XPDR_PINGS	9	CURRENT	0.054,225.41,1
CP_FREE	15945433088.000000	GPS	100917,094633,7542.037,-15110.323,91,0.7,92,20.8,0.0,113.2,12,7.2
PM_FREEKB_00	48739456

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	461	148.63	nil	0	0	0.00
Roll_motor	79	2138	2068.15	nil	0	0	0.00
VBD_pump_during_apogee	976	1412	16796.29	nil	0	0	0.00
VBD_pump_during_surface	53	202	132.49	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	8200	15	1502.90
Iridium_during_xfer	219	131	351.17	NCP	8735	20	2126.10
Transponder_ping	2	420	11.50	PMAR	8735	26	2774.45
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.39
TT8	0	0	0.00
LPSleep	5981	2	166.10
TT8_Active	897	13	150.69
TT8_Sampling	2133	33	857.59
TT8_CF8	250	38	116.52
TT8_Kalman	0	0	0.00
Analog_circuits	2255	10	271.09
GPS_charging	0	0	0.00
Compass	928	7	78.11
RAFOS	2219	48	1280.27
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	48	begin dive
51	-0.57	-145.9	187	2223	513	491	0.0	0.0	0	144	0.00	0.00	-91.93	0.000	16386	0.000	0.000	184	2222	2137	2073	2202	0	0	0	0	0	0	14.53	28.83	14.54
147	-0.57	-145.9	187	2221	2070	2204	3.6	-4.5	9	205	13.27	2.83	-36.95	0.000	18980	0.461	2.139	2385	828	3964	3950	3979	0	0	0	0	0	0	13.56	12.59	14.07
227	-0.51	-145.9	2385	830	3954	3979	27.1	-28.5	24	234	0.15	2.42	0.00	0.000	3206	0.257	0.087	2410	2194	3966	3953	3979	0	0	0	0	0	0	13.92	14.08	14.16
530	-0.66	-145.9	2410	2194	3956	3979	66.6	-9.7	55	535	0.12	2.55	0.00	0.000	4516	0.134	0.090	2350	3608	3967	3955	3979	0	0	0	0	0	0	14.09	13.94	14.10
611	-0.83	-145.9	2350	3609	3956	3979	75.3	-10.7	71	616	0.12	2.35	0.00	0.000	5254	0.134	0.057	2300	2237	3967	3955	3979	0	0	0	0	0	0	14.09	14.05	14.21
923	-0.86	-145.9	2300	2236	3956	3979	122.9	-14.1	93	928	0.00	2.42	0.00	0.000	388	0.000	0.086	2293	3609	3965	3955	3976	0	0	0	0	0	0	14.58	14.10	14.59
973	-1.00	-145.9	2294	3610	3956	3979	129.5	-11.7	103	978	0.12	2.45	0.00	0.000	5254	0.126	0.058	2243	2190	3966	3955	3978	0	0	0	0	0	0	14.09	14.04	14.19
1283	-0.96	-145.9	2244	2189	3956	3979	184.2	-17.5	115	1288	0.00	2.50	0.00	0.000	388	0.000	0.087	2236	3610	3967	3955	3979	0	0	0	0	0	0	14.63	14.14	14.64
1363	-1.01	-145.9	2237	3610	3956	3979	196.5	-13.7	131	1368	0.00	2.42	0.00	0.000	1158	0.000	0.059	2236	2196	3967	3955	3979	0	0	0	0	0	0	14.31	14.19	14.35
1673	-1.01	-145.9	2237	2194	3956	3979	244.8	-15.3	143	1678	0.00	2.50	0.00	0.000	260	0.000	0.089	2236	3608	3967	3955	3979	0	0	0	0	0	0	14.66	14.14	14.66
1785	-1.09	-145.9	2236	3609	3956	3974	259.3	-12.3	165	1790	0.00	2.40	0.00	0.000	1158	0.000	0.058	2235	2190	3967	3955	3979	0	0	0	0	0	0	14.33	14.20	14.37
2096	-1.11	-145.9	2236	2189	3956	3979	299.4	-12.6	177	2100	0.00	2.53	0.00	0.000	388	0.000	0.089	2235	3614	3966	3954	3979	0	0	0	0	0	0	14.70	14.09	14.69
2156	-1.23	-145.9	2236	3615	3956	3979	306.4	-10.9	189	2161	0.17	2.40	0.00	0.000	5254	0.116	0.057	2168	2199	3967	3955	3979	0	0	0	0	0	0	14.26	14.14	14.34
2486	-1.13	-145.9	2169	2198	3956	3975	364.9	-18.0	205	2491	0.17	2.50	0.00	0.000	2436	0.292	0.083	2199	3614	3966	3955	3978	0	0	0	0	0	0	13.79	14.11	14.00
2595	-1.17	-145.9	2199	3614	3956	3979	380.1	-12.9	224	2601	0.00	2.42	0.00	0.000	1158	0.000	0.057	2198	2192	3967	3955	3979	0	0	0	0	0	0	14.21	14.09	14.25
2922	-1.15	-145.9	2199	2191	3956	3980	425.9	-14.1	239	2926	0.00	2.55	0.00	0.000	388	0.000	0.086	2189	3616	3967	3955	3979	0	0	0	0	0	0	14.47	13.91	14.49
3001	-1.17	-145.9	2190	3616	3956	3979	437.0	-13.5	255	3006	0.00	2.42	0.00	0.000	1158	0.000	0.057	2189	2199	3966	3954	3979	0	0	0	0	0	0	14.12	14.01	14.21
3309	end dive: TARGET_DEPTH_EXCEEDED
state	3309	begin apogee
3315	-0.13	0.0	2190	2056	3956	3979	482.1	-14.6	267	3555	1.38	0.10	236.07	1.391	10246	0.242	0.158	2530	2122	3363	3375	3352	0	0	0	0	0	0	13.72	13.33	12.55
3559	end apogee: CONTROL_FINISHED_OK
state	3559	begin climb
3563	0.57	145.9	2531	2124	3367	3340	495.7	0.0	275	4123	0.75	2.72	214.45	1.361	10756	0.061	0.077	2792	727	2751	2784	2719	0	0	0	0	0	0	13.52	12.76	12.17
4151	0.14	145.9	2792	727	2786	2719	460.4	13.0	281	4156	0.75	2.45	0.00	0.000	5254	0.328	0.074	2635	2093	2750	2783	2717	0	0	0	0	0	0	13.43	13.74	13.77
4484	0.01	186.6	2635	2094	2784	2713	432.1	8.1	297	4548	0.20	2.45	58.72	1.388	12964	0.269	0.083	2589	722	2599	2646	2553	0	0	0	0	0	0	13.81	13.70	13.09
4594	0.08	246.3	2588	723	2640	2544	424.3	7.2	319	4695	0.00	2.45	93.45	1.317	9382	0.000	0.079	2588	2101	2358	2409	2307	0	0	0	0	0	0	14.09	13.98	12.88
4994	0.14	283.4	2588	2101	2393	2288	391.6	8.3	349	5055	0.12	0.00	56.28	1.340	10406	0.130	0.000	2648	2100	2205	2254	2156	0	0	0	0	0	0	14.02	13.82	13.07
5356	0.09	283.4	2648	2101	2241	2139	347.5	12.4	361	5361	0.12	2.45	0.00	0.000	4740	0.251	0.085	2620	723	2192	2240	2144	0	0	0	0	0	0	13.88	14.09	14.02
5401	0.16	288.0	2619	724	2240	2139	342.5	9.8	370	5406	0.00	2.42	0.00	0.000	1190	0.000	0.078	2620	2109	2188	2239	2138	0	0	0	0	0	0	14.31	14.17	14.33
5716	0.16	288.0	2620	2112	2240	2137	310.6	10.1	383	5717	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2111	2188	2239	2137	0	0	0	0	0	0	14.64	14.66	14.66
6016	0.19	300.5	2620	2112	2238	2137	281.6	9.4	393	6046	0.00	2.50	21.00	1.413	8868	0.000	0.085	2620	726	2132	2178	2086	0	0	0	0	0	0	14.56	14.17	13.31
6103	0.31	329.0	2619	727	2171	2084	274.0	8.7	410	6158	0.17	2.40	48.05	1.303	11430	0.099	0.076	2691	2108	2021	2062	1980	0	0	0	0	0	0	14.24	14.16	13.20
6468	0.23	329.0	2691	2110	2050	1962	226.3	12.4	433	6473	0.12	2.42	0.00	0.000	4740	0.236	0.082	2669	731	2005	2050	1961	0	0	0	0	0	0	14.05	14.17	14.15
6523	0.27	338.1	2669	731	2048	1961	220.8	9.6	444	6531	0.00	2.38	2.83	0.910	9382	0.000	0.079	2669	2100	1986	2030	1942	0	0	0	0	0	0	14.35	14.19	12.80
6828	0.27	346.9	2669	2101	2044	1948	191.4	9.6	455	6851	0.00	0.00	21.42	1.369	8230	0.000	0.000	2669	2101	1952	1997	1908	0	0	0	0	0	0	14.66	14.13	13.29
7128	0.29	368.0	2669	2101	1984	1895	163.7	9.0	465	7170	0.00	2.42	35.60	1.324	8740	0.000	0.086	2669	724	1859	1892	1827	0	0	0	0	0	0	14.62	13.87	13.26
7227	0.41	402.1	2668	725	1879	1825	155.2	8.4	484	7295	0.15	2.42	61.03	1.229	11430	0.119	0.080	2732	2101	1721	1743	1699	0	0	0	0	0	0	14.14	14.08	13.14
7611	0.36	402.1	2733	2101	1735	1678	107.7	11.6	511	7612	0.15	0.00	0.00	0.000	4230	0.232	0.000	2699	2100	1705	1734	1677	0	0	0	0	0	0	14.05	14.35	14.29
7913	0.44	459.1	2699	2101	1736	1673	83.0	7.4	535	7950	0.00	2.50	30.70	0.440	8868	0.000	0.089	2699	699	1494	1525	1464	0	0	0	0	0	0	14.57	14.07	13.58
7995	0.63	517.0	2699	699	1533	1463	76.8	7.3	551	8038	0.25	2.45	35.30	0.421	11430	0.088	0.079	2792	2103	1255	1310	1200	0	0	0	0	0	0	14.28	14.16	13.59
8335	0.66	561.1	2792	2104	1311	1207	40.3	8.0	589	8367	0.00	2.45	26.62	0.316	8740	0.000	0.086	2794	723	1076	1138	1015	0	0	0	0	0	0	14.54	13.94	13.72
8444	0.78	618.5	2794	724	1139	1023	31.9	7.4	610	8487	0.12	2.42	35.25	0.289	11430	0.131	0.076	2850	2105	840	905	775	0	0	0	0	0	0	14.12	14.07	13.74
8750	end climb: SURFACE_DEPTH_REACHED
state	8750	begin surface coast
8760	end surface coast: CONTROL_FINISHED_OK
state	8760	begin surface