Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 235 * 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 235 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 663.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 663.0 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 60 VBD_MIN 500

DIVE 235 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 030917,062820,7445.1226,-15242.3516,18,0.8,22,19.8,0.3,236.1,11,9.4 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 1.21 MHEAD_RNG_PITCHd_Wd 20.9,115290,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 030917,063636,7445.1167,-15242.4277,9,0.8,17,19.8,0.0,0.0,11,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.011700 _24V_AH 12.31,155.528

SM_CCo 8994,20.75,0.213,0,0,498,702.78 _10V_AH 12.16,0.000

SM_GC 1.06,8.30,0.17,20.75,0.078,0.113,0.213,201,2229,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.31,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 191 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323472

IRIDIUM_FIX 7445.17,-15249.53,030917,063124 DATA_FILE_SIZE 26683,725

TT8_MAMPS 0.040446,0.935501 CAP_FILE_SIZE 99512,0

HUMID 46.53 CFSIZE 2097872896,2016706560

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

TCM_TEMP 11.20 SOUNDSPEED 1447.7

XPDR_PINGS 12 CURRENT 0.107,258.41,1

CP_FREE 0.000000 GPS 030917,090839,7445.800,-15240.588,22,0.7,29,19.9,0.0,0.0,12,9.9

PM_FREEKB_00 50999296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.86 nil 0 0 0.00

Roll_motor 79 2141 2102.10 nil 0 0 0.00

VBD_pump_during_apogee 936 1468 16937.76 nil 0 0 0.00

VBD_pump_during_surface 20 212 54.32 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 8919 14 1603.31

Iridium_during_xfer 242 131 392.10 NCP 8955 20 2204.72

Transponder_ping 3 420 15.51 PMAR 8947 9 1090.58

GUMSTIX_24V 0 0 0.00

GPS 18 22 4.97

TT8 0 0 0.00

LPSleep 6142 2 172.54

TT8_Active 803 13 136.46

TT8_Sampling 2352 33 956.65

TT8_CF8 227 38 107.14

TT8_Kalman 0 0 0.00

Analog_circuits 2257 10 274.47

GPS_charging 0 0 0.00

Compass 1039 7 88.52

RAFOS 2219 48 1295.19

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 205 2204 485 499 0.0 0.0 0 152 0.00 0.00 -101.25 0.000 16386 0.000 0.000 204 2204 2356 2303 2409 0 0 0 0 0 0 14.54 28.83 14.56

155 -0.57 -145.9 205 2205 2306 2410 4.6 -6.7 10 203 12.70 2.80 -29.77 0.000 18724 0.454 2.141 2372 3604 3962 3941 3983 0 0 0 0 0 0 13.56 12.85 14.04

338 -0.72 -145.9 2372 3608 3949 3983 43.4 -12.7 46 343 0.00 2.33 0.00 0.000 1158 0.000 0.059 2372 2236 3965 3947 3983 0 0 0 0 0 0 14.31 14.19 14.34

648 -0.83 -145.9 2372 2235 3950 3983 81.7 -10.7 78 649 0.20 0.00 0.00 0.000 4230 0.111 0.000 2293 2234 3966 3949 3983 0 0 0 0 0 0 14.23 14.37 14.36

948 -0.83 -145.9 2294 2235 3949 3984 127.7 -14.4 96 953 0.00 2.42 0.00 0.000 260 0.000 0.086 2282 3614 3966 3949 3983 0 0 0 0 0 0 14.63 14.13 14.65

988 -0.90 -145.9 2283 3614 3950 3983 133.4 -13.7 104 993 0.00 2.40 0.00 0.000 1158 0.000 0.058 2282 2196 3966 3949 3983 0 0 0 0 0 0 14.26 14.14 14.28

1308 -0.92 -145.9 2283 2197 3950 3984 178.8 -13.6 118 1313 0.00 2.50 0.00 0.000 388 0.000 0.089 2278 3616 3966 3949 3983 0 0 0 0 0 0 14.66 14.18 14.67

1398 -1.02 -145.9 2280 3616 3952 3983 189.9 -12.0 136 1403 0.00 2.42 0.00 0.000 1158 0.000 0.058 2279 2190 3966 3949 3983 0 0 0 0 0 0 14.35 14.23 14.40

1729 -1.07 -145.9 2280 2189 3950 3983 231.1 -12.0 152 1734 0.12 2.50 0.00 0.000 4484 0.142 0.086 2222 3608 3966 3949 3983 0 0 0 0 0 0 14.31 14.19 14.35

1754 -1.04 -145.9 2223 3609 3950 3984 234.9 -15.2 157 1761 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2199 3969 3949 3990 0 0 0 0 0 0 14.36 14.26 14.39

2059 -0.99 -145.9 2222 2199 3950 3983 284.9 -15.5 168 2065 0.12 2.47 0.00 0.000 2436 0.302 0.085 2242 3608 3965 3949 3982 0 0 0 0 0 0 13.95 14.19 14.12

2172 -1.05 -145.9 2242 3609 3950 3983 298.3 -11.4 190 2176 0.00 2.38 0.00 0.000 1158 0.000 0.057 2242 2201 3966 3949 3983 0 0 0 0 0 0 14.38 14.25 14.41

2482 -1.08 -145.9 2242 2199 3950 3983 335.6 -11.7 202 2487 0.00 2.47 0.00 0.000 388 0.000 0.089 2236 3608 3965 3948 3982 0 0 0 0 0 0 14.66 14.16 14.67

2552 -1.16 -145.9 2237 3609 3950 3983 343.5 -10.9 216 2557 0.00 2.40 0.00 0.000 1158 0.000 0.057 2233 2192 3965 3949 3982 0 0 0 0 0 0 14.38 14.23 14.40

2872 -1.19 -145.9 2237 2191 3950 3982 380.4 -11.3 230 2877 0.12 2.47 0.00 0.000 4484 0.148 0.085 2172 3609 3965 3949 3982 0 0 0 0 0 0 14.30 14.18 14.33

2957 -1.12 -145.9 2172 3609 3948 3983 393.7 -16.4 247 2964 0.17 2.40 0.00 0.000 3206 0.277 0.055 2211 2198 3963 3945 3982 0 0 0 0 0 0 13.77 14.19 14.09

3262 -1.12 -145.9 2214 2196 3948 3982 435.1 -13.3 258 3267 0.00 2.47 0.00 0.000 260 0.000 0.088 2209 3608 3964 3947 3982 0 0 0 0 0 0 14.65 14.17 14.70

3338 -1.15 -145.9 2210 3609 3949 3982 444.8 -12.3 273 3343 0.00 2.35 0.00 0.000 1158 0.000 0.056 2209 2206 3964 3947 3981 0 0 0 0 0 0 14.19 14.12 14.24

3621 end dive: TARGET_DEPTH_EXCEEDED

state 3621 begin apogee

3627 -0.13 0.0 2209 2062 3948 3982 483.3 -13.4 285 3848 1.25 0.08 217.73 1.424 10246 0.240 0.178 2527 2109 3364 3384 3345 0 0 0 0 0 0 13.88 13.45 12.66

3852 end apogee: CONTROL_FINISHED_OK

state 3852 begin climb

3856 0.57 145.9 2528 2109 3377 3335 494.4 0.0 292 4415 0.75 2.65 207.52 1.384 10500 0.062 0.075 2780 3503 2753 2787 2720 0 0 0 0 0 0 13.63 13.13 12.31

4559 0.11 145.9 2780 3502 2788 2720 421.8 16.1 322 4564 0.80 2.33 0.00 0.000 5254 0.347 0.057 2623 2134 2753 2787 2720 0 0 0 0 0 0 13.68 14.06 14.07

4891 0.04 187.5 2623 2132 2788 2719 393.7 8.1 338 4957 0.00 2.60 60.20 1.403 8868 0.000 0.083 2633 691 2597 2644 2550 0 0 0 0 0 0 14.57 13.77 13.16

5045 0.02 205.9 2632 692 2638 2545 379.8 9.1 369 5077 0.20 2.47 25.40 1.469 13478 0.243 0.079 2587 2093 2521 2578 2465 0 0 0 0 0 0 13.78 14.00 13.10

5402 0.09 261.8 2588 2092 2576 2453 352.9 7.4 390 5493 0.00 2.62 85.28 1.340 8612 0.000 0.083 2587 3513 2291 2344 2239 0 0 0 0 0 0 14.42 13.82 13.07

5539 0.18 285.4 2585 3515 2335 2239 341.8 8.9 417 5579 0.17 2.45 34.97 1.387 11430 0.099 0.061 2663 2104 2200 2249 2152 0 0 0 0 0 0 13.95 13.90 12.97

5886 0.14 285.4 2664 2104 2241 2136 298.5 12.7 436 5891 0.12 2.50 0.00 0.000 4740 0.269 0.085 2641 691 2187 2239 2136 0 0 0 0 0 0 13.85 14.07 14.00

6008 0.21 289.0 2642 690 2238 2136 285.9 9.8 460 6013 0.00 2.47 0.00 0.000 1190 0.000 0.079 2641 2097 2186 2237 2136 0 0 0 0 0 0 14.23 14.10 14.25

6338 0.22 313.3 2641 2099 2237 2134 254.4 8.9 476 6381 0.00 0.00 41.65 1.366 8486 0.000 0.000 2641 2098 2088 2138 2039 0 0 0 0 0 0 14.47 14.00 13.24

6668 0.30 351.5 2638 2100 2129 2027 225.9 8.2 492 6739 0.12 2.58 61.67 1.305 10916 0.125 0.087 2704 690 1926 1965 1887 0 0 0 0 0 0 14.20 13.90 13.15

6819 0.30 351.5 2705 692 1958 1887 208.9 11.1 522 6824 0.00 2.50 0.00 0.000 1030 0.000 0.077 2704 2100 1921 1955 1888 0 0 0 0 0 0 14.12 14.00 14.14

7150 0.27 351.5 2705 2102 1955 1879 171.0 11.2 538 7155 0.12 2.50 0.00 0.000 4740 0.231 0.085 2673 691 1916 1954 1879 0 0 0 0 0 0 13.88 14.04 13.97

7207 0.41 385.9 2673 691 1953 1879 166.0 8.4 549 7275 0.15 2.47 55.53 1.278 11430 0.123 0.078 2735 2105 1787 1814 1761 0 0 0 0 0 0 14.14 14.07 13.21

7570 0.36 385.9 2736 2105 1812 1751 121.1 12.2 572 7571 0.15 0.00 0.00 0.000 4230 0.223 0.000 2703 2104 1780 1810 1751 0 0 0 0 0 0 13.85 14.10 14.06

7872 0.42 411.5 2703 2106 1810 1747 93.8 8.8 586 7893 0.00 2.50 12.73 0.486 8868 0.000 0.086 2710 688 1686 1715 1658 0 0 0 0 0 0 14.57 14.09 13.59

7990 0.53 442.7 2711 688 1716 1658 83.2 8.6 609 8013 0.12 2.47 17.58 0.453 11430 0.130 0.078 2767 2103 1558 1588 1529 0 0 0 0 0 0 14.23 14.16 13.62

8318 0.56 485.5 2767 2104 1588 1524 47.5 8.0 644 8342 0.00 0.00 22.77 0.346 8230 0.000 0.000 2768 2103 1382 1424 1341 0 0 0 0 0 0 14.58 14.07 13.71

8638 0.68 565.0 2767 2104 1424 1336 24.8 6.3 676 8685 0.00 2.53 41.50 0.285 8868 0.000 0.086 2768 689 1059 1123 995 0 0 0 0 0 0 14.57 14.07 13.74

8785 0.93 664.7 2768 690 1122 992 17.2 5.4 705 8844 0.35 2.47 52.25 0.256 11430 0.080 0.078 2898 2102 653 702 605 0 0 0 0 0 0 14.20 14.09 13.85

8920 end climb: SURFACE_DEPTH_REACHED

state 8920 begin surface coast

8929 end surface coast: CONTROL_FINISHED_OK

state 8929 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	235	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	663.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	030917,062820,7445.1226,-15242.3516,18,0.8,22,19.8,0.3,236.1,11,9.4	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	1.21	MHEAD_RNG_PITCHd_Wd	20.9,115290,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	030917,063636,7445.1167,-15242.4277,9,0.8,17,19.8,0.0,0.0,11,9.3

FINISH	0.2,1.011700	_24V_AH	12.31,155.528
SM_CCo	8994,20.75,0.213,0,0,498,702.78	_10V_AH	12.16,0.000
SM_GC	1.06,8.30,0.17,20.75,0.078,0.113,0.213,201,2229,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.31,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	191	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323472
IRIDIUM_FIX	7445.17,-15249.53,030917,063124	DATA_FILE_SIZE	26683,725
TT8_MAMPS	0.040446,0.935501	CAP_FILE_SIZE	99512,0
HUMID	46.53	CFSIZE	2097872896,2016706560
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	11.20	SOUNDSPEED	1447.7
XPDR_PINGS	12	CURRENT	0.107,258.41,1
CP_FREE	0.000000	GPS	030917,090839,7445.800,-15240.588,22,0.7,29,19.9,0.0,0.0,12,9.9
PM_FREEKB_00	50999296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.86	nil	0	0	0.00
Roll_motor	79	2141	2102.10	nil	0	0	0.00
VBD_pump_during_apogee	936	1468	16937.76	nil	0	0	0.00
VBD_pump_during_surface	20	212	54.32	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	8919	14	1603.31
Iridium_during_xfer	242	131	392.10	NCP	8955	20	2204.72
Transponder_ping	3	420	15.51	PMAR	8947	9	1090.58
GUMSTIX_24V	0	0	0.00
GPS	18	22	4.97
TT8	0	0	0.00
LPSleep	6142	2	172.54
TT8_Active	803	13	136.46
TT8_Sampling	2352	33	956.65
TT8_CF8	227	38	107.14
TT8_Kalman	0	0	0.00
Analog_circuits	2257	10	274.47
GPS_charging	0	0	0.00
Compass	1039	7	88.52
RAFOS	2219	48	1295.19
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	205	2204	485	499	0.0	0.0	0	152	0.00	0.00	-101.25	0.000	16386	0.000	0.000	204	2204	2356	2303	2409	0	0	0	0	0	0	14.54	28.83	14.56
155	-0.57	-145.9	205	2205	2306	2410	4.6	-6.7	10	203	12.70	2.80	-29.77	0.000	18724	0.454	2.141	2372	3604	3962	3941	3983	0	0	0	0	0	0	13.56	12.85	14.04
338	-0.72	-145.9	2372	3608	3949	3983	43.4	-12.7	46	343	0.00	2.33	0.00	0.000	1158	0.000	0.059	2372	2236	3965	3947	3983	0	0	0	0	0	0	14.31	14.19	14.34
648	-0.83	-145.9	2372	2235	3950	3983	81.7	-10.7	78	649	0.20	0.00	0.00	0.000	4230	0.111	0.000	2293	2234	3966	3949	3983	0	0	0	0	0	0	14.23	14.37	14.36
948	-0.83	-145.9	2294	2235	3949	3984	127.7	-14.4	96	953	0.00	2.42	0.00	0.000	260	0.000	0.086	2282	3614	3966	3949	3983	0	0	0	0	0	0	14.63	14.13	14.65
988	-0.90	-145.9	2283	3614	3950	3983	133.4	-13.7	104	993	0.00	2.40	0.00	0.000	1158	0.000	0.058	2282	2196	3966	3949	3983	0	0	0	0	0	0	14.26	14.14	14.28
1308	-0.92	-145.9	2283	2197	3950	3984	178.8	-13.6	118	1313	0.00	2.50	0.00	0.000	388	0.000	0.089	2278	3616	3966	3949	3983	0	0	0	0	0	0	14.66	14.18	14.67
1398	-1.02	-145.9	2280	3616	3952	3983	189.9	-12.0	136	1403	0.00	2.42	0.00	0.000	1158	0.000	0.058	2279	2190	3966	3949	3983	0	0	0	0	0	0	14.35	14.23	14.40
1729	-1.07	-145.9	2280	2189	3950	3983	231.1	-12.0	152	1734	0.12	2.50	0.00	0.000	4484	0.142	0.086	2222	3608	3966	3949	3983	0	0	0	0	0	0	14.31	14.19	14.35
1754	-1.04	-145.9	2223	3609	3950	3984	234.9	-15.2	157	1761	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2199	3969	3949	3990	0	0	0	0	0	0	14.36	14.26	14.39
2059	-0.99	-145.9	2222	2199	3950	3983	284.9	-15.5	168	2065	0.12	2.47	0.00	0.000	2436	0.302	0.085	2242	3608	3965	3949	3982	0	0	0	0	0	0	13.95	14.19	14.12
2172	-1.05	-145.9	2242	3609	3950	3983	298.3	-11.4	190	2176	0.00	2.38	0.00	0.000	1158	0.000	0.057	2242	2201	3966	3949	3983	0	0	0	0	0	0	14.38	14.25	14.41
2482	-1.08	-145.9	2242	2199	3950	3983	335.6	-11.7	202	2487	0.00	2.47	0.00	0.000	388	0.000	0.089	2236	3608	3965	3948	3982	0	0	0	0	0	0	14.66	14.16	14.67
2552	-1.16	-145.9	2237	3609	3950	3983	343.5	-10.9	216	2557	0.00	2.40	0.00	0.000	1158	0.000	0.057	2233	2192	3965	3949	3982	0	0	0	0	0	0	14.38	14.23	14.40
2872	-1.19	-145.9	2237	2191	3950	3982	380.4	-11.3	230	2877	0.12	2.47	0.00	0.000	4484	0.148	0.085	2172	3609	3965	3949	3982	0	0	0	0	0	0	14.30	14.18	14.33
2957	-1.12	-145.9	2172	3609	3948	3983	393.7	-16.4	247	2964	0.17	2.40	0.00	0.000	3206	0.277	0.055	2211	2198	3963	3945	3982	0	0	0	0	0	0	13.77	14.19	14.09
3262	-1.12	-145.9	2214	2196	3948	3982	435.1	-13.3	258	3267	0.00	2.47	0.00	0.000	260	0.000	0.088	2209	3608	3964	3947	3982	0	0	0	0	0	0	14.65	14.17	14.70
3338	-1.15	-145.9	2210	3609	3949	3982	444.8	-12.3	273	3343	0.00	2.35	0.00	0.000	1158	0.000	0.056	2209	2206	3964	3947	3981	0	0	0	0	0	0	14.19	14.12	14.24
3621	end dive: TARGET_DEPTH_EXCEEDED
state	3621	begin apogee
3627	-0.13	0.0	2209	2062	3948	3982	483.3	-13.4	285	3848	1.25	0.08	217.73	1.424	10246	0.240	0.178	2527	2109	3364	3384	3345	0	0	0	0	0	0	13.88	13.45	12.66
3852	end apogee: CONTROL_FINISHED_OK
state	3852	begin climb
3856	0.57	145.9	2528	2109	3377	3335	494.4	0.0	292	4415	0.75	2.65	207.52	1.384	10500	0.062	0.075	2780	3503	2753	2787	2720	0	0	0	0	0	0	13.63	13.13	12.31
4559	0.11	145.9	2780	3502	2788	2720	421.8	16.1	322	4564	0.80	2.33	0.00	0.000	5254	0.347	0.057	2623	2134	2753	2787	2720	0	0	0	0	0	0	13.68	14.06	14.07
4891	0.04	187.5	2623	2132	2788	2719	393.7	8.1	338	4957	0.00	2.60	60.20	1.403	8868	0.000	0.083	2633	691	2597	2644	2550	0	0	0	0	0	0	14.57	13.77	13.16
5045	0.02	205.9	2632	692	2638	2545	379.8	9.1	369	5077	0.20	2.47	25.40	1.469	13478	0.243	0.079	2587	2093	2521	2578	2465	0	0	0	0	0	0	13.78	14.00	13.10
5402	0.09	261.8	2588	2092	2576	2453	352.9	7.4	390	5493	0.00	2.62	85.28	1.340	8612	0.000	0.083	2587	3513	2291	2344	2239	0	0	0	0	0	0	14.42	13.82	13.07
5539	0.18	285.4	2585	3515	2335	2239	341.8	8.9	417	5579	0.17	2.45	34.97	1.387	11430	0.099	0.061	2663	2104	2200	2249	2152	0	0	0	0	0	0	13.95	13.90	12.97
5886	0.14	285.4	2664	2104	2241	2136	298.5	12.7	436	5891	0.12	2.50	0.00	0.000	4740	0.269	0.085	2641	691	2187	2239	2136	0	0	0	0	0	0	13.85	14.07	14.00
6008	0.21	289.0	2642	690	2238	2136	285.9	9.8	460	6013	0.00	2.47	0.00	0.000	1190	0.000	0.079	2641	2097	2186	2237	2136	0	0	0	0	0	0	14.23	14.10	14.25
6338	0.22	313.3	2641	2099	2237	2134	254.4	8.9	476	6381	0.00	0.00	41.65	1.366	8486	0.000	0.000	2641	2098	2088	2138	2039	0	0	0	0	0	0	14.47	14.00	13.24
6668	0.30	351.5	2638	2100	2129	2027	225.9	8.2	492	6739	0.12	2.58	61.67	1.305	10916	0.125	0.087	2704	690	1926	1965	1887	0	0	0	0	0	0	14.20	13.90	13.15
6819	0.30	351.5	2705	692	1958	1887	208.9	11.1	522	6824	0.00	2.50	0.00	0.000	1030	0.000	0.077	2704	2100	1921	1955	1888	0	0	0	0	0	0	14.12	14.00	14.14
7150	0.27	351.5	2705	2102	1955	1879	171.0	11.2	538	7155	0.12	2.50	0.00	0.000	4740	0.231	0.085	2673	691	1916	1954	1879	0	0	0	0	0	0	13.88	14.04	13.97
7207	0.41	385.9	2673	691	1953	1879	166.0	8.4	549	7275	0.15	2.47	55.53	1.278	11430	0.123	0.078	2735	2105	1787	1814	1761	0	0	0	0	0	0	14.14	14.07	13.21
7570	0.36	385.9	2736	2105	1812	1751	121.1	12.2	572	7571	0.15	0.00	0.00	0.000	4230	0.223	0.000	2703	2104	1780	1810	1751	0	0	0	0	0	0	13.85	14.10	14.06
7872	0.42	411.5	2703	2106	1810	1747	93.8	8.8	586	7893	0.00	2.50	12.73	0.486	8868	0.000	0.086	2710	688	1686	1715	1658	0	0	0	0	0	0	14.57	14.09	13.59
7990	0.53	442.7	2711	688	1716	1658	83.2	8.6	609	8013	0.12	2.47	17.58	0.453	11430	0.130	0.078	2767	2103	1558	1588	1529	0	0	0	0	0	0	14.23	14.16	13.62
8318	0.56	485.5	2767	2104	1588	1524	47.5	8.0	644	8342	0.00	0.00	22.77	0.346	8230	0.000	0.000	2768	2103	1382	1424	1341	0	0	0	0	0	0	14.58	14.07	13.71
8638	0.68	565.0	2767	2104	1424	1336	24.8	6.3	676	8685	0.00	2.53	41.50	0.285	8868	0.000	0.086	2768	689	1059	1123	995	0	0	0	0	0	0	14.57	14.07	13.74
8785	0.93	664.7	2768	690	1122	992	17.2	5.4	705	8844	0.35	2.47	52.25	0.256	11430	0.080	0.078	2898	2102	653	702	605	0	0	0	0	0	0	14.20	14.09	13.85
8920	end climb: SURFACE_DEPTH_REACHED
state	8920	begin surface coast
8929	end surface coast: CONTROL_FINISHED_OK
state	8929	begin surface