Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 256 * 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 256 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 718.0

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 29 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 718.0 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 29 VBD_MIN 500

DIVE 256 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 050917,163002,7502.1533,-15158.3838,28,0.7,40,20.3,1.0,324.7,11,7.8 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 1.20 MHEAD_RNG_PITCHd_Wd 2.8,78679,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 050917,164332,7502.2832,-15158.3555,9,0.7,9,20.3,0.0,25.5,12,8.6

Post-dive calculations and measurements:

FINISH 1.0,1.021420 _24V_AH 12.28,165.494

SM_CCo 8886,23.50,0.209,0,0,500,702.78 _10V_AH 12.16,0.000

SM_GC 1.27,8.25,2.70,23.50,0.071,0.096,0.209,199,2199,500,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.16,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323696

IRIDIUM_FIX 7500.94,-15200.54,050917,163425 DATA_FILE_SIZE 26721,754

TT8_MAMPS 0.039697,1.32049 CAP_FILE_SIZE 103716,0

HUMID 47.04 CFSIZE 2097872896,2011332608

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1446.1

XPDR_PINGS 23 CURRENT 0.057,304.28,1

CP_FREE 15962898432.000000 GPS 050917,191342,7503.367,-15156.120,18,0.8,21,20.3,0.5,332.9,10,9.3

PM_FREEKB_00 50390080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 142.79 nil 0 0 0.00

Roll_motor 87 2138 2307.48 nil 0 0 0.00

VBD_pump_during_apogee 983 1456 17592.32 nil 0 0 0.00

VBD_pump_during_surface 23 208 60.27 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 5053 15 966.75

Iridium_during_xfer 484 172 1029.54 NCP 8857 20 2175.28

Transponder_ping 5 420 29.66 PMAR 8835 9 1069.10

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.65

TT8 0 0 0.00

LPSleep 6287 2 176.63

TT8_Active 872 13 148.29

TT8_Sampling 2259 33 918.87

TT8_CF8 313 38 147.27

TT8_Kalman 0 0 0.00

Analog_circuits 2238 10 272.26

GPS_charging 0 0 0.00

Compass 1079 7 91.84

RAFOS 0 0 0.00

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

52 -0.57 -145.9 192 2227 502 502 0.0 0.0 0 144 0.00 0.00 -91.18 0.000 16386 0.000 0.000 191 2227 2139 2070 2209 0 0 0 0 0 0 14.39 28.83 14.40

147 -0.57 -145.9 192 2227 2074 2209 3.2 -4.0 9 204 12.77 2.72 -38.85 0.000 18724 0.453 2.139 2377 3587 3961 3945 3977 0 0 0 0 0 0 13.60 12.81 14.10

410 -0.74 -145.9 2377 3589 3952 3978 49.1 -12.7 61 415 0.12 2.35 0.00 0.000 5254 0.124 0.058 2329 2204 3964 3951 3977 0 0 0 0 0 0 13.77 14.18 13.76

720 -0.79 -145.9 2330 2202 3953 3978 98.5 -13.2 93 725 0.00 2.42 0.00 0.000 388 0.000 0.087 2321 3588 3965 3952 3978 0 0 0 0 0 0 14.67 14.19 14.69

785 -0.94 -145.9 2321 3589 3953 3979 106.4 -10.9 106 790 0.15 2.38 0.00 0.000 5254 0.115 0.058 2257 2189 3965 3952 3978 0 0 0 0 0 0 14.26 14.09 14.39

1111 -0.91 -145.9 2258 2188 3953 3977 162.0 -16.6 121 1115 0.00 2.45 0.00 0.000 388 0.000 0.086 2248 3588 3964 3952 3977 0 0 0 0 0 0 14.71 14.21 14.73

1171 -0.95 -145.9 2248 3590 3953 3979 171.3 -14.4 133 1175 0.00 2.35 0.00 0.000 1158 0.000 0.057 2247 2189 3965 3952 3978 0 0 0 0 0 0 14.40 14.27 14.44

1501 -0.95 -145.9 2248 2189 3953 3978 223.8 -15.2 149 1505 0.00 2.45 0.00 0.000 260 0.000 0.088 2240 3586 3965 3952 3978 0 0 0 0 0 0 14.73 14.21 14.74

1638 -1.02 -145.9 2240 3589 3953 3978 242.3 -13.0 176 1643 0.00 2.35 0.00 0.000 1158 0.000 0.057 2240 2194 3964 3951 3977 0 0 0 0 0 0 14.33 14.21 14.37

1953 -1.02 -145.9 2241 2194 3953 3978 285.7 -13.2 189 1958 0.00 2.47 0.00 0.000 260 0.000 0.090 2236 3595 3964 3952 3976 0 0 0 0 0 0 14.73 14.14 14.76

2008 -1.09 -145.9 2236 3598 3953 3978 292.4 -11.6 200 2015 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2189 3965 3952 3978 0 0 0 0 0 0 14.40 14.27 14.44

2314 -1.12 -145.9 2236 2190 3953 3978 329.2 -12.0 211 2318 0.00 2.47 0.00 0.000 388 0.000 0.090 2236 3589 3964 3952 3977 0 0 0 0 0 0 14.74 14.15 14.76

2388 -1.22 -145.9 2236 3590 3951 3978 337.6 -10.6 226 2394 0.15 2.35 0.00 0.000 5254 0.129 0.057 2177 2199 3964 3951 3977 0 0 0 0 0 0 14.23 14.20 14.34

2704 -1.13 -145.9 2178 2198 3953 3976 390.0 -16.9 239 2709 0.12 2.45 0.00 0.000 2436 0.290 0.083 2196 3590 3963 3951 3976 0 0 0 0 0 0 13.97 14.15 14.12

2804 -1.13 -145.9 2197 3592 3950 3977 404.2 -13.3 259 2809 0.00 2.35 0.00 0.000 1030 0.000 0.057 2196 2195 3963 3951 3976 0 0 0 0 0 0 14.39 14.26 14.42

3124 -1.10 -145.9 2197 2196 3952 3977 450.3 -14.4 273 3130 0.12 2.40 0.00 0.000 2436 0.290 0.085 2217 3588 3963 3951 3976 0 0 0 0 0 0 13.93 14.14 14.09

3227 -1.18 -145.9 2218 3587 3953 3975 462.4 -11.2 293 3232 0.00 2.33 0.00 0.000 1158 0.000 0.056 2218 2202 3963 3951 3976 0 0 0 0 0 0 14.34 14.20 14.39

3394 end dive: TARGET_DEPTH_EXCEEDED

state 3394 begin apogee

3400 -0.13 0.0 2218 2058 3952 3976 483.0 -12.1 302 3631 1.20 0.00 227.65 1.434 10246 0.230 0.000 2526 2056 3366 3390 3343 0 0 0 0 0 0 13.91 13.52 12.66

3634 end apogee: CONTROL_FINISHED_OK

state 3634 begin climb

3637 0.57 145.9 2528 2056 3382 3333 494.4 0.0 309 3859 0.75 2.55 212.05 1.378 10756 0.061 0.076 2791 733 2759 2802 2716 0 0 0 0 0 0 13.62 12.90 12.28

4067 0.17 145.9 2792 729 2791 2711 477.1 14.5 348 4073 0.70 2.45 0.00 0.000 5254 0.324 0.075 2645 2086 2749 2790 2709 0 0 0 0 0 0 13.35 13.73 13.69

4384 0.02 168.9 2645 2086 2791 2705 447.6 8.9 361 4416 0.20 0.00 30.42 1.457 12454 0.262 0.000 2593 2086 2676 2723 2629 0 0 0 0 0 0 13.43 14.02 13.16

4714 0.02 223.0 2597 2087 2712 2611 422.7 7.5 372 4805 0.00 2.45 85.15 1.367 8868 0.000 0.082 2602 723 2448 2508 2389 0 0 0 0 0 0 14.57 13.69 13.09

4845 0.10 253.7 2603 721 2500 2383 412.1 8.6 398 4897 0.00 2.45 47.08 1.379 9382 0.000 0.079 2601 2106 2329 2386 2272 0 0 0 0 0 0 14.08 13.97 12.98

5197 0.14 272.0 2603 2106 2368 2252 380.2 9.2 418 5227 0.00 2.45 23.70 1.456 8868 0.000 0.084 2601 722 2249 2305 2194 0 0 0 0 0 0 14.50 13.80 13.19

5267 0.25 296.2 2602 722 2298 2191 373.6 8.9 432 5313 0.20 2.40 35.75 1.400 11430 0.098 0.079 2682 2099 2152 2204 2101 0 0 0 0 0 0 14.21 14.12 13.14

5620 0.16 296.2 2683 2099 2196 2086 322.3 14.8 452 5625 0.17 2.40 0.00 0.000 4740 0.253 0.082 2647 724 2140 2195 2086 0 0 0 0 0 0 13.85 14.19 14.09

5665 0.19 296.2 2648 723 2194 2086 316.4 11.9 461 5670 0.00 2.40 0.00 0.000 1158 0.000 0.079 2647 2106 2139 2193 2085 0 0 0 0 0 0 14.35 14.21 14.39

5980 0.19 296.2 2648 2107 2193 2085 280.6 11.1 474 5981 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2106 2138 2193 2083 0 0 0 0 0 0 14.64 14.67 14.67

6281 0.19 301.8 2648 2107 2194 2083 250.4 9.7 484 6286 0.00 2.40 0.00 0.000 548 0.000 0.084 2648 725 2137 2192 2082 0 0 0 0 0 0 14.68 14.25 14.69

6346 0.26 329.8 2645 724 2193 2083 244.4 8.7 497 6408 0.00 2.40 55.50 1.327 9382 0.000 0.079 2647 2102 2022 2075 1970 0 0 0 0 0 0 14.37 14.23 13.22

6733 0.32 360.7 2648 2101 2056 1953 210.7 8.6 524 6794 0.00 2.50 51.40 1.308 8868 0.000 0.085 2648 727 1889 1927 1852 0 0 0 0 0 0 14.59 14.04 13.22

6859 0.47 403.4 2648 727 1916 1850 200.4 8.0 549 6941 0.25 2.42 75.90 1.236 11430 0.091 0.080 2748 2108 1722 1750 1695 0 0 0 0 0 0 14.18 14.10 13.09

7246 0.40 403.4 2749 2108 1738 1671 144.7 14.4 576 7252 0.12 2.42 0.00 0.000 4740 0.238 0.081 2726 721 1703 1736 1671 0 0 0 0 0 0 13.95 14.16 14.08

7282 0.40 403.4 2726 722 1732 1673 140.0 12.4 583 7287 0.00 2.40 0.00 0.000 1030 0.000 0.078 2726 2101 1701 1731 1672 0 0 0 0 0 0 14.28 14.16 14.33

7607 0.40 403.4 2727 2102 1733 1668 102.8 11.1 598 7612 0.00 2.40 0.00 0.000 516 0.000 0.086 2726 727 1699 1731 1668 0 0 0 0 0 0 14.63 14.24 14.65

7704 0.44 415.6 2727 727 1730 1668 93.5 9.4 617 7714 0.00 2.40 4.68 0.399 9382 0.000 0.077 2726 2103 1668 1700 1637 0 0 0 0 0 0 14.23 14.09 13.52

8020 0.50 470.2 2727 2103 1709 1644 65.8 7.5 650 8052 0.00 0.00 30.30 0.392 8358 0.000 0.000 2726 2102 1448 1488 1409 0 0 0 0 0 0 14.63 14.05 13.64

8350 0.68 579.2 2726 2104 1490 1412 46.6 5.0 683 8414 0.20 2.45 57.92 0.334 10916 0.097 0.086 2808 720 1002 1072 932 0 0 0 0 0 0 14.26 13.97 13.72

8480 0.76 593.4 2808 721 1073 938 35.0 9.3 708 8496 0.00 2.42 8.88 0.297 9382 0.000 0.076 2809 2101 946 1017 876 0 0 0 0 0 0 14.23 14.10 13.60

8794 0.90 660.9 2808 2101 1015 885 8.7 6.9 741 8838 0.17 2.53 37.17 0.226 10916 0.107 0.089 2890 721 666 721 611 0 0 0 0 0 0 14.27 14.12 13.89

8856 end climb: SURFACE_DEPTH_REACHED

state 8856 begin surface coast

8863 end surface coast: CONTROL_FINISHED_OK

state 8863 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	256	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	718.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,163002,7502.1533,-15158.3838,28,0.7,40,20.3,1.0,324.7,11,7.8	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	1.20	MHEAD_RNG_PITCHd_Wd	2.8,78679,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	050917,164332,7502.2832,-15158.3555,9,0.7,9,20.3,0.0,25.5,12,8.6

FINISH	1.0,1.021420	_24V_AH	12.28,165.494
SM_CCo	8886,23.50,0.209,0,0,500,702.78	_10V_AH	12.16,0.000
SM_GC	1.27,8.25,2.70,23.50,0.071,0.096,0.209,199,2199,500,-7.39,-0.65,702.78,0,0,0,0,0,0,14.29,14.16,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323696
IRIDIUM_FIX	7500.94,-15200.54,050917,163425	DATA_FILE_SIZE	26721,754
TT8_MAMPS	0.039697,1.32049	CAP_FILE_SIZE	103716,0
HUMID	47.04	CFSIZE	2097872896,2011332608
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1446.1
XPDR_PINGS	23	CURRENT	0.057,304.28,1
CP_FREE	15962898432.000000	GPS	050917,191342,7503.367,-15156.120,18,0.8,21,20.3,0.5,332.9,10,9.3
PM_FREEKB_00	50390080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	142.79	nil	0	0	0.00
Roll_motor	87	2138	2307.48	nil	0	0	0.00
VBD_pump_during_apogee	983	1456	17592.32	nil	0	0	0.00
VBD_pump_during_surface	23	208	60.27	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	5053	15	966.75
Iridium_during_xfer	484	172	1029.54	NCP	8857	20	2175.28
Transponder_ping	5	420	29.66	PMAR	8835	9	1069.10
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.65
TT8	0	0	0.00
LPSleep	6287	2	176.63
TT8_Active	872	13	148.29
TT8_Sampling	2259	33	918.87
TT8_CF8	313	38	147.27
TT8_Kalman	0	0	0.00
Analog_circuits	2238	10	272.26
GPS_charging	0	0	0.00
Compass	1079	7	91.84
RAFOS	0	0	0.00
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
52	-0.57	-145.9	192	2227	502	502	0.0	0.0	0	144	0.00	0.00	-91.18	0.000	16386	0.000	0.000	191	2227	2139	2070	2209	0	0	0	0	0	0	14.39	28.83	14.40
147	-0.57	-145.9	192	2227	2074	2209	3.2	-4.0	9	204	12.77	2.72	-38.85	0.000	18724	0.453	2.139	2377	3587	3961	3945	3977	0	0	0	0	0	0	13.60	12.81	14.10
410	-0.74	-145.9	2377	3589	3952	3978	49.1	-12.7	61	415	0.12	2.35	0.00	0.000	5254	0.124	0.058	2329	2204	3964	3951	3977	0	0	0	0	0	0	13.77	14.18	13.76
720	-0.79	-145.9	2330	2202	3953	3978	98.5	-13.2	93	725	0.00	2.42	0.00	0.000	388	0.000	0.087	2321	3588	3965	3952	3978	0	0	0	0	0	0	14.67	14.19	14.69
785	-0.94	-145.9	2321	3589	3953	3979	106.4	-10.9	106	790	0.15	2.38	0.00	0.000	5254	0.115	0.058	2257	2189	3965	3952	3978	0	0	0	0	0	0	14.26	14.09	14.39
1111	-0.91	-145.9	2258	2188	3953	3977	162.0	-16.6	121	1115	0.00	2.45	0.00	0.000	388	0.000	0.086	2248	3588	3964	3952	3977	0	0	0	0	0	0	14.71	14.21	14.73
1171	-0.95	-145.9	2248	3590	3953	3979	171.3	-14.4	133	1175	0.00	2.35	0.00	0.000	1158	0.000	0.057	2247	2189	3965	3952	3978	0	0	0	0	0	0	14.40	14.27	14.44
1501	-0.95	-145.9	2248	2189	3953	3978	223.8	-15.2	149	1505	0.00	2.45	0.00	0.000	260	0.000	0.088	2240	3586	3965	3952	3978	0	0	0	0	0	0	14.73	14.21	14.74
1638	-1.02	-145.9	2240	3589	3953	3978	242.3	-13.0	176	1643	0.00	2.35	0.00	0.000	1158	0.000	0.057	2240	2194	3964	3951	3977	0	0	0	0	0	0	14.33	14.21	14.37
1953	-1.02	-145.9	2241	2194	3953	3978	285.7	-13.2	189	1958	0.00	2.47	0.00	0.000	260	0.000	0.090	2236	3595	3964	3952	3976	0	0	0	0	0	0	14.73	14.14	14.76
2008	-1.09	-145.9	2236	3598	3953	3978	292.4	-11.6	200	2015	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2189	3965	3952	3978	0	0	0	0	0	0	14.40	14.27	14.44
2314	-1.12	-145.9	2236	2190	3953	3978	329.2	-12.0	211	2318	0.00	2.47	0.00	0.000	388	0.000	0.090	2236	3589	3964	3952	3977	0	0	0	0	0	0	14.74	14.15	14.76
2388	-1.22	-145.9	2236	3590	3951	3978	337.6	-10.6	226	2394	0.15	2.35	0.00	0.000	5254	0.129	0.057	2177	2199	3964	3951	3977	0	0	0	0	0	0	14.23	14.20	14.34
2704	-1.13	-145.9	2178	2198	3953	3976	390.0	-16.9	239	2709	0.12	2.45	0.00	0.000	2436	0.290	0.083	2196	3590	3963	3951	3976	0	0	0	0	0	0	13.97	14.15	14.12
2804	-1.13	-145.9	2197	3592	3950	3977	404.2	-13.3	259	2809	0.00	2.35	0.00	0.000	1030	0.000	0.057	2196	2195	3963	3951	3976	0	0	0	0	0	0	14.39	14.26	14.42
3124	-1.10	-145.9	2197	2196	3952	3977	450.3	-14.4	273	3130	0.12	2.40	0.00	0.000	2436	0.290	0.085	2217	3588	3963	3951	3976	0	0	0	0	0	0	13.93	14.14	14.09
3227	-1.18	-145.9	2218	3587	3953	3975	462.4	-11.2	293	3232	0.00	2.33	0.00	0.000	1158	0.000	0.056	2218	2202	3963	3951	3976	0	0	0	0	0	0	14.34	14.20	14.39
3394	end dive: TARGET_DEPTH_EXCEEDED
state	3394	begin apogee
3400	-0.13	0.0	2218	2058	3952	3976	483.0	-12.1	302	3631	1.20	0.00	227.65	1.434	10246	0.230	0.000	2526	2056	3366	3390	3343	0	0	0	0	0	0	13.91	13.52	12.66
3634	end apogee: CONTROL_FINISHED_OK
state	3634	begin climb
3637	0.57	145.9	2528	2056	3382	3333	494.4	0.0	309	3859	0.75	2.55	212.05	1.378	10756	0.061	0.076	2791	733	2759	2802	2716	0	0	0	0	0	0	13.62	12.90	12.28
4067	0.17	145.9	2792	729	2791	2711	477.1	14.5	348	4073	0.70	2.45	0.00	0.000	5254	0.324	0.075	2645	2086	2749	2790	2709	0	0	0	0	0	0	13.35	13.73	13.69
4384	0.02	168.9	2645	2086	2791	2705	447.6	8.9	361	4416	0.20	0.00	30.42	1.457	12454	0.262	0.000	2593	2086	2676	2723	2629	0	0	0	0	0	0	13.43	14.02	13.16
4714	0.02	223.0	2597	2087	2712	2611	422.7	7.5	372	4805	0.00	2.45	85.15	1.367	8868	0.000	0.082	2602	723	2448	2508	2389	0	0	0	0	0	0	14.57	13.69	13.09
4845	0.10	253.7	2603	721	2500	2383	412.1	8.6	398	4897	0.00	2.45	47.08	1.379	9382	0.000	0.079	2601	2106	2329	2386	2272	0	0	0	0	0	0	14.08	13.97	12.98
5197	0.14	272.0	2603	2106	2368	2252	380.2	9.2	418	5227	0.00	2.45	23.70	1.456	8868	0.000	0.084	2601	722	2249	2305	2194	0	0	0	0	0	0	14.50	13.80	13.19
5267	0.25	296.2	2602	722	2298	2191	373.6	8.9	432	5313	0.20	2.40	35.75	1.400	11430	0.098	0.079	2682	2099	2152	2204	2101	0	0	0	0	0	0	14.21	14.12	13.14
5620	0.16	296.2	2683	2099	2196	2086	322.3	14.8	452	5625	0.17	2.40	0.00	0.000	4740	0.253	0.082	2647	724	2140	2195	2086	0	0	0	0	0	0	13.85	14.19	14.09
5665	0.19	296.2	2648	723	2194	2086	316.4	11.9	461	5670	0.00	2.40	0.00	0.000	1158	0.000	0.079	2647	2106	2139	2193	2085	0	0	0	0	0	0	14.35	14.21	14.39
5980	0.19	296.2	2648	2107	2193	2085	280.6	11.1	474	5981	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2106	2138	2193	2083	0	0	0	0	0	0	14.64	14.67	14.67
6281	0.19	301.8	2648	2107	2194	2083	250.4	9.7	484	6286	0.00	2.40	0.00	0.000	548	0.000	0.084	2648	725	2137	2192	2082	0	0	0	0	0	0	14.68	14.25	14.69
6346	0.26	329.8	2645	724	2193	2083	244.4	8.7	497	6408	0.00	2.40	55.50	1.327	9382	0.000	0.079	2647	2102	2022	2075	1970	0	0	0	0	0	0	14.37	14.23	13.22
6733	0.32	360.7	2648	2101	2056	1953	210.7	8.6	524	6794	0.00	2.50	51.40	1.308	8868	0.000	0.085	2648	727	1889	1927	1852	0	0	0	0	0	0	14.59	14.04	13.22
6859	0.47	403.4	2648	727	1916	1850	200.4	8.0	549	6941	0.25	2.42	75.90	1.236	11430	0.091	0.080	2748	2108	1722	1750	1695	0	0	0	0	0	0	14.18	14.10	13.09
7246	0.40	403.4	2749	2108	1738	1671	144.7	14.4	576	7252	0.12	2.42	0.00	0.000	4740	0.238	0.081	2726	721	1703	1736	1671	0	0	0	0	0	0	13.95	14.16	14.08
7282	0.40	403.4	2726	722	1732	1673	140.0	12.4	583	7287	0.00	2.40	0.00	0.000	1030	0.000	0.078	2726	2101	1701	1731	1672	0	0	0	0	0	0	14.28	14.16	14.33
7607	0.40	403.4	2727	2102	1733	1668	102.8	11.1	598	7612	0.00	2.40	0.00	0.000	516	0.000	0.086	2726	727	1699	1731	1668	0	0	0	0	0	0	14.63	14.24	14.65
7704	0.44	415.6	2727	727	1730	1668	93.5	9.4	617	7714	0.00	2.40	4.68	0.399	9382	0.000	0.077	2726	2103	1668	1700	1637	0	0	0	0	0	0	14.23	14.09	13.52
8020	0.50	470.2	2727	2103	1709	1644	65.8	7.5	650	8052	0.00	0.00	30.30	0.392	8358	0.000	0.000	2726	2102	1448	1488	1409	0	0	0	0	0	0	14.63	14.05	13.64
8350	0.68	579.2	2726	2104	1490	1412	46.6	5.0	683	8414	0.20	2.45	57.92	0.334	10916	0.097	0.086	2808	720	1002	1072	932	0	0	0	0	0	0	14.26	13.97	13.72
8480	0.76	593.4	2808	721	1073	938	35.0	9.3	708	8496	0.00	2.42	8.88	0.297	9382	0.000	0.076	2809	2101	946	1017	876	0	0	0	0	0	0	14.23	14.10	13.60
8794	0.90	660.9	2808	2101	1015	885	8.7	6.9	741	8838	0.17	2.53	37.17	0.226	10916	0.107	0.089	2890	721	666	721	611	0	0	0	0	0	0	14.27	14.12	13.89
8856	end climb: SURFACE_DEPTH_REACHED
state	8856	begin surface coast
8863	end surface coast: CONTROL_FINISHED_OK
state	8863	begin surface