Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 264 * 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 264 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 738.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 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 738.0 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 26 VBD_MIN 500

DIVE 264 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 060917,135411,7511.9023,-15139.2080,18,0.7,19,20.4,0.5,355.4,12,9.6 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 1.23 MHEAD_RNG_PITCHd_Wd 359.8,59174,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 060917,140250,7511.9414,-15139.2637,6,0.7,27,20.4,0.0,338.3,11,9.4

Post-dive calculations and measurements:

FINISH 0.4,1.021339 _24V_AH 12.28,169.193

SM_CCo 8993,14.55,0.213,0,0,498,702.78 _10V_AH 12.15,0.000

SM_GC 0.98,8.32,0.17,14.55,0.067,0.126,0.213,200,2210,498,-7.38,-0.76,702.78,0,0,0,0,0,0,14.16,14.10,13.85 FG_AHR_24Vo 0.000

RAFOS_CLK 100 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323604

IRIDIUM_FIX 7511.50,-15129.42,060917,112229 DATA_FILE_SIZE 26672,747

TT8_MAMPS 0.086135,1.03587 CAP_FILE_SIZE 96548,0

HUMID 43.77 CFSIZE 2097872896,2009726976

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 1438.9

XPDR_PINGS 20 CURRENT 0.039,310.24,1

CP_FREE 15959621632.000000 GPS 060917,163456,7513.085,-15136.788,40,0.7,40,20.5,0.5,297.2,12,7.9

PM_FREEKB_00 50169984

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 145.22 nil 0 0 0.00

Roll_motor 73 2139 1925.34 nil 0 0 0.00

VBD_pump_during_apogee 989 1476 17948.14 nil 0 0 0.00

VBD_pump_during_surface 14 212 38.00 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 5130 15 957.80

Iridium_during_xfer 272 165 553.35 NCP 8964 20 2201.56

Transponder_ping 5 420 25.79 PMAR 8944 9 1082.62

GUMSTIX_24V 0 0 0.00

GPS 28 22 7.76

TT8 0 0 0.00

LPSleep 6369 2 178.77

TT8_Active 867 13 147.32

TT8_Sampling 2037 33 827.68

TT8_CF8 265 38 124.94

TT8_Kalman 0 0 0.00

Analog_circuits 2007 10 243.93

GPS_charging 0 0 0.00

Compass 1069 7 90.92

RAFOS 2212 48 1290.04

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 199 2224 497 501 0.0 0.0 0 145 0.00 0.00 -91.95 0.000 16386 0.000 0.000 200 2224 2188 2127 2250 0 0 0 0 0 0 14.56 28.83 14.58

148 -0.57 -145.9 199 2225 2131 2251 3.9 -5.4 9 201 12.85 2.78 -34.58 0.000 18724 0.457 2.140 2376 3588 3962 3946 3979 0 0 0 0 0 0 13.64 12.57 14.14

392 -0.73 -145.9 2376 3589 3954 3979 49.4 -12.6 57 397 0.00 2.38 0.00 0.000 1158 0.000 0.055 2376 2193 3965 3952 3979 0 0 0 0 0 0 14.35 14.23 14.39

704 -0.85 -145.9 2377 2192 3954 3979 88.3 -10.3 89 705 0.22 0.00 0.00 0.000 4230 0.097 0.000 2289 2191 3966 3953 3979 0 0 0 0 0 0 13.93 14.00 13.92

1022 -0.85 -145.9 2289 2192 3954 3979 138.4 -14.9 105 1027 0.00 2.45 0.00 0.000 260 0.000 0.086 2279 3592 3966 3953 3979 0 0 0 0 0 0 14.75 14.21 14.76

1177 -0.96 -145.9 2280 3594 3954 3979 157.8 -11.7 136 1183 0.00 2.35 0.00 0.000 1158 0.000 0.058 2279 2201 3966 3953 3979 0 0 0 0 0 0 14.41 14.28 14.48

1503 -1.00 -145.9 2280 2200 3954 3980 200.4 -12.9 151 1508 0.00 2.45 0.00 0.000 388 0.000 0.086 2271 3600 3966 3953 3979 0 0 0 0 0 0 14.76 14.21 14.78

1558 -1.12 -145.9 2271 3600 3954 3979 207.2 -11.4 162 1564 0.17 2.38 0.00 0.000 5254 0.112 0.057 2206 2199 3966 3953 3979 0 0 0 0 0 0 14.26 14.19 14.34

1863 -1.03 -145.9 2207 2199 3955 3978 263.4 -17.9 173 1868 0.15 2.45 0.00 0.000 2436 0.297 0.085 2235 3595 3966 3953 3979 0 0 0 0 0 0 13.93 14.21 14.11

1993 -1.10 -145.9 2236 3596 3954 3979 280.4 -11.8 199 1998 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2200 3966 3953 3979 0 0 0 0 0 0 14.34 14.18 14.40

2313 -1.10 -145.9 2236 2198 3954 3979 320.6 -12.4 213 2318 0.00 2.45 0.00 0.000 260 0.000 0.090 2235 3594 3966 3953 3979 0 0 0 0 0 0 14.77 14.20 14.78

2369 -1.20 -145.9 2235 3595 3961 3980 327.1 -11.0 224 2376 0.15 2.38 0.00 0.000 5254 0.125 0.057 2174 2189 3966 3953 3979 0 0 0 0 0 0 14.30 14.26 14.40

2673 -1.10 -145.9 2175 2190 3953 3980 378.8 -17.1 235 2678 0.17 2.45 0.00 0.000 2436 0.304 0.083 2204 3592 3965 3952 3979 0 0 0 0 0 0 13.88 14.21 14.07

2771 -1.14 -145.9 2205 3594 3953 3980 391.8 -12.5 254 2775 0.00 2.35 0.00 0.000 1158 0.000 0.055 2204 2198 3965 3952 3979 0 0 0 0 0 0 14.40 14.28 14.44

3096 -1.14 -145.9 2205 2196 3953 3979 436.1 -13.5 269 3101 0.00 2.47 0.00 0.000 260 0.000 0.087 2197 3597 3965 3952 3978 0 0 0 0 0 0 14.76 14.13 14.78

3181 -1.17 -145.9 2198 3597 3953 3979 447.5 -12.9 286 3187 0.00 2.35 0.00 0.000 1158 0.000 0.056 2197 2196 3965 3951 3979 0 0 0 0 0 0 14.40 14.28 14.43

3423 end dive: TARGET_DEPTH_EXCEEDED

state 3423 begin apogee

3429 -0.13 0.0 2198 2063 3953 3979 481.6 -14.0 295 3660 1.30 0.00 227.40 1.426 10246 0.241 0.000 2527 2062 3366 3381 3352 0 0 0 0 0 0 13.83 13.54 12.65

3663 end apogee: CONTROL_FINISHED_OK

state 3664 begin climb

3666 0.57 145.9 2528 2063 3374 3344 493.0 0.0 302 3889 0.75 0.00 213.35 1.372 11014 0.061 0.000 2782 2059 2760 2797 2723 0 0 0 0 0 0 13.65 12.88 12.28

4211 0.15 145.9 2780 2063 2786 2714 457.7 15.0 318 4217 0.65 2.35 0.00 0.000 4740 0.321 0.077 2647 728 2747 2785 2709 0 0 0 0 0 0 13.56 13.94 13.81

4367 0.04 175.8 2647 730 2786 2715 442.9 8.6 349 4413 0.22 2.38 41.05 1.425 13478 0.267 0.081 2599 2087 2650 2694 2606 0 0 0 0 0 0 13.74 14.02 13.12

4723 0.03 220.7 2598 2087 2684 2583 414.8 7.9 370 4795 0.00 0.00 70.25 1.375 8358 0.000 0.000 2599 2086 2466 2520 2413 0 0 0 0 0 0 14.57 13.94 13.12

5083 0.06 253.6 2599 2088 2506 2395 384.4 8.5 382 5139 0.00 2.42 49.92 1.387 8740 0.000 0.083 2602 721 2326 2375 2278 0 0 0 0 0 0 14.55 13.78 13.18

5171 0.14 281.1 2603 721 2369 2272 377.0 8.7 399 5221 0.00 2.42 42.97 1.381 9382 0.000 0.078 2602 2099 2214 2266 2163 0 0 0 0 0 0 14.16 14.04 13.06

5538 0.22 305.9 2602 2100 2256 2146 343.9 8.9 422 5581 0.12 2.47 35.20 1.395 10916 0.130 0.087 2668 712 2109 2156 2063 0 0 0 0 0 0 14.24 14.07 13.21

5616 0.22 305.9 2670 716 2148 2062 333.9 13.0 438 5621 0.00 2.42 0.00 0.000 1030 0.000 0.079 2669 2099 2103 2146 2061 0 0 0 0 0 0 14.21 14.10 14.26

5927 0.17 305.9 2670 2100 2146 2053 292.9 13.0 450 5932 0.12 2.40 0.00 0.000 4740 0.269 0.082 2644 729 2096 2141 2052 0 0 0 0 0 0 14.01 14.14 14.14

5987 0.22 305.9 2645 730 2144 2053 286.4 10.1 462 5992 0.00 2.40 0.00 0.000 1158 0.000 0.078 2644 2101 2098 2144 2052 0 0 0 0 0 0 14.28 14.16 14.32

6317 0.23 314.1 2645 2103 2144 2052 253.1 9.6 478 6322 0.00 0.00 1.80 0.271 8742 0.000 0.000 2645 2100 2084 2130 2038 0 0 0 0 0 0 14.66 13.85 13.66

6647 0.25 343.5 2645 2103 2141 2046 223.5 8.6 494 6717 0.00 2.47 62.72 1.320 8740 0.000 0.085 2646 724 1959 2002 1917 0 0 0 0 0 0 14.67 14.04 13.23

6783 0.39 394.2 2647 718 1990 1914 212.7 7.7 521 6883 0.17 2.42 90.32 1.236 11430 0.106 0.080 2712 2099 1754 1779 1729 0 0 0 0 0 0 14.18 14.10 13.07

7188 0.39 394.2 2712 2100 1774 1712 163.8 12.0 552 7189 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2099 1742 1773 1712 0 0 0 0 0 0 14.40 14.42 14.43

7488 0.39 394.2 2713 2099 1777 1709 130.3 11.0 562 7492 0.00 2.42 0.00 0.000 516 0.000 0.086 2713 730 1740 1772 1709 0 0 0 0 0 0 14.47 14.13 14.48

7635 0.46 406.0 2714 730 1769 1708 115.9 9.5 591 7647 0.00 2.42 4.97 1.476 9382 0.000 0.077 2713 2104 1712 1741 1683 0 0 0 0 0 0 14.23 14.07 13.07

7952 0.48 437.8 2713 2099 1746 1686 86.2 8.5 616 7973 0.00 0.00 18.73 0.451 8230 0.000 0.000 2713 2099 1583 1609 1557 0 0 0 0 0 0 14.43 14.04 13.62

8272 0.62 517.4 2714 2099 1617 1553 61.4 6.3 648 8325 0.17 2.50 42.92 0.380 10916 0.104 0.087 2791 718 1254 1307 1201 0 0 0 0 0 0 14.12 14.04 13.64

8372 0.66 527.9 2794 719 1308 1207 52.3 9.5 667 8384 0.00 2.45 6.95 0.342 9382 0.000 0.078 2794 2099 1210 1268 1153 0 0 0 0 0 0 14.14 14.00 13.64

8689 0.76 609.3 2794 2101 1265 1160 26.6 6.2 700 8741 0.00 2.50 43.72 0.285 8868 0.000 0.086 2794 727 879 946 813 0 0 0 0 0 0 14.42 13.93 13.70

8836 0.94 677.8 2795 728 947 817 16.7 6.8 729 8879 0.28 2.42 37.62 0.255 11430 0.085 0.076 2894 2100 601 643 559 0 0 0 0 0 0 14.11 14.00 13.75

8962 end climb: SURFACE_DEPTH_REACHED

state 8962 begin surface coast

8972 end surface coast: CONTROL_FINISHED_OK

state 8972 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	264	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	738.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	060917,135411,7511.9023,-15139.2080,18,0.7,19,20.4,0.5,355.4,12,9.6	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	1.23	MHEAD_RNG_PITCHd_Wd	359.8,59174,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	060917,140250,7511.9414,-15139.2637,6,0.7,27,20.4,0.0,338.3,11,9.4

FINISH	0.4,1.021339	_24V_AH	12.28,169.193
SM_CCo	8993,14.55,0.213,0,0,498,702.78	_10V_AH	12.15,0.000
SM_GC	0.98,8.32,0.17,14.55,0.067,0.126,0.213,200,2210,498,-7.38,-0.76,702.78,0,0,0,0,0,0,14.16,14.10,13.85	FG_AHR_24Vo	0.000
RAFOS_CLK	100	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323604
IRIDIUM_FIX	7511.50,-15129.42,060917,112229	DATA_FILE_SIZE	26672,747
TT8_MAMPS	0.086135,1.03587	CAP_FILE_SIZE	96548,0
HUMID	43.77	CFSIZE	2097872896,2009726976
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	1438.9
XPDR_PINGS	20	CURRENT	0.039,310.24,1
CP_FREE	15959621632.000000	GPS	060917,163456,7513.085,-15136.788,40,0.7,40,20.5,0.5,297.2,12,7.9
PM_FREEKB_00	50169984

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	145.22	nil	0	0	0.00
Roll_motor	73	2139	1925.34	nil	0	0	0.00
VBD_pump_during_apogee	989	1476	17948.14	nil	0	0	0.00
VBD_pump_during_surface	14	212	38.00	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	5130	15	957.80
Iridium_during_xfer	272	165	553.35	NCP	8964	20	2201.56
Transponder_ping	5	420	25.79	PMAR	8944	9	1082.62
GUMSTIX_24V	0	0	0.00
GPS	28	22	7.76
TT8	0	0	0.00
LPSleep	6369	2	178.77
TT8_Active	867	13	147.32
TT8_Sampling	2037	33	827.68
TT8_CF8	265	38	124.94
TT8_Kalman	0	0	0.00
Analog_circuits	2007	10	243.93
GPS_charging	0	0	0.00
Compass	1069	7	90.92
RAFOS	2212	48	1290.04
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	199	2224	497	501	0.0	0.0	0	145	0.00	0.00	-91.95	0.000	16386	0.000	0.000	200	2224	2188	2127	2250	0	0	0	0	0	0	14.56	28.83	14.58
148	-0.57	-145.9	199	2225	2131	2251	3.9	-5.4	9	201	12.85	2.78	-34.58	0.000	18724	0.457	2.140	2376	3588	3962	3946	3979	0	0	0	0	0	0	13.64	12.57	14.14
392	-0.73	-145.9	2376	3589	3954	3979	49.4	-12.6	57	397	0.00	2.38	0.00	0.000	1158	0.000	0.055	2376	2193	3965	3952	3979	0	0	0	0	0	0	14.35	14.23	14.39
704	-0.85	-145.9	2377	2192	3954	3979	88.3	-10.3	89	705	0.22	0.00	0.00	0.000	4230	0.097	0.000	2289	2191	3966	3953	3979	0	0	0	0	0	0	13.93	14.00	13.92
1022	-0.85	-145.9	2289	2192	3954	3979	138.4	-14.9	105	1027	0.00	2.45	0.00	0.000	260	0.000	0.086	2279	3592	3966	3953	3979	0	0	0	0	0	0	14.75	14.21	14.76
1177	-0.96	-145.9	2280	3594	3954	3979	157.8	-11.7	136	1183	0.00	2.35	0.00	0.000	1158	0.000	0.058	2279	2201	3966	3953	3979	0	0	0	0	0	0	14.41	14.28	14.48
1503	-1.00	-145.9	2280	2200	3954	3980	200.4	-12.9	151	1508	0.00	2.45	0.00	0.000	388	0.000	0.086	2271	3600	3966	3953	3979	0	0	0	0	0	0	14.76	14.21	14.78
1558	-1.12	-145.9	2271	3600	3954	3979	207.2	-11.4	162	1564	0.17	2.38	0.00	0.000	5254	0.112	0.057	2206	2199	3966	3953	3979	0	0	0	0	0	0	14.26	14.19	14.34
1863	-1.03	-145.9	2207	2199	3955	3978	263.4	-17.9	173	1868	0.15	2.45	0.00	0.000	2436	0.297	0.085	2235	3595	3966	3953	3979	0	0	0	0	0	0	13.93	14.21	14.11
1993	-1.10	-145.9	2236	3596	3954	3979	280.4	-11.8	199	1998	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2200	3966	3953	3979	0	0	0	0	0	0	14.34	14.18	14.40
2313	-1.10	-145.9	2236	2198	3954	3979	320.6	-12.4	213	2318	0.00	2.45	0.00	0.000	260	0.000	0.090	2235	3594	3966	3953	3979	0	0	0	0	0	0	14.77	14.20	14.78
2369	-1.20	-145.9	2235	3595	3961	3980	327.1	-11.0	224	2376	0.15	2.38	0.00	0.000	5254	0.125	0.057	2174	2189	3966	3953	3979	0	0	0	0	0	0	14.30	14.26	14.40
2673	-1.10	-145.9	2175	2190	3953	3980	378.8	-17.1	235	2678	0.17	2.45	0.00	0.000	2436	0.304	0.083	2204	3592	3965	3952	3979	0	0	0	0	0	0	13.88	14.21	14.07
2771	-1.14	-145.9	2205	3594	3953	3980	391.8	-12.5	254	2775	0.00	2.35	0.00	0.000	1158	0.000	0.055	2204	2198	3965	3952	3979	0	0	0	0	0	0	14.40	14.28	14.44
3096	-1.14	-145.9	2205	2196	3953	3979	436.1	-13.5	269	3101	0.00	2.47	0.00	0.000	260	0.000	0.087	2197	3597	3965	3952	3978	0	0	0	0	0	0	14.76	14.13	14.78
3181	-1.17	-145.9	2198	3597	3953	3979	447.5	-12.9	286	3187	0.00	2.35	0.00	0.000	1158	0.000	0.056	2197	2196	3965	3951	3979	0	0	0	0	0	0	14.40	14.28	14.43
3423	end dive: TARGET_DEPTH_EXCEEDED
state	3423	begin apogee
3429	-0.13	0.0	2198	2063	3953	3979	481.6	-14.0	295	3660	1.30	0.00	227.40	1.426	10246	0.241	0.000	2527	2062	3366	3381	3352	0	0	0	0	0	0	13.83	13.54	12.65
3663	end apogee: CONTROL_FINISHED_OK
state	3664	begin climb
3666	0.57	145.9	2528	2063	3374	3344	493.0	0.0	302	3889	0.75	0.00	213.35	1.372	11014	0.061	0.000	2782	2059	2760	2797	2723	0	0	0	0	0	0	13.65	12.88	12.28
4211	0.15	145.9	2780	2063	2786	2714	457.7	15.0	318	4217	0.65	2.35	0.00	0.000	4740	0.321	0.077	2647	728	2747	2785	2709	0	0	0	0	0	0	13.56	13.94	13.81
4367	0.04	175.8	2647	730	2786	2715	442.9	8.6	349	4413	0.22	2.38	41.05	1.425	13478	0.267	0.081	2599	2087	2650	2694	2606	0	0	0	0	0	0	13.74	14.02	13.12
4723	0.03	220.7	2598	2087	2684	2583	414.8	7.9	370	4795	0.00	0.00	70.25	1.375	8358	0.000	0.000	2599	2086	2466	2520	2413	0	0	0	0	0	0	14.57	13.94	13.12
5083	0.06	253.6	2599	2088	2506	2395	384.4	8.5	382	5139	0.00	2.42	49.92	1.387	8740	0.000	0.083	2602	721	2326	2375	2278	0	0	0	0	0	0	14.55	13.78	13.18
5171	0.14	281.1	2603	721	2369	2272	377.0	8.7	399	5221	0.00	2.42	42.97	1.381	9382	0.000	0.078	2602	2099	2214	2266	2163	0	0	0	0	0	0	14.16	14.04	13.06
5538	0.22	305.9	2602	2100	2256	2146	343.9	8.9	422	5581	0.12	2.47	35.20	1.395	10916	0.130	0.087	2668	712	2109	2156	2063	0	0	0	0	0	0	14.24	14.07	13.21
5616	0.22	305.9	2670	716	2148	2062	333.9	13.0	438	5621	0.00	2.42	0.00	0.000	1030	0.000	0.079	2669	2099	2103	2146	2061	0	0	0	0	0	0	14.21	14.10	14.26
5927	0.17	305.9	2670	2100	2146	2053	292.9	13.0	450	5932	0.12	2.40	0.00	0.000	4740	0.269	0.082	2644	729	2096	2141	2052	0	0	0	0	0	0	14.01	14.14	14.14
5987	0.22	305.9	2645	730	2144	2053	286.4	10.1	462	5992	0.00	2.40	0.00	0.000	1158	0.000	0.078	2644	2101	2098	2144	2052	0	0	0	0	0	0	14.28	14.16	14.32
6317	0.23	314.1	2645	2103	2144	2052	253.1	9.6	478	6322	0.00	0.00	1.80	0.271	8742	0.000	0.000	2645	2100	2084	2130	2038	0	0	0	0	0	0	14.66	13.85	13.66
6647	0.25	343.5	2645	2103	2141	2046	223.5	8.6	494	6717	0.00	2.47	62.72	1.320	8740	0.000	0.085	2646	724	1959	2002	1917	0	0	0	0	0	0	14.67	14.04	13.23
6783	0.39	394.2	2647	718	1990	1914	212.7	7.7	521	6883	0.17	2.42	90.32	1.236	11430	0.106	0.080	2712	2099	1754	1779	1729	0	0	0	0	0	0	14.18	14.10	13.07
7188	0.39	394.2	2712	2100	1774	1712	163.8	12.0	552	7189	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2099	1742	1773	1712	0	0	0	0	0	0	14.40	14.42	14.43
7488	0.39	394.2	2713	2099	1777	1709	130.3	11.0	562	7492	0.00	2.42	0.00	0.000	516	0.000	0.086	2713	730	1740	1772	1709	0	0	0	0	0	0	14.47	14.13	14.48
7635	0.46	406.0	2714	730	1769	1708	115.9	9.5	591	7647	0.00	2.42	4.97	1.476	9382	0.000	0.077	2713	2104	1712	1741	1683	0	0	0	0	0	0	14.23	14.07	13.07
7952	0.48	437.8	2713	2099	1746	1686	86.2	8.5	616	7973	0.00	0.00	18.73	0.451	8230	0.000	0.000	2713	2099	1583	1609	1557	0	0	0	0	0	0	14.43	14.04	13.62
8272	0.62	517.4	2714	2099	1617	1553	61.4	6.3	648	8325	0.17	2.50	42.92	0.380	10916	0.104	0.087	2791	718	1254	1307	1201	0	0	0	0	0	0	14.12	14.04	13.64
8372	0.66	527.9	2794	719	1308	1207	52.3	9.5	667	8384	0.00	2.45	6.95	0.342	9382	0.000	0.078	2794	2099	1210	1268	1153	0	0	0	0	0	0	14.14	14.00	13.64
8689	0.76	609.3	2794	2101	1265	1160	26.6	6.2	700	8741	0.00	2.50	43.72	0.285	8868	0.000	0.086	2794	727	879	946	813	0	0	0	0	0	0	14.42	13.93	13.70
8836	0.94	677.8	2795	728	947	817	16.7	6.8	729	8879	0.28	2.42	37.62	0.255	11430	0.085	0.076	2894	2100	601	643	559	0	0	0	0	0	0	14.11	14.00	13.75
8962	end climb: SURFACE_DEPTH_REACHED
state	8962	begin surface coast
8972	end surface coast: CONTROL_FINISHED_OK
state	8972	begin surface