Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 136 * 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 136 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 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 383.0

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 52 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 383.0 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 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 52 VBD_MIN 500

DIVE 136 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 220817,132947,7317.3345,-15005.3398,17,0.7,31,20.7,0.0,29.2,11,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 291.9,161578,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 220817,134831,7317.4556,-15005.1895,33,1.2,33,20.7,0.0,0.0,7,6.9

Post-dive calculations and measurements:

FINISH 0.2,1.020528 _24V_AH 12.43,107.780

SM_CCo 8696,6.20,0.212,0,0,498,703.03 _10V_AH 12.28,0.000

SM_GC 2.35,8.35,0.17,6.20,0.080,0.110,0.212,199,2229,498,-7.38,-0.59,703.03,0,0,0,0,0,0,14.12,14.13,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 48 FG_AHR_10Vo 0.000

RAFOS_FIX 7316.027344,-15002.902344,220817,121216,4,255,0.12 MEM 323520

IRIDIUM_FIX 7317.42,-14958.61,220817,134041 DATA_FILE_SIZE 26744,763

TT8_MAMPS 0.083888,0.984935 CAP_FILE_SIZE 104201,0

HUMID 44.09 CFSIZE 2097872896,2046361600

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

TCM_TEMP 13.10 SOUNDSPEED 1447.5

XPDR_PINGS 23 CURRENT 0.018,99.49,1

CP_FREE 15996321792.000000 GPS 220817,161534,7318.337,-15006.958,40,0.8,42,20.7,0.4,221.6,11,8.3

PM_FREEKB_00 53964288

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 462 147.71 nil 0 0 0.00

Roll_motor 84 2145 2261.70 nil 0 0 0.00

VBD_pump_during_apogee 926 1436 16537.22 nil 0 0 0.00

VBD_pump_during_surface 6 211 16.33 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 8703 15 1641.39

Iridium_during_xfer 702 165 1442.63 NCP 8683 20 2158.59

Transponder_ping 5 420 30.02 PMAR 8652 9 1074.37

GUMSTIX_24V 0 0 0.00

GPS 34 22 9.56

TT8 0 0 0.00

LPSleep 5912 2 167.71

TT8_Active 810 13 139.09

TT8_Sampling 2796 33 1148.28

TT8_CF8 321 38 152.61

TT8_Kalman 0 0 0.00

Analog_circuits 2703 10 332.05

GPS_charging 0 0 0.00

Compass 1093 7 94.00

RAFOS 2217 48 1306.79

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 187 2207 500 486 0.0 0.0 0 130 0.00 0.00 -81.80 0.000 16386 0.000 0.000 186 2206 1994 1921 2067 0 0 0 0 0 0 14.46 28.83 14.48

133 -0.57 -145.9 188 2206 1925 2071 3.3 -3.8 8 197 12.82 2.78 -40.28 0.000 19236 0.463 2.145 2385 821 3964 3950 3979 1 0 0 0 0 0 13.59 12.60 14.18

402 -0.62 -145.9 2385 820 3956 3981 58.8 -15.5 61 408 0.00 2.45 0.00 0.000 1158 0.000 0.090 2378 2194 3968 3955 3981 0 0 0 0 0 0 14.25 14.12 14.28

727 -0.66 -145.9 2378 2195 3956 3982 107.6 -12.7 90 732 0.00 2.50 0.00 0.000 388 0.000 0.093 2376 3609 3968 3956 3981 0 0 0 0 0 0 14.55 14.13 14.57

887 -0.85 -145.9 2376 3611 3957 3982 123.1 -9.0 122 893 0.22 2.33 0.00 0.000 5286 0.097 0.054 2283 2221 3968 3956 3981 0 0 0 0 0 0 14.26 14.26 14.35

1208 -0.78 -145.9 2284 2220 3957 3980 181.1 -17.8 136 1213 0.15 2.45 0.00 0.000 2436 0.275 0.085 2312 3616 3968 3956 3981 0 0 0 0 0 0 13.92 14.17 14.07

1348 -0.89 -145.9 2312 3618 3956 3982 198.7 -11.2 164 1353 0.00 2.38 0.00 0.000 1158 0.000 0.057 2312 2202 3968 3956 3981 0 0 0 0 0 0 14.37 14.26 14.40

1658 -0.92 -145.9 2308 2206 3956 3982 238.4 -12.5 176 1663 0.00 2.50 0.00 0.000 388 0.000 0.090 2307 3622 3968 3956 3980 0 0 0 0 0 0 14.63 14.23 14.64

1743 -1.04 -145.9 2308 3622 3957 3981 247.9 -10.3 193 1750 0.20 2.40 0.00 0.000 5254 0.106 0.058 2235 2201 3967 3955 3980 0 0 0 0 0 0 14.29 14.26 14.39

2049 -0.95 -145.9 2236 2202 3956 3981 299.4 -16.4 204 2054 0.12 2.50 0.00 0.000 2436 0.297 0.085 2254 3624 3968 3956 3980 0 0 0 0 0 0 13.97 14.21 14.16

2223 -0.95 -145.9 2254 3626 3956 3980 322.7 -12.8 239 2231 0.00 2.40 0.00 0.000 1030 0.000 0.058 2254 2201 3966 3954 3979 0 0 0 0 0 0 14.38 14.26 14.41

2529 -0.92 -145.9 2254 2202 3956 3979 363.8 -13.3 250 2534 0.00 2.50 0.00 0.000 388 0.000 0.089 2247 3624 3965 3954 3977 0 0 0 0 0 0 14.65 14.22 14.67

2619 -0.95 -145.9 2248 3626 3956 3978 375.4 -12.3 268 2624 0.00 2.40 0.00 0.000 1158 0.000 0.058 2246 2196 3966 3955 3977 0 0 0 0 0 0 14.42 14.30 14.45

2950 -0.91 -145.9 2247 2198 3962 3977 419.6 -13.4 284 2955 0.12 2.47 0.00 0.000 2436 0.294 0.086 2267 3616 3966 3955 3977 0 0 0 0 0 0 14.00 14.25 14.16

3072 -0.99 -145.9 2267 3616 3955 3977 432.8 -10.4 308 3076 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2202 3966 3955 3977 0 0 0 0 0 0 14.42 14.30 14.45

3402 -0.99 -145.9 2267 2202 3955 3977 471.5 -11.7 324 3406 0.00 2.47 0.00 0.000 260 0.000 0.090 2260 3616 3970 3955 3985 0 0 0 0 0 0 14.66 14.24 14.68

3479 end dive: TARGET_DEPTH_EXCEEDED

state 3479 begin apogee

3487 -0.13 0.0 2261 2092 3955 3977 480.5 -10.3 340 3704 1.05 0.00 213.52 1.437 10246 0.227 0.000 2531 2099 3364 3390 3338 0 0 0 0 0 0 13.93 13.49 12.73

3708 end apogee: CONTROL_FINISHED_OK

state 3708 begin climb

3710 0.57 145.9 2531 2092 3385 3332 491.4 0.0 347 4253 0.73 2.70 204.82 1.391 10756 0.067 0.080 2781 671 2758 2800 2716 0 0 0 0 0 0 13.58 13.17 12.43

4264 0.57 145.9 2782 670 2801 2716 447.3 9.0 350 4269 0.00 2.55 0.00 0.000 1030 0.000 0.075 2781 2109 2757 2800 2714 0 0 0 0 0 0 14.00 13.88 14.02

4579 0.18 145.9 2780 2110 2800 2715 397.3 15.5 363 4584 0.57 2.45 0.00 0.000 4484 0.314 0.076 2649 3520 2756 2799 2713 0 0 0 0 0 0 13.83 14.14 14.04

4610 -0.02 145.9 2650 3520 2797 2713 393.3 12.2 369 4615 0.35 2.42 0.00 0.000 5254 0.283 0.058 2578 2089 2754 2796 2712 0 0 0 0 0 0 13.89 14.17 14.21

4942 0.07 238.2 2578 2089 2797 2713 373.1 5.7 385 5088 0.00 2.53 138.05 1.334 8868 0.000 0.083 2578 693 2389 2450 2328 0 0 0 0 0 0 14.57 13.56 12.99

5128 0.27 305.8 2579 693 2443 2325 361.2 6.9 422 5238 0.28 2.53 100.93 1.310 11430 0.089 0.080 2681 2099 2113 2171 2056 0 0 0 0 0 0 13.87 13.80 12.79

5545 0.23 305.8 2681 2100 2158 2045 304.9 13.6 455 5550 0.00 2.50 0.00 0.000 644 0.000 0.086 2683 693 2100 2157 2044 0 0 0 0 0 0 14.28 13.88 14.30

5610 0.23 305.8 2684 693 2157 2044 296.4 12.6 468 5616 0.00 2.47 0.00 0.000 1030 0.000 0.076 2683 2099 2100 2156 2044 0 0 0 0 0 0 14.17 14.06 14.21

5936 0.20 305.8 2684 2099 2156 2043 254.8 12.4 483 5938 0.15 0.00 0.00 0.000 4230 0.246 0.000 2651 2100 2098 2155 2042 0 0 0 0 0 0 14.05 14.35 14.31

6237 0.26 340.2 2652 2100 2155 2040 228.0 8.4 493 6298 0.00 2.55 51.08 1.336 8868 0.000 0.085 2658 698 1970 2021 1920 0 0 0 0 0 0 14.60 14.04 13.29

6373 0.40 372.8 2659 689 2017 1920 216.6 8.5 520 6433 0.15 2.47 52.90 1.308 11430 0.125 0.080 2718 2103 1840 1874 1807 0 0 0 0 0 0 14.14 14.10 13.14

6749 0.40 372.8 2718 2102 1867 1798 170.6 12.0 545 6753 0.00 2.50 0.00 0.000 516 0.000 0.087 2724 685 1831 1865 1797 0 0 0 0 0 0 14.46 14.15 14.48

6794 0.43 372.8 2724 681 1859 1797 165.3 11.5 554 6798 0.00 2.47 0.00 0.000 1158 0.000 0.077 2724 2102 1829 1862 1797 0 0 0 0 0 0 14.33 14.19 14.34

7109 0.43 372.8 2724 2104 1863 1796 129.0 11.2 567 7109 0.00 0.00 0.00 0.000 6 0.000 0.000 2724 2103 1828 1862 1795 0 0 0 0 0 0 14.57 14.59 14.59

7409 0.43 372.8 2724 2104 1863 1793 97.6 10.1 577 7414 0.00 2.50 0.00 0.000 516 0.000 0.086 2729 694 1831 1868 1794 0 0 0 0 0 0 14.59 14.18 14.62

7570 0.51 411.4 2729 695 1858 1794 83.5 8.2 609 7593 0.00 2.45 18.73 0.461 9382 0.000 0.079 2729 2106 1685 1713 1657 0 0 0 0 0 0 14.35 14.21 13.76

7899 0.64 489.8 2729 2107 1714 1654 58.2 6.4 643 7946 0.15 2.50 40.58 0.377 10660 0.119 0.083 2795 3512 1366 1414 1318 0 0 0 0 0 0 14.11 14.06 13.71

7988 0.64 489.8 2796 3514 1415 1319 49.6 11.3 660 7995 0.00 2.45 0.00 0.000 1030 0.000 0.068 2801 2103 1366 1414 1318 0 0 0 0 0 0 14.17 14.04 14.17

8291 0.68 547.1 2804 2104 1419 1312 24.1 7.4 691 8328 0.00 2.58 29.42 0.286 8740 0.000 0.088 2806 680 1131 1194 1069 0 0 0 0 0 0 14.38 13.99 13.80

8549 0.95 692.5 2804 682 1193 1065 11.0 3.3 742 8632 0.25 2.50 76.03 0.236 11430 0.095 0.078 2898 2104 536 569 503 0 0 0 0 0 0 14.12 14.05 13.76

8667 end climb: SURFACE_DEPTH_REACHED

state 8667 begin surface coast

8675 end surface coast: CONTROL_FINISHED_OK

state 8675 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	136	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	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	383.0
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	52	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,132947,7317.3345,-15005.3398,17,0.7,31,20.7,0.0,29.2,11,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	291.9,161578,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	220817,134831,7317.4556,-15005.1895,33,1.2,33,20.7,0.0,0.0,7,6.9

FINISH	0.2,1.020528	_24V_AH	12.43,107.780
SM_CCo	8696,6.20,0.212,0,0,498,703.03	_10V_AH	12.28,0.000
SM_GC	2.35,8.35,0.17,6.20,0.080,0.110,0.212,199,2229,498,-7.38,-0.59,703.03,0,0,0,0,0,0,14.12,14.13,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	48	FG_AHR_10Vo	0.000
RAFOS_FIX	7316.027344,-15002.902344,220817,121216,4,255,0.12	MEM	323520
IRIDIUM_FIX	7317.42,-14958.61,220817,134041	DATA_FILE_SIZE	26744,763
TT8_MAMPS	0.083888,0.984935	CAP_FILE_SIZE	104201,0
HUMID	44.09	CFSIZE	2097872896,2046361600
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.5
XPDR_PINGS	23	CURRENT	0.018,99.49,1
CP_FREE	15996321792.000000	GPS	220817,161534,7318.337,-15006.958,40,0.8,42,20.7,0.4,221.6,11,8.3
PM_FREEKB_00	53964288

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	462	147.71	nil	0	0	0.00
Roll_motor	84	2145	2261.70	nil	0	0	0.00
VBD_pump_during_apogee	926	1436	16537.22	nil	0	0	0.00
VBD_pump_during_surface	6	211	16.33	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	8703	15	1641.39
Iridium_during_xfer	702	165	1442.63	NCP	8683	20	2158.59
Transponder_ping	5	420	30.02	PMAR	8652	9	1074.37
GUMSTIX_24V	0	0	0.00
GPS	34	22	9.56
TT8	0	0	0.00
LPSleep	5912	2	167.71
TT8_Active	810	13	139.09
TT8_Sampling	2796	33	1148.28
TT8_CF8	321	38	152.61
TT8_Kalman	0	0	0.00
Analog_circuits	2703	10	332.05
GPS_charging	0	0	0.00
Compass	1093	7	94.00
RAFOS	2217	48	1306.79
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	187	2207	500	486	0.0	0.0	0	130	0.00	0.00	-81.80	0.000	16386	0.000	0.000	186	2206	1994	1921	2067	0	0	0	0	0	0	14.46	28.83	14.48
133	-0.57	-145.9	188	2206	1925	2071	3.3	-3.8	8	197	12.82	2.78	-40.28	0.000	19236	0.463	2.145	2385	821	3964	3950	3979	1	0	0	0	0	0	13.59	12.60	14.18
402	-0.62	-145.9	2385	820	3956	3981	58.8	-15.5	61	408	0.00	2.45	0.00	0.000	1158	0.000	0.090	2378	2194	3968	3955	3981	0	0	0	0	0	0	14.25	14.12	14.28
727	-0.66	-145.9	2378	2195	3956	3982	107.6	-12.7	90	732	0.00	2.50	0.00	0.000	388	0.000	0.093	2376	3609	3968	3956	3981	0	0	0	0	0	0	14.55	14.13	14.57
887	-0.85	-145.9	2376	3611	3957	3982	123.1	-9.0	122	893	0.22	2.33	0.00	0.000	5286	0.097	0.054	2283	2221	3968	3956	3981	0	0	0	0	0	0	14.26	14.26	14.35
1208	-0.78	-145.9	2284	2220	3957	3980	181.1	-17.8	136	1213	0.15	2.45	0.00	0.000	2436	0.275	0.085	2312	3616	3968	3956	3981	0	0	0	0	0	0	13.92	14.17	14.07
1348	-0.89	-145.9	2312	3618	3956	3982	198.7	-11.2	164	1353	0.00	2.38	0.00	0.000	1158	0.000	0.057	2312	2202	3968	3956	3981	0	0	0	0	0	0	14.37	14.26	14.40
1658	-0.92	-145.9	2308	2206	3956	3982	238.4	-12.5	176	1663	0.00	2.50	0.00	0.000	388	0.000	0.090	2307	3622	3968	3956	3980	0	0	0	0	0	0	14.63	14.23	14.64
1743	-1.04	-145.9	2308	3622	3957	3981	247.9	-10.3	193	1750	0.20	2.40	0.00	0.000	5254	0.106	0.058	2235	2201	3967	3955	3980	0	0	0	0	0	0	14.29	14.26	14.39
2049	-0.95	-145.9	2236	2202	3956	3981	299.4	-16.4	204	2054	0.12	2.50	0.00	0.000	2436	0.297	0.085	2254	3624	3968	3956	3980	0	0	0	0	0	0	13.97	14.21	14.16
2223	-0.95	-145.9	2254	3626	3956	3980	322.7	-12.8	239	2231	0.00	2.40	0.00	0.000	1030	0.000	0.058	2254	2201	3966	3954	3979	0	0	0	0	0	0	14.38	14.26	14.41
2529	-0.92	-145.9	2254	2202	3956	3979	363.8	-13.3	250	2534	0.00	2.50	0.00	0.000	388	0.000	0.089	2247	3624	3965	3954	3977	0	0	0	0	0	0	14.65	14.22	14.67
2619	-0.95	-145.9	2248	3626	3956	3978	375.4	-12.3	268	2624	0.00	2.40	0.00	0.000	1158	0.000	0.058	2246	2196	3966	3955	3977	0	0	0	0	0	0	14.42	14.30	14.45
2950	-0.91	-145.9	2247	2198	3962	3977	419.6	-13.4	284	2955	0.12	2.47	0.00	0.000	2436	0.294	0.086	2267	3616	3966	3955	3977	0	0	0	0	0	0	14.00	14.25	14.16
3072	-0.99	-145.9	2267	3616	3955	3977	432.8	-10.4	308	3076	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2202	3966	3955	3977	0	0	0	0	0	0	14.42	14.30	14.45
3402	-0.99	-145.9	2267	2202	3955	3977	471.5	-11.7	324	3406	0.00	2.47	0.00	0.000	260	0.000	0.090	2260	3616	3970	3955	3985	0	0	0	0	0	0	14.66	14.24	14.68
3479	end dive: TARGET_DEPTH_EXCEEDED
state	3479	begin apogee
3487	-0.13	0.0	2261	2092	3955	3977	480.5	-10.3	340	3704	1.05	0.00	213.52	1.437	10246	0.227	0.000	2531	2099	3364	3390	3338	0	0	0	0	0	0	13.93	13.49	12.73
3708	end apogee: CONTROL_FINISHED_OK
state	3708	begin climb
3710	0.57	145.9	2531	2092	3385	3332	491.4	0.0	347	4253	0.73	2.70	204.82	1.391	10756	0.067	0.080	2781	671	2758	2800	2716	0	0	0	0	0	0	13.58	13.17	12.43
4264	0.57	145.9	2782	670	2801	2716	447.3	9.0	350	4269	0.00	2.55	0.00	0.000	1030	0.000	0.075	2781	2109	2757	2800	2714	0	0	0	0	0	0	14.00	13.88	14.02
4579	0.18	145.9	2780	2110	2800	2715	397.3	15.5	363	4584	0.57	2.45	0.00	0.000	4484	0.314	0.076	2649	3520	2756	2799	2713	0	0	0	0	0	0	13.83	14.14	14.04
4610	-0.02	145.9	2650	3520	2797	2713	393.3	12.2	369	4615	0.35	2.42	0.00	0.000	5254	0.283	0.058	2578	2089	2754	2796	2712	0	0	0	0	0	0	13.89	14.17	14.21
4942	0.07	238.2	2578	2089	2797	2713	373.1	5.7	385	5088	0.00	2.53	138.05	1.334	8868	0.000	0.083	2578	693	2389	2450	2328	0	0	0	0	0	0	14.57	13.56	12.99
5128	0.27	305.8	2579	693	2443	2325	361.2	6.9	422	5238	0.28	2.53	100.93	1.310	11430	0.089	0.080	2681	2099	2113	2171	2056	0	0	0	0	0	0	13.87	13.80	12.79
5545	0.23	305.8	2681	2100	2158	2045	304.9	13.6	455	5550	0.00	2.50	0.00	0.000	644	0.000	0.086	2683	693	2100	2157	2044	0	0	0	0	0	0	14.28	13.88	14.30
5610	0.23	305.8	2684	693	2157	2044	296.4	12.6	468	5616	0.00	2.47	0.00	0.000	1030	0.000	0.076	2683	2099	2100	2156	2044	0	0	0	0	0	0	14.17	14.06	14.21
5936	0.20	305.8	2684	2099	2156	2043	254.8	12.4	483	5938	0.15	0.00	0.00	0.000	4230	0.246	0.000	2651	2100	2098	2155	2042	0	0	0	0	0	0	14.05	14.35	14.31
6237	0.26	340.2	2652	2100	2155	2040	228.0	8.4	493	6298	0.00	2.55	51.08	1.336	8868	0.000	0.085	2658	698	1970	2021	1920	0	0	0	0	0	0	14.60	14.04	13.29
6373	0.40	372.8	2659	689	2017	1920	216.6	8.5	520	6433	0.15	2.47	52.90	1.308	11430	0.125	0.080	2718	2103	1840	1874	1807	0	0	0	0	0	0	14.14	14.10	13.14
6749	0.40	372.8	2718	2102	1867	1798	170.6	12.0	545	6753	0.00	2.50	0.00	0.000	516	0.000	0.087	2724	685	1831	1865	1797	0	0	0	0	0	0	14.46	14.15	14.48
6794	0.43	372.8	2724	681	1859	1797	165.3	11.5	554	6798	0.00	2.47	0.00	0.000	1158	0.000	0.077	2724	2102	1829	1862	1797	0	0	0	0	0	0	14.33	14.19	14.34
7109	0.43	372.8	2724	2104	1863	1796	129.0	11.2	567	7109	0.00	0.00	0.00	0.000	6	0.000	0.000	2724	2103	1828	1862	1795	0	0	0	0	0	0	14.57	14.59	14.59
7409	0.43	372.8	2724	2104	1863	1793	97.6	10.1	577	7414	0.00	2.50	0.00	0.000	516	0.000	0.086	2729	694	1831	1868	1794	0	0	0	0	0	0	14.59	14.18	14.62
7570	0.51	411.4	2729	695	1858	1794	83.5	8.2	609	7593	0.00	2.45	18.73	0.461	9382	0.000	0.079	2729	2106	1685	1713	1657	0	0	0	0	0	0	14.35	14.21	13.76
7899	0.64	489.8	2729	2107	1714	1654	58.2	6.4	643	7946	0.15	2.50	40.58	0.377	10660	0.119	0.083	2795	3512	1366	1414	1318	0	0	0	0	0	0	14.11	14.06	13.71
7988	0.64	489.8	2796	3514	1415	1319	49.6	11.3	660	7995	0.00	2.45	0.00	0.000	1030	0.000	0.068	2801	2103	1366	1414	1318	0	0	0	0	0	0	14.17	14.04	14.17
8291	0.68	547.1	2804	2104	1419	1312	24.1	7.4	691	8328	0.00	2.58	29.42	0.286	8740	0.000	0.088	2806	680	1131	1194	1069	0	0	0	0	0	0	14.38	13.99	13.80
8549	0.95	692.5	2804	682	1193	1065	11.0	3.3	742	8632	0.25	2.50	76.03	0.236	11430	0.095	0.078	2898	2104	536	569	503	0	0	0	0	0	0	14.12	14.05	13.76
8667	end climb: SURFACE_DEPTH_REACHED
state	8667	begin surface coast
8675	end surface coast: CONTROL_FINISHED_OK
state	8675	begin surface