Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 139 * 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 139 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 392.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 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 392.0 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 23 VBD_MIN 500

DIVE 139 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 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 220817,215530,7320.2695,-15011.1934,17,0.7,19,20.7,0.0,0.0,11,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 299.8,155704,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 220817,220700,7320.3062,-15011.3320,5,0.9,45,20.7,0.4,273.0,10,8.0

Post-dive calculations and measurements:

FINISH 0.2,1.020587 _24V_AH 12.41,109.222

SM_CCo 8900,12.60,0.219,0,0,498,702.78 _10V_AH 12.31,0.000

SM_GC 2.14,8.27,0.17,12.60,0.073,0.116,0.219,198,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.14,14.15,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 104 FG_AHR_10Vo 0.000

RAFOS_FIX 7318.028320,-15010.394531,220817,202021,2,255,0.86 MEM 323416

IRIDIUM_FIX 7319.48,-15011.59,220817,191401 DATA_FILE_SIZE 26713,756

TT8_MAMPS 0.08988,0.89131 CAP_FILE_SIZE 103414,0

HUMID 43.66 CFSIZE 2097872896,2045411328

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

TCM_TEMP 13.20 SOUNDSPEED 1447.4

XPDR_PINGS 19 CURRENT 0.015,310.14,1

CP_FREE 15995830272.000000 GPS 230817,003724,7321.432,-15013.220,19,1.1,32,20.7,0.0,94.2,9,9.6

PM_FREEKB_00 53877824

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.68 nil 0 0 0.00

Roll_motor 94 2148 2506.76 nil 0 0 0.00

VBD_pump_during_apogee 981 1448 17642.93 nil 0 0 0.00

VBD_pump_during_surface 12 218 34.21 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 8907 14 1605.20

Iridium_during_xfer 378 172 809.14 NCP 8894 20 2207.49

Transponder_ping 4 420 24.76 PMAR 8853 9 1085.25

GUMSTIX_24V 0 0 0.00

GPS 47 22 13.04

TT8 0 0 0.00

LPSleep 6096 2 173.36

TT8_Active 873 13 150.15

TT8_Sampling 2353 33 968.62

TT8_CF8 294 38 140.25

TT8_Kalman 0 0 0.00

Analog_circuits 2302 10 283.38

GPS_charging 0 0 0.00

Compass 1083 7 93.38

RAFOS 2134 48 1260.94

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 -145.9 197 2223 498 486 0.0 0.0 0 140 0.00 0.00 -91.90 0.000 16386 0.000 0.000 195 2224 2218 2153 2284 0 0 0 0 0 0 14.49 28.83 14.50

143 -0.57 -145.9 196 2224 2156 2285 4.6 -7.0 9 196 12.55 2.72 -31.33 0.000 18724 0.457 2.149 2377 3594 3965 3947 3983 0 0 0 0 0 0 13.72 12.57 14.17

421 -0.57 -145.9 2377 3594 3955 3984 66.3 -16.6 64 428 0.00 2.40 0.00 0.000 1030 0.000 0.060 2377 2198 3968 3954 3983 0 0 0 0 0 0 14.26 14.15 14.30

748 -0.63 -145.9 2377 2197 3956 3983 111.3 -12.4 91 753 0.00 2.47 0.00 0.000 388 0.000 0.090 2370 3603 3969 3955 3983 0 0 0 0 0 0 14.54 14.19 14.54

895 -0.79 -145.9 2372 3604 3956 3984 125.9 -9.6 120 902 0.15 2.38 0.00 0.000 5286 0.120 0.055 2311 2195 3969 3955 3983 0 0 0 0 0 0 14.16 14.16 14.28

1198 -0.79 -145.9 2312 2195 3956 3983 172.6 -15.4 131 1203 0.00 2.45 0.00 0.000 260 0.000 0.088 2306 3595 3969 3955 3983 0 0 0 0 0 0 14.62 14.23 14.63

1268 -0.87 -145.9 2306 3597 3956 3983 182.4 -12.8 145 1273 0.00 2.35 0.00 0.000 1158 0.000 0.058 2306 2201 3969 3955 3983 0 0 0 0 0 0 14.37 14.25 14.41

1588 -0.87 -145.9 2306 2200 3956 3983 227.3 -13.4 159 1593 0.00 2.45 0.00 0.000 260 0.000 0.089 2302 3601 3969 3955 3983 0 0 0 0 0 0 14.66 14.25 14.65

1693 -0.97 -145.9 2303 3602 3956 3983 239.6 -11.1 180 1699 0.00 2.38 0.00 0.000 1158 0.000 0.058 2302 2201 3968 3954 3983 0 0 0 0 0 0 14.40 14.29 14.44

2009 -1.01 -145.9 2303 2196 3956 3983 276.4 -11.2 193 2014 0.12 2.45 0.00 0.000 4484 0.142 0.087 2240 3595 3969 3955 3983 0 0 0 0 0 0 14.35 14.20 14.39

2090 -0.98 -145.9 2240 3596 3956 3984 288.1 -14.9 209 2095 0.00 2.38 0.00 0.000 1158 0.000 0.059 2239 2192 3969 3956 3982 0 0 0 0 0 0 14.41 14.30 14.44

2400 -0.92 -145.9 2241 2191 3955 3980 335.8 -15.1 221 2405 0.15 2.47 0.00 0.000 2436 0.294 0.085 2265 3601 3967 3955 3980 0 0 0 0 0 0 13.94 14.19 14.12

2540 -0.99 -145.9 2266 3602 3956 3980 352.6 -10.9 249 2545 0.00 2.35 0.00 0.000 1158 0.000 0.058 2265 2199 3967 3955 3980 0 0 0 0 0 0 14.42 14.30 14.45

2850 -0.99 -145.9 2266 2198 3956 3979 390.1 -12.1 261 2855 0.00 2.45 0.00 0.000 260 0.000 0.088 2255 3595 3967 3955 3979 0 0 0 0 0 0 14.66 14.23 14.68

2955 -1.04 -145.9 2256 3597 3956 3978 402.6 -11.6 282 2960 0.00 2.35 0.00 0.000 1158 0.000 0.057 2255 2199 3967 3955 3979 0 0 0 0 0 0 14.41 14.30 14.46

3270 -1.04 -145.9 2256 2198 3956 3978 442.0 -12.5 295 3275 0.00 2.45 0.00 0.000 260 0.000 0.088 2249 3595 3966 3955 3978 0 0 0 0 0 0 14.67 14.26 14.69

3365 -1.09 -145.9 2250 3597 3956 3978 453.6 -11.7 314 3370 0.00 2.35 0.00 0.000 1158 0.000 0.057 2249 2199 3966 3955 3978 0 0 0 0 0 0 14.42 14.29 14.45

3598 end dive: TARGET_DEPTH_EXCEEDED

state 3598 begin apogee

3604 -0.13 0.0 2250 2055 3956 3978 483.6 -12.8 326 3822 1.10 0.05 214.20 1.449 10246 0.244 0.219 2530 2087 3364 3395 3334 0 0 0 0 0 0 13.98 13.40 12.71

3826 end apogee: CONTROL_FINISHED_OK

state 3826 begin climb

3830 0.57 145.9 2530 2087 3393 3330 494.1 0.0 333 4222 0.75 2.00 207.38 1.393 10756 0.065 0.078 2792 723 2757 2806 2708 0 0 0 0 0 0 13.58 13.16 12.41

4227 0.57 145.9 2792 724 2805 2709 470.9 6.0 336 4232 0.00 2.50 0.00 0.000 1030 0.000 0.075 2796 2105 2755 2804 2707 0 0 0 0 0 0 13.76 13.66 13.80

4543 0.16 145.9 2792 2106 2802 2705 418.4 16.6 349 4548 0.68 2.47 0.00 0.000 4484 0.326 0.076 2642 3513 2752 2800 2704 0 0 0 0 0 0 13.68 14.03 13.92

4583 -0.00 145.9 2638 3516 2801 2705 413.2 11.4 357 4589 0.28 2.35 0.00 0.000 5254 0.280 0.057 2588 2134 2751 2800 2703 0 0 0 0 0 0 13.82 14.08 14.12

4904 0.06 227.4 2589 2132 2801 2703 392.2 6.2 371 5031 0.00 2.67 117.93 1.356 8740 0.000 0.087 2589 691 2432 2500 2365 0 0 0 0 0 0 14.55 13.74 13.02

5103 0.22 289.6 2589 692 2494 2369 378.5 7.1 410 5203 0.20 2.53 93.72 1.333 11430 0.102 0.080 2672 2103 2185 2250 2120 0 0 0 0 0 0 13.95 13.88 12.82

5510 0.18 289.6 2670 2104 2236 2104 327.4 12.7 441 5515 0.00 2.53 0.00 0.000 644 0.000 0.087 2672 690 2169 2236 2102 0 0 0 0 0 0 14.33 13.99 14.34

5545 0.18 289.6 2672 691 2233 2104 322.9 12.7 448 5550 0.15 2.50 0.00 0.000 5126 0.239 0.078 2640 2106 2168 2234 2102 0 0 0 0 0 0 13.81 13.93 14.04

5871 0.21 291.7 2642 2105 2234 2101 290.0 9.9 463 5876 0.00 2.47 0.00 0.000 676 0.000 0.086 2644 694 2168 2232 2105 0 0 0 0 0 0 14.54 14.21 14.55

5901 0.27 295.7 2644 695 2230 2102 287.0 9.8 469 5906 0.00 2.45 0.00 0.000 1190 0.000 0.079 2644 2101 2165 2230 2101 0 0 0 0 0 0 14.35 14.23 14.38

6231 0.31 314.8 2644 2102 2231 2102 255.2 9.1 485 6272 0.12 0.00 36.70 1.380 10918 0.133 0.000 2697 2102 2077 2135 2019 0 0 0 0 0 0 14.37 13.87 13.29

6592 0.27 314.8 2698 2102 2128 2013 212.6 11.4 502 6598 0.00 2.47 0.00 0.000 644 0.000 0.086 2698 691 2070 2126 2014 0 0 0 0 0 0 14.57 14.18 14.55

6668 0.27 314.8 2699 692 2125 2015 204.5 10.3 517 6673 0.00 2.45 0.00 0.000 1030 0.000 0.078 2699 2103 2069 2125 2014 0 0 0 0 0 0 14.36 14.24 14.42

6985 0.24 314.8 2700 2106 2125 2012 171.5 10.2 530 6991 0.12 2.50 0.00 0.000 4740 0.232 0.083 2672 687 2068 2124 2012 0 0 0 0 0 0 14.04 14.04 14.15

7037 0.37 363.3 2673 686 2123 2012 167.2 7.8 540 7126 0.00 2.47 80.32 1.283 9382 0.000 0.079 2672 2103 1882 1925 1840 0 0 0 0 0 0 14.26 14.14 13.19

7437 0.50 417.8 2672 2104 1916 1833 135.2 7.5 570 7542 0.20 2.62 95.45 1.219 10916 0.104 0.087 2768 694 1654 1688 1621 0 0 0 0 0 0 14.09 13.76 13.08

7604 0.50 417.8 2768 695 1682 1620 112.8 13.5 603 7609 0.00 2.55 0.00 0.000 1030 0.000 0.077 2768 2106 1653 1681 1625 0 0 0 0 0 0 13.95 13.79 13.95

7911 0.47 417.8 2768 2108 1681 1612 74.0 11.9 629 7916 0.12 2.50 0.00 0.000 4740 0.275 0.082 2747 694 1646 1681 1611 0 0 0 0 0 0 13.83 14.02 13.98

7962 0.57 442.7 2748 695 1679 1612 69.1 8.9 639 7978 0.00 2.50 11.75 0.409 9382 0.000 0.078 2754 2108 1561 1599 1524 0 0 0 0 0 0 14.16 14.04 13.67

8283 0.69 535.5 2749 2109 1599 1521 46.3 5.7 673 8337 0.15 2.60 47.83 0.341 10916 0.117 0.088 2811 692 1182 1247 1118 0 0 0 0 0 0 14.06 14.01 13.73

8427 0.78 560.7 2812 693 1246 1118 33.3 8.8 701 8449 0.00 2.50 13.65 0.312 9382 0.000 0.077 2811 2108 1077 1147 1007 0 0 0 0 0 0 14.14 14.01 13.72

8748 0.97 679.6 2818 2107 1148 1010 12.3 4.5 735 8815 0.22 2.60 62.28 0.242 10916 0.096 0.087 2903 691 593 639 548 0 0 0 0 0 0 14.02 13.90 13.85

8830 0.97 679.6 2903 692 635 548 5.4 10.5 750 8836 0.00 2.50 0.00 0.000 1030 0.000 0.077 2903 2100 590 634 547 0 0 0 0 0 0 14.07 13.97 14.09

8869 end climb: SURFACE_DEPTH_REACHED

state 8869 begin surface coast

8879 end surface coast: CONTROL_FINISHED_OK

state 8879 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	139	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	392.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,215530,7320.2695,-15011.1934,17,0.7,19,20.7,0.0,0.0,11,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	299.8,155704,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	220817,220700,7320.3062,-15011.3320,5,0.9,45,20.7,0.4,273.0,10,8.0

FINISH	0.2,1.020587	_24V_AH	12.41,109.222
SM_CCo	8900,12.60,0.219,0,0,498,702.78	_10V_AH	12.31,0.000
SM_GC	2.14,8.27,0.17,12.60,0.073,0.116,0.219,198,2216,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.14,14.15,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	104	FG_AHR_10Vo	0.000
RAFOS_FIX	7318.028320,-15010.394531,220817,202021,2,255,0.86	MEM	323416
IRIDIUM_FIX	7319.48,-15011.59,220817,191401	DATA_FILE_SIZE	26713,756
TT8_MAMPS	0.08988,0.89131	CAP_FILE_SIZE	103414,0
HUMID	43.66	CFSIZE	2097872896,2045411328
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.4
XPDR_PINGS	19	CURRENT	0.015,310.14,1
CP_FREE	15995830272.000000	GPS	230817,003724,7321.432,-15013.220,19,1.1,32,20.7,0.0,94.2,9,9.6
PM_FREEKB_00	53877824

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.68	nil	0	0	0.00
Roll_motor	94	2148	2506.76	nil	0	0	0.00
VBD_pump_during_apogee	981	1448	17642.93	nil	0	0	0.00
VBD_pump_during_surface	12	218	34.21	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	8907	14	1605.20
Iridium_during_xfer	378	172	809.14	NCP	8894	20	2207.49
Transponder_ping	4	420	24.76	PMAR	8853	9	1085.25
GUMSTIX_24V	0	0	0.00
GPS	47	22	13.04
TT8	0	0	0.00
LPSleep	6096	2	173.36
TT8_Active	873	13	150.15
TT8_Sampling	2353	33	968.62
TT8_CF8	294	38	140.25
TT8_Kalman	0	0	0.00
Analog_circuits	2302	10	283.38
GPS_charging	0	0	0.00
Compass	1083	7	93.38
RAFOS	2134	48	1260.94
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	197	2223	498	486	0.0	0.0	0	140	0.00	0.00	-91.90	0.000	16386	0.000	0.000	195	2224	2218	2153	2284	0	0	0	0	0	0	14.49	28.83	14.50
143	-0.57	-145.9	196	2224	2156	2285	4.6	-7.0	9	196	12.55	2.72	-31.33	0.000	18724	0.457	2.149	2377	3594	3965	3947	3983	0	0	0	0	0	0	13.72	12.57	14.17
421	-0.57	-145.9	2377	3594	3955	3984	66.3	-16.6	64	428	0.00	2.40	0.00	0.000	1030	0.000	0.060	2377	2198	3968	3954	3983	0	0	0	0	0	0	14.26	14.15	14.30
748	-0.63	-145.9	2377	2197	3956	3983	111.3	-12.4	91	753	0.00	2.47	0.00	0.000	388	0.000	0.090	2370	3603	3969	3955	3983	0	0	0	0	0	0	14.54	14.19	14.54
895	-0.79	-145.9	2372	3604	3956	3984	125.9	-9.6	120	902	0.15	2.38	0.00	0.000	5286	0.120	0.055	2311	2195	3969	3955	3983	0	0	0	0	0	0	14.16	14.16	14.28
1198	-0.79	-145.9	2312	2195	3956	3983	172.6	-15.4	131	1203	0.00	2.45	0.00	0.000	260	0.000	0.088	2306	3595	3969	3955	3983	0	0	0	0	0	0	14.62	14.23	14.63
1268	-0.87	-145.9	2306	3597	3956	3983	182.4	-12.8	145	1273	0.00	2.35	0.00	0.000	1158	0.000	0.058	2306	2201	3969	3955	3983	0	0	0	0	0	0	14.37	14.25	14.41
1588	-0.87	-145.9	2306	2200	3956	3983	227.3	-13.4	159	1593	0.00	2.45	0.00	0.000	260	0.000	0.089	2302	3601	3969	3955	3983	0	0	0	0	0	0	14.66	14.25	14.65
1693	-0.97	-145.9	2303	3602	3956	3983	239.6	-11.1	180	1699	0.00	2.38	0.00	0.000	1158	0.000	0.058	2302	2201	3968	3954	3983	0	0	0	0	0	0	14.40	14.29	14.44
2009	-1.01	-145.9	2303	2196	3956	3983	276.4	-11.2	193	2014	0.12	2.45	0.00	0.000	4484	0.142	0.087	2240	3595	3969	3955	3983	0	0	0	0	0	0	14.35	14.20	14.39
2090	-0.98	-145.9	2240	3596	3956	3984	288.1	-14.9	209	2095	0.00	2.38	0.00	0.000	1158	0.000	0.059	2239	2192	3969	3956	3982	0	0	0	0	0	0	14.41	14.30	14.44
2400	-0.92	-145.9	2241	2191	3955	3980	335.8	-15.1	221	2405	0.15	2.47	0.00	0.000	2436	0.294	0.085	2265	3601	3967	3955	3980	0	0	0	0	0	0	13.94	14.19	14.12
2540	-0.99	-145.9	2266	3602	3956	3980	352.6	-10.9	249	2545	0.00	2.35	0.00	0.000	1158	0.000	0.058	2265	2199	3967	3955	3980	0	0	0	0	0	0	14.42	14.30	14.45
2850	-0.99	-145.9	2266	2198	3956	3979	390.1	-12.1	261	2855	0.00	2.45	0.00	0.000	260	0.000	0.088	2255	3595	3967	3955	3979	0	0	0	0	0	0	14.66	14.23	14.68
2955	-1.04	-145.9	2256	3597	3956	3978	402.6	-11.6	282	2960	0.00	2.35	0.00	0.000	1158	0.000	0.057	2255	2199	3967	3955	3979	0	0	0	0	0	0	14.41	14.30	14.46
3270	-1.04	-145.9	2256	2198	3956	3978	442.0	-12.5	295	3275	0.00	2.45	0.00	0.000	260	0.000	0.088	2249	3595	3966	3955	3978	0	0	0	0	0	0	14.67	14.26	14.69
3365	-1.09	-145.9	2250	3597	3956	3978	453.6	-11.7	314	3370	0.00	2.35	0.00	0.000	1158	0.000	0.057	2249	2199	3966	3955	3978	0	0	0	0	0	0	14.42	14.29	14.45
3598	end dive: TARGET_DEPTH_EXCEEDED
state	3598	begin apogee
3604	-0.13	0.0	2250	2055	3956	3978	483.6	-12.8	326	3822	1.10	0.05	214.20	1.449	10246	0.244	0.219	2530	2087	3364	3395	3334	0	0	0	0	0	0	13.98	13.40	12.71
3826	end apogee: CONTROL_FINISHED_OK
state	3826	begin climb
3830	0.57	145.9	2530	2087	3393	3330	494.1	0.0	333	4222	0.75	2.00	207.38	1.393	10756	0.065	0.078	2792	723	2757	2806	2708	0	0	0	0	0	0	13.58	13.16	12.41
4227	0.57	145.9	2792	724	2805	2709	470.9	6.0	336	4232	0.00	2.50	0.00	0.000	1030	0.000	0.075	2796	2105	2755	2804	2707	0	0	0	0	0	0	13.76	13.66	13.80
4543	0.16	145.9	2792	2106	2802	2705	418.4	16.6	349	4548	0.68	2.47	0.00	0.000	4484	0.326	0.076	2642	3513	2752	2800	2704	0	0	0	0	0	0	13.68	14.03	13.92
4583	-0.00	145.9	2638	3516	2801	2705	413.2	11.4	357	4589	0.28	2.35	0.00	0.000	5254	0.280	0.057	2588	2134	2751	2800	2703	0	0	0	0	0	0	13.82	14.08	14.12
4904	0.06	227.4	2589	2132	2801	2703	392.2	6.2	371	5031	0.00	2.67	117.93	1.356	8740	0.000	0.087	2589	691	2432	2500	2365	0	0	0	0	0	0	14.55	13.74	13.02
5103	0.22	289.6	2589	692	2494	2369	378.5	7.1	410	5203	0.20	2.53	93.72	1.333	11430	0.102	0.080	2672	2103	2185	2250	2120	0	0	0	0	0	0	13.95	13.88	12.82
5510	0.18	289.6	2670	2104	2236	2104	327.4	12.7	441	5515	0.00	2.53	0.00	0.000	644	0.000	0.087	2672	690	2169	2236	2102	0	0	0	0	0	0	14.33	13.99	14.34
5545	0.18	289.6	2672	691	2233	2104	322.9	12.7	448	5550	0.15	2.50	0.00	0.000	5126	0.239	0.078	2640	2106	2168	2234	2102	0	0	0	0	0	0	13.81	13.93	14.04
5871	0.21	291.7	2642	2105	2234	2101	290.0	9.9	463	5876	0.00	2.47	0.00	0.000	676	0.000	0.086	2644	694	2168	2232	2105	0	0	0	0	0	0	14.54	14.21	14.55
5901	0.27	295.7	2644	695	2230	2102	287.0	9.8	469	5906	0.00	2.45	0.00	0.000	1190	0.000	0.079	2644	2101	2165	2230	2101	0	0	0	0	0	0	14.35	14.23	14.38
6231	0.31	314.8	2644	2102	2231	2102	255.2	9.1	485	6272	0.12	0.00	36.70	1.380	10918	0.133	0.000	2697	2102	2077	2135	2019	0	0	0	0	0	0	14.37	13.87	13.29
6592	0.27	314.8	2698	2102	2128	2013	212.6	11.4	502	6598	0.00	2.47	0.00	0.000	644	0.000	0.086	2698	691	2070	2126	2014	0	0	0	0	0	0	14.57	14.18	14.55
6668	0.27	314.8	2699	692	2125	2015	204.5	10.3	517	6673	0.00	2.45	0.00	0.000	1030	0.000	0.078	2699	2103	2069	2125	2014	0	0	0	0	0	0	14.36	14.24	14.42
6985	0.24	314.8	2700	2106	2125	2012	171.5	10.2	530	6991	0.12	2.50	0.00	0.000	4740	0.232	0.083	2672	687	2068	2124	2012	0	0	0	0	0	0	14.04	14.04	14.15
7037	0.37	363.3	2673	686	2123	2012	167.2	7.8	540	7126	0.00	2.47	80.32	1.283	9382	0.000	0.079	2672	2103	1882	1925	1840	0	0	0	0	0	0	14.26	14.14	13.19
7437	0.50	417.8	2672	2104	1916	1833	135.2	7.5	570	7542	0.20	2.62	95.45	1.219	10916	0.104	0.087	2768	694	1654	1688	1621	0	0	0	0	0	0	14.09	13.76	13.08
7604	0.50	417.8	2768	695	1682	1620	112.8	13.5	603	7609	0.00	2.55	0.00	0.000	1030	0.000	0.077	2768	2106	1653	1681	1625	0	0	0	0	0	0	13.95	13.79	13.95
7911	0.47	417.8	2768	2108	1681	1612	74.0	11.9	629	7916	0.12	2.50	0.00	0.000	4740	0.275	0.082	2747	694	1646	1681	1611	0	0	0	0	0	0	13.83	14.02	13.98
7962	0.57	442.7	2748	695	1679	1612	69.1	8.9	639	7978	0.00	2.50	11.75	0.409	9382	0.000	0.078	2754	2108	1561	1599	1524	0	0	0	0	0	0	14.16	14.04	13.67
8283	0.69	535.5	2749	2109	1599	1521	46.3	5.7	673	8337	0.15	2.60	47.83	0.341	10916	0.117	0.088	2811	692	1182	1247	1118	0	0	0	0	0	0	14.06	14.01	13.73
8427	0.78	560.7	2812	693	1246	1118	33.3	8.8	701	8449	0.00	2.50	13.65	0.312	9382	0.000	0.077	2811	2108	1077	1147	1007	0	0	0	0	0	0	14.14	14.01	13.72
8748	0.97	679.6	2818	2107	1148	1010	12.3	4.5	735	8815	0.22	2.60	62.28	0.242	10916	0.096	0.087	2903	691	593	639	548	0	0	0	0	0	0	14.02	13.90	13.85
8830	0.97	679.6	2903	692	635	548	5.4	10.5	750	8836	0.00	2.50	0.00	0.000	1030	0.000	0.077	2903	2100	590	634	547	0	0	0	0	0	0	14.07	13.97	14.09
8869	end climb: SURFACE_DEPTH_REACHED
state	8869	begin surface coast
8879	end surface coast: CONTROL_FINISHED_OK
state	8879	begin surface