Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 150 * 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 150 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 420.0

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 21 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 420.0 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 150 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 240817,052015,7332.5425,-15043.2275,16,0.8,21,20.5,0.0,0.0,11,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 296.1,128631,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.6 D_GRID 480

GPS2 240817,054526,7332.5342,-15043.2646,5,0.8,37,20.5,0.0,0.0,10,8.0

Post-dive calculations and measurements:

FINISH 0.1,1.012845 _24V_AH 12.41,114.541

SM_CCo 8742,22.75,0.214,0,0,499,702.78 _10V_AH 12.27,0.000

SM_GC 0.72,8.10,2.72,22.75,0.080,0.074,0.214,204,2210,499,-7.37,-0.57,702.78,0,0,0,0,0,0,14.17,14.12,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 42 FG_AHR_10Vo 0.000

RAFOS_FIX 7332.196777,-15037.294922,240817,040412,3,255,0.40 MEM 323356

IRIDIUM_FIX 7333.41,-15103.36,240817,053656 DATA_FILE_SIZE 26690,757

TT8_MAMPS 0.084637,0.92127 CAP_FILE_SIZE 111406,0

HUMID 44.95 CFSIZE 2097872896,2041905152

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 1447.8

XPDR_PINGS 19 CURRENT 0.056,275.92,1

CP_FREE 15994028032.000000 GPS 240817,081330,7333.351,-15046.194,40,0.7,44,20.5,0.8,191.8,11,9.8

PM_FREEKB_00 53547328

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 142.88 nil 0 0 0.00

Roll_motor 94 2146 2518.07 nil 0 0 0.00

VBD_pump_during_apogee 908 1584 17871.18 nil 0 0 0.00

VBD_pump_during_surface 22 214 60.47 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 8746 14 1597.13

Iridium_during_xfer 962 166 1983.18 NCP 8730 20 2166.79

Transponder_ping 4 420 24.76 PMAR 8695 9 1068.15

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.73

TT8 0 0 0.00

LPSleep 6079 2 172.31

TT8_Active 830 13 142.32

TT8_Sampling 3044 33 1249.02

TT8_CF8 334 38 158.82

TT8_Kalman 0 0 0.00

Analog_circuits 2979 10 365.59

GPS_charging 0 0 0.00

Compass 1084 7 93.19

RAFOS 2213 48 1303.37

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

42 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 187 2202 501 480 0.0 0.0 0 138 0.00 0.00 -91.22 0.000 16386 0.000 0.000 186 2204 2220 2153 2288 0 0 0 0 0 0 14.48 28.83 14.50

141 -0.57 -145.9 187 2202 2157 2281 4.5 -6.6 9 194 12.77 2.80 -31.33 0.000 18724 0.458 2.147 2374 3605 3963 3944 3982 0 0 0 0 0 0 13.69 12.62 14.15

324 -0.63 -145.9 2375 3607 3952 3982 49.7 -16.5 45 329 0.00 2.40 0.00 0.000 1158 0.000 0.056 2374 2196 3971 3960 3983 0 0 0 0 0 0 14.26 14.14 14.29

634 -0.67 -145.9 2374 2196 3953 3983 100.8 -13.0 77 640 0.00 2.50 0.00 0.000 388 0.000 0.086 2365 3610 3967 3952 3982 0 0 0 0 0 0 14.54 14.14 14.56

720 -0.82 -145.9 2367 3610 3953 3982 110.7 -10.5 94 726 0.15 2.40 0.00 0.000 5254 0.119 0.055 2303 2197 3967 3952 3982 0 0 0 0 0 0 14.24 14.21 14.33

1025 -0.79 -145.9 2303 2196 3954 3982 161.1 -16.3 105 1030 0.00 2.47 0.00 0.000 388 0.000 0.087 2294 3610 3964 3948 3981 0 0 0 0 0 0 14.60 14.22 14.63

1105 -0.84 -145.9 2294 3611 3953 3983 172.8 -13.8 121 1110 0.00 2.38 0.00 0.000 1158 0.000 0.057 2294 2199 3967 3953 3982 0 0 0 0 0 0 14.39 14.28 14.44

1415 -0.84 -145.9 2295 2198 3953 3982 219.3 -14.7 133 1420 0.00 2.50 0.00 0.000 260 0.000 0.086 2284 3613 3967 3952 3982 0 0 0 0 0 0 14.62 14.20 14.64

1495 -0.91 -145.9 2285 3614 3953 3981 230.2 -12.6 149 1500 0.00 2.38 0.00 0.000 1158 0.000 0.057 2284 2201 3967 3952 3982 0 0 0 0 0 0 14.43 14.28 14.43

1805 -0.91 -145.9 2284 2201 3953 3983 271.6 -13.1 161 1810 0.00 2.47 0.00 0.000 260 0.000 0.089 2279 3609 3967 3952 3982 0 0 0 0 0 0 14.64 14.23 14.66

1890 -1.00 -145.9 2279 3610 3954 3982 282.1 -10.8 178 1896 0.00 2.40 0.00 0.000 1158 0.000 0.059 2280 2201 3967 3952 3983 0 0 0 0 0 0 14.38 14.25 14.40

2195 -1.03 -145.9 2280 2200 3953 3982 318.2 -11.6 189 2200 0.00 2.47 0.00 0.000 388 0.000 0.089 2271 3610 3967 3952 3982 0 0 0 0 0 0 14.66 14.24 14.67

2250 -1.11 -145.9 2272 3610 3953 3980 324.5 -10.7 200 2258 0.15 2.38 0.00 0.000 5254 0.123 0.058 2213 2199 3965 3952 3978 0 0 0 0 0 0 14.31 14.26 14.39

2556 -1.02 -145.9 2215 2199 3952 3982 374.7 -16.6 211 2561 0.12 2.47 0.00 0.000 2436 0.311 0.085 2236 3610 3966 3951 3981 0 0 0 0 0 0 13.90 14.19 14.07

2672 -1.02 -145.9 2237 3610 3951 3981 390.7 -13.1 234 2678 0.00 2.38 0.00 0.000 1030 0.000 0.059 2236 2203 3966 3951 3981 0 0 0 0 0 0 14.33 14.25 14.34

2976 -0.97 -145.9 2236 2201 3950 3981 433.6 -14.1 245 2981 0.12 2.47 0.00 0.000 2436 0.308 0.084 2261 3613 3965 3950 3980 0 0 0 0 0 0 13.94 14.20 14.11

3084 -1.05 -145.9 2261 3614 3958 3980 446.1 -10.9 266 3088 0.00 2.40 0.00 0.000 1158 0.000 0.057 2254 2188 3965 3950 3981 0 0 0 0 0 0 14.36 14.23 14.39

3366 end dive: TARGET_DEPTH_EXCEEDED

state 3366 begin apogee

3372 -0.13 0.0 2256 2057 3948 3980 480.5 -12.0 278 3589 1.08 0.08 213.35 1.444 10246 0.233 0.182 2539 2108 3363 3384 3342 0 0 0 0 0 0 13.97 13.45 12.70

3593 end apogee: CONTROL_FINISHED_OK

state 3593 begin climb

3597 0.57 145.9 2533 2110 3379 3335 491.2 0.0 285 4140 0.73 2.67 204.98 1.385 11012 0.066 0.083 2781 730 2755 2796 2715 0 0 0 0 0 0 13.59 13.16 12.41

4368 0.22 145.9 2782 730 2796 2723 412.1 14.9 332 4375 0.57 2.40 0.00 0.000 5254 0.321 0.077 2657 2101 2755 2796 2715 0 0 0 0 0 0 13.75 14.08 14.10

4674 0.06 151.3 2657 2102 2795 2712 381.3 9.8 343 4679 0.20 2.47 0.38 0.339 12708 0.282 0.082 2608 3514 2748 2788 2708 0 0 0 0 0 0 13.93 14.14 14.00

4905 0.01 193.2 2608 3516 2789 2712 361.6 8.1 389 4978 0.15 2.33 67.45 1.385 13478 0.274 0.058 2585 2136 2577 2629 2526 0 0 0 0 0 0 14.04 14.28 13.21

5275 0.11 259.6 2586 2131 2625 2508 336.4 6.9 413 5385 0.00 2.55 100.82 1.322 8612 0.000 0.083 2585 3510 2299 2350 2248 0 0 0 0 0 0 14.51 13.80 13.08

5420 0.25 297.2 2586 3510 2341 2248 325.6 8.3 442 5487 0.22 2.47 56.40 1.335 11430 0.091 0.062 2677 2095 2145 2195 2096 0 0 0 0 0 0 13.91 13.85 12.95

5785 0.22 297.2 2677 2095 2188 2084 279.3 12.6 465 5790 0.00 2.50 0.00 0.000 644 0.000 0.090 2681 690 2135 2187 2083 0 0 0 0 0 0 14.40 14.04 14.43

5885 0.22 297.2 2682 685 2184 2084 267.5 11.4 485 5890 0.00 2.47 0.00 0.000 1030 0.000 0.079 2681 2099 2133 2183 2084 0 0 0 0 0 0 14.28 14.15 14.32

6206 0.18 297.2 2682 2101 2183 2088 231.9 10.4 499 6211 0.15 2.47 0.00 0.000 4740 0.252 0.083 2648 682 2132 2183 2081 0 0 0 0 0 0 14.02 14.19 14.18

6256 0.34 350.3 2648 682 2182 2082 227.8 7.6 509 6347 0.12 2.47 82.38 1.281 11430 0.129 0.080 2699 2107 1932 1977 1888 0 0 0 0 0 0 14.29 14.23 13.18

6657 0.34 350.3 2699 2109 1963 1882 184.5 10.6 539 6662 0.00 2.53 0.00 0.000 516 0.000 0.087 2699 684 1921 1962 1881 0 0 0 0 0 0 14.50 14.05 14.51

6712 0.40 352.2 2699 684 1960 1881 178.9 9.9 550 6719 0.00 2.47 0.00 0.000 1190 0.000 0.078 2696 2106 1920 1959 1881 0 0 0 0 0 0 14.26 14.14 14.30

7017 0.40 358.6 2700 2107 1960 1879 148.6 9.7 561 7028 0.00 2.47 4.03 1.584 8740 0.000 0.087 2699 692 1903 1943 1864 0 0 0 0 0 0 14.59 14.27 13.17

7058 0.48 372.9 2700 688 1946 1866 144.8 9.3 569 7094 0.10 2.45 29.83 1.369 11430 0.158 0.079 2749 2104 1844 1875 1813 0 0 0 0 0 0 14.28 14.26 13.35

7411 0.42 372.9 2749 2105 1868 1804 102.9 11.4 589 7416 0.12 2.47 0.00 0.000 4740 0.238 0.083 2726 685 1835 1866 1805 0 0 0 0 0 0 14.04 14.21 14.18

7441 0.46 385.5 2727 685 1866 1805 99.5 9.4 595 7452 0.00 2.47 6.15 0.499 9382 0.000 0.080 2726 2106 1792 1820 1764 0 0 0 0 0 0 14.32 14.19 13.62

7751 0.53 437.6 2727 2106 1824 1764 72.8 7.6 627 7784 0.00 2.58 27.85 0.426 8868 0.000 0.086 2726 686 1580 1611 1549 0 0 0 0 0 0 14.57 14.09 13.69

7850 0.72 516.7 2727 688 1609 1551 66.4 6.3 646 7900 0.25 2.47 40.95 0.400 11430 0.090 0.079 2819 2100 1257 1315 1199 0 0 0 0 0 0 14.23 14.16 13.69

8205 0.73 530.7 2820 2100 1315 1186 30.3 9.4 685 8218 0.00 2.55 7.10 0.309 8484 0.000 0.082 2819 3511 1198 1264 1133 0 0 0 0 0 0 14.41 14.00 13.81

8258 0.73 530.7 2819 3511 1265 1135 25.0 10.4 695 8263 0.00 2.45 0.00 0.000 1030 0.000 0.067 2826 2097 1197 1259 1135 0 0 0 0 0 0 14.12 14.00 14.14

8569 0.87 660.4 2826 2103 1265 1131 6.2 4.0 727 8642 0.00 2.55 67.30 0.222 8868 0.000 0.081 2826 679 670 728 613 0 0 0 0 0 0 14.40 14.02 13.85

8670 end climb: SURFACE_DEPTH_REACHED

state 8670 begin surface coast

8720 end surface coast: CONTROL_FINISHED_OK

state 8720 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	150	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	420.0
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	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,052015,7332.5425,-15043.2275,16,0.8,21,20.5,0.0,0.0,11,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	296.1,128631,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.6	D_GRID	480
GPS2	240817,054526,7332.5342,-15043.2646,5,0.8,37,20.5,0.0,0.0,10,8.0

FINISH	0.1,1.012845	_24V_AH	12.41,114.541
SM_CCo	8742,22.75,0.214,0,0,499,702.78	_10V_AH	12.27,0.000
SM_GC	0.72,8.10,2.72,22.75,0.080,0.074,0.214,204,2210,499,-7.37,-0.57,702.78,0,0,0,0,0,0,14.17,14.12,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	42	FG_AHR_10Vo	0.000
RAFOS_FIX	7332.196777,-15037.294922,240817,040412,3,255,0.40	MEM	323356
IRIDIUM_FIX	7333.41,-15103.36,240817,053656	DATA_FILE_SIZE	26690,757
TT8_MAMPS	0.084637,0.92127	CAP_FILE_SIZE	111406,0
HUMID	44.95	CFSIZE	2097872896,2041905152
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	1447.8
XPDR_PINGS	19	CURRENT	0.056,275.92,1
CP_FREE	15994028032.000000	GPS	240817,081330,7333.351,-15046.194,40,0.7,44,20.5,0.8,191.8,11,9.8
PM_FREEKB_00	53547328

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	142.88	nil	0	0	0.00
Roll_motor	94	2146	2518.07	nil	0	0	0.00
VBD_pump_during_apogee	908	1584	17871.18	nil	0	0	0.00
VBD_pump_during_surface	22	214	60.47	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	8746	14	1597.13
Iridium_during_xfer	962	166	1983.18	NCP	8730	20	2166.79
Transponder_ping	4	420	24.76	PMAR	8695	9	1068.15
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.73
TT8	0	0	0.00
LPSleep	6079	2	172.31
TT8_Active	830	13	142.32
TT8_Sampling	3044	33	1249.02
TT8_CF8	334	38	158.82
TT8_Kalman	0	0	0.00
Analog_circuits	2979	10	365.59
GPS_charging	0	0	0.00
Compass	1084	7	93.19
RAFOS	2213	48	1303.37
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
42	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	187	2202	501	480	0.0	0.0	0	138	0.00	0.00	-91.22	0.000	16386	0.000	0.000	186	2204	2220	2153	2288	0	0	0	0	0	0	14.48	28.83	14.50
141	-0.57	-145.9	187	2202	2157	2281	4.5	-6.6	9	194	12.77	2.80	-31.33	0.000	18724	0.458	2.147	2374	3605	3963	3944	3982	0	0	0	0	0	0	13.69	12.62	14.15
324	-0.63	-145.9	2375	3607	3952	3982	49.7	-16.5	45	329	0.00	2.40	0.00	0.000	1158	0.000	0.056	2374	2196	3971	3960	3983	0	0	0	0	0	0	14.26	14.14	14.29
634	-0.67	-145.9	2374	2196	3953	3983	100.8	-13.0	77	640	0.00	2.50	0.00	0.000	388	0.000	0.086	2365	3610	3967	3952	3982	0	0	0	0	0	0	14.54	14.14	14.56
720	-0.82	-145.9	2367	3610	3953	3982	110.7	-10.5	94	726	0.15	2.40	0.00	0.000	5254	0.119	0.055	2303	2197	3967	3952	3982	0	0	0	0	0	0	14.24	14.21	14.33
1025	-0.79	-145.9	2303	2196	3954	3982	161.1	-16.3	105	1030	0.00	2.47	0.00	0.000	388	0.000	0.087	2294	3610	3964	3948	3981	0	0	0	0	0	0	14.60	14.22	14.63
1105	-0.84	-145.9	2294	3611	3953	3983	172.8	-13.8	121	1110	0.00	2.38	0.00	0.000	1158	0.000	0.057	2294	2199	3967	3953	3982	0	0	0	0	0	0	14.39	14.28	14.44
1415	-0.84	-145.9	2295	2198	3953	3982	219.3	-14.7	133	1420	0.00	2.50	0.00	0.000	260	0.000	0.086	2284	3613	3967	3952	3982	0	0	0	0	0	0	14.62	14.20	14.64
1495	-0.91	-145.9	2285	3614	3953	3981	230.2	-12.6	149	1500	0.00	2.38	0.00	0.000	1158	0.000	0.057	2284	2201	3967	3952	3982	0	0	0	0	0	0	14.43	14.28	14.43
1805	-0.91	-145.9	2284	2201	3953	3983	271.6	-13.1	161	1810	0.00	2.47	0.00	0.000	260	0.000	0.089	2279	3609	3967	3952	3982	0	0	0	0	0	0	14.64	14.23	14.66
1890	-1.00	-145.9	2279	3610	3954	3982	282.1	-10.8	178	1896	0.00	2.40	0.00	0.000	1158	0.000	0.059	2280	2201	3967	3952	3983	0	0	0	0	0	0	14.38	14.25	14.40
2195	-1.03	-145.9	2280	2200	3953	3982	318.2	-11.6	189	2200	0.00	2.47	0.00	0.000	388	0.000	0.089	2271	3610	3967	3952	3982	0	0	0	0	0	0	14.66	14.24	14.67
2250	-1.11	-145.9	2272	3610	3953	3980	324.5	-10.7	200	2258	0.15	2.38	0.00	0.000	5254	0.123	0.058	2213	2199	3965	3952	3978	0	0	0	0	0	0	14.31	14.26	14.39
2556	-1.02	-145.9	2215	2199	3952	3982	374.7	-16.6	211	2561	0.12	2.47	0.00	0.000	2436	0.311	0.085	2236	3610	3966	3951	3981	0	0	0	0	0	0	13.90	14.19	14.07
2672	-1.02	-145.9	2237	3610	3951	3981	390.7	-13.1	234	2678	0.00	2.38	0.00	0.000	1030	0.000	0.059	2236	2203	3966	3951	3981	0	0	0	0	0	0	14.33	14.25	14.34
2976	-0.97	-145.9	2236	2201	3950	3981	433.6	-14.1	245	2981	0.12	2.47	0.00	0.000	2436	0.308	0.084	2261	3613	3965	3950	3980	0	0	0	0	0	0	13.94	14.20	14.11
3084	-1.05	-145.9	2261	3614	3958	3980	446.1	-10.9	266	3088	0.00	2.40	0.00	0.000	1158	0.000	0.057	2254	2188	3965	3950	3981	0	0	0	0	0	0	14.36	14.23	14.39
3366	end dive: TARGET_DEPTH_EXCEEDED
state	3366	begin apogee
3372	-0.13	0.0	2256	2057	3948	3980	480.5	-12.0	278	3589	1.08	0.08	213.35	1.444	10246	0.233	0.182	2539	2108	3363	3384	3342	0	0	0	0	0	0	13.97	13.45	12.70
3593	end apogee: CONTROL_FINISHED_OK
state	3593	begin climb
3597	0.57	145.9	2533	2110	3379	3335	491.2	0.0	285	4140	0.73	2.67	204.98	1.385	11012	0.066	0.083	2781	730	2755	2796	2715	0	0	0	0	0	0	13.59	13.16	12.41
4368	0.22	145.9	2782	730	2796	2723	412.1	14.9	332	4375	0.57	2.40	0.00	0.000	5254	0.321	0.077	2657	2101	2755	2796	2715	0	0	0	0	0	0	13.75	14.08	14.10
4674	0.06	151.3	2657	2102	2795	2712	381.3	9.8	343	4679	0.20	2.47	0.38	0.339	12708	0.282	0.082	2608	3514	2748	2788	2708	0	0	0	0	0	0	13.93	14.14	14.00
4905	0.01	193.2	2608	3516	2789	2712	361.6	8.1	389	4978	0.15	2.33	67.45	1.385	13478	0.274	0.058	2585	2136	2577	2629	2526	0	0	0	0	0	0	14.04	14.28	13.21
5275	0.11	259.6	2586	2131	2625	2508	336.4	6.9	413	5385	0.00	2.55	100.82	1.322	8612	0.000	0.083	2585	3510	2299	2350	2248	0	0	0	0	0	0	14.51	13.80	13.08
5420	0.25	297.2	2586	3510	2341	2248	325.6	8.3	442	5487	0.22	2.47	56.40	1.335	11430	0.091	0.062	2677	2095	2145	2195	2096	0	0	0	0	0	0	13.91	13.85	12.95
5785	0.22	297.2	2677	2095	2188	2084	279.3	12.6	465	5790	0.00	2.50	0.00	0.000	644	0.000	0.090	2681	690	2135	2187	2083	0	0	0	0	0	0	14.40	14.04	14.43
5885	0.22	297.2	2682	685	2184	2084	267.5	11.4	485	5890	0.00	2.47	0.00	0.000	1030	0.000	0.079	2681	2099	2133	2183	2084	0	0	0	0	0	0	14.28	14.15	14.32
6206	0.18	297.2	2682	2101	2183	2088	231.9	10.4	499	6211	0.15	2.47	0.00	0.000	4740	0.252	0.083	2648	682	2132	2183	2081	0	0	0	0	0	0	14.02	14.19	14.18
6256	0.34	350.3	2648	682	2182	2082	227.8	7.6	509	6347	0.12	2.47	82.38	1.281	11430	0.129	0.080	2699	2107	1932	1977	1888	0	0	0	0	0	0	14.29	14.23	13.18
6657	0.34	350.3	2699	2109	1963	1882	184.5	10.6	539	6662	0.00	2.53	0.00	0.000	516	0.000	0.087	2699	684	1921	1962	1881	0	0	0	0	0	0	14.50	14.05	14.51
6712	0.40	352.2	2699	684	1960	1881	178.9	9.9	550	6719	0.00	2.47	0.00	0.000	1190	0.000	0.078	2696	2106	1920	1959	1881	0	0	0	0	0	0	14.26	14.14	14.30
7017	0.40	358.6	2700	2107	1960	1879	148.6	9.7	561	7028	0.00	2.47	4.03	1.584	8740	0.000	0.087	2699	692	1903	1943	1864	0	0	0	0	0	0	14.59	14.27	13.17
7058	0.48	372.9	2700	688	1946	1866	144.8	9.3	569	7094	0.10	2.45	29.83	1.369	11430	0.158	0.079	2749	2104	1844	1875	1813	0	0	0	0	0	0	14.28	14.26	13.35
7411	0.42	372.9	2749	2105	1868	1804	102.9	11.4	589	7416	0.12	2.47	0.00	0.000	4740	0.238	0.083	2726	685	1835	1866	1805	0	0	0	0	0	0	14.04	14.21	14.18
7441	0.46	385.5	2727	685	1866	1805	99.5	9.4	595	7452	0.00	2.47	6.15	0.499	9382	0.000	0.080	2726	2106	1792	1820	1764	0	0	0	0	0	0	14.32	14.19	13.62
7751	0.53	437.6	2727	2106	1824	1764	72.8	7.6	627	7784	0.00	2.58	27.85	0.426	8868	0.000	0.086	2726	686	1580	1611	1549	0	0	0	0	0	0	14.57	14.09	13.69
7850	0.72	516.7	2727	688	1609	1551	66.4	6.3	646	7900	0.25	2.47	40.95	0.400	11430	0.090	0.079	2819	2100	1257	1315	1199	0	0	0	0	0	0	14.23	14.16	13.69
8205	0.73	530.7	2820	2100	1315	1186	30.3	9.4	685	8218	0.00	2.55	7.10	0.309	8484	0.000	0.082	2819	3511	1198	1264	1133	0	0	0	0	0	0	14.41	14.00	13.81
8258	0.73	530.7	2819	3511	1265	1135	25.0	10.4	695	8263	0.00	2.45	0.00	0.000	1030	0.000	0.067	2826	2097	1197	1259	1135	0	0	0	0	0	0	14.12	14.00	14.14
8569	0.87	660.4	2826	2103	1265	1131	6.2	4.0	727	8642	0.00	2.55	67.30	0.222	8868	0.000	0.081	2826	679	670	728	613	0	0	0	0	0	0	14.40	14.02	13.85
8670	end climb: SURFACE_DEPTH_REACHED
state	8670	begin surface coast
8720	end surface coast: CONTROL_FINISHED_OK
state	8720	begin surface