Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 151 * 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 151 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 424.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 424.0 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 24 VBD_MIN 500

DIVE 151 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 240817,081330,7333.3506,-15046.1943,40,0.7,44,20.5,0.8,191.8,11,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 297.7,126550,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.9 D_GRID 480

GPS2 240817,083518,7333.2422,-15046.4922,5,0.8,30,20.5,0.4,156.7,9,10.0

Post-dive calculations and measurements:

FINISH 0.0,1.009418 _24V_AH 12.41,115.005

SM_CCo 8817,13.95,0.190,0,0,497,702.78 _10V_AH 12.45,0.000

SM_GC 1.26,8.20,0.12,13.95,0.077,0.151,0.190,204,2207,497,-7.37,-0.82,702.78,0,0,0,0,0,0,14.27,14.19,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

RAFOS_FIX 7332.196777,-15037.294922,240817,040412,3,255,0.40 MEM 323452

IRIDIUM_FIX 7333.20,-15046.40,240817,082810 DATA_FILE_SIZE 26728,731

TT8_MAMPS 0.040446,0.847119 CAP_FILE_SIZE 110433,0

HUMID 46.53 CFSIZE 2097872896,2041577472

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 1448.1

XPDR_PINGS 20 CURRENT 0.054,269.83,1

CP_FREE 15993864192.000000 GPS 240817,110428,7334.348,-15049.812,38,0.8,40,20.5,0.4,251.1,11,7.7

PM_FREEKB_00 53508736

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 461 144.40 nil 0 0 0.00

Roll_motor 88 2144 2342.41 nil 0 0 0.00

VBD_pump_during_apogee 941 1536 17951.39 nil 0 0 0.00

VBD_pump_during_surface 13 189 32.84 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 8824 14 1614.88

Iridium_during_xfer 822 172 1755.96 NCP 8821 20 2189.37

Transponder_ping 5 420 26.06 PMAR 8770 9 1081.72

GUMSTIX_24V 0 0 0.00

GPS 31 22 8.77

TT8 0 0 0.00

LPSleep 6495 2 186.80

TT8_Active 957 13 166.52

TT8_Sampling 2378 33 990.09

TT8_CF8 321 38 155.03

TT8_Kalman 0 0 0.00

Analog_circuits 2500 10 311.36

GPS_charging 0 0 0.00

Compass 1048 7 91.41

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 188 2212 497 486 0.0 0.0 0 141 0.00 0.00 -90.80 0.000 16386 0.000 0.000 187 2212 2184 2109 2260 0 0 0 0 0 0 14.34 28.83 14.36

144 -0.57 -145.9 188 2213 2117 2262 4.3 -6.3 9 198 12.80 2.75 -33.38 0.000 18724 0.461 2.144 2376 3601 3963 3948 3978 0 0 0 0 0 0 13.64 12.63 14.08

289 -0.61 -145.9 2377 3601 3955 3981 39.9 -17.6 37 294 0.00 2.38 0.00 0.000 1158 0.000 0.060 2377 2198 3967 3954 3981 0 0 0 0 0 0 14.14 14.02 14.16

599 -0.65 -145.9 2376 2196 3956 3981 94.9 -13.6 69 604 0.00 2.50 0.00 0.000 388 0.000 0.086 2365 3608 3965 3950 3981 0 0 0 0 0 0 14.51 14.10 14.50

674 -0.80 -145.9 2365 3606 3952 3982 103.8 -10.3 84 680 0.15 2.38 0.00 0.000 5254 0.121 0.056 2308 2196 3967 3954 3981 0 0 0 0 0 0 14.23 14.21 14.33

990 -0.80 -145.9 2308 2196 3956 3982 155.7 -15.7 97 995 0.00 2.47 0.00 0.000 260 0.000 0.089 2305 3606 3968 3955 3981 0 0 0 0 0 0 14.60 14.20 14.62

1065 -0.89 -145.9 2306 3608 3955 3982 166.1 -12.7 112 1071 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2199 3968 3955 3981 0 0 0 0 0 0 14.34 14.23 14.38

1381 -0.89 -145.9 2306 2199 3956 3982 210.9 -13.8 125 1386 0.00 2.45 0.00 0.000 260 0.000 0.087 2298 3604 3968 3955 3981 0 0 0 0 0 0 14.63 14.20 14.64

1476 -1.00 -145.9 2298 3606 3956 3981 222.4 -11.2 144 1482 0.15 2.38 0.00 0.000 5254 0.118 0.059 2242 2200 3968 3955 3981 0 0 0 0 0 0 14.31 14.26 14.41

1802 -0.92 -145.9 2242 2199 3956 3982 279.1 -16.5 159 1808 0.12 2.45 0.00 0.000 2436 0.301 0.084 2261 3603 3968 3955 3981 0 0 0 0 0 0 13.96 14.23 14.14

1878 -0.96 -145.9 2262 3604 3956 3981 289.6 -12.8 174 1883 0.00 2.38 0.00 0.000 1158 0.000 0.058 2262 2202 3968 3955 3981 0 0 0 0 0 0 14.39 14.28 14.44

2193 -0.96 -145.9 2262 2202 3955 3981 331.6 -13.1 187 2198 0.00 2.45 0.00 0.000 260 0.000 0.088 2252 3605 3967 3955 3980 0 0 0 0 0 0 14.65 14.24 14.65

2278 -1.00 -145.9 2253 3606 3956 3980 342.5 -12.2 204 2285 0.00 2.38 0.00 0.000 1158 0.000 0.059 2253 2197 3968 3955 3981 0 0 0 0 0 0 14.37 14.24 14.40

2583 -1.00 -145.9 2253 2197 3955 3980 382.1 -12.9 215 2588 0.00 2.47 0.00 0.000 260 0.000 0.088 2243 3607 3967 3954 3980 0 0 0 0 0 0 14.66 14.23 14.66

2668 -1.03 -145.9 2244 3608 3955 3980 393.0 -12.4 232 2675 0.00 2.38 0.00 0.000 1158 0.000 0.059 2244 2201 3967 3954 3980 0 0 0 0 0 0 14.37 14.24 14.40

2973 -1.01 -145.9 2243 2199 3955 3980 433.4 -13.1 243 2978 0.00 2.47 0.00 0.000 388 0.000 0.088 2236 3616 3967 3954 3980 0 0 0 0 0 0 14.65 14.23 14.68

3048 -1.04 -145.9 2237 3616 3954 3980 443.1 -12.4 258 3053 0.00 2.40 0.00 0.000 1158 0.000 0.058 2236 2191 3966 3953 3979 0 0 0 0 0 0 14.41 14.28 14.45

3331 end dive: TARGET_DEPTH_EXCEEDED

state 3331 begin apogee

3337 -0.13 0.0 2237 2066 3954 3980 481.4 -13.4 270 3555 1.15 0.05 214.25 1.447 10246 0.247 0.223 2526 2096 3362 3383 3341 0 0 0 0 0 0 13.99 13.38 12.69

3559 end apogee: CONTROL_FINISHED_OK

state 3559 begin climb

3563 0.57 145.9 2529 2097 3380 3336 492.0 0.0 277 3779 0.75 0.00 204.18 1.388 10758 0.063 0.000 2782 2096 2763 2807 2719 0 0 0 0 0 0 13.57 13.14 12.41

4054 0.17 145.9 2782 2097 2796 2714 452.8 16.4 324 4059 0.62 2.45 0.00 0.000 4740 0.327 0.080 2655 726 2754 2795 2714 0 0 0 0 0 0 13.49 13.83 13.71

4146 0.07 160.5 2656 727 2797 2713 443.1 9.3 342 4171 0.22 2.45 16.73 1.536 13478 0.285 0.080 2609 2104 2707 2752 2663 0 0 0 0 0 0 13.69 13.90 13.01

4478 0.06 208.1 2609 2102 2748 2658 416.6 7.8 358 4556 0.00 2.47 71.10 1.404 8868 0.000 0.085 2615 725 2510 2568 2452 0 0 0 0 0 0 14.48 13.86 13.08

4598 0.12 235.6 2616 726 2569 2452 406.6 8.7 382 4642 0.00 2.42 38.60 1.427 9382 0.000 0.079 2616 2096 2404 2462 2347 0 0 0 0 0 0 14.00 13.90 12.98

4959 0.15 251.4 2616 2097 2452 2335 373.3 9.3 404 4981 0.00 0.00 21.10 1.486 8358 0.000 0.000 2616 2096 2343 2396 2290 0 0 0 0 0 0 14.43 13.97 13.19

5257 0.20 269.5 2616 2097 2387 2280 345.6 9.2 414 5289 0.00 2.50 26.55 1.472 8868 0.000 0.086 2616 721 2265 2317 2213 0 0 0 0 0 0 14.52 14.10 13.25

5330 0.33 293.0 2616 722 2310 2212 339.1 8.9 428 5370 0.22 2.42 35.72 1.414 11430 0.092 0.079 2700 2101 2172 2220 2124 0 0 0 0 0 0 14.19 14.12 13.15

5683 0.24 293.0 2700 2101 2211 2109 287.6 14.6 448 5688 0.15 2.40 0.00 0.000 4740 0.238 0.082 2672 726 2159 2210 2109 0 0 0 0 0 0 14.03 14.19 14.17

5718 0.24 293.0 2672 726 2209 2111 282.9 11.9 455 5723 0.00 2.40 0.00 0.000 1030 0.000 0.079 2672 2099 2159 2209 2109 0 0 0 0 0 0 14.26 14.14 14.31

6043 0.22 293.0 2674 2101 2210 2107 246.7 10.7 470 6048 0.00 2.40 0.00 0.000 644 0.000 0.086 2672 718 2158 2209 2107 0 0 0 0 0 0 14.61 14.14 14.62

6094 0.26 298.1 2672 718 2208 2107 241.6 9.8 480 6098 0.00 2.40 0.00 0.000 1190 0.000 0.080 2672 2101 2156 2206 2107 0 0 0 0 0 0 14.40 14.28 14.44

6404 0.27 318.4 2673 2101 2208 2106 212.6 9.1 492 6449 0.00 2.42 39.50 1.375 8740 0.000 0.083 2673 719 2064 2112 2016 0 0 0 0 0 0 14.64 14.10 13.37

6501 0.38 351.7 2673 719 2103 2017 204.2 8.5 511 6561 0.00 2.42 55.17 1.310 9382 0.000 0.079 2672 2107 1929 1972 1887 0 0 0 0 0 0 14.29 14.14 13.18

6886 0.47 385.7 2673 2107 1958 1878 171.5 8.4 538 6948 0.15 2.47 54.75 1.287 10916 0.125 0.084 2751 717 1788 1814 1763 0 0 0 0 0 0 14.16 13.78 13.22

6970 0.41 385.7 2752 717 1813 1763 161.1 14.0 554 6976 0.15 2.45 0.00 0.000 5254 0.246 0.078 2720 2101 1785 1809 1762 0 0 0 0 0 0 13.85 13.98 14.06

7281 0.41 385.7 2721 2103 1808 1760 126.6 10.5 566 7286 0.00 2.42 0.00 0.000 516 0.000 0.085 2727 724 1779 1807 1752 0 0 0 0 0 0 14.50 14.16 14.52

7347 0.46 390.8 2727 724 1807 1751 120.0 9.8 579 7351 0.00 2.40 0.00 0.000 1190 0.000 0.077 2727 2104 1778 1805 1752 0 0 0 0 0 0 14.31 14.19 14.33

7652 0.47 407.4 2727 2106 1806 1751 90.3 9.2 600 7668 0.00 2.42 10.30 0.478 8740 0.000 0.083 2729 723 1706 1732 1680 0 0 0 0 0 0 14.57 14.02 13.69

7693 0.55 432.8 2729 723 1731 1680 86.6 8.8 608 7716 0.00 2.40 14.90 0.465 9382 0.000 0.079 2729 2103 1597 1625 1570 0 0 0 0 0 0 14.25 14.13 13.66

8013 0.69 511.8 2729 2101 1625 1566 61.3 6.4 642 8056 0.22 0.00 41.10 0.389 10406 0.096 0.000 2812 2100 1274 1326 1223 0 0 0 0 0 0 14.31 14.09 13.72

8353 0.70 526.6 2813 2100 1327 1215 28.8 9.3 676 8364 0.00 0.00 7.40 0.307 8230 0.000 0.000 2812 2097 1217 1276 1159 0 0 0 0 0 0 14.54 14.10 13.78

8663 0.89 695.3 2812 2101 1277 1158 10.2 2.2 707 8762 0.15 2.53 90.32 0.233 10660 0.118 0.078 2883 3511 531 560 502 0 0 0 0 0 0 14.30 14.07 13.88

8779 0.89 695.3 2883 3512 562 505 2.1 11.6 728 8784 0.00 2.38 0.00 0.000 1030 0.000 0.065 2888 2129 532 561 504 0 0 0 0 0 0 14.22 14.08 14.28

8786 end climb: SURFACE_DEPTH_REACHED

state 8786 begin surface coast

8797 end surface coast: CONTROL_FINISHED_OK

state 8797 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	151	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	424.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,081330,7333.3506,-15046.1943,40,0.7,44,20.5,0.8,191.8,11,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	297.7,126550,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.9	D_GRID	480
GPS2	240817,083518,7333.2422,-15046.4922,5,0.8,30,20.5,0.4,156.7,9,10.0

FINISH	0.0,1.009418	_24V_AH	12.41,115.005
SM_CCo	8817,13.95,0.190,0,0,497,702.78	_10V_AH	12.45,0.000
SM_GC	1.26,8.20,0.12,13.95,0.077,0.151,0.190,204,2207,497,-7.37,-0.82,702.78,0,0,0,0,0,0,14.27,14.19,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
RAFOS_FIX	7332.196777,-15037.294922,240817,040412,3,255,0.40	MEM	323452
IRIDIUM_FIX	7333.20,-15046.40,240817,082810	DATA_FILE_SIZE	26728,731
TT8_MAMPS	0.040446,0.847119	CAP_FILE_SIZE	110433,0
HUMID	46.53	CFSIZE	2097872896,2041577472
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	1448.1
XPDR_PINGS	20	CURRENT	0.054,269.83,1
CP_FREE	15993864192.000000	GPS	240817,110428,7334.348,-15049.812,38,0.8,40,20.5,0.4,251.1,11,7.7
PM_FREEKB_00	53508736

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	461	144.40	nil	0	0	0.00
Roll_motor	88	2144	2342.41	nil	0	0	0.00
VBD_pump_during_apogee	941	1536	17951.39	nil	0	0	0.00
VBD_pump_during_surface	13	189	32.84	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	8824	14	1614.88
Iridium_during_xfer	822	172	1755.96	NCP	8821	20	2189.37
Transponder_ping	5	420	26.06	PMAR	8770	9	1081.72
GUMSTIX_24V	0	0	0.00
GPS	31	22	8.77
TT8	0	0	0.00
LPSleep	6495	2	186.80
TT8_Active	957	13	166.52
TT8_Sampling	2378	33	990.09
TT8_CF8	321	38	155.03
TT8_Kalman	0	0	0.00
Analog_circuits	2500	10	311.36
GPS_charging	0	0	0.00
Compass	1048	7	91.41
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	188	2212	497	486	0.0	0.0	0	141	0.00	0.00	-90.80	0.000	16386	0.000	0.000	187	2212	2184	2109	2260	0	0	0	0	0	0	14.34	28.83	14.36
144	-0.57	-145.9	188	2213	2117	2262	4.3	-6.3	9	198	12.80	2.75	-33.38	0.000	18724	0.461	2.144	2376	3601	3963	3948	3978	0	0	0	0	0	0	13.64	12.63	14.08
289	-0.61	-145.9	2377	3601	3955	3981	39.9	-17.6	37	294	0.00	2.38	0.00	0.000	1158	0.000	0.060	2377	2198	3967	3954	3981	0	0	0	0	0	0	14.14	14.02	14.16
599	-0.65	-145.9	2376	2196	3956	3981	94.9	-13.6	69	604	0.00	2.50	0.00	0.000	388	0.000	0.086	2365	3608	3965	3950	3981	0	0	0	0	0	0	14.51	14.10	14.50
674	-0.80	-145.9	2365	3606	3952	3982	103.8	-10.3	84	680	0.15	2.38	0.00	0.000	5254	0.121	0.056	2308	2196	3967	3954	3981	0	0	0	0	0	0	14.23	14.21	14.33
990	-0.80	-145.9	2308	2196	3956	3982	155.7	-15.7	97	995	0.00	2.47	0.00	0.000	260	0.000	0.089	2305	3606	3968	3955	3981	0	0	0	0	0	0	14.60	14.20	14.62
1065	-0.89	-145.9	2306	3608	3955	3982	166.1	-12.7	112	1071	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2199	3968	3955	3981	0	0	0	0	0	0	14.34	14.23	14.38
1381	-0.89	-145.9	2306	2199	3956	3982	210.9	-13.8	125	1386	0.00	2.45	0.00	0.000	260	0.000	0.087	2298	3604	3968	3955	3981	0	0	0	0	0	0	14.63	14.20	14.64
1476	-1.00	-145.9	2298	3606	3956	3981	222.4	-11.2	144	1482	0.15	2.38	0.00	0.000	5254	0.118	0.059	2242	2200	3968	3955	3981	0	0	0	0	0	0	14.31	14.26	14.41
1802	-0.92	-145.9	2242	2199	3956	3982	279.1	-16.5	159	1808	0.12	2.45	0.00	0.000	2436	0.301	0.084	2261	3603	3968	3955	3981	0	0	0	0	0	0	13.96	14.23	14.14
1878	-0.96	-145.9	2262	3604	3956	3981	289.6	-12.8	174	1883	0.00	2.38	0.00	0.000	1158	0.000	0.058	2262	2202	3968	3955	3981	0	0	0	0	0	0	14.39	14.28	14.44
2193	-0.96	-145.9	2262	2202	3955	3981	331.6	-13.1	187	2198	0.00	2.45	0.00	0.000	260	0.000	0.088	2252	3605	3967	3955	3980	0	0	0	0	0	0	14.65	14.24	14.65
2278	-1.00	-145.9	2253	3606	3956	3980	342.5	-12.2	204	2285	0.00	2.38	0.00	0.000	1158	0.000	0.059	2253	2197	3968	3955	3981	0	0	0	0	0	0	14.37	14.24	14.40
2583	-1.00	-145.9	2253	2197	3955	3980	382.1	-12.9	215	2588	0.00	2.47	0.00	0.000	260	0.000	0.088	2243	3607	3967	3954	3980	0	0	0	0	0	0	14.66	14.23	14.66
2668	-1.03	-145.9	2244	3608	3955	3980	393.0	-12.4	232	2675	0.00	2.38	0.00	0.000	1158	0.000	0.059	2244	2201	3967	3954	3980	0	0	0	0	0	0	14.37	14.24	14.40
2973	-1.01	-145.9	2243	2199	3955	3980	433.4	-13.1	243	2978	0.00	2.47	0.00	0.000	388	0.000	0.088	2236	3616	3967	3954	3980	0	0	0	0	0	0	14.65	14.23	14.68
3048	-1.04	-145.9	2237	3616	3954	3980	443.1	-12.4	258	3053	0.00	2.40	0.00	0.000	1158	0.000	0.058	2236	2191	3966	3953	3979	0	0	0	0	0	0	14.41	14.28	14.45
3331	end dive: TARGET_DEPTH_EXCEEDED
state	3331	begin apogee
3337	-0.13	0.0	2237	2066	3954	3980	481.4	-13.4	270	3555	1.15	0.05	214.25	1.447	10246	0.247	0.223	2526	2096	3362	3383	3341	0	0	0	0	0	0	13.99	13.38	12.69
3559	end apogee: CONTROL_FINISHED_OK
state	3559	begin climb
3563	0.57	145.9	2529	2097	3380	3336	492.0	0.0	277	3779	0.75	0.00	204.18	1.388	10758	0.063	0.000	2782	2096	2763	2807	2719	0	0	0	0	0	0	13.57	13.14	12.41
4054	0.17	145.9	2782	2097	2796	2714	452.8	16.4	324	4059	0.62	2.45	0.00	0.000	4740	0.327	0.080	2655	726	2754	2795	2714	0	0	0	0	0	0	13.49	13.83	13.71
4146	0.07	160.5	2656	727	2797	2713	443.1	9.3	342	4171	0.22	2.45	16.73	1.536	13478	0.285	0.080	2609	2104	2707	2752	2663	0	0	0	0	0	0	13.69	13.90	13.01
4478	0.06	208.1	2609	2102	2748	2658	416.6	7.8	358	4556	0.00	2.47	71.10	1.404	8868	0.000	0.085	2615	725	2510	2568	2452	0	0	0	0	0	0	14.48	13.86	13.08
4598	0.12	235.6	2616	726	2569	2452	406.6	8.7	382	4642	0.00	2.42	38.60	1.427	9382	0.000	0.079	2616	2096	2404	2462	2347	0	0	0	0	0	0	14.00	13.90	12.98
4959	0.15	251.4	2616	2097	2452	2335	373.3	9.3	404	4981	0.00	0.00	21.10	1.486	8358	0.000	0.000	2616	2096	2343	2396	2290	0	0	0	0	0	0	14.43	13.97	13.19
5257	0.20	269.5	2616	2097	2387	2280	345.6	9.2	414	5289	0.00	2.50	26.55	1.472	8868	0.000	0.086	2616	721	2265	2317	2213	0	0	0	0	0	0	14.52	14.10	13.25
5330	0.33	293.0	2616	722	2310	2212	339.1	8.9	428	5370	0.22	2.42	35.72	1.414	11430	0.092	0.079	2700	2101	2172	2220	2124	0	0	0	0	0	0	14.19	14.12	13.15
5683	0.24	293.0	2700	2101	2211	2109	287.6	14.6	448	5688	0.15	2.40	0.00	0.000	4740	0.238	0.082	2672	726	2159	2210	2109	0	0	0	0	0	0	14.03	14.19	14.17
5718	0.24	293.0	2672	726	2209	2111	282.9	11.9	455	5723	0.00	2.40	0.00	0.000	1030	0.000	0.079	2672	2099	2159	2209	2109	0	0	0	0	0	0	14.26	14.14	14.31
6043	0.22	293.0	2674	2101	2210	2107	246.7	10.7	470	6048	0.00	2.40	0.00	0.000	644	0.000	0.086	2672	718	2158	2209	2107	0	0	0	0	0	0	14.61	14.14	14.62
6094	0.26	298.1	2672	718	2208	2107	241.6	9.8	480	6098	0.00	2.40	0.00	0.000	1190	0.000	0.080	2672	2101	2156	2206	2107	0	0	0	0	0	0	14.40	14.28	14.44
6404	0.27	318.4	2673	2101	2208	2106	212.6	9.1	492	6449	0.00	2.42	39.50	1.375	8740	0.000	0.083	2673	719	2064	2112	2016	0	0	0	0	0	0	14.64	14.10	13.37
6501	0.38	351.7	2673	719	2103	2017	204.2	8.5	511	6561	0.00	2.42	55.17	1.310	9382	0.000	0.079	2672	2107	1929	1972	1887	0	0	0	0	0	0	14.29	14.14	13.18
6886	0.47	385.7	2673	2107	1958	1878	171.5	8.4	538	6948	0.15	2.47	54.75	1.287	10916	0.125	0.084	2751	717	1788	1814	1763	0	0	0	0	0	0	14.16	13.78	13.22
6970	0.41	385.7	2752	717	1813	1763	161.1	14.0	554	6976	0.15	2.45	0.00	0.000	5254	0.246	0.078	2720	2101	1785	1809	1762	0	0	0	0	0	0	13.85	13.98	14.06
7281	0.41	385.7	2721	2103	1808	1760	126.6	10.5	566	7286	0.00	2.42	0.00	0.000	516	0.000	0.085	2727	724	1779	1807	1752	0	0	0	0	0	0	14.50	14.16	14.52
7347	0.46	390.8	2727	724	1807	1751	120.0	9.8	579	7351	0.00	2.40	0.00	0.000	1190	0.000	0.077	2727	2104	1778	1805	1752	0	0	0	0	0	0	14.31	14.19	14.33
7652	0.47	407.4	2727	2106	1806	1751	90.3	9.2	600	7668	0.00	2.42	10.30	0.478	8740	0.000	0.083	2729	723	1706	1732	1680	0	0	0	0	0	0	14.57	14.02	13.69
7693	0.55	432.8	2729	723	1731	1680	86.6	8.8	608	7716	0.00	2.40	14.90	0.465	9382	0.000	0.079	2729	2103	1597	1625	1570	0	0	0	0	0	0	14.25	14.13	13.66
8013	0.69	511.8	2729	2101	1625	1566	61.3	6.4	642	8056	0.22	0.00	41.10	0.389	10406	0.096	0.000	2812	2100	1274	1326	1223	0	0	0	0	0	0	14.31	14.09	13.72
8353	0.70	526.6	2813	2100	1327	1215	28.8	9.3	676	8364	0.00	0.00	7.40	0.307	8230	0.000	0.000	2812	2097	1217	1276	1159	0	0	0	0	0	0	14.54	14.10	13.78
8663	0.89	695.3	2812	2101	1277	1158	10.2	2.2	707	8762	0.15	2.53	90.32	0.233	10660	0.118	0.078	2883	3511	531	560	502	0	0	0	0	0	0	14.30	14.07	13.88
8779	0.89	695.3	2883	3512	562	505	2.1	11.6	728	8784	0.00	2.38	0.00	0.000	1030	0.000	0.065	2888	2129	532	561	504	0	0	0	0	0	0	14.22	14.08	14.28
8786	end climb: SURFACE_DEPTH_REACHED
state	8786	begin surface coast
8797	end surface coast: CONTROL_FINISHED_OK
state	8797	begin surface