Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 157 * 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 157 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 441.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 32 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 441.0 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 22 VBD_MIN 500

DIVE 157 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 250817,004212,7339.6313,-15106.3965,14,0.9,17,20.3,0.5,200.2,10,8.9 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 1.19 MHEAD_RNG_PITCHd_Wd 295.9,111047,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 250817,010625,7339.6694,-15106.8936,5,0.7,14,20.3,0.0,300.9,12,9.4

Post-dive calculations and measurements:

FINISH 0.1,1.011244 _24V_AH 12.39,117.860

SM_CCo 8861,0.05,1.639,0,0,502,702.78 _10V_AH 12.24,0.000

SM_GC 1.60,8.23,0.17,0.05,0.068,0.125,1.639,202,2212,502,-7.38,-0.62,702.78,0,0,0,0,0,0,14.26,14.24,13.73 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

RAFOS_FIX 7338.549805,-15105.124023,250817,000007,4,255,0.12 MEM 323548

IRIDIUM_FIX 7339.62,-15109.34,250817,005826 DATA_FILE_SIZE 26711,775

TT8_MAMPS 0.040446,0.928011 CAP_FILE_SIZE 111342,0

HUMID 46.41 CFSIZE 2097872896,2039709696

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

TCM_TEMP 13.10 SOUNDSPEED 1448.6

XPDR_PINGS 21 CURRENT 0.040,267.49,1

CP_FREE 15992881152.000000 GPS 250817,033604,7340.729,-15109.744,33,1.7,35,20.3,0.4,119.3,4,8.8

PM_FREEKB_00 53340928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.93 nil 0 0 0.00

Roll_motor 88 2148 2366.09 nil 0 0 0.00

VBD_pump_during_apogee 1037 1385 17815.43 nil 0 0 0.00

VBD_pump_during_surface 0 1638 1.02 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 8869 14 1573.91

Iridium_during_xfer 931 171 1976.87 NCP 8858 20 2195.01

Transponder_ping 5 420 27.32 PMAR 8814 9 1080.37

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.34

TT8 0 0 0.00

LPSleep 6395 2 180.84

TT8_Active 914 13 156.34

TT8_Sampling 2687 33 1099.89

TT8_CF8 336 38 159.20

TT8_Kalman 0 0 0.00

Analog_circuits 2736 10 334.94

GPS_charging 0 0 0.00

Compass 1110 7 95.14

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 168 2216 510 489 0.0 0.0 0 130 0.00 0.00 -81.47 0.000 16386 0.000 0.000 163 2217 1978 1906 2051 0 0 0 0 0 0 14.34 28.83 14.36

133 -0.57 -145.9 164 2217 1908 2055 3.0 -3.6 8 197 12.75 2.80 -41.85 0.000 18724 0.455 2.148 2375 3596 3964 3948 3980 0 0 0 0 0 0 13.69 12.57 14.14

377 -0.63 -145.9 2375 3597 3953 3981 54.8 -16.6 56 382 0.00 2.40 0.00 0.000 1158 0.000 0.060 2375 2195 3966 3953 3980 0 0 0 0 0 0 14.26 14.14 14.28

697 -0.68 -145.9 2375 2194 3955 3981 104.4 -12.3 87 702 0.00 2.47 0.00 0.000 388 0.000 0.086 2365 3601 3967 3954 3980 0 0 0 0 0 0 14.54 14.12 14.57

742 -0.83 -145.9 2365 3599 3950 3981 109.7 -11.0 96 747 0.17 2.38 0.00 0.000 5254 0.114 0.057 2292 2196 3966 3953 3980 0 0 0 0 0 0 14.23 14.24 14.33

1057 -0.78 -145.9 2293 2195 3955 3980 166.3 -17.6 109 1062 0.12 2.47 0.00 0.000 2436 0.285 0.085 2314 3607 3967 3954 3980 0 0 0 0 0 0 13.93 14.17 14.07

1154 -0.89 -145.9 2315 3607 3955 3980 178.6 -11.7 128 1159 0.00 2.38 0.00 0.000 1158 0.000 0.057 2314 2196 3967 3954 3980 0 0 0 0 0 0 14.40 14.28 14.43

1479 -0.93 -145.9 2314 2196 3954 3981 220.1 -12.3 143 1484 0.00 2.45 0.00 0.000 388 0.000 0.086 2307 3599 3967 3954 3980 0 0 0 0 0 0 14.62 14.17 14.64

1549 -1.05 -145.9 2308 3601 3954 3981 228.0 -10.4 157 1555 0.20 2.38 0.00 0.000 5254 0.105 0.057 2232 2189 3967 3954 3980 0 0 0 0 0 0 14.23 14.19 14.32

1870 -0.95 -145.9 2233 2189 3955 3980 284.6 -17.0 171 1875 0.12 2.47 0.00 0.000 2436 0.300 0.084 2252 3604 3967 3954 3980 0 0 0 0 0 0 14.00 14.20 14.17

1995 -0.97 -145.9 2252 3607 3954 3981 302.0 -13.0 196 2000 0.00 2.35 0.00 0.000 1158 0.000 0.057 2251 2203 3967 3954 3980 0 0 0 0 0 0 14.42 14.31 14.45

2321 -0.95 -145.9 2252 2202 3954 3979 346.0 -13.3 211 2325 0.00 2.45 0.00 0.000 388 0.000 0.086 2242 3601 3966 3954 3979 0 0 0 0 0 0 14.67 14.21 14.71

2401 -0.98 -145.9 2242 3604 3954 3980 356.6 -13.0 227 2405 0.00 2.35 0.00 0.000 1158 0.000 0.057 2241 2201 3966 3953 3979 0 0 0 0 0 0 14.42 14.30 14.45

2711 -0.95 -145.9 2242 2200 3955 3978 399.4 -13.7 239 2716 0.12 2.45 0.00 0.000 2436 0.282 0.084 2262 3599 3965 3953 3978 0 0 0 0 0 0 14.00 14.21 14.16

2786 -1.04 -145.9 2263 3600 3954 3977 408.2 -10.9 254 2792 0.00 2.38 0.00 0.000 1158 0.000 0.057 2262 2192 3965 3953 3978 0 0 0 0 0 0 13.90 13.89 14.11

3102 -1.06 -145.9 2262 2191 3954 3977 444.5 -11.4 267 3107 0.00 2.50 0.00 0.000 388 0.000 0.088 2254 3606 3964 3952 3977 0 0 0 0 0 0 14.66 14.21 14.69

3173 -1.14 -145.9 2254 3607 3954 3978 452.4 -10.8 281 3178 0.12 2.38 0.00 0.000 5254 0.142 0.056 2204 2187 3965 3953 3977 0 0 0 0 0 0 14.31 14.30 14.42

3371 end dive: TARGET_DEPTH_EXCEEDED

state 3371 begin apogee

3376 -0.13 0.0 2205 2061 3953 3977 483.6 -16.1 291 3675 1.30 0.05 293.52 1.306 10246 0.266 0.217 2528 2089 3360 3380 3340 0 0 0 0 0 0 13.95 13.29 12.63

3678 end apogee: CONTROL_FINISHED_OK

state 3680 begin climb

3682 0.57 145.9 2529 2089 3379 3333 498.8 0.0 301 3905 0.75 2.12 207.12 1.353 10756 0.065 0.080 2783 725 2756 2796 2717 0 0 0 0 0 0 13.47 12.97 12.39

4130 0.21 145.9 2783 726 2788 2714 468.7 15.6 348 4137 0.62 2.50 0.00 0.000 5254 0.323 0.076 2652 2110 2749 2787 2711 0 0 0 0 0 0 13.43 13.73 13.78

4435 0.06 154.4 2652 2111 2787 2707 438.2 9.6 359 4441 0.17 2.53 1.33 0.239 12708 0.279 0.083 2610 3509 2733 2774 2693 0 0 0 0 0 0 13.83 14.05 13.88

4616 -0.01 185.4 2610 3510 2782 2704 422.2 8.6 395 4679 0.15 2.33 55.10 1.385 13478 0.285 0.059 2586 2129 2603 2652 2555 0 0 0 0 0 0 13.92 14.18 13.14

4976 0.07 251.1 2586 2129 2648 2536 397.4 7.0 417 5087 0.00 2.67 100.75 1.336 8868 0.000 0.087 2588 690 2332 2382 2282 0 0 0 0 0 0 14.50 13.79 13.07

5137 0.25 306.1 2589 690 2377 2276 385.7 7.5 449 5233 0.22 2.53 86.55 1.296 11430 0.096 0.081 2676 2098 2110 2160 2060 0 0 0 0 0 0 13.95 13.86 12.86

5548 0.21 306.1 2677 2098 2147 2041 330.8 13.5 481 5553 0.00 2.50 0.00 0.000 644 0.000 0.087 2680 694 2093 2146 2041 0 0 0 0 0 0 14.38 13.99 14.40

5613 0.21 306.1 2681 694 2144 2041 322.1 12.9 494 5619 0.00 2.47 0.00 0.000 1030 0.000 0.080 2680 2101 2091 2142 2040 0 0 0 0 0 0 14.25 14.12 14.28

5939 0.18 306.1 2681 2102 2144 2039 278.4 13.0 509 5944 0.15 2.47 0.00 0.000 4740 0.260 0.085 2647 694 2090 2143 2038 0 0 0 0 0 0 14.02 14.21 14.18

5995 0.27 306.1 2647 695 2142 2039 272.5 10.2 520 6001 0.00 2.45 0.00 0.000 1158 0.000 0.079 2647 2105 2089 2141 2038 0 0 0 0 0 0 14.34 14.23 14.39

6300 0.33 329.3 2647 2106 2141 2037 243.1 8.9 531 6332 0.12 0.00 30.38 1.372 10406 0.133 0.000 2699 2106 2025 2075 1976 0 0 0 0 0 0 14.24 14.11 13.34

6630 0.30 329.3 2700 2111 2058 1960 205.5 11.0 542 6636 0.00 2.47 0.00 0.000 644 0.000 0.086 2699 694 2008 2057 1960 0 0 0 0 0 0 14.56 14.19 14.58

6741 0.30 333.5 2699 694 2056 1961 194.2 9.8 564 6746 0.00 2.45 0.00 0.000 1062 0.000 0.080 2699 2109 2007 2055 1960 0 0 0 0 0 0 14.40 14.25 14.41

7051 0.30 333.5 2700 2110 2056 1959 162.5 10.2 576 7052 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2110 2007 2055 1959 0 0 0 0 0 0 14.62 14.63 14.64

7351 0.31 350.7 2699 2111 2055 1959 133.8 9.2 586 7391 0.00 2.50 33.92 1.333 8740 0.000 0.086 2700 688 1930 1974 1887 0 0 0 0 0 0 14.63 14.17 13.37

7468 0.42 385.9 2697 688 1962 1887 123.8 8.4 609 7538 0.00 2.47 61.22 1.243 9382 0.000 0.080 2699 2101 1787 1816 1758 0 0 0 0 0 0 14.19 14.07 13.23

7843 0.52 435.1 2700 2101 1805 1744 92.6 7.7 642 7876 0.12 2.55 24.25 0.475 10916 0.137 0.087 2768 695 1592 1621 1563 0 0 0 0 0 0 14.21 13.97 13.66

7911 0.52 435.1 2769 696 1628 1563 85.1 11.8 655 7917 0.00 2.47 0.00 0.000 1030 0.000 0.079 2767 2106 1596 1629 1563 0 0 0 0 0 0 14.21 14.09 14.23

8216 0.57 503.4 2768 2108 1629 1563 56.5 6.8 686 8259 0.00 2.50 36.50 0.371 8740 0.000 0.085 2768 691 1309 1361 1258 0 0 0 0 0 0 14.52 13.98 13.74

8299 0.74 574.4 2768 692 1363 1262 51.3 6.7 702 8342 0.15 2.47 37.47 0.356 11430 0.126 0.079 2830 2102 1021 1092 951 0 0 0 0 0 0 14.20 14.15 13.71

8639 0.83 617.0 2830 2103 1092 957 17.1 8.0 740 8671 0.00 2.53 22.98 0.265 8868 0.000 0.084 2837 695 847 917 778 0 0 0 0 0 0 14.52 14.02 13.91

8743 1.06 733.1 2835 693 917 784 11.8 4.6 760 8796 0.25 2.47 46.78 0.239 11430 0.096 0.083 2932 2099 499 523 475 0 0 0 0 0 0 14.24 14.07 13.94

8829 end climb: SURFACE_DEPTH_REACHED

state 8829 begin surface coast

8841 end surface coast: CONTROL_FINISHED_OK

state 8841 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	157	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	441.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,004212,7339.6313,-15106.3965,14,0.9,17,20.3,0.5,200.2,10,8.9	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	1.19	MHEAD_RNG_PITCHd_Wd	295.9,111047,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	250817,010625,7339.6694,-15106.8936,5,0.7,14,20.3,0.0,300.9,12,9.4

FINISH	0.1,1.011244	_24V_AH	12.39,117.860
SM_CCo	8861,0.05,1.639,0,0,502,702.78	_10V_AH	12.24,0.000
SM_GC	1.60,8.23,0.17,0.05,0.068,0.125,1.639,202,2212,502,-7.38,-0.62,702.78,0,0,0,0,0,0,14.26,14.24,13.73	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
RAFOS_FIX	7338.549805,-15105.124023,250817,000007,4,255,0.12	MEM	323548
IRIDIUM_FIX	7339.62,-15109.34,250817,005826	DATA_FILE_SIZE	26711,775
TT8_MAMPS	0.040446,0.928011	CAP_FILE_SIZE	111342,0
HUMID	46.41	CFSIZE	2097872896,2039709696
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.6
XPDR_PINGS	21	CURRENT	0.040,267.49,1
CP_FREE	15992881152.000000	GPS	250817,033604,7340.729,-15109.744,33,1.7,35,20.3,0.4,119.3,4,8.8
PM_FREEKB_00	53340928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.93	nil	0	0	0.00
Roll_motor	88	2148	2366.09	nil	0	0	0.00
VBD_pump_during_apogee	1037	1385	17815.43	nil	0	0	0.00
VBD_pump_during_surface	0	1638	1.02	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	8869	14	1573.91
Iridium_during_xfer	931	171	1976.87	NCP	8858	20	2195.01
Transponder_ping	5	420	27.32	PMAR	8814	9	1080.37
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.34
TT8	0	0	0.00
LPSleep	6395	2	180.84
TT8_Active	914	13	156.34
TT8_Sampling	2687	33	1099.89
TT8_CF8	336	38	159.20
TT8_Kalman	0	0	0.00
Analog_circuits	2736	10	334.94
GPS_charging	0	0	0.00
Compass	1110	7	95.14
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	168	2216	510	489	0.0	0.0	0	130	0.00	0.00	-81.47	0.000	16386	0.000	0.000	163	2217	1978	1906	2051	0	0	0	0	0	0	14.34	28.83	14.36
133	-0.57	-145.9	164	2217	1908	2055	3.0	-3.6	8	197	12.75	2.80	-41.85	0.000	18724	0.455	2.148	2375	3596	3964	3948	3980	0	0	0	0	0	0	13.69	12.57	14.14
377	-0.63	-145.9	2375	3597	3953	3981	54.8	-16.6	56	382	0.00	2.40	0.00	0.000	1158	0.000	0.060	2375	2195	3966	3953	3980	0	0	0	0	0	0	14.26	14.14	14.28
697	-0.68	-145.9	2375	2194	3955	3981	104.4	-12.3	87	702	0.00	2.47	0.00	0.000	388	0.000	0.086	2365	3601	3967	3954	3980	0	0	0	0	0	0	14.54	14.12	14.57
742	-0.83	-145.9	2365	3599	3950	3981	109.7	-11.0	96	747	0.17	2.38	0.00	0.000	5254	0.114	0.057	2292	2196	3966	3953	3980	0	0	0	0	0	0	14.23	14.24	14.33
1057	-0.78	-145.9	2293	2195	3955	3980	166.3	-17.6	109	1062	0.12	2.47	0.00	0.000	2436	0.285	0.085	2314	3607	3967	3954	3980	0	0	0	0	0	0	13.93	14.17	14.07
1154	-0.89	-145.9	2315	3607	3955	3980	178.6	-11.7	128	1159	0.00	2.38	0.00	0.000	1158	0.000	0.057	2314	2196	3967	3954	3980	0	0	0	0	0	0	14.40	14.28	14.43
1479	-0.93	-145.9	2314	2196	3954	3981	220.1	-12.3	143	1484	0.00	2.45	0.00	0.000	388	0.000	0.086	2307	3599	3967	3954	3980	0	0	0	0	0	0	14.62	14.17	14.64
1549	-1.05	-145.9	2308	3601	3954	3981	228.0	-10.4	157	1555	0.20	2.38	0.00	0.000	5254	0.105	0.057	2232	2189	3967	3954	3980	0	0	0	0	0	0	14.23	14.19	14.32
1870	-0.95	-145.9	2233	2189	3955	3980	284.6	-17.0	171	1875	0.12	2.47	0.00	0.000	2436	0.300	0.084	2252	3604	3967	3954	3980	0	0	0	0	0	0	14.00	14.20	14.17
1995	-0.97	-145.9	2252	3607	3954	3981	302.0	-13.0	196	2000	0.00	2.35	0.00	0.000	1158	0.000	0.057	2251	2203	3967	3954	3980	0	0	0	0	0	0	14.42	14.31	14.45
2321	-0.95	-145.9	2252	2202	3954	3979	346.0	-13.3	211	2325	0.00	2.45	0.00	0.000	388	0.000	0.086	2242	3601	3966	3954	3979	0	0	0	0	0	0	14.67	14.21	14.71
2401	-0.98	-145.9	2242	3604	3954	3980	356.6	-13.0	227	2405	0.00	2.35	0.00	0.000	1158	0.000	0.057	2241	2201	3966	3953	3979	0	0	0	0	0	0	14.42	14.30	14.45
2711	-0.95	-145.9	2242	2200	3955	3978	399.4	-13.7	239	2716	0.12	2.45	0.00	0.000	2436	0.282	0.084	2262	3599	3965	3953	3978	0	0	0	0	0	0	14.00	14.21	14.16
2786	-1.04	-145.9	2263	3600	3954	3977	408.2	-10.9	254	2792	0.00	2.38	0.00	0.000	1158	0.000	0.057	2262	2192	3965	3953	3978	0	0	0	0	0	0	13.90	13.89	14.11
3102	-1.06	-145.9	2262	2191	3954	3977	444.5	-11.4	267	3107	0.00	2.50	0.00	0.000	388	0.000	0.088	2254	3606	3964	3952	3977	0	0	0	0	0	0	14.66	14.21	14.69
3173	-1.14	-145.9	2254	3607	3954	3978	452.4	-10.8	281	3178	0.12	2.38	0.00	0.000	5254	0.142	0.056	2204	2187	3965	3953	3977	0	0	0	0	0	0	14.31	14.30	14.42
3371	end dive: TARGET_DEPTH_EXCEEDED
state	3371	begin apogee
3376	-0.13	0.0	2205	2061	3953	3977	483.6	-16.1	291	3675	1.30	0.05	293.52	1.306	10246	0.266	0.217	2528	2089	3360	3380	3340	0	0	0	0	0	0	13.95	13.29	12.63
3678	end apogee: CONTROL_FINISHED_OK
state	3680	begin climb
3682	0.57	145.9	2529	2089	3379	3333	498.8	0.0	301	3905	0.75	2.12	207.12	1.353	10756	0.065	0.080	2783	725	2756	2796	2717	0	0	0	0	0	0	13.47	12.97	12.39
4130	0.21	145.9	2783	726	2788	2714	468.7	15.6	348	4137	0.62	2.50	0.00	0.000	5254	0.323	0.076	2652	2110	2749	2787	2711	0	0	0	0	0	0	13.43	13.73	13.78
4435	0.06	154.4	2652	2111	2787	2707	438.2	9.6	359	4441	0.17	2.53	1.33	0.239	12708	0.279	0.083	2610	3509	2733	2774	2693	0	0	0	0	0	0	13.83	14.05	13.88
4616	-0.01	185.4	2610	3510	2782	2704	422.2	8.6	395	4679	0.15	2.33	55.10	1.385	13478	0.285	0.059	2586	2129	2603	2652	2555	0	0	0	0	0	0	13.92	14.18	13.14
4976	0.07	251.1	2586	2129	2648	2536	397.4	7.0	417	5087	0.00	2.67	100.75	1.336	8868	0.000	0.087	2588	690	2332	2382	2282	0	0	0	0	0	0	14.50	13.79	13.07
5137	0.25	306.1	2589	690	2377	2276	385.7	7.5	449	5233	0.22	2.53	86.55	1.296	11430	0.096	0.081	2676	2098	2110	2160	2060	0	0	0	0	0	0	13.95	13.86	12.86
5548	0.21	306.1	2677	2098	2147	2041	330.8	13.5	481	5553	0.00	2.50	0.00	0.000	644	0.000	0.087	2680	694	2093	2146	2041	0	0	0	0	0	0	14.38	13.99	14.40
5613	0.21	306.1	2681	694	2144	2041	322.1	12.9	494	5619	0.00	2.47	0.00	0.000	1030	0.000	0.080	2680	2101	2091	2142	2040	0	0	0	0	0	0	14.25	14.12	14.28
5939	0.18	306.1	2681	2102	2144	2039	278.4	13.0	509	5944	0.15	2.47	0.00	0.000	4740	0.260	0.085	2647	694	2090	2143	2038	0	0	0	0	0	0	14.02	14.21	14.18
5995	0.27	306.1	2647	695	2142	2039	272.5	10.2	520	6001	0.00	2.45	0.00	0.000	1158	0.000	0.079	2647	2105	2089	2141	2038	0	0	0	0	0	0	14.34	14.23	14.39
6300	0.33	329.3	2647	2106	2141	2037	243.1	8.9	531	6332	0.12	0.00	30.38	1.372	10406	0.133	0.000	2699	2106	2025	2075	1976	0	0	0	0	0	0	14.24	14.11	13.34
6630	0.30	329.3	2700	2111	2058	1960	205.5	11.0	542	6636	0.00	2.47	0.00	0.000	644	0.000	0.086	2699	694	2008	2057	1960	0	0	0	0	0	0	14.56	14.19	14.58
6741	0.30	333.5	2699	694	2056	1961	194.2	9.8	564	6746	0.00	2.45	0.00	0.000	1062	0.000	0.080	2699	2109	2007	2055	1960	0	0	0	0	0	0	14.40	14.25	14.41
7051	0.30	333.5	2700	2110	2056	1959	162.5	10.2	576	7052	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2110	2007	2055	1959	0	0	0	0	0	0	14.62	14.63	14.64
7351	0.31	350.7	2699	2111	2055	1959	133.8	9.2	586	7391	0.00	2.50	33.92	1.333	8740	0.000	0.086	2700	688	1930	1974	1887	0	0	0	0	0	0	14.63	14.17	13.37
7468	0.42	385.9	2697	688	1962	1887	123.8	8.4	609	7538	0.00	2.47	61.22	1.243	9382	0.000	0.080	2699	2101	1787	1816	1758	0	0	0	0	0	0	14.19	14.07	13.23
7843	0.52	435.1	2700	2101	1805	1744	92.6	7.7	642	7876	0.12	2.55	24.25	0.475	10916	0.137	0.087	2768	695	1592	1621	1563	0	0	0	0	0	0	14.21	13.97	13.66
7911	0.52	435.1	2769	696	1628	1563	85.1	11.8	655	7917	0.00	2.47	0.00	0.000	1030	0.000	0.079	2767	2106	1596	1629	1563	0	0	0	0	0	0	14.21	14.09	14.23
8216	0.57	503.4	2768	2108	1629	1563	56.5	6.8	686	8259	0.00	2.50	36.50	0.371	8740	0.000	0.085	2768	691	1309	1361	1258	0	0	0	0	0	0	14.52	13.98	13.74
8299	0.74	574.4	2768	692	1363	1262	51.3	6.7	702	8342	0.15	2.47	37.47	0.356	11430	0.126	0.079	2830	2102	1021	1092	951	0	0	0	0	0	0	14.20	14.15	13.71
8639	0.83	617.0	2830	2103	1092	957	17.1	8.0	740	8671	0.00	2.53	22.98	0.265	8868	0.000	0.084	2837	695	847	917	778	0	0	0	0	0	0	14.52	14.02	13.91
8743	1.06	733.1	2835	693	917	784	11.8	4.6	760	8796	0.25	2.47	46.78	0.239	11430	0.096	0.083	2932	2099	499	523	475	0	0	0	0	0	0	14.24	14.07	13.94
8829	end climb: SURFACE_DEPTH_REACHED
state	8829	begin surface coast
8841	end surface coast: CONTROL_FINISHED_OK
state	8841	begin surface