Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 160 * 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 160 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 450.0

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 33 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 450.0 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 160 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 250817,091713,7342.8477,-15115.5771,18,0.7,21,20.3,0.8,12.6,12,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 296.4,103894,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 250817,093620,7342.8071,-15115.8398,8,0.7,30,20.3,0.0,71.8,10,9.9

Post-dive calculations and measurements:

FINISH 0.9,1.020798 _24V_AH 12.38,119.393

SM_CCo 8899,26.30,0.207,0,0,503,702.78 _10V_AH 12.29,0.000

SM_GC 1.12,8.27,2.72,26.30,0.081,0.076,0.207,199,2205,503,-7.38,-0.48,702.78,0,0,0,0,0,0,14.18,14.09,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 22 FG_AHR_10Vo 0.000

RAFOS_FIX 7341.236328,-15114.365234,250817,080806,4,255,0.27 MEM 323388

IRIDIUM_FIX 7341.61,-15122.76,250817,092716 DATA_FILE_SIZE 26745,791

TT8_MAMPS 0.085386,0.832139 CAP_FILE_SIZE 108719,0

HUMID 45.70 CFSIZE 2097872896,2038726656

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.5

XPDR_PINGS 12 CURRENT 0.046,242.34,1

CP_FREE 15992389632.000000 GPS 250817,120703,7343.829,-15118.632,37,0.8,38,20.3,0.0,0.0,11,7.6

PM_FREEKB_00 53252544

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 140.49 nil 0 0 0.00

Roll_motor 88 2150 2350.73 nil 0 0 0.00

VBD_pump_during_apogee 956 1598 18937.19 nil 0 0 0.00

VBD_pump_during_surface 26 207 67.50 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 8904 14 1583.48

Iridium_during_xfer 724 159 1433.91 NCP 8894 20 2202.15

Transponder_ping 3 420 15.60 PMAR 8849 9 1083.89

GUMSTIX_24V 0 0 0.00

GPS 31 22 8.75

TT8 0 0 0.00

LPSleep 6396 2 181.60

TT8_Active 960 13 164.98

TT8_Sampling 2412 33 991.45

TT8_CF8 317 38 150.80

TT8_Kalman 0 0 0.00

Analog_circuits 2453 10 301.56

GPS_charging 0 0 0.00

Compass 1133 7 97.53

RAFOS 2214 48 1306.08

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 171 2215 502 487 0.0 0.0 0 142 0.00 0.00 -91.97 0.000 16386 0.000 0.000 169 2214 2213 2140 2286 0 0 0 0 0 0 14.48 28.83 14.50

145 -0.57 -145.9 167 2215 2145 2287 4.8 -7.5 9 198 12.57 2.78 -31.62 0.000 18724 0.452 2.150 2375 3590 3964 3948 3981 0 0 0 0 0 0 13.64 12.60 14.08

348 -0.64 -145.9 2376 3591 3954 3981 52.7 -17.0 49 353 0.00 2.38 0.00 0.000 1158 0.000 0.060 2372 2199 3964 3947 3981 0 0 0 0 0 0 14.29 14.17 14.31

678 -0.69 -145.9 2376 2198 3956 3980 104.6 -12.8 81 683 0.00 2.45 0.00 0.000 388 0.000 0.086 2366 3598 3967 3954 3981 0 0 0 0 0 0 14.54 14.15 14.56

753 -0.88 -145.9 2366 3601 3955 3989 112.8 -9.8 96 760 0.22 2.35 0.00 0.000 5286 0.100 0.055 2272 2197 3967 3954 3981 0 0 0 0 0 0 14.29 14.26 14.38

1070 -0.80 -145.9 2273 2197 3953 3981 173.3 -19.0 109 1075 0.17 2.47 0.00 0.000 2436 0.279 0.083 2305 3604 3967 3954 3981 0 0 0 0 0 0 13.97 14.19 14.10

1145 -0.91 -145.9 2306 3606 3955 3981 183.9 -12.2 124 1151 0.00 2.38 0.00 0.000 1158 0.000 0.058 2305 2199 3968 3954 3982 0 0 0 0 0 0 14.40 14.28 14.43

1462 -0.93 -145.9 2305 2199 3957 3982 225.9 -13.0 137 1466 0.00 2.45 0.00 0.000 388 0.000 0.086 2299 3600 3967 3954 3981 0 0 0 0 0 0 14.62 14.19 14.65

1506 -1.04 -145.9 2299 3600 3955 3980 231.5 -11.9 146 1512 0.17 2.38 0.00 0.000 5254 0.114 0.059 2235 2193 3965 3950 3980 0 0 0 0 0 0 14.31 14.26 14.40

1822 -0.96 -145.9 2236 2193 3955 3982 285.6 -16.7 159 1827 0.12 2.47 0.00 0.000 2436 0.299 0.084 2260 3607 3967 3954 3981 0 0 0 0 0 0 13.97 14.21 14.18

1952 -1.01 -145.9 2254 3608 3955 3985 303.2 -12.3 185 1957 0.00 2.38 0.00 0.000 1158 0.000 0.057 2254 2196 3967 3954 3981 0 0 0 0 0 0 14.42 14.29 14.45

2272 -1.01 -145.9 2250 2196 3961 3981 346.2 -13.4 199 2277 0.00 2.45 0.00 0.000 260 0.000 0.087 2244 3600 3967 3954 3980 0 0 0 0 0 0 14.66 14.24 14.69

2347 -1.04 -145.9 2250 3602 3952 3981 356.2 -13.2 214 2352 0.00 2.35 0.00 0.000 1158 0.000 0.057 2244 2200 3967 3954 3980 0 0 0 0 0 0 14.42 14.30 14.45

2662 -1.04 -145.9 2244 2201 3955 3979 398.4 -13.2 227 2667 0.00 2.45 0.00 0.000 260 0.000 0.086 2236 3601 3967 3956 3979 0 0 0 0 0 0 14.66 14.21 14.68

2742 -1.07 -145.9 2237 3601 3955 3979 408.8 -12.7 243 2747 0.00 2.38 0.00 0.000 1158 0.000 0.058 2235 2195 3966 3954 3979 0 0 0 0 0 0 14.39 14.23 14.43

3052 -1.04 -145.9 2237 2194 3955 3978 451.3 -13.7 255 3057 0.00 2.47 0.00 0.000 388 0.000 0.089 2236 3600 3966 3954 3978 0 0 0 0 0 0 14.66 14.20 14.68

3123 -1.08 -145.9 2238 3601 3955 3979 460.5 -12.6 269 3127 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2198 3966 3954 3978 0 0 0 0 0 0 14.42 14.29 14.45

3290 end dive: TARGET_DEPTH_EXCEEDED

state 3290 begin apogee

3296 -0.13 0.0 2237 2055 3955 3978 483.5 -13.6 278 3517 1.15 0.05 217.00 1.435 10246 0.248 0.222 2529 2092 3363 3389 3337 0 0 0 0 0 0 13.98 13.42 12.70

3521 end apogee: CONTROL_FINISHED_OK

state 3521 begin climb

3525 0.57 145.9 2530 2093 3383 3330 494.8 0.0 285 3744 0.75 2.60 205.65 1.380 10756 0.067 0.079 2793 733 2762 2809 2715 0 0 0 0 0 0 13.58 13.15 12.38

3969 0.19 145.9 2794 733 2803 2715 468.9 15.3 363 3975 0.70 2.47 0.00 0.000 5254 0.325 0.074 2646 2106 2755 2797 2713 0 0 0 0 0 0 13.40 13.76 13.79

4302 0.05 158.3 2647 2106 2797 2709 436.7 9.4 379 4321 0.17 2.42 13.30 1.599 12964 0.287 0.081 2604 727 2717 2766 2669 0 0 0 0 0 0 13.85 13.83 13.16

4502 0.09 222.7 2605 728 2758 2670 421.5 7.0 419 4604 0.00 2.40 96.12 1.385 9254 0.000 0.080 2604 2103 2457 2521 2393 0 0 0 0 0 0 14.30 14.17 13.02

4902 0.14 256.4 2604 2105 2509 2379 388.1 8.4 449 4954 0.00 0.00 50.20 1.398 8358 0.000 0.000 2604 2103 2319 2379 2260 0 0 0 0 0 0 14.44 13.93 13.14

5232 0.22 284.9 2604 2104 2368 2248 359.7 8.7 460 5282 0.12 2.50 42.90 1.401 10916 0.132 0.086 2672 729 2197 2253 2141 0 0 0 0 0 0 14.25 13.97 13.19

5318 0.22 284.9 2672 729 2249 2141 349.1 13.1 477 5324 0.00 2.42 0.00 0.000 1030 0.000 0.079 2673 2104 2192 2245 2140 0 0 0 0 0 0 14.13 14.02 14.17

5622 0.17 284.9 2672 2106 2246 2135 309.3 12.8 488 5627 0.12 2.40 0.00 0.000 4740 0.277 0.080 2649 727 2189 2245 2134 0 0 0 0 0 0 14.02 14.01 14.14

5667 0.22 290.3 2650 728 2244 2140 304.5 9.8 497 5672 0.00 2.40 0.00 0.000 1190 0.000 0.079 2649 2103 2188 2244 2133 0 0 0 0 0 0 14.21 13.74 14.28

5982 0.22 290.3 2650 2104 2244 2132 271.7 10.3 510 5983 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2104 2187 2244 2131 0 0 0 0 0 0 14.63 14.64 14.64

6282 0.23 309.2 2650 2104 2244 2131 242.7 9.1 520 6323 0.00 2.42 35.20 1.391 8740 0.000 0.085 2654 726 2102 2157 2048 0 0 0 0 0 0 14.64 14.18 13.34

6370 0.33 336.8 2655 726 2150 2049 235.0 8.7 537 6421 0.10 2.40 45.22 1.336 11430 0.152 0.079 2697 2097 1991 2037 1945 0 0 0 0 0 0 14.13 14.11 13.21

6736 0.31 336.8 2695 2098 2032 1929 193.6 10.9 560 6741 0.00 2.40 0.00 0.000 644 0.000 0.084 2698 727 1978 2031 1925 0 0 0 0 0 0 14.52 14.19 14.54

6786 0.34 336.8 2698 728 2031 1930 188.4 10.1 570 6792 0.00 2.40 0.00 0.000 1158 0.000 0.078 2699 2105 1979 2030 1929 0 0 0 0 0 0 14.21 14.11 14.23

7097 0.34 336.8 2699 2106 2030 1928 156.7 10.0 582 7102 0.00 2.40 0.00 0.000 516 0.000 0.085 2699 727 1978 2029 1927 0 0 0 0 0 0 14.60 14.23 14.62

7153 0.40 357.4 2699 727 2028 1927 151.5 9.0 593 7189 0.00 2.38 30.48 1.362 9382 0.000 0.079 2699 2101 1909 1952 1866 0 0 0 0 0 0 14.38 14.24 13.37

7490 0.44 377.5 2699 2103 1941 1863 120.1 9.1 610 7524 0.00 2.42 29.92 1.341 8868 0.000 0.082 2699 720 1824 1856 1792 0 0 0 0 0 0 14.54 13.92 13.33

7596 0.55 417.4 2699 720 1848 1789 111.2 8.2 631 7671 0.17 2.42 65.65 1.225 11430 0.109 0.078 2772 2101 1660 1689 1631 0 0 0 0 0 0 14.21 14.14 13.18

7969 0.51 426.7 2772 2103 1689 1617 67.3 9.6 674 7980 0.00 0.00 3.95 0.394 8358 0.000 0.000 2772 2102 1625 1662 1589 0 0 0 0 0 0 14.45 14.04 13.63

8279 0.58 531.6 2772 2103 1664 1589 47.1 5.2 705 8338 0.00 2.55 54.58 0.344 8484 0.000 0.084 2772 3513 1196 1261 1131 0 0 0 0 0 0 14.53 14.01 13.82

8364 0.68 567.1 2772 3513 1260 1132 41.7 8.4 721 8387 0.00 2.38 18.73 0.330 9382 0.000 0.066 2777 2134 1053 1126 980 0 0 0 0 0 0 14.28 14.14 13.78

8695 0.89 658.7 2778 2129 1128 969 19.3 5.8 755 8748 0.25 2.62 47.83 0.267 10916 0.093 0.090 2887 684 677 739 615 0 0 0 0 0 0 14.15 13.99 13.72

8866 end climb: SURFACE_DEPTH_REACHED

state 8866 begin surface coast

8876 end surface coast: CONTROL_FINISHED_OK

state 8876 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	160	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	450.0
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	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,091713,7342.8477,-15115.5771,18,0.7,21,20.3,0.8,12.6,12,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	296.4,103894,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	250817,093620,7342.8071,-15115.8398,8,0.7,30,20.3,0.0,71.8,10,9.9

FINISH	0.9,1.020798	_24V_AH	12.38,119.393
SM_CCo	8899,26.30,0.207,0,0,503,702.78	_10V_AH	12.29,0.000
SM_GC	1.12,8.27,2.72,26.30,0.081,0.076,0.207,199,2205,503,-7.38,-0.48,702.78,0,0,0,0,0,0,14.18,14.09,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	22	FG_AHR_10Vo	0.000
RAFOS_FIX	7341.236328,-15114.365234,250817,080806,4,255,0.27	MEM	323388
IRIDIUM_FIX	7341.61,-15122.76,250817,092716	DATA_FILE_SIZE	26745,791
TT8_MAMPS	0.085386,0.832139	CAP_FILE_SIZE	108719,0
HUMID	45.70	CFSIZE	2097872896,2038726656
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.5
XPDR_PINGS	12	CURRENT	0.046,242.34,1
CP_FREE	15992389632.000000	GPS	250817,120703,7343.829,-15118.632,37,0.8,38,20.3,0.0,0.0,11,7.6
PM_FREEKB_00	53252544

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	140.49	nil	0	0	0.00
Roll_motor	88	2150	2350.73	nil	0	0	0.00
VBD_pump_during_apogee	956	1598	18937.19	nil	0	0	0.00
VBD_pump_during_surface	26	207	67.50	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	8904	14	1583.48
Iridium_during_xfer	724	159	1433.91	NCP	8894	20	2202.15
Transponder_ping	3	420	15.60	PMAR	8849	9	1083.89
GUMSTIX_24V	0	0	0.00
GPS	31	22	8.75
TT8	0	0	0.00
LPSleep	6396	2	181.60
TT8_Active	960	13	164.98
TT8_Sampling	2412	33	991.45
TT8_CF8	317	38	150.80
TT8_Kalman	0	0	0.00
Analog_circuits	2453	10	301.56
GPS_charging	0	0	0.00
Compass	1133	7	97.53
RAFOS	2214	48	1306.08
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	171	2215	502	487	0.0	0.0	0	142	0.00	0.00	-91.97	0.000	16386	0.000	0.000	169	2214	2213	2140	2286	0	0	0	0	0	0	14.48	28.83	14.50
145	-0.57	-145.9	167	2215	2145	2287	4.8	-7.5	9	198	12.57	2.78	-31.62	0.000	18724	0.452	2.150	2375	3590	3964	3948	3981	0	0	0	0	0	0	13.64	12.60	14.08
348	-0.64	-145.9	2376	3591	3954	3981	52.7	-17.0	49	353	0.00	2.38	0.00	0.000	1158	0.000	0.060	2372	2199	3964	3947	3981	0	0	0	0	0	0	14.29	14.17	14.31
678	-0.69	-145.9	2376	2198	3956	3980	104.6	-12.8	81	683	0.00	2.45	0.00	0.000	388	0.000	0.086	2366	3598	3967	3954	3981	0	0	0	0	0	0	14.54	14.15	14.56
753	-0.88	-145.9	2366	3601	3955	3989	112.8	-9.8	96	760	0.22	2.35	0.00	0.000	5286	0.100	0.055	2272	2197	3967	3954	3981	0	0	0	0	0	0	14.29	14.26	14.38
1070	-0.80	-145.9	2273	2197	3953	3981	173.3	-19.0	109	1075	0.17	2.47	0.00	0.000	2436	0.279	0.083	2305	3604	3967	3954	3981	0	0	0	0	0	0	13.97	14.19	14.10
1145	-0.91	-145.9	2306	3606	3955	3981	183.9	-12.2	124	1151	0.00	2.38	0.00	0.000	1158	0.000	0.058	2305	2199	3968	3954	3982	0	0	0	0	0	0	14.40	14.28	14.43
1462	-0.93	-145.9	2305	2199	3957	3982	225.9	-13.0	137	1466	0.00	2.45	0.00	0.000	388	0.000	0.086	2299	3600	3967	3954	3981	0	0	0	0	0	0	14.62	14.19	14.65
1506	-1.04	-145.9	2299	3600	3955	3980	231.5	-11.9	146	1512	0.17	2.38	0.00	0.000	5254	0.114	0.059	2235	2193	3965	3950	3980	0	0	0	0	0	0	14.31	14.26	14.40
1822	-0.96	-145.9	2236	2193	3955	3982	285.6	-16.7	159	1827	0.12	2.47	0.00	0.000	2436	0.299	0.084	2260	3607	3967	3954	3981	0	0	0	0	0	0	13.97	14.21	14.18
1952	-1.01	-145.9	2254	3608	3955	3985	303.2	-12.3	185	1957	0.00	2.38	0.00	0.000	1158	0.000	0.057	2254	2196	3967	3954	3981	0	0	0	0	0	0	14.42	14.29	14.45
2272	-1.01	-145.9	2250	2196	3961	3981	346.2	-13.4	199	2277	0.00	2.45	0.00	0.000	260	0.000	0.087	2244	3600	3967	3954	3980	0	0	0	0	0	0	14.66	14.24	14.69
2347	-1.04	-145.9	2250	3602	3952	3981	356.2	-13.2	214	2352	0.00	2.35	0.00	0.000	1158	0.000	0.057	2244	2200	3967	3954	3980	0	0	0	0	0	0	14.42	14.30	14.45
2662	-1.04	-145.9	2244	2201	3955	3979	398.4	-13.2	227	2667	0.00	2.45	0.00	0.000	260	0.000	0.086	2236	3601	3967	3956	3979	0	0	0	0	0	0	14.66	14.21	14.68
2742	-1.07	-145.9	2237	3601	3955	3979	408.8	-12.7	243	2747	0.00	2.38	0.00	0.000	1158	0.000	0.058	2235	2195	3966	3954	3979	0	0	0	0	0	0	14.39	14.23	14.43
3052	-1.04	-145.9	2237	2194	3955	3978	451.3	-13.7	255	3057	0.00	2.47	0.00	0.000	388	0.000	0.089	2236	3600	3966	3954	3978	0	0	0	0	0	0	14.66	14.20	14.68
3123	-1.08	-145.9	2238	3601	3955	3979	460.5	-12.6	269	3127	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2198	3966	3954	3978	0	0	0	0	0	0	14.42	14.29	14.45
3290	end dive: TARGET_DEPTH_EXCEEDED
state	3290	begin apogee
3296	-0.13	0.0	2237	2055	3955	3978	483.5	-13.6	278	3517	1.15	0.05	217.00	1.435	10246	0.248	0.222	2529	2092	3363	3389	3337	0	0	0	0	0	0	13.98	13.42	12.70
3521	end apogee: CONTROL_FINISHED_OK
state	3521	begin climb
3525	0.57	145.9	2530	2093	3383	3330	494.8	0.0	285	3744	0.75	2.60	205.65	1.380	10756	0.067	0.079	2793	733	2762	2809	2715	0	0	0	0	0	0	13.58	13.15	12.38
3969	0.19	145.9	2794	733	2803	2715	468.9	15.3	363	3975	0.70	2.47	0.00	0.000	5254	0.325	0.074	2646	2106	2755	2797	2713	0	0	0	0	0	0	13.40	13.76	13.79
4302	0.05	158.3	2647	2106	2797	2709	436.7	9.4	379	4321	0.17	2.42	13.30	1.599	12964	0.287	0.081	2604	727	2717	2766	2669	0	0	0	0	0	0	13.85	13.83	13.16
4502	0.09	222.7	2605	728	2758	2670	421.5	7.0	419	4604	0.00	2.40	96.12	1.385	9254	0.000	0.080	2604	2103	2457	2521	2393	0	0	0	0	0	0	14.30	14.17	13.02
4902	0.14	256.4	2604	2105	2509	2379	388.1	8.4	449	4954	0.00	0.00	50.20	1.398	8358	0.000	0.000	2604	2103	2319	2379	2260	0	0	0	0	0	0	14.44	13.93	13.14
5232	0.22	284.9	2604	2104	2368	2248	359.7	8.7	460	5282	0.12	2.50	42.90	1.401	10916	0.132	0.086	2672	729	2197	2253	2141	0	0	0	0	0	0	14.25	13.97	13.19
5318	0.22	284.9	2672	729	2249	2141	349.1	13.1	477	5324	0.00	2.42	0.00	0.000	1030	0.000	0.079	2673	2104	2192	2245	2140	0	0	0	0	0	0	14.13	14.02	14.17
5622	0.17	284.9	2672	2106	2246	2135	309.3	12.8	488	5627	0.12	2.40	0.00	0.000	4740	0.277	0.080	2649	727	2189	2245	2134	0	0	0	0	0	0	14.02	14.01	14.14
5667	0.22	290.3	2650	728	2244	2140	304.5	9.8	497	5672	0.00	2.40	0.00	0.000	1190	0.000	0.079	2649	2103	2188	2244	2133	0	0	0	0	0	0	14.21	13.74	14.28
5982	0.22	290.3	2650	2104	2244	2132	271.7	10.3	510	5983	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2104	2187	2244	2131	0	0	0	0	0	0	14.63	14.64	14.64
6282	0.23	309.2	2650	2104	2244	2131	242.7	9.1	520	6323	0.00	2.42	35.20	1.391	8740	0.000	0.085	2654	726	2102	2157	2048	0	0	0	0	0	0	14.64	14.18	13.34
6370	0.33	336.8	2655	726	2150	2049	235.0	8.7	537	6421	0.10	2.40	45.22	1.336	11430	0.152	0.079	2697	2097	1991	2037	1945	0	0	0	0	0	0	14.13	14.11	13.21
6736	0.31	336.8	2695	2098	2032	1929	193.6	10.9	560	6741	0.00	2.40	0.00	0.000	644	0.000	0.084	2698	727	1978	2031	1925	0	0	0	0	0	0	14.52	14.19	14.54
6786	0.34	336.8	2698	728	2031	1930	188.4	10.1	570	6792	0.00	2.40	0.00	0.000	1158	0.000	0.078	2699	2105	1979	2030	1929	0	0	0	0	0	0	14.21	14.11	14.23
7097	0.34	336.8	2699	2106	2030	1928	156.7	10.0	582	7102	0.00	2.40	0.00	0.000	516	0.000	0.085	2699	727	1978	2029	1927	0	0	0	0	0	0	14.60	14.23	14.62
7153	0.40	357.4	2699	727	2028	1927	151.5	9.0	593	7189	0.00	2.38	30.48	1.362	9382	0.000	0.079	2699	2101	1909	1952	1866	0	0	0	0	0	0	14.38	14.24	13.37
7490	0.44	377.5	2699	2103	1941	1863	120.1	9.1	610	7524	0.00	2.42	29.92	1.341	8868	0.000	0.082	2699	720	1824	1856	1792	0	0	0	0	0	0	14.54	13.92	13.33
7596	0.55	417.4	2699	720	1848	1789	111.2	8.2	631	7671	0.17	2.42	65.65	1.225	11430	0.109	0.078	2772	2101	1660	1689	1631	0	0	0	0	0	0	14.21	14.14	13.18
7969	0.51	426.7	2772	2103	1689	1617	67.3	9.6	674	7980	0.00	0.00	3.95	0.394	8358	0.000	0.000	2772	2102	1625	1662	1589	0	0	0	0	0	0	14.45	14.04	13.63
8279	0.58	531.6	2772	2103	1664	1589	47.1	5.2	705	8338	0.00	2.55	54.58	0.344	8484	0.000	0.084	2772	3513	1196	1261	1131	0	0	0	0	0	0	14.53	14.01	13.82
8364	0.68	567.1	2772	3513	1260	1132	41.7	8.4	721	8387	0.00	2.38	18.73	0.330	9382	0.000	0.066	2777	2134	1053	1126	980	0	0	0	0	0	0	14.28	14.14	13.78
8695	0.89	658.7	2778	2129	1128	969	19.3	5.8	755	8748	0.25	2.62	47.83	0.267	10916	0.093	0.090	2887	684	677	739	615	0	0	0	0	0	0	14.15	13.99	13.72
8866	end climb: SURFACE_DEPTH_REACHED
state	8866	begin surface coast
8876	end surface coast: CONTROL_FINISHED_OK
state	8876	begin surface