Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 170 * 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 170 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 48

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 478.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 478.0 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 31 VBD_MIN 500

DIVE 170 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 260817,170932,7352.4785,-15146.0947,40,0.7,42,20.1,0.2,291.8,11,8.4 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 1.27 MHEAD_RNG_PITCHd_Wd 286.7,80954,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 260817,172951,7352.4731,-15146.1230,5,0.7,12,20.1,0.0,0.0,12,10.0

Post-dive calculations and measurements:

FINISH 0.7,1.020766 _24V_AH 12.40,124.356

SM_CCo 8773,17.25,0.217,0,0,500,702.78 _10V_AH 12.23,0.000

SM_GC 1.66,8.25,0.17,17.25,0.080,0.120,0.217,196,2215,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS_FIX 7351.044434,-15146.083984,260817,161606,3,255,0.19 MEM 323540

IRIDIUM_FIX 7355.97,-15148.80,260817,172400 DATA_FILE_SIZE 26705,739

TT8_MAMPS 0.040446,0.927262 CAP_FILE_SIZE 107021,0

HUMID 46.02 CFSIZE 2097872896,2035318784

INTERNAL_PRESSURE 7.72292 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 17 CURRENT 0.015,277.34,1

CP_FREE 15990784000.000000 GPS 260817,195804,7353.486,-15149.423,16,0.7,22,20.1,0.0,0.0,12,10.0

PM_FREEKB_00 52987200

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.77 nil 0 0 0.00

Roll_motor 88 2153 2353.88 nil 0 0 0.00

VBD_pump_during_apogee 993 1416 17441.38 nil 0 0 0.00

VBD_pump_during_surface 17 217 46.47 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 8782 14 1566.04

Iridium_during_xfer 690 154 1322.21 NCP 8768 20 2174.46

Transponder_ping 4 420 22.13 PMAR 8729 9 1069.62

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.74

TT8 0 0 0.00

LPSleep 6431 2 181.70

TT8_Active 868 13 148.37

TT8_Sampling 2408 33 984.95

TT8_CF8 315 38 149.13

TT8_Kalman 0 0 0.00

Analog_circuits 2428 10 296.97

GPS_charging 0 0 0.00

Compass 1059 7 90.74

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 -145.9 192 2221 511 486 0.0 0.0 0 140 0.00 0.00 -91.95 0.000 16386 0.000 0.000 190 2221 2218 2147 2290 0 0 0 0 0 0 14.54 28.83 14.56

143 -0.57 -145.9 191 2222 2151 2293 4.7 -7.2 9 196 12.57 2.78 -31.38 0.000 18724 0.455 2.153 2382 3592 3961 3942 3981 0 0 0 0 0 0 13.69 12.64 14.16

361 -0.69 -145.9 2377 3593 3948 3984 53.8 -14.5 52 368 0.00 2.40 0.00 0.000 1158 0.000 0.062 2377 2198 3965 3947 3984 0 0 0 0 0 0 14.25 14.14 14.30

666 -0.76 -145.9 2377 2199 3949 3984 100.3 -12.0 83 668 0.15 0.00 0.00 0.000 4230 0.143 0.000 2327 2197 3966 3949 3983 0 0 0 0 0 0 14.16 14.28 14.25

966 -0.78 -145.9 2327 2199 3949 3984 144.2 -14.0 93 971 0.00 2.47 0.00 0.000 388 0.000 0.090 2319 3600 3965 3948 3983 0 0 0 0 0 0 14.62 14.19 14.63

1046 -0.89 -145.9 2319 3601 3950 3984 154.2 -11.6 109 1051 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2199 3966 3949 3983 0 0 0 0 0 0 13.91 13.93 13.93

1357 -0.94 -145.9 2320 2199 3949 3985 193.0 -12.1 121 1362 0.12 2.45 0.00 0.000 4484 0.143 0.087 2256 3595 3966 3949 3983 0 0 0 0 0 0 14.23 14.15 14.27

1427 -0.94 -145.9 2256 3596 3949 3984 203.9 -15.7 135 1432 0.00 2.38 0.00 0.000 1030 0.000 0.060 2255 2194 3966 3949 3983 0 0 0 0 0 0 14.40 14.26 14.42

1747 -0.89 -145.9 2256 2193 3950 3984 257.3 -15.9 149 1752 0.12 2.47 0.00 0.000 2436 0.304 0.086 2274 3601 3966 3949 3983 0 0 0 0 0 0 13.89 14.16 14.05

1817 -0.98 -145.9 2275 3603 3950 3982 266.2 -11.3 163 1822 0.00 2.38 0.00 0.000 1158 0.000 0.059 2274 2198 3966 3949 3983 0 0 0 0 0 0 14.40 14.28 14.43

2138 -1.01 -145.9 2279 2197 3955 3983 304.8 -11.9 177 2143 0.00 2.45 0.00 0.000 388 0.000 0.090 2267 3594 3966 3949 3983 0 0 0 0 0 0 14.66 14.21 14.68

2228 -1.11 -145.9 2267 3595 3950 3983 314.8 -10.5 195 2233 0.15 2.35 0.00 0.000 5254 0.131 0.059 2211 2198 3966 3949 3983 0 0 0 0 0 0 14.26 14.24 14.35

2558 -1.03 -145.9 2212 2198 3950 3983 367.9 -16.2 211 2563 0.12 2.45 0.00 0.000 2436 0.308 0.087 2235 3595 3965 3949 3982 0 0 0 0 0 0 13.95 14.21 14.13

2650 -1.06 -145.9 2236 3596 3950 3982 380.1 -12.6 229 2655 0.00 2.35 0.00 0.000 1158 0.000 0.059 2235 2201 3964 3946 3982 0 0 0 0 0 0 14.38 14.23 14.42

2981 -1.03 -145.9 2236 2200 3951 3981 425.5 -13.5 245 2985 0.00 2.47 0.00 0.000 388 0.000 0.090 2236 3600 3965 3949 3982 0 0 0 0 0 0 14.65 14.15 14.67

3081 -1.08 -145.9 2236 3602 3950 3982 437.9 -11.9 265 3085 0.00 2.38 0.00 0.000 1158 0.000 0.059 2235 2193 3965 3949 3982 0 0 0 0 0 0 14.38 14.26 14.42

3398 end dive: TARGET_DEPTH_EXCEEDED

state 3398 begin apogee

3404 -0.13 0.0 2236 2064 3949 3982 480.1 -13.2 279 3642 1.15 0.00 235.18 1.394 10246 0.245 0.000 2529 2060 3366 3387 3345 0 0 0 0 0 0 13.94 13.45 12.66

3646 end apogee: CONTROL_FINISHED_OK

state 3646 begin climb

3649 0.57 145.9 2529 2062 3379 3335 492.2 0.0 287 3871 0.75 2.58 209.88 1.368 10756 0.065 0.080 2789 726 2759 2804 2715 0 0 0 0 0 0 13.55 12.95 12.40

3981 0.19 145.9 2789 727 2797 2710 483.6 15.4 311 3986 0.65 2.50 0.00 0.000 5254 0.317 0.077 2653 2087 2751 2796 2707 0 0 0 0 0 0 13.23 13.51 13.61

4313 0.04 154.6 2654 2088 2797 2702 450.6 9.6 327 4324 0.22 2.47 1.95 0.268 12964 0.292 0.083 2602 726 2738 2785 2692 0 0 0 0 0 0 13.75 14.00 13.49

4401 0.09 221.4 2602 727 2789 2705 444.1 6.9 344 4526 0.00 2.40 113.57 1.346 9254 0.000 0.080 2602 2099 2456 2516 2397 0 0 0 0 0 0 14.19 14.06 12.94

4824 0.13 252.4 2602 2099 2508 2382 408.8 8.6 379 4876 0.00 2.53 45.90 1.392 8868 0.000 0.085 2602 726 2333 2390 2276 0 0 0 0 0 0 14.41 13.93 13.14

4913 0.24 275.1 2603 726 2379 2270 401.4 8.9 396 4953 0.17 2.45 34.55 1.416 11430 0.107 0.080 2672 2105 2242 2300 2184 0 0 0 0 0 0 14.03 13.96 13.05

5278 0.17 275.1 2674 2106 2287 2161 351.4 13.7 419 5283 0.15 2.42 0.00 0.000 4740 0.263 0.083 2646 720 2225 2286 2164 0 0 0 0 0 0 13.93 14.15 14.11

5319 0.20 275.1 2646 723 2286 2165 346.6 11.4 427 5323 0.00 2.42 0.00 0.000 1158 0.000 0.080 2646 2105 2224 2283 2165 0 0 0 0 0 0 14.30 14.18 14.37

5639 0.20 275.1 2647 2106 2284 2162 310.2 11.3 441 5639 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2106 2223 2283 2163 0 0 0 0 0 0 14.60 14.62 14.62

5938 0.20 275.1 2647 2107 2283 2163 278.6 10.3 451 5943 0.00 2.40 0.00 0.000 516 0.000 0.086 2647 729 2221 2281 2161 0 0 0 0 0 0 14.64 14.26 14.66

6009 0.24 283.2 2647 729 2282 2166 271.7 9.6 465 6014 0.00 2.38 1.45 0.265 9382 0.000 0.080 2647 2101 2209 2267 2151 0 0 0 0 0 0 14.42 14.28 13.99

6329 0.26 307.5 2647 2103 2276 2162 241.6 8.9 479 6385 0.00 2.42 49.62 1.350 8740 0.000 0.082 2647 722 2106 2157 2055 0 0 0 0 0 0 14.66 13.90 13.33

6432 0.38 347.4 2647 723 2150 2054 233.2 8.2 499 6501 0.17 2.42 63.70 1.298 11430 0.110 0.080 2713 2103 1948 1995 1901 0 0 0 0 0 0 14.15 14.09 13.13

6812 0.33 347.4 2713 2104 1985 1888 186.0 12.2 525 6817 0.00 2.42 0.00 0.000 644 0.000 0.085 2713 729 1936 1985 1887 0 0 0 0 0 0 14.47 14.12 14.49

6842 0.31 347.4 2714 730 1983 1888 182.4 12.1 531 6847 0.15 2.40 0.00 0.000 5254 0.230 0.078 2680 2103 1934 1982 1887 0 0 0 0 0 0 14.02 14.17 14.26

7172 0.36 374.7 2680 2103 1983 1884 151.8 8.7 547 7223 0.00 2.45 43.72 1.317 8868 0.000 0.086 2683 725 1834 1869 1800 0 0 0 0 0 0 14.61 14.08 13.31

7265 0.50 407.2 2683 726 1860 1801 144.0 8.5 565 7326 0.17 2.42 56.20 1.258 11430 0.112 0.079 2758 2107 1708 1733 1683 0 0 0 0 0 0 14.16 14.09 13.16

7623 0.44 407.2 2758 2107 1727 1661 97.4 12.5 587 7629 0.15 2.42 0.00 0.000 4740 0.256 0.084 2734 725 1693 1725 1661 0 0 0 0 0 0 13.95 14.10 14.21

7694 0.50 419.3 2734 725 1722 1663 90.4 9.4 601 7705 0.00 2.42 5.38 0.462 9382 0.000 0.079 2734 2110 1656 1689 1623 0 0 0 0 0 0 14.19 14.07 13.60

8004 0.59 480.0 2734 2112 1691 1623 64.3 7.2 633 8041 0.12 2.42 32.10 0.396 10916 0.130 0.086 2793 730 1406 1449 1364 0 0 0 0 0 0 14.28 13.90 13.64

8116 0.61 508.7 2795 735 1445 1364 53.8 8.7 655 8138 0.00 2.40 15.52 0.364 9254 0.000 0.076 2799 2102 1286 1336 1236 0 0 0 0 0 0 14.26 14.13 13.76

8436 0.68 562.9 2795 2102 1349 1232 28.5 7.5 689 8469 0.00 2.50 28.30 0.298 8868 0.000 0.086 2795 727 1068 1133 1003 0 0 0 0 0 0 14.54 14.15 13.83

8566 0.94 670.3 2796 727 1134 1002 19.6 5.0 714 8630 0.28 2.40 56.30 0.266 11430 0.090 0.078 2895 2100 629 681 578 0 0 0 0 0 0 14.27 14.13 13.41

8743 end climb: SURFACE_DEPTH_REACHED

state 8743 begin surface coast

8753 end surface coast: CONTROL_FINISHED_OK

state 8753 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	170	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	48
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	478.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	260817,170932,7352.4785,-15146.0947,40,0.7,42,20.1,0.2,291.8,11,8.4	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	1.27	MHEAD_RNG_PITCHd_Wd	286.7,80954,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	260817,172951,7352.4731,-15146.1230,5,0.7,12,20.1,0.0,0.0,12,10.0

FINISH	0.7,1.020766	_24V_AH	12.40,124.356
SM_CCo	8773,17.25,0.217,0,0,500,702.78	_10V_AH	12.23,0.000
SM_GC	1.66,8.25,0.17,17.25,0.080,0.120,0.217,196,2215,500,-7.39,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS_FIX	7351.044434,-15146.083984,260817,161606,3,255,0.19	MEM	323540
IRIDIUM_FIX	7355.97,-15148.80,260817,172400	DATA_FILE_SIZE	26705,739
TT8_MAMPS	0.040446,0.927262	CAP_FILE_SIZE	107021,0
HUMID	46.02	CFSIZE	2097872896,2035318784
INTERNAL_PRESSURE	7.72292	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	17	CURRENT	0.015,277.34,1
CP_FREE	15990784000.000000	GPS	260817,195804,7353.486,-15149.423,16,0.7,22,20.1,0.0,0.0,12,10.0
PM_FREEKB_00	52987200

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.77	nil	0	0	0.00
Roll_motor	88	2153	2353.88	nil	0	0	0.00
VBD_pump_during_apogee	993	1416	17441.38	nil	0	0	0.00
VBD_pump_during_surface	17	217	46.47	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	8782	14	1566.04
Iridium_during_xfer	690	154	1322.21	NCP	8768	20	2174.46
Transponder_ping	4	420	22.13	PMAR	8729	9	1069.62
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.74
TT8	0	0	0.00
LPSleep	6431	2	181.70
TT8_Active	868	13	148.37
TT8_Sampling	2408	33	984.95
TT8_CF8	315	38	149.13
TT8_Kalman	0	0	0.00
Analog_circuits	2428	10	296.97
GPS_charging	0	0	0.00
Compass	1059	7	90.74
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	192	2221	511	486	0.0	0.0	0	140	0.00	0.00	-91.95	0.000	16386	0.000	0.000	190	2221	2218	2147	2290	0	0	0	0	0	0	14.54	28.83	14.56
143	-0.57	-145.9	191	2222	2151	2293	4.7	-7.2	9	196	12.57	2.78	-31.38	0.000	18724	0.455	2.153	2382	3592	3961	3942	3981	0	0	0	0	0	0	13.69	12.64	14.16
361	-0.69	-145.9	2377	3593	3948	3984	53.8	-14.5	52	368	0.00	2.40	0.00	0.000	1158	0.000	0.062	2377	2198	3965	3947	3984	0	0	0	0	0	0	14.25	14.14	14.30
666	-0.76	-145.9	2377	2199	3949	3984	100.3	-12.0	83	668	0.15	0.00	0.00	0.000	4230	0.143	0.000	2327	2197	3966	3949	3983	0	0	0	0	0	0	14.16	14.28	14.25
966	-0.78	-145.9	2327	2199	3949	3984	144.2	-14.0	93	971	0.00	2.47	0.00	0.000	388	0.000	0.090	2319	3600	3965	3948	3983	0	0	0	0	0	0	14.62	14.19	14.63
1046	-0.89	-145.9	2319	3601	3950	3984	154.2	-11.6	109	1051	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2199	3966	3949	3983	0	0	0	0	0	0	13.91	13.93	13.93
1357	-0.94	-145.9	2320	2199	3949	3985	193.0	-12.1	121	1362	0.12	2.45	0.00	0.000	4484	0.143	0.087	2256	3595	3966	3949	3983	0	0	0	0	0	0	14.23	14.15	14.27
1427	-0.94	-145.9	2256	3596	3949	3984	203.9	-15.7	135	1432	0.00	2.38	0.00	0.000	1030	0.000	0.060	2255	2194	3966	3949	3983	0	0	0	0	0	0	14.40	14.26	14.42
1747	-0.89	-145.9	2256	2193	3950	3984	257.3	-15.9	149	1752	0.12	2.47	0.00	0.000	2436	0.304	0.086	2274	3601	3966	3949	3983	0	0	0	0	0	0	13.89	14.16	14.05
1817	-0.98	-145.9	2275	3603	3950	3982	266.2	-11.3	163	1822	0.00	2.38	0.00	0.000	1158	0.000	0.059	2274	2198	3966	3949	3983	0	0	0	0	0	0	14.40	14.28	14.43
2138	-1.01	-145.9	2279	2197	3955	3983	304.8	-11.9	177	2143	0.00	2.45	0.00	0.000	388	0.000	0.090	2267	3594	3966	3949	3983	0	0	0	0	0	0	14.66	14.21	14.68
2228	-1.11	-145.9	2267	3595	3950	3983	314.8	-10.5	195	2233	0.15	2.35	0.00	0.000	5254	0.131	0.059	2211	2198	3966	3949	3983	0	0	0	0	0	0	14.26	14.24	14.35
2558	-1.03	-145.9	2212	2198	3950	3983	367.9	-16.2	211	2563	0.12	2.45	0.00	0.000	2436	0.308	0.087	2235	3595	3965	3949	3982	0	0	0	0	0	0	13.95	14.21	14.13
2650	-1.06	-145.9	2236	3596	3950	3982	380.1	-12.6	229	2655	0.00	2.35	0.00	0.000	1158	0.000	0.059	2235	2201	3964	3946	3982	0	0	0	0	0	0	14.38	14.23	14.42
2981	-1.03	-145.9	2236	2200	3951	3981	425.5	-13.5	245	2985	0.00	2.47	0.00	0.000	388	0.000	0.090	2236	3600	3965	3949	3982	0	0	0	0	0	0	14.65	14.15	14.67
3081	-1.08	-145.9	2236	3602	3950	3982	437.9	-11.9	265	3085	0.00	2.38	0.00	0.000	1158	0.000	0.059	2235	2193	3965	3949	3982	0	0	0	0	0	0	14.38	14.26	14.42
3398	end dive: TARGET_DEPTH_EXCEEDED
state	3398	begin apogee
3404	-0.13	0.0	2236	2064	3949	3982	480.1	-13.2	279	3642	1.15	0.00	235.18	1.394	10246	0.245	0.000	2529	2060	3366	3387	3345	0	0	0	0	0	0	13.94	13.45	12.66
3646	end apogee: CONTROL_FINISHED_OK
state	3646	begin climb
3649	0.57	145.9	2529	2062	3379	3335	492.2	0.0	287	3871	0.75	2.58	209.88	1.368	10756	0.065	0.080	2789	726	2759	2804	2715	0	0	0	0	0	0	13.55	12.95	12.40
3981	0.19	145.9	2789	727	2797	2710	483.6	15.4	311	3986	0.65	2.50	0.00	0.000	5254	0.317	0.077	2653	2087	2751	2796	2707	0	0	0	0	0	0	13.23	13.51	13.61
4313	0.04	154.6	2654	2088	2797	2702	450.6	9.6	327	4324	0.22	2.47	1.95	0.268	12964	0.292	0.083	2602	726	2738	2785	2692	0	0	0	0	0	0	13.75	14.00	13.49
4401	0.09	221.4	2602	727	2789	2705	444.1	6.9	344	4526	0.00	2.40	113.57	1.346	9254	0.000	0.080	2602	2099	2456	2516	2397	0	0	0	0	0	0	14.19	14.06	12.94
4824	0.13	252.4	2602	2099	2508	2382	408.8	8.6	379	4876	0.00	2.53	45.90	1.392	8868	0.000	0.085	2602	726	2333	2390	2276	0	0	0	0	0	0	14.41	13.93	13.14
4913	0.24	275.1	2603	726	2379	2270	401.4	8.9	396	4953	0.17	2.45	34.55	1.416	11430	0.107	0.080	2672	2105	2242	2300	2184	0	0	0	0	0	0	14.03	13.96	13.05
5278	0.17	275.1	2674	2106	2287	2161	351.4	13.7	419	5283	0.15	2.42	0.00	0.000	4740	0.263	0.083	2646	720	2225	2286	2164	0	0	0	0	0	0	13.93	14.15	14.11
5319	0.20	275.1	2646	723	2286	2165	346.6	11.4	427	5323	0.00	2.42	0.00	0.000	1158	0.000	0.080	2646	2105	2224	2283	2165	0	0	0	0	0	0	14.30	14.18	14.37
5639	0.20	275.1	2647	2106	2284	2162	310.2	11.3	441	5639	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2106	2223	2283	2163	0	0	0	0	0	0	14.60	14.62	14.62
5938	0.20	275.1	2647	2107	2283	2163	278.6	10.3	451	5943	0.00	2.40	0.00	0.000	516	0.000	0.086	2647	729	2221	2281	2161	0	0	0	0	0	0	14.64	14.26	14.66
6009	0.24	283.2	2647	729	2282	2166	271.7	9.6	465	6014	0.00	2.38	1.45	0.265	9382	0.000	0.080	2647	2101	2209	2267	2151	0	0	0	0	0	0	14.42	14.28	13.99
6329	0.26	307.5	2647	2103	2276	2162	241.6	8.9	479	6385	0.00	2.42	49.62	1.350	8740	0.000	0.082	2647	722	2106	2157	2055	0	0	0	0	0	0	14.66	13.90	13.33
6432	0.38	347.4	2647	723	2150	2054	233.2	8.2	499	6501	0.17	2.42	63.70	1.298	11430	0.110	0.080	2713	2103	1948	1995	1901	0	0	0	0	0	0	14.15	14.09	13.13
6812	0.33	347.4	2713	2104	1985	1888	186.0	12.2	525	6817	0.00	2.42	0.00	0.000	644	0.000	0.085	2713	729	1936	1985	1887	0	0	0	0	0	0	14.47	14.12	14.49
6842	0.31	347.4	2714	730	1983	1888	182.4	12.1	531	6847	0.15	2.40	0.00	0.000	5254	0.230	0.078	2680	2103	1934	1982	1887	0	0	0	0	0	0	14.02	14.17	14.26
7172	0.36	374.7	2680	2103	1983	1884	151.8	8.7	547	7223	0.00	2.45	43.72	1.317	8868	0.000	0.086	2683	725	1834	1869	1800	0	0	0	0	0	0	14.61	14.08	13.31
7265	0.50	407.2	2683	726	1860	1801	144.0	8.5	565	7326	0.17	2.42	56.20	1.258	11430	0.112	0.079	2758	2107	1708	1733	1683	0	0	0	0	0	0	14.16	14.09	13.16
7623	0.44	407.2	2758	2107	1727	1661	97.4	12.5	587	7629	0.15	2.42	0.00	0.000	4740	0.256	0.084	2734	725	1693	1725	1661	0	0	0	0	0	0	13.95	14.10	14.21
7694	0.50	419.3	2734	725	1722	1663	90.4	9.4	601	7705	0.00	2.42	5.38	0.462	9382	0.000	0.079	2734	2110	1656	1689	1623	0	0	0	0	0	0	14.19	14.07	13.60
8004	0.59	480.0	2734	2112	1691	1623	64.3	7.2	633	8041	0.12	2.42	32.10	0.396	10916	0.130	0.086	2793	730	1406	1449	1364	0	0	0	0	0	0	14.28	13.90	13.64
8116	0.61	508.7	2795	735	1445	1364	53.8	8.7	655	8138	0.00	2.40	15.52	0.364	9254	0.000	0.076	2799	2102	1286	1336	1236	0	0	0	0	0	0	14.26	14.13	13.76
8436	0.68	562.9	2795	2102	1349	1232	28.5	7.5	689	8469	0.00	2.50	28.30	0.298	8868	0.000	0.086	2795	727	1068	1133	1003	0	0	0	0	0	0	14.54	14.15	13.83
8566	0.94	670.3	2796	727	1134	1002	19.6	5.0	714	8630	0.28	2.40	56.30	0.266	11430	0.090	0.078	2895	2100	629	681	578	0	0	0	0	0	0	14.27	14.13	13.41
8743	end climb: SURFACE_DEPTH_REACHED
state	8743	begin surface coast
8753	end surface coast: CONTROL_FINISHED_OK
state	8753	begin surface