Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 173 * 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 173 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 487.0

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 61 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 487.0 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 61 VBD_MIN 500

DIVE 173 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 270817,012739,7355.5293,-15156.2041,21,0.8,27,20.0,0.0,0.0,10,9.7 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 1.26 MHEAD_RNG_PITCHd_Wd 287.4,73427,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 270817,014950,7355.5806,-15156.3984,6,0.9,41,20.0,0.2,3.2,9,8.9

Post-dive calculations and measurements:

FINISH 0.8,1.020883 _24V_AH 12.37,125.860

SM_CCo 8825,23.70,0.215,0,0,500,702.78 _10V_AH 12.23,0.000

SM_GC 0.88,8.25,0.17,23.70,0.075,0.126,0.215,199,2212,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.13,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 56 FG_AHR_10Vo 0.000

RAFOS_FIX 7354.074707,-15153.484375,270817,000005,3,255,0.16 MEM 323672

IRIDIUM_FIX 7356.95,-15155.65,270817,014307 DATA_FILE_SIZE 23415,685

TT8_MAMPS 0.086135,0.922768 CAP_FILE_SIZE 104487,0

HUMID 43.89 CFSIZE 2097872896,2034466816

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 1447.5

XPDR_PINGS 20 CURRENT 0.029,304.72,1

CP_FREE 15990292480.000000 GPS 270817,041906,7356.646,-15159.820,20,0.8,28,20.0,0.3,338.7,11,9.3

PM_FREEKB_00 52867008

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 141.89 nil 0 0 0.00

Roll_motor 84 2148 2236.05 nil 0 0 0.00

VBD_pump_during_apogee 952 1559 18373.00 nil 0 0 0.00

VBD_pump_during_surface 23 214 63.02 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 8835 14 1589.72

Iridium_during_xfer 767 175 1662.61 NCP 8822 20 2182.56

Transponder_ping 5 420 25.98 PMAR 8780 12 1354.57

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.80

TT8 0 0 0.00

LPSleep 6558 2 185.30

TT8_Active 868 13 148.34

TT8_Sampling 2437 33 996.67

TT8_CF8 331 38 156.85

TT8_Kalman 0 0 0.00

Analog_circuits 2450 10 299.67

GPS_charging 0 0 0.00

Compass 985 7 84.34

RAFOS 2213 48 1299.12

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 45 begin dive

48 -0.57 -145.9 194 2220 506 485 0.0 0.0 0 140 0.00 0.00 -91.18 0.000 16386 0.000 0.000 192 2216 2173 2102 2244 0 0 0 0 0 0 14.54 28.83 14.55

143 -0.57 -145.9 193 2217 2097 2248 4.1 -5.6 9 196 12.60 2.72 -33.17 0.000 18724 0.455 2.148 2380 3592 3965 3949 3982 0 0 0 0 0 0 13.68 12.90 14.16

336 -0.66 -145.9 2377 3594 3955 3983 50.0 -16.1 47 341 0.00 2.33 0.00 0.000 1158 0.000 0.059 2376 2234 3967 3953 3982 0 0 0 0 0 0 14.28 14.16 14.31

646 -0.72 -145.9 2377 2235 3956 3983 99.0 -12.2 79 647 0.00 0.00 0.00 0.000 134 0.000 0.000 2376 2234 3966 3954 3978 0 0 0 0 0 0 14.54 14.56 14.56

957 -0.85 -145.9 2377 2234 3957 3982 130.4 -9.1 90 962 0.20 2.40 0.00 0.000 4516 0.111 0.087 2288 3597 3968 3955 3982 0 0 0 0 0 0 14.16 14.18 14.21

1007 -0.88 -145.9 2288 3598 3956 3982 137.3 -14.5 100 1013 0.00 2.38 0.00 0.000 1158 0.000 0.058 2288 2196 3968 3955 3982 0 0 0 0 0 0 14.35 14.23 14.38

1318 -0.86 -145.9 2288 2196 3955 3983 188.3 -16.1 112 1324 0.00 2.47 0.00 0.000 388 0.000 0.088 2280 3600 3968 3955 3982 0 0 0 0 0 0 14.64 14.21 14.64

1384 -0.93 -145.9 2281 3600 3956 3982 197.9 -13.2 125 1389 0.00 2.35 0.00 0.000 1158 0.000 0.059 2280 2202 3968 3955 3982 0 0 0 0 0 0 14.38 14.29 14.47

1709 -0.93 -145.9 2280 2202 3956 3983 245.4 -13.9 140 1715 0.00 2.45 0.00 0.000 260 0.000 0.089 2271 3600 3968 3956 3981 0 0 0 0 0 0 14.63 14.14 14.65

1800 -1.01 -145.9 2271 3600 3956 3982 256.8 -11.9 158 1805 0.00 2.38 0.00 0.000 1158 0.000 0.057 2271 2199 3968 3955 3982 0 0 0 0 0 0 14.35 14.21 14.40

2131 -1.03 -145.9 2271 2199 3956 3983 299.1 -12.5 174 2136 0.00 2.47 0.00 0.000 388 0.000 0.090 2266 3599 3968 3955 3982 0 0 0 0 0 0 14.66 14.17 14.68

2201 -1.13 -145.9 2267 3600 3956 3982 307.5 -11.2 188 2207 0.15 2.38 0.00 0.000 5254 0.127 0.057 2210 2197 3968 3955 3982 0 0 0 0 0 0 14.30 14.26 14.39

2522 -1.04 -145.9 2211 2197 3956 3982 360.6 -16.3 202 2527 0.12 2.47 0.00 0.000 2436 0.305 0.087 2235 3601 3968 3955 3981 0 0 0 0 0 0 13.91 14.20 14.09

2647 -1.08 -145.9 2235 3601 3956 3982 377.3 -12.4 227 2652 0.00 2.38 0.00 0.000 1158 0.000 0.059 2235 2191 3968 3955 3981 0 0 0 0 0 0 14.35 14.27 14.35

2972 -1.08 -145.9 2235 2196 3955 3980 421.1 -13.5 242 2977 0.00 2.47 0.00 0.000 260 0.000 0.088 2226 3599 3967 3955 3980 0 0 0 0 0 0 14.68 14.21 14.69

3057 -1.11 -145.9 2226 3601 3956 3981 432.5 -12.9 259 3063 0.00 2.38 0.00 0.000 1158 0.000 0.057 2226 2193 3968 3955 3981 0 0 0 0 0 0 14.29 14.16 14.33

3362 -1.07 -145.9 2226 2192 3955 3981 475.4 -14.1 270 3367 0.00 2.50 0.00 0.000 388 0.000 0.089 2222 3605 3967 3955 3980 0 0 0 0 0 0 14.68 14.21 14.69

3395 end dive: TARGET_DEPTH_EXCEEDED

state 3395 begin apogee

3403 -0.13 0.0 2223 2096 3956 3980 480.5 -14.1 277 3625 1.23 0.00 217.77 1.434 10246 0.251 0.000 2531 2095 3362 3388 3337 0 0 0 0 0 0 13.94 13.48 12.71

3629 end apogee: CONTROL_FINISHED_OK

state 3629 begin climb

3631 0.57 145.9 2532 2095 3384 3334 492.0 0.0 284 3854 0.73 2.30 209.05 1.383 10756 0.067 0.085 2781 690 2762 2808 2716 0 0 0 0 0 0 13.57 13.11 12.37

3859 0.57 145.9 2781 691 2807 2717 500.3 -3.6 287 3864 0.00 2.62 0.00 0.000 1030 0.000 0.076 2781 2088 2760 2806 2715 0 0 0 0 0 0 13.33 13.23 13.36

4174 0.17 145.9 2781 2089 2801 2711 452.3 15.5 300 4180 0.62 2.50 0.00 0.000 4740 0.327 0.077 2653 690 2755 2800 2710 0 0 0 0 0 0 13.52 13.88 13.76

4262 0.05 158.9 2654 691 2801 2711 443.3 9.4 317 4283 0.25 2.50 14.65 1.559 13478 0.279 0.080 2599 2101 2714 2762 2667 0 0 0 0 0 0 13.71 13.95 13.05

4600 0.05 215.1 2601 2102 2760 2662 417.9 7.4 334 4690 0.00 2.60 84.32 1.395 8868 0.000 0.084 2602 691 2483 2548 2418 0 0 0 0 0 0 14.48 13.81 13.05

4725 0.14 250.9 2602 695 2544 2418 407.9 8.3 359 4783 0.00 2.53 52.92 1.398 9382 0.000 0.079 2602 2106 2340 2398 2282 0 0 0 0 0 0 13.97 13.86 12.91

5082 0.20 275.0 2602 2108 2391 2271 376.4 8.9 380 5119 0.12 0.00 35.40 1.431 10406 0.133 0.000 2663 2106 2243 2301 2186 0 0 0 0 0 0 14.18 13.94 13.14

5410 0.15 275.0 2663 2107 2292 2174 335.1 12.6 391 5415 0.12 2.47 0.00 0.000 4740 0.266 0.082 2641 690 2235 2290 2181 0 0 0 0 0 0 14.01 14.16 14.16

5475 0.20 275.0 2642 689 2290 2174 327.9 10.3 404 5480 0.00 2.45 0.00 0.000 1158 0.000 0.080 2641 2100 2231 2288 2174 0 0 0 0 0 0 14.33 14.21 14.37

5800 0.20 275.0 2642 2101 2289 2173 293.1 10.4 419 5801 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2101 2230 2288 2173 0 0 0 0 0 0 14.62 14.64 14.63

6100 0.20 276.3 2641 2102 2289 2173 263.2 9.9 429 6106 0.00 2.45 0.00 0.000 548 0.000 0.083 2647 692 2230 2288 2172 0 0 0 0 0 0 14.67 14.27 14.65

6147 0.27 286.8 2647 693 2287 2172 258.8 9.5 438 6168 0.00 2.45 14.55 1.522 9382 0.000 0.080 2647 2100 2193 2249 2137 0 0 0 0 0 0 14.37 14.23 13.35

6495 0.29 324.1 2647 2100 2246 2133 228.5 8.3 457 6564 0.00 2.50 63.53 1.336 8740 0.000 0.083 2647 694 2038 2089 1988 0 0 0 0 0 0 14.62 13.81 13.23

6584 0.40 370.0 2647 694 2084 1989 221.0 7.9 465 6664 0.20 2.50 73.97 1.266 11430 0.103 0.080 2724 2106 1855 1887 1823 0 0 0 0 0 0 14.07 14.00 13.05

6975 0.36 370.0 2724 2108 1878 1814 171.2 12.5 493 6975 0.00 0.00 0.00 0.000 134 0.000 0.000 2724 2107 1845 1877 1813 0 0 0 0 0 0 14.45 14.47 14.47

7275 0.33 370.0 2724 2108 1876 1812 136.5 11.2 503 7280 0.12 2.47 0.00 0.000 4740 0.244 0.083 2699 688 1843 1875 1811 0 0 0 0 0 0 14.09 14.21 14.23

7405 0.43 404.1 2699 689 1872 1812 125.1 8.4 529 7465 0.00 2.47 52.90 1.265 9382 0.000 0.080 2699 2112 1713 1741 1686 0 0 0 0 0 0 14.38 14.25 13.28

7774 0.54 453.3 2699 2110 1738 1677 93.8 7.7 559 7806 0.15 2.53 25.27 0.488 10916 0.117 0.085 2779 688 1515 1546 1484 0 0 0 0 0 0 14.06 13.88 13.58

7868 0.54 453.3 2779 689 1548 1492 83.1 11.3 577 7874 0.00 2.50 0.00 0.000 1030 0.000 0.080 2778 2100 1513 1543 1483 0 0 0 0 0 0 14.20 14.07 14.24

8179 0.59 523.6 2779 2099 1548 1477 51.9 6.8 609 8220 0.00 0.00 36.62 0.359 8230 0.000 0.000 2778 2100 1230 1288 1172 0 0 0 0 0 0 14.41 14.04 13.69

8519 0.71 591.5 2779 2099 1288 1166 27.7 6.9 643 8562 0.00 2.50 35.70 0.294 8868 0.000 0.086 2779 699 948 1018 878 0 0 0 0 0 0 14.38 13.96 13.78

8619 0.95 659.2 2779 694 1020 881 20.9 6.9 662 8662 0.32 2.50 36.00 0.272 11430 0.086 0.080 2895 2099 674 732 617 0 0 0 0 0 0 14.04 13.98 13.77

8794 end climb: SURFACE_DEPTH_REACHED

state 8794 begin surface coast

8804 end surface coast: CONTROL_FINISHED_OK

state 8804 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	173	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	487.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,012739,7355.5293,-15156.2041,21,0.8,27,20.0,0.0,0.0,10,9.7	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	1.26	MHEAD_RNG_PITCHd_Wd	287.4,73427,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	270817,014950,7355.5806,-15156.3984,6,0.9,41,20.0,0.2,3.2,9,8.9

FINISH	0.8,1.020883	_24V_AH	12.37,125.860
SM_CCo	8825,23.70,0.215,0,0,500,702.78	_10V_AH	12.23,0.000
SM_GC	0.88,8.25,0.17,23.70,0.075,0.126,0.215,199,2212,500,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.13,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	56	FG_AHR_10Vo	0.000
RAFOS_FIX	7354.074707,-15153.484375,270817,000005,3,255,0.16	MEM	323672
IRIDIUM_FIX	7356.95,-15155.65,270817,014307	DATA_FILE_SIZE	23415,685
TT8_MAMPS	0.086135,0.922768	CAP_FILE_SIZE	104487,0
HUMID	43.89	CFSIZE	2097872896,2034466816
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	1447.5
XPDR_PINGS	20	CURRENT	0.029,304.72,1
CP_FREE	15990292480.000000	GPS	270817,041906,7356.646,-15159.820,20,0.8,28,20.0,0.3,338.7,11,9.3
PM_FREEKB_00	52867008

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	141.89	nil	0	0	0.00
Roll_motor	84	2148	2236.05	nil	0	0	0.00
VBD_pump_during_apogee	952	1559	18373.00	nil	0	0	0.00
VBD_pump_during_surface	23	214	63.02	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	8835	14	1589.72
Iridium_during_xfer	767	175	1662.61	NCP	8822	20	2182.56
Transponder_ping	5	420	25.98	PMAR	8780	12	1354.57
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.80
TT8	0	0	0.00
LPSleep	6558	2	185.30
TT8_Active	868	13	148.34
TT8_Sampling	2437	33	996.67
TT8_CF8	331	38	156.85
TT8_Kalman	0	0	0.00
Analog_circuits	2450	10	299.67
GPS_charging	0	0	0.00
Compass	985	7	84.34
RAFOS	2213	48	1299.12
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	45	begin dive
48	-0.57	-145.9	194	2220	506	485	0.0	0.0	0	140	0.00	0.00	-91.18	0.000	16386	0.000	0.000	192	2216	2173	2102	2244	0	0	0	0	0	0	14.54	28.83	14.55
143	-0.57	-145.9	193	2217	2097	2248	4.1	-5.6	9	196	12.60	2.72	-33.17	0.000	18724	0.455	2.148	2380	3592	3965	3949	3982	0	0	0	0	0	0	13.68	12.90	14.16
336	-0.66	-145.9	2377	3594	3955	3983	50.0	-16.1	47	341	0.00	2.33	0.00	0.000	1158	0.000	0.059	2376	2234	3967	3953	3982	0	0	0	0	0	0	14.28	14.16	14.31
646	-0.72	-145.9	2377	2235	3956	3983	99.0	-12.2	79	647	0.00	0.00	0.00	0.000	134	0.000	0.000	2376	2234	3966	3954	3978	0	0	0	0	0	0	14.54	14.56	14.56
957	-0.85	-145.9	2377	2234	3957	3982	130.4	-9.1	90	962	0.20	2.40	0.00	0.000	4516	0.111	0.087	2288	3597	3968	3955	3982	0	0	0	0	0	0	14.16	14.18	14.21
1007	-0.88	-145.9	2288	3598	3956	3982	137.3	-14.5	100	1013	0.00	2.38	0.00	0.000	1158	0.000	0.058	2288	2196	3968	3955	3982	0	0	0	0	0	0	14.35	14.23	14.38
1318	-0.86	-145.9	2288	2196	3955	3983	188.3	-16.1	112	1324	0.00	2.47	0.00	0.000	388	0.000	0.088	2280	3600	3968	3955	3982	0	0	0	0	0	0	14.64	14.21	14.64
1384	-0.93	-145.9	2281	3600	3956	3982	197.9	-13.2	125	1389	0.00	2.35	0.00	0.000	1158	0.000	0.059	2280	2202	3968	3955	3982	0	0	0	0	0	0	14.38	14.29	14.47
1709	-0.93	-145.9	2280	2202	3956	3983	245.4	-13.9	140	1715	0.00	2.45	0.00	0.000	260	0.000	0.089	2271	3600	3968	3956	3981	0	0	0	0	0	0	14.63	14.14	14.65
1800	-1.01	-145.9	2271	3600	3956	3982	256.8	-11.9	158	1805	0.00	2.38	0.00	0.000	1158	0.000	0.057	2271	2199	3968	3955	3982	0	0	0	0	0	0	14.35	14.21	14.40
2131	-1.03	-145.9	2271	2199	3956	3983	299.1	-12.5	174	2136	0.00	2.47	0.00	0.000	388	0.000	0.090	2266	3599	3968	3955	3982	0	0	0	0	0	0	14.66	14.17	14.68
2201	-1.13	-145.9	2267	3600	3956	3982	307.5	-11.2	188	2207	0.15	2.38	0.00	0.000	5254	0.127	0.057	2210	2197	3968	3955	3982	0	0	0	0	0	0	14.30	14.26	14.39
2522	-1.04	-145.9	2211	2197	3956	3982	360.6	-16.3	202	2527	0.12	2.47	0.00	0.000	2436	0.305	0.087	2235	3601	3968	3955	3981	0	0	0	0	0	0	13.91	14.20	14.09
2647	-1.08	-145.9	2235	3601	3956	3982	377.3	-12.4	227	2652	0.00	2.38	0.00	0.000	1158	0.000	0.059	2235	2191	3968	3955	3981	0	0	0	0	0	0	14.35	14.27	14.35
2972	-1.08	-145.9	2235	2196	3955	3980	421.1	-13.5	242	2977	0.00	2.47	0.00	0.000	260	0.000	0.088	2226	3599	3967	3955	3980	0	0	0	0	0	0	14.68	14.21	14.69
3057	-1.11	-145.9	2226	3601	3956	3981	432.5	-12.9	259	3063	0.00	2.38	0.00	0.000	1158	0.000	0.057	2226	2193	3968	3955	3981	0	0	0	0	0	0	14.29	14.16	14.33
3362	-1.07	-145.9	2226	2192	3955	3981	475.4	-14.1	270	3367	0.00	2.50	0.00	0.000	388	0.000	0.089	2222	3605	3967	3955	3980	0	0	0	0	0	0	14.68	14.21	14.69
3395	end dive: TARGET_DEPTH_EXCEEDED
state	3395	begin apogee
3403	-0.13	0.0	2223	2096	3956	3980	480.5	-14.1	277	3625	1.23	0.00	217.77	1.434	10246	0.251	0.000	2531	2095	3362	3388	3337	0	0	0	0	0	0	13.94	13.48	12.71
3629	end apogee: CONTROL_FINISHED_OK
state	3629	begin climb
3631	0.57	145.9	2532	2095	3384	3334	492.0	0.0	284	3854	0.73	2.30	209.05	1.383	10756	0.067	0.085	2781	690	2762	2808	2716	0	0	0	0	0	0	13.57	13.11	12.37
3859	0.57	145.9	2781	691	2807	2717	500.3	-3.6	287	3864	0.00	2.62	0.00	0.000	1030	0.000	0.076	2781	2088	2760	2806	2715	0	0	0	0	0	0	13.33	13.23	13.36
4174	0.17	145.9	2781	2089	2801	2711	452.3	15.5	300	4180	0.62	2.50	0.00	0.000	4740	0.327	0.077	2653	690	2755	2800	2710	0	0	0	0	0	0	13.52	13.88	13.76
4262	0.05	158.9	2654	691	2801	2711	443.3	9.4	317	4283	0.25	2.50	14.65	1.559	13478	0.279	0.080	2599	2101	2714	2762	2667	0	0	0	0	0	0	13.71	13.95	13.05
4600	0.05	215.1	2601	2102	2760	2662	417.9	7.4	334	4690	0.00	2.60	84.32	1.395	8868	0.000	0.084	2602	691	2483	2548	2418	0	0	0	0	0	0	14.48	13.81	13.05
4725	0.14	250.9	2602	695	2544	2418	407.9	8.3	359	4783	0.00	2.53	52.92	1.398	9382	0.000	0.079	2602	2106	2340	2398	2282	0	0	0	0	0	0	13.97	13.86	12.91
5082	0.20	275.0	2602	2108	2391	2271	376.4	8.9	380	5119	0.12	0.00	35.40	1.431	10406	0.133	0.000	2663	2106	2243	2301	2186	0	0	0	0	0	0	14.18	13.94	13.14
5410	0.15	275.0	2663	2107	2292	2174	335.1	12.6	391	5415	0.12	2.47	0.00	0.000	4740	0.266	0.082	2641	690	2235	2290	2181	0	0	0	0	0	0	14.01	14.16	14.16
5475	0.20	275.0	2642	689	2290	2174	327.9	10.3	404	5480	0.00	2.45	0.00	0.000	1158	0.000	0.080	2641	2100	2231	2288	2174	0	0	0	0	0	0	14.33	14.21	14.37
5800	0.20	275.0	2642	2101	2289	2173	293.1	10.4	419	5801	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2101	2230	2288	2173	0	0	0	0	0	0	14.62	14.64	14.63
6100	0.20	276.3	2641	2102	2289	2173	263.2	9.9	429	6106	0.00	2.45	0.00	0.000	548	0.000	0.083	2647	692	2230	2288	2172	0	0	0	0	0	0	14.67	14.27	14.65
6147	0.27	286.8	2647	693	2287	2172	258.8	9.5	438	6168	0.00	2.45	14.55	1.522	9382	0.000	0.080	2647	2100	2193	2249	2137	0	0	0	0	0	0	14.37	14.23	13.35
6495	0.29	324.1	2647	2100	2246	2133	228.5	8.3	457	6564	0.00	2.50	63.53	1.336	8740	0.000	0.083	2647	694	2038	2089	1988	0	0	0	0	0	0	14.62	13.81	13.23
6584	0.40	370.0	2647	694	2084	1989	221.0	7.9	465	6664	0.20	2.50	73.97	1.266	11430	0.103	0.080	2724	2106	1855	1887	1823	0	0	0	0	0	0	14.07	14.00	13.05
6975	0.36	370.0	2724	2108	1878	1814	171.2	12.5	493	6975	0.00	0.00	0.00	0.000	134	0.000	0.000	2724	2107	1845	1877	1813	0	0	0	0	0	0	14.45	14.47	14.47
7275	0.33	370.0	2724	2108	1876	1812	136.5	11.2	503	7280	0.12	2.47	0.00	0.000	4740	0.244	0.083	2699	688	1843	1875	1811	0	0	0	0	0	0	14.09	14.21	14.23
7405	0.43	404.1	2699	689	1872	1812	125.1	8.4	529	7465	0.00	2.47	52.90	1.265	9382	0.000	0.080	2699	2112	1713	1741	1686	0	0	0	0	0	0	14.38	14.25	13.28
7774	0.54	453.3	2699	2110	1738	1677	93.8	7.7	559	7806	0.15	2.53	25.27	0.488	10916	0.117	0.085	2779	688	1515	1546	1484	0	0	0	0	0	0	14.06	13.88	13.58
7868	0.54	453.3	2779	689	1548	1492	83.1	11.3	577	7874	0.00	2.50	0.00	0.000	1030	0.000	0.080	2778	2100	1513	1543	1483	0	0	0	0	0	0	14.20	14.07	14.24
8179	0.59	523.6	2779	2099	1548	1477	51.9	6.8	609	8220	0.00	0.00	36.62	0.359	8230	0.000	0.000	2778	2100	1230	1288	1172	0	0	0	0	0	0	14.41	14.04	13.69
8519	0.71	591.5	2779	2099	1288	1166	27.7	6.9	643	8562	0.00	2.50	35.70	0.294	8868	0.000	0.086	2779	699	948	1018	878	0	0	0	0	0	0	14.38	13.96	13.78
8619	0.95	659.2	2779	694	1020	881	20.9	6.9	662	8662	0.32	2.50	36.00	0.272	11430	0.086	0.080	2895	2099	674	732	617	0	0	0	0	0	0	14.04	13.98	13.77
8794	end climb: SURFACE_DEPTH_REACHED
state	8794	begin surface coast
8804	end surface coast: CONTROL_FINISHED_OK
state	8804	begin surface