Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 177 * 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 177 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 499.0

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 62 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 499.0 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 62 VBD_MIN 500

DIVE 177 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 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 270817,125419,7359.5981,-15210.3311,24,0.7,41,19.9,0.6,277.4,11,7.0 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 285.4,63355,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 270817,131243,7359.6450,-15210.5430,5,0.7,12,19.9,0.0,0.0,12,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.011565 _24V_AH 12.36,127.789

SM_CCo 8789,45.47,0.212,0,0,502,702.78 _10V_AH 12.21,0.000

SM_GC 1.14,8.23,0.17,45.47,0.083,0.114,0.212,200,2225,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.33,14.31,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 899 FG_AHR_10Vo 0.000

RAFOS_FIX 7358.794434,-15208.318359,270817,121202,3,255,0.09 MEM 323228

IRIDIUM_FIX 7359.85,-15216.30,270817,130454 DATA_FILE_SIZE 23386,666

TT8_MAMPS 0.040446,1.10927 CAP_FILE_SIZE 100352,0

HUMID 46.65 CFSIZE 2097872896,2033352704

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1446.7

XPDR_PINGS 18 CURRENT 0.025,310.42,1

CP_FREE 15989407744.000000 GPS 270817,154157,7400.576,-15213.930,40,0.8,41,19.9,0.0,0.0,10,9.4

PM_FREEKB_00 52713088

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.24 nil 0 0 0.00

Roll_motor 83 2144 2205.09 nil 0 0 0.00

VBD_pump_during_apogee 935 1468 16984.32 nil 0 0 0.00

VBD_pump_during_surface 45 211 119.11 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 8798 14 1593.63

Iridium_during_xfer 634 162 1278.69 NCP 8778 20 2169.92

Transponder_ping 4 420 23.36 PMAR 8745 10 1080.88

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.47

TT8 0 0 0.00

LPSleep 6231 2 175.76

TT8_Active 867 13 148.03

TT8_Sampling 2557 33 1044.14

TT8_CF8 295 38 139.65

TT8_Kalman 0 0 0.00

Analog_circuits 2628 10 320.90

GPS_charging 0 0 0.00

Compass 956 7 81.77

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 183 2216 496 488 0.0 0.0 0 142 0.00 0.00 -91.55 0.000 16386 0.000 0.000 181 2217 2164 2089 2239 0 0 0 0 0 0 14.50 28.83 14.52

144 -0.57 -145.9 183 2217 2095 2240 3.7 -5.1 9 198 12.68 2.72 -34.17 0.000 18724 0.454 2.144 2376 3594 3962 3942 3982 1 0 0 0 0 0 13.55 12.88 14.03

423 -0.67 -145.9 2377 3594 3951 3982 61.9 -14.0 64 430 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2225 3965 3950 3981 0 0 0 0 0 0 14.29 14.17 14.33

748 -0.75 -145.9 2376 2224 3952 3981 107.3 -11.6 93 753 0.12 2.42 0.00 0.000 4484 0.145 0.086 2319 3598 3966 3950 3982 0 0 0 0 0 0 14.14 14.10 14.18

818 -0.82 -145.9 2319 3599 3951 3983 116.7 -13.4 107 823 0.00 2.38 0.00 0.000 1158 0.000 0.059 2319 2202 3966 3951 3982 0 0 0 0 0 0 14.31 14.19 14.33

1138 -0.84 -145.9 2319 2201 3952 3982 162.0 -13.6 121 1143 0.00 2.45 0.00 0.000 388 0.000 0.088 2314 3599 3965 3950 3980 0 0 0 0 0 0 14.63 14.21 14.63

1183 -0.98 -145.9 2315 3600 3952 3982 167.5 -11.2 130 1188 0.15 2.38 0.00 0.000 5254 0.117 0.058 2256 2195 3966 3950 3982 0 0 0 0 0 0 14.28 14.23 14.39

1499 -0.91 -145.9 2256 2194 3951 3983 224.0 -17.8 143 1504 0.12 2.45 0.00 0.000 2436 0.309 0.084 2274 3595 3966 3950 3982 0 0 0 0 0 0 13.99 14.23 14.14

1569 -0.97 -145.9 2271 3603 3951 3982 234.2 -12.9 157 1574 0.00 2.38 0.00 0.000 1158 0.000 0.058 2274 2191 3966 3950 3982 0 0 0 0 0 0 14.41 14.28 14.44

1889 -0.97 -145.9 2274 2191 3951 3982 276.9 -12.6 171 1894 0.00 2.47 0.00 0.000 260 0.000 0.088 2267 3603 3966 3950 3982 0 0 0 0 0 0 14.65 14.22 14.67

1964 -1.06 -145.9 2267 3605 3951 3983 285.9 -11.3 186 1969 0.00 2.38 0.00 0.000 1158 0.000 0.057 2266 2189 3966 3950 3982 0 0 0 0 0 0 14.41 14.29 14.44

2279 -1.08 -145.9 2267 2189 3951 3982 323.6 -11.7 199 2284 0.12 2.47 0.00 0.000 4484 0.147 0.086 2209 3600 3965 3950 3981 0 0 0 0 0 0 14.32 14.22 14.37

2386 -1.05 -145.9 2209 3601 3951 3981 339.6 -15.2 220 2392 0.15 2.35 0.00 0.000 3206 0.265 0.056 2238 2198 3965 3950 3981 0 0 0 0 0 0 14.00 14.29 14.28

2702 -1.02 -145.9 2237 2197 3951 3982 383.2 -13.5 233 2707 0.00 2.45 0.00 0.000 388 0.000 0.088 2236 3595 3965 3950 3981 0 0 0 0 0 0 14.65 14.18 14.67

2783 -1.06 -145.9 2236 3598 3951 3982 393.5 -12.0 249 2788 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2189 3965 3950 3981 0 0 0 0 0 0 14.38 14.26 14.42

3093 -1.06 -145.9 2236 2189 3951 3982 434.3 -13.1 261 3098 0.00 2.47 0.00 0.000 260 0.000 0.087 2227 3600 3965 3950 3981 0 0 0 0 0 0 14.69 14.18 14.70

3178 -1.09 -145.9 2228 3601 3950 3981 445.2 -12.4 278 3184 0.00 2.38 0.00 0.000 1158 0.000 0.056 2227 2195 3965 3949 3981 0 0 0 0 0 0 14.29 14.18 14.33

3450 end dive: TARGET_DEPTH_EXCEEDED

state 3450 begin apogee

3456 -0.13 0.0 2228 2061 3956 3982 482.3 -13.5 288 3675 1.20 0.00 215.75 1.447 10246 0.245 0.000 2531 2060 3366 3383 3349 0 0 0 0 0 0 13.88 13.52 12.68

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3681 0.57 145.9 2532 2061 3379 3342 492.9 0.0 295 4224 0.73 1.85 208.73 1.385 10756 0.063 0.084 2781 733 2757 2795 2720 0 0 0 0 0 0 13.57 13.12 12.36

4236 0.57 145.9 2782 733 2797 2720 450.4 8.6 298 4241 0.00 2.40 0.00 0.000 1030 0.000 0.076 2781 2088 2757 2795 2719 0 0 0 0 0 0 14.00 13.88 14.04

4551 0.17 145.9 2781 2089 2793 2717 400.6 15.4 311 4556 0.60 2.47 0.00 0.000 4484 0.323 0.077 2646 3513 2754 2793 2715 0 0 0 0 0 0 13.78 14.14 14.02

4591 -0.03 145.9 2646 3514 2790 2716 395.4 11.6 319 4597 0.32 2.35 0.00 0.000 5254 0.279 0.058 2581 2125 2753 2791 2715 0 0 0 0 0 0 13.85 14.18 14.20

4912 0.04 232.1 2581 2125 2792 2714 375.0 6.0 333 5048 0.00 2.58 129.60 1.331 8740 0.000 0.084 2580 697 2413 2467 2359 0 0 0 0 0 0 14.63 13.59 13.01

5075 0.21 298.2 2581 697 2464 2356 364.3 6.9 365 5180 0.22 2.53 99.22 1.307 11430 0.100 0.080 2669 2101 2149 2202 2097 0 0 0 0 0 0 13.61 13.82 12.76

5487 0.17 298.2 2670 2101 2187 2079 311.9 12.8 397 5493 0.12 2.50 0.00 0.000 4740 0.269 0.082 2648 693 2132 2186 2079 0 0 0 0 0 0 13.86 14.01 14.00

5543 0.23 298.2 2647 694 2183 2080 305.8 10.9 408 5550 0.00 2.47 0.00 0.000 1158 0.000 0.079 2647 2104 2130 2183 2078 0 0 0 0 0 0 14.16 14.04 14.21

5848 0.23 298.2 2648 2102 2184 2077 273.8 10.3 419 5852 0.00 2.47 0.00 0.000 516 0.000 0.086 2647 693 2130 2184 2077 0 0 0 0 0 0 14.57 14.21 14.58

5868 0.27 302.8 2648 693 2182 2077 271.8 9.8 423 5873 0.00 2.45 0.00 0.000 1190 0.000 0.080 2647 2098 2129 2181 2077 0 0 0 0 0 0 14.32 14.18 14.35

6178 0.31 328.3 2644 2100 2184 2076 242.7 8.8 435 6225 0.10 0.00 45.17 1.356 10406 0.151 0.000 2694 2099 2026 2072 1980 0 0 0 0 0 0 14.34 14.03 13.28

6508 0.29 328.3 2694 2099 2062 1969 205.9 11.1 446 6513 0.00 2.47 0.00 0.000 644 0.000 0.086 2698 696 2014 2061 1968 0 0 0 0 0 0 14.54 14.17 14.56

6573 0.29 328.3 2699 696 2060 1969 199.1 10.1 459 6578 0.00 2.45 0.00 0.000 1030 0.000 0.078 2698 2103 2013 2059 1967 0 0 0 0 0 0 14.35 14.21 14.38

6898 0.29 328.3 2699 2104 2060 1966 164.5 10.3 474 6903 0.00 2.47 0.00 0.000 516 0.000 0.084 2695 691 2015 2058 1973 0 0 0 0 0 0 14.62 14.21 14.64

6968 0.34 340.3 2699 694 2057 1967 157.7 9.4 488 6990 0.00 2.45 15.77 1.469 9382 0.000 0.079 2699 2099 1976 2022 1930 0 0 0 0 0 0 14.35 14.23 13.35

7288 0.35 357.7 2699 2100 2017 1923 127.8 9.2 502 7319 0.00 0.00 24.52 1.388 8742 0.000 0.000 2699 2099 1905 1945 1865 0 0 0 0 0 0 14.60 14.16 13.36

7618 0.42 407.5 2699 2099 1937 1862 100.3 7.7 518 7712 0.00 2.58 85.60 1.228 8868 0.000 0.083 2699 692 1698 1723 1673 0 0 0 0 0 0 14.57 13.88 13.19

7788 0.59 474.5 2699 693 1717 1672 88.0 6.9 551 7827 0.22 2.50 34.35 0.468 11430 0.094 0.080 2784 2099 1428 1468 1389 0 0 0 0 0 0 14.03 13.97 13.55

8122 0.60 486.0 2785 2100 1470 1378 52.3 9.5 588 8135 0.00 0.00 6.35 0.360 8230 0.000 0.000 2788 2099 1379 1430 1328 0 0 0 0 0 0 14.50 13.90 13.66

8433 0.69 558.4 2784 2099 1431 1331 30.3 6.7 619 8476 0.00 2.55 38.12 0.301 8868 0.000 0.085 2794 692 1089 1153 1026 0 0 0 0 0 0 14.55 14.04 13.86

8538 0.88 619.6 2791 691 1149 1024 22.8 7.2 639 8576 0.22 2.47 32.35 0.278 11430 0.097 0.079 2883 2102 836 902 771 0 0 0 0 0 0 14.23 14.14 13.83

8748 end climb: SURFACE_DEPTH_REACHED

state 8748 begin surface coast

8769 end surface coast: CONTROL_FINISHED_OK

state 8769 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	177	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	499.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,125419,7359.5981,-15210.3311,24,0.7,41,19.9,0.6,277.4,11,7.0	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	285.4,63355,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	270817,131243,7359.6450,-15210.5430,5,0.7,12,19.9,0.0,0.0,12,9.3

FINISH	0.2,1.011565	_24V_AH	12.36,127.789
SM_CCo	8789,45.47,0.212,0,0,502,702.78	_10V_AH	12.21,0.000
SM_GC	1.14,8.23,0.17,45.47,0.083,0.114,0.212,200,2225,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.33,14.31,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	899	FG_AHR_10Vo	0.000
RAFOS_FIX	7358.794434,-15208.318359,270817,121202,3,255,0.09	MEM	323228
IRIDIUM_FIX	7359.85,-15216.30,270817,130454	DATA_FILE_SIZE	23386,666
TT8_MAMPS	0.040446,1.10927	CAP_FILE_SIZE	100352,0
HUMID	46.65	CFSIZE	2097872896,2033352704
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.7
XPDR_PINGS	18	CURRENT	0.025,310.42,1
CP_FREE	15989407744.000000	GPS	270817,154157,7400.576,-15213.930,40,0.8,41,19.9,0.0,0.0,10,9.4
PM_FREEKB_00	52713088

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.24	nil	0	0	0.00
Roll_motor	83	2144	2205.09	nil	0	0	0.00
VBD_pump_during_apogee	935	1468	16984.32	nil	0	0	0.00
VBD_pump_during_surface	45	211	119.11	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	8798	14	1593.63
Iridium_during_xfer	634	162	1278.69	NCP	8778	20	2169.92
Transponder_ping	4	420	23.36	PMAR	8745	10	1080.88
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.47
TT8	0	0	0.00
LPSleep	6231	2	175.76
TT8_Active	867	13	148.03
TT8_Sampling	2557	33	1044.14
TT8_CF8	295	38	139.65
TT8_Kalman	0	0	0.00
Analog_circuits	2628	10	320.90
GPS_charging	0	0	0.00
Compass	956	7	81.77
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	183	2216	496	488	0.0	0.0	0	142	0.00	0.00	-91.55	0.000	16386	0.000	0.000	181	2217	2164	2089	2239	0	0	0	0	0	0	14.50	28.83	14.52
144	-0.57	-145.9	183	2217	2095	2240	3.7	-5.1	9	198	12.68	2.72	-34.17	0.000	18724	0.454	2.144	2376	3594	3962	3942	3982	1	0	0	0	0	0	13.55	12.88	14.03
423	-0.67	-145.9	2377	3594	3951	3982	61.9	-14.0	64	430	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2225	3965	3950	3981	0	0	0	0	0	0	14.29	14.17	14.33
748	-0.75	-145.9	2376	2224	3952	3981	107.3	-11.6	93	753	0.12	2.42	0.00	0.000	4484	0.145	0.086	2319	3598	3966	3950	3982	0	0	0	0	0	0	14.14	14.10	14.18
818	-0.82	-145.9	2319	3599	3951	3983	116.7	-13.4	107	823	0.00	2.38	0.00	0.000	1158	0.000	0.059	2319	2202	3966	3951	3982	0	0	0	0	0	0	14.31	14.19	14.33
1138	-0.84	-145.9	2319	2201	3952	3982	162.0	-13.6	121	1143	0.00	2.45	0.00	0.000	388	0.000	0.088	2314	3599	3965	3950	3980	0	0	0	0	0	0	14.63	14.21	14.63
1183	-0.98	-145.9	2315	3600	3952	3982	167.5	-11.2	130	1188	0.15	2.38	0.00	0.000	5254	0.117	0.058	2256	2195	3966	3950	3982	0	0	0	0	0	0	14.28	14.23	14.39
1499	-0.91	-145.9	2256	2194	3951	3983	224.0	-17.8	143	1504	0.12	2.45	0.00	0.000	2436	0.309	0.084	2274	3595	3966	3950	3982	0	0	0	0	0	0	13.99	14.23	14.14
1569	-0.97	-145.9	2271	3603	3951	3982	234.2	-12.9	157	1574	0.00	2.38	0.00	0.000	1158	0.000	0.058	2274	2191	3966	3950	3982	0	0	0	0	0	0	14.41	14.28	14.44
1889	-0.97	-145.9	2274	2191	3951	3982	276.9	-12.6	171	1894	0.00	2.47	0.00	0.000	260	0.000	0.088	2267	3603	3966	3950	3982	0	0	0	0	0	0	14.65	14.22	14.67
1964	-1.06	-145.9	2267	3605	3951	3983	285.9	-11.3	186	1969	0.00	2.38	0.00	0.000	1158	0.000	0.057	2266	2189	3966	3950	3982	0	0	0	0	0	0	14.41	14.29	14.44
2279	-1.08	-145.9	2267	2189	3951	3982	323.6	-11.7	199	2284	0.12	2.47	0.00	0.000	4484	0.147	0.086	2209	3600	3965	3950	3981	0	0	0	0	0	0	14.32	14.22	14.37
2386	-1.05	-145.9	2209	3601	3951	3981	339.6	-15.2	220	2392	0.15	2.35	0.00	0.000	3206	0.265	0.056	2238	2198	3965	3950	3981	0	0	0	0	0	0	14.00	14.29	14.28
2702	-1.02	-145.9	2237	2197	3951	3982	383.2	-13.5	233	2707	0.00	2.45	0.00	0.000	388	0.000	0.088	2236	3595	3965	3950	3981	0	0	0	0	0	0	14.65	14.18	14.67
2783	-1.06	-145.9	2236	3598	3951	3982	393.5	-12.0	249	2788	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2189	3965	3950	3981	0	0	0	0	0	0	14.38	14.26	14.42
3093	-1.06	-145.9	2236	2189	3951	3982	434.3	-13.1	261	3098	0.00	2.47	0.00	0.000	260	0.000	0.087	2227	3600	3965	3950	3981	0	0	0	0	0	0	14.69	14.18	14.70
3178	-1.09	-145.9	2228	3601	3950	3981	445.2	-12.4	278	3184	0.00	2.38	0.00	0.000	1158	0.000	0.056	2227	2195	3965	3949	3981	0	0	0	0	0	0	14.29	14.18	14.33
3450	end dive: TARGET_DEPTH_EXCEEDED
state	3450	begin apogee
3456	-0.13	0.0	2228	2061	3956	3982	482.3	-13.5	288	3675	1.20	0.00	215.75	1.447	10246	0.245	0.000	2531	2060	3366	3383	3349	0	0	0	0	0	0	13.88	13.52	12.68
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3681	0.57	145.9	2532	2061	3379	3342	492.9	0.0	295	4224	0.73	1.85	208.73	1.385	10756	0.063	0.084	2781	733	2757	2795	2720	0	0	0	0	0	0	13.57	13.12	12.36
4236	0.57	145.9	2782	733	2797	2720	450.4	8.6	298	4241	0.00	2.40	0.00	0.000	1030	0.000	0.076	2781	2088	2757	2795	2719	0	0	0	0	0	0	14.00	13.88	14.04
4551	0.17	145.9	2781	2089	2793	2717	400.6	15.4	311	4556	0.60	2.47	0.00	0.000	4484	0.323	0.077	2646	3513	2754	2793	2715	0	0	0	0	0	0	13.78	14.14	14.02
4591	-0.03	145.9	2646	3514	2790	2716	395.4	11.6	319	4597	0.32	2.35	0.00	0.000	5254	0.279	0.058	2581	2125	2753	2791	2715	0	0	0	0	0	0	13.85	14.18	14.20
4912	0.04	232.1	2581	2125	2792	2714	375.0	6.0	333	5048	0.00	2.58	129.60	1.331	8740	0.000	0.084	2580	697	2413	2467	2359	0	0	0	0	0	0	14.63	13.59	13.01
5075	0.21	298.2	2581	697	2464	2356	364.3	6.9	365	5180	0.22	2.53	99.22	1.307	11430	0.100	0.080	2669	2101	2149	2202	2097	0	0	0	0	0	0	13.61	13.82	12.76
5487	0.17	298.2	2670	2101	2187	2079	311.9	12.8	397	5493	0.12	2.50	0.00	0.000	4740	0.269	0.082	2648	693	2132	2186	2079	0	0	0	0	0	0	13.86	14.01	14.00
5543	0.23	298.2	2647	694	2183	2080	305.8	10.9	408	5550	0.00	2.47	0.00	0.000	1158	0.000	0.079	2647	2104	2130	2183	2078	0	0	0	0	0	0	14.16	14.04	14.21
5848	0.23	298.2	2648	2102	2184	2077	273.8	10.3	419	5852	0.00	2.47	0.00	0.000	516	0.000	0.086	2647	693	2130	2184	2077	0	0	0	0	0	0	14.57	14.21	14.58
5868	0.27	302.8	2648	693	2182	2077	271.8	9.8	423	5873	0.00	2.45	0.00	0.000	1190	0.000	0.080	2647	2098	2129	2181	2077	0	0	0	0	0	0	14.32	14.18	14.35
6178	0.31	328.3	2644	2100	2184	2076	242.7	8.8	435	6225	0.10	0.00	45.17	1.356	10406	0.151	0.000	2694	2099	2026	2072	1980	0	0	0	0	0	0	14.34	14.03	13.28
6508	0.29	328.3	2694	2099	2062	1969	205.9	11.1	446	6513	0.00	2.47	0.00	0.000	644	0.000	0.086	2698	696	2014	2061	1968	0	0	0	0	0	0	14.54	14.17	14.56
6573	0.29	328.3	2699	696	2060	1969	199.1	10.1	459	6578	0.00	2.45	0.00	0.000	1030	0.000	0.078	2698	2103	2013	2059	1967	0	0	0	0	0	0	14.35	14.21	14.38
6898	0.29	328.3	2699	2104	2060	1966	164.5	10.3	474	6903	0.00	2.47	0.00	0.000	516	0.000	0.084	2695	691	2015	2058	1973	0	0	0	0	0	0	14.62	14.21	14.64
6968	0.34	340.3	2699	694	2057	1967	157.7	9.4	488	6990	0.00	2.45	15.77	1.469	9382	0.000	0.079	2699	2099	1976	2022	1930	0	0	0	0	0	0	14.35	14.23	13.35
7288	0.35	357.7	2699	2100	2017	1923	127.8	9.2	502	7319	0.00	0.00	24.52	1.388	8742	0.000	0.000	2699	2099	1905	1945	1865	0	0	0	0	0	0	14.60	14.16	13.36
7618	0.42	407.5	2699	2099	1937	1862	100.3	7.7	518	7712	0.00	2.58	85.60	1.228	8868	0.000	0.083	2699	692	1698	1723	1673	0	0	0	0	0	0	14.57	13.88	13.19
7788	0.59	474.5	2699	693	1717	1672	88.0	6.9	551	7827	0.22	2.50	34.35	0.468	11430	0.094	0.080	2784	2099	1428	1468	1389	0	0	0	0	0	0	14.03	13.97	13.55
8122	0.60	486.0	2785	2100	1470	1378	52.3	9.5	588	8135	0.00	0.00	6.35	0.360	8230	0.000	0.000	2788	2099	1379	1430	1328	0	0	0	0	0	0	14.50	13.90	13.66
8433	0.69	558.4	2784	2099	1431	1331	30.3	6.7	619	8476	0.00	2.55	38.12	0.301	8868	0.000	0.085	2794	692	1089	1153	1026	0	0	0	0	0	0	14.55	14.04	13.86
8538	0.88	619.6	2791	691	1149	1024	22.8	7.2	639	8576	0.22	2.47	32.35	0.278	11430	0.097	0.079	2883	2102	836	902	771	0	0	0	0	0	0	14.23	14.14	13.83
8748	end climb: SURFACE_DEPTH_REACHED
state	8748	begin surface coast
8769	end surface coast: CONTROL_FINISHED_OK
state	8769	begin surface