Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 180 * 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 180 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 509.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 509.0 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 25 VBD_MIN 500

DIVE 180 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 270817,211557,7402.4150,-15220.9424,39,0.9,40,19.9,0.3,241.8,9,7.7 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 282.5,56138,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 270817,212653,7402.4141,-15221.1357,5,0.9,11,19.9,0.0,0.0,9,8.6

Post-dive calculations and measurements:

FINISH 0.2,1.021087 _24V_AH 12.34,129.266

SM_CCo 9095,44.05,0.212,0,0,500,702.78 _10V_AH 12.20,0.000

SM_GC 1.14,8.10,0.17,44.05,0.078,0.119,0.212,205,2221,500,-7.36,-0.68,702.78,0,0,0,0,0,0,14.34,14.33,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 415 FG_AHR_10Vo 0.000

RAFOS_FIX 7400.629883,-15220.530273,270817,202028,2,255,0.41 MEM 323356

IRIDIUM_FIX 7343.92,-15839.01,270817,183640 DATA_FILE_SIZE 23435,707

TT8_MAMPS 0.038948,0.926513 CAP_FILE_SIZE 100952,0

HUMID 47.28 CFSIZE 2097872896,2032435200

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 1447.4

XPDR_PINGS 10 CURRENT 0.038,227.45,1

CP_FREE 15988621312.000000 GPS 280817,000053,7403.179,-15224.846,18,0.8,19,19.8,0.0,0.0,10,9.6

PM_FREEKB_00 52609024

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 142.17 nil 0 0 0.00

Roll_motor 84 2141 2220.84 nil 0 0 0.00

VBD_pump_during_apogee 1170 1490 21528.38 nil 0 0 0.00

VBD_pump_during_surface 44 211 115.19 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 9103 14 1607.79

Iridium_during_xfer 371 178 816.97 NCP 9092 20 2243.91

Transponder_ping 2 420 12.96 PMAR 9050 10 1139.89

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.44

TT8 0 0 0.00

LPSleep 6170 2 173.88

TT8_Active 1121 13 191.07

TT8_Sampling 2226 33 908.36

TT8_CF8 294 38 139.06

TT8_Kalman 0 0 0.00

Analog_circuits 2483 10 302.97

GPS_charging 0 0 0.00

Compass 1014 7 86.65

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 -145.9 194 2212 518 492 0.0 0.0 0 141 0.00 0.00 -91.93 0.000 16386 0.000 0.000 192 2213 2200 2133 2267 0 0 0 0 0 0 14.45 28.83 14.48

144 -0.57 -145.9 193 2214 2138 2269 4.1 -5.8 9 197 12.55 2.75 -33.55 0.000 18724 0.451 2.141 2376 3606 3962 3945 3980 0 0 0 0 0 0 13.59 12.86 14.03

422 -0.70 -145.9 2377 3607 3952 3987 61.4 -13.4 64 430 0.00 2.42 0.00 0.000 1158 0.000 0.060 2377 2192 3965 3951 3980 0 0 0 0 0 0 14.27 14.15 14.31

729 -0.78 -145.9 2378 2190 3952 3980 104.5 -11.8 93 734 0.12 2.50 0.00 0.000 4484 0.149 0.086 2319 3607 3966 3951 3981 0 0 0 0 0 0 14.22 14.09 14.28

784 -0.84 -145.9 2319 3608 3952 3981 112.3 -13.9 104 791 0.00 2.40 0.00 0.000 1158 0.000 0.059 2319 2189 3965 3951 3980 0 0 0 0 0 0 14.27 14.20 14.29

1090 -0.86 -145.9 2319 2189 3954 3981 157.1 -14.2 115 1094 0.00 2.50 0.00 0.000 388 0.000 0.087 2311 3609 3965 3951 3980 0 0 0 0 0 0 14.62 14.17 14.64

1130 -0.94 -145.9 2311 3611 3952 3981 162.4 -12.7 123 1134 0.00 2.40 0.00 0.000 1158 0.000 0.058 2311 2191 3965 3951 3980 0 0 0 0 0 0 14.29 14.21 14.31

1450 -0.97 -145.9 2311 2192 3952 3981 204.9 -13.0 137 1455 0.12 2.50 0.00 0.000 4484 0.137 0.086 2246 3610 3965 3951 3980 0 0 0 0 0 0 14.27 14.17 14.30

1535 -0.97 -145.9 2246 3613 3951 3981 218.7 -16.2 154 1541 0.00 2.40 0.00 0.000 1030 0.000 0.057 2246 2194 3965 3951 3980 0 0 0 0 0 0 14.21 14.10 14.24

1840 -0.91 -145.9 2246 2194 3952 3981 270.7 -16.3 165 1845 0.15 2.47 0.00 0.000 2436 0.294 0.084 2270 3610 3965 3951 3980 0 0 0 0 0 0 13.91 14.21 14.09

1911 -0.99 -145.9 2270 3611 3952 3981 279.8 -11.6 179 1916 0.00 2.40 0.00 0.000 1158 0.000 0.057 2270 2189 3966 3951 3981 0 0 0 0 0 0 14.23 14.12 14.26

2231 -1.01 -145.9 2275 2189 3953 3981 318.4 -11.9 193 2236 0.00 2.50 0.00 0.000 388 0.000 0.090 2267 3614 3965 3951 3980 0 0 0 0 0 0 14.67 14.22 14.69

2311 -1.12 -145.9 2267 3615 3952 3981 327.2 -10.2 209 2316 0.15 2.38 0.00 0.000 5254 0.125 0.055 2210 2195 3965 3951 3980 0 0 0 0 0 0 14.31 14.28 14.41

2621 -1.04 -145.9 2208 2196 3952 3981 376.0 -15.7 221 2627 0.12 2.50 0.00 0.000 2436 0.309 0.085 2229 3614 3965 3951 3980 0 0 0 0 0 0 13.96 14.23 14.14

2719 -1.06 -145.9 2231 3615 3952 3979 388.7 -12.0 240 2724 0.00 2.38 0.00 0.000 1158 0.000 0.055 2230 2201 3965 3951 3979 0 0 0 0 0 0 14.40 14.28 14.44

3045 -1.04 -145.9 2230 2200 3951 3979 433.0 -13.5 255 3049 0.00 2.47 0.00 0.000 388 0.000 0.088 2222 3607 3965 3951 3979 0 0 0 0 0 0 14.65 14.16 14.67

3129 -1.04 -145.9 2223 3608 3951 3980 444.3 -12.9 272 3136 0.00 2.38 0.00 0.000 1030 0.000 0.056 2222 2202 3963 3950 3977 0 0 0 0 0 0 14.33 14.22 14.38

3402 end dive: TARGET_DEPTH_EXCEEDED

state 3402 begin apogee

3408 -0.13 0.0 2222 2056 3948 3978 482.6 -13.9 282 3872 1.23 0.08 460.33 1.187 10246 0.251 0.181 2531 2105 3365 3388 3343 0 0 0 0 0 0 13.90 13.18 12.51

3878 end apogee: CONTROL_FINISHED_OK

state 3878 begin climb

3880 0.57 145.9 2532 2105 3382 3339 507.7 0.0 297 4273 0.75 2.10 209.12 1.344 10500 0.063 0.080 2781 3498 2744 2778 2711 0 0 0 0 0 0 13.35 13.09 12.34

4500 0.12 145.9 2781 3500 2775 2712 446.0 17.2 344 4506 0.80 2.35 0.00 0.000 5254 0.353 0.057 2625 2126 2741 2774 2709 0 0 0 0 0 0 13.63 13.99 14.00

4803 0.04 183.2 2625 2128 2775 2711 418.9 8.3 355 4866 0.00 0.00 60.95 1.297 8358 0.000 0.000 2625 2129 2623 2665 2581 0 0 0 0 0 0 14.53 13.94 13.19

5163 -0.01 196.8 2625 2127 2654 2551 385.8 9.4 367 5185 0.17 2.58 16.02 1.491 12964 0.279 0.086 2589 694 2557 2611 2504 0 0 0 0 0 0 13.95 14.15 13.30

5247 0.12 257.8 2589 694 2604 2494 379.7 7.2 383 5352 0.00 2.45 99.20 1.293 9382 0.000 0.080 2588 2092 2314 2367 2261 0 0 0 0 0 0 14.28 14.16 13.05

5677 0.24 314.7 2589 2092 2347 2235 347.2 7.4 419 5775 0.22 2.53 91.55 1.275 10916 0.093 0.087 2685 691 2076 2126 2027 0 0 0 0 0 0 14.23 13.68 13.10

5790 0.19 314.7 2685 692 2113 2020 332.5 14.4 426 5796 0.17 2.53 0.00 0.000 5254 0.237 0.079 2649 2107 2066 2113 2019 0 0 0 0 0 0 13.74 13.88 13.97

6102 0.21 314.7 2648 2107 2113 2005 297.4 11.0 438 6102 0.00 0.00 0.00 0.000 134 0.000 0.000 2647 2107 2058 2112 2005 0 0 0 0 0 0 14.50 14.52 14.52

6401 0.25 319.6 2648 2108 2110 2001 267.1 9.8 448 6406 0.00 2.47 0.00 0.000 676 0.000 0.088 2647 687 2057 2110 2004 0 0 0 0 0 0 14.61 14.24 14.62

6487 0.36 341.7 2648 687 2107 2004 259.2 9.0 465 6532 0.17 2.45 37.88 1.316 11430 0.112 0.079 2714 2101 1968 2017 1920 0 0 0 0 0 0 14.28 14.21 13.30

6852 0.30 341.7 2715 2101 2004 1906 211.2 12.5 488 6857 0.15 2.47 0.00 0.000 4740 0.233 0.083 2685 686 1957 2002 1913 0 0 0 0 0 0 14.04 14.19 14.14

6903 0.36 354.8 2686 686 2002 1906 206.1 9.4 498 6923 0.00 2.47 14.62 1.416 9382 0.000 0.079 2685 2107 1917 1961 1874 0 0 0 0 0 0 14.36 14.23 13.35

7245 0.39 366.3 2685 2109 1945 1866 173.4 9.5 516 7264 0.00 2.47 12.98 1.458 8868 0.000 0.086 2686 694 1869 1905 1833 0 0 0 0 0 0 14.59 14.23 13.33

7284 0.47 391.6 2685 694 1896 1833 169.6 8.8 524 7336 0.15 2.45 44.08 1.287 11430 0.122 0.080 2751 2100 1765 1792 1739 0 0 0 0 0 0 14.28 14.22 13.26

7636 0.41 391.6 2752 2101 1778 1724 122.7 13.2 544 7641 0.12 2.47 0.00 0.000 4740 0.245 0.083 2728 690 1750 1777 1723 0 0 0 0 0 0 14.06 14.18 14.19

7723 0.46 392.7 2728 690 1776 1723 113.3 9.9 561 7729 0.00 2.47 0.00 0.000 1190 0.000 0.078 2728 2103 1748 1775 1722 0 0 0 0 0 0 14.33 14.20 14.38

8026 0.48 428.9 2728 2104 1776 1720 83.8 8.3 582 8047 0.00 0.00 17.85 0.441 8230 0.000 0.000 2731 2101 1615 1643 1587 0 0 0 0 0 0 14.59 14.19 13.71

8346 0.61 522.1 2729 2103 1657 1587 60.5 5.7 614 8401 0.12 2.58 49.72 0.379 10916 0.132 0.087 2795 688 1234 1292 1177 0 0 0 0 0 0 14.31 14.09 13.76

8481 0.70 564.6 2794 689 1294 1189 49.2 8.0 640 8513 0.00 2.47 23.33 0.346 9382 0.000 0.078 2794 2100 1059 1129 990 0 0 0 0 0 0 14.23 14.11 13.66

8811 0.82 624.3 2794 2100 1130 1005 23.4 7.2 676 8850 0.12 2.47 32.47 0.278 10916 0.134 0.086 2862 692 817 882 753 0 0 0 0 0 0 14.23 14.06 13.85

8860 0.82 624.4 2863 693 885 755 18.8 10.0 685 8866 0.00 2.47 0.00 0.000 1062 0.000 0.080 2859 2102 819 884 755 0 0 0 0 0 0 14.17 14.05 14.20

9052 end climb: SURFACE_DEPTH_REACHED

state 9052 begin surface coast

9075 end surface coast: CONTROL_FINISHED_OK

state 9075 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	180	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	509.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,211557,7402.4150,-15220.9424,39,0.9,40,19.9,0.3,241.8,9,7.7	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	282.5,56138,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	270817,212653,7402.4141,-15221.1357,5,0.9,11,19.9,0.0,0.0,9,8.6

FINISH	0.2,1.021087	_24V_AH	12.34,129.266
SM_CCo	9095,44.05,0.212,0,0,500,702.78	_10V_AH	12.20,0.000
SM_GC	1.14,8.10,0.17,44.05,0.078,0.119,0.212,205,2221,500,-7.36,-0.68,702.78,0,0,0,0,0,0,14.34,14.33,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	415	FG_AHR_10Vo	0.000
RAFOS_FIX	7400.629883,-15220.530273,270817,202028,2,255,0.41	MEM	323356
IRIDIUM_FIX	7343.92,-15839.01,270817,183640	DATA_FILE_SIZE	23435,707
TT8_MAMPS	0.038948,0.926513	CAP_FILE_SIZE	100952,0
HUMID	47.28	CFSIZE	2097872896,2032435200
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	1447.4
XPDR_PINGS	10	CURRENT	0.038,227.45,1
CP_FREE	15988621312.000000	GPS	280817,000053,7403.179,-15224.846,18,0.8,19,19.8,0.0,0.0,10,9.6
PM_FREEKB_00	52609024

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	142.17	nil	0	0	0.00
Roll_motor	84	2141	2220.84	nil	0	0	0.00
VBD_pump_during_apogee	1170	1490	21528.38	nil	0	0	0.00
VBD_pump_during_surface	44	211	115.19	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	9103	14	1607.79
Iridium_during_xfer	371	178	816.97	NCP	9092	20	2243.91
Transponder_ping	2	420	12.96	PMAR	9050	10	1139.89
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.44
TT8	0	0	0.00
LPSleep	6170	2	173.88
TT8_Active	1121	13	191.07
TT8_Sampling	2226	33	908.36
TT8_CF8	294	38	139.06
TT8_Kalman	0	0	0.00
Analog_circuits	2483	10	302.97
GPS_charging	0	0	0.00
Compass	1014	7	86.65
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	194	2212	518	492	0.0	0.0	0	141	0.00	0.00	-91.93	0.000	16386	0.000	0.000	192	2213	2200	2133	2267	0	0	0	0	0	0	14.45	28.83	14.48
144	-0.57	-145.9	193	2214	2138	2269	4.1	-5.8	9	197	12.55	2.75	-33.55	0.000	18724	0.451	2.141	2376	3606	3962	3945	3980	0	0	0	0	0	0	13.59	12.86	14.03
422	-0.70	-145.9	2377	3607	3952	3987	61.4	-13.4	64	430	0.00	2.42	0.00	0.000	1158	0.000	0.060	2377	2192	3965	3951	3980	0	0	0	0	0	0	14.27	14.15	14.31
729	-0.78	-145.9	2378	2190	3952	3980	104.5	-11.8	93	734	0.12	2.50	0.00	0.000	4484	0.149	0.086	2319	3607	3966	3951	3981	0	0	0	0	0	0	14.22	14.09	14.28
784	-0.84	-145.9	2319	3608	3952	3981	112.3	-13.9	104	791	0.00	2.40	0.00	0.000	1158	0.000	0.059	2319	2189	3965	3951	3980	0	0	0	0	0	0	14.27	14.20	14.29
1090	-0.86	-145.9	2319	2189	3954	3981	157.1	-14.2	115	1094	0.00	2.50	0.00	0.000	388	0.000	0.087	2311	3609	3965	3951	3980	0	0	0	0	0	0	14.62	14.17	14.64
1130	-0.94	-145.9	2311	3611	3952	3981	162.4	-12.7	123	1134	0.00	2.40	0.00	0.000	1158	0.000	0.058	2311	2191	3965	3951	3980	0	0	0	0	0	0	14.29	14.21	14.31
1450	-0.97	-145.9	2311	2192	3952	3981	204.9	-13.0	137	1455	0.12	2.50	0.00	0.000	4484	0.137	0.086	2246	3610	3965	3951	3980	0	0	0	0	0	0	14.27	14.17	14.30
1535	-0.97	-145.9	2246	3613	3951	3981	218.7	-16.2	154	1541	0.00	2.40	0.00	0.000	1030	0.000	0.057	2246	2194	3965	3951	3980	0	0	0	0	0	0	14.21	14.10	14.24
1840	-0.91	-145.9	2246	2194	3952	3981	270.7	-16.3	165	1845	0.15	2.47	0.00	0.000	2436	0.294	0.084	2270	3610	3965	3951	3980	0	0	0	0	0	0	13.91	14.21	14.09
1911	-0.99	-145.9	2270	3611	3952	3981	279.8	-11.6	179	1916	0.00	2.40	0.00	0.000	1158	0.000	0.057	2270	2189	3966	3951	3981	0	0	0	0	0	0	14.23	14.12	14.26
2231	-1.01	-145.9	2275	2189	3953	3981	318.4	-11.9	193	2236	0.00	2.50	0.00	0.000	388	0.000	0.090	2267	3614	3965	3951	3980	0	0	0	0	0	0	14.67	14.22	14.69
2311	-1.12	-145.9	2267	3615	3952	3981	327.2	-10.2	209	2316	0.15	2.38	0.00	0.000	5254	0.125	0.055	2210	2195	3965	3951	3980	0	0	0	0	0	0	14.31	14.28	14.41
2621	-1.04	-145.9	2208	2196	3952	3981	376.0	-15.7	221	2627	0.12	2.50	0.00	0.000	2436	0.309	0.085	2229	3614	3965	3951	3980	0	0	0	0	0	0	13.96	14.23	14.14
2719	-1.06	-145.9	2231	3615	3952	3979	388.7	-12.0	240	2724	0.00	2.38	0.00	0.000	1158	0.000	0.055	2230	2201	3965	3951	3979	0	0	0	0	0	0	14.40	14.28	14.44
3045	-1.04	-145.9	2230	2200	3951	3979	433.0	-13.5	255	3049	0.00	2.47	0.00	0.000	388	0.000	0.088	2222	3607	3965	3951	3979	0	0	0	0	0	0	14.65	14.16	14.67
3129	-1.04	-145.9	2223	3608	3951	3980	444.3	-12.9	272	3136	0.00	2.38	0.00	0.000	1030	0.000	0.056	2222	2202	3963	3950	3977	0	0	0	0	0	0	14.33	14.22	14.38
3402	end dive: TARGET_DEPTH_EXCEEDED
state	3402	begin apogee
3408	-0.13	0.0	2222	2056	3948	3978	482.6	-13.9	282	3872	1.23	0.08	460.33	1.187	10246	0.251	0.181	2531	2105	3365	3388	3343	0	0	0	0	0	0	13.90	13.18	12.51
3878	end apogee: CONTROL_FINISHED_OK
state	3878	begin climb
3880	0.57	145.9	2532	2105	3382	3339	507.7	0.0	297	4273	0.75	2.10	209.12	1.344	10500	0.063	0.080	2781	3498	2744	2778	2711	0	0	0	0	0	0	13.35	13.09	12.34
4500	0.12	145.9	2781	3500	2775	2712	446.0	17.2	344	4506	0.80	2.35	0.00	0.000	5254	0.353	0.057	2625	2126	2741	2774	2709	0	0	0	0	0	0	13.63	13.99	14.00
4803	0.04	183.2	2625	2128	2775	2711	418.9	8.3	355	4866	0.00	0.00	60.95	1.297	8358	0.000	0.000	2625	2129	2623	2665	2581	0	0	0	0	0	0	14.53	13.94	13.19
5163	-0.01	196.8	2625	2127	2654	2551	385.8	9.4	367	5185	0.17	2.58	16.02	1.491	12964	0.279	0.086	2589	694	2557	2611	2504	0	0	0	0	0	0	13.95	14.15	13.30
5247	0.12	257.8	2589	694	2604	2494	379.7	7.2	383	5352	0.00	2.45	99.20	1.293	9382	0.000	0.080	2588	2092	2314	2367	2261	0	0	0	0	0	0	14.28	14.16	13.05
5677	0.24	314.7	2589	2092	2347	2235	347.2	7.4	419	5775	0.22	2.53	91.55	1.275	10916	0.093	0.087	2685	691	2076	2126	2027	0	0	0	0	0	0	14.23	13.68	13.10
5790	0.19	314.7	2685	692	2113	2020	332.5	14.4	426	5796	0.17	2.53	0.00	0.000	5254	0.237	0.079	2649	2107	2066	2113	2019	0	0	0	0	0	0	13.74	13.88	13.97
6102	0.21	314.7	2648	2107	2113	2005	297.4	11.0	438	6102	0.00	0.00	0.00	0.000	134	0.000	0.000	2647	2107	2058	2112	2005	0	0	0	0	0	0	14.50	14.52	14.52
6401	0.25	319.6	2648	2108	2110	2001	267.1	9.8	448	6406	0.00	2.47	0.00	0.000	676	0.000	0.088	2647	687	2057	2110	2004	0	0	0	0	0	0	14.61	14.24	14.62
6487	0.36	341.7	2648	687	2107	2004	259.2	9.0	465	6532	0.17	2.45	37.88	1.316	11430	0.112	0.079	2714	2101	1968	2017	1920	0	0	0	0	0	0	14.28	14.21	13.30
6852	0.30	341.7	2715	2101	2004	1906	211.2	12.5	488	6857	0.15	2.47	0.00	0.000	4740	0.233	0.083	2685	686	1957	2002	1913	0	0	0	0	0	0	14.04	14.19	14.14
6903	0.36	354.8	2686	686	2002	1906	206.1	9.4	498	6923	0.00	2.47	14.62	1.416	9382	0.000	0.079	2685	2107	1917	1961	1874	0	0	0	0	0	0	14.36	14.23	13.35
7245	0.39	366.3	2685	2109	1945	1866	173.4	9.5	516	7264	0.00	2.47	12.98	1.458	8868	0.000	0.086	2686	694	1869	1905	1833	0	0	0	0	0	0	14.59	14.23	13.33
7284	0.47	391.6	2685	694	1896	1833	169.6	8.8	524	7336	0.15	2.45	44.08	1.287	11430	0.122	0.080	2751	2100	1765	1792	1739	0	0	0	0	0	0	14.28	14.22	13.26
7636	0.41	391.6	2752	2101	1778	1724	122.7	13.2	544	7641	0.12	2.47	0.00	0.000	4740	0.245	0.083	2728	690	1750	1777	1723	0	0	0	0	0	0	14.06	14.18	14.19
7723	0.46	392.7	2728	690	1776	1723	113.3	9.9	561	7729	0.00	2.47	0.00	0.000	1190	0.000	0.078	2728	2103	1748	1775	1722	0	0	0	0	0	0	14.33	14.20	14.38
8026	0.48	428.9	2728	2104	1776	1720	83.8	8.3	582	8047	0.00	0.00	17.85	0.441	8230	0.000	0.000	2731	2101	1615	1643	1587	0	0	0	0	0	0	14.59	14.19	13.71
8346	0.61	522.1	2729	2103	1657	1587	60.5	5.7	614	8401	0.12	2.58	49.72	0.379	10916	0.132	0.087	2795	688	1234	1292	1177	0	0	0	0	0	0	14.31	14.09	13.76
8481	0.70	564.6	2794	689	1294	1189	49.2	8.0	640	8513	0.00	2.47	23.33	0.346	9382	0.000	0.078	2794	2100	1059	1129	990	0	0	0	0	0	0	14.23	14.11	13.66
8811	0.82	624.3	2794	2100	1130	1005	23.4	7.2	676	8850	0.12	2.47	32.47	0.278	10916	0.134	0.086	2862	692	817	882	753	0	0	0	0	0	0	14.23	14.06	13.85
8860	0.82	624.4	2863	693	885	755	18.8	10.0	685	8866	0.00	2.47	0.00	0.000	1062	0.000	0.080	2859	2102	819	884	755	0	0	0	0	0	0	14.17	14.05	14.20
9052	end climb: SURFACE_DEPTH_REACHED
state	9052	begin surface coast
9075	end surface coast: CONTROL_FINISHED_OK
state	9075	begin surface