Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 183 * 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 183 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 518.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 518.0 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 30 VBD_MIN 500

DIVE 183 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 280817,053451,7405.0850,-15231.3340,17,0.6,21,19.8,0.0,28.4,12,8.8 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 1.29 MHEAD_RNG_PITCHd_Wd 286.0,49226,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 280817,054748,7405.1094,-15231.2949,6,0.7,26,19.8,0.0,53.2,11,9.2

Post-dive calculations and measurements:

FINISH 0.8,1.021070 _24V_AH 12.35,130.742

SM_CCo 9067,26.00,0.213,0,0,500,702.78 _10V_AH 12.31,0.000

SM_GC 1.40,8.20,2.70,26.00,0.072,0.074,0.213,207,2204,500,-7.36,-0.62,702.78,0,0,0,0,0,0,14.16,14.08,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 63 FG_AHR_10Vo 0.000

RAFOS_FIX 7403.962891,-15227.045898,280817,040416,3,255,0.21 MEM 323408

IRIDIUM_FIX 7402.36,-15230.15,280817,030554 DATA_FILE_SIZE 26724,766

TT8_MAMPS 0.085386,1.06807 CAP_FILE_SIZE 105151,0

HUMID 43.69 CFSIZE 2097872896,2031517696

INTERNAL_PRESSURE 7.75222 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 INTR 1,3721.49,0x2341e8,1,24

XPDR_PINGS 18 SOUNDSPEED 1448.2

CP_FREE 15987834880.000000 CURRENT 0.031,202.69,1

PM_FREEKB_00 52505152 GPS 280817,082120,7405.969,-15234.431,42,0.8,42,19.8,0.0,0.0,9,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.78 nil 0 0 0.00

Roll_motor 90 2142 2382.34 nil 0 0 0.00

VBD_pump_during_apogee 977 1455 17562.16 nil 0 0 0.00

VBD_pump_during_surface 26 213 68.53 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 9072 14 1610.56

Iridium_during_xfer 476 172 1013.61 NCP 9068 20 2239.80

Transponder_ping 4 420 23.34 PMAR 9018 10 1116.95

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.71

TT8 0 0 0.00

LPSleep 6457 2 183.64

TT8_Active 1003 13 172.62

TT8_Sampling 2110 33 868.66

TT8_CF8 310 38 148.07

TT8_Kalman 0 0 0.00

Analog_circuits 2216 10 272.84

GPS_charging 0 0 0.00

Compass 1098 7 94.62

RAFOS 2217 48 1309.98

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 -145.9 198 2213 501 497 0.0 0.0 0 141 0.00 0.00 -91.95 0.000 16386 0.000 0.000 197 2212 2188 2118 2259 0 0 0 0 0 0 14.49 28.83 14.50

144 -0.57 -145.9 197 2212 2122 2260 4.1 -5.6 9 197 12.55 2.78 -33.47 0.000 18724 0.452 2.143 2376 3613 3961 3942 3981 0 0 0 0 0 0 13.58 12.87 14.03

377 -0.67 -145.9 2377 3614 3950 3981 55.2 -14.5 55 382 0.00 2.40 0.00 0.000 1158 0.000 0.057 2376 2205 3964 3948 3981 0 0 0 0 0 0 14.26 14.14 14.29

687 -0.75 -145.9 2377 2205 3950 3982 100.1 -11.8 87 689 0.12 0.00 0.00 0.000 4230 0.143 0.000 2334 2204 3965 3950 3981 0 0 0 0 0 0 14.18 14.27 14.24

988 -0.79 -145.9 2334 2205 3951 3982 141.7 -13.0 97 992 0.00 2.47 0.00 0.000 388 0.000 0.091 2332 3607 3965 3950 3981 0 0 0 0 0 0 14.63 14.16 14.64

1053 -0.96 -145.9 2333 3609 3951 3981 149.0 -10.0 110 1058 0.20 2.38 0.00 0.000 5254 0.103 0.057 2253 2199 3965 3950 3981 0 0 0 0 0 0 14.28 14.21 14.37

1378 -0.88 -145.9 2253 2198 3951 3981 210.0 -18.7 125 1383 0.15 2.47 0.00 0.000 2436 0.292 0.085 2277 3607 3965 3950 3981 0 0 0 0 0 0 13.88 14.22 14.07

1523 -0.95 -145.9 2278 3607 3945 3981 229.7 -12.1 154 1529 0.00 2.40 0.00 0.000 1158 0.000 0.057 2277 2196 3964 3947 3981 0 0 0 0 0 0 14.34 14.22 14.38

1828 -0.95 -145.9 2278 2195 3951 3982 270.7 -12.9 165 1833 0.00 2.47 0.00 0.000 260 0.000 0.088 2268 3610 3965 3950 3981 0 0 0 0 0 0 14.66 14.22 14.68

1903 -1.05 -145.9 2268 3611 3951 3981 279.8 -11.5 180 1909 0.00 2.35 0.00 0.000 1158 0.000 0.057 2268 2183 3965 3950 3980 0 0 0 0 0 0 14.40 14.26 14.43

2220 -1.08 -145.9 2268 2182 3951 3982 317.7 -11.6 193 2225 0.00 2.53 0.00 0.000 388 0.000 0.090 2266 3617 3965 3950 3980 0 0 0 0 0 0 14.68 14.22 14.67

2300 -1.17 -145.9 2267 3617 3950 3981 326.3 -10.4 209 2305 0.20 2.40 0.00 0.000 5254 0.116 0.057 2194 2190 3965 3950 3981 0 0 0 0 0 0 14.25 14.25 14.35

2611 -1.07 -145.9 2195 2188 3951 3980 379.9 -17.7 221 2616 0.15 2.50 0.00 0.000 2436 0.301 0.086 2222 3614 3965 3950 3980 0 0 0 0 0 0 13.93 14.22 14.11

2722 -1.07 -145.9 2229 3619 3950 3980 395.6 -12.9 243 2727 0.00 2.40 0.00 0.000 1030 0.000 0.056 2222 2194 3964 3949 3979 0 0 0 0 0 0 14.32 14.14 14.36

3033 -1.02 -145.9 2223 2193 3949 3979 440.7 -14.4 255 3037 0.00 2.50 0.00 0.000 388 0.000 0.090 2228 3610 3964 3950 3979 0 0 0 0 0 0 14.66 14.17 14.72

3128 -1.02 -145.9 2223 3612 3951 3980 453.5 -13.0 274 3133 0.00 2.40 0.00 0.000 1030 0.000 0.055 2222 2197 3964 3950 3979 0 0 0 0 0 0 14.33 14.20 14.36

3330 end dive: TARGET_DEPTH_EXCEEDED

state 3331 begin apogee

3336 -0.13 0.0 2223 2065 3951 3978 482.6 -14.2 285 3565 1.23 0.08 224.62 1.427 10246 0.248 0.183 2532 2111 3364 3389 3339 0 0 0 0 0 0 13.88 13.41 12.66

3569 end apogee: CONTROL_FINISHED_OK

state 3569 begin climb

3573 0.57 145.9 2533 2111 3380 3330 494.3 0.0 292 3793 0.73 2.70 208.12 1.375 10500 0.065 0.076 2776 3504 2759 2804 2715 0 0 0 0 0 0 13.57 13.14 12.35

3883 0.12 145.9 2776 3506 2788 2714 489.8 16.3 347 3889 0.80 2.45 0.00 0.000 5254 0.348 0.056 2628 2135 2749 2787 2712 0 0 0 0 0 0 13.16 13.50 13.52

4210 0.03 178.7 2629 2135 2788 2711 461.0 8.5 362 4260 0.12 2.65 45.42 1.445 12964 0.298 0.085 2602 694 2631 2681 2582 0 0 0 0 0 0 13.77 13.85 13.02

4345 0.08 226.2 2602 694 2673 2572 450.4 7.8 389 4422 0.00 2.50 72.00 1.379 9382 0.000 0.080 2602 2099 2444 2507 2381 0 0 0 0 0 0 14.10 13.97 12.88

4720 0.12 250.3 2603 2099 2490 2359 417.4 8.9 414 4755 0.00 0.00 33.38 1.450 8358 0.000 0.000 2602 2099 2348 2407 2289 0 0 0 0 0 0 14.45 13.96 13.14

5050 0.18 272.3 2603 2098 2388 2271 387.7 9.0 425 5087 0.12 2.55 32.05 1.455 10916 0.132 0.086 2672 694 2251 2306 2197 0 0 0 0 0 0 14.16 14.07 13.25

5112 0.12 272.3 2672 695 2295 2194 379.9 13.2 437 5118 0.20 2.47 0.00 0.000 5254 0.239 0.080 2625 2100 2243 2294 2192 0 0 0 0 0 0 13.93 14.08 14.17

5444 0.12 272.3 2622 2101 2295 2185 345.5 10.2 453 5449 0.00 2.45 0.00 0.000 516 0.000 0.084 2630 694 2239 2294 2184 0 0 0 0 0 0 14.58 14.22 14.59

5479 0.17 273.8 2631 693 2294 2184 341.8 9.9 460 5484 0.00 2.45 0.00 0.000 1190 0.000 0.079 2630 2103 2238 2293 2184 0 0 0 0 0 0 14.37 14.24 14.41

5804 0.18 276.3 2630 2106 2294 2184 309.5 9.9 475 5805 0.00 0.00 0.00 0.000 38 0.000 0.000 2630 2105 2238 2293 2183 0 0 0 0 0 0 14.64 14.65 14.65

6105 0.21 292.8 2629 2106 2293 2183 281.0 9.2 485 6140 0.00 2.47 29.60 1.428 8868 0.000 0.085 2630 693 2168 2221 2116 0 0 0 0 0 0 14.67 14.16 13.35

6192 0.33 332.1 2630 694 2210 2113 273.5 8.2 502 6266 0.17 2.45 68.18 1.314 11430 0.109 0.078 2696 2101 2012 2059 1966 0 0 0 0 0 0 14.23 14.15 13.17

6586 0.29 332.1 2697 2101 2046 1945 224.3 12.0 531 6591 0.00 2.47 0.00 0.000 644 0.000 0.084 2699 690 1995 2045 1945 0 0 0 0 0 0 14.52 14.16 14.53

6656 0.29 332.1 2699 691 2043 1946 216.4 10.9 545 6662 0.00 2.50 0.00 0.000 1030 0.000 0.080 2699 2108 1992 2042 1942 0 0 0 0 0 0 14.33 14.21 14.38

6977 0.26 332.1 2699 2110 2041 1943 181.7 10.5 559 6982 0.12 2.45 0.00 0.000 4740 0.230 0.083 2672 694 1992 2042 1942 0 0 0 0 0 0 14.14 14.19 14.26

7023 0.37 367.4 2672 695 2041 1943 177.7 8.4 568 7088 0.00 2.45 58.90 1.295 9382 0.000 0.080 2673 2104 1868 1905 1831 0 0 0 0 0 0 14.35 14.22 13.28

7398 0.48 407.4 2673 2108 1891 1818 146.5 8.2 593 7478 0.20 2.58 73.20 1.239 10916 0.106 0.088 2757 698 1698 1725 1671 0 0 0 0 0 0 14.30 13.93 13.22

7499 0.42 407.4 2756 699 1718 1669 133.5 13.9 603 7504 0.17 2.50 0.00 0.000 5254 0.242 0.079 2720 2111 1692 1717 1667 0 0 0 0 0 0 13.85 13.99 14.08

7819 0.45 412.0 2719 2113 1717 1657 100.7 9.8 617 7825 0.00 2.50 0.00 0.000 676 0.000 0.085 2731 694 1686 1716 1656 0 0 0 0 0 0 14.52 14.14 14.53

7897 0.54 437.1 2728 694 1715 1660 93.7 8.8 629 7918 0.00 2.45 14.23 0.469 9382 0.000 0.077 2726 2098 1581 1614 1549 0 0 0 0 0 0 14.26 14.12 13.58

8215 0.65 502.4 2726 2105 1618 1555 67.0 7.0 663 8258 0.17 2.53 35.20 0.398 10916 0.107 0.087 2807 688 1315 1365 1265 0 0 0 0 0 0 14.16 13.98 13.64

8314 0.65 502.4 2808 686 1366 1270 56.8 10.4 682 8320 0.00 2.50 0.00 0.000 1030 0.000 0.079 2808 2101 1316 1364 1269 0 0 0 0 0 0 14.16 14.07 14.19

8618 0.67 533.9 2808 2101 1366 1269 30.3 8.5 713 8639 0.00 0.00 17.60 0.301 8230 0.000 0.000 2808 2101 1185 1244 1127 0 0 0 0 0 0 14.40 14.00 13.70

8938 0.83 655.3 2808 2102 1245 1136 9.6 4.4 745 9011 0.12 2.58 64.82 0.231 10916 0.133 0.088 2876 692 689 749 629 0 0 0 0 0 0 14.16 13.89 13.81

9035 end climb: SURFACE_DEPTH_REACHED

state 9035 begin surface coast

9044 end surface coast: CONTROL_FINISHED_OK

state 9044 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	183	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	518.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,053451,7405.0850,-15231.3340,17,0.6,21,19.8,0.0,28.4,12,8.8	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	1.29	MHEAD_RNG_PITCHd_Wd	286.0,49226,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	280817,054748,7405.1094,-15231.2949,6,0.7,26,19.8,0.0,53.2,11,9.2

FINISH	0.8,1.021070	_24V_AH	12.35,130.742
SM_CCo	9067,26.00,0.213,0,0,500,702.78	_10V_AH	12.31,0.000
SM_GC	1.40,8.20,2.70,26.00,0.072,0.074,0.213,207,2204,500,-7.36,-0.62,702.78,0,0,0,0,0,0,14.16,14.08,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	63	FG_AHR_10Vo	0.000
RAFOS_FIX	7403.962891,-15227.045898,280817,040416,3,255,0.21	MEM	323408
IRIDIUM_FIX	7402.36,-15230.15,280817,030554	DATA_FILE_SIZE	26724,766
TT8_MAMPS	0.085386,1.06807	CAP_FILE_SIZE	105151,0
HUMID	43.69	CFSIZE	2097872896,2031517696
INTERNAL_PRESSURE	7.75222	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	1,3721.49,0x2341e8,1,24
XPDR_PINGS	18	SOUNDSPEED	1448.2
CP_FREE	15987834880.000000	CURRENT	0.031,202.69,1
PM_FREEKB_00	52505152	GPS	280817,082120,7405.969,-15234.431,42,0.8,42,19.8,0.0,0.0,9,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.78	nil	0	0	0.00
Roll_motor	90	2142	2382.34	nil	0	0	0.00
VBD_pump_during_apogee	977	1455	17562.16	nil	0	0	0.00
VBD_pump_during_surface	26	213	68.53	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	9072	14	1610.56
Iridium_during_xfer	476	172	1013.61	NCP	9068	20	2239.80
Transponder_ping	4	420	23.34	PMAR	9018	10	1116.95
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.71
TT8	0	0	0.00
LPSleep	6457	2	183.64
TT8_Active	1003	13	172.62
TT8_Sampling	2110	33	868.66
TT8_CF8	310	38	148.07
TT8_Kalman	0	0	0.00
Analog_circuits	2216	10	272.84
GPS_charging	0	0	0.00
Compass	1098	7	94.62
RAFOS	2217	48	1309.98
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	198	2213	501	497	0.0	0.0	0	141	0.00	0.00	-91.95	0.000	16386	0.000	0.000	197	2212	2188	2118	2259	0	0	0	0	0	0	14.49	28.83	14.50
144	-0.57	-145.9	197	2212	2122	2260	4.1	-5.6	9	197	12.55	2.78	-33.47	0.000	18724	0.452	2.143	2376	3613	3961	3942	3981	0	0	0	0	0	0	13.58	12.87	14.03
377	-0.67	-145.9	2377	3614	3950	3981	55.2	-14.5	55	382	0.00	2.40	0.00	0.000	1158	0.000	0.057	2376	2205	3964	3948	3981	0	0	0	0	0	0	14.26	14.14	14.29
687	-0.75	-145.9	2377	2205	3950	3982	100.1	-11.8	87	689	0.12	0.00	0.00	0.000	4230	0.143	0.000	2334	2204	3965	3950	3981	0	0	0	0	0	0	14.18	14.27	14.24
988	-0.79	-145.9	2334	2205	3951	3982	141.7	-13.0	97	992	0.00	2.47	0.00	0.000	388	0.000	0.091	2332	3607	3965	3950	3981	0	0	0	0	0	0	14.63	14.16	14.64
1053	-0.96	-145.9	2333	3609	3951	3981	149.0	-10.0	110	1058	0.20	2.38	0.00	0.000	5254	0.103	0.057	2253	2199	3965	3950	3981	0	0	0	0	0	0	14.28	14.21	14.37
1378	-0.88	-145.9	2253	2198	3951	3981	210.0	-18.7	125	1383	0.15	2.47	0.00	0.000	2436	0.292	0.085	2277	3607	3965	3950	3981	0	0	0	0	0	0	13.88	14.22	14.07
1523	-0.95	-145.9	2278	3607	3945	3981	229.7	-12.1	154	1529	0.00	2.40	0.00	0.000	1158	0.000	0.057	2277	2196	3964	3947	3981	0	0	0	0	0	0	14.34	14.22	14.38
1828	-0.95	-145.9	2278	2195	3951	3982	270.7	-12.9	165	1833	0.00	2.47	0.00	0.000	260	0.000	0.088	2268	3610	3965	3950	3981	0	0	0	0	0	0	14.66	14.22	14.68
1903	-1.05	-145.9	2268	3611	3951	3981	279.8	-11.5	180	1909	0.00	2.35	0.00	0.000	1158	0.000	0.057	2268	2183	3965	3950	3980	0	0	0	0	0	0	14.40	14.26	14.43
2220	-1.08	-145.9	2268	2182	3951	3982	317.7	-11.6	193	2225	0.00	2.53	0.00	0.000	388	0.000	0.090	2266	3617	3965	3950	3980	0	0	0	0	0	0	14.68	14.22	14.67
2300	-1.17	-145.9	2267	3617	3950	3981	326.3	-10.4	209	2305	0.20	2.40	0.00	0.000	5254	0.116	0.057	2194	2190	3965	3950	3981	0	0	0	0	0	0	14.25	14.25	14.35
2611	-1.07	-145.9	2195	2188	3951	3980	379.9	-17.7	221	2616	0.15	2.50	0.00	0.000	2436	0.301	0.086	2222	3614	3965	3950	3980	0	0	0	0	0	0	13.93	14.22	14.11
2722	-1.07	-145.9	2229	3619	3950	3980	395.6	-12.9	243	2727	0.00	2.40	0.00	0.000	1030	0.000	0.056	2222	2194	3964	3949	3979	0	0	0	0	0	0	14.32	14.14	14.36
3033	-1.02	-145.9	2223	2193	3949	3979	440.7	-14.4	255	3037	0.00	2.50	0.00	0.000	388	0.000	0.090	2228	3610	3964	3950	3979	0	0	0	0	0	0	14.66	14.17	14.72
3128	-1.02	-145.9	2223	3612	3951	3980	453.5	-13.0	274	3133	0.00	2.40	0.00	0.000	1030	0.000	0.055	2222	2197	3964	3950	3979	0	0	0	0	0	0	14.33	14.20	14.36
3330	end dive: TARGET_DEPTH_EXCEEDED
state	3331	begin apogee
3336	-0.13	0.0	2223	2065	3951	3978	482.6	-14.2	285	3565	1.23	0.08	224.62	1.427	10246	0.248	0.183	2532	2111	3364	3389	3339	0	0	0	0	0	0	13.88	13.41	12.66
3569	end apogee: CONTROL_FINISHED_OK
state	3569	begin climb
3573	0.57	145.9	2533	2111	3380	3330	494.3	0.0	292	3793	0.73	2.70	208.12	1.375	10500	0.065	0.076	2776	3504	2759	2804	2715	0	0	0	0	0	0	13.57	13.14	12.35
3883	0.12	145.9	2776	3506	2788	2714	489.8	16.3	347	3889	0.80	2.45	0.00	0.000	5254	0.348	0.056	2628	2135	2749	2787	2712	0	0	0	0	0	0	13.16	13.50	13.52
4210	0.03	178.7	2629	2135	2788	2711	461.0	8.5	362	4260	0.12	2.65	45.42	1.445	12964	0.298	0.085	2602	694	2631	2681	2582	0	0	0	0	0	0	13.77	13.85	13.02
4345	0.08	226.2	2602	694	2673	2572	450.4	7.8	389	4422	0.00	2.50	72.00	1.379	9382	0.000	0.080	2602	2099	2444	2507	2381	0	0	0	0	0	0	14.10	13.97	12.88
4720	0.12	250.3	2603	2099	2490	2359	417.4	8.9	414	4755	0.00	0.00	33.38	1.450	8358	0.000	0.000	2602	2099	2348	2407	2289	0	0	0	0	0	0	14.45	13.96	13.14
5050	0.18	272.3	2603	2098	2388	2271	387.7	9.0	425	5087	0.12	2.55	32.05	1.455	10916	0.132	0.086	2672	694	2251	2306	2197	0	0	0	0	0	0	14.16	14.07	13.25
5112	0.12	272.3	2672	695	2295	2194	379.9	13.2	437	5118	0.20	2.47	0.00	0.000	5254	0.239	0.080	2625	2100	2243	2294	2192	0	0	0	0	0	0	13.93	14.08	14.17
5444	0.12	272.3	2622	2101	2295	2185	345.5	10.2	453	5449	0.00	2.45	0.00	0.000	516	0.000	0.084	2630	694	2239	2294	2184	0	0	0	0	0	0	14.58	14.22	14.59
5479	0.17	273.8	2631	693	2294	2184	341.8	9.9	460	5484	0.00	2.45	0.00	0.000	1190	0.000	0.079	2630	2103	2238	2293	2184	0	0	0	0	0	0	14.37	14.24	14.41
5804	0.18	276.3	2630	2106	2294	2184	309.5	9.9	475	5805	0.00	0.00	0.00	0.000	38	0.000	0.000	2630	2105	2238	2293	2183	0	0	0	0	0	0	14.64	14.65	14.65
6105	0.21	292.8	2629	2106	2293	2183	281.0	9.2	485	6140	0.00	2.47	29.60	1.428	8868	0.000	0.085	2630	693	2168	2221	2116	0	0	0	0	0	0	14.67	14.16	13.35
6192	0.33	332.1	2630	694	2210	2113	273.5	8.2	502	6266	0.17	2.45	68.18	1.314	11430	0.109	0.078	2696	2101	2012	2059	1966	0	0	0	0	0	0	14.23	14.15	13.17
6586	0.29	332.1	2697	2101	2046	1945	224.3	12.0	531	6591	0.00	2.47	0.00	0.000	644	0.000	0.084	2699	690	1995	2045	1945	0	0	0	0	0	0	14.52	14.16	14.53
6656	0.29	332.1	2699	691	2043	1946	216.4	10.9	545	6662	0.00	2.50	0.00	0.000	1030	0.000	0.080	2699	2108	1992	2042	1942	0	0	0	0	0	0	14.33	14.21	14.38
6977	0.26	332.1	2699	2110	2041	1943	181.7	10.5	559	6982	0.12	2.45	0.00	0.000	4740	0.230	0.083	2672	694	1992	2042	1942	0	0	0	0	0	0	14.14	14.19	14.26
7023	0.37	367.4	2672	695	2041	1943	177.7	8.4	568	7088	0.00	2.45	58.90	1.295	9382	0.000	0.080	2673	2104	1868	1905	1831	0	0	0	0	0	0	14.35	14.22	13.28
7398	0.48	407.4	2673	2108	1891	1818	146.5	8.2	593	7478	0.20	2.58	73.20	1.239	10916	0.106	0.088	2757	698	1698	1725	1671	0	0	0	0	0	0	14.30	13.93	13.22
7499	0.42	407.4	2756	699	1718	1669	133.5	13.9	603	7504	0.17	2.50	0.00	0.000	5254	0.242	0.079	2720	2111	1692	1717	1667	0	0	0	0	0	0	13.85	13.99	14.08
7819	0.45	412.0	2719	2113	1717	1657	100.7	9.8	617	7825	0.00	2.50	0.00	0.000	676	0.000	0.085	2731	694	1686	1716	1656	0	0	0	0	0	0	14.52	14.14	14.53
7897	0.54	437.1	2728	694	1715	1660	93.7	8.8	629	7918	0.00	2.45	14.23	0.469	9382	0.000	0.077	2726	2098	1581	1614	1549	0	0	0	0	0	0	14.26	14.12	13.58
8215	0.65	502.4	2726	2105	1618	1555	67.0	7.0	663	8258	0.17	2.53	35.20	0.398	10916	0.107	0.087	2807	688	1315	1365	1265	0	0	0	0	0	0	14.16	13.98	13.64
8314	0.65	502.4	2808	686	1366	1270	56.8	10.4	682	8320	0.00	2.50	0.00	0.000	1030	0.000	0.079	2808	2101	1316	1364	1269	0	0	0	0	0	0	14.16	14.07	14.19
8618	0.67	533.9	2808	2101	1366	1269	30.3	8.5	713	8639	0.00	0.00	17.60	0.301	8230	0.000	0.000	2808	2101	1185	1244	1127	0	0	0	0	0	0	14.40	14.00	13.70
8938	0.83	655.3	2808	2102	1245	1136	9.6	4.4	745	9011	0.12	2.58	64.82	0.231	10916	0.133	0.088	2876	692	689	749	629	0	0	0	0	0	0	14.16	13.89	13.81
9035	end climb: SURFACE_DEPTH_REACHED
state	9035	begin surface coast
9044	end surface coast: CONTROL_FINISHED_OK
state	9044	begin surface