Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 187 * 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 187 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 529.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 529.0 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 26 VBD_MIN 500

DIVE 187 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 280817,164924,7408.5747,-15244.5859,17,0.7,20,19.7,0.0,0.0,12,9.1 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 1.28 MHEAD_RNG_PITCHd_Wd 280.6,40175,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 280817,171237,7408.6948,-15244.7539,10,0.7,21,19.7,0.4,337.8,11,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.021180 _24V_AH 12.32,132.694

SM_CCo 9080,48.00,0.210,0,0,499,702.78 _10V_AH 12.22,0.000

SM_GC 1.19,8.20,0.17,48.00,0.070,0.107,0.210,195,2236,499,-7.39,-0.68,702.78,0,0,0,0,0,0,14.34,14.35,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7407.576660,-15243.542969,280817,161659,4,255,0.18 MEM 323480

IRIDIUM_FIX 7407.64,-15247.43,280817,170624 DATA_FILE_SIZE 30062,831

TT8_MAMPS 0.039697,0.869589 CAP_FILE_SIZE 114444,0

HUMID 47.20 CFSIZE 2097872896,2030108672

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1448.4

XPDR_PINGS 19 CURRENT 0.019,252.00,1

CP_FREE 0.000000 GPS 280817,194634,7409.513,-15247.867,30,0.8,31,19.7,0.7,292.1,10,7.2

PM_FREEKB_00 52362176

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 145.03 nil 0 0 0.00

Roll_motor 89 2148 2364.63 nil 0 0 0.00

VBD_pump_during_apogee 923 1534 17463.61 nil 0 0 0.00

VBD_pump_during_surface 48 209 123.95 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 9043 14 1625.25

Iridium_during_xfer 849 173 1816.48 NCP 9085 20 2238.54

Transponder_ping 4 420 24.58 PMAR 9032 10 1147.91

GUMSTIX_24V 0 0 0.00

GPS 23 22 6.34

TT8 0 0 0.00

LPSleep 6608 2 186.55

TT8_Active 983 13 167.95

TT8_Sampling 2590 33 1058.73

TT8_CF8 352 38 166.48

TT8_Kalman 0 0 0.00

Analog_circuits 2613 10 319.37

GPS_charging 0 0 0.00

Compass 1190 7 101.79

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 -145.9 197 2222 491 490 0.0 0.0 0 141 0.00 0.00 -91.35 0.000 16386 0.000 0.000 195 2225 2159 2086 2233 0 0 0 0 0 0 14.53 28.83 14.54

144 -0.57 -145.9 196 2222 2089 2235 3.7 -4.9 9 198 12.70 2.78 -35.50 0.000 18724 0.457 2.148 2377 3594 3964 3947 3981 0 0 0 0 0 0 13.58 12.59 14.04

423 -0.73 -145.9 2379 3596 3955 3982 58.5 -12.2 64 430 0.00 2.38 0.00 0.000 1158 0.000 0.055 2377 2194 3967 3954 3981 0 0 0 0 0 0 14.23 14.16 14.26

730 -0.82 -145.9 2377 2193 3964 3982 100.0 -12.0 95 735 0.17 2.47 0.00 0.000 4484 0.123 0.086 2293 3597 3968 3955 3981 0 0 0 0 0 0 14.11 14.06 14.18

890 -0.87 -145.9 2294 3598 3955 3981 124.2 -14.4 127 895 0.00 2.38 0.00 0.000 1158 0.000 0.059 2293 2197 3967 3954 3981 0 0 0 0 0 0 14.23 14.16 14.24

1210 -0.87 -145.9 2293 2197 3955 3982 175.4 -15.3 141 1215 0.00 2.45 0.00 0.000 260 0.000 0.086 2283 3595 3968 3955 3981 0 0 0 0 0 0 14.64 14.16 14.66

1285 -0.94 -145.9 2284 3597 3956 3981 185.9 -12.9 156 1291 0.00 2.38 0.00 0.000 1158 0.000 0.058 2283 2191 3968 3955 3981 0 0 0 0 0 0 14.32 14.19 14.36

1601 -0.94 -145.9 2284 2191 3956 3981 230.4 -13.6 169 1606 0.00 2.47 0.00 0.000 260 0.000 0.087 2275 3602 3968 3955 3981 0 0 0 0 0 0 14.64 14.21 14.68

1676 -1.04 -145.9 2276 3603 3956 3981 240.0 -11.7 184 1682 0.00 2.40 0.00 0.000 1158 0.000 0.057 2275 2191 3968 3955 3981 0 0 0 0 0 0 14.38 14.27 14.42

1992 -1.07 -145.9 2275 2190 3956 3981 280.4 -12.2 197 1997 0.12 2.47 0.00 0.000 4484 0.144 0.087 2222 3594 3967 3954 3981 0 0 0 0 0 0 14.25 14.17 14.29

2077 -1.07 -145.9 2222 3597 3955 3982 293.0 -15.0 214 2083 0.00 2.35 0.00 0.000 1030 0.000 0.056 2222 2201 3968 3955 3981 0 0 0 0 0 0 13.93 13.94 13.95

2383 -1.00 -145.9 2222 2199 3956 3979 341.3 -15.4 225 2388 0.12 2.45 0.00 0.000 2436 0.310 0.085 2241 3595 3967 3954 3980 0 0 0 0 0 0 13.94 14.21 14.11

2480 -1.06 -145.9 2242 3597 3956 3981 353.7 -12.2 244 2486 0.00 2.35 0.00 0.000 1158 0.000 0.057 2241 2201 3967 3954 3980 0 0 0 0 0 0 14.19 14.05 14.18

2806 -1.06 -145.9 2241 2200 3956 3981 396.1 -12.9 259 2811 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3595 3967 3954 3980 0 0 0 0 0 0 14.67 14.21 14.69

2871 -1.12 -145.9 2236 3597 3955 3980 404.4 -12.2 272 2877 0.00 2.38 0.00 0.000 1158 0.000 0.058 2236 2198 3966 3954 3979 0 0 0 0 0 0 14.21 14.09 14.27

3197 -1.12 -145.9 2236 2197 3956 3979 447.2 -13.0 287 3202 0.00 2.47 0.00 0.000 260 0.000 0.089 2235 3603 3967 3955 3979 0 0 0 0 0 0 14.66 14.16 14.67

3282 -1.19 -145.9 2236 3603 3955 3980 457.4 -11.1 304 3289 0.12 2.38 0.00 0.000 5254 0.141 0.057 2186 2201 3970 3954 3986 0 0 0 0 0 0 14.21 14.21 14.34

3434 end dive: TARGET_DEPTH_EXCEEDED

state 3434 begin apogee

3440 -0.13 0.0 2185 2057 3955 3978 483.2 -17.3 310 3662 1.40 0.05 217.30 1.455 10246 0.269 0.219 2526 2091 3364 3390 3339 0 0 0 0 0 0 13.86 13.40 12.65

3665 end apogee: CONTROL_FINISHED_OK

state 3665 begin climb

3670 0.57 145.9 2528 2091 3384 3333 494.3 0.0 317 3890 0.75 2.72 206.40 1.397 10500 0.063 0.074 2781 3507 2761 2806 2716 0 0 0 0 0 0 13.58 13.12 12.32

4115 0.11 145.9 2781 3508 2791 2717 466.8 16.6 400 4122 0.82 2.42 0.00 0.000 5254 0.353 0.056 2624 2126 2754 2791 2718 0 0 0 0 0 0 13.43 13.75 13.77

4421 0.03 183.5 2624 2126 2792 2716 440.0 8.3 411 4483 0.12 2.53 52.83 1.446 12708 0.295 0.083 2595 3529 2609 2659 2559 0 0 0 0 0 0 13.88 13.88 13.09

4588 0.01 203.1 2595 3532 2654 2559 425.8 9.1 444 4618 0.00 2.45 26.05 1.510 9382 0.000 0.058 2600 2101 2539 2593 2485 0 0 0 0 0 0 14.17 14.07 13.07

4935 0.03 237.1 2602 2102 2586 2471 396.6 8.4 463 4995 0.00 2.55 50.67 1.431 8740 0.000 0.088 2602 698 2393 2445 2341 0 0 0 0 0 0 14.50 13.95 13.15

5038 0.14 271.5 2602 700 2442 2348 387.9 8.4 483 5097 0.00 2.47 52.12 1.405 9382 0.000 0.079 2603 2101 2256 2310 2202 0 0 0 0 0 0 14.13 14.02 13.02

5417 0.22 300.1 2603 2102 2304 2189 354.5 8.7 509 5461 0.12 0.00 41.95 1.414 10918 0.133 0.000 2668 2101 2142 2197 2088 0 0 0 0 0 0 14.13 13.99 13.18

5749 0.18 300.1 2669 2102 2187 2076 312.1 12.7 525 5754 0.12 2.47 0.00 0.000 4740 0.264 0.083 2647 685 2130 2186 2075 0 0 0 0 0 0 14.03 14.19 14.17

5834 0.24 300.1 2650 685 2182 2076 302.8 10.2 542 5842 0.00 2.47 0.00 0.000 1158 0.000 0.079 2647 2099 2128 2182 2075 0 0 0 0 0 0 14.20 14.09 14.23

6139 0.24 300.1 2648 2100 2183 2075 269.8 10.6 553 6144 0.00 2.45 0.00 0.000 516 0.000 0.086 2647 692 2128 2183 2074 0 0 0 0 0 0 14.62 14.26 14.66

6210 0.32 310.3 2647 693 2189 2075 262.9 9.5 567 6232 0.12 2.47 12.45 1.535 11430 0.128 0.079 2698 2106 2097 2150 2044 0 0 0 0 0 0 14.33 14.27 13.32

6531 0.25 310.3 2699 2107 2147 2041 223.1 12.0 581 6533 0.15 0.00 0.00 0.000 4230 0.225 0.000 2665 2106 2093 2146 2040 0 0 0 0 0 0 14.14 14.42 14.38

6829 0.27 336.5 2665 2107 2147 2038 196.1 8.8 591 6879 0.00 2.50 43.55 1.379 8740 0.000 0.087 2672 691 1991 2041 1942 0 0 0 0 0 0 14.64 14.13 13.33

6926 0.38 367.7 2672 692 2035 1943 187.9 8.6 610 6985 0.00 2.47 51.83 1.307 9382 0.000 0.080 2672 2101 1867 1903 1832 0 0 0 0 0 0 14.26 14.13 13.15

7311 0.46 398.9 2673 2102 1893 1822 154.4 8.6 637 7371 0.15 2.53 53.28 1.289 10916 0.121 0.087 2752 691 1735 1761 1709 0 0 0 0 0 0 14.23 13.95 13.25

7417 0.43 398.9 2752 691 1755 1710 141.3 12.6 658 7423 0.12 2.50 0.00 0.000 5254 0.250 0.080 2726 2099 1731 1753 1709 0 0 0 0 0 0 13.88 14.00 14.09

7733 0.43 398.9 2726 2100 1754 1701 105.5 10.8 671 7738 0.00 2.47 0.00 0.000 516 0.000 0.086 2732 689 1726 1753 1700 0 0 0 0 0 0 14.55 14.20 14.55

7788 0.49 400.8 2733 689 1750 1701 99.8 9.9 682 7795 0.00 2.45 0.00 0.000 1190 0.000 0.080 2733 2098 1725 1751 1700 0 0 0 0 0 0 14.32 14.19 14.35

8093 0.51 435.2 2733 2098 1752 1699 70.9 8.4 713 8116 0.00 2.55 18.25 0.417 8740 0.000 0.084 2737 688 1590 1619 1561 0 0 0 0 0 0 14.60 14.16 13.62

8198 0.65 497.0 2738 687 1620 1560 63.4 7.1 733 8236 0.17 2.47 33.00 0.389 11430 0.107 0.077 2802 2108 1339 1385 1293 0 0 0 0 0 0 14.26 14.19 13.74

8541 0.68 543.7 2802 2109 1385 1284 32.0 7.8 771 8573 0.00 2.50 24.50 0.299 8740 0.000 0.085 2807 692 1151 1216 1086 0 0 0 0 0 0 14.56 14.09 13.83

8635 0.79 586.7 2808 692 1210 1087 24.6 8.0 789 8667 0.00 2.47 23.67 0.280 9382 0.000 0.078 2808 2099 970 1037 903 0 0 0 0 0 0 14.22 14.11 13.84

8963 0.97 688.9 2808 2100 1038 896 3.0 5.3 825 8981 0.25 0.00 15.85 0.218 10914 0.091 0.000 2900 2099 849 914 784 0 0 0 0 0 0 14.28 28.83 14.36

8981 end climb: SURFACE_DEPTH_REACHED

state 8981 begin surface coast

9014 end surface coast: CONTROL_FINISHED_OK

state 9014 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	187	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	529.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,164924,7408.5747,-15244.5859,17,0.7,20,19.7,0.0,0.0,12,9.1	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	1.28	MHEAD_RNG_PITCHd_Wd	280.6,40175,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	280817,171237,7408.6948,-15244.7539,10,0.7,21,19.7,0.4,337.8,11,10.0

FINISH	0.4,1.021180	_24V_AH	12.32,132.694
SM_CCo	9080,48.00,0.210,0,0,499,702.78	_10V_AH	12.22,0.000
SM_GC	1.19,8.20,0.17,48.00,0.070,0.107,0.210,195,2236,499,-7.39,-0.68,702.78,0,0,0,0,0,0,14.34,14.35,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7407.576660,-15243.542969,280817,161659,4,255,0.18	MEM	323480
IRIDIUM_FIX	7407.64,-15247.43,280817,170624	DATA_FILE_SIZE	30062,831
TT8_MAMPS	0.039697,0.869589	CAP_FILE_SIZE	114444,0
HUMID	47.20	CFSIZE	2097872896,2030108672
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1448.4
XPDR_PINGS	19	CURRENT	0.019,252.00,1
CP_FREE	0.000000	GPS	280817,194634,7409.513,-15247.867,30,0.8,31,19.7,0.7,292.1,10,7.2
PM_FREEKB_00	52362176

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	145.03	nil	0	0	0.00
Roll_motor	89	2148	2364.63	nil	0	0	0.00
VBD_pump_during_apogee	923	1534	17463.61	nil	0	0	0.00
VBD_pump_during_surface	48	209	123.95	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	9043	14	1625.25
Iridium_during_xfer	849	173	1816.48	NCP	9085	20	2238.54
Transponder_ping	4	420	24.58	PMAR	9032	10	1147.91
GUMSTIX_24V	0	0	0.00
GPS	23	22	6.34
TT8	0	0	0.00
LPSleep	6608	2	186.55
TT8_Active	983	13	167.95
TT8_Sampling	2590	33	1058.73
TT8_CF8	352	38	166.48
TT8_Kalman	0	0	0.00
Analog_circuits	2613	10	319.37
GPS_charging	0	0	0.00
Compass	1190	7	101.79
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	197	2222	491	490	0.0	0.0	0	141	0.00	0.00	-91.35	0.000	16386	0.000	0.000	195	2225	2159	2086	2233	0	0	0	0	0	0	14.53	28.83	14.54
144	-0.57	-145.9	196	2222	2089	2235	3.7	-4.9	9	198	12.70	2.78	-35.50	0.000	18724	0.457	2.148	2377	3594	3964	3947	3981	0	0	0	0	0	0	13.58	12.59	14.04
423	-0.73	-145.9	2379	3596	3955	3982	58.5	-12.2	64	430	0.00	2.38	0.00	0.000	1158	0.000	0.055	2377	2194	3967	3954	3981	0	0	0	0	0	0	14.23	14.16	14.26
730	-0.82	-145.9	2377	2193	3964	3982	100.0	-12.0	95	735	0.17	2.47	0.00	0.000	4484	0.123	0.086	2293	3597	3968	3955	3981	0	0	0	0	0	0	14.11	14.06	14.18
890	-0.87	-145.9	2294	3598	3955	3981	124.2	-14.4	127	895	0.00	2.38	0.00	0.000	1158	0.000	0.059	2293	2197	3967	3954	3981	0	0	0	0	0	0	14.23	14.16	14.24
1210	-0.87	-145.9	2293	2197	3955	3982	175.4	-15.3	141	1215	0.00	2.45	0.00	0.000	260	0.000	0.086	2283	3595	3968	3955	3981	0	0	0	0	0	0	14.64	14.16	14.66
1285	-0.94	-145.9	2284	3597	3956	3981	185.9	-12.9	156	1291	0.00	2.38	0.00	0.000	1158	0.000	0.058	2283	2191	3968	3955	3981	0	0	0	0	0	0	14.32	14.19	14.36
1601	-0.94	-145.9	2284	2191	3956	3981	230.4	-13.6	169	1606	0.00	2.47	0.00	0.000	260	0.000	0.087	2275	3602	3968	3955	3981	0	0	0	0	0	0	14.64	14.21	14.68
1676	-1.04	-145.9	2276	3603	3956	3981	240.0	-11.7	184	1682	0.00	2.40	0.00	0.000	1158	0.000	0.057	2275	2191	3968	3955	3981	0	0	0	0	0	0	14.38	14.27	14.42
1992	-1.07	-145.9	2275	2190	3956	3981	280.4	-12.2	197	1997	0.12	2.47	0.00	0.000	4484	0.144	0.087	2222	3594	3967	3954	3981	0	0	0	0	0	0	14.25	14.17	14.29
2077	-1.07	-145.9	2222	3597	3955	3982	293.0	-15.0	214	2083	0.00	2.35	0.00	0.000	1030	0.000	0.056	2222	2201	3968	3955	3981	0	0	0	0	0	0	13.93	13.94	13.95
2383	-1.00	-145.9	2222	2199	3956	3979	341.3	-15.4	225	2388	0.12	2.45	0.00	0.000	2436	0.310	0.085	2241	3595	3967	3954	3980	0	0	0	0	0	0	13.94	14.21	14.11
2480	-1.06	-145.9	2242	3597	3956	3981	353.7	-12.2	244	2486	0.00	2.35	0.00	0.000	1158	0.000	0.057	2241	2201	3967	3954	3980	0	0	0	0	0	0	14.19	14.05	14.18
2806	-1.06	-145.9	2241	2200	3956	3981	396.1	-12.9	259	2811	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3595	3967	3954	3980	0	0	0	0	0	0	14.67	14.21	14.69
2871	-1.12	-145.9	2236	3597	3955	3980	404.4	-12.2	272	2877	0.00	2.38	0.00	0.000	1158	0.000	0.058	2236	2198	3966	3954	3979	0	0	0	0	0	0	14.21	14.09	14.27
3197	-1.12	-145.9	2236	2197	3956	3979	447.2	-13.0	287	3202	0.00	2.47	0.00	0.000	260	0.000	0.089	2235	3603	3967	3955	3979	0	0	0	0	0	0	14.66	14.16	14.67
3282	-1.19	-145.9	2236	3603	3955	3980	457.4	-11.1	304	3289	0.12	2.38	0.00	0.000	5254	0.141	0.057	2186	2201	3970	3954	3986	0	0	0	0	0	0	14.21	14.21	14.34
3434	end dive: TARGET_DEPTH_EXCEEDED
state	3434	begin apogee
3440	-0.13	0.0	2185	2057	3955	3978	483.2	-17.3	310	3662	1.40	0.05	217.30	1.455	10246	0.269	0.219	2526	2091	3364	3390	3339	0	0	0	0	0	0	13.86	13.40	12.65
3665	end apogee: CONTROL_FINISHED_OK
state	3665	begin climb
3670	0.57	145.9	2528	2091	3384	3333	494.3	0.0	317	3890	0.75	2.72	206.40	1.397	10500	0.063	0.074	2781	3507	2761	2806	2716	0	0	0	0	0	0	13.58	13.12	12.32
4115	0.11	145.9	2781	3508	2791	2717	466.8	16.6	400	4122	0.82	2.42	0.00	0.000	5254	0.353	0.056	2624	2126	2754	2791	2718	0	0	0	0	0	0	13.43	13.75	13.77
4421	0.03	183.5	2624	2126	2792	2716	440.0	8.3	411	4483	0.12	2.53	52.83	1.446	12708	0.295	0.083	2595	3529	2609	2659	2559	0	0	0	0	0	0	13.88	13.88	13.09
4588	0.01	203.1	2595	3532	2654	2559	425.8	9.1	444	4618	0.00	2.45	26.05	1.510	9382	0.000	0.058	2600	2101	2539	2593	2485	0	0	0	0	0	0	14.17	14.07	13.07
4935	0.03	237.1	2602	2102	2586	2471	396.6	8.4	463	4995	0.00	2.55	50.67	1.431	8740	0.000	0.088	2602	698	2393	2445	2341	0	0	0	0	0	0	14.50	13.95	13.15
5038	0.14	271.5	2602	700	2442	2348	387.9	8.4	483	5097	0.00	2.47	52.12	1.405	9382	0.000	0.079	2603	2101	2256	2310	2202	0	0	0	0	0	0	14.13	14.02	13.02
5417	0.22	300.1	2603	2102	2304	2189	354.5	8.7	509	5461	0.12	0.00	41.95	1.414	10918	0.133	0.000	2668	2101	2142	2197	2088	0	0	0	0	0	0	14.13	13.99	13.18
5749	0.18	300.1	2669	2102	2187	2076	312.1	12.7	525	5754	0.12	2.47	0.00	0.000	4740	0.264	0.083	2647	685	2130	2186	2075	0	0	0	0	0	0	14.03	14.19	14.17
5834	0.24	300.1	2650	685	2182	2076	302.8	10.2	542	5842	0.00	2.47	0.00	0.000	1158	0.000	0.079	2647	2099	2128	2182	2075	0	0	0	0	0	0	14.20	14.09	14.23
6139	0.24	300.1	2648	2100	2183	2075	269.8	10.6	553	6144	0.00	2.45	0.00	0.000	516	0.000	0.086	2647	692	2128	2183	2074	0	0	0	0	0	0	14.62	14.26	14.66
6210	0.32	310.3	2647	693	2189	2075	262.9	9.5	567	6232	0.12	2.47	12.45	1.535	11430	0.128	0.079	2698	2106	2097	2150	2044	0	0	0	0	0	0	14.33	14.27	13.32
6531	0.25	310.3	2699	2107	2147	2041	223.1	12.0	581	6533	0.15	0.00	0.00	0.000	4230	0.225	0.000	2665	2106	2093	2146	2040	0	0	0	0	0	0	14.14	14.42	14.38
6829	0.27	336.5	2665	2107	2147	2038	196.1	8.8	591	6879	0.00	2.50	43.55	1.379	8740	0.000	0.087	2672	691	1991	2041	1942	0	0	0	0	0	0	14.64	14.13	13.33
6926	0.38	367.7	2672	692	2035	1943	187.9	8.6	610	6985	0.00	2.47	51.83	1.307	9382	0.000	0.080	2672	2101	1867	1903	1832	0	0	0	0	0	0	14.26	14.13	13.15
7311	0.46	398.9	2673	2102	1893	1822	154.4	8.6	637	7371	0.15	2.53	53.28	1.289	10916	0.121	0.087	2752	691	1735	1761	1709	0	0	0	0	0	0	14.23	13.95	13.25
7417	0.43	398.9	2752	691	1755	1710	141.3	12.6	658	7423	0.12	2.50	0.00	0.000	5254	0.250	0.080	2726	2099	1731	1753	1709	0	0	0	0	0	0	13.88	14.00	14.09
7733	0.43	398.9	2726	2100	1754	1701	105.5	10.8	671	7738	0.00	2.47	0.00	0.000	516	0.000	0.086	2732	689	1726	1753	1700	0	0	0	0	0	0	14.55	14.20	14.55
7788	0.49	400.8	2733	689	1750	1701	99.8	9.9	682	7795	0.00	2.45	0.00	0.000	1190	0.000	0.080	2733	2098	1725	1751	1700	0	0	0	0	0	0	14.32	14.19	14.35
8093	0.51	435.2	2733	2098	1752	1699	70.9	8.4	713	8116	0.00	2.55	18.25	0.417	8740	0.000	0.084	2737	688	1590	1619	1561	0	0	0	0	0	0	14.60	14.16	13.62
8198	0.65	497.0	2738	687	1620	1560	63.4	7.1	733	8236	0.17	2.47	33.00	0.389	11430	0.107	0.077	2802	2108	1339	1385	1293	0	0	0	0	0	0	14.26	14.19	13.74
8541	0.68	543.7	2802	2109	1385	1284	32.0	7.8	771	8573	0.00	2.50	24.50	0.299	8740	0.000	0.085	2807	692	1151	1216	1086	0	0	0	0	0	0	14.56	14.09	13.83
8635	0.79	586.7	2808	692	1210	1087	24.6	8.0	789	8667	0.00	2.47	23.67	0.280	9382	0.000	0.078	2808	2099	970	1037	903	0	0	0	0	0	0	14.22	14.11	13.84
8963	0.97	688.9	2808	2100	1038	896	3.0	5.3	825	8981	0.25	0.00	15.85	0.218	10914	0.091	0.000	2900	2099	849	914	784	0	0	0	0	0	0	14.28	28.83	14.36
8981	end climb: SURFACE_DEPTH_REACHED
state	8981	begin surface coast
9014	end surface coast: CONTROL_FINISHED_OK
state	9014	begin surface