Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 194 * 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 194 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 545.0

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 41 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 545.0 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 194 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 290817,125007,7414.1182,-15312.8379,19,0.7,22,19.5,0.6,2.5,12,8.1 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 1.18 MHEAD_RNG_PITCHd_Wd 278.4,23110,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.9 D_GRID 480

GPS2 290817,131248,7414.1562,-15313.2461,5,0.8,19,19.5,0.6,206.2,10,9.5

Post-dive calculations and measurements:

FINISH 0.8,1.021522 _24V_AH 12.35,136.130

SM_CCo 9075,52.62,0.207,0,0,498,702.78 _10V_AH 12.22,0.000

SM_GC 1.29,8.12,0.17,52.62,0.079,0.112,0.207,198,2234,498,-7.39,-0.42,702.78,0,0,0,0,0,0,14.31,14.31,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7413.061035,-15312.512695,290817,121205,3,255,0.28 MEM 323500

IRIDIUM_FIX 7416.61,-15315.45,290817,130428 DATA_FILE_SIZE 23449,697

TT8_MAMPS 0.040446,0.904043 CAP_FILE_SIZE 109354,0

HUMID 46.57 CFSIZE 2097872896,2028011520

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.40 SOUNDSPEED 1447.9

XPDR_PINGS 19 CURRENT 0.046,228.22,1

CP_FREE 15984951296.000000 GPS 290817,154651,7414.847,-15317.324,39,0.8,40,19.5,0.0,0.0,10,8.4

PM_FREEKB_00 52158464

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 143.00 nil 0 0 0.00

Roll_motor 87 2144 2329.76 nil 0 0 0.00

VBD_pump_during_apogee 962 1437 17084.83 nil 0 0 0.00

VBD_pump_during_surface 52 206 134.24 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 9085 13 1568.89

Iridium_during_xfer 823 169 1718.54 NCP 9071 20 2240.54

Transponder_ping 4 420 24.64 PMAR 9029 9 1099.58

GUMSTIX_24V 0 0 0.00

GPS 20 22 5.63

TT8 0 0 0.00

LPSleep 6788 2 191.63

TT8_Active 909 13 155.25

TT8_Sampling 2470 33 1009.41

TT8_CF8 330 38 156.25

TT8_Kalman 0 0 0.00

Analog_circuits 2564 10 313.44

GPS_charging 0 0 0.00

Compass 1000 7 85.60

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 -145.9 180 2225 510 475 0.0 0.0 0 151 0.00 0.00 -101.40 0.000 16386 0.000 0.000 179 2226 2388 2333 2443 0 0 0 0 0 0 14.49 28.83 14.50

154 -0.57 -145.9 179 2226 2336 2444 4.9 -7.8 10 201 12.73 2.70 -27.75 0.000 18724 0.454 2.144 2375 3587 3962 3941 3983 0 0 0 0 0 0 13.66 12.58 14.09

417 -0.71 -145.9 2375 3588 3949 3983 60.2 -11.8 62 421 0.00 2.30 0.00 0.000 1158 0.000 0.054 2374 2231 3965 3948 3983 0 0 0 0 0 0 14.23 14.13 14.26

727 -0.80 -145.9 2375 2230 3950 3983 100.0 -11.3 94 728 0.17 0.00 0.00 0.000 4230 0.124 0.000 2307 2230 3966 3949 3983 0 0 0 0 0 0 14.24 14.37 14.33

1037 -0.80 -145.9 2307 2231 3949 3984 147.2 -14.7 105 1043 0.00 2.40 0.00 0.000 260 0.000 0.087 2300 3593 3966 3949 3983 0 0 0 0 0 0 14.64 14.17 14.66

1098 -0.91 -145.9 2300 3594 3950 3984 155.3 -12.1 117 1104 0.00 2.38 0.00 0.000 1158 0.000 0.058 2300 2189 3966 3949 3983 0 0 0 0 0 0 14.33 14.19 14.38

1429 -0.94 -145.9 2300 2188 3950 3983 199.5 -13.1 133 1430 0.00 0.00 0.00 0.000 134 0.000 0.000 2299 2188 3966 3949 3983 0 0 0 0 0 0 14.66 14.69 14.69

1729 -0.99 -145.9 2300 2189 3950 3984 236.7 -12.2 143 1734 0.12 2.47 0.00 0.000 4484 0.134 0.086 2236 3595 3966 3949 3983 0 0 0 0 0 0 14.32 14.22 14.35

1841 -0.99 -145.9 2237 3597 3950 3984 253.1 -14.5 165 1846 0.00 2.35 0.00 0.000 1030 0.000 0.056 2236 2196 3966 3949 3983 0 0 0 0 0 0 14.40 14.28 14.43

2152 -0.95 -145.9 2236 2196 3950 3984 301.6 -15.0 177 2157 0.12 2.45 0.00 0.000 2436 0.293 0.084 2255 3592 3966 3949 3983 0 0 0 0 0 0 13.99 14.17 14.12

2269 -1.03 -145.9 2256 3593 3950 3984 315.2 -11.0 200 2275 0.00 2.35 0.00 0.000 1158 0.000 0.056 2255 2199 3968 3954 3983 0 0 0 0 0 0 14.35 14.23 14.38

2573 -1.05 -145.9 2255 2199 3950 3981 351.5 -11.8 211 2578 0.00 2.45 0.00 0.000 388 0.000 0.089 2247 3591 3965 3949 3982 0 0 0 0 0 0 14.66 14.16 14.68

2638 -1.14 -145.9 2247 3593 3949 3982 359.1 -11.0 224 2643 0.10 2.35 0.00 0.000 5254 0.158 0.056 2204 2195 3965 3949 3982 0 0 0 0 0 0 14.21 14.22 14.33

2963 -1.07 -145.9 2204 2194 3950 3980 410.2 -15.8 239 2968 0.12 2.45 0.00 0.000 2436 0.308 0.084 2222 3595 3964 3949 3980 0 0 0 0 0 0 13.97 14.21 14.16

3048 -1.09 -145.9 2222 3596 3950 3981 421.7 -12.5 256 3054 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2190 3964 3949 3980 0 0 0 0 0 0 14.37 14.24 14.41

3353 -1.06 -145.9 2223 2189 3950 3980 463.5 -13.7 267 3358 0.00 2.47 0.00 0.000 388 0.000 0.086 2214 3594 3964 3949 3980 0 0 0 0 0 0 14.69 14.21 14.69

3438 -1.06 -145.9 2216 3595 3950 3980 475.0 -12.9 284 3445 0.00 2.35 0.00 0.000 1030 0.000 0.056 2213 2198 3964 3949 3979 0 0 0 0 0 0 14.35 14.23 14.39

3501 end dive: TARGET_DEPTH_EXCEEDED

state 3501 begin apogee

3507 -0.13 0.0 2214 2056 3950 3982 484.0 -13.9 287 3738 1.25 0.00 227.35 1.411 10246 0.252 0.000 2528 2054 3365 3387 3343 0 0 0 0 0 0 13.93 13.47 12.67

3742 end apogee: CONTROL_FINISHED_OK

state 3742 begin climb

3744 0.57 145.9 2529 2054 3380 3334 494.6 0.0 294 3969 0.75 2.55 213.00 1.354 10756 0.064 0.080 2781 733 2758 2800 2716 0 0 0 0 0 0 13.58 12.94 12.35

4004 0.19 145.9 2781 734 2801 2710 499.7 13.2 303 4010 0.65 2.50 0.00 0.000 5254 0.329 0.075 2652 2080 2752 2800 2705 0 0 0 0 0 0 13.05 13.33 13.38

4325 0.03 148.9 2652 2081 2798 2700 467.2 9.9 317 4327 0.25 0.00 0.00 0.000 4262 0.265 0.000 2596 2081 2748 2797 2699 0 0 0 0 0 0 13.71 14.08 14.02

4626 0.03 210.0 2596 2081 2797 2699 445.3 7.2 327 4730 0.00 2.47 97.88 1.355 8868 0.000 0.083 2602 708 2502 2563 2442 0 0 0 0 0 0 14.54 13.82 13.03

4757 0.08 236.8 2600 708 2554 2435 435.1 8.8 348 4801 0.00 2.50 38.33 1.392 9382 0.000 0.080 2602 2108 2398 2459 2338 0 0 0 0 0 0 13.98 13.87 12.94

5108 0.12 258.7 2602 2108 2441 2317 403.2 9.0 368 5139 0.00 0.00 29.08 1.437 8358 0.000 0.000 2602 2108 2309 2366 2252 0 0 0 0 0 0 14.45 14.02 13.19

5436 0.19 288.5 2602 2109 2349 2234 374.3 8.6 379 5487 0.12 2.45 44.25 1.385 10916 0.132 0.086 2672 730 2182 2235 2130 0 0 0 0 0 0 14.26 14.04 13.21

5519 0.15 288.5 2668 730 2224 2128 364.2 13.8 395 5525 0.17 2.40 0.00 0.000 5254 0.245 0.079 2633 2105 2174 2223 2126 0 0 0 0 0 0 13.88 14.05 14.14

5830 0.15 288.5 2633 2101 2224 2117 329.8 10.8 407 5836 0.00 2.40 0.00 0.000 516 0.000 0.084 2640 727 2169 2222 2116 0 0 0 0 0 0 14.57 14.21 14.59

5871 0.20 288.5 2641 727 2221 2116 325.5 10.5 415 5877 0.00 2.38 0.00 0.000 1158 0.000 0.079 2640 2095 2168 2220 2116 0 0 0 0 0 0 14.33 14.21 14.37

6192 0.20 288.5 2641 2096 2221 2115 291.3 10.6 429 6193 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2096 2167 2219 2115 0 0 0 0 0 0 14.66 14.70 14.67

6492 0.21 297.1 2640 2097 2220 2114 261.9 9.6 439 6499 0.00 2.45 1.58 0.250 8740 0.000 0.083 2644 721 2153 2206 2101 0 0 0 0 0 0 14.68 14.29 14.03

6529 0.29 316.5 2644 721 2210 2108 258.5 9.1 446 6574 0.00 2.38 40.33 1.387 9382 0.000 0.078 2644 2099 2074 2125 2024 0 0 0 0 0 0 14.42 14.30 13.31

6886 0.35 349.5 2644 2099 2114 2011 227.8 8.5 467 6946 0.12 2.50 53.83 1.335 10916 0.128 0.084 2709 730 1935 1979 1892 0 0 0 0 0 0 14.33 13.62 13.24

6978 0.33 349.5 2711 730 1970 1892 217.2 12.0 485 6983 0.00 2.42 0.00 0.000 1158 0.000 0.076 2710 2103 1927 1964 1891 0 0 0 0 0 0 14.19 14.04 14.21

7308 0.28 349.5 2711 2105 1965 1887 176.9 11.8 501 7313 0.12 2.42 0.00 0.000 4740 0.239 0.081 2685 720 1925 1963 1887 0 0 0 0 0 0 13.94 14.13 14.06

7344 0.34 349.5 2686 721 1962 1888 173.2 10.1 508 7348 0.00 2.40 0.00 0.000 1158 0.000 0.080 2685 2102 1924 1961 1887 0 0 0 0 0 0 14.35 14.23 14.40

7669 0.38 372.7 2686 2103 1962 1886 143.0 8.9 523 7714 0.00 2.50 36.75 1.341 8868 0.000 0.085 2690 725 1841 1871 1811 0 0 0 0 0 0 14.64 14.10 13.33

7767 0.50 410.1 2686 727 1866 1812 134.7 8.3 542 7836 0.17 2.42 64.82 1.262 11430 0.112 0.079 2760 2105 1696 1719 1673 0 0 0 0 0 0 14.21 14.13 13.17

8142 0.44 410.1 2760 2105 1712 1652 86.1 11.7 576 8147 0.12 2.42 0.00 0.000 4740 0.257 0.081 2739 729 1681 1710 1652 0 0 0 0 0 0 13.94 14.13 14.09

8192 0.50 424.0 2739 730 1711 1653 81.1 9.4 586 8204 0.00 2.42 7.12 0.427 9382 0.000 0.078 2739 2109 1634 1664 1604 0 0 0 0 0 0 14.28 14.19 13.68

8502 0.58 493.5 2739 2109 1669 1604 53.8 6.8 618 8550 0.00 2.47 39.45 0.362 8868 0.000 0.085 2749 734 1352 1399 1306 0 0 0 0 0 0 14.56 14.07 13.77

8585 0.78 572.1 2743 736 1399 1308 48.4 6.4 634 8639 0.28 2.40 45.03 0.343 11430 0.090 0.079 2848 2105 1029 1101 958 0 0 0 0 0 0 14.12 14.14 13.71

8935 0.76 606.8 2848 2106 1101 953 12.1 8.4 674 8962 0.00 2.47 19.12 0.240 8868 0.000 0.086 2850 729 889 962 817 0 0 0 0 0 0 14.54 14.09 13.95

9044 0.84 622.4 2850 730 963 818 2.2 9.3 695 9052 0.00 2.42 4.50 0.223 9378 0.000 0.080 2850 2109 857 931 784 0 0 0 0 0 0 14.28 14.13 14.32

9053 end climb: SURFACE_DEPTH_REACHED

state 9053 begin surface coast

9055 end surface coast: CONTROL_FINISHED_OK

state 9055 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	194	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	545.0
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	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,125007,7414.1182,-15312.8379,19,0.7,22,19.5,0.6,2.5,12,8.1	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	1.18	MHEAD_RNG_PITCHd_Wd	278.4,23110,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.9	D_GRID	480
GPS2	290817,131248,7414.1562,-15313.2461,5,0.8,19,19.5,0.6,206.2,10,9.5

FINISH	0.8,1.021522	_24V_AH	12.35,136.130
SM_CCo	9075,52.62,0.207,0,0,498,702.78	_10V_AH	12.22,0.000
SM_GC	1.29,8.12,0.17,52.62,0.079,0.112,0.207,198,2234,498,-7.39,-0.42,702.78,0,0,0,0,0,0,14.31,14.31,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7413.061035,-15312.512695,290817,121205,3,255,0.28	MEM	323500
IRIDIUM_FIX	7416.61,-15315.45,290817,130428	DATA_FILE_SIZE	23449,697
TT8_MAMPS	0.040446,0.904043	CAP_FILE_SIZE	109354,0
HUMID	46.57	CFSIZE	2097872896,2028011520
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.40	SOUNDSPEED	1447.9
XPDR_PINGS	19	CURRENT	0.046,228.22,1
CP_FREE	15984951296.000000	GPS	290817,154651,7414.847,-15317.324,39,0.8,40,19.5,0.0,0.0,10,8.4
PM_FREEKB_00	52158464

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	143.00	nil	0	0	0.00
Roll_motor	87	2144	2329.76	nil	0	0	0.00
VBD_pump_during_apogee	962	1437	17084.83	nil	0	0	0.00
VBD_pump_during_surface	52	206	134.24	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	9085	13	1568.89
Iridium_during_xfer	823	169	1718.54	NCP	9071	20	2240.54
Transponder_ping	4	420	24.64	PMAR	9029	9	1099.58
GUMSTIX_24V	0	0	0.00
GPS	20	22	5.63
TT8	0	0	0.00
LPSleep	6788	2	191.63
TT8_Active	909	13	155.25
TT8_Sampling	2470	33	1009.41
TT8_CF8	330	38	156.25
TT8_Kalman	0	0	0.00
Analog_circuits	2564	10	313.44
GPS_charging	0	0	0.00
Compass	1000	7	85.60
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	180	2225	510	475	0.0	0.0	0	151	0.00	0.00	-101.40	0.000	16386	0.000	0.000	179	2226	2388	2333	2443	0	0	0	0	0	0	14.49	28.83	14.50
154	-0.57	-145.9	179	2226	2336	2444	4.9	-7.8	10	201	12.73	2.70	-27.75	0.000	18724	0.454	2.144	2375	3587	3962	3941	3983	0	0	0	0	0	0	13.66	12.58	14.09
417	-0.71	-145.9	2375	3588	3949	3983	60.2	-11.8	62	421	0.00	2.30	0.00	0.000	1158	0.000	0.054	2374	2231	3965	3948	3983	0	0	0	0	0	0	14.23	14.13	14.26
727	-0.80	-145.9	2375	2230	3950	3983	100.0	-11.3	94	728	0.17	0.00	0.00	0.000	4230	0.124	0.000	2307	2230	3966	3949	3983	0	0	0	0	0	0	14.24	14.37	14.33
1037	-0.80	-145.9	2307	2231	3949	3984	147.2	-14.7	105	1043	0.00	2.40	0.00	0.000	260	0.000	0.087	2300	3593	3966	3949	3983	0	0	0	0	0	0	14.64	14.17	14.66
1098	-0.91	-145.9	2300	3594	3950	3984	155.3	-12.1	117	1104	0.00	2.38	0.00	0.000	1158	0.000	0.058	2300	2189	3966	3949	3983	0	0	0	0	0	0	14.33	14.19	14.38
1429	-0.94	-145.9	2300	2188	3950	3983	199.5	-13.1	133	1430	0.00	0.00	0.00	0.000	134	0.000	0.000	2299	2188	3966	3949	3983	0	0	0	0	0	0	14.66	14.69	14.69
1729	-0.99	-145.9	2300	2189	3950	3984	236.7	-12.2	143	1734	0.12	2.47	0.00	0.000	4484	0.134	0.086	2236	3595	3966	3949	3983	0	0	0	0	0	0	14.32	14.22	14.35
1841	-0.99	-145.9	2237	3597	3950	3984	253.1	-14.5	165	1846	0.00	2.35	0.00	0.000	1030	0.000	0.056	2236	2196	3966	3949	3983	0	0	0	0	0	0	14.40	14.28	14.43
2152	-0.95	-145.9	2236	2196	3950	3984	301.6	-15.0	177	2157	0.12	2.45	0.00	0.000	2436	0.293	0.084	2255	3592	3966	3949	3983	0	0	0	0	0	0	13.99	14.17	14.12
2269	-1.03	-145.9	2256	3593	3950	3984	315.2	-11.0	200	2275	0.00	2.35	0.00	0.000	1158	0.000	0.056	2255	2199	3968	3954	3983	0	0	0	0	0	0	14.35	14.23	14.38
2573	-1.05	-145.9	2255	2199	3950	3981	351.5	-11.8	211	2578	0.00	2.45	0.00	0.000	388	0.000	0.089	2247	3591	3965	3949	3982	0	0	0	0	0	0	14.66	14.16	14.68
2638	-1.14	-145.9	2247	3593	3949	3982	359.1	-11.0	224	2643	0.10	2.35	0.00	0.000	5254	0.158	0.056	2204	2195	3965	3949	3982	0	0	0	0	0	0	14.21	14.22	14.33
2963	-1.07	-145.9	2204	2194	3950	3980	410.2	-15.8	239	2968	0.12	2.45	0.00	0.000	2436	0.308	0.084	2222	3595	3964	3949	3980	0	0	0	0	0	0	13.97	14.21	14.16
3048	-1.09	-145.9	2222	3596	3950	3981	421.7	-12.5	256	3054	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2190	3964	3949	3980	0	0	0	0	0	0	14.37	14.24	14.41
3353	-1.06	-145.9	2223	2189	3950	3980	463.5	-13.7	267	3358	0.00	2.47	0.00	0.000	388	0.000	0.086	2214	3594	3964	3949	3980	0	0	0	0	0	0	14.69	14.21	14.69
3438	-1.06	-145.9	2216	3595	3950	3980	475.0	-12.9	284	3445	0.00	2.35	0.00	0.000	1030	0.000	0.056	2213	2198	3964	3949	3979	0	0	0	0	0	0	14.35	14.23	14.39
3501	end dive: TARGET_DEPTH_EXCEEDED
state	3501	begin apogee
3507	-0.13	0.0	2214	2056	3950	3982	484.0	-13.9	287	3738	1.25	0.00	227.35	1.411	10246	0.252	0.000	2528	2054	3365	3387	3343	0	0	0	0	0	0	13.93	13.47	12.67
3742	end apogee: CONTROL_FINISHED_OK
state	3742	begin climb
3744	0.57	145.9	2529	2054	3380	3334	494.6	0.0	294	3969	0.75	2.55	213.00	1.354	10756	0.064	0.080	2781	733	2758	2800	2716	0	0	0	0	0	0	13.58	12.94	12.35
4004	0.19	145.9	2781	734	2801	2710	499.7	13.2	303	4010	0.65	2.50	0.00	0.000	5254	0.329	0.075	2652	2080	2752	2800	2705	0	0	0	0	0	0	13.05	13.33	13.38
4325	0.03	148.9	2652	2081	2798	2700	467.2	9.9	317	4327	0.25	0.00	0.00	0.000	4262	0.265	0.000	2596	2081	2748	2797	2699	0	0	0	0	0	0	13.71	14.08	14.02
4626	0.03	210.0	2596	2081	2797	2699	445.3	7.2	327	4730	0.00	2.47	97.88	1.355	8868	0.000	0.083	2602	708	2502	2563	2442	0	0	0	0	0	0	14.54	13.82	13.03
4757	0.08	236.8	2600	708	2554	2435	435.1	8.8	348	4801	0.00	2.50	38.33	1.392	9382	0.000	0.080	2602	2108	2398	2459	2338	0	0	0	0	0	0	13.98	13.87	12.94
5108	0.12	258.7	2602	2108	2441	2317	403.2	9.0	368	5139	0.00	0.00	29.08	1.437	8358	0.000	0.000	2602	2108	2309	2366	2252	0	0	0	0	0	0	14.45	14.02	13.19
5436	0.19	288.5	2602	2109	2349	2234	374.3	8.6	379	5487	0.12	2.45	44.25	1.385	10916	0.132	0.086	2672	730	2182	2235	2130	0	0	0	0	0	0	14.26	14.04	13.21
5519	0.15	288.5	2668	730	2224	2128	364.2	13.8	395	5525	0.17	2.40	0.00	0.000	5254	0.245	0.079	2633	2105	2174	2223	2126	0	0	0	0	0	0	13.88	14.05	14.14
5830	0.15	288.5	2633	2101	2224	2117	329.8	10.8	407	5836	0.00	2.40	0.00	0.000	516	0.000	0.084	2640	727	2169	2222	2116	0	0	0	0	0	0	14.57	14.21	14.59
5871	0.20	288.5	2641	727	2221	2116	325.5	10.5	415	5877	0.00	2.38	0.00	0.000	1158	0.000	0.079	2640	2095	2168	2220	2116	0	0	0	0	0	0	14.33	14.21	14.37
6192	0.20	288.5	2641	2096	2221	2115	291.3	10.6	429	6193	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2096	2167	2219	2115	0	0	0	0	0	0	14.66	14.70	14.67
6492	0.21	297.1	2640	2097	2220	2114	261.9	9.6	439	6499	0.00	2.45	1.58	0.250	8740	0.000	0.083	2644	721	2153	2206	2101	0	0	0	0	0	0	14.68	14.29	14.03
6529	0.29	316.5	2644	721	2210	2108	258.5	9.1	446	6574	0.00	2.38	40.33	1.387	9382	0.000	0.078	2644	2099	2074	2125	2024	0	0	0	0	0	0	14.42	14.30	13.31
6886	0.35	349.5	2644	2099	2114	2011	227.8	8.5	467	6946	0.12	2.50	53.83	1.335	10916	0.128	0.084	2709	730	1935	1979	1892	0	0	0	0	0	0	14.33	13.62	13.24
6978	0.33	349.5	2711	730	1970	1892	217.2	12.0	485	6983	0.00	2.42	0.00	0.000	1158	0.000	0.076	2710	2103	1927	1964	1891	0	0	0	0	0	0	14.19	14.04	14.21
7308	0.28	349.5	2711	2105	1965	1887	176.9	11.8	501	7313	0.12	2.42	0.00	0.000	4740	0.239	0.081	2685	720	1925	1963	1887	0	0	0	0	0	0	13.94	14.13	14.06
7344	0.34	349.5	2686	721	1962	1888	173.2	10.1	508	7348	0.00	2.40	0.00	0.000	1158	0.000	0.080	2685	2102	1924	1961	1887	0	0	0	0	0	0	14.35	14.23	14.40
7669	0.38	372.7	2686	2103	1962	1886	143.0	8.9	523	7714	0.00	2.50	36.75	1.341	8868	0.000	0.085	2690	725	1841	1871	1811	0	0	0	0	0	0	14.64	14.10	13.33
7767	0.50	410.1	2686	727	1866	1812	134.7	8.3	542	7836	0.17	2.42	64.82	1.262	11430	0.112	0.079	2760	2105	1696	1719	1673	0	0	0	0	0	0	14.21	14.13	13.17
8142	0.44	410.1	2760	2105	1712	1652	86.1	11.7	576	8147	0.12	2.42	0.00	0.000	4740	0.257	0.081	2739	729	1681	1710	1652	0	0	0	0	0	0	13.94	14.13	14.09
8192	0.50	424.0	2739	730	1711	1653	81.1	9.4	586	8204	0.00	2.42	7.12	0.427	9382	0.000	0.078	2739	2109	1634	1664	1604	0	0	0	0	0	0	14.28	14.19	13.68
8502	0.58	493.5	2739	2109	1669	1604	53.8	6.8	618	8550	0.00	2.47	39.45	0.362	8868	0.000	0.085	2749	734	1352	1399	1306	0	0	0	0	0	0	14.56	14.07	13.77
8585	0.78	572.1	2743	736	1399	1308	48.4	6.4	634	8639	0.28	2.40	45.03	0.343	11430	0.090	0.079	2848	2105	1029	1101	958	0	0	0	0	0	0	14.12	14.14	13.71
8935	0.76	606.8	2848	2106	1101	953	12.1	8.4	674	8962	0.00	2.47	19.12	0.240	8868	0.000	0.086	2850	729	889	962	817	0	0	0	0	0	0	14.54	14.09	13.95
9044	0.84	622.4	2850	730	963	818	2.2	9.3	695	9052	0.00	2.42	4.50	0.223	9378	0.000	0.080	2850	2109	857	931	784	0	0	0	0	0	0	14.28	14.13	14.32
9053	end climb: SURFACE_DEPTH_REACHED
state	9053	begin surface coast
9055	end surface coast: CONTROL_FINISHED_OK
state	9055	begin surface