Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 197 * 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 197 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 555.0

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 33 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 555.0 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 197 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 290817,212525,7415.8643,-15325.1387,38,0.8,39,19.4,0.4,224.7,10,7.8 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 1.20 MHEAD_RNG_PITCHd_Wd 275.0,16471,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.5 D_GRID 480

GPS2 290817,215213,7415.8105,-15325.2373,11,0.8,11,19.4,0.0,358.3,9,7.2

Post-dive calculations and measurements:

FINISH 0.1,1.019765 _24V_AH 12.35,137.633

SM_CCo 8931,11.80,0.216,0,0,497,702.78 _10V_AH 12.40,0.000

SM_GC 1.42,8.32,0.17,11.80,0.073,0.122,0.216,204,2218,497,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.13,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 65 FG_AHR_10Vo 0.000

RAFOS_FIX 7415.113770,-15322.087891,290817,202058,3,255,0.14 MEM 323392

IRIDIUM_FIX 7414.76,-15319.02,290817,214245 DATA_FILE_SIZE 26674,739

TT8_MAMPS 0.085386,0.951979 CAP_FILE_SIZE 110820,0

HUMID 44.40 CFSIZE 2097872896,2027061248

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

TCM_TEMP 13.20 SOUNDSPEED 1447.9

XPDR_PINGS 21 CURRENT 0.053,194.35,1

CP_FREE 15984164864.000000 GPS 300817,002305,7416.342,-15329.034,26,0.9,30,19.4,0.4,120.4,9,9.5

PM_FREEKB_00 52073024

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.83 nil 0 0 0.00

Roll_motor 88 2145 2352.62 nil 0 0 0.00

VBD_pump_during_apogee 1009 1540 19208.53 nil 0 0 0.00

VBD_pump_during_surface 11 215 31.44 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 8940 14 1548.04

Iridium_during_xfer 1071 182 2419.01 NCP 8937 20 2207.44

Transponder_ping 5 420 27.23 PMAR 8886 9 1083.48

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.62

TT8 0 0 0.00

LPSleep 6585 2 188.62

TT8_Active 1016 13 176.10

TT8_Sampling 2615 33 1084.65

TT8_CF8 345 38 165.97

TT8_Kalman 0 0 0.00

Analog_circuits 2819 10 349.59

GPS_charging 0 0 0.00

Compass 1062 7 92.21

RAFOS 2159 48 1285.04

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 -145.9 177 2215 498 481 0.0 0.0 0 151 0.00 0.00 -101.50 0.000 16386 0.000 0.000 174 2215 2381 2323 2440 0 0 0 0 0 0 14.46 28.83 14.48

154 -0.57 -145.9 175 2217 2331 2441 4.6 -7.2 10 202 12.82 2.75 -28.77 0.000 18724 0.454 2.146 2375 3594 3964 3946 3982 0 0 0 0 0 0 13.56 12.62 14.02

427 -0.75 -145.9 2375 3596 3954 3983 60.0 -11.1 64 432 0.12 2.38 0.00 0.000 5254 0.132 0.057 2325 2201 3967 3953 3982 0 0 0 0 0 0 14.18 14.15 14.28

757 -0.75 -145.9 2325 2201 3954 3983 114.8 -15.1 92 762 0.00 2.47 0.00 0.000 260 0.000 0.087 2319 3606 3968 3954 3982 0 0 0 0 0 0 14.61 14.07 14.61

842 -0.88 -145.9 2319 3605 3954 3983 125.7 -11.4 109 849 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2201 3968 3954 3982 0 0 0 0 0 0 14.25 14.13 14.31

1147 -0.93 -145.9 2320 2199 3955 3982 165.6 -12.6 120 1149 0.12 0.00 0.00 0.000 4230 0.139 0.000 2261 2199 3967 3954 3981 0 0 0 0 0 0 14.25 14.33 14.33

1447 -0.89 -145.9 2265 2200 3954 3983 215.2 -16.2 130 1452 0.00 2.47 0.00 0.000 388 0.000 0.089 2254 3607 3971 3961 3982 0 0 0 0 0 0 14.69 14.16 14.68

1537 -0.89 -145.9 2254 3609 3954 3982 228.8 -14.4 148 1543 0.15 2.42 0.00 0.000 3078 0.253 0.059 2284 2188 3968 3954 3982 0 0 0 0 0 0 13.95 14.21 14.22

1868 -0.94 -145.9 2284 2187 3955 3983 269.8 -11.7 164 1873 0.00 2.50 0.00 0.000 388 0.000 0.090 2280 3603 3968 3954 3982 0 0 0 0 0 0 14.66 14.19 14.69

1899 -1.03 -145.9 2280 3603 3955 3982 273.2 -11.5 170 1903 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2195 3968 3954 3982 0 0 0 0 0 0 14.39 14.26 14.42

2229 -1.09 -145.9 2280 2195 3955 3982 309.1 -10.8 186 2234 0.12 2.47 0.00 0.000 4484 0.142 0.086 2222 3601 3967 3954 3981 0 0 0 0 0 0 14.33 14.20 14.38

2279 -1.09 -145.9 2227 3601 3959 3981 316.0 -14.4 196 2284 0.00 2.38 0.00 0.000 1030 0.000 0.058 2222 2198 3967 3954 3981 0 0 0 0 0 0 14.42 14.26 14.42

2589 -1.04 -145.9 2222 2198 3954 3981 361.9 -14.5 208 2594 0.00 2.47 0.00 0.000 388 0.000 0.090 2222 3603 3967 3954 3980 0 0 0 0 0 0 14.69 14.20 14.70

2674 -1.07 -145.9 2222 3604 3958 3981 373.5 -12.8 225 2681 0.00 2.40 0.00 0.000 1158 0.000 0.060 2222 2198 3967 3954 3980 0 0 0 0 0 0 14.21 14.09 14.25

2979 -1.03 -145.9 2222 2195 3955 3979 416.5 -14.1 236 2984 0.00 2.47 0.00 0.000 388 0.000 0.089 2215 3604 3966 3953 3979 0 0 0 0 0 0 14.68 14.20 14.70

3069 -1.03 -145.9 2215 3606 3954 3980 428.7 -13.2 254 3074 0.15 2.40 0.00 0.000 3078 0.257 0.058 2245 2190 3966 3954 3979 0 0 0 0 0 0 13.98 14.25 14.25

3400 -1.06 -145.9 2246 2189 3954 3982 466.7 -11.3 270 3404 0.00 2.47 0.00 0.000 388 0.000 0.088 2240 3600 3968 3954 3982 0 0 0 0 0 0 14.69 14.14 14.70

3460 -1.14 -145.9 2240 3601 3953 3979 473.5 -10.8 282 3465 0.00 2.38 0.00 0.000 1158 0.000 0.057 2240 2195 3965 3953 3978 0 0 0 0 0 0 14.35 14.20 14.36

3517 end dive: TARGET_DEPTH_EXCEEDED

state 3517 begin apogee

3523 -0.13 0.0 2241 2065 3955 3978 480.4 -11.6 289 3742 1.12 0.00 215.25 1.437 10246 0.230 0.000 2530 2064 3363 3389 3338 0 0 0 0 0 0 13.90 13.48 12.68

3746 end apogee: CONTROL_FINISHED_OK

state 3746 begin climb

3748 0.57 145.9 2531 2065 3385 3334 491.5 0.0 296 3959 0.75 0.00 205.75 1.385 10758 0.063 0.000 2784 2064 2769 2818 2720 0 0 0 0 0 0 13.62 13.12 12.35

4242 0.16 145.9 2784 2064 2802 2712 458.6 15.6 323 4247 0.65 2.40 0.00 0.000 4740 0.324 0.080 2651 723 2755 2801 2710 0 0 0 0 0 0 13.47 13.82 13.71

4334 0.04 161.4 2652 723 2802 2710 448.9 9.3 341 4359 0.22 2.45 18.90 1.541 13478 0.276 0.081 2603 2098 2705 2753 2657 0 0 0 0 0 0 13.70 13.97 12.98

4666 0.04 213.8 2605 2098 2747 2648 423.4 7.6 357 4747 0.00 0.00 78.55 1.400 8870 0.000 0.000 2603 2098 2490 2553 2428 0 0 0 0 0 0 14.54 13.86 13.08

5024 0.06 241.4 2602 2098 2545 2415 392.9 8.7 374 5069 0.00 2.45 39.22 1.429 8740 0.000 0.087 2604 733 2376 2434 2318 0 0 0 0 0 0 14.50 14.00 13.18

5089 0.13 270.9 2604 730 2431 2318 387.1 8.6 387 5139 0.00 2.42 44.05 1.403 9382 0.000 0.080 2603 2105 2258 2317 2200 0 0 0 0 0 0 14.16 14.04 13.04

5446 0.21 295.7 2604 2101 2309 2186 355.2 8.9 408 5486 0.12 2.50 35.17 1.421 10916 0.131 0.087 2672 728 2156 2211 2102 0 0 0 0 0 0 14.26 14.04 13.22

5511 0.17 295.7 2672 730 2204 2103 346.8 13.9 421 5518 0.15 2.42 0.00 0.000 5254 0.249 0.079 2640 2101 2152 2204 2101 0 0 0 0 0 0 13.90 14.05 14.12

5838 0.17 295.7 2640 2102 2203 2094 311.1 10.6 436 5842 0.00 2.40 0.00 0.000 516 0.000 0.086 2645 729 2148 2203 2093 0 0 0 0 0 0 14.58 14.23 14.60

5878 0.22 295.7 2646 729 2202 2092 306.9 10.5 444 5883 0.00 2.38 0.00 0.000 1158 0.000 0.079 2646 2100 2147 2201 2093 0 0 0 0 0 0 14.34 14.21 14.38

6198 0.22 295.7 2646 2101 2202 2091 272.3 10.7 458 6199 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2101 2146 2201 2091 0 0 0 0 0 0 14.65 14.67 14.67

6498 0.23 311.9 2646 2101 2202 2090 243.1 9.3 468 6530 0.00 2.45 22.85 1.461 8740 0.000 0.086 2646 729 2089 2141 2037 0 0 0 0 0 0 14.68 14.20 13.38

6630 0.34 350.3 2647 729 2136 2034 232.2 8.2 494 6700 0.15 2.40 63.88 1.318 11430 0.119 0.079 2705 2105 1936 1980 1893 0 0 0 0 0 0 14.28 14.21 13.20

7010 0.30 350.3 2705 2105 1963 1883 187.3 11.6 520 7015 0.00 2.47 0.00 0.000 388 0.000 0.084 2705 3507 1923 1963 1883 0 0 0 0 0 0 14.53 14.13 14.55

7031 0.25 350.3 2705 3508 1962 1884 184.8 12.4 524 7036 0.22 2.35 0.00 0.000 5254 0.248 0.063 2661 2130 1921 1961 1882 0 0 0 0 0 0 14.00 14.21 14.28

7341 0.35 397.3 2661 2130 1962 1880 158.9 7.8 536 7426 0.00 2.58 78.15 1.259 8868 0.000 0.091 2661 693 1741 1769 1714 0 0 0 0 0 0 14.62 13.97 13.22

7556 0.53 445.9 2661 693 1759 1712 142.3 7.8 579 7654 0.28 2.47 85.00 1.206 11430 0.089 0.080 2768 2104 1539 1572 1507 0 0 0 0 0 0 14.19 14.10 13.07

7959 0.50 445.9 2768 2102 1577 1491 85.4 13.7 612 7964 0.00 2.53 0.00 0.000 644 0.000 0.091 2768 689 1532 1575 1490 0 0 0 0 0 0 14.35 13.95 14.36

8019 0.50 445.9 2768 690 1573 1489 77.7 12.0 624 8024 0.00 2.50 0.00 0.000 1030 0.000 0.077 2768 2101 1531 1572 1490 0 0 0 0 0 0 14.09 13.98 14.12

8329 0.53 501.4 2768 2103 1573 1489 46.9 7.4 656 8362 0.00 2.58 27.35 0.344 8740 0.000 0.086 2768 692 1317 1367 1268 0 0 0 0 0 0 14.42 14.02 13.67

8439 0.69 573.3 2768 692 1368 1268 39.4 6.7 677 8481 0.12 2.50 37.85 0.318 11430 0.134 0.080 2818 2106 1026 1094 958 0 0 0 0 0 0 13.99 13.97 13.71

8787 0.79 634.1 2818 2106 1094 949 11.0 7.2 716 8824 0.00 2.50 31.80 0.242 8868 0.000 0.082 2822 692 775 841 710 0 0 0 0 0 0 14.40 13.92 13.84

8864 0.97 681.6 2822 692 842 710 5.4 7.8 731 8896 0.22 2.50 25.73 0.220 11430 0.090 0.077 2904 2107 584 626 542 0 0 0 0 0 0 14.14 13.97 13.85

8899 end climb: SURFACE_DEPTH_REACHED

state 8899 begin surface coast

8909 end surface coast: CONTROL_FINISHED_OK

state 8909 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	197	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	555.0
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	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,212525,7415.8643,-15325.1387,38,0.8,39,19.4,0.4,224.7,10,7.8	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	1.20	MHEAD_RNG_PITCHd_Wd	275.0,16471,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.5	D_GRID	480
GPS2	290817,215213,7415.8105,-15325.2373,11,0.8,11,19.4,0.0,358.3,9,7.2

FINISH	0.1,1.019765	_24V_AH	12.35,137.633
SM_CCo	8931,11.80,0.216,0,0,497,702.78	_10V_AH	12.40,0.000
SM_GC	1.42,8.32,0.17,11.80,0.073,0.122,0.216,204,2218,497,-7.38,-0.54,702.78,0,0,0,0,0,0,14.16,14.13,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	65	FG_AHR_10Vo	0.000
RAFOS_FIX	7415.113770,-15322.087891,290817,202058,3,255,0.14	MEM	323392
IRIDIUM_FIX	7414.76,-15319.02,290817,214245	DATA_FILE_SIZE	26674,739
TT8_MAMPS	0.085386,0.951979	CAP_FILE_SIZE	110820,0
HUMID	44.40	CFSIZE	2097872896,2027061248
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.9
XPDR_PINGS	21	CURRENT	0.053,194.35,1
CP_FREE	15984164864.000000	GPS	300817,002305,7416.342,-15329.034,26,0.9,30,19.4,0.4,120.4,9,9.5
PM_FREEKB_00	52073024

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.83	nil	0	0	0.00
Roll_motor	88	2145	2352.62	nil	0	0	0.00
VBD_pump_during_apogee	1009	1540	19208.53	nil	0	0	0.00
VBD_pump_during_surface	11	215	31.44	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	8940	14	1548.04
Iridium_during_xfer	1071	182	2419.01	NCP	8937	20	2207.44
Transponder_ping	5	420	27.23	PMAR	8886	9	1083.48
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.62
TT8	0	0	0.00
LPSleep	6585	2	188.62
TT8_Active	1016	13	176.10
TT8_Sampling	2615	33	1084.65
TT8_CF8	345	38	165.97
TT8_Kalman	0	0	0.00
Analog_circuits	2819	10	349.59
GPS_charging	0	0	0.00
Compass	1062	7	92.21
RAFOS	2159	48	1285.04
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	177	2215	498	481	0.0	0.0	0	151	0.00	0.00	-101.50	0.000	16386	0.000	0.000	174	2215	2381	2323	2440	0	0	0	0	0	0	14.46	28.83	14.48
154	-0.57	-145.9	175	2217	2331	2441	4.6	-7.2	10	202	12.82	2.75	-28.77	0.000	18724	0.454	2.146	2375	3594	3964	3946	3982	0	0	0	0	0	0	13.56	12.62	14.02
427	-0.75	-145.9	2375	3596	3954	3983	60.0	-11.1	64	432	0.12	2.38	0.00	0.000	5254	0.132	0.057	2325	2201	3967	3953	3982	0	0	0	0	0	0	14.18	14.15	14.28
757	-0.75	-145.9	2325	2201	3954	3983	114.8	-15.1	92	762	0.00	2.47	0.00	0.000	260	0.000	0.087	2319	3606	3968	3954	3982	0	0	0	0	0	0	14.61	14.07	14.61
842	-0.88	-145.9	2319	3605	3954	3983	125.7	-11.4	109	849	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2201	3968	3954	3982	0	0	0	0	0	0	14.25	14.13	14.31
1147	-0.93	-145.9	2320	2199	3955	3982	165.6	-12.6	120	1149	0.12	0.00	0.00	0.000	4230	0.139	0.000	2261	2199	3967	3954	3981	0	0	0	0	0	0	14.25	14.33	14.33
1447	-0.89	-145.9	2265	2200	3954	3983	215.2	-16.2	130	1452	0.00	2.47	0.00	0.000	388	0.000	0.089	2254	3607	3971	3961	3982	0	0	0	0	0	0	14.69	14.16	14.68
1537	-0.89	-145.9	2254	3609	3954	3982	228.8	-14.4	148	1543	0.15	2.42	0.00	0.000	3078	0.253	0.059	2284	2188	3968	3954	3982	0	0	0	0	0	0	13.95	14.21	14.22
1868	-0.94	-145.9	2284	2187	3955	3983	269.8	-11.7	164	1873	0.00	2.50	0.00	0.000	388	0.000	0.090	2280	3603	3968	3954	3982	0	0	0	0	0	0	14.66	14.19	14.69
1899	-1.03	-145.9	2280	3603	3955	3982	273.2	-11.5	170	1903	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2195	3968	3954	3982	0	0	0	0	0	0	14.39	14.26	14.42
2229	-1.09	-145.9	2280	2195	3955	3982	309.1	-10.8	186	2234	0.12	2.47	0.00	0.000	4484	0.142	0.086	2222	3601	3967	3954	3981	0	0	0	0	0	0	14.33	14.20	14.38
2279	-1.09	-145.9	2227	3601	3959	3981	316.0	-14.4	196	2284	0.00	2.38	0.00	0.000	1030	0.000	0.058	2222	2198	3967	3954	3981	0	0	0	0	0	0	14.42	14.26	14.42
2589	-1.04	-145.9	2222	2198	3954	3981	361.9	-14.5	208	2594	0.00	2.47	0.00	0.000	388	0.000	0.090	2222	3603	3967	3954	3980	0	0	0	0	0	0	14.69	14.20	14.70
2674	-1.07	-145.9	2222	3604	3958	3981	373.5	-12.8	225	2681	0.00	2.40	0.00	0.000	1158	0.000	0.060	2222	2198	3967	3954	3980	0	0	0	0	0	0	14.21	14.09	14.25
2979	-1.03	-145.9	2222	2195	3955	3979	416.5	-14.1	236	2984	0.00	2.47	0.00	0.000	388	0.000	0.089	2215	3604	3966	3953	3979	0	0	0	0	0	0	14.68	14.20	14.70
3069	-1.03	-145.9	2215	3606	3954	3980	428.7	-13.2	254	3074	0.15	2.40	0.00	0.000	3078	0.257	0.058	2245	2190	3966	3954	3979	0	0	0	0	0	0	13.98	14.25	14.25
3400	-1.06	-145.9	2246	2189	3954	3982	466.7	-11.3	270	3404	0.00	2.47	0.00	0.000	388	0.000	0.088	2240	3600	3968	3954	3982	0	0	0	0	0	0	14.69	14.14	14.70
3460	-1.14	-145.9	2240	3601	3953	3979	473.5	-10.8	282	3465	0.00	2.38	0.00	0.000	1158	0.000	0.057	2240	2195	3965	3953	3978	0	0	0	0	0	0	14.35	14.20	14.36
3517	end dive: TARGET_DEPTH_EXCEEDED
state	3517	begin apogee
3523	-0.13	0.0	2241	2065	3955	3978	480.4	-11.6	289	3742	1.12	0.00	215.25	1.437	10246	0.230	0.000	2530	2064	3363	3389	3338	0	0	0	0	0	0	13.90	13.48	12.68
3746	end apogee: CONTROL_FINISHED_OK
state	3746	begin climb
3748	0.57	145.9	2531	2065	3385	3334	491.5	0.0	296	3959	0.75	0.00	205.75	1.385	10758	0.063	0.000	2784	2064	2769	2818	2720	0	0	0	0	0	0	13.62	13.12	12.35
4242	0.16	145.9	2784	2064	2802	2712	458.6	15.6	323	4247	0.65	2.40	0.00	0.000	4740	0.324	0.080	2651	723	2755	2801	2710	0	0	0	0	0	0	13.47	13.82	13.71
4334	0.04	161.4	2652	723	2802	2710	448.9	9.3	341	4359	0.22	2.45	18.90	1.541	13478	0.276	0.081	2603	2098	2705	2753	2657	0	0	0	0	0	0	13.70	13.97	12.98
4666	0.04	213.8	2605	2098	2747	2648	423.4	7.6	357	4747	0.00	0.00	78.55	1.400	8870	0.000	0.000	2603	2098	2490	2553	2428	0	0	0	0	0	0	14.54	13.86	13.08
5024	0.06	241.4	2602	2098	2545	2415	392.9	8.7	374	5069	0.00	2.45	39.22	1.429	8740	0.000	0.087	2604	733	2376	2434	2318	0	0	0	0	0	0	14.50	14.00	13.18
5089	0.13	270.9	2604	730	2431	2318	387.1	8.6	387	5139	0.00	2.42	44.05	1.403	9382	0.000	0.080	2603	2105	2258	2317	2200	0	0	0	0	0	0	14.16	14.04	13.04
5446	0.21	295.7	2604	2101	2309	2186	355.2	8.9	408	5486	0.12	2.50	35.17	1.421	10916	0.131	0.087	2672	728	2156	2211	2102	0	0	0	0	0	0	14.26	14.04	13.22
5511	0.17	295.7	2672	730	2204	2103	346.8	13.9	421	5518	0.15	2.42	0.00	0.000	5254	0.249	0.079	2640	2101	2152	2204	2101	0	0	0	0	0	0	13.90	14.05	14.12
5838	0.17	295.7	2640	2102	2203	2094	311.1	10.6	436	5842	0.00	2.40	0.00	0.000	516	0.000	0.086	2645	729	2148	2203	2093	0	0	0	0	0	0	14.58	14.23	14.60
5878	0.22	295.7	2646	729	2202	2092	306.9	10.5	444	5883	0.00	2.38	0.00	0.000	1158	0.000	0.079	2646	2100	2147	2201	2093	0	0	0	0	0	0	14.34	14.21	14.38
6198	0.22	295.7	2646	2101	2202	2091	272.3	10.7	458	6199	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2101	2146	2201	2091	0	0	0	0	0	0	14.65	14.67	14.67
6498	0.23	311.9	2646	2101	2202	2090	243.1	9.3	468	6530	0.00	2.45	22.85	1.461	8740	0.000	0.086	2646	729	2089	2141	2037	0	0	0	0	0	0	14.68	14.20	13.38
6630	0.34	350.3	2647	729	2136	2034	232.2	8.2	494	6700	0.15	2.40	63.88	1.318	11430	0.119	0.079	2705	2105	1936	1980	1893	0	0	0	0	0	0	14.28	14.21	13.20
7010	0.30	350.3	2705	2105	1963	1883	187.3	11.6	520	7015	0.00	2.47	0.00	0.000	388	0.000	0.084	2705	3507	1923	1963	1883	0	0	0	0	0	0	14.53	14.13	14.55
7031	0.25	350.3	2705	3508	1962	1884	184.8	12.4	524	7036	0.22	2.35	0.00	0.000	5254	0.248	0.063	2661	2130	1921	1961	1882	0	0	0	0	0	0	14.00	14.21	14.28
7341	0.35	397.3	2661	2130	1962	1880	158.9	7.8	536	7426	0.00	2.58	78.15	1.259	8868	0.000	0.091	2661	693	1741	1769	1714	0	0	0	0	0	0	14.62	13.97	13.22
7556	0.53	445.9	2661	693	1759	1712	142.3	7.8	579	7654	0.28	2.47	85.00	1.206	11430	0.089	0.080	2768	2104	1539	1572	1507	0	0	0	0	0	0	14.19	14.10	13.07
7959	0.50	445.9	2768	2102	1577	1491	85.4	13.7	612	7964	0.00	2.53	0.00	0.000	644	0.000	0.091	2768	689	1532	1575	1490	0	0	0	0	0	0	14.35	13.95	14.36
8019	0.50	445.9	2768	690	1573	1489	77.7	12.0	624	8024	0.00	2.50	0.00	0.000	1030	0.000	0.077	2768	2101	1531	1572	1490	0	0	0	0	0	0	14.09	13.98	14.12
8329	0.53	501.4	2768	2103	1573	1489	46.9	7.4	656	8362	0.00	2.58	27.35	0.344	8740	0.000	0.086	2768	692	1317	1367	1268	0	0	0	0	0	0	14.42	14.02	13.67
8439	0.69	573.3	2768	692	1368	1268	39.4	6.7	677	8481	0.12	2.50	37.85	0.318	11430	0.134	0.080	2818	2106	1026	1094	958	0	0	0	0	0	0	13.99	13.97	13.71
8787	0.79	634.1	2818	2106	1094	949	11.0	7.2	716	8824	0.00	2.50	31.80	0.242	8868	0.000	0.082	2822	692	775	841	710	0	0	0	0	0	0	14.40	13.92	13.84
8864	0.97	681.6	2822	692	842	710	5.4	7.8	731	8896	0.22	2.50	25.73	0.220	11430	0.090	0.077	2904	2107	584	626	542	0	0	0	0	0	0	14.14	13.97	13.85
8899	end climb: SURFACE_DEPTH_REACHED
state	8899	begin surface coast
8909	end surface coast: CONTROL_FINISHED_OK
state	8909	begin surface