Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 348 * 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 348 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 1.4 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 973.0

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 64 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 973.0 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 1.4 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 64 VBD_MIN 500

DIVE 348 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 160917,045104,7445.1138,-15043.9473,32,0.8,33,20.8,0.0,0.0,10,7.1 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 209.5,104403,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 160917,050212,7445.0947,-15044.0928,6,0.7,7,20.8,0.0,0.0,11,9.8

Post-dive calculations and measurements:

FINISH 0.7,1.021216 _24V_AH 12.17,211.416

SM_CCo 9308,0.00,0.000,0,0,499,703.03 _10V_AH 12.04,0.000

SM_GC 1.18,8.40,0.17,0.00,0.079,0.119,0.000,200,2223,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.24,14.25,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323496

IRIDIUM_FIX 7446.81,-15055.93,160917,021634 DATA_FILE_SIZE 30014,822

TT8_MAMPS 0.040446,0.896553 CAP_FILE_SIZE 106475,0

HUMID 47.28 CFSIZE 2097872896,1988591616

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1449.1

XPDR_PINGS 15 CURRENT 0.036,6.99,1

CP_FREE 15923707904.000000 GPS 160917,073854,7444.722,-15048.390,13,0.8,14,20.8,0.4,200.3,9,8.2

PM_FREEKB_00 46544704

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 147.63 nil 0 0 0.00

Roll_motor 89 2155 2336.95 nil 0 0 0.00

VBD_pump_during_apogee 1308 1422 22660.62 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9257 14 1584.31

Iridium_during_xfer 382 177 826.44 NCP 9223 20 2244.88

Transponder_ping 3 420 19.17 PMAR 9203 12 1369.54

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.95

TT8 0 0 0.00

LPSleep 6312 2 175.56

TT8_Active 1243 13 209.18

TT8_Sampling 2077 33 836.44

TT8_CF8 353 38 164.51

TT8_Kalman 0 0 0.00

Analog_circuits 2440 10 293.81

GPS_charging 0 0 0.00

Compass 1177 7 99.23

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 200 2238 514 485 0.0 0.0 0 143 0.00 0.00 -91.62 0.000 16386 0.000 0.000 199 2238 2151 2076 2226 0 0 0 0 0 0 14.49 28.83 14.51

147 -0.57 -145.9 200 2238 2081 2226 3.7 -5.0 9 200 13.00 2.85 -34.97 0.000 18980 0.455 2.156 2385 836 3964 3949 3979 1 0 0 0 0 0 13.29 12.59 14.07

331 -0.71 -145.9 2386 831 3955 3979 43.6 -13.0 45 336 0.00 2.40 0.00 0.000 1158 0.000 0.086 2379 2174 3967 3954 3980 0 0 0 0 0 0 14.15 14.00 14.19

641 -0.84 -145.9 2383 2176 3956 3981 83.4 -10.6 77 646 0.20 2.58 0.00 0.000 4484 0.106 0.087 2293 3614 3967 3955 3979 0 0 0 0 0 0 14.14 14.05 14.19

817 -0.95 -145.9 2293 3617 3957 3980 107.0 -12.2 112 824 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2229 3967 3955 3979 0 0 0 0 0 0 14.19 14.03 14.19

1122 -1.00 -145.9 2293 2228 3957 3980 148.1 -12.8 123 1127 0.00 2.47 0.00 0.000 388 0.000 0.086 2284 3615 3967 3956 3979 0 0 0 0 0 0 14.63 14.02 14.65

1182 -1.15 -145.9 2285 3617 3956 3981 155.3 -11.0 135 1187 0.22 2.42 0.00 0.000 5254 0.096 0.057 2198 2201 3967 3956 3979 0 0 0 0 0 0 14.22 14.14 14.31

1513 -1.04 -145.9 2202 2200 3956 3980 223.6 -20.7 151 1518 0.17 2.53 0.00 0.000 2436 0.291 0.085 2229 3617 3967 3955 3979 0 0 0 0 0 0 13.66 14.04 13.92

1638 -1.09 -145.9 2229 3619 3955 3979 242.2 -13.2 176 1644 0.00 2.45 0.00 0.000 1158 0.000 0.058 2230 2201 3966 3953 3979 0 0 0 0 0 0 14.23 14.10 14.28

1965 -1.09 -145.9 2230 2199 3957 3979 286.5 -12.9 191 1969 0.00 2.53 0.00 0.000 260 0.000 0.087 2223 3617 3966 3953 3979 0 0 0 0 0 0 14.66 14.00 14.66

2030 -1.18 -145.9 2224 3617 3956 3979 294.5 -11.5 204 2036 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2193 3967 3955 3979 0 0 0 0 0 0 14.28 14.14 14.32

2356 -1.21 -145.9 2224 2194 3956 3979 335.6 -12.3 219 2361 0.00 2.55 0.00 0.000 388 0.000 0.089 2223 3613 3967 3955 3979 0 0 0 0 0 0 14.59 14.00 14.61

2432 -1.31 -145.9 2222 3614 3956 3980 344.2 -10.7 234 2437 0.20 2.40 0.00 0.000 5254 0.101 0.056 2149 2199 3967 3955 3979 0 0 0 0 0 0 14.16 14.06 14.26

2748 -1.17 -145.9 2149 2199 3955 3981 402.6 -18.7 247 2753 0.20 2.50 0.00 0.000 2436 0.314 0.082 2181 3614 3966 3954 3979 0 0 0 0 0 0 13.60 13.97 13.83

2848 -1.17 -145.9 2183 3615 3955 3979 417.5 -13.5 267 2853 0.00 2.40 0.00 0.000 1030 0.000 0.056 2182 2201 3966 3954 3979 0 0 0 0 0 0 14.25 14.11 14.28

3168 -1.13 -145.9 2183 2200 3955 3979 464.4 -14.6 281 3173 0.12 2.50 0.00 0.000 2436 0.315 0.083 2200 3613 3967 3954 3980 0 0 0 0 0 0 13.79 14.04 13.95

3249 -1.20 -145.9 2200 3615 3954 3980 474.5 -11.6 297 3254 0.00 2.42 0.00 0.000 1158 0.000 0.055 2200 2191 3966 3954 3979 0 0 0 0 0 0 14.26 14.12 14.29

3316 end dive: TARGET_DEPTH_EXCEEDED

state 3316 begin apogee

3323 -0.13 0.0 2200 2062 3953 3979 483.3 -12.5 301 3805 1.30 0.08 478.45 1.164 10246 0.230 0.179 2527 2114 3366 3383 3349 0 0 0 0 0 0 13.64 13.28 12.53

3811 end apogee: CONTROL_FINISHED_OK

state 3811 begin climb

3814 0.57 145.9 2528 2115 3377 3344 511.7 0.0 317 4036 0.75 2.65 211.38 1.320 11012 0.058 0.079 2778 728 2766 2804 2728 0 0 0 0 0 0 13.50 12.78 12.17

4262 0.18 145.9 2781 730 2782 2710 492.5 14.3 395 4267 0.65 2.45 0.00 0.000 5254 0.320 0.074 2646 2090 2744 2781 2708 0 0 0 0 0 0 13.40 13.82 13.81

4595 0.01 165.5 2646 2091 2781 2704 461.1 9.1 411 4625 0.22 2.40 21.88 1.423 12964 0.276 0.083 2599 729 2685 2725 2645 0 0 0 0 0 0 13.78 14.07 13.21

4835 0.02 222.7 2599 730 2720 2632 442.8 7.4 459 4956 0.00 2.38 113.03 1.231 9382 0.000 0.078 2595 2100 2453 2511 2396 0 0 0 0 0 0 14.28 14.15 13.05

5255 0.04 242.8 2599 2101 2496 2379 405.8 9.1 493 5291 0.00 2.47 29.12 1.341 8740 0.000 0.085 2599 729 2373 2427 2319 0 0 0 0 0 0 14.57 14.08 13.22

5312 0.09 262.2 2600 729 2417 2313 400.7 9.1 499 5348 0.00 2.40 30.80 1.307 9382 0.000 0.078 2599 2099 2299 2354 2244 0 0 0 0 0 0 14.23 14.12 13.16

5646 0.10 278.3 2600 2099 2334 2225 369.4 9.3 516 5673 0.00 2.47 22.00 1.375 8740 0.000 0.084 2599 730 2228 2281 2176 0 0 0 0 0 0 14.56 14.12 13.25

5693 0.17 304.8 2599 731 2268 2172 365.1 8.8 525 5740 0.12 2.40 41.50 1.298 11430 0.125 0.079 2659 2108 2123 2171 2076 0 0 0 0 0 0 14.21 14.15 13.17

6040 0.10 304.8 2659 2104 2154 2054 318.7 13.5 544 6041 0.17 0.00 0.00 0.000 4230 0.240 0.000 2620 2103 2103 2153 2053 0 0 0 0 0 0 13.96 14.32 14.26

6338 0.13 313.2 2620 2104 2153 2052 288.2 9.6 554 6344 0.00 2.50 1.60 0.243 8868 0.000 0.085 2620 730 2087 2137 2038 0 0 0 0 0 0 14.64 14.13 13.93

6399 0.24 337.0 2620 731 2140 2045 282.6 8.9 566 6455 0.12 2.40 49.97 1.319 11430 0.120 0.079 2678 2096 1989 2033 1945 0 0 0 0 0 0 14.12 14.02 13.22

6761 0.19 337.0 2679 2097 2023 1927 236.3 12.1 588 6767 0.12 2.42 0.00 0.000 4740 0.255 0.081 2652 724 1974 2022 1926 0 0 0 0 0 0 13.87 14.07 13.97

6778 0.16 337.0 2655 724 2022 1927 234.5 11.6 591 6783 0.00 2.40 0.00 0.000 1158 0.000 0.078 2654 2099 1973 2020 1926 0 0 0 0 0 0 14.29 14.14 14.33

7093 0.18 357.7 2650 2100 2019 1925 204.9 9.0 604 7124 0.00 0.00 29.73 1.368 8742 0.000 0.000 2652 2100 1907 1947 1868 0 0 0 0 0 0 14.63 14.07 13.26

7423 0.24 391.2 2654 2101 1929 1858 176.0 8.5 620 7490 0.00 2.47 59.03 1.278 8868 0.000 0.087 2654 721 1765 1788 1742 0 0 0 0 0 0 14.61 14.04 13.20

7532 0.40 430.8 2655 721 1779 1741 167.0 8.2 641 7612 0.17 2.42 71.28 1.217 11430 0.104 0.079 2723 2099 1605 1633 1578 0 0 0 0 0 0 14.14 14.07 13.11

7937 0.40 430.8 2724 2100 1629 1557 116.1 12.1 672 7943 0.00 2.42 0.00 0.000 516 0.000 0.086 2726 727 1592 1628 1556 0 0 0 0 0 0 14.56 14.11 14.57

7983 0.44 430.8 2726 728 1623 1558 110.7 11.3 681 7988 0.00 2.40 0.00 0.000 1158 0.000 0.078 2726 2099 1590 1625 1556 0 0 0 0 0 0 14.26 14.13 14.32

8291 0.45 447.6 2727 2100 1626 1553 79.0 9.2 707 8302 0.00 2.50 7.22 0.400 8740 0.000 0.084 2726 726 1538 1575 1502 0 0 0 0 0 0 14.54 14.04 13.58

8353 0.55 478.4 2727 726 1583 1510 73.3 8.6 719 8375 0.00 2.42 17.90 0.411 9382 0.000 0.078 2726 2103 1415 1455 1375 0 0 0 0 0 0 14.28 14.14 13.62

8673 0.71 586.9 2726 2104 1458 1377 51.5 5.0 753 8734 0.25 0.00 59.12 0.348 10406 0.085 0.000 2821 2102 972 1039 905 0 0 0 0 0 0 14.28 14.09 13.71

9033 0.80 671.7 2821 2103 1037 910 18.4 6.1 789 9086 0.00 2.45 46.92 0.259 8868 0.000 0.086 2822 728 623 670 577 0 0 0 0 0 0 14.55 13.94 13.73

9159 0.98 722.6 2822 728 672 577 9.6 7.6 813 9181 0.22 2.42 17.67 0.232 11430 0.088 0.076 2903 2107 501 524 478 0 0 0 0 0 0 14.09 13.98 13.83

9214 end climb: SURFACE_DEPTH_REACHED

state 9214 begin surface coast

9224 end surface coast: CONTROL_FINISHED_OK

state 9224 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	348	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	1.4	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	973.0
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	64	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,045104,7445.1138,-15043.9473,32,0.8,33,20.8,0.0,0.0,10,7.1	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	209.5,104403,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	160917,050212,7445.0947,-15044.0928,6,0.7,7,20.8,0.0,0.0,11,9.8

FINISH	0.7,1.021216	_24V_AH	12.17,211.416
SM_CCo	9308,0.00,0.000,0,0,499,703.03	_10V_AH	12.04,0.000
SM_GC	1.18,8.40,0.17,0.00,0.079,0.119,0.000,200,2223,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.24,14.25,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323496
IRIDIUM_FIX	7446.81,-15055.93,160917,021634	DATA_FILE_SIZE	30014,822
TT8_MAMPS	0.040446,0.896553	CAP_FILE_SIZE	106475,0
HUMID	47.28	CFSIZE	2097872896,1988591616
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1449.1
XPDR_PINGS	15	CURRENT	0.036,6.99,1
CP_FREE	15923707904.000000	GPS	160917,073854,7444.722,-15048.390,13,0.8,14,20.8,0.4,200.3,9,8.2
PM_FREEKB_00	46544704

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	147.63	nil	0	0	0.00
Roll_motor	89	2155	2336.95	nil	0	0	0.00
VBD_pump_during_apogee	1308	1422	22660.62	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9257	14	1584.31
Iridium_during_xfer	382	177	826.44	NCP	9223	20	2244.88
Transponder_ping	3	420	19.17	PMAR	9203	12	1369.54
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.95
TT8	0	0	0.00
LPSleep	6312	2	175.56
TT8_Active	1243	13	209.18
TT8_Sampling	2077	33	836.44
TT8_CF8	353	38	164.51
TT8_Kalman	0	0	0.00
Analog_circuits	2440	10	293.81
GPS_charging	0	0	0.00
Compass	1177	7	99.23
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	200	2238	514	485	0.0	0.0	0	143	0.00	0.00	-91.62	0.000	16386	0.000	0.000	199	2238	2151	2076	2226	0	0	0	0	0	0	14.49	28.83	14.51
147	-0.57	-145.9	200	2238	2081	2226	3.7	-5.0	9	200	13.00	2.85	-34.97	0.000	18980	0.455	2.156	2385	836	3964	3949	3979	1	0	0	0	0	0	13.29	12.59	14.07
331	-0.71	-145.9	2386	831	3955	3979	43.6	-13.0	45	336	0.00	2.40	0.00	0.000	1158	0.000	0.086	2379	2174	3967	3954	3980	0	0	0	0	0	0	14.15	14.00	14.19
641	-0.84	-145.9	2383	2176	3956	3981	83.4	-10.6	77	646	0.20	2.58	0.00	0.000	4484	0.106	0.087	2293	3614	3967	3955	3979	0	0	0	0	0	0	14.14	14.05	14.19
817	-0.95	-145.9	2293	3617	3957	3980	107.0	-12.2	112	824	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2229	3967	3955	3979	0	0	0	0	0	0	14.19	14.03	14.19
1122	-1.00	-145.9	2293	2228	3957	3980	148.1	-12.8	123	1127	0.00	2.47	0.00	0.000	388	0.000	0.086	2284	3615	3967	3956	3979	0	0	0	0	0	0	14.63	14.02	14.65
1182	-1.15	-145.9	2285	3617	3956	3981	155.3	-11.0	135	1187	0.22	2.42	0.00	0.000	5254	0.096	0.057	2198	2201	3967	3956	3979	0	0	0	0	0	0	14.22	14.14	14.31
1513	-1.04	-145.9	2202	2200	3956	3980	223.6	-20.7	151	1518	0.17	2.53	0.00	0.000	2436	0.291	0.085	2229	3617	3967	3955	3979	0	0	0	0	0	0	13.66	14.04	13.92
1638	-1.09	-145.9	2229	3619	3955	3979	242.2	-13.2	176	1644	0.00	2.45	0.00	0.000	1158	0.000	0.058	2230	2201	3966	3953	3979	0	0	0	0	0	0	14.23	14.10	14.28
1965	-1.09	-145.9	2230	2199	3957	3979	286.5	-12.9	191	1969	0.00	2.53	0.00	0.000	260	0.000	0.087	2223	3617	3966	3953	3979	0	0	0	0	0	0	14.66	14.00	14.66
2030	-1.18	-145.9	2224	3617	3956	3979	294.5	-11.5	204	2036	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2193	3967	3955	3979	0	0	0	0	0	0	14.28	14.14	14.32
2356	-1.21	-145.9	2224	2194	3956	3979	335.6	-12.3	219	2361	0.00	2.55	0.00	0.000	388	0.000	0.089	2223	3613	3967	3955	3979	0	0	0	0	0	0	14.59	14.00	14.61
2432	-1.31	-145.9	2222	3614	3956	3980	344.2	-10.7	234	2437	0.20	2.40	0.00	0.000	5254	0.101	0.056	2149	2199	3967	3955	3979	0	0	0	0	0	0	14.16	14.06	14.26
2748	-1.17	-145.9	2149	2199	3955	3981	402.6	-18.7	247	2753	0.20	2.50	0.00	0.000	2436	0.314	0.082	2181	3614	3966	3954	3979	0	0	0	0	0	0	13.60	13.97	13.83
2848	-1.17	-145.9	2183	3615	3955	3979	417.5	-13.5	267	2853	0.00	2.40	0.00	0.000	1030	0.000	0.056	2182	2201	3966	3954	3979	0	0	0	0	0	0	14.25	14.11	14.28
3168	-1.13	-145.9	2183	2200	3955	3979	464.4	-14.6	281	3173	0.12	2.50	0.00	0.000	2436	0.315	0.083	2200	3613	3967	3954	3980	0	0	0	0	0	0	13.79	14.04	13.95
3249	-1.20	-145.9	2200	3615	3954	3980	474.5	-11.6	297	3254	0.00	2.42	0.00	0.000	1158	0.000	0.055	2200	2191	3966	3954	3979	0	0	0	0	0	0	14.26	14.12	14.29
3316	end dive: TARGET_DEPTH_EXCEEDED
state	3316	begin apogee
3323	-0.13	0.0	2200	2062	3953	3979	483.3	-12.5	301	3805	1.30	0.08	478.45	1.164	10246	0.230	0.179	2527	2114	3366	3383	3349	0	0	0	0	0	0	13.64	13.28	12.53
3811	end apogee: CONTROL_FINISHED_OK
state	3811	begin climb
3814	0.57	145.9	2528	2115	3377	3344	511.7	0.0	317	4036	0.75	2.65	211.38	1.320	11012	0.058	0.079	2778	728	2766	2804	2728	0	0	0	0	0	0	13.50	12.78	12.17
4262	0.18	145.9	2781	730	2782	2710	492.5	14.3	395	4267	0.65	2.45	0.00	0.000	5254	0.320	0.074	2646	2090	2744	2781	2708	0	0	0	0	0	0	13.40	13.82	13.81
4595	0.01	165.5	2646	2091	2781	2704	461.1	9.1	411	4625	0.22	2.40	21.88	1.423	12964	0.276	0.083	2599	729	2685	2725	2645	0	0	0	0	0	0	13.78	14.07	13.21
4835	0.02	222.7	2599	730	2720	2632	442.8	7.4	459	4956	0.00	2.38	113.03	1.231	9382	0.000	0.078	2595	2100	2453	2511	2396	0	0	0	0	0	0	14.28	14.15	13.05
5255	0.04	242.8	2599	2101	2496	2379	405.8	9.1	493	5291	0.00	2.47	29.12	1.341	8740	0.000	0.085	2599	729	2373	2427	2319	0	0	0	0	0	0	14.57	14.08	13.22
5312	0.09	262.2	2600	729	2417	2313	400.7	9.1	499	5348	0.00	2.40	30.80	1.307	9382	0.000	0.078	2599	2099	2299	2354	2244	0	0	0	0	0	0	14.23	14.12	13.16
5646	0.10	278.3	2600	2099	2334	2225	369.4	9.3	516	5673	0.00	2.47	22.00	1.375	8740	0.000	0.084	2599	730	2228	2281	2176	0	0	0	0	0	0	14.56	14.12	13.25
5693	0.17	304.8	2599	731	2268	2172	365.1	8.8	525	5740	0.12	2.40	41.50	1.298	11430	0.125	0.079	2659	2108	2123	2171	2076	0	0	0	0	0	0	14.21	14.15	13.17
6040	0.10	304.8	2659	2104	2154	2054	318.7	13.5	544	6041	0.17	0.00	0.00	0.000	4230	0.240	0.000	2620	2103	2103	2153	2053	0	0	0	0	0	0	13.96	14.32	14.26
6338	0.13	313.2	2620	2104	2153	2052	288.2	9.6	554	6344	0.00	2.50	1.60	0.243	8868	0.000	0.085	2620	730	2087	2137	2038	0	0	0	0	0	0	14.64	14.13	13.93
6399	0.24	337.0	2620	731	2140	2045	282.6	8.9	566	6455	0.12	2.40	49.97	1.319	11430	0.120	0.079	2678	2096	1989	2033	1945	0	0	0	0	0	0	14.12	14.02	13.22
6761	0.19	337.0	2679	2097	2023	1927	236.3	12.1	588	6767	0.12	2.42	0.00	0.000	4740	0.255	0.081	2652	724	1974	2022	1926	0	0	0	0	0	0	13.87	14.07	13.97
6778	0.16	337.0	2655	724	2022	1927	234.5	11.6	591	6783	0.00	2.40	0.00	0.000	1158	0.000	0.078	2654	2099	1973	2020	1926	0	0	0	0	0	0	14.29	14.14	14.33
7093	0.18	357.7	2650	2100	2019	1925	204.9	9.0	604	7124	0.00	0.00	29.73	1.368	8742	0.000	0.000	2652	2100	1907	1947	1868	0	0	0	0	0	0	14.63	14.07	13.26
7423	0.24	391.2	2654	2101	1929	1858	176.0	8.5	620	7490	0.00	2.47	59.03	1.278	8868	0.000	0.087	2654	721	1765	1788	1742	0	0	0	0	0	0	14.61	14.04	13.20
7532	0.40	430.8	2655	721	1779	1741	167.0	8.2	641	7612	0.17	2.42	71.28	1.217	11430	0.104	0.079	2723	2099	1605	1633	1578	0	0	0	0	0	0	14.14	14.07	13.11
7937	0.40	430.8	2724	2100	1629	1557	116.1	12.1	672	7943	0.00	2.42	0.00	0.000	516	0.000	0.086	2726	727	1592	1628	1556	0	0	0	0	0	0	14.56	14.11	14.57
7983	0.44	430.8	2726	728	1623	1558	110.7	11.3	681	7988	0.00	2.40	0.00	0.000	1158	0.000	0.078	2726	2099	1590	1625	1556	0	0	0	0	0	0	14.26	14.13	14.32
8291	0.45	447.6	2727	2100	1626	1553	79.0	9.2	707	8302	0.00	2.50	7.22	0.400	8740	0.000	0.084	2726	726	1538	1575	1502	0	0	0	0	0	0	14.54	14.04	13.58
8353	0.55	478.4	2727	726	1583	1510	73.3	8.6	719	8375	0.00	2.42	17.90	0.411	9382	0.000	0.078	2726	2103	1415	1455	1375	0	0	0	0	0	0	14.28	14.14	13.62
8673	0.71	586.9	2726	2104	1458	1377	51.5	5.0	753	8734	0.25	0.00	59.12	0.348	10406	0.085	0.000	2821	2102	972	1039	905	0	0	0	0	0	0	14.28	14.09	13.71
9033	0.80	671.7	2821	2103	1037	910	18.4	6.1	789	9086	0.00	2.45	46.92	0.259	8868	0.000	0.086	2822	728	623	670	577	0	0	0	0	0	0	14.55	13.94	13.73
9159	0.98	722.6	2822	728	672	577	9.6	7.6	813	9181	0.22	2.42	17.67	0.232	11430	0.088	0.076	2903	2107	501	524	478	0	0	0	0	0	0	14.09	13.98	13.83
9214	end climb: SURFACE_DEPTH_REACHED
state	9214	begin surface coast
9224	end surface coast: CONTROL_FINISHED_OK
state	9224	begin surface