Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 349 * 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 349 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 976.0

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 37 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 976.0 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 62 VBD_MIN 500

DIVE 349 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 160917,073854,7444.7217,-15048.3896,13,0.8,14,20.8,0.4,200.3,9,8.2 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 1.19 MHEAD_RNG_PITCHd_Wd 213.9,102069,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 160917,075049,7444.7314,-15048.6699,6,0.7,21,20.7,0.2,298.3,10,8.3

Post-dive calculations and measurements:

FINISH 0.1,1.021236 _24V_AH 12.27,211.919

SM_CCo 9165,45.85,0.206,0,0,497,702.78 _10V_AH 12.43,0.000

SM_GC 0.97,8.23,0.17,45.85,0.081,0.135,0.206,199,2206,497,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.24,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 408 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323512

IRIDIUM_FIX 7444.22,-15041.65,160917,045548 DATA_FILE_SIZE 23434,697

TT8_MAMPS 0.038948,0.856856 CAP_FILE_SIZE 95822,0

HUMID 47.24 CFSIZE 2097872896,1988329472

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 1448.3

XPDR_PINGS 9 CURRENT 0.042,347.40,1

CP_FREE 0.000000 GPS 160917,102620,7444.341,-15053.131,38,0.8,38,20.7,0.0,0.0,10,7.8

PM_FREEKB_00 46502656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.29 nil 0 0 0.00

Roll_motor 70 2152 1853.59 nil 0 0 0.00

VBD_pump_during_apogee 1046 1330 17079.38 nil 0 0 0.00

VBD_pump_during_surface 45 205 115.77 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 9136 14 1598.64

Iridium_during_xfer 413 174 884.68 NCP 5423 20 1330.80

Transponder_ping 2 420 11.60 PMAR 9105 11 1234.60

GUMSTIX_24V 0 0 0.00

GPS 22 22 6.36

TT8 0 0 0.00

LPSleep 6548 2 188.03

TT8_Active 1105 13 191.98

TT8_Sampling 1949 33 810.36

TT8_CF8 336 38 161.99

TT8_Kalman 0 0 0.00

Analog_circuits 2180 10 270.98

GPS_charging 0 0 0.00

Compass 1000 7 87.09

RAFOS 2212 48 1319.77

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

63 end surface: CONTROL_FINISHED_OK

state 63 begin dive

67 -0.57 -145.9 178 2226 514 477 0.0 0.0 0 159 0.00 0.00 -90.95 0.000 16386 0.000 0.000 177 2226 2144 2072 2217 0 0 0 0 0 0 14.53 28.83 14.55

163 -0.57 -145.9 178 2227 2075 2220 3.9 -5.1 9 216 13.12 2.75 -34.78 0.000 18724 0.456 2.153 2377 3594 3966 3951 3981 1 0 0 0 0 0 13.27 12.59 14.07

441 -0.75 -145.9 2377 3596 3956 3982 55.8 -12.0 64 449 0.12 2.33 0.00 0.000 5254 0.125 0.055 2326 2229 3968 3956 3981 0 0 0 0 0 0 14.21 14.16 14.31

767 -0.79 -145.9 2327 2229 3957 3982 108.2 -13.4 92 768 0.00 0.00 0.00 0.000 134 0.000 0.000 2326 2228 3969 3957 3981 0 0 0 0 0 0 14.46 14.48 14.47

1067 -0.89 -145.9 2325 2229 3958 3981 142.1 -10.8 102 1068 0.00 0.00 0.00 0.000 134 0.000 0.000 2326 2228 3969 3957 3981 0 0 0 0 0 0 14.47 14.50 14.49

1367 -1.02 -145.9 2326 2229 3958 3982 171.4 -9.4 112 1368 0.25 0.00 0.00 0.000 4262 0.092 0.000 2239 2228 3969 3958 3981 0 0 0 0 0 0 14.01 14.09 14.07

1667 -0.99 -145.9 2240 2229 3958 3982 220.6 -16.4 122 1672 0.00 2.45 0.00 0.000 388 0.000 0.087 2236 3594 3969 3958 3981 0 0 0 0 0 0 14.44 13.95 14.46

1747 -1.07 -145.9 2237 3594 3959 3981 232.0 -12.8 138 1752 0.00 2.40 0.00 0.000 1158 0.000 0.059 2234 2199 3968 3956 3981 0 0 0 0 0 0 14.11 13.94 14.10

2057 -1.07 -145.9 2236 2198 3959 3981 275.6 -13.7 150 2062 0.00 2.53 0.00 0.000 260 0.000 0.087 2236 3600 3968 3957 3979 0 0 0 0 0 0 14.46 13.93 14.47

2133 -1.18 -145.9 2236 3602 3959 3981 284.6 -10.8 165 2138 0.12 2.42 0.00 0.000 5254 0.134 0.057 2184 2193 3969 3958 3981 0 0 0 0 0 0 14.00 13.94 14.12

2448 -1.11 -145.9 2185 2192 3958 3982 337.0 -16.6 178 2453 0.12 2.53 0.00 0.000 2436 0.289 0.083 2203 3601 3969 3957 3981 0 0 0 0 0 0 13.69 13.93 13.85

2534 -1.16 -145.9 2203 3603 3958 3982 348.7 -12.5 195 2540 0.00 2.45 0.00 0.000 1158 0.000 0.057 2204 2192 3968 3956 3981 0 0 0 0 0 0 14.09 14.00 14.09

2839 -1.16 -145.9 2204 2191 3958 3981 390.6 -13.7 206 2844 0.00 2.47 0.00 0.000 260 0.000 0.085 2201 3597 3968 3956 3981 0 0 0 0 0 0 14.43 13.90 14.45

2894 -1.19 -145.9 2197 3600 3956 3981 398.0 -12.8 217 2901 0.00 2.42 0.00 0.000 1158 0.000 0.057 2196 2198 3968 3955 3981 0 0 0 0 0 0 13.93 13.80 13.96

3202 -1.17 -145.9 2197 2197 3955 3982 440.4 -13.9 228 3207 0.00 2.47 0.00 0.000 388 0.000 0.085 2189 3595 3968 3955 3981 0 0 0 0 0 0 14.54 14.02 14.56

3258 -1.19 -145.9 2190 3596 3956 3981 448.4 -13.3 239 3264 0.00 2.38 0.00 0.000 1158 0.000 0.057 2189 2200 3968 3955 3981 0 0 0 0 0 0 14.23 14.11 14.32

3500 end dive: TARGET_DEPTH_EXCEEDED

state 3500 begin apogee

3506 -0.13 0.0 2191 2055 3956 3981 483.8 -14.6 248 3783 1.38 0.05 272.92 1.330 10246 0.239 0.219 2532 2086 3365 3378 3352 0 0 0 0 0 0 13.71 13.47 12.70

3785 end apogee: CONTROL_FINISHED_OK

state 3785 begin climb

3788 0.57 145.9 2533 2086 3373 3345 500.0 0.0 257 4014 0.73 2.72 213.98 1.320 10500 0.060 0.073 2781 3511 2757 2788 2727 0 0 0 0 0 0 13.70 13.14 12.27

4242 0.08 145.9 2777 3511 2770 2717 479.2 15.5 346 4248 0.85 2.40 0.00 0.000 5254 0.348 0.058 2618 2129 2742 2770 2715 0 0 0 0 0 0 13.45 13.84 13.85

4547 -0.01 196.7 2618 2129 2771 2716 454.5 7.7 357 4625 0.15 0.00 75.30 1.324 12710 0.290 0.000 2582 2128 2565 2611 2519 0 0 0 0 0 0 13.84 13.90 13.08

4907 0.02 247.2 2581 2129 2598 2488 427.6 7.7 374 5006 0.00 0.00 96.35 1.240 8230 0.000 0.000 2582 2128 2357 2405 2310 0 0 0 0 0 0 14.57 13.88 13.10

5297 0.10 287.9 2582 2129 2390 2293 396.2 8.1 387 5368 0.00 2.62 65.57 1.291 8868 0.000 0.089 2587 703 2186 2230 2142 0 0 0 0 0 0 14.57 14.00 13.14

5416 0.24 324.4 2589 698 2216 2134 386.6 8.3 410 5480 0.22 2.50 55.60 1.289 11430 0.089 0.080 2679 2109 2038 2080 1996 0 0 0 0 0 0 14.14 14.04 13.08

5779 0.16 324.4 2679 2109 2065 1973 332.0 15.1 433 5784 0.15 2.50 0.00 0.000 4740 0.256 0.084 2643 688 2018 2064 1973 0 0 0 0 0 0 13.95 14.14 14.07

5819 0.19 324.4 2647 688 2062 1972 326.6 12.3 441 5824 0.00 2.47 0.00 0.000 1158 0.000 0.078 2647 2103 2016 2060 1973 0 0 0 0 0 0 14.26 14.12 14.31

6140 0.19 324.4 2648 2106 2060 1971 288.0 11.9 455 6140 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2105 2014 2059 1970 0 0 0 0 0 0 14.64 14.66 14.66

6440 0.19 324.4 2648 2105 2060 1969 254.9 10.6 465 6444 0.00 2.50 0.00 0.000 516 0.000 0.087 2651 688 2014 2059 1969 0 0 0 0 0 0 14.65 14.15 14.68

6480 0.23 324.4 2651 688 2059 1970 250.6 10.2 473 6485 0.00 2.47 0.00 0.000 1158 0.000 0.079 2651 2100 2014 2059 1970 0 0 0 0 0 0 14.04 14.07 14.04

6800 0.24 332.7 2651 2101 2059 1969 218.8 9.6 487 6801 0.00 0.00 0.00 0.000 38 0.000 0.000 2651 2101 2014 2059 1969 0 0 0 0 0 0 14.64 14.69 14.69

7100 0.27 373.0 2651 2101 2058 1969 193.5 8.1 497 7191 0.00 2.58 82.82 1.217 8740 0.000 0.088 2651 692 1836 1862 1810 0 0 0 0 0 0 14.66 13.94 13.16

7214 0.38 405.8 2648 690 1855 1806 184.0 8.5 514 7277 0.17 2.50 55.67 1.183 11430 0.106 0.078 2718 2103 1707 1729 1686 0 0 0 0 0 0 14.10 14.03 13.12

7582 0.35 405.8 2719 2105 1719 1661 138.3 12.2 538 7587 0.00 2.47 0.00 0.000 644 0.000 0.086 2724 697 1689 1717 1661 0 0 0 0 0 0 14.55 14.12 14.57

7622 0.35 405.8 2726 696 1715 1661 133.4 12.1 546 7627 0.00 2.45 0.00 0.000 1030 0.000 0.076 2725 2101 1687 1713 1661 0 0 0 0 0 0 14.28 14.15 14.33

7933 0.33 405.8 2726 2102 1714 1658 97.5 11.1 561 7938 0.15 2.50 0.00 0.000 4740 0.223 0.085 2688 697 1685 1713 1658 0 0 0 0 0 0 13.93 13.99 14.05

7959 0.41 430.9 2694 697 1720 1658 95.1 8.8 566 7976 0.00 2.47 11.38 0.437 9382 0.000 0.078 2694 2102 1609 1638 1580 0 0 0 0 0 0 14.09 13.93 13.54

8273 0.56 508.6 2688 2100 1651 1590 73.0 6.4 599 8324 0.22 0.00 46.03 0.409 10406 0.091 0.000 2779 2100 1290 1339 1242 0 0 0 0 0 0 14.29 13.97 13.59

8623 0.61 579.8 2778 2100 1342 1251 42.1 6.7 634 8670 0.00 2.53 41.28 0.320 8740 0.000 0.089 2777 695 1000 1064 937 0 0 0 0 0 0 14.55 14.04 13.66

8748 0.76 624.6 2778 696 1068 948 32.8 7.9 658 8785 0.15 2.47 29.42 0.291 11430 0.119 0.077 2842 2101 816 879 753 0 0 0 0 0 0 14.02 13.93 13.67

9078 end climb: SURFACE_DEPTH_REACHED

state 9078 begin surface coast

9098 end surface coast: CONTROL_FINISHED_OK

state 9098 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	349	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	976.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,073854,7444.7217,-15048.3896,13,0.8,14,20.8,0.4,200.3,9,8.2	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	1.19	MHEAD_RNG_PITCHd_Wd	213.9,102069,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	160917,075049,7444.7314,-15048.6699,6,0.7,21,20.7,0.2,298.3,10,8.3

FINISH	0.1,1.021236	_24V_AH	12.27,211.919
SM_CCo	9165,45.85,0.206,0,0,497,702.78	_10V_AH	12.43,0.000
SM_GC	0.97,8.23,0.17,45.85,0.081,0.135,0.206,199,2206,497,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.24,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	408	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323512
IRIDIUM_FIX	7444.22,-15041.65,160917,045548	DATA_FILE_SIZE	23434,697
TT8_MAMPS	0.038948,0.856856	CAP_FILE_SIZE	95822,0
HUMID	47.24	CFSIZE	2097872896,1988329472
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	1448.3
XPDR_PINGS	9	CURRENT	0.042,347.40,1
CP_FREE	0.000000	GPS	160917,102620,7444.341,-15053.131,38,0.8,38,20.7,0.0,0.0,10,7.8
PM_FREEKB_00	46502656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.29	nil	0	0	0.00
Roll_motor	70	2152	1853.59	nil	0	0	0.00
VBD_pump_during_apogee	1046	1330	17079.38	nil	0	0	0.00
VBD_pump_during_surface	45	205	115.77	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	9136	14	1598.64
Iridium_during_xfer	413	174	884.68	NCP	5423	20	1330.80
Transponder_ping	2	420	11.60	PMAR	9105	11	1234.60
GUMSTIX_24V	0	0	0.00
GPS	22	22	6.36
TT8	0	0	0.00
LPSleep	6548	2	188.03
TT8_Active	1105	13	191.98
TT8_Sampling	1949	33	810.36
TT8_CF8	336	38	161.99
TT8_Kalman	0	0	0.00
Analog_circuits	2180	10	270.98
GPS_charging	0	0	0.00
Compass	1000	7	87.09
RAFOS	2212	48	1319.77
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
63	end surface: CONTROL_FINISHED_OK
state	63	begin dive
67	-0.57	-145.9	178	2226	514	477	0.0	0.0	0	159	0.00	0.00	-90.95	0.000	16386	0.000	0.000	177	2226	2144	2072	2217	0	0	0	0	0	0	14.53	28.83	14.55
163	-0.57	-145.9	178	2227	2075	2220	3.9	-5.1	9	216	13.12	2.75	-34.78	0.000	18724	0.456	2.153	2377	3594	3966	3951	3981	1	0	0	0	0	0	13.27	12.59	14.07
441	-0.75	-145.9	2377	3596	3956	3982	55.8	-12.0	64	449	0.12	2.33	0.00	0.000	5254	0.125	0.055	2326	2229	3968	3956	3981	0	0	0	0	0	0	14.21	14.16	14.31
767	-0.79	-145.9	2327	2229	3957	3982	108.2	-13.4	92	768	0.00	0.00	0.00	0.000	134	0.000	0.000	2326	2228	3969	3957	3981	0	0	0	0	0	0	14.46	14.48	14.47
1067	-0.89	-145.9	2325	2229	3958	3981	142.1	-10.8	102	1068	0.00	0.00	0.00	0.000	134	0.000	0.000	2326	2228	3969	3957	3981	0	0	0	0	0	0	14.47	14.50	14.49
1367	-1.02	-145.9	2326	2229	3958	3982	171.4	-9.4	112	1368	0.25	0.00	0.00	0.000	4262	0.092	0.000	2239	2228	3969	3958	3981	0	0	0	0	0	0	14.01	14.09	14.07
1667	-0.99	-145.9	2240	2229	3958	3982	220.6	-16.4	122	1672	0.00	2.45	0.00	0.000	388	0.000	0.087	2236	3594	3969	3958	3981	0	0	0	0	0	0	14.44	13.95	14.46
1747	-1.07	-145.9	2237	3594	3959	3981	232.0	-12.8	138	1752	0.00	2.40	0.00	0.000	1158	0.000	0.059	2234	2199	3968	3956	3981	0	0	0	0	0	0	14.11	13.94	14.10
2057	-1.07	-145.9	2236	2198	3959	3981	275.6	-13.7	150	2062	0.00	2.53	0.00	0.000	260	0.000	0.087	2236	3600	3968	3957	3979	0	0	0	0	0	0	14.46	13.93	14.47
2133	-1.18	-145.9	2236	3602	3959	3981	284.6	-10.8	165	2138	0.12	2.42	0.00	0.000	5254	0.134	0.057	2184	2193	3969	3958	3981	0	0	0	0	0	0	14.00	13.94	14.12
2448	-1.11	-145.9	2185	2192	3958	3982	337.0	-16.6	178	2453	0.12	2.53	0.00	0.000	2436	0.289	0.083	2203	3601	3969	3957	3981	0	0	0	0	0	0	13.69	13.93	13.85
2534	-1.16	-145.9	2203	3603	3958	3982	348.7	-12.5	195	2540	0.00	2.45	0.00	0.000	1158	0.000	0.057	2204	2192	3968	3956	3981	0	0	0	0	0	0	14.09	14.00	14.09
2839	-1.16	-145.9	2204	2191	3958	3981	390.6	-13.7	206	2844	0.00	2.47	0.00	0.000	260	0.000	0.085	2201	3597	3968	3956	3981	0	0	0	0	0	0	14.43	13.90	14.45
2894	-1.19	-145.9	2197	3600	3956	3981	398.0	-12.8	217	2901	0.00	2.42	0.00	0.000	1158	0.000	0.057	2196	2198	3968	3955	3981	0	0	0	0	0	0	13.93	13.80	13.96
3202	-1.17	-145.9	2197	2197	3955	3982	440.4	-13.9	228	3207	0.00	2.47	0.00	0.000	388	0.000	0.085	2189	3595	3968	3955	3981	0	0	0	0	0	0	14.54	14.02	14.56
3258	-1.19	-145.9	2190	3596	3956	3981	448.4	-13.3	239	3264	0.00	2.38	0.00	0.000	1158	0.000	0.057	2189	2200	3968	3955	3981	0	0	0	0	0	0	14.23	14.11	14.32
3500	end dive: TARGET_DEPTH_EXCEEDED
state	3500	begin apogee
3506	-0.13	0.0	2191	2055	3956	3981	483.8	-14.6	248	3783	1.38	0.05	272.92	1.330	10246	0.239	0.219	2532	2086	3365	3378	3352	0	0	0	0	0	0	13.71	13.47	12.70
3785	end apogee: CONTROL_FINISHED_OK
state	3785	begin climb
3788	0.57	145.9	2533	2086	3373	3345	500.0	0.0	257	4014	0.73	2.72	213.98	1.320	10500	0.060	0.073	2781	3511	2757	2788	2727	0	0	0	0	0	0	13.70	13.14	12.27
4242	0.08	145.9	2777	3511	2770	2717	479.2	15.5	346	4248	0.85	2.40	0.00	0.000	5254	0.348	0.058	2618	2129	2742	2770	2715	0	0	0	0	0	0	13.45	13.84	13.85
4547	-0.01	196.7	2618	2129	2771	2716	454.5	7.7	357	4625	0.15	0.00	75.30	1.324	12710	0.290	0.000	2582	2128	2565	2611	2519	0	0	0	0	0	0	13.84	13.90	13.08
4907	0.02	247.2	2581	2129	2598	2488	427.6	7.7	374	5006	0.00	0.00	96.35	1.240	8230	0.000	0.000	2582	2128	2357	2405	2310	0	0	0	0	0	0	14.57	13.88	13.10
5297	0.10	287.9	2582	2129	2390	2293	396.2	8.1	387	5368	0.00	2.62	65.57	1.291	8868	0.000	0.089	2587	703	2186	2230	2142	0	0	0	0	0	0	14.57	14.00	13.14
5416	0.24	324.4	2589	698	2216	2134	386.6	8.3	410	5480	0.22	2.50	55.60	1.289	11430	0.089	0.080	2679	2109	2038	2080	1996	0	0	0	0	0	0	14.14	14.04	13.08
5779	0.16	324.4	2679	2109	2065	1973	332.0	15.1	433	5784	0.15	2.50	0.00	0.000	4740	0.256	0.084	2643	688	2018	2064	1973	0	0	0	0	0	0	13.95	14.14	14.07
5819	0.19	324.4	2647	688	2062	1972	326.6	12.3	441	5824	0.00	2.47	0.00	0.000	1158	0.000	0.078	2647	2103	2016	2060	1973	0	0	0	0	0	0	14.26	14.12	14.31
6140	0.19	324.4	2648	2106	2060	1971	288.0	11.9	455	6140	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2105	2014	2059	1970	0	0	0	0	0	0	14.64	14.66	14.66
6440	0.19	324.4	2648	2105	2060	1969	254.9	10.6	465	6444	0.00	2.50	0.00	0.000	516	0.000	0.087	2651	688	2014	2059	1969	0	0	0	0	0	0	14.65	14.15	14.68
6480	0.23	324.4	2651	688	2059	1970	250.6	10.2	473	6485	0.00	2.47	0.00	0.000	1158	0.000	0.079	2651	2100	2014	2059	1970	0	0	0	0	0	0	14.04	14.07	14.04
6800	0.24	332.7	2651	2101	2059	1969	218.8	9.6	487	6801	0.00	0.00	0.00	0.000	38	0.000	0.000	2651	2101	2014	2059	1969	0	0	0	0	0	0	14.64	14.69	14.69
7100	0.27	373.0	2651	2101	2058	1969	193.5	8.1	497	7191	0.00	2.58	82.82	1.217	8740	0.000	0.088	2651	692	1836	1862	1810	0	0	0	0	0	0	14.66	13.94	13.16
7214	0.38	405.8	2648	690	1855	1806	184.0	8.5	514	7277	0.17	2.50	55.67	1.183	11430	0.106	0.078	2718	2103	1707	1729	1686	0	0	0	0	0	0	14.10	14.03	13.12
7582	0.35	405.8	2719	2105	1719	1661	138.3	12.2	538	7587	0.00	2.47	0.00	0.000	644	0.000	0.086	2724	697	1689	1717	1661	0	0	0	0	0	0	14.55	14.12	14.57
7622	0.35	405.8	2726	696	1715	1661	133.4	12.1	546	7627	0.00	2.45	0.00	0.000	1030	0.000	0.076	2725	2101	1687	1713	1661	0	0	0	0	0	0	14.28	14.15	14.33
7933	0.33	405.8	2726	2102	1714	1658	97.5	11.1	561	7938	0.15	2.50	0.00	0.000	4740	0.223	0.085	2688	697	1685	1713	1658	0	0	0	0	0	0	13.93	13.99	14.05
7959	0.41	430.9	2694	697	1720	1658	95.1	8.8	566	7976	0.00	2.47	11.38	0.437	9382	0.000	0.078	2694	2102	1609	1638	1580	0	0	0	0	0	0	14.09	13.93	13.54
8273	0.56	508.6	2688	2100	1651	1590	73.0	6.4	599	8324	0.22	0.00	46.03	0.409	10406	0.091	0.000	2779	2100	1290	1339	1242	0	0	0	0	0	0	14.29	13.97	13.59
8623	0.61	579.8	2778	2100	1342	1251	42.1	6.7	634	8670	0.00	2.53	41.28	0.320	8740	0.000	0.089	2777	695	1000	1064	937	0	0	0	0	0	0	14.55	14.04	13.66
8748	0.76	624.6	2778	696	1068	948	32.8	7.9	658	8785	0.15	2.47	29.42	0.291	11430	0.119	0.077	2842	2101	816	879	753	0	0	0	0	0	0	14.02	13.93	13.67
9078	end climb: SURFACE_DEPTH_REACHED
state	9078	begin surface coast
9098	end surface coast: CONTROL_FINISHED_OK
state	9098	begin surface