Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 352 * 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 352 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 984.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 984.0 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 28 VBD_MIN 500

DIVE 352 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 160917,155732,7443.4229,-15102.8320,35,0.7,35,20.6,0.0,0.0,12,8.9 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 1.18 MHEAD_RNG_PITCHd_Wd 212.1,94636,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 160917,160841,7443.4512,-15103.0244,6,0.7,8,20.6,0.0,352.6,11,9.7

Post-dive calculations and measurements:

FINISH 1.2,1.021302 _24V_AH 12.28,213.391

SM_CCo 8826,19.42,0.213,0,0,499,702.78 _10V_AH 12.12,0.000

SM_GC 1.07,8.30,2.60,19.42,0.074,0.071,0.213,197,2205,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.27,14.21,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7441.61,-15056.72,160917,131926 DATA_FILE_SIZE 23429,659

TT8_MAMPS 0.039697,0.944489 CAP_FILE_SIZE 100020,0

HUMID 47.04 CFSIZE 2097872896,1987510272

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

TCM_TEMP 11.00 SOUNDSPEED 1446.5

XPDR_PINGS 13 CURRENT 0.042,317.83,1

CP_FREE 15921709056.000000 GPS 160917,183803,7442.989,-15107.622,31,0.8,32,20.6,0.6,106.8,10,6.2

PM_FREEKB_00 46363648

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 146.06 nil 0 0 0.00

Roll_motor 84 2156 2233.78 nil 0 0 0.00

VBD_pump_during_apogee 979 1458 17550.17 nil 0 0 0.00

VBD_pump_during_surface 19 212 50.73 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 8834 14 1579.27

Iridium_during_xfer 383 172 814.52 NCP 8785 20 2157.60

Transponder_ping 3 420 16.76 PMAR 8778 12 1317.13

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.30

TT8 0 0 0.00

LPSleep 6134 2 171.76

TT8_Active 822 13 139.33

TT8_Sampling 2219 33 899.67

TT8_CF8 354 38 166.11

TT8_Kalman 0 0 0.00

Analog_circuits 2258 10 273.74

GPS_charging 0 0 0.00

Compass 947 7 80.37

RAFOS 1542 48 897.07

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 185 2214 498 494 0.0 0.0 0 141 0.00 0.00 -88.20 0.000 16386 0.000 0.000 183 2215 2089 2018 2161 0 0 0 0 0 0 14.49 28.83 14.51

144 -0.57 -145.9 183 2215 2019 2164 4.5 -6.5 9 200 13.07 2.83 -37.12 0.000 19236 0.454 2.157 2385 799 3964 3951 3977 1 0 0 0 0 0 13.33 12.59 13.92

366 -0.72 -145.9 2387 800 3954 3979 48.4 -12.9 53 371 0.12 2.50 0.00 0.000 5254 0.120 0.086 2338 2195 3965 3954 3977 0 0 0 0 0 0 14.08 13.97 14.17

676 -0.78 -145.9 2338 2197 3954 3978 97.8 -12.9 85 681 0.00 2.55 0.00 0.000 388 0.000 0.086 2333 3616 3965 3954 3977 0 0 0 0 0 0 14.38 13.92 14.42

779 -0.97 -145.9 2334 3618 3955 3978 108.7 -10.0 105 784 0.20 2.42 0.00 0.000 5286 0.099 0.053 2255 2201 3965 3954 3977 0 0 0 0 0 0 14.13 14.02 14.19

1099 -0.93 -145.9 2255 2201 3954 3978 165.0 -17.1 119 1104 0.00 2.53 0.00 0.000 388 0.000 0.085 2241 3614 3965 3954 3977 0 0 0 0 0 0 14.42 13.97 14.44

1150 -0.98 -145.9 2246 3615 3955 3977 173.0 -14.9 129 1154 0.00 2.45 0.00 0.000 1158 0.000 0.060 2245 2195 3965 3954 3976 0 0 0 0 0 0 14.15 14.00 14.16

1460 -0.98 -145.9 2245 2194 3954 3978 223.0 -15.7 141 1465 0.00 2.55 0.00 0.000 260 0.000 0.086 2236 3616 3965 3954 3977 0 0 0 0 0 0 14.40 13.94 14.42

1520 -1.04 -145.9 2236 3617 3955 3979 231.6 -13.4 153 1525 0.00 2.45 0.00 0.000 1158 0.000 0.058 2236 2195 3965 3954 3977 0 0 0 0 0 0 14.12 13.99 14.16

1852 -1.04 -145.9 2236 2194 3955 3977 278.1 -13.3 169 1857 0.00 2.50 0.00 0.000 260 0.000 0.086 2235 3610 3965 3954 3977 0 0 0 0 0 0 14.38 13.88 14.39

1908 -1.13 -145.9 2236 3610 3955 3977 285.2 -11.5 180 1915 0.00 2.45 0.00 0.000 1158 0.000 0.056 2236 2196 3965 3954 3977 0 0 0 0 0 0 14.03 13.88 14.07

2213 -1.16 -145.9 2236 2197 3954 3978 322.2 -11.8 191 2214 0.00 0.00 0.00 0.000 134 0.000 0.000 2235 2196 3965 3954 3977 0 0 0 0 0 0 14.56 14.58 14.57

2513 -1.21 -145.9 2236 2196 3955 3977 356.4 -11.3 201 2518 0.12 2.53 0.00 0.000 4484 0.148 0.084 2169 3618 3965 3954 3976 0 0 0 0 0 0 14.22 14.06 14.26

2564 -1.17 -145.9 2168 3619 3954 3977 364.0 -15.8 211 2569 0.12 2.45 0.00 0.000 3206 0.264 0.057 2194 2194 3965 3954 3976 0 0 0 0 0 0 13.80 14.05 14.09

2874 -1.15 -145.9 2194 2194 3955 3977 409.0 -14.1 223 2879 0.00 2.50 0.00 0.000 388 0.000 0.084 2186 3610 3964 3953 3976 0 0 0 0 0 0 14.61 14.06 14.63

2924 -1.15 -145.9 2186 3612 3954 3976 416.1 -13.7 233 2929 0.00 2.42 0.00 0.000 1030 0.000 0.056 2186 2195 3964 3954 3975 0 0 0 0 0 0 14.10 13.98 14.14

3235 -1.10 -145.9 2186 2195 3954 3976 462.1 -14.9 245 3240 0.12 2.53 0.00 0.000 2436 0.311 0.083 2204 3619 3964 3953 3975 0 0 0 0 0 0 13.83 13.98 13.97

3315 -1.18 -145.9 2205 3621 3955 3975 472.1 -11.4 261 3320 0.00 2.42 0.00 0.000 1158 0.000 0.056 2204 2199 3965 3954 3976 0 0 0 0 0 0 14.08 13.96 14.12

3383 end dive: TARGET_DEPTH_EXCEEDED

state 3383 begin apogee

3390 -0.13 0.0 2205 2056 3954 3976 480.8 -12.4 265 3620 1.30 0.10 226.18 1.400 10246 0.230 0.158 2529 2121 3362 3387 3338 0 0 0 0 0 0 13.74 13.48 12.66

3624 end apogee: CONTROL_FINISHED_OK

state 3624 begin climb

3629 0.57 145.9 2529 2121 3380 3330 492.7 0.0 272 4040 0.75 0.00 209.68 1.358 10758 0.060 0.000 2785 2120 2751 2795 2708 0 0 0 0 0 0 13.73 12.89 12.28

4364 0.13 145.9 2785 2119 2783 2708 432.8 14.3 288 4370 0.70 2.45 0.00 0.000 4740 0.320 0.078 2645 728 2747 2787 2708 0 0 0 0 0 0 13.65 14.03 13.90

4440 0.01 168.8 2639 727 2789 2708 425.6 8.9 303 4476 0.22 2.38 29.65 1.459 13478 0.269 0.079 2590 2088 2672 2718 2627 0 0 0 0 0 0 13.81 14.14 13.15

4789 0.01 219.7 2590 2088 2711 2612 399.3 7.7 322 4870 0.00 0.00 78.95 1.353 8358 0.000 0.000 2590 2088 2470 2529 2411 0 0 0 0 0 0 14.57 13.91 13.09

5147 0.03 251.6 2591 2088 2510 2389 369.1 8.5 334 5197 0.00 0.00 48.25 1.369 8230 0.000 0.000 2590 2088 2340 2394 2287 0 0 0 0 0 0 14.57 13.99 13.16

5477 0.09 288.5 2591 2088 2378 2268 341.3 8.3 345 5543 0.00 2.47 57.72 1.332 8868 0.000 0.088 2590 733 2180 2232 2128 0 0 0 0 0 0 14.59 13.98 13.17

5586 0.24 330.1 2591 733 2225 2124 332.4 8.1 366 5660 0.22 2.42 66.45 1.288 11430 0.089 0.080 2679 2107 2016 2064 1969 0 0 0 0 0 0 14.16 14.07 13.06

5959 0.18 330.1 2680 2108 2051 1950 278.7 14.2 391 5964 0.15 2.45 0.00 0.000 4740 0.253 0.084 2647 724 1999 2050 1949 0 0 0 0 0 0 13.88 14.13 14.04

5995 0.21 330.1 2647 725 2049 1950 274.4 11.3 398 5999 0.00 2.40 0.00 0.000 1158 0.000 0.077 2647 2098 1998 2047 1949 0 0 0 0 0 0 14.29 14.16 14.36

6320 0.22 334.4 2644 2101 2048 1947 240.3 9.8 413 6326 0.00 2.45 0.00 0.000 548 0.000 0.086 2647 721 1996 2047 1946 0 0 0 0 0 0 14.64 14.15 14.66

6361 0.29 351.2 2647 721 2047 1945 236.6 9.2 421 6396 0.00 2.42 28.98 1.353 9382 0.000 0.078 2647 2107 1932 1979 1885 0 0 0 0 0 0 14.21 14.09 13.26

6714 0.35 376.9 2648 2107 1965 1873 205.1 8.8 441 6763 0.12 2.53 43.83 1.307 10916 0.125 0.086 2710 723 1824 1856 1793 0 0 0 0 0 0 14.26 14.07 13.25

6790 0.32 376.9 2714 724 1842 1790 196.1 12.1 456 6795 0.00 2.42 0.00 0.000 1158 0.000 0.077 2709 2105 1815 1841 1790 0 0 0 0 0 0 14.23 14.11 14.26

7106 0.27 376.9 2710 2106 1839 1783 157.6 11.8 469 7111 0.15 2.42 0.00 0.000 4740 0.225 0.085 2672 736 1810 1838 1783 0 0 0 0 0 0 13.93 14.13 14.07

7162 0.39 405.0 2674 733 1837 1784 152.1 8.7 480 7214 0.12 2.40 46.35 1.277 11430 0.133 0.078 2726 2104 1714 1738 1690 0 0 0 0 0 0 14.18 14.13 13.24

7529 0.36 405.0 2725 2104 1728 1672 107.5 11.9 503 7530 0.00 0.00 0.00 0.000 134 0.000 0.000 2725 2103 1699 1727 1672 0 0 0 0 0 0 14.58 14.60 14.60

7831 0.38 437.7 2727 2104 1728 1668 77.8 8.5 527 7853 0.00 2.42 15.88 0.420 8740 0.000 0.085 2723 731 1580 1610 1550 0 0 0 0 0 0 14.55 13.93 13.62

7945 0.50 492.3 2727 731 1618 1554 69.0 7.5 549 7982 0.00 2.42 30.35 0.401 9382 0.000 0.078 2723 2102 1356 1402 1310 0 0 0 0 0 0 14.23 14.09 13.66

8288 0.68 605.6 2726 2102 1403 1317 47.4 4.8 587 8356 0.20 2.47 60.25 0.337 10916 0.093 0.090 2808 738 895 965 826 0 0 0 0 0 0 14.18 13.95 13.71

8393 0.75 614.7 2808 739 966 829 38.5 9.6 607 8404 0.00 2.40 5.80 0.311 9382 0.000 0.076 2808 2101 858 929 788 0 0 0 0 0 0 14.09 13.97 13.59

8701 0.88 669.7 2809 2102 931 798 13.6 7.5 639 8739 0.15 2.45 31.35 0.245 10916 0.111 0.087 2886 731 631 680 582 0 0 0 0 0 0 14.12 13.90 13.76

8799 end climb: SURFACE_DEPTH_REACHED

state 8799 begin surface coast

8802 end surface coast: CONTROL_FINISHED_OK

state 8802 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	352	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	984.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,155732,7443.4229,-15102.8320,35,0.7,35,20.6,0.0,0.0,12,8.9	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	1.18	MHEAD_RNG_PITCHd_Wd	212.1,94636,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	160917,160841,7443.4512,-15103.0244,6,0.7,8,20.6,0.0,352.6,11,9.7

FINISH	1.2,1.021302	_24V_AH	12.28,213.391
SM_CCo	8826,19.42,0.213,0,0,499,702.78	_10V_AH	12.12,0.000
SM_GC	1.07,8.30,2.60,19.42,0.074,0.071,0.213,197,2205,499,-7.39,-0.76,702.78,0,0,0,0,0,0,14.27,14.21,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7441.61,-15056.72,160917,131926	DATA_FILE_SIZE	23429,659
TT8_MAMPS	0.039697,0.944489	CAP_FILE_SIZE	100020,0
HUMID	47.04	CFSIZE	2097872896,1987510272
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	11.00	SOUNDSPEED	1446.5
XPDR_PINGS	13	CURRENT	0.042,317.83,1
CP_FREE	15921709056.000000	GPS	160917,183803,7442.989,-15107.622,31,0.8,32,20.6,0.6,106.8,10,6.2
PM_FREEKB_00	46363648

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	146.06	nil	0	0	0.00
Roll_motor	84	2156	2233.78	nil	0	0	0.00
VBD_pump_during_apogee	979	1458	17550.17	nil	0	0	0.00
VBD_pump_during_surface	19	212	50.73	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	8834	14	1579.27
Iridium_during_xfer	383	172	814.52	NCP	8785	20	2157.60
Transponder_ping	3	420	16.76	PMAR	8778	12	1317.13
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.30
TT8	0	0	0.00
LPSleep	6134	2	171.76
TT8_Active	822	13	139.33
TT8_Sampling	2219	33	899.67
TT8_CF8	354	38	166.11
TT8_Kalman	0	0	0.00
Analog_circuits	2258	10	273.74
GPS_charging	0	0	0.00
Compass	947	7	80.37
RAFOS	1542	48	897.07
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	185	2214	498	494	0.0	0.0	0	141	0.00	0.00	-88.20	0.000	16386	0.000	0.000	183	2215	2089	2018	2161	0	0	0	0	0	0	14.49	28.83	14.51
144	-0.57	-145.9	183	2215	2019	2164	4.5	-6.5	9	200	13.07	2.83	-37.12	0.000	19236	0.454	2.157	2385	799	3964	3951	3977	1	0	0	0	0	0	13.33	12.59	13.92
366	-0.72	-145.9	2387	800	3954	3979	48.4	-12.9	53	371	0.12	2.50	0.00	0.000	5254	0.120	0.086	2338	2195	3965	3954	3977	0	0	0	0	0	0	14.08	13.97	14.17
676	-0.78	-145.9	2338	2197	3954	3978	97.8	-12.9	85	681	0.00	2.55	0.00	0.000	388	0.000	0.086	2333	3616	3965	3954	3977	0	0	0	0	0	0	14.38	13.92	14.42
779	-0.97	-145.9	2334	3618	3955	3978	108.7	-10.0	105	784	0.20	2.42	0.00	0.000	5286	0.099	0.053	2255	2201	3965	3954	3977	0	0	0	0	0	0	14.13	14.02	14.19
1099	-0.93	-145.9	2255	2201	3954	3978	165.0	-17.1	119	1104	0.00	2.53	0.00	0.000	388	0.000	0.085	2241	3614	3965	3954	3977	0	0	0	0	0	0	14.42	13.97	14.44
1150	-0.98	-145.9	2246	3615	3955	3977	173.0	-14.9	129	1154	0.00	2.45	0.00	0.000	1158	0.000	0.060	2245	2195	3965	3954	3976	0	0	0	0	0	0	14.15	14.00	14.16
1460	-0.98	-145.9	2245	2194	3954	3978	223.0	-15.7	141	1465	0.00	2.55	0.00	0.000	260	0.000	0.086	2236	3616	3965	3954	3977	0	0	0	0	0	0	14.40	13.94	14.42
1520	-1.04	-145.9	2236	3617	3955	3979	231.6	-13.4	153	1525	0.00	2.45	0.00	0.000	1158	0.000	0.058	2236	2195	3965	3954	3977	0	0	0	0	0	0	14.12	13.99	14.16
1852	-1.04	-145.9	2236	2194	3955	3977	278.1	-13.3	169	1857	0.00	2.50	0.00	0.000	260	0.000	0.086	2235	3610	3965	3954	3977	0	0	0	0	0	0	14.38	13.88	14.39
1908	-1.13	-145.9	2236	3610	3955	3977	285.2	-11.5	180	1915	0.00	2.45	0.00	0.000	1158	0.000	0.056	2236	2196	3965	3954	3977	0	0	0	0	0	0	14.03	13.88	14.07
2213	-1.16	-145.9	2236	2197	3954	3978	322.2	-11.8	191	2214	0.00	0.00	0.00	0.000	134	0.000	0.000	2235	2196	3965	3954	3977	0	0	0	0	0	0	14.56	14.58	14.57
2513	-1.21	-145.9	2236	2196	3955	3977	356.4	-11.3	201	2518	0.12	2.53	0.00	0.000	4484	0.148	0.084	2169	3618	3965	3954	3976	0	0	0	0	0	0	14.22	14.06	14.26
2564	-1.17	-145.9	2168	3619	3954	3977	364.0	-15.8	211	2569	0.12	2.45	0.00	0.000	3206	0.264	0.057	2194	2194	3965	3954	3976	0	0	0	0	0	0	13.80	14.05	14.09
2874	-1.15	-145.9	2194	2194	3955	3977	409.0	-14.1	223	2879	0.00	2.50	0.00	0.000	388	0.000	0.084	2186	3610	3964	3953	3976	0	0	0	0	0	0	14.61	14.06	14.63
2924	-1.15	-145.9	2186	3612	3954	3976	416.1	-13.7	233	2929	0.00	2.42	0.00	0.000	1030	0.000	0.056	2186	2195	3964	3954	3975	0	0	0	0	0	0	14.10	13.98	14.14
3235	-1.10	-145.9	2186	2195	3954	3976	462.1	-14.9	245	3240	0.12	2.53	0.00	0.000	2436	0.311	0.083	2204	3619	3964	3953	3975	0	0	0	0	0	0	13.83	13.98	13.97
3315	-1.18	-145.9	2205	3621	3955	3975	472.1	-11.4	261	3320	0.00	2.42	0.00	0.000	1158	0.000	0.056	2204	2199	3965	3954	3976	0	0	0	0	0	0	14.08	13.96	14.12
3383	end dive: TARGET_DEPTH_EXCEEDED
state	3383	begin apogee
3390	-0.13	0.0	2205	2056	3954	3976	480.8	-12.4	265	3620	1.30	0.10	226.18	1.400	10246	0.230	0.158	2529	2121	3362	3387	3338	0	0	0	0	0	0	13.74	13.48	12.66
3624	end apogee: CONTROL_FINISHED_OK
state	3624	begin climb
3629	0.57	145.9	2529	2121	3380	3330	492.7	0.0	272	4040	0.75	0.00	209.68	1.358	10758	0.060	0.000	2785	2120	2751	2795	2708	0	0	0	0	0	0	13.73	12.89	12.28
4364	0.13	145.9	2785	2119	2783	2708	432.8	14.3	288	4370	0.70	2.45	0.00	0.000	4740	0.320	0.078	2645	728	2747	2787	2708	0	0	0	0	0	0	13.65	14.03	13.90
4440	0.01	168.8	2639	727	2789	2708	425.6	8.9	303	4476	0.22	2.38	29.65	1.459	13478	0.269	0.079	2590	2088	2672	2718	2627	0	0	0	0	0	0	13.81	14.14	13.15
4789	0.01	219.7	2590	2088	2711	2612	399.3	7.7	322	4870	0.00	0.00	78.95	1.353	8358	0.000	0.000	2590	2088	2470	2529	2411	0	0	0	0	0	0	14.57	13.91	13.09
5147	0.03	251.6	2591	2088	2510	2389	369.1	8.5	334	5197	0.00	0.00	48.25	1.369	8230	0.000	0.000	2590	2088	2340	2394	2287	0	0	0	0	0	0	14.57	13.99	13.16
5477	0.09	288.5	2591	2088	2378	2268	341.3	8.3	345	5543	0.00	2.47	57.72	1.332	8868	0.000	0.088	2590	733	2180	2232	2128	0	0	0	0	0	0	14.59	13.98	13.17
5586	0.24	330.1	2591	733	2225	2124	332.4	8.1	366	5660	0.22	2.42	66.45	1.288	11430	0.089	0.080	2679	2107	2016	2064	1969	0	0	0	0	0	0	14.16	14.07	13.06
5959	0.18	330.1	2680	2108	2051	1950	278.7	14.2	391	5964	0.15	2.45	0.00	0.000	4740	0.253	0.084	2647	724	1999	2050	1949	0	0	0	0	0	0	13.88	14.13	14.04
5995	0.21	330.1	2647	725	2049	1950	274.4	11.3	398	5999	0.00	2.40	0.00	0.000	1158	0.000	0.077	2647	2098	1998	2047	1949	0	0	0	0	0	0	14.29	14.16	14.36
6320	0.22	334.4	2644	2101	2048	1947	240.3	9.8	413	6326	0.00	2.45	0.00	0.000	548	0.000	0.086	2647	721	1996	2047	1946	0	0	0	0	0	0	14.64	14.15	14.66
6361	0.29	351.2	2647	721	2047	1945	236.6	9.2	421	6396	0.00	2.42	28.98	1.353	9382	0.000	0.078	2647	2107	1932	1979	1885	0	0	0	0	0	0	14.21	14.09	13.26
6714	0.35	376.9	2648	2107	1965	1873	205.1	8.8	441	6763	0.12	2.53	43.83	1.307	10916	0.125	0.086	2710	723	1824	1856	1793	0	0	0	0	0	0	14.26	14.07	13.25
6790	0.32	376.9	2714	724	1842	1790	196.1	12.1	456	6795	0.00	2.42	0.00	0.000	1158	0.000	0.077	2709	2105	1815	1841	1790	0	0	0	0	0	0	14.23	14.11	14.26
7106	0.27	376.9	2710	2106	1839	1783	157.6	11.8	469	7111	0.15	2.42	0.00	0.000	4740	0.225	0.085	2672	736	1810	1838	1783	0	0	0	0	0	0	13.93	14.13	14.07
7162	0.39	405.0	2674	733	1837	1784	152.1	8.7	480	7214	0.12	2.40	46.35	1.277	11430	0.133	0.078	2726	2104	1714	1738	1690	0	0	0	0	0	0	14.18	14.13	13.24
7529	0.36	405.0	2725	2104	1728	1672	107.5	11.9	503	7530	0.00	0.00	0.00	0.000	134	0.000	0.000	2725	2103	1699	1727	1672	0	0	0	0	0	0	14.58	14.60	14.60
7831	0.38	437.7	2727	2104	1728	1668	77.8	8.5	527	7853	0.00	2.42	15.88	0.420	8740	0.000	0.085	2723	731	1580	1610	1550	0	0	0	0	0	0	14.55	13.93	13.62
7945	0.50	492.3	2727	731	1618	1554	69.0	7.5	549	7982	0.00	2.42	30.35	0.401	9382	0.000	0.078	2723	2102	1356	1402	1310	0	0	0	0	0	0	14.23	14.09	13.66
8288	0.68	605.6	2726	2102	1403	1317	47.4	4.8	587	8356	0.20	2.47	60.25	0.337	10916	0.093	0.090	2808	738	895	965	826	0	0	0	0	0	0	14.18	13.95	13.71
8393	0.75	614.7	2808	739	966	829	38.5	9.6	607	8404	0.00	2.40	5.80	0.311	9382	0.000	0.076	2808	2101	858	929	788	0	0	0	0	0	0	14.09	13.97	13.59
8701	0.88	669.7	2809	2102	931	798	13.6	7.5	639	8739	0.15	2.45	31.35	0.245	10916	0.111	0.087	2886	731	631	680	582	0	0	0	0	0	0	14.12	13.90	13.76
8799	end climb: SURFACE_DEPTH_REACHED
state	8799	begin surface coast
8802	end surface coast: CONTROL_FINISHED_OK
state	8802	begin surface