Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 355 * 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 355 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 992.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 992.0 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 29 VBD_MIN 500

DIVE 355 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 170917,000351,7441.9492,-15117.2432,16,0.8,22,20.5,0.3,255.2,9,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 211.8,86978,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.1 D_GRID 480

GPS2 170917,001901,7441.9600,-15117.4971,27,0.8,39,20.5,0.3,189.3,9,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.019997 _24V_AH 12.28,214.875

SM_CCo 9099,33.70,0.202,0,0,499,702.78 _10V_AH 12.13,0.000

SM_GC 1.27,7.95,0.17,33.70,0.064,0.105,0.202,200,2243,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.29,14.31,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323596

IRIDIUM_FIX 7441.80,-15114.92,170917,000841 DATA_FILE_SIZE 23418,682

TT8_MAMPS 0.039697,0.948983 CAP_FILE_SIZE 102713,0

HUMID 47.08 CFSIZE 2097872896,1986789376

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1447.1

XPDR_PINGS 19 CURRENT 0.005,16.94,1

CP_FREE 0.000000 GPS 170917,025301,7441.421,-15121.678,18,0.8,26,20.5,0.3,294.0,11,5.0

PM_FREEKB_00 46236096

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 143.28 nil 0 0 0.00

Roll_motor 85 2157 2263.71 nil 0 0 0.00

VBD_pump_during_apogee 1003 1403 17283.66 nil 0 0 0.00

VBD_pump_during_surface 33 201 83.58 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 9065 14 1620.35

Iridium_during_xfer 531 168 1098.05 NCP 9063 20 2225.87

Transponder_ping 4 420 24.50 PMAR 9053 12 1342.61

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.61

TT8 0 0 0.00

LPSleep 6342 2 177.72

TT8_Active 943 13 159.90

TT8_Sampling 2401 33 974.09

TT8_CF8 369 38 173.27

TT8_Kalman 0 0 0.00

Analog_circuits 2472 10 299.94

GPS_charging 0 0 0.00

Compass 979 7 83.18

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 -145.9 162 2224 508 493 0.0 0.0 0 143 0.00 0.00 -91.25 0.000 16386 0.000 0.000 161 2224 2177 2107 2247 0 0 0 0 0 0 14.34 28.83 14.36

147 -0.57 -145.9 162 2226 2112 2247 4.3 -6.7 9 199 13.10 2.92 -33.60 0.000 18980 0.451 2.157 2384 791 3963 3946 3980 1 0 0 0 0 0 13.24 12.59 14.07

345 -0.70 -145.9 2385 793 3952 3978 46.8 -13.6 48 351 0.00 2.50 0.00 0.000 1158 0.000 0.086 2382 2184 3965 3950 3980 0 0 0 0 0 0 13.95 13.83 14.00

650 -0.83 -145.9 2383 2186 3953 3980 86.6 -10.0 79 655 0.20 2.58 0.00 0.000 4516 0.101 0.088 2292 3616 3966 3953 3979 0 0 0 0 0 0 14.09 13.83 14.18

786 -0.92 -145.9 2293 3616 3954 3981 105.3 -13.1 106 790 0.00 2.45 0.00 0.000 1158 0.000 0.059 2292 2198 3968 3956 3980 0 0 0 0 0 0 14.15 14.02 14.20

1101 -0.96 -145.9 2292 2200 3961 3981 150.7 -13.6 119 1102 0.00 0.00 0.00 0.000 134 0.000 0.000 2292 2199 3966 3953 3980 0 0 0 0 0 0 14.42 14.43 14.44

1401 -1.02 -145.9 2295 2201 3954 3981 187.7 -11.8 129 1402 0.12 0.00 0.00 0.000 4230 0.131 0.000 2244 2199 3966 3952 3980 0 0 0 0 0 0 14.06 14.16 14.13

1701 -1.02 -145.9 2244 2200 3954 3981 234.1 -15.1 139 1705 0.00 2.53 0.00 0.000 260 0.000 0.087 2236 3614 3967 3953 3981 0 0 0 0 0 0 14.62 14.04 14.63

1766 -1.10 -145.9 2236 3614 3954 3980 243.3 -13.0 152 1772 0.00 2.40 0.00 0.000 1158 0.000 0.058 2236 2202 3966 3953 3980 0 0 0 0 0 0 14.18 14.04 14.22

2092 -1.10 -145.9 2237 2199 3954 3980 288.3 -13.2 167 2097 0.00 2.53 0.00 0.000 260 0.000 0.088 2235 3614 3966 3953 3980 0 0 0 0 0 0 14.66 14.06 14.64

2162 -1.20 -145.9 2236 3616 3953 3980 296.6 -11.0 181 2168 0.15 2.45 0.00 0.000 5254 0.122 0.057 2176 2191 3966 3952 3980 0 0 0 0 0 0 14.16 14.10 14.26

2483 -1.11 -145.9 2177 2191 3953 3981 351.9 -17.3 195 2489 0.15 2.55 0.00 0.000 2436 0.295 0.083 2200 3624 3966 3952 3980 0 0 0 0 0 0 13.73 14.04 13.90

2559 -1.15 -145.9 2201 3626 3954 3980 362.7 -13.1 210 2564 0.00 2.42 0.00 0.000 1158 0.000 0.058 2201 2201 3966 3952 3980 0 0 0 0 0 0 14.27 14.13 14.31

2874 -1.13 -145.9 2200 2199 3953 3980 407.3 -13.9 223 2879 0.00 2.50 0.00 0.000 388 0.000 0.086 2192 3615 3965 3951 3980 0 0 0 0 0 0 14.62 14.04 14.64

2920 -1.15 -145.9 2193 3617 3952 3981 413.5 -13.4 232 2925 0.00 2.42 0.00 0.000 1158 0.000 0.059 2192 2194 3965 3951 3980 0 0 0 0 0 0 14.23 14.09 14.28

3236 -1.12 -145.9 2193 2193 3953 3979 458.7 -14.3 245 3241 0.00 2.53 0.00 0.000 388 0.000 0.085 2184 3616 3963 3947 3979 0 0 0 0 0 0 14.62 14.04 14.63

3301 -1.12 -145.9 2184 3618 3952 3980 467.9 -13.9 258 3306 0.15 2.45 0.00 0.000 3078 0.236 0.058 2213 2194 3965 3951 3980 0 0 0 0 0 0 13.33 13.31 14.00

3414 end dive: TARGET_DEPTH_EXCEEDED

state 3414 begin apogee

3420 -0.13 0.0 2213 2065 3952 3980 482.3 -12.3 266 3657 1.23 0.08 227.48 1.403 10246 0.223 0.178 2527 2107 3362 3370 3355 0 0 0 0 0 0 13.71 13.50 12.69

3661 end apogee: CONTROL_FINISHED_OK

state 3663 begin climb

3666 0.57 145.9 2528 2113 3368 3344 496.0 0.0 274 4077 0.75 2.65 211.40 1.359 10756 0.060 0.079 2794 732 2751 2782 2720 0 0 0 0 0 0 13.74 12.90 12.28

4089 0.57 145.9 2794 731 2784 2720 484.2 3.8 277 4094 0.00 2.45 0.00 0.000 1030 0.000 0.075 2794 2104 2750 2783 2718 0 0 0 0 0 0 13.94 13.82 13.98

4404 0.12 145.9 2794 2105 2782 2715 437.3 14.5 290 4409 0.73 2.45 0.00 0.000 4484 0.310 0.075 2629 3512 2747 2781 2714 0 0 0 0 0 0 13.64 14.04 13.88

4570 -0.09 158.0 2630 3513 2778 2714 420.7 9.4 323 4581 0.32 2.35 3.47 1.264 13478 0.276 0.060 2560 2123 2722 2755 2689 0 0 0 0 0 0 13.81 14.19 12.93

4886 -0.02 258.5 2561 2126 2775 2698 403.1 5.4 336 5067 0.00 0.00 178.40 1.297 8230 0.000 0.000 2560 2126 2311 2359 2263 0 0 0 0 0 0 14.65 13.70 12.90

5366 0.12 325.2 2560 2127 2341 2240 370.9 6.9 352 5481 0.17 2.60 107.97 1.270 10916 0.103 0.092 2641 696 2032 2075 1989 0 0 0 0 0 0 14.21 13.85 13.03

5544 0.16 325.2 2641 696 2058 1987 350.3 11.4 387 5551 0.00 2.50 0.00 0.000 1158 0.000 0.079 2641 2102 2021 2057 1985 0 0 0 0 0 0 14.08 13.96 14.12

5849 0.16 325.2 2641 2103 2058 1975 314.0 11.8 398 5854 0.00 2.50 0.00 0.000 516 0.000 0.090 2640 695 2014 2057 1972 0 0 0 0 0 0 14.58 14.13 14.62

5894 0.21 325.2 2641 694 2056 1975 308.8 11.0 407 5899 0.00 2.45 0.00 0.000 1158 0.000 0.079 2640 2100 2015 2056 1975 0 0 0 0 0 0 14.31 14.16 14.35

6209 0.21 325.2 2641 2100 2056 1974 273.4 10.9 420 6215 0.00 2.47 0.00 0.000 516 0.000 0.088 2640 701 2014 2055 1974 0 0 0 0 0 0 14.63 14.15 14.65

6256 0.29 325.3 2641 701 2056 1974 268.7 10.0 429 6260 0.00 2.45 0.00 0.000 1190 0.000 0.079 2641 2106 2014 2054 1974 0 0 0 0 0 0 14.32 14.17 14.37

6571 0.30 343.5 2641 2107 2055 1973 237.8 9.2 442 6595 0.12 0.00 23.08 1.402 10278 0.125 0.000 2696 2106 1964 2004 1924 0 0 0 0 0 0 14.35 14.09 13.25

6871 0.23 343.5 2696 2107 1991 1908 202.0 11.9 452 6877 0.15 2.45 0.00 0.000 4740 0.240 0.086 2660 692 1948 1990 1907 0 0 0 0 0 0 13.99 14.15 14.13

6918 0.32 374.0 2661 693 1988 1907 197.6 8.6 461 6979 0.00 2.47 51.15 1.301 9382 0.000 0.080 2660 2108 1834 1861 1808 0 0 0 0 0 0 14.33 14.19 13.21

7297 0.39 402.1 2660 2111 1849 1797 163.7 8.7 486 7350 0.12 2.53 46.35 1.284 10916 0.127 0.089 2726 692 1720 1740 1700 0 0 0 0 0 0 14.28 14.07 13.22

7405 0.39 402.1 2727 692 1729 1696 150.5 12.0 508 7411 0.00 2.50 0.00 0.000 1030 0.000 0.079 2726 2100 1711 1728 1695 0 0 0 0 0 0 14.11 13.98 14.16

7717 0.35 402.1 2726 2102 1729 1690 113.0 11.9 520 7723 0.12 2.50 0.00 0.000 4740 0.239 0.085 2699 695 1706 1728 1685 0 0 0 0 0 0 14.02 14.11 14.14

7744 0.38 418.1 2699 696 1728 1690 110.5 9.3 525 7769 0.00 2.47 21.35 1.328 9382 0.000 0.077 2698 2106 1660 1685 1636 0 0 0 0 0 0 14.26 14.14 13.26

8070 0.46 463.2 2699 2106 1676 1616 81.4 7.9 555 8102 0.00 2.53 23.27 0.435 8868 0.000 0.087 2699 708 1476 1508 1445 0 0 0 0 0 0 14.57 14.08 13.64

8160 0.66 527.2 2699 708 1513 1448 75.2 7.0 572 8202 0.30 2.47 36.60 0.417 11430 0.079 0.080 2810 2101 1214 1268 1161 0 0 0 0 0 0 14.17 14.06 13.67

8508 0.63 543.2 2809 2105 1270 1166 36.4 9.3 611 8524 0.00 2.55 9.90 0.301 8868 0.000 0.088 2812 708 1148 1206 1090 0 0 0 0 0 0 14.55 13.41 13.24

8632 0.71 571.2 2812 708 1209 1101 25.5 8.7 635 8654 0.00 2.47 17.15 0.282 9382 0.000 0.079 2808 2105 1034 1094 974 0 0 0 0 0 0 14.25 14.12 13.74

8950 0.82 662.8 2812 2106 1096 983 4.4 5.8 669 8998 0.00 0.00 45.60 0.210 8866 0.000 0.000 2812 2106 706 759 653 0 0 0 0 0 0 14.59 28.83 14.57

8998 end climb: SURFACE_DEPTH_REACHED

state 8998 begin surface coast

9031 end surface coast: CONTROL_FINISHED_OK

state 9031 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	355	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	992.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,000351,7441.9492,-15117.2432,16,0.8,22,20.5,0.3,255.2,9,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	211.8,86978,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	170917,001901,7441.9600,-15117.4971,27,0.8,39,20.5,0.3,189.3,9,10.0

FINISH	0.1,1.019997	_24V_AH	12.28,214.875
SM_CCo	9099,33.70,0.202,0,0,499,702.78	_10V_AH	12.13,0.000
SM_GC	1.27,7.95,0.17,33.70,0.064,0.105,0.202,200,2243,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.29,14.31,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323596
IRIDIUM_FIX	7441.80,-15114.92,170917,000841	DATA_FILE_SIZE	23418,682
TT8_MAMPS	0.039697,0.948983	CAP_FILE_SIZE	102713,0
HUMID	47.08	CFSIZE	2097872896,1986789376
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1447.1
XPDR_PINGS	19	CURRENT	0.005,16.94,1
CP_FREE	0.000000	GPS	170917,025301,7441.421,-15121.678,18,0.8,26,20.5,0.3,294.0,11,5.0
PM_FREEKB_00	46236096

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	143.28	nil	0	0	0.00
Roll_motor	85	2157	2263.71	nil	0	0	0.00
VBD_pump_during_apogee	1003	1403	17283.66	nil	0	0	0.00
VBD_pump_during_surface	33	201	83.58	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	9065	14	1620.35
Iridium_during_xfer	531	168	1098.05	NCP	9063	20	2225.87
Transponder_ping	4	420	24.50	PMAR	9053	12	1342.61
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.61
TT8	0	0	0.00
LPSleep	6342	2	177.72
TT8_Active	943	13	159.90
TT8_Sampling	2401	33	974.09
TT8_CF8	369	38	173.27
TT8_Kalman	0	0	0.00
Analog_circuits	2472	10	299.94
GPS_charging	0	0	0.00
Compass	979	7	83.18
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	162	2224	508	493	0.0	0.0	0	143	0.00	0.00	-91.25	0.000	16386	0.000	0.000	161	2224	2177	2107	2247	0	0	0	0	0	0	14.34	28.83	14.36
147	-0.57	-145.9	162	2226	2112	2247	4.3	-6.7	9	199	13.10	2.92	-33.60	0.000	18980	0.451	2.157	2384	791	3963	3946	3980	1	0	0	0	0	0	13.24	12.59	14.07
345	-0.70	-145.9	2385	793	3952	3978	46.8	-13.6	48	351	0.00	2.50	0.00	0.000	1158	0.000	0.086	2382	2184	3965	3950	3980	0	0	0	0	0	0	13.95	13.83	14.00
650	-0.83	-145.9	2383	2186	3953	3980	86.6	-10.0	79	655	0.20	2.58	0.00	0.000	4516	0.101	0.088	2292	3616	3966	3953	3979	0	0	0	0	0	0	14.09	13.83	14.18
786	-0.92	-145.9	2293	3616	3954	3981	105.3	-13.1	106	790	0.00	2.45	0.00	0.000	1158	0.000	0.059	2292	2198	3968	3956	3980	0	0	0	0	0	0	14.15	14.02	14.20
1101	-0.96	-145.9	2292	2200	3961	3981	150.7	-13.6	119	1102	0.00	0.00	0.00	0.000	134	0.000	0.000	2292	2199	3966	3953	3980	0	0	0	0	0	0	14.42	14.43	14.44
1401	-1.02	-145.9	2295	2201	3954	3981	187.7	-11.8	129	1402	0.12	0.00	0.00	0.000	4230	0.131	0.000	2244	2199	3966	3952	3980	0	0	0	0	0	0	14.06	14.16	14.13
1701	-1.02	-145.9	2244	2200	3954	3981	234.1	-15.1	139	1705	0.00	2.53	0.00	0.000	260	0.000	0.087	2236	3614	3967	3953	3981	0	0	0	0	0	0	14.62	14.04	14.63
1766	-1.10	-145.9	2236	3614	3954	3980	243.3	-13.0	152	1772	0.00	2.40	0.00	0.000	1158	0.000	0.058	2236	2202	3966	3953	3980	0	0	0	0	0	0	14.18	14.04	14.22
2092	-1.10	-145.9	2237	2199	3954	3980	288.3	-13.2	167	2097	0.00	2.53	0.00	0.000	260	0.000	0.088	2235	3614	3966	3953	3980	0	0	0	0	0	0	14.66	14.06	14.64
2162	-1.20	-145.9	2236	3616	3953	3980	296.6	-11.0	181	2168	0.15	2.45	0.00	0.000	5254	0.122	0.057	2176	2191	3966	3952	3980	0	0	0	0	0	0	14.16	14.10	14.26
2483	-1.11	-145.9	2177	2191	3953	3981	351.9	-17.3	195	2489	0.15	2.55	0.00	0.000	2436	0.295	0.083	2200	3624	3966	3952	3980	0	0	0	0	0	0	13.73	14.04	13.90
2559	-1.15	-145.9	2201	3626	3954	3980	362.7	-13.1	210	2564	0.00	2.42	0.00	0.000	1158	0.000	0.058	2201	2201	3966	3952	3980	0	0	0	0	0	0	14.27	14.13	14.31
2874	-1.13	-145.9	2200	2199	3953	3980	407.3	-13.9	223	2879	0.00	2.50	0.00	0.000	388	0.000	0.086	2192	3615	3965	3951	3980	0	0	0	0	0	0	14.62	14.04	14.64
2920	-1.15	-145.9	2193	3617	3952	3981	413.5	-13.4	232	2925	0.00	2.42	0.00	0.000	1158	0.000	0.059	2192	2194	3965	3951	3980	0	0	0	0	0	0	14.23	14.09	14.28
3236	-1.12	-145.9	2193	2193	3953	3979	458.7	-14.3	245	3241	0.00	2.53	0.00	0.000	388	0.000	0.085	2184	3616	3963	3947	3979	0	0	0	0	0	0	14.62	14.04	14.63
3301	-1.12	-145.9	2184	3618	3952	3980	467.9	-13.9	258	3306	0.15	2.45	0.00	0.000	3078	0.236	0.058	2213	2194	3965	3951	3980	0	0	0	0	0	0	13.33	13.31	14.00
3414	end dive: TARGET_DEPTH_EXCEEDED
state	3414	begin apogee
3420	-0.13	0.0	2213	2065	3952	3980	482.3	-12.3	266	3657	1.23	0.08	227.48	1.403	10246	0.223	0.178	2527	2107	3362	3370	3355	0	0	0	0	0	0	13.71	13.50	12.69
3661	end apogee: CONTROL_FINISHED_OK
state	3663	begin climb
3666	0.57	145.9	2528	2113	3368	3344	496.0	0.0	274	4077	0.75	2.65	211.40	1.359	10756	0.060	0.079	2794	732	2751	2782	2720	0	0	0	0	0	0	13.74	12.90	12.28
4089	0.57	145.9	2794	731	2784	2720	484.2	3.8	277	4094	0.00	2.45	0.00	0.000	1030	0.000	0.075	2794	2104	2750	2783	2718	0	0	0	0	0	0	13.94	13.82	13.98
4404	0.12	145.9	2794	2105	2782	2715	437.3	14.5	290	4409	0.73	2.45	0.00	0.000	4484	0.310	0.075	2629	3512	2747	2781	2714	0	0	0	0	0	0	13.64	14.04	13.88
4570	-0.09	158.0	2630	3513	2778	2714	420.7	9.4	323	4581	0.32	2.35	3.47	1.264	13478	0.276	0.060	2560	2123	2722	2755	2689	0	0	0	0	0	0	13.81	14.19	12.93
4886	-0.02	258.5	2561	2126	2775	2698	403.1	5.4	336	5067	0.00	0.00	178.40	1.297	8230	0.000	0.000	2560	2126	2311	2359	2263	0	0	0	0	0	0	14.65	13.70	12.90
5366	0.12	325.2	2560	2127	2341	2240	370.9	6.9	352	5481	0.17	2.60	107.97	1.270	10916	0.103	0.092	2641	696	2032	2075	1989	0	0	0	0	0	0	14.21	13.85	13.03
5544	0.16	325.2	2641	696	2058	1987	350.3	11.4	387	5551	0.00	2.50	0.00	0.000	1158	0.000	0.079	2641	2102	2021	2057	1985	0	0	0	0	0	0	14.08	13.96	14.12
5849	0.16	325.2	2641	2103	2058	1975	314.0	11.8	398	5854	0.00	2.50	0.00	0.000	516	0.000	0.090	2640	695	2014	2057	1972	0	0	0	0	0	0	14.58	14.13	14.62
5894	0.21	325.2	2641	694	2056	1975	308.8	11.0	407	5899	0.00	2.45	0.00	0.000	1158	0.000	0.079	2640	2100	2015	2056	1975	0	0	0	0	0	0	14.31	14.16	14.35
6209	0.21	325.2	2641	2100	2056	1974	273.4	10.9	420	6215	0.00	2.47	0.00	0.000	516	0.000	0.088	2640	701	2014	2055	1974	0	0	0	0	0	0	14.63	14.15	14.65
6256	0.29	325.3	2641	701	2056	1974	268.7	10.0	429	6260	0.00	2.45	0.00	0.000	1190	0.000	0.079	2641	2106	2014	2054	1974	0	0	0	0	0	0	14.32	14.17	14.37
6571	0.30	343.5	2641	2107	2055	1973	237.8	9.2	442	6595	0.12	0.00	23.08	1.402	10278	0.125	0.000	2696	2106	1964	2004	1924	0	0	0	0	0	0	14.35	14.09	13.25
6871	0.23	343.5	2696	2107	1991	1908	202.0	11.9	452	6877	0.15	2.45	0.00	0.000	4740	0.240	0.086	2660	692	1948	1990	1907	0	0	0	0	0	0	13.99	14.15	14.13
6918	0.32	374.0	2661	693	1988	1907	197.6	8.6	461	6979	0.00	2.47	51.15	1.301	9382	0.000	0.080	2660	2108	1834	1861	1808	0	0	0	0	0	0	14.33	14.19	13.21
7297	0.39	402.1	2660	2111	1849	1797	163.7	8.7	486	7350	0.12	2.53	46.35	1.284	10916	0.127	0.089	2726	692	1720	1740	1700	0	0	0	0	0	0	14.28	14.07	13.22
7405	0.39	402.1	2727	692	1729	1696	150.5	12.0	508	7411	0.00	2.50	0.00	0.000	1030	0.000	0.079	2726	2100	1711	1728	1695	0	0	0	0	0	0	14.11	13.98	14.16
7717	0.35	402.1	2726	2102	1729	1690	113.0	11.9	520	7723	0.12	2.50	0.00	0.000	4740	0.239	0.085	2699	695	1706	1728	1685	0	0	0	0	0	0	14.02	14.11	14.14
7744	0.38	418.1	2699	696	1728	1690	110.5	9.3	525	7769	0.00	2.47	21.35	1.328	9382	0.000	0.077	2698	2106	1660	1685	1636	0	0	0	0	0	0	14.26	14.14	13.26
8070	0.46	463.2	2699	2106	1676	1616	81.4	7.9	555	8102	0.00	2.53	23.27	0.435	8868	0.000	0.087	2699	708	1476	1508	1445	0	0	0	0	0	0	14.57	14.08	13.64
8160	0.66	527.2	2699	708	1513	1448	75.2	7.0	572	8202	0.30	2.47	36.60	0.417	11430	0.079	0.080	2810	2101	1214	1268	1161	0	0	0	0	0	0	14.17	14.06	13.67
8508	0.63	543.2	2809	2105	1270	1166	36.4	9.3	611	8524	0.00	2.55	9.90	0.301	8868	0.000	0.088	2812	708	1148	1206	1090	0	0	0	0	0	0	14.55	13.41	13.24
8632	0.71	571.2	2812	708	1209	1101	25.5	8.7	635	8654	0.00	2.47	17.15	0.282	9382	0.000	0.079	2808	2105	1034	1094	974	0	0	0	0	0	0	14.25	14.12	13.74
8950	0.82	662.8	2812	2106	1096	983	4.4	5.8	669	8998	0.00	0.00	45.60	0.210	8866	0.000	0.000	2812	2106	706	759	653	0	0	0	0	0	0	14.59	28.83	14.57
8998	end climb: SURFACE_DEPTH_REACHED
state	8998	begin surface coast
9031	end surface coast: CONTROL_FINISHED_OK
state	9031	begin surface