Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 356 * 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 356 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 996.0

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 43 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 56 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 996.0 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 43 VBD_MIN 500

DIVE 356 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 170917,025301,7441.4209,-15121.6777,18,0.8,26,20.5,0.3,294.0,11,5.0 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 217.9,84668,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 170917,030414,7441.4385,-15121.7109,9,0.7,10,20.5,0.0,300.1,12,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.021364 _24V_AH 12.19,215.364

SM_CCo 8949,0.00,0.000,0,0,500,703.28 _10V_AH 12.04,0.000

SM_GC 1.11,8.40,0.15,0.00,0.090,0.114,0.000,200,2233,500,-7.37,-0.76,703.28,0,0,0,0,0,0,14.28,14.29,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 252 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323520

IRIDIUM_FIX 7441.80,-15114.92,170917,001439 DATA_FILE_SIZE 26669,770

TT8_MAMPS 0.040446,0.937748 CAP_FILE_SIZE 104377,0

HUMID 47.75 CFSIZE 2097872896,1986527232

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

TCM_TEMP 13.20 SOUNDSPEED 1448.2

XPDR_PINGS 15 CURRENT 0.010,26.51,1

CP_FREE 0.000000 GPS 170917,053521,7441.048,-15126.279,40,0.8,40,20.4,0.6,81.5,10,8.2

PM_FREEKB_00 46206272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 143.56 nil 0 0 0.00

Roll_motor 89 2158 2354.64 nil 0 0 0.00

VBD_pump_during_apogee 1008 2548 31345.50 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 8837 14 1556.60

Iridium_during_xfer 384 175 820.67 NCP 8874 20 2163.48

Transponder_ping 3 420 19.20 PMAR 8843 10 1094.99

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.78

TT8 0 0 0.00

LPSleep 6260 2 174.13

TT8_Active 861 13 144.87

TT8_Sampling 2156 33 868.39

TT8_CF8 354 38 165.05

TT8_Kalman 0 0 0.00

Analog_circuits 2118 10 255.01

GPS_charging 0 0 0.00

Compass 1110 7 93.57

RAFOS 2217 48 1281.25

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

51 -0.57 -145.9 184 2190 501 499 0.0 0.0 0 143 0.00 0.00 -90.80 0.000 16386 0.000 0.000 183 2190 2139 2067 2211 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 183 2192 2069 2214 3.7 -4.9 9 200 12.85 2.80 -35.35 0.000 18980 0.449 2.159 2385 806 3961 3945 3977 0 0 0 0 0 0 13.57 12.60 14.04

335 -0.71 -145.9 2385 807 3950 3978 44.2 -13.2 46 341 0.00 2.42 0.00 0.000 1158 0.000 0.086 2383 2164 3963 3950 3977 0 0 0 0 0 0 14.07 13.95 14.11

641 -0.83 -145.9 2383 2164 3953 3977 84.6 -10.3 77 646 0.20 2.60 0.00 0.000 4484 0.104 0.088 2291 3617 3964 3951 3977 0 0 0 0 0 0 14.20 13.97 14.24

781 -0.95 -145.9 2292 3618 3952 3978 104.2 -13.1 105 786 0.00 2.40 0.00 0.000 1158 0.000 0.060 2292 2219 3964 3951 3977 0 0 0 0 0 0 14.27 14.13 14.31

1092 -0.98 -145.9 2291 2219 3952 3978 148.6 -13.8 117 1097 0.00 2.55 0.00 0.000 644 0.000 0.086 2291 787 3964 3951 3977 0 0 0 0 0 0 14.63 14.02 14.65

1123 -1.07 -145.9 2297 788 3952 3979 152.7 -13.0 123 1128 0.17 2.53 0.00 0.000 5254 0.111 0.087 2225 2204 3964 3951 3977 0 0 0 0 0 0 14.19 14.09 14.29

1453 -1.01 -145.9 2225 2205 3951 3983 213.4 -18.0 139 1458 0.12 2.50 0.00 0.000 2436 0.277 0.083 2245 3616 3964 3951 3977 0 0 0 0 0 0 13.81 14.07 13.98

1609 -1.10 -145.9 2245 3617 3952 3978 234.1 -12.1 170 1614 0.00 2.42 0.00 0.000 1158 0.000 0.059 2244 2201 3962 3948 3977 0 0 0 0 0 0 14.21 14.12 14.22

1934 -1.10 -145.9 2245 2202 3952 3978 277.8 -12.8 185 1939 0.00 2.50 0.00 0.000 260 0.000 0.086 2236 3619 3964 3951 3977 0 0 0 0 0 0 14.64 14.06 14.65

1989 -1.21 -145.9 2236 3621 3952 3978 284.3 -11.1 196 1997 0.15 2.42 0.00 0.000 5254 0.120 0.059 2178 2201 3964 3951 3977 0 0 0 0 0 0 14.00 14.07 14.09

2294 -1.12 -145.9 2178 2200 3952 3982 337.5 -17.4 207 2299 0.15 2.50 0.00 0.000 2436 0.292 0.083 2201 3614 3965 3951 3979 0 0 0 0 0 0 13.73 14.02 13.90

2370 -1.17 -145.9 2201 3615 3952 3977 348.4 -13.2 222 2375 0.00 2.42 0.00 0.000 1158 0.000 0.060 2201 2192 3964 3951 3977 0 0 0 0 0 0 14.26 14.12 14.31

2685 -1.15 -145.9 2201 2192 3951 3978 394.0 -14.2 235 2690 0.00 2.53 0.00 0.000 388 0.000 0.086 2195 3616 3964 3951 3977 0 0 0 0 0 0 14.63 14.05 14.65

2736 -1.18 -145.9 2195 3618 3951 3978 400.9 -13.1 245 2740 0.00 2.42 0.00 0.000 1158 0.000 0.058 2195 2199 3964 3951 3977 0 0 0 0 0 0 14.19 14.05 14.23

3046 -1.15 -145.9 2195 2199 3951 3978 445.3 -14.3 257 3051 0.00 2.50 0.00 0.000 388 0.000 0.085 2185 3613 3962 3947 3977 0 0 0 0 0 0 14.64 14.06 14.66

3091 -1.15 -145.9 2185 3615 3951 3978 451.8 -13.9 266 3096 0.00 2.42 0.00 0.000 1030 0.000 0.058 2185 2189 3963 3950 3977 0 0 0 0 0 0 14.26 14.12 14.28

3284 end dive: TARGET_DEPTH_EXCEEDED

state 3284 begin apogee

3290 -0.13 0.0 2186 2063 3951 3978 481.0 -14.9 275 3528 1.40 0.05 230.55 1.401 10246 0.243 0.120 2528 2107 3357 3366 3349 0 0 0 0 0 0 13.54 13.21 12.60

3531 end apogee: CONTROL_FINISHED_OK

state 3532 begin climb

3534 0.57 145.9 2529 2108 3367 3342 494.9 0.0 283 3756 0.75 2.67 213.60 1.357 10756 0.059 0.076 2792 732 2762 2793 2731 0 0 0 0 0 0 13.63 12.80 12.19

3934 0.15 145.9 2792 734 2783 2718 486.1 13.9 364 3940 0.75 2.47 0.00 0.000 5254 0.324 0.074 2638 2098 2748 2782 2715 0 0 0 0 0 0 13.26 13.62 13.62

4251 -0.00 175.5 2638 2099 2783 2712 457.4 8.6 377 4296 0.20 2.45 39.05 1.437 12964 0.265 0.082 2590 727 2648 2694 2603 0 0 0 0 0 0 13.58 13.84 13.07

4338 0.03 218.9 2590 728 2689 2597 451.0 8.0 394 4412 0.00 2.42 65.85 1.367 9254 0.000 0.079 2590 2098 2468 2520 2416 0 0 0 0 0 0 14.03 13.87 12.97

4732 0.04 245.0 2591 2099 2504 2397 416.7 8.8 423 4772 0.00 0.00 37.42 1.408 8230 0.000 0.000 2590 2099 2366 2417 2316 0 0 0 0 0 0 14.40 13.97 13.13

5062 0.06 266.5 2589 2099 2401 2299 387.1 9.0 434 5094 0.00 0.00 30.45 1.443 8742 0.000 0.000 2590 2098 2279 2328 2231 0 0 0 0 0 0 14.44 14.00 13.16

5393 0.12 292.6 2590 2099 2313 2214 357.7 8.8 450 5437 0.00 2.45 39.53 1.398 8868 0.000 0.085 2590 725 2168 2213 2124 0 0 0 0 0 0 14.45 13.76 13.14

5485 0.26 328.9 2591 726 2203 2120 349.9 8.3 468 5554 0.25 2.45 58.80 1.325 11430 0.085 0.079 2686 2106 2019 2058 1980 0 0 0 0 0 0 14.12 14.06 13.09

5880 0.17 328.9 2686 2107 2047 1961 290.0 14.9 496 5886 0.17 2.40 0.00 0.000 4740 0.244 0.084 2652 733 2007 2051 1964 0 0 0 0 0 0 13.78 13.99 13.94

5934 0.21 328.9 2651 733 2045 1957 283.5 11.6 506 5939 0.00 2.40 0.00 0.000 1158 0.000 0.078 2653 2119 2002 2044 1960 0 0 0 0 0 0 14.16 14.03 14.23

6244 0.21 328.9 2658 2120 2045 1959 248.6 10.5 518 6245 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2120 2001 2044 1959 0 0 0 0 0 0 14.63 14.65 14.65

6544 0.22 343.2 2651 2121 2044 1959 219.6 9.3 528 6564 0.00 2.47 15.50 1.470 8740 0.000 0.085 2651 719 1961 2004 1919 0 0 0 0 0 0 14.66 13.93 13.30

6632 0.32 373.5 2651 719 1993 1918 212.1 8.6 545 6691 0.00 2.45 52.72 1.300 9382 0.000 0.080 2651 2111 1844 1867 1821 0 0 0 0 0 0 14.30 14.16 13.21

6998 0.40 403.7 2651 2112 1852 1800 179.8 8.6 568 7057 0.15 2.50 50.70 1.275 10916 0.112 0.088 2725 734 1711 1731 1691 0 0 0 0 0 0 14.25 14.01 13.21

7108 0.40 403.7 2725 737 1722 1690 166.0 12.6 590 7113 0.00 2.40 0.00 0.000 1030 0.000 0.077 2725 2101 1705 1722 1689 0 0 0 0 0 0 14.23 14.10 14.26

7418 0.35 403.7 2732 2104 1722 1683 126.7 12.3 602 7423 0.00 2.42 0.00 0.000 644 0.000 0.088 2726 727 1702 1721 1683 0 0 0 0 0 0 14.61 14.09 14.63

7448 0.35 403.7 2726 727 1721 1683 123.0 11.6 608 7454 0.12 2.40 0.00 0.000 5126 0.233 0.077 2700 2103 1701 1720 1682 0 0 0 0 0 0 13.96 14.12 14.20

7762 0.40 437.7 2700 2104 1721 1681 93.6 8.4 628 7784 0.00 2.50 17.33 0.464 8868 0.000 0.086 2700 732 1581 1605 1558 0 0 0 0 0 0 14.57 14.07 13.63

7857 0.55 487.6 2700 732 1613 1561 86.0 7.7 646 7895 0.17 2.40 30.02 0.448 11430 0.104 0.077 2772 2106 1377 1414 1340 0 0 0 0 0 0 14.26 14.16 13.58

8200 0.57 526.9 2773 2107 1418 1345 50.3 8.2 684 8232 0.00 2.53 23.35 0.343 8740 0.000 0.086 2781 730 1219 1268 1170 0 0 0 0 0 0 14.56 13.97 13.67

8258 0.65 574.8 2781 730 1268 1172 45.8 7.8 695 8291 0.00 2.42 29.08 0.332 9382 0.000 0.079 2781 2107 1018 1080 957 0 0 0 0 0 0 14.05 13.93 13.71

8597 0.85 707.0 2781 2108 1082 967 23.4 3.9 732 8681 0.20 2.50 74.82 0.260 10916 0.102 0.089 2870 736 498 512 484 0 0 0 0 0 0 14.21 13.90 13.80

8752 0.88 707.0 2870 737 519 486 9.5 10.4 762 8757 0.00 2.40 0.03 2.549 9350 0.000 0.072 2870 2110 500 517 483 0 0 0 0 0 0 14.18 14.09 13.30

8810 end climb: SURFACE_DEPTH_REACHED

state 8810 begin surface coast

8820 end surface coast: CONTROL_FINISHED_OK

state 8820 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	356	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	996.0
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	43	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,025301,7441.4209,-15121.6777,18,0.8,26,20.5,0.3,294.0,11,5.0	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	217.9,84668,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	170917,030414,7441.4385,-15121.7109,9,0.7,10,20.5,0.0,300.1,12,9.3

FINISH	0.2,1.021364	_24V_AH	12.19,215.364
SM_CCo	8949,0.00,0.000,0,0,500,703.28	_10V_AH	12.04,0.000
SM_GC	1.11,8.40,0.15,0.00,0.090,0.114,0.000,200,2233,500,-7.37,-0.76,703.28,0,0,0,0,0,0,14.28,14.29,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	252	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323520
IRIDIUM_FIX	7441.80,-15114.92,170917,001439	DATA_FILE_SIZE	26669,770
TT8_MAMPS	0.040446,0.937748	CAP_FILE_SIZE	104377,0
HUMID	47.75	CFSIZE	2097872896,1986527232
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.2
XPDR_PINGS	15	CURRENT	0.010,26.51,1
CP_FREE	0.000000	GPS	170917,053521,7441.048,-15126.279,40,0.8,40,20.4,0.6,81.5,10,8.2
PM_FREEKB_00	46206272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	143.56	nil	0	0	0.00
Roll_motor	89	2158	2354.64	nil	0	0	0.00
VBD_pump_during_apogee	1008	2548	31345.50	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	8837	14	1556.60
Iridium_during_xfer	384	175	820.67	NCP	8874	20	2163.48
Transponder_ping	3	420	19.20	PMAR	8843	10	1094.99
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.78
TT8	0	0	0.00
LPSleep	6260	2	174.13
TT8_Active	861	13	144.87
TT8_Sampling	2156	33	868.39
TT8_CF8	354	38	165.05
TT8_Kalman	0	0	0.00
Analog_circuits	2118	10	255.01
GPS_charging	0	0	0.00
Compass	1110	7	93.57
RAFOS	2217	48	1281.25
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
51	-0.57	-145.9	184	2190	501	499	0.0	0.0	0	143	0.00	0.00	-90.80	0.000	16386	0.000	0.000	183	2190	2139	2067	2211	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	183	2192	2069	2214	3.7	-4.9	9	200	12.85	2.80	-35.35	0.000	18980	0.449	2.159	2385	806	3961	3945	3977	0	0	0	0	0	0	13.57	12.60	14.04
335	-0.71	-145.9	2385	807	3950	3978	44.2	-13.2	46	341	0.00	2.42	0.00	0.000	1158	0.000	0.086	2383	2164	3963	3950	3977	0	0	0	0	0	0	14.07	13.95	14.11
641	-0.83	-145.9	2383	2164	3953	3977	84.6	-10.3	77	646	0.20	2.60	0.00	0.000	4484	0.104	0.088	2291	3617	3964	3951	3977	0	0	0	0	0	0	14.20	13.97	14.24
781	-0.95	-145.9	2292	3618	3952	3978	104.2	-13.1	105	786	0.00	2.40	0.00	0.000	1158	0.000	0.060	2292	2219	3964	3951	3977	0	0	0	0	0	0	14.27	14.13	14.31
1092	-0.98	-145.9	2291	2219	3952	3978	148.6	-13.8	117	1097	0.00	2.55	0.00	0.000	644	0.000	0.086	2291	787	3964	3951	3977	0	0	0	0	0	0	14.63	14.02	14.65
1123	-1.07	-145.9	2297	788	3952	3979	152.7	-13.0	123	1128	0.17	2.53	0.00	0.000	5254	0.111	0.087	2225	2204	3964	3951	3977	0	0	0	0	0	0	14.19	14.09	14.29
1453	-1.01	-145.9	2225	2205	3951	3983	213.4	-18.0	139	1458	0.12	2.50	0.00	0.000	2436	0.277	0.083	2245	3616	3964	3951	3977	0	0	0	0	0	0	13.81	14.07	13.98
1609	-1.10	-145.9	2245	3617	3952	3978	234.1	-12.1	170	1614	0.00	2.42	0.00	0.000	1158	0.000	0.059	2244	2201	3962	3948	3977	0	0	0	0	0	0	14.21	14.12	14.22
1934	-1.10	-145.9	2245	2202	3952	3978	277.8	-12.8	185	1939	0.00	2.50	0.00	0.000	260	0.000	0.086	2236	3619	3964	3951	3977	0	0	0	0	0	0	14.64	14.06	14.65
1989	-1.21	-145.9	2236	3621	3952	3978	284.3	-11.1	196	1997	0.15	2.42	0.00	0.000	5254	0.120	0.059	2178	2201	3964	3951	3977	0	0	0	0	0	0	14.00	14.07	14.09
2294	-1.12	-145.9	2178	2200	3952	3982	337.5	-17.4	207	2299	0.15	2.50	0.00	0.000	2436	0.292	0.083	2201	3614	3965	3951	3979	0	0	0	0	0	0	13.73	14.02	13.90
2370	-1.17	-145.9	2201	3615	3952	3977	348.4	-13.2	222	2375	0.00	2.42	0.00	0.000	1158	0.000	0.060	2201	2192	3964	3951	3977	0	0	0	0	0	0	14.26	14.12	14.31
2685	-1.15	-145.9	2201	2192	3951	3978	394.0	-14.2	235	2690	0.00	2.53	0.00	0.000	388	0.000	0.086	2195	3616	3964	3951	3977	0	0	0	0	0	0	14.63	14.05	14.65
2736	-1.18	-145.9	2195	3618	3951	3978	400.9	-13.1	245	2740	0.00	2.42	0.00	0.000	1158	0.000	0.058	2195	2199	3964	3951	3977	0	0	0	0	0	0	14.19	14.05	14.23
3046	-1.15	-145.9	2195	2199	3951	3978	445.3	-14.3	257	3051	0.00	2.50	0.00	0.000	388	0.000	0.085	2185	3613	3962	3947	3977	0	0	0	0	0	0	14.64	14.06	14.66
3091	-1.15	-145.9	2185	3615	3951	3978	451.8	-13.9	266	3096	0.00	2.42	0.00	0.000	1030	0.000	0.058	2185	2189	3963	3950	3977	0	0	0	0	0	0	14.26	14.12	14.28
3284	end dive: TARGET_DEPTH_EXCEEDED
state	3284	begin apogee
3290	-0.13	0.0	2186	2063	3951	3978	481.0	-14.9	275	3528	1.40	0.05	230.55	1.401	10246	0.243	0.120	2528	2107	3357	3366	3349	0	0	0	0	0	0	13.54	13.21	12.60
3531	end apogee: CONTROL_FINISHED_OK
state	3532	begin climb
3534	0.57	145.9	2529	2108	3367	3342	494.9	0.0	283	3756	0.75	2.67	213.60	1.357	10756	0.059	0.076	2792	732	2762	2793	2731	0	0	0	0	0	0	13.63	12.80	12.19
3934	0.15	145.9	2792	734	2783	2718	486.1	13.9	364	3940	0.75	2.47	0.00	0.000	5254	0.324	0.074	2638	2098	2748	2782	2715	0	0	0	0	0	0	13.26	13.62	13.62
4251	-0.00	175.5	2638	2099	2783	2712	457.4	8.6	377	4296	0.20	2.45	39.05	1.437	12964	0.265	0.082	2590	727	2648	2694	2603	0	0	0	0	0	0	13.58	13.84	13.07
4338	0.03	218.9	2590	728	2689	2597	451.0	8.0	394	4412	0.00	2.42	65.85	1.367	9254	0.000	0.079	2590	2098	2468	2520	2416	0	0	0	0	0	0	14.03	13.87	12.97
4732	0.04	245.0	2591	2099	2504	2397	416.7	8.8	423	4772	0.00	0.00	37.42	1.408	8230	0.000	0.000	2590	2099	2366	2417	2316	0	0	0	0	0	0	14.40	13.97	13.13
5062	0.06	266.5	2589	2099	2401	2299	387.1	9.0	434	5094	0.00	0.00	30.45	1.443	8742	0.000	0.000	2590	2098	2279	2328	2231	0	0	0	0	0	0	14.44	14.00	13.16
5393	0.12	292.6	2590	2099	2313	2214	357.7	8.8	450	5437	0.00	2.45	39.53	1.398	8868	0.000	0.085	2590	725	2168	2213	2124	0	0	0	0	0	0	14.45	13.76	13.14
5485	0.26	328.9	2591	726	2203	2120	349.9	8.3	468	5554	0.25	2.45	58.80	1.325	11430	0.085	0.079	2686	2106	2019	2058	1980	0	0	0	0	0	0	14.12	14.06	13.09
5880	0.17	328.9	2686	2107	2047	1961	290.0	14.9	496	5886	0.17	2.40	0.00	0.000	4740	0.244	0.084	2652	733	2007	2051	1964	0	0	0	0	0	0	13.78	13.99	13.94
5934	0.21	328.9	2651	733	2045	1957	283.5	11.6	506	5939	0.00	2.40	0.00	0.000	1158	0.000	0.078	2653	2119	2002	2044	1960	0	0	0	0	0	0	14.16	14.03	14.23
6244	0.21	328.9	2658	2120	2045	1959	248.6	10.5	518	6245	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2120	2001	2044	1959	0	0	0	0	0	0	14.63	14.65	14.65
6544	0.22	343.2	2651	2121	2044	1959	219.6	9.3	528	6564	0.00	2.47	15.50	1.470	8740	0.000	0.085	2651	719	1961	2004	1919	0	0	0	0	0	0	14.66	13.93	13.30
6632	0.32	373.5	2651	719	1993	1918	212.1	8.6	545	6691	0.00	2.45	52.72	1.300	9382	0.000	0.080	2651	2111	1844	1867	1821	0	0	0	0	0	0	14.30	14.16	13.21
6998	0.40	403.7	2651	2112	1852	1800	179.8	8.6	568	7057	0.15	2.50	50.70	1.275	10916	0.112	0.088	2725	734	1711	1731	1691	0	0	0	0	0	0	14.25	14.01	13.21
7108	0.40	403.7	2725	737	1722	1690	166.0	12.6	590	7113	0.00	2.40	0.00	0.000	1030	0.000	0.077	2725	2101	1705	1722	1689	0	0	0	0	0	0	14.23	14.10	14.26
7418	0.35	403.7	2732	2104	1722	1683	126.7	12.3	602	7423	0.00	2.42	0.00	0.000	644	0.000	0.088	2726	727	1702	1721	1683	0	0	0	0	0	0	14.61	14.09	14.63
7448	0.35	403.7	2726	727	1721	1683	123.0	11.6	608	7454	0.12	2.40	0.00	0.000	5126	0.233	0.077	2700	2103	1701	1720	1682	0	0	0	0	0	0	13.96	14.12	14.20
7762	0.40	437.7	2700	2104	1721	1681	93.6	8.4	628	7784	0.00	2.50	17.33	0.464	8868	0.000	0.086	2700	732	1581	1605	1558	0	0	0	0	0	0	14.57	14.07	13.63
7857	0.55	487.6	2700	732	1613	1561	86.0	7.7	646	7895	0.17	2.40	30.02	0.448	11430	0.104	0.077	2772	2106	1377	1414	1340	0	0	0	0	0	0	14.26	14.16	13.58
8200	0.57	526.9	2773	2107	1418	1345	50.3	8.2	684	8232	0.00	2.53	23.35	0.343	8740	0.000	0.086	2781	730	1219	1268	1170	0	0	0	0	0	0	14.56	13.97	13.67
8258	0.65	574.8	2781	730	1268	1172	45.8	7.8	695	8291	0.00	2.42	29.08	0.332	9382	0.000	0.079	2781	2107	1018	1080	957	0	0	0	0	0	0	14.05	13.93	13.71
8597	0.85	707.0	2781	2108	1082	967	23.4	3.9	732	8681	0.20	2.50	74.82	0.260	10916	0.102	0.089	2870	736	498	512	484	0	0	0	0	0	0	14.21	13.90	13.80
8752	0.88	707.0	2870	737	519	486	9.5	10.4	762	8757	0.00	2.40	0.03	2.549	9350	0.000	0.072	2870	2110	500	517	483	0	0	0	0	0	0	14.18	14.09	13.30
8810	end climb: SURFACE_DEPTH_REACHED
state	8810	begin surface coast
8820	end surface coast: CONTROL_FINISHED_OK
state	8820	begin surface