Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 358 * 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 358 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 1000.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 26 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 1000.0 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 30 VBD_MIN 500

DIVE 358 NOCOMM_ACTION 161 R_STBD_OVSHOOT 26 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 170917,083002,7440.6040,-15130.9453,32,0.8,33,20.4,0.3,181.5,9,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 214.6,79873,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 170917,084627,7440.6108,-15131.0400,7,0.8,10,20.4,0.0,0.0,9,9.2

Post-dive calculations and measurements:

FINISH 0.2,1.010798 _24V_AH 12.27,216.442

SM_CCo 9685,41.78,0.204,0,0,500,702.78 _10V_AH 12.34,0.000

SM_GC 1.10,8.12,0.17,41.78,0.078,0.115,0.204,199,2224,500,-7.38,-0.57,702.78,0,0,0,0,0,0,14.26,14.26,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 434 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323568

IRIDIUM_FIX 7443.79,-15129.24,170917,084152 DATA_FILE_SIZE 26699,790

TT8_MAMPS 0.039697,0.853111 CAP_FILE_SIZE 108056,0

HUMID 47.40 CFSIZE 2097872896,1985970176

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

TCM_TEMP 13.20 SOUNDSPEED 1448.8

XPDR_PINGS 14 CURRENT 0.012,332.67,1

CP_FREE 15918792704.000000 GPS 170917,113031,7440.154,-15135.542,31,0.7,34,20.4,0.0,0.0,11,10.0

PM_FREEKB_00 46152512

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.11 nil 0 0 0.00

Roll_motor 90 2167 2403.26 nil 0 0 0.00

VBD_pump_during_apogee 1440 1238 21893.31 nil 0 0 0.00

VBD_pump_during_surface 41 204 104.70 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 9699 13 1663.12

Iridium_during_xfer 571 176 1238.75 NCP 5759 20 1413.26

Transponder_ping 3 420 18.04 PMAR 9624 9 1166.10

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.03

TT8 0 0 0.00

LPSleep 6732 2 191.93

TT8_Active 1436 13 247.69

TT8_Sampling 2181 33 900.06

TT8_CF8 376 38 179.67

TT8_Kalman 0 0 0.00

Analog_circuits 2778 10 342.85

GPS_charging 0 0 0.00

Compass 1133 7 97.94

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

64 end surface: CONTROL_FINISHED_OK

state 65 begin dive

68 -0.57 -145.9 174 2219 508 492 0.0 0.0 0 160 0.00 0.00 -90.78 0.000 16386 0.000 0.000 170 2219 2167 2097 2237 0 0 0 0 0 0 14.35 28.83 14.37

164 -0.57 -145.9 171 2220 2100 2237 4.2 -6.1 9 217 13.05 2.83 -33.40 0.000 18980 0.454 2.167 2384 801 3962 3947 3978 0 0 0 0 0 0 13.51 12.99 14.00

352 -0.71 -145.9 2384 802 3953 3978 46.4 -13.5 46 358 0.00 2.47 0.00 0.000 1158 0.000 0.086 2382 2192 3965 3951 3979 0 0 0 0 0 0 14.28 14.14 14.32

657 -0.83 -145.9 2379 2197 3953 3979 87.1 -10.3 77 662 0.20 2.53 0.00 0.000 4484 0.103 0.086 2293 3614 3965 3952 3978 0 0 0 0 0 0 14.06 14.10 14.10

803 -0.94 -145.9 2293 3616 3953 3978 107.0 -12.9 106 809 0.00 2.40 0.00 0.000 1158 0.000 0.059 2292 2207 3965 3952 3978 0 0 0 0 0 0 14.23 14.10 14.28

1108 -0.97 -145.9 2292 2205 3952 3978 150.3 -13.4 117 1109 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2205 3965 3952 3978 0 0 0 0 0 0 14.69 14.71 14.71

1408 -1.04 -145.9 2293 2206 3953 3979 187.6 -12.0 127 1409 0.15 0.00 0.00 0.000 4230 0.120 0.000 2237 2205 3965 3952 3978 0 0 0 0 0 0 14.21 14.28 14.25

1708 -1.01 -145.9 2238 2205 3954 3978 236.4 -16.0 137 1713 0.00 2.50 0.00 0.000 388 0.000 0.088 2235 3614 3965 3953 3978 0 0 0 0 0 0 14.71 14.09 14.73

1803 -1.10 -145.9 2236 3616 3954 3978 249.5 -12.4 156 1809 0.00 2.42 0.00 0.000 1158 0.000 0.058 2235 2190 3967 3956 3978 0 0 0 0 0 0 14.30 14.15 14.34

2130 -1.10 -145.9 2235 2190 3953 3979 293.5 -12.8 171 2134 0.00 2.53 0.00 0.000 260 0.000 0.086 2227 3616 3965 3952 3978 0 0 0 0 0 0 14.71 14.08 14.73

2185 -1.19 -145.9 2227 3616 3953 3979 300.3 -11.5 182 2191 0.00 2.42 0.00 0.000 1158 0.000 0.058 2227 2192 3965 3953 3978 0 0 0 0 0 0 14.11 13.98 14.14

2490 -1.21 -145.9 2228 2190 3953 3978 338.3 -12.5 193 2495 0.12 2.53 0.00 0.000 4484 0.148 0.082 2161 3620 3965 3952 3978 0 0 0 0 0 0 14.22 14.08 14.24

2541 -1.15 -145.9 2163 3620 3952 3978 346.5 -17.2 203 2546 0.20 2.40 0.00 0.000 3206 0.267 0.058 2202 2201 3964 3950 3978 0 0 0 0 0 0 13.74 14.16 14.07

2851 -1.15 -145.9 2203 2199 3953 3978 391.1 -14.0 215 2856 0.00 2.50 0.00 0.000 260 0.000 0.085 2196 3614 3964 3951 3978 0 0 0 0 0 0 14.69 14.05 14.71

2912 -1.18 -145.9 2197 3614 3952 3978 399.2 -13.3 227 2916 0.00 2.40 0.00 0.000 1158 0.000 0.058 2196 2201 3964 3951 3978 0 0 0 0 0 0 14.28 14.14 14.33

3242 -1.15 -145.9 2197 2199 3952 3978 445.8 -14.2 243 3247 0.00 2.50 0.00 0.000 388 0.000 0.085 2186 3614 3964 3951 3977 0 0 0 0 0 0 14.72 14.06 14.73

3303 -1.18 -145.9 2186 3617 3951 3979 454.3 -13.9 255 3307 0.00 2.42 0.00 0.000 1158 0.000 0.059 2186 2190 3964 3950 3978 0 0 0 0 0 0 14.27 14.13 14.31

3480 end dive: TARGET_DEPTH_EXCEEDED

state 3480 begin apogee

3487 -0.13 0.0 2187 2061 3950 3979 481.0 -15.0 266 3968 1.38 0.08 476.73 1.156 10246 0.243 0.179 2526 2113 3365 3379 3351 0 0 0 0 0 0 13.71 13.39 12.63

3972 end apogee: CONTROL_FINISHED_OK

state 3972 begin climb

3975 0.57 145.9 2528 2113 3376 3344 510.2 0.0 282 4255 0.75 2.67 268.90 1.213 10500 0.060 0.073 2781 3503 2766 2800 2732 0 0 0 0 0 0 13.59 13.14 12.27

4481 0.08 145.9 2782 3504 2772 2716 493.9 15.1 382 4486 0.88 2.38 0.00 0.000 5254 0.352 0.057 2615 2132 2742 2770 2715 0 0 0 0 0 0 13.40 13.87 13.80

4792 -0.02 200.8 2616 2132 2772 2713 469.2 7.5 394 4953 0.15 0.00 159.48 1.118 12454 0.288 0.000 2583 2132 2546 2598 2495 0 0 0 0 0 0 13.87 13.78 13.05

5241 0.02 248.2 2583 2132 2588 2474 435.2 7.8 409 5342 0.00 2.65 95.28 1.203 8740 0.000 0.090 2589 695 2350 2396 2304 0 0 0 0 0 0 14.54 13.92 13.10

5377 0.12 284.4 2589 696 2383 2294 424.3 8.3 436 5448 0.00 2.47 65.88 1.210 9382 0.000 0.080 2589 2094 2205 2255 2155 0 0 0 0 0 0 14.12 14.00 13.05

5754 0.20 313.4 2589 2094 2236 2130 391.4 8.7 461 5806 0.17 0.00 49.20 1.239 10406 0.102 0.000 2666 2090 2087 2134 2041 0 0 0 0 0 0 14.00 14.00 13.22

6084 0.13 313.4 2667 2094 2120 2013 345.4 14.0 472 6089 0.15 2.45 0.00 0.000 4740 0.255 0.085 2632 698 2068 2117 2019 0 0 0 0 0 0 13.96 14.14 14.12

6125 0.16 313.4 2632 699 2115 2020 340.5 11.2 480 6129 0.00 2.45 0.00 0.000 1158 0.000 0.078 2633 2105 2066 2114 2019 0 0 0 0 0 0 14.31 14.17 14.36

6445 0.16 313.4 2634 2104 2115 2018 304.6 11.1 494 6450 0.00 2.47 0.00 0.000 516 0.000 0.089 2634 698 2066 2114 2018 0 0 0 0 0 0 14.64 14.09 14.66

6480 0.20 313.4 2634 698 2114 2018 300.7 10.7 501 6486 0.00 2.45 0.00 0.000 1158 0.000 0.078 2634 2099 2065 2113 2018 0 0 0 0 0 0 14.31 14.17 14.37

6807 0.20 314.9 2633 2101 2113 2019 267.3 9.9 516 6812 0.00 2.50 0.00 0.000 548 0.000 0.088 2633 690 2065 2113 2018 0 0 0 0 0 0 14.65 14.12 14.66

6832 0.24 314.9 2639 691 2113 2019 264.6 10.1 521 6840 0.00 2.50 0.00 0.000 1158 0.000 0.079 2633 2105 2066 2111 2022 0 0 0 0 0 0 14.27 14.13 14.33

7137 0.29 347.2 2634 2105 2113 2017 237.7 8.5 532 7208 0.12 2.58 65.43 1.206 10916 0.124 0.087 2699 696 1947 1989 1906 0 0 0 0 0 0 14.26 14.05 13.22

7231 0.23 347.2 2699 695 1976 1897 226.9 13.1 550 7236 0.17 2.47 0.00 0.000 5254 0.216 0.076 2659 2103 1937 1975 1899 0 0 0 0 0 0 13.93 14.07 14.16

7562 0.25 372.6 2660 2105 1975 1891 195.6 8.8 566 7617 0.00 2.53 49.20 1.197 8740 0.000 0.086 2659 691 1846 1873 1820 0 0 0 0 0 0 14.59 13.76 13.20

7685 0.36 404.7 2660 691 1857 1809 185.3 8.5 590 7758 0.12 2.47 66.40 1.148 11430 0.132 0.079 2710 2101 1716 1738 1695 0 0 0 0 0 0 14.07 14.01 13.19

8073 0.34 404.7 2710 2101 1728 1676 139.2 11.5 618 8078 0.00 2.50 0.00 0.000 644 0.000 0.087 2712 687 1699 1727 1672 0 0 0 0 0 0 14.57 14.12 14.59

8103 0.34 404.7 2716 685 1726 1673 135.7 11.4 624 8108 0.00 2.50 0.00 0.000 1030 0.000 0.077 2713 2107 1698 1724 1672 0 0 0 0 0 0 14.28 14.15 14.34

8434 0.34 412.0 2713 2109 1724 1670 101.3 9.7 640 8439 0.00 2.58 1.65 0.238 8740 0.000 0.086 2713 698 1683 1711 1655 0 0 0 0 0 0 14.60 14.09 13.90

8480 0.41 443.3 2713 699 1718 1662 97.2 8.6 649 8508 0.00 2.47 20.42 0.470 9382 0.000 0.076 2713 2101 1556 1584 1528 0 0 0 0 0 0 14.07 13.95 13.58

8805 0.50 499.3 2712 2101 1595 1538 70.5 7.4 684 8847 0.00 2.55 34.45 0.396 8868 0.000 0.086 2713 700 1331 1374 1289 0 0 0 0 0 0 14.58 13.93 13.64

8873 0.69 553.5 2713 700 1376 1291 65.8 7.5 696 8912 0.28 2.47 33.33 0.386 11430 0.082 0.076 2812 2105 1107 1170 1045 0 0 0 0 0 0 14.20 14.09 13.65

9208 0.66 560.4 2813 2105 1173 1061 30.7 9.7 733 9220 0.00 2.50 5.97 0.267 8868 0.000 0.083 2821 698 1078 1141 1016 0 0 0 0 0 0 14.54 13.85 13.64

9271 0.70 579.4 2822 699 1145 1031 24.8 9.1 745 9288 0.00 2.50 12.80 0.275 9382 0.000 0.076 2821 2105 1003 1069 938 0 0 0 0 0 0 13.38 13.39 13.38

9593 0.78 652.4 2822 2105 1074 956 4.2 6.6 779 9631 0.00 0.00 35.55 0.208 8866 0.000 0.000 2821 2105 770 832 709 0 0 0 0 0 0 14.54 28.83 14.56

9631 end climb: SURFACE_DEPTH_REACHED

state 9631 begin surface coast

9664 end surface coast: CONTROL_FINISHED_OK

state 9664 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	358	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	1000.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,083002,7440.6040,-15130.9453,32,0.8,33,20.4,0.3,181.5,9,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	214.6,79873,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	170917,084627,7440.6108,-15131.0400,7,0.8,10,20.4,0.0,0.0,9,9.2

FINISH	0.2,1.010798	_24V_AH	12.27,216.442
SM_CCo	9685,41.78,0.204,0,0,500,702.78	_10V_AH	12.34,0.000
SM_GC	1.10,8.12,0.17,41.78,0.078,0.115,0.204,199,2224,500,-7.38,-0.57,702.78,0,0,0,0,0,0,14.26,14.26,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	434	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323568
IRIDIUM_FIX	7443.79,-15129.24,170917,084152	DATA_FILE_SIZE	26699,790
TT8_MAMPS	0.039697,0.853111	CAP_FILE_SIZE	108056,0
HUMID	47.40	CFSIZE	2097872896,1985970176
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.8
XPDR_PINGS	14	CURRENT	0.012,332.67,1
CP_FREE	15918792704.000000	GPS	170917,113031,7440.154,-15135.542,31,0.7,34,20.4,0.0,0.0,11,10.0
PM_FREEKB_00	46152512

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.11	nil	0	0	0.00
Roll_motor	90	2167	2403.26	nil	0	0	0.00
VBD_pump_during_apogee	1440	1238	21893.31	nil	0	0	0.00
VBD_pump_during_surface	41	204	104.70	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	9699	13	1663.12
Iridium_during_xfer	571	176	1238.75	NCP	5759	20	1413.26
Transponder_ping	3	420	18.04	PMAR	9624	9	1166.10
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.03
TT8	0	0	0.00
LPSleep	6732	2	191.93
TT8_Active	1436	13	247.69
TT8_Sampling	2181	33	900.06
TT8_CF8	376	38	179.67
TT8_Kalman	0	0	0.00
Analog_circuits	2778	10	342.85
GPS_charging	0	0	0.00
Compass	1133	7	97.94
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
64	end surface: CONTROL_FINISHED_OK
state	65	begin dive
68	-0.57	-145.9	174	2219	508	492	0.0	0.0	0	160	0.00	0.00	-90.78	0.000	16386	0.000	0.000	170	2219	2167	2097	2237	0	0	0	0	0	0	14.35	28.83	14.37
164	-0.57	-145.9	171	2220	2100	2237	4.2	-6.1	9	217	13.05	2.83	-33.40	0.000	18980	0.454	2.167	2384	801	3962	3947	3978	0	0	0	0	0	0	13.51	12.99	14.00
352	-0.71	-145.9	2384	802	3953	3978	46.4	-13.5	46	358	0.00	2.47	0.00	0.000	1158	0.000	0.086	2382	2192	3965	3951	3979	0	0	0	0	0	0	14.28	14.14	14.32
657	-0.83	-145.9	2379	2197	3953	3979	87.1	-10.3	77	662	0.20	2.53	0.00	0.000	4484	0.103	0.086	2293	3614	3965	3952	3978	0	0	0	0	0	0	14.06	14.10	14.10
803	-0.94	-145.9	2293	3616	3953	3978	107.0	-12.9	106	809	0.00	2.40	0.00	0.000	1158	0.000	0.059	2292	2207	3965	3952	3978	0	0	0	0	0	0	14.23	14.10	14.28
1108	-0.97	-145.9	2292	2205	3952	3978	150.3	-13.4	117	1109	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2205	3965	3952	3978	0	0	0	0	0	0	14.69	14.71	14.71
1408	-1.04	-145.9	2293	2206	3953	3979	187.6	-12.0	127	1409	0.15	0.00	0.00	0.000	4230	0.120	0.000	2237	2205	3965	3952	3978	0	0	0	0	0	0	14.21	14.28	14.25
1708	-1.01	-145.9	2238	2205	3954	3978	236.4	-16.0	137	1713	0.00	2.50	0.00	0.000	388	0.000	0.088	2235	3614	3965	3953	3978	0	0	0	0	0	0	14.71	14.09	14.73
1803	-1.10	-145.9	2236	3616	3954	3978	249.5	-12.4	156	1809	0.00	2.42	0.00	0.000	1158	0.000	0.058	2235	2190	3967	3956	3978	0	0	0	0	0	0	14.30	14.15	14.34
2130	-1.10	-145.9	2235	2190	3953	3979	293.5	-12.8	171	2134	0.00	2.53	0.00	0.000	260	0.000	0.086	2227	3616	3965	3952	3978	0	0	0	0	0	0	14.71	14.08	14.73
2185	-1.19	-145.9	2227	3616	3953	3979	300.3	-11.5	182	2191	0.00	2.42	0.00	0.000	1158	0.000	0.058	2227	2192	3965	3953	3978	0	0	0	0	0	0	14.11	13.98	14.14
2490	-1.21	-145.9	2228	2190	3953	3978	338.3	-12.5	193	2495	0.12	2.53	0.00	0.000	4484	0.148	0.082	2161	3620	3965	3952	3978	0	0	0	0	0	0	14.22	14.08	14.24
2541	-1.15	-145.9	2163	3620	3952	3978	346.5	-17.2	203	2546	0.20	2.40	0.00	0.000	3206	0.267	0.058	2202	2201	3964	3950	3978	0	0	0	0	0	0	13.74	14.16	14.07
2851	-1.15	-145.9	2203	2199	3953	3978	391.1	-14.0	215	2856	0.00	2.50	0.00	0.000	260	0.000	0.085	2196	3614	3964	3951	3978	0	0	0	0	0	0	14.69	14.05	14.71
2912	-1.18	-145.9	2197	3614	3952	3978	399.2	-13.3	227	2916	0.00	2.40	0.00	0.000	1158	0.000	0.058	2196	2201	3964	3951	3978	0	0	0	0	0	0	14.28	14.14	14.33
3242	-1.15	-145.9	2197	2199	3952	3978	445.8	-14.2	243	3247	0.00	2.50	0.00	0.000	388	0.000	0.085	2186	3614	3964	3951	3977	0	0	0	0	0	0	14.72	14.06	14.73
3303	-1.18	-145.9	2186	3617	3951	3979	454.3	-13.9	255	3307	0.00	2.42	0.00	0.000	1158	0.000	0.059	2186	2190	3964	3950	3978	0	0	0	0	0	0	14.27	14.13	14.31
3480	end dive: TARGET_DEPTH_EXCEEDED
state	3480	begin apogee
3487	-0.13	0.0	2187	2061	3950	3979	481.0	-15.0	266	3968	1.38	0.08	476.73	1.156	10246	0.243	0.179	2526	2113	3365	3379	3351	0	0	0	0	0	0	13.71	13.39	12.63
3972	end apogee: CONTROL_FINISHED_OK
state	3972	begin climb
3975	0.57	145.9	2528	2113	3376	3344	510.2	0.0	282	4255	0.75	2.67	268.90	1.213	10500	0.060	0.073	2781	3503	2766	2800	2732	0	0	0	0	0	0	13.59	13.14	12.27
4481	0.08	145.9	2782	3504	2772	2716	493.9	15.1	382	4486	0.88	2.38	0.00	0.000	5254	0.352	0.057	2615	2132	2742	2770	2715	0	0	0	0	0	0	13.40	13.87	13.80
4792	-0.02	200.8	2616	2132	2772	2713	469.2	7.5	394	4953	0.15	0.00	159.48	1.118	12454	0.288	0.000	2583	2132	2546	2598	2495	0	0	0	0	0	0	13.87	13.78	13.05
5241	0.02	248.2	2583	2132	2588	2474	435.2	7.8	409	5342	0.00	2.65	95.28	1.203	8740	0.000	0.090	2589	695	2350	2396	2304	0	0	0	0	0	0	14.54	13.92	13.10
5377	0.12	284.4	2589	696	2383	2294	424.3	8.3	436	5448	0.00	2.47	65.88	1.210	9382	0.000	0.080	2589	2094	2205	2255	2155	0	0	0	0	0	0	14.12	14.00	13.05
5754	0.20	313.4	2589	2094	2236	2130	391.4	8.7	461	5806	0.17	0.00	49.20	1.239	10406	0.102	0.000	2666	2090	2087	2134	2041	0	0	0	0	0	0	14.00	14.00	13.22
6084	0.13	313.4	2667	2094	2120	2013	345.4	14.0	472	6089	0.15	2.45	0.00	0.000	4740	0.255	0.085	2632	698	2068	2117	2019	0	0	0	0	0	0	13.96	14.14	14.12
6125	0.16	313.4	2632	699	2115	2020	340.5	11.2	480	6129	0.00	2.45	0.00	0.000	1158	0.000	0.078	2633	2105	2066	2114	2019	0	0	0	0	0	0	14.31	14.17	14.36
6445	0.16	313.4	2634	2104	2115	2018	304.6	11.1	494	6450	0.00	2.47	0.00	0.000	516	0.000	0.089	2634	698	2066	2114	2018	0	0	0	0	0	0	14.64	14.09	14.66
6480	0.20	313.4	2634	698	2114	2018	300.7	10.7	501	6486	0.00	2.45	0.00	0.000	1158	0.000	0.078	2634	2099	2065	2113	2018	0	0	0	0	0	0	14.31	14.17	14.37
6807	0.20	314.9	2633	2101	2113	2019	267.3	9.9	516	6812	0.00	2.50	0.00	0.000	548	0.000	0.088	2633	690	2065	2113	2018	0	0	0	0	0	0	14.65	14.12	14.66
6832	0.24	314.9	2639	691	2113	2019	264.6	10.1	521	6840	0.00	2.50	0.00	0.000	1158	0.000	0.079	2633	2105	2066	2111	2022	0	0	0	0	0	0	14.27	14.13	14.33
7137	0.29	347.2	2634	2105	2113	2017	237.7	8.5	532	7208	0.12	2.58	65.43	1.206	10916	0.124	0.087	2699	696	1947	1989	1906	0	0	0	0	0	0	14.26	14.05	13.22
7231	0.23	347.2	2699	695	1976	1897	226.9	13.1	550	7236	0.17	2.47	0.00	0.000	5254	0.216	0.076	2659	2103	1937	1975	1899	0	0	0	0	0	0	13.93	14.07	14.16
7562	0.25	372.6	2660	2105	1975	1891	195.6	8.8	566	7617	0.00	2.53	49.20	1.197	8740	0.000	0.086	2659	691	1846	1873	1820	0	0	0	0	0	0	14.59	13.76	13.20
7685	0.36	404.7	2660	691	1857	1809	185.3	8.5	590	7758	0.12	2.47	66.40	1.148	11430	0.132	0.079	2710	2101	1716	1738	1695	0	0	0	0	0	0	14.07	14.01	13.19
8073	0.34	404.7	2710	2101	1728	1676	139.2	11.5	618	8078	0.00	2.50	0.00	0.000	644	0.000	0.087	2712	687	1699	1727	1672	0	0	0	0	0	0	14.57	14.12	14.59
8103	0.34	404.7	2716	685	1726	1673	135.7	11.4	624	8108	0.00	2.50	0.00	0.000	1030	0.000	0.077	2713	2107	1698	1724	1672	0	0	0	0	0	0	14.28	14.15	14.34
8434	0.34	412.0	2713	2109	1724	1670	101.3	9.7	640	8439	0.00	2.58	1.65	0.238	8740	0.000	0.086	2713	698	1683	1711	1655	0	0	0	0	0	0	14.60	14.09	13.90
8480	0.41	443.3	2713	699	1718	1662	97.2	8.6	649	8508	0.00	2.47	20.42	0.470	9382	0.000	0.076	2713	2101	1556	1584	1528	0	0	0	0	0	0	14.07	13.95	13.58
8805	0.50	499.3	2712	2101	1595	1538	70.5	7.4	684	8847	0.00	2.55	34.45	0.396	8868	0.000	0.086	2713	700	1331	1374	1289	0	0	0	0	0	0	14.58	13.93	13.64
8873	0.69	553.5	2713	700	1376	1291	65.8	7.5	696	8912	0.28	2.47	33.33	0.386	11430	0.082	0.076	2812	2105	1107	1170	1045	0	0	0	0	0	0	14.20	14.09	13.65
9208	0.66	560.4	2813	2105	1173	1061	30.7	9.7	733	9220	0.00	2.50	5.97	0.267	8868	0.000	0.083	2821	698	1078	1141	1016	0	0	0	0	0	0	14.54	13.85	13.64
9271	0.70	579.4	2822	699	1145	1031	24.8	9.1	745	9288	0.00	2.50	12.80	0.275	9382	0.000	0.076	2821	2105	1003	1069	938	0	0	0	0	0	0	13.38	13.39	13.38
9593	0.78	652.4	2822	2105	1074	956	4.2	6.6	779	9631	0.00	0.00	35.55	0.208	8866	0.000	0.000	2821	2105	770	832	709	0	0	0	0	0	0	14.54	28.83	14.56
9631	end climb: SURFACE_DEPTH_REACHED
state	9631	begin surface coast
9664	end surface coast: CONTROL_FINISHED_OK
state	9664	begin surface