Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 363 * 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 363 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 1011.0

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 34 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 58 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 1011.0 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 34 VBD_MIN 500

DIVE 363 NOCOMM_ACTION 161 R_STBD_OVSHOOT 58 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 170917,223833,7438.3252,-15152.3174,30,0.8,32,20.2,0.3,358.9,11,8.4 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 1.23 MHEAD_RNG_PITCHd_Wd 215.7,68595,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.2 D_GRID 480

GPS2 170917,225031,7438.3179,-15152.3037,3,0.8,9,20.2,0.0,0.0,10,9.2

Post-dive calculations and measurements:

FINISH 0.8,1.021165 _24V_AH 12.23,218.956

SM_CCo 9178,24.08,0.206,0,0,502,702.78 _10V_AH 12.11,0.000

SM_GC 1.41,8.23,0.17,24.08,0.068,0.105,0.206,187,2240,502,-7.40,-0.65,702.78,0,0,0,0,0,0,14.25,14.30,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323492

IRIDIUM_FIX 7440.28,-15155.17,170917,195334 DATA_FILE_SIZE 26702,773

TT8_MAMPS 0.040446,0.90629 CAP_FILE_SIZE 105690,0

HUMID 46.85 CFSIZE 2097872896,1984626688

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.10 SOUNDSPEED 1448.3

XPDR_PINGS 9 CURRENT 0.014,37.43,1

CP_FREE 15916335104.000000 GPS 180917,012539,7437.815,-15156.210,17,0.7,23,20.2,0.0,0.0,11,9.9

PM_FREEKB_00 45990656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 144.01 nil 0 0 0.00

Roll_motor 85 2164 2261.69 nil 0 0 0.00

VBD_pump_during_apogee 1123 1469 20195.11 nil 0 0 0.00

VBD_pump_during_surface 24 205 60.59 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 8970 14 1568.64

Iridium_during_xfer 427 174 912.35 NCP 9148 20 2237.60

Transponder_ping 2 420 11.56 PMAR 9129 9 1106.88

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.47

TT8 0 0 0.00

LPSleep 6366 2 178.08

TT8_Active 971 13 164.39

TT8_Sampling 2237 33 906.19

TT8_CF8 363 38 170.48

TT8_Kalman 0 0 0.00

Analog_circuits 2315 10 280.35

GPS_charging 0 0 0.00

Compass 1109 7 94.05

RAFOS 2158 48 1254.40

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

52 -0.57 -145.9 188 2192 514 489 0.0 0.0 0 134 0.00 0.00 -80.93 0.000 16386 0.000 0.000 186 2192 1956 1884 2028 0 0 0 0 0 0 14.47 28.83 14.51

137 -0.57 -145.9 187 2192 1886 2030 3.3 -4.1 8 201 12.93 2.75 -42.35 0.000 18980 0.453 2.164 2384 806 3962 3947 3977 0 0 0 0 0 0 13.54 12.59 14.06

367 -0.71 -145.9 2385 805 3953 3977 49.7 -12.9 53 373 0.00 2.42 0.00 0.000 1158 0.000 0.083 2382 2164 3965 3952 3978 0 0 0 0 0 0 14.16 14.02 14.20

672 -0.85 -145.9 2382 2165 3954 3977 87.9 -9.6 84 677 0.22 2.58 0.00 0.000 4516 0.096 0.086 2280 3609 3965 3953 3977 0 0 0 0 0 0 14.09 14.03 14.13

823 -0.94 -145.9 2281 3611 3953 3978 109.4 -13.6 114 828 0.00 2.40 0.00 0.000 1158 0.000 0.059 2280 2205 3965 3953 3977 0 0 0 0 0 0 14.27 14.14 14.31

1154 -0.96 -145.9 2281 2204 3954 3977 160.4 -14.6 130 1154 0.00 0.00 0.00 0.000 134 0.000 0.000 2280 2204 3965 3953 3977 0 0 0 0 0 0 14.63 14.64 14.64

1454 -1.01 -145.9 2280 2205 3954 3978 199.7 -12.5 140 1459 0.00 2.50 0.00 0.000 388 0.000 0.086 2271 3614 3965 3953 3977 0 0 0 0 0 0 14.66 14.00 14.66

1499 -1.14 -145.9 2271 3616 3953 3978 205.1 -11.4 149 1504 0.17 2.42 0.00 0.000 5254 0.108 0.057 2205 2195 3965 3953 3977 0 0 0 0 0 0 14.14 14.08 14.23

1815 -1.06 -145.9 2206 2194 3954 3977 262.9 -17.5 162 1816 0.15 0.00 0.00 0.000 2182 0.288 0.000 2234 2194 3965 3953 3977 0 0 0 0 0 0 13.84 14.26 14.12

2115 -1.09 -145.9 2233 2195 3954 3978 302.4 -12.4 172 2120 0.00 2.53 0.00 0.000 388 0.000 0.088 2234 3611 3965 3953 3977 0 0 0 0 0 0 14.64 14.05 14.66

2228 -1.20 -145.9 2234 3613 3954 3978 314.4 -10.4 194 2233 0.12 2.42 0.00 0.000 5254 0.138 0.056 2185 2199 3965 3953 3977 0 0 0 0 0 0 14.14 14.08 14.26

2538 -1.14 -145.9 2186 2198 3954 3977 363.5 -15.8 206 2543 0.00 2.50 0.00 0.000 388 0.000 0.084 2175 3609 3965 3953 3977 0 0 0 0 0 0 14.63 14.03 14.64

2609 -1.14 -145.9 2174 3615 3949 3978 374.4 -14.8 220 2614 0.15 2.42 0.00 0.000 3078 0.245 0.058 2206 2189 3965 3953 3977 0 0 0 0 0 0 13.81 14.10 14.09

2929 -1.14 -145.9 2206 2189 3953 3978 417.3 -13.2 234 2934 0.00 2.53 0.00 0.000 260 0.000 0.083 2198 3614 3964 3948 3980 0 0 0 0 0 0 14.62 14.04 14.64

2980 -1.19 -145.9 2198 3614 3954 3977 423.9 -12.7 244 2984 0.00 2.42 0.00 0.000 1158 0.000 0.057 2197 2196 3964 3952 3977 0 0 0 0 0 0 14.12 14.02 14.13

3290 -1.19 -145.9 2198 2196 3953 3978 466.2 -13.7 256 3295 0.00 2.50 0.00 0.000 260 0.000 0.083 2189 3610 3965 3954 3977 0 0 0 0 0 0 14.64 13.97 14.64

3340 -1.22 -145.9 2189 3610 3953 3977 473.0 -13.2 266 3345 0.00 2.42 0.00 0.000 1158 0.000 0.057 2188 2192 3964 3952 3977 0 0 0 0 0 0 14.08 13.94 14.14

3407 end dive: TARGET_DEPTH_EXCEEDED

state 3408 begin apogee

3414 -0.13 0.0 2189 2062 3953 3977 482.8 -14.1 270 3713 1.38 0.08 294.27 1.299 10246 0.238 0.181 2535 2108 3365 3378 3353 0 0 0 0 0 0 13.76 13.44 12.67

3716 end apogee: CONTROL_FINISHED_OK

state 3719 begin climb

3721 0.57 145.9 2530 2108 3373 3344 500.7 0.0 280 3953 0.75 2.67 220.75 1.329 10500 0.059 0.072 2785 3503 2757 2786 2729 0 0 0 0 0 0 13.68 12.85 12.23

4196 0.07 145.9 2785 3503 2769 2719 482.3 14.7 328 4201 0.90 2.38 0.00 0.000 5254 0.347 0.054 2611 2130 2744 2769 2719 0 0 0 0 0 0 13.43 13.83 13.75

4529 -0.02 203.8 2611 2129 2771 2716 456.6 7.3 344 4623 0.12 2.55 87.95 1.316 12708 0.290 0.080 2582 3507 2531 2578 2484 0 0 0 0 0 0 13.71 13.83 13.02

4848 -0.04 219.6 2582 3510 2553 2472 428.8 9.3 408 4870 0.00 2.42 17.40 1.470 9382 0.000 0.059 2593 2102 2471 2515 2428 0 0 0 0 0 0 14.08 13.95 13.17

5190 -0.01 254.9 2589 2101 2499 2408 399.8 8.4 426 5251 0.00 2.60 56.25 1.327 8740 0.000 0.090 2589 690 2322 2363 2281 0 0 0 0 0 0 14.45 13.93 13.15

5284 0.08 289.3 2590 688 2349 2273 392.0 8.4 444 5344 0.00 2.50 53.55 1.297 9382 0.000 0.079 2589 2089 2182 2225 2140 0 0 0 0 0 0 14.10 13.99 13.05

5645 0.16 322.5 2589 2094 2210 2117 361.2 8.5 466 5697 0.15 0.00 49.67 1.300 10406 0.114 0.000 2655 2092 2050 2093 2007 0 0 0 0 0 0 14.16 13.94 13.18

5972 0.11 322.5 2659 2093 2075 1986 317.2 13.4 477 5977 0.15 2.50 0.00 0.000 4740 0.240 0.083 2630 691 2030 2075 1985 0 0 0 0 0 0 13.86 14.03 13.98

5998 0.11 322.5 2631 692 2074 1985 314.1 11.9 482 6004 0.00 2.50 0.00 0.000 1030 0.000 0.078 2630 2107 2029 2073 1985 0 0 0 0 0 0 14.14 14.03 14.21

6303 0.11 322.5 2631 2108 2073 1983 280.8 10.8 493 6304 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2108 2027 2072 1983 0 0 0 0 0 0 14.47 14.47 14.48

6603 0.14 334.3 2631 2108 2073 1981 251.6 9.5 503 6614 0.00 2.58 4.15 1.271 8868 0.000 0.088 2630 691 2000 2046 1955 0 0 0 0 0 0 14.45 14.04 13.19

6725 0.26 373.9 2631 691 2055 1970 241.2 8.2 527 6818 0.12 2.45 84.72 1.213 11430 0.125 0.077 2685 2099 1839 1865 1813 0 0 0 0 0 0 14.12 14.04 13.15

7114 0.24 373.9 2686 2099 1845 1793 196.1 11.3 555 7120 0.00 2.50 0.00 0.000 644 0.000 0.088 2686 693 1818 1844 1793 0 0 0 0 0 0 14.56 14.07 14.57

7156 0.28 373.9 2686 692 1843 1793 191.6 10.5 563 7162 0.00 2.47 0.00 0.000 1158 0.000 0.077 2685 2105 1817 1841 1793 0 0 0 0 0 0 14.28 14.14 14.33

7477 0.28 373.9 2686 2106 1846 1790 157.9 10.2 577 7482 0.00 2.53 0.00 0.000 516 0.000 0.088 2685 691 1815 1841 1790 0 0 0 0 0 0 14.64 14.07 14.66

7517 0.33 382.8 2686 691 1840 1791 154.0 9.6 585 7527 0.00 2.47 1.98 0.233 9382 0.000 0.079 2685 2099 1801 1825 1777 0 0 0 0 0 0 14.13 14.00 13.84

7837 0.35 406.7 2686 2100 1841 1781 124.2 8.9 599 7898 0.00 2.50 53.20 1.203 8740 0.000 0.088 2686 692 1701 1721 1681 0 0 0 0 0 0 14.65 14.07 13.24

7936 0.47 440.6 2685 693 1710 1675 115.8 8.4 618 8004 0.15 2.47 59.70 1.157 11430 0.119 0.077 2754 2101 1563 1590 1537 0 0 0 0 0 0 14.15 14.09 13.16

8310 0.45 454.3 2752 2102 1584 1512 72.1 9.4 660 8321 0.00 2.50 5.60 0.334 8868 0.000 0.086 2752 692 1511 1548 1475 0 0 0 0 0 0 14.54 13.85 13.55

8402 0.48 509.3 2755 692 1557 1484 64.4 7.5 678 8445 0.00 2.50 35.45 0.386 9254 0.000 0.078 2753 2105 1286 1337 1236 0 0 0 0 0 0 13.40 13.40 13.42

8742 0.60 594.1 2756 2106 1342 1250 40.8 6.1 716 8806 0.00 2.53 55.22 0.314 8868 0.000 0.088 2754 692 942 1009 876 0 0 0 0 0 0 14.55 14.06 13.76

8864 0.82 663.9 2755 692 1010 875 33.0 6.8 739 8913 0.30 2.53 43.78 0.289 11430 0.080 0.078 2868 2101 653 709 597 0 0 0 0 0 0 13.95 13.97 13.77

9146 end climb: SURFACE_DEPTH_REACHED

state 9146 begin surface coast

9156 end surface coast: CONTROL_FINISHED_OK

state 9156 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	363	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	1011.0
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	34	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	58	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,223833,7438.3252,-15152.3174,30,0.8,32,20.2,0.3,358.9,11,8.4	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	1.23	MHEAD_RNG_PITCHd_Wd	215.7,68595,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.2	D_GRID	480
GPS2	170917,225031,7438.3179,-15152.3037,3,0.8,9,20.2,0.0,0.0,10,9.2

FINISH	0.8,1.021165	_24V_AH	12.23,218.956
SM_CCo	9178,24.08,0.206,0,0,502,702.78	_10V_AH	12.11,0.000
SM_GC	1.41,8.23,0.17,24.08,0.068,0.105,0.206,187,2240,502,-7.40,-0.65,702.78,0,0,0,0,0,0,14.25,14.30,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323492
IRIDIUM_FIX	7440.28,-15155.17,170917,195334	DATA_FILE_SIZE	26702,773
TT8_MAMPS	0.040446,0.90629	CAP_FILE_SIZE	105690,0
HUMID	46.85	CFSIZE	2097872896,1984626688
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.10	SOUNDSPEED	1448.3
XPDR_PINGS	9	CURRENT	0.014,37.43,1
CP_FREE	15916335104.000000	GPS	180917,012539,7437.815,-15156.210,17,0.7,23,20.2,0.0,0.0,11,9.9
PM_FREEKB_00	45990656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	144.01	nil	0	0	0.00
Roll_motor	85	2164	2261.69	nil	0	0	0.00
VBD_pump_during_apogee	1123	1469	20195.11	nil	0	0	0.00
VBD_pump_during_surface	24	205	60.59	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	8970	14	1568.64
Iridium_during_xfer	427	174	912.35	NCP	9148	20	2237.60
Transponder_ping	2	420	11.56	PMAR	9129	9	1106.88
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.47
TT8	0	0	0.00
LPSleep	6366	2	178.08
TT8_Active	971	13	164.39
TT8_Sampling	2237	33	906.19
TT8_CF8	363	38	170.48
TT8_Kalman	0	0	0.00
Analog_circuits	2315	10	280.35
GPS_charging	0	0	0.00
Compass	1109	7	94.05
RAFOS	2158	48	1254.40
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
52	-0.57	-145.9	188	2192	514	489	0.0	0.0	0	134	0.00	0.00	-80.93	0.000	16386	0.000	0.000	186	2192	1956	1884	2028	0	0	0	0	0	0	14.47	28.83	14.51
137	-0.57	-145.9	187	2192	1886	2030	3.3	-4.1	8	201	12.93	2.75	-42.35	0.000	18980	0.453	2.164	2384	806	3962	3947	3977	0	0	0	0	0	0	13.54	12.59	14.06
367	-0.71	-145.9	2385	805	3953	3977	49.7	-12.9	53	373	0.00	2.42	0.00	0.000	1158	0.000	0.083	2382	2164	3965	3952	3978	0	0	0	0	0	0	14.16	14.02	14.20
672	-0.85	-145.9	2382	2165	3954	3977	87.9	-9.6	84	677	0.22	2.58	0.00	0.000	4516	0.096	0.086	2280	3609	3965	3953	3977	0	0	0	0	0	0	14.09	14.03	14.13
823	-0.94	-145.9	2281	3611	3953	3978	109.4	-13.6	114	828	0.00	2.40	0.00	0.000	1158	0.000	0.059	2280	2205	3965	3953	3977	0	0	0	0	0	0	14.27	14.14	14.31
1154	-0.96	-145.9	2281	2204	3954	3977	160.4	-14.6	130	1154	0.00	0.00	0.00	0.000	134	0.000	0.000	2280	2204	3965	3953	3977	0	0	0	0	0	0	14.63	14.64	14.64
1454	-1.01	-145.9	2280	2205	3954	3978	199.7	-12.5	140	1459	0.00	2.50	0.00	0.000	388	0.000	0.086	2271	3614	3965	3953	3977	0	0	0	0	0	0	14.66	14.00	14.66
1499	-1.14	-145.9	2271	3616	3953	3978	205.1	-11.4	149	1504	0.17	2.42	0.00	0.000	5254	0.108	0.057	2205	2195	3965	3953	3977	0	0	0	0	0	0	14.14	14.08	14.23
1815	-1.06	-145.9	2206	2194	3954	3977	262.9	-17.5	162	1816	0.15	0.00	0.00	0.000	2182	0.288	0.000	2234	2194	3965	3953	3977	0	0	0	0	0	0	13.84	14.26	14.12
2115	-1.09	-145.9	2233	2195	3954	3978	302.4	-12.4	172	2120	0.00	2.53	0.00	0.000	388	0.000	0.088	2234	3611	3965	3953	3977	0	0	0	0	0	0	14.64	14.05	14.66
2228	-1.20	-145.9	2234	3613	3954	3978	314.4	-10.4	194	2233	0.12	2.42	0.00	0.000	5254	0.138	0.056	2185	2199	3965	3953	3977	0	0	0	0	0	0	14.14	14.08	14.26
2538	-1.14	-145.9	2186	2198	3954	3977	363.5	-15.8	206	2543	0.00	2.50	0.00	0.000	388	0.000	0.084	2175	3609	3965	3953	3977	0	0	0	0	0	0	14.63	14.03	14.64
2609	-1.14	-145.9	2174	3615	3949	3978	374.4	-14.8	220	2614	0.15	2.42	0.00	0.000	3078	0.245	0.058	2206	2189	3965	3953	3977	0	0	0	0	0	0	13.81	14.10	14.09
2929	-1.14	-145.9	2206	2189	3953	3978	417.3	-13.2	234	2934	0.00	2.53	0.00	0.000	260	0.000	0.083	2198	3614	3964	3948	3980	0	0	0	0	0	0	14.62	14.04	14.64
2980	-1.19	-145.9	2198	3614	3954	3977	423.9	-12.7	244	2984	0.00	2.42	0.00	0.000	1158	0.000	0.057	2197	2196	3964	3952	3977	0	0	0	0	0	0	14.12	14.02	14.13
3290	-1.19	-145.9	2198	2196	3953	3978	466.2	-13.7	256	3295	0.00	2.50	0.00	0.000	260	0.000	0.083	2189	3610	3965	3954	3977	0	0	0	0	0	0	14.64	13.97	14.64
3340	-1.22	-145.9	2189	3610	3953	3977	473.0	-13.2	266	3345	0.00	2.42	0.00	0.000	1158	0.000	0.057	2188	2192	3964	3952	3977	0	0	0	0	0	0	14.08	13.94	14.14
3407	end dive: TARGET_DEPTH_EXCEEDED
state	3408	begin apogee
3414	-0.13	0.0	2189	2062	3953	3977	482.8	-14.1	270	3713	1.38	0.08	294.27	1.299	10246	0.238	0.181	2535	2108	3365	3378	3353	0	0	0	0	0	0	13.76	13.44	12.67
3716	end apogee: CONTROL_FINISHED_OK
state	3719	begin climb
3721	0.57	145.9	2530	2108	3373	3344	500.7	0.0	280	3953	0.75	2.67	220.75	1.329	10500	0.059	0.072	2785	3503	2757	2786	2729	0	0	0	0	0	0	13.68	12.85	12.23
4196	0.07	145.9	2785	3503	2769	2719	482.3	14.7	328	4201	0.90	2.38	0.00	0.000	5254	0.347	0.054	2611	2130	2744	2769	2719	0	0	0	0	0	0	13.43	13.83	13.75
4529	-0.02	203.8	2611	2129	2771	2716	456.6	7.3	344	4623	0.12	2.55	87.95	1.316	12708	0.290	0.080	2582	3507	2531	2578	2484	0	0	0	0	0	0	13.71	13.83	13.02
4848	-0.04	219.6	2582	3510	2553	2472	428.8	9.3	408	4870	0.00	2.42	17.40	1.470	9382	0.000	0.059	2593	2102	2471	2515	2428	0	0	0	0	0	0	14.08	13.95	13.17
5190	-0.01	254.9	2589	2101	2499	2408	399.8	8.4	426	5251	0.00	2.60	56.25	1.327	8740	0.000	0.090	2589	690	2322	2363	2281	0	0	0	0	0	0	14.45	13.93	13.15
5284	0.08	289.3	2590	688	2349	2273	392.0	8.4	444	5344	0.00	2.50	53.55	1.297	9382	0.000	0.079	2589	2089	2182	2225	2140	0	0	0	0	0	0	14.10	13.99	13.05
5645	0.16	322.5	2589	2094	2210	2117	361.2	8.5	466	5697	0.15	0.00	49.67	1.300	10406	0.114	0.000	2655	2092	2050	2093	2007	0	0	0	0	0	0	14.16	13.94	13.18
5972	0.11	322.5	2659	2093	2075	1986	317.2	13.4	477	5977	0.15	2.50	0.00	0.000	4740	0.240	0.083	2630	691	2030	2075	1985	0	0	0	0	0	0	13.86	14.03	13.98
5998	0.11	322.5	2631	692	2074	1985	314.1	11.9	482	6004	0.00	2.50	0.00	0.000	1030	0.000	0.078	2630	2107	2029	2073	1985	0	0	0	0	0	0	14.14	14.03	14.21
6303	0.11	322.5	2631	2108	2073	1983	280.8	10.8	493	6304	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2108	2027	2072	1983	0	0	0	0	0	0	14.47	14.47	14.48
6603	0.14	334.3	2631	2108	2073	1981	251.6	9.5	503	6614	0.00	2.58	4.15	1.271	8868	0.000	0.088	2630	691	2000	2046	1955	0	0	0	0	0	0	14.45	14.04	13.19
6725	0.26	373.9	2631	691	2055	1970	241.2	8.2	527	6818	0.12	2.45	84.72	1.213	11430	0.125	0.077	2685	2099	1839	1865	1813	0	0	0	0	0	0	14.12	14.04	13.15
7114	0.24	373.9	2686	2099	1845	1793	196.1	11.3	555	7120	0.00	2.50	0.00	0.000	644	0.000	0.088	2686	693	1818	1844	1793	0	0	0	0	0	0	14.56	14.07	14.57
7156	0.28	373.9	2686	692	1843	1793	191.6	10.5	563	7162	0.00	2.47	0.00	0.000	1158	0.000	0.077	2685	2105	1817	1841	1793	0	0	0	0	0	0	14.28	14.14	14.33
7477	0.28	373.9	2686	2106	1846	1790	157.9	10.2	577	7482	0.00	2.53	0.00	0.000	516	0.000	0.088	2685	691	1815	1841	1790	0	0	0	0	0	0	14.64	14.07	14.66
7517	0.33	382.8	2686	691	1840	1791	154.0	9.6	585	7527	0.00	2.47	1.98	0.233	9382	0.000	0.079	2685	2099	1801	1825	1777	0	0	0	0	0	0	14.13	14.00	13.84
7837	0.35	406.7	2686	2100	1841	1781	124.2	8.9	599	7898	0.00	2.50	53.20	1.203	8740	0.000	0.088	2686	692	1701	1721	1681	0	0	0	0	0	0	14.65	14.07	13.24
7936	0.47	440.6	2685	693	1710	1675	115.8	8.4	618	8004	0.15	2.47	59.70	1.157	11430	0.119	0.077	2754	2101	1563	1590	1537	0	0	0	0	0	0	14.15	14.09	13.16
8310	0.45	454.3	2752	2102	1584	1512	72.1	9.4	660	8321	0.00	2.50	5.60	0.334	8868	0.000	0.086	2752	692	1511	1548	1475	0	0	0	0	0	0	14.54	13.85	13.55
8402	0.48	509.3	2755	692	1557	1484	64.4	7.5	678	8445	0.00	2.50	35.45	0.386	9254	0.000	0.078	2753	2105	1286	1337	1236	0	0	0	0	0	0	13.40	13.40	13.42
8742	0.60	594.1	2756	2106	1342	1250	40.8	6.1	716	8806	0.00	2.53	55.22	0.314	8868	0.000	0.088	2754	692	942	1009	876	0	0	0	0	0	0	14.55	14.06	13.76
8864	0.82	663.9	2755	692	1010	875	33.0	6.8	739	8913	0.30	2.53	43.78	0.289	11430	0.080	0.078	2868	2101	653	709	597	0	0	0	0	0	0	13.95	13.97	13.77
9146	end climb: SURFACE_DEPTH_REACHED
state	9146	begin surface coast
9156	end surface coast: CONTROL_FINISHED_OK
state	9156	begin surface