Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 364 * 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 364 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 1014.0

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 31 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 1014.0 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 31 VBD_MIN 500

DIVE 364 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 180917,012539,7437.8149,-15156.2100,17,0.7,23,20.2,0.0,0.0,11,9.9 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 215.4,66442,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 180917,013420,7437.8428,-15156.2920,39,0.7,39,20.2,0.0,0.0,10,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.021096 _24V_AH 12.26,219.419

SM_CCo 9032,0.00,0.000,0,0,500,702.78 _10V_AH 12.15,0.000

SM_GC 2.21,8.45,2.75,0.00,0.076,0.076,0.000,203,2214,500,-7.37,-0.42,702.78,0,0,0,0,0,0,14.12,14.04,14.43 FG_AHR_24Vo 0.000

RAFOS_CLK 23 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7438.73,-15148.01,170917,224321 DATA_FILE_SIZE 23377,700

TT8_MAMPS 0.084637,0.961716 CAP_FILE_SIZE 98464,0

HUMID 46.25 CFSIZE 2097872896,1984430080

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0

TCM_TEMP 13.30 SOUNDSPEED 1445.6

XPDR_PINGS 21 CURRENT 0.018,5.39,1

CP_FREE 15915810816.000000 GPS 180917,040635,7437.432,-15200.640,15,0.7,22,20.1,0.6,353.3,12,9.5

PM_FREEKB_00 45966144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 149.14 nil 0 0 0.00

Roll_motor 85 2172 2280.71 nil 0 0 0.00

VBD_pump_during_apogee 1025 1465 18426.41 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 5221 15 987.54

Iridium_during_xfer 224 129 355.88 NCP 8994 20 2205.33

Transponder_ping 5 420 27.03 PMAR 8982 9 1086.99

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.23

TT8 0 0 0.00

LPSleep 6463 2 181.40

TT8_Active 889 13 151.02

TT8_Sampling 1942 33 789.34

TT8_CF8 275 38 129.69

TT8_Kalman 0 0 0.00

Analog_circuits 1957 10 237.89

GPS_charging 0 0 0.00

Compass 1003 7 85.35

RAFOS 2213 48 1290.62

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 -145.9 182 2191 503 487 0.0 0.0 0 144 0.00 0.00 -91.03 0.000 16386 0.000 0.000 181 2190 2176 2107 2245 0 0 0 0 0 0 14.57 28.83 14.59

148 -0.57 -145.9 180 2191 2111 2247 4.5 -6.9 9 201 12.98 2.78 -31.58 0.000 18980 0.455 2.173 2384 793 3963 3947 3979 1 0 0 0 0 0 13.39 12.58 14.11

331 -0.71 -145.9 2384 793 3954 3979 45.4 -12.8 45 336 0.00 2.42 0.00 0.000 1158 0.000 0.086 2384 2161 3965 3952 3979 0 0 0 0 0 0 14.35 14.16 14.35

642 -0.85 -145.9 2384 2162 3955 3979 85.3 -9.8 77 647 0.22 2.55 0.00 0.000 4516 0.099 0.087 2282 3613 3966 3954 3979 0 0 0 0 0 0 14.29 14.07 14.33

777 -0.93 -145.9 2282 3615 3954 3980 104.5 -13.7 104 783 0.00 2.40 0.00 0.000 1158 0.000 0.059 2281 2202 3966 3953 3979 0 0 0 0 0 0 14.27 14.14 14.31

1094 -0.93 -145.9 2282 2202 3954 3980 153.9 -14.8 117 1094 0.00 0.00 0.00 0.000 6 0.000 0.000 2281 2201 3966 3953 3979 0 0 0 0 0 0 14.73 14.75 14.74

1394 -0.98 -145.9 2282 2201 3955 3979 193.4 -12.6 127 1399 0.00 2.53 0.00 0.000 388 0.000 0.085 2274 3620 3966 3954 3979 0 0 0 0 0 0 14.73 14.02 14.75

1450 -1.13 -145.9 2274 3621 3954 3980 199.9 -10.8 138 1456 0.20 2.40 0.00 0.000 5254 0.102 0.057 2201 2200 3966 3954 3979 0 0 0 0 0 0 14.26 14.19 14.35

1755 -1.04 -145.9 2202 2200 3954 3980 257.9 -18.7 149 1760 0.15 2.53 0.00 0.000 2436 0.296 0.081 2225 3617 3966 3954 3979 0 0 0 0 0 0 13.76 14.07 13.94

1840 -1.11 -145.9 2226 3619 3954 3979 269.9 -12.0 166 1846 0.00 2.42 0.00 0.000 1158 0.000 0.059 2225 2192 3966 3954 3979 0 0 0 0 0 0 14.31 14.16 14.35

2145 -1.11 -145.9 2225 2192 3954 3980 311.2 -13.4 177 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2225 2190 3966 3954 3979 0 0 0 0 0 0 14.74 14.76 14.76

2446 -1.13 -145.9 2226 2190 3955 3979 348.9 -12.3 187 2450 0.00 2.53 0.00 0.000 388 0.000 0.086 2222 3613 3966 3954 3979 0 0 0 0 0 0 14.74 14.00 14.76

2531 -1.24 -145.9 2223 3613 3954 3979 358.5 -10.6 204 2538 0.15 2.40 0.00 0.000 5254 0.123 0.057 2161 2196 3966 3953 3979 0 0 0 0 0 0 14.21 14.17 14.33

2836 -1.13 -145.9 2161 2197 3953 3980 412.3 -17.9 215 2841 0.20 2.53 0.00 0.000 2436 0.294 0.083 2196 3615 3966 3953 3979 0 0 0 0 0 0 13.71 14.05 13.90

2962 -1.19 -145.9 2197 3614 3954 3979 429.3 -12.3 240 2967 0.00 2.40 0.00 0.000 1158 0.000 0.057 2196 2199 3966 3953 3979 0 0 0 0 0 0 14.30 14.16 14.34

3288 -1.19 -145.9 2197 2198 3954 3977 474.2 -13.8 255 3293 0.00 2.50 0.00 0.000 260 0.000 0.085 2188 3614 3965 3952 3979 0 0 0 0 0 0 14.75 14.08 14.77

3330 end dive: TARGET_DEPTH_EXCEEDED

state 3330 begin apogee

3339 -0.13 0.0 2190 2100 3953 3980 480.4 -13.5 264 3565 1.35 0.00 222.23 1.409 10246 0.230 0.000 2529 2097 3366 3379 3354 0 0 0 0 0 0 13.75 13.58 12.73

3568 end apogee: CONTROL_FINISHED_OK

state 3568 begin climb

3571 0.57 145.9 2530 2098 3375 3347 492.9 0.0 271 3794 0.75 2.70 217.82 1.356 10756 0.067 0.079 2781 697 2766 2800 2733 0 0 0 0 0 0 13.73 12.90 12.26

3966 0.16 145.9 2782 696 2787 2726 489.7 13.0 305 3971 0.68 2.53 0.00 0.000 5254 0.321 0.075 2641 2104 2755 2786 2724 0 0 0 0 0 0 13.35 13.76 13.78

4277 -0.01 177.6 2641 2105 2786 2720 462.3 8.5 317 4327 0.22 2.53 44.17 1.437 12964 0.265 0.084 2588 690 2636 2679 2594 0 0 0 0 0 0 13.71 13.69 13.07

4360 0.03 232.5 2589 690 2676 2586 456.5 7.5 333 4452 0.00 2.50 85.82 1.343 9254 0.000 0.080 2588 2103 2416 2470 2362 0 0 0 0 0 0 14.17 14.02 12.96

4758 0.05 257.3 2589 2104 2457 2346 421.6 8.9 363 4796 0.00 0.00 37.12 1.408 8230 0.000 0.000 2588 2104 2320 2373 2267 0 0 0 0 0 0 14.55 13.99 13.16

5088 0.09 275.1 2589 2104 2352 2248 391.6 9.2 374 5119 0.00 2.53 25.00 1.466 8868 0.000 0.086 2589 688 2236 2286 2187 0 0 0 0 0 0 14.59 13.83 13.19

5150 0.20 296.6 2588 688 2279 2185 385.9 9.0 386 5186 0.20 2.47 31.48 1.406 11430 0.098 0.079 2672 2099 2156 2200 2112 0 0 0 0 0 0 14.24 14.14 13.15

5512 0.10 296.6 2672 2099 2186 2092 332.7 14.5 408 5518 0.22 2.50 0.00 0.000 4740 0.257 0.086 2616 681 2138 2185 2092 0 0 0 0 0 0 13.88 14.14 14.07

5538 0.10 296.6 2623 682 2184 2092 329.5 11.7 413 5544 0.00 2.50 0.00 0.000 1030 0.000 0.078 2620 2107 2137 2183 2092 0 0 0 0 0 0 14.26 14.12 14.30

5844 0.10 298.1 2620 2108 2184 2090 298.5 9.9 424 5850 0.00 2.53 0.00 0.000 548 0.000 0.086 2619 682 2136 2183 2090 0 0 0 0 0 0 14.64 14.14 14.66

5881 0.17 311.6 2619 684 2182 2092 295.0 9.4 431 5906 0.00 2.50 18.33 1.459 9382 0.000 0.077 2620 2106 2092 2137 2048 0 0 0 0 0 0 14.25 14.12 13.28

6207 0.21 325.9 2620 2105 2131 2037 264.3 9.3 446 6236 0.00 2.53 21.40 1.433 8868 0.000 0.087 2619 689 2030 2073 1987 0 0 0 0 0 0 14.62 14.12 13.28

6282 0.37 364.9 2620 689 2065 1985 257.6 8.2 461 6358 0.25 2.47 68.40 1.274 11430 0.084 0.078 2712 2104 1875 1901 1850 0 0 0 0 0 0 14.28 14.18 13.15

6657 0.28 364.9 2713 2101 1886 1834 205.1 13.7 486 6658 0.17 0.00 0.00 0.000 4230 0.220 0.000 2673 2100 1858 1885 1832 0 0 0 0 0 0 13.95 14.26 14.20

6957 0.28 369.9 2674 2101 1885 1832 174.8 9.8 496 6963 0.00 2.50 0.00 0.000 548 0.000 0.090 2673 692 1854 1878 1831 0 0 0 0 0 0 14.61 14.09 14.62

7013 0.36 384.6 2673 692 1882 1832 169.4 9.3 507 7050 0.00 2.45 28.98 1.309 9382 0.000 0.079 2673 2097 1796 1815 1778 0 0 0 0 0 0 14.26 14.11 13.27

7351 0.42 408.3 2673 2094 1806 1754 139.0 8.9 524 7393 0.12 0.00 41.00 1.282 10406 0.132 0.000 2731 2094 1701 1721 1682 0 0 0 0 0 0 14.31 14.04 13.24

7678 0.37 408.3 2732 2094 1709 1659 100.0 11.3 535 7684 0.00 2.50 0.00 0.000 644 0.000 0.086 2733 691 1686 1709 1664 0 0 0 0 0 0 14.58 14.06 14.59

7779 0.38 417.4 2733 691 1707 1663 89.8 9.6 555 7791 0.00 2.47 3.58 0.343 9254 0.000 0.077 2733 2103 1664 1688 1640 0 0 0 0 0 0 14.16 14.03 13.54

8089 0.44 509.1 2733 2106 1699 1645 64.0 5.8 587 8151 0.00 0.00 57.60 0.386 8230 0.000 0.000 2733 2103 1288 1339 1237 0 0 0 0 0 0 14.57 14.04 13.66

8449 0.62 611.4 2733 2103 1340 1237 43.4 5.3 623 8518 0.12 2.53 63.15 0.321 10916 0.125 0.089 2794 687 870 938 802 0 0 0 0 0 0 14.18 13.97 13.74

8589 0.76 637.3 2794 687 940 809 31.3 8.8 650 8611 0.00 2.50 17.12 0.285 9382 0.000 0.076 2794 2101 765 832 698 0 0 0 0 0 0 14.12 13.98 13.75

8926 0.96 730.2 2795 2102 833 705 9.6 5.7 685 8974 0.28 2.55 42.20 0.220 10916 0.085 0.089 2902 683 498 520 476 0 0 0 0 0 0 14.09 13.87 13.76

8991 end climb: SURFACE_DEPTH_REACHED

state 8991 begin surface coast

9004 end surface coast: CONTROL_FINISHED_OK

state 9004 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	364	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	1014.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	58	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,012539,7437.8149,-15156.2100,17,0.7,23,20.2,0.0,0.0,11,9.9	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	215.4,66442,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	180917,013420,7437.8428,-15156.2920,39,0.7,39,20.2,0.0,0.0,10,10.0

FINISH	0.1,1.021096	_24V_AH	12.26,219.419
SM_CCo	9032,0.00,0.000,0,0,500,702.78	_10V_AH	12.15,0.000
SM_GC	2.21,8.45,2.75,0.00,0.076,0.076,0.000,203,2214,500,-7.37,-0.42,702.78,0,0,0,0,0,0,14.12,14.04,14.43	FG_AHR_24Vo	0.000
RAFOS_CLK	23	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323520
IRIDIUM_FIX	7438.73,-15148.01,170917,224321	DATA_FILE_SIZE	23377,700
TT8_MAMPS	0.084637,0.961716	CAP_FILE_SIZE	98464,0
HUMID	46.25	CFSIZE	2097872896,1984430080
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1445.6
XPDR_PINGS	21	CURRENT	0.018,5.39,1
CP_FREE	15915810816.000000	GPS	180917,040635,7437.432,-15200.640,15,0.7,22,20.1,0.6,353.3,12,9.5
PM_FREEKB_00	45966144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	149.14	nil	0	0	0.00
Roll_motor	85	2172	2280.71	nil	0	0	0.00
VBD_pump_during_apogee	1025	1465	18426.41	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	5221	15	987.54
Iridium_during_xfer	224	129	355.88	NCP	8994	20	2205.33
Transponder_ping	5	420	27.03	PMAR	8982	9	1086.99
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.23
TT8	0	0	0.00
LPSleep	6463	2	181.40
TT8_Active	889	13	151.02
TT8_Sampling	1942	33	789.34
TT8_CF8	275	38	129.69
TT8_Kalman	0	0	0.00
Analog_circuits	1957	10	237.89
GPS_charging	0	0	0.00
Compass	1003	7	85.35
RAFOS	2213	48	1290.62
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	182	2191	503	487	0.0	0.0	0	144	0.00	0.00	-91.03	0.000	16386	0.000	0.000	181	2190	2176	2107	2245	0	0	0	0	0	0	14.57	28.83	14.59
148	-0.57	-145.9	180	2191	2111	2247	4.5	-6.9	9	201	12.98	2.78	-31.58	0.000	18980	0.455	2.173	2384	793	3963	3947	3979	1	0	0	0	0	0	13.39	12.58	14.11
331	-0.71	-145.9	2384	793	3954	3979	45.4	-12.8	45	336	0.00	2.42	0.00	0.000	1158	0.000	0.086	2384	2161	3965	3952	3979	0	0	0	0	0	0	14.35	14.16	14.35
642	-0.85	-145.9	2384	2162	3955	3979	85.3	-9.8	77	647	0.22	2.55	0.00	0.000	4516	0.099	0.087	2282	3613	3966	3954	3979	0	0	0	0	0	0	14.29	14.07	14.33
777	-0.93	-145.9	2282	3615	3954	3980	104.5	-13.7	104	783	0.00	2.40	0.00	0.000	1158	0.000	0.059	2281	2202	3966	3953	3979	0	0	0	0	0	0	14.27	14.14	14.31
1094	-0.93	-145.9	2282	2202	3954	3980	153.9	-14.8	117	1094	0.00	0.00	0.00	0.000	6	0.000	0.000	2281	2201	3966	3953	3979	0	0	0	0	0	0	14.73	14.75	14.74
1394	-0.98	-145.9	2282	2201	3955	3979	193.4	-12.6	127	1399	0.00	2.53	0.00	0.000	388	0.000	0.085	2274	3620	3966	3954	3979	0	0	0	0	0	0	14.73	14.02	14.75
1450	-1.13	-145.9	2274	3621	3954	3980	199.9	-10.8	138	1456	0.20	2.40	0.00	0.000	5254	0.102	0.057	2201	2200	3966	3954	3979	0	0	0	0	0	0	14.26	14.19	14.35
1755	-1.04	-145.9	2202	2200	3954	3980	257.9	-18.7	149	1760	0.15	2.53	0.00	0.000	2436	0.296	0.081	2225	3617	3966	3954	3979	0	0	0	0	0	0	13.76	14.07	13.94
1840	-1.11	-145.9	2226	3619	3954	3979	269.9	-12.0	166	1846	0.00	2.42	0.00	0.000	1158	0.000	0.059	2225	2192	3966	3954	3979	0	0	0	0	0	0	14.31	14.16	14.35
2145	-1.11	-145.9	2225	2192	3954	3980	311.2	-13.4	177	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2225	2190	3966	3954	3979	0	0	0	0	0	0	14.74	14.76	14.76
2446	-1.13	-145.9	2226	2190	3955	3979	348.9	-12.3	187	2450	0.00	2.53	0.00	0.000	388	0.000	0.086	2222	3613	3966	3954	3979	0	0	0	0	0	0	14.74	14.00	14.76
2531	-1.24	-145.9	2223	3613	3954	3979	358.5	-10.6	204	2538	0.15	2.40	0.00	0.000	5254	0.123	0.057	2161	2196	3966	3953	3979	0	0	0	0	0	0	14.21	14.17	14.33
2836	-1.13	-145.9	2161	2197	3953	3980	412.3	-17.9	215	2841	0.20	2.53	0.00	0.000	2436	0.294	0.083	2196	3615	3966	3953	3979	0	0	0	0	0	0	13.71	14.05	13.90
2962	-1.19	-145.9	2197	3614	3954	3979	429.3	-12.3	240	2967	0.00	2.40	0.00	0.000	1158	0.000	0.057	2196	2199	3966	3953	3979	0	0	0	0	0	0	14.30	14.16	14.34
3288	-1.19	-145.9	2197	2198	3954	3977	474.2	-13.8	255	3293	0.00	2.50	0.00	0.000	260	0.000	0.085	2188	3614	3965	3952	3979	0	0	0	0	0	0	14.75	14.08	14.77
3330	end dive: TARGET_DEPTH_EXCEEDED
state	3330	begin apogee
3339	-0.13	0.0	2190	2100	3953	3980	480.4	-13.5	264	3565	1.35	0.00	222.23	1.409	10246	0.230	0.000	2529	2097	3366	3379	3354	0	0	0	0	0	0	13.75	13.58	12.73
3568	end apogee: CONTROL_FINISHED_OK
state	3568	begin climb
3571	0.57	145.9	2530	2098	3375	3347	492.9	0.0	271	3794	0.75	2.70	217.82	1.356	10756	0.067	0.079	2781	697	2766	2800	2733	0	0	0	0	0	0	13.73	12.90	12.26
3966	0.16	145.9	2782	696	2787	2726	489.7	13.0	305	3971	0.68	2.53	0.00	0.000	5254	0.321	0.075	2641	2104	2755	2786	2724	0	0	0	0	0	0	13.35	13.76	13.78
4277	-0.01	177.6	2641	2105	2786	2720	462.3	8.5	317	4327	0.22	2.53	44.17	1.437	12964	0.265	0.084	2588	690	2636	2679	2594	0	0	0	0	0	0	13.71	13.69	13.07
4360	0.03	232.5	2589	690	2676	2586	456.5	7.5	333	4452	0.00	2.50	85.82	1.343	9254	0.000	0.080	2588	2103	2416	2470	2362	0	0	0	0	0	0	14.17	14.02	12.96
4758	0.05	257.3	2589	2104	2457	2346	421.6	8.9	363	4796	0.00	0.00	37.12	1.408	8230	0.000	0.000	2588	2104	2320	2373	2267	0	0	0	0	0	0	14.55	13.99	13.16
5088	0.09	275.1	2589	2104	2352	2248	391.6	9.2	374	5119	0.00	2.53	25.00	1.466	8868	0.000	0.086	2589	688	2236	2286	2187	0	0	0	0	0	0	14.59	13.83	13.19
5150	0.20	296.6	2588	688	2279	2185	385.9	9.0	386	5186	0.20	2.47	31.48	1.406	11430	0.098	0.079	2672	2099	2156	2200	2112	0	0	0	0	0	0	14.24	14.14	13.15
5512	0.10	296.6	2672	2099	2186	2092	332.7	14.5	408	5518	0.22	2.50	0.00	0.000	4740	0.257	0.086	2616	681	2138	2185	2092	0	0	0	0	0	0	13.88	14.14	14.07
5538	0.10	296.6	2623	682	2184	2092	329.5	11.7	413	5544	0.00	2.50	0.00	0.000	1030	0.000	0.078	2620	2107	2137	2183	2092	0	0	0	0	0	0	14.26	14.12	14.30
5844	0.10	298.1	2620	2108	2184	2090	298.5	9.9	424	5850	0.00	2.53	0.00	0.000	548	0.000	0.086	2619	682	2136	2183	2090	0	0	0	0	0	0	14.64	14.14	14.66
5881	0.17	311.6	2619	684	2182	2092	295.0	9.4	431	5906	0.00	2.50	18.33	1.459	9382	0.000	0.077	2620	2106	2092	2137	2048	0	0	0	0	0	0	14.25	14.12	13.28
6207	0.21	325.9	2620	2105	2131	2037	264.3	9.3	446	6236	0.00	2.53	21.40	1.433	8868	0.000	0.087	2619	689	2030	2073	1987	0	0	0	0	0	0	14.62	14.12	13.28
6282	0.37	364.9	2620	689	2065	1985	257.6	8.2	461	6358	0.25	2.47	68.40	1.274	11430	0.084	0.078	2712	2104	1875	1901	1850	0	0	0	0	0	0	14.28	14.18	13.15
6657	0.28	364.9	2713	2101	1886	1834	205.1	13.7	486	6658	0.17	0.00	0.00	0.000	4230	0.220	0.000	2673	2100	1858	1885	1832	0	0	0	0	0	0	13.95	14.26	14.20
6957	0.28	369.9	2674	2101	1885	1832	174.8	9.8	496	6963	0.00	2.50	0.00	0.000	548	0.000	0.090	2673	692	1854	1878	1831	0	0	0	0	0	0	14.61	14.09	14.62
7013	0.36	384.6	2673	692	1882	1832	169.4	9.3	507	7050	0.00	2.45	28.98	1.309	9382	0.000	0.079	2673	2097	1796	1815	1778	0	0	0	0	0	0	14.26	14.11	13.27
7351	0.42	408.3	2673	2094	1806	1754	139.0	8.9	524	7393	0.12	0.00	41.00	1.282	10406	0.132	0.000	2731	2094	1701	1721	1682	0	0	0	0	0	0	14.31	14.04	13.24
7678	0.37	408.3	2732	2094	1709	1659	100.0	11.3	535	7684	0.00	2.50	0.00	0.000	644	0.000	0.086	2733	691	1686	1709	1664	0	0	0	0	0	0	14.58	14.06	14.59
7779	0.38	417.4	2733	691	1707	1663	89.8	9.6	555	7791	0.00	2.47	3.58	0.343	9254	0.000	0.077	2733	2103	1664	1688	1640	0	0	0	0	0	0	14.16	14.03	13.54
8089	0.44	509.1	2733	2106	1699	1645	64.0	5.8	587	8151	0.00	0.00	57.60	0.386	8230	0.000	0.000	2733	2103	1288	1339	1237	0	0	0	0	0	0	14.57	14.04	13.66
8449	0.62	611.4	2733	2103	1340	1237	43.4	5.3	623	8518	0.12	2.53	63.15	0.321	10916	0.125	0.089	2794	687	870	938	802	0	0	0	0	0	0	14.18	13.97	13.74
8589	0.76	637.3	2794	687	940	809	31.3	8.8	650	8611	0.00	2.50	17.12	0.285	9382	0.000	0.076	2794	2101	765	832	698	0	0	0	0	0	0	14.12	13.98	13.75
8926	0.96	730.2	2795	2102	833	705	9.6	5.7	685	8974	0.28	2.55	42.20	0.220	10916	0.085	0.089	2902	683	498	520	476	0	0	0	0	0	0	14.09	13.87	13.76
8991	end climb: SURFACE_DEPTH_REACHED
state	8991	begin surface coast
9004	end surface coast: CONTROL_FINISHED_OK
state	9004	begin surface