Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 367 * 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 367 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 1022.0

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 38 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 1022.0 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 38 VBD_MIN 500

DIVE 367 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 180917,093620,7436.6255,-15209.0234,36,0.8,36,20.1,0.5,66.6,10,8.9 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 1.19 MHEAD_RNG_PITCHd_Wd 210.9,59904,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 180917,094713,7436.6382,-15209.0371,8,0.8,9,20.1,0.0,0.0,10,9.7

Post-dive calculations and measurements:

FINISH 0.1,1.021101 _24V_AH 12.30,220.872

SM_CCo 9018,27.10,0.207,0,0,497,702.78 _10V_AH 12.16,0.000

SM_GC 1.27,8.30,0.17,27.10,0.081,0.103,0.207,198,2242,497,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.16,13.82 FG_AHR_24Vo 0.000

RAFOS_CLK 57 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323484

IRIDIUM_FIX 7437.01,-15209.96,180917,065854 DATA_FILE_SIZE 23426,706

TT8_MAMPS 0.084637,0.869589 CAP_FILE_SIZE 99419,0

HUMID 44.52 CFSIZE 2097872896,1983676416

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.0

XPDR_PINGS 26 CURRENT 0.019,15.85,1

CP_FREE 15914237952.000000 GPS 180917,122000,7436.163,-15213.230,17,0.7,38,20.0,0.0,250.0,11,9.9

PM_FREEKB_00 45822272

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 144.06 nil 0 0 0.00

Roll_motor 79 2169 2122.82 nil 0 0 0.00

VBD_pump_during_apogee 1024 1429 18000.11 nil 0 0 0.00

VBD_pump_during_surface 27 207 69.10 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 5294 14 956.36

Iridium_during_xfer 364 180 810.26 NCP 8989 20 2211.29

Transponder_ping 6 420 33.58 PMAR 8973 13 1507.74

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.94

TT8 0 0 0.00

LPSleep 6405 2 179.94

TT8_Active 899 13 152.75

TT8_Sampling 2053 33 835.06

TT8_CF8 357 38 167.97

TT8_Kalman 0 0 0.00

Analog_circuits 2115 10 257.28

GPS_charging 0 0 0.00

Compass 1011 7 86.14

RAFOS 2195 48 1281.18

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 192 2182 506 492 0.0 0.0 0 135 0.00 0.00 -81.30 0.000 16386 0.000 0.000 191 2180 1974 1899 2049 0 0 0 0 0 0 14.52 28.83 14.54

138 -0.57 -145.9 191 2183 1902 2050 3.3 -4.1 8 202 12.88 2.78 -40.17 0.000 18980 0.451 2.170 2384 810 3966 3952 3980 0 0 0 0 0 0 13.54 12.56 14.03

318 -0.72 -145.9 2384 811 3957 3982 41.4 -12.5 43 324 0.00 2.45 0.00 0.000 1158 0.000 0.085 2380 2199 3968 3956 3980 0 0 0 0 0 0 14.27 14.14 14.34

625 -0.85 -145.9 2381 2199 3959 3981 82.4 -10.1 74 630 0.20 2.50 0.00 0.000 4484 0.103 0.088 2292 3614 3969 3958 3980 0 0 0 0 0 0 14.28 14.12 14.31

748 -0.94 -145.9 2292 3616 3960 3980 99.2 -13.2 98 753 0.00 2.40 0.00 0.000 1158 0.000 0.061 2292 2216 3969 3958 3981 0 0 0 0 0 0 14.09 13.69 14.18

1058 -0.97 -145.9 2293 2215 3958 3980 144.3 -13.8 110 1063 0.00 2.45 0.00 0.000 388 0.000 0.083 2283 3610 3969 3958 3981 0 0 0 0 0 0 14.69 14.12 14.72

1109 -1.12 -145.9 2284 3613 3958 3980 150.4 -11.1 120 1114 0.20 2.42 0.00 0.000 5254 0.097 0.057 2209 2189 3969 3958 3980 0 0 0 0 0 0 14.16 14.13 14.28

1420 -1.02 -145.9 2210 2189 3960 3980 213.9 -20.3 132 1425 0.12 2.50 0.00 0.000 2436 0.304 0.082 2228 3609 3969 3958 3981 0 0 0 0 0 0 13.53 13.99 13.78

1527 -1.07 -145.9 2229 3609 3959 3981 230.2 -13.6 153 1532 0.00 2.40 0.00 0.000 1158 0.000 0.057 2228 2196 3969 3958 3981 0 0 0 0 0 0 14.23 14.09 14.28

1843 -1.07 -145.9 2228 2194 3959 3980 277.2 -14.1 166 1844 0.00 0.00 0.00 0.000 6 0.000 0.000 2227 2195 3969 3958 3980 0 0 0 0 0 0 14.72 14.74 14.72

2143 -1.07 -145.9 2228 2196 3958 3982 316.7 -12.7 176 2147 0.00 2.53 0.00 0.000 260 0.000 0.086 2222 3610 3969 3958 3980 0 0 0 0 0 0 14.73 13.38 14.75

2265 -1.16 -145.9 2223 3611 3958 3981 330.5 -11.2 200 2270 0.00 2.42 0.00 0.000 1158 0.000 0.055 2223 2195 3969 3958 3980 0 0 0 0 0 0 14.16 14.02 14.21

2596 -1.18 -145.9 2223 2194 3958 3981 370.8 -11.9 216 2601 0.00 2.53 0.00 0.000 388 0.000 0.087 2223 3610 3968 3958 3979 0 0 0 0 0 0 14.73 13.99 14.75

2651 -1.29 -145.9 2224 3610 3958 3980 377.1 -10.7 227 2659 0.20 2.40 0.00 0.000 5254 0.102 0.055 2149 2193 3968 3957 3980 0 0 0 0 0 0 14.23 14.16 14.33

2956 -1.17 -145.9 2150 2192 3958 3980 433.1 -18.8 238 2961 0.22 2.53 0.00 0.000 2436 0.311 0.080 2189 3614 3968 3957 3979 0 0 0 0 0 0 13.54 14.00 13.79

3064 -1.19 -145.9 2188 3615 3957 3980 448.1 -13.0 259 3070 0.00 2.40 0.00 0.000 1158 0.000 0.055 2188 2199 3968 3957 3979 0 0 0 0 0 0 14.26 14.14 14.30

3287 end dive: TARGET_DEPTH_EXCEEDED

state 3287 begin apogee

3294 -0.13 0.0 2189 2056 3957 3980 480.6 -14.2 269 3522 1.38 0.10 223.35 1.405 10246 0.238 0.161 2531 2119 3367 3387 3347 0 0 0 0 0 0 13.71 13.57 12.75

3525 end apogee: CONTROL_FINISHED_OK

state 3525 begin climb

3528 0.57 145.9 2533 2119 3380 3338 492.4 0.0 276 3751 0.73 2.67 213.35 1.356 11012 0.059 0.078 2780 728 2759 2796 2723 0 0 0 0 0 0 13.76 12.93 12.30

3810 0.16 145.9 2782 727 2789 2720 501.3 12.1 289 3816 0.70 2.53 0.00 0.000 5254 0.320 0.073 2641 2090 2752 2788 2717 0 0 0 0 0 0 13.09 13.39 13.45

4137 -0.00 174.4 2641 2091 2787 2711 472.2 8.7 304 4182 0.22 2.42 40.03 1.429 12964 0.265 0.083 2589 730 2649 2695 2603 0 0 0 0 0 0 13.73 13.65 13.03

4234 0.03 217.8 2589 731 2688 2593 465.1 8.0 323 4308 0.00 2.42 66.25 1.369 9254 0.000 0.080 2589 2106 2472 2533 2412 0 0 0 0 0 0 14.21 14.07 13.00

4618 0.05 249.1 2590 2106 2522 2394 432.1 8.6 350 4665 0.00 0.00 45.25 1.405 8230 0.000 0.000 2589 2105 2350 2405 2295 0 0 0 0 0 0 14.56 13.99 13.14

4949 0.09 274.8 2589 2105 2388 2278 403.3 8.8 361 4994 0.00 2.50 37.60 1.418 8868 0.000 0.087 2589 736 2237 2289 2186 0 0 0 0 0 0 14.57 14.05 13.18

5009 0.16 298.6 2585 737 2283 2185 398.0 8.9 368 5050 0.15 2.42 34.62 1.394 11430 0.116 0.079 2658 2106 2145 2195 2095 0 0 0 0 0 0 14.16 14.08 13.09

5371 0.10 298.6 2658 2107 2181 2076 349.3 13.4 390 5372 0.17 0.00 0.00 0.000 4230 0.249 0.000 2616 2107 2128 2181 2075 0 0 0 0 0 0 13.93 14.28 14.22

5671 0.10 298.6 2619 2108 2180 2074 317.5 10.4 400 5672 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2107 2126 2180 2073 0 0 0 0 0 0 14.61 14.63 14.62

5971 0.10 302.1 2620 2108 2180 2074 287.5 9.8 410 5976 0.00 2.42 0.00 0.000 548 0.000 0.087 2619 732 2126 2180 2073 0 0 0 0 0 0 14.66 14.13 14.67

6047 0.19 329.9 2620 731 2179 2072 280.7 8.7 425 6102 0.00 2.42 49.67 1.327 9382 0.000 0.078 2619 2109 2018 2066 1971 0 0 0 0 0 0 14.27 14.13 13.21

6425 0.28 360.4 2619 2110 2055 1956 247.5 8.6 450 6485 0.12 2.45 51.75 1.301 10916 0.123 0.086 2685 734 1888 1922 1855 0 0 0 0 0 0 14.28 13.78 13.18

6565 0.28 360.4 2686 734 1909 1854 231.0 11.2 478 6570 0.00 2.40 0.00 0.000 1030 0.000 0.077 2685 2101 1881 1909 1854 0 0 0 0 0 0 14.18 14.07 14.23

6876 0.25 360.4 2685 2102 1909 1844 195.7 11.1 490 6881 0.00 2.45 0.00 0.000 644 0.000 0.086 2685 731 1878 1908 1848 0 0 0 0 0 0 14.57 14.00 14.59

6936 0.28 368.3 2686 732 1907 1849 189.6 9.6 502 6946 0.00 2.42 2.30 0.618 9382 0.000 0.077 2685 2101 1864 1895 1833 0 0 0 0 0 0 14.28 14.14 12.76

7266 0.28 369.9 2686 2102 1906 1838 156.1 9.9 518 7270 0.00 0.00 2.70 0.951 8230 0.000 0.000 2685 2101 1857 1889 1825 0 0 0 0 0 0 14.64 14.17 12.99

7566 0.29 390.2 2686 2101 1902 1833 127.2 9.1 528 7617 0.00 2.50 46.53 1.299 8740 0.000 0.088 2685 731 1770 1795 1746 0 0 0 0 0 0 14.62 14.07 13.22

7670 0.40 435.8 2686 732 1783 1743 118.8 7.9 548 7759 0.00 2.42 82.15 1.190 9382 0.000 0.078 2685 2100 1587 1617 1557 0 0 0 0 0 0 14.11 13.99 13.11

8070 0.53 490.5 2686 2096 1610 1533 85.8 7.5 590 8106 0.17 2.50 28.90 0.448 10916 0.108 0.090 2771 734 1364 1410 1319 0 0 0 0 0 0 14.10 13.93 13.56

8175 0.53 490.5 2769 734 1412 1322 74.5 11.1 610 8179 0.00 2.42 0.00 0.000 1030 0.000 0.079 2768 2100 1366 1411 1322 0 0 0 0 0 0 14.14 14.01 14.17

8485 0.59 567.6 2768 2101 1412 1323 46.8 6.4 642 8537 0.00 2.45 44.55 0.336 8740 0.000 0.088 2768 730 1050 1114 987 0 0 0 0 0 0 14.36 13.93 13.66

8585 0.74 624.0 2768 732 1116 993 40.2 7.4 661 8623 0.17 2.45 33.08 0.311 11430 0.107 0.077 2839 2106 821 888 754 0 0 0 0 0 0 14.03 13.97 13.69

8919 0.79 659.8 2840 2106 890 761 6.8 8.3 698 8942 0.00 0.00 22.00 0.219 8358 0.000 0.000 2839 2105 674 734 615 0 0 0 0 0 0 14.35 14.03 13.78

8975 end climb: SURFACE_DEPTH_REACHED

state 8976 begin surface coast

8996 end surface coast: CONTROL_FINISHED_OK

state 8996 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	367	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	1022.0
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	38	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,093620,7436.6255,-15209.0234,36,0.8,36,20.1,0.5,66.6,10,8.9	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	1.19	MHEAD_RNG_PITCHd_Wd	210.9,59904,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	180917,094713,7436.6382,-15209.0371,8,0.8,9,20.1,0.0,0.0,10,9.7

FINISH	0.1,1.021101	_24V_AH	12.30,220.872
SM_CCo	9018,27.10,0.207,0,0,497,702.78	_10V_AH	12.16,0.000
SM_GC	1.27,8.30,0.17,27.10,0.081,0.103,0.207,198,2242,497,-7.37,-0.51,702.78,0,0,0,0,0,0,14.19,14.16,13.82	FG_AHR_24Vo	0.000
RAFOS_CLK	57	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323484
IRIDIUM_FIX	7437.01,-15209.96,180917,065854	DATA_FILE_SIZE	23426,706
TT8_MAMPS	0.084637,0.869589	CAP_FILE_SIZE	99419,0
HUMID	44.52	CFSIZE	2097872896,1983676416
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.0
XPDR_PINGS	26	CURRENT	0.019,15.85,1
CP_FREE	15914237952.000000	GPS	180917,122000,7436.163,-15213.230,17,0.7,38,20.0,0.0,250.0,11,9.9
PM_FREEKB_00	45822272

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	144.06	nil	0	0	0.00
Roll_motor	79	2169	2122.82	nil	0	0	0.00
VBD_pump_during_apogee	1024	1429	18000.11	nil	0	0	0.00
VBD_pump_during_surface	27	207	69.10	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	5294	14	956.36
Iridium_during_xfer	364	180	810.26	NCP	8989	20	2211.29
Transponder_ping	6	420	33.58	PMAR	8973	13	1507.74
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.94
TT8	0	0	0.00
LPSleep	6405	2	179.94
TT8_Active	899	13	152.75
TT8_Sampling	2053	33	835.06
TT8_CF8	357	38	167.97
TT8_Kalman	0	0	0.00
Analog_circuits	2115	10	257.28
GPS_charging	0	0	0.00
Compass	1011	7	86.14
RAFOS	2195	48	1281.18
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	192	2182	506	492	0.0	0.0	0	135	0.00	0.00	-81.30	0.000	16386	0.000	0.000	191	2180	1974	1899	2049	0	0	0	0	0	0	14.52	28.83	14.54
138	-0.57	-145.9	191	2183	1902	2050	3.3	-4.1	8	202	12.88	2.78	-40.17	0.000	18980	0.451	2.170	2384	810	3966	3952	3980	0	0	0	0	0	0	13.54	12.56	14.03
318	-0.72	-145.9	2384	811	3957	3982	41.4	-12.5	43	324	0.00	2.45	0.00	0.000	1158	0.000	0.085	2380	2199	3968	3956	3980	0	0	0	0	0	0	14.27	14.14	14.34
625	-0.85	-145.9	2381	2199	3959	3981	82.4	-10.1	74	630	0.20	2.50	0.00	0.000	4484	0.103	0.088	2292	3614	3969	3958	3980	0	0	0	0	0	0	14.28	14.12	14.31
748	-0.94	-145.9	2292	3616	3960	3980	99.2	-13.2	98	753	0.00	2.40	0.00	0.000	1158	0.000	0.061	2292	2216	3969	3958	3981	0	0	0	0	0	0	14.09	13.69	14.18
1058	-0.97	-145.9	2293	2215	3958	3980	144.3	-13.8	110	1063	0.00	2.45	0.00	0.000	388	0.000	0.083	2283	3610	3969	3958	3981	0	0	0	0	0	0	14.69	14.12	14.72
1109	-1.12	-145.9	2284	3613	3958	3980	150.4	-11.1	120	1114	0.20	2.42	0.00	0.000	5254	0.097	0.057	2209	2189	3969	3958	3980	0	0	0	0	0	0	14.16	14.13	14.28
1420	-1.02	-145.9	2210	2189	3960	3980	213.9	-20.3	132	1425	0.12	2.50	0.00	0.000	2436	0.304	0.082	2228	3609	3969	3958	3981	0	0	0	0	0	0	13.53	13.99	13.78
1527	-1.07	-145.9	2229	3609	3959	3981	230.2	-13.6	153	1532	0.00	2.40	0.00	0.000	1158	0.000	0.057	2228	2196	3969	3958	3981	0	0	0	0	0	0	14.23	14.09	14.28
1843	-1.07	-145.9	2228	2194	3959	3980	277.2	-14.1	166	1844	0.00	0.00	0.00	0.000	6	0.000	0.000	2227	2195	3969	3958	3980	0	0	0	0	0	0	14.72	14.74	14.72
2143	-1.07	-145.9	2228	2196	3958	3982	316.7	-12.7	176	2147	0.00	2.53	0.00	0.000	260	0.000	0.086	2222	3610	3969	3958	3980	0	0	0	0	0	0	14.73	13.38	14.75
2265	-1.16	-145.9	2223	3611	3958	3981	330.5	-11.2	200	2270	0.00	2.42	0.00	0.000	1158	0.000	0.055	2223	2195	3969	3958	3980	0	0	0	0	0	0	14.16	14.02	14.21
2596	-1.18	-145.9	2223	2194	3958	3981	370.8	-11.9	216	2601	0.00	2.53	0.00	0.000	388	0.000	0.087	2223	3610	3968	3958	3979	0	0	0	0	0	0	14.73	13.99	14.75
2651	-1.29	-145.9	2224	3610	3958	3980	377.1	-10.7	227	2659	0.20	2.40	0.00	0.000	5254	0.102	0.055	2149	2193	3968	3957	3980	0	0	0	0	0	0	14.23	14.16	14.33
2956	-1.17	-145.9	2150	2192	3958	3980	433.1	-18.8	238	2961	0.22	2.53	0.00	0.000	2436	0.311	0.080	2189	3614	3968	3957	3979	0	0	0	0	0	0	13.54	14.00	13.79
3064	-1.19	-145.9	2188	3615	3957	3980	448.1	-13.0	259	3070	0.00	2.40	0.00	0.000	1158	0.000	0.055	2188	2199	3968	3957	3979	0	0	0	0	0	0	14.26	14.14	14.30
3287	end dive: TARGET_DEPTH_EXCEEDED
state	3287	begin apogee
3294	-0.13	0.0	2189	2056	3957	3980	480.6	-14.2	269	3522	1.38	0.10	223.35	1.405	10246	0.238	0.161	2531	2119	3367	3387	3347	0	0	0	0	0	0	13.71	13.57	12.75
3525	end apogee: CONTROL_FINISHED_OK
state	3525	begin climb
3528	0.57	145.9	2533	2119	3380	3338	492.4	0.0	276	3751	0.73	2.67	213.35	1.356	11012	0.059	0.078	2780	728	2759	2796	2723	0	0	0	0	0	0	13.76	12.93	12.30
3810	0.16	145.9	2782	727	2789	2720	501.3	12.1	289	3816	0.70	2.53	0.00	0.000	5254	0.320	0.073	2641	2090	2752	2788	2717	0	0	0	0	0	0	13.09	13.39	13.45
4137	-0.00	174.4	2641	2091	2787	2711	472.2	8.7	304	4182	0.22	2.42	40.03	1.429	12964	0.265	0.083	2589	730	2649	2695	2603	0	0	0	0	0	0	13.73	13.65	13.03
4234	0.03	217.8	2589	731	2688	2593	465.1	8.0	323	4308	0.00	2.42	66.25	1.369	9254	0.000	0.080	2589	2106	2472	2533	2412	0	0	0	0	0	0	14.21	14.07	13.00
4618	0.05	249.1	2590	2106	2522	2394	432.1	8.6	350	4665	0.00	0.00	45.25	1.405	8230	0.000	0.000	2589	2105	2350	2405	2295	0	0	0	0	0	0	14.56	13.99	13.14
4949	0.09	274.8	2589	2105	2388	2278	403.3	8.8	361	4994	0.00	2.50	37.60	1.418	8868	0.000	0.087	2589	736	2237	2289	2186	0	0	0	0	0	0	14.57	14.05	13.18
5009	0.16	298.6	2585	737	2283	2185	398.0	8.9	368	5050	0.15	2.42	34.62	1.394	11430	0.116	0.079	2658	2106	2145	2195	2095	0	0	0	0	0	0	14.16	14.08	13.09
5371	0.10	298.6	2658	2107	2181	2076	349.3	13.4	390	5372	0.17	0.00	0.00	0.000	4230	0.249	0.000	2616	2107	2128	2181	2075	0	0	0	0	0	0	13.93	14.28	14.22
5671	0.10	298.6	2619	2108	2180	2074	317.5	10.4	400	5672	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2107	2126	2180	2073	0	0	0	0	0	0	14.61	14.63	14.62
5971	0.10	302.1	2620	2108	2180	2074	287.5	9.8	410	5976	0.00	2.42	0.00	0.000	548	0.000	0.087	2619	732	2126	2180	2073	0	0	0	0	0	0	14.66	14.13	14.67
6047	0.19	329.9	2620	731	2179	2072	280.7	8.7	425	6102	0.00	2.42	49.67	1.327	9382	0.000	0.078	2619	2109	2018	2066	1971	0	0	0	0	0	0	14.27	14.13	13.21
6425	0.28	360.4	2619	2110	2055	1956	247.5	8.6	450	6485	0.12	2.45	51.75	1.301	10916	0.123	0.086	2685	734	1888	1922	1855	0	0	0	0	0	0	14.28	13.78	13.18
6565	0.28	360.4	2686	734	1909	1854	231.0	11.2	478	6570	0.00	2.40	0.00	0.000	1030	0.000	0.077	2685	2101	1881	1909	1854	0	0	0	0	0	0	14.18	14.07	14.23
6876	0.25	360.4	2685	2102	1909	1844	195.7	11.1	490	6881	0.00	2.45	0.00	0.000	644	0.000	0.086	2685	731	1878	1908	1848	0	0	0	0	0	0	14.57	14.00	14.59
6936	0.28	368.3	2686	732	1907	1849	189.6	9.6	502	6946	0.00	2.42	2.30	0.618	9382	0.000	0.077	2685	2101	1864	1895	1833	0	0	0	0	0	0	14.28	14.14	12.76
7266	0.28	369.9	2686	2102	1906	1838	156.1	9.9	518	7270	0.00	0.00	2.70	0.951	8230	0.000	0.000	2685	2101	1857	1889	1825	0	0	0	0	0	0	14.64	14.17	12.99
7566	0.29	390.2	2686	2101	1902	1833	127.2	9.1	528	7617	0.00	2.50	46.53	1.299	8740	0.000	0.088	2685	731	1770	1795	1746	0	0	0	0	0	0	14.62	14.07	13.22
7670	0.40	435.8	2686	732	1783	1743	118.8	7.9	548	7759	0.00	2.42	82.15	1.190	9382	0.000	0.078	2685	2100	1587	1617	1557	0	0	0	0	0	0	14.11	13.99	13.11
8070	0.53	490.5	2686	2096	1610	1533	85.8	7.5	590	8106	0.17	2.50	28.90	0.448	10916	0.108	0.090	2771	734	1364	1410	1319	0	0	0	0	0	0	14.10	13.93	13.56
8175	0.53	490.5	2769	734	1412	1322	74.5	11.1	610	8179	0.00	2.42	0.00	0.000	1030	0.000	0.079	2768	2100	1366	1411	1322	0	0	0	0	0	0	14.14	14.01	14.17
8485	0.59	567.6	2768	2101	1412	1323	46.8	6.4	642	8537	0.00	2.45	44.55	0.336	8740	0.000	0.088	2768	730	1050	1114	987	0	0	0	0	0	0	14.36	13.93	13.66
8585	0.74	624.0	2768	732	1116	993	40.2	7.4	661	8623	0.17	2.45	33.08	0.311	11430	0.107	0.077	2839	2106	821	888	754	0	0	0	0	0	0	14.03	13.97	13.69
8919	0.79	659.8	2840	2106	890	761	6.8	8.3	698	8942	0.00	0.00	22.00	0.219	8358	0.000	0.000	2839	2105	674	734	615	0	0	0	0	0	0	14.35	14.03	13.78
8975	end climb: SURFACE_DEPTH_REACHED
state	8976	begin surface coast
8996	end surface coast: CONTROL_FINISHED_OK
state	8996	begin surface