Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 369 * 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 369 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 1027.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 54 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 1027.0 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 35 VBD_MIN 500

DIVE 369 NOCOMM_ACTION 161 R_STBD_OVSHOOT 54 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 180917,150232,7435.8047,-15217.2783,40,0.7,40,20.0,0.0,0.0,11,7.6 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 205.6,55660,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 180917,150909,7435.8267,-15217.3037,8,0.7,9,20.0,0.0,209.2,12,9.6

Post-dive calculations and measurements:

FINISH 0.3,1.020947 _24V_AH 12.17,221.839

SM_CCo 8843,0.00,0.000,0,0,496,703.77 _10V_AH 12.03,0.000

SM_GC 1.08,8.27,0.17,0.00,0.074,0.103,0.000,205,2254,496,-7.36,-0.40,703.77,0,0,0,0,0,0,14.25,14.28,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 254 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7436.14,-15220.90,180917,122326 DATA_FILE_SIZE 23431,693

TT8_MAMPS 0.038948,0.942242 CAP_FILE_SIZE 99252,0

HUMID 46.92 CFSIZE 2097872896,1983283200

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

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 7 CURRENT 0.046,11.16,1

CP_FREE 15913222144.000000 GPS 180917,173805,7435.352,-15221.081,18,0.8,19,20.0,0.0,0.0,10,8.3

PM_FREEKB_00 45733888

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.70 nil 0 0 0.00

Roll_motor 85 2168 2263.81 nil 0 0 0.00

VBD_pump_during_apogee 1090 1476 19597.68 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 8369 14 1485.39

Iridium_during_xfer 187 133 305.12 NCP 8748 20 2129.26

Transponder_ping 1 420 8.94 PMAR 8737 13 1419.50

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.89

TT8 0 0 0.00

LPSleep 6031 2 167.62

TT8_Active 918 13 154.44

TT8_Sampling 2017 33 811.58

TT8_CF8 279 38 129.99

TT8_Kalman 0 0 0.00

Analog_circuits 2138 10 257.28

GPS_charging 0 0 0.00

Compass 994 7 83.77

RAFOS 2212 48 1277.30

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 -145.9 200 2187 502 494 0.0 0.0 0 134 0.00 0.00 -80.40 0.000 16386 0.000 0.000 199 2187 1958 1888 2029 0 0 0 0 0 0 14.50 28.83 14.52

137 -0.57 -145.9 200 2187 1890 2032 3.5 -4.3 8 201 12.75 2.78 -40.72 0.000 18980 0.451 2.168 2385 809 3963 3948 3979 0 0 0 0 0 0 13.62 12.59 14.09

346 -0.71 -145.9 2386 809 3954 3979 44.6 -12.7 49 353 0.12 2.42 0.00 0.000 5254 0.119 0.085 2334 2169 3966 3952 3980 0 0 0 0 0 0 14.17 14.12 14.28

652 -0.77 -145.9 2334 2170 3954 3980 95.4 -13.1 80 656 0.00 2.58 0.00 0.000 388 0.000 0.088 2333 3616 3966 3954 3979 0 0 0 0 0 0 14.56 14.09 14.58

754 -0.95 -145.9 2332 3617 3954 3979 106.4 -9.8 100 759 0.20 2.40 0.00 0.000 5286 0.104 0.057 2252 2210 3966 3954 3979 0 0 0 0 0 0 14.23 14.16 14.31

1075 -0.91 -145.9 2253 2208 3954 3980 163.4 -17.3 114 1080 0.12 2.47 0.00 0.000 2436 0.288 0.082 2272 3612 3966 3954 3978 0 0 0 0 0 0 13.88 14.09 14.02

1121 -1.03 -145.9 2272 3613 3955 3986 170.1 -12.7 123 1127 0.00 2.42 0.00 0.000 1158 0.000 0.060 2271 2190 3966 3954 3979 0 0 0 0 0 0 14.28 14.15 14.33

1437 -1.07 -145.9 2272 2191 3955 3979 212.7 -13.1 136 1438 0.12 0.00 0.00 0.000 4230 0.136 0.000 2227 2190 3964 3949 3979 0 0 0 0 0 0 14.24 14.35 14.30

1737 -1.04 -145.9 2228 2191 3954 3979 259.9 -15.5 146 1742 0.00 2.55 0.00 0.000 388 0.000 0.088 2223 3620 3966 3954 3979 0 0 0 0 0 0 14.57 14.03 14.57

1888 -1.10 -145.9 2224 3620 3955 3979 279.3 -12.0 176 1893 0.00 2.42 0.00 0.000 1158 0.000 0.058 2223 2198 3966 3954 3979 0 0 0 0 0 0 14.23 14.12 14.28

2218 -1.10 -145.9 2223 2197 3954 3980 323.7 -13.2 192 2223 0.00 2.53 0.00 0.000 260 0.000 0.089 2223 3613 3965 3952 3979 0 0 0 0 0 0 14.59 14.02 14.64

2299 -1.21 -145.9 2223 3614 3956 3980 333.2 -10.9 208 2303 0.00 2.42 0.00 0.000 1158 0.000 0.057 2221 2199 3964 3950 3979 0 0 0 0 0 0 14.23 14.10 14.25

2609 -1.23 -145.9 2223 2198 3954 3978 371.6 -12.3 220 2615 0.12 2.53 0.00 0.000 4484 0.148 0.085 2158 3608 3966 3954 3978 0 0 0 0 0 0 14.19 14.00 14.22

2660 -1.17 -145.9 2157 3611 3954 3979 379.6 -17.0 230 2666 0.20 2.42 0.00 0.000 3206 0.262 0.060 2198 2196 3965 3953 3978 0 0 0 0 0 0 13.71 14.07 14.02

2991 -1.17 -145.9 2198 2195 3955 3978 423.7 -13.8 242 2996 0.00 2.55 0.00 0.000 260 0.000 0.086 2191 3618 3965 3953 3978 0 0 0 0 0 0 14.41 13.93 14.43

3062 -1.21 -145.9 2192 3619 3955 3978 436.0 -12.9 256 3066 0.00 2.47 0.00 0.000 1158 0.000 0.058 2191 2191 3967 3954 3981 0 0 0 0 0 0 14.03 13.91 14.07

3379 end dive: TARGET_DEPTH_EXCEEDED

state 3379 begin apogee

3386 -0.13 0.0 2192 2063 3954 3977 481.6 -14.2 270 3614 1.38 0.08 224.82 1.400 10246 0.237 0.177 2532 2108 3365 3385 3346 0 0 0 0 0 0 13.63 13.42 12.63

3618 end apogee: CONTROL_FINISHED_OK

state 3618 begin climb

3623 0.57 145.9 2533 2108 3378 3333 493.7 0.0 277 4018 0.75 2.67 210.80 1.365 11012 0.060 0.076 2792 734 2758 2789 2728 0 0 0 0 0 0 13.62 12.79 12.17

4030 0.57 145.9 2794 733 2788 2724 486.3 2.3 280 4035 0.00 2.50 0.00 0.000 1030 0.000 0.074 2794 2101 2755 2787 2723 0 0 0 0 0 0 13.70 13.59 13.71

4345 0.11 145.9 2795 2103 2788 2717 440.8 14.1 293 4351 0.77 2.47 0.00 0.000 4484 0.312 0.076 2629 3512 2750 2787 2714 0 0 0 0 0 0 13.03 13.71 13.38

4491 -0.09 167.4 2624 3513 2786 2717 426.7 9.0 322 4528 0.35 2.38 28.33 1.469 13478 0.271 0.059 2553 2133 2678 2719 2638 0 0 0 0 0 0 13.72 14.00 13.12

4828 -0.00 260.3 2553 2134 2714 2627 407.5 5.7 339 4987 0.00 0.00 155.57 1.289 8870 0.000 0.000 2553 2136 2305 2358 2252 0 0 0 0 0 0 14.45 13.64 12.93

5308 0.16 333.6 2553 2134 2341 2233 375.8 6.6 370 5436 0.22 2.67 118.18 1.274 10916 0.091 0.093 2653 703 1998 2047 1949 0 0 0 0 0 0 14.07 13.74 12.99

5511 0.16 333.6 2653 703 2034 1945 350.3 12.4 410 5516 0.00 2.45 0.00 0.000 1030 0.000 0.078 2653 2099 1988 2032 1945 0 0 0 0 0 0 14.03 13.92 14.06

5822 0.13 333.6 2653 2099 2033 1934 310.0 12.8 422 5827 0.00 2.50 0.00 0.000 644 0.000 0.089 2654 695 1982 2030 1934 0 0 0 0 0 0 14.57 13.91 14.59

5847 0.13 333.6 2655 694 2031 1934 306.7 13.3 427 5855 0.12 2.47 0.00 0.000 5126 0.237 0.078 2627 2099 1982 2030 1934 0 0 0 0 0 0 13.95 14.11 14.20

6153 0.16 333.6 2628 2107 2037 1934 274.5 10.2 438 6157 0.00 2.50 0.00 0.000 644 0.000 0.090 2627 696 1981 2030 1933 0 0 0 0 0 0 14.63 14.00 14.64

6173 0.22 347.5 2627 696 2030 1934 272.5 9.4 442 6193 0.00 2.45 14.05 1.476 9382 0.000 0.078 2627 2106 1946 1994 1899 0 0 0 0 0 0 14.31 14.16 13.30

6516 0.29 379.4 2628 2105 1986 1889 241.8 8.5 460 6581 0.12 2.58 56.83 1.289 10916 0.122 0.089 2692 691 1813 1842 1784 0 0 0 0 0 0 14.34 13.98 13.22

6598 0.25 379.4 2693 691 1833 1782 232.0 12.6 476 6603 0.00 2.47 0.00 0.000 1158 0.000 0.077 2691 2098 1807 1832 1782 0 0 0 0 0 0 14.20 14.08 14.25

6909 0.22 379.4 2693 2100 1832 1775 193.6 11.8 488 6910 0.15 0.00 0.00 0.000 4230 0.216 0.000 2658 2099 1802 1831 1774 0 0 0 0 0 0 13.96 14.24 14.19

7209 0.30 410.3 2658 2100 1832 1772 167.0 8.6 498 7269 0.00 2.55 52.58 1.279 8868 0.000 0.092 2659 675 1687 1713 1662 0 0 0 0 0 0 14.62 13.98 13.22

7327 0.47 454.7 2659 674 1704 1659 157.4 7.9 521 7415 0.22 2.53 81.90 1.190 11430 0.091 0.080 2750 2106 1512 1548 1477 0 0 0 0 0 0 14.14 14.05 13.14

7721 0.43 454.7 2751 2106 1541 1448 102.1 13.4 550 7726 0.12 2.50 0.00 0.000 4740 0.234 0.084 2727 689 1493 1539 1448 0 0 0 0 0 0 13.83 14.10 14.02

7781 0.49 454.7 2728 690 1534 1451 95.5 10.1 562 7786 0.00 2.47 0.00 0.000 1158 0.000 0.076 2727 2101 1492 1536 1448 0 0 0 0 0 0 14.22 14.08 14.28

8092 0.56 507.1 2728 2101 1537 1445 66.3 7.6 594 8125 0.00 2.58 28.45 0.393 8868 0.000 0.087 2729 688 1295 1348 1242 0 0 0 0 0 0 14.56 14.04 13.69

8170 0.74 567.2 2729 689 1350 1247 60.5 7.2 609 8213 0.28 2.50 36.62 0.377 11430 0.083 0.076 2833 2109 1050 1115 986 0 0 0 0 0 0 14.09 14.09 13.65

8519 0.77 612.3 2836 2110 1117 993 20.2 7.9 648 8551 0.00 2.60 27.20 0.261 8740 0.000 0.086 2836 689 864 928 801 0 0 0 0 0 0 14.56 13.91 13.78

8672 0.90 706.7 2836 689 930 807 9.8 5.6 678 8735 0.10 2.50 55.35 0.220 11430 0.141 0.075 2881 2110 495 513 478 0 0 0 0 0 0 13.97 13.95 13.77

8749 end climb: SURFACE_DEPTH_REACHED

state 8749 begin surface coast

8761 end surface coast: CONTROL_FINISHED_OK

state 8761 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	369	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	1027.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	54	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,150232,7435.8047,-15217.2783,40,0.7,40,20.0,0.0,0.0,11,7.6	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	205.6,55660,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	180917,150909,7435.8267,-15217.3037,8,0.7,9,20.0,0.0,209.2,12,9.6

FINISH	0.3,1.020947	_24V_AH	12.17,221.839
SM_CCo	8843,0.00,0.000,0,0,496,703.77	_10V_AH	12.03,0.000
SM_GC	1.08,8.27,0.17,0.00,0.074,0.103,0.000,205,2254,496,-7.36,-0.40,703.77,0,0,0,0,0,0,14.25,14.28,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	254	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7436.14,-15220.90,180917,122326	DATA_FILE_SIZE	23431,693
TT8_MAMPS	0.038948,0.942242	CAP_FILE_SIZE	99252,0
HUMID	46.92	CFSIZE	2097872896,1983283200
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	7	CURRENT	0.046,11.16,1
CP_FREE	15913222144.000000	GPS	180917,173805,7435.352,-15221.081,18,0.8,19,20.0,0.0,0.0,10,8.3
PM_FREEKB_00	45733888

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.70	nil	0	0	0.00
Roll_motor	85	2168	2263.81	nil	0	0	0.00
VBD_pump_during_apogee	1090	1476	19597.68	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	8369	14	1485.39
Iridium_during_xfer	187	133	305.12	NCP	8748	20	2129.26
Transponder_ping	1	420	8.94	PMAR	8737	13	1419.50
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.89
TT8	0	0	0.00
LPSleep	6031	2	167.62
TT8_Active	918	13	154.44
TT8_Sampling	2017	33	811.58
TT8_CF8	279	38	129.99
TT8_Kalman	0	0	0.00
Analog_circuits	2138	10	257.28
GPS_charging	0	0	0.00
Compass	994	7	83.77
RAFOS	2212	48	1277.30
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	200	2187	502	494	0.0	0.0	0	134	0.00	0.00	-80.40	0.000	16386	0.000	0.000	199	2187	1958	1888	2029	0	0	0	0	0	0	14.50	28.83	14.52
137	-0.57	-145.9	200	2187	1890	2032	3.5	-4.3	8	201	12.75	2.78	-40.72	0.000	18980	0.451	2.168	2385	809	3963	3948	3979	0	0	0	0	0	0	13.62	12.59	14.09
346	-0.71	-145.9	2386	809	3954	3979	44.6	-12.7	49	353	0.12	2.42	0.00	0.000	5254	0.119	0.085	2334	2169	3966	3952	3980	0	0	0	0	0	0	14.17	14.12	14.28
652	-0.77	-145.9	2334	2170	3954	3980	95.4	-13.1	80	656	0.00	2.58	0.00	0.000	388	0.000	0.088	2333	3616	3966	3954	3979	0	0	0	0	0	0	14.56	14.09	14.58
754	-0.95	-145.9	2332	3617	3954	3979	106.4	-9.8	100	759	0.20	2.40	0.00	0.000	5286	0.104	0.057	2252	2210	3966	3954	3979	0	0	0	0	0	0	14.23	14.16	14.31
1075	-0.91	-145.9	2253	2208	3954	3980	163.4	-17.3	114	1080	0.12	2.47	0.00	0.000	2436	0.288	0.082	2272	3612	3966	3954	3978	0	0	0	0	0	0	13.88	14.09	14.02
1121	-1.03	-145.9	2272	3613	3955	3986	170.1	-12.7	123	1127	0.00	2.42	0.00	0.000	1158	0.000	0.060	2271	2190	3966	3954	3979	0	0	0	0	0	0	14.28	14.15	14.33
1437	-1.07	-145.9	2272	2191	3955	3979	212.7	-13.1	136	1438	0.12	0.00	0.00	0.000	4230	0.136	0.000	2227	2190	3964	3949	3979	0	0	0	0	0	0	14.24	14.35	14.30
1737	-1.04	-145.9	2228	2191	3954	3979	259.9	-15.5	146	1742	0.00	2.55	0.00	0.000	388	0.000	0.088	2223	3620	3966	3954	3979	0	0	0	0	0	0	14.57	14.03	14.57
1888	-1.10	-145.9	2224	3620	3955	3979	279.3	-12.0	176	1893	0.00	2.42	0.00	0.000	1158	0.000	0.058	2223	2198	3966	3954	3979	0	0	0	0	0	0	14.23	14.12	14.28
2218	-1.10	-145.9	2223	2197	3954	3980	323.7	-13.2	192	2223	0.00	2.53	0.00	0.000	260	0.000	0.089	2223	3613	3965	3952	3979	0	0	0	0	0	0	14.59	14.02	14.64
2299	-1.21	-145.9	2223	3614	3956	3980	333.2	-10.9	208	2303	0.00	2.42	0.00	0.000	1158	0.000	0.057	2221	2199	3964	3950	3979	0	0	0	0	0	0	14.23	14.10	14.25
2609	-1.23	-145.9	2223	2198	3954	3978	371.6	-12.3	220	2615	0.12	2.53	0.00	0.000	4484	0.148	0.085	2158	3608	3966	3954	3978	0	0	0	0	0	0	14.19	14.00	14.22
2660	-1.17	-145.9	2157	3611	3954	3979	379.6	-17.0	230	2666	0.20	2.42	0.00	0.000	3206	0.262	0.060	2198	2196	3965	3953	3978	0	0	0	0	0	0	13.71	14.07	14.02
2991	-1.17	-145.9	2198	2195	3955	3978	423.7	-13.8	242	2996	0.00	2.55	0.00	0.000	260	0.000	0.086	2191	3618	3965	3953	3978	0	0	0	0	0	0	14.41	13.93	14.43
3062	-1.21	-145.9	2192	3619	3955	3978	436.0	-12.9	256	3066	0.00	2.47	0.00	0.000	1158	0.000	0.058	2191	2191	3967	3954	3981	0	0	0	0	0	0	14.03	13.91	14.07
3379	end dive: TARGET_DEPTH_EXCEEDED
state	3379	begin apogee
3386	-0.13	0.0	2192	2063	3954	3977	481.6	-14.2	270	3614	1.38	0.08	224.82	1.400	10246	0.237	0.177	2532	2108	3365	3385	3346	0	0	0	0	0	0	13.63	13.42	12.63
3618	end apogee: CONTROL_FINISHED_OK
state	3618	begin climb
3623	0.57	145.9	2533	2108	3378	3333	493.7	0.0	277	4018	0.75	2.67	210.80	1.365	11012	0.060	0.076	2792	734	2758	2789	2728	0	0	0	0	0	0	13.62	12.79	12.17
4030	0.57	145.9	2794	733	2788	2724	486.3	2.3	280	4035	0.00	2.50	0.00	0.000	1030	0.000	0.074	2794	2101	2755	2787	2723	0	0	0	0	0	0	13.70	13.59	13.71
4345	0.11	145.9	2795	2103	2788	2717	440.8	14.1	293	4351	0.77	2.47	0.00	0.000	4484	0.312	0.076	2629	3512	2750	2787	2714	0	0	0	0	0	0	13.03	13.71	13.38
4491	-0.09	167.4	2624	3513	2786	2717	426.7	9.0	322	4528	0.35	2.38	28.33	1.469	13478	0.271	0.059	2553	2133	2678	2719	2638	0	0	0	0	0	0	13.72	14.00	13.12
4828	-0.00	260.3	2553	2134	2714	2627	407.5	5.7	339	4987	0.00	0.00	155.57	1.289	8870	0.000	0.000	2553	2136	2305	2358	2252	0	0	0	0	0	0	14.45	13.64	12.93
5308	0.16	333.6	2553	2134	2341	2233	375.8	6.6	370	5436	0.22	2.67	118.18	1.274	10916	0.091	0.093	2653	703	1998	2047	1949	0	0	0	0	0	0	14.07	13.74	12.99
5511	0.16	333.6	2653	703	2034	1945	350.3	12.4	410	5516	0.00	2.45	0.00	0.000	1030	0.000	0.078	2653	2099	1988	2032	1945	0	0	0	0	0	0	14.03	13.92	14.06
5822	0.13	333.6	2653	2099	2033	1934	310.0	12.8	422	5827	0.00	2.50	0.00	0.000	644	0.000	0.089	2654	695	1982	2030	1934	0	0	0	0	0	0	14.57	13.91	14.59
5847	0.13	333.6	2655	694	2031	1934	306.7	13.3	427	5855	0.12	2.47	0.00	0.000	5126	0.237	0.078	2627	2099	1982	2030	1934	0	0	0	0	0	0	13.95	14.11	14.20
6153	0.16	333.6	2628	2107	2037	1934	274.5	10.2	438	6157	0.00	2.50	0.00	0.000	644	0.000	0.090	2627	696	1981	2030	1933	0	0	0	0	0	0	14.63	14.00	14.64
6173	0.22	347.5	2627	696	2030	1934	272.5	9.4	442	6193	0.00	2.45	14.05	1.476	9382	0.000	0.078	2627	2106	1946	1994	1899	0	0	0	0	0	0	14.31	14.16	13.30
6516	0.29	379.4	2628	2105	1986	1889	241.8	8.5	460	6581	0.12	2.58	56.83	1.289	10916	0.122	0.089	2692	691	1813	1842	1784	0	0	0	0	0	0	14.34	13.98	13.22
6598	0.25	379.4	2693	691	1833	1782	232.0	12.6	476	6603	0.00	2.47	0.00	0.000	1158	0.000	0.077	2691	2098	1807	1832	1782	0	0	0	0	0	0	14.20	14.08	14.25
6909	0.22	379.4	2693	2100	1832	1775	193.6	11.8	488	6910	0.15	0.00	0.00	0.000	4230	0.216	0.000	2658	2099	1802	1831	1774	0	0	0	0	0	0	13.96	14.24	14.19
7209	0.30	410.3	2658	2100	1832	1772	167.0	8.6	498	7269	0.00	2.55	52.58	1.279	8868	0.000	0.092	2659	675	1687	1713	1662	0	0	0	0	0	0	14.62	13.98	13.22
7327	0.47	454.7	2659	674	1704	1659	157.4	7.9	521	7415	0.22	2.53	81.90	1.190	11430	0.091	0.080	2750	2106	1512	1548	1477	0	0	0	0	0	0	14.14	14.05	13.14
7721	0.43	454.7	2751	2106	1541	1448	102.1	13.4	550	7726	0.12	2.50	0.00	0.000	4740	0.234	0.084	2727	689	1493	1539	1448	0	0	0	0	0	0	13.83	14.10	14.02
7781	0.49	454.7	2728	690	1534	1451	95.5	10.1	562	7786	0.00	2.47	0.00	0.000	1158	0.000	0.076	2727	2101	1492	1536	1448	0	0	0	0	0	0	14.22	14.08	14.28
8092	0.56	507.1	2728	2101	1537	1445	66.3	7.6	594	8125	0.00	2.58	28.45	0.393	8868	0.000	0.087	2729	688	1295	1348	1242	0	0	0	0	0	0	14.56	14.04	13.69
8170	0.74	567.2	2729	689	1350	1247	60.5	7.2	609	8213	0.28	2.50	36.62	0.377	11430	0.083	0.076	2833	2109	1050	1115	986	0	0	0	0	0	0	14.09	14.09	13.65
8519	0.77	612.3	2836	2110	1117	993	20.2	7.9	648	8551	0.00	2.60	27.20	0.261	8740	0.000	0.086	2836	689	864	928	801	0	0	0	0	0	0	14.56	13.91	13.78
8672	0.90	706.7	2836	689	930	807	9.8	5.6	678	8735	0.10	2.50	55.35	0.220	11430	0.141	0.075	2881	2110	495	513	478	0	0	0	0	0	0	13.97	13.95	13.77
8749	end climb: SURFACE_DEPTH_REACHED
state	8749	begin surface coast
8761	end surface coast: CONTROL_FINISHED_OK
state	8761	begin surface