Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 370 * 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 370 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 1030.0

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 41 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 1030.0 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 41 VBD_MIN 500

DIVE 370 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 180917,173805,7435.3521,-15221.0811,18,0.8,19,20.0,0.0,0.0,10,8.3 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 1.20 MHEAD_RNG_PITCHd_Wd 206.5,53653,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 480

GPS2 180917,174411,7435.3931,-15221.0967,6,0.8,15,20.0,0.0,0.0,10,9.9

Post-dive calculations and measurements:

FINISH 0.3,1.020903 _24V_AH 12.31,222.294

SM_CCo 8855,0.00,0.000,0,0,502,702.78 _10V_AH 12.17,0.000

SM_GC 1.00,8.52,0.17,0.00,0.075,0.101,0.000,205,2240,502,-7.37,-0.37,702.78,0,0,0,0,0,0,14.13,14.15,14.20 FG_AHR_24Vo 0.000

RAFOS_CLK 41 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323584

IRIDIUM_FIX 7435.18,-15213.73,180917,150600 DATA_FILE_SIZE 23389,634

TT8_MAMPS 0.087633,0.961716 CAP_FILE_SIZE 92396,0

HUMID 45.66 CFSIZE 2097872896,1983119360

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

TCM_TEMP 13.20 SOUNDSPEED 1446.6

XPDR_PINGS 21 CURRENT 0.062,1.06,1

CP_FREE 15912697856.000000 GPS 180917,201332,7434.981,-15224.853,27,0.8,27,19.9,0.0,0.0,10,8.2

PM_FREEKB_00 45710400

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 148.85 nil 0 0 0.00

Roll_motor 75 2171 2012.50 nil 0 0 0.00

VBD_pump_during_apogee 1012 1412 17596.14 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 5274 15 978.13

Iridium_during_xfer 150 137 254.64 NCP 8754 20 2155.23

Transponder_ping 5 420 27.14 PMAR 8750 9 1063.12

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.25

TT8 0 0 0.00

LPSleep 6172 2 173.52

TT8_Active 907 13 154.24

TT8_Sampling 1884 33 766.87

TT8_CF8 267 38 125.76

TT8_Kalman 0 0 0.00

Analog_circuits 2004 10 243.92

GPS_charging 0 0 0.00

Compass 910 7 77.53

RAFOS 2215 48 1293.91

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 2181 507 479 0.0 0.0 0 135 0.00 0.00 -81.07 0.000 16386 0.000 0.000 200 2180 1965 1897 2033 0 0 0 0 0 0 14.56 28.83 14.58

138 -0.57 -145.9 201 2181 1900 2035 3.2 -4.2 8 202 12.85 2.75 -40.20 0.000 18980 0.453 2.172 2386 808 3965 3950 3980 0 0 0 0 0 0 13.59 12.56 14.04

323 -0.71 -145.9 2386 809 3953 3981 41.0 -12.8 44 328 0.12 2.45 0.00 0.000 5254 0.120 0.085 2337 2199 3966 3953 3980 0 0 0 0 0 0 14.25 14.16 14.35

634 -0.77 -145.9 2337 2201 3955 3981 94.0 -13.0 76 639 0.00 2.47 0.00 0.000 388 0.000 0.089 2333 3609 3967 3954 3980 0 0 0 0 0 0 14.69 14.14 14.71

724 -0.95 -145.9 2333 3609 3955 3980 103.8 -9.9 94 730 0.20 2.38 0.00 0.000 5286 0.098 0.057 2252 2210 3967 3954 3980 0 0 0 0 0 0 14.30 14.21 14.38

1055 -0.91 -145.9 2252 2210 3955 3980 163.7 -17.2 110 1060 0.12 2.47 0.00 0.000 2436 0.286 0.082 2271 3619 3966 3954 3979 0 0 0 0 0 0 13.93 14.14 14.08

1091 -0.98 -145.9 2271 3621 3955 3981 169.1 -13.8 117 1096 0.00 2.40 0.00 0.000 1158 0.000 0.060 2271 2204 3966 3954 3979 0 0 0 0 0 0 14.33 14.20 14.37

1416 -1.02 -145.9 2269 2204 3955 3981 213.2 -13.1 132 1417 0.00 0.00 0.00 0.000 134 0.000 0.000 2270 2204 3967 3954 3980 0 0 0 0 0 0 14.73 14.75 14.75

1716 -1.08 -145.9 2271 2204 3956 3981 249.5 -11.7 142 1721 0.00 2.50 0.00 0.000 388 0.000 0.088 2267 3613 3967 3954 3980 0 0 0 0 0 0 14.73 14.12 14.75

1772 -1.25 -145.9 2266 3612 3955 3981 255.4 -9.6 153 1779 0.28 2.42 0.00 0.000 5286 0.090 0.058 2163 2188 3966 3954 3979 0 0 0 0 0 0 14.27 14.19 14.35

2077 -1.12 -145.9 2163 2189 3955 3981 315.3 -19.7 164 2082 0.22 2.53 0.00 0.000 2436 0.285 0.082 2205 3615 3967 3954 3980 0 0 0 0 0 0 13.77 14.09 13.95

2185 -1.16 -145.9 2205 3617 3955 3979 330.4 -12.8 185 2190 0.00 2.42 0.00 0.000 1158 0.000 0.059 2205 2194 3966 3954 3979 0 0 0 0 0 0 14.31 14.16 14.33

2501 -1.16 -145.9 2205 2194 3954 3981 374.2 -13.5 198 2505 0.00 2.50 0.00 0.000 260 0.000 0.085 2197 3610 3966 3954 3979 0 0 0 0 0 0 14.74 14.08 14.73

2541 -1.18 -145.9 2198 3611 3952 3979 379.7 -13.2 206 2546 0.00 2.40 0.00 0.000 1158 0.000 0.058 2197 2198 3966 3954 3979 0 0 0 0 0 0 14.30 14.16 14.33

2861 -1.18 -145.9 2198 2196 3955 3980 424.2 -13.9 220 2866 0.00 2.50 0.00 0.000 260 0.000 0.085 2188 3614 3966 3954 3979 0 0 0 0 0 0 14.73 14.09 14.73

2927 -1.21 -145.9 2188 3616 3953 3981 433.3 -13.4 233 2931 0.00 2.42 0.00 0.000 1158 0.000 0.058 2188 2194 3966 3953 3979 0 0 0 0 0 0 14.31 14.15 14.33

3249 end dive: TARGET_DEPTH_EXCEEDED

state 3249 begin apogee

3256 -0.13 0.0 2189 2062 3953 3981 480.6 -14.5 248 3494 1.35 0.08 232.02 1.382 10246 0.239 0.183 2527 2108 3363 3377 3349 0 0 0 0 0 0 13.76 13.55 12.74

3497 end apogee: CONTROL_FINISHED_OK

state 3497 begin climb

3500 0.57 145.9 2528 2109 3372 3343 494.6 0.0 256 3899 0.75 2.65 212.45 1.342 10500 0.059 0.073 2783 3500 2747 2774 2721 0 0 0 0 0 0 13.76 12.93 12.31

3911 0.57 145.9 2784 3501 2775 2721 483.0 4.0 259 3917 0.00 2.38 0.00 0.000 1030 0.000 0.057 2793 2131 2747 2774 2720 0 0 0 0 0 0 13.95 13.83 13.98

4228 0.11 145.9 2792 2132 2775 2719 436.1 14.3 272 4233 0.75 2.53 0.00 0.000 4740 0.315 0.080 2634 697 2746 2774 2719 0 0 0 0 0 0 13.51 13.88 13.77

4341 -0.00 182.3 2635 698 2775 2720 426.1 8.3 294 4399 0.22 2.47 51.60 1.391 13478 0.265 0.080 2586 2099 2618 2660 2577 0 0 0 0 0 0 13.72 14.03 13.12

4709 0.00 230.6 2586 2099 2652 2555 397.6 7.8 318 4785 0.00 0.00 73.78 1.343 8358 0.000 0.000 2586 2099 2425 2476 2374 0 0 0 0 0 0 14.59 13.93 13.14

5069 0.03 266.9 2586 2100 2460 2355 367.5 8.3 330 5131 0.00 0.00 56.58 1.338 8230 0.000 0.000 2586 2099 2270 2316 2224 0 0 0 0 0 0 14.57 13.97 13.17

5429 0.11 306.0 2586 2101 2311 2208 337.5 8.2 342 5500 0.00 2.55 62.03 1.314 8868 0.000 0.090 2588 704 2110 2156 2065 0 0 0 0 0 0 14.59 13.99 13.16

5538 0.27 343.0 2589 704 2146 2063 328.7 8.3 363 5602 0.25 2.45 58.20 1.292 11430 0.083 0.079 2685 2098 1965 2009 1922 0 0 0 0 0 0 13.74 14.04 13.09

5913 0.20 343.0 2685 2098 1994 1900 272.8 14.7 388 5914 0.17 0.00 0.00 0.000 4230 0.234 0.000 2646 2099 1946 1993 1900 0 0 0 0 0 0 13.94 14.29 14.23

6213 0.20 343.0 2646 2100 1992 1900 241.0 10.1 398 6217 0.00 2.50 0.00 0.000 516 0.000 0.090 2645 692 1946 1993 1899 0 0 0 0 0 0 14.62 14.13 14.63

6293 0.29 359.4 2647 693 1989 1899 233.5 9.2 414 6318 0.00 2.47 20.02 1.412 9382 0.000 0.078 2646 2101 1899 1938 1860 0 0 0 0 0 0 14.23 14.09 13.30

6636 0.35 383.7 2647 2102 1921 1850 202.4 8.9 432 6679 0.15 0.00 41.08 1.306 10406 0.112 0.000 2710 2101 1801 1826 1776 0 0 0 0 0 0 14.31 14.04 13.26

6964 0.31 383.7 2712 2101 1811 1761 161.6 12.3 443 6970 0.00 2.47 0.00 0.000 644 0.000 0.090 2712 698 1788 1810 1767 0 0 0 0 0 0 14.58 14.12 14.58

7060 0.31 383.7 2712 699 1809 1762 150.5 11.0 462 7065 0.12 2.45 0.00 0.000 5126 0.220 0.077 2687 2103 1784 1807 1761 0 0 0 0 0 0 14.02 14.16 14.26

7387 0.34 408.1 2685 2106 1808 1759 119.9 8.9 477 7427 0.00 0.00 36.80 1.304 8870 0.000 0.000 2685 2104 1703 1726 1681 0 0 0 0 0 0 14.63 14.00 13.22

7730 0.44 460.4 2685 2106 1717 1667 92.4 7.6 500 7766 0.12 2.55 28.00 0.469 10916 0.128 0.089 2751 702 1488 1519 1458 0 0 0 0 0 0 14.23 14.09 13.66

7818 0.44 460.4 2752 701 1525 1462 82.5 11.0 517 7824 0.00 2.47 0.00 0.000 1030 0.000 0.078 2752 2105 1493 1524 1462 0 0 0 0 0 0 14.19 14.06 14.23

8138 0.49 531.3 2752 2107 1525 1460 53.0 6.7 548 8185 0.00 2.58 39.90 0.353 8740 0.000 0.087 2754 703 1199 1255 1144 0 0 0 0 0 0 14.41 13.99 13.62

8263 0.64 596.5 2755 702 1257 1147 44.9 7.0 572 8305 0.12 2.50 37.50 0.327 11430 0.123 0.078 2802 2107 931 997 865 0 0 0 0 0 0 14.07 13.98 13.67

8601 0.78 682.3 2803 2108 998 871 16.1 6.0 610 8658 0.00 2.60 49.40 0.249 8868 0.000 0.087 2805 695 582 624 541 0 0 0 0 0 0 14.38 13.90 13.74

8698 1.03 764.8 2806 694 628 542 10.4 6.2 625 8717 0.35 2.53 12.85 0.236 11430 0.079 0.076 2930 2106 497 522 473 0 0 0 0 0 0 14.00 13.92 13.67

8760 end climb: SURFACE_DEPTH_REACHED

state 8760 begin surface coast

8771 end surface coast: CONTROL_FINISHED_OK

state 8771 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	370	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	1030.0
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	41	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,173805,7435.3521,-15221.0811,18,0.8,19,20.0,0.0,0.0,10,8.3	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	1.20	MHEAD_RNG_PITCHd_Wd	206.5,53653,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	480
GPS2	180917,174411,7435.3931,-15221.0967,6,0.8,15,20.0,0.0,0.0,10,9.9

FINISH	0.3,1.020903	_24V_AH	12.31,222.294
SM_CCo	8855,0.00,0.000,0,0,502,702.78	_10V_AH	12.17,0.000
SM_GC	1.00,8.52,0.17,0.00,0.075,0.101,0.000,205,2240,502,-7.37,-0.37,702.78,0,0,0,0,0,0,14.13,14.15,14.20	FG_AHR_24Vo	0.000
RAFOS_CLK	41	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323584
IRIDIUM_FIX	7435.18,-15213.73,180917,150600	DATA_FILE_SIZE	23389,634
TT8_MAMPS	0.087633,0.961716	CAP_FILE_SIZE	92396,0
HUMID	45.66	CFSIZE	2097872896,1983119360
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1446.6
XPDR_PINGS	21	CURRENT	0.062,1.06,1
CP_FREE	15912697856.000000	GPS	180917,201332,7434.981,-15224.853,27,0.8,27,19.9,0.0,0.0,10,8.2
PM_FREEKB_00	45710400

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	148.85	nil	0	0	0.00
Roll_motor	75	2171	2012.50	nil	0	0	0.00
VBD_pump_during_apogee	1012	1412	17596.14	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	5274	15	978.13
Iridium_during_xfer	150	137	254.64	NCP	8754	20	2155.23
Transponder_ping	5	420	27.14	PMAR	8750	9	1063.12
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.25
TT8	0	0	0.00
LPSleep	6172	2	173.52
TT8_Active	907	13	154.24
TT8_Sampling	1884	33	766.87
TT8_CF8	267	38	125.76
TT8_Kalman	0	0	0.00
Analog_circuits	2004	10	243.92
GPS_charging	0	0	0.00
Compass	910	7	77.53
RAFOS	2215	48	1293.91
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	2181	507	479	0.0	0.0	0	135	0.00	0.00	-81.07	0.000	16386	0.000	0.000	200	2180	1965	1897	2033	0	0	0	0	0	0	14.56	28.83	14.58
138	-0.57	-145.9	201	2181	1900	2035	3.2	-4.2	8	202	12.85	2.75	-40.20	0.000	18980	0.453	2.172	2386	808	3965	3950	3980	0	0	0	0	0	0	13.59	12.56	14.04
323	-0.71	-145.9	2386	809	3953	3981	41.0	-12.8	44	328	0.12	2.45	0.00	0.000	5254	0.120	0.085	2337	2199	3966	3953	3980	0	0	0	0	0	0	14.25	14.16	14.35
634	-0.77	-145.9	2337	2201	3955	3981	94.0	-13.0	76	639	0.00	2.47	0.00	0.000	388	0.000	0.089	2333	3609	3967	3954	3980	0	0	0	0	0	0	14.69	14.14	14.71
724	-0.95	-145.9	2333	3609	3955	3980	103.8	-9.9	94	730	0.20	2.38	0.00	0.000	5286	0.098	0.057	2252	2210	3967	3954	3980	0	0	0	0	0	0	14.30	14.21	14.38
1055	-0.91	-145.9	2252	2210	3955	3980	163.7	-17.2	110	1060	0.12	2.47	0.00	0.000	2436	0.286	0.082	2271	3619	3966	3954	3979	0	0	0	0	0	0	13.93	14.14	14.08
1091	-0.98	-145.9	2271	3621	3955	3981	169.1	-13.8	117	1096	0.00	2.40	0.00	0.000	1158	0.000	0.060	2271	2204	3966	3954	3979	0	0	0	0	0	0	14.33	14.20	14.37
1416	-1.02	-145.9	2269	2204	3955	3981	213.2	-13.1	132	1417	0.00	0.00	0.00	0.000	134	0.000	0.000	2270	2204	3967	3954	3980	0	0	0	0	0	0	14.73	14.75	14.75
1716	-1.08	-145.9	2271	2204	3956	3981	249.5	-11.7	142	1721	0.00	2.50	0.00	0.000	388	0.000	0.088	2267	3613	3967	3954	3980	0	0	0	0	0	0	14.73	14.12	14.75
1772	-1.25	-145.9	2266	3612	3955	3981	255.4	-9.6	153	1779	0.28	2.42	0.00	0.000	5286	0.090	0.058	2163	2188	3966	3954	3979	0	0	0	0	0	0	14.27	14.19	14.35
2077	-1.12	-145.9	2163	2189	3955	3981	315.3	-19.7	164	2082	0.22	2.53	0.00	0.000	2436	0.285	0.082	2205	3615	3967	3954	3980	0	0	0	0	0	0	13.77	14.09	13.95
2185	-1.16	-145.9	2205	3617	3955	3979	330.4	-12.8	185	2190	0.00	2.42	0.00	0.000	1158	0.000	0.059	2205	2194	3966	3954	3979	0	0	0	0	0	0	14.31	14.16	14.33
2501	-1.16	-145.9	2205	2194	3954	3981	374.2	-13.5	198	2505	0.00	2.50	0.00	0.000	260	0.000	0.085	2197	3610	3966	3954	3979	0	0	0	0	0	0	14.74	14.08	14.73
2541	-1.18	-145.9	2198	3611	3952	3979	379.7	-13.2	206	2546	0.00	2.40	0.00	0.000	1158	0.000	0.058	2197	2198	3966	3954	3979	0	0	0	0	0	0	14.30	14.16	14.33
2861	-1.18	-145.9	2198	2196	3955	3980	424.2	-13.9	220	2866	0.00	2.50	0.00	0.000	260	0.000	0.085	2188	3614	3966	3954	3979	0	0	0	0	0	0	14.73	14.09	14.73
2927	-1.21	-145.9	2188	3616	3953	3981	433.3	-13.4	233	2931	0.00	2.42	0.00	0.000	1158	0.000	0.058	2188	2194	3966	3953	3979	0	0	0	0	0	0	14.31	14.15	14.33
3249	end dive: TARGET_DEPTH_EXCEEDED
state	3249	begin apogee
3256	-0.13	0.0	2189	2062	3953	3981	480.6	-14.5	248	3494	1.35	0.08	232.02	1.382	10246	0.239	0.183	2527	2108	3363	3377	3349	0	0	0	0	0	0	13.76	13.55	12.74
3497	end apogee: CONTROL_FINISHED_OK
state	3497	begin climb
3500	0.57	145.9	2528	2109	3372	3343	494.6	0.0	256	3899	0.75	2.65	212.45	1.342	10500	0.059	0.073	2783	3500	2747	2774	2721	0	0	0	0	0	0	13.76	12.93	12.31
3911	0.57	145.9	2784	3501	2775	2721	483.0	4.0	259	3917	0.00	2.38	0.00	0.000	1030	0.000	0.057	2793	2131	2747	2774	2720	0	0	0	0	0	0	13.95	13.83	13.98
4228	0.11	145.9	2792	2132	2775	2719	436.1	14.3	272	4233	0.75	2.53	0.00	0.000	4740	0.315	0.080	2634	697	2746	2774	2719	0	0	0	0	0	0	13.51	13.88	13.77
4341	-0.00	182.3	2635	698	2775	2720	426.1	8.3	294	4399	0.22	2.47	51.60	1.391	13478	0.265	0.080	2586	2099	2618	2660	2577	0	0	0	0	0	0	13.72	14.03	13.12
4709	0.00	230.6	2586	2099	2652	2555	397.6	7.8	318	4785	0.00	0.00	73.78	1.343	8358	0.000	0.000	2586	2099	2425	2476	2374	0	0	0	0	0	0	14.59	13.93	13.14
5069	0.03	266.9	2586	2100	2460	2355	367.5	8.3	330	5131	0.00	0.00	56.58	1.338	8230	0.000	0.000	2586	2099	2270	2316	2224	0	0	0	0	0	0	14.57	13.97	13.17
5429	0.11	306.0	2586	2101	2311	2208	337.5	8.2	342	5500	0.00	2.55	62.03	1.314	8868	0.000	0.090	2588	704	2110	2156	2065	0	0	0	0	0	0	14.59	13.99	13.16
5538	0.27	343.0	2589	704	2146	2063	328.7	8.3	363	5602	0.25	2.45	58.20	1.292	11430	0.083	0.079	2685	2098	1965	2009	1922	0	0	0	0	0	0	13.74	14.04	13.09
5913	0.20	343.0	2685	2098	1994	1900	272.8	14.7	388	5914	0.17	0.00	0.00	0.000	4230	0.234	0.000	2646	2099	1946	1993	1900	0	0	0	0	0	0	13.94	14.29	14.23
6213	0.20	343.0	2646	2100	1992	1900	241.0	10.1	398	6217	0.00	2.50	0.00	0.000	516	0.000	0.090	2645	692	1946	1993	1899	0	0	0	0	0	0	14.62	14.13	14.63
6293	0.29	359.4	2647	693	1989	1899	233.5	9.2	414	6318	0.00	2.47	20.02	1.412	9382	0.000	0.078	2646	2101	1899	1938	1860	0	0	0	0	0	0	14.23	14.09	13.30
6636	0.35	383.7	2647	2102	1921	1850	202.4	8.9	432	6679	0.15	0.00	41.08	1.306	10406	0.112	0.000	2710	2101	1801	1826	1776	0	0	0	0	0	0	14.31	14.04	13.26
6964	0.31	383.7	2712	2101	1811	1761	161.6	12.3	443	6970	0.00	2.47	0.00	0.000	644	0.000	0.090	2712	698	1788	1810	1767	0	0	0	0	0	0	14.58	14.12	14.58
7060	0.31	383.7	2712	699	1809	1762	150.5	11.0	462	7065	0.12	2.45	0.00	0.000	5126	0.220	0.077	2687	2103	1784	1807	1761	0	0	0	0	0	0	14.02	14.16	14.26
7387	0.34	408.1	2685	2106	1808	1759	119.9	8.9	477	7427	0.00	0.00	36.80	1.304	8870	0.000	0.000	2685	2104	1703	1726	1681	0	0	0	0	0	0	14.63	14.00	13.22
7730	0.44	460.4	2685	2106	1717	1667	92.4	7.6	500	7766	0.12	2.55	28.00	0.469	10916	0.128	0.089	2751	702	1488	1519	1458	0	0	0	0	0	0	14.23	14.09	13.66
7818	0.44	460.4	2752	701	1525	1462	82.5	11.0	517	7824	0.00	2.47	0.00	0.000	1030	0.000	0.078	2752	2105	1493	1524	1462	0	0	0	0	0	0	14.19	14.06	14.23
8138	0.49	531.3	2752	2107	1525	1460	53.0	6.7	548	8185	0.00	2.58	39.90	0.353	8740	0.000	0.087	2754	703	1199	1255	1144	0	0	0	0	0	0	14.41	13.99	13.62
8263	0.64	596.5	2755	702	1257	1147	44.9	7.0	572	8305	0.12	2.50	37.50	0.327	11430	0.123	0.078	2802	2107	931	997	865	0	0	0	0	0	0	14.07	13.98	13.67
8601	0.78	682.3	2803	2108	998	871	16.1	6.0	610	8658	0.00	2.60	49.40	0.249	8868	0.000	0.087	2805	695	582	624	541	0	0	0	0	0	0	14.38	13.90	13.74
8698	1.03	764.8	2806	694	628	542	10.4	6.2	625	8717	0.35	2.53	12.85	0.236	11430	0.079	0.076	2930	2106	497	522	473	0	0	0	0	0	0	14.00	13.92	13.67
8760	end climb: SURFACE_DEPTH_REACHED
state	8760	begin surface coast
8771	end surface coast: CONTROL_FINISHED_OK
state	8771	begin surface