Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 371 * 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 371 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 1034.0

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 37 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 1034.0 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 37 VBD_MIN 500

DIVE 371 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 180917,201332,7434.9814,-15224.8525,27,0.8,27,19.9,0.0,0.0,10,8.2 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 201.7,51753,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 180917,202242,7435.0269,-15224.8242,8,0.8,8,19.9,0.0,311.1,9,9.2

Post-dive calculations and measurements:

FINISH 0.5,1.021030 _24V_AH 12.29,222.737

SM_CCo 9018,27.23,0.209,0,0,501,702.78 _10V_AH 12.14,0.000

SM_GC 1.34,8.25,0.17,27.23,0.071,0.099,0.209,203,2239,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.29,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 401 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323244

IRIDIUM_FIX 7436.14,-15220.90,180917,174132 DATA_FILE_SIZE 26700,804

TT8_MAMPS 0.039697,1.18417 CAP_FILE_SIZE 102740,0

HUMID 48.14 CFSIZE 2097872896,1982857216

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

TCM_TEMP 13.20 SOUNDSPEED 1449.3

XPDR_PINGS 17 CURRENT 0.051,12.44,1

CP_FREE 15912173568.000000 GPS 180917,225506,7434.539,-15228.273,13,0.8,16,19.9,0.0,341.3,11,10.0

PM_FREEKB_00 45682048

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.82 nil 0 0 0.00

Roll_motor 90 2157 2406.07 nil 0 0 0.00

VBD_pump_during_apogee 965 1440 17092.46 nil 0 0 0.00

VBD_pump_during_surface 27 208 69.88 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 8978 14 1637.88

Iridium_during_xfer 299 164 605.26 NCP 9000 20 2212.20

Transponder_ping 4 420 21.94 PMAR 8971 9 1090.96

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.61

TT8 0 0 0.00

LPSleep 6373 2 178.74

TT8_Active 861 13 146.08

TT8_Sampling 2053 33 833.70

TT8_CF8 321 38 151.00

TT8_Kalman 0 0 0.00

Analog_circuits 2045 10 248.30

GPS_charging 0 0 0.00

Compass 1152 7 97.91

RAFOS 0 0 0.00

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

50 end surface: CONTROL_FINISHED_OK

state 51 begin dive

54 -0.57 -145.9 200 2193 519 478 0.0 0.0 0 136 0.00 0.00 -80.32 0.000 16386 0.000 0.000 199 2193 1941 1869 2013 0 0 0 0 0 0 14.34 28.83 14.33

139 -0.57 -145.9 200 2191 1871 2017 3.1 -3.2 8 202 12.93 2.75 -42.30 0.000 18980 0.454 2.157 2387 800 3964 3952 3977 0 0 0 0 0 0 13.54 12.97 14.02

328 -0.71 -145.9 2381 800 3956 3979 42.5 -13.1 45 334 0.00 2.45 0.00 0.000 1158 0.000 0.085 2381 2166 3965 3952 3979 0 0 0 0 0 0 14.13 13.99 14.19

633 -0.84 -145.9 2382 2167 3958 3979 83.0 -10.1 76 638 0.20 2.60 0.00 0.000 4484 0.102 0.087 2293 3615 3967 3956 3979 0 0 0 0 0 0 14.11 14.00 14.14

766 -0.94 -145.9 2293 3614 3957 3979 100.8 -13.1 102 771 0.00 2.42 0.00 0.000 1158 0.000 0.059 2293 2211 3967 3956 3979 0 0 0 0 0 0 14.13 14.03 14.15

1089 -0.97 -145.9 2293 2210 3958 3978 147.5 -13.5 116 1090 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2210 3968 3957 3979 0 0 0 0 0 0 14.39 14.41 14.40

1387 -1.04 -145.9 2293 2210 3957 3980 184.3 -11.8 126 1392 0.12 2.50 0.00 0.000 4484 0.134 0.083 2235 3619 3968 3957 3979 0 0 0 0 0 0 14.24 14.03 14.27

1428 -1.07 -145.9 2239 3621 3953 3979 190.2 -15.1 134 1433 0.00 2.42 0.00 0.000 1158 0.000 0.058 2236 2201 3965 3956 3975 0 0 0 0 0 0 14.24 14.11 14.28

1749 -1.05 -145.9 2236 2201 3957 3980 242.3 -15.6 148 1754 0.00 2.53 0.00 0.000 388 0.000 0.086 2231 3617 3968 3957 3979 0 0 0 0 0 0 14.62 13.93 14.63

1824 -1.13 -145.9 2231 3618 3958 3979 252.9 -12.9 163 1830 0.00 2.45 0.00 0.000 1158 0.000 0.058 2229 2190 3967 3956 3979 0 0 0 0 0 0 14.23 14.06 14.28

2140 -1.13 -145.9 2231 2189 3958 3979 295.2 -12.9 176 2145 0.00 2.55 0.00 0.000 260 0.000 0.086 2223 3615 3968 3957 3979 0 0 0 0 0 0 14.62 13.98 14.63

2201 -1.21 -145.9 2225 3617 3951 3979 302.5 -11.7 188 2206 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2200 3967 3956 3979 0 0 0 0 0 0 14.24 14.12 14.28

2531 -1.21 -145.9 2223 2200 3957 3979 344.2 -12.5 204 2536 0.00 2.55 0.00 0.000 260 0.000 0.088 2222 3623 3967 3956 3979 0 0 0 0 0 0 14.63 14.04 14.67

2582 -1.32 -145.9 2223 3625 3955 3979 350.1 -11.1 214 2587 0.22 2.42 0.00 0.000 5254 0.098 0.057 2143 2200 3967 3955 3979 0 0 0 0 0 0 14.19 14.12 14.28

2893 -1.17 -145.9 2144 2199 3956 3978 410.5 -19.8 226 2898 0.22 2.53 0.00 0.000 2436 0.315 0.081 2180 3624 3964 3954 3974 0 0 0 0 0 0 13.59 13.97 13.80

3005 -1.17 -145.9 2181 3626 3955 3979 427.4 -14.1 248 3010 0.00 2.45 0.00 0.000 1030 0.000 0.060 2180 2195 3964 3954 3974 0 0 0 0 0 0 14.23 14.09 14.26

3316 -1.12 -145.9 2179 2194 3955 3977 475.3 -15.3 260 3321 0.12 2.53 0.00 0.000 2436 0.314 0.082 2198 3616 3965 3954 3977 0 0 0 0 0 0 13.75 13.91 13.90

3349 end dive: TARGET_DEPTH_EXCEEDED

state 3349 begin apogee

3357 -0.13 0.0 2199 2101 3955 3979 480.3 -13.3 267 3593 1.30 0.00 231.00 1.393 10246 0.226 0.000 2527 2099 3366 3388 3344 0 0 0 0 0 0 13.78 13.54 12.72

3596 end apogee: CONTROL_FINISHED_OK

state 3596 begin climb

3599 0.57 145.9 2527 2100 3377 3336 494.2 0.0 275 3819 0.75 2.70 212.70 1.349 10756 0.061 0.081 2782 698 2762 2801 2724 0 0 0 0 0 0 13.73 12.90 12.29

4046 0.16 145.9 2782 698 2785 2720 478.8 13.6 366 4052 0.68 2.53 0.00 0.000 5254 0.324 0.076 2640 2112 2749 2782 2717 0 0 0 0 0 0 13.44 13.83 13.84

4373 -0.01 173.7 2642 2112 2784 2713 449.4 8.7 381 4418 0.22 2.60 36.88 1.440 12964 0.263 0.086 2583 687 2649 2692 2607 0 0 0 0 0 0 13.76 14.02 13.12

4643 0.04 245.9 2586 686 2690 2599 429.9 6.7 435 4764 0.00 2.47 114.12 1.320 9254 0.000 0.080 2586 2101 2360 2416 2304 0 0 0 0 0 0 14.28 14.14 12.78

5064 0.09 273.0 2586 2102 2397 2286 394.3 8.7 469 5108 0.00 2.53 39.70 1.383 8868 0.000 0.086 2586 682 2247 2301 2193 0 0 0 0 0 0 14.53 13.78 13.17

5124 0.18 306.3 2586 683 2293 2196 388.9 8.5 481 5185 0.17 2.50 50.42 1.340 11430 0.103 0.079 2662 2099 2107 2156 2059 0 0 0 0 0 0 14.15 14.07 13.03

5484 0.11 306.3 2663 2099 2149 2043 338.5 14.0 503 5489 0.15 2.47 0.00 0.000 4740 0.252 0.084 2631 690 2095 2147 2043 0 0 0 0 0 0 13.90 14.12 14.07

5520 0.14 306.3 2632 690 2145 2044 334.2 11.3 510 5524 0.00 2.47 0.00 0.000 1158 0.000 0.078 2632 2101 2094 2145 2043 0 0 0 0 0 0 14.25 14.09 14.26

5845 0.14 306.3 2632 2102 2143 2042 298.3 10.8 525 5850 0.00 2.50 0.00 0.000 516 0.000 0.087 2633 682 2092 2144 2040 0 0 0 0 0 0 14.62 14.06 14.66

5875 0.17 306.3 2633 682 2145 2041 295.0 10.7 531 5880 0.00 2.50 0.00 0.000 1158 0.000 0.078 2633 2104 2092 2143 2041 0 0 0 0 0 0 14.25 14.11 14.28

6206 0.17 306.3 2633 2106 2142 2040 260.8 10.0 547 6207 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2105 2091 2143 2040 0 0 0 0 0 0 14.64 14.66 14.66

6506 0.20 342.1 2633 2106 2144 2042 234.7 8.4 557 6568 0.00 2.50 55.15 1.309 8740 0.000 0.085 2633 691 1968 2015 1922 0 0 0 0 0 0 14.64 13.79 13.20

6611 0.34 386.3 2633 692 1999 1920 226.3 8.0 577 6696 0.17 2.47 79.50 1.226 11430 0.100 0.078 2701 2100 1789 1813 1766 0 0 0 0 0 0 14.18 14.09 13.09

7021 0.31 386.3 2701 2101 1799 1745 175.9 12.1 609 7026 0.00 2.50 0.00 0.000 644 0.000 0.087 2703 691 1771 1798 1744 0 0 0 0 0 0 14.57 14.09 14.59

7062 0.33 386.3 2704 691 1797 1744 171.2 11.3 617 7067 0.00 2.47 0.00 0.000 1158 0.000 0.076 2704 2099 1769 1795 1744 0 0 0 0 0 0 14.28 14.14 14.33

7382 0.30 386.3 2704 2101 1795 1742 135.1 10.7 631 7387 0.00 2.53 0.00 0.000 644 0.000 0.087 2703 685 1768 1795 1742 0 0 0 0 0 0 14.59 14.07 14.62

7408 0.30 386.3 2703 685 1795 1742 132.3 10.6 636 7415 0.00 2.50 0.00 0.000 1030 0.000 0.077 2704 2104 1767 1793 1742 0 0 0 0 0 0 14.23 14.08 14.27

7713 0.31 394.1 2704 2104 1794 1742 102.2 9.6 647 7718 0.00 2.50 0.00 0.000 548 0.000 0.086 2704 691 1767 1793 1741 0 0 0 0 0 0 14.61 14.08 14.64

7779 0.38 424.2 2704 692 1792 1742 96.2 8.6 660 7806 0.00 2.50 18.15 0.474 9382 0.000 0.077 2704 2108 1635 1661 1610 0 0 0 0 0 0 14.16 14.02 13.58

8104 0.48 485.4 2703 2109 1672 1612 69.8 7.2 695 8145 0.00 0.00 34.15 0.403 8870 0.000 0.000 2703 2108 1384 1428 1341 0 0 0 0 0 0 14.58 14.02 13.66

8444 0.70 607.2 2704 2109 1431 1348 50.6 4.4 731 8518 0.30 2.55 65.95 0.343 10916 0.083 0.092 2815 686 887 958 816 0 0 0 0 0 0 14.14 13.95 13.69

8624 0.76 607.2 2816 687 960 823 32.4 10.2 766 8630 0.00 2.50 0.00 0.000 1158 0.000 0.076 2815 2101 889 957 822 0 0 0 0 0 0 14.09 13.94 14.12

8930 0.87 656.3 2816 2102 960 820 8.2 7.7 797 8960 0.15 0.00 27.75 0.226 10406 0.112 0.000 2882 2102 687 746 628 0 0 0 0 0 0 14.24 13.97 13.71

8986 end climb: SURFACE_DEPTH_REACHED

state 8986 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	371	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	1034.0
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	37	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	54	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,201332,7434.9814,-15224.8525,27,0.8,27,19.9,0.0,0.0,10,8.2	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	201.7,51753,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	180917,202242,7435.0269,-15224.8242,8,0.8,8,19.9,0.0,311.1,9,9.2

FINISH	0.5,1.021030	_24V_AH	12.29,222.737
SM_CCo	9018,27.23,0.209,0,0,501,702.78	_10V_AH	12.14,0.000
SM_GC	1.34,8.25,0.17,27.23,0.071,0.099,0.209,203,2239,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.29,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	401	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323244
IRIDIUM_FIX	7436.14,-15220.90,180917,174132	DATA_FILE_SIZE	26700,804
TT8_MAMPS	0.039697,1.18417	CAP_FILE_SIZE	102740,0
HUMID	48.14	CFSIZE	2097872896,1982857216
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1449.3
XPDR_PINGS	17	CURRENT	0.051,12.44,1
CP_FREE	15912173568.000000	GPS	180917,225506,7434.539,-15228.273,13,0.8,16,19.9,0.0,341.3,11,10.0
PM_FREEKB_00	45682048

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.82	nil	0	0	0.00
Roll_motor	90	2157	2406.07	nil	0	0	0.00
VBD_pump_during_apogee	965	1440	17092.46	nil	0	0	0.00
VBD_pump_during_surface	27	208	69.88	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	8978	14	1637.88
Iridium_during_xfer	299	164	605.26	NCP	9000	20	2212.20
Transponder_ping	4	420	21.94	PMAR	8971	9	1090.96
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.61
TT8	0	0	0.00
LPSleep	6373	2	178.74
TT8_Active	861	13	146.08
TT8_Sampling	2053	33	833.70
TT8_CF8	321	38	151.00
TT8_Kalman	0	0	0.00
Analog_circuits	2045	10	248.30
GPS_charging	0	0	0.00
Compass	1152	7	97.91
RAFOS	0	0	0.00
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
50	end surface: CONTROL_FINISHED_OK
state	51	begin dive
54	-0.57	-145.9	200	2193	519	478	0.0	0.0	0	136	0.00	0.00	-80.32	0.000	16386	0.000	0.000	199	2193	1941	1869	2013	0	0	0	0	0	0	14.34	28.83	14.33
139	-0.57	-145.9	200	2191	1871	2017	3.1	-3.2	8	202	12.93	2.75	-42.30	0.000	18980	0.454	2.157	2387	800	3964	3952	3977	0	0	0	0	0	0	13.54	12.97	14.02
328	-0.71	-145.9	2381	800	3956	3979	42.5	-13.1	45	334	0.00	2.45	0.00	0.000	1158	0.000	0.085	2381	2166	3965	3952	3979	0	0	0	0	0	0	14.13	13.99	14.19
633	-0.84	-145.9	2382	2167	3958	3979	83.0	-10.1	76	638	0.20	2.60	0.00	0.000	4484	0.102	0.087	2293	3615	3967	3956	3979	0	0	0	0	0	0	14.11	14.00	14.14
766	-0.94	-145.9	2293	3614	3957	3979	100.8	-13.1	102	771	0.00	2.42	0.00	0.000	1158	0.000	0.059	2293	2211	3967	3956	3979	0	0	0	0	0	0	14.13	14.03	14.15
1089	-0.97	-145.9	2293	2210	3958	3978	147.5	-13.5	116	1090	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2210	3968	3957	3979	0	0	0	0	0	0	14.39	14.41	14.40
1387	-1.04	-145.9	2293	2210	3957	3980	184.3	-11.8	126	1392	0.12	2.50	0.00	0.000	4484	0.134	0.083	2235	3619	3968	3957	3979	0	0	0	0	0	0	14.24	14.03	14.27
1428	-1.07	-145.9	2239	3621	3953	3979	190.2	-15.1	134	1433	0.00	2.42	0.00	0.000	1158	0.000	0.058	2236	2201	3965	3956	3975	0	0	0	0	0	0	14.24	14.11	14.28
1749	-1.05	-145.9	2236	2201	3957	3980	242.3	-15.6	148	1754	0.00	2.53	0.00	0.000	388	0.000	0.086	2231	3617	3968	3957	3979	0	0	0	0	0	0	14.62	13.93	14.63
1824	-1.13	-145.9	2231	3618	3958	3979	252.9	-12.9	163	1830	0.00	2.45	0.00	0.000	1158	0.000	0.058	2229	2190	3967	3956	3979	0	0	0	0	0	0	14.23	14.06	14.28
2140	-1.13	-145.9	2231	2189	3958	3979	295.2	-12.9	176	2145	0.00	2.55	0.00	0.000	260	0.000	0.086	2223	3615	3968	3957	3979	0	0	0	0	0	0	14.62	13.98	14.63
2201	-1.21	-145.9	2225	3617	3951	3979	302.5	-11.7	188	2206	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2200	3967	3956	3979	0	0	0	0	0	0	14.24	14.12	14.28
2531	-1.21	-145.9	2223	2200	3957	3979	344.2	-12.5	204	2536	0.00	2.55	0.00	0.000	260	0.000	0.088	2222	3623	3967	3956	3979	0	0	0	0	0	0	14.63	14.04	14.67
2582	-1.32	-145.9	2223	3625	3955	3979	350.1	-11.1	214	2587	0.22	2.42	0.00	0.000	5254	0.098	0.057	2143	2200	3967	3955	3979	0	0	0	0	0	0	14.19	14.12	14.28
2893	-1.17	-145.9	2144	2199	3956	3978	410.5	-19.8	226	2898	0.22	2.53	0.00	0.000	2436	0.315	0.081	2180	3624	3964	3954	3974	0	0	0	0	0	0	13.59	13.97	13.80
3005	-1.17	-145.9	2181	3626	3955	3979	427.4	-14.1	248	3010	0.00	2.45	0.00	0.000	1030	0.000	0.060	2180	2195	3964	3954	3974	0	0	0	0	0	0	14.23	14.09	14.26
3316	-1.12	-145.9	2179	2194	3955	3977	475.3	-15.3	260	3321	0.12	2.53	0.00	0.000	2436	0.314	0.082	2198	3616	3965	3954	3977	0	0	0	0	0	0	13.75	13.91	13.90
3349	end dive: TARGET_DEPTH_EXCEEDED
state	3349	begin apogee
3357	-0.13	0.0	2199	2101	3955	3979	480.3	-13.3	267	3593	1.30	0.00	231.00	1.393	10246	0.226	0.000	2527	2099	3366	3388	3344	0	0	0	0	0	0	13.78	13.54	12.72
3596	end apogee: CONTROL_FINISHED_OK
state	3596	begin climb
3599	0.57	145.9	2527	2100	3377	3336	494.2	0.0	275	3819	0.75	2.70	212.70	1.349	10756	0.061	0.081	2782	698	2762	2801	2724	0	0	0	0	0	0	13.73	12.90	12.29
4046	0.16	145.9	2782	698	2785	2720	478.8	13.6	366	4052	0.68	2.53	0.00	0.000	5254	0.324	0.076	2640	2112	2749	2782	2717	0	0	0	0	0	0	13.44	13.83	13.84
4373	-0.01	173.7	2642	2112	2784	2713	449.4	8.7	381	4418	0.22	2.60	36.88	1.440	12964	0.263	0.086	2583	687	2649	2692	2607	0	0	0	0	0	0	13.76	14.02	13.12
4643	0.04	245.9	2586	686	2690	2599	429.9	6.7	435	4764	0.00	2.47	114.12	1.320	9254	0.000	0.080	2586	2101	2360	2416	2304	0	0	0	0	0	0	14.28	14.14	12.78
5064	0.09	273.0	2586	2102	2397	2286	394.3	8.7	469	5108	0.00	2.53	39.70	1.383	8868	0.000	0.086	2586	682	2247	2301	2193	0	0	0	0	0	0	14.53	13.78	13.17
5124	0.18	306.3	2586	683	2293	2196	388.9	8.5	481	5185	0.17	2.50	50.42	1.340	11430	0.103	0.079	2662	2099	2107	2156	2059	0	0	0	0	0	0	14.15	14.07	13.03
5484	0.11	306.3	2663	2099	2149	2043	338.5	14.0	503	5489	0.15	2.47	0.00	0.000	4740	0.252	0.084	2631	690	2095	2147	2043	0	0	0	0	0	0	13.90	14.12	14.07
5520	0.14	306.3	2632	690	2145	2044	334.2	11.3	510	5524	0.00	2.47	0.00	0.000	1158	0.000	0.078	2632	2101	2094	2145	2043	0	0	0	0	0	0	14.25	14.09	14.26
5845	0.14	306.3	2632	2102	2143	2042	298.3	10.8	525	5850	0.00	2.50	0.00	0.000	516	0.000	0.087	2633	682	2092	2144	2040	0	0	0	0	0	0	14.62	14.06	14.66
5875	0.17	306.3	2633	682	2145	2041	295.0	10.7	531	5880	0.00	2.50	0.00	0.000	1158	0.000	0.078	2633	2104	2092	2143	2041	0	0	0	0	0	0	14.25	14.11	14.28
6206	0.17	306.3	2633	2106	2142	2040	260.8	10.0	547	6207	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2105	2091	2143	2040	0	0	0	0	0	0	14.64	14.66	14.66
6506	0.20	342.1	2633	2106	2144	2042	234.7	8.4	557	6568	0.00	2.50	55.15	1.309	8740	0.000	0.085	2633	691	1968	2015	1922	0	0	0	0	0	0	14.64	13.79	13.20
6611	0.34	386.3	2633	692	1999	1920	226.3	8.0	577	6696	0.17	2.47	79.50	1.226	11430	0.100	0.078	2701	2100	1789	1813	1766	0	0	0	0	0	0	14.18	14.09	13.09
7021	0.31	386.3	2701	2101	1799	1745	175.9	12.1	609	7026	0.00	2.50	0.00	0.000	644	0.000	0.087	2703	691	1771	1798	1744	0	0	0	0	0	0	14.57	14.09	14.59
7062	0.33	386.3	2704	691	1797	1744	171.2	11.3	617	7067	0.00	2.47	0.00	0.000	1158	0.000	0.076	2704	2099	1769	1795	1744	0	0	0	0	0	0	14.28	14.14	14.33
7382	0.30	386.3	2704	2101	1795	1742	135.1	10.7	631	7387	0.00	2.53	0.00	0.000	644	0.000	0.087	2703	685	1768	1795	1742	0	0	0	0	0	0	14.59	14.07	14.62
7408	0.30	386.3	2703	685	1795	1742	132.3	10.6	636	7415	0.00	2.50	0.00	0.000	1030	0.000	0.077	2704	2104	1767	1793	1742	0	0	0	0	0	0	14.23	14.08	14.27
7713	0.31	394.1	2704	2104	1794	1742	102.2	9.6	647	7718	0.00	2.50	0.00	0.000	548	0.000	0.086	2704	691	1767	1793	1741	0	0	0	0	0	0	14.61	14.08	14.64
7779	0.38	424.2	2704	692	1792	1742	96.2	8.6	660	7806	0.00	2.50	18.15	0.474	9382	0.000	0.077	2704	2108	1635	1661	1610	0	0	0	0	0	0	14.16	14.02	13.58
8104	0.48	485.4	2703	2109	1672	1612	69.8	7.2	695	8145	0.00	0.00	34.15	0.403	8870	0.000	0.000	2703	2108	1384	1428	1341	0	0	0	0	0	0	14.58	14.02	13.66
8444	0.70	607.2	2704	2109	1431	1348	50.6	4.4	731	8518	0.30	2.55	65.95	0.343	10916	0.083	0.092	2815	686	887	958	816	0	0	0	0	0	0	14.14	13.95	13.69
8624	0.76	607.2	2816	687	960	823	32.4	10.2	766	8630	0.00	2.50	0.00	0.000	1158	0.000	0.076	2815	2101	889	957	822	0	0	0	0	0	0	14.09	13.94	14.12
8930	0.87	656.3	2816	2102	960	820	8.2	7.7	797	8960	0.15	0.00	27.75	0.226	10406	0.112	0.000	2882	2102	687	746	628	0	0	0	0	0	0	14.24	13.97	13.71
8986	end climb: SURFACE_DEPTH_REACHED
state	8986	begin surface coast
8996	end surface coast: CONTROL_FINISHED_OK
state	8996	begin surface