Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 372 * 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 372 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 1036.0

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 56 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 1036.0 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 372 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 180917,225506,7434.5386,-15228.2734,13,0.8,16,19.9,0.0,341.3,11,10.0 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 1.17 MHEAD_RNG_PITCHd_Wd 205.1,49921,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 180917,230707,7434.6074,-15228.2451,5,0.9,15,19.9,0.0,31.2,10,9.8

Post-dive calculations and measurements:

FINISH 0.1,1.020787 _24V_AH 12.21,223.227

SM_CCo 9145,1.10,0.272,0,0,500,702.78 _10V_AH 12.08,0.000

SM_GC 2.02,8.23,0.17,1.10,0.077,0.093,0.272,204,2234,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.26,14.33,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 261 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323432

IRIDIUM_FIX 7443.99,-15023.41,180917,201756 DATA_FILE_SIZE 23432,674

TT8_MAMPS 0.040446,1.02763 CAP_FILE_SIZE 99248,0

HUMID 47.40 CFSIZE 2097872896,1982595072

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

TCM_TEMP 13.20 SOUNDSPEED 1447.3

XPDR_PINGS 9 CURRENT 0.048,4.02,1

CP_FREE 15911649280.000000 GPS 190917,014133,7434.116,-15231.865,35,0.8,36,19.9,0.0,0.0,11,8.7

PM_FREEKB_00 45655808

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 461 146.44 nil 0 0 0.00

Roll_motor 80 2163 2135.02 nil 0 0 0.00

VBD_pump_during_apogee 1051 1408 18080.88 nil 0 0 0.00

VBD_pump_during_surface 1 271 3.65 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 8758 15 1614.29

Iridium_during_xfer 418 180 923.09 NCP 9113 20 2225.39

Transponder_ping 2 420 11.54 PMAR 9097 9 1099.19

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.25

TT8 0 0 0.00

LPSleep 6269 2 174.94

TT8_Active 948 13 160.12

TT8_Sampling 2302 33 930.27

TT8_CF8 360 38 168.42

TT8_Kalman 0 0 0.00

Analog_circuits 2342 10 283.02

GPS_charging 0 0 0.00

Compass 968 7 81.87

RAFOS 2138 48 1239.70

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 50 begin dive

53 -0.57 -145.9 198 2185 501 492 0.0 0.0 0 146 0.00 0.00 -91.50 0.000 16386 0.000 0.000 197 2184 2198 2138 2258 0 0 0 0 0 0 14.49 28.83 14.51

150 -0.57 -145.9 198 2185 2141 2260 4.5 -6.6 9 202 13.15 2.72 -31.60 0.000 18980 0.461 2.163 2382 803 3966 3952 3981 1 0 0 0 0 0 13.30 12.60 13.97

323 -0.70 -145.9 2383 806 3958 3981 46.9 -12.7 43 328 0.00 2.42 0.00 0.000 1158 0.000 0.086 2382 2164 3968 3956 3981 0 0 0 0 0 0 14.26 14.12 14.31

634 -0.85 -145.9 2383 2166 3959 3982 84.2 -9.6 75 639 0.22 2.58 0.00 0.000 4516 0.093 0.087 2281 3614 3969 3958 3981 0 0 0 0 0 0 14.03 14.06 14.07

780 -0.93 -145.9 2281 3615 3960 3981 104.5 -13.8 104 787 0.00 2.40 0.00 0.000 1158 0.000 0.059 2280 2210 3968 3958 3979 0 0 0 0 0 0 14.24 14.11 14.25

1085 -0.93 -145.9 2281 2210 3960 3981 150.9 -14.5 115 1085 0.00 0.00 0.00 0.000 6 0.000 0.000 2280 2209 3970 3960 3980 0 0 0 0 0 0 14.62 14.64 14.64

1385 -0.98 -145.9 2281 2210 3959 3982 190.4 -12.8 125 1390 0.00 2.53 0.00 0.000 388 0.000 0.085 2273 3619 3967 3959 3976 0 0 0 0 0 0 14.63 14.00 14.63

1446 -1.12 -145.9 2274 3620 3959 3981 197.7 -11.0 137 1451 0.17 2.42 0.00 0.000 5254 0.106 0.057 2209 2199 3969 3958 3981 0 0 0 0 0 0 14.19 14.13 14.29

1776 -1.05 -145.9 2209 2200 3959 3982 258.2 -17.7 153 1782 0.12 2.55 0.00 0.000 2436 0.295 0.085 2228 3623 3970 3959 3981 0 0 0 0 0 0 13.32 13.27 13.26

1842 -1.11 -145.9 2230 3623 3960 3981 267.5 -12.5 166 1847 0.00 2.42 0.00 0.000 1158 0.000 0.057 2229 2198 3969 3958 3981 0 0 0 0 0 0 14.23 14.12 14.30

2167 -1.11 -145.9 2229 2198 3963 3982 310.2 -12.7 181 2168 0.00 0.00 0.00 0.000 6 0.000 0.000 2229 2197 3969 3958 3981 0 0 0 0 0 0 14.64 14.66 14.66

2468 -1.14 -145.9 2229 2198 3959 3981 346.6 -11.9 191 2473 0.00 2.53 0.00 0.000 388 0.000 0.086 2223 3613 3969 3958 3980 0 0 0 0 0 0 14.62 13.98 14.63

2558 -1.24 -145.9 2219 3613 3962 3980 356.7 -11.0 209 2564 0.15 2.42 0.00 0.000 5254 0.122 0.056 2162 2194 3968 3958 3979 0 0 0 0 0 0 14.15 14.11 14.26

2889 -1.14 -145.9 2162 2194 3959 3979 414.0 -17.7 225 2894 0.20 2.53 0.00 0.000 2436 0.289 0.082 2197 3614 3966 3955 3978 0 0 0 0 0 0 13.69 14.00 13.88

3015 -1.19 -145.9 2197 3615 3954 3979 430.5 -12.0 250 3020 0.00 2.42 0.00 0.000 1158 0.000 0.057 2197 2202 3967 3957 3978 0 0 0 0 0 0 14.16 14.04 14.20

3343 -1.19 -145.9 2197 2201 3959 3978 474.5 -13.5 265 3347 0.00 2.53 0.00 0.000 260 0.000 0.084 2188 3610 3968 3958 3978 0 0 0 0 0 0 14.38 13.90 14.40

3380 end dive: TARGET_DEPTH_EXCEEDED

state 3380 begin apogee

3389 -0.13 0.0 2189 2100 3959 3978 480.3 -13.3 273 3628 1.38 0.00 234.88 1.372 10246 0.236 0.000 2528 2099 3363 3390 3337 0 0 0 0 0 0 13.62 13.47 12.66

3631 end apogee: CONTROL_FINISHED_OK

state 3631 begin climb

3634 0.57 145.9 2529 2100 3380 3327 494.3 0.0 281 4029 0.75 2.75 215.52 1.318 10500 0.058 0.074 2781 3520 2744 2780 2709 0 0 0 0 0 0 13.62 12.86 12.21

4272 0.08 145.9 2781 3521 2775 2710 446.3 14.9 322 4279 0.88 2.47 0.00 0.000 5254 0.342 0.058 2613 2088 2745 2781 2709 0 0 0 0 0 0 13.55 14.00 13.95

4578 -0.00 202.8 2609 2087 2777 2706 422.6 7.4 333 4668 0.00 0.00 85.72 1.302 8358 0.000 0.000 2608 2087 2532 2585 2479 0 0 0 0 0 0 14.43 13.83 13.06

4968 -0.05 215.9 2606 2089 2576 2459 386.8 9.4 346 4975 0.17 0.00 5.40 1.408 12454 0.256 0.000 2571 2087 2487 2546 2429 0 0 0 0 0 0 13.84 14.04 13.10

5268 0.03 278.1 2572 2090 2555 2436 364.9 7.1 356 5389 0.00 0.00 119.85 1.245 8358 0.000 0.000 2571 2087 2230 2289 2171 0 0 0 0 0 0 14.45 13.78 13.03

5690 0.16 335.1 2570 2088 2266 2149 333.8 7.4 370 5795 0.17 2.58 94.00 1.224 10916 0.106 0.093 2650 691 1990 2041 1939 0 0 0 0 0 0 14.07 13.88 13.11

5821 0.16 335.1 2647 691 2029 1939 317.7 12.8 391 5826 0.00 2.50 0.00 0.000 1030 0.000 0.079 2651 2101 1981 2028 1934 0 0 0 0 0 0 13.99 13.86 14.02

6141 0.16 335.1 2651 2101 2026 1922 278.3 12.0 405 6146 0.00 2.50 0.00 0.000 516 0.000 0.090 2650 696 1973 2025 1922 0 0 0 0 0 0 14.59 14.08 14.60

6162 0.16 335.1 2651 697 2024 1922 276.0 11.2 409 6167 0.00 2.45 0.00 0.000 1030 0.000 0.078 2651 2101 1973 2024 1922 0 0 0 0 0 0 14.29 14.15 14.34

6472 0.16 336.0 2651 2103 2024 1920 243.0 10.0 421 6477 0.00 2.53 0.00 0.000 548 0.000 0.088 2651 695 1971 2022 1920 0 0 0 0 0 0 14.62 14.05 14.64

6528 0.23 348.4 2651 696 2022 1919 237.5 9.4 432 6540 0.00 2.47 4.15 1.261 9382 0.000 0.078 2651 2105 1945 1995 1896 0 0 0 0 0 0 14.22 14.09 13.27

6866 0.24 371.6 2651 2107 2007 1906 205.9 8.9 449 6925 0.00 0.00 53.35 1.250 8230 0.000 0.000 2650 2108 1841 1878 1804 0 0 0 0 0 0 14.62 14.02 13.23

7226 0.33 406.2 2651 2106 1864 1799 175.3 8.4 461 7292 0.12 2.55 59.58 1.218 10916 0.126 0.089 2713 682 1705 1730 1680 0 0 0 0 0 0 14.29 14.01 13.21

7330 0.33 406.2 2713 680 1720 1674 163.6 11.4 481 7335 0.00 2.50 0.00 0.000 1030 0.000 0.076 2721 2101 1696 1719 1673 0 0 0 0 0 0 14.14 14.02 14.19

7650 0.33 406.2 2713 2103 1719 1666 125.4 11.6 495 7655 0.00 2.50 0.00 0.000 516 0.000 0.089 2713 695 1691 1718 1665 0 0 0 0 0 0 14.59 13.95 14.61

7726 0.37 406.2 2713 695 1716 1665 117.1 10.7 510 7731 0.00 2.47 0.00 0.000 1158 0.000 0.076 2713 2103 1688 1712 1665 0 0 0 0 0 0 14.12 13.96 14.18

8034 0.38 422.3 2716 2105 1715 1663 86.4 9.3 532 8046 0.00 2.58 7.20 0.387 8740 0.000 0.086 2713 695 1643 1673 1613 0 0 0 0 0 0 14.56 13.97 13.53

8061 0.42 438.6 2713 696 1678 1618 83.7 9.2 537 8078 0.00 2.50 11.15 0.440 9382 0.000 0.076 2713 2109 1577 1607 1547 0 0 0 0 0 0 14.23 14.09 13.63

8377 0.53 521.3 2712 2109 1618 1557 60.3 6.2 570 8435 0.12 2.58 49.90 0.371 10916 0.125 0.090 2777 697 1239 1294 1184 0 0 0 0 0 0 14.09 14.07 13.68

8556 0.62 570.2 2778 697 1297 1194 45.1 7.7 605 8593 0.00 2.50 29.92 0.325 9382 0.000 0.077 2778 2105 1038 1106 970 0 0 0 0 0 0 14.07 13.97 13.63

8891 0.80 683.6 2778 2106 1109 984 22.4 4.8 642 8967 0.15 2.53 71.03 0.253 10916 0.116 0.090 2851 695 574 613 536 0 0 0 0 0 0 14.18 13.85 13.68

8980 0.81 699.2 2850 695 615 535 14.7 9.3 658 8997 0.00 2.47 9.80 0.249 9254 0.000 0.075 2850 2102 512 532 493 0 0 0 0 0 0 14.20 14.06 13.79

9100 end climb: SURFACE_DEPTH_REACHED

state 9100 begin surface coast

9122 end surface coast: CONTROL_FINISHED_OK

state 9122 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	372	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	1036.0
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	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,225506,7434.5386,-15228.2734,13,0.8,16,19.9,0.0,341.3,11,10.0	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	1.17	MHEAD_RNG_PITCHd_Wd	205.1,49921,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	180917,230707,7434.6074,-15228.2451,5,0.9,15,19.9,0.0,31.2,10,9.8

FINISH	0.1,1.020787	_24V_AH	12.21,223.227
SM_CCo	9145,1.10,0.272,0,0,500,702.78	_10V_AH	12.08,0.000
SM_GC	2.02,8.23,0.17,1.10,0.077,0.093,0.272,204,2234,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.26,14.33,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	261	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323432
IRIDIUM_FIX	7443.99,-15023.41,180917,201756	DATA_FILE_SIZE	23432,674
TT8_MAMPS	0.040446,1.02763	CAP_FILE_SIZE	99248,0
HUMID	47.40	CFSIZE	2097872896,1982595072
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.3
XPDR_PINGS	9	CURRENT	0.048,4.02,1
CP_FREE	15911649280.000000	GPS	190917,014133,7434.116,-15231.865,35,0.8,36,19.9,0.0,0.0,11,8.7
PM_FREEKB_00	45655808

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	461	146.44	nil	0	0	0.00
Roll_motor	80	2163	2135.02	nil	0	0	0.00
VBD_pump_during_apogee	1051	1408	18080.88	nil	0	0	0.00
VBD_pump_during_surface	1	271	3.65	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	8758	15	1614.29
Iridium_during_xfer	418	180	923.09	NCP	9113	20	2225.39
Transponder_ping	2	420	11.54	PMAR	9097	9	1099.19
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.25
TT8	0	0	0.00
LPSleep	6269	2	174.94
TT8_Active	948	13	160.12
TT8_Sampling	2302	33	930.27
TT8_CF8	360	38	168.42
TT8_Kalman	0	0	0.00
Analog_circuits	2342	10	283.02
GPS_charging	0	0	0.00
Compass	968	7	81.87
RAFOS	2138	48	1239.70
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	50	begin dive
53	-0.57	-145.9	198	2185	501	492	0.0	0.0	0	146	0.00	0.00	-91.50	0.000	16386	0.000	0.000	197	2184	2198	2138	2258	0	0	0	0	0	0	14.49	28.83	14.51
150	-0.57	-145.9	198	2185	2141	2260	4.5	-6.6	9	202	13.15	2.72	-31.60	0.000	18980	0.461	2.163	2382	803	3966	3952	3981	1	0	0	0	0	0	13.30	12.60	13.97
323	-0.70	-145.9	2383	806	3958	3981	46.9	-12.7	43	328	0.00	2.42	0.00	0.000	1158	0.000	0.086	2382	2164	3968	3956	3981	0	0	0	0	0	0	14.26	14.12	14.31
634	-0.85	-145.9	2383	2166	3959	3982	84.2	-9.6	75	639	0.22	2.58	0.00	0.000	4516	0.093	0.087	2281	3614	3969	3958	3981	0	0	0	0	0	0	14.03	14.06	14.07
780	-0.93	-145.9	2281	3615	3960	3981	104.5	-13.8	104	787	0.00	2.40	0.00	0.000	1158	0.000	0.059	2280	2210	3968	3958	3979	0	0	0	0	0	0	14.24	14.11	14.25
1085	-0.93	-145.9	2281	2210	3960	3981	150.9	-14.5	115	1085	0.00	0.00	0.00	0.000	6	0.000	0.000	2280	2209	3970	3960	3980	0	0	0	0	0	0	14.62	14.64	14.64
1385	-0.98	-145.9	2281	2210	3959	3982	190.4	-12.8	125	1390	0.00	2.53	0.00	0.000	388	0.000	0.085	2273	3619	3967	3959	3976	0	0	0	0	0	0	14.63	14.00	14.63
1446	-1.12	-145.9	2274	3620	3959	3981	197.7	-11.0	137	1451	0.17	2.42	0.00	0.000	5254	0.106	0.057	2209	2199	3969	3958	3981	0	0	0	0	0	0	14.19	14.13	14.29
1776	-1.05	-145.9	2209	2200	3959	3982	258.2	-17.7	153	1782	0.12	2.55	0.00	0.000	2436	0.295	0.085	2228	3623	3970	3959	3981	0	0	0	0	0	0	13.32	13.27	13.26
1842	-1.11	-145.9	2230	3623	3960	3981	267.5	-12.5	166	1847	0.00	2.42	0.00	0.000	1158	0.000	0.057	2229	2198	3969	3958	3981	0	0	0	0	0	0	14.23	14.12	14.30
2167	-1.11	-145.9	2229	2198	3963	3982	310.2	-12.7	181	2168	0.00	0.00	0.00	0.000	6	0.000	0.000	2229	2197	3969	3958	3981	0	0	0	0	0	0	14.64	14.66	14.66
2468	-1.14	-145.9	2229	2198	3959	3981	346.6	-11.9	191	2473	0.00	2.53	0.00	0.000	388	0.000	0.086	2223	3613	3969	3958	3980	0	0	0	0	0	0	14.62	13.98	14.63
2558	-1.24	-145.9	2219	3613	3962	3980	356.7	-11.0	209	2564	0.15	2.42	0.00	0.000	5254	0.122	0.056	2162	2194	3968	3958	3979	0	0	0	0	0	0	14.15	14.11	14.26
2889	-1.14	-145.9	2162	2194	3959	3979	414.0	-17.7	225	2894	0.20	2.53	0.00	0.000	2436	0.289	0.082	2197	3614	3966	3955	3978	0	0	0	0	0	0	13.69	14.00	13.88
3015	-1.19	-145.9	2197	3615	3954	3979	430.5	-12.0	250	3020	0.00	2.42	0.00	0.000	1158	0.000	0.057	2197	2202	3967	3957	3978	0	0	0	0	0	0	14.16	14.04	14.20
3343	-1.19	-145.9	2197	2201	3959	3978	474.5	-13.5	265	3347	0.00	2.53	0.00	0.000	260	0.000	0.084	2188	3610	3968	3958	3978	0	0	0	0	0	0	14.38	13.90	14.40
3380	end dive: TARGET_DEPTH_EXCEEDED
state	3380	begin apogee
3389	-0.13	0.0	2189	2100	3959	3978	480.3	-13.3	273	3628	1.38	0.00	234.88	1.372	10246	0.236	0.000	2528	2099	3363	3390	3337	0	0	0	0	0	0	13.62	13.47	12.66
3631	end apogee: CONTROL_FINISHED_OK
state	3631	begin climb
3634	0.57	145.9	2529	2100	3380	3327	494.3	0.0	281	4029	0.75	2.75	215.52	1.318	10500	0.058	0.074	2781	3520	2744	2780	2709	0	0	0	0	0	0	13.62	12.86	12.21
4272	0.08	145.9	2781	3521	2775	2710	446.3	14.9	322	4279	0.88	2.47	0.00	0.000	5254	0.342	0.058	2613	2088	2745	2781	2709	0	0	0	0	0	0	13.55	14.00	13.95
4578	-0.00	202.8	2609	2087	2777	2706	422.6	7.4	333	4668	0.00	0.00	85.72	1.302	8358	0.000	0.000	2608	2087	2532	2585	2479	0	0	0	0	0	0	14.43	13.83	13.06
4968	-0.05	215.9	2606	2089	2576	2459	386.8	9.4	346	4975	0.17	0.00	5.40	1.408	12454	0.256	0.000	2571	2087	2487	2546	2429	0	0	0	0	0	0	13.84	14.04	13.10
5268	0.03	278.1	2572	2090	2555	2436	364.9	7.1	356	5389	0.00	0.00	119.85	1.245	8358	0.000	0.000	2571	2087	2230	2289	2171	0	0	0	0	0	0	14.45	13.78	13.03
5690	0.16	335.1	2570	2088	2266	2149	333.8	7.4	370	5795	0.17	2.58	94.00	1.224	10916	0.106	0.093	2650	691	1990	2041	1939	0	0	0	0	0	0	14.07	13.88	13.11
5821	0.16	335.1	2647	691	2029	1939	317.7	12.8	391	5826	0.00	2.50	0.00	0.000	1030	0.000	0.079	2651	2101	1981	2028	1934	0	0	0	0	0	0	13.99	13.86	14.02
6141	0.16	335.1	2651	2101	2026	1922	278.3	12.0	405	6146	0.00	2.50	0.00	0.000	516	0.000	0.090	2650	696	1973	2025	1922	0	0	0	0	0	0	14.59	14.08	14.60
6162	0.16	335.1	2651	697	2024	1922	276.0	11.2	409	6167	0.00	2.45	0.00	0.000	1030	0.000	0.078	2651	2101	1973	2024	1922	0	0	0	0	0	0	14.29	14.15	14.34
6472	0.16	336.0	2651	2103	2024	1920	243.0	10.0	421	6477	0.00	2.53	0.00	0.000	548	0.000	0.088	2651	695	1971	2022	1920	0	0	0	0	0	0	14.62	14.05	14.64
6528	0.23	348.4	2651	696	2022	1919	237.5	9.4	432	6540	0.00	2.47	4.15	1.261	9382	0.000	0.078	2651	2105	1945	1995	1896	0	0	0	0	0	0	14.22	14.09	13.27
6866	0.24	371.6	2651	2107	2007	1906	205.9	8.9	449	6925	0.00	0.00	53.35	1.250	8230	0.000	0.000	2650	2108	1841	1878	1804	0	0	0	0	0	0	14.62	14.02	13.23
7226	0.33	406.2	2651	2106	1864	1799	175.3	8.4	461	7292	0.12	2.55	59.58	1.218	10916	0.126	0.089	2713	682	1705	1730	1680	0	0	0	0	0	0	14.29	14.01	13.21
7330	0.33	406.2	2713	680	1720	1674	163.6	11.4	481	7335	0.00	2.50	0.00	0.000	1030	0.000	0.076	2721	2101	1696	1719	1673	0	0	0	0	0	0	14.14	14.02	14.19
7650	0.33	406.2	2713	2103	1719	1666	125.4	11.6	495	7655	0.00	2.50	0.00	0.000	516	0.000	0.089	2713	695	1691	1718	1665	0	0	0	0	0	0	14.59	13.95	14.61
7726	0.37	406.2	2713	695	1716	1665	117.1	10.7	510	7731	0.00	2.47	0.00	0.000	1158	0.000	0.076	2713	2103	1688	1712	1665	0	0	0	0	0	0	14.12	13.96	14.18
8034	0.38	422.3	2716	2105	1715	1663	86.4	9.3	532	8046	0.00	2.58	7.20	0.387	8740	0.000	0.086	2713	695	1643	1673	1613	0	0	0	0	0	0	14.56	13.97	13.53
8061	0.42	438.6	2713	696	1678	1618	83.7	9.2	537	8078	0.00	2.50	11.15	0.440	9382	0.000	0.076	2713	2109	1577	1607	1547	0	0	0	0	0	0	14.23	14.09	13.63
8377	0.53	521.3	2712	2109	1618	1557	60.3	6.2	570	8435	0.12	2.58	49.90	0.371	10916	0.125	0.090	2777	697	1239	1294	1184	0	0	0	0	0	0	14.09	14.07	13.68
8556	0.62	570.2	2778	697	1297	1194	45.1	7.7	605	8593	0.00	2.50	29.92	0.325	9382	0.000	0.077	2778	2105	1038	1106	970	0	0	0	0	0	0	14.07	13.97	13.63
8891	0.80	683.6	2778	2106	1109	984	22.4	4.8	642	8967	0.15	2.53	71.03	0.253	10916	0.116	0.090	2851	695	574	613	536	0	0	0	0	0	0	14.18	13.85	13.68
8980	0.81	699.2	2850	695	615	535	14.7	9.3	658	8997	0.00	2.47	9.80	0.249	9254	0.000	0.075	2850	2102	512	532	493	0	0	0	0	0	0	14.20	14.06	13.79
9100	end climb: SURFACE_DEPTH_REACHED
state	9100	begin surface coast
9122	end surface coast: CONTROL_FINISHED_OK
state	9122	begin surface