Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 374 * 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 374 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 1041.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 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 1041.0 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 27 VBD_MIN 500

DIVE 374 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 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 190917,042405,7433.6567,-15235.4365,17,0.7,30,19.9,0.5,311.7,10,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 205.6,46110,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 190917,043702,7433.7520,-15235.4395,8,0.8,9,19.9,0.0,0.0,10,10.0

Post-dive calculations and measurements:

FINISH 0.2,1.021056 _24V_AH 12.32,224.157

SM_CCo 9172,10.10,0.213,0,0,499,702.78 _10V_AH 11.79,0.000

SM_GC 1.94,8.25,0.20,10.10,0.074,0.122,0.213,197,2217,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.21,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 417 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323300

IRIDIUM_FIX 7437.10,-15228.08,190917,014626 DATA_FILE_SIZE 26735,739

TT8_MAMPS 0.040446,0.911533 CAP_FILE_SIZE 104486,0

HUMID 47.44 CFSIZE 2097872896,1982070784

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

TCM_TEMP 13.20 SOUNDSPEED 1448.0

XPDR_PINGS 25 CURRENT 0.060,32.43,1

CP_FREE 15910600704.000000 GPS 190917,071202,7433.290,-15239.017,37,0.8,37,19.8,0.0,0.0,9,9.5

PM_FREEKB_00 45594560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.67 nil 0 0 0.00

Roll_motor 83 2155 2223.00 nil 0 0 0.00

VBD_pump_during_apogee 973 1671 20051.59 nil 0 0 0.00

VBD_pump_during_surface 10 213 26.56 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 5471 14 969.99

Iridium_during_xfer 426 172 908.71 NCP 9154 20 2255.55

Transponder_ping 6 420 32.34 PMAR 9125 9 1110.82

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.80

TT8 0 0 0.00

LPSleep 6621 2 180.34

TT8_Active 987 13 162.57

TT8_Sampling 1998 33 787.87

TT8_CF8 370 38 168.96

TT8_Kalman 0 0 0.00

Analog_circuits 2135 10 251.75

GPS_charging 0 0 0.00

Compass 1063 7 87.74

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

48 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 196 2217 498 490 0.0 0.0 0 145 0.00 0.00 -90.50 0.000 16386 0.000 0.000 195 2217 2180 2114 2246 0 0 0 0 0 0 14.40 28.83 14.39

148 -0.57 -145.9 196 2218 2116 2250 4.2 -6.3 9 202 12.77 2.70 -32.12 0.000 18724 0.453 2.156 2373 3593 3964 3947 3981 0 0 0 0 0 0 13.52 12.59 14.05

428 -0.77 -145.9 2373 3595 3954 3982 56.2 -10.4 64 435 0.12 2.35 0.00 0.000 5254 0.129 0.054 2323 2201 3967 3953 3981 0 0 0 0 0 0 14.20 14.16 14.30

743 -0.82 -145.9 2324 2200 3954 3982 105.0 -13.4 94 744 0.00 0.00 0.00 0.000 134 0.000 0.000 2323 2199 3967 3954 3981 0 0 0 0 0 0 14.67 14.69 14.69

1043 -0.91 -145.9 2324 2200 3954 3982 139.6 -10.9 104 1049 0.12 2.47 0.00 0.000 4484 0.135 0.085 2256 3596 3967 3954 3981 0 0 0 0 0 0 14.31 14.09 14.34

1115 -0.98 -145.9 2257 3596 3954 3981 149.6 -13.8 118 1120 0.00 2.40 0.00 0.000 1158 0.000 0.058 2256 2195 3967 3954 3981 0 0 0 0 0 0 14.34 14.16 14.33

1435 -0.98 -145.9 2255 2196 3954 3982 200.0 -15.0 132 1441 0.00 2.47 0.00 0.000 260 0.000 0.084 2247 3600 3967 3954 3981 0 0 0 0 0 0 14.70 14.09 14.71

1461 -0.98 -145.9 2247 3602 3955 3982 203.8 -14.6 137 1468 0.00 2.40 0.00 0.000 1030 0.000 0.059 2247 2201 3967 3954 3981 0 0 0 0 0 0 14.28 14.13 14.33

1767 -0.98 -145.9 2247 2200 3954 3982 247.8 -13.8 148 1772 0.00 2.47 0.00 0.000 260 0.000 0.085 2238 3601 3967 3954 3981 0 0 0 0 0 0 14.69 14.07 14.71

1813 -1.05 -145.9 2238 3602 3955 3984 253.8 -12.8 157 1818 0.00 2.40 0.00 0.000 1158 0.000 0.059 2238 2194 3967 3954 3981 0 0 0 0 0 0 14.27 14.12 14.32

2128 -1.08 -145.9 2238 2193 3955 3981 295.2 -12.7 170 2133 0.00 2.50 0.00 0.000 388 0.000 0.086 2235 3603 3967 3954 3981 0 0 0 0 0 0 14.69 14.06 14.70

2189 -1.19 -145.9 2236 3604 3954 3982 302.1 -10.6 182 2194 0.12 2.40 0.00 0.000 5254 0.135 0.057 2181 2189 3967 3954 3981 0 0 0 0 0 0 14.16 14.14 14.28

2520 -1.12 -145.9 2181 2189 3954 3981 357.4 -16.8 198 2525 0.15 2.50 0.00 0.000 2436 0.282 0.082 2206 3602 3966 3953 3980 0 0 0 0 0 0 13.79 14.04 13.95

2601 -1.17 -145.9 2206 3603 3954 3981 368.4 -12.3 214 2605 0.00 2.40 0.00 0.000 1158 0.000 0.057 2205 2198 3966 3953 3980 0 0 0 0 0 0 14.26 14.14 14.29

2911 -1.17 -145.9 2205 2197 3951 3981 409.8 -13.3 226 2916 0.00 2.47 0.00 0.000 260 0.000 0.085 2197 3595 3966 3953 3980 0 0 0 0 0 0 14.69 13.99 14.71

2976 -1.21 -145.9 2197 3596 3953 3980 418.3 -12.5 239 2981 0.00 2.40 0.00 0.000 1158 0.000 0.057 2197 2193 3966 3952 3980 0 0 0 0 0 0 14.26 14.13 14.31

3302 -1.19 -145.9 2198 2191 3953 3980 462.2 -13.5 254 3307 0.00 2.50 0.00 0.000 388 0.000 0.084 2190 3602 3966 3952 3980 0 0 0 0 0 0 14.70 13.96 14.71

3343 -1.21 -145.9 2190 3603 3953 3979 467.7 -13.2 262 3348 0.00 2.42 0.00 0.000 1158 0.000 0.057 2190 2191 3965 3952 3979 0 0 0 0 0 0 14.25 14.12 14.29

3450 end dive: TARGET_DEPTH_EXCEEDED

state 3450 begin apogee

3457 -0.13 0.0 2191 2063 3953 3981 483.1 -14.0 269 3678 1.35 0.00 217.75 1.415 10246 0.240 0.000 2527 2061 3368 3386 3350 0 0 0 0 0 0 13.75 13.58 12.75

3726 end apogee: CONTROL_FINISHED_OK

state 3726 begin climb

3729 0.57 145.9 2528 2062 3376 3338 494.9 0.0 276 3949 0.75 2.55 206.88 1.369 11012 0.057 0.079 2798 723 2762 2799 2725 0 0 0 0 0 0 13.90 13.28 12.41

3962 0.14 192.8 2798 728 2794 2724 509.9 7.8 320 4037 0.82 2.53 66.40 1.411 13478 0.323 0.073 2632 2095 2574 2636 2513 0 0 0 0 0 0 13.08 13.38 12.32

4343 0.01 192.8 2633 2097 2629 2501 469.4 11.1 346 4344 0.20 0.00 0.00 0.000 4230 0.253 0.000 2587 2096 2563 2627 2500 0 0 0 0 0 0 13.75 14.12 14.05

4643 0.01 227.1 2588 2097 2627 2499 443.6 8.4 356 4697 0.00 2.47 47.42 1.440 8868 0.000 0.087 2589 736 2433 2493 2374 0 0 0 0 0 0 14.59 13.99 13.11

4745 0.09 259.8 2589 736 2491 2374 434.9 8.5 376 4799 0.00 2.40 48.88 1.417 9382 0.000 0.079 2589 2102 2304 2360 2249 0 0 0 0 0 0 14.14 14.04 13.05

5125 0.13 277.6 2588 2102 2349 2237 400.0 9.2 402 5156 0.12 0.00 24.52 1.486 10406 0.129 0.000 2650 2101 2230 2282 2178 0 0 0 0 0 0 14.28 13.82 13.22

5455 0.06 277.6 2651 2101 2279 2171 356.9 13.0 413 5461 0.17 2.42 0.00 0.000 4740 0.237 0.083 2614 720 2224 2277 2171 0 0 0 0 0 0 13.94 14.09 14.10

5512 0.13 285.0 2615 719 2277 2171 351.0 9.7 424 5524 0.00 2.40 7.82 1.672 9382 0.000 0.078 2614 2100 2205 2257 2154 0 0 0 0 0 0 14.28 14.14 13.28

5849 0.13 285.6 2615 2100 2251 2148 317.2 10.0 441 5850 0.00 0.00 0.00 0.000 38 0.000 0.000 2614 2100 2198 2249 2147 0 0 0 0 0 0 14.64 14.66 14.65

6150 0.14 300.3 2615 2101 2249 2148 288.8 9.3 451 6180 0.00 0.00 24.58 1.466 8742 0.000 0.000 2614 2100 2136 2187 2086 0 0 0 0 0 0 14.65 13.89 13.28

6479 0.20 335.5 2615 2099 2185 2081 259.8 8.4 467 6545 0.00 2.47 57.35 1.338 8868 0.000 0.086 2615 737 1993 2041 1946 0 0 0 0 0 0 14.62 14.03 13.21

6593 0.36 383.5 2615 736 2034 1949 250.8 7.8 489 6681 0.25 2.40 79.68 1.258 11430 0.083 0.077 2708 2106 1796 1820 1773 0 0 0 0 0 0 14.21 14.11 13.08

6991 0.30 383.5 2709 2107 1814 1764 196.8 13.2 519 6996 0.00 2.45 0.00 0.000 644 0.000 0.087 2710 732 1786 1812 1761 0 0 0 0 0 0 14.58 13.98 14.59

7041 0.30 383.5 2710 733 1810 1762 190.3 12.6 529 7048 0.12 2.40 0.00 0.000 5126 0.228 0.076 2683 2106 1785 1809 1761 0 0 0 0 0 0 13.93 14.14 14.19

7353 0.30 385.1 2683 2107 1809 1758 157.7 9.9 541 7359 0.00 2.45 0.00 0.000 548 0.000 0.088 2685 730 1782 1808 1757 0 0 0 0 0 0 14.59 14.07 14.61

7429 0.39 399.3 2686 730 1807 1758 150.3 9.3 556 7459 0.00 2.40 21.27 1.387 9382 0.000 0.079 2685 2099 1734 1757 1711 0 0 0 0 0 0 14.28 14.13 13.31

7777 0.43 418.4 2686 2099 1756 1705 118.0 9.1 575 7806 0.00 0.00 27.23 1.344 8358 0.000 0.000 2685 2099 1660 1686 1634 0 0 0 0 0 0 14.59 14.09 13.29

8107 0.53 454.2 2686 2099 1682 1619 89.2 8.3 594 8134 0.17 2.50 18.80 0.469 10916 0.106 0.090 2767 729 1513 1541 1486 0 0 0 0 0 0 14.26 14.10 13.66

8207 0.50 454.2 2768 729 1542 1491 76.6 12.9 613 8213 0.00 2.42 0.00 0.000 1158 0.000 0.076 2768 2106 1513 1541 1486 0 0 0 0 0 0 14.19 14.05 14.23

8510 0.51 506.8 2767 2107 1541 1482 46.1 7.6 644 8543 0.00 2.50 28.27 0.338 8868 0.000 0.087 2766 730 1298 1344 1253 0 0 0 0 0 0 14.54 14.08 13.70

8641 0.61 570.4 2768 730 1344 1250 36.9 7.1 669 8683 0.00 2.42 34.85 0.307 9382 0.000 0.078 2764 2111 1037 1101 973 0 0 0 0 0 0 14.05 13.93 13.69

8989 0.82 684.5 2768 2108 1102 964 15.9 4.7 708 9057 0.22 2.47 62.00 0.248 10916 0.093 0.089 2863 732 572 606 538 0 0 0 0 0 0 14.10 13.97 13.78

9133 0.88 687.8 2864 733 607 534 2.3 9.8 736 9138 0.00 2.40 0.00 0.000 1190 0.000 0.076 2864 2093 568 604 533 0 0 0 0 0 0 14.17 14.04 14.21

9140 end climb: SURFACE_DEPTH_REACHED

state 9140 begin surface coast

9150 end surface coast: CONTROL_FINISHED_OK

state 9150 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	374	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	1041.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,042405,7433.6567,-15235.4365,17,0.7,30,19.9,0.5,311.7,10,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	205.6,46110,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	190917,043702,7433.7520,-15235.4395,8,0.8,9,19.9,0.0,0.0,10,10.0

FINISH	0.2,1.021056	_24V_AH	12.32,224.157
SM_CCo	9172,10.10,0.213,0,0,499,702.78	_10V_AH	11.79,0.000
SM_GC	1.94,8.25,0.20,10.10,0.074,0.122,0.213,197,2217,499,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.21,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	417	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323300
IRIDIUM_FIX	7437.10,-15228.08,190917,014626	DATA_FILE_SIZE	26735,739
TT8_MAMPS	0.040446,0.911533	CAP_FILE_SIZE	104486,0
HUMID	47.44	CFSIZE	2097872896,1982070784
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.0
XPDR_PINGS	25	CURRENT	0.060,32.43,1
CP_FREE	15910600704.000000	GPS	190917,071202,7433.290,-15239.017,37,0.8,37,19.8,0.0,0.0,9,9.5
PM_FREEKB_00	45594560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.67	nil	0	0	0.00
Roll_motor	83	2155	2223.00	nil	0	0	0.00
VBD_pump_during_apogee	973	1671	20051.59	nil	0	0	0.00
VBD_pump_during_surface	10	213	26.56	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	5471	14	969.99
Iridium_during_xfer	426	172	908.71	NCP	9154	20	2255.55
Transponder_ping	6	420	32.34	PMAR	9125	9	1110.82
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.80
TT8	0	0	0.00
LPSleep	6621	2	180.34
TT8_Active	987	13	162.57
TT8_Sampling	1998	33	787.87
TT8_CF8	370	38	168.96
TT8_Kalman	0	0	0.00
Analog_circuits	2135	10	251.75
GPS_charging	0	0	0.00
Compass	1063	7	87.74
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
48	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	196	2217	498	490	0.0	0.0	0	145	0.00	0.00	-90.50	0.000	16386	0.000	0.000	195	2217	2180	2114	2246	0	0	0	0	0	0	14.40	28.83	14.39
148	-0.57	-145.9	196	2218	2116	2250	4.2	-6.3	9	202	12.77	2.70	-32.12	0.000	18724	0.453	2.156	2373	3593	3964	3947	3981	0	0	0	0	0	0	13.52	12.59	14.05
428	-0.77	-145.9	2373	3595	3954	3982	56.2	-10.4	64	435	0.12	2.35	0.00	0.000	5254	0.129	0.054	2323	2201	3967	3953	3981	0	0	0	0	0	0	14.20	14.16	14.30
743	-0.82	-145.9	2324	2200	3954	3982	105.0	-13.4	94	744	0.00	0.00	0.00	0.000	134	0.000	0.000	2323	2199	3967	3954	3981	0	0	0	0	0	0	14.67	14.69	14.69
1043	-0.91	-145.9	2324	2200	3954	3982	139.6	-10.9	104	1049	0.12	2.47	0.00	0.000	4484	0.135	0.085	2256	3596	3967	3954	3981	0	0	0	0	0	0	14.31	14.09	14.34
1115	-0.98	-145.9	2257	3596	3954	3981	149.6	-13.8	118	1120	0.00	2.40	0.00	0.000	1158	0.000	0.058	2256	2195	3967	3954	3981	0	0	0	0	0	0	14.34	14.16	14.33
1435	-0.98	-145.9	2255	2196	3954	3982	200.0	-15.0	132	1441	0.00	2.47	0.00	0.000	260	0.000	0.084	2247	3600	3967	3954	3981	0	0	0	0	0	0	14.70	14.09	14.71
1461	-0.98	-145.9	2247	3602	3955	3982	203.8	-14.6	137	1468	0.00	2.40	0.00	0.000	1030	0.000	0.059	2247	2201	3967	3954	3981	0	0	0	0	0	0	14.28	14.13	14.33
1767	-0.98	-145.9	2247	2200	3954	3982	247.8	-13.8	148	1772	0.00	2.47	0.00	0.000	260	0.000	0.085	2238	3601	3967	3954	3981	0	0	0	0	0	0	14.69	14.07	14.71
1813	-1.05	-145.9	2238	3602	3955	3984	253.8	-12.8	157	1818	0.00	2.40	0.00	0.000	1158	0.000	0.059	2238	2194	3967	3954	3981	0	0	0	0	0	0	14.27	14.12	14.32
2128	-1.08	-145.9	2238	2193	3955	3981	295.2	-12.7	170	2133	0.00	2.50	0.00	0.000	388	0.000	0.086	2235	3603	3967	3954	3981	0	0	0	0	0	0	14.69	14.06	14.70
2189	-1.19	-145.9	2236	3604	3954	3982	302.1	-10.6	182	2194	0.12	2.40	0.00	0.000	5254	0.135	0.057	2181	2189	3967	3954	3981	0	0	0	0	0	0	14.16	14.14	14.28
2520	-1.12	-145.9	2181	2189	3954	3981	357.4	-16.8	198	2525	0.15	2.50	0.00	0.000	2436	0.282	0.082	2206	3602	3966	3953	3980	0	0	0	0	0	0	13.79	14.04	13.95
2601	-1.17	-145.9	2206	3603	3954	3981	368.4	-12.3	214	2605	0.00	2.40	0.00	0.000	1158	0.000	0.057	2205	2198	3966	3953	3980	0	0	0	0	0	0	14.26	14.14	14.29
2911	-1.17	-145.9	2205	2197	3951	3981	409.8	-13.3	226	2916	0.00	2.47	0.00	0.000	260	0.000	0.085	2197	3595	3966	3953	3980	0	0	0	0	0	0	14.69	13.99	14.71
2976	-1.21	-145.9	2197	3596	3953	3980	418.3	-12.5	239	2981	0.00	2.40	0.00	0.000	1158	0.000	0.057	2197	2193	3966	3952	3980	0	0	0	0	0	0	14.26	14.13	14.31
3302	-1.19	-145.9	2198	2191	3953	3980	462.2	-13.5	254	3307	0.00	2.50	0.00	0.000	388	0.000	0.084	2190	3602	3966	3952	3980	0	0	0	0	0	0	14.70	13.96	14.71
3343	-1.21	-145.9	2190	3603	3953	3979	467.7	-13.2	262	3348	0.00	2.42	0.00	0.000	1158	0.000	0.057	2190	2191	3965	3952	3979	0	0	0	0	0	0	14.25	14.12	14.29
3450	end dive: TARGET_DEPTH_EXCEEDED
state	3450	begin apogee
3457	-0.13	0.0	2191	2063	3953	3981	483.1	-14.0	269	3678	1.35	0.00	217.75	1.415	10246	0.240	0.000	2527	2061	3368	3386	3350	0	0	0	0	0	0	13.75	13.58	12.75
3726	end apogee: CONTROL_FINISHED_OK
state	3726	begin climb
3729	0.57	145.9	2528	2062	3376	3338	494.9	0.0	276	3949	0.75	2.55	206.88	1.369	11012	0.057	0.079	2798	723	2762	2799	2725	0	0	0	0	0	0	13.90	13.28	12.41
3962	0.14	192.8	2798	728	2794	2724	509.9	7.8	320	4037	0.82	2.53	66.40	1.411	13478	0.323	0.073	2632	2095	2574	2636	2513	0	0	0	0	0	0	13.08	13.38	12.32
4343	0.01	192.8	2633	2097	2629	2501	469.4	11.1	346	4344	0.20	0.00	0.00	0.000	4230	0.253	0.000	2587	2096	2563	2627	2500	0	0	0	0	0	0	13.75	14.12	14.05
4643	0.01	227.1	2588	2097	2627	2499	443.6	8.4	356	4697	0.00	2.47	47.42	1.440	8868	0.000	0.087	2589	736	2433	2493	2374	0	0	0	0	0	0	14.59	13.99	13.11
4745	0.09	259.8	2589	736	2491	2374	434.9	8.5	376	4799	0.00	2.40	48.88	1.417	9382	0.000	0.079	2589	2102	2304	2360	2249	0	0	0	0	0	0	14.14	14.04	13.05
5125	0.13	277.6	2588	2102	2349	2237	400.0	9.2	402	5156	0.12	0.00	24.52	1.486	10406	0.129	0.000	2650	2101	2230	2282	2178	0	0	0	0	0	0	14.28	13.82	13.22
5455	0.06	277.6	2651	2101	2279	2171	356.9	13.0	413	5461	0.17	2.42	0.00	0.000	4740	0.237	0.083	2614	720	2224	2277	2171	0	0	0	0	0	0	13.94	14.09	14.10
5512	0.13	285.0	2615	719	2277	2171	351.0	9.7	424	5524	0.00	2.40	7.82	1.672	9382	0.000	0.078	2614	2100	2205	2257	2154	0	0	0	0	0	0	14.28	14.14	13.28
5849	0.13	285.6	2615	2100	2251	2148	317.2	10.0	441	5850	0.00	0.00	0.00	0.000	38	0.000	0.000	2614	2100	2198	2249	2147	0	0	0	0	0	0	14.64	14.66	14.65
6150	0.14	300.3	2615	2101	2249	2148	288.8	9.3	451	6180	0.00	0.00	24.58	1.466	8742	0.000	0.000	2614	2100	2136	2187	2086	0	0	0	0	0	0	14.65	13.89	13.28
6479	0.20	335.5	2615	2099	2185	2081	259.8	8.4	467	6545	0.00	2.47	57.35	1.338	8868	0.000	0.086	2615	737	1993	2041	1946	0	0	0	0	0	0	14.62	14.03	13.21
6593	0.36	383.5	2615	736	2034	1949	250.8	7.8	489	6681	0.25	2.40	79.68	1.258	11430	0.083	0.077	2708	2106	1796	1820	1773	0	0	0	0	0	0	14.21	14.11	13.08
6991	0.30	383.5	2709	2107	1814	1764	196.8	13.2	519	6996	0.00	2.45	0.00	0.000	644	0.000	0.087	2710	732	1786	1812	1761	0	0	0	0	0	0	14.58	13.98	14.59
7041	0.30	383.5	2710	733	1810	1762	190.3	12.6	529	7048	0.12	2.40	0.00	0.000	5126	0.228	0.076	2683	2106	1785	1809	1761	0	0	0	0	0	0	13.93	14.14	14.19
7353	0.30	385.1	2683	2107	1809	1758	157.7	9.9	541	7359	0.00	2.45	0.00	0.000	548	0.000	0.088	2685	730	1782	1808	1757	0	0	0	0	0	0	14.59	14.07	14.61
7429	0.39	399.3	2686	730	1807	1758	150.3	9.3	556	7459	0.00	2.40	21.27	1.387	9382	0.000	0.079	2685	2099	1734	1757	1711	0	0	0	0	0	0	14.28	14.13	13.31
7777	0.43	418.4	2686	2099	1756	1705	118.0	9.1	575	7806	0.00	0.00	27.23	1.344	8358	0.000	0.000	2685	2099	1660	1686	1634	0	0	0	0	0	0	14.59	14.09	13.29
8107	0.53	454.2	2686	2099	1682	1619	89.2	8.3	594	8134	0.17	2.50	18.80	0.469	10916	0.106	0.090	2767	729	1513	1541	1486	0	0	0	0	0	0	14.26	14.10	13.66
8207	0.50	454.2	2768	729	1542	1491	76.6	12.9	613	8213	0.00	2.42	0.00	0.000	1158	0.000	0.076	2768	2106	1513	1541	1486	0	0	0	0	0	0	14.19	14.05	14.23
8510	0.51	506.8	2767	2107	1541	1482	46.1	7.6	644	8543	0.00	2.50	28.27	0.338	8868	0.000	0.087	2766	730	1298	1344	1253	0	0	0	0	0	0	14.54	14.08	13.70
8641	0.61	570.4	2768	730	1344	1250	36.9	7.1	669	8683	0.00	2.42	34.85	0.307	9382	0.000	0.078	2764	2111	1037	1101	973	0	0	0	0	0	0	14.05	13.93	13.69
8989	0.82	684.5	2768	2108	1102	964	15.9	4.7	708	9057	0.22	2.47	62.00	0.248	10916	0.093	0.089	2863	732	572	606	538	0	0	0	0	0	0	14.10	13.97	13.78
9133	0.88	687.8	2864	733	607	534	2.3	9.8	736	9138	0.00	2.40	0.00	0.000	1190	0.000	0.076	2864	2093	568	604	533	0	0	0	0	0	0	14.17	14.04	14.21
9140	end climb: SURFACE_DEPTH_REACHED
state	9140	begin surface coast
9150	end surface coast: CONTROL_FINISHED_OK
state	9150	begin surface