Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 375 * 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 375 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 1043.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 1043.0 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 62 VBD_MIN 500

DIVE 375 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 190917,071202,7433.2896,-15239.0166,37,0.8,37,19.8,0.0,0.0,9,9.5 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 1.15 MHEAD_RNG_PITCHd_Wd 206.4,44239,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 190917,072120,7433.3384,-15239.0146,5,0.9,9,19.8,0.0,85.6,8,9.4

Post-dive calculations and measurements:

FINISH 0.2,1.011090 _24V_AH 12.22,224.639

SM_CCo 8909,22.98,0.210,0,0,498,702.78 _10V_AH 12.11,0.000

SM_GC 1.07,8.10,0.17,22.98,0.073,0.136,0.210,203,2204,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.25,14.22,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 301 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323636

IRIDIUM_FIX 7433.42,-15235.54,190917,043043 DATA_FILE_SIZE 26720,766

TT8_MAMPS 0.040446,0.927262 CAP_FILE_SIZE 102569,0

HUMID 47.99 CFSIZE 2097872896,1981841408

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.5

XPDR_PINGS 9 CURRENT 0.060,26.77,1

CP_FREE 15910207488.000000 GPS 190917,095202,7432.893,-15242.294,26,0.8,26,19.8,0.0,0.0,10,7.8

PM_FREEKB_00 45562560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 144.83 nil 0 0 0.00

Roll_motor 85 2169 2271.40 nil 0 0 0.00

VBD_pump_during_apogee 965 1495 17642.67 nil 0 0 0.00

VBD_pump_during_surface 22 209 58.85 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 8906 14 1593.94

Iridium_during_xfer 299 166 607.31 NCP 5361 20 1310.23

Transponder_ping 2 420 11.55 PMAR 8847 9 1072.24

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.87

TT8 0 0 0.00

LPSleep 6286 2 175.87

TT8_Active 986 13 166.92

TT8_Sampling 1899 33 769.14

TT8_CF8 331 38 155.36

TT8_Kalman 0 0 0.00

Analog_circuits 2012 10 243.71

GPS_charging 0 0 0.00

Compass 1098 7 93.12

RAFOS 2216 48 1288.12

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

65 end surface: CONTROL_FINISHED_OK

state 65 begin dive

69 -0.57 -145.9 196 2220 497 491 0.0 0.0 0 161 0.00 0.00 -90.93 0.000 16386 0.000 0.000 195 2220 2159 2090 2228 0 0 0 0 0 0 14.49 28.83 14.51

165 -0.57 -145.9 196 2220 2095 2227 4.0 -5.6 9 218 12.88 2.72 -33.88 0.000 19236 0.454 2.170 2383 832 3959 3939 3980 0 0 0 0 0 0 13.55 13.03 14.01

419 -0.72 -145.9 2383 833 3951 3979 53.8 -12.4 59 424 0.12 2.40 0.00 0.000 5254 0.122 0.086 2335 2190 3965 3950 3980 0 0 0 0 0 0 14.16 14.08 14.27

729 -0.79 -145.9 2336 2190 3951 3979 98.6 -12.1 91 734 0.00 2.47 0.00 0.000 388 0.000 0.088 2333 3616 3965 3950 3980 0 0 0 0 0 0 14.59 13.96 14.62

832 -0.99 -145.9 2333 3618 3951 3981 108.9 -9.4 111 837 0.22 2.35 0.00 0.000 5286 0.096 0.052 2245 2227 3965 3951 3980 0 0 0 0 0 0 14.23 14.17 14.33

1153 -0.94 -145.9 2246 2226 3952 3980 167.3 -17.5 125 1154 0.15 0.00 0.00 0.000 2182 0.277 0.000 2274 2225 3965 3950 3980 0 0 0 0 0 0 13.86 14.23 14.14

1453 -0.99 -145.9 2275 2226 3951 3981 207.2 -12.6 135 1458 0.00 2.47 0.00 0.000 388 0.000 0.086 2267 3610 3963 3951 3976 0 0 0 0 0 0 14.69 14.06 14.72

1504 -1.12 -145.9 2267 3613 3952 3980 213.2 -11.1 145 1509 0.15 2.40 0.00 0.000 5254 0.116 0.057 2210 2201 3967 3955 3979 0 0 0 0 0 0 14.20 14.14 14.31

1815 -1.06 -145.9 2211 2199 3952 3980 267.3 -17.0 157 1820 0.00 2.53 0.00 0.000 388 0.000 0.086 2201 3614 3965 3951 3980 0 0 0 0 0 0 14.69 14.06 14.72

1875 -1.06 -145.9 2202 3617 3951 3981 276.9 -15.0 169 1881 0.12 2.42 0.00 0.000 3078 0.257 0.057 2230 2196 3965 3950 3980 0 0 0 0 0 0 13.84 14.12 14.11

2206 -1.06 -145.9 2230 2196 3951 3981 319.6 -12.3 185 2211 0.00 2.53 0.00 0.000 260 0.000 0.086 2223 3617 3965 3950 3980 0 0 0 0 0 0 14.70 14.02 14.71

2265 -1.15 -145.9 2223 3620 3951 3985 326.3 -11.6 194 2270 0.00 2.45 0.00 0.000 1158 0.000 0.057 2223 2198 3965 3950 3980 0 0 0 0 0 0 14.12 13.96 14.13

2581 -1.15 -145.9 2223 2197 3952 3978 364.6 -12.1 207 2585 0.00 2.55 0.00 0.000 260 0.000 0.087 2222 3609 3965 3950 3980 0 0 0 0 0 0 14.43 13.88 14.45

2621 -1.24 -145.9 2222 3611 3951 3980 369.4 -11.4 215 2626 0.12 2.47 0.00 0.000 5254 0.132 0.057 2170 2195 3965 3950 3980 0 0 0 0 0 0 13.98 13.94 14.09

2942 -1.15 -145.9 2170 2187 3952 3980 421.7 -16.4 229 2947 0.15 2.58 0.00 0.000 2436 0.291 0.080 2192 3610 3964 3949 3979 0 0 0 0 0 0 13.50 13.83 13.69

3028 -1.18 -145.9 2192 3611 3949 3981 433.5 -12.6 246 3034 0.00 2.45 0.00 0.000 1158 0.000 0.057 2193 2192 3964 3949 3980 0 0 0 0 0 0 14.06 13.93 14.09

3333 -1.15 -145.9 2192 2192 3949 3981 475.6 -13.8 257 3338 0.00 2.55 0.00 0.000 388 0.000 0.084 2184 3610 3964 3948 3980 0 0 0 0 0 0 14.45 13.85 14.41

3365 end dive: TARGET_DEPTH_EXCEEDED

state 3365 begin apogee

3374 -0.13 0.0 2185 2100 3949 3979 480.6 -14.2 264 3593 1.40 0.00 215.52 1.422 10246 0.236 0.000 2534 2100 3365 3377 3354 0 0 0 0 0 0 13.58 13.50 12.70

3595 end apogee: CONTROL_FINISHED_OK

state 3595 begin climb

3598 0.57 145.9 2530 2101 3368 3350 492.5 0.0 271 3815 0.73 2.78 207.12 1.368 10756 0.059 0.080 2778 688 2764 2796 2732 0 0 0 0 0 0 13.65 13.05 12.22

4028 0.17 145.9 2781 687 2789 2727 478.4 13.8 355 4033 0.68 2.58 0.00 0.000 5254 0.320 0.075 2640 2110 2757 2788 2726 0 0 0 0 0 0 13.34 13.72 13.74

4361 -0.01 167.0 2641 2111 2797 2721 447.7 9.0 371 4395 0.22 2.58 26.42 1.496 12964 0.263 0.086 2589 693 2680 2720 2641 0 0 0 0 0 0 13.69 13.99 13.12

4438 0.03 218.4 2589 693 2720 2642 441.9 7.6 386 4523 0.00 2.50 77.00 1.392 9254 0.000 0.080 2589 2102 2470 2523 2418 0 0 0 0 0 0 14.15 14.03 12.96

4846 0.05 244.8 2590 2102 2517 2407 406.5 8.8 417 4891 0.00 2.58 37.28 1.426 8740 0.000 0.087 2588 689 2362 2411 2313 0 0 0 0 0 0 14.40 13.97 13.13

4907 0.10 269.8 2589 693 2415 2312 401.2 8.8 424 4953 0.00 2.45 37.75 1.403 9382 0.000 0.079 2589 2102 2260 2311 2209 0 0 0 0 0 0 14.12 14.00 13.05

5268 0.17 297.2 2589 2101 2308 2198 369.1 8.7 446 5311 0.15 0.00 40.30 1.399 10406 0.113 0.000 2660 2101 2150 2196 2105 0 0 0 0 0 0 14.28 14.01 13.17

5599 0.10 297.2 2660 2102 2188 2095 324.8 13.5 457 5604 0.15 2.47 0.00 0.000 4740 0.249 0.083 2630 692 2140 2187 2094 0 0 0 0 0 0 13.95 14.13 14.11

5659 0.15 297.2 2631 693 2186 2093 318.0 10.5 469 5664 0.00 2.47 0.00 0.000 1158 0.000 0.078 2630 2106 2139 2185 2094 0 0 0 0 0 0 14.30 14.16 14.35

5990 0.15 297.2 2631 2106 2186 2092 282.4 10.5 485 5991 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2106 2139 2185 2093 0 0 0 0 0 0 14.62 14.64 14.64

6290 0.16 315.5 2631 2107 2186 2090 253.5 9.2 495 6322 0.00 2.58 26.05 1.431 8740 0.000 0.086 2630 691 2075 2118 2033 0 0 0 0 0 0 14.63 14.14 13.28

6395 0.27 350.3 2629 691 2112 2033 244.5 8.4 515 6458 0.12 2.47 56.90 1.317 11430 0.120 0.079 2688 2105 1936 1974 1899 0 0 0 0 0 0 14.25 14.18 13.14

6774 0.23 350.3 2688 2105 1966 1885 199.4 11.5 541 6779 0.12 2.45 0.00 0.000 4740 0.233 0.085 2658 692 1923 1964 1883 0 0 0 0 0 0 13.95 14.11 14.09

6805 0.30 384.0 2659 693 1961 1887 196.5 8.4 547 6866 0.00 2.47 54.17 1.288 9382 0.000 0.079 2658 2100 1798 1822 1774 0 0 0 0 0 0 14.28 14.14 13.20

7167 0.37 411.7 2660 2101 1816 1764 164.4 8.7 569 7219 0.12 2.53 45.75 1.279 10916 0.129 0.089 2726 687 1684 1705 1664 0 0 0 0 0 0 14.24 14.06 13.24

7295 0.37 411.7 2726 686 1700 1662 148.3 12.2 595 7300 0.00 2.50 0.00 0.000 1030 0.000 0.077 2726 2099 1680 1698 1662 0 0 0 0 0 0 14.24 14.11 14.28

7615 0.34 411.7 2729 2100 1699 1656 108.8 12.1 609 7620 0.12 2.50 0.00 0.000 4740 0.231 0.084 2699 685 1676 1698 1655 0 0 0 0 0 0 13.88 14.09 13.99

7671 0.43 425.8 2698 686 1697 1656 103.1 9.4 620 7692 0.00 2.50 16.02 1.379 9382 0.000 0.078 2699 2108 1631 1656 1606 0 0 0 0 0 0 14.23 14.09 13.31

7997 0.52 478.4 2699 2109 1652 1593 74.7 7.6 656 8028 0.15 0.00 27.55 0.425 10406 0.112 0.000 2763 2108 1413 1448 1379 0 0 0 0 0 0 14.23 14.04 13.64

8327 0.56 533.7 2768 2109 1449 1373 41.8 7.4 689 8363 0.00 2.58 29.00 0.327 8740 0.000 0.089 2770 690 1190 1242 1138 0 0 0 0 0 0 14.58 14.01 13.77

8489 0.70 598.9 2767 690 1243 1137 30.0 7.0 721 8532 0.12 2.50 35.00 0.288 11430 0.126 0.078 2814 2098 922 983 861 0 0 0 0 0 0 14.12 14.05 13.77

8829 0.79 668.4 2818 2101 987 854 4.1 6.8 759 8864 0.00 0.00 33.50 0.214 8866 0.000 0.000 2818 2101 666 719 614 0 0 0 0 0 0 14.55 28.83 14.57

8865 end climb: SURFACE_DEPTH_REACHED

state 8865 begin surface coast

8887 end surface coast: CONTROL_FINISHED_OK

state 8887 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	375	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	1043.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,071202,7433.2896,-15239.0166,37,0.8,37,19.8,0.0,0.0,9,9.5	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	1.15	MHEAD_RNG_PITCHd_Wd	206.4,44239,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	190917,072120,7433.3384,-15239.0146,5,0.9,9,19.8,0.0,85.6,8,9.4

FINISH	0.2,1.011090	_24V_AH	12.22,224.639
SM_CCo	8909,22.98,0.210,0,0,498,702.78	_10V_AH	12.11,0.000
SM_GC	1.07,8.10,0.17,22.98,0.073,0.136,0.210,203,2204,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.25,14.22,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	301	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323636
IRIDIUM_FIX	7433.42,-15235.54,190917,043043	DATA_FILE_SIZE	26720,766
TT8_MAMPS	0.040446,0.927262	CAP_FILE_SIZE	102569,0
HUMID	47.99	CFSIZE	2097872896,1981841408
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.5
XPDR_PINGS	9	CURRENT	0.060,26.77,1
CP_FREE	15910207488.000000	GPS	190917,095202,7432.893,-15242.294,26,0.8,26,19.8,0.0,0.0,10,7.8
PM_FREEKB_00	45562560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	144.83	nil	0	0	0.00
Roll_motor	85	2169	2271.40	nil	0	0	0.00
VBD_pump_during_apogee	965	1495	17642.67	nil	0	0	0.00
VBD_pump_during_surface	22	209	58.85	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	8906	14	1593.94
Iridium_during_xfer	299	166	607.31	NCP	5361	20	1310.23
Transponder_ping	2	420	11.55	PMAR	8847	9	1072.24
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.87
TT8	0	0	0.00
LPSleep	6286	2	175.87
TT8_Active	986	13	166.92
TT8_Sampling	1899	33	769.14
TT8_CF8	331	38	155.36
TT8_Kalman	0	0	0.00
Analog_circuits	2012	10	243.71
GPS_charging	0	0	0.00
Compass	1098	7	93.12
RAFOS	2216	48	1288.12
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
65	end surface: CONTROL_FINISHED_OK
state	65	begin dive
69	-0.57	-145.9	196	2220	497	491	0.0	0.0	0	161	0.00	0.00	-90.93	0.000	16386	0.000	0.000	195	2220	2159	2090	2228	0	0	0	0	0	0	14.49	28.83	14.51
165	-0.57	-145.9	196	2220	2095	2227	4.0	-5.6	9	218	12.88	2.72	-33.88	0.000	19236	0.454	2.170	2383	832	3959	3939	3980	0	0	0	0	0	0	13.55	13.03	14.01
419	-0.72	-145.9	2383	833	3951	3979	53.8	-12.4	59	424	0.12	2.40	0.00	0.000	5254	0.122	0.086	2335	2190	3965	3950	3980	0	0	0	0	0	0	14.16	14.08	14.27
729	-0.79	-145.9	2336	2190	3951	3979	98.6	-12.1	91	734	0.00	2.47	0.00	0.000	388	0.000	0.088	2333	3616	3965	3950	3980	0	0	0	0	0	0	14.59	13.96	14.62
832	-0.99	-145.9	2333	3618	3951	3981	108.9	-9.4	111	837	0.22	2.35	0.00	0.000	5286	0.096	0.052	2245	2227	3965	3951	3980	0	0	0	0	0	0	14.23	14.17	14.33
1153	-0.94	-145.9	2246	2226	3952	3980	167.3	-17.5	125	1154	0.15	0.00	0.00	0.000	2182	0.277	0.000	2274	2225	3965	3950	3980	0	0	0	0	0	0	13.86	14.23	14.14
1453	-0.99	-145.9	2275	2226	3951	3981	207.2	-12.6	135	1458	0.00	2.47	0.00	0.000	388	0.000	0.086	2267	3610	3963	3951	3976	0	0	0	0	0	0	14.69	14.06	14.72
1504	-1.12	-145.9	2267	3613	3952	3980	213.2	-11.1	145	1509	0.15	2.40	0.00	0.000	5254	0.116	0.057	2210	2201	3967	3955	3979	0	0	0	0	0	0	14.20	14.14	14.31
1815	-1.06	-145.9	2211	2199	3952	3980	267.3	-17.0	157	1820	0.00	2.53	0.00	0.000	388	0.000	0.086	2201	3614	3965	3951	3980	0	0	0	0	0	0	14.69	14.06	14.72
1875	-1.06	-145.9	2202	3617	3951	3981	276.9	-15.0	169	1881	0.12	2.42	0.00	0.000	3078	0.257	0.057	2230	2196	3965	3950	3980	0	0	0	0	0	0	13.84	14.12	14.11
2206	-1.06	-145.9	2230	2196	3951	3981	319.6	-12.3	185	2211	0.00	2.53	0.00	0.000	260	0.000	0.086	2223	3617	3965	3950	3980	0	0	0	0	0	0	14.70	14.02	14.71
2265	-1.15	-145.9	2223	3620	3951	3985	326.3	-11.6	194	2270	0.00	2.45	0.00	0.000	1158	0.000	0.057	2223	2198	3965	3950	3980	0	0	0	0	0	0	14.12	13.96	14.13
2581	-1.15	-145.9	2223	2197	3952	3978	364.6	-12.1	207	2585	0.00	2.55	0.00	0.000	260	0.000	0.087	2222	3609	3965	3950	3980	0	0	0	0	0	0	14.43	13.88	14.45
2621	-1.24	-145.9	2222	3611	3951	3980	369.4	-11.4	215	2626	0.12	2.47	0.00	0.000	5254	0.132	0.057	2170	2195	3965	3950	3980	0	0	0	0	0	0	13.98	13.94	14.09
2942	-1.15	-145.9	2170	2187	3952	3980	421.7	-16.4	229	2947	0.15	2.58	0.00	0.000	2436	0.291	0.080	2192	3610	3964	3949	3979	0	0	0	0	0	0	13.50	13.83	13.69
3028	-1.18	-145.9	2192	3611	3949	3981	433.5	-12.6	246	3034	0.00	2.45	0.00	0.000	1158	0.000	0.057	2193	2192	3964	3949	3980	0	0	0	0	0	0	14.06	13.93	14.09
3333	-1.15	-145.9	2192	2192	3949	3981	475.6	-13.8	257	3338	0.00	2.55	0.00	0.000	388	0.000	0.084	2184	3610	3964	3948	3980	0	0	0	0	0	0	14.45	13.85	14.41
3365	end dive: TARGET_DEPTH_EXCEEDED
state	3365	begin apogee
3374	-0.13	0.0	2185	2100	3949	3979	480.6	-14.2	264	3593	1.40	0.00	215.52	1.422	10246	0.236	0.000	2534	2100	3365	3377	3354	0	0	0	0	0	0	13.58	13.50	12.70
3595	end apogee: CONTROL_FINISHED_OK
state	3595	begin climb
3598	0.57	145.9	2530	2101	3368	3350	492.5	0.0	271	3815	0.73	2.78	207.12	1.368	10756	0.059	0.080	2778	688	2764	2796	2732	0	0	0	0	0	0	13.65	13.05	12.22
4028	0.17	145.9	2781	687	2789	2727	478.4	13.8	355	4033	0.68	2.58	0.00	0.000	5254	0.320	0.075	2640	2110	2757	2788	2726	0	0	0	0	0	0	13.34	13.72	13.74
4361	-0.01	167.0	2641	2111	2797	2721	447.7	9.0	371	4395	0.22	2.58	26.42	1.496	12964	0.263	0.086	2589	693	2680	2720	2641	0	0	0	0	0	0	13.69	13.99	13.12
4438	0.03	218.4	2589	693	2720	2642	441.9	7.6	386	4523	0.00	2.50	77.00	1.392	9254	0.000	0.080	2589	2102	2470	2523	2418	0	0	0	0	0	0	14.15	14.03	12.96
4846	0.05	244.8	2590	2102	2517	2407	406.5	8.8	417	4891	0.00	2.58	37.28	1.426	8740	0.000	0.087	2588	689	2362	2411	2313	0	0	0	0	0	0	14.40	13.97	13.13
4907	0.10	269.8	2589	693	2415	2312	401.2	8.8	424	4953	0.00	2.45	37.75	1.403	9382	0.000	0.079	2589	2102	2260	2311	2209	0	0	0	0	0	0	14.12	14.00	13.05
5268	0.17	297.2	2589	2101	2308	2198	369.1	8.7	446	5311	0.15	0.00	40.30	1.399	10406	0.113	0.000	2660	2101	2150	2196	2105	0	0	0	0	0	0	14.28	14.01	13.17
5599	0.10	297.2	2660	2102	2188	2095	324.8	13.5	457	5604	0.15	2.47	0.00	0.000	4740	0.249	0.083	2630	692	2140	2187	2094	0	0	0	0	0	0	13.95	14.13	14.11
5659	0.15	297.2	2631	693	2186	2093	318.0	10.5	469	5664	0.00	2.47	0.00	0.000	1158	0.000	0.078	2630	2106	2139	2185	2094	0	0	0	0	0	0	14.30	14.16	14.35
5990	0.15	297.2	2631	2106	2186	2092	282.4	10.5	485	5991	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2106	2139	2185	2093	0	0	0	0	0	0	14.62	14.64	14.64
6290	0.16	315.5	2631	2107	2186	2090	253.5	9.2	495	6322	0.00	2.58	26.05	1.431	8740	0.000	0.086	2630	691	2075	2118	2033	0	0	0	0	0	0	14.63	14.14	13.28
6395	0.27	350.3	2629	691	2112	2033	244.5	8.4	515	6458	0.12	2.47	56.90	1.317	11430	0.120	0.079	2688	2105	1936	1974	1899	0	0	0	0	0	0	14.25	14.18	13.14
6774	0.23	350.3	2688	2105	1966	1885	199.4	11.5	541	6779	0.12	2.45	0.00	0.000	4740	0.233	0.085	2658	692	1923	1964	1883	0	0	0	0	0	0	13.95	14.11	14.09
6805	0.30	384.0	2659	693	1961	1887	196.5	8.4	547	6866	0.00	2.47	54.17	1.288	9382	0.000	0.079	2658	2100	1798	1822	1774	0	0	0	0	0	0	14.28	14.14	13.20
7167	0.37	411.7	2660	2101	1816	1764	164.4	8.7	569	7219	0.12	2.53	45.75	1.279	10916	0.129	0.089	2726	687	1684	1705	1664	0	0	0	0	0	0	14.24	14.06	13.24
7295	0.37	411.7	2726	686	1700	1662	148.3	12.2	595	7300	0.00	2.50	0.00	0.000	1030	0.000	0.077	2726	2099	1680	1698	1662	0	0	0	0	0	0	14.24	14.11	14.28
7615	0.34	411.7	2729	2100	1699	1656	108.8	12.1	609	7620	0.12	2.50	0.00	0.000	4740	0.231	0.084	2699	685	1676	1698	1655	0	0	0	0	0	0	13.88	14.09	13.99
7671	0.43	425.8	2698	686	1697	1656	103.1	9.4	620	7692	0.00	2.50	16.02	1.379	9382	0.000	0.078	2699	2108	1631	1656	1606	0	0	0	0	0	0	14.23	14.09	13.31
7997	0.52	478.4	2699	2109	1652	1593	74.7	7.6	656	8028	0.15	0.00	27.55	0.425	10406	0.112	0.000	2763	2108	1413	1448	1379	0	0	0	0	0	0	14.23	14.04	13.64
8327	0.56	533.7	2768	2109	1449	1373	41.8	7.4	689	8363	0.00	2.58	29.00	0.327	8740	0.000	0.089	2770	690	1190	1242	1138	0	0	0	0	0	0	14.58	14.01	13.77
8489	0.70	598.9	2767	690	1243	1137	30.0	7.0	721	8532	0.12	2.50	35.00	0.288	11430	0.126	0.078	2814	2098	922	983	861	0	0	0	0	0	0	14.12	14.05	13.77
8829	0.79	668.4	2818	2101	987	854	4.1	6.8	759	8864	0.00	0.00	33.50	0.214	8866	0.000	0.000	2818	2101	666	719	614	0	0	0	0	0	0	14.55	28.83	14.57
8865	end climb: SURFACE_DEPTH_REACHED
state	8865	begin surface coast
8887	end surface coast: CONTROL_FINISHED_OK
state	8887	begin surface