Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 376 * 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 376 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 1045.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 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 1045.0 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 25 VBD_MIN 500

DIVE 376 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 190917,095202,7432.8926,-15242.2939,26,0.8,26,19.8,0.0,0.0,10,7.8 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 204.7,42479,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.7 D_GRID 480

GPS2 190917,095805,7432.9028,-15242.2451,8,0.8,9,19.8,0.0,111.8,10,9.2

Post-dive calculations and measurements:

FINISH 0.2,1.021095 _24V_AH 12.31,225.093

SM_CCo 8978,0.00,0.000,0,0,493,704.50 _10V_AH 12.17,0.000

SM_GC 1.07,8.35,0.20,0.00,0.082,0.105,0.000,202,2230,493,-7.38,-0.28,704.50,0,0,0,0,0,0,14.12,14.12,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 85 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323476

IRIDIUM_FIX 7433.42,-15235.54,190917,071620 DATA_FILE_SIZE 23415,677

TT8_MAMPS 0.086135,0.934752 CAP_FILE_SIZE 95949,0

HUMID 44.17 CFSIZE 2097872896,1981677568

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 1440.1

XPDR_PINGS 21 CURRENT 0.049,33.16,1

CP_FREE 15909650432.000000 GPS 190917,122957,7432.389,-15245.598,54,0.8,55,19.8,0.0,0.0,9,9.2

PM_FREEKB_00 45529536

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 142.90 nil 0 0 0.00

Roll_motor 85 2168 2283.84 nil 0 0 0.00

VBD_pump_during_apogee 1024 1401 17676.19 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 5328 15 984.41

Iridium_during_xfer 165 132 270.16 NCP 8867 20 2183.06

Transponder_ping 5 420 27.14 PMAR 8870 9 1078.14

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.88

TT8 0 0 0.00

LPSleep 6222 2 174.92

TT8_Active 903 13 153.67

TT8_Sampling 1950 33 793.61

TT8_CF8 275 38 129.81

TT8_Kalman 0 0 0.00

Analog_circuits 2063 10 251.16

GPS_charging 0 0 0.00

Compass 970 7 82.70

RAFOS 2195 48 1282.23

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 48 begin dive

52 -0.57 -145.9 195 2208 497 487 0.0 0.0 0 144 0.00 0.00 -90.82 0.000 16386 0.000 0.000 193 2208 2173 2107 2240 0 0 0 0 0 0 14.55 28.83 14.57

148 -0.57 -145.9 193 2208 2111 2241 4.3 -6.4 9 201 12.68 2.75 -32.55 0.000 18724 0.449 2.168 2376 3614 3964 3947 3981 0 0 0 0 0 0 13.60 12.63 14.12

332 -0.74 -145.9 2376 3616 3954 3982 43.4 -12.0 45 337 0.12 2.42 0.00 0.000 5254 0.128 0.059 2325 2193 3967 3953 3981 0 0 0 0 0 0 14.24 14.20 14.35

642 -0.78 -145.9 2325 2191 3956 3981 95.8 -14.0 77 647 0.00 2.53 0.00 0.000 388 0.000 0.084 2319 3616 3968 3955 3981 0 0 0 0 0 0 14.69 14.12 14.72

683 -0.91 -145.9 2320 3617 3956 3982 100.9 -12.0 85 688 0.00 2.40 0.00 0.000 1158 0.000 0.057 2319 2199 3966 3954 3978 0 0 0 0 0 0 14.33 14.20 14.37

1004 -1.00 -145.9 2320 2200 3955 3982 138.6 -11.2 99 1005 0.20 0.00 0.00 0.000 4230 0.100 0.000 2245 2198 3968 3955 3982 0 0 0 0 0 0 14.35 14.44 14.41

1304 -0.96 -145.9 2246 2199 3955 3982 190.0 -17.1 109 1309 0.00 2.50 0.00 0.000 388 0.000 0.086 2236 3616 3968 3955 3981 0 0 0 0 0 0 14.73 14.09 14.77

1385 -1.03 -145.9 2236 3618 3956 3982 202.0 -13.9 125 1389 0.00 2.42 0.00 0.000 1158 0.000 0.059 2236 2193 3968 3955 3981 0 0 0 0 0 0 14.18 14.09 14.18

1695 -1.03 -145.9 2237 2192 3956 3981 250.6 -15.2 137 1700 0.00 2.50 0.00 0.000 260 0.000 0.087 2235 3609 3967 3954 3980 0 0 0 0 0 0 14.72 14.08 14.73

1770 -1.10 -145.9 2235 3609 3955 3982 261.1 -13.0 152 1776 0.00 2.40 0.00 0.000 1158 0.000 0.056 2235 2192 3967 3954 3981 0 0 0 0 0 0 14.30 14.16 14.34

2087 -1.12 -145.9 2235 2192 3955 3982 301.7 -12.3 165 2092 0.00 2.53 0.00 0.000 388 0.000 0.088 2236 3609 3968 3955 3981 0 0 0 0 0 0 14.71 14.07 14.71

2132 -1.22 -145.9 2236 3610 3955 3982 307.0 -10.9 174 2138 0.15 2.40 0.00 0.000 5254 0.123 0.056 2175 2198 3967 3954 3981 0 0 0 0 0 0 14.20 14.15 14.31

2449 -1.13 -145.9 2176 2197 3955 3982 359.8 -16.8 187 2454 0.15 2.50 0.00 0.000 2436 0.295 0.082 2199 3613 3967 3954 3981 0 0 0 0 0 0 13.78 14.03 13.96

2561 -1.18 -145.9 2199 3615 3954 3982 374.6 -12.3 209 2566 0.00 2.40 0.00 0.000 1158 0.000 0.057 2200 2199 3967 3954 3981 0 0 0 0 0 0 14.28 14.14 14.32

2872 -1.18 -145.9 2199 2198 3955 3980 417.6 -13.6 221 2877 0.00 2.53 0.00 0.000 260 0.000 0.085 2190 3615 3967 3954 3980 0 0 0 0 0 0 14.74 13.98 14.77

2942 -1.20 -145.9 2190 3616 3954 3980 427.0 -13.0 235 2947 0.00 2.42 0.00 0.000 1158 0.000 0.057 2190 2189 3967 3954 3980 0 0 0 0 0 0 14.27 14.14 14.31

3263 -1.16 -145.9 2190 2189 3953 3980 472.3 -14.0 249 3267 0.00 2.53 0.00 0.000 388 0.000 0.084 2181 3609 3966 3953 3980 0 0 0 0 0 0 14.73 13.97 14.73

3315 end dive: TARGET_DEPTH_EXCEEDED

state 3315 begin apogee

3324 -0.13 0.0 2182 2102 3954 3980 480.0 -13.5 260 3568 1.40 0.00 240.18 1.363 10246 0.243 0.000 2526 2100 3365 3385 3346 0 0 0 0 0 0 13.67 13.57 12.77

3571 end apogee: CONTROL_FINISHED_OK

state 3571 begin climb

3574 0.57 145.9 2528 2101 3377 3336 493.1 0.0 268 3973 0.75 2.67 210.23 1.333 10500 0.059 0.072 2784 3506 2746 2779 2714 0 0 0 0 0 0 13.75 12.93 12.31

4038 0.08 145.9 2784 3506 2778 2715 466.9 15.8 282 4043 0.88 2.42 0.00 0.000 5254 0.343 0.057 2614 2095 2745 2778 2713 0 0 0 0 0 0 13.48 13.97 13.88

4359 -0.02 185.4 2614 2096 2779 2712 439.2 8.2 296 4420 0.17 0.00 56.58 1.370 12966 0.280 0.000 2574 2095 2606 2652 2561 0 0 0 0 0 0 13.78 13.93 13.12

4719 0.02 238.0 2577 2096 2646 2538 412.4 7.6 313 4805 0.00 2.58 80.20 1.337 8740 0.000 0.090 2577 695 2391 2445 2338 0 0 0 0 0 0 14.57 13.92 13.10

4828 0.12 287.4 2577 696 2440 2333 404.1 7.7 334 4911 0.15 2.50 76.07 1.304 11430 0.117 0.080 2642 2107 2189 2241 2138 0 0 0 0 0 0 14.05 13.99 12.96

5232 0.07 287.4 2643 2106 2225 2116 353.2 12.6 365 5233 0.15 0.00 0.00 0.000 4230 0.231 0.000 2609 2107 2170 2224 2116 0 0 0 0 0 0 14.00 14.23 14.20

5532 0.10 292.2 2609 2107 2224 2114 323.2 9.8 375 5537 0.00 2.55 0.00 0.000 676 0.000 0.090 2610 691 2168 2223 2113 0 0 0 0 0 0 14.61 14.02 14.64

5578 0.21 309.7 2610 691 2222 2114 319.0 9.2 384 5613 0.12 2.47 28.55 1.371 11430 0.125 0.078 2668 2101 2100 2151 2049 0 0 0 0 0 0 14.21 14.12 13.26

5926 0.14 309.7 2667 2101 2134 2037 272.9 13.2 403 5931 0.15 2.47 0.00 0.000 4740 0.258 0.083 2640 692 2086 2138 2035 0 0 0 0 0 0 13.93 14.09 14.09

6013 0.20 309.9 2641 692 2137 2034 263.5 10.0 420 6019 0.00 2.47 0.00 0.000 1190 0.000 0.080 2640 2103 2085 2136 2035 0 0 0 0 0 0 14.25 14.11 14.31

6317 0.21 325.2 2640 2104 2136 2035 234.4 9.3 431 6339 0.00 0.00 20.70 1.401 8230 0.000 0.000 2640 2103 2045 2098 1992 0 0 0 0 0 0 14.64 14.09 13.28

6616 0.26 356.7 2641 2103 2077 1977 208.3 8.5 441 6677 0.00 0.00 54.78 1.299 8358 0.000 0.000 2641 2103 1906 1945 1867 0 0 0 0 0 0 14.62 13.78 13.19

6976 0.36 403.9 2640 2103 1932 1858 179.6 7.8 453 7068 0.15 2.60 85.00 1.217 10916 0.109 0.089 2709 700 1713 1737 1689 0 0 0 0 0 0 14.31 13.90 13.12

7134 0.40 403.9 2710 700 1724 1684 161.5 11.4 484 7139 0.00 2.47 0.00 0.000 1158 0.000 0.077 2709 2106 1703 1724 1682 0 0 0 0 0 0 14.18 14.05 14.23

7461 0.40 403.9 2709 2107 1724 1677 124.2 11.1 499 7466 0.00 2.55 0.00 0.000 516 0.000 0.088 2709 688 1699 1723 1676 0 0 0 0 0 0 14.42 14.02 14.44

7502 0.45 403.9 2710 688 1725 1676 119.8 10.3 507 7507 0.00 2.53 0.00 0.000 1158 0.000 0.078 2709 2106 1698 1721 1676 0 0 0 0 0 0 14.17 14.04 14.22

7815 0.46 422.8 2709 2108 1722 1674 88.8 9.1 528 7830 0.00 2.58 8.38 0.425 8740 0.000 0.087 2709 697 1642 1670 1614 0 0 0 0 0 0 14.41 13.98 13.48

7871 0.55 451.8 2709 698 1675 1619 83.5 8.7 539 7894 0.15 2.50 17.92 0.441 11430 0.112 0.076 2773 2107 1522 1548 1496 0 0 0 0 0 0 13.97 13.89 13.58

8200 0.53 483.4 2772 2108 1556 1498 47.2 8.5 574 8226 0.00 2.58 18.55 0.332 8868 0.000 0.085 2780 695 1394 1430 1358 0 0 0 0 0 0 14.37 13.90 13.57

8376 0.60 553.5 2780 695 1436 1360 34.4 6.8 609 8425 0.00 2.53 39.85 0.295 9382 0.000 0.077 2781 2112 1108 1168 1048 0 0 0 0 0 0 13.95 13.81 13.67

8721 0.77 668.9 2781 2112 1170 1051 13.5 4.7 648 8795 0.12 2.55 65.05 0.238 10916 0.132 0.090 2849 693 638 684 592 0 0 0 0 0 0 14.07 13.95 13.72

8823 0.88 714.1 2850 695 687 589 6.4 7.9 667 8851 0.00 2.50 22.55 0.216 9382 0.000 0.077 2849 2098 500 515 485 0 0 0 0 0 0 14.07 13.93 13.67

8873 end climb: SURFACE_DEPTH_REACHED

state 8873 begin surface coast

8894 end surface coast: CONTROL_FINISHED_OK

state 8894 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	376	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	1045.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,095202,7432.8926,-15242.2939,26,0.8,26,19.8,0.0,0.0,10,7.8	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	204.7,42479,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.7	D_GRID	480
GPS2	190917,095805,7432.9028,-15242.2451,8,0.8,9,19.8,0.0,111.8,10,9.2

FINISH	0.2,1.021095	_24V_AH	12.31,225.093
SM_CCo	8978,0.00,0.000,0,0,493,704.50	_10V_AH	12.17,0.000
SM_GC	1.07,8.35,0.20,0.00,0.082,0.105,0.000,202,2230,493,-7.38,-0.28,704.50,0,0,0,0,0,0,14.12,14.12,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	85	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323476
IRIDIUM_FIX	7433.42,-15235.54,190917,071620	DATA_FILE_SIZE	23415,677
TT8_MAMPS	0.086135,0.934752	CAP_FILE_SIZE	95949,0
HUMID	44.17	CFSIZE	2097872896,1981677568
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	1440.1
XPDR_PINGS	21	CURRENT	0.049,33.16,1
CP_FREE	15909650432.000000	GPS	190917,122957,7432.389,-15245.598,54,0.8,55,19.8,0.0,0.0,9,9.2
PM_FREEKB_00	45529536

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	142.90	nil	0	0	0.00
Roll_motor	85	2168	2283.84	nil	0	0	0.00
VBD_pump_during_apogee	1024	1401	17676.19	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	5328	15	984.41
Iridium_during_xfer	165	132	270.16	NCP	8867	20	2183.06
Transponder_ping	5	420	27.14	PMAR	8870	9	1078.14
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.88
TT8	0	0	0.00
LPSleep	6222	2	174.92
TT8_Active	903	13	153.67
TT8_Sampling	1950	33	793.61
TT8_CF8	275	38	129.81
TT8_Kalman	0	0	0.00
Analog_circuits	2063	10	251.16
GPS_charging	0	0	0.00
Compass	970	7	82.70
RAFOS	2195	48	1282.23
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	48	begin dive
52	-0.57	-145.9	195	2208	497	487	0.0	0.0	0	144	0.00	0.00	-90.82	0.000	16386	0.000	0.000	193	2208	2173	2107	2240	0	0	0	0	0	0	14.55	28.83	14.57
148	-0.57	-145.9	193	2208	2111	2241	4.3	-6.4	9	201	12.68	2.75	-32.55	0.000	18724	0.449	2.168	2376	3614	3964	3947	3981	0	0	0	0	0	0	13.60	12.63	14.12
332	-0.74	-145.9	2376	3616	3954	3982	43.4	-12.0	45	337	0.12	2.42	0.00	0.000	5254	0.128	0.059	2325	2193	3967	3953	3981	0	0	0	0	0	0	14.24	14.20	14.35
642	-0.78	-145.9	2325	2191	3956	3981	95.8	-14.0	77	647	0.00	2.53	0.00	0.000	388	0.000	0.084	2319	3616	3968	3955	3981	0	0	0	0	0	0	14.69	14.12	14.72
683	-0.91	-145.9	2320	3617	3956	3982	100.9	-12.0	85	688	0.00	2.40	0.00	0.000	1158	0.000	0.057	2319	2199	3966	3954	3978	0	0	0	0	0	0	14.33	14.20	14.37
1004	-1.00	-145.9	2320	2200	3955	3982	138.6	-11.2	99	1005	0.20	0.00	0.00	0.000	4230	0.100	0.000	2245	2198	3968	3955	3982	0	0	0	0	0	0	14.35	14.44	14.41
1304	-0.96	-145.9	2246	2199	3955	3982	190.0	-17.1	109	1309	0.00	2.50	0.00	0.000	388	0.000	0.086	2236	3616	3968	3955	3981	0	0	0	0	0	0	14.73	14.09	14.77
1385	-1.03	-145.9	2236	3618	3956	3982	202.0	-13.9	125	1389	0.00	2.42	0.00	0.000	1158	0.000	0.059	2236	2193	3968	3955	3981	0	0	0	0	0	0	14.18	14.09	14.18
1695	-1.03	-145.9	2237	2192	3956	3981	250.6	-15.2	137	1700	0.00	2.50	0.00	0.000	260	0.000	0.087	2235	3609	3967	3954	3980	0	0	0	0	0	0	14.72	14.08	14.73
1770	-1.10	-145.9	2235	3609	3955	3982	261.1	-13.0	152	1776	0.00	2.40	0.00	0.000	1158	0.000	0.056	2235	2192	3967	3954	3981	0	0	0	0	0	0	14.30	14.16	14.34
2087	-1.12	-145.9	2235	2192	3955	3982	301.7	-12.3	165	2092	0.00	2.53	0.00	0.000	388	0.000	0.088	2236	3609	3968	3955	3981	0	0	0	0	0	0	14.71	14.07	14.71
2132	-1.22	-145.9	2236	3610	3955	3982	307.0	-10.9	174	2138	0.15	2.40	0.00	0.000	5254	0.123	0.056	2175	2198	3967	3954	3981	0	0	0	0	0	0	14.20	14.15	14.31
2449	-1.13	-145.9	2176	2197	3955	3982	359.8	-16.8	187	2454	0.15	2.50	0.00	0.000	2436	0.295	0.082	2199	3613	3967	3954	3981	0	0	0	0	0	0	13.78	14.03	13.96
2561	-1.18	-145.9	2199	3615	3954	3982	374.6	-12.3	209	2566	0.00	2.40	0.00	0.000	1158	0.000	0.057	2200	2199	3967	3954	3981	0	0	0	0	0	0	14.28	14.14	14.32
2872	-1.18	-145.9	2199	2198	3955	3980	417.6	-13.6	221	2877	0.00	2.53	0.00	0.000	260	0.000	0.085	2190	3615	3967	3954	3980	0	0	0	0	0	0	14.74	13.98	14.77
2942	-1.20	-145.9	2190	3616	3954	3980	427.0	-13.0	235	2947	0.00	2.42	0.00	0.000	1158	0.000	0.057	2190	2189	3967	3954	3980	0	0	0	0	0	0	14.27	14.14	14.31
3263	-1.16	-145.9	2190	2189	3953	3980	472.3	-14.0	249	3267	0.00	2.53	0.00	0.000	388	0.000	0.084	2181	3609	3966	3953	3980	0	0	0	0	0	0	14.73	13.97	14.73
3315	end dive: TARGET_DEPTH_EXCEEDED
state	3315	begin apogee
3324	-0.13	0.0	2182	2102	3954	3980	480.0	-13.5	260	3568	1.40	0.00	240.18	1.363	10246	0.243	0.000	2526	2100	3365	3385	3346	0	0	0	0	0	0	13.67	13.57	12.77
3571	end apogee: CONTROL_FINISHED_OK
state	3571	begin climb
3574	0.57	145.9	2528	2101	3377	3336	493.1	0.0	268	3973	0.75	2.67	210.23	1.333	10500	0.059	0.072	2784	3506	2746	2779	2714	0	0	0	0	0	0	13.75	12.93	12.31
4038	0.08	145.9	2784	3506	2778	2715	466.9	15.8	282	4043	0.88	2.42	0.00	0.000	5254	0.343	0.057	2614	2095	2745	2778	2713	0	0	0	0	0	0	13.48	13.97	13.88
4359	-0.02	185.4	2614	2096	2779	2712	439.2	8.2	296	4420	0.17	0.00	56.58	1.370	12966	0.280	0.000	2574	2095	2606	2652	2561	0	0	0	0	0	0	13.78	13.93	13.12
4719	0.02	238.0	2577	2096	2646	2538	412.4	7.6	313	4805	0.00	2.58	80.20	1.337	8740	0.000	0.090	2577	695	2391	2445	2338	0	0	0	0	0	0	14.57	13.92	13.10
4828	0.12	287.4	2577	696	2440	2333	404.1	7.7	334	4911	0.15	2.50	76.07	1.304	11430	0.117	0.080	2642	2107	2189	2241	2138	0	0	0	0	0	0	14.05	13.99	12.96
5232	0.07	287.4	2643	2106	2225	2116	353.2	12.6	365	5233	0.15	0.00	0.00	0.000	4230	0.231	0.000	2609	2107	2170	2224	2116	0	0	0	0	0	0	14.00	14.23	14.20
5532	0.10	292.2	2609	2107	2224	2114	323.2	9.8	375	5537	0.00	2.55	0.00	0.000	676	0.000	0.090	2610	691	2168	2223	2113	0	0	0	0	0	0	14.61	14.02	14.64
5578	0.21	309.7	2610	691	2222	2114	319.0	9.2	384	5613	0.12	2.47	28.55	1.371	11430	0.125	0.078	2668	2101	2100	2151	2049	0	0	0	0	0	0	14.21	14.12	13.26
5926	0.14	309.7	2667	2101	2134	2037	272.9	13.2	403	5931	0.15	2.47	0.00	0.000	4740	0.258	0.083	2640	692	2086	2138	2035	0	0	0	0	0	0	13.93	14.09	14.09
6013	0.20	309.9	2641	692	2137	2034	263.5	10.0	420	6019	0.00	2.47	0.00	0.000	1190	0.000	0.080	2640	2103	2085	2136	2035	0	0	0	0	0	0	14.25	14.11	14.31
6317	0.21	325.2	2640	2104	2136	2035	234.4	9.3	431	6339	0.00	0.00	20.70	1.401	8230	0.000	0.000	2640	2103	2045	2098	1992	0	0	0	0	0	0	14.64	14.09	13.28
6616	0.26	356.7	2641	2103	2077	1977	208.3	8.5	441	6677	0.00	0.00	54.78	1.299	8358	0.000	0.000	2641	2103	1906	1945	1867	0	0	0	0	0	0	14.62	13.78	13.19
6976	0.36	403.9	2640	2103	1932	1858	179.6	7.8	453	7068	0.15	2.60	85.00	1.217	10916	0.109	0.089	2709	700	1713	1737	1689	0	0	0	0	0	0	14.31	13.90	13.12
7134	0.40	403.9	2710	700	1724	1684	161.5	11.4	484	7139	0.00	2.47	0.00	0.000	1158	0.000	0.077	2709	2106	1703	1724	1682	0	0	0	0	0	0	14.18	14.05	14.23
7461	0.40	403.9	2709	2107	1724	1677	124.2	11.1	499	7466	0.00	2.55	0.00	0.000	516	0.000	0.088	2709	688	1699	1723	1676	0	0	0	0	0	0	14.42	14.02	14.44
7502	0.45	403.9	2710	688	1725	1676	119.8	10.3	507	7507	0.00	2.53	0.00	0.000	1158	0.000	0.078	2709	2106	1698	1721	1676	0	0	0	0	0	0	14.17	14.04	14.22
7815	0.46	422.8	2709	2108	1722	1674	88.8	9.1	528	7830	0.00	2.58	8.38	0.425	8740	0.000	0.087	2709	697	1642	1670	1614	0	0	0	0	0	0	14.41	13.98	13.48
7871	0.55	451.8	2709	698	1675	1619	83.5	8.7	539	7894	0.15	2.50	17.92	0.441	11430	0.112	0.076	2773	2107	1522	1548	1496	0	0	0	0	0	0	13.97	13.89	13.58
8200	0.53	483.4	2772	2108	1556	1498	47.2	8.5	574	8226	0.00	2.58	18.55	0.332	8868	0.000	0.085	2780	695	1394	1430	1358	0	0	0	0	0	0	14.37	13.90	13.57
8376	0.60	553.5	2780	695	1436	1360	34.4	6.8	609	8425	0.00	2.53	39.85	0.295	9382	0.000	0.077	2781	2112	1108	1168	1048	0	0	0	0	0	0	13.95	13.81	13.67
8721	0.77	668.9	2781	2112	1170	1051	13.5	4.7	648	8795	0.12	2.55	65.05	0.238	10916	0.132	0.090	2849	693	638	684	592	0	0	0	0	0	0	14.07	13.95	13.72
8823	0.88	714.1	2850	695	687	589	6.4	7.9	667	8851	0.00	2.50	22.55	0.216	9382	0.000	0.077	2849	2098	500	515	485	0	0	0	0	0	0	14.07	13.93	13.67
8873	end climb: SURFACE_DEPTH_REACHED
state	8873	begin surface coast
8894	end surface coast: CONTROL_FINISHED_OK
state	8894	begin surface