Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 378 * 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 378 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 1052.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 1052.0 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 61 VBD_MIN 500

DIVE 378 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 190917,151412,7432.0210,-15248.8633,42,0.8,49,19.7,0.8,251.5,11,8.2 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 205.9,38924,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 190917,152053,7432.0444,-15248.8828,8,0.8,17,19.7,0.0,322.7,11,9.4

Post-dive calculations and measurements:

FINISH 0.3,1.018793 _24V_AH 12.19,226.008

SM_CCo 9113,0.00,0.000,0,0,499,703.03 _10V_AH 12.05,0.000

SM_GC 1.18,8.35,0.17,0.00,0.070,0.129,0.000,205,2213,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.22,14.21,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 307 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323508

IRIDIUM_FIX 7432.53,-15246.42,190917,123318 DATA_FILE_SIZE 26697,754

TT8_MAMPS 0.040446,0.926513 CAP_FILE_SIZE 101625,0

HUMID 47.24 CFSIZE 2097872896,1981251584

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1447.7

XPDR_PINGS 12 CURRENT 0.040,47.96,1

CP_FREE 15908601856.000000 GPS 190917,175455,7431.566,-15252.311,22,0.8,48,19.7,1.0,3.1,10,5.3

PM_FREEKB_00 45464960

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 143.56 nil 0 0 0.00

Roll_motor 89 2164 2361.31 nil 0 0 0.00

VBD_pump_during_apogee 1012 1472 18177.04 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 9016 14 1604.39

Iridium_during_xfer 179 133 293.14 NCP 9023 20 2199.81

Transponder_ping 3 420 15.36 PMAR 9005 9 1086.62

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.06

TT8 0 0 0.00

LPSleep 6411 2 178.48

TT8_Active 874 13 147.21

TT8_Sampling 1949 33 785.58

TT8_CF8 289 38 135.05

TT8_Kalman 0 0 0.00

Analog_circuits 1939 10 233.77

GPS_charging 0 0 0.00

Compass 1081 7 91.20

RAFOS 2200 48 1272.48

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 -145.9 181 2219 508 489 0.0 0.0 0 144 0.00 0.00 -91.12 0.000 16386 0.000 0.000 178 2219 2214 2155 2273 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 179 2219 2157 2273 4.9 -7.5 9 200 12.88 2.72 -31.38 0.000 18724 0.449 2.165 2376 3600 3966 3950 3982 1 0 0 0 0 0 13.33 12.63 14.06

401 -0.73 -145.9 2376 3600 3956 3982 52.9 -11.8 59 406 0.00 2.33 0.00 0.000 1158 0.000 0.054 2375 2236 3968 3956 3981 0 0 0 0 0 0 14.29 14.15 14.32

712 -0.87 -145.9 2375 2234 3957 3983 87.0 -9.2 91 717 0.22 2.55 0.00 0.000 4772 0.096 0.082 2283 791 3964 3956 3972 0 0 0 0 0 0 14.05 14.02 14.09

762 -0.89 -145.9 2283 792 3957 3982 94.0 -15.3 101 767 0.00 2.47 0.00 0.000 1158 0.000 0.086 2280 2186 3969 3956 3983 0 0 0 0 0 0 14.20 14.08 14.23

1073 -0.89 -145.9 2281 2188 3957 3982 143.8 -15.2 115 1078 0.00 2.53 0.00 0.000 260 0.000 0.088 2277 3613 3968 3956 3981 0 0 0 0 0 0 14.62 14.01 14.64

1228 -1.02 -145.9 2277 3615 3957 3983 163.5 -11.7 146 1233 0.00 2.42 0.00 0.000 1158 0.000 0.057 2277 2190 3968 3956 3981 0 0 0 0 0 0 14.19 14.06 14.23

1554 -1.06 -145.9 2278 2189 3958 3982 205.9 -12.6 161 1555 0.12 0.00 0.00 0.000 4230 0.136 0.000 2231 2189 3969 3956 3983 0 0 0 0 0 0 14.27 14.36 14.34

1854 -1.04 -145.9 2231 2190 3957 3983 253.5 -15.6 171 1859 0.00 2.53 0.00 0.000 388 0.000 0.086 2223 3613 3968 3956 3981 0 0 0 0 0 0 14.62 14.03 14.64

1971 -1.09 -145.9 2223 3614 3957 3982 269.4 -13.1 194 1978 0.00 2.45 0.00 0.000 1158 0.000 0.057 2220 2194 3967 3956 3978 0 0 0 0 0 0 14.17 14.04 14.21

2293 -1.09 -145.9 2223 2192 3956 3982 311.5 -13.6 205 2298 0.00 2.55 0.00 0.000 260 0.000 0.087 2222 3613 3968 3956 3981 0 0 0 0 0 0 14.45 13.91 14.47

2358 -1.18 -145.9 2223 3613 3957 3982 322.0 -11.4 218 2363 0.00 2.45 0.00 0.000 1158 0.000 0.056 2222 2195 3967 3955 3980 0 0 0 0 0 0 14.07 13.95 14.10

2684 -1.18 -145.9 2223 2196 3956 3981 362.4 -12.3 233 2689 0.00 2.55 0.00 0.000 260 0.000 0.087 2222 3612 3969 3956 3982 0 0 0 0 0 0 14.40 13.85 14.42

2759 -1.29 -145.9 2222 3615 3957 3981 370.8 -10.5 248 2765 0.20 2.45 0.00 0.000 5254 0.101 0.055 2150 2194 3967 3955 3980 0 0 0 0 0 0 13.99 13.92 14.09

3076 -1.15 -145.9 2150 2194 3956 3980 429.8 -19.0 261 3081 0.22 2.55 0.00 0.000 2436 0.311 0.081 2188 3613 3967 3956 3979 0 0 0 0 0 0 13.43 13.83 13.67

3174 -1.18 -145.9 2188 3614 3957 3979 443.7 -13.0 280 3180 0.00 2.45 0.00 0.000 1158 0.000 0.055 2188 2198 3967 3956 3979 0 0 0 0 0 0 14.07 13.94 14.09

3437 end dive: TARGET_DEPTH_EXCEEDED

state 3437 begin apogee

3444 -0.13 0.0 2188 2057 3956 3978 482.9 -14.7 293 3674 1.40 0.10 226.27 1.401 10246 0.240 0.158 2532 2119 3364 3389 3339 0 0 0 0 0 0 13.61 13.45 12.64

3678 end apogee: CONTROL_FINISHED_OK

state 3678 begin climb

3683 0.57 145.9 2532 2119 3381 3329 495.1 0.0 300 3910 0.73 2.55 209.55 1.358 10756 0.060 0.078 2781 727 2760 2801 2719 0 0 0 0 0 0 13.62 12.80 12.19

4105 0.17 145.9 2781 727 2792 2714 483.0 14.2 341 4113 0.68 2.47 0.00 0.000 5254 0.321 0.074 2642 2096 2751 2791 2712 0 0 0 0 0 0 13.28 13.65 13.67

4411 -0.00 169.7 2642 2098 2793 2709 454.6 8.9 352 4447 0.22 2.45 31.80 1.471 12964 0.266 0.083 2589 718 2668 2714 2623 0 0 0 0 0 0 13.50 13.74 13.10

4478 0.04 229.7 2592 716 2711 2614 449.7 7.2 365 4578 0.00 2.45 91.85 1.340 9254 0.000 0.080 2589 2099 2429 2493 2366 0 0 0 0 0 0 14.10 13.98 12.94

4901 0.05 250.3 2590 2100 2476 2345 413.0 9.0 398 4930 0.00 0.00 27.30 1.454 8230 0.000 0.000 2589 2099 2345 2403 2287 0 0 0 0 0 0 14.38 13.97 13.16

5228 0.10 272.6 2590 2099 2389 2272 383.1 9.0 409 5268 0.00 2.47 32.15 1.427 8868 0.000 0.088 2589 731 2247 2302 2193 0 0 0 0 0 0 14.57 14.08 13.21

5289 0.19 303.9 2590 732 2297 2192 377.8 8.6 421 5344 0.17 2.40 48.30 1.366 11430 0.104 0.079 2667 2100 2126 2180 2073 0 0 0 0 0 0 14.22 14.11 13.12

5649 0.11 303.9 2667 2101 2164 2054 327.4 14.1 443 5654 0.17 2.45 0.00 0.000 4740 0.253 0.083 2630 721 2108 2164 2053 0 0 0 0 0 0 13.83 14.07 14.00

5685 0.15 303.9 2630 722 2161 2054 323.1 11.2 450 5690 0.00 2.40 0.00 0.000 1158 0.000 0.077 2630 2099 2107 2161 2053 0 0 0 0 0 0 14.29 14.15 14.34

6010 0.15 303.9 2631 2102 2161 2052 287.7 10.7 465 6016 0.00 2.45 0.00 0.000 516 0.000 0.087 2630 721 2105 2160 2051 0 0 0 0 0 0 14.63 14.13 14.64

6052 0.21 303.9 2631 722 2159 2052 283.5 10.0 473 6058 0.00 2.40 0.00 0.000 1158 0.000 0.077 2630 2100 2104 2159 2050 0 0 0 0 0 0 14.30 14.16 14.35

6373 0.22 318.8 2631 2102 2159 2052 252.5 9.3 487 6392 0.00 0.00 17.88 1.473 8230 0.000 0.000 2630 2101 2066 2117 2015 0 0 0 0 0 0 14.65 14.07 13.30

6673 0.28 352.6 2630 2101 2106 2002 226.2 8.4 497 6741 0.12 2.53 61.62 1.285 10916 0.125 0.086 2699 724 1923 1963 1883 0 0 0 0 0 0 14.31 13.97 13.19

6773 0.25 352.6 2698 724 1949 1881 214.7 12.1 516 6779 0.15 2.42 0.00 0.000 5254 0.218 0.076 2666 2104 1914 1948 1881 0 0 0 0 0 0 13.90 14.02 14.10

7099 0.25 357.0 2667 2105 1946 1873 181.7 9.8 531 7104 0.00 2.45 0.00 0.000 548 0.000 0.088 2666 722 1909 1945 1873 0 0 0 0 0 0 14.58 14.12 14.60

7180 0.34 382.3 2665 722 1945 1874 174.4 8.8 547 7235 0.00 2.45 49.38 1.277 9382 0.000 0.079 2666 2109 1804 1831 1777 0 0 0 0 0 0 14.28 14.13 13.24

7554 0.42 417.4 2667 2109 1817 1763 142.1 8.4 571 7626 0.12 2.55 62.90 1.227 10916 0.130 0.089 2730 724 1655 1680 1631 0 0 0 0 0 0 14.26 14.02 13.22

7671 0.42 417.4 2730 724 1674 1629 127.7 12.3 595 7676 0.00 2.45 0.00 0.000 1030 0.000 0.076 2728 2103 1651 1674 1629 0 0 0 0 0 0 14.18 14.05 14.21

7984 0.40 417.4 2730 2104 1674 1620 91.2 11.1 615 7989 0.00 2.45 0.00 0.000 644 0.000 0.088 2728 732 1646 1673 1620 0 0 0 0 0 0 14.52 13.88 14.54

8015 0.40 417.4 2729 728 1673 1621 87.7 10.7 621 8020 0.00 2.42 0.00 0.000 1030 0.000 0.076 2729 2101 1645 1670 1620 0 0 0 0 0 0 14.15 14.03 14.21

8326 0.43 465.8 2729 2102 1673 1617 57.9 7.8 653 8358 0.00 2.50 23.75 0.368 8740 0.000 0.086 2726 723 1466 1500 1432 0 0 0 0 0 0 14.57 14.09 13.72

8421 0.57 540.6 2729 723 1504 1434 51.4 6.5 671 8468 0.10 2.42 40.83 0.350 11430 0.146 0.077 2778 2103 1159 1222 1096 0 0 0 0 0 0 14.16 14.12 13.71

8774 0.72 636.1 2777 2103 1223 1100 22.4 5.6 711 8832 0.00 2.45 51.35 0.273 8868 0.000 0.086 2777 725 770 839 701 0 0 0 0 0 0 14.54 13.90 13.69

8912 0.96 726.0 2779 724 840 707 14.9 5.8 738 8955 0.35 2.42 37.65 0.249 11430 0.076 0.076 2902 2103 498 518 478 0 0 0 0 0 0 14.14 14.00 13.88

9018 end climb: SURFACE_DEPTH_REACHED

state 9018 begin surface coast

9031 end surface coast: CONTROL_FINISHED_OK

state 9031 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	378	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	1052.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,151412,7432.0210,-15248.8633,42,0.8,49,19.7,0.8,251.5,11,8.2	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	205.9,38924,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	190917,152053,7432.0444,-15248.8828,8,0.8,17,19.7,0.0,322.7,11,9.4

FINISH	0.3,1.018793	_24V_AH	12.19,226.008
SM_CCo	9113,0.00,0.000,0,0,499,703.03	_10V_AH	12.05,0.000
SM_GC	1.18,8.35,0.17,0.00,0.070,0.129,0.000,205,2213,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.22,14.21,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	307	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323508
IRIDIUM_FIX	7432.53,-15246.42,190917,123318	DATA_FILE_SIZE	26697,754
TT8_MAMPS	0.040446,0.926513	CAP_FILE_SIZE	101625,0
HUMID	47.24	CFSIZE	2097872896,1981251584
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.7
XPDR_PINGS	12	CURRENT	0.040,47.96,1
CP_FREE	15908601856.000000	GPS	190917,175455,7431.566,-15252.311,22,0.8,48,19.7,1.0,3.1,10,5.3
PM_FREEKB_00	45464960

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	143.56	nil	0	0	0.00
Roll_motor	89	2164	2361.31	nil	0	0	0.00
VBD_pump_during_apogee	1012	1472	18177.04	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	9016	14	1604.39
Iridium_during_xfer	179	133	293.14	NCP	9023	20	2199.81
Transponder_ping	3	420	15.36	PMAR	9005	9	1086.62
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.06
TT8	0	0	0.00
LPSleep	6411	2	178.48
TT8_Active	874	13	147.21
TT8_Sampling	1949	33	785.58
TT8_CF8	289	38	135.05
TT8_Kalman	0	0	0.00
Analog_circuits	1939	10	233.77
GPS_charging	0	0	0.00
Compass	1081	7	91.20
RAFOS	2200	48	1272.48
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	181	2219	508	489	0.0	0.0	0	144	0.00	0.00	-91.12	0.000	16386	0.000	0.000	178	2219	2214	2155	2273	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	179	2219	2157	2273	4.9	-7.5	9	200	12.88	2.72	-31.38	0.000	18724	0.449	2.165	2376	3600	3966	3950	3982	1	0	0	0	0	0	13.33	12.63	14.06
401	-0.73	-145.9	2376	3600	3956	3982	52.9	-11.8	59	406	0.00	2.33	0.00	0.000	1158	0.000	0.054	2375	2236	3968	3956	3981	0	0	0	0	0	0	14.29	14.15	14.32
712	-0.87	-145.9	2375	2234	3957	3983	87.0	-9.2	91	717	0.22	2.55	0.00	0.000	4772	0.096	0.082	2283	791	3964	3956	3972	0	0	0	0	0	0	14.05	14.02	14.09
762	-0.89	-145.9	2283	792	3957	3982	94.0	-15.3	101	767	0.00	2.47	0.00	0.000	1158	0.000	0.086	2280	2186	3969	3956	3983	0	0	0	0	0	0	14.20	14.08	14.23
1073	-0.89	-145.9	2281	2188	3957	3982	143.8	-15.2	115	1078	0.00	2.53	0.00	0.000	260	0.000	0.088	2277	3613	3968	3956	3981	0	0	0	0	0	0	14.62	14.01	14.64
1228	-1.02	-145.9	2277	3615	3957	3983	163.5	-11.7	146	1233	0.00	2.42	0.00	0.000	1158	0.000	0.057	2277	2190	3968	3956	3981	0	0	0	0	0	0	14.19	14.06	14.23
1554	-1.06	-145.9	2278	2189	3958	3982	205.9	-12.6	161	1555	0.12	0.00	0.00	0.000	4230	0.136	0.000	2231	2189	3969	3956	3983	0	0	0	0	0	0	14.27	14.36	14.34
1854	-1.04	-145.9	2231	2190	3957	3983	253.5	-15.6	171	1859	0.00	2.53	0.00	0.000	388	0.000	0.086	2223	3613	3968	3956	3981	0	0	0	0	0	0	14.62	14.03	14.64
1971	-1.09	-145.9	2223	3614	3957	3982	269.4	-13.1	194	1978	0.00	2.45	0.00	0.000	1158	0.000	0.057	2220	2194	3967	3956	3978	0	0	0	0	0	0	14.17	14.04	14.21
2293	-1.09	-145.9	2223	2192	3956	3982	311.5	-13.6	205	2298	0.00	2.55	0.00	0.000	260	0.000	0.087	2222	3613	3968	3956	3981	0	0	0	0	0	0	14.45	13.91	14.47
2358	-1.18	-145.9	2223	3613	3957	3982	322.0	-11.4	218	2363	0.00	2.45	0.00	0.000	1158	0.000	0.056	2222	2195	3967	3955	3980	0	0	0	0	0	0	14.07	13.95	14.10
2684	-1.18	-145.9	2223	2196	3956	3981	362.4	-12.3	233	2689	0.00	2.55	0.00	0.000	260	0.000	0.087	2222	3612	3969	3956	3982	0	0	0	0	0	0	14.40	13.85	14.42
2759	-1.29	-145.9	2222	3615	3957	3981	370.8	-10.5	248	2765	0.20	2.45	0.00	0.000	5254	0.101	0.055	2150	2194	3967	3955	3980	0	0	0	0	0	0	13.99	13.92	14.09
3076	-1.15	-145.9	2150	2194	3956	3980	429.8	-19.0	261	3081	0.22	2.55	0.00	0.000	2436	0.311	0.081	2188	3613	3967	3956	3979	0	0	0	0	0	0	13.43	13.83	13.67
3174	-1.18	-145.9	2188	3614	3957	3979	443.7	-13.0	280	3180	0.00	2.45	0.00	0.000	1158	0.000	0.055	2188	2198	3967	3956	3979	0	0	0	0	0	0	14.07	13.94	14.09
3437	end dive: TARGET_DEPTH_EXCEEDED
state	3437	begin apogee
3444	-0.13	0.0	2188	2057	3956	3978	482.9	-14.7	293	3674	1.40	0.10	226.27	1.401	10246	0.240	0.158	2532	2119	3364	3389	3339	0	0	0	0	0	0	13.61	13.45	12.64
3678	end apogee: CONTROL_FINISHED_OK
state	3678	begin climb
3683	0.57	145.9	2532	2119	3381	3329	495.1	0.0	300	3910	0.73	2.55	209.55	1.358	10756	0.060	0.078	2781	727	2760	2801	2719	0	0	0	0	0	0	13.62	12.80	12.19
4105	0.17	145.9	2781	727	2792	2714	483.0	14.2	341	4113	0.68	2.47	0.00	0.000	5254	0.321	0.074	2642	2096	2751	2791	2712	0	0	0	0	0	0	13.28	13.65	13.67
4411	-0.00	169.7	2642	2098	2793	2709	454.6	8.9	352	4447	0.22	2.45	31.80	1.471	12964	0.266	0.083	2589	718	2668	2714	2623	0	0	0	0	0	0	13.50	13.74	13.10
4478	0.04	229.7	2592	716	2711	2614	449.7	7.2	365	4578	0.00	2.45	91.85	1.340	9254	0.000	0.080	2589	2099	2429	2493	2366	0	0	0	0	0	0	14.10	13.98	12.94
4901	0.05	250.3	2590	2100	2476	2345	413.0	9.0	398	4930	0.00	0.00	27.30	1.454	8230	0.000	0.000	2589	2099	2345	2403	2287	0	0	0	0	0	0	14.38	13.97	13.16
5228	0.10	272.6	2590	2099	2389	2272	383.1	9.0	409	5268	0.00	2.47	32.15	1.427	8868	0.000	0.088	2589	731	2247	2302	2193	0	0	0	0	0	0	14.57	14.08	13.21
5289	0.19	303.9	2590	732	2297	2192	377.8	8.6	421	5344	0.17	2.40	48.30	1.366	11430	0.104	0.079	2667	2100	2126	2180	2073	0	0	0	0	0	0	14.22	14.11	13.12
5649	0.11	303.9	2667	2101	2164	2054	327.4	14.1	443	5654	0.17	2.45	0.00	0.000	4740	0.253	0.083	2630	721	2108	2164	2053	0	0	0	0	0	0	13.83	14.07	14.00
5685	0.15	303.9	2630	722	2161	2054	323.1	11.2	450	5690	0.00	2.40	0.00	0.000	1158	0.000	0.077	2630	2099	2107	2161	2053	0	0	0	0	0	0	14.29	14.15	14.34
6010	0.15	303.9	2631	2102	2161	2052	287.7	10.7	465	6016	0.00	2.45	0.00	0.000	516	0.000	0.087	2630	721	2105	2160	2051	0	0	0	0	0	0	14.63	14.13	14.64
6052	0.21	303.9	2631	722	2159	2052	283.5	10.0	473	6058	0.00	2.40	0.00	0.000	1158	0.000	0.077	2630	2100	2104	2159	2050	0	0	0	0	0	0	14.30	14.16	14.35
6373	0.22	318.8	2631	2102	2159	2052	252.5	9.3	487	6392	0.00	0.00	17.88	1.473	8230	0.000	0.000	2630	2101	2066	2117	2015	0	0	0	0	0	0	14.65	14.07	13.30
6673	0.28	352.6	2630	2101	2106	2002	226.2	8.4	497	6741	0.12	2.53	61.62	1.285	10916	0.125	0.086	2699	724	1923	1963	1883	0	0	0	0	0	0	14.31	13.97	13.19
6773	0.25	352.6	2698	724	1949	1881	214.7	12.1	516	6779	0.15	2.42	0.00	0.000	5254	0.218	0.076	2666	2104	1914	1948	1881	0	0	0	0	0	0	13.90	14.02	14.10
7099	0.25	357.0	2667	2105	1946	1873	181.7	9.8	531	7104	0.00	2.45	0.00	0.000	548	0.000	0.088	2666	722	1909	1945	1873	0	0	0	0	0	0	14.58	14.12	14.60
7180	0.34	382.3	2665	722	1945	1874	174.4	8.8	547	7235	0.00	2.45	49.38	1.277	9382	0.000	0.079	2666	2109	1804	1831	1777	0	0	0	0	0	0	14.28	14.13	13.24
7554	0.42	417.4	2667	2109	1817	1763	142.1	8.4	571	7626	0.12	2.55	62.90	1.227	10916	0.130	0.089	2730	724	1655	1680	1631	0	0	0	0	0	0	14.26	14.02	13.22
7671	0.42	417.4	2730	724	1674	1629	127.7	12.3	595	7676	0.00	2.45	0.00	0.000	1030	0.000	0.076	2728	2103	1651	1674	1629	0	0	0	0	0	0	14.18	14.05	14.21
7984	0.40	417.4	2730	2104	1674	1620	91.2	11.1	615	7989	0.00	2.45	0.00	0.000	644	0.000	0.088	2728	732	1646	1673	1620	0	0	0	0	0	0	14.52	13.88	14.54
8015	0.40	417.4	2729	728	1673	1621	87.7	10.7	621	8020	0.00	2.42	0.00	0.000	1030	0.000	0.076	2729	2101	1645	1670	1620	0	0	0	0	0	0	14.15	14.03	14.21
8326	0.43	465.8	2729	2102	1673	1617	57.9	7.8	653	8358	0.00	2.50	23.75	0.368	8740	0.000	0.086	2726	723	1466	1500	1432	0	0	0	0	0	0	14.57	14.09	13.72
8421	0.57	540.6	2729	723	1504	1434	51.4	6.5	671	8468	0.10	2.42	40.83	0.350	11430	0.146	0.077	2778	2103	1159	1222	1096	0	0	0	0	0	0	14.16	14.12	13.71
8774	0.72	636.1	2777	2103	1223	1100	22.4	5.6	711	8832	0.00	2.45	51.35	0.273	8868	0.000	0.086	2777	725	770	839	701	0	0	0	0	0	0	14.54	13.90	13.69
8912	0.96	726.0	2779	724	840	707	14.9	5.8	738	8955	0.35	2.42	37.65	0.249	11430	0.076	0.076	2902	2103	498	518	478	0	0	0	0	0	0	14.14	14.00	13.88
9018	end climb: SURFACE_DEPTH_REACHED
state	9018	begin surface coast
9031	end surface coast: CONTROL_FINISHED_OK
state	9031	begin surface