Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 380 * 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 380 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 1057.0

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 17 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 1057.0 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 380 NOCOMM_ACTION 161 R_STBD_OVSHOOT 17 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 190917,204303,7431.0942,-15255.8252,30,0.7,31,19.7,0.6,86.8,11,8.9 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 1.22 MHEAD_RNG_PITCHd_Wd 206.3,35295,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 190917,205534,7431.1196,-15255.5635,9,0.8,12,19.7,0.6,338.2,10,9.3

Post-dive calculations and measurements:

FINISH 0.3,1.011063 _24V_AH 12.33,226.975

SM_CCo 8886,33.03,0.207,0,0,501,702.78 _10V_AH 12.42,0.000

SM_GC 1.56,8.07,0.17,33.03,0.058,0.128,0.207,200,2219,501,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.23,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323324

IRIDIUM_FIX 7432.58,-15304.45,190917,175950 DATA_FILE_SIZE 23391,713

TT8_MAMPS 0.039697,0.87633 CAP_FILE_SIZE 100385,0

HUMID 48.30 CFSIZE 2097872896,1980694528

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

TCM_TEMP 13.30 SOUNDSPEED 1448.0

XPDR_PINGS 28 CURRENT 0.044,37.06,1

CP_FREE 0.000000 GPS 190917,232554,7430.523,-15259.076,17,0.7,19,19.7,0.0,4.4,11,9.5

PM_FREEKB_00 45418816

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 450 145.42 nil 0 0 0.00

Roll_motor 85 2156 2274.12 nil 0 0 0.00

VBD_pump_during_apogee 1035 1444 18448.23 nil 0 0 0.00

VBD_pump_during_surface 33 206 84.11 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 5452 14 974.20

Iridium_during_xfer 447 175 971.54 NCP 8852 20 2182.90

Transponder_ping 7 420 36.25 PMAR 8823 9 1070.80

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.82

TT8 0 0 0.00

LPSleep 6278 2 180.13

TT8_Active 1051 13 182.46

TT8_Sampling 1985 33 824.81

TT8_CF8 366 38 176.27

TT8_Kalman 0 0 0.00

Analog_circuits 2218 10 275.48

GPS_charging 0 0 0.00

Compass 1021 7 88.84

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 179 2205 502 483 0.0 0.0 0 145 0.00 0.00 -91.47 0.000 16386 0.000 0.000 177 2205 2218 2156 2280 0 0 0 0 0 0 14.36 28.83 14.38

149 -0.57 -145.9 177 2205 2157 2281 4.6 -7.2 9 202 12.85 2.80 -30.77 0.000 18724 0.451 2.157 2374 3616 3965 3949 3982 1 0 0 0 0 0 13.35 12.57 14.08

272 -0.75 -145.9 2374 3616 3954 3982 36.8 -11.8 33 277 0.12 2.40 0.00 0.000 5254 0.124 0.054 2324 2199 3967 3953 3982 0 0 0 0 0 0 14.18 14.16 14.27

583 -0.78 -145.9 2324 2201 3956 3982 91.8 -14.3 65 588 0.00 2.50 0.00 0.000 388 0.000 0.084 2319 3619 3968 3954 3982 0 0 0 0 0 0 14.64 14.12 14.66

639 -0.94 -145.9 2320 3620 3956 3982 98.9 -11.2 76 646 0.15 2.40 0.00 0.000 5254 0.112 0.057 2255 2202 3968 3954 3982 0 0 0 0 0 0 14.25 14.17 14.37

954 -0.89 -145.9 2255 2202 3955 3983 156.3 -17.6 88 960 0.12 2.47 0.00 0.000 2436 0.301 0.080 2273 3616 3968 3954 3982 0 0 0 0 0 0 13.88 14.11 14.04

986 -0.94 -145.9 2274 3616 3956 3982 161.1 -14.1 94 991 0.00 2.42 0.00 0.000 1158 0.000 0.060 2273 2198 3968 3954 3982 0 0 0 0 0 0 14.29 14.15 14.32

1317 -0.98 -145.9 2274 2198 3956 3982 206.2 -13.2 110 1322 0.00 2.50 0.00 0.000 388 0.000 0.085 2266 3614 3968 3954 3982 0 0 0 0 0 0 14.68 14.08 14.70

1357 -1.09 -145.9 2267 3616 3956 3982 211.3 -11.8 118 1363 0.12 2.40 0.00 0.000 5254 0.127 0.057 2218 2199 3968 3954 3982 0 0 0 0 0 0 14.20 14.15 14.30

1678 -1.05 -145.9 2219 2198 3956 3982 264.7 -16.1 132 1684 0.00 2.53 0.00 0.000 388 0.000 0.084 2210 3618 3968 3955 3982 0 0 0 0 0 0 14.69 14.07 14.68

1745 -1.07 -145.9 2210 3619 3956 3982 274.9 -14.6 145 1750 0.00 2.42 0.00 0.000 1158 0.000 0.059 2210 2199 3968 3955 3982 0 0 0 0 0 0 14.30 14.12 14.31

2070 -1.04 -145.9 2210 2198 3956 3982 323.7 -14.5 160 2076 0.12 2.53 0.00 0.000 2436 0.295 0.083 2232 3620 3968 3954 3982 0 0 0 0 0 0 13.85 14.09 14.00

2127 -1.15 -145.9 2232 3621 3955 3982 330.5 -10.8 171 2133 0.00 2.42 0.00 0.000 1158 0.000 0.057 2231 2195 3967 3954 3981 0 0 0 0 0 0 14.26 14.12 14.33

2432 -1.19 -145.9 2232 2195 3955 3981 365.7 -11.5 182 2437 0.00 2.53 0.00 0.000 388 0.000 0.085 2222 3614 3967 3955 3980 0 0 0 0 0 0 14.70 13.98 14.71

2493 -1.29 -145.9 2223 3615 3955 3981 372.5 -10.6 194 2498 0.20 2.42 0.00 0.000 5254 0.099 0.056 2149 2193 3967 3954 3980 0 0 0 0 0 0 14.13 14.05 14.12

2824 -1.17 -145.9 2149 2193 3955 3980 433.5 -18.8 210 2829 0.22 2.55 0.00 0.000 2436 0.312 0.080 2187 3620 3965 3954 3976 0 0 0 0 0 0 13.50 13.90 13.74

2941 -1.19 -145.9 2187 3621 3955 3980 450.1 -13.3 233 2947 0.00 2.42 0.00 0.000 1158 0.000 0.057 2187 2201 3966 3954 3979 0 0 0 0 0 0 14.15 14.02 14.23

3151 end dive: TARGET_DEPTH_EXCEEDED

state 3151 begin apogee

3158 -0.13 0.0 2188 2059 3955 3979 481.4 -14.7 241 3396 1.38 0.10 234.35 1.377 10246 0.242 0.157 2528 2126 3364 3389 3340 0 0 0 0 0 0 13.70 13.57 12.76

3400 end apogee: CONTROL_FINISHED_OK

state 3400 begin climb

3403 0.57 145.9 2529 2127 3380 3331 495.2 0.0 249 3622 0.75 2.58 208.75 1.330 10500 0.059 0.070 2784 3501 2764 2810 2719 0 0 0 0 0 0 13.75 12.95 12.33

3743 0.07 145.9 2785 3502 2786 2713 491.5 15.6 306 3748 0.93 2.42 0.00 0.000 5254 0.348 0.054 2612 2129 2749 2785 2713 0 0 0 0 0 0 13.26 13.66 13.65

4064 -0.02 194.8 2613 2127 2787 2710 465.1 7.7 320 4144 0.15 2.58 73.18 1.343 12964 0.283 0.087 2588 691 2565 2624 2507 0 0 0 0 0 0 13.83 13.93 13.05

4154 0.03 262.6 2586 692 2616 2502 458.7 6.9 333 4269 0.00 2.50 105.43 1.300 9254 0.000 0.079 2588 2092 2288 2349 2227 0 0 0 0 0 0 14.06 13.94 12.86

4577 0.08 281.9 2589 2097 2333 2210 421.1 9.1 367 4607 0.00 0.00 23.40 1.444 8358 0.000 0.000 2589 2092 2208 2267 2150 0 0 0 0 0 0 14.52 14.00 13.17

4907 0.14 305.7 2589 2093 2257 2139 391.3 8.9 378 4948 0.12 2.53 33.78 1.400 10916 0.127 0.090 2658 701 2112 2167 2058 0 0 0 0 0 0 14.21 14.08 13.22

4988 0.14 305.7 2658 701 2155 2055 380.8 13.5 394 4993 0.12 2.45 0.00 0.000 5126 0.253 0.078 2632 2103 2104 2155 2054 0 0 0 0 0 0 13.97 14.14 14.23

5299 0.14 305.7 2633 2105 2155 2047 344.2 11.6 406 5299 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2105 2100 2154 2047 0 0 0 0 0 0 14.62 14.64 14.64

5599 0.14 305.7 2633 2105 2155 2045 310.5 11.1 416 5604 0.00 2.53 0.00 0.000 516 0.000 0.090 2634 687 2098 2153 2044 0 0 0 0 0 0 14.65 14.13 14.64

5670 0.19 305.7 2634 689 2157 2046 302.9 10.3 430 5675 0.00 2.50 0.00 0.000 1158 0.000 0.077 2633 2103 2098 2151 2045 0 0 0 0 0 0 14.13 13.78 14.23

5991 0.19 306.8 2633 2106 2152 2046 269.1 9.9 444 5992 0.00 0.00 0.00 0.000 38 0.000 0.000 2633 2105 2098 2151 2045 0 0 0 0 0 0 14.65 14.67 14.67

6291 0.21 332.1 2635 2105 2152 2044 241.7 8.8 454 6340 0.00 2.58 41.40 1.320 8740 0.000 0.089 2634 686 2005 2052 1958 0 0 0 0 0 0 14.64 14.10 13.25

6398 0.33 369.8 2634 686 2042 1954 232.7 8.3 475 6472 0.17 2.50 64.22 1.244 11430 0.102 0.078 2702 2107 1852 1883 1822 0 0 0 0 0 0 14.23 14.15 13.15

6771 0.28 369.8 2703 2107 1870 1810 185.4 12.1 500 6772 0.00 0.00 0.00 0.000 134 0.000 0.000 2701 2107 1839 1868 1810 0 0 0 0 0 0 14.57 14.59 14.59

7071 0.24 369.8 2702 2108 1866 1809 150.6 11.5 510 7076 0.15 2.55 0.00 0.000 4740 0.218 0.085 2671 688 1836 1865 1808 0 0 0 0 0 0 13.94 14.04 14.05

7179 0.35 407.6 2671 688 1863 1809 141.4 8.3 531 7248 0.00 2.50 64.07 1.214 9382 0.000 0.079 2671 2101 1706 1730 1682 0 0 0 0 0 0 14.20 14.06 13.20

7556 0.45 446.4 2671 2102 1716 1657 109.9 8.2 556 7629 0.15 2.53 67.15 1.180 10916 0.117 0.089 2748 692 1541 1572 1510 0 0 0 0 0 0 14.19 13.76 13.21

7674 0.45 446.4 2748 692 1559 1502 95.3 12.3 580 7680 0.00 2.47 0.00 0.000 1030 0.000 0.077 2747 2099 1528 1557 1500 0 0 0 0 0 0 14.09 13.98 14.13

7986 0.46 454.2 2748 2101 1558 1494 60.2 9.6 612 7992 0.00 2.58 1.98 0.239 8740 0.000 0.087 2747 686 1508 1546 1471 0 0 0 0 0 0 14.54 14.05 13.74

8023 0.51 486.8 2748 688 1547 1483 57.0 8.5 619 8050 0.00 2.50 20.20 0.369 9382 0.000 0.078 2747 2106 1377 1421 1334 0 0 0 0 0 0 14.22 14.08 13.70

8348 0.63 581.6 2748 2107 1425 1344 34.9 5.6 654 8412 0.12 2.58 55.08 0.296 10916 0.125 0.090 2807 689 989 1053 925 0 0 0 0 0 0 14.16 14.04 13.77

8455 0.71 602.2 2807 689 1060 932 25.7 9.0 674 8476 0.00 2.50 13.35 0.272 9382 0.000 0.077 2807 2110 905 973 838 0 0 0 0 0 0 14.11 13.98 13.76

8772 0.83 673.6 2808 2110 976 850 4.0 6.7 708 8804 0.12 0.00 29.60 0.210 10402 0.128 0.000 2866 2110 712 769 655 0 0 0 0 0 0 14.16 28.83 14.21

8804 end climb: SURFACE_DEPTH_REACHED

state 8804 begin surface coast

8820 end surface coast: CONTROL_FINISHED_OK

state 8820 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	380	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	1057.0
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	17	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,204303,7431.0942,-15255.8252,30,0.7,31,19.7,0.6,86.8,11,8.9	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	1.22	MHEAD_RNG_PITCHd_Wd	206.3,35295,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	190917,205534,7431.1196,-15255.5635,9,0.8,12,19.7,0.6,338.2,10,9.3

FINISH	0.3,1.011063	_24V_AH	12.33,226.975
SM_CCo	8886,33.03,0.207,0,0,501,702.78	_10V_AH	12.42,0.000
SM_GC	1.56,8.07,0.17,33.03,0.058,0.128,0.207,200,2219,501,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.23,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323324
IRIDIUM_FIX	7432.58,-15304.45,190917,175950	DATA_FILE_SIZE	23391,713
TT8_MAMPS	0.039697,0.87633	CAP_FILE_SIZE	100385,0
HUMID	48.30	CFSIZE	2097872896,1980694528
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1448.0
XPDR_PINGS	28	CURRENT	0.044,37.06,1
CP_FREE	0.000000	GPS	190917,232554,7430.523,-15259.076,17,0.7,19,19.7,0.0,4.4,11,9.5
PM_FREEKB_00	45418816

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	450	145.42	nil	0	0	0.00
Roll_motor	85	2156	2274.12	nil	0	0	0.00
VBD_pump_during_apogee	1035	1444	18448.23	nil	0	0	0.00
VBD_pump_during_surface	33	206	84.11	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	5452	14	974.20
Iridium_during_xfer	447	175	971.54	NCP	8852	20	2182.90
Transponder_ping	7	420	36.25	PMAR	8823	9	1070.80
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.82
TT8	0	0	0.00
LPSleep	6278	2	180.13
TT8_Active	1051	13	182.46
TT8_Sampling	1985	33	824.81
TT8_CF8	366	38	176.27
TT8_Kalman	0	0	0.00
Analog_circuits	2218	10	275.48
GPS_charging	0	0	0.00
Compass	1021	7	88.84
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	179	2205	502	483	0.0	0.0	0	145	0.00	0.00	-91.47	0.000	16386	0.000	0.000	177	2205	2218	2156	2280	0	0	0	0	0	0	14.36	28.83	14.38
149	-0.57	-145.9	177	2205	2157	2281	4.6	-7.2	9	202	12.85	2.80	-30.77	0.000	18724	0.451	2.157	2374	3616	3965	3949	3982	1	0	0	0	0	0	13.35	12.57	14.08
272	-0.75	-145.9	2374	3616	3954	3982	36.8	-11.8	33	277	0.12	2.40	0.00	0.000	5254	0.124	0.054	2324	2199	3967	3953	3982	0	0	0	0	0	0	14.18	14.16	14.27
583	-0.78	-145.9	2324	2201	3956	3982	91.8	-14.3	65	588	0.00	2.50	0.00	0.000	388	0.000	0.084	2319	3619	3968	3954	3982	0	0	0	0	0	0	14.64	14.12	14.66
639	-0.94	-145.9	2320	3620	3956	3982	98.9	-11.2	76	646	0.15	2.40	0.00	0.000	5254	0.112	0.057	2255	2202	3968	3954	3982	0	0	0	0	0	0	14.25	14.17	14.37
954	-0.89	-145.9	2255	2202	3955	3983	156.3	-17.6	88	960	0.12	2.47	0.00	0.000	2436	0.301	0.080	2273	3616	3968	3954	3982	0	0	0	0	0	0	13.88	14.11	14.04
986	-0.94	-145.9	2274	3616	3956	3982	161.1	-14.1	94	991	0.00	2.42	0.00	0.000	1158	0.000	0.060	2273	2198	3968	3954	3982	0	0	0	0	0	0	14.29	14.15	14.32
1317	-0.98	-145.9	2274	2198	3956	3982	206.2	-13.2	110	1322	0.00	2.50	0.00	0.000	388	0.000	0.085	2266	3614	3968	3954	3982	0	0	0	0	0	0	14.68	14.08	14.70
1357	-1.09	-145.9	2267	3616	3956	3982	211.3	-11.8	118	1363	0.12	2.40	0.00	0.000	5254	0.127	0.057	2218	2199	3968	3954	3982	0	0	0	0	0	0	14.20	14.15	14.30
1678	-1.05	-145.9	2219	2198	3956	3982	264.7	-16.1	132	1684	0.00	2.53	0.00	0.000	388	0.000	0.084	2210	3618	3968	3955	3982	0	0	0	0	0	0	14.69	14.07	14.68
1745	-1.07	-145.9	2210	3619	3956	3982	274.9	-14.6	145	1750	0.00	2.42	0.00	0.000	1158	0.000	0.059	2210	2199	3968	3955	3982	0	0	0	0	0	0	14.30	14.12	14.31
2070	-1.04	-145.9	2210	2198	3956	3982	323.7	-14.5	160	2076	0.12	2.53	0.00	0.000	2436	0.295	0.083	2232	3620	3968	3954	3982	0	0	0	0	0	0	13.85	14.09	14.00
2127	-1.15	-145.9	2232	3621	3955	3982	330.5	-10.8	171	2133	0.00	2.42	0.00	0.000	1158	0.000	0.057	2231	2195	3967	3954	3981	0	0	0	0	0	0	14.26	14.12	14.33
2432	-1.19	-145.9	2232	2195	3955	3981	365.7	-11.5	182	2437	0.00	2.53	0.00	0.000	388	0.000	0.085	2222	3614	3967	3955	3980	0	0	0	0	0	0	14.70	13.98	14.71
2493	-1.29	-145.9	2223	3615	3955	3981	372.5	-10.6	194	2498	0.20	2.42	0.00	0.000	5254	0.099	0.056	2149	2193	3967	3954	3980	0	0	0	0	0	0	14.13	14.05	14.12
2824	-1.17	-145.9	2149	2193	3955	3980	433.5	-18.8	210	2829	0.22	2.55	0.00	0.000	2436	0.312	0.080	2187	3620	3965	3954	3976	0	0	0	0	0	0	13.50	13.90	13.74
2941	-1.19	-145.9	2187	3621	3955	3980	450.1	-13.3	233	2947	0.00	2.42	0.00	0.000	1158	0.000	0.057	2187	2201	3966	3954	3979	0	0	0	0	0	0	14.15	14.02	14.23
3151	end dive: TARGET_DEPTH_EXCEEDED
state	3151	begin apogee
3158	-0.13	0.0	2188	2059	3955	3979	481.4	-14.7	241	3396	1.38	0.10	234.35	1.377	10246	0.242	0.157	2528	2126	3364	3389	3340	0	0	0	0	0	0	13.70	13.57	12.76
3400	end apogee: CONTROL_FINISHED_OK
state	3400	begin climb
3403	0.57	145.9	2529	2127	3380	3331	495.2	0.0	249	3622	0.75	2.58	208.75	1.330	10500	0.059	0.070	2784	3501	2764	2810	2719	0	0	0	0	0	0	13.75	12.95	12.33
3743	0.07	145.9	2785	3502	2786	2713	491.5	15.6	306	3748	0.93	2.42	0.00	0.000	5254	0.348	0.054	2612	2129	2749	2785	2713	0	0	0	0	0	0	13.26	13.66	13.65
4064	-0.02	194.8	2613	2127	2787	2710	465.1	7.7	320	4144	0.15	2.58	73.18	1.343	12964	0.283	0.087	2588	691	2565	2624	2507	0	0	0	0	0	0	13.83	13.93	13.05
4154	0.03	262.6	2586	692	2616	2502	458.7	6.9	333	4269	0.00	2.50	105.43	1.300	9254	0.000	0.079	2588	2092	2288	2349	2227	0	0	0	0	0	0	14.06	13.94	12.86
4577	0.08	281.9	2589	2097	2333	2210	421.1	9.1	367	4607	0.00	0.00	23.40	1.444	8358	0.000	0.000	2589	2092	2208	2267	2150	0	0	0	0	0	0	14.52	14.00	13.17
4907	0.14	305.7	2589	2093	2257	2139	391.3	8.9	378	4948	0.12	2.53	33.78	1.400	10916	0.127	0.090	2658	701	2112	2167	2058	0	0	0	0	0	0	14.21	14.08	13.22
4988	0.14	305.7	2658	701	2155	2055	380.8	13.5	394	4993	0.12	2.45	0.00	0.000	5126	0.253	0.078	2632	2103	2104	2155	2054	0	0	0	0	0	0	13.97	14.14	14.23
5299	0.14	305.7	2633	2105	2155	2047	344.2	11.6	406	5299	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2105	2100	2154	2047	0	0	0	0	0	0	14.62	14.64	14.64
5599	0.14	305.7	2633	2105	2155	2045	310.5	11.1	416	5604	0.00	2.53	0.00	0.000	516	0.000	0.090	2634	687	2098	2153	2044	0	0	0	0	0	0	14.65	14.13	14.64
5670	0.19	305.7	2634	689	2157	2046	302.9	10.3	430	5675	0.00	2.50	0.00	0.000	1158	0.000	0.077	2633	2103	2098	2151	2045	0	0	0	0	0	0	14.13	13.78	14.23
5991	0.19	306.8	2633	2106	2152	2046	269.1	9.9	444	5992	0.00	0.00	0.00	0.000	38	0.000	0.000	2633	2105	2098	2151	2045	0	0	0	0	0	0	14.65	14.67	14.67
6291	0.21	332.1	2635	2105	2152	2044	241.7	8.8	454	6340	0.00	2.58	41.40	1.320	8740	0.000	0.089	2634	686	2005	2052	1958	0	0	0	0	0	0	14.64	14.10	13.25
6398	0.33	369.8	2634	686	2042	1954	232.7	8.3	475	6472	0.17	2.50	64.22	1.244	11430	0.102	0.078	2702	2107	1852	1883	1822	0	0	0	0	0	0	14.23	14.15	13.15
6771	0.28	369.8	2703	2107	1870	1810	185.4	12.1	500	6772	0.00	0.00	0.00	0.000	134	0.000	0.000	2701	2107	1839	1868	1810	0	0	0	0	0	0	14.57	14.59	14.59
7071	0.24	369.8	2702	2108	1866	1809	150.6	11.5	510	7076	0.15	2.55	0.00	0.000	4740	0.218	0.085	2671	688	1836	1865	1808	0	0	0	0	0	0	13.94	14.04	14.05
7179	0.35	407.6	2671	688	1863	1809	141.4	8.3	531	7248	0.00	2.50	64.07	1.214	9382	0.000	0.079	2671	2101	1706	1730	1682	0	0	0	0	0	0	14.20	14.06	13.20
7556	0.45	446.4	2671	2102	1716	1657	109.9	8.2	556	7629	0.15	2.53	67.15	1.180	10916	0.117	0.089	2748	692	1541	1572	1510	0	0	0	0	0	0	14.19	13.76	13.21
7674	0.45	446.4	2748	692	1559	1502	95.3	12.3	580	7680	0.00	2.47	0.00	0.000	1030	0.000	0.077	2747	2099	1528	1557	1500	0	0	0	0	0	0	14.09	13.98	14.13
7986	0.46	454.2	2748	2101	1558	1494	60.2	9.6	612	7992	0.00	2.58	1.98	0.239	8740	0.000	0.087	2747	686	1508	1546	1471	0	0	0	0	0	0	14.54	14.05	13.74
8023	0.51	486.8	2748	688	1547	1483	57.0	8.5	619	8050	0.00	2.50	20.20	0.369	9382	0.000	0.078	2747	2106	1377	1421	1334	0	0	0	0	0	0	14.22	14.08	13.70
8348	0.63	581.6	2748	2107	1425	1344	34.9	5.6	654	8412	0.12	2.58	55.08	0.296	10916	0.125	0.090	2807	689	989	1053	925	0	0	0	0	0	0	14.16	14.04	13.77
8455	0.71	602.2	2807	689	1060	932	25.7	9.0	674	8476	0.00	2.50	13.35	0.272	9382	0.000	0.077	2807	2110	905	973	838	0	0	0	0	0	0	14.11	13.98	13.76
8772	0.83	673.6	2808	2110	976	850	4.0	6.7	708	8804	0.12	0.00	29.60	0.210	10402	0.128	0.000	2866	2110	712	769	655	0	0	0	0	0	0	14.16	28.83	14.21
8804	end climb: SURFACE_DEPTH_REACHED
state	8804	begin surface coast
8820	end surface coast: CONTROL_FINISHED_OK
state	8820	begin surface