Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 384 * 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 384 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 1065.0

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 24 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 1065.0 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 384 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 200917,073700,7428.9365,-15309.6230,15,0.7,17,19.6,0.3,85.3,11,8.6 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 1.24 MHEAD_RNG_PITCHd_Wd 204.3,27826,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.9 D_GRID 480

GPS2 200917,074933,7429.0132,-15308.8320,6,0.8,41,19.6,0.3,22.8,9,9.3

Post-dive calculations and measurements:

FINISH 0.8,1.021195 _24V_AH 12.31,228.872

SM_CCo 8938,15.77,0.210,0,0,500,702.78 _10V_AH 12.15,0.000

SM_GC 1.21,8.05,0.12,15.77,0.059,0.132,0.210,201,2238,500,-7.37,-0.48,702.78,0,0,0,0,0,0,14.21,14.22,13.85 FG_AHR_24Vo 0.000

RAFOS_CLK 384 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323460

IRIDIUM_FIX 7428.30,-15311.73,200917,045947 DATA_FILE_SIZE 23420,669

TT8_MAMPS 0.038948,0.864346 CAP_FILE_SIZE 99446,0

HUMID 47.55 CFSIZE 2097872896,1979678720

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

TCM_TEMP 13.20 INTR 0,8842.85,0x2341ea,1,24

XPDR_PINGS 6 SOUNDSPEED 1448.0

CP_FREE 15905456128.000000 CURRENT 0.006,104.79,1

PM_FREEKB_00 45322240 GPS 200917,102050,7428.236,-15312.644,26,0.9,39,19.5,0.3,30.3,10,8.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 142.55 nil 0 0 0.00

Roll_motor 79 2161 2107.74 nil 0 0 0.00

VBD_pump_during_apogee 951 1483 17379.73 nil 0 0 0.00

VBD_pump_during_surface 15 210 40.85 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 8953 14 1617.02

Iridium_during_xfer 422 168 874.44 NCP 8910 20 2193.64

Transponder_ping 1 420 7.76 PMAR 8889 9 1084.50

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.55

TT8 0 0 0.00

LPSleep 6428 2 180.42

TT8_Active 843 13 143.19

TT8_Sampling 2078 33 844.40

TT8_CF8 372 38 175.26

TT8_Kalman 0 0 0.00

Analog_circuits 2079 10 252.65

GPS_charging 0 0 0.00

Compass 961 7 81.79

RAFOS 2219 48 1294.12

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

50 end surface: CONTROL_FINISHED_OK

state 50 begin dive

53 -0.57 -145.9 196 2216 498 485 0.0 0.0 0 146 0.00 0.00 -91.50 0.000 16386 0.000 0.000 195 2216 2223 2162 2285 0 0 0 0 0 0 14.49 28.83 14.50

150 -0.57 -145.9 196 2217 2166 2286 4.5 -6.7 9 203 12.80 2.75 -31.20 0.000 18724 0.451 2.162 2377 3600 3964 3949 3980 0 0 0 0 0 0 13.52 12.61 13.98

273 -0.73 -145.9 2377 3600 3954 3980 35.8 -12.3 33 278 0.00 2.40 0.00 0.000 1158 0.000 0.057 2377 2198 3967 3953 3981 0 0 0 0 0 0 14.22 14.10 14.25

600 -0.86 -145.9 2377 2199 3957 3980 78.1 -9.8 65 601 0.25 0.00 0.00 0.000 4262 0.095 0.000 2281 2196 3967 3955 3979 0 0 0 0 0 0 14.09 14.19 14.17

909 -0.86 -145.9 2281 2197 3956 3981 130.1 -16.1 84 915 0.00 2.53 0.00 0.000 260 0.000 0.085 2272 3609 3968 3955 3982 0 0 0 0 0 0 14.42 14.00 14.44

1028 -0.96 -145.9 2272 3610 3956 3980 145.6 -12.4 107 1034 0.00 2.45 0.00 0.000 1158 0.000 0.057 2271 2195 3968 3957 3980 0 0 0 0 0 0 14.09 13.97 14.14

1331 -0.98 -145.9 2272 2195 3956 3980 188.8 -13.8 118 1336 0.00 2.53 0.00 0.000 388 0.000 0.084 2266 3608 3967 3955 3980 0 0 0 0 0 0 14.42 13.97 14.44

1371 -1.08 -145.9 2267 3609 3957 3980 194.1 -12.6 126 1376 0.00 2.45 0.00 0.000 1158 0.000 0.056 2266 2195 3967 3955 3979 0 0 0 0 0 0 14.01 13.89 14.04

1692 -1.11 -145.9 2266 2195 3955 3981 235.3 -12.5 140 1698 0.12 2.55 0.00 0.000 4484 0.145 0.083 2209 3614 3967 3955 3980 0 0 0 0 0 0 14.04 13.93 14.08

1738 -1.11 -145.9 2209 3615 3956 3980 242.5 -15.9 149 1743 0.00 2.45 0.00 0.000 1030 0.000 0.058 2209 2198 3967 3955 3980 0 0 0 0 0 0 14.08 13.93 14.09

2054 -1.07 -145.9 2210 2197 3954 3980 293.7 -15.3 162 2059 0.00 2.55 0.00 0.000 388 0.000 0.087 2209 3615 3967 3955 3980 0 0 0 0 0 0 14.38 13.91 14.40

2120 -1.10 -145.9 2209 3615 3956 3980 302.9 -13.2 175 2124 0.00 2.47 0.00 0.000 1158 0.000 0.057 2209 2192 3967 3955 3979 0 0 0 0 0 0 14.07 13.95 14.10

2445 -1.08 -145.9 2209 2191 3955 3981 348.2 -13.6 190 2450 0.00 2.55 0.00 0.000 388 0.000 0.086 2208 3607 3968 3956 3980 0 0 0 0 0 0 14.39 13.90 14.40

2505 -1.14 -145.9 2210 3608 3956 3979 355.9 -11.8 202 2510 0.00 2.45 0.00 0.000 1158 0.000 0.056 2209 2195 3966 3954 3978 0 0 0 0 0 0 14.08 13.95 14.14

2836 -1.14 -145.9 2210 2194 3954 3979 398.8 -13.1 218 2841 0.00 2.53 0.00 0.000 260 0.000 0.086 2209 3609 3966 3954 3979 0 0 0 0 0 0 14.38 13.79 14.38

2909 -1.22 -145.9 2210 3612 3955 3980 407.3 -11.2 232 2915 0.00 2.40 0.00 0.000 1158 0.000 0.054 2208 2195 3966 3953 3979 0 0 0 0 0 0 14.06 13.93 14.09

3233 -1.22 -145.9 2209 2194 3954 3978 448.1 -12.5 246 3238 0.00 2.53 0.00 0.000 260 0.000 0.086 2209 3607 3966 3953 3979 0 0 0 0 0 0 14.36 13.84 14.38

3288 -1.30 -145.9 2209 3608 3953 3980 454.9 -10.6 257 3295 0.17 2.42 0.00 0.000 5254 0.114 0.055 2146 2194 3967 3956 3979 0 0 0 0 0 0 14.00 13.93 14.09

3440 end dive: TARGET_DEPTH_EXCEEDED

state 3440 begin apogee

3447 -0.13 0.0 2146 2067 3952 3980 482.1 -18.3 263 3671 1.62 0.05 220.48 1.405 10246 0.274 0.221 2527 2100 3365 3377 3354 0 0 0 0 0 0 13.62 13.51 12.74

3675 end apogee: CONTROL_FINISHED_OK

state 3675 begin climb

3678 0.57 145.9 2528 2101 3368 3344 494.4 0.0 270 3894 0.75 0.00 208.45 1.360 10758 0.058 0.000 2784 2101 2767 2801 2733 0 0 0 0 0 0 13.74 13.12 12.31

4222 0.13 145.9 2783 2101 2784 2720 459.1 15.0 286 4223 0.73 0.00 0.00 0.000 4230 0.317 0.000 2628 2101 2751 2783 2719 0 0 0 0 0 0 13.56 14.06 13.97

4522 -0.00 172.8 2629 2101 2785 2717 431.9 8.8 296 4567 0.17 2.50 36.05 1.435 12964 0.288 0.086 2589 730 2654 2692 2617 0 0 0 0 0 0 13.76 14.04 13.17

4643 0.04 225.4 2589 731 2690 2610 422.7 7.6 320 4729 0.00 2.40 80.93 1.349 9254 0.000 0.079 2589 2101 2448 2498 2398 0 0 0 0 0 0 14.23 14.12 13.02

5034 0.05 250.5 2590 2101 2484 2373 388.4 8.8 348 5075 0.00 0.00 36.78 1.395 8742 0.000 0.000 2592 2101 2340 2389 2292 0 0 0 0 0 0 14.56 13.81 13.19

5396 0.11 282.6 2589 2101 2377 2278 356.9 8.5 365 5456 0.00 2.50 50.40 1.356 8868 0.000 0.086 2589 731 2203 2248 2159 0 0 0 0 0 0 14.60 14.05 13.19

5489 0.26 322.3 2589 732 2243 2156 349.4 8.2 383 5558 0.22 2.42 61.92 1.305 11430 0.091 0.078 2680 2107 2050 2092 2008 0 0 0 0 0 0 14.19 14.09 13.09

5879 0.18 322.3 2681 2106 2077 1988 292.1 14.8 411 5884 0.15 2.42 0.00 0.000 4740 0.256 0.086 2647 737 2032 2076 1988 0 0 0 0 0 0 13.89 14.12 14.06

5914 0.18 322.3 2647 732 2075 1988 287.6 11.9 418 5919 0.00 2.40 0.00 0.000 1030 0.000 0.078 2647 2101 2028 2069 1988 0 0 0 0 0 0 14.28 14.15 14.31

6239 0.18 322.3 2646 2103 2074 1988 252.2 10.1 433 6244 0.00 2.42 0.00 0.000 516 0.000 0.088 2647 730 2030 2073 1987 0 0 0 0 0 0 14.59 14.12 14.63

6275 0.23 332.6 2647 732 2072 1988 248.8 9.5 440 6285 0.00 2.40 4.07 1.483 9382 0.000 0.077 2647 2099 2008 2050 1966 0 0 0 0 0 0 13.59 13.62 13.28

6601 0.25 352.2 2647 2100 2060 1971 217.8 9.1 455 6646 0.00 2.42 39.10 1.358 8740 0.000 0.086 2647 731 1925 1962 1889 0 0 0 0 0 0 14.64 13.85 13.25

6676 0.36 387.5 2647 733 1954 1888 211.3 8.4 470 6741 0.15 2.40 58.12 1.265 11430 0.113 0.078 2707 2100 1784 1805 1763 0 0 0 0 0 0 14.21 14.13 13.15

7052 0.32 387.5 2706 2100 1796 1750 165.1 12.0 495 7056 0.00 2.42 0.00 0.000 644 0.000 0.087 2709 731 1772 1794 1750 0 0 0 0 0 0 14.54 14.10 14.57

7102 0.32 387.5 2709 731 1794 1751 159.2 11.2 505 7107 0.00 2.40 0.00 0.000 1030 0.000 0.076 2708 2101 1770 1791 1750 0 0 0 0 0 0 14.27 14.13 14.31

7413 0.30 387.5 2709 2103 1793 1747 124.2 11.2 517 7414 0.12 0.00 0.00 0.000 4230 0.221 0.000 2682 2102 1769 1792 1747 0 0 0 0 0 0 14.06 14.31 14.26

7713 0.37 420.5 2682 2103 1792 1745 98.2 8.5 527 7735 0.00 2.42 16.33 0.496 8868 0.000 0.086 2683 732 1650 1673 1628 0 0 0 0 0 0 14.59 13.92 13.58

7808 0.52 456.2 2683 732 1674 1631 90.1 8.4 545 7834 0.20 2.40 20.58 0.467 11430 0.101 0.078 2767 2100 1503 1526 1480 0 0 0 0 0 0 14.17 14.14 13.57

8140 0.49 472.1 2767 2101 1527 1475 51.1 9.3 581 8151 0.00 0.00 8.48 0.350 8358 0.000 0.000 2767 2100 1441 1474 1408 0 0 0 0 0 0 14.58 14.04 13.64

8450 0.55 549.5 2767 2101 1475 1410 29.2 6.4 612 8494 0.00 0.00 42.17 0.286 8230 0.000 0.000 2767 2101 1125 1181 1070 0 0 0 0 0 0 14.54 14.03 13.71

8790 0.77 674.9 2770 2098 1182 1062 13.3 4.2 646 8868 0.17 2.55 67.95 0.237 10660 0.106 0.083 2846 3510 609 648 571 0 0 0 0 0 0 14.19 13.85 13.84

8899 0.80 674.9 2853 3511 654 571 3.2 11.9 666 8903 0.00 2.38 0.00 0.000 1158 0.000 0.066 2849 2141 615 653 577 0 0 0 0 0 0 14.18 14.04 14.21

8906 end climb: SURFACE_DEPTH_REACHED

state 8906 begin surface coast

8917 end surface coast: CONTROL_FINISHED_OK

state 8917 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	384	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	1065.0
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	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,073700,7428.9365,-15309.6230,15,0.7,17,19.6,0.3,85.3,11,8.6	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	1.24	MHEAD_RNG_PITCHd_Wd	204.3,27826,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.9	D_GRID	480
GPS2	200917,074933,7429.0132,-15308.8320,6,0.8,41,19.6,0.3,22.8,9,9.3

FINISH	0.8,1.021195	_24V_AH	12.31,228.872
SM_CCo	8938,15.77,0.210,0,0,500,702.78	_10V_AH	12.15,0.000
SM_GC	1.21,8.05,0.12,15.77,0.059,0.132,0.210,201,2238,500,-7.37,-0.48,702.78,0,0,0,0,0,0,14.21,14.22,13.85	FG_AHR_24Vo	0.000
RAFOS_CLK	384	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323460
IRIDIUM_FIX	7428.30,-15311.73,200917,045947	DATA_FILE_SIZE	23420,669
TT8_MAMPS	0.038948,0.864346	CAP_FILE_SIZE	99446,0
HUMID	47.55	CFSIZE	2097872896,1979678720
INTERNAL_PRESSURE	7.75222	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	0,8842.85,0x2341ea,1,24
XPDR_PINGS	6	SOUNDSPEED	1448.0
CP_FREE	15905456128.000000	CURRENT	0.006,104.79,1
PM_FREEKB_00	45322240	GPS	200917,102050,7428.236,-15312.644,26,0.9,39,19.5,0.3,30.3,10,8.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	142.55	nil	0	0	0.00
Roll_motor	79	2161	2107.74	nil	0	0	0.00
VBD_pump_during_apogee	951	1483	17379.73	nil	0	0	0.00
VBD_pump_during_surface	15	210	40.85	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	8953	14	1617.02
Iridium_during_xfer	422	168	874.44	NCP	8910	20	2193.64
Transponder_ping	1	420	7.76	PMAR	8889	9	1084.50
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.55
TT8	0	0	0.00
LPSleep	6428	2	180.42
TT8_Active	843	13	143.19
TT8_Sampling	2078	33	844.40
TT8_CF8	372	38	175.26
TT8_Kalman	0	0	0.00
Analog_circuits	2079	10	252.65
GPS_charging	0	0	0.00
Compass	961	7	81.79
RAFOS	2219	48	1294.12
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
50	end surface: CONTROL_FINISHED_OK
state	50	begin dive
53	-0.57	-145.9	196	2216	498	485	0.0	0.0	0	146	0.00	0.00	-91.50	0.000	16386	0.000	0.000	195	2216	2223	2162	2285	0	0	0	0	0	0	14.49	28.83	14.50
150	-0.57	-145.9	196	2217	2166	2286	4.5	-6.7	9	203	12.80	2.75	-31.20	0.000	18724	0.451	2.162	2377	3600	3964	3949	3980	0	0	0	0	0	0	13.52	12.61	13.98
273	-0.73	-145.9	2377	3600	3954	3980	35.8	-12.3	33	278	0.00	2.40	0.00	0.000	1158	0.000	0.057	2377	2198	3967	3953	3981	0	0	0	0	0	0	14.22	14.10	14.25
600	-0.86	-145.9	2377	2199	3957	3980	78.1	-9.8	65	601	0.25	0.00	0.00	0.000	4262	0.095	0.000	2281	2196	3967	3955	3979	0	0	0	0	0	0	14.09	14.19	14.17
909	-0.86	-145.9	2281	2197	3956	3981	130.1	-16.1	84	915	0.00	2.53	0.00	0.000	260	0.000	0.085	2272	3609	3968	3955	3982	0	0	0	0	0	0	14.42	14.00	14.44
1028	-0.96	-145.9	2272	3610	3956	3980	145.6	-12.4	107	1034	0.00	2.45	0.00	0.000	1158	0.000	0.057	2271	2195	3968	3957	3980	0	0	0	0	0	0	14.09	13.97	14.14
1331	-0.98	-145.9	2272	2195	3956	3980	188.8	-13.8	118	1336	0.00	2.53	0.00	0.000	388	0.000	0.084	2266	3608	3967	3955	3980	0	0	0	0	0	0	14.42	13.97	14.44
1371	-1.08	-145.9	2267	3609	3957	3980	194.1	-12.6	126	1376	0.00	2.45	0.00	0.000	1158	0.000	0.056	2266	2195	3967	3955	3979	0	0	0	0	0	0	14.01	13.89	14.04
1692	-1.11	-145.9	2266	2195	3955	3981	235.3	-12.5	140	1698	0.12	2.55	0.00	0.000	4484	0.145	0.083	2209	3614	3967	3955	3980	0	0	0	0	0	0	14.04	13.93	14.08
1738	-1.11	-145.9	2209	3615	3956	3980	242.5	-15.9	149	1743	0.00	2.45	0.00	0.000	1030	0.000	0.058	2209	2198	3967	3955	3980	0	0	0	0	0	0	14.08	13.93	14.09
2054	-1.07	-145.9	2210	2197	3954	3980	293.7	-15.3	162	2059	0.00	2.55	0.00	0.000	388	0.000	0.087	2209	3615	3967	3955	3980	0	0	0	0	0	0	14.38	13.91	14.40
2120	-1.10	-145.9	2209	3615	3956	3980	302.9	-13.2	175	2124	0.00	2.47	0.00	0.000	1158	0.000	0.057	2209	2192	3967	3955	3979	0	0	0	0	0	0	14.07	13.95	14.10
2445	-1.08	-145.9	2209	2191	3955	3981	348.2	-13.6	190	2450	0.00	2.55	0.00	0.000	388	0.000	0.086	2208	3607	3968	3956	3980	0	0	0	0	0	0	14.39	13.90	14.40
2505	-1.14	-145.9	2210	3608	3956	3979	355.9	-11.8	202	2510	0.00	2.45	0.00	0.000	1158	0.000	0.056	2209	2195	3966	3954	3978	0	0	0	0	0	0	14.08	13.95	14.14
2836	-1.14	-145.9	2210	2194	3954	3979	398.8	-13.1	218	2841	0.00	2.53	0.00	0.000	260	0.000	0.086	2209	3609	3966	3954	3979	0	0	0	0	0	0	14.38	13.79	14.38
2909	-1.22	-145.9	2210	3612	3955	3980	407.3	-11.2	232	2915	0.00	2.40	0.00	0.000	1158	0.000	0.054	2208	2195	3966	3953	3979	0	0	0	0	0	0	14.06	13.93	14.09
3233	-1.22	-145.9	2209	2194	3954	3978	448.1	-12.5	246	3238	0.00	2.53	0.00	0.000	260	0.000	0.086	2209	3607	3966	3953	3979	0	0	0	0	0	0	14.36	13.84	14.38
3288	-1.30	-145.9	2209	3608	3953	3980	454.9	-10.6	257	3295	0.17	2.42	0.00	0.000	5254	0.114	0.055	2146	2194	3967	3956	3979	0	0	0	0	0	0	14.00	13.93	14.09
3440	end dive: TARGET_DEPTH_EXCEEDED
state	3440	begin apogee
3447	-0.13	0.0	2146	2067	3952	3980	482.1	-18.3	263	3671	1.62	0.05	220.48	1.405	10246	0.274	0.221	2527	2100	3365	3377	3354	0	0	0	0	0	0	13.62	13.51	12.74
3675	end apogee: CONTROL_FINISHED_OK
state	3675	begin climb
3678	0.57	145.9	2528	2101	3368	3344	494.4	0.0	270	3894	0.75	0.00	208.45	1.360	10758	0.058	0.000	2784	2101	2767	2801	2733	0	0	0	0	0	0	13.74	13.12	12.31
4222	0.13	145.9	2783	2101	2784	2720	459.1	15.0	286	4223	0.73	0.00	0.00	0.000	4230	0.317	0.000	2628	2101	2751	2783	2719	0	0	0	0	0	0	13.56	14.06	13.97
4522	-0.00	172.8	2629	2101	2785	2717	431.9	8.8	296	4567	0.17	2.50	36.05	1.435	12964	0.288	0.086	2589	730	2654	2692	2617	0	0	0	0	0	0	13.76	14.04	13.17
4643	0.04	225.4	2589	731	2690	2610	422.7	7.6	320	4729	0.00	2.40	80.93	1.349	9254	0.000	0.079	2589	2101	2448	2498	2398	0	0	0	0	0	0	14.23	14.12	13.02
5034	0.05	250.5	2590	2101	2484	2373	388.4	8.8	348	5075	0.00	0.00	36.78	1.395	8742	0.000	0.000	2592	2101	2340	2389	2292	0	0	0	0	0	0	14.56	13.81	13.19
5396	0.11	282.6	2589	2101	2377	2278	356.9	8.5	365	5456	0.00	2.50	50.40	1.356	8868	0.000	0.086	2589	731	2203	2248	2159	0	0	0	0	0	0	14.60	14.05	13.19
5489	0.26	322.3	2589	732	2243	2156	349.4	8.2	383	5558	0.22	2.42	61.92	1.305	11430	0.091	0.078	2680	2107	2050	2092	2008	0	0	0	0	0	0	14.19	14.09	13.09
5879	0.18	322.3	2681	2106	2077	1988	292.1	14.8	411	5884	0.15	2.42	0.00	0.000	4740	0.256	0.086	2647	737	2032	2076	1988	0	0	0	0	0	0	13.89	14.12	14.06
5914	0.18	322.3	2647	732	2075	1988	287.6	11.9	418	5919	0.00	2.40	0.00	0.000	1030	0.000	0.078	2647	2101	2028	2069	1988	0	0	0	0	0	0	14.28	14.15	14.31
6239	0.18	322.3	2646	2103	2074	1988	252.2	10.1	433	6244	0.00	2.42	0.00	0.000	516	0.000	0.088	2647	730	2030	2073	1987	0	0	0	0	0	0	14.59	14.12	14.63
6275	0.23	332.6	2647	732	2072	1988	248.8	9.5	440	6285	0.00	2.40	4.07	1.483	9382	0.000	0.077	2647	2099	2008	2050	1966	0	0	0	0	0	0	13.59	13.62	13.28
6601	0.25	352.2	2647	2100	2060	1971	217.8	9.1	455	6646	0.00	2.42	39.10	1.358	8740	0.000	0.086	2647	731	1925	1962	1889	0	0	0	0	0	0	14.64	13.85	13.25
6676	0.36	387.5	2647	733	1954	1888	211.3	8.4	470	6741	0.15	2.40	58.12	1.265	11430	0.113	0.078	2707	2100	1784	1805	1763	0	0	0	0	0	0	14.21	14.13	13.15
7052	0.32	387.5	2706	2100	1796	1750	165.1	12.0	495	7056	0.00	2.42	0.00	0.000	644	0.000	0.087	2709	731	1772	1794	1750	0	0	0	0	0	0	14.54	14.10	14.57
7102	0.32	387.5	2709	731	1794	1751	159.2	11.2	505	7107	0.00	2.40	0.00	0.000	1030	0.000	0.076	2708	2101	1770	1791	1750	0	0	0	0	0	0	14.27	14.13	14.31
7413	0.30	387.5	2709	2103	1793	1747	124.2	11.2	517	7414	0.12	0.00	0.00	0.000	4230	0.221	0.000	2682	2102	1769	1792	1747	0	0	0	0	0	0	14.06	14.31	14.26
7713	0.37	420.5	2682	2103	1792	1745	98.2	8.5	527	7735	0.00	2.42	16.33	0.496	8868	0.000	0.086	2683	732	1650	1673	1628	0	0	0	0	0	0	14.59	13.92	13.58
7808	0.52	456.2	2683	732	1674	1631	90.1	8.4	545	7834	0.20	2.40	20.58	0.467	11430	0.101	0.078	2767	2100	1503	1526	1480	0	0	0	0	0	0	14.17	14.14	13.57
8140	0.49	472.1	2767	2101	1527	1475	51.1	9.3	581	8151	0.00	0.00	8.48	0.350	8358	0.000	0.000	2767	2100	1441	1474	1408	0	0	0	0	0	0	14.58	14.04	13.64
8450	0.55	549.5	2767	2101	1475	1410	29.2	6.4	612	8494	0.00	0.00	42.17	0.286	8230	0.000	0.000	2767	2101	1125	1181	1070	0	0	0	0	0	0	14.54	14.03	13.71
8790	0.77	674.9	2770	2098	1182	1062	13.3	4.2	646	8868	0.17	2.55	67.95	0.237	10660	0.106	0.083	2846	3510	609	648	571	0	0	0	0	0	0	14.19	13.85	13.84
8899	0.80	674.9	2853	3511	654	571	3.2	11.9	666	8903	0.00	2.38	0.00	0.000	1158	0.000	0.066	2849	2141	615	653	577	0	0	0	0	0	0	14.18	14.04	14.21
8906	end climb: SURFACE_DEPTH_REACHED
state	8906	begin surface coast
8917	end surface coast: CONTROL_FINISHED_OK
state	8917	begin surface