Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 385 * 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 385 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 1068.0

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 38 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 51 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 1068.0 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 38 VBD_MIN 500

DIVE 385 NOCOMM_ACTION 161 R_STBD_OVSHOOT 51 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 200917,102050,7428.2363,-15312.6436,26,0.9,39,19.5,0.3,30.3,10,8.8 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 1.27 MHEAD_RNG_PITCHd_Wd 204.6,25587,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 200917,103245,7428.2271,-15312.2666,9,0.7,9,19.5,0.0,74.5,12,9.9

Post-dive calculations and measurements:

FINISH 0.2,1.021145 _24V_AH 12.31,229.368

SM_CCo 8986,11.23,0.213,0,0,499,703.28 _10V_AH 12.43,0.000

SM_GC 1.80,8.10,0.12,11.23,0.063,0.129,0.213,202,2236,499,-7.38,-0.51,703.28,0,0,0,0,0,0,14.23,14.24,13.85 FG_AHR_24Vo 0.000

RAFOS_CLK 179 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7429.23,-15318.90,200917,074213 DATA_FILE_SIZE 26771,744

TT8_MAMPS 0.040446,0.930258 CAP_FILE_SIZE 102068,0

HUMID 46.18 CFSIZE 2097872896,1979416576

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1449.3

XPDR_PINGS 9 CURRENT 0.047,73.01,1

CP_FREE 15904931840.000000 GPS 200917,130427,7427.535,-15315.494,20,0.7,21,19.5,0.3,67.4,11,7.5

PM_FREEKB_00 45295680

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 447 140.89 nil 0 0 0.00

Roll_motor 78 2162 2096.50 nil 0 0 0.00

VBD_pump_during_apogee 995 1492 18286.05 nil 0 0 0.00

VBD_pump_during_surface 11 213 29.49 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 9000 14 1589.39

Iridium_during_xfer 419 181 935.32 NCP 8965 20 2207.18

Transponder_ping 2 420 11.63 PMAR 8936 9 1089.13

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.35

TT8 0 0 0.00

LPSleep 6375 2 183.05

TT8_Active 989 13 171.75

TT8_Sampling 1990 33 827.49

TT8_CF8 372 38 179.16

TT8_Kalman 0 0 0.00

Analog_circuits 2133 10 265.26

GPS_charging 0 0 0.00

Compass 1067 7 92.86

RAFOS 2209 48 1317.98

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

51 end surface: CONTROL_FINISHED_OK

state 51 begin dive

55 -0.57 -145.9 192 2181 494 496 0.0 0.0 0 147 0.00 0.00 -91.15 0.000 16386 0.000 0.000 190 2181 2193 2130 2257 0 0 0 0 0 0 14.47 28.83 14.48

151 -0.57 -145.9 191 2181 2133 2258 4.1 -5.9 9 204 12.77 2.75 -33.70 0.000 18724 0.448 2.163 2375 3586 3962 3947 3978 0 0 0 0 0 0 13.53 13.03 13.98

275 -0.72 -145.9 2376 3589 3953 3979 34.9 -12.3 33 279 0.00 2.35 0.00 0.000 1158 0.000 0.057 2375 2210 3965 3952 3979 0 0 0 0 0 0 14.21 14.09 14.24

585 -0.84 -145.9 2376 2209 3956 3978 76.1 -10.4 65 586 0.20 0.00 0.00 0.000 4230 0.109 0.000 2298 2208 3966 3954 3978 0 0 0 0 0 0 14.12 14.28 14.23

885 -0.84 -145.9 2298 2208 3956 3978 122.9 -14.8 85 890 0.00 2.42 0.00 0.000 260 0.000 0.084 2291 3581 3966 3954 3979 0 0 0 0 0 0 14.57 14.00 14.59

940 -0.97 -145.9 2291 3581 3955 3978 130.1 -11.9 96 948 0.00 2.38 0.00 0.000 1158 0.000 0.056 2291 2195 3966 3954 3978 0 0 0 0 0 0 14.08 13.85 14.14

1246 -1.02 -145.9 2291 2196 3955 3979 169.7 -12.4 107 1247 0.12 0.00 0.00 0.000 4230 0.134 0.000 2244 2195 3966 3954 3978 0 0 0 0 0 0 14.27 14.36 14.33

1546 -1.02 -145.9 2244 2196 3955 3979 218.4 -15.8 117 1550 0.00 2.47 0.00 0.000 260 0.000 0.086 2236 3587 3966 3954 3978 0 0 0 0 0 0 14.62 13.97 14.64

1663 -1.08 -145.9 2237 3587 3956 3978 234.0 -12.6 140 1670 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2195 3966 3954 3978 0 0 0 0 0 0 14.19 14.04 14.21

1966 -1.08 -145.9 2236 2195 3955 3979 276.6 -13.3 151 1967 0.00 0.00 0.00 0.000 6 0.000 0.000 2236 2194 3966 3954 3978 0 0 0 0 0 0 14.63 14.65 14.65

2266 -1.11 -145.9 2237 2193 3956 3978 313.2 -11.9 161 2271 0.00 2.47 0.00 0.000 388 0.000 0.087 2236 3581 3966 3954 3979 0 0 0 0 0 0 14.63 14.00 14.65

2357 -1.22 -145.9 2236 3581 3955 3979 323.0 -10.4 179 2362 0.15 2.38 0.00 0.000 5254 0.119 0.056 2174 2193 3966 3954 3978 0 0 0 0 0 0 14.14 14.09 14.27

2688 -1.14 -145.9 2173 2193 3954 3979 378.0 -16.7 195 2693 0.15 2.47 0.00 0.000 2436 0.304 0.081 2203 3581 3966 3954 3978 0 0 0 0 0 0 13.69 14.00 13.87

2801 -1.17 -145.9 2197 3583 3954 3980 393.2 -12.2 217 2805 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2192 3965 3953 3978 0 0 0 0 0 0 14.10 13.97 14.14

3111 -1.15 -145.9 2197 2191 3954 3978 436.2 -13.8 229 3116 0.00 2.47 0.00 0.000 388 0.000 0.083 2188 3581 3965 3953 3978 0 0 0 0 0 0 14.60 14.00 14.62

3186 -1.15 -145.9 2188 3580 3953 3979 446.5 -13.1 244 3192 0.00 2.35 0.00 0.000 1030 0.000 0.057 2188 2201 3963 3948 3978 0 0 0 0 0 0 14.21 14.07 14.25

3440 end dive: TARGET_DEPTH_EXCEEDED

state 3440 begin apogee

3447 -0.13 0.0 2188 2059 3953 3977 482.9 -14.2 255 3666 1.40 0.00 215.75 1.412 10246 0.240 0.000 2531 2058 3366 3380 3353 0 0 0 0 0 0 13.72 13.57 12.76

3669 end apogee: CONTROL_FINISHED_OK

state 3669 begin climb

3672 0.57 145.9 2532 2057 3375 3346 494.8 0.0 262 3890 0.73 2.62 206.10 1.365 10756 0.060 0.083 2782 720 2766 2802 2731 0 0 0 0 0 0 13.75 13.16 12.31

4115 0.16 145.9 2782 722 2789 2728 476.8 14.4 343 4121 0.68 2.40 0.00 0.000 5254 0.320 0.076 2640 2071 2757 2788 2727 0 0 0 0 0 0 13.46 13.88 13.88

4431 0.00 165.5 2640 2073 2789 2723 446.9 9.1 356 4463 0.20 2.40 25.35 1.489 12964 0.272 0.080 2599 717 2686 2724 2648 0 0 0 0 0 0 13.64 13.80 13.17

4594 0.01 215.2 2600 717 2724 2644 434.3 7.7 388 4674 0.00 2.42 73.62 1.386 9382 0.000 0.079 2599 2105 2484 2536 2432 0 0 0 0 0 0 14.27 14.14 13.02

4974 -0.00 233.5 2599 2104 2532 2419 400.0 9.2 414 5004 0.00 0.00 25.23 1.475 8358 0.000 0.000 2600 2103 2408 2462 2355 0 0 0 0 0 0 14.55 13.81 13.20

5304 0.01 249.0 2600 2103 2457 2350 369.4 9.3 425 5334 0.00 2.50 21.83 1.493 8740 0.000 0.086 2605 726 2344 2391 2297 0 0 0 0 0 0 14.44 14.04 13.23

5360 0.08 275.1 2600 727 2390 2299 364.3 8.8 436 5405 0.00 2.42 40.20 1.398 9382 0.000 0.079 2599 2098 2242 2291 2193 0 0 0 0 0 0 14.16 14.07 13.10

5728 0.13 297.2 2599 2099 2286 2180 330.8 9.0 459 5761 0.00 0.00 31.45 1.414 8358 0.000 0.000 2600 2098 2154 2201 2107 0 0 0 0 0 0 14.40 13.97 13.21

6056 0.20 321.0 2600 2097 2194 2096 301.2 8.9 470 6101 0.12 2.50 36.95 1.379 10916 0.125 0.088 2672 727 2052 2094 2010 0 0 0 0 0 0 14.15 13.99 13.19

6143 0.20 321.0 2672 728 2088 2010 290.3 13.0 487 6149 0.00 2.42 0.00 0.000 1030 0.000 0.079 2672 2101 2046 2084 2009 0 0 0 0 0 0 14.14 14.02 14.18

6447 0.15 321.0 2672 2103 2088 2004 250.9 12.8 498 6452 0.15 2.45 0.00 0.000 4740 0.262 0.082 2645 720 2045 2088 2003 0 0 0 0 0 0 13.82 14.04 13.99

6487 0.20 324.2 2644 722 2086 2004 246.4 9.9 506 6492 0.00 2.42 0.00 0.000 1190 0.000 0.077 2644 2100 2044 2086 2003 0 0 0 0 0 0 14.19 14.06 14.23

6808 0.22 349.3 2644 2102 2087 2001 217.2 8.8 520 6855 0.00 0.00 45.25 1.339 8230 0.000 0.000 2644 2100 1941 1982 1900 0 0 0 0 0 0 14.45 13.98 13.21

7138 0.30 387.7 2644 2101 1974 1889 189.6 8.2 531 7209 0.00 2.42 64.25 1.268 8868 0.000 0.086 2644 726 1780 1804 1756 0 0 0 0 0 0 14.42 13.72 13.16

7257 0.48 434.2 2645 726 1798 1755 180.1 7.9 554 7344 0.30 2.45 78.50 1.210 11430 0.080 0.078 2760 2105 1591 1616 1566 0 0 0 0 0 0 14.04 13.96 13.07

7650 0.39 434.2 2761 2106 1615 1551 118.9 15.2 583 7655 0.20 2.42 0.00 0.000 4740 0.252 0.086 2713 728 1582 1615 1549 0 0 0 0 0 0 13.76 13.97 13.92

7703 0.46 434.2 2713 729 1610 1551 113.1 10.4 593 7708 0.00 2.40 0.00 0.000 1158 0.000 0.076 2713 2109 1579 1610 1549 0 0 0 0 0 0 14.03 13.98 14.06

8014 0.49 440.2 2713 2109 1611 1545 80.8 9.7 617 8019 0.00 2.47 0.00 0.000 676 0.000 0.088 2713 724 1577 1610 1545 0 0 0 0 0 0 14.52 13.92 14.54

8055 0.58 455.8 2714 726 1609 1545 76.9 9.3 625 8070 0.17 2.42 10.07 0.426 11430 0.103 0.076 2785 2100 1505 1537 1474 0 0 0 0 0 0 14.16 14.04 13.62

8376 0.55 506.6 2785 2102 1538 1475 42.1 7.7 659 8409 0.00 2.53 27.27 0.324 8868 0.000 0.088 2786 722 1296 1340 1252 0 0 0 0 0 0 14.55 13.97 13.74

8509 0.63 557.0 2786 722 1341 1254 31.1 7.7 685 8541 0.00 2.45 26.98 0.291 9382 0.000 0.076 2786 2105 1092 1150 1035 0 0 0 0 0 0 14.09 13.97 13.74

8840 0.79 682.3 2786 2105 1151 1029 11.8 4.2 721 8913 0.12 2.50 66.47 0.234 10660 0.135 0.080 2850 3518 580 613 547 0 0 0 0 0 0 14.21 13.90 13.74

8947 0.82 682.3 2850 3519 614 548 2.6 10.4 741 8951 0.00 2.40 0.00 0.000 1158 0.000 0.067 2856 2136 580 613 547 0 0 0 0 0 0 14.12 13.99 14.16

8954 end climb: SURFACE_DEPTH_REACHED

state 8954 begin surface coast

8964 end surface coast: CONTROL_FINISHED_OK

state 8964 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	385	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	1068.0
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	38	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	51	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,102050,7428.2363,-15312.6436,26,0.9,39,19.5,0.3,30.3,10,8.8	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	1.27	MHEAD_RNG_PITCHd_Wd	204.6,25587,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	200917,103245,7428.2271,-15312.2666,9,0.7,9,19.5,0.0,74.5,12,9.9

FINISH	0.2,1.021145	_24V_AH	12.31,229.368
SM_CCo	8986,11.23,0.213,0,0,499,703.28	_10V_AH	12.43,0.000
SM_GC	1.80,8.10,0.12,11.23,0.063,0.129,0.213,202,2236,499,-7.38,-0.51,703.28,0,0,0,0,0,0,14.23,14.24,13.85	FG_AHR_24Vo	0.000
RAFOS_CLK	179	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323460
IRIDIUM_FIX	7429.23,-15318.90,200917,074213	DATA_FILE_SIZE	26771,744
TT8_MAMPS	0.040446,0.930258	CAP_FILE_SIZE	102068,0
HUMID	46.18	CFSIZE	2097872896,1979416576
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1449.3
XPDR_PINGS	9	CURRENT	0.047,73.01,1
CP_FREE	15904931840.000000	GPS	200917,130427,7427.535,-15315.494,20,0.7,21,19.5,0.3,67.4,11,7.5
PM_FREEKB_00	45295680

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	447	140.89	nil	0	0	0.00
Roll_motor	78	2162	2096.50	nil	0	0	0.00
VBD_pump_during_apogee	995	1492	18286.05	nil	0	0	0.00
VBD_pump_during_surface	11	213	29.49	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	9000	14	1589.39
Iridium_during_xfer	419	181	935.32	NCP	8965	20	2207.18
Transponder_ping	2	420	11.63	PMAR	8936	9	1089.13
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.35
TT8	0	0	0.00
LPSleep	6375	2	183.05
TT8_Active	989	13	171.75
TT8_Sampling	1990	33	827.49
TT8_CF8	372	38	179.16
TT8_Kalman	0	0	0.00
Analog_circuits	2133	10	265.26
GPS_charging	0	0	0.00
Compass	1067	7	92.86
RAFOS	2209	48	1317.98
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
51	end surface: CONTROL_FINISHED_OK
state	51	begin dive
55	-0.57	-145.9	192	2181	494	496	0.0	0.0	0	147	0.00	0.00	-91.15	0.000	16386	0.000	0.000	190	2181	2193	2130	2257	0	0	0	0	0	0	14.47	28.83	14.48
151	-0.57	-145.9	191	2181	2133	2258	4.1	-5.9	9	204	12.77	2.75	-33.70	0.000	18724	0.448	2.163	2375	3586	3962	3947	3978	0	0	0	0	0	0	13.53	13.03	13.98
275	-0.72	-145.9	2376	3589	3953	3979	34.9	-12.3	33	279	0.00	2.35	0.00	0.000	1158	0.000	0.057	2375	2210	3965	3952	3979	0	0	0	0	0	0	14.21	14.09	14.24
585	-0.84	-145.9	2376	2209	3956	3978	76.1	-10.4	65	586	0.20	0.00	0.00	0.000	4230	0.109	0.000	2298	2208	3966	3954	3978	0	0	0	0	0	0	14.12	14.28	14.23
885	-0.84	-145.9	2298	2208	3956	3978	122.9	-14.8	85	890	0.00	2.42	0.00	0.000	260	0.000	0.084	2291	3581	3966	3954	3979	0	0	0	0	0	0	14.57	14.00	14.59
940	-0.97	-145.9	2291	3581	3955	3978	130.1	-11.9	96	948	0.00	2.38	0.00	0.000	1158	0.000	0.056	2291	2195	3966	3954	3978	0	0	0	0	0	0	14.08	13.85	14.14
1246	-1.02	-145.9	2291	2196	3955	3979	169.7	-12.4	107	1247	0.12	0.00	0.00	0.000	4230	0.134	0.000	2244	2195	3966	3954	3978	0	0	0	0	0	0	14.27	14.36	14.33
1546	-1.02	-145.9	2244	2196	3955	3979	218.4	-15.8	117	1550	0.00	2.47	0.00	0.000	260	0.000	0.086	2236	3587	3966	3954	3978	0	0	0	0	0	0	14.62	13.97	14.64
1663	-1.08	-145.9	2237	3587	3956	3978	234.0	-12.6	140	1670	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2195	3966	3954	3978	0	0	0	0	0	0	14.19	14.04	14.21
1966	-1.08	-145.9	2236	2195	3955	3979	276.6	-13.3	151	1967	0.00	0.00	0.00	0.000	6	0.000	0.000	2236	2194	3966	3954	3978	0	0	0	0	0	0	14.63	14.65	14.65
2266	-1.11	-145.9	2237	2193	3956	3978	313.2	-11.9	161	2271	0.00	2.47	0.00	0.000	388	0.000	0.087	2236	3581	3966	3954	3979	0	0	0	0	0	0	14.63	14.00	14.65
2357	-1.22	-145.9	2236	3581	3955	3979	323.0	-10.4	179	2362	0.15	2.38	0.00	0.000	5254	0.119	0.056	2174	2193	3966	3954	3978	0	0	0	0	0	0	14.14	14.09	14.27
2688	-1.14	-145.9	2173	2193	3954	3979	378.0	-16.7	195	2693	0.15	2.47	0.00	0.000	2436	0.304	0.081	2203	3581	3966	3954	3978	0	0	0	0	0	0	13.69	14.00	13.87
2801	-1.17	-145.9	2197	3583	3954	3980	393.2	-12.2	217	2805	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2192	3965	3953	3978	0	0	0	0	0	0	14.10	13.97	14.14
3111	-1.15	-145.9	2197	2191	3954	3978	436.2	-13.8	229	3116	0.00	2.47	0.00	0.000	388	0.000	0.083	2188	3581	3965	3953	3978	0	0	0	0	0	0	14.60	14.00	14.62
3186	-1.15	-145.9	2188	3580	3953	3979	446.5	-13.1	244	3192	0.00	2.35	0.00	0.000	1030	0.000	0.057	2188	2201	3963	3948	3978	0	0	0	0	0	0	14.21	14.07	14.25
3440	end dive: TARGET_DEPTH_EXCEEDED
state	3440	begin apogee
3447	-0.13	0.0	2188	2059	3953	3977	482.9	-14.2	255	3666	1.40	0.00	215.75	1.412	10246	0.240	0.000	2531	2058	3366	3380	3353	0	0	0	0	0	0	13.72	13.57	12.76
3669	end apogee: CONTROL_FINISHED_OK
state	3669	begin climb
3672	0.57	145.9	2532	2057	3375	3346	494.8	0.0	262	3890	0.73	2.62	206.10	1.365	10756	0.060	0.083	2782	720	2766	2802	2731	0	0	0	0	0	0	13.75	13.16	12.31
4115	0.16	145.9	2782	722	2789	2728	476.8	14.4	343	4121	0.68	2.40	0.00	0.000	5254	0.320	0.076	2640	2071	2757	2788	2727	0	0	0	0	0	0	13.46	13.88	13.88
4431	0.00	165.5	2640	2073	2789	2723	446.9	9.1	356	4463	0.20	2.40	25.35	1.489	12964	0.272	0.080	2599	717	2686	2724	2648	0	0	0	0	0	0	13.64	13.80	13.17
4594	0.01	215.2	2600	717	2724	2644	434.3	7.7	388	4674	0.00	2.42	73.62	1.386	9382	0.000	0.079	2599	2105	2484	2536	2432	0	0	0	0	0	0	14.27	14.14	13.02
4974	-0.00	233.5	2599	2104	2532	2419	400.0	9.2	414	5004	0.00	0.00	25.23	1.475	8358	0.000	0.000	2600	2103	2408	2462	2355	0	0	0	0	0	0	14.55	13.81	13.20
5304	0.01	249.0	2600	2103	2457	2350	369.4	9.3	425	5334	0.00	2.50	21.83	1.493	8740	0.000	0.086	2605	726	2344	2391	2297	0	0	0	0	0	0	14.44	14.04	13.23
5360	0.08	275.1	2600	727	2390	2299	364.3	8.8	436	5405	0.00	2.42	40.20	1.398	9382	0.000	0.079	2599	2098	2242	2291	2193	0	0	0	0	0	0	14.16	14.07	13.10
5728	0.13	297.2	2599	2099	2286	2180	330.8	9.0	459	5761	0.00	0.00	31.45	1.414	8358	0.000	0.000	2600	2098	2154	2201	2107	0	0	0	0	0	0	14.40	13.97	13.21
6056	0.20	321.0	2600	2097	2194	2096	301.2	8.9	470	6101	0.12	2.50	36.95	1.379	10916	0.125	0.088	2672	727	2052	2094	2010	0	0	0	0	0	0	14.15	13.99	13.19
6143	0.20	321.0	2672	728	2088	2010	290.3	13.0	487	6149	0.00	2.42	0.00	0.000	1030	0.000	0.079	2672	2101	2046	2084	2009	0	0	0	0	0	0	14.14	14.02	14.18
6447	0.15	321.0	2672	2103	2088	2004	250.9	12.8	498	6452	0.15	2.45	0.00	0.000	4740	0.262	0.082	2645	720	2045	2088	2003	0	0	0	0	0	0	13.82	14.04	13.99
6487	0.20	324.2	2644	722	2086	2004	246.4	9.9	506	6492	0.00	2.42	0.00	0.000	1190	0.000	0.077	2644	2100	2044	2086	2003	0	0	0	0	0	0	14.19	14.06	14.23
6808	0.22	349.3	2644	2102	2087	2001	217.2	8.8	520	6855	0.00	0.00	45.25	1.339	8230	0.000	0.000	2644	2100	1941	1982	1900	0	0	0	0	0	0	14.45	13.98	13.21
7138	0.30	387.7	2644	2101	1974	1889	189.6	8.2	531	7209	0.00	2.42	64.25	1.268	8868	0.000	0.086	2644	726	1780	1804	1756	0	0	0	0	0	0	14.42	13.72	13.16
7257	0.48	434.2	2645	726	1798	1755	180.1	7.9	554	7344	0.30	2.45	78.50	1.210	11430	0.080	0.078	2760	2105	1591	1616	1566	0	0	0	0	0	0	14.04	13.96	13.07
7650	0.39	434.2	2761	2106	1615	1551	118.9	15.2	583	7655	0.20	2.42	0.00	0.000	4740	0.252	0.086	2713	728	1582	1615	1549	0	0	0	0	0	0	13.76	13.97	13.92
7703	0.46	434.2	2713	729	1610	1551	113.1	10.4	593	7708	0.00	2.40	0.00	0.000	1158	0.000	0.076	2713	2109	1579	1610	1549	0	0	0	0	0	0	14.03	13.98	14.06
8014	0.49	440.2	2713	2109	1611	1545	80.8	9.7	617	8019	0.00	2.47	0.00	0.000	676	0.000	0.088	2713	724	1577	1610	1545	0	0	0	0	0	0	14.52	13.92	14.54
8055	0.58	455.8	2714	726	1609	1545	76.9	9.3	625	8070	0.17	2.42	10.07	0.426	11430	0.103	0.076	2785	2100	1505	1537	1474	0	0	0	0	0	0	14.16	14.04	13.62
8376	0.55	506.6	2785	2102	1538	1475	42.1	7.7	659	8409	0.00	2.53	27.27	0.324	8868	0.000	0.088	2786	722	1296	1340	1252	0	0	0	0	0	0	14.55	13.97	13.74
8509	0.63	557.0	2786	722	1341	1254	31.1	7.7	685	8541	0.00	2.45	26.98	0.291	9382	0.000	0.076	2786	2105	1092	1150	1035	0	0	0	0	0	0	14.09	13.97	13.74
8840	0.79	682.3	2786	2105	1151	1029	11.8	4.2	721	8913	0.12	2.50	66.47	0.234	10660	0.135	0.080	2850	3518	580	613	547	0	0	0	0	0	0	14.21	13.90	13.74
8947	0.82	682.3	2850	3519	614	548	2.6	10.4	741	8951	0.00	2.40	0.00	0.000	1158	0.000	0.067	2856	2136	580	613	547	0	0	0	0	0	0	14.12	13.99	14.16
8954	end climb: SURFACE_DEPTH_REACHED
state	8954	begin surface coast
8964	end surface coast: CONTROL_FINISHED_OK
state	8964	begin surface