Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 386 * 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 386 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 1070.0

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 36 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 1070.0 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 36 VBD_MIN 500

DIVE 386 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 200917,130427,7427.5352,-15315.4941,20,0.7,21,19.5,0.3,67.4,11,7.5 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 1.25 MHEAD_RNG_PITCHd_Wd 208.3,23573,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.1 D_GRID 480

GPS2 200917,131632,7427.5015,-15315.2881,5,0.8,35,19.5,0.5,54.8,10,7.9

Post-dive calculations and measurements:

FINISH 0.5,1.021173 _24V_AH 12.31,229.805

SM_CCo 8860,15.80,0.209,0,0,502,702.78 _10V_AH 12.17,0.000

SM_GC 0.95,8.18,0.17,15.80,0.069,0.116,0.209,205,2220,502,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323432

IRIDIUM_FIX 7429.21,-15300.93,200917,102544 DATA_FILE_SIZE 23449,676

TT8_MAMPS 0.040446,0.888314 CAP_FILE_SIZE 97304,0

HUMID 47.75 CFSIZE 2097872896,1979187200

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.1

XPDR_PINGS 10 CURRENT 0.053,63.74,1

CP_FREE 15904407552.000000 GPS 200917,154608,7426.884,-15318.518,14,0.7,18,19.5,0.4,213.6,12,9.6

PM_FREEKB_00 45271552

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 448 145.27 nil 0 0 0.00

Roll_motor 74 2160 1983.91 nil 0 0 0.00

VBD_pump_during_apogee 925 1505 17156.88 nil 0 0 0.00

VBD_pump_during_surface 15 208 40.62 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 8869 14 1609.49

Iridium_during_xfer 397 171 838.03 NCP 8825 20 2172.72

Transponder_ping 2 420 12.93 PMAR 8808 9 1067.46

GUMSTIX_24V 0 0 0.00

GPS 36 22 10.07

TT8 0 0 0.00

LPSleep 6374 2 179.21

TT8_Active 840 13 142.90

TT8_Sampling 2032 33 827.23

TT8_CF8 366 38 172.36

TT8_Kalman 0 0 0.00

Analog_circuits 2031 10 247.22

GPS_charging 0 0 0.00

Compass 971 7 82.73

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 -145.9 192 2186 489 495 0.0 0.0 0 145 0.00 0.00 -91.28 0.000 16386 0.000 0.000 191 2187 2202 2141 2263 0 0 0 0 0 0 14.47 28.83 14.48

149 -0.57 -145.9 190 2188 2142 2263 4.1 -5.5 9 202 12.80 2.72 -33.22 0.000 18724 0.448 2.160 2378 3581 3964 3950 3979 0 0 0 0 0 0 13.58 13.05 14.01

327 -0.74 -145.9 2379 3581 3956 3979 41.7 -12.1 44 335 0.12 2.38 0.00 0.000 5254 0.122 0.055 2328 2201 3967 3955 3979 0 0 0 0 0 0 14.19 14.14 14.28

632 -0.78 -145.9 2330 2202 3957 3980 91.7 -13.4 75 633 0.00 0.00 0.00 0.000 134 0.000 0.000 2329 2201 3967 3957 3978 0 0 0 0 0 0 14.57 14.58 14.58

943 -0.87 -145.9 2330 2202 3958 3979 128.2 -11.0 90 948 0.00 2.45 0.00 0.000 388 0.000 0.086 2321 3579 3967 3957 3977 0 0 0 0 0 0 14.59 14.07 14.62

988 -1.05 -145.9 2321 3581 3959 3979 132.9 -9.9 99 993 0.25 2.35 0.00 0.000 5286 0.086 0.054 2229 2195 3967 3957 3978 0 0 0 0 0 0 14.23 14.15 14.31

1304 -0.98 -145.9 2230 2194 3958 3979 191.2 -18.3 112 1310 0.12 2.47 0.00 0.000 2436 0.285 0.082 2248 3587 3968 3957 3979 0 0 0 0 0 0 13.78 14.04 13.93

1356 -1.05 -145.9 2248 3589 3958 3980 199.2 -13.9 122 1361 0.00 2.38 0.00 0.000 1158 0.000 0.058 2250 2196 3968 3957 3979 0 0 0 0 0 0 14.24 14.11 14.26

1666 -1.05 -145.9 2249 2194 3958 3979 244.1 -13.9 134 1667 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2195 3967 3957 3978 0 0 0 0 0 0 14.59 14.62 14.63

1967 -1.08 -145.9 2249 2195 3959 3978 281.8 -12.1 144 1972 0.00 2.47 0.00 0.000 388 0.000 0.085 2240 3582 3967 3957 3978 0 0 0 0 0 0 14.62 13.95 14.64

2043 -1.20 -145.9 2240 3584 3958 3980 290.3 -10.3 159 2048 0.15 2.38 0.00 0.000 5254 0.119 0.054 2181 2194 3968 3957 3979 0 0 0 0 0 0 14.04 14.04 14.04

2359 -1.11 -145.9 2181 2193 3958 3978 342.6 -16.8 172 2365 0.15 2.50 0.00 0.000 2436 0.284 0.081 2204 3589 3967 3957 3978 0 0 0 0 0 0 13.66 13.96 13.83

2468 -1.16 -145.9 2205 3590 3957 3978 356.9 -12.4 193 2472 0.00 2.38 0.00 0.000 1158 0.000 0.055 2204 2194 3969 3956 3982 0 0 0 0 0 0 14.22 14.09 14.26

2783 -1.16 -145.9 2204 2194 3957 3978 399.5 -13.3 206 2788 0.00 2.47 0.00 0.000 260 0.000 0.084 2197 3582 3967 3956 3978 0 0 0 0 0 0 14.63 14.00 14.65

2848 -1.20 -145.9 2197 3583 3956 3978 408.3 -12.7 219 2853 0.00 2.38 0.00 0.000 1158 0.000 0.055 2196 2190 3966 3955 3978 0 0 0 0 0 0 14.21 14.09 14.26

3174 -1.18 -145.9 2197 2190 3956 3977 452.7 -13.7 234 3179 0.00 2.47 0.00 0.000 388 0.000 0.084 2194 3581 3966 3956 3976 0 0 0 0 0 0 14.62 14.01 14.64

3229 -1.22 -145.9 2195 3582 3957 3976 460.1 -12.8 245 3235 0.00 2.38 0.00 0.000 1158 0.000 0.055 2194 2199 3966 3956 3976 0 0 0 0 0 0 14.15 14.03 14.20

3381 end dive: TARGET_DEPTH_EXCEEDED

state 3381 begin apogee

3388 -0.13 0.0 2195 2059 3957 3977 481.3 -13.8 251 3608 1.35 0.00 216.15 1.418 10246 0.237 0.000 2531 2058 3364 3390 3339 0 0 0 0 0 0 13.67 13.57 12.76

3612 end apogee: CONTROL_FINISHED_OK

state 3612 begin climb

3615 0.57 145.9 2531 2058 3382 3334 493.2 0.0 258 3834 0.73 2.72 207.35 1.378 10500 0.059 0.072 2782 3478 2760 2805 2715 0 0 0 0 0 0 13.76 12.93 12.31

4064 0.08 145.9 2782 3478 2790 2715 469.2 16.6 304 4070 0.88 2.33 0.00 0.000 5254 0.343 0.054 2615 2126 2751 2788 2715 0 0 0 0 0 0 12.88 13.95 13.17

4381 -0.02 183.8 2616 2125 2790 2714 441.1 8.3 317 4436 0.17 0.00 52.92 1.426 12454 0.278 0.000 2579 2125 2615 2666 2565 0 0 0 0 0 0 13.83 13.94 13.12

4711 0.01 230.5 2579 2125 2661 2549 415.9 7.8 328 4786 0.00 2.62 68.60 1.384 8740 0.000 0.090 2578 700 2421 2480 2363 0 0 0 0 0 0 14.55 13.93 13.09

4819 0.12 262.3 2579 699 2470 2362 407.1 8.5 344 4873 0.15 2.42 47.08 1.388 11430 0.118 0.079 2647 2073 2291 2343 2239 0 0 0 0 0 0 14.10 14.03 13.03

5194 0.05 262.3 2648 2073 2335 2227 358.7 12.8 369 5195 0.20 0.00 0.00 0.000 4230 0.235 0.000 2602 2074 2281 2335 2227 0 0 0 0 0 0 13.93 14.28 14.21

5495 0.09 286.8 2602 2074 2333 2226 331.2 8.9 379 5531 0.00 0.00 34.53 1.413 8358 0.000 0.000 2602 2073 2196 2251 2141 0 0 0 0 0 0 14.61 14.07 13.26

5824 0.16 309.2 2602 2074 2242 2131 302.0 9.0 390 5865 0.00 2.50 33.45 1.395 8868 0.000 0.088 2602 693 2101 2153 2049 0 0 0 0 0 0 14.59 14.09 13.24

5908 0.30 337.2 2603 691 2148 2049 294.7 8.7 406 5956 0.22 2.47 43.60 1.344 11430 0.089 0.078 2691 2105 1992 2038 1946 0 0 0 0 0 0 14.23 14.12 13.16

6277 0.23 337.2 2692 2104 2030 1930 242.1 13.6 430 6282 0.12 2.50 0.00 0.000 4740 0.234 0.084 2669 690 1979 2029 1930 0 0 0 0 0 0 13.97 14.10 14.10

6323 0.26 337.2 2669 692 2027 1931 236.6 11.3 439 6328 0.00 2.47 0.00 0.000 1158 0.000 0.078 2669 2105 1977 2025 1930 0 0 0 0 0 0 14.22 14.07 14.28

6638 0.26 337.2 2669 2106 2026 1929 202.7 10.3 452 6644 0.00 2.50 0.00 0.000 516 0.000 0.088 2669 700 1976 2025 1928 0 0 0 0 0 0 14.62 14.04 14.64

6679 0.31 347.3 2669 702 2025 1929 198.7 9.5 460 6700 0.00 2.45 11.82 1.506 9382 0.000 0.077 2669 2104 1946 1993 1900 0 0 0 0 0 0 14.23 14.09 13.32

6999 0.32 363.0 2670 2101 1992 1896 168.4 9.3 474 7031 0.00 2.47 25.83 1.385 8740 0.000 0.087 2669 700 1882 1920 1845 0 0 0 0 0 0 14.62 13.90 13.28

7071 0.41 379.5 2670 700 1915 1845 161.9 9.2 488 7106 0.15 2.45 28.17 1.341 11430 0.116 0.078 2734 2103 1819 1842 1796 0 0 0 0 0 0 14.22 14.18 13.24

7424 0.33 379.5 2735 2104 1833 1781 117.7 12.1 508 7426 0.20 0.00 0.00 0.000 4230 0.228 0.000 2688 2105 1806 1832 1781 0 0 0 0 0 0 13.95 14.28 14.22

7722 0.40 424.7 2689 2104 1833 1777 92.2 7.9 524 7749 0.00 2.58 23.17 0.482 8868 0.000 0.090 2689 701 1632 1659 1605 0 0 0 0 0 0 14.57 14.15 13.65

7818 0.54 472.2 2690 702 1657 1607 84.7 7.8 542 7850 0.20 2.47 25.42 0.454 11430 0.096 0.078 2773 2106 1436 1470 1402 0 0 0 0 0 0 14.23 14.07 13.65

8146 0.53 495.8 2773 2106 1475 1393 46.4 8.9 578 8162 0.00 2.58 12.43 0.340 8868 0.000 0.087 2780 695 1341 1388 1294 0 0 0 0 0 0 14.57 14.12 13.72

8368 0.61 560.2 2781 695 1386 1293 29.4 7.0 622 8410 0.00 2.47 34.38 0.288 9382 0.000 0.079 2781 2100 1079 1140 1018 0 0 0 0 0 0 14.23 14.08 13.73

8708 0.80 674.3 2781 2100 1142 1007 12.1 4.7 660 8771 0.17 0.00 60.85 0.236 10662 0.105 0.000 2856 2100 613 656 570 0 0 0 0 0 0 14.21 14.06 13.80

8825 end climb: SURFACE_DEPTH_REACHED

state 8825 begin surface coast

8837 end surface coast: CONTROL_FINISHED_OK

state 8837 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	386	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	1070.0
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	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	51	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,130427,7427.5352,-15315.4941,20,0.7,21,19.5,0.3,67.4,11,7.5	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	1.25	MHEAD_RNG_PITCHd_Wd	208.3,23573,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	200917,131632,7427.5015,-15315.2881,5,0.8,35,19.5,0.5,54.8,10,7.9

FINISH	0.5,1.021173	_24V_AH	12.31,229.805
SM_CCo	8860,15.80,0.209,0,0,502,702.78	_10V_AH	12.17,0.000
SM_GC	0.95,8.18,0.17,15.80,0.069,0.116,0.209,205,2220,502,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323432
IRIDIUM_FIX	7429.21,-15300.93,200917,102544	DATA_FILE_SIZE	23449,676
TT8_MAMPS	0.040446,0.888314	CAP_FILE_SIZE	97304,0
HUMID	47.75	CFSIZE	2097872896,1979187200
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.1
XPDR_PINGS	10	CURRENT	0.053,63.74,1
CP_FREE	15904407552.000000	GPS	200917,154608,7426.884,-15318.518,14,0.7,18,19.5,0.4,213.6,12,9.6
PM_FREEKB_00	45271552

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	448	145.27	nil	0	0	0.00
Roll_motor	74	2160	1983.91	nil	0	0	0.00
VBD_pump_during_apogee	925	1505	17156.88	nil	0	0	0.00
VBD_pump_during_surface	15	208	40.62	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	8869	14	1609.49
Iridium_during_xfer	397	171	838.03	NCP	8825	20	2172.72
Transponder_ping	2	420	12.93	PMAR	8808	9	1067.46
GUMSTIX_24V	0	0	0.00
GPS	36	22	10.07
TT8	0	0	0.00
LPSleep	6374	2	179.21
TT8_Active	840	13	142.90
TT8_Sampling	2032	33	827.23
TT8_CF8	366	38	172.36
TT8_Kalman	0	0	0.00
Analog_circuits	2031	10	247.22
GPS_charging	0	0	0.00
Compass	971	7	82.73
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	192	2186	489	495	0.0	0.0	0	145	0.00	0.00	-91.28	0.000	16386	0.000	0.000	191	2187	2202	2141	2263	0	0	0	0	0	0	14.47	28.83	14.48
149	-0.57	-145.9	190	2188	2142	2263	4.1	-5.5	9	202	12.80	2.72	-33.22	0.000	18724	0.448	2.160	2378	3581	3964	3950	3979	0	0	0	0	0	0	13.58	13.05	14.01
327	-0.74	-145.9	2379	3581	3956	3979	41.7	-12.1	44	335	0.12	2.38	0.00	0.000	5254	0.122	0.055	2328	2201	3967	3955	3979	0	0	0	0	0	0	14.19	14.14	14.28
632	-0.78	-145.9	2330	2202	3957	3980	91.7	-13.4	75	633	0.00	0.00	0.00	0.000	134	0.000	0.000	2329	2201	3967	3957	3978	0	0	0	0	0	0	14.57	14.58	14.58
943	-0.87	-145.9	2330	2202	3958	3979	128.2	-11.0	90	948	0.00	2.45	0.00	0.000	388	0.000	0.086	2321	3579	3967	3957	3977	0	0	0	0	0	0	14.59	14.07	14.62
988	-1.05	-145.9	2321	3581	3959	3979	132.9	-9.9	99	993	0.25	2.35	0.00	0.000	5286	0.086	0.054	2229	2195	3967	3957	3978	0	0	0	0	0	0	14.23	14.15	14.31
1304	-0.98	-145.9	2230	2194	3958	3979	191.2	-18.3	112	1310	0.12	2.47	0.00	0.000	2436	0.285	0.082	2248	3587	3968	3957	3979	0	0	0	0	0	0	13.78	14.04	13.93
1356	-1.05	-145.9	2248	3589	3958	3980	199.2	-13.9	122	1361	0.00	2.38	0.00	0.000	1158	0.000	0.058	2250	2196	3968	3957	3979	0	0	0	0	0	0	14.24	14.11	14.26
1666	-1.05	-145.9	2249	2194	3958	3979	244.1	-13.9	134	1667	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2195	3967	3957	3978	0	0	0	0	0	0	14.59	14.62	14.63
1967	-1.08	-145.9	2249	2195	3959	3978	281.8	-12.1	144	1972	0.00	2.47	0.00	0.000	388	0.000	0.085	2240	3582	3967	3957	3978	0	0	0	0	0	0	14.62	13.95	14.64
2043	-1.20	-145.9	2240	3584	3958	3980	290.3	-10.3	159	2048	0.15	2.38	0.00	0.000	5254	0.119	0.054	2181	2194	3968	3957	3979	0	0	0	0	0	0	14.04	14.04	14.04
2359	-1.11	-145.9	2181	2193	3958	3978	342.6	-16.8	172	2365	0.15	2.50	0.00	0.000	2436	0.284	0.081	2204	3589	3967	3957	3978	0	0	0	0	0	0	13.66	13.96	13.83
2468	-1.16	-145.9	2205	3590	3957	3978	356.9	-12.4	193	2472	0.00	2.38	0.00	0.000	1158	0.000	0.055	2204	2194	3969	3956	3982	0	0	0	0	0	0	14.22	14.09	14.26
2783	-1.16	-145.9	2204	2194	3957	3978	399.5	-13.3	206	2788	0.00	2.47	0.00	0.000	260	0.000	0.084	2197	3582	3967	3956	3978	0	0	0	0	0	0	14.63	14.00	14.65
2848	-1.20	-145.9	2197	3583	3956	3978	408.3	-12.7	219	2853	0.00	2.38	0.00	0.000	1158	0.000	0.055	2196	2190	3966	3955	3978	0	0	0	0	0	0	14.21	14.09	14.26
3174	-1.18	-145.9	2197	2190	3956	3977	452.7	-13.7	234	3179	0.00	2.47	0.00	0.000	388	0.000	0.084	2194	3581	3966	3956	3976	0	0	0	0	0	0	14.62	14.01	14.64
3229	-1.22	-145.9	2195	3582	3957	3976	460.1	-12.8	245	3235	0.00	2.38	0.00	0.000	1158	0.000	0.055	2194	2199	3966	3956	3976	0	0	0	0	0	0	14.15	14.03	14.20
3381	end dive: TARGET_DEPTH_EXCEEDED
state	3381	begin apogee
3388	-0.13	0.0	2195	2059	3957	3977	481.3	-13.8	251	3608	1.35	0.00	216.15	1.418	10246	0.237	0.000	2531	2058	3364	3390	3339	0	0	0	0	0	0	13.67	13.57	12.76
3612	end apogee: CONTROL_FINISHED_OK
state	3612	begin climb
3615	0.57	145.9	2531	2058	3382	3334	493.2	0.0	258	3834	0.73	2.72	207.35	1.378	10500	0.059	0.072	2782	3478	2760	2805	2715	0	0	0	0	0	0	13.76	12.93	12.31
4064	0.08	145.9	2782	3478	2790	2715	469.2	16.6	304	4070	0.88	2.33	0.00	0.000	5254	0.343	0.054	2615	2126	2751	2788	2715	0	0	0	0	0	0	12.88	13.95	13.17
4381	-0.02	183.8	2616	2125	2790	2714	441.1	8.3	317	4436	0.17	0.00	52.92	1.426	12454	0.278	0.000	2579	2125	2615	2666	2565	0	0	0	0	0	0	13.83	13.94	13.12
4711	0.01	230.5	2579	2125	2661	2549	415.9	7.8	328	4786	0.00	2.62	68.60	1.384	8740	0.000	0.090	2578	700	2421	2480	2363	0	0	0	0	0	0	14.55	13.93	13.09
4819	0.12	262.3	2579	699	2470	2362	407.1	8.5	344	4873	0.15	2.42	47.08	1.388	11430	0.118	0.079	2647	2073	2291	2343	2239	0	0	0	0	0	0	14.10	14.03	13.03
5194	0.05	262.3	2648	2073	2335	2227	358.7	12.8	369	5195	0.20	0.00	0.00	0.000	4230	0.235	0.000	2602	2074	2281	2335	2227	0	0	0	0	0	0	13.93	14.28	14.21
5495	0.09	286.8	2602	2074	2333	2226	331.2	8.9	379	5531	0.00	0.00	34.53	1.413	8358	0.000	0.000	2602	2073	2196	2251	2141	0	0	0	0	0	0	14.61	14.07	13.26
5824	0.16	309.2	2602	2074	2242	2131	302.0	9.0	390	5865	0.00	2.50	33.45	1.395	8868	0.000	0.088	2602	693	2101	2153	2049	0	0	0	0	0	0	14.59	14.09	13.24
5908	0.30	337.2	2603	691	2148	2049	294.7	8.7	406	5956	0.22	2.47	43.60	1.344	11430	0.089	0.078	2691	2105	1992	2038	1946	0	0	0	0	0	0	14.23	14.12	13.16
6277	0.23	337.2	2692	2104	2030	1930	242.1	13.6	430	6282	0.12	2.50	0.00	0.000	4740	0.234	0.084	2669	690	1979	2029	1930	0	0	0	0	0	0	13.97	14.10	14.10
6323	0.26	337.2	2669	692	2027	1931	236.6	11.3	439	6328	0.00	2.47	0.00	0.000	1158	0.000	0.078	2669	2105	1977	2025	1930	0	0	0	0	0	0	14.22	14.07	14.28
6638	0.26	337.2	2669	2106	2026	1929	202.7	10.3	452	6644	0.00	2.50	0.00	0.000	516	0.000	0.088	2669	700	1976	2025	1928	0	0	0	0	0	0	14.62	14.04	14.64
6679	0.31	347.3	2669	702	2025	1929	198.7	9.5	460	6700	0.00	2.45	11.82	1.506	9382	0.000	0.077	2669	2104	1946	1993	1900	0	0	0	0	0	0	14.23	14.09	13.32
6999	0.32	363.0	2670	2101	1992	1896	168.4	9.3	474	7031	0.00	2.47	25.83	1.385	8740	0.000	0.087	2669	700	1882	1920	1845	0	0	0	0	0	0	14.62	13.90	13.28
7071	0.41	379.5	2670	700	1915	1845	161.9	9.2	488	7106	0.15	2.45	28.17	1.341	11430	0.116	0.078	2734	2103	1819	1842	1796	0	0	0	0	0	0	14.22	14.18	13.24
7424	0.33	379.5	2735	2104	1833	1781	117.7	12.1	508	7426	0.20	0.00	0.00	0.000	4230	0.228	0.000	2688	2105	1806	1832	1781	0	0	0	0	0	0	13.95	14.28	14.22
7722	0.40	424.7	2689	2104	1833	1777	92.2	7.9	524	7749	0.00	2.58	23.17	0.482	8868	0.000	0.090	2689	701	1632	1659	1605	0	0	0	0	0	0	14.57	14.15	13.65
7818	0.54	472.2	2690	702	1657	1607	84.7	7.8	542	7850	0.20	2.47	25.42	0.454	11430	0.096	0.078	2773	2106	1436	1470	1402	0	0	0	0	0	0	14.23	14.07	13.65
8146	0.53	495.8	2773	2106	1475	1393	46.4	8.9	578	8162	0.00	2.58	12.43	0.340	8868	0.000	0.087	2780	695	1341	1388	1294	0	0	0	0	0	0	14.57	14.12	13.72
8368	0.61	560.2	2781	695	1386	1293	29.4	7.0	622	8410	0.00	2.47	34.38	0.288	9382	0.000	0.079	2781	2100	1079	1140	1018	0	0	0	0	0	0	14.23	14.08	13.73
8708	0.80	674.3	2781	2100	1142	1007	12.1	4.7	660	8771	0.17	0.00	60.85	0.236	10662	0.105	0.000	2856	2100	613	656	570	0	0	0	0	0	0	14.21	14.06	13.80
8825	end climb: SURFACE_DEPTH_REACHED
state	8825	begin surface coast
8837	end surface coast: CONTROL_FINISHED_OK
state	8837	begin surface