Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 388 * 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 388 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 1075.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 1075.0 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 63 VBD_MIN 500

DIVE 388 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 200917,183332,7426.2559,-15321.8799,31,0.7,31,19.5,0.5,50.5,10,7.4 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 1.29 MHEAD_RNG_PITCHd_Wd 204.5,19738,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 200917,184447,7426.2910,-15321.7998,8,0.7,9,19.5,0.0,62.2,10,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.020986 _24V_AH 12.29,230.768

SM_CCo 9148,2.65,0.200,0,0,501,702.78 _10V_AH 12.16,0.000

SM_GC 1.72,8.43,0.12,2.65,0.079,0.125,0.200,193,2241,501,-7.39,-0.57,702.78,0,0,0,0,0,0,14.22,14.24,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 221 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323392

IRIDIUM_FIX 7427.38,-15322.51,200917,155248 DATA_FILE_SIZE 23372,708

TT8_MAMPS 0.038948,0.877079 CAP_FILE_SIZE 103139,0

HUMID 47.44 CFSIZE 2097872896,1978630144

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 1448.2

XPDR_PINGS 8 CURRENT 0.034,56.83,1

CP_FREE 0.000000 GPS 200917,211931,7425.622,-15325.224,34,0.8,51,19.4,0.4,277.7,11,6.6

PM_FREEKB_00 45190912

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 147.55 nil 0 0 0.00

Roll_motor 85 2174 2273.21 nil 0 0 0.00

VBD_pump_during_apogee 1013 1516 18901.15 nil 0 0 0.00

VBD_pump_during_surface 2 200 6.53 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 9115 14 1618.85

Iridium_during_xfer 373 179 820.78 NCP 9117 20 2240.96

Transponder_ping 2 420 10.32 PMAR 9098 9 1110.32

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.91

TT8 0 0 0.00

LPSleep 6455 2 181.35

TT8_Active 893 13 151.70

TT8_Sampling 2104 33 855.84

TT8_CF8 384 38 180.95

TT8_Kalman 0 0 0.00

Analog_circuits 2101 10 255.58

GPS_charging 0 0 0.00

Compass 1016 7 86.51

RAFOS 2216 48 1293.43

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 -145.9 189 2254 503 487 0.0 0.0 0 135 0.00 0.00 -80.97 0.000 16386 0.000 0.000 187 2254 1991 1917 2065 0 0 0 0 0 0 14.49 28.83 14.49

138 -0.57 -145.9 186 2255 1920 2066 3.2 -3.8 8 198 12.90 2.90 -40.83 0.000 18980 0.451 2.174 2386 830 3963 3948 3978 0 0 0 0 0 0 13.57 12.59 14.04

255 -0.68 -145.9 2386 829 3953 3979 31.9 -14.7 30 262 0.00 2.45 0.00 0.000 1158 0.000 0.085 2386 2201 3966 3954 3978 0 0 0 0 0 0 14.08 13.95 14.12

559 -0.81 -145.9 2386 2203 3956 3979 71.1 -9.4 61 564 0.17 2.53 0.00 0.000 4516 0.109 0.086 2305 3619 3969 3960 3978 0 0 0 0 0 0 14.16 14.06 14.18

682 -0.89 -145.9 2306 3620 3959 3979 86.7 -12.8 85 687 0.00 2.38 0.00 0.000 1158 0.000 0.057 2306 2235 3967 3956 3978 0 0 0 0 0 0 14.24 14.12 14.28

1013 -0.94 -145.9 2306 2234 3957 3979 132.4 -13.0 103 1019 0.00 2.58 0.00 0.000 644 0.000 0.086 2306 789 3967 3957 3978 0 0 0 0 0 0 14.59 14.03 14.64

1044 -1.04 -145.9 2306 790 3957 3979 136.4 -12.6 109 1049 0.20 2.53 0.00 0.000 5254 0.095 0.085 2230 2208 3967 3957 3978 0 0 0 0 0 0 14.18 14.01 14.26

1375 -0.97 -145.9 2231 2208 3957 3978 198.0 -18.1 125 1380 0.12 2.50 0.00 0.000 2436 0.282 0.083 2250 3613 3967 3956 3978 0 0 0 0 0 0 13.84 13.93 13.98

1561 -1.05 -145.9 2250 3615 3956 3979 222.4 -12.5 162 1566 0.00 2.42 0.00 0.000 1158 0.000 0.057 2250 2193 3967 3956 3978 0 0 0 0 0 0 14.22 14.09 14.26

1886 -1.08 -145.9 2249 2193 3958 3981 264.9 -12.4 177 1891 0.00 2.55 0.00 0.000 388 0.000 0.084 2241 3619 3967 3956 3978 0 0 0 0 0 0 14.62 13.95 14.64

1937 -1.19 -145.9 2241 3621 3957 3979 270.9 -11.5 187 1943 0.15 2.42 0.00 0.000 5254 0.123 0.057 2179 2199 3967 3956 3978 0 0 0 0 0 0 14.14 14.08 14.23

2249 -1.09 -145.9 2180 2198 3957 3978 325.2 -17.2 199 2255 0.17 2.55 0.00 0.000 2436 0.289 0.083 2208 3620 3967 3956 3978 0 0 0 0 0 0 13.62 13.92 13.79

2336 -1.13 -145.9 2208 3621 3956 3979 337.1 -12.6 216 2342 0.00 2.45 0.00 0.000 1158 0.000 0.057 2207 2201 3967 3955 3979 0 0 0 0 0 0 14.07 13.97 14.12

2640 -1.13 -145.9 2208 2200 3956 3980 377.9 -13.1 227 2646 0.00 2.55 0.00 0.000 260 0.000 0.085 2198 3625 3966 3955 3978 0 0 0 0 0 0 14.62 14.00 14.64

2687 -1.17 -145.9 2198 3627 3955 3979 384.0 -13.0 236 2692 0.00 2.45 0.00 0.000 1158 0.000 0.058 2197 2196 3966 3954 3978 0 0 0 0 0 0 14.19 14.05 14.23

3003 -1.14 -145.9 2198 2195 3955 3978 427.5 -13.7 249 3008 0.00 2.53 0.00 0.000 388 0.000 0.084 2189 3613 3966 3954 3978 0 0 0 0 0 0 14.62 13.99 14.64

3073 -1.14 -145.9 2189 3615 3954 3979 437.1 -13.3 263 3079 0.00 2.45 0.00 0.000 1030 0.000 0.057 2189 2195 3966 3954 3978 0 0 0 0 0 0 14.20 14.07 14.24

3392 end dive: TARGET_DEPTH_EXCEEDED

state 3392 begin apogee

3399 -0.13 0.0 2189 2066 3954 3979 483.9 -14.5 277 3620 1.38 0.08 217.10 1.426 10246 0.241 0.179 2528 2112 3365 3377 3353 0 0 0 0 0 0 13.64 13.52 12.76

3623 end apogee: CONTROL_FINISHED_OK

state 3624 begin climb

3629 0.57 145.9 2529 2113 3369 3346 495.9 0.0 284 3844 0.75 2.70 207.02 1.377 10756 0.057 0.079 2795 724 2765 2798 2733 0 0 0 0 0 0 13.74 13.15 12.29

4036 0.15 145.9 2796 725 2787 2727 481.6 14.6 323 4042 0.77 2.45 0.00 0.000 5254 0.323 0.075 2633 2098 2756 2785 2727 0 0 0 0 0 0 13.40 13.81 13.81

4353 0.01 173.0 2633 2098 2786 2722 452.4 8.7 336 4394 0.20 2.45 35.62 1.467 12964 0.270 0.083 2589 718 2655 2695 2615 0 0 0 0 0 0 13.76 13.78 13.14

4462 0.04 224.0 2590 719 2690 2612 444.3 7.6 354 4543 0.00 2.45 74.70 1.388 9254 0.000 0.079 2589 2102 2451 2504 2398 0 0 0 0 0 0 14.16 14.04 12.96

4854 0.06 251.7 2589 2103 2493 2385 410.6 8.7 382 4894 0.00 0.00 39.00 1.430 8230 0.000 0.000 2589 2102 2343 2390 2296 0 0 0 0 0 0 14.40 13.94 13.14

5184 0.11 277.8 2589 2103 2379 2282 381.6 8.8 393 5225 0.00 0.00 39.38 1.427 8358 0.000 0.000 2589 2102 2231 2279 2184 0 0 0 0 0 0 14.42 13.95 13.14

5514 0.18 305.6 2592 2102 2273 2170 352.6 8.7 404 5564 0.12 2.55 40.62 1.392 10916 0.125 0.088 2657 723 2114 2156 2073 0 0 0 0 0 0 13.92 14.00 13.14

5587 0.14 305.6 2658 723 2153 2073 343.7 13.5 418 5592 0.15 2.42 0.00 0.000 5254 0.243 0.078 2626 2098 2114 2156 2073 0 0 0 0 0 0 13.88 14.02 14.09

5907 0.14 305.6 2626 2099 2153 2063 308.2 10.8 432 5908 0.00 0.00 0.00 0.000 6 0.000 0.000 2626 2099 2107 2151 2064 0 0 0 0 0 0 14.44 14.46 14.45

6208 0.14 305.6 2626 2099 2152 2063 277.0 10.1 442 6213 0.00 2.47 0.00 0.000 516 0.000 0.087 2630 722 2106 2151 2061 0 0 0 0 0 0 14.45 14.00 14.45

6264 0.22 316.5 2630 726 2150 2063 271.6 9.5 453 6283 0.00 2.42 13.70 1.517 9382 0.000 0.076 2630 2103 2073 2115 2031 0 0 0 0 0 0 14.08 13.97 13.27

6602 0.27 339.9 2631 2103 2113 2024 240.3 8.9 470 6645 0.12 2.53 38.30 1.380 10916 0.122 0.088 2691 728 1976 2016 1936 0 0 0 0 0 0 14.19 14.02 13.21

6678 0.24 339.9 2691 729 2010 1936 231.2 13.1 480 6684 0.15 2.40 0.00 0.000 5254 0.220 0.077 2659 2099 1972 2009 1935 0 0 0 0 0 0 13.82 13.96 14.04

6997 0.24 353.3 2659 2101 2010 1929 199.4 9.4 493 7017 0.00 0.00 19.55 1.433 8230 0.000 0.000 2659 2100 1924 1958 1890 0 0 0 0 0 0 14.40 14.03 13.23

7295 0.30 380.2 2659 2099 1953 1882 172.4 8.8 503 7344 0.00 2.53 45.22 1.320 8868 0.000 0.088 2657 723 1813 1837 1790 0 0 0 0 0 0 14.59 14.07 13.24

7398 0.44 421.1 2659 722 1830 1791 164.0 8.1 523 7477 0.20 2.42 70.82 1.229 11430 0.099 0.079 2739 2102 1642 1666 1619 0 0 0 0 0 0 14.17 14.10 13.18

7775 0.38 421.1 2740 2104 1664 1610 113.2 13.1 549 7781 0.12 2.45 0.00 0.000 4740 0.232 0.085 2712 727 1635 1664 1607 0 0 0 0 0 0 13.99 14.09 14.14

7827 0.44 421.1 2713 727 1662 1606 107.5 10.3 559 7832 0.00 2.40 0.00 0.000 1158 0.000 0.076 2713 2100 1634 1661 1607 0 0 0 0 0 0 14.19 14.13 14.28

8140 0.48 435.2 2713 2101 1660 1604 76.3 9.4 585 8151 0.00 2.53 6.40 0.420 8868 0.000 0.086 2713 729 1588 1617 1559 0 0 0 0 0 0 14.53 13.97 13.48

8223 0.59 470.0 2710 736 1619 1561 68.8 8.4 601 8250 0.17 2.40 19.00 0.405 11430 0.100 0.075 2788 2100 1448 1477 1419 0 0 0 0 0 0 14.22 14.12 13.62

8555 0.58 523.4 2785 2102 1478 1415 35.9 7.5 637 8587 0.00 0.00 28.45 0.307 8614 0.000 0.000 2785 2101 1230 1278 1183 0 0 0 0 0 0 14.57 14.09 13.74

8885 0.72 637.8 2785 2102 1278 1176 15.7 4.7 672 8953 0.00 2.55 60.17 0.252 8612 0.000 0.082 2784 3509 763 825 701 0 0 0 0 0 0 14.57 14.02 13.71

9001 0.95 709.9 2786 3511 825 700 9.5 6.7 694 9065 0.30 2.38 58.72 0.207 11430 0.080 0.065 2898 2135 502 517 488 0 0 0 0 0 0 14.15 14.09 13.92

9068 end climb: SURFACE_DEPTH_REACHED

state 9068 begin surface coast

9080 end surface coast: CONTROL_FINISHED_OK

state 9080 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	388	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	1075.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,183332,7426.2559,-15321.8799,31,0.7,31,19.5,0.5,50.5,10,7.4	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	1.29	MHEAD_RNG_PITCHd_Wd	204.5,19738,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	200917,184447,7426.2910,-15321.7998,8,0.7,9,19.5,0.0,62.2,10,10.0

FINISH	0.4,1.020986	_24V_AH	12.29,230.768
SM_CCo	9148,2.65,0.200,0,0,501,702.78	_10V_AH	12.16,0.000
SM_GC	1.72,8.43,0.12,2.65,0.079,0.125,0.200,193,2241,501,-7.39,-0.57,702.78,0,0,0,0,0,0,14.22,14.24,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	221	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323392
IRIDIUM_FIX	7427.38,-15322.51,200917,155248	DATA_FILE_SIZE	23372,708
TT8_MAMPS	0.038948,0.877079	CAP_FILE_SIZE	103139,0
HUMID	47.44	CFSIZE	2097872896,1978630144
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	1448.2
XPDR_PINGS	8	CURRENT	0.034,56.83,1
CP_FREE	0.000000	GPS	200917,211931,7425.622,-15325.224,34,0.8,51,19.4,0.4,277.7,11,6.6
PM_FREEKB_00	45190912

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	147.55	nil	0	0	0.00
Roll_motor	85	2174	2273.21	nil	0	0	0.00
VBD_pump_during_apogee	1013	1516	18901.15	nil	0	0	0.00
VBD_pump_during_surface	2	200	6.53	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	9115	14	1618.85
Iridium_during_xfer	373	179	820.78	NCP	9117	20	2240.96
Transponder_ping	2	420	10.32	PMAR	9098	9	1110.32
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.91
TT8	0	0	0.00
LPSleep	6455	2	181.35
TT8_Active	893	13	151.70
TT8_Sampling	2104	33	855.84
TT8_CF8	384	38	180.95
TT8_Kalman	0	0	0.00
Analog_circuits	2101	10	255.58
GPS_charging	0	0	0.00
Compass	1016	7	86.51
RAFOS	2216	48	1293.43
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	189	2254	503	487	0.0	0.0	0	135	0.00	0.00	-80.97	0.000	16386	0.000	0.000	187	2254	1991	1917	2065	0	0	0	0	0	0	14.49	28.83	14.49
138	-0.57	-145.9	186	2255	1920	2066	3.2	-3.8	8	198	12.90	2.90	-40.83	0.000	18980	0.451	2.174	2386	830	3963	3948	3978	0	0	0	0	0	0	13.57	12.59	14.04
255	-0.68	-145.9	2386	829	3953	3979	31.9	-14.7	30	262	0.00	2.45	0.00	0.000	1158	0.000	0.085	2386	2201	3966	3954	3978	0	0	0	0	0	0	14.08	13.95	14.12
559	-0.81	-145.9	2386	2203	3956	3979	71.1	-9.4	61	564	0.17	2.53	0.00	0.000	4516	0.109	0.086	2305	3619	3969	3960	3978	0	0	0	0	0	0	14.16	14.06	14.18
682	-0.89	-145.9	2306	3620	3959	3979	86.7	-12.8	85	687	0.00	2.38	0.00	0.000	1158	0.000	0.057	2306	2235	3967	3956	3978	0	0	0	0	0	0	14.24	14.12	14.28
1013	-0.94	-145.9	2306	2234	3957	3979	132.4	-13.0	103	1019	0.00	2.58	0.00	0.000	644	0.000	0.086	2306	789	3967	3957	3978	0	0	0	0	0	0	14.59	14.03	14.64
1044	-1.04	-145.9	2306	790	3957	3979	136.4	-12.6	109	1049	0.20	2.53	0.00	0.000	5254	0.095	0.085	2230	2208	3967	3957	3978	0	0	0	0	0	0	14.18	14.01	14.26
1375	-0.97	-145.9	2231	2208	3957	3978	198.0	-18.1	125	1380	0.12	2.50	0.00	0.000	2436	0.282	0.083	2250	3613	3967	3956	3978	0	0	0	0	0	0	13.84	13.93	13.98
1561	-1.05	-145.9	2250	3615	3956	3979	222.4	-12.5	162	1566	0.00	2.42	0.00	0.000	1158	0.000	0.057	2250	2193	3967	3956	3978	0	0	0	0	0	0	14.22	14.09	14.26
1886	-1.08	-145.9	2249	2193	3958	3981	264.9	-12.4	177	1891	0.00	2.55	0.00	0.000	388	0.000	0.084	2241	3619	3967	3956	3978	0	0	0	0	0	0	14.62	13.95	14.64
1937	-1.19	-145.9	2241	3621	3957	3979	270.9	-11.5	187	1943	0.15	2.42	0.00	0.000	5254	0.123	0.057	2179	2199	3967	3956	3978	0	0	0	0	0	0	14.14	14.08	14.23
2249	-1.09	-145.9	2180	2198	3957	3978	325.2	-17.2	199	2255	0.17	2.55	0.00	0.000	2436	0.289	0.083	2208	3620	3967	3956	3978	0	0	0	0	0	0	13.62	13.92	13.79
2336	-1.13	-145.9	2208	3621	3956	3979	337.1	-12.6	216	2342	0.00	2.45	0.00	0.000	1158	0.000	0.057	2207	2201	3967	3955	3979	0	0	0	0	0	0	14.07	13.97	14.12
2640	-1.13	-145.9	2208	2200	3956	3980	377.9	-13.1	227	2646	0.00	2.55	0.00	0.000	260	0.000	0.085	2198	3625	3966	3955	3978	0	0	0	0	0	0	14.62	14.00	14.64
2687	-1.17	-145.9	2198	3627	3955	3979	384.0	-13.0	236	2692	0.00	2.45	0.00	0.000	1158	0.000	0.058	2197	2196	3966	3954	3978	0	0	0	0	0	0	14.19	14.05	14.23
3003	-1.14	-145.9	2198	2195	3955	3978	427.5	-13.7	249	3008	0.00	2.53	0.00	0.000	388	0.000	0.084	2189	3613	3966	3954	3978	0	0	0	0	0	0	14.62	13.99	14.64
3073	-1.14	-145.9	2189	3615	3954	3979	437.1	-13.3	263	3079	0.00	2.45	0.00	0.000	1030	0.000	0.057	2189	2195	3966	3954	3978	0	0	0	0	0	0	14.20	14.07	14.24
3392	end dive: TARGET_DEPTH_EXCEEDED
state	3392	begin apogee
3399	-0.13	0.0	2189	2066	3954	3979	483.9	-14.5	277	3620	1.38	0.08	217.10	1.426	10246	0.241	0.179	2528	2112	3365	3377	3353	0	0	0	0	0	0	13.64	13.52	12.76
3623	end apogee: CONTROL_FINISHED_OK
state	3624	begin climb
3629	0.57	145.9	2529	2113	3369	3346	495.9	0.0	284	3844	0.75	2.70	207.02	1.377	10756	0.057	0.079	2795	724	2765	2798	2733	0	0	0	0	0	0	13.74	13.15	12.29
4036	0.15	145.9	2796	725	2787	2727	481.6	14.6	323	4042	0.77	2.45	0.00	0.000	5254	0.323	0.075	2633	2098	2756	2785	2727	0	0	0	0	0	0	13.40	13.81	13.81
4353	0.01	173.0	2633	2098	2786	2722	452.4	8.7	336	4394	0.20	2.45	35.62	1.467	12964	0.270	0.083	2589	718	2655	2695	2615	0	0	0	0	0	0	13.76	13.78	13.14
4462	0.04	224.0	2590	719	2690	2612	444.3	7.6	354	4543	0.00	2.45	74.70	1.388	9254	0.000	0.079	2589	2102	2451	2504	2398	0	0	0	0	0	0	14.16	14.04	12.96
4854	0.06	251.7	2589	2103	2493	2385	410.6	8.7	382	4894	0.00	0.00	39.00	1.430	8230	0.000	0.000	2589	2102	2343	2390	2296	0	0	0	0	0	0	14.40	13.94	13.14
5184	0.11	277.8	2589	2103	2379	2282	381.6	8.8	393	5225	0.00	0.00	39.38	1.427	8358	0.000	0.000	2589	2102	2231	2279	2184	0	0	0	0	0	0	14.42	13.95	13.14
5514	0.18	305.6	2592	2102	2273	2170	352.6	8.7	404	5564	0.12	2.55	40.62	1.392	10916	0.125	0.088	2657	723	2114	2156	2073	0	0	0	0	0	0	13.92	14.00	13.14
5587	0.14	305.6	2658	723	2153	2073	343.7	13.5	418	5592	0.15	2.42	0.00	0.000	5254	0.243	0.078	2626	2098	2114	2156	2073	0	0	0	0	0	0	13.88	14.02	14.09
5907	0.14	305.6	2626	2099	2153	2063	308.2	10.8	432	5908	0.00	0.00	0.00	0.000	6	0.000	0.000	2626	2099	2107	2151	2064	0	0	0	0	0	0	14.44	14.46	14.45
6208	0.14	305.6	2626	2099	2152	2063	277.0	10.1	442	6213	0.00	2.47	0.00	0.000	516	0.000	0.087	2630	722	2106	2151	2061	0	0	0	0	0	0	14.45	14.00	14.45
6264	0.22	316.5	2630	726	2150	2063	271.6	9.5	453	6283	0.00	2.42	13.70	1.517	9382	0.000	0.076	2630	2103	2073	2115	2031	0	0	0	0	0	0	14.08	13.97	13.27
6602	0.27	339.9	2631	2103	2113	2024	240.3	8.9	470	6645	0.12	2.53	38.30	1.380	10916	0.122	0.088	2691	728	1976	2016	1936	0	0	0	0	0	0	14.19	14.02	13.21
6678	0.24	339.9	2691	729	2010	1936	231.2	13.1	480	6684	0.15	2.40	0.00	0.000	5254	0.220	0.077	2659	2099	1972	2009	1935	0	0	0	0	0	0	13.82	13.96	14.04
6997	0.24	353.3	2659	2101	2010	1929	199.4	9.4	493	7017	0.00	0.00	19.55	1.433	8230	0.000	0.000	2659	2100	1924	1958	1890	0	0	0	0	0	0	14.40	14.03	13.23
7295	0.30	380.2	2659	2099	1953	1882	172.4	8.8	503	7344	0.00	2.53	45.22	1.320	8868	0.000	0.088	2657	723	1813	1837	1790	0	0	0	0	0	0	14.59	14.07	13.24
7398	0.44	421.1	2659	722	1830	1791	164.0	8.1	523	7477	0.20	2.42	70.82	1.229	11430	0.099	0.079	2739	2102	1642	1666	1619	0	0	0	0	0	0	14.17	14.10	13.18
7775	0.38	421.1	2740	2104	1664	1610	113.2	13.1	549	7781	0.12	2.45	0.00	0.000	4740	0.232	0.085	2712	727	1635	1664	1607	0	0	0	0	0	0	13.99	14.09	14.14
7827	0.44	421.1	2713	727	1662	1606	107.5	10.3	559	7832	0.00	2.40	0.00	0.000	1158	0.000	0.076	2713	2100	1634	1661	1607	0	0	0	0	0	0	14.19	14.13	14.28
8140	0.48	435.2	2713	2101	1660	1604	76.3	9.4	585	8151	0.00	2.53	6.40	0.420	8868	0.000	0.086	2713	729	1588	1617	1559	0	0	0	0	0	0	14.53	13.97	13.48
8223	0.59	470.0	2710	736	1619	1561	68.8	8.4	601	8250	0.17	2.40	19.00	0.405	11430	0.100	0.075	2788	2100	1448	1477	1419	0	0	0	0	0	0	14.22	14.12	13.62
8555	0.58	523.4	2785	2102	1478	1415	35.9	7.5	637	8587	0.00	0.00	28.45	0.307	8614	0.000	0.000	2785	2101	1230	1278	1183	0	0	0	0	0	0	14.57	14.09	13.74
8885	0.72	637.8	2785	2102	1278	1176	15.7	4.7	672	8953	0.00	2.55	60.17	0.252	8612	0.000	0.082	2784	3509	763	825	701	0	0	0	0	0	0	14.57	14.02	13.71
9001	0.95	709.9	2786	3511	825	700	9.5	6.7	694	9065	0.30	2.38	58.72	0.207	11430	0.080	0.065	2898	2135	502	517	488	0	0	0	0	0	0	14.15	14.09	13.92
9068	end climb: SURFACE_DEPTH_REACHED
state	9068	begin surface coast
9080	end surface coast: CONTROL_FINISHED_OK
state	9080	begin surface