Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 389 * 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 389 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 1078.0

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 40 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 57 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 1078.0 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 40 VBD_MIN 500

DIVE 389 NOCOMM_ACTION 161 R_STBD_OVSHOOT 57 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 200917,211931,7425.6221,-15325.2236,34,0.8,51,19.4,0.4,277.7,11,6.6 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 1.32 MHEAD_RNG_PITCHd_Wd 201.0,17767,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 200917,213130,7425.6631,-15325.1875,7,0.7,8,19.4,0.0,0.0,12,9.7

Post-dive calculations and measurements:

FINISH 0.2,1.021005 _24V_AH 12.29,231.372

SM_CCo 9470,0.00,0.000,0,0,499,703.03 _10V_AH 12.10,0.000

SM_GC 1.24,8.18,0.17,0.00,0.057,0.112,0.000,203,2217,499,-7.37,-0.85,703.03,0,0,0,0,0,0,14.15,14.13,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 34 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323304

IRIDIUM_FIX 7426.45,-15315.34,200917,183832 DATA_FILE_SIZE 20147,623

TT8_MAMPS 0.083888,0.959469 CAP_FILE_SIZE 94053,0

HUMID 45.82 CFSIZE 2097872896,1978400768

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

TCM_TEMP 13.30 SOUNDSPEED 1447.7

XPDR_PINGS 11 CURRENT 0.035,32.33,1

CP_FREE 15902834688.000000 GPS 210917,001101,7424.916,-15328.256,15,0.7,23,19.4,0.6,52.9,11,9.9

PM_FREEKB_00 45155264

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 146.94 nil 0 0 0.00

Roll_motor 64 2163 1708.97 nil 0 0 0.00

VBD_pump_during_apogee 1458 1240 22238.40 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9420 13 1600.55

Iridium_during_xfer 419 174 900.11 NCP 9364 20 2301.67

Transponder_ping 2 420 14.19 PMAR 9360 9 1135.39

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.61

TT8 0 0 0.00

LPSleep 6183 2 172.84

TT8_Active 1249 13 211.25

TT8_Sampling 2400 33 971.28

TT8_CF8 366 38 171.39

TT8_Kalman 0 0 0.00

Analog_circuits 2802 10 339.11

GPS_charging 0 0 0.00

Compass 896 7 75.89

RAFOS 2158 48 1253.37

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

53 -0.57 -145.9 187 2187 514 491 0.0 0.0 0 135 0.00 0.00 -80.65 0.000 16386 0.000 0.000 186 2182 1979 1910 2049 0 0 0 0 0 0 14.46 28.83 14.48

139 -0.57 -145.9 187 2182 1913 2051 3.0 -3.0 8 202 12.93 2.72 -42.25 0.000 18724 0.453 2.163 2375 3568 3962 3948 3976 1 0 0 0 0 0 13.40 12.59 14.00

255 -0.73 -145.9 2375 3573 3953 3977 30.8 -13.5 30 260 0.00 2.33 0.00 0.000 1158 0.000 0.058 2375 2210 3964 3953 3976 0 0 0 0 0 0 14.12 14.00 14.15

566 -0.84 -145.9 2376 2209 3956 3976 74.8 -10.8 62 567 0.22 0.00 0.00 0.000 4230 0.103 0.000 2289 2209 3965 3955 3976 0 0 0 0 0 0 14.15 14.29 14.26

866 -0.84 -145.9 2289 2210 3955 3978 124.4 -15.8 82 871 0.00 2.42 0.00 0.000 260 0.000 0.082 2280 3582 3965 3955 3976 0 0 0 0 0 0 14.59 14.03 14.62

937 -0.95 -145.9 2280 3583 3955 3977 133.9 -11.9 96 941 0.00 2.38 0.00 0.000 1158 0.000 0.057 2277 2201 3965 3955 3976 0 0 0 0 0 0 14.16 14.02 14.19

1257 -0.98 -145.9 2280 2201 3955 3977 177.5 -13.4 110 1258 0.00 0.00 0.00 0.000 134 0.000 0.000 2280 2200 3965 3954 3976 0 0 0 0 0 0 14.60 14.62 14.62

1557 -1.03 -145.9 2280 2201 3955 3978 214.6 -12.0 120 1563 0.12 2.45 0.00 0.000 4484 0.136 0.083 2222 3573 3965 3955 3976 0 0 0 0 0 0 14.23 14.04 14.26

1593 -1.03 -145.9 2223 3574 3955 3977 219.7 -15.6 127 1599 0.00 2.38 0.00 0.000 1030 0.000 0.059 2222 2187 3965 3955 3976 0 0 0 0 0 0 14.23 14.10 14.28

1919 -1.00 -145.9 2223 2186 3956 3976 272.3 -15.4 142 1924 0.12 2.47 0.00 0.000 2436 0.299 0.081 2242 3580 3965 3954 3976 0 0 0 0 0 0 13.81 14.03 13.95

1996 -1.11 -145.9 2242 3581 3955 3977 281.3 -10.5 157 2000 0.00 2.35 0.00 0.000 1158 0.000 0.056 2242 2198 3963 3955 3971 0 0 0 0 0 0 14.27 14.11 14.28

2311 -1.16 -145.9 2242 2196 3956 3976 316.7 -11.0 170 2316 0.00 2.47 0.00 0.000 388 0.000 0.086 2236 3579 3965 3954 3976 0 0 0 0 0 0 14.62 14.00 14.63

2357 -1.26 -145.9 2237 3581 3956 3976 321.7 -10.8 179 2363 0.20 2.38 0.00 0.000 5254 0.103 0.057 2162 2195 3965 3954 3976 0 0 0 0 0 0 14.15 14.07 14.25

2674 -1.14 -145.9 2162 2194 3955 3975 378.2 -18.1 192 2680 0.20 2.47 0.00 0.000 2436 0.316 0.080 2194 3575 3965 3954 3976 0 0 0 0 0 0 13.55 13.93 13.77

2782 -1.16 -145.9 2195 3576 3954 3977 393.0 -12.8 213 2788 0.00 2.35 0.00 0.000 1158 0.000 0.057 2194 2199 3964 3953 3976 0 0 0 0 0 0 14.14 14.02 14.19

3098 -1.12 -145.9 2195 2198 3954 3976 438.4 -14.4 226 3103 0.00 2.47 0.00 0.000 388 0.000 0.083 2184 3575 3964 3953 3976 0 0 0 0 0 0 14.62 13.93 14.64

3178 -1.12 -145.9 2185 3576 3953 3977 449.8 -13.6 242 3184 0.15 2.35 0.00 0.000 3078 0.239 0.057 2214 2201 3964 3952 3976 0 0 0 0 0 0 13.78 14.07 14.06

3426 end dive: TARGET_DEPTH_EXCEEDED

state 3426 begin apogee

3433 -0.13 0.0 2214 2062 3953 3977 480.1 -11.9 252 3940 1.23 0.00 500.62 1.130 10246 0.225 0.000 2527 2060 3364 3377 3352 0 0 0 0 0 0 13.70 13.38 12.66

3946 end apogee: CONTROL_FINISHED_OK

state 3947 begin climb

3949 0.57 145.9 2528 2061 3374 3348 511.5 0.0 269 4513 0.75 2.72 265.33 1.212 10500 0.058 0.072 2780 3475 2746 2770 2723 0 0 0 0 0 0 13.59 12.82 12.29

4636 0.57 145.9 2781 3475 2769 2719 458.1 9.0 273 4641 0.00 2.30 0.00 0.000 1030 0.000 0.057 2788 2126 2743 2768 2719 0 0 0 0 0 0 14.21 14.09 14.26

4947 0.12 145.9 2789 2126 2770 2718 412.5 14.5 285 4952 0.73 2.53 0.00 0.000 4740 0.312 0.079 2642 695 2742 2767 2718 0 0 0 0 0 0 13.53 13.90 13.77

5065 0.02 186.6 2639 694 2770 2718 402.1 8.1 308 5169 0.22 2.42 95.95 1.164 13478 0.269 0.078 2592 2067 2602 2643 2562 0 0 0 0 0 0 13.63 13.92 13.15

5492 0.03 237.0 2591 2068 2633 2540 369.9 7.7 343 5590 0.00 0.00 96.40 1.196 8358 0.000 0.000 2591 2067 2398 2445 2351 0 0 0 0 0 0 14.55 13.86 13.14

5882 0.05 273.1 2592 2067 2428 2331 337.6 8.3 356 5949 0.00 0.00 65.60 1.206 8230 0.000 0.000 2592 2067 2252 2298 2206 0 0 0 0 0 0 14.54 13.93 13.20

6242 0.13 310.8 2592 2068 2285 2185 307.6 8.3 368 6315 0.00 0.00 71.50 1.188 8358 0.000 0.000 2594 2067 2099 2144 2055 0 0 0 0 0 0 14.54 13.95 13.21

6602 0.25 355.9 2592 2067 2130 2037 277.8 7.9 380 6683 0.22 0.00 78.97 1.191 10406 0.090 0.000 2683 2067 1916 1952 1881 0 0 0 0 0 0 14.27 13.95 13.20

6962 0.21 355.9 2683 2067 1932 1864 231.1 12.5 392 6963 0.15 0.00 0.00 0.000 4230 0.243 0.000 2651 2067 1897 1931 1864 0 0 0 0 0 0 13.93 14.23 14.18

7262 0.26 378.6 2651 2067 1930 1862 202.8 8.9 402 7307 0.00 2.45 39.92 1.232 8868 0.000 0.089 2650 691 1817 1843 1792 0 0 0 0 0 0 14.59 13.82 13.26

7380 0.39 411.9 2651 692 1829 1789 192.5 8.5 425 7444 0.17 2.47 56.22 1.204 11430 0.103 0.080 2721 2101 1682 1702 1663 0 0 0 0 0 0 14.18 14.10 13.20

7742 0.36 411.9 2719 2102 1694 1638 146.0 12.6 448 7747 0.00 2.50 0.00 0.000 644 0.000 0.089 2726 698 1665 1693 1638 0 0 0 0 0 0 14.54 14.08 14.57

7773 0.34 411.9 2726 700 1690 1638 142.1 12.0 454 7779 0.15 2.45 0.00 0.000 5254 0.230 0.078 2694 2103 1663 1689 1637 0 0 0 0 0 0 13.95 14.13 14.21

8107 0.38 423.9 2695 2102 1691 1634 109.8 9.4 470 8117 0.00 2.50 3.78 1.172 8868 0.000 0.089 2699 698 1636 1665 1607 0 0 0 0 0 0 14.58 14.19 13.17

8173 0.48 445.3 2700 699 1674 1613 103.5 9.0 483 8228 0.12 2.45 47.65 1.241 11430 0.125 0.077 2757 2105 1544 1573 1515 0 0 0 0 0 0 14.25 14.18 13.26

8528 0.44 445.3 2758 2105 1567 1495 59.7 10.3 524 8529 0.15 0.00 0.00 0.000 4230 0.243 0.000 2726 2105 1530 1565 1495 0 0 0 0 0 0 13.93 14.27 14.21

8828 0.59 571.9 2727 2105 1567 1495 42.1 4.2 554 8902 0.12 2.58 63.58 0.320 10916 0.121 0.090 2789 698 1033 1095 971 0 0 0 0 0 0 14.18 13.89 13.68

8976 0.70 606.0 2789 699 1097 979 30.2 8.4 578 9001 0.00 2.47 19.48 0.283 9382 0.000 0.077 2789 2097 892 958 826 0 0 0 0 0 0 14.10 13.96 13.70

9307 0.90 703.3 2789 2097 961 836 9.4 5.5 614 9363 0.25 0.00 53.28 0.224 10662 0.087 0.000 2885 2097 495 510 481 0 0 0 0 0 0 13.96 14.03 13.80

9376 end climb: SURFACE_DEPTH_REACHED

state 9376 begin surface coast

9386 end surface coast: CONTROL_FINISHED_OK

state 9386 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	389	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	1078.0
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	40	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,211931,7425.6221,-15325.2236,34,0.8,51,19.4,0.4,277.7,11,6.6	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	1.32	MHEAD_RNG_PITCHd_Wd	201.0,17767,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	200917,213130,7425.6631,-15325.1875,7,0.7,8,19.4,0.0,0.0,12,9.7

FINISH	0.2,1.021005	_24V_AH	12.29,231.372
SM_CCo	9470,0.00,0.000,0,0,499,703.03	_10V_AH	12.10,0.000
SM_GC	1.24,8.18,0.17,0.00,0.057,0.112,0.000,203,2217,499,-7.37,-0.85,703.03,0,0,0,0,0,0,14.15,14.13,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	34	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323304
IRIDIUM_FIX	7426.45,-15315.34,200917,183832	DATA_FILE_SIZE	20147,623
TT8_MAMPS	0.083888,0.959469	CAP_FILE_SIZE	94053,0
HUMID	45.82	CFSIZE	2097872896,1978400768
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1447.7
XPDR_PINGS	11	CURRENT	0.035,32.33,1
CP_FREE	15902834688.000000	GPS	210917,001101,7424.916,-15328.256,15,0.7,23,19.4,0.6,52.9,11,9.9
PM_FREEKB_00	45155264

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	146.94	nil	0	0	0.00
Roll_motor	64	2163	1708.97	nil	0	0	0.00
VBD_pump_during_apogee	1458	1240	22238.40	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9420	13	1600.55
Iridium_during_xfer	419	174	900.11	NCP	9364	20	2301.67
Transponder_ping	2	420	14.19	PMAR	9360	9	1135.39
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.61
TT8	0	0	0.00
LPSleep	6183	2	172.84
TT8_Active	1249	13	211.25
TT8_Sampling	2400	33	971.28
TT8_CF8	366	38	171.39
TT8_Kalman	0	0	0.00
Analog_circuits	2802	10	339.11
GPS_charging	0	0	0.00
Compass	896	7	75.89
RAFOS	2158	48	1253.37
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
53	-0.57	-145.9	187	2187	514	491	0.0	0.0	0	135	0.00	0.00	-80.65	0.000	16386	0.000	0.000	186	2182	1979	1910	2049	0	0	0	0	0	0	14.46	28.83	14.48
139	-0.57	-145.9	187	2182	1913	2051	3.0	-3.0	8	202	12.93	2.72	-42.25	0.000	18724	0.453	2.163	2375	3568	3962	3948	3976	1	0	0	0	0	0	13.40	12.59	14.00
255	-0.73	-145.9	2375	3573	3953	3977	30.8	-13.5	30	260	0.00	2.33	0.00	0.000	1158	0.000	0.058	2375	2210	3964	3953	3976	0	0	0	0	0	0	14.12	14.00	14.15
566	-0.84	-145.9	2376	2209	3956	3976	74.8	-10.8	62	567	0.22	0.00	0.00	0.000	4230	0.103	0.000	2289	2209	3965	3955	3976	0	0	0	0	0	0	14.15	14.29	14.26
866	-0.84	-145.9	2289	2210	3955	3978	124.4	-15.8	82	871	0.00	2.42	0.00	0.000	260	0.000	0.082	2280	3582	3965	3955	3976	0	0	0	0	0	0	14.59	14.03	14.62
937	-0.95	-145.9	2280	3583	3955	3977	133.9	-11.9	96	941	0.00	2.38	0.00	0.000	1158	0.000	0.057	2277	2201	3965	3955	3976	0	0	0	0	0	0	14.16	14.02	14.19
1257	-0.98	-145.9	2280	2201	3955	3977	177.5	-13.4	110	1258	0.00	0.00	0.00	0.000	134	0.000	0.000	2280	2200	3965	3954	3976	0	0	0	0	0	0	14.60	14.62	14.62
1557	-1.03	-145.9	2280	2201	3955	3978	214.6	-12.0	120	1563	0.12	2.45	0.00	0.000	4484	0.136	0.083	2222	3573	3965	3955	3976	0	0	0	0	0	0	14.23	14.04	14.26
1593	-1.03	-145.9	2223	3574	3955	3977	219.7	-15.6	127	1599	0.00	2.38	0.00	0.000	1030	0.000	0.059	2222	2187	3965	3955	3976	0	0	0	0	0	0	14.23	14.10	14.28
1919	-1.00	-145.9	2223	2186	3956	3976	272.3	-15.4	142	1924	0.12	2.47	0.00	0.000	2436	0.299	0.081	2242	3580	3965	3954	3976	0	0	0	0	0	0	13.81	14.03	13.95
1996	-1.11	-145.9	2242	3581	3955	3977	281.3	-10.5	157	2000	0.00	2.35	0.00	0.000	1158	0.000	0.056	2242	2198	3963	3955	3971	0	0	0	0	0	0	14.27	14.11	14.28
2311	-1.16	-145.9	2242	2196	3956	3976	316.7	-11.0	170	2316	0.00	2.47	0.00	0.000	388	0.000	0.086	2236	3579	3965	3954	3976	0	0	0	0	0	0	14.62	14.00	14.63
2357	-1.26	-145.9	2237	3581	3956	3976	321.7	-10.8	179	2363	0.20	2.38	0.00	0.000	5254	0.103	0.057	2162	2195	3965	3954	3976	0	0	0	0	0	0	14.15	14.07	14.25
2674	-1.14	-145.9	2162	2194	3955	3975	378.2	-18.1	192	2680	0.20	2.47	0.00	0.000	2436	0.316	0.080	2194	3575	3965	3954	3976	0	0	0	0	0	0	13.55	13.93	13.77
2782	-1.16	-145.9	2195	3576	3954	3977	393.0	-12.8	213	2788	0.00	2.35	0.00	0.000	1158	0.000	0.057	2194	2199	3964	3953	3976	0	0	0	0	0	0	14.14	14.02	14.19
3098	-1.12	-145.9	2195	2198	3954	3976	438.4	-14.4	226	3103	0.00	2.47	0.00	0.000	388	0.000	0.083	2184	3575	3964	3953	3976	0	0	0	0	0	0	14.62	13.93	14.64
3178	-1.12	-145.9	2185	3576	3953	3977	449.8	-13.6	242	3184	0.15	2.35	0.00	0.000	3078	0.239	0.057	2214	2201	3964	3952	3976	0	0	0	0	0	0	13.78	14.07	14.06
3426	end dive: TARGET_DEPTH_EXCEEDED
state	3426	begin apogee
3433	-0.13	0.0	2214	2062	3953	3977	480.1	-11.9	252	3940	1.23	0.00	500.62	1.130	10246	0.225	0.000	2527	2060	3364	3377	3352	0	0	0	0	0	0	13.70	13.38	12.66
3946	end apogee: CONTROL_FINISHED_OK
state	3947	begin climb
3949	0.57	145.9	2528	2061	3374	3348	511.5	0.0	269	4513	0.75	2.72	265.33	1.212	10500	0.058	0.072	2780	3475	2746	2770	2723	0	0	0	0	0	0	13.59	12.82	12.29
4636	0.57	145.9	2781	3475	2769	2719	458.1	9.0	273	4641	0.00	2.30	0.00	0.000	1030	0.000	0.057	2788	2126	2743	2768	2719	0	0	0	0	0	0	14.21	14.09	14.26
4947	0.12	145.9	2789	2126	2770	2718	412.5	14.5	285	4952	0.73	2.53	0.00	0.000	4740	0.312	0.079	2642	695	2742	2767	2718	0	0	0	0	0	0	13.53	13.90	13.77
5065	0.02	186.6	2639	694	2770	2718	402.1	8.1	308	5169	0.22	2.42	95.95	1.164	13478	0.269	0.078	2592	2067	2602	2643	2562	0	0	0	0	0	0	13.63	13.92	13.15
5492	0.03	237.0	2591	2068	2633	2540	369.9	7.7	343	5590	0.00	0.00	96.40	1.196	8358	0.000	0.000	2591	2067	2398	2445	2351	0	0	0	0	0	0	14.55	13.86	13.14
5882	0.05	273.1	2592	2067	2428	2331	337.6	8.3	356	5949	0.00	0.00	65.60	1.206	8230	0.000	0.000	2592	2067	2252	2298	2206	0	0	0	0	0	0	14.54	13.93	13.20
6242	0.13	310.8	2592	2068	2285	2185	307.6	8.3	368	6315	0.00	0.00	71.50	1.188	8358	0.000	0.000	2594	2067	2099	2144	2055	0	0	0	0	0	0	14.54	13.95	13.21
6602	0.25	355.9	2592	2067	2130	2037	277.8	7.9	380	6683	0.22	0.00	78.97	1.191	10406	0.090	0.000	2683	2067	1916	1952	1881	0	0	0	0	0	0	14.27	13.95	13.20
6962	0.21	355.9	2683	2067	1932	1864	231.1	12.5	392	6963	0.15	0.00	0.00	0.000	4230	0.243	0.000	2651	2067	1897	1931	1864	0	0	0	0	0	0	13.93	14.23	14.18
7262	0.26	378.6	2651	2067	1930	1862	202.8	8.9	402	7307	0.00	2.45	39.92	1.232	8868	0.000	0.089	2650	691	1817	1843	1792	0	0	0	0	0	0	14.59	13.82	13.26
7380	0.39	411.9	2651	692	1829	1789	192.5	8.5	425	7444	0.17	2.47	56.22	1.204	11430	0.103	0.080	2721	2101	1682	1702	1663	0	0	0	0	0	0	14.18	14.10	13.20
7742	0.36	411.9	2719	2102	1694	1638	146.0	12.6	448	7747	0.00	2.50	0.00	0.000	644	0.000	0.089	2726	698	1665	1693	1638	0	0	0	0	0	0	14.54	14.08	14.57
7773	0.34	411.9	2726	700	1690	1638	142.1	12.0	454	7779	0.15	2.45	0.00	0.000	5254	0.230	0.078	2694	2103	1663	1689	1637	0	0	0	0	0	0	13.95	14.13	14.21
8107	0.38	423.9	2695	2102	1691	1634	109.8	9.4	470	8117	0.00	2.50	3.78	1.172	8868	0.000	0.089	2699	698	1636	1665	1607	0	0	0	0	0	0	14.58	14.19	13.17
8173	0.48	445.3	2700	699	1674	1613	103.5	9.0	483	8228	0.12	2.45	47.65	1.241	11430	0.125	0.077	2757	2105	1544	1573	1515	0	0	0	0	0	0	14.25	14.18	13.26
8528	0.44	445.3	2758	2105	1567	1495	59.7	10.3	524	8529	0.15	0.00	0.00	0.000	4230	0.243	0.000	2726	2105	1530	1565	1495	0	0	0	0	0	0	13.93	14.27	14.21
8828	0.59	571.9	2727	2105	1567	1495	42.1	4.2	554	8902	0.12	2.58	63.58	0.320	10916	0.121	0.090	2789	698	1033	1095	971	0	0	0	0	0	0	14.18	13.89	13.68
8976	0.70	606.0	2789	699	1097	979	30.2	8.4	578	9001	0.00	2.47	19.48	0.283	9382	0.000	0.077	2789	2097	892	958	826	0	0	0	0	0	0	14.10	13.96	13.70
9307	0.90	703.3	2789	2097	961	836	9.4	5.5	614	9363	0.25	0.00	53.28	0.224	10662	0.087	0.000	2885	2097	495	510	481	0	0	0	0	0	0	13.96	14.03	13.80
9376	end climb: SURFACE_DEPTH_REACHED
state	9376	begin surface coast
9386	end surface coast: CONTROL_FINISHED_OK
state	9386	begin surface