Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 390 * 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 390 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 1082.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 39 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 1082.0 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 30 VBD_MIN 500

DIVE 390 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 210917,001101,7424.9155,-15328.2559,15,0.7,23,19.4,0.6,52.9,11,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.33 MHEAD_RNG_PITCHd_Wd 196.8,15768,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 210917,002417,7424.9238,-15328.1846,8,0.8,10,19.4,0.0,106.2,9,10.0

Post-dive calculations and measurements:

FINISH 0.3,1.021011 _24V_AH 12.36,231.813

SM_CCo 9260,5.10,0.218,0,0,500,702.78 _10V_AH 12.22,0.000

SM_GC 2.07,8.27,2.20,5.10,0.076,0.048,0.218,200,2228,500,-7.37,1.81,702.78,0,0,0,0,0,0,14.23,14.20,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323420

IRIDIUM_FIX 7424.60,-15318.94,210917,001557 DATA_FILE_SIZE 23396,665

TT8_MAMPS 0.040446,0.892808 CAP_FILE_SIZE 98374,0

HUMID 47.32 CFSIZE 2097872896,1978105856

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1447.1

XPDR_PINGS 17 CURRENT 0.050,50.64,1

CP_FREE 15902310400.000000 GPS 210917,030032,7424.167,-15331.121,32,0.7,32,19.4,0.0,0.0,11,8.0

PM_FREEKB_00 45115584

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 142.37 nil 0 0 0.00

Roll_motor 73 2160 1955.26 nil 0 0 0.00

VBD_pump_during_apogee 984 1380 16803.31 nil 0 0 0.00

VBD_pump_during_surface 5 218 13.74 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 9273 14 1687.35

Iridium_during_xfer 432 178 952.35 NCP 9215 20 2277.95

Transponder_ping 4 420 22.06 PMAR 9210 9 1127.66

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.18

TT8 0 0 0.00

LPSleep 6448 2 182.04

TT8_Active 887 13 151.43

TT8_Sampling 2366 33 967.11

TT8_CF8 367 38 173.54

TT8_Kalman 0 0 0.00

Analog_circuits 2442 10 298.46

GPS_charging 0 0 0.00

Compass 955 7 81.75

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

53 -0.57 -145.9 189 2221 507 482 0.0 0.0 0 135 0.00 0.00 -80.68 0.000 16386 0.000 0.000 187 2220 1980 1905 2056 0 0 0 0 0 0 14.33 28.83 14.34

138 -0.57 -145.9 187 2220 1909 2058 3.1 -3.1 8 201 12.82 2.70 -42.15 0.000 18724 0.449 2.160 2376 3588 3964 3951 3977 1 0 0 0 0 0 13.42 13.01 14.00

277 -0.73 -145.9 2376 3590 3956 3976 33.7 -12.4 35 284 0.00 2.40 0.00 0.000 1158 0.000 0.056 2375 2197 3965 3955 3976 0 0 0 0 0 0 14.11 13.99 14.13

582 -0.85 -145.9 2376 2198 3958 3978 75.7 -10.7 66 587 0.20 2.53 0.00 0.000 4740 0.103 0.080 2291 784 3967 3957 3977 0 0 0 0 0 0 13.98 13.86 14.01

603 -0.91 -145.9 2291 786 3955 3977 78.4 -13.4 70 608 0.00 2.50 0.00 0.000 1158 0.000 0.086 2285 2182 3967 3957 3977 0 0 0 0 0 0 14.12 13.97 14.14

913 -0.91 -145.9 2285 2182 3958 3977 129.3 -15.2 90 918 0.00 2.53 0.00 0.000 260 0.000 0.086 2279 3615 3967 3957 3977 0 0 0 0 0 0 14.40 13.98 14.41

1044 -1.02 -145.9 2280 3617 3958 3978 145.7 -11.9 116 1049 0.00 2.40 0.00 0.000 1158 0.000 0.055 2279 2192 3966 3955 3977 0 0 0 0 0 0 14.14 13.94 14.15

1367 -1.07 -145.9 2280 2191 3958 3977 188.3 -12.9 130 1369 0.15 0.00 0.00 0.000 4230 0.122 0.000 2223 2191 3967 3957 3977 0 0 0 0 0 0 14.24 14.35 14.31

1665 -1.03 -145.9 2224 2191 3958 3976 239.1 -16.6 140 1670 0.00 2.55 0.00 0.000 388 0.000 0.088 2222 3625 3967 3957 3977 0 0 0 0 0 0 14.65 14.03 14.66

1798 -1.08 -145.9 2223 3620 3958 3977 257.9 -13.4 166 1803 0.00 2.45 0.00 0.000 1158 0.000 0.056 2222 2193 3966 3956 3977 0 0 0 0 0 0 14.18 14.04 14.22

2119 -1.08 -145.9 2223 2194 3957 3978 302.8 -13.4 180 2124 0.00 2.55 0.00 0.000 260 0.000 0.088 2224 3620 3966 3957 3976 0 0 0 0 0 0 14.62 14.02 14.63

2210 -1.17 -145.9 2222 3623 3957 3977 313.7 -11.2 198 2214 0.00 2.42 0.00 0.000 1158 0.000 0.055 2222 2201 3966 3956 3977 0 0 0 0 0 0 14.23 14.10 14.26

2540 -1.19 -145.9 2222 2202 3956 3978 354.4 -12.1 214 2541 0.00 0.00 0.00 0.000 134 0.000 0.000 2222 2200 3966 3956 3976 0 0 0 0 0 0 14.61 14.63 14.63

2840 -1.22 -145.9 2224 2201 3955 3978 389.3 -11.5 224 2845 0.12 2.53 0.00 0.000 4484 0.140 0.085 2158 3615 3965 3954 3977 0 0 0 0 0 0 14.20 14.00 14.23

2966 -1.17 -145.9 2158 3615 3954 3977 409.3 -16.1 249 2971 0.20 2.42 0.00 0.000 3206 0.264 0.055 2198 2199 3965 3954 3977 0 0 0 0 0 0 13.66 13.99 13.98

3292 -1.17 -145.9 2198 2198 3955 3977 453.9 -13.5 264 3296 0.00 2.53 0.00 0.000 260 0.000 0.085 2190 3614 3965 3954 3977 0 0 0 0 0 0 14.56 13.98 14.57

3362 -1.20 -145.9 2189 3615 3954 3977 463.4 -12.9 278 3367 0.00 2.42 0.00 0.000 1158 0.000 0.056 2189 2193 3965 3953 3977 0 0 0 0 0 0 14.21 14.07 14.28

3500 end dive: TARGET_DEPTH_EXCEEDED

state 3500 begin apogee

3507 -0.13 0.0 2190 2062 3955 3976 483.3 -14.3 286 3744 1.38 0.08 228.12 1.381 10246 0.240 0.180 2528 2112 3355 3372 3338 0 0 0 0 0 0 13.59 13.54 12.79

3748 end apogee: CONTROL_FINISHED_OK

state 3748 begin climb

3751 0.57 145.9 2529 2112 3368 3333 497.3 0.0 294 4315 0.75 1.80 214.52 1.325 10756 0.058 0.076 2796 733 2746 2775 2717 0 0 0 0 0 0 13.76 12.97 12.36

4325 0.57 145.9 2797 732 2776 2717 462.3 7.1 297 4330 0.15 2.40 0.00 0.000 5126 0.320 0.074 2771 2103 2745 2774 2716 0 0 0 0 0 0 13.70 14.06 14.07

4641 0.15 145.9 2771 2105 2775 2713 418.1 13.6 310 4643 0.60 0.00 0.00 0.000 4230 0.310 0.000 2638 2105 2743 2774 2712 0 0 0 0 0 0 13.66 14.19 14.08

4941 0.00 180.0 2638 2106 2775 2711 391.9 8.4 320 4995 0.22 2.50 47.25 1.364 12964 0.278 0.086 2589 737 2623 2664 2583 0 0 0 0 0 0 13.74 14.00 13.17

5043 0.04 237.7 2589 733 2659 2572 384.7 7.3 335 5141 0.00 2.40 92.55 1.274 9254 0.000 0.080 2589 2100 2395 2447 2343 0 0 0 0 0 0 14.23 14.10 13.05

5451 0.06 268.5 2589 2101 2424 2320 350.2 8.6 367 5499 0.00 0.00 45.53 1.304 8230 0.000 0.000 2589 2100 2268 2318 2219 0 0 0 0 0 0 14.56 14.00 13.21

5781 0.14 301.9 2589 2099 2304 2196 321.9 8.5 378 5835 0.12 0.00 51.90 1.284 10406 0.126 0.000 2651 2100 2133 2180 2087 0 0 0 0 0 0 14.29 14.00 13.19

6112 0.10 301.9 2651 2101 2162 2066 281.3 12.2 389 6117 0.12 2.42 0.00 0.000 4740 0.243 0.083 2626 727 2113 2161 2065 0 0 0 0 0 0 14.00 14.14 14.16

6152 0.16 301.9 2626 726 2158 2065 277.2 10.3 397 6157 0.00 2.40 0.00 0.000 1158 0.000 0.078 2626 2098 2111 2158 2065 0 0 0 0 0 0 14.28 14.14 14.33

6473 0.20 330.7 2627 2100 2160 2063 247.6 8.7 411 6519 0.00 0.00 44.78 1.277 8358 0.000 0.000 2626 2099 2020 2069 1972 0 0 0 0 0 0 14.59 13.98 13.24

6803 0.29 373.6 2626 2100 2046 1950 220.6 8.0 422 6883 0.12 2.45 73.60 1.225 10916 0.120 0.086 2693 733 1836 1864 1809 0 0 0 0 0 0 14.14 13.71 13.16

6923 0.29 373.6 2693 733 1850 1804 206.4 11.7 446 6928 0.00 2.42 0.00 0.000 1030 0.000 0.077 2693 2109 1825 1848 1803 0 0 0 0 0 0 14.18 14.06 14.22

7254 0.27 373.6 2693 2111 1845 1795 167.9 11.3 462 7259 0.00 2.45 0.00 0.000 644 0.000 0.088 2693 733 1819 1845 1794 0 0 0 0 0 0 14.58 14.08 14.60

7309 0.31 373.6 2693 733 1843 1794 162.0 10.2 473 7315 0.00 2.40 0.00 0.000 1158 0.000 0.076 2693 2105 1816 1839 1794 0 0 0 0 0 0 14.23 14.10 14.28

7614 0.31 373.6 2693 2106 1843 1793 130.3 10.2 484 7619 0.00 2.45 0.00 0.000 516 0.000 0.087 2693 729 1817 1842 1792 0 0 0 0 0 0 14.62 14.04 14.62

7645 0.34 380.7 2693 729 1842 1792 127.4 9.7 490 7650 0.00 2.40 0.00 0.000 1190 0.000 0.077 2693 2100 1816 1841 1792 0 0 0 0 0 0 14.17 14.03 14.21

7956 0.35 402.9 2693 2101 1840 1790 98.5 9.0 506 7976 0.00 0.00 13.77 0.461 8230 0.000 0.000 2693 2101 1722 1743 1701 0 0 0 0 0 0 14.59 14.12 13.62

8276 0.43 456.0 2693 2101 1758 1706 72.3 7.6 538 8309 0.00 0.00 31.65 0.404 8358 0.000 0.000 2693 2101 1506 1534 1478 0 0 0 0 0 0 14.55 14.02 13.61

8606 0.63 555.8 2693 2101 1545 1480 51.6 5.4 571 8670 0.25 2.45 57.28 0.343 10916 0.087 0.089 2793 728 1097 1160 1034 0 0 0 0 0 0 14.14 13.95 13.71

8795 0.70 582.2 2795 729 1162 1042 34.1 8.8 608 8817 0.00 2.42 16.10 0.290 9382 0.000 0.076 2794 2105 989 1054 924 0 0 0 0 0 0 14.05 13.93 13.76

9123 0.84 693.1 2795 2106 1058 937 11.8 4.9 643 9197 0.15 2.50 67.50 0.226 10660 0.112 0.080 2866 3509 535 563 507 0 0 0 0 0 0 14.07 13.97 13.81

9227 end climb: SURFACE_DEPTH_REACHED

state 9227 begin surface coast

9235 end surface coast: CONTROL_FINISHED_OK

state 9235 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	390	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	1082.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,001101,7424.9155,-15328.2559,15,0.7,23,19.4,0.6,52.9,11,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.33	MHEAD_RNG_PITCHd_Wd	196.8,15768,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	210917,002417,7424.9238,-15328.1846,8,0.8,10,19.4,0.0,106.2,9,10.0

FINISH	0.3,1.021011	_24V_AH	12.36,231.813
SM_CCo	9260,5.10,0.218,0,0,500,702.78	_10V_AH	12.22,0.000
SM_GC	2.07,8.27,2.20,5.10,0.076,0.048,0.218,200,2228,500,-7.37,1.81,702.78,0,0,0,0,0,0,14.23,14.20,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323420
IRIDIUM_FIX	7424.60,-15318.94,210917,001557	DATA_FILE_SIZE	23396,665
TT8_MAMPS	0.040446,0.892808	CAP_FILE_SIZE	98374,0
HUMID	47.32	CFSIZE	2097872896,1978105856
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.1
XPDR_PINGS	17	CURRENT	0.050,50.64,1
CP_FREE	15902310400.000000	GPS	210917,030032,7424.167,-15331.121,32,0.7,32,19.4,0.0,0.0,11,8.0
PM_FREEKB_00	45115584

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	142.37	nil	0	0	0.00
Roll_motor	73	2160	1955.26	nil	0	0	0.00
VBD_pump_during_apogee	984	1380	16803.31	nil	0	0	0.00
VBD_pump_during_surface	5	218	13.74	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	9273	14	1687.35
Iridium_during_xfer	432	178	952.35	NCP	9215	20	2277.95
Transponder_ping	4	420	22.06	PMAR	9210	9	1127.66
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.18
TT8	0	0	0.00
LPSleep	6448	2	182.04
TT8_Active	887	13	151.43
TT8_Sampling	2366	33	967.11
TT8_CF8	367	38	173.54
TT8_Kalman	0	0	0.00
Analog_circuits	2442	10	298.46
GPS_charging	0	0	0.00
Compass	955	7	81.75
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
53	-0.57	-145.9	189	2221	507	482	0.0	0.0	0	135	0.00	0.00	-80.68	0.000	16386	0.000	0.000	187	2220	1980	1905	2056	0	0	0	0	0	0	14.33	28.83	14.34
138	-0.57	-145.9	187	2220	1909	2058	3.1	-3.1	8	201	12.82	2.70	-42.15	0.000	18724	0.449	2.160	2376	3588	3964	3951	3977	1	0	0	0	0	0	13.42	13.01	14.00
277	-0.73	-145.9	2376	3590	3956	3976	33.7	-12.4	35	284	0.00	2.40	0.00	0.000	1158	0.000	0.056	2375	2197	3965	3955	3976	0	0	0	0	0	0	14.11	13.99	14.13
582	-0.85	-145.9	2376	2198	3958	3978	75.7	-10.7	66	587	0.20	2.53	0.00	0.000	4740	0.103	0.080	2291	784	3967	3957	3977	0	0	0	0	0	0	13.98	13.86	14.01
603	-0.91	-145.9	2291	786	3955	3977	78.4	-13.4	70	608	0.00	2.50	0.00	0.000	1158	0.000	0.086	2285	2182	3967	3957	3977	0	0	0	0	0	0	14.12	13.97	14.14
913	-0.91	-145.9	2285	2182	3958	3977	129.3	-15.2	90	918	0.00	2.53	0.00	0.000	260	0.000	0.086	2279	3615	3967	3957	3977	0	0	0	0	0	0	14.40	13.98	14.41
1044	-1.02	-145.9	2280	3617	3958	3978	145.7	-11.9	116	1049	0.00	2.40	0.00	0.000	1158	0.000	0.055	2279	2192	3966	3955	3977	0	0	0	0	0	0	14.14	13.94	14.15
1367	-1.07	-145.9	2280	2191	3958	3977	188.3	-12.9	130	1369	0.15	0.00	0.00	0.000	4230	0.122	0.000	2223	2191	3967	3957	3977	0	0	0	0	0	0	14.24	14.35	14.31
1665	-1.03	-145.9	2224	2191	3958	3976	239.1	-16.6	140	1670	0.00	2.55	0.00	0.000	388	0.000	0.088	2222	3625	3967	3957	3977	0	0	0	0	0	0	14.65	14.03	14.66
1798	-1.08	-145.9	2223	3620	3958	3977	257.9	-13.4	166	1803	0.00	2.45	0.00	0.000	1158	0.000	0.056	2222	2193	3966	3956	3977	0	0	0	0	0	0	14.18	14.04	14.22
2119	-1.08	-145.9	2223	2194	3957	3978	302.8	-13.4	180	2124	0.00	2.55	0.00	0.000	260	0.000	0.088	2224	3620	3966	3957	3976	0	0	0	0	0	0	14.62	14.02	14.63
2210	-1.17	-145.9	2222	3623	3957	3977	313.7	-11.2	198	2214	0.00	2.42	0.00	0.000	1158	0.000	0.055	2222	2201	3966	3956	3977	0	0	0	0	0	0	14.23	14.10	14.26
2540	-1.19	-145.9	2222	2202	3956	3978	354.4	-12.1	214	2541	0.00	0.00	0.00	0.000	134	0.000	0.000	2222	2200	3966	3956	3976	0	0	0	0	0	0	14.61	14.63	14.63
2840	-1.22	-145.9	2224	2201	3955	3978	389.3	-11.5	224	2845	0.12	2.53	0.00	0.000	4484	0.140	0.085	2158	3615	3965	3954	3977	0	0	0	0	0	0	14.20	14.00	14.23
2966	-1.17	-145.9	2158	3615	3954	3977	409.3	-16.1	249	2971	0.20	2.42	0.00	0.000	3206	0.264	0.055	2198	2199	3965	3954	3977	0	0	0	0	0	0	13.66	13.99	13.98
3292	-1.17	-145.9	2198	2198	3955	3977	453.9	-13.5	264	3296	0.00	2.53	0.00	0.000	260	0.000	0.085	2190	3614	3965	3954	3977	0	0	0	0	0	0	14.56	13.98	14.57
3362	-1.20	-145.9	2189	3615	3954	3977	463.4	-12.9	278	3367	0.00	2.42	0.00	0.000	1158	0.000	0.056	2189	2193	3965	3953	3977	0	0	0	0	0	0	14.21	14.07	14.28
3500	end dive: TARGET_DEPTH_EXCEEDED
state	3500	begin apogee
3507	-0.13	0.0	2190	2062	3955	3976	483.3	-14.3	286	3744	1.38	0.08	228.12	1.381	10246	0.240	0.180	2528	2112	3355	3372	3338	0	0	0	0	0	0	13.59	13.54	12.79
3748	end apogee: CONTROL_FINISHED_OK
state	3748	begin climb
3751	0.57	145.9	2529	2112	3368	3333	497.3	0.0	294	4315	0.75	1.80	214.52	1.325	10756	0.058	0.076	2796	733	2746	2775	2717	0	0	0	0	0	0	13.76	12.97	12.36
4325	0.57	145.9	2797	732	2776	2717	462.3	7.1	297	4330	0.15	2.40	0.00	0.000	5126	0.320	0.074	2771	2103	2745	2774	2716	0	0	0	0	0	0	13.70	14.06	14.07
4641	0.15	145.9	2771	2105	2775	2713	418.1	13.6	310	4643	0.60	0.00	0.00	0.000	4230	0.310	0.000	2638	2105	2743	2774	2712	0	0	0	0	0	0	13.66	14.19	14.08
4941	0.00	180.0	2638	2106	2775	2711	391.9	8.4	320	4995	0.22	2.50	47.25	1.364	12964	0.278	0.086	2589	737	2623	2664	2583	0	0	0	0	0	0	13.74	14.00	13.17
5043	0.04	237.7	2589	733	2659	2572	384.7	7.3	335	5141	0.00	2.40	92.55	1.274	9254	0.000	0.080	2589	2100	2395	2447	2343	0	0	0	0	0	0	14.23	14.10	13.05
5451	0.06	268.5	2589	2101	2424	2320	350.2	8.6	367	5499	0.00	0.00	45.53	1.304	8230	0.000	0.000	2589	2100	2268	2318	2219	0	0	0	0	0	0	14.56	14.00	13.21
5781	0.14	301.9	2589	2099	2304	2196	321.9	8.5	378	5835	0.12	0.00	51.90	1.284	10406	0.126	0.000	2651	2100	2133	2180	2087	0	0	0	0	0	0	14.29	14.00	13.19
6112	0.10	301.9	2651	2101	2162	2066	281.3	12.2	389	6117	0.12	2.42	0.00	0.000	4740	0.243	0.083	2626	727	2113	2161	2065	0	0	0	0	0	0	14.00	14.14	14.16
6152	0.16	301.9	2626	726	2158	2065	277.2	10.3	397	6157	0.00	2.40	0.00	0.000	1158	0.000	0.078	2626	2098	2111	2158	2065	0	0	0	0	0	0	14.28	14.14	14.33
6473	0.20	330.7	2627	2100	2160	2063	247.6	8.7	411	6519	0.00	0.00	44.78	1.277	8358	0.000	0.000	2626	2099	2020	2069	1972	0	0	0	0	0	0	14.59	13.98	13.24
6803	0.29	373.6	2626	2100	2046	1950	220.6	8.0	422	6883	0.12	2.45	73.60	1.225	10916	0.120	0.086	2693	733	1836	1864	1809	0	0	0	0	0	0	14.14	13.71	13.16
6923	0.29	373.6	2693	733	1850	1804	206.4	11.7	446	6928	0.00	2.42	0.00	0.000	1030	0.000	0.077	2693	2109	1825	1848	1803	0	0	0	0	0	0	14.18	14.06	14.22
7254	0.27	373.6	2693	2111	1845	1795	167.9	11.3	462	7259	0.00	2.45	0.00	0.000	644	0.000	0.088	2693	733	1819	1845	1794	0	0	0	0	0	0	14.58	14.08	14.60
7309	0.31	373.6	2693	733	1843	1794	162.0	10.2	473	7315	0.00	2.40	0.00	0.000	1158	0.000	0.076	2693	2105	1816	1839	1794	0	0	0	0	0	0	14.23	14.10	14.28
7614	0.31	373.6	2693	2106	1843	1793	130.3	10.2	484	7619	0.00	2.45	0.00	0.000	516	0.000	0.087	2693	729	1817	1842	1792	0	0	0	0	0	0	14.62	14.04	14.62
7645	0.34	380.7	2693	729	1842	1792	127.4	9.7	490	7650	0.00	2.40	0.00	0.000	1190	0.000	0.077	2693	2100	1816	1841	1792	0	0	0	0	0	0	14.17	14.03	14.21
7956	0.35	402.9	2693	2101	1840	1790	98.5	9.0	506	7976	0.00	0.00	13.77	0.461	8230	0.000	0.000	2693	2101	1722	1743	1701	0	0	0	0	0	0	14.59	14.12	13.62
8276	0.43	456.0	2693	2101	1758	1706	72.3	7.6	538	8309	0.00	0.00	31.65	0.404	8358	0.000	0.000	2693	2101	1506	1534	1478	0	0	0	0	0	0	14.55	14.02	13.61
8606	0.63	555.8	2693	2101	1545	1480	51.6	5.4	571	8670	0.25	2.45	57.28	0.343	10916	0.087	0.089	2793	728	1097	1160	1034	0	0	0	0	0	0	14.14	13.95	13.71
8795	0.70	582.2	2795	729	1162	1042	34.1	8.8	608	8817	0.00	2.42	16.10	0.290	9382	0.000	0.076	2794	2105	989	1054	924	0	0	0	0	0	0	14.05	13.93	13.76
9123	0.84	693.1	2795	2106	1058	937	11.8	4.9	643	9197	0.15	2.50	67.50	0.226	10660	0.112	0.080	2866	3509	535	563	507	0	0	0	0	0	0	14.07	13.97	13.81
9227	end climb: SURFACE_DEPTH_REACHED
state	9227	begin surface coast
9235	end surface coast: CONTROL_FINISHED_OK
state	9235	begin surface