Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 391 * 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 391 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 1086.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 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 1086.0 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 32 VBD_MIN 500

DIVE 391 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 210917,030032,7424.1675,-15331.1211,32,0.7,32,19.4,0.0,0.0,11,8.0 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 1.37 MHEAD_RNG_PITCHd_Wd 198.9,13745,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 210917,031201,7424.1411,-15331.0654,8,0.7,8,19.4,0.0,0.0,12,9.0

Post-dive calculations and measurements:

FINISH 0.3,1.021040 _24V_AH 12.05,232.288

SM_CCo 9041,41.00,0.209,0,0,498,702.78 _10V_AH 11.52,0.000

SM_GC 1.27,8.20,0.17,41.00,0.078,0.107,0.209,203,2229,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.24,14.27,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 282 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323576

IRIDIUM_FIX 7425.53,-15326.10,210917,001806 DATA_FILE_SIZE 23365,691

TT8_MAMPS 0.040446,0.911533 CAP_FILE_SIZE 101030,0

HUMID 47.75 CFSIZE 2097872896,1977843712

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

TCM_TEMP 13.10 SOUNDSPEED 1448.4

XPDR_PINGS 7 CURRENT 0.043,67.64,1

CP_FREE 15901786112.000000 GPS 210917,054504,7423.289,-15334.081,17,0.7,18,19.4,0.0,0.0,11,8.4

PM_FREEKB_00 45078464

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 450 143.07 nil 0 0 0.00

Roll_motor 86 2171 2250.53 nil 0 0 0.00

VBD_pump_during_apogee 918 1586 17556.66 nil 0 0 0.00

VBD_pump_during_surface 41 208 103.18 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 9055 14 1580.61

Iridium_during_xfer 386 176 822.17 NCP 9021 20 2174.06

Transponder_ping 1 420 8.86 PMAR 8990 9 1074.85

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.09

TT8 0 0 0.00

LPSleep 6548 2 174.26

TT8_Active 984 13 158.49

TT8_Sampling 1876 33 722.88

TT8_CF8 374 38 166.93

TT8_Kalman 0 0 0.00

Analog_circuits 2040 10 235.04

GPS_charging 0 0 0.00

Compass 992 7 80.02

RAFOS 2208 48 1220.94

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 -145.9 192 2227 496 494 0.0 0.0 0 135 0.00 0.00 -80.70 0.000 16386 0.000 0.000 190 2227 1998 1924 2072 0 0 0 0 0 0 14.48 28.83 14.48

139 -0.57 -145.9 189 2227 1927 2074 3.4 -4.3 8 196 12.85 2.72 -39.88 0.000 18724 0.451 2.171 2377 3607 3963 3950 3976 0 0 0 0 0 0 13.57 12.98 14.03

307 -0.73 -145.9 2379 3609 3956 3978 38.2 -12.3 41 313 0.00 2.42 0.00 0.000 1158 0.000 0.058 2373 2202 3966 3956 3976 0 0 0 0 0 0 14.16 14.07 14.19

612 -0.86 -145.9 2380 2202 3959 3977 76.8 -9.9 72 614 0.25 0.00 0.00 0.000 4262 0.094 0.000 2282 2201 3967 3958 3976 0 0 0 0 0 0 14.01 14.15 14.11

932 -0.86 -145.9 2282 2202 3959 3978 129.4 -15.1 92 937 0.00 2.53 0.00 0.000 260 0.000 0.086 2273 3614 3967 3958 3976 0 0 0 0 0 0 14.59 14.03 14.60

1023 -0.96 -145.9 2273 3614 3959 3977 141.4 -12.3 110 1028 0.00 2.42 0.00 0.000 1158 0.000 0.058 2273 2205 3967 3958 3977 0 0 0 0 0 0 14.23 14.09 14.27

1353 -1.00 -145.9 2274 2203 3959 3976 187.1 -13.5 126 1358 0.00 2.50 0.00 0.000 388 0.000 0.086 2267 3607 3967 3959 3976 0 0 0 0 0 0 14.59 14.00 14.63

1384 -1.07 -145.9 2268 3609 3959 3977 191.1 -12.9 132 1389 0.00 2.42 0.00 0.000 1158 0.000 0.057 2267 2200 3967 3958 3977 0 0 0 0 0 0 14.21 14.07 14.24

1715 -1.12 -145.9 2267 2200 3959 3973 232.5 -12.1 148 1720 0.12 2.53 0.00 0.000 4484 0.142 0.084 2209 3613 3967 3958 3976 0 0 0 0 0 0 14.17 13.99 14.20

1800 -1.15 -145.9 2210 3615 3958 3977 245.0 -14.3 165 1806 0.00 2.45 0.00 0.000 1158 0.000 0.057 2209 2193 3970 3965 3976 0 0 0 0 0 0 13.98 13.85 14.02

2106 -1.12 -145.9 2210 2194 3959 3978 292.2 -14.7 176 2111 0.00 2.55 0.00 0.000 388 0.000 0.088 2209 3609 3967 3958 3976 0 0 0 0 0 0 14.60 13.98 14.64

2186 -1.17 -145.9 2209 3610 3959 3976 303.2 -12.7 192 2191 0.00 2.42 0.00 0.000 1158 0.000 0.057 2209 2198 3966 3957 3976 0 0 0 0 0 0 14.14 14.01 14.18

2497 -1.17 -145.9 2209 2197 3961 3976 346.1 -13.7 204 2502 0.00 2.55 0.00 0.000 260 0.000 0.088 2209 3614 3967 3957 3977 0 0 0 0 0 0 14.58 13.93 14.59

2557 -1.24 -145.9 2210 3616 3957 3977 353.9 -12.5 216 2562 0.00 2.42 0.00 0.000 1158 0.000 0.057 2209 2196 3966 3956 3976 0 0 0 0 0 0 14.19 14.07 14.23

2890 -1.24 -145.9 2209 2196 3952 3977 395.7 -12.5 232 2895 0.00 2.58 0.00 0.000 260 0.000 0.087 2209 3613 3965 3954 3976 0 0 0 0 0 0 14.36 13.78 14.39

2971 -1.32 -145.9 2208 3615 3951 3977 405.4 -11.0 248 2976 0.17 2.45 0.00 0.000 5254 0.106 0.055 2146 2200 3968 3961 3975 0 0 0 0 0 0 13.98 13.87 14.07

3282 -1.20 -145.9 2146 2201 3956 3976 462.3 -18.7 260 3287 0.20 2.58 0.00 0.000 2436 0.312 0.081 2178 3613 3965 3955 3975 0 0 0 0 0 0 13.43 13.76 13.66

3400 -1.20 -145.9 2178 3616 3956 3975 479.6 -14.1 283 3407 0.00 2.45 0.00 0.000 1030 0.000 0.055 2177 2202 3965 3955 3975 0 0 0 0 0 0 13.94 13.84 13.97

3430 end dive: TARGET_DEPTH_EXCEEDED

state 3430 begin apogee

3437 -0.13 0.0 2178 2062 3955 3982 484.5 -14.3 285 3657 1.45 0.08 216.45 1.429 10246 0.246 0.175 2531 2106 3365 3386 3345 0 0 0 0 0 0 13.58 13.43 12.69

3661 end apogee: CONTROL_FINISHED_OK

state 3661 begin climb

3666 0.57 145.9 2532 2106 3381 3335 496.8 0.0 292 3882 0.75 2.72 206.93 1.379 11012 0.057 0.073 2786 3505 2765 2804 2727 0 0 0 0 0 0 13.62 13.02 12.19

3895 0.10 204.4 2787 3506 2798 2722 510.2 7.3 332 3987 0.93 2.53 83.72 1.401 13478 0.351 0.053 2623 2137 2529 2595 2463 0 0 0 0 0 0 12.80 13.12 12.05

4295 0.01 204.4 2623 2133 2586 2451 468.0 10.9 362 4300 0.12 2.60 0.00 0.000 4740 0.282 0.083 2602 698 2517 2585 2450 0 0 0 0 0 0 13.59 13.79 13.76

4316 -0.04 204.4 2603 692 2586 2450 465.9 10.0 366 4322 0.15 2.53 0.00 0.000 5254 0.221 0.079 2571 2099 2517 2584 2450 0 0 0 0 0 0 13.64 13.80 13.88

4627 0.02 261.0 2571 2101 2585 2445 442.3 7.4 378 4718 0.00 0.00 83.53 1.382 8358 0.000 0.000 2571 2100 2295 2352 2238 0 0 0 0 0 0 14.36 13.81 13.02

5017 0.12 304.4 2572 2100 2345 2231 411.7 8.0 391 5085 0.15 0.00 65.78 1.379 10406 0.114 0.000 2634 2100 2123 2175 2071 0 0 0 0 0 0 14.14 13.86 13.09

5377 0.09 304.4 2634 2101 2162 2055 367.9 12.3 403 5382 0.00 2.47 0.00 0.000 644 0.000 0.088 2640 686 2108 2162 2054 0 0 0 0 0 0 14.41 14.01 14.43

5413 0.09 304.4 2641 688 2160 2056 363.5 12.6 410 5418 0.00 2.47 0.00 0.000 1030 0.000 0.077 2641 2109 2107 2159 2055 0 0 0 0 0 0 14.07 13.95 14.12

5741 0.06 304.4 2641 2110 2159 2053 322.2 12.6 425 5742 0.15 0.00 0.00 0.000 4230 0.224 0.000 2607 2109 2106 2159 2053 0 0 0 0 0 0 13.96 14.25 14.19

6039 0.11 314.3 2608 2109 2160 2051 292.9 9.5 435 6054 0.00 2.58 10.40 1.587 8868 0.000 0.090 2607 688 2079 2131 2027 0 0 0 0 0 0 14.63 14.20 13.32

6110 0.25 351.7 2608 688 2126 2027 286.6 8.3 449 6176 0.17 2.47 60.50 1.340 11430 0.100 0.080 2682 2109 1932 1974 1890 0 0 0 0 0 0 14.33 14.21 13.18

6492 0.20 351.7 2682 2110 1963 1879 235.3 12.7 475 6497 0.12 2.53 0.00 0.000 4740 0.247 0.086 2655 689 1921 1962 1880 0 0 0 0 0 0 13.97 13.94 14.10

6543 0.27 352.7 2655 688 1960 1878 229.8 10.0 485 6549 0.00 2.47 0.00 0.000 1190 0.000 0.079 2655 2099 1918 1958 1878 0 0 0 0 0 0 14.30 14.14 14.30

6854 0.28 365.5 2655 2101 1957 1879 199.3 9.4 497 6874 0.00 0.00 18.90 1.452 8230 0.000 0.000 2655 2100 1876 1911 1841 0 0 0 0 0 0 14.62 14.11 13.31

7155 0.34 391.9 2655 2100 1901 1834 172.2 8.8 507 7205 0.12 2.58 45.08 1.312 10916 0.123 0.089 2719 691 1765 1788 1742 0 0 0 0 0 0 14.16 14.02 13.26

7248 0.34 391.9 2720 691 1782 1741 161.0 12.4 525 7254 0.12 2.50 0.00 0.000 5126 0.233 0.076 2693 2109 1760 1780 1741 0 0 0 0 0 0 13.96 14.07 14.16

7579 0.34 391.9 2694 2111 1781 1734 126.0 10.1 541 7580 0.00 0.00 0.00 0.000 6 0.000 0.000 2697 2111 1756 1779 1734 0 0 0 0 0 0 14.60 14.61 14.62

7879 0.35 410.7 2695 2111 1781 1732 98.2 9.1 551 7896 0.00 2.55 9.50 0.492 8740 0.000 0.088 2699 688 1690 1713 1667 0 0 0 0 0 0 14.63 14.12 13.59

7942 0.45 440.4 2699 689 1714 1669 92.7 8.6 563 7964 0.00 2.47 16.92 0.479 9382 0.000 0.079 2699 2100 1568 1593 1544 0 0 0 0 0 0 14.16 14.06 13.62

8262 0.57 496.5 2698 2100 1596 1539 65.5 7.4 597 8299 0.17 2.58 29.95 0.395 10916 0.101 0.092 2779 689 1339 1380 1299 0 0 0 0 0 0 14.19 13.98 13.68

8362 0.57 496.5 2780 690 1381 1300 54.5 11.2 616 8368 0.00 2.50 0.00 0.000 1030 0.000 0.080 2781 2110 1341 1379 1304 0 0 0 0 0 0 14.09 13.97 14.11

8664 0.61 559.6 2781 2107 1380 1292 28.6 7.1 647 8706 0.00 2.58 33.85 0.287 8740 0.000 0.088 2781 692 1082 1144 1020 0 0 0 0 0 0 14.54 14.00 13.79

8732 0.73 628.3 2781 693 1142 1022 23.9 6.8 658 8775 0.12 2.47 36.80 0.275 11430 0.129 0.078 2836 2098 804 869 739 0 0 0 0 0 0 14.00 13.95 13.76

8998 end climb: SURFACE_DEPTH_REACHED

state 8998 begin surface coast

9018 end surface coast: CONTROL_FINISHED_OK

state 9018 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	391	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	1086.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,030032,7424.1675,-15331.1211,32,0.7,32,19.4,0.0,0.0,11,8.0	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	1.37	MHEAD_RNG_PITCHd_Wd	198.9,13745,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	210917,031201,7424.1411,-15331.0654,8,0.7,8,19.4,0.0,0.0,12,9.0

FINISH	0.3,1.021040	_24V_AH	12.05,232.288
SM_CCo	9041,41.00,0.209,0,0,498,702.78	_10V_AH	11.52,0.000
SM_GC	1.27,8.20,0.17,41.00,0.078,0.107,0.209,203,2229,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.24,14.27,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	282	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323576
IRIDIUM_FIX	7425.53,-15326.10,210917,001806	DATA_FILE_SIZE	23365,691
TT8_MAMPS	0.040446,0.911533	CAP_FILE_SIZE	101030,0
HUMID	47.75	CFSIZE	2097872896,1977843712
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.4
XPDR_PINGS	7	CURRENT	0.043,67.64,1
CP_FREE	15901786112.000000	GPS	210917,054504,7423.289,-15334.081,17,0.7,18,19.4,0.0,0.0,11,8.4
PM_FREEKB_00	45078464

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	450	143.07	nil	0	0	0.00
Roll_motor	86	2171	2250.53	nil	0	0	0.00
VBD_pump_during_apogee	918	1586	17556.66	nil	0	0	0.00
VBD_pump_during_surface	41	208	103.18	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	9055	14	1580.61
Iridium_during_xfer	386	176	822.17	NCP	9021	20	2174.06
Transponder_ping	1	420	8.86	PMAR	8990	9	1074.85
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.09
TT8	0	0	0.00
LPSleep	6548	2	174.26
TT8_Active	984	13	158.49
TT8_Sampling	1876	33	722.88
TT8_CF8	374	38	166.93
TT8_Kalman	0	0	0.00
Analog_circuits	2040	10	235.04
GPS_charging	0	0	0.00
Compass	992	7	80.02
RAFOS	2208	48	1220.94
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	192	2227	496	494	0.0	0.0	0	135	0.00	0.00	-80.70	0.000	16386	0.000	0.000	190	2227	1998	1924	2072	0	0	0	0	0	0	14.48	28.83	14.48
139	-0.57	-145.9	189	2227	1927	2074	3.4	-4.3	8	196	12.85	2.72	-39.88	0.000	18724	0.451	2.171	2377	3607	3963	3950	3976	0	0	0	0	0	0	13.57	12.98	14.03
307	-0.73	-145.9	2379	3609	3956	3978	38.2	-12.3	41	313	0.00	2.42	0.00	0.000	1158	0.000	0.058	2373	2202	3966	3956	3976	0	0	0	0	0	0	14.16	14.07	14.19
612	-0.86	-145.9	2380	2202	3959	3977	76.8	-9.9	72	614	0.25	0.00	0.00	0.000	4262	0.094	0.000	2282	2201	3967	3958	3976	0	0	0	0	0	0	14.01	14.15	14.11
932	-0.86	-145.9	2282	2202	3959	3978	129.4	-15.1	92	937	0.00	2.53	0.00	0.000	260	0.000	0.086	2273	3614	3967	3958	3976	0	0	0	0	0	0	14.59	14.03	14.60
1023	-0.96	-145.9	2273	3614	3959	3977	141.4	-12.3	110	1028	0.00	2.42	0.00	0.000	1158	0.000	0.058	2273	2205	3967	3958	3977	0	0	0	0	0	0	14.23	14.09	14.27
1353	-1.00	-145.9	2274	2203	3959	3976	187.1	-13.5	126	1358	0.00	2.50	0.00	0.000	388	0.000	0.086	2267	3607	3967	3959	3976	0	0	0	0	0	0	14.59	14.00	14.63
1384	-1.07	-145.9	2268	3609	3959	3977	191.1	-12.9	132	1389	0.00	2.42	0.00	0.000	1158	0.000	0.057	2267	2200	3967	3958	3977	0	0	0	0	0	0	14.21	14.07	14.24
1715	-1.12	-145.9	2267	2200	3959	3973	232.5	-12.1	148	1720	0.12	2.53	0.00	0.000	4484	0.142	0.084	2209	3613	3967	3958	3976	0	0	0	0	0	0	14.17	13.99	14.20
1800	-1.15	-145.9	2210	3615	3958	3977	245.0	-14.3	165	1806	0.00	2.45	0.00	0.000	1158	0.000	0.057	2209	2193	3970	3965	3976	0	0	0	0	0	0	13.98	13.85	14.02
2106	-1.12	-145.9	2210	2194	3959	3978	292.2	-14.7	176	2111	0.00	2.55	0.00	0.000	388	0.000	0.088	2209	3609	3967	3958	3976	0	0	0	0	0	0	14.60	13.98	14.64
2186	-1.17	-145.9	2209	3610	3959	3976	303.2	-12.7	192	2191	0.00	2.42	0.00	0.000	1158	0.000	0.057	2209	2198	3966	3957	3976	0	0	0	0	0	0	14.14	14.01	14.18
2497	-1.17	-145.9	2209	2197	3961	3976	346.1	-13.7	204	2502	0.00	2.55	0.00	0.000	260	0.000	0.088	2209	3614	3967	3957	3977	0	0	0	0	0	0	14.58	13.93	14.59
2557	-1.24	-145.9	2210	3616	3957	3977	353.9	-12.5	216	2562	0.00	2.42	0.00	0.000	1158	0.000	0.057	2209	2196	3966	3956	3976	0	0	0	0	0	0	14.19	14.07	14.23
2890	-1.24	-145.9	2209	2196	3952	3977	395.7	-12.5	232	2895	0.00	2.58	0.00	0.000	260	0.000	0.087	2209	3613	3965	3954	3976	0	0	0	0	0	0	14.36	13.78	14.39
2971	-1.32	-145.9	2208	3615	3951	3977	405.4	-11.0	248	2976	0.17	2.45	0.00	0.000	5254	0.106	0.055	2146	2200	3968	3961	3975	0	0	0	0	0	0	13.98	13.87	14.07
3282	-1.20	-145.9	2146	2201	3956	3976	462.3	-18.7	260	3287	0.20	2.58	0.00	0.000	2436	0.312	0.081	2178	3613	3965	3955	3975	0	0	0	0	0	0	13.43	13.76	13.66
3400	-1.20	-145.9	2178	3616	3956	3975	479.6	-14.1	283	3407	0.00	2.45	0.00	0.000	1030	0.000	0.055	2177	2202	3965	3955	3975	0	0	0	0	0	0	13.94	13.84	13.97
3430	end dive: TARGET_DEPTH_EXCEEDED
state	3430	begin apogee
3437	-0.13	0.0	2178	2062	3955	3982	484.5	-14.3	285	3657	1.45	0.08	216.45	1.429	10246	0.246	0.175	2531	2106	3365	3386	3345	0	0	0	0	0	0	13.58	13.43	12.69
3661	end apogee: CONTROL_FINISHED_OK
state	3661	begin climb
3666	0.57	145.9	2532	2106	3381	3335	496.8	0.0	292	3882	0.75	2.72	206.93	1.379	11012	0.057	0.073	2786	3505	2765	2804	2727	0	0	0	0	0	0	13.62	13.02	12.19
3895	0.10	204.4	2787	3506	2798	2722	510.2	7.3	332	3987	0.93	2.53	83.72	1.401	13478	0.351	0.053	2623	2137	2529	2595	2463	0	0	0	0	0	0	12.80	13.12	12.05
4295	0.01	204.4	2623	2133	2586	2451	468.0	10.9	362	4300	0.12	2.60	0.00	0.000	4740	0.282	0.083	2602	698	2517	2585	2450	0	0	0	0	0	0	13.59	13.79	13.76
4316	-0.04	204.4	2603	692	2586	2450	465.9	10.0	366	4322	0.15	2.53	0.00	0.000	5254	0.221	0.079	2571	2099	2517	2584	2450	0	0	0	0	0	0	13.64	13.80	13.88
4627	0.02	261.0	2571	2101	2585	2445	442.3	7.4	378	4718	0.00	0.00	83.53	1.382	8358	0.000	0.000	2571	2100	2295	2352	2238	0	0	0	0	0	0	14.36	13.81	13.02
5017	0.12	304.4	2572	2100	2345	2231	411.7	8.0	391	5085	0.15	0.00	65.78	1.379	10406	0.114	0.000	2634	2100	2123	2175	2071	0	0	0	0	0	0	14.14	13.86	13.09
5377	0.09	304.4	2634	2101	2162	2055	367.9	12.3	403	5382	0.00	2.47	0.00	0.000	644	0.000	0.088	2640	686	2108	2162	2054	0	0	0	0	0	0	14.41	14.01	14.43
5413	0.09	304.4	2641	688	2160	2056	363.5	12.6	410	5418	0.00	2.47	0.00	0.000	1030	0.000	0.077	2641	2109	2107	2159	2055	0	0	0	0	0	0	14.07	13.95	14.12
5741	0.06	304.4	2641	2110	2159	2053	322.2	12.6	425	5742	0.15	0.00	0.00	0.000	4230	0.224	0.000	2607	2109	2106	2159	2053	0	0	0	0	0	0	13.96	14.25	14.19
6039	0.11	314.3	2608	2109	2160	2051	292.9	9.5	435	6054	0.00	2.58	10.40	1.587	8868	0.000	0.090	2607	688	2079	2131	2027	0	0	0	0	0	0	14.63	14.20	13.32
6110	0.25	351.7	2608	688	2126	2027	286.6	8.3	449	6176	0.17	2.47	60.50	1.340	11430	0.100	0.080	2682	2109	1932	1974	1890	0	0	0	0	0	0	14.33	14.21	13.18
6492	0.20	351.7	2682	2110	1963	1879	235.3	12.7	475	6497	0.12	2.53	0.00	0.000	4740	0.247	0.086	2655	689	1921	1962	1880	0	0	0	0	0	0	13.97	13.94	14.10
6543	0.27	352.7	2655	688	1960	1878	229.8	10.0	485	6549	0.00	2.47	0.00	0.000	1190	0.000	0.079	2655	2099	1918	1958	1878	0	0	0	0	0	0	14.30	14.14	14.30
6854	0.28	365.5	2655	2101	1957	1879	199.3	9.4	497	6874	0.00	0.00	18.90	1.452	8230	0.000	0.000	2655	2100	1876	1911	1841	0	0	0	0	0	0	14.62	14.11	13.31
7155	0.34	391.9	2655	2100	1901	1834	172.2	8.8	507	7205	0.12	2.58	45.08	1.312	10916	0.123	0.089	2719	691	1765	1788	1742	0	0	0	0	0	0	14.16	14.02	13.26
7248	0.34	391.9	2720	691	1782	1741	161.0	12.4	525	7254	0.12	2.50	0.00	0.000	5126	0.233	0.076	2693	2109	1760	1780	1741	0	0	0	0	0	0	13.96	14.07	14.16
7579	0.34	391.9	2694	2111	1781	1734	126.0	10.1	541	7580	0.00	0.00	0.00	0.000	6	0.000	0.000	2697	2111	1756	1779	1734	0	0	0	0	0	0	14.60	14.61	14.62
7879	0.35	410.7	2695	2111	1781	1732	98.2	9.1	551	7896	0.00	2.55	9.50	0.492	8740	0.000	0.088	2699	688	1690	1713	1667	0	0	0	0	0	0	14.63	14.12	13.59
7942	0.45	440.4	2699	689	1714	1669	92.7	8.6	563	7964	0.00	2.47	16.92	0.479	9382	0.000	0.079	2699	2100	1568	1593	1544	0	0	0	0	0	0	14.16	14.06	13.62
8262	0.57	496.5	2698	2100	1596	1539	65.5	7.4	597	8299	0.17	2.58	29.95	0.395	10916	0.101	0.092	2779	689	1339	1380	1299	0	0	0	0	0	0	14.19	13.98	13.68
8362	0.57	496.5	2780	690	1381	1300	54.5	11.2	616	8368	0.00	2.50	0.00	0.000	1030	0.000	0.080	2781	2110	1341	1379	1304	0	0	0	0	0	0	14.09	13.97	14.11
8664	0.61	559.6	2781	2107	1380	1292	28.6	7.1	647	8706	0.00	2.58	33.85	0.287	8740	0.000	0.088	2781	692	1082	1144	1020	0	0	0	0	0	0	14.54	14.00	13.79
8732	0.73	628.3	2781	693	1142	1022	23.9	6.8	658	8775	0.12	2.47	36.80	0.275	11430	0.129	0.078	2836	2098	804	869	739	0	0	0	0	0	0	14.00	13.95	13.76
8998	end climb: SURFACE_DEPTH_REACHED
state	8998	begin surface coast
9018	end surface coast: CONTROL_FINISHED_OK
state	9018	begin surface