Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 392 * 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 392 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 1088.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 51 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 1088.0 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 24 VBD_MIN 500

DIVE 392 NOCOMM_ACTION 161 R_STBD_OVSHOOT 51 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 210917,054504,7423.2891,-15334.0811,17,0.7,18,19.4,0.0,0.0,11,8.4 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 1.38 MHEAD_RNG_PITCHd_Wd 200.0,11590,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 210917,055952,7423.2793,-15334.0156,5,0.7,16,19.4,0.0,315.1,11,10.0

Post-dive calculations and measurements:

FINISH 0.4,1.021083 _24V_AH 12.33,232.774

SM_CCo 9058,10.18,0.215,0,0,499,702.78 _10V_AH 12.24,0.000

SM_GC 2.10,8.18,0.17,10.18,0.069,0.113,0.215,203,2240,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.12,14.11,13.80 FG_AHR_24Vo 0.000

RAFOS_CLK 94 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7422.74,-15340.38,210917,055003 DATA_FILE_SIZE 23411,712

TT8_MAMPS 0.085386,0.928011 CAP_FILE_SIZE 103370,0

HUMID 44.29 CFSIZE 2097872896,1977581568

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1448.9

XPDR_PINGS 8 CURRENT 0.038,91.26,1

CP_FREE 15901261824.000000 GPS 210917,083303,7422.440,-15337.067,39,0.8,39,19.3,0.0,0.0,10,8.0

PM_FREEKB_00 45042880

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 146.02 nil 0 0 0.00

Roll_motor 83 2170 2242.48 nil 0 0 0.00

VBD_pump_during_apogee 965 1456 17335.75 nil 0 0 0.00

VBD_pump_during_surface 10 214 26.97 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 9070 14 1603.46

Iridium_during_xfer 516 171 1090.40 NCP 9022 20 2224.83

Transponder_ping 2 420 10.36 PMAR 9006 9 1098.34

GUMSTIX_24V 0 0 0.00

GPS 18 22 4.99

TT8 0 0 0.00

LPSleep 6561 2 185.52

TT8_Active 963 13 164.69

TT8_Sampling 2043 33 836.28

TT8_CF8 403 38 191.06

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 269.64

GPS_charging 0 0 0.00

Compass 1022 7 87.57

RAFOS 2201 48 1293.13

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 -145.9 194 2232 491 493 0.0 0.0 0 145 0.00 0.00 -91.03 0.000 16386 0.000 0.000 193 2232 2248 2193 2303 0 0 0 0 0 0 14.47 28.83 14.50

149 -0.57 -145.9 194 2233 2195 2307 4.8 -7.4 9 197 12.95 2.70 -29.52 0.000 18724 0.456 2.170 2372 3578 3963 3946 3981 0 0 0 0 0 0 13.55 12.62 14.02

282 -0.70 -145.9 2376 3579 3955 3981 40.2 -13.9 35 287 0.00 2.38 0.00 0.000 1158 0.000 0.058 2375 2193 3968 3954 3982 0 0 0 0 0 0 14.21 14.09 14.25

595 -0.83 -145.9 2376 2192 3957 3982 79.2 -9.8 67 600 0.17 2.47 0.00 0.000 4516 0.111 0.084 2296 3579 3969 3956 3982 0 0 0 0 0 0 14.14 13.95 14.20

651 -0.92 -145.9 2296 3581 3957 3983 86.7 -13.4 78 657 0.00 2.38 0.00 0.000 1158 0.000 0.057 2296 2201 3969 3956 3982 0 0 0 0 0 0 14.19 14.06 14.23

956 -0.95 -145.9 2295 2201 3957 3983 131.7 -13.9 95 957 0.00 0.00 0.00 0.000 134 0.000 0.000 2296 2200 3968 3956 3981 0 0 0 0 0 0 14.57 14.61 14.60

1256 -1.02 -145.9 2296 2201 3957 3983 169.2 -12.1 105 1262 0.12 2.47 0.00 0.000 4484 0.133 0.083 2236 3580 3969 3956 3982 0 0 0 0 0 0 14.23 14.01 14.26

1283 -1.02 -145.9 2237 3581 3957 3983 173.1 -15.4 110 1289 0.00 2.38 0.00 0.000 1030 0.000 0.058 2236 2197 3969 3956 3982 0 0 0 0 0 0 14.15 14.02 14.19

1588 -1.02 -145.9 2236 2199 3957 3983 222.9 -16.0 121 1594 0.00 2.50 0.00 0.000 260 0.000 0.088 2236 3582 3969 3956 3982 0 0 0 0 0 0 14.57 13.95 14.59

1717 -1.09 -145.9 2236 3582 3957 3982 240.1 -12.4 146 1721 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2196 3969 3956 3982 0 0 0 0 0 0 14.21 14.07 14.25

2042 -1.09 -145.9 2236 2197 3956 3983 283.3 -12.8 161 2048 0.00 2.50 0.00 0.000 260 0.000 0.087 2235 3587 3970 3958 3982 0 0 0 0 0 0 14.62 14.00 14.63

2098 -1.20 -145.9 2236 3587 3957 3982 289.9 -10.9 172 2105 0.12 2.38 0.00 0.000 5254 0.135 0.057 2182 2200 3969 3956 3982 0 0 0 0 0 0 14.03 14.00 14.14

2404 -1.13 -145.9 2182 2200 3956 3982 339.8 -16.3 183 2409 0.12 2.50 0.00 0.000 2436 0.304 0.083 2199 3587 3968 3956 3981 0 0 0 0 0 0 13.57 13.90 13.76

2497 -1.17 -145.9 2200 3587 3956 3982 352.3 -12.8 201 2502 0.00 2.38 0.00 0.000 1158 0.000 0.057 2199 2201 3968 3955 3982 0 0 0 0 0 0 14.19 14.06 14.23

2828 -1.17 -145.9 2199 2201 3956 3982 398.6 -13.8 217 2834 0.00 2.47 0.00 0.000 260 0.000 0.087 2197 3581 3968 3955 3982 0 0 0 0 0 0 14.59 13.95 14.59

2905 -1.21 -145.9 2197 3580 3956 3982 408.6 -12.6 232 2909 0.00 2.38 0.00 0.000 1158 0.000 0.057 2196 2194 3968 3954 3982 0 0 0 0 0 0 14.19 14.05 14.23

3220 -1.21 -145.9 2197 2192 3956 3983 451.5 -13.7 245 3225 0.00 2.50 0.00 0.000 260 0.000 0.085 2188 3586 3968 3954 3982 0 0 0 0 0 0 14.64 13.76 14.62

3306 -1.24 -145.9 2189 3588 3955 3980 463.2 -12.7 262 3312 0.00 2.38 0.00 0.000 1158 0.000 0.056 2188 2198 3967 3954 3981 0 0 0 0 0 0 14.12 13.97 14.16

3428 end dive: TARGET_DEPTH_EXCEEDED

state 3428 begin apogee

3435 -0.13 0.0 2188 2056 3954 3983 480.9 -14.2 267 3655 1.38 0.00 216.35 1.418 10246 0.237 0.000 2529 2055 3366 3376 3356 0 0 0 0 0 0 13.64 13.57 12.78

3659 end apogee: CONTROL_FINISHED_OK

state 3659 begin climb

3662 0.57 145.9 2530 2056 3371 3350 493.0 0.0 274 3883 0.75 2.58 206.20 1.369 10756 0.058 0.079 2802 724 2760 2791 2730 0 0 0 0 0 0 13.74 13.14 12.33

4019 0.14 145.9 2797 725 2788 2725 488.9 14.4 332 4024 0.80 2.45 0.00 0.000 5254 0.321 0.074 2631 2079 2755 2787 2724 0 0 0 0 0 0 13.26 13.65 13.67

4335 -0.00 179.0 2632 2078 2787 2718 460.9 8.5 345 4384 0.20 0.00 44.95 1.445 12966 0.271 0.000 2587 2079 2632 2676 2588 0 0 0 0 0 0 13.76 13.71 13.09

4697 -0.00 226.7 2588 2080 2673 2576 433.2 7.8 362 4774 0.00 2.47 69.65 1.397 8868 0.000 0.089 2589 734 2434 2484 2385 0 0 0 0 0 0 14.57 13.94 13.12

4797 0.05 263.2 2589 735 2481 2385 425.1 8.3 382 4856 0.00 2.42 53.50 1.385 9382 0.000 0.080 2588 2103 2291 2340 2242 0 0 0 0 0 0 14.14 14.00 12.97

5177 0.10 285.0 2594 2109 2336 2227 390.9 9.0 408 5209 0.00 0.00 30.67 1.431 8358 0.000 0.000 2588 2103 2201 2250 2153 0 0 0 0 0 0 14.55 14.03 13.24

5507 0.18 311.7 2589 2104 2242 2143 361.7 8.8 419 5553 0.12 2.45 39.80 1.408 10916 0.128 0.090 2658 730 2090 2132 2049 0 0 0 0 0 0 14.24 13.81 13.19

5573 0.13 311.7 2658 733 2126 2049 353.2 12.9 432 5578 0.15 2.40 0.00 0.000 5254 0.241 0.079 2626 2101 2091 2127 2055 0 0 0 0 0 0 13.96 14.12 14.18

5899 0.13 311.7 2625 2102 2127 2041 316.6 10.9 447 5905 0.00 2.42 0.00 0.000 516 0.000 0.088 2630 729 2082 2126 2039 0 0 0 0 0 0 14.60 14.12 14.62

5925 0.16 311.7 2630 729 2126 2040 313.7 10.5 452 5931 0.00 2.40 0.00 0.000 1158 0.000 0.078 2631 2099 2082 2125 2040 0 0 0 0 0 0 14.23 14.10 14.28

6230 0.16 311.7 2631 2100 2125 2037 280.9 10.5 463 6231 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2100 2080 2123 2038 0 0 0 0 0 0 14.62 14.64 14.64

6531 0.17 328.2 2630 2101 2125 2039 251.8 9.2 473 6554 0.00 0.00 22.83 1.457 8230 0.000 0.000 2631 2100 2029 2070 1988 0 0 0 0 0 0 14.63 14.11 13.31

6831 0.24 367.7 2631 2100 2062 1978 226.2 8.2 483 6902 0.00 2.55 66.28 1.314 8868 0.000 0.088 2630 724 1862 1892 1833 0 0 0 0 0 0 14.60 14.00 13.19

6945 0.41 411.0 2631 726 1882 1834 217.1 8.0 505 7023 0.25 2.42 71.25 1.245 11430 0.086 0.079 2725 2099 1688 1707 1669 0 0 0 0 0 0 14.14 14.05 13.09

7344 0.36 411.0 2726 2100 1710 1652 160.1 13.9 535 7350 0.12 2.47 0.00 0.000 4740 0.232 0.085 2699 729 1676 1702 1651 0 0 0 0 0 0 13.81 14.01 13.93

7396 0.41 411.0 2699 730 1700 1652 154.1 10.9 545 7401 0.00 2.42 0.00 0.000 1158 0.000 0.076 2699 2106 1675 1699 1651 0 0 0 0 0 0 14.16 14.03 14.20

7706 0.41 411.0 2699 2107 1700 1648 121.0 10.3 557 7711 0.00 2.50 0.00 0.000 516 0.000 0.089 2698 718 1673 1699 1647 0 0 0 0 0 0 14.42 13.99 14.45

7747 0.48 414.2 2699 718 1699 1647 117.0 9.9 565 7752 0.12 2.45 0.00 0.000 3238 0.124 0.077 2757 2101 1673 1698 1648 0 0 0 0 0 0 13.88 13.87 13.86

8058 0.40 414.2 2758 2100 1699 1648 75.8 12.6 590 8063 0.17 2.47 0.00 0.000 4740 0.247 0.083 2722 726 1672 1698 1647 0 0 0 0 0 0 13.74 13.93 13.91

8109 0.46 437.0 2723 726 1697 1648 70.9 8.9 600 8130 0.00 2.45 12.57 0.407 9382 0.000 0.076 2723 2100 1581 1606 1557 0 0 0 0 0 0 14.09 13.96 13.54

8429 0.58 536.3 2723 2101 1608 1556 48.0 5.4 634 8483 0.12 0.00 52.22 0.341 10406 0.123 0.000 2787 2100 1177 1231 1124 0 0 0 0 0 0 13.95 14.03 13.69

8779 0.73 639.6 2778 2102 1233 1117 20.8 5.2 669 8842 0.10 2.53 54.38 0.264 10916 0.151 0.087 2834 727 755 816 695 0 0 0 0 0 0 13.97 13.95 13.69

8928 0.84 684.4 2835 728 816 689 9.4 7.9 698 8960 0.00 2.45 24.62 0.233 9382 0.000 0.076 2835 2103 571 609 533 0 0 0 0 0 0 14.07 13.95 13.76

9013 end climb: SURFACE_DEPTH_REACHED

state 9013 begin surface coast

9036 end surface coast: CONTROL_FINISHED_OK

state 9036 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	392	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	1088.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	51	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,054504,7423.2891,-15334.0811,17,0.7,18,19.4,0.0,0.0,11,8.4	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	1.38	MHEAD_RNG_PITCHd_Wd	200.0,11590,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	210917,055952,7423.2793,-15334.0156,5,0.7,16,19.4,0.0,315.1,11,10.0

FINISH	0.4,1.021083	_24V_AH	12.33,232.774
SM_CCo	9058,10.18,0.215,0,0,499,702.78	_10V_AH	12.24,0.000
SM_GC	2.10,8.18,0.17,10.18,0.069,0.113,0.215,203,2240,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.12,14.11,13.80	FG_AHR_24Vo	0.000
RAFOS_CLK	94	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323392
IRIDIUM_FIX	7422.74,-15340.38,210917,055003	DATA_FILE_SIZE	23411,712
TT8_MAMPS	0.085386,0.928011	CAP_FILE_SIZE	103370,0
HUMID	44.29	CFSIZE	2097872896,1977581568
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1448.9
XPDR_PINGS	8	CURRENT	0.038,91.26,1
CP_FREE	15901261824.000000	GPS	210917,083303,7422.440,-15337.067,39,0.8,39,19.3,0.0,0.0,10,8.0
PM_FREEKB_00	45042880

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	146.02	nil	0	0	0.00
Roll_motor	83	2170	2242.48	nil	0	0	0.00
VBD_pump_during_apogee	965	1456	17335.75	nil	0	0	0.00
VBD_pump_during_surface	10	214	26.97	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	9070	14	1603.46
Iridium_during_xfer	516	171	1090.40	NCP	9022	20	2224.83
Transponder_ping	2	420	10.36	PMAR	9006	9	1098.34
GUMSTIX_24V	0	0	0.00
GPS	18	22	4.99
TT8	0	0	0.00
LPSleep	6561	2	185.52
TT8_Active	963	13	164.69
TT8_Sampling	2043	33	836.28
TT8_CF8	403	38	191.06
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	269.64
GPS_charging	0	0	0.00
Compass	1022	7	87.57
RAFOS	2201	48	1293.13
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	194	2232	491	493	0.0	0.0	0	145	0.00	0.00	-91.03	0.000	16386	0.000	0.000	193	2232	2248	2193	2303	0	0	0	0	0	0	14.47	28.83	14.50
149	-0.57	-145.9	194	2233	2195	2307	4.8	-7.4	9	197	12.95	2.70	-29.52	0.000	18724	0.456	2.170	2372	3578	3963	3946	3981	0	0	0	0	0	0	13.55	12.62	14.02
282	-0.70	-145.9	2376	3579	3955	3981	40.2	-13.9	35	287	0.00	2.38	0.00	0.000	1158	0.000	0.058	2375	2193	3968	3954	3982	0	0	0	0	0	0	14.21	14.09	14.25
595	-0.83	-145.9	2376	2192	3957	3982	79.2	-9.8	67	600	0.17	2.47	0.00	0.000	4516	0.111	0.084	2296	3579	3969	3956	3982	0	0	0	0	0	0	14.14	13.95	14.20
651	-0.92	-145.9	2296	3581	3957	3983	86.7	-13.4	78	657	0.00	2.38	0.00	0.000	1158	0.000	0.057	2296	2201	3969	3956	3982	0	0	0	0	0	0	14.19	14.06	14.23
956	-0.95	-145.9	2295	2201	3957	3983	131.7	-13.9	95	957	0.00	0.00	0.00	0.000	134	0.000	0.000	2296	2200	3968	3956	3981	0	0	0	0	0	0	14.57	14.61	14.60
1256	-1.02	-145.9	2296	2201	3957	3983	169.2	-12.1	105	1262	0.12	2.47	0.00	0.000	4484	0.133	0.083	2236	3580	3969	3956	3982	0	0	0	0	0	0	14.23	14.01	14.26
1283	-1.02	-145.9	2237	3581	3957	3983	173.1	-15.4	110	1289	0.00	2.38	0.00	0.000	1030	0.000	0.058	2236	2197	3969	3956	3982	0	0	0	0	0	0	14.15	14.02	14.19
1588	-1.02	-145.9	2236	2199	3957	3983	222.9	-16.0	121	1594	0.00	2.50	0.00	0.000	260	0.000	0.088	2236	3582	3969	3956	3982	0	0	0	0	0	0	14.57	13.95	14.59
1717	-1.09	-145.9	2236	3582	3957	3982	240.1	-12.4	146	1721	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2196	3969	3956	3982	0	0	0	0	0	0	14.21	14.07	14.25
2042	-1.09	-145.9	2236	2197	3956	3983	283.3	-12.8	161	2048	0.00	2.50	0.00	0.000	260	0.000	0.087	2235	3587	3970	3958	3982	0	0	0	0	0	0	14.62	14.00	14.63
2098	-1.20	-145.9	2236	3587	3957	3982	289.9	-10.9	172	2105	0.12	2.38	0.00	0.000	5254	0.135	0.057	2182	2200	3969	3956	3982	0	0	0	0	0	0	14.03	14.00	14.14
2404	-1.13	-145.9	2182	2200	3956	3982	339.8	-16.3	183	2409	0.12	2.50	0.00	0.000	2436	0.304	0.083	2199	3587	3968	3956	3981	0	0	0	0	0	0	13.57	13.90	13.76
2497	-1.17	-145.9	2200	3587	3956	3982	352.3	-12.8	201	2502	0.00	2.38	0.00	0.000	1158	0.000	0.057	2199	2201	3968	3955	3982	0	0	0	0	0	0	14.19	14.06	14.23
2828	-1.17	-145.9	2199	2201	3956	3982	398.6	-13.8	217	2834	0.00	2.47	0.00	0.000	260	0.000	0.087	2197	3581	3968	3955	3982	0	0	0	0	0	0	14.59	13.95	14.59
2905	-1.21	-145.9	2197	3580	3956	3982	408.6	-12.6	232	2909	0.00	2.38	0.00	0.000	1158	0.000	0.057	2196	2194	3968	3954	3982	0	0	0	0	0	0	14.19	14.05	14.23
3220	-1.21	-145.9	2197	2192	3956	3983	451.5	-13.7	245	3225	0.00	2.50	0.00	0.000	260	0.000	0.085	2188	3586	3968	3954	3982	0	0	0	0	0	0	14.64	13.76	14.62
3306	-1.24	-145.9	2189	3588	3955	3980	463.2	-12.7	262	3312	0.00	2.38	0.00	0.000	1158	0.000	0.056	2188	2198	3967	3954	3981	0	0	0	0	0	0	14.12	13.97	14.16
3428	end dive: TARGET_DEPTH_EXCEEDED
state	3428	begin apogee
3435	-0.13	0.0	2188	2056	3954	3983	480.9	-14.2	267	3655	1.38	0.00	216.35	1.418	10246	0.237	0.000	2529	2055	3366	3376	3356	0	0	0	0	0	0	13.64	13.57	12.78
3659	end apogee: CONTROL_FINISHED_OK
state	3659	begin climb
3662	0.57	145.9	2530	2056	3371	3350	493.0	0.0	274	3883	0.75	2.58	206.20	1.369	10756	0.058	0.079	2802	724	2760	2791	2730	0	0	0	0	0	0	13.74	13.14	12.33
4019	0.14	145.9	2797	725	2788	2725	488.9	14.4	332	4024	0.80	2.45	0.00	0.000	5254	0.321	0.074	2631	2079	2755	2787	2724	0	0	0	0	0	0	13.26	13.65	13.67
4335	-0.00	179.0	2632	2078	2787	2718	460.9	8.5	345	4384	0.20	0.00	44.95	1.445	12966	0.271	0.000	2587	2079	2632	2676	2588	0	0	0	0	0	0	13.76	13.71	13.09
4697	-0.00	226.7	2588	2080	2673	2576	433.2	7.8	362	4774	0.00	2.47	69.65	1.397	8868	0.000	0.089	2589	734	2434	2484	2385	0	0	0	0	0	0	14.57	13.94	13.12
4797	0.05	263.2	2589	735	2481	2385	425.1	8.3	382	4856	0.00	2.42	53.50	1.385	9382	0.000	0.080	2588	2103	2291	2340	2242	0	0	0	0	0	0	14.14	14.00	12.97
5177	0.10	285.0	2594	2109	2336	2227	390.9	9.0	408	5209	0.00	0.00	30.67	1.431	8358	0.000	0.000	2588	2103	2201	2250	2153	0	0	0	0	0	0	14.55	14.03	13.24
5507	0.18	311.7	2589	2104	2242	2143	361.7	8.8	419	5553	0.12	2.45	39.80	1.408	10916	0.128	0.090	2658	730	2090	2132	2049	0	0	0	0	0	0	14.24	13.81	13.19
5573	0.13	311.7	2658	733	2126	2049	353.2	12.9	432	5578	0.15	2.40	0.00	0.000	5254	0.241	0.079	2626	2101	2091	2127	2055	0	0	0	0	0	0	13.96	14.12	14.18
5899	0.13	311.7	2625	2102	2127	2041	316.6	10.9	447	5905	0.00	2.42	0.00	0.000	516	0.000	0.088	2630	729	2082	2126	2039	0	0	0	0	0	0	14.60	14.12	14.62
5925	0.16	311.7	2630	729	2126	2040	313.7	10.5	452	5931	0.00	2.40	0.00	0.000	1158	0.000	0.078	2631	2099	2082	2125	2040	0	0	0	0	0	0	14.23	14.10	14.28
6230	0.16	311.7	2631	2100	2125	2037	280.9	10.5	463	6231	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2100	2080	2123	2038	0	0	0	0	0	0	14.62	14.64	14.64
6531	0.17	328.2	2630	2101	2125	2039	251.8	9.2	473	6554	0.00	0.00	22.83	1.457	8230	0.000	0.000	2631	2100	2029	2070	1988	0	0	0	0	0	0	14.63	14.11	13.31
6831	0.24	367.7	2631	2100	2062	1978	226.2	8.2	483	6902	0.00	2.55	66.28	1.314	8868	0.000	0.088	2630	724	1862	1892	1833	0	0	0	0	0	0	14.60	14.00	13.19
6945	0.41	411.0	2631	726	1882	1834	217.1	8.0	505	7023	0.25	2.42	71.25	1.245	11430	0.086	0.079	2725	2099	1688	1707	1669	0	0	0	0	0	0	14.14	14.05	13.09
7344	0.36	411.0	2726	2100	1710	1652	160.1	13.9	535	7350	0.12	2.47	0.00	0.000	4740	0.232	0.085	2699	729	1676	1702	1651	0	0	0	0	0	0	13.81	14.01	13.93
7396	0.41	411.0	2699	730	1700	1652	154.1	10.9	545	7401	0.00	2.42	0.00	0.000	1158	0.000	0.076	2699	2106	1675	1699	1651	0	0	0	0	0	0	14.16	14.03	14.20
7706	0.41	411.0	2699	2107	1700	1648	121.0	10.3	557	7711	0.00	2.50	0.00	0.000	516	0.000	0.089	2698	718	1673	1699	1647	0	0	0	0	0	0	14.42	13.99	14.45
7747	0.48	414.2	2699	718	1699	1647	117.0	9.9	565	7752	0.12	2.45	0.00	0.000	3238	0.124	0.077	2757	2101	1673	1698	1648	0	0	0	0	0	0	13.88	13.87	13.86
8058	0.40	414.2	2758	2100	1699	1648	75.8	12.6	590	8063	0.17	2.47	0.00	0.000	4740	0.247	0.083	2722	726	1672	1698	1647	0	0	0	0	0	0	13.74	13.93	13.91
8109	0.46	437.0	2723	726	1697	1648	70.9	8.9	600	8130	0.00	2.45	12.57	0.407	9382	0.000	0.076	2723	2100	1581	1606	1557	0	0	0	0	0	0	14.09	13.96	13.54
8429	0.58	536.3	2723	2101	1608	1556	48.0	5.4	634	8483	0.12	0.00	52.22	0.341	10406	0.123	0.000	2787	2100	1177	1231	1124	0	0	0	0	0	0	13.95	14.03	13.69
8779	0.73	639.6	2778	2102	1233	1117	20.8	5.2	669	8842	0.10	2.53	54.38	0.264	10916	0.151	0.087	2834	727	755	816	695	0	0	0	0	0	0	13.97	13.95	13.69
8928	0.84	684.4	2835	728	816	689	9.4	7.9	698	8960	0.00	2.45	24.62	0.233	9382	0.000	0.076	2835	2103	571	609	533	0	0	0	0	0	0	14.07	13.95	13.76
9013	end climb: SURFACE_DEPTH_REACHED
state	9013	begin surface coast
9036	end surface coast: CONTROL_FINISHED_OK
state	9036	begin surface