Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 395 * 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 395 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 1096.0

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 57 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 1096.0 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 57 VBD_MIN 500

DIVE 395 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 210917,140003,7421.0767,-15342.6602,37,1.0,38,19.3,0.0,0.0,9,9.3 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 1.36 MHEAD_RNG_PITCHd_Wd 191.6,6078,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 210917,141117,7421.1221,-15342.2725,6,0.9,12,19.3,0.0,74.8,10,9.9

Post-dive calculations and measurements:

FINISH 0.4,1.021094 _24V_AH 12.32,234.195

SM_CCo 9000,14.60,0.210,0,0,499,702.78 _10V_AH 12.33,0.000

SM_GC 1.49,8.40,0.17,14.60,0.079,0.116,0.210,201,2223,499,-7.36,-0.37,702.78,0,0,0,0,0,0,14.12,14.10,13.82 FG_AHR_24Vo 0.000

RAFOS_CLK 122 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323440

IRIDIUM_FIX 7423.08,-15347.54,210917,112224 DATA_FILE_SIZE 23430,687

TT8_MAMPS 0.08239,0.942242 CAP_FILE_SIZE 99400,0

HUMID 44.13 CFSIZE 2097872896,1976795136

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

TCM_TEMP 13.20 SOUNDSPEED 1448.5

XPDR_PINGS 12 CURRENT 0.059,75.88,1

CP_FREE 15899787264.000000 GPS 210917,164330,7420.188,-15344.473,21,0.9,35,19.3,0.5,83.0,9,9.8

PM_FREEKB_00 44938816

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 149.86 nil 0 0 0.00

Roll_motor 80 2171 2141.14 nil 0 0 0.00

VBD_pump_during_apogee 989 1464 17855.97 nil 0 0 0.00

VBD_pump_during_surface 14 210 37.84 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 9014 14 1556.62

Iridium_during_xfer 385 185 878.85 NCP 8973 20 2210.95

Transponder_ping 3 420 15.52 PMAR 8956 9 1092.12

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.71

TT8 0 0 0.00

LPSleep 6425 2 183.00

TT8_Active 1053 13 181.54

TT8_Sampling 1858 33 766.20

TT8_CF8 365 38 174.45

TT8_Kalman 0 0 0.00

Analog_circuits 2097 10 258.63

GPS_charging 0 0 0.00

Compass 986 7 85.13

RAFOS 2215 48 1310.93

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

50 end surface: CONTROL_FINISHED_OK

state 50 begin dive

53 -0.57 -145.9 196 2236 503 485 0.0 0.0 0 146 0.00 0.00 -91.47 0.000 16386 0.000 0.000 193 2237 2237 2178 2296 0 0 0 0 0 0 14.47 28.83 14.49

150 -0.57 -145.9 194 2238 2181 2296 4.6 -6.5 9 203 12.82 2.70 -31.62 0.000 18724 0.451 2.171 2376 3583 3963 3947 3979 0 0 0 0 0 0 13.54 12.59 14.00

288 -0.73 -145.9 2376 3584 3954 3980 37.5 -12.9 36 295 0.00 2.33 0.00 0.000 1158 0.000 0.057 2375 2224 3966 3953 3980 0 0 0 0 0 0 14.25 14.11 14.30

593 -0.84 -145.9 2376 2224 3955 3979 77.0 -10.3 67 595 0.22 0.00 0.00 0.000 4230 0.098 0.000 2291 2223 3967 3955 3979 0 0 0 0 0 0 14.16 14.27 14.24

896 -0.87 -145.9 2289 2223 3956 3979 123.3 -14.6 87 901 0.00 2.45 0.00 0.000 388 0.000 0.088 2280 3590 3967 3955 3980 0 0 0 0 0 0 14.57 14.06 14.59

996 -0.97 -145.9 2279 3590 3955 3976 136.7 -12.3 107 1001 0.00 2.40 0.00 0.000 1158 0.000 0.055 2280 2195 3966 3954 3979 0 0 0 0 0 0 14.25 14.12 14.28

1317 -1.02 -145.9 2279 2195 3955 3980 178.4 -12.4 121 1322 0.00 2.47 0.00 0.000 388 0.000 0.087 2278 3581 3966 3954 3979 0 0 0 0 0 0 14.60 14.04 14.62

1372 -1.17 -145.9 2279 3583 3956 3980 184.5 -10.3 132 1380 0.22 2.38 0.00 0.000 5254 0.097 0.055 2192 2199 3967 3955 3979 0 0 0 0 0 0 14.12 14.06 14.21

1677 -1.06 -145.9 2192 2199 3956 3979 244.9 -19.6 143 1682 0.17 2.47 0.00 0.000 2436 0.291 0.083 2223 3587 3966 3954 3979 0 0 0 0 0 0 13.70 14.02 13.88

1848 -1.11 -145.9 2222 3588 3963 3979 268.7 -13.0 177 1853 0.00 2.38 0.00 0.000 1158 0.000 0.056 2222 2202 3967 3955 3979 0 0 0 0 0 0 14.22 14.08 14.25

2159 -1.11 -145.9 2223 2202 3955 3980 309.7 -12.8 189 2164 0.00 2.50 0.00 0.000 260 0.000 0.089 2223 3594 3967 3955 3979 0 0 0 0 0 0 14.59 13.98 14.61

2245 -1.20 -145.9 2222 3595 3955 3980 319.8 -11.1 206 2251 0.00 2.40 0.00 0.000 1158 0.000 0.055 2222 2206 3966 3954 3979 0 0 0 0 0 0 14.14 14.02 14.21

2550 -1.24 -145.9 2222 2194 3955 3979 356.3 -11.9 217 2555 0.12 2.50 0.00 0.000 4484 0.148 0.085 2159 3588 3966 3954 3979 0 0 0 0 0 0 14.16 13.97 14.21

2625 -1.18 -145.9 2157 3592 3953 3980 368.4 -16.3 232 2631 0.17 2.40 0.00 0.000 3206 0.263 0.056 2193 2189 3966 3953 3979 0 0 0 0 0 0 13.66 14.07 14.00

2942 -1.16 -145.9 2194 2189 3954 3978 413.5 -13.9 245 2947 0.00 2.50 0.00 0.000 388 0.000 0.084 2185 3585 3969 3960 3979 0 0 0 0 0 0 14.61 13.88 14.62

3060 -1.18 -145.9 2185 3587 3953 3980 429.2 -12.9 268 3067 0.00 2.38 0.00 0.000 1158 0.000 0.055 2185 2199 3966 3953 3979 0 0 0 0 0 0 14.15 14.00 14.17

3363 -1.15 -145.9 2185 2200 3953 3979 473.4 -14.4 279 3368 0.00 2.50 0.00 0.000 388 0.000 0.085 2175 3590 3965 3953 3978 0 0 0 0 0 0 14.60 13.88 14.62

3405 end dive: TARGET_DEPTH_EXCEEDED

state 3405 begin apogee

3414 -0.13 0.0 2176 2100 3953 3978 480.1 -14.5 288 3649 1.45 0.00 227.52 1.388 10246 0.249 0.000 2529 2096 3361 3378 3344 0 0 0 0 0 0 13.64 13.35 12.75

3653 end apogee: CONTROL_FINISHED_OK

state 3653 begin climb

3656 0.57 145.9 2529 2100 3375 3340 494.1 0.0 296 3875 0.75 2.67 207.35 1.365 10756 0.058 0.079 2793 689 2763 2799 2727 0 0 0 0 0 0 13.75 13.14 12.32

3961 0.14 145.9 2795 690 2788 2722 495.3 14.3 350 3966 0.80 2.55 0.00 0.000 5254 0.321 0.073 2633 2072 2753 2787 2720 0 0 0 0 0 0 13.09 13.40 13.47

4294 -0.01 170.3 2633 2072 2788 2714 464.9 8.9 366 4329 0.22 0.00 31.75 1.464 12454 0.268 0.000 2584 2072 2669 2712 2626 0 0 0 0 0 0 13.71 13.65 13.09

4622 -0.01 224.6 2585 2072 2705 2607 440.2 7.5 377 4712 0.00 0.00 84.55 1.365 8358 0.000 0.000 2584 2072 2441 2498 2385 0 0 0 0 0 0 14.57 13.66 13.08

5012 0.02 256.0 2585 2073 2490 2373 407.5 8.5 390 5061 0.00 0.00 47.35 1.388 8230 0.000 0.000 2584 2072 2320 2372 2269 0 0 0 0 0 0 14.57 13.98 13.19

5342 0.08 287.6 2585 2071 2359 2253 379.2 8.5 401 5392 0.00 0.00 48.12 1.372 8358 0.000 0.000 2584 2071 2192 2240 2144 0 0 0 0 0 0 14.57 14.00 13.21

5672 0.17 320.6 2585 2073 2228 2128 350.8 8.5 412 5733 0.17 2.53 52.15 1.349 10916 0.106 0.088 2669 698 2050 2095 2005 0 0 0 0 0 0 14.28 13.98 13.19

5759 0.13 320.6 2669 691 2089 2004 339.1 14.7 424 5765 0.20 2.50 0.00 0.000 5254 0.236 0.078 2622 2106 2045 2087 2004 0 0 0 0 0 0 13.93 14.08 14.17

6064 0.15 320.6 2623 2107 2088 1995 305.6 10.6 435 6069 0.00 2.53 0.00 0.000 644 0.000 0.088 2630 688 2041 2087 1995 0 0 0 0 0 0 14.58 14.11 14.60

6080 0.18 320.6 2630 688 2086 1996 303.9 10.7 438 6085 0.00 2.47 0.00 0.000 1158 0.000 0.076 2630 2107 2040 2085 1995 0 0 0 0 0 0 14.29 14.15 14.34

6395 0.18 320.6 2630 2109 2086 1993 270.0 10.5 451 6400 0.00 2.47 0.00 0.000 516 0.000 0.089 2630 687 2038 2085 1991 0 0 0 0 0 0 14.62 14.09 14.63

6453 0.26 322.4 2631 688 2084 1993 265.9 9.9 459 6458 0.00 2.50 0.00 0.000 1190 0.000 0.077 2630 2100 2037 2083 1992 0 0 0 0 0 0 14.19 14.04 14.21

6774 0.31 355.1 2631 2101 2085 1992 235.7 8.5 473 6835 0.17 0.00 55.80 1.313 10406 0.098 0.000 2703 2101 1914 1949 1879 0 0 0 0 0 0 14.16 13.95 13.19

7134 0.24 355.1 2703 2102 1936 1870 189.4 12.6 485 7140 0.15 2.53 0.00 0.000 4740 0.239 0.087 2672 688 1902 1935 1870 0 0 0 0 0 0 13.87 14.02 14.02

7191 0.31 371.3 2671 689 1932 1871 183.6 9.3 496 7221 0.00 2.50 23.65 1.375 9382 0.000 0.078 2672 2099 1849 1876 1822 0 0 0 0 0 0 14.11 13.98 13.26

7529 0.35 388.7 2672 2100 1866 1813 151.9 9.2 513 7562 0.00 2.58 26.38 1.359 8868 0.000 0.090 2672 692 1775 1797 1753 0 0 0 0 0 0 14.42 14.02 13.26

7603 0.47 415.5 2672 693 1792 1754 145.3 8.8 528 7655 0.20 2.47 45.25 1.271 11430 0.100 0.080 2756 2102 1670 1690 1651 0 0 0 0 0 0 14.16 14.07 13.18

7960 0.37 415.5 2756 2100 1686 1635 93.4 13.6 555 7962 0.22 0.00 0.00 0.000 4230 0.246 0.000 2706 2100 1660 1685 1635 0 0 0 0 0 0 13.77 14.09 14.07

8260 0.45 459.2 2706 2100 1687 1631 66.8 8.0 585 8287 0.00 2.60 22.08 0.399 8868 0.000 0.090 2706 688 1494 1524 1464 0 0 0 0 0 0 14.40 13.79 13.64

8393 0.65 532.6 2706 688 1524 1465 57.7 6.6 611 8440 0.28 2.50 40.03 0.369 11430 0.082 0.079 2806 2099 1192 1246 1138 0 0 0 0 0 0 14.09 14.04 13.69

8746 0.71 617.7 2807 2100 1247 1127 23.5 6.1 651 8800 0.00 2.58 44.62 0.272 8740 0.000 0.090 2807 686 845 913 777 0 0 0 0 0 0 14.36 13.87 13.76

8846 0.87 676.6 2808 685 915 780 16.2 7.3 670 8885 0.17 2.53 33.25 0.249 11430 0.102 0.075 2878 2109 603 647 560 0 0 0 0 0 0 13.95 13.86 13.76

8968 end climb: SURFACE_DEPTH_REACHED

state 8968 begin surface coast

8978 end surface coast: CONTROL_FINISHED_OK

state 8978 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	395	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	1096.0
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	57	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,140003,7421.0767,-15342.6602,37,1.0,38,19.3,0.0,0.0,9,9.3	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	1.36	MHEAD_RNG_PITCHd_Wd	191.6,6078,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	210917,141117,7421.1221,-15342.2725,6,0.9,12,19.3,0.0,74.8,10,9.9

FINISH	0.4,1.021094	_24V_AH	12.32,234.195
SM_CCo	9000,14.60,0.210,0,0,499,702.78	_10V_AH	12.33,0.000
SM_GC	1.49,8.40,0.17,14.60,0.079,0.116,0.210,201,2223,499,-7.36,-0.37,702.78,0,0,0,0,0,0,14.12,14.10,13.82	FG_AHR_24Vo	0.000
RAFOS_CLK	122	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323440
IRIDIUM_FIX	7423.08,-15347.54,210917,112224	DATA_FILE_SIZE	23430,687
TT8_MAMPS	0.08239,0.942242	CAP_FILE_SIZE	99400,0
HUMID	44.13	CFSIZE	2097872896,1976795136
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.5
XPDR_PINGS	12	CURRENT	0.059,75.88,1
CP_FREE	15899787264.000000	GPS	210917,164330,7420.188,-15344.473,21,0.9,35,19.3,0.5,83.0,9,9.8
PM_FREEKB_00	44938816

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	149.86	nil	0	0	0.00
Roll_motor	80	2171	2141.14	nil	0	0	0.00
VBD_pump_during_apogee	989	1464	17855.97	nil	0	0	0.00
VBD_pump_during_surface	14	210	37.84	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	9014	14	1556.62
Iridium_during_xfer	385	185	878.85	NCP	8973	20	2210.95
Transponder_ping	3	420	15.52	PMAR	8956	9	1092.12
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.71
TT8	0	0	0.00
LPSleep	6425	2	183.00
TT8_Active	1053	13	181.54
TT8_Sampling	1858	33	766.20
TT8_CF8	365	38	174.45
TT8_Kalman	0	0	0.00
Analog_circuits	2097	10	258.63
GPS_charging	0	0	0.00
Compass	986	7	85.13
RAFOS	2215	48	1310.93
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
50	end surface: CONTROL_FINISHED_OK
state	50	begin dive
53	-0.57	-145.9	196	2236	503	485	0.0	0.0	0	146	0.00	0.00	-91.47	0.000	16386	0.000	0.000	193	2237	2237	2178	2296	0	0	0	0	0	0	14.47	28.83	14.49
150	-0.57	-145.9	194	2238	2181	2296	4.6	-6.5	9	203	12.82	2.70	-31.62	0.000	18724	0.451	2.171	2376	3583	3963	3947	3979	0	0	0	0	0	0	13.54	12.59	14.00
288	-0.73	-145.9	2376	3584	3954	3980	37.5	-12.9	36	295	0.00	2.33	0.00	0.000	1158	0.000	0.057	2375	2224	3966	3953	3980	0	0	0	0	0	0	14.25	14.11	14.30
593	-0.84	-145.9	2376	2224	3955	3979	77.0	-10.3	67	595	0.22	0.00	0.00	0.000	4230	0.098	0.000	2291	2223	3967	3955	3979	0	0	0	0	0	0	14.16	14.27	14.24
896	-0.87	-145.9	2289	2223	3956	3979	123.3	-14.6	87	901	0.00	2.45	0.00	0.000	388	0.000	0.088	2280	3590	3967	3955	3980	0	0	0	0	0	0	14.57	14.06	14.59
996	-0.97	-145.9	2279	3590	3955	3976	136.7	-12.3	107	1001	0.00	2.40	0.00	0.000	1158	0.000	0.055	2280	2195	3966	3954	3979	0	0	0	0	0	0	14.25	14.12	14.28
1317	-1.02	-145.9	2279	2195	3955	3980	178.4	-12.4	121	1322	0.00	2.47	0.00	0.000	388	0.000	0.087	2278	3581	3966	3954	3979	0	0	0	0	0	0	14.60	14.04	14.62
1372	-1.17	-145.9	2279	3583	3956	3980	184.5	-10.3	132	1380	0.22	2.38	0.00	0.000	5254	0.097	0.055	2192	2199	3967	3955	3979	0	0	0	0	0	0	14.12	14.06	14.21
1677	-1.06	-145.9	2192	2199	3956	3979	244.9	-19.6	143	1682	0.17	2.47	0.00	0.000	2436	0.291	0.083	2223	3587	3966	3954	3979	0	0	0	0	0	0	13.70	14.02	13.88
1848	-1.11	-145.9	2222	3588	3963	3979	268.7	-13.0	177	1853	0.00	2.38	0.00	0.000	1158	0.000	0.056	2222	2202	3967	3955	3979	0	0	0	0	0	0	14.22	14.08	14.25
2159	-1.11	-145.9	2223	2202	3955	3980	309.7	-12.8	189	2164	0.00	2.50	0.00	0.000	260	0.000	0.089	2223	3594	3967	3955	3979	0	0	0	0	0	0	14.59	13.98	14.61
2245	-1.20	-145.9	2222	3595	3955	3980	319.8	-11.1	206	2251	0.00	2.40	0.00	0.000	1158	0.000	0.055	2222	2206	3966	3954	3979	0	0	0	0	0	0	14.14	14.02	14.21
2550	-1.24	-145.9	2222	2194	3955	3979	356.3	-11.9	217	2555	0.12	2.50	0.00	0.000	4484	0.148	0.085	2159	3588	3966	3954	3979	0	0	0	0	0	0	14.16	13.97	14.21
2625	-1.18	-145.9	2157	3592	3953	3980	368.4	-16.3	232	2631	0.17	2.40	0.00	0.000	3206	0.263	0.056	2193	2189	3966	3953	3979	0	0	0	0	0	0	13.66	14.07	14.00
2942	-1.16	-145.9	2194	2189	3954	3978	413.5	-13.9	245	2947	0.00	2.50	0.00	0.000	388	0.000	0.084	2185	3585	3969	3960	3979	0	0	0	0	0	0	14.61	13.88	14.62
3060	-1.18	-145.9	2185	3587	3953	3980	429.2	-12.9	268	3067	0.00	2.38	0.00	0.000	1158	0.000	0.055	2185	2199	3966	3953	3979	0	0	0	0	0	0	14.15	14.00	14.17
3363	-1.15	-145.9	2185	2200	3953	3979	473.4	-14.4	279	3368	0.00	2.50	0.00	0.000	388	0.000	0.085	2175	3590	3965	3953	3978	0	0	0	0	0	0	14.60	13.88	14.62
3405	end dive: TARGET_DEPTH_EXCEEDED
state	3405	begin apogee
3414	-0.13	0.0	2176	2100	3953	3978	480.1	-14.5	288	3649	1.45	0.00	227.52	1.388	10246	0.249	0.000	2529	2096	3361	3378	3344	0	0	0	0	0	0	13.64	13.35	12.75
3653	end apogee: CONTROL_FINISHED_OK
state	3653	begin climb
3656	0.57	145.9	2529	2100	3375	3340	494.1	0.0	296	3875	0.75	2.67	207.35	1.365	10756	0.058	0.079	2793	689	2763	2799	2727	0	0	0	0	0	0	13.75	13.14	12.32
3961	0.14	145.9	2795	690	2788	2722	495.3	14.3	350	3966	0.80	2.55	0.00	0.000	5254	0.321	0.073	2633	2072	2753	2787	2720	0	0	0	0	0	0	13.09	13.40	13.47
4294	-0.01	170.3	2633	2072	2788	2714	464.9	8.9	366	4329	0.22	0.00	31.75	1.464	12454	0.268	0.000	2584	2072	2669	2712	2626	0	0	0	0	0	0	13.71	13.65	13.09
4622	-0.01	224.6	2585	2072	2705	2607	440.2	7.5	377	4712	0.00	0.00	84.55	1.365	8358	0.000	0.000	2584	2072	2441	2498	2385	0	0	0	0	0	0	14.57	13.66	13.08
5012	0.02	256.0	2585	2073	2490	2373	407.5	8.5	390	5061	0.00	0.00	47.35	1.388	8230	0.000	0.000	2584	2072	2320	2372	2269	0	0	0	0	0	0	14.57	13.98	13.19
5342	0.08	287.6	2585	2071	2359	2253	379.2	8.5	401	5392	0.00	0.00	48.12	1.372	8358	0.000	0.000	2584	2071	2192	2240	2144	0	0	0	0	0	0	14.57	14.00	13.21
5672	0.17	320.6	2585	2073	2228	2128	350.8	8.5	412	5733	0.17	2.53	52.15	1.349	10916	0.106	0.088	2669	698	2050	2095	2005	0	0	0	0	0	0	14.28	13.98	13.19
5759	0.13	320.6	2669	691	2089	2004	339.1	14.7	424	5765	0.20	2.50	0.00	0.000	5254	0.236	0.078	2622	2106	2045	2087	2004	0	0	0	0	0	0	13.93	14.08	14.17
6064	0.15	320.6	2623	2107	2088	1995	305.6	10.6	435	6069	0.00	2.53	0.00	0.000	644	0.000	0.088	2630	688	2041	2087	1995	0	0	0	0	0	0	14.58	14.11	14.60
6080	0.18	320.6	2630	688	2086	1996	303.9	10.7	438	6085	0.00	2.47	0.00	0.000	1158	0.000	0.076	2630	2107	2040	2085	1995	0	0	0	0	0	0	14.29	14.15	14.34
6395	0.18	320.6	2630	2109	2086	1993	270.0	10.5	451	6400	0.00	2.47	0.00	0.000	516	0.000	0.089	2630	687	2038	2085	1991	0	0	0	0	0	0	14.62	14.09	14.63
6453	0.26	322.4	2631	688	2084	1993	265.9	9.9	459	6458	0.00	2.50	0.00	0.000	1190	0.000	0.077	2630	2100	2037	2083	1992	0	0	0	0	0	0	14.19	14.04	14.21
6774	0.31	355.1	2631	2101	2085	1992	235.7	8.5	473	6835	0.17	0.00	55.80	1.313	10406	0.098	0.000	2703	2101	1914	1949	1879	0	0	0	0	0	0	14.16	13.95	13.19
7134	0.24	355.1	2703	2102	1936	1870	189.4	12.6	485	7140	0.15	2.53	0.00	0.000	4740	0.239	0.087	2672	688	1902	1935	1870	0	0	0	0	0	0	13.87	14.02	14.02
7191	0.31	371.3	2671	689	1932	1871	183.6	9.3	496	7221	0.00	2.50	23.65	1.375	9382	0.000	0.078	2672	2099	1849	1876	1822	0	0	0	0	0	0	14.11	13.98	13.26
7529	0.35	388.7	2672	2100	1866	1813	151.9	9.2	513	7562	0.00	2.58	26.38	1.359	8868	0.000	0.090	2672	692	1775	1797	1753	0	0	0	0	0	0	14.42	14.02	13.26
7603	0.47	415.5	2672	693	1792	1754	145.3	8.8	528	7655	0.20	2.47	45.25	1.271	11430	0.100	0.080	2756	2102	1670	1690	1651	0	0	0	0	0	0	14.16	14.07	13.18
7960	0.37	415.5	2756	2100	1686	1635	93.4	13.6	555	7962	0.22	0.00	0.00	0.000	4230	0.246	0.000	2706	2100	1660	1685	1635	0	0	0	0	0	0	13.77	14.09	14.07
8260	0.45	459.2	2706	2100	1687	1631	66.8	8.0	585	8287	0.00	2.60	22.08	0.399	8868	0.000	0.090	2706	688	1494	1524	1464	0	0	0	0	0	0	14.40	13.79	13.64
8393	0.65	532.6	2706	688	1524	1465	57.7	6.6	611	8440	0.28	2.50	40.03	0.369	11430	0.082	0.079	2806	2099	1192	1246	1138	0	0	0	0	0	0	14.09	14.04	13.69
8746	0.71	617.7	2807	2100	1247	1127	23.5	6.1	651	8800	0.00	2.58	44.62	0.272	8740	0.000	0.090	2807	686	845	913	777	0	0	0	0	0	0	14.36	13.87	13.76
8846	0.87	676.6	2808	685	915	780	16.2	7.3	670	8885	0.17	2.53	33.25	0.249	11430	0.102	0.075	2878	2109	603	647	560	0	0	0	0	0	0	13.95	13.86	13.76
8968	end climb: SURFACE_DEPTH_REACHED
state	8968	begin surface coast
8978	end surface coast: CONTROL_FINISHED_OK
state	8978	begin surface