Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 397 * 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 397 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 1101.0

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 64 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 1101.0 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 64 VBD_MIN 500

DIVE 397 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 210917,192135,7419.2476,-15346.3223,16,0.8,23,19.2,0.0,81.9,11,9.7 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 191.4,2244,-18.8,-10.000,-22.13,2035

_SM_ANGLEo -77.0 D_GRID 480

GPS2 210917,193632,7419.2881,-15346.1152,7,0.9,40,19.2,0.3,59.2,9,7.2

Post-dive calculations and measurements:

FINISH 0.3,1.021090 _24V_AH 12.19,235.126

SM_CCo 9030,31.02,0.207,0,0,497,702.78 _10V_AH 12.05,0.000

SM_GC 1.64,8.30,0.17,31.02,0.074,0.107,0.207,200,2244,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.24,14.27,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 347 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323684

IRIDIUM_FIX 7419.36,-15354.57,210917,192633 DATA_FILE_SIZE 23385,668

TT8_MAMPS 0.040446,0.972202 CAP_FILE_SIZE 100935,0

HUMID 47.08 CFSIZE 2097872896,1976270848

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

TCM_TEMP 13.20 SOUNDSPEED 1447.8

XPDR_PINGS 9 CURRENT 0.038,93.29,1

CP_FREE 15898738688.000000 GPS 210917,220921,7418.321,-15348.513,17,0.8,28,19.2,0.7,77.9,11,10.0

PM_FREEKB_00 44870016

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 146.98 nil 0 0 0.00

Roll_motor 79 2170 2115.16 nil 0 0 0.00

VBD_pump_during_apogee 917 1530 17116.21 nil 0 0 0.00

VBD_pump_during_surface 31 207 78.41 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 9044 14 1602.43

Iridium_during_xfer 505 169 1041.79 NCP 8998 20 2193.71

Transponder_ping 2 420 11.52 PMAR 8982 9 1086.26

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.37

TT8 0 0 0.00

LPSleep 6552 2 182.39

TT8_Active 875 13 147.42

TT8_Sampling 2148 33 865.70

TT8_CF8 392 38 183.21

TT8_Kalman 0 0 0.00

Analog_circuits 2168 10 261.29

GPS_charging 0 0 0.00

Compass 966 7 81.53

RAFOS 2193 48 1268.43

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 -0.59 -133.2 192 2229 496 497 0.0 0.0 0 135 0.00 0.00 -80.65 0.000 16386 0.000 0.000 191 2228 1995 1923 2067 0 0 0 0 0 0 14.47 28.83 14.49

139 -0.60 -145.9 192 2228 1925 2069 3.1 -3.2 8 202 12.73 2.70 -40.95 0.000 18724 0.449 2.170 2367 3575 3964 3949 3980 0 0 0 0 0 0 13.57 12.58 14.02

278 -0.76 -145.9 2368 3576 3956 3980 33.7 -13.1 35 286 0.12 2.30 0.00 0.000 5254 0.125 0.057 2320 2231 3967 3955 3979 0 0 0 0 0 0 14.12 14.07 14.21

583 -0.80 -145.9 2321 2230 3958 3980 88.4 -14.6 66 588 0.00 2.42 0.00 0.000 388 0.000 0.088 2319 3582 3968 3957 3979 0 0 0 0 0 0 14.56 14.09 14.55

659 -0.97 -145.9 2320 3583 3958 3980 97.6 -11.2 81 665 0.15 2.38 0.00 0.000 5254 0.112 0.056 2260 2198 3968 3957 3980 0 0 0 0 0 0 14.17 14.09 14.27

984 -0.97 -145.9 2261 2198 3959 3979 152.1 -15.9 94 989 0.00 2.47 0.00 0.000 260 0.000 0.086 2251 3581 3968 3957 3980 0 0 0 0 0 0 14.61 14.05 14.62

1074 -1.06 -145.9 2251 3581 3958 3980 165.0 -13.2 112 1079 0.00 2.38 0.00 0.000 1158 0.000 0.057 2251 2196 3968 3957 3980 0 0 0 0 0 0 14.26 14.13 14.31

1407 -1.09 -145.9 2252 2195 3959 3979 213.9 -14.4 128 1412 0.00 2.50 0.00 0.000 388 0.000 0.088 2244 3585 3968 3957 3979 0 0 0 0 0 0 14.41 13.95 14.43

1520 -1.20 -145.9 2244 3585 3957 3980 228.4 -12.0 150 1525 0.17 2.40 0.00 0.000 5254 0.113 0.055 2174 2202 3969 3958 3980 0 0 0 0 0 0 14.00 13.89 14.12

1831 -1.09 -145.9 2174 2197 3958 3979 290.3 -19.2 162 1836 0.20 2.50 0.00 0.000 2436 0.288 0.082 2209 3589 3968 3957 3979 0 0 0 0 0 0 13.61 13.85 13.81

1962 -1.15 -145.9 2209 3591 3958 3977 308.9 -13.5 188 1967 0.00 2.40 0.00 0.000 1158 0.000 0.054 2205 2192 3968 3957 3979 0 0 0 0 0 0 14.11 13.99 14.14

2282 -1.15 -145.9 2212 2193 3958 3979 351.4 -13.0 202 2287 0.00 2.53 0.00 0.000 260 0.000 0.086 2201 3587 3966 3954 3979 0 0 0 0 0 0 14.39 13.90 14.40

2388 -1.21 -145.9 2201 3587 3957 3980 364.7 -12.3 223 2393 0.00 2.40 0.00 0.000 1158 0.000 0.054 2201 2201 3966 3955 3978 0 0 0 0 0 0 14.04 13.92 14.07

2704 -1.21 -145.9 2201 2199 3956 3978 406.2 -13.1 236 2709 0.00 2.53 0.00 0.000 260 0.000 0.087 2196 3581 3966 3955 3978 0 0 0 0 0 0 14.38 13.80 14.40

2789 -1.28 -145.9 2197 3584 3955 3979 417.0 -12.1 253 2795 0.00 2.42 0.00 0.000 1158 0.000 0.055 2196 2196 3966 3955 3978 0 0 0 0 0 0 14.03 13.91 14.07

3094 -1.28 -145.9 2197 2195 3956 3978 456.9 -13.0 264 3099 0.00 2.53 0.00 0.000 260 0.000 0.086 2190 3583 3966 3954 3978 0 0 0 0 0 0 14.38 13.77 14.39

3180 -1.33 -145.9 2191 3585 3955 3978 467.9 -12.3 281 3186 0.12 2.40 0.00 0.000 5254 0.124 0.054 2144 2197 3966 3954 3978 0 0 0 0 0 0 13.90 13.89 13.99

3272 end dive: TARGET_DEPTH_EXCEEDED

state 3272 begin apogee

3279 -0.13 0.0 2144 2056 3955 3978 484.2 -17.2 285 3497 1.65 0.00 214.68 1.426 10246 0.274 0.000 2529 2055 3364 3382 3347 0 0 0 0 0 0 13.54 13.48 12.70

3501 end apogee: CONTROL_FINISHED_OK

state 3501 begin climb

3504 0.60 145.9 2529 2056 3377 3339 496.1 0.0 292 3723 0.77 2.70 206.70 1.379 11012 0.057 0.071 2789 3484 2758 2793 2723 0 0 0 0 0 0 13.64 12.78 12.19

3761 0.10 145.9 2788 3485 2788 2724 502.6 14.2 300 3766 0.95 2.45 0.00 0.000 5254 0.347 0.054 2620 2132 2755 2788 2723 0 0 0 0 0 0 12.83 13.14 13.16

4082 -0.00 175.0 2621 2132 2789 2717 474.1 8.5 314 4124 0.17 0.00 39.17 1.455 12454 0.283 0.000 2585 2132 2649 2692 2607 0 0 0 0 0 0 13.74 13.88 13.06

4412 0.03 218.1 2586 2133 2689 2594 448.6 7.8 325 4483 0.00 2.62 62.58 1.417 8740 0.000 0.089 2591 700 2470 2523 2417 0 0 0 0 0 0 14.56 13.94 13.10

4513 0.12 252.2 2596 700 2521 2414 440.3 8.3 340 4570 0.00 2.42 49.62 1.406 9382 0.000 0.079 2589 2075 2334 2385 2283 0 0 0 0 0 0 14.16 14.04 13.01

4896 0.18 272.4 2589 2075 2376 2271 405.8 9.0 366 4927 0.17 0.00 28.55 1.466 10406 0.103 0.000 2668 2075 2251 2300 2203 0 0 0 0 0 0 14.28 14.04 13.24

5226 0.09 272.4 2669 2076 2295 2195 358.6 14.4 377 5231 0.20 2.45 0.00 0.000 4740 0.252 0.086 2619 690 2243 2295 2192 0 0 0 0 0 0 13.91 14.12 14.08

5272 0.15 272.4 2620 689 2294 2194 353.3 10.7 386 5277 0.00 2.47 0.00 0.000 1158 0.000 0.077 2619 2105 2242 2293 2192 0 0 0 0 0 0 14.28 14.14 14.33

5588 0.15 272.4 2620 2106 2294 2190 320.5 10.3 399 5589 0.00 0.00 0.00 0.000 6 0.000 0.000 2619 2111 2241 2293 2190 0 0 0 0 0 0 14.59 14.60 14.62

5888 0.15 272.4 2620 2107 2294 2189 290.2 10.0 409 5893 0.00 2.50 0.00 0.000 516 0.000 0.086 2620 691 2240 2293 2188 0 0 0 0 0 0 14.62 14.09 14.66

5939 0.23 285.4 2620 692 2293 2189 285.2 9.3 419 5960 0.12 2.47 16.38 1.530 11430 0.121 0.077 2680 2104 2202 2250 2155 0 0 0 0 0 0 14.13 14.02 13.30

6283 0.15 285.4 2680 2105 2243 2148 242.1 11.9 437 6285 0.20 0.00 0.00 0.000 4230 0.252 0.000 2636 2105 2195 2242 2149 0 0 0 0 0 0 13.89 14.28 14.19

6581 0.20 328.0 2636 2105 2242 2146 217.3 7.8 447 6655 0.00 0.00 73.03 1.306 8358 0.000 0.000 2636 2105 2027 2073 1982 0 0 0 0 0 0 14.61 13.95 13.19

6941 0.30 372.1 2636 2104 2062 1970 189.1 7.8 459 7021 0.12 2.60 72.28 1.259 10916 0.117 0.091 2696 688 1844 1872 1817 0 0 0 0 0 0 14.23 13.95 13.19

7077 0.34 372.1 2697 687 1865 1818 173.9 11.1 486 7082 0.00 2.50 0.00 0.000 1158 0.000 0.077 2696 2100 1839 1863 1816 0 0 0 0 0 0 14.14 14.02 14.18

7393 0.34 372.1 2697 2101 1862 1809 139.3 10.6 499 7398 0.00 2.53 0.00 0.000 516 0.000 0.090 2695 689 1835 1861 1809 0 0 0 0 0 0 14.55 14.08 14.59

7429 0.38 372.1 2696 690 1859 1810 135.5 10.3 506 7433 0.00 2.47 0.00 0.000 1158 0.000 0.077 2696 2105 1834 1859 1809 0 0 0 0 0 0 14.27 14.13 14.32

7754 0.40 388.2 2697 2105 1859 1806 103.6 9.2 521 7779 0.00 2.55 17.65 1.359 8740 0.000 0.088 2696 700 1779 1802 1757 0 0 0 0 0 0 14.59 14.15 13.33

7827 0.50 416.9 2697 700 1795 1758 97.5 8.6 535 7849 0.15 2.47 15.38 0.491 11430 0.116 0.077 2763 2110 1664 1684 1645 0 0 0 0 0 0 14.21 14.14 13.69

8146 0.45 422.3 2763 2110 1686 1643 58.3 9.7 569 8156 0.15 0.00 3.33 0.364 12454 0.261 0.000 2733 2110 1641 1665 1618 0 0 0 0 0 0 13.90 14.11 13.69

8455 0.57 537.0 2733 2112 1669 1619 41.2 4.2 600 8517 0.00 0.00 60.40 0.321 8358 0.000 0.000 2732 2108 1177 1236 1118 0 0 0 0 0 0 14.55 14.14 13.80

8815 0.86 647.3 2736 2111 1237 1105 21.8 4.4 636 8880 0.38 2.62 58.00 0.265 10916 0.076 0.093 2877 685 723 784 663 0 0 0 0 0 0 14.18 14.05 13.80

8946 0.89 647.3 2877 685 788 661 7.8 11.2 661 8953 0.00 2.50 0.00 0.000 1158 0.000 0.077 2876 2097 722 784 661 0 0 0 0 0 0 14.00 13.91 14.04

8998 end climb: SURFACE_DEPTH_REACHED

state 8998 begin surface coast

9008 end surface coast: CONTROL_FINISHED_OK

state 9008 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	397	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	1101.0
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	64	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,192135,7419.2476,-15346.3223,16,0.8,23,19.2,0.0,81.9,11,9.7	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	191.4,2244,-18.8,-10.000,-22.13,2035
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	210917,193632,7419.2881,-15346.1152,7,0.9,40,19.2,0.3,59.2,9,7.2

FINISH	0.3,1.021090	_24V_AH	12.19,235.126
SM_CCo	9030,31.02,0.207,0,0,497,702.78	_10V_AH	12.05,0.000
SM_GC	1.64,8.30,0.17,31.02,0.074,0.107,0.207,200,2244,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.24,14.27,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	347	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323684
IRIDIUM_FIX	7419.36,-15354.57,210917,192633	DATA_FILE_SIZE	23385,668
TT8_MAMPS	0.040446,0.972202	CAP_FILE_SIZE	100935,0
HUMID	47.08	CFSIZE	2097872896,1976270848
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.8
XPDR_PINGS	9	CURRENT	0.038,93.29,1
CP_FREE	15898738688.000000	GPS	210917,220921,7418.321,-15348.513,17,0.8,28,19.2,0.7,77.9,11,10.0
PM_FREEKB_00	44870016

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	146.98	nil	0	0	0.00
Roll_motor	79	2170	2115.16	nil	0	0	0.00
VBD_pump_during_apogee	917	1530	17116.21	nil	0	0	0.00
VBD_pump_during_surface	31	207	78.41	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	9044	14	1602.43
Iridium_during_xfer	505	169	1041.79	NCP	8998	20	2193.71
Transponder_ping	2	420	11.52	PMAR	8982	9	1086.26
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.37
TT8	0	0	0.00
LPSleep	6552	2	182.39
TT8_Active	875	13	147.42
TT8_Sampling	2148	33	865.70
TT8_CF8	392	38	183.21
TT8_Kalman	0	0	0.00
Analog_circuits	2168	10	261.29
GPS_charging	0	0	0.00
Compass	966	7	81.53
RAFOS	2193	48	1268.43
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	-0.59	-133.2	192	2229	496	497	0.0	0.0	0	135	0.00	0.00	-80.65	0.000	16386	0.000	0.000	191	2228	1995	1923	2067	0	0	0	0	0	0	14.47	28.83	14.49
139	-0.60	-145.9	192	2228	1925	2069	3.1	-3.2	8	202	12.73	2.70	-40.95	0.000	18724	0.449	2.170	2367	3575	3964	3949	3980	0	0	0	0	0	0	13.57	12.58	14.02
278	-0.76	-145.9	2368	3576	3956	3980	33.7	-13.1	35	286	0.12	2.30	0.00	0.000	5254	0.125	0.057	2320	2231	3967	3955	3979	0	0	0	0	0	0	14.12	14.07	14.21
583	-0.80	-145.9	2321	2230	3958	3980	88.4	-14.6	66	588	0.00	2.42	0.00	0.000	388	0.000	0.088	2319	3582	3968	3957	3979	0	0	0	0	0	0	14.56	14.09	14.55
659	-0.97	-145.9	2320	3583	3958	3980	97.6	-11.2	81	665	0.15	2.38	0.00	0.000	5254	0.112	0.056	2260	2198	3968	3957	3980	0	0	0	0	0	0	14.17	14.09	14.27
984	-0.97	-145.9	2261	2198	3959	3979	152.1	-15.9	94	989	0.00	2.47	0.00	0.000	260	0.000	0.086	2251	3581	3968	3957	3980	0	0	0	0	0	0	14.61	14.05	14.62
1074	-1.06	-145.9	2251	3581	3958	3980	165.0	-13.2	112	1079	0.00	2.38	0.00	0.000	1158	0.000	0.057	2251	2196	3968	3957	3980	0	0	0	0	0	0	14.26	14.13	14.31
1407	-1.09	-145.9	2252	2195	3959	3979	213.9	-14.4	128	1412	0.00	2.50	0.00	0.000	388	0.000	0.088	2244	3585	3968	3957	3979	0	0	0	0	0	0	14.41	13.95	14.43
1520	-1.20	-145.9	2244	3585	3957	3980	228.4	-12.0	150	1525	0.17	2.40	0.00	0.000	5254	0.113	0.055	2174	2202	3969	3958	3980	0	0	0	0	0	0	14.00	13.89	14.12
1831	-1.09	-145.9	2174	2197	3958	3979	290.3	-19.2	162	1836	0.20	2.50	0.00	0.000	2436	0.288	0.082	2209	3589	3968	3957	3979	0	0	0	0	0	0	13.61	13.85	13.81
1962	-1.15	-145.9	2209	3591	3958	3977	308.9	-13.5	188	1967	0.00	2.40	0.00	0.000	1158	0.000	0.054	2205	2192	3968	3957	3979	0	0	0	0	0	0	14.11	13.99	14.14
2282	-1.15	-145.9	2212	2193	3958	3979	351.4	-13.0	202	2287	0.00	2.53	0.00	0.000	260	0.000	0.086	2201	3587	3966	3954	3979	0	0	0	0	0	0	14.39	13.90	14.40
2388	-1.21	-145.9	2201	3587	3957	3980	364.7	-12.3	223	2393	0.00	2.40	0.00	0.000	1158	0.000	0.054	2201	2201	3966	3955	3978	0	0	0	0	0	0	14.04	13.92	14.07
2704	-1.21	-145.9	2201	2199	3956	3978	406.2	-13.1	236	2709	0.00	2.53	0.00	0.000	260	0.000	0.087	2196	3581	3966	3955	3978	0	0	0	0	0	0	14.38	13.80	14.40
2789	-1.28	-145.9	2197	3584	3955	3979	417.0	-12.1	253	2795	0.00	2.42	0.00	0.000	1158	0.000	0.055	2196	2196	3966	3955	3978	0	0	0	0	0	0	14.03	13.91	14.07
3094	-1.28	-145.9	2197	2195	3956	3978	456.9	-13.0	264	3099	0.00	2.53	0.00	0.000	260	0.000	0.086	2190	3583	3966	3954	3978	0	0	0	0	0	0	14.38	13.77	14.39
3180	-1.33	-145.9	2191	3585	3955	3978	467.9	-12.3	281	3186	0.12	2.40	0.00	0.000	5254	0.124	0.054	2144	2197	3966	3954	3978	0	0	0	0	0	0	13.90	13.89	13.99
3272	end dive: TARGET_DEPTH_EXCEEDED
state	3272	begin apogee
3279	-0.13	0.0	2144	2056	3955	3978	484.2	-17.2	285	3497	1.65	0.00	214.68	1.426	10246	0.274	0.000	2529	2055	3364	3382	3347	0	0	0	0	0	0	13.54	13.48	12.70
3501	end apogee: CONTROL_FINISHED_OK
state	3501	begin climb
3504	0.60	145.9	2529	2056	3377	3339	496.1	0.0	292	3723	0.77	2.70	206.70	1.379	11012	0.057	0.071	2789	3484	2758	2793	2723	0	0	0	0	0	0	13.64	12.78	12.19
3761	0.10	145.9	2788	3485	2788	2724	502.6	14.2	300	3766	0.95	2.45	0.00	0.000	5254	0.347	0.054	2620	2132	2755	2788	2723	0	0	0	0	0	0	12.83	13.14	13.16
4082	-0.00	175.0	2621	2132	2789	2717	474.1	8.5	314	4124	0.17	0.00	39.17	1.455	12454	0.283	0.000	2585	2132	2649	2692	2607	0	0	0	0	0	0	13.74	13.88	13.06
4412	0.03	218.1	2586	2133	2689	2594	448.6	7.8	325	4483	0.00	2.62	62.58	1.417	8740	0.000	0.089	2591	700	2470	2523	2417	0	0	0	0	0	0	14.56	13.94	13.10
4513	0.12	252.2	2596	700	2521	2414	440.3	8.3	340	4570	0.00	2.42	49.62	1.406	9382	0.000	0.079	2589	2075	2334	2385	2283	0	0	0	0	0	0	14.16	14.04	13.01
4896	0.18	272.4	2589	2075	2376	2271	405.8	9.0	366	4927	0.17	0.00	28.55	1.466	10406	0.103	0.000	2668	2075	2251	2300	2203	0	0	0	0	0	0	14.28	14.04	13.24
5226	0.09	272.4	2669	2076	2295	2195	358.6	14.4	377	5231	0.20	2.45	0.00	0.000	4740	0.252	0.086	2619	690	2243	2295	2192	0	0	0	0	0	0	13.91	14.12	14.08
5272	0.15	272.4	2620	689	2294	2194	353.3	10.7	386	5277	0.00	2.47	0.00	0.000	1158	0.000	0.077	2619	2105	2242	2293	2192	0	0	0	0	0	0	14.28	14.14	14.33
5588	0.15	272.4	2620	2106	2294	2190	320.5	10.3	399	5589	0.00	0.00	0.00	0.000	6	0.000	0.000	2619	2111	2241	2293	2190	0	0	0	0	0	0	14.59	14.60	14.62
5888	0.15	272.4	2620	2107	2294	2189	290.2	10.0	409	5893	0.00	2.50	0.00	0.000	516	0.000	0.086	2620	691	2240	2293	2188	0	0	0	0	0	0	14.62	14.09	14.66
5939	0.23	285.4	2620	692	2293	2189	285.2	9.3	419	5960	0.12	2.47	16.38	1.530	11430	0.121	0.077	2680	2104	2202	2250	2155	0	0	0	0	0	0	14.13	14.02	13.30
6283	0.15	285.4	2680	2105	2243	2148	242.1	11.9	437	6285	0.20	0.00	0.00	0.000	4230	0.252	0.000	2636	2105	2195	2242	2149	0	0	0	0	0	0	13.89	14.28	14.19
6581	0.20	328.0	2636	2105	2242	2146	217.3	7.8	447	6655	0.00	0.00	73.03	1.306	8358	0.000	0.000	2636	2105	2027	2073	1982	0	0	0	0	0	0	14.61	13.95	13.19
6941	0.30	372.1	2636	2104	2062	1970	189.1	7.8	459	7021	0.12	2.60	72.28	1.259	10916	0.117	0.091	2696	688	1844	1872	1817	0	0	0	0	0	0	14.23	13.95	13.19
7077	0.34	372.1	2697	687	1865	1818	173.9	11.1	486	7082	0.00	2.50	0.00	0.000	1158	0.000	0.077	2696	2100	1839	1863	1816	0	0	0	0	0	0	14.14	14.02	14.18
7393	0.34	372.1	2697	2101	1862	1809	139.3	10.6	499	7398	0.00	2.53	0.00	0.000	516	0.000	0.090	2695	689	1835	1861	1809	0	0	0	0	0	0	14.55	14.08	14.59
7429	0.38	372.1	2696	690	1859	1810	135.5	10.3	506	7433	0.00	2.47	0.00	0.000	1158	0.000	0.077	2696	2105	1834	1859	1809	0	0	0	0	0	0	14.27	14.13	14.32
7754	0.40	388.2	2697	2105	1859	1806	103.6	9.2	521	7779	0.00	2.55	17.65	1.359	8740	0.000	0.088	2696	700	1779	1802	1757	0	0	0	0	0	0	14.59	14.15	13.33
7827	0.50	416.9	2697	700	1795	1758	97.5	8.6	535	7849	0.15	2.47	15.38	0.491	11430	0.116	0.077	2763	2110	1664	1684	1645	0	0	0	0	0	0	14.21	14.14	13.69
8146	0.45	422.3	2763	2110	1686	1643	58.3	9.7	569	8156	0.15	0.00	3.33	0.364	12454	0.261	0.000	2733	2110	1641	1665	1618	0	0	0	0	0	0	13.90	14.11	13.69
8455	0.57	537.0	2733	2112	1669	1619	41.2	4.2	600	8517	0.00	0.00	60.40	0.321	8358	0.000	0.000	2732	2108	1177	1236	1118	0	0	0	0	0	0	14.55	14.14	13.80
8815	0.86	647.3	2736	2111	1237	1105	21.8	4.4	636	8880	0.38	2.62	58.00	0.265	10916	0.076	0.093	2877	685	723	784	663	0	0	0	0	0	0	14.18	14.05	13.80
8946	0.89	647.3	2877	685	788	661	7.8	11.2	661	8953	0.00	2.50	0.00	0.000	1158	0.000	0.077	2876	2097	722	784	661	0	0	0	0	0	0	14.00	13.91	14.04
8998	end climb: SURFACE_DEPTH_REACHED
state	8998	begin surface coast
9008	end surface coast: CONTROL_FINISHED_OK
state	9008	begin surface