Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 143 * 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 143 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 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 402.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 32 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 402.0 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 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 29 VBD_MIN 500

DIVE 143 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 230817,091540,7324.6836,-15020.7812,16,0.8,23,20.6,0.6,228.3,9,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 303.0,146425,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 230817,094105,7324.6665,-15021.6270,6,0.7,24,20.6,0.5,249.3,11,9.1

Post-dive calculations and measurements:

FINISH 0.1,1.017174 _24V_AH 12.42,111.190

SM_CCo 8750,1.55,0.249,0,0,498,702.78 _10V_AH 12.27,0.000

SM_GC 1.63,8.25,0.20,1.55,0.079,0.110,0.249,204,2216,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.14,14.14,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 29 FG_AHR_10Vo 0.000

RAFOS_FIX 7325.783691,-15019.523438,230817,080827,2,255,0.72 MEM 323504

IRIDIUM_FIX 7324.17,-15037.71,230817,093213 DATA_FILE_SIZE 23431,710

TT8_MAMPS 0.08239,0.929509 CAP_FILE_SIZE 108443,0

HUMID 45.51 CFSIZE 2097872896,2044133376

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

TCM_TEMP 13.20 INTR 0,6948.62,0x2341e8,1,24

XPDR_PINGS 5 SOUNDSPEED 1447.9

CP_FREE 15995174912.000000 CURRENT 0.063,266.26,1

PM_FREEKB_00 53761664 GPS 230817,120857,7325.796,-15024.092,39,0.8,40,20.6,0.5,263.0,11,7.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 460 143.71 nil 0 0 0.00

Roll_motor 84 2149 2243.35 nil 0 0 0.00

VBD_pump_during_apogee 973 1516 18341.79 nil 0 0 0.00

VBD_pump_during_surface 1 248 4.79 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 8758 14 1575.16

Iridium_during_xfer 990 166 2052.02 NCP 8742 20 2171.51

Transponder_ping 1 420 6.52 PMAR 8706 9 1071.23

GUMSTIX_24V 0 0 0.00

GPS 25 22 7.05

TT8 0 0 0.00

LPSleep 6131 2 173.80

TT8_Active 867 13 148.62

TT8_Sampling 2940 33 1206.41

TT8_CF8 353 38 167.92

TT8_Kalman 0 0 0.00

Analog_circuits 2980 10 365.71

GPS_charging 0 0 0.00

Compass 1018 7 87.48

RAFOS 2218 48 1306.31

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 194 2216 495 491 0.0 0.0 0 140 0.00 0.00 -91.88 0.000 16386 0.000 0.000 194 2214 2294 2233 2355 0 0 0 0 0 0 14.46 28.83 14.49

143 -0.57 -145.9 193 2214 2237 2356 5.0 -8.0 9 191 12.73 2.72 -28.60 0.000 18724 0.461 2.150 2373 3597 3966 3949 3983 0 0 0 0 0 0 13.69 12.62 14.16

416 -0.65 -145.9 2374 3598 3958 3983 65.8 -14.5 63 421 0.00 2.38 0.00 0.000 1158 0.000 0.057 2373 2201 3970 3957 3983 0 0 0 0 0 0 14.24 14.17 14.27

738 -0.70 -145.9 2373 2202 3959 3984 111.5 -12.7 90 743 0.00 2.47 0.00 0.000 388 0.000 0.086 2369 3607 3971 3959 3983 0 0 0 0 0 0 14.54 14.19 14.57

860 -0.87 -145.9 2366 3608 3959 3984 124.4 -9.8 114 865 0.20 2.38 0.00 0.000 5286 0.103 0.054 2283 2195 3971 3959 3983 0 0 0 0 0 0 14.31 14.26 14.40

1190 -0.81 -145.9 2285 2193 3960 3983 184.1 -17.8 130 1195 0.12 2.45 0.00 0.000 2436 0.281 0.084 2305 3601 3972 3959 3985 0 0 0 0 0 0 14.03 14.23 14.19

1312 -0.90 -145.9 2306 3601 3960 3983 200.2 -12.1 154 1317 0.00 2.35 0.00 0.000 1158 0.000 0.056 2305 2199 3971 3959 3983 0 0 0 0 0 0 14.34 14.23 14.39

1642 -0.90 -145.9 2305 2199 3959 3984 244.2 -12.7 170 1647 0.00 2.45 0.00 0.000 260 0.000 0.089 2305 3600 3970 3958 3983 0 0 0 0 0 0 14.63 14.16 14.66

1732 -1.01 -145.9 2305 3602 3959 3984 254.1 -10.4 188 1738 0.17 2.35 0.00 0.000 5254 0.115 0.056 2242 2200 3971 3959 3983 0 0 0 0 0 0 14.33 14.29 14.43

2064 -0.94 -145.9 2243 2199 3959 3983 306.9 -15.7 204 2070 0.12 2.45 0.00 0.000 2436 0.293 0.083 2261 3599 3970 3959 3982 0 0 0 0 0 0 13.97 14.21 14.14

2182 -0.98 -145.9 2261 3602 3958 3983 322.1 -12.4 227 2187 0.00 2.35 0.00 0.000 1158 0.000 0.057 2261 2199 3970 3958 3982 0 0 0 0 0 0 14.38 14.26 14.41

2485 -0.98 -145.9 2260 2199 3957 3982 362.5 -13.0 238 2489 0.00 2.45 0.00 0.000 260 0.000 0.088 2253 3600 3969 3957 3982 0 0 0 0 0 0 14.64 14.21 14.67

2570 -1.02 -145.9 2253 3601 3957 3981 373.1 -12.0 255 2576 0.00 2.38 0.00 0.000 1158 0.000 0.057 2253 2198 3968 3956 3981 0 0 0 0 0 0 14.37 14.25 14.40

2875 -1.02 -145.9 2254 2197 3956 3981 412.2 -12.8 266 2879 0.00 2.45 0.00 0.000 260 0.000 0.087 2245 3601 3967 3956 3979 0 0 0 0 0 0 14.64 14.21 14.66

2987 -1.06 -145.9 2245 3601 3956 3980 426.0 -12.2 288 2992 0.00 2.38 0.00 0.000 1158 0.000 0.057 2244 2193 3967 3955 3980 0 0 0 0 0 0 14.36 14.22 14.39

3297 -1.04 -145.9 2245 2192 3956 3979 467.3 -13.2 300 3303 0.00 2.45 0.00 0.000 388 0.000 0.086 2236 3600 3967 3955 3979 0 0 0 0 0 0 14.66 14.19 14.69

3388 -1.04 -145.9 2235 3601 3956 3979 479.2 -12.6 318 3393 0.00 2.38 0.00 0.000 1030 0.000 0.057 2236 2189 3967 3955 3979 0 0 0 0 0 0 14.38 14.26 14.40

3395 end dive: TARGET_DEPTH_EXCEEDED

state 3395 begin apogee

3401 -0.13 0.0 2237 2074 3956 3979 480.4 -12.6 320 3618 1.17 0.00 212.68 1.441 10246 0.259 0.000 2530 2073 3364 3388 3340 0 0 0 0 0 0 13.97 13.49 12.72

3621 end apogee: CONTROL_FINISHED_OK

state 3621 begin climb

3624 0.57 145.9 2531 2074 3382 3334 491.4 0.0 327 4137 0.75 2.72 203.23 1.389 10500 0.065 0.073 2783 3498 2752 2789 2716 0 0 0 0 0 0 13.58 13.15 12.42

4166 0.13 145.9 2783 3499 2789 2717 441.7 17.0 334 4171 0.80 2.40 0.00 0.000 5254 0.353 0.057 2629 2112 2752 2789 2716 0 0 0 0 0 0 13.55 13.90 13.92

4492 0.06 180.5 2629 2112 2793 2716 412.8 8.4 349 4546 0.00 2.55 46.83 1.430 8868 0.000 0.082 2638 698 2625 2671 2579 0 0 0 0 0 0 14.49 13.95 13.15

4636 0.03 195.2 2639 698 2670 2576 399.7 9.3 378 4662 0.20 2.45 19.95 1.517 13478 0.249 0.078 2594 2095 2568 2624 2513 0 0 0 0 0 0 13.86 14.04 13.14

4974 0.09 253.4 2595 2095 2623 2501 374.4 7.3 395 5065 0.00 0.00 89.43 1.369 8358 0.000 0.000 2593 2095 2331 2386 2276 0 0 0 0 0 0 14.50 13.83 13.09

5363 0.21 306.8 2594 2096 2374 2261 345.0 7.5 408 5449 0.15 2.53 79.65 1.333 10916 0.120 0.086 2672 696 2111 2161 2061 0 0 0 0 0 0 14.22 13.66 13.11

5479 0.21 306.8 2672 696 2155 2056 331.1 12.6 431 5485 0.00 2.50 0.00 0.000 1030 0.000 0.076 2672 2098 2106 2154 2059 0 0 0 0 0 0 13.97 13.86 14.00

5784 0.19 306.8 2673 2099 2154 2048 293.2 12.3 442 5785 0.00 0.00 0.00 0.000 134 0.000 0.000 2672 2099 2100 2153 2048 0 0 0 0 0 0 14.47 14.50 14.50

6084 0.19 306.8 2672 2100 2153 2047 257.9 11.5 452 6090 0.00 2.45 0.00 0.000 516 0.000 0.088 2672 697 2099 2152 2046 0 0 0 0 0 0 14.59 14.25 14.60

6160 0.24 306.8 2673 697 2151 2046 249.8 10.2 467 6165 0.00 2.42 0.00 0.000 1158 0.000 0.077 2672 2102 2098 2150 2046 0 0 0 0 0 0 14.39 14.27 14.42

6475 0.24 312.4 2673 2102 2150 2045 217.3 9.7 480 6481 0.00 2.45 0.00 0.000 548 0.000 0.086 2672 695 2097 2150 2045 0 0 0 0 0 0 14.62 14.24 14.62

6496 0.25 329.5 2672 697 2150 2045 215.3 9.2 484 6537 0.00 2.45 33.60 1.382 9254 0.000 0.078 2672 2106 2016 2062 1970 0 0 0 0 0 0 14.34 14.26 13.35

6838 0.31 357.7 2673 2106 2062 1961 184.9 8.7 502 6892 0.00 2.53 46.55 1.330 8868 0.000 0.087 2672 690 1901 1941 1862 0 0 0 0 0 0 14.54 14.03 13.29

6944 0.45 400.2 2672 691 1933 1863 176.1 8.0 523 7021 0.17 2.47 71.10 1.256 11430 0.112 0.078 2746 2098 1733 1761 1706 0 0 0 0 0 0 14.06 14.00 13.12

7317 0.42 400.2 2745 2098 1753 1691 127.4 12.6 548 7318 0.00 0.00 0.00 0.000 134 0.000 0.000 2746 2098 1720 1752 1689 0 0 0 0 0 0 14.45 14.47 14.46

7617 0.42 400.2 2747 2098 1752 1687 91.8 11.1 562 7622 0.00 2.47 0.00 0.000 516 0.000 0.086 2752 690 1718 1750 1687 0 0 0 0 0 0 14.53 14.20 14.53

7734 0.45 406.5 2755 690 1748 1687 79.8 9.7 585 7740 0.00 2.47 1.27 0.372 9382 0.000 0.080 2753 2107 1708 1738 1678 0 0 0 0 0 0 14.22 14.09 13.71

8037 0.50 480.1 2755 2108 1744 1678 54.2 6.6 616 8084 0.00 2.53 39.10 0.368 8740 0.000 0.084 2755 700 1406 1450 1362 0 0 0 0 0 0 14.54 14.12 13.77

8146 0.66 553.6 2755 701 1450 1362 47.3 6.6 633 8189 0.12 2.47 37.80 0.345 11430 0.135 0.078 2805 2109 1107 1175 1040 0 0 0 0 0 0 14.20 14.14 13.74

8507 0.85 675.2 2805 2109 1176 1030 16.6 4.4 672 8575 0.15 2.50 62.72 0.261 10660 0.118 0.080 2869 3517 606 655 558 0 0 0 0 0 0 14.07 13.95 13.76

8645 0.92 699.6 2869 3517 658 562 6.8 8.9 698 8683 0.00 2.47 29.60 0.204 9382 0.000 0.067 2876 2096 508 537 480 0 0 0 0 0 0 14.14 14.03 13.88

8708 end climb: SURFACE_DEPTH_REACHED

state 8708 begin surface coast

8728 end surface coast: CONTROL_FINISHED_OK

state 8728 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	143	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	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	402.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,091540,7324.6836,-15020.7812,16,0.8,23,20.6,0.6,228.3,9,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	303.0,146425,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	230817,094105,7324.6665,-15021.6270,6,0.7,24,20.6,0.5,249.3,11,9.1

FINISH	0.1,1.017174	_24V_AH	12.42,111.190
SM_CCo	8750,1.55,0.249,0,0,498,702.78	_10V_AH	12.27,0.000
SM_GC	1.63,8.25,0.20,1.55,0.079,0.110,0.249,204,2216,498,-7.37,-0.51,702.78,0,0,0,0,0,0,14.14,14.14,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	29	FG_AHR_10Vo	0.000
RAFOS_FIX	7325.783691,-15019.523438,230817,080827,2,255,0.72	MEM	323504
IRIDIUM_FIX	7324.17,-15037.71,230817,093213	DATA_FILE_SIZE	23431,710
TT8_MAMPS	0.08239,0.929509	CAP_FILE_SIZE	108443,0
HUMID	45.51	CFSIZE	2097872896,2044133376
INTERNAL_PRESSURE	7.75222	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	0,6948.62,0x2341e8,1,24
XPDR_PINGS	5	SOUNDSPEED	1447.9
CP_FREE	15995174912.000000	CURRENT	0.063,266.26,1
PM_FREEKB_00	53761664	GPS	230817,120857,7325.796,-15024.092,39,0.8,40,20.6,0.5,263.0,11,7.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	460	143.71	nil	0	0	0.00
Roll_motor	84	2149	2243.35	nil	0	0	0.00
VBD_pump_during_apogee	973	1516	18341.79	nil	0	0	0.00
VBD_pump_during_surface	1	248	4.79	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	8758	14	1575.16
Iridium_during_xfer	990	166	2052.02	NCP	8742	20	2171.51
Transponder_ping	1	420	6.52	PMAR	8706	9	1071.23
GUMSTIX_24V	0	0	0.00
GPS	25	22	7.05
TT8	0	0	0.00
LPSleep	6131	2	173.80
TT8_Active	867	13	148.62
TT8_Sampling	2940	33	1206.41
TT8_CF8	353	38	167.92
TT8_Kalman	0	0	0.00
Analog_circuits	2980	10	365.71
GPS_charging	0	0	0.00
Compass	1018	7	87.48
RAFOS	2218	48	1306.31
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	194	2216	495	491	0.0	0.0	0	140	0.00	0.00	-91.88	0.000	16386	0.000	0.000	194	2214	2294	2233	2355	0	0	0	0	0	0	14.46	28.83	14.49
143	-0.57	-145.9	193	2214	2237	2356	5.0	-8.0	9	191	12.73	2.72	-28.60	0.000	18724	0.461	2.150	2373	3597	3966	3949	3983	0	0	0	0	0	0	13.69	12.62	14.16
416	-0.65	-145.9	2374	3598	3958	3983	65.8	-14.5	63	421	0.00	2.38	0.00	0.000	1158	0.000	0.057	2373	2201	3970	3957	3983	0	0	0	0	0	0	14.24	14.17	14.27
738	-0.70	-145.9	2373	2202	3959	3984	111.5	-12.7	90	743	0.00	2.47	0.00	0.000	388	0.000	0.086	2369	3607	3971	3959	3983	0	0	0	0	0	0	14.54	14.19	14.57
860	-0.87	-145.9	2366	3608	3959	3984	124.4	-9.8	114	865	0.20	2.38	0.00	0.000	5286	0.103	0.054	2283	2195	3971	3959	3983	0	0	0	0	0	0	14.31	14.26	14.40
1190	-0.81	-145.9	2285	2193	3960	3983	184.1	-17.8	130	1195	0.12	2.45	0.00	0.000	2436	0.281	0.084	2305	3601	3972	3959	3985	0	0	0	0	0	0	14.03	14.23	14.19
1312	-0.90	-145.9	2306	3601	3960	3983	200.2	-12.1	154	1317	0.00	2.35	0.00	0.000	1158	0.000	0.056	2305	2199	3971	3959	3983	0	0	0	0	0	0	14.34	14.23	14.39
1642	-0.90	-145.9	2305	2199	3959	3984	244.2	-12.7	170	1647	0.00	2.45	0.00	0.000	260	0.000	0.089	2305	3600	3970	3958	3983	0	0	0	0	0	0	14.63	14.16	14.66
1732	-1.01	-145.9	2305	3602	3959	3984	254.1	-10.4	188	1738	0.17	2.35	0.00	0.000	5254	0.115	0.056	2242	2200	3971	3959	3983	0	0	0	0	0	0	14.33	14.29	14.43
2064	-0.94	-145.9	2243	2199	3959	3983	306.9	-15.7	204	2070	0.12	2.45	0.00	0.000	2436	0.293	0.083	2261	3599	3970	3959	3982	0	0	0	0	0	0	13.97	14.21	14.14
2182	-0.98	-145.9	2261	3602	3958	3983	322.1	-12.4	227	2187	0.00	2.35	0.00	0.000	1158	0.000	0.057	2261	2199	3970	3958	3982	0	0	0	0	0	0	14.38	14.26	14.41
2485	-0.98	-145.9	2260	2199	3957	3982	362.5	-13.0	238	2489	0.00	2.45	0.00	0.000	260	0.000	0.088	2253	3600	3969	3957	3982	0	0	0	0	0	0	14.64	14.21	14.67
2570	-1.02	-145.9	2253	3601	3957	3981	373.1	-12.0	255	2576	0.00	2.38	0.00	0.000	1158	0.000	0.057	2253	2198	3968	3956	3981	0	0	0	0	0	0	14.37	14.25	14.40
2875	-1.02	-145.9	2254	2197	3956	3981	412.2	-12.8	266	2879	0.00	2.45	0.00	0.000	260	0.000	0.087	2245	3601	3967	3956	3979	0	0	0	0	0	0	14.64	14.21	14.66
2987	-1.06	-145.9	2245	3601	3956	3980	426.0	-12.2	288	2992	0.00	2.38	0.00	0.000	1158	0.000	0.057	2244	2193	3967	3955	3980	0	0	0	0	0	0	14.36	14.22	14.39
3297	-1.04	-145.9	2245	2192	3956	3979	467.3	-13.2	300	3303	0.00	2.45	0.00	0.000	388	0.000	0.086	2236	3600	3967	3955	3979	0	0	0	0	0	0	14.66	14.19	14.69
3388	-1.04	-145.9	2235	3601	3956	3979	479.2	-12.6	318	3393	0.00	2.38	0.00	0.000	1030	0.000	0.057	2236	2189	3967	3955	3979	0	0	0	0	0	0	14.38	14.26	14.40
3395	end dive: TARGET_DEPTH_EXCEEDED
state	3395	begin apogee
3401	-0.13	0.0	2237	2074	3956	3979	480.4	-12.6	320	3618	1.17	0.00	212.68	1.441	10246	0.259	0.000	2530	2073	3364	3388	3340	0	0	0	0	0	0	13.97	13.49	12.72
3621	end apogee: CONTROL_FINISHED_OK
state	3621	begin climb
3624	0.57	145.9	2531	2074	3382	3334	491.4	0.0	327	4137	0.75	2.72	203.23	1.389	10500	0.065	0.073	2783	3498	2752	2789	2716	0	0	0	0	0	0	13.58	13.15	12.42
4166	0.13	145.9	2783	3499	2789	2717	441.7	17.0	334	4171	0.80	2.40	0.00	0.000	5254	0.353	0.057	2629	2112	2752	2789	2716	0	0	0	0	0	0	13.55	13.90	13.92
4492	0.06	180.5	2629	2112	2793	2716	412.8	8.4	349	4546	0.00	2.55	46.83	1.430	8868	0.000	0.082	2638	698	2625	2671	2579	0	0	0	0	0	0	14.49	13.95	13.15
4636	0.03	195.2	2639	698	2670	2576	399.7	9.3	378	4662	0.20	2.45	19.95	1.517	13478	0.249	0.078	2594	2095	2568	2624	2513	0	0	0	0	0	0	13.86	14.04	13.14
4974	0.09	253.4	2595	2095	2623	2501	374.4	7.3	395	5065	0.00	0.00	89.43	1.369	8358	0.000	0.000	2593	2095	2331	2386	2276	0	0	0	0	0	0	14.50	13.83	13.09
5363	0.21	306.8	2594	2096	2374	2261	345.0	7.5	408	5449	0.15	2.53	79.65	1.333	10916	0.120	0.086	2672	696	2111	2161	2061	0	0	0	0	0	0	14.22	13.66	13.11
5479	0.21	306.8	2672	696	2155	2056	331.1	12.6	431	5485	0.00	2.50	0.00	0.000	1030	0.000	0.076	2672	2098	2106	2154	2059	0	0	0	0	0	0	13.97	13.86	14.00
5784	0.19	306.8	2673	2099	2154	2048	293.2	12.3	442	5785	0.00	0.00	0.00	0.000	134	0.000	0.000	2672	2099	2100	2153	2048	0	0	0	0	0	0	14.47	14.50	14.50
6084	0.19	306.8	2672	2100	2153	2047	257.9	11.5	452	6090	0.00	2.45	0.00	0.000	516	0.000	0.088	2672	697	2099	2152	2046	0	0	0	0	0	0	14.59	14.25	14.60
6160	0.24	306.8	2673	697	2151	2046	249.8	10.2	467	6165	0.00	2.42	0.00	0.000	1158	0.000	0.077	2672	2102	2098	2150	2046	0	0	0	0	0	0	14.39	14.27	14.42
6475	0.24	312.4	2673	2102	2150	2045	217.3	9.7	480	6481	0.00	2.45	0.00	0.000	548	0.000	0.086	2672	695	2097	2150	2045	0	0	0	0	0	0	14.62	14.24	14.62
6496	0.25	329.5	2672	697	2150	2045	215.3	9.2	484	6537	0.00	2.45	33.60	1.382	9254	0.000	0.078	2672	2106	2016	2062	1970	0	0	0	0	0	0	14.34	14.26	13.35
6838	0.31	357.7	2673	2106	2062	1961	184.9	8.7	502	6892	0.00	2.53	46.55	1.330	8868	0.000	0.087	2672	690	1901	1941	1862	0	0	0	0	0	0	14.54	14.03	13.29
6944	0.45	400.2	2672	691	1933	1863	176.1	8.0	523	7021	0.17	2.47	71.10	1.256	11430	0.112	0.078	2746	2098	1733	1761	1706	0	0	0	0	0	0	14.06	14.00	13.12
7317	0.42	400.2	2745	2098	1753	1691	127.4	12.6	548	7318	0.00	0.00	0.00	0.000	134	0.000	0.000	2746	2098	1720	1752	1689	0	0	0	0	0	0	14.45	14.47	14.46
7617	0.42	400.2	2747	2098	1752	1687	91.8	11.1	562	7622	0.00	2.47	0.00	0.000	516	0.000	0.086	2752	690	1718	1750	1687	0	0	0	0	0	0	14.53	14.20	14.53
7734	0.45	406.5	2755	690	1748	1687	79.8	9.7	585	7740	0.00	2.47	1.27	0.372	9382	0.000	0.080	2753	2107	1708	1738	1678	0	0	0	0	0	0	14.22	14.09	13.71
8037	0.50	480.1	2755	2108	1744	1678	54.2	6.6	616	8084	0.00	2.53	39.10	0.368	8740	0.000	0.084	2755	700	1406	1450	1362	0	0	0	0	0	0	14.54	14.12	13.77
8146	0.66	553.6	2755	701	1450	1362	47.3	6.6	633	8189	0.12	2.47	37.80	0.345	11430	0.135	0.078	2805	2109	1107	1175	1040	0	0	0	0	0	0	14.20	14.14	13.74
8507	0.85	675.2	2805	2109	1176	1030	16.6	4.4	672	8575	0.15	2.50	62.72	0.261	10660	0.118	0.080	2869	3517	606	655	558	0	0	0	0	0	0	14.07	13.95	13.76
8645	0.92	699.6	2869	3517	658	562	6.8	8.9	698	8683	0.00	2.47	29.60	0.204	9382	0.000	0.067	2876	2096	508	537	480	0	0	0	0	0	0	14.14	14.03	13.88
8708	end climb: SURFACE_DEPTH_REACHED
state	8708	begin surface coast
8728	end surface coast: CONTROL_FINISHED_OK
state	8728	begin surface