Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 147 * 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 147 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 413.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 413.0 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 23 VBD_MIN 500

DIVE 147 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 230817,204151,7328.9424,-15033.0381,35,1.0,36,20.6,0.5,242.2,7,8.2 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 303.2,136789,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 230817,210107,7328.8267,-15033.6426,5,0.8,16,20.6,0.0,211.0,10,9.2

Post-dive calculations and measurements:

FINISH 0.0,1.012688 _24V_AH 12.41,113.069

SM_CCo 8965,22.60,0.216,0,0,499,703.03 _10V_AH 12.30,0.000

SM_GC 0.85,8.07,0.17,22.60,0.079,0.109,0.216,199,2228,499,-7.38,-0.82,703.03,0,0,0,0,0,0,14.32,14.33,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 395 FG_AHR_10Vo 0.000

RAFOS_FIX 7327.592285,-15032.682617,230817,202011,4,255,0.19 MEM 323392

IRIDIUM_FIX 7328.37,-15030.30,230817,204902 DATA_FILE_SIZE 26697,795

TT8_MAMPS 0.036701,0.826896 CAP_FILE_SIZE 106779,0

HUMID 47.32 CFSIZE 2097872896,2042855424

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

TCM_TEMP 13.10 INTR 0,8279.35,0x2341ea,1,24

XPDR_PINGS 18 SOUNDSPEED 1448.8

CP_FREE 0.000000 CURRENT 0.081,269.16,1

PM_FREEKB_00 53640576 GPS 230817,233251,7329.971,-15036.690,37,0.7,38,20.5,0.0,0.0,11,7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 450 139.23 nil 0 0 0.00

Roll_motor 78 2142 2076.07 nil 0 0 0.00

VBD_pump_during_apogee 909 1631 18418.35 nil 0 0 0.00

VBD_pump_during_surface 22 216 60.72 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 8924 14 1620.23

Iridium_during_xfer 741 191 1760.89 NCP 8975 20 2227.59

Transponder_ping 4 420 23.45 PMAR 8923 9 1099.93

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.87

TT8 0 0 0.00

LPSleep 6469 2 183.81

TT8_Active 938 13 161.26

TT8_Sampling 2432 33 1000.60

TT8_CF8 316 38 150.85

TT8_Kalman 0 0 0.00

Analog_circuits 2420 10 297.70

GPS_charging 0 0 0.00

Compass 1141 7 98.26

RAFOS 0 0 0.00

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

42 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 194 2227 489 489 0.0 0.0 0 128 0.00 0.00 -80.82 0.000 16386 0.000 0.000 193 2227 1984 1915 2054 0 0 0 0 0 0 14.32 28.83 14.33

131 -0.57 -145.9 194 2227 1917 2056 3.2 -3.5 8 195 12.50 2.75 -41.40 0.000 18724 0.451 2.142 2375 3592 3963 3947 3979 1 0 0 0 0 0 13.45 12.54 14.09

385 -0.63 -145.9 2375 3598 3954 3982 57.5 -16.6 58 390 0.00 2.40 0.00 0.000 1158 0.000 0.060 2376 2201 3967 3954 3981 0 0 0 0 0 0 14.21 14.09 14.24

695 -0.68 -145.9 2375 2200 3955 3982 104.7 -12.7 88 700 0.00 2.47 0.00 0.000 388 0.000 0.087 2366 3604 3967 3954 3981 0 0 0 0 0 0 14.55 14.19 14.57

770 -0.82 -145.9 2366 3606 3955 3982 113.2 -10.4 103 777 0.17 2.38 0.00 0.000 5254 0.109 0.057 2296 2198 3968 3955 3981 0 0 0 0 0 0 14.28 14.23 14.37

1087 -0.78 -145.9 2295 2197 3955 3982 167.2 -16.8 116 1092 0.12 2.45 0.00 0.000 2436 0.282 0.086 2319 3597 3968 3955 3981 0 0 0 0 0 0 14.04 14.23 14.19

1189 -0.89 -145.9 2319 3599 3955 3982 180.0 -11.5 136 1193 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2187 3967 3954 3981 0 0 0 0 0 0 14.29 14.17 14.33

1509 -0.93 -145.9 2319 2186 3956 3981 221.3 -12.4 150 1514 0.12 2.47 0.00 0.000 4484 0.138 0.086 2252 3600 3967 3954 3980 0 0 0 0 0 0 14.33 14.21 14.36

1584 -0.90 -145.9 2252 3602 3955 3981 233.4 -16.2 165 1589 0.15 2.35 0.00 0.000 3206 0.262 0.057 2282 2201 3968 3955 3981 0 0 0 0 0 0 14.02 14.29 14.30

1899 -0.90 -145.9 2282 2201 3955 3982 276.6 -13.0 178 1904 0.00 2.45 0.00 0.000 260 0.000 0.090 2280 3601 3967 3954 3980 0 0 0 0 0 0 14.65 14.24 14.66

1974 -0.98 -145.9 2280 3603 3955 3981 285.5 -11.7 193 1980 0.00 2.38 0.00 0.000 1158 0.000 0.059 2280 2195 3967 3955 3979 0 0 0 0 0 0 14.42 14.29 14.45

2290 -1.00 -145.9 2280 2194 3955 3980 323.0 -11.5 206 2295 0.00 2.45 0.00 0.000 388 0.000 0.088 2270 3598 3966 3954 3979 0 0 0 0 0 0 14.66 14.25 14.67

2375 -1.09 -145.9 2270 3600 3954 3979 332.1 -10.3 223 2382 0.12 2.35 0.00 0.000 5254 0.135 0.057 2222 2199 3966 3954 3978 0 0 0 0 0 0 14.27 14.26 14.39

2680 -1.01 -145.9 2223 2199 3954 3978 379.0 -15.7 234 2685 0.12 2.45 0.00 0.000 2436 0.301 0.085 2238 3598 3965 3954 3977 0 0 0 0 0 0 13.99 14.25 14.17

2805 -1.03 -145.9 2242 3600 3954 3978 395.7 -12.1 259 2811 0.00 2.38 0.00 0.000 1158 0.000 0.057 2242 2195 3965 3953 3977 0 0 0 0 0 0 14.42 14.28 14.45

3131 -1.01 -145.9 2242 2194 3953 3977 439.8 -13.5 274 3136 0.00 2.45 0.00 0.000 388 0.000 0.088 2236 3598 3964 3953 3976 0 0 0 0 0 0 14.66 14.16 14.68

3258 -1.03 -145.9 2236 3599 3953 3976 456.1 -12.6 299 3264 0.00 2.35 0.00 0.000 1158 0.000 0.056 2236 2198 3964 3953 3976 0 0 0 0 0 0 14.32 14.19 14.35

3432 end dive: TARGET_DEPTH_EXCEEDED

state 3432 begin apogee

3438 -0.13 0.0 2237 2056 3954 3976 480.2 -13.6 309 3654 1.15 0.05 212.32 1.440 10246 0.249 0.224 2528 2091 3364 3389 3339 0 0 0 0 0 0 13.95 13.43 12.71

3658 end apogee: CONTROL_FINISHED_OK

state 3658 begin climb

3662 0.57 145.9 2528 2091 3383 3333 490.9 0.0 316 3874 0.75 2.62 202.40 1.388 10756 0.066 0.077 2790 723 2765 2810 2720 0 0 0 0 0 0 13.59 13.17 12.41

4099 0.20 145.9 2790 724 2796 2718 462.9 15.6 398 4105 0.65 2.47 0.00 0.000 5254 0.316 0.075 2652 2105 2756 2796 2716 0 0 0 0 0 0 13.49 13.76 13.81

4410 0.06 156.5 2652 2108 2793 2712 432.1 9.5 410 4425 0.17 2.42 10.80 1.632 12964 0.287 0.082 2616 726 2723 2766 2681 0 0 0 0 0 0 13.83 13.82 13.17

4550 0.09 205.8 2616 727 2763 2681 420.9 7.7 438 4631 0.00 2.40 73.15 1.410 9254 0.000 0.079 2616 2105 2522 2583 2461 0 0 0 0 0 0 14.26 14.16 13.05

4951 0.11 223.0 2616 2099 2579 2451 384.7 9.2 468 4975 0.00 0.00 22.65 1.495 8230 0.000 0.000 2619 2098 2457 2519 2395 0 0 0 0 0 0 14.47 14.05 13.21

5252 0.12 237.6 2616 2099 2509 2385 356.7 9.3 478 5274 0.00 0.00 21.33 1.501 8230 0.000 0.000 2616 2098 2395 2454 2337 0 0 0 0 0 0 14.52 14.11 13.28

5552 0.15 259.2 2616 2099 2446 2328 329.3 9.0 488 5589 0.00 2.42 32.10 1.447 8868 0.000 0.085 2616 726 2309 2368 2251 0 0 0 0 0 0 14.54 13.88 13.27

5641 0.27 289.0 2616 727 2352 2252 321.5 8.6 505 5694 0.17 2.40 46.03 1.382 11430 0.106 0.077 2686 2097 2183 2235 2132 0 0 0 0 0 0 14.14 14.09 13.15

6004 0.21 289.0 2687 2097 2228 2121 272.7 13.3 528 6010 0.15 2.40 0.00 0.000 4740 0.245 0.081 2658 729 2174 2227 2121 0 0 0 0 0 0 13.97 14.06 14.14

6050 0.25 289.0 2658 729 2226 2122 267.8 10.1 537 6056 0.00 2.40 0.00 0.000 1158 0.000 0.078 2657 2106 2173 2225 2121 0 0 0 0 0 0 14.31 14.19 14.35

6366 0.26 304.6 2658 2108 2226 2119 237.0 9.3 550 6392 0.00 2.42 21.58 1.445 8740 0.000 0.083 2658 729 2119 2172 2067 0 0 0 0 0 0 14.60 13.98 13.35

6432 0.37 343.5 2659 728 2167 2067 231.5 8.2 563 6502 0.12 2.40 63.78 1.303 11430 0.135 0.078 2708 2114 1962 2009 1916 0 0 0 0 0 0 14.23 14.19 13.19

6818 0.34 343.5 2708 2110 2001 1903 187.0 11.2 590 6822 0.00 2.42 0.00 0.000 644 0.000 0.085 2709 730 1950 1999 1902 0 0 0 0 0 0 14.49 14.14 14.50

6872 0.36 343.5 2709 729 1998 1898 181.1 10.4 601 6880 0.00 2.38 0.00 0.000 1158 0.000 0.076 2709 2093 1949 1997 1902 0 0 0 0 0 0 14.32 14.19 14.34

7178 0.36 343.5 2709 2096 1998 1900 149.1 10.2 612 7178 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2095 1948 1997 1900 0 0 0 0 0 0 14.59 14.61 14.59

7478 0.37 351.6 2709 2094 1998 1899 120.1 9.6 622 7487 0.00 2.42 2.40 0.902 8740 0.000 0.086 2709 730 1932 1981 1884 0 0 0 0 0 0 14.63 14.27 12.91

7570 0.45 384.3 2709 731 1982 1888 112.2 8.5 640 7634 0.00 2.38 57.97 1.274 9382 0.000 0.078 2708 2114 1797 1830 1764 0 0 0 0 0 0 14.29 14.20 13.29

7939 0.54 432.6 2709 2107 1822 1753 81.3 7.8 682 7970 0.12 0.00 24.80 0.456 10406 0.132 0.000 2766 2108 1600 1632 1569 0 0 0 0 0 0 14.21 13.98 13.70

8269 0.58 500.0 2766 2109 1632 1563 51.9 6.9 715 8310 0.00 2.42 34.75 0.363 8740 0.000 0.084 2768 726 1322 1374 1271 0 0 0 0 0 0 14.54 14.07 13.81

8402 0.78 588.1 2768 726 1374 1270 43.3 5.9 740 8456 0.20 2.40 45.47 0.335 11430 0.108 0.080 2848 2096 964 1036 893 0 0 0 0 0 0 14.21 14.16 13.80

8761 0.88 661.5 2849 2095 1037 885 8.3 6.6 781 8802 0.00 0.00 38.03 0.235 8358 0.000 0.000 2848 2092 667 726 608 0 0 0 0 0 0 14.54 14.18 13.92

8868 end climb: SURFACE_DEPTH_REACHED

state 8868 begin surface coast

8899 end surface coast: CONTROL_FINISHED_OK

state 8899 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	147	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	413.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,204151,7328.9424,-15033.0381,35,1.0,36,20.6,0.5,242.2,7,8.2	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	303.2,136789,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	230817,210107,7328.8267,-15033.6426,5,0.8,16,20.6,0.0,211.0,10,9.2

FINISH	0.0,1.012688	_24V_AH	12.41,113.069
SM_CCo	8965,22.60,0.216,0,0,499,703.03	_10V_AH	12.30,0.000
SM_GC	0.85,8.07,0.17,22.60,0.079,0.109,0.216,199,2228,499,-7.38,-0.82,703.03,0,0,0,0,0,0,14.32,14.33,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	395	FG_AHR_10Vo	0.000
RAFOS_FIX	7327.592285,-15032.682617,230817,202011,4,255,0.19	MEM	323392
IRIDIUM_FIX	7328.37,-15030.30,230817,204902	DATA_FILE_SIZE	26697,795
TT8_MAMPS	0.036701,0.826896	CAP_FILE_SIZE	106779,0
HUMID	47.32	CFSIZE	2097872896,2042855424
INTERNAL_PRESSURE	7.75222	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	INTR	0,8279.35,0x2341ea,1,24
XPDR_PINGS	18	SOUNDSPEED	1448.8
CP_FREE	0.000000	CURRENT	0.081,269.16,1
PM_FREEKB_00	53640576	GPS	230817,233251,7329.971,-15036.690,37,0.7,38,20.5,0.0,0.0,11,7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	450	139.23	nil	0	0	0.00
Roll_motor	78	2142	2076.07	nil	0	0	0.00
VBD_pump_during_apogee	909	1631	18418.35	nil	0	0	0.00
VBD_pump_during_surface	22	216	60.72	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	8924	14	1620.23
Iridium_during_xfer	741	191	1760.89	NCP	8975	20	2227.59
Transponder_ping	4	420	23.45	PMAR	8923	9	1099.93
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.87
TT8	0	0	0.00
LPSleep	6469	2	183.81
TT8_Active	938	13	161.26
TT8_Sampling	2432	33	1000.60
TT8_CF8	316	38	150.85
TT8_Kalman	0	0	0.00
Analog_circuits	2420	10	297.70
GPS_charging	0	0	0.00
Compass	1141	7	98.26
RAFOS	0	0	0.00
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
42	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	194	2227	489	489	0.0	0.0	0	128	0.00	0.00	-80.82	0.000	16386	0.000	0.000	193	2227	1984	1915	2054	0	0	0	0	0	0	14.32	28.83	14.33
131	-0.57	-145.9	194	2227	1917	2056	3.2	-3.5	8	195	12.50	2.75	-41.40	0.000	18724	0.451	2.142	2375	3592	3963	3947	3979	1	0	0	0	0	0	13.45	12.54	14.09
385	-0.63	-145.9	2375	3598	3954	3982	57.5	-16.6	58	390	0.00	2.40	0.00	0.000	1158	0.000	0.060	2376	2201	3967	3954	3981	0	0	0	0	0	0	14.21	14.09	14.24
695	-0.68	-145.9	2375	2200	3955	3982	104.7	-12.7	88	700	0.00	2.47	0.00	0.000	388	0.000	0.087	2366	3604	3967	3954	3981	0	0	0	0	0	0	14.55	14.19	14.57
770	-0.82	-145.9	2366	3606	3955	3982	113.2	-10.4	103	777	0.17	2.38	0.00	0.000	5254	0.109	0.057	2296	2198	3968	3955	3981	0	0	0	0	0	0	14.28	14.23	14.37
1087	-0.78	-145.9	2295	2197	3955	3982	167.2	-16.8	116	1092	0.12	2.45	0.00	0.000	2436	0.282	0.086	2319	3597	3968	3955	3981	0	0	0	0	0	0	14.04	14.23	14.19
1189	-0.89	-145.9	2319	3599	3955	3982	180.0	-11.5	136	1193	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2187	3967	3954	3981	0	0	0	0	0	0	14.29	14.17	14.33
1509	-0.93	-145.9	2319	2186	3956	3981	221.3	-12.4	150	1514	0.12	2.47	0.00	0.000	4484	0.138	0.086	2252	3600	3967	3954	3980	0	0	0	0	0	0	14.33	14.21	14.36
1584	-0.90	-145.9	2252	3602	3955	3981	233.4	-16.2	165	1589	0.15	2.35	0.00	0.000	3206	0.262	0.057	2282	2201	3968	3955	3981	0	0	0	0	0	0	14.02	14.29	14.30
1899	-0.90	-145.9	2282	2201	3955	3982	276.6	-13.0	178	1904	0.00	2.45	0.00	0.000	260	0.000	0.090	2280	3601	3967	3954	3980	0	0	0	0	0	0	14.65	14.24	14.66
1974	-0.98	-145.9	2280	3603	3955	3981	285.5	-11.7	193	1980	0.00	2.38	0.00	0.000	1158	0.000	0.059	2280	2195	3967	3955	3979	0	0	0	0	0	0	14.42	14.29	14.45
2290	-1.00	-145.9	2280	2194	3955	3980	323.0	-11.5	206	2295	0.00	2.45	0.00	0.000	388	0.000	0.088	2270	3598	3966	3954	3979	0	0	0	0	0	0	14.66	14.25	14.67
2375	-1.09	-145.9	2270	3600	3954	3979	332.1	-10.3	223	2382	0.12	2.35	0.00	0.000	5254	0.135	0.057	2222	2199	3966	3954	3978	0	0	0	0	0	0	14.27	14.26	14.39
2680	-1.01	-145.9	2223	2199	3954	3978	379.0	-15.7	234	2685	0.12	2.45	0.00	0.000	2436	0.301	0.085	2238	3598	3965	3954	3977	0	0	0	0	0	0	13.99	14.25	14.17
2805	-1.03	-145.9	2242	3600	3954	3978	395.7	-12.1	259	2811	0.00	2.38	0.00	0.000	1158	0.000	0.057	2242	2195	3965	3953	3977	0	0	0	0	0	0	14.42	14.28	14.45
3131	-1.01	-145.9	2242	2194	3953	3977	439.8	-13.5	274	3136	0.00	2.45	0.00	0.000	388	0.000	0.088	2236	3598	3964	3953	3976	0	0	0	0	0	0	14.66	14.16	14.68
3258	-1.03	-145.9	2236	3599	3953	3976	456.1	-12.6	299	3264	0.00	2.35	0.00	0.000	1158	0.000	0.056	2236	2198	3964	3953	3976	0	0	0	0	0	0	14.32	14.19	14.35
3432	end dive: TARGET_DEPTH_EXCEEDED
state	3432	begin apogee
3438	-0.13	0.0	2237	2056	3954	3976	480.2	-13.6	309	3654	1.15	0.05	212.32	1.440	10246	0.249	0.224	2528	2091	3364	3389	3339	0	0	0	0	0	0	13.95	13.43	12.71
3658	end apogee: CONTROL_FINISHED_OK
state	3658	begin climb
3662	0.57	145.9	2528	2091	3383	3333	490.9	0.0	316	3874	0.75	2.62	202.40	1.388	10756	0.066	0.077	2790	723	2765	2810	2720	0	0	0	0	0	0	13.59	13.17	12.41
4099	0.20	145.9	2790	724	2796	2718	462.9	15.6	398	4105	0.65	2.47	0.00	0.000	5254	0.316	0.075	2652	2105	2756	2796	2716	0	0	0	0	0	0	13.49	13.76	13.81
4410	0.06	156.5	2652	2108	2793	2712	432.1	9.5	410	4425	0.17	2.42	10.80	1.632	12964	0.287	0.082	2616	726	2723	2766	2681	0	0	0	0	0	0	13.83	13.82	13.17
4550	0.09	205.8	2616	727	2763	2681	420.9	7.7	438	4631	0.00	2.40	73.15	1.410	9254	0.000	0.079	2616	2105	2522	2583	2461	0	0	0	0	0	0	14.26	14.16	13.05
4951	0.11	223.0	2616	2099	2579	2451	384.7	9.2	468	4975	0.00	0.00	22.65	1.495	8230	0.000	0.000	2619	2098	2457	2519	2395	0	0	0	0	0	0	14.47	14.05	13.21
5252	0.12	237.6	2616	2099	2509	2385	356.7	9.3	478	5274	0.00	0.00	21.33	1.501	8230	0.000	0.000	2616	2098	2395	2454	2337	0	0	0	0	0	0	14.52	14.11	13.28
5552	0.15	259.2	2616	2099	2446	2328	329.3	9.0	488	5589	0.00	2.42	32.10	1.447	8868	0.000	0.085	2616	726	2309	2368	2251	0	0	0	0	0	0	14.54	13.88	13.27
5641	0.27	289.0	2616	727	2352	2252	321.5	8.6	505	5694	0.17	2.40	46.03	1.382	11430	0.106	0.077	2686	2097	2183	2235	2132	0	0	0	0	0	0	14.14	14.09	13.15
6004	0.21	289.0	2687	2097	2228	2121	272.7	13.3	528	6010	0.15	2.40	0.00	0.000	4740	0.245	0.081	2658	729	2174	2227	2121	0	0	0	0	0	0	13.97	14.06	14.14
6050	0.25	289.0	2658	729	2226	2122	267.8	10.1	537	6056	0.00	2.40	0.00	0.000	1158	0.000	0.078	2657	2106	2173	2225	2121	0	0	0	0	0	0	14.31	14.19	14.35
6366	0.26	304.6	2658	2108	2226	2119	237.0	9.3	550	6392	0.00	2.42	21.58	1.445	8740	0.000	0.083	2658	729	2119	2172	2067	0	0	0	0	0	0	14.60	13.98	13.35
6432	0.37	343.5	2659	728	2167	2067	231.5	8.2	563	6502	0.12	2.40	63.78	1.303	11430	0.135	0.078	2708	2114	1962	2009	1916	0	0	0	0	0	0	14.23	14.19	13.19
6818	0.34	343.5	2708	2110	2001	1903	187.0	11.2	590	6822	0.00	2.42	0.00	0.000	644	0.000	0.085	2709	730	1950	1999	1902	0	0	0	0	0	0	14.49	14.14	14.50
6872	0.36	343.5	2709	729	1998	1898	181.1	10.4	601	6880	0.00	2.38	0.00	0.000	1158	0.000	0.076	2709	2093	1949	1997	1902	0	0	0	0	0	0	14.32	14.19	14.34
7178	0.36	343.5	2709	2096	1998	1900	149.1	10.2	612	7178	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2095	1948	1997	1900	0	0	0	0	0	0	14.59	14.61	14.59
7478	0.37	351.6	2709	2094	1998	1899	120.1	9.6	622	7487	0.00	2.42	2.40	0.902	8740	0.000	0.086	2709	730	1932	1981	1884	0	0	0	0	0	0	14.63	14.27	12.91
7570	0.45	384.3	2709	731	1982	1888	112.2	8.5	640	7634	0.00	2.38	57.97	1.274	9382	0.000	0.078	2708	2114	1797	1830	1764	0	0	0	0	0	0	14.29	14.20	13.29
7939	0.54	432.6	2709	2107	1822	1753	81.3	7.8	682	7970	0.12	0.00	24.80	0.456	10406	0.132	0.000	2766	2108	1600	1632	1569	0	0	0	0	0	0	14.21	13.98	13.70
8269	0.58	500.0	2766	2109	1632	1563	51.9	6.9	715	8310	0.00	2.42	34.75	0.363	8740	0.000	0.084	2768	726	1322	1374	1271	0	0	0	0	0	0	14.54	14.07	13.81
8402	0.78	588.1	2768	726	1374	1270	43.3	5.9	740	8456	0.20	2.40	45.47	0.335	11430	0.108	0.080	2848	2096	964	1036	893	0	0	0	0	0	0	14.21	14.16	13.80
8761	0.88	661.5	2849	2095	1037	885	8.3	6.6	781	8802	0.00	0.00	38.03	0.235	8358	0.000	0.000	2848	2092	667	726	608	0	0	0	0	0	0	14.54	14.18	13.92
8868	end climb: SURFACE_DEPTH_REACHED
state	8868	begin surface coast
8899	end surface coast: CONTROL_FINISHED_OK
state	8899	begin surface