Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 153 * 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 153 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 429.0

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 58 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 39 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 429.0 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 58 VBD_MIN 500

DIVE 153 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 240817,134411,7335.4844,-15053.1621,29,0.7,31,20.4,0.5,331.9,12,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 297.3,121192,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 240817,135603,7335.4863,-15053.4570,6,0.8,33,20.4,0.5,336.9,10,8.5

Post-dive calculations and measurements:

FINISH 0.3,1.010371 _24V_AH 12.40,115.962

SM_CCo 9059,35.80,0.203,0,0,498,703.03 _10V_AH 12.26,0.000

SM_GC 1.50,8.02,0.20,35.80,0.073,0.136,0.203,205,2208,498,-7.37,-0.42,703.03,0,0,0,0,0,0,14.19,14.14,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 85 FG_AHR_10Vo 0.000

RAFOS_FIX 7332.196777,-15037.294922,240817,040412,3,255,0.40 MEM 323356

IRIDIUM_FIX 7337.62,-15055.98,240817,110859 DATA_FILE_SIZE 26712,727

TT8_MAMPS 0.084637,0.923517 CAP_FILE_SIZE 102646,0

HUMID 44.05 CFSIZE 2097872896,2040954880

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

TCM_TEMP 13.10 SOUNDSPEED 1447.6

XPDR_PINGS 20 CURRENT 0.044,289.66,1

CP_FREE 0.000000 GPS 240817,162934,7336.680,-15056.375,36,0.9,37,20.4,0.5,303.9,10,9.7

PM_FREEKB_00 53449792

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 140.63 nil 0 0 0.00

Roll_motor 88 2152 2368.39 nil 0 0 0.00

VBD_pump_during_apogee 913 1559 17666.01 nil 0 0 0.00

VBD_pump_during_surface 35 202 89.99 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 9024 14 1618.37

Iridium_during_xfer 410 178 907.25 NCP 9057 20 2246.14

Transponder_ping 5 420 26.04 PMAR 9014 9 1107.01

GUMSTIX_24V 0 0 0.00

GPS 34 22 9.47

TT8 0 0 0.00

LPSleep 6473 2 183.34

TT8_Active 846 13 144.95

TT8_Sampling 2208 33 905.39

TT8_CF8 291 38 138.32

TT8_Kalman 0 0 0.00

Analog_circuits 2100 10 257.48

GPS_charging 0 0 0.00

Compass 1043 7 89.54

RAFOS 2203 48 1296.42

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 -145.9 187 2229 493 490 0.0 0.0 0 140 0.00 0.00 -91.90 0.000 16386 0.000 0.000 182 2229 2231 2171 2292 0 0 0 0 0 0 14.47 28.83 14.49

143 -0.57 -145.9 185 2229 2176 2294 4.8 -7.8 9 196 12.60 2.72 -30.92 0.000 18724 0.454 2.153 2375 3592 3964 3945 3984 0 0 0 0 0 0 13.69 12.60 14.16

396 -0.67 -145.9 2376 3588 3952 3984 59.9 -14.5 59 401 0.00 2.33 0.00 0.000 1158 0.000 0.060 2376 2230 3966 3949 3984 0 0 0 0 0 0 14.23 14.12 14.27

707 -0.73 -145.9 2376 2230 3952 3984 104.7 -12.3 89 708 0.00 0.00 0.00 0.000 134 0.000 0.000 2375 2228 3967 3951 3984 0 0 0 0 0 0 14.57 14.59 14.59

1007 -0.83 -145.9 2376 2228 3954 3984 136.4 -9.9 99 1008 0.20 0.00 0.00 0.000 4262 0.115 0.000 2300 2228 3968 3952 3984 0 0 0 0 0 0 14.19 14.28 14.24

1306 -0.83 -145.9 2301 2228 3953 3984 182.7 -15.2 109 1311 0.00 2.42 0.00 0.000 260 0.000 0.089 2289 3589 3968 3952 3984 0 0 0 0 0 0 14.64 13.74 14.66

1433 -0.90 -145.9 2295 3591 3961 3984 199.7 -12.7 134 1438 0.00 2.35 0.00 0.000 1158 0.000 0.057 2293 2193 3968 3952 3984 0 0 0 0 0 0 14.41 14.29 14.43

1758 -0.90 -145.9 2293 2193 3953 3985 245.2 -13.5 149 1763 0.00 2.45 0.00 0.000 260 0.000 0.086 2289 3588 3966 3952 3980 0 0 0 0 0 0 14.65 14.21 14.66

1858 -0.98 -145.9 2282 3590 3953 3985 257.3 -11.6 169 1863 0.00 2.33 0.00 0.000 1158 0.000 0.056 2282 2198 3967 3951 3984 0 0 0 0 0 0 14.42 14.31 14.47

2179 -1.01 -145.9 2283 2196 3953 3985 296.1 -11.6 183 2183 0.00 2.45 0.00 0.000 388 0.000 0.088 2279 3592 3967 3951 3984 0 0 0 0 0 0 14.65 14.23 14.67

2249 -1.11 -145.9 2280 3595 3953 3990 303.7 -10.1 197 2254 0.20 2.35 0.00 0.000 5254 0.107 0.057 2208 2190 3968 3952 3984 0 0 0 0 0 0 14.33 14.31 14.42

2569 -1.00 -145.9 2208 2190 3952 3984 358.9 -17.5 211 2574 0.17 2.45 0.00 0.000 2436 0.301 0.084 2238 3593 3967 3952 3982 0 0 0 0 0 0 13.91 14.24 14.11

2714 -1.02 -145.9 2239 3593 3952 3983 378.7 -12.9 240 2721 0.00 2.35 0.00 0.000 1158 0.000 0.057 2238 2194 3967 3951 3983 0 0 0 0 0 0 14.23 14.12 14.27

3019 -0.99 -145.9 2238 2194 3952 3983 420.9 -13.8 251 3024 0.00 2.45 0.00 0.000 388 0.000 0.089 2235 3592 3967 3951 3983 0 0 0 0 0 0 14.66 14.23 14.69

3110 -1.01 -145.9 2236 3593 3956 3984 432.9 -12.8 269 3114 0.00 2.35 0.00 0.000 1158 0.000 0.056 2237 2199 3966 3951 3982 0 0 0 0 0 0 14.38 14.28 14.41

3440 -0.99 -145.9 2236 2199 3952 3983 478.0 -13.6 285 3445 0.00 2.45 0.00 0.000 388 0.000 0.090 2235 3595 3966 3951 3982 0 0 0 0 0 0 14.67 14.22 14.68

3452 end dive: TARGET_DEPTH_EXCEEDED

state 3453 begin apogee

3460 -0.13 0.0 2236 2103 3952 3983 480.1 -13.4 288 3682 1.17 0.00 217.80 1.434 10246 0.250 0.000 2532 2101 3362 3383 3342 0 0 0 0 0 0 13.97 13.46 12.69

3686 end apogee: CONTROL_FINISHED_OK

state 3686 begin climb

3688 0.57 145.9 2532 2102 3378 3336 491.4 0.0 295 3911 0.73 2.10 207.45 1.373 10756 0.065 0.080 2781 686 2760 2802 2718 0 0 0 0 0 0 13.57 12.98 12.40

3981 0.21 145.9 2780 686 2799 2717 487.3 15.0 311 3987 0.62 2.58 0.00 0.000 5254 0.322 0.076 2654 2084 2756 2797 2715 0 0 0 0 0 0 13.16 13.43 13.50

4292 0.06 150.1 2655 2084 2797 2709 455.8 9.8 323 4297 0.20 2.47 0.00 0.000 4772 0.287 0.078 2615 687 2752 2797 2708 0 0 0 0 0 0 13.71 13.95 13.89

4389 0.07 202.6 2621 686 2795 2708 448.3 7.6 342 4474 0.00 2.50 79.25 1.390 9382 0.000 0.080 2616 2100 2540 2598 2482 0 0 0 0 0 0 14.16 14.03 12.97

4773 0.08 214.3 2616 2101 2590 2466 413.2 9.5 369 4788 0.00 0.00 14.62 1.553 8230 0.000 0.000 2615 2100 2491 2552 2430 0 0 0 0 0 0 14.42 14.02 13.18

5073 0.09 228.7 2616 2100 2545 2419 384.7 9.3 379 5098 0.00 2.47 19.80 1.535 8740 0.000 0.084 2616 688 2429 2489 2370 0 0 0 0 0 0 14.54 14.09 13.27

5148 0.17 253.4 2616 689 2484 2371 377.9 8.9 394 5194 0.00 2.47 37.92 1.431 9382 0.000 0.080 2616 2106 2328 2382 2274 0 0 0 0 0 0 14.26 14.14 13.16

5495 0.22 269.7 2616 2107 2377 2266 345.9 9.2 413 5524 0.12 0.00 22.42 1.477 10406 0.129 0.000 2677 2106 2263 2315 2212 0 0 0 0 0 0 14.28 14.09 13.26

5823 0.15 269.7 2676 2106 2311 2205 303.4 12.9 424 5829 0.17 2.47 0.00 0.000 4740 0.259 0.081 2640 685 2258 2312 2205 0 0 0 0 0 0 14.03 14.10 14.18

5904 0.22 286.6 2642 685 2311 2205 295.3 9.2 440 5935 0.00 2.45 25.58 1.444 9382 0.000 0.080 2641 2100 2197 2248 2146 0 0 0 0 0 0 14.38 14.25 13.31

6247 0.25 295.8 2648 2101 2247 2136 262.4 9.6 458 6266 0.00 2.50 11.68 1.559 8868 0.000 0.086 2646 694 2159 2207 2111 0 0 0 0 0 0 14.56 14.20 13.33

6286 0.33 327.3 2646 695 2206 2108 258.6 8.5 466 6343 0.12 2.45 52.30 1.349 11430 0.131 0.080 2697 2101 2031 2077 1986 0 0 0 0 0 0 14.26 14.20 13.21

6668 0.29 327.3 2698 2101 2068 1970 212.9 11.7 492 6674 0.00 2.47 0.00 0.000 644 0.000 0.084 2699 687 2018 2067 1970 0 0 0 0 0 0 14.51 14.16 14.53

6734 0.32 327.3 2699 688 2066 1969 205.8 10.5 505 6739 0.00 2.45 0.00 0.000 1158 0.000 0.079 2699 2099 2017 2065 1970 0 0 0 0 0 0 14.35 14.23 14.38

7059 0.32 327.3 2699 2100 2066 1970 171.6 10.2 520 7065 0.00 2.47 0.00 0.000 516 0.000 0.086 2699 688 2017 2065 1969 0 0 0 0 0 0 14.61 14.22 14.63

7120 0.36 341.5 2697 695 2066 1970 165.8 9.3 532 7146 0.00 2.45 19.85 1.435 9382 0.000 0.078 2699 2103 1970 2017 1923 0 0 0 0 0 0 14.38 14.26 13.38

7451 0.38 358.0 2699 2104 2015 1916 134.6 9.2 548 7483 0.00 2.58 26.62 1.379 8740 0.000 0.085 2699 687 1903 1944 1863 0 0 0 0 0 0 14.47 14.06 13.35

7509 0.46 386.4 2699 687 1938 1864 129.7 8.7 559 7560 0.00 2.47 45.97 1.285 9382 0.000 0.078 2699 2099 1789 1819 1760 0 0 0 0 0 0 14.15 14.06 13.18

7877 0.56 431.9 2699 2100 1814 1746 99.0 7.9 582 7909 0.20 2.55 23.35 0.512 10916 0.102 0.087 2781 697 1604 1634 1574 0 0 0 0 0 0 14.14 13.96 13.57

7919 0.47 431.9 2782 696 1635 1574 93.7 12.7 590 7925 0.20 2.50 0.00 0.000 5254 0.260 0.079 2739 2101 1603 1633 1574 0 0 0 0 0 0 13.80 13.95 14.06

8230 0.56 486.0 2740 2104 1635 1566 65.2 7.5 622 8262 0.00 2.58 28.12 0.402 8868 0.000 0.086 2742 697 1383 1429 1338 0 0 0 0 0 0 14.39 13.95 13.69

8307 0.75 554.8 2743 698 1429 1335 59.5 6.8 637 8350 0.25 2.50 35.88 0.382 11430 0.095 0.079 2837 2110 1102 1169 1036 0 0 0 0 0 0 14.10 14.01 13.64

8655 0.75 554.8 2837 2111 1170 1026 21.0 10.5 676 8661 0.00 2.53 0.00 0.000 516 0.000 0.088 2838 686 1097 1169 1025 0 0 0 0 0 0 14.39 14.01 14.40

8778 0.90 641.7 2838 690 1165 1026 12.2 6.0 700 8830 0.00 2.47 45.17 0.246 9382 0.000 0.079 2838 2100 746 808 684 0 0 0 0 0 0 14.16 14.04 13.76

8965 end climb: SURFACE_DEPTH_REACHED

state 8965 begin surface coast

8994 end surface coast: CONTROL_FINISHED_OK

state 8994 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	153	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	429.0
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	58	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,134411,7335.4844,-15053.1621,29,0.7,31,20.4,0.5,331.9,12,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	297.3,121192,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	240817,135603,7335.4863,-15053.4570,6,0.8,33,20.4,0.5,336.9,10,8.5

FINISH	0.3,1.010371	_24V_AH	12.40,115.962
SM_CCo	9059,35.80,0.203,0,0,498,703.03	_10V_AH	12.26,0.000
SM_GC	1.50,8.02,0.20,35.80,0.073,0.136,0.203,205,2208,498,-7.37,-0.42,703.03,0,0,0,0,0,0,14.19,14.14,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	85	FG_AHR_10Vo	0.000
RAFOS_FIX	7332.196777,-15037.294922,240817,040412,3,255,0.40	MEM	323356
IRIDIUM_FIX	7337.62,-15055.98,240817,110859	DATA_FILE_SIZE	26712,727
TT8_MAMPS	0.084637,0.923517	CAP_FILE_SIZE	102646,0
HUMID	44.05	CFSIZE	2097872896,2040954880
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.6
XPDR_PINGS	20	CURRENT	0.044,289.66,1
CP_FREE	0.000000	GPS	240817,162934,7336.680,-15056.375,36,0.9,37,20.4,0.5,303.9,10,9.7
PM_FREEKB_00	53449792

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	140.63	nil	0	0	0.00
Roll_motor	88	2152	2368.39	nil	0	0	0.00
VBD_pump_during_apogee	913	1559	17666.01	nil	0	0	0.00
VBD_pump_during_surface	35	202	89.99	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	9024	14	1618.37
Iridium_during_xfer	410	178	907.25	NCP	9057	20	2246.14
Transponder_ping	5	420	26.04	PMAR	9014	9	1107.01
GUMSTIX_24V	0	0	0.00
GPS	34	22	9.47
TT8	0	0	0.00
LPSleep	6473	2	183.34
TT8_Active	846	13	144.95
TT8_Sampling	2208	33	905.39
TT8_CF8	291	38	138.32
TT8_Kalman	0	0	0.00
Analog_circuits	2100	10	257.48
GPS_charging	0	0	0.00
Compass	1043	7	89.54
RAFOS	2203	48	1296.42
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	187	2229	493	490	0.0	0.0	0	140	0.00	0.00	-91.90	0.000	16386	0.000	0.000	182	2229	2231	2171	2292	0	0	0	0	0	0	14.47	28.83	14.49
143	-0.57	-145.9	185	2229	2176	2294	4.8	-7.8	9	196	12.60	2.72	-30.92	0.000	18724	0.454	2.153	2375	3592	3964	3945	3984	0	0	0	0	0	0	13.69	12.60	14.16
396	-0.67	-145.9	2376	3588	3952	3984	59.9	-14.5	59	401	0.00	2.33	0.00	0.000	1158	0.000	0.060	2376	2230	3966	3949	3984	0	0	0	0	0	0	14.23	14.12	14.27
707	-0.73	-145.9	2376	2230	3952	3984	104.7	-12.3	89	708	0.00	0.00	0.00	0.000	134	0.000	0.000	2375	2228	3967	3951	3984	0	0	0	0	0	0	14.57	14.59	14.59
1007	-0.83	-145.9	2376	2228	3954	3984	136.4	-9.9	99	1008	0.20	0.00	0.00	0.000	4262	0.115	0.000	2300	2228	3968	3952	3984	0	0	0	0	0	0	14.19	14.28	14.24
1306	-0.83	-145.9	2301	2228	3953	3984	182.7	-15.2	109	1311	0.00	2.42	0.00	0.000	260	0.000	0.089	2289	3589	3968	3952	3984	0	0	0	0	0	0	14.64	13.74	14.66
1433	-0.90	-145.9	2295	3591	3961	3984	199.7	-12.7	134	1438	0.00	2.35	0.00	0.000	1158	0.000	0.057	2293	2193	3968	3952	3984	0	0	0	0	0	0	14.41	14.29	14.43
1758	-0.90	-145.9	2293	2193	3953	3985	245.2	-13.5	149	1763	0.00	2.45	0.00	0.000	260	0.000	0.086	2289	3588	3966	3952	3980	0	0	0	0	0	0	14.65	14.21	14.66
1858	-0.98	-145.9	2282	3590	3953	3985	257.3	-11.6	169	1863	0.00	2.33	0.00	0.000	1158	0.000	0.056	2282	2198	3967	3951	3984	0	0	0	0	0	0	14.42	14.31	14.47
2179	-1.01	-145.9	2283	2196	3953	3985	296.1	-11.6	183	2183	0.00	2.45	0.00	0.000	388	0.000	0.088	2279	3592	3967	3951	3984	0	0	0	0	0	0	14.65	14.23	14.67
2249	-1.11	-145.9	2280	3595	3953	3990	303.7	-10.1	197	2254	0.20	2.35	0.00	0.000	5254	0.107	0.057	2208	2190	3968	3952	3984	0	0	0	0	0	0	14.33	14.31	14.42
2569	-1.00	-145.9	2208	2190	3952	3984	358.9	-17.5	211	2574	0.17	2.45	0.00	0.000	2436	0.301	0.084	2238	3593	3967	3952	3982	0	0	0	0	0	0	13.91	14.24	14.11
2714	-1.02	-145.9	2239	3593	3952	3983	378.7	-12.9	240	2721	0.00	2.35	0.00	0.000	1158	0.000	0.057	2238	2194	3967	3951	3983	0	0	0	0	0	0	14.23	14.12	14.27
3019	-0.99	-145.9	2238	2194	3952	3983	420.9	-13.8	251	3024	0.00	2.45	0.00	0.000	388	0.000	0.089	2235	3592	3967	3951	3983	0	0	0	0	0	0	14.66	14.23	14.69
3110	-1.01	-145.9	2236	3593	3956	3984	432.9	-12.8	269	3114	0.00	2.35	0.00	0.000	1158	0.000	0.056	2237	2199	3966	3951	3982	0	0	0	0	0	0	14.38	14.28	14.41
3440	-0.99	-145.9	2236	2199	3952	3983	478.0	-13.6	285	3445	0.00	2.45	0.00	0.000	388	0.000	0.090	2235	3595	3966	3951	3982	0	0	0	0	0	0	14.67	14.22	14.68
3452	end dive: TARGET_DEPTH_EXCEEDED
state	3453	begin apogee
3460	-0.13	0.0	2236	2103	3952	3983	480.1	-13.4	288	3682	1.17	0.00	217.80	1.434	10246	0.250	0.000	2532	2101	3362	3383	3342	0	0	0	0	0	0	13.97	13.46	12.69
3686	end apogee: CONTROL_FINISHED_OK
state	3686	begin climb
3688	0.57	145.9	2532	2102	3378	3336	491.4	0.0	295	3911	0.73	2.10	207.45	1.373	10756	0.065	0.080	2781	686	2760	2802	2718	0	0	0	0	0	0	13.57	12.98	12.40
3981	0.21	145.9	2780	686	2799	2717	487.3	15.0	311	3987	0.62	2.58	0.00	0.000	5254	0.322	0.076	2654	2084	2756	2797	2715	0	0	0	0	0	0	13.16	13.43	13.50
4292	0.06	150.1	2655	2084	2797	2709	455.8	9.8	323	4297	0.20	2.47	0.00	0.000	4772	0.287	0.078	2615	687	2752	2797	2708	0	0	0	0	0	0	13.71	13.95	13.89
4389	0.07	202.6	2621	686	2795	2708	448.3	7.6	342	4474	0.00	2.50	79.25	1.390	9382	0.000	0.080	2616	2100	2540	2598	2482	0	0	0	0	0	0	14.16	14.03	12.97
4773	0.08	214.3	2616	2101	2590	2466	413.2	9.5	369	4788	0.00	0.00	14.62	1.553	8230	0.000	0.000	2615	2100	2491	2552	2430	0	0	0	0	0	0	14.42	14.02	13.18
5073	0.09	228.7	2616	2100	2545	2419	384.7	9.3	379	5098	0.00	2.47	19.80	1.535	8740	0.000	0.084	2616	688	2429	2489	2370	0	0	0	0	0	0	14.54	14.09	13.27
5148	0.17	253.4	2616	689	2484	2371	377.9	8.9	394	5194	0.00	2.47	37.92	1.431	9382	0.000	0.080	2616	2106	2328	2382	2274	0	0	0	0	0	0	14.26	14.14	13.16
5495	0.22	269.7	2616	2107	2377	2266	345.9	9.2	413	5524	0.12	0.00	22.42	1.477	10406	0.129	0.000	2677	2106	2263	2315	2212	0	0	0	0	0	0	14.28	14.09	13.26
5823	0.15	269.7	2676	2106	2311	2205	303.4	12.9	424	5829	0.17	2.47	0.00	0.000	4740	0.259	0.081	2640	685	2258	2312	2205	0	0	0	0	0	0	14.03	14.10	14.18
5904	0.22	286.6	2642	685	2311	2205	295.3	9.2	440	5935	0.00	2.45	25.58	1.444	9382	0.000	0.080	2641	2100	2197	2248	2146	0	0	0	0	0	0	14.38	14.25	13.31
6247	0.25	295.8	2648	2101	2247	2136	262.4	9.6	458	6266	0.00	2.50	11.68	1.559	8868	0.000	0.086	2646	694	2159	2207	2111	0	0	0	0	0	0	14.56	14.20	13.33
6286	0.33	327.3	2646	695	2206	2108	258.6	8.5	466	6343	0.12	2.45	52.30	1.349	11430	0.131	0.080	2697	2101	2031	2077	1986	0	0	0	0	0	0	14.26	14.20	13.21
6668	0.29	327.3	2698	2101	2068	1970	212.9	11.7	492	6674	0.00	2.47	0.00	0.000	644	0.000	0.084	2699	687	2018	2067	1970	0	0	0	0	0	0	14.51	14.16	14.53
6734	0.32	327.3	2699	688	2066	1969	205.8	10.5	505	6739	0.00	2.45	0.00	0.000	1158	0.000	0.079	2699	2099	2017	2065	1970	0	0	0	0	0	0	14.35	14.23	14.38
7059	0.32	327.3	2699	2100	2066	1970	171.6	10.2	520	7065	0.00	2.47	0.00	0.000	516	0.000	0.086	2699	688	2017	2065	1969	0	0	0	0	0	0	14.61	14.22	14.63
7120	0.36	341.5	2697	695	2066	1970	165.8	9.3	532	7146	0.00	2.45	19.85	1.435	9382	0.000	0.078	2699	2103	1970	2017	1923	0	0	0	0	0	0	14.38	14.26	13.38
7451	0.38	358.0	2699	2104	2015	1916	134.6	9.2	548	7483	0.00	2.58	26.62	1.379	8740	0.000	0.085	2699	687	1903	1944	1863	0	0	0	0	0	0	14.47	14.06	13.35
7509	0.46	386.4	2699	687	1938	1864	129.7	8.7	559	7560	0.00	2.47	45.97	1.285	9382	0.000	0.078	2699	2099	1789	1819	1760	0	0	0	0	0	0	14.15	14.06	13.18
7877	0.56	431.9	2699	2100	1814	1746	99.0	7.9	582	7909	0.20	2.55	23.35	0.512	10916	0.102	0.087	2781	697	1604	1634	1574	0	0	0	0	0	0	14.14	13.96	13.57
7919	0.47	431.9	2782	696	1635	1574	93.7	12.7	590	7925	0.20	2.50	0.00	0.000	5254	0.260	0.079	2739	2101	1603	1633	1574	0	0	0	0	0	0	13.80	13.95	14.06
8230	0.56	486.0	2740	2104	1635	1566	65.2	7.5	622	8262	0.00	2.58	28.12	0.402	8868	0.000	0.086	2742	697	1383	1429	1338	0	0	0	0	0	0	14.39	13.95	13.69
8307	0.75	554.8	2743	698	1429	1335	59.5	6.8	637	8350	0.25	2.50	35.88	0.382	11430	0.095	0.079	2837	2110	1102	1169	1036	0	0	0	0	0	0	14.10	14.01	13.64
8655	0.75	554.8	2837	2111	1170	1026	21.0	10.5	676	8661	0.00	2.53	0.00	0.000	516	0.000	0.088	2838	686	1097	1169	1025	0	0	0	0	0	0	14.39	14.01	14.40
8778	0.90	641.7	2838	690	1165	1026	12.2	6.0	700	8830	0.00	2.47	45.17	0.246	9382	0.000	0.079	2838	2100	746	808	684	0	0	0	0	0	0	14.16	14.04	13.76
8965	end climb: SURFACE_DEPTH_REACHED
state	8965	begin surface coast
8994	end surface coast: CONTROL_FINISHED_OK
state	8994	begin surface