Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 163 * 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 163 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 459.0

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 33 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 459.0 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 163 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 250817,173955,7345.8271,-15125.3359,23,0.7,36,20.2,0.0,314.9,10,6.8 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 1.22 MHEAD_RNG_PITCHd_Wd 291.6,96646,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 250817,180545,7345.7861,-15125.5566,6,0.8,17,20.2,0.0,186.4,11,9.4

Post-dive calculations and measurements:

FINISH 0.1,1.020803 _24V_AH 12.39,120.865

SM_CCo 8779,18.33,0.214,0,0,499,702.78 _10V_AH 12.28,0.000

SM_GC 1.12,8.20,0.17,18.33,0.073,0.119,0.214,204,2213,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.16,14.17,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 97 FG_AHR_10Vo 0.000

RAFOS_FIX 7344.783691,-15124.022461,250817,161643,2,255,0.26 MEM 323612

IRIDIUM_FIX 7346.00,-15132.58,250817,175050 DATA_FILE_SIZE 26760,781

TT8_MAMPS 0.084637,0.901047 CAP_FILE_SIZE 111563,0

HUMID 43.22 CFSIZE 2097872896,2037776384

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

TCM_TEMP 13.10 SOUNDSPEED 1448.9

XPDR_PINGS 32 CURRENT 0.026,238.11,1

CP_FREE 15991898112.000000 GPS 250817,203421,7346.660,-15128.642,38,0.7,39,20.2,0.0,0.0,11,8.0

PM_FREEKB_00 53165504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.48 nil 0 0 0.00

Roll_motor 99 2151 2645.99 nil 0 0 0.00

VBD_pump_during_apogee 998 1473 18223.81 nil 0 0 0.00

VBD_pump_during_surface 18 214 48.63 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 8787 14 1552.93

Iridium_during_xfer 1013 178 2237.72 NCP 8786 20 2177.17

Transponder_ping 8 420 41.63 PMAR 8734 9 1070.02

GUMSTIX_24V 0 0 0.00

GPS 20 22 5.57

TT8 0 0 0.00

LPSleep 6363 2 180.51

TT8_Active 1020 13 175.11

TT8_Sampling 2656 33 1091.05

TT8_CF8 321 38 152.98

TT8_Kalman 0 0 0.00

Analog_circuits 2787 10 342.27

GPS_charging 0 0 0.00

Compass 1120 7 96.30

RAFOS 2205 48 1299.72

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 -145.9 171 2219 498 486 0.0 0.0 0 140 0.00 0.00 -91.28 0.000 16386 0.000 0.000 170 2217 2188 2121 2255 0 0 0 0 0 0 14.45 28.83 14.47

143 -0.57 -145.9 174 2217 2118 2260 4.3 -6.2 9 196 12.65 2.75 -33.03 0.000 18724 0.454 2.151 2376 3595 3965 3950 3981 1 0 0 0 0 0 13.56 12.57 14.14

327 -0.64 -145.9 2377 3596 3955 3981 47.7 -16.5 45 331 0.00 2.40 0.00 0.000 1158 0.000 0.061 2376 2198 3967 3953 3981 0 0 0 0 0 0 14.21 14.09 14.25

639 -0.70 -145.9 2377 2198 3955 3982 99.3 -13.2 77 643 0.00 2.45 0.00 0.000 388 0.000 0.086 2367 3598 3968 3955 3981 0 0 0 0 0 0 14.54 14.13 14.55

688 -0.87 -145.9 2366 3600 3956 3981 105.4 -10.6 87 694 0.20 2.38 0.00 0.000 5254 0.103 0.057 2282 2189 3968 3955 3981 0 0 0 0 0 0 14.29 14.23 14.38

999 -0.80 -145.9 2282 2189 3955 3982 162.8 -18.0 99 1004 0.12 2.47 0.00 0.000 2436 0.287 0.083 2306 3603 3968 3955 3981 0 0 0 0 0 0 14.02 14.22 14.17

1091 -0.90 -145.9 2305 3604 3955 3982 175.0 -11.7 117 1096 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2196 3967 3954 3981 0 0 0 0 0 0 14.40 14.28 14.42

1421 -0.93 -145.9 2306 2194 3956 3981 219.1 -12.9 133 1426 0.00 2.47 0.00 0.000 388 0.000 0.088 2297 3600 3968 3955 3981 0 0 0 0 0 0 14.64 14.21 14.65

1467 -1.04 -145.9 2298 3600 3956 3981 224.6 -11.7 142 1472 0.17 2.38 0.00 0.000 5254 0.109 0.058 2230 2194 3967 3954 3981 0 0 0 0 0 0 14.33 14.28 14.42

1782 -0.95 -145.9 2230 2193 3955 3982 280.0 -17.1 155 1787 0.15 2.45 0.00 0.000 2436 0.297 0.083 2256 3599 3968 3955 3981 0 0 0 0 0 0 13.95 14.24 14.14

1862 -0.99 -145.9 2256 3601 3955 3982 291.1 -12.8 171 1867 0.00 2.35 0.00 0.000 1158 0.000 0.057 2256 2199 3967 3954 3981 0 0 0 0 0 0 14.42 14.30 14.45

2172 -0.99 -145.9 2256 2199 3956 3981 332.6 -13.1 183 2178 0.00 2.47 0.00 0.000 260 0.000 0.089 2249 3608 3968 3955 3981 0 0 0 0 0 0 14.68 14.24 14.69

2263 -1.03 -145.9 2249 3609 3956 3980 344.0 -12.1 201 2268 0.00 2.38 0.00 0.000 1158 0.000 0.057 2249 2199 3967 3954 3981 0 0 0 0 0 0 14.42 14.30 14.45

2593 -1.03 -145.9 2249 2199 3954 3981 387.5 -13.0 217 2598 0.00 2.45 0.00 0.000 260 0.000 0.088 2240 3601 3967 3955 3980 0 0 0 0 0 0 14.68 14.24 14.69

2683 -1.07 -145.9 2240 3603 3954 3980 399.1 -12.3 235 2688 0.00 2.35 0.00 0.000 1158 0.000 0.057 2240 2201 3967 3954 3980 0 0 0 0 0 0 14.42 14.30 14.45

3013 -1.07 -145.9 2239 2200 3954 3981 443.3 -13.3 251 3017 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3601 3966 3953 3980 0 0 0 0 0 0 14.68 14.23 14.69

3093 -1.11 -145.9 2241 3602 3949 3981 453.7 -12.4 267 3098 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2192 3966 3953 3980 0 0 0 0 0 0 14.41 14.29 14.45

3310 end dive: TARGET_DEPTH_EXCEEDED

state 3310 begin apogee

3316 -0.13 0.0 2237 2065 3954 3980 483.2 -13.4 276 3553 1.15 0.00 229.02 1.391 10246 0.244 0.000 2530 2064 3359 3378 3341 0 0 0 0 0 0 13.94 13.47 12.69

3557 end apogee: CONTROL_FINISHED_OK

state 3557 begin climb

3559 0.57 145.9 2530 2065 3374 3334 495.5 0.0 284 3779 0.73 2.70 208.23 1.350 10500 0.066 0.073 2776 3500 2761 2803 2720 0 0 0 0 0 0 13.58 12.97 12.39

4004 0.13 145.9 2777 3500 2779 2715 463.9 17.1 367 4011 0.77 2.40 0.00 0.000 5254 0.353 0.056 2629 2135 2744 2778 2711 0 0 0 0 0 0 13.41 13.72 13.78

4309 0.04 177.7 2631 2128 2780 2712 436.3 8.5 378 4359 0.12 2.45 44.78 1.404 12708 0.298 0.081 2600 3504 2632 2676 2589 0 0 0 0 0 0 13.86 13.73 13.11

4525 0.02 196.6 2600 3505 2663 2586 417.4 9.1 421 4552 0.00 2.42 23.52 1.473 9382 0.000 0.060 2602 2092 2564 2612 2517 0 0 0 0 0 0 14.14 14.04 13.19

4850 0.05 233.5 2603 2092 2602 2496 390.4 8.3 436 4911 0.00 2.55 55.83 1.397 8740 0.000 0.086 2603 692 2407 2457 2357 0 0 0 0 0 0 14.52 13.95 13.18

4968 0.17 266.8 2602 692 2448 2352 380.6 8.5 459 5027 0.10 2.47 51.90 1.353 11430 0.154 0.080 2651 2093 2275 2322 2228 0 0 0 0 0 0 14.02 14.00 13.07

5333 0.13 266.8 2652 2090 2312 2209 338.0 11.7 482 5337 0.00 2.45 0.00 0.000 644 0.000 0.085 2659 693 2259 2311 2208 0 0 0 0 0 0 14.47 14.14 14.49

5347 0.10 266.8 2659 694 2311 2210 336.3 11.7 485 5354 0.17 2.47 0.00 0.000 5254 0.248 0.079 2620 2101 2259 2310 2208 0 0 0 0 0 0 14.00 14.16 14.23

5664 0.15 286.8 2620 2103 2310 2207 306.5 9.1 498 5700 0.00 2.53 28.35 1.410 8868 0.000 0.084 2624 695 2188 2237 2140 0 0 0 0 0 0 14.60 14.13 13.32

5715 0.25 322.8 2621 690 2231 2138 302.1 8.3 503 5781 0.12 2.47 60.38 1.297 11430 0.131 0.079 2678 2101 2049 2095 2003 0 0 0 0 0 0 14.19 14.14 13.15

6086 0.25 322.8 2678 2102 2080 1982 256.9 11.8 527 6091 0.00 2.50 0.00 0.000 516 0.000 0.086 2685 688 2030 2080 1981 0 0 0 0 0 0 14.50 14.13 14.54

6131 0.25 322.8 2685 688 2077 1982 251.6 11.6 536 6136 0.00 2.47 0.00 0.000 1030 0.000 0.080 2685 2105 2028 2076 1980 0 0 0 0 0 0 14.28 14.19 14.32

6446 0.23 322.8 2685 2106 2078 1978 215.6 10.9 549 6452 0.00 2.47 0.00 0.000 644 0.000 0.085 2685 691 2027 2076 1978 0 0 0 0 0 0 14.59 14.20 14.62

6517 0.29 333.3 2685 691 2076 1979 208.5 9.5 563 6527 0.00 2.45 3.72 1.390 9382 0.000 0.080 2685 2101 2007 2056 1959 0 0 0 0 0 0 14.40 14.26 12.91

6839 0.30 344.6 2685 2103 2066 1967 177.4 9.5 577 6873 0.00 2.53 27.20 1.389 8740 0.000 0.085 2685 699 1957 2005 1910 0 0 0 0 0 0 14.52 14.10 13.35

6955 0.40 379.1 2686 695 1993 1906 167.2 8.4 600 7025 0.00 2.47 61.62 1.271 9382 0.000 0.080 2685 2100 1816 1845 1787 0 0 0 0 0 0 14.14 14.02 13.17

7350 0.48 413.0 2685 2101 1833 1772 132.8 8.4 629 7412 0.15 2.60 57.38 1.245 10916 0.122 0.087 2756 691 1680 1707 1654 0 0 0 0 0 0 14.15 13.90 13.19

7427 0.43 413.0 2757 692 1699 1651 123.4 12.7 634 7433 0.15 2.50 0.00 0.000 5254 0.249 0.078 2724 2124 1673 1698 1649 0 0 0 0 0 0 13.79 13.91 14.01

7735 0.48 437.2 2725 2124 1699 1638 93.2 8.9 650 7754 0.00 2.55 12.10 0.461 8868 0.000 0.086 2726 691 1582 1615 1550 0 0 0 0 0 0 14.38 13.99 13.55

7784 0.59 468.7 2727 691 1622 1554 88.8 8.5 659 7807 0.15 2.47 18.20 0.463 11430 0.116 0.078 2788 2099 1455 1490 1421 0 0 0 0 0 0 14.06 13.97 13.63

8104 0.63 521.3 2788 2100 1499 1424 54.4 7.6 693 8140 0.00 2.53 30.27 0.360 8740 0.000 0.085 2794 684 1237 1291 1184 0 0 0 0 0 0 14.39 13.93 13.73

8218 0.74 566.8 2795 684 1293 1190 45.7 7.9 715 8249 0.00 2.50 26.15 0.334 9382 0.000 0.078 2791 2101 1052 1118 987 0 0 0 0 0 0 14.16 14.04 13.66

8546 0.91 636.4 2794 2102 1119 997 19.0 6.8 751 8593 0.22 2.55 39.03 0.262 10916 0.099 0.085 2890 696 766 828 705 0 0 0 0 0 0 14.12 14.00 13.81

8613 0.93 672.3 2890 697 829 707 13.9 8.3 764 8641 0.00 2.47 20.60 0.247 9254 0.000 0.076 2889 2099 622 670 575 0 0 0 0 0 0 14.12 13.99 13.76

8736 end climb: SURFACE_DEPTH_REACHED

state 8736 begin surface coast

8758 end surface coast: CONTROL_FINISHED_OK

state 8758 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	163	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	459.0
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	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,173955,7345.8271,-15125.3359,23,0.7,36,20.2,0.0,314.9,10,6.8	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	1.22	MHEAD_RNG_PITCHd_Wd	291.6,96646,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	250817,180545,7345.7861,-15125.5566,6,0.8,17,20.2,0.0,186.4,11,9.4

FINISH	0.1,1.020803	_24V_AH	12.39,120.865
SM_CCo	8779,18.33,0.214,0,0,499,702.78	_10V_AH	12.28,0.000
SM_GC	1.12,8.20,0.17,18.33,0.073,0.119,0.214,204,2213,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.16,14.17,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	97	FG_AHR_10Vo	0.000
RAFOS_FIX	7344.783691,-15124.022461,250817,161643,2,255,0.26	MEM	323612
IRIDIUM_FIX	7346.00,-15132.58,250817,175050	DATA_FILE_SIZE	26760,781
TT8_MAMPS	0.084637,0.901047	CAP_FILE_SIZE	111563,0
HUMID	43.22	CFSIZE	2097872896,2037776384
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.9
XPDR_PINGS	32	CURRENT	0.026,238.11,1
CP_FREE	15991898112.000000	GPS	250817,203421,7346.660,-15128.642,38,0.7,39,20.2,0.0,0.0,11,8.0
PM_FREEKB_00	53165504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.48	nil	0	0	0.00
Roll_motor	99	2151	2645.99	nil	0	0	0.00
VBD_pump_during_apogee	998	1473	18223.81	nil	0	0	0.00
VBD_pump_during_surface	18	214	48.63	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	8787	14	1552.93
Iridium_during_xfer	1013	178	2237.72	NCP	8786	20	2177.17
Transponder_ping	8	420	41.63	PMAR	8734	9	1070.02
GUMSTIX_24V	0	0	0.00
GPS	20	22	5.57
TT8	0	0	0.00
LPSleep	6363	2	180.51
TT8_Active	1020	13	175.11
TT8_Sampling	2656	33	1091.05
TT8_CF8	321	38	152.98
TT8_Kalman	0	0	0.00
Analog_circuits	2787	10	342.27
GPS_charging	0	0	0.00
Compass	1120	7	96.30
RAFOS	2205	48	1299.72
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	171	2219	498	486	0.0	0.0	0	140	0.00	0.00	-91.28	0.000	16386	0.000	0.000	170	2217	2188	2121	2255	0	0	0	0	0	0	14.45	28.83	14.47
143	-0.57	-145.9	174	2217	2118	2260	4.3	-6.2	9	196	12.65	2.75	-33.03	0.000	18724	0.454	2.151	2376	3595	3965	3950	3981	1	0	0	0	0	0	13.56	12.57	14.14
327	-0.64	-145.9	2377	3596	3955	3981	47.7	-16.5	45	331	0.00	2.40	0.00	0.000	1158	0.000	0.061	2376	2198	3967	3953	3981	0	0	0	0	0	0	14.21	14.09	14.25
639	-0.70	-145.9	2377	2198	3955	3982	99.3	-13.2	77	643	0.00	2.45	0.00	0.000	388	0.000	0.086	2367	3598	3968	3955	3981	0	0	0	0	0	0	14.54	14.13	14.55
688	-0.87	-145.9	2366	3600	3956	3981	105.4	-10.6	87	694	0.20	2.38	0.00	0.000	5254	0.103	0.057	2282	2189	3968	3955	3981	0	0	0	0	0	0	14.29	14.23	14.38
999	-0.80	-145.9	2282	2189	3955	3982	162.8	-18.0	99	1004	0.12	2.47	0.00	0.000	2436	0.287	0.083	2306	3603	3968	3955	3981	0	0	0	0	0	0	14.02	14.22	14.17
1091	-0.90	-145.9	2305	3604	3955	3982	175.0	-11.7	117	1096	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2196	3967	3954	3981	0	0	0	0	0	0	14.40	14.28	14.42
1421	-0.93	-145.9	2306	2194	3956	3981	219.1	-12.9	133	1426	0.00	2.47	0.00	0.000	388	0.000	0.088	2297	3600	3968	3955	3981	0	0	0	0	0	0	14.64	14.21	14.65
1467	-1.04	-145.9	2298	3600	3956	3981	224.6	-11.7	142	1472	0.17	2.38	0.00	0.000	5254	0.109	0.058	2230	2194	3967	3954	3981	0	0	0	0	0	0	14.33	14.28	14.42
1782	-0.95	-145.9	2230	2193	3955	3982	280.0	-17.1	155	1787	0.15	2.45	0.00	0.000	2436	0.297	0.083	2256	3599	3968	3955	3981	0	0	0	0	0	0	13.95	14.24	14.14
1862	-0.99	-145.9	2256	3601	3955	3982	291.1	-12.8	171	1867	0.00	2.35	0.00	0.000	1158	0.000	0.057	2256	2199	3967	3954	3981	0	0	0	0	0	0	14.42	14.30	14.45
2172	-0.99	-145.9	2256	2199	3956	3981	332.6	-13.1	183	2178	0.00	2.47	0.00	0.000	260	0.000	0.089	2249	3608	3968	3955	3981	0	0	0	0	0	0	14.68	14.24	14.69
2263	-1.03	-145.9	2249	3609	3956	3980	344.0	-12.1	201	2268	0.00	2.38	0.00	0.000	1158	0.000	0.057	2249	2199	3967	3954	3981	0	0	0	0	0	0	14.42	14.30	14.45
2593	-1.03	-145.9	2249	2199	3954	3981	387.5	-13.0	217	2598	0.00	2.45	0.00	0.000	260	0.000	0.088	2240	3601	3967	3955	3980	0	0	0	0	0	0	14.68	14.24	14.69
2683	-1.07	-145.9	2240	3603	3954	3980	399.1	-12.3	235	2688	0.00	2.35	0.00	0.000	1158	0.000	0.057	2240	2201	3967	3954	3980	0	0	0	0	0	0	14.42	14.30	14.45
3013	-1.07	-145.9	2239	2200	3954	3981	443.3	-13.3	251	3017	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3601	3966	3953	3980	0	0	0	0	0	0	14.68	14.23	14.69
3093	-1.11	-145.9	2241	3602	3949	3981	453.7	-12.4	267	3098	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2192	3966	3953	3980	0	0	0	0	0	0	14.41	14.29	14.45
3310	end dive: TARGET_DEPTH_EXCEEDED
state	3310	begin apogee
3316	-0.13	0.0	2237	2065	3954	3980	483.2	-13.4	276	3553	1.15	0.00	229.02	1.391	10246	0.244	0.000	2530	2064	3359	3378	3341	0	0	0	0	0	0	13.94	13.47	12.69
3557	end apogee: CONTROL_FINISHED_OK
state	3557	begin climb
3559	0.57	145.9	2530	2065	3374	3334	495.5	0.0	284	3779	0.73	2.70	208.23	1.350	10500	0.066	0.073	2776	3500	2761	2803	2720	0	0	0	0	0	0	13.58	12.97	12.39
4004	0.13	145.9	2777	3500	2779	2715	463.9	17.1	367	4011	0.77	2.40	0.00	0.000	5254	0.353	0.056	2629	2135	2744	2778	2711	0	0	0	0	0	0	13.41	13.72	13.78
4309	0.04	177.7	2631	2128	2780	2712	436.3	8.5	378	4359	0.12	2.45	44.78	1.404	12708	0.298	0.081	2600	3504	2632	2676	2589	0	0	0	0	0	0	13.86	13.73	13.11
4525	0.02	196.6	2600	3505	2663	2586	417.4	9.1	421	4552	0.00	2.42	23.52	1.473	9382	0.000	0.060	2602	2092	2564	2612	2517	0	0	0	0	0	0	14.14	14.04	13.19
4850	0.05	233.5	2603	2092	2602	2496	390.4	8.3	436	4911	0.00	2.55	55.83	1.397	8740	0.000	0.086	2603	692	2407	2457	2357	0	0	0	0	0	0	14.52	13.95	13.18
4968	0.17	266.8	2602	692	2448	2352	380.6	8.5	459	5027	0.10	2.47	51.90	1.353	11430	0.154	0.080	2651	2093	2275	2322	2228	0	0	0	0	0	0	14.02	14.00	13.07
5333	0.13	266.8	2652	2090	2312	2209	338.0	11.7	482	5337	0.00	2.45	0.00	0.000	644	0.000	0.085	2659	693	2259	2311	2208	0	0	0	0	0	0	14.47	14.14	14.49
5347	0.10	266.8	2659	694	2311	2210	336.3	11.7	485	5354	0.17	2.47	0.00	0.000	5254	0.248	0.079	2620	2101	2259	2310	2208	0	0	0	0	0	0	14.00	14.16	14.23
5664	0.15	286.8	2620	2103	2310	2207	306.5	9.1	498	5700	0.00	2.53	28.35	1.410	8868	0.000	0.084	2624	695	2188	2237	2140	0	0	0	0	0	0	14.60	14.13	13.32
5715	0.25	322.8	2621	690	2231	2138	302.1	8.3	503	5781	0.12	2.47	60.38	1.297	11430	0.131	0.079	2678	2101	2049	2095	2003	0	0	0	0	0	0	14.19	14.14	13.15
6086	0.25	322.8	2678	2102	2080	1982	256.9	11.8	527	6091	0.00	2.50	0.00	0.000	516	0.000	0.086	2685	688	2030	2080	1981	0	0	0	0	0	0	14.50	14.13	14.54
6131	0.25	322.8	2685	688	2077	1982	251.6	11.6	536	6136	0.00	2.47	0.00	0.000	1030	0.000	0.080	2685	2105	2028	2076	1980	0	0	0	0	0	0	14.28	14.19	14.32
6446	0.23	322.8	2685	2106	2078	1978	215.6	10.9	549	6452	0.00	2.47	0.00	0.000	644	0.000	0.085	2685	691	2027	2076	1978	0	0	0	0	0	0	14.59	14.20	14.62
6517	0.29	333.3	2685	691	2076	1979	208.5	9.5	563	6527	0.00	2.45	3.72	1.390	9382	0.000	0.080	2685	2101	2007	2056	1959	0	0	0	0	0	0	14.40	14.26	12.91
6839	0.30	344.6	2685	2103	2066	1967	177.4	9.5	577	6873	0.00	2.53	27.20	1.389	8740	0.000	0.085	2685	699	1957	2005	1910	0	0	0	0	0	0	14.52	14.10	13.35
6955	0.40	379.1	2686	695	1993	1906	167.2	8.4	600	7025	0.00	2.47	61.62	1.271	9382	0.000	0.080	2685	2100	1816	1845	1787	0	0	0	0	0	0	14.14	14.02	13.17
7350	0.48	413.0	2685	2101	1833	1772	132.8	8.4	629	7412	0.15	2.60	57.38	1.245	10916	0.122	0.087	2756	691	1680	1707	1654	0	0	0	0	0	0	14.15	13.90	13.19
7427	0.43	413.0	2757	692	1699	1651	123.4	12.7	634	7433	0.15	2.50	0.00	0.000	5254	0.249	0.078	2724	2124	1673	1698	1649	0	0	0	0	0	0	13.79	13.91	14.01
7735	0.48	437.2	2725	2124	1699	1638	93.2	8.9	650	7754	0.00	2.55	12.10	0.461	8868	0.000	0.086	2726	691	1582	1615	1550	0	0	0	0	0	0	14.38	13.99	13.55
7784	0.59	468.7	2727	691	1622	1554	88.8	8.5	659	7807	0.15	2.47	18.20	0.463	11430	0.116	0.078	2788	2099	1455	1490	1421	0	0	0	0	0	0	14.06	13.97	13.63
8104	0.63	521.3	2788	2100	1499	1424	54.4	7.6	693	8140	0.00	2.53	30.27	0.360	8740	0.000	0.085	2794	684	1237	1291	1184	0	0	0	0	0	0	14.39	13.93	13.73
8218	0.74	566.8	2795	684	1293	1190	45.7	7.9	715	8249	0.00	2.50	26.15	0.334	9382	0.000	0.078	2791	2101	1052	1118	987	0	0	0	0	0	0	14.16	14.04	13.66
8546	0.91	636.4	2794	2102	1119	997	19.0	6.8	751	8593	0.22	2.55	39.03	0.262	10916	0.099	0.085	2890	696	766	828	705	0	0	0	0	0	0	14.12	14.00	13.81
8613	0.93	672.3	2890	697	829	707	13.9	8.3	764	8641	0.00	2.47	20.60	0.247	9254	0.000	0.076	2889	2099	622	670	575	0	0	0	0	0	0	14.12	13.99	13.76
8736	end climb: SURFACE_DEPTH_REACHED
state	8736	begin surface coast
8758	end surface coast: CONTROL_FINISHED_OK
state	8758	begin surface