Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 201 * 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 201 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 566.0

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 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 566.0 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 201 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 300817,085122,7417.8428,-15340.9277,15,0.7,16,19.3,0.0,0.0,11,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 262.8,8093,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 300817,090515,7417.8110,-15340.8838,7,0.7,19,19.3,0.0,254.6,11,9.4

Post-dive calculations and measurements:

FINISH 0.2,1.021549 _24V_AH 12.35,139.523

SM_CCo 8594,71.05,0.209,0,0,500,702.78 _10V_AH 12.21,0.000

SM_GC 1.30,8.15,0.17,71.05,0.083,0.120,0.209,197,2221,500,-7.39,-0.71,702.78,0,0,0,0,0,0,14.33,14.31,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 389 FG_AHR_10Vo 0.000

RAFOS_FIX 7417.214844,-15339.044922,300817,080800,4,255,0.17 MEM 323552

IRIDIUM_FIX 7417.53,-15340.30,300817,085606 DATA_FILE_SIZE 26726,730

TT8_MAMPS 0.039697,0.910035 CAP_FILE_SIZE 101400,0

HUMID 47.00 CFSIZE 2097872896,2025783296

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

TCM_TEMP 13.10 INTR 0,197.29,0x2341ea,0,24

XPDR_PINGS 14 SOUNDSPEED 1448.8

CP_FREE 15983116288.000000 CURRENT 0.046,166.03,1

PM_FREEKB_00 51960384 GPS 300817,113132,7418.018,-15344.869,35,0.8,35,19.3,0.0,0.0,10,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.26 nil 0 0 0.00

Roll_motor 83 2143 2210.46 nil 0 0 0.00

VBD_pump_during_apogee 873 1436 15501.51 nil 0 0 0.00

VBD_pump_during_surface 71 208 183.25 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 8605 14 1564.64

Iridium_during_xfer 477 167 987.30 NCP 8590 20 2121.73

Transponder_ping 3 420 18.15 PMAR 8548 9 1041.64

GUMSTIX_24V 0 0 0.00

GPS 20 22 5.55

TT8 0 0 0.00

LPSleep 6166 2 173.93

TT8_Active 847 13 144.48

TT8_Sampling 2190 33 894.58

TT8_CF8 304 38 143.72

TT8_Kalman 0 0 0.00

Analog_circuits 2163 10 264.11

GPS_charging 0 0 0.00

Compass 1046 7 89.48

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 196 2229 488 493 0.0 0.0 0 152 0.00 0.00 -101.60 0.000 16386 0.000 0.000 194 2230 2343 2286 2400 0 0 0 0 0 0 14.50 28.83 14.52

155 -0.57 -145.9 195 2230 2290 2401 4.3 -6.1 10 206 12.65 2.62 -30.35 0.000 18724 0.454 2.144 2375 3589 3964 3945 3983 0 0 0 0 0 0 13.61 12.86 14.04

281 -0.68 -145.9 2375 3592 3951 3984 38.7 -14.3 34 286 0.00 2.40 0.00 0.000 1158 0.000 0.060 2375 2199 3966 3951 3982 0 0 0 0 0 0 14.19 14.05 14.22

593 -0.74 -145.9 2376 2198 3953 3983 84.7 -12.2 66 598 0.12 2.47 0.00 0.000 4484 0.148 0.086 2319 3601 3967 3952 3983 0 0 0 0 0 0 14.13 14.12 14.14

664 -0.82 -145.9 2320 3602 3953 3982 94.5 -13.5 80 669 0.00 2.40 0.00 0.000 1158 0.000 0.060 2319 2192 3967 3952 3983 0 0 0 0 0 0 14.31 14.17 14.35

974 -0.85 -145.9 2319 2195 3953 3983 139.3 -13.9 94 979 0.00 2.47 0.00 0.000 388 0.000 0.088 2311 3600 3967 3952 3983 0 0 0 0 0 0 14.64 14.15 14.64

1029 -0.98 -145.9 2312 3601 3953 3986 146.4 -11.6 105 1037 0.15 2.38 0.00 0.000 5254 0.116 0.058 2251 2201 3967 3952 3983 0 0 0 0 0 0 14.24 14.16 14.35

1334 -0.92 -145.9 2251 2202 3953 3984 200.6 -17.4 116 1339 0.12 2.45 0.00 0.000 2436 0.299 0.084 2270 3599 3967 3952 3983 0 0 0 0 0 0 13.97 14.17 14.14

1405 -0.98 -145.9 2270 3601 3953 3984 210.8 -13.1 130 1410 0.00 2.40 0.00 0.000 1158 0.000 0.059 2270 2189 3967 3952 3982 0 0 0 0 0 0 14.38 14.22 14.42

1725 -0.98 -145.9 2271 2191 3953 3982 255.9 -13.6 144 1730 0.00 2.47 0.00 0.000 260 0.000 0.088 2266 3603 3967 3952 3983 0 0 0 0 0 0 14.66 14.21 14.68

1810 -1.08 -145.9 2266 3603 3953 3983 266.1 -11.0 161 1817 0.12 2.38 0.00 0.000 5254 0.137 0.057 2220 2195 3967 3953 3982 0 0 0 0 0 0 14.14 14.12 14.23

2115 -1.03 -145.9 2222 2195 3953 3982 313.1 -15.2 172 2120 0.12 2.45 0.00 0.000 2436 0.297 0.086 2240 3592 3967 3952 3982 0 0 0 0 0 0 13.99 14.23 14.15

2222 -1.08 -145.9 2239 3595 3953 3984 326.6 -11.8 193 2228 0.00 2.35 0.00 0.000 1158 0.000 0.057 2241 2194 3967 3952 3982 0 0 0 0 0 0 14.40 14.28 14.45

2538 -1.08 -145.9 2241 2194 3953 3981 366.9 -12.6 206 2543 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3592 3966 3952 3981 0 0 0 0 0 0 14.68 14.21 14.69

2598 -1.14 -145.9 2237 3593 3953 3981 374.2 -11.7 218 2603 0.00 2.35 0.00 0.000 1158 0.000 0.058 2237 2194 3965 3950 3981 0 0 0 0 0 0 14.40 14.28 14.44

2928 -1.14 -145.9 2236 2193 3953 3979 415.1 -12.3 234 2933 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3594 3966 3953 3980 0 0 0 0 0 0 14.68 14.21 14.69

3045 -1.21 -145.9 2236 3595 3952 3981 428.1 -10.8 257 3052 0.15 2.35 0.00 0.000 5254 0.125 0.056 2174 2196 3964 3951 3978 0 0 0 0 0 0 14.26 14.23 14.37

3346 end dive: TARGET_DEPTH_EXCEEDED

state 3346 begin apogee

3352 -0.13 0.0 2174 2068 3953 3980 481.2 -17.9 268 3573 1.45 0.00 217.02 1.437 10246 0.275 0.000 2526 2065 3366 3390 3342 0 0 0 0 0 0 13.85 13.49 12.69

3576 end apogee: CONTROL_FINISHED_OK

state 3576 begin climb

3579 0.57 145.9 2527 2067 3384 3330 492.7 0.0 275 3801 0.75 2.12 208.02 1.381 10500 0.063 0.073 2780 3523 2757 2803 2712 0 0 0 0 0 0 13.60 12.95 12.35

4026 0.12 145.9 2780 3518 2791 2713 461.1 17.4 322 4033 0.82 2.42 0.00 0.000 5254 0.346 0.058 2617 2130 2751 2790 2712 0 0 0 0 0 0 13.40 13.76 13.78

4332 0.05 182.5 2621 2131 2791 2712 434.1 8.3 333 4387 0.00 2.42 50.42 1.426 8612 0.000 0.080 2621 3494 2616 2667 2566 0 0 0 0 0 0 14.46 13.73 13.14

4602 -0.04 182.5 2621 3495 2656 2560 406.3 10.7 387 4607 0.25 2.38 0.00 0.000 5254 0.259 0.060 2573 2095 2607 2655 2560 0 0 0 0 0 0 13.93 14.18 14.21

4934 0.05 253.1 2575 2095 2656 2559 383.6 6.7 403 5047 0.00 2.53 106.70 1.355 8868 0.000 0.090 2575 694 2327 2379 2276 0 0 0 0 0 0 14.61 13.87 13.07

5075 0.24 312.5 2572 697 2372 2275 373.9 7.3 426 5175 0.25 2.47 89.62 1.315 11430 0.092 0.080 2673 2080 2084 2139 2029 0 0 0 0 0 0 13.97 13.88 12.84

5473 0.20 312.5 2673 2081 2132 2015 320.1 13.4 456 5478 0.00 2.47 0.00 0.000 644 0.000 0.090 2673 690 2074 2131 2018 0 0 0 0 0 0 14.42 14.07 14.43

5518 0.20 312.5 2673 691 2128 2019 314.2 12.8 465 5524 0.00 2.47 0.00 0.000 1030 0.000 0.078 2673 2105 2072 2127 2018 0 0 0 0 0 0 14.26 14.13 14.29

5834 0.16 312.5 2673 2105 2128 2016 273.0 12.8 478 5835 0.17 0.00 0.00 0.000 4230 0.257 0.000 2634 2105 2070 2126 2015 0 0 0 0 0 0 14.04 14.38 14.33

6134 0.24 340.8 2635 2106 2127 2014 245.2 8.7 488 6180 0.00 2.58 41.05 1.359 8868 0.000 0.087 2643 685 1971 2023 1919 0 0 0 0 0 0 14.66 14.12 13.31

6257 0.37 376.7 2644 686 2014 1919 235.2 8.3 512 6321 0.17 2.50 57.47 1.298 11430 0.107 0.080 2710 2107 1828 1859 1798 0 0 0 0 0 0 14.21 14.14 13.17

6646 0.35 376.7 2710 2107 1854 1783 185.5 12.4 540 6651 0.00 2.50 0.00 0.000 644 0.000 0.089 2712 694 1817 1852 1783 0 0 0 0 0 0 14.52 14.16 14.54

6676 0.35 376.7 2712 695 1850 1783 181.8 11.9 546 6681 0.00 2.45 0.00 0.000 1030 0.000 0.079 2712 2099 1816 1849 1783 0 0 0 0 0 0 14.31 14.17 14.35

7006 0.35 376.7 2713 2099 1850 1781 143.7 11.2 562 7011 0.00 2.47 0.00 0.000 516 0.000 0.089 2713 692 1814 1848 1781 0 0 0 0 0 0 14.61 14.23 14.64

7097 0.40 379.9 2713 693 1845 1781 134.4 9.9 580 7101 0.00 2.45 0.00 0.000 1190 0.000 0.078 2713 2105 1812 1844 1781 0 0 0 0 0 0 14.36 14.22 14.39

7427 0.40 383.2 2713 2106 1845 1781 101.3 9.8 596 7432 0.00 2.55 1.48 0.414 8740 0.000 0.086 2713 685 1801 1833 1770 0 0 0 0 0 0 14.65 14.23 13.60

7504 0.49 408.5 2713 685 1838 1770 94.4 8.8 611 7526 0.00 2.47 15.07 0.490 9382 0.000 0.078 2713 2103 1698 1727 1670 0 0 0 0 0 0 14.23 14.11 13.62

7831 0.58 466.6 2713 2103 1728 1668 66.8 7.3 646 7864 0.15 0.00 31.02 0.402 10918 0.117 0.000 2784 2103 1461 1497 1425 0 0 0 0 0 0 14.21 14.17 13.74

8161 0.62 519.8 2784 2103 1498 1417 35.5 7.5 680 8195 0.00 2.58 27.60 0.310 8740 0.000 0.088 2785 688 1245 1299 1191 0 0 0 0 0 0 14.57 13.97 13.81

8225 0.75 572.5 2786 689 1299 1192 30.7 7.6 692 8259 0.12 2.47 28.17 0.293 11430 0.137 0.078 2841 2100 1028 1096 961 0 0 0 0 0 0 14.19 14.14 13.72

8552 end climb: SURFACE_DEPTH_REACHED

state 8552 begin surface coast

8573 end surface coast: CONTROL_FINISHED_OK

state 8573 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	201	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	566.0
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	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,085122,7417.8428,-15340.9277,15,0.7,16,19.3,0.0,0.0,11,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	262.8,8093,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	300817,090515,7417.8110,-15340.8838,7,0.7,19,19.3,0.0,254.6,11,9.4

FINISH	0.2,1.021549	_24V_AH	12.35,139.523
SM_CCo	8594,71.05,0.209,0,0,500,702.78	_10V_AH	12.21,0.000
SM_GC	1.30,8.15,0.17,71.05,0.083,0.120,0.209,197,2221,500,-7.39,-0.71,702.78,0,0,0,0,0,0,14.33,14.31,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	389	FG_AHR_10Vo	0.000
RAFOS_FIX	7417.214844,-15339.044922,300817,080800,4,255,0.17	MEM	323552
IRIDIUM_FIX	7417.53,-15340.30,300817,085606	DATA_FILE_SIZE	26726,730
TT8_MAMPS	0.039697,0.910035	CAP_FILE_SIZE	101400,0
HUMID	47.00	CFSIZE	2097872896,2025783296
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	INTR	0,197.29,0x2341ea,0,24
XPDR_PINGS	14	SOUNDSPEED	1448.8
CP_FREE	15983116288.000000	CURRENT	0.046,166.03,1
PM_FREEKB_00	51960384	GPS	300817,113132,7418.018,-15344.869,35,0.8,35,19.3,0.0,0.0,10,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.26	nil	0	0	0.00
Roll_motor	83	2143	2210.46	nil	0	0	0.00
VBD_pump_during_apogee	873	1436	15501.51	nil	0	0	0.00
VBD_pump_during_surface	71	208	183.25	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	8605	14	1564.64
Iridium_during_xfer	477	167	987.30	NCP	8590	20	2121.73
Transponder_ping	3	420	18.15	PMAR	8548	9	1041.64
GUMSTIX_24V	0	0	0.00
GPS	20	22	5.55
TT8	0	0	0.00
LPSleep	6166	2	173.93
TT8_Active	847	13	144.48
TT8_Sampling	2190	33	894.58
TT8_CF8	304	38	143.72
TT8_Kalman	0	0	0.00
Analog_circuits	2163	10	264.11
GPS_charging	0	0	0.00
Compass	1046	7	89.48
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	196	2229	488	493	0.0	0.0	0	152	0.00	0.00	-101.60	0.000	16386	0.000	0.000	194	2230	2343	2286	2400	0	0	0	0	0	0	14.50	28.83	14.52
155	-0.57	-145.9	195	2230	2290	2401	4.3	-6.1	10	206	12.65	2.62	-30.35	0.000	18724	0.454	2.144	2375	3589	3964	3945	3983	0	0	0	0	0	0	13.61	12.86	14.04
281	-0.68	-145.9	2375	3592	3951	3984	38.7	-14.3	34	286	0.00	2.40	0.00	0.000	1158	0.000	0.060	2375	2199	3966	3951	3982	0	0	0	0	0	0	14.19	14.05	14.22
593	-0.74	-145.9	2376	2198	3953	3983	84.7	-12.2	66	598	0.12	2.47	0.00	0.000	4484	0.148	0.086	2319	3601	3967	3952	3983	0	0	0	0	0	0	14.13	14.12	14.14
664	-0.82	-145.9	2320	3602	3953	3982	94.5	-13.5	80	669	0.00	2.40	0.00	0.000	1158	0.000	0.060	2319	2192	3967	3952	3983	0	0	0	0	0	0	14.31	14.17	14.35
974	-0.85	-145.9	2319	2195	3953	3983	139.3	-13.9	94	979	0.00	2.47	0.00	0.000	388	0.000	0.088	2311	3600	3967	3952	3983	0	0	0	0	0	0	14.64	14.15	14.64
1029	-0.98	-145.9	2312	3601	3953	3986	146.4	-11.6	105	1037	0.15	2.38	0.00	0.000	5254	0.116	0.058	2251	2201	3967	3952	3983	0	0	0	0	0	0	14.24	14.16	14.35
1334	-0.92	-145.9	2251	2202	3953	3984	200.6	-17.4	116	1339	0.12	2.45	0.00	0.000	2436	0.299	0.084	2270	3599	3967	3952	3983	0	0	0	0	0	0	13.97	14.17	14.14
1405	-0.98	-145.9	2270	3601	3953	3984	210.8	-13.1	130	1410	0.00	2.40	0.00	0.000	1158	0.000	0.059	2270	2189	3967	3952	3982	0	0	0	0	0	0	14.38	14.22	14.42
1725	-0.98	-145.9	2271	2191	3953	3982	255.9	-13.6	144	1730	0.00	2.47	0.00	0.000	260	0.000	0.088	2266	3603	3967	3952	3983	0	0	0	0	0	0	14.66	14.21	14.68
1810	-1.08	-145.9	2266	3603	3953	3983	266.1	-11.0	161	1817	0.12	2.38	0.00	0.000	5254	0.137	0.057	2220	2195	3967	3953	3982	0	0	0	0	0	0	14.14	14.12	14.23
2115	-1.03	-145.9	2222	2195	3953	3982	313.1	-15.2	172	2120	0.12	2.45	0.00	0.000	2436	0.297	0.086	2240	3592	3967	3952	3982	0	0	0	0	0	0	13.99	14.23	14.15
2222	-1.08	-145.9	2239	3595	3953	3984	326.6	-11.8	193	2228	0.00	2.35	0.00	0.000	1158	0.000	0.057	2241	2194	3967	3952	3982	0	0	0	0	0	0	14.40	14.28	14.45
2538	-1.08	-145.9	2241	2194	3953	3981	366.9	-12.6	206	2543	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3592	3966	3952	3981	0	0	0	0	0	0	14.68	14.21	14.69
2598	-1.14	-145.9	2237	3593	3953	3981	374.2	-11.7	218	2603	0.00	2.35	0.00	0.000	1158	0.000	0.058	2237	2194	3965	3950	3981	0	0	0	0	0	0	14.40	14.28	14.44
2928	-1.14	-145.9	2236	2193	3953	3979	415.1	-12.3	234	2933	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3594	3966	3953	3980	0	0	0	0	0	0	14.68	14.21	14.69
3045	-1.21	-145.9	2236	3595	3952	3981	428.1	-10.8	257	3052	0.15	2.35	0.00	0.000	5254	0.125	0.056	2174	2196	3964	3951	3978	0	0	0	0	0	0	14.26	14.23	14.37
3346	end dive: TARGET_DEPTH_EXCEEDED
state	3346	begin apogee
3352	-0.13	0.0	2174	2068	3953	3980	481.2	-17.9	268	3573	1.45	0.00	217.02	1.437	10246	0.275	0.000	2526	2065	3366	3390	3342	0	0	0	0	0	0	13.85	13.49	12.69
3576	end apogee: CONTROL_FINISHED_OK
state	3576	begin climb
3579	0.57	145.9	2527	2067	3384	3330	492.7	0.0	275	3801	0.75	2.12	208.02	1.381	10500	0.063	0.073	2780	3523	2757	2803	2712	0	0	0	0	0	0	13.60	12.95	12.35
4026	0.12	145.9	2780	3518	2791	2713	461.1	17.4	322	4033	0.82	2.42	0.00	0.000	5254	0.346	0.058	2617	2130	2751	2790	2712	0	0	0	0	0	0	13.40	13.76	13.78
4332	0.05	182.5	2621	2131	2791	2712	434.1	8.3	333	4387	0.00	2.42	50.42	1.426	8612	0.000	0.080	2621	3494	2616	2667	2566	0	0	0	0	0	0	14.46	13.73	13.14
4602	-0.04	182.5	2621	3495	2656	2560	406.3	10.7	387	4607	0.25	2.38	0.00	0.000	5254	0.259	0.060	2573	2095	2607	2655	2560	0	0	0	0	0	0	13.93	14.18	14.21
4934	0.05	253.1	2575	2095	2656	2559	383.6	6.7	403	5047	0.00	2.53	106.70	1.355	8868	0.000	0.090	2575	694	2327	2379	2276	0	0	0	0	0	0	14.61	13.87	13.07
5075	0.24	312.5	2572	697	2372	2275	373.9	7.3	426	5175	0.25	2.47	89.62	1.315	11430	0.092	0.080	2673	2080	2084	2139	2029	0	0	0	0	0	0	13.97	13.88	12.84
5473	0.20	312.5	2673	2081	2132	2015	320.1	13.4	456	5478	0.00	2.47	0.00	0.000	644	0.000	0.090	2673	690	2074	2131	2018	0	0	0	0	0	0	14.42	14.07	14.43
5518	0.20	312.5	2673	691	2128	2019	314.2	12.8	465	5524	0.00	2.47	0.00	0.000	1030	0.000	0.078	2673	2105	2072	2127	2018	0	0	0	0	0	0	14.26	14.13	14.29
5834	0.16	312.5	2673	2105	2128	2016	273.0	12.8	478	5835	0.17	0.00	0.00	0.000	4230	0.257	0.000	2634	2105	2070	2126	2015	0	0	0	0	0	0	14.04	14.38	14.33
6134	0.24	340.8	2635	2106	2127	2014	245.2	8.7	488	6180	0.00	2.58	41.05	1.359	8868	0.000	0.087	2643	685	1971	2023	1919	0	0	0	0	0	0	14.66	14.12	13.31
6257	0.37	376.7	2644	686	2014	1919	235.2	8.3	512	6321	0.17	2.50	57.47	1.298	11430	0.107	0.080	2710	2107	1828	1859	1798	0	0	0	0	0	0	14.21	14.14	13.17
6646	0.35	376.7	2710	2107	1854	1783	185.5	12.4	540	6651	0.00	2.50	0.00	0.000	644	0.000	0.089	2712	694	1817	1852	1783	0	0	0	0	0	0	14.52	14.16	14.54
6676	0.35	376.7	2712	695	1850	1783	181.8	11.9	546	6681	0.00	2.45	0.00	0.000	1030	0.000	0.079	2712	2099	1816	1849	1783	0	0	0	0	0	0	14.31	14.17	14.35
7006	0.35	376.7	2713	2099	1850	1781	143.7	11.2	562	7011	0.00	2.47	0.00	0.000	516	0.000	0.089	2713	692	1814	1848	1781	0	0	0	0	0	0	14.61	14.23	14.64
7097	0.40	379.9	2713	693	1845	1781	134.4	9.9	580	7101	0.00	2.45	0.00	0.000	1190	0.000	0.078	2713	2105	1812	1844	1781	0	0	0	0	0	0	14.36	14.22	14.39
7427	0.40	383.2	2713	2106	1845	1781	101.3	9.8	596	7432	0.00	2.55	1.48	0.414	8740	0.000	0.086	2713	685	1801	1833	1770	0	0	0	0	0	0	14.65	14.23	13.60
7504	0.49	408.5	2713	685	1838	1770	94.4	8.8	611	7526	0.00	2.47	15.07	0.490	9382	0.000	0.078	2713	2103	1698	1727	1670	0	0	0	0	0	0	14.23	14.11	13.62
7831	0.58	466.6	2713	2103	1728	1668	66.8	7.3	646	7864	0.15	0.00	31.02	0.402	10918	0.117	0.000	2784	2103	1461	1497	1425	0	0	0	0	0	0	14.21	14.17	13.74
8161	0.62	519.8	2784	2103	1498	1417	35.5	7.5	680	8195	0.00	2.58	27.60	0.310	8740	0.000	0.088	2785	688	1245	1299	1191	0	0	0	0	0	0	14.57	13.97	13.81
8225	0.75	572.5	2786	689	1299	1192	30.7	7.6	692	8259	0.12	2.47	28.17	0.293	11430	0.137	0.078	2841	2100	1028	1096	961	0	0	0	0	0	0	14.19	14.14	13.72
8552	end climb: SURFACE_DEPTH_REACHED
state	8552	begin surface coast
8573	end surface coast: CONTROL_FINISHED_OK
state	8573	begin surface