Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 350 * 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 350 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 1.4 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 978.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 28 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 978.0 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 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 29 VBD_MIN 500

DIVE 350 NOCOMM_ACTION 161 R_STBD_OVSHOOT 28 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 160917,102620,7444.3408,-15053.1309,38,0.8,38,20.7,0.0,0.0,10,7.8 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 211.0,99659,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 160917,104244,7444.3579,-15053.4033,6,0.8,8,20.7,0.0,242.3,11,10.0

Post-dive calculations and measurements:

FINISH 0.7,1.021232 _24V_AH 12.24,212.432

SM_CCo 9008,14.60,0.207,0,0,499,702.78 _10V_AH 12.27,0.000

SM_GC 1.48,8.23,2.70,14.60,0.073,0.073,0.207,205,2202,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.14,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 211 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323468

IRIDIUM_FIX 7443.42,-15052.76,160917,103348 DATA_FILE_SIZE 23377,708

TT8_MAMPS 0.038199,0.894306 CAP_FILE_SIZE 106263,0

HUMID 46.33 CFSIZE 2097872896,1988034560

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

TCM_TEMP 13.00 SOUNDSPEED 1447.8

XPDR_PINGS 9 CURRENT 0.023,325.25,1

CP_FREE 15922757632.000000 GPS 160917,131443,7443.858,-15057.904,15,0.7,17,20.7,0.0,306.0,11,9.4

PM_FREEKB_00 46453440

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 148.42 nil 0 0 0.00

Roll_motor 90 2162 2400.91 nil 0 0 0.00

VBD_pump_during_apogee 1005 1447 17807.61 nil 0 0 0.00

VBD_pump_during_surface 14 206 36.91 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 9019 14 1612.17

Iridium_during_xfer 536 165 1085.09 NCP 8966 20 2194.88

Transponder_ping 2 420 11.57 PMAR 8963 12 1355.87

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.46

TT8 0 0 0.00

LPSleep 6589 2 186.78

TT8_Active 1005 13 172.40

TT8_Sampling 2067 33 848.12

TT8_CF8 360 38 171.13

TT8_Kalman 0 0 0.00

Analog_circuits 2267 10 278.22

GPS_charging 0 0 0.00

Compass 1016 7 87.30

RAFOS 2215 48 1304.55

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 173 2209 493 488 0.0 0.0 0 143 0.00 0.00 -91.72 0.000 16386 0.000 0.000 174 2209 2173 2099 2247 0 0 0 0 0 0 14.49 28.83 14.51

147 -0.57 -145.9 171 2210 2102 2248 4.1 -6.2 9 200 13.07 2.83 -34.00 0.000 18980 0.453 2.163 2384 799 3961 3945 3977 0 0 0 0 0 0 13.55 12.96 14.07

335 -0.70 -145.9 2386 800 3952 3978 44.1 -13.3 46 341 0.00 2.47 0.00 0.000 1158 0.000 0.086 2386 2191 3964 3951 3977 0 0 0 0 0 0 14.09 13.95 14.10

640 -0.84 -145.9 2387 2193 3954 3977 83.2 -9.7 77 645 0.22 2.53 0.00 0.000 4516 0.096 0.085 2286 3611 3965 3953 3977 0 0 0 0 0 0 14.20 14.00 14.24

763 -0.92 -145.9 2287 3614 3954 3977 100.4 -13.9 101 769 0.00 2.42 0.00 0.000 1158 0.000 0.059 2286 2197 3965 3953 3977 0 0 0 0 0 0 14.17 14.08 14.23

1094 -0.94 -145.9 2286 2198 3954 3978 150.1 -13.9 117 1095 0.00 0.00 0.00 0.000 134 0.000 0.000 2286 2196 3965 3953 3977 0 0 0 0 0 0 14.63 14.63 14.64

1394 -1.00 -145.9 2287 2197 3954 3977 188.3 -12.4 127 1399 0.00 2.53 0.00 0.000 388 0.000 0.086 2280 3614 3965 3953 3977 0 0 0 0 0 0 14.61 13.89 14.63

1444 -1.16 -145.9 2280 3615 3953 3978 194.1 -10.5 137 1450 0.22 2.42 0.00 0.000 5254 0.095 0.057 2194 2189 3966 3956 3977 0 0 0 0 0 0 14.21 14.13 14.30

1755 -1.06 -145.9 2195 2189 3953 3978 255.4 -19.5 149 1760 0.17 2.53 0.00 0.000 2436 0.292 0.081 2224 3613 3965 3953 3977 0 0 0 0 0 0 13.67 14.00 13.83

1806 -1.11 -145.9 2224 3615 3954 3977 263.2 -13.6 159 1811 0.00 2.40 0.00 0.000 1158 0.000 0.058 2223 2201 3964 3953 3975 0 0 0 0 0 0 14.26 14.13 14.30

2116 -1.11 -145.9 2224 2201 3953 3978 306.2 -13.3 171 2121 0.00 2.53 0.00 0.000 260 0.000 0.087 2223 3614 3965 3953 3977 0 0 0 0 0 0 14.62 14.01 14.63

2187 -1.20 -145.9 2223 3617 3951 3977 314.8 -11.3 185 2191 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2191 3965 3953 3977 0 0 0 0 0 0 14.26 14.12 14.30

2507 -1.20 -145.9 2223 2191 3954 3977 354.9 -12.4 199 2512 0.00 2.53 0.00 0.000 260 0.000 0.087 2222 3613 3964 3952 3977 0 0 0 0 0 0 14.59 14.04 14.60

2547 -1.28 -145.9 2223 3613 3953 3977 359.6 -11.6 207 2552 0.17 2.40 0.00 0.000 5254 0.108 0.057 2158 2201 3964 3952 3977 0 0 0 0 0 0 14.20 14.13 14.30

2868 -1.18 -145.9 2158 2200 3953 3978 416.0 -17.7 221 2873 0.15 2.50 0.00 0.000 2436 0.321 0.081 2180 3613 3964 3951 3977 0 0 0 0 0 0 13.66 14.02 13.87

2963 -1.18 -145.9 2180 3614 3952 3977 430.2 -13.9 240 2969 0.00 2.45 0.00 0.000 1030 0.000 0.057 2180 2189 3963 3950 3977 0 0 0 0 0 0 14.23 14.10 14.27

3289 -1.13 -145.9 2180 2188 3952 3977 479.9 -15.3 255 3294 0.12 2.53 0.00 0.000 2436 0.328 0.082 2197 3613 3964 3951 3977 0 0 0 0 0 0 13.76 14.01 13.93

3296 end dive: TARGET_DEPTH_EXCEEDED

state 3297 begin apogee

3305 -0.13 0.0 2198 2098 3951 3978 481.4 -15.2 257 3527 1.33 0.00 217.88 1.424 10246 0.237 0.000 2528 2102 3364 3379 3350 0 0 0 0 0 0 13.65 13.53 12.66

3530 end apogee: CONTROL_FINISHED_OK

state 3530 begin climb

3533 0.57 145.9 2529 2096 3374 3342 494.0 0.0 264 3754 0.75 2.65 207.88 1.371 10756 0.061 0.078 2792 691 2764 2800 2729 0 0 0 0 0 0 13.71 13.13 12.24

3856 0.15 145.9 2792 691 2790 2728 496.2 13.5 312 3861 0.77 2.60 0.00 0.000 5254 0.325 0.074 2639 2111 2758 2789 2727 0 0 0 0 0 0 13.16 13.54 13.54

4189 0.01 181.0 2636 2112 2789 2721 466.9 8.4 328 4244 0.20 2.60 49.15 1.433 12964 0.271 0.086 2591 693 2624 2671 2577 0 0 0 0 0 0 13.79 13.95 13.06

4269 0.05 241.1 2591 693 2667 2575 460.9 7.2 339 4365 0.00 2.50 89.15 1.371 9254 0.000 0.080 2591 2106 2379 2434 2324 0 0 0 0 0 0 14.14 14.02 12.90

4671 0.07 264.2 2591 2107 2423 2312 425.9 8.9 369 4707 0.00 2.53 31.92 1.447 8740 0.000 0.086 2587 688 2283 2334 2233 0 0 0 0 0 0 14.40 13.46 12.93

4723 0.13 293.9 2590 688 2331 2231 421.2 8.6 374 4773 0.00 2.50 44.65 1.402 9382 0.000 0.079 2592 2102 2164 2214 2115 0 0 0 0 0 0 14.14 14.02 13.03

5094 0.21 316.8 2591 2102 2207 2101 387.7 8.9 398 5134 0.17 2.55 33.15 1.435 10916 0.103 0.089 2672 681 2065 2106 2024 0 0 0 0 0 0 14.19 14.00 13.15

5149 0.13 316.8 2672 682 2111 2023 380.3 14.2 404 5156 0.20 2.53 0.00 0.000 5254 0.240 0.079 2626 2108 2066 2109 2023 0 0 0 0 0 0 13.87 14.00 14.07

5455 0.13 316.8 2627 2110 2109 2017 345.3 11.2 415 5459 0.00 2.50 0.00 0.000 516 0.000 0.086 2630 694 2062 2107 2017 0 0 0 0 0 0 14.45 14.06 14.47

5485 0.16 316.8 2630 695 2107 2017 341.9 11.4 421 5491 0.00 2.47 0.00 0.000 1158 0.000 0.078 2630 2100 2058 2106 2011 0 0 0 0 0 0 14.21 14.08 14.28

5817 0.16 316.8 2631 2101 2107 2014 305.1 10.9 437 5817 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2100 2060 2106 2014 0 0 0 0 0 0 14.45 14.47 14.47

6117 0.16 316.8 2631 2100 2107 2013 274.2 10.2 447 6121 0.00 2.53 0.00 0.000 516 0.000 0.086 2630 683 2060 2109 2012 0 0 0 0 0 0 14.45 14.02 14.47

6147 0.22 316.8 2631 681 2105 2009 271.2 10.3 453 6153 0.00 2.50 0.00 0.000 1158 0.000 0.078 2630 2106 2058 2104 2012 0 0 0 0 0 0 14.18 14.04 14.23

6479 0.26 340.3 2631 2101 2105 2013 240.5 8.9 469 6517 0.12 0.00 36.47 1.374 10406 0.124 0.000 2689 2102 1981 2029 1934 0 0 0 0 0 0 14.18 14.01 13.19

6811 0.20 340.3 2690 2103 2013 1924 201.8 11.2 480 6816 0.15 2.47 0.00 0.000 4740 0.241 0.084 2655 687 1967 2012 1922 0 0 0 0 0 0 13.75 13.96 13.88

6912 0.30 375.2 2655 688 2010 1924 192.9 8.4 500 6978 0.00 2.45 59.15 1.300 9382 0.000 0.079 2655 2100 1832 1860 1805 0 0 0 0 0 0 14.18 14.06 13.14

7295 0.40 415.8 2656 2100 1852 1796 160.2 8.1 526 7368 0.17 0.00 70.68 1.254 10406 0.103 0.000 2729 2100 1668 1690 1647 0 0 0 0 0 0 14.28 13.88 13.15

7655 0.36 415.8 2730 2099 1686 1630 114.6 12.6 538 7661 0.12 2.45 0.00 0.000 4740 0.240 0.086 2699 691 1657 1684 1630 0 0 0 0 0 0 14.00 13.34 14.13

7754 0.47 442.2 2700 691 1682 1629 105.5 8.8 557 7797 0.00 2.47 38.62 1.263 9382 0.000 0.079 2699 2106 1562 1591 1533 0 0 0 0 0 0 14.11 13.99 13.27

8098 0.58 502.8 2700 2112 1582 1516 76.3 7.2 595 8131 0.22 0.00 31.20 0.432 10406 0.090 0.000 2788 2106 1314 1358 1271 0 0 0 0 0 0 14.24 14.12 13.68

8428 0.61 546.0 2788 2107 1359 1265 42.9 8.0 628 8461 0.00 2.55 23.33 0.330 8740 0.000 0.087 2793 694 1137 1193 1082 0 0 0 0 0 0 14.57 14.04 13.70

8562 0.71 585.8 2795 694 1194 1082 32.1 8.2 654 8588 0.00 2.47 21.75 0.296 9382 0.000 0.078 2794 2102 974 1036 912 0 0 0 0 0 0 14.22 14.08 13.68

8894 0.87 678.8 2794 2102 1037 909 10.6 5.7 690 8951 0.17 2.58 50.20 0.233 10916 0.104 0.096 2877 683 594 629 560 0 0 0 0 0 0 14.19 14.02 13.84

8974 end climb: SURFACE_DEPTH_REACHED

state 8976 begin surface coast

8984 end surface coast: CONTROL_FINISHED_OK

state 8984 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	350	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	1.4	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	978.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,102620,7444.3408,-15053.1309,38,0.8,38,20.7,0.0,0.0,10,7.8	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	211.0,99659,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	160917,104244,7444.3579,-15053.4033,6,0.8,8,20.7,0.0,242.3,11,10.0

FINISH	0.7,1.021232	_24V_AH	12.24,212.432
SM_CCo	9008,14.60,0.207,0,0,499,702.78	_10V_AH	12.27,0.000
SM_GC	1.48,8.23,2.70,14.60,0.073,0.073,0.207,205,2202,499,-7.37,-0.71,702.78,0,0,0,0,0,0,14.26,14.14,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	211	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323468
IRIDIUM_FIX	7443.42,-15052.76,160917,103348	DATA_FILE_SIZE	23377,708
TT8_MAMPS	0.038199,0.894306	CAP_FILE_SIZE	106263,0
HUMID	46.33	CFSIZE	2097872896,1988034560
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.00	SOUNDSPEED	1447.8
XPDR_PINGS	9	CURRENT	0.023,325.25,1
CP_FREE	15922757632.000000	GPS	160917,131443,7443.858,-15057.904,15,0.7,17,20.7,0.0,306.0,11,9.4
PM_FREEKB_00	46453440

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	148.42	nil	0	0	0.00
Roll_motor	90	2162	2400.91	nil	0	0	0.00
VBD_pump_during_apogee	1005	1447	17807.61	nil	0	0	0.00
VBD_pump_during_surface	14	206	36.91	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	9019	14	1612.17
Iridium_during_xfer	536	165	1085.09	NCP	8966	20	2194.88
Transponder_ping	2	420	11.57	PMAR	8963	12	1355.87
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.46
TT8	0	0	0.00
LPSleep	6589	2	186.78
TT8_Active	1005	13	172.40
TT8_Sampling	2067	33	848.12
TT8_CF8	360	38	171.13
TT8_Kalman	0	0	0.00
Analog_circuits	2267	10	278.22
GPS_charging	0	0	0.00
Compass	1016	7	87.30
RAFOS	2215	48	1304.55
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	173	2209	493	488	0.0	0.0	0	143	0.00	0.00	-91.72	0.000	16386	0.000	0.000	174	2209	2173	2099	2247	0	0	0	0	0	0	14.49	28.83	14.51
147	-0.57	-145.9	171	2210	2102	2248	4.1	-6.2	9	200	13.07	2.83	-34.00	0.000	18980	0.453	2.163	2384	799	3961	3945	3977	0	0	0	0	0	0	13.55	12.96	14.07
335	-0.70	-145.9	2386	800	3952	3978	44.1	-13.3	46	341	0.00	2.47	0.00	0.000	1158	0.000	0.086	2386	2191	3964	3951	3977	0	0	0	0	0	0	14.09	13.95	14.10
640	-0.84	-145.9	2387	2193	3954	3977	83.2	-9.7	77	645	0.22	2.53	0.00	0.000	4516	0.096	0.085	2286	3611	3965	3953	3977	0	0	0	0	0	0	14.20	14.00	14.24
763	-0.92	-145.9	2287	3614	3954	3977	100.4	-13.9	101	769	0.00	2.42	0.00	0.000	1158	0.000	0.059	2286	2197	3965	3953	3977	0	0	0	0	0	0	14.17	14.08	14.23
1094	-0.94	-145.9	2286	2198	3954	3978	150.1	-13.9	117	1095	0.00	0.00	0.00	0.000	134	0.000	0.000	2286	2196	3965	3953	3977	0	0	0	0	0	0	14.63	14.63	14.64
1394	-1.00	-145.9	2287	2197	3954	3977	188.3	-12.4	127	1399	0.00	2.53	0.00	0.000	388	0.000	0.086	2280	3614	3965	3953	3977	0	0	0	0	0	0	14.61	13.89	14.63
1444	-1.16	-145.9	2280	3615	3953	3978	194.1	-10.5	137	1450	0.22	2.42	0.00	0.000	5254	0.095	0.057	2194	2189	3966	3956	3977	0	0	0	0	0	0	14.21	14.13	14.30
1755	-1.06	-145.9	2195	2189	3953	3978	255.4	-19.5	149	1760	0.17	2.53	0.00	0.000	2436	0.292	0.081	2224	3613	3965	3953	3977	0	0	0	0	0	0	13.67	14.00	13.83
1806	-1.11	-145.9	2224	3615	3954	3977	263.2	-13.6	159	1811	0.00	2.40	0.00	0.000	1158	0.000	0.058	2223	2201	3964	3953	3975	0	0	0	0	0	0	14.26	14.13	14.30
2116	-1.11	-145.9	2224	2201	3953	3978	306.2	-13.3	171	2121	0.00	2.53	0.00	0.000	260	0.000	0.087	2223	3614	3965	3953	3977	0	0	0	0	0	0	14.62	14.01	14.63
2187	-1.20	-145.9	2223	3617	3951	3977	314.8	-11.3	185	2191	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2191	3965	3953	3977	0	0	0	0	0	0	14.26	14.12	14.30
2507	-1.20	-145.9	2223	2191	3954	3977	354.9	-12.4	199	2512	0.00	2.53	0.00	0.000	260	0.000	0.087	2222	3613	3964	3952	3977	0	0	0	0	0	0	14.59	14.04	14.60
2547	-1.28	-145.9	2223	3613	3953	3977	359.6	-11.6	207	2552	0.17	2.40	0.00	0.000	5254	0.108	0.057	2158	2201	3964	3952	3977	0	0	0	0	0	0	14.20	14.13	14.30
2868	-1.18	-145.9	2158	2200	3953	3978	416.0	-17.7	221	2873	0.15	2.50	0.00	0.000	2436	0.321	0.081	2180	3613	3964	3951	3977	0	0	0	0	0	0	13.66	14.02	13.87
2963	-1.18	-145.9	2180	3614	3952	3977	430.2	-13.9	240	2969	0.00	2.45	0.00	0.000	1030	0.000	0.057	2180	2189	3963	3950	3977	0	0	0	0	0	0	14.23	14.10	14.27
3289	-1.13	-145.9	2180	2188	3952	3977	479.9	-15.3	255	3294	0.12	2.53	0.00	0.000	2436	0.328	0.082	2197	3613	3964	3951	3977	0	0	0	0	0	0	13.76	14.01	13.93
3296	end dive: TARGET_DEPTH_EXCEEDED
state	3297	begin apogee
3305	-0.13	0.0	2198	2098	3951	3978	481.4	-15.2	257	3527	1.33	0.00	217.88	1.424	10246	0.237	0.000	2528	2102	3364	3379	3350	0	0	0	0	0	0	13.65	13.53	12.66
3530	end apogee: CONTROL_FINISHED_OK
state	3530	begin climb
3533	0.57	145.9	2529	2096	3374	3342	494.0	0.0	264	3754	0.75	2.65	207.88	1.371	10756	0.061	0.078	2792	691	2764	2800	2729	0	0	0	0	0	0	13.71	13.13	12.24
3856	0.15	145.9	2792	691	2790	2728	496.2	13.5	312	3861	0.77	2.60	0.00	0.000	5254	0.325	0.074	2639	2111	2758	2789	2727	0	0	0	0	0	0	13.16	13.54	13.54
4189	0.01	181.0	2636	2112	2789	2721	466.9	8.4	328	4244	0.20	2.60	49.15	1.433	12964	0.271	0.086	2591	693	2624	2671	2577	0	0	0	0	0	0	13.79	13.95	13.06
4269	0.05	241.1	2591	693	2667	2575	460.9	7.2	339	4365	0.00	2.50	89.15	1.371	9254	0.000	0.080	2591	2106	2379	2434	2324	0	0	0	0	0	0	14.14	14.02	12.90
4671	0.07	264.2	2591	2107	2423	2312	425.9	8.9	369	4707	0.00	2.53	31.92	1.447	8740	0.000	0.086	2587	688	2283	2334	2233	0	0	0	0	0	0	14.40	13.46	12.93
4723	0.13	293.9	2590	688	2331	2231	421.2	8.6	374	4773	0.00	2.50	44.65	1.402	9382	0.000	0.079	2592	2102	2164	2214	2115	0	0	0	0	0	0	14.14	14.02	13.03
5094	0.21	316.8	2591	2102	2207	2101	387.7	8.9	398	5134	0.17	2.55	33.15	1.435	10916	0.103	0.089	2672	681	2065	2106	2024	0	0	0	0	0	0	14.19	14.00	13.15
5149	0.13	316.8	2672	682	2111	2023	380.3	14.2	404	5156	0.20	2.53	0.00	0.000	5254	0.240	0.079	2626	2108	2066	2109	2023	0	0	0	0	0	0	13.87	14.00	14.07
5455	0.13	316.8	2627	2110	2109	2017	345.3	11.2	415	5459	0.00	2.50	0.00	0.000	516	0.000	0.086	2630	694	2062	2107	2017	0	0	0	0	0	0	14.45	14.06	14.47
5485	0.16	316.8	2630	695	2107	2017	341.9	11.4	421	5491	0.00	2.47	0.00	0.000	1158	0.000	0.078	2630	2100	2058	2106	2011	0	0	0	0	0	0	14.21	14.08	14.28
5817	0.16	316.8	2631	2101	2107	2014	305.1	10.9	437	5817	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2100	2060	2106	2014	0	0	0	0	0	0	14.45	14.47	14.47
6117	0.16	316.8	2631	2100	2107	2013	274.2	10.2	447	6121	0.00	2.53	0.00	0.000	516	0.000	0.086	2630	683	2060	2109	2012	0	0	0	0	0	0	14.45	14.02	14.47
6147	0.22	316.8	2631	681	2105	2009	271.2	10.3	453	6153	0.00	2.50	0.00	0.000	1158	0.000	0.078	2630	2106	2058	2104	2012	0	0	0	0	0	0	14.18	14.04	14.23
6479	0.26	340.3	2631	2101	2105	2013	240.5	8.9	469	6517	0.12	0.00	36.47	1.374	10406	0.124	0.000	2689	2102	1981	2029	1934	0	0	0	0	0	0	14.18	14.01	13.19
6811	0.20	340.3	2690	2103	2013	1924	201.8	11.2	480	6816	0.15	2.47	0.00	0.000	4740	0.241	0.084	2655	687	1967	2012	1922	0	0	0	0	0	0	13.75	13.96	13.88
6912	0.30	375.2	2655	688	2010	1924	192.9	8.4	500	6978	0.00	2.45	59.15	1.300	9382	0.000	0.079	2655	2100	1832	1860	1805	0	0	0	0	0	0	14.18	14.06	13.14
7295	0.40	415.8	2656	2100	1852	1796	160.2	8.1	526	7368	0.17	0.00	70.68	1.254	10406	0.103	0.000	2729	2100	1668	1690	1647	0	0	0	0	0	0	14.28	13.88	13.15
7655	0.36	415.8	2730	2099	1686	1630	114.6	12.6	538	7661	0.12	2.45	0.00	0.000	4740	0.240	0.086	2699	691	1657	1684	1630	0	0	0	0	0	0	14.00	13.34	14.13
7754	0.47	442.2	2700	691	1682	1629	105.5	8.8	557	7797	0.00	2.47	38.62	1.263	9382	0.000	0.079	2699	2106	1562	1591	1533	0	0	0	0	0	0	14.11	13.99	13.27
8098	0.58	502.8	2700	2112	1582	1516	76.3	7.2	595	8131	0.22	0.00	31.20	0.432	10406	0.090	0.000	2788	2106	1314	1358	1271	0	0	0	0	0	0	14.24	14.12	13.68
8428	0.61	546.0	2788	2107	1359	1265	42.9	8.0	628	8461	0.00	2.55	23.33	0.330	8740	0.000	0.087	2793	694	1137	1193	1082	0	0	0	0	0	0	14.57	14.04	13.70
8562	0.71	585.8	2795	694	1194	1082	32.1	8.2	654	8588	0.00	2.47	21.75	0.296	9382	0.000	0.078	2794	2102	974	1036	912	0	0	0	0	0	0	14.22	14.08	13.68
8894	0.87	678.8	2794	2102	1037	909	10.6	5.7	690	8951	0.17	2.58	50.20	0.233	10916	0.104	0.096	2877	683	594	629	560	0	0	0	0	0	0	14.19	14.02	13.84
8974	end climb: SURFACE_DEPTH_REACHED
state	8976	begin surface coast
8984	end surface coast: CONTROL_FINISHED_OK
state	8984	begin surface