Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 351 * 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 351 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 981.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 981.0 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 26 VBD_MIN 500

DIVE 351 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 160917,131443,7443.8579,-15057.9043,15,0.7,17,20.7,0.0,306.0,11,9.4 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 214.8,97152,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 160917,132655,7443.8716,-15058.1328,15,0.9,35,20.7,0.7,3.0,6,5.4

Post-dive calculations and measurements:

FINISH 0.5,1.021205 _24V_AH 12.27,212.910

SM_CCo 8878,43.80,0.205,0,0,500,703.03 _10V_AH 12.17,0.000

SM_GC 1.10,8.18,2.72,43.80,0.080,0.089,0.205,206,2210,500,-7.36,-0.51,703.03,0,0,0,0,0,0,14.27,14.20,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323352

IRIDIUM_FIX 7444.43,-15059.90,160917,103915 DATA_FILE_SIZE 23407,694

TT8_MAMPS 0.038948,0.912282 CAP_FILE_SIZE 101618,0

HUMID 47.28 CFSIZE 2097872896,1987772416

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.6

XPDR_PINGS 14 CURRENT 0.035,313.63,1

CP_FREE 15922233344.000000 GPS 160917,155732,7443.423,-15102.832,35,0.7,35,20.6,0.0,0.0,12,8.9

PM_FREEKB_00 46411456

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 147.04 nil 0 0 0.00

Roll_motor 95 2160 2531.48 nil 0 0 0.00

VBD_pump_during_apogee 1017 1402 17504.06 nil 0 0 0.00

VBD_pump_during_surface 43 205 110.18 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 8885 14 1537.82

Iridium_during_xfer 418 172 887.21 NCP 8846 20 2170.81

Transponder_ping 3 420 18.04 PMAR 8829 12 1309.62

GUMSTIX_24V 0 0 0.00

GPS 36 22 10.06

TT8 0 0 0.00

LPSleep 6324 2 177.79

TT8_Active 1045 13 177.68

TT8_Sampling 1949 33 793.42

TT8_CF8 347 38 163.56

TT8_Kalman 0 0 0.00

Analog_circuits 2192 10 266.79

GPS_charging 0 0 0.00

Compass 996 7 84.89

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 168 2206 496 495 0.0 0.0 0 143 0.00 0.00 -91.65 0.000 16386 0.000 0.000 164 2206 2168 2094 2242 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 165 2206 2097 2241 4.0 -5.8 9 200 13.02 2.78 -33.95 0.000 18980 0.451 2.160 2384 797 3963 3947 3979 1 0 0 0 0 0 13.24 12.97 14.09

350 -0.72 -145.9 2384 798 3953 3981 47.9 -12.7 49 355 0.12 2.50 0.00 0.000 5254 0.122 0.086 2334 2201 3966 3952 3980 0 0 0 0 0 0 14.16 14.05 14.25

661 -0.78 -145.9 2334 2203 3954 3981 99.6 -13.4 81 666 0.00 2.53 0.00 0.000 388 0.000 0.088 2333 3610 3966 3953 3979 0 0 0 0 0 0 14.56 13.50 14.57

746 -0.96 -145.9 2333 3613 3954 3981 108.6 -9.6 98 753 0.20 2.42 0.00 0.000 5286 0.105 0.056 2254 2193 3964 3949 3979 0 0 0 0 0 0 14.10 14.09 14.21

1052 -0.92 -145.9 2260 2196 3955 3980 162.5 -17.4 109 1057 0.12 2.55 0.00 0.000 2436 0.295 0.081 2272 3610 3967 3954 3980 0 0 0 0 0 0 13.71 14.00 13.88

1103 -1.03 -145.9 2272 3612 3954 3981 169.8 -12.3 119 1107 0.00 2.40 0.00 0.000 1158 0.000 0.058 2271 2201 3966 3953 3979 0 0 0 0 0 0 14.29 14.16 14.33

1413 -1.07 -145.9 2272 2199 3954 3979 210.7 -12.7 131 1414 0.12 0.00 0.00 0.000 4230 0.137 0.000 2226 2199 3966 3953 3980 0 0 0 0 0 0 14.26 14.33 14.31

1713 -1.04 -145.9 2227 2200 3954 3980 258.9 -15.5 141 1718 0.00 2.53 0.00 0.000 388 0.000 0.088 2222 3610 3967 3953 3981 0 0 0 0 0 0 14.64 14.07 14.65

1788 -1.09 -145.9 2222 3613 3954 3981 269.6 -13.1 156 1794 0.00 2.42 0.00 0.000 1158 0.000 0.058 2222 2192 3966 3953 3980 0 0 0 0 0 0 14.28 14.14 14.33

2105 -1.09 -145.9 2222 2191 3955 3981 312.1 -13.1 169 2109 0.00 2.53 0.00 0.000 260 0.000 0.087 2222 3612 3966 3953 3979 0 0 0 0 0 0 14.65 14.07 14.66

2170 -1.18 -145.9 2223 3613 3954 3980 320.1 -11.3 182 2175 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2201 3966 3953 3979 0 0 0 0 0 0 14.28 14.14 14.33

2496 -1.21 -145.9 2222 2197 3954 3980 360.4 -12.3 197 2500 0.00 2.50 0.00 0.000 388 0.000 0.087 2222 3609 3966 3953 3979 0 0 0 0 0 0 14.64 14.06 14.66

2546 -1.31 -145.9 2223 3610 3954 3980 366.3 -10.5 207 2551 0.20 2.40 0.00 0.000 5254 0.103 0.057 2149 2201 3967 3955 3979 0 0 0 0 0 0 14.19 14.11 14.28

2857 -1.19 -145.9 2149 2197 3953 3979 423.5 -18.6 219 2862 0.20 2.50 0.00 0.000 2436 0.321 0.083 2181 3611 3965 3952 3978 0 0 0 0 0 0 13.64 14.02 13.86

2957 -1.19 -145.9 2182 3613 3954 3978 438.2 -13.5 239 2962 0.00 2.45 0.00 0.000 1030 0.000 0.057 2181 2189 3965 3952 3978 0 0 0 0 0 0 14.24 14.11 14.28

3245 end dive: TARGET_DEPTH_EXCEEDED

state 3245 begin apogee

3251 -0.13 0.0 2182 2060 3954 3978 481.4 -14.9 252 3479 1.40 0.08 223.62 1.402 10246 0.246 0.179 2528 2112 3366 3385 3347 0 0 0 0 0 0 13.71 13.52 12.69

3482 end apogee: CONTROL_FINISHED_OK

state 3482 begin climb

3487 0.57 145.9 2528 2113 3377 3337 493.2 0.0 259 3709 0.75 2.62 210.25 1.358 11012 0.060 0.071 2784 3509 2763 2804 2723 0 0 0 0 0 0 13.74 12.90 12.27

3826 0.08 145.9 2784 3512 2781 2717 489.2 16.1 310 3832 0.93 2.45 0.00 0.000 5254 0.348 0.057 2611 2125 2750 2783 2717 0 0 0 0 0 0 13.22 13.62 13.60

4142 -0.01 192.9 2611 2126 2784 2716 462.5 7.8 323 4214 0.15 0.00 70.05 1.375 12454 0.285 0.000 2580 2124 2579 2631 2527 0 0 0 0 0 0 13.85 13.88 13.06

4502 0.03 241.7 2581 2124 2622 2503 435.2 7.7 335 4583 0.00 2.62 76.03 1.352 8740 0.000 0.088 2580 695 2373 2424 2322 0 0 0 0 0 0 14.57 13.95 13.07

4610 0.13 282.9 2581 696 2418 2317 426.9 8.1 351 4685 0.15 2.47 65.05 1.336 11430 0.120 0.080 2644 2089 2204 2255 2153 0 0 0 0 0 0 14.07 14.00 12.95

4983 0.07 282.9 2649 2090 2245 2137 379.1 12.8 376 4989 0.15 2.47 0.00 0.000 4740 0.241 0.084 2616 687 2189 2242 2136 0 0 0 0 0 0 13.95 14.14 14.08

5015 0.11 282.9 2616 688 2241 2138 375.6 10.5 382 5020 0.00 2.47 0.00 0.000 1158 0.000 0.078 2616 2101 2188 2240 2136 0 0 0 0 0 0 14.28 14.15 14.33

5345 0.11 282.9 2616 2101 2241 2134 341.7 10.3 398 5350 0.00 2.47 0.00 0.000 516 0.000 0.087 2616 699 2187 2240 2134 0 0 0 0 0 0 14.61 14.13 14.62

5365 0.13 282.9 2616 700 2242 2135 339.7 10.2 402 5370 0.00 2.45 0.00 0.000 1158 0.000 0.077 2616 2099 2186 2239 2134 0 0 0 0 0 0 14.31 14.17 14.37

5676 0.13 285.9 2616 2100 2240 2134 308.5 9.9 414 5681 0.00 2.50 0.00 0.000 548 0.000 0.088 2616 692 2186 2239 2134 0 0 0 0 0 0 14.64 14.07 14.66

5697 0.16 288.8 2617 690 2239 2134 306.5 9.9 418 5701 0.00 2.45 0.00 0.000 1190 0.000 0.078 2616 2099 2186 2238 2134 0 0 0 0 0 0 14.30 14.16 14.34

6007 0.20 308.3 2614 2102 2239 2134 277.3 9.1 430 6045 0.00 0.00 36.67 1.359 8870 0.000 0.000 2615 2101 2108 2158 2058 0 0 0 0 0 0 14.66 14.04 13.24

6337 0.28 352.2 2616 2101 2147 2043 249.4 8.0 446 6422 0.15 2.58 76.30 1.270 10916 0.109 0.089 2689 697 1921 1959 1884 0 0 0 0 0 0 14.30 13.95 13.15

6467 0.28 352.2 2691 698 1946 1884 234.4 11.3 472 6473 0.00 2.47 0.00 0.000 1030 0.000 0.077 2689 2099 1914 1946 1883 0 0 0 0 0 0 14.14 14.00 14.17

6788 0.24 352.2 2690 2101 1946 1875 196.1 11.7 486 6793 0.00 2.50 0.00 0.000 644 0.000 0.087 2689 692 1910 1945 1875 0 0 0 0 0 0 14.56 14.13 14.59

6813 0.24 352.2 2690 693 1943 1876 193.2 11.3 491 6819 0.00 2.47 0.00 0.000 1030 0.000 0.078 2689 2101 1908 1942 1875 0 0 0 0 0 0 14.23 14.10 14.29

7119 0.21 352.2 2689 2104 1942 1874 160.7 10.3 502 7124 0.12 2.47 0.00 0.000 4740 0.239 0.085 2660 695 1906 1939 1874 0 0 0 0 0 0 14.02 14.13 14.14

7165 0.34 387.8 2661 695 1939 1874 156.7 8.4 511 7229 0.00 2.45 59.28 1.255 9382 0.000 0.079 2660 2101 1784 1808 1760 0 0 0 0 0 0 14.31 14.16 13.22

7542 0.45 433.9 2660 2101 1796 1743 126.7 7.9 536 7632 0.20 2.60 84.18 1.193 10916 0.099 0.090 2748 694 1593 1621 1566 0 0 0 0 0 0 14.26 13.87 13.16

7667 0.45 433.9 2748 691 1607 1560 110.6 13.2 551 7672 0.00 2.50 0.00 0.000 1030 0.000 0.078 2747 2103 1582 1605 1560 0 0 0 0 0 0 14.00 13.88 14.03

7972 0.43 433.9 2748 2104 1608 1552 74.8 10.3 580 7978 0.12 2.50 0.00 0.000 4740 0.236 0.084 2716 692 1578 1607 1550 0 0 0 0 0 0 14.00 14.00 14.12

8009 0.55 479.5 2717 692 1607 1549 71.8 7.9 587 8042 0.12 2.50 24.77 0.405 11430 0.122 0.077 2778 2109 1409 1447 1371 0 0 0 0 0 0 14.10 14.04 13.64

8347 0.60 554.3 2773 2108 1450 1375 43.0 6.5 624 8401 0.00 2.55 44.28 0.323 8740 0.000 0.087 2781 698 1105 1165 1046 0 0 0 0 0 0 14.59 13.95 13.76

8474 0.73 609.7 2780 699 1165 1049 34.1 7.4 648 8516 0.12 2.50 33.42 0.294 11430 0.132 0.079 2842 2113 875 939 811 0 0 0 0 0 0 14.16 14.11 13.67

8812 0.75 631.5 2836 2113 939 819 3.1 9.0 686 8833 0.00 2.55 13.45 0.213 8740 0.000 0.084 2837 702 786 849 723 0 0 0 0 0 0 14.57 13.97 13.78

8836 end climb: SURFACE_DEPTH_REACHED

state 8836 begin surface coast

8851 end surface coast: CONTROL_FINISHED_OK

state 8851 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	351	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	981.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,131443,7443.8579,-15057.9043,15,0.7,17,20.7,0.0,306.0,11,9.4	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	214.8,97152,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	160917,132655,7443.8716,-15058.1328,15,0.9,35,20.7,0.7,3.0,6,5.4

FINISH	0.5,1.021205	_24V_AH	12.27,212.910
SM_CCo	8878,43.80,0.205,0,0,500,703.03	_10V_AH	12.17,0.000
SM_GC	1.10,8.18,2.72,43.80,0.080,0.089,0.205,206,2210,500,-7.36,-0.51,703.03,0,0,0,0,0,0,14.27,14.20,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323352
IRIDIUM_FIX	7444.43,-15059.90,160917,103915	DATA_FILE_SIZE	23407,694
TT8_MAMPS	0.038948,0.912282	CAP_FILE_SIZE	101618,0
HUMID	47.28	CFSIZE	2097872896,1987772416
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.6
XPDR_PINGS	14	CURRENT	0.035,313.63,1
CP_FREE	15922233344.000000	GPS	160917,155732,7443.423,-15102.832,35,0.7,35,20.6,0.0,0.0,12,8.9
PM_FREEKB_00	46411456

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	147.04	nil	0	0	0.00
Roll_motor	95	2160	2531.48	nil	0	0	0.00
VBD_pump_during_apogee	1017	1402	17504.06	nil	0	0	0.00
VBD_pump_during_surface	43	205	110.18	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	8885	14	1537.82
Iridium_during_xfer	418	172	887.21	NCP	8846	20	2170.81
Transponder_ping	3	420	18.04	PMAR	8829	12	1309.62
GUMSTIX_24V	0	0	0.00
GPS	36	22	10.06
TT8	0	0	0.00
LPSleep	6324	2	177.79
TT8_Active	1045	13	177.68
TT8_Sampling	1949	33	793.42
TT8_CF8	347	38	163.56
TT8_Kalman	0	0	0.00
Analog_circuits	2192	10	266.79
GPS_charging	0	0	0.00
Compass	996	7	84.89
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	168	2206	496	495	0.0	0.0	0	143	0.00	0.00	-91.65	0.000	16386	0.000	0.000	164	2206	2168	2094	2242	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	165	2206	2097	2241	4.0	-5.8	9	200	13.02	2.78	-33.95	0.000	18980	0.451	2.160	2384	797	3963	3947	3979	1	0	0	0	0	0	13.24	12.97	14.09
350	-0.72	-145.9	2384	798	3953	3981	47.9	-12.7	49	355	0.12	2.50	0.00	0.000	5254	0.122	0.086	2334	2201	3966	3952	3980	0	0	0	0	0	0	14.16	14.05	14.25
661	-0.78	-145.9	2334	2203	3954	3981	99.6	-13.4	81	666	0.00	2.53	0.00	0.000	388	0.000	0.088	2333	3610	3966	3953	3979	0	0	0	0	0	0	14.56	13.50	14.57
746	-0.96	-145.9	2333	3613	3954	3981	108.6	-9.6	98	753	0.20	2.42	0.00	0.000	5286	0.105	0.056	2254	2193	3964	3949	3979	0	0	0	0	0	0	14.10	14.09	14.21
1052	-0.92	-145.9	2260	2196	3955	3980	162.5	-17.4	109	1057	0.12	2.55	0.00	0.000	2436	0.295	0.081	2272	3610	3967	3954	3980	0	0	0	0	0	0	13.71	14.00	13.88
1103	-1.03	-145.9	2272	3612	3954	3981	169.8	-12.3	119	1107	0.00	2.40	0.00	0.000	1158	0.000	0.058	2271	2201	3966	3953	3979	0	0	0	0	0	0	14.29	14.16	14.33
1413	-1.07	-145.9	2272	2199	3954	3979	210.7	-12.7	131	1414	0.12	0.00	0.00	0.000	4230	0.137	0.000	2226	2199	3966	3953	3980	0	0	0	0	0	0	14.26	14.33	14.31
1713	-1.04	-145.9	2227	2200	3954	3980	258.9	-15.5	141	1718	0.00	2.53	0.00	0.000	388	0.000	0.088	2222	3610	3967	3953	3981	0	0	0	0	0	0	14.64	14.07	14.65
1788	-1.09	-145.9	2222	3613	3954	3981	269.6	-13.1	156	1794	0.00	2.42	0.00	0.000	1158	0.000	0.058	2222	2192	3966	3953	3980	0	0	0	0	0	0	14.28	14.14	14.33
2105	-1.09	-145.9	2222	2191	3955	3981	312.1	-13.1	169	2109	0.00	2.53	0.00	0.000	260	0.000	0.087	2222	3612	3966	3953	3979	0	0	0	0	0	0	14.65	14.07	14.66
2170	-1.18	-145.9	2223	3613	3954	3980	320.1	-11.3	182	2175	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2201	3966	3953	3979	0	0	0	0	0	0	14.28	14.14	14.33
2496	-1.21	-145.9	2222	2197	3954	3980	360.4	-12.3	197	2500	0.00	2.50	0.00	0.000	388	0.000	0.087	2222	3609	3966	3953	3979	0	0	0	0	0	0	14.64	14.06	14.66
2546	-1.31	-145.9	2223	3610	3954	3980	366.3	-10.5	207	2551	0.20	2.40	0.00	0.000	5254	0.103	0.057	2149	2201	3967	3955	3979	0	0	0	0	0	0	14.19	14.11	14.28
2857	-1.19	-145.9	2149	2197	3953	3979	423.5	-18.6	219	2862	0.20	2.50	0.00	0.000	2436	0.321	0.083	2181	3611	3965	3952	3978	0	0	0	0	0	0	13.64	14.02	13.86
2957	-1.19	-145.9	2182	3613	3954	3978	438.2	-13.5	239	2962	0.00	2.45	0.00	0.000	1030	0.000	0.057	2181	2189	3965	3952	3978	0	0	0	0	0	0	14.24	14.11	14.28
3245	end dive: TARGET_DEPTH_EXCEEDED
state	3245	begin apogee
3251	-0.13	0.0	2182	2060	3954	3978	481.4	-14.9	252	3479	1.40	0.08	223.62	1.402	10246	0.246	0.179	2528	2112	3366	3385	3347	0	0	0	0	0	0	13.71	13.52	12.69
3482	end apogee: CONTROL_FINISHED_OK
state	3482	begin climb
3487	0.57	145.9	2528	2113	3377	3337	493.2	0.0	259	3709	0.75	2.62	210.25	1.358	11012	0.060	0.071	2784	3509	2763	2804	2723	0	0	0	0	0	0	13.74	12.90	12.27
3826	0.08	145.9	2784	3512	2781	2717	489.2	16.1	310	3832	0.93	2.45	0.00	0.000	5254	0.348	0.057	2611	2125	2750	2783	2717	0	0	0	0	0	0	13.22	13.62	13.60
4142	-0.01	192.9	2611	2126	2784	2716	462.5	7.8	323	4214	0.15	0.00	70.05	1.375	12454	0.285	0.000	2580	2124	2579	2631	2527	0	0	0	0	0	0	13.85	13.88	13.06
4502	0.03	241.7	2581	2124	2622	2503	435.2	7.7	335	4583	0.00	2.62	76.03	1.352	8740	0.000	0.088	2580	695	2373	2424	2322	0	0	0	0	0	0	14.57	13.95	13.07
4610	0.13	282.9	2581	696	2418	2317	426.9	8.1	351	4685	0.15	2.47	65.05	1.336	11430	0.120	0.080	2644	2089	2204	2255	2153	0	0	0	0	0	0	14.07	14.00	12.95
4983	0.07	282.9	2649	2090	2245	2137	379.1	12.8	376	4989	0.15	2.47	0.00	0.000	4740	0.241	0.084	2616	687	2189	2242	2136	0	0	0	0	0	0	13.95	14.14	14.08
5015	0.11	282.9	2616	688	2241	2138	375.6	10.5	382	5020	0.00	2.47	0.00	0.000	1158	0.000	0.078	2616	2101	2188	2240	2136	0	0	0	0	0	0	14.28	14.15	14.33
5345	0.11	282.9	2616	2101	2241	2134	341.7	10.3	398	5350	0.00	2.47	0.00	0.000	516	0.000	0.087	2616	699	2187	2240	2134	0	0	0	0	0	0	14.61	14.13	14.62
5365	0.13	282.9	2616	700	2242	2135	339.7	10.2	402	5370	0.00	2.45	0.00	0.000	1158	0.000	0.077	2616	2099	2186	2239	2134	0	0	0	0	0	0	14.31	14.17	14.37
5676	0.13	285.9	2616	2100	2240	2134	308.5	9.9	414	5681	0.00	2.50	0.00	0.000	548	0.000	0.088	2616	692	2186	2239	2134	0	0	0	0	0	0	14.64	14.07	14.66
5697	0.16	288.8	2617	690	2239	2134	306.5	9.9	418	5701	0.00	2.45	0.00	0.000	1190	0.000	0.078	2616	2099	2186	2238	2134	0	0	0	0	0	0	14.30	14.16	14.34
6007	0.20	308.3	2614	2102	2239	2134	277.3	9.1	430	6045	0.00	0.00	36.67	1.359	8870	0.000	0.000	2615	2101	2108	2158	2058	0	0	0	0	0	0	14.66	14.04	13.24
6337	0.28	352.2	2616	2101	2147	2043	249.4	8.0	446	6422	0.15	2.58	76.30	1.270	10916	0.109	0.089	2689	697	1921	1959	1884	0	0	0	0	0	0	14.30	13.95	13.15
6467	0.28	352.2	2691	698	1946	1884	234.4	11.3	472	6473	0.00	2.47	0.00	0.000	1030	0.000	0.077	2689	2099	1914	1946	1883	0	0	0	0	0	0	14.14	14.00	14.17
6788	0.24	352.2	2690	2101	1946	1875	196.1	11.7	486	6793	0.00	2.50	0.00	0.000	644	0.000	0.087	2689	692	1910	1945	1875	0	0	0	0	0	0	14.56	14.13	14.59
6813	0.24	352.2	2690	693	1943	1876	193.2	11.3	491	6819	0.00	2.47	0.00	0.000	1030	0.000	0.078	2689	2101	1908	1942	1875	0	0	0	0	0	0	14.23	14.10	14.29
7119	0.21	352.2	2689	2104	1942	1874	160.7	10.3	502	7124	0.12	2.47	0.00	0.000	4740	0.239	0.085	2660	695	1906	1939	1874	0	0	0	0	0	0	14.02	14.13	14.14
7165	0.34	387.8	2661	695	1939	1874	156.7	8.4	511	7229	0.00	2.45	59.28	1.255	9382	0.000	0.079	2660	2101	1784	1808	1760	0	0	0	0	0	0	14.31	14.16	13.22
7542	0.45	433.9	2660	2101	1796	1743	126.7	7.9	536	7632	0.20	2.60	84.18	1.193	10916	0.099	0.090	2748	694	1593	1621	1566	0	0	0	0	0	0	14.26	13.87	13.16
7667	0.45	433.9	2748	691	1607	1560	110.6	13.2	551	7672	0.00	2.50	0.00	0.000	1030	0.000	0.078	2747	2103	1582	1605	1560	0	0	0	0	0	0	14.00	13.88	14.03
7972	0.43	433.9	2748	2104	1608	1552	74.8	10.3	580	7978	0.12	2.50	0.00	0.000	4740	0.236	0.084	2716	692	1578	1607	1550	0	0	0	0	0	0	14.00	14.00	14.12
8009	0.55	479.5	2717	692	1607	1549	71.8	7.9	587	8042	0.12	2.50	24.77	0.405	11430	0.122	0.077	2778	2109	1409	1447	1371	0	0	0	0	0	0	14.10	14.04	13.64
8347	0.60	554.3	2773	2108	1450	1375	43.0	6.5	624	8401	0.00	2.55	44.28	0.323	8740	0.000	0.087	2781	698	1105	1165	1046	0	0	0	0	0	0	14.59	13.95	13.76
8474	0.73	609.7	2780	699	1165	1049	34.1	7.4	648	8516	0.12	2.50	33.42	0.294	11430	0.132	0.079	2842	2113	875	939	811	0	0	0	0	0	0	14.16	14.11	13.67
8812	0.75	631.5	2836	2113	939	819	3.1	9.0	686	8833	0.00	2.55	13.45	0.213	8740	0.000	0.084	2837	702	786	849	723	0	0	0	0	0	0	14.57	13.97	13.78
8836	end climb: SURFACE_DEPTH_REACHED
state	8836	begin surface coast
8851	end surface coast: CONTROL_FINISHED_OK
state	8851	begin surface