Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 353 * 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 353 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 988.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 988.0 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 63 VBD_MIN 500

DIVE 353 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 160917,183803,7442.9893,-15107.6221,31,0.8,32,20.6,0.6,106.8,10,6.2 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 1.18 MHEAD_RNG_PITCHd_Wd 210.1,92143,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.5 D_GRID 480

GPS2 160917,184849,7442.9829,-15107.7695,6,0.8,7,20.6,0.5,88.4,10,9.5

Post-dive calculations and measurements:

FINISH 0.2,1.021328 _24V_AH 12.23,213.906

SM_CCo 9240,6.10,0.220,0,0,500,702.78 _10V_AH 12.08,0.000

SM_GC 2.32,8.30,0.17,6.10,0.082,0.116,0.220,198,2222,500,-7.38,-0.54,702.78,0,0,0,0,0,0,14.26,14.27,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 235 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7442.62,-15103.85,160917,160219 DATA_FILE_SIZE 26721,730

TT8_MAMPS 0.040446,0.951979 CAP_FILE_SIZE 102632,0

HUMID 46.41 CFSIZE 2097872896,1987248128

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

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 7 CURRENT 0.026,323.55,1

CP_FREE 15921315840.000000 GPS 160917,212436,7442.414,-15112.428,12,0.7,21,20.6,0.7,68.8,12,9.5

PM_FREEKB_00 46312256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 145.67 nil 0 0 0.00

Roll_motor 85 2164 2262.49 nil 0 0 0.00

VBD_pump_during_apogee 1054 1536 19828.95 nil 0 0 0.00

VBD_pump_during_surface 6 219 16.38 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 9240 14 1648.41

Iridium_during_xfer 362 180 800.90 NCP 5524 20 1351.17

Transponder_ping 1 420 8.99 PMAR 9180 12 1357.92

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.38

TT8 0 0 0.00

LPSleep 6599 2 184.16

TT8_Active 928 13 156.62

TT8_Sampling 2028 33 819.61

TT8_CF8 348 38 163.10

TT8_Kalman 0 0 0.00

Analog_circuits 2124 10 256.65

GPS_charging 0 0 0.00

Compass 1047 7 88.60

RAFOS 2207 48 1279.71

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

64 end surface: CONTROL_FINISHED_OK

state 64 begin dive

67 -0.57 -145.9 177 2208 503 493 0.0 0.0 0 160 0.00 0.00 -91.70 0.000 16386 0.000 0.000 175 2208 2162 2093 2231 0 0 0 0 0 0 14.52 28.83 14.54

164 -0.57 -145.9 176 2208 2096 2231 3.9 -5.4 9 217 13.02 2.80 -34.75 0.000 18980 0.453 2.165 2385 831 3963 3945 3981 1 0 0 0 0 0 13.38 12.59 13.97

367 -0.71 -145.9 2385 831 3952 3980 47.9 -13.1 49 372 0.00 2.42 0.00 0.000 1158 0.000 0.085 2383 2201 3965 3951 3980 0 0 0 0 0 0 14.29 14.14 14.33

678 -0.85 -145.9 2383 2202 3953 3982 86.7 -9.7 81 683 0.20 2.50 0.00 0.000 4516 0.104 0.088 2293 3608 3966 3952 3981 0 0 0 0 0 0 14.23 14.03 14.28

786 -0.94 -145.9 2293 3609 3953 3980 101.0 -12.8 102 790 0.00 2.35 0.00 0.000 1158 0.000 0.058 2293 2235 3966 3952 3981 0 0 0 0 0 0 14.29 14.10 14.32

1101 -0.97 -145.9 2293 2234 3953 3981 147.1 -13.8 115 1102 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2234 3966 3951 3981 0 0 0 0 0 0 14.70 14.71 14.71

1401 -1.03 -145.9 2293 2234 3954 3981 183.7 -11.7 125 1402 0.15 0.00 0.00 0.000 4230 0.119 0.000 2237 2234 3966 3952 3981 0 0 0 0 0 0 14.33 14.43 14.40

1701 -1.01 -145.9 2238 2234 3953 3982 232.4 -16.0 135 1706 0.00 2.45 0.00 0.000 388 0.000 0.086 2230 3610 3966 3951 3981 0 0 0 0 0 0 14.69 14.09 14.71

1761 -1.06 -145.9 2230 3611 3953 3981 241.4 -13.7 147 1766 0.00 2.42 0.00 0.000 1158 0.000 0.058 2230 2194 3967 3953 3981 0 0 0 0 0 0 14.31 14.16 14.35

2091 -1.06 -145.9 2230 2196 3952 3982 288.5 -13.8 163 2096 0.00 2.53 0.00 0.000 260 0.000 0.086 2223 3613 3966 3952 3981 0 0 0 0 0 0 14.70 14.09 14.72

2147 -1.13 -145.9 2223 3615 3953 3982 295.8 -11.9 174 2153 0.00 2.40 0.00 0.000 1158 0.000 0.058 2223 2200 3966 3952 3981 0 0 0 0 0 0 14.28 14.14 14.31

2452 -1.13 -145.9 2224 2199 3953 3981 335.0 -12.6 185 2456 0.00 2.53 0.00 0.000 260 0.000 0.087 2225 3615 3966 3952 3980 0 0 0 0 0 0 14.73 14.08 14.73

2472 -1.13 -145.9 2223 3616 3953 3981 337.5 -12.1 189 2477 0.00 2.40 0.00 0.000 1030 0.000 0.057 2222 2199 3966 3952 3981 0 0 0 0 0 0 14.31 14.16 14.35

2783 -1.15 -145.9 2223 2197 3953 3980 375.3 -11.9 201 2788 0.00 2.53 0.00 0.000 388 0.000 0.088 2222 3614 3966 3952 3980 0 0 0 0 0 0 14.71 14.07 14.74

2828 -1.25 -145.9 2222 3617 3952 3981 380.5 -11.1 210 2834 0.15 2.42 0.00 0.000 5254 0.119 0.058 2163 2197 3966 3952 3980 0 0 0 0 0 0 14.21 14.16 14.33

3144 -1.15 -145.9 2163 2197 3952 3982 434.6 -17.4 223 3149 0.17 2.50 0.00 0.000 2436 0.312 0.082 2191 3610 3965 3951 3980 0 0 0 0 0 0 13.70 14.06 13.91

3257 -1.19 -145.9 2192 3613 3952 3981 450.1 -13.0 245 3262 0.00 2.42 0.00 0.000 1158 0.000 0.058 2192 2187 3966 3951 3981 0 0 0 0 0 0 14.26 14.12 14.30

3474 end dive: TARGET_DEPTH_EXCEEDED

state 3474 begin apogee

3481 -0.13 0.0 2192 2056 3952 3981 482.0 -14.4 254 3759 1.35 0.10 274.58 1.333 10246 0.239 0.159 2527 2122 3364 3376 3353 0 0 0 0 0 0 13.66 13.52 12.69

3761 end apogee: CONTROL_FINISHED_OK

state 3761 begin climb

3764 0.57 145.9 2529 2122 3372 3347 498.0 0.0 263 3984 0.75 2.62 212.55 1.360 11012 0.060 0.072 2782 3495 2764 2797 2731 0 0 0 0 0 0 13.70 12.86 12.23

4040 0.08 145.9 2783 3495 2778 2725 503.8 14.3 321 4047 0.93 2.45 0.00 0.000 5254 0.345 0.054 2615 2138 2750 2777 2724 0 0 0 0 0 0 13.01 13.25 13.36

4347 -0.02 188.6 2615 2139 2778 2720 478.3 8.0 332 4411 0.15 0.00 61.45 1.396 12454 0.288 0.000 2582 2137 2595 2642 2549 0 0 0 0 0 0 13.70 13.80 12.99

4705 0.01 231.3 2582 2137 2632 2524 450.0 8.0 344 4775 0.00 2.65 62.67 1.390 8740 0.000 0.088 2589 668 2414 2465 2364 0 0 0 0 0 0 14.39 13.86 13.06

4828 0.11 274.7 2589 668 2458 2359 440.1 8.0 368 4901 0.00 2.53 66.03 1.359 9382 0.000 0.080 2588 2086 2244 2296 2192 0 0 0 0 0 0 14.09 13.96 12.97

5216 0.17 296.9 2589 2086 2282 2170 405.2 9.0 396 5248 0.15 0.00 29.85 1.439 10406 0.115 0.000 2659 2083 2157 2205 2109 0 0 0 0 0 0 14.17 13.97 13.15

5546 0.10 296.9 2664 2087 2186 2091 359.3 14.1 407 5551 0.15 2.47 0.00 0.000 4740 0.249 0.085 2633 690 2138 2185 2091 0 0 0 0 0 0 13.88 14.03 14.04

5597 0.15 296.9 2630 690 2184 2092 353.2 11.3 417 5603 0.00 2.50 0.00 0.000 1158 0.000 0.078 2629 2101 2136 2183 2090 0 0 0 0 0 0 14.20 14.07 14.23

5908 0.15 296.9 2630 2103 2184 2089 318.1 11.1 429 5913 0.00 2.53 0.00 0.000 516 0.000 0.087 2626 686 2135 2183 2088 0 0 0 0 0 0 14.45 13.97 14.47

5934 0.15 296.9 2630 683 2182 2088 315.2 10.6 434 5940 0.00 2.50 0.00 0.000 1030 0.000 0.078 2630 2102 2138 2189 2088 0 0 0 0 0 0 14.16 14.02 14.20

6239 0.15 296.9 2629 2107 2182 2089 282.5 10.3 445 6240 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2106 2134 2181 2088 0 0 0 0 0 0 14.45 14.47 14.47

6539 0.16 309.9 2630 2107 2182 2089 253.1 9.4 455 6559 0.00 2.50 14.05 1.537 8740 0.000 0.086 2630 692 2098 2142 2054 0 0 0 0 0 0 14.42 14.09 13.23

6650 0.26 352.4 2630 692 2133 2052 243.8 8.0 477 6738 0.12 2.45 76.35 1.284 11430 0.123 0.077 2687 2105 1927 1958 1897 0 0 0 0 0 0 14.03 14.02 13.10

7054 0.22 352.4 2686 2106 1944 1882 197.3 11.2 507 7059 0.12 2.50 0.00 0.000 4740 0.236 0.086 2659 687 1911 1945 1878 0 0 0 0 0 0 14.00 13.96 14.13

7084 0.29 374.8 2659 688 1944 1879 194.3 9.0 513 7124 0.00 2.47 35.10 1.307 9382 0.000 0.078 2659 2100 1841 1872 1810 0 0 0 0 0 0 14.16 14.02 13.25

7447 0.36 401.8 2660 2101 1848 1795 162.5 8.8 535 7501 0.12 2.50 46.03 1.281 10916 0.129 0.089 2723 692 1720 1740 1701 0 0 0 0 0 0 14.19 14.06 13.24

7543 0.36 401.8 2723 693 1730 1695 151.3 12.2 554 7548 0.00 2.47 0.00 0.000 1030 0.000 0.078 2723 2100 1714 1730 1698 0 0 0 0 0 0 14.21 14.09 14.28

7869 0.33 401.8 2723 2101 1732 1690 111.3 11.9 569 7874 0.12 2.50 0.00 0.000 4740 0.239 0.083 2699 685 1710 1730 1690 0 0 0 0 0 0 14.02 13.93 14.11

7910 0.42 424.4 2699 686 1729 1691 107.3 9.0 577 7950 0.00 2.50 33.22 1.275 9382 0.000 0.078 2699 2108 1633 1657 1609 0 0 0 0 0 0 14.31 14.16 13.24

8250 0.53 481.8 2699 2110 1653 1590 78.9 7.4 612 8284 0.12 2.60 29.02 0.430 10916 0.128 0.089 2768 688 1399 1437 1362 0 0 0 0 0 0 14.24 14.11 13.68

8325 0.53 481.8 2768 689 1440 1365 71.1 10.5 626 8329 0.00 2.47 0.00 0.000 1030 0.000 0.077 2770 2099 1401 1439 1364 0 0 0 0 0 0 14.10 13.97 14.14

8635 0.58 562.9 2768 2100 1440 1365 45.5 6.3 658 8685 0.00 0.00 43.92 0.333 8230 0.000 0.000 2767 2096 1071 1129 1013 0 0 0 0 0 0 14.59 14.08 13.71

8985 0.82 692.3 2768 2099 1130 1011 23.1 4.0 693 9061 0.20 2.60 70.12 0.270 10916 0.099 0.090 2860 692 537 564 511 0 0 0 0 0 0 14.19 14.05 13.72

9127 0.91 692.3 2861 689 570 517 10.5 10.5 720 9133 0.00 2.53 0.00 0.000 1158 0.000 0.080 2860 2106 542 570 515 0 0 0 0 0 0 14.14 14.00 14.17

9208 end climb: SURFACE_DEPTH_REACHED

state 9208 begin surface coast

9219 end surface coast: CONTROL_FINISHED_OK

state 9219 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	353	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	988.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,183803,7442.9893,-15107.6221,31,0.8,32,20.6,0.6,106.8,10,6.2	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	1.18	MHEAD_RNG_PITCHd_Wd	210.1,92143,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.5	D_GRID	480
GPS2	160917,184849,7442.9829,-15107.7695,6,0.8,7,20.6,0.5,88.4,10,9.5

FINISH	0.2,1.021328	_24V_AH	12.23,213.906
SM_CCo	9240,6.10,0.220,0,0,500,702.78	_10V_AH	12.08,0.000
SM_GC	2.32,8.30,0.17,6.10,0.082,0.116,0.220,198,2222,500,-7.38,-0.54,702.78,0,0,0,0,0,0,14.26,14.27,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	235	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7442.62,-15103.85,160917,160219	DATA_FILE_SIZE	26721,730
TT8_MAMPS	0.040446,0.951979	CAP_FILE_SIZE	102632,0
HUMID	46.41	CFSIZE	2097872896,1987248128
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	7	CURRENT	0.026,323.55,1
CP_FREE	15921315840.000000	GPS	160917,212436,7442.414,-15112.428,12,0.7,21,20.6,0.7,68.8,12,9.5
PM_FREEKB_00	46312256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	145.67	nil	0	0	0.00
Roll_motor	85	2164	2262.49	nil	0	0	0.00
VBD_pump_during_apogee	1054	1536	19828.95	nil	0	0	0.00
VBD_pump_during_surface	6	219	16.38	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	9240	14	1648.41
Iridium_during_xfer	362	180	800.90	NCP	5524	20	1351.17
Transponder_ping	1	420	8.99	PMAR	9180	12	1357.92
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.38
TT8	0	0	0.00
LPSleep	6599	2	184.16
TT8_Active	928	13	156.62
TT8_Sampling	2028	33	819.61
TT8_CF8	348	38	163.10
TT8_Kalman	0	0	0.00
Analog_circuits	2124	10	256.65
GPS_charging	0	0	0.00
Compass	1047	7	88.60
RAFOS	2207	48	1279.71
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
64	end surface: CONTROL_FINISHED_OK
state	64	begin dive
67	-0.57	-145.9	177	2208	503	493	0.0	0.0	0	160	0.00	0.00	-91.70	0.000	16386	0.000	0.000	175	2208	2162	2093	2231	0	0	0	0	0	0	14.52	28.83	14.54
164	-0.57	-145.9	176	2208	2096	2231	3.9	-5.4	9	217	13.02	2.80	-34.75	0.000	18980	0.453	2.165	2385	831	3963	3945	3981	1	0	0	0	0	0	13.38	12.59	13.97
367	-0.71	-145.9	2385	831	3952	3980	47.9	-13.1	49	372	0.00	2.42	0.00	0.000	1158	0.000	0.085	2383	2201	3965	3951	3980	0	0	0	0	0	0	14.29	14.14	14.33
678	-0.85	-145.9	2383	2202	3953	3982	86.7	-9.7	81	683	0.20	2.50	0.00	0.000	4516	0.104	0.088	2293	3608	3966	3952	3981	0	0	0	0	0	0	14.23	14.03	14.28
786	-0.94	-145.9	2293	3609	3953	3980	101.0	-12.8	102	790	0.00	2.35	0.00	0.000	1158	0.000	0.058	2293	2235	3966	3952	3981	0	0	0	0	0	0	14.29	14.10	14.32
1101	-0.97	-145.9	2293	2234	3953	3981	147.1	-13.8	115	1102	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2234	3966	3951	3981	0	0	0	0	0	0	14.70	14.71	14.71
1401	-1.03	-145.9	2293	2234	3954	3981	183.7	-11.7	125	1402	0.15	0.00	0.00	0.000	4230	0.119	0.000	2237	2234	3966	3952	3981	0	0	0	0	0	0	14.33	14.43	14.40
1701	-1.01	-145.9	2238	2234	3953	3982	232.4	-16.0	135	1706	0.00	2.45	0.00	0.000	388	0.000	0.086	2230	3610	3966	3951	3981	0	0	0	0	0	0	14.69	14.09	14.71
1761	-1.06	-145.9	2230	3611	3953	3981	241.4	-13.7	147	1766	0.00	2.42	0.00	0.000	1158	0.000	0.058	2230	2194	3967	3953	3981	0	0	0	0	0	0	14.31	14.16	14.35
2091	-1.06	-145.9	2230	2196	3952	3982	288.5	-13.8	163	2096	0.00	2.53	0.00	0.000	260	0.000	0.086	2223	3613	3966	3952	3981	0	0	0	0	0	0	14.70	14.09	14.72
2147	-1.13	-145.9	2223	3615	3953	3982	295.8	-11.9	174	2153	0.00	2.40	0.00	0.000	1158	0.000	0.058	2223	2200	3966	3952	3981	0	0	0	0	0	0	14.28	14.14	14.31
2452	-1.13	-145.9	2224	2199	3953	3981	335.0	-12.6	185	2456	0.00	2.53	0.00	0.000	260	0.000	0.087	2225	3615	3966	3952	3980	0	0	0	0	0	0	14.73	14.08	14.73
2472	-1.13	-145.9	2223	3616	3953	3981	337.5	-12.1	189	2477	0.00	2.40	0.00	0.000	1030	0.000	0.057	2222	2199	3966	3952	3981	0	0	0	0	0	0	14.31	14.16	14.35
2783	-1.15	-145.9	2223	2197	3953	3980	375.3	-11.9	201	2788	0.00	2.53	0.00	0.000	388	0.000	0.088	2222	3614	3966	3952	3980	0	0	0	0	0	0	14.71	14.07	14.74
2828	-1.25	-145.9	2222	3617	3952	3981	380.5	-11.1	210	2834	0.15	2.42	0.00	0.000	5254	0.119	0.058	2163	2197	3966	3952	3980	0	0	0	0	0	0	14.21	14.16	14.33
3144	-1.15	-145.9	2163	2197	3952	3982	434.6	-17.4	223	3149	0.17	2.50	0.00	0.000	2436	0.312	0.082	2191	3610	3965	3951	3980	0	0	0	0	0	0	13.70	14.06	13.91
3257	-1.19	-145.9	2192	3613	3952	3981	450.1	-13.0	245	3262	0.00	2.42	0.00	0.000	1158	0.000	0.058	2192	2187	3966	3951	3981	0	0	0	0	0	0	14.26	14.12	14.30
3474	end dive: TARGET_DEPTH_EXCEEDED
state	3474	begin apogee
3481	-0.13	0.0	2192	2056	3952	3981	482.0	-14.4	254	3759	1.35	0.10	274.58	1.333	10246	0.239	0.159	2527	2122	3364	3376	3353	0	0	0	0	0	0	13.66	13.52	12.69
3761	end apogee: CONTROL_FINISHED_OK
state	3761	begin climb
3764	0.57	145.9	2529	2122	3372	3347	498.0	0.0	263	3984	0.75	2.62	212.55	1.360	11012	0.060	0.072	2782	3495	2764	2797	2731	0	0	0	0	0	0	13.70	12.86	12.23
4040	0.08	145.9	2783	3495	2778	2725	503.8	14.3	321	4047	0.93	2.45	0.00	0.000	5254	0.345	0.054	2615	2138	2750	2777	2724	0	0	0	0	0	0	13.01	13.25	13.36
4347	-0.02	188.6	2615	2139	2778	2720	478.3	8.0	332	4411	0.15	0.00	61.45	1.396	12454	0.288	0.000	2582	2137	2595	2642	2549	0	0	0	0	0	0	13.70	13.80	12.99
4705	0.01	231.3	2582	2137	2632	2524	450.0	8.0	344	4775	0.00	2.65	62.67	1.390	8740	0.000	0.088	2589	668	2414	2465	2364	0	0	0	0	0	0	14.39	13.86	13.06
4828	0.11	274.7	2589	668	2458	2359	440.1	8.0	368	4901	0.00	2.53	66.03	1.359	9382	0.000	0.080	2588	2086	2244	2296	2192	0	0	0	0	0	0	14.09	13.96	12.97
5216	0.17	296.9	2589	2086	2282	2170	405.2	9.0	396	5248	0.15	0.00	29.85	1.439	10406	0.115	0.000	2659	2083	2157	2205	2109	0	0	0	0	0	0	14.17	13.97	13.15
5546	0.10	296.9	2664	2087	2186	2091	359.3	14.1	407	5551	0.15	2.47	0.00	0.000	4740	0.249	0.085	2633	690	2138	2185	2091	0	0	0	0	0	0	13.88	14.03	14.04
5597	0.15	296.9	2630	690	2184	2092	353.2	11.3	417	5603	0.00	2.50	0.00	0.000	1158	0.000	0.078	2629	2101	2136	2183	2090	0	0	0	0	0	0	14.20	14.07	14.23
5908	0.15	296.9	2630	2103	2184	2089	318.1	11.1	429	5913	0.00	2.53	0.00	0.000	516	0.000	0.087	2626	686	2135	2183	2088	0	0	0	0	0	0	14.45	13.97	14.47
5934	0.15	296.9	2630	683	2182	2088	315.2	10.6	434	5940	0.00	2.50	0.00	0.000	1030	0.000	0.078	2630	2102	2138	2189	2088	0	0	0	0	0	0	14.16	14.02	14.20
6239	0.15	296.9	2629	2107	2182	2089	282.5	10.3	445	6240	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2106	2134	2181	2088	0	0	0	0	0	0	14.45	14.47	14.47
6539	0.16	309.9	2630	2107	2182	2089	253.1	9.4	455	6559	0.00	2.50	14.05	1.537	8740	0.000	0.086	2630	692	2098	2142	2054	0	0	0	0	0	0	14.42	14.09	13.23
6650	0.26	352.4	2630	692	2133	2052	243.8	8.0	477	6738	0.12	2.45	76.35	1.284	11430	0.123	0.077	2687	2105	1927	1958	1897	0	0	0	0	0	0	14.03	14.02	13.10
7054	0.22	352.4	2686	2106	1944	1882	197.3	11.2	507	7059	0.12	2.50	0.00	0.000	4740	0.236	0.086	2659	687	1911	1945	1878	0	0	0	0	0	0	14.00	13.96	14.13
7084	0.29	374.8	2659	688	1944	1879	194.3	9.0	513	7124	0.00	2.47	35.10	1.307	9382	0.000	0.078	2659	2100	1841	1872	1810	0	0	0	0	0	0	14.16	14.02	13.25
7447	0.36	401.8	2660	2101	1848	1795	162.5	8.8	535	7501	0.12	2.50	46.03	1.281	10916	0.129	0.089	2723	692	1720	1740	1701	0	0	0	0	0	0	14.19	14.06	13.24
7543	0.36	401.8	2723	693	1730	1695	151.3	12.2	554	7548	0.00	2.47	0.00	0.000	1030	0.000	0.078	2723	2100	1714	1730	1698	0	0	0	0	0	0	14.21	14.09	14.28
7869	0.33	401.8	2723	2101	1732	1690	111.3	11.9	569	7874	0.12	2.50	0.00	0.000	4740	0.239	0.083	2699	685	1710	1730	1690	0	0	0	0	0	0	14.02	13.93	14.11
7910	0.42	424.4	2699	686	1729	1691	107.3	9.0	577	7950	0.00	2.50	33.22	1.275	9382	0.000	0.078	2699	2108	1633	1657	1609	0	0	0	0	0	0	14.31	14.16	13.24
8250	0.53	481.8	2699	2110	1653	1590	78.9	7.4	612	8284	0.12	2.60	29.02	0.430	10916	0.128	0.089	2768	688	1399	1437	1362	0	0	0	0	0	0	14.24	14.11	13.68
8325	0.53	481.8	2768	689	1440	1365	71.1	10.5	626	8329	0.00	2.47	0.00	0.000	1030	0.000	0.077	2770	2099	1401	1439	1364	0	0	0	0	0	0	14.10	13.97	14.14
8635	0.58	562.9	2768	2100	1440	1365	45.5	6.3	658	8685	0.00	0.00	43.92	0.333	8230	0.000	0.000	2767	2096	1071	1129	1013	0	0	0	0	0	0	14.59	14.08	13.71
8985	0.82	692.3	2768	2099	1130	1011	23.1	4.0	693	9061	0.20	2.60	70.12	0.270	10916	0.099	0.090	2860	692	537	564	511	0	0	0	0	0	0	14.19	14.05	13.72
9127	0.91	692.3	2861	689	570	517	10.5	10.5	720	9133	0.00	2.53	0.00	0.000	1158	0.000	0.080	2860	2106	542	570	515	0	0	0	0	0	0	14.14	14.00	14.17
9208	end climb: SURFACE_DEPTH_REACHED
state	9208	begin surface coast
9219	end surface coast: CONTROL_FINISHED_OK
state	9219	begin surface