Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 354 * 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 354 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 990.0

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 36 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 990.0 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 354 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 160917,212436,7442.4141,-15112.4277,12,0.7,21,20.6,0.7,68.8,12,9.5 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 1.17 MHEAD_RNG_PITCHd_Wd 213.6,89536,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.2 D_GRID 480

GPS2 160917,213120,7442.3984,-15112.5303,39,0.8,40,20.6,0.8,124.2,11,6.5

Post-dive calculations and measurements:

FINISH 0.1,1.011003 _24V_AH 12.26,214.396

SM_CCo 9033,15.50,0.206,0,0,498,702.78 _10V_AH 12.27,0.000

SM_GC 1.37,8.38,0.17,15.50,0.076,0.119,0.206,202,2221,498,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.12,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 13 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323532

IRIDIUM_FIX 7441.80,-15114.92,160917,184246 DATA_FILE_SIZE 26737,727

TT8_MAMPS 0.085386,0.952728 CAP_FILE_SIZE 99673,0

HUMID 46.49 CFSIZE 2097872896,1987051520

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1447.6

XPDR_PINGS 16 CURRENT 0.032,323.72,1

CP_FREE 15920758784.000000 GPS 170917,000351,7441.949,-15117.243,16,0.8,22,20.5,0.3,255.2,9,9.9

PM_FREEKB_00 46281344

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 145.19 nil 0 0 0.00

Roll_motor 90 2165 2409.56 nil 0 0 0.00

VBD_pump_during_apogee 1018 1435 17937.35 nil 0 0 0.00

VBD_pump_during_surface 15 205 39.11 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 9002 14 1595.43

Iridium_during_xfer 177 133 290.03 NCP 9001 20 2207.05

Transponder_ping 4 420 20.60 PMAR 8986 11 1216.48

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.50

TT8 0 0 0.00

LPSleep 6424 2 182.10

TT8_Active 1031 13 176.88

TT8_Sampling 1734 33 711.69

TT8_CF8 274 38 130.14

TT8_Kalman 0 0 0.00

Analog_circuits 1932 10 237.16

GPS_charging 0 0 0.00

Compass 1043 7 89.60

RAFOS 2157 48 1270.39

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 186 2225 512 494 0.0 0.0 0 145 0.00 0.00 -91.62 0.000 16386 0.000 0.000 184 2225 2197 2136 2259 0 0 0 0 0 0 14.53 28.83 14.55

148 -0.57 -145.9 185 2225 2140 2260 4.4 -7.1 9 201 12.98 2.83 -32.47 0.000 19236 0.453 2.166 2385 795 3962 3945 3979 1 0 0 0 0 0 13.30 12.62 14.09

381 -0.72 -145.9 2386 796 3951 3979 52.1 -12.5 55 386 0.12 2.47 0.00 0.000 5254 0.123 0.086 2334 2185 3964 3950 3979 0 0 0 0 0 0 14.14 13.97 14.24

712 -0.78 -145.9 2334 2186 3952 3981 104.1 -12.5 87 717 0.00 2.55 0.00 0.000 388 0.000 0.089 2333 3616 3965 3951 3979 0 0 0 0 0 0 14.62 14.05 14.63

813 -0.96 -145.9 2336 3615 3952 3980 114.6 -9.7 107 818 0.20 2.42 0.00 0.000 5286 0.098 0.054 2253 2195 3964 3949 3979 0 0 0 0 0 0 14.19 14.03 14.28

1133 -0.93 -145.9 2253 2195 3953 3979 170.5 -16.9 121 1134 0.00 0.00 0.00 0.000 134 0.000 0.000 2252 2195 3965 3951 3979 0 0 0 0 0 0 14.67 14.66 14.66

1433 -0.93 -145.9 2253 2196 3952 3980 217.5 -15.0 131 1438 0.00 2.53 0.00 0.000 260 0.000 0.086 2244 3620 3965 3952 3979 0 0 0 0 0 0 14.65 14.09 14.66

1539 -1.02 -145.9 2244 3621 3952 3980 231.4 -12.7 152 1544 0.00 2.42 0.00 0.000 1158 0.000 0.060 2244 2196 3965 3951 3979 0 0 0 0 0 0 14.28 14.15 14.33

1855 -1.04 -145.9 2244 2195 3952 3979 274.0 -12.7 165 1856 0.00 0.00 0.00 0.000 134 0.000 0.000 2244 2195 3965 3951 3979 0 0 0 0 0 0 14.64 14.66 14.69

2155 -1.08 -145.9 2244 2196 3952 3981 309.4 -11.5 175 2160 0.00 2.53 0.00 0.000 388 0.000 0.088 2236 3616 3964 3950 3979 0 0 0 0 0 0 14.65 14.08 14.65

2210 -1.20 -145.9 2236 3617 3952 3980 315.5 -10.5 186 2217 0.15 2.42 0.00 0.000 5254 0.119 0.057 2178 2198 3966 3950 3983 0 0 0 0 0 0 14.02 13.94 14.09

2516 -1.13 -145.9 2181 2196 3952 3978 364.3 -16.1 197 2521 0.12 2.53 0.00 0.000 2436 0.295 0.084 2198 3622 3964 3951 3978 0 0 0 0 0 0 13.85 14.07 14.00

2623 -1.16 -145.9 2198 3623 3951 3979 378.5 -12.6 218 2628 0.00 2.42 0.00 0.000 1158 0.000 0.058 2198 2200 3964 3951 3978 0 0 0 0 0 0 14.28 14.13 14.31

2939 -1.14 -145.9 2199 2200 3951 3977 422.4 -13.9 231 2940 0.00 0.00 0.00 0.000 134 0.000 0.000 2198 2200 3964 3951 3977 0 0 0 0 0 0 14.63 14.65 14.68

3238 -1.14 -145.9 2199 2200 3952 3978 463.4 -13.6 241 3243 0.00 2.50 0.00 0.000 260 0.000 0.089 2196 3613 3964 3951 3977 0 0 0 0 0 0 14.64 14.04 14.64

3356 -1.21 -145.9 2197 3614 3951 3977 477.8 -11.8 264 3363 0.00 2.40 0.00 0.000 1158 0.000 0.057 2196 2202 3963 3950 3977 0 0 0 0 0 0 14.21 14.07 14.25

3386 end dive: TARGET_DEPTH_EXCEEDED

state 3386 begin apogee

3393 -0.13 0.0 2197 2059 3955 3977 482.3 -12.5 266 3617 1.33 0.08 220.82 1.420 10246 0.236 0.182 2527 2114 3366 3387 3345 0 0 0 0 0 0 13.69 13.52 12.69

3621 end apogee: CONTROL_FINISHED_OK

state 3621 begin climb

3625 0.57 145.9 2528 2114 3376 3333 494.0 0.0 273 3848 0.75 2.62 209.43 1.363 11012 0.059 0.073 2783 3506 2757 2801 2714 0 0 0 0 0 0 13.74 13.14 12.26

3869 0.06 145.9 2784 3506 2790 2716 504.7 10.6 315 3874 0.95 2.50 0.00 0.000 5254 0.346 0.055 2610 2132 2750 2789 2711 0 0 0 0 0 0 12.97 13.28 13.34

4202 -0.03 192.6 2611 2131 2790 2709 477.8 7.8 331 4276 0.15 2.58 68.72 1.391 12964 0.277 0.086 2580 701 2573 2630 2517 0 0 0 0 0 0 13.76 13.62 12.98

4291 0.01 248.8 2580 701 2619 2509 471.1 7.4 339 4383 0.00 2.50 86.05 1.350 9254 0.000 0.080 2580 2094 2351 2410 2292 0 0 0 0 0 0 13.95 13.85 12.83

4682 0.08 281.6 2580 2092 2390 2272 438.1 8.5 367 4733 0.00 0.00 49.38 1.380 8358 0.000 0.000 2580 2094 2215 2270 2160 0 0 0 0 0 0 14.51 13.95 13.12

5012 0.17 316.6 2581 2095 2255 2141 410.3 8.4 378 5073 0.15 2.50 53.92 1.366 10916 0.125 0.088 2657 697 2068 2118 2018 0 0 0 0 0 0 14.26 13.77 13.16

5105 0.15 316.6 2657 696 2102 2016 398.4 13.7 396 5110 0.00 2.47 0.00 0.000 1158 0.000 0.079 2657 2102 2059 2105 2014 0 0 0 0 0 0 14.18 14.05 14.22

5436 0.10 316.6 2658 2103 2105 2006 352.4 13.6 412 5441 0.15 2.47 0.00 0.000 4740 0.250 0.084 2629 692 2054 2104 2005 0 0 0 0 0 0 13.97 14.15 14.12

5461 0.10 316.6 2630 693 2103 2006 349.3 12.1 417 5467 0.00 2.47 0.00 0.000 1030 0.000 0.079 2631 2099 2053 2102 2005 0 0 0 0 0 0 14.14 14.01 14.17

5766 0.10 316.6 2629 2101 2101 2005 316.7 10.5 428 5767 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2100 2051 2098 2004 0 0 0 0 0 0 14.63 14.64 14.64

6066 0.10 316.6 2630 2100 2103 2003 284.8 10.5 438 6072 0.00 2.47 0.00 0.000 516 0.000 0.089 2630 692 2051 2100 2003 0 0 0 0 0 0 14.65 14.15 14.67

6092 0.14 316.6 2630 693 2101 2004 282.2 10.3 443 6098 0.00 2.47 0.00 0.000 1158 0.000 0.077 2630 2102 2050 2097 2003 0 0 0 0 0 0 14.27 14.12 14.32

6398 0.18 334.5 2631 2103 2102 2003 253.0 9.2 454 6428 0.00 2.50 23.27 1.436 8868 0.000 0.087 2630 695 1995 2042 1949 0 0 0 0 0 0 14.62 14.14 13.28

6481 0.32 371.7 2631 694 2035 1948 245.8 8.3 470 6555 0.17 2.47 66.07 1.287 11430 0.101 0.079 2698 2108 1846 1875 1817 0 0 0 0 0 0 14.16 14.04 13.13

6880 0.28 371.7 2699 2109 1860 1804 195.8 12.2 500 6885 0.00 2.50 0.00 0.000 644 0.000 0.088 2698 697 1831 1859 1804 0 0 0 0 0 0 14.52 14.04 14.56

6930 0.28 371.7 2698 698 1858 1805 190.0 11.2 510 6936 0.00 2.47 0.00 0.000 1030 0.000 0.077 2699 2106 1830 1857 1804 0 0 0 0 0 0 14.11 13.99 14.15

7242 0.25 371.7 2699 2108 1859 1804 154.5 11.1 522 7248 0.12 2.50 0.00 0.000 4740 0.224 0.086 2672 691 1829 1856 1803 0 0 0 0 0 0 14.06 14.13 14.17

7278 0.36 398.2 2673 691 1855 1803 151.1 8.8 529 7329 0.00 2.50 42.47 1.288 9382 0.000 0.079 2673 2103 1736 1760 1713 0 0 0 0 0 0 14.22 14.07 13.20

7636 0.44 437.4 2673 2103 1753 1700 120.9 8.2 550 7714 0.12 2.58 69.05 1.219 10916 0.131 0.090 2740 700 1575 1601 1549 0 0 0 0 0 0 14.28 13.99 13.21

7769 0.44 437.4 2741 699 1592 1544 105.0 11.4 577 7774 0.00 2.50 0.00 0.000 1030 0.000 0.077 2740 2105 1567 1591 1544 0 0 0 0 0 0 14.16 14.04 14.20

8075 0.45 445.4 2741 2106 1592 1537 71.9 9.6 607 8086 0.00 2.55 1.92 0.272 8740 0.000 0.086 2747 701 1548 1581 1516 0 0 0 0 0 0 14.54 14.06 13.57

8136 0.54 496.1 2740 702 1585 1527 67.0 7.7 619 8172 0.00 2.47 28.85 0.399 9382 0.000 0.077 2740 2107 1340 1384 1296 0 0 0 0 0 0 14.21 14.06 13.62

8478 0.70 606.0 2740 2107 1386 1301 44.9 4.9 657 8542 0.17 2.60 58.78 0.329 10916 0.102 0.090 2815 688 892 959 826 0 0 0 0 0 0 14.12 14.05 13.68

8590 0.76 606.0 2816 688 961 831 34.8 10.0 678 8597 0.00 2.50 0.00 0.000 1158 0.000 0.076 2815 2110 895 960 831 0 0 0 0 0 0 14.12 14.08 14.13

8912 0.87 679.3 2816 2110 960 830 12.2 6.6 709 8959 0.12 2.58 40.17 0.235 10916 0.125 0.093 2879 686 594 634 555 0 0 0 0 0 0 14.13 13.93 13.67

8989 0.87 679.3 2879 690 636 556 2.2 12.9 724 8995 0.00 2.50 0.00 0.000 1030 0.000 0.072 2879 2108 595 636 554 0 0 0 0 0 0 14.04 13.94 14.09

9002 end climb: SURFACE_DEPTH_REACHED

state 9002 begin surface coast

9012 end surface coast: CONTROL_FINISHED_OK

state 9012 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	354	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	990.0
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	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,212436,7442.4141,-15112.4277,12,0.7,21,20.6,0.7,68.8,12,9.5	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	1.17	MHEAD_RNG_PITCHd_Wd	213.6,89536,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.2	D_GRID	480
GPS2	160917,213120,7442.3984,-15112.5303,39,0.8,40,20.6,0.8,124.2,11,6.5

FINISH	0.1,1.011003	_24V_AH	12.26,214.396
SM_CCo	9033,15.50,0.206,0,0,498,702.78	_10V_AH	12.27,0.000
SM_GC	1.37,8.38,0.17,15.50,0.076,0.119,0.206,202,2221,498,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.12,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	13	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323532
IRIDIUM_FIX	7441.80,-15114.92,160917,184246	DATA_FILE_SIZE	26737,727
TT8_MAMPS	0.085386,0.952728	CAP_FILE_SIZE	99673,0
HUMID	46.49	CFSIZE	2097872896,1987051520
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1447.6
XPDR_PINGS	16	CURRENT	0.032,323.72,1
CP_FREE	15920758784.000000	GPS	170917,000351,7441.949,-15117.243,16,0.8,22,20.5,0.3,255.2,9,9.9
PM_FREEKB_00	46281344

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	145.19	nil	0	0	0.00
Roll_motor	90	2165	2409.56	nil	0	0	0.00
VBD_pump_during_apogee	1018	1435	17937.35	nil	0	0	0.00
VBD_pump_during_surface	15	205	39.11	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	9002	14	1595.43
Iridium_during_xfer	177	133	290.03	NCP	9001	20	2207.05
Transponder_ping	4	420	20.60	PMAR	8986	11	1216.48
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.50
TT8	0	0	0.00
LPSleep	6424	2	182.10
TT8_Active	1031	13	176.88
TT8_Sampling	1734	33	711.69
TT8_CF8	274	38	130.14
TT8_Kalman	0	0	0.00
Analog_circuits	1932	10	237.16
GPS_charging	0	0	0.00
Compass	1043	7	89.60
RAFOS	2157	48	1270.39
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	186	2225	512	494	0.0	0.0	0	145	0.00	0.00	-91.62	0.000	16386	0.000	0.000	184	2225	2197	2136	2259	0	0	0	0	0	0	14.53	28.83	14.55
148	-0.57	-145.9	185	2225	2140	2260	4.4	-7.1	9	201	12.98	2.83	-32.47	0.000	19236	0.453	2.166	2385	795	3962	3945	3979	1	0	0	0	0	0	13.30	12.62	14.09
381	-0.72	-145.9	2386	796	3951	3979	52.1	-12.5	55	386	0.12	2.47	0.00	0.000	5254	0.123	0.086	2334	2185	3964	3950	3979	0	0	0	0	0	0	14.14	13.97	14.24
712	-0.78	-145.9	2334	2186	3952	3981	104.1	-12.5	87	717	0.00	2.55	0.00	0.000	388	0.000	0.089	2333	3616	3965	3951	3979	0	0	0	0	0	0	14.62	14.05	14.63
813	-0.96	-145.9	2336	3615	3952	3980	114.6	-9.7	107	818	0.20	2.42	0.00	0.000	5286	0.098	0.054	2253	2195	3964	3949	3979	0	0	0	0	0	0	14.19	14.03	14.28
1133	-0.93	-145.9	2253	2195	3953	3979	170.5	-16.9	121	1134	0.00	0.00	0.00	0.000	134	0.000	0.000	2252	2195	3965	3951	3979	0	0	0	0	0	0	14.67	14.66	14.66
1433	-0.93	-145.9	2253	2196	3952	3980	217.5	-15.0	131	1438	0.00	2.53	0.00	0.000	260	0.000	0.086	2244	3620	3965	3952	3979	0	0	0	0	0	0	14.65	14.09	14.66
1539	-1.02	-145.9	2244	3621	3952	3980	231.4	-12.7	152	1544	0.00	2.42	0.00	0.000	1158	0.000	0.060	2244	2196	3965	3951	3979	0	0	0	0	0	0	14.28	14.15	14.33
1855	-1.04	-145.9	2244	2195	3952	3979	274.0	-12.7	165	1856	0.00	0.00	0.00	0.000	134	0.000	0.000	2244	2195	3965	3951	3979	0	0	0	0	0	0	14.64	14.66	14.69
2155	-1.08	-145.9	2244	2196	3952	3981	309.4	-11.5	175	2160	0.00	2.53	0.00	0.000	388	0.000	0.088	2236	3616	3964	3950	3979	0	0	0	0	0	0	14.65	14.08	14.65
2210	-1.20	-145.9	2236	3617	3952	3980	315.5	-10.5	186	2217	0.15	2.42	0.00	0.000	5254	0.119	0.057	2178	2198	3966	3950	3983	0	0	0	0	0	0	14.02	13.94	14.09
2516	-1.13	-145.9	2181	2196	3952	3978	364.3	-16.1	197	2521	0.12	2.53	0.00	0.000	2436	0.295	0.084	2198	3622	3964	3951	3978	0	0	0	0	0	0	13.85	14.07	14.00
2623	-1.16	-145.9	2198	3623	3951	3979	378.5	-12.6	218	2628	0.00	2.42	0.00	0.000	1158	0.000	0.058	2198	2200	3964	3951	3978	0	0	0	0	0	0	14.28	14.13	14.31
2939	-1.14	-145.9	2199	2200	3951	3977	422.4	-13.9	231	2940	0.00	0.00	0.00	0.000	134	0.000	0.000	2198	2200	3964	3951	3977	0	0	0	0	0	0	14.63	14.65	14.68
3238	-1.14	-145.9	2199	2200	3952	3978	463.4	-13.6	241	3243	0.00	2.50	0.00	0.000	260	0.000	0.089	2196	3613	3964	3951	3977	0	0	0	0	0	0	14.64	14.04	14.64
3356	-1.21	-145.9	2197	3614	3951	3977	477.8	-11.8	264	3363	0.00	2.40	0.00	0.000	1158	0.000	0.057	2196	2202	3963	3950	3977	0	0	0	0	0	0	14.21	14.07	14.25
3386	end dive: TARGET_DEPTH_EXCEEDED
state	3386	begin apogee
3393	-0.13	0.0	2197	2059	3955	3977	482.3	-12.5	266	3617	1.33	0.08	220.82	1.420	10246	0.236	0.182	2527	2114	3366	3387	3345	0	0	0	0	0	0	13.69	13.52	12.69
3621	end apogee: CONTROL_FINISHED_OK
state	3621	begin climb
3625	0.57	145.9	2528	2114	3376	3333	494.0	0.0	273	3848	0.75	2.62	209.43	1.363	11012	0.059	0.073	2783	3506	2757	2801	2714	0	0	0	0	0	0	13.74	13.14	12.26
3869	0.06	145.9	2784	3506	2790	2716	504.7	10.6	315	3874	0.95	2.50	0.00	0.000	5254	0.346	0.055	2610	2132	2750	2789	2711	0	0	0	0	0	0	12.97	13.28	13.34
4202	-0.03	192.6	2611	2131	2790	2709	477.8	7.8	331	4276	0.15	2.58	68.72	1.391	12964	0.277	0.086	2580	701	2573	2630	2517	0	0	0	0	0	0	13.76	13.62	12.98
4291	0.01	248.8	2580	701	2619	2509	471.1	7.4	339	4383	0.00	2.50	86.05	1.350	9254	0.000	0.080	2580	2094	2351	2410	2292	0	0	0	0	0	0	13.95	13.85	12.83
4682	0.08	281.6	2580	2092	2390	2272	438.1	8.5	367	4733	0.00	0.00	49.38	1.380	8358	0.000	0.000	2580	2094	2215	2270	2160	0	0	0	0	0	0	14.51	13.95	13.12
5012	0.17	316.6	2581	2095	2255	2141	410.3	8.4	378	5073	0.15	2.50	53.92	1.366	10916	0.125	0.088	2657	697	2068	2118	2018	0	0	0	0	0	0	14.26	13.77	13.16
5105	0.15	316.6	2657	696	2102	2016	398.4	13.7	396	5110	0.00	2.47	0.00	0.000	1158	0.000	0.079	2657	2102	2059	2105	2014	0	0	0	0	0	0	14.18	14.05	14.22
5436	0.10	316.6	2658	2103	2105	2006	352.4	13.6	412	5441	0.15	2.47	0.00	0.000	4740	0.250	0.084	2629	692	2054	2104	2005	0	0	0	0	0	0	13.97	14.15	14.12
5461	0.10	316.6	2630	693	2103	2006	349.3	12.1	417	5467	0.00	2.47	0.00	0.000	1030	0.000	0.079	2631	2099	2053	2102	2005	0	0	0	0	0	0	14.14	14.01	14.17
5766	0.10	316.6	2629	2101	2101	2005	316.7	10.5	428	5767	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2100	2051	2098	2004	0	0	0	0	0	0	14.63	14.64	14.64
6066	0.10	316.6	2630	2100	2103	2003	284.8	10.5	438	6072	0.00	2.47	0.00	0.000	516	0.000	0.089	2630	692	2051	2100	2003	0	0	0	0	0	0	14.65	14.15	14.67
6092	0.14	316.6	2630	693	2101	2004	282.2	10.3	443	6098	0.00	2.47	0.00	0.000	1158	0.000	0.077	2630	2102	2050	2097	2003	0	0	0	0	0	0	14.27	14.12	14.32
6398	0.18	334.5	2631	2103	2102	2003	253.0	9.2	454	6428	0.00	2.50	23.27	1.436	8868	0.000	0.087	2630	695	1995	2042	1949	0	0	0	0	0	0	14.62	14.14	13.28
6481	0.32	371.7	2631	694	2035	1948	245.8	8.3	470	6555	0.17	2.47	66.07	1.287	11430	0.101	0.079	2698	2108	1846	1875	1817	0	0	0	0	0	0	14.16	14.04	13.13
6880	0.28	371.7	2699	2109	1860	1804	195.8	12.2	500	6885	0.00	2.50	0.00	0.000	644	0.000	0.088	2698	697	1831	1859	1804	0	0	0	0	0	0	14.52	14.04	14.56
6930	0.28	371.7	2698	698	1858	1805	190.0	11.2	510	6936	0.00	2.47	0.00	0.000	1030	0.000	0.077	2699	2106	1830	1857	1804	0	0	0	0	0	0	14.11	13.99	14.15
7242	0.25	371.7	2699	2108	1859	1804	154.5	11.1	522	7248	0.12	2.50	0.00	0.000	4740	0.224	0.086	2672	691	1829	1856	1803	0	0	0	0	0	0	14.06	14.13	14.17
7278	0.36	398.2	2673	691	1855	1803	151.1	8.8	529	7329	0.00	2.50	42.47	1.288	9382	0.000	0.079	2673	2103	1736	1760	1713	0	0	0	0	0	0	14.22	14.07	13.20
7636	0.44	437.4	2673	2103	1753	1700	120.9	8.2	550	7714	0.12	2.58	69.05	1.219	10916	0.131	0.090	2740	700	1575	1601	1549	0	0	0	0	0	0	14.28	13.99	13.21
7769	0.44	437.4	2741	699	1592	1544	105.0	11.4	577	7774	0.00	2.50	0.00	0.000	1030	0.000	0.077	2740	2105	1567	1591	1544	0	0	0	0	0	0	14.16	14.04	14.20
8075	0.45	445.4	2741	2106	1592	1537	71.9	9.6	607	8086	0.00	2.55	1.92	0.272	8740	0.000	0.086	2747	701	1548	1581	1516	0	0	0	0	0	0	14.54	14.06	13.57
8136	0.54	496.1	2740	702	1585	1527	67.0	7.7	619	8172	0.00	2.47	28.85	0.399	9382	0.000	0.077	2740	2107	1340	1384	1296	0	0	0	0	0	0	14.21	14.06	13.62
8478	0.70	606.0	2740	2107	1386	1301	44.9	4.9	657	8542	0.17	2.60	58.78	0.329	10916	0.102	0.090	2815	688	892	959	826	0	0	0	0	0	0	14.12	14.05	13.68
8590	0.76	606.0	2816	688	961	831	34.8	10.0	678	8597	0.00	2.50	0.00	0.000	1158	0.000	0.076	2815	2110	895	960	831	0	0	0	0	0	0	14.12	14.08	14.13
8912	0.87	679.3	2816	2110	960	830	12.2	6.6	709	8959	0.12	2.58	40.17	0.235	10916	0.125	0.093	2879	686	594	634	555	0	0	0	0	0	0	14.13	13.93	13.67
8989	0.87	679.3	2879	690	636	556	2.2	12.9	724	8995	0.00	2.50	0.00	0.000	1030	0.000	0.072	2879	2108	595	636	554	0	0	0	0	0	0	14.04	13.94	14.09
9002	end climb: SURFACE_DEPTH_REACHED
state	9002	begin surface coast
9012	end surface coast: CONTROL_FINISHED_OK
state	9012	begin surface