Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 359 * 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 359 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 1002.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 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 1002.0 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 30 VBD_MIN 500

DIVE 359 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 170917,113031,7440.1543,-15135.5420,31,0.7,34,20.4,0.0,0.0,11,10.0 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 1.14 MHEAD_RNG_PITCHd_Wd 215.1,77495,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.3 D_GRID 480

GPS2 170917,114216,7440.1816,-15135.6367,18,0.8,18,20.4,0.0,0.0,10,8.3

Post-dive calculations and measurements:

FINISH 1.2,1.021195 _24V_AH 12.24,216.943

SM_CCo 9057,0.00,0.000,0,0,499,703.52 _10V_AH 12.25,0.000

SM_GC 1.05,8.38,2.65,0.00,0.080,0.071,0.000,200,2206,499,-7.38,-0.65,703.52,0,0,0,0,0,0,14.25,14.17,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 366 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323372

IRIDIUM_FIX 7442.95,-15140.30,170917,084359 DATA_FILE_SIZE 26786,742

TT8_MAMPS 0.040446,0.916027 CAP_FILE_SIZE 101543,0

HUMID 47.24 CFSIZE 2097872896,1985675264

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

TCM_TEMP 13.00 SOUNDSPEED 1447.9

XPDR_PINGS 7 CURRENT 0.018,9.02,1

CP_FREE 15918366720.000000 GPS 170917,141503,7439.716,-15139.986,33,0.8,34,20.3,0.0,0.0,9,8.4

PM_FREEKB_00 46126656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 452 149.83 nil 0 0 0.00

Roll_motor 85 2168 2271.52 nil 0 0 0.00

VBD_pump_during_apogee 1032 1530 19336.60 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9009 14 1596.16

Iridium_during_xfer 416 173 885.23 NCP 5511 20 1349.09

Transponder_ping 1 420 9.00 PMAR 8930 9 1085.38

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.42

TT8 0 0 0.00

LPSleep 6408 2 181.35

TT8_Active 1032 13 176.76

TT8_Sampling 1970 33 807.38

TT8_CF8 356 38 168.97

TT8_Kalman 0 0 0.00

Analog_circuits 2164 10 265.20

GPS_charging 0 0 0.00

Compass 1064 7 91.28

RAFOS 2207 48 1297.72

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 -145.9 183 2228 502 502 0.0 0.0 0 160 0.00 0.00 -91.62 0.000 16386 0.000 0.000 182 2230 2201 2142 2260 0 0 0 0 0 0 14.50 28.83 14.52

164 -0.57 -145.9 183 2228 2145 2262 4.6 -7.2 9 216 12.95 2.85 -31.58 0.000 18980 0.452 2.168 2384 799 3964 3949 3980 0 0 0 0 0 0 13.50 12.59 13.96

377 -0.71 -145.9 2384 799 3953 3982 51.4 -12.8 51 382 0.00 2.45 0.00 0.000 1158 0.000 0.086 2384 2179 3966 3952 3980 0 0 0 0 0 0 14.27 14.13 14.32

687 -0.86 -145.9 2384 2180 3954 3980 89.0 -10.0 83 693 0.22 2.55 0.00 0.000 4516 0.096 0.086 2281 3617 3967 3954 3981 0 0 0 0 0 0 14.19 14.04 14.25

848 -0.95 -145.9 2282 3619 3955 3980 111.6 -13.2 115 853 0.00 2.40 0.00 0.000 1158 0.000 0.060 2281 2207 3968 3954 3982 0 0 0 0 0 0 14.31 14.16 14.35

1171 -0.98 -145.9 2282 2205 3954 3980 159.6 -14.3 129 1171 0.00 0.00 0.00 0.000 134 0.000 0.000 2281 2205 3969 3953 3986 0 0 0 0 0 0 14.47 14.48 14.49

1468 -1.03 -145.9 2281 2206 3953 3981 199.0 -12.7 139 1473 0.00 2.53 0.00 0.000 388 0.000 0.086 2279 3614 3970 3960 3980 0 0 0 0 0 0 14.47 13.97 14.49

1519 -1.19 -145.9 2280 3614 3955 3980 204.7 -10.4 149 1524 0.28 2.45 0.00 0.000 5254 0.090 0.058 2174 2191 3966 3953 3980 0 0 0 0 0 0 14.05 13.96 14.14

1830 -1.06 -145.9 2174 2190 3955 3981 270.2 -20.6 161 1835 0.22 2.55 0.00 0.000 2436 0.282 0.083 2217 3614 3966 3953 3980 0 0 0 0 0 0 13.61 13.95 13.81

1910 -1.12 -145.9 2216 3615 3954 3981 282.3 -12.8 177 1915 0.00 2.45 0.00 0.000 1158 0.000 0.058 2216 2195 3966 3953 3980 0 0 0 0 0 0 14.12 14.01 14.18

2221 -1.12 -145.9 2216 2195 3954 3981 325.4 -13.5 189 2225 0.00 2.55 0.00 0.000 260 0.000 0.085 2210 3616 3966 3953 3980 0 0 0 0 0 0 14.44 13.92 14.45

2326 -1.20 -145.9 2211 3616 3955 3980 338.4 -11.4 210 2331 0.00 2.45 0.00 0.000 1158 0.000 0.057 2210 2196 3967 3954 3980 0 0 0 0 0 0 14.12 13.99 14.16

2641 -1.20 -145.9 2210 2195 3955 3980 380.7 -13.5 223 2646 0.00 2.55 0.00 0.000 260 0.000 0.086 2212 3614 3966 3953 3980 0 0 0 0 0 0 14.45 13.90 14.46

2696 -1.27 -145.9 2208 3615 3954 3981 387.7 -12.3 234 2703 0.12 2.45 0.00 0.000 5254 0.131 0.057 2159 2198 3966 3953 3980 0 0 0 0 0 0 14.02 13.97 14.12

3002 -1.17 -145.9 2159 2198 3954 3984 442.4 -18.1 245 3007 0.17 2.55 0.00 0.000 2436 0.312 0.081 2185 3618 3966 3953 3979 0 0 0 0 0 0 13.50 13.88 13.73

3077 -1.20 -145.9 2186 3622 3953 3981 453.5 -13.5 260 3083 0.00 2.45 0.00 0.000 1158 0.000 0.058 2185 2200 3966 3953 3980 0 0 0 0 0 0 14.10 13.96 14.14

3271 end dive: TARGET_DEPTH_EXCEEDED

state 3271 begin apogee

3277 -0.13 0.0 2185 2059 3953 3981 482.8 -15.1 269 3514 1.40 0.08 226.60 1.390 10246 0.241 0.177 2529 2115 3356 3366 3346 0 0 0 0 0 0 13.60 13.40 12.59

3518 end apogee: CONTROL_FINISHED_OK

state 3518 begin climb

3521 0.57 145.9 2530 2115 3368 3342 497.2 0.0 277 3741 0.75 2.62 208.57 1.363 10500 0.060 0.072 2785 3508 2761 2791 2732 0 0 0 0 0 0 13.66 13.11 12.24

3817 0.06 145.9 2785 3510 2775 2727 504.2 13.4 333 3822 0.95 2.47 0.00 0.000 5254 0.347 0.055 2610 2122 2750 2774 2726 0 0 0 0 0 0 13.08 13.46 13.46

4138 -0.03 204.5 2608 2126 2775 2718 479.7 7.3 347 4229 0.15 0.00 88.55 1.372 12454 0.278 0.000 2580 2125 2530 2581 2480 0 0 0 0 0 0 13.74 13.81 12.98

4527 0.01 252.8 2580 2126 2569 2452 450.1 7.8 360 4607 0.00 2.62 72.35 1.375 8740 0.000 0.089 2587 695 2327 2374 2281 0 0 0 0 0 0 14.54 13.93 13.09

4650 0.14 296.5 2580 696 2365 2274 440.6 8.0 384 4727 0.15 2.50 68.15 1.324 11430 0.122 0.080 2648 2097 2150 2195 2105 0 0 0 0 0 0 14.09 14.03 13.00

5038 0.08 296.5 2649 2097 2182 2087 390.0 13.3 412 5043 0.15 2.47 0.00 0.000 4740 0.239 0.084 2616 695 2135 2183 2087 0 0 0 0 0 0 13.96 14.12 14.13

5069 0.11 296.5 2616 695 2180 2087 386.4 10.4 418 5074 0.00 2.45 0.00 0.000 1158 0.000 0.078 2617 2100 2133 2179 2087 0 0 0 0 0 0 14.29 14.16 14.33

5399 0.11 296.5 2616 2101 2180 2085 352.1 10.3 434 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2616 2100 2132 2179 2085 0 0 0 0 0 0 14.62 14.65 14.66

5699 0.11 297.8 2616 2101 2180 2084 322.0 9.9 444 5705 0.00 2.47 0.00 0.000 548 0.000 0.088 2614 701 2128 2173 2084 0 0 0 0 0 0 14.63 14.14 14.66

5761 0.20 316.3 2616 701 2178 2084 316.2 9.1 456 5793 0.00 2.45 25.95 1.413 9382 0.000 0.077 2616 2103 2072 2116 2029 0 0 0 0 0 0 14.21 14.17 13.26

6093 0.24 327.1 2617 2103 2105 2015 284.5 9.5 472 6106 0.12 0.00 10.85 1.531 10406 0.123 0.000 2676 2108 2033 2076 1990 0 0 0 0 0 0 14.27 14.12 13.28

6391 0.17 327.1 2677 2104 2066 1980 246.9 12.2 482 6396 0.15 2.47 0.00 0.000 4740 0.244 0.084 2644 700 2021 2065 1978 0 0 0 0 0 0 14.00 14.08 14.14

6452 0.25 352.4 2644 701 2064 1978 241.1 8.8 494 6501 0.00 2.45 43.92 1.335 9382 0.000 0.078 2644 2101 1927 1964 1891 0 0 0 0 0 0 14.16 14.03 13.21

6814 0.31 381.9 2644 2101 1947 1878 209.1 8.6 516 6866 0.12 0.00 49.75 1.294 10918 0.123 0.000 2705 2109 1809 1832 1787 0 0 0 0 0 0 14.16 14.01 13.22

7144 0.27 381.9 2705 2101 1816 1769 169.4 11.8 532 7150 0.12 2.47 0.00 0.000 4740 0.230 0.087 2674 701 1791 1814 1768 0 0 0 0 0 0 13.92 14.11 14.03

7200 0.37 404.7 2675 700 1813 1768 163.8 8.9 543 7241 0.00 2.45 35.22 1.287 9382 0.000 0.077 2674 2102 1714 1735 1693 0 0 0 0 0 0 14.26 14.12 13.24

7569 0.45 434.7 2673 2103 1726 1675 131.2 8.6 566 7628 0.12 2.55 50.47 1.248 10916 0.129 0.089 2745 697 1587 1611 1563 0 0 0 0 0 0 14.29 14.04 13.24

7678 0.45 434.7 2746 697 1603 1560 117.4 12.1 588 7684 0.00 2.47 0.00 0.000 1030 0.000 0.078 2745 2102 1581 1603 1559 0 0 0 0 0 0 14.21 14.10 14.28

7992 0.41 434.7 2746 2102 1604 1551 79.8 10.5 610 7997 0.12 2.50 0.00 0.000 4740 0.233 0.086 2714 695 1575 1602 1548 0 0 0 0 0 0 14.01 14.07 14.13

8085 0.56 511.0 2715 695 1602 1550 72.9 6.5 628 8133 0.15 2.47 40.55 0.412 11430 0.112 0.077 2778 2105 1279 1325 1234 0 0 0 0 0 0 14.23 14.15 13.64

8439 0.59 562.7 2779 2106 1327 1239 42.0 7.6 668 8475 0.00 2.53 29.70 0.319 8740 0.000 0.088 2781 693 1070 1129 1012 0 0 0 0 0 0 14.57 14.03 13.66

8495 0.67 599.4 2783 694 1130 1016 37.6 8.3 677 8523 0.00 2.47 21.77 0.310 9382 0.000 0.077 2781 2106 919 983 855 0 0 0 0 0 0 14.23 14.10 13.74

8820 0.91 733.0 2781 2106 988 865 17.2 3.8 712 8890 0.25 2.55 59.60 0.248 10916 0.090 0.092 2890 708 497 513 482 0 0 0 0 0 0 14.09 13.94 13.84

8962 end climb: SURFACE_DEPTH_REACHED

state 8962 begin surface coast

8972 end surface coast: CONTROL_FINISHED_OK

state 8973 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	359	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	1002.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,113031,7440.1543,-15135.5420,31,0.7,34,20.4,0.0,0.0,11,10.0	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	1.14	MHEAD_RNG_PITCHd_Wd	215.1,77495,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.3	D_GRID	480
GPS2	170917,114216,7440.1816,-15135.6367,18,0.8,18,20.4,0.0,0.0,10,8.3

FINISH	1.2,1.021195	_24V_AH	12.24,216.943
SM_CCo	9057,0.00,0.000,0,0,499,703.52	_10V_AH	12.25,0.000
SM_GC	1.05,8.38,2.65,0.00,0.080,0.071,0.000,200,2206,499,-7.38,-0.65,703.52,0,0,0,0,0,0,14.25,14.17,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	366	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323372
IRIDIUM_FIX	7442.95,-15140.30,170917,084359	DATA_FILE_SIZE	26786,742
TT8_MAMPS	0.040446,0.916027	CAP_FILE_SIZE	101543,0
HUMID	47.24	CFSIZE	2097872896,1985675264
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.00	SOUNDSPEED	1447.9
XPDR_PINGS	7	CURRENT	0.018,9.02,1
CP_FREE	15918366720.000000	GPS	170917,141503,7439.716,-15139.986,33,0.8,34,20.3,0.0,0.0,9,8.4
PM_FREEKB_00	46126656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	452	149.83	nil	0	0	0.00
Roll_motor	85	2168	2271.52	nil	0	0	0.00
VBD_pump_during_apogee	1032	1530	19336.60	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9009	14	1596.16
Iridium_during_xfer	416	173	885.23	NCP	5511	20	1349.09
Transponder_ping	1	420	9.00	PMAR	8930	9	1085.38
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.42
TT8	0	0	0.00
LPSleep	6408	2	181.35
TT8_Active	1032	13	176.76
TT8_Sampling	1970	33	807.38
TT8_CF8	356	38	168.97
TT8_Kalman	0	0	0.00
Analog_circuits	2164	10	265.20
GPS_charging	0	0	0.00
Compass	1064	7	91.28
RAFOS	2207	48	1297.72
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	183	2228	502	502	0.0	0.0	0	160	0.00	0.00	-91.62	0.000	16386	0.000	0.000	182	2230	2201	2142	2260	0	0	0	0	0	0	14.50	28.83	14.52
164	-0.57	-145.9	183	2228	2145	2262	4.6	-7.2	9	216	12.95	2.85	-31.58	0.000	18980	0.452	2.168	2384	799	3964	3949	3980	0	0	0	0	0	0	13.50	12.59	13.96
377	-0.71	-145.9	2384	799	3953	3982	51.4	-12.8	51	382	0.00	2.45	0.00	0.000	1158	0.000	0.086	2384	2179	3966	3952	3980	0	0	0	0	0	0	14.27	14.13	14.32
687	-0.86	-145.9	2384	2180	3954	3980	89.0	-10.0	83	693	0.22	2.55	0.00	0.000	4516	0.096	0.086	2281	3617	3967	3954	3981	0	0	0	0	0	0	14.19	14.04	14.25
848	-0.95	-145.9	2282	3619	3955	3980	111.6	-13.2	115	853	0.00	2.40	0.00	0.000	1158	0.000	0.060	2281	2207	3968	3954	3982	0	0	0	0	0	0	14.31	14.16	14.35
1171	-0.98	-145.9	2282	2205	3954	3980	159.6	-14.3	129	1171	0.00	0.00	0.00	0.000	134	0.000	0.000	2281	2205	3969	3953	3986	0	0	0	0	0	0	14.47	14.48	14.49
1468	-1.03	-145.9	2281	2206	3953	3981	199.0	-12.7	139	1473	0.00	2.53	0.00	0.000	388	0.000	0.086	2279	3614	3970	3960	3980	0	0	0	0	0	0	14.47	13.97	14.49
1519	-1.19	-145.9	2280	3614	3955	3980	204.7	-10.4	149	1524	0.28	2.45	0.00	0.000	5254	0.090	0.058	2174	2191	3966	3953	3980	0	0	0	0	0	0	14.05	13.96	14.14
1830	-1.06	-145.9	2174	2190	3955	3981	270.2	-20.6	161	1835	0.22	2.55	0.00	0.000	2436	0.282	0.083	2217	3614	3966	3953	3980	0	0	0	0	0	0	13.61	13.95	13.81
1910	-1.12	-145.9	2216	3615	3954	3981	282.3	-12.8	177	1915	0.00	2.45	0.00	0.000	1158	0.000	0.058	2216	2195	3966	3953	3980	0	0	0	0	0	0	14.12	14.01	14.18
2221	-1.12	-145.9	2216	2195	3954	3981	325.4	-13.5	189	2225	0.00	2.55	0.00	0.000	260	0.000	0.085	2210	3616	3966	3953	3980	0	0	0	0	0	0	14.44	13.92	14.45
2326	-1.20	-145.9	2211	3616	3955	3980	338.4	-11.4	210	2331	0.00	2.45	0.00	0.000	1158	0.000	0.057	2210	2196	3967	3954	3980	0	0	0	0	0	0	14.12	13.99	14.16
2641	-1.20	-145.9	2210	2195	3955	3980	380.7	-13.5	223	2646	0.00	2.55	0.00	0.000	260	0.000	0.086	2212	3614	3966	3953	3980	0	0	0	0	0	0	14.45	13.90	14.46
2696	-1.27	-145.9	2208	3615	3954	3981	387.7	-12.3	234	2703	0.12	2.45	0.00	0.000	5254	0.131	0.057	2159	2198	3966	3953	3980	0	0	0	0	0	0	14.02	13.97	14.12
3002	-1.17	-145.9	2159	2198	3954	3984	442.4	-18.1	245	3007	0.17	2.55	0.00	0.000	2436	0.312	0.081	2185	3618	3966	3953	3979	0	0	0	0	0	0	13.50	13.88	13.73
3077	-1.20	-145.9	2186	3622	3953	3981	453.5	-13.5	260	3083	0.00	2.45	0.00	0.000	1158	0.000	0.058	2185	2200	3966	3953	3980	0	0	0	0	0	0	14.10	13.96	14.14
3271	end dive: TARGET_DEPTH_EXCEEDED
state	3271	begin apogee
3277	-0.13	0.0	2185	2059	3953	3981	482.8	-15.1	269	3514	1.40	0.08	226.60	1.390	10246	0.241	0.177	2529	2115	3356	3366	3346	0	0	0	0	0	0	13.60	13.40	12.59
3518	end apogee: CONTROL_FINISHED_OK
state	3518	begin climb
3521	0.57	145.9	2530	2115	3368	3342	497.2	0.0	277	3741	0.75	2.62	208.57	1.363	10500	0.060	0.072	2785	3508	2761	2791	2732	0	0	0	0	0	0	13.66	13.11	12.24
3817	0.06	145.9	2785	3510	2775	2727	504.2	13.4	333	3822	0.95	2.47	0.00	0.000	5254	0.347	0.055	2610	2122	2750	2774	2726	0	0	0	0	0	0	13.08	13.46	13.46
4138	-0.03	204.5	2608	2126	2775	2718	479.7	7.3	347	4229	0.15	0.00	88.55	1.372	12454	0.278	0.000	2580	2125	2530	2581	2480	0	0	0	0	0	0	13.74	13.81	12.98
4527	0.01	252.8	2580	2126	2569	2452	450.1	7.8	360	4607	0.00	2.62	72.35	1.375	8740	0.000	0.089	2587	695	2327	2374	2281	0	0	0	0	0	0	14.54	13.93	13.09
4650	0.14	296.5	2580	696	2365	2274	440.6	8.0	384	4727	0.15	2.50	68.15	1.324	11430	0.122	0.080	2648	2097	2150	2195	2105	0	0	0	0	0	0	14.09	14.03	13.00
5038	0.08	296.5	2649	2097	2182	2087	390.0	13.3	412	5043	0.15	2.47	0.00	0.000	4740	0.239	0.084	2616	695	2135	2183	2087	0	0	0	0	0	0	13.96	14.12	14.13
5069	0.11	296.5	2616	695	2180	2087	386.4	10.4	418	5074	0.00	2.45	0.00	0.000	1158	0.000	0.078	2617	2100	2133	2179	2087	0	0	0	0	0	0	14.29	14.16	14.33
5399	0.11	296.5	2616	2101	2180	2085	352.1	10.3	434	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2616	2100	2132	2179	2085	0	0	0	0	0	0	14.62	14.65	14.66
5699	0.11	297.8	2616	2101	2180	2084	322.0	9.9	444	5705	0.00	2.47	0.00	0.000	548	0.000	0.088	2614	701	2128	2173	2084	0	0	0	0	0	0	14.63	14.14	14.66
5761	0.20	316.3	2616	701	2178	2084	316.2	9.1	456	5793	0.00	2.45	25.95	1.413	9382	0.000	0.077	2616	2103	2072	2116	2029	0	0	0	0	0	0	14.21	14.17	13.26
6093	0.24	327.1	2617	2103	2105	2015	284.5	9.5	472	6106	0.12	0.00	10.85	1.531	10406	0.123	0.000	2676	2108	2033	2076	1990	0	0	0	0	0	0	14.27	14.12	13.28
6391	0.17	327.1	2677	2104	2066	1980	246.9	12.2	482	6396	0.15	2.47	0.00	0.000	4740	0.244	0.084	2644	700	2021	2065	1978	0	0	0	0	0	0	14.00	14.08	14.14
6452	0.25	352.4	2644	701	2064	1978	241.1	8.8	494	6501	0.00	2.45	43.92	1.335	9382	0.000	0.078	2644	2101	1927	1964	1891	0	0	0	0	0	0	14.16	14.03	13.21
6814	0.31	381.9	2644	2101	1947	1878	209.1	8.6	516	6866	0.12	0.00	49.75	1.294	10918	0.123	0.000	2705	2109	1809	1832	1787	0	0	0	0	0	0	14.16	14.01	13.22
7144	0.27	381.9	2705	2101	1816	1769	169.4	11.8	532	7150	0.12	2.47	0.00	0.000	4740	0.230	0.087	2674	701	1791	1814	1768	0	0	0	0	0	0	13.92	14.11	14.03
7200	0.37	404.7	2675	700	1813	1768	163.8	8.9	543	7241	0.00	2.45	35.22	1.287	9382	0.000	0.077	2674	2102	1714	1735	1693	0	0	0	0	0	0	14.26	14.12	13.24
7569	0.45	434.7	2673	2103	1726	1675	131.2	8.6	566	7628	0.12	2.55	50.47	1.248	10916	0.129	0.089	2745	697	1587	1611	1563	0	0	0	0	0	0	14.29	14.04	13.24
7678	0.45	434.7	2746	697	1603	1560	117.4	12.1	588	7684	0.00	2.47	0.00	0.000	1030	0.000	0.078	2745	2102	1581	1603	1559	0	0	0	0	0	0	14.21	14.10	14.28
7992	0.41	434.7	2746	2102	1604	1551	79.8	10.5	610	7997	0.12	2.50	0.00	0.000	4740	0.233	0.086	2714	695	1575	1602	1548	0	0	0	0	0	0	14.01	14.07	14.13
8085	0.56	511.0	2715	695	1602	1550	72.9	6.5	628	8133	0.15	2.47	40.55	0.412	11430	0.112	0.077	2778	2105	1279	1325	1234	0	0	0	0	0	0	14.23	14.15	13.64
8439	0.59	562.7	2779	2106	1327	1239	42.0	7.6	668	8475	0.00	2.53	29.70	0.319	8740	0.000	0.088	2781	693	1070	1129	1012	0	0	0	0	0	0	14.57	14.03	13.66
8495	0.67	599.4	2783	694	1130	1016	37.6	8.3	677	8523	0.00	2.47	21.77	0.310	9382	0.000	0.077	2781	2106	919	983	855	0	0	0	0	0	0	14.23	14.10	13.74
8820	0.91	733.0	2781	2106	988	865	17.2	3.8	712	8890	0.25	2.55	59.60	0.248	10916	0.090	0.092	2890	708	497	513	482	0	0	0	0	0	0	14.09	13.94	13.84
8962	end climb: SURFACE_DEPTH_REACHED
state	8962	begin surface coast
8972	end surface coast: CONTROL_FINISHED_OK
state	8973	begin surface