Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 360 * 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 360 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 1004.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 25 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 1004.0 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 32 VBD_MIN 500

DIVE 360 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 170917,141503,7439.7158,-15139.9863,33,0.8,34,20.3,0.0,0.0,9,8.4 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 1.22 MHEAD_RNG_PITCHd_Wd 214.5,75194,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 170917,142623,7439.7466,-15140.0488,11,0.8,11,20.3,0.0,47.1,11,8.7

Post-dive calculations and measurements:

FINISH 0.2,1.013391 _24V_AH 12.29,217.443

SM_CCo 9081,27.88,0.207,0,0,499,702.78 _10V_AH 12.21,0.000

SM_GC 1.41,8.02,0.15,27.88,0.068,0.115,0.207,200,2240,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.27,14.28,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 169 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323592

IRIDIUM_FIX 7439.30,-15148.01,170917,113519 DATA_FILE_SIZE 23393,698

TT8_MAMPS 0.040446,0.883071 CAP_FILE_SIZE 98350,0

HUMID 45.94 CFSIZE 2097872896,1985413120

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 11.10 SOUNDSPEED 1447.5

XPDR_PINGS 8 CURRENT 0.023,344.58,1

CP_FREE 15917940736.000000 GPS 170917,170002,7439.246,-15144.499,26,0.9,26,20.3,0.0,0.0,8,9.3

PM_FREEKB_00 46099520

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 450 144.95 nil 0 0 0.00

Roll_motor 75 2165 2006.23 nil 0 0 0.00

VBD_pump_during_apogee 1020 1393 17463.61 nil 0 0 0.00

VBD_pump_during_surface 27 207 71.02 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 9097 14 1623.48

Iridium_during_xfer 403 175 871.94 NCP 5426 20 1333.71

Transponder_ping 2 420 10.32 PMAR 9020 9 1107.67

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.23

TT8 0 0 0.00

LPSleep 6473 2 182.57

TT8_Active 929 13 158.55

TT8_Sampling 2053 33 838.52

TT8_CF8 348 38 164.47

TT8_Kalman 0 0 0.00

Analog_circuits 2146 10 262.11

GPS_charging 0 0 0.00

Compass 1004 7 85.83

RAFOS 2211 48 1295.82

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

68 -0.57 -145.9 184 2209 510 482 0.0 0.0 0 160 0.00 0.00 -91.12 0.000 16386 0.000 0.000 182 2209 2185 2123 2248 0 0 0 0 0 0 14.51 28.83 14.54

164 -0.57 -145.9 183 2209 2126 2252 4.6 -6.8 9 216 12.90 2.80 -31.83 0.000 18980 0.451 2.166 2385 799 3963 3947 3979 0 0 0 0 0 0 13.50 12.59 13.97

352 -0.71 -145.9 2385 797 3960 3981 46.4 -12.9 46 358 0.00 2.47 0.00 0.000 1158 0.000 0.086 2383 2195 3965 3952 3979 0 0 0 0 0 0 14.29 14.14 14.33

657 -0.85 -145.9 2383 2196 3953 3980 85.8 -10.5 77 662 0.22 2.53 0.00 0.000 4484 0.099 0.087 2291 3617 3966 3953 3979 0 0 0 0 0 0 14.07 14.12 14.12

765 -0.94 -145.9 2292 3619 3954 3979 100.2 -13.1 98 771 0.00 2.42 0.00 0.000 1158 0.000 0.059 2291 2199 3966 3953 3979 0 0 0 0 0 0 14.11 13.97 14.15

1068 -0.98 -145.9 2292 2199 3954 3979 145.1 -14.0 109 1069 0.00 0.00 0.00 0.000 134 0.000 0.000 2291 2199 3966 3953 3979 0 0 0 0 0 0 14.69 14.73 14.71

1368 -1.04 -145.9 2292 2198 3954 3979 182.8 -12.3 119 1369 0.15 0.00 0.00 0.000 4230 0.122 0.000 2236 2198 3966 3953 3979 0 0 0 0 0 0 14.20 14.29 14.26

1668 -1.01 -145.9 2237 2198 3954 3979 232.1 -15.9 129 1673 0.00 2.50 0.00 0.000 388 0.000 0.088 2236 3610 3966 3953 3979 0 0 0 0 0 0 14.71 14.09 14.73

1773 -1.10 -145.9 2236 3611 3953 3980 246.1 -12.1 150 1778 0.00 2.40 0.00 0.000 1158 0.000 0.059 2235 2197 3966 3953 3979 0 0 0 0 0 0 14.30 14.16 14.34

2089 -1.10 -145.9 2236 2198 3954 3979 288.5 -12.9 163 2093 0.00 2.50 0.00 0.000 260 0.000 0.088 2235 3610 3966 3953 3979 0 0 0 0 0 0 14.71 14.09 14.73

2134 -1.20 -145.9 2235 3612 3954 3980 294.0 -11.4 172 2140 0.15 2.40 0.00 0.000 5254 0.122 0.058 2174 2199 3966 3953 3979 0 0 0 0 0 0 14.12 14.16 14.23

2451 -1.11 -145.9 2174 2199 3954 3980 349.4 -17.4 185 2456 0.20 2.50 0.00 0.000 2436 0.285 0.082 2210 3614 3966 3953 3979 0 0 0 0 0 0 13.76 14.08 13.94

2532 -1.20 -145.9 2210 3615 3953 3980 360.2 -11.3 201 2537 0.00 2.40 0.00 0.000 1158 0.000 0.058 2210 2199 3966 3953 3979 0 0 0 0 0 0 14.26 14.14 14.32

2842 -1.20 -145.9 2210 2198 3953 3979 400.1 -12.9 213 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 2210 2198 3965 3952 3979 0 0 0 0 0 0 14.72 14.74 14.73

3142 -1.20 -145.9 2210 2198 3954 3979 438.1 -12.6 223 3147 0.00 2.50 0.00 0.000 260 0.000 0.087 2209 3608 3965 3952 3979 0 0 0 0 0 0 14.70 14.04 14.71

3242 -1.29 -145.9 2209 3610 3952 3980 449.6 -10.9 243 3247 0.15 2.40 0.00 0.000 5254 0.117 0.057 2151 2196 3963 3947 3979 0 0 0 0 0 0 14.19 14.13 14.29

3440 end dive: TARGET_DEPTH_EXCEEDED

state 3440 begin apogee

3447 -0.13 0.0 2152 2063 3953 3979 484.8 -18.2 253 3684 1.58 0.05 229.12 1.393 10246 0.267 0.122 2526 2108 3356 3370 3342 0 0 0 0 0 0 13.63 13.33 12.71

3686 end apogee: CONTROL_FINISHED_OK

state 3686 begin climb

3689 0.57 145.9 2527 2108 3368 3337 498.9 0.0 261 3914 0.75 2.62 216.15 1.338 10500 0.060 0.073 2783 3506 2761 2793 2730 0 0 0 0 0 0 13.77 13.13 12.29

4059 0.07 145.9 2784 3507 2776 2723 495.1 14.6 297 4065 0.93 2.42 0.00 0.000 5254 0.345 0.057 2608 2134 2748 2774 2722 0 0 0 0 0 0 13.30 13.71 13.71

4393 -0.01 208.8 2608 2134 2775 2720 470.2 7.1 313 4492 0.12 0.00 97.62 1.338 12454 0.295 0.000 2583 2135 2513 2565 2462 0 0 0 0 0 0 13.89 13.82 13.02

4780 0.02 250.8 2583 2136 2543 2437 439.9 8.1 326 4850 0.00 2.62 62.35 1.366 8740 0.000 0.088 2595 699 2336 2382 2290 0 0 0 0 0 0 14.54 13.96 13.11

4903 0.13 294.8 2589 699 2375 2283 430.0 8.0 350 4977 0.00 2.47 69.10 1.320 9382 0.000 0.080 2588 2103 2164 2212 2116 0 0 0 0 0 0 14.18 14.06 13.05

5293 0.20 313.5 2589 2104 2193 2093 394.3 9.1 378 5324 0.17 0.00 25.62 1.388 10406 0.104 0.000 2667 2103 2083 2130 2037 0 0 0 0 0 0 14.25 13.81 13.21

5625 0.12 313.5 2667 2104 2120 2025 347.4 14.3 389 5630 0.15 2.50 0.00 0.000 4740 0.249 0.085 2635 696 2072 2119 2025 0 0 0 0 0 0 13.89 14.06 14.04

5700 0.16 313.5 2636 696 2118 2025 338.1 10.9 404 5706 0.00 2.47 0.00 0.000 1158 0.000 0.078 2635 2101 2071 2117 2025 0 0 0 0 0 0 14.21 14.09 14.26

6017 0.16 313.5 2635 2102 2117 2025 302.3 11.0 417 6018 0.00 0.00 0.00 0.000 6 0.000 0.000 2635 2101 2067 2112 2023 0 0 0 0 0 0 14.46 14.49 14.48

6317 0.16 313.5 2636 2102 2118 2022 270.3 10.3 427 6321 0.00 2.50 0.00 0.000 516 0.000 0.087 2635 695 2069 2117 2022 0 0 0 0 0 0 14.46 14.02 14.47

6357 0.22 317.6 2637 696 2116 2024 266.4 9.8 435 6362 0.00 2.50 0.00 0.000 1190 0.000 0.077 2637 2105 2068 2115 2022 0 0 0 0 0 0 14.18 14.06 14.22

6677 0.23 339.9 2637 2107 2115 2023 236.1 9.0 449 6727 0.00 2.55 41.88 1.333 8740 0.000 0.086 2637 703 1973 2017 1930 0 0 0 0 0 0 14.45 14.00 13.19

6780 0.36 381.0 2638 704 2013 1930 227.7 8.1 469 6860 0.17 2.47 71.07 1.238 11430 0.104 0.079 2703 2103 1808 1832 1784 0 0 0 0 0 0 14.07 14.02 13.09

7157 0.31 381.0 2704 2104 1817 1768 180.4 12.2 495 7158 0.00 0.00 0.00 0.000 134 0.000 0.000 2702 2103 1791 1816 1767 0 0 0 0 0 0 14.40 14.42 14.42

7458 0.28 381.0 2703 2103 1816 1764 146.3 11.1 505 7463 0.12 2.50 0.00 0.000 4740 0.226 0.085 2672 697 1789 1814 1765 0 0 0 0 0 0 13.93 14.02 14.03

7538 0.41 425.3 2672 698 1812 1766 139.5 8.0 521 7623 0.12 2.50 77.22 1.196 11430 0.127 0.079 2725 2101 1628 1652 1604 0 0 0 0 0 0 14.05 13.90 13.14

7929 0.41 425.3 2726 2100 1639 1581 95.1 10.6 552 7935 0.00 2.47 0.00 0.000 516 0.000 0.087 2725 694 1611 1642 1581 0 0 0 0 0 0 14.38 13.98 14.38

7965 0.44 425.3 2726 695 1642 1582 91.4 10.3 559 7971 0.00 2.50 0.00 0.000 1158 0.000 0.078 2726 2100 1610 1640 1581 0 0 0 0 0 0 14.03 13.90 14.07

8270 0.52 503.4 2727 2104 1641 1577 66.0 6.4 590 8318 0.00 2.55 40.20 0.391 8868 0.000 0.086 2726 693 1311 1358 1264 0 0 0 0 0 0 14.54 14.06 13.66

8370 0.69 578.0 2727 700 1361 1270 59.8 6.6 609 8419 0.25 2.50 42.22 0.373 11430 0.085 0.078 2817 2097 1006 1073 940 0 0 0 0 0 0 14.15 14.02 13.69

8715 0.70 587.2 2817 2100 1074 952 23.9 9.6 648 8727 0.00 2.53 6.43 0.266 8740 0.000 0.086 2822 689 970 1036 904 0 0 0 0 0 0 14.57 13.91 13.70

8830 0.83 657.0 2822 689 1039 916 15.9 6.8 670 8877 0.00 2.50 41.03 0.247 9382 0.000 0.076 2822 2113 683 740 626 0 0 0 0 0 0 14.16 14.00 13.83

9029 end climb: SURFACE_DEPTH_REACHED

state 9030 begin surface coast

9060 end surface coast: CONTROL_FINISHED_OK

state 9060 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	360	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	1004.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,141503,7439.7158,-15139.9863,33,0.8,34,20.3,0.0,0.0,9,8.4	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	1.22	MHEAD_RNG_PITCHd_Wd	214.5,75194,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	170917,142623,7439.7466,-15140.0488,11,0.8,11,20.3,0.0,47.1,11,8.7

FINISH	0.2,1.013391	_24V_AH	12.29,217.443
SM_CCo	9081,27.88,0.207,0,0,499,702.78	_10V_AH	12.21,0.000
SM_GC	1.41,8.02,0.15,27.88,0.068,0.115,0.207,200,2240,499,-7.37,-0.76,702.78,0,0,0,0,0,0,14.27,14.28,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	169	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323592
IRIDIUM_FIX	7439.30,-15148.01,170917,113519	DATA_FILE_SIZE	23393,698
TT8_MAMPS	0.040446,0.883071	CAP_FILE_SIZE	98350,0
HUMID	45.94	CFSIZE	2097872896,1985413120
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	11.10	SOUNDSPEED	1447.5
XPDR_PINGS	8	CURRENT	0.023,344.58,1
CP_FREE	15917940736.000000	GPS	170917,170002,7439.246,-15144.499,26,0.9,26,20.3,0.0,0.0,8,9.3
PM_FREEKB_00	46099520

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	450	144.95	nil	0	0	0.00
Roll_motor	75	2165	2006.23	nil	0	0	0.00
VBD_pump_during_apogee	1020	1393	17463.61	nil	0	0	0.00
VBD_pump_during_surface	27	207	71.02	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	9097	14	1623.48
Iridium_during_xfer	403	175	871.94	NCP	5426	20	1333.71
Transponder_ping	2	420	10.32	PMAR	9020	9	1107.67
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.23
TT8	0	0	0.00
LPSleep	6473	2	182.57
TT8_Active	929	13	158.55
TT8_Sampling	2053	33	838.52
TT8_CF8	348	38	164.47
TT8_Kalman	0	0	0.00
Analog_circuits	2146	10	262.11
GPS_charging	0	0	0.00
Compass	1004	7	85.83
RAFOS	2211	48	1295.82
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
68	-0.57	-145.9	184	2209	510	482	0.0	0.0	0	160	0.00	0.00	-91.12	0.000	16386	0.000	0.000	182	2209	2185	2123	2248	0	0	0	0	0	0	14.51	28.83	14.54
164	-0.57	-145.9	183	2209	2126	2252	4.6	-6.8	9	216	12.90	2.80	-31.83	0.000	18980	0.451	2.166	2385	799	3963	3947	3979	0	0	0	0	0	0	13.50	12.59	13.97
352	-0.71	-145.9	2385	797	3960	3981	46.4	-12.9	46	358	0.00	2.47	0.00	0.000	1158	0.000	0.086	2383	2195	3965	3952	3979	0	0	0	0	0	0	14.29	14.14	14.33
657	-0.85	-145.9	2383	2196	3953	3980	85.8	-10.5	77	662	0.22	2.53	0.00	0.000	4484	0.099	0.087	2291	3617	3966	3953	3979	0	0	0	0	0	0	14.07	14.12	14.12
765	-0.94	-145.9	2292	3619	3954	3979	100.2	-13.1	98	771	0.00	2.42	0.00	0.000	1158	0.000	0.059	2291	2199	3966	3953	3979	0	0	0	0	0	0	14.11	13.97	14.15
1068	-0.98	-145.9	2292	2199	3954	3979	145.1	-14.0	109	1069	0.00	0.00	0.00	0.000	134	0.000	0.000	2291	2199	3966	3953	3979	0	0	0	0	0	0	14.69	14.73	14.71
1368	-1.04	-145.9	2292	2198	3954	3979	182.8	-12.3	119	1369	0.15	0.00	0.00	0.000	4230	0.122	0.000	2236	2198	3966	3953	3979	0	0	0	0	0	0	14.20	14.29	14.26
1668	-1.01	-145.9	2237	2198	3954	3979	232.1	-15.9	129	1673	0.00	2.50	0.00	0.000	388	0.000	0.088	2236	3610	3966	3953	3979	0	0	0	0	0	0	14.71	14.09	14.73
1773	-1.10	-145.9	2236	3611	3953	3980	246.1	-12.1	150	1778	0.00	2.40	0.00	0.000	1158	0.000	0.059	2235	2197	3966	3953	3979	0	0	0	0	0	0	14.30	14.16	14.34
2089	-1.10	-145.9	2236	2198	3954	3979	288.5	-12.9	163	2093	0.00	2.50	0.00	0.000	260	0.000	0.088	2235	3610	3966	3953	3979	0	0	0	0	0	0	14.71	14.09	14.73
2134	-1.20	-145.9	2235	3612	3954	3980	294.0	-11.4	172	2140	0.15	2.40	0.00	0.000	5254	0.122	0.058	2174	2199	3966	3953	3979	0	0	0	0	0	0	14.12	14.16	14.23
2451	-1.11	-145.9	2174	2199	3954	3980	349.4	-17.4	185	2456	0.20	2.50	0.00	0.000	2436	0.285	0.082	2210	3614	3966	3953	3979	0	0	0	0	0	0	13.76	14.08	13.94
2532	-1.20	-145.9	2210	3615	3953	3980	360.2	-11.3	201	2537	0.00	2.40	0.00	0.000	1158	0.000	0.058	2210	2199	3966	3953	3979	0	0	0	0	0	0	14.26	14.14	14.32
2842	-1.20	-145.9	2210	2198	3953	3979	400.1	-12.9	213	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	2210	2198	3965	3952	3979	0	0	0	0	0	0	14.72	14.74	14.73
3142	-1.20	-145.9	2210	2198	3954	3979	438.1	-12.6	223	3147	0.00	2.50	0.00	0.000	260	0.000	0.087	2209	3608	3965	3952	3979	0	0	0	0	0	0	14.70	14.04	14.71
3242	-1.29	-145.9	2209	3610	3952	3980	449.6	-10.9	243	3247	0.15	2.40	0.00	0.000	5254	0.117	0.057	2151	2196	3963	3947	3979	0	0	0	0	0	0	14.19	14.13	14.29
3440	end dive: TARGET_DEPTH_EXCEEDED
state	3440	begin apogee
3447	-0.13	0.0	2152	2063	3953	3979	484.8	-18.2	253	3684	1.58	0.05	229.12	1.393	10246	0.267	0.122	2526	2108	3356	3370	3342	0	0	0	0	0	0	13.63	13.33	12.71
3686	end apogee: CONTROL_FINISHED_OK
state	3686	begin climb
3689	0.57	145.9	2527	2108	3368	3337	498.9	0.0	261	3914	0.75	2.62	216.15	1.338	10500	0.060	0.073	2783	3506	2761	2793	2730	0	0	0	0	0	0	13.77	13.13	12.29
4059	0.07	145.9	2784	3507	2776	2723	495.1	14.6	297	4065	0.93	2.42	0.00	0.000	5254	0.345	0.057	2608	2134	2748	2774	2722	0	0	0	0	0	0	13.30	13.71	13.71
4393	-0.01	208.8	2608	2134	2775	2720	470.2	7.1	313	4492	0.12	0.00	97.62	1.338	12454	0.295	0.000	2583	2135	2513	2565	2462	0	0	0	0	0	0	13.89	13.82	13.02
4780	0.02	250.8	2583	2136	2543	2437	439.9	8.1	326	4850	0.00	2.62	62.35	1.366	8740	0.000	0.088	2595	699	2336	2382	2290	0	0	0	0	0	0	14.54	13.96	13.11
4903	0.13	294.8	2589	699	2375	2283	430.0	8.0	350	4977	0.00	2.47	69.10	1.320	9382	0.000	0.080	2588	2103	2164	2212	2116	0	0	0	0	0	0	14.18	14.06	13.05
5293	0.20	313.5	2589	2104	2193	2093	394.3	9.1	378	5324	0.17	0.00	25.62	1.388	10406	0.104	0.000	2667	2103	2083	2130	2037	0	0	0	0	0	0	14.25	13.81	13.21
5625	0.12	313.5	2667	2104	2120	2025	347.4	14.3	389	5630	0.15	2.50	0.00	0.000	4740	0.249	0.085	2635	696	2072	2119	2025	0	0	0	0	0	0	13.89	14.06	14.04
5700	0.16	313.5	2636	696	2118	2025	338.1	10.9	404	5706	0.00	2.47	0.00	0.000	1158	0.000	0.078	2635	2101	2071	2117	2025	0	0	0	0	0	0	14.21	14.09	14.26
6017	0.16	313.5	2635	2102	2117	2025	302.3	11.0	417	6018	0.00	0.00	0.00	0.000	6	0.000	0.000	2635	2101	2067	2112	2023	0	0	0	0	0	0	14.46	14.49	14.48
6317	0.16	313.5	2636	2102	2118	2022	270.3	10.3	427	6321	0.00	2.50	0.00	0.000	516	0.000	0.087	2635	695	2069	2117	2022	0	0	0	0	0	0	14.46	14.02	14.47
6357	0.22	317.6	2637	696	2116	2024	266.4	9.8	435	6362	0.00	2.50	0.00	0.000	1190	0.000	0.077	2637	2105	2068	2115	2022	0	0	0	0	0	0	14.18	14.06	14.22
6677	0.23	339.9	2637	2107	2115	2023	236.1	9.0	449	6727	0.00	2.55	41.88	1.333	8740	0.000	0.086	2637	703	1973	2017	1930	0	0	0	0	0	0	14.45	14.00	13.19
6780	0.36	381.0	2638	704	2013	1930	227.7	8.1	469	6860	0.17	2.47	71.07	1.238	11430	0.104	0.079	2703	2103	1808	1832	1784	0	0	0	0	0	0	14.07	14.02	13.09
7157	0.31	381.0	2704	2104	1817	1768	180.4	12.2	495	7158	0.00	0.00	0.00	0.000	134	0.000	0.000	2702	2103	1791	1816	1767	0	0	0	0	0	0	14.40	14.42	14.42
7458	0.28	381.0	2703	2103	1816	1764	146.3	11.1	505	7463	0.12	2.50	0.00	0.000	4740	0.226	0.085	2672	697	1789	1814	1765	0	0	0	0	0	0	13.93	14.02	14.03
7538	0.41	425.3	2672	698	1812	1766	139.5	8.0	521	7623	0.12	2.50	77.22	1.196	11430	0.127	0.079	2725	2101	1628	1652	1604	0	0	0	0	0	0	14.05	13.90	13.14
7929	0.41	425.3	2726	2100	1639	1581	95.1	10.6	552	7935	0.00	2.47	0.00	0.000	516	0.000	0.087	2725	694	1611	1642	1581	0	0	0	0	0	0	14.38	13.98	14.38
7965	0.44	425.3	2726	695	1642	1582	91.4	10.3	559	7971	0.00	2.50	0.00	0.000	1158	0.000	0.078	2726	2100	1610	1640	1581	0	0	0	0	0	0	14.03	13.90	14.07
8270	0.52	503.4	2727	2104	1641	1577	66.0	6.4	590	8318	0.00	2.55	40.20	0.391	8868	0.000	0.086	2726	693	1311	1358	1264	0	0	0	0	0	0	14.54	14.06	13.66
8370	0.69	578.0	2727	700	1361	1270	59.8	6.6	609	8419	0.25	2.50	42.22	0.373	11430	0.085	0.078	2817	2097	1006	1073	940	0	0	0	0	0	0	14.15	14.02	13.69
8715	0.70	587.2	2817	2100	1074	952	23.9	9.6	648	8727	0.00	2.53	6.43	0.266	8740	0.000	0.086	2822	689	970	1036	904	0	0	0	0	0	0	14.57	13.91	13.70
8830	0.83	657.0	2822	689	1039	916	15.9	6.8	670	8877	0.00	2.50	41.03	0.247	9382	0.000	0.076	2822	2113	683	740	626	0	0	0	0	0	0	14.16	14.00	13.83
9029	end climb: SURFACE_DEPTH_REACHED
state	9030	begin surface coast
9060	end surface coast: CONTROL_FINISHED_OK
state	9060	begin surface