Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 361 * 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 361 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 1006.0

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 39 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 60 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 1006.0 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 39 VBD_MIN 500

DIVE 361 NOCOMM_ACTION 161 R_STBD_OVSHOOT 60 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 170917,170002,7439.2461,-15144.4990,26,0.9,26,20.3,0.0,0.0,8,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 212.2,72868,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.7 D_GRID 480

GPS2 170917,171807,7439.3003,-15144.5000,11,0.8,11,20.3,0.0,0.0,10,8.9

Post-dive calculations and measurements:

FINISH 0.1,1.021177 _24V_AH 12.25,217.931

SM_CCo 8882,32.20,0.207,0,0,499,702.78 _10V_AH 12.13,0.000

SM_GC 1.54,8.20,0.17,32.20,0.074,0.099,0.207,203,2239,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.26,14.31,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323328

IRIDIUM_FIX 7440.14,-15137.00,170917,170959 DATA_FILE_SIZE 26692,784

TT8_MAMPS 0.040446,0.87633 CAP_FILE_SIZE 103385,0

HUMID 47.95 CFSIZE 2097872896,1985150976

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1449.2

XPDR_PINGS 14 CURRENT 0.013,5.96,1

CP_FREE 0.000000 GPS 170917,194833,7438.837,-15148.572,21,1.0,30,20.3,0.0,76.1,8,9.5

PM_FREEKB_00 46047872

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 145.52 nil 0 0 0.00

Roll_motor 74 2161 1974.32 nil 0 0 0.00

VBD_pump_during_apogee 1004 1422 17505.48 nil 0 0 0.00

VBD_pump_during_surface 32 206 81.47 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 8811 14 1541.20

Iridium_during_xfer 688 160 1355.34 NCP 8855 20 2169.47

Transponder_ping 3 420 18.01 PMAR 8838 14 1555.02

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.21

TT8 0 0 0.00

LPSleep 6363 2 178.32

TT8_Active 876 13 148.56

TT8_Sampling 2401 33 974.24

TT8_CF8 371 38 174.24

TT8_Kalman 0 0 0.00

Analog_circuits 2435 10 295.43

GPS_charging 0 0 0.00

Compass 1123 7 95.41

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

52 -0.57 -145.9 186 2190 510 491 0.0 0.0 0 144 0.00 0.00 -91.10 0.000 16386 0.000 0.000 184 2191 2187 2119 2256 0 0 0 0 0 0 14.46 28.83 14.47

148 -0.57 -145.9 185 2190 2124 2256 4.6 -6.9 9 200 12.98 2.72 -31.90 0.000 18980 0.452 2.162 2385 811 3965 3951 3980 1 0 0 0 0 0 13.32 12.60 14.07

336 -0.71 -145.9 2386 811 3955 3980 45.9 -12.7 46 342 0.12 2.40 0.00 0.000 5254 0.120 0.086 2345 2159 3967 3954 3980 0 0 0 0 0 0 14.02 13.92 14.12

641 -0.78 -145.9 2339 2159 3956 3980 97.1 -12.9 77 646 0.00 2.60 0.00 0.000 388 0.000 0.086 2333 3621 3967 3955 3980 0 0 0 0 0 0 14.56 14.04 14.58

722 -0.97 -145.9 2333 3623 3956 3981 105.7 -9.6 93 727 0.22 2.40 0.00 0.000 5286 0.092 0.054 2245 2210 3967 3955 3980 0 0 0 0 0 0 14.16 14.09 14.24

1033 -0.91 -145.9 2246 2210 3956 3981 164.9 -18.1 105 1038 0.15 2.50 0.00 0.000 2436 0.279 0.080 2270 3619 3967 3955 3980 0 0 0 0 0 0 13.70 13.99 13.87

1094 -1.04 -145.9 2271 3621 3956 3981 173.4 -11.8 117 1099 0.00 2.42 0.00 0.000 1158 0.000 0.057 2270 2198 3967 3955 3980 0 0 0 0 0 0 14.26 14.13 14.30

1424 -1.08 -145.9 2271 2197 3956 3981 217.6 -12.9 133 1426 0.12 0.00 0.00 0.000 4230 0.136 0.000 2226 2196 3965 3955 3975 0 0 0 0 0 0 14.19 14.27 14.25

1724 -1.06 -145.9 2227 2197 3956 3980 265.6 -15.2 143 1729 0.00 2.55 0.00 0.000 388 0.000 0.087 2223 3623 3967 3955 3980 0 0 0 0 0 0 14.64 14.06 14.65

1837 -1.14 -145.9 2224 3625 3956 3981 280.2 -12.1 165 1842 0.00 2.47 0.00 0.000 1158 0.000 0.058 2223 2190 3968 3956 3980 0 0 0 0 0 0 14.21 14.10 14.25

2148 -1.14 -145.9 2223 2190 3956 3981 322.7 -13.3 177 2149 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2189 3967 3955 3980 0 0 0 0 0 0 14.61 14.62 14.62

2448 -1.16 -145.9 2223 2190 3956 3981 360.3 -12.2 187 2453 0.00 2.55 0.00 0.000 388 0.000 0.087 2223 3622 3967 3956 3979 0 0 0 0 0 0 14.63 14.05 14.65

2513 -1.27 -145.9 2220 3620 3964 3980 367.5 -10.2 200 2519 0.17 2.45 0.00 0.000 5254 0.108 0.056 2156 2199 3967 3955 3980 0 0 0 0 0 0 13.93 13.25 14.21

2840 -1.17 -145.9 2157 2198 3956 3980 425.1 -17.9 215 2845 0.17 2.53 0.00 0.000 2436 0.313 0.082 2184 3614 3968 3956 3980 0 0 0 0 0 0 13.59 13.93 13.81

2935 -1.17 -145.9 2184 3616 3955 3981 439.0 -13.6 234 2940 0.00 2.42 0.00 0.000 1030 0.000 0.057 2183 2199 3967 3954 3980 0 0 0 0 0 0 14.22 14.08 14.26

3228 end dive: TARGET_DEPTH_EXCEEDED

state 3228 begin apogee

3234 -0.13 0.0 2184 2057 3956 3980 483.7 -15.2 248 3472 1.42 0.08 229.88 1.390 10246 0.243 0.111 2531 2118 3357 3371 3344 0 0 0 0 0 0 13.68 13.30 12.69

3476 end apogee: CONTROL_FINISHED_OK

state 3476 begin climb

3479 0.57 145.9 2532 2119 3372 3340 497.6 0.0 256 3699 0.73 2.67 214.00 1.359 10756 0.060 0.080 2781 735 2763 2796 2731 0 0 0 0 0 0 13.74 12.91 12.25

3926 0.16 145.9 2781 736 2783 2720 485.6 12.7 347 3931 0.68 2.42 0.00 0.000 5254 0.326 0.075 2642 2094 2750 2783 2718 0 0 0 0 0 0 13.43 13.84 13.83

4252 -0.00 176.9 2642 2095 2784 2714 457.1 8.6 362 4301 0.22 2.45 42.95 1.423 12964 0.264 0.083 2589 721 2639 2682 2597 0 0 0 0 0 0 13.72 14.01 13.11

4527 0.04 235.5 2589 721 2678 2584 436.5 7.3 417 4623 0.00 2.42 91.45 1.343 9254 0.000 0.079 2589 2099 2407 2460 2354 0 0 0 0 0 0 14.25 14.12 13.04

4944 0.05 260.7 2590 2099 2443 2330 400.4 8.8 450 4983 0.00 0.00 35.60 1.416 8742 0.000 0.000 2589 2099 2296 2346 2247 0 0 0 0 0 0 14.53 13.79 13.19

5304 0.11 290.0 2589 2100 2334 2232 368.7 8.6 467 5354 0.00 2.47 43.10 1.382 8868 0.000 0.088 2589 720 2176 2224 2129 0 0 0 0 0 0 14.60 14.07 13.19

5396 0.25 327.8 2588 721 2213 2126 361.1 8.3 485 5465 0.22 2.42 60.58 1.306 11430 0.090 0.079 2680 2105 2023 2066 1981 0 0 0 0 0 0 14.19 14.09 13.09

5785 0.17 327.8 2680 2102 2055 1962 303.5 14.8 513 5791 0.15 2.42 0.00 0.000 4740 0.256 0.084 2647 727 2007 2054 1961 0 0 0 0 0 0 13.92 14.14 14.11

5827 0.20 327.8 2647 728 2052 1962 298.3 11.6 521 5833 0.00 2.40 0.00 0.000 1158 0.000 0.077 2647 2098 2006 2052 1960 0 0 0 0 0 0 14.30 14.16 14.35

6148 0.20 327.8 2647 2098 2053 1959 261.9 10.9 535 6153 0.00 2.42 0.00 0.000 516 0.000 0.086 2647 727 2005 2051 1959 0 0 0 0 0 0 14.63 14.16 14.64

6199 0.24 327.8 2647 727 2051 1959 256.7 10.2 545 6204 0.00 2.40 0.00 0.000 1158 0.000 0.077 2647 2100 2004 2049 1959 0 0 0 0 0 0 14.28 14.16 14.33

6510 0.25 338.2 2647 2102 2050 1959 225.8 9.5 557 6514 0.00 0.00 2.50 0.729 8230 0.000 0.000 2647 2101 1985 2031 1940 0 0 0 0 0 0 14.63 14.15 12.91

6810 0.27 372.6 2647 2107 2040 1947 199.7 8.4 567 6890 0.00 2.45 74.80 1.261 8740 0.000 0.084 2647 730 1841 1871 1811 0 0 0 0 0 0 14.64 13.76 13.18

6918 0.40 417.2 2647 729 1858 1807 190.9 7.9 588 7001 0.20 2.42 76.88 1.197 11430 0.099 0.076 2725 2103 1665 1689 1641 0 0 0 0 0 0 14.12 14.04 13.07

7321 0.36 417.2 2726 2104 1680 1613 137.9 12.7 619 7326 0.00 2.45 0.00 0.000 644 0.000 0.086 2730 727 1645 1679 1612 0 0 0 0 0 0 14.54 14.10 14.57

7382 0.36 417.2 2730 734 1675 1613 130.5 11.9 631 7387 0.15 2.40 0.00 0.000 5126 0.234 0.076 2698 2100 1643 1675 1612 0 0 0 0 0 0 13.95 14.14 14.21

7712 0.41 439.7 2699 2101 1675 1611 98.8 9.0 647 7729 0.00 2.45 10.38 0.457 8868 0.000 0.088 2699 726 1571 1605 1538 0 0 0 0 0 0 14.61 14.07 13.50

7770 0.53 473.0 2699 724 1613 1545 93.9 8.5 658 7797 0.17 2.42 20.00 0.473 11430 0.105 0.076 2773 2101 1439 1470 1408 0 0 0 0 0 0 14.20 14.09 13.56

8095 0.52 517.7 2773 2101 1479 1409 58.2 7.9 693 8127 0.00 0.00 26.67 0.366 8870 0.000 0.000 2773 2101 1254 1300 1208 0 0 0 0 0 0 14.59 13.99 13.59

8425 0.61 593.0 2773 2102 1304 1214 34.2 6.5 728 8472 0.00 2.50 42.90 0.296 8868 0.000 0.086 2780 730 945 1009 881 0 0 0 0 0 0 14.57 13.96 13.76

8558 0.79 649.5 2782 729 1011 885 24.5 7.4 754 8601 0.17 2.42 32.62 0.267 11430 0.112 0.083 2855 2098 715 774 656 0 0 0 0 0 0 14.16 14.02 13.74

8795 end climb: SURFACE_DEPTH_REACHED

state 8795 begin surface coast

8816 end surface coast: CONTROL_FINISHED_OK

state 8816 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	361	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	1006.0
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	39	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	60	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,170002,7439.2461,-15144.4990,26,0.9,26,20.3,0.0,0.0,8,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	212.2,72868,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.7	D_GRID	480
GPS2	170917,171807,7439.3003,-15144.5000,11,0.8,11,20.3,0.0,0.0,10,8.9

FINISH	0.1,1.021177	_24V_AH	12.25,217.931
SM_CCo	8882,32.20,0.207,0,0,499,702.78	_10V_AH	12.13,0.000
SM_GC	1.54,8.20,0.17,32.20,0.074,0.099,0.207,203,2239,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.26,14.31,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323328
IRIDIUM_FIX	7440.14,-15137.00,170917,170959	DATA_FILE_SIZE	26692,784
TT8_MAMPS	0.040446,0.87633	CAP_FILE_SIZE	103385,0
HUMID	47.95	CFSIZE	2097872896,1985150976
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1449.2
XPDR_PINGS	14	CURRENT	0.013,5.96,1
CP_FREE	0.000000	GPS	170917,194833,7438.837,-15148.572,21,1.0,30,20.3,0.0,76.1,8,9.5
PM_FREEKB_00	46047872

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	145.52	nil	0	0	0.00
Roll_motor	74	2161	1974.32	nil	0	0	0.00
VBD_pump_during_apogee	1004	1422	17505.48	nil	0	0	0.00
VBD_pump_during_surface	32	206	81.47	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	8811	14	1541.20
Iridium_during_xfer	688	160	1355.34	NCP	8855	20	2169.47
Transponder_ping	3	420	18.01	PMAR	8838	14	1555.02
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.21
TT8	0	0	0.00
LPSleep	6363	2	178.32
TT8_Active	876	13	148.56
TT8_Sampling	2401	33	974.24
TT8_CF8	371	38	174.24
TT8_Kalman	0	0	0.00
Analog_circuits	2435	10	295.43
GPS_charging	0	0	0.00
Compass	1123	7	95.41
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
52	-0.57	-145.9	186	2190	510	491	0.0	0.0	0	144	0.00	0.00	-91.10	0.000	16386	0.000	0.000	184	2191	2187	2119	2256	0	0	0	0	0	0	14.46	28.83	14.47
148	-0.57	-145.9	185	2190	2124	2256	4.6	-6.9	9	200	12.98	2.72	-31.90	0.000	18980	0.452	2.162	2385	811	3965	3951	3980	1	0	0	0	0	0	13.32	12.60	14.07
336	-0.71	-145.9	2386	811	3955	3980	45.9	-12.7	46	342	0.12	2.40	0.00	0.000	5254	0.120	0.086	2345	2159	3967	3954	3980	0	0	0	0	0	0	14.02	13.92	14.12
641	-0.78	-145.9	2339	2159	3956	3980	97.1	-12.9	77	646	0.00	2.60	0.00	0.000	388	0.000	0.086	2333	3621	3967	3955	3980	0	0	0	0	0	0	14.56	14.04	14.58
722	-0.97	-145.9	2333	3623	3956	3981	105.7	-9.6	93	727	0.22	2.40	0.00	0.000	5286	0.092	0.054	2245	2210	3967	3955	3980	0	0	0	0	0	0	14.16	14.09	14.24
1033	-0.91	-145.9	2246	2210	3956	3981	164.9	-18.1	105	1038	0.15	2.50	0.00	0.000	2436	0.279	0.080	2270	3619	3967	3955	3980	0	0	0	0	0	0	13.70	13.99	13.87
1094	-1.04	-145.9	2271	3621	3956	3981	173.4	-11.8	117	1099	0.00	2.42	0.00	0.000	1158	0.000	0.057	2270	2198	3967	3955	3980	0	0	0	0	0	0	14.26	14.13	14.30
1424	-1.08	-145.9	2271	2197	3956	3981	217.6	-12.9	133	1426	0.12	0.00	0.00	0.000	4230	0.136	0.000	2226	2196	3965	3955	3975	0	0	0	0	0	0	14.19	14.27	14.25
1724	-1.06	-145.9	2227	2197	3956	3980	265.6	-15.2	143	1729	0.00	2.55	0.00	0.000	388	0.000	0.087	2223	3623	3967	3955	3980	0	0	0	0	0	0	14.64	14.06	14.65
1837	-1.14	-145.9	2224	3625	3956	3981	280.2	-12.1	165	1842	0.00	2.47	0.00	0.000	1158	0.000	0.058	2223	2190	3968	3956	3980	0	0	0	0	0	0	14.21	14.10	14.25
2148	-1.14	-145.9	2223	2190	3956	3981	322.7	-13.3	177	2149	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2189	3967	3955	3980	0	0	0	0	0	0	14.61	14.62	14.62
2448	-1.16	-145.9	2223	2190	3956	3981	360.3	-12.2	187	2453	0.00	2.55	0.00	0.000	388	0.000	0.087	2223	3622	3967	3956	3979	0	0	0	0	0	0	14.63	14.05	14.65
2513	-1.27	-145.9	2220	3620	3964	3980	367.5	-10.2	200	2519	0.17	2.45	0.00	0.000	5254	0.108	0.056	2156	2199	3967	3955	3980	0	0	0	0	0	0	13.93	13.25	14.21
2840	-1.17	-145.9	2157	2198	3956	3980	425.1	-17.9	215	2845	0.17	2.53	0.00	0.000	2436	0.313	0.082	2184	3614	3968	3956	3980	0	0	0	0	0	0	13.59	13.93	13.81
2935	-1.17	-145.9	2184	3616	3955	3981	439.0	-13.6	234	2940	0.00	2.42	0.00	0.000	1030	0.000	0.057	2183	2199	3967	3954	3980	0	0	0	0	0	0	14.22	14.08	14.26
3228	end dive: TARGET_DEPTH_EXCEEDED
state	3228	begin apogee
3234	-0.13	0.0	2184	2057	3956	3980	483.7	-15.2	248	3472	1.42	0.08	229.88	1.390	10246	0.243	0.111	2531	2118	3357	3371	3344	0	0	0	0	0	0	13.68	13.30	12.69
3476	end apogee: CONTROL_FINISHED_OK
state	3476	begin climb
3479	0.57	145.9	2532	2119	3372	3340	497.6	0.0	256	3699	0.73	2.67	214.00	1.359	10756	0.060	0.080	2781	735	2763	2796	2731	0	0	0	0	0	0	13.74	12.91	12.25
3926	0.16	145.9	2781	736	2783	2720	485.6	12.7	347	3931	0.68	2.42	0.00	0.000	5254	0.326	0.075	2642	2094	2750	2783	2718	0	0	0	0	0	0	13.43	13.84	13.83
4252	-0.00	176.9	2642	2095	2784	2714	457.1	8.6	362	4301	0.22	2.45	42.95	1.423	12964	0.264	0.083	2589	721	2639	2682	2597	0	0	0	0	0	0	13.72	14.01	13.11
4527	0.04	235.5	2589	721	2678	2584	436.5	7.3	417	4623	0.00	2.42	91.45	1.343	9254	0.000	0.079	2589	2099	2407	2460	2354	0	0	0	0	0	0	14.25	14.12	13.04
4944	0.05	260.7	2590	2099	2443	2330	400.4	8.8	450	4983	0.00	0.00	35.60	1.416	8742	0.000	0.000	2589	2099	2296	2346	2247	0	0	0	0	0	0	14.53	13.79	13.19
5304	0.11	290.0	2589	2100	2334	2232	368.7	8.6	467	5354	0.00	2.47	43.10	1.382	8868	0.000	0.088	2589	720	2176	2224	2129	0	0	0	0	0	0	14.60	14.07	13.19
5396	0.25	327.8	2588	721	2213	2126	361.1	8.3	485	5465	0.22	2.42	60.58	1.306	11430	0.090	0.079	2680	2105	2023	2066	1981	0	0	0	0	0	0	14.19	14.09	13.09
5785	0.17	327.8	2680	2102	2055	1962	303.5	14.8	513	5791	0.15	2.42	0.00	0.000	4740	0.256	0.084	2647	727	2007	2054	1961	0	0	0	0	0	0	13.92	14.14	14.11
5827	0.20	327.8	2647	728	2052	1962	298.3	11.6	521	5833	0.00	2.40	0.00	0.000	1158	0.000	0.077	2647	2098	2006	2052	1960	0	0	0	0	0	0	14.30	14.16	14.35
6148	0.20	327.8	2647	2098	2053	1959	261.9	10.9	535	6153	0.00	2.42	0.00	0.000	516	0.000	0.086	2647	727	2005	2051	1959	0	0	0	0	0	0	14.63	14.16	14.64
6199	0.24	327.8	2647	727	2051	1959	256.7	10.2	545	6204	0.00	2.40	0.00	0.000	1158	0.000	0.077	2647	2100	2004	2049	1959	0	0	0	0	0	0	14.28	14.16	14.33
6510	0.25	338.2	2647	2102	2050	1959	225.8	9.5	557	6514	0.00	0.00	2.50	0.729	8230	0.000	0.000	2647	2101	1985	2031	1940	0	0	0	0	0	0	14.63	14.15	12.91
6810	0.27	372.6	2647	2107	2040	1947	199.7	8.4	567	6890	0.00	2.45	74.80	1.261	8740	0.000	0.084	2647	730	1841	1871	1811	0	0	0	0	0	0	14.64	13.76	13.18
6918	0.40	417.2	2647	729	1858	1807	190.9	7.9	588	7001	0.20	2.42	76.88	1.197	11430	0.099	0.076	2725	2103	1665	1689	1641	0	0	0	0	0	0	14.12	14.04	13.07
7321	0.36	417.2	2726	2104	1680	1613	137.9	12.7	619	7326	0.00	2.45	0.00	0.000	644	0.000	0.086	2730	727	1645	1679	1612	0	0	0	0	0	0	14.54	14.10	14.57
7382	0.36	417.2	2730	734	1675	1613	130.5	11.9	631	7387	0.15	2.40	0.00	0.000	5126	0.234	0.076	2698	2100	1643	1675	1612	0	0	0	0	0	0	13.95	14.14	14.21
7712	0.41	439.7	2699	2101	1675	1611	98.8	9.0	647	7729	0.00	2.45	10.38	0.457	8868	0.000	0.088	2699	726	1571	1605	1538	0	0	0	0	0	0	14.61	14.07	13.50
7770	0.53	473.0	2699	724	1613	1545	93.9	8.5	658	7797	0.17	2.42	20.00	0.473	11430	0.105	0.076	2773	2101	1439	1470	1408	0	0	0	0	0	0	14.20	14.09	13.56
8095	0.52	517.7	2773	2101	1479	1409	58.2	7.9	693	8127	0.00	0.00	26.67	0.366	8870	0.000	0.000	2773	2101	1254	1300	1208	0	0	0	0	0	0	14.59	13.99	13.59
8425	0.61	593.0	2773	2102	1304	1214	34.2	6.5	728	8472	0.00	2.50	42.90	0.296	8868	0.000	0.086	2780	730	945	1009	881	0	0	0	0	0	0	14.57	13.96	13.76
8558	0.79	649.5	2782	729	1011	885	24.5	7.4	754	8601	0.17	2.42	32.62	0.267	11430	0.112	0.083	2855	2098	715	774	656	0	0	0	0	0	0	14.16	14.02	13.74
8795	end climb: SURFACE_DEPTH_REACHED
state	8795	begin surface coast
8816	end surface coast: CONTROL_FINISHED_OK
state	8816	begin surface