Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 362 * 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 362 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 1008.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 59 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 1008.0 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 61 VBD_MIN 500

DIVE 362 NOCOMM_ACTION 161 R_STBD_OVSHOOT 59 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 170917,194833,7438.8369,-15148.5723,21,1.0,30,20.3,0.0,76.1,8,9.5 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 1.21 MHEAD_RNG_PITCHd_Wd 214.5,70748,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 170917,200004,7438.8623,-15148.4883,10,1.0,10,20.3,0.0,0.0,8,9.3

Post-dive calculations and measurements:

FINISH 0.2,1.021153 _24V_AH 12.27,218.432

SM_CCo 9384,10.45,0.210,0,0,498,703.03 _10V_AH 12.08,0.000

SM_GC 1.92,8.30,0.17,10.45,0.075,0.093,0.210,193,2247,498,-7.39,-0.42,703.03,0,0,0,0,0,0,14.26,14.32,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 426 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323544

IRIDIUM_FIX 7440.28,-15155.17,170917,171510 DATA_FILE_SIZE 26715,758

TT8_MAMPS 0.039697,0.961716 CAP_FILE_SIZE 100427,0

HUMID 47.28 CFSIZE 2097872896,1984888832

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.2

XPDR_PINGS 6 CURRENT 0.009,27.55,1

CP_FREE 15916859392.000000 GPS 170917,223833,7438.325,-15152.317,30,0.8,32,20.2,0.3,358.9,11,8.4

PM_FREEKB_00 46018944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 143.09 nil 0 0 0.00

Roll_motor 70 2162 1870.77 nil 0 0 0.00

VBD_pump_during_apogee 1084 1365 18166.18 nil 0 0 0.00

VBD_pump_during_surface 10 210 26.97 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 9392 14 1681.12

Iridium_during_xfer 398 172 846.26 NCP 9354 20 2295.47

Transponder_ping 1 420 7.73 PMAR 9338 9 1142.22

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.21

TT8 0 0 0.00

LPSleep 6636 2 185.20

TT8_Active 883 13 149.13

TT8_Sampling 2217 33 895.86

TT8_CF8 363 38 169.71

TT8_Kalman 0 0 0.00

Analog_circuits 2238 10 270.38

GPS_charging 0 0 0.00

Compass 1087 7 91.92

RAFOS 2060 48 1194.47

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

51 -0.57 -145.9 185 2241 503 496 0.0 0.0 0 129 0.00 0.00 -77.25 0.000 16386 0.000 0.000 183 2241 1859 1790 1928 0 0 0 0 0 0 14.48 28.83 14.50

133 -0.57 -145.9 184 2241 1791 1931 3.0 -3.8 8 200 12.95 2.83 -48.22 0.000 19236 0.450 2.163 2383 826 3965 3950 3980 1 0 0 0 0 0 13.25 12.56 14.00

386 -0.71 -145.9 2384 826 3956 3980 50.9 -13.3 58 391 0.00 2.38 0.00 0.000 1158 0.000 0.084 2381 2152 3967 3955 3979 0 0 0 0 0 0 14.04 13.91 14.09

696 -0.84 -145.9 2380 2155 3956 3980 89.3 -9.6 90 701 0.20 2.62 0.00 0.000 4516 0.103 0.087 2292 3626 3967 3955 3980 0 0 0 0 0 0 14.03 13.93 14.06

847 -0.97 -145.9 2293 3626 3956 3978 109.2 -12.2 120 852 0.00 2.40 0.00 0.000 1158 0.000 0.058 2293 2235 3967 3955 3979 0 0 0 0 0 0 14.08 13.97 14.11

1178 -1.01 -145.9 2293 2236 3956 3977 154.7 -13.0 136 1179 0.12 0.00 0.00 0.000 4230 0.132 0.000 2250 2234 3967 3955 3979 0 0 0 0 0 0 14.07 14.19 14.16

1478 -0.99 -145.9 2245 2231 3956 3980 205.0 -16.4 146 1479 0.00 0.00 0.00 0.000 134 0.000 0.000 2244 2234 3966 3953 3980 0 0 0 0 0 0 14.42 14.44 14.44

1778 -0.99 -145.9 2245 2235 3954 3981 249.8 -14.2 156 1778 0.00 0.00 0.00 0.000 6 0.000 0.000 2245 2231 3967 3955 3980 0 0 0 0 0 0 14.45 14.44 14.43

2078 -1.03 -145.9 2245 2234 3956 3979 288.1 -12.0 166 2083 0.00 2.50 0.00 0.000 388 0.000 0.086 2236 3624 3967 3955 3980 0 0 0 0 0 0 14.42 13.92 14.43

2153 -1.14 -145.9 2236 3624 3954 3981 296.5 -10.6 181 2160 0.00 2.45 0.00 0.000 1158 0.000 0.057 2236 2198 3967 3955 3980 0 0 0 0 0 0 13.97 13.90 14.03

2473 -1.18 -145.9 2237 2197 3964 3980 333.4 -11.5 194 2474 0.00 0.00 0.00 0.000 134 0.000 0.000 2236 2196 3967 3955 3979 0 0 0 0 0 0 14.38 14.40 14.39

2771 -1.24 -145.9 2236 2197 3956 3981 366.6 -10.9 204 2776 0.15 2.55 0.00 0.000 4484 0.129 0.083 2168 3625 3967 3955 3980 0 0 0 0 0 0 14.14 13.98 14.18

2832 -1.20 -145.9 2161 3627 3955 3980 376.0 -16.7 216 2837 0.15 2.45 0.00 0.000 3206 0.262 0.058 2193 2194 3966 3954 3979 0 0 0 0 0 0 13.76 14.10 14.06

3163 -1.16 -145.9 2188 2196 3955 3980 425.9 -14.8 232 3167 0.00 2.53 0.00 0.000 388 0.000 0.084 2181 3620 3967 3954 3980 0 0 0 0 0 0 14.62 13.97 14.64

3228 -1.16 -145.9 2181 3622 3955 3981 435.4 -13.9 245 3233 0.00 2.45 0.00 0.000 1030 0.000 0.057 2181 2199 3966 3953 3980 0 0 0 0 0 0 14.16 14.05 14.23

3520 end dive: TARGET_DEPTH_EXCEEDED

state 3521 begin apogee

3527 -0.13 0.0 2182 2055 3955 3980 481.1 -15.5 259 3815 1.40 0.10 283.10 1.302 10246 0.245 0.158 2527 2122 3364 3379 3350 0 0 0 0 0 0 13.70 13.48 12.69

3820 end apogee: CONTROL_FINISHED_OK

state 3821 begin climb

3823 0.57 145.9 2527 2123 3372 3342 497.2 0.0 268 4069 0.75 2.62 220.93 1.310 11012 0.058 0.072 2784 3498 2748 2776 2721 0 0 0 0 0 0 13.70 12.89 12.27

4297 0.06 145.9 2784 3498 2770 2716 480.3 14.8 315 4304 0.90 2.38 0.00 0.000 5254 0.347 0.056 2609 2127 2741 2768 2715 0 0 0 0 0 0 13.45 13.89 13.85

4600 -0.02 203.9 2610 2130 2777 2712 456.3 7.3 326 4697 0.12 2.50 88.05 1.300 12708 0.288 0.081 2581 3498 2527 2573 2481 0 0 0 0 0 0 13.86 13.90 13.07

4922 -0.03 226.5 2582 3504 2554 2468 429.2 9.0 390 4957 0.00 2.38 29.83 1.366 9382 0.000 0.059 2588 2100 2441 2486 2397 0 0 0 0 0 0 14.28 14.16 13.19

5265 -0.01 262.3 2589 2100 2468 2374 400.7 8.3 408 5323 0.00 0.00 55.90 1.305 8230 0.000 0.000 2588 2100 2295 2338 2252 0 0 0 0 0 0 14.58 13.96 13.17

5623 0.05 294.7 2589 2100 2323 2227 369.9 8.5 420 5684 0.00 2.58 50.95 1.291 8868 0.000 0.089 2589 692 2153 2196 2111 0 0 0 0 0 0 14.59 14.01 13.18

5747 0.19 327.9 2588 692 2186 2106 359.9 8.5 444 5807 0.17 2.47 52.10 1.266 11430 0.104 0.079 2671 2091 2024 2066 1982 0 0 0 0 0 0 14.20 14.11 13.14

6105 0.13 327.9 2667 2093 2052 1960 311.3 13.5 466 6110 0.15 2.47 0.00 0.000 4740 0.252 0.083 2638 692 2005 2051 1959 0 0 0 0 0 0 13.89 14.12 14.07

6150 0.18 327.9 2639 692 2050 1959 305.8 10.7 475 6156 0.00 2.47 0.00 0.000 1158 0.000 0.077 2639 2101 2003 2048 1958 0 0 0 0 0 0 14.32 14.15 14.33

6467 0.18 327.9 2638 2102 2049 1957 270.8 11.0 488 6468 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2102 2002 2048 1956 0 0 0 0 0 0 14.66 14.66 14.65

6767 0.19 339.8 2639 2102 2049 1956 241.1 9.4 498 6777 0.00 2.47 3.60 1.167 8740 0.000 0.087 2643 693 1977 2023 1931 0 0 0 0 0 0 14.65 14.18 13.13

6855 0.28 368.2 2644 694 2031 1941 233.5 8.7 515 6924 0.00 2.47 62.15 1.243 9382 0.000 0.078 2643 2102 1859 1891 1827 0 0 0 0 0 0 14.30 14.16 13.17

7250 0.36 403.3 2644 2102 1873 1813 199.3 8.4 544 7317 0.15 2.53 60.08 1.209 10916 0.112 0.089 2712 690 1714 1736 1693 0 0 0 0 0 0 14.22 14.02 13.20

7392 0.36 403.3 2713 691 1722 1684 182.0 11.8 572 7397 0.00 2.47 0.00 0.000 1030 0.000 0.076 2712 2105 1702 1721 1683 0 0 0 0 0 0 14.23 14.11 14.28

7703 0.33 403.3 2711 2106 1723 1678 144.1 11.8 584 7708 0.00 2.50 0.00 0.000 644 0.000 0.086 2713 694 1698 1720 1677 0 0 0 0 0 0 14.60 14.13 14.62

7728 0.33 403.3 2713 694 1720 1677 141.2 11.6 589 7734 0.00 2.47 0.00 0.000 1030 0.000 0.077 2713 2103 1697 1718 1677 0 0 0 0 0 0 14.04 13.88 14.12

8033 0.33 403.3 2713 2105 1719 1676 108.1 10.3 600 8034 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2107 1697 1719 1675 0 0 0 0 0 0 14.63 14.65 14.64

8335 0.36 444.8 2713 2105 1719 1674 81.3 8.1 624 8367 0.00 2.58 22.60 0.422 8740 0.000 0.086 2713 687 1550 1575 1525 0 0 0 0 0 0 14.57 13.97 13.64

8467 0.49 514.2 2711 686 1586 1531 71.5 6.8 650 8521 0.00 2.50 44.40 0.405 9382 0.000 0.078 2714 2103 1267 1319 1216 0 0 0 0 0 0 14.26 14.13 13.64

8818 0.71 630.0 2713 2103 1321 1225 51.3 4.7 690 8897 0.28 2.53 72.28 0.342 10916 0.084 0.091 2822 691 794 864 724 0 0 0 0 0 0 14.20 14.04 13.64

8957 0.78 630.0 2822 692 867 733 37.1 10.6 717 8964 0.00 2.50 0.00 0.000 1158 0.000 0.076 2822 2106 799 866 733 0 0 0 0 0 0 14.19 14.04 14.23

9263 0.88 688.0 2822 2108 867 738 10.6 7.3 748 9305 0.12 0.00 38.28 0.226 10406 0.124 0.000 2880 2106 555 590 521 0 0 0 0 0 0 14.23 14.00 13.73

9350 end climb: SURFACE_DEPTH_REACHED

state 9350 begin surface coast

9360 end surface coast: CONTROL_FINISHED_OK

state 9360 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	362	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	1008.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	59	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170917,194833,7438.8369,-15148.5723,21,1.0,30,20.3,0.0,76.1,8,9.5	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	1.21	MHEAD_RNG_PITCHd_Wd	214.5,70748,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	170917,200004,7438.8623,-15148.4883,10,1.0,10,20.3,0.0,0.0,8,9.3

FINISH	0.2,1.021153	_24V_AH	12.27,218.432
SM_CCo	9384,10.45,0.210,0,0,498,703.03	_10V_AH	12.08,0.000
SM_GC	1.92,8.30,0.17,10.45,0.075,0.093,0.210,193,2247,498,-7.39,-0.42,703.03,0,0,0,0,0,0,14.26,14.32,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	426	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323544
IRIDIUM_FIX	7440.28,-15155.17,170917,171510	DATA_FILE_SIZE	26715,758
TT8_MAMPS	0.039697,0.961716	CAP_FILE_SIZE	100427,0
HUMID	47.28	CFSIZE	2097872896,1984888832
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.2
XPDR_PINGS	6	CURRENT	0.009,27.55,1
CP_FREE	15916859392.000000	GPS	170917,223833,7438.325,-15152.317,30,0.8,32,20.2,0.3,358.9,11,8.4
PM_FREEKB_00	46018944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	143.09	nil	0	0	0.00
Roll_motor	70	2162	1870.77	nil	0	0	0.00
VBD_pump_during_apogee	1084	1365	18166.18	nil	0	0	0.00
VBD_pump_during_surface	10	210	26.97	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	9392	14	1681.12
Iridium_during_xfer	398	172	846.26	NCP	9354	20	2295.47
Transponder_ping	1	420	7.73	PMAR	9338	9	1142.22
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.21
TT8	0	0	0.00
LPSleep	6636	2	185.20
TT8_Active	883	13	149.13
TT8_Sampling	2217	33	895.86
TT8_CF8	363	38	169.71
TT8_Kalman	0	0	0.00
Analog_circuits	2238	10	270.38
GPS_charging	0	0	0.00
Compass	1087	7	91.92
RAFOS	2060	48	1194.47
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
51	-0.57	-145.9	185	2241	503	496	0.0	0.0	0	129	0.00	0.00	-77.25	0.000	16386	0.000	0.000	183	2241	1859	1790	1928	0	0	0	0	0	0	14.48	28.83	14.50
133	-0.57	-145.9	184	2241	1791	1931	3.0	-3.8	8	200	12.95	2.83	-48.22	0.000	19236	0.450	2.163	2383	826	3965	3950	3980	1	0	0	0	0	0	13.25	12.56	14.00
386	-0.71	-145.9	2384	826	3956	3980	50.9	-13.3	58	391	0.00	2.38	0.00	0.000	1158	0.000	0.084	2381	2152	3967	3955	3979	0	0	0	0	0	0	14.04	13.91	14.09
696	-0.84	-145.9	2380	2155	3956	3980	89.3	-9.6	90	701	0.20	2.62	0.00	0.000	4516	0.103	0.087	2292	3626	3967	3955	3980	0	0	0	0	0	0	14.03	13.93	14.06
847	-0.97	-145.9	2293	3626	3956	3978	109.2	-12.2	120	852	0.00	2.40	0.00	0.000	1158	0.000	0.058	2293	2235	3967	3955	3979	0	0	0	0	0	0	14.08	13.97	14.11
1178	-1.01	-145.9	2293	2236	3956	3977	154.7	-13.0	136	1179	0.12	0.00	0.00	0.000	4230	0.132	0.000	2250	2234	3967	3955	3979	0	0	0	0	0	0	14.07	14.19	14.16
1478	-0.99	-145.9	2245	2231	3956	3980	205.0	-16.4	146	1479	0.00	0.00	0.00	0.000	134	0.000	0.000	2244	2234	3966	3953	3980	0	0	0	0	0	0	14.42	14.44	14.44
1778	-0.99	-145.9	2245	2235	3954	3981	249.8	-14.2	156	1778	0.00	0.00	0.00	0.000	6	0.000	0.000	2245	2231	3967	3955	3980	0	0	0	0	0	0	14.45	14.44	14.43
2078	-1.03	-145.9	2245	2234	3956	3979	288.1	-12.0	166	2083	0.00	2.50	0.00	0.000	388	0.000	0.086	2236	3624	3967	3955	3980	0	0	0	0	0	0	14.42	13.92	14.43
2153	-1.14	-145.9	2236	3624	3954	3981	296.5	-10.6	181	2160	0.00	2.45	0.00	0.000	1158	0.000	0.057	2236	2198	3967	3955	3980	0	0	0	0	0	0	13.97	13.90	14.03
2473	-1.18	-145.9	2237	2197	3964	3980	333.4	-11.5	194	2474	0.00	0.00	0.00	0.000	134	0.000	0.000	2236	2196	3967	3955	3979	0	0	0	0	0	0	14.38	14.40	14.39
2771	-1.24	-145.9	2236	2197	3956	3981	366.6	-10.9	204	2776	0.15	2.55	0.00	0.000	4484	0.129	0.083	2168	3625	3967	3955	3980	0	0	0	0	0	0	14.14	13.98	14.18
2832	-1.20	-145.9	2161	3627	3955	3980	376.0	-16.7	216	2837	0.15	2.45	0.00	0.000	3206	0.262	0.058	2193	2194	3966	3954	3979	0	0	0	0	0	0	13.76	14.10	14.06
3163	-1.16	-145.9	2188	2196	3955	3980	425.9	-14.8	232	3167	0.00	2.53	0.00	0.000	388	0.000	0.084	2181	3620	3967	3954	3980	0	0	0	0	0	0	14.62	13.97	14.64
3228	-1.16	-145.9	2181	3622	3955	3981	435.4	-13.9	245	3233	0.00	2.45	0.00	0.000	1030	0.000	0.057	2181	2199	3966	3953	3980	0	0	0	0	0	0	14.16	14.05	14.23
3520	end dive: TARGET_DEPTH_EXCEEDED
state	3521	begin apogee
3527	-0.13	0.0	2182	2055	3955	3980	481.1	-15.5	259	3815	1.40	0.10	283.10	1.302	10246	0.245	0.158	2527	2122	3364	3379	3350	0	0	0	0	0	0	13.70	13.48	12.69
3820	end apogee: CONTROL_FINISHED_OK
state	3821	begin climb
3823	0.57	145.9	2527	2123	3372	3342	497.2	0.0	268	4069	0.75	2.62	220.93	1.310	11012	0.058	0.072	2784	3498	2748	2776	2721	0	0	0	0	0	0	13.70	12.89	12.27
4297	0.06	145.9	2784	3498	2770	2716	480.3	14.8	315	4304	0.90	2.38	0.00	0.000	5254	0.347	0.056	2609	2127	2741	2768	2715	0	0	0	0	0	0	13.45	13.89	13.85
4600	-0.02	203.9	2610	2130	2777	2712	456.3	7.3	326	4697	0.12	2.50	88.05	1.300	12708	0.288	0.081	2581	3498	2527	2573	2481	0	0	0	0	0	0	13.86	13.90	13.07
4922	-0.03	226.5	2582	3504	2554	2468	429.2	9.0	390	4957	0.00	2.38	29.83	1.366	9382	0.000	0.059	2588	2100	2441	2486	2397	0	0	0	0	0	0	14.28	14.16	13.19
5265	-0.01	262.3	2589	2100	2468	2374	400.7	8.3	408	5323	0.00	0.00	55.90	1.305	8230	0.000	0.000	2588	2100	2295	2338	2252	0	0	0	0	0	0	14.58	13.96	13.17
5623	0.05	294.7	2589	2100	2323	2227	369.9	8.5	420	5684	0.00	2.58	50.95	1.291	8868	0.000	0.089	2589	692	2153	2196	2111	0	0	0	0	0	0	14.59	14.01	13.18
5747	0.19	327.9	2588	692	2186	2106	359.9	8.5	444	5807	0.17	2.47	52.10	1.266	11430	0.104	0.079	2671	2091	2024	2066	1982	0	0	0	0	0	0	14.20	14.11	13.14
6105	0.13	327.9	2667	2093	2052	1960	311.3	13.5	466	6110	0.15	2.47	0.00	0.000	4740	0.252	0.083	2638	692	2005	2051	1959	0	0	0	0	0	0	13.89	14.12	14.07
6150	0.18	327.9	2639	692	2050	1959	305.8	10.7	475	6156	0.00	2.47	0.00	0.000	1158	0.000	0.077	2639	2101	2003	2048	1958	0	0	0	0	0	0	14.32	14.15	14.33
6467	0.18	327.9	2638	2102	2049	1957	270.8	11.0	488	6468	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2102	2002	2048	1956	0	0	0	0	0	0	14.66	14.66	14.65
6767	0.19	339.8	2639	2102	2049	1956	241.1	9.4	498	6777	0.00	2.47	3.60	1.167	8740	0.000	0.087	2643	693	1977	2023	1931	0	0	0	0	0	0	14.65	14.18	13.13
6855	0.28	368.2	2644	694	2031	1941	233.5	8.7	515	6924	0.00	2.47	62.15	1.243	9382	0.000	0.078	2643	2102	1859	1891	1827	0	0	0	0	0	0	14.30	14.16	13.17
7250	0.36	403.3	2644	2102	1873	1813	199.3	8.4	544	7317	0.15	2.53	60.08	1.209	10916	0.112	0.089	2712	690	1714	1736	1693	0	0	0	0	0	0	14.22	14.02	13.20
7392	0.36	403.3	2713	691	1722	1684	182.0	11.8	572	7397	0.00	2.47	0.00	0.000	1030	0.000	0.076	2712	2105	1702	1721	1683	0	0	0	0	0	0	14.23	14.11	14.28
7703	0.33	403.3	2711	2106	1723	1678	144.1	11.8	584	7708	0.00	2.50	0.00	0.000	644	0.000	0.086	2713	694	1698	1720	1677	0	0	0	0	0	0	14.60	14.13	14.62
7728	0.33	403.3	2713	694	1720	1677	141.2	11.6	589	7734	0.00	2.47	0.00	0.000	1030	0.000	0.077	2713	2103	1697	1718	1677	0	0	0	0	0	0	14.04	13.88	14.12
8033	0.33	403.3	2713	2105	1719	1676	108.1	10.3	600	8034	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2107	1697	1719	1675	0	0	0	0	0	0	14.63	14.65	14.64
8335	0.36	444.8	2713	2105	1719	1674	81.3	8.1	624	8367	0.00	2.58	22.60	0.422	8740	0.000	0.086	2713	687	1550	1575	1525	0	0	0	0	0	0	14.57	13.97	13.64
8467	0.49	514.2	2711	686	1586	1531	71.5	6.8	650	8521	0.00	2.50	44.40	0.405	9382	0.000	0.078	2714	2103	1267	1319	1216	0	0	0	0	0	0	14.26	14.13	13.64
8818	0.71	630.0	2713	2103	1321	1225	51.3	4.7	690	8897	0.28	2.53	72.28	0.342	10916	0.084	0.091	2822	691	794	864	724	0	0	0	0	0	0	14.20	14.04	13.64
8957	0.78	630.0	2822	692	867	733	37.1	10.6	717	8964	0.00	2.50	0.00	0.000	1158	0.000	0.076	2822	2106	799	866	733	0	0	0	0	0	0	14.19	14.04	14.23
9263	0.88	688.0	2822	2108	867	738	10.6	7.3	748	9305	0.12	0.00	38.28	0.226	10406	0.124	0.000	2880	2106	555	590	521	0	0	0	0	0	0	14.23	14.00	13.73
9350	end climb: SURFACE_DEPTH_REACHED
state	9350	begin surface coast
9360	end surface coast: CONTROL_FINISHED_OK
state	9360	begin surface