Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 365 * 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 365 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 1017.0

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 23 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 1017.0 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 23 VBD_MIN 500

DIVE 365 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 180917,040635,7437.4316,-15200.6396,15,0.7,22,20.1,0.6,353.3,12,9.5 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 1.19 MHEAD_RNG_PITCHd_Wd 212.9,64279,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.9 D_GRID 480

GPS2 180917,042302,7437.5347,-15200.7217,4,0.8,25,20.1,0.4,330.4,11,7.3

Post-dive calculations and measurements:

FINISH 0.5,1.020934 _24V_AH 12.30,219.888

SM_CCo 8872,7.88,0.212,0,0,503,702.78 _10V_AH 12.15,0.000

SM_GC 2.30,8.25,0.17,7.88,0.072,0.106,0.212,204,2244,503,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.26,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323388

IRIDIUM_FIX 7437.88,-15158.99,180917,041508 DATA_FILE_SIZE 26655,788

TT8_MAMPS 0.039697,0.872585 CAP_FILE_SIZE 108134,0

HUMID 47.20 CFSIZE 2097872896,1984200704

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 13.20 SOUNDSPEED 1447.7

XPDR_PINGS 19 CURRENT 0.018,349.16,1

CP_FREE 15915286528.000000 GPS 180917,065252,7437.103,-15205.039,15,0.9,27,20.1,0.2,36.6,8,9.6

PM_FREEKB_00 45919360

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 457 148.97 nil 0 0 0.00

Roll_motor 89 2164 2379.96 nil 0 0 0.00

VBD_pump_during_apogee 1047 1442 18586.95 nil 0 0 0.00

VBD_pump_during_surface 7 211 20.53 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 5229 14 912.98

Iridium_during_xfer 595 151 1109.65 NCP 8856 20 2178.58

Transponder_ping 4 420 24.54 PMAR 8824 12 1344.32

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.41

TT8 0 0 0.00

LPSleep 6313 2 177.20

TT8_Active 906 13 153.85

TT8_Sampling 2309 33 938.40

TT8_CF8 352 38 165.48

TT8_Kalman 0 0 0.00

Analog_circuits 2386 10 289.99

GPS_charging 0 0 0.00

Compass 1127 7 95.93

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 -145.9 191 2217 517 477 0.0 0.0 0 144 0.00 0.00 -90.97 0.000 16386 0.000 0.000 189 2218 2188 2119 2258 0 0 0 0 0 0 14.38 28.83 14.40

148 -0.57 -145.9 189 2219 2124 2259 4.5 -7.0 9 200 13.07 2.83 -31.70 0.000 18980 0.457 2.165 2384 790 3965 3951 3980 0 0 0 0 0 0 13.57 12.59 14.04

315 -0.70 -145.9 2384 790 3954 3981 43.6 -13.6 42 321 0.00 2.50 0.00 0.000 1158 0.000 0.086 2382 2195 3967 3954 3980 0 0 0 0 0 0 14.20 14.04 14.24

620 -0.83 -145.9 2382 2196 3955 3980 84.5 -10.0 73 627 0.20 2.53 0.00 0.000 4516 0.109 0.087 2293 3613 3967 3955 3980 0 0 0 0 0 0 14.12 14.02 14.18

729 -0.93 -145.9 2293 3614 3956 3979 99.3 -12.9 94 735 0.00 2.42 0.00 0.000 1158 0.000 0.058 2293 2195 3967 3955 3980 0 0 0 0 0 0 14.20 14.08 14.23

1034 -0.96 -145.9 2293 2195 3956 3982 144.3 -13.8 105 1035 0.00 0.00 0.00 0.000 134 0.000 0.000 2293 2194 3967 3955 3980 0 0 0 0 0 0 14.46 14.48 14.47

1332 -1.03 -145.9 2293 2195 3956 3981 181.5 -12.1 115 1337 0.12 2.55 0.00 0.000 4484 0.136 0.083 2236 3619 3967 3955 3980 0 0 0 0 0 0 14.27 14.05 14.28

1378 -1.07 -145.9 2236 3620 3956 3980 188.3 -15.5 124 1383 0.00 2.45 0.00 0.000 1158 0.000 0.060 2235 2193 3967 3955 3980 0 0 0 0 0 0 14.21 14.03 14.24

1694 -1.04 -145.9 2236 2190 3956 3981 240.6 -16.1 137 1699 0.00 2.53 0.00 0.000 388 0.000 0.083 2227 3618 3967 3955 3980 0 0 0 0 0 0 14.71 14.00 14.73

1765 -1.09 -145.9 2227 3621 3956 3981 250.9 -13.3 151 1770 0.00 2.42 0.00 0.000 1158 0.000 0.060 2227 2198 3967 3955 3980 0 0 0 0 0 0 14.22 14.09 14.26

2085 -1.09 -145.9 2227 2199 3956 3981 296.5 -13.8 165 2091 0.00 2.50 0.00 0.000 260 0.000 0.086 2223 3610 3967 3955 3980 0 0 0 0 0 0 14.73 14.09 14.75

2132 -1.17 -145.9 2223 3612 3956 3981 302.6 -12.7 174 2136 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2197 3967 3955 3980 0 0 0 0 0 0 14.29 14.16 14.33

2447 -1.17 -145.9 2222 2197 3956 3981 343.2 -12.5 187 2452 0.00 2.50 0.00 0.000 260 0.000 0.086 2222 3610 3967 3955 3980 0 0 0 0 0 0 14.75 14.08 14.78

2497 -1.26 -145.9 2223 3613 3956 3980 349.0 -10.8 197 2504 0.17 2.40 0.00 0.000 5254 0.108 0.057 2157 2193 3967 3955 3980 0 0 0 0 0 0 14.23 14.16 14.33

2809 -1.15 -145.9 2157 2197 3955 3980 404.8 -18.4 209 2815 0.20 2.50 0.00 0.000 2436 0.317 0.081 2190 3614 3967 3954 3980 0 0 0 0 0 0 13.67 14.03 13.88

2903 -1.18 -145.9 2190 3615 3954 3981 418.0 -13.1 227 2908 0.00 2.40 0.00 0.000 1158 0.000 0.057 2190 2203 3967 3954 3980 0 0 0 0 0 0 14.29 14.16 14.33

3233 -1.15 -145.9 2191 2202 3955 3980 466.4 -14.6 243 3238 0.00 2.50 0.00 0.000 388 0.000 0.084 2184 3620 3966 3954 3979 0 0 0 0 0 0 14.70 14.08 14.73

3294 -1.18 -145.9 2184 3621 3954 3981 474.9 -13.5 255 3298 0.00 2.42 0.00 0.000 1158 0.000 0.057 2184 2199 3966 3953 3980 0 0 0 0 0 0 14.28 14.15 14.33

3351 end dive: TARGET_DEPTH_EXCEEDED

state 3351 begin apogee

3358 -0.13 0.0 2185 2058 3954 3981 483.7 -14.7 262 3596 1.40 0.08 231.18 1.394 10246 0.245 0.184 2528 2109 3361 3378 3344 0 0 0 0 0 0 13.75 13.55 12.72

3599 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3602 0.57 145.9 2528 2110 3374 3339 497.6 0.0 270 3823 0.75 2.65 216.20 1.348 10756 0.059 0.076 2795 729 2766 2801 2731 0 0 0 0 0 0 13.76 12.91 12.30

4049 0.14 145.9 2795 730 2785 2721 484.5 13.6 361 4055 0.77 2.45 0.00 0.000 5254 0.322 0.074 2629 2105 2751 2784 2718 0 0 0 0 0 0 13.38 13.71 13.77

4371 -0.01 180.9 2633 2105 2786 2714 456.4 8.4 375 4427 0.20 2.53 50.90 1.382 12964 0.270 0.084 2589 727 2622 2669 2575 0 0 0 0 0 0 13.76 13.98 13.08

4602 0.03 237.3 2589 728 2663 2563 439.4 7.4 421 4697 0.00 2.40 88.03 1.328 9254 0.000 0.080 2588 2099 2393 2449 2338 0 0 0 0 0 0 14.24 14.13 13.03

5003 0.05 264.2 2589 2100 2430 2319 405.0 8.8 451 5041 0.00 0.00 36.72 1.369 8230 0.000 0.000 2589 2099 2289 2340 2239 0 0 0 0 0 0 14.52 14.01 13.18

5333 0.11 290.3 2589 2099 2325 2218 375.8 8.8 462 5378 0.00 2.45 39.00 1.367 8868 0.000 0.087 2589 728 2173 2219 2127 0 0 0 0 0 0 14.59 14.04 13.19

5394 0.21 330.8 2589 729 2212 2126 370.5 8.1 474 5465 0.17 2.42 65.30 1.287 11430 0.105 0.079 2666 2100 2014 2059 1970 0 0 0 0 0 0 14.16 14.09 13.07

5785 0.15 330.8 2666 2099 2036 1944 316.0 14.0 502 5790 0.12 2.42 0.00 0.000 4740 0.262 0.083 2644 724 1993 2041 1945 0 0 0 0 0 0 13.93 14.11 14.09

5851 0.20 330.8 2645 724 2040 1945 308.2 10.9 515 5856 0.00 2.45 0.00 0.000 1158 0.000 0.077 2643 2105 1992 2039 1945 0 0 0 0 0 0 14.28 14.14 14.35

6177 0.20 330.8 2645 2106 2039 1941 270.3 11.2 530 6182 0.00 2.47 0.00 0.000 516 0.000 0.086 2644 721 1991 2041 1942 0 0 0 0 0 0 14.59 14.12 14.61

6217 0.26 330.8 2645 721 2038 1942 266.0 10.3 538 6222 0.00 2.42 0.00 0.000 1158 0.000 0.077 2644 2101 1989 2037 1942 0 0 0 0 0 0 14.29 14.15 14.35

6538 0.27 345.5 2644 2101 2038 1941 234.5 9.3 552 6557 0.00 2.42 13.93 1.442 8740 0.000 0.086 2644 720 1953 1998 1908 0 0 0 0 0 0 14.62 14.19 13.31

6583 0.34 371.0 2645 720 1990 1907 230.5 8.8 561 6634 0.15 2.40 44.70 1.266 11430 0.113 0.078 2703 2101 1850 1878 1822 0 0 0 0 0 0 14.29 14.21 13.21

6960 0.29 371.0 2704 2101 1859 1806 183.2 12.4 586 6965 0.00 2.45 0.00 0.000 644 0.000 0.085 2709 724 1832 1858 1806 0 0 0 0 0 0 14.59 14.12 14.60

6995 0.27 371.0 2710 725 1858 1805 178.9 11.8 593 7002 0.17 2.40 0.00 0.000 5254 0.211 0.076 2669 2100 1831 1857 1806 0 0 0 0 0 0 14.00 14.16 14.20

7322 0.33 395.3 2669 2101 1857 1807 148.7 8.9 608 7367 0.00 2.50 36.97 1.265 8868 0.000 0.089 2669 727 1748 1769 1727 0 0 0 0 0 0 14.65 14.10 13.23

7392 0.45 432.1 2670 727 1761 1724 142.9 8.3 622 7467 0.17 2.42 66.00 1.175 11430 0.109 0.079 2744 2111 1599 1624 1575 0 0 0 0 0 0 14.22 14.15 13.16

7773 0.40 432.1 2744 2111 1617 1552 94.5 12.0 650 7778 0.12 2.45 0.00 0.000 4740 0.239 0.085 2713 728 1583 1616 1551 0 0 0 0 0 0 13.97 14.07 14.04

7849 0.50 459.2 2714 729 1612 1552 87.3 8.8 665 7870 0.00 2.42 13.90 0.426 9382 0.000 0.077 2713 2106 1496 1530 1462 0 0 0 0 0 0 14.04 13.93 13.56

8176 0.65 547.8 2714 2106 1536 1467 62.3 5.9 700 8237 0.22 0.00 55.05 0.377 10406 0.088 0.000 2800 2106 1132 1193 1072 0 0 0 0 0 0 14.25 13.86 13.62

8536 0.67 576.6 2800 2107 1189 1081 28.2 8.7 736 8558 0.00 2.53 17.80 0.278 8740 0.000 0.088 2802 728 1014 1077 951 0 0 0 0 0 0 14.54 13.95 13.71

8669 0.87 692.1 2802 727 1079 961 19.2 4.7 762 8747 0.17 2.42 72.25 0.249 11430 0.103 0.076 2875 2106 540 570 510 0 0 0 0 0 0 14.00 13.91 13.84

8839 end climb: SURFACE_DEPTH_REACHED

state 8840 begin surface coast

8850 end surface coast: CONTROL_FINISHED_OK

state 8850 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	365	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	1017.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,040635,7437.4316,-15200.6396,15,0.7,22,20.1,0.6,353.3,12,9.5	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	1.19	MHEAD_RNG_PITCHd_Wd	212.9,64279,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.9	D_GRID	480
GPS2	180917,042302,7437.5347,-15200.7217,4,0.8,25,20.1,0.4,330.4,11,7.3

FINISH	0.5,1.020934	_24V_AH	12.30,219.888
SM_CCo	8872,7.88,0.212,0,0,503,702.78	_10V_AH	12.15,0.000
SM_GC	2.30,8.25,0.17,7.88,0.072,0.106,0.212,204,2244,503,-7.37,-0.51,702.78,0,0,0,0,0,0,14.25,14.26,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323388
IRIDIUM_FIX	7437.88,-15158.99,180917,041508	DATA_FILE_SIZE	26655,788
TT8_MAMPS	0.039697,0.872585	CAP_FILE_SIZE	108134,0
HUMID	47.20	CFSIZE	2097872896,1984200704
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1447.7
XPDR_PINGS	19	CURRENT	0.018,349.16,1
CP_FREE	15915286528.000000	GPS	180917,065252,7437.103,-15205.039,15,0.9,27,20.1,0.2,36.6,8,9.6
PM_FREEKB_00	45919360

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	457	148.97	nil	0	0	0.00
Roll_motor	89	2164	2379.96	nil	0	0	0.00
VBD_pump_during_apogee	1047	1442	18586.95	nil	0	0	0.00
VBD_pump_during_surface	7	211	20.53	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	5229	14	912.98
Iridium_during_xfer	595	151	1109.65	NCP	8856	20	2178.58
Transponder_ping	4	420	24.54	PMAR	8824	12	1344.32
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.41
TT8	0	0	0.00
LPSleep	6313	2	177.20
TT8_Active	906	13	153.85
TT8_Sampling	2309	33	938.40
TT8_CF8	352	38	165.48
TT8_Kalman	0	0	0.00
Analog_circuits	2386	10	289.99
GPS_charging	0	0	0.00
Compass	1127	7	95.93
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	191	2217	517	477	0.0	0.0	0	144	0.00	0.00	-90.97	0.000	16386	0.000	0.000	189	2218	2188	2119	2258	0	0	0	0	0	0	14.38	28.83	14.40
148	-0.57	-145.9	189	2219	2124	2259	4.5	-7.0	9	200	13.07	2.83	-31.70	0.000	18980	0.457	2.165	2384	790	3965	3951	3980	0	0	0	0	0	0	13.57	12.59	14.04
315	-0.70	-145.9	2384	790	3954	3981	43.6	-13.6	42	321	0.00	2.50	0.00	0.000	1158	0.000	0.086	2382	2195	3967	3954	3980	0	0	0	0	0	0	14.20	14.04	14.24
620	-0.83	-145.9	2382	2196	3955	3980	84.5	-10.0	73	627	0.20	2.53	0.00	0.000	4516	0.109	0.087	2293	3613	3967	3955	3980	0	0	0	0	0	0	14.12	14.02	14.18
729	-0.93	-145.9	2293	3614	3956	3979	99.3	-12.9	94	735	0.00	2.42	0.00	0.000	1158	0.000	0.058	2293	2195	3967	3955	3980	0	0	0	0	0	0	14.20	14.08	14.23
1034	-0.96	-145.9	2293	2195	3956	3982	144.3	-13.8	105	1035	0.00	0.00	0.00	0.000	134	0.000	0.000	2293	2194	3967	3955	3980	0	0	0	0	0	0	14.46	14.48	14.47
1332	-1.03	-145.9	2293	2195	3956	3981	181.5	-12.1	115	1337	0.12	2.55	0.00	0.000	4484	0.136	0.083	2236	3619	3967	3955	3980	0	0	0	0	0	0	14.27	14.05	14.28
1378	-1.07	-145.9	2236	3620	3956	3980	188.3	-15.5	124	1383	0.00	2.45	0.00	0.000	1158	0.000	0.060	2235	2193	3967	3955	3980	0	0	0	0	0	0	14.21	14.03	14.24
1694	-1.04	-145.9	2236	2190	3956	3981	240.6	-16.1	137	1699	0.00	2.53	0.00	0.000	388	0.000	0.083	2227	3618	3967	3955	3980	0	0	0	0	0	0	14.71	14.00	14.73
1765	-1.09	-145.9	2227	3621	3956	3981	250.9	-13.3	151	1770	0.00	2.42	0.00	0.000	1158	0.000	0.060	2227	2198	3967	3955	3980	0	0	0	0	0	0	14.22	14.09	14.26
2085	-1.09	-145.9	2227	2199	3956	3981	296.5	-13.8	165	2091	0.00	2.50	0.00	0.000	260	0.000	0.086	2223	3610	3967	3955	3980	0	0	0	0	0	0	14.73	14.09	14.75
2132	-1.17	-145.9	2223	3612	3956	3981	302.6	-12.7	174	2136	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2197	3967	3955	3980	0	0	0	0	0	0	14.29	14.16	14.33
2447	-1.17	-145.9	2222	2197	3956	3981	343.2	-12.5	187	2452	0.00	2.50	0.00	0.000	260	0.000	0.086	2222	3610	3967	3955	3980	0	0	0	0	0	0	14.75	14.08	14.78
2497	-1.26	-145.9	2223	3613	3956	3980	349.0	-10.8	197	2504	0.17	2.40	0.00	0.000	5254	0.108	0.057	2157	2193	3967	3955	3980	0	0	0	0	0	0	14.23	14.16	14.33
2809	-1.15	-145.9	2157	2197	3955	3980	404.8	-18.4	209	2815	0.20	2.50	0.00	0.000	2436	0.317	0.081	2190	3614	3967	3954	3980	0	0	0	0	0	0	13.67	14.03	13.88
2903	-1.18	-145.9	2190	3615	3954	3981	418.0	-13.1	227	2908	0.00	2.40	0.00	0.000	1158	0.000	0.057	2190	2203	3967	3954	3980	0	0	0	0	0	0	14.29	14.16	14.33
3233	-1.15	-145.9	2191	2202	3955	3980	466.4	-14.6	243	3238	0.00	2.50	0.00	0.000	388	0.000	0.084	2184	3620	3966	3954	3979	0	0	0	0	0	0	14.70	14.08	14.73
3294	-1.18	-145.9	2184	3621	3954	3981	474.9	-13.5	255	3298	0.00	2.42	0.00	0.000	1158	0.000	0.057	2184	2199	3966	3953	3980	0	0	0	0	0	0	14.28	14.15	14.33
3351	end dive: TARGET_DEPTH_EXCEEDED
state	3351	begin apogee
3358	-0.13	0.0	2185	2058	3954	3981	483.7	-14.7	262	3596	1.40	0.08	231.18	1.394	10246	0.245	0.184	2528	2109	3361	3378	3344	0	0	0	0	0	0	13.75	13.55	12.72
3599	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3602	0.57	145.9	2528	2110	3374	3339	497.6	0.0	270	3823	0.75	2.65	216.20	1.348	10756	0.059	0.076	2795	729	2766	2801	2731	0	0	0	0	0	0	13.76	12.91	12.30
4049	0.14	145.9	2795	730	2785	2721	484.5	13.6	361	4055	0.77	2.45	0.00	0.000	5254	0.322	0.074	2629	2105	2751	2784	2718	0	0	0	0	0	0	13.38	13.71	13.77
4371	-0.01	180.9	2633	2105	2786	2714	456.4	8.4	375	4427	0.20	2.53	50.90	1.382	12964	0.270	0.084	2589	727	2622	2669	2575	0	0	0	0	0	0	13.76	13.98	13.08
4602	0.03	237.3	2589	728	2663	2563	439.4	7.4	421	4697	0.00	2.40	88.03	1.328	9254	0.000	0.080	2588	2099	2393	2449	2338	0	0	0	0	0	0	14.24	14.13	13.03
5003	0.05	264.2	2589	2100	2430	2319	405.0	8.8	451	5041	0.00	0.00	36.72	1.369	8230	0.000	0.000	2589	2099	2289	2340	2239	0	0	0	0	0	0	14.52	14.01	13.18
5333	0.11	290.3	2589	2099	2325	2218	375.8	8.8	462	5378	0.00	2.45	39.00	1.367	8868	0.000	0.087	2589	728	2173	2219	2127	0	0	0	0	0	0	14.59	14.04	13.19
5394	0.21	330.8	2589	729	2212	2126	370.5	8.1	474	5465	0.17	2.42	65.30	1.287	11430	0.105	0.079	2666	2100	2014	2059	1970	0	0	0	0	0	0	14.16	14.09	13.07
5785	0.15	330.8	2666	2099	2036	1944	316.0	14.0	502	5790	0.12	2.42	0.00	0.000	4740	0.262	0.083	2644	724	1993	2041	1945	0	0	0	0	0	0	13.93	14.11	14.09
5851	0.20	330.8	2645	724	2040	1945	308.2	10.9	515	5856	0.00	2.45	0.00	0.000	1158	0.000	0.077	2643	2105	1992	2039	1945	0	0	0	0	0	0	14.28	14.14	14.35
6177	0.20	330.8	2645	2106	2039	1941	270.3	11.2	530	6182	0.00	2.47	0.00	0.000	516	0.000	0.086	2644	721	1991	2041	1942	0	0	0	0	0	0	14.59	14.12	14.61
6217	0.26	330.8	2645	721	2038	1942	266.0	10.3	538	6222	0.00	2.42	0.00	0.000	1158	0.000	0.077	2644	2101	1989	2037	1942	0	0	0	0	0	0	14.29	14.15	14.35
6538	0.27	345.5	2644	2101	2038	1941	234.5	9.3	552	6557	0.00	2.42	13.93	1.442	8740	0.000	0.086	2644	720	1953	1998	1908	0	0	0	0	0	0	14.62	14.19	13.31
6583	0.34	371.0	2645	720	1990	1907	230.5	8.8	561	6634	0.15	2.40	44.70	1.266	11430	0.113	0.078	2703	2101	1850	1878	1822	0	0	0	0	0	0	14.29	14.21	13.21
6960	0.29	371.0	2704	2101	1859	1806	183.2	12.4	586	6965	0.00	2.45	0.00	0.000	644	0.000	0.085	2709	724	1832	1858	1806	0	0	0	0	0	0	14.59	14.12	14.60
6995	0.27	371.0	2710	725	1858	1805	178.9	11.8	593	7002	0.17	2.40	0.00	0.000	5254	0.211	0.076	2669	2100	1831	1857	1806	0	0	0	0	0	0	14.00	14.16	14.20
7322	0.33	395.3	2669	2101	1857	1807	148.7	8.9	608	7367	0.00	2.50	36.97	1.265	8868	0.000	0.089	2669	727	1748	1769	1727	0	0	0	0	0	0	14.65	14.10	13.23
7392	0.45	432.1	2670	727	1761	1724	142.9	8.3	622	7467	0.17	2.42	66.00	1.175	11430	0.109	0.079	2744	2111	1599	1624	1575	0	0	0	0	0	0	14.22	14.15	13.16
7773	0.40	432.1	2744	2111	1617	1552	94.5	12.0	650	7778	0.12	2.45	0.00	0.000	4740	0.239	0.085	2713	728	1583	1616	1551	0	0	0	0	0	0	13.97	14.07	14.04
7849	0.50	459.2	2714	729	1612	1552	87.3	8.8	665	7870	0.00	2.42	13.90	0.426	9382	0.000	0.077	2713	2106	1496	1530	1462	0	0	0	0	0	0	14.04	13.93	13.56
8176	0.65	547.8	2714	2106	1536	1467	62.3	5.9	700	8237	0.22	0.00	55.05	0.377	10406	0.088	0.000	2800	2106	1132	1193	1072	0	0	0	0	0	0	14.25	13.86	13.62
8536	0.67	576.6	2800	2107	1189	1081	28.2	8.7	736	8558	0.00	2.53	17.80	0.278	8740	0.000	0.088	2802	728	1014	1077	951	0	0	0	0	0	0	14.54	13.95	13.71
8669	0.87	692.1	2802	727	1079	961	19.2	4.7	762	8747	0.17	2.42	72.25	0.249	11430	0.103	0.076	2875	2106	540	570	510	0	0	0	0	0	0	14.00	13.91	13.84
8839	end climb: SURFACE_DEPTH_REACHED
state	8840	begin surface coast
8850	end surface coast: CONTROL_FINISHED_OK
state	8850	begin surface