Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 373 * 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 373 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 1039.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 1039.0 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 27 VBD_MIN 500

DIVE 373 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 190917,014133,7434.1157,-15231.8652,35,0.8,36,19.9,0.0,0.0,11,8.7 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 1.16 MHEAD_RNG_PITCHd_Wd 203.9,48014,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 190917,015247,7434.1719,-15231.8184,8,0.8,10,19.9,0.0,70.9,11,9.6

Post-dive calculations and measurements:

FINISH 0.1,1.020972 _24V_AH 12.28,223.712

SM_CCo 8958,10.20,0.213,0,0,500,702.78 _10V_AH 12.15,0.000

SM_GC 2.31,8.45,0.17,10.20,0.079,0.118,0.213,203,2214,500,-7.38,-0.74,702.78,0,0,0,0,0,0,14.12,14.10,13.81 FG_AHR_24Vo 0.000

RAFOS_CLK 71 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323768

IRIDIUM_FIX 7437.10,-15228.08,180917,230001 DATA_FILE_SIZE 26737,734

TT8_MAMPS 0.085386,0.963214 CAP_FILE_SIZE 102074,0

HUMID 44.95 CFSIZE 2097872896,1982332928

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.7

XPDR_PINGS 12 CURRENT 0.059,26.17,1

CP_FREE 15911124992.000000 GPS 190917,042405,7433.657,-15235.437,17,0.7,30,19.9,0.5,311.7,10,9.7

PM_FREEKB_00 45632576

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 459 153.71 nil 0 0 0.00

Roll_motor 80 2168 2149.82 nil 0 0 0.00

VBD_pump_during_apogee 985 1641 19869.65 nil 0 0 0.00

VBD_pump_during_surface 10 212 26.64 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 8925 14 1571.10

Iridium_during_xfer 383 177 835.49 NCP 8937 20 2194.93

Transponder_ping 3 420 15.47 PMAR 8909 9 1079.26

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.16

TT8 0 0 0.00

LPSleep 6404 2 179.76

TT8_Active 855 13 145.21

TT8_Sampling 2024 33 822.45

TT8_CF8 369 38 173.76

TT8_Kalman 0 0 0.00

Analog_circuits 2073 10 251.98

GPS_charging 0 0 0.00

Compass 1053 7 89.58

RAFOS 2217 48 1292.95

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 201 2236 504 490 0.0 0.0 0 145 0.00 0.00 -91.62 0.000 16386 0.000 0.000 200 2235 2216 2154 2278 0 0 0 0 0 0 14.50 28.83 14.52

149 -0.57 -145.9 201 2236 2158 2278 4.7 -7.5 9 202 13.10 2.90 -30.42 0.000 18980 0.460 2.168 2383 797 3961 3940 3983 0 0 0 0 0 0 13.54 12.61 13.98

327 -0.71 -145.9 2384 798 3950 3984 46.9 -12.6 44 334 0.00 2.47 0.00 0.000 1158 0.000 0.085 2383 2177 3966 3950 3983 0 0 0 0 0 0 14.20 14.04 14.24

632 -0.86 -145.9 2384 2179 3951 3984 83.2 -9.5 75 637 0.22 2.55 0.00 0.000 4516 0.093 0.087 2281 3607 3967 3951 3984 0 0 0 0 0 0 14.04 14.00 14.06

750 -0.92 -145.9 2281 3609 3952 3985 99.3 -13.8 98 756 0.00 2.42 0.00 0.000 1158 0.000 0.060 2281 2199 3967 3951 3983 0 0 0 0 0 0 14.09 13.94 14.11

1053 -0.92 -145.9 2282 2199 3952 3984 146.6 -14.7 109 1054 0.00 0.00 0.00 0.000 6 0.000 0.000 2282 2197 3967 3951 3983 0 0 0 0 0 0 14.61 14.63 14.62

1353 -0.97 -145.9 2282 2198 3952 3983 186.6 -13.0 119 1358 0.00 2.53 0.00 0.000 388 0.000 0.086 2273 3617 3967 3951 3983 0 0 0 0 0 0 14.62 14.04 14.62

1414 -1.11 -145.9 2272 3619 3952 3982 193.6 -10.8 131 1419 0.15 2.42 0.00 0.000 5254 0.114 0.059 2212 2202 3967 3951 3983 0 0 0 0 0 0 14.12 14.07 14.21

1745 -1.05 -145.9 2214 2197 3952 3983 252.6 -16.9 147 1745 0.00 0.00 0.00 0.000 134 0.000 0.000 2213 2197 3967 3951 3983 0 0 0 0 0 0 14.62 14.62 14.63

2045 -1.03 -145.9 2214 2198 3952 3984 299.2 -14.8 157 2050 0.12 2.50 0.00 0.000 2436 0.292 0.084 2235 3608 3967 3951 3983 0 0 0 0 0 0 13.85 14.04 13.98

2175 -1.14 -145.9 2236 3609 3952 3984 313.6 -10.3 183 2180 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2199 3967 3951 3983 0 0 0 0 0 0 14.14 14.07 14.27

2496 -1.18 -145.9 2236 2200 3951 3984 350.5 -11.3 197 2497 0.00 0.00 0.00 0.000 134 0.000 0.000 2235 2198 3967 3951 3983 0 0 0 0 0 0 14.64 14.66 14.66

2796 -1.24 -145.9 2236 2199 3952 3983 383.5 -10.9 207 2801 0.15 2.53 0.00 0.000 4484 0.130 0.084 2159 3617 3967 3951 3983 0 0 0 0 0 0 14.20 14.02 14.24

2894 -1.20 -145.9 2162 3618 3952 3983 398.3 -16.0 226 2899 0.15 2.42 0.00 0.000 3206 0.268 0.058 2189 2199 3966 3949 3983 0 0 0 0 0 0 13.74 14.09 14.04

3220 -1.17 -145.9 2190 2199 3951 3984 445.7 -14.2 241 3225 0.00 2.53 0.00 0.000 388 0.000 0.085 2183 3608 3966 3950 3983 0 0 0 0 0 0 14.64 14.03 14.66

3271 -1.17 -145.9 2183 3609 3951 3984 452.9 -13.7 251 3275 0.00 2.42 0.00 0.000 1030 0.000 0.057 2183 2199 3966 3950 3983 0 0 0 0 0 0 14.10 13.91 14.15

3458 end dive: TARGET_DEPTH_EXCEEDED

state 3458 begin apogee

3465 -0.13 0.0 2184 2056 3951 3983 480.9 -14.8 259 3685 1.40 0.08 216.40 1.423 10246 0.245 0.181 2528 2107 3365 3376 3354 0 0 0 0 0 0 13.69 13.51 12.72

3689 end apogee: CONTROL_FINISHED_OK

state 3689 begin climb

3694 0.57 145.9 2529 2107 3373 3348 493.1 0.0 266 3913 0.75 2.65 211.35 1.371 11012 0.058 0.073 2786 3498 2762 2793 2731 0 0 0 0 0 0 13.76 12.90 12.28

4016 0.07 145.9 2786 3497 2781 2729 494.3 15.1 335 4021 0.95 2.42 0.00 0.000 5254 0.344 0.055 2610 2131 2754 2780 2728 0 0 0 0 0 0 13.15 13.50 13.54

4332 -0.02 197.4 2611 2131 2781 2726 468.9 7.6 348 4408 0.17 0.00 73.72 1.397 12454 0.275 0.000 2574 2130 2559 2609 2509 0 0 0 0 0 0 13.75 13.85 13.02

4692 0.01 251.2 2574 2131 2603 2491 442.5 7.5 360 4778 0.00 2.58 79.28 1.376 8740 0.000 0.090 2576 695 2335 2383 2287 0 0 0 0 0 0 14.55 13.68 13.05

4816 0.15 295.8 2576 695 2378 2285 433.1 7.9 384 4888 0.17 2.47 66.70 1.361 11430 0.106 0.080 2651 2093 2156 2204 2108 0 0 0 0 0 0 14.09 14.01 12.97

5204 0.09 295.8 2652 2094 2190 2093 381.7 13.4 412 5205 0.17 0.00 0.00 0.000 4230 0.236 0.000 2612 2094 2141 2190 2092 0 0 0 0 0 0 13.93 14.21 14.13

5504 0.09 295.8 2613 2095 2189 2091 350.5 10.3 422 5509 0.00 2.50 0.00 0.000 516 0.000 0.089 2613 692 2139 2188 2091 0 0 0 0 0 0 14.61 14.04 14.62

5560 0.18 304.7 2613 692 2188 2092 344.9 9.6 433 5570 0.00 2.47 4.60 1.642 9382 0.000 0.077 2613 2100 2123 2171 2076 0 0 0 0 0 0 14.23 14.09 13.24

5898 0.20 305.8 2613 2101 2172 2076 311.1 10.0 450 5900 0.10 0.00 0.00 0.000 2214 0.143 0.000 2667 2106 2123 2171 2076 0 0 0 0 0 0 14.35 14.43 14.40

6196 0.13 305.8 2668 2100 2170 2076 272.6 12.8 460 6202 0.15 2.50 0.00 0.000 4740 0.250 0.086 2633 689 2123 2171 2076 0 0 0 0 0 0 13.90 14.13 14.04

6232 0.18 306.8 2634 690 2171 2076 268.6 10.0 467 6243 0.00 2.47 3.20 1.392 9382 0.000 0.079 2633 2105 2114 2161 2068 0 0 0 0 0 0 14.31 14.16 13.03

6559 0.20 332.0 2633 2106 2165 2070 239.1 8.8 482 6614 0.00 2.55 46.40 1.373 8740 0.000 0.086 2630 707 2008 2049 1968 0 0 0 0 0 0 14.62 14.07 13.21

6657 0.33 369.3 2634 697 2045 1968 230.8 8.3 501 6725 0.17 2.47 62.20 1.287 11430 0.099 0.078 2710 2105 1860 1887 1833 0 0 0 0 0 0 14.13 14.04 13.12

7041 0.28 369.3 2701 2107 1874 1822 183.6 12.0 528 7046 0.12 2.53 0.00 0.000 4740 0.223 0.086 2673 687 1847 1873 1821 0 0 0 0 0 0 13.97 14.09 14.08

7102 0.37 384.2 2673 687 1873 1821 177.4 9.3 540 7128 0.00 2.50 21.38 1.381 9382 0.000 0.078 2672 2103 1798 1821 1776 0 0 0 0 0 0 14.12 13.97 13.28

7436 0.42 409.7 2673 2103 1814 1764 146.6 8.8 556 7488 0.12 2.55 44.33 1.287 10916 0.132 0.089 2740 698 1689 1708 1671 0 0 0 0 0 0 14.26 14.04 13.25

7536 0.40 409.7 2740 697 1705 1670 134.2 12.9 576 7542 0.12 2.47 0.00 0.000 5254 0.235 0.077 2715 2103 1687 1704 1670 0 0 0 0 0 0 13.98 14.12 14.19

7875 0.40 409.7 2715 2104 1704 1664 97.2 10.2 590 7880 0.00 2.53 0.00 0.000 516 0.000 0.088 2715 692 1683 1704 1662 0 0 0 0 0 0 14.40 13.98 14.42

7916 0.44 418.2 2715 691 1702 1664 93.0 9.6 598 7926 0.00 2.47 3.45 0.440 9382 0.000 0.077 2720 2098 1662 1684 1640 0 0 0 0 0 0 14.16 14.04 13.49

8226 0.51 478.5 2715 2101 1687 1639 65.9 7.2 630 8268 0.00 2.55 34.62 0.396 8868 0.000 0.088 2714 697 1413 1448 1378 0 0 0 0 0 0 14.38 13.97 13.66

8346 0.71 557.0 2715 697 1450 1377 58.6 6.4 653 8398 0.28 2.50 44.40 0.369 11430 0.081 0.078 2815 2105 1091 1154 1029 0 0 0 0 0 0 14.11 13.98 13.64

8704 0.76 633.5 2817 2105 1154 1025 21.0 6.5 694 8755 0.00 2.58 43.03 0.264 8740 0.000 0.088 2819 705 779 843 716 0 0 0 0 0 0 14.38 13.83 13.75

8841 0.91 685.6 2818 706 844 714 11.0 7.6 721 8878 0.17 2.47 30.55 0.232 11430 0.102 0.076 2887 2100 567 603 531 0 0 0 0 0 0 13.97 13.90 13.71

8923 end climb: SURFACE_DEPTH_REACHED

state 8923 begin surface coast

8936 end surface coast: CONTROL_FINISHED_OK

state 8936 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	373	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	1039.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,014133,7434.1157,-15231.8652,35,0.8,36,19.9,0.0,0.0,11,8.7	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	1.16	MHEAD_RNG_PITCHd_Wd	203.9,48014,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	190917,015247,7434.1719,-15231.8184,8,0.8,10,19.9,0.0,70.9,11,9.6

FINISH	0.1,1.020972	_24V_AH	12.28,223.712
SM_CCo	8958,10.20,0.213,0,0,500,702.78	_10V_AH	12.15,0.000
SM_GC	2.31,8.45,0.17,10.20,0.079,0.118,0.213,203,2214,500,-7.38,-0.74,702.78,0,0,0,0,0,0,14.12,14.10,13.81	FG_AHR_24Vo	0.000
RAFOS_CLK	71	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323768
IRIDIUM_FIX	7437.10,-15228.08,180917,230001	DATA_FILE_SIZE	26737,734
TT8_MAMPS	0.085386,0.963214	CAP_FILE_SIZE	102074,0
HUMID	44.95	CFSIZE	2097872896,1982332928
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.7
XPDR_PINGS	12	CURRENT	0.059,26.17,1
CP_FREE	15911124992.000000	GPS	190917,042405,7433.657,-15235.437,17,0.7,30,19.9,0.5,311.7,10,9.7
PM_FREEKB_00	45632576

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	459	153.71	nil	0	0	0.00
Roll_motor	80	2168	2149.82	nil	0	0	0.00
VBD_pump_during_apogee	985	1641	19869.65	nil	0	0	0.00
VBD_pump_during_surface	10	212	26.64	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	8925	14	1571.10
Iridium_during_xfer	383	177	835.49	NCP	8937	20	2194.93
Transponder_ping	3	420	15.47	PMAR	8909	9	1079.26
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.16
TT8	0	0	0.00
LPSleep	6404	2	179.76
TT8_Active	855	13	145.21
TT8_Sampling	2024	33	822.45
TT8_CF8	369	38	173.76
TT8_Kalman	0	0	0.00
Analog_circuits	2073	10	251.98
GPS_charging	0	0	0.00
Compass	1053	7	89.58
RAFOS	2217	48	1292.95
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	201	2236	504	490	0.0	0.0	0	145	0.00	0.00	-91.62	0.000	16386	0.000	0.000	200	2235	2216	2154	2278	0	0	0	0	0	0	14.50	28.83	14.52
149	-0.57	-145.9	201	2236	2158	2278	4.7	-7.5	9	202	13.10	2.90	-30.42	0.000	18980	0.460	2.168	2383	797	3961	3940	3983	0	0	0	0	0	0	13.54	12.61	13.98
327	-0.71	-145.9	2384	798	3950	3984	46.9	-12.6	44	334	0.00	2.47	0.00	0.000	1158	0.000	0.085	2383	2177	3966	3950	3983	0	0	0	0	0	0	14.20	14.04	14.24
632	-0.86	-145.9	2384	2179	3951	3984	83.2	-9.5	75	637	0.22	2.55	0.00	0.000	4516	0.093	0.087	2281	3607	3967	3951	3984	0	0	0	0	0	0	14.04	14.00	14.06
750	-0.92	-145.9	2281	3609	3952	3985	99.3	-13.8	98	756	0.00	2.42	0.00	0.000	1158	0.000	0.060	2281	2199	3967	3951	3983	0	0	0	0	0	0	14.09	13.94	14.11
1053	-0.92	-145.9	2282	2199	3952	3984	146.6	-14.7	109	1054	0.00	0.00	0.00	0.000	6	0.000	0.000	2282	2197	3967	3951	3983	0	0	0	0	0	0	14.61	14.63	14.62
1353	-0.97	-145.9	2282	2198	3952	3983	186.6	-13.0	119	1358	0.00	2.53	0.00	0.000	388	0.000	0.086	2273	3617	3967	3951	3983	0	0	0	0	0	0	14.62	14.04	14.62
1414	-1.11	-145.9	2272	3619	3952	3982	193.6	-10.8	131	1419	0.15	2.42	0.00	0.000	5254	0.114	0.059	2212	2202	3967	3951	3983	0	0	0	0	0	0	14.12	14.07	14.21
1745	-1.05	-145.9	2214	2197	3952	3983	252.6	-16.9	147	1745	0.00	0.00	0.00	0.000	134	0.000	0.000	2213	2197	3967	3951	3983	0	0	0	0	0	0	14.62	14.62	14.63
2045	-1.03	-145.9	2214	2198	3952	3984	299.2	-14.8	157	2050	0.12	2.50	0.00	0.000	2436	0.292	0.084	2235	3608	3967	3951	3983	0	0	0	0	0	0	13.85	14.04	13.98
2175	-1.14	-145.9	2236	3609	3952	3984	313.6	-10.3	183	2180	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2199	3967	3951	3983	0	0	0	0	0	0	14.14	14.07	14.27
2496	-1.18	-145.9	2236	2200	3951	3984	350.5	-11.3	197	2497	0.00	0.00	0.00	0.000	134	0.000	0.000	2235	2198	3967	3951	3983	0	0	0	0	0	0	14.64	14.66	14.66
2796	-1.24	-145.9	2236	2199	3952	3983	383.5	-10.9	207	2801	0.15	2.53	0.00	0.000	4484	0.130	0.084	2159	3617	3967	3951	3983	0	0	0	0	0	0	14.20	14.02	14.24
2894	-1.20	-145.9	2162	3618	3952	3983	398.3	-16.0	226	2899	0.15	2.42	0.00	0.000	3206	0.268	0.058	2189	2199	3966	3949	3983	0	0	0	0	0	0	13.74	14.09	14.04
3220	-1.17	-145.9	2190	2199	3951	3984	445.7	-14.2	241	3225	0.00	2.53	0.00	0.000	388	0.000	0.085	2183	3608	3966	3950	3983	0	0	0	0	0	0	14.64	14.03	14.66
3271	-1.17	-145.9	2183	3609	3951	3984	452.9	-13.7	251	3275	0.00	2.42	0.00	0.000	1030	0.000	0.057	2183	2199	3966	3950	3983	0	0	0	0	0	0	14.10	13.91	14.15
3458	end dive: TARGET_DEPTH_EXCEEDED
state	3458	begin apogee
3465	-0.13	0.0	2184	2056	3951	3983	480.9	-14.8	259	3685	1.40	0.08	216.40	1.423	10246	0.245	0.181	2528	2107	3365	3376	3354	0	0	0	0	0	0	13.69	13.51	12.72
3689	end apogee: CONTROL_FINISHED_OK
state	3689	begin climb
3694	0.57	145.9	2529	2107	3373	3348	493.1	0.0	266	3913	0.75	2.65	211.35	1.371	11012	0.058	0.073	2786	3498	2762	2793	2731	0	0	0	0	0	0	13.76	12.90	12.28
4016	0.07	145.9	2786	3497	2781	2729	494.3	15.1	335	4021	0.95	2.42	0.00	0.000	5254	0.344	0.055	2610	2131	2754	2780	2728	0	0	0	0	0	0	13.15	13.50	13.54
4332	-0.02	197.4	2611	2131	2781	2726	468.9	7.6	348	4408	0.17	0.00	73.72	1.397	12454	0.275	0.000	2574	2130	2559	2609	2509	0	0	0	0	0	0	13.75	13.85	13.02
4692	0.01	251.2	2574	2131	2603	2491	442.5	7.5	360	4778	0.00	2.58	79.28	1.376	8740	0.000	0.090	2576	695	2335	2383	2287	0	0	0	0	0	0	14.55	13.68	13.05
4816	0.15	295.8	2576	695	2378	2285	433.1	7.9	384	4888	0.17	2.47	66.70	1.361	11430	0.106	0.080	2651	2093	2156	2204	2108	0	0	0	0	0	0	14.09	14.01	12.97
5204	0.09	295.8	2652	2094	2190	2093	381.7	13.4	412	5205	0.17	0.00	0.00	0.000	4230	0.236	0.000	2612	2094	2141	2190	2092	0	0	0	0	0	0	13.93	14.21	14.13
5504	0.09	295.8	2613	2095	2189	2091	350.5	10.3	422	5509	0.00	2.50	0.00	0.000	516	0.000	0.089	2613	692	2139	2188	2091	0	0	0	0	0	0	14.61	14.04	14.62
5560	0.18	304.7	2613	692	2188	2092	344.9	9.6	433	5570	0.00	2.47	4.60	1.642	9382	0.000	0.077	2613	2100	2123	2171	2076	0	0	0	0	0	0	14.23	14.09	13.24
5898	0.20	305.8	2613	2101	2172	2076	311.1	10.0	450	5900	0.10	0.00	0.00	0.000	2214	0.143	0.000	2667	2106	2123	2171	2076	0	0	0	0	0	0	14.35	14.43	14.40
6196	0.13	305.8	2668	2100	2170	2076	272.6	12.8	460	6202	0.15	2.50	0.00	0.000	4740	0.250	0.086	2633	689	2123	2171	2076	0	0	0	0	0	0	13.90	14.13	14.04
6232	0.18	306.8	2634	690	2171	2076	268.6	10.0	467	6243	0.00	2.47	3.20	1.392	9382	0.000	0.079	2633	2105	2114	2161	2068	0	0	0	0	0	0	14.31	14.16	13.03
6559	0.20	332.0	2633	2106	2165	2070	239.1	8.8	482	6614	0.00	2.55	46.40	1.373	8740	0.000	0.086	2630	707	2008	2049	1968	0	0	0	0	0	0	14.62	14.07	13.21
6657	0.33	369.3	2634	697	2045	1968	230.8	8.3	501	6725	0.17	2.47	62.20	1.287	11430	0.099	0.078	2710	2105	1860	1887	1833	0	0	0	0	0	0	14.13	14.04	13.12
7041	0.28	369.3	2701	2107	1874	1822	183.6	12.0	528	7046	0.12	2.53	0.00	0.000	4740	0.223	0.086	2673	687	1847	1873	1821	0	0	0	0	0	0	13.97	14.09	14.08
7102	0.37	384.2	2673	687	1873	1821	177.4	9.3	540	7128	0.00	2.50	21.38	1.381	9382	0.000	0.078	2672	2103	1798	1821	1776	0	0	0	0	0	0	14.12	13.97	13.28
7436	0.42	409.7	2673	2103	1814	1764	146.6	8.8	556	7488	0.12	2.55	44.33	1.287	10916	0.132	0.089	2740	698	1689	1708	1671	0	0	0	0	0	0	14.26	14.04	13.25
7536	0.40	409.7	2740	697	1705	1670	134.2	12.9	576	7542	0.12	2.47	0.00	0.000	5254	0.235	0.077	2715	2103	1687	1704	1670	0	0	0	0	0	0	13.98	14.12	14.19
7875	0.40	409.7	2715	2104	1704	1664	97.2	10.2	590	7880	0.00	2.53	0.00	0.000	516	0.000	0.088	2715	692	1683	1704	1662	0	0	0	0	0	0	14.40	13.98	14.42
7916	0.44	418.2	2715	691	1702	1664	93.0	9.6	598	7926	0.00	2.47	3.45	0.440	9382	0.000	0.077	2720	2098	1662	1684	1640	0	0	0	0	0	0	14.16	14.04	13.49
8226	0.51	478.5	2715	2101	1687	1639	65.9	7.2	630	8268	0.00	2.55	34.62	0.396	8868	0.000	0.088	2714	697	1413	1448	1378	0	0	0	0	0	0	14.38	13.97	13.66
8346	0.71	557.0	2715	697	1450	1377	58.6	6.4	653	8398	0.28	2.50	44.40	0.369	11430	0.081	0.078	2815	2105	1091	1154	1029	0	0	0	0	0	0	14.11	13.98	13.64
8704	0.76	633.5	2817	2105	1154	1025	21.0	6.5	694	8755	0.00	2.58	43.03	0.264	8740	0.000	0.088	2819	705	779	843	716	0	0	0	0	0	0	14.38	13.83	13.75
8841	0.91	685.6	2818	706	844	714	11.0	7.6	721	8878	0.17	2.47	30.55	0.232	11430	0.102	0.076	2887	2100	567	603	531	0	0	0	0	0	0	13.97	13.90	13.71
8923	end climb: SURFACE_DEPTH_REACHED
state	8923	begin surface coast
8936	end surface coast: CONTROL_FINISHED_OK
state	8936	begin surface