Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 377 * 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 377 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 1049.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 1049.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 32 VBD_MIN 500

DIVE 377 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 190917,122957,7432.3892,-15245.5977,54,0.8,55,19.8,0.0,0.0,9,9.2 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 1.19 MHEAD_RNG_PITCHd_Wd 206.5,40598,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 190917,123611,7432.3999,-15245.5957,24,0.8,25,19.8,0.0,74.3,10,7.9

Post-dive calculations and measurements:

FINISH 0.8,1.021089 _24V_AH 12.29,225.530

SM_CCo 9323,27.80,0.209,0,0,499,702.78 _10V_AH 12.17,0.000

SM_GC 0.95,8.23,0.17,27.80,0.075,0.122,0.209,201,2216,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 424 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323676

IRIDIUM_FIX 7423.79,-14951.52,190917,095522 DATA_FILE_SIZE 26696,740

TT8_MAMPS 0.039697,0.865095 CAP_FILE_SIZE 102575,0

HUMID 47.40 CFSIZE 2097872896,1981448192

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

TCM_TEMP 13.20 INTR 0,3789.77,0x2341e8,2,24

XPDR_PINGS 20 SOUNDSPEED 1447.5

CP_FREE 15909126144.000000 CURRENT 0.056,35.29,1

PM_FREEKB_00 45496448 GPS 190917,151412,7432.021,-15248.863,42,0.8,49,19.7,0.8,251.5,11,8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 145.39 nil 0 0 0.00

Roll_motor 84 2164 2258.95 nil 0 0 0.00

VBD_pump_during_apogee 976 1465 17595.12 nil 0 0 0.00

VBD_pump_during_surface 27 208 71.35 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 9092 15 1708.07

Iridium_during_xfer 153 139 261.93 NCP 9291 20 2283.73

Transponder_ping 5 420 25.81 PMAR 9279 9 1124.77

GUMSTIX_24V 0 0 0.00

GPS 26 22 7.25

TT8 0 0 0.00

LPSleep 6654 2 187.06

TT8_Active 896 13 152.39

TT8_Sampling 1911 33 778.04

TT8_CF8 279 38 131.56

TT8_Kalman 0 0 0.00

Analog_circuits 1909 10 232.38

GPS_charging 0 0 0.00

Compass 1062 7 90.47

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 185 2195 496 477 0.0 0.0 0 146 0.00 0.00 -91.05 0.000 16386 0.000 0.000 184 2195 2169 2102 2236 0 0 0 0 0 0 14.32 28.83 14.34

149 -0.57 -145.9 182 2196 2109 2237 4.1 -5.5 9 203 12.80 2.78 -33.28 0.000 19236 0.450 2.165 2384 798 3966 3947 3985 1 0 0 0 0 0 13.29 12.59 13.92

211 -0.37 -145.9 2385 796 3958 3981 25.3 -30.3 20 219 0.35 2.42 0.00 0.000 3206 0.294 0.067 2451 2187 3965 3950 3980 0 0 0 0 0 0 13.76 13.98 14.04

514 -0.63 -145.9 2451 2189 3955 3982 54.3 -6.5 51 519 0.22 2.45 0.00 0.000 4772 0.096 0.077 2358 792 3968 3955 3981 0 0 0 0 0 0 14.20 13.94 14.24

660 -0.77 -145.9 2359 792 3956 3981 70.6 -11.1 80 667 0.00 2.50 0.00 0.000 1158 0.000 0.087 2358 2192 3968 3955 3981 0 0 0 0 0 0 14.09 13.93 14.13

965 -0.90 -145.9 2358 2194 3955 3982 103.1 -9.4 109 970 0.17 2.55 0.00 0.000 4516 0.112 0.086 2270 3622 3967 3955 3980 0 0 0 0 0 0 14.23 13.90 14.26

1126 -0.98 -145.9 2270 3624 3956 3982 125.2 -13.3 141 1131 0.00 2.42 0.00 0.000 1158 0.000 0.059 2269 2204 3968 3955 3981 0 0 0 0 0 0 14.21 14.07 14.24

1446 -0.98 -145.9 2270 2202 3956 3981 174.9 -14.8 155 1447 0.00 0.00 0.00 0.000 6 0.000 0.000 2270 2202 3968 3955 3981 0 0 0 0 0 0 14.61 14.62 14.62

1747 -1.01 -145.9 2270 2203 3955 3982 215.5 -13.0 165 1751 0.00 2.55 0.00 0.000 388 0.000 0.085 2260 3630 3967 3955 3979 0 0 0 0 0 0 14.61 14.05 14.63

1822 -1.13 -145.9 2266 3634 3956 3982 224.5 -11.1 180 1828 0.15 2.45 0.00 0.000 5254 0.122 0.057 2205 2199 3968 3955 3981 0 0 0 0 0 0 14.16 14.12 14.26

2139 -1.06 -145.9 2206 2198 3956 3981 279.6 -16.8 193 2145 0.12 2.55 0.00 0.000 2436 0.301 0.083 2221 3625 3967 3954 3981 0 0 0 0 0 0 13.81 14.03 13.96

2205 -1.13 -145.9 2222 3627 3955 3982 288.3 -11.8 206 2210 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2199 3968 3955 3981 0 0 0 0 0 0 14.23 14.11 14.28

2530 -1.13 -145.9 2223 2198 3956 3981 331.1 -12.9 221 2535 0.00 2.55 0.00 0.000 260 0.000 0.089 2222 3623 3968 3955 3981 0 0 0 0 0 0 14.63 13.94 14.64

2606 -1.24 -145.9 2223 3625 3954 3982 339.8 -10.5 236 2612 0.12 2.45 0.00 0.000 5254 0.134 0.057 2167 2195 3967 3954 3981 0 0 0 0 0 0 14.02 13.95 14.16

2923 -1.14 -145.9 2168 2194 3955 3981 393.5 -17.0 249 2928 0.17 2.55 0.00 0.000 2436 0.304 0.083 2196 3616 3967 3954 3981 0 0 0 0 0 0 13.59 13.93 13.78

3053 -1.18 -145.9 2196 3617 3954 3981 410.8 -12.5 275 3058 0.00 2.45 0.00 0.000 1158 0.000 0.057 2196 2197 3967 3953 3981 0 0 0 0 0 0 14.21 14.05 14.25

3374 -1.16 -145.9 2196 2196 3954 3982 455.1 -13.8 289 3379 0.00 2.55 0.00 0.000 388 0.000 0.085 2187 3621 3967 3953 3981 0 0 0 0 0 0 14.62 14.02 14.64

3440 -1.16 -145.9 2187 3622 3953 3982 464.2 -13.3 302 3444 0.00 2.42 0.00 0.000 1030 0.000 0.057 2186 2198 3965 3950 3981 0 0 0 0 0 0 14.21 14.08 14.26

3552 end dive: TARGET_DEPTH_EXCEEDED

state 3552 begin apogee

3559 -0.13 0.0 2187 2058 3953 3983 480.7 -14.5 310 3802 1.38 0.10 239.20 1.368 10246 0.241 0.156 2527 2123 3364 3374 3354 0 0 0 0 0 0 13.68 13.51 12.71

3805 end apogee: CONTROL_FINISHED_OK

state 3805 begin climb

3808 0.57 145.9 2528 2124 3372 3346 494.4 0.0 318 4033 0.75 2.67 212.05 1.340 10756 0.058 0.076 2798 731 2758 2790 2727 0 0 0 0 0 0 13.74 12.92 12.29

4159 0.15 145.9 2795 730 2787 2720 489.4 14.5 345 4165 0.77 2.47 0.00 0.000 5254 0.321 0.074 2635 2092 2751 2785 2718 0 0 0 0 0 0 13.26 13.65 13.65

4476 -0.00 166.8 2635 2093 2786 2714 459.9 9.0 358 4507 0.22 0.00 25.73 1.466 12454 0.263 0.000 2583 2092 2678 2716 2640 0 0 0 0 0 0 13.78 13.98 13.16

4806 -0.00 222.6 2585 2092 2715 2625 435.0 7.4 369 4899 0.00 2.53 87.88 1.344 8868 0.000 0.087 2589 724 2455 2507 2403 0 0 0 0 0 0 14.58 13.91 13.07

4931 0.07 257.6 2589 725 2495 2397 425.3 8.4 388 4990 0.00 2.42 54.05 1.350 9382 0.000 0.078 2588 2098 2315 2365 2265 0 0 0 0 0 0 14.12 14.00 13.00

5292 0.12 280.7 2589 2099 2349 2244 393.3 8.9 410 5326 0.00 0.00 32.05 1.411 8358 0.000 0.000 2588 2098 2220 2272 2169 0 0 0 0 0 0 14.52 14.02 13.19

5619 0.19 306.7 2589 2099 2256 2155 364.1 8.8 421 5662 0.17 0.00 40.55 1.379 10406 0.102 0.000 2669 2097 2113 2157 2070 0 0 0 0 0 0 14.32 14.02 13.20

5949 0.11 306.7 2669 2099 2144 2053 318.3 13.9 432 5954 0.17 2.42 0.00 0.000 4740 0.250 0.083 2630 725 2097 2143 2051 0 0 0 0 0 0 13.91 14.14 14.07

6015 0.17 306.7 2631 726 2142 2052 311.0 10.2 445 6021 0.00 2.40 0.00 0.000 1158 0.000 0.078 2627 2105 2096 2141 2051 0 0 0 0 0 0 14.31 14.16 14.35

6341 0.17 306.7 2631 2105 2142 2050 276.4 10.4 460 6346 0.00 2.45 0.00 0.000 516 0.000 0.086 2630 721 2095 2140 2050 0 0 0 0 0 0 14.64 14.13 14.65

6372 0.22 311.7 2631 721 2141 2050 273.5 9.8 466 6377 0.00 2.42 0.00 0.000 1190 0.000 0.077 2630 2105 2095 2140 2050 0 0 0 0 0 0 14.30 14.16 14.34

6702 0.24 337.4 2629 2107 2140 2050 243.1 8.8 482 6753 0.00 0.00 49.78 1.325 8742 0.000 0.000 2631 2106 1990 2033 1947 0 0 0 0 0 0 14.62 14.03 13.23

7032 0.33 382.9 2631 2106 2020 1928 216.2 7.9 498 7123 0.15 2.53 81.12 1.242 10916 0.112 0.088 2709 730 1796 1819 1774 0 0 0 0 0 0 14.21 13.95 13.16

7168 0.33 382.9 2703 731 1809 1772 200.1 11.9 525 7174 0.00 2.40 0.00 0.000 1030 0.000 0.076 2703 2099 1789 1809 1770 0 0 0 0 0 0 14.18 14.06 14.22

7485 0.30 382.9 2703 2100 1808 1763 161.5 11.8 538 7490 0.00 2.42 0.00 0.000 644 0.000 0.089 2703 727 1784 1807 1761 0 0 0 0 0 0 14.62 13.97 14.60

7530 0.32 382.9 2703 727 1814 1763 156.5 10.8 547 7535 0.00 2.40 0.00 0.000 1158 0.000 0.076 2701 2101 1784 1806 1763 0 0 0 0 0 0 14.09 13.97 14.14

7846 0.32 382.9 2704 2101 1806 1761 122.0 10.9 560 7850 0.00 2.45 0.00 0.000 516 0.000 0.087 2703 727 1783 1805 1761 0 0 0 0 0 0 14.62 13.93 14.63

7886 0.36 382.9 2703 726 1805 1761 117.8 10.2 568 7891 0.00 2.42 0.00 0.000 1158 0.000 0.078 2703 2106 1782 1804 1761 0 0 0 0 0 0 14.14 14.00 14.19

8196 0.38 416.0 2704 2107 1805 1758 88.8 8.5 589 8217 0.00 0.00 16.48 0.451 8230 0.000 0.000 2701 2107 1668 1689 1647 0 0 0 0 0 0 14.58 14.01 13.55

8516 0.48 491.5 2703 2108 1700 1650 64.0 6.5 621 8565 0.10 2.53 42.85 0.384 10916 0.149 0.089 2755 726 1358 1398 1319 0 0 0 0 0 0 14.19 14.06 13.70

8715 0.60 540.0 2756 726 1404 1321 47.1 7.8 660 8748 0.00 2.42 28.10 0.334 9382 0.000 0.079 2755 2099 1162 1221 1103 0 0 0 0 0 0 14.02 13.89 13.70

9054 0.79 650.7 2755 2101 1220 1109 24.1 4.9 697 9123 0.22 2.53 62.95 0.260 10916 0.094 0.090 2853 725 708 765 652 0 0 0 0 0 0 14.18 14.02 13.73

9234 0.82 656.9 2857 726 766 653 7.0 9.7 732 9246 0.00 2.45 3.97 0.233 9382 0.000 0.081 2857 2106 683 741 626 0 0 0 0 0 0 14.10 13.96 13.72

9289 end climb: SURFACE_DEPTH_REACHED

state 9289 begin surface coast

9299 end surface coast: CONTROL_FINISHED_OK

state 9299 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	377	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	1049.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,122957,7432.3892,-15245.5977,54,0.8,55,19.8,0.0,0.0,9,9.2	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	1.19	MHEAD_RNG_PITCHd_Wd	206.5,40598,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	190917,123611,7432.3999,-15245.5957,24,0.8,25,19.8,0.0,74.3,10,7.9

FINISH	0.8,1.021089	_24V_AH	12.29,225.530
SM_CCo	9323,27.80,0.209,0,0,499,702.78	_10V_AH	12.17,0.000
SM_GC	0.95,8.23,0.17,27.80,0.075,0.122,0.209,201,2216,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	424	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323676
IRIDIUM_FIX	7423.79,-14951.52,190917,095522	DATA_FILE_SIZE	26696,740
TT8_MAMPS	0.039697,0.865095	CAP_FILE_SIZE	102575,0
HUMID	47.40	CFSIZE	2097872896,1981448192
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	INTR	0,3789.77,0x2341e8,2,24
XPDR_PINGS	20	SOUNDSPEED	1447.5
CP_FREE	15909126144.000000	CURRENT	0.056,35.29,1
PM_FREEKB_00	45496448	GPS	190917,151412,7432.021,-15248.863,42,0.8,49,19.7,0.8,251.5,11,8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	145.39	nil	0	0	0.00
Roll_motor	84	2164	2258.95	nil	0	0	0.00
VBD_pump_during_apogee	976	1465	17595.12	nil	0	0	0.00
VBD_pump_during_surface	27	208	71.35	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	9092	15	1708.07
Iridium_during_xfer	153	139	261.93	NCP	9291	20	2283.73
Transponder_ping	5	420	25.81	PMAR	9279	9	1124.77
GUMSTIX_24V	0	0	0.00
GPS	26	22	7.25
TT8	0	0	0.00
LPSleep	6654	2	187.06
TT8_Active	896	13	152.39
TT8_Sampling	1911	33	778.04
TT8_CF8	279	38	131.56
TT8_Kalman	0	0	0.00
Analog_circuits	1909	10	232.38
GPS_charging	0	0	0.00
Compass	1062	7	90.47
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	185	2195	496	477	0.0	0.0	0	146	0.00	0.00	-91.05	0.000	16386	0.000	0.000	184	2195	2169	2102	2236	0	0	0	0	0	0	14.32	28.83	14.34
149	-0.57	-145.9	182	2196	2109	2237	4.1	-5.5	9	203	12.80	2.78	-33.28	0.000	19236	0.450	2.165	2384	798	3966	3947	3985	1	0	0	0	0	0	13.29	12.59	13.92
211	-0.37	-145.9	2385	796	3958	3981	25.3	-30.3	20	219	0.35	2.42	0.00	0.000	3206	0.294	0.067	2451	2187	3965	3950	3980	0	0	0	0	0	0	13.76	13.98	14.04
514	-0.63	-145.9	2451	2189	3955	3982	54.3	-6.5	51	519	0.22	2.45	0.00	0.000	4772	0.096	0.077	2358	792	3968	3955	3981	0	0	0	0	0	0	14.20	13.94	14.24
660	-0.77	-145.9	2359	792	3956	3981	70.6	-11.1	80	667	0.00	2.50	0.00	0.000	1158	0.000	0.087	2358	2192	3968	3955	3981	0	0	0	0	0	0	14.09	13.93	14.13
965	-0.90	-145.9	2358	2194	3955	3982	103.1	-9.4	109	970	0.17	2.55	0.00	0.000	4516	0.112	0.086	2270	3622	3967	3955	3980	0	0	0	0	0	0	14.23	13.90	14.26
1126	-0.98	-145.9	2270	3624	3956	3982	125.2	-13.3	141	1131	0.00	2.42	0.00	0.000	1158	0.000	0.059	2269	2204	3968	3955	3981	0	0	0	0	0	0	14.21	14.07	14.24
1446	-0.98	-145.9	2270	2202	3956	3981	174.9	-14.8	155	1447	0.00	0.00	0.00	0.000	6	0.000	0.000	2270	2202	3968	3955	3981	0	0	0	0	0	0	14.61	14.62	14.62
1747	-1.01	-145.9	2270	2203	3955	3982	215.5	-13.0	165	1751	0.00	2.55	0.00	0.000	388	0.000	0.085	2260	3630	3967	3955	3979	0	0	0	0	0	0	14.61	14.05	14.63
1822	-1.13	-145.9	2266	3634	3956	3982	224.5	-11.1	180	1828	0.15	2.45	0.00	0.000	5254	0.122	0.057	2205	2199	3968	3955	3981	0	0	0	0	0	0	14.16	14.12	14.26
2139	-1.06	-145.9	2206	2198	3956	3981	279.6	-16.8	193	2145	0.12	2.55	0.00	0.000	2436	0.301	0.083	2221	3625	3967	3954	3981	0	0	0	0	0	0	13.81	14.03	13.96
2205	-1.13	-145.9	2222	3627	3955	3982	288.3	-11.8	206	2210	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2199	3968	3955	3981	0	0	0	0	0	0	14.23	14.11	14.28
2530	-1.13	-145.9	2223	2198	3956	3981	331.1	-12.9	221	2535	0.00	2.55	0.00	0.000	260	0.000	0.089	2222	3623	3968	3955	3981	0	0	0	0	0	0	14.63	13.94	14.64
2606	-1.24	-145.9	2223	3625	3954	3982	339.8	-10.5	236	2612	0.12	2.45	0.00	0.000	5254	0.134	0.057	2167	2195	3967	3954	3981	0	0	0	0	0	0	14.02	13.95	14.16
2923	-1.14	-145.9	2168	2194	3955	3981	393.5	-17.0	249	2928	0.17	2.55	0.00	0.000	2436	0.304	0.083	2196	3616	3967	3954	3981	0	0	0	0	0	0	13.59	13.93	13.78
3053	-1.18	-145.9	2196	3617	3954	3981	410.8	-12.5	275	3058	0.00	2.45	0.00	0.000	1158	0.000	0.057	2196	2197	3967	3953	3981	0	0	0	0	0	0	14.21	14.05	14.25
3374	-1.16	-145.9	2196	2196	3954	3982	455.1	-13.8	289	3379	0.00	2.55	0.00	0.000	388	0.000	0.085	2187	3621	3967	3953	3981	0	0	0	0	0	0	14.62	14.02	14.64
3440	-1.16	-145.9	2187	3622	3953	3982	464.2	-13.3	302	3444	0.00	2.42	0.00	0.000	1030	0.000	0.057	2186	2198	3965	3950	3981	0	0	0	0	0	0	14.21	14.08	14.26
3552	end dive: TARGET_DEPTH_EXCEEDED
state	3552	begin apogee
3559	-0.13	0.0	2187	2058	3953	3983	480.7	-14.5	310	3802	1.38	0.10	239.20	1.368	10246	0.241	0.156	2527	2123	3364	3374	3354	0	0	0	0	0	0	13.68	13.51	12.71
3805	end apogee: CONTROL_FINISHED_OK
state	3805	begin climb
3808	0.57	145.9	2528	2124	3372	3346	494.4	0.0	318	4033	0.75	2.67	212.05	1.340	10756	0.058	0.076	2798	731	2758	2790	2727	0	0	0	0	0	0	13.74	12.92	12.29
4159	0.15	145.9	2795	730	2787	2720	489.4	14.5	345	4165	0.77	2.47	0.00	0.000	5254	0.321	0.074	2635	2092	2751	2785	2718	0	0	0	0	0	0	13.26	13.65	13.65
4476	-0.00	166.8	2635	2093	2786	2714	459.9	9.0	358	4507	0.22	0.00	25.73	1.466	12454	0.263	0.000	2583	2092	2678	2716	2640	0	0	0	0	0	0	13.78	13.98	13.16
4806	-0.00	222.6	2585	2092	2715	2625	435.0	7.4	369	4899	0.00	2.53	87.88	1.344	8868	0.000	0.087	2589	724	2455	2507	2403	0	0	0	0	0	0	14.58	13.91	13.07
4931	0.07	257.6	2589	725	2495	2397	425.3	8.4	388	4990	0.00	2.42	54.05	1.350	9382	0.000	0.078	2588	2098	2315	2365	2265	0	0	0	0	0	0	14.12	14.00	13.00
5292	0.12	280.7	2589	2099	2349	2244	393.3	8.9	410	5326	0.00	0.00	32.05	1.411	8358	0.000	0.000	2588	2098	2220	2272	2169	0	0	0	0	0	0	14.52	14.02	13.19
5619	0.19	306.7	2589	2099	2256	2155	364.1	8.8	421	5662	0.17	0.00	40.55	1.379	10406	0.102	0.000	2669	2097	2113	2157	2070	0	0	0	0	0	0	14.32	14.02	13.20
5949	0.11	306.7	2669	2099	2144	2053	318.3	13.9	432	5954	0.17	2.42	0.00	0.000	4740	0.250	0.083	2630	725	2097	2143	2051	0	0	0	0	0	0	13.91	14.14	14.07
6015	0.17	306.7	2631	726	2142	2052	311.0	10.2	445	6021	0.00	2.40	0.00	0.000	1158	0.000	0.078	2627	2105	2096	2141	2051	0	0	0	0	0	0	14.31	14.16	14.35
6341	0.17	306.7	2631	2105	2142	2050	276.4	10.4	460	6346	0.00	2.45	0.00	0.000	516	0.000	0.086	2630	721	2095	2140	2050	0	0	0	0	0	0	14.64	14.13	14.65
6372	0.22	311.7	2631	721	2141	2050	273.5	9.8	466	6377	0.00	2.42	0.00	0.000	1190	0.000	0.077	2630	2105	2095	2140	2050	0	0	0	0	0	0	14.30	14.16	14.34
6702	0.24	337.4	2629	2107	2140	2050	243.1	8.8	482	6753	0.00	0.00	49.78	1.325	8742	0.000	0.000	2631	2106	1990	2033	1947	0	0	0	0	0	0	14.62	14.03	13.23
7032	0.33	382.9	2631	2106	2020	1928	216.2	7.9	498	7123	0.15	2.53	81.12	1.242	10916	0.112	0.088	2709	730	1796	1819	1774	0	0	0	0	0	0	14.21	13.95	13.16
7168	0.33	382.9	2703	731	1809	1772	200.1	11.9	525	7174	0.00	2.40	0.00	0.000	1030	0.000	0.076	2703	2099	1789	1809	1770	0	0	0	0	0	0	14.18	14.06	14.22
7485	0.30	382.9	2703	2100	1808	1763	161.5	11.8	538	7490	0.00	2.42	0.00	0.000	644	0.000	0.089	2703	727	1784	1807	1761	0	0	0	0	0	0	14.62	13.97	14.60
7530	0.32	382.9	2703	727	1814	1763	156.5	10.8	547	7535	0.00	2.40	0.00	0.000	1158	0.000	0.076	2701	2101	1784	1806	1763	0	0	0	0	0	0	14.09	13.97	14.14
7846	0.32	382.9	2704	2101	1806	1761	122.0	10.9	560	7850	0.00	2.45	0.00	0.000	516	0.000	0.087	2703	727	1783	1805	1761	0	0	0	0	0	0	14.62	13.93	14.63
7886	0.36	382.9	2703	726	1805	1761	117.8	10.2	568	7891	0.00	2.42	0.00	0.000	1158	0.000	0.078	2703	2106	1782	1804	1761	0	0	0	0	0	0	14.14	14.00	14.19
8196	0.38	416.0	2704	2107	1805	1758	88.8	8.5	589	8217	0.00	0.00	16.48	0.451	8230	0.000	0.000	2701	2107	1668	1689	1647	0	0	0	0	0	0	14.58	14.01	13.55
8516	0.48	491.5	2703	2108	1700	1650	64.0	6.5	621	8565	0.10	2.53	42.85	0.384	10916	0.149	0.089	2755	726	1358	1398	1319	0	0	0	0	0	0	14.19	14.06	13.70
8715	0.60	540.0	2756	726	1404	1321	47.1	7.8	660	8748	0.00	2.42	28.10	0.334	9382	0.000	0.079	2755	2099	1162	1221	1103	0	0	0	0	0	0	14.02	13.89	13.70
9054	0.79	650.7	2755	2101	1220	1109	24.1	4.9	697	9123	0.22	2.53	62.95	0.260	10916	0.094	0.090	2853	725	708	765	652	0	0	0	0	0	0	14.18	14.02	13.73
9234	0.82	656.9	2857	726	766	653	7.0	9.7	732	9246	0.00	2.45	3.97	0.233	9382	0.000	0.081	2857	2106	683	741	626	0	0	0	0	0	0	14.10	13.96	13.72
9289	end climb: SURFACE_DEPTH_REACHED
state	9289	begin surface coast
9299	end surface coast: CONTROL_FINISHED_OK
state	9299	begin surface