Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 379 * 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 379 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 1055.0

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 58 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 1055.0 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 58 VBD_MIN 500

DIVE 379 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 190917,175455,7431.5664,-15252.3105,22,0.8,48,19.7,1.0,3.1,10,5.3 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 1.20 MHEAD_RNG_PITCHd_Wd 207.9,37132,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.2 D_GRID 480

GPS2 190917,180642,7431.6201,-15252.2822,5,0.8,15,19.7,0.0,319.9,10,9.0

Post-dive calculations and measurements:

FINISH 0.4,1.021036 _24V_AH 12.31,226.514

SM_CCo 9270,0.00,0.000,0,0,499,703.03 _10V_AH 12.16,0.000

SM_GC 1.10,8.38,2.72,0.00,0.075,0.076,0.000,199,2201,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.12,14.01,14.20 FG_AHR_24Vo 0.000

RAFOS_CLK 122 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323644

IRIDIUM_FIX 7432.53,-15246.42,190917,151743 DATA_FILE_SIZE 26669,763

TT8_MAMPS 0.085386,0.964712 CAP_FILE_SIZE 105753,0

HUMID 43.85 CFSIZE 2097872896,1980989440

INTERNAL_PRESSURE 7.75222 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.10 INTR 0,5204.79,0x213af4,1,24

XPDR_PINGS 14 SOUNDSPEED 1448.5

CP_FREE 15908077568.000000 CURRENT 0.051,42.31,1

PM_FREEKB_00 45440064 GPS 190917,204303,7431.094,-15255.825,30,0.7,31,19.7,0.6,86.8,11,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 148.35 nil 0 0 0.00

Roll_motor 90 2163 2400.85 nil 0 0 0.00

VBD_pump_during_apogee 1082 1353 18032.47 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9167 14 1627.91

Iridium_during_xfer 402 175 867.03 NCP 9173 20 2258.39

Transponder_ping 3 420 18.10 PMAR 9143 9 1110.76

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.56

TT8 0 0 0.00

LPSleep 6537 2 183.65

TT8_Active 966 13 164.22

TT8_Sampling 2109 33 857.73

TT8_CF8 371 38 174.73

TT8_Kalman 0 0 0.00

Analog_circuits 2215 10 269.40

GPS_charging 0 0 0.00

Compass 1094 7 93.14

RAFOS 2200 48 1284.10

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

53 -0.57 -145.9 176 2216 509 477 0.0 0.0 0 145 0.00 0.00 -91.03 0.000 16386 0.000 0.000 174 2216 2198 2137 2260 0 0 0 0 0 0 14.48 28.83 14.50

149 -0.57 -145.9 175 2216 2141 2259 4.6 -7.1 9 201 12.95 2.72 -31.65 0.000 18724 0.451 2.163 2375 3603 3965 3949 3982 1 0 0 0 0 0 13.35 12.60 14.09

372 -0.73 -145.9 2375 3607 3955 3983 49.5 -11.8 53 377 0.00 2.35 0.00 0.000 1158 0.000 0.055 2375 2227 3968 3954 3983 0 0 0 0 0 0 14.28 14.16 14.32

683 -0.87 -145.9 2375 2225 3957 3983 84.8 -9.6 85 684 0.25 0.00 0.00 0.000 4262 0.092 0.000 2281 2224 3969 3956 3982 0 0 0 0 0 0 14.11 14.21 14.18

983 -0.87 -145.9 2282 2225 3957 3982 134.5 -15.6 101 988 0.00 2.45 0.00 0.000 260 0.000 0.084 2272 3604 3969 3956 3982 0 0 0 0 0 0 14.63 14.08 14.63

1058 -0.97 -145.9 2273 3607 3957 3981 144.6 -12.3 116 1064 0.00 2.40 0.00 0.000 1158 0.000 0.057 2272 2196 3969 3956 3982 0 0 0 0 0 0 14.28 14.14 14.31

1375 -0.99 -145.9 2272 2195 3957 3984 189.3 -13.8 129 1380 0.00 2.50 0.00 0.000 388 0.000 0.086 2266 3603 3969 3957 3982 0 0 0 0 0 0 14.62 14.06 14.64

1426 -1.10 -145.9 2266 3603 3955 3982 195.7 -11.9 139 1431 0.12 2.40 0.00 0.000 5254 0.129 0.057 2220 2196 3969 3956 3982 0 0 0 0 0 0 14.09 14.09 14.23

1737 -1.04 -145.9 2221 2194 3957 3982 249.4 -17.0 151 1742 0.00 2.53 0.00 0.000 388 0.000 0.086 2210 3601 3969 3956 3982 0 0 0 0 0 0 14.65 13.97 14.66

1797 -1.04 -145.9 2209 3604 3957 3983 259.0 -14.5 163 1802 0.15 2.42 0.00 0.000 3078 0.244 0.058 2240 2192 3969 3956 3982 0 0 0 0 0 0 13.85 14.12 14.12

2128 -1.07 -145.9 2240 2192 3957 3983 300.7 -11.8 179 2133 0.00 2.50 0.00 0.000 388 0.000 0.086 2236 3600 3969 3956 3982 0 0 0 0 0 0 14.67 14.04 14.69

2189 -1.19 -145.9 2236 3602 3957 3982 307.4 -10.2 191 2194 0.12 2.40 0.00 0.000 5254 0.133 0.056 2183 2193 3969 3956 3982 0 0 0 0 0 0 14.16 14.13 14.27

2519 -1.12 -145.9 2186 2192 3957 3980 360.5 -16.2 207 2524 0.12 2.50 0.00 0.000 2436 0.297 0.082 2202 3600 3967 3956 3979 0 0 0 0 0 0 13.81 14.03 13.95

2612 -1.17 -145.9 2203 3602 3956 3981 372.5 -12.1 225 2617 0.00 2.40 0.00 0.000 1158 0.000 0.057 2202 2199 3968 3956 3980 0 0 0 0 0 0 14.16 14.04 14.21

2943 -1.17 -145.9 2203 2198 3957 3979 417.0 -13.4 241 2947 0.00 2.50 0.00 0.000 260 0.000 0.086 2196 3603 3967 3956 3978 0 0 0 0 0 0 14.64 14.02 14.66

3003 -1.21 -145.9 2197 3604 3956 3980 425.0 -12.3 253 3008 0.00 2.40 0.00 0.000 1158 0.000 0.057 2196 2196 3967 3956 3978 0 0 0 0 0 0 14.24 14.10 14.28

3334 -1.21 -145.9 2197 2197 3956 3979 470.3 -13.7 269 3338 0.00 2.50 0.00 0.000 260 0.000 0.085 2189 3604 3967 3956 3978 0 0 0 0 0 0 14.64 14.03 14.66

3404 -1.23 -145.9 2188 3606 3956 3979 479.8 -13.0 283 3409 0.00 2.42 0.00 0.000 1158 0.000 0.057 2188 2195 3966 3955 3978 0 0 0 0 0 0 14.26 14.10 14.28

3411 end dive: TARGET_DEPTH_EXCEEDED

state 3411 begin apogee

3418 -0.13 0.0 2189 2076 3956 3978 481.1 -13.1 285 3686 1.38 0.00 263.48 1.320 10246 0.246 0.000 2527 2074 3364 3390 3339 0 0 0 0 0 0 13.70 13.54 12.75

3690 end apogee: CONTROL_FINISHED_OK

state 3690 begin climb

3692 0.57 145.9 2527 2075 3382 3332 496.6 0.0 294 3914 0.75 2.72 213.02 1.317 10500 0.058 0.072 2785 3503 2758 2803 2714 0 0 0 0 0 0 13.72 12.93 12.31

4002 0.07 145.9 2784 3504 2780 2705 496.6 15.9 352 4008 0.93 2.45 0.00 0.000 5254 0.344 0.054 2613 2123 2741 2779 2704 0 0 0 0 0 0 13.14 13.47 13.52

4319 -0.02 186.0 2613 2122 2781 2701 469.2 8.1 365 4380 0.15 0.00 57.15 1.332 12454 0.280 0.000 2582 2121 2604 2659 2549 0 0 0 0 0 0 13.75 13.89 13.07

4679 0.01 231.8 2583 2124 2645 2522 441.1 7.9 377 4770 0.00 2.62 84.95 1.230 8740 0.000 0.089 2588 694 2416 2476 2356 0 0 0 0 0 0 14.56 13.94 13.14

4806 0.10 263.8 2589 695 2464 2352 430.8 8.5 402 4863 0.00 2.47 50.00 1.287 9382 0.000 0.079 2589 2095 2283 2340 2226 0 0 0 0 0 0 14.15 14.02 13.05

5163 0.16 289.4 2589 2096 2329 2207 399.1 8.8 423 5206 0.15 2.58 35.08 1.343 10916 0.115 0.090 2660 689 2178 2231 2125 0 0 0 0 0 0 14.27 14.02 13.22

5222 0.08 289.4 2659 690 2223 2121 391.4 13.5 430 5227 0.20 2.47 0.00 0.000 5254 0.233 0.078 2614 2099 2170 2222 2119 0 0 0 0 0 0 13.93 13.54 14.17

5553 0.08 289.4 2613 2101 2220 2109 355.9 10.5 446 5558 0.00 2.50 0.00 0.000 516 0.000 0.090 2613 693 2163 2219 2108 0 0 0 0 0 0 14.63 14.13 14.62

5583 0.13 289.4 2614 693 2219 2108 352.8 10.2 452 5589 0.00 2.47 0.00 0.000 1158 0.000 0.077 2613 2105 2163 2218 2108 0 0 0 0 0 0 14.30 14.16 14.35

5915 0.13 289.4 2614 2106 2218 2106 319.3 10.0 468 5916 0.00 0.00 0.00 0.000 6 0.000 0.000 2613 2109 2161 2217 2106 0 0 0 0 0 0 14.64 14.67 14.66

6215 0.17 301.0 2613 2106 2218 2106 290.6 9.5 478 6225 0.00 2.50 3.58 1.185 8868 0.000 0.089 2613 687 2136 2192 2081 0 0 0 0 0 0 14.65 14.16 13.14

6280 0.27 328.3 2614 687 2198 2094 284.7 8.7 491 6345 0.17 2.47 59.60 1.294 11430 0.099 0.078 2688 2106 2026 2074 1978 0 0 0 0 0 0 14.30 14.19 13.21

6666 0.19 328.3 2689 2106 2056 1960 234.5 12.4 518 6671 0.15 2.53 0.00 0.000 4740 0.241 0.085 2654 688 2007 2055 1960 0 0 0 0 0 0 13.86 14.04 13.96

6692 0.19 328.3 2655 689 2056 1961 231.6 10.4 523 6698 0.00 2.47 0.00 0.000 1030 0.000 0.078 2655 2098 2007 2054 1960 0 0 0 0 0 0 14.22 14.08 14.27

6997 0.21 346.9 2655 2098 2056 1958 203.2 9.1 534 7028 0.00 2.53 25.85 1.353 8740 0.000 0.089 2655 694 1947 1993 1902 0 0 0 0 0 0 14.45 14.07 13.24

7074 0.31 382.6 2655 695 1982 1899 196.5 8.3 549 7143 0.00 2.47 64.35 1.244 9382 0.000 0.079 2654 2101 1801 1828 1775 0 0 0 0 0 0 14.15 14.07 13.12

7451 0.39 412.3 2655 2101 1820 1758 164.0 8.6 574 7504 0.17 0.00 50.62 1.248 10406 0.100 0.000 2729 2101 1682 1709 1656 0 0 0 0 0 0 14.11 13.95 13.19

7780 0.35 412.3 2729 2102 1701 1639 121.4 12.6 585 7785 0.12 2.50 0.00 0.000 4740 0.239 0.087 2699 695 1669 1700 1639 0 0 0 0 0 0 13.89 14.02 14.02

7873 0.43 426.7 2700 695 1698 1639 112.4 9.3 603 7895 0.00 2.50 18.20 1.337 9382 0.000 0.078 2703 2101 1624 1657 1592 0 0 0 0 0 0 14.12 14.00 13.27

8201 0.49 454.5 2698 2101 1650 1573 81.5 8.7 631 8223 0.12 0.00 14.38 0.428 10406 0.125 0.000 2759 2101 1511 1547 1476 0 0 0 0 0 0 14.16 13.89 13.60

8521 0.52 514.7 2760 2101 1550 1479 48.5 7.2 663 8563 0.00 2.55 34.50 0.342 8868 0.000 0.090 2760 688 1266 1318 1215 0 0 0 0 0 0 14.40 14.02 13.71

8674 0.64 584.3 2761 688 1318 1222 37.3 6.8 693 8720 0.00 2.50 40.28 0.307 9382 0.000 0.077 2760 2102 980 1049 912 0 0 0 0 0 0 14.16 14.04 13.69

9026 0.90 730.4 2761 2103 1051 917 17.6 3.3 733 9105 0.30 2.55 67.43 0.247 10916 0.081 0.093 2882 695 498 514 483 0 0 0 0 0 0 13.85 13.95 13.77

9173 end climb: SURFACE_DEPTH_REACHED

state 9173 begin surface coast

9185 end surface coast: CONTROL_FINISHED_OK

state 9185 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	379	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	1055.0
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	58	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,175455,7431.5664,-15252.3105,22,0.8,48,19.7,1.0,3.1,10,5.3	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	1.20	MHEAD_RNG_PITCHd_Wd	207.9,37132,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.2	D_GRID	480
GPS2	190917,180642,7431.6201,-15252.2822,5,0.8,15,19.7,0.0,319.9,10,9.0

FINISH	0.4,1.021036	_24V_AH	12.31,226.514
SM_CCo	9270,0.00,0.000,0,0,499,703.03	_10V_AH	12.16,0.000
SM_GC	1.10,8.38,2.72,0.00,0.075,0.076,0.000,199,2201,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.12,14.01,14.20	FG_AHR_24Vo	0.000
RAFOS_CLK	122	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323644
IRIDIUM_FIX	7432.53,-15246.42,190917,151743	DATA_FILE_SIZE	26669,763
TT8_MAMPS	0.085386,0.964712	CAP_FILE_SIZE	105753,0
HUMID	43.85	CFSIZE	2097872896,1980989440
INTERNAL_PRESSURE	7.75222	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	INTR	0,5204.79,0x213af4,1,24
XPDR_PINGS	14	SOUNDSPEED	1448.5
CP_FREE	15908077568.000000	CURRENT	0.051,42.31,1
PM_FREEKB_00	45440064	GPS	190917,204303,7431.094,-15255.825,30,0.7,31,19.7,0.6,86.8,11,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	148.35	nil	0	0	0.00
Roll_motor	90	2163	2400.85	nil	0	0	0.00
VBD_pump_during_apogee	1082	1353	18032.47	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9167	14	1627.91
Iridium_during_xfer	402	175	867.03	NCP	9173	20	2258.39
Transponder_ping	3	420	18.10	PMAR	9143	9	1110.76
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.56
TT8	0	0	0.00
LPSleep	6537	2	183.65
TT8_Active	966	13	164.22
TT8_Sampling	2109	33	857.73
TT8_CF8	371	38	174.73
TT8_Kalman	0	0	0.00
Analog_circuits	2215	10	269.40
GPS_charging	0	0	0.00
Compass	1094	7	93.14
RAFOS	2200	48	1284.10
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
53	-0.57	-145.9	176	2216	509	477	0.0	0.0	0	145	0.00	0.00	-91.03	0.000	16386	0.000	0.000	174	2216	2198	2137	2260	0	0	0	0	0	0	14.48	28.83	14.50
149	-0.57	-145.9	175	2216	2141	2259	4.6	-7.1	9	201	12.95	2.72	-31.65	0.000	18724	0.451	2.163	2375	3603	3965	3949	3982	1	0	0	0	0	0	13.35	12.60	14.09
372	-0.73	-145.9	2375	3607	3955	3983	49.5	-11.8	53	377	0.00	2.35	0.00	0.000	1158	0.000	0.055	2375	2227	3968	3954	3983	0	0	0	0	0	0	14.28	14.16	14.32
683	-0.87	-145.9	2375	2225	3957	3983	84.8	-9.6	85	684	0.25	0.00	0.00	0.000	4262	0.092	0.000	2281	2224	3969	3956	3982	0	0	0	0	0	0	14.11	14.21	14.18
983	-0.87	-145.9	2282	2225	3957	3982	134.5	-15.6	101	988	0.00	2.45	0.00	0.000	260	0.000	0.084	2272	3604	3969	3956	3982	0	0	0	0	0	0	14.63	14.08	14.63
1058	-0.97	-145.9	2273	3607	3957	3981	144.6	-12.3	116	1064	0.00	2.40	0.00	0.000	1158	0.000	0.057	2272	2196	3969	3956	3982	0	0	0	0	0	0	14.28	14.14	14.31
1375	-0.99	-145.9	2272	2195	3957	3984	189.3	-13.8	129	1380	0.00	2.50	0.00	0.000	388	0.000	0.086	2266	3603	3969	3957	3982	0	0	0	0	0	0	14.62	14.06	14.64
1426	-1.10	-145.9	2266	3603	3955	3982	195.7	-11.9	139	1431	0.12	2.40	0.00	0.000	5254	0.129	0.057	2220	2196	3969	3956	3982	0	0	0	0	0	0	14.09	14.09	14.23
1737	-1.04	-145.9	2221	2194	3957	3982	249.4	-17.0	151	1742	0.00	2.53	0.00	0.000	388	0.000	0.086	2210	3601	3969	3956	3982	0	0	0	0	0	0	14.65	13.97	14.66
1797	-1.04	-145.9	2209	3604	3957	3983	259.0	-14.5	163	1802	0.15	2.42	0.00	0.000	3078	0.244	0.058	2240	2192	3969	3956	3982	0	0	0	0	0	0	13.85	14.12	14.12
2128	-1.07	-145.9	2240	2192	3957	3983	300.7	-11.8	179	2133	0.00	2.50	0.00	0.000	388	0.000	0.086	2236	3600	3969	3956	3982	0	0	0	0	0	0	14.67	14.04	14.69
2189	-1.19	-145.9	2236	3602	3957	3982	307.4	-10.2	191	2194	0.12	2.40	0.00	0.000	5254	0.133	0.056	2183	2193	3969	3956	3982	0	0	0	0	0	0	14.16	14.13	14.27
2519	-1.12	-145.9	2186	2192	3957	3980	360.5	-16.2	207	2524	0.12	2.50	0.00	0.000	2436	0.297	0.082	2202	3600	3967	3956	3979	0	0	0	0	0	0	13.81	14.03	13.95
2612	-1.17	-145.9	2203	3602	3956	3981	372.5	-12.1	225	2617	0.00	2.40	0.00	0.000	1158	0.000	0.057	2202	2199	3968	3956	3980	0	0	0	0	0	0	14.16	14.04	14.21
2943	-1.17	-145.9	2203	2198	3957	3979	417.0	-13.4	241	2947	0.00	2.50	0.00	0.000	260	0.000	0.086	2196	3603	3967	3956	3978	0	0	0	0	0	0	14.64	14.02	14.66
3003	-1.21	-145.9	2197	3604	3956	3980	425.0	-12.3	253	3008	0.00	2.40	0.00	0.000	1158	0.000	0.057	2196	2196	3967	3956	3978	0	0	0	0	0	0	14.24	14.10	14.28
3334	-1.21	-145.9	2197	2197	3956	3979	470.3	-13.7	269	3338	0.00	2.50	0.00	0.000	260	0.000	0.085	2189	3604	3967	3956	3978	0	0	0	0	0	0	14.64	14.03	14.66
3404	-1.23	-145.9	2188	3606	3956	3979	479.8	-13.0	283	3409	0.00	2.42	0.00	0.000	1158	0.000	0.057	2188	2195	3966	3955	3978	0	0	0	0	0	0	14.26	14.10	14.28
3411	end dive: TARGET_DEPTH_EXCEEDED
state	3411	begin apogee
3418	-0.13	0.0	2189	2076	3956	3978	481.1	-13.1	285	3686	1.38	0.00	263.48	1.320	10246	0.246	0.000	2527	2074	3364	3390	3339	0	0	0	0	0	0	13.70	13.54	12.75
3690	end apogee: CONTROL_FINISHED_OK
state	3690	begin climb
3692	0.57	145.9	2527	2075	3382	3332	496.6	0.0	294	3914	0.75	2.72	213.02	1.317	10500	0.058	0.072	2785	3503	2758	2803	2714	0	0	0	0	0	0	13.72	12.93	12.31
4002	0.07	145.9	2784	3504	2780	2705	496.6	15.9	352	4008	0.93	2.45	0.00	0.000	5254	0.344	0.054	2613	2123	2741	2779	2704	0	0	0	0	0	0	13.14	13.47	13.52
4319	-0.02	186.0	2613	2122	2781	2701	469.2	8.1	365	4380	0.15	0.00	57.15	1.332	12454	0.280	0.000	2582	2121	2604	2659	2549	0	0	0	0	0	0	13.75	13.89	13.07
4679	0.01	231.8	2583	2124	2645	2522	441.1	7.9	377	4770	0.00	2.62	84.95	1.230	8740	0.000	0.089	2588	694	2416	2476	2356	0	0	0	0	0	0	14.56	13.94	13.14
4806	0.10	263.8	2589	695	2464	2352	430.8	8.5	402	4863	0.00	2.47	50.00	1.287	9382	0.000	0.079	2589	2095	2283	2340	2226	0	0	0	0	0	0	14.15	14.02	13.05
5163	0.16	289.4	2589	2096	2329	2207	399.1	8.8	423	5206	0.15	2.58	35.08	1.343	10916	0.115	0.090	2660	689	2178	2231	2125	0	0	0	0	0	0	14.27	14.02	13.22
5222	0.08	289.4	2659	690	2223	2121	391.4	13.5	430	5227	0.20	2.47	0.00	0.000	5254	0.233	0.078	2614	2099	2170	2222	2119	0	0	0	0	0	0	13.93	13.54	14.17
5553	0.08	289.4	2613	2101	2220	2109	355.9	10.5	446	5558	0.00	2.50	0.00	0.000	516	0.000	0.090	2613	693	2163	2219	2108	0	0	0	0	0	0	14.63	14.13	14.62
5583	0.13	289.4	2614	693	2219	2108	352.8	10.2	452	5589	0.00	2.47	0.00	0.000	1158	0.000	0.077	2613	2105	2163	2218	2108	0	0	0	0	0	0	14.30	14.16	14.35
5915	0.13	289.4	2614	2106	2218	2106	319.3	10.0	468	5916	0.00	0.00	0.00	0.000	6	0.000	0.000	2613	2109	2161	2217	2106	0	0	0	0	0	0	14.64	14.67	14.66
6215	0.17	301.0	2613	2106	2218	2106	290.6	9.5	478	6225	0.00	2.50	3.58	1.185	8868	0.000	0.089	2613	687	2136	2192	2081	0	0	0	0	0	0	14.65	14.16	13.14
6280	0.27	328.3	2614	687	2198	2094	284.7	8.7	491	6345	0.17	2.47	59.60	1.294	11430	0.099	0.078	2688	2106	2026	2074	1978	0	0	0	0	0	0	14.30	14.19	13.21
6666	0.19	328.3	2689	2106	2056	1960	234.5	12.4	518	6671	0.15	2.53	0.00	0.000	4740	0.241	0.085	2654	688	2007	2055	1960	0	0	0	0	0	0	13.86	14.04	13.96
6692	0.19	328.3	2655	689	2056	1961	231.6	10.4	523	6698	0.00	2.47	0.00	0.000	1030	0.000	0.078	2655	2098	2007	2054	1960	0	0	0	0	0	0	14.22	14.08	14.27
6997	0.21	346.9	2655	2098	2056	1958	203.2	9.1	534	7028	0.00	2.53	25.85	1.353	8740	0.000	0.089	2655	694	1947	1993	1902	0	0	0	0	0	0	14.45	14.07	13.24
7074	0.31	382.6	2655	695	1982	1899	196.5	8.3	549	7143	0.00	2.47	64.35	1.244	9382	0.000	0.079	2654	2101	1801	1828	1775	0	0	0	0	0	0	14.15	14.07	13.12
7451	0.39	412.3	2655	2101	1820	1758	164.0	8.6	574	7504	0.17	0.00	50.62	1.248	10406	0.100	0.000	2729	2101	1682	1709	1656	0	0	0	0	0	0	14.11	13.95	13.19
7780	0.35	412.3	2729	2102	1701	1639	121.4	12.6	585	7785	0.12	2.50	0.00	0.000	4740	0.239	0.087	2699	695	1669	1700	1639	0	0	0	0	0	0	13.89	14.02	14.02
7873	0.43	426.7	2700	695	1698	1639	112.4	9.3	603	7895	0.00	2.50	18.20	1.337	9382	0.000	0.078	2703	2101	1624	1657	1592	0	0	0	0	0	0	14.12	14.00	13.27
8201	0.49	454.5	2698	2101	1650	1573	81.5	8.7	631	8223	0.12	0.00	14.38	0.428	10406	0.125	0.000	2759	2101	1511	1547	1476	0	0	0	0	0	0	14.16	13.89	13.60
8521	0.52	514.7	2760	2101	1550	1479	48.5	7.2	663	8563	0.00	2.55	34.50	0.342	8868	0.000	0.090	2760	688	1266	1318	1215	0	0	0	0	0	0	14.40	14.02	13.71
8674	0.64	584.3	2761	688	1318	1222	37.3	6.8	693	8720	0.00	2.50	40.28	0.307	9382	0.000	0.077	2760	2102	980	1049	912	0	0	0	0	0	0	14.16	14.04	13.69
9026	0.90	730.4	2761	2103	1051	917	17.6	3.3	733	9105	0.30	2.55	67.43	0.247	10916	0.081	0.093	2882	695	498	514	483	0	0	0	0	0	0	13.85	13.95	13.77
9173	end climb: SURFACE_DEPTH_REACHED
state	9173	begin surface coast
9185	end surface coast: CONTROL_FINISHED_OK
state	9185	begin surface