Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 387 * 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 387 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 1073.0

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 41 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 1073.0 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 387 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 200917,154608,7426.8843,-15318.5176,14,0.7,18,19.5,0.4,213.6,12,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.29 MHEAD_RNG_PITCHd_Wd 206.4,21677,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 200917,155902,7426.8892,-15318.4307,6,0.7,15,19.5,0.0,119.6,11,9.1

Post-dive calculations and measurements:

FINISH 0.4,1.020945 _24V_AH 12.31,230.275

SM_CCo 9149,7.05,0.206,0,0,497,703.03 _10V_AH 12.31,0.000

SM_GC 1.86,8.20,0.17,7.05,0.083,0.095,0.206,202,2252,497,-7.38,-0.45,703.03,0,0,0,0,0,0,14.23,14.31,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 414 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323292

IRIDIUM_FIX 7428.30,-15311.73,200917,130931 DATA_FILE_SIZE 26741,731

TT8_MAMPS 0.040446,0.954226 CAP_FILE_SIZE 102069,0

HUMID 47.79 CFSIZE 2097872896,1978892288

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

TCM_TEMP 13.40 SOUNDSPEED 1448.7

XPDR_PINGS 13 CURRENT 0.047,63.47,1

CP_FREE 15903883264.000000 GPS 200917,183332,7426.256,-15321.880,31,0.7,31,19.5,0.5,50.5,10,7.4

PM_FREEKB_00 45230720

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 142.10 nil 0 0 0.00

Roll_motor 83 2164 2233.98 nil 0 0 0.00

VBD_pump_during_apogee 953 1491 17518.27 nil 0 0 0.00

VBD_pump_during_surface 7 205 17.86 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 9165 14 1661.52

Iridium_during_xfer 409 178 897.48 NCP 9131 20 2248.05

Transponder_ping 3 420 16.80 PMAR 9102 9 1112.61

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.84

TT8 0 0 0.00

LPSleep 6635 2 188.69

TT8_Active 918 13 157.92

TT8_Sampling 2020 33 831.79

TT8_CF8 372 38 177.47

TT8_Kalman 0 0 0.00

Analog_circuits 2103 10 258.91

GPS_charging 0 0 0.00

Compass 1048 7 90.39

RAFOS 2121 48 1253.26

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 -145.9 188 2223 491 492 0.0 0.0 0 142 0.00 0.00 -87.55 0.000 16386 0.000 0.000 185 2224 2097 2028 2166 0 0 0 0 0 0 14.47 28.83 14.50

145 -0.57 -145.9 185 2222 2030 2168 4.2 -5.6 9 202 12.93 2.70 -37.25 0.000 18724 0.451 2.165 2376 3588 3961 3944 3979 1 0 0 0 0 0 13.33 12.57 13.95

372 -0.72 -145.9 2376 3589 3951 3980 46.5 -12.2 54 378 0.00 2.38 0.00 0.000 1158 0.000 0.054 2375 2206 3966 3951 3982 0 0 0 0 0 0 14.14 14.02 14.16

678 -0.86 -145.9 2375 2207 3952 3979 82.6 -9.3 85 679 0.22 0.00 0.00 0.000 4262 0.096 0.000 2296 2205 3965 3952 3979 0 0 0 0 0 0 13.97 14.08 14.07

977 -0.88 -145.9 2296 2206 3952 3980 127.6 -14.2 103 982 0.00 2.47 0.00 0.000 388 0.000 0.084 2291 3589 3965 3951 3979 0 0 0 0 0 0 14.40 13.92 14.42

1028 -1.01 -145.9 2292 3588 3955 3979 134.1 -11.5 113 1033 0.12 2.40 0.00 0.000 5254 0.124 0.056 2243 2195 3965 3952 3979 0 0 0 0 0 0 14.05 14.01 14.14

1339 -0.96 -145.9 2244 2195 3952 3980 187.7 -16.9 125 1344 0.00 2.53 0.00 0.000 388 0.000 0.083 2236 3597 3963 3952 3974 0 0 0 0 0 0 14.40 13.88 14.41

1415 -1.01 -145.9 2236 3600 3952 3980 199.3 -14.2 140 1421 0.00 2.42 0.00 0.000 1158 0.000 0.057 2236 2201 3965 3952 3979 0 0 0 0 0 0 14.05 13.93 14.07

1731 -1.01 -145.9 2238 2200 3952 3980 248.7 -15.1 153 1736 0.00 2.53 0.00 0.000 260 0.000 0.086 2235 3595 3965 3951 3979 0 0 0 0 0 0 14.40 13.91 14.40

1797 -1.09 -145.9 2236 3596 3953 3979 257.6 -12.0 166 1801 0.00 2.42 0.00 0.000 1158 0.000 0.059 2236 2195 3965 3951 3979 0 0 0 0 0 0 14.09 13.96 14.13

2122 -1.09 -145.9 2236 2193 3952 3979 299.6 -12.6 181 2127 0.00 2.53 0.00 0.000 260 0.000 0.086 2235 3589 3965 3952 3979 0 0 0 0 0 0 14.39 13.90 14.39

2173 -1.20 -145.9 2235 3590 3954 3980 305.5 -11.1 191 2178 0.12 2.40 0.00 0.000 5254 0.134 0.056 2182 2196 3965 3952 3979 0 0 0 0 0 0 13.99 13.97 14.09

2486 -1.12 -145.9 2183 2196 3952 3980 356.0 -16.3 203 2491 0.12 2.47 0.00 0.000 2436 0.294 0.081 2200 3589 3965 3951 3979 0 0 0 0 0 0 13.62 13.83 13.77

2557 -1.15 -145.9 2201 3589 3950 3980 366.2 -13.1 217 2562 0.00 2.40 0.00 0.000 1158 0.000 0.056 2200 2183 3964 3951 3978 0 0 0 0 0 0 14.06 13.93 14.10

2880 -1.13 -145.9 2200 2183 3956 3979 410.2 -13.5 231 2885 0.00 2.53 0.00 0.000 388 0.000 0.085 2197 3592 3964 3950 3978 0 0 0 0 0 0 14.56 13.85 14.57

2965 -1.17 -145.9 2198 3594 3951 3978 421.6 -12.5 248 2972 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2192 3964 3950 3978 0 0 0 0 0 0 14.14 14.00 14.16

3270 -1.17 -145.9 2197 2191 3951 3982 463.1 -13.6 259 3275 0.00 2.50 0.00 0.000 260 0.000 0.083 2189 3589 3964 3950 3978 0 0 0 0 0 0 14.60 13.83 14.61

3341 -1.19 -145.9 2190 3590 3949 3980 472.6 -13.1 273 3346 0.00 2.40 0.00 0.000 1158 0.000 0.056 2189 2191 3965 3952 3978 0 0 0 0 0 0 14.19 14.07 14.25

3419 end dive: TARGET_DEPTH_EXCEEDED

state 3419 begin apogee

3426 -0.13 0.0 2190 2060 3950 3979 484.1 -14.3 279 3662 1.38 0.00 230.15 1.385 10246 0.240 0.000 2527 2059 3362 3376 3349 0 0 0 0 0 0 13.61 13.35 12.76

3666 end apogee: CONTROL_FINISHED_OK

state 3666 begin climb

3669 0.57 145.9 2528 2060 3368 3345 498.0 0.0 287 3889 0.75 2.58 206.60 1.368 10756 0.057 0.080 2795 727 2761 2792 2731 0 0 0 0 0 0 13.74 13.16 12.31

4032 0.15 145.9 2795 727 2786 2724 489.6 14.9 352 4039 0.77 2.45 0.00 0.000 5254 0.322 0.074 2638 2085 2753 2785 2721 0 0 0 0 0 0 13.26 13.68 13.66

4335 -0.00 167.1 2636 2086 2785 2716 460.8 9.0 363 4366 0.22 2.47 26.02 1.492 12964 0.266 0.085 2589 731 2680 2720 2641 0 0 0 0 0 0 13.77 14.03 13.16

4397 0.04 220.9 2589 732 2714 2637 456.1 7.5 370 4488 0.00 2.42 82.20 1.366 9254 0.000 0.079 2589 2100 2458 2509 2408 0 0 0 0 0 0 14.21 14.08 12.98

4787 0.05 246.7 2590 2101 2501 2393 422.6 8.8 398 4825 0.00 0.00 36.65 1.434 8230 0.000 0.000 2589 2100 2357 2406 2308 0 0 0 0 0 0 14.54 13.99 13.17

5117 0.10 270.7 2594 2101 2392 2294 393.2 8.9 409 5157 0.00 2.47 32.03 1.454 8868 0.000 0.088 2589 733 2256 2303 2209 0 0 0 0 0 0 14.57 14.09 13.21

5183 0.20 295.7 2590 734 2302 2204 387.4 8.8 422 5227 0.17 2.40 37.72 1.405 11430 0.105 0.079 2666 2106 2155 2198 2113 0 0 0 0 0 0 14.22 14.14 13.12

5538 0.12 295.7 2667 2107 2190 2102 336.7 14.2 443 5543 0.17 2.42 0.00 0.000 4740 0.262 0.083 2630 732 2145 2189 2101 0 0 0 0 0 0 13.88 14.07 14.05

5564 0.12 295.7 2630 730 2189 2103 333.4 12.6 448 5571 0.00 2.40 0.00 0.000 1030 0.000 0.077 2629 2106 2144 2188 2101 0 0 0 0 0 0 14.25 14.11 14.29

5869 0.12 295.7 2630 2107 2188 2100 299.5 10.9 459 5874 0.00 2.45 0.00 0.000 516 0.000 0.086 2630 728 2142 2187 2098 0 0 0 0 0 0 14.63 14.11 14.65

5914 0.16 295.7 2631 728 2188 2102 294.7 10.3 468 5920 0.00 2.40 0.00 0.000 1158 0.000 0.077 2630 2100 2143 2187 2099 0 0 0 0 0 0 14.19 14.04 14.26

6231 0.17 301.6 2630 2101 2187 2099 263.0 9.7 481 6232 0.00 0.00 0.00 0.000 38 0.000 0.000 2630 2101 2141 2184 2098 0 0 0 0 0 0 14.64 14.66 14.65

6531 0.19 332.3 2631 2101 2187 2098 235.8 8.6 491 6592 0.00 0.00 57.10 1.326 8230 0.000 0.000 2630 2100 2008 2047 1969 0 0 0 0 0 0 14.62 13.99 13.21

6891 0.28 380.6 2630 2101 2042 1958 206.4 7.8 503 6983 0.12 2.50 81.00 1.259 10916 0.125 0.087 2701 734 1806 1827 1786 0 0 0 0 0 0 14.22 13.95 13.16

7033 0.31 380.6 2698 735 1821 1785 190.0 11.4 531 7038 0.00 2.40 0.00 0.000 1158 0.000 0.076 2698 2101 1802 1820 1784 0 0 0 0 0 0 14.19 14.07 14.23

7344 0.31 380.6 2699 2102 1820 1777 154.6 11.2 543 7348 0.00 2.42 0.00 0.000 516 0.000 0.086 2699 731 1797 1819 1776 0 0 0 0 0 0 14.57 14.05 14.59

7379 0.33 380.6 2699 731 1819 1776 150.8 10.6 550 7384 0.00 2.40 0.00 0.000 1158 0.000 0.077 2699 2101 1794 1812 1776 0 0 0 0 0 0 14.03 13.91 14.12

7704 0.34 384.4 2699 2103 1819 1773 117.2 9.8 565 7705 0.00 0.00 0.00 0.000 38 0.000 0.000 2700 2103 1795 1817 1773 0 0 0 0 0 0 14.61 14.62 14.62

8004 0.36 410.2 2699 2103 1817 1771 88.5 8.8 583 8026 0.00 2.50 14.18 0.464 8740 0.000 0.086 2699 726 1691 1709 1673 0 0 0 0 0 0 14.56 13.95 13.62

8114 0.49 458.9 2699 727 1712 1674 79.8 7.8 604 8147 0.12 2.42 26.60 0.436 11430 0.127 0.077 2757 2103 1492 1516 1468 0 0 0 0 0 0 14.02 13.95 13.65

8452 0.52 509.3 2757 2104 1517 1462 45.1 7.7 641 8484 0.00 0.00 26.75 0.333 8742 0.000 0.000 2757 2103 1286 1330 1242 0 0 0 0 0 0 14.57 14.00 13.33

8783 0.70 626.9 2757 2103 1331 1238 23.9 4.6 675 8851 0.12 2.47 62.03 0.272 10916 0.123 0.087 2818 725 808 869 748 0 0 0 0 0 0 14.21 14.07 13.76

8967 0.83 691.0 2819 728 870 739 11.4 7.0 711 9009 0.00 2.42 34.95 0.238 9382 0.000 0.075 2821 2105 540 573 507 0 0 0 0 0 0 14.15 14.02 13.81

9104 end climb: SURFACE_DEPTH_REACHED

state 9104 begin surface coast

9127 end surface coast: CONTROL_FINISHED_OK

state 9127 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	387	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	1073.0
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	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200917,154608,7426.8843,-15318.5176,14,0.7,18,19.5,0.4,213.6,12,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.29	MHEAD_RNG_PITCHd_Wd	206.4,21677,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	200917,155902,7426.8892,-15318.4307,6,0.7,15,19.5,0.0,119.6,11,9.1

FINISH	0.4,1.020945	_24V_AH	12.31,230.275
SM_CCo	9149,7.05,0.206,0,0,497,703.03	_10V_AH	12.31,0.000
SM_GC	1.86,8.20,0.17,7.05,0.083,0.095,0.206,202,2252,497,-7.38,-0.45,703.03,0,0,0,0,0,0,14.23,14.31,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	414	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323292
IRIDIUM_FIX	7428.30,-15311.73,200917,130931	DATA_FILE_SIZE	26741,731
TT8_MAMPS	0.040446,0.954226	CAP_FILE_SIZE	102069,0
HUMID	47.79	CFSIZE	2097872896,1978892288
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1448.7
XPDR_PINGS	13	CURRENT	0.047,63.47,1
CP_FREE	15903883264.000000	GPS	200917,183332,7426.256,-15321.880,31,0.7,31,19.5,0.5,50.5,10,7.4
PM_FREEKB_00	45230720

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	142.10	nil	0	0	0.00
Roll_motor	83	2164	2233.98	nil	0	0	0.00
VBD_pump_during_apogee	953	1491	17518.27	nil	0	0	0.00
VBD_pump_during_surface	7	205	17.86	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	9165	14	1661.52
Iridium_during_xfer	409	178	897.48	NCP	9131	20	2248.05
Transponder_ping	3	420	16.80	PMAR	9102	9	1112.61
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.84
TT8	0	0	0.00
LPSleep	6635	2	188.69
TT8_Active	918	13	157.92
TT8_Sampling	2020	33	831.79
TT8_CF8	372	38	177.47
TT8_Kalman	0	0	0.00
Analog_circuits	2103	10	258.91
GPS_charging	0	0	0.00
Compass	1048	7	90.39
RAFOS	2121	48	1253.26
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	188	2223	491	492	0.0	0.0	0	142	0.00	0.00	-87.55	0.000	16386	0.000	0.000	185	2224	2097	2028	2166	0	0	0	0	0	0	14.47	28.83	14.50
145	-0.57	-145.9	185	2222	2030	2168	4.2	-5.6	9	202	12.93	2.70	-37.25	0.000	18724	0.451	2.165	2376	3588	3961	3944	3979	1	0	0	0	0	0	13.33	12.57	13.95
372	-0.72	-145.9	2376	3589	3951	3980	46.5	-12.2	54	378	0.00	2.38	0.00	0.000	1158	0.000	0.054	2375	2206	3966	3951	3982	0	0	0	0	0	0	14.14	14.02	14.16
678	-0.86	-145.9	2375	2207	3952	3979	82.6	-9.3	85	679	0.22	0.00	0.00	0.000	4262	0.096	0.000	2296	2205	3965	3952	3979	0	0	0	0	0	0	13.97	14.08	14.07
977	-0.88	-145.9	2296	2206	3952	3980	127.6	-14.2	103	982	0.00	2.47	0.00	0.000	388	0.000	0.084	2291	3589	3965	3951	3979	0	0	0	0	0	0	14.40	13.92	14.42
1028	-1.01	-145.9	2292	3588	3955	3979	134.1	-11.5	113	1033	0.12	2.40	0.00	0.000	5254	0.124	0.056	2243	2195	3965	3952	3979	0	0	0	0	0	0	14.05	14.01	14.14
1339	-0.96	-145.9	2244	2195	3952	3980	187.7	-16.9	125	1344	0.00	2.53	0.00	0.000	388	0.000	0.083	2236	3597	3963	3952	3974	0	0	0	0	0	0	14.40	13.88	14.41
1415	-1.01	-145.9	2236	3600	3952	3980	199.3	-14.2	140	1421	0.00	2.42	0.00	0.000	1158	0.000	0.057	2236	2201	3965	3952	3979	0	0	0	0	0	0	14.05	13.93	14.07
1731	-1.01	-145.9	2238	2200	3952	3980	248.7	-15.1	153	1736	0.00	2.53	0.00	0.000	260	0.000	0.086	2235	3595	3965	3951	3979	0	0	0	0	0	0	14.40	13.91	14.40
1797	-1.09	-145.9	2236	3596	3953	3979	257.6	-12.0	166	1801	0.00	2.42	0.00	0.000	1158	0.000	0.059	2236	2195	3965	3951	3979	0	0	0	0	0	0	14.09	13.96	14.13
2122	-1.09	-145.9	2236	2193	3952	3979	299.6	-12.6	181	2127	0.00	2.53	0.00	0.000	260	0.000	0.086	2235	3589	3965	3952	3979	0	0	0	0	0	0	14.39	13.90	14.39
2173	-1.20	-145.9	2235	3590	3954	3980	305.5	-11.1	191	2178	0.12	2.40	0.00	0.000	5254	0.134	0.056	2182	2196	3965	3952	3979	0	0	0	0	0	0	13.99	13.97	14.09
2486	-1.12	-145.9	2183	2196	3952	3980	356.0	-16.3	203	2491	0.12	2.47	0.00	0.000	2436	0.294	0.081	2200	3589	3965	3951	3979	0	0	0	0	0	0	13.62	13.83	13.77
2557	-1.15	-145.9	2201	3589	3950	3980	366.2	-13.1	217	2562	0.00	2.40	0.00	0.000	1158	0.000	0.056	2200	2183	3964	3951	3978	0	0	0	0	0	0	14.06	13.93	14.10
2880	-1.13	-145.9	2200	2183	3956	3979	410.2	-13.5	231	2885	0.00	2.53	0.00	0.000	388	0.000	0.085	2197	3592	3964	3950	3978	0	0	0	0	0	0	14.56	13.85	14.57
2965	-1.17	-145.9	2198	3594	3951	3978	421.6	-12.5	248	2972	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2192	3964	3950	3978	0	0	0	0	0	0	14.14	14.00	14.16
3270	-1.17	-145.9	2197	2191	3951	3982	463.1	-13.6	259	3275	0.00	2.50	0.00	0.000	260	0.000	0.083	2189	3589	3964	3950	3978	0	0	0	0	0	0	14.60	13.83	14.61
3341	-1.19	-145.9	2190	3590	3949	3980	472.6	-13.1	273	3346	0.00	2.40	0.00	0.000	1158	0.000	0.056	2189	2191	3965	3952	3978	0	0	0	0	0	0	14.19	14.07	14.25
3419	end dive: TARGET_DEPTH_EXCEEDED
state	3419	begin apogee
3426	-0.13	0.0	2190	2060	3950	3979	484.1	-14.3	279	3662	1.38	0.00	230.15	1.385	10246	0.240	0.000	2527	2059	3362	3376	3349	0	0	0	0	0	0	13.61	13.35	12.76
3666	end apogee: CONTROL_FINISHED_OK
state	3666	begin climb
3669	0.57	145.9	2528	2060	3368	3345	498.0	0.0	287	3889	0.75	2.58	206.60	1.368	10756	0.057	0.080	2795	727	2761	2792	2731	0	0	0	0	0	0	13.74	13.16	12.31
4032	0.15	145.9	2795	727	2786	2724	489.6	14.9	352	4039	0.77	2.45	0.00	0.000	5254	0.322	0.074	2638	2085	2753	2785	2721	0	0	0	0	0	0	13.26	13.68	13.66
4335	-0.00	167.1	2636	2086	2785	2716	460.8	9.0	363	4366	0.22	2.47	26.02	1.492	12964	0.266	0.085	2589	731	2680	2720	2641	0	0	0	0	0	0	13.77	14.03	13.16
4397	0.04	220.9	2589	732	2714	2637	456.1	7.5	370	4488	0.00	2.42	82.20	1.366	9254	0.000	0.079	2589	2100	2458	2509	2408	0	0	0	0	0	0	14.21	14.08	12.98
4787	0.05	246.7	2590	2101	2501	2393	422.6	8.8	398	4825	0.00	0.00	36.65	1.434	8230	0.000	0.000	2589	2100	2357	2406	2308	0	0	0	0	0	0	14.54	13.99	13.17
5117	0.10	270.7	2594	2101	2392	2294	393.2	8.9	409	5157	0.00	2.47	32.03	1.454	8868	0.000	0.088	2589	733	2256	2303	2209	0	0	0	0	0	0	14.57	14.09	13.21
5183	0.20	295.7	2590	734	2302	2204	387.4	8.8	422	5227	0.17	2.40	37.72	1.405	11430	0.105	0.079	2666	2106	2155	2198	2113	0	0	0	0	0	0	14.22	14.14	13.12
5538	0.12	295.7	2667	2107	2190	2102	336.7	14.2	443	5543	0.17	2.42	0.00	0.000	4740	0.262	0.083	2630	732	2145	2189	2101	0	0	0	0	0	0	13.88	14.07	14.05
5564	0.12	295.7	2630	730	2189	2103	333.4	12.6	448	5571	0.00	2.40	0.00	0.000	1030	0.000	0.077	2629	2106	2144	2188	2101	0	0	0	0	0	0	14.25	14.11	14.29
5869	0.12	295.7	2630	2107	2188	2100	299.5	10.9	459	5874	0.00	2.45	0.00	0.000	516	0.000	0.086	2630	728	2142	2187	2098	0	0	0	0	0	0	14.63	14.11	14.65
5914	0.16	295.7	2631	728	2188	2102	294.7	10.3	468	5920	0.00	2.40	0.00	0.000	1158	0.000	0.077	2630	2100	2143	2187	2099	0	0	0	0	0	0	14.19	14.04	14.26
6231	0.17	301.6	2630	2101	2187	2099	263.0	9.7	481	6232	0.00	0.00	0.00	0.000	38	0.000	0.000	2630	2101	2141	2184	2098	0	0	0	0	0	0	14.64	14.66	14.65
6531	0.19	332.3	2631	2101	2187	2098	235.8	8.6	491	6592	0.00	0.00	57.10	1.326	8230	0.000	0.000	2630	2100	2008	2047	1969	0	0	0	0	0	0	14.62	13.99	13.21
6891	0.28	380.6	2630	2101	2042	1958	206.4	7.8	503	6983	0.12	2.50	81.00	1.259	10916	0.125	0.087	2701	734	1806	1827	1786	0	0	0	0	0	0	14.22	13.95	13.16
7033	0.31	380.6	2698	735	1821	1785	190.0	11.4	531	7038	0.00	2.40	0.00	0.000	1158	0.000	0.076	2698	2101	1802	1820	1784	0	0	0	0	0	0	14.19	14.07	14.23
7344	0.31	380.6	2699	2102	1820	1777	154.6	11.2	543	7348	0.00	2.42	0.00	0.000	516	0.000	0.086	2699	731	1797	1819	1776	0	0	0	0	0	0	14.57	14.05	14.59
7379	0.33	380.6	2699	731	1819	1776	150.8	10.6	550	7384	0.00	2.40	0.00	0.000	1158	0.000	0.077	2699	2101	1794	1812	1776	0	0	0	0	0	0	14.03	13.91	14.12
7704	0.34	384.4	2699	2103	1819	1773	117.2	9.8	565	7705	0.00	0.00	0.00	0.000	38	0.000	0.000	2700	2103	1795	1817	1773	0	0	0	0	0	0	14.61	14.62	14.62
8004	0.36	410.2	2699	2103	1817	1771	88.5	8.8	583	8026	0.00	2.50	14.18	0.464	8740	0.000	0.086	2699	726	1691	1709	1673	0	0	0	0	0	0	14.56	13.95	13.62
8114	0.49	458.9	2699	727	1712	1674	79.8	7.8	604	8147	0.12	2.42	26.60	0.436	11430	0.127	0.077	2757	2103	1492	1516	1468	0	0	0	0	0	0	14.02	13.95	13.65
8452	0.52	509.3	2757	2104	1517	1462	45.1	7.7	641	8484	0.00	0.00	26.75	0.333	8742	0.000	0.000	2757	2103	1286	1330	1242	0	0	0	0	0	0	14.57	14.00	13.33
8783	0.70	626.9	2757	2103	1331	1238	23.9	4.6	675	8851	0.12	2.47	62.03	0.272	10916	0.123	0.087	2818	725	808	869	748	0	0	0	0	0	0	14.21	14.07	13.76
8967	0.83	691.0	2819	728	870	739	11.4	7.0	711	9009	0.00	2.42	34.95	0.238	9382	0.000	0.075	2821	2105	540	573	507	0	0	0	0	0	0	14.15	14.02	13.81
9104	end climb: SURFACE_DEPTH_REACHED
state	9104	begin surface coast
9127	end surface coast: CONTROL_FINISHED_OK
state	9127	begin surface