Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 393 * 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 393 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 1091.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 61 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 1091.0 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 61 VBD_MIN 500

DIVE 393 NOCOMM_ACTION 161 R_STBD_OVSHOOT 61 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 210917,083303,7422.4399,-15337.0674,39,0.8,39,19.3,0.0,0.0,10,8.0 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 1.37 MHEAD_RNG_PITCHd_Wd 199.7,9518,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 210917,084453,7422.4678,-15336.9922,10,0.8,10,19.3,0.9,98.3,10,9.0

Post-dive calculations and measurements:

FINISH 0.4,1.021093 _24V_AH 12.33,233.235

SM_CCo 9031,11.80,0.213,0,0,499,702.78 _10V_AH 12.18,0.000

SM_GC 1.96,8.12,2.67,11.80,0.060,0.075,0.213,196,2200,499,-7.39,-0.71,702.78,0,0,0,0,0,0,14.24,14.12,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323488

IRIDIUM_FIX 7422.16,-15340.38,210917,055657 DATA_FILE_SIZE 26708,772

TT8_MAMPS 0.040446,0.912282 CAP_FILE_SIZE 102689,0

HUMID 47.67 CFSIZE 2097872896,1977319424

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

TCM_TEMP 13.40 SOUNDSPEED 1448.9

XPDR_PINGS 18 CURRENT 0.044,76.06,1

CP_FREE 15900737536.000000 GPS 210917,111720,7421.823,-15340.169,20,0.7,22,19.3,0.4,77.4,11,9.8

PM_FREEKB_00 45013056

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.25 nil 0 0 0.00

Roll_motor 90 2161 2417.04 nil 0 0 0.00

VBD_pump_during_apogee 977 1489 17950.85 nil 0 0 0.00

VBD_pump_during_surface 11 213 31.05 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 9043 14 1614.19

Iridium_during_xfer 405 175 875.03 NCP 8998 20 2218.91

Transponder_ping 4 420 23.30 PMAR 8980 9 1093.62

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.17

TT8 0 0 0.00

LPSleep 6362 2 179.02

TT8_Active 844 13 143.68

TT8_Sampling 2175 33 886.23

TT8_CF8 381 38 179.61

TT8_Kalman 0 0 0.00

Analog_circuits 2132 10 259.75

GPS_charging 0 0 0.00

Compass 1106 7 94.34

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

51 end surface: CONTROL_FINISHED_OK

state 51 begin dive

54 -0.57 -145.9 196 2242 498 486 0.0 0.0 0 147 0.00 0.00 -91.38 0.000 16386 0.000 0.000 194 2242 2246 2185 2307 0 0 0 0 0 0 14.33 28.83 14.33

151 -0.57 -145.9 195 2242 2189 2307 4.8 -6.9 9 200 12.82 2.60 -30.05 0.000 18724 0.451 2.162 2375 3568 3963 3947 3980 0 0 0 0 0 0 13.52 12.93 13.96

238 -0.68 -145.9 2376 3570 3953 3981 31.8 -15.1 25 244 0.00 2.30 0.00 0.000 1158 0.000 0.060 2375 2235 3966 3953 3980 0 0 0 0 0 0 14.19 14.06 14.22

541 -0.80 -145.9 2376 2234 3956 3979 72.6 -10.8 56 547 0.15 2.58 0.00 0.000 4740 0.123 0.081 2312 782 3964 3949 3980 0 0 0 0 0 0 14.16 13.97 14.19

572 -0.86 -145.9 2313 782 3956 3980 76.9 -14.7 62 577 0.00 2.45 0.00 0.000 1158 0.000 0.086 2312 2158 3967 3955 3980 0 0 0 0 0 0 14.17 14.02 14.22

896 -0.92 -145.9 2312 2159 3955 3981 120.2 -12.7 85 900 0.00 2.60 0.00 0.000 388 0.000 0.090 2307 3620 3966 3954 3979 0 0 0 0 0 0 14.54 14.04 14.57

1023 -1.08 -145.9 2308 3619 3956 3980 133.8 -10.2 110 1028 0.22 2.42 0.00 0.000 5254 0.089 0.054 2226 2193 3967 3955 3979 0 0 0 0 0 0 14.18 14.07 14.27

1349 -1.02 -145.9 2225 2192 3956 3980 194.2 -18.3 125 1354 0.00 2.55 0.00 0.000 388 0.000 0.087 2222 3614 3970 3955 3986 0 0 0 0 0 0 14.59 13.94 14.62

1462 -1.05 -145.9 2223 3614 3956 3980 211.6 -14.5 147 1467 0.00 2.42 0.00 0.000 1158 0.000 0.057 2222 2201 3967 3954 3980 0 0 0 0 0 0 14.12 13.94 14.19

1773 -1.03 -145.9 2223 2200 3956 3980 260.5 -15.1 159 1777 0.00 2.53 0.00 0.000 388 0.000 0.089 2222 3613 3967 3954 3980 0 0 0 0 0 0 14.62 14.00 14.63

1885 -1.10 -145.9 2220 3615 3955 3981 275.1 -12.2 181 1890 0.00 2.40 0.00 0.000 1158 0.000 0.055 2222 2197 3967 3955 3980 0 0 0 0 0 0 14.09 14.02 14.24

2196 -1.10 -145.9 2222 2195 3956 3980 314.9 -12.5 193 2201 0.00 2.55 0.00 0.000 260 0.000 0.090 2222 3614 3967 3955 3980 0 0 0 0 0 0 14.61 13.85 14.63

2272 -1.20 -145.9 2221 3615 3955 3979 323.7 -10.8 208 2277 0.00 2.42 0.00 0.000 1158 0.000 0.056 2222 2200 3967 3954 3980 0 0 0 0 0 0 14.21 14.07 14.24

2588 -1.23 -145.9 2223 2199 3955 3980 360.4 -11.5 221 2593 0.12 2.55 0.00 0.000 4484 0.148 0.086 2159 3613 3966 3954 3979 0 0 0 0 0 0 14.02 13.97 14.07

2664 -1.17 -145.9 2159 3614 3954 3981 372.2 -16.1 236 2670 0.17 2.42 0.00 0.000 3206 0.263 0.057 2194 2194 3966 3953 3979 0 0 0 0 0 0 13.66 14.06 13.98

2981 -1.17 -145.9 2194 2194 3961 3979 416.3 -13.7 249 2986 0.00 2.58 0.00 0.000 260 0.000 0.086 2186 3621 3966 3953 3979 0 0 0 0 0 0 14.62 13.89 14.63

3087 -1.20 -145.9 2186 3623 3953 3980 430.7 -13.2 270 3091 0.00 2.42 0.00 0.000 1158 0.000 0.055 2186 2200 3966 3953 3979 0 0 0 0 0 0 14.19 14.06 14.23

3402 -1.16 -145.9 2186 2199 3954 3978 475.7 -14.2 283 3407 0.00 2.53 0.00 0.000 388 0.000 0.086 2176 3614 3965 3953 3978 0 0 0 0 0 0 14.61 13.87 14.63

3430 end dive: TARGET_DEPTH_EXCEEDED

state 3430 begin apogee

3439 -0.13 0.0 2176 2094 3953 3978 480.3 -15.2 289 3658 1.45 0.00 216.23 1.416 10246 0.250 0.000 2528 2091 3364 3384 3344 0 0 0 0 0 0 13.61 13.57 12.77

3662 end apogee: CONTROL_FINISHED_OK

state 3662 begin climb

3665 0.57 145.9 2529 2093 3379 3338 492.5 0.0 296 3881 0.75 2.70 207.30 1.371 11012 0.057 0.079 2795 689 2766 2808 2724 0 0 0 0 0 0 13.74 13.16 12.33

4108 0.15 145.9 2802 690 2793 2722 474.7 14.5 342 4114 0.75 2.53 0.00 0.000 5254 0.321 0.074 2637 2115 2756 2791 2722 0 0 0 0 0 0 13.45 13.88 13.87

4420 -0.01 167.4 2638 2114 2793 2716 445.7 9.0 354 4451 0.22 2.60 26.67 1.489 12964 0.270 0.085 2588 686 2680 2723 2638 0 0 0 0 0 0 13.74 14.03 13.18

4677 0.03 224.6 2589 686 2719 2636 426.6 7.4 405 4767 0.00 2.47 84.88 1.377 9254 0.000 0.080 2589 2104 2452 2508 2397 0 0 0 0 0 0 14.28 14.15 13.06

5083 0.05 252.1 2588 2105 2498 2377 391.6 8.7 436 5127 0.00 2.53 39.25 1.413 8740 0.000 0.087 2589 688 2334 2388 2281 0 0 0 0 0 0 14.57 13.78 13.17

5143 0.11 277.9 2590 688 2383 2281 386.3 8.8 448 5188 0.00 2.50 39.35 1.395 9382 0.000 0.080 2589 2100 2229 2285 2174 0 0 0 0 0 0 14.18 14.09 13.08

5507 0.18 303.8 2589 2100 2278 2161 354.2 8.8 470 5546 0.17 0.00 37.78 1.401 10406 0.100 0.000 2668 2101 2126 2178 2074 0 0 0 0 0 0 14.26 14.02 13.21

5834 0.10 303.8 2669 2100 2168 2063 308.0 14.1 481 5840 0.17 2.53 0.00 0.000 4740 0.251 0.086 2630 687 2115 2167 2063 0 0 0 0 0 0 13.88 14.09 14.05

5906 0.17 303.8 2631 687 2165 2058 299.9 10.2 495 5911 0.00 2.47 0.00 0.000 1158 0.000 0.077 2630 2111 2113 2164 2063 0 0 0 0 0 0 14.23 14.08 14.30

6226 0.17 303.8 2634 2106 2165 2062 266.7 10.1 509 6227 0.00 0.00 0.00 0.000 6 0.000 0.000 2630 2105 2112 2164 2061 0 0 0 0 0 0 14.63 14.65 14.65

6527 0.20 327.2 2630 2106 2164 2062 238.9 8.9 519 6567 0.00 2.53 35.08 1.367 8868 0.000 0.086 2630 681 2028 2076 1980 0 0 0 0 0 0 14.64 13.88 13.28

6603 0.34 370.1 2631 681 2071 1980 232.5 8.0 534 6679 0.20 2.47 70.72 1.274 11430 0.093 0.078 2706 2097 1857 1887 1827 0 0 0 0 0 0 14.25 14.15 13.12

6978 0.29 370.1 2707 2099 1873 1817 184.1 12.6 559 6983 0.12 2.50 0.00 0.000 4740 0.232 0.084 2684 685 1844 1872 1816 0 0 0 0 0 0 13.95 14.09 14.06

7039 0.34 370.1 2684 685 1871 1816 177.5 10.0 571 7043 0.00 2.47 0.00 0.000 1158 0.000 0.077 2684 2100 1842 1870 1815 0 0 0 0 0 0 14.26 14.12 14.31

7369 0.34 370.7 2684 2101 1869 1814 144.1 10.0 587 7370 0.00 0.00 0.00 0.000 38 0.000 0.000 2689 2101 1841 1869 1813 0 0 0 0 0 0 14.60 14.64 14.63

7669 0.35 390.8 2685 2101 1868 1813 115.6 9.1 597 7701 0.00 2.58 26.73 1.339 8740 0.000 0.089 2685 692 1767 1791 1744 0 0 0 0 0 0 14.62 14.12 13.33

7779 0.46 427.7 2685 692 1784 1745 106.5 8.3 618 7846 0.15 2.47 60.60 1.219 11430 0.119 0.079 2753 2108 1619 1643 1595 0 0 0 0 0 0 14.23 14.16 13.19

8152 0.42 429.8 2753 2108 1642 1580 62.4 9.9 663 8153 0.15 0.00 0.00 0.000 4262 0.243 0.000 2722 2108 1610 1640 1580 0 0 0 0 0 0 13.40 13.40 13.37

8452 0.56 557.0 2723 2108 1641 1577 44.9 4.1 693 8527 0.12 2.58 66.10 0.330 10916 0.124 0.090 2785 691 1091 1157 1026 0 0 0 0 0 0 14.17 14.04 13.80

8572 0.66 588.7 2786 690 1157 1025 35.4 8.5 716 8594 0.00 2.50 16.88 0.304 9382 0.000 0.077 2785 2106 963 1034 893 0 0 0 0 0 0 14.16 14.03 13.78

8900 0.86 681.9 2786 2107 1035 889 12.0 5.7 751 8958 0.20 2.58 49.90 0.237 10916 0.099 0.093 2874 701 583 623 543 0 0 0 0 0 0 14.11 13.92 13.83

8998 end climb: SURFACE_DEPTH_REACHED

state 8998 begin surface coast

9006 end surface coast: CONTROL_FINISHED_OK

state 9006 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	393	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	1091.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	61	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,083303,7422.4399,-15337.0674,39,0.8,39,19.3,0.0,0.0,10,8.0	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	1.37	MHEAD_RNG_PITCHd_Wd	199.7,9518,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	210917,084453,7422.4678,-15336.9922,10,0.8,10,19.3,0.9,98.3,10,9.0

FINISH	0.4,1.021093	_24V_AH	12.33,233.235
SM_CCo	9031,11.80,0.213,0,0,499,702.78	_10V_AH	12.18,0.000
SM_GC	1.96,8.12,2.67,11.80,0.060,0.075,0.213,196,2200,499,-7.39,-0.71,702.78,0,0,0,0,0,0,14.24,14.12,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323488
IRIDIUM_FIX	7422.16,-15340.38,210917,055657	DATA_FILE_SIZE	26708,772
TT8_MAMPS	0.040446,0.912282	CAP_FILE_SIZE	102689,0
HUMID	47.67	CFSIZE	2097872896,1977319424
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.40	SOUNDSPEED	1448.9
XPDR_PINGS	18	CURRENT	0.044,76.06,1
CP_FREE	15900737536.000000	GPS	210917,111720,7421.823,-15340.169,20,0.7,22,19.3,0.4,77.4,11,9.8
PM_FREEKB_00	45013056

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.25	nil	0	0	0.00
Roll_motor	90	2161	2417.04	nil	0	0	0.00
VBD_pump_during_apogee	977	1489	17950.85	nil	0	0	0.00
VBD_pump_during_surface	11	213	31.05	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	9043	14	1614.19
Iridium_during_xfer	405	175	875.03	NCP	8998	20	2218.91
Transponder_ping	4	420	23.30	PMAR	8980	9	1093.62
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.17
TT8	0	0	0.00
LPSleep	6362	2	179.02
TT8_Active	844	13	143.68
TT8_Sampling	2175	33	886.23
TT8_CF8	381	38	179.61
TT8_Kalman	0	0	0.00
Analog_circuits	2132	10	259.75
GPS_charging	0	0	0.00
Compass	1106	7	94.34
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
51	end surface: CONTROL_FINISHED_OK
state	51	begin dive
54	-0.57	-145.9	196	2242	498	486	0.0	0.0	0	147	0.00	0.00	-91.38	0.000	16386	0.000	0.000	194	2242	2246	2185	2307	0	0	0	0	0	0	14.33	28.83	14.33
151	-0.57	-145.9	195	2242	2189	2307	4.8	-6.9	9	200	12.82	2.60	-30.05	0.000	18724	0.451	2.162	2375	3568	3963	3947	3980	0	0	0	0	0	0	13.52	12.93	13.96
238	-0.68	-145.9	2376	3570	3953	3981	31.8	-15.1	25	244	0.00	2.30	0.00	0.000	1158	0.000	0.060	2375	2235	3966	3953	3980	0	0	0	0	0	0	14.19	14.06	14.22
541	-0.80	-145.9	2376	2234	3956	3979	72.6	-10.8	56	547	0.15	2.58	0.00	0.000	4740	0.123	0.081	2312	782	3964	3949	3980	0	0	0	0	0	0	14.16	13.97	14.19
572	-0.86	-145.9	2313	782	3956	3980	76.9	-14.7	62	577	0.00	2.45	0.00	0.000	1158	0.000	0.086	2312	2158	3967	3955	3980	0	0	0	0	0	0	14.17	14.02	14.22
896	-0.92	-145.9	2312	2159	3955	3981	120.2	-12.7	85	900	0.00	2.60	0.00	0.000	388	0.000	0.090	2307	3620	3966	3954	3979	0	0	0	0	0	0	14.54	14.04	14.57
1023	-1.08	-145.9	2308	3619	3956	3980	133.8	-10.2	110	1028	0.22	2.42	0.00	0.000	5254	0.089	0.054	2226	2193	3967	3955	3979	0	0	0	0	0	0	14.18	14.07	14.27
1349	-1.02	-145.9	2225	2192	3956	3980	194.2	-18.3	125	1354	0.00	2.55	0.00	0.000	388	0.000	0.087	2222	3614	3970	3955	3986	0	0	0	0	0	0	14.59	13.94	14.62
1462	-1.05	-145.9	2223	3614	3956	3980	211.6	-14.5	147	1467	0.00	2.42	0.00	0.000	1158	0.000	0.057	2222	2201	3967	3954	3980	0	0	0	0	0	0	14.12	13.94	14.19
1773	-1.03	-145.9	2223	2200	3956	3980	260.5	-15.1	159	1777	0.00	2.53	0.00	0.000	388	0.000	0.089	2222	3613	3967	3954	3980	0	0	0	0	0	0	14.62	14.00	14.63
1885	-1.10	-145.9	2220	3615	3955	3981	275.1	-12.2	181	1890	0.00	2.40	0.00	0.000	1158	0.000	0.055	2222	2197	3967	3955	3980	0	0	0	0	0	0	14.09	14.02	14.24
2196	-1.10	-145.9	2222	2195	3956	3980	314.9	-12.5	193	2201	0.00	2.55	0.00	0.000	260	0.000	0.090	2222	3614	3967	3955	3980	0	0	0	0	0	0	14.61	13.85	14.63
2272	-1.20	-145.9	2221	3615	3955	3979	323.7	-10.8	208	2277	0.00	2.42	0.00	0.000	1158	0.000	0.056	2222	2200	3967	3954	3980	0	0	0	0	0	0	14.21	14.07	14.24
2588	-1.23	-145.9	2223	2199	3955	3980	360.4	-11.5	221	2593	0.12	2.55	0.00	0.000	4484	0.148	0.086	2159	3613	3966	3954	3979	0	0	0	0	0	0	14.02	13.97	14.07
2664	-1.17	-145.9	2159	3614	3954	3981	372.2	-16.1	236	2670	0.17	2.42	0.00	0.000	3206	0.263	0.057	2194	2194	3966	3953	3979	0	0	0	0	0	0	13.66	14.06	13.98
2981	-1.17	-145.9	2194	2194	3961	3979	416.3	-13.7	249	2986	0.00	2.58	0.00	0.000	260	0.000	0.086	2186	3621	3966	3953	3979	0	0	0	0	0	0	14.62	13.89	14.63
3087	-1.20	-145.9	2186	3623	3953	3980	430.7	-13.2	270	3091	0.00	2.42	0.00	0.000	1158	0.000	0.055	2186	2200	3966	3953	3979	0	0	0	0	0	0	14.19	14.06	14.23
3402	-1.16	-145.9	2186	2199	3954	3978	475.7	-14.2	283	3407	0.00	2.53	0.00	0.000	388	0.000	0.086	2176	3614	3965	3953	3978	0	0	0	0	0	0	14.61	13.87	14.63
3430	end dive: TARGET_DEPTH_EXCEEDED
state	3430	begin apogee
3439	-0.13	0.0	2176	2094	3953	3978	480.3	-15.2	289	3658	1.45	0.00	216.23	1.416	10246	0.250	0.000	2528	2091	3364	3384	3344	0	0	0	0	0	0	13.61	13.57	12.77
3662	end apogee: CONTROL_FINISHED_OK
state	3662	begin climb
3665	0.57	145.9	2529	2093	3379	3338	492.5	0.0	296	3881	0.75	2.70	207.30	1.371	11012	0.057	0.079	2795	689	2766	2808	2724	0	0	0	0	0	0	13.74	13.16	12.33
4108	0.15	145.9	2802	690	2793	2722	474.7	14.5	342	4114	0.75	2.53	0.00	0.000	5254	0.321	0.074	2637	2115	2756	2791	2722	0	0	0	0	0	0	13.45	13.88	13.87
4420	-0.01	167.4	2638	2114	2793	2716	445.7	9.0	354	4451	0.22	2.60	26.67	1.489	12964	0.270	0.085	2588	686	2680	2723	2638	0	0	0	0	0	0	13.74	14.03	13.18
4677	0.03	224.6	2589	686	2719	2636	426.6	7.4	405	4767	0.00	2.47	84.88	1.377	9254	0.000	0.080	2589	2104	2452	2508	2397	0	0	0	0	0	0	14.28	14.15	13.06
5083	0.05	252.1	2588	2105	2498	2377	391.6	8.7	436	5127	0.00	2.53	39.25	1.413	8740	0.000	0.087	2589	688	2334	2388	2281	0	0	0	0	0	0	14.57	13.78	13.17
5143	0.11	277.9	2590	688	2383	2281	386.3	8.8	448	5188	0.00	2.50	39.35	1.395	9382	0.000	0.080	2589	2100	2229	2285	2174	0	0	0	0	0	0	14.18	14.09	13.08
5507	0.18	303.8	2589	2100	2278	2161	354.2	8.8	470	5546	0.17	0.00	37.78	1.401	10406	0.100	0.000	2668	2101	2126	2178	2074	0	0	0	0	0	0	14.26	14.02	13.21
5834	0.10	303.8	2669	2100	2168	2063	308.0	14.1	481	5840	0.17	2.53	0.00	0.000	4740	0.251	0.086	2630	687	2115	2167	2063	0	0	0	0	0	0	13.88	14.09	14.05
5906	0.17	303.8	2631	687	2165	2058	299.9	10.2	495	5911	0.00	2.47	0.00	0.000	1158	0.000	0.077	2630	2111	2113	2164	2063	0	0	0	0	0	0	14.23	14.08	14.30
6226	0.17	303.8	2634	2106	2165	2062	266.7	10.1	509	6227	0.00	0.00	0.00	0.000	6	0.000	0.000	2630	2105	2112	2164	2061	0	0	0	0	0	0	14.63	14.65	14.65
6527	0.20	327.2	2630	2106	2164	2062	238.9	8.9	519	6567	0.00	2.53	35.08	1.367	8868	0.000	0.086	2630	681	2028	2076	1980	0	0	0	0	0	0	14.64	13.88	13.28
6603	0.34	370.1	2631	681	2071	1980	232.5	8.0	534	6679	0.20	2.47	70.72	1.274	11430	0.093	0.078	2706	2097	1857	1887	1827	0	0	0	0	0	0	14.25	14.15	13.12
6978	0.29	370.1	2707	2099	1873	1817	184.1	12.6	559	6983	0.12	2.50	0.00	0.000	4740	0.232	0.084	2684	685	1844	1872	1816	0	0	0	0	0	0	13.95	14.09	14.06
7039	0.34	370.1	2684	685	1871	1816	177.5	10.0	571	7043	0.00	2.47	0.00	0.000	1158	0.000	0.077	2684	2100	1842	1870	1815	0	0	0	0	0	0	14.26	14.12	14.31
7369	0.34	370.7	2684	2101	1869	1814	144.1	10.0	587	7370	0.00	0.00	0.00	0.000	38	0.000	0.000	2689	2101	1841	1869	1813	0	0	0	0	0	0	14.60	14.64	14.63
7669	0.35	390.8	2685	2101	1868	1813	115.6	9.1	597	7701	0.00	2.58	26.73	1.339	8740	0.000	0.089	2685	692	1767	1791	1744	0	0	0	0	0	0	14.62	14.12	13.33
7779	0.46	427.7	2685	692	1784	1745	106.5	8.3	618	7846	0.15	2.47	60.60	1.219	11430	0.119	0.079	2753	2108	1619	1643	1595	0	0	0	0	0	0	14.23	14.16	13.19
8152	0.42	429.8	2753	2108	1642	1580	62.4	9.9	663	8153	0.15	0.00	0.00	0.000	4262	0.243	0.000	2722	2108	1610	1640	1580	0	0	0	0	0	0	13.40	13.40	13.37
8452	0.56	557.0	2723	2108	1641	1577	44.9	4.1	693	8527	0.12	2.58	66.10	0.330	10916	0.124	0.090	2785	691	1091	1157	1026	0	0	0	0	0	0	14.17	14.04	13.80
8572	0.66	588.7	2786	690	1157	1025	35.4	8.5	716	8594	0.00	2.50	16.88	0.304	9382	0.000	0.077	2785	2106	963	1034	893	0	0	0	0	0	0	14.16	14.03	13.78
8900	0.86	681.9	2786	2107	1035	889	12.0	5.7	751	8958	0.20	2.58	49.90	0.237	10916	0.099	0.093	2874	701	583	623	543	0	0	0	0	0	0	14.11	13.92	13.83
8998	end climb: SURFACE_DEPTH_REACHED
state	8998	begin surface coast
9006	end surface coast: CONTROL_FINISHED_OK
state	9006	begin surface