Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 394 * 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 394 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 1094.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 1094.0 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 25 VBD_MIN 500

DIVE 394 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 210917,111720,7421.8232,-15340.1689,20,0.7,22,19.3,0.4,77.4,11,9.8 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 1.38 MHEAD_RNG_PITCHd_Wd 194.9,7866,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 210917,112906,7421.8955,-15339.9521,19,0.7,22,19.3,0.0,0.0,11,9.3

Post-dive calculations and measurements:

FINISH 0.4,1.021144 _24V_AH 12.24,233.706

SM_CCo 8912,26.65,0.198,0,0,499,703.03 _10V_AH 12.15,0.000

SM_GC 1.50,8.10,0.17,26.65,0.064,0.112,0.198,204,2234,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.23,14.23,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 322 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323700

IRIDIUM_FIX 7423.66,-15347.54,210917,083804 DATA_FILE_SIZE 23412,699

TT8_MAMPS 0.038948,0.920521 CAP_FILE_SIZE 99032,0

HUMID 47.44 CFSIZE 2097872896,1977057280

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

TCM_TEMP 13.20 SOUNDSPEED 1448.6

XPDR_PINGS 15 CURRENT 0.045,73.79,1

CP_FREE 15900344320.000000 GPS 210917,140003,7421.077,-15342.660,37,1.0,38,19.3,0.0,0.0,9,9.3

PM_FREEKB_00 44976576

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 447 138.18 nil 0 0 0.00

Roll_motor 84 2173 2251.86 nil 0 0 0.00

VBD_pump_during_apogee 945 1497 17343.44 nil 0 0 0.00

VBD_pump_during_surface 26 198 64.63 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 8929 14 1568.87

Iridium_during_xfer 386 179 846.96 NCP 5332 20 1305.27

Transponder_ping 3 420 19.28 PMAR 8849 9 1073.15

GUMSTIX_24V 0 0 0.00

GPS 24 22 6.56

TT8 0 0 0.00

LPSleep 6310 2 177.11

TT8_Active 902 13 153.17

TT8_Sampling 2065 33 839.19

TT8_CF8 377 38 177.48

TT8_Kalman 0 0 0.00

Analog_circuits 2085 10 253.35

GPS_charging 0 0 0.00

Compass 1004 7 85.40

RAFOS 2214 48 1291.20

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

66 end surface: CONTROL_FINISHED_OK

state 66 begin dive

69 -0.57 -145.9 191 2203 495 487 0.0 0.0 0 152 0.00 0.00 -80.95 0.000 16386 0.000 0.000 190 2203 1995 1926 2064 0 0 0 0 0 0 14.47 28.83 14.50

156 -0.57 -145.9 190 2204 1928 2068 3.2 -3.8 8 219 12.68 2.78 -42.15 0.000 18724 0.448 2.173 2375 3609 3965 3950 3980 0 0 0 0 0 0 13.64 12.58 14.11

285 -0.71 -145.9 2376 3609 3955 3980 31.5 -13.3 33 291 0.00 2.42 0.00 0.000 1158 0.000 0.060 2375 2195 3967 3954 3980 0 0 0 0 0 0 14.16 14.04 14.20

593 -0.83 -145.9 2375 2196 3955 3981 73.4 -10.9 64 598 0.17 2.53 0.00 0.000 4484 0.114 0.085 2291 3615 3968 3957 3980 0 0 0 0 0 0 14.02 14.06 14.09

644 -0.90 -145.9 2292 3616 3957 3980 80.7 -14.1 74 648 0.00 2.42 0.00 0.000 1158 0.000 0.059 2291 2194 3968 3957 3980 0 0 0 0 0 0 14.28 14.14 14.32

956 -0.93 -145.9 2292 2193 3957 3980 126.6 -14.0 94 961 0.00 2.53 0.00 0.000 388 0.000 0.086 2283 3615 3968 3957 3980 0 0 0 0 0 0 14.64 14.07 14.66

1022 -1.07 -145.9 2283 3615 3958 3980 135.0 -10.9 107 1028 0.15 2.42 0.00 0.000 5254 0.112 0.057 2229 2189 3968 3957 3980 0 0 0 0 0 0 14.19 14.14 14.30

1349 -1.02 -145.9 2229 2189 3958 3980 193.6 -17.8 122 1354 0.00 2.53 0.00 0.000 388 0.000 0.086 2223 3608 3968 3956 3980 0 0 0 0 0 0 14.64 14.01 14.68

1454 -1.05 -145.9 2223 3609 3958 3980 210.3 -14.6 143 1460 0.00 2.40 0.00 0.000 1158 0.000 0.056 2222 2201 3968 3957 3980 0 0 0 0 0 0 14.25 14.14 14.29

1792 -1.05 -145.9 2223 2199 3958 3980 260.4 -15.0 156 1797 0.00 2.55 0.00 0.000 260 0.000 0.090 2225 3607 3968 3956 3980 0 0 0 0 0 0 14.45 13.88 14.45

1905 -1.12 -145.9 2222 3609 3957 3981 277.8 -12.0 178 1910 0.00 2.42 0.00 0.000 1158 0.000 0.057 2221 2200 3968 3957 3979 0 0 0 0 0 0 14.12 13.98 14.15

2215 -1.12 -145.9 2223 2198 3958 3978 317.1 -12.3 190 2220 0.00 2.55 0.00 0.000 260 0.000 0.090 2222 3607 3967 3956 3979 0 0 0 0 0 0 14.40 13.90 14.42

2321 -1.22 -145.9 2223 3609 3957 3981 328.9 -10.6 211 2327 0.12 2.45 0.00 0.000 5254 0.132 0.057 2170 2192 3967 3956 3979 0 0 0 0 0 0 14.00 13.95 14.09

2638 -1.14 -145.9 2169 2192 3956 3980 381.0 -16.7 224 2643 0.17 2.55 0.00 0.000 2436 0.301 0.083 2197 3608 3966 3955 3978 0 0 0 0 0 0 13.52 13.80 13.73

2756 -1.19 -145.9 2197 3609 3956 3979 396.3 -12.1 247 2763 0.00 2.42 0.00 0.000 1158 0.000 0.055 2197 2201 3966 3954 3979 0 0 0 0 0 0 14.07 13.95 14.11

3059 -1.19 -145.9 2197 2202 3955 3978 436.2 -13.0 258 3064 0.00 2.55 0.00 0.000 260 0.000 0.086 2186 3610 3967 3954 3980 0 0 0 0 0 0 14.40 13.85 14.41

3149 -1.22 -145.9 2187 3611 3955 3978 448.1 -12.6 276 3154 0.00 2.45 0.00 0.000 1158 0.000 0.055 2187 2199 3967 3954 3980 0 0 0 0 0 0 14.07 13.95 14.11

3387 end dive: TARGET_DEPTH_EXCEEDED

state 3387 begin apogee

3394 -0.13 0.0 2188 2058 3954 3979 481.4 -13.9 289 3621 1.40 0.08 223.70 1.390 10246 0.239 0.183 2531 2107 3365 3384 3346 0 0 0 0 0 0 13.60 13.48 12.74

3623 end apogee: CONTROL_FINISHED_OK

state 3623 begin climb

3626 0.57 145.9 2531 2108 3377 3338 493.3 0.0 296 3843 0.73 2.72 208.18 1.356 10756 0.057 0.079 2789 721 2765 2801 2730 0 0 0 0 0 0 13.66 12.96 12.24

4071 0.16 145.9 2790 721 2788 2725 474.3 14.6 346 4077 0.73 2.42 0.00 0.000 5254 0.315 0.074 2637 2094 2752 2786 2719 0 0 0 0 0 0 13.35 13.74 13.73

4393 -0.00 164.8 2638 2096 2785 2715 443.5 9.1 360 4423 0.22 0.00 23.17 1.498 12454 0.273 0.000 2588 2095 2684 2728 2641 0 0 0 0 0 0 13.64 13.97 13.18

4723 -0.01 217.5 2588 2095 2725 2636 418.4 7.6 371 4814 0.00 2.47 83.82 1.355 8868 0.000 0.087 2588 724 2471 2526 2416 0 0 0 0 0 0 14.57 13.91 13.08

4829 0.02 264.5 2589 724 2523 2411 409.9 7.8 382 4910 0.00 2.45 73.35 1.323 9254 0.000 0.079 2589 2107 2281 2336 2227 0 0 0 0 0 0 14.11 13.99 12.96

5236 0.08 289.5 2588 2105 2330 2212 373.5 8.8 413 5275 0.00 0.00 37.15 1.372 8358 0.000 0.000 2588 2108 2183 2237 2130 0 0 0 0 0 0 14.55 14.01 13.21

5566 0.17 319.8 2589 2108 2223 2113 344.6 8.6 424 5617 0.12 2.47 43.90 1.375 10916 0.129 0.088 2657 720 2055 2104 2006 0 0 0 0 0 0 14.28 13.81 13.20

5655 0.17 319.8 2658 720 2095 2001 333.7 13.1 441 5662 0.00 2.42 0.00 0.000 1030 0.000 0.079 2658 2101 2049 2094 2005 0 0 0 0 0 0 14.21 14.08 14.24

5958 0.12 319.8 2658 2102 2095 1998 293.1 13.2 452 5963 0.12 2.40 0.00 0.000 4740 0.256 0.085 2630 721 2045 2093 1997 0 0 0 0 0 0 13.95 14.12 14.10

5978 0.12 319.8 2631 721 2095 1998 290.5 12.3 456 5983 0.00 2.42 0.00 0.000 1030 0.000 0.078 2630 2100 2044 2091 1997 0 0 0 0 0 0 14.29 14.15 14.33

6289 0.15 321.6 2631 2101 2091 1997 258.6 9.9 468 6294 0.00 2.45 0.00 0.000 676 0.000 0.088 2630 726 2044 2091 1997 0 0 0 0 0 0 14.62 14.09 14.64

6345 0.24 344.3 2631 726 2091 1997 253.2 8.9 479 6386 0.00 2.40 35.45 1.372 9382 0.000 0.077 2630 2103 1959 2005 1914 0 0 0 0 0 0 14.22 14.09 13.28

6714 0.33 385.9 2631 2102 1998 1904 221.4 8.1 502 6787 0.17 0.00 69.57 1.285 10406 0.100 0.000 2703 2103 1790 1816 1764 0 0 0 0 0 0 14.26 13.90 13.18

7072 0.30 385.9 2699 2103 1806 1754 176.5 12.4 514 7077 0.00 2.47 0.00 0.000 644 0.000 0.089 2706 715 1779 1805 1753 0 0 0 0 0 0 14.57 14.06 14.59

7152 0.30 385.9 2707 717 1803 1754 166.9 11.5 530 7157 0.00 2.42 0.00 0.000 1030 0.000 0.076 2706 2102 1777 1802 1753 0 0 0 0 0 0 14.27 14.14 14.32

7463 0.30 385.9 2707 2104 1803 1753 130.8 11.2 542 7468 0.00 2.45 0.00 0.000 516 0.000 0.087 2707 721 1777 1802 1752 0 0 0 0 0 0 14.62 14.04 14.64

7534 0.34 385.9 2707 722 1801 1753 123.4 10.1 556 7539 0.00 2.42 0.00 0.000 1158 0.000 0.075 2707 2100 1775 1800 1751 0 0 0 0 0 0 14.23 14.09 14.24

7844 0.34 397.9 2707 2101 1800 1752 92.4 9.4 573 7856 0.00 0.00 5.25 0.457 8230 0.000 0.000 2708 2100 1742 1766 1718 0 0 0 0 0 0 14.55 13.79 13.46

8154 0.40 443.0 2707 2101 1770 1720 65.2 7.9 604 8187 0.00 2.45 25.40 0.392 8868 0.000 0.084 2707 718 1557 1583 1531 0 0 0 0 0 0 14.59 13.85 13.59

8218 0.55 502.6 2707 719 1584 1532 60.5 7.3 616 8255 0.17 2.45 31.98 0.376 11430 0.102 0.076 2779 2108 1316 1362 1270 0 0 0 0 0 0 14.09 13.96 13.72

8561 0.59 560.1 2779 2109 1363 1261 29.3 7.3 654 8597 0.00 2.47 31.00 0.283 8740 0.000 0.085 2787 725 1079 1143 1016 0 0 0 0 0 0 14.52 13.93 13.73

8628 0.77 658.8 2781 731 1144 1019 25.7 5.4 667 8687 0.15 2.45 54.05 0.267 11430 0.117 0.077 2845 2107 677 736 619 0 0 0 0 0 0 14.04 13.93 13.71

8870 end climb: SURFACE_DEPTH_REACHED

state 8870 begin surface coast

8890 end surface coast: CONTROL_FINISHED_OK

state 8890 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	394	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	1094.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,111720,7421.8232,-15340.1689,20,0.7,22,19.3,0.4,77.4,11,9.8	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	1.38	MHEAD_RNG_PITCHd_Wd	194.9,7866,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	210917,112906,7421.8955,-15339.9521,19,0.7,22,19.3,0.0,0.0,11,9.3

FINISH	0.4,1.021144	_24V_AH	12.24,233.706
SM_CCo	8912,26.65,0.198,0,0,499,703.03	_10V_AH	12.15,0.000
SM_GC	1.50,8.10,0.17,26.65,0.064,0.112,0.198,204,2234,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.23,14.23,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	322	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323700
IRIDIUM_FIX	7423.66,-15347.54,210917,083804	DATA_FILE_SIZE	23412,699
TT8_MAMPS	0.038948,0.920521	CAP_FILE_SIZE	99032,0
HUMID	47.44	CFSIZE	2097872896,1977057280
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.6
XPDR_PINGS	15	CURRENT	0.045,73.79,1
CP_FREE	15900344320.000000	GPS	210917,140003,7421.077,-15342.660,37,1.0,38,19.3,0.0,0.0,9,9.3
PM_FREEKB_00	44976576

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	447	138.18	nil	0	0	0.00
Roll_motor	84	2173	2251.86	nil	0	0	0.00
VBD_pump_during_apogee	945	1497	17343.44	nil	0	0	0.00
VBD_pump_during_surface	26	198	64.63	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	8929	14	1568.87
Iridium_during_xfer	386	179	846.96	NCP	5332	20	1305.27
Transponder_ping	3	420	19.28	PMAR	8849	9	1073.15
GUMSTIX_24V	0	0	0.00
GPS	24	22	6.56
TT8	0	0	0.00
LPSleep	6310	2	177.11
TT8_Active	902	13	153.17
TT8_Sampling	2065	33	839.19
TT8_CF8	377	38	177.48
TT8_Kalman	0	0	0.00
Analog_circuits	2085	10	253.35
GPS_charging	0	0	0.00
Compass	1004	7	85.40
RAFOS	2214	48	1291.20
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
66	end surface: CONTROL_FINISHED_OK
state	66	begin dive
69	-0.57	-145.9	191	2203	495	487	0.0	0.0	0	152	0.00	0.00	-80.95	0.000	16386	0.000	0.000	190	2203	1995	1926	2064	0	0	0	0	0	0	14.47	28.83	14.50
156	-0.57	-145.9	190	2204	1928	2068	3.2	-3.8	8	219	12.68	2.78	-42.15	0.000	18724	0.448	2.173	2375	3609	3965	3950	3980	0	0	0	0	0	0	13.64	12.58	14.11
285	-0.71	-145.9	2376	3609	3955	3980	31.5	-13.3	33	291	0.00	2.42	0.00	0.000	1158	0.000	0.060	2375	2195	3967	3954	3980	0	0	0	0	0	0	14.16	14.04	14.20
593	-0.83	-145.9	2375	2196	3955	3981	73.4	-10.9	64	598	0.17	2.53	0.00	0.000	4484	0.114	0.085	2291	3615	3968	3957	3980	0	0	0	0	0	0	14.02	14.06	14.09
644	-0.90	-145.9	2292	3616	3957	3980	80.7	-14.1	74	648	0.00	2.42	0.00	0.000	1158	0.000	0.059	2291	2194	3968	3957	3980	0	0	0	0	0	0	14.28	14.14	14.32
956	-0.93	-145.9	2292	2193	3957	3980	126.6	-14.0	94	961	0.00	2.53	0.00	0.000	388	0.000	0.086	2283	3615	3968	3957	3980	0	0	0	0	0	0	14.64	14.07	14.66
1022	-1.07	-145.9	2283	3615	3958	3980	135.0	-10.9	107	1028	0.15	2.42	0.00	0.000	5254	0.112	0.057	2229	2189	3968	3957	3980	0	0	0	0	0	0	14.19	14.14	14.30
1349	-1.02	-145.9	2229	2189	3958	3980	193.6	-17.8	122	1354	0.00	2.53	0.00	0.000	388	0.000	0.086	2223	3608	3968	3956	3980	0	0	0	0	0	0	14.64	14.01	14.68
1454	-1.05	-145.9	2223	3609	3958	3980	210.3	-14.6	143	1460	0.00	2.40	0.00	0.000	1158	0.000	0.056	2222	2201	3968	3957	3980	0	0	0	0	0	0	14.25	14.14	14.29
1792	-1.05	-145.9	2223	2199	3958	3980	260.4	-15.0	156	1797	0.00	2.55	0.00	0.000	260	0.000	0.090	2225	3607	3968	3956	3980	0	0	0	0	0	0	14.45	13.88	14.45
1905	-1.12	-145.9	2222	3609	3957	3981	277.8	-12.0	178	1910	0.00	2.42	0.00	0.000	1158	0.000	0.057	2221	2200	3968	3957	3979	0	0	0	0	0	0	14.12	13.98	14.15
2215	-1.12	-145.9	2223	2198	3958	3978	317.1	-12.3	190	2220	0.00	2.55	0.00	0.000	260	0.000	0.090	2222	3607	3967	3956	3979	0	0	0	0	0	0	14.40	13.90	14.42
2321	-1.22	-145.9	2223	3609	3957	3981	328.9	-10.6	211	2327	0.12	2.45	0.00	0.000	5254	0.132	0.057	2170	2192	3967	3956	3979	0	0	0	0	0	0	14.00	13.95	14.09
2638	-1.14	-145.9	2169	2192	3956	3980	381.0	-16.7	224	2643	0.17	2.55	0.00	0.000	2436	0.301	0.083	2197	3608	3966	3955	3978	0	0	0	0	0	0	13.52	13.80	13.73
2756	-1.19	-145.9	2197	3609	3956	3979	396.3	-12.1	247	2763	0.00	2.42	0.00	0.000	1158	0.000	0.055	2197	2201	3966	3954	3979	0	0	0	0	0	0	14.07	13.95	14.11
3059	-1.19	-145.9	2197	2202	3955	3978	436.2	-13.0	258	3064	0.00	2.55	0.00	0.000	260	0.000	0.086	2186	3610	3967	3954	3980	0	0	0	0	0	0	14.40	13.85	14.41
3149	-1.22	-145.9	2187	3611	3955	3978	448.1	-12.6	276	3154	0.00	2.45	0.00	0.000	1158	0.000	0.055	2187	2199	3967	3954	3980	0	0	0	0	0	0	14.07	13.95	14.11
3387	end dive: TARGET_DEPTH_EXCEEDED
state	3387	begin apogee
3394	-0.13	0.0	2188	2058	3954	3979	481.4	-13.9	289	3621	1.40	0.08	223.70	1.390	10246	0.239	0.183	2531	2107	3365	3384	3346	0	0	0	0	0	0	13.60	13.48	12.74
3623	end apogee: CONTROL_FINISHED_OK
state	3623	begin climb
3626	0.57	145.9	2531	2108	3377	3338	493.3	0.0	296	3843	0.73	2.72	208.18	1.356	10756	0.057	0.079	2789	721	2765	2801	2730	0	0	0	0	0	0	13.66	12.96	12.24
4071	0.16	145.9	2790	721	2788	2725	474.3	14.6	346	4077	0.73	2.42	0.00	0.000	5254	0.315	0.074	2637	2094	2752	2786	2719	0	0	0	0	0	0	13.35	13.74	13.73
4393	-0.00	164.8	2638	2096	2785	2715	443.5	9.1	360	4423	0.22	0.00	23.17	1.498	12454	0.273	0.000	2588	2095	2684	2728	2641	0	0	0	0	0	0	13.64	13.97	13.18
4723	-0.01	217.5	2588	2095	2725	2636	418.4	7.6	371	4814	0.00	2.47	83.82	1.355	8868	0.000	0.087	2588	724	2471	2526	2416	0	0	0	0	0	0	14.57	13.91	13.08
4829	0.02	264.5	2589	724	2523	2411	409.9	7.8	382	4910	0.00	2.45	73.35	1.323	9254	0.000	0.079	2589	2107	2281	2336	2227	0	0	0	0	0	0	14.11	13.99	12.96
5236	0.08	289.5	2588	2105	2330	2212	373.5	8.8	413	5275	0.00	0.00	37.15	1.372	8358	0.000	0.000	2588	2108	2183	2237	2130	0	0	0	0	0	0	14.55	14.01	13.21
5566	0.17	319.8	2589	2108	2223	2113	344.6	8.6	424	5617	0.12	2.47	43.90	1.375	10916	0.129	0.088	2657	720	2055	2104	2006	0	0	0	0	0	0	14.28	13.81	13.20
5655	0.17	319.8	2658	720	2095	2001	333.7	13.1	441	5662	0.00	2.42	0.00	0.000	1030	0.000	0.079	2658	2101	2049	2094	2005	0	0	0	0	0	0	14.21	14.08	14.24
5958	0.12	319.8	2658	2102	2095	1998	293.1	13.2	452	5963	0.12	2.40	0.00	0.000	4740	0.256	0.085	2630	721	2045	2093	1997	0	0	0	0	0	0	13.95	14.12	14.10
5978	0.12	319.8	2631	721	2095	1998	290.5	12.3	456	5983	0.00	2.42	0.00	0.000	1030	0.000	0.078	2630	2100	2044	2091	1997	0	0	0	0	0	0	14.29	14.15	14.33
6289	0.15	321.6	2631	2101	2091	1997	258.6	9.9	468	6294	0.00	2.45	0.00	0.000	676	0.000	0.088	2630	726	2044	2091	1997	0	0	0	0	0	0	14.62	14.09	14.64
6345	0.24	344.3	2631	726	2091	1997	253.2	8.9	479	6386	0.00	2.40	35.45	1.372	9382	0.000	0.077	2630	2103	1959	2005	1914	0	0	0	0	0	0	14.22	14.09	13.28
6714	0.33	385.9	2631	2102	1998	1904	221.4	8.1	502	6787	0.17	0.00	69.57	1.285	10406	0.100	0.000	2703	2103	1790	1816	1764	0	0	0	0	0	0	14.26	13.90	13.18
7072	0.30	385.9	2699	2103	1806	1754	176.5	12.4	514	7077	0.00	2.47	0.00	0.000	644	0.000	0.089	2706	715	1779	1805	1753	0	0	0	0	0	0	14.57	14.06	14.59
7152	0.30	385.9	2707	717	1803	1754	166.9	11.5	530	7157	0.00	2.42	0.00	0.000	1030	0.000	0.076	2706	2102	1777	1802	1753	0	0	0	0	0	0	14.27	14.14	14.32
7463	0.30	385.9	2707	2104	1803	1753	130.8	11.2	542	7468	0.00	2.45	0.00	0.000	516	0.000	0.087	2707	721	1777	1802	1752	0	0	0	0	0	0	14.62	14.04	14.64
7534	0.34	385.9	2707	722	1801	1753	123.4	10.1	556	7539	0.00	2.42	0.00	0.000	1158	0.000	0.075	2707	2100	1775	1800	1751	0	0	0	0	0	0	14.23	14.09	14.24
7844	0.34	397.9	2707	2101	1800	1752	92.4	9.4	573	7856	0.00	0.00	5.25	0.457	8230	0.000	0.000	2708	2100	1742	1766	1718	0	0	0	0	0	0	14.55	13.79	13.46
8154	0.40	443.0	2707	2101	1770	1720	65.2	7.9	604	8187	0.00	2.45	25.40	0.392	8868	0.000	0.084	2707	718	1557	1583	1531	0	0	0	0	0	0	14.59	13.85	13.59
8218	0.55	502.6	2707	719	1584	1532	60.5	7.3	616	8255	0.17	2.45	31.98	0.376	11430	0.102	0.076	2779	2108	1316	1362	1270	0	0	0	0	0	0	14.09	13.96	13.72
8561	0.59	560.1	2779	2109	1363	1261	29.3	7.3	654	8597	0.00	2.47	31.00	0.283	8740	0.000	0.085	2787	725	1079	1143	1016	0	0	0	0	0	0	14.52	13.93	13.73
8628	0.77	658.8	2781	731	1144	1019	25.7	5.4	667	8687	0.15	2.45	54.05	0.267	11430	0.117	0.077	2845	2107	677	736	619	0	0	0	0	0	0	14.04	13.93	13.71
8870	end climb: SURFACE_DEPTH_REACHED
state	8870	begin surface coast
8890	end surface coast: CONTROL_FINISHED_OK
state	8890	begin surface