Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 396 * 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 396 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 1098.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 37 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 1098.0 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 23 VBD_MIN 500

DIVE 396 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 210917,164330,7420.1875,-15344.4727,21,0.9,35,19.3,0.5,83.0,9,9.8 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 1.36 MHEAD_RNG_PITCHd_Wd 192.1,4167,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 210917,165442,7420.2080,-15344.0908,5,0.8,9,19.3,0.0,79.6,10,9.9

Post-dive calculations and measurements:

FINISH 0.4,1.020959 _24V_AH 12.31,234.651

SM_CCo 8687,21.75,0.207,0,0,501,702.78 _10V_AH 12.18,0.000

SM_GC 0.97,8.25,0.17,21.75,0.078,0.114,0.207,201,2225,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.22,14.22,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323660

IRIDIUM_FIX 7418.45,-15347.43,210917,140443 DATA_FILE_SIZE 23448,653

TT8_MAMPS 0.041944,0.859852 CAP_FILE_SIZE 95836,0

HUMID 47.63 CFSIZE 2097872896,1976565760

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.8

XPDR_PINGS 18 CURRENT 0.081,102.07,1

CP_FREE 15899262976.000000 GPS 210917,192135,7419.248,-15346.322,16,0.8,23,19.2,0.0,81.9,11,9.7

PM_FREEKB_00 44909440

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.43 nil 0 0 0.00

Roll_motor 78 2169 2106.52 nil 0 0 0.00

VBD_pump_during_apogee 977 1480 17819.93 nil 0 0 0.00

VBD_pump_during_surface 21 206 55.30 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 8702 14 1546.41

Iridium_during_xfer 371 179 821.75 NCP 8655 20 2130.86

Transponder_ping 4 420 23.27 PMAR 8640 9 1050.50

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.84

TT8 0 0 0.00

LPSleep 6009 2 169.08

TT8_Active 914 13 155.52

TT8_Sampling 2107 33 858.34

TT8_CF8 361 38 170.53

TT8_Kalman 0 0 0.00

Analog_circuits 2239 10 272.74

GPS_charging 0 0 0.00

Compass 938 7 80.01

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

50 end surface: CONTROL_FINISHED_OK

state 50 begin dive

53 -0.57 -145.9 191 2228 499 493 0.0 0.0 0 136 0.00 0.00 -80.93 0.000 16386 0.000 0.000 190 2227 1991 1922 2061 0 0 0 0 0 0 14.31 28.83 14.33

140 -0.57 -145.9 190 2228 1926 2064 3.2 -3.3 8 204 12.82 2.75 -41.92 0.000 19236 0.451 2.170 2377 3591 3965 3950 3980 1 0 0 0 0 0 13.43 12.57 14.00

270 -0.82 -145.9 2377 3594 3954 3980 31.5 -10.4 33 275 0.20 2.38 0.00 0.000 5254 0.102 0.055 2301 2193 3966 3957 3976 0 0 0 0 0 0 14.09 14.05 14.18

580 -0.82 -145.9 2301 2192 3956 3979 92.4 -15.8 65 585 0.00 2.50 0.00 0.000 260 0.000 0.086 2293 3596 3967 3955 3979 0 0 0 0 0 0 14.54 13.93 14.57

676 -0.94 -145.9 2294 3597 3956 3979 105.5 -12.2 84 681 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2195 3968 3956 3980 0 0 0 0 0 0 14.20 14.09 14.23

1002 -0.98 -145.9 2293 2194 3956 3981 148.8 -12.8 99 1007 0.00 2.50 0.00 0.000 388 0.000 0.086 2286 3594 3967 3956 3979 0 0 0 0 0 0 14.60 14.01 14.61

1088 -1.12 -145.9 2286 3596 3957 3980 158.8 -10.9 116 1095 0.20 2.38 0.00 0.000 5254 0.099 0.055 2212 2199 3967 3956 3979 0 0 0 0 0 0 14.15 14.09 14.26

1393 -1.04 -145.9 2212 2198 3957 3980 216.2 -18.9 127 1399 0.12 2.50 0.00 0.000 2436 0.297 0.083 2235 3594 3967 3956 3978 0 0 0 0 0 0 13.75 14.03 13.93

1465 -1.11 -145.9 2236 3594 3954 3981 227.1 -13.1 141 1470 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2195 3968 3956 3980 0 0 0 0 0 0 14.11 13.97 14.14

1786 -1.11 -145.9 2236 2195 3956 3980 271.2 -13.2 155 1791 0.00 2.53 0.00 0.000 260 0.000 0.089 2235 3602 3967 3956 3979 0 0 0 0 0 0 14.61 14.01 14.62

1909 -1.22 -145.9 2236 3603 3957 3980 285.3 -11.3 179 1916 0.15 2.42 0.00 0.000 5254 0.119 0.056 2175 2200 3967 3955 3980 0 0 0 0 0 0 14.00 13.44 14.16

2241 -1.13 -145.9 2176 2198 3956 3980 342.0 -17.0 195 2247 0.15 2.50 0.00 0.000 2436 0.294 0.082 2198 3596 3967 3955 3979 0 0 0 0 0 0 13.05 13.24 13.14

2345 -1.17 -145.9 2198 3595 3956 3980 356.2 -13.0 215 2351 0.00 2.40 0.00 0.000 1158 0.000 0.055 2198 2197 3967 3955 3979 0 0 0 0 0 0 14.21 14.08 14.26

2667 -1.17 -145.9 2197 2195 3955 3979 400.6 -13.6 229 2671 0.00 2.50 0.00 0.000 260 0.000 0.086 2189 3594 3966 3954 3979 0 0 0 0 0 0 14.60 13.99 14.62

2772 -1.20 -145.9 2189 3595 3954 3980 414.7 -12.9 250 2777 0.00 2.40 0.00 0.000 1158 0.000 0.054 2189 2199 3966 3954 3979 0 0 0 0 0 0 14.14 14.01 14.23

3088 -1.18 -145.9 2189 2198 3954 3980 458.8 -13.9 263 3093 0.00 2.50 0.00 0.000 388 0.000 0.086 2183 3594 3966 3954 3979 0 0 0 0 0 0 14.59 13.97 14.62

3179 -1.20 -145.9 2183 3596 3954 3976 471.4 -13.1 281 3184 0.00 2.40 0.00 0.000 1158 0.000 0.055 2183 2194 3966 3954 3979 0 0 0 0 0 0 14.16 14.04 14.22

3267 end dive: TARGET_DEPTH_EXCEEDED

state 3267 begin apogee

3274 -0.13 0.0 2184 2062 3954 3985 484.1 -14.2 289 3497 1.40 0.00 218.80 1.419 10246 0.239 0.000 2527 2059 3365 3382 3349 0 0 0 0 0 0 13.61 13.55 12.78

3500 end apogee: CONTROL_FINISHED_OK

state 3500 begin climb

3503 0.57 145.9 2529 2060 3378 3341 495.9 0.0 296 3902 0.75 2.58 209.18 1.374 10756 0.060 0.079 2792 733 2756 2788 2725 0 0 0 0 0 0 13.74 13.12 12.31

3907 0.57 145.9 2793 734 2789 2726 482.8 3.5 299 3913 0.00 2.42 0.00 0.000 1030 0.000 0.073 2793 2088 2755 2788 2723 0 0 0 0 0 0 13.91 13.78 13.94

4224 0.11 145.9 2793 2088 2788 2720 435.0 14.9 312 4226 0.77 0.00 0.00 0.000 4230 0.311 0.000 2623 2087 2753 2787 2719 0 0 0 0 0 0 13.63 14.19 14.06

4524 0.00 184.1 2623 2088 2788 2717 409.2 8.2 322 4585 0.17 2.45 53.95 1.408 12964 0.279 0.087 2586 727 2609 2655 2563 0 0 0 0 0 0 13.84 13.98 13.13

4611 0.03 229.7 2586 731 2654 2561 402.8 7.9 334 4686 0.00 2.42 67.25 1.366 9254 0.000 0.079 2590 2101 2423 2479 2368 0 0 0 0 0 0 14.16 14.04 13.00

5007 0.05 261.1 2586 2102 2472 2357 368.9 8.5 363 5054 0.00 0.00 45.50 1.388 8230 0.000 0.000 2586 2101 2300 2352 2248 0 0 0 0 0 0 14.56 14.00 13.18

5337 0.12 293.4 2586 2102 2342 2235 340.5 8.5 374 5389 0.12 0.00 49.40 1.371 10406 0.126 0.000 2648 2101 2166 2213 2120 0 0 0 0 0 0 14.25 13.99 13.20

5667 0.07 293.4 2649 2102 2206 2106 300.0 12.2 385 5672 0.12 2.45 0.00 0.000 4740 0.243 0.087 2617 725 2155 2206 2105 0 0 0 0 0 0 14.00 14.12 14.12

5743 0.17 315.5 2617 725 2203 2106 292.6 9.0 400 5783 0.00 2.40 32.53 1.381 9382 0.000 0.078 2617 2101 2072 2120 2024 0 0 0 0 0 0 14.28 14.15 13.24

6092 0.23 338.3 2618 2101 2116 2017 260.9 8.9 419 6128 0.12 0.00 34.08 1.365 10406 0.122 0.000 2677 2101 1985 2031 1940 0 0 0 0 0 0 14.20 14.07 13.26

6419 0.19 338.3 2677 2102 2023 1928 220.5 11.7 430 6424 0.12 2.45 0.00 0.000 4740 0.252 0.085 2652 724 1975 2023 1927 0 0 0 0 0 0 13.98 14.02 14.11

6455 0.26 349.6 2652 724 2026 1926 216.9 9.5 437 6475 0.00 2.40 15.57 1.480 9382 0.000 0.077 2652 2101 1939 1985 1894 0 0 0 0 0 0 14.29 14.16 13.28

6781 0.31 380.5 2652 2102 1978 1885 187.4 8.6 452 6841 0.00 2.50 51.65 1.309 8868 0.000 0.088 2654 731 1812 1837 1788 0 0 0 0 0 0 14.59 14.00 13.25

6882 0.45 416.1 2654 732 1833 1783 178.7 8.4 467 6948 0.22 2.40 60.55 1.245 11430 0.091 0.077 2749 2101 1668 1692 1645 0 0 0 0 0 0 14.15 14.12 13.12

7263 0.37 416.1 2746 2101 1686 1626 123.7 14.2 493 7268 0.15 2.45 0.00 0.000 4740 0.234 0.084 2712 721 1655 1685 1625 0 0 0 0 0 0 13.94 14.05 14.10

7289 0.37 416.1 2713 721 1685 1625 120.5 12.4 498 7295 0.00 2.42 0.00 0.000 1030 0.000 0.076 2710 2097 1654 1683 1625 0 0 0 0 0 0 14.12 14.00 14.14

7594 0.38 419.7 2713 2100 1684 1622 88.8 9.8 515 7600 0.00 2.45 0.00 0.000 548 0.000 0.086 2713 731 1652 1683 1622 0 0 0 0 0 0 14.56 13.96 14.60

7666 0.47 442.5 2713 731 1681 1623 82.3 8.9 529 7687 0.00 2.42 13.43 0.438 9382 0.000 0.076 2714 2106 1561 1590 1532 0 0 0 0 0 0 14.19 14.11 13.62

7986 0.58 515.5 2713 2106 1590 1531 55.5 6.6 563 8029 0.17 0.00 41.45 0.360 10406 0.102 0.000 2786 2106 1261 1310 1213 0 0 0 0 0 0 14.16 14.14 13.75

8326 0.61 553.9 2787 2105 1311 1205 24.7 8.2 597 8352 0.00 2.45 21.67 0.276 8740 0.000 0.082 2794 731 1103 1163 1043 0 0 0 0 0 0 14.54 13.96 13.76

8483 0.78 664.6 2794 731 1164 1046 16.4 4.9 628 8552 0.12 2.42 62.92 0.243 11430 0.126 0.078 2851 2100 651 701 601 0 0 0 0 0 0 13.97 13.94 13.83

8655 end climb: SURFACE_DEPTH_REACHED

state 8655 begin surface coast

8665 end surface coast: CONTROL_FINISHED_OK

state 8665 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	396	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	1098.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,164330,7420.1875,-15344.4727,21,0.9,35,19.3,0.5,83.0,9,9.8	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	1.36	MHEAD_RNG_PITCHd_Wd	192.1,4167,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	210917,165442,7420.2080,-15344.0908,5,0.8,9,19.3,0.0,79.6,10,9.9

FINISH	0.4,1.020959	_24V_AH	12.31,234.651
SM_CCo	8687,21.75,0.207,0,0,501,702.78	_10V_AH	12.18,0.000
SM_GC	0.97,8.25,0.17,21.75,0.078,0.114,0.207,201,2225,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.22,14.22,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323660
IRIDIUM_FIX	7418.45,-15347.43,210917,140443	DATA_FILE_SIZE	23448,653
TT8_MAMPS	0.041944,0.859852	CAP_FILE_SIZE	95836,0
HUMID	47.63	CFSIZE	2097872896,1976565760
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.8
XPDR_PINGS	18	CURRENT	0.081,102.07,1
CP_FREE	15899262976.000000	GPS	210917,192135,7419.248,-15346.322,16,0.8,23,19.2,0.0,81.9,11,9.7
PM_FREEKB_00	44909440

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.43	nil	0	0	0.00
Roll_motor	78	2169	2106.52	nil	0	0	0.00
VBD_pump_during_apogee	977	1480	17819.93	nil	0	0	0.00
VBD_pump_during_surface	21	206	55.30	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	8702	14	1546.41
Iridium_during_xfer	371	179	821.75	NCP	8655	20	2130.86
Transponder_ping	4	420	23.27	PMAR	8640	9	1050.50
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.84
TT8	0	0	0.00
LPSleep	6009	2	169.08
TT8_Active	914	13	155.52
TT8_Sampling	2107	33	858.34
TT8_CF8	361	38	170.53
TT8_Kalman	0	0	0.00
Analog_circuits	2239	10	272.74
GPS_charging	0	0	0.00
Compass	938	7	80.01
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
50	end surface: CONTROL_FINISHED_OK
state	50	begin dive
53	-0.57	-145.9	191	2228	499	493	0.0	0.0	0	136	0.00	0.00	-80.93	0.000	16386	0.000	0.000	190	2227	1991	1922	2061	0	0	0	0	0	0	14.31	28.83	14.33
140	-0.57	-145.9	190	2228	1926	2064	3.2	-3.3	8	204	12.82	2.75	-41.92	0.000	19236	0.451	2.170	2377	3591	3965	3950	3980	1	0	0	0	0	0	13.43	12.57	14.00
270	-0.82	-145.9	2377	3594	3954	3980	31.5	-10.4	33	275	0.20	2.38	0.00	0.000	5254	0.102	0.055	2301	2193	3966	3957	3976	0	0	0	0	0	0	14.09	14.05	14.18
580	-0.82	-145.9	2301	2192	3956	3979	92.4	-15.8	65	585	0.00	2.50	0.00	0.000	260	0.000	0.086	2293	3596	3967	3955	3979	0	0	0	0	0	0	14.54	13.93	14.57
676	-0.94	-145.9	2294	3597	3956	3979	105.5	-12.2	84	681	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2195	3968	3956	3980	0	0	0	0	0	0	14.20	14.09	14.23
1002	-0.98	-145.9	2293	2194	3956	3981	148.8	-12.8	99	1007	0.00	2.50	0.00	0.000	388	0.000	0.086	2286	3594	3967	3956	3979	0	0	0	0	0	0	14.60	14.01	14.61
1088	-1.12	-145.9	2286	3596	3957	3980	158.8	-10.9	116	1095	0.20	2.38	0.00	0.000	5254	0.099	0.055	2212	2199	3967	3956	3979	0	0	0	0	0	0	14.15	14.09	14.26
1393	-1.04	-145.9	2212	2198	3957	3980	216.2	-18.9	127	1399	0.12	2.50	0.00	0.000	2436	0.297	0.083	2235	3594	3967	3956	3978	0	0	0	0	0	0	13.75	14.03	13.93
1465	-1.11	-145.9	2236	3594	3954	3981	227.1	-13.1	141	1470	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2195	3968	3956	3980	0	0	0	0	0	0	14.11	13.97	14.14
1786	-1.11	-145.9	2236	2195	3956	3980	271.2	-13.2	155	1791	0.00	2.53	0.00	0.000	260	0.000	0.089	2235	3602	3967	3956	3979	0	0	0	0	0	0	14.61	14.01	14.62
1909	-1.22	-145.9	2236	3603	3957	3980	285.3	-11.3	179	1916	0.15	2.42	0.00	0.000	5254	0.119	0.056	2175	2200	3967	3955	3980	0	0	0	0	0	0	14.00	13.44	14.16
2241	-1.13	-145.9	2176	2198	3956	3980	342.0	-17.0	195	2247	0.15	2.50	0.00	0.000	2436	0.294	0.082	2198	3596	3967	3955	3979	0	0	0	0	0	0	13.05	13.24	13.14
2345	-1.17	-145.9	2198	3595	3956	3980	356.2	-13.0	215	2351	0.00	2.40	0.00	0.000	1158	0.000	0.055	2198	2197	3967	3955	3979	0	0	0	0	0	0	14.21	14.08	14.26
2667	-1.17	-145.9	2197	2195	3955	3979	400.6	-13.6	229	2671	0.00	2.50	0.00	0.000	260	0.000	0.086	2189	3594	3966	3954	3979	0	0	0	0	0	0	14.60	13.99	14.62
2772	-1.20	-145.9	2189	3595	3954	3980	414.7	-12.9	250	2777	0.00	2.40	0.00	0.000	1158	0.000	0.054	2189	2199	3966	3954	3979	0	0	0	0	0	0	14.14	14.01	14.23
3088	-1.18	-145.9	2189	2198	3954	3980	458.8	-13.9	263	3093	0.00	2.50	0.00	0.000	388	0.000	0.086	2183	3594	3966	3954	3979	0	0	0	0	0	0	14.59	13.97	14.62
3179	-1.20	-145.9	2183	3596	3954	3976	471.4	-13.1	281	3184	0.00	2.40	0.00	0.000	1158	0.000	0.055	2183	2194	3966	3954	3979	0	0	0	0	0	0	14.16	14.04	14.22
3267	end dive: TARGET_DEPTH_EXCEEDED
state	3267	begin apogee
3274	-0.13	0.0	2184	2062	3954	3985	484.1	-14.2	289	3497	1.40	0.00	218.80	1.419	10246	0.239	0.000	2527	2059	3365	3382	3349	0	0	0	0	0	0	13.61	13.55	12.78
3500	end apogee: CONTROL_FINISHED_OK
state	3500	begin climb
3503	0.57	145.9	2529	2060	3378	3341	495.9	0.0	296	3902	0.75	2.58	209.18	1.374	10756	0.060	0.079	2792	733	2756	2788	2725	0	0	0	0	0	0	13.74	13.12	12.31
3907	0.57	145.9	2793	734	2789	2726	482.8	3.5	299	3913	0.00	2.42	0.00	0.000	1030	0.000	0.073	2793	2088	2755	2788	2723	0	0	0	0	0	0	13.91	13.78	13.94
4224	0.11	145.9	2793	2088	2788	2720	435.0	14.9	312	4226	0.77	0.00	0.00	0.000	4230	0.311	0.000	2623	2087	2753	2787	2719	0	0	0	0	0	0	13.63	14.19	14.06
4524	0.00	184.1	2623	2088	2788	2717	409.2	8.2	322	4585	0.17	2.45	53.95	1.408	12964	0.279	0.087	2586	727	2609	2655	2563	0	0	0	0	0	0	13.84	13.98	13.13
4611	0.03	229.7	2586	731	2654	2561	402.8	7.9	334	4686	0.00	2.42	67.25	1.366	9254	0.000	0.079	2590	2101	2423	2479	2368	0	0	0	0	0	0	14.16	14.04	13.00
5007	0.05	261.1	2586	2102	2472	2357	368.9	8.5	363	5054	0.00	0.00	45.50	1.388	8230	0.000	0.000	2586	2101	2300	2352	2248	0	0	0	0	0	0	14.56	14.00	13.18
5337	0.12	293.4	2586	2102	2342	2235	340.5	8.5	374	5389	0.12	0.00	49.40	1.371	10406	0.126	0.000	2648	2101	2166	2213	2120	0	0	0	0	0	0	14.25	13.99	13.20
5667	0.07	293.4	2649	2102	2206	2106	300.0	12.2	385	5672	0.12	2.45	0.00	0.000	4740	0.243	0.087	2617	725	2155	2206	2105	0	0	0	0	0	0	14.00	14.12	14.12
5743	0.17	315.5	2617	725	2203	2106	292.6	9.0	400	5783	0.00	2.40	32.53	1.381	9382	0.000	0.078	2617	2101	2072	2120	2024	0	0	0	0	0	0	14.28	14.15	13.24
6092	0.23	338.3	2618	2101	2116	2017	260.9	8.9	419	6128	0.12	0.00	34.08	1.365	10406	0.122	0.000	2677	2101	1985	2031	1940	0	0	0	0	0	0	14.20	14.07	13.26
6419	0.19	338.3	2677	2102	2023	1928	220.5	11.7	430	6424	0.12	2.45	0.00	0.000	4740	0.252	0.085	2652	724	1975	2023	1927	0	0	0	0	0	0	13.98	14.02	14.11
6455	0.26	349.6	2652	724	2026	1926	216.9	9.5	437	6475	0.00	2.40	15.57	1.480	9382	0.000	0.077	2652	2101	1939	1985	1894	0	0	0	0	0	0	14.29	14.16	13.28
6781	0.31	380.5	2652	2102	1978	1885	187.4	8.6	452	6841	0.00	2.50	51.65	1.309	8868	0.000	0.088	2654	731	1812	1837	1788	0	0	0	0	0	0	14.59	14.00	13.25
6882	0.45	416.1	2654	732	1833	1783	178.7	8.4	467	6948	0.22	2.40	60.55	1.245	11430	0.091	0.077	2749	2101	1668	1692	1645	0	0	0	0	0	0	14.15	14.12	13.12
7263	0.37	416.1	2746	2101	1686	1626	123.7	14.2	493	7268	0.15	2.45	0.00	0.000	4740	0.234	0.084	2712	721	1655	1685	1625	0	0	0	0	0	0	13.94	14.05	14.10
7289	0.37	416.1	2713	721	1685	1625	120.5	12.4	498	7295	0.00	2.42	0.00	0.000	1030	0.000	0.076	2710	2097	1654	1683	1625	0	0	0	0	0	0	14.12	14.00	14.14
7594	0.38	419.7	2713	2100	1684	1622	88.8	9.8	515	7600	0.00	2.45	0.00	0.000	548	0.000	0.086	2713	731	1652	1683	1622	0	0	0	0	0	0	14.56	13.96	14.60
7666	0.47	442.5	2713	731	1681	1623	82.3	8.9	529	7687	0.00	2.42	13.43	0.438	9382	0.000	0.076	2714	2106	1561	1590	1532	0	0	0	0	0	0	14.19	14.11	13.62
7986	0.58	515.5	2713	2106	1590	1531	55.5	6.6	563	8029	0.17	0.00	41.45	0.360	10406	0.102	0.000	2786	2106	1261	1310	1213	0	0	0	0	0	0	14.16	14.14	13.75
8326	0.61	553.9	2787	2105	1311	1205	24.7	8.2	597	8352	0.00	2.45	21.67	0.276	8740	0.000	0.082	2794	731	1103	1163	1043	0	0	0	0	0	0	14.54	13.96	13.76
8483	0.78	664.6	2794	731	1164	1046	16.4	4.9	628	8552	0.12	2.42	62.92	0.243	11430	0.126	0.078	2851	2100	651	701	601	0	0	0	0	0	0	13.97	13.94	13.83
8655	end climb: SURFACE_DEPTH_REACHED
state	8655	begin surface coast
8665	end surface coast: CONTROL_FINISHED_OK
state	8665	begin surface