Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 401 * 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 401 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 1111.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 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 1111.0 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 26 VBD_MIN 500

DIVE 401 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 220917,062002,7418.1445,-15343.5029,31,0.8,31,19.3,0.0,0.0,9,9.4 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 245.2,1855,-19.8,-10.000,-23.00,1853

_SM_ANGLEo -77.9 D_GRID 480

GPS2 220917,063140,7418.1196,-15343.2998,5,0.8,9,19.3,0.0,112.0,9,9.6

Post-dive calculations and measurements:

FINISH 0.4,1.011046 _24V_AH 12.29,236.818

SM_CCo 8786,62.83,0.206,0,0,497,703.28 _10V_AH 12.08,0.000

SM_GC 1.57,8.18,0.17,62.83,0.071,0.114,0.206,206,2224,497,-7.36,-0.54,703.28,0,0,0,0,0,0,14.24,14.23,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 171 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323404

IRIDIUM_FIX 7418.45,-15347.43,220917,034655 DATA_FILE_SIZE 23354,677

TT8_MAMPS 0.038948,0.885318 CAP_FILE_SIZE 101075,0

HUMID 46.29 CFSIZE 2097872896,1975058432

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

TCM_TEMP 13.10 SOUNDSPEED 1448.7

XPDR_PINGS 9 CURRENT 0.042,124.23,1

CP_FREE 15896707072.000000 GPS 220917,090049,7418.112,-15347.150,14,0.7,18,19.2,0.4,339.0,12,9.3

PM_FREEKB_00 44737792

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.73 nil 0 0 0.00

Roll_motor 79 178 175.14 nil 0 0 0.00

VBD_pump_during_apogee 872 1569 16823.63 nil 0 0 0.00

VBD_pump_during_surface 62 205 158.89 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 8795 14 1575.64

Iridium_during_xfer 390 179 862.56 NCP 8745 20 2149.52

Transponder_ping 2 420 11.61 PMAR 8728 9 1064.84

GUMSTIX_24V 0 0 0.00

GPS 19 22 5.16

TT8 0 0 0.00

LPSleep 6334 2 176.78

TT8_Active 928 13 156.63

TT8_Sampling 1904 33 769.17

TT8_CF8 390 38 182.53

TT8_Kalman 0 0 0.00

Analog_circuits 2015 10 243.50

GPS_charging 0 0 0.00

Compass 973 7 82.28

RAFOS 2208 48 1280.29

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

54 end surface: CONTROL_FINISHED_OK

state 54 begin dive

58 -0.61 -121.3 197 2203 489 495 0.0 0.0 0 150 0.00 0.00 -91.03 0.000 16386 0.000 0.000 196 2203 2238 2182 2294 0 0 0 0 0 0 14.45 28.83 14.47

154 -0.62 -145.9 197 2203 2187 2293 4.7 -6.6 9 201 12.82 0.00 -30.88 0.000 18982 0.455 0.000 2369 2198 3960 3940 3981 0 0 0 0 0 0 13.55 12.57 14.04

499 -0.75 -145.9 2369 2205 3950 3981 72.1 -11.7 47 504 0.00 2.55 0.00 0.000 388 0.000 0.087 2361 3610 3965 3950 3980 0 0 0 0 0 0 14.53 14.01 14.54

550 -0.99 -145.9 2363 3611 3949 3981 77.4 -9.5 57 555 0.32 2.42 0.00 0.000 5286 0.083 0.056 2248 2194 3965 3950 3981 0 0 0 0 0 0 14.16 14.08 14.21

883 -0.97 -145.9 2248 2193 3951 3981 142.6 -18.3 77 888 0.00 2.55 0.00 0.000 388 0.000 0.085 2237 3611 3965 3950 3980 0 0 0 0 0 0 14.54 13.99 14.56

984 -1.03 -145.9 2236 3611 3949 3981 159.3 -15.0 97 989 0.00 2.45 0.00 0.000 1158 0.000 0.058 2237 2194 3965 3950 3980 0 0 0 0 0 0 14.18 14.04 14.21

1304 -1.03 -145.9 2237 2193 3951 3979 212.9 -16.0 111 1309 0.00 2.55 0.00 0.000 260 0.000 0.088 2236 3609 3965 3950 3981 0 0 0 0 0 0 14.55 13.95 14.57

1400 -1.14 -145.9 2236 3610 3951 3980 226.0 -12.7 130 1405 0.00 2.45 0.00 0.000 1158 0.000 0.057 2236 2194 3965 3950 3981 0 0 0 0 0 0 14.17 14.03 14.21

1726 -1.19 -145.9 2236 2193 3951 3981 271.1 -13.4 145 1731 0.12 2.55 0.00 0.000 4484 0.148 0.084 2169 3611 3965 3950 3981 0 0 0 0 0 0 14.15 13.88 14.18

1844 -1.16 -145.9 2170 3610 3951 3981 290.7 -17.1 168 1851 0.15 2.45 0.00 0.000 3206 0.262 0.057 2194 2190 3965 3950 3981 0 0 0 0 0 0 13.62 13.96 13.90

2146 -1.16 -145.9 2198 2190 3950 3985 336.3 -14.4 179 2151 0.00 2.55 0.00 0.000 260 0.000 0.085 2187 3608 3965 3950 3980 0 0 0 0 0 0 14.59 13.87 14.61

2222 -1.21 -145.9 2190 3609 3950 3980 347.0 -13.7 194 2227 0.00 2.45 0.00 0.000 1158 0.000 0.057 2189 2191 3964 3949 3980 0 0 0 0 0 0 14.13 14.02 14.16

2537 -1.21 -145.9 2190 2190 3950 3980 393.2 -14.4 207 2542 0.00 2.55 0.00 0.000 260 0.000 0.085 2181 3604 3964 3948 3980 0 0 0 0 0 0 14.59 13.88 14.65

2618 -1.26 -145.9 2182 3607 3948 3980 404.6 -13.6 223 2623 0.00 2.42 0.00 0.000 1158 0.000 0.057 2181 2194 3963 3947 3980 0 0 0 0 0 0 14.16 14.02 14.19

2928 -1.26 -145.9 2181 2194 3949 3981 450.6 -14.8 235 2934 0.00 2.58 0.00 0.000 260 0.000 0.085 2172 3609 3963 3947 3980 0 0 0 0 0 0 14.56 13.91 14.57

3042 -1.29 -145.9 2172 3610 3947 3980 466.6 -14.0 257 3047 0.00 2.45 0.00 0.000 1158 0.000 0.056 2172 2193 3963 3947 3980 0 0 0 0 0 0 14.07 13.94 14.11

3139 end dive: TARGET_DEPTH_EXCEEDED

state 3139 begin apogee

3146 -0.13 0.0 2173 2062 3951 3980 482.3 -15.4 262 3366 1.48 0.08 215.52 1.419 10246 0.250 0.178 2530 2106 3368 3380 3356 0 0 0 0 0 0 13.59 13.51 12.78

3369 end apogee: CONTROL_FINISHED_OK

state 3369 begin climb

3375 0.62 145.9 2531 2107 3373 3349 493.9 0.0 269 3591 0.77 2.62 206.30 1.379 10756 0.057 0.077 2802 730 2763 2795 2731 0 0 0 0 0 0 13.75 12.90 12.29

3649 0.22 145.9 2803 730 2787 2730 500.9 13.5 305 3656 0.73 2.55 0.00 0.000 5254 0.325 0.073 2659 2103 2756 2785 2728 0 0 0 0 0 0 13.00 13.33 13.34

3952 0.04 147.0 2659 2104 2787 2722 469.5 9.9 316 3957 0.25 2.45 0.00 0.000 4772 0.272 0.081 2602 730 2753 2785 2722 0 0 0 0 0 0 13.65 13.88 13.85

3993 0.07 190.4 2603 731 2786 2723 466.2 7.6 324 4062 0.00 2.45 62.50 1.421 9254 0.000 0.079 2602 2116 2584 2634 2534 0 0 0 0 0 0 14.10 13.97 13.01

4373 0.08 210.6 2602 2116 2625 2521 432.8 8.9 350 4405 0.00 2.55 26.38 1.498 8740 0.000 0.086 2602 721 2502 2555 2449 0 0 0 0 0 0 14.56 14.07 13.19

4421 0.09 231.5 2602 722 2553 2450 428.6 8.8 354 4456 0.00 2.42 30.23 1.468 9254 0.000 0.078 2602 2108 2420 2471 2370 0 0 0 0 0 0 14.25 14.12 13.12

4769 0.12 243.7 2603 2108 2466 2356 396.2 9.3 373 4787 0.00 0.00 16.08 1.570 8358 0.000 0.000 2602 2108 2371 2422 2321 0 0 0 0 0 0 14.54 14.08 13.26

5067 0.17 261.3 2602 2107 2414 2315 368.6 9.0 383 5098 0.00 2.53 26.20 1.483 8868 0.000 0.086 2602 730 2296 2341 2251 0 0 0 0 0 0 14.58 14.12 13.27

5124 0.26 282.5 2602 730 2338 2250 363.4 8.8 394 5164 0.20 2.40 33.17 1.426 11430 0.094 0.078 2683 2102 2209 2253 2166 0 0 0 0 0 0 14.23 14.13 13.15

5491 0.16 282.5 2687 2101 2248 2154 308.2 15.2 417 5495 0.17 2.45 0.00 0.000 4740 0.257 0.083 2651 726 2200 2246 2154 0 0 0 0 0 0 13.77 14.04 13.95

5556 0.19 282.5 2651 727 2244 2155 299.9 11.4 430 5562 0.00 2.42 0.00 0.000 1158 0.000 0.078 2651 2104 2199 2244 2154 0 0 0 0 0 0 14.18 14.05 14.23

5882 0.19 282.5 2647 2106 2244 2155 262.3 11.1 445 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2105 2198 2245 2152 0 0 0 0 0 0 14.43 14.49 14.45

6183 0.20 293.0 2651 2102 2245 2152 232.8 9.4 455 6203 0.00 2.53 11.18 1.555 8740 0.000 0.086 2651 727 2168 2210 2126 0 0 0 0 0 0 14.42 14.10 13.28

6219 0.24 317.0 2650 728 2210 2127 229.5 8.7 462 6264 0.00 2.42 40.92 1.362 9382 0.000 0.080 2651 2105 2072 2113 2032 0 0 0 0 0 0 14.07 13.99 13.17

6578 0.29 332.7 2651 2106 2106 2019 196.4 9.1 483 6605 0.00 0.00 23.88 1.408 8358 0.000 0.000 2651 2102 2005 2047 1964 0 0 0 0 0 0 14.40 14.02 13.24

6905 0.39 366.9 2651 2105 2043 1955 168.7 8.1 494 6971 0.15 2.53 56.62 1.294 10916 0.109 0.087 2725 729 1866 1893 1839 0 0 0 0 0 0 14.12 13.95 13.19

7004 0.39 366.9 2725 729 1884 1840 157.2 12.5 513 7009 0.00 2.42 0.00 0.000 1030 0.000 0.076 2722 2101 1863 1887 1839 0 0 0 0 0 0 14.11 14.00 14.14

7330 0.35 366.9 2725 2102 1887 1833 117.0 11.8 528 7335 0.12 2.47 0.00 0.000 4740 0.246 0.083 2699 730 1858 1885 1832 0 0 0 0 0 0 13.83 14.00 13.97

7370 0.43 378.7 2699 731 1884 1834 113.2 9.3 536 7386 0.00 2.42 11.05 1.461 9382 0.000 0.077 2699 2103 1823 1846 1800 0 0 0 0 0 0 14.14 13.98 13.28

7692 0.50 413.1 2699 2109 1838 1791 84.7 8.1 562 7715 0.12 2.47 18.23 0.456 10916 0.122 0.087 2769 732 1679 1697 1661 0 0 0 0 0 0 14.12 14.02 13.59

7771 0.47 413.1 2768 732 1698 1663 75.6 12.6 577 7777 0.15 2.45 0.00 0.000 5254 0.259 0.079 2737 2105 1680 1697 1663 0 0 0 0 0 0 13.83 14.01 14.07

8076 0.57 496.2 2738 2106 1698 1653 50.0 5.4 608 8125 0.00 0.00 43.40 0.350 8358 0.000 0.000 2737 2106 1340 1383 1297 0 0 0 0 0 0 14.52 14.12 13.76

8426 0.78 591.8 2738 2106 1384 1286 29.9 4.7 643 8478 0.30 0.00 50.38 0.285 10406 0.077 0.000 2852 2106 950 1014 886 0 0 0 0 0 0 14.07 14.09 13.78

8743 end climb: SURFACE_DEPTH_REACHED

state 8743 begin surface coast

8763 end surface coast: CONTROL_FINISHED_OK

state 8763 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	401	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	1111.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,062002,7418.1445,-15343.5029,31,0.8,31,19.3,0.0,0.0,9,9.4	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	245.2,1855,-19.8,-10.000,-23.00,1853
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	220917,063140,7418.1196,-15343.2998,5,0.8,9,19.3,0.0,112.0,9,9.6

FINISH	0.4,1.011046	_24V_AH	12.29,236.818
SM_CCo	8786,62.83,0.206,0,0,497,703.28	_10V_AH	12.08,0.000
SM_GC	1.57,8.18,0.17,62.83,0.071,0.114,0.206,206,2224,497,-7.36,-0.54,703.28,0,0,0,0,0,0,14.24,14.23,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	171	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323404
IRIDIUM_FIX	7418.45,-15347.43,220917,034655	DATA_FILE_SIZE	23354,677
TT8_MAMPS	0.038948,0.885318	CAP_FILE_SIZE	101075,0
HUMID	46.29	CFSIZE	2097872896,1975058432
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.7
XPDR_PINGS	9	CURRENT	0.042,124.23,1
CP_FREE	15896707072.000000	GPS	220917,090049,7418.112,-15347.150,14,0.7,18,19.2,0.4,339.0,12,9.3
PM_FREEKB_00	44737792

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.73	nil	0	0	0.00
Roll_motor	79	178	175.14	nil	0	0	0.00
VBD_pump_during_apogee	872	1569	16823.63	nil	0	0	0.00
VBD_pump_during_surface	62	205	158.89	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	8795	14	1575.64
Iridium_during_xfer	390	179	862.56	NCP	8745	20	2149.52
Transponder_ping	2	420	11.61	PMAR	8728	9	1064.84
GUMSTIX_24V	0	0	0.00
GPS	19	22	5.16
TT8	0	0	0.00
LPSleep	6334	2	176.78
TT8_Active	928	13	156.63
TT8_Sampling	1904	33	769.17
TT8_CF8	390	38	182.53
TT8_Kalman	0	0	0.00
Analog_circuits	2015	10	243.50
GPS_charging	0	0	0.00
Compass	973	7	82.28
RAFOS	2208	48	1280.29
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
54	end surface: CONTROL_FINISHED_OK
state	54	begin dive
58	-0.61	-121.3	197	2203	489	495	0.0	0.0	0	150	0.00	0.00	-91.03	0.000	16386	0.000	0.000	196	2203	2238	2182	2294	0	0	0	0	0	0	14.45	28.83	14.47
154	-0.62	-145.9	197	2203	2187	2293	4.7	-6.6	9	201	12.82	0.00	-30.88	0.000	18982	0.455	0.000	2369	2198	3960	3940	3981	0	0	0	0	0	0	13.55	12.57	14.04
499	-0.75	-145.9	2369	2205	3950	3981	72.1	-11.7	47	504	0.00	2.55	0.00	0.000	388	0.000	0.087	2361	3610	3965	3950	3980	0	0	0	0	0	0	14.53	14.01	14.54
550	-0.99	-145.9	2363	3611	3949	3981	77.4	-9.5	57	555	0.32	2.42	0.00	0.000	5286	0.083	0.056	2248	2194	3965	3950	3981	0	0	0	0	0	0	14.16	14.08	14.21
883	-0.97	-145.9	2248	2193	3951	3981	142.6	-18.3	77	888	0.00	2.55	0.00	0.000	388	0.000	0.085	2237	3611	3965	3950	3980	0	0	0	0	0	0	14.54	13.99	14.56
984	-1.03	-145.9	2236	3611	3949	3981	159.3	-15.0	97	989	0.00	2.45	0.00	0.000	1158	0.000	0.058	2237	2194	3965	3950	3980	0	0	0	0	0	0	14.18	14.04	14.21
1304	-1.03	-145.9	2237	2193	3951	3979	212.9	-16.0	111	1309	0.00	2.55	0.00	0.000	260	0.000	0.088	2236	3609	3965	3950	3981	0	0	0	0	0	0	14.55	13.95	14.57
1400	-1.14	-145.9	2236	3610	3951	3980	226.0	-12.7	130	1405	0.00	2.45	0.00	0.000	1158	0.000	0.057	2236	2194	3965	3950	3981	0	0	0	0	0	0	14.17	14.03	14.21
1726	-1.19	-145.9	2236	2193	3951	3981	271.1	-13.4	145	1731	0.12	2.55	0.00	0.000	4484	0.148	0.084	2169	3611	3965	3950	3981	0	0	0	0	0	0	14.15	13.88	14.18
1844	-1.16	-145.9	2170	3610	3951	3981	290.7	-17.1	168	1851	0.15	2.45	0.00	0.000	3206	0.262	0.057	2194	2190	3965	3950	3981	0	0	0	0	0	0	13.62	13.96	13.90
2146	-1.16	-145.9	2198	2190	3950	3985	336.3	-14.4	179	2151	0.00	2.55	0.00	0.000	260	0.000	0.085	2187	3608	3965	3950	3980	0	0	0	0	0	0	14.59	13.87	14.61
2222	-1.21	-145.9	2190	3609	3950	3980	347.0	-13.7	194	2227	0.00	2.45	0.00	0.000	1158	0.000	0.057	2189	2191	3964	3949	3980	0	0	0	0	0	0	14.13	14.02	14.16
2537	-1.21	-145.9	2190	2190	3950	3980	393.2	-14.4	207	2542	0.00	2.55	0.00	0.000	260	0.000	0.085	2181	3604	3964	3948	3980	0	0	0	0	0	0	14.59	13.88	14.65
2618	-1.26	-145.9	2182	3607	3948	3980	404.6	-13.6	223	2623	0.00	2.42	0.00	0.000	1158	0.000	0.057	2181	2194	3963	3947	3980	0	0	0	0	0	0	14.16	14.02	14.19
2928	-1.26	-145.9	2181	2194	3949	3981	450.6	-14.8	235	2934	0.00	2.58	0.00	0.000	260	0.000	0.085	2172	3609	3963	3947	3980	0	0	0	0	0	0	14.56	13.91	14.57
3042	-1.29	-145.9	2172	3610	3947	3980	466.6	-14.0	257	3047	0.00	2.45	0.00	0.000	1158	0.000	0.056	2172	2193	3963	3947	3980	0	0	0	0	0	0	14.07	13.94	14.11
3139	end dive: TARGET_DEPTH_EXCEEDED
state	3139	begin apogee
3146	-0.13	0.0	2173	2062	3951	3980	482.3	-15.4	262	3366	1.48	0.08	215.52	1.419	10246	0.250	0.178	2530	2106	3368	3380	3356	0	0	0	0	0	0	13.59	13.51	12.78
3369	end apogee: CONTROL_FINISHED_OK
state	3369	begin climb
3375	0.62	145.9	2531	2107	3373	3349	493.9	0.0	269	3591	0.77	2.62	206.30	1.379	10756	0.057	0.077	2802	730	2763	2795	2731	0	0	0	0	0	0	13.75	12.90	12.29
3649	0.22	145.9	2803	730	2787	2730	500.9	13.5	305	3656	0.73	2.55	0.00	0.000	5254	0.325	0.073	2659	2103	2756	2785	2728	0	0	0	0	0	0	13.00	13.33	13.34
3952	0.04	147.0	2659	2104	2787	2722	469.5	9.9	316	3957	0.25	2.45	0.00	0.000	4772	0.272	0.081	2602	730	2753	2785	2722	0	0	0	0	0	0	13.65	13.88	13.85
3993	0.07	190.4	2603	731	2786	2723	466.2	7.6	324	4062	0.00	2.45	62.50	1.421	9254	0.000	0.079	2602	2116	2584	2634	2534	0	0	0	0	0	0	14.10	13.97	13.01
4373	0.08	210.6	2602	2116	2625	2521	432.8	8.9	350	4405	0.00	2.55	26.38	1.498	8740	0.000	0.086	2602	721	2502	2555	2449	0	0	0	0	0	0	14.56	14.07	13.19
4421	0.09	231.5	2602	722	2553	2450	428.6	8.8	354	4456	0.00	2.42	30.23	1.468	9254	0.000	0.078	2602	2108	2420	2471	2370	0	0	0	0	0	0	14.25	14.12	13.12
4769	0.12	243.7	2603	2108	2466	2356	396.2	9.3	373	4787	0.00	0.00	16.08	1.570	8358	0.000	0.000	2602	2108	2371	2422	2321	0	0	0	0	0	0	14.54	14.08	13.26
5067	0.17	261.3	2602	2107	2414	2315	368.6	9.0	383	5098	0.00	2.53	26.20	1.483	8868	0.000	0.086	2602	730	2296	2341	2251	0	0	0	0	0	0	14.58	14.12	13.27
5124	0.26	282.5	2602	730	2338	2250	363.4	8.8	394	5164	0.20	2.40	33.17	1.426	11430	0.094	0.078	2683	2102	2209	2253	2166	0	0	0	0	0	0	14.23	14.13	13.15
5491	0.16	282.5	2687	2101	2248	2154	308.2	15.2	417	5495	0.17	2.45	0.00	0.000	4740	0.257	0.083	2651	726	2200	2246	2154	0	0	0	0	0	0	13.77	14.04	13.95
5556	0.19	282.5	2651	727	2244	2155	299.9	11.4	430	5562	0.00	2.42	0.00	0.000	1158	0.000	0.078	2651	2104	2199	2244	2154	0	0	0	0	0	0	14.18	14.05	14.23
5882	0.19	282.5	2647	2106	2244	2155	262.3	11.1	445	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2105	2198	2245	2152	0	0	0	0	0	0	14.43	14.49	14.45
6183	0.20	293.0	2651	2102	2245	2152	232.8	9.4	455	6203	0.00	2.53	11.18	1.555	8740	0.000	0.086	2651	727	2168	2210	2126	0	0	0	0	0	0	14.42	14.10	13.28
6219	0.24	317.0	2650	728	2210	2127	229.5	8.7	462	6264	0.00	2.42	40.92	1.362	9382	0.000	0.080	2651	2105	2072	2113	2032	0	0	0	0	0	0	14.07	13.99	13.17
6578	0.29	332.7	2651	2106	2106	2019	196.4	9.1	483	6605	0.00	0.00	23.88	1.408	8358	0.000	0.000	2651	2102	2005	2047	1964	0	0	0	0	0	0	14.40	14.02	13.24
6905	0.39	366.9	2651	2105	2043	1955	168.7	8.1	494	6971	0.15	2.53	56.62	1.294	10916	0.109	0.087	2725	729	1866	1893	1839	0	0	0	0	0	0	14.12	13.95	13.19
7004	0.39	366.9	2725	729	1884	1840	157.2	12.5	513	7009	0.00	2.42	0.00	0.000	1030	0.000	0.076	2722	2101	1863	1887	1839	0	0	0	0	0	0	14.11	14.00	14.14
7330	0.35	366.9	2725	2102	1887	1833	117.0	11.8	528	7335	0.12	2.47	0.00	0.000	4740	0.246	0.083	2699	730	1858	1885	1832	0	0	0	0	0	0	13.83	14.00	13.97
7370	0.43	378.7	2699	731	1884	1834	113.2	9.3	536	7386	0.00	2.42	11.05	1.461	9382	0.000	0.077	2699	2103	1823	1846	1800	0	0	0	0	0	0	14.14	13.98	13.28
7692	0.50	413.1	2699	2109	1838	1791	84.7	8.1	562	7715	0.12	2.47	18.23	0.456	10916	0.122	0.087	2769	732	1679	1697	1661	0	0	0	0	0	0	14.12	14.02	13.59
7771	0.47	413.1	2768	732	1698	1663	75.6	12.6	577	7777	0.15	2.45	0.00	0.000	5254	0.259	0.079	2737	2105	1680	1697	1663	0	0	0	0	0	0	13.83	14.01	14.07
8076	0.57	496.2	2738	2106	1698	1653	50.0	5.4	608	8125	0.00	0.00	43.40	0.350	8358	0.000	0.000	2737	2106	1340	1383	1297	0	0	0	0	0	0	14.52	14.12	13.76
8426	0.78	591.8	2738	2106	1384	1286	29.9	4.7	643	8478	0.30	0.00	50.38	0.285	10406	0.077	0.000	2852	2106	950	1014	886	0	0	0	0	0	0	14.07	14.09	13.78
8743	end climb: SURFACE_DEPTH_REACHED
state	8743	begin surface coast
8763	end surface coast: CONTROL_FINISHED_OK
state	8763	begin surface