Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 102 * 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 102 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 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 290.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 290.0 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 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 27 VBD_MIN 500

DIVE 102 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 180817,130633,7245.0713,-14843.9082,23,0.8,24,21.2,0.0,0.0,10,7.8 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.10 MHEAD_RNG_PITCHd_Wd 311.0,62511,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.8 D_GRID 480

GPS2 180817,132139,7245.0098,-14843.8760,7,0.8,11,21.2,0.0,128.9,10,8.7

Post-dive calculations and measurements:

FINISH -0.0,1.020216 _24V_AH 12.50,91.144

SM_CCo 9066,47.58,0.216,0,0,500,703.03 _10V_AH 12.41,0.000

SM_GC 1.44,8.23,0.17,47.58,0.083,0.114,0.216,208,2228,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.26,14.27,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7244.636230,-14842.182617,180817,121256,4,255,0.15 MEM 323692

IRIDIUM_FIX 7244.03,-14837.32,180817,131103 DATA_FILE_SIZE 26750,795

TT8_MAMPS 0.039697,0.829143 CAP_FILE_SIZE 104678,0

HUMID 48.26 CFSIZE 2097872896,2057273344

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

TCM_TEMP 13.20 SOUNDSPEED 1450.0

XPDR_PINGS 16 CURRENT 0.065,246.14,1

CP_FREE 16002121728.000000 GPS 180817,155526,7246.097,-14845.920,36,0.7,36,21.1,0.0,0.0,11,8.9

PM_FREEKB_00 55566656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.09 nil 0 0 0.00

Roll_motor 84 113 120.57 nil 0 0 0.00

VBD_pump_during_apogee 862 1487 16043.09 nil 0 0 0.00

VBD_pump_during_surface 47 215 128.29 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 9072 14 1664.03

Iridium_during_xfer 574 177 1275.58 NCP 9070 20 2267.50

Transponder_ping 4 420 21.00 PMAR 9022 16 1865.86

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.29

TT8 0 0 0.00

LPSleep 6594 2 189.04

TT8_Active 925 13 160.52

TT8_Sampling 2216 33 919.68

TT8_CF8 296 38 142.19

TT8_Kalman 0 0 0.00

Analog_circuits 2238 10 277.83

GPS_charging 0 0 0.00

Compass 1139 7 98.98

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 207 2200 510 478 0.0 0.0 0 130 0.00 0.00 -81.65 0.000 16386 0.000 0.000 206 2200 2047 1964 2130 0 0 0 0 0 0 14.40 28.83 14.42

133 -0.57 -145.9 206 2201 1966 2133 3.2 -3.8 8 189 12.48 0.00 -36.88 0.000 18982 0.455 0.000 2384 2200 3964 3951 3978 1 0 0 0 0 0 13.55 12.69 14.10

488 -0.57 -145.9 2385 2200 3962 3978 80.4 -14.8 45 493 0.00 2.50 0.00 0.000 260 0.000 0.090 2377 3614 3969 3960 3978 0 0 0 0 0 0 14.44 14.13 14.47

645 -0.69 -145.9 2379 3614 3961 3977 99.2 -11.1 76 651 0.00 2.38 0.00 0.000 1158 0.000 0.054 2377 2202 3969 3961 3978 0 0 0 0 0 0 14.17 14.08 14.21

959 -0.78 -145.9 2377 2202 3962 3979 135.4 -11.0 88 964 0.12 2.47 0.00 0.000 4484 0.142 0.085 2319 3610 3970 3962 3978 0 0 0 0 0 0 14.12 14.20 14.22

1004 -0.83 -145.9 2320 3610 3962 3977 141.5 -13.7 97 1009 0.00 2.38 0.00 0.000 1158 0.000 0.056 2319 2198 3969 3961 3978 0 0 0 0 0 0 14.35 14.25 14.37

1319 -0.83 -145.9 2320 2198 3962 3978 187.7 -14.3 110 1324 0.00 2.50 0.00 0.000 260 0.000 0.090 2319 3618 3969 3961 3978 0 0 0 0 0 0 14.57 14.22 14.59

1474 -0.91 -145.9 2320 3619 3962 3978 206.5 -11.6 141 1479 0.00 2.40 0.00 0.000 1158 0.000 0.056 2319 2195 3969 3961 3977 0 0 0 0 0 0 14.38 14.27 14.39

1799 -0.94 -145.9 2319 2195 3962 3977 245.3 -11.3 156 1804 0.12 2.47 0.00 0.000 4484 0.141 0.087 2252 3610 3968 3961 3976 0 0 0 0 0 0 14.32 14.22 14.36

1925 -0.91 -145.9 2254 3610 3962 3976 264.5 -15.5 181 1930 0.15 2.40 0.00 0.000 3206 0.270 0.057 2279 2192 3968 3961 3976 0 0 0 0 0 0 13.98 14.23 14.26

2250 -0.91 -145.9 2282 2192 3961 3970 307.0 -12.6 196 2255 0.00 2.50 0.00 0.000 260 0.000 0.089 2280 3614 3966 3958 3974 0 0 0 0 0 0 14.59 14.22 14.61

2350 -0.97 -145.9 2280 3615 3961 3975 318.7 -11.1 216 2355 0.00 2.40 0.00 0.000 1158 0.000 0.055 2280 2192 3967 3960 3974 0 0 0 0 0 0 14.38 14.24 14.41

2670 -0.97 -145.9 2280 2191 3961 3972 357.6 -12.1 230 2675 0.00 2.50 0.00 0.000 260 0.000 0.089 2278 3617 3966 3960 3972 0 0 0 0 0 0 14.61 14.23 14.62

2787 -1.05 -145.9 2279 3618 3961 3972 370.7 -10.9 253 2793 0.12 2.40 0.00 0.000 5254 0.140 0.054 2231 2189 3965 3959 3972 0 0 0 0 0 0 14.27 14.26 14.37

3090 -0.96 -145.9 2232 2191 3960 3970 419.0 -16.1 264 3095 0.15 2.50 0.00 0.000 2436 0.307 0.083 2256 3619 3964 3958 3970 0 0 0 0 0 0 13.90 14.19 14.09

3230 -0.96 -145.9 2257 3621 3959 3970 437.5 -12.5 292 3235 0.00 2.38 0.00 0.000 1030 0.000 0.055 2255 2203 3963 3957 3970 0 0 0 0 0 0 14.39 14.28 14.42

3541 -0.93 -145.9 2256 2203 3959 3970 478.8 -13.3 304 3546 0.00 2.47 0.00 0.000 388 0.000 0.087 2249 3613 3963 3958 3969 0 0 0 0 0 0 14.60 14.20 14.62

3548 end dive: TARGET_DEPTH_EXCEEDED

state 3548 begin apogee

3556 -0.13 0.0 2250 2097 3958 3970 480.0 -13.2 306 3767 1.12 0.00 207.98 1.439 10246 0.261 0.000 2527 2095 3363 3395 3331 0 0 0 0 0 0 13.95 13.50 12.78

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3773 0.57 145.9 2528 2095 3392 3329 490.7 0.0 313 3984 0.75 2.65 198.80 1.386 10500 0.063 0.073 2781 3511 2763 2817 2710 0 0 0 0 0 0 13.59 13.04 12.50

4209 0.14 145.9 2781 3512 2798 2709 456.0 17.6 394 4214 0.77 2.47 0.00 0.000 5254 0.345 0.058 2632 2100 2753 2797 2710 0 0 0 0 0 0 13.46 13.77 13.80

4525 0.07 177.9 2632 2100 2797 2711 427.6 8.5 407 4575 0.00 2.58 43.03 1.435 8612 0.000 0.080 2632 3511 2633 2683 2583 0 0 0 0 0 0 14.35 13.83 13.12

4605 -0.03 177.9 2632 3510 2678 2582 420.0 10.9 423 4611 0.28 2.42 0.00 0.000 5254 0.252 0.058 2576 2100 2628 2677 2580 0 0 0 0 0 0 13.76 13.93 14.00

4916 0.10 258.1 2577 2100 2678 2576 399.6 6.3 435 5045 0.12 2.60 117.82 1.345 10916 0.135 0.083 2642 695 2306 2363 2250 0 0 0 0 0 0 14.19 13.66 13.00

5090 0.16 258.1 2642 696 2356 2248 382.9 10.2 469 5095 0.00 2.53 0.00 0.000 1158 0.000 0.079 2642 2102 2300 2354 2247 0 0 0 0 0 0 13.89 13.78 13.92

5400 0.16 258.1 2642 2103 2355 2238 350.3 10.5 481 5401 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2102 2295 2353 2238 0 0 0 0 0 0 14.37 14.40 14.40

5700 0.16 258.1 2642 2103 2353 2236 319.4 10.2 491 5706 0.00 2.47 0.00 0.000 516 0.000 0.085 2646 693 2294 2352 2236 0 0 0 0 0 0 14.51 14.16 14.53

5741 0.20 258.1 2646 694 2350 2237 315.2 10.1 499 5747 0.00 2.45 0.00 0.000 1158 0.000 0.079 2645 2104 2293 2351 2236 0 0 0 0 0 0 14.33 14.21 14.37

6062 0.20 258.1 2647 2105 2350 2235 282.7 10.1 513 6067 0.00 2.47 0.00 0.000 516 0.000 0.084 2646 690 2292 2350 2235 0 0 0 0 0 0 14.56 14.19 14.59

6107 0.27 273.1 2647 690 2350 2235 278.4 9.3 522 6132 0.00 2.47 17.40 1.480 9382 0.000 0.078 2646 2111 2249 2307 2192 0 0 0 0 0 0 14.36 14.23 13.39

6454 0.31 292.3 2646 2111 2305 2186 246.6 9.1 541 6489 0.00 2.58 30.10 1.415 8868 0.000 0.084 2646 688 2169 2225 2113 0 0 0 0 0 0 14.53 14.11 13.35

6524 0.43 322.8 2646 688 2220 2113 240.2 8.6 555 6581 0.22 2.47 48.62 1.330 11430 0.100 0.079 2733 2099 2046 2096 1996 0 0 0 0 0 0 14.14 14.11 13.19

6906 0.33 322.8 2734 2099 2090 1987 187.6 13.4 581 6907 0.17 0.00 0.00 0.000 4230 0.236 0.000 2694 2099 2037 2088 1987 0 0 0 0 0 0 13.97 14.23 14.16

7206 0.34 333.2 2695 2099 2089 1984 158.1 9.5 591 7226 0.00 2.50 12.30 1.488 8740 0.000 0.085 2699 696 2004 2055 1954 0 0 0 0 0 0 14.52 14.14 13.38

7276 0.42 355.1 2699 698 2052 1954 151.5 9.0 605 7321 0.00 2.45 37.72 1.332 9382 0.000 0.077 2699 2105 1913 1956 1871 0 0 0 0 0 0 14.29 14.18 13.28

7628 0.47 377.2 2700 2106 1948 1865 119.5 9.0 625 7664 0.10 2.58 30.17 1.324 10916 0.155 0.085 2755 692 1826 1859 1793 0 0 0 0 0 0 14.21 13.97 13.31

7758 0.47 377.2 2755 691 1851 1791 104.5 11.2 651 7764 0.00 2.47 0.00 0.000 1030 0.000 0.079 2755 2100 1820 1850 1791 0 0 0 0 0 0 14.10 14.00 14.12

8070 0.44 377.3 2755 2102 1851 1786 70.0 10.0 682 8071 0.15 0.00 0.00 0.000 4262 0.239 0.000 2722 2100 1818 1850 1786 0 0 0 0 0 0 14.03 14.30 14.26

8370 0.59 484.1 2722 2101 1851 1783 50.8 5.1 712 8430 0.15 0.00 53.72 0.356 10406 0.120 0.000 2784 2101 1389 1443 1335 0 0 0 0 0 0 14.26 14.15 13.81

8730 0.68 537.4 2784 2101 1444 1321 23.4 7.5 748 8762 0.00 2.53 26.88 0.285 8868 0.000 0.086 2784 694 1172 1241 1104 0 0 0 0 0 0 14.47 14.11 13.86

8849 0.90 612.1 2784 693 1238 1102 14.9 6.6 771 8892 0.28 2.50 38.03 0.256 11430 0.098 0.083 2884 2111 869 945 793 0 0 0 0 0 0 14.18 14.05 13.85

9027 end climb: SURFACE_DEPTH_REACHED

state 9027 begin surface coast

9045 end surface coast: CONTROL_FINISHED_OK

state 9045 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	102	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	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	290.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,130633,7245.0713,-14843.9082,23,0.8,24,21.2,0.0,0.0,10,7.8	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.10	MHEAD_RNG_PITCHd_Wd	311.0,62511,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.8	D_GRID	480
GPS2	180817,132139,7245.0098,-14843.8760,7,0.8,11,21.2,0.0,128.9,10,8.7

FINISH	-0.0,1.020216	_24V_AH	12.50,91.144
SM_CCo	9066,47.58,0.216,0,0,500,703.03	_10V_AH	12.41,0.000
SM_GC	1.44,8.23,0.17,47.58,0.083,0.114,0.216,208,2228,500,-7.36,-0.45,703.03,0,0,0,0,0,0,14.26,14.27,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7244.636230,-14842.182617,180817,121256,4,255,0.15	MEM	323692
IRIDIUM_FIX	7244.03,-14837.32,180817,131103	DATA_FILE_SIZE	26750,795
TT8_MAMPS	0.039697,0.829143	CAP_FILE_SIZE	104678,0
HUMID	48.26	CFSIZE	2097872896,2057273344
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1450.0
XPDR_PINGS	16	CURRENT	0.065,246.14,1
CP_FREE	16002121728.000000	GPS	180817,155526,7246.097,-14845.920,36,0.7,36,21.1,0.0,0.0,11,8.9
PM_FREEKB_00	55566656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.09	nil	0	0	0.00
Roll_motor	84	113	120.57	nil	0	0	0.00
VBD_pump_during_apogee	862	1487	16043.09	nil	0	0	0.00
VBD_pump_during_surface	47	215	128.29	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	9072	14	1664.03
Iridium_during_xfer	574	177	1275.58	NCP	9070	20	2267.50
Transponder_ping	4	420	21.00	PMAR	9022	16	1865.86
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.29
TT8	0	0	0.00
LPSleep	6594	2	189.04
TT8_Active	925	13	160.52
TT8_Sampling	2216	33	919.68
TT8_CF8	296	38	142.19
TT8_Kalman	0	0	0.00
Analog_circuits	2238	10	277.83
GPS_charging	0	0	0.00
Compass	1139	7	98.98
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	207	2200	510	478	0.0	0.0	0	130	0.00	0.00	-81.65	0.000	16386	0.000	0.000	206	2200	2047	1964	2130	0	0	0	0	0	0	14.40	28.83	14.42
133	-0.57	-145.9	206	2201	1966	2133	3.2	-3.8	8	189	12.48	0.00	-36.88	0.000	18982	0.455	0.000	2384	2200	3964	3951	3978	1	0	0	0	0	0	13.55	12.69	14.10
488	-0.57	-145.9	2385	2200	3962	3978	80.4	-14.8	45	493	0.00	2.50	0.00	0.000	260	0.000	0.090	2377	3614	3969	3960	3978	0	0	0	0	0	0	14.44	14.13	14.47
645	-0.69	-145.9	2379	3614	3961	3977	99.2	-11.1	76	651	0.00	2.38	0.00	0.000	1158	0.000	0.054	2377	2202	3969	3961	3978	0	0	0	0	0	0	14.17	14.08	14.21
959	-0.78	-145.9	2377	2202	3962	3979	135.4	-11.0	88	964	0.12	2.47	0.00	0.000	4484	0.142	0.085	2319	3610	3970	3962	3978	0	0	0	0	0	0	14.12	14.20	14.22
1004	-0.83	-145.9	2320	3610	3962	3977	141.5	-13.7	97	1009	0.00	2.38	0.00	0.000	1158	0.000	0.056	2319	2198	3969	3961	3978	0	0	0	0	0	0	14.35	14.25	14.37
1319	-0.83	-145.9	2320	2198	3962	3978	187.7	-14.3	110	1324	0.00	2.50	0.00	0.000	260	0.000	0.090	2319	3618	3969	3961	3978	0	0	0	0	0	0	14.57	14.22	14.59
1474	-0.91	-145.9	2320	3619	3962	3978	206.5	-11.6	141	1479	0.00	2.40	0.00	0.000	1158	0.000	0.056	2319	2195	3969	3961	3977	0	0	0	0	0	0	14.38	14.27	14.39
1799	-0.94	-145.9	2319	2195	3962	3977	245.3	-11.3	156	1804	0.12	2.47	0.00	0.000	4484	0.141	0.087	2252	3610	3968	3961	3976	0	0	0	0	0	0	14.32	14.22	14.36
1925	-0.91	-145.9	2254	3610	3962	3976	264.5	-15.5	181	1930	0.15	2.40	0.00	0.000	3206	0.270	0.057	2279	2192	3968	3961	3976	0	0	0	0	0	0	13.98	14.23	14.26
2250	-0.91	-145.9	2282	2192	3961	3970	307.0	-12.6	196	2255	0.00	2.50	0.00	0.000	260	0.000	0.089	2280	3614	3966	3958	3974	0	0	0	0	0	0	14.59	14.22	14.61
2350	-0.97	-145.9	2280	3615	3961	3975	318.7	-11.1	216	2355	0.00	2.40	0.00	0.000	1158	0.000	0.055	2280	2192	3967	3960	3974	0	0	0	0	0	0	14.38	14.24	14.41
2670	-0.97	-145.9	2280	2191	3961	3972	357.6	-12.1	230	2675	0.00	2.50	0.00	0.000	260	0.000	0.089	2278	3617	3966	3960	3972	0	0	0	0	0	0	14.61	14.23	14.62
2787	-1.05	-145.9	2279	3618	3961	3972	370.7	-10.9	253	2793	0.12	2.40	0.00	0.000	5254	0.140	0.054	2231	2189	3965	3959	3972	0	0	0	0	0	0	14.27	14.26	14.37
3090	-0.96	-145.9	2232	2191	3960	3970	419.0	-16.1	264	3095	0.15	2.50	0.00	0.000	2436	0.307	0.083	2256	3619	3964	3958	3970	0	0	0	0	0	0	13.90	14.19	14.09
3230	-0.96	-145.9	2257	3621	3959	3970	437.5	-12.5	292	3235	0.00	2.38	0.00	0.000	1030	0.000	0.055	2255	2203	3963	3957	3970	0	0	0	0	0	0	14.39	14.28	14.42
3541	-0.93	-145.9	2256	2203	3959	3970	478.8	-13.3	304	3546	0.00	2.47	0.00	0.000	388	0.000	0.087	2249	3613	3963	3958	3969	0	0	0	0	0	0	14.60	14.20	14.62
3548	end dive: TARGET_DEPTH_EXCEEDED
state	3548	begin apogee
3556	-0.13	0.0	2250	2097	3958	3970	480.0	-13.2	306	3767	1.12	0.00	207.98	1.439	10246	0.261	0.000	2527	2095	3363	3395	3331	0	0	0	0	0	0	13.95	13.50	12.78
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3773	0.57	145.9	2528	2095	3392	3329	490.7	0.0	313	3984	0.75	2.65	198.80	1.386	10500	0.063	0.073	2781	3511	2763	2817	2710	0	0	0	0	0	0	13.59	13.04	12.50
4209	0.14	145.9	2781	3512	2798	2709	456.0	17.6	394	4214	0.77	2.47	0.00	0.000	5254	0.345	0.058	2632	2100	2753	2797	2710	0	0	0	0	0	0	13.46	13.77	13.80
4525	0.07	177.9	2632	2100	2797	2711	427.6	8.5	407	4575	0.00	2.58	43.03	1.435	8612	0.000	0.080	2632	3511	2633	2683	2583	0	0	0	0	0	0	14.35	13.83	13.12
4605	-0.03	177.9	2632	3510	2678	2582	420.0	10.9	423	4611	0.28	2.42	0.00	0.000	5254	0.252	0.058	2576	2100	2628	2677	2580	0	0	0	0	0	0	13.76	13.93	14.00
4916	0.10	258.1	2577	2100	2678	2576	399.6	6.3	435	5045	0.12	2.60	117.82	1.345	10916	0.135	0.083	2642	695	2306	2363	2250	0	0	0	0	0	0	14.19	13.66	13.00
5090	0.16	258.1	2642	696	2356	2248	382.9	10.2	469	5095	0.00	2.53	0.00	0.000	1158	0.000	0.079	2642	2102	2300	2354	2247	0	0	0	0	0	0	13.89	13.78	13.92
5400	0.16	258.1	2642	2103	2355	2238	350.3	10.5	481	5401	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2102	2295	2353	2238	0	0	0	0	0	0	14.37	14.40	14.40
5700	0.16	258.1	2642	2103	2353	2236	319.4	10.2	491	5706	0.00	2.47	0.00	0.000	516	0.000	0.085	2646	693	2294	2352	2236	0	0	0	0	0	0	14.51	14.16	14.53
5741	0.20	258.1	2646	694	2350	2237	315.2	10.1	499	5747	0.00	2.45	0.00	0.000	1158	0.000	0.079	2645	2104	2293	2351	2236	0	0	0	0	0	0	14.33	14.21	14.37
6062	0.20	258.1	2647	2105	2350	2235	282.7	10.1	513	6067	0.00	2.47	0.00	0.000	516	0.000	0.084	2646	690	2292	2350	2235	0	0	0	0	0	0	14.56	14.19	14.59
6107	0.27	273.1	2647	690	2350	2235	278.4	9.3	522	6132	0.00	2.47	17.40	1.480	9382	0.000	0.078	2646	2111	2249	2307	2192	0	0	0	0	0	0	14.36	14.23	13.39
6454	0.31	292.3	2646	2111	2305	2186	246.6	9.1	541	6489	0.00	2.58	30.10	1.415	8868	0.000	0.084	2646	688	2169	2225	2113	0	0	0	0	0	0	14.53	14.11	13.35
6524	0.43	322.8	2646	688	2220	2113	240.2	8.6	555	6581	0.22	2.47	48.62	1.330	11430	0.100	0.079	2733	2099	2046	2096	1996	0	0	0	0	0	0	14.14	14.11	13.19
6906	0.33	322.8	2734	2099	2090	1987	187.6	13.4	581	6907	0.17	0.00	0.00	0.000	4230	0.236	0.000	2694	2099	2037	2088	1987	0	0	0	0	0	0	13.97	14.23	14.16
7206	0.34	333.2	2695	2099	2089	1984	158.1	9.5	591	7226	0.00	2.50	12.30	1.488	8740	0.000	0.085	2699	696	2004	2055	1954	0	0	0	0	0	0	14.52	14.14	13.38
7276	0.42	355.1	2699	698	2052	1954	151.5	9.0	605	7321	0.00	2.45	37.72	1.332	9382	0.000	0.077	2699	2105	1913	1956	1871	0	0	0	0	0	0	14.29	14.18	13.28
7628	0.47	377.2	2700	2106	1948	1865	119.5	9.0	625	7664	0.10	2.58	30.17	1.324	10916	0.155	0.085	2755	692	1826	1859	1793	0	0	0	0	0	0	14.21	13.97	13.31
7758	0.47	377.2	2755	691	1851	1791	104.5	11.2	651	7764	0.00	2.47	0.00	0.000	1030	0.000	0.079	2755	2100	1820	1850	1791	0	0	0	0	0	0	14.10	14.00	14.12
8070	0.44	377.3	2755	2102	1851	1786	70.0	10.0	682	8071	0.15	0.00	0.00	0.000	4262	0.239	0.000	2722	2100	1818	1850	1786	0	0	0	0	0	0	14.03	14.30	14.26
8370	0.59	484.1	2722	2101	1851	1783	50.8	5.1	712	8430	0.15	0.00	53.72	0.356	10406	0.120	0.000	2784	2101	1389	1443	1335	0	0	0	0	0	0	14.26	14.15	13.81
8730	0.68	537.4	2784	2101	1444	1321	23.4	7.5	748	8762	0.00	2.53	26.88	0.285	8868	0.000	0.086	2784	694	1172	1241	1104	0	0	0	0	0	0	14.47	14.11	13.86
8849	0.90	612.1	2784	693	1238	1102	14.9	6.6	771	8892	0.28	2.50	38.03	0.256	11430	0.098	0.083	2884	2111	869	945	793	0	0	0	0	0	0	14.18	14.05	13.85
9027	end climb: SURFACE_DEPTH_REACHED
state	9027	begin surface coast
9045	end surface coast: CONTROL_FINISHED_OK
state	9045	begin surface