Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 116 * 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 116 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 329.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 329.0 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 24 VBD_MIN 500

DIVE 116 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 200817,043903,7300.2871,-14915.4658,14,0.8,19,21.0,0.4,126.7,11,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 294.7,30446,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 480

GPS2 200817,050002,7300.1470,-14915.1318,11,0.8,32,21.0,0.4,182.8,11,4.8

Post-dive calculations and measurements:

FINISH 0.3,1.009621 _24V_AH 12.47,98.004

SM_CCo 8897,26.30,0.210,0,0,498,703.03 _10V_AH 12.37,0.000

SM_GC 0.87,8.35,0.17,26.30,0.081,0.104,0.210,205,2232,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.24,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 390 FG_AHR_10Vo 0.000

RAFOS_FIX 7258.971191,-14918.901367,200817,040437,4,255,0.39 MEM 323488

IRIDIUM_FIX 7300.75,-14922.37,200817,045243 DATA_FILE_SIZE 23413,709

TT8_MAMPS 0.038948,0.922768 CAP_FILE_SIZE 108627,0

HUMID 47.08 CFSIZE 2097872896,2052816896

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.7

XPDR_PINGS 19 CURRENT 0.031,235.49,1

CP_FREE 15999664128.000000 GPS 200817,073018,7301.184,-14917.779,18,0.8,19,21.0,0.2,174.4,11,9.3

PM_FREEKB_00 54607360

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 146.55 nil 0 0 0.00

Roll_motor 93 104 121.47 nil 0 0 0.00

VBD_pump_during_apogee 937 1598 18686.60 nil 0 0 0.00

VBD_pump_during_surface 26 209 68.74 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 8906 14 1608.01

Iridium_during_xfer 774 161 1558.34 NCP 8897 20 2218.91

Transponder_ping 4 420 24.88 PMAR 8855 16 1828.59

GUMSTIX_24V 0 0 0.00

GPS 33 22 9.32

TT8 0 0 0.00

LPSleep 6545 2 187.02

TT8_Active 872 13 150.81

TT8_Sampling 2440 33 1009.66

TT8_CF8 332 38 159.20

TT8_Kalman 0 0 0.00

Analog_circuits 2477 10 306.48

GPS_charging 0 0 0.00

Compass 1018 7 88.17

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 205 2230 507 468 0.0 0.0 0 139 0.00 0.00 -91.25 0.000 16386 0.000 0.000 203 2231 2278 2213 2343 0 0 0 0 0 0 14.32 28.83 14.32

142 -0.57 -145.9 210 2230 2216 2344 4.9 -7.5 9 189 12.57 0.00 -29.83 0.000 19238 0.456 0.000 2382 2229 3965 3951 3980 0 0 0 0 0 0 13.64 12.66 14.09

487 -0.57 -145.9 2383 2229 3961 3980 84.9 -16.0 47 492 0.00 2.42 0.00 0.000 260 0.000 0.088 2376 3592 3970 3960 3980 0 0 0 0 0 0 14.47 14.07 14.49

677 -0.70 -145.9 2376 3593 3961 3980 108.2 -11.0 85 682 0.00 2.38 0.00 0.000 1158 0.000 0.055 2376 2190 3970 3960 3980 0 0 0 0 0 0 14.33 14.22 14.35

998 -0.79 -145.9 2376 2189 3961 3980 144.4 -10.8 99 1003 0.15 2.45 0.00 0.000 4484 0.124 0.085 2306 3583 3970 3961 3980 0 0 0 0 0 0 14.07 14.07 14.05

1048 -0.82 -145.9 2306 3582 3962 3980 151.6 -14.7 109 1053 0.00 2.33 0.00 0.000 1158 0.000 0.056 2305 2198 3970 3960 3980 0 0 0 0 0 0 14.33 14.21 14.35

1358 -0.80 -145.9 2306 2197 3961 3981 201.0 -15.3 121 1363 0.00 2.45 0.00 0.000 388 0.000 0.086 2297 3595 3970 3960 3980 0 0 0 0 0 0 14.59 14.19 14.60

1463 -0.85 -145.9 2297 3595 3962 3980 215.7 -12.9 142 1468 0.00 2.35 0.00 0.000 1158 0.000 0.056 2297 2199 3970 3960 3980 0 0 0 0 0 0 14.34 14.23 14.35

1778 -0.85 -145.9 2297 2199 3961 3981 259.6 -13.3 155 1783 0.00 2.45 0.00 0.000 260 0.000 0.088 2289 3595 3969 3960 3979 0 0 0 0 0 0 14.60 14.23 14.62

1890 -0.93 -145.9 2289 3596 3961 3980 272.6 -11.0 177 1894 0.00 2.35 0.00 0.000 1158 0.000 0.057 2289 2196 3970 3960 3980 0 0 0 0 0 0 14.40 14.28 14.42

2200 -0.93 -145.9 2289 2195 3961 3980 310.7 -12.1 189 2205 0.00 2.45 0.00 0.000 260 0.000 0.089 2280 3589 3969 3959 3979 0 0 0 0 0 0 14.60 14.19 14.61

2316 -1.00 -145.9 2280 3591 3959 3979 323.9 -11.2 212 2323 0.00 2.35 0.00 0.000 1158 0.000 0.056 2280 2202 3968 3958 3979 0 0 0 0 0 0 14.36 14.24 14.38

2620 -1.00 -145.9 2280 2201 3958 3979 360.4 -11.9 223 2625 0.00 2.45 0.00 0.000 260 0.000 0.088 2273 3588 3968 3958 3978 0 0 0 0 0 0 14.59 14.19 14.62

2700 -1.07 -145.9 2274 3590 3957 3980 369.6 -11.0 239 2705 0.12 2.35 0.00 0.000 5254 0.134 0.056 2227 2195 3967 3956 3978 0 0 0 0 0 0 14.28 14.26 14.38

3010 -0.98 -145.9 2227 2195 3956 3978 419.2 -16.1 251 3015 0.15 2.45 0.00 0.000 2436 0.298 0.085 2251 3592 3967 3956 3978 0 0 0 0 0 0 13.93 14.19 14.12

3127 -0.98 -145.9 2252 3594 3956 3979 434.5 -12.5 274 3133 0.00 2.38 0.00 0.000 1030 0.000 0.057 2251 2189 3966 3955 3978 0 0 0 0 0 0 14.34 14.25 14.38

3431 -0.95 -145.9 2251 2190 3956 3978 475.7 -13.6 285 3436 0.00 2.45 0.00 0.000 388 0.000 0.087 2242 3588 3966 3955 3977 0 0 0 0 0 0 14.61 14.21 14.62

3463 end dive: TARGET_DEPTH_EXCEEDED

state 3463 begin apogee

3471 -0.13 0.0 2244 2099 3956 3978 480.6 -14.3 292 3700 1.15 0.00 225.15 1.403 10246 0.255 0.000 2530 2098 3362 3385 3340 0 0 0 0 0 0 13.94 13.43 12.70

3704 end apogee: CONTROL_FINISHED_OK

state 3704 begin climb

3706 0.57 145.9 2530 2098 3378 3331 492.0 0.0 299 3928 0.73 2.42 208.57 1.332 10756 0.065 0.085 2781 690 2759 2801 2717 0 0 0 0 0 0 13.54 13.16 12.47

3979 0.23 145.9 2781 690 2796 2709 490.5 14.9 311 3984 0.60 2.58 0.00 0.000 5254 0.321 0.075 2659 2079 2751 2795 2708 0 0 0 0 0 0 13.16 13.40 13.46

4311 0.08 151.1 2660 2080 2794 2700 457.3 9.8 327 4316 0.17 2.47 0.00 0.000 4772 0.301 0.078 2626 688 2746 2793 2700 0 0 0 0 0 0 13.70 13.83 13.88

4371 0.08 193.9 2627 685 2794 2700 452.1 8.0 339 4446 0.00 2.53 67.97 1.358 9382 0.000 0.080 2626 2107 2568 2624 2513 0 0 0 0 0 0 14.01 13.90 13.00

4761 0.05 206.9 2626 2107 2616 2491 416.0 9.4 367 4777 0.00 2.53 9.52 1.598 8868 0.000 0.083 2639 683 2522 2585 2459 0 0 0 0 0 0 14.37 14.04 13.14

4817 0.06 220.6 2634 687 2578 2460 410.8 9.4 378 4843 0.15 2.50 20.95 1.458 13350 0.247 0.079 2602 2100 2467 2527 2407 0 0 0 0 0 0 13.89 14.07 13.18

5155 0.13 266.6 2603 2103 2509 2386 384.2 7.9 395 5228 0.00 0.00 71.72 1.343 8358 0.000 0.000 2603 2104 2280 2333 2227 0 0 0 0 0 0 14.46 13.88 13.15

5513 0.25 310.3 2602 2104 2317 2203 355.5 8.0 407 5588 0.17 2.60 67.85 1.315 10916 0.107 0.089 2680 694 2094 2143 2045 0 0 0 0 0 0 14.19 13.83 13.16

5628 0.25 310.3 2682 694 2129 2040 340.6 13.7 430 5634 0.00 2.50 0.00 0.000 1030 0.000 0.077 2686 2102 2083 2128 2039 0 0 0 0 0 0 14.01 13.90 14.03

5934 0.22 310.3 2682 2104 2128 2030 299.2 13.5 441 5939 0.12 2.50 0.00 0.000 4740 0.259 0.084 2659 684 2078 2128 2029 0 0 0 0 0 0 13.89 14.12 14.05

5984 0.28 310.3 2660 685 2126 2030 293.3 11.1 451 5989 0.00 2.47 0.00 0.000 1158 0.000 0.079 2659 2103 2077 2125 2029 0 0 0 0 0 0 14.29 14.18 14.33

6294 0.28 310.3 2660 2103 2126 2027 259.5 10.8 463 6299 0.00 2.47 0.00 0.000 516 0.000 0.087 2660 691 2076 2125 2027 0 0 0 0 0 0 14.56 14.22 14.57

6344 0.37 310.3 2660 692 2125 2028 254.2 10.2 473 6349 0.12 2.45 0.00 0.000 3206 0.137 0.078 2709 2106 2075 2124 2027 0 0 0 0 0 0 14.29 14.26 14.40

6654 0.30 310.3 2709 2108 2124 2027 214.5 11.9 485 6656 0.15 0.00 0.00 0.000 4230 0.236 0.000 2676 2107 2075 2124 2027 0 0 0 0 0 0 14.04 14.33 14.27

6954 0.33 329.6 2681 2114 2119 2026 187.0 9.1 495 6986 0.00 2.50 23.95 1.345 8868 0.000 0.088 2677 685 2017 2064 1970 0 0 0 0 0 0 14.60 14.17 13.42

7048 0.46 374.2 2677 686 2054 1968 179.3 7.9 513 7138 0.17 2.47 80.57 1.220 11430 0.113 0.079 2748 2101 1834 1864 1805 0 0 0 0 0 0 14.23 14.18 13.20

7437 0.40 374.2 2748 2105 1851 1786 129.1 12.8 541 7442 0.12 2.47 0.00 0.000 4740 0.243 0.081 2727 691 1818 1850 1786 0 0 0 0 0 0 13.97 14.10 14.12

7492 0.45 374.2 2727 691 1848 1786 123.1 10.2 552 7499 0.00 2.47 0.00 0.000 1158 0.000 0.077 2727 2106 1815 1844 1786 0 0 0 0 0 0 14.17 14.05 14.20

7797 0.46 393.7 2727 2107 1846 1784 92.8 9.1 567 7810 0.00 2.55 8.40 0.430 8740 0.000 0.084 2729 690 1757 1787 1728 0 0 0 0 0 0 14.50 14.17 13.71

7935 0.56 445.3 2730 690 1799 1737 81.3 7.6 594 7973 0.00 2.47 30.88 0.435 9382 0.000 0.078 2729 2105 1549 1583 1515 0 0 0 0 0 0 14.29 14.17 13.68

8270 0.73 537.2 2729 2104 1590 1518 57.0 5.8 631 8329 0.28 2.47 51.92 0.363 10660 0.091 0.080 2831 3507 1172 1235 1109 0 0 0 0 0 0 14.23 14.11 13.76

8381 0.70 537.2 2831 3508 1236 1119 44.5 13.0 651 8387 0.15 2.42 0.00 0.000 5254 0.269 0.066 2808 2101 1176 1235 1118 0 0 0 0 0 0 13.85 14.04 14.09

8685 0.80 587.4 2808 2101 1236 1118 17.6 7.7 682 8720 0.00 2.53 28.38 0.253 9124 0.000 0.079 2808 3510 968 1038 899 0 0 0 0 0 0 14.48 14.09 13.88

8736 1.02 660.2 2808 3510 1039 904 14.3 6.6 690 8783 0.32 2.42 41.85 0.240 11430 0.086 0.070 2919 2101 668 729 608 0 0 0 0 0 0 14.10 14.14 13.87

8866 end climb: SURFACE_DEPTH_REACHED

state 8868 begin surface coast

8876 end surface coast: CONTROL_FINISHED_OK

state 8876 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	116	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	329.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,043903,7300.2871,-14915.4658,14,0.8,19,21.0,0.4,126.7,11,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	294.7,30446,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	480
GPS2	200817,050002,7300.1470,-14915.1318,11,0.8,32,21.0,0.4,182.8,11,4.8

FINISH	0.3,1.009621	_24V_AH	12.47,98.004
SM_CCo	8897,26.30,0.210,0,0,498,703.03	_10V_AH	12.37,0.000
SM_GC	0.87,8.35,0.17,26.30,0.081,0.104,0.210,205,2232,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.24,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	390	FG_AHR_10Vo	0.000
RAFOS_FIX	7258.971191,-14918.901367,200817,040437,4,255,0.39	MEM	323488
IRIDIUM_FIX	7300.75,-14922.37,200817,045243	DATA_FILE_SIZE	23413,709
TT8_MAMPS	0.038948,0.922768	CAP_FILE_SIZE	108627,0
HUMID	47.08	CFSIZE	2097872896,2052816896
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.7
XPDR_PINGS	19	CURRENT	0.031,235.49,1
CP_FREE	15999664128.000000	GPS	200817,073018,7301.184,-14917.779,18,0.8,19,21.0,0.2,174.4,11,9.3
PM_FREEKB_00	54607360

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	146.55	nil	0	0	0.00
Roll_motor	93	104	121.47	nil	0	0	0.00
VBD_pump_during_apogee	937	1598	18686.60	nil	0	0	0.00
VBD_pump_during_surface	26	209	68.74	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	8906	14	1608.01
Iridium_during_xfer	774	161	1558.34	NCP	8897	20	2218.91
Transponder_ping	4	420	24.88	PMAR	8855	16	1828.59
GUMSTIX_24V	0	0	0.00
GPS	33	22	9.32
TT8	0	0	0.00
LPSleep	6545	2	187.02
TT8_Active	872	13	150.81
TT8_Sampling	2440	33	1009.66
TT8_CF8	332	38	159.20
TT8_Kalman	0	0	0.00
Analog_circuits	2477	10	306.48
GPS_charging	0	0	0.00
Compass	1018	7	88.17
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	205	2230	507	468	0.0	0.0	0	139	0.00	0.00	-91.25	0.000	16386	0.000	0.000	203	2231	2278	2213	2343	0	0	0	0	0	0	14.32	28.83	14.32
142	-0.57	-145.9	210	2230	2216	2344	4.9	-7.5	9	189	12.57	0.00	-29.83	0.000	19238	0.456	0.000	2382	2229	3965	3951	3980	0	0	0	0	0	0	13.64	12.66	14.09
487	-0.57	-145.9	2383	2229	3961	3980	84.9	-16.0	47	492	0.00	2.42	0.00	0.000	260	0.000	0.088	2376	3592	3970	3960	3980	0	0	0	0	0	0	14.47	14.07	14.49
677	-0.70	-145.9	2376	3593	3961	3980	108.2	-11.0	85	682	0.00	2.38	0.00	0.000	1158	0.000	0.055	2376	2190	3970	3960	3980	0	0	0	0	0	0	14.33	14.22	14.35
998	-0.79	-145.9	2376	2189	3961	3980	144.4	-10.8	99	1003	0.15	2.45	0.00	0.000	4484	0.124	0.085	2306	3583	3970	3961	3980	0	0	0	0	0	0	14.07	14.07	14.05
1048	-0.82	-145.9	2306	3582	3962	3980	151.6	-14.7	109	1053	0.00	2.33	0.00	0.000	1158	0.000	0.056	2305	2198	3970	3960	3980	0	0	0	0	0	0	14.33	14.21	14.35
1358	-0.80	-145.9	2306	2197	3961	3981	201.0	-15.3	121	1363	0.00	2.45	0.00	0.000	388	0.000	0.086	2297	3595	3970	3960	3980	0	0	0	0	0	0	14.59	14.19	14.60
1463	-0.85	-145.9	2297	3595	3962	3980	215.7	-12.9	142	1468	0.00	2.35	0.00	0.000	1158	0.000	0.056	2297	2199	3970	3960	3980	0	0	0	0	0	0	14.34	14.23	14.35
1778	-0.85	-145.9	2297	2199	3961	3981	259.6	-13.3	155	1783	0.00	2.45	0.00	0.000	260	0.000	0.088	2289	3595	3969	3960	3979	0	0	0	0	0	0	14.60	14.23	14.62
1890	-0.93	-145.9	2289	3596	3961	3980	272.6	-11.0	177	1894	0.00	2.35	0.00	0.000	1158	0.000	0.057	2289	2196	3970	3960	3980	0	0	0	0	0	0	14.40	14.28	14.42
2200	-0.93	-145.9	2289	2195	3961	3980	310.7	-12.1	189	2205	0.00	2.45	0.00	0.000	260	0.000	0.089	2280	3589	3969	3959	3979	0	0	0	0	0	0	14.60	14.19	14.61
2316	-1.00	-145.9	2280	3591	3959	3979	323.9	-11.2	212	2323	0.00	2.35	0.00	0.000	1158	0.000	0.056	2280	2202	3968	3958	3979	0	0	0	0	0	0	14.36	14.24	14.38
2620	-1.00	-145.9	2280	2201	3958	3979	360.4	-11.9	223	2625	0.00	2.45	0.00	0.000	260	0.000	0.088	2273	3588	3968	3958	3978	0	0	0	0	0	0	14.59	14.19	14.62
2700	-1.07	-145.9	2274	3590	3957	3980	369.6	-11.0	239	2705	0.12	2.35	0.00	0.000	5254	0.134	0.056	2227	2195	3967	3956	3978	0	0	0	0	0	0	14.28	14.26	14.38
3010	-0.98	-145.9	2227	2195	3956	3978	419.2	-16.1	251	3015	0.15	2.45	0.00	0.000	2436	0.298	0.085	2251	3592	3967	3956	3978	0	0	0	0	0	0	13.93	14.19	14.12
3127	-0.98	-145.9	2252	3594	3956	3979	434.5	-12.5	274	3133	0.00	2.38	0.00	0.000	1030	0.000	0.057	2251	2189	3966	3955	3978	0	0	0	0	0	0	14.34	14.25	14.38
3431	-0.95	-145.9	2251	2190	3956	3978	475.7	-13.6	285	3436	0.00	2.45	0.00	0.000	388	0.000	0.087	2242	3588	3966	3955	3977	0	0	0	0	0	0	14.61	14.21	14.62
3463	end dive: TARGET_DEPTH_EXCEEDED
state	3463	begin apogee
3471	-0.13	0.0	2244	2099	3956	3978	480.6	-14.3	292	3700	1.15	0.00	225.15	1.403	10246	0.255	0.000	2530	2098	3362	3385	3340	0	0	0	0	0	0	13.94	13.43	12.70
3704	end apogee: CONTROL_FINISHED_OK
state	3704	begin climb
3706	0.57	145.9	2530	2098	3378	3331	492.0	0.0	299	3928	0.73	2.42	208.57	1.332	10756	0.065	0.085	2781	690	2759	2801	2717	0	0	0	0	0	0	13.54	13.16	12.47
3979	0.23	145.9	2781	690	2796	2709	490.5	14.9	311	3984	0.60	2.58	0.00	0.000	5254	0.321	0.075	2659	2079	2751	2795	2708	0	0	0	0	0	0	13.16	13.40	13.46
4311	0.08	151.1	2660	2080	2794	2700	457.3	9.8	327	4316	0.17	2.47	0.00	0.000	4772	0.301	0.078	2626	688	2746	2793	2700	0	0	0	0	0	0	13.70	13.83	13.88
4371	0.08	193.9	2627	685	2794	2700	452.1	8.0	339	4446	0.00	2.53	67.97	1.358	9382	0.000	0.080	2626	2107	2568	2624	2513	0	0	0	0	0	0	14.01	13.90	13.00
4761	0.05	206.9	2626	2107	2616	2491	416.0	9.4	367	4777	0.00	2.53	9.52	1.598	8868	0.000	0.083	2639	683	2522	2585	2459	0	0	0	0	0	0	14.37	14.04	13.14
4817	0.06	220.6	2634	687	2578	2460	410.8	9.4	378	4843	0.15	2.50	20.95	1.458	13350	0.247	0.079	2602	2100	2467	2527	2407	0	0	0	0	0	0	13.89	14.07	13.18
5155	0.13	266.6	2603	2103	2509	2386	384.2	7.9	395	5228	0.00	0.00	71.72	1.343	8358	0.000	0.000	2603	2104	2280	2333	2227	0	0	0	0	0	0	14.46	13.88	13.15
5513	0.25	310.3	2602	2104	2317	2203	355.5	8.0	407	5588	0.17	2.60	67.85	1.315	10916	0.107	0.089	2680	694	2094	2143	2045	0	0	0	0	0	0	14.19	13.83	13.16
5628	0.25	310.3	2682	694	2129	2040	340.6	13.7	430	5634	0.00	2.50	0.00	0.000	1030	0.000	0.077	2686	2102	2083	2128	2039	0	0	0	0	0	0	14.01	13.90	14.03
5934	0.22	310.3	2682	2104	2128	2030	299.2	13.5	441	5939	0.12	2.50	0.00	0.000	4740	0.259	0.084	2659	684	2078	2128	2029	0	0	0	0	0	0	13.89	14.12	14.05
5984	0.28	310.3	2660	685	2126	2030	293.3	11.1	451	5989	0.00	2.47	0.00	0.000	1158	0.000	0.079	2659	2103	2077	2125	2029	0	0	0	0	0	0	14.29	14.18	14.33
6294	0.28	310.3	2660	2103	2126	2027	259.5	10.8	463	6299	0.00	2.47	0.00	0.000	516	0.000	0.087	2660	691	2076	2125	2027	0	0	0	0	0	0	14.56	14.22	14.57
6344	0.37	310.3	2660	692	2125	2028	254.2	10.2	473	6349	0.12	2.45	0.00	0.000	3206	0.137	0.078	2709	2106	2075	2124	2027	0	0	0	0	0	0	14.29	14.26	14.40
6654	0.30	310.3	2709	2108	2124	2027	214.5	11.9	485	6656	0.15	0.00	0.00	0.000	4230	0.236	0.000	2676	2107	2075	2124	2027	0	0	0	0	0	0	14.04	14.33	14.27
6954	0.33	329.6	2681	2114	2119	2026	187.0	9.1	495	6986	0.00	2.50	23.95	1.345	8868	0.000	0.088	2677	685	2017	2064	1970	0	0	0	0	0	0	14.60	14.17	13.42
7048	0.46	374.2	2677	686	2054	1968	179.3	7.9	513	7138	0.17	2.47	80.57	1.220	11430	0.113	0.079	2748	2101	1834	1864	1805	0	0	0	0	0	0	14.23	14.18	13.20
7437	0.40	374.2	2748	2105	1851	1786	129.1	12.8	541	7442	0.12	2.47	0.00	0.000	4740	0.243	0.081	2727	691	1818	1850	1786	0	0	0	0	0	0	13.97	14.10	14.12
7492	0.45	374.2	2727	691	1848	1786	123.1	10.2	552	7499	0.00	2.47	0.00	0.000	1158	0.000	0.077	2727	2106	1815	1844	1786	0	0	0	0	0	0	14.17	14.05	14.20
7797	0.46	393.7	2727	2107	1846	1784	92.8	9.1	567	7810	0.00	2.55	8.40	0.430	8740	0.000	0.084	2729	690	1757	1787	1728	0	0	0	0	0	0	14.50	14.17	13.71
7935	0.56	445.3	2730	690	1799	1737	81.3	7.6	594	7973	0.00	2.47	30.88	0.435	9382	0.000	0.078	2729	2105	1549	1583	1515	0	0	0	0	0	0	14.29	14.17	13.68
8270	0.73	537.2	2729	2104	1590	1518	57.0	5.8	631	8329	0.28	2.47	51.92	0.363	10660	0.091	0.080	2831	3507	1172	1235	1109	0	0	0	0	0	0	14.23	14.11	13.76
8381	0.70	537.2	2831	3508	1236	1119	44.5	13.0	651	8387	0.15	2.42	0.00	0.000	5254	0.269	0.066	2808	2101	1176	1235	1118	0	0	0	0	0	0	13.85	14.04	14.09
8685	0.80	587.4	2808	2101	1236	1118	17.6	7.7	682	8720	0.00	2.53	28.38	0.253	9124	0.000	0.079	2808	3510	968	1038	899	0	0	0	0	0	0	14.48	14.09	13.88
8736	1.02	660.2	2808	3510	1039	904	14.3	6.6	690	8783	0.32	2.42	41.85	0.240	11430	0.086	0.070	2919	2101	668	729	608	0	0	0	0	0	0	14.10	14.14	13.87
8866	end climb: SURFACE_DEPTH_REACHED
state	8868	begin surface coast
8876	end surface coast: CONTROL_FINISHED_OK
state	8876	begin surface