Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 41 * 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 41 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 48

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 129.0

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 22 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 129.0 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 41 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 110817,091804,7143.6235,-14728.2666,65,0.8,66,21.4,0.5,322.9,9,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.05 MHEAD_RNG_PITCHd_Wd 326.6,180885,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.7 D_GRID 480

GPS2 110817,094555,7143.5898,-14727.9629,5,0.8,10,21.4,0.0,30.4,10,9.9

Post-dive calculations and measurements:

FINISH 0.5,1.020196 _24V_AH 12.67,62.092

SM_CCo 9254,13.25,0.219,0,0,500,703.03 _10V_AH 12.62,0.000

SM_GC 1.98,8.55,2.70,13.25,0.085,0.067,0.219,206,2200,500,-7.37,-0.76,703.03,0,0,0,0,0,0,14.00,13.96,13.81 FG_AHR_24Vo 0.000

RAFOS_CLK 67 FG_AHR_10Vo 0.000

RAFOS_FIX 7143.094727,-14732.961914,110817,080823,2,255,0.45 MEM 323744

IRIDIUM_FIX 7144.72,-14738.57,110817,093557 DATA_FILE_SIZE 26735,806

TT8_MAMPS 0.086884,0.901796 CAP_FILE_SIZE 110604,0

HUMID 46.69 CFSIZE 2097872896,2071035904

INTERNAL_PRESSURE 7.79129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.50 SOUNDSPEED 1451.9

XPDR_PINGS 14 CURRENT 0.108,197.73,1

CP_FREE 16012476416.000000 GPS 110817,122222,7144.232,-14728.714,41,0.8,43,21.4,0.0,0.0,11,8.8

PM_FREEKB_00 59931264

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 146.46 nil 0 0 0.00

Roll_motor 85 2129 2305.79 nil 0 0 0.00

VBD_pump_during_apogee 835 1475 15629.23 nil 0 0 0.00

VBD_pump_during_surface 13 218 36.73 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 9226 14 1726.63

Iridium_during_xfer 932 181 2141.50 NCP 9262 20 2346.99

Transponder_ping 3 420 18.62 PMAR 9206 16 1932.38

GUMSTIX_24V 0 0 0.00

GPS 17 22 5.08

TT8 0 0 0.00

LPSleep 6950 2 202.63

TT8_Active 757 13 133.62

TT8_Sampling 2710 33 1143.68

TT8_CF8 530 38 259.01

TT8_Kalman 0 0 0.00

Analog_circuits 2527 10 319.01

GPS_charging 0 0 0.00

Compass 1166 7 103.09

RAFOS 2219 48 1344.18

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 -145.9 173 2213 518 479 0.0 0.0 0 129 0.00 0.00 -81.53 0.000 16386 0.000 0.000 172 2212 2181 2103 2259 0 0 0 0 0 0 14.34 28.83 14.35

132 -0.57 -145.9 172 2212 2108 2260 3.3 -3.9 8 185 12.65 2.72 -33.38 0.000 18980 0.453 2.130 2384 791 3964 3954 3974 1 0 0 0 0 0 13.48 12.73 14.07

315 -0.57 -145.9 2385 792 3962 3975 47.0 -16.4 44 320 0.00 2.53 0.00 0.000 1030 0.000 0.087 2377 2197 3967 3961 3974 0 0 0 0 0 0 14.04 13.82 14.07

626 -0.57 -145.9 2377 2199 3964 3975 98.3 -14.4 76 631 0.00 2.53 0.00 0.000 260 0.000 0.087 2376 3620 3969 3964 3974 0 0 0 0 0 0 14.39 14.03 14.40

786 -0.68 -145.9 2377 3620 3965 3974 117.7 -11.1 108 791 0.00 2.42 0.00 0.000 1158 0.000 0.056 2376 2196 3969 3964 3974 0 0 0 0 0 0 14.23 14.14 14.26

1106 -0.73 -145.9 2376 2196 3964 3975 154.7 -11.0 122 1111 0.00 2.50 0.00 0.000 388 0.000 0.087 2371 3614 3968 3963 3974 0 0 0 0 0 0 14.46 14.13 14.48

1157 -0.88 -145.9 2371 3615 3964 3975 159.9 -9.8 132 1162 0.25 2.40 0.00 0.000 5286 0.093 0.054 2274 2193 3969 3964 3974 0 0 0 0 0 0 14.22 14.16 14.32

1467 -0.76 -145.9 2274 2192 3965 3971 215.8 -17.7 144 1472 0.22 2.50 0.00 0.000 2436 0.285 0.082 2318 3616 3967 3964 3971 0 0 0 0 0 0 13.83 14.12 14.02

1652 -0.82 -145.9 2319 3617 3963 3971 237.7 -10.9 181 1657 0.00 2.40 0.00 0.000 1158 0.000 0.056 2318 2196 3967 3963 3971 0 0 0 0 0 0 14.31 14.20 14.33

1977 -0.82 -145.9 2319 2195 3964 3968 274.6 -11.1 196 1982 0.00 2.50 0.00 0.000 260 0.000 0.087 2309 3616 3964 3962 3967 0 0 0 0 0 0 14.51 14.14 14.53

2047 -0.91 -145.9 2310 3616 3963 3966 282.4 -10.7 210 2052 0.00 2.42 0.00 0.000 1158 0.000 0.057 2309 2194 3964 3961 3967 0 0 0 0 0 0 14.31 14.20 14.34

2368 -0.91 -145.9 2310 2194 3963 3965 318.5 -11.3 224 2372 0.00 2.50 0.00 0.000 260 0.000 0.088 2306 3613 3963 3962 3964 0 0 0 0 0 0 14.52 14.16 14.54

2438 -0.98 -145.9 2306 3614 3962 3965 326.2 -10.5 238 2443 0.15 2.40 0.00 0.000 5254 0.125 0.057 2250 2196 3962 3961 3964 0 0 0 0 0 0 14.23 14.20 14.32

2758 -0.87 -145.9 2250 2196 3961 3962 377.6 -16.3 252 2763 0.17 2.50 0.00 0.000 2436 0.321 0.083 2279 3619 3961 3960 3962 0 0 0 0 0 0 13.85 14.12 14.05

2888 -0.87 -145.9 2279 3621 3960 3963 394.3 -12.0 278 2894 0.00 2.42 0.00 0.000 1030 0.000 0.058 2279 2196 3961 3960 3962 0 0 0 0 0 0 14.31 14.19 14.33

3209 -0.84 -145.9 2279 2195 3961 3960 435.8 -13.1 292 3214 0.12 2.50 0.00 0.000 2436 0.321 0.084 2305 3613 3959 3959 3960 0 0 0 0 0 0 13.90 14.12 14.06

3296 -0.93 -145.9 2306 3615 3959 3961 444.9 -9.9 309 3302 0.00 2.40 0.00 0.000 1190 0.000 0.056 2305 2199 3959 3959 3960 0 0 0 0 0 0 14.28 14.16 14.30

3599 -0.95 -145.9 2306 2199 3960 3960 477.2 -10.6 320 3604 0.00 2.53 0.00 0.000 388 0.000 0.089 2305 3620 3959 3959 3960 0 0 0 0 0 0 14.49 14.11 14.51

3627 end dive: TARGET_DEPTH_EXCEEDED

state 3627 begin apogee

3635 -0.13 0.0 2306 2103 3959 3960 480.4 -10.8 326 3841 0.88 0.00 198.77 1.448 10246 0.225 0.000 2530 2101 3359 3394 3324 0 0 0 0 0 0 13.90 13.40 12.91

3845 end apogee: CONTROL_FINISHED_OK

state 3845 begin climb

3847 0.57 145.9 2531 2102 3395 3322 490.0 0.0 333 4049 0.73 2.67 193.62 1.384 10500 0.067 0.076 2778 3507 2762 2818 2707 0 0 0 0 0 0 13.62 13.17 12.67

4275 0.17 145.9 2778 3508 2797 2704 450.6 18.2 420 4280 0.73 2.47 0.00 0.000 5254 0.348 0.058 2640 2097 2750 2796 2705 0 0 0 0 0 0 13.47 13.77 13.80

4591 0.10 166.2 2640 2098 2797 2705 420.4 9.1 433 4621 0.00 2.53 23.33 1.476 8612 0.000 0.082 2640 3510 2682 2732 2633 0 0 0 0 0 0 14.26 13.90 13.25

4776 0.00 166.2 2641 3511 2725 2633 400.6 10.9 470 4782 0.28 2.42 0.00 0.000 5254 0.259 0.058 2586 2101 2678 2724 2633 0 0 0 0 0 0 13.82 14.02 14.06

5102 0.12 246.0 2585 2101 2725 2631 379.2 6.3 485 5224 0.12 2.62 116.55 1.345 10916 0.134 0.086 2646 700 2358 2415 2302 0 0 0 0 0 0 14.08 13.67 13.11

5271 0.18 246.5 2647 697 2405 2300 362.9 10.0 518 5276 0.00 2.55 0.00 0.000 1190 0.000 0.080 2646 2106 2351 2403 2299 0 0 0 0 0 0 13.87 13.78 13.89

5586 0.18 246.5 2646 2108 2402 2293 330.1 10.4 531 5587 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2107 2346 2401 2292 0 0 0 0 0 0 14.29 14.31 14.31

5887 0.18 246.9 2647 2107 2401 2289 299.5 10.0 541 5891 0.00 2.53 0.00 0.000 548 0.000 0.086 2646 685 2344 2400 2289 0 0 0 0 0 0 14.40 14.09 14.42

5917 0.23 250.1 2647 684 2399 2289 296.6 9.8 547 5923 0.00 2.50 0.00 0.000 1190 0.000 0.080 2646 2103 2344 2398 2290 0 0 0 0 0 0 14.21 14.10 14.24

6248 0.23 261.2 2647 2104 2399 2288 264.8 9.5 563 6267 0.00 0.00 17.48 1.449 8230 0.000 0.000 2646 2105 2302 2357 2247 0 0 0 0 0 0 14.45 14.15 13.47

6548 0.27 285.1 2647 2104 2349 2238 237.7 8.9 573 6587 0.00 0.00 37.97 1.372 8358 0.000 0.000 2646 2104 2203 2258 2148 0 0 0 0 0 0 14.42 14.02 13.38

6878 0.35 309.1 2648 2103 2249 2135 208.2 8.9 584 6915 0.12 0.00 35.20 1.346 10918 0.134 0.000 2701 2103 2108 2161 2055 0 0 0 0 0 0 14.13 13.98 13.35

7208 0.35 309.1 2701 2103 2152 2043 169.5 11.4 600 7213 0.00 2.50 0.00 0.000 516 0.000 0.086 2709 693 2096 2149 2043 0 0 0 0 0 0 14.35 14.09 14.37

7283 0.37 309.3 2709 693 2149 2044 161.8 10.0 615 7289 0.00 2.47 0.00 0.000 1190 0.000 0.080 2709 2103 2095 2148 2043 0 0 0 0 0 0 14.23 14.11 14.25

7599 0.35 316.6 2709 2104 2148 2043 129.8 9.7 628 7604 0.00 0.00 3.53 1.431 8358 0.000 0.000 2709 2103 2075 2128 2022 0 0 0 0 0 0 14.44 14.00 13.05

7899 0.37 340.6 2709 2104 2133 2027 102.3 8.9 638 7946 0.00 2.53 40.92 1.297 8740 0.000 0.086 2710 687 1973 2022 1924 0 0 0 0 0 0 14.45 13.95 13.43

7998 0.49 378.0 2710 687 2016 1926 94.2 8.3 654 8024 0.00 2.53 18.98 0.493 9382 0.000 0.080 2710 2109 1826 1860 1792 0 0 0 0 0 0 14.06 13.95 13.62

8330 0.61 431.9 2710 2109 1858 1782 67.2 7.5 690 8361 0.20 0.00 27.40 0.408 10406 0.103 0.000 2787 2105 1606 1640 1573 0 0 0 0 0 0 14.00 13.91 13.60

8659 0.64 482.0 2787 2109 1641 1558 33.0 7.7 723 8691 0.00 2.53 24.88 0.304 8740 0.000 0.086 2793 691 1398 1449 1347 0 0 0 0 0 0 14.23 13.91 13.75

8783 0.76 526.0 2793 692 1449 1348 23.1 8.0 747 8810 0.00 2.53 22.62 0.283 9382 0.000 0.081 2793 2108 1216 1283 1149 0 0 0 0 0 0 14.02 13.91 13.69

9116 1.04 676.6 2794 2109 1284 1142 10.1 3.0 783 9198 0.35 2.55 74.68 0.236 10916 0.087 0.088 2931 689 602 660 545 0 0 0 0 0 0 13.98 13.88 13.74

9223 end climb: SURFACE_DEPTH_REACHED

state 9223 begin surface coast

9231 end surface coast: CONTROL_FINISHED_OK

state 9231 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	41	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	48
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	129.0
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	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,091804,7143.6235,-14728.2666,65,0.8,66,21.4,0.5,322.9,9,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.05	MHEAD_RNG_PITCHd_Wd	326.6,180885,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.7	D_GRID	480
GPS2	110817,094555,7143.5898,-14727.9629,5,0.8,10,21.4,0.0,30.4,10,9.9

FINISH	0.5,1.020196	_24V_AH	12.67,62.092
SM_CCo	9254,13.25,0.219,0,0,500,703.03	_10V_AH	12.62,0.000
SM_GC	1.98,8.55,2.70,13.25,0.085,0.067,0.219,206,2200,500,-7.37,-0.76,703.03,0,0,0,0,0,0,14.00,13.96,13.81	FG_AHR_24Vo	0.000
RAFOS_CLK	67	FG_AHR_10Vo	0.000
RAFOS_FIX	7143.094727,-14732.961914,110817,080823,2,255,0.45	MEM	323744
IRIDIUM_FIX	7144.72,-14738.57,110817,093557	DATA_FILE_SIZE	26735,806
TT8_MAMPS	0.086884,0.901796	CAP_FILE_SIZE	110604,0
HUMID	46.69	CFSIZE	2097872896,2071035904
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1451.9
XPDR_PINGS	14	CURRENT	0.108,197.73,1
CP_FREE	16012476416.000000	GPS	110817,122222,7144.232,-14728.714,41,0.8,43,21.4,0.0,0.0,11,8.8
PM_FREEKB_00	59931264

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	146.46	nil	0	0	0.00
Roll_motor	85	2129	2305.79	nil	0	0	0.00
VBD_pump_during_apogee	835	1475	15629.23	nil	0	0	0.00
VBD_pump_during_surface	13	218	36.73	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	9226	14	1726.63
Iridium_during_xfer	932	181	2141.50	NCP	9262	20	2346.99
Transponder_ping	3	420	18.62	PMAR	9206	16	1932.38
GUMSTIX_24V	0	0	0.00
GPS	17	22	5.08
TT8	0	0	0.00
LPSleep	6950	2	202.63
TT8_Active	757	13	133.62
TT8_Sampling	2710	33	1143.68
TT8_CF8	530	38	259.01
TT8_Kalman	0	0	0.00
Analog_circuits	2527	10	319.01
GPS_charging	0	0	0.00
Compass	1166	7	103.09
RAFOS	2219	48	1344.18
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	173	2213	518	479	0.0	0.0	0	129	0.00	0.00	-81.53	0.000	16386	0.000	0.000	172	2212	2181	2103	2259	0	0	0	0	0	0	14.34	28.83	14.35
132	-0.57	-145.9	172	2212	2108	2260	3.3	-3.9	8	185	12.65	2.72	-33.38	0.000	18980	0.453	2.130	2384	791	3964	3954	3974	1	0	0	0	0	0	13.48	12.73	14.07
315	-0.57	-145.9	2385	792	3962	3975	47.0	-16.4	44	320	0.00	2.53	0.00	0.000	1030	0.000	0.087	2377	2197	3967	3961	3974	0	0	0	0	0	0	14.04	13.82	14.07
626	-0.57	-145.9	2377	2199	3964	3975	98.3	-14.4	76	631	0.00	2.53	0.00	0.000	260	0.000	0.087	2376	3620	3969	3964	3974	0	0	0	0	0	0	14.39	14.03	14.40
786	-0.68	-145.9	2377	3620	3965	3974	117.7	-11.1	108	791	0.00	2.42	0.00	0.000	1158	0.000	0.056	2376	2196	3969	3964	3974	0	0	0	0	0	0	14.23	14.14	14.26
1106	-0.73	-145.9	2376	2196	3964	3975	154.7	-11.0	122	1111	0.00	2.50	0.00	0.000	388	0.000	0.087	2371	3614	3968	3963	3974	0	0	0	0	0	0	14.46	14.13	14.48
1157	-0.88	-145.9	2371	3615	3964	3975	159.9	-9.8	132	1162	0.25	2.40	0.00	0.000	5286	0.093	0.054	2274	2193	3969	3964	3974	0	0	0	0	0	0	14.22	14.16	14.32
1467	-0.76	-145.9	2274	2192	3965	3971	215.8	-17.7	144	1472	0.22	2.50	0.00	0.000	2436	0.285	0.082	2318	3616	3967	3964	3971	0	0	0	0	0	0	13.83	14.12	14.02
1652	-0.82	-145.9	2319	3617	3963	3971	237.7	-10.9	181	1657	0.00	2.40	0.00	0.000	1158	0.000	0.056	2318	2196	3967	3963	3971	0	0	0	0	0	0	14.31	14.20	14.33
1977	-0.82	-145.9	2319	2195	3964	3968	274.6	-11.1	196	1982	0.00	2.50	0.00	0.000	260	0.000	0.087	2309	3616	3964	3962	3967	0	0	0	0	0	0	14.51	14.14	14.53
2047	-0.91	-145.9	2310	3616	3963	3966	282.4	-10.7	210	2052	0.00	2.42	0.00	0.000	1158	0.000	0.057	2309	2194	3964	3961	3967	0	0	0	0	0	0	14.31	14.20	14.34
2368	-0.91	-145.9	2310	2194	3963	3965	318.5	-11.3	224	2372	0.00	2.50	0.00	0.000	260	0.000	0.088	2306	3613	3963	3962	3964	0	0	0	0	0	0	14.52	14.16	14.54
2438	-0.98	-145.9	2306	3614	3962	3965	326.2	-10.5	238	2443	0.15	2.40	0.00	0.000	5254	0.125	0.057	2250	2196	3962	3961	3964	0	0	0	0	0	0	14.23	14.20	14.32
2758	-0.87	-145.9	2250	2196	3961	3962	377.6	-16.3	252	2763	0.17	2.50	0.00	0.000	2436	0.321	0.083	2279	3619	3961	3960	3962	0	0	0	0	0	0	13.85	14.12	14.05
2888	-0.87	-145.9	2279	3621	3960	3963	394.3	-12.0	278	2894	0.00	2.42	0.00	0.000	1030	0.000	0.058	2279	2196	3961	3960	3962	0	0	0	0	0	0	14.31	14.19	14.33
3209	-0.84	-145.9	2279	2195	3961	3960	435.8	-13.1	292	3214	0.12	2.50	0.00	0.000	2436	0.321	0.084	2305	3613	3959	3959	3960	0	0	0	0	0	0	13.90	14.12	14.06
3296	-0.93	-145.9	2306	3615	3959	3961	444.9	-9.9	309	3302	0.00	2.40	0.00	0.000	1190	0.000	0.056	2305	2199	3959	3959	3960	0	0	0	0	0	0	14.28	14.16	14.30
3599	-0.95	-145.9	2306	2199	3960	3960	477.2	-10.6	320	3604	0.00	2.53	0.00	0.000	388	0.000	0.089	2305	3620	3959	3959	3960	0	0	0	0	0	0	14.49	14.11	14.51
3627	end dive: TARGET_DEPTH_EXCEEDED
state	3627	begin apogee
3635	-0.13	0.0	2306	2103	3959	3960	480.4	-10.8	326	3841	0.88	0.00	198.77	1.448	10246	0.225	0.000	2530	2101	3359	3394	3324	0	0	0	0	0	0	13.90	13.40	12.91
3845	end apogee: CONTROL_FINISHED_OK
state	3845	begin climb
3847	0.57	145.9	2531	2102	3395	3322	490.0	0.0	333	4049	0.73	2.67	193.62	1.384	10500	0.067	0.076	2778	3507	2762	2818	2707	0	0	0	0	0	0	13.62	13.17	12.67
4275	0.17	145.9	2778	3508	2797	2704	450.6	18.2	420	4280	0.73	2.47	0.00	0.000	5254	0.348	0.058	2640	2097	2750	2796	2705	0	0	0	0	0	0	13.47	13.77	13.80
4591	0.10	166.2	2640	2098	2797	2705	420.4	9.1	433	4621	0.00	2.53	23.33	1.476	8612	0.000	0.082	2640	3510	2682	2732	2633	0	0	0	0	0	0	14.26	13.90	13.25
4776	0.00	166.2	2641	3511	2725	2633	400.6	10.9	470	4782	0.28	2.42	0.00	0.000	5254	0.259	0.058	2586	2101	2678	2724	2633	0	0	0	0	0	0	13.82	14.02	14.06
5102	0.12	246.0	2585	2101	2725	2631	379.2	6.3	485	5224	0.12	2.62	116.55	1.345	10916	0.134	0.086	2646	700	2358	2415	2302	0	0	0	0	0	0	14.08	13.67	13.11
5271	0.18	246.5	2647	697	2405	2300	362.9	10.0	518	5276	0.00	2.55	0.00	0.000	1190	0.000	0.080	2646	2106	2351	2403	2299	0	0	0	0	0	0	13.87	13.78	13.89
5586	0.18	246.5	2646	2108	2402	2293	330.1	10.4	531	5587	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2107	2346	2401	2292	0	0	0	0	0	0	14.29	14.31	14.31
5887	0.18	246.9	2647	2107	2401	2289	299.5	10.0	541	5891	0.00	2.53	0.00	0.000	548	0.000	0.086	2646	685	2344	2400	2289	0	0	0	0	0	0	14.40	14.09	14.42
5917	0.23	250.1	2647	684	2399	2289	296.6	9.8	547	5923	0.00	2.50	0.00	0.000	1190	0.000	0.080	2646	2103	2344	2398	2290	0	0	0	0	0	0	14.21	14.10	14.24
6248	0.23	261.2	2647	2104	2399	2288	264.8	9.5	563	6267	0.00	0.00	17.48	1.449	8230	0.000	0.000	2646	2105	2302	2357	2247	0	0	0	0	0	0	14.45	14.15	13.47
6548	0.27	285.1	2647	2104	2349	2238	237.7	8.9	573	6587	0.00	0.00	37.97	1.372	8358	0.000	0.000	2646	2104	2203	2258	2148	0	0	0	0	0	0	14.42	14.02	13.38
6878	0.35	309.1	2648	2103	2249	2135	208.2	8.9	584	6915	0.12	0.00	35.20	1.346	10918	0.134	0.000	2701	2103	2108	2161	2055	0	0	0	0	0	0	14.13	13.98	13.35
7208	0.35	309.1	2701	2103	2152	2043	169.5	11.4	600	7213	0.00	2.50	0.00	0.000	516	0.000	0.086	2709	693	2096	2149	2043	0	0	0	0	0	0	14.35	14.09	14.37
7283	0.37	309.3	2709	693	2149	2044	161.8	10.0	615	7289	0.00	2.47	0.00	0.000	1190	0.000	0.080	2709	2103	2095	2148	2043	0	0	0	0	0	0	14.23	14.11	14.25
7599	0.35	316.6	2709	2104	2148	2043	129.8	9.7	628	7604	0.00	0.00	3.53	1.431	8358	0.000	0.000	2709	2103	2075	2128	2022	0	0	0	0	0	0	14.44	14.00	13.05
7899	0.37	340.6	2709	2104	2133	2027	102.3	8.9	638	7946	0.00	2.53	40.92	1.297	8740	0.000	0.086	2710	687	1973	2022	1924	0	0	0	0	0	0	14.45	13.95	13.43
7998	0.49	378.0	2710	687	2016	1926	94.2	8.3	654	8024	0.00	2.53	18.98	0.493	9382	0.000	0.080	2710	2109	1826	1860	1792	0	0	0	0	0	0	14.06	13.95	13.62
8330	0.61	431.9	2710	2109	1858	1782	67.2	7.5	690	8361	0.20	0.00	27.40	0.408	10406	0.103	0.000	2787	2105	1606	1640	1573	0	0	0	0	0	0	14.00	13.91	13.60
8659	0.64	482.0	2787	2109	1641	1558	33.0	7.7	723	8691	0.00	2.53	24.88	0.304	8740	0.000	0.086	2793	691	1398	1449	1347	0	0	0	0	0	0	14.23	13.91	13.75
8783	0.76	526.0	2793	692	1449	1348	23.1	8.0	747	8810	0.00	2.53	22.62	0.283	9382	0.000	0.081	2793	2108	1216	1283	1149	0	0	0	0	0	0	14.02	13.91	13.69
9116	1.04	676.6	2794	2109	1284	1142	10.1	3.0	783	9198	0.35	2.55	74.68	0.236	10916	0.087	0.088	2931	689	602	660	545	0	0	0	0	0	0	13.98	13.88	13.74
9223	end climb: SURFACE_DEPTH_REACHED
state	9223	begin surface coast
9231	end surface coast: CONTROL_FINISHED_OK
state	9231	begin surface