Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 49 * 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 49 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 148.0

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 25 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 148.0 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 26 VBD_MIN 500

DIVE 49 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 120817,090825,7148.6274,-14731.6670,20,0.8,40,21.4,0.0,146.0,10,6.3 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 318.3,171792,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 120817,092010,7148.5493,-14731.6533,6,0.8,10,21.4,0.0,38.0,9,10.0

Post-dive calculations and measurements:

FINISH 0.6,1.019968 _24V_AH 12.59,66.065

SM_CCo 8927,11.07,0.219,0,0,499,703.03 _10V_AH 12.68,0.000

SM_GC 2.17,8.32,2.30,11.07,0.085,0.052,0.219,203,2190,499,-7.38,0.57,703.03,0,0,0,0,0,0,14.13,14.10,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

RAFOS_FIX 7325.362305,-14308.439453,120817,080823,4,255,37.31 MEM 323604

IRIDIUM_FIX 7146.45,-14734.89,120817,062929 DATA_FILE_SIZE 26697,745

TT8_MAMPS 0.041195,0.863597 CAP_FILE_SIZE 101601,0

HUMID 49.01 CFSIZE 2097872896,2073264128

INTERNAL_PRESSURE 7.80105 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.50 SOUNDSPEED 1452.1

XPDR_PINGS 19 CURRENT 0.076,182.00,1

CP_FREE 16011100160.000000 GPS 120817,115049,7149.356,-14732.460,18,0.7,22,21.4,0.0,0.0,12,10.0

PM_FREEKB_00 59369344

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 148.64 nil 0 0 0.00

Roll_motor 84 113 121.19 nil 0 0 0.00

VBD_pump_during_apogee 931 1459 17114.60 nil 0 0 0.00

VBD_pump_during_surface 11 218 30.51 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 8933 14 1630.76

Iridium_during_xfer 439 185 1023.91 NCP 8933 20 2249.33

Transponder_ping 4 420 25.12 PMAR 8881 16 1852.72

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.29

TT8 0 0 0.00

LPSleep 6396 2 187.36

TT8_Active 963 13 170.66

TT8_Sampling 2027 33 859.50

TT8_CF8 272 38 133.66

TT8_Kalman 0 0 0.00

Analog_circuits 2100 10 266.30

GPS_charging 0 0 0.00

Compass 1083 7 96.16

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 -145.9 192 2212 508 461 0.0 0.0 0 129 0.00 0.00 -81.45 0.000 16386 0.000 0.000 191 2213 2133 2056 2211 0 0 0 0 0 0 14.30 28.83 14.32

132 -0.57 -145.9 192 2213 2059 2213 3.8 -5.3 8 179 12.60 0.00 -32.92 0.000 18726 0.454 0.000 2384 2214 3962 3950 3975 1 0 0 0 0 0 13.51 12.59 14.07

477 -0.55 -145.9 2384 2214 3964 3980 79.5 -15.3 44 482 0.00 2.47 0.00 0.000 388 0.000 0.084 2377 3608 3970 3964 3976 0 0 0 0 0 0 14.37 14.04 14.39

662 -0.64 -145.9 2378 3609 3965 3976 102.5 -11.4 81 667 0.00 2.42 0.00 0.000 1158 0.000 0.055 2377 2190 3969 3963 3976 0 0 0 0 0 0 14.20 14.09 14.21

987 -0.70 -145.9 2378 2190 3964 3977 141.3 -11.3 96 992 0.00 2.50 0.00 0.000 388 0.000 0.086 2368 3607 3970 3964 3976 0 0 0 0 0 0 14.47 14.14 14.50

1052 -0.84 -145.9 2369 3609 3964 3976 148.1 -9.7 109 1058 0.20 2.40 0.00 0.000 5286 0.104 0.054 2287 2199 3969 3963 3976 0 0 0 0 0 0 14.13 14.13 14.21

1378 -0.76 -145.9 2288 2198 3964 3977 204.7 -17.0 124 1383 0.15 2.47 0.00 0.000 2436 0.285 0.083 2317 3608 3969 3964 3975 0 0 0 0 0 0 13.86 14.13 14.04

1480 -0.83 -145.9 2317 3609 3964 3976 217.7 -11.4 144 1485 0.00 2.38 0.00 0.000 1158 0.000 0.055 2317 2199 3968 3963 3974 0 0 0 0 0 0 14.22 14.12 14.28

1800 -0.83 -145.9 2316 2199 3964 3974 255.5 -11.3 158 1805 0.00 2.47 0.00 0.000 260 0.000 0.086 2308 3607 3968 3963 3973 0 0 0 0 0 0 14.54 14.14 14.54

1906 -0.90 -145.9 2308 3609 3963 3973 267.2 -10.6 179 1910 0.00 2.38 0.00 0.000 1158 0.000 0.057 2308 2201 3967 3962 3972 0 0 0 0 0 0 14.21 14.17 14.21

2220 -0.90 -145.9 2308 2200 3962 3971 303.6 -11.5 192 2225 0.00 2.47 0.00 0.000 260 0.000 0.088 2305 3607 3966 3962 3970 0 0 0 0 0 0 14.54 14.19 14.56

2260 -0.97 -145.9 2306 3608 3962 3971 308.1 -11.2 200 2266 0.12 2.40 0.00 0.000 5254 0.132 0.059 2256 2196 3965 3961 3970 0 0 0 0 0 0 14.21 14.19 14.31

2581 -0.89 -145.9 2256 2196 3962 3970 357.2 -15.4 214 2587 0.12 2.47 0.00 0.000 2436 0.320 0.083 2275 3607 3965 3961 3969 0 0 0 0 0 0 13.90 14.12 14.09

2698 -0.89 -145.9 2275 3608 3961 3969 372.6 -12.5 237 2704 0.00 2.40 0.00 0.000 1030 0.000 0.057 2275 2195 3964 3960 3969 0 0 0 0 0 0 14.28 14.15 14.31

3002 -0.85 -145.9 2275 2195 3961 3968 413.5 -13.4 248 3007 0.12 2.50 0.00 0.000 2436 0.318 0.084 2293 3613 3964 3960 3968 0 0 0 0 0 0 13.95 14.16 14.18

3082 -0.92 -145.9 2294 3614 3960 3967 422.7 -10.5 264 3087 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2201 3964 3960 3968 0 0 0 0 0 0 14.31 14.20 14.33

3393 -0.92 -145.9 2293 2199 3961 3966 457.9 -11.3 276 3397 0.00 2.50 0.00 0.000 260 0.000 0.087 2293 3613 3967 3968 3966 0 0 0 0 0 0 14.52 14.12 14.53

3468 -1.01 -145.9 2293 3614 3961 3966 466.0 -10.3 291 3473 0.12 2.40 0.00 0.000 5254 0.135 0.057 2248 2196 3963 3959 3967 0 0 0 0 0 0 14.15 14.14 14.25

3570 end dive: TARGET_DEPTH_EXCEEDED

state 3570 begin apogee

3576 -0.13 0.0 2249 2070 3960 3967 481.2 -14.9 297 3787 1.15 0.00 208.05 1.428 10246 0.269 0.000 2528 2067 3366 3396 3337 0 0 0 0 0 0 13.88 13.51 12.87

3791 end apogee: CONTROL_FINISHED_OK

state 3791 begin climb

3793 0.57 145.9 2529 2067 3392 3327 491.4 0.0 304 4003 0.75 2.75 196.10 1.378 10500 0.065 0.076 2783 3505 2759 2809 2709 0 0 0 0 0 0 13.58 13.22 12.64

4228 0.16 145.9 2781 3507 2790 2710 452.0 18.1 385 4234 0.75 2.42 0.00 0.000 5254 0.343 0.057 2637 2120 2749 2789 2709 0 0 0 0 0 0 13.47 13.74 13.79

4544 0.10 172.0 2637 2120 2791 2706 422.5 8.8 398 4584 0.00 2.53 32.90 1.444 8612 0.000 0.081 2637 3502 2657 2705 2609 0 0 0 0 0 0 14.26 13.86 13.20

4609 -0.00 172.0 2637 3503 2698 2608 416.2 10.4 411 4614 0.28 2.42 0.00 0.000 5254 0.249 0.058 2582 2103 2652 2697 2607 0 0 0 0 0 0 13.73 13.85 13.96

4935 0.13 255.6 2583 2103 2698 2603 395.4 6.1 426 5071 0.12 2.65 130.32 1.320 10916 0.132 0.086 2633 689 2319 2374 2264 0 0 0 0 0 0 14.12 13.61 13.05

5106 0.23 272.1 2633 692 2363 2259 379.9 9.2 450 5133 0.00 2.55 22.55 1.432 9382 0.000 0.078 2633 2095 2256 2314 2199 0 0 0 0 0 0 13.79 13.70 12.99

5450 0.29 289.8 2633 2096 2298 2176 348.3 9.2 468 5480 0.12 0.00 22.12 1.460 10406 0.129 0.000 2686 2095 2176 2234 2119 0 0 0 0 0 0 14.03 13.90 13.21

5778 0.24 289.8 2686 2095 2226 2110 304.6 13.3 479 5783 0.00 2.50 0.00 0.000 644 0.000 0.086 2686 688 2167 2225 2110 0 0 0 0 0 0 14.34 13.97 14.35

5823 0.24 289.8 2687 688 2225 2110 298.7 12.7 488 5828 0.00 2.50 0.00 0.000 1030 0.000 0.080 2686 2109 2167 2224 2110 0 0 0 0 0 0 14.19 14.08 14.23

6139 0.20 289.8 2686 2112 2224 2109 257.3 12.9 501 6144 0.15 2.50 0.00 0.000 4740 0.242 0.082 2658 686 2165 2223 2108 0 0 0 0 0 0 13.97 14.07 14.13

6194 0.28 291.6 2658 686 2223 2109 251.5 9.9 512 6200 0.00 2.47 0.00 0.000 1190 0.000 0.080 2659 2106 2165 2222 2108 0 0 0 0 0 0 14.26 14.13 14.28

6499 0.31 294.7 2658 2104 2223 2108 220.5 9.9 523 6500 0.00 0.00 0.00 0.000 166 0.000 0.000 2658 2103 2163 2220 2107 0 0 0 0 0 0 14.48 14.50 14.50

6799 0.38 326.4 2658 2104 2222 2107 193.9 8.5 533 6866 0.15 2.58 59.85 1.301 10916 0.121 0.086 2725 693 2026 2075 1978 0 0 0 0 0 0 14.27 13.93 13.36

6886 0.35 326.4 2725 693 2071 1977 183.6 13.2 540 6893 0.15 2.50 0.00 0.000 5254 0.235 0.080 2694 2097 2022 2070 1975 0 0 0 0 0 0 13.86 13.95 14.05

7191 0.35 327.8 2692 2099 2068 1969 152.5 9.9 551 7192 0.00 0.00 0.00 0.000 38 0.000 0.000 2694 2097 2017 2067 1968 0 0 0 0 0 0 14.37 14.39 14.39

7491 0.41 359.1 2694 2099 2067 1966 126.1 8.6 561 7552 0.00 2.55 52.25 1.274 8868 0.000 0.086 2704 698 1895 1935 1855 0 0 0 0 0 0 14.44 13.93 13.34

7589 0.55 391.8 2698 698 1927 1854 117.8 8.5 580 7650 0.20 2.50 53.95 1.222 11430 0.099 0.078 2782 2104 1766 1801 1732 0 0 0 0 0 0 14.03 13.97 13.22

7955 0.50 391.8 2776 2108 1789 1713 67.8 12.7 621 7960 0.12 2.53 0.00 0.000 4740 0.270 0.083 2756 691 1747 1783 1712 0 0 0 0 0 0 13.74 13.93 13.89

8048 0.56 411.6 2755 691 1784 1712 58.6 9.1 639 8063 0.00 2.50 8.85 0.368 9382 0.000 0.080 2756 2106 1686 1721 1651 0 0 0 0 0 0 14.07 13.96 13.70

8368 0.65 485.8 2757 2106 1726 1655 33.1 6.6 673 8410 0.10 0.00 40.08 0.304 10406 0.151 0.000 2796 2105 1384 1436 1333 0 0 0 0 0 0 14.11 14.11 13.83

8708 0.91 682.9 2797 2106 1437 1330 12.2 0.9 707 8819 0.20 2.50 104.30 0.242 10660 0.109 0.082 2880 3512 579 639 520 0 0 0 0 0 0 14.12 13.93 13.81

8894 end climb: SURFACE_DEPTH_REACHED

state 8894 begin surface coast

8904 end surface coast: CONTROL_FINISHED_OK

state 8904 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	49	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	148.0
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	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,090825,7148.6274,-14731.6670,20,0.8,40,21.4,0.0,146.0,10,6.3	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	318.3,171792,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	120817,092010,7148.5493,-14731.6533,6,0.8,10,21.4,0.0,38.0,9,10.0

FINISH	0.6,1.019968	_24V_AH	12.59,66.065
SM_CCo	8927,11.07,0.219,0,0,499,703.03	_10V_AH	12.68,0.000
SM_GC	2.17,8.32,2.30,11.07,0.085,0.052,0.219,203,2190,499,-7.38,0.57,703.03,0,0,0,0,0,0,14.13,14.10,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
RAFOS_FIX	7325.362305,-14308.439453,120817,080823,4,255,37.31	MEM	323604
IRIDIUM_FIX	7146.45,-14734.89,120817,062929	DATA_FILE_SIZE	26697,745
TT8_MAMPS	0.041195,0.863597	CAP_FILE_SIZE	101601,0
HUMID	49.01	CFSIZE	2097872896,2073264128
INTERNAL_PRESSURE	7.80105	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1452.1
XPDR_PINGS	19	CURRENT	0.076,182.00,1
CP_FREE	16011100160.000000	GPS	120817,115049,7149.356,-14732.460,18,0.7,22,21.4,0.0,0.0,12,10.0
PM_FREEKB_00	59369344

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	148.64	nil	0	0	0.00
Roll_motor	84	113	121.19	nil	0	0	0.00
VBD_pump_during_apogee	931	1459	17114.60	nil	0	0	0.00
VBD_pump_during_surface	11	218	30.51	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	8933	14	1630.76
Iridium_during_xfer	439	185	1023.91	NCP	8933	20	2249.33
Transponder_ping	4	420	25.12	PMAR	8881	16	1852.72
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.29
TT8	0	0	0.00
LPSleep	6396	2	187.36
TT8_Active	963	13	170.66
TT8_Sampling	2027	33	859.50
TT8_CF8	272	38	133.66
TT8_Kalman	0	0	0.00
Analog_circuits	2100	10	266.30
GPS_charging	0	0	0.00
Compass	1083	7	96.16
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	192	2212	508	461	0.0	0.0	0	129	0.00	0.00	-81.45	0.000	16386	0.000	0.000	191	2213	2133	2056	2211	0	0	0	0	0	0	14.30	28.83	14.32
132	-0.57	-145.9	192	2213	2059	2213	3.8	-5.3	8	179	12.60	0.00	-32.92	0.000	18726	0.454	0.000	2384	2214	3962	3950	3975	1	0	0	0	0	0	13.51	12.59	14.07
477	-0.55	-145.9	2384	2214	3964	3980	79.5	-15.3	44	482	0.00	2.47	0.00	0.000	388	0.000	0.084	2377	3608	3970	3964	3976	0	0	0	0	0	0	14.37	14.04	14.39
662	-0.64	-145.9	2378	3609	3965	3976	102.5	-11.4	81	667	0.00	2.42	0.00	0.000	1158	0.000	0.055	2377	2190	3969	3963	3976	0	0	0	0	0	0	14.20	14.09	14.21
987	-0.70	-145.9	2378	2190	3964	3977	141.3	-11.3	96	992	0.00	2.50	0.00	0.000	388	0.000	0.086	2368	3607	3970	3964	3976	0	0	0	0	0	0	14.47	14.14	14.50
1052	-0.84	-145.9	2369	3609	3964	3976	148.1	-9.7	109	1058	0.20	2.40	0.00	0.000	5286	0.104	0.054	2287	2199	3969	3963	3976	0	0	0	0	0	0	14.13	14.13	14.21
1378	-0.76	-145.9	2288	2198	3964	3977	204.7	-17.0	124	1383	0.15	2.47	0.00	0.000	2436	0.285	0.083	2317	3608	3969	3964	3975	0	0	0	0	0	0	13.86	14.13	14.04
1480	-0.83	-145.9	2317	3609	3964	3976	217.7	-11.4	144	1485	0.00	2.38	0.00	0.000	1158	0.000	0.055	2317	2199	3968	3963	3974	0	0	0	0	0	0	14.22	14.12	14.28
1800	-0.83	-145.9	2316	2199	3964	3974	255.5	-11.3	158	1805	0.00	2.47	0.00	0.000	260	0.000	0.086	2308	3607	3968	3963	3973	0	0	0	0	0	0	14.54	14.14	14.54
1906	-0.90	-145.9	2308	3609	3963	3973	267.2	-10.6	179	1910	0.00	2.38	0.00	0.000	1158	0.000	0.057	2308	2201	3967	3962	3972	0	0	0	0	0	0	14.21	14.17	14.21
2220	-0.90	-145.9	2308	2200	3962	3971	303.6	-11.5	192	2225	0.00	2.47	0.00	0.000	260	0.000	0.088	2305	3607	3966	3962	3970	0	0	0	0	0	0	14.54	14.19	14.56
2260	-0.97	-145.9	2306	3608	3962	3971	308.1	-11.2	200	2266	0.12	2.40	0.00	0.000	5254	0.132	0.059	2256	2196	3965	3961	3970	0	0	0	0	0	0	14.21	14.19	14.31
2581	-0.89	-145.9	2256	2196	3962	3970	357.2	-15.4	214	2587	0.12	2.47	0.00	0.000	2436	0.320	0.083	2275	3607	3965	3961	3969	0	0	0	0	0	0	13.90	14.12	14.09
2698	-0.89	-145.9	2275	3608	3961	3969	372.6	-12.5	237	2704	0.00	2.40	0.00	0.000	1030	0.000	0.057	2275	2195	3964	3960	3969	0	0	0	0	0	0	14.28	14.15	14.31
3002	-0.85	-145.9	2275	2195	3961	3968	413.5	-13.4	248	3007	0.12	2.50	0.00	0.000	2436	0.318	0.084	2293	3613	3964	3960	3968	0	0	0	0	0	0	13.95	14.16	14.18
3082	-0.92	-145.9	2294	3614	3960	3967	422.7	-10.5	264	3087	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2201	3964	3960	3968	0	0	0	0	0	0	14.31	14.20	14.33
3393	-0.92	-145.9	2293	2199	3961	3966	457.9	-11.3	276	3397	0.00	2.50	0.00	0.000	260	0.000	0.087	2293	3613	3967	3968	3966	0	0	0	0	0	0	14.52	14.12	14.53
3468	-1.01	-145.9	2293	3614	3961	3966	466.0	-10.3	291	3473	0.12	2.40	0.00	0.000	5254	0.135	0.057	2248	2196	3963	3959	3967	0	0	0	0	0	0	14.15	14.14	14.25
3570	end dive: TARGET_DEPTH_EXCEEDED
state	3570	begin apogee
3576	-0.13	0.0	2249	2070	3960	3967	481.2	-14.9	297	3787	1.15	0.00	208.05	1.428	10246	0.269	0.000	2528	2067	3366	3396	3337	0	0	0	0	0	0	13.88	13.51	12.87
3791	end apogee: CONTROL_FINISHED_OK
state	3791	begin climb
3793	0.57	145.9	2529	2067	3392	3327	491.4	0.0	304	4003	0.75	2.75	196.10	1.378	10500	0.065	0.076	2783	3505	2759	2809	2709	0	0	0	0	0	0	13.58	13.22	12.64
4228	0.16	145.9	2781	3507	2790	2710	452.0	18.1	385	4234	0.75	2.42	0.00	0.000	5254	0.343	0.057	2637	2120	2749	2789	2709	0	0	0	0	0	0	13.47	13.74	13.79
4544	0.10	172.0	2637	2120	2791	2706	422.5	8.8	398	4584	0.00	2.53	32.90	1.444	8612	0.000	0.081	2637	3502	2657	2705	2609	0	0	0	0	0	0	14.26	13.86	13.20
4609	-0.00	172.0	2637	3503	2698	2608	416.2	10.4	411	4614	0.28	2.42	0.00	0.000	5254	0.249	0.058	2582	2103	2652	2697	2607	0	0	0	0	0	0	13.73	13.85	13.96
4935	0.13	255.6	2583	2103	2698	2603	395.4	6.1	426	5071	0.12	2.65	130.32	1.320	10916	0.132	0.086	2633	689	2319	2374	2264	0	0	0	0	0	0	14.12	13.61	13.05
5106	0.23	272.1	2633	692	2363	2259	379.9	9.2	450	5133	0.00	2.55	22.55	1.432	9382	0.000	0.078	2633	2095	2256	2314	2199	0	0	0	0	0	0	13.79	13.70	12.99
5450	0.29	289.8	2633	2096	2298	2176	348.3	9.2	468	5480	0.12	0.00	22.12	1.460	10406	0.129	0.000	2686	2095	2176	2234	2119	0	0	0	0	0	0	14.03	13.90	13.21
5778	0.24	289.8	2686	2095	2226	2110	304.6	13.3	479	5783	0.00	2.50	0.00	0.000	644	0.000	0.086	2686	688	2167	2225	2110	0	0	0	0	0	0	14.34	13.97	14.35
5823	0.24	289.8	2687	688	2225	2110	298.7	12.7	488	5828	0.00	2.50	0.00	0.000	1030	0.000	0.080	2686	2109	2167	2224	2110	0	0	0	0	0	0	14.19	14.08	14.23
6139	0.20	289.8	2686	2112	2224	2109	257.3	12.9	501	6144	0.15	2.50	0.00	0.000	4740	0.242	0.082	2658	686	2165	2223	2108	0	0	0	0	0	0	13.97	14.07	14.13
6194	0.28	291.6	2658	686	2223	2109	251.5	9.9	512	6200	0.00	2.47	0.00	0.000	1190	0.000	0.080	2659	2106	2165	2222	2108	0	0	0	0	0	0	14.26	14.13	14.28
6499	0.31	294.7	2658	2104	2223	2108	220.5	9.9	523	6500	0.00	0.00	0.00	0.000	166	0.000	0.000	2658	2103	2163	2220	2107	0	0	0	0	0	0	14.48	14.50	14.50
6799	0.38	326.4	2658	2104	2222	2107	193.9	8.5	533	6866	0.15	2.58	59.85	1.301	10916	0.121	0.086	2725	693	2026	2075	1978	0	0	0	0	0	0	14.27	13.93	13.36
6886	0.35	326.4	2725	693	2071	1977	183.6	13.2	540	6893	0.15	2.50	0.00	0.000	5254	0.235	0.080	2694	2097	2022	2070	1975	0	0	0	0	0	0	13.86	13.95	14.05
7191	0.35	327.8	2692	2099	2068	1969	152.5	9.9	551	7192	0.00	0.00	0.00	0.000	38	0.000	0.000	2694	2097	2017	2067	1968	0	0	0	0	0	0	14.37	14.39	14.39
7491	0.41	359.1	2694	2099	2067	1966	126.1	8.6	561	7552	0.00	2.55	52.25	1.274	8868	0.000	0.086	2704	698	1895	1935	1855	0	0	0	0	0	0	14.44	13.93	13.34
7589	0.55	391.8	2698	698	1927	1854	117.8	8.5	580	7650	0.20	2.50	53.95	1.222	11430	0.099	0.078	2782	2104	1766	1801	1732	0	0	0	0	0	0	14.03	13.97	13.22
7955	0.50	391.8	2776	2108	1789	1713	67.8	12.7	621	7960	0.12	2.53	0.00	0.000	4740	0.270	0.083	2756	691	1747	1783	1712	0	0	0	0	0	0	13.74	13.93	13.89
8048	0.56	411.6	2755	691	1784	1712	58.6	9.1	639	8063	0.00	2.50	8.85	0.368	9382	0.000	0.080	2756	2106	1686	1721	1651	0	0	0	0	0	0	14.07	13.96	13.70
8368	0.65	485.8	2757	2106	1726	1655	33.1	6.6	673	8410	0.10	0.00	40.08	0.304	10406	0.151	0.000	2796	2105	1384	1436	1333	0	0	0	0	0	0	14.11	14.11	13.83
8708	0.91	682.9	2797	2106	1437	1330	12.2	0.9	707	8819	0.20	2.50	104.30	0.242	10660	0.109	0.082	2880	3512	579	639	520	0	0	0	0	0	0	14.12	13.93	13.81
8894	end climb: SURFACE_DEPTH_REACHED
state	8894	begin surface coast
8904	end surface coast: CONTROL_FINISHED_OK
state	8904	begin surface