Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 59 * 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 59 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 175.0

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 21 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 175.0 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 21 VBD_MIN 500

DIVE 59 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 130817,130302,7159.2100,-14745.3281,18,0.7,22,21.3,0.0,0.0,11,9.0 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 1.21 MHEAD_RNG_PITCHd_Wd 343.0,150882,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.9 D_GRID 480

GPS2 130817,130931,7159.2007,-14745.4648,6,0.7,38,21.3,0.0,185.0,12,8.0

Post-dive calculations and measurements:

FINISH 1.1,1.020063 _24V_AH 12.63,70.659

SM_CCo 9343,0.00,0.000,0,0,493,704.50 _10V_AH 12.66,0.000

SM_GC 1.14,8.23,2.28,0.00,0.074,0.046,0.000,199,2194,493,-7.37,0.79,704.50,0,0,0,0,0,0,14.18,14.13,14.24 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

RAFOS_FIX 7155.339844,-14750.280273,130817,080849,2,255,3.63 MEM 323776

IRIDIUM_FIX 7157.35,-14747.17,130817,102225 DATA_FILE_SIZE 30053,842

TT8_MAMPS 0.039697,0.820155 CAP_FILE_SIZE 101782,0

HUMID 50.31 CFSIZE 2097872896,2070478848

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

TCM_TEMP 13.50 SOUNDSPEED 1451.9

XPDR_PINGS 16 CURRENT 0.125,267.16,1

CP_FREE 0.000000 GPS 130817,154655,7200.319,-14746.234,21,0.7,27,21.3,0.5,236.0,11,9.1

PM_FREEKB_00 58640256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 457 139.82 nil 0 0 0.00

Roll_motor 94 2153 2569.57 nil 0 0 0.00

VBD_pump_during_apogee 926 1443 16889.31 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9202 14 1681.02

Iridium_during_xfer 148 136 256.96 NCP 9288 20 2346.15

Transponder_ping 4 420 21.22 PMAR 9237 16 1930.89

GUMSTIX_24V 0 0 0.00

GPS 40 22 11.45

TT8 0 0 0.00

LPSleep 6655 2 194.65

TT8_Active 914 13 161.77

TT8_Sampling 1952 33 826.55

TT8_CF8 218 38 107.17

TT8_Kalman 0 0 0.00

Analog_circuits 1846 10 233.75

GPS_charging 0 0 0.00

Compass 1206 7 106.89

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 -145.9 187 2202 511 467 0.0 0.0 0 129 0.00 0.00 -81.43 0.000 16386 0.000 0.000 183 2202 2091 2009 2173 0 0 0 0 0 0 14.42 28.83 14.43

132 -0.57 -145.9 184 2203 2012 2175 4.0 -5.5 8 185 12.55 2.75 -34.28 0.000 18724 0.457 2.153 2373 3614 3962 3945 3980 0 0 0 0 0 0 13.76 13.01 14.16

345 -0.57 -145.9 2374 3614 3955 3980 55.6 -17.6 50 350 0.00 2.42 0.00 0.000 1030 0.000 0.057 2373 2196 3966 3954 3979 0 0 0 0 0 0 14.12 14.02 14.16

655 -0.57 -145.9 2374 2194 3959 3980 105.5 -14.2 80 660 0.00 2.50 0.00 0.000 260 0.000 0.084 2364 3616 3969 3959 3979 0 0 0 0 0 0 14.42 14.05 14.44

705 -0.65 -145.9 2365 3617 3959 3980 112.2 -12.7 90 710 0.00 2.42 0.00 0.000 1158 0.000 0.057 2364 2194 3969 3958 3980 0 0 0 0 0 0 14.19 14.10 14.22

1015 -0.68 -145.9 2365 2194 3960 3979 151.9 -12.2 102 1020 0.00 2.50 0.00 0.000 388 0.000 0.086 2358 3614 3969 3959 3980 0 0 0 0 0 0 14.49 14.06 14.50

1075 -0.81 -145.9 2357 3617 3959 3981 158.6 -10.2 114 1080 0.12 2.40 0.00 0.000 5254 0.137 0.056 2309 2199 3969 3958 3980 0 0 0 0 0 0 14.10 14.13 14.20

1406 -0.78 -145.9 2307 2198 3959 3978 207.2 -14.1 130 1410 0.00 2.50 0.00 0.000 388 0.000 0.086 2304 3617 3968 3958 3979 0 0 0 0 0 0 14.52 14.15 14.54

1556 -0.82 -145.9 2304 3620 3959 3978 226.6 -12.4 160 1560 0.00 2.42 0.00 0.000 1158 0.000 0.059 2304 2199 3968 3959 3978 0 0 0 0 0 0 14.21 14.10 14.24

1886 -0.82 -145.9 2304 2199 3959 3976 268.6 -12.4 176 1890 0.00 2.47 0.00 0.000 260 0.000 0.086 2294 3610 3966 3958 3975 0 0 0 0 0 0 14.54 14.13 14.55

1990 -0.87 -145.9 2295 3612 3959 3976 281.3 -11.7 197 1995 0.00 2.40 0.00 0.000 1158 0.000 0.060 2294 2198 3966 3958 3974 0 0 0 0 0 0 14.30 14.19 14.33

2306 -0.87 -145.9 2295 2195 3959 3973 320.5 -12.5 210 2310 0.00 2.50 0.00 0.000 260 0.000 0.086 2285 3620 3965 3958 3972 0 0 0 0 0 0 14.54 14.19 14.56

2371 -0.91 -145.9 2286 3621 3959 3972 328.6 -12.2 223 2376 0.00 2.42 0.00 0.000 1158 0.000 0.059 2285 2191 3965 3958 3972 0 0 0 0 0 0 14.31 14.19 14.33

2696 -0.91 -145.9 2286 2190 3959 3970 369.9 -12.6 238 2701 0.00 2.50 0.00 0.000 260 0.000 0.086 2280 3618 3964 3958 3970 0 0 0 0 0 0 14.53 14.19 14.55

2777 -0.95 -145.9 2280 3620 3959 3971 379.7 -11.6 254 2781 0.00 2.40 0.00 0.000 1158 0.000 0.058 2280 2197 3964 3958 3970 0 0 0 0 0 0 14.34 14.23 14.37

3087 -0.93 -145.9 2280 2197 3957 3970 418.9 -12.6 266 3091 0.00 2.50 0.00 0.000 388 0.000 0.086 2283 3620 3964 3959 3970 0 0 0 0 0 0 14.53 14.19 14.57

3191 -0.97 -145.9 2281 3619 3959 3970 431.5 -11.6 287 3197 0.00 2.42 0.00 0.000 1158 0.000 0.057 2280 2192 3963 3958 3969 0 0 0 0 0 0 14.34 14.24 14.37

3507 -0.97 -145.9 2280 2190 3959 3969 470.3 -12.3 300 3512 0.00 2.50 0.00 0.000 260 0.000 0.086 2280 3610 3963 3958 3968 0 0 0 0 0 0 14.52 14.15 14.55

3590 end dive: TARGET_DEPTH_EXCEEDED

state 3590 begin apogee

3598 -0.13 0.0 2281 2101 3957 3968 480.4 -11.5 317 3825 0.98 0.00 223.93 1.389 10246 0.239 0.000 2528 2100 3364 3400 3328 0 0 0 0 0 0 13.96 13.48 12.83

3829 end apogee: CONTROL_FINISHED_OK

state 3829 begin climb

3831 0.57 145.9 2529 2100 3395 3317 490.6 0.0 324 4042 0.75 2.65 199.88 1.333 11012 0.067 0.077 2791 688 2763 2822 2704 0 0 0 0 0 0 13.56 13.11 12.63

4267 0.24 145.9 2791 689 2799 2701 454.9 16.3 405 4273 0.60 2.55 0.00 0.000 5254 0.322 0.075 2665 2104 2748 2797 2699 0 0 0 0 0 0 13.49 13.74 13.79

4584 0.10 145.9 2665 2106 2797 2696 420.5 10.6 418 4589 0.20 2.50 0.00 0.000 4740 0.304 0.077 2627 688 2746 2797 2695 0 0 0 0 0 0 13.76 13.97 13.94

4784 0.13 191.2 2628 688 2797 2694 403.9 7.9 458 4855 0.00 2.50 63.38 1.342 9254 0.000 0.080 2627 2103 2581 2648 2515 0 0 0 0 0 0 14.03 14.03 13.19

5156 0.14 207.1 2628 2104 2637 2496 370.3 9.3 482 5179 0.00 2.50 18.75 1.444 8484 0.000 0.081 2627 3519 2514 2585 2444 0 0 0 0 0 0 14.33 13.85 13.31

5209 0.12 207.1 2627 3519 2569 2441 364.7 10.8 493 5216 0.00 2.45 0.00 0.000 1158 0.000 0.059 2635 2096 2504 2568 2440 0 0 0 0 0 0 14.11 13.93 14.12

5514 0.12 210.5 2636 2097 2566 2438 334.8 9.8 504 5519 0.00 2.45 0.00 0.000 548 0.000 0.084 2645 691 2502 2567 2438 0 0 0 0 0 0 14.41 14.10 14.43

5559 0.15 211.9 2645 692 2567 2439 330.3 9.9 513 5565 0.00 2.47 0.00 0.000 1190 0.000 0.079 2645 2105 2501 2566 2437 0 0 0 0 0 0 14.26 14.14 14.29

5876 0.12 211.9 2647 2105 2567 2435 297.9 10.1 526 5876 0.00 0.00 0.00 0.000 134 0.000 0.000 2645 2106 2501 2566 2436 0 0 0 0 0 0 14.49 14.50 14.50

6176 0.10 218.2 2645 2106 2567 2435 268.7 9.7 536 6186 0.00 2.47 3.53 1.258 8868 0.000 0.083 2646 696 2476 2540 2413 0 0 0 0 0 0 14.52 14.23 13.02

6241 0.14 236.4 2645 696 2546 2426 262.5 9.2 549 6287 0.00 2.45 37.15 1.400 9382 0.000 0.080 2646 2103 2395 2455 2335 0 0 0 0 0 0 14.34 14.23 13.37

6599 0.15 251.4 2646 2104 2449 2329 228.5 9.3 570 6623 0.00 0.00 20.00 1.431 8486 0.000 0.000 2642 2103 2337 2393 2281 0 0 0 0 0 0 14.41 14.08 13.36

6928 0.20 297.1 2647 2103 2391 2273 200.8 7.9 586 7009 0.00 2.55 73.10 1.287 8612 0.000 0.084 2646 3512 2149 2205 2093 0 0 0 0 0 0 14.42 13.82 13.24

7051 0.28 309.9 2647 3512 2197 2093 190.3 9.4 610 7075 0.00 2.45 18.35 1.376 9382 0.000 0.061 2651 2102 2100 2156 2044 0 0 0 0 0 0 13.98 13.89 13.19

7382 0.40 369.0 2652 2103 2147 2031 164.8 7.3 626 7485 0.15 2.55 96.22 1.226 10916 0.122 0.086 2715 690 1856 1898 1815 0 0 0 0 0 0 14.09 13.72 13.15

7567 0.46 369.0 2716 690 1885 1815 144.7 10.6 663 7572 0.00 2.53 0.00 0.000 1158 0.000 0.077 2715 2100 1849 1884 1814 0 0 0 0 0 0 13.96 13.86 14.00

7892 0.48 369.0 2716 2099 1885 1806 110.3 10.1 678 7893 0.00 0.00 0.00 0.000 134 0.000 0.000 2715 2101 1845 1884 1806 0 0 0 0 0 0 14.35 14.37 14.36

8194 0.54 394.8 2716 2102 1884 1805 83.1 8.8 700 8211 0.12 2.50 12.05 0.450 10916 0.132 0.084 2781 692 1753 1789 1718 0 0 0 0 0 0 14.09 14.00 13.71

8256 0.51 394.8 2781 689 1792 1720 75.5 12.6 712 8261 0.15 2.47 0.00 0.000 5254 0.257 0.079 2751 2099 1755 1790 1720 0 0 0 0 0 0 13.85 14.03 14.10

8566 0.58 442.9 2751 2099 1792 1724 46.1 7.8 744 8599 0.00 2.50 25.48 0.344 8868 0.000 0.083 2756 684 1557 1599 1515 0 0 0 0 0 0 14.41 14.04 13.81

8700 0.73 517.0 2756 685 1598 1516 37.0 6.6 770 8743 0.17 2.47 38.15 0.311 11430 0.115 0.077 2819 2099 1256 1321 1192 0 0 0 0 0 0 14.14 14.10 13.81

9040 0.96 721.5 2823 2100 1322 1182 13.1 0.6 808 9142 0.17 2.50 96.40 0.247 10660 0.106 0.079 2894 3517 495 533 457 0 0 0 0 0 0 14.13 13.97 13.82

9210 end climb: SURFACE_DEPTH_REACHED

state 9210 begin surface coast

9215 end surface coast: CONTROL_FINISHED_OK

state 9215 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	59	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	175.0
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	21	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,130302,7159.2100,-14745.3281,18,0.7,22,21.3,0.0,0.0,11,9.0	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	1.21	MHEAD_RNG_PITCHd_Wd	343.0,150882,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.9	D_GRID	480
GPS2	130817,130931,7159.2007,-14745.4648,6,0.7,38,21.3,0.0,185.0,12,8.0

FINISH	1.1,1.020063	_24V_AH	12.63,70.659
SM_CCo	9343,0.00,0.000,0,0,493,704.50	_10V_AH	12.66,0.000
SM_GC	1.14,8.23,2.28,0.00,0.074,0.046,0.000,199,2194,493,-7.37,0.79,704.50,0,0,0,0,0,0,14.18,14.13,14.24	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
RAFOS_FIX	7155.339844,-14750.280273,130817,080849,2,255,3.63	MEM	323776
IRIDIUM_FIX	7157.35,-14747.17,130817,102225	DATA_FILE_SIZE	30053,842
TT8_MAMPS	0.039697,0.820155	CAP_FILE_SIZE	101782,0
HUMID	50.31	CFSIZE	2097872896,2070478848
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1451.9
XPDR_PINGS	16	CURRENT	0.125,267.16,1
CP_FREE	0.000000	GPS	130817,154655,7200.319,-14746.234,21,0.7,27,21.3,0.5,236.0,11,9.1
PM_FREEKB_00	58640256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	457	139.82	nil	0	0	0.00
Roll_motor	94	2153	2569.57	nil	0	0	0.00
VBD_pump_during_apogee	926	1443	16889.31	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9202	14	1681.02
Iridium_during_xfer	148	136	256.96	NCP	9288	20	2346.15
Transponder_ping	4	420	21.22	PMAR	9237	16	1930.89
GUMSTIX_24V	0	0	0.00
GPS	40	22	11.45
TT8	0	0	0.00
LPSleep	6655	2	194.65
TT8_Active	914	13	161.77
TT8_Sampling	1952	33	826.55
TT8_CF8	218	38	107.17
TT8_Kalman	0	0	0.00
Analog_circuits	1846	10	233.75
GPS_charging	0	0	0.00
Compass	1206	7	106.89
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	187	2202	511	467	0.0	0.0	0	129	0.00	0.00	-81.43	0.000	16386	0.000	0.000	183	2202	2091	2009	2173	0	0	0	0	0	0	14.42	28.83	14.43
132	-0.57	-145.9	184	2203	2012	2175	4.0	-5.5	8	185	12.55	2.75	-34.28	0.000	18724	0.457	2.153	2373	3614	3962	3945	3980	0	0	0	0	0	0	13.76	13.01	14.16
345	-0.57	-145.9	2374	3614	3955	3980	55.6	-17.6	50	350	0.00	2.42	0.00	0.000	1030	0.000	0.057	2373	2196	3966	3954	3979	0	0	0	0	0	0	14.12	14.02	14.16
655	-0.57	-145.9	2374	2194	3959	3980	105.5	-14.2	80	660	0.00	2.50	0.00	0.000	260	0.000	0.084	2364	3616	3969	3959	3979	0	0	0	0	0	0	14.42	14.05	14.44
705	-0.65	-145.9	2365	3617	3959	3980	112.2	-12.7	90	710	0.00	2.42	0.00	0.000	1158	0.000	0.057	2364	2194	3969	3958	3980	0	0	0	0	0	0	14.19	14.10	14.22
1015	-0.68	-145.9	2365	2194	3960	3979	151.9	-12.2	102	1020	0.00	2.50	0.00	0.000	388	0.000	0.086	2358	3614	3969	3959	3980	0	0	0	0	0	0	14.49	14.06	14.50
1075	-0.81	-145.9	2357	3617	3959	3981	158.6	-10.2	114	1080	0.12	2.40	0.00	0.000	5254	0.137	0.056	2309	2199	3969	3958	3980	0	0	0	0	0	0	14.10	14.13	14.20
1406	-0.78	-145.9	2307	2198	3959	3978	207.2	-14.1	130	1410	0.00	2.50	0.00	0.000	388	0.000	0.086	2304	3617	3968	3958	3979	0	0	0	0	0	0	14.52	14.15	14.54
1556	-0.82	-145.9	2304	3620	3959	3978	226.6	-12.4	160	1560	0.00	2.42	0.00	0.000	1158	0.000	0.059	2304	2199	3968	3959	3978	0	0	0	0	0	0	14.21	14.10	14.24
1886	-0.82	-145.9	2304	2199	3959	3976	268.6	-12.4	176	1890	0.00	2.47	0.00	0.000	260	0.000	0.086	2294	3610	3966	3958	3975	0	0	0	0	0	0	14.54	14.13	14.55
1990	-0.87	-145.9	2295	3612	3959	3976	281.3	-11.7	197	1995	0.00	2.40	0.00	0.000	1158	0.000	0.060	2294	2198	3966	3958	3974	0	0	0	0	0	0	14.30	14.19	14.33
2306	-0.87	-145.9	2295	2195	3959	3973	320.5	-12.5	210	2310	0.00	2.50	0.00	0.000	260	0.000	0.086	2285	3620	3965	3958	3972	0	0	0	0	0	0	14.54	14.19	14.56
2371	-0.91	-145.9	2286	3621	3959	3972	328.6	-12.2	223	2376	0.00	2.42	0.00	0.000	1158	0.000	0.059	2285	2191	3965	3958	3972	0	0	0	0	0	0	14.31	14.19	14.33
2696	-0.91	-145.9	2286	2190	3959	3970	369.9	-12.6	238	2701	0.00	2.50	0.00	0.000	260	0.000	0.086	2280	3618	3964	3958	3970	0	0	0	0	0	0	14.53	14.19	14.55
2777	-0.95	-145.9	2280	3620	3959	3971	379.7	-11.6	254	2781	0.00	2.40	0.00	0.000	1158	0.000	0.058	2280	2197	3964	3958	3970	0	0	0	0	0	0	14.34	14.23	14.37
3087	-0.93	-145.9	2280	2197	3957	3970	418.9	-12.6	266	3091	0.00	2.50	0.00	0.000	388	0.000	0.086	2283	3620	3964	3959	3970	0	0	0	0	0	0	14.53	14.19	14.57
3191	-0.97	-145.9	2281	3619	3959	3970	431.5	-11.6	287	3197	0.00	2.42	0.00	0.000	1158	0.000	0.057	2280	2192	3963	3958	3969	0	0	0	0	0	0	14.34	14.24	14.37
3507	-0.97	-145.9	2280	2190	3959	3969	470.3	-12.3	300	3512	0.00	2.50	0.00	0.000	260	0.000	0.086	2280	3610	3963	3958	3968	0	0	0	0	0	0	14.52	14.15	14.55
3590	end dive: TARGET_DEPTH_EXCEEDED
state	3590	begin apogee
3598	-0.13	0.0	2281	2101	3957	3968	480.4	-11.5	317	3825	0.98	0.00	223.93	1.389	10246	0.239	0.000	2528	2100	3364	3400	3328	0	0	0	0	0	0	13.96	13.48	12.83
3829	end apogee: CONTROL_FINISHED_OK
state	3829	begin climb
3831	0.57	145.9	2529	2100	3395	3317	490.6	0.0	324	4042	0.75	2.65	199.88	1.333	11012	0.067	0.077	2791	688	2763	2822	2704	0	0	0	0	0	0	13.56	13.11	12.63
4267	0.24	145.9	2791	689	2799	2701	454.9	16.3	405	4273	0.60	2.55	0.00	0.000	5254	0.322	0.075	2665	2104	2748	2797	2699	0	0	0	0	0	0	13.49	13.74	13.79
4584	0.10	145.9	2665	2106	2797	2696	420.5	10.6	418	4589	0.20	2.50	0.00	0.000	4740	0.304	0.077	2627	688	2746	2797	2695	0	0	0	0	0	0	13.76	13.97	13.94
4784	0.13	191.2	2628	688	2797	2694	403.9	7.9	458	4855	0.00	2.50	63.38	1.342	9254	0.000	0.080	2627	2103	2581	2648	2515	0	0	0	0	0	0	14.03	14.03	13.19
5156	0.14	207.1	2628	2104	2637	2496	370.3	9.3	482	5179	0.00	2.50	18.75	1.444	8484	0.000	0.081	2627	3519	2514	2585	2444	0	0	0	0	0	0	14.33	13.85	13.31
5209	0.12	207.1	2627	3519	2569	2441	364.7	10.8	493	5216	0.00	2.45	0.00	0.000	1158	0.000	0.059	2635	2096	2504	2568	2440	0	0	0	0	0	0	14.11	13.93	14.12
5514	0.12	210.5	2636	2097	2566	2438	334.8	9.8	504	5519	0.00	2.45	0.00	0.000	548	0.000	0.084	2645	691	2502	2567	2438	0	0	0	0	0	0	14.41	14.10	14.43
5559	0.15	211.9	2645	692	2567	2439	330.3	9.9	513	5565	0.00	2.47	0.00	0.000	1190	0.000	0.079	2645	2105	2501	2566	2437	0	0	0	0	0	0	14.26	14.14	14.29
5876	0.12	211.9	2647	2105	2567	2435	297.9	10.1	526	5876	0.00	0.00	0.00	0.000	134	0.000	0.000	2645	2106	2501	2566	2436	0	0	0	0	0	0	14.49	14.50	14.50
6176	0.10	218.2	2645	2106	2567	2435	268.7	9.7	536	6186	0.00	2.47	3.53	1.258	8868	0.000	0.083	2646	696	2476	2540	2413	0	0	0	0	0	0	14.52	14.23	13.02
6241	0.14	236.4	2645	696	2546	2426	262.5	9.2	549	6287	0.00	2.45	37.15	1.400	9382	0.000	0.080	2646	2103	2395	2455	2335	0	0	0	0	0	0	14.34	14.23	13.37
6599	0.15	251.4	2646	2104	2449	2329	228.5	9.3	570	6623	0.00	0.00	20.00	1.431	8486	0.000	0.000	2642	2103	2337	2393	2281	0	0	0	0	0	0	14.41	14.08	13.36
6928	0.20	297.1	2647	2103	2391	2273	200.8	7.9	586	7009	0.00	2.55	73.10	1.287	8612	0.000	0.084	2646	3512	2149	2205	2093	0	0	0	0	0	0	14.42	13.82	13.24
7051	0.28	309.9	2647	3512	2197	2093	190.3	9.4	610	7075	0.00	2.45	18.35	1.376	9382	0.000	0.061	2651	2102	2100	2156	2044	0	0	0	0	0	0	13.98	13.89	13.19
7382	0.40	369.0	2652	2103	2147	2031	164.8	7.3	626	7485	0.15	2.55	96.22	1.226	10916	0.122	0.086	2715	690	1856	1898	1815	0	0	0	0	0	0	14.09	13.72	13.15
7567	0.46	369.0	2716	690	1885	1815	144.7	10.6	663	7572	0.00	2.53	0.00	0.000	1158	0.000	0.077	2715	2100	1849	1884	1814	0	0	0	0	0	0	13.96	13.86	14.00
7892	0.48	369.0	2716	2099	1885	1806	110.3	10.1	678	7893	0.00	0.00	0.00	0.000	134	0.000	0.000	2715	2101	1845	1884	1806	0	0	0	0	0	0	14.35	14.37	14.36
8194	0.54	394.8	2716	2102	1884	1805	83.1	8.8	700	8211	0.12	2.50	12.05	0.450	10916	0.132	0.084	2781	692	1753	1789	1718	0	0	0	0	0	0	14.09	14.00	13.71
8256	0.51	394.8	2781	689	1792	1720	75.5	12.6	712	8261	0.15	2.47	0.00	0.000	5254	0.257	0.079	2751	2099	1755	1790	1720	0	0	0	0	0	0	13.85	14.03	14.10
8566	0.58	442.9	2751	2099	1792	1724	46.1	7.8	744	8599	0.00	2.50	25.48	0.344	8868	0.000	0.083	2756	684	1557	1599	1515	0	0	0	0	0	0	14.41	14.04	13.81
8700	0.73	517.0	2756	685	1598	1516	37.0	6.6	770	8743	0.17	2.47	38.15	0.311	11430	0.115	0.077	2819	2099	1256	1321	1192	0	0	0	0	0	0	14.14	14.10	13.81
9040	0.96	721.5	2823	2100	1322	1182	13.1	0.6	808	9142	0.17	2.50	96.40	0.247	10660	0.106	0.079	2894	3517	495	533	457	0	0	0	0	0	0	14.13	13.97	13.82
9210	end climb: SURFACE_DEPTH_REACHED
state	9210	begin surface coast
9215	end surface coast: CONTROL_FINISHED_OK
state	9215	begin surface