Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 62 * 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 62 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 181.0

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 55 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 181.0 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 55 VBD_MIN 500

DIVE 62 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 130817,213350,7202.9023,-14748.3271,59,0.7,59,21.3,0.6,61.2,10,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.35 MHEAD_RNG_PITCHd_Wd 320.1,144159,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 130817,214631,7202.8628,-14748.4336,8,0.8,11,21.3,0.6,322.9,10,9.0

Post-dive calculations and measurements:

FINISH 0.8,1.020108 _24V_AH 12.59,72.102

SM_CCo 9304,0.00,0.000,0,0,495,704.01 _10V_AH 12.65,0.000

SM_GC 1.23,8.43,2.33,0.00,0.076,0.052,0.000,198,2191,495,-7.38,0.48,704.01,0,0,0,0,0,0,14.02,13.98,14.10 FG_AHR_24Vo 0.000

RAFOS_CLK 67 FG_AHR_10Vo 0.000

RAFOS_FIX 7228.703125,-14627.398438,130817,202006,2,255,13.68 MEM 323792

IRIDIUM_FIX 7206.48,-14753.74,130817,213818 DATA_FILE_SIZE 26687,810

TT8_MAMPS 0.084637,0.855358 CAP_FILE_SIZE 106613,0

HUMID 47.32 CFSIZE 2097872896,2069561344

INTERNAL_PRESSURE 7.80105 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.50 SOUNDSPEED 1451.7

XPDR_PINGS 19 CURRENT 0.075,252.17,1

CP_FREE 16008839168.000000 GPS 140817,002351,7203.886,-14750.308,62,0.8,63,21.3,1.1,271.9,11,8.3

PM_FREEKB_00 58405376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 146.27 nil 0 0 0.00

Roll_motor 93 2141 2523.96 nil 0 0 0.00

VBD_pump_during_apogee 883 1470 16358.11 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 9249 14 1722.34

Iridium_during_xfer 430 182 987.56 NCP 9248 20 2328.65

Transponder_ping 4 420 25.12 PMAR 9198 16 1916.31

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.58

TT8 0 0 0.00

LPSleep 6756 2 197.44

TT8_Active 905 13 159.96

TT8_Sampling 2130 33 901.13

TT8_CF8 279 38 136.93

TT8_Kalman 0 0 0.00

Analog_circuits 2088 10 264.21

GPS_charging 0 0 0.00

Compass 1164 7 103.14

RAFOS 2155 48 1308.52

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 -145.9 169 2223 518 457 0.0 0.0 0 129 0.00 0.00 -81.18 0.000 16386 0.000 0.000 166 2224 2127 2049 2206 0 0 0 0 0 0 14.35 28.83 14.37

132 -0.57 -145.9 167 2224 2052 2208 3.4 -4.1 8 185 12.70 2.65 -33.45 0.000 18724 0.455 2.141 2375 3587 3965 3953 3978 0 0 0 0 0 0 13.71 12.95 14.13

346 -0.57 -145.9 2376 3589 3962 3979 53.7 -15.8 50 351 0.00 2.33 0.00 0.000 1030 0.000 0.056 2376 2225 3970 3962 3978 0 0 0 0 0 0 14.12 14.02 14.14

666 -0.57 -145.9 2376 2224 3965 3977 104.9 -13.9 81 670 0.00 2.42 0.00 0.000 260 0.000 0.083 2366 3597 3971 3964 3978 0 0 0 0 0 0 14.42 14.02 14.45

716 -0.67 -145.9 2366 3600 3965 3979 111.5 -12.3 91 722 0.00 2.40 0.00 0.000 1158 0.000 0.059 2362 2195 3971 3964 3978 0 0 0 0 0 0 14.17 14.07 14.21

1027 -0.70 -145.9 2366 2194 3965 3986 151.1 -12.2 103 1033 0.00 2.47 0.00 0.000 388 0.000 0.085 2357 3595 3971 3965 3977 0 0 0 0 0 0 14.50 14.16 14.52

1058 -0.78 -145.9 2357 3595 3966 3978 154.9 -12.1 109 1063 0.00 2.38 0.00 0.000 1158 0.000 0.058 2357 2199 3970 3963 3977 0 0 0 0 0 0 14.28 14.17 14.31

1388 -0.83 -145.9 2357 2198 3965 3977 192.7 -11.2 125 1393 0.12 2.45 0.00 0.000 4484 0.141 0.083 2292 3589 3967 3959 3976 0 0 0 0 0 0 14.14 14.16 14.19

1468 -0.83 -145.9 2294 3589 3965 3977 204.7 -15.4 141 1473 0.00 2.38 0.00 0.000 1030 0.000 0.059 2292 2189 3970 3964 3976 0 0 0 0 0 0 14.33 14.22 14.35

1778 -0.78 -145.9 2292 2188 3963 3973 251.2 -14.5 153 1783 0.15 2.47 0.00 0.000 2436 0.281 0.083 2319 3595 3968 3963 3973 0 0 0 0 0 0 13.85 14.10 14.01

1870 -0.87 -145.9 2318 3597 3964 3974 261.2 -10.2 171 1876 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2189 3968 3964 3973 0 0 0 0 0 0 14.33 14.22 14.35

2201 -0.92 -145.9 2319 2188 3965 3970 297.0 -10.6 187 2207 0.12 2.47 0.00 0.000 4484 0.138 0.085 2262 3595 3967 3964 3970 0 0 0 0 0 0 14.26 14.16 14.33

2314 -0.89 -145.9 2264 3597 3964 3970 312.4 -13.6 209 2318 0.00 2.38 0.00 0.000 1158 0.000 0.059 2263 2194 3966 3963 3970 0 0 0 0 0 0 14.30 14.19 14.33

2624 -0.83 -145.9 2263 2192 3964 3969 358.6 -14.8 221 2629 0.17 2.45 0.00 0.000 2436 0.293 0.083 2296 3591 3965 3963 3968 0 0 0 0 0 0 13.95 14.19 14.13

2699 -0.90 -145.9 2296 3593 3963 3969 367.6 -10.8 236 2704 0.00 2.35 0.00 0.000 1158 0.000 0.057 2296 2197 3965 3963 3968 0 0 0 0 0 0 14.35 14.23 14.38

3014 -0.90 -145.9 2295 2196 3964 3962 403.1 -11.2 249 3019 0.00 2.45 0.00 0.000 260 0.000 0.086 2288 3595 3964 3963 3966 0 0 0 0 0 0 14.54 14.19 14.56

3064 -0.95 -145.9 2288 3597 3963 3967 408.8 -11.2 259 3070 0.00 2.38 0.00 0.000 1158 0.000 0.059 2288 2196 3964 3962 3966 0 0 0 0 0 0 14.33 14.19 14.38

3375 -0.95 -145.9 2288 2195 3963 3963 445.2 -11.7 271 3381 0.00 2.42 0.00 0.000 260 0.000 0.086 2280 3588 3963 3961 3965 0 0 0 0 0 0 14.56 14.14 14.57

3451 -0.99 -145.9 2280 3589 3962 3966 454.2 -11.2 286 3456 0.00 2.35 0.00 0.000 1158 0.000 0.058 2280 2201 3963 3962 3965 0 0 0 0 0 0 14.35 14.23 14.37

3674 end dive: TARGET_DEPTH_EXCEEDED

state 3674 begin apogee

3680 -0.13 0.0 2281 2060 3963 3964 481.8 -12.3 296 3891 0.98 0.00 207.70 1.440 10246 0.239 0.000 2530 2059 3364 3404 3325 0 0 0 0 0 0 13.93 13.52 12.86

3895 end apogee: CONTROL_FINISHED_OK

state 3895 begin climb

3897 0.57 145.9 2530 2060 3397 3316 491.5 0.0 303 4102 0.75 2.67 193.73 1.396 10500 0.067 0.076 2781 3488 2764 2826 2703 0 0 0 0 0 0 13.59 13.09 12.59

4327 0.15 145.9 2781 3488 2805 2703 454.6 17.7 383 4332 0.75 2.38 0.00 0.000 5254 0.353 0.058 2639 2130 2753 2803 2703 0 0 0 0 0 0 13.46 13.75 13.80

4647 0.08 171.7 2639 2131 2804 2702 424.8 8.8 397 4688 0.00 2.47 32.47 1.463 8612 0.000 0.083 2639 3484 2662 2719 2606 0 0 0 0 0 0 14.29 13.86 13.19

4913 -0.01 171.7 2642 3485 2704 2606 397.1 10.5 450 4919 0.28 2.38 0.00 0.000 5254 0.256 0.059 2583 2098 2654 2703 2605 0 0 0 0 0 0 13.83 14.04 14.10

5218 0.12 260.5 2583 2099 2705 2604 378.3 5.9 461 5358 0.12 2.62 131.00 1.338 10916 0.135 0.087 2632 691 2297 2356 2239 0 0 0 0 0 0 14.21 13.65 13.05

5385 0.21 280.9 2635 692 2353 2237 363.6 9.1 489 5420 0.00 2.53 29.48 1.398 9382 0.000 0.078 2634 2089 2216 2282 2151 0 0 0 0 0 0 13.83 13.74 13.00

5733 0.27 286.9 2634 2089 2272 2137 330.3 9.7 508 5736 0.00 0.00 1.90 0.493 8358 0.000 0.000 2633 2088 2197 2266 2129 0 0 0 0 0 0 14.26 13.68 13.41

6031 0.33 296.9 2634 2088 2268 2138 301.3 9.5 518 6052 0.17 0.00 19.45 1.470 10406 0.108 0.000 2701 2088 2156 2220 2093 0 0 0 0 0 0 14.19 14.06 13.34

6331 0.26 296.9 2702 2088 2209 2085 258.8 14.2 528 6337 0.15 2.45 0.00 0.000 4740 0.239 0.082 2672 693 2146 2208 2085 0 0 0 0 0 0 13.96 14.11 14.11

6377 0.31 296.9 2673 693 2207 2085 253.2 11.3 537 6382 0.00 2.47 0.00 0.000 1158 0.000 0.080 2672 2105 2145 2205 2085 0 0 0 0 0 0 14.27 14.15 14.29

6692 0.31 296.9 2672 2106 2206 2085 218.5 10.5 550 6697 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 698 2145 2206 2084 0 0 0 0 0 0 14.49 14.08 14.51

6727 0.36 300.6 2672 693 2204 2085 215.1 9.8 557 6732 0.00 2.45 0.00 0.000 1190 0.000 0.081 2672 2098 2144 2204 2084 0 0 0 0 0 0 14.31 14.17 14.31

7052 0.37 319.1 2673 2100 2204 2084 184.7 9.1 572 7092 0.00 2.53 34.08 1.377 8484 0.000 0.086 2672 3521 2062 2118 2007 0 0 0 0 0 0 14.52 14.08 13.43

7117 0.37 321.3 2672 3522 2112 2008 178.6 9.9 585 7122 0.00 2.47 0.00 0.000 1062 0.000 0.066 2673 2093 2059 2111 2007 0 0 0 0 0 0 14.18 14.07 14.17

7443 0.44 352.7 2674 2092 2112 2002 150.5 8.6 600 7505 0.12 2.58 56.65 1.297 10916 0.138 0.087 2729 691 1924 1970 1878 0 0 0 0 0 0 14.19 13.91 13.28

7565 0.46 352.7 2729 691 1960 1880 136.6 10.7 624 7571 0.00 2.53 0.00 0.000 1158 0.000 0.079 2729 2106 1918 1959 1878 0 0 0 0 0 0 14.09 13.98 14.12

7896 0.46 352.7 2729 2108 1958 1873 100.4 10.6 640 7902 0.00 2.50 0.00 0.000 516 0.000 0.086 2729 689 1914 1956 1872 0 0 0 0 0 0 14.39 14.10 14.40

7942 0.52 368.7 2729 689 1954 1873 96.0 9.3 649 7958 0.00 2.47 7.62 0.489 9382 0.000 0.080 2729 2101 1860 1898 1822 0 0 0 0 0 0 14.12 14.04 13.65

8266 0.55 398.8 2729 2102 1901 1823 65.5 8.6 682 8286 0.00 0.00 16.20 0.404 8230 0.000 0.000 2729 2106 1736 1771 1702 0 0 0 0 0 0 14.32 13.95 13.70

8586 0.69 487.6 2729 2101 1772 1700 41.5 5.9 714 8638 0.20 2.50 44.83 0.329 10916 0.104 0.086 2807 690 1375 1433 1318 0 0 0 0 0 0 13.97 13.96 13.73

8734 0.76 516.4 2807 689 1438 1312 27.7 8.7 743 8755 0.00 2.50 14.98 0.298 9382 0.000 0.078 2807 2102 1256 1322 1191 0 0 0 0 0 0 14.05 13.97 13.74

9060 1.05 737.1 2808 2102 1323 1182 15.0 -0.2 778 9164 0.30 2.58 93.60 0.256 10660 0.088 0.083 2919 3512 496 536 456 0 0 0 0 0 0 13.93 13.89 13.74

9212 end climb: SURFACE_DEPTH_REACHED

state 9212 begin surface coast

9222 end surface coast: CONTROL_FINISHED_OK

state 9222 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	62	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	181.0
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	55	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,213350,7202.9023,-14748.3271,59,0.7,59,21.3,0.6,61.2,10,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.35	MHEAD_RNG_PITCHd_Wd	320.1,144159,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	130817,214631,7202.8628,-14748.4336,8,0.8,11,21.3,0.6,322.9,10,9.0

FINISH	0.8,1.020108	_24V_AH	12.59,72.102
SM_CCo	9304,0.00,0.000,0,0,495,704.01	_10V_AH	12.65,0.000
SM_GC	1.23,8.43,2.33,0.00,0.076,0.052,0.000,198,2191,495,-7.38,0.48,704.01,0,0,0,0,0,0,14.02,13.98,14.10	FG_AHR_24Vo	0.000
RAFOS_CLK	67	FG_AHR_10Vo	0.000
RAFOS_FIX	7228.703125,-14627.398438,130817,202006,2,255,13.68	MEM	323792
IRIDIUM_FIX	7206.48,-14753.74,130817,213818	DATA_FILE_SIZE	26687,810
TT8_MAMPS	0.084637,0.855358	CAP_FILE_SIZE	106613,0
HUMID	47.32	CFSIZE	2097872896,2069561344
INTERNAL_PRESSURE	7.80105	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.50	SOUNDSPEED	1451.7
XPDR_PINGS	19	CURRENT	0.075,252.17,1
CP_FREE	16008839168.000000	GPS	140817,002351,7203.886,-14750.308,62,0.8,63,21.3,1.1,271.9,11,8.3
PM_FREEKB_00	58405376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	146.27	nil	0	0	0.00
Roll_motor	93	2141	2523.96	nil	0	0	0.00
VBD_pump_during_apogee	883	1470	16358.11	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	9249	14	1722.34
Iridium_during_xfer	430	182	987.56	NCP	9248	20	2328.65
Transponder_ping	4	420	25.12	PMAR	9198	16	1916.31
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.58
TT8	0	0	0.00
LPSleep	6756	2	197.44
TT8_Active	905	13	159.96
TT8_Sampling	2130	33	901.13
TT8_CF8	279	38	136.93
TT8_Kalman	0	0	0.00
Analog_circuits	2088	10	264.21
GPS_charging	0	0	0.00
Compass	1164	7	103.14
RAFOS	2155	48	1308.52
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	169	2223	518	457	0.0	0.0	0	129	0.00	0.00	-81.18	0.000	16386	0.000	0.000	166	2224	2127	2049	2206	0	0	0	0	0	0	14.35	28.83	14.37
132	-0.57	-145.9	167	2224	2052	2208	3.4	-4.1	8	185	12.70	2.65	-33.45	0.000	18724	0.455	2.141	2375	3587	3965	3953	3978	0	0	0	0	0	0	13.71	12.95	14.13
346	-0.57	-145.9	2376	3589	3962	3979	53.7	-15.8	50	351	0.00	2.33	0.00	0.000	1030	0.000	0.056	2376	2225	3970	3962	3978	0	0	0	0	0	0	14.12	14.02	14.14
666	-0.57	-145.9	2376	2224	3965	3977	104.9	-13.9	81	670	0.00	2.42	0.00	0.000	260	0.000	0.083	2366	3597	3971	3964	3978	0	0	0	0	0	0	14.42	14.02	14.45
716	-0.67	-145.9	2366	3600	3965	3979	111.5	-12.3	91	722	0.00	2.40	0.00	0.000	1158	0.000	0.059	2362	2195	3971	3964	3978	0	0	0	0	0	0	14.17	14.07	14.21
1027	-0.70	-145.9	2366	2194	3965	3986	151.1	-12.2	103	1033	0.00	2.47	0.00	0.000	388	0.000	0.085	2357	3595	3971	3965	3977	0	0	0	0	0	0	14.50	14.16	14.52
1058	-0.78	-145.9	2357	3595	3966	3978	154.9	-12.1	109	1063	0.00	2.38	0.00	0.000	1158	0.000	0.058	2357	2199	3970	3963	3977	0	0	0	0	0	0	14.28	14.17	14.31
1388	-0.83	-145.9	2357	2198	3965	3977	192.7	-11.2	125	1393	0.12	2.45	0.00	0.000	4484	0.141	0.083	2292	3589	3967	3959	3976	0	0	0	0	0	0	14.14	14.16	14.19
1468	-0.83	-145.9	2294	3589	3965	3977	204.7	-15.4	141	1473	0.00	2.38	0.00	0.000	1030	0.000	0.059	2292	2189	3970	3964	3976	0	0	0	0	0	0	14.33	14.22	14.35
1778	-0.78	-145.9	2292	2188	3963	3973	251.2	-14.5	153	1783	0.15	2.47	0.00	0.000	2436	0.281	0.083	2319	3595	3968	3963	3973	0	0	0	0	0	0	13.85	14.10	14.01
1870	-0.87	-145.9	2318	3597	3964	3974	261.2	-10.2	171	1876	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2189	3968	3964	3973	0	0	0	0	0	0	14.33	14.22	14.35
2201	-0.92	-145.9	2319	2188	3965	3970	297.0	-10.6	187	2207	0.12	2.47	0.00	0.000	4484	0.138	0.085	2262	3595	3967	3964	3970	0	0	0	0	0	0	14.26	14.16	14.33
2314	-0.89	-145.9	2264	3597	3964	3970	312.4	-13.6	209	2318	0.00	2.38	0.00	0.000	1158	0.000	0.059	2263	2194	3966	3963	3970	0	0	0	0	0	0	14.30	14.19	14.33
2624	-0.83	-145.9	2263	2192	3964	3969	358.6	-14.8	221	2629	0.17	2.45	0.00	0.000	2436	0.293	0.083	2296	3591	3965	3963	3968	0	0	0	0	0	0	13.95	14.19	14.13
2699	-0.90	-145.9	2296	3593	3963	3969	367.6	-10.8	236	2704	0.00	2.35	0.00	0.000	1158	0.000	0.057	2296	2197	3965	3963	3968	0	0	0	0	0	0	14.35	14.23	14.38
3014	-0.90	-145.9	2295	2196	3964	3962	403.1	-11.2	249	3019	0.00	2.45	0.00	0.000	260	0.000	0.086	2288	3595	3964	3963	3966	0	0	0	0	0	0	14.54	14.19	14.56
3064	-0.95	-145.9	2288	3597	3963	3967	408.8	-11.2	259	3070	0.00	2.38	0.00	0.000	1158	0.000	0.059	2288	2196	3964	3962	3966	0	0	0	0	0	0	14.33	14.19	14.38
3375	-0.95	-145.9	2288	2195	3963	3963	445.2	-11.7	271	3381	0.00	2.42	0.00	0.000	260	0.000	0.086	2280	3588	3963	3961	3965	0	0	0	0	0	0	14.56	14.14	14.57
3451	-0.99	-145.9	2280	3589	3962	3966	454.2	-11.2	286	3456	0.00	2.35	0.00	0.000	1158	0.000	0.058	2280	2201	3963	3962	3965	0	0	0	0	0	0	14.35	14.23	14.37
3674	end dive: TARGET_DEPTH_EXCEEDED
state	3674	begin apogee
3680	-0.13	0.0	2281	2060	3963	3964	481.8	-12.3	296	3891	0.98	0.00	207.70	1.440	10246	0.239	0.000	2530	2059	3364	3404	3325	0	0	0	0	0	0	13.93	13.52	12.86
3895	end apogee: CONTROL_FINISHED_OK
state	3895	begin climb
3897	0.57	145.9	2530	2060	3397	3316	491.5	0.0	303	4102	0.75	2.67	193.73	1.396	10500	0.067	0.076	2781	3488	2764	2826	2703	0	0	0	0	0	0	13.59	13.09	12.59
4327	0.15	145.9	2781	3488	2805	2703	454.6	17.7	383	4332	0.75	2.38	0.00	0.000	5254	0.353	0.058	2639	2130	2753	2803	2703	0	0	0	0	0	0	13.46	13.75	13.80
4647	0.08	171.7	2639	2131	2804	2702	424.8	8.8	397	4688	0.00	2.47	32.47	1.463	8612	0.000	0.083	2639	3484	2662	2719	2606	0	0	0	0	0	0	14.29	13.86	13.19
4913	-0.01	171.7	2642	3485	2704	2606	397.1	10.5	450	4919	0.28	2.38	0.00	0.000	5254	0.256	0.059	2583	2098	2654	2703	2605	0	0	0	0	0	0	13.83	14.04	14.10
5218	0.12	260.5	2583	2099	2705	2604	378.3	5.9	461	5358	0.12	2.62	131.00	1.338	10916	0.135	0.087	2632	691	2297	2356	2239	0	0	0	0	0	0	14.21	13.65	13.05
5385	0.21	280.9	2635	692	2353	2237	363.6	9.1	489	5420	0.00	2.53	29.48	1.398	9382	0.000	0.078	2634	2089	2216	2282	2151	0	0	0	0	0	0	13.83	13.74	13.00
5733	0.27	286.9	2634	2089	2272	2137	330.3	9.7	508	5736	0.00	0.00	1.90	0.493	8358	0.000	0.000	2633	2088	2197	2266	2129	0	0	0	0	0	0	14.26	13.68	13.41
6031	0.33	296.9	2634	2088	2268	2138	301.3	9.5	518	6052	0.17	0.00	19.45	1.470	10406	0.108	0.000	2701	2088	2156	2220	2093	0	0	0	0	0	0	14.19	14.06	13.34
6331	0.26	296.9	2702	2088	2209	2085	258.8	14.2	528	6337	0.15	2.45	0.00	0.000	4740	0.239	0.082	2672	693	2146	2208	2085	0	0	0	0	0	0	13.96	14.11	14.11
6377	0.31	296.9	2673	693	2207	2085	253.2	11.3	537	6382	0.00	2.47	0.00	0.000	1158	0.000	0.080	2672	2105	2145	2205	2085	0	0	0	0	0	0	14.27	14.15	14.29
6692	0.31	296.9	2672	2106	2206	2085	218.5	10.5	550	6697	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	698	2145	2206	2084	0	0	0	0	0	0	14.49	14.08	14.51
6727	0.36	300.6	2672	693	2204	2085	215.1	9.8	557	6732	0.00	2.45	0.00	0.000	1190	0.000	0.081	2672	2098	2144	2204	2084	0	0	0	0	0	0	14.31	14.17	14.31
7052	0.37	319.1	2673	2100	2204	2084	184.7	9.1	572	7092	0.00	2.53	34.08	1.377	8484	0.000	0.086	2672	3521	2062	2118	2007	0	0	0	0	0	0	14.52	14.08	13.43
7117	0.37	321.3	2672	3522	2112	2008	178.6	9.9	585	7122	0.00	2.47	0.00	0.000	1062	0.000	0.066	2673	2093	2059	2111	2007	0	0	0	0	0	0	14.18	14.07	14.17
7443	0.44	352.7	2674	2092	2112	2002	150.5	8.6	600	7505	0.12	2.58	56.65	1.297	10916	0.138	0.087	2729	691	1924	1970	1878	0	0	0	0	0	0	14.19	13.91	13.28
7565	0.46	352.7	2729	691	1960	1880	136.6	10.7	624	7571	0.00	2.53	0.00	0.000	1158	0.000	0.079	2729	2106	1918	1959	1878	0	0	0	0	0	0	14.09	13.98	14.12
7896	0.46	352.7	2729	2108	1958	1873	100.4	10.6	640	7902	0.00	2.50	0.00	0.000	516	0.000	0.086	2729	689	1914	1956	1872	0	0	0	0	0	0	14.39	14.10	14.40
7942	0.52	368.7	2729	689	1954	1873	96.0	9.3	649	7958	0.00	2.47	7.62	0.489	9382	0.000	0.080	2729	2101	1860	1898	1822	0	0	0	0	0	0	14.12	14.04	13.65
8266	0.55	398.8	2729	2102	1901	1823	65.5	8.6	682	8286	0.00	0.00	16.20	0.404	8230	0.000	0.000	2729	2106	1736	1771	1702	0	0	0	0	0	0	14.32	13.95	13.70
8586	0.69	487.6	2729	2101	1772	1700	41.5	5.9	714	8638	0.20	2.50	44.83	0.329	10916	0.104	0.086	2807	690	1375	1433	1318	0	0	0	0	0	0	13.97	13.96	13.73
8734	0.76	516.4	2807	689	1438	1312	27.7	8.7	743	8755	0.00	2.50	14.98	0.298	9382	0.000	0.078	2807	2102	1256	1322	1191	0	0	0	0	0	0	14.05	13.97	13.74
9060	1.05	737.1	2808	2102	1323	1182	15.0	-0.2	778	9164	0.30	2.58	93.60	0.256	10660	0.088	0.083	2919	3512	496	536	456	0	0	0	0	0	0	13.93	13.89	13.74
9212	end climb: SURFACE_DEPTH_REACHED
state	9212	begin surface coast
9222	end surface coast: CONTROL_FINISHED_OK
state	9222	begin surface