Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 66 * 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 66 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 191.0

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 191.0 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 66 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 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 140817,084251,7207.4907,-14754.5889,20,0.7,25,21.3,0.5,83.1,11,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 313.6,135113,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 140817,090155,7207.4766,-14754.4902,19,0.8,42,21.3,0.5,164.1,9,6.5

Post-dive calculations and measurements:

FINISH 0.5,1.020030 _24V_AH 12.60,73.945

SM_CCo 9051,0.00,0.000,0,0,497,703.28 _10V_AH 12.53,0.000

SM_GC 1.14,8.38,2.70,0.00,0.076,0.080,0.000,202,2203,497,-7.37,-0.71,703.28,0,0,0,0,0,0,14.20,14.14,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 374 FG_AHR_10Vo 0.000

RAFOS_FIX 7314.406250,-15445.173828,140817,080852,4,255,34.25 MEM 323592

IRIDIUM_FIX 7212.54,-14823.55,140817,085329 DATA_FILE_SIZE 26697,742

TT8_MAMPS 0.038948,0.85386 CAP_FILE_SIZE 104707,0

HUMID 50.66 CFSIZE 2097872896,2068414464

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

TCM_TEMP 13.50 SOUNDSPEED 1451.4

XPDR_PINGS 23 CURRENT 0.047,218.77,1

CP_FREE 0.000000 GPS 140817,113432,7208.310,-14755.233,31,0.7,31,21.3,0.0,0.0,11,8.2

PM_FREEKB_00 58105536

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 146.72 nil 0 0 0.00

Roll_motor 95 2140 2566.19 nil 0 0 0.00

VBD_pump_during_apogee 964 1408 17114.99 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 8949 14 1651.78

Iridium_during_xfer 661 175 1466.69 NCP 8984 20 2263.97

Transponder_ping 5 420 30.43 PMAR 8943 16 1863.76

GUMSTIX_24V 0 0 0.00

GPS 43 22 12.29

TT8 0 0 0.00

LPSleep 6613 2 191.41

TT8_Active 841 13 147.32

TT8_Sampling 2459 33 1030.70

TT8_CF8 292 38 141.60

TT8_Kalman 0 0 0.00

Analog_circuits 2357 10 295.39

GPS_charging 0 0 0.00

Compass 1068 7 93.70

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 -145.9 152 2206 506 463 0.0 0.0 0 129 0.00 0.00 -81.20 0.000 16386 0.000 0.000 148 2206 2238 2172 2304 0 0 0 0 0 0 14.26 28.83 14.28

132 -0.57 -145.9 148 2207 2169 2306 4.6 -7.0 8 180 12.75 2.75 -29.15 0.000 18724 0.451 2.140 2378 3614 3965 3953 3977 0 0 0 0 0 0 13.71 12.69 14.11

405 -0.57 -145.9 2378 3609 3962 3979 63.6 -15.1 62 410 0.00 2.42 0.00 0.000 1030 0.000 0.056 2378 2189 3969 3961 3977 0 0 0 0 0 0 14.08 13.98 14.09

735 -0.57 -145.9 2378 2188 3964 3978 113.5 -14.0 90 740 0.00 2.50 0.00 0.000 260 0.000 0.083 2370 3610 3971 3964 3978 0 0 0 0 0 0 14.45 14.04 14.47

895 -0.69 -145.9 2371 3613 3965 3977 131.8 -11.0 122 900 0.00 2.38 0.00 0.000 1158 0.000 0.054 2370 2198 3970 3964 3977 0 0 0 0 0 0 14.22 14.12 14.24

1215 -0.74 -145.9 2370 2197 3964 3977 168.7 -11.2 136 1220 0.00 2.47 0.00 0.000 388 0.000 0.084 2363 3610 3970 3964 3976 0 0 0 0 0 0 14.52 14.07 14.52

1270 -0.88 -145.9 2364 3609 3965 3976 174.8 -10.6 147 1278 0.20 2.40 0.00 0.000 5254 0.106 0.056 2279 2191 3970 3964 3976 0 0 0 0 0 0 14.16 14.12 14.22

1575 -0.78 -145.9 2279 2191 3964 3974 227.7 -17.0 158 1580 0.17 2.50 0.00 0.000 2436 0.280 0.081 2312 3620 3968 3964 3973 0 0 0 0 0 0 13.97 14.16 14.12

1636 -0.84 -145.9 2309 3622 3966 3973 235.8 -12.0 170 1640 0.00 2.40 0.00 0.000 1158 0.000 0.057 2312 2201 3969 3966 3973 0 0 0 0 0 0 14.27 14.16 14.31

1965 -0.84 -145.9 2312 2199 3965 3971 276.2 -11.9 186 1970 0.00 2.47 0.00 0.000 260 0.000 0.085 2307 3608 3966 3963 3970 0 0 0 0 0 0 14.56 14.14 14.57

2087 -0.93 -145.9 2308 3611 3964 3971 289.5 -10.6 210 2092 0.00 2.40 0.00 0.000 1158 0.000 0.057 2307 2196 3966 3963 3970 0 0 0 0 0 0 14.35 14.23 14.38

2417 -0.93 -145.9 2308 2196 3964 3967 327.9 -11.4 226 2422 0.00 2.47 0.00 0.000 260 0.000 0.085 2299 3610 3964 3963 3966 0 0 0 0 0 0 14.54 14.17 14.56

2452 -0.98 -145.9 2300 3611 3963 3967 331.9 -11.1 233 2457 0.12 2.40 0.00 0.000 5254 0.133 0.059 2251 2195 3964 3962 3966 0 0 0 0 0 0 14.27 14.23 14.36

2778 -0.89 -145.9 2251 2195 3964 3964 382.8 -15.8 248 2783 0.15 2.47 0.00 0.000 2436 0.314 0.081 2274 3610 3963 3962 3964 0 0 0 0 0 0 13.40 13.58 13.52

2863 -0.89 -145.9 2274 3610 3963 3963 394.2 -12.7 265 2869 0.00 2.40 0.00 0.000 1030 0.000 0.058 2274 2196 3963 3962 3964 0 0 0 0 0 0 14.31 14.20 14.35

3168 -0.85 -145.9 2273 2197 3962 3963 435.8 -13.7 276 3173 0.12 2.47 0.00 0.000 2436 0.324 0.081 2293 3609 3965 3969 3962 0 0 0 0 0 0 13.93 14.16 14.10

3238 -0.93 -145.9 2293 3610 3962 3963 444.2 -10.9 290 3243 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2192 3961 3961 3962 0 0 0 0 0 0 14.30 14.19 14.33

3556 end dive: TARGET_DEPTH_EXCEEDED

state 3556 begin apogee

3562 -0.13 0.0 2294 2066 3963 3960 482.0 -11.7 304 3781 0.93 0.05 216.07 1.408 10246 0.238 0.220 2534 2102 3366 3408 3325 0 0 0 0 0 0 13.92 13.45 12.84

3785 end apogee: CONTROL_FINISHED_OK

state 3785 begin climb

3790 0.57 145.9 2531 2102 3396 3312 492.3 0.0 311 3999 0.73 2.67 196.82 1.366 10500 0.067 0.075 2776 3510 2759 2817 2701 0 0 0 0 0 0 13.59 13.12 12.60

4008 0.57 145.9 2776 3511 2809 2703 494.0 -0.3 313 4013 0.00 2.50 0.00 0.000 1030 0.000 0.056 2786 2128 2754 2807 2701 0 0 0 0 0 0 13.43 13.34 13.47

4329 0.19 145.9 2786 2126 2799 2700 440.7 16.5 327 4334 0.60 2.55 0.00 0.000 4740 0.315 0.080 2660 690 2748 2797 2700 0 0 0 0 0 0 13.59 13.87 13.81

4339 -0.16 145.9 2660 691 2798 2701 439.1 16.5 329 4344 0.55 2.53 0.00 0.000 5254 0.288 0.076 2537 2103 2748 2797 2700 0 0 0 0 0 0 13.64 13.87 13.93

4659 0.09 276.4 2537 2104 2798 2699 425.3 4.0 343 4872 0.20 2.62 203.40 1.278 10916 0.106 0.082 2615 688 2235 2302 2169 0 0 0 0 0 0 14.08 13.35 12.91

5097 0.23 307.3 2619 689 2284 2163 388.5 8.6 430 5148 0.12 2.53 44.50 1.330 11430 0.129 0.078 2673 2100 2108 2172 2045 0 0 0 0 0 0 13.89 13.85 13.03

5473 0.23 307.3 2673 2100 2157 2032 341.0 12.8 455 5478 0.00 2.50 0.00 0.000 516 0.000 0.086 2673 691 2093 2156 2031 0 0 0 0 0 0 14.32 14.01 14.31

5528 0.29 307.3 2674 691 2155 2031 334.2 12.0 466 5535 0.00 2.50 0.00 0.000 1158 0.000 0.078 2672 2105 2092 2154 2031 0 0 0 0 0 0 14.14 14.03 14.18

5834 0.29 307.3 2673 2105 2155 2030 295.9 12.3 477 5838 0.00 2.50 0.00 0.000 516 0.000 0.086 2674 685 2092 2154 2030 0 0 0 0 0 0 14.45 14.12 14.47

5878 0.33 307.3 2674 685 2153 2030 290.6 11.6 486 5883 0.00 2.47 0.00 0.000 1158 0.000 0.078 2673 2107 2090 2151 2030 0 0 0 0 0 0 14.29 14.17 14.32

6193 0.33 307.3 2673 2108 2153 2030 253.7 11.5 499 6194 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2108 2090 2151 2029 0 0 0 0 0 0 14.51 14.53 14.53

6494 0.33 307.3 2674 2108 2152 2028 219.8 11.1 509 6494 0.00 0.00 0.00 0.000 6 0.000 0.000 2673 2108 2089 2151 2028 0 0 0 0 0 0 14.53 14.55 14.55

6794 0.34 329.5 2673 2108 2152 2028 191.0 9.0 519 6831 0.00 2.47 32.28 1.338 8484 0.000 0.083 2673 3507 2016 2072 1961 0 0 0 0 0 0 14.54 13.97 13.43

6851 0.40 344.6 2673 3506 2060 1962 185.5 9.3 525 6881 0.10 2.42 22.33 1.354 11430 0.150 0.063 2712 2093 1955 2006 1904 0 0 0 0 0 0 14.12 14.12 13.36

7188 0.40 344.6 2712 2094 1997 1894 148.0 11.0 542 7193 0.00 2.47 0.00 0.000 516 0.000 0.088 2712 691 1942 1996 1889 0 0 0 0 0 0 14.40 14.10 14.42

7253 0.46 353.4 2713 691 1995 1893 141.3 9.6 555 7264 0.00 2.45 3.62 1.336 9382 0.000 0.077 2712 2099 1923 1972 1874 0 0 0 0 0 0 14.27 14.11 12.97

7579 0.47 366.5 2713 2099 1981 1883 109.6 9.4 570 7611 0.00 2.58 26.75 1.350 8740 0.000 0.086 2712 683 1867 1908 1826 0 0 0 0 0 0 14.47 14.07 13.40

7656 0.59 399.6 2711 685 1897 1825 103.0 8.5 585 7719 0.17 2.50 56.28 1.232 11430 0.107 0.079 2781 2102 1734 1768 1701 0 0 0 0 0 0 14.12 14.05 13.24

8024 0.54 399.6 2782 2102 1757 1681 54.2 12.5 628 8030 0.00 2.53 0.00 0.000 644 0.000 0.086 2781 685 1719 1755 1683 0 0 0 0 0 0 14.33 13.97 14.34

8075 0.54 399.6 2788 686 1753 1684 48.6 10.7 638 8080 0.00 2.50 0.00 0.000 1030 0.000 0.077 2781 2105 1717 1751 1683 0 0 0 0 0 0 14.11 14.00 14.12

8385 0.60 490.0 2782 2106 1752 1682 24.0 5.8 670 8437 0.00 2.58 46.97 0.275 8740 0.000 0.084 2781 687 1363 1419 1308 0 0 0 0 0 0 14.42 14.07 13.83

8447 0.71 587.0 2781 688 1420 1309 20.3 5.5 678 8506 0.00 2.50 52.05 0.262 9382 0.000 0.080 2781 2108 970 1059 881 0 0 0 0 0 0 14.17 14.07 13.78

8811 1.13 722.3 2781 2108 1060 879 10.7 3.8 720 8885 0.50 2.55 63.40 0.230 10916 0.137 0.082 2943 694 495 539 452 0 0 0 0 0 0 13.94 14.04 13.89

8915 end climb: SURFACE_DEPTH_REACHED

state 8915 begin surface coast

8923 end surface coast: CONTROL_FINISHED_OK

state 8923 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	66	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	191.0
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	140817,084251,7207.4907,-14754.5889,20,0.7,25,21.3,0.5,83.1,11,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	313.6,135113,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	140817,090155,7207.4766,-14754.4902,19,0.8,42,21.3,0.5,164.1,9,6.5

FINISH	0.5,1.020030	_24V_AH	12.60,73.945
SM_CCo	9051,0.00,0.000,0,0,497,703.28	_10V_AH	12.53,0.000
SM_GC	1.14,8.38,2.70,0.00,0.076,0.080,0.000,202,2203,497,-7.37,-0.71,703.28,0,0,0,0,0,0,14.20,14.14,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	374	FG_AHR_10Vo	0.000
RAFOS_FIX	7314.406250,-15445.173828,140817,080852,4,255,34.25	MEM	323592
IRIDIUM_FIX	7212.54,-14823.55,140817,085329	DATA_FILE_SIZE	26697,742
TT8_MAMPS	0.038948,0.85386	CAP_FILE_SIZE	104707,0
HUMID	50.66	CFSIZE	2097872896,2068414464
INTERNAL_PRESSURE	7.80105	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1451.4
XPDR_PINGS	23	CURRENT	0.047,218.77,1
CP_FREE	0.000000	GPS	140817,113432,7208.310,-14755.233,31,0.7,31,21.3,0.0,0.0,11,8.2
PM_FREEKB_00	58105536

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	146.72	nil	0	0	0.00
Roll_motor	95	2140	2566.19	nil	0	0	0.00
VBD_pump_during_apogee	964	1408	17114.99	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	8949	14	1651.78
Iridium_during_xfer	661	175	1466.69	NCP	8984	20	2263.97
Transponder_ping	5	420	30.43	PMAR	8943	16	1863.76
GUMSTIX_24V	0	0	0.00
GPS	43	22	12.29
TT8	0	0	0.00
LPSleep	6613	2	191.41
TT8_Active	841	13	147.32
TT8_Sampling	2459	33	1030.70
TT8_CF8	292	38	141.60
TT8_Kalman	0	0	0.00
Analog_circuits	2357	10	295.39
GPS_charging	0	0	0.00
Compass	1068	7	93.70
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	152	2206	506	463	0.0	0.0	0	129	0.00	0.00	-81.20	0.000	16386	0.000	0.000	148	2206	2238	2172	2304	0	0	0	0	0	0	14.26	28.83	14.28
132	-0.57	-145.9	148	2207	2169	2306	4.6	-7.0	8	180	12.75	2.75	-29.15	0.000	18724	0.451	2.140	2378	3614	3965	3953	3977	0	0	0	0	0	0	13.71	12.69	14.11
405	-0.57	-145.9	2378	3609	3962	3979	63.6	-15.1	62	410	0.00	2.42	0.00	0.000	1030	0.000	0.056	2378	2189	3969	3961	3977	0	0	0	0	0	0	14.08	13.98	14.09
735	-0.57	-145.9	2378	2188	3964	3978	113.5	-14.0	90	740	0.00	2.50	0.00	0.000	260	0.000	0.083	2370	3610	3971	3964	3978	0	0	0	0	0	0	14.45	14.04	14.47
895	-0.69	-145.9	2371	3613	3965	3977	131.8	-11.0	122	900	0.00	2.38	0.00	0.000	1158	0.000	0.054	2370	2198	3970	3964	3977	0	0	0	0	0	0	14.22	14.12	14.24
1215	-0.74	-145.9	2370	2197	3964	3977	168.7	-11.2	136	1220	0.00	2.47	0.00	0.000	388	0.000	0.084	2363	3610	3970	3964	3976	0	0	0	0	0	0	14.52	14.07	14.52
1270	-0.88	-145.9	2364	3609	3965	3976	174.8	-10.6	147	1278	0.20	2.40	0.00	0.000	5254	0.106	0.056	2279	2191	3970	3964	3976	0	0	0	0	0	0	14.16	14.12	14.22
1575	-0.78	-145.9	2279	2191	3964	3974	227.7	-17.0	158	1580	0.17	2.50	0.00	0.000	2436	0.280	0.081	2312	3620	3968	3964	3973	0	0	0	0	0	0	13.97	14.16	14.12
1636	-0.84	-145.9	2309	3622	3966	3973	235.8	-12.0	170	1640	0.00	2.40	0.00	0.000	1158	0.000	0.057	2312	2201	3969	3966	3973	0	0	0	0	0	0	14.27	14.16	14.31
1965	-0.84	-145.9	2312	2199	3965	3971	276.2	-11.9	186	1970	0.00	2.47	0.00	0.000	260	0.000	0.085	2307	3608	3966	3963	3970	0	0	0	0	0	0	14.56	14.14	14.57
2087	-0.93	-145.9	2308	3611	3964	3971	289.5	-10.6	210	2092	0.00	2.40	0.00	0.000	1158	0.000	0.057	2307	2196	3966	3963	3970	0	0	0	0	0	0	14.35	14.23	14.38
2417	-0.93	-145.9	2308	2196	3964	3967	327.9	-11.4	226	2422	0.00	2.47	0.00	0.000	260	0.000	0.085	2299	3610	3964	3963	3966	0	0	0	0	0	0	14.54	14.17	14.56
2452	-0.98	-145.9	2300	3611	3963	3967	331.9	-11.1	233	2457	0.12	2.40	0.00	0.000	5254	0.133	0.059	2251	2195	3964	3962	3966	0	0	0	0	0	0	14.27	14.23	14.36
2778	-0.89	-145.9	2251	2195	3964	3964	382.8	-15.8	248	2783	0.15	2.47	0.00	0.000	2436	0.314	0.081	2274	3610	3963	3962	3964	0	0	0	0	0	0	13.40	13.58	13.52
2863	-0.89	-145.9	2274	3610	3963	3963	394.2	-12.7	265	2869	0.00	2.40	0.00	0.000	1030	0.000	0.058	2274	2196	3963	3962	3964	0	0	0	0	0	0	14.31	14.20	14.35
3168	-0.85	-145.9	2273	2197	3962	3963	435.8	-13.7	276	3173	0.12	2.47	0.00	0.000	2436	0.324	0.081	2293	3609	3965	3969	3962	0	0	0	0	0	0	13.93	14.16	14.10
3238	-0.93	-145.9	2293	3610	3962	3963	444.2	-10.9	290	3243	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2192	3961	3961	3962	0	0	0	0	0	0	14.30	14.19	14.33
3556	end dive: TARGET_DEPTH_EXCEEDED
state	3556	begin apogee
3562	-0.13	0.0	2294	2066	3963	3960	482.0	-11.7	304	3781	0.93	0.05	216.07	1.408	10246	0.238	0.220	2534	2102	3366	3408	3325	0	0	0	0	0	0	13.92	13.45	12.84
3785	end apogee: CONTROL_FINISHED_OK
state	3785	begin climb
3790	0.57	145.9	2531	2102	3396	3312	492.3	0.0	311	3999	0.73	2.67	196.82	1.366	10500	0.067	0.075	2776	3510	2759	2817	2701	0	0	0	0	0	0	13.59	13.12	12.60
4008	0.57	145.9	2776	3511	2809	2703	494.0	-0.3	313	4013	0.00	2.50	0.00	0.000	1030	0.000	0.056	2786	2128	2754	2807	2701	0	0	0	0	0	0	13.43	13.34	13.47
4329	0.19	145.9	2786	2126	2799	2700	440.7	16.5	327	4334	0.60	2.55	0.00	0.000	4740	0.315	0.080	2660	690	2748	2797	2700	0	0	0	0	0	0	13.59	13.87	13.81
4339	-0.16	145.9	2660	691	2798	2701	439.1	16.5	329	4344	0.55	2.53	0.00	0.000	5254	0.288	0.076	2537	2103	2748	2797	2700	0	0	0	0	0	0	13.64	13.87	13.93
4659	0.09	276.4	2537	2104	2798	2699	425.3	4.0	343	4872	0.20	2.62	203.40	1.278	10916	0.106	0.082	2615	688	2235	2302	2169	0	0	0	0	0	0	14.08	13.35	12.91
5097	0.23	307.3	2619	689	2284	2163	388.5	8.6	430	5148	0.12	2.53	44.50	1.330	11430	0.129	0.078	2673	2100	2108	2172	2045	0	0	0	0	0	0	13.89	13.85	13.03
5473	0.23	307.3	2673	2100	2157	2032	341.0	12.8	455	5478	0.00	2.50	0.00	0.000	516	0.000	0.086	2673	691	2093	2156	2031	0	0	0	0	0	0	14.32	14.01	14.31
5528	0.29	307.3	2674	691	2155	2031	334.2	12.0	466	5535	0.00	2.50	0.00	0.000	1158	0.000	0.078	2672	2105	2092	2154	2031	0	0	0	0	0	0	14.14	14.03	14.18
5834	0.29	307.3	2673	2105	2155	2030	295.9	12.3	477	5838	0.00	2.50	0.00	0.000	516	0.000	0.086	2674	685	2092	2154	2030	0	0	0	0	0	0	14.45	14.12	14.47
5878	0.33	307.3	2674	685	2153	2030	290.6	11.6	486	5883	0.00	2.47	0.00	0.000	1158	0.000	0.078	2673	2107	2090	2151	2030	0	0	0	0	0	0	14.29	14.17	14.32
6193	0.33	307.3	2673	2108	2153	2030	253.7	11.5	499	6194	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2108	2090	2151	2029	0	0	0	0	0	0	14.51	14.53	14.53
6494	0.33	307.3	2674	2108	2152	2028	219.8	11.1	509	6494	0.00	0.00	0.00	0.000	6	0.000	0.000	2673	2108	2089	2151	2028	0	0	0	0	0	0	14.53	14.55	14.55
6794	0.34	329.5	2673	2108	2152	2028	191.0	9.0	519	6831	0.00	2.47	32.28	1.338	8484	0.000	0.083	2673	3507	2016	2072	1961	0	0	0	0	0	0	14.54	13.97	13.43
6851	0.40	344.6	2673	3506	2060	1962	185.5	9.3	525	6881	0.10	2.42	22.33	1.354	11430	0.150	0.063	2712	2093	1955	2006	1904	0	0	0	0	0	0	14.12	14.12	13.36
7188	0.40	344.6	2712	2094	1997	1894	148.0	11.0	542	7193	0.00	2.47	0.00	0.000	516	0.000	0.088	2712	691	1942	1996	1889	0	0	0	0	0	0	14.40	14.10	14.42
7253	0.46	353.4	2713	691	1995	1893	141.3	9.6	555	7264	0.00	2.45	3.62	1.336	9382	0.000	0.077	2712	2099	1923	1972	1874	0	0	0	0	0	0	14.27	14.11	12.97
7579	0.47	366.5	2713	2099	1981	1883	109.6	9.4	570	7611	0.00	2.58	26.75	1.350	8740	0.000	0.086	2712	683	1867	1908	1826	0	0	0	0	0	0	14.47	14.07	13.40
7656	0.59	399.6	2711	685	1897	1825	103.0	8.5	585	7719	0.17	2.50	56.28	1.232	11430	0.107	0.079	2781	2102	1734	1768	1701	0	0	0	0	0	0	14.12	14.05	13.24
8024	0.54	399.6	2782	2102	1757	1681	54.2	12.5	628	8030	0.00	2.53	0.00	0.000	644	0.000	0.086	2781	685	1719	1755	1683	0	0	0	0	0	0	14.33	13.97	14.34
8075	0.54	399.6	2788	686	1753	1684	48.6	10.7	638	8080	0.00	2.50	0.00	0.000	1030	0.000	0.077	2781	2105	1717	1751	1683	0	0	0	0	0	0	14.11	14.00	14.12
8385	0.60	490.0	2782	2106	1752	1682	24.0	5.8	670	8437	0.00	2.58	46.97	0.275	8740	0.000	0.084	2781	687	1363	1419	1308	0	0	0	0	0	0	14.42	14.07	13.83
8447	0.71	587.0	2781	688	1420	1309	20.3	5.5	678	8506	0.00	2.50	52.05	0.262	9382	0.000	0.080	2781	2108	970	1059	881	0	0	0	0	0	0	14.17	14.07	13.78
8811	1.13	722.3	2781	2108	1060	879	10.7	3.8	720	8885	0.50	2.55	63.40	0.230	10916	0.137	0.082	2943	694	495	539	452	0	0	0	0	0	0	13.94	14.04	13.89
8915	end climb: SURFACE_DEPTH_REACHED
state	8915	begin surface coast
8923	end surface coast: CONTROL_FINISHED_OK
state	8923	begin surface