Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 79 * 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 79 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 229.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 229.0 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 35 VBD_MIN 500

DIVE 79 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 150817,210402,7222.0786,-14814.8818,23,0.7,23,21.3,0.0,0.0,10,7.8 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 1.04 MHEAD_RNG_PITCHd_Wd 317.6,106272,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 150817,211410,7222.0796,-14814.7900,7,0.7,8,21.3,0.0,191.7,11,9.0

Post-dive calculations and measurements:

FINISH -0.1,1.020202 _24V_AH 12.56,79.999

SM_CCo 8943,0.00,0.000,0,0,493,704.75 _10V_AH 12.48,0.000

SM_GC 0.92,8.27,2.70,0.00,0.080,0.076,0.000,202,2207,493,-7.38,-0.45,704.75,0,0,0,0,0,0,14.16,14.12,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 384 FG_AHR_10Vo 0.000

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 MEM 323632

IRIDIUM_FIX 7223.65,-14810.98,150817,182850 DATA_FILE_SIZE 26759,752

TT8_MAMPS 0.040446,0.881573 CAP_FILE_SIZE 99992,0

HUMID 49.25 CFSIZE 2097872896,2064515072

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

TCM_TEMP 13.60 INTR 0,9667.21,0x213afc,7,24

XPDR_PINGS 22 SOUNDSPEED 1449.8

CP_FREE 16006021120.000000 CURRENT 0.050,236.66,1

PM_FREEKB_00 57142720 GPS 150817,234455,7222.954,-14815.626,14,0.8,24,21.2,1.1,87.1,11,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 142.96 nil 0 0 0.00

Roll_motor 84 2153 2272.68 nil 0 0 0.00

VBD_pump_during_apogee 933 1466 17199.94 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 8889 14 1650.01

Iridium_during_xfer 339 182 778.88 NCP 8870 20 2228.14

Transponder_ping 5 420 29.01 PMAR 8836 16 1838.05

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.52

TT8 0 0 0.00

LPSleep 6058 2 174.65

TT8_Active 813 13 141.85

TT8_Sampling 2409 33 1005.47

TT8_CF8 281 38 135.94

TT8_Kalman 0 0 0.00

Analog_circuits 2328 10 290.64

GPS_charging 0 0 0.00

Compass 1080 7 94.35

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 -145.9 180 2188 510 468 0.0 0.0 0 129 0.00 0.00 -81.22 0.000 16386 0.000 0.000 177 2187 2027 1949 2105 0 0 0 0 0 0 14.35 28.83 14.39

132 -0.57 -145.9 178 2188 1952 2107 3.3 -4.4 8 189 12.55 2.78 -37.42 0.000 19236 0.452 2.153 2376 3578 3963 3947 3980 1 0 0 0 0 0 13.55 12.68 14.10

414 -0.59 -145.9 2376 3579 3957 3977 62.3 -14.1 64 420 0.00 2.33 0.00 0.000 1158 0.000 0.054 2376 2207 3968 3956 3980 0 0 0 0 0 0 14.25 14.15 14.28

727 -0.62 -145.9 2377 2206 3960 3980 108.5 -13.4 92 733 0.00 2.45 0.00 0.000 388 0.000 0.086 2365 3594 3969 3959 3980 0 0 0 0 0 0 14.46 14.14 14.47

958 -0.73 -145.9 2366 3594 3960 3980 134.8 -10.7 138 963 0.00 2.35 0.00 0.000 1158 0.000 0.054 2365 2200 3968 3957 3980 0 0 0 0 0 0 14.30 14.21 14.34

1268 -0.80 -145.9 2368 2199 3960 3981 170.6 -11.3 150 1273 0.15 2.45 0.00 0.000 4484 0.126 0.086 2292 3588 3968 3956 3980 0 0 0 0 0 0 14.10 14.15 14.17

1390 -0.80 -145.9 2292 3589 3959 3980 188.9 -15.2 174 1394 0.00 2.35 0.00 0.000 1030 0.000 0.056 2291 2190 3969 3959 3979 0 0 0 0 0 0 14.33 14.23 14.36

1720 -0.75 -145.9 2292 2189 3960 3977 240.5 -14.7 190 1725 0.15 2.45 0.00 0.000 2436 0.287 0.084 2319 3587 3968 3959 3977 0 0 0 0 0 0 13.97 14.19 14.14

1816 -0.84 -145.9 2319 3587 3960 3977 251.4 -10.5 209 1821 0.00 2.35 0.00 0.000 1158 0.000 0.055 2318 2193 3968 3959 3977 0 0 0 0 0 0 14.36 14.25 14.38

2142 -0.89 -145.9 2319 2193 3960 3976 287.2 -10.6 224 2147 0.00 2.47 0.00 0.000 388 0.000 0.090 2319 3594 3966 3958 3974 0 0 0 0 0 0 14.55 14.16 14.57

2228 -1.00 -145.9 2320 3595 3959 3975 295.5 -9.5 241 2234 0.20 2.35 0.00 0.000 5286 0.105 0.054 2246 2199 3966 3959 3974 0 0 0 0 0 0 14.25 14.22 14.33

2532 -0.91 -145.9 2245 2199 3960 3973 343.5 -16.1 252 2538 0.15 2.42 0.00 0.000 2436 0.302 0.083 2270 3586 3965 3959 3972 0 0 0 0 0 0 13.89 14.17 14.09

2663 -0.91 -145.9 2271 3589 3959 3972 360.9 -12.7 278 2668 0.00 2.35 0.00 0.000 1030 0.000 0.056 2270 2198 3965 3959 3971 0 0 0 0 0 0 14.35 14.24 14.38

2984 -0.88 -145.9 2270 2197 3959 3971 403.9 -13.4 292 2989 0.00 2.45 0.00 0.000 388 0.000 0.088 2264 3594 3964 3959 3970 0 0 0 0 0 0 14.56 14.19 14.57

3099 -0.88 -145.9 2267 3595 3960 3971 419.0 -12.6 315 3105 0.00 2.38 0.00 0.000 1030 0.000 0.057 2267 2190 3966 3959 3973 0 0 0 0 0 0 14.33 14.21 14.35

3404 -0.85 -145.9 2267 2188 3960 3968 459.7 -13.3 326 3410 0.15 2.45 0.00 0.000 2436 0.309 0.084 2292 3587 3963 3959 3968 0 0 0 0 0 0 13.94 14.19 14.13

3497 -0.93 -145.9 2293 3588 3960 3968 469.5 -10.1 344 3502 0.00 2.35 0.00 0.000 1158 0.000 0.055 2292 2196 3963 3959 3968 0 0 0 0 0 0 14.35 14.25 14.39

3616 end dive: TARGET_DEPTH_EXCEEDED

state 3616 begin apogee

3621 -0.13 0.0 2293 2071 3960 3968 482.8 -10.9 353 3852 0.93 0.00 227.50 1.382 10246 0.230 0.000 2531 2070 3362 3409 3315 0 0 0 0 0 0 13.99 13.48 12.79

3856 end apogee: CONTROL_FINISHED_OK

state 3856 begin climb

3858 0.57 145.9 2532 2071 3401 3311 493.1 0.0 360 4400 0.73 2.58 203.27 1.337 10756 0.066 0.081 2781 721 2750 2801 2699 0 0 0 0 0 0 13.55 13.19 12.56

4411 0.57 145.9 2781 721 2802 2699 445.1 9.7 363 4416 0.00 2.42 0.00 0.000 1030 0.000 0.076 2781 2085 2750 2801 2699 0 0 0 0 0 0 13.95 13.84 13.98

4726 0.21 145.9 2782 2086 2799 2698 394.2 15.9 376 4732 0.57 2.50 0.00 0.000 4484 0.324 0.076 2652 3517 2747 2797 2698 0 0 0 0 0 0 13.77 14.08 13.99

4838 0.04 145.9 2653 3518 2795 2699 381.3 10.9 398 4844 0.28 2.35 0.00 0.000 5254 0.274 0.058 2600 2127 2746 2794 2698 0 0 0 0 0 0 13.92 14.15 14.20

5149 0.09 222.0 2600 2126 2796 2698 360.2 6.5 410 5276 0.00 2.60 120.07 1.276 8740 0.000 0.086 2602 693 2454 2523 2385 0 0 0 0 0 0 14.51 13.74 13.12

5328 0.26 282.3 2603 693 2509 2381 347.9 7.2 445 5429 0.17 2.53 95.25 1.263 11430 0.105 0.079 2677 2103 2215 2281 2149 0 0 0 0 0 0 13.87 13.83 12.95

5756 0.23 282.3 2677 2103 2261 2127 296.3 12.2 480 5761 0.00 2.53 0.00 0.000 644 0.000 0.085 2684 691 2193 2261 2126 0 0 0 0 0 0 14.25 13.96 14.26

5791 0.23 282.3 2683 690 2260 2126 292.0 12.3 487 5796 0.00 2.50 0.00 0.000 1030 0.000 0.078 2684 2105 2192 2259 2126 0 0 0 0 0 0 14.11 14.01 14.16

6116 0.20 282.3 2685 2106 2262 2125 252.1 12.1 502 6121 0.15 2.47 0.00 0.000 4740 0.252 0.081 2657 691 2190 2257 2124 0 0 0 0 0 0 13.90 14.14 14.06

6166 0.29 294.2 2658 690 2256 2124 246.9 9.5 512 6178 0.00 2.45 4.45 1.467 9382 0.000 0.079 2658 2100 2168 2233 2103 0 0 0 0 0 0 14.31 14.17 13.20

6477 0.33 309.8 2658 2101 2238 2111 217.6 9.3 524 6509 0.00 0.00 31.30 1.377 8358 0.000 0.000 2657 2101 2104 2166 2043 0 0 0 0 0 0 14.50 14.08 13.35

6807 0.42 345.4 2658 2100 2155 2032 188.8 8.4 535 6873 0.15 2.55 57.97 1.300 10916 0.119 0.084 2729 702 1951 2002 1900 0 0 0 0 0 0 14.16 13.91 13.24

6910 0.42 345.4 2729 703 1997 1901 176.8 12.0 555 6915 0.00 2.47 0.00 0.000 1030 0.000 0.076 2729 2100 1951 1996 1906 0 0 0 0 0 0 14.07 13.96 14.09

7230 0.38 345.4 2729 2101 1996 1894 140.0 10.9 569 7231 0.00 0.00 0.00 0.000 134 0.000 0.000 2729 2100 1944 1995 1894 0 0 0 0 0 0 14.40 14.42 14.42

7531 0.36 345.4 2729 2101 1994 1892 107.6 10.6 579 7536 0.12 2.47 0.00 0.000 4740 0.239 0.083 2698 691 1942 1994 1891 0 0 0 0 0 0 13.95 14.14 14.07

7628 0.49 394.6 2700 690 1989 1891 99.6 7.7 598 7658 0.12 2.47 25.62 0.518 11430 0.135 0.079 2755 2101 1756 1793 1719 0 0 0 0 0 0 14.14 14.19 13.66

7963 0.51 412.3 2755 2103 1793 1717 63.4 9.2 635 7975 0.00 0.00 10.02 0.393 8230 0.000 0.000 2754 2101 1681 1719 1643 0 0 0 0 0 0 14.44 14.14 13.77

8273 0.61 496.6 2755 2102 1721 1645 39.4 6.1 666 8326 0.00 2.50 45.80 0.319 8612 0.000 0.084 2755 3511 1339 1400 1278 0 0 0 0 0 0 14.45 14.09 13.84

8401 0.78 555.4 2755 3513 1398 1279 30.3 7.3 691 8440 0.22 2.45 32.08 0.290 11430 0.099 0.067 2841 2100 1099 1174 1024 0 0 0 0 0 0 14.14 14.10 13.82

8736 0.92 708.5 2842 2101 1176 1014 8.8 2.9 728 8822 0.10 2.55 80.45 0.223 10916 0.151 0.091 2890 697 494 536 452 0 0 0 0 0 0 14.10 13.47 13.93

8842 end climb: SURFACE_DEPTH_REACHED

state 8842 begin surface coast

8860 end surface coast: CONTROL_FINISHED_OK

state 8860 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	79	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	229.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,210402,7222.0786,-14814.8818,23,0.7,23,21.3,0.0,0.0,10,7.8	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	1.04	MHEAD_RNG_PITCHd_Wd	317.6,106272,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	150817,211410,7222.0796,-14814.7900,7,0.7,8,21.3,0.0,191.7,11,9.0

FINISH	-0.1,1.020202	_24V_AH	12.56,79.999
SM_CCo	8943,0.00,0.000,0,0,493,704.75	_10V_AH	12.48,0.000
SM_GC	0.92,8.27,2.70,0.00,0.080,0.076,0.000,202,2207,493,-7.38,-0.45,704.75,0,0,0,0,0,0,14.16,14.12,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	384	FG_AHR_10Vo	0.000
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	MEM	323632
IRIDIUM_FIX	7223.65,-14810.98,150817,182850	DATA_FILE_SIZE	26759,752
TT8_MAMPS	0.040446,0.881573	CAP_FILE_SIZE	99992,0
HUMID	49.25	CFSIZE	2097872896,2064515072
INTERNAL_PRESSURE	7.79129	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.60	INTR	0,9667.21,0x213afc,7,24
XPDR_PINGS	22	SOUNDSPEED	1449.8
CP_FREE	16006021120.000000	CURRENT	0.050,236.66,1
PM_FREEKB_00	57142720	GPS	150817,234455,7222.954,-14815.626,14,0.8,24,21.2,1.1,87.1,11,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	142.96	nil	0	0	0.00
Roll_motor	84	2153	2272.68	nil	0	0	0.00
VBD_pump_during_apogee	933	1466	17199.94	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	8889	14	1650.01
Iridium_during_xfer	339	182	778.88	NCP	8870	20	2228.14
Transponder_ping	5	420	29.01	PMAR	8836	16	1838.05
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.52
TT8	0	0	0.00
LPSleep	6058	2	174.65
TT8_Active	813	13	141.85
TT8_Sampling	2409	33	1005.47
TT8_CF8	281	38	135.94
TT8_Kalman	0	0	0.00
Analog_circuits	2328	10	290.64
GPS_charging	0	0	0.00
Compass	1080	7	94.35
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	180	2188	510	468	0.0	0.0	0	129	0.00	0.00	-81.22	0.000	16386	0.000	0.000	177	2187	2027	1949	2105	0	0	0	0	0	0	14.35	28.83	14.39
132	-0.57	-145.9	178	2188	1952	2107	3.3	-4.4	8	189	12.55	2.78	-37.42	0.000	19236	0.452	2.153	2376	3578	3963	3947	3980	1	0	0	0	0	0	13.55	12.68	14.10
414	-0.59	-145.9	2376	3579	3957	3977	62.3	-14.1	64	420	0.00	2.33	0.00	0.000	1158	0.000	0.054	2376	2207	3968	3956	3980	0	0	0	0	0	0	14.25	14.15	14.28
727	-0.62	-145.9	2377	2206	3960	3980	108.5	-13.4	92	733	0.00	2.45	0.00	0.000	388	0.000	0.086	2365	3594	3969	3959	3980	0	0	0	0	0	0	14.46	14.14	14.47
958	-0.73	-145.9	2366	3594	3960	3980	134.8	-10.7	138	963	0.00	2.35	0.00	0.000	1158	0.000	0.054	2365	2200	3968	3957	3980	0	0	0	0	0	0	14.30	14.21	14.34
1268	-0.80	-145.9	2368	2199	3960	3981	170.6	-11.3	150	1273	0.15	2.45	0.00	0.000	4484	0.126	0.086	2292	3588	3968	3956	3980	0	0	0	0	0	0	14.10	14.15	14.17
1390	-0.80	-145.9	2292	3589	3959	3980	188.9	-15.2	174	1394	0.00	2.35	0.00	0.000	1030	0.000	0.056	2291	2190	3969	3959	3979	0	0	0	0	0	0	14.33	14.23	14.36
1720	-0.75	-145.9	2292	2189	3960	3977	240.5	-14.7	190	1725	0.15	2.45	0.00	0.000	2436	0.287	0.084	2319	3587	3968	3959	3977	0	0	0	0	0	0	13.97	14.19	14.14
1816	-0.84	-145.9	2319	3587	3960	3977	251.4	-10.5	209	1821	0.00	2.35	0.00	0.000	1158	0.000	0.055	2318	2193	3968	3959	3977	0	0	0	0	0	0	14.36	14.25	14.38
2142	-0.89	-145.9	2319	2193	3960	3976	287.2	-10.6	224	2147	0.00	2.47	0.00	0.000	388	0.000	0.090	2319	3594	3966	3958	3974	0	0	0	0	0	0	14.55	14.16	14.57
2228	-1.00	-145.9	2320	3595	3959	3975	295.5	-9.5	241	2234	0.20	2.35	0.00	0.000	5286	0.105	0.054	2246	2199	3966	3959	3974	0	0	0	0	0	0	14.25	14.22	14.33
2532	-0.91	-145.9	2245	2199	3960	3973	343.5	-16.1	252	2538	0.15	2.42	0.00	0.000	2436	0.302	0.083	2270	3586	3965	3959	3972	0	0	0	0	0	0	13.89	14.17	14.09
2663	-0.91	-145.9	2271	3589	3959	3972	360.9	-12.7	278	2668	0.00	2.35	0.00	0.000	1030	0.000	0.056	2270	2198	3965	3959	3971	0	0	0	0	0	0	14.35	14.24	14.38
2984	-0.88	-145.9	2270	2197	3959	3971	403.9	-13.4	292	2989	0.00	2.45	0.00	0.000	388	0.000	0.088	2264	3594	3964	3959	3970	0	0	0	0	0	0	14.56	14.19	14.57
3099	-0.88	-145.9	2267	3595	3960	3971	419.0	-12.6	315	3105	0.00	2.38	0.00	0.000	1030	0.000	0.057	2267	2190	3966	3959	3973	0	0	0	0	0	0	14.33	14.21	14.35
3404	-0.85	-145.9	2267	2188	3960	3968	459.7	-13.3	326	3410	0.15	2.45	0.00	0.000	2436	0.309	0.084	2292	3587	3963	3959	3968	0	0	0	0	0	0	13.94	14.19	14.13
3497	-0.93	-145.9	2293	3588	3960	3968	469.5	-10.1	344	3502	0.00	2.35	0.00	0.000	1158	0.000	0.055	2292	2196	3963	3959	3968	0	0	0	0	0	0	14.35	14.25	14.39
3616	end dive: TARGET_DEPTH_EXCEEDED
state	3616	begin apogee
3621	-0.13	0.0	2293	2071	3960	3968	482.8	-10.9	353	3852	0.93	0.00	227.50	1.382	10246	0.230	0.000	2531	2070	3362	3409	3315	0	0	0	0	0	0	13.99	13.48	12.79
3856	end apogee: CONTROL_FINISHED_OK
state	3856	begin climb
3858	0.57	145.9	2532	2071	3401	3311	493.1	0.0	360	4400	0.73	2.58	203.27	1.337	10756	0.066	0.081	2781	721	2750	2801	2699	0	0	0	0	0	0	13.55	13.19	12.56
4411	0.57	145.9	2781	721	2802	2699	445.1	9.7	363	4416	0.00	2.42	0.00	0.000	1030	0.000	0.076	2781	2085	2750	2801	2699	0	0	0	0	0	0	13.95	13.84	13.98
4726	0.21	145.9	2782	2086	2799	2698	394.2	15.9	376	4732	0.57	2.50	0.00	0.000	4484	0.324	0.076	2652	3517	2747	2797	2698	0	0	0	0	0	0	13.77	14.08	13.99
4838	0.04	145.9	2653	3518	2795	2699	381.3	10.9	398	4844	0.28	2.35	0.00	0.000	5254	0.274	0.058	2600	2127	2746	2794	2698	0	0	0	0	0	0	13.92	14.15	14.20
5149	0.09	222.0	2600	2126	2796	2698	360.2	6.5	410	5276	0.00	2.60	120.07	1.276	8740	0.000	0.086	2602	693	2454	2523	2385	0	0	0	0	0	0	14.51	13.74	13.12
5328	0.26	282.3	2603	693	2509	2381	347.9	7.2	445	5429	0.17	2.53	95.25	1.263	11430	0.105	0.079	2677	2103	2215	2281	2149	0	0	0	0	0	0	13.87	13.83	12.95
5756	0.23	282.3	2677	2103	2261	2127	296.3	12.2	480	5761	0.00	2.53	0.00	0.000	644	0.000	0.085	2684	691	2193	2261	2126	0	0	0	0	0	0	14.25	13.96	14.26
5791	0.23	282.3	2683	690	2260	2126	292.0	12.3	487	5796	0.00	2.50	0.00	0.000	1030	0.000	0.078	2684	2105	2192	2259	2126	0	0	0	0	0	0	14.11	14.01	14.16
6116	0.20	282.3	2685	2106	2262	2125	252.1	12.1	502	6121	0.15	2.47	0.00	0.000	4740	0.252	0.081	2657	691	2190	2257	2124	0	0	0	0	0	0	13.90	14.14	14.06
6166	0.29	294.2	2658	690	2256	2124	246.9	9.5	512	6178	0.00	2.45	4.45	1.467	9382	0.000	0.079	2658	2100	2168	2233	2103	0	0	0	0	0	0	14.31	14.17	13.20
6477	0.33	309.8	2658	2101	2238	2111	217.6	9.3	524	6509	0.00	0.00	31.30	1.377	8358	0.000	0.000	2657	2101	2104	2166	2043	0	0	0	0	0	0	14.50	14.08	13.35
6807	0.42	345.4	2658	2100	2155	2032	188.8	8.4	535	6873	0.15	2.55	57.97	1.300	10916	0.119	0.084	2729	702	1951	2002	1900	0	0	0	0	0	0	14.16	13.91	13.24
6910	0.42	345.4	2729	703	1997	1901	176.8	12.0	555	6915	0.00	2.47	0.00	0.000	1030	0.000	0.076	2729	2100	1951	1996	1906	0	0	0	0	0	0	14.07	13.96	14.09
7230	0.38	345.4	2729	2101	1996	1894	140.0	10.9	569	7231	0.00	0.00	0.00	0.000	134	0.000	0.000	2729	2100	1944	1995	1894	0	0	0	0	0	0	14.40	14.42	14.42
7531	0.36	345.4	2729	2101	1994	1892	107.6	10.6	579	7536	0.12	2.47	0.00	0.000	4740	0.239	0.083	2698	691	1942	1994	1891	0	0	0	0	0	0	13.95	14.14	14.07
7628	0.49	394.6	2700	690	1989	1891	99.6	7.7	598	7658	0.12	2.47	25.62	0.518	11430	0.135	0.079	2755	2101	1756	1793	1719	0	0	0	0	0	0	14.14	14.19	13.66
7963	0.51	412.3	2755	2103	1793	1717	63.4	9.2	635	7975	0.00	0.00	10.02	0.393	8230	0.000	0.000	2754	2101	1681	1719	1643	0	0	0	0	0	0	14.44	14.14	13.77
8273	0.61	496.6	2755	2102	1721	1645	39.4	6.1	666	8326	0.00	2.50	45.80	0.319	8612	0.000	0.084	2755	3511	1339	1400	1278	0	0	0	0	0	0	14.45	14.09	13.84
8401	0.78	555.4	2755	3513	1398	1279	30.3	7.3	691	8440	0.22	2.45	32.08	0.290	11430	0.099	0.067	2841	2100	1099	1174	1024	0	0	0	0	0	0	14.14	14.10	13.82
8736	0.92	708.5	2842	2101	1176	1014	8.8	2.9	728	8822	0.10	2.55	80.45	0.223	10916	0.151	0.091	2890	697	494	536	452	0	0	0	0	0	0	14.10	13.47	13.93
8842	end climb: SURFACE_DEPTH_REACHED
state	8842	begin surface coast
8860	end surface coast: CONTROL_FINISHED_OK
state	8860	begin surface