Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 99 * 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 99 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 283.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 283.0 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 25 VBD_MIN 500

DIVE 99 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 180817,044920,7241.6245,-14838.2178,35,0.9,35,21.2,0.7,263.8,10,9.0 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 1.10 MHEAD_RNG_PITCHd_Wd 317.0,69156,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.8 D_GRID 480

GPS2 180817,050306,7241.6108,-14838.7148,7,0.8,9,21.2,0.0,0.0,11,10.0

Post-dive calculations and measurements:

FINISH -0.1,1.020046 _24V_AH 12.50,89.697

SM_CCo 9067,0.00,0.000,0,0,494,704.26 _10V_AH 12.41,0.000

SM_GC 1.10,8.35,0.17,0.00,0.075,0.114,0.000,205,2215,494,-7.37,-0.65,704.26,0,0,0,0,0,0,14.22,14.22,14.29 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

RAFOS_FIX 7240.064453,-14838.027344,180817,040401,4,255,0.20 MEM 323904

IRIDIUM_FIX 7242.96,-14831.14,180817,045346 DATA_FILE_SIZE 26757,806

TT8_MAMPS 0.040446,0.88382 CAP_FILE_SIZE 106444,0

HUMID 48.97 CFSIZE 2097872896,2058256384

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1450.7

XPDR_PINGS 9 CURRENT 0.057,265.30,1

CP_FREE 16002613248.000000 GPS 180817,073602,7242.848,-14840.121,32,0.8,32,21.2,0.0,0.0,10,9.0

PM_FREEKB_00 55755776

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 144.74 nil 0 0 0.00

Roll_motor 89 2151 2418.06 nil 0 0 0.00

VBD_pump_during_apogee 915 1483 16968.89 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 9014 14 1619.59

Iridium_during_xfer 499 180 1127.70 NCP 9012 20 2253.00

Transponder_ping 2 420 11.81 PMAR 8963 16 1852.88

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.79

TT8 0 0 0.00

LPSleep 6494 2 186.18

TT8_Active 943 13 163.55

TT8_Sampling 2169 33 900.21

TT8_CF8 302 38 145.12

TT8_Kalman 0 0 0.00

Analog_circuits 2186 10 271.31

GPS_charging 0 0 0.00

Compass 1160 7 100.80

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 -145.9 198 2189 508 460 0.0 0.0 0 129 0.00 0.00 -81.30 0.000 16386 0.000 0.000 197 2190 2042 1959 2126 0 0 0 0 0 0 14.42 28.83 14.45

132 -0.57 -145.9 198 2191 1961 2130 3.1 -3.6 8 189 12.43 2.85 -37.42 0.000 18724 0.454 2.151 2376 3605 3964 3951 3977 0 0 0 0 0 0 13.72 12.63 14.12

415 -0.62 -145.9 2376 3607 3962 3977 62.8 -15.1 64 419 0.00 2.40 0.00 0.000 1158 0.000 0.056 2376 2192 3969 3961 3977 0 0 0 0 0 0 14.16 14.04 14.19

726 -0.65 -145.9 2376 2191 3963 3978 108.1 -12.8 92 731 0.00 2.53 0.00 0.000 388 0.000 0.088 2369 3618 3969 3962 3977 0 0 0 0 0 0 14.52 14.16 14.54

806 -0.78 -145.9 2369 3619 3963 3978 117.4 -10.6 108 812 0.15 2.40 0.00 0.000 5254 0.119 0.054 2310 2192 3969 3962 3977 0 0 0 0 0 0 14.26 14.25 14.35

1117 -0.74 -145.9 2311 2191 3963 3977 168.6 -16.3 120 1122 0.12 2.53 0.00 0.000 2436 0.285 0.086 2332 3619 3969 3962 3977 0 0 0 0 0 0 13.93 14.19 14.09

1242 -0.84 -145.9 2332 3621 3962 3978 183.6 -11.3 145 1247 0.00 2.40 0.00 0.000 1158 0.000 0.056 2332 2194 3970 3962 3978 0 0 0 0 0 0 14.37 14.26 14.39

1568 -0.88 -145.9 2333 2193 3963 3976 222.9 -11.6 160 1573 0.12 2.50 0.00 0.000 4484 0.139 0.086 2263 3616 3971 3967 3975 0 0 0 0 0 0 14.18 14.20 14.22

1713 -0.86 -145.9 2263 3617 3962 3976 245.7 -15.2 189 1719 0.17 2.40 0.00 0.000 3206 0.265 0.056 2299 2195 3968 3961 3975 0 0 0 0 0 0 13.99 14.24 14.26

2018 -0.86 -145.9 2300 2194 3962 3974 283.6 -12.0 200 2023 0.00 2.50 0.00 0.000 260 0.000 0.088 2293 3620 3967 3961 3973 0 0 0 0 0 0 14.59 14.18 14.61

2123 -0.94 -145.9 2293 3620 3962 3972 295.6 -10.9 221 2128 0.00 2.40 0.00 0.000 1158 0.000 0.056 2292 2187 3967 3961 3973 0 0 0 0 0 0 14.39 14.28 14.42

2438 -0.97 -145.9 2293 2186 3962 3970 332.2 -11.4 234 2443 0.00 2.50 0.00 0.000 388 0.000 0.088 2284 3609 3966 3961 3971 0 0 0 0 0 0 14.59 14.23 14.61

2564 -1.04 -145.9 2284 3614 3961 3971 345.9 -10.5 259 2571 0.12 2.38 0.00 0.000 5254 0.131 0.056 2237 2196 3965 3960 3970 0 0 0 0 0 0 14.29 14.28 14.38

2891 -0.96 -145.9 2238 2196 3961 3969 396.1 -15.5 274 2896 0.15 2.47 0.00 0.000 2436 0.297 0.084 2262 3614 3964 3960 3969 0 0 0 0 0 0 13.91 14.20 14.12

3051 -0.99 -145.9 2262 3615 3960 3970 416.4 -12.0 306 3056 0.00 2.38 0.00 0.000 1158 0.000 0.055 2261 2195 3964 3959 3969 0 0 0 0 0 0 14.39 14.28 14.41

3371 -0.96 -145.9 2258 2193 3961 3968 457.8 -12.9 320 3376 0.00 2.50 0.00 0.000 388 0.000 0.088 2254 3617 3963 3959 3967 0 0 0 0 0 0 14.58 14.19 14.59

3497 -0.96 -145.9 2254 3619 3960 3967 473.5 -12.6 345 3502 0.00 2.40 0.00 0.000 1030 0.000 0.056 2254 2190 3963 3959 3967 0 0 0 0 0 0 14.38 14.27 14.40

3550 end dive: TARGET_DEPTH_EXCEEDED

state 3550 begin apogee

3556 -0.13 0.0 2255 2064 3960 3967 480.9 -13.2 351 3773 1.10 0.08 213.48 1.429 10246 0.249 0.181 2532 2111 3365 3397 3333 0 0 0 0 0 0 13.97 13.44 12.76

3777 end apogee: CONTROL_FINISHED_OK

state 3777 begin climb

3781 0.57 145.9 2533 2111 3395 3324 491.2 0.0 358 3992 0.73 2.60 199.20 1.390 10500 0.066 0.073 2778 3502 2762 2819 2705 0 0 0 0 0 0 13.57 13.05 12.50

4082 0.15 145.9 2778 3503 2799 2706 480.2 17.4 412 4087 0.75 2.45 0.00 0.000 5254 0.346 0.057 2637 2128 2751 2799 2704 0 0 0 0 0 0 13.26 13.54 13.58

4414 0.06 170.3 2638 2128 2800 2701 449.3 8.9 428 4454 0.12 2.62 29.85 1.483 12964 0.297 0.083 2616 693 2665 2717 2613 0 0 0 0 0 0 13.79 13.85 13.07

4534 0.09 208.2 2619 693 2714 2611 439.6 8.3 452 4596 0.00 2.50 54.28 1.431 9254 0.000 0.078 2616 2097 2514 2579 2450 0 0 0 0 0 0 14.06 13.95 12.97

4896 0.11 231.4 2616 2099 2576 2431 407.7 8.9 474 4928 0.00 0.00 31.10 1.475 8230 0.000 0.000 2616 2099 2422 2490 2355 0 0 0 0 0 0 14.34 13.92 13.15

5224 0.15 256.6 2617 2099 2478 2346 378.5 8.8 485 5265 0.00 2.50 36.72 1.459 8868 0.000 0.083 2616 694 2312 2376 2249 0 0 0 0 0 0 14.42 13.78 13.20

5317 0.29 294.2 2616 694 2367 2254 370.6 8.3 503 5382 0.17 2.50 56.10 1.387 11430 0.106 0.078 2686 2108 2161 2220 2103 0 0 0 0 0 0 14.07 14.01 13.04

5707 0.23 294.2 2686 2109 2211 2097 317.3 13.7 531 5713 0.00 2.53 0.00 0.000 644 0.000 0.085 2693 687 2151 2211 2091 0 0 0 0 0 0 14.40 14.09 14.41

5758 0.21 294.2 2693 688 2210 2092 310.3 13.7 541 5763 0.17 2.47 0.00 0.000 5254 0.231 0.079 2654 2105 2150 2209 2091 0 0 0 0 0 0 13.99 14.14 14.23

6068 0.21 294.2 2654 2105 2210 2089 276.8 10.5 553 6073 0.00 2.47 0.00 0.000 516 0.000 0.086 2659 694 2149 2209 2089 0 0 0 0 0 0 14.52 14.21 14.52

6093 0.25 294.2 2659 695 2208 2090 274.1 11.0 558 6099 0.00 2.45 0.00 0.000 1158 0.000 0.078 2659 2102 2148 2208 2089 0 0 0 0 0 0 14.31 14.20 14.35

6398 0.25 294.2 2660 2104 2208 2089 242.4 10.1 569 6403 0.00 2.47 0.00 0.000 516 0.000 0.086 2659 693 2149 2207 2092 0 0 0 0 0 0 14.56 14.22 14.57

6454 0.33 307.5 2660 692 2207 2089 237.2 9.4 580 6475 0.00 2.45 16.10 1.480 9382 0.000 0.078 2659 2106 2109 2167 2052 0 0 0 0 0 0 14.38 14.23 13.40

6792 0.40 339.0 2660 2106 2161 2046 207.0 8.5 597 6851 0.15 0.00 53.10 1.345 10406 0.122 0.000 2722 2106 1977 2027 1927 0 0 0 0 0 0 14.31 13.83 13.28

7150 0.36 339.0 2722 2106 2021 1919 164.2 11.7 609 7155 0.00 2.50 0.00 0.000 644 0.000 0.084 2729 689 1969 2020 1919 0 0 0 0 0 0 14.45 14.14 14.47

7282 0.36 339.0 2729 690 2019 1918 149.9 10.7 635 7288 0.15 2.45 0.00 0.000 5126 0.230 0.078 2696 2099 1968 2017 1919 0 0 0 0 0 0 14.00 14.13 14.22

7603 0.41 368.6 2697 2101 2018 1918 121.4 8.6 649 7649 0.00 0.00 43.78 1.298 8358 0.000 0.000 2692 2100 1861 1901 1822 0 0 0 0 0 0 14.54 14.06 13.35

7933 0.53 423.4 2697 2100 1893 1813 94.2 7.5 664 7970 0.15 2.55 29.70 0.498 10916 0.121 0.087 2768 691 1636 1673 1600 0 0 0 0 0 0 14.18 14.04 13.64

8045 0.53 423.4 2768 691 1673 1600 81.4 11.5 686 8050 0.00 2.47 0.00 0.000 1030 0.000 0.078 2768 2102 1636 1672 1600 0 0 0 0 0 0 13.82 13.84 13.82

8355 0.56 468.3 2768 2104 1673 1593 50.2 7.9 718 8388 0.00 2.53 23.38 0.357 8740 0.000 0.086 2769 698 1456 1501 1411 0 0 0 0 0 0 14.47 14.07 13.79

8455 0.70 535.8 2769 698 1502 1411 43.4 6.9 737 8498 0.12 2.47 37.58 0.332 11430 0.134 0.080 2818 2112 1176 1245 1108 0 0 0 0 0 0 14.14 14.10 13.80

8804 0.91 703.1 2819 2113 1245 1099 13.1 2.3 776 8902 0.15 2.53 90.82 0.242 10916 0.119 0.085 2888 694 495 530 461 0 0 0 0 0 0 14.14 14.00 13.90

8928 1.07 773.8 2888 694 530 462 7.2 6.7 799 8934 0.12 2.47 0.00 0.000 3238 0.137 0.077 2942 2102 495 530 461 0 0 0 0 0 0 14.12 14.07 14.22

8976 end climb: SURFACE_DEPTH_REACHED

state 8976 begin surface coast

8986 end surface coast: CONTROL_FINISHED_OK

state 8987 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	99	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	283.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,044920,7241.6245,-14838.2178,35,0.9,35,21.2,0.7,263.8,10,9.0	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	1.10	MHEAD_RNG_PITCHd_Wd	317.0,69156,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.8	D_GRID	480
GPS2	180817,050306,7241.6108,-14838.7148,7,0.8,9,21.2,0.0,0.0,11,10.0

FINISH	-0.1,1.020046	_24V_AH	12.50,89.697
SM_CCo	9067,0.00,0.000,0,0,494,704.26	_10V_AH	12.41,0.000
SM_GC	1.10,8.35,0.17,0.00,0.075,0.114,0.000,205,2215,494,-7.37,-0.65,704.26,0,0,0,0,0,0,14.22,14.22,14.29	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
RAFOS_FIX	7240.064453,-14838.027344,180817,040401,4,255,0.20	MEM	323904
IRIDIUM_FIX	7242.96,-14831.14,180817,045346	DATA_FILE_SIZE	26757,806
TT8_MAMPS	0.040446,0.88382	CAP_FILE_SIZE	106444,0
HUMID	48.97	CFSIZE	2097872896,2058256384
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1450.7
XPDR_PINGS	9	CURRENT	0.057,265.30,1
CP_FREE	16002613248.000000	GPS	180817,073602,7242.848,-14840.121,32,0.8,32,21.2,0.0,0.0,10,9.0
PM_FREEKB_00	55755776

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	144.74	nil	0	0	0.00
Roll_motor	89	2151	2418.06	nil	0	0	0.00
VBD_pump_during_apogee	915	1483	16968.89	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	9014	14	1619.59
Iridium_during_xfer	499	180	1127.70	NCP	9012	20	2253.00
Transponder_ping	2	420	11.81	PMAR	8963	16	1852.88
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.79
TT8	0	0	0.00
LPSleep	6494	2	186.18
TT8_Active	943	13	163.55
TT8_Sampling	2169	33	900.21
TT8_CF8	302	38	145.12
TT8_Kalman	0	0	0.00
Analog_circuits	2186	10	271.31
GPS_charging	0	0	0.00
Compass	1160	7	100.80
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	198	2189	508	460	0.0	0.0	0	129	0.00	0.00	-81.30	0.000	16386	0.000	0.000	197	2190	2042	1959	2126	0	0	0	0	0	0	14.42	28.83	14.45
132	-0.57	-145.9	198	2191	1961	2130	3.1	-3.6	8	189	12.43	2.85	-37.42	0.000	18724	0.454	2.151	2376	3605	3964	3951	3977	0	0	0	0	0	0	13.72	12.63	14.12
415	-0.62	-145.9	2376	3607	3962	3977	62.8	-15.1	64	419	0.00	2.40	0.00	0.000	1158	0.000	0.056	2376	2192	3969	3961	3977	0	0	0	0	0	0	14.16	14.04	14.19
726	-0.65	-145.9	2376	2191	3963	3978	108.1	-12.8	92	731	0.00	2.53	0.00	0.000	388	0.000	0.088	2369	3618	3969	3962	3977	0	0	0	0	0	0	14.52	14.16	14.54
806	-0.78	-145.9	2369	3619	3963	3978	117.4	-10.6	108	812	0.15	2.40	0.00	0.000	5254	0.119	0.054	2310	2192	3969	3962	3977	0	0	0	0	0	0	14.26	14.25	14.35
1117	-0.74	-145.9	2311	2191	3963	3977	168.6	-16.3	120	1122	0.12	2.53	0.00	0.000	2436	0.285	0.086	2332	3619	3969	3962	3977	0	0	0	0	0	0	13.93	14.19	14.09
1242	-0.84	-145.9	2332	3621	3962	3978	183.6	-11.3	145	1247	0.00	2.40	0.00	0.000	1158	0.000	0.056	2332	2194	3970	3962	3978	0	0	0	0	0	0	14.37	14.26	14.39
1568	-0.88	-145.9	2333	2193	3963	3976	222.9	-11.6	160	1573	0.12	2.50	0.00	0.000	4484	0.139	0.086	2263	3616	3971	3967	3975	0	0	0	0	0	0	14.18	14.20	14.22
1713	-0.86	-145.9	2263	3617	3962	3976	245.7	-15.2	189	1719	0.17	2.40	0.00	0.000	3206	0.265	0.056	2299	2195	3968	3961	3975	0	0	0	0	0	0	13.99	14.24	14.26
2018	-0.86	-145.9	2300	2194	3962	3974	283.6	-12.0	200	2023	0.00	2.50	0.00	0.000	260	0.000	0.088	2293	3620	3967	3961	3973	0	0	0	0	0	0	14.59	14.18	14.61
2123	-0.94	-145.9	2293	3620	3962	3972	295.6	-10.9	221	2128	0.00	2.40	0.00	0.000	1158	0.000	0.056	2292	2187	3967	3961	3973	0	0	0	0	0	0	14.39	14.28	14.42
2438	-0.97	-145.9	2293	2186	3962	3970	332.2	-11.4	234	2443	0.00	2.50	0.00	0.000	388	0.000	0.088	2284	3609	3966	3961	3971	0	0	0	0	0	0	14.59	14.23	14.61
2564	-1.04	-145.9	2284	3614	3961	3971	345.9	-10.5	259	2571	0.12	2.38	0.00	0.000	5254	0.131	0.056	2237	2196	3965	3960	3970	0	0	0	0	0	0	14.29	14.28	14.38
2891	-0.96	-145.9	2238	2196	3961	3969	396.1	-15.5	274	2896	0.15	2.47	0.00	0.000	2436	0.297	0.084	2262	3614	3964	3960	3969	0	0	0	0	0	0	13.91	14.20	14.12
3051	-0.99	-145.9	2262	3615	3960	3970	416.4	-12.0	306	3056	0.00	2.38	0.00	0.000	1158	0.000	0.055	2261	2195	3964	3959	3969	0	0	0	0	0	0	14.39	14.28	14.41
3371	-0.96	-145.9	2258	2193	3961	3968	457.8	-12.9	320	3376	0.00	2.50	0.00	0.000	388	0.000	0.088	2254	3617	3963	3959	3967	0	0	0	0	0	0	14.58	14.19	14.59
3497	-0.96	-145.9	2254	3619	3960	3967	473.5	-12.6	345	3502	0.00	2.40	0.00	0.000	1030	0.000	0.056	2254	2190	3963	3959	3967	0	0	0	0	0	0	14.38	14.27	14.40
3550	end dive: TARGET_DEPTH_EXCEEDED
state	3550	begin apogee
3556	-0.13	0.0	2255	2064	3960	3967	480.9	-13.2	351	3773	1.10	0.08	213.48	1.429	10246	0.249	0.181	2532	2111	3365	3397	3333	0	0	0	0	0	0	13.97	13.44	12.76
3777	end apogee: CONTROL_FINISHED_OK
state	3777	begin climb
3781	0.57	145.9	2533	2111	3395	3324	491.2	0.0	358	3992	0.73	2.60	199.20	1.390	10500	0.066	0.073	2778	3502	2762	2819	2705	0	0	0	0	0	0	13.57	13.05	12.50
4082	0.15	145.9	2778	3503	2799	2706	480.2	17.4	412	4087	0.75	2.45	0.00	0.000	5254	0.346	0.057	2637	2128	2751	2799	2704	0	0	0	0	0	0	13.26	13.54	13.58
4414	0.06	170.3	2638	2128	2800	2701	449.3	8.9	428	4454	0.12	2.62	29.85	1.483	12964	0.297	0.083	2616	693	2665	2717	2613	0	0	0	0	0	0	13.79	13.85	13.07
4534	0.09	208.2	2619	693	2714	2611	439.6	8.3	452	4596	0.00	2.50	54.28	1.431	9254	0.000	0.078	2616	2097	2514	2579	2450	0	0	0	0	0	0	14.06	13.95	12.97
4896	0.11	231.4	2616	2099	2576	2431	407.7	8.9	474	4928	0.00	0.00	31.10	1.475	8230	0.000	0.000	2616	2099	2422	2490	2355	0	0	0	0	0	0	14.34	13.92	13.15
5224	0.15	256.6	2617	2099	2478	2346	378.5	8.8	485	5265	0.00	2.50	36.72	1.459	8868	0.000	0.083	2616	694	2312	2376	2249	0	0	0	0	0	0	14.42	13.78	13.20
5317	0.29	294.2	2616	694	2367	2254	370.6	8.3	503	5382	0.17	2.50	56.10	1.387	11430	0.106	0.078	2686	2108	2161	2220	2103	0	0	0	0	0	0	14.07	14.01	13.04
5707	0.23	294.2	2686	2109	2211	2097	317.3	13.7	531	5713	0.00	2.53	0.00	0.000	644	0.000	0.085	2693	687	2151	2211	2091	0	0	0	0	0	0	14.40	14.09	14.41
5758	0.21	294.2	2693	688	2210	2092	310.3	13.7	541	5763	0.17	2.47	0.00	0.000	5254	0.231	0.079	2654	2105	2150	2209	2091	0	0	0	0	0	0	13.99	14.14	14.23
6068	0.21	294.2	2654	2105	2210	2089	276.8	10.5	553	6073	0.00	2.47	0.00	0.000	516	0.000	0.086	2659	694	2149	2209	2089	0	0	0	0	0	0	14.52	14.21	14.52
6093	0.25	294.2	2659	695	2208	2090	274.1	11.0	558	6099	0.00	2.45	0.00	0.000	1158	0.000	0.078	2659	2102	2148	2208	2089	0	0	0	0	0	0	14.31	14.20	14.35
6398	0.25	294.2	2660	2104	2208	2089	242.4	10.1	569	6403	0.00	2.47	0.00	0.000	516	0.000	0.086	2659	693	2149	2207	2092	0	0	0	0	0	0	14.56	14.22	14.57
6454	0.33	307.5	2660	692	2207	2089	237.2	9.4	580	6475	0.00	2.45	16.10	1.480	9382	0.000	0.078	2659	2106	2109	2167	2052	0	0	0	0	0	0	14.38	14.23	13.40
6792	0.40	339.0	2660	2106	2161	2046	207.0	8.5	597	6851	0.15	0.00	53.10	1.345	10406	0.122	0.000	2722	2106	1977	2027	1927	0	0	0	0	0	0	14.31	13.83	13.28
7150	0.36	339.0	2722	2106	2021	1919	164.2	11.7	609	7155	0.00	2.50	0.00	0.000	644	0.000	0.084	2729	689	1969	2020	1919	0	0	0	0	0	0	14.45	14.14	14.47
7282	0.36	339.0	2729	690	2019	1918	149.9	10.7	635	7288	0.15	2.45	0.00	0.000	5126	0.230	0.078	2696	2099	1968	2017	1919	0	0	0	0	0	0	14.00	14.13	14.22
7603	0.41	368.6	2697	2101	2018	1918	121.4	8.6	649	7649	0.00	0.00	43.78	1.298	8358	0.000	0.000	2692	2100	1861	1901	1822	0	0	0	0	0	0	14.54	14.06	13.35
7933	0.53	423.4	2697	2100	1893	1813	94.2	7.5	664	7970	0.15	2.55	29.70	0.498	10916	0.121	0.087	2768	691	1636	1673	1600	0	0	0	0	0	0	14.18	14.04	13.64
8045	0.53	423.4	2768	691	1673	1600	81.4	11.5	686	8050	0.00	2.47	0.00	0.000	1030	0.000	0.078	2768	2102	1636	1672	1600	0	0	0	0	0	0	13.82	13.84	13.82
8355	0.56	468.3	2768	2104	1673	1593	50.2	7.9	718	8388	0.00	2.53	23.38	0.357	8740	0.000	0.086	2769	698	1456	1501	1411	0	0	0	0	0	0	14.47	14.07	13.79
8455	0.70	535.8	2769	698	1502	1411	43.4	6.9	737	8498	0.12	2.47	37.58	0.332	11430	0.134	0.080	2818	2112	1176	1245	1108	0	0	0	0	0	0	14.14	14.10	13.80
8804	0.91	703.1	2819	2113	1245	1099	13.1	2.3	776	8902	0.15	2.53	90.82	0.242	10916	0.119	0.085	2888	694	495	530	461	0	0	0	0	0	0	14.14	14.00	13.90
8928	1.07	773.8	2888	694	530	462	7.2	6.7	799	8934	0.12	2.47	0.00	0.000	3238	0.137	0.077	2942	2102	495	530	461	0	0	0	0	0	0	14.12	14.07	14.22
8976	end climb: SURFACE_DEPTH_REACHED
state	8976	begin surface coast
8986	end surface coast: CONTROL_FINISHED_OK
state	8987	begin surface