Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 105 * 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 105 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 298.0

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 40 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 298.0 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 40 VBD_MIN 500

DIVE 105 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 180817,213302,7248.3130,-14849.8438,38,0.8,38,21.1,0.0,0.0,10,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 307.3,55704,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.2 D_GRID 480

GPS2 180817,214347,7248.3237,-14849.9932,7,0.8,10,21.1,0.0,0.0,10,9.1

Post-dive calculations and measurements:

FINISH 0.5,1.020186 _24V_AH 12.48,92.550

SM_CCo 8965,0.80,0.269,0,0,506,702.78 _10V_AH 12.43,0.000

SM_GC 1.12,8.45,0.17,0.80,0.083,0.108,0.269,197,2230,506,-7.39,-0.68,702.78,0,0,0,0,0,0,14.10,14.09,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 44 FG_AHR_10Vo 0.000

RAFOS_FIX 7247.060547,-14853.498047,180817,202059,3,255,0.64 MEM 323552

IRIDIUM_FIX 7247.86,-14855.94,180817,185734 DATA_FILE_SIZE 26689,788

TT8_MAMPS 0.086135,0.829892 CAP_FILE_SIZE 103120,0

HUMID 45.31 CFSIZE 2097872896,2056323072

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 1449.6

XPDR_PINGS 11 CURRENT 0.057,253.43,1

CP_FREE 16001630208.000000 GPS 190817,001504,7249.466,-14852.049,21,0.8,30,21.1,0.3,297.9,10,9.5

PM_FREEKB_00 55369984

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 145.75 nil 0 0 0.00

Roll_motor 84 2149 2275.65 nil 0 0 0.00

VBD_pump_during_apogee 902 1681 18930.86 nil 0 0 0.00

VBD_pump_during_surface 0 269 2.69 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 8971 14 1636.49

Iridium_during_xfer 370 173 802.68 NCP 8972 20 2239.41

Transponder_ping 2 420 14.41 PMAR 8922 16 1846.91

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.01

TT8 0 0 0.00

LPSleep 6373 2 183.01

TT8_Active 936 13 162.57

TT8_Sampling 2030 33 843.96

TT8_CF8 288 38 138.66

TT8_Kalman 0 0 0.00

Analog_circuits 2032 10 252.69

GPS_charging 0 0 0.00

Compass 1129 7 98.26

RAFOS 2160 48 1288.74

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 -145.9 204 2179 500 482 0.0 0.0 0 139 0.00 0.00 -91.93 0.000 16386 0.000 0.000 203 2179 2241 2177 2306 0 0 0 0 0 0 14.41 28.83 14.43

142 -0.57 -145.9 204 2179 2181 2302 4.6 -6.9 9 191 12.48 2.83 -29.67 0.000 18724 0.454 2.150 2381 3610 3962 3941 3984 0 0 0 0 0 0 13.67 12.93 14.11

253 -0.57 -145.9 2376 3614 3947 3984 40.6 -19.5 30 258 0.00 2.40 0.00 0.000 1030 0.000 0.058 2374 2209 3962 3942 3983 0 0 0 0 0 0 14.21 14.10 14.23

563 -0.57 -145.9 2376 2208 3956 3985 94.6 -13.9 62 568 0.00 2.50 0.00 0.000 260 0.000 0.087 2366 3623 3967 3950 3984 0 0 0 0 0 0 14.45 14.13 14.47

675 -0.67 -145.9 2366 3624 3952 3985 107.9 -11.6 84 680 0.00 2.42 0.00 0.000 1158 0.000 0.056 2366 2193 3967 3951 3984 0 0 0 0 0 0 14.20 14.08 14.21

986 -0.73 -145.9 2366 2192 3952 3984 146.1 -11.6 96 991 0.00 2.50 0.00 0.000 388 0.000 0.087 2362 3610 3967 3951 3984 0 0 0 0 0 0 14.54 14.16 14.55

1057 -0.90 -145.9 2362 3610 3952 3984 153.4 -9.2 110 1062 0.22 2.38 0.00 0.000 5286 0.101 0.055 2271 2196 3967 3951 3983 0 0 0 0 0 0 14.29 14.26 14.38

1377 -0.81 -145.9 2270 2196 3952 3984 212.5 -18.3 124 1383 0.17 2.47 0.00 0.000 2436 0.285 0.085 2305 3610 3967 3951 3983 0 0 0 0 0 0 13.91 14.18 14.09

1573 -0.89 -145.9 2305 3611 3952 3984 237.4 -11.7 163 1578 0.00 2.40 0.00 0.000 1158 0.000 0.056 2304 2194 3967 3951 3983 0 0 0 0 0 0 14.33 14.22 14.39

1888 -0.91 -145.9 2304 2192 3952 3982 275.1 -11.4 176 1894 0.00 2.47 0.00 0.000 388 0.000 0.090 2301 3610 3967 3951 3984 0 0 0 0 0 0 14.59 14.21 14.60

1989 -1.02 -145.9 2302 3610 3952 3983 285.7 -10.0 196 1995 0.17 2.38 0.00 0.000 5254 0.119 0.056 2239 2193 3967 3951 3983 0 0 0 0 0 0 14.31 14.27 14.39

2310 -0.93 -145.9 2239 2193 3951 3984 337.3 -16.2 210 2315 0.15 2.50 0.00 0.000 2436 0.296 0.084 2263 3617 3964 3946 3983 0 0 0 0 0 0 13.93 14.19 14.13

2422 -0.95 -145.9 2264 3619 3950 3983 351.8 -11.9 232 2428 0.00 2.40 0.00 0.000 1158 0.000 0.056 2262 2194 3966 3949 3983 0 0 0 0 0 0 14.37 14.26 14.40

2733 -0.95 -145.9 2264 2193 3949 3982 392.1 -12.8 244 2738 0.00 2.47 0.00 0.000 260 0.000 0.088 2253 3610 3965 3949 3982 0 0 0 0 0 0 14.59 14.17 14.61

2854 -0.95 -145.9 2256 3610 3949 3981 407.6 -12.5 268 2859 0.00 2.38 0.00 0.000 1030 0.000 0.056 2256 2200 3964 3947 3982 0 0 0 0 0 0 14.36 14.23 14.38

3184 -0.92 -145.9 2256 2201 3949 3981 451.8 -13.3 284 3190 0.00 2.47 0.00 0.000 388 0.000 0.086 2246 3610 3964 3947 3981 0 0 0 0 0 0 14.60 14.16 14.62

3312 -0.92 -145.9 2246 3611 3947 3983 468.7 -13.2 309 3317 0.15 2.38 0.00 0.000 3078 0.256 0.055 2276 2201 3964 3947 3982 0 0 0 0 0 0 14.02 14.23 14.26

3424 end dive: TARGET_DEPTH_EXCEEDED

state 3425 begin apogee

3430 -0.13 0.0 2277 2060 3948 3983 482.4 -11.4 317 3649 0.98 0.08 214.25 1.429 10246 0.238 0.183 2530 2111 3363 3386 3340 0 0 0 0 0 0 13.98 13.44 12.76

3653 end apogee: CONTROL_FINISHED_OK

state 3653 begin climb

3657 0.57 145.9 2531 2111 3381 3333 492.6 0.0 324 3868 0.75 2.62 201.27 1.379 11012 0.065 0.076 2782 3504 2762 2808 2717 0 0 0 0 0 0 13.57 13.17 12.48

3903 0.14 145.9 2782 3505 2795 2718 490.7 16.6 357 3911 0.80 2.47 0.00 0.000 5254 0.350 0.057 2632 2132 2757 2798 2716 0 0 0 0 0 0 13.13 13.38 13.42

4208 0.06 169.5 2633 2131 2794 2714 462.2 8.9 368 4246 0.12 2.65 29.75 1.483 12964 0.298 0.086 2604 696 2669 2712 2626 0 0 0 0 0 0 13.69 13.74 12.97

4313 0.15 224.2 2604 697 2711 2623 454.2 7.5 388 4402 0.00 2.50 79.78 1.398 9382 0.000 0.078 2604 2095 2444 2505 2384 0 0 0 0 0 0 13.97 13.86 12.81

4722 0.22 261.6 2604 2096 2498 2374 420.3 8.3 420 4784 0.15 0.00 53.92 1.407 10406 0.118 0.000 2668 2095 2291 2345 2238 0 0 0 0 0 0 14.07 13.78 13.02

5082 0.17 261.6 2668 2093 2338 2231 374.0 13.0 432 5087 0.15 2.47 0.00 0.000 4740 0.259 0.082 2639 692 2284 2339 2230 0 0 0 0 0 0 13.90 14.07 14.04

5153 0.23 266.6 2640 691 2339 2231 366.5 9.8 446 5158 0.00 2.47 0.00 0.000 1190 0.000 0.078 2637 2104 2283 2337 2230 0 0 0 0 0 0 14.21 14.08 14.24

5473 0.23 266.6 2641 2109 2338 2228 333.6 10.3 460 5478 0.00 2.47 0.00 0.000 516 0.000 0.084 2646 691 2282 2337 2228 0 0 0 0 0 0 14.52 14.18 14.53

5503 0.27 266.6 2647 691 2338 2228 330.5 10.6 466 5508 0.00 2.45 0.00 0.000 1158 0.000 0.078 2646 2103 2282 2337 2228 0 0 0 0 0 0 14.32 14.20 14.35

5833 0.27 266.6 2646 2104 2337 2227 296.3 10.2 482 5838 0.00 2.47 0.00 0.000 516 0.000 0.085 2646 687 2281 2336 2227 0 0 0 0 0 0 14.57 14.21 14.59

5868 0.32 269.8 2647 685 2336 2227 292.8 9.9 489 5879 0.12 2.47 5.12 1.681 11430 0.134 0.079 2696 2113 2268 2322 2215 0 0 0 0 0 0 14.31 14.26 13.21

6196 0.23 269.8 2697 2114 2322 2213 249.9 13.0 504 6197 0.17 0.00 0.00 0.000 4230 0.233 0.000 2658 2114 2267 2321 2213 0 0 0 0 0 0 14.10 14.38 14.33

6495 0.25 302.3 2658 2115 2321 2213 222.9 8.5 514 6557 0.00 2.60 55.70 1.350 8740 0.000 0.086 2660 694 2132 2180 2084 0 0 0 0 0 0 14.55 14.01 13.31

6657 0.38 344.3 2660 690 2174 2083 209.7 8.1 546 6733 0.15 2.47 70.43 1.278 11430 0.123 0.079 2719 2100 1962 2008 1917 0 0 0 0 0 0 14.12 14.07 13.14

7038 0.35 344.3 2719 2100 1998 1899 164.3 11.5 572 7039 0.00 0.00 0.00 0.000 134 0.000 0.000 2719 2100 1949 1997 1901 0 0 0 0 0 0 14.40 14.42 14.42

7338 0.35 344.3 2719 2101 1997 1900 131.1 10.8 582 7343 0.00 2.47 0.00 0.000 516 0.000 0.086 2724 691 1946 1996 1897 0 0 0 0 0 0 14.51 14.15 14.53

7418 0.37 347.6 2726 691 1994 1898 122.9 9.8 598 7423 0.00 2.45 0.00 0.000 1190 0.000 0.079 2725 2101 1945 1993 1898 0 0 0 0 0 0 14.34 14.21 14.36

7728 0.38 359.2 2725 2101 1994 1897 91.8 9.5 614 7739 0.00 0.00 6.40 0.478 8230 0.000 0.000 2725 2101 1902 1949 1856 0 0 0 0 0 0 14.52 13.95 13.66

8038 0.43 426.9 2725 2102 1946 1857 66.6 6.9 645 8080 0.00 2.47 36.10 0.408 8484 0.000 0.082 2725 3510 1622 1662 1582 0 0 0 0 0 0 14.52 13.97 13.71

8211 0.58 489.0 2726 3511 1660 1578 53.1 7.1 676 8249 0.12 2.42 31.38 0.364 11430 0.122 0.065 2780 2102 1370 1426 1314 0 0 0 0 0 0 14.09 14.09 13.69

8546 0.68 548.7 2782 2103 1427 1306 26.7 7.2 713 8582 0.00 2.50 30.58 0.295 8868 0.000 0.090 2789 690 1126 1193 1059 0 0 0 0 0 0 14.33 13.91 13.78

8807 1.03 705.4 2788 690 1190 1053 12.7 2.8 765 8901 0.38 2.47 87.45 0.238 11430 0.096 0.078 2914 2100 498 522 475 0 0 0 0 0 0 14.04 13.97 13.81

8936 end climb: SURFACE_DEPTH_REACHED

state 8936 begin surface coast

8945 end surface coast: CONTROL_FINISHED_OK

state 8945 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	105	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	298.0
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	40	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,213302,7248.3130,-14849.8438,38,0.8,38,21.1,0.0,0.0,10,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	307.3,55704,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.2	D_GRID	480
GPS2	180817,214347,7248.3237,-14849.9932,7,0.8,10,21.1,0.0,0.0,10,9.1

FINISH	0.5,1.020186	_24V_AH	12.48,92.550
SM_CCo	8965,0.80,0.269,0,0,506,702.78	_10V_AH	12.43,0.000
SM_GC	1.12,8.45,0.17,0.80,0.083,0.108,0.269,197,2230,506,-7.39,-0.68,702.78,0,0,0,0,0,0,14.10,14.09,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	44	FG_AHR_10Vo	0.000
RAFOS_FIX	7247.060547,-14853.498047,180817,202059,3,255,0.64	MEM	323552
IRIDIUM_FIX	7247.86,-14855.94,180817,185734	DATA_FILE_SIZE	26689,788
TT8_MAMPS	0.086135,0.829892	CAP_FILE_SIZE	103120,0
HUMID	45.31	CFSIZE	2097872896,2056323072
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	1449.6
XPDR_PINGS	11	CURRENT	0.057,253.43,1
CP_FREE	16001630208.000000	GPS	190817,001504,7249.466,-14852.049,21,0.8,30,21.1,0.3,297.9,10,9.5
PM_FREEKB_00	55369984

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	145.75	nil	0	0	0.00
Roll_motor	84	2149	2275.65	nil	0	0	0.00
VBD_pump_during_apogee	902	1681	18930.86	nil	0	0	0.00
VBD_pump_during_surface	0	269	2.69	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	8971	14	1636.49
Iridium_during_xfer	370	173	802.68	NCP	8972	20	2239.41
Transponder_ping	2	420	14.41	PMAR	8922	16	1846.91
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.01
TT8	0	0	0.00
LPSleep	6373	2	183.01
TT8_Active	936	13	162.57
TT8_Sampling	2030	33	843.96
TT8_CF8	288	38	138.66
TT8_Kalman	0	0	0.00
Analog_circuits	2032	10	252.69
GPS_charging	0	0	0.00
Compass	1129	7	98.26
RAFOS	2160	48	1288.74
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	204	2179	500	482	0.0	0.0	0	139	0.00	0.00	-91.93	0.000	16386	0.000	0.000	203	2179	2241	2177	2306	0	0	0	0	0	0	14.41	28.83	14.43
142	-0.57	-145.9	204	2179	2181	2302	4.6	-6.9	9	191	12.48	2.83	-29.67	0.000	18724	0.454	2.150	2381	3610	3962	3941	3984	0	0	0	0	0	0	13.67	12.93	14.11
253	-0.57	-145.9	2376	3614	3947	3984	40.6	-19.5	30	258	0.00	2.40	0.00	0.000	1030	0.000	0.058	2374	2209	3962	3942	3983	0	0	0	0	0	0	14.21	14.10	14.23
563	-0.57	-145.9	2376	2208	3956	3985	94.6	-13.9	62	568	0.00	2.50	0.00	0.000	260	0.000	0.087	2366	3623	3967	3950	3984	0	0	0	0	0	0	14.45	14.13	14.47
675	-0.67	-145.9	2366	3624	3952	3985	107.9	-11.6	84	680	0.00	2.42	0.00	0.000	1158	0.000	0.056	2366	2193	3967	3951	3984	0	0	0	0	0	0	14.20	14.08	14.21
986	-0.73	-145.9	2366	2192	3952	3984	146.1	-11.6	96	991	0.00	2.50	0.00	0.000	388	0.000	0.087	2362	3610	3967	3951	3984	0	0	0	0	0	0	14.54	14.16	14.55
1057	-0.90	-145.9	2362	3610	3952	3984	153.4	-9.2	110	1062	0.22	2.38	0.00	0.000	5286	0.101	0.055	2271	2196	3967	3951	3983	0	0	0	0	0	0	14.29	14.26	14.38
1377	-0.81	-145.9	2270	2196	3952	3984	212.5	-18.3	124	1383	0.17	2.47	0.00	0.000	2436	0.285	0.085	2305	3610	3967	3951	3983	0	0	0	0	0	0	13.91	14.18	14.09
1573	-0.89	-145.9	2305	3611	3952	3984	237.4	-11.7	163	1578	0.00	2.40	0.00	0.000	1158	0.000	0.056	2304	2194	3967	3951	3983	0	0	0	0	0	0	14.33	14.22	14.39
1888	-0.91	-145.9	2304	2192	3952	3982	275.1	-11.4	176	1894	0.00	2.47	0.00	0.000	388	0.000	0.090	2301	3610	3967	3951	3984	0	0	0	0	0	0	14.59	14.21	14.60
1989	-1.02	-145.9	2302	3610	3952	3983	285.7	-10.0	196	1995	0.17	2.38	0.00	0.000	5254	0.119	0.056	2239	2193	3967	3951	3983	0	0	0	0	0	0	14.31	14.27	14.39
2310	-0.93	-145.9	2239	2193	3951	3984	337.3	-16.2	210	2315	0.15	2.50	0.00	0.000	2436	0.296	0.084	2263	3617	3964	3946	3983	0	0	0	0	0	0	13.93	14.19	14.13
2422	-0.95	-145.9	2264	3619	3950	3983	351.8	-11.9	232	2428	0.00	2.40	0.00	0.000	1158	0.000	0.056	2262	2194	3966	3949	3983	0	0	0	0	0	0	14.37	14.26	14.40
2733	-0.95	-145.9	2264	2193	3949	3982	392.1	-12.8	244	2738	0.00	2.47	0.00	0.000	260	0.000	0.088	2253	3610	3965	3949	3982	0	0	0	0	0	0	14.59	14.17	14.61
2854	-0.95	-145.9	2256	3610	3949	3981	407.6	-12.5	268	2859	0.00	2.38	0.00	0.000	1030	0.000	0.056	2256	2200	3964	3947	3982	0	0	0	0	0	0	14.36	14.23	14.38
3184	-0.92	-145.9	2256	2201	3949	3981	451.8	-13.3	284	3190	0.00	2.47	0.00	0.000	388	0.000	0.086	2246	3610	3964	3947	3981	0	0	0	0	0	0	14.60	14.16	14.62
3312	-0.92	-145.9	2246	3611	3947	3983	468.7	-13.2	309	3317	0.15	2.38	0.00	0.000	3078	0.256	0.055	2276	2201	3964	3947	3982	0	0	0	0	0	0	14.02	14.23	14.26
3424	end dive: TARGET_DEPTH_EXCEEDED
state	3425	begin apogee
3430	-0.13	0.0	2277	2060	3948	3983	482.4	-11.4	317	3649	0.98	0.08	214.25	1.429	10246	0.238	0.183	2530	2111	3363	3386	3340	0	0	0	0	0	0	13.98	13.44	12.76
3653	end apogee: CONTROL_FINISHED_OK
state	3653	begin climb
3657	0.57	145.9	2531	2111	3381	3333	492.6	0.0	324	3868	0.75	2.62	201.27	1.379	11012	0.065	0.076	2782	3504	2762	2808	2717	0	0	0	0	0	0	13.57	13.17	12.48
3903	0.14	145.9	2782	3505	2795	2718	490.7	16.6	357	3911	0.80	2.47	0.00	0.000	5254	0.350	0.057	2632	2132	2757	2798	2716	0	0	0	0	0	0	13.13	13.38	13.42
4208	0.06	169.5	2633	2131	2794	2714	462.2	8.9	368	4246	0.12	2.65	29.75	1.483	12964	0.298	0.086	2604	696	2669	2712	2626	0	0	0	0	0	0	13.69	13.74	12.97
4313	0.15	224.2	2604	697	2711	2623	454.2	7.5	388	4402	0.00	2.50	79.78	1.398	9382	0.000	0.078	2604	2095	2444	2505	2384	0	0	0	0	0	0	13.97	13.86	12.81
4722	0.22	261.6	2604	2096	2498	2374	420.3	8.3	420	4784	0.15	0.00	53.92	1.407	10406	0.118	0.000	2668	2095	2291	2345	2238	0	0	0	0	0	0	14.07	13.78	13.02
5082	0.17	261.6	2668	2093	2338	2231	374.0	13.0	432	5087	0.15	2.47	0.00	0.000	4740	0.259	0.082	2639	692	2284	2339	2230	0	0	0	0	0	0	13.90	14.07	14.04
5153	0.23	266.6	2640	691	2339	2231	366.5	9.8	446	5158	0.00	2.47	0.00	0.000	1190	0.000	0.078	2637	2104	2283	2337	2230	0	0	0	0	0	0	14.21	14.08	14.24
5473	0.23	266.6	2641	2109	2338	2228	333.6	10.3	460	5478	0.00	2.47	0.00	0.000	516	0.000	0.084	2646	691	2282	2337	2228	0	0	0	0	0	0	14.52	14.18	14.53
5503	0.27	266.6	2647	691	2338	2228	330.5	10.6	466	5508	0.00	2.45	0.00	0.000	1158	0.000	0.078	2646	2103	2282	2337	2228	0	0	0	0	0	0	14.32	14.20	14.35
5833	0.27	266.6	2646	2104	2337	2227	296.3	10.2	482	5838	0.00	2.47	0.00	0.000	516	0.000	0.085	2646	687	2281	2336	2227	0	0	0	0	0	0	14.57	14.21	14.59
5868	0.32	269.8	2647	685	2336	2227	292.8	9.9	489	5879	0.12	2.47	5.12	1.681	11430	0.134	0.079	2696	2113	2268	2322	2215	0	0	0	0	0	0	14.31	14.26	13.21
6196	0.23	269.8	2697	2114	2322	2213	249.9	13.0	504	6197	0.17	0.00	0.00	0.000	4230	0.233	0.000	2658	2114	2267	2321	2213	0	0	0	0	0	0	14.10	14.38	14.33
6495	0.25	302.3	2658	2115	2321	2213	222.9	8.5	514	6557	0.00	2.60	55.70	1.350	8740	0.000	0.086	2660	694	2132	2180	2084	0	0	0	0	0	0	14.55	14.01	13.31
6657	0.38	344.3	2660	690	2174	2083	209.7	8.1	546	6733	0.15	2.47	70.43	1.278	11430	0.123	0.079	2719	2100	1962	2008	1917	0	0	0	0	0	0	14.12	14.07	13.14
7038	0.35	344.3	2719	2100	1998	1899	164.3	11.5	572	7039	0.00	0.00	0.00	0.000	134	0.000	0.000	2719	2100	1949	1997	1901	0	0	0	0	0	0	14.40	14.42	14.42
7338	0.35	344.3	2719	2101	1997	1900	131.1	10.8	582	7343	0.00	2.47	0.00	0.000	516	0.000	0.086	2724	691	1946	1996	1897	0	0	0	0	0	0	14.51	14.15	14.53
7418	0.37	347.6	2726	691	1994	1898	122.9	9.8	598	7423	0.00	2.45	0.00	0.000	1190	0.000	0.079	2725	2101	1945	1993	1898	0	0	0	0	0	0	14.34	14.21	14.36
7728	0.38	359.2	2725	2101	1994	1897	91.8	9.5	614	7739	0.00	0.00	6.40	0.478	8230	0.000	0.000	2725	2101	1902	1949	1856	0	0	0	0	0	0	14.52	13.95	13.66
8038	0.43	426.9	2725	2102	1946	1857	66.6	6.9	645	8080	0.00	2.47	36.10	0.408	8484	0.000	0.082	2725	3510	1622	1662	1582	0	0	0	0	0	0	14.52	13.97	13.71
8211	0.58	489.0	2726	3511	1660	1578	53.1	7.1	676	8249	0.12	2.42	31.38	0.364	11430	0.122	0.065	2780	2102	1370	1426	1314	0	0	0	0	0	0	14.09	14.09	13.69
8546	0.68	548.7	2782	2103	1427	1306	26.7	7.2	713	8582	0.00	2.50	30.58	0.295	8868	0.000	0.090	2789	690	1126	1193	1059	0	0	0	0	0	0	14.33	13.91	13.78
8807	1.03	705.4	2788	690	1190	1053	12.7	2.8	765	8901	0.38	2.47	87.45	0.238	11430	0.096	0.078	2914	2100	498	522	475	0	0	0	0	0	0	14.04	13.97	13.81
8936	end climb: SURFACE_DEPTH_REACHED
state	8936	begin surface coast
8945	end surface coast: CONTROL_FINISHED_OK
state	8945	begin surface