Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 109 * 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 109 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 309.0

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 21 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 309.0 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 109 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 190817,084432,7252.7197,-14859.2959,31,0.8,31,21.1,0.5,284.9,9,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 309.9,45905,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 190817,085924,7252.6797,-14859.9521,7,0.8,9,21.1,0.7,300.5,9,9.5

Post-dive calculations and measurements:

FINISH 0.5,1.020308 _24V_AH 12.49,94.540

SM_CCo 9392,0.45,0.352,0,0,500,703.03 _10V_AH 12.37,0.000

SM_GC 1.48,8.18,2.30,0.45,0.071,0.054,0.352,205,2196,500,-7.37,0.62,703.03,0,0,0,0,0,0,14.22,14.16,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

RAFOS_FIX 7251.576172,-14902.786133,190817,080821,3,255,0.41 MEM 323532

IRIDIUM_FIX 7252.38,-14904.68,190817,084909 DATA_FILE_SIZE 30021,824

TT8_MAMPS 0.036701,0.911533 CAP_FILE_SIZE 107939,0

HUMID 47.24 CFSIZE 2097872896,2055045120

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1449.8

XPDR_PINGS 21 CURRENT 0.067,264.29,1

CP_FREE 16000843776.000000 GPS 190817,113802,7253.832,-14902.136,36,0.9,36,21.1,0.0,0.0,9,10.0

PM_FREEKB_00 55066432

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 456 141.61 nil 0 0 0.00

Roll_motor 87 2149 2352.65 nil 0 0 0.00

VBD_pump_during_apogee 984 1536 18889.04 nil 0 0 0.00

VBD_pump_during_surface 0 351 1.98 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 9396 14 1704.01

Iridium_during_xfer 556 169 1180.91 NCP 9388 20 2345.12

Transponder_ping 5 420 27.54 PMAR 9345 16 1935.67

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.99

TT8 0 0 0.00

LPSleep 6680 2 190.90

TT8_Active 888 13 153.51

TT8_Sampling 2428 33 1004.47

TT8_CF8 311 38 149.27

TT8_Kalman 0 0 0.00

Analog_circuits 2344 10 289.97

GPS_charging 0 0 0.00

Compass 1180 7 102.21

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 183 2188 518 482 0.0 0.0 0 129 0.00 0.00 -80.78 0.000 16386 0.000 0.000 181 2187 2015 1938 2093 0 0 0 0 0 0 14.30 28.83 14.31

132 -0.57 -145.9 182 2188 1941 2095 3.2 -4.1 8 191 12.70 2.83 -38.90 0.000 19236 0.457 2.150 2379 3607 3963 3947 3980 0 0 0 0 0 0 13.71 12.87 14.12

271 -0.57 -145.9 2380 3607 3952 3980 39.2 -19.2 35 277 0.00 2.40 0.00 0.000 1030 0.000 0.058 2379 2207 3966 3952 3980 0 0 0 0 0 0 14.12 14.01 14.14

582 -0.57 -145.9 2379 2207 3955 3981 96.1 -13.7 67 587 0.00 2.47 0.00 0.000 260 0.000 0.088 2373 3610 3967 3955 3980 0 0 0 0 0 0 14.47 14.13 14.49

725 -0.70 -145.9 2374 3612 3955 3981 112.1 -10.6 95 730 0.00 2.40 0.00 0.000 1158 0.000 0.054 2374 2188 3967 3955 3979 0 0 0 0 0 0 14.28 14.21 14.28

1036 -0.78 -145.9 2374 2188 3956 3980 147.5 -10.9 107 1042 0.12 2.50 0.00 0.000 4484 0.143 0.086 2319 3607 3967 3955 3980 0 0 0 0 0 0 14.21 14.18 14.26

1082 -0.82 -145.9 2320 3609 3956 3979 153.7 -13.8 116 1087 0.00 2.38 0.00 0.000 1158 0.000 0.055 2319 2202 3967 3955 3980 0 0 0 0 0 0 14.36 14.25 14.38

1397 -0.82 -145.9 2319 2202 3954 3980 200.5 -14.5 129 1402 0.00 2.47 0.00 0.000 260 0.000 0.090 2319 3609 3967 3955 3980 0 0 0 0 0 0 14.57 14.19 14.59

1524 -0.90 -145.9 2319 3611 3955 3980 215.8 -11.5 154 1529 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2198 3968 3957 3979 0 0 0 0 0 0 14.35 14.23 14.38

1849 -0.94 -145.9 2319 2197 3955 3978 255.5 -11.6 169 1854 0.12 2.47 0.00 0.000 4484 0.139 0.086 2248 3608 3966 3955 3977 0 0 0 0 0 0 14.33 14.20 14.36

1956 -0.89 -145.9 2249 3609 3955 3978 271.5 -15.3 190 1961 0.17 2.38 0.00 0.000 3206 0.270 0.057 2284 2201 3966 3955 3977 0 0 0 0 0 0 14.00 14.28 14.28

2272 -0.89 -145.9 2285 2200 3956 3975 311.7 -12.1 203 2277 0.00 2.47 0.00 0.000 260 0.000 0.089 2280 3609 3965 3955 3975 0 0 0 0 0 0 14.59 14.21 14.64

2372 -0.95 -145.9 2281 3610 3956 3975 323.4 -11.4 223 2378 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2194 3964 3954 3975 0 0 0 0 0 0 14.39 14.28 14.42

2693 -0.95 -145.9 2281 2195 3956 3973 362.0 -12.0 237 2698 0.00 2.47 0.00 0.000 260 0.000 0.089 2275 3609 3964 3955 3973 0 0 0 0 0 0 14.62 14.19 14.65

2805 -1.01 -145.9 2275 3611 3955 3974 374.5 -11.0 259 2810 0.00 2.38 0.00 0.000 1158 0.000 0.056 2275 2196 3964 3955 3973 0 0 0 0 0 0 14.40 14.28 14.44

3115 -1.01 -145.9 2275 2195 3956 3972 412.1 -12.0 271 3121 0.00 2.50 0.00 0.000 260 0.000 0.088 2267 3611 3962 3954 3971 0 0 0 0 0 0 14.62 14.11 14.64

3201 -1.06 -145.9 2267 3613 3956 3971 422.3 -11.1 288 3207 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2198 3963 3955 3971 0 0 0 0 0 0 14.35 14.24 14.39

3506 -1.06 -145.9 2265 2197 3955 3971 460.2 -12.3 299 3512 0.00 2.50 0.00 0.000 260 0.000 0.087 2258 3615 3962 3954 3970 0 0 0 0 0 0 14.59 14.23 14.63

3639 -1.09 -145.9 2258 3616 3955 3971 476.2 -12.1 325 3644 0.00 2.40 0.00 0.000 1158 0.000 0.056 2256 2190 3962 3955 3970 0 0 0 0 0 0 14.34 14.23 14.37

3686 end dive: TARGET_DEPTH_EXCEEDED

state 3686 begin apogee

3692 -0.13 0.0 2259 2066 3961 3971 482.8 -12.9 330 3940 1.08 0.08 244.93 1.349 10246 0.246 0.179 2530 2111 3365 3401 3329 0 0 0 0 0 0 13.97 13.38 12.75

3944 end apogee: CONTROL_FINISHED_OK

state 3944 begin climb

3948 0.57 145.9 2531 2111 3396 3320 494.9 0.0 338 4170 0.73 2.03 207.88 1.342 11012 0.065 0.085 2781 723 2759 2815 2703 0 0 0 0 0 0 13.53 13.16 12.49

4395 0.23 145.9 2782 724 2802 2703 464.1 15.7 385 4402 0.57 2.47 0.00 0.000 5254 0.317 0.076 2661 2095 2750 2801 2700 0 0 0 0 0 0 13.45 13.76 13.78

4701 0.08 145.9 2661 2096 2802 2696 432.1 10.1 396 4706 0.20 2.42 0.00 0.000 4740 0.295 0.078 2621 716 2749 2801 2697 0 0 0 0 0 0 13.80 14.03 13.97

4931 0.11 196.3 2622 715 2802 2697 413.9 7.7 442 5012 0.00 2.42 74.43 1.347 9254 0.000 0.079 2621 2101 2560 2628 2492 0 0 0 0 0 0 14.23 14.12 13.14

5332 0.13 214.4 2622 2101 2619 2474 377.7 9.2 472 5363 0.00 2.47 22.67 1.471 8740 0.000 0.082 2630 726 2483 2551 2415 0 0 0 0 0 0 14.41 14.01 13.25

5450 0.18 236.8 2631 725 2546 2412 367.0 9.0 495 5489 0.00 2.40 32.55 1.418 9382 0.000 0.079 2631 2099 2396 2461 2331 0 0 0 0 0 0 14.21 14.07 13.15

5816 0.19 248.8 2631 2100 2449 2322 332.1 9.4 518 5832 0.00 0.00 14.62 1.537 8230 0.000 0.000 2630 2099 2350 2412 2288 0 0 0 0 0 0 14.45 14.10 13.28

6114 0.20 262.3 2630 2101 2403 2278 303.9 9.4 528 6140 0.00 2.45 17.90 1.506 8740 0.000 0.083 2633 730 2292 2353 2232 0 0 0 0 0 0 14.50 14.13 13.32

6185 0.30 290.9 2628 733 2349 2232 297.5 8.7 542 6237 0.15 2.40 44.67 1.379 11430 0.118 0.077 2692 2103 2177 2237 2117 0 0 0 0 0 0 14.18 14.11 13.19

6537 0.24 290.9 2692 2104 2231 2107 250.8 13.1 562 6542 0.12 2.40 0.00 0.000 4740 0.243 0.080 2673 726 2168 2230 2106 0 0 0 0 0 0 13.95 14.14 14.09

6607 0.29 295.1 2671 726 2229 2106 243.2 9.8 576 6612 0.00 2.38 0.00 0.000 1190 0.000 0.078 2671 2099 2167 2228 2106 0 0 0 0 0 0 14.31 14.19 14.33

6927 0.30 313.5 2671 2101 2228 2106 212.2 9.1 590 6963 0.00 0.00 34.72 1.366 8486 0.000 0.000 2670 2100 2085 2144 2026 0 0 0 0 0 0 14.55 14.09 13.34

7257 0.36 345.4 2670 2101 2134 2020 183.0 8.5 606 7312 0.00 0.00 53.47 1.315 8358 0.000 0.000 2671 2100 1956 2008 1905 0 0 0 0 0 0 14.49 13.96 13.24

7587 0.45 383.0 2671 2100 1998 1892 155.7 8.3 617 7658 0.17 2.53 62.88 1.265 10916 0.111 0.086 2746 726 1797 1832 1763 0 0 0 0 0 0 14.22 13.92 13.20

7688 0.45 383.0 2746 727 1826 1764 142.8 13.3 632 7693 0.00 2.45 0.00 0.000 1030 0.000 0.077 2746 2101 1793 1824 1762 0 0 0 0 0 0 13.97 13.88 14.00

8009 0.42 383.0 2746 2103 1826 1754 103.3 11.7 646 8014 0.12 2.42 0.00 0.000 4740 0.247 0.082 2724 719 1789 1825 1753 0 0 0 0 0 0 14.02 14.10 14.14

8054 0.51 392.4 2724 720 1821 1755 98.7 9.6 655 8065 0.00 2.42 3.88 0.470 9382 0.000 0.078 2724 2107 1763 1798 1728 0 0 0 0 0 0 14.21 14.10 13.59

8370 0.60 450.3 2725 2106 1800 1731 72.2 7.3 688 8407 0.12 2.45 31.12 0.420 10660 0.131 0.080 2786 3511 1528 1567 1490 0 0 0 0 0 0 14.26 13.97 13.71

8592 0.59 480.3 2786 3511 1567 1487 47.1 8.6 732 8614 0.00 2.35 16.05 0.350 9382 0.000 0.063 2794 2132 1404 1454 1354 0 0 0 0 0 0 14.28 14.17 13.76

8912 0.65 535.0 2794 2132 1455 1348 23.0 7.5 766 8943 0.00 0.00 28.98 0.282 8358 0.000 0.000 2794 2131 1179 1244 1115 0 0 0 0 0 0 14.51 14.14 13.83

9242 0.94 707.0 2794 2132 1246 1108 10.1 2.1 799 9342 0.25 2.45 93.28 0.230 10660 0.094 0.082 2893 3517 500 532 469 0 0 0 0 0 0 14.26 14.10 13.86

9360 end climb: SURFACE_DEPTH_REACHED

state 9360 begin surface coast

9370 end surface coast: CONTROL_FINISHED_OK

state 9370 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	109	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	309.0
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	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,084432,7252.7197,-14859.2959,31,0.8,31,21.1,0.5,284.9,9,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	309.9,45905,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	190817,085924,7252.6797,-14859.9521,7,0.8,9,21.1,0.7,300.5,9,9.5

FINISH	0.5,1.020308	_24V_AH	12.49,94.540
SM_CCo	9392,0.45,0.352,0,0,500,703.03	_10V_AH	12.37,0.000
SM_GC	1.48,8.18,2.30,0.45,0.071,0.054,0.352,205,2196,500,-7.37,0.62,703.03,0,0,0,0,0,0,14.22,14.16,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
RAFOS_FIX	7251.576172,-14902.786133,190817,080821,3,255,0.41	MEM	323532
IRIDIUM_FIX	7252.38,-14904.68,190817,084909	DATA_FILE_SIZE	30021,824
TT8_MAMPS	0.036701,0.911533	CAP_FILE_SIZE	107939,0
HUMID	47.24	CFSIZE	2097872896,2055045120
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1449.8
XPDR_PINGS	21	CURRENT	0.067,264.29,1
CP_FREE	16000843776.000000	GPS	190817,113802,7253.832,-14902.136,36,0.9,36,21.1,0.0,0.0,9,10.0
PM_FREEKB_00	55066432

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	456	141.61	nil	0	0	0.00
Roll_motor	87	2149	2352.65	nil	0	0	0.00
VBD_pump_during_apogee	984	1536	18889.04	nil	0	0	0.00
VBD_pump_during_surface	0	351	1.98	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	9396	14	1704.01
Iridium_during_xfer	556	169	1180.91	NCP	9388	20	2345.12
Transponder_ping	5	420	27.54	PMAR	9345	16	1935.67
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.99
TT8	0	0	0.00
LPSleep	6680	2	190.90
TT8_Active	888	13	153.51
TT8_Sampling	2428	33	1004.47
TT8_CF8	311	38	149.27
TT8_Kalman	0	0	0.00
Analog_circuits	2344	10	289.97
GPS_charging	0	0	0.00
Compass	1180	7	102.21
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	183	2188	518	482	0.0	0.0	0	129	0.00	0.00	-80.78	0.000	16386	0.000	0.000	181	2187	2015	1938	2093	0	0	0	0	0	0	14.30	28.83	14.31
132	-0.57	-145.9	182	2188	1941	2095	3.2	-4.1	8	191	12.70	2.83	-38.90	0.000	19236	0.457	2.150	2379	3607	3963	3947	3980	0	0	0	0	0	0	13.71	12.87	14.12
271	-0.57	-145.9	2380	3607	3952	3980	39.2	-19.2	35	277	0.00	2.40	0.00	0.000	1030	0.000	0.058	2379	2207	3966	3952	3980	0	0	0	0	0	0	14.12	14.01	14.14
582	-0.57	-145.9	2379	2207	3955	3981	96.1	-13.7	67	587	0.00	2.47	0.00	0.000	260	0.000	0.088	2373	3610	3967	3955	3980	0	0	0	0	0	0	14.47	14.13	14.49
725	-0.70	-145.9	2374	3612	3955	3981	112.1	-10.6	95	730	0.00	2.40	0.00	0.000	1158	0.000	0.054	2374	2188	3967	3955	3979	0	0	0	0	0	0	14.28	14.21	14.28
1036	-0.78	-145.9	2374	2188	3956	3980	147.5	-10.9	107	1042	0.12	2.50	0.00	0.000	4484	0.143	0.086	2319	3607	3967	3955	3980	0	0	0	0	0	0	14.21	14.18	14.26
1082	-0.82	-145.9	2320	3609	3956	3979	153.7	-13.8	116	1087	0.00	2.38	0.00	0.000	1158	0.000	0.055	2319	2202	3967	3955	3980	0	0	0	0	0	0	14.36	14.25	14.38
1397	-0.82	-145.9	2319	2202	3954	3980	200.5	-14.5	129	1402	0.00	2.47	0.00	0.000	260	0.000	0.090	2319	3609	3967	3955	3980	0	0	0	0	0	0	14.57	14.19	14.59
1524	-0.90	-145.9	2319	3611	3955	3980	215.8	-11.5	154	1529	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2198	3968	3957	3979	0	0	0	0	0	0	14.35	14.23	14.38
1849	-0.94	-145.9	2319	2197	3955	3978	255.5	-11.6	169	1854	0.12	2.47	0.00	0.000	4484	0.139	0.086	2248	3608	3966	3955	3977	0	0	0	0	0	0	14.33	14.20	14.36
1956	-0.89	-145.9	2249	3609	3955	3978	271.5	-15.3	190	1961	0.17	2.38	0.00	0.000	3206	0.270	0.057	2284	2201	3966	3955	3977	0	0	0	0	0	0	14.00	14.28	14.28
2272	-0.89	-145.9	2285	2200	3956	3975	311.7	-12.1	203	2277	0.00	2.47	0.00	0.000	260	0.000	0.089	2280	3609	3965	3955	3975	0	0	0	0	0	0	14.59	14.21	14.64
2372	-0.95	-145.9	2281	3610	3956	3975	323.4	-11.4	223	2378	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2194	3964	3954	3975	0	0	0	0	0	0	14.39	14.28	14.42
2693	-0.95	-145.9	2281	2195	3956	3973	362.0	-12.0	237	2698	0.00	2.47	0.00	0.000	260	0.000	0.089	2275	3609	3964	3955	3973	0	0	0	0	0	0	14.62	14.19	14.65
2805	-1.01	-145.9	2275	3611	3955	3974	374.5	-11.0	259	2810	0.00	2.38	0.00	0.000	1158	0.000	0.056	2275	2196	3964	3955	3973	0	0	0	0	0	0	14.40	14.28	14.44
3115	-1.01	-145.9	2275	2195	3956	3972	412.1	-12.0	271	3121	0.00	2.50	0.00	0.000	260	0.000	0.088	2267	3611	3962	3954	3971	0	0	0	0	0	0	14.62	14.11	14.64
3201	-1.06	-145.9	2267	3613	3956	3971	422.3	-11.1	288	3207	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2198	3963	3955	3971	0	0	0	0	0	0	14.35	14.24	14.39
3506	-1.06	-145.9	2265	2197	3955	3971	460.2	-12.3	299	3512	0.00	2.50	0.00	0.000	260	0.000	0.087	2258	3615	3962	3954	3970	0	0	0	0	0	0	14.59	14.23	14.63
3639	-1.09	-145.9	2258	3616	3955	3971	476.2	-12.1	325	3644	0.00	2.40	0.00	0.000	1158	0.000	0.056	2256	2190	3962	3955	3970	0	0	0	0	0	0	14.34	14.23	14.37
3686	end dive: TARGET_DEPTH_EXCEEDED
state	3686	begin apogee
3692	-0.13	0.0	2259	2066	3961	3971	482.8	-12.9	330	3940	1.08	0.08	244.93	1.349	10246	0.246	0.179	2530	2111	3365	3401	3329	0	0	0	0	0	0	13.97	13.38	12.75
3944	end apogee: CONTROL_FINISHED_OK
state	3944	begin climb
3948	0.57	145.9	2531	2111	3396	3320	494.9	0.0	338	4170	0.73	2.03	207.88	1.342	11012	0.065	0.085	2781	723	2759	2815	2703	0	0	0	0	0	0	13.53	13.16	12.49
4395	0.23	145.9	2782	724	2802	2703	464.1	15.7	385	4402	0.57	2.47	0.00	0.000	5254	0.317	0.076	2661	2095	2750	2801	2700	0	0	0	0	0	0	13.45	13.76	13.78
4701	0.08	145.9	2661	2096	2802	2696	432.1	10.1	396	4706	0.20	2.42	0.00	0.000	4740	0.295	0.078	2621	716	2749	2801	2697	0	0	0	0	0	0	13.80	14.03	13.97
4931	0.11	196.3	2622	715	2802	2697	413.9	7.7	442	5012	0.00	2.42	74.43	1.347	9254	0.000	0.079	2621	2101	2560	2628	2492	0	0	0	0	0	0	14.23	14.12	13.14
5332	0.13	214.4	2622	2101	2619	2474	377.7	9.2	472	5363	0.00	2.47	22.67	1.471	8740	0.000	0.082	2630	726	2483	2551	2415	0	0	0	0	0	0	14.41	14.01	13.25
5450	0.18	236.8	2631	725	2546	2412	367.0	9.0	495	5489	0.00	2.40	32.55	1.418	9382	0.000	0.079	2631	2099	2396	2461	2331	0	0	0	0	0	0	14.21	14.07	13.15
5816	0.19	248.8	2631	2100	2449	2322	332.1	9.4	518	5832	0.00	0.00	14.62	1.537	8230	0.000	0.000	2630	2099	2350	2412	2288	0	0	0	0	0	0	14.45	14.10	13.28
6114	0.20	262.3	2630	2101	2403	2278	303.9	9.4	528	6140	0.00	2.45	17.90	1.506	8740	0.000	0.083	2633	730	2292	2353	2232	0	0	0	0	0	0	14.50	14.13	13.32
6185	0.30	290.9	2628	733	2349	2232	297.5	8.7	542	6237	0.15	2.40	44.67	1.379	11430	0.118	0.077	2692	2103	2177	2237	2117	0	0	0	0	0	0	14.18	14.11	13.19
6537	0.24	290.9	2692	2104	2231	2107	250.8	13.1	562	6542	0.12	2.40	0.00	0.000	4740	0.243	0.080	2673	726	2168	2230	2106	0	0	0	0	0	0	13.95	14.14	14.09
6607	0.29	295.1	2671	726	2229	2106	243.2	9.8	576	6612	0.00	2.38	0.00	0.000	1190	0.000	0.078	2671	2099	2167	2228	2106	0	0	0	0	0	0	14.31	14.19	14.33
6927	0.30	313.5	2671	2101	2228	2106	212.2	9.1	590	6963	0.00	0.00	34.72	1.366	8486	0.000	0.000	2670	2100	2085	2144	2026	0	0	0	0	0	0	14.55	14.09	13.34
7257	0.36	345.4	2670	2101	2134	2020	183.0	8.5	606	7312	0.00	0.00	53.47	1.315	8358	0.000	0.000	2671	2100	1956	2008	1905	0	0	0	0	0	0	14.49	13.96	13.24
7587	0.45	383.0	2671	2100	1998	1892	155.7	8.3	617	7658	0.17	2.53	62.88	1.265	10916	0.111	0.086	2746	726	1797	1832	1763	0	0	0	0	0	0	14.22	13.92	13.20
7688	0.45	383.0	2746	727	1826	1764	142.8	13.3	632	7693	0.00	2.45	0.00	0.000	1030	0.000	0.077	2746	2101	1793	1824	1762	0	0	0	0	0	0	13.97	13.88	14.00
8009	0.42	383.0	2746	2103	1826	1754	103.3	11.7	646	8014	0.12	2.42	0.00	0.000	4740	0.247	0.082	2724	719	1789	1825	1753	0	0	0	0	0	0	14.02	14.10	14.14
8054	0.51	392.4	2724	720	1821	1755	98.7	9.6	655	8065	0.00	2.42	3.88	0.470	9382	0.000	0.078	2724	2107	1763	1798	1728	0	0	0	0	0	0	14.21	14.10	13.59
8370	0.60	450.3	2725	2106	1800	1731	72.2	7.3	688	8407	0.12	2.45	31.12	0.420	10660	0.131	0.080	2786	3511	1528	1567	1490	0	0	0	0	0	0	14.26	13.97	13.71
8592	0.59	480.3	2786	3511	1567	1487	47.1	8.6	732	8614	0.00	2.35	16.05	0.350	9382	0.000	0.063	2794	2132	1404	1454	1354	0	0	0	0	0	0	14.28	14.17	13.76
8912	0.65	535.0	2794	2132	1455	1348	23.0	7.5	766	8943	0.00	0.00	28.98	0.282	8358	0.000	0.000	2794	2131	1179	1244	1115	0	0	0	0	0	0	14.51	14.14	13.83
9242	0.94	707.0	2794	2132	1246	1108	10.1	2.1	799	9342	0.25	2.45	93.28	0.230	10660	0.094	0.082	2893	3517	500	532	469	0	0	0	0	0	0	14.26	14.10	13.86
9360	end climb: SURFACE_DEPTH_REACHED
state	9360	begin surface coast
9370	end surface coast: CONTROL_FINISHED_OK
state	9370	begin surface