Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 112 * 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 112 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 318.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 318.0 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 26 VBD_MIN 500

DIVE 112 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 190817,171533,7256.0508,-14906.3145,28,0.7,29,21.1,0.0,0.0,12,7.4 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 305.2,39174,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.8 D_GRID 480

GPS2 190817,172655,7255.9575,-14906.3193,9,0.7,10,21.0,0.0,183.2,11,7.9

Post-dive calculations and measurements:

FINISH 0.1,1.011533 _24V_AH 12.47,96.041

SM_CCo 9096,44.78,0.213,0,0,499,703.03 _10V_AH 12.36,0.000

SM_GC 1.19,8.02,0.17,44.78,0.059,0.114,0.213,201,2224,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.28,14.28,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

RAFOS_FIX 7256.203125,-14909.283203,190817,161646,3,255,0.60 MEM 323416

IRIDIUM_FIX 7300.06,-14849.56,190817,143709 DATA_FILE_SIZE 26773,775

TT8_MAMPS 0.040446,0.904792 CAP_FILE_SIZE 102505,0

HUMID 48.14 CFSIZE 2097872896,2054094848

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 12 CURRENT 0.053,262.37,1

CP_FREE 16000319488.000000 GPS 190817,200052,7256.957,-14908.494,15,0.8,16,21.0,0.5,223.5,10,9.5

PM_FREEKB_00 54851136

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 141.71 nil 0 0 0.00

Roll_motor 77 113 110.76 nil 0 0 0.00

VBD_pump_during_apogee 946 1546 18246.54 nil 0 0 0.00

VBD_pump_during_surface 44 213 119.17 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 9102 14 1645.55

Iridium_during_xfer 408 175 892.06 NCP 9093 20 2267.79

Transponder_ping 3 420 15.71 PMAR 9051 16 1870.64

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.00

TT8 0 0 0.00

LPSleep 6443 2 183.98

TT8_Active 906 13 156.52

TT8_Sampling 2199 33 909.02

TT8_CF8 288 38 138.16

TT8_Kalman 0 0 0.00

Analog_circuits 2172 10 268.51

GPS_charging 0 0 0.00

Compass 1110 7 96.11

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 -145.9 200 2234 504 489 0.0 0.0 0 140 0.00 0.00 -91.93 0.000 16386 0.000 0.000 199 2234 2239 2170 2308 0 0 0 0 0 0 14.41 28.83 14.43

143 -0.57 -145.9 200 2235 2175 2310 4.8 -7.0 9 190 12.62 0.00 -31.77 0.000 18726 0.456 0.000 2387 2234 3964 3945 3983 0 0 0 0 0 0 13.69 12.64 14.13

488 -0.57 -145.9 2387 2235 3957 3984 83.2 -15.8 45 493 0.00 2.38 0.00 0.000 260 0.000 0.086 2378 3580 3968 3956 3981 0 0 0 0 0 0 14.47 14.13 14.49

718 -0.71 -145.9 2378 3581 3957 3983 110.3 -10.4 91 724 0.00 2.33 0.00 0.000 1158 0.000 0.056 2378 2199 3969 3956 3983 0 0 0 0 0 0 14.33 14.21 14.35

1029 -0.80 -145.9 2378 2198 3957 3983 144.7 -10.6 103 1035 0.15 2.45 0.00 0.000 4484 0.125 0.085 2306 3588 3969 3956 3983 0 0 0 0 0 0 14.24 14.16 14.28

1190 -0.85 -145.9 2306 3589 3957 3983 167.0 -13.3 135 1196 0.00 2.35 0.00 0.000 1158 0.000 0.054 2306 2196 3969 3956 3983 0 0 0 0 0 0 14.26 14.16 14.29

1511 -0.85 -145.9 2306 2198 3957 3983 215.3 -14.5 149 1516 0.00 2.42 0.00 0.000 260 0.000 0.087 2298 3580 3969 3956 3983 0 0 0 0 0 0 14.57 14.18 14.58

1623 -0.92 -145.9 2298 3581 3957 3983 229.6 -12.1 171 1629 0.00 2.33 0.00 0.000 1158 0.000 0.056 2298 2198 3969 3956 3982 0 0 0 0 0 0 14.34 14.22 14.37

1934 -0.92 -145.9 2298 2196 3957 3983 270.1 -12.4 183 1940 0.00 2.42 0.00 0.000 260 0.000 0.088 2290 3582 3969 3956 3983 0 0 0 0 0 0 14.59 14.16 14.60

2025 -0.99 -145.9 2291 3582 3957 3983 280.6 -11.1 201 2030 0.00 2.35 0.00 0.000 1158 0.000 0.057 2290 2192 3969 3956 3983 0 0 0 0 0 0 14.38 14.29 14.44

2355 -1.01 -145.9 2290 2192 3957 3983 319.2 -11.6 217 2360 0.12 2.45 0.00 0.000 4484 0.139 0.087 2236 3586 3969 3956 3982 0 0 0 0 0 0 14.28 14.22 14.32

2485 -0.97 -145.9 2237 3587 3956 3981 339.0 -15.2 243 2491 0.12 2.35 0.00 0.000 3206 0.256 0.057 2259 2194 3968 3955 3982 0 0 0 0 0 0 14.04 14.28 14.29

2807 -0.95 -145.9 2260 2193 3956 3982 383.2 -13.5 257 2811 0.00 2.45 0.00 0.000 388 0.000 0.087 2250 3588 3968 3955 3981 0 0 0 0 0 0 14.60 14.19 14.62

2916 -0.95 -145.9 2252 3589 3955 3982 397.9 -13.1 279 2922 0.00 2.35 0.00 0.000 1030 0.000 0.056 2252 2194 3967 3954 3981 0 0 0 0 0 0 13.90 13.89 14.09

3227 -0.92 -145.9 2252 2194 3956 3980 441.0 -13.8 291 3233 0.12 2.45 0.00 0.000 2436 0.308 0.085 2271 3589 3967 3953 3981 0 0 0 0 0 0 13.96 14.19 14.18

3353 -0.99 -145.9 2272 3590 3956 3981 455.2 -10.5 316 3358 0.00 2.35 0.00 0.000 1158 0.000 0.055 2271 2195 3967 3955 3980 0 0 0 0 0 0 14.34 14.23 14.37

3586 end dive: TARGET_DEPTH_EXCEEDED

state 3586 begin apogee

3592 -0.13 0.0 2272 2067 3960 3980 482.2 -11.6 328 3821 1.00 0.00 227.07 1.398 10246 0.231 0.000 2530 2067 3365 3388 3342 0 0 0 0 0 0 13.95 13.46 12.73

3826 end apogee: CONTROL_FINISHED_OK

state 3826 begin climb

3828 0.57 145.9 2530 2067 3380 3332 492.6 0.0 335 4050 0.75 2.15 206.65 1.363 10500 0.064 0.072 2781 3500 2755 2796 2715 0 0 0 0 0 0 13.54 13.00 12.47

4275 0.13 145.9 2781 3500 2785 2714 457.9 17.9 382 4282 0.80 2.40 0.00 0.000 5254 0.352 0.057 2628 2128 2748 2784 2713 0 0 0 0 0 0 13.43 13.73 13.76

4580 0.06 174.4 2630 2129 2785 2711 429.8 8.7 393 4620 0.00 0.00 38.08 1.422 8358 0.000 0.000 2629 2129 2655 2698 2612 0 0 0 0 0 0 14.34 13.90 13.12

4910 0.01 187.8 2630 2129 2689 2592 398.9 9.4 404 4936 0.15 2.58 16.95 1.546 12964 0.281 0.086 2602 699 2592 2645 2540 0 0 0 0 0 0 13.90 14.04 13.24

4988 0.12 241.4 2601 701 2643 2538 392.9 7.5 419 5082 0.00 2.42 86.50 1.340 9382 0.000 0.079 2601 2081 2376 2434 2319 0 0 0 0 0 0 14.19 14.08 13.04

5392 0.22 287.0 2602 2081 2419 2304 360.9 7.9 450 5464 0.15 0.00 70.43 1.327 10406 0.118 0.000 2669 2081 2194 2247 2142 0 0 0 0 0 0 14.16 13.82 13.10

5752 0.19 287.0 2670 2080 2231 2122 316.5 12.3 462 5757 0.00 2.45 0.00 0.000 644 0.000 0.086 2672 697 2176 2230 2122 0 0 0 0 0 0 14.38 14.09 14.42

5792 0.19 287.0 2669 698 2224 2122 311.7 11.9 470 5797 0.12 2.45 0.00 0.000 5126 0.252 0.077 2647 2099 2174 2227 2121 0 0 0 0 0 0 13.96 13.97 14.21

6113 0.19 289.2 2647 2100 2227 2120 279.2 9.9 484 6118 0.00 2.47 0.00 0.000 548 0.000 0.086 2647 690 2173 2227 2119 0 0 0 0 0 0 14.53 14.09 14.55

6163 0.28 304.5 2647 690 2226 2121 274.3 9.3 494 6193 0.00 2.45 22.50 1.408 9382 0.000 0.078 2654 2106 2119 2171 2067 0 0 0 0 0 0 14.33 14.21 13.35

6505 0.34 319.9 2647 2107 2163 2057 241.8 9.3 512 6536 0.12 0.00 22.60 1.418 10406 0.133 0.000 2698 2106 2053 2103 2004 0 0 0 0 0 0 14.20 14.12 13.37

6833 0.31 319.9 2699 2106 2098 1995 204.0 11.1 523 6838 0.00 2.47 0.00 0.000 644 0.000 0.086 2699 697 2046 2097 1996 0 0 0 0 0 0 14.52 14.12 14.53

6899 0.35 328.8 2699 698 2095 1998 197.5 9.6 536 6909 0.00 2.42 4.62 1.532 9382 0.000 0.078 2699 2099 2027 2077 1977 0 0 0 0 0 0 14.35 14.23 13.19

7224 0.35 331.3 2699 2100 2082 1977 164.7 9.9 551 7235 0.00 2.45 3.80 1.502 8740 0.000 0.086 2699 695 2017 2068 1966 0 0 0 0 0 0 14.55 14.23 12.99

7295 0.42 345.3 2700 695 2069 1970 158.1 9.4 565 7330 0.00 2.45 29.23 1.401 9382 0.000 0.078 2699 2105 1956 2006 1907 0 0 0 0 0 0 14.31 14.24 13.34

7647 0.46 377.6 2699 2106 1998 1900 126.6 8.5 585 7707 0.00 2.53 51.47 1.301 8868 0.000 0.086 2698 701 1822 1855 1789 0 0 0 0 0 0 14.47 13.97 13.27

7734 0.59 417.0 2699 696 1848 1790 119.2 8.2 602 7803 0.22 2.50 63.72 1.217 11430 0.095 0.076 2785 2107 1666 1699 1633 0 0 0 0 0 0 14.06 14.00 13.11

8109 0.51 417.1 2785 2108 1694 1617 69.5 10.0 645 8114 0.15 2.50 0.00 0.000 4772 0.265 0.080 2760 691 1652 1693 1612 0 0 0 0 0 0 13.83 14.00 14.02

8164 0.57 475.2 2760 689 1690 1612 65.1 7.3 656 8202 0.00 2.50 29.05 0.402 9382 0.000 0.079 2760 2109 1425 1472 1379 0 0 0 0 0 0 14.16 14.04 13.67

8499 0.72 550.4 2760 2109 1472 1371 42.1 6.5 693 8543 0.12 2.55 38.78 0.330 10660 0.132 0.080 2818 3516 1118 1184 1053 0 0 0 0 0 0 14.20 14.04 13.83

8708 0.75 550.4 2818 3518 1185 1050 20.5 10.4 734 8715 0.00 2.42 0.00 0.000 1158 0.000 0.065 2825 2105 1117 1184 1050 0 0 0 0 0 0 14.16 14.07 14.20

9014 0.93 679.0 2825 2106 1185 1044 4.3 4.1 765 9051 0.15 0.00 34.97 0.219 10658 0.116 0.000 2893 2104 840 910 770 0 0 0 0 0 0 14.23 28.83 14.28

9051 end climb: SURFACE_DEPTH_REACHED

state 9051 begin surface coast

9074 end surface coast: CONTROL_FINISHED_OK

state 9074 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	112	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	318.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,171533,7256.0508,-14906.3145,28,0.7,29,21.1,0.0,0.0,12,7.4	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	305.2,39174,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.8	D_GRID	480
GPS2	190817,172655,7255.9575,-14906.3193,9,0.7,10,21.0,0.0,183.2,11,7.9

FINISH	0.1,1.011533	_24V_AH	12.47,96.041
SM_CCo	9096,44.78,0.213,0,0,499,703.03	_10V_AH	12.36,0.000
SM_GC	1.19,8.02,0.17,44.78,0.059,0.114,0.213,201,2224,499,-7.37,-0.62,703.03,0,0,0,0,0,0,14.28,14.28,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
RAFOS_FIX	7256.203125,-14909.283203,190817,161646,3,255,0.60	MEM	323416
IRIDIUM_FIX	7300.06,-14849.56,190817,143709	DATA_FILE_SIZE	26773,775
TT8_MAMPS	0.040446,0.904792	CAP_FILE_SIZE	102505,0
HUMID	48.14	CFSIZE	2097872896,2054094848
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	12	CURRENT	0.053,262.37,1
CP_FREE	16000319488.000000	GPS	190817,200052,7256.957,-14908.494,15,0.8,16,21.0,0.5,223.5,10,9.5
PM_FREEKB_00	54851136

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	141.71	nil	0	0	0.00
Roll_motor	77	113	110.76	nil	0	0	0.00
VBD_pump_during_apogee	946	1546	18246.54	nil	0	0	0.00
VBD_pump_during_surface	44	213	119.17	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	9102	14	1645.55
Iridium_during_xfer	408	175	892.06	NCP	9093	20	2267.79
Transponder_ping	3	420	15.71	PMAR	9051	16	1870.64
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.00
TT8	0	0	0.00
LPSleep	6443	2	183.98
TT8_Active	906	13	156.52
TT8_Sampling	2199	33	909.02
TT8_CF8	288	38	138.16
TT8_Kalman	0	0	0.00
Analog_circuits	2172	10	268.51
GPS_charging	0	0	0.00
Compass	1110	7	96.11
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	200	2234	504	489	0.0	0.0	0	140	0.00	0.00	-91.93	0.000	16386	0.000	0.000	199	2234	2239	2170	2308	0	0	0	0	0	0	14.41	28.83	14.43
143	-0.57	-145.9	200	2235	2175	2310	4.8	-7.0	9	190	12.62	0.00	-31.77	0.000	18726	0.456	0.000	2387	2234	3964	3945	3983	0	0	0	0	0	0	13.69	12.64	14.13
488	-0.57	-145.9	2387	2235	3957	3984	83.2	-15.8	45	493	0.00	2.38	0.00	0.000	260	0.000	0.086	2378	3580	3968	3956	3981	0	0	0	0	0	0	14.47	14.13	14.49
718	-0.71	-145.9	2378	3581	3957	3983	110.3	-10.4	91	724	0.00	2.33	0.00	0.000	1158	0.000	0.056	2378	2199	3969	3956	3983	0	0	0	0	0	0	14.33	14.21	14.35
1029	-0.80	-145.9	2378	2198	3957	3983	144.7	-10.6	103	1035	0.15	2.45	0.00	0.000	4484	0.125	0.085	2306	3588	3969	3956	3983	0	0	0	0	0	0	14.24	14.16	14.28
1190	-0.85	-145.9	2306	3589	3957	3983	167.0	-13.3	135	1196	0.00	2.35	0.00	0.000	1158	0.000	0.054	2306	2196	3969	3956	3983	0	0	0	0	0	0	14.26	14.16	14.29
1511	-0.85	-145.9	2306	2198	3957	3983	215.3	-14.5	149	1516	0.00	2.42	0.00	0.000	260	0.000	0.087	2298	3580	3969	3956	3983	0	0	0	0	0	0	14.57	14.18	14.58
1623	-0.92	-145.9	2298	3581	3957	3983	229.6	-12.1	171	1629	0.00	2.33	0.00	0.000	1158	0.000	0.056	2298	2198	3969	3956	3982	0	0	0	0	0	0	14.34	14.22	14.37
1934	-0.92	-145.9	2298	2196	3957	3983	270.1	-12.4	183	1940	0.00	2.42	0.00	0.000	260	0.000	0.088	2290	3582	3969	3956	3983	0	0	0	0	0	0	14.59	14.16	14.60
2025	-0.99	-145.9	2291	3582	3957	3983	280.6	-11.1	201	2030	0.00	2.35	0.00	0.000	1158	0.000	0.057	2290	2192	3969	3956	3983	0	0	0	0	0	0	14.38	14.29	14.44
2355	-1.01	-145.9	2290	2192	3957	3983	319.2	-11.6	217	2360	0.12	2.45	0.00	0.000	4484	0.139	0.087	2236	3586	3969	3956	3982	0	0	0	0	0	0	14.28	14.22	14.32
2485	-0.97	-145.9	2237	3587	3956	3981	339.0	-15.2	243	2491	0.12	2.35	0.00	0.000	3206	0.256	0.057	2259	2194	3968	3955	3982	0	0	0	0	0	0	14.04	14.28	14.29
2807	-0.95	-145.9	2260	2193	3956	3982	383.2	-13.5	257	2811	0.00	2.45	0.00	0.000	388	0.000	0.087	2250	3588	3968	3955	3981	0	0	0	0	0	0	14.60	14.19	14.62
2916	-0.95	-145.9	2252	3589	3955	3982	397.9	-13.1	279	2922	0.00	2.35	0.00	0.000	1030	0.000	0.056	2252	2194	3967	3954	3981	0	0	0	0	0	0	13.90	13.89	14.09
3227	-0.92	-145.9	2252	2194	3956	3980	441.0	-13.8	291	3233	0.12	2.45	0.00	0.000	2436	0.308	0.085	2271	3589	3967	3953	3981	0	0	0	0	0	0	13.96	14.19	14.18
3353	-0.99	-145.9	2272	3590	3956	3981	455.2	-10.5	316	3358	0.00	2.35	0.00	0.000	1158	0.000	0.055	2271	2195	3967	3955	3980	0	0	0	0	0	0	14.34	14.23	14.37
3586	end dive: TARGET_DEPTH_EXCEEDED
state	3586	begin apogee
3592	-0.13	0.0	2272	2067	3960	3980	482.2	-11.6	328	3821	1.00	0.00	227.07	1.398	10246	0.231	0.000	2530	2067	3365	3388	3342	0	0	0	0	0	0	13.95	13.46	12.73
3826	end apogee: CONTROL_FINISHED_OK
state	3826	begin climb
3828	0.57	145.9	2530	2067	3380	3332	492.6	0.0	335	4050	0.75	2.15	206.65	1.363	10500	0.064	0.072	2781	3500	2755	2796	2715	0	0	0	0	0	0	13.54	13.00	12.47
4275	0.13	145.9	2781	3500	2785	2714	457.9	17.9	382	4282	0.80	2.40	0.00	0.000	5254	0.352	0.057	2628	2128	2748	2784	2713	0	0	0	0	0	0	13.43	13.73	13.76
4580	0.06	174.4	2630	2129	2785	2711	429.8	8.7	393	4620	0.00	0.00	38.08	1.422	8358	0.000	0.000	2629	2129	2655	2698	2612	0	0	0	0	0	0	14.34	13.90	13.12
4910	0.01	187.8	2630	2129	2689	2592	398.9	9.4	404	4936	0.15	2.58	16.95	1.546	12964	0.281	0.086	2602	699	2592	2645	2540	0	0	0	0	0	0	13.90	14.04	13.24
4988	0.12	241.4	2601	701	2643	2538	392.9	7.5	419	5082	0.00	2.42	86.50	1.340	9382	0.000	0.079	2601	2081	2376	2434	2319	0	0	0	0	0	0	14.19	14.08	13.04
5392	0.22	287.0	2602	2081	2419	2304	360.9	7.9	450	5464	0.15	0.00	70.43	1.327	10406	0.118	0.000	2669	2081	2194	2247	2142	0	0	0	0	0	0	14.16	13.82	13.10
5752	0.19	287.0	2670	2080	2231	2122	316.5	12.3	462	5757	0.00	2.45	0.00	0.000	644	0.000	0.086	2672	697	2176	2230	2122	0	0	0	0	0	0	14.38	14.09	14.42
5792	0.19	287.0	2669	698	2224	2122	311.7	11.9	470	5797	0.12	2.45	0.00	0.000	5126	0.252	0.077	2647	2099	2174	2227	2121	0	0	0	0	0	0	13.96	13.97	14.21
6113	0.19	289.2	2647	2100	2227	2120	279.2	9.9	484	6118	0.00	2.47	0.00	0.000	548	0.000	0.086	2647	690	2173	2227	2119	0	0	0	0	0	0	14.53	14.09	14.55
6163	0.28	304.5	2647	690	2226	2121	274.3	9.3	494	6193	0.00	2.45	22.50	1.408	9382	0.000	0.078	2654	2106	2119	2171	2067	0	0	0	0	0	0	14.33	14.21	13.35
6505	0.34	319.9	2647	2107	2163	2057	241.8	9.3	512	6536	0.12	0.00	22.60	1.418	10406	0.133	0.000	2698	2106	2053	2103	2004	0	0	0	0	0	0	14.20	14.12	13.37
6833	0.31	319.9	2699	2106	2098	1995	204.0	11.1	523	6838	0.00	2.47	0.00	0.000	644	0.000	0.086	2699	697	2046	2097	1996	0	0	0	0	0	0	14.52	14.12	14.53
6899	0.35	328.8	2699	698	2095	1998	197.5	9.6	536	6909	0.00	2.42	4.62	1.532	9382	0.000	0.078	2699	2099	2027	2077	1977	0	0	0	0	0	0	14.35	14.23	13.19
7224	0.35	331.3	2699	2100	2082	1977	164.7	9.9	551	7235	0.00	2.45	3.80	1.502	8740	0.000	0.086	2699	695	2017	2068	1966	0	0	0	0	0	0	14.55	14.23	12.99
7295	0.42	345.3	2700	695	2069	1970	158.1	9.4	565	7330	0.00	2.45	29.23	1.401	9382	0.000	0.078	2699	2105	1956	2006	1907	0	0	0	0	0	0	14.31	14.24	13.34
7647	0.46	377.6	2699	2106	1998	1900	126.6	8.5	585	7707	0.00	2.53	51.47	1.301	8868	0.000	0.086	2698	701	1822	1855	1789	0	0	0	0	0	0	14.47	13.97	13.27
7734	0.59	417.0	2699	696	1848	1790	119.2	8.2	602	7803	0.22	2.50	63.72	1.217	11430	0.095	0.076	2785	2107	1666	1699	1633	0	0	0	0	0	0	14.06	14.00	13.11
8109	0.51	417.1	2785	2108	1694	1617	69.5	10.0	645	8114	0.15	2.50	0.00	0.000	4772	0.265	0.080	2760	691	1652	1693	1612	0	0	0	0	0	0	13.83	14.00	14.02
8164	0.57	475.2	2760	689	1690	1612	65.1	7.3	656	8202	0.00	2.50	29.05	0.402	9382	0.000	0.079	2760	2109	1425	1472	1379	0	0	0	0	0	0	14.16	14.04	13.67
8499	0.72	550.4	2760	2109	1472	1371	42.1	6.5	693	8543	0.12	2.55	38.78	0.330	10660	0.132	0.080	2818	3516	1118	1184	1053	0	0	0	0	0	0	14.20	14.04	13.83
8708	0.75	550.4	2818	3518	1185	1050	20.5	10.4	734	8715	0.00	2.42	0.00	0.000	1158	0.000	0.065	2825	2105	1117	1184	1050	0	0	0	0	0	0	14.16	14.07	14.20
9014	0.93	679.0	2825	2106	1185	1044	4.3	4.1	765	9051	0.15	0.00	34.97	0.219	10658	0.116	0.000	2893	2104	840	910	770	0	0	0	0	0	0	14.23	28.83	14.28
9051	end climb: SURFACE_DEPTH_REACHED
state	9051	begin surface coast
9074	end surface coast: CONTROL_FINISHED_OK
state	9074	begin surface