Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 119 * 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 119 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 337.0

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 46 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 337.0 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 119 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 200817,131801,7303.2817,-14922.3955,19,0.7,29,21.0,0.0,0.0,10,7.4 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 1.26 MHEAD_RNG_PITCHd_Wd 285.5,23770,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.8 D_GRID 480

GPS2 200817,132857,7303.3574,-14922.2646,3,0.8,9,21.0,0.0,0.0,10,9.2

Post-dive calculations and measurements:

FINISH 0.5,1.020369 _24V_AH 12.45,99.464

SM_CCo 8836,9.75,0.217,0,0,498,703.03 _10V_AH 12.37,0.000

SM_GC 2.62,8.02,2.67,9.75,0.069,0.067,0.217,205,2215,498,-7.37,-0.34,703.03,0,0,0,0,0,0,14.26,14.21,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7301.546875,-14927.672852,200817,121237,3,255,0.75 MEM 323472

IRIDIUM_FIX 7302.52,-14918.61,200817,103830 DATA_FILE_SIZE 30041,822

TT8_MAMPS 0.038199,0.829143 CAP_FILE_SIZE 105211,0

HUMID 46.92 CFSIZE 2097872896,2051866624

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

TCM_TEMP 13.30 SOUNDSPEED 1449.3

XPDR_PINGS 17 CURRENT 0.025,240.98,1

CP_FREE 15999172608.000000 GPS 200817,155814,7304.220,-14925.022,26,0.7,32,21.0,0.3,85.7,12,9.8

PM_FREEKB_00 54475840

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 143.13 nil 0 0 0.00

Roll_motor 94 2151 2536.94 nil 0 0 0.00

VBD_pump_during_apogee 940 1495 17505.51 nil 0 0 0.00

VBD_pump_during_surface 9 217 26.37 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 8840 14 1606.30

Iridium_during_xfer 383 174 832.24 NCP 8838 20 2200.66

Transponder_ping 4 420 22.22 PMAR 8787 11 1207.54

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.72

TT8 0 0 0.00

LPSleep 6187 2 176.80

TT8_Active 955 13 165.06

TT8_Sampling 2073 33 857.67

TT8_CF8 301 38 144.28

TT8_Kalman 0 0 0.00

Analog_circuits 2112 10 261.31

GPS_charging 0 0 0.00

Compass 1176 7 101.91

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 -145.9 209 2226 505 482 0.0 0.0 0 130 0.00 0.00 -81.32 0.000 16386 0.000 0.000 209 2227 1975 1901 2049 0 0 0 0 0 0 14.42 28.83 14.45

133 -0.57 -145.9 210 2231 1899 2051 3.1 -3.1 8 197 12.48 2.88 -40.62 0.000 18980 0.454 2.151 2386 796 3965 3945 3986 0 0 0 0 0 0 13.69 12.59 14.12

267 -0.57 -145.9 2386 796 3952 3986 39.1 -18.1 34 272 0.00 2.47 0.00 0.000 1030 0.000 0.087 2380 2182 3968 3951 3986 0 0 0 0 0 0 14.19 14.06 14.23

577 -0.57 -145.9 2380 2184 3953 3987 95.2 -14.0 66 582 0.00 2.53 0.00 0.000 260 0.000 0.092 2375 3611 3969 3953 3986 0 0 0 0 0 0 14.53 14.12 14.52

727 -0.73 -145.9 2376 3613 3954 3986 112.2 -10.0 96 732 0.00 2.40 0.00 0.000 1190 0.000 0.054 2375 2194 3973 3953 3994 0 0 0 0 0 0 14.31 14.21 14.33

1057 -0.83 -145.9 2376 2192 3955 3986 147.7 -10.3 112 1062 0.17 2.50 0.00 0.000 4484 0.117 0.086 2292 3614 3970 3954 3986 0 0 0 0 0 0 14.19 14.21 14.24

1122 -0.83 -145.9 2293 3614 3955 3985 157.4 -15.5 125 1127 0.00 2.40 0.00 0.000 1030 0.000 0.057 2292 2186 3970 3954 3986 0 0 0 0 0 0 14.38 14.26 14.40

1448 -0.79 -145.9 2292 2186 3954 3988 210.6 -16.2 140 1453 0.12 2.53 0.00 0.000 2436 0.288 0.088 2319 3620 3969 3953 3986 0 0 0 0 0 0 13.97 14.19 14.09

1565 -0.87 -145.9 2319 3621 3954 3986 224.6 -11.3 163 1571 0.00 2.40 0.00 0.000 1158 0.000 0.055 2319 2193 3970 3954 3986 0 0 0 0 0 0 14.28 14.21 14.30

1868 -0.93 -145.9 2319 2192 3955 3987 259.7 -11.1 174 1873 0.12 2.50 0.00 0.000 4484 0.138 0.087 2254 3617 3969 3953 3986 0 0 0 0 0 0 14.26 14.23 14.29

1975 -0.93 -145.9 2254 3619 3955 3987 274.8 -14.3 195 1980 0.00 2.38 0.00 0.000 1030 0.000 0.056 2254 2200 3969 3953 3986 0 0 0 0 0 0 14.40 14.29 14.43

2291 -0.88 -145.9 2253 2200 3954 3986 322.4 -14.6 208 2296 0.15 2.47 0.00 0.000 2436 0.292 0.086 2279 3613 3969 3953 3985 0 0 0 0 0 0 13.96 14.20 14.13

2383 -0.96 -145.9 2280 3614 3953 3985 333.6 -11.5 226 2388 0.00 2.38 0.00 0.000 1158 0.000 0.057 2279 2202 3969 3953 3985 0 0 0 0 0 0 14.33 14.20 14.35

2713 -0.96 -145.9 2280 2201 3954 3982 372.9 -11.7 242 2718 0.00 2.50 0.00 0.000 260 0.000 0.089 2270 3616 3968 3953 3984 0 0 0 0 0 0 14.63 14.21 14.64

2808 -1.03 -145.9 2270 3617 3957 3985 383.5 -10.7 261 2813 0.00 2.40 0.00 0.000 1158 0.000 0.057 2270 2194 3968 3953 3983 0 0 0 0 0 0 14.41 14.30 14.45

3133 -1.03 -145.9 2271 2193 3954 3983 421.9 -11.8 276 3138 0.00 2.50 0.00 0.000 260 0.000 0.090 2266 3620 3968 3953 3983 0 0 0 0 0 0 14.63 14.23 14.65

3228 -1.10 -145.9 2266 3620 3953 3983 432.7 -10.8 295 3234 0.12 2.40 0.00 0.000 5254 0.138 0.056 2217 2195 3967 3953 3982 0 0 0 0 0 0 14.31 14.30 14.41

3522 end dive: TARGET_DEPTH_EXCEEDED

state 3522 begin apogee

3528 -0.13 0.0 2217 2067 3954 3982 480.5 -16.5 309 3747 1.27 0.08 215.65 1.427 10246 0.270 0.182 2527 2115 3365 3388 3342 0 0 0 0 0 0 13.90 13.43 12.73

3751 end apogee: CONTROL_FINISHED_OK

state 3751 begin climb

3755 0.57 145.9 2528 2116 3381 3334 491.0 0.0 316 3970 0.75 2.60 204.85 1.369 10500 0.067 0.075 2779 3503 2762 2809 2716 0 0 0 0 0 0 13.57 13.00 12.45

4195 0.14 145.9 2779 3504 2787 2717 457.3 17.6 398 4201 0.75 2.40 0.00 0.000 5254 0.351 0.059 2633 2131 2751 2787 2715 0 0 0 0 0 0 13.44 13.76 13.80

4506 0.06 171.4 2635 2131 2788 2716 428.1 8.8 410 4547 0.12 2.50 31.83 1.463 12708 0.299 0.081 2605 3504 2662 2703 2621 0 0 0 0 0 0 13.87 13.92 13.14

4618 0.03 188.9 2606 3504 2700 2619 418.4 9.2 432 4649 0.00 2.40 25.20 1.496 9382 0.000 0.060 2606 2104 2593 2643 2544 0 0 0 0 0 0 14.14 14.04 13.10

4960 0.06 226.7 2607 2104 2641 2530 390.1 8.3 450 5022 0.00 2.60 55.55 1.407 8740 0.000 0.086 2605 690 2436 2491 2381 0 0 0 0 0 0 14.44 13.90 13.14

5084 0.19 273.4 2606 691 2487 2378 380.2 7.8 474 5163 0.12 2.47 70.90 1.347 11430 0.132 0.079 2661 2090 2246 2300 2192 0 0 0 0 0 0 14.00 13.96 12.97

5473 0.16 273.4 2661 2091 2297 2179 333.5 12.0 502 5478 0.12 2.47 0.00 0.000 4740 0.260 0.082 2640 684 2236 2293 2179 0 0 0 0 0 0 13.90 14.07 14.01

5518 0.23 274.7 2641 684 2292 2180 328.7 9.9 511 5523 0.00 2.47 0.00 0.000 1190 0.000 0.077 2640 2102 2235 2291 2179 0 0 0 0 0 0 14.24 14.13 14.27

5833 0.23 276.9 2641 2104 2291 2177 297.1 9.9 524 5838 0.00 2.45 0.00 0.000 548 0.000 0.085 2640 692 2233 2290 2176 0 0 0 0 0 0 14.54 14.22 14.56

5889 0.32 295.4 2641 692 2290 2178 291.9 9.1 535 5926 0.15 2.45 29.50 1.412 11430 0.119 0.078 2699 2107 2162 2217 2107 0 0 0 0 0 0 14.28 14.22 13.32

6225 0.24 295.4 2699 2107 2207 2101 247.2 13.0 552 6230 0.15 2.47 0.00 0.000 4740 0.233 0.082 2669 686 2152 2204 2101 0 0 0 0 0 0 14.07 14.21 14.20

6291 0.30 307.2 2670 687 2204 2102 240.3 9.5 565 6317 0.00 2.45 17.12 1.466 9382 0.000 0.079 2668 2101 2109 2159 2059 0 0 0 0 0 0 14.35 14.23 13.35

6615 0.31 322.2 2670 2102 2158 2053 209.4 9.3 580 6645 0.00 0.00 24.00 1.414 8230 0.000 0.000 2669 2101 2047 2097 1998 0 0 0 0 0 0 14.55 14.12 13.33

6946 0.37 358.5 2670 2101 2095 1992 181.0 8.3 591 7012 0.00 2.53 60.78 1.298 8868 0.000 0.085 2672 691 1900 1940 1861 0 0 0 0 0 0 14.53 13.79 13.24

7087 0.53 391.7 2673 691 1930 1861 169.1 8.5 619 7148 0.25 2.50 54.65 1.261 11430 0.096 0.080 2769 2107 1768 1796 1741 0 0 0 0 0 0 14.11 14.03 13.14

7458 0.45 391.7 2769 2107 1791 1726 116.0 13.9 643 7463 0.15 2.50 0.00 0.000 4740 0.272 0.082 2743 682 1757 1789 1726 0 0 0 0 0 0 13.90 14.10 14.07

7550 0.48 391.7 2744 683 1784 1727 105.9 10.4 661 7556 0.00 2.50 0.00 0.000 1158 0.000 0.077 2743 2112 1755 1784 1726 0 0 0 0 0 0 14.20 14.07 14.22

7861 0.49 402.7 2744 2112 1785 1723 73.8 9.5 693 7873 0.00 2.47 4.60 0.417 8484 0.000 0.084 2743 3519 1722 1754 1691 0 0 0 0 0 0 14.51 14.06 13.78

7903 0.49 402.7 2744 3519 1756 1694 69.5 10.4 701 7908 0.00 2.45 0.00 0.000 1030 0.000 0.065 2751 2095 1724 1754 1694 0 0 0 0 0 0 14.32 14.21 14.35

8214 0.57 519.3 2752 2094 1755 1695 48.1 4.6 733 8282 0.00 2.53 60.30 0.346 8740 0.000 0.086 2756 688 1246 1307 1185 0 0 0 0 0 0 14.54 14.03 13.81

8363 0.79 603.8 2756 689 1306 1182 39.6 6.1 762 8412 0.25 2.47 43.42 0.317 11430 0.098 0.080 2852 2101 900 975 826 0 0 0 0 0 0 14.20 14.13 13.82

8708 0.92 683.7 2853 2101 976 817 7.8 6.3 801 8756 0.00 2.50 41.80 0.229 8868 0.000 0.086 2859 689 572 619 526 0 0 0 0 0 0 14.48 14.04 13.91

8794 end climb: SURFACE_DEPTH_REACHED

state 8794 begin surface coast

8813 end surface coast: CONTROL_FINISHED_OK

state 8814 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	119	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	337.0
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	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,131801,7303.2817,-14922.3955,19,0.7,29,21.0,0.0,0.0,10,7.4	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	1.26	MHEAD_RNG_PITCHd_Wd	285.5,23770,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.8	D_GRID	480
GPS2	200817,132857,7303.3574,-14922.2646,3,0.8,9,21.0,0.0,0.0,10,9.2

FINISH	0.5,1.020369	_24V_AH	12.45,99.464
SM_CCo	8836,9.75,0.217,0,0,498,703.03	_10V_AH	12.37,0.000
SM_GC	2.62,8.02,2.67,9.75,0.069,0.067,0.217,205,2215,498,-7.37,-0.34,703.03,0,0,0,0,0,0,14.26,14.21,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7301.546875,-14927.672852,200817,121237,3,255,0.75	MEM	323472
IRIDIUM_FIX	7302.52,-14918.61,200817,103830	DATA_FILE_SIZE	30041,822
TT8_MAMPS	0.038199,0.829143	CAP_FILE_SIZE	105211,0
HUMID	46.92	CFSIZE	2097872896,2051866624
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.30	SOUNDSPEED	1449.3
XPDR_PINGS	17	CURRENT	0.025,240.98,1
CP_FREE	15999172608.000000	GPS	200817,155814,7304.220,-14925.022,26,0.7,32,21.0,0.3,85.7,12,9.8
PM_FREEKB_00	54475840

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	143.13	nil	0	0	0.00
Roll_motor	94	2151	2536.94	nil	0	0	0.00
VBD_pump_during_apogee	940	1495	17505.51	nil	0	0	0.00
VBD_pump_during_surface	9	217	26.37	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	8840	14	1606.30
Iridium_during_xfer	383	174	832.24	NCP	8838	20	2200.66
Transponder_ping	4	420	22.22	PMAR	8787	11	1207.54
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.72
TT8	0	0	0.00
LPSleep	6187	2	176.80
TT8_Active	955	13	165.06
TT8_Sampling	2073	33	857.67
TT8_CF8	301	38	144.28
TT8_Kalman	0	0	0.00
Analog_circuits	2112	10	261.31
GPS_charging	0	0	0.00
Compass	1176	7	101.91
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	209	2226	505	482	0.0	0.0	0	130	0.00	0.00	-81.32	0.000	16386	0.000	0.000	209	2227	1975	1901	2049	0	0	0	0	0	0	14.42	28.83	14.45
133	-0.57	-145.9	210	2231	1899	2051	3.1	-3.1	8	197	12.48	2.88	-40.62	0.000	18980	0.454	2.151	2386	796	3965	3945	3986	0	0	0	0	0	0	13.69	12.59	14.12
267	-0.57	-145.9	2386	796	3952	3986	39.1	-18.1	34	272	0.00	2.47	0.00	0.000	1030	0.000	0.087	2380	2182	3968	3951	3986	0	0	0	0	0	0	14.19	14.06	14.23
577	-0.57	-145.9	2380	2184	3953	3987	95.2	-14.0	66	582	0.00	2.53	0.00	0.000	260	0.000	0.092	2375	3611	3969	3953	3986	0	0	0	0	0	0	14.53	14.12	14.52
727	-0.73	-145.9	2376	3613	3954	3986	112.2	-10.0	96	732	0.00	2.40	0.00	0.000	1190	0.000	0.054	2375	2194	3973	3953	3994	0	0	0	0	0	0	14.31	14.21	14.33
1057	-0.83	-145.9	2376	2192	3955	3986	147.7	-10.3	112	1062	0.17	2.50	0.00	0.000	4484	0.117	0.086	2292	3614	3970	3954	3986	0	0	0	0	0	0	14.19	14.21	14.24
1122	-0.83	-145.9	2293	3614	3955	3985	157.4	-15.5	125	1127	0.00	2.40	0.00	0.000	1030	0.000	0.057	2292	2186	3970	3954	3986	0	0	0	0	0	0	14.38	14.26	14.40
1448	-0.79	-145.9	2292	2186	3954	3988	210.6	-16.2	140	1453	0.12	2.53	0.00	0.000	2436	0.288	0.088	2319	3620	3969	3953	3986	0	0	0	0	0	0	13.97	14.19	14.09
1565	-0.87	-145.9	2319	3621	3954	3986	224.6	-11.3	163	1571	0.00	2.40	0.00	0.000	1158	0.000	0.055	2319	2193	3970	3954	3986	0	0	0	0	0	0	14.28	14.21	14.30
1868	-0.93	-145.9	2319	2192	3955	3987	259.7	-11.1	174	1873	0.12	2.50	0.00	0.000	4484	0.138	0.087	2254	3617	3969	3953	3986	0	0	0	0	0	0	14.26	14.23	14.29
1975	-0.93	-145.9	2254	3619	3955	3987	274.8	-14.3	195	1980	0.00	2.38	0.00	0.000	1030	0.000	0.056	2254	2200	3969	3953	3986	0	0	0	0	0	0	14.40	14.29	14.43
2291	-0.88	-145.9	2253	2200	3954	3986	322.4	-14.6	208	2296	0.15	2.47	0.00	0.000	2436	0.292	0.086	2279	3613	3969	3953	3985	0	0	0	0	0	0	13.96	14.20	14.13
2383	-0.96	-145.9	2280	3614	3953	3985	333.6	-11.5	226	2388	0.00	2.38	0.00	0.000	1158	0.000	0.057	2279	2202	3969	3953	3985	0	0	0	0	0	0	14.33	14.20	14.35
2713	-0.96	-145.9	2280	2201	3954	3982	372.9	-11.7	242	2718	0.00	2.50	0.00	0.000	260	0.000	0.089	2270	3616	3968	3953	3984	0	0	0	0	0	0	14.63	14.21	14.64
2808	-1.03	-145.9	2270	3617	3957	3985	383.5	-10.7	261	2813	0.00	2.40	0.00	0.000	1158	0.000	0.057	2270	2194	3968	3953	3983	0	0	0	0	0	0	14.41	14.30	14.45
3133	-1.03	-145.9	2271	2193	3954	3983	421.9	-11.8	276	3138	0.00	2.50	0.00	0.000	260	0.000	0.090	2266	3620	3968	3953	3983	0	0	0	0	0	0	14.63	14.23	14.65
3228	-1.10	-145.9	2266	3620	3953	3983	432.7	-10.8	295	3234	0.12	2.40	0.00	0.000	5254	0.138	0.056	2217	2195	3967	3953	3982	0	0	0	0	0	0	14.31	14.30	14.41
3522	end dive: TARGET_DEPTH_EXCEEDED
state	3522	begin apogee
3528	-0.13	0.0	2217	2067	3954	3982	480.5	-16.5	309	3747	1.27	0.08	215.65	1.427	10246	0.270	0.182	2527	2115	3365	3388	3342	0	0	0	0	0	0	13.90	13.43	12.73
3751	end apogee: CONTROL_FINISHED_OK
state	3751	begin climb
3755	0.57	145.9	2528	2116	3381	3334	491.0	0.0	316	3970	0.75	2.60	204.85	1.369	10500	0.067	0.075	2779	3503	2762	2809	2716	0	0	0	0	0	0	13.57	13.00	12.45
4195	0.14	145.9	2779	3504	2787	2717	457.3	17.6	398	4201	0.75	2.40	0.00	0.000	5254	0.351	0.059	2633	2131	2751	2787	2715	0	0	0	0	0	0	13.44	13.76	13.80
4506	0.06	171.4	2635	2131	2788	2716	428.1	8.8	410	4547	0.12	2.50	31.83	1.463	12708	0.299	0.081	2605	3504	2662	2703	2621	0	0	0	0	0	0	13.87	13.92	13.14
4618	0.03	188.9	2606	3504	2700	2619	418.4	9.2	432	4649	0.00	2.40	25.20	1.496	9382	0.000	0.060	2606	2104	2593	2643	2544	0	0	0	0	0	0	14.14	14.04	13.10
4960	0.06	226.7	2607	2104	2641	2530	390.1	8.3	450	5022	0.00	2.60	55.55	1.407	8740	0.000	0.086	2605	690	2436	2491	2381	0	0	0	0	0	0	14.44	13.90	13.14
5084	0.19	273.4	2606	691	2487	2378	380.2	7.8	474	5163	0.12	2.47	70.90	1.347	11430	0.132	0.079	2661	2090	2246	2300	2192	0	0	0	0	0	0	14.00	13.96	12.97
5473	0.16	273.4	2661	2091	2297	2179	333.5	12.0	502	5478	0.12	2.47	0.00	0.000	4740	0.260	0.082	2640	684	2236	2293	2179	0	0	0	0	0	0	13.90	14.07	14.01
5518	0.23	274.7	2641	684	2292	2180	328.7	9.9	511	5523	0.00	2.47	0.00	0.000	1190	0.000	0.077	2640	2102	2235	2291	2179	0	0	0	0	0	0	14.24	14.13	14.27
5833	0.23	276.9	2641	2104	2291	2177	297.1	9.9	524	5838	0.00	2.45	0.00	0.000	548	0.000	0.085	2640	692	2233	2290	2176	0	0	0	0	0	0	14.54	14.22	14.56
5889	0.32	295.4	2641	692	2290	2178	291.9	9.1	535	5926	0.15	2.45	29.50	1.412	11430	0.119	0.078	2699	2107	2162	2217	2107	0	0	0	0	0	0	14.28	14.22	13.32
6225	0.24	295.4	2699	2107	2207	2101	247.2	13.0	552	6230	0.15	2.47	0.00	0.000	4740	0.233	0.082	2669	686	2152	2204	2101	0	0	0	0	0	0	14.07	14.21	14.20
6291	0.30	307.2	2670	687	2204	2102	240.3	9.5	565	6317	0.00	2.45	17.12	1.466	9382	0.000	0.079	2668	2101	2109	2159	2059	0	0	0	0	0	0	14.35	14.23	13.35
6615	0.31	322.2	2670	2102	2158	2053	209.4	9.3	580	6645	0.00	0.00	24.00	1.414	8230	0.000	0.000	2669	2101	2047	2097	1998	0	0	0	0	0	0	14.55	14.12	13.33
6946	0.37	358.5	2670	2101	2095	1992	181.0	8.3	591	7012	0.00	2.53	60.78	1.298	8868	0.000	0.085	2672	691	1900	1940	1861	0	0	0	0	0	0	14.53	13.79	13.24
7087	0.53	391.7	2673	691	1930	1861	169.1	8.5	619	7148	0.25	2.50	54.65	1.261	11430	0.096	0.080	2769	2107	1768	1796	1741	0	0	0	0	0	0	14.11	14.03	13.14
7458	0.45	391.7	2769	2107	1791	1726	116.0	13.9	643	7463	0.15	2.50	0.00	0.000	4740	0.272	0.082	2743	682	1757	1789	1726	0	0	0	0	0	0	13.90	14.10	14.07
7550	0.48	391.7	2744	683	1784	1727	105.9	10.4	661	7556	0.00	2.50	0.00	0.000	1158	0.000	0.077	2743	2112	1755	1784	1726	0	0	0	0	0	0	14.20	14.07	14.22
7861	0.49	402.7	2744	2112	1785	1723	73.8	9.5	693	7873	0.00	2.47	4.60	0.417	8484	0.000	0.084	2743	3519	1722	1754	1691	0	0	0	0	0	0	14.51	14.06	13.78
7903	0.49	402.7	2744	3519	1756	1694	69.5	10.4	701	7908	0.00	2.45	0.00	0.000	1030	0.000	0.065	2751	2095	1724	1754	1694	0	0	0	0	0	0	14.32	14.21	14.35
8214	0.57	519.3	2752	2094	1755	1695	48.1	4.6	733	8282	0.00	2.53	60.30	0.346	8740	0.000	0.086	2756	688	1246	1307	1185	0	0	0	0	0	0	14.54	14.03	13.81
8363	0.79	603.8	2756	689	1306	1182	39.6	6.1	762	8412	0.25	2.47	43.42	0.317	11430	0.098	0.080	2852	2101	900	975	826	0	0	0	0	0	0	14.20	14.13	13.82
8708	0.92	683.7	2853	2101	976	817	7.8	6.3	801	8756	0.00	2.50	41.80	0.229	8868	0.000	0.086	2859	689	572	619	526	0	0	0	0	0	0	14.48	14.04	13.91
8794	end climb: SURFACE_DEPTH_REACHED
state	8794	begin surface coast
8813	end surface coast: CONTROL_FINISHED_OK
state	8814	begin surface