Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 122 * 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 122 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 347.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 52 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 347.0 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 31 VBD_MIN 500

DIVE 122 NOCOMM_ACTION 161 R_STBD_OVSHOOT 52 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 200817,214151,7305.6621,-14930.7285,39,0.8,40,20.9,0.0,0.0,10,8.2 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 293.3,17493,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.8 D_GRID 480

GPS2 200817,215758,7305.6182,-14931.1094,3,0.9,10,20.9,0.0,331.8,9,9.1

Post-dive calculations and measurements:

FINISH 0.2,1.011874 _24V_AH 12.43,100.957

SM_CCo 8932,7.55,0.220,0,0,499,702.78 _10V_AH 12.49,0.000

SM_GC 2.61,8.18,2.70,7.55,0.078,0.070,0.220,205,2211,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.12,14.07,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 79 FG_AHR_10Vo 0.000

RAFOS_FIX 7304.318359,-14929.333984,200817,202026,2,255,0.30 MEM 323320

IRIDIUM_FIX 7306.39,-14927.56,200817,215152 DATA_FILE_SIZE 26724,788

TT8_MAMPS 0.080143,0.824649 CAP_FILE_SIZE 107687,0

HUMID 44.13 CFSIZE 2097872896,2050916352

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

TCM_TEMP 13.20 SOUNDSPEED 1449.1

XPDR_PINGS 15 CURRENT 0.041,245.65,1

CP_FREE 15998681088.000000 GPS 210817,002856,7306.533,-14933.965,17,0.8,40,20.9,0.0,0.0,11,7.6

PM_FREEKB_00 54386944

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 141.96 nil 0 0 0.00

Roll_motor 94 2144 2520.76 nil 0 0 0.00

VBD_pump_during_apogee 949 1471 17363.54 nil 0 0 0.00

VBD_pump_during_surface 7 219 20.60 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 8937 14 1603.10

Iridium_during_xfer 575 166 1192.93 NCP 8935 20 2221.24

Transponder_ping 3 420 19.58 PMAR 8884 10 1118.42

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.30

TT8 0 0 0.00

LPSleep 6449 2 186.09

TT8_Active 946 13 165.23

TT8_Sampling 2216 33 925.67

TT8_CF8 312 38 150.85

TT8_Kalman 0 0 0.00

Analog_circuits 2271 10 283.71

GPS_charging 0 0 0.00

Compass 1128 7 98.71

RAFOS 2131 48 1277.58

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 -145.9 203 2197 511 484 0.0 0.0 0 129 0.00 0.00 -81.07 0.000 16386 0.000 0.000 202 2197 2002 1929 2076 0 0 0 0 0 0 14.44 28.83 14.46

132 -0.57 -145.9 203 2197 1931 2078 3.2 -3.2 8 189 12.48 2.72 -39.83 0.000 18980 0.454 2.144 2385 800 3961 3940 3983 0 0 0 0 0 0 13.72 12.92 14.18

305 -0.63 -145.9 2386 800 3948 3983 45.8 -16.0 42 309 0.00 2.42 0.00 0.000 1158 0.000 0.087 2379 2172 3964 3946 3983 0 0 0 0 0 0 14.16 14.03 14.19

615 -0.65 -145.9 2378 2175 3949 3984 99.1 -13.7 74 619 0.00 2.55 0.00 0.000 388 0.000 0.093 2375 3614 3966 3949 3983 0 0 0 0 0 0 14.52 14.04 14.53

780 -0.82 -145.9 2375 3615 3950 3982 116.5 -9.5 107 786 0.20 2.38 0.00 0.000 5286 0.104 0.054 2293 2199 3965 3949 3982 0 0 0 0 0 0 14.20 14.16 14.29

1096 -0.75 -145.9 2293 2199 3949 3985 171.7 -17.1 120 1101 0.15 2.50 0.00 0.000 2436 0.275 0.085 2320 3620 3966 3949 3983 0 0 0 0 0 0 14.00 14.23 14.16

1198 -0.83 -145.9 2320 3620 3948 3983 184.6 -11.5 140 1203 0.00 2.40 0.00 0.000 1158 0.000 0.057 2319 2196 3966 3949 3983 0 0 0 0 0 0 14.39 14.28 14.42

1518 -0.85 -145.9 2320 2196 3949 3983 227.7 -13.1 154 1523 0.00 2.50 0.00 0.000 388 0.000 0.091 2319 3614 3965 3949 3982 0 0 0 0 0 0 14.60 14.20 14.62

1553 -0.94 -145.9 2319 3614 3950 3983 231.8 -11.5 161 1558 0.12 2.40 0.00 0.000 5254 0.132 0.058 2266 2195 3965 3949 3982 0 0 0 0 0 0 14.31 14.28 14.40

1879 -0.89 -145.9 2266 2193 3950 3981 280.7 -14.6 176 1884 0.00 2.47 0.00 0.000 388 0.000 0.088 2255 3614 3965 3949 3981 0 0 0 0 0 0 14.65 14.25 14.63

1989 -0.89 -145.9 2255 3617 3949 3981 296.7 -13.5 198 1994 0.17 2.38 0.00 0.000 3078 0.257 0.056 2292 2198 3964 3948 3981 0 0 0 0 0 0 14.03 14.31 14.31

2299 -0.92 -145.9 2292 2198 3948 3979 331.5 -10.9 210 2304 0.00 2.50 0.00 0.000 388 0.000 0.089 2286 3614 3962 3949 3976 0 0 0 0 0 0 14.63 14.22 14.64

2379 -1.01 -145.9 2286 3616 3949 3980 340.0 -10.1 226 2384 0.00 2.38 0.00 0.000 1158 0.000 0.057 2285 2202 3964 3949 3979 0 0 0 0 0 0 14.37 14.26 14.40

2690 -1.04 -145.9 2286 2201 3950 3978 374.4 -11.0 238 2695 0.12 2.47 0.00 0.000 4484 0.142 0.086 2228 3616 3962 3948 3977 0 0 0 0 0 0 14.35 14.26 14.39

2755 -1.01 -145.9 2229 3617 3950 3977 383.7 -14.8 251 2760 0.00 2.38 0.00 0.000 1158 0.000 0.060 2228 2200 3963 3949 3977 0 0 0 0 0 0 14.36 14.24 14.40

3081 -0.92 -145.9 2229 2200 3950 3977 435.5 -15.9 266 3086 0.20 2.47 0.00 0.000 2436 0.296 0.084 2267 3616 3962 3949 3976 0 0 0 0 0 0 13.93 14.21 14.13

3173 -0.99 -145.9 2267 3617 3954 3977 446.6 -11.5 284 3177 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2200 3963 3949 3977 0 0 0 0 0 0 14.38 14.27 14.40

3470 end dive: TARGET_DEPTH_EXCEEDED

state 3470 begin apogee

3476 -0.13 0.0 2267 2058 3948 3977 483.3 -12.3 299 3694 1.02 0.10 214.85 1.424 10246 0.235 0.159 2528 2122 3366 3392 3341 0 0 0 0 0 0 13.96 13.44 12.74

3698 end apogee: CONTROL_FINISHED_OK

state 3698 begin climb

3702 0.57 145.9 2531 2122 3382 3328 494.4 0.0 306 3917 0.73 2.60 203.45 1.369 10500 0.065 0.076 2777 3505 2762 2811 2713 0 0 0 0 0 0 13.57 13.19 12.43

4064 0.14 145.9 2778 3506 2789 2712 475.0 17.5 372 4070 0.75 2.42 0.00 0.000 5254 0.349 0.058 2634 2133 2749 2788 2711 0 0 0 0 0 0 13.33 13.64 13.67

4397 0.05 168.1 2634 2134 2789 2709 443.4 9.0 388 4431 0.12 2.58 27.98 1.472 12964 0.299 0.084 2606 691 2673 2719 2628 0 0 0 0 0 0 13.82 13.92 13.12

4511 0.11 220.7 2606 691 2711 2625 434.4 7.6 411 4598 0.00 2.47 81.43 1.362 9382 0.000 0.079 2606 2094 2464 2528 2400 0 0 0 0 0 0 14.10 13.99 12.94

4908 0.17 253.2 2606 2095 2511 2380 400.8 8.5 440 4958 0.00 0.00 48.95 1.374 8358 0.000 0.000 2606 2094 2333 2392 2275 0 0 0 0 0 0 14.37 13.88 13.13

5238 0.26 288.5 2606 2094 2378 2256 372.7 8.4 451 5299 0.15 2.53 54.65 1.362 10916 0.118 0.084 2685 684 2183 2238 2128 0 0 0 0 0 0 14.19 13.74 13.16

5341 0.23 288.5 2685 685 2233 2127 359.5 13.3 471 5347 0.12 2.50 0.00 0.000 5254 0.247 0.076 2660 2100 2175 2225 2125 0 0 0 0 0 0 13.82 13.95 14.04

5662 0.23 288.5 2661 2101 2225 2116 321.4 11.6 485 5667 0.00 2.47 0.00 0.000 516 0.000 0.088 2661 693 2170 2224 2116 0 0 0 0 0 0 14.49 14.16 14.50

5702 0.26 288.5 2661 693 2224 2117 316.8 11.4 493 5707 0.00 2.45 0.00 0.000 1158 0.000 0.078 2661 2101 2170 2224 2116 0 0 0 0 0 0 14.31 14.19 14.34

6022 0.26 288.5 2661 2103 2224 2113 280.4 11.1 507 6028 0.00 2.45 0.00 0.000 516 0.000 0.086 2661 691 2168 2224 2113 0 0 0 0 0 0 14.59 14.25 14.60

6063 0.30 288.5 2662 692 2224 2114 276.1 10.3 515 6069 0.00 2.45 0.00 0.000 1158 0.000 0.078 2661 2108 2165 2218 2113 0 0 0 0 0 0 14.40 14.28 14.42

6385 0.30 291.1 2661 2110 2224 2114 243.2 9.9 529 6385 0.00 0.00 0.00 0.000 38 0.000 0.000 2661 2109 2168 2223 2113 0 0 0 0 0 0 14.62 14.64 14.64

6684 0.33 327.3 2661 2109 2224 2112 216.6 8.3 539 6755 0.00 2.53 64.53 1.297 8740 0.000 0.086 2661 690 2025 2076 1975 0 0 0 0 0 0 14.63 14.00 13.28

6846 0.47 378.7 2661 690 2063 1976 203.7 7.6 571 6945 0.22 2.47 90.80 1.220 11430 0.099 0.079 2749 2098 1818 1850 1786 0 0 0 0 0 0 14.15 14.09 13.09

7258 0.40 378.7 2751 2097 1840 1769 146.1 13.8 603 7264 0.15 2.47 0.00 0.000 4740 0.238 0.083 2721 693 1803 1838 1768 0 0 0 0 0 0 13.95 14.08 14.09

7279 0.38 378.7 2721 693 1836 1770 143.5 11.8 607 7285 0.00 2.47 0.00 0.000 1158 0.000 0.077 2720 2101 1802 1835 1769 0 0 0 0 0 0 14.23 14.09 14.25

7590 0.38 378.7 2720 2101 1836 1766 110.6 10.1 619 7596 0.00 2.50 0.00 0.000 516 0.000 0.086 2727 691 1800 1835 1766 0 0 0 0 0 0 14.41 14.07 14.43

7636 0.44 384.0 2723 690 1834 1766 105.9 9.8 628 7641 0.00 2.47 0.00 0.000 1190 0.000 0.078 2727 2108 1799 1832 1766 0 0 0 0 0 0 14.25 14.13 14.26

7941 0.47 424.0 2728 2112 1838 1764 77.7 8.2 656 7967 0.00 2.50 21.50 0.430 8740 0.000 0.083 2729 692 1635 1669 1602 0 0 0 0 0 0 14.40 13.96 13.67

8069 0.61 486.2 2730 692 1674 1604 67.9 7.1 681 8108 0.15 2.47 33.22 0.402 11430 0.116 0.076 2788 2103 1381 1429 1334 0 0 0 0 0 0 14.09 14.04 13.62

8403 0.68 547.2 2789 2103 1430 1335 37.2 7.2 718 8441 0.00 2.42 32.05 0.311 8612 0.000 0.080 2789 3510 1133 1200 1067 0 0 0 0 0 0 14.38 13.88 13.69

8471 0.78 579.4 2789 3511 1201 1071 32.0 8.5 731 8493 0.12 2.45 17.58 0.299 11430 0.130 0.066 2848 2097 1001 1073 930 0 0 0 0 0 0 14.03 14.03 13.78

8799 0.91 689.1 2849 2097 1074 936 6.6 4.9 766 8862 0.00 2.55 58.10 0.222 8868 0.000 0.090 2850 693 552 592 512 0 0 0 0 0 0 14.37 13.91 13.82

8879 end climb: SURFACE_DEPTH_REACHED

state 8880 begin surface coast

8910 end surface coast: CONTROL_FINISHED_OK

state 8910 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	122	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	347.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	52	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,214151,7305.6621,-14930.7285,39,0.8,40,20.9,0.0,0.0,10,8.2	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	293.3,17493,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.8	D_GRID	480
GPS2	200817,215758,7305.6182,-14931.1094,3,0.9,10,20.9,0.0,331.8,9,9.1

FINISH	0.2,1.011874	_24V_AH	12.43,100.957
SM_CCo	8932,7.55,0.220,0,0,499,702.78	_10V_AH	12.49,0.000
SM_GC	2.61,8.18,2.70,7.55,0.078,0.070,0.220,205,2211,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.12,14.07,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	79	FG_AHR_10Vo	0.000
RAFOS_FIX	7304.318359,-14929.333984,200817,202026,2,255,0.30	MEM	323320
IRIDIUM_FIX	7306.39,-14927.56,200817,215152	DATA_FILE_SIZE	26724,788
TT8_MAMPS	0.080143,0.824649	CAP_FILE_SIZE	107687,0
HUMID	44.13	CFSIZE	2097872896,2050916352
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	13.20	SOUNDSPEED	1449.1
XPDR_PINGS	15	CURRENT	0.041,245.65,1
CP_FREE	15998681088.000000	GPS	210817,002856,7306.533,-14933.965,17,0.8,40,20.9,0.0,0.0,11,7.6
PM_FREEKB_00	54386944

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	141.96	nil	0	0	0.00
Roll_motor	94	2144	2520.76	nil	0	0	0.00
VBD_pump_during_apogee	949	1471	17363.54	nil	0	0	0.00
VBD_pump_during_surface	7	219	20.60	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	8937	14	1603.10
Iridium_during_xfer	575	166	1192.93	NCP	8935	20	2221.24
Transponder_ping	3	420	19.58	PMAR	8884	10	1118.42
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.30
TT8	0	0	0.00
LPSleep	6449	2	186.09
TT8_Active	946	13	165.23
TT8_Sampling	2216	33	925.67
TT8_CF8	312	38	150.85
TT8_Kalman	0	0	0.00
Analog_circuits	2271	10	283.71
GPS_charging	0	0	0.00
Compass	1128	7	98.71
RAFOS	2131	48	1277.58
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	203	2197	511	484	0.0	0.0	0	129	0.00	0.00	-81.07	0.000	16386	0.000	0.000	202	2197	2002	1929	2076	0	0	0	0	0	0	14.44	28.83	14.46
132	-0.57	-145.9	203	2197	1931	2078	3.2	-3.2	8	189	12.48	2.72	-39.83	0.000	18980	0.454	2.144	2385	800	3961	3940	3983	0	0	0	0	0	0	13.72	12.92	14.18
305	-0.63	-145.9	2386	800	3948	3983	45.8	-16.0	42	309	0.00	2.42	0.00	0.000	1158	0.000	0.087	2379	2172	3964	3946	3983	0	0	0	0	0	0	14.16	14.03	14.19
615	-0.65	-145.9	2378	2175	3949	3984	99.1	-13.7	74	619	0.00	2.55	0.00	0.000	388	0.000	0.093	2375	3614	3966	3949	3983	0	0	0	0	0	0	14.52	14.04	14.53
780	-0.82	-145.9	2375	3615	3950	3982	116.5	-9.5	107	786	0.20	2.38	0.00	0.000	5286	0.104	0.054	2293	2199	3965	3949	3982	0	0	0	0	0	0	14.20	14.16	14.29
1096	-0.75	-145.9	2293	2199	3949	3985	171.7	-17.1	120	1101	0.15	2.50	0.00	0.000	2436	0.275	0.085	2320	3620	3966	3949	3983	0	0	0	0	0	0	14.00	14.23	14.16
1198	-0.83	-145.9	2320	3620	3948	3983	184.6	-11.5	140	1203	0.00	2.40	0.00	0.000	1158	0.000	0.057	2319	2196	3966	3949	3983	0	0	0	0	0	0	14.39	14.28	14.42
1518	-0.85	-145.9	2320	2196	3949	3983	227.7	-13.1	154	1523	0.00	2.50	0.00	0.000	388	0.000	0.091	2319	3614	3965	3949	3982	0	0	0	0	0	0	14.60	14.20	14.62
1553	-0.94	-145.9	2319	3614	3950	3983	231.8	-11.5	161	1558	0.12	2.40	0.00	0.000	5254	0.132	0.058	2266	2195	3965	3949	3982	0	0	0	0	0	0	14.31	14.28	14.40
1879	-0.89	-145.9	2266	2193	3950	3981	280.7	-14.6	176	1884	0.00	2.47	0.00	0.000	388	0.000	0.088	2255	3614	3965	3949	3981	0	0	0	0	0	0	14.65	14.25	14.63
1989	-0.89	-145.9	2255	3617	3949	3981	296.7	-13.5	198	1994	0.17	2.38	0.00	0.000	3078	0.257	0.056	2292	2198	3964	3948	3981	0	0	0	0	0	0	14.03	14.31	14.31
2299	-0.92	-145.9	2292	2198	3948	3979	331.5	-10.9	210	2304	0.00	2.50	0.00	0.000	388	0.000	0.089	2286	3614	3962	3949	3976	0	0	0	0	0	0	14.63	14.22	14.64
2379	-1.01	-145.9	2286	3616	3949	3980	340.0	-10.1	226	2384	0.00	2.38	0.00	0.000	1158	0.000	0.057	2285	2202	3964	3949	3979	0	0	0	0	0	0	14.37	14.26	14.40
2690	-1.04	-145.9	2286	2201	3950	3978	374.4	-11.0	238	2695	0.12	2.47	0.00	0.000	4484	0.142	0.086	2228	3616	3962	3948	3977	0	0	0	0	0	0	14.35	14.26	14.39
2755	-1.01	-145.9	2229	3617	3950	3977	383.7	-14.8	251	2760	0.00	2.38	0.00	0.000	1158	0.000	0.060	2228	2200	3963	3949	3977	0	0	0	0	0	0	14.36	14.24	14.40
3081	-0.92	-145.9	2229	2200	3950	3977	435.5	-15.9	266	3086	0.20	2.47	0.00	0.000	2436	0.296	0.084	2267	3616	3962	3949	3976	0	0	0	0	0	0	13.93	14.21	14.13
3173	-0.99	-145.9	2267	3617	3954	3977	446.6	-11.5	284	3177	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2200	3963	3949	3977	0	0	0	0	0	0	14.38	14.27	14.40
3470	end dive: TARGET_DEPTH_EXCEEDED
state	3470	begin apogee
3476	-0.13	0.0	2267	2058	3948	3977	483.3	-12.3	299	3694	1.02	0.10	214.85	1.424	10246	0.235	0.159	2528	2122	3366	3392	3341	0	0	0	0	0	0	13.96	13.44	12.74
3698	end apogee: CONTROL_FINISHED_OK
state	3698	begin climb
3702	0.57	145.9	2531	2122	3382	3328	494.4	0.0	306	3917	0.73	2.60	203.45	1.369	10500	0.065	0.076	2777	3505	2762	2811	2713	0	0	0	0	0	0	13.57	13.19	12.43
4064	0.14	145.9	2778	3506	2789	2712	475.0	17.5	372	4070	0.75	2.42	0.00	0.000	5254	0.349	0.058	2634	2133	2749	2788	2711	0	0	0	0	0	0	13.33	13.64	13.67
4397	0.05	168.1	2634	2134	2789	2709	443.4	9.0	388	4431	0.12	2.58	27.98	1.472	12964	0.299	0.084	2606	691	2673	2719	2628	0	0	0	0	0	0	13.82	13.92	13.12
4511	0.11	220.7	2606	691	2711	2625	434.4	7.6	411	4598	0.00	2.47	81.43	1.362	9382	0.000	0.079	2606	2094	2464	2528	2400	0	0	0	0	0	0	14.10	13.99	12.94
4908	0.17	253.2	2606	2095	2511	2380	400.8	8.5	440	4958	0.00	0.00	48.95	1.374	8358	0.000	0.000	2606	2094	2333	2392	2275	0	0	0	0	0	0	14.37	13.88	13.13
5238	0.26	288.5	2606	2094	2378	2256	372.7	8.4	451	5299	0.15	2.53	54.65	1.362	10916	0.118	0.084	2685	684	2183	2238	2128	0	0	0	0	0	0	14.19	13.74	13.16
5341	0.23	288.5	2685	685	2233	2127	359.5	13.3	471	5347	0.12	2.50	0.00	0.000	5254	0.247	0.076	2660	2100	2175	2225	2125	0	0	0	0	0	0	13.82	13.95	14.04
5662	0.23	288.5	2661	2101	2225	2116	321.4	11.6	485	5667	0.00	2.47	0.00	0.000	516	0.000	0.088	2661	693	2170	2224	2116	0	0	0	0	0	0	14.49	14.16	14.50
5702	0.26	288.5	2661	693	2224	2117	316.8	11.4	493	5707	0.00	2.45	0.00	0.000	1158	0.000	0.078	2661	2101	2170	2224	2116	0	0	0	0	0	0	14.31	14.19	14.34
6022	0.26	288.5	2661	2103	2224	2113	280.4	11.1	507	6028	0.00	2.45	0.00	0.000	516	0.000	0.086	2661	691	2168	2224	2113	0	0	0	0	0	0	14.59	14.25	14.60
6063	0.30	288.5	2662	692	2224	2114	276.1	10.3	515	6069	0.00	2.45	0.00	0.000	1158	0.000	0.078	2661	2108	2165	2218	2113	0	0	0	0	0	0	14.40	14.28	14.42
6385	0.30	291.1	2661	2110	2224	2114	243.2	9.9	529	6385	0.00	0.00	0.00	0.000	38	0.000	0.000	2661	2109	2168	2223	2113	0	0	0	0	0	0	14.62	14.64	14.64
6684	0.33	327.3	2661	2109	2224	2112	216.6	8.3	539	6755	0.00	2.53	64.53	1.297	8740	0.000	0.086	2661	690	2025	2076	1975	0	0	0	0	0	0	14.63	14.00	13.28
6846	0.47	378.7	2661	690	2063	1976	203.7	7.6	571	6945	0.22	2.47	90.80	1.220	11430	0.099	0.079	2749	2098	1818	1850	1786	0	0	0	0	0	0	14.15	14.09	13.09
7258	0.40	378.7	2751	2097	1840	1769	146.1	13.8	603	7264	0.15	2.47	0.00	0.000	4740	0.238	0.083	2721	693	1803	1838	1768	0	0	0	0	0	0	13.95	14.08	14.09
7279	0.38	378.7	2721	693	1836	1770	143.5	11.8	607	7285	0.00	2.47	0.00	0.000	1158	0.000	0.077	2720	2101	1802	1835	1769	0	0	0	0	0	0	14.23	14.09	14.25
7590	0.38	378.7	2720	2101	1836	1766	110.6	10.1	619	7596	0.00	2.50	0.00	0.000	516	0.000	0.086	2727	691	1800	1835	1766	0	0	0	0	0	0	14.41	14.07	14.43
7636	0.44	384.0	2723	690	1834	1766	105.9	9.8	628	7641	0.00	2.47	0.00	0.000	1190	0.000	0.078	2727	2108	1799	1832	1766	0	0	0	0	0	0	14.25	14.13	14.26
7941	0.47	424.0	2728	2112	1838	1764	77.7	8.2	656	7967	0.00	2.50	21.50	0.430	8740	0.000	0.083	2729	692	1635	1669	1602	0	0	0	0	0	0	14.40	13.96	13.67
8069	0.61	486.2	2730	692	1674	1604	67.9	7.1	681	8108	0.15	2.47	33.22	0.402	11430	0.116	0.076	2788	2103	1381	1429	1334	0	0	0	0	0	0	14.09	14.04	13.62
8403	0.68	547.2	2789	2103	1430	1335	37.2	7.2	718	8441	0.00	2.42	32.05	0.311	8612	0.000	0.080	2789	3510	1133	1200	1067	0	0	0	0	0	0	14.38	13.88	13.69
8471	0.78	579.4	2789	3511	1201	1071	32.0	8.5	731	8493	0.12	2.45	17.58	0.299	11430	0.130	0.066	2848	2097	1001	1073	930	0	0	0	0	0	0	14.03	14.03	13.78
8799	0.91	689.1	2849	2097	1074	936	6.6	4.9	766	8862	0.00	2.55	58.10	0.222	8868	0.000	0.090	2850	693	552	592	512	0	0	0	0	0	0	14.37	13.91	13.82
8879	end climb: SURFACE_DEPTH_REACHED
state	8880	begin surface coast
8910	end surface coast: CONTROL_FINISHED_OK
state	8910	begin surface