Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 126 * 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 126 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 358.0

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 41 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 358.0 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 126 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 210817,084803,7308.7480,-14942.6797,34,0.8,35,20.9,0.0,0.0,9,7.5 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 282.8,9156,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 210817,090902,7308.6758,-14942.9727,6,0.8,11,20.9,0.0,0.0,10,9.1

Post-dive calculations and measurements:

FINISH 0.1,1.012048 _24V_AH 12.44,102.829

SM_CCo 9108,48.62,0.213,0,0,499,702.78 _10V_AH 12.47,0.000

SM_GC 1.03,8.12,0.17,48.62,0.080,0.124,0.213,204,2219,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.32,14.29,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS_FIX 7307.903320,-14944.436523,210817,080828,3,255,0.35 MEM 323620

IRIDIUM_FIX 7308.36,-14950.48,210817,090152 DATA_FILE_SIZE 26723,818

TT8_MAMPS 0.039697,0.873334 CAP_FILE_SIZE 108570,0

HUMID 48.30 CFSIZE 2097872896,2049605632

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

TCM_TEMP 13.10 SOUNDSPEED 1448.2

XPDR_PINGS 12 CURRENT 0.026,246.70,1

CP_FREE 0.000000 GPS 210817,114332,7309.587,-14945.812,36,0.8,36,20.8,0.0,0.0,10,9.2

PM_FREEKB_00 54273344

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 456 141.18 nil 0 0 0.00

Roll_motor 79 2150 2122.04 nil 0 0 0.00

VBD_pump_during_apogee 881 1609 17657.72 nil 0 0 0.00

VBD_pump_during_surface 48 213 129.11 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 9069 14 1644.89

Iridium_during_xfer 796 170 1689.96 NCP 9114 20 2267.56

Transponder_ping 3 420 15.67 PMAR 9061 10 1150.18

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.24

TT8 0 0 0.00

LPSleep 6670 2 192.14

TT8_Active 930 13 162.04

TT8_Sampling 2494 33 1040.08

TT8_CF8 334 38 161.49

TT8_Kalman 0 0 0.00

Analog_circuits 2478 10 309.11

GPS_charging 0 0 0.00

Compass 1171 7 102.28

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 -145.9 206 2227 505 488 0.0 0.0 0 129 0.00 0.00 -80.85 0.000 16386 0.000 0.000 205 2226 2003 1919 2087 0 0 0 0 0 0 14.45 28.83 14.47

132 -0.57 -145.9 205 2227 1921 2090 3.2 -3.4 8 189 12.57 2.83 -39.72 0.000 18980 0.457 2.150 2386 795 3958 3942 3974 0 0 0 0 0 0 13.69 12.91 14.12

365 -0.70 -145.9 2387 795 3950 3976 55.7 -13.3 54 370 0.00 2.47 0.00 0.000 1158 0.000 0.090 2386 2179 3961 3949 3974 0 0 0 0 0 0 14.13 14.00 14.18

675 -0.76 -145.9 2387 2183 3952 3975 99.9 -11.9 86 680 0.15 2.55 0.00 0.000 4484 0.122 0.088 2318 3622 3962 3950 3975 0 0 0 0 0 0 14.21 14.07 14.24

905 -0.82 -145.9 2319 3622 3951 3975 132.8 -13.1 132 910 0.00 2.40 0.00 0.000 1158 0.000 0.056 2320 2198 3962 3950 3975 0 0 0 0 0 0 14.32 14.21 14.35

1215 -0.82 -145.9 2319 2197 3951 3976 178.4 -14.2 144 1220 0.00 2.50 0.00 0.000 260 0.000 0.088 2310 3617 3962 3950 3974 0 0 0 0 0 0 14.60 14.07 14.62

1385 -0.91 -145.9 2311 3619 3951 3975 199.9 -12.0 178 1390 0.00 2.40 0.00 0.000 1158 0.000 0.056 2310 2189 3962 3950 3975 0 0 0 0 0 0 14.38 14.25 14.38

1695 -0.93 -145.9 2311 2188 3952 3975 240.1 -12.4 190 1700 0.00 2.53 0.00 0.000 388 0.000 0.089 2305 3623 3964 3954 3975 0 0 0 0 0 0 14.61 14.18 14.64

1785 -1.03 -145.9 2306 3625 3951 3976 250.2 -10.5 208 1791 0.20 2.40 0.00 0.000 5254 0.103 0.055 2233 2195 3962 3950 3974 0 0 0 0 0 0 14.34 14.20 14.42

2116 -0.93 -145.9 2233 2195 3951 3975 307.1 -17.3 224 2121 0.17 2.50 0.00 0.000 2436 0.294 0.084 2264 3621 3961 3950 3973 0 0 0 0 0 0 13.95 14.26 14.16

2271 -0.97 -145.9 2264 3622 3951 3972 327.7 -12.8 255 2277 0.00 2.40 0.00 0.000 1158 0.000 0.055 2264 2199 3961 3950 3973 0 0 0 0 0 0 14.39 14.30 14.40

2597 -0.97 -145.9 2265 2198 3951 3971 370.3 -13.0 270 2602 0.00 2.47 0.00 0.000 260 0.000 0.088 2256 3612 3960 3950 3971 0 0 0 0 0 0 14.64 14.21 14.65

2714 -1.02 -145.9 2256 3617 3949 3971 384.6 -11.6 293 2720 0.00 2.38 0.00 0.000 1158 0.000 0.056 2256 2202 3959 3949 3970 0 0 0 0 0 0 14.40 14.26 14.40

3017 -1.02 -145.9 2256 2201 3950 3970 424.0 -12.9 304 3022 0.00 2.50 0.00 0.000 260 0.000 0.087 2249 3624 3959 3949 3970 0 0 0 0 0 0 14.63 14.20 14.64

3129 -1.05 -145.9 2249 3625 3950 3970 438.2 -12.4 326 3134 0.00 2.40 0.00 0.000 1158 0.000 0.057 2249 2196 3959 3949 3970 0 0 0 0 0 0 14.40 14.28 14.43

3437 end dive: TARGET_DEPTH_EXCEEDED

state 3437 begin apogee

3442 -0.13 0.0 2249 2065 3949 3968 480.2 -13.6 338 3666 1.10 0.08 219.32 1.427 10246 0.246 0.184 2527 2115 3364 3390 3338 0 0 0 0 0 0 13.97 13.43 12.72

3670 end apogee: CONTROL_FINISHED_OK

state 3670 begin climb

3674 0.57 145.9 2527 2115 3382 3329 491.2 0.0 345 3890 0.75 2.62 204.18 1.372 10756 0.063 0.076 2790 722 2761 2808 2715 0 0 0 0 0 0 13.57 13.01 12.44

4000 0.20 145.9 2790 722 2795 2712 481.2 15.4 404 4006 0.68 2.50 0.00 0.000 5254 0.317 0.074 2650 2093 2752 2794 2710 0 0 0 0 0 0 13.28 13.53 13.57

4311 0.07 159.4 2650 2094 2793 2705 451.0 9.4 416 4332 0.15 2.45 13.52 1.610 12964 0.296 0.083 2614 721 2709 2754 2665 0 0 0 0 0 0 13.75 13.95 13.08

4394 0.10 203.9 2616 721 2750 2661 444.5 7.9 432 4468 0.00 2.42 67.25 1.401 9254 0.000 0.079 2616 2099 2531 2595 2467 0 0 0 0 0 0 14.12 14.01 12.98

4793 0.11 222.1 2616 2100 2585 2451 408.7 9.2 462 4824 0.00 0.00 24.50 1.494 8230 0.000 0.000 2613 2099 2451 2516 2386 0 0 0 0 0 0 14.40 14.00 13.19

5123 0.12 236.4 2616 2100 2509 2376 377.9 9.3 473 5148 0.00 2.47 17.20 1.553 8740 0.000 0.084 2616 729 2398 2456 2341 0 0 0 0 0 0 14.49 14.12 13.28

5205 0.22 258.9 2616 728 2450 2334 370.7 9.0 489 5246 0.10 2.40 33.53 1.452 11430 0.154 0.078 2662 2098 2307 2364 2251 0 0 0 0 0 0 14.16 14.14 13.19

5545 0.16 258.9 2665 2099 2352 2235 328.3 12.7 507 5546 0.00 0.00 0.00 0.000 134 0.000 0.000 2664 2099 2292 2351 2234 0 0 0 0 0 0 14.47 14.50 14.49

5843 0.11 258.9 2664 2100 2349 2236 291.9 12.1 517 5848 0.15 2.38 0.00 0.000 4740 0.258 0.080 2634 729 2291 2348 2235 0 0 0 0 0 0 13.96 14.20 14.11

5913 0.20 280.7 2634 729 2349 2243 285.1 9.0 531 5954 0.00 2.38 32.88 1.403 9382 0.000 0.077 2633 2103 2216 2271 2162 0 0 0 0 0 0 14.39 14.27 13.31

6266 0.26 305.8 2634 2104 2263 2149 253.3 8.8 551 6305 0.00 0.00 37.50 1.379 8870 0.000 0.000 2634 2103 2121 2178 2064 0 0 0 0 0 0 14.54 14.06 13.28

6594 0.37 356.6 2634 2104 2158 2049 226.9 7.7 567 6681 0.17 2.55 81.05 1.290 10916 0.106 0.086 2709 724 1907 1948 1867 0 0 0 0 0 0 14.27 13.88 13.16

6731 0.40 356.6 2709 724 1937 1866 211.3 11.4 594 6736 0.00 2.45 0.00 0.000 1158 0.000 0.076 2709 2106 1901 1937 1865 0 0 0 0 0 0 14.07 13.95 14.12

7046 0.40 356.6 2709 2107 1935 1860 175.5 10.9 607 7052 0.00 2.42 0.00 0.000 516 0.000 0.086 2709 728 1896 1934 1859 0 0 0 0 0 0 14.48 14.18 14.51

7117 0.44 357.4 2709 729 1932 1859 168.3 10.0 621 7122 0.00 2.40 0.00 0.000 1190 0.000 0.076 2709 2100 1895 1931 1860 0 0 0 0 0 0 14.35 14.20 14.35

7437 0.44 360.2 2710 2101 1931 1864 135.9 9.9 635 7438 0.00 0.00 0.00 0.000 38 0.000 0.000 2709 2101 1893 1930 1857 0 0 0 0 0 0 14.57 14.59 14.59

7737 0.45 379.1 2709 2102 1930 1856 107.7 9.1 645 7774 0.00 2.47 28.88 1.331 8740 0.000 0.085 2709 727 1815 1844 1787 0 0 0 0 0 0 14.59 14.15 13.38

7836 0.58 413.4 2710 727 1839 1786 99.1 8.4 664 7858 0.17 2.42 18.08 0.509 11430 0.112 0.079 2779 2106 1678 1704 1653 0 0 0 0 0 0 14.18 14.04 13.69

8164 0.52 413.4 2780 2106 1705 1649 61.5 10.1 699 8170 0.12 2.45 0.00 0.000 4484 0.275 0.080 2752 3511 1676 1703 1649 0 0 0 0 0 0 13.95 14.16 14.11

8271 0.59 499.9 2752 3512 1704 1650 53.4 6.0 720 8324 0.00 2.35 44.65 0.363 9254 0.000 0.063 2756 2135 1324 1378 1270 0 0 0 0 0 0 14.28 14.17 13.74

8629 0.78 600.0 2757 2134 1379 1262 33.2 5.4 761 8688 0.22 2.58 51.35 0.300 10916 0.101 0.091 2860 696 919 989 850 0 0 0 0 0 0 14.19 14.09 13.84

8778 0.83 614.5 2860 690 996 846 17.1 9.3 790 8790 0.00 2.47 8.00 0.269 9382 0.000 0.078 2860 2107 856 929 784 0 0 0 0 0 0 14.26 14.13 13.88

9015 end climb: SURFACE_DEPTH_REACHED

state 9015 begin surface coast

9043 end surface coast: CONTROL_FINISHED_OK

state 9043 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	126	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	358.0
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	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,084803,7308.7480,-14942.6797,34,0.8,35,20.9,0.0,0.0,9,7.5	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	282.8,9156,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	210817,090902,7308.6758,-14942.9727,6,0.8,11,20.9,0.0,0.0,10,9.1

FINISH	0.1,1.012048	_24V_AH	12.44,102.829
SM_CCo	9108,48.62,0.213,0,0,499,702.78	_10V_AH	12.47,0.000
SM_GC	1.03,8.12,0.17,48.62,0.080,0.124,0.213,204,2219,499,-7.37,-0.54,702.78,0,0,0,0,0,0,14.32,14.29,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS_FIX	7307.903320,-14944.436523,210817,080828,3,255,0.35	MEM	323620
IRIDIUM_FIX	7308.36,-14950.48,210817,090152	DATA_FILE_SIZE	26723,818
TT8_MAMPS	0.039697,0.873334	CAP_FILE_SIZE	108570,0
HUMID	48.30	CFSIZE	2097872896,2049605632
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.2
XPDR_PINGS	12	CURRENT	0.026,246.70,1
CP_FREE	0.000000	GPS	210817,114332,7309.587,-14945.812,36,0.8,36,20.8,0.0,0.0,10,9.2
PM_FREEKB_00	54273344

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	456	141.18	nil	0	0	0.00
Roll_motor	79	2150	2122.04	nil	0	0	0.00
VBD_pump_during_apogee	881	1609	17657.72	nil	0	0	0.00
VBD_pump_during_surface	48	213	129.11	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	9069	14	1644.89
Iridium_during_xfer	796	170	1689.96	NCP	9114	20	2267.56
Transponder_ping	3	420	15.67	PMAR	9061	10	1150.18
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.24
TT8	0	0	0.00
LPSleep	6670	2	192.14
TT8_Active	930	13	162.04
TT8_Sampling	2494	33	1040.08
TT8_CF8	334	38	161.49
TT8_Kalman	0	0	0.00
Analog_circuits	2478	10	309.11
GPS_charging	0	0	0.00
Compass	1171	7	102.28
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	206	2227	505	488	0.0	0.0	0	129	0.00	0.00	-80.85	0.000	16386	0.000	0.000	205	2226	2003	1919	2087	0	0	0	0	0	0	14.45	28.83	14.47
132	-0.57	-145.9	205	2227	1921	2090	3.2	-3.4	8	189	12.57	2.83	-39.72	0.000	18980	0.457	2.150	2386	795	3958	3942	3974	0	0	0	0	0	0	13.69	12.91	14.12
365	-0.70	-145.9	2387	795	3950	3976	55.7	-13.3	54	370	0.00	2.47	0.00	0.000	1158	0.000	0.090	2386	2179	3961	3949	3974	0	0	0	0	0	0	14.13	14.00	14.18
675	-0.76	-145.9	2387	2183	3952	3975	99.9	-11.9	86	680	0.15	2.55	0.00	0.000	4484	0.122	0.088	2318	3622	3962	3950	3975	0	0	0	0	0	0	14.21	14.07	14.24
905	-0.82	-145.9	2319	3622	3951	3975	132.8	-13.1	132	910	0.00	2.40	0.00	0.000	1158	0.000	0.056	2320	2198	3962	3950	3975	0	0	0	0	0	0	14.32	14.21	14.35
1215	-0.82	-145.9	2319	2197	3951	3976	178.4	-14.2	144	1220	0.00	2.50	0.00	0.000	260	0.000	0.088	2310	3617	3962	3950	3974	0	0	0	0	0	0	14.60	14.07	14.62
1385	-0.91	-145.9	2311	3619	3951	3975	199.9	-12.0	178	1390	0.00	2.40	0.00	0.000	1158	0.000	0.056	2310	2189	3962	3950	3975	0	0	0	0	0	0	14.38	14.25	14.38
1695	-0.93	-145.9	2311	2188	3952	3975	240.1	-12.4	190	1700	0.00	2.53	0.00	0.000	388	0.000	0.089	2305	3623	3964	3954	3975	0	0	0	0	0	0	14.61	14.18	14.64
1785	-1.03	-145.9	2306	3625	3951	3976	250.2	-10.5	208	1791	0.20	2.40	0.00	0.000	5254	0.103	0.055	2233	2195	3962	3950	3974	0	0	0	0	0	0	14.34	14.20	14.42
2116	-0.93	-145.9	2233	2195	3951	3975	307.1	-17.3	224	2121	0.17	2.50	0.00	0.000	2436	0.294	0.084	2264	3621	3961	3950	3973	0	0	0	0	0	0	13.95	14.26	14.16
2271	-0.97	-145.9	2264	3622	3951	3972	327.7	-12.8	255	2277	0.00	2.40	0.00	0.000	1158	0.000	0.055	2264	2199	3961	3950	3973	0	0	0	0	0	0	14.39	14.30	14.40
2597	-0.97	-145.9	2265	2198	3951	3971	370.3	-13.0	270	2602	0.00	2.47	0.00	0.000	260	0.000	0.088	2256	3612	3960	3950	3971	0	0	0	0	0	0	14.64	14.21	14.65
2714	-1.02	-145.9	2256	3617	3949	3971	384.6	-11.6	293	2720	0.00	2.38	0.00	0.000	1158	0.000	0.056	2256	2202	3959	3949	3970	0	0	0	0	0	0	14.40	14.26	14.40
3017	-1.02	-145.9	2256	2201	3950	3970	424.0	-12.9	304	3022	0.00	2.50	0.00	0.000	260	0.000	0.087	2249	3624	3959	3949	3970	0	0	0	0	0	0	14.63	14.20	14.64
3129	-1.05	-145.9	2249	3625	3950	3970	438.2	-12.4	326	3134	0.00	2.40	0.00	0.000	1158	0.000	0.057	2249	2196	3959	3949	3970	0	0	0	0	0	0	14.40	14.28	14.43
3437	end dive: TARGET_DEPTH_EXCEEDED
state	3437	begin apogee
3442	-0.13	0.0	2249	2065	3949	3968	480.2	-13.6	338	3666	1.10	0.08	219.32	1.427	10246	0.246	0.184	2527	2115	3364	3390	3338	0	0	0	0	0	0	13.97	13.43	12.72
3670	end apogee: CONTROL_FINISHED_OK
state	3670	begin climb
3674	0.57	145.9	2527	2115	3382	3329	491.2	0.0	345	3890	0.75	2.62	204.18	1.372	10756	0.063	0.076	2790	722	2761	2808	2715	0	0	0	0	0	0	13.57	13.01	12.44
4000	0.20	145.9	2790	722	2795	2712	481.2	15.4	404	4006	0.68	2.50	0.00	0.000	5254	0.317	0.074	2650	2093	2752	2794	2710	0	0	0	0	0	0	13.28	13.53	13.57
4311	0.07	159.4	2650	2094	2793	2705	451.0	9.4	416	4332	0.15	2.45	13.52	1.610	12964	0.296	0.083	2614	721	2709	2754	2665	0	0	0	0	0	0	13.75	13.95	13.08
4394	0.10	203.9	2616	721	2750	2661	444.5	7.9	432	4468	0.00	2.42	67.25	1.401	9254	0.000	0.079	2616	2099	2531	2595	2467	0	0	0	0	0	0	14.12	14.01	12.98
4793	0.11	222.1	2616	2100	2585	2451	408.7	9.2	462	4824	0.00	0.00	24.50	1.494	8230	0.000	0.000	2613	2099	2451	2516	2386	0	0	0	0	0	0	14.40	14.00	13.19
5123	0.12	236.4	2616	2100	2509	2376	377.9	9.3	473	5148	0.00	2.47	17.20	1.553	8740	0.000	0.084	2616	729	2398	2456	2341	0	0	0	0	0	0	14.49	14.12	13.28
5205	0.22	258.9	2616	728	2450	2334	370.7	9.0	489	5246	0.10	2.40	33.53	1.452	11430	0.154	0.078	2662	2098	2307	2364	2251	0	0	0	0	0	0	14.16	14.14	13.19
5545	0.16	258.9	2665	2099	2352	2235	328.3	12.7	507	5546	0.00	0.00	0.00	0.000	134	0.000	0.000	2664	2099	2292	2351	2234	0	0	0	0	0	0	14.47	14.50	14.49
5843	0.11	258.9	2664	2100	2349	2236	291.9	12.1	517	5848	0.15	2.38	0.00	0.000	4740	0.258	0.080	2634	729	2291	2348	2235	0	0	0	0	0	0	13.96	14.20	14.11
5913	0.20	280.7	2634	729	2349	2243	285.1	9.0	531	5954	0.00	2.38	32.88	1.403	9382	0.000	0.077	2633	2103	2216	2271	2162	0	0	0	0	0	0	14.39	14.27	13.31
6266	0.26	305.8	2634	2104	2263	2149	253.3	8.8	551	6305	0.00	0.00	37.50	1.379	8870	0.000	0.000	2634	2103	2121	2178	2064	0	0	0	0	0	0	14.54	14.06	13.28
6594	0.37	356.6	2634	2104	2158	2049	226.9	7.7	567	6681	0.17	2.55	81.05	1.290	10916	0.106	0.086	2709	724	1907	1948	1867	0	0	0	0	0	0	14.27	13.88	13.16
6731	0.40	356.6	2709	724	1937	1866	211.3	11.4	594	6736	0.00	2.45	0.00	0.000	1158	0.000	0.076	2709	2106	1901	1937	1865	0	0	0	0	0	0	14.07	13.95	14.12
7046	0.40	356.6	2709	2107	1935	1860	175.5	10.9	607	7052	0.00	2.42	0.00	0.000	516	0.000	0.086	2709	728	1896	1934	1859	0	0	0	0	0	0	14.48	14.18	14.51
7117	0.44	357.4	2709	729	1932	1859	168.3	10.0	621	7122	0.00	2.40	0.00	0.000	1190	0.000	0.076	2709	2100	1895	1931	1860	0	0	0	0	0	0	14.35	14.20	14.35
7437	0.44	360.2	2710	2101	1931	1864	135.9	9.9	635	7438	0.00	0.00	0.00	0.000	38	0.000	0.000	2709	2101	1893	1930	1857	0	0	0	0	0	0	14.57	14.59	14.59
7737	0.45	379.1	2709	2102	1930	1856	107.7	9.1	645	7774	0.00	2.47	28.88	1.331	8740	0.000	0.085	2709	727	1815	1844	1787	0	0	0	0	0	0	14.59	14.15	13.38
7836	0.58	413.4	2710	727	1839	1786	99.1	8.4	664	7858	0.17	2.42	18.08	0.509	11430	0.112	0.079	2779	2106	1678	1704	1653	0	0	0	0	0	0	14.18	14.04	13.69
8164	0.52	413.4	2780	2106	1705	1649	61.5	10.1	699	8170	0.12	2.45	0.00	0.000	4484	0.275	0.080	2752	3511	1676	1703	1649	0	0	0	0	0	0	13.95	14.16	14.11
8271	0.59	499.9	2752	3512	1704	1650	53.4	6.0	720	8324	0.00	2.35	44.65	0.363	9254	0.000	0.063	2756	2135	1324	1378	1270	0	0	0	0	0	0	14.28	14.17	13.74
8629	0.78	600.0	2757	2134	1379	1262	33.2	5.4	761	8688	0.22	2.58	51.35	0.300	10916	0.101	0.091	2860	696	919	989	850	0	0	0	0	0	0	14.19	14.09	13.84
8778	0.83	614.5	2860	690	996	846	17.1	9.3	790	8790	0.00	2.47	8.00	0.269	9382	0.000	0.078	2860	2107	856	929	784	0	0	0	0	0	0	14.26	14.13	13.88
9015	end climb: SURFACE_DEPTH_REACHED
state	9015	begin surface coast
9043	end surface coast: CONTROL_FINISHED_OK
state	9043	begin surface