Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 129 * 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 129 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 366.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 366.0 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 23 VBD_MIN 500

DIVE 129 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 210817,172120,7310.8208,-14951.8955,14,0.7,19,20.8,0.0,0.0,12,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 5 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 254.8,3844,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.7 D_GRID 480

GPS2 210817,174824,7310.6787,-14951.2402,5,0.8,45,20.8,0.3,151.9,10,15.1

Post-dive calculations and measurements:

FINISH 0.2,1.020494 _24V_AH 12.47,104.390

SM_CCo 9426,0.00,0.000,0,0,494,704.50 _10V_AH 12.34,0.000

SM_GC 1.17,8.32,0.17,0.00,0.076,0.114,0.000,203,2225,494,-7.38,-0.42,704.50,0,0,0,0,0,0,14.13,14.13,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 76 FG_AHR_10Vo 0.000

RAFOS_FIX 7310.928711,-14949.879883,210817,161620,4,255,0.21 MEM 323484

IRIDIUM_FIX 7309.39,-14956.90,210817,174113 DATA_FILE_SIZE 30087,893

TT8_MAMPS 0.086135,0.854609 CAP_FILE_SIZE 115234,0

HUMID 43.38 CFSIZE 2097872896,2048622592

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

TCM_TEMP 13.20 SOUNDSPEED 1449.3

XPDR_PINGS 15 CURRENT 0.029,284.88,1

CP_FREE 0.000000 GPS 210817,202720,7311.188,-14954.906,36,0.8,36,20.8,0.0,0.0,10,9.0

PM_FREEKB_00 54177344

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.56 nil 0 0 0.00

Roll_motor 89 2142 2403.30 nil 0 0 0.00

VBD_pump_during_apogee 1270 1347 21337.44 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9328 13 1610.10

Iridium_during_xfer 1070 170 2276.71 NCP 9371 20 2337.13

Transponder_ping 3 420 19.64 PMAR 9319 10 1189.04

GUMSTIX_24V 0 0 0.00

GPS 46 22 13.02

TT8 0 0 0.00

LPSleep 6556 2 186.88

TT8_Active 1224 13 211.05

TT8_Sampling 2922 33 1205.98

TT8_CF8 356 38 169.97

TT8_Kalman 0 0 0.00

Analog_circuits 3126 10 385.77

GPS_charging 0 0 0.00

Compass 1277 7 110.35

RAFOS 2206 48 1306.66

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 -145.9 205 2208 513 480 0.0 0.0 0 140 0.00 0.00 -91.43 0.000 16386 0.000 0.000 204 2208 2249 2186 2312 0 0 0 0 0 0 14.50 28.83 14.52

143 -0.57 -145.9 205 2208 2189 2312 4.8 -6.9 9 191 12.48 2.75 -30.00 0.000 19236 0.454 2.142 2384 790 3961 3938 3985 0 0 0 0 0 0 13.68 12.93 14.15

356 -0.65 -145.9 2384 790 3946 3986 57.0 -15.3 51 361 0.00 2.50 0.00 0.000 1158 0.000 0.086 2379 2199 3965 3945 3985 0 0 0 0 0 0 14.26 14.12 14.29

686 -0.68 -145.9 2378 2201 3946 3986 107.7 -12.9 81 691 0.00 2.50 0.00 0.000 388 0.000 0.093 2376 3608 3965 3946 3985 0 0 0 0 0 0 14.55 14.12 14.57

901 -0.84 -145.9 2377 3609 3947 3985 129.5 -9.5 124 907 0.22 2.38 0.00 0.000 5286 0.096 0.054 2289 2196 3965 3946 3985 0 0 0 0 0 0 14.07 14.19 14.28

1228 -0.78 -145.9 2290 2195 3947 3985 187.0 -17.4 139 1233 0.12 2.50 0.00 0.000 2436 0.278 0.085 2311 3616 3965 3946 3984 0 0 0 0 0 0 13.93 14.17 14.08

1325 -0.86 -145.9 2312 3617 3954 3984 200.0 -12.1 158 1330 0.00 2.38 0.00 0.000 1158 0.000 0.054 2311 2198 3965 3946 3984 0 0 0 0 0 0 14.39 14.28 14.41

1650 -0.88 -145.9 2311 2197 3949 3986 242.3 -12.2 173 1655 0.00 2.47 0.00 0.000 388 0.000 0.090 2306 3608 3965 3946 3985 0 0 0 0 0 0 14.66 14.18 14.65

1750 -0.98 -145.9 2306 3610 3947 3985 253.3 -10.4 193 1756 0.15 2.40 0.00 0.000 5254 0.121 0.057 2248 2191 3966 3946 3986 0 0 0 0 0 0 14.34 14.28 14.40

2071 -0.92 -145.9 2249 2191 3947 3984 303.7 -15.5 207 2076 0.12 2.50 0.00 0.000 2436 0.299 0.086 2267 3614 3964 3946 3982 0 0 0 0 0 0 13.96 14.20 14.14

2231 -0.98 -145.9 2267 3614 3947 3982 323.6 -11.4 239 2236 0.00 2.38 0.00 0.000 1158 0.000 0.055 2264 2198 3965 3946 3984 0 0 0 0 0 0 14.40 14.30 14.43

2551 -0.98 -145.9 2267 2197 3946 3984 363.9 -12.5 253 2556 0.00 2.50 0.00 0.000 260 0.000 0.089 2258 3619 3964 3945 3983 0 0 0 0 0 0 14.65 14.21 14.66

2693 -1.01 -145.9 2258 3621 3946 3984 380.8 -11.8 281 2698 0.00 2.38 0.00 0.000 1158 0.000 0.056 2257 2202 3964 3945 3983 0 0 0 0 0 0 14.42 14.29 14.45

3003 -1.01 -145.9 2257 2199 3946 3983 421.2 -13.1 293 3008 0.00 2.47 0.00 0.000 260 0.000 0.088 2249 3614 3963 3945 3982 0 0 0 0 0 0 14.64 14.21 14.66

3093 -1.03 -145.9 2249 3614 3946 3983 433.0 -12.7 311 3098 0.00 2.38 0.00 0.000 1158 0.000 0.055 2249 2201 3963 3945 3982 0 0 0 0 0 0 14.36 14.25 14.40

3423 -1.01 -145.9 2249 2199 3946 3982 477.8 -13.4 327 3428 0.00 2.47 0.00 0.000 388 0.000 0.088 2242 3610 3963 3945 3982 0 0 0 0 0 0 14.62 14.19 14.64

3440 end dive: TARGET_DEPTH_EXCEEDED

state 3440 begin apogee

3448 -0.13 0.0 2243 2096 3946 3982 480.5 -14.1 331 3932 1.15 0.00 480.23 1.159 10246 0.251 0.000 2530 2095 3368 3387 3350 0 0 0 0 0 0 13.97 13.24 12.57

3938 end apogee: CONTROL_FINISHED_OK

state 3938 begin climb

3940 0.57 145.9 2531 2096 3381 3342 507.9 0.0 347 4169 0.75 2.67 215.45 1.298 11012 0.064 0.080 2781 694 2763 2805 2721 0 0 0 0 0 0 13.35 13.15 12.47

4394 0.22 145.9 2781 694 2788 2711 477.8 15.1 432 4400 0.57 2.53 0.00 0.000 5254 0.324 0.076 2661 2101 2747 2787 2708 0 0 0 0 0 0 13.45 13.75 13.83

4720 0.07 148.7 2661 2101 2788 2703 444.8 9.9 447 4725 0.20 2.47 0.00 0.000 4772 0.291 0.077 2621 687 2745 2787 2703 0 0 0 0 0 0 13.83 14.08 13.97

4950 0.11 207.2 2621 688 2788 2704 427.2 7.3 493 5072 0.00 2.47 116.35 1.233 9254 0.000 0.079 2620 2106 2521 2577 2465 0 0 0 0 0 0 14.30 14.18 13.09

5382 0.12 226.8 2621 2106 2560 2437 388.8 9.1 529 5414 0.00 2.58 26.38 1.347 8740 0.000 0.082 2630 688 2435 2491 2379 0 0 0 0 0 0 14.40 14.01 13.25

5506 0.18 248.7 2629 688 2483 2373 377.6 9.0 553 5549 0.00 2.50 35.97 1.314 9382 0.000 0.078 2630 2109 2351 2400 2302 0 0 0 0 0 0 14.13 14.02 13.21

5866 0.18 253.3 2637 2109 2390 2278 342.4 9.8 575 5867 0.00 0.00 0.00 0.000 38 0.000 0.000 2627 2108 2333 2389 2277 0 0 0 0 0 0 14.50 14.50 14.50

6165 0.19 269.0 2631 2108 2389 2277 314.1 9.3 585 6200 0.00 2.50 30.73 1.330 8740 0.000 0.083 2634 686 2266 2319 2214 0 0 0 0 0 0 14.59 13.94 13.38

6262 0.29 293.2 2635 687 2308 2209 305.3 8.9 604 6307 0.12 2.47 38.97 1.309 11430 0.129 0.079 2687 2101 2167 2217 2118 0 0 0 0 0 0 14.21 14.16 13.26

6619 0.24 293.2 2687 2102 2201 2098 258.6 13.1 625 6620 0.00 0.00 0.00 0.000 134 0.000 0.000 2687 2101 2149 2200 2098 0 0 0 0 0 0 14.50 14.52 14.52

6917 0.19 293.2 2687 2100 2199 2096 223.5 11.0 635 6923 0.15 2.45 0.00 0.000 4740 0.242 0.080 2658 689 2147 2198 2096 0 0 0 0 0 0 13.96 14.21 14.10

7015 0.31 342.9 2659 690 2197 2096 215.7 7.7 654 7104 0.00 2.45 83.65 1.228 9382 0.000 0.079 2655 2097 1969 2013 1925 0 0 0 0 0 0 14.33 14.24 13.27

7429 0.42 386.4 2659 2101 1997 1899 181.8 8.0 687 7510 0.17 2.58 72.97 1.215 10916 0.112 0.086 2737 692 1782 1812 1753 0 0 0 0 0 0 14.23 13.87 13.19

7570 0.42 386.4 2738 693 1799 1749 164.5 12.6 710 7575 0.00 2.53 0.00 0.000 1030 0.000 0.078 2737 2107 1773 1797 1749 0 0 0 0 0 0 14.06 13.97 14.12

7882 0.40 386.4 2737 2109 1797 1741 126.1 12.1 722 7887 0.00 2.50 0.00 0.000 644 0.000 0.085 2743 687 1768 1796 1740 0 0 0 0 0 0 14.38 14.08 14.41

7926 0.40 386.4 2743 688 1795 1741 120.8 10.9 731 7932 0.15 2.50 0.00 0.000 5126 0.239 0.079 2712 2111 1767 1795 1740 0 0 0 0 0 0 13.96 14.12 14.20

8234 0.48 426.7 2712 2113 1795 1738 93.4 8.1 747 8260 0.00 2.58 18.45 0.469 8868 0.000 0.085 2712 691 1626 1657 1596 0 0 0 0 0 0 14.39 14.04 13.59

8300 0.63 476.0 2713 691 1664 1601 88.0 7.7 760 8333 0.22 2.47 27.38 0.462 11430 0.095 0.078 2795 2100 1422 1462 1383 0 0 0 0 0 0 14.06 14.09 13.64

8638 0.67 533.6 2796 2101 1467 1391 50.2 7.3 797 8674 0.00 2.47 30.85 0.350 8484 0.000 0.080 2796 3509 1188 1246 1130 0 0 0 0 0 0 14.38 13.94 13.70

8844 0.73 549.9 2793 3507 1246 1139 31.0 9.3 838 8862 0.00 2.42 9.98 0.300 9382 0.000 0.065 2804 2099 1120 1183 1057 0 0 0 0 0 0 14.14 14.03 13.39

9159 0.98 701.2 2804 2100 1184 1072 12.1 3.0 871 9252 0.28 2.58 82.80 0.240 10916 0.086 0.090 2907 689 498 520 477 0 0 0 0 0 0 14.15 13.96 13.80

9279 1.02 701.2 2907 687 521 476 2.7 10.6 890 9284 0.00 2.50 0.00 0.000 1158 0.000 0.075 2906 2110 497 520 475 0 0 0 0 0 0 14.10 13.98 14.13

9289 end climb: SURFACE_DEPTH_REACHED

state 9290 begin surface coast

9300 end surface coast: CONTROL_FINISHED_OK

state 9300 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	129	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	366.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,172120,7310.8208,-14951.8955,14,0.7,19,20.8,0.0,0.0,12,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	5	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	254.8,3844,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.7	D_GRID	480
GPS2	210817,174824,7310.6787,-14951.2402,5,0.8,45,20.8,0.3,151.9,10,15.1

FINISH	0.2,1.020494	_24V_AH	12.47,104.390
SM_CCo	9426,0.00,0.000,0,0,494,704.50	_10V_AH	12.34,0.000
SM_GC	1.17,8.32,0.17,0.00,0.076,0.114,0.000,203,2225,494,-7.38,-0.42,704.50,0,0,0,0,0,0,14.13,14.13,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	76	FG_AHR_10Vo	0.000
RAFOS_FIX	7310.928711,-14949.879883,210817,161620,4,255,0.21	MEM	323484
IRIDIUM_FIX	7309.39,-14956.90,210817,174113	DATA_FILE_SIZE	30087,893
TT8_MAMPS	0.086135,0.854609	CAP_FILE_SIZE	115234,0
HUMID	43.38	CFSIZE	2097872896,2048622592
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1449.3
XPDR_PINGS	15	CURRENT	0.029,284.88,1
CP_FREE	0.000000	GPS	210817,202720,7311.188,-14954.906,36,0.8,36,20.8,0.0,0.0,10,9.0
PM_FREEKB_00	54177344

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.56	nil	0	0	0.00
Roll_motor	89	2142	2403.30	nil	0	0	0.00
VBD_pump_during_apogee	1270	1347	21337.44	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9328	13	1610.10
Iridium_during_xfer	1070	170	2276.71	NCP	9371	20	2337.13
Transponder_ping	3	420	19.64	PMAR	9319	10	1189.04
GUMSTIX_24V	0	0	0.00
GPS	46	22	13.02
TT8	0	0	0.00
LPSleep	6556	2	186.88
TT8_Active	1224	13	211.05
TT8_Sampling	2922	33	1205.98
TT8_CF8	356	38	169.97
TT8_Kalman	0	0	0.00
Analog_circuits	3126	10	385.77
GPS_charging	0	0	0.00
Compass	1277	7	110.35
RAFOS	2206	48	1306.66
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	205	2208	513	480	0.0	0.0	0	140	0.00	0.00	-91.43	0.000	16386	0.000	0.000	204	2208	2249	2186	2312	0	0	0	0	0	0	14.50	28.83	14.52
143	-0.57	-145.9	205	2208	2189	2312	4.8	-6.9	9	191	12.48	2.75	-30.00	0.000	19236	0.454	2.142	2384	790	3961	3938	3985	0	0	0	0	0	0	13.68	12.93	14.15
356	-0.65	-145.9	2384	790	3946	3986	57.0	-15.3	51	361	0.00	2.50	0.00	0.000	1158	0.000	0.086	2379	2199	3965	3945	3985	0	0	0	0	0	0	14.26	14.12	14.29
686	-0.68	-145.9	2378	2201	3946	3986	107.7	-12.9	81	691	0.00	2.50	0.00	0.000	388	0.000	0.093	2376	3608	3965	3946	3985	0	0	0	0	0	0	14.55	14.12	14.57
901	-0.84	-145.9	2377	3609	3947	3985	129.5	-9.5	124	907	0.22	2.38	0.00	0.000	5286	0.096	0.054	2289	2196	3965	3946	3985	0	0	0	0	0	0	14.07	14.19	14.28
1228	-0.78	-145.9	2290	2195	3947	3985	187.0	-17.4	139	1233	0.12	2.50	0.00	0.000	2436	0.278	0.085	2311	3616	3965	3946	3984	0	0	0	0	0	0	13.93	14.17	14.08
1325	-0.86	-145.9	2312	3617	3954	3984	200.0	-12.1	158	1330	0.00	2.38	0.00	0.000	1158	0.000	0.054	2311	2198	3965	3946	3984	0	0	0	0	0	0	14.39	14.28	14.41
1650	-0.88	-145.9	2311	2197	3949	3986	242.3	-12.2	173	1655	0.00	2.47	0.00	0.000	388	0.000	0.090	2306	3608	3965	3946	3985	0	0	0	0	0	0	14.66	14.18	14.65
1750	-0.98	-145.9	2306	3610	3947	3985	253.3	-10.4	193	1756	0.15	2.40	0.00	0.000	5254	0.121	0.057	2248	2191	3966	3946	3986	0	0	0	0	0	0	14.34	14.28	14.40
2071	-0.92	-145.9	2249	2191	3947	3984	303.7	-15.5	207	2076	0.12	2.50	0.00	0.000	2436	0.299	0.086	2267	3614	3964	3946	3982	0	0	0	0	0	0	13.96	14.20	14.14
2231	-0.98	-145.9	2267	3614	3947	3982	323.6	-11.4	239	2236	0.00	2.38	0.00	0.000	1158	0.000	0.055	2264	2198	3965	3946	3984	0	0	0	0	0	0	14.40	14.30	14.43
2551	-0.98	-145.9	2267	2197	3946	3984	363.9	-12.5	253	2556	0.00	2.50	0.00	0.000	260	0.000	0.089	2258	3619	3964	3945	3983	0	0	0	0	0	0	14.65	14.21	14.66
2693	-1.01	-145.9	2258	3621	3946	3984	380.8	-11.8	281	2698	0.00	2.38	0.00	0.000	1158	0.000	0.056	2257	2202	3964	3945	3983	0	0	0	0	0	0	14.42	14.29	14.45
3003	-1.01	-145.9	2257	2199	3946	3983	421.2	-13.1	293	3008	0.00	2.47	0.00	0.000	260	0.000	0.088	2249	3614	3963	3945	3982	0	0	0	0	0	0	14.64	14.21	14.66
3093	-1.03	-145.9	2249	3614	3946	3983	433.0	-12.7	311	3098	0.00	2.38	0.00	0.000	1158	0.000	0.055	2249	2201	3963	3945	3982	0	0	0	0	0	0	14.36	14.25	14.40
3423	-1.01	-145.9	2249	2199	3946	3982	477.8	-13.4	327	3428	0.00	2.47	0.00	0.000	388	0.000	0.088	2242	3610	3963	3945	3982	0	0	0	0	0	0	14.62	14.19	14.64
3440	end dive: TARGET_DEPTH_EXCEEDED
state	3440	begin apogee
3448	-0.13	0.0	2243	2096	3946	3982	480.5	-14.1	331	3932	1.15	0.00	480.23	1.159	10246	0.251	0.000	2530	2095	3368	3387	3350	0	0	0	0	0	0	13.97	13.24	12.57
3938	end apogee: CONTROL_FINISHED_OK
state	3938	begin climb
3940	0.57	145.9	2531	2096	3381	3342	507.9	0.0	347	4169	0.75	2.67	215.45	1.298	11012	0.064	0.080	2781	694	2763	2805	2721	0	0	0	0	0	0	13.35	13.15	12.47
4394	0.22	145.9	2781	694	2788	2711	477.8	15.1	432	4400	0.57	2.53	0.00	0.000	5254	0.324	0.076	2661	2101	2747	2787	2708	0	0	0	0	0	0	13.45	13.75	13.83
4720	0.07	148.7	2661	2101	2788	2703	444.8	9.9	447	4725	0.20	2.47	0.00	0.000	4772	0.291	0.077	2621	687	2745	2787	2703	0	0	0	0	0	0	13.83	14.08	13.97
4950	0.11	207.2	2621	688	2788	2704	427.2	7.3	493	5072	0.00	2.47	116.35	1.233	9254	0.000	0.079	2620	2106	2521	2577	2465	0	0	0	0	0	0	14.30	14.18	13.09
5382	0.12	226.8	2621	2106	2560	2437	388.8	9.1	529	5414	0.00	2.58	26.38	1.347	8740	0.000	0.082	2630	688	2435	2491	2379	0	0	0	0	0	0	14.40	14.01	13.25
5506	0.18	248.7	2629	688	2483	2373	377.6	9.0	553	5549	0.00	2.50	35.97	1.314	9382	0.000	0.078	2630	2109	2351	2400	2302	0	0	0	0	0	0	14.13	14.02	13.21
5866	0.18	253.3	2637	2109	2390	2278	342.4	9.8	575	5867	0.00	0.00	0.00	0.000	38	0.000	0.000	2627	2108	2333	2389	2277	0	0	0	0	0	0	14.50	14.50	14.50
6165	0.19	269.0	2631	2108	2389	2277	314.1	9.3	585	6200	0.00	2.50	30.73	1.330	8740	0.000	0.083	2634	686	2266	2319	2214	0	0	0	0	0	0	14.59	13.94	13.38
6262	0.29	293.2	2635	687	2308	2209	305.3	8.9	604	6307	0.12	2.47	38.97	1.309	11430	0.129	0.079	2687	2101	2167	2217	2118	0	0	0	0	0	0	14.21	14.16	13.26
6619	0.24	293.2	2687	2102	2201	2098	258.6	13.1	625	6620	0.00	0.00	0.00	0.000	134	0.000	0.000	2687	2101	2149	2200	2098	0	0	0	0	0	0	14.50	14.52	14.52
6917	0.19	293.2	2687	2100	2199	2096	223.5	11.0	635	6923	0.15	2.45	0.00	0.000	4740	0.242	0.080	2658	689	2147	2198	2096	0	0	0	0	0	0	13.96	14.21	14.10
7015	0.31	342.9	2659	690	2197	2096	215.7	7.7	654	7104	0.00	2.45	83.65	1.228	9382	0.000	0.079	2655	2097	1969	2013	1925	0	0	0	0	0	0	14.33	14.24	13.27
7429	0.42	386.4	2659	2101	1997	1899	181.8	8.0	687	7510	0.17	2.58	72.97	1.215	10916	0.112	0.086	2737	692	1782	1812	1753	0	0	0	0	0	0	14.23	13.87	13.19
7570	0.42	386.4	2738	693	1799	1749	164.5	12.6	710	7575	0.00	2.53	0.00	0.000	1030	0.000	0.078	2737	2107	1773	1797	1749	0	0	0	0	0	0	14.06	13.97	14.12
7882	0.40	386.4	2737	2109	1797	1741	126.1	12.1	722	7887	0.00	2.50	0.00	0.000	644	0.000	0.085	2743	687	1768	1796	1740	0	0	0	0	0	0	14.38	14.08	14.41
7926	0.40	386.4	2743	688	1795	1741	120.8	10.9	731	7932	0.15	2.50	0.00	0.000	5126	0.239	0.079	2712	2111	1767	1795	1740	0	0	0	0	0	0	13.96	14.12	14.20
8234	0.48	426.7	2712	2113	1795	1738	93.4	8.1	747	8260	0.00	2.58	18.45	0.469	8868	0.000	0.085	2712	691	1626	1657	1596	0	0	0	0	0	0	14.39	14.04	13.59
8300	0.63	476.0	2713	691	1664	1601	88.0	7.7	760	8333	0.22	2.47	27.38	0.462	11430	0.095	0.078	2795	2100	1422	1462	1383	0	0	0	0	0	0	14.06	14.09	13.64
8638	0.67	533.6	2796	2101	1467	1391	50.2	7.3	797	8674	0.00	2.47	30.85	0.350	8484	0.000	0.080	2796	3509	1188	1246	1130	0	0	0	0	0	0	14.38	13.94	13.70
8844	0.73	549.9	2793	3507	1246	1139	31.0	9.3	838	8862	0.00	2.42	9.98	0.300	9382	0.000	0.065	2804	2099	1120	1183	1057	0	0	0	0	0	0	14.14	14.03	13.39
9159	0.98	701.2	2804	2100	1184	1072	12.1	3.0	871	9252	0.28	2.58	82.80	0.240	10916	0.086	0.090	2907	689	498	520	477	0	0	0	0	0	0	14.15	13.96	13.80
9279	1.02	701.2	2907	687	521	476	2.7	10.6	890	9284	0.00	2.50	0.00	0.000	1158	0.000	0.075	2906	2110	497	520	475	0	0	0	0	0	0	14.10	13.98	14.13
9289	end climb: SURFACE_DEPTH_REACHED
state	9290	begin surface coast
9300	end surface coast: CONTROL_FINISHED_OK
state	9300	begin surface