Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 37 * 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 37 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 48

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 119.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 119.0 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 24 VBD_MIN 500

DIVE 37 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 100817,204104,7141.0342,-14726.4697,25,0.8,27,21.4,0.3,134.1,9,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 328.3,185915,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 100817,211152,7140.8232,-14726.1357,8,0.7,10,21.4,0.9,114.0,11,9.9

Post-dive calculations and measurements:

FINISH 0.0,1.019792 _24V_AH 12.70,60.130

SM_CCo 9055,84.10,0.207,0,0,499,703.03 _10V_AH 12.65,0.000

SM_GC 1.07,8.20,0.17,84.10,0.083,0.116,0.207,201,2222,499,-7.38,-0.71,703.03,0,0,0,0,0,0,14.16,14.18,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 369 FG_AHR_10Vo 0.000

RAFOS_FIX 7144.114746,-14721.083008,100817,202026,3,255,0.94 MEM 323784

IRIDIUM_FIX 7143.63,-14732.78,100817,210033 DATA_FILE_SIZE 26662,760

TT8_MAMPS 0.038948,0.856107 CAP_FILE_SIZE 113771,0

HUMID 49.44 CFSIZE 2097872896,2071855104

INTERNAL_PRESSURE 7.79129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.40 SOUNDSPEED 1451.0

XPDR_PINGS 23 CURRENT 0.098,216.98,1

CP_FREE 16013197312.000000 GPS 100817,234603,7141.616,-14727.116,32,0.7,33,21.4,0.0,128.6,11,7.8

PM_FREEKB_00 60228800

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 448 145.89 nil 0 0 0.00

Roll_motor 90 2132 2443.03 nil 0 0 0.00

VBD_pump_during_apogee 888 1460 16469.64 nil 0 0 0.00

VBD_pump_during_surface 84 207 221.43 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 9068 14 1620.47

Iridium_during_xfer 1069 170 2317.94 NCP 9057 111 12767.65

Transponder_ping 5 420 30.67 PMAR 9013 16 1897.72

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.35

TT8 0 0 0.00

LPSleep 6741 2 196.99

TT8_Active 874 13 154.56

TT8_Sampling 2798 33 1184.02

TT8_CF8 587 38 287.75

TT8_Kalman 0 0 0.00

Analog_circuits 2799 10 354.12

GPS_charging 0 0 0.00

Compass 1090 7 96.60

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 165 2222 506 479 0.0 0.0 0 128 0.00 0.00 -80.88 0.000 16386 0.000 0.000 163 2222 2214 2156 2273 0 0 0 0 0 0 14.17 28.83 14.19

131 -0.57 -145.9 170 2222 2157 2272 3.5 -5.1 8 184 12.62 2.85 -31.52 0.000 18980 0.448 2.132 2385 796 3964 3949 3979 0 0 0 0 0 0 13.67 12.71 14.07

254 -0.55 -145.9 2385 797 3954 3979 37.2 -18.5 32 259 0.00 2.50 0.00 0.000 1158 0.000 0.087 2378 2187 3966 3954 3979 0 0 0 0 0 0 13.80 13.47 13.93

564 -0.55 -145.9 2379 2188 3959 3979 93.2 -15.2 64 569 0.00 2.53 0.00 0.000 260 0.000 0.087 2376 3616 3968 3958 3978 0 0 0 0 0 0 14.35 13.96 14.37

719 -0.64 -145.9 2376 3616 3960 3979 111.9 -11.3 95 725 0.00 2.42 0.00 0.000 1158 0.000 0.055 2376 2188 3968 3958 3979 0 0 0 0 0 0 14.13 14.03 14.14

1045 -0.69 -145.9 2376 2188 3959 3980 150.7 -11.5 110 1050 0.00 2.53 0.00 0.000 388 0.000 0.086 2367 3619 3969 3959 3979 0 0 0 0 0 0 14.45 14.09 14.46

1105 -0.83 -145.9 2367 3619 3959 3980 157.3 -10.3 122 1110 0.17 2.42 0.00 0.000 5254 0.108 0.055 2294 2191 3971 3964 3979 0 0 0 0 0 0 14.14 14.07 14.24

1435 -0.75 -145.9 2295 2189 3959 3978 212.3 -16.3 138 1441 0.15 2.50 0.00 0.000 2436 0.289 0.082 2320 3615 3967 3957 3978 0 0 0 0 0 0 13.95 14.15 14.12

1566 -0.82 -145.9 2320 3616 3956 3983 227.5 -10.8 164 1571 0.00 2.40 0.00 0.000 1158 0.000 0.057 2320 2198 3966 3955 3978 0 0 0 0 0 0 14.27 14.16 14.30

1886 -0.84 -145.9 2320 2197 3957 3975 265.3 -11.6 178 1891 0.00 2.50 0.00 0.000 388 0.000 0.089 2319 3614 3965 3955 3975 0 0 0 0 0 0 14.50 14.16 14.51

1966 -0.94 -145.9 2319 3616 3955 3975 274.2 -10.2 194 1971 0.12 2.40 0.00 0.000 5254 0.134 0.057 2268 2201 3964 3954 3975 0 0 0 0 0 0 14.22 14.21 14.31

2276 -0.86 -145.9 2268 2199 3955 3972 320.8 -15.1 206 2282 0.12 2.50 0.00 0.000 2436 0.310 0.083 2286 3614 3963 3953 3973 0 0 0 0 0 0 13.88 14.14 14.04

2383 -0.88 -145.9 2286 3616 3953 3974 334.4 -11.9 227 2389 0.00 2.40 0.00 0.000 1158 0.000 0.058 2286 2198 3962 3952 3973 0 0 0 0 0 0 14.32 14.21 14.35

2699 -0.85 -145.9 2286 2196 3953 3970 374.1 -12.5 240 2704 0.00 2.50 0.00 0.000 388 0.000 0.086 2280 3616 3961 3952 3970 0 0 0 0 0 0 14.51 14.12 14.53

2769 -0.85 -145.9 2281 3616 3952 3970 382.9 -12.1 254 2774 0.00 2.40 0.00 0.000 1030 0.000 0.060 2280 2202 3960 3951 3970 0 0 0 0 0 0 14.33 14.20 14.34

3089 -0.82 -145.9 2280 2201 3952 3969 423.9 -12.7 268 3095 0.12 2.50 0.00 0.000 2436 0.314 0.085 2305 3616 3960 3951 3969 0 0 0 0 0 0 13.90 14.13 14.09

3165 -0.91 -145.9 2306 3617 3950 3970 431.9 -9.6 283 3171 0.00 2.42 0.00 0.000 1190 0.000 0.057 2305 2190 3960 3951 3969 0 0 0 0 0 0 14.24 14.13 14.29

3481 -0.94 -145.9 2306 2189 3952 3967 465.0 -10.5 296 3486 0.00 2.53 0.00 0.000 388 0.000 0.088 2305 3614 3959 3951 3967 0 0 0 0 0 0 14.50 14.12 14.52

3552 -1.04 -145.9 2305 3615 3950 3968 472.1 -9.6 310 3557 0.20 2.40 0.00 0.000 5286 0.108 0.057 2235 2196 3958 3950 3966 0 0 0 0 0 0 14.21 14.19 14.29

3629 end dive: TARGET_DEPTH_EXCEEDED

state 3629 begin apogee

3635 -0.13 0.0 2236 2058 3950 3967 484.3 -16.0 316 3844 1.23 0.10 205.05 1.415 10246 0.286 0.158 2525 2123 3365 3395 3336 0 0 0 0 0 0 13.85 13.49 12.93

3848 end apogee: CONTROL_FINISHED_OK

state 3848 begin climb

3851 0.57 145.9 2527 2124 3388 3328 493.9 0.0 323 4060 0.75 2.60 193.18 1.374 10500 0.066 0.075 2780 3495 2756 2798 2715 0 0 0 0 0 0 13.62 13.17 12.70

4287 0.16 145.9 2779 3494 2787 2713 454.1 17.9 369 4292 0.73 2.38 0.00 0.000 5254 0.344 0.057 2642 2128 2750 2786 2714 0 0 0 0 0 0 13.48 13.78 13.81

4598 0.09 168.8 2642 2127 2788 2713 424.6 8.9 381 4629 0.00 2.53 26.80 1.460 8612 0.000 0.081 2642 3500 2673 2714 2632 0 0 0 0 0 0 14.26 13.90 13.26

4744 -0.01 168.8 2642 3501 2705 2626 409.4 10.7 410 4751 0.30 2.42 0.00 0.000 5254 0.259 0.059 2581 2100 2665 2705 2625 0 0 0 0 0 0 13.78 13.57 14.05

5050 0.13 258.2 2581 2101 2705 2621 390.9 5.9 421 5189 0.15 2.65 130.15 1.330 10916 0.122 0.086 2646 690 2304 2351 2257 0 0 0 0 0 0 14.14 13.63 13.09

5221 0.19 258.2 2645 691 2347 2254 374.9 10.0 450 5226 0.00 2.53 0.00 0.000 1158 0.000 0.080 2646 2086 2298 2344 2253 0 0 0 0 0 0 13.83 13.74 13.83

5531 0.19 258.2 2646 2088 2343 2243 342.7 10.3 462 5532 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2086 2292 2342 2243 0 0 0 0 0 0 14.26 14.27 14.27

5831 0.19 258.2 2647 2086 2341 2240 311.8 10.2 472 5832 0.00 0.00 0.00 0.000 6 0.000 0.000 2646 2086 2290 2341 2240 0 0 0 0 0 0 14.39 14.41 14.41

6131 0.20 264.3 2646 2086 2341 2240 282.2 9.7 482 6136 0.00 2.45 0.00 0.000 548 0.000 0.086 2646 690 2290 2340 2240 0 0 0 0 0 0 14.45 14.14 14.47

6172 0.29 279.5 2646 690 2339 2241 278.4 9.3 490 6208 0.00 2.47 26.77 1.405 9382 0.000 0.080 2646 2108 2222 2271 2173 0 0 0 0 0 0 14.28 14.16 13.45

6525 0.33 295.0 2646 2108 2265 2165 244.8 9.3 510 6554 0.12 0.00 22.02 1.426 10406 0.131 0.000 2696 2108 2162 2214 2111 0 0 0 0 0 0 14.16 14.07 13.40

6853 0.29 295.0 2696 2109 2204 2105 202.5 12.8 521 6858 0.00 2.50 0.00 0.000 644 0.000 0.086 2699 690 2153 2204 2103 0 0 0 0 0 0 14.38 14.08 14.42

6928 0.31 295.0 2700 690 2202 2105 193.9 11.3 536 6934 0.00 2.47 0.00 0.000 1158 0.000 0.080 2699 2105 2153 2202 2104 0 0 0 0 0 0 14.23 14.13 14.27

7244 0.29 295.0 2699 2106 2202 2104 159.4 10.3 549 7249 0.00 2.47 0.00 0.000 388 0.000 0.085 2699 3513 2151 2201 2102 0 0 0 0 0 0 14.45 14.14 14.47

7299 0.25 295.0 2699 3514 2201 2104 153.3 11.0 560 7306 0.15 2.42 0.00 0.000 5254 0.261 0.063 2667 2095 2151 2200 2103 0 0 0 0 0 0 14.00 14.14 14.21

7604 0.37 365.3 2668 2094 2201 2102 131.6 6.8 571 7730 0.00 2.55 119.20 1.206 8868 0.000 0.086 2672 690 1871 1909 1833 0 0 0 0 0 0 14.47 13.66 13.24

7797 0.57 426.5 2673 690 1899 1833 118.3 7.2 609 7902 0.30 2.53 97.78 1.148 11430 0.088 0.080 2780 2098 1625 1664 1587 0 0 0 0 0 0 13.93 13.85 13.09

8209 0.54 426.5 2782 2099 1657 1566 61.9 12.9 659 8214 0.00 2.55 0.00 0.000 644 0.000 0.089 2781 691 1611 1656 1566 0 0 0 0 0 0 14.16 13.89 14.17

8279 0.58 426.5 2781 687 1654 1567 53.7 11.0 673 8284 0.00 2.53 0.00 0.000 1158 0.000 0.080 2780 2100 1609 1653 1566 0 0 0 0 0 0 14.03 13.95 14.06

8589 0.63 492.9 2781 2102 1654 1563 27.7 6.9 705 8633 0.00 2.55 34.33 0.287 8740 0.000 0.086 2781 698 1350 1407 1294 0 0 0 0 0 0 14.32 13.98 13.78

8663 0.79 552.5 2782 699 1407 1298 22.5 7.3 719 8701 0.17 2.47 32.72 0.271 11430 0.115 0.080 2852 2100 1111 1181 1042 0 0 0 0 0 0 14.04 14.02 13.78

9004 end climb: SURFACE_DEPTH_REACHED

state 9004 begin surface coast

9034 end surface coast: CONTROL_FINISHED_OK

state 9034 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	37	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	48
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	119.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100817,204104,7141.0342,-14726.4697,25,0.8,27,21.4,0.3,134.1,9,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	328.3,185915,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	100817,211152,7140.8232,-14726.1357,8,0.7,10,21.4,0.9,114.0,11,9.9

FINISH	0.0,1.019792	_24V_AH	12.70,60.130
SM_CCo	9055,84.10,0.207,0,0,499,703.03	_10V_AH	12.65,0.000
SM_GC	1.07,8.20,0.17,84.10,0.083,0.116,0.207,201,2222,499,-7.38,-0.71,703.03,0,0,0,0,0,0,14.16,14.18,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	369	FG_AHR_10Vo	0.000
RAFOS_FIX	7144.114746,-14721.083008,100817,202026,3,255,0.94	MEM	323784
IRIDIUM_FIX	7143.63,-14732.78,100817,210033	DATA_FILE_SIZE	26662,760
TT8_MAMPS	0.038948,0.856107	CAP_FILE_SIZE	113771,0
HUMID	49.44	CFSIZE	2097872896,2071855104
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.40	SOUNDSPEED	1451.0
XPDR_PINGS	23	CURRENT	0.098,216.98,1
CP_FREE	16013197312.000000	GPS	100817,234603,7141.616,-14727.116,32,0.7,33,21.4,0.0,128.6,11,7.8
PM_FREEKB_00	60228800

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	448	145.89	nil	0	0	0.00
Roll_motor	90	2132	2443.03	nil	0	0	0.00
VBD_pump_during_apogee	888	1460	16469.64	nil	0	0	0.00
VBD_pump_during_surface	84	207	221.43	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	9068	14	1620.47
Iridium_during_xfer	1069	170	2317.94	NCP	9057	111	12767.65
Transponder_ping	5	420	30.67	PMAR	9013	16	1897.72
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.35
TT8	0	0	0.00
LPSleep	6741	2	196.99
TT8_Active	874	13	154.56
TT8_Sampling	2798	33	1184.02
TT8_CF8	587	38	287.75
TT8_Kalman	0	0	0.00
Analog_circuits	2799	10	354.12
GPS_charging	0	0	0.00
Compass	1090	7	96.60
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	165	2222	506	479	0.0	0.0	0	128	0.00	0.00	-80.88	0.000	16386	0.000	0.000	163	2222	2214	2156	2273	0	0	0	0	0	0	14.17	28.83	14.19
131	-0.57	-145.9	170	2222	2157	2272	3.5	-5.1	8	184	12.62	2.85	-31.52	0.000	18980	0.448	2.132	2385	796	3964	3949	3979	0	0	0	0	0	0	13.67	12.71	14.07
254	-0.55	-145.9	2385	797	3954	3979	37.2	-18.5	32	259	0.00	2.50	0.00	0.000	1158	0.000	0.087	2378	2187	3966	3954	3979	0	0	0	0	0	0	13.80	13.47	13.93
564	-0.55	-145.9	2379	2188	3959	3979	93.2	-15.2	64	569	0.00	2.53	0.00	0.000	260	0.000	0.087	2376	3616	3968	3958	3978	0	0	0	0	0	0	14.35	13.96	14.37
719	-0.64	-145.9	2376	3616	3960	3979	111.9	-11.3	95	725	0.00	2.42	0.00	0.000	1158	0.000	0.055	2376	2188	3968	3958	3979	0	0	0	0	0	0	14.13	14.03	14.14
1045	-0.69	-145.9	2376	2188	3959	3980	150.7	-11.5	110	1050	0.00	2.53	0.00	0.000	388	0.000	0.086	2367	3619	3969	3959	3979	0	0	0	0	0	0	14.45	14.09	14.46
1105	-0.83	-145.9	2367	3619	3959	3980	157.3	-10.3	122	1110	0.17	2.42	0.00	0.000	5254	0.108	0.055	2294	2191	3971	3964	3979	0	0	0	0	0	0	14.14	14.07	14.24
1435	-0.75	-145.9	2295	2189	3959	3978	212.3	-16.3	138	1441	0.15	2.50	0.00	0.000	2436	0.289	0.082	2320	3615	3967	3957	3978	0	0	0	0	0	0	13.95	14.15	14.12
1566	-0.82	-145.9	2320	3616	3956	3983	227.5	-10.8	164	1571	0.00	2.40	0.00	0.000	1158	0.000	0.057	2320	2198	3966	3955	3978	0	0	0	0	0	0	14.27	14.16	14.30
1886	-0.84	-145.9	2320	2197	3957	3975	265.3	-11.6	178	1891	0.00	2.50	0.00	0.000	388	0.000	0.089	2319	3614	3965	3955	3975	0	0	0	0	0	0	14.50	14.16	14.51
1966	-0.94	-145.9	2319	3616	3955	3975	274.2	-10.2	194	1971	0.12	2.40	0.00	0.000	5254	0.134	0.057	2268	2201	3964	3954	3975	0	0	0	0	0	0	14.22	14.21	14.31
2276	-0.86	-145.9	2268	2199	3955	3972	320.8	-15.1	206	2282	0.12	2.50	0.00	0.000	2436	0.310	0.083	2286	3614	3963	3953	3973	0	0	0	0	0	0	13.88	14.14	14.04
2383	-0.88	-145.9	2286	3616	3953	3974	334.4	-11.9	227	2389	0.00	2.40	0.00	0.000	1158	0.000	0.058	2286	2198	3962	3952	3973	0	0	0	0	0	0	14.32	14.21	14.35
2699	-0.85	-145.9	2286	2196	3953	3970	374.1	-12.5	240	2704	0.00	2.50	0.00	0.000	388	0.000	0.086	2280	3616	3961	3952	3970	0	0	0	0	0	0	14.51	14.12	14.53
2769	-0.85	-145.9	2281	3616	3952	3970	382.9	-12.1	254	2774	0.00	2.40	0.00	0.000	1030	0.000	0.060	2280	2202	3960	3951	3970	0	0	0	0	0	0	14.33	14.20	14.34
3089	-0.82	-145.9	2280	2201	3952	3969	423.9	-12.7	268	3095	0.12	2.50	0.00	0.000	2436	0.314	0.085	2305	3616	3960	3951	3969	0	0	0	0	0	0	13.90	14.13	14.09
3165	-0.91	-145.9	2306	3617	3950	3970	431.9	-9.6	283	3171	0.00	2.42	0.00	0.000	1190	0.000	0.057	2305	2190	3960	3951	3969	0	0	0	0	0	0	14.24	14.13	14.29
3481	-0.94	-145.9	2306	2189	3952	3967	465.0	-10.5	296	3486	0.00	2.53	0.00	0.000	388	0.000	0.088	2305	3614	3959	3951	3967	0	0	0	0	0	0	14.50	14.12	14.52
3552	-1.04	-145.9	2305	3615	3950	3968	472.1	-9.6	310	3557	0.20	2.40	0.00	0.000	5286	0.108	0.057	2235	2196	3958	3950	3966	0	0	0	0	0	0	14.21	14.19	14.29
3629	end dive: TARGET_DEPTH_EXCEEDED
state	3629	begin apogee
3635	-0.13	0.0	2236	2058	3950	3967	484.3	-16.0	316	3844	1.23	0.10	205.05	1.415	10246	0.286	0.158	2525	2123	3365	3395	3336	0	0	0	0	0	0	13.85	13.49	12.93
3848	end apogee: CONTROL_FINISHED_OK
state	3848	begin climb
3851	0.57	145.9	2527	2124	3388	3328	493.9	0.0	323	4060	0.75	2.60	193.18	1.374	10500	0.066	0.075	2780	3495	2756	2798	2715	0	0	0	0	0	0	13.62	13.17	12.70
4287	0.16	145.9	2779	3494	2787	2713	454.1	17.9	369	4292	0.73	2.38	0.00	0.000	5254	0.344	0.057	2642	2128	2750	2786	2714	0	0	0	0	0	0	13.48	13.78	13.81
4598	0.09	168.8	2642	2127	2788	2713	424.6	8.9	381	4629	0.00	2.53	26.80	1.460	8612	0.000	0.081	2642	3500	2673	2714	2632	0	0	0	0	0	0	14.26	13.90	13.26
4744	-0.01	168.8	2642	3501	2705	2626	409.4	10.7	410	4751	0.30	2.42	0.00	0.000	5254	0.259	0.059	2581	2100	2665	2705	2625	0	0	0	0	0	0	13.78	13.57	14.05
5050	0.13	258.2	2581	2101	2705	2621	390.9	5.9	421	5189	0.15	2.65	130.15	1.330	10916	0.122	0.086	2646	690	2304	2351	2257	0	0	0	0	0	0	14.14	13.63	13.09
5221	0.19	258.2	2645	691	2347	2254	374.9	10.0	450	5226	0.00	2.53	0.00	0.000	1158	0.000	0.080	2646	2086	2298	2344	2253	0	0	0	0	0	0	13.83	13.74	13.83
5531	0.19	258.2	2646	2088	2343	2243	342.7	10.3	462	5532	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2086	2292	2342	2243	0	0	0	0	0	0	14.26	14.27	14.27
5831	0.19	258.2	2647	2086	2341	2240	311.8	10.2	472	5832	0.00	0.00	0.00	0.000	6	0.000	0.000	2646	2086	2290	2341	2240	0	0	0	0	0	0	14.39	14.41	14.41
6131	0.20	264.3	2646	2086	2341	2240	282.2	9.7	482	6136	0.00	2.45	0.00	0.000	548	0.000	0.086	2646	690	2290	2340	2240	0	0	0	0	0	0	14.45	14.14	14.47
6172	0.29	279.5	2646	690	2339	2241	278.4	9.3	490	6208	0.00	2.47	26.77	1.405	9382	0.000	0.080	2646	2108	2222	2271	2173	0	0	0	0	0	0	14.28	14.16	13.45
6525	0.33	295.0	2646	2108	2265	2165	244.8	9.3	510	6554	0.12	0.00	22.02	1.426	10406	0.131	0.000	2696	2108	2162	2214	2111	0	0	0	0	0	0	14.16	14.07	13.40
6853	0.29	295.0	2696	2109	2204	2105	202.5	12.8	521	6858	0.00	2.50	0.00	0.000	644	0.000	0.086	2699	690	2153	2204	2103	0	0	0	0	0	0	14.38	14.08	14.42
6928	0.31	295.0	2700	690	2202	2105	193.9	11.3	536	6934	0.00	2.47	0.00	0.000	1158	0.000	0.080	2699	2105	2153	2202	2104	0	0	0	0	0	0	14.23	14.13	14.27
7244	0.29	295.0	2699	2106	2202	2104	159.4	10.3	549	7249	0.00	2.47	0.00	0.000	388	0.000	0.085	2699	3513	2151	2201	2102	0	0	0	0	0	0	14.45	14.14	14.47
7299	0.25	295.0	2699	3514	2201	2104	153.3	11.0	560	7306	0.15	2.42	0.00	0.000	5254	0.261	0.063	2667	2095	2151	2200	2103	0	0	0	0	0	0	14.00	14.14	14.21
7604	0.37	365.3	2668	2094	2201	2102	131.6	6.8	571	7730	0.00	2.55	119.20	1.206	8868	0.000	0.086	2672	690	1871	1909	1833	0	0	0	0	0	0	14.47	13.66	13.24
7797	0.57	426.5	2673	690	1899	1833	118.3	7.2	609	7902	0.30	2.53	97.78	1.148	11430	0.088	0.080	2780	2098	1625	1664	1587	0	0	0	0	0	0	13.93	13.85	13.09
8209	0.54	426.5	2782	2099	1657	1566	61.9	12.9	659	8214	0.00	2.55	0.00	0.000	644	0.000	0.089	2781	691	1611	1656	1566	0	0	0	0	0	0	14.16	13.89	14.17
8279	0.58	426.5	2781	687	1654	1567	53.7	11.0	673	8284	0.00	2.53	0.00	0.000	1158	0.000	0.080	2780	2100	1609	1653	1566	0	0	0	0	0	0	14.03	13.95	14.06
8589	0.63	492.9	2781	2102	1654	1563	27.7	6.9	705	8633	0.00	2.55	34.33	0.287	8740	0.000	0.086	2781	698	1350	1407	1294	0	0	0	0	0	0	14.32	13.98	13.78
8663	0.79	552.5	2782	699	1407	1298	22.5	7.3	719	8701	0.17	2.47	32.72	0.271	11430	0.115	0.080	2852	2100	1111	1181	1042	0	0	0	0	0	0	14.04	14.02	13.78
9004	end climb: SURFACE_DEPTH_REACHED
state	9004	begin surface coast
9034	end surface coast: CONTROL_FINISHED_OK
state	9034	begin surface