Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 43 * 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 43 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 133.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 39 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 133.0 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 28 VBD_MIN 500

DIVE 43 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 110817,155230,7144.6328,-14728.5381,24,0.6,33,21.4,0.0,126.3,12,9.8 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 1.08 MHEAD_RNG_PITCHd_Wd 331.5,179740,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 480

GPS2 110817,164951,7144.2319,-14728.2979,7,0.8,21,21.4,0.3,185.1,10,9.9

Post-dive calculations and measurements:

FINISH 0.9,1.019967 _24V_AH 12.69,63.345

SM_CCo 8983,19.27,0.220,0,0,500,702.78 _10V_AH 12.63,0.000

SM_GC 1.00,8.20,2.30,19.27,0.073,0.062,0.220,205,2203,500,-7.37,0.85,702.78,0,0,0,0,0,0,14.14,14.09,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 330 FG_AHR_10Vo 0.000

RAFOS_FIX 7143.094727,-14732.961914,110817,080823,2,255,0.45 MEM 323700

IRIDIUM_FIX 7146.45,-14734.89,110817,161625 DATA_FILE_SIZE 26741,755

TT8_MAMPS 0.038199,0.889812 CAP_FILE_SIZE 122556,0

HUMID 48.50 CFSIZE 2097872896,2074935296

INTERNAL_PRESSURE 7.79129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1451.8

XPDR_PINGS 105 CURRENT 0.085,201.35,1

CP_FREE 16012148736.000000 GPS 110817,192135,7144.981,-14728.616,26,1.1,28,21.4,0.5,132.0,7,8.8

PM_FREEKB_00 59791296

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 149.46 nil 0 0 0.00

Roll_motor 89 2122 2410.20 nil 0 0 0.00

VBD_pump_during_apogee 1117 1448 20528.44 nil 0 0 0.00

VBD_pump_during_surface 19 219 53.70 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 8987 14 1628.33

Iridium_during_xfer 2809 195 6983.19 NCP 8977 20 2278.36

Transponder_ping 26 420 139.91 PMAR 8936 16 1879.34

GUMSTIX_24V 0 0 0.00

GPS 22 22 6.47

TT8 0 0 0.00

LPSleep 6442 2 187.95

TT8_Active 1044 13 184.31

TT8_Sampling 4427 33 1869.84

TT8_CF8 537 38 262.78

TT8_Kalman 0 0 0.00

Analog_circuits 4695 10 593.06

GPS_charging 0 0 0.00

Compass 1086 7 96.02

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 -145.9 161 2219 508 486 0.0 0.0 0 129 0.00 0.00 -81.43 0.000 16386 0.000 0.000 158 2219 2242 2175 2310 0 0 0 0 0 0 14.32 28.83 14.34

132 -0.57 -145.9 159 2220 2178 2311 3.5 -4.5 8 180 12.75 2.75 -30.45 0.000 18980 0.452 2.122 2385 790 3962 3952 3972 0 0 0 0 0 0 13.71 13.02 14.07

260 -0.52 -145.9 2385 791 3957 3974 39.4 -19.8 33 267 0.15 2.45 0.00 0.000 3206 0.312 0.082 2403 2181 3965 3957 3973 0 0 0 0 0 0 13.78 13.99 14.04

565 -0.55 -145.9 2404 2183 3962 3973 85.6 -12.8 64 570 0.00 2.53 0.00 0.000 388 0.000 0.086 2401 3610 3967 3961 3973 0 0 0 0 0 0 14.39 14.01 14.40

675 -0.69 -145.9 2401 3611 3962 3973 97.6 -9.8 86 681 0.15 2.38 0.00 0.000 5286 0.111 0.050 2341 2199 3966 3961 3972 0 0 0 0 0 0 14.12 14.08 14.18

1006 -0.66 -145.9 2341 2198 3962 3972 148.5 -15.0 100 1011 0.00 2.47 0.00 0.000 388 0.000 0.083 2332 3613 3966 3961 3972 0 0 0 0 0 0 14.47 14.12 14.48

1106 -0.72 -145.9 2333 3613 3962 3971 162.1 -12.7 120 1111 0.00 2.38 0.00 0.000 1158 0.000 0.053 2333 2199 3966 3961 3972 0 0 0 0 0 0 14.23 14.15 14.28

1426 -0.72 -145.9 2333 2198 3962 3970 204.0 -12.3 134 1431 0.00 2.50 0.00 0.000 260 0.000 0.086 2335 3620 3965 3961 3970 0 0 0 0 0 0 14.50 14.14 14.52

1471 -0.81 -145.9 2333 3620 3962 3970 208.9 -10.4 143 1477 0.00 2.40 0.00 0.000 1158 0.000 0.054 2332 2198 3965 3961 3969 0 0 0 0 0 0 14.26 14.12 14.32

1787 -0.85 -145.9 2333 2197 3962 3965 242.5 -10.2 156 1792 0.00 2.50 0.00 0.000 388 0.000 0.087 2339 3610 3963 3961 3965 0 0 0 0 0 0 14.50 14.14 14.52

1852 -0.97 -145.9 2332 3612 3960 3966 248.8 -9.2 169 1857 0.20 2.40 0.00 0.000 5286 0.103 0.056 2255 2187 3962 3960 3965 0 0 0 0 0 0 14.22 14.17 14.28

2178 -0.85 -145.9 2255 2187 3959 3962 301.1 -16.6 184 2183 0.17 2.50 0.00 0.000 2436 0.308 0.080 2284 3616 3960 3959 3961 0 0 0 0 0 0 13.76 14.07 13.95

2338 -0.85 -145.9 2284 3616 3957 3961 322.4 -12.8 216 2343 0.00 2.40 0.00 0.000 1030 0.000 0.056 2284 2195 3958 3956 3961 0 0 0 0 0 0 14.33 14.22 14.35

2658 -0.82 -145.9 2284 2194 3956 3959 365.3 -13.3 230 2663 0.12 2.47 0.00 0.000 2436 0.300 0.082 2305 3611 3956 3955 3957 0 0 0 0 0 0 13.88 14.14 14.04

2755 -0.90 -145.9 2306 3613 3955 3961 375.8 -10.1 249 2760 0.00 2.38 0.00 0.000 1158 0.000 0.054 2305 2200 3956 3954 3959 0 0 0 0 0 0 14.31 14.23 14.33

3081 -0.92 -145.9 2306 2201 3955 3959 411.7 -11.0 264 3085 0.00 2.47 0.00 0.000 388 0.000 0.086 2297 3613 3955 3954 3957 0 0 0 0 0 0 14.53 14.17 14.55

3150 -0.99 -145.9 2298 3614 3954 3959 419.5 -10.7 278 3156 0.12 2.38 0.00 0.000 5254 0.134 0.055 2250 2199 3955 3954 3957 0 0 0 0 0 0 14.23 14.22 14.33

3471 -0.88 -145.9 2249 2198 3953 3955 470.2 -16.2 292 3476 0.17 2.47 0.00 0.000 2436 0.318 0.081 2279 3611 3954 3953 3955 0 0 0 0 0 0 13.82 14.12 14.03

3544 end dive: TARGET_DEPTH_EXCEEDED

state 3544 begin apogee

3552 -0.13 0.0 2280 2100 3953 3955 480.4 -12.3 307 4003 1.00 0.00 446.88 1.171 10246 0.243 0.000 2532 2099 3365 3397 3334 0 0 0 0 0 0 13.93 13.38 12.84

4008 end apogee: CONTROL_FINISHED_OK

state 4008 begin climb

4011 0.57 145.9 2533 2100 3395 3330 504.9 0.0 322 4220 0.73 2.67 188.68 1.371 10500 0.067 0.075 2776 3510 2754 2802 2707 0 0 0 0 0 0 13.45 13.16 12.69

4447 0.17 145.9 2776 3511 2788 2707 464.4 17.9 368 4452 0.70 2.47 0.00 0.000 5254 0.344 0.057 2643 2095 2747 2788 2706 0 0 0 0 0 0 13.52 13.82 13.83

4757 0.10 173.9 2643 2092 2789 2705 435.6 8.7 380 4798 0.00 2.55 34.12 1.424 8612 0.000 0.081 2643 3517 2651 2699 2603 0 0 0 0 0 0 14.28 13.90 13.25

5023 0.02 173.9 2643 3517 2688 2596 407.9 10.8 433 5030 0.25 2.45 0.00 0.000 5254 0.253 0.060 2593 2090 2640 2686 2595 0 0 0 0 0 0 13.86 14.07 14.13

5328 0.12 250.1 2593 2089 2691 2592 387.6 6.5 444 5450 0.00 2.55 114.82 1.320 8868 0.000 0.086 2600 687 2339 2393 2285 0 0 0 0 0 0 14.44 13.72 13.17

5475 0.31 309.6 2601 689 2387 2282 377.7 7.3 458 5573 0.25 2.55 90.85 1.278 11430 0.087 0.079 2692 2101 2100 2156 2045 0 0 0 0 0 0 13.83 13.77 13.05

5870 0.28 309.6 2693 2102 2138 2026 324.1 13.7 487 5876 0.00 2.53 0.00 0.000 644 0.000 0.086 2699 689 2080 2137 2024 0 0 0 0 0 0 14.22 13.95 14.25

5916 0.28 309.6 2699 690 2135 2025 317.9 13.3 496 5921 0.00 2.50 0.00 0.000 1030 0.000 0.077 2699 2101 2079 2134 2025 0 0 0 0 0 0 14.10 14.00 14.13

6231 0.24 309.6 2701 2102 2133 2023 274.0 13.8 509 6233 0.17 0.00 0.00 0.000 4230 0.233 0.000 2659 2102 2077 2133 2022 0 0 0 0 0 0 13.98 14.26 14.19

6531 0.28 309.6 2660 2102 2132 2019 242.9 10.1 519 6537 0.00 2.50 0.00 0.000 644 0.000 0.089 2659 685 2075 2132 2019 0 0 0 0 0 0 14.47 14.16 14.50

6602 0.40 325.2 2660 683 2131 2020 236.2 9.3 533 6624 0.15 2.47 15.73 1.448 11430 0.122 0.079 2719 2098 2037 2089 1985 0 0 0 0 0 0 14.23 14.19 13.50

6924 0.35 325.2 2720 2101 2080 1976 190.6 14.1 547 6925 0.00 0.00 0.00 0.000 134 0.000 0.000 2719 2101 2028 2079 1977 0 0 0 0 0 0 14.44 14.47 14.46

7222 0.31 325.2 2719 2102 2078 1978 154.6 11.3 557 7227 0.12 2.47 0.00 0.000 4740 0.239 0.081 2697 685 2026 2077 1975 0 0 0 0 0 0 14.05 14.16 14.17

7329 0.41 355.2 2697 686 2074 1976 145.3 8.6 578 7384 0.00 2.47 47.70 1.291 9382 0.000 0.080 2697 2108 1914 1957 1871 0 0 0 0 0 0 14.32 14.20 13.41

7704 0.49 382.8 2697 2109 1945 1866 111.9 8.7 603 7750 0.12 2.53 39.83 1.271 10916 0.133 0.084 2768 691 1800 1832 1769 0 0 0 0 0 0 14.16 13.86 13.38

7792 0.49 382.8 2768 699 1822 1770 101.1 13.1 620 7798 0.15 2.50 0.00 0.000 5126 0.249 0.079 2737 2098 1795 1822 1768 0 0 0 0 0 0 13.85 13.97 14.04

8096 0.52 393.2 2738 2099 1823 1761 69.5 9.5 649 8107 0.00 2.50 4.20 0.400 8868 0.000 0.085 2742 690 1761 1793 1730 0 0 0 0 0 0 14.34 13.97 13.73

8137 0.59 407.3 2742 691 1794 1733 65.8 9.4 657 8153 0.00 2.50 8.02 0.403 9382 0.000 0.078 2742 2109 1704 1734 1674 0 0 0 0 0 0 14.18 14.07 13.70

8459 0.73 489.3 2743 2110 1737 1673 39.6 6.2 691 8501 0.20 0.00 41.08 0.334 10662 0.106 0.000 2818 2106 1370 1420 1321 0 0 0 0 0 0 14.07 14.13 13.84

8799 0.89 664.0 2820 2110 1419 1309 12.6 1.9 726 8893 0.15 2.53 85.18 0.248 10660 0.116 0.083 2880 3507 654 720 589 0 0 0 0 0 0 14.06 13.97 13.83

8951 end climb: SURFACE_DEPTH_REACHED

state 8951 begin surface coast

8961 end surface coast: CONTROL_FINISHED_OK

state 8961 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	43	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	133.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,155230,7144.6328,-14728.5381,24,0.6,33,21.4,0.0,126.3,12,9.8	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	1.08	MHEAD_RNG_PITCHd_Wd	331.5,179740,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	480
GPS2	110817,164951,7144.2319,-14728.2979,7,0.8,21,21.4,0.3,185.1,10,9.9

FINISH	0.9,1.019967	_24V_AH	12.69,63.345
SM_CCo	8983,19.27,0.220,0,0,500,702.78	_10V_AH	12.63,0.000
SM_GC	1.00,8.20,2.30,19.27,0.073,0.062,0.220,205,2203,500,-7.37,0.85,702.78,0,0,0,0,0,0,14.14,14.09,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	330	FG_AHR_10Vo	0.000
RAFOS_FIX	7143.094727,-14732.961914,110817,080823,2,255,0.45	MEM	323700
IRIDIUM_FIX	7146.45,-14734.89,110817,161625	DATA_FILE_SIZE	26741,755
TT8_MAMPS	0.038199,0.889812	CAP_FILE_SIZE	122556,0
HUMID	48.50	CFSIZE	2097872896,2074935296
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1451.8
XPDR_PINGS	105	CURRENT	0.085,201.35,1
CP_FREE	16012148736.000000	GPS	110817,192135,7144.981,-14728.616,26,1.1,28,21.4,0.5,132.0,7,8.8
PM_FREEKB_00	59791296

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	149.46	nil	0	0	0.00
Roll_motor	89	2122	2410.20	nil	0	0	0.00
VBD_pump_during_apogee	1117	1448	20528.44	nil	0	0	0.00
VBD_pump_during_surface	19	219	53.70	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	8987	14	1628.33
Iridium_during_xfer	2809	195	6983.19	NCP	8977	20	2278.36
Transponder_ping	26	420	139.91	PMAR	8936	16	1879.34
GUMSTIX_24V	0	0	0.00
GPS	22	22	6.47
TT8	0	0	0.00
LPSleep	6442	2	187.95
TT8_Active	1044	13	184.31
TT8_Sampling	4427	33	1869.84
TT8_CF8	537	38	262.78
TT8_Kalman	0	0	0.00
Analog_circuits	4695	10	593.06
GPS_charging	0	0	0.00
Compass	1086	7	96.02
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	161	2219	508	486	0.0	0.0	0	129	0.00	0.00	-81.43	0.000	16386	0.000	0.000	158	2219	2242	2175	2310	0	0	0	0	0	0	14.32	28.83	14.34
132	-0.57	-145.9	159	2220	2178	2311	3.5	-4.5	8	180	12.75	2.75	-30.45	0.000	18980	0.452	2.122	2385	790	3962	3952	3972	0	0	0	0	0	0	13.71	13.02	14.07
260	-0.52	-145.9	2385	791	3957	3974	39.4	-19.8	33	267	0.15	2.45	0.00	0.000	3206	0.312	0.082	2403	2181	3965	3957	3973	0	0	0	0	0	0	13.78	13.99	14.04
565	-0.55	-145.9	2404	2183	3962	3973	85.6	-12.8	64	570	0.00	2.53	0.00	0.000	388	0.000	0.086	2401	3610	3967	3961	3973	0	0	0	0	0	0	14.39	14.01	14.40
675	-0.69	-145.9	2401	3611	3962	3973	97.6	-9.8	86	681	0.15	2.38	0.00	0.000	5286	0.111	0.050	2341	2199	3966	3961	3972	0	0	0	0	0	0	14.12	14.08	14.18
1006	-0.66	-145.9	2341	2198	3962	3972	148.5	-15.0	100	1011	0.00	2.47	0.00	0.000	388	0.000	0.083	2332	3613	3966	3961	3972	0	0	0	0	0	0	14.47	14.12	14.48
1106	-0.72	-145.9	2333	3613	3962	3971	162.1	-12.7	120	1111	0.00	2.38	0.00	0.000	1158	0.000	0.053	2333	2199	3966	3961	3972	0	0	0	0	0	0	14.23	14.15	14.28
1426	-0.72	-145.9	2333	2198	3962	3970	204.0	-12.3	134	1431	0.00	2.50	0.00	0.000	260	0.000	0.086	2335	3620	3965	3961	3970	0	0	0	0	0	0	14.50	14.14	14.52
1471	-0.81	-145.9	2333	3620	3962	3970	208.9	-10.4	143	1477	0.00	2.40	0.00	0.000	1158	0.000	0.054	2332	2198	3965	3961	3969	0	0	0	0	0	0	14.26	14.12	14.32
1787	-0.85	-145.9	2333	2197	3962	3965	242.5	-10.2	156	1792	0.00	2.50	0.00	0.000	388	0.000	0.087	2339	3610	3963	3961	3965	0	0	0	0	0	0	14.50	14.14	14.52
1852	-0.97	-145.9	2332	3612	3960	3966	248.8	-9.2	169	1857	0.20	2.40	0.00	0.000	5286	0.103	0.056	2255	2187	3962	3960	3965	0	0	0	0	0	0	14.22	14.17	14.28
2178	-0.85	-145.9	2255	2187	3959	3962	301.1	-16.6	184	2183	0.17	2.50	0.00	0.000	2436	0.308	0.080	2284	3616	3960	3959	3961	0	0	0	0	0	0	13.76	14.07	13.95
2338	-0.85	-145.9	2284	3616	3957	3961	322.4	-12.8	216	2343	0.00	2.40	0.00	0.000	1030	0.000	0.056	2284	2195	3958	3956	3961	0	0	0	0	0	0	14.33	14.22	14.35
2658	-0.82	-145.9	2284	2194	3956	3959	365.3	-13.3	230	2663	0.12	2.47	0.00	0.000	2436	0.300	0.082	2305	3611	3956	3955	3957	0	0	0	0	0	0	13.88	14.14	14.04
2755	-0.90	-145.9	2306	3613	3955	3961	375.8	-10.1	249	2760	0.00	2.38	0.00	0.000	1158	0.000	0.054	2305	2200	3956	3954	3959	0	0	0	0	0	0	14.31	14.23	14.33
3081	-0.92	-145.9	2306	2201	3955	3959	411.7	-11.0	264	3085	0.00	2.47	0.00	0.000	388	0.000	0.086	2297	3613	3955	3954	3957	0	0	0	0	0	0	14.53	14.17	14.55
3150	-0.99	-145.9	2298	3614	3954	3959	419.5	-10.7	278	3156	0.12	2.38	0.00	0.000	5254	0.134	0.055	2250	2199	3955	3954	3957	0	0	0	0	0	0	14.23	14.22	14.33
3471	-0.88	-145.9	2249	2198	3953	3955	470.2	-16.2	292	3476	0.17	2.47	0.00	0.000	2436	0.318	0.081	2279	3611	3954	3953	3955	0	0	0	0	0	0	13.82	14.12	14.03
3544	end dive: TARGET_DEPTH_EXCEEDED
state	3544	begin apogee
3552	-0.13	0.0	2280	2100	3953	3955	480.4	-12.3	307	4003	1.00	0.00	446.88	1.171	10246	0.243	0.000	2532	2099	3365	3397	3334	0	0	0	0	0	0	13.93	13.38	12.84
4008	end apogee: CONTROL_FINISHED_OK
state	4008	begin climb
4011	0.57	145.9	2533	2100	3395	3330	504.9	0.0	322	4220	0.73	2.67	188.68	1.371	10500	0.067	0.075	2776	3510	2754	2802	2707	0	0	0	0	0	0	13.45	13.16	12.69
4447	0.17	145.9	2776	3511	2788	2707	464.4	17.9	368	4452	0.70	2.47	0.00	0.000	5254	0.344	0.057	2643	2095	2747	2788	2706	0	0	0	0	0	0	13.52	13.82	13.83
4757	0.10	173.9	2643	2092	2789	2705	435.6	8.7	380	4798	0.00	2.55	34.12	1.424	8612	0.000	0.081	2643	3517	2651	2699	2603	0	0	0	0	0	0	14.28	13.90	13.25
5023	0.02	173.9	2643	3517	2688	2596	407.9	10.8	433	5030	0.25	2.45	0.00	0.000	5254	0.253	0.060	2593	2090	2640	2686	2595	0	0	0	0	0	0	13.86	14.07	14.13
5328	0.12	250.1	2593	2089	2691	2592	387.6	6.5	444	5450	0.00	2.55	114.82	1.320	8868	0.000	0.086	2600	687	2339	2393	2285	0	0	0	0	0	0	14.44	13.72	13.17
5475	0.31	309.6	2601	689	2387	2282	377.7	7.3	458	5573	0.25	2.55	90.85	1.278	11430	0.087	0.079	2692	2101	2100	2156	2045	0	0	0	0	0	0	13.83	13.77	13.05
5870	0.28	309.6	2693	2102	2138	2026	324.1	13.7	487	5876	0.00	2.53	0.00	0.000	644	0.000	0.086	2699	689	2080	2137	2024	0	0	0	0	0	0	14.22	13.95	14.25
5916	0.28	309.6	2699	690	2135	2025	317.9	13.3	496	5921	0.00	2.50	0.00	0.000	1030	0.000	0.077	2699	2101	2079	2134	2025	0	0	0	0	0	0	14.10	14.00	14.13
6231	0.24	309.6	2701	2102	2133	2023	274.0	13.8	509	6233	0.17	0.00	0.00	0.000	4230	0.233	0.000	2659	2102	2077	2133	2022	0	0	0	0	0	0	13.98	14.26	14.19
6531	0.28	309.6	2660	2102	2132	2019	242.9	10.1	519	6537	0.00	2.50	0.00	0.000	644	0.000	0.089	2659	685	2075	2132	2019	0	0	0	0	0	0	14.47	14.16	14.50
6602	0.40	325.2	2660	683	2131	2020	236.2	9.3	533	6624	0.15	2.47	15.73	1.448	11430	0.122	0.079	2719	2098	2037	2089	1985	0	0	0	0	0	0	14.23	14.19	13.50
6924	0.35	325.2	2720	2101	2080	1976	190.6	14.1	547	6925	0.00	0.00	0.00	0.000	134	0.000	0.000	2719	2101	2028	2079	1977	0	0	0	0	0	0	14.44	14.47	14.46
7222	0.31	325.2	2719	2102	2078	1978	154.6	11.3	557	7227	0.12	2.47	0.00	0.000	4740	0.239	0.081	2697	685	2026	2077	1975	0	0	0	0	0	0	14.05	14.16	14.17
7329	0.41	355.2	2697	686	2074	1976	145.3	8.6	578	7384	0.00	2.47	47.70	1.291	9382	0.000	0.080	2697	2108	1914	1957	1871	0	0	0	0	0	0	14.32	14.20	13.41
7704	0.49	382.8	2697	2109	1945	1866	111.9	8.7	603	7750	0.12	2.53	39.83	1.271	10916	0.133	0.084	2768	691	1800	1832	1769	0	0	0	0	0	0	14.16	13.86	13.38
7792	0.49	382.8	2768	699	1822	1770	101.1	13.1	620	7798	0.15	2.50	0.00	0.000	5126	0.249	0.079	2737	2098	1795	1822	1768	0	0	0	0	0	0	13.85	13.97	14.04
8096	0.52	393.2	2738	2099	1823	1761	69.5	9.5	649	8107	0.00	2.50	4.20	0.400	8868	0.000	0.085	2742	690	1761	1793	1730	0	0	0	0	0	0	14.34	13.97	13.73
8137	0.59	407.3	2742	691	1794	1733	65.8	9.4	657	8153	0.00	2.50	8.02	0.403	9382	0.000	0.078	2742	2109	1704	1734	1674	0	0	0	0	0	0	14.18	14.07	13.70
8459	0.73	489.3	2743	2110	1737	1673	39.6	6.2	691	8501	0.20	0.00	41.08	0.334	10662	0.106	0.000	2818	2106	1370	1420	1321	0	0	0	0	0	0	14.07	14.13	13.84
8799	0.89	664.0	2820	2110	1419	1309	12.6	1.9	726	8893	0.15	2.53	85.18	0.248	10660	0.116	0.083	2880	3507	654	720	589	0	0	0	0	0	0	14.06	13.97	13.83
8951	end climb: SURFACE_DEPTH_REACHED
state	8951	begin surface coast
8961	end surface coast: CONTROL_FINISHED_OK
state	8961	begin surface