Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 46 * 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 46 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 141.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 141.0 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 22 VBD_MIN 500

DIVE 46 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 120817,004451,7146.1377,-14730.2744,40,0.8,42,21.4,0.3,243.4,10,7.6 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.10 MHEAD_RNG_PITCHd_Wd 330.3,176131,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.9 D_GRID 480

GPS2 120817,005058,7146.1128,-14730.3574,6,0.8,11,21.4,0.7,228.6,11,9.5

Post-dive calculations and measurements:

FINISH 0.1,1.019975 _24V_AH 12.64,64.646

SM_CCo 9312,0.00,0.000,0,0,501,703.03 _10V_AH 12.57,0.000

SM_GC 1.10,8.27,0.12,0.00,0.066,0.135,0.000,201,2226,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.12,14.09,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

RAFOS_FIX 7145.260742,-14733.255859,120817,000009,4,255,0.30 MEM 323748

IRIDIUM_FIX 7145.35,-14729.09,110817,221215 DATA_FILE_SIZE 26734,733

TT8_MAMPS 0.039697,0.854609 CAP_FILE_SIZE 98548,0

HUMID 49.29 CFSIZE 2097872896,2074181632

INTERNAL_PRESSURE 7.78152 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 INTR 0,3923.74,0x2341ea,1,24

XPDR_PINGS 6 SOUNDSPEED 1451.7

CP_FREE 16011591680.000000 CURRENT 0.077,211.48,1

PM_FREEKB_00 59574208 GPS 120817,032802,7147.053,-14730.839,35,0.8,35,21.4,0.5,304.7,10,9.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 456 142.30 nil 0 0 0.00

Roll_motor 83 2148 2254.99 nil 0 0 0.00

VBD_pump_during_apogee 866 1543 16908.63 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 9224 14 1689.99

Iridium_during_xfer 161 139 285.56 NCP 9260 20 2340.93

Transponder_ping 1 420 7.96 PMAR 9209 16 1928.89

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.28

TT8 0 0 0.00

LPSleep 6845 2 198.77

TT8_Active 917 13 161.15

TT8_Sampling 1715 33 721.19

TT8_CF8 214 38 104.39

TT8_Kalman 0 0 0.00

Analog_circuits 1766 10 222.04

GPS_charging 0 0 0.00

Compass 1051 7 92.51

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

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

45 -0.57 -145.9 192 2231 518 479 0.0 0.0 0 128 0.00 0.00 -81.28 0.000 16386 0.000 0.000 190 2231 2050 1973 2128 0 0 0 0 0 0 14.23 28.83 14.25

131 -0.57 -145.9 191 2231 1975 2129 3.4 -4.7 8 184 12.60 2.65 -35.97 0.000 19236 0.457 2.148 2376 3579 3963 3945 3981 0 0 0 0 0 0 13.67 12.95 14.06

284 -0.52 -145.9 2376 3581 3954 3982 44.6 -19.2 37 291 0.15 2.40 0.00 0.000 3206 0.269 0.062 2405 2195 3967 3954 3981 0 0 0 0 0 0 13.76 13.93 13.99

590 -0.57 -145.9 2405 2195 3959 3982 88.5 -12.4 68 594 0.00 2.47 0.00 0.000 388 0.000 0.086 2401 3587 3969 3958 3981 0 0 0 0 0 0 14.37 13.98 14.38

630 -0.69 -145.9 2402 3589 3959 3982 93.3 -11.3 76 635 0.15 2.38 0.00 0.000 5254 0.116 0.056 2347 2192 3967 3954 3981 0 0 0 0 0 0 14.06 14.03 14.12

950 -0.69 -145.9 2344 2192 3959 3982 143.1 -15.0 91 956 0.00 2.45 0.00 0.000 260 0.000 0.085 2336 3582 3969 3958 3981 0 0 0 0 0 0 14.43 14.04 14.46

1021 -0.76 -145.9 2336 3582 3959 3981 153.0 -12.5 105 1026 0.00 2.35 0.00 0.000 1158 0.000 0.057 2335 2202 3969 3958 3981 0 0 0 0 0 0 14.27 14.16 14.30

1341 -0.76 -145.9 2337 2201 3959 3981 195.4 -12.6 119 1347 0.00 2.42 0.00 0.000 260 0.000 0.087 2333 3581 3969 3958 3981 0 0 0 0 0 0 14.47 14.11 14.50

1427 -0.85 -145.9 2333 3581 3959 3982 205.2 -10.4 136 1433 0.00 2.35 0.00 0.000 1158 0.000 0.058 2333 2196 3968 3956 3981 0 0 0 0 0 0 14.26 14.13 14.28

1732 -0.89 -145.9 2333 2196 3959 3979 239.1 -10.8 147 1738 0.12 2.45 0.00 0.000 4484 0.143 0.086 2267 3580 3968 3958 3979 0 0 0 0 0 0 14.16 14.11 14.21

1813 -0.84 -145.9 2267 3581 3959 3978 251.1 -15.2 163 1819 0.17 2.35 0.00 0.000 3206 0.269 0.060 2303 2200 3968 3958 3978 0 0 0 0 0 0 13.95 14.19 14.21

2124 -0.84 -145.9 2304 2199 3959 3976 288.9 -11.8 175 2130 0.00 2.45 0.00 0.000 260 0.000 0.086 2295 3589 3967 3958 3977 0 0 0 0 0 0 14.50 14.14 14.52

2190 -0.88 -145.9 2296 3592 3959 3977 296.8 -11.6 188 2195 0.00 2.38 0.00 0.000 1158 0.000 0.059 2295 2196 3969 3962 3976 0 0 0 0 0 0 14.31 14.19 14.33

2515 -0.88 -145.9 2296 2194 3959 3974 336.7 -12.3 203 2520 0.00 2.42 0.00 0.000 260 0.000 0.086 2287 3580 3966 3958 3974 0 0 0 0 0 0 14.50 14.16 14.52

2596 -0.92 -145.9 2288 3581 3958 3974 346.6 -11.3 219 2601 0.00 2.38 0.00 0.000 1158 0.000 0.060 2288 2193 3965 3957 3974 0 0 0 0 0 0 14.28 14.16 14.30

2906 -0.92 -145.9 2288 2193 3958 3974 385.7 -12.4 231 2912 0.00 2.45 0.00 0.000 260 0.000 0.086 2280 3585 3965 3958 3973 0 0 0 0 0 0 14.51 14.15 14.53

2992 -0.95 -145.9 2280 3586 3958 3974 396.2 -12.0 248 2998 0.00 2.35 0.00 0.000 1158 0.000 0.058 2280 2198 3965 3957 3973 0 0 0 0 0 0 14.26 14.18 14.29

3297 -0.95 -145.9 2280 2198 3958 3973 434.7 -12.6 259 3303 0.00 2.45 0.00 0.000 260 0.000 0.087 2280 3586 3964 3957 3971 0 0 0 0 0 0 14.50 14.09 14.50

3383 -0.98 -145.9 2280 3587 3957 3973 445.1 -11.7 276 3389 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2196 3964 3957 3972 0 0 0 0 0 0 14.27 14.16 14.30

3685 end dive: TARGET_DEPTH_EXCEEDED

state 3686 begin apogee

3691 -0.13 0.0 2280 2058 3957 3972 483.3 -12.5 287 3903 1.00 0.00 208.57 1.437 10246 0.249 0.000 2531 2056 3361 3389 3334 0 0 0 0 0 0 13.90 13.50 12.86

3907 end apogee: CONTROL_FINISHED_OK

state 3907 begin climb

3910 0.57 145.9 2532 2057 3389 3327 493.1 0.0 294 4118 0.73 2.47 196.88 1.382 10756 0.067 0.080 2782 726 2763 2818 2708 0 0 0 0 0 0 13.56 13.24 12.64

4343 0.25 145.9 2783 726 2804 2709 459.7 15.5 374 4348 0.55 2.42 0.00 0.000 5254 0.320 0.076 2668 2072 2755 2804 2706 0 0 0 0 0 0 13.48 13.73 13.78

4664 0.11 145.9 2669 2073 2804 2701 425.6 10.3 388 4669 0.17 2.40 0.00 0.000 4740 0.306 0.077 2635 717 2752 2803 2702 0 0 0 0 0 0 13.76 13.95 13.93

4751 0.11 185.8 2635 716 2804 2703 418.4 8.2 405 4810 0.00 2.45 54.17 1.416 9382 0.000 0.080 2635 2103 2608 2669 2547 0 0 0 0 0 0 14.14 14.00 13.15

5117 0.09 203.4 2635 2103 2663 2529 384.8 9.2 428 5146 0.00 0.00 22.90 1.509 8358 0.000 0.000 2635 2101 2532 2599 2465 0 0 0 0 0 0 14.30 13.95 13.26

5445 0.10 217.0 2635 2104 2597 2458 354.0 9.4 439 5464 0.00 0.00 18.40 1.543 8230 0.000 0.000 2635 2103 2483 2553 2413 0 0 0 0 0 0 14.35 14.03 13.29

5745 0.11 232.7 2635 2103 2541 2403 326.0 9.3 449 5769 0.00 0.00 22.83 1.509 8230 0.000 0.000 2635 2103 2413 2480 2347 0 0 0 0 0 0 14.38 14.02 13.32

6045 0.12 250.5 2635 2106 2471 2344 298.2 9.2 459 6077 0.00 0.00 26.08 1.479 8230 0.000 0.000 2634 2101 2342 2397 2288 0 0 0 0 0 0 14.38 13.84 13.31

6375 0.17 275.6 2635 2103 2393 2275 268.6 8.8 470 6420 0.00 2.53 37.40 1.392 8868 0.000 0.085 2643 720 2238 2295 2181 0 0 0 0 0 0 14.38 13.93 13.30

6446 0.28 304.5 2643 721 2296 2182 262.5 8.7 484 6497 0.00 2.45 44.55 1.336 9382 0.000 0.080 2646 2102 2121 2179 2064 0 0 0 0 0 0 14.04 13.96 13.18

6797 0.36 321.6 2643 2102 2169 2054 230.0 9.2 504 6826 0.17 0.00 24.45 1.386 10406 0.106 0.000 2708 2102 2049 2103 1996 0 0 0 0 0 0 14.02 13.94 13.27

7126 0.33 321.6 2708 2101 2099 1989 187.0 12.4 515 7131 0.00 2.45 0.00 0.000 644 0.000 0.086 2711 726 2043 2097 1989 0 0 0 0 0 0 14.35 14.00 14.38

7196 0.35 321.6 2713 727 2093 1990 179.1 10.9 529 7201 0.00 2.42 0.00 0.000 1158 0.000 0.079 2713 2103 2041 2094 1989 0 0 0 0 0 0 14.21 14.10 14.23

7516 0.35 321.6 2713 2105 2095 1988 144.3 10.6 543 7522 0.00 2.42 0.00 0.000 516 0.000 0.085 2713 726 2038 2094 1983 0 0 0 0 0 0 14.43 14.09 14.45

7552 0.40 330.3 2713 726 2093 1988 140.7 9.6 550 7568 0.00 2.40 9.52 1.512 9382 0.000 0.080 2713 2100 2018 2070 1966 0 0 0 0 0 0 14.24 14.13 13.43

7878 0.41 342.8 2713 2102 2066 1962 109.0 9.4 565 7894 0.00 0.00 14.62 1.438 8230 0.000 0.000 2713 2100 1968 2019 1918 0 0 0 0 0 0 14.42 14.09 13.40

8180 0.46 377.9 2713 2100 2014 1907 82.2 8.4 587 8207 0.00 2.47 18.00 0.461 8868 0.000 0.085 2713 727 1822 1862 1782 0 0 0 0 0 0 14.37 14.04 13.73

8237 0.59 412.5 2713 732 1862 1784 77.5 8.4 598 8264 0.17 2.42 18.55 0.443 11430 0.111 0.080 2780 2100 1685 1718 1652 0 0 0 0 0 0 14.14 14.04 13.70

8562 0.60 426.2 2787 2101 1716 1635 40.7 9.4 633 8574 0.00 2.50 6.85 0.336 8740 0.000 0.086 2780 729 1627 1668 1586 0 0 0 0 0 0 14.38 14.04 13.79

8724 0.71 498.9 2780 727 1665 1585 28.8 6.6 665 8767 0.00 2.42 37.28 0.297 9382 0.000 0.080 2781 2105 1329 1388 1271 0 0 0 0 0 0 14.20 14.09 13.83

9064 1.02 702.5 2781 2105 1389 1258 12.9 0.6 703 9176 0.38 2.55 105.90 0.245 10660 0.086 0.080 2917 3510 501 536 467 0 0 0 0 0 0 14.11 14.00 13.81

9203 1.00 702.5 2918 3512 537 468 3.9 12.8 729 9208 0.00 2.42 0.00 0.000 1158 0.000 0.069 2921 2124 502 536 468 0 0 0 0 0 0 14.08 13.95 14.10

9221 end climb: SURFACE_DEPTH_REACHED

state 9221 begin surface coast

9231 end surface coast: CONTROL_FINISHED_OK

state 9231 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	46	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	141.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,004451,7146.1377,-14730.2744,40,0.8,42,21.4,0.3,243.4,10,7.6	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.10	MHEAD_RNG_PITCHd_Wd	330.3,176131,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.9	D_GRID	480
GPS2	120817,005058,7146.1128,-14730.3574,6,0.8,11,21.4,0.7,228.6,11,9.5

FINISH	0.1,1.019975	_24V_AH	12.64,64.646
SM_CCo	9312,0.00,0.000,0,0,501,703.03	_10V_AH	12.57,0.000
SM_GC	1.10,8.27,0.12,0.00,0.066,0.135,0.000,201,2226,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.12,14.09,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
RAFOS_FIX	7145.260742,-14733.255859,120817,000009,4,255,0.30	MEM	323748
IRIDIUM_FIX	7145.35,-14729.09,110817,221215	DATA_FILE_SIZE	26734,733
TT8_MAMPS	0.039697,0.854609	CAP_FILE_SIZE	98548,0
HUMID	49.29	CFSIZE	2097872896,2074181632
INTERNAL_PRESSURE	7.78152	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	INTR	0,3923.74,0x2341ea,1,24
XPDR_PINGS	6	SOUNDSPEED	1451.7
CP_FREE	16011591680.000000	CURRENT	0.077,211.48,1
PM_FREEKB_00	59574208	GPS	120817,032802,7147.053,-14730.839,35,0.8,35,21.4,0.5,304.7,10,9.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	456	142.30	nil	0	0	0.00
Roll_motor	83	2148	2254.99	nil	0	0	0.00
VBD_pump_during_apogee	866	1543	16908.63	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	9224	14	1689.99
Iridium_during_xfer	161	139	285.56	NCP	9260	20	2340.93
Transponder_ping	1	420	7.96	PMAR	9209	16	1928.89
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.28
TT8	0	0	0.00
LPSleep	6845	2	198.77
TT8_Active	917	13	161.15
TT8_Sampling	1715	33	721.19
TT8_CF8	214	38	104.39
TT8_Kalman	0	0	0.00
Analog_circuits	1766	10	222.04
GPS_charging	0	0	0.00
Compass	1051	7	92.51
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
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
45	-0.57	-145.9	192	2231	518	479	0.0	0.0	0	128	0.00	0.00	-81.28	0.000	16386	0.000	0.000	190	2231	2050	1973	2128	0	0	0	0	0	0	14.23	28.83	14.25
131	-0.57	-145.9	191	2231	1975	2129	3.4	-4.7	8	184	12.60	2.65	-35.97	0.000	19236	0.457	2.148	2376	3579	3963	3945	3981	0	0	0	0	0	0	13.67	12.95	14.06
284	-0.52	-145.9	2376	3581	3954	3982	44.6	-19.2	37	291	0.15	2.40	0.00	0.000	3206	0.269	0.062	2405	2195	3967	3954	3981	0	0	0	0	0	0	13.76	13.93	13.99
590	-0.57	-145.9	2405	2195	3959	3982	88.5	-12.4	68	594	0.00	2.47	0.00	0.000	388	0.000	0.086	2401	3587	3969	3958	3981	0	0	0	0	0	0	14.37	13.98	14.38
630	-0.69	-145.9	2402	3589	3959	3982	93.3	-11.3	76	635	0.15	2.38	0.00	0.000	5254	0.116	0.056	2347	2192	3967	3954	3981	0	0	0	0	0	0	14.06	14.03	14.12
950	-0.69	-145.9	2344	2192	3959	3982	143.1	-15.0	91	956	0.00	2.45	0.00	0.000	260	0.000	0.085	2336	3582	3969	3958	3981	0	0	0	0	0	0	14.43	14.04	14.46
1021	-0.76	-145.9	2336	3582	3959	3981	153.0	-12.5	105	1026	0.00	2.35	0.00	0.000	1158	0.000	0.057	2335	2202	3969	3958	3981	0	0	0	0	0	0	14.27	14.16	14.30
1341	-0.76	-145.9	2337	2201	3959	3981	195.4	-12.6	119	1347	0.00	2.42	0.00	0.000	260	0.000	0.087	2333	3581	3969	3958	3981	0	0	0	0	0	0	14.47	14.11	14.50
1427	-0.85	-145.9	2333	3581	3959	3982	205.2	-10.4	136	1433	0.00	2.35	0.00	0.000	1158	0.000	0.058	2333	2196	3968	3956	3981	0	0	0	0	0	0	14.26	14.13	14.28
1732	-0.89	-145.9	2333	2196	3959	3979	239.1	-10.8	147	1738	0.12	2.45	0.00	0.000	4484	0.143	0.086	2267	3580	3968	3958	3979	0	0	0	0	0	0	14.16	14.11	14.21
1813	-0.84	-145.9	2267	3581	3959	3978	251.1	-15.2	163	1819	0.17	2.35	0.00	0.000	3206	0.269	0.060	2303	2200	3968	3958	3978	0	0	0	0	0	0	13.95	14.19	14.21
2124	-0.84	-145.9	2304	2199	3959	3976	288.9	-11.8	175	2130	0.00	2.45	0.00	0.000	260	0.000	0.086	2295	3589	3967	3958	3977	0	0	0	0	0	0	14.50	14.14	14.52
2190	-0.88	-145.9	2296	3592	3959	3977	296.8	-11.6	188	2195	0.00	2.38	0.00	0.000	1158	0.000	0.059	2295	2196	3969	3962	3976	0	0	0	0	0	0	14.31	14.19	14.33
2515	-0.88	-145.9	2296	2194	3959	3974	336.7	-12.3	203	2520	0.00	2.42	0.00	0.000	260	0.000	0.086	2287	3580	3966	3958	3974	0	0	0	0	0	0	14.50	14.16	14.52
2596	-0.92	-145.9	2288	3581	3958	3974	346.6	-11.3	219	2601	0.00	2.38	0.00	0.000	1158	0.000	0.060	2288	2193	3965	3957	3974	0	0	0	0	0	0	14.28	14.16	14.30
2906	-0.92	-145.9	2288	2193	3958	3974	385.7	-12.4	231	2912	0.00	2.45	0.00	0.000	260	0.000	0.086	2280	3585	3965	3958	3973	0	0	0	0	0	0	14.51	14.15	14.53
2992	-0.95	-145.9	2280	3586	3958	3974	396.2	-12.0	248	2998	0.00	2.35	0.00	0.000	1158	0.000	0.058	2280	2198	3965	3957	3973	0	0	0	0	0	0	14.26	14.18	14.29
3297	-0.95	-145.9	2280	2198	3958	3973	434.7	-12.6	259	3303	0.00	2.45	0.00	0.000	260	0.000	0.087	2280	3586	3964	3957	3971	0	0	0	0	0	0	14.50	14.09	14.50
3383	-0.98	-145.9	2280	3587	3957	3973	445.1	-11.7	276	3389	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2196	3964	3957	3972	0	0	0	0	0	0	14.27	14.16	14.30
3685	end dive: TARGET_DEPTH_EXCEEDED
state	3686	begin apogee
3691	-0.13	0.0	2280	2058	3957	3972	483.3	-12.5	287	3903	1.00	0.00	208.57	1.437	10246	0.249	0.000	2531	2056	3361	3389	3334	0	0	0	0	0	0	13.90	13.50	12.86
3907	end apogee: CONTROL_FINISHED_OK
state	3907	begin climb
3910	0.57	145.9	2532	2057	3389	3327	493.1	0.0	294	4118	0.73	2.47	196.88	1.382	10756	0.067	0.080	2782	726	2763	2818	2708	0	0	0	0	0	0	13.56	13.24	12.64
4343	0.25	145.9	2783	726	2804	2709	459.7	15.5	374	4348	0.55	2.42	0.00	0.000	5254	0.320	0.076	2668	2072	2755	2804	2706	0	0	0	0	0	0	13.48	13.73	13.78
4664	0.11	145.9	2669	2073	2804	2701	425.6	10.3	388	4669	0.17	2.40	0.00	0.000	4740	0.306	0.077	2635	717	2752	2803	2702	0	0	0	0	0	0	13.76	13.95	13.93
4751	0.11	185.8	2635	716	2804	2703	418.4	8.2	405	4810	0.00	2.45	54.17	1.416	9382	0.000	0.080	2635	2103	2608	2669	2547	0	0	0	0	0	0	14.14	14.00	13.15
5117	0.09	203.4	2635	2103	2663	2529	384.8	9.2	428	5146	0.00	0.00	22.90	1.509	8358	0.000	0.000	2635	2101	2532	2599	2465	0	0	0	0	0	0	14.30	13.95	13.26
5445	0.10	217.0	2635	2104	2597	2458	354.0	9.4	439	5464	0.00	0.00	18.40	1.543	8230	0.000	0.000	2635	2103	2483	2553	2413	0	0	0	0	0	0	14.35	14.03	13.29
5745	0.11	232.7	2635	2103	2541	2403	326.0	9.3	449	5769	0.00	0.00	22.83	1.509	8230	0.000	0.000	2635	2103	2413	2480	2347	0	0	0	0	0	0	14.38	14.02	13.32
6045	0.12	250.5	2635	2106	2471	2344	298.2	9.2	459	6077	0.00	0.00	26.08	1.479	8230	0.000	0.000	2634	2101	2342	2397	2288	0	0	0	0	0	0	14.38	13.84	13.31
6375	0.17	275.6	2635	2103	2393	2275	268.6	8.8	470	6420	0.00	2.53	37.40	1.392	8868	0.000	0.085	2643	720	2238	2295	2181	0	0	0	0	0	0	14.38	13.93	13.30
6446	0.28	304.5	2643	721	2296	2182	262.5	8.7	484	6497	0.00	2.45	44.55	1.336	9382	0.000	0.080	2646	2102	2121	2179	2064	0	0	0	0	0	0	14.04	13.96	13.18
6797	0.36	321.6	2643	2102	2169	2054	230.0	9.2	504	6826	0.17	0.00	24.45	1.386	10406	0.106	0.000	2708	2102	2049	2103	1996	0	0	0	0	0	0	14.02	13.94	13.27
7126	0.33	321.6	2708	2101	2099	1989	187.0	12.4	515	7131	0.00	2.45	0.00	0.000	644	0.000	0.086	2711	726	2043	2097	1989	0	0	0	0	0	0	14.35	14.00	14.38
7196	0.35	321.6	2713	727	2093	1990	179.1	10.9	529	7201	0.00	2.42	0.00	0.000	1158	0.000	0.079	2713	2103	2041	2094	1989	0	0	0	0	0	0	14.21	14.10	14.23
7516	0.35	321.6	2713	2105	2095	1988	144.3	10.6	543	7522	0.00	2.42	0.00	0.000	516	0.000	0.085	2713	726	2038	2094	1983	0	0	0	0	0	0	14.43	14.09	14.45
7552	0.40	330.3	2713	726	2093	1988	140.7	9.6	550	7568	0.00	2.40	9.52	1.512	9382	0.000	0.080	2713	2100	2018	2070	1966	0	0	0	0	0	0	14.24	14.13	13.43
7878	0.41	342.8	2713	2102	2066	1962	109.0	9.4	565	7894	0.00	0.00	14.62	1.438	8230	0.000	0.000	2713	2100	1968	2019	1918	0	0	0	0	0	0	14.42	14.09	13.40
8180	0.46	377.9	2713	2100	2014	1907	82.2	8.4	587	8207	0.00	2.47	18.00	0.461	8868	0.000	0.085	2713	727	1822	1862	1782	0	0	0	0	0	0	14.37	14.04	13.73
8237	0.59	412.5	2713	732	1862	1784	77.5	8.4	598	8264	0.17	2.42	18.55	0.443	11430	0.111	0.080	2780	2100	1685	1718	1652	0	0	0	0	0	0	14.14	14.04	13.70
8562	0.60	426.2	2787	2101	1716	1635	40.7	9.4	633	8574	0.00	2.50	6.85	0.336	8740	0.000	0.086	2780	729	1627	1668	1586	0	0	0	0	0	0	14.38	14.04	13.79
8724	0.71	498.9	2780	727	1665	1585	28.8	6.6	665	8767	0.00	2.42	37.28	0.297	9382	0.000	0.080	2781	2105	1329	1388	1271	0	0	0	0	0	0	14.20	14.09	13.83
9064	1.02	702.5	2781	2105	1389	1258	12.9	0.6	703	9176	0.38	2.55	105.90	0.245	10660	0.086	0.080	2917	3510	501	536	467	0	0	0	0	0	0	14.11	14.00	13.81
9203	1.00	702.5	2918	3512	537	468	3.9	12.8	729	9208	0.00	2.42	0.00	0.000	1158	0.000	0.069	2921	2124	502	536	468	0	0	0	0	0	0	14.08	13.95	14.10
9221	end climb: SURFACE_DEPTH_REACHED
state	9221	begin surface coast
9231	end surface coast: CONTROL_FINISHED_OK
state	9231	begin surface