Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 52 * 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 52 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 155.0

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 20 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 155.0 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 20 VBD_MIN 500

DIVE 52 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 120817,172433,7151.4819,-14733.7637,30,0.8,31,21.4,0.0,0.0,11,8.7 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 1.18 MHEAD_RNG_PITCHd_Wd 309.4,166447,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 120817,173105,7151.4932,-14733.6992,5,0.7,11,21.4,0.0,82.4,11,9.4

Post-dive calculations and measurements:

FINISH 0.5,1.020051 _24V_AH 12.63,67.449

SM_CCo 9296,0.00,0.000,0,0,499,703.03 _10V_AH 12.55,0.000

SM_GC 1.03,8.40,2.33,0.00,0.082,0.050,0.000,207,2188,499,-7.37,0.54,703.03,0,0,0,0,0,0,14.01,13.99,14.09 FG_AHR_24Vo 0.000

RAFOS_CLK 25 FG_AHR_10Vo 0.000

RAFOS_FIX 7146.153809,-14802.952148,120817,161616,2,255,3.40 MEM 323684

IRIDIUM_FIX 7148.85,-14731.20,120817,144324 DATA_FILE_SIZE 26750,784

TT8_MAMPS 0.085386,0.865095 CAP_FILE_SIZE 101610,0

HUMID 48.11 CFSIZE 2097872896,2072444928

INTERNAL_PRESSURE 7.81082 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.60 SOUNDSPEED 1451.6

XPDR_PINGS 16 CURRENT 0.043,96.85,1

CP_FREE 16010575872.000000 GPS 120817,200755,7152.361,-14734.384,22,0.8,38,21.4,0.3,190.0,10,7.4

PM_FREEKB_00 59161408

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 142.00 nil 0 0 0.00

Roll_motor 93 2152 2553.02 nil 0 0 0.00

VBD_pump_during_apogee 970 1371 16810.66 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 9201 14 1712.10

Iridium_during_xfer 181 139 321.27 NCP 9223 20 2329.73

Transponder_ping 4 420 21.22 PMAR 9187 16 1922.76

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.55

TT8 0 0 0.00

LPSleep 6297 2 182.55

TT8_Active 858 13 150.52

TT8_Sampling 2331 33 978.59

TT8_CF8 214 38 103.97

TT8_Kalman 0 0 0.00

Analog_circuits 2244 10 281.74

GPS_charging 0 0 0.00

Compass 1123 7 98.68

RAFOS 2212 48 1332.51

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 -145.9 196 2218 515 458 0.0 0.0 0 130 0.00 0.00 -81.05 0.000 16386 0.000 0.000 195 2216 2026 1950 2102 0 0 0 0 0 0 14.38 28.83 14.38

133 -0.57 -145.9 196 2216 1952 2103 3.1 -3.7 8 190 12.45 2.72 -36.88 0.000 18724 0.453 2.153 2376 3594 3968 3953 3983 0 0 0 0 0 0 13.69 12.69 14.13

365 -0.57 -145.9 2377 3595 3955 3983 58.5 -17.5 54 370 0.00 2.40 0.00 0.000 1030 0.000 0.059 2376 2195 3966 3949 3983 0 0 0 0 0 0 14.20 14.09 14.23

695 -0.57 -145.9 2378 2195 3958 3984 108.6 -13.4 84 700 0.00 2.47 0.00 0.000 260 0.000 0.086 2376 3597 3970 3958 3983 0 0 0 0 0 0 14.39 14.06 14.41

800 -0.70 -145.9 2376 3599 3959 3984 120.4 -10.4 105 805 0.00 2.38 0.00 0.000 1158 0.000 0.055 2376 2194 3970 3958 3983 0 0 0 0 0 0 14.21 14.11 14.24

1115 -0.76 -145.9 2376 2193 3959 3983 155.7 -11.0 118 1120 0.12 2.47 0.00 0.000 4484 0.140 0.085 2319 3600 3970 3958 3983 0 0 0 0 0 0 14.21 14.10 14.25

1150 -0.76 -145.9 2320 3600 3959 3983 160.4 -14.2 125 1155 0.00 2.40 0.00 0.000 1030 0.000 0.057 2318 2188 3970 3958 3983 0 0 0 0 0 0 14.26 14.14 14.28

1476 -0.76 -145.9 2319 2188 3957 3984 207.3 -13.4 140 1480 0.00 2.47 0.00 0.000 260 0.000 0.088 2319 3595 3970 3958 3983 0 0 0 0 0 0 14.50 14.12 14.51

1530 -0.82 -145.9 2319 3595 3959 3984 213.9 -11.2 151 1538 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2190 3970 3958 3983 0 0 0 0 0 0 14.25 14.16 14.27

1835 -0.82 -145.9 2319 2191 3959 3982 249.2 -11.4 162 1840 0.00 2.47 0.00 0.000 260 0.000 0.088 2318 3595 3970 3958 3982 0 0 0 0 0 0 14.51 14.09 14.52

1886 -0.91 -145.9 2319 3596 3957 3983 254.5 -10.2 172 1890 0.00 2.38 0.00 0.000 1158 0.000 0.059 2318 2193 3969 3956 3982 0 0 0 0 0 0 14.31 14.21 14.34

2196 -0.95 -145.9 2319 2194 3957 3981 287.7 -10.6 184 2201 0.12 2.47 0.00 0.000 4484 0.139 0.085 2258 3598 3968 3956 3981 0 0 0 0 0 0 14.26 14.14 14.28

2281 -0.89 -145.9 2254 3600 3955 3981 300.2 -15.0 201 2287 0.15 2.40 0.00 0.000 3206 0.275 0.059 2283 2198 3968 3955 3981 0 0 0 0 0 0 13.85 14.15 14.12

2586 -0.87 -145.9 2283 2197 3954 3981 340.4 -12.9 212 2591 0.00 2.45 0.00 0.000 388 0.000 0.086 2280 3595 3967 3954 3980 0 0 0 0 0 0 14.52 14.16 14.53

2661 -0.89 -145.9 2280 3596 3955 3980 349.9 -12.2 227 2667 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2195 3967 3954 3980 0 0 0 0 0 0 14.31 14.21 14.34

2977 -0.86 -145.9 2280 2194 3955 3979 391.2 -13.1 240 2982 0.00 2.50 0.00 0.000 388 0.000 0.086 2271 3604 3966 3954 3979 0 0 0 0 0 0 14.50 14.13 14.53

3067 -0.86 -145.9 2271 3603 3954 3980 402.7 -12.4 258 3072 0.12 2.40 0.00 0.000 3078 0.261 0.059 2295 2194 3967 3957 3978 0 0 0 0 0 0 13.95 14.16 14.19

3398 -0.86 -145.9 2296 2193 3955 3977 439.9 -11.0 274 3403 0.00 2.47 0.00 0.000 260 0.000 0.086 2293 3595 3965 3953 3978 0 0 0 0 0 0 14.50 14.11 14.52

3468 -0.92 -145.9 2293 3597 3954 3977 447.5 -10.7 288 3473 0.00 2.40 0.00 0.000 1158 0.000 0.058 2293 2193 3965 3953 3978 0 0 0 0 0 0 14.31 14.19 14.33

3756 end dive: TARGET_DEPTH_EXCEEDED

state 3756 begin apogee

3761 -0.13 0.0 2294 2070 3954 3977 481.3 -11.7 301 4000 0.93 0.00 235.10 1.372 10246 0.237 0.000 2529 2069 3368 3393 3344 0 0 0 0 0 0 13.91 13.46 12.84

4004 end apogee: CONTROL_FINISHED_OK

state 4004 begin climb

4006 0.57 145.9 2529 2070 3384 3336 492.8 0.0 309 4548 0.75 2.58 204.38 1.346 10756 0.068 0.080 2782 726 2752 2795 2709 0 0 0 0 0 0 13.53 13.21 12.63

4667 0.24 145.9 2784 727 2795 2709 425.2 15.4 334 4673 0.55 2.42 0.00 0.000 5254 0.321 0.077 2667 2087 2751 2794 2708 0 0 0 0 0 0 13.64 13.90 13.96

4993 0.11 148.6 2666 2088 2794 2705 391.9 9.9 349 4999 0.17 2.50 0.00 0.000 4516 0.308 0.081 2625 3509 2748 2794 2703 0 0 0 0 0 0 13.81 14.06 13.98

5224 0.05 176.5 2626 3510 2792 2704 371.0 8.7 395 5275 0.15 2.35 44.33 1.354 13478 0.277 0.059 2602 2127 2643 2690 2597 0 0 0 0 0 0 13.94 14.16 13.31

5596 0.13 247.1 2599 2129 2679 2580 345.3 6.7 419 5717 0.00 2.53 114.45 1.289 8612 0.000 0.080 2602 3507 2349 2404 2294 0 0 0 0 0 0 14.38 13.58 13.10

5855 0.25 286.9 2602 3509 2381 2292 325.6 8.2 470 5920 0.17 2.45 59.62 1.296 11430 0.103 0.061 2673 2100 2195 2246 2145 0 0 0 0 0 0 13.93 13.89 13.08

6230 0.23 286.9 2673 2101 2228 2124 280.2 12.4 495 6235 0.00 2.53 0.00 0.000 644 0.000 0.090 2673 687 2173 2226 2121 0 0 0 0 0 0 14.25 13.95 14.26

6321 0.27 286.9 2673 687 2225 2122 269.8 11.0 513 6326 0.00 2.50 0.00 0.000 1158 0.000 0.080 2673 2106 2172 2224 2121 0 0 0 0 0 0 14.16 14.03 14.18

6651 0.27 286.9 2673 2107 2225 2123 231.3 11.4 529 6655 0.00 2.50 0.00 0.000 516 0.000 0.086 2674 690 2171 2224 2119 0 0 0 0 0 0 14.42 14.14 14.43

6686 0.31 286.9 2673 690 2224 2119 227.6 10.5 536 6691 0.00 2.47 0.00 0.000 1158 0.000 0.081 2677 2102 2170 2222 2119 0 0 0 0 0 0 14.23 14.11 14.30

7011 0.31 286.9 2673 2104 2224 2119 192.6 10.1 551 7016 0.00 2.47 0.00 0.000 516 0.000 0.085 2673 691 2170 2223 2118 0 0 0 0 0 0 14.47 14.16 14.48

7057 0.40 310.7 2673 691 2223 2118 188.4 8.9 560 7098 0.12 2.47 32.90 1.330 11430 0.143 0.080 2726 2109 2094 2144 2045 0 0 0 0 0 0 14.21 14.19 13.40

7405 0.33 310.7 2728 2109 2136 2036 146.1 12.0 579 7410 0.12 2.50 0.00 0.000 4740 0.242 0.082 2699 687 2085 2135 2035 0 0 0 0 0 0 13.90 14.10 14.04

7492 0.40 339.4 2700 689 2134 2036 137.9 8.7 596 7546 0.00 2.47 48.17 1.287 9382 0.000 0.079 2699 2102 1980 2029 1931 0 0 0 0 0 0 14.14 14.03 13.33

7858 0.46 375.4 2700 2102 2016 1914 106.1 8.3 619 7918 0.00 0.00 58.72 1.237 8358 0.000 0.000 2699 2102 1836 1874 1798 0 0 0 0 0 0 14.35 13.85 13.26

8216 0.58 431.3 2699 2103 1858 1780 76.8 7.4 649 8249 0.17 2.60 28.12 0.431 10916 0.112 0.086 2781 687 1605 1643 1568 0 0 0 0 0 0 14.09 13.97 13.63

8299 0.58 431.3 2781 690 1646 1571 67.4 11.8 665 8304 0.00 2.53 0.00 0.000 1030 0.000 0.080 2781 2104 1608 1645 1571 0 0 0 0 0 0 14.11 14.00 14.13

8609 0.60 463.3 2781 2106 1646 1569 36.2 8.5 697 8632 0.00 2.47 17.23 0.311 8484 0.000 0.082 2784 3511 1474 1519 1430 0 0 0 0 0 0 14.37 14.00 13.79

8677 0.64 476.8 2781 3512 1522 1434 29.9 9.4 710 8695 0.00 2.45 8.27 0.298 9382 0.000 0.067 2781 2100 1416 1464 1368 0 0 0 0 0 0 14.11 14.00 13.83

9004 0.95 716.2 2781 2100 1474 1372 15.0 -1.0 743 9133 0.30 2.60 119.07 0.249 10660 0.088 0.080 2895 3516 498 538 459 0 0 0 0 0 0 14.06 13.87 13.76

9203 end climb: SURFACE_DEPTH_REACHED

state 9203 begin surface coast

9213 end surface coast: CONTROL_FINISHED_OK

state 9213 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	52	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	155.0
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	20	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,172433,7151.4819,-14733.7637,30,0.8,31,21.4,0.0,0.0,11,8.7	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	1.18	MHEAD_RNG_PITCHd_Wd	309.4,166447,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	120817,173105,7151.4932,-14733.6992,5,0.7,11,21.4,0.0,82.4,11,9.4

FINISH	0.5,1.020051	_24V_AH	12.63,67.449
SM_CCo	9296,0.00,0.000,0,0,499,703.03	_10V_AH	12.55,0.000
SM_GC	1.03,8.40,2.33,0.00,0.082,0.050,0.000,207,2188,499,-7.37,0.54,703.03,0,0,0,0,0,0,14.01,13.99,14.09	FG_AHR_24Vo	0.000
RAFOS_CLK	25	FG_AHR_10Vo	0.000
RAFOS_FIX	7146.153809,-14802.952148,120817,161616,2,255,3.40	MEM	323684
IRIDIUM_FIX	7148.85,-14731.20,120817,144324	DATA_FILE_SIZE	26750,784
TT8_MAMPS	0.085386,0.865095	CAP_FILE_SIZE	101610,0
HUMID	48.11	CFSIZE	2097872896,2072444928
INTERNAL_PRESSURE	7.81082	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.60	SOUNDSPEED	1451.6
XPDR_PINGS	16	CURRENT	0.043,96.85,1
CP_FREE	16010575872.000000	GPS	120817,200755,7152.361,-14734.384,22,0.8,38,21.4,0.3,190.0,10,7.4
PM_FREEKB_00	59161408

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	142.00	nil	0	0	0.00
Roll_motor	93	2152	2553.02	nil	0	0	0.00
VBD_pump_during_apogee	970	1371	16810.66	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	9201	14	1712.10
Iridium_during_xfer	181	139	321.27	NCP	9223	20	2329.73
Transponder_ping	4	420	21.22	PMAR	9187	16	1922.76
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.55
TT8	0	0	0.00
LPSleep	6297	2	182.55
TT8_Active	858	13	150.52
TT8_Sampling	2331	33	978.59
TT8_CF8	214	38	103.97
TT8_Kalman	0	0	0.00
Analog_circuits	2244	10	281.74
GPS_charging	0	0	0.00
Compass	1123	7	98.68
RAFOS	2212	48	1332.51
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	196	2218	515	458	0.0	0.0	0	130	0.00	0.00	-81.05	0.000	16386	0.000	0.000	195	2216	2026	1950	2102	0	0	0	0	0	0	14.38	28.83	14.38
133	-0.57	-145.9	196	2216	1952	2103	3.1	-3.7	8	190	12.45	2.72	-36.88	0.000	18724	0.453	2.153	2376	3594	3968	3953	3983	0	0	0	0	0	0	13.69	12.69	14.13
365	-0.57	-145.9	2377	3595	3955	3983	58.5	-17.5	54	370	0.00	2.40	0.00	0.000	1030	0.000	0.059	2376	2195	3966	3949	3983	0	0	0	0	0	0	14.20	14.09	14.23
695	-0.57	-145.9	2378	2195	3958	3984	108.6	-13.4	84	700	0.00	2.47	0.00	0.000	260	0.000	0.086	2376	3597	3970	3958	3983	0	0	0	0	0	0	14.39	14.06	14.41
800	-0.70	-145.9	2376	3599	3959	3984	120.4	-10.4	105	805	0.00	2.38	0.00	0.000	1158	0.000	0.055	2376	2194	3970	3958	3983	0	0	0	0	0	0	14.21	14.11	14.24
1115	-0.76	-145.9	2376	2193	3959	3983	155.7	-11.0	118	1120	0.12	2.47	0.00	0.000	4484	0.140	0.085	2319	3600	3970	3958	3983	0	0	0	0	0	0	14.21	14.10	14.25
1150	-0.76	-145.9	2320	3600	3959	3983	160.4	-14.2	125	1155	0.00	2.40	0.00	0.000	1030	0.000	0.057	2318	2188	3970	3958	3983	0	0	0	0	0	0	14.26	14.14	14.28
1476	-0.76	-145.9	2319	2188	3957	3984	207.3	-13.4	140	1480	0.00	2.47	0.00	0.000	260	0.000	0.088	2319	3595	3970	3958	3983	0	0	0	0	0	0	14.50	14.12	14.51
1530	-0.82	-145.9	2319	3595	3959	3984	213.9	-11.2	151	1538	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2190	3970	3958	3983	0	0	0	0	0	0	14.25	14.16	14.27
1835	-0.82	-145.9	2319	2191	3959	3982	249.2	-11.4	162	1840	0.00	2.47	0.00	0.000	260	0.000	0.088	2318	3595	3970	3958	3982	0	0	0	0	0	0	14.51	14.09	14.52
1886	-0.91	-145.9	2319	3596	3957	3983	254.5	-10.2	172	1890	0.00	2.38	0.00	0.000	1158	0.000	0.059	2318	2193	3969	3956	3982	0	0	0	0	0	0	14.31	14.21	14.34
2196	-0.95	-145.9	2319	2194	3957	3981	287.7	-10.6	184	2201	0.12	2.47	0.00	0.000	4484	0.139	0.085	2258	3598	3968	3956	3981	0	0	0	0	0	0	14.26	14.14	14.28
2281	-0.89	-145.9	2254	3600	3955	3981	300.2	-15.0	201	2287	0.15	2.40	0.00	0.000	3206	0.275	0.059	2283	2198	3968	3955	3981	0	0	0	0	0	0	13.85	14.15	14.12
2586	-0.87	-145.9	2283	2197	3954	3981	340.4	-12.9	212	2591	0.00	2.45	0.00	0.000	388	0.000	0.086	2280	3595	3967	3954	3980	0	0	0	0	0	0	14.52	14.16	14.53
2661	-0.89	-145.9	2280	3596	3955	3980	349.9	-12.2	227	2667	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2195	3967	3954	3980	0	0	0	0	0	0	14.31	14.21	14.34
2977	-0.86	-145.9	2280	2194	3955	3979	391.2	-13.1	240	2982	0.00	2.50	0.00	0.000	388	0.000	0.086	2271	3604	3966	3954	3979	0	0	0	0	0	0	14.50	14.13	14.53
3067	-0.86	-145.9	2271	3603	3954	3980	402.7	-12.4	258	3072	0.12	2.40	0.00	0.000	3078	0.261	0.059	2295	2194	3967	3957	3978	0	0	0	0	0	0	13.95	14.16	14.19
3398	-0.86	-145.9	2296	2193	3955	3977	439.9	-11.0	274	3403	0.00	2.47	0.00	0.000	260	0.000	0.086	2293	3595	3965	3953	3978	0	0	0	0	0	0	14.50	14.11	14.52
3468	-0.92	-145.9	2293	3597	3954	3977	447.5	-10.7	288	3473	0.00	2.40	0.00	0.000	1158	0.000	0.058	2293	2193	3965	3953	3978	0	0	0	0	0	0	14.31	14.19	14.33
3756	end dive: TARGET_DEPTH_EXCEEDED
state	3756	begin apogee
3761	-0.13	0.0	2294	2070	3954	3977	481.3	-11.7	301	4000	0.93	0.00	235.10	1.372	10246	0.237	0.000	2529	2069	3368	3393	3344	0	0	0	0	0	0	13.91	13.46	12.84
4004	end apogee: CONTROL_FINISHED_OK
state	4004	begin climb
4006	0.57	145.9	2529	2070	3384	3336	492.8	0.0	309	4548	0.75	2.58	204.38	1.346	10756	0.068	0.080	2782	726	2752	2795	2709	0	0	0	0	0	0	13.53	13.21	12.63
4667	0.24	145.9	2784	727	2795	2709	425.2	15.4	334	4673	0.55	2.42	0.00	0.000	5254	0.321	0.077	2667	2087	2751	2794	2708	0	0	0	0	0	0	13.64	13.90	13.96
4993	0.11	148.6	2666	2088	2794	2705	391.9	9.9	349	4999	0.17	2.50	0.00	0.000	4516	0.308	0.081	2625	3509	2748	2794	2703	0	0	0	0	0	0	13.81	14.06	13.98
5224	0.05	176.5	2626	3510	2792	2704	371.0	8.7	395	5275	0.15	2.35	44.33	1.354	13478	0.277	0.059	2602	2127	2643	2690	2597	0	0	0	0	0	0	13.94	14.16	13.31
5596	0.13	247.1	2599	2129	2679	2580	345.3	6.7	419	5717	0.00	2.53	114.45	1.289	8612	0.000	0.080	2602	3507	2349	2404	2294	0	0	0	0	0	0	14.38	13.58	13.10
5855	0.25	286.9	2602	3509	2381	2292	325.6	8.2	470	5920	0.17	2.45	59.62	1.296	11430	0.103	0.061	2673	2100	2195	2246	2145	0	0	0	0	0	0	13.93	13.89	13.08
6230	0.23	286.9	2673	2101	2228	2124	280.2	12.4	495	6235	0.00	2.53	0.00	0.000	644	0.000	0.090	2673	687	2173	2226	2121	0	0	0	0	0	0	14.25	13.95	14.26
6321	0.27	286.9	2673	687	2225	2122	269.8	11.0	513	6326	0.00	2.50	0.00	0.000	1158	0.000	0.080	2673	2106	2172	2224	2121	0	0	0	0	0	0	14.16	14.03	14.18
6651	0.27	286.9	2673	2107	2225	2123	231.3	11.4	529	6655	0.00	2.50	0.00	0.000	516	0.000	0.086	2674	690	2171	2224	2119	0	0	0	0	0	0	14.42	14.14	14.43
6686	0.31	286.9	2673	690	2224	2119	227.6	10.5	536	6691	0.00	2.47	0.00	0.000	1158	0.000	0.081	2677	2102	2170	2222	2119	0	0	0	0	0	0	14.23	14.11	14.30
7011	0.31	286.9	2673	2104	2224	2119	192.6	10.1	551	7016	0.00	2.47	0.00	0.000	516	0.000	0.085	2673	691	2170	2223	2118	0	0	0	0	0	0	14.47	14.16	14.48
7057	0.40	310.7	2673	691	2223	2118	188.4	8.9	560	7098	0.12	2.47	32.90	1.330	11430	0.143	0.080	2726	2109	2094	2144	2045	0	0	0	0	0	0	14.21	14.19	13.40
7405	0.33	310.7	2728	2109	2136	2036	146.1	12.0	579	7410	0.12	2.50	0.00	0.000	4740	0.242	0.082	2699	687	2085	2135	2035	0	0	0	0	0	0	13.90	14.10	14.04
7492	0.40	339.4	2700	689	2134	2036	137.9	8.7	596	7546	0.00	2.47	48.17	1.287	9382	0.000	0.079	2699	2102	1980	2029	1931	0	0	0	0	0	0	14.14	14.03	13.33
7858	0.46	375.4	2700	2102	2016	1914	106.1	8.3	619	7918	0.00	0.00	58.72	1.237	8358	0.000	0.000	2699	2102	1836	1874	1798	0	0	0	0	0	0	14.35	13.85	13.26
8216	0.58	431.3	2699	2103	1858	1780	76.8	7.4	649	8249	0.17	2.60	28.12	0.431	10916	0.112	0.086	2781	687	1605	1643	1568	0	0	0	0	0	0	14.09	13.97	13.63
8299	0.58	431.3	2781	690	1646	1571	67.4	11.8	665	8304	0.00	2.53	0.00	0.000	1030	0.000	0.080	2781	2104	1608	1645	1571	0	0	0	0	0	0	14.11	14.00	14.13
8609	0.60	463.3	2781	2106	1646	1569	36.2	8.5	697	8632	0.00	2.47	17.23	0.311	8484	0.000	0.082	2784	3511	1474	1519	1430	0	0	0	0	0	0	14.37	14.00	13.79
8677	0.64	476.8	2781	3512	1522	1434	29.9	9.4	710	8695	0.00	2.45	8.27	0.298	9382	0.000	0.067	2781	2100	1416	1464	1368	0	0	0	0	0	0	14.11	14.00	13.83
9004	0.95	716.2	2781	2100	1474	1372	15.0	-1.0	743	9133	0.30	2.60	119.07	0.249	10660	0.088	0.080	2895	3516	498	538	459	0	0	0	0	0	0	14.06	13.87	13.76
9203	end climb: SURFACE_DEPTH_REACHED
state	9203	begin surface coast
9213	end surface coast: CONTROL_FINISHED_OK
state	9213	begin surface