Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 55 * 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 55 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 164.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 164.0 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 26 VBD_MIN 500

DIVE 55 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 130817,014656,7154.4731,-14737.2275,17,0.7,20,21.4,0.2,285.0,12,9.4 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 309.6,160599,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 130817,020326,7154.4736,-14737.5654,6,0.9,40,21.4,0.4,283.2,9,6.8

Post-dive calculations and measurements:

FINISH 0.0,1.019958 _24V_AH 12.62,68.807

SM_CCo 9048,0.00,0.000,0,0,500,702.78 _10V_AH 12.66,0.000

SM_GC 1.13,8.27,0.17,0.00,0.064,0.119,0.000,201,2216,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.04,14.02,14.11 FG_AHR_24Vo 0.000

RAFOS_CLK 103 FG_AHR_10Vo 0.000

RAFOS_FIX 7202.124023,-14620.304688,130817,000019,2,255,11.06 MEM 323804

IRIDIUM_FIX 7154.49,-14735.45,130817,015539 DATA_FILE_SIZE 26747,758

TT8_MAMPS 0.090629,0.85386 CAP_FILE_SIZE 106086,0

HUMID 46.25 CFSIZE 2097872896,2071592960

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

TCM_TEMP 13.80 INTR 0,5825.23,0x2341e8,1,24

XPDR_PINGS 15 SOUNDSPEED 1451.1

CP_FREE 16009986048.000000 CURRENT 0.067,315.08,1

PM_FREEKB_00 58943104 GPS 130817,043602,7155.800,-14739.665,15,0.8,31,21.4,0.3,322.5,11,10.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 147.05 nil 0 0 0.00

Roll_motor 89 2145 2426.21 nil 0 0 0.00

VBD_pump_during_apogee 883 1459 16282.26 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 8982 15 1714.46

Iridium_during_xfer 593 166 1248.94 NCP 9001 20 2271.85

Transponder_ping 3 420 19.88 PMAR 8944 16 1868.28

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.84

TT8 0 0 0.00

LPSleep 6627 2 193.82

TT8_Active 928 13 164.30

TT8_Sampling 2226 33 942.78

TT8_CF8 269 38 131.86

TT8_Kalman 0 0 0.00

Analog_circuits 2241 10 283.80

GPS_charging 0 0 0.00

Compass 1089 7 96.58

RAFOS 2217 48 1347.23

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 -145.9 188 2216 497 483 0.0 0.0 0 129 0.00 0.00 -81.28 0.000 16386 0.000 0.000 188 2216 2169 2098 2240 0 0 0 0 0 0 14.35 28.83 14.38

132 -0.57 -145.9 189 2216 2101 2246 3.7 -4.9 8 181 12.65 2.78 -31.20 0.000 18724 0.455 2.145 2377 3598 3965 3950 3980 1 0 0 0 0 0 13.57 12.71 14.10

277 -0.53 -145.9 2377 3601 3959 3980 45.0 -19.9 35 281 0.12 2.42 0.00 0.000 3206 0.276 0.057 2400 2198 3968 3958 3979 0 0 0 0 0 0 13.83 14.07 14.07

587 -0.53 -145.9 2400 2199 3963 3979 94.8 -14.4 67 591 0.00 2.47 0.00 0.000 260 0.000 0.083 2392 3601 3972 3962 3982 0 0 0 0 0 0 14.40 14.04 14.42

662 -0.65 -145.9 2392 3602 3963 3981 104.2 -11.2 82 668 0.00 2.38 0.00 0.000 1158 0.000 0.052 2392 2193 3970 3962 3979 0 0 0 0 0 0 14.27 14.15 14.28

979 -0.75 -145.9 2392 2196 3963 3979 138.3 -9.7 95 984 0.15 2.47 0.00 0.000 4516 0.120 0.083 2318 3604 3970 3962 3979 0 0 0 0 0 0 13.99 14.14 14.13

1064 -0.79 -145.9 2320 3604 3963 3979 149.0 -12.5 112 1070 0.00 2.38 0.00 0.000 1158 0.000 0.054 2320 2202 3970 3962 3979 0 0 0 0 0 0 14.27 14.17 14.30

1369 -0.79 -145.9 2320 2201 3963 3978 190.9 -13.3 123 1370 0.00 0.00 0.00 0.000 6 0.000 0.000 2319 2201 3969 3962 3977 0 0 0 0 0 0 14.50 14.52 14.52

1669 -0.79 -145.9 2320 2201 3963 3975 227.2 -11.5 133 1669 0.00 0.00 0.00 0.000 6 0.000 0.000 2320 2200 3968 3962 3975 0 0 0 0 0 0 14.51 14.53 14.52

1969 -0.82 -145.9 2320 2202 3963 3973 259.6 -10.6 143 1974 0.00 2.47 0.00 0.000 388 0.000 0.088 2319 3603 3967 3962 3972 0 0 0 0 0 0 14.52 14.18 14.54

2049 -0.94 -145.9 2319 3603 3963 3972 267.7 -9.6 159 2054 0.15 2.38 0.00 0.000 5286 0.119 0.056 2259 2198 3967 3962 3972 0 0 0 0 0 0 14.26 14.19 14.35

2360 -0.86 -145.9 2260 2196 3963 3970 313.6 -14.8 171 2365 0.15 2.45 0.00 0.000 2436 0.307 0.082 2283 3597 3965 3962 3969 0 0 0 0 0 0 13.92 14.18 14.11

2420 -0.89 -145.9 2284 3600 3962 3970 321.3 -11.7 183 2425 0.00 2.38 0.00 0.000 1158 0.000 0.058 2284 2198 3965 3961 3969 0 0 0 0 0 0 14.31 14.19 14.34

2750 -0.87 -145.9 2284 2197 3962 3968 362.0 -12.4 199 2755 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3605 3965 3963 3967 0 0 0 0 0 0 14.54 14.15 14.55

2825 -0.90 -145.9 2281 3607 3962 3967 371.3 -11.9 214 2831 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2198 3964 3961 3967 0 0 0 0 0 0 14.33 14.22 14.36

3141 -0.88 -145.9 2280 2198 3962 3966 412.2 -13.0 227 3146 0.00 2.47 0.00 0.000 388 0.000 0.086 2279 3600 3963 3961 3965 0 0 0 0 0 0 14.54 14.17 14.54

3211 -0.90 -145.9 2280 3600 3961 3965 421.1 -12.2 241 3216 0.00 2.38 0.00 0.000 1158 0.000 0.057 2279 2198 3962 3960 3965 0 0 0 0 0 0 14.33 14.21 14.35

3531 -0.90 -145.9 2280 2197 3961 3964 462.8 -13.1 255 3536 0.00 2.47 0.00 0.000 260 0.000 0.086 2279 3606 3962 3960 3964 0 0 0 0 0 0 14.54 14.14 14.56

3631 -0.94 -145.9 2280 3607 3961 3964 475.4 -12.2 275 3636 0.00 2.40 0.00 0.000 1158 0.000 0.057 2279 2190 3962 3960 3964 0 0 0 0 0 0 14.31 14.20 14.35

3679 end dive: TARGET_DEPTH_EXCEEDED

state 3679 begin apogee

3685 -0.13 0.0 2280 2063 3961 3964 481.9 -13.2 280 3893 1.00 0.00 200.38 1.460 10246 0.246 0.000 2532 2061 3360 3396 3324 0 0 0 0 0 0 13.90 13.52 12.87

3897 end apogee: CONTROL_FINISHED_OK

state 3897 begin climb

3899 0.57 145.9 2533 2061 3396 3324 492.7 0.0 287 4104 0.73 2.72 192.77 1.404 10500 0.067 0.076 2779 3491 2762 2821 2703 0 0 0 0 0 0 13.60 13.21 12.62

4329 0.16 145.9 2780 3491 2804 2705 455.4 17.6 367 4335 0.73 2.38 0.00 0.000 5254 0.346 0.057 2640 2128 2754 2804 2704 0 0 0 0 0 0 13.47 13.77 13.81

4650 0.10 180.1 2641 2131 2804 2704 426.7 8.4 381 4700 0.00 2.47 45.08 1.435 8612 0.000 0.079 2641 3502 2626 2683 2570 0 0 0 0 0 0 14.28 13.69 13.15

4925 0.01 180.1 2641 3506 2672 2566 398.2 10.8 436 4932 0.25 2.42 0.00 0.000 5254 0.252 0.058 2592 2103 2618 2671 2565 0 0 0 0 0 0 13.84 14.03 14.09

5252 0.13 260.0 2592 2102 2672 2564 377.0 6.3 451 5378 0.00 2.65 117.50 1.348 8868 0.000 0.088 2592 690 2299 2358 2240 0 0 0 0 0 0 14.42 13.68 13.07

5393 0.33 336.5 2591 688 2354 2240 367.7 6.5 459 5515 0.30 2.53 111.25 1.302 11430 0.086 0.079 2697 2087 1988 2046 1931 0 0 0 0 0 0 13.79 13.74 12.86

5825 0.29 336.5 2697 2088 2033 1919 305.9 14.7 495 5833 0.00 2.50 0.00 0.000 644 0.000 0.087 2699 690 1975 2033 1918 0 0 0 0 0 0 14.16 13.88 14.19

5873 0.29 336.5 2699 690 2032 1918 298.9 14.3 504 5879 0.00 2.50 0.00 0.000 1030 0.000 0.077 2699 2100 1974 2031 1918 0 0 0 0 0 0 14.08 13.95 14.09

6189 0.26 336.5 2699 2101 2031 1916 252.8 14.5 517 6194 0.12 2.47 0.00 0.000 4740 0.233 0.085 2672 694 1972 2029 1916 0 0 0 0 0 0 13.96 14.07 14.09

6244 0.34 336.5 2672 695 2028 1916 246.0 11.3 528 6251 0.00 2.47 0.00 0.000 1158 0.000 0.078 2672 2103 1971 2027 1916 0 0 0 0 0 0 14.13 14.01 14.16

6550 0.37 336.5 2672 2105 2028 1916 211.7 10.9 539 6550 0.00 0.00 0.00 0.000 134 0.000 0.000 2672 2105 1970 2026 1915 0 0 0 0 0 0 14.46 14.47 14.48

6850 0.40 336.5 2672 2106 2028 1915 179.5 10.7 549 6855 0.12 2.47 0.00 0.000 2692 0.138 0.081 2742 684 1970 2026 1914 0 0 0 0 0 0 14.26 14.19 14.30

6900 0.36 336.5 2742 684 2026 1914 172.7 14.2 559 6922 0.17 2.47 0.00 0.000 5254 0.249 0.079 2705 2106 1972 2025 1919 0 0 0 0 0 0 14.00 14.16 14.24

7228 0.36 336.5 2704 2105 2025 1915 134.5 11.4 571 7233 0.00 2.50 0.00 0.000 516 0.000 0.084 2712 692 1969 2024 1915 0 0 0 0 0 0 14.35 14.07 14.39

7283 0.41 336.5 2712 692 2024 1914 128.4 10.4 582 7289 0.00 2.47 0.00 0.000 1158 0.000 0.079 2712 2100 1968 2022 1914 0 0 0 0 0 0 14.18 14.07 14.21

7588 0.44 372.4 2712 2101 2023 1915 101.5 8.3 593 7641 0.00 0.00 51.25 1.249 8230 0.000 0.000 2712 2101 1848 1891 1805 0 0 0 0 0 0 14.35 13.93 13.33

7938 0.54 427.8 2712 2101 1878 1796 74.2 7.4 626 7971 0.12 2.58 27.12 0.427 10660 0.129 0.082 2769 3513 1621 1662 1581 0 0 0 0 0 0 14.02 13.91 13.64

7986 0.50 427.8 2769 3511 1663 1586 69.4 11.2 634 7993 0.15 2.47 0.00 0.000 5254 0.267 0.063 2748 2092 1625 1663 1587 0 0 0 0 0 0 13.76 13.93 13.98

8292 0.63 498.4 2748 2095 1664 1576 44.5 6.7 665 8334 0.12 2.50 35.38 0.337 10916 0.128 0.083 2807 691 1330 1389 1272 0 0 0 0 0 0 13.95 13.87 13.66

8465 0.71 519.1 2807 691 1388 1271 28.6 9.0 699 8481 0.00 2.50 10.73 0.304 9382 0.000 0.078 2807 2100 1246 1310 1182 0 0 0 0 0 0 14.01 13.90 13.72

8786 0.99 727.6 2807 2101 1311 1180 14.0 0.4 733 8889 0.28 2.58 92.47 0.252 10660 0.088 0.081 2905 3513 500 535 466 0 0 0 0 0 0 13.97 13.82 13.79

8900 1.00 745.5 2906 3514 536 466 7.7 9.2 750 8905 0.00 2.47 0.00 0.000 1062 0.000 0.067 2915 2103 501 535 467 0 0 0 0 0 0 14.00 13.91 14.02

8958 end climb: SURFACE_DEPTH_REACHED

state 8958 begin surface coast

8968 end surface coast: CONTROL_FINISHED_OK

state 8968 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	55	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	164.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,014656,7154.4731,-14737.2275,17,0.7,20,21.4,0.2,285.0,12,9.4	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	309.6,160599,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	130817,020326,7154.4736,-14737.5654,6,0.9,40,21.4,0.4,283.2,9,6.8

FINISH	0.0,1.019958	_24V_AH	12.62,68.807
SM_CCo	9048,0.00,0.000,0,0,500,702.78	_10V_AH	12.66,0.000
SM_GC	1.13,8.27,0.17,0.00,0.064,0.119,0.000,201,2216,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.04,14.02,14.11	FG_AHR_24Vo	0.000
RAFOS_CLK	103	FG_AHR_10Vo	0.000
RAFOS_FIX	7202.124023,-14620.304688,130817,000019,2,255,11.06	MEM	323804
IRIDIUM_FIX	7154.49,-14735.45,130817,015539	DATA_FILE_SIZE	26747,758
TT8_MAMPS	0.090629,0.85386	CAP_FILE_SIZE	106086,0
HUMID	46.25	CFSIZE	2097872896,2071592960
INTERNAL_PRESSURE	7.81082	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.80	INTR	0,5825.23,0x2341e8,1,24
XPDR_PINGS	15	SOUNDSPEED	1451.1
CP_FREE	16009986048.000000	CURRENT	0.067,315.08,1
PM_FREEKB_00	58943104	GPS	130817,043602,7155.800,-14739.665,15,0.8,31,21.4,0.3,322.5,11,10.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	147.05	nil	0	0	0.00
Roll_motor	89	2145	2426.21	nil	0	0	0.00
VBD_pump_during_apogee	883	1459	16282.26	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	8982	15	1714.46
Iridium_during_xfer	593	166	1248.94	NCP	9001	20	2271.85
Transponder_ping	3	420	19.88	PMAR	8944	16	1868.28
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.84
TT8	0	0	0.00
LPSleep	6627	2	193.82
TT8_Active	928	13	164.30
TT8_Sampling	2226	33	942.78
TT8_CF8	269	38	131.86
TT8_Kalman	0	0	0.00
Analog_circuits	2241	10	283.80
GPS_charging	0	0	0.00
Compass	1089	7	96.58
RAFOS	2217	48	1347.23
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	188	2216	497	483	0.0	0.0	0	129	0.00	0.00	-81.28	0.000	16386	0.000	0.000	188	2216	2169	2098	2240	0	0	0	0	0	0	14.35	28.83	14.38
132	-0.57	-145.9	189	2216	2101	2246	3.7	-4.9	8	181	12.65	2.78	-31.20	0.000	18724	0.455	2.145	2377	3598	3965	3950	3980	1	0	0	0	0	0	13.57	12.71	14.10
277	-0.53	-145.9	2377	3601	3959	3980	45.0	-19.9	35	281	0.12	2.42	0.00	0.000	3206	0.276	0.057	2400	2198	3968	3958	3979	0	0	0	0	0	0	13.83	14.07	14.07
587	-0.53	-145.9	2400	2199	3963	3979	94.8	-14.4	67	591	0.00	2.47	0.00	0.000	260	0.000	0.083	2392	3601	3972	3962	3982	0	0	0	0	0	0	14.40	14.04	14.42
662	-0.65	-145.9	2392	3602	3963	3981	104.2	-11.2	82	668	0.00	2.38	0.00	0.000	1158	0.000	0.052	2392	2193	3970	3962	3979	0	0	0	0	0	0	14.27	14.15	14.28
979	-0.75	-145.9	2392	2196	3963	3979	138.3	-9.7	95	984	0.15	2.47	0.00	0.000	4516	0.120	0.083	2318	3604	3970	3962	3979	0	0	0	0	0	0	13.99	14.14	14.13
1064	-0.79	-145.9	2320	3604	3963	3979	149.0	-12.5	112	1070	0.00	2.38	0.00	0.000	1158	0.000	0.054	2320	2202	3970	3962	3979	0	0	0	0	0	0	14.27	14.17	14.30
1369	-0.79	-145.9	2320	2201	3963	3978	190.9	-13.3	123	1370	0.00	0.00	0.00	0.000	6	0.000	0.000	2319	2201	3969	3962	3977	0	0	0	0	0	0	14.50	14.52	14.52
1669	-0.79	-145.9	2320	2201	3963	3975	227.2	-11.5	133	1669	0.00	0.00	0.00	0.000	6	0.000	0.000	2320	2200	3968	3962	3975	0	0	0	0	0	0	14.51	14.53	14.52
1969	-0.82	-145.9	2320	2202	3963	3973	259.6	-10.6	143	1974	0.00	2.47	0.00	0.000	388	0.000	0.088	2319	3603	3967	3962	3972	0	0	0	0	0	0	14.52	14.18	14.54
2049	-0.94	-145.9	2319	3603	3963	3972	267.7	-9.6	159	2054	0.15	2.38	0.00	0.000	5286	0.119	0.056	2259	2198	3967	3962	3972	0	0	0	0	0	0	14.26	14.19	14.35
2360	-0.86	-145.9	2260	2196	3963	3970	313.6	-14.8	171	2365	0.15	2.45	0.00	0.000	2436	0.307	0.082	2283	3597	3965	3962	3969	0	0	0	0	0	0	13.92	14.18	14.11
2420	-0.89	-145.9	2284	3600	3962	3970	321.3	-11.7	183	2425	0.00	2.38	0.00	0.000	1158	0.000	0.058	2284	2198	3965	3961	3969	0	0	0	0	0	0	14.31	14.19	14.34
2750	-0.87	-145.9	2284	2197	3962	3968	362.0	-12.4	199	2755	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3605	3965	3963	3967	0	0	0	0	0	0	14.54	14.15	14.55
2825	-0.90	-145.9	2281	3607	3962	3967	371.3	-11.9	214	2831	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2198	3964	3961	3967	0	0	0	0	0	0	14.33	14.22	14.36
3141	-0.88	-145.9	2280	2198	3962	3966	412.2	-13.0	227	3146	0.00	2.47	0.00	0.000	388	0.000	0.086	2279	3600	3963	3961	3965	0	0	0	0	0	0	14.54	14.17	14.54
3211	-0.90	-145.9	2280	3600	3961	3965	421.1	-12.2	241	3216	0.00	2.38	0.00	0.000	1158	0.000	0.057	2279	2198	3962	3960	3965	0	0	0	0	0	0	14.33	14.21	14.35
3531	-0.90	-145.9	2280	2197	3961	3964	462.8	-13.1	255	3536	0.00	2.47	0.00	0.000	260	0.000	0.086	2279	3606	3962	3960	3964	0	0	0	0	0	0	14.54	14.14	14.56
3631	-0.94	-145.9	2280	3607	3961	3964	475.4	-12.2	275	3636	0.00	2.40	0.00	0.000	1158	0.000	0.057	2279	2190	3962	3960	3964	0	0	0	0	0	0	14.31	14.20	14.35
3679	end dive: TARGET_DEPTH_EXCEEDED
state	3679	begin apogee
3685	-0.13	0.0	2280	2063	3961	3964	481.9	-13.2	280	3893	1.00	0.00	200.38	1.460	10246	0.246	0.000	2532	2061	3360	3396	3324	0	0	0	0	0	0	13.90	13.52	12.87
3897	end apogee: CONTROL_FINISHED_OK
state	3897	begin climb
3899	0.57	145.9	2533	2061	3396	3324	492.7	0.0	287	4104	0.73	2.72	192.77	1.404	10500	0.067	0.076	2779	3491	2762	2821	2703	0	0	0	0	0	0	13.60	13.21	12.62
4329	0.16	145.9	2780	3491	2804	2705	455.4	17.6	367	4335	0.73	2.38	0.00	0.000	5254	0.346	0.057	2640	2128	2754	2804	2704	0	0	0	0	0	0	13.47	13.77	13.81
4650	0.10	180.1	2641	2131	2804	2704	426.7	8.4	381	4700	0.00	2.47	45.08	1.435	8612	0.000	0.079	2641	3502	2626	2683	2570	0	0	0	0	0	0	14.28	13.69	13.15
4925	0.01	180.1	2641	3506	2672	2566	398.2	10.8	436	4932	0.25	2.42	0.00	0.000	5254	0.252	0.058	2592	2103	2618	2671	2565	0	0	0	0	0	0	13.84	14.03	14.09
5252	0.13	260.0	2592	2102	2672	2564	377.0	6.3	451	5378	0.00	2.65	117.50	1.348	8868	0.000	0.088	2592	690	2299	2358	2240	0	0	0	0	0	0	14.42	13.68	13.07
5393	0.33	336.5	2591	688	2354	2240	367.7	6.5	459	5515	0.30	2.53	111.25	1.302	11430	0.086	0.079	2697	2087	1988	2046	1931	0	0	0	0	0	0	13.79	13.74	12.86
5825	0.29	336.5	2697	2088	2033	1919	305.9	14.7	495	5833	0.00	2.50	0.00	0.000	644	0.000	0.087	2699	690	1975	2033	1918	0	0	0	0	0	0	14.16	13.88	14.19
5873	0.29	336.5	2699	690	2032	1918	298.9	14.3	504	5879	0.00	2.50	0.00	0.000	1030	0.000	0.077	2699	2100	1974	2031	1918	0	0	0	0	0	0	14.08	13.95	14.09
6189	0.26	336.5	2699	2101	2031	1916	252.8	14.5	517	6194	0.12	2.47	0.00	0.000	4740	0.233	0.085	2672	694	1972	2029	1916	0	0	0	0	0	0	13.96	14.07	14.09
6244	0.34	336.5	2672	695	2028	1916	246.0	11.3	528	6251	0.00	2.47	0.00	0.000	1158	0.000	0.078	2672	2103	1971	2027	1916	0	0	0	0	0	0	14.13	14.01	14.16
6550	0.37	336.5	2672	2105	2028	1916	211.7	10.9	539	6550	0.00	0.00	0.00	0.000	134	0.000	0.000	2672	2105	1970	2026	1915	0	0	0	0	0	0	14.46	14.47	14.48
6850	0.40	336.5	2672	2106	2028	1915	179.5	10.7	549	6855	0.12	2.47	0.00	0.000	2692	0.138	0.081	2742	684	1970	2026	1914	0	0	0	0	0	0	14.26	14.19	14.30
6900	0.36	336.5	2742	684	2026	1914	172.7	14.2	559	6922	0.17	2.47	0.00	0.000	5254	0.249	0.079	2705	2106	1972	2025	1919	0	0	0	0	0	0	14.00	14.16	14.24
7228	0.36	336.5	2704	2105	2025	1915	134.5	11.4	571	7233	0.00	2.50	0.00	0.000	516	0.000	0.084	2712	692	1969	2024	1915	0	0	0	0	0	0	14.35	14.07	14.39
7283	0.41	336.5	2712	692	2024	1914	128.4	10.4	582	7289	0.00	2.47	0.00	0.000	1158	0.000	0.079	2712	2100	1968	2022	1914	0	0	0	0	0	0	14.18	14.07	14.21
7588	0.44	372.4	2712	2101	2023	1915	101.5	8.3	593	7641	0.00	0.00	51.25	1.249	8230	0.000	0.000	2712	2101	1848	1891	1805	0	0	0	0	0	0	14.35	13.93	13.33
7938	0.54	427.8	2712	2101	1878	1796	74.2	7.4	626	7971	0.12	2.58	27.12	0.427	10660	0.129	0.082	2769	3513	1621	1662	1581	0	0	0	0	0	0	14.02	13.91	13.64
7986	0.50	427.8	2769	3511	1663	1586	69.4	11.2	634	7993	0.15	2.47	0.00	0.000	5254	0.267	0.063	2748	2092	1625	1663	1587	0	0	0	0	0	0	13.76	13.93	13.98
8292	0.63	498.4	2748	2095	1664	1576	44.5	6.7	665	8334	0.12	2.50	35.38	0.337	10916	0.128	0.083	2807	691	1330	1389	1272	0	0	0	0	0	0	13.95	13.87	13.66
8465	0.71	519.1	2807	691	1388	1271	28.6	9.0	699	8481	0.00	2.50	10.73	0.304	9382	0.000	0.078	2807	2100	1246	1310	1182	0	0	0	0	0	0	14.01	13.90	13.72
8786	0.99	727.6	2807	2101	1311	1180	14.0	0.4	733	8889	0.28	2.58	92.47	0.252	10660	0.088	0.081	2905	3513	500	535	466	0	0	0	0	0	0	13.97	13.82	13.79
8900	1.00	745.5	2906	3514	536	466	7.7	9.2	750	8905	0.00	2.47	0.00	0.000	1062	0.000	0.067	2915	2103	501	535	467	0	0	0	0	0	0	14.00	13.91	14.02
8958	end climb: SURFACE_DEPTH_REACHED
state	8958	begin surface coast
8968	end surface coast: CONTROL_FINISHED_OK
state	8968	begin surface