Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 69 * 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 69 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 200.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 200.0 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 25 VBD_MIN 500

DIVE 69 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 140817,170752,7210.4810,-14758.6982,17,0.8,57,21.3,0.8,245.6,11,11.3 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 1.29 MHEAD_RNG_PITCHd_Wd 320.3,128945,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 140817,172727,7210.5718,-14758.9609,9,1.2,50,21.3,0.0,268.2,7,11.7

Post-dive calculations and measurements:

FREEZE 12.84,6.594,-1.413,0,1,0 _24V_AH 12.61,75.334

SM_CCo 9059,92.57,0.242,0,0,497,703.03 _10V_AH 12.53,0.000

SM_GC 1.32,7.93,0.17,0.00,0.077,0.113,0.000,205,2224,494,-7.38,-0.68,703.28,0,0,0,0,0,0,14.17,14.24,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 395 FG_AHR_10Vo 0.000

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 MEM 323700

IRIDIUM_FIX 7211.05,-14801.91,140817,171632 DATA_FILE_SIZE 26702,728

TT8_MAMPS 0.040446,0.820904 CAP_FILE_SIZE 106770,0

HUMID 48.85 CFSIZE 2097872896,2067529728

INTERNAL_PRESSURE 7.78152 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.40 SOUNDSPEED 1430.9

XPDR_PINGS 14 CURRENT 0.029,288.37,1

CP_FREE 16007659520.000000 GPS 140817,200436,7211.788,-14759.703,36,0.8,39,21.3,0.6,309.8,10,9.7

PM_FREEKB_00 57876928

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 447 137.56 nil 0 0 0.00

Roll_motor 84 2142 2281.86 nil 0 0 0.00

VBD_pump_during_apogee 818 1584 16360.66 nil 0 0 0.00

VBD_pump_during_surface 92 241 282.20 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 9079 14 1649.40

Iridium_during_xfer 739 176 1647.61 NCP 9074 20 2288.46

Transponder_ping 3 420 18.54 PMAR 9030 16 1883.84

GUMSTIX_24V 0 0 0.00

GPS 51 22 14.43

TT8 0 0 0.00

LPSleep 6865 2 198.73

TT8_Active 839 13 146.90

TT8_Sampling 2494 33 1045.39

TT8_CF8 302 38 146.44

TT8_Kalman 0 0 0.00

Analog_circuits 2387 10 299.12

GPS_charging 0 0 0.00

Compass 1049 7 92.07

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 -145.9 148 2209 516 466 0.0 0.0 0 126 0.00 0.00 -78.70 0.000 16386 0.000 0.000 144 2209 2138 2055 2222 0 0 0 0 0 0 14.37 28.83 14.39

129 -0.57 -145.9 145 2209 2067 2221 4.2 -5.8 8 180 12.62 2.75 -32.83 0.000 18724 0.448 2.143 2377 3609 3962 3951 3974 0 0 0 0 0 0 13.66 12.96 14.05

405 -0.57 -145.9 2377 3610 3961 3975 62.4 -15.6 63 411 0.00 2.40 0.00 0.000 1030 0.000 0.053 2377 2198 3967 3960 3975 0 0 0 0 0 0 14.14 14.04 14.16

710 -0.57 -145.9 2378 2201 3962 3975 108.9 -14.0 90 715 0.00 2.47 0.00 0.000 260 0.000 0.081 2368 3613 3967 3961 3974 0 0 0 0 0 0 14.46 14.09 14.47

837 -0.68 -145.9 2368 3614 3962 3974 124.1 -11.5 115 842 0.00 2.40 0.00 0.000 1158 0.000 0.054 2368 2189 3967 3961 3974 0 0 0 0 0 0 14.29 14.19 14.34

1162 -0.73 -145.9 2368 2188 3962 3972 164.6 -12.2 130 1163 0.00 0.00 0.00 0.000 134 0.000 0.000 2368 2188 3968 3962 3974 0 0 0 0 0 0 14.52 14.54 14.54

1462 -0.81 -145.9 2368 2188 3962 3972 197.8 -10.7 140 1468 0.15 2.50 0.00 0.000 4484 0.122 0.083 2291 3614 3966 3962 3971 0 0 0 0 0 0 14.18 14.21 14.23

1548 -0.81 -145.9 2291 3614 3962 3972 210.0 -13.8 157 1554 0.00 2.40 0.00 0.000 1030 0.000 0.057 2291 2195 3965 3960 3971 0 0 0 0 0 0 14.31 14.20 14.34

1853 -0.75 -145.9 2291 2195 3962 3966 255.8 -14.2 168 1859 0.15 2.50 0.00 0.000 2436 0.284 0.083 2319 3620 3964 3961 3968 0 0 0 0 0 0 13.96 14.15 14.10

1919 -0.85 -145.9 2319 3620 3962 3968 263.6 -10.4 181 1924 0.00 2.38 0.00 0.000 1158 0.000 0.056 2319 2176 3964 3961 3967 0 0 0 0 0 0 14.35 14.23 14.37

2245 -0.89 -145.9 2319 2176 3962 3965 300.2 -11.0 196 2250 0.00 2.53 0.00 0.000 388 0.000 0.087 2315 3614 3962 3961 3964 0 0 0 0 0 0 14.55 14.16 14.56

2311 -1.00 -145.9 2319 3614 3962 3964 307.0 -9.7 209 2316 0.20 2.40 0.00 0.000 5286 0.103 0.056 2246 2193 3962 3961 3964 0 0 0 0 0 0 14.30 14.25 14.38

2636 -0.89 -145.9 2246 2190 3961 3962 359.6 -16.4 224 2642 0.17 2.50 0.00 0.000 2436 0.304 0.083 2279 3619 3960 3960 3961 0 0 0 0 0 0 13.88 14.16 14.07

2744 -0.93 -145.9 2280 3621 3961 3961 373.1 -11.6 245 2749 0.00 2.40 0.00 0.000 1158 0.000 0.057 2279 2199 3960 3960 3961 0 0 0 0 0 0 14.30 14.19 14.33

3059 -0.90 -145.9 2280 2198 3961 3959 413.3 -12.6 258 3064 0.00 2.47 0.00 0.000 388 0.000 0.084 2270 3614 3960 3960 3960 0 0 0 0 0 0 14.56 14.16 14.59

3094 -0.90 -145.9 2270 3615 3964 3961 417.9 -13.2 265 3099 0.00 2.40 0.00 0.000 1030 0.000 0.057 2269 2196 3959 3959 3960 0 0 0 0 0 0 14.35 14.23 14.38

3419 -0.86 -145.9 2270 2195 3960 3959 461.4 -13.4 280 3425 0.12 2.47 0.00 0.000 2436 0.324 0.082 2287 3611 3959 3959 3959 0 0 0 0 0 0 13.94 14.19 14.12

3495 -0.92 -145.9 2288 3614 3959 3960 470.4 -10.9 295 3500 0.00 2.38 0.00 0.000 1158 0.000 0.057 2287 2201 3958 3958 3959 0 0 0 0 0 0 14.17 14.16 14.14

3598 end dive: TARGET_DEPTH_EXCEEDED

state 3598 begin apogee

3604 -0.13 0.0 2284 2058 3959 3959 482.7 -11.8 301 3826 0.95 0.08 218.45 1.387 10246 0.239 0.182 2530 2110 3364 3406 3323 0 0 0 0 0 0 13.98 13.45 12.83

3830 end apogee: CONTROL_FINISHED_OK

state 3830 begin climb

3834 0.57 145.9 2531 2110 3397 3313 492.9 0.0 308 4044 0.73 2.65 198.23 1.346 10756 0.066 0.079 2781 726 2759 2820 2699 0 0 0 0 0 0 13.59 13.12 12.61

4271 0.25 145.9 2782 726 2801 2698 460.7 15.2 354 4276 0.52 2.45 0.00 0.000 5254 0.312 0.076 2669 2093 2748 2799 2698 0 0 0 0 0 0 13.52 13.76 13.82

4581 0.10 145.9 2669 2094 2799 2692 428.4 10.1 366 4586 0.20 2.40 0.00 0.000 4740 0.294 0.076 2630 725 2745 2799 2692 0 0 0 0 0 0 13.77 14.02 13.95

4811 0.14 205.1 2631 725 2799 2691 410.5 7.3 412 4903 0.00 2.40 86.38 1.320 9254 0.000 0.079 2630 2099 2528 2598 2458 0 0 0 0 0 0 14.24 14.13 13.14

5213 0.15 221.5 2630 2100 2579 2435 374.2 9.2 442 5232 0.00 0.00 17.92 1.464 8230 0.000 0.000 2630 2099 2462 2532 2392 0 0 0 0 0 0 14.35 14.02 13.31

5513 0.16 235.5 2631 2099 2517 2377 346.2 9.4 452 5532 0.00 0.00 17.73 1.495 8230 0.000 0.000 2630 2099 2405 2472 2339 0 0 0 0 0 0 14.41 14.08 13.35

5813 0.20 248.0 2631 2099 2457 2328 318.0 9.4 462 5831 0.00 0.00 16.77 1.508 8358 0.000 0.000 2630 2099 2353 2415 2291 0 0 0 0 0 0 14.44 14.11 13.36

6113 0.24 263.4 2630 2099 2402 2278 289.8 9.3 472 6138 0.00 2.42 19.95 1.468 8868 0.000 0.082 2633 720 2287 2348 2227 0 0 0 0 0 0 14.45 13.94 13.35

6168 0.35 286.8 2636 721 2342 2228 284.8 8.9 483 6210 0.20 2.42 35.85 1.391 11430 0.102 0.079 2707 2103 2194 2254 2135 0 0 0 0 0 0 14.10 14.08 13.24

6536 0.28 286.8 2707 2104 2246 2123 233.4 13.9 506 6541 0.15 2.47 0.00 0.000 4484 0.228 0.080 2669 3515 2183 2244 2122 0 0 0 0 0 0 13.97 14.07 14.10

6556 0.23 286.8 2669 3517 2243 2122 230.7 13.6 510 6561 0.00 2.38 0.00 0.000 1158 0.000 0.061 2672 2129 2182 2242 2122 0 0 0 0 0 0 14.25 14.14 14.28

6866 0.23 294.9 2673 2128 2242 2118 199.9 9.6 522 6881 0.00 2.58 7.97 1.584 8740 0.000 0.088 2673 687 2163 2218 2108 0 0 0 0 0 0 14.48 14.16 13.39

6958 0.32 322.9 2673 688 2214 2101 191.9 8.7 540 7011 0.00 2.47 46.78 1.335 9382 0.000 0.079 2673 2106 2045 2098 1992 0 0 0 0 0 0 14.26 14.15 13.31

7318 0.40 358.2 2673 2108 2090 1983 160.5 8.4 562 7383 0.12 2.58 56.30 1.282 10916 0.139 0.084 2725 701 1903 1947 1860 0 0 0 0 0 0 14.16 13.88 13.27

7403 0.40 358.2 2729 700 1938 1861 150.9 11.3 574 7410 0.00 2.50 0.00 0.000 1030 0.000 0.078 2729 2103 1900 1941 1860 0 0 0 0 0 0 14.01 13.90 14.03

7709 0.40 358.2 2729 2104 1933 1855 116.8 10.6 585 7714 0.00 2.50 0.00 0.000 516 0.000 0.085 2728 693 1892 1932 1853 0 0 0 0 0 0 14.39 13.99 14.42

7755 0.46 371.2 2729 692 1931 1854 112.3 9.4 594 7771 0.00 2.47 12.50 1.416 9382 0.000 0.077 2729 2102 1853 1889 1817 0 0 0 0 0 0 14.17 14.07 13.35

8069 0.46 371.2 2729 2103 1881 1808 80.9 10.3 619 8074 0.00 2.47 0.00 0.000 516 0.000 0.085 2729 693 1843 1879 1807 0 0 0 0 0 0 14.41 14.05 14.42

8105 0.53 380.4 2729 694 1877 1808 77.4 9.6 626 8115 0.00 2.47 4.25 0.425 9382 0.000 0.078 2728 2102 1813 1848 1779 0 0 0 0 0 0 14.14 14.04 13.67

8421 0.61 434.9 2729 2103 1852 1779 50.7 7.5 659 8457 0.15 2.55 30.10 0.356 10916 0.119 0.086 2793 694 1589 1625 1553 0 0 0 0 0 0 13.94 14.04 13.83

8493 0.61 434.9 2794 695 1625 1553 43.0 10.4 670 8497 0.00 2.47 0.00 0.000 1030 0.000 0.079 2794 2100 1588 1624 1553 0 0 0 0 0 0 14.19 14.08 14.23

8803 0.68 529.5 2794 2102 1625 1545 17.3 5.6 702 8855 0.00 0.00 49.75 0.256 8742 0.000 0.000 2794 2101 1202 1273 1131 0 0 0 0 0 0 14.42 14.15 13.90

9052 end climb: NO_VERTICAL_VELOCITY

state 9052 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	69	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	200.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,170752,7210.4810,-14758.6982,17,0.8,57,21.3,0.8,245.6,11,11.3	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	1.29	MHEAD_RNG_PITCHd_Wd	320.3,128945,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	140817,172727,7210.5718,-14758.9609,9,1.2,50,21.3,0.0,268.2,7,11.7

FREEZE	12.84,6.594,-1.413,0,1,0	_24V_AH	12.61,75.334
SM_CCo	9059,92.57,0.242,0,0,497,703.03	_10V_AH	12.53,0.000
SM_GC	1.32,7.93,0.17,0.00,0.077,0.113,0.000,205,2224,494,-7.38,-0.68,703.28,0,0,0,0,0,0,14.17,14.24,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	395	FG_AHR_10Vo	0.000
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	MEM	323700
IRIDIUM_FIX	7211.05,-14801.91,140817,171632	DATA_FILE_SIZE	26702,728
TT8_MAMPS	0.040446,0.820904	CAP_FILE_SIZE	106770,0
HUMID	48.85	CFSIZE	2097872896,2067529728
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.40	SOUNDSPEED	1430.9
XPDR_PINGS	14	CURRENT	0.029,288.37,1
CP_FREE	16007659520.000000	GPS	140817,200436,7211.788,-14759.703,36,0.8,39,21.3,0.6,309.8,10,9.7
PM_FREEKB_00	57876928

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	447	137.56	nil	0	0	0.00
Roll_motor	84	2142	2281.86	nil	0	0	0.00
VBD_pump_during_apogee	818	1584	16360.66	nil	0	0	0.00
VBD_pump_during_surface	92	241	282.20	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	9079	14	1649.40
Iridium_during_xfer	739	176	1647.61	NCP	9074	20	2288.46
Transponder_ping	3	420	18.54	PMAR	9030	16	1883.84
GUMSTIX_24V	0	0	0.00
GPS	51	22	14.43
TT8	0	0	0.00
LPSleep	6865	2	198.73
TT8_Active	839	13	146.90
TT8_Sampling	2494	33	1045.39
TT8_CF8	302	38	146.44
TT8_Kalman	0	0	0.00
Analog_circuits	2387	10	299.12
GPS_charging	0	0	0.00
Compass	1049	7	92.07
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	148	2209	516	466	0.0	0.0	0	126	0.00	0.00	-78.70	0.000	16386	0.000	0.000	144	2209	2138	2055	2222	0	0	0	0	0	0	14.37	28.83	14.39
129	-0.57	-145.9	145	2209	2067	2221	4.2	-5.8	8	180	12.62	2.75	-32.83	0.000	18724	0.448	2.143	2377	3609	3962	3951	3974	0	0	0	0	0	0	13.66	12.96	14.05
405	-0.57	-145.9	2377	3610	3961	3975	62.4	-15.6	63	411	0.00	2.40	0.00	0.000	1030	0.000	0.053	2377	2198	3967	3960	3975	0	0	0	0	0	0	14.14	14.04	14.16
710	-0.57	-145.9	2378	2201	3962	3975	108.9	-14.0	90	715	0.00	2.47	0.00	0.000	260	0.000	0.081	2368	3613	3967	3961	3974	0	0	0	0	0	0	14.46	14.09	14.47
837	-0.68	-145.9	2368	3614	3962	3974	124.1	-11.5	115	842	0.00	2.40	0.00	0.000	1158	0.000	0.054	2368	2189	3967	3961	3974	0	0	0	0	0	0	14.29	14.19	14.34
1162	-0.73	-145.9	2368	2188	3962	3972	164.6	-12.2	130	1163	0.00	0.00	0.00	0.000	134	0.000	0.000	2368	2188	3968	3962	3974	0	0	0	0	0	0	14.52	14.54	14.54
1462	-0.81	-145.9	2368	2188	3962	3972	197.8	-10.7	140	1468	0.15	2.50	0.00	0.000	4484	0.122	0.083	2291	3614	3966	3962	3971	0	0	0	0	0	0	14.18	14.21	14.23
1548	-0.81	-145.9	2291	3614	3962	3972	210.0	-13.8	157	1554	0.00	2.40	0.00	0.000	1030	0.000	0.057	2291	2195	3965	3960	3971	0	0	0	0	0	0	14.31	14.20	14.34
1853	-0.75	-145.9	2291	2195	3962	3966	255.8	-14.2	168	1859	0.15	2.50	0.00	0.000	2436	0.284	0.083	2319	3620	3964	3961	3968	0	0	0	0	0	0	13.96	14.15	14.10
1919	-0.85	-145.9	2319	3620	3962	3968	263.6	-10.4	181	1924	0.00	2.38	0.00	0.000	1158	0.000	0.056	2319	2176	3964	3961	3967	0	0	0	0	0	0	14.35	14.23	14.37
2245	-0.89	-145.9	2319	2176	3962	3965	300.2	-11.0	196	2250	0.00	2.53	0.00	0.000	388	0.000	0.087	2315	3614	3962	3961	3964	0	0	0	0	0	0	14.55	14.16	14.56
2311	-1.00	-145.9	2319	3614	3962	3964	307.0	-9.7	209	2316	0.20	2.40	0.00	0.000	5286	0.103	0.056	2246	2193	3962	3961	3964	0	0	0	0	0	0	14.30	14.25	14.38
2636	-0.89	-145.9	2246	2190	3961	3962	359.6	-16.4	224	2642	0.17	2.50	0.00	0.000	2436	0.304	0.083	2279	3619	3960	3960	3961	0	0	0	0	0	0	13.88	14.16	14.07
2744	-0.93	-145.9	2280	3621	3961	3961	373.1	-11.6	245	2749	0.00	2.40	0.00	0.000	1158	0.000	0.057	2279	2199	3960	3960	3961	0	0	0	0	0	0	14.30	14.19	14.33
3059	-0.90	-145.9	2280	2198	3961	3959	413.3	-12.6	258	3064	0.00	2.47	0.00	0.000	388	0.000	0.084	2270	3614	3960	3960	3960	0	0	0	0	0	0	14.56	14.16	14.59
3094	-0.90	-145.9	2270	3615	3964	3961	417.9	-13.2	265	3099	0.00	2.40	0.00	0.000	1030	0.000	0.057	2269	2196	3959	3959	3960	0	0	0	0	0	0	14.35	14.23	14.38
3419	-0.86	-145.9	2270	2195	3960	3959	461.4	-13.4	280	3425	0.12	2.47	0.00	0.000	2436	0.324	0.082	2287	3611	3959	3959	3959	0	0	0	0	0	0	13.94	14.19	14.12
3495	-0.92	-145.9	2288	3614	3959	3960	470.4	-10.9	295	3500	0.00	2.38	0.00	0.000	1158	0.000	0.057	2287	2201	3958	3958	3959	0	0	0	0	0	0	14.17	14.16	14.14
3598	end dive: TARGET_DEPTH_EXCEEDED
state	3598	begin apogee
3604	-0.13	0.0	2284	2058	3959	3959	482.7	-11.8	301	3826	0.95	0.08	218.45	1.387	10246	0.239	0.182	2530	2110	3364	3406	3323	0	0	0	0	0	0	13.98	13.45	12.83
3830	end apogee: CONTROL_FINISHED_OK
state	3830	begin climb
3834	0.57	145.9	2531	2110	3397	3313	492.9	0.0	308	4044	0.73	2.65	198.23	1.346	10756	0.066	0.079	2781	726	2759	2820	2699	0	0	0	0	0	0	13.59	13.12	12.61
4271	0.25	145.9	2782	726	2801	2698	460.7	15.2	354	4276	0.52	2.45	0.00	0.000	5254	0.312	0.076	2669	2093	2748	2799	2698	0	0	0	0	0	0	13.52	13.76	13.82
4581	0.10	145.9	2669	2094	2799	2692	428.4	10.1	366	4586	0.20	2.40	0.00	0.000	4740	0.294	0.076	2630	725	2745	2799	2692	0	0	0	0	0	0	13.77	14.02	13.95
4811	0.14	205.1	2631	725	2799	2691	410.5	7.3	412	4903	0.00	2.40	86.38	1.320	9254	0.000	0.079	2630	2099	2528	2598	2458	0	0	0	0	0	0	14.24	14.13	13.14
5213	0.15	221.5	2630	2100	2579	2435	374.2	9.2	442	5232	0.00	0.00	17.92	1.464	8230	0.000	0.000	2630	2099	2462	2532	2392	0	0	0	0	0	0	14.35	14.02	13.31
5513	0.16	235.5	2631	2099	2517	2377	346.2	9.4	452	5532	0.00	0.00	17.73	1.495	8230	0.000	0.000	2630	2099	2405	2472	2339	0	0	0	0	0	0	14.41	14.08	13.35
5813	0.20	248.0	2631	2099	2457	2328	318.0	9.4	462	5831	0.00	0.00	16.77	1.508	8358	0.000	0.000	2630	2099	2353	2415	2291	0	0	0	0	0	0	14.44	14.11	13.36
6113	0.24	263.4	2630	2099	2402	2278	289.8	9.3	472	6138	0.00	2.42	19.95	1.468	8868	0.000	0.082	2633	720	2287	2348	2227	0	0	0	0	0	0	14.45	13.94	13.35
6168	0.35	286.8	2636	721	2342	2228	284.8	8.9	483	6210	0.20	2.42	35.85	1.391	11430	0.102	0.079	2707	2103	2194	2254	2135	0	0	0	0	0	0	14.10	14.08	13.24
6536	0.28	286.8	2707	2104	2246	2123	233.4	13.9	506	6541	0.15	2.47	0.00	0.000	4484	0.228	0.080	2669	3515	2183	2244	2122	0	0	0	0	0	0	13.97	14.07	14.10
6556	0.23	286.8	2669	3517	2243	2122	230.7	13.6	510	6561	0.00	2.38	0.00	0.000	1158	0.000	0.061	2672	2129	2182	2242	2122	0	0	0	0	0	0	14.25	14.14	14.28
6866	0.23	294.9	2673	2128	2242	2118	199.9	9.6	522	6881	0.00	2.58	7.97	1.584	8740	0.000	0.088	2673	687	2163	2218	2108	0	0	0	0	0	0	14.48	14.16	13.39
6958	0.32	322.9	2673	688	2214	2101	191.9	8.7	540	7011	0.00	2.47	46.78	1.335	9382	0.000	0.079	2673	2106	2045	2098	1992	0	0	0	0	0	0	14.26	14.15	13.31
7318	0.40	358.2	2673	2108	2090	1983	160.5	8.4	562	7383	0.12	2.58	56.30	1.282	10916	0.139	0.084	2725	701	1903	1947	1860	0	0	0	0	0	0	14.16	13.88	13.27
7403	0.40	358.2	2729	700	1938	1861	150.9	11.3	574	7410	0.00	2.50	0.00	0.000	1030	0.000	0.078	2729	2103	1900	1941	1860	0	0	0	0	0	0	14.01	13.90	14.03
7709	0.40	358.2	2729	2104	1933	1855	116.8	10.6	585	7714	0.00	2.50	0.00	0.000	516	0.000	0.085	2728	693	1892	1932	1853	0	0	0	0	0	0	14.39	13.99	14.42
7755	0.46	371.2	2729	692	1931	1854	112.3	9.4	594	7771	0.00	2.47	12.50	1.416	9382	0.000	0.077	2729	2102	1853	1889	1817	0	0	0	0	0	0	14.17	14.07	13.35
8069	0.46	371.2	2729	2103	1881	1808	80.9	10.3	619	8074	0.00	2.47	0.00	0.000	516	0.000	0.085	2729	693	1843	1879	1807	0	0	0	0	0	0	14.41	14.05	14.42
8105	0.53	380.4	2729	694	1877	1808	77.4	9.6	626	8115	0.00	2.47	4.25	0.425	9382	0.000	0.078	2728	2102	1813	1848	1779	0	0	0	0	0	0	14.14	14.04	13.67
8421	0.61	434.9	2729	2103	1852	1779	50.7	7.5	659	8457	0.15	2.55	30.10	0.356	10916	0.119	0.086	2793	694	1589	1625	1553	0	0	0	0	0	0	13.94	14.04	13.83
8493	0.61	434.9	2794	695	1625	1553	43.0	10.4	670	8497	0.00	2.47	0.00	0.000	1030	0.000	0.079	2794	2100	1588	1624	1553	0	0	0	0	0	0	14.19	14.08	14.23
8803	0.68	529.5	2794	2102	1625	1545	17.3	5.6	702	8855	0.00	0.00	49.75	0.256	8742	0.000	0.000	2794	2101	1202	1273	1131	0	0	0	0	0	0	14.42	14.15	13.90
9052	end climb: NO_VERTICAL_VELOCITY
state	9052	begin surface