Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 72 * 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 72 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 209.0

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 23 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 209.0 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 23 VBD_MIN 500

DIVE 72 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 150817,014148,7214.0420,-14803.0107,18,0.7,21,21.3,0.4,204.6,12,9.4 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 1.17 MHEAD_RNG_PITCHd_Wd 324.0,122244,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.5 D_GRID 480

GPS2 150817,015254,7214.0244,-14803.2930,10,0.8,50,21.3,0.5,14.7,12,18.2

Post-dive calculations and measurements:

FINISH 0.2,1.019987 _24V_AH 12.57,76.736

SM_CCo 8752,47.45,0.206,0,0,496,703.28 _10V_AH 12.50,0.000

SM_GC 1.01,8.20,0.17,47.45,0.074,0.134,0.206,202,2208,496,-7.38,-0.65,703.28,0,0,0,0,0,0,14.10,14.07,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 63 FG_AHR_10Vo 0.000

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 MEM 323888

IRIDIUM_FIX 7211.47,-14817.56,140817,225703 DATA_FILE_SIZE 23399,658

TT8_MAMPS 0.085386,0.866593 CAP_FILE_SIZE 95306,0

HUMID 47.20 CFSIZE 2097872896,2066644992

INTERNAL_PRESSURE 7.80105 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.40 SOUNDSPEED 1450.4

XPDR_PINGS 12 CURRENT 0.095,266.71,1

CP_FREE 16007168000.000000 GPS 150817,042127,7215.245,-14804.861,35,0.8,36,21.3,0.0,0.0,10,8.3

PM_FREEKB_00 57655680

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.31 nil 0 0 0.00

Roll_motor 74 2146 2004.81 nil 0 0 0.00

VBD_pump_during_apogee 890 1468 16439.49 nil 0 0 0.00

VBD_pump_during_surface 47 205 122.74 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 8760 14 1587.83

Iridium_during_xfer 359 184 832.67 NCP 8751 20 2200.00

Transponder_ping 3 420 15.84 PMAR 8709 16 1813.30

GUMSTIX_24V 0 0 0.00

GPS 51 22 14.56

TT8 0 0 0.00

LPSleep 6349 2 183.36

TT8_Active 852 13 148.82

TT8_Sampling 2017 33 843.18

TT8_CF8 262 38 126.92

TT8_Kalman 0 0 0.00

Analog_circuits 1968 10 246.11

GPS_charging 0 0 0.00

Compass 945 7 82.74

RAFOS 2218 48 1330.80

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 -145.9 176 2214 517 461 0.0 0.0 0 129 0.00 0.00 -81.47 0.000 16386 0.000 0.000 173 2215 2120 2039 2201 0 0 0 0 0 0 14.38 28.83 14.40

132 -0.57 -145.9 175 2214 2042 2203 3.7 -5.1 8 185 12.60 2.70 -33.65 0.000 18724 0.453 2.147 2377 3601 3964 3956 3972 0 0 0 0 0 0 13.74 12.97 14.15

395 -0.57 -145.9 2377 3602 3960 3977 61.7 -15.3 60 400 0.00 2.40 0.00 0.000 1030 0.000 0.056 2376 2197 3967 3960 3975 0 0 0 0 0 0 14.11 14.00 14.13

707 -0.57 -145.9 2379 2196 3963 3976 108.8 -13.9 88 712 0.00 2.47 0.00 0.000 260 0.000 0.083 2366 3598 3968 3962 3975 0 0 0 0 0 0 14.44 14.13 14.45

817 -0.67 -145.9 2367 3600 3963 3976 122.4 -11.2 110 822 0.00 2.35 0.00 0.000 1158 0.000 0.054 2366 2198 3968 3962 3975 0 0 0 0 0 0 14.30 14.19 14.32

1127 -0.70 -145.9 2366 2197 3963 3976 161.9 -12.5 122 1132 0.00 2.47 0.00 0.000 388 0.000 0.086 2359 3601 3969 3962 3976 0 0 0 0 0 0 14.52 14.17 14.52

1202 -0.81 -145.9 2359 3602 3962 3976 170.3 -10.6 137 1207 0.15 2.38 0.00 0.000 5254 0.122 0.055 2301 2200 3968 3961 3975 0 0 0 0 0 0 14.25 14.23 14.34

1518 -0.75 -145.9 2301 2200 3963 3976 221.7 -15.9 150 1523 0.12 2.45 0.00 0.000 2436 0.295 0.081 2319 3600 3965 3956 3975 0 0 0 0 0 0 13.85 14.12 14.00

1625 -0.84 -145.9 2320 3601 3958 3976 234.1 -10.5 171 1631 0.00 2.35 0.00 0.000 1158 0.000 0.056 2320 2201 3968 3962 3975 0 0 0 0 0 0 14.33 14.22 14.36

1941 -0.86 -145.9 2320 2201 3962 3973 270.5 -11.1 184 1946 0.00 2.45 0.00 0.000 388 0.000 0.087 2319 3593 3966 3961 3972 0 0 0 0 0 0 14.56 14.17 14.57

1981 -0.95 -145.9 2319 3595 3960 3971 274.8 -10.4 192 1987 0.15 2.38 0.00 0.000 5254 0.120 0.059 2261 2201 3966 3961 3972 0 0 0 0 0 0 14.25 14.21 14.34

2302 -0.86 -145.9 2263 2200 3962 3971 323.7 -15.5 206 2307 0.15 2.45 0.00 0.000 2436 0.308 0.081 2284 3603 3965 3961 3970 0 0 0 0 0 0 13.95 14.16 14.13

2404 -0.90 -145.9 2285 3604 3961 3970 336.4 -11.7 226 2408 0.00 2.38 0.00 0.000 1158 0.000 0.058 2285 2199 3965 3960 3970 0 0 0 0 0 0 14.33 14.23 14.37

2724 -0.88 -145.9 2285 2198 3962 3969 377.6 -12.8 240 2729 0.00 2.45 0.00 0.000 388 0.000 0.085 2280 3598 3964 3960 3968 0 0 0 0 0 0 14.56 14.16 14.58

2789 -0.91 -145.9 2280 3601 3960 3969 385.8 -12.1 253 2793 0.00 2.38 0.00 0.000 1158 0.000 0.059 2280 2199 3963 3959 3968 0 0 0 0 0 0 14.35 14.23 14.38

3114 -0.89 -145.9 2282 2199 3961 3967 427.9 -13.0 268 3119 0.00 2.45 0.00 0.000 388 0.000 0.086 2279 3598 3963 3960 3967 0 0 0 0 0 0 14.57 14.16 14.58

3194 -0.93 -145.9 2280 3601 3960 3968 437.9 -11.8 284 3199 0.00 2.38 0.00 0.000 1158 0.000 0.059 2279 2193 3963 3959 3967 0 0 0 0 0 0 14.35 14.23 14.36

3504 -0.93 -145.9 2280 2192 3960 3965 477.0 -12.6 296 3509 0.00 2.47 0.00 0.000 260 0.000 0.086 2279 3601 3962 3959 3965 0 0 0 0 0 0 14.57 14.15 14.58

3526 end dive: TARGET_DEPTH_EXCEEDED

state 3527 begin apogee

3534 -0.13 0.0 2280 2100 3960 3966 480.2 -12.7 301 3743 0.98 0.00 205.35 1.440 10246 0.239 0.000 2526 2099 3364 3395 3333 0 0 0 0 0 0 13.94 13.52 12.83

3747 end apogee: CONTROL_FINISHED_OK

state 3747 begin climb

3749 0.57 145.9 2528 2099 3395 3326 490.1 0.0 308 3959 0.75 2.65 198.27 1.382 10500 0.065 0.073 2781 3491 2762 2817 2707 0 0 0 0 0 0 13.59 13.09 12.57

3968 0.57 145.9 2781 3492 2810 2707 491.2 -0.2 310 3973 0.00 2.53 0.00 0.000 1030 0.000 0.055 2792 2098 2757 2808 2706 0 0 0 0 0 0 13.40 13.32 13.41

4288 0.18 145.9 2792 2099 2802 2703 437.0 16.8 324 4294 0.65 2.50 0.00 0.000 4740 0.327 0.078 2658 690 2754 2802 2706 0 0 0 0 0 0 13.57 13.86 13.79

4454 0.12 168.6 2658 690 2803 2706 420.7 9.0 357 4490 0.17 2.47 27.77 1.468 13478 0.289 0.079 2623 2094 2674 2725 2624 0 0 0 0 0 0 13.78 14.00 13.14

4803 0.11 210.1 2623 2095 2724 2616 392.4 8.1 376 4866 0.00 0.00 61.05 1.395 8358 0.000 0.000 2623 2094 2507 2573 2442 0 0 0 0 0 0 14.37 13.84 13.13

5161 0.13 237.6 2624 2095 2565 2429 361.4 8.7 388 5202 0.00 0.00 39.03 1.413 8230 0.000 0.000 2623 2094 2395 2459 2331 0 0 0 0 0 0 14.35 13.92 13.21

5491 0.19 266.2 2624 2097 2448 2322 332.4 8.7 399 5535 0.00 0.00 42.22 1.392 8358 0.000 0.000 2623 2094 2279 2338 2220 0 0 0 0 0 0 14.37 13.93 13.24

5821 0.27 299.8 2623 2095 2334 2207 304.1 8.5 410 5874 0.12 0.00 50.30 1.356 10918 0.130 0.000 2682 2094 2142 2200 2085 0 0 0 0 0 0 14.15 13.90 13.22

6153 0.23 299.8 2682 2095 2189 2074 262.3 12.8 426 6157 0.00 2.50 0.00 0.000 644 0.000 0.086 2685 686 2130 2188 2073 0 0 0 0 0 0 14.38 14.07 14.39

6207 0.26 299.8 2686 687 2187 2074 255.3 11.7 437 6214 0.00 2.47 0.00 0.000 1158 0.000 0.078 2685 2099 2132 2192 2073 0 0 0 0 0 0 14.22 14.09 14.25

6513 0.23 299.8 2686 2100 2187 2072 218.7 11.6 448 6514 0.12 0.00 0.00 0.000 4230 0.249 0.000 2660 2100 2128 2186 2070 0 0 0 0 0 0 14.05 14.33 14.27

6813 0.30 337.7 2661 2100 2186 2070 192.5 8.2 458 6879 0.00 2.53 60.05 1.294 8868 0.000 0.088 2660 691 1986 2036 1937 0 0 0 0 0 0 14.52 13.95 13.32

6904 0.47 380.3 2659 692 2030 1932 185.1 8.0 471 6980 0.22 2.50 69.32 1.235 11430 0.101 0.079 2749 2104 1816 1848 1785 0 0 0 0 0 0 13.95 13.90 13.14

7295 0.42 380.3 2749 2103 1835 1763 131.5 13.2 499 7301 0.15 2.53 0.00 0.000 4740 0.240 0.085 2712 687 1799 1835 1763 0 0 0 0 0 0 13.89 13.84 13.95

7346 0.53 398.1 2713 687 1832 1764 126.4 9.2 509 7372 0.12 2.47 21.67 1.332 11430 0.132 0.076 2768 2099 1743 1777 1710 0 0 0 0 0 0 14.13 14.09 13.32

7678 0.47 398.1 2768 2099 1768 1696 82.3 12.8 534 7679 0.17 0.00 0.00 0.000 4230 0.263 0.000 2732 2100 1731 1767 1696 0 0 0 0 0 0 13.81 14.09 14.05

7978 0.55 435.3 2733 2100 1768 1693 54.9 8.3 564 8004 0.00 2.53 18.92 0.369 8868 0.000 0.085 2740 693 1588 1626 1550 0 0 0 0 0 0 14.31 14.01 13.68

8076 0.70 482.1 2741 694 1627 1550 47.1 7.8 583 8109 0.20 2.50 25.27 0.341 11430 0.101 0.078 2812 2106 1397 1446 1349 0 0 0 0 0 0 14.04 14.02 13.72

8414 0.84 618.5 2812 2107 1447 1344 15.2 3.7 620 8488 0.12 0.00 71.62 0.252 10662 0.133 0.000 2874 2107 842 921 764 0 0 0 0 0 0 14.07 14.03 13.78

8712 end climb: SURFACE_DEPTH_REACHED

state 8712 begin surface coast

8732 end surface coast: CONTROL_FINISHED_OK

state 8732 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	72	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	209.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,014148,7214.0420,-14803.0107,18,0.7,21,21.3,0.4,204.6,12,9.4	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	1.17	MHEAD_RNG_PITCHd_Wd	324.0,122244,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.5	D_GRID	480
GPS2	150817,015254,7214.0244,-14803.2930,10,0.8,50,21.3,0.5,14.7,12,18.2

FINISH	0.2,1.019987	_24V_AH	12.57,76.736
SM_CCo	8752,47.45,0.206,0,0,496,703.28	_10V_AH	12.50,0.000
SM_GC	1.01,8.20,0.17,47.45,0.074,0.134,0.206,202,2208,496,-7.38,-0.65,703.28,0,0,0,0,0,0,14.10,14.07,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	63	FG_AHR_10Vo	0.000
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	MEM	323888
IRIDIUM_FIX	7211.47,-14817.56,140817,225703	DATA_FILE_SIZE	23399,658
TT8_MAMPS	0.085386,0.866593	CAP_FILE_SIZE	95306,0
HUMID	47.20	CFSIZE	2097872896,2066644992
INTERNAL_PRESSURE	7.80105	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.40	SOUNDSPEED	1450.4
XPDR_PINGS	12	CURRENT	0.095,266.71,1
CP_FREE	16007168000.000000	GPS	150817,042127,7215.245,-14804.861,35,0.8,36,21.3,0.0,0.0,10,8.3
PM_FREEKB_00	57655680

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.31	nil	0	0	0.00
Roll_motor	74	2146	2004.81	nil	0	0	0.00
VBD_pump_during_apogee	890	1468	16439.49	nil	0	0	0.00
VBD_pump_during_surface	47	205	122.74	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	8760	14	1587.83
Iridium_during_xfer	359	184	832.67	NCP	8751	20	2200.00
Transponder_ping	3	420	15.84	PMAR	8709	16	1813.30
GUMSTIX_24V	0	0	0.00
GPS	51	22	14.56
TT8	0	0	0.00
LPSleep	6349	2	183.36
TT8_Active	852	13	148.82
TT8_Sampling	2017	33	843.18
TT8_CF8	262	38	126.92
TT8_Kalman	0	0	0.00
Analog_circuits	1968	10	246.11
GPS_charging	0	0	0.00
Compass	945	7	82.74
RAFOS	2218	48	1330.80
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	176	2214	517	461	0.0	0.0	0	129	0.00	0.00	-81.47	0.000	16386	0.000	0.000	173	2215	2120	2039	2201	0	0	0	0	0	0	14.38	28.83	14.40
132	-0.57	-145.9	175	2214	2042	2203	3.7	-5.1	8	185	12.60	2.70	-33.65	0.000	18724	0.453	2.147	2377	3601	3964	3956	3972	0	0	0	0	0	0	13.74	12.97	14.15
395	-0.57	-145.9	2377	3602	3960	3977	61.7	-15.3	60	400	0.00	2.40	0.00	0.000	1030	0.000	0.056	2376	2197	3967	3960	3975	0	0	0	0	0	0	14.11	14.00	14.13
707	-0.57	-145.9	2379	2196	3963	3976	108.8	-13.9	88	712	0.00	2.47	0.00	0.000	260	0.000	0.083	2366	3598	3968	3962	3975	0	0	0	0	0	0	14.44	14.13	14.45
817	-0.67	-145.9	2367	3600	3963	3976	122.4	-11.2	110	822	0.00	2.35	0.00	0.000	1158	0.000	0.054	2366	2198	3968	3962	3975	0	0	0	0	0	0	14.30	14.19	14.32
1127	-0.70	-145.9	2366	2197	3963	3976	161.9	-12.5	122	1132	0.00	2.47	0.00	0.000	388	0.000	0.086	2359	3601	3969	3962	3976	0	0	0	0	0	0	14.52	14.17	14.52
1202	-0.81	-145.9	2359	3602	3962	3976	170.3	-10.6	137	1207	0.15	2.38	0.00	0.000	5254	0.122	0.055	2301	2200	3968	3961	3975	0	0	0	0	0	0	14.25	14.23	14.34
1518	-0.75	-145.9	2301	2200	3963	3976	221.7	-15.9	150	1523	0.12	2.45	0.00	0.000	2436	0.295	0.081	2319	3600	3965	3956	3975	0	0	0	0	0	0	13.85	14.12	14.00
1625	-0.84	-145.9	2320	3601	3958	3976	234.1	-10.5	171	1631	0.00	2.35	0.00	0.000	1158	0.000	0.056	2320	2201	3968	3962	3975	0	0	0	0	0	0	14.33	14.22	14.36
1941	-0.86	-145.9	2320	2201	3962	3973	270.5	-11.1	184	1946	0.00	2.45	0.00	0.000	388	0.000	0.087	2319	3593	3966	3961	3972	0	0	0	0	0	0	14.56	14.17	14.57
1981	-0.95	-145.9	2319	3595	3960	3971	274.8	-10.4	192	1987	0.15	2.38	0.00	0.000	5254	0.120	0.059	2261	2201	3966	3961	3972	0	0	0	0	0	0	14.25	14.21	14.34
2302	-0.86	-145.9	2263	2200	3962	3971	323.7	-15.5	206	2307	0.15	2.45	0.00	0.000	2436	0.308	0.081	2284	3603	3965	3961	3970	0	0	0	0	0	0	13.95	14.16	14.13
2404	-0.90	-145.9	2285	3604	3961	3970	336.4	-11.7	226	2408	0.00	2.38	0.00	0.000	1158	0.000	0.058	2285	2199	3965	3960	3970	0	0	0	0	0	0	14.33	14.23	14.37
2724	-0.88	-145.9	2285	2198	3962	3969	377.6	-12.8	240	2729	0.00	2.45	0.00	0.000	388	0.000	0.085	2280	3598	3964	3960	3968	0	0	0	0	0	0	14.56	14.16	14.58
2789	-0.91	-145.9	2280	3601	3960	3969	385.8	-12.1	253	2793	0.00	2.38	0.00	0.000	1158	0.000	0.059	2280	2199	3963	3959	3968	0	0	0	0	0	0	14.35	14.23	14.38
3114	-0.89	-145.9	2282	2199	3961	3967	427.9	-13.0	268	3119	0.00	2.45	0.00	0.000	388	0.000	0.086	2279	3598	3963	3960	3967	0	0	0	0	0	0	14.57	14.16	14.58
3194	-0.93	-145.9	2280	3601	3960	3968	437.9	-11.8	284	3199	0.00	2.38	0.00	0.000	1158	0.000	0.059	2279	2193	3963	3959	3967	0	0	0	0	0	0	14.35	14.23	14.36
3504	-0.93	-145.9	2280	2192	3960	3965	477.0	-12.6	296	3509	0.00	2.47	0.00	0.000	260	0.000	0.086	2279	3601	3962	3959	3965	0	0	0	0	0	0	14.57	14.15	14.58
3526	end dive: TARGET_DEPTH_EXCEEDED
state	3527	begin apogee
3534	-0.13	0.0	2280	2100	3960	3966	480.2	-12.7	301	3743	0.98	0.00	205.35	1.440	10246	0.239	0.000	2526	2099	3364	3395	3333	0	0	0	0	0	0	13.94	13.52	12.83
3747	end apogee: CONTROL_FINISHED_OK
state	3747	begin climb
3749	0.57	145.9	2528	2099	3395	3326	490.1	0.0	308	3959	0.75	2.65	198.27	1.382	10500	0.065	0.073	2781	3491	2762	2817	2707	0	0	0	0	0	0	13.59	13.09	12.57
3968	0.57	145.9	2781	3492	2810	2707	491.2	-0.2	310	3973	0.00	2.53	0.00	0.000	1030	0.000	0.055	2792	2098	2757	2808	2706	0	0	0	0	0	0	13.40	13.32	13.41
4288	0.18	145.9	2792	2099	2802	2703	437.0	16.8	324	4294	0.65	2.50	0.00	0.000	4740	0.327	0.078	2658	690	2754	2802	2706	0	0	0	0	0	0	13.57	13.86	13.79
4454	0.12	168.6	2658	690	2803	2706	420.7	9.0	357	4490	0.17	2.47	27.77	1.468	13478	0.289	0.079	2623	2094	2674	2725	2624	0	0	0	0	0	0	13.78	14.00	13.14
4803	0.11	210.1	2623	2095	2724	2616	392.4	8.1	376	4866	0.00	0.00	61.05	1.395	8358	0.000	0.000	2623	2094	2507	2573	2442	0	0	0	0	0	0	14.37	13.84	13.13
5161	0.13	237.6	2624	2095	2565	2429	361.4	8.7	388	5202	0.00	0.00	39.03	1.413	8230	0.000	0.000	2623	2094	2395	2459	2331	0	0	0	0	0	0	14.35	13.92	13.21
5491	0.19	266.2	2624	2097	2448	2322	332.4	8.7	399	5535	0.00	0.00	42.22	1.392	8358	0.000	0.000	2623	2094	2279	2338	2220	0	0	0	0	0	0	14.37	13.93	13.24
5821	0.27	299.8	2623	2095	2334	2207	304.1	8.5	410	5874	0.12	0.00	50.30	1.356	10918	0.130	0.000	2682	2094	2142	2200	2085	0	0	0	0	0	0	14.15	13.90	13.22
6153	0.23	299.8	2682	2095	2189	2074	262.3	12.8	426	6157	0.00	2.50	0.00	0.000	644	0.000	0.086	2685	686	2130	2188	2073	0	0	0	0	0	0	14.38	14.07	14.39
6207	0.26	299.8	2686	687	2187	2074	255.3	11.7	437	6214	0.00	2.47	0.00	0.000	1158	0.000	0.078	2685	2099	2132	2192	2073	0	0	0	0	0	0	14.22	14.09	14.25
6513	0.23	299.8	2686	2100	2187	2072	218.7	11.6	448	6514	0.12	0.00	0.00	0.000	4230	0.249	0.000	2660	2100	2128	2186	2070	0	0	0	0	0	0	14.05	14.33	14.27
6813	0.30	337.7	2661	2100	2186	2070	192.5	8.2	458	6879	0.00	2.53	60.05	1.294	8868	0.000	0.088	2660	691	1986	2036	1937	0	0	0	0	0	0	14.52	13.95	13.32
6904	0.47	380.3	2659	692	2030	1932	185.1	8.0	471	6980	0.22	2.50	69.32	1.235	11430	0.101	0.079	2749	2104	1816	1848	1785	0	0	0	0	0	0	13.95	13.90	13.14
7295	0.42	380.3	2749	2103	1835	1763	131.5	13.2	499	7301	0.15	2.53	0.00	0.000	4740	0.240	0.085	2712	687	1799	1835	1763	0	0	0	0	0	0	13.89	13.84	13.95
7346	0.53	398.1	2713	687	1832	1764	126.4	9.2	509	7372	0.12	2.47	21.67	1.332	11430	0.132	0.076	2768	2099	1743	1777	1710	0	0	0	0	0	0	14.13	14.09	13.32
7678	0.47	398.1	2768	2099	1768	1696	82.3	12.8	534	7679	0.17	0.00	0.00	0.000	4230	0.263	0.000	2732	2100	1731	1767	1696	0	0	0	0	0	0	13.81	14.09	14.05
7978	0.55	435.3	2733	2100	1768	1693	54.9	8.3	564	8004	0.00	2.53	18.92	0.369	8868	0.000	0.085	2740	693	1588	1626	1550	0	0	0	0	0	0	14.31	14.01	13.68
8076	0.70	482.1	2741	694	1627	1550	47.1	7.8	583	8109	0.20	2.50	25.27	0.341	11430	0.101	0.078	2812	2106	1397	1446	1349	0	0	0	0	0	0	14.04	14.02	13.72
8414	0.84	618.5	2812	2107	1447	1344	15.2	3.7	620	8488	0.12	0.00	71.62	0.252	10662	0.133	0.000	2874	2107	842	921	764	0	0	0	0	0	0	14.07	14.03	13.78
8712	end climb: SURFACE_DEPTH_REACHED
state	8712	begin surface coast
8732	end surface coast: CONTROL_FINISHED_OK
state	8732	begin surface