Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 73 * 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 73 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 212.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 26 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 212.0 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 24 VBD_MIN 500

DIVE 73 NOCOMM_ACTION 161 R_STBD_OVSHOOT 26 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 150817,042127,7215.2451,-14804.8613,35,0.8,36,21.3,0.0,0.0,10,8.3 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 1.19 MHEAD_RNG_PITCHd_Wd 327.8,119707,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 150817,043655,7215.2622,-14805.3535,10,0.9,10,21.3,0.0,266.0,10,9.6

Post-dive calculations and measurements:

FREEZE 14.58,5.256,-1.381,0,1,0 _24V_AH 12.57,77.186

SM_CCo 8747,83.03,0.249,0,0,502,702.78 _10V_AH 12.50,0.000

SM_GC 1.13,8.98,0.20,0.00,0.137,0.104,0.000,206,2230,500,-7.38,-0.34,702.78,0,0,0,0,0,0,14.19,14.24,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 389 FG_AHR_10Vo 0.000

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 MEM 323868

IRIDIUM_FIX 7216.26,-14800.43,150817,043001 DATA_FILE_SIZE 23447,701

TT8_MAMPS 0.038948,0.940744 CAP_FILE_SIZE 104226,0

HUMID 49.60 CFSIZE 2097872896,2066317312

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

TCM_TEMP 13.30 SOUNDSPEED 1450.6

XPDR_PINGS 12 CURRENT 0.078,273.88,1

CP_FREE 16007004160.000000 GPS 150817,070825,7216.468,-14806.627,23,0.7,34,21.3,0.8,62.9,12,7.2

PM_FREEKB_00 57582528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 151.22 nil 0 0 0.00

Roll_motor 79 2138 2136.13 nil 0 0 0.00

VBD_pump_during_apogee 839 1556 16425.45 nil 0 0 0.00

VBD_pump_during_surface 83 249 260.27 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 8767 14 1579.73

Iridium_during_xfer 544 177 1214.63 NCP 8758 20 2201.76

Transponder_ping 3 420 15.84 PMAR 8716 16 1814.86

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.14

TT8 0 0 0.00

LPSleep 6586 2 190.19

TT8_Active 838 13 146.38

TT8_Sampling 2219 33 927.70

TT8_CF8 276 38 133.68

TT8_Kalman 0 0 0.00

Analog_circuits 2181 10 272.68

GPS_charging 0 0 0.00

Compass 1006 7 88.09

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 -145.9 166 2211 503 479 0.0 0.0 0 129 0.00 0.00 -81.28 0.000 16386 0.000 0.000 163 2210 2124 2048 2201 0 0 0 0 0 0 14.25 28.83 14.23

132 -0.57 -145.9 165 2211 2052 2203 3.7 -4.5 8 187 12.75 2.80 -32.55 0.000 18724 0.454 2.139 2382 3602 3964 3953 3976 0 0 0 0 0 0 13.62 12.69 14.01

412 -0.57 -145.9 2374 3602 3962 3976 63.9 -15.5 63 419 0.00 2.42 0.00 0.000 1030 0.000 0.056 2376 2191 3969 3962 3977 0 0 0 0 0 0 14.09 13.99 14.11

737 -0.57 -145.9 2376 2191 3964 3978 112.7 -13.5 90 742 0.00 2.45 0.00 0.000 260 0.000 0.082 2366 3598 3969 3963 3975 0 0 0 0 0 0 14.42 14.07 14.44

817 -0.69 -145.9 2366 3600 3964 3978 122.4 -10.8 106 822 0.00 2.38 0.00 0.000 1158 0.000 0.054 2366 2193 3970 3963 3977 0 0 0 0 0 0 14.26 14.17 14.30

1127 -0.73 -145.9 2366 2193 3964 3977 161.2 -12.1 118 1132 0.00 2.47 0.00 0.000 388 0.000 0.085 2357 3604 3969 3963 3976 0 0 0 0 0 0 14.49 14.18 14.52

1182 -0.85 -145.9 2357 3606 3964 3977 167.4 -10.5 129 1188 0.17 2.38 0.00 0.000 5254 0.113 0.054 2287 2205 3969 3963 3976 0 0 0 0 0 0 14.23 14.19 14.31

1487 -0.76 -145.9 2287 2199 3964 3976 220.5 -16.9 140 1492 0.17 2.45 0.00 0.000 2436 0.280 0.080 2319 3606 3969 3964 3975 0 0 0 0 0 0 13.90 14.16 14.08

1557 -0.84 -145.9 2320 3612 3965 3975 229.3 -10.8 154 1562 0.00 2.38 0.00 0.000 1158 0.000 0.056 2315 2196 3969 3963 3975 0 0 0 0 0 0 14.31 14.19 14.33

1877 -0.84 -145.9 2319 2196 3963 3974 266.3 -11.4 168 1882 0.00 2.47 0.00 0.000 260 0.000 0.088 2319 3607 3968 3963 3973 0 0 0 0 0 0 14.55 14.21 14.57

1948 -0.94 -145.9 2319 3607 3964 3972 273.6 -9.7 182 1953 0.15 2.38 0.00 0.000 5286 0.122 0.057 2259 2199 3968 3963 3973 0 0 0 0 0 0 14.28 14.25 14.37

2268 -0.86 -145.9 2260 2199 3964 3971 323.5 -15.9 196 2274 0.15 2.45 0.00 0.000 2436 0.307 0.082 2284 3607 3966 3963 3970 0 0 0 0 0 0 13.95 14.21 14.14

2354 -0.89 -145.9 2285 3606 3963 3970 334.8 -12.3 213 2360 0.00 2.40 0.00 0.000 1158 0.000 0.057 2285 2193 3963 3957 3970 0 0 0 0 0 0 14.32 14.21 14.35

2659 -0.87 -145.9 2284 2193 3962 3971 374.6 -12.8 224 2664 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3605 3964 3961 3968 0 0 0 0 0 0 14.54 14.17 14.56

2719 -0.91 -145.9 2280 3607 3962 3967 382.2 -12.1 236 2724 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2199 3964 3961 3968 0 0 0 0 0 0 14.33 14.21 14.38

3049 -0.88 -145.9 2280 2200 3962 3967 424.0 -12.7 252 3054 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3605 3963 3961 3966 0 0 0 0 0 0 14.56 14.17 14.58

3119 -0.93 -145.9 2280 3611 3962 3967 432.5 -11.6 266 3124 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2193 3964 3961 3967 0 0 0 0 0 0 14.35 14.23 14.38

3439 -0.93 -145.9 2280 2192 3962 3966 471.9 -12.4 280 3444 0.00 2.47 0.00 0.000 260 0.000 0.086 2279 3605 3963 3961 3965 0 0 0 0 0 0 14.55 14.16 14.57

3507 end dive: TARGET_DEPTH_EXCEEDED

state 3507 begin apogee

3515 -0.13 0.0 2280 2100 3961 3965 480.2 -11.3 294 3725 0.98 0.00 206.77 1.434 10246 0.235 0.000 2529 2099 3364 3398 3330 0 0 0 0 0 0 13.97 13.51 12.83

3729 end apogee: CONTROL_FINISHED_OK

state 3729 begin climb

3731 0.57 145.9 2530 2101 3396 3321 490.2 0.0 301 3941 0.73 2.67 197.70 1.383 10500 0.067 0.074 2776 3505 2761 2819 2704 0 0 0 0 0 0 13.58 13.09 12.57

4167 0.16 145.9 2776 3506 2803 2704 453.0 17.4 347 4173 0.73 2.47 0.00 0.000 5254 0.346 0.058 2637 2096 2752 2800 2704 0 0 0 0 0 0 13.48 13.78 13.81

4479 0.10 176.7 2634 2097 2808 2705 424.5 8.6 359 4525 0.00 2.47 40.60 1.437 8612 0.000 0.078 2637 3507 2639 2694 2584 0 0 0 0 0 0 14.31 13.74 13.15

4630 0.01 176.7 2638 3509 2685 2582 409.1 10.7 389 4636 0.25 2.42 0.00 0.000 5254 0.252 0.057 2589 2100 2632 2684 2581 0 0 0 0 0 0 13.79 13.98 14.04

4961 0.11 245.3 2590 2098 2685 2578 386.3 6.8 405 5064 0.00 0.00 100.40 1.351 8870 0.000 0.000 2590 2100 2365 2425 2306 0 0 0 0 0 0 14.40 13.76 13.09

5351 0.27 310.9 2590 2101 2413 2292 358.9 7.0 423 5457 0.22 2.62 96.85 1.314 10916 0.095 0.087 2684 694 2093 2149 2037 0 0 0 0 0 0 14.12 13.66 13.04

5523 0.29 310.9 2686 693 2139 2037 336.7 12.7 457 5529 0.00 2.53 0.00 0.000 1158 0.000 0.078 2685 2093 2087 2138 2036 0 0 0 0 0 0 13.93 13.81 13.95

5834 0.25 310.9 2685 2095 2137 2028 294.9 13.3 469 5835 0.00 0.00 0.00 0.000 134 0.000 0.000 2685 2094 2080 2133 2027 0 0 0 0 0 0 14.35 14.37 14.36

6134 0.22 310.9 2686 2094 2135 2025 256.3 12.6 479 6140 0.12 2.45 0.00 0.000 4740 0.260 0.084 2659 694 2083 2134 2032 0 0 0 0 0 0 13.76 14.15 13.98

6180 0.33 319.9 2659 695 2133 2026 251.5 9.6 488 6196 0.00 2.45 8.00 1.557 9382 0.000 0.078 2659 2103 2058 2112 2004 0 0 0 0 0 0 14.31 14.19 13.36

6495 0.38 337.2 2659 2105 2109 2000 221.3 9.2 501 6526 0.15 0.00 27.38 1.401 10406 0.122 0.000 2719 2102 1988 2040 1937 0 0 0 0 0 0 14.24 14.09 13.38

6825 0.33 337.2 2719 2104 2035 1930 179.5 12.5 512 6830 0.12 2.47 0.00 0.000 4740 0.239 0.081 2697 688 1982 2034 1930 0 0 0 0 0 0 14.03 14.14 14.16

6900 0.41 349.9 2697 689 2031 1931 171.9 9.4 527 6926 0.00 2.45 18.73 1.437 9382 0.000 0.078 2697 2100 1936 1985 1887 0 0 0 0 0 0 14.31 14.19 13.39

7248 0.45 360.1 2697 2101 1977 1883 138.1 9.5 546 7265 0.00 0.00 15.02 1.470 8358 0.000 0.000 2697 2101 1897 1940 1854 0 0 0 0 0 0 14.47 14.09 13.37

7547 0.53 391.9 2697 2101 1931 1848 111.4 8.5 556 7602 0.15 2.53 50.25 1.281 10916 0.117 0.084 2769 688 1764 1796 1732 0 0 0 0 0 0 14.24 13.83 13.31

7634 0.50 391.9 2769 689 1786 1732 100.9 13.0 573 7640 0.00 2.50 0.00 0.000 1158 0.000 0.079 2769 2099 1759 1788 1731 0 0 0 0 0 0 14.07 13.97 14.10

7937 0.46 391.9 2768 2100 1788 1725 62.4 11.3 602 7939 0.17 0.00 0.00 0.000 4230 0.263 0.000 2732 2100 1755 1787 1724 0 0 0 0 0 0 13.91 14.22 14.17

8238 0.58 466.8 2732 2101 1789 1720 39.0 6.5 632 8282 0.12 2.50 37.42 0.318 10916 0.130 0.087 2794 694 1458 1501 1416 0 0 0 0 0 0 14.20 13.97 13.85

8397 0.68 515.5 2795 694 1507 1413 25.1 7.8 663 8426 0.00 2.47 25.23 0.287 9382 0.000 0.080 2794 2098 1263 1324 1203 0 0 0 0 0 0 14.13 14.03 13.85

8722 1.04 735.5 2794 2099 1324 1189 14.6 -0.2 698 8739 0.35 0.00 15.02 0.260 10658 0.089 0.000 2924 2099 1140 1209 1072 0 0 0 0 0 0 14.16 28.83 14.21

8740 end climb: NO_VERTICAL_VELOCITY

state 8740 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	73	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	212.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,042127,7215.2451,-14804.8613,35,0.8,36,21.3,0.0,0.0,10,8.3	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	1.19	MHEAD_RNG_PITCHd_Wd	327.8,119707,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	150817,043655,7215.2622,-14805.3535,10,0.9,10,21.3,0.0,266.0,10,9.6

FREEZE	14.58,5.256,-1.381,0,1,0	_24V_AH	12.57,77.186
SM_CCo	8747,83.03,0.249,0,0,502,702.78	_10V_AH	12.50,0.000
SM_GC	1.13,8.98,0.20,0.00,0.137,0.104,0.000,206,2230,500,-7.38,-0.34,702.78,0,0,0,0,0,0,14.19,14.24,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	389	FG_AHR_10Vo	0.000
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	MEM	323868
IRIDIUM_FIX	7216.26,-14800.43,150817,043001	DATA_FILE_SIZE	23447,701
TT8_MAMPS	0.038948,0.940744	CAP_FILE_SIZE	104226,0
HUMID	49.60	CFSIZE	2097872896,2066317312
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1450.6
XPDR_PINGS	12	CURRENT	0.078,273.88,1
CP_FREE	16007004160.000000	GPS	150817,070825,7216.468,-14806.627,23,0.7,34,21.3,0.8,62.9,12,7.2
PM_FREEKB_00	57582528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	151.22	nil	0	0	0.00
Roll_motor	79	2138	2136.13	nil	0	0	0.00
VBD_pump_during_apogee	839	1556	16425.45	nil	0	0	0.00
VBD_pump_during_surface	83	249	260.27	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	8767	14	1579.73
Iridium_during_xfer	544	177	1214.63	NCP	8758	20	2201.76
Transponder_ping	3	420	15.84	PMAR	8716	16	1814.86
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.14
TT8	0	0	0.00
LPSleep	6586	2	190.19
TT8_Active	838	13	146.38
TT8_Sampling	2219	33	927.70
TT8_CF8	276	38	133.68
TT8_Kalman	0	0	0.00
Analog_circuits	2181	10	272.68
GPS_charging	0	0	0.00
Compass	1006	7	88.09
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	166	2211	503	479	0.0	0.0	0	129	0.00	0.00	-81.28	0.000	16386	0.000	0.000	163	2210	2124	2048	2201	0	0	0	0	0	0	14.25	28.83	14.23
132	-0.57	-145.9	165	2211	2052	2203	3.7	-4.5	8	187	12.75	2.80	-32.55	0.000	18724	0.454	2.139	2382	3602	3964	3953	3976	0	0	0	0	0	0	13.62	12.69	14.01
412	-0.57	-145.9	2374	3602	3962	3976	63.9	-15.5	63	419	0.00	2.42	0.00	0.000	1030	0.000	0.056	2376	2191	3969	3962	3977	0	0	0	0	0	0	14.09	13.99	14.11
737	-0.57	-145.9	2376	2191	3964	3978	112.7	-13.5	90	742	0.00	2.45	0.00	0.000	260	0.000	0.082	2366	3598	3969	3963	3975	0	0	0	0	0	0	14.42	14.07	14.44
817	-0.69	-145.9	2366	3600	3964	3978	122.4	-10.8	106	822	0.00	2.38	0.00	0.000	1158	0.000	0.054	2366	2193	3970	3963	3977	0	0	0	0	0	0	14.26	14.17	14.30
1127	-0.73	-145.9	2366	2193	3964	3977	161.2	-12.1	118	1132	0.00	2.47	0.00	0.000	388	0.000	0.085	2357	3604	3969	3963	3976	0	0	0	0	0	0	14.49	14.18	14.52
1182	-0.85	-145.9	2357	3606	3964	3977	167.4	-10.5	129	1188	0.17	2.38	0.00	0.000	5254	0.113	0.054	2287	2205	3969	3963	3976	0	0	0	0	0	0	14.23	14.19	14.31
1487	-0.76	-145.9	2287	2199	3964	3976	220.5	-16.9	140	1492	0.17	2.45	0.00	0.000	2436	0.280	0.080	2319	3606	3969	3964	3975	0	0	0	0	0	0	13.90	14.16	14.08
1557	-0.84	-145.9	2320	3612	3965	3975	229.3	-10.8	154	1562	0.00	2.38	0.00	0.000	1158	0.000	0.056	2315	2196	3969	3963	3975	0	0	0	0	0	0	14.31	14.19	14.33
1877	-0.84	-145.9	2319	2196	3963	3974	266.3	-11.4	168	1882	0.00	2.47	0.00	0.000	260	0.000	0.088	2319	3607	3968	3963	3973	0	0	0	0	0	0	14.55	14.21	14.57
1948	-0.94	-145.9	2319	3607	3964	3972	273.6	-9.7	182	1953	0.15	2.38	0.00	0.000	5286	0.122	0.057	2259	2199	3968	3963	3973	0	0	0	0	0	0	14.28	14.25	14.37
2268	-0.86	-145.9	2260	2199	3964	3971	323.5	-15.9	196	2274	0.15	2.45	0.00	0.000	2436	0.307	0.082	2284	3607	3966	3963	3970	0	0	0	0	0	0	13.95	14.21	14.14
2354	-0.89	-145.9	2285	3606	3963	3970	334.8	-12.3	213	2360	0.00	2.40	0.00	0.000	1158	0.000	0.057	2285	2193	3963	3957	3970	0	0	0	0	0	0	14.32	14.21	14.35
2659	-0.87	-145.9	2284	2193	3962	3971	374.6	-12.8	224	2664	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3605	3964	3961	3968	0	0	0	0	0	0	14.54	14.17	14.56
2719	-0.91	-145.9	2280	3607	3962	3967	382.2	-12.1	236	2724	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2199	3964	3961	3968	0	0	0	0	0	0	14.33	14.21	14.38
3049	-0.88	-145.9	2280	2200	3962	3967	424.0	-12.7	252	3054	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3605	3963	3961	3966	0	0	0	0	0	0	14.56	14.17	14.58
3119	-0.93	-145.9	2280	3611	3962	3967	432.5	-11.6	266	3124	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2193	3964	3961	3967	0	0	0	0	0	0	14.35	14.23	14.38
3439	-0.93	-145.9	2280	2192	3962	3966	471.9	-12.4	280	3444	0.00	2.47	0.00	0.000	260	0.000	0.086	2279	3605	3963	3961	3965	0	0	0	0	0	0	14.55	14.16	14.57
3507	end dive: TARGET_DEPTH_EXCEEDED
state	3507	begin apogee
3515	-0.13	0.0	2280	2100	3961	3965	480.2	-11.3	294	3725	0.98	0.00	206.77	1.434	10246	0.235	0.000	2529	2099	3364	3398	3330	0	0	0	0	0	0	13.97	13.51	12.83
3729	end apogee: CONTROL_FINISHED_OK
state	3729	begin climb
3731	0.57	145.9	2530	2101	3396	3321	490.2	0.0	301	3941	0.73	2.67	197.70	1.383	10500	0.067	0.074	2776	3505	2761	2819	2704	0	0	0	0	0	0	13.58	13.09	12.57
4167	0.16	145.9	2776	3506	2803	2704	453.0	17.4	347	4173	0.73	2.47	0.00	0.000	5254	0.346	0.058	2637	2096	2752	2800	2704	0	0	0	0	0	0	13.48	13.78	13.81
4479	0.10	176.7	2634	2097	2808	2705	424.5	8.6	359	4525	0.00	2.47	40.60	1.437	8612	0.000	0.078	2637	3507	2639	2694	2584	0	0	0	0	0	0	14.31	13.74	13.15
4630	0.01	176.7	2638	3509	2685	2582	409.1	10.7	389	4636	0.25	2.42	0.00	0.000	5254	0.252	0.057	2589	2100	2632	2684	2581	0	0	0	0	0	0	13.79	13.98	14.04
4961	0.11	245.3	2590	2098	2685	2578	386.3	6.8	405	5064	0.00	0.00	100.40	1.351	8870	0.000	0.000	2590	2100	2365	2425	2306	0	0	0	0	0	0	14.40	13.76	13.09
5351	0.27	310.9	2590	2101	2413	2292	358.9	7.0	423	5457	0.22	2.62	96.85	1.314	10916	0.095	0.087	2684	694	2093	2149	2037	0	0	0	0	0	0	14.12	13.66	13.04
5523	0.29	310.9	2686	693	2139	2037	336.7	12.7	457	5529	0.00	2.53	0.00	0.000	1158	0.000	0.078	2685	2093	2087	2138	2036	0	0	0	0	0	0	13.93	13.81	13.95
5834	0.25	310.9	2685	2095	2137	2028	294.9	13.3	469	5835	0.00	0.00	0.00	0.000	134	0.000	0.000	2685	2094	2080	2133	2027	0	0	0	0	0	0	14.35	14.37	14.36
6134	0.22	310.9	2686	2094	2135	2025	256.3	12.6	479	6140	0.12	2.45	0.00	0.000	4740	0.260	0.084	2659	694	2083	2134	2032	0	0	0	0	0	0	13.76	14.15	13.98
6180	0.33	319.9	2659	695	2133	2026	251.5	9.6	488	6196	0.00	2.45	8.00	1.557	9382	0.000	0.078	2659	2103	2058	2112	2004	0	0	0	0	0	0	14.31	14.19	13.36
6495	0.38	337.2	2659	2105	2109	2000	221.3	9.2	501	6526	0.15	0.00	27.38	1.401	10406	0.122	0.000	2719	2102	1988	2040	1937	0	0	0	0	0	0	14.24	14.09	13.38
6825	0.33	337.2	2719	2104	2035	1930	179.5	12.5	512	6830	0.12	2.47	0.00	0.000	4740	0.239	0.081	2697	688	1982	2034	1930	0	0	0	0	0	0	14.03	14.14	14.16
6900	0.41	349.9	2697	689	2031	1931	171.9	9.4	527	6926	0.00	2.45	18.73	1.437	9382	0.000	0.078	2697	2100	1936	1985	1887	0	0	0	0	0	0	14.31	14.19	13.39
7248	0.45	360.1	2697	2101	1977	1883	138.1	9.5	546	7265	0.00	0.00	15.02	1.470	8358	0.000	0.000	2697	2101	1897	1940	1854	0	0	0	0	0	0	14.47	14.09	13.37
7547	0.53	391.9	2697	2101	1931	1848	111.4	8.5	556	7602	0.15	2.53	50.25	1.281	10916	0.117	0.084	2769	688	1764	1796	1732	0	0	0	0	0	0	14.24	13.83	13.31
7634	0.50	391.9	2769	689	1786	1732	100.9	13.0	573	7640	0.00	2.50	0.00	0.000	1158	0.000	0.079	2769	2099	1759	1788	1731	0	0	0	0	0	0	14.07	13.97	14.10
7937	0.46	391.9	2768	2100	1788	1725	62.4	11.3	602	7939	0.17	0.00	0.00	0.000	4230	0.263	0.000	2732	2100	1755	1787	1724	0	0	0	0	0	0	13.91	14.22	14.17
8238	0.58	466.8	2732	2101	1789	1720	39.0	6.5	632	8282	0.12	2.50	37.42	0.318	10916	0.130	0.087	2794	694	1458	1501	1416	0	0	0	0	0	0	14.20	13.97	13.85
8397	0.68	515.5	2795	694	1507	1413	25.1	7.8	663	8426	0.00	2.47	25.23	0.287	9382	0.000	0.080	2794	2098	1263	1324	1203	0	0	0	0	0	0	14.13	14.03	13.85
8722	1.04	735.5	2794	2099	1324	1189	14.6	-0.2	698	8739	0.35	0.00	15.02	0.260	10658	0.089	0.000	2924	2099	1140	1209	1072	0	0	0	0	0	0	14.16	28.83	14.21
8740	end climb: NO_VERTICAL_VELOCITY
state	8740	begin surface