Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 76 * 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 76 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 220.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 220.0 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 27 VBD_MIN 500

DIVE 76 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 150817,125051,7218.5205,-14810.0059,51,0.8,52,21.3,0.9,266.2,10,9.4 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 1.12 MHEAD_RNG_PITCHd_Wd 324.8,113202,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.8 D_GRID 480

GPS2 150817,130156,7218.4766,-14810.4092,7,0.7,9,21.3,0.0,310.1,12,8.8

Post-dive calculations and measurements:

FINISH -0.1,1.011983 _24V_AH 12.56,78.597

SM_CCo 8919,35.83,0.210,0,0,499,702.78 _10V_AH 12.48,0.000

SM_GC 1.27,8.15,0.17,35.83,0.073,0.129,0.210,201,2209,499,-7.37,-0.62,702.78,0,0,0,0,0,0,14.22,14.21,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

RAFOS_FIX 7223.598145,-14745.448242,150817,121246,2,255,2.37 MEM 323644

IRIDIUM_FIX 7219.51,-14818.45,150817,101120 DATA_FILE_SIZE 23431,691

TT8_MAMPS 0.040446,0.858354 CAP_FILE_SIZE 97274,0

HUMID 50.03 CFSIZE 2097872896,2065465344

INTERNAL_PRESSURE 7.78152 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1450.6

XPDR_PINGS 13 CURRENT 0.090,261.60,1

CP_FREE 16006512640.000000 GPS 150817,153303,7219.607,-14812.068,29,0.7,35,21.3,0.5,275.9,12,8.7

PM_FREEKB_00 57354112

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.34 nil 0 0 0.00

Roll_motor 79 2142 2134.79 nil 0 0 0.00

VBD_pump_during_apogee 872 1520 16666.54 nil 0 0 0.00

VBD_pump_during_surface 35 210 94.66 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 8926 14 1631.54

Iridium_during_xfer 398 179 895.47 NCP 8916 20 2239.70

Transponder_ping 3 420 17.14 PMAR 8873 16 1843.74

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.81

TT8 0 0 0.00

LPSleep 6464 2 186.36

TT8_Active 840 13 146.50

TT8_Sampling 2058 33 858.92

TT8_CF8 270 38 130.74

TT8_Kalman 0 0 0.00

Analog_circuits 2014 10 251.45

GPS_charging 0 0 0.00

Compass 993 7 86.76

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 168 2214 522 473 0.0 0.0 0 131 0.00 0.00 -81.38 0.000 16386 0.000 0.000 166 2213 2063 1984 2142 0 0 0 0 0 0 14.35 28.83 14.37

134 -0.57 -145.9 167 2215 1986 2144 3.2 -4.1 8 187 12.65 2.78 -36.03 0.000 18724 0.453 2.142 2377 3597 3963 3945 3981 1 0 0 0 0 0 13.54 12.68 14.09

393 -0.59 -145.9 2377 3600 3955 3982 63.1 -14.4 59 399 0.00 2.40 0.00 0.000 1158 0.000 0.056 2377 2189 3968 3955 3981 0 0 0 0 0 0 14.12 14.01 14.17

719 -0.59 -145.9 2377 2188 3959 3982 112.2 -13.5 86 724 0.00 2.47 0.00 0.000 260 0.000 0.083 2366 3601 3969 3958 3981 0 0 0 0 0 0 14.47 14.14 14.48

774 -0.72 -145.9 2366 3603 3958 3981 119.3 -11.3 97 780 0.00 2.40 0.00 0.000 1158 0.000 0.055 2366 2192 3969 3958 3981 0 0 0 0 0 0 14.26 14.16 14.29

1080 -0.76 -145.9 2367 2190 3960 3981 157.4 -12.2 108 1085 0.00 2.50 0.00 0.000 388 0.000 0.086 2361 3607 3969 3958 3981 0 0 0 0 0 0 14.51 14.16 14.53

1125 -0.89 -145.9 2363 3607 3959 3981 162.4 -10.5 117 1130 0.22 2.40 0.00 0.000 5254 0.097 0.055 2274 2195 3970 3958 3982 0 0 0 0 0 0 14.28 14.22 14.35

1440 -0.78 -145.9 2274 2194 3959 3980 222.0 -18.3 130 1445 0.20 2.45 0.00 0.000 2436 0.294 0.081 2313 3602 3968 3958 3979 0 0 0 0 0 0 13.96 14.21 14.14

1595 -0.86 -145.9 2313 3603 3959 3979 241.2 -11.1 161 1600 0.00 2.38 0.00 0.000 1158 0.000 0.054 2313 2195 3968 3958 3979 0 0 0 0 0 0 14.31 14.21 14.34

1921 -0.86 -145.9 2313 2195 3959 3976 280.0 -11.7 176 1925 0.00 2.45 0.00 0.000 260 0.000 0.086 2306 3601 3966 3957 3976 0 0 0 0 0 0 14.54 14.21 14.57

1986 -0.95 -145.9 2308 3602 3959 3976 287.2 -10.4 189 1990 0.00 2.38 0.00 0.000 1158 0.000 0.056 2308 2197 3967 3958 3976 0 0 0 0 0 0 14.35 14.21 14.35

2311 -0.97 -145.9 2308 2195 3959 3973 324.6 -11.5 204 2316 0.12 2.45 0.00 0.000 4484 0.139 0.084 2249 3601 3965 3958 3973 0 0 0 0 0 0 14.29 14.21 14.33

2361 -0.91 -145.9 2249 3601 3959 3973 332.0 -15.6 214 2366 0.15 2.38 0.00 0.000 3206 0.278 0.059 2277 2199 3965 3958 3973 0 0 0 0 0 0 13.94 14.21 14.22

2671 -0.88 -145.9 2278 2200 3959 3972 374.6 -13.5 226 2676 0.00 2.45 0.00 0.000 388 0.000 0.084 2271 3601 3964 3957 3971 0 0 0 0 0 0 14.57 14.19 14.58

2716 -0.88 -145.9 2271 3603 3959 3971 380.8 -13.6 235 2722 0.00 2.38 0.00 0.000 1030 0.000 0.060 2270 2202 3964 3958 3971 0 0 0 0 0 0 14.36 14.24 14.40

3033 -0.84 -145.9 2274 2201 3967 3970 424.9 -13.8 248 3038 0.12 2.45 0.00 0.000 2436 0.324 0.081 2292 3601 3964 3958 3970 0 0 0 0 0 0 13.93 14.18 14.11

3124 -0.93 -145.9 2293 3603 3958 3970 435.4 -11.0 266 3130 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2198 3963 3958 3969 0 0 0 0 0 0 14.33 14.21 14.35

3455 -0.93 -145.9 2293 2197 3958 3970 473.8 -11.6 282 3460 0.00 2.47 0.00 0.000 260 0.000 0.086 2288 3607 3963 3958 3968 0 0 0 0 0 0 14.55 14.16 14.57

3485 -0.96 -145.9 2288 3605 3958 3968 477.4 -12.2 288 3490 0.00 2.40 0.00 0.000 1158 0.000 0.060 2287 2191 3963 3958 3968 0 0 0 0 0 0 14.33 14.21 14.36

3507 end dive: TARGET_DEPTH_EXCEEDED

state 3507 begin apogee

3513 -0.13 0.0 2288 2071 3958 3968 480.3 -11.9 293 3726 0.95 0.00 209.77 1.416 10246 0.241 0.000 2528 2069 3364 3405 3323 0 0 0 0 0 0 13.95 13.52 12.83

3730 end apogee: CONTROL_FINISHED_OK

state 3730 begin climb

3732 0.57 145.9 2529 2070 3398 3315 490.7 0.0 300 3942 0.75 2.67 200.43 1.372 10500 0.065 0.073 2784 3501 2763 2824 2702 0 0 0 0 0 0 13.59 13.09 12.56

4144 0.16 145.9 2781 3502 2800 2701 457.9 17.9 341 4151 0.77 2.42 0.00 0.000 5254 0.344 0.057 2632 2123 2750 2799 2701 0 0 0 0 0 0 13.42 13.72 13.76

4449 0.10 174.5 2633 2122 2800 2700 429.7 8.7 352 4494 0.00 2.60 37.42 1.434 8868 0.000 0.082 2643 696 2647 2702 2593 0 0 0 0 0 0 14.28 13.79 13.16

4551 0.11 188.9 2644 696 2694 2589 420.6 9.3 372 4576 0.00 2.50 18.75 1.521 9254 0.000 0.079 2643 2098 2590 2655 2526 0 0 0 0 0 0 14.02 13.92 13.12

4903 0.05 189.6 2643 2098 2648 2509 385.6 10.0 392 4904 0.20 0.00 0.00 0.000 4262 0.246 0.000 2599 2098 2578 2648 2508 0 0 0 0 0 0 13.93 14.21 14.16

5201 0.14 253.2 2599 2098 2649 2507 363.8 7.1 402 5306 0.00 0.00 103.30 1.321 8358 0.000 0.000 2599 2098 2333 2399 2268 0 0 0 0 0 0 14.48 13.79 13.15

5591 0.28 313.3 2599 2098 2382 2251 335.5 7.2 415 5692 0.22 0.00 96.57 1.279 10918 0.093 0.000 2686 2098 2083 2142 2024 0 0 0 0 0 0 14.15 13.58 13.08

6014 0.26 313.3 2686 2098 2126 2009 280.0 13.2 434 6019 0.00 2.50 0.00 0.000 644 0.000 0.087 2686 690 2067 2125 2009 0 0 0 0 0 0 14.33 14.04 14.35

6079 0.29 313.3 2686 690 2121 2010 271.8 11.7 447 6084 0.00 2.50 0.00 0.000 1158 0.000 0.077 2686 2099 2064 2120 2008 0 0 0 0 0 0 14.21 14.09 14.23

6404 0.29 313.3 2686 2100 2120 2007 231.6 12.2 462 6405 0.00 0.00 0.00 0.000 6 0.000 0.000 2686 2100 2063 2120 2007 0 0 0 0 0 0 14.47 14.49 14.49

6704 0.29 313.3 2686 2101 2120 2007 198.8 10.5 472 6709 0.00 2.47 0.00 0.000 516 0.000 0.086 2685 685 2062 2119 2006 0 0 0 0 0 0 14.52 14.17 14.54

6774 0.37 335.4 2692 685 2114 2007 192.2 9.0 486 6809 0.00 2.45 29.62 1.350 9382 0.000 0.077 2685 2099 1997 2051 1944 0 0 0 0 0 0 14.33 14.22 13.40

7126 0.41 352.7 2686 2099 2038 1930 159.3 9.2 506 7156 0.00 2.58 25.20 1.357 8612 0.000 0.083 2686 3519 1925 1972 1878 0 0 0 0 0 0 14.45 14.04 13.37

7166 0.46 352.7 2686 3520 1965 1878 155.3 10.3 514 7171 0.12 2.45 0.00 0.000 3206 0.135 0.062 2736 2096 1919 1961 1878 0 0 0 0 0 0 14.09 14.06 14.18

7487 0.42 352.7 2738 2100 1956 1874 117.3 11.4 528 7492 0.00 2.47 0.00 0.000 644 0.000 0.086 2742 688 1913 1954 1873 0 0 0 0 0 0 14.47 14.04 14.49

7557 0.44 352.7 2742 689 1953 1874 109.9 10.3 542 7562 0.00 2.45 0.00 0.000 1158 0.000 0.079 2742 2100 1912 1952 1873 0 0 0 0 0 0 14.24 14.19 14.25

7869 0.41 354.3 2744 2104 1952 1871 77.1 9.9 569 7870 0.12 0.00 0.00 0.000 4262 0.240 0.000 2716 2102 1911 1952 1871 0 0 0 0 0 0 14.07 14.31 14.27

8167 0.52 417.3 2717 2102 1953 1869 54.7 7.1 599 8205 0.00 2.53 32.95 0.368 8868 0.000 0.086 2715 693 1662 1701 1624 0 0 0 0 0 0 14.49 14.10 13.75

8287 0.70 488.3 2717 693 1702 1626 46.8 6.7 622 8335 0.28 2.47 38.72 0.337 11430 0.090 0.078 2815 2106 1369 1429 1310 0 0 0 0 0 0 14.13 14.10 13.81

8630 0.89 637.8 2815 2109 1430 1313 15.4 3.1 661 8714 0.15 0.00 79.78 0.256 10918 0.122 0.000 2880 2108 762 844 681 0 0 0 0 0 0 14.12 14.07 13.81

8878 end climb: SURFACE_DEPTH_REACHED

state 8878 begin surface coast

8898 end surface coast: CONTROL_FINISHED_OK

state 8898 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	76	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	220.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,125051,7218.5205,-14810.0059,51,0.8,52,21.3,0.9,266.2,10,9.4	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	1.12	MHEAD_RNG_PITCHd_Wd	324.8,113202,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.8	D_GRID	480
GPS2	150817,130156,7218.4766,-14810.4092,7,0.7,9,21.3,0.0,310.1,12,8.8

FINISH	-0.1,1.011983	_24V_AH	12.56,78.597
SM_CCo	8919,35.83,0.210,0,0,499,702.78	_10V_AH	12.48,0.000
SM_GC	1.27,8.15,0.17,35.83,0.073,0.129,0.210,201,2209,499,-7.37,-0.62,702.78,0,0,0,0,0,0,14.22,14.21,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
RAFOS_FIX	7223.598145,-14745.448242,150817,121246,2,255,2.37	MEM	323644
IRIDIUM_FIX	7219.51,-14818.45,150817,101120	DATA_FILE_SIZE	23431,691
TT8_MAMPS	0.040446,0.858354	CAP_FILE_SIZE	97274,0
HUMID	50.03	CFSIZE	2097872896,2065465344
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1450.6
XPDR_PINGS	13	CURRENT	0.090,261.60,1
CP_FREE	16006512640.000000	GPS	150817,153303,7219.607,-14812.068,29,0.7,35,21.3,0.5,275.9,12,8.7
PM_FREEKB_00	57354112

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.34	nil	0	0	0.00
Roll_motor	79	2142	2134.79	nil	0	0	0.00
VBD_pump_during_apogee	872	1520	16666.54	nil	0	0	0.00
VBD_pump_during_surface	35	210	94.66	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	8926	14	1631.54
Iridium_during_xfer	398	179	895.47	NCP	8916	20	2239.70
Transponder_ping	3	420	17.14	PMAR	8873	16	1843.74
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.81
TT8	0	0	0.00
LPSleep	6464	2	186.36
TT8_Active	840	13	146.50
TT8_Sampling	2058	33	858.92
TT8_CF8	270	38	130.74
TT8_Kalman	0	0	0.00
Analog_circuits	2014	10	251.45
GPS_charging	0	0	0.00
Compass	993	7	86.76
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	168	2214	522	473	0.0	0.0	0	131	0.00	0.00	-81.38	0.000	16386	0.000	0.000	166	2213	2063	1984	2142	0	0	0	0	0	0	14.35	28.83	14.37
134	-0.57	-145.9	167	2215	1986	2144	3.2	-4.1	8	187	12.65	2.78	-36.03	0.000	18724	0.453	2.142	2377	3597	3963	3945	3981	1	0	0	0	0	0	13.54	12.68	14.09
393	-0.59	-145.9	2377	3600	3955	3982	63.1	-14.4	59	399	0.00	2.40	0.00	0.000	1158	0.000	0.056	2377	2189	3968	3955	3981	0	0	0	0	0	0	14.12	14.01	14.17
719	-0.59	-145.9	2377	2188	3959	3982	112.2	-13.5	86	724	0.00	2.47	0.00	0.000	260	0.000	0.083	2366	3601	3969	3958	3981	0	0	0	0	0	0	14.47	14.14	14.48
774	-0.72	-145.9	2366	3603	3958	3981	119.3	-11.3	97	780	0.00	2.40	0.00	0.000	1158	0.000	0.055	2366	2192	3969	3958	3981	0	0	0	0	0	0	14.26	14.16	14.29
1080	-0.76	-145.9	2367	2190	3960	3981	157.4	-12.2	108	1085	0.00	2.50	0.00	0.000	388	0.000	0.086	2361	3607	3969	3958	3981	0	0	0	0	0	0	14.51	14.16	14.53
1125	-0.89	-145.9	2363	3607	3959	3981	162.4	-10.5	117	1130	0.22	2.40	0.00	0.000	5254	0.097	0.055	2274	2195	3970	3958	3982	0	0	0	0	0	0	14.28	14.22	14.35
1440	-0.78	-145.9	2274	2194	3959	3980	222.0	-18.3	130	1445	0.20	2.45	0.00	0.000	2436	0.294	0.081	2313	3602	3968	3958	3979	0	0	0	0	0	0	13.96	14.21	14.14
1595	-0.86	-145.9	2313	3603	3959	3979	241.2	-11.1	161	1600	0.00	2.38	0.00	0.000	1158	0.000	0.054	2313	2195	3968	3958	3979	0	0	0	0	0	0	14.31	14.21	14.34
1921	-0.86	-145.9	2313	2195	3959	3976	280.0	-11.7	176	1925	0.00	2.45	0.00	0.000	260	0.000	0.086	2306	3601	3966	3957	3976	0	0	0	0	0	0	14.54	14.21	14.57
1986	-0.95	-145.9	2308	3602	3959	3976	287.2	-10.4	189	1990	0.00	2.38	0.00	0.000	1158	0.000	0.056	2308	2197	3967	3958	3976	0	0	0	0	0	0	14.35	14.21	14.35
2311	-0.97	-145.9	2308	2195	3959	3973	324.6	-11.5	204	2316	0.12	2.45	0.00	0.000	4484	0.139	0.084	2249	3601	3965	3958	3973	0	0	0	0	0	0	14.29	14.21	14.33
2361	-0.91	-145.9	2249	3601	3959	3973	332.0	-15.6	214	2366	0.15	2.38	0.00	0.000	3206	0.278	0.059	2277	2199	3965	3958	3973	0	0	0	0	0	0	13.94	14.21	14.22
2671	-0.88	-145.9	2278	2200	3959	3972	374.6	-13.5	226	2676	0.00	2.45	0.00	0.000	388	0.000	0.084	2271	3601	3964	3957	3971	0	0	0	0	0	0	14.57	14.19	14.58
2716	-0.88	-145.9	2271	3603	3959	3971	380.8	-13.6	235	2722	0.00	2.38	0.00	0.000	1030	0.000	0.060	2270	2202	3964	3958	3971	0	0	0	0	0	0	14.36	14.24	14.40
3033	-0.84	-145.9	2274	2201	3967	3970	424.9	-13.8	248	3038	0.12	2.45	0.00	0.000	2436	0.324	0.081	2292	3601	3964	3958	3970	0	0	0	0	0	0	13.93	14.18	14.11
3124	-0.93	-145.9	2293	3603	3958	3970	435.4	-11.0	266	3130	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2198	3963	3958	3969	0	0	0	0	0	0	14.33	14.21	14.35
3455	-0.93	-145.9	2293	2197	3958	3970	473.8	-11.6	282	3460	0.00	2.47	0.00	0.000	260	0.000	0.086	2288	3607	3963	3958	3968	0	0	0	0	0	0	14.55	14.16	14.57
3485	-0.96	-145.9	2288	3605	3958	3968	477.4	-12.2	288	3490	0.00	2.40	0.00	0.000	1158	0.000	0.060	2287	2191	3963	3958	3968	0	0	0	0	0	0	14.33	14.21	14.36
3507	end dive: TARGET_DEPTH_EXCEEDED
state	3507	begin apogee
3513	-0.13	0.0	2288	2071	3958	3968	480.3	-11.9	293	3726	0.95	0.00	209.77	1.416	10246	0.241	0.000	2528	2069	3364	3405	3323	0	0	0	0	0	0	13.95	13.52	12.83
3730	end apogee: CONTROL_FINISHED_OK
state	3730	begin climb
3732	0.57	145.9	2529	2070	3398	3315	490.7	0.0	300	3942	0.75	2.67	200.43	1.372	10500	0.065	0.073	2784	3501	2763	2824	2702	0	0	0	0	0	0	13.59	13.09	12.56
4144	0.16	145.9	2781	3502	2800	2701	457.9	17.9	341	4151	0.77	2.42	0.00	0.000	5254	0.344	0.057	2632	2123	2750	2799	2701	0	0	0	0	0	0	13.42	13.72	13.76
4449	0.10	174.5	2633	2122	2800	2700	429.7	8.7	352	4494	0.00	2.60	37.42	1.434	8868	0.000	0.082	2643	696	2647	2702	2593	0	0	0	0	0	0	14.28	13.79	13.16
4551	0.11	188.9	2644	696	2694	2589	420.6	9.3	372	4576	0.00	2.50	18.75	1.521	9254	0.000	0.079	2643	2098	2590	2655	2526	0	0	0	0	0	0	14.02	13.92	13.12
4903	0.05	189.6	2643	2098	2648	2509	385.6	10.0	392	4904	0.20	0.00	0.00	0.000	4262	0.246	0.000	2599	2098	2578	2648	2508	0	0	0	0	0	0	13.93	14.21	14.16
5201	0.14	253.2	2599	2098	2649	2507	363.8	7.1	402	5306	0.00	0.00	103.30	1.321	8358	0.000	0.000	2599	2098	2333	2399	2268	0	0	0	0	0	0	14.48	13.79	13.15
5591	0.28	313.3	2599	2098	2382	2251	335.5	7.2	415	5692	0.22	0.00	96.57	1.279	10918	0.093	0.000	2686	2098	2083	2142	2024	0	0	0	0	0	0	14.15	13.58	13.08
6014	0.26	313.3	2686	2098	2126	2009	280.0	13.2	434	6019	0.00	2.50	0.00	0.000	644	0.000	0.087	2686	690	2067	2125	2009	0	0	0	0	0	0	14.33	14.04	14.35
6079	0.29	313.3	2686	690	2121	2010	271.8	11.7	447	6084	0.00	2.50	0.00	0.000	1158	0.000	0.077	2686	2099	2064	2120	2008	0	0	0	0	0	0	14.21	14.09	14.23
6404	0.29	313.3	2686	2100	2120	2007	231.6	12.2	462	6405	0.00	0.00	0.00	0.000	6	0.000	0.000	2686	2100	2063	2120	2007	0	0	0	0	0	0	14.47	14.49	14.49
6704	0.29	313.3	2686	2101	2120	2007	198.8	10.5	472	6709	0.00	2.47	0.00	0.000	516	0.000	0.086	2685	685	2062	2119	2006	0	0	0	0	0	0	14.52	14.17	14.54
6774	0.37	335.4	2692	685	2114	2007	192.2	9.0	486	6809	0.00	2.45	29.62	1.350	9382	0.000	0.077	2685	2099	1997	2051	1944	0	0	0	0	0	0	14.33	14.22	13.40
7126	0.41	352.7	2686	2099	2038	1930	159.3	9.2	506	7156	0.00	2.58	25.20	1.357	8612	0.000	0.083	2686	3519	1925	1972	1878	0	0	0	0	0	0	14.45	14.04	13.37
7166	0.46	352.7	2686	3520	1965	1878	155.3	10.3	514	7171	0.12	2.45	0.00	0.000	3206	0.135	0.062	2736	2096	1919	1961	1878	0	0	0	0	0	0	14.09	14.06	14.18
7487	0.42	352.7	2738	2100	1956	1874	117.3	11.4	528	7492	0.00	2.47	0.00	0.000	644	0.000	0.086	2742	688	1913	1954	1873	0	0	0	0	0	0	14.47	14.04	14.49
7557	0.44	352.7	2742	689	1953	1874	109.9	10.3	542	7562	0.00	2.45	0.00	0.000	1158	0.000	0.079	2742	2100	1912	1952	1873	0	0	0	0	0	0	14.24	14.19	14.25
7869	0.41	354.3	2744	2104	1952	1871	77.1	9.9	569	7870	0.12	0.00	0.00	0.000	4262	0.240	0.000	2716	2102	1911	1952	1871	0	0	0	0	0	0	14.07	14.31	14.27
8167	0.52	417.3	2717	2102	1953	1869	54.7	7.1	599	8205	0.00	2.53	32.95	0.368	8868	0.000	0.086	2715	693	1662	1701	1624	0	0	0	0	0	0	14.49	14.10	13.75
8287	0.70	488.3	2717	693	1702	1626	46.8	6.7	622	8335	0.28	2.47	38.72	0.337	11430	0.090	0.078	2815	2106	1369	1429	1310	0	0	0	0	0	0	14.13	14.10	13.81
8630	0.89	637.8	2815	2109	1430	1313	15.4	3.1	661	8714	0.15	0.00	79.78	0.256	10918	0.122	0.000	2880	2108	762	844	681	0	0	0	0	0	0	14.12	14.07	13.81
8878	end climb: SURFACE_DEPTH_REACHED
state	8878	begin surface coast
8898	end surface coast: CONTROL_FINISHED_OK
state	8898	begin surface