Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 82 * 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 82 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 237.0

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 46 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 237.0 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 82 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 160817,052502,7224.7041,-14818.3037,22,0.7,23,21.2,0.0,52.3,12,10.0 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 0.99 MHEAD_RNG_PITCHd_Wd 323.1,101057,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.3 D_GRID 480

GPS2 160817,053544,7224.7461,-14818.3818,7,0.8,10,21.2,0.0,332.0,11,9.1

Post-dive calculations and measurements:

FREEZE 13.86,5.764,-1.406,0,1,0 _24V_AH 12.55,81.461

SM_CCo 8912,98.95,0.245,0,0,501,702.78 _10V_AH 12.47,0.000

SM_GC 1.06,7.97,0.17,0.00,0.076,0.113,0.000,205,2223,492,-7.38,-0.54,704.75,0,0,0,0,0,0,14.09,14.14,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 32 FG_AHR_10Vo 0.000

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 MEM 323712

IRIDIUM_FIX 7224.05,-14826.81,160817,025003 DATA_FILE_SIZE 29949,836

TT8_MAMPS 0.085386,0.83139 CAP_FILE_SIZE 103414,0

HUMID 46.14 CFSIZE 2097872896,2063564800

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

TCM_TEMP 13.30 SOUNDSPEED 1450.6

XPDR_PINGS 20 CURRENT 0.060,236.71,1

CP_FREE 16005496832.000000 GPS 160817,081052,7225.658,-14819.505,48,0.8,50,21.2,0.3,158.5,9,8.3

PM_FREEKB_00 56918976

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 138.54 nil 0 0 0.00

Roll_motor 79 2145 2152.97 nil 0 0 0.00

VBD_pump_during_apogee 881 1443 15976.14 nil 0 0 0.00

VBD_pump_during_surface 98 244 304.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8932 14 1616.77

Iridium_during_xfer 370 182 847.04 NCP 8922 20 2239.42

Transponder_ping 5 420 26.36 PMAR 8880 16 1847.52

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.08

TT8 0 0 0.00

LPSleep 6404 2 184.50

TT8_Active 867 13 151.07

TT8_Sampling 2280 33 951.06

TT8_CF8 281 38 135.84

TT8_Kalman 0 0 0.00

Analog_circuits 2131 10 265.79

GPS_charging 0 0 0.00

Compass 1196 7 104.45

RAFOS 2215 48 1325.81

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 178 2228 505 463 0.0 0.0 0 130 0.00 0.00 -81.75 0.000 16386 0.000 0.000 177 2228 2039 1959 2120 0 0 0 0 0 0 14.38 28.83 14.40

133 -0.57 -145.9 177 2229 1962 2122 3.4 -4.6 8 190 12.60 2.85 -36.62 0.000 18980 0.453 2.145 2386 797 3966 3952 3980 0 0 0 0 0 0 13.71 12.66 14.10

390 -0.63 -145.9 2386 798 3962 3982 56.7 -14.2 59 397 0.00 2.45 0.00 0.000 1158 0.000 0.087 2386 2178 3971 3961 3981 0 0 0 0 0 0 14.13 14.01 14.16

697 -0.68 -145.9 2385 2180 3963 3982 99.1 -12.5 90 702 0.00 2.55 0.00 0.000 388 0.000 0.090 2379 3614 3971 3962 3981 0 0 0 0 0 0 14.46 14.11 14.47

847 -0.80 -145.9 2379 3615 3963 3982 116.4 -10.9 120 853 0.17 2.40 0.00 0.000 5254 0.107 0.053 2311 2197 3972 3963 3981 0 0 0 0 0 0 14.24 14.23 14.32

1178 -0.76 -145.9 2317 2198 3963 3982 172.8 -16.6 136 1183 0.00 2.50 0.00 0.000 388 0.000 0.087 2309 3615 3971 3962 3981 0 0 0 0 0 0 14.53 14.16 14.57

1300 -0.80 -145.9 2308 3622 3958 3982 190.7 -13.6 160 1305 0.00 2.40 0.00 0.000 1158 0.000 0.055 2305 2195 3971 3962 3981 0 0 0 0 0 0 14.35 14.24 14.38

1630 -0.80 -145.9 2306 2194 3963 3981 237.4 -13.4 176 1635 0.00 2.50 0.00 0.000 260 0.000 0.087 2297 3616 3971 3962 3980 0 0 0 0 0 0 14.55 14.18 14.57

1756 -0.85 -145.9 2299 3618 3961 3981 253.0 -11.2 201 1761 0.00 2.38 0.00 0.000 1158 0.000 0.054 2297 2196 3970 3961 3979 0 0 0 0 0 0 14.36 14.26 14.39

2081 -0.85 -145.9 2298 2195 3962 3979 292.4 -11.7 216 2086 0.00 2.50 0.00 0.000 260 0.000 0.088 2287 3616 3970 3961 3979 0 0 0 0 0 0 14.57 14.19 14.58

2213 -0.91 -145.9 2288 3617 3961 3979 307.2 -11.0 242 2218 0.00 2.40 0.00 0.000 1158 0.000 0.054 2288 2193 3970 3963 3978 0 0 0 0 0 0 14.35 14.26 14.40

2533 -0.91 -145.9 2288 2193 3961 3978 345.1 -11.7 256 2538 0.00 2.50 0.00 0.000 260 0.000 0.088 2280 3618 3968 3960 3977 0 0 0 0 0 0 14.56 14.21 14.59

2638 -0.96 -145.9 2281 3620 3961 3977 357.3 -11.1 277 2643 0.00 2.38 0.00 0.000 1158 0.000 0.054 2280 2201 3968 3960 3977 0 0 0 0 0 0 14.33 14.23 14.36

2953 -0.96 -145.9 2280 2200 3961 3976 395.3 -12.0 290 2958 0.00 2.47 0.00 0.000 260 0.000 0.090 2279 3613 3967 3960 3975 0 0 0 0 0 0 14.57 14.21 14.59

3048 -1.02 -145.9 2280 3614 3960 3975 406.1 -10.9 309 3053 0.00 2.40 0.00 0.000 1158 0.000 0.055 2280 2190 3967 3959 3975 0 0 0 0 0 0 14.33 14.22 14.35

3374 -1.02 -145.9 2279 2189 3960 3974 445.1 -12.0 324 3378 0.00 2.50 0.00 0.000 260 0.000 0.089 2279 3613 3966 3959 3974 0 0 0 0 0 0 14.57 14.21 14.59

3500 -1.08 -145.9 2280 3612 3960 3981 459.3 -10.9 349 3505 0.15 2.38 0.00 0.000 5254 0.125 0.054 2224 2198 3966 3958 3974 0 0 0 0 0 0 14.25 14.26 14.33

3643 end dive: TARGET_DEPTH_EXCEEDED

state 3643 begin apogee

3649 -0.13 0.0 2225 2067 3959 3974 483.2 -17.0 358 3880 1.25 0.08 227.43 1.388 10246 0.282 0.181 2526 2113 3365 3393 3337 0 0 0 0 0 0 13.88 13.38 12.78

3884 end apogee: CONTROL_FINISHED_OK

state 3884 begin climb

3888 0.57 145.9 2527 2114 3384 3326 494.2 0.0 365 4098 0.75 2.62 201.82 1.342 10500 0.066 0.073 2779 3509 2764 2815 2714 0 0 0 0 0 0 13.56 13.11 12.55

4325 0.16 145.9 2779 3512 2784 2711 458.7 17.3 411 4331 0.73 2.42 0.00 0.000 5254 0.345 0.057 2639 2124 2747 2785 2710 0 0 0 0 0 0 13.46 13.77 13.80

4637 0.08 172.3 2639 2124 2785 2707 429.8 8.8 423 4677 0.12 2.50 33.25 1.415 12708 0.295 0.080 2610 3497 2654 2700 2609 0 0 0 0 0 0 13.85 13.89 13.19

4903 0.07 195.5 2611 3497 2691 2603 406.5 8.9 476 4944 0.00 2.40 33.20 1.434 9382 0.000 0.058 2616 2092 2560 2613 2507 0 0 0 0 0 0 14.17 14.08 13.22

5271 0.10 236.3 2616 2094 2608 2494 376.3 8.1 499 5336 0.00 2.60 59.78 1.379 8740 0.000 0.087 2615 686 2399 2453 2345 0 0 0 0 0 0 14.40 13.87 13.18

5393 0.23 283.9 2617 682 2444 2340 366.5 7.8 523 5477 0.12 2.53 76.10 1.319 11430 0.129 0.078 2670 2101 2201 2257 2146 0 0 0 0 0 0 13.92 13.88 13.03

5783 0.21 283.9 2671 2100 2244 2128 319.8 12.2 551 5788 0.00 2.50 0.00 0.000 644 0.000 0.086 2672 693 2185 2241 2129 0 0 0 0 0 0 14.32 14.02 14.33

5833 0.24 283.9 2673 693 2242 2128 313.7 11.5 561 5838 0.00 2.47 0.00 0.000 1158 0.000 0.077 2672 2101 2184 2241 2128 0 0 0 0 0 0 14.16 14.05 14.19

6144 0.21 283.9 2672 2103 2241 2128 276.4 11.9 573 6144 0.00 0.00 0.00 0.000 134 0.000 0.000 2671 2102 2183 2240 2127 0 0 0 0 0 0 14.47 14.50 14.50

6443 0.21 283.9 2672 2102 2248 2128 242.1 11.4 583 6449 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 694 2183 2240 2127 0 0 0 0 0 0 14.53 14.12 14.54

6534 0.27 284.0 2673 694 2240 2126 232.6 10.0 601 6539 0.00 2.45 0.00 0.000 1190 0.000 0.078 2672 2100 2182 2238 2127 0 0 0 0 0 0 14.31 14.17 14.36

6864 0.28 300.7 2673 2100 2239 2126 200.6 9.2 617 6884 0.00 0.00 18.75 1.444 8230 0.000 0.000 2672 2101 2138 2190 2086 0 0 0 0 0 0 14.55 14.19 13.45

7164 0.33 336.4 2673 2101 2184 2074 174.8 8.4 627 7236 0.00 2.55 63.45 1.290 8868 0.000 0.086 2672 701 1986 2036 1937 0 0 0 0 0 0 14.49 13.92 13.28

7273 0.50 387.1 2673 701 2029 1934 166.4 7.7 648 7371 0.22 2.47 88.80 1.201 11430 0.099 0.079 2761 2099 1780 1813 1748 0 0 0 0 0 0 13.93 13.96 13.09

7677 0.44 387.1 2762 2100 1804 1733 111.6 13.2 679 7682 0.15 2.50 0.00 0.000 4740 0.262 0.083 2730 685 1767 1802 1733 0 0 0 0 0 0 13.81 14.03 13.99

7758 0.52 400.1 2730 686 1799 1734 103.4 9.4 695 7774 0.00 2.47 10.75 1.368 9382 0.000 0.076 2730 2100 1734 1768 1701 0 0 0 0 0 0 14.19 14.09 13.29

8079 0.58 420.7 2731 2100 1762 1687 72.9 9.0 731 8092 0.12 0.00 10.57 0.405 10406 0.130 0.000 2786 2101 1648 1685 1612 0 0 0 0 0 0 14.16 14.15 13.77

8389 0.58 460.9 2785 2100 1691 1616 40.1 8.1 762 8416 0.00 2.55 22.70 0.321 8868 0.000 0.086 2794 691 1483 1523 1443 0 0 0 0 0 0 14.45 14.09 13.86

8601 0.68 524.8 2794 692 1526 1447 23.0 7.0 801 8643 0.00 2.50 35.25 0.271 9382 0.000 0.079 2794 2106 1222 1285 1160 0 0 0 0 0 0 14.16 14.04 13.81

8906 end climb: NO_VERTICAL_VELOCITY

state 8906 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	82	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	237.0
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	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,052502,7224.7041,-14818.3037,22,0.7,23,21.2,0.0,52.3,12,10.0	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	0.99	MHEAD_RNG_PITCHd_Wd	323.1,101057,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.3	D_GRID	480
GPS2	160817,053544,7224.7461,-14818.3818,7,0.8,10,21.2,0.0,332.0,11,9.1

FREEZE	13.86,5.764,-1.406,0,1,0	_24V_AH	12.55,81.461
SM_CCo	8912,98.95,0.245,0,0,501,702.78	_10V_AH	12.47,0.000
SM_GC	1.06,7.97,0.17,0.00,0.076,0.113,0.000,205,2223,492,-7.38,-0.54,704.75,0,0,0,0,0,0,14.09,14.14,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	32	FG_AHR_10Vo	0.000
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	MEM	323712
IRIDIUM_FIX	7224.05,-14826.81,160817,025003	DATA_FILE_SIZE	29949,836
TT8_MAMPS	0.085386,0.83139	CAP_FILE_SIZE	103414,0
HUMID	46.14	CFSIZE	2097872896,2063564800
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1450.6
XPDR_PINGS	20	CURRENT	0.060,236.71,1
CP_FREE	16005496832.000000	GPS	160817,081052,7225.658,-14819.505,48,0.8,50,21.2,0.3,158.5,9,8.3
PM_FREEKB_00	56918976

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	138.54	nil	0	0	0.00
Roll_motor	79	2145	2152.97	nil	0	0	0.00
VBD_pump_during_apogee	881	1443	15976.14	nil	0	0	0.00
VBD_pump_during_surface	98	244	304.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8932	14	1616.77
Iridium_during_xfer	370	182	847.04	NCP	8922	20	2239.42
Transponder_ping	5	420	26.36	PMAR	8880	16	1847.52
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.08
TT8	0	0	0.00
LPSleep	6404	2	184.50
TT8_Active	867	13	151.07
TT8_Sampling	2280	33	951.06
TT8_CF8	281	38	135.84
TT8_Kalman	0	0	0.00
Analog_circuits	2131	10	265.79
GPS_charging	0	0	0.00
Compass	1196	7	104.45
RAFOS	2215	48	1325.81
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	178	2228	505	463	0.0	0.0	0	130	0.00	0.00	-81.75	0.000	16386	0.000	0.000	177	2228	2039	1959	2120	0	0	0	0	0	0	14.38	28.83	14.40
133	-0.57	-145.9	177	2229	1962	2122	3.4	-4.6	8	190	12.60	2.85	-36.62	0.000	18980	0.453	2.145	2386	797	3966	3952	3980	0	0	0	0	0	0	13.71	12.66	14.10
390	-0.63	-145.9	2386	798	3962	3982	56.7	-14.2	59	397	0.00	2.45	0.00	0.000	1158	0.000	0.087	2386	2178	3971	3961	3981	0	0	0	0	0	0	14.13	14.01	14.16
697	-0.68	-145.9	2385	2180	3963	3982	99.1	-12.5	90	702	0.00	2.55	0.00	0.000	388	0.000	0.090	2379	3614	3971	3962	3981	0	0	0	0	0	0	14.46	14.11	14.47
847	-0.80	-145.9	2379	3615	3963	3982	116.4	-10.9	120	853	0.17	2.40	0.00	0.000	5254	0.107	0.053	2311	2197	3972	3963	3981	0	0	0	0	0	0	14.24	14.23	14.32
1178	-0.76	-145.9	2317	2198	3963	3982	172.8	-16.6	136	1183	0.00	2.50	0.00	0.000	388	0.000	0.087	2309	3615	3971	3962	3981	0	0	0	0	0	0	14.53	14.16	14.57
1300	-0.80	-145.9	2308	3622	3958	3982	190.7	-13.6	160	1305	0.00	2.40	0.00	0.000	1158	0.000	0.055	2305	2195	3971	3962	3981	0	0	0	0	0	0	14.35	14.24	14.38
1630	-0.80	-145.9	2306	2194	3963	3981	237.4	-13.4	176	1635	0.00	2.50	0.00	0.000	260	0.000	0.087	2297	3616	3971	3962	3980	0	0	0	0	0	0	14.55	14.18	14.57
1756	-0.85	-145.9	2299	3618	3961	3981	253.0	-11.2	201	1761	0.00	2.38	0.00	0.000	1158	0.000	0.054	2297	2196	3970	3961	3979	0	0	0	0	0	0	14.36	14.26	14.39
2081	-0.85	-145.9	2298	2195	3962	3979	292.4	-11.7	216	2086	0.00	2.50	0.00	0.000	260	0.000	0.088	2287	3616	3970	3961	3979	0	0	0	0	0	0	14.57	14.19	14.58
2213	-0.91	-145.9	2288	3617	3961	3979	307.2	-11.0	242	2218	0.00	2.40	0.00	0.000	1158	0.000	0.054	2288	2193	3970	3963	3978	0	0	0	0	0	0	14.35	14.26	14.40
2533	-0.91	-145.9	2288	2193	3961	3978	345.1	-11.7	256	2538	0.00	2.50	0.00	0.000	260	0.000	0.088	2280	3618	3968	3960	3977	0	0	0	0	0	0	14.56	14.21	14.59
2638	-0.96	-145.9	2281	3620	3961	3977	357.3	-11.1	277	2643	0.00	2.38	0.00	0.000	1158	0.000	0.054	2280	2201	3968	3960	3977	0	0	0	0	0	0	14.33	14.23	14.36
2953	-0.96	-145.9	2280	2200	3961	3976	395.3	-12.0	290	2958	0.00	2.47	0.00	0.000	260	0.000	0.090	2279	3613	3967	3960	3975	0	0	0	0	0	0	14.57	14.21	14.59
3048	-1.02	-145.9	2280	3614	3960	3975	406.1	-10.9	309	3053	0.00	2.40	0.00	0.000	1158	0.000	0.055	2280	2190	3967	3959	3975	0	0	0	0	0	0	14.33	14.22	14.35
3374	-1.02	-145.9	2279	2189	3960	3974	445.1	-12.0	324	3378	0.00	2.50	0.00	0.000	260	0.000	0.089	2279	3613	3966	3959	3974	0	0	0	0	0	0	14.57	14.21	14.59
3500	-1.08	-145.9	2280	3612	3960	3981	459.3	-10.9	349	3505	0.15	2.38	0.00	0.000	5254	0.125	0.054	2224	2198	3966	3958	3974	0	0	0	0	0	0	14.25	14.26	14.33
3643	end dive: TARGET_DEPTH_EXCEEDED
state	3643	begin apogee
3649	-0.13	0.0	2225	2067	3959	3974	483.2	-17.0	358	3880	1.25	0.08	227.43	1.388	10246	0.282	0.181	2526	2113	3365	3393	3337	0	0	0	0	0	0	13.88	13.38	12.78
3884	end apogee: CONTROL_FINISHED_OK
state	3884	begin climb
3888	0.57	145.9	2527	2114	3384	3326	494.2	0.0	365	4098	0.75	2.62	201.82	1.342	10500	0.066	0.073	2779	3509	2764	2815	2714	0	0	0	0	0	0	13.56	13.11	12.55
4325	0.16	145.9	2779	3512	2784	2711	458.7	17.3	411	4331	0.73	2.42	0.00	0.000	5254	0.345	0.057	2639	2124	2747	2785	2710	0	0	0	0	0	0	13.46	13.77	13.80
4637	0.08	172.3	2639	2124	2785	2707	429.8	8.8	423	4677	0.12	2.50	33.25	1.415	12708	0.295	0.080	2610	3497	2654	2700	2609	0	0	0	0	0	0	13.85	13.89	13.19
4903	0.07	195.5	2611	3497	2691	2603	406.5	8.9	476	4944	0.00	2.40	33.20	1.434	9382	0.000	0.058	2616	2092	2560	2613	2507	0	0	0	0	0	0	14.17	14.08	13.22
5271	0.10	236.3	2616	2094	2608	2494	376.3	8.1	499	5336	0.00	2.60	59.78	1.379	8740	0.000	0.087	2615	686	2399	2453	2345	0	0	0	0	0	0	14.40	13.87	13.18
5393	0.23	283.9	2617	682	2444	2340	366.5	7.8	523	5477	0.12	2.53	76.10	1.319	11430	0.129	0.078	2670	2101	2201	2257	2146	0	0	0	0	0	0	13.92	13.88	13.03
5783	0.21	283.9	2671	2100	2244	2128	319.8	12.2	551	5788	0.00	2.50	0.00	0.000	644	0.000	0.086	2672	693	2185	2241	2129	0	0	0	0	0	0	14.32	14.02	14.33
5833	0.24	283.9	2673	693	2242	2128	313.7	11.5	561	5838	0.00	2.47	0.00	0.000	1158	0.000	0.077	2672	2101	2184	2241	2128	0	0	0	0	0	0	14.16	14.05	14.19
6144	0.21	283.9	2672	2103	2241	2128	276.4	11.9	573	6144	0.00	0.00	0.00	0.000	134	0.000	0.000	2671	2102	2183	2240	2127	0	0	0	0	0	0	14.47	14.50	14.50
6443	0.21	283.9	2672	2102	2248	2128	242.1	11.4	583	6449	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	694	2183	2240	2127	0	0	0	0	0	0	14.53	14.12	14.54
6534	0.27	284.0	2673	694	2240	2126	232.6	10.0	601	6539	0.00	2.45	0.00	0.000	1190	0.000	0.078	2672	2100	2182	2238	2127	0	0	0	0	0	0	14.31	14.17	14.36
6864	0.28	300.7	2673	2100	2239	2126	200.6	9.2	617	6884	0.00	0.00	18.75	1.444	8230	0.000	0.000	2672	2101	2138	2190	2086	0	0	0	0	0	0	14.55	14.19	13.45
7164	0.33	336.4	2673	2101	2184	2074	174.8	8.4	627	7236	0.00	2.55	63.45	1.290	8868	0.000	0.086	2672	701	1986	2036	1937	0	0	0	0	0	0	14.49	13.92	13.28
7273	0.50	387.1	2673	701	2029	1934	166.4	7.7	648	7371	0.22	2.47	88.80	1.201	11430	0.099	0.079	2761	2099	1780	1813	1748	0	0	0	0	0	0	13.93	13.96	13.09
7677	0.44	387.1	2762	2100	1804	1733	111.6	13.2	679	7682	0.15	2.50	0.00	0.000	4740	0.262	0.083	2730	685	1767	1802	1733	0	0	0	0	0	0	13.81	14.03	13.99
7758	0.52	400.1	2730	686	1799	1734	103.4	9.4	695	7774	0.00	2.47	10.75	1.368	9382	0.000	0.076	2730	2100	1734	1768	1701	0	0	0	0	0	0	14.19	14.09	13.29
8079	0.58	420.7	2731	2100	1762	1687	72.9	9.0	731	8092	0.12	0.00	10.57	0.405	10406	0.130	0.000	2786	2101	1648	1685	1612	0	0	0	0	0	0	14.16	14.15	13.77
8389	0.58	460.9	2785	2100	1691	1616	40.1	8.1	762	8416	0.00	2.55	22.70	0.321	8868	0.000	0.086	2794	691	1483	1523	1443	0	0	0	0	0	0	14.45	14.09	13.86
8601	0.68	524.8	2794	692	1526	1447	23.0	7.0	801	8643	0.00	2.50	35.25	0.271	9382	0.000	0.079	2794	2106	1222	1285	1160	0	0	0	0	0	0	14.16	14.04	13.81
8906	end climb: NO_VERTICAL_VELOCITY
state	8906	begin surface