Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 83 * 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 83 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 240.0

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 39 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 240.0 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 83 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 160817,081052,7225.6582,-14819.5049,48,0.8,50,21.2,0.3,158.5,9,8.3 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 1.07 MHEAD_RNG_PITCHd_Wd 320.2,99351,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 160817,082727,7225.6748,-14819.2549,6,0.8,10,21.2,0.6,50.8,9,9.9

Post-dive calculations and measurements:

FINISH 0.3,1.020113 _24V_AH 12.56,81.912

SM_CCo 9378,0.00,0.000,0,0,494,704.26 _10V_AH 12.61,0.000

SM_GC 0.94,8.15,0.17,0.00,0.064,0.121,0.000,203,2226,494,-7.37,-0.57,704.26,0,0,0,0,0,0,14.21,14.19,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 395 FG_AHR_10Vo 0.000

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 MEM 323620

IRIDIUM_FIX 7227.95,-14835.24,160817,081736 DATA_FILE_SIZE 30039,884

TT8_MAMPS 0.040446,0.934003 CAP_FILE_SIZE 111517,0

HUMID 49.76 CFSIZE 2097872896,2063269888

INTERNAL_PRESSURE 7.79129 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.50 SOUNDSPEED 1451.5

XPDR_PINGS 23 CURRENT 0.061,225.88,1

CP_FREE 16005300224.000000 GPS 160817,110557,7226.539,-14819.791,55,0.7,56,21.2,0.0,0.0,11,9.0

PM_FREEKB_00 56840064

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 457 143.36 nil 0 0 0.00

Roll_motor 90 2135 2415.55 nil 0 0 0.00

VBD_pump_during_apogee 895 1647 18531.83 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9325 14 1711.74

Iridium_during_xfer 607 178 1361.11 NCP 9326 20 2342.69

Transponder_ping 5 420 30.33 PMAR 9274 16 1933.71

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.39

TT8 0 0 0.00

LPSleep 6778 2 197.45

TT8_Active 903 13 159.14

TT8_Sampling 2408 33 1015.43

TT8_CF8 299 38 146.19

TT8_Kalman 0 0 0.00

Analog_circuits 2301 10 290.22

GPS_charging 0 0 0.00

Compass 1265 7 111.69

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 -145.9 164 2226 507 459 0.0 0.0 0 129 0.00 0.00 -81.40 0.000 16386 0.000 0.000 162 2226 2099 2014 2184 0 0 0 0 0 0 14.25 28.83 14.27

132 -0.57 -145.9 163 2226 2018 2185 3.6 -5.2 8 185 12.93 2.88 -34.28 0.000 18980 0.457 2.135 2386 795 3963 3953 3974 1 0 0 0 0 0 13.51 12.66 14.02

336 -0.57 -145.9 2386 795 3961 3976 47.8 -16.2 48 340 0.00 2.47 0.00 0.000 1030 0.000 0.086 2378 2180 3968 3961 3975 0 0 0 0 0 0 14.10 13.96 14.13

645 -0.57 -145.9 2379 2180 3964 3974 96.7 -13.8 80 650 0.00 2.50 0.00 0.000 260 0.000 0.090 2376 3611 3968 3963 3974 0 0 0 0 0 0 14.31 13.99 14.32

822 -0.70 -145.9 2377 3613 3964 3975 116.7 -10.4 115 829 0.00 2.40 0.00 0.000 1158 0.000 0.052 2376 2205 3968 3963 3974 0 0 0 0 0 0 14.16 14.04 14.16

1126 -0.78 -145.9 2376 2200 3964 3975 150.6 -10.8 126 1131 0.12 2.53 0.00 0.000 4484 0.140 0.087 2319 3623 3969 3963 3975 0 0 0 0 0 0 14.21 14.14 14.28

1191 -0.82 -145.9 2318 3626 3964 3976 159.5 -13.9 139 1197 0.00 2.42 0.00 0.000 1158 0.000 0.055 2318 2195 3969 3963 3975 0 0 0 0 0 0 14.30 14.19 14.33

1517 -0.82 -145.9 2319 2194 3964 3975 206.7 -13.8 154 1522 0.00 2.50 0.00 0.000 260 0.000 0.087 2309 3613 3968 3962 3975 0 0 0 0 0 0 14.52 14.15 14.54

1667 -0.86 -145.9 2309 3614 3962 3974 225.0 -11.8 184 1672 0.00 2.40 0.00 0.000 1158 0.000 0.054 2309 2195 3968 3961 3975 0 0 0 0 0 0 14.31 14.21 14.34

1997 -0.86 -145.9 2309 2196 3962 3973 265.3 -11.8 200 2002 0.00 2.50 0.00 0.000 260 0.000 0.089 2305 3611 3967 3961 3973 0 0 0 0 0 0 14.55 14.20 14.56

2087 -0.93 -145.9 2306 3614 3968 3974 275.3 -10.8 218 2092 0.00 2.38 0.00 0.000 1158 0.000 0.054 2305 2201 3966 3960 3973 0 0 0 0 0 0 14.36 14.26 14.39

2418 -0.96 -145.9 2306 2199 3961 3971 313.0 -11.2 234 2423 0.12 2.47 0.00 0.000 4484 0.136 0.086 2240 3612 3965 3960 3971 0 0 0 0 0 0 14.20 14.21 14.25

2558 -0.90 -145.9 2240 3615 3959 3972 334.8 -15.8 262 2563 0.20 2.40 0.00 0.000 3206 0.274 0.057 2281 2190 3964 3958 3971 0 0 0 0 0 0 13.95 14.26 14.21

2868 -0.90 -145.9 2282 2190 3959 3971 374.2 -12.3 274 2873 0.00 2.47 0.00 0.000 260 0.000 0.088 2280 3626 3964 3958 3970 0 0 0 0 0 0 14.57 14.19 14.58

2980 -0.95 -145.9 2280 3628 3958 3971 387.2 -11.4 296 2985 0.00 2.40 0.00 0.000 1158 0.000 0.054 2280 2198 3963 3957 3970 0 0 0 0 0 0 14.32 14.23 14.32

3290 -0.95 -145.9 2280 2197 3958 3969 425.2 -12.2 308 3295 0.00 2.47 0.00 0.000 260 0.000 0.087 2272 3614 3962 3957 3968 0 0 0 0 0 0 14.57 14.22 14.59

3390 -0.99 -145.9 2272 3615 3957 3969 437.4 -11.8 328 3395 0.00 2.38 0.00 0.000 1158 0.000 0.055 2272 2196 3962 3956 3968 0 0 0 0 0 0 14.37 14.26 14.40

3710 -0.99 -145.9 2273 2195 3957 3967 477.2 -12.5 342 3715 0.00 2.47 0.00 0.000 260 0.000 0.087 2267 3613 3961 3956 3966 0 0 0 0 0 0 14.58 14.20 14.62

3733 end dive: TARGET_DEPTH_EXCEEDED

state 3733 begin apogee

3741 -0.13 0.0 2268 2096 3956 3967 480.5 -13.2 347 3949 1.02 0.00 205.85 1.444 10246 0.249 0.000 2527 2092 3366 3395 3338 0 0 0 0 0 0 13.97 13.50 12.81

3953 end apogee: CONTROL_FINISHED_OK

state 3953 begin climb

3956 0.57 145.9 2528 2095 3391 3331 490.8 0.0 354 4166 0.75 2.65 197.75 1.385 11012 0.065 0.078 2791 685 2763 2811 2715 0 0 0 0 0 0 13.59 13.15 12.56

4391 0.22 145.9 2791 686 2802 2714 459.1 15.8 435 4397 0.62 2.55 0.00 0.000 5254 0.314 0.074 2657 2108 2756 2801 2712 0 0 0 0 0 0 13.50 13.74 13.81

4707 0.10 155.9 2658 2109 2802 2708 427.4 9.5 448 4722 0.15 2.50 8.88 1.647 12964 0.311 0.081 2630 681 2724 2767 2681 0 0 0 0 0 0 13.79 14.03 13.18

4947 0.12 191.0 2631 682 2770 2682 408.2 8.4 496 5009 0.00 2.50 51.80 1.439 9254 0.000 0.079 2631 2103 2580 2640 2521 0 0 0 0 0 0 14.21 14.10 13.16

5309 0.11 206.3 2631 2104 2640 2509 375.3 9.3 518 5339 0.00 2.55 19.83 1.519 8868 0.000 0.083 2633 692 2516 2581 2451 0 0 0 0 0 0 14.38 14.02 13.27

5464 0.15 224.7 2633 688 2579 2455 360.8 9.2 549 5495 0.00 2.50 25.75 1.485 9382 0.000 0.079 2632 2105 2445 2509 2382 0 0 0 0 0 0 14.19 14.09 13.21

5822 0.16 235.4 2633 2104 2502 2375 326.4 9.5 570 5837 0.00 0.00 13.62 1.557 8230 0.000 0.000 2632 2105 2403 2462 2345 0 0 0 0 0 0 14.44 14.10 13.31

6120 0.17 247.2 2633 2106 2459 2338 297.9 9.5 580 6142 0.00 2.55 17.08 1.512 8740 0.000 0.084 2633 689 2354 2410 2298 0 0 0 0 0 0 14.47 14.09 13.36

6192 0.28 277.8 2634 690 2405 2299 291.4 8.6 594 6245 0.12 2.47 47.80 1.382 11430 0.131 0.077 2686 2107 2233 2287 2179 0 0 0 0 0 0 14.17 14.13 13.19

6544 0.23 277.8 2686 2107 2279 2166 247.6 12.3 614 6545 0.12 0.00 0.00 0.000 4230 0.245 0.000 2661 2107 2224 2284 2164 0 0 0 0 0 0 13.95 14.19 14.16

6842 0.24 289.6 2661 2108 2277 2162 218.1 9.5 624 6863 0.00 2.53 14.30 1.509 8740 0.000 0.087 2661 682 2182 2237 2127 0 0 0 0 0 0 14.52 14.14 13.37

6898 0.34 311.8 2661 682 2233 2127 213.0 9.0 635 6939 0.00 2.47 35.62 1.372 9382 0.000 0.078 2661 2100 2094 2147 2041 0 0 0 0 0 0 14.23 14.12 13.27

7266 0.43 353.6 2661 2100 2140 2027 182.2 8.1 658 7337 0.17 0.00 69.38 1.278 10406 0.112 0.000 2729 2100 1922 1966 1879 0 0 0 0 0 0 14.23 13.88 13.23

7624 0.40 353.6 2730 2101 1949 1869 140.1 11.6 670 7629 0.00 2.47 0.00 0.000 644 0.000 0.086 2729 691 1908 1948 1868 0 0 0 0 0 0 14.38 14.09 14.40

7704 0.43 353.6 2730 691 1946 1869 131.4 10.5 686 7709 0.00 2.47 0.00 0.000 1158 0.000 0.078 2732 2107 1906 1945 1868 0 0 0 0 0 0 14.23 14.12 14.26

8014 0.43 353.6 2730 2109 1946 1867 98.4 10.2 698 8019 0.00 2.50 0.00 0.000 516 0.000 0.085 2729 685 1905 1945 1866 0 0 0 0 0 0 14.48 14.19 14.50

8104 0.49 377.6 2730 685 1943 1866 90.0 8.9 716 8120 0.00 2.47 11.68 0.474 9382 0.000 0.077 2729 2109 1824 1857 1791 0 0 0 0 0 0 14.28 14.17 13.69

8425 0.56 427.5 2730 2111 1859 1790 61.7 7.7 750 8458 0.00 2.55 27.25 0.389 8612 0.000 0.083 2729 3522 1622 1656 1589 0 0 0 0 0 0 14.47 14.12 13.74

8525 0.67 466.6 2728 3525 1657 1589 53.8 8.2 769 8553 0.17 2.45 21.48 0.363 11430 0.103 0.066 2803 2099 1461 1503 1419 0 0 0 0 0 0 14.13 14.08 13.81

8849 0.69 499.2 2803 2100 1504 1412 22.4 8.5 804 8871 0.00 2.55 17.30 0.278 8740 0.000 0.088 2807 684 1328 1381 1275 0 0 0 0 0 0 14.44 14.00 13.90

9096 0.98 719.2 2808 684 1379 1272 13.4 -0.2 853 9213 0.28 2.47 110.47 0.243 11430 0.088 0.074 2907 2106 500 536 465 0 0 0 0 0 0 14.16 14.07 13.87

9287 end climb: SURFACE_DEPTH_REACHED

state 9287 begin surface coast

9297 end surface coast: CONTROL_FINISHED_OK

state 9297 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	83	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	240.0
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	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,081052,7225.6582,-14819.5049,48,0.8,50,21.2,0.3,158.5,9,8.3	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	1.07	MHEAD_RNG_PITCHd_Wd	320.2,99351,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	160817,082727,7225.6748,-14819.2549,6,0.8,10,21.2,0.6,50.8,9,9.9

FINISH	0.3,1.020113	_24V_AH	12.56,81.912
SM_CCo	9378,0.00,0.000,0,0,494,704.26	_10V_AH	12.61,0.000
SM_GC	0.94,8.15,0.17,0.00,0.064,0.121,0.000,203,2226,494,-7.37,-0.57,704.26,0,0,0,0,0,0,14.21,14.19,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	395	FG_AHR_10Vo	0.000
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	MEM	323620
IRIDIUM_FIX	7227.95,-14835.24,160817,081736	DATA_FILE_SIZE	30039,884
TT8_MAMPS	0.040446,0.934003	CAP_FILE_SIZE	111517,0
HUMID	49.76	CFSIZE	2097872896,2063269888
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1451.5
XPDR_PINGS	23	CURRENT	0.061,225.88,1
CP_FREE	16005300224.000000	GPS	160817,110557,7226.539,-14819.791,55,0.7,56,21.2,0.0,0.0,11,9.0
PM_FREEKB_00	56840064

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	457	143.36	nil	0	0	0.00
Roll_motor	90	2135	2415.55	nil	0	0	0.00
VBD_pump_during_apogee	895	1647	18531.83	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9325	14	1711.74
Iridium_during_xfer	607	178	1361.11	NCP	9326	20	2342.69
Transponder_ping	5	420	30.33	PMAR	9274	16	1933.71
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.39
TT8	0	0	0.00
LPSleep	6778	2	197.45
TT8_Active	903	13	159.14
TT8_Sampling	2408	33	1015.43
TT8_CF8	299	38	146.19
TT8_Kalman	0	0	0.00
Analog_circuits	2301	10	290.22
GPS_charging	0	0	0.00
Compass	1265	7	111.69
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	164	2226	507	459	0.0	0.0	0	129	0.00	0.00	-81.40	0.000	16386	0.000	0.000	162	2226	2099	2014	2184	0	0	0	0	0	0	14.25	28.83	14.27
132	-0.57	-145.9	163	2226	2018	2185	3.6	-5.2	8	185	12.93	2.88	-34.28	0.000	18980	0.457	2.135	2386	795	3963	3953	3974	1	0	0	0	0	0	13.51	12.66	14.02
336	-0.57	-145.9	2386	795	3961	3976	47.8	-16.2	48	340	0.00	2.47	0.00	0.000	1030	0.000	0.086	2378	2180	3968	3961	3975	0	0	0	0	0	0	14.10	13.96	14.13
645	-0.57	-145.9	2379	2180	3964	3974	96.7	-13.8	80	650	0.00	2.50	0.00	0.000	260	0.000	0.090	2376	3611	3968	3963	3974	0	0	0	0	0	0	14.31	13.99	14.32
822	-0.70	-145.9	2377	3613	3964	3975	116.7	-10.4	115	829	0.00	2.40	0.00	0.000	1158	0.000	0.052	2376	2205	3968	3963	3974	0	0	0	0	0	0	14.16	14.04	14.16
1126	-0.78	-145.9	2376	2200	3964	3975	150.6	-10.8	126	1131	0.12	2.53	0.00	0.000	4484	0.140	0.087	2319	3623	3969	3963	3975	0	0	0	0	0	0	14.21	14.14	14.28
1191	-0.82	-145.9	2318	3626	3964	3976	159.5	-13.9	139	1197	0.00	2.42	0.00	0.000	1158	0.000	0.055	2318	2195	3969	3963	3975	0	0	0	0	0	0	14.30	14.19	14.33
1517	-0.82	-145.9	2319	2194	3964	3975	206.7	-13.8	154	1522	0.00	2.50	0.00	0.000	260	0.000	0.087	2309	3613	3968	3962	3975	0	0	0	0	0	0	14.52	14.15	14.54
1667	-0.86	-145.9	2309	3614	3962	3974	225.0	-11.8	184	1672	0.00	2.40	0.00	0.000	1158	0.000	0.054	2309	2195	3968	3961	3975	0	0	0	0	0	0	14.31	14.21	14.34
1997	-0.86	-145.9	2309	2196	3962	3973	265.3	-11.8	200	2002	0.00	2.50	0.00	0.000	260	0.000	0.089	2305	3611	3967	3961	3973	0	0	0	0	0	0	14.55	14.20	14.56
2087	-0.93	-145.9	2306	3614	3968	3974	275.3	-10.8	218	2092	0.00	2.38	0.00	0.000	1158	0.000	0.054	2305	2201	3966	3960	3973	0	0	0	0	0	0	14.36	14.26	14.39
2418	-0.96	-145.9	2306	2199	3961	3971	313.0	-11.2	234	2423	0.12	2.47	0.00	0.000	4484	0.136	0.086	2240	3612	3965	3960	3971	0	0	0	0	0	0	14.20	14.21	14.25
2558	-0.90	-145.9	2240	3615	3959	3972	334.8	-15.8	262	2563	0.20	2.40	0.00	0.000	3206	0.274	0.057	2281	2190	3964	3958	3971	0	0	0	0	0	0	13.95	14.26	14.21
2868	-0.90	-145.9	2282	2190	3959	3971	374.2	-12.3	274	2873	0.00	2.47	0.00	0.000	260	0.000	0.088	2280	3626	3964	3958	3970	0	0	0	0	0	0	14.57	14.19	14.58
2980	-0.95	-145.9	2280	3628	3958	3971	387.2	-11.4	296	2985	0.00	2.40	0.00	0.000	1158	0.000	0.054	2280	2198	3963	3957	3970	0	0	0	0	0	0	14.32	14.23	14.32
3290	-0.95	-145.9	2280	2197	3958	3969	425.2	-12.2	308	3295	0.00	2.47	0.00	0.000	260	0.000	0.087	2272	3614	3962	3957	3968	0	0	0	0	0	0	14.57	14.22	14.59
3390	-0.99	-145.9	2272	3615	3957	3969	437.4	-11.8	328	3395	0.00	2.38	0.00	0.000	1158	0.000	0.055	2272	2196	3962	3956	3968	0	0	0	0	0	0	14.37	14.26	14.40
3710	-0.99	-145.9	2273	2195	3957	3967	477.2	-12.5	342	3715	0.00	2.47	0.00	0.000	260	0.000	0.087	2267	3613	3961	3956	3966	0	0	0	0	0	0	14.58	14.20	14.62
3733	end dive: TARGET_DEPTH_EXCEEDED
state	3733	begin apogee
3741	-0.13	0.0	2268	2096	3956	3967	480.5	-13.2	347	3949	1.02	0.00	205.85	1.444	10246	0.249	0.000	2527	2092	3366	3395	3338	0	0	0	0	0	0	13.97	13.50	12.81
3953	end apogee: CONTROL_FINISHED_OK
state	3953	begin climb
3956	0.57	145.9	2528	2095	3391	3331	490.8	0.0	354	4166	0.75	2.65	197.75	1.385	11012	0.065	0.078	2791	685	2763	2811	2715	0	0	0	0	0	0	13.59	13.15	12.56
4391	0.22	145.9	2791	686	2802	2714	459.1	15.8	435	4397	0.62	2.55	0.00	0.000	5254	0.314	0.074	2657	2108	2756	2801	2712	0	0	0	0	0	0	13.50	13.74	13.81
4707	0.10	155.9	2658	2109	2802	2708	427.4	9.5	448	4722	0.15	2.50	8.88	1.647	12964	0.311	0.081	2630	681	2724	2767	2681	0	0	0	0	0	0	13.79	14.03	13.18
4947	0.12	191.0	2631	682	2770	2682	408.2	8.4	496	5009	0.00	2.50	51.80	1.439	9254	0.000	0.079	2631	2103	2580	2640	2521	0	0	0	0	0	0	14.21	14.10	13.16
5309	0.11	206.3	2631	2104	2640	2509	375.3	9.3	518	5339	0.00	2.55	19.83	1.519	8868	0.000	0.083	2633	692	2516	2581	2451	0	0	0	0	0	0	14.38	14.02	13.27
5464	0.15	224.7	2633	688	2579	2455	360.8	9.2	549	5495	0.00	2.50	25.75	1.485	9382	0.000	0.079	2632	2105	2445	2509	2382	0	0	0	0	0	0	14.19	14.09	13.21
5822	0.16	235.4	2633	2104	2502	2375	326.4	9.5	570	5837	0.00	0.00	13.62	1.557	8230	0.000	0.000	2632	2105	2403	2462	2345	0	0	0	0	0	0	14.44	14.10	13.31
6120	0.17	247.2	2633	2106	2459	2338	297.9	9.5	580	6142	0.00	2.55	17.08	1.512	8740	0.000	0.084	2633	689	2354	2410	2298	0	0	0	0	0	0	14.47	14.09	13.36
6192	0.28	277.8	2634	690	2405	2299	291.4	8.6	594	6245	0.12	2.47	47.80	1.382	11430	0.131	0.077	2686	2107	2233	2287	2179	0	0	0	0	0	0	14.17	14.13	13.19
6544	0.23	277.8	2686	2107	2279	2166	247.6	12.3	614	6545	0.12	0.00	0.00	0.000	4230	0.245	0.000	2661	2107	2224	2284	2164	0	0	0	0	0	0	13.95	14.19	14.16
6842	0.24	289.6	2661	2108	2277	2162	218.1	9.5	624	6863	0.00	2.53	14.30	1.509	8740	0.000	0.087	2661	682	2182	2237	2127	0	0	0	0	0	0	14.52	14.14	13.37
6898	0.34	311.8	2661	682	2233	2127	213.0	9.0	635	6939	0.00	2.47	35.62	1.372	9382	0.000	0.078	2661	2100	2094	2147	2041	0	0	0	0	0	0	14.23	14.12	13.27
7266	0.43	353.6	2661	2100	2140	2027	182.2	8.1	658	7337	0.17	0.00	69.38	1.278	10406	0.112	0.000	2729	2100	1922	1966	1879	0	0	0	0	0	0	14.23	13.88	13.23
7624	0.40	353.6	2730	2101	1949	1869	140.1	11.6	670	7629	0.00	2.47	0.00	0.000	644	0.000	0.086	2729	691	1908	1948	1868	0	0	0	0	0	0	14.38	14.09	14.40
7704	0.43	353.6	2730	691	1946	1869	131.4	10.5	686	7709	0.00	2.47	0.00	0.000	1158	0.000	0.078	2732	2107	1906	1945	1868	0	0	0	0	0	0	14.23	14.12	14.26
8014	0.43	353.6	2730	2109	1946	1867	98.4	10.2	698	8019	0.00	2.50	0.00	0.000	516	0.000	0.085	2729	685	1905	1945	1866	0	0	0	0	0	0	14.48	14.19	14.50
8104	0.49	377.6	2730	685	1943	1866	90.0	8.9	716	8120	0.00	2.47	11.68	0.474	9382	0.000	0.077	2729	2109	1824	1857	1791	0	0	0	0	0	0	14.28	14.17	13.69
8425	0.56	427.5	2730	2111	1859	1790	61.7	7.7	750	8458	0.00	2.55	27.25	0.389	8612	0.000	0.083	2729	3522	1622	1656	1589	0	0	0	0	0	0	14.47	14.12	13.74
8525	0.67	466.6	2728	3525	1657	1589	53.8	8.2	769	8553	0.17	2.45	21.48	0.363	11430	0.103	0.066	2803	2099	1461	1503	1419	0	0	0	0	0	0	14.13	14.08	13.81
8849	0.69	499.2	2803	2100	1504	1412	22.4	8.5	804	8871	0.00	2.55	17.30	0.278	8740	0.000	0.088	2807	684	1328	1381	1275	0	0	0	0	0	0	14.44	14.00	13.90
9096	0.98	719.2	2808	684	1379	1272	13.4	-0.2	853	9213	0.28	2.47	110.47	0.243	11430	0.088	0.074	2907	2106	500	536	465	0	0	0	0	0	0	14.16	14.07	13.87
9287	end climb: SURFACE_DEPTH_REACHED
state	9287	begin surface coast
9297	end surface coast: CONTROL_FINISHED_OK
state	9297	begin surface