Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 85 * 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 85 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 244.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 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 244.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 23 VBD_MIN 500

DIVE 85 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 160817,134858,7227.2622,-14821.0205,16,0.7,17,21.2,0.5,202.9,12,9.9 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 1.10 MHEAD_RNG_PITCHd_Wd 327.1,96446,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 160817,135932,7227.1714,-14821.2188,6,0.8,32,21.2,0.3,225.3,9,8.2

Post-dive calculations and measurements:

FINISH 0.1,1.020183 _24V_AH 12.55,82.865

SM_CCo 9326,19.55,0.214,0,0,498,703.03 _10V_AH 12.45,0.000

SM_GC 0.79,8.35,0.17,19.55,0.080,0.109,0.214,202,2224,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.09,14.12,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 105 FG_AHR_10Vo 0.000

RAFOS_FIX 7220.135742,-14822.178711,150817,202000,3,255,0.79 MEM 323680

IRIDIUM_FIX 7226.88,-14829.16,160817,111033 DATA_FILE_SIZE 26655,780

TT8_MAMPS 0.092127,0.856856 CAP_FILE_SIZE 103164,0

HUMID 45.15 CFSIZE 2097872896,2062614528

INTERNAL_PRESSURE 7.80105 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.60 SOUNDSPEED 1450.4

XPDR_PINGS 9 CURRENT 0.076,242.59,1

CP_FREE 16004907008.000000 GPS 160817,163703,7228.185,-14822.224,26,0.8,27,21.2,0.0,290.0,11,8.0

PM_FREEKB_00 56699456

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 143.75 nil 0 0 0.00

Roll_motor 84 2148 2282.88 nil 0 0 0.00

VBD_pump_during_apogee 941 1442 17051.83 nil 0 0 0.00

VBD_pump_during_surface 19 214 52.55 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 9323 14 1744.76

Iridium_during_xfer 340 183 784.75 NCP 9313 20 2337.56

Transponder_ping 2 420 11.86 PMAR 9273 16 1925.91

GUMSTIX_24V 0 0 0.00

GPS 34 22 9.53

TT8 0 0 0.00

LPSleep 6650 2 191.27

TT8_Active 866 13 150.77

TT8_Sampling 2185 33 909.73

TT8_CF8 291 38 140.20

TT8_Kalman 0 0 0.00

Analog_circuits 2062 10 256.83

GPS_charging 0 0 0.00

Compass 1118 7 97.47

RAFOS 2218 48 1325.48

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 -145.9 182 2204 520 463 0.0 0.0 0 129 0.00 0.00 -81.12 0.000 16386 0.000 0.000 181 2205 2028 1950 2106 0 0 0 0 0 0 14.39 28.83 14.41

132 -0.57 -145.9 182 2206 1953 2109 3.3 -4.2 8 189 12.57 2.80 -36.90 0.000 18980 0.454 2.149 2385 794 3962 3948 3977 1 0 0 0 0 0 13.57 12.65 14.15

249 -0.57 -145.9 2385 795 3955 3976 35.0 -17.2 31 257 0.00 2.53 0.00 0.000 1030 0.000 0.090 2378 2203 3965 3954 3977 0 0 0 0 0 0 14.17 14.04 14.20

556 -0.57 -145.9 2378 2204 3959 3977 88.4 -14.4 62 561 0.00 2.53 0.00 0.000 260 0.000 0.091 2376 3620 3968 3959 3977 0 0 0 0 0 0 14.44 14.11 14.46

781 -0.70 -145.9 2376 3619 3966 3978 114.8 -10.7 107 787 0.00 2.42 0.00 0.000 1158 0.000 0.055 2376 2195 3968 3959 3977 0 0 0 0 0 0 14.28 14.16 14.33

1097 -0.78 -145.9 2376 2194 3960 3976 149.3 -10.4 120 1103 0.12 2.53 0.00 0.000 4484 0.142 0.087 2319 3616 3967 3959 3976 0 0 0 0 0 0 14.14 14.15 14.18

1215 -0.85 -145.9 2320 3618 3961 3977 164.1 -12.3 143 1221 0.00 2.40 0.00 0.000 1158 0.000 0.055 2318 2192 3968 3960 3977 0 0 0 0 0 0 14.22 14.14 14.24

1518 -0.85 -145.9 2319 2193 3960 3977 206.9 -13.7 154 1523 0.00 2.53 0.00 0.000 260 0.000 0.089 2317 3621 3968 3959 3977 0 0 0 0 0 0 14.54 14.16 14.56

1629 -0.92 -145.9 2317 3622 3960 3972 220.4 -11.8 176 1635 0.10 2.40 0.00 0.000 5254 0.155 0.057 2271 2198 3968 3959 3977 0 0 0 0 0 0 14.23 14.23 14.34

1940 -0.86 -145.9 2271 2196 3960 3975 268.6 -14.9 188 1945 0.12 2.47 0.00 0.000 2436 0.296 0.084 2290 3614 3966 3959 3974 0 0 0 0 0 0 13.98 14.21 14.15

2080 -0.92 -145.9 2290 3616 3959 3975 285.8 -11.4 216 2085 0.00 2.40 0.00 0.000 1158 0.000 0.057 2290 2198 3966 3958 3974 0 0 0 0 0 0 14.35 14.24 14.39

2390 -0.92 -145.9 2290 2198 3960 3972 323.8 -12.1 228 2395 0.00 2.50 0.00 0.000 260 0.000 0.088 2280 3627 3965 3958 3972 0 0 0 0 0 0 14.57 14.18 14.59

2470 -0.97 -145.9 2280 3621 3959 3973 333.3 -11.3 244 2475 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2194 3965 3958 3972 0 0 0 0 0 0 14.36 14.24 14.39

2780 -0.97 -145.9 2280 2193 3959 3970 371.2 -12.2 256 2785 0.00 2.53 0.00 0.000 260 0.000 0.090 2279 3620 3964 3958 3970 0 0 0 0 0 0 14.57 14.17 14.59

2886 -1.03 -145.9 2280 3621 3958 3970 383.2 -11.0 277 2891 0.00 2.40 0.00 0.000 1158 0.000 0.056 2279 2195 3964 3958 3970 0 0 0 0 0 0 14.33 14.22 14.35

3201 -1.03 -145.9 2280 2194 3958 3970 421.5 -12.3 290 3206 0.00 2.50 0.00 0.000 260 0.000 0.090 2280 3614 3963 3957 3969 0 0 0 0 0 0 14.57 14.16 14.58

3318 -1.10 -145.9 2280 3614 3958 3970 434.7 -10.9 313 3324 0.17 2.40 0.00 0.000 5254 0.117 0.054 2214 2191 3963 3957 3969 0 0 0 0 0 0 14.22 14.22 14.33

3589 end dive: TARGET_DEPTH_EXCEEDED

state 3589 begin apogee

3595 -0.13 0.0 2214 2065 3957 3967 482.8 -18.0 323 3841 1.30 0.08 242.60 1.363 10246 0.283 0.184 2526 2109 3366 3396 3337 0 0 0 0 0 0 13.88 13.40 12.78

3844 end apogee: CONTROL_FINISHED_OK

state 3844 begin climb

3849 0.57 145.9 2527 2109 3391 3327 495.0 0.0 331 4066 0.75 2.65 205.55 1.359 10756 0.067 0.080 2781 732 2757 2812 2702 0 0 0 0 0 0 13.53 13.07 12.55

4233 0.24 145.9 2781 733 2798 2700 473.3 15.3 365 4238 0.57 2.47 0.00 0.000 5254 0.321 0.076 2661 2101 2747 2797 2698 0 0 0 0 0 0 13.40 13.66 13.71

4548 0.10 149.5 2662 2102 2798 2692 441.1 9.8 378 4553 0.20 2.45 0.00 0.000 4772 0.296 0.078 2622 714 2744 2795 2693 0 0 0 0 0 0 13.75 13.98 13.93

4633 0.13 201.7 2622 714 2798 2693 434.3 7.6 395 4719 0.00 2.45 78.60 1.354 9254 0.000 0.079 2622 2103 2545 2618 2472 0 0 0 0 0 0 14.15 14.03 13.07

5029 0.15 228.5 2623 2103 2595 2450 400.4 8.8 424 5066 0.00 0.00 36.33 1.398 8230 0.000 0.000 2622 2103 2434 2503 2366 0 0 0 0 0 0 14.33 13.89 13.17

5359 0.19 252.5 2622 2103 2479 2349 371.1 8.9 435 5396 0.00 2.53 32.97 1.396 8868 0.000 0.083 2631 724 2333 2395 2272 0 0 0 0 0 0 14.39 13.93 13.25

5436 0.29 270.1 2631 725 2385 2267 364.1 9.2 450 5467 0.15 2.42 26.00 1.443 11430 0.115 0.078 2691 2100 2262 2322 2202 0 0 0 0 0 0 14.05 14.00 13.18

5785 0.21 270.1 2691 2101 2310 2183 316.4 13.9 469 5790 0.15 2.42 0.00 0.000 4740 0.252 0.082 2659 723 2246 2310 2182 0 0 0 0 0 0 13.88 14.09 14.04

5820 0.23 270.1 2660 722 2309 2182 311.8 11.6 476 5826 0.00 2.42 0.00 0.000 1158 0.000 0.078 2660 2107 2245 2308 2182 0 0 0 0 0 0 14.26 14.14 14.29

6146 0.23 270.1 2659 2108 2309 2180 275.7 11.0 491 6151 0.00 2.42 0.00 0.000 516 0.000 0.085 2659 724 2242 2306 2179 0 0 0 0 0 0 14.51 14.21 14.53

6211 0.28 270.1 2660 724 2308 2179 269.0 10.1 504 6217 0.00 2.40 0.00 0.000 1158 0.000 0.077 2660 2106 2243 2307 2179 0 0 0 0 0 0 14.34 14.23 14.38

6537 0.28 270.1 2660 2108 2307 2179 235.1 10.2 519 6542 0.00 2.45 0.00 0.000 260 0.000 0.082 2660 3513 2242 2306 2178 0 0 0 0 0 0 14.55 14.18 14.57

6587 0.28 270.1 2660 3514 2304 2178 229.5 11.0 529 6592 0.00 2.35 0.00 0.000 1030 0.000 0.062 2665 2124 2240 2302 2179 0 0 0 0 0 0 14.38 14.26 14.40

6897 0.30 294.7 2666 2125 2304 2180 201.1 8.9 541 6938 0.00 2.53 34.85 1.374 8740 0.000 0.084 2672 690 2160 2218 2103 0 0 0 0 0 0 14.57 13.95 13.39

7016 0.40 335.8 2673 690 2208 2102 191.4 8.1 564 7095 0.12 2.47 73.15 1.267 11430 0.138 0.078 2720 2103 1995 2045 1945 0 0 0 0 0 0 14.13 14.08 13.18

7410 0.36 335.8 2728 2103 2034 1925 145.6 11.4 593 7415 0.00 2.53 0.00 0.000 644 0.000 0.083 2728 683 1978 2031 1925 0 0 0 0 0 0 14.26 13.99 14.29

7490 0.36 335.8 2729 685 2027 1926 137.1 10.4 609 7495 0.12 2.50 0.00 0.000 5126 0.238 0.078 2709 2104 1976 2028 1925 0 0 0 0 0 0 13.45 14.01 13.72

7801 0.41 366.5 2704 2104 2029 1918 109.6 8.6 621 7850 0.00 0.00 48.03 1.261 8358 0.000 0.000 2704 2105 1870 1911 1830 0 0 0 0 0 0 14.35 13.90 13.26

8132 0.51 411.7 2705 2103 1896 1815 82.3 7.9 646 8164 0.12 2.58 23.30 0.444 10916 0.134 0.087 2767 698 1686 1720 1652 0 0 0 0 0 0 14.07 13.93 13.62

8236 0.51 411.7 2769 693 1724 1653 71.0 11.1 666 8241 0.00 2.47 0.00 0.000 1030 0.000 0.077 2768 2099 1689 1725 1653 0 0 0 0 0 0 14.09 13.98 14.12

8546 0.56 481.4 2769 2099 1724 1653 42.3 6.8 698 8587 0.00 0.00 38.25 0.325 8742 0.000 0.000 2768 2099 1401 1453 1349 0 0 0 0 0 0 14.29 14.03 13.71

8886 0.71 574.3 2768 2100 1454 1350 18.6 5.7 733 8939 0.12 0.00 50.83 0.259 10406 0.141 0.000 2820 2099 1022 1098 946 0 0 0 0 0 0 14.07 14.04 13.78

9236 0.94 714.3 2820 2100 1098 948 5.2 3.5 768 9290 0.17 0.00 51.28 0.216 10658 0.109 0.000 2890 2099 638 702 574 0 0 0 0 0 0 14.07 28.83 14.14

9290 end climb: SURFACE_DEPTH_REACHED

state 9290 begin surface coast

9304 end surface coast: CONTROL_FINISHED_OK

state 9304 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	85	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	244.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,134858,7227.2622,-14821.0205,16,0.7,17,21.2,0.5,202.9,12,9.9	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	1.10	MHEAD_RNG_PITCHd_Wd	327.1,96446,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	160817,135932,7227.1714,-14821.2188,6,0.8,32,21.2,0.3,225.3,9,8.2

FINISH	0.1,1.020183	_24V_AH	12.55,82.865
SM_CCo	9326,19.55,0.214,0,0,498,703.03	_10V_AH	12.45,0.000
SM_GC	0.79,8.35,0.17,19.55,0.080,0.109,0.214,202,2224,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.09,14.12,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	105	FG_AHR_10Vo	0.000
RAFOS_FIX	7220.135742,-14822.178711,150817,202000,3,255,0.79	MEM	323680
IRIDIUM_FIX	7226.88,-14829.16,160817,111033	DATA_FILE_SIZE	26655,780
TT8_MAMPS	0.092127,0.856856	CAP_FILE_SIZE	103164,0
HUMID	45.15	CFSIZE	2097872896,2062614528
INTERNAL_PRESSURE	7.80105	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.60	SOUNDSPEED	1450.4
XPDR_PINGS	9	CURRENT	0.076,242.59,1
CP_FREE	16004907008.000000	GPS	160817,163703,7228.185,-14822.224,26,0.8,27,21.2,0.0,290.0,11,8.0
PM_FREEKB_00	56699456

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	143.75	nil	0	0	0.00
Roll_motor	84	2148	2282.88	nil	0	0	0.00
VBD_pump_during_apogee	941	1442	17051.83	nil	0	0	0.00
VBD_pump_during_surface	19	214	52.55	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	9323	14	1744.76
Iridium_during_xfer	340	183	784.75	NCP	9313	20	2337.56
Transponder_ping	2	420	11.86	PMAR	9273	16	1925.91
GUMSTIX_24V	0	0	0.00
GPS	34	22	9.53
TT8	0	0	0.00
LPSleep	6650	2	191.27
TT8_Active	866	13	150.77
TT8_Sampling	2185	33	909.73
TT8_CF8	291	38	140.20
TT8_Kalman	0	0	0.00
Analog_circuits	2062	10	256.83
GPS_charging	0	0	0.00
Compass	1118	7	97.47
RAFOS	2218	48	1325.48
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	182	2204	520	463	0.0	0.0	0	129	0.00	0.00	-81.12	0.000	16386	0.000	0.000	181	2205	2028	1950	2106	0	0	0	0	0	0	14.39	28.83	14.41
132	-0.57	-145.9	182	2206	1953	2109	3.3	-4.2	8	189	12.57	2.80	-36.90	0.000	18980	0.454	2.149	2385	794	3962	3948	3977	1	0	0	0	0	0	13.57	12.65	14.15
249	-0.57	-145.9	2385	795	3955	3976	35.0	-17.2	31	257	0.00	2.53	0.00	0.000	1030	0.000	0.090	2378	2203	3965	3954	3977	0	0	0	0	0	0	14.17	14.04	14.20
556	-0.57	-145.9	2378	2204	3959	3977	88.4	-14.4	62	561	0.00	2.53	0.00	0.000	260	0.000	0.091	2376	3620	3968	3959	3977	0	0	0	0	0	0	14.44	14.11	14.46
781	-0.70	-145.9	2376	3619	3966	3978	114.8	-10.7	107	787	0.00	2.42	0.00	0.000	1158	0.000	0.055	2376	2195	3968	3959	3977	0	0	0	0	0	0	14.28	14.16	14.33
1097	-0.78	-145.9	2376	2194	3960	3976	149.3	-10.4	120	1103	0.12	2.53	0.00	0.000	4484	0.142	0.087	2319	3616	3967	3959	3976	0	0	0	0	0	0	14.14	14.15	14.18
1215	-0.85	-145.9	2320	3618	3961	3977	164.1	-12.3	143	1221	0.00	2.40	0.00	0.000	1158	0.000	0.055	2318	2192	3968	3960	3977	0	0	0	0	0	0	14.22	14.14	14.24
1518	-0.85	-145.9	2319	2193	3960	3977	206.9	-13.7	154	1523	0.00	2.53	0.00	0.000	260	0.000	0.089	2317	3621	3968	3959	3977	0	0	0	0	0	0	14.54	14.16	14.56
1629	-0.92	-145.9	2317	3622	3960	3972	220.4	-11.8	176	1635	0.10	2.40	0.00	0.000	5254	0.155	0.057	2271	2198	3968	3959	3977	0	0	0	0	0	0	14.23	14.23	14.34
1940	-0.86	-145.9	2271	2196	3960	3975	268.6	-14.9	188	1945	0.12	2.47	0.00	0.000	2436	0.296	0.084	2290	3614	3966	3959	3974	0	0	0	0	0	0	13.98	14.21	14.15
2080	-0.92	-145.9	2290	3616	3959	3975	285.8	-11.4	216	2085	0.00	2.40	0.00	0.000	1158	0.000	0.057	2290	2198	3966	3958	3974	0	0	0	0	0	0	14.35	14.24	14.39
2390	-0.92	-145.9	2290	2198	3960	3972	323.8	-12.1	228	2395	0.00	2.50	0.00	0.000	260	0.000	0.088	2280	3627	3965	3958	3972	0	0	0	0	0	0	14.57	14.18	14.59
2470	-0.97	-145.9	2280	3621	3959	3973	333.3	-11.3	244	2475	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2194	3965	3958	3972	0	0	0	0	0	0	14.36	14.24	14.39
2780	-0.97	-145.9	2280	2193	3959	3970	371.2	-12.2	256	2785	0.00	2.53	0.00	0.000	260	0.000	0.090	2279	3620	3964	3958	3970	0	0	0	0	0	0	14.57	14.17	14.59
2886	-1.03	-145.9	2280	3621	3958	3970	383.2	-11.0	277	2891	0.00	2.40	0.00	0.000	1158	0.000	0.056	2279	2195	3964	3958	3970	0	0	0	0	0	0	14.33	14.22	14.35
3201	-1.03	-145.9	2280	2194	3958	3970	421.5	-12.3	290	3206	0.00	2.50	0.00	0.000	260	0.000	0.090	2280	3614	3963	3957	3969	0	0	0	0	0	0	14.57	14.16	14.58
3318	-1.10	-145.9	2280	3614	3958	3970	434.7	-10.9	313	3324	0.17	2.40	0.00	0.000	5254	0.117	0.054	2214	2191	3963	3957	3969	0	0	0	0	0	0	14.22	14.22	14.33
3589	end dive: TARGET_DEPTH_EXCEEDED
state	3589	begin apogee
3595	-0.13	0.0	2214	2065	3957	3967	482.8	-18.0	323	3841	1.30	0.08	242.60	1.363	10246	0.283	0.184	2526	2109	3366	3396	3337	0	0	0	0	0	0	13.88	13.40	12.78
3844	end apogee: CONTROL_FINISHED_OK
state	3844	begin climb
3849	0.57	145.9	2527	2109	3391	3327	495.0	0.0	331	4066	0.75	2.65	205.55	1.359	10756	0.067	0.080	2781	732	2757	2812	2702	0	0	0	0	0	0	13.53	13.07	12.55
4233	0.24	145.9	2781	733	2798	2700	473.3	15.3	365	4238	0.57	2.47	0.00	0.000	5254	0.321	0.076	2661	2101	2747	2797	2698	0	0	0	0	0	0	13.40	13.66	13.71
4548	0.10	149.5	2662	2102	2798	2692	441.1	9.8	378	4553	0.20	2.45	0.00	0.000	4772	0.296	0.078	2622	714	2744	2795	2693	0	0	0	0	0	0	13.75	13.98	13.93
4633	0.13	201.7	2622	714	2798	2693	434.3	7.6	395	4719	0.00	2.45	78.60	1.354	9254	0.000	0.079	2622	2103	2545	2618	2472	0	0	0	0	0	0	14.15	14.03	13.07
5029	0.15	228.5	2623	2103	2595	2450	400.4	8.8	424	5066	0.00	0.00	36.33	1.398	8230	0.000	0.000	2622	2103	2434	2503	2366	0	0	0	0	0	0	14.33	13.89	13.17
5359	0.19	252.5	2622	2103	2479	2349	371.1	8.9	435	5396	0.00	2.53	32.97	1.396	8868	0.000	0.083	2631	724	2333	2395	2272	0	0	0	0	0	0	14.39	13.93	13.25
5436	0.29	270.1	2631	725	2385	2267	364.1	9.2	450	5467	0.15	2.42	26.00	1.443	11430	0.115	0.078	2691	2100	2262	2322	2202	0	0	0	0	0	0	14.05	14.00	13.18
5785	0.21	270.1	2691	2101	2310	2183	316.4	13.9	469	5790	0.15	2.42	0.00	0.000	4740	0.252	0.082	2659	723	2246	2310	2182	0	0	0	0	0	0	13.88	14.09	14.04
5820	0.23	270.1	2660	722	2309	2182	311.8	11.6	476	5826	0.00	2.42	0.00	0.000	1158	0.000	0.078	2660	2107	2245	2308	2182	0	0	0	0	0	0	14.26	14.14	14.29
6146	0.23	270.1	2659	2108	2309	2180	275.7	11.0	491	6151	0.00	2.42	0.00	0.000	516	0.000	0.085	2659	724	2242	2306	2179	0	0	0	0	0	0	14.51	14.21	14.53
6211	0.28	270.1	2660	724	2308	2179	269.0	10.1	504	6217	0.00	2.40	0.00	0.000	1158	0.000	0.077	2660	2106	2243	2307	2179	0	0	0	0	0	0	14.34	14.23	14.38
6537	0.28	270.1	2660	2108	2307	2179	235.1	10.2	519	6542	0.00	2.45	0.00	0.000	260	0.000	0.082	2660	3513	2242	2306	2178	0	0	0	0	0	0	14.55	14.18	14.57
6587	0.28	270.1	2660	3514	2304	2178	229.5	11.0	529	6592	0.00	2.35	0.00	0.000	1030	0.000	0.062	2665	2124	2240	2302	2179	0	0	0	0	0	0	14.38	14.26	14.40
6897	0.30	294.7	2666	2125	2304	2180	201.1	8.9	541	6938	0.00	2.53	34.85	1.374	8740	0.000	0.084	2672	690	2160	2218	2103	0	0	0	0	0	0	14.57	13.95	13.39
7016	0.40	335.8	2673	690	2208	2102	191.4	8.1	564	7095	0.12	2.47	73.15	1.267	11430	0.138	0.078	2720	2103	1995	2045	1945	0	0	0	0	0	0	14.13	14.08	13.18
7410	0.36	335.8	2728	2103	2034	1925	145.6	11.4	593	7415	0.00	2.53	0.00	0.000	644	0.000	0.083	2728	683	1978	2031	1925	0	0	0	0	0	0	14.26	13.99	14.29
7490	0.36	335.8	2729	685	2027	1926	137.1	10.4	609	7495	0.12	2.50	0.00	0.000	5126	0.238	0.078	2709	2104	1976	2028	1925	0	0	0	0	0	0	13.45	14.01	13.72
7801	0.41	366.5	2704	2104	2029	1918	109.6	8.6	621	7850	0.00	0.00	48.03	1.261	8358	0.000	0.000	2704	2105	1870	1911	1830	0	0	0	0	0	0	14.35	13.90	13.26
8132	0.51	411.7	2705	2103	1896	1815	82.3	7.9	646	8164	0.12	2.58	23.30	0.444	10916	0.134	0.087	2767	698	1686	1720	1652	0	0	0	0	0	0	14.07	13.93	13.62
8236	0.51	411.7	2769	693	1724	1653	71.0	11.1	666	8241	0.00	2.47	0.00	0.000	1030	0.000	0.077	2768	2099	1689	1725	1653	0	0	0	0	0	0	14.09	13.98	14.12
8546	0.56	481.4	2769	2099	1724	1653	42.3	6.8	698	8587	0.00	0.00	38.25	0.325	8742	0.000	0.000	2768	2099	1401	1453	1349	0	0	0	0	0	0	14.29	14.03	13.71
8886	0.71	574.3	2768	2100	1454	1350	18.6	5.7	733	8939	0.12	0.00	50.83	0.259	10406	0.141	0.000	2820	2099	1022	1098	946	0	0	0	0	0	0	14.07	14.04	13.78
9236	0.94	714.3	2820	2100	1098	948	5.2	3.5	768	9290	0.17	0.00	51.28	0.216	10658	0.109	0.000	2890	2099	638	702	574	0	0	0	0	0	0	14.07	28.83	14.14
9290	end climb: SURFACE_DEPTH_REACHED
state	9290	begin surface coast
9304	end surface coast: CONTROL_FINISHED_OK
state	9304	begin surface