Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 89 * 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 89 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 255.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 255.0 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 25 VBD_MIN 500

DIVE 89 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 170817,004941,7231.2363,-14825.8213,15,0.7,17,21.2,0.0,0.0,11,9.5 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 1.11 MHEAD_RNG_PITCHd_Wd 320.7,88876,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 170817,010613,7231.1343,-14826.0693,5,0.8,25,21.2,0.0,229.1,11,9.7

Post-dive calculations and measurements:

FREEZE 14.82,6.224,-1.407,0,1,0 _24V_AH 12.52,84.741

SM_CCo 9144,173.50,0.226,0,0,499,702.78 _10V_AH 12.59,0.000

SM_GC 1.08,7.93,2.22,0.00,0.078,0.059,0.000,204,2230,502,-7.38,1.78,703.28,0,0,0,0,0,0,14.17,14.16,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 404 FG_AHR_10Vo 0.000

RAFOS_FIX 7229.806152,-14828.175781,170817,000013,4,255,0.31 MEM 323660

IRIDIUM_FIX 7233.84,-14824.02,170817,005852 DATA_FILE_SIZE 30110,832

TT8_MAMPS 0.040446,0.835135 CAP_FILE_SIZE 108335,0

HUMID 47.40 CFSIZE 2097872896,2061402112

INTERNAL_PRESSURE 7.77175 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1451.0

XPDR_PINGS 9 CURRENT 0.075,228.83,1

CP_FREE 16004251648.000000 GPS 170817,034502,7232.071,-14826.926,27,0.7,27,21.2,0.0,0.0,12,6.2

PM_FREEKB_00 56446080

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 453 135.46 nil 0 0 0.00

Roll_motor 83 2143 2240.22 nil 0 0 0.00

VBD_pump_during_apogee 806 1491 15070.24 nil 0 0 0.00

VBD_pump_during_surface 173 225 490.22 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 9164 14 1624.39

Iridium_during_xfer 583 172 1262.49 NCP 9161 20 2293.91

Transponder_ping 2 420 11.83 PMAR 9111 16 1887.17

GUMSTIX_24V 0 0 0.00

GPS 28 22 8.13

TT8 0 0 0.00

LPSleep 6797 2 197.70

TT8_Active 1022 13 179.84

TT8_Sampling 2298 33 967.53

TT8_CF8 310 38 151.03

TT8_Kalman 0 0 0.00

Analog_circuits 2345 10 295.32

GPS_charging 0 0 0.00

Compass 1192 7 105.13

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 202 2203 515 474 0.0 0.0 0 130 0.00 0.00 -81.65 0.000 16386 0.000 0.000 201 2203 2094 2017 2171 0 0 0 0 0 0 14.40 28.83 14.42

133 -0.57 -145.9 202 2204 2020 2173 3.3 -4.0 8 186 12.45 2.75 -34.83 0.000 18724 0.454 2.144 2375 3608 3960 3945 3976 0 0 0 0 0 0 13.71 12.95 14.13

411 -0.57 -145.9 2375 3609 3954 3978 65.4 -15.6 63 418 0.00 2.40 0.00 0.000 1030 0.000 0.053 2375 2198 3965 3954 3977 0 0 0 0 0 0 13.93 13.94 13.92

739 -0.60 -145.9 2375 2198 3956 3977 112.2 -12.9 90 743 0.00 2.50 0.00 0.000 388 0.000 0.086 2365 3619 3965 3955 3976 0 0 0 0 0 0 14.47 14.14 14.49

943 -0.73 -145.9 2365 3621 3958 3978 134.8 -10.5 131 951 0.00 2.40 0.00 0.000 1158 0.000 0.054 2369 2198 3965 3955 3976 0 0 0 0 0 0 14.31 14.18 14.33

1249 -0.80 -145.9 2365 2198 3956 3977 169.2 -11.0 142 1254 0.12 2.47 0.00 0.000 4484 0.145 0.086 2299 3610 3965 3955 3976 0 0 0 0 0 0 14.12 14.16 14.08

1345 -0.83 -145.9 2299 3611 3956 3977 182.9 -14.4 161 1350 0.00 2.38 0.00 0.000 1158 0.000 0.057 2299 2198 3965 3955 3976 0 0 0 0 0 0 14.37 14.26 14.39

1670 -0.80 -145.9 2299 2197 3956 3977 231.0 -14.1 176 1675 0.00 2.47 0.00 0.000 388 0.000 0.086 2293 3610 3965 3955 3976 0 0 0 0 0 0 14.56 14.19 14.57

1830 -0.85 -145.9 2294 3614 3952 3977 251.2 -12.0 208 1835 0.00 2.38 0.00 0.000 1158 0.000 0.054 2293 2200 3964 3953 3976 0 0 0 0 0 0 14.36 14.26 14.39

2150 -0.85 -145.9 2293 2198 3953 3976 291.1 -12.3 222 2155 0.00 2.47 0.00 0.000 260 0.000 0.087 2285 3612 3963 3951 3976 0 0 0 0 0 0 14.55 14.22 14.59

2262 -0.91 -145.9 2282 3613 3951 3976 304.1 -11.5 244 2267 0.00 2.38 0.00 0.000 1158 0.000 0.055 2284 2199 3963 3950 3976 0 0 0 0 0 0 14.38 14.27 14.40

2572 -0.91 -145.9 2284 2199 3951 3975 342.3 -12.2 256 2577 0.00 2.50 0.00 0.000 260 0.000 0.089 2280 3620 3962 3950 3974 0 0 0 0 0 0 14.57 14.21 14.57

2684 -0.97 -145.9 2280 3621 3950 3975 355.2 -10.8 278 2689 0.00 2.40 0.00 0.000 1158 0.000 0.056 2280 2200 3961 3949 3973 0 0 0 0 0 0 14.36 14.25 14.40

2994 -0.97 -145.9 2280 2200 3949 3974 393.0 -12.0 290 2999 0.00 2.47 0.00 0.000 260 0.000 0.087 2271 3610 3960 3948 3973 0 0 0 0 0 0 14.58 14.16 14.60

3099 -1.02 -145.9 2272 3612 3948 3974 405.3 -11.4 311 3105 0.00 2.40 0.00 0.000 1158 0.000 0.057 2272 2194 3960 3947 3973 0 0 0 0 0 0 14.36 14.24 14.39

3415 -1.02 -145.9 2272 2194 3947 3973 443.6 -12.1 324 3420 0.00 2.50 0.00 0.000 260 0.000 0.088 2267 3614 3958 3946 3971 0 0 0 0 0 0 14.57 14.16 14.58

3542 -1.05 -145.9 2267 3615 3947 3973 458.3 -11.4 349 3547 0.00 2.40 0.00 0.000 1158 0.000 0.055 2267 2191 3959 3947 3971 0 0 0 0 0 0 14.35 14.23 14.38

3745 end dive: TARGET_DEPTH_EXCEEDED

state 3745 begin apogee

3751 -0.13 0.0 2267 2067 3947 3972 483.6 -12.3 360 3960 1.02 0.08 205.77 1.444 10246 0.239 0.180 2530 2112 3363 3387 3339 0 0 0 0 0 0 13.94 13.46 12.81

3964 end apogee: CONTROL_FINISHED_OK

state 3964 begin climb

3968 0.57 145.9 2530 2112 3382 3333 493.1 0.0 367 4178 0.75 2.65 194.82 1.395 11012 0.067 0.078 2791 727 2764 2809 2720 0 0 0 0 0 0 13.59 13.21 12.52

4403 0.22 145.9 2791 728 2803 2714 459.2 16.1 448 4409 0.62 2.45 0.00 0.000 5254 0.312 0.075 2658 2094 2758 2802 2714 0 0 0 0 0 0 13.47 13.76 13.79

4720 0.08 145.9 2658 2097 2803 2710 426.1 10.1 461 4725 0.17 2.42 0.00 0.000 4740 0.312 0.076 2624 712 2755 2802 2709 0 0 0 0 0 0 13.79 14.05 14.02

4900 0.11 184.3 2625 713 2803 2710 411.6 8.2 497 4962 0.00 2.45 52.95 1.421 9254 0.000 0.079 2625 2109 2609 2662 2557 0 0 0 0 0 0 14.26 14.11 13.16

5262 0.10 205.7 2625 2110 2661 2544 379.5 9.0 519 5292 0.00 0.00 28.83 1.476 8358 0.000 0.000 2625 2109 2527 2589 2466 0 0 0 0 0 0 14.39 14.00 13.24

5590 0.11 225.3 2625 2110 2580 2457 349.3 9.1 530 5622 0.00 2.53 27.58 1.466 8740 0.000 0.083 2630 718 2443 2503 2383 0 0 0 0 0 0 14.45 14.03 13.26

5674 0.19 245.9 2632 720 2497 2383 341.8 9.0 546 5709 0.00 2.42 30.25 1.445 9382 0.000 0.077 2632 2099 2363 2419 2307 0 0 0 0 0 0 14.17 14.07 13.18

6016 0.23 260.3 2633 2100 2408 2296 309.6 9.3 564 6037 0.00 0.00 20.50 1.492 8358 0.000 0.000 2632 2099 2303 2358 2249 0 0 0 0 0 0 14.42 14.05 13.26

6314 0.28 280.1 2633 2102 2349 2237 282.0 9.1 574 6350 0.12 2.47 29.80 1.432 10916 0.129 0.084 2696 716 2217 2268 2167 0 0 0 0 0 0 14.25 14.03 13.30

6380 0.24 280.1 2696 716 2263 2167 274.1 12.5 582 6386 0.15 2.42 0.00 0.000 5254 0.233 0.078 2661 2098 2216 2266 2166 0 0 0 0 0 0 13.92 14.04 14.11

6706 0.24 280.1 2664 2099 2267 2159 238.8 10.5 597 6710 0.00 2.42 0.00 0.000 516 0.000 0.083 2672 721 2212 2266 2158 0 0 0 0 0 0 14.47 14.16 14.49

6746 0.28 280.1 2672 722 2265 2159 234.7 10.4 605 6751 0.00 2.40 0.00 0.000 1158 0.000 0.079 2672 2099 2212 2265 2159 0 0 0 0 0 0 14.28 14.17 14.31

7066 0.29 294.3 2673 2100 2265 2157 203.2 9.3 619 7086 0.00 0.00 19.23 1.457 8230 0.000 0.000 2672 2100 2167 2218 2116 0 0 0 0 0 0 14.52 14.16 13.40

7366 0.34 326.4 2673 2100 2211 2106 177.1 8.5 629 7428 0.00 2.45 54.10 1.330 8868 0.000 0.084 2672 726 2028 2073 1983 0 0 0 0 0 0 14.49 13.96 13.28

7465 0.48 367.2 2673 727 2071 1984 169.1 8.1 648 7538 0.20 2.42 66.50 1.250 11430 0.105 0.078 2753 2100 1866 1900 1833 0 0 0 0 0 0 14.06 14.00 13.13

7849 0.42 367.2 2753 2100 1893 1820 118.2 13.1 675 7854 0.15 2.42 0.00 0.000 4740 0.238 0.080 2724 724 1856 1892 1820 0 0 0 0 0 0 13.95 14.01 14.08

7879 0.45 367.2 2724 723 1889 1821 114.7 11.1 681 7884 0.00 2.42 0.00 0.000 1158 0.000 0.076 2724 2101 1854 1888 1820 0 0 0 0 0 0 14.14 14.03 14.19

8191 0.49 385.9 2723 2101 1889 1817 84.0 9.1 707 8203 0.00 2.50 8.25 0.457 8868 0.000 0.084 2725 722 1790 1823 1758 0 0 0 0 0 0 14.44 14.13 13.74

8278 0.60 421.1 2726 722 1825 1760 76.2 8.4 724 8306 0.15 2.40 19.10 0.439 11430 0.115 0.076 2783 2101 1646 1675 1617 0 0 0 0 0 0 14.12 14.06 13.75

8603 0.59 455.1 2785 2102 1676 1611 42.8 8.4 759 8625 0.00 0.00 17.60 0.335 8358 0.000 0.000 2785 2101 1506 1543 1470 0 0 0 0 0 0 14.45 14.10 13.78

8923 0.67 517.4 2786 2100 1544 1464 18.5 7.1 791 8960 0.00 2.47 31.62 0.269 8612 0.000 0.080 2785 3503 1253 1309 1198 0 0 0 0 0 0 14.47 14.09 13.89

9138 end climb: NO_VERTICAL_VELOCITY

state 9138 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	89	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	255.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,004941,7231.2363,-14825.8213,15,0.7,17,21.2,0.0,0.0,11,9.5	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	1.11	MHEAD_RNG_PITCHd_Wd	320.7,88876,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	170817,010613,7231.1343,-14826.0693,5,0.8,25,21.2,0.0,229.1,11,9.7

FREEZE	14.82,6.224,-1.407,0,1,0	_24V_AH	12.52,84.741
SM_CCo	9144,173.50,0.226,0,0,499,702.78	_10V_AH	12.59,0.000
SM_GC	1.08,7.93,2.22,0.00,0.078,0.059,0.000,204,2230,502,-7.38,1.78,703.28,0,0,0,0,0,0,14.17,14.16,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	404	FG_AHR_10Vo	0.000
RAFOS_FIX	7229.806152,-14828.175781,170817,000013,4,255,0.31	MEM	323660
IRIDIUM_FIX	7233.84,-14824.02,170817,005852	DATA_FILE_SIZE	30110,832
TT8_MAMPS	0.040446,0.835135	CAP_FILE_SIZE	108335,0
HUMID	47.40	CFSIZE	2097872896,2061402112
INTERNAL_PRESSURE	7.77175	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1451.0
XPDR_PINGS	9	CURRENT	0.075,228.83,1
CP_FREE	16004251648.000000	GPS	170817,034502,7232.071,-14826.926,27,0.7,27,21.2,0.0,0.0,12,6.2
PM_FREEKB_00	56446080

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	453	135.46	nil	0	0	0.00
Roll_motor	83	2143	2240.22	nil	0	0	0.00
VBD_pump_during_apogee	806	1491	15070.24	nil	0	0	0.00
VBD_pump_during_surface	173	225	490.22	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	9164	14	1624.39
Iridium_during_xfer	583	172	1262.49	NCP	9161	20	2293.91
Transponder_ping	2	420	11.83	PMAR	9111	16	1887.17
GUMSTIX_24V	0	0	0.00
GPS	28	22	8.13
TT8	0	0	0.00
LPSleep	6797	2	197.70
TT8_Active	1022	13	179.84
TT8_Sampling	2298	33	967.53
TT8_CF8	310	38	151.03
TT8_Kalman	0	0	0.00
Analog_circuits	2345	10	295.32
GPS_charging	0	0	0.00
Compass	1192	7	105.13
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	202	2203	515	474	0.0	0.0	0	130	0.00	0.00	-81.65	0.000	16386	0.000	0.000	201	2203	2094	2017	2171	0	0	0	0	0	0	14.40	28.83	14.42
133	-0.57	-145.9	202	2204	2020	2173	3.3	-4.0	8	186	12.45	2.75	-34.83	0.000	18724	0.454	2.144	2375	3608	3960	3945	3976	0	0	0	0	0	0	13.71	12.95	14.13
411	-0.57	-145.9	2375	3609	3954	3978	65.4	-15.6	63	418	0.00	2.40	0.00	0.000	1030	0.000	0.053	2375	2198	3965	3954	3977	0	0	0	0	0	0	13.93	13.94	13.92
739	-0.60	-145.9	2375	2198	3956	3977	112.2	-12.9	90	743	0.00	2.50	0.00	0.000	388	0.000	0.086	2365	3619	3965	3955	3976	0	0	0	0	0	0	14.47	14.14	14.49
943	-0.73	-145.9	2365	3621	3958	3978	134.8	-10.5	131	951	0.00	2.40	0.00	0.000	1158	0.000	0.054	2369	2198	3965	3955	3976	0	0	0	0	0	0	14.31	14.18	14.33
1249	-0.80	-145.9	2365	2198	3956	3977	169.2	-11.0	142	1254	0.12	2.47	0.00	0.000	4484	0.145	0.086	2299	3610	3965	3955	3976	0	0	0	0	0	0	14.12	14.16	14.08
1345	-0.83	-145.9	2299	3611	3956	3977	182.9	-14.4	161	1350	0.00	2.38	0.00	0.000	1158	0.000	0.057	2299	2198	3965	3955	3976	0	0	0	0	0	0	14.37	14.26	14.39
1670	-0.80	-145.9	2299	2197	3956	3977	231.0	-14.1	176	1675	0.00	2.47	0.00	0.000	388	0.000	0.086	2293	3610	3965	3955	3976	0	0	0	0	0	0	14.56	14.19	14.57
1830	-0.85	-145.9	2294	3614	3952	3977	251.2	-12.0	208	1835	0.00	2.38	0.00	0.000	1158	0.000	0.054	2293	2200	3964	3953	3976	0	0	0	0	0	0	14.36	14.26	14.39
2150	-0.85	-145.9	2293	2198	3953	3976	291.1	-12.3	222	2155	0.00	2.47	0.00	0.000	260	0.000	0.087	2285	3612	3963	3951	3976	0	0	0	0	0	0	14.55	14.22	14.59
2262	-0.91	-145.9	2282	3613	3951	3976	304.1	-11.5	244	2267	0.00	2.38	0.00	0.000	1158	0.000	0.055	2284	2199	3963	3950	3976	0	0	0	0	0	0	14.38	14.27	14.40
2572	-0.91	-145.9	2284	2199	3951	3975	342.3	-12.2	256	2577	0.00	2.50	0.00	0.000	260	0.000	0.089	2280	3620	3962	3950	3974	0	0	0	0	0	0	14.57	14.21	14.57
2684	-0.97	-145.9	2280	3621	3950	3975	355.2	-10.8	278	2689	0.00	2.40	0.00	0.000	1158	0.000	0.056	2280	2200	3961	3949	3973	0	0	0	0	0	0	14.36	14.25	14.40
2994	-0.97	-145.9	2280	2200	3949	3974	393.0	-12.0	290	2999	0.00	2.47	0.00	0.000	260	0.000	0.087	2271	3610	3960	3948	3973	0	0	0	0	0	0	14.58	14.16	14.60
3099	-1.02	-145.9	2272	3612	3948	3974	405.3	-11.4	311	3105	0.00	2.40	0.00	0.000	1158	0.000	0.057	2272	2194	3960	3947	3973	0	0	0	0	0	0	14.36	14.24	14.39
3415	-1.02	-145.9	2272	2194	3947	3973	443.6	-12.1	324	3420	0.00	2.50	0.00	0.000	260	0.000	0.088	2267	3614	3958	3946	3971	0	0	0	0	0	0	14.57	14.16	14.58
3542	-1.05	-145.9	2267	3615	3947	3973	458.3	-11.4	349	3547	0.00	2.40	0.00	0.000	1158	0.000	0.055	2267	2191	3959	3947	3971	0	0	0	0	0	0	14.35	14.23	14.38
3745	end dive: TARGET_DEPTH_EXCEEDED
state	3745	begin apogee
3751	-0.13	0.0	2267	2067	3947	3972	483.6	-12.3	360	3960	1.02	0.08	205.77	1.444	10246	0.239	0.180	2530	2112	3363	3387	3339	0	0	0	0	0	0	13.94	13.46	12.81
3964	end apogee: CONTROL_FINISHED_OK
state	3964	begin climb
3968	0.57	145.9	2530	2112	3382	3333	493.1	0.0	367	4178	0.75	2.65	194.82	1.395	11012	0.067	0.078	2791	727	2764	2809	2720	0	0	0	0	0	0	13.59	13.21	12.52
4403	0.22	145.9	2791	728	2803	2714	459.2	16.1	448	4409	0.62	2.45	0.00	0.000	5254	0.312	0.075	2658	2094	2758	2802	2714	0	0	0	0	0	0	13.47	13.76	13.79
4720	0.08	145.9	2658	2097	2803	2710	426.1	10.1	461	4725	0.17	2.42	0.00	0.000	4740	0.312	0.076	2624	712	2755	2802	2709	0	0	0	0	0	0	13.79	14.05	14.02
4900	0.11	184.3	2625	713	2803	2710	411.6	8.2	497	4962	0.00	2.45	52.95	1.421	9254	0.000	0.079	2625	2109	2609	2662	2557	0	0	0	0	0	0	14.26	14.11	13.16
5262	0.10	205.7	2625	2110	2661	2544	379.5	9.0	519	5292	0.00	0.00	28.83	1.476	8358	0.000	0.000	2625	2109	2527	2589	2466	0	0	0	0	0	0	14.39	14.00	13.24
5590	0.11	225.3	2625	2110	2580	2457	349.3	9.1	530	5622	0.00	2.53	27.58	1.466	8740	0.000	0.083	2630	718	2443	2503	2383	0	0	0	0	0	0	14.45	14.03	13.26
5674	0.19	245.9	2632	720	2497	2383	341.8	9.0	546	5709	0.00	2.42	30.25	1.445	9382	0.000	0.077	2632	2099	2363	2419	2307	0	0	0	0	0	0	14.17	14.07	13.18
6016	0.23	260.3	2633	2100	2408	2296	309.6	9.3	564	6037	0.00	0.00	20.50	1.492	8358	0.000	0.000	2632	2099	2303	2358	2249	0	0	0	0	0	0	14.42	14.05	13.26
6314	0.28	280.1	2633	2102	2349	2237	282.0	9.1	574	6350	0.12	2.47	29.80	1.432	10916	0.129	0.084	2696	716	2217	2268	2167	0	0	0	0	0	0	14.25	14.03	13.30
6380	0.24	280.1	2696	716	2263	2167	274.1	12.5	582	6386	0.15	2.42	0.00	0.000	5254	0.233	0.078	2661	2098	2216	2266	2166	0	0	0	0	0	0	13.92	14.04	14.11
6706	0.24	280.1	2664	2099	2267	2159	238.8	10.5	597	6710	0.00	2.42	0.00	0.000	516	0.000	0.083	2672	721	2212	2266	2158	0	0	0	0	0	0	14.47	14.16	14.49
6746	0.28	280.1	2672	722	2265	2159	234.7	10.4	605	6751	0.00	2.40	0.00	0.000	1158	0.000	0.079	2672	2099	2212	2265	2159	0	0	0	0	0	0	14.28	14.17	14.31
7066	0.29	294.3	2673	2100	2265	2157	203.2	9.3	619	7086	0.00	0.00	19.23	1.457	8230	0.000	0.000	2672	2100	2167	2218	2116	0	0	0	0	0	0	14.52	14.16	13.40
7366	0.34	326.4	2673	2100	2211	2106	177.1	8.5	629	7428	0.00	2.45	54.10	1.330	8868	0.000	0.084	2672	726	2028	2073	1983	0	0	0	0	0	0	14.49	13.96	13.28
7465	0.48	367.2	2673	727	2071	1984	169.1	8.1	648	7538	0.20	2.42	66.50	1.250	11430	0.105	0.078	2753	2100	1866	1900	1833	0	0	0	0	0	0	14.06	14.00	13.13
7849	0.42	367.2	2753	2100	1893	1820	118.2	13.1	675	7854	0.15	2.42	0.00	0.000	4740	0.238	0.080	2724	724	1856	1892	1820	0	0	0	0	0	0	13.95	14.01	14.08
7879	0.45	367.2	2724	723	1889	1821	114.7	11.1	681	7884	0.00	2.42	0.00	0.000	1158	0.000	0.076	2724	2101	1854	1888	1820	0	0	0	0	0	0	14.14	14.03	14.19
8191	0.49	385.9	2723	2101	1889	1817	84.0	9.1	707	8203	0.00	2.50	8.25	0.457	8868	0.000	0.084	2725	722	1790	1823	1758	0	0	0	0	0	0	14.44	14.13	13.74
8278	0.60	421.1	2726	722	1825	1760	76.2	8.4	724	8306	0.15	2.40	19.10	0.439	11430	0.115	0.076	2783	2101	1646	1675	1617	0	0	0	0	0	0	14.12	14.06	13.75
8603	0.59	455.1	2785	2102	1676	1611	42.8	8.4	759	8625	0.00	0.00	17.60	0.335	8358	0.000	0.000	2785	2101	1506	1543	1470	0	0	0	0	0	0	14.45	14.10	13.78
8923	0.67	517.4	2786	2100	1544	1464	18.5	7.1	791	8960	0.00	2.47	31.62	0.269	8612	0.000	0.080	2785	3503	1253	1309	1198	0	0	0	0	0	0	14.47	14.09	13.89
9138	end climb: NO_VERTICAL_VELOCITY
state	9138	begin surface