Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 92 * 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 92 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 264.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 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 264.0 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 28 VBD_MIN 500

DIVE 92 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 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 170817,092546,7234.2617,-14829.0635,16,0.8,17,21.2,0.0,0.0,10,8.3 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 1.11 MHEAD_RNG_PITCHd_Wd 316.0,83135,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 170817,093651,7234.3047,-14829.0166,7,0.8,20,21.2,0.3,256.9,9,8.9

Post-dive calculations and measurements:

FINISH 0.0,1.005205 _24V_AH 12.51,86.385

SM_CCo 9111,0.00,0.000,0,0,495,704.75 _10V_AH 12.27,0.000

SM_GC 1.09,8.27,0.17,0.00,0.078,0.128,0.000,206,2213,495,-7.37,-0.59,704.75,0,0,0,0,0,0,14.09,14.09,14.18 FG_AHR_24Vo 0.000

RAFOS_CLK 33 FG_AHR_10Vo 0.000

RAFOS_FIX 7232.996094,-14830.577148,170817,080809,4,255,0.26 MEM 323712

IRIDIUM_FIX 7233.84,-14824.02,170817,064746 DATA_FILE_SIZE 26741,750

TT8_MAMPS 0.086135,1.35419 CAP_FILE_SIZE 101341,0

HUMID 47.24 CFSIZE 2097872896,2060451840

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

TCM_TEMP 13.50 SOUNDSPEED 1450.4

XPDR_PINGS 14 CURRENT 0.052,230.71,1

CP_FREE 16003760128.000000 GPS 170817,121032,7235.355,-14829.925,33,0.8,33,21.2,0.5,239.2,10,7.3

PM_FREEKB_00 56226112

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 145.10 nil 0 0 0.00

Roll_motor 79 2147 2130.27 nil 0 0 0.00

VBD_pump_during_apogee 950 1541 18324.96 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 9058 14 1646.82

Iridium_during_xfer 383 175 839.42 NCP 9048 20 2263.81

Transponder_ping 3 420 18.39 PMAR 9007 16 1866.73

GUMSTIX_24V 0 0 0.00

GPS 21 22 5.84

TT8 0 0 0.00

LPSleep 6500 2 184.24

TT8_Active 840 13 144.14

TT8_Sampling 2160 33 886.60

TT8_CF8 286 38 135.90

TT8_Kalman 0 0 0.00

Analog_circuits 2065 10 253.46

GPS_charging 0 0 0.00

Compass 1075 7 92.35

RAFOS 2219 48 1306.90

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 -145.9 197 2223 521 458 0.0 0.0 0 129 0.00 0.00 -81.62 0.000 16386 0.000 0.000 196 2222 2057 1974 2140 0 0 0 0 0 0 14.38 28.83 14.42

132 -0.57 -145.9 197 2222 1977 2141 3.4 -4.0 8 185 12.45 2.70 -34.65 0.000 18724 0.454 2.147 2375 3595 3963 3947 3979 0 0 0 0 0 0 13.71 12.94 14.12

410 -0.65 -145.9 2375 3596 3955 3980 66.2 -14.1 63 417 0.00 2.38 0.00 0.000 1158 0.000 0.054 2375 2198 3966 3954 3979 0 0 0 0 0 0 14.14 14.04 14.14

737 -0.69 -145.9 2375 2197 3957 3980 112.7 -13.0 90 742 0.00 2.47 0.00 0.000 388 0.000 0.088 2370 3602 3967 3956 3979 0 0 0 0 0 0 14.50 14.16 14.50

884 -0.84 -145.9 2369 3603 3957 3980 128.3 -9.8 119 892 0.20 2.38 0.00 0.000 5286 0.099 0.054 2289 2190 3967 3956 3979 0 0 0 0 0 0 14.15 14.12 14.26

1187 -0.76 -145.9 2290 2189 3957 3979 183.5 -18.0 130 1192 0.15 2.47 0.00 0.000 2436 0.280 0.085 2316 3596 3967 3956 3978 0 0 0 0 0 0 13.86 14.13 14.03

1332 -0.86 -145.9 2316 3598 3956 3979 202.9 -11.9 159 1340 0.00 2.35 0.00 0.000 1158 0.000 0.054 2316 2197 3967 3956 3978 0 0 0 0 0 0 14.33 14.23 14.36

1638 -0.88 -145.9 2316 2197 3957 3977 241.2 -12.1 170 1642 0.00 2.45 0.00 0.000 388 0.000 0.087 2307 3595 3966 3956 3976 0 0 0 0 0 0 14.57 14.19 14.57

1723 -0.98 -145.9 2307 3595 3957 3977 250.8 -10.6 187 1730 0.15 2.35 0.00 0.000 5254 0.119 0.054 2250 2202 3966 3956 3976 0 0 0 0 0 0 14.26 14.23 14.34

2028 -0.90 -145.9 2251 2201 3956 3973 300.0 -15.9 198 2033 0.15 2.45 0.00 0.000 2436 0.301 0.084 2275 3601 3964 3956 3973 0 0 0 0 0 0 13.87 14.18 14.07

2193 -0.95 -145.9 2275 3601 3957 3973 320.7 -11.8 231 2199 0.00 2.38 0.00 0.000 1158 0.000 0.057 2275 2193 3964 3956 3973 0 0 0 0 0 0 14.33 14.25 14.35

2509 -0.95 -145.9 2275 2194 3957 3971 361.2 -12.8 244 2514 0.00 2.47 0.00 0.000 260 0.000 0.089 2267 3604 3963 3956 3971 0 0 0 0 0 0 14.59 14.23 14.60

2626 -1.00 -145.9 2267 3605 3957 3971 375.6 -12.1 267 2633 0.00 2.38 0.00 0.000 1158 0.000 0.055 2267 2198 3963 3956 3971 0 0 0 0 0 0 14.35 14.23 14.38

2929 -1.00 -145.9 2267 2197 3957 3971 415.9 -13.2 278 2934 0.00 2.45 0.00 0.000 260 0.000 0.087 2259 3598 3962 3954 3970 0 0 0 0 0 0 14.59 14.23 14.61

3051 -1.03 -145.9 2259 3599 3957 3970 431.4 -12.5 302 3056 0.00 2.38 0.00 0.000 1158 0.000 0.055 2260 2193 3963 3956 3970 0 0 0 0 0 0 14.38 14.27 14.41

3381 -1.00 -145.9 2261 2192 3956 3968 475.8 -13.3 318 3386 0.00 2.47 0.00 0.000 388 0.000 0.087 2253 3603 3962 3956 3968 0 0 0 0 0 0 14.59 14.19 14.60

3414 end dive: TARGET_DEPTH_EXCEEDED

state 3414 begin apogee

3421 -0.13 0.0 2253 2101 3957 3970 480.5 -14.0 325 3637 1.10 0.00 212.75 1.446 10246 0.248 0.000 2530 2100 3366 3405 3328 0 0 0 0 0 0 14.00 13.48 12.78

3641 end apogee: CONTROL_FINISHED_OK

state 3641 begin climb

3644 0.57 145.9 2531 2100 3399 3320 491.1 0.0 332 3853 0.75 0.00 201.25 1.393 10502 0.067 0.000 2779 2100 2763 2824 2703 0 0 0 0 0 0 13.57 13.03 12.51

4182 0.19 145.9 2780 2100 2808 2699 451.5 15.0 348 4187 0.60 2.50 0.00 0.000 4740 0.331 0.077 2658 690 2753 2808 2698 0 0 0 0 0 0 13.57 13.88 13.80

4322 0.10 171.0 2658 695 2807 2699 437.7 8.8 376 4364 0.20 2.47 31.90 1.476 13478 0.289 0.080 2617 2094 2663 2723 2603 0 0 0 0 0 0 13.78 14.01 13.11

4664 0.08 215.2 2618 2095 2719 2599 410.5 8.0 394 4732 0.00 0.00 65.05 1.426 8358 0.000 0.000 2617 2094 2485 2556 2415 0 0 0 0 0 0 14.39 13.84 13.12

5023 0.11 245.8 2618 2094 2546 2403 379.8 8.6 406 5072 0.00 2.53 43.85 1.424 8740 0.000 0.083 2625 682 2357 2422 2293 0 0 0 0 0 0 14.38 13.90 13.16

5109 0.19 270.2 2625 686 2415 2294 372.4 8.9 423 5150 0.00 2.50 35.17 1.422 9382 0.000 0.076 2625 2100 2262 2327 2198 0 0 0 0 0 0 14.05 13.94 13.08

5477 0.25 290.1 2626 2100 2320 2186 338.9 9.1 446 5511 0.12 2.50 27.98 1.454 10916 0.129 0.084 2682 690 2177 2241 2114 0 0 0 0 0 0 14.17 13.96 13.22

5531 0.20 290.1 2685 691 2239 2114 332.0 13.5 452 5538 0.17 2.50 0.00 0.000 5254 0.242 0.078 2647 2108 2173 2232 2114 0 0 0 0 0 0 13.85 13.99 14.05

5837 0.22 290.1 2648 2109 2237 2108 300.0 10.2 463 5842 0.00 2.50 0.00 0.000 644 0.000 0.086 2647 688 2171 2236 2107 0 0 0 0 0 0 14.48 14.16 14.47

5887 0.30 300.4 2648 689 2234 2108 295.1 9.5 473 5903 0.00 2.45 12.52 1.541 9382 0.000 0.077 2648 2102 2142 2206 2078 0 0 0 0 0 0 14.31 14.22 13.30

6230 0.34 310.9 2648 2102 2199 2069 261.9 9.5 491 6250 0.12 2.55 15.35 1.510 10916 0.132 0.084 2709 686 2096 2156 2037 0 0 0 0 0 0 14.27 14.16 13.38

6270 0.27 310.9 2709 686 2152 2037 256.8 12.7 499 6275 0.17 2.47 0.00 0.000 5254 0.230 0.077 2669 2100 2093 2150 2037 0 0 0 0 0 0 14.03 14.16 14.21

6590 0.27 310.9 2670 2101 2150 2034 223.0 10.1 513 6591 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2101 2090 2149 2032 0 0 0 0 0 0 14.51 14.52 14.53

6891 0.31 337.9 2671 2100 2148 2032 195.5 8.8 523 6940 0.00 2.53 44.05 1.382 8868 0.000 0.086 2672 684 1985 2039 1931 0 0 0 0 0 0 14.55 14.04 13.35

6997 0.42 376.9 2673 684 2032 1931 186.7 8.2 544 7073 0.15 2.50 65.82 1.283 11430 0.125 0.079 2735 2102 1824 1861 1788 0 0 0 0 0 0 14.12 14.08 13.16

7371 0.38 376.9 2736 2102 1857 1776 139.9 12.2 569 7372 0.12 0.00 0.00 0.000 4230 0.241 0.000 2710 2103 1816 1856 1776 0 0 0 0 0 0 13.97 14.24 14.18

7671 0.42 388.9 2710 2104 1856 1774 110.8 9.4 579 7686 0.00 2.50 9.40 1.456 8868 0.000 0.087 2710 687 1776 1813 1739 0 0 0 0 0 0 14.50 14.16 13.37

7773 0.53 414.3 2709 692 1803 1739 101.6 8.8 599 7820 0.15 2.45 40.17 1.281 11430 0.119 0.078 2772 2100 1676 1711 1641 0 0 0 0 0 0 14.13 14.10 13.29

8125 0.50 414.3 2772 2101 1708 1627 59.2 10.7 639 8126 0.12 0.00 0.00 0.000 4230 0.260 0.000 2747 2101 1670 1715 1626 0 0 0 0 0 0 13.93 14.21 14.18

8425 0.62 523.7 2747 2100 1709 1623 40.1 4.9 669 8482 0.12 0.00 54.75 0.322 10918 0.132 0.000 2796 2100 1228 1298 1159 0 0 0 0 0 0 14.21 14.17 13.88

8798 0.91 736.8 2796 2101 1298 1148 15.0 0.2 706 8896 0.22 2.55 90.25 0.256 10916 0.099 0.085 2890 689 499 546 452 0 0 0 0 0 0 14.09 13.88 13.78

9002 1.06 791.4 2890 689 547 448 2.1 7.5 746 9007 0.00 2.50 0.00 0.000 1190 0.000 0.076 2889 2106 496 545 448 0 0 0 0 0 0 14.12 13.98 14.14

9009 end climb: SURFACE_DEPTH_REACHED

state 9009 begin surface coast

9030 end surface coast: CONTROL_FINISHED_OK

state 9030 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	92	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	264.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,092546,7234.2617,-14829.0635,16,0.8,17,21.2,0.0,0.0,10,8.3	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	1.11	MHEAD_RNG_PITCHd_Wd	316.0,83135,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	170817,093651,7234.3047,-14829.0166,7,0.8,20,21.2,0.3,256.9,9,8.9

FINISH	0.0,1.005205	_24V_AH	12.51,86.385
SM_CCo	9111,0.00,0.000,0,0,495,704.75	_10V_AH	12.27,0.000
SM_GC	1.09,8.27,0.17,0.00,0.078,0.128,0.000,206,2213,495,-7.37,-0.59,704.75,0,0,0,0,0,0,14.09,14.09,14.18	FG_AHR_24Vo	0.000
RAFOS_CLK	33	FG_AHR_10Vo	0.000
RAFOS_FIX	7232.996094,-14830.577148,170817,080809,4,255,0.26	MEM	323712
IRIDIUM_FIX	7233.84,-14824.02,170817,064746	DATA_FILE_SIZE	26741,750
TT8_MAMPS	0.086135,1.35419	CAP_FILE_SIZE	101341,0
HUMID	47.24	CFSIZE	2097872896,2060451840
INTERNAL_PRESSURE	7.78152	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1450.4
XPDR_PINGS	14	CURRENT	0.052,230.71,1
CP_FREE	16003760128.000000	GPS	170817,121032,7235.355,-14829.925,33,0.8,33,21.2,0.5,239.2,10,7.3
PM_FREEKB_00	56226112

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	145.10	nil	0	0	0.00
Roll_motor	79	2147	2130.27	nil	0	0	0.00
VBD_pump_during_apogee	950	1541	18324.96	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	9058	14	1646.82
Iridium_during_xfer	383	175	839.42	NCP	9048	20	2263.81
Transponder_ping	3	420	18.39	PMAR	9007	16	1866.73
GUMSTIX_24V	0	0	0.00
GPS	21	22	5.84
TT8	0	0	0.00
LPSleep	6500	2	184.24
TT8_Active	840	13	144.14
TT8_Sampling	2160	33	886.60
TT8_CF8	286	38	135.90
TT8_Kalman	0	0	0.00
Analog_circuits	2065	10	253.46
GPS_charging	0	0	0.00
Compass	1075	7	92.35
RAFOS	2219	48	1306.90
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	197	2223	521	458	0.0	0.0	0	129	0.00	0.00	-81.62	0.000	16386	0.000	0.000	196	2222	2057	1974	2140	0	0	0	0	0	0	14.38	28.83	14.42
132	-0.57	-145.9	197	2222	1977	2141	3.4	-4.0	8	185	12.45	2.70	-34.65	0.000	18724	0.454	2.147	2375	3595	3963	3947	3979	0	0	0	0	0	0	13.71	12.94	14.12
410	-0.65	-145.9	2375	3596	3955	3980	66.2	-14.1	63	417	0.00	2.38	0.00	0.000	1158	0.000	0.054	2375	2198	3966	3954	3979	0	0	0	0	0	0	14.14	14.04	14.14
737	-0.69	-145.9	2375	2197	3957	3980	112.7	-13.0	90	742	0.00	2.47	0.00	0.000	388	0.000	0.088	2370	3602	3967	3956	3979	0	0	0	0	0	0	14.50	14.16	14.50
884	-0.84	-145.9	2369	3603	3957	3980	128.3	-9.8	119	892	0.20	2.38	0.00	0.000	5286	0.099	0.054	2289	2190	3967	3956	3979	0	0	0	0	0	0	14.15	14.12	14.26
1187	-0.76	-145.9	2290	2189	3957	3979	183.5	-18.0	130	1192	0.15	2.47	0.00	0.000	2436	0.280	0.085	2316	3596	3967	3956	3978	0	0	0	0	0	0	13.86	14.13	14.03
1332	-0.86	-145.9	2316	3598	3956	3979	202.9	-11.9	159	1340	0.00	2.35	0.00	0.000	1158	0.000	0.054	2316	2197	3967	3956	3978	0	0	0	0	0	0	14.33	14.23	14.36
1638	-0.88	-145.9	2316	2197	3957	3977	241.2	-12.1	170	1642	0.00	2.45	0.00	0.000	388	0.000	0.087	2307	3595	3966	3956	3976	0	0	0	0	0	0	14.57	14.19	14.57
1723	-0.98	-145.9	2307	3595	3957	3977	250.8	-10.6	187	1730	0.15	2.35	0.00	0.000	5254	0.119	0.054	2250	2202	3966	3956	3976	0	0	0	0	0	0	14.26	14.23	14.34
2028	-0.90	-145.9	2251	2201	3956	3973	300.0	-15.9	198	2033	0.15	2.45	0.00	0.000	2436	0.301	0.084	2275	3601	3964	3956	3973	0	0	0	0	0	0	13.87	14.18	14.07
2193	-0.95	-145.9	2275	3601	3957	3973	320.7	-11.8	231	2199	0.00	2.38	0.00	0.000	1158	0.000	0.057	2275	2193	3964	3956	3973	0	0	0	0	0	0	14.33	14.25	14.35
2509	-0.95	-145.9	2275	2194	3957	3971	361.2	-12.8	244	2514	0.00	2.47	0.00	0.000	260	0.000	0.089	2267	3604	3963	3956	3971	0	0	0	0	0	0	14.59	14.23	14.60
2626	-1.00	-145.9	2267	3605	3957	3971	375.6	-12.1	267	2633	0.00	2.38	0.00	0.000	1158	0.000	0.055	2267	2198	3963	3956	3971	0	0	0	0	0	0	14.35	14.23	14.38
2929	-1.00	-145.9	2267	2197	3957	3971	415.9	-13.2	278	2934	0.00	2.45	0.00	0.000	260	0.000	0.087	2259	3598	3962	3954	3970	0	0	0	0	0	0	14.59	14.23	14.61
3051	-1.03	-145.9	2259	3599	3957	3970	431.4	-12.5	302	3056	0.00	2.38	0.00	0.000	1158	0.000	0.055	2260	2193	3963	3956	3970	0	0	0	0	0	0	14.38	14.27	14.41
3381	-1.00	-145.9	2261	2192	3956	3968	475.8	-13.3	318	3386	0.00	2.47	0.00	0.000	388	0.000	0.087	2253	3603	3962	3956	3968	0	0	0	0	0	0	14.59	14.19	14.60
3414	end dive: TARGET_DEPTH_EXCEEDED
state	3414	begin apogee
3421	-0.13	0.0	2253	2101	3957	3970	480.5	-14.0	325	3637	1.10	0.00	212.75	1.446	10246	0.248	0.000	2530	2100	3366	3405	3328	0	0	0	0	0	0	14.00	13.48	12.78
3641	end apogee: CONTROL_FINISHED_OK
state	3641	begin climb
3644	0.57	145.9	2531	2100	3399	3320	491.1	0.0	332	3853	0.75	0.00	201.25	1.393	10502	0.067	0.000	2779	2100	2763	2824	2703	0	0	0	0	0	0	13.57	13.03	12.51
4182	0.19	145.9	2780	2100	2808	2699	451.5	15.0	348	4187	0.60	2.50	0.00	0.000	4740	0.331	0.077	2658	690	2753	2808	2698	0	0	0	0	0	0	13.57	13.88	13.80
4322	0.10	171.0	2658	695	2807	2699	437.7	8.8	376	4364	0.20	2.47	31.90	1.476	13478	0.289	0.080	2617	2094	2663	2723	2603	0	0	0	0	0	0	13.78	14.01	13.11
4664	0.08	215.2	2618	2095	2719	2599	410.5	8.0	394	4732	0.00	0.00	65.05	1.426	8358	0.000	0.000	2617	2094	2485	2556	2415	0	0	0	0	0	0	14.39	13.84	13.12
5023	0.11	245.8	2618	2094	2546	2403	379.8	8.6	406	5072	0.00	2.53	43.85	1.424	8740	0.000	0.083	2625	682	2357	2422	2293	0	0	0	0	0	0	14.38	13.90	13.16
5109	0.19	270.2	2625	686	2415	2294	372.4	8.9	423	5150	0.00	2.50	35.17	1.422	9382	0.000	0.076	2625	2100	2262	2327	2198	0	0	0	0	0	0	14.05	13.94	13.08
5477	0.25	290.1	2626	2100	2320	2186	338.9	9.1	446	5511	0.12	2.50	27.98	1.454	10916	0.129	0.084	2682	690	2177	2241	2114	0	0	0	0	0	0	14.17	13.96	13.22
5531	0.20	290.1	2685	691	2239	2114	332.0	13.5	452	5538	0.17	2.50	0.00	0.000	5254	0.242	0.078	2647	2108	2173	2232	2114	0	0	0	0	0	0	13.85	13.99	14.05
5837	0.22	290.1	2648	2109	2237	2108	300.0	10.2	463	5842	0.00	2.50	0.00	0.000	644	0.000	0.086	2647	688	2171	2236	2107	0	0	0	0	0	0	14.48	14.16	14.47
5887	0.30	300.4	2648	689	2234	2108	295.1	9.5	473	5903	0.00	2.45	12.52	1.541	9382	0.000	0.077	2648	2102	2142	2206	2078	0	0	0	0	0	0	14.31	14.22	13.30
6230	0.34	310.9	2648	2102	2199	2069	261.9	9.5	491	6250	0.12	2.55	15.35	1.510	10916	0.132	0.084	2709	686	2096	2156	2037	0	0	0	0	0	0	14.27	14.16	13.38
6270	0.27	310.9	2709	686	2152	2037	256.8	12.7	499	6275	0.17	2.47	0.00	0.000	5254	0.230	0.077	2669	2100	2093	2150	2037	0	0	0	0	0	0	14.03	14.16	14.21
6590	0.27	310.9	2670	2101	2150	2034	223.0	10.1	513	6591	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2101	2090	2149	2032	0	0	0	0	0	0	14.51	14.52	14.53
6891	0.31	337.9	2671	2100	2148	2032	195.5	8.8	523	6940	0.00	2.53	44.05	1.382	8868	0.000	0.086	2672	684	1985	2039	1931	0	0	0	0	0	0	14.55	14.04	13.35
6997	0.42	376.9	2673	684	2032	1931	186.7	8.2	544	7073	0.15	2.50	65.82	1.283	11430	0.125	0.079	2735	2102	1824	1861	1788	0	0	0	0	0	0	14.12	14.08	13.16
7371	0.38	376.9	2736	2102	1857	1776	139.9	12.2	569	7372	0.12	0.00	0.00	0.000	4230	0.241	0.000	2710	2103	1816	1856	1776	0	0	0	0	0	0	13.97	14.24	14.18
7671	0.42	388.9	2710	2104	1856	1774	110.8	9.4	579	7686	0.00	2.50	9.40	1.456	8868	0.000	0.087	2710	687	1776	1813	1739	0	0	0	0	0	0	14.50	14.16	13.37
7773	0.53	414.3	2709	692	1803	1739	101.6	8.8	599	7820	0.15	2.45	40.17	1.281	11430	0.119	0.078	2772	2100	1676	1711	1641	0	0	0	0	0	0	14.13	14.10	13.29
8125	0.50	414.3	2772	2101	1708	1627	59.2	10.7	639	8126	0.12	0.00	0.00	0.000	4230	0.260	0.000	2747	2101	1670	1715	1626	0	0	0	0	0	0	13.93	14.21	14.18
8425	0.62	523.7	2747	2100	1709	1623	40.1	4.9	669	8482	0.12	0.00	54.75	0.322	10918	0.132	0.000	2796	2100	1228	1298	1159	0	0	0	0	0	0	14.21	14.17	13.88
8798	0.91	736.8	2796	2101	1298	1148	15.0	0.2	706	8896	0.22	2.55	90.25	0.256	10916	0.099	0.085	2890	689	499	546	452	0	0	0	0	0	0	14.09	13.88	13.78
9002	1.06	791.4	2890	689	547	448	2.1	7.5	746	9007	0.00	2.50	0.00	0.000	1190	0.000	0.076	2889	2106	496	545	448	0	0	0	0	0	0	14.12	13.98	14.14
9009	end climb: SURFACE_DEPTH_REACHED
state	9009	begin surface coast
9030	end surface coast: CONTROL_FINISHED_OK
state	9030	begin surface