Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 95 * 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 95 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 272.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 29 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 272.0 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 60 VBD_MIN 500

DIVE 95 NOCOMM_ACTION 161 R_STBD_OVSHOOT 29 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 170817,175302,7237.4126,-14832.3477,25,0.7,25,21.2,0.0,0.0,12,8.2 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 1.12 MHEAD_RNG_PITCHd_Wd 316.6,77195,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 170817,180339,7237.4912,-14832.6748,7,0.7,9,21.2,0.0,13.4,12,9.2

Post-dive calculations and measurements:

FINISH 0.2,1.012787 _24V_AH 12.51,87.815

SM_CCo 8854,8.05,0.220,0,0,500,702.78 _10V_AH 12.43,0.000

SM_GC 2.12,8.27,0.17,8.05,0.084,0.125,0.220,204,2211,500,-7.38,-0.62,702.78,0,0,0,0,0,0,14.11,14.09,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 93 FG_AHR_10Vo 0.000

RAFOS_FIX 7235.269531,-14837.536133,170817,161641,3,255,1.15 MEM 323560

IRIDIUM_FIX 7237.31,-14826.38,170817,151247 DATA_FILE_SIZE 30051,830

TT8_MAMPS 0.083139,0.859852 CAP_FILE_SIZE 103546,0

HUMID 45.51 CFSIZE 2097872896,2059501568

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

TCM_TEMP 13.50 SOUNDSPEED 1450.2

XPDR_PINGS 12 CURRENT 0.035,263.20,1

CP_FREE 16003268608.000000 GPS 170817,203320,7238.603,-14833.515,14,0.7,35,21.2,0.3,344.2,11,8.8

PM_FREEKB_00 56011968

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.59 nil 0 0 0.00

Roll_motor 84 2148 2268.89 nil 0 0 0.00

VBD_pump_during_apogee 938 1492 17525.87 nil 0 0 0.00

VBD_pump_during_surface 8 220 22.19 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 8863 14 1615.02

Iridium_during_xfer 364 185 844.06 NCP 8853 20 2215.02

Transponder_ping 3 420 15.76 PMAR 8812 16 1824.77

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.80

TT8 0 0 0.00

LPSleep 6151 2 176.62

TT8_Active 821 13 142.57

TT8_Sampling 2258 33 938.85

TT8_CF8 282 38 135.70

TT8_Kalman 0 0 0.00

Analog_circuits 2087 10 259.49

GPS_charging 0 0 0.00

Compass 1187 7 103.37

RAFOS 2202 48 1313.80

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

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

45 -0.57 -145.9 193 2217 519 462 0.0 0.0 0 128 0.00 0.00 -81.43 0.000 16386 0.000 0.000 191 2216 2051 1964 2138 0 0 0 0 0 0 14.40 28.83 14.41

131 -0.57 -145.9 192 2218 1966 2141 3.2 -4.1 8 188 12.52 2.75 -36.75 0.000 18724 0.454 2.149 2374 3593 3964 3951 3978 0 0 0 0 0 0 13.73 12.64 14.15

413 -0.62 -145.9 2375 3596 3958 3979 62.6 -15.6 64 418 0.00 2.30 0.00 0.000 1158 0.000 0.054 2376 2234 3968 3958 3978 0 0 0 0 0 0 14.25 14.15 14.27

725 -0.65 -145.9 2375 2233 3962 3980 108.3 -13.2 92 730 0.00 2.42 0.00 0.000 388 0.000 0.086 2365 3608 3969 3961 3978 0 0 0 0 0 0 14.49 14.16 14.49

852 -0.79 -145.9 2366 3609 3962 3978 122.7 -10.5 117 857 0.12 2.38 0.00 0.000 5254 0.130 0.054 2316 2198 3969 3961 3978 0 0 0 0 0 0 14.22 14.17 14.27

1177 -0.76 -145.9 2316 2195 3962 3978 174.7 -15.8 132 1182 0.00 2.47 0.00 0.000 388 0.000 0.086 2307 3607 3969 3961 3978 0 0 0 0 0 0 14.53 14.20 14.54

1289 -0.80 -145.9 2308 3609 3962 3979 190.2 -13.3 154 1294 0.00 2.38 0.00 0.000 1158 0.000 0.054 2313 2196 3969 3961 3977 0 0 0 0 0 0 14.33 14.22 14.35

1599 -0.80 -145.9 2308 2195 3962 3978 233.7 -13.5 166 1604 0.00 2.47 0.00 0.000 260 0.000 0.088 2306 3604 3969 3961 3978 0 0 0 0 0 0 14.57 14.21 14.58

1726 -0.87 -145.9 2305 3606 3961 3979 248.2 -11.0 191 1732 0.00 2.38 0.00 0.000 1158 0.000 0.055 2305 2193 3968 3961 3976 0 0 0 0 0 0 14.38 14.26 14.40

2052 -0.90 -145.9 2306 2192 3962 3976 286.0 -11.3 206 2057 0.00 2.47 0.00 0.000 388 0.000 0.090 2305 3601 3968 3961 3976 0 0 0 0 0 0 14.59 14.18 14.60

2147 -1.01 -145.9 2306 3602 3960 3976 295.7 -9.6 225 2152 0.17 2.35 0.00 0.000 5286 0.110 0.054 2242 2199 3968 3960 3976 0 0 0 0 0 0 14.31 14.28 14.39

2472 -0.92 -145.9 2242 2199 3960 3975 347.7 -16.3 240 2477 0.15 2.47 0.00 0.000 2436 0.295 0.083 2266 3610 3966 3959 3974 0 0 0 0 0 0 13.93 14.17 14.12

2632 -0.96 -145.9 2266 3611 3959 3975 368.6 -12.2 272 2637 0.00 2.38 0.00 0.000 1158 0.000 0.055 2266 2194 3968 3961 3975 0 0 0 0 0 0 14.38 14.26 14.40

2953 -0.96 -145.9 2267 2193 3959 3971 410.7 -13.1 286 2957 0.00 2.47 0.00 0.000 260 0.000 0.087 2257 3607 3966 3959 3973 0 0 0 0 0 0 14.59 14.21 14.61

3058 -0.98 -145.9 2257 3609 3958 3974 424.4 -12.6 307 3063 0.00 2.35 0.00 0.000 1158 0.000 0.054 2257 2201 3965 3957 3973 0 0 0 0 0 0 14.32 14.24 14.35

3374 -0.95 -145.9 2257 2199 3958 3972 467.2 -13.5 320 3379 0.00 2.47 0.00 0.000 388 0.000 0.087 2249 3608 3964 3957 3972 0 0 0 0 0 0 14.59 14.21 14.61

3466 end dive: TARGET_DEPTH_EXCEEDED

state 3466 begin apogee

3474 -0.13 0.0 2250 2103 3957 3972 480.1 -13.1 339 3687 1.12 0.00 209.23 1.437 10246 0.255 0.000 2530 2102 3364 3391 3338 0 0 0 0 0 0 13.97 13.50 12.80

3691 end apogee: CONTROL_FINISHED_OK

state 3691 begin climb

3694 0.57 145.9 2531 2103 3385 3331 490.7 0.0 346 3903 0.73 2.62 200.30 1.385 10500 0.067 0.073 2775 3504 2762 2811 2714 0 0 0 0 0 0 13.58 13.05 12.51

4130 0.15 145.9 2775 3504 2792 2714 458.6 17.0 392 4135 0.73 2.45 0.00 0.000 5254 0.349 0.058 2638 2096 2752 2791 2713 0 0 0 0 0 0 13.45 13.77 13.81

4440 0.07 175.6 2640 2095 2793 2710 430.1 8.6 404 4486 0.12 2.58 38.12 1.449 12708 0.297 0.081 2605 3500 2645 2691 2599 0 0 0 0 0 0 13.86 13.83 13.13

4682 0.04 196.7 2609 3500 2684 2596 408.9 9.0 452 4717 0.00 2.40 29.05 1.493 9382 0.000 0.058 2616 2101 2561 2614 2508 0 0 0 0 0 0 14.19 14.07 13.16

5044 0.07 231.7 2616 2101 2611 2497 378.7 8.4 474 5103 0.00 2.58 50.95 1.420 8740 0.000 0.088 2616 694 2415 2470 2360 0 0 0 0 0 0 14.42 13.88 13.19

5178 0.19 271.1 2616 694 2465 2360 367.3 8.2 501 5243 0.00 2.47 59.03 1.372 9382 0.000 0.078 2616 2097 2257 2312 2202 0 0 0 0 0 0 14.12 14.00 13.05

5554 0.27 301.5 2616 2098 2306 2187 334.8 8.6 526 5600 0.12 0.00 44.30 1.385 10918 0.129 0.000 2680 2097 2135 2189 2082 0 0 0 0 0 0 14.14 13.90 13.16

5885 0.24 301.5 2680 2097 2180 2069 292.6 12.9 542 5890 0.00 2.47 0.00 0.000 644 0.000 0.086 2685 693 2123 2178 2068 0 0 0 0 0 0 14.40 14.12 14.42

5965 0.24 301.5 2685 694 2176 2069 282.5 12.0 558 5970 0.00 2.45 0.00 0.000 1030 0.000 0.078 2685 2100 2121 2174 2068 0 0 0 0 0 0 14.28 14.16 14.28

6275 0.20 301.5 2686 2101 2175 2067 244.1 12.1 570 6277 0.15 0.00 0.00 0.000 4230 0.242 0.000 2652 2102 2121 2175 2067 0 0 0 0 0 0 14.04 14.34 14.31

6576 0.27 336.2 2653 2103 2174 2066 217.3 8.4 580 6638 0.00 2.50 54.25 1.335 8868 0.000 0.084 2659 693 1989 2040 1939 0 0 0 0 0 0 14.54 13.85 13.32

6723 0.40 371.4 2659 693 2032 1938 205.0 8.4 609 6789 0.17 2.47 57.72 1.287 11430 0.114 0.080 2729 2100 1845 1879 1812 0 0 0 0 0 0 14.10 14.04 13.17

7088 0.37 371.4 2731 2101 1878 1800 158.6 12.7 632 7093 0.00 2.47 0.00 0.000 644 0.000 0.085 2736 694 1838 1876 1800 0 0 0 0 0 0 14.31 14.06 14.33

7133 0.37 371.4 2737 693 1873 1800 153.0 12.2 641 7138 0.15 2.47 0.00 0.000 5126 0.236 0.076 2704 2100 1836 1872 1800 0 0 0 0 0 0 13.93 14.06 14.14

7448 0.43 389.8 2704 2101 1873 1798 122.6 9.1 654 7480 0.00 2.58 21.65 1.366 8868 0.000 0.086 2709 689 1774 1804 1745 0 0 0 0 0 0 14.39 14.03 13.33

7510 0.55 413.6 2709 689 1802 1743 117.1 8.9 666 7551 0.15 2.50 35.62 1.294 11430 0.119 0.076 2773 2108 1683 1719 1648 0 0 0 0 0 0 14.09 14.02 13.21

7851 0.51 413.6 2773 2109 1708 1633 72.6 12.0 700 7856 0.00 2.53 0.00 0.000 644 0.000 0.086 2781 690 1668 1706 1631 0 0 0 0 0 0 14.28 14.00 14.30

7966 0.51 413.6 2781 690 1699 1631 59.9 10.0 723 7973 0.15 2.50 0.00 0.000 5126 0.249 0.078 2749 2101 1670 1708 1632 0 0 0 0 0 0 13.86 14.03 14.11

8271 0.62 513.6 2750 2105 1701 1631 39.8 5.4 754 8325 0.00 2.55 49.65 0.321 8868 0.000 0.086 2754 693 1269 1330 1209 0 0 0 0 0 0 14.34 13.98 13.70

8410 0.84 589.2 2755 692 1331 1208 31.1 6.5 781 8458 0.28 2.50 38.50 0.293 11430 0.090 0.077 2862 2105 964 1042 886 0 0 0 0 0 0 14.04 13.97 13.71

8756 0.92 693.6 2862 2105 1037 877 5.0 5.2 820 8808 0.00 0.00 50.28 0.220 8738 0.000 0.000 2861 2105 560 612 509 0 0 0 0 0 0 14.33 28.83 14.34

8808 end climb: SURFACE_DEPTH_REACHED

state 8808 begin surface coast

8833 end surface coast: CONTROL_FINISHED_OK

state 8833 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	95	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	272.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,175302,7237.4126,-14832.3477,25,0.7,25,21.2,0.0,0.0,12,8.2	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	1.12	MHEAD_RNG_PITCHd_Wd	316.6,77195,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	170817,180339,7237.4912,-14832.6748,7,0.7,9,21.2,0.0,13.4,12,9.2

FINISH	0.2,1.012787	_24V_AH	12.51,87.815
SM_CCo	8854,8.05,0.220,0,0,500,702.78	_10V_AH	12.43,0.000
SM_GC	2.12,8.27,0.17,8.05,0.084,0.125,0.220,204,2211,500,-7.38,-0.62,702.78,0,0,0,0,0,0,14.11,14.09,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	93	FG_AHR_10Vo	0.000
RAFOS_FIX	7235.269531,-14837.536133,170817,161641,3,255,1.15	MEM	323560
IRIDIUM_FIX	7237.31,-14826.38,170817,151247	DATA_FILE_SIZE	30051,830
TT8_MAMPS	0.083139,0.859852	CAP_FILE_SIZE	103546,0
HUMID	45.51	CFSIZE	2097872896,2059501568
INTERNAL_PRESSURE	7.79129	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.50	SOUNDSPEED	1450.2
XPDR_PINGS	12	CURRENT	0.035,263.20,1
CP_FREE	16003268608.000000	GPS	170817,203320,7238.603,-14833.515,14,0.7,35,21.2,0.3,344.2,11,8.8
PM_FREEKB_00	56011968

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.59	nil	0	0	0.00
Roll_motor	84	2148	2268.89	nil	0	0	0.00
VBD_pump_during_apogee	938	1492	17525.87	nil	0	0	0.00
VBD_pump_during_surface	8	220	22.19	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	8863	14	1615.02
Iridium_during_xfer	364	185	844.06	NCP	8853	20	2215.02
Transponder_ping	3	420	15.76	PMAR	8812	16	1824.77
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.80
TT8	0	0	0.00
LPSleep	6151	2	176.62
TT8_Active	821	13	142.57
TT8_Sampling	2258	33	938.85
TT8_CF8	282	38	135.70
TT8_Kalman	0	0	0.00
Analog_circuits	2087	10	259.49
GPS_charging	0	0	0.00
Compass	1187	7	103.37
RAFOS	2202	48	1313.80
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
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
45	-0.57	-145.9	193	2217	519	462	0.0	0.0	0	128	0.00	0.00	-81.43	0.000	16386	0.000	0.000	191	2216	2051	1964	2138	0	0	0	0	0	0	14.40	28.83	14.41
131	-0.57	-145.9	192	2218	1966	2141	3.2	-4.1	8	188	12.52	2.75	-36.75	0.000	18724	0.454	2.149	2374	3593	3964	3951	3978	0	0	0	0	0	0	13.73	12.64	14.15
413	-0.62	-145.9	2375	3596	3958	3979	62.6	-15.6	64	418	0.00	2.30	0.00	0.000	1158	0.000	0.054	2376	2234	3968	3958	3978	0	0	0	0	0	0	14.25	14.15	14.27
725	-0.65	-145.9	2375	2233	3962	3980	108.3	-13.2	92	730	0.00	2.42	0.00	0.000	388	0.000	0.086	2365	3608	3969	3961	3978	0	0	0	0	0	0	14.49	14.16	14.49
852	-0.79	-145.9	2366	3609	3962	3978	122.7	-10.5	117	857	0.12	2.38	0.00	0.000	5254	0.130	0.054	2316	2198	3969	3961	3978	0	0	0	0	0	0	14.22	14.17	14.27
1177	-0.76	-145.9	2316	2195	3962	3978	174.7	-15.8	132	1182	0.00	2.47	0.00	0.000	388	0.000	0.086	2307	3607	3969	3961	3978	0	0	0	0	0	0	14.53	14.20	14.54
1289	-0.80	-145.9	2308	3609	3962	3979	190.2	-13.3	154	1294	0.00	2.38	0.00	0.000	1158	0.000	0.054	2313	2196	3969	3961	3977	0	0	0	0	0	0	14.33	14.22	14.35
1599	-0.80	-145.9	2308	2195	3962	3978	233.7	-13.5	166	1604	0.00	2.47	0.00	0.000	260	0.000	0.088	2306	3604	3969	3961	3978	0	0	0	0	0	0	14.57	14.21	14.58
1726	-0.87	-145.9	2305	3606	3961	3979	248.2	-11.0	191	1732	0.00	2.38	0.00	0.000	1158	0.000	0.055	2305	2193	3968	3961	3976	0	0	0	0	0	0	14.38	14.26	14.40
2052	-0.90	-145.9	2306	2192	3962	3976	286.0	-11.3	206	2057	0.00	2.47	0.00	0.000	388	0.000	0.090	2305	3601	3968	3961	3976	0	0	0	0	0	0	14.59	14.18	14.60
2147	-1.01	-145.9	2306	3602	3960	3976	295.7	-9.6	225	2152	0.17	2.35	0.00	0.000	5286	0.110	0.054	2242	2199	3968	3960	3976	0	0	0	0	0	0	14.31	14.28	14.39
2472	-0.92	-145.9	2242	2199	3960	3975	347.7	-16.3	240	2477	0.15	2.47	0.00	0.000	2436	0.295	0.083	2266	3610	3966	3959	3974	0	0	0	0	0	0	13.93	14.17	14.12
2632	-0.96	-145.9	2266	3611	3959	3975	368.6	-12.2	272	2637	0.00	2.38	0.00	0.000	1158	0.000	0.055	2266	2194	3968	3961	3975	0	0	0	0	0	0	14.38	14.26	14.40
2953	-0.96	-145.9	2267	2193	3959	3971	410.7	-13.1	286	2957	0.00	2.47	0.00	0.000	260	0.000	0.087	2257	3607	3966	3959	3973	0	0	0	0	0	0	14.59	14.21	14.61
3058	-0.98	-145.9	2257	3609	3958	3974	424.4	-12.6	307	3063	0.00	2.35	0.00	0.000	1158	0.000	0.054	2257	2201	3965	3957	3973	0	0	0	0	0	0	14.32	14.24	14.35
3374	-0.95	-145.9	2257	2199	3958	3972	467.2	-13.5	320	3379	0.00	2.47	0.00	0.000	388	0.000	0.087	2249	3608	3964	3957	3972	0	0	0	0	0	0	14.59	14.21	14.61
3466	end dive: TARGET_DEPTH_EXCEEDED
state	3466	begin apogee
3474	-0.13	0.0	2250	2103	3957	3972	480.1	-13.1	339	3687	1.12	0.00	209.23	1.437	10246	0.255	0.000	2530	2102	3364	3391	3338	0	0	0	0	0	0	13.97	13.50	12.80
3691	end apogee: CONTROL_FINISHED_OK
state	3691	begin climb
3694	0.57	145.9	2531	2103	3385	3331	490.7	0.0	346	3903	0.73	2.62	200.30	1.385	10500	0.067	0.073	2775	3504	2762	2811	2714	0	0	0	0	0	0	13.58	13.05	12.51
4130	0.15	145.9	2775	3504	2792	2714	458.6	17.0	392	4135	0.73	2.45	0.00	0.000	5254	0.349	0.058	2638	2096	2752	2791	2713	0	0	0	0	0	0	13.45	13.77	13.81
4440	0.07	175.6	2640	2095	2793	2710	430.1	8.6	404	4486	0.12	2.58	38.12	1.449	12708	0.297	0.081	2605	3500	2645	2691	2599	0	0	0	0	0	0	13.86	13.83	13.13
4682	0.04	196.7	2609	3500	2684	2596	408.9	9.0	452	4717	0.00	2.40	29.05	1.493	9382	0.000	0.058	2616	2101	2561	2614	2508	0	0	0	0	0	0	14.19	14.07	13.16
5044	0.07	231.7	2616	2101	2611	2497	378.7	8.4	474	5103	0.00	2.58	50.95	1.420	8740	0.000	0.088	2616	694	2415	2470	2360	0	0	0	0	0	0	14.42	13.88	13.19
5178	0.19	271.1	2616	694	2465	2360	367.3	8.2	501	5243	0.00	2.47	59.03	1.372	9382	0.000	0.078	2616	2097	2257	2312	2202	0	0	0	0	0	0	14.12	14.00	13.05
5554	0.27	301.5	2616	2098	2306	2187	334.8	8.6	526	5600	0.12	0.00	44.30	1.385	10918	0.129	0.000	2680	2097	2135	2189	2082	0	0	0	0	0	0	14.14	13.90	13.16
5885	0.24	301.5	2680	2097	2180	2069	292.6	12.9	542	5890	0.00	2.47	0.00	0.000	644	0.000	0.086	2685	693	2123	2178	2068	0	0	0	0	0	0	14.40	14.12	14.42
5965	0.24	301.5	2685	694	2176	2069	282.5	12.0	558	5970	0.00	2.45	0.00	0.000	1030	0.000	0.078	2685	2100	2121	2174	2068	0	0	0	0	0	0	14.28	14.16	14.28
6275	0.20	301.5	2686	2101	2175	2067	244.1	12.1	570	6277	0.15	0.00	0.00	0.000	4230	0.242	0.000	2652	2102	2121	2175	2067	0	0	0	0	0	0	14.04	14.34	14.31
6576	0.27	336.2	2653	2103	2174	2066	217.3	8.4	580	6638	0.00	2.50	54.25	1.335	8868	0.000	0.084	2659	693	1989	2040	1939	0	0	0	0	0	0	14.54	13.85	13.32
6723	0.40	371.4	2659	693	2032	1938	205.0	8.4	609	6789	0.17	2.47	57.72	1.287	11430	0.114	0.080	2729	2100	1845	1879	1812	0	0	0	0	0	0	14.10	14.04	13.17
7088	0.37	371.4	2731	2101	1878	1800	158.6	12.7	632	7093	0.00	2.47	0.00	0.000	644	0.000	0.085	2736	694	1838	1876	1800	0	0	0	0	0	0	14.31	14.06	14.33
7133	0.37	371.4	2737	693	1873	1800	153.0	12.2	641	7138	0.15	2.47	0.00	0.000	5126	0.236	0.076	2704	2100	1836	1872	1800	0	0	0	0	0	0	13.93	14.06	14.14
7448	0.43	389.8	2704	2101	1873	1798	122.6	9.1	654	7480	0.00	2.58	21.65	1.366	8868	0.000	0.086	2709	689	1774	1804	1745	0	0	0	0	0	0	14.39	14.03	13.33
7510	0.55	413.6	2709	689	1802	1743	117.1	8.9	666	7551	0.15	2.50	35.62	1.294	11430	0.119	0.076	2773	2108	1683	1719	1648	0	0	0	0	0	0	14.09	14.02	13.21
7851	0.51	413.6	2773	2109	1708	1633	72.6	12.0	700	7856	0.00	2.53	0.00	0.000	644	0.000	0.086	2781	690	1668	1706	1631	0	0	0	0	0	0	14.28	14.00	14.30
7966	0.51	413.6	2781	690	1699	1631	59.9	10.0	723	7973	0.15	2.50	0.00	0.000	5126	0.249	0.078	2749	2101	1670	1708	1632	0	0	0	0	0	0	13.86	14.03	14.11
8271	0.62	513.6	2750	2105	1701	1631	39.8	5.4	754	8325	0.00	2.55	49.65	0.321	8868	0.000	0.086	2754	693	1269	1330	1209	0	0	0	0	0	0	14.34	13.98	13.70
8410	0.84	589.2	2755	692	1331	1208	31.1	6.5	781	8458	0.28	2.50	38.50	0.293	11430	0.090	0.077	2862	2105	964	1042	886	0	0	0	0	0	0	14.04	13.97	13.71
8756	0.92	693.6	2862	2105	1037	877	5.0	5.2	820	8808	0.00	0.00	50.28	0.220	8738	0.000	0.000	2861	2105	560	612	509	0	0	0	0	0	0	14.33	28.83	14.34
8808	end climb: SURFACE_DEPTH_REACHED
state	8808	begin surface coast
8833	end surface coast: CONTROL_FINISHED_OK
state	8833	begin surface