Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 398 * 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 398 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 1.4 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 1104.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 65 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 1104.0 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 1.4 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 32 VBD_MIN 500

DIVE 398 NOCOMM_ACTION 161 R_STBD_OVSHOOT 65 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 210917,220921,7418.3208,-15348.5127,17,0.8,28,19.2,0.7,77.9,11,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.37 MHEAD_RNG_PITCHd_Wd 128.1,785,-27.3,-10.000,-30.00,994

_SM_ANGLEo -76.8 D_GRID 480

GPS2 210917,222702,7418.4165,-15348.0420,5,0.9,38,19.2,0.6,49.9,12,8.6

Post-dive calculations and measurements:

FINISH 0.3,1.021126 _24V_AH 12.56,235.535

SM_CCo 8580,87.15,0.208,0,0,500,702.78 _10V_AH 12.48,0.000

SM_GC 1.40,8.25,0.20,87.15,0.073,0.107,0.208,205,2221,500,-7.36,-0.59,702.78,0,0,0,0,0,0,14.23,14.25,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 148 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323664

IRIDIUM_FIX 7418.45,-15347.43,210917,222020 DATA_FILE_SIZE 26707,743

TT8_MAMPS 0.039697,0.952728 CAP_FILE_SIZE 106660,0

HUMID 45.31 CFSIZE 2097872896,1976008704

INTERNAL_PRESSURE 7.76199 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 INTR 0,2775.54,0x2341e8,1,24

XPDR_PINGS 12 SOUNDSPEED 1447.4

CP_FREE 15898214400.000000 CURRENT 0.084,57.75,1

PM_FREEKB_00 44836736 GPS 220917,005317,7417.832,-15346.148,19,0.7,27,19.2,0.0,331.9,11,9.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 149.74 nil 0 0 0.00

Roll_motor 69 2169 1897.92 nil 0 0 0.00

VBD_pump_during_apogee 709 1654 14743.44 nil 0 0 0.00

VBD_pump_during_surface 87 208 227.77 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 8595 15 1634.09

Iridium_during_xfer 607 163 1248.63 NCP 8548 20 2147.26

Transponder_ping 3 420 15.83 PMAR 8528 9 1060.08

GUMSTIX_24V 0 0 0.00

GPS 40 22 11.22

TT8 0 0 0.00

LPSleep 6309 2 181.89

TT8_Active 783 13 136.58

TT8_Sampling 2245 33 937.11

TT8_CF8 401 38 193.97

TT8_Kalman 0 0 0.00

Analog_circuits 2122 10 264.87

GPS_charging 0 0 0.00

Compass 1065 7 93.10

RAFOS 2137 48 1280.15

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

54 end surface: CONTROL_FINISHED_OK

state 54 begin dive

58 -0.76 -64.8 194 2192 491 490 0.0 0.0 0 151 0.00 0.00 -91.10 0.000 16386 0.000 0.000 190 2192 2236 2176 2297 0 0 0 0 0 0 14.49 28.83 14.47

154 -0.79 -100.4 191 2192 2180 2294 4.4 -6.3 9 201 12.48 2.70 -28.40 0.000 18724 0.453 2.170 2308 3566 3779 3758 3801 0 0 0 0 0 0 13.57 12.62 14.08

427 -1.00 -100.4 2308 3568 3767 3802 67.9 -16.0 63 432 0.17 2.33 0.00 0.000 5254 0.103 0.057 2241 2206 3783 3766 3801 0 0 0 0 0 0 14.08 14.02 14.19

761 -1.07 -100.4 2243 2206 3767 3802 139.6 -20.3 85 765 0.00 2.42 0.00 0.000 388 0.000 0.084 2235 3573 3784 3767 3801 0 0 0 0 0 0 14.57 14.07 14.58

991 -1.24 -100.4 2236 3573 3767 3802 178.8 -15.7 131 996 0.17 2.35 0.00 0.000 5254 0.111 0.057 2164 2201 3786 3767 3805 0 0 0 0 0 0 14.19 14.12 14.29

1302 -1.21 -100.4 2164 2200 3768 3802 252.0 -22.7 143 1307 0.00 2.45 0.00 0.000 388 0.000 0.082 2154 3575 3784 3767 3801 0 0 0 0 0 0 14.60 13.96 14.62

1448 -1.21 -100.4 2154 3576 3767 3802 282.0 -19.8 172 1455 0.15 2.38 0.00 0.000 3078 0.285 0.056 2181 2197 3784 3767 3801 0 0 0 0 0 0 13.62 13.97 13.95

1753 -1.28 -100.4 2181 2196 3767 3802 333.7 -16.5 183 1758 0.00 2.42 0.00 0.000 388 0.000 0.083 2172 3563 3784 3767 3801 0 0 0 0 0 0 14.64 13.88 14.63

1904 -1.38 -100.4 2173 3565 3768 3801 358.5 -16.1 213 1909 0.12 2.38 0.00 0.000 5254 0.131 0.055 2130 2196 3784 3767 3801 0 0 0 0 0 0 14.01 14.00 14.13

2235 -1.36 -100.4 2130 2196 3767 3801 424.8 -20.0 229 2240 0.00 2.47 0.00 0.000 388 0.000 0.083 2120 3569 3783 3766 3800 0 0 0 0 0 0 14.57 13.98 14.59

2411 -1.36 -100.4 2120 3571 3767 3800 460.1 -20.1 264 2418 0.00 2.35 0.00 0.000 1030 0.000 0.056 2120 2199 3782 3765 3799 0 0 0 0 0 0 14.13 13.98 14.18

2533 end dive: TARGET_DEPTH_EXCEEDED

state 2533 begin apogee

2540 -0.13 0.0 2120 2058 3766 3801 485.6 -20.4 269 2697 1.83 0.00 152.73 1.460 10246 0.304 0.000 2528 2056 3363 3366 3361 0 0 0 0 0 0 13.60 13.71 12.93

2700 end apogee: CONTROL_FINISHED_OK

state 2700 begin climb

2703 0.79 100.4 2528 2056 3362 3353 493.2 0.0 274 2854 0.93 2.62 140.77 1.403 10500 0.058 0.073 2853 3471 2948 2978 2918 0 0 0 0 0 0 13.83 13.39 12.56

2934 0.38 159.1 2853 3471 2973 2914 507.7 3.9 300 3025 0.82 2.35 82.45 1.417 13478 0.372 0.053 2708 2132 2711 2746 2677 0 0 0 0 0 0 13.31 13.72 12.64

3346 0.27 159.1 2708 2131 2742 2667 459.2 13.2 332 3351 0.15 2.55 0.00 0.000 4740 0.320 0.083 2683 693 2703 2740 2666 0 0 0 0 0 0 13.72 14.01 13.92

3382 0.24 159.1 2683 696 2741 2667 454.5 12.0 339 3387 0.00 2.42 0.00 0.000 1158 0.000 0.077 2683 2064 2704 2741 2667 0 0 0 0 0 0 14.21 14.09 14.26

3708 0.18 159.1 2683 2065 2739 2667 415.9 11.7 354 3709 0.20 0.00 0.00 0.000 4230 0.291 0.000 2643 2066 2702 2738 2666 0 0 0 0 0 0 13.74 14.21 14.13

4008 0.21 160.3 2644 2066 2740 2665 386.1 9.9 364 4009 0.00 0.00 0.00 0.000 166 0.000 0.000 2644 2066 2702 2739 2665 0 0 0 0 0 0 14.58 14.60 14.59

4308 0.24 166.7 2644 2066 2739 2665 357.5 9.3 374 4317 0.00 2.42 4.10 1.655 8868 0.000 0.087 2644 697 2686 2725 2648 0 0 0 0 0 0 14.59 14.21 13.29

4353 0.31 176.3 2644 698 2726 2653 353.4 9.0 383 4378 0.12 2.45 18.10 1.547 11430 0.118 0.078 2697 2101 2644 2683 2606 0 0 0 0 0 0 14.13 14.10 13.27

4701 0.24 176.3 2697 2102 2680 2603 312.6 11.6 402 4702 0.15 0.00 0.00 0.000 4230 0.257 0.000 2666 2101 2641 2680 2603 0 0 0 0 0 0 13.85 14.19 14.10

4999 0.25 184.9 2666 2102 2680 2603 283.8 9.1 412 5018 0.00 2.53 11.82 1.610 8740 0.000 0.085 2673 694 2608 2649 2567 0 0 0 0 0 0 14.61 14.19 13.32

5054 0.30 192.8 2673 695 2649 2567 278.8 9.2 423 5070 0.00 2.45 11.30 1.594 9382 0.000 0.078 2672 2102 2578 2623 2533 0 0 0 0 0 0 14.30 14.16 13.27

5390 0.31 212.0 2672 2103 2619 2526 249.5 8.0 440 5421 0.00 0.00 29.17 1.421 8486 0.000 0.000 2672 2102 2500 2547 2453 0 0 0 0 0 0 14.60 14.08 13.28

5723 0.36 239.0 2679 2102 2544 2443 224.6 7.2 456 5775 0.00 2.58 43.33 1.352 8612 0.000 0.083 2672 3511 2385 2428 2342 0 0 0 0 0 0 14.42 14.00 13.20

5800 0.37 249.5 2672 3513 2430 2343 218.5 8.9 472 5820 0.00 2.45 14.65 1.461 9254 0.000 0.061 2680 2101 2347 2385 2310 0 0 0 0 0 0 14.16 14.07 13.14

6144 0.45 267.2 2680 2101 2379 2301 190.0 8.2 490 6178 0.12 2.53 27.65 1.368 10916 0.122 0.083 2747 685 2272 2309 2236 0 0 0 0 0 0 14.14 13.81 13.24

6230 0.45 267.2 2748 685 2307 2235 180.8 11.0 507 6237 0.00 2.50 0.00 0.000 1030 0.000 0.077 2747 2100 2267 2301 2234 0 0 0 0 0 0 14.15 14.04 14.18

6533 0.42 267.2 2748 2101 2306 2228 147.8 10.4 518 6535 0.12 0.00 0.00 0.000 4230 0.268 0.000 2721 2102 2266 2305 2227 0 0 0 0 0 0 13.87 14.19 14.14

6834 0.46 288.8 2722 2102 2305 2226 122.5 7.8 528 6869 0.00 2.53 30.05 1.343 8868 0.000 0.085 2723 693 2185 2223 2147 0 0 0 0 0 0 14.42 13.84 13.26

6932 0.56 303.6 2723 694 2215 2147 114.8 8.5 547 6956 0.12 2.50 17.38 1.381 11430 0.122 0.078 2779 2105 2126 2160 2093 0 0 0 0 0 0 14.13 14.07 13.21

7255 0.52 314.5 2779 2106 2157 2083 81.0 8.9 574 7266 0.12 2.58 5.70 0.431 12708 0.305 0.081 2754 3511 2081 2118 2044 0 0 0 0 0 0 13.74 13.99 13.54

7334 0.51 330.5 2755 3510 2125 2045 74.4 8.3 589 7350 0.00 2.45 9.15 0.420 9382 0.000 0.063 2755 2102 2017 2053 1982 0 0 0 0 0 0 13.47 13.40 13.62

7647 0.59 401.0 2759 2102 2055 1977 59.8 2.7 622 7689 0.00 2.58 36.90 0.381 8612 0.000 0.079 2759 3513 1728 1747 1710 0 0 0 0 0 0 14.37 13.93 13.69

7915 0.72 459.2 2759 3514 1744 1705 45.1 4.0 675 7954 0.15 2.47 30.17 0.335 11430 0.104 0.061 2822 2090 1487 1514 1461 0 0 0 0 0 0 14.01 13.95 13.66

8250 0.87 544.3 2823 2091 1519 1449 23.3 1.2 712 8302 0.12 0.00 43.97 0.275 10406 0.122 0.000 2879 2091 1143 1200 1087 0 0 0 0 0 0 14.25 14.05 13.76

8537 end climb: SURFACE_DEPTH_REACHED

state 8537 begin surface coast

8557 end surface coast: CONTROL_FINISHED_OK

state 8557 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	398	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	1.4	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	1104.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	65	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210917,220921,7418.3208,-15348.5127,17,0.8,28,19.2,0.7,77.9,11,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.37	MHEAD_RNG_PITCHd_Wd	128.1,785,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	210917,222702,7418.4165,-15348.0420,5,0.9,38,19.2,0.6,49.9,12,8.6

FINISH	0.3,1.021126	_24V_AH	12.56,235.535
SM_CCo	8580,87.15,0.208,0,0,500,702.78	_10V_AH	12.48,0.000
SM_GC	1.40,8.25,0.20,87.15,0.073,0.107,0.208,205,2221,500,-7.36,-0.59,702.78,0,0,0,0,0,0,14.23,14.25,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	148	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323664
IRIDIUM_FIX	7418.45,-15347.43,210917,222020	DATA_FILE_SIZE	26707,743
TT8_MAMPS	0.039697,0.952728	CAP_FILE_SIZE	106660,0
HUMID	45.31	CFSIZE	2097872896,1976008704
INTERNAL_PRESSURE	7.76199	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	0,2775.54,0x2341e8,1,24
XPDR_PINGS	12	SOUNDSPEED	1447.4
CP_FREE	15898214400.000000	CURRENT	0.084,57.75,1
PM_FREEKB_00	44836736	GPS	220917,005317,7417.832,-15346.148,19,0.7,27,19.2,0.0,331.9,11,9.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	149.74	nil	0	0	0.00
Roll_motor	69	2169	1897.92	nil	0	0	0.00
VBD_pump_during_apogee	709	1654	14743.44	nil	0	0	0.00
VBD_pump_during_surface	87	208	227.77	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	8595	15	1634.09
Iridium_during_xfer	607	163	1248.63	NCP	8548	20	2147.26
Transponder_ping	3	420	15.83	PMAR	8528	9	1060.08
GUMSTIX_24V	0	0	0.00
GPS	40	22	11.22
TT8	0	0	0.00
LPSleep	6309	2	181.89
TT8_Active	783	13	136.58
TT8_Sampling	2245	33	937.11
TT8_CF8	401	38	193.97
TT8_Kalman	0	0	0.00
Analog_circuits	2122	10	264.87
GPS_charging	0	0	0.00
Compass	1065	7	93.10
RAFOS	2137	48	1280.15
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
54	end surface: CONTROL_FINISHED_OK
state	54	begin dive
58	-0.76	-64.8	194	2192	491	490	0.0	0.0	0	151	0.00	0.00	-91.10	0.000	16386	0.000	0.000	190	2192	2236	2176	2297	0	0	0	0	0	0	14.49	28.83	14.47
154	-0.79	-100.4	191	2192	2180	2294	4.4	-6.3	9	201	12.48	2.70	-28.40	0.000	18724	0.453	2.170	2308	3566	3779	3758	3801	0	0	0	0	0	0	13.57	12.62	14.08
427	-1.00	-100.4	2308	3568	3767	3802	67.9	-16.0	63	432	0.17	2.33	0.00	0.000	5254	0.103	0.057	2241	2206	3783	3766	3801	0	0	0	0	0	0	14.08	14.02	14.19
761	-1.07	-100.4	2243	2206	3767	3802	139.6	-20.3	85	765	0.00	2.42	0.00	0.000	388	0.000	0.084	2235	3573	3784	3767	3801	0	0	0	0	0	0	14.57	14.07	14.58
991	-1.24	-100.4	2236	3573	3767	3802	178.8	-15.7	131	996	0.17	2.35	0.00	0.000	5254	0.111	0.057	2164	2201	3786	3767	3805	0	0	0	0	0	0	14.19	14.12	14.29
1302	-1.21	-100.4	2164	2200	3768	3802	252.0	-22.7	143	1307	0.00	2.45	0.00	0.000	388	0.000	0.082	2154	3575	3784	3767	3801	0	0	0	0	0	0	14.60	13.96	14.62
1448	-1.21	-100.4	2154	3576	3767	3802	282.0	-19.8	172	1455	0.15	2.38	0.00	0.000	3078	0.285	0.056	2181	2197	3784	3767	3801	0	0	0	0	0	0	13.62	13.97	13.95
1753	-1.28	-100.4	2181	2196	3767	3802	333.7	-16.5	183	1758	0.00	2.42	0.00	0.000	388	0.000	0.083	2172	3563	3784	3767	3801	0	0	0	0	0	0	14.64	13.88	14.63
1904	-1.38	-100.4	2173	3565	3768	3801	358.5	-16.1	213	1909	0.12	2.38	0.00	0.000	5254	0.131	0.055	2130	2196	3784	3767	3801	0	0	0	0	0	0	14.01	14.00	14.13
2235	-1.36	-100.4	2130	2196	3767	3801	424.8	-20.0	229	2240	0.00	2.47	0.00	0.000	388	0.000	0.083	2120	3569	3783	3766	3800	0	0	0	0	0	0	14.57	13.98	14.59
2411	-1.36	-100.4	2120	3571	3767	3800	460.1	-20.1	264	2418	0.00	2.35	0.00	0.000	1030	0.000	0.056	2120	2199	3782	3765	3799	0	0	0	0	0	0	14.13	13.98	14.18
2533	end dive: TARGET_DEPTH_EXCEEDED
state	2533	begin apogee
2540	-0.13	0.0	2120	2058	3766	3801	485.6	-20.4	269	2697	1.83	0.00	152.73	1.460	10246	0.304	0.000	2528	2056	3363	3366	3361	0	0	0	0	0	0	13.60	13.71	12.93
2700	end apogee: CONTROL_FINISHED_OK
state	2700	begin climb
2703	0.79	100.4	2528	2056	3362	3353	493.2	0.0	274	2854	0.93	2.62	140.77	1.403	10500	0.058	0.073	2853	3471	2948	2978	2918	0	0	0	0	0	0	13.83	13.39	12.56
2934	0.38	159.1	2853	3471	2973	2914	507.7	3.9	300	3025	0.82	2.35	82.45	1.417	13478	0.372	0.053	2708	2132	2711	2746	2677	0	0	0	0	0	0	13.31	13.72	12.64
3346	0.27	159.1	2708	2131	2742	2667	459.2	13.2	332	3351	0.15	2.55	0.00	0.000	4740	0.320	0.083	2683	693	2703	2740	2666	0	0	0	0	0	0	13.72	14.01	13.92
3382	0.24	159.1	2683	696	2741	2667	454.5	12.0	339	3387	0.00	2.42	0.00	0.000	1158	0.000	0.077	2683	2064	2704	2741	2667	0	0	0	0	0	0	14.21	14.09	14.26
3708	0.18	159.1	2683	2065	2739	2667	415.9	11.7	354	3709	0.20	0.00	0.00	0.000	4230	0.291	0.000	2643	2066	2702	2738	2666	0	0	0	0	0	0	13.74	14.21	14.13
4008	0.21	160.3	2644	2066	2740	2665	386.1	9.9	364	4009	0.00	0.00	0.00	0.000	166	0.000	0.000	2644	2066	2702	2739	2665	0	0	0	0	0	0	14.58	14.60	14.59
4308	0.24	166.7	2644	2066	2739	2665	357.5	9.3	374	4317	0.00	2.42	4.10	1.655	8868	0.000	0.087	2644	697	2686	2725	2648	0	0	0	0	0	0	14.59	14.21	13.29
4353	0.31	176.3	2644	698	2726	2653	353.4	9.0	383	4378	0.12	2.45	18.10	1.547	11430	0.118	0.078	2697	2101	2644	2683	2606	0	0	0	0	0	0	14.13	14.10	13.27
4701	0.24	176.3	2697	2102	2680	2603	312.6	11.6	402	4702	0.15	0.00	0.00	0.000	4230	0.257	0.000	2666	2101	2641	2680	2603	0	0	0	0	0	0	13.85	14.19	14.10
4999	0.25	184.9	2666	2102	2680	2603	283.8	9.1	412	5018	0.00	2.53	11.82	1.610	8740	0.000	0.085	2673	694	2608	2649	2567	0	0	0	0	0	0	14.61	14.19	13.32
5054	0.30	192.8	2673	695	2649	2567	278.8	9.2	423	5070	0.00	2.45	11.30	1.594	9382	0.000	0.078	2672	2102	2578	2623	2533	0	0	0	0	0	0	14.30	14.16	13.27
5390	0.31	212.0	2672	2103	2619	2526	249.5	8.0	440	5421	0.00	0.00	29.17	1.421	8486	0.000	0.000	2672	2102	2500	2547	2453	0	0	0	0	0	0	14.60	14.08	13.28
5723	0.36	239.0	2679	2102	2544	2443	224.6	7.2	456	5775	0.00	2.58	43.33	1.352	8612	0.000	0.083	2672	3511	2385	2428	2342	0	0	0	0	0	0	14.42	14.00	13.20
5800	0.37	249.5	2672	3513	2430	2343	218.5	8.9	472	5820	0.00	2.45	14.65	1.461	9254	0.000	0.061	2680	2101	2347	2385	2310	0	0	0	0	0	0	14.16	14.07	13.14
6144	0.45	267.2	2680	2101	2379	2301	190.0	8.2	490	6178	0.12	2.53	27.65	1.368	10916	0.122	0.083	2747	685	2272	2309	2236	0	0	0	0	0	0	14.14	13.81	13.24
6230	0.45	267.2	2748	685	2307	2235	180.8	11.0	507	6237	0.00	2.50	0.00	0.000	1030	0.000	0.077	2747	2100	2267	2301	2234	0	0	0	0	0	0	14.15	14.04	14.18
6533	0.42	267.2	2748	2101	2306	2228	147.8	10.4	518	6535	0.12	0.00	0.00	0.000	4230	0.268	0.000	2721	2102	2266	2305	2227	0	0	0	0	0	0	13.87	14.19	14.14
6834	0.46	288.8	2722	2102	2305	2226	122.5	7.8	528	6869	0.00	2.53	30.05	1.343	8868	0.000	0.085	2723	693	2185	2223	2147	0	0	0	0	0	0	14.42	13.84	13.26
6932	0.56	303.6	2723	694	2215	2147	114.8	8.5	547	6956	0.12	2.50	17.38	1.381	11430	0.122	0.078	2779	2105	2126	2160	2093	0	0	0	0	0	0	14.13	14.07	13.21
7255	0.52	314.5	2779	2106	2157	2083	81.0	8.9	574	7266	0.12	2.58	5.70	0.431	12708	0.305	0.081	2754	3511	2081	2118	2044	0	0	0	0	0	0	13.74	13.99	13.54
7334	0.51	330.5	2755	3510	2125	2045	74.4	8.3	589	7350	0.00	2.45	9.15	0.420	9382	0.000	0.063	2755	2102	2017	2053	1982	0	0	0	0	0	0	13.47	13.40	13.62
7647	0.59	401.0	2759	2102	2055	1977	59.8	2.7	622	7689	0.00	2.58	36.90	0.381	8612	0.000	0.079	2759	3513	1728	1747	1710	0	0	0	0	0	0	14.37	13.93	13.69
7915	0.72	459.2	2759	3514	1744	1705	45.1	4.0	675	7954	0.15	2.47	30.17	0.335	11430	0.104	0.061	2822	2090	1487	1514	1461	0	0	0	0	0	0	14.01	13.95	13.66
8250	0.87	544.3	2823	2091	1519	1449	23.3	1.2	712	8302	0.12	0.00	43.97	0.275	10406	0.122	0.000	2879	2091	1143	1200	1087	0	0	0	0	0	0	14.25	14.05	13.76
8537	end climb: SURFACE_DEPTH_REACHED
state	8537	begin surface coast
8557	end surface coast: CONTROL_FINISHED_OK
state	8557	begin surface