Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 399 * 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 399 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 1107.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 1107.0 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 29 VBD_MIN 500

DIVE 399 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 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 220917,005317,7417.8315,-15346.1484,19,0.7,27,19.2,0.0,331.9,11,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.38 MHEAD_RNG_PITCHd_Wd 250.0,717,-27.3,-10.000,-30.00,994

_SM_ANGLEo -77.6 D_GRID 480

GPS2 220917,010536,7417.9512,-15345.6797,5,0.7,18,19.2,0.4,4.1,11,10.0

Post-dive calculations and measurements:

FINISH 0.3,1.020937 _24V_AH 12.41,235.924

SM_CCo 8653,86.45,0.209,0,0,499,702.78 _10V_AH 12.55,0.000

SM_GC 1.22,8.30,2.28,86.45,0.071,0.050,0.209,201,2187,499,-7.39,0.68,702.78,0,0,0,0,0,0,14.21,14.19,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323476

IRIDIUM_FIX 7419.39,-15336.77,210917,222215 DATA_FILE_SIZE 23352,692

TT8_MAMPS 0.038948,0.894306 CAP_FILE_SIZE 93347,0

HUMID 47.63 CFSIZE 2097872896,1975713792

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1447.3

XPDR_PINGS 14 CURRENT 0.057,82.97,1

CP_FREE 15897755648.000000 GPS 220917,033304,7418.176,-15347.783,25,1.1,26,19.2,0.3,161.6,7,9.9

PM_FREEKB_00 44806720

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 143.74 nil 0 0 0.00

Roll_motor 59 2178 1616.87 nil 0 0 0.00

VBD_pump_during_apogee 756 1611 15134.68 nil 0 0 0.00

VBD_pump_during_surface 86 208 224.06 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 8668 14 1607.85

Iridium_during_xfer 422 183 962.09 NCP 6122 20 1519.48

Transponder_ping 3 420 18.24 PMAR 8585 9 1049.84

GUMSTIX_24V 0 0 0.00

GPS 22 22 6.22

TT8 0 0 0.00

LPSleep 6313 2 183.03

TT8_Active 916 13 160.75

TT8_Sampling 1889 33 792.80

TT8_CF8 370 38 179.79

TT8_Kalman 0 0 0.00

Analog_circuits 1943 10 243.93

GPS_charging 0 0 0.00

Compass 993 7 87.31

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

68 end surface: CONTROL_FINISHED_OK

state 68 begin dive

72 -0.76 -64.8 198 2223 489 496 0.0 0.0 0 154 0.00 0.00 -80.65 0.000 16386 0.000 0.000 197 2222 1979 1908 2050 0 0 0 0 0 0 14.47 28.83 14.49

158 -0.81 -132.6 196 2223 1912 2055 3.2 -3.0 8 221 12.25 2.88 -41.28 0.000 18980 0.450 2.179 2308 794 3910 3893 3927 0 0 0 0 0 0 13.59 12.57 14.08

259 -1.00 -132.6 2308 794 3898 3928 31.0 -20.7 27 266 0.15 2.47 0.00 0.000 5254 0.111 0.087 2245 2184 3912 3897 3927 0 0 0 0 0 0 14.17 14.07 14.25

582 -1.07 -132.6 2249 2186 3899 3928 113.2 -21.0 56 587 0.00 2.55 0.00 0.000 388 0.000 0.085 2238 3619 3912 3898 3927 0 0 0 0 0 0 14.62 14.09 14.64

778 -1.26 -132.6 2238 3621 3898 3928 147.5 -16.0 95 784 0.20 2.45 0.00 0.000 5254 0.101 0.058 2160 2196 3913 3898 3928 0 0 0 0 0 0 14.21 14.13 14.31

1095 -1.24 -132.6 2161 2195 3899 3928 229.0 -25.1 108 1100 0.00 2.53 0.00 0.000 388 0.000 0.083 2150 3614 3912 3898 3927 0 0 0 0 0 0 14.63 14.06 14.64

1286 -1.28 -132.6 2150 3615 3899 3929 270.8 -20.5 146 1290 0.00 2.42 0.00 0.000 1158 0.000 0.058 2150 2196 3913 3900 3927 0 0 0 0 0 0 14.23 14.10 14.28

1607 -1.30 -132.6 2150 2195 3899 3928 337.6 -20.0 160 1611 0.00 2.53 0.00 0.000 388 0.000 0.084 2140 3613 3912 3898 3927 0 0 0 0 0 0 14.67 14.00 14.69

1762 -1.37 -132.6 2141 3613 3899 3927 367.6 -19.0 191 1768 0.00 2.42 0.00 0.000 1158 0.000 0.057 2140 2199 3912 3898 3927 0 0 0 0 0 0 14.14 14.02 14.19

2089 -1.39 -132.6 2141 2199 3899 3929 431.8 -19.6 206 2094 0.00 2.55 0.00 0.000 388 0.000 0.085 2130 3620 3912 3898 3927 0 0 0 0 0 0 14.64 13.97 14.65

2254 -1.45 -132.6 2131 3620 3898 3928 464.1 -19.1 239 2260 0.00 2.45 0.00 0.000 1158 0.000 0.057 2130 2195 3911 3895 3927 0 0 0 0 0 0 14.17 14.04 14.22

2358 end dive: TARGET_DEPTH_EXCEEDED

state 2358 begin apogee

2365 -0.13 0.0 2131 2062 3898 3928 485.7 -20.3 245 2572 1.75 0.08 200.32 1.426 10246 0.291 0.180 2529 2112 3360 3372 3349 0 0 0 0 0 0 13.61 13.62 12.86

2574 end apogee: CONTROL_FINISHED_OK

state 2574 begin climb

2577 0.81 132.6 2530 2112 3371 3345 498.2 0.0 252 2771 0.95 0.00 186.93 1.388 10758 0.057 0.000 2859 2112 2824 2864 2784 0 0 0 0 0 0 13.78 13.20 12.41

3051 0.44 132.6 2859 2113 2841 2779 475.1 15.0 278 3056 0.62 2.50 0.00 0.000 4740 0.354 0.078 2740 720 2809 2840 2778 0 0 0 0 0 0 13.49 13.89 13.74

3092 0.28 132.6 2742 720 2842 2778 469.9 11.9 286 3097 0.32 2.42 0.00 0.000 5254 0.315 0.076 2676 2093 2809 2840 2778 0 0 0 0 0 0 13.52 13.85 13.91

3413 0.22 139.1 2676 2095 2842 2777 439.3 9.3 300 3415 0.00 0.00 1.42 0.290 8358 0.000 0.000 2676 2094 2797 2830 2765 0 0 0 0 0 0 14.55 13.93 13.38

3713 0.15 147.9 2676 2093 2841 2772 411.6 9.1 310 3733 0.17 0.00 18.15 1.568 12454 0.295 0.000 2637 2094 2761 2793 2729 0 0 0 0 0 0 13.77 14.07 13.28

4013 0.18 159.6 2638 2094 2787 2721 385.2 8.8 320 4032 0.00 2.42 15.35 1.590 8868 0.000 0.082 2644 722 2710 2743 2678 0 0 0 0 0 0 14.57 13.93 13.27

4058 0.23 170.0 2645 722 2744 2677 381.3 8.9 329 4078 0.00 2.40 14.48 1.587 9382 0.000 0.078 2644 2100 2669 2705 2634 0 0 0 0 0 0 14.32 14.19 13.20

4407 0.26 171.7 2644 2101 2704 2627 347.4 9.8 348 4407 0.00 0.00 0.00 0.000 166 0.000 0.000 2644 2100 2664 2703 2626 0 0 0 0 0 0 14.58 14.60 14.61

4704 0.30 179.7 2645 2100 2704 2625 319.1 9.2 358 4720 0.10 0.00 13.82 1.600 10406 0.138 0.000 2693 2100 2632 2671 2593 0 0 0 0 0 0 14.29 14.14 13.32

5004 0.25 179.7 2693 2101 2666 2586 286.3 10.6 368 5005 0.15 0.00 0.00 0.000 4230 0.269 0.000 2663 2100 2625 2666 2585 0 0 0 0 0 0 13.90 14.23 14.16

5304 0.26 199.9 2663 2101 2667 2585 260.8 7.9 378 5339 0.00 2.42 30.92 1.428 8740 0.000 0.081 2669 727 2546 2590 2503 0 0 0 0 0 0 14.62 13.92 13.29

5385 0.33 222.2 2672 727 2588 2501 254.4 7.7 394 5427 0.00 2.40 34.38 1.384 9382 0.000 0.078 2674 2101 2456 2500 2412 0 0 0 0 0 0 14.31 14.18 13.19

5728 0.40 241.4 2670 2101 2496 2402 226.1 8.0 412 5759 0.12 0.00 29.50 1.385 10406 0.123 0.000 2722 2100 2380 2422 2339 0 0 0 0 0 0 14.26 14.06 13.27

6055 0.38 247.8 2722 2100 2414 2329 193.7 9.3 423 6061 0.00 0.00 4.28 1.611 8358 0.000 0.000 2722 2100 2355 2395 2316 0 0 0 0 0 0 14.56 14.15 13.28

6355 0.39 264.5 2722 2101 2397 2317 167.9 8.3 433 6388 0.00 0.00 31.60 1.376 8230 0.000 0.000 2721 2100 2287 2328 2247 0 0 0 0 0 0 14.58 14.07 13.30

6685 0.40 279.4 2722 2101 2322 2236 139.0 8.5 444 6717 0.00 2.50 22.23 1.392 8740 0.000 0.084 2727 733 2225 2266 2184 0 0 0 0 0 0 14.58 14.10 13.31

6818 0.48 296.4 2727 730 2262 2185 127.6 8.2 470 6848 0.00 2.40 25.80 1.353 9382 0.000 0.078 2727 2098 2155 2196 2115 0 0 0 0 0 0 14.30 14.16 13.27

7152 0.54 316.3 2727 2101 2190 2101 98.0 7.9 490 7163 0.00 0.00 10.27 0.494 8358 0.000 0.000 2727 2100 2072 2115 2030 0 0 0 0 0 0 14.52 13.64 13.30

7459 0.64 346.6 2726 2101 2116 2029 73.7 6.9 521 7481 0.15 2.58 16.35 0.420 10660 0.105 0.081 2793 3519 1950 1988 1913 0 0 0 0 0 0 14.09 14.03 13.71

7544 0.57 347.8 2793 3519 1987 1914 65.5 9.9 537 7551 0.17 2.38 0.00 0.000 5286 0.311 0.063 2770 2135 1949 1986 1913 0 0 0 0 0 0 13.76 14.10 14.09

7857 0.68 440.6 2770 2135 1987 1905 52.6 0.4 569 7913 0.00 2.58 48.62 0.360 8868 0.000 0.090 2770 692 1569 1601 1537 0 0 0 0 0 0 14.53 14.00 13.76

8138 0.91 480.7 2770 692 1591 1531 36.7 5.9 624 8166 0.32 2.53 20.75 0.308 11430 0.076 0.080 2884 2109 1401 1437 1366 0 0 0 0 0 0 14.13 13.97 13.76

8464 0.92 541.8 2885 2109 1438 1358 15.1 3.7 659 8501 0.00 2.53 31.80 0.250 8612 0.000 0.080 2884 3511 1153 1208 1098 0 0 0 0 0 0 14.53 14.11 13.83

8608 end climb: SURFACE_DEPTH_REACHED

state 8608 begin surface coast

8629 end surface coast: CONTROL_FINISHED_OK

state 8629 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	399	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	1107.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,005317,7417.8315,-15346.1484,19,0.7,27,19.2,0.0,331.9,11,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.38	MHEAD_RNG_PITCHd_Wd	250.0,717,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	220917,010536,7417.9512,-15345.6797,5,0.7,18,19.2,0.4,4.1,11,10.0

FINISH	0.3,1.020937	_24V_AH	12.41,235.924
SM_CCo	8653,86.45,0.209,0,0,499,702.78	_10V_AH	12.55,0.000
SM_GC	1.22,8.30,2.28,86.45,0.071,0.050,0.209,201,2187,499,-7.39,0.68,702.78,0,0,0,0,0,0,14.21,14.19,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323476
IRIDIUM_FIX	7419.39,-15336.77,210917,222215	DATA_FILE_SIZE	23352,692
TT8_MAMPS	0.038948,0.894306	CAP_FILE_SIZE	93347,0
HUMID	47.63	CFSIZE	2097872896,1975713792
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1447.3
XPDR_PINGS	14	CURRENT	0.057,82.97,1
CP_FREE	15897755648.000000	GPS	220917,033304,7418.176,-15347.783,25,1.1,26,19.2,0.3,161.6,7,9.9
PM_FREEKB_00	44806720

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	143.74	nil	0	0	0.00
Roll_motor	59	2178	1616.87	nil	0	0	0.00
VBD_pump_during_apogee	756	1611	15134.68	nil	0	0	0.00
VBD_pump_during_surface	86	208	224.06	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	8668	14	1607.85
Iridium_during_xfer	422	183	962.09	NCP	6122	20	1519.48
Transponder_ping	3	420	18.24	PMAR	8585	9	1049.84
GUMSTIX_24V	0	0	0.00
GPS	22	22	6.22
TT8	0	0	0.00
LPSleep	6313	2	183.03
TT8_Active	916	13	160.75
TT8_Sampling	1889	33	792.80
TT8_CF8	370	38	179.79
TT8_Kalman	0	0	0.00
Analog_circuits	1943	10	243.93
GPS_charging	0	0	0.00
Compass	993	7	87.31
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
68	end surface: CONTROL_FINISHED_OK
state	68	begin dive
72	-0.76	-64.8	198	2223	489	496	0.0	0.0	0	154	0.00	0.00	-80.65	0.000	16386	0.000	0.000	197	2222	1979	1908	2050	0	0	0	0	0	0	14.47	28.83	14.49
158	-0.81	-132.6	196	2223	1912	2055	3.2	-3.0	8	221	12.25	2.88	-41.28	0.000	18980	0.450	2.179	2308	794	3910	3893	3927	0	0	0	0	0	0	13.59	12.57	14.08
259	-1.00	-132.6	2308	794	3898	3928	31.0	-20.7	27	266	0.15	2.47	0.00	0.000	5254	0.111	0.087	2245	2184	3912	3897	3927	0	0	0	0	0	0	14.17	14.07	14.25
582	-1.07	-132.6	2249	2186	3899	3928	113.2	-21.0	56	587	0.00	2.55	0.00	0.000	388	0.000	0.085	2238	3619	3912	3898	3927	0	0	0	0	0	0	14.62	14.09	14.64
778	-1.26	-132.6	2238	3621	3898	3928	147.5	-16.0	95	784	0.20	2.45	0.00	0.000	5254	0.101	0.058	2160	2196	3913	3898	3928	0	0	0	0	0	0	14.21	14.13	14.31
1095	-1.24	-132.6	2161	2195	3899	3928	229.0	-25.1	108	1100	0.00	2.53	0.00	0.000	388	0.000	0.083	2150	3614	3912	3898	3927	0	0	0	0	0	0	14.63	14.06	14.64
1286	-1.28	-132.6	2150	3615	3899	3929	270.8	-20.5	146	1290	0.00	2.42	0.00	0.000	1158	0.000	0.058	2150	2196	3913	3900	3927	0	0	0	0	0	0	14.23	14.10	14.28
1607	-1.30	-132.6	2150	2195	3899	3928	337.6	-20.0	160	1611	0.00	2.53	0.00	0.000	388	0.000	0.084	2140	3613	3912	3898	3927	0	0	0	0	0	0	14.67	14.00	14.69
1762	-1.37	-132.6	2141	3613	3899	3927	367.6	-19.0	191	1768	0.00	2.42	0.00	0.000	1158	0.000	0.057	2140	2199	3912	3898	3927	0	0	0	0	0	0	14.14	14.02	14.19
2089	-1.39	-132.6	2141	2199	3899	3929	431.8	-19.6	206	2094	0.00	2.55	0.00	0.000	388	0.000	0.085	2130	3620	3912	3898	3927	0	0	0	0	0	0	14.64	13.97	14.65
2254	-1.45	-132.6	2131	3620	3898	3928	464.1	-19.1	239	2260	0.00	2.45	0.00	0.000	1158	0.000	0.057	2130	2195	3911	3895	3927	0	0	0	0	0	0	14.17	14.04	14.22
2358	end dive: TARGET_DEPTH_EXCEEDED
state	2358	begin apogee
2365	-0.13	0.0	2131	2062	3898	3928	485.7	-20.3	245	2572	1.75	0.08	200.32	1.426	10246	0.291	0.180	2529	2112	3360	3372	3349	0	0	0	0	0	0	13.61	13.62	12.86
2574	end apogee: CONTROL_FINISHED_OK
state	2574	begin climb
2577	0.81	132.6	2530	2112	3371	3345	498.2	0.0	252	2771	0.95	0.00	186.93	1.388	10758	0.057	0.000	2859	2112	2824	2864	2784	0	0	0	0	0	0	13.78	13.20	12.41
3051	0.44	132.6	2859	2113	2841	2779	475.1	15.0	278	3056	0.62	2.50	0.00	0.000	4740	0.354	0.078	2740	720	2809	2840	2778	0	0	0	0	0	0	13.49	13.89	13.74
3092	0.28	132.6	2742	720	2842	2778	469.9	11.9	286	3097	0.32	2.42	0.00	0.000	5254	0.315	0.076	2676	2093	2809	2840	2778	0	0	0	0	0	0	13.52	13.85	13.91
3413	0.22	139.1	2676	2095	2842	2777	439.3	9.3	300	3415	0.00	0.00	1.42	0.290	8358	0.000	0.000	2676	2094	2797	2830	2765	0	0	0	0	0	0	14.55	13.93	13.38
3713	0.15	147.9	2676	2093	2841	2772	411.6	9.1	310	3733	0.17	0.00	18.15	1.568	12454	0.295	0.000	2637	2094	2761	2793	2729	0	0	0	0	0	0	13.77	14.07	13.28
4013	0.18	159.6	2638	2094	2787	2721	385.2	8.8	320	4032	0.00	2.42	15.35	1.590	8868	0.000	0.082	2644	722	2710	2743	2678	0	0	0	0	0	0	14.57	13.93	13.27
4058	0.23	170.0	2645	722	2744	2677	381.3	8.9	329	4078	0.00	2.40	14.48	1.587	9382	0.000	0.078	2644	2100	2669	2705	2634	0	0	0	0	0	0	14.32	14.19	13.20
4407	0.26	171.7	2644	2101	2704	2627	347.4	9.8	348	4407	0.00	0.00	0.00	0.000	166	0.000	0.000	2644	2100	2664	2703	2626	0	0	0	0	0	0	14.58	14.60	14.61
4704	0.30	179.7	2645	2100	2704	2625	319.1	9.2	358	4720	0.10	0.00	13.82	1.600	10406	0.138	0.000	2693	2100	2632	2671	2593	0	0	0	0	0	0	14.29	14.14	13.32
5004	0.25	179.7	2693	2101	2666	2586	286.3	10.6	368	5005	0.15	0.00	0.00	0.000	4230	0.269	0.000	2663	2100	2625	2666	2585	0	0	0	0	0	0	13.90	14.23	14.16
5304	0.26	199.9	2663	2101	2667	2585	260.8	7.9	378	5339	0.00	2.42	30.92	1.428	8740	0.000	0.081	2669	727	2546	2590	2503	0	0	0	0	0	0	14.62	13.92	13.29
5385	0.33	222.2	2672	727	2588	2501	254.4	7.7	394	5427	0.00	2.40	34.38	1.384	9382	0.000	0.078	2674	2101	2456	2500	2412	0	0	0	0	0	0	14.31	14.18	13.19
5728	0.40	241.4	2670	2101	2496	2402	226.1	8.0	412	5759	0.12	0.00	29.50	1.385	10406	0.123	0.000	2722	2100	2380	2422	2339	0	0	0	0	0	0	14.26	14.06	13.27
6055	0.38	247.8	2722	2100	2414	2329	193.7	9.3	423	6061	0.00	0.00	4.28	1.611	8358	0.000	0.000	2722	2100	2355	2395	2316	0	0	0	0	0	0	14.56	14.15	13.28
6355	0.39	264.5	2722	2101	2397	2317	167.9	8.3	433	6388	0.00	0.00	31.60	1.376	8230	0.000	0.000	2721	2100	2287	2328	2247	0	0	0	0	0	0	14.58	14.07	13.30
6685	0.40	279.4	2722	2101	2322	2236	139.0	8.5	444	6717	0.00	2.50	22.23	1.392	8740	0.000	0.084	2727	733	2225	2266	2184	0	0	0	0	0	0	14.58	14.10	13.31
6818	0.48	296.4	2727	730	2262	2185	127.6	8.2	470	6848	0.00	2.40	25.80	1.353	9382	0.000	0.078	2727	2098	2155	2196	2115	0	0	0	0	0	0	14.30	14.16	13.27
7152	0.54	316.3	2727	2101	2190	2101	98.0	7.9	490	7163	0.00	0.00	10.27	0.494	8358	0.000	0.000	2727	2100	2072	2115	2030	0	0	0	0	0	0	14.52	13.64	13.30
7459	0.64	346.6	2726	2101	2116	2029	73.7	6.9	521	7481	0.15	2.58	16.35	0.420	10660	0.105	0.081	2793	3519	1950	1988	1913	0	0	0	0	0	0	14.09	14.03	13.71
7544	0.57	347.8	2793	3519	1987	1914	65.5	9.9	537	7551	0.17	2.38	0.00	0.000	5286	0.311	0.063	2770	2135	1949	1986	1913	0	0	0	0	0	0	13.76	14.10	14.09
7857	0.68	440.6	2770	2135	1987	1905	52.6	0.4	569	7913	0.00	2.58	48.62	0.360	8868	0.000	0.090	2770	692	1569	1601	1537	0	0	0	0	0	0	14.53	14.00	13.76
8138	0.91	480.7	2770	692	1591	1531	36.7	5.9	624	8166	0.32	2.53	20.75	0.308	11430	0.076	0.080	2884	2109	1401	1437	1366	0	0	0	0	0	0	14.13	13.97	13.76
8464	0.92	541.8	2885	2109	1438	1358	15.1	3.7	659	8501	0.00	2.53	31.80	0.250	8612	0.000	0.080	2884	3511	1153	1208	1098	0	0	0	0	0	0	14.53	14.11	13.83
8608	end climb: SURFACE_DEPTH_REACHED
state	8608	begin surface coast
8629	end surface coast: CONTROL_FINISHED_OK
state	8629	begin surface