Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 400 * 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 400 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 1109.0

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 34 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 23 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 1109.0 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 34 VBD_MIN 500

DIVE 400 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 220917,033304,7418.1758,-15347.7832,25,1.1,26,19.2,0.3,161.6,7,9.9 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 1.39 MHEAD_RNG_PITCHd_Wd 52.5,169,-27.3,-10.000,-30.00,994

_SM_ANGLEo -78.6 D_GRID 480

GPS2 220917,035032,7418.0757,-15347.3242,6,0.7,13,19.2,0.0,120.2,12,9.4

Post-dive calculations and measurements:

FINISH 0.3,1.011081 _24V_AH 12.13,236.355

SM_CCo 8765,91.97,0.205,0,0,499,703.03 _10V_AH 12.40,0.000

SM_GC 1.49,8.25,2.67,91.97,0.084,0.070,0.205,202,2200,499,-7.38,-0.88,703.03,0,0,0,0,0,0,14.23,14.14,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 374 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323300

IRIDIUM_FIX 7416.59,-15350.93,220917,034139 DATA_FILE_SIZE 30013,831

TT8_MAMPS 0.038199,0.911533 CAP_FILE_SIZE 109489,0

HUMID 47.16 CFSIZE 2097872896,1975386112

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

TCM_TEMP 13.30 SOUNDSPEED 1448.6

XPDR_PINGS 11 CURRENT 0.045,64.58,1

CP_FREE 15897231360.000000 GPS 220917,062002,7418.145,-15343.503,31,0.8,31,19.3,0.0,0.0,9,9.4

PM_FREEKB_00 44771264

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 141.86 nil 0 0 0.00

Roll_motor 75 2167 1984.14 nil 0 0 0.00

VBD_pump_during_apogee 758 1679 15446.37 nil 0 0 0.00

VBD_pump_during_surface 91 205 228.73 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 8775 14 1593.74

Iridium_during_xfer 627 170 1297.67 NCP 8733 20 2118.63

Transponder_ping 2 420 14.01 PMAR 8713 9 1047.37

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.27

TT8 0 0 0.00

LPSleep 6286 2 180.08

TT8_Active 890 13 154.33

TT8_Sampling 2317 33 961.16

TT8_CF8 421 38 202.15

TT8_Kalman 0 0 0.00

Analog_circuits 2253 10 279.43

GPS_charging 0 0 0.00

Compass 1190 7 103.31

RAFOS 2211 48 1315.99

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

52 end surface: CONTROL_FINISHED_OK

state 52 begin dive

55 -0.76 -64.8 191 2186 486 493 0.0 0.0 0 138 0.00 0.00 -81.22 0.000 16386 0.000 0.000 189 2187 2000 1938 2063 0 0 0 0 0 0 14.45 28.83 14.47

142 -0.81 -131.5 190 2187 1941 2065 3.1 -3.1 8 199 12.50 2.70 -39.50 0.000 19236 0.456 2.167 2308 793 3905 3887 3924 0 0 0 0 0 0 13.59 13.06 14.08

390 -1.03 -131.5 2308 798 3895 3924 60.4 -16.9 57 397 0.20 2.53 0.00 0.000 5254 0.096 0.091 2231 2196 3909 3894 3924 0 0 0 0 0 0 14.07 13.93 14.14

705 -1.09 -131.5 2231 2198 3895 3921 133.4 -21.9 78 710 0.00 2.53 0.00 0.000 388 0.000 0.087 2223 3610 3909 3894 3924 0 0 0 0 0 0 14.39 13.96 14.40

915 -1.27 -131.5 2223 3613 3895 3925 171.4 -16.5 120 921 0.15 2.45 0.00 0.000 5254 0.114 0.059 2160 2209 3909 3894 3924 0 0 0 0 0 0 14.07 14.00 14.14

1247 -1.27 -131.5 2160 2207 3896 3924 253.4 -24.2 136 1252 0.00 2.55 0.00 0.000 260 0.000 0.083 2150 3618 3909 3894 3924 0 0 0 0 0 0 14.35 13.90 14.35

1442 -1.32 -131.5 2150 3619 3896 3924 294.1 -19.9 175 1448 0.00 2.45 0.00 0.000 1158 0.000 0.057 2149 2201 3909 3894 3925 0 0 0 0 0 0 14.08 13.95 14.12

1759 -1.35 -131.5 2150 2200 3894 3924 356.6 -19.5 188 1763 0.00 2.55 0.00 0.000 388 0.000 0.085 2141 3613 3909 3894 3924 0 0 0 0 0 0 14.36 13.85 14.38

1891 -1.42 -131.5 2141 3613 3895 3924 381.2 -18.1 214 1896 0.00 2.45 0.00 0.000 1158 0.000 0.057 2142 2197 3909 3894 3924 0 0 0 0 0 0 14.07 13.94 14.09

2212 -1.45 -131.5 2141 2194 3894 3924 443.7 -19.3 228 2217 0.00 2.58 0.00 0.000 388 0.000 0.084 2130 3620 3908 3893 3923 0 0 0 0 0 0 14.35 13.84 14.36

2367 -1.50 -131.5 2130 3620 3894 3924 473.5 -18.9 259 2373 0.00 2.50 0.00 0.000 1158 0.000 0.057 2130 2192 3908 3893 3923 0 0 0 0 0 0 13.98 13.85 14.02

2421 end dive: TARGET_DEPTH_EXCEEDED

state 2421 begin apogee

2428 -0.13 0.0 2131 2063 3894 3923 484.6 -20.1 265 2627 1.75 0.08 194.40 1.438 10246 0.291 0.179 2526 2112 3363 3373 3353 0 0 0 0 0 0 13.59 13.50 12.76

2630 end apogee: CONTROL_FINISHED_OK

state 2630 begin climb

2633 0.81 131.5 2527 2112 3370 3349 495.2 0.0 271 2831 0.98 2.67 183.70 1.393 11012 0.055 0.079 2867 728 2823 2858 2788 0 0 0 0 0 0 13.62 13.08 12.28

3056 0.46 131.5 2867 730 2848 2784 482.0 14.5 346 3062 0.70 2.42 0.00 0.000 5254 0.373 0.074 2737 2100 2815 2848 2782 0 0 0 0 0 0 13.29 13.70 13.70

3375 0.27 131.5 2737 2102 2848 2780 445.4 11.4 359 3380 0.28 2.45 0.00 0.000 4740 0.314 0.078 2684 724 2813 2847 2779 0 0 0 0 0 0 13.61 13.96 13.83

3606 0.23 141.5 2685 724 2849 2778 424.0 9.0 405 3621 0.15 2.42 8.98 1.679 13478 0.288 0.078 2657 2107 2787 2822 2753 0 0 0 0 0 0 13.76 14.09 13.28

3949 0.21 154.6 2657 2107 2821 2749 394.4 8.6 423 3972 0.00 2.50 19.10 1.564 8868 0.000 0.084 2662 727 2731 2765 2698 0 0 0 0 0 0 14.57 14.14 13.27

4060 0.21 159.7 2663 727 2762 2698 384.0 9.5 445 4071 0.00 2.40 3.55 1.551 9254 0.000 0.080 2662 2099 2717 2752 2682 0 0 0 0 0 0 14.31 14.17 12.98

4368 0.21 160.6 2662 2099 2756 2683 353.1 9.9 457 4372 0.00 0.00 2.00 0.538 8230 0.000 0.000 2662 2099 2712 2749 2676 0 0 0 0 0 0 14.61 14.05 12.13

4668 0.22 168.0 2662 2100 2754 2680 324.6 9.2 467 4685 0.00 0.00 15.38 1.585 8230 0.000 0.000 2659 2099 2681 2718 2644 0 0 0 0 0 0 14.62 14.14 13.32

4968 0.23 176.8 2663 2099 2719 2638 296.7 9.1 477 4988 0.00 2.55 12.30 1.607 8484 0.000 0.083 2662 3513 2642 2680 2604 0 0 0 0 0 0 14.62 14.17 13.29

5044 0.18 176.8 2662 3513 2677 2603 289.1 10.5 492 5050 0.15 2.33 0.00 0.000 5254 0.323 0.058 2645 2132 2639 2675 2603 0 0 0 0 0 0 13.90 14.23 14.21

5361 0.25 207.7 2645 2131 2678 2603 265.2 6.8 505 5412 0.00 0.00 49.67 1.375 8870 0.000 0.000 2645 2131 2518 2562 2474 0 0 0 0 0 0 14.61 14.02 13.24

5691 0.36 235.3 2644 2132 2556 2462 240.7 7.2 521 5740 0.12 2.60 42.33 1.346 10916 0.116 0.085 2710 674 2402 2444 2360 0 0 0 0 0 0 14.23 14.07 13.25

5856 0.39 240.9 2710 674 2440 2360 225.3 9.4 554 5866 0.00 2.47 4.15 1.597 9382 0.000 0.076 2710 2099 2386 2425 2348 0 0 0 0 0 0 14.26 14.14 13.19

6172 0.40 253.4 2710 2100 2426 2344 196.6 8.7 567 6202 0.00 0.00 23.77 1.422 8230 0.000 0.000 2709 2099 2327 2366 2289 0 0 0 0 0 0 14.56 14.09 13.31

6502 0.41 266.1 2710 2099 2365 2282 167.0 8.7 578 6521 0.00 0.00 18.65 1.430 8230 0.000 0.000 2710 2099 2281 2322 2241 0 0 0 0 0 0 14.57 14.12 13.31

6802 0.46 284.1 2710 2100 2316 2233 141.8 8.1 588 6838 0.00 2.55 29.98 1.341 8868 0.000 0.087 2710 697 2204 2243 2165 0 0 0 0 0 0 14.59 14.12 13.30

6904 0.58 300.0 2710 698 2239 2166 133.1 8.4 603 6935 0.17 2.47 25.12 1.343 11430 0.101 0.078 2782 2103 2141 2179 2104 0 0 0 0 0 0 14.24 14.15 13.23

7235 0.51 300.0 2782 2104 2173 2092 94.9 10.4 625 7240 0.12 2.50 0.00 0.000 4484 0.305 0.079 2756 3513 2132 2172 2093 0 0 0 0 0 0 13.83 13.98 14.02

7329 0.47 306.7 2756 3513 2170 2091 85.7 9.3 643 7340 0.00 2.42 2.40 0.424 9382 0.000 0.062 2762 2101 2114 2156 2072 0 0 0 0 0 0 14.28 14.16 13.57

7636 0.52 364.5 2762 2101 2158 2074 65.2 4.0 675 7672 0.00 2.47 31.23 0.399 8484 0.000 0.077 2762 3511 1877 1906 1849 0 0 0 0 0 0 14.55 13.90 13.65

7745 0.56 384.9 2762 3512 1900 1849 58.2 7.9 694 7763 0.00 2.45 11.02 0.373 9382 0.000 0.062 2768 2096 1793 1814 1773 0 0 0 0 0 0 14.04 13.93 13.71

8059 0.70 456.6 2769 2097 1813 1767 45.6 2.6 727 8102 0.12 2.50 36.97 0.334 10916 0.119 0.083 2833 693 1502 1530 1475 0 0 0 0 0 0 14.21 13.95 13.69

8140 0.75 466.0 2832 688 1529 1474 40.8 9.0 742 8151 0.00 2.50 5.38 0.322 9382 0.000 0.077 2832 2103 1462 1496 1429 0 0 0 0 0 0 14.12 13.95 13.72

8457 0.88 540.0 2832 2103 1498 1421 17.2 2.3 775 8500 0.00 2.60 38.28 0.257 8868 0.000 0.087 2832 688 1160 1220 1100 0 0 0 0 0 0 14.52 14.02 13.80

8708 end climb: SURFACE_DEPTH_REACHED

state 8708 begin surface coast

8738 end surface coast: CONTROL_FINISHED_OK

state 8738 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	400	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	1109.0
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	34	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,033304,7418.1758,-15347.7832,25,1.1,26,19.2,0.3,161.6,7,9.9	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	1.39	MHEAD_RNG_PITCHd_Wd	52.5,169,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	220917,035032,7418.0757,-15347.3242,6,0.7,13,19.2,0.0,120.2,12,9.4

FINISH	0.3,1.011081	_24V_AH	12.13,236.355
SM_CCo	8765,91.97,0.205,0,0,499,703.03	_10V_AH	12.40,0.000
SM_GC	1.49,8.25,2.67,91.97,0.084,0.070,0.205,202,2200,499,-7.38,-0.88,703.03,0,0,0,0,0,0,14.23,14.14,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	374	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323300
IRIDIUM_FIX	7416.59,-15350.93,220917,034139	DATA_FILE_SIZE	30013,831
TT8_MAMPS	0.038199,0.911533	CAP_FILE_SIZE	109489,0
HUMID	47.16	CFSIZE	2097872896,1975386112
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1448.6
XPDR_PINGS	11	CURRENT	0.045,64.58,1
CP_FREE	15897231360.000000	GPS	220917,062002,7418.145,-15343.503,31,0.8,31,19.3,0.0,0.0,9,9.4
PM_FREEKB_00	44771264

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	141.86	nil	0	0	0.00
Roll_motor	75	2167	1984.14	nil	0	0	0.00
VBD_pump_during_apogee	758	1679	15446.37	nil	0	0	0.00
VBD_pump_during_surface	91	205	228.73	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	8775	14	1593.74
Iridium_during_xfer	627	170	1297.67	NCP	8733	20	2118.63
Transponder_ping	2	420	14.01	PMAR	8713	9	1047.37
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.27
TT8	0	0	0.00
LPSleep	6286	2	180.08
TT8_Active	890	13	154.33
TT8_Sampling	2317	33	961.16
TT8_CF8	421	38	202.15
TT8_Kalman	0	0	0.00
Analog_circuits	2253	10	279.43
GPS_charging	0	0	0.00
Compass	1190	7	103.31
RAFOS	2211	48	1315.99
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
52	end surface: CONTROL_FINISHED_OK
state	52	begin dive
55	-0.76	-64.8	191	2186	486	493	0.0	0.0	0	138	0.00	0.00	-81.22	0.000	16386	0.000	0.000	189	2187	2000	1938	2063	0	0	0	0	0	0	14.45	28.83	14.47
142	-0.81	-131.5	190	2187	1941	2065	3.1	-3.1	8	199	12.50	2.70	-39.50	0.000	19236	0.456	2.167	2308	793	3905	3887	3924	0	0	0	0	0	0	13.59	13.06	14.08
390	-1.03	-131.5	2308	798	3895	3924	60.4	-16.9	57	397	0.20	2.53	0.00	0.000	5254	0.096	0.091	2231	2196	3909	3894	3924	0	0	0	0	0	0	14.07	13.93	14.14
705	-1.09	-131.5	2231	2198	3895	3921	133.4	-21.9	78	710	0.00	2.53	0.00	0.000	388	0.000	0.087	2223	3610	3909	3894	3924	0	0	0	0	0	0	14.39	13.96	14.40
915	-1.27	-131.5	2223	3613	3895	3925	171.4	-16.5	120	921	0.15	2.45	0.00	0.000	5254	0.114	0.059	2160	2209	3909	3894	3924	0	0	0	0	0	0	14.07	14.00	14.14
1247	-1.27	-131.5	2160	2207	3896	3924	253.4	-24.2	136	1252	0.00	2.55	0.00	0.000	260	0.000	0.083	2150	3618	3909	3894	3924	0	0	0	0	0	0	14.35	13.90	14.35
1442	-1.32	-131.5	2150	3619	3896	3924	294.1	-19.9	175	1448	0.00	2.45	0.00	0.000	1158	0.000	0.057	2149	2201	3909	3894	3925	0	0	0	0	0	0	14.08	13.95	14.12
1759	-1.35	-131.5	2150	2200	3894	3924	356.6	-19.5	188	1763	0.00	2.55	0.00	0.000	388	0.000	0.085	2141	3613	3909	3894	3924	0	0	0	0	0	0	14.36	13.85	14.38
1891	-1.42	-131.5	2141	3613	3895	3924	381.2	-18.1	214	1896	0.00	2.45	0.00	0.000	1158	0.000	0.057	2142	2197	3909	3894	3924	0	0	0	0	0	0	14.07	13.94	14.09
2212	-1.45	-131.5	2141	2194	3894	3924	443.7	-19.3	228	2217	0.00	2.58	0.00	0.000	388	0.000	0.084	2130	3620	3908	3893	3923	0	0	0	0	0	0	14.35	13.84	14.36
2367	-1.50	-131.5	2130	3620	3894	3924	473.5	-18.9	259	2373	0.00	2.50	0.00	0.000	1158	0.000	0.057	2130	2192	3908	3893	3923	0	0	0	0	0	0	13.98	13.85	14.02
2421	end dive: TARGET_DEPTH_EXCEEDED
state	2421	begin apogee
2428	-0.13	0.0	2131	2063	3894	3923	484.6	-20.1	265	2627	1.75	0.08	194.40	1.438	10246	0.291	0.179	2526	2112	3363	3373	3353	0	0	0	0	0	0	13.59	13.50	12.76
2630	end apogee: CONTROL_FINISHED_OK
state	2630	begin climb
2633	0.81	131.5	2527	2112	3370	3349	495.2	0.0	271	2831	0.98	2.67	183.70	1.393	11012	0.055	0.079	2867	728	2823	2858	2788	0	0	0	0	0	0	13.62	13.08	12.28
3056	0.46	131.5	2867	730	2848	2784	482.0	14.5	346	3062	0.70	2.42	0.00	0.000	5254	0.373	0.074	2737	2100	2815	2848	2782	0	0	0	0	0	0	13.29	13.70	13.70
3375	0.27	131.5	2737	2102	2848	2780	445.4	11.4	359	3380	0.28	2.45	0.00	0.000	4740	0.314	0.078	2684	724	2813	2847	2779	0	0	0	0	0	0	13.61	13.96	13.83
3606	0.23	141.5	2685	724	2849	2778	424.0	9.0	405	3621	0.15	2.42	8.98	1.679	13478	0.288	0.078	2657	2107	2787	2822	2753	0	0	0	0	0	0	13.76	14.09	13.28
3949	0.21	154.6	2657	2107	2821	2749	394.4	8.6	423	3972	0.00	2.50	19.10	1.564	8868	0.000	0.084	2662	727	2731	2765	2698	0	0	0	0	0	0	14.57	14.14	13.27
4060	0.21	159.7	2663	727	2762	2698	384.0	9.5	445	4071	0.00	2.40	3.55	1.551	9254	0.000	0.080	2662	2099	2717	2752	2682	0	0	0	0	0	0	14.31	14.17	12.98
4368	0.21	160.6	2662	2099	2756	2683	353.1	9.9	457	4372	0.00	0.00	2.00	0.538	8230	0.000	0.000	2662	2099	2712	2749	2676	0	0	0	0	0	0	14.61	14.05	12.13
4668	0.22	168.0	2662	2100	2754	2680	324.6	9.2	467	4685	0.00	0.00	15.38	1.585	8230	0.000	0.000	2659	2099	2681	2718	2644	0	0	0	0	0	0	14.62	14.14	13.32
4968	0.23	176.8	2663	2099	2719	2638	296.7	9.1	477	4988	0.00	2.55	12.30	1.607	8484	0.000	0.083	2662	3513	2642	2680	2604	0	0	0	0	0	0	14.62	14.17	13.29
5044	0.18	176.8	2662	3513	2677	2603	289.1	10.5	492	5050	0.15	2.33	0.00	0.000	5254	0.323	0.058	2645	2132	2639	2675	2603	0	0	0	0	0	0	13.90	14.23	14.21
5361	0.25	207.7	2645	2131	2678	2603	265.2	6.8	505	5412	0.00	0.00	49.67	1.375	8870	0.000	0.000	2645	2131	2518	2562	2474	0	0	0	0	0	0	14.61	14.02	13.24
5691	0.36	235.3	2644	2132	2556	2462	240.7	7.2	521	5740	0.12	2.60	42.33	1.346	10916	0.116	0.085	2710	674	2402	2444	2360	0	0	0	0	0	0	14.23	14.07	13.25
5856	0.39	240.9	2710	674	2440	2360	225.3	9.4	554	5866	0.00	2.47	4.15	1.597	9382	0.000	0.076	2710	2099	2386	2425	2348	0	0	0	0	0	0	14.26	14.14	13.19
6172	0.40	253.4	2710	2100	2426	2344	196.6	8.7	567	6202	0.00	0.00	23.77	1.422	8230	0.000	0.000	2709	2099	2327	2366	2289	0	0	0	0	0	0	14.56	14.09	13.31
6502	0.41	266.1	2710	2099	2365	2282	167.0	8.7	578	6521	0.00	0.00	18.65	1.430	8230	0.000	0.000	2710	2099	2281	2322	2241	0	0	0	0	0	0	14.57	14.12	13.31
6802	0.46	284.1	2710	2100	2316	2233	141.8	8.1	588	6838	0.00	2.55	29.98	1.341	8868	0.000	0.087	2710	697	2204	2243	2165	0	0	0	0	0	0	14.59	14.12	13.30
6904	0.58	300.0	2710	698	2239	2166	133.1	8.4	603	6935	0.17	2.47	25.12	1.343	11430	0.101	0.078	2782	2103	2141	2179	2104	0	0	0	0	0	0	14.24	14.15	13.23
7235	0.51	300.0	2782	2104	2173	2092	94.9	10.4	625	7240	0.12	2.50	0.00	0.000	4484	0.305	0.079	2756	3513	2132	2172	2093	0	0	0	0	0	0	13.83	13.98	14.02
7329	0.47	306.7	2756	3513	2170	2091	85.7	9.3	643	7340	0.00	2.42	2.40	0.424	9382	0.000	0.062	2762	2101	2114	2156	2072	0	0	0	0	0	0	14.28	14.16	13.57
7636	0.52	364.5	2762	2101	2158	2074	65.2	4.0	675	7672	0.00	2.47	31.23	0.399	8484	0.000	0.077	2762	3511	1877	1906	1849	0	0	0	0	0	0	14.55	13.90	13.65
7745	0.56	384.9	2762	3512	1900	1849	58.2	7.9	694	7763	0.00	2.45	11.02	0.373	9382	0.000	0.062	2768	2096	1793	1814	1773	0	0	0	0	0	0	14.04	13.93	13.71
8059	0.70	456.6	2769	2097	1813	1767	45.6	2.6	727	8102	0.12	2.50	36.97	0.334	10916	0.119	0.083	2833	693	1502	1530	1475	0	0	0	0	0	0	14.21	13.95	13.69
8140	0.75	466.0	2832	688	1529	1474	40.8	9.0	742	8151	0.00	2.50	5.38	0.322	9382	0.000	0.077	2832	2103	1462	1496	1429	0	0	0	0	0	0	14.12	13.95	13.72
8457	0.88	540.0	2832	2103	1498	1421	17.2	2.3	775	8500	0.00	2.60	38.28	0.257	8868	0.000	0.087	2832	688	1160	1220	1100	0	0	0	0	0	0	14.52	14.02	13.80
8708	end climb: SURFACE_DEPTH_REACHED
state	8708	begin surface coast
8738	end surface coast: CONTROL_FINISHED_OK
state	8738	begin surface