Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 406 * 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 406 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 1127.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 1127.0 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 24 VBD_MIN 500

DIVE 406 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 220917,194035,7417.7437,-15348.1963,19,0.8,21,19.2,0.0,0.0,10,8.2 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 358.3,880,-27.3,-10.000,-30.00,994

_SM_ANGLEo -78.9 D_GRID 480

GPS2 220917,195219,7417.7158,-15348.0352,5,0.8,19,19.2,0.0,96.9,11,9.1

Post-dive calculations and measurements:

FINISH 0.2,1.020945 _24V_AH 12.27,238.918

SM_CCo 8480,85.55,0.208,0,0,499,702.78 _10V_AH 12.14,0.000

SM_GC 1.45,8.40,2.28,85.55,0.083,0.055,0.208,195,2203,499,-7.38,0.93,702.78,0,0,0,0,0,0,14.23,14.13,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 367 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323420

IRIDIUM_FIX 7418.45,-15347.43,220917,170850 DATA_FILE_SIZE 26638,726

TT8_MAMPS 0.040446,0.967708 CAP_FILE_SIZE 100488,0

HUMID 47.51 CFSIZE 2097872896,1973714944

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 1447.7

XPDR_PINGS 5 CURRENT 0.012,96.98,1

CP_FREE 15894183936.000000 GPS 220917,221703,7418.334,-15346.225,34,0.7,34,19.2,0.0,0.0,11,9.8

PM_FREEKB_00 44594240

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 146.20 nil 0 0 0.00

Roll_motor 70 2170 1882.05 nil 0 0 0.00

VBD_pump_during_apogee 756 1641 15242.11 nil 0 0 0.00

VBD_pump_during_surface 85 208 218.42 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 8491 15 1585.06

Iridium_during_xfer 386 172 819.85 NCP 8424 20 2067.25

Transponder_ping 1 420 6.44 PMAR 8428 9 1025.12

GUMSTIX_24V 0 0 0.00

GPS 22 22 6.26

TT8 0 0 0.00

LPSleep 5915 2 165.89

TT8_Active 782 13 132.77

TT8_Sampling 2195 33 891.37

TT8_CF8 390 38 183.27

TT8_Kalman 0 0 0.00

Analog_circuits 2066 10 250.89

GPS_charging 0 0 0.00

Compass 1041 7 88.50

RAFOS 2213 48 1289.56

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

51 end surface: CONTROL_FINISHED_OK

state 51 begin dive

55 -0.76 -64.8 196 2233 486 494 0.0 0.0 0 137 0.00 0.00 -80.57 0.000 16386 0.000 0.000 198 2232 1991 1932 2051 0 0 0 0 0 0 14.45 28.83 14.47

141 -0.81 -128.5 196 2232 1936 2057 3.2 -3.4 8 198 12.38 2.80 -38.45 0.000 18980 0.451 2.170 2314 793 3893 3873 3914 0 0 0 0 0 0 13.54 12.58 14.05

334 -1.00 -128.5 2309 793 3881 3915 56.2 -18.5 46 339 0.15 2.47 0.00 0.000 5254 0.109 0.089 2247 2177 3896 3880 3913 0 0 0 0 0 0 14.14 14.03 14.22

679 -1.09 -128.5 2248 2178 3882 3921 132.3 -19.8 70 684 0.00 2.60 0.00 0.000 388 0.000 0.087 2237 3624 3897 3881 3914 0 0 0 0 0 0 14.40 13.88 14.41

910 -1.31 -128.5 2237 3626 3882 3915 169.7 -15.0 116 915 0.25 2.47 0.00 0.000 5254 0.090 0.058 2149 2195 3897 3881 3914 0 0 0 0 0 0 14.07 13.99 14.16

1221 -1.28 -128.5 2149 2194 3881 3917 249.0 -24.9 128 1226 0.00 2.58 0.00 0.000 388 0.000 0.081 2139 3621 3897 3881 3914 0 0 0 0 0 0 14.38 13.91 14.40

1402 -1.30 -128.5 2139 3622 3882 3914 288.7 -20.0 164 1406 0.00 2.50 0.00 0.000 1158 0.000 0.058 2138 2188 3897 3881 3914 0 0 0 0 0 0 14.07 13.93 14.10

1732 -1.30 -128.5 2139 2188 3882 3915 358.9 -20.9 180 1737 0.00 2.58 0.00 0.000 260 0.000 0.083 2131 3615 3897 3881 3914 0 0 0 0 0 0 14.35 13.90 14.39

1918 -1.34 -128.5 2130 3616 3880 3914 396.4 -19.1 217 1922 0.00 2.45 0.00 0.000 1158 0.000 0.057 2127 2201 3897 3880 3914 0 0 0 0 0 0 14.07 13.93 14.07

2243 -1.34 -128.5 2128 2198 3882 3913 462.6 -20.2 232 2248 0.00 2.55 0.00 0.000 260 0.000 0.084 2118 3609 3897 3881 3913 0 0 0 0 0 0 14.36 13.88 14.38

2325 end dive: TARGET_DEPTH_EXCEEDED

state 2325 begin apogee

2335 -0.13 0.0 2120 2094 3881 3913 480.2 -19.8 249 2529 1.83 0.00 190.70 1.438 10246 0.298 0.000 2529 2093 3364 3374 3355 0 0 0 0 0 0 13.57 13.54 12.77

2533 end apogee: CONTROL_FINISHED_OK

state 2533 begin climb

2536 0.81 128.5 2530 2094 3371 3351 490.4 0.0 255 2859 0.95 2.75 181.80 1.398 10500 0.056 0.070 2858 3520 2822 2856 2789 0 0 0 0 0 0 13.66 12.86 12.27

3093 0.38 128.5 2859 3519 2856 2789 456.3 14.9 303 3098 0.82 2.50 0.00 0.000 5254 0.382 0.056 2710 2088 2821 2854 2789 0 0 0 0 0 0 13.54 13.98 13.96

3426 0.24 135.3 2710 2089 2855 2790 423.5 9.3 319 3432 0.20 2.53 1.25 0.270 12708 0.312 0.074 2664 3517 2815 2848 2782 0 0 0 0 0 0 13.64 13.77 13.49

3553 0.13 141.6 2663 3518 2853 2790 411.6 9.3 344 3572 0.22 2.42 13.00 1.631 13478 0.325 0.058 2629 2099 2785 2819 2751 0 0 0 0 0 0 13.64 14.12 13.28

3881 0.17 164.2 2628 2100 2816 2750 386.9 7.7 359 3916 0.00 0.00 33.78 1.495 8358 0.000 0.000 2629 2098 2696 2730 2662 0 0 0 0 0 0 14.61 14.07 13.24

4208 0.24 178.1 2629 2100 2724 2649 358.8 8.6 370 4229 0.00 0.00 19.33 1.542 8358 0.000 0.000 2629 2099 2640 2678 2602 0 0 0 0 0 0 14.58 14.08 13.26

4508 0.32 185.7 2629 2099 2674 2590 331.3 9.2 380 4523 0.15 2.50 9.60 1.642 10916 0.103 0.084 2699 687 2605 2646 2564 0 0 0 0 0 0 14.26 13.92 13.28

4616 0.32 185.7 2699 688 2644 2565 319.1 11.6 401 4621 0.00 2.50 0.00 0.000 1030 0.000 0.078 2699 2110 2603 2643 2563 0 0 0 0 0 0 14.31 14.16 14.31

4932 0.26 185.7 2700 2111 2644 2560 281.9 11.3 414 4933 0.15 0.00 0.00 0.000 4230 0.261 0.000 2672 2111 2599 2643 2555 0 0 0 0 0 0 13.89 14.28 14.18

5232 0.27 206.8 2670 2111 2644 2559 255.5 7.8 424 5265 0.00 0.00 31.70 1.440 8742 0.000 0.000 2670 2111 2523 2569 2478 0 0 0 0 0 0 14.62 14.09 13.31

5562 0.33 241.0 2670 2112 2563 2467 231.4 6.5 440 5622 0.00 0.00 54.92 1.339 8614 0.000 0.000 2667 2111 2380 2423 2337 0 0 0 0 0 0 14.58 13.99 13.25

5924 0.42 263.9 2670 2112 2416 2328 204.2 7.6 462 5967 0.15 2.55 35.25 1.355 10916 0.109 0.085 2741 692 2286 2325 2248 0 0 0 0 0 0 14.25 14.07 13.28

6007 0.42 263.9 2741 692 2322 2248 195.4 11.3 474 6013 0.00 2.47 0.00 0.000 1030 0.000 0.077 2740 2099 2284 2321 2247 0 0 0 0 0 0 14.21 14.09 14.24

6313 0.39 263.9 2741 2100 2322 2240 162.4 10.4 485 6314 0.15 0.00 0.00 0.000 4230 0.264 0.000 2710 2100 2280 2321 2240 0 0 0 0 0 0 13.92 14.21 14.16

6613 0.44 282.2 2711 2101 2322 2238 137.0 8.1 495 6649 0.00 2.58 28.62 1.354 8868 0.000 0.090 2711 687 2211 2252 2171 0 0 0 0 0 0 14.57 14.10 13.32

6727 0.56 300.2 2712 686 2248 2170 127.9 8.1 517 6760 0.17 2.47 26.83 1.347 11430 0.102 0.077 2782 2100 2138 2175 2101 0 0 0 0 0 0 14.25 14.13 13.25

7066 0.51 306.4 2783 2100 2172 2087 91.4 9.4 541 7077 0.15 2.53 2.08 0.402 12708 0.300 0.079 2749 3506 2114 2156 2073 0 0 0 0 0 0 13.81 14.07 13.54

7098 0.47 316.7 2751 3506 2157 2075 88.5 8.9 547 7110 0.00 2.42 6.93 0.459 9382 0.000 0.061 2757 2092 2072 2112 2032 0 0 0 0 0 0 14.28 14.16 13.66

7408 0.51 375.0 2758 2094 2115 2028 66.6 4.0 579 7445 0.00 2.47 30.90 0.402 8740 0.000 0.086 2764 688 1835 1862 1809 0 0 0 0 0 0 14.54 14.13 13.71

7671 0.67 446.5 2762 686 1847 1811 52.1 2.6 631 7713 0.00 2.47 36.70 0.356 9382 0.000 0.076 2764 2101 1545 1574 1516 0 0 0 0 0 0 14.07 13.95 13.75

8011 0.88 494.7 2764 2103 1575 1506 33.7 5.0 669 8043 0.28 2.53 25.20 0.298 10916 0.080 0.088 2877 694 1347 1387 1308 0 0 0 0 0 0 13.76 13.91 13.74

8081 0.94 524.7 2877 695 1387 1303 28.7 6.9 682 8103 0.00 2.47 16.30 0.285 9382 0.000 0.075 2877 2101 1223 1276 1171 0 0 0 0 0 0 13.97 13.90 13.79

8409 0.99 547.0 2876 2102 1277 1162 3.5 7.7 717 8430 0.00 2.53 11.80 0.216 8612 0.000 0.077 2877 3508 1131 1191 1071 0 0 0 0 0 0 14.51 13.88 13.85

8433 end climb: SURFACE_DEPTH_REACHED

state 8433 begin surface coast

8453 end surface coast: CONTROL_FINISHED_OK

state 8453 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	406	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	1127.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,194035,7417.7437,-15348.1963,19,0.8,21,19.2,0.0,0.0,10,8.2	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	358.3,880,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-78.9	D_GRID	480
GPS2	220917,195219,7417.7158,-15348.0352,5,0.8,19,19.2,0.0,96.9,11,9.1

FINISH	0.2,1.020945	_24V_AH	12.27,238.918
SM_CCo	8480,85.55,0.208,0,0,499,702.78	_10V_AH	12.14,0.000
SM_GC	1.45,8.40,2.28,85.55,0.083,0.055,0.208,195,2203,499,-7.38,0.93,702.78,0,0,0,0,0,0,14.23,14.13,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	367	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323420
IRIDIUM_FIX	7418.45,-15347.43,220917,170850	DATA_FILE_SIZE	26638,726
TT8_MAMPS	0.040446,0.967708	CAP_FILE_SIZE	100488,0
HUMID	47.51	CFSIZE	2097872896,1973714944
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	1447.7
XPDR_PINGS	5	CURRENT	0.012,96.98,1
CP_FREE	15894183936.000000	GPS	220917,221703,7418.334,-15346.225,34,0.7,34,19.2,0.0,0.0,11,9.8
PM_FREEKB_00	44594240

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	146.20	nil	0	0	0.00
Roll_motor	70	2170	1882.05	nil	0	0	0.00
VBD_pump_during_apogee	756	1641	15242.11	nil	0	0	0.00
VBD_pump_during_surface	85	208	218.42	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	8491	15	1585.06
Iridium_during_xfer	386	172	819.85	NCP	8424	20	2067.25
Transponder_ping	1	420	6.44	PMAR	8428	9	1025.12
GUMSTIX_24V	0	0	0.00
GPS	22	22	6.26
TT8	0	0	0.00
LPSleep	5915	2	165.89
TT8_Active	782	13	132.77
TT8_Sampling	2195	33	891.37
TT8_CF8	390	38	183.27
TT8_Kalman	0	0	0.00
Analog_circuits	2066	10	250.89
GPS_charging	0	0	0.00
Compass	1041	7	88.50
RAFOS	2213	48	1289.56
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
51	end surface: CONTROL_FINISHED_OK
state	51	begin dive
55	-0.76	-64.8	196	2233	486	494	0.0	0.0	0	137	0.00	0.00	-80.57	0.000	16386	0.000	0.000	198	2232	1991	1932	2051	0	0	0	0	0	0	14.45	28.83	14.47
141	-0.81	-128.5	196	2232	1936	2057	3.2	-3.4	8	198	12.38	2.80	-38.45	0.000	18980	0.451	2.170	2314	793	3893	3873	3914	0	0	0	0	0	0	13.54	12.58	14.05
334	-1.00	-128.5	2309	793	3881	3915	56.2	-18.5	46	339	0.15	2.47	0.00	0.000	5254	0.109	0.089	2247	2177	3896	3880	3913	0	0	0	0	0	0	14.14	14.03	14.22
679	-1.09	-128.5	2248	2178	3882	3921	132.3	-19.8	70	684	0.00	2.60	0.00	0.000	388	0.000	0.087	2237	3624	3897	3881	3914	0	0	0	0	0	0	14.40	13.88	14.41
910	-1.31	-128.5	2237	3626	3882	3915	169.7	-15.0	116	915	0.25	2.47	0.00	0.000	5254	0.090	0.058	2149	2195	3897	3881	3914	0	0	0	0	0	0	14.07	13.99	14.16
1221	-1.28	-128.5	2149	2194	3881	3917	249.0	-24.9	128	1226	0.00	2.58	0.00	0.000	388	0.000	0.081	2139	3621	3897	3881	3914	0	0	0	0	0	0	14.38	13.91	14.40
1402	-1.30	-128.5	2139	3622	3882	3914	288.7	-20.0	164	1406	0.00	2.50	0.00	0.000	1158	0.000	0.058	2138	2188	3897	3881	3914	0	0	0	0	0	0	14.07	13.93	14.10
1732	-1.30	-128.5	2139	2188	3882	3915	358.9	-20.9	180	1737	0.00	2.58	0.00	0.000	260	0.000	0.083	2131	3615	3897	3881	3914	0	0	0	0	0	0	14.35	13.90	14.39
1918	-1.34	-128.5	2130	3616	3880	3914	396.4	-19.1	217	1922	0.00	2.45	0.00	0.000	1158	0.000	0.057	2127	2201	3897	3880	3914	0	0	0	0	0	0	14.07	13.93	14.07
2243	-1.34	-128.5	2128	2198	3882	3913	462.6	-20.2	232	2248	0.00	2.55	0.00	0.000	260	0.000	0.084	2118	3609	3897	3881	3913	0	0	0	0	0	0	14.36	13.88	14.38
2325	end dive: TARGET_DEPTH_EXCEEDED
state	2325	begin apogee
2335	-0.13	0.0	2120	2094	3881	3913	480.2	-19.8	249	2529	1.83	0.00	190.70	1.438	10246	0.298	0.000	2529	2093	3364	3374	3355	0	0	0	0	0	0	13.57	13.54	12.77
2533	end apogee: CONTROL_FINISHED_OK
state	2533	begin climb
2536	0.81	128.5	2530	2094	3371	3351	490.4	0.0	255	2859	0.95	2.75	181.80	1.398	10500	0.056	0.070	2858	3520	2822	2856	2789	0	0	0	0	0	0	13.66	12.86	12.27
3093	0.38	128.5	2859	3519	2856	2789	456.3	14.9	303	3098	0.82	2.50	0.00	0.000	5254	0.382	0.056	2710	2088	2821	2854	2789	0	0	0	0	0	0	13.54	13.98	13.96
3426	0.24	135.3	2710	2089	2855	2790	423.5	9.3	319	3432	0.20	2.53	1.25	0.270	12708	0.312	0.074	2664	3517	2815	2848	2782	0	0	0	0	0	0	13.64	13.77	13.49
3553	0.13	141.6	2663	3518	2853	2790	411.6	9.3	344	3572	0.22	2.42	13.00	1.631	13478	0.325	0.058	2629	2099	2785	2819	2751	0	0	0	0	0	0	13.64	14.12	13.28
3881	0.17	164.2	2628	2100	2816	2750	386.9	7.7	359	3916	0.00	0.00	33.78	1.495	8358	0.000	0.000	2629	2098	2696	2730	2662	0	0	0	0	0	0	14.61	14.07	13.24
4208	0.24	178.1	2629	2100	2724	2649	358.8	8.6	370	4229	0.00	0.00	19.33	1.542	8358	0.000	0.000	2629	2099	2640	2678	2602	0	0	0	0	0	0	14.58	14.08	13.26
4508	0.32	185.7	2629	2099	2674	2590	331.3	9.2	380	4523	0.15	2.50	9.60	1.642	10916	0.103	0.084	2699	687	2605	2646	2564	0	0	0	0	0	0	14.26	13.92	13.28
4616	0.32	185.7	2699	688	2644	2565	319.1	11.6	401	4621	0.00	2.50	0.00	0.000	1030	0.000	0.078	2699	2110	2603	2643	2563	0	0	0	0	0	0	14.31	14.16	14.31
4932	0.26	185.7	2700	2111	2644	2560	281.9	11.3	414	4933	0.15	0.00	0.00	0.000	4230	0.261	0.000	2672	2111	2599	2643	2555	0	0	0	0	0	0	13.89	14.28	14.18
5232	0.27	206.8	2670	2111	2644	2559	255.5	7.8	424	5265	0.00	0.00	31.70	1.440	8742	0.000	0.000	2670	2111	2523	2569	2478	0	0	0	0	0	0	14.62	14.09	13.31
5562	0.33	241.0	2670	2112	2563	2467	231.4	6.5	440	5622	0.00	0.00	54.92	1.339	8614	0.000	0.000	2667	2111	2380	2423	2337	0	0	0	0	0	0	14.58	13.99	13.25
5924	0.42	263.9	2670	2112	2416	2328	204.2	7.6	462	5967	0.15	2.55	35.25	1.355	10916	0.109	0.085	2741	692	2286	2325	2248	0	0	0	0	0	0	14.25	14.07	13.28
6007	0.42	263.9	2741	692	2322	2248	195.4	11.3	474	6013	0.00	2.47	0.00	0.000	1030	0.000	0.077	2740	2099	2284	2321	2247	0	0	0	0	0	0	14.21	14.09	14.24
6313	0.39	263.9	2741	2100	2322	2240	162.4	10.4	485	6314	0.15	0.00	0.00	0.000	4230	0.264	0.000	2710	2100	2280	2321	2240	0	0	0	0	0	0	13.92	14.21	14.16
6613	0.44	282.2	2711	2101	2322	2238	137.0	8.1	495	6649	0.00	2.58	28.62	1.354	8868	0.000	0.090	2711	687	2211	2252	2171	0	0	0	0	0	0	14.57	14.10	13.32
6727	0.56	300.2	2712	686	2248	2170	127.9	8.1	517	6760	0.17	2.47	26.83	1.347	11430	0.102	0.077	2782	2100	2138	2175	2101	0	0	0	0	0	0	14.25	14.13	13.25
7066	0.51	306.4	2783	2100	2172	2087	91.4	9.4	541	7077	0.15	2.53	2.08	0.402	12708	0.300	0.079	2749	3506	2114	2156	2073	0	0	0	0	0	0	13.81	14.07	13.54
7098	0.47	316.7	2751	3506	2157	2075	88.5	8.9	547	7110	0.00	2.42	6.93	0.459	9382	0.000	0.061	2757	2092	2072	2112	2032	0	0	0	0	0	0	14.28	14.16	13.66
7408	0.51	375.0	2758	2094	2115	2028	66.6	4.0	579	7445	0.00	2.47	30.90	0.402	8740	0.000	0.086	2764	688	1835	1862	1809	0	0	0	0	0	0	14.54	14.13	13.71
7671	0.67	446.5	2762	686	1847	1811	52.1	2.6	631	7713	0.00	2.47	36.70	0.356	9382	0.000	0.076	2764	2101	1545	1574	1516	0	0	0	0	0	0	14.07	13.95	13.75
8011	0.88	494.7	2764	2103	1575	1506	33.7	5.0	669	8043	0.28	2.53	25.20	0.298	10916	0.080	0.088	2877	694	1347	1387	1308	0	0	0	0	0	0	13.76	13.91	13.74
8081	0.94	524.7	2877	695	1387	1303	28.7	6.9	682	8103	0.00	2.47	16.30	0.285	9382	0.000	0.075	2877	2101	1223	1276	1171	0	0	0	0	0	0	13.97	13.90	13.79
8409	0.99	547.0	2876	2102	1277	1162	3.5	7.7	717	8430	0.00	2.53	11.80	0.216	8612	0.000	0.077	2877	3508	1131	1191	1071	0	0	0	0	0	0	14.51	13.88	13.85
8433	end climb: SURFACE_DEPTH_REACHED
state	8433	begin surface coast
8453	end surface coast: CONTROL_FINISHED_OK
state	8453	begin surface