Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 133 * 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 133 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 702.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 480 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 650 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 135

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 160 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 195 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00061896152

USE_BATHY 0 PITCH_MIN 208 MINV_24V 11 SEABIRD_T_I 2.1649632e-05

USE_ICE 0 PITCH_MAX 3950 MINV_10V 11 SEABIRD_T_J 2.1628491e-06

ICE_FREEZE_MARGIN 0.050000001 C_PITCH 2580 MAXI_24V 0.60000002 SEABIRD_C_G -9.8804169

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_C_H 1.1388741

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0017082796

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021409935

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 38 PRESSURE_YINT -162.29706 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 CP_RECORDABOVE 1000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 CP_PROFILE 3.0

MASS 55566 PITCH_ADJ_DBAND 1 COMPASS_USE 4 CP_XMITPROFILE 0.0

MASS_COMP 0 ROLL_MIN 218 ALTIM_BOTTOM_PING_RANGE 0 CP_UPLOADMAX 100000.0

NAV_MODE 2 ROLL_MAX 3787 ALTIM_TOP_PING_RANGE 0 CP_STARTS 376.0

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 36 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 55 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 376.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 36 VBD_MIN 500

DIVE 133 NOCOMM_ACTION 161 R_STBD_OVSHOOT 55 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 220817,050407,7314.2310,-14959.9395,16,0.7,18,20.8,0.5,68.1,12,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 294.0,167783,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 220817,051620,7314.2241,-14959.5586,5,0.7,37,20.8,0.9,116.9,11,8.2

Post-dive calculations and measurements:

FINISH 0.2,1.020569 _24V_AH 12.42,106.327

SM_CCo 8878,26.00,0.214,0,0,498,703.03 _10V_AH 12.28,0.000

SM_GC 0.91,8.27,2.67,26.00,0.081,0.071,0.214,201,2203,498,-7.39,-0.51,703.03,0,0,0,0,0,0,14.26,14.21,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

RAFOS_FIX 7312.612305,-15000.722656,220817,040419,4,255,0.30 MEM 323552

IRIDIUM_FIX 7314.61,-14955.88,220817,022432 DATA_FILE_SIZE 26735,758

TT8_MAMPS 0.039697,0.930258 CAP_FILE_SIZE 103307,0

HUMID 46.73 CFSIZE 2097872896,2047311872

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.7

XPDR_PINGS 12 CURRENT 0.018,142.68,1

CP_FREE 15996813312.000000 GPS 220817,074627,7315.173,-15001.562,18,0.8,23,20.8,0.0,0.0,10,8.7

PM_FREEKB_00 54056000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.25 nil 0 0 0.00

Roll_motor 93 2142 2496.31 nil 0 0 0.00

VBD_pump_during_apogee 968 1598 19237.66 nil 0 0 0.00

VBD_pump_during_surface 26 214 69.17 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 8885 14 1617.09

Iridium_during_xfer 427 187 996.07 NCP 8874 20 2204.30

Transponder_ping 3 420 15.65 PMAR 8831 10 1102.95

GUMSTIX_24V 0 0 0.00

GPS 39 22 10.78

TT8 0 0 0.00

LPSleep 6211 2 176.20

TT8_Active 922 13 158.23

TT8_Sampling 2220 33 911.74

TT8_CF8 297 38 141.23

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 270.41

GPS_charging 0 0 0.00

Compass 1086 7 93.40

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 192 2188 513 481 0.0 0.0 0 130 0.00 0.00 -81.38 0.000 16386 0.000 0.000 190 2189 1976 1903 2050 0 0 0 0 0 0 14.45 28.83 14.47

133 -0.57 -145.9 191 2189 1905 2052 3.2 -3.6 8 197 12.57 2.75 -40.60 0.000 19236 0.456 2.143 2393 802 3964 3949 3980 0 0 0 0 0 0 13.71 12.57 14.17

332 -0.62 -145.9 2387 801 3955 3979 49.9 -17.1 47 339 0.00 2.42 0.00 0.000 1158 0.000 0.087 2379 2165 3966 3954 3979 0 0 0 0 0 0 14.21 14.09 14.24

639 -0.65 -145.9 2380 2165 3956 3979 100.1 -13.1 78 644 0.00 2.55 0.00 0.000 388 0.000 0.091 2371 3614 3967 3955 3979 0 0 0 0 0 0 14.53 14.16 14.51

819 -0.81 -145.9 2372 3614 3957 3979 119.8 -10.2 114 824 0.17 2.38 0.00 0.000 5254 0.111 0.054 2300 2208 3967 3955 3979 0 0 0 0 0 0 14.23 14.22 14.28

1150 -0.76 -145.9 2301 2208 3956 3980 176.5 -16.7 130 1155 0.12 2.47 0.00 0.000 2436 0.285 0.086 2319 3616 3967 3955 3979 0 0 0 0 0 0 14.01 14.20 14.16

1247 -0.87 -145.9 2320 3617 3956 3979 188.9 -11.6 149 1251 0.00 2.38 0.00 0.000 1158 0.000 0.056 2319 2201 3967 3955 3979 0 0 0 0 0 0 14.40 14.29 14.42

1572 -0.91 -145.9 2320 2201 3956 3980 231.2 -12.4 164 1576 0.00 2.47 0.00 0.000 388 0.000 0.092 2319 3613 3967 3955 3979 0 0 0 0 0 0 14.62 14.21 14.62

1626 -1.05 -145.9 2319 3614 3955 3980 237.2 -10.1 175 1634 0.25 2.38 0.00 0.000 5254 0.096 0.057 2230 2201 3967 3955 3979 0 0 0 0 0 0 14.30 14.26 14.39

1932 -0.93 -145.9 2230 2199 3956 3982 292.5 -17.8 186 1937 0.17 2.47 0.00 0.000 2436 0.298 0.085 2261 3612 3966 3955 3978 0 0 0 0 0 0 13.93 14.21 14.13

2082 -0.95 -145.9 2261 3615 3956 3978 313.0 -12.6 216 2087 0.00 2.40 0.00 0.000 1158 0.000 0.056 2259 2195 3966 3955 3978 0 0 0 0 0 0 14.42 14.31 14.45

2412 -0.93 -145.9 2267 2195 3953 3977 356.6 -13.0 232 2417 0.00 2.47 0.00 0.000 388 0.000 0.089 2252 3613 3966 3955 3977 0 0 0 0 0 0 14.64 14.25 14.66

2529 -0.96 -145.9 2252 3613 3957 3976 371.1 -12.1 255 2536 0.00 2.40 0.00 0.000 1158 0.000 0.056 2253 2194 3965 3955 3976 0 0 0 0 0 0 14.39 14.28 14.42

2833 -0.93 -145.9 2253 2194 3957 3974 411.6 -13.2 266 2837 0.00 2.50 0.00 0.000 388 0.000 0.088 2246 3620 3969 3963 3975 0 0 0 0 0 0 14.65 14.22 14.67

2977 -0.95 -145.9 2246 3621 3956 3976 430.4 -12.7 295 2984 0.00 2.40 0.00 0.000 1158 0.000 0.056 2247 2195 3965 3955 3975 0 0 0 0 0 0 14.32 14.21 14.35

3283 -0.93 -145.9 2247 2195 3957 3974 471.7 -13.5 306 3288 0.12 2.50 0.00 0.000 2436 0.289 0.086 2267 3615 3965 3955 3975 0 0 0 0 0 0 14.00 14.21 14.16

3356 end dive: TARGET_DEPTH_EXCEEDED

state 3356 begin apogee

3364 -0.13 0.0 2267 2106 3956 3975 480.4 -10.5 321 3599 1.00 0.00 231.15 1.401 10246 0.223 0.000 2528 2102 3360 3390 3330 0 0 0 0 0 0 13.84 13.45 12.69

3603 end apogee: CONTROL_FINISHED_OK

state 3603 begin climb

3606 0.57 145.9 2530 2104 3389 3325 492.9 0.0 329 3828 0.75 1.88 207.77 1.377 11012 0.067 0.075 2780 3506 2755 2806 2704 0 0 0 0 0 0 13.54 13.16 12.42

3958 0.13 145.9 2780 3506 2793 2707 475.5 17.4 357 3963 0.80 2.50 0.00 0.000 5254 0.353 0.059 2630 2099 2749 2791 2707 0 0 0 0 0 0 13.27 13.57 13.62

4269 0.05 176.4 2629 2099 2792 2705 447.2 8.6 369 4318 0.00 2.58 42.10 1.442 8868 0.000 0.083 2639 690 2637 2690 2585 0 0 0 0 0 0 14.31 13.82 13.07

4391 0.02 188.6 2639 691 2683 2578 436.1 9.4 393 4410 0.22 2.53 12.80 1.599 13478 0.250 0.079 2590 2105 2595 2657 2533 0 0 0 0 0 0 13.69 13.85 13.05

4722 0.10 249.8 2590 2106 2652 2514 411.7 7.2 409 4822 0.00 0.00 98.22 1.365 8358 0.000 0.000 2590 2105 2344 2408 2281 0 0 0 0 0 0 14.45 13.80 13.04

5110 0.23 308.4 2590 2106 2391 2261 383.1 7.3 422 5203 0.20 0.00 91.32 1.329 10406 0.102 0.000 2672 2105 2109 2168 2051 0 0 0 0 0 0 14.18 13.76 13.04

5500 0.20 308.4 2672 2106 2149 2034 332.6 13.4 435 5506 0.00 2.50 0.00 0.000 644 0.000 0.090 2672 691 2091 2149 2033 0 0 0 0 0 0 14.40 14.09 14.42

5571 0.22 308.4 2672 691 2146 2033 323.4 12.6 449 5576 0.00 2.47 0.00 0.000 1158 0.000 0.079 2672 2105 2088 2144 2033 0 0 0 0 0 0 14.21 14.11 14.26

5891 0.22 308.4 2673 2107 2145 2031 283.4 12.1 463 5896 0.00 2.47 0.00 0.000 516 0.000 0.088 2672 692 2087 2144 2031 0 0 0 0 0 0 14.56 14.12 14.57

5932 0.25 308.4 2672 694 2142 2032 278.6 11.5 471 5937 0.00 2.45 0.00 0.000 1158 0.000 0.079 2673 2105 2086 2142 2031 0 0 0 0 0 0 14.38 14.26 14.42

6253 0.25 308.4 2672 2105 2142 2032 241.9 11.0 485 6257 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 691 2086 2142 2030 0 0 0 0 0 0 14.64 14.25 14.64

6338 0.29 308.9 2673 692 2141 2031 233.4 10.0 502 6344 0.00 2.42 0.00 0.000 1190 0.000 0.078 2673 2100 2084 2139 2030 0 0 0 0 0 0 14.40 14.26 14.42

6643 0.31 325.6 2673 2102 2141 2032 203.9 9.2 513 6674 0.00 2.53 23.23 1.411 8740 0.000 0.086 2673 687 2030 2082 1979 0 0 0 0 0 0 14.62 14.19 13.38

6704 0.40 350.2 2673 686 2075 1978 198.4 8.9 525 6753 0.12 2.47 40.92 1.330 11430 0.140 0.079 2726 2106 1933 1980 1887 0 0 0 0 0 0 14.22 14.19 13.24

7064 0.35 350.2 2727 2106 1962 1879 155.2 11.7 547 7070 0.12 2.47 0.00 0.000 4740 0.242 0.083 2696 692 1919 1960 1879 0 0 0 0 0 0 14.04 14.15 14.20

7120 0.43 373.1 2699 692 1958 1879 149.8 8.9 558 7161 0.00 2.45 36.08 1.319 9382 0.000 0.076 2699 2103 1841 1874 1809 0 0 0 0 0 0 14.19 14.07 13.30

7489 0.49 400.1 2699 2104 1865 1794 116.8 8.8 581 7537 0.12 2.50 42.95 1.288 10916 0.132 0.084 2768 693 1730 1759 1701 0 0 0 0 0 0 14.20 13.85 13.35

7569 0.45 400.1 2769 693 1750 1699 107.3 12.9 597 7574 0.17 2.47 0.00 0.000 5254 0.236 0.080 2729 2098 1723 1749 1697 0 0 0 0 0 0 13.92 14.05 14.14

7880 0.51 422.1 2729 2100 1750 1689 77.2 9.0 625 7896 0.00 2.47 10.70 0.415 8612 0.000 0.080 2729 3515 1642 1676 1608 0 0 0 0 0 0 14.49 14.02 13.73

7957 0.61 447.8 2729 3516 1679 1619 70.2 8.8 640 7979 0.12 2.45 15.68 0.404 11430 0.125 0.067 2785 2101 1536 1572 1501 0 0 0 0 0 0 14.23 14.11 13.76

8284 0.66 525.5 2785 2102 1576 1506 43.8 6.4 675 8332 0.00 2.47 42.35 0.332 8484 0.000 0.076 2785 3513 1221 1283 1160 0 0 0 0 0 0 14.52 14.07 13.84

8367 0.74 552.2 2786 3514 1284 1166 37.6 8.8 691 8389 0.00 2.45 15.45 0.311 9382 0.000 0.067 2786 2096 1114 1181 1047 0 0 0 0 0 0 14.23 14.12 13.83

8687 0.98 657.8 2786 2096 1181 1052 15.5 5.1 725 8752 0.30 2.50 58.05 0.247 10916 0.087 0.088 2903 687 681 743 619 0 0 0 0 0 0 14.23 14.02 13.87

8835 end climb: SURFACE_DEPTH_REACHED

state 8835 begin surface coast

8855 end surface coast: CONTROL_FINISHED_OK

state 8855 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	133	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	702.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	480	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	650	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	135
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	160	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	195	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00061896152
USE_BATHY	0	PITCH_MIN	208	MINV_24V	11	SEABIRD_T_I	2.1649632e-05
USE_ICE	0	PITCH_MAX	3950	MINV_10V	11	SEABIRD_T_J	2.1628491e-06
ICE_FREEZE_MARGIN	0.050000001	C_PITCH	2580	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8804169
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_C_H	1.1388741
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0017082796
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021409935
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	38	PRESSURE_YINT	-162.29706	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	CP_RECORDABOVE	1000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	CP_PROFILE	3.0
MASS	55566	PITCH_ADJ_DBAND	1	COMPASS_USE	4	CP_XMITPROFILE	0.0
MASS_COMP	0	ROLL_MIN	218	ALTIM_BOTTOM_PING_RANGE	0	CP_UPLOADMAX	100000.0
NAV_MODE	2	ROLL_MAX	3787	ALTIM_TOP_PING_RANGE	0	CP_STARTS	376.0
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	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	55	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,050407,7314.2310,-14959.9395,16,0.7,18,20.8,0.5,68.1,12,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	294.0,167783,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	220817,051620,7314.2241,-14959.5586,5,0.7,37,20.8,0.9,116.9,11,8.2

FINISH	0.2,1.020569	_24V_AH	12.42,106.327
SM_CCo	8878,26.00,0.214,0,0,498,703.03	_10V_AH	12.28,0.000
SM_GC	0.91,8.27,2.67,26.00,0.081,0.071,0.214,201,2203,498,-7.39,-0.51,703.03,0,0,0,0,0,0,14.26,14.21,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
RAFOS_FIX	7312.612305,-15000.722656,220817,040419,4,255,0.30	MEM	323552
IRIDIUM_FIX	7314.61,-14955.88,220817,022432	DATA_FILE_SIZE	26735,758
TT8_MAMPS	0.039697,0.930258	CAP_FILE_SIZE	103307,0
HUMID	46.73	CFSIZE	2097872896,2047311872
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.7
XPDR_PINGS	12	CURRENT	0.018,142.68,1
CP_FREE	15996813312.000000	GPS	220817,074627,7315.173,-15001.562,18,0.8,23,20.8,0.0,0.0,10,8.7
PM_FREEKB_00	54056000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.25	nil	0	0	0.00
Roll_motor	93	2142	2496.31	nil	0	0	0.00
VBD_pump_during_apogee	968	1598	19237.66	nil	0	0	0.00
VBD_pump_during_surface	26	214	69.17	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	8885	14	1617.09
Iridium_during_xfer	427	187	996.07	NCP	8874	20	2204.30
Transponder_ping	3	420	15.65	PMAR	8831	10	1102.95
GUMSTIX_24V	0	0	0.00
GPS	39	22	10.78
TT8	0	0	0.00
LPSleep	6211	2	176.20
TT8_Active	922	13	158.23
TT8_Sampling	2220	33	911.74
TT8_CF8	297	38	141.23
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	270.41
GPS_charging	0	0	0.00
Compass	1086	7	93.40
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	192	2188	513	481	0.0	0.0	0	130	0.00	0.00	-81.38	0.000	16386	0.000	0.000	190	2189	1976	1903	2050	0	0	0	0	0	0	14.45	28.83	14.47
133	-0.57	-145.9	191	2189	1905	2052	3.2	-3.6	8	197	12.57	2.75	-40.60	0.000	19236	0.456	2.143	2393	802	3964	3949	3980	0	0	0	0	0	0	13.71	12.57	14.17
332	-0.62	-145.9	2387	801	3955	3979	49.9	-17.1	47	339	0.00	2.42	0.00	0.000	1158	0.000	0.087	2379	2165	3966	3954	3979	0	0	0	0	0	0	14.21	14.09	14.24
639	-0.65	-145.9	2380	2165	3956	3979	100.1	-13.1	78	644	0.00	2.55	0.00	0.000	388	0.000	0.091	2371	3614	3967	3955	3979	0	0	0	0	0	0	14.53	14.16	14.51
819	-0.81	-145.9	2372	3614	3957	3979	119.8	-10.2	114	824	0.17	2.38	0.00	0.000	5254	0.111	0.054	2300	2208	3967	3955	3979	0	0	0	0	0	0	14.23	14.22	14.28
1150	-0.76	-145.9	2301	2208	3956	3980	176.5	-16.7	130	1155	0.12	2.47	0.00	0.000	2436	0.285	0.086	2319	3616	3967	3955	3979	0	0	0	0	0	0	14.01	14.20	14.16
1247	-0.87	-145.9	2320	3617	3956	3979	188.9	-11.6	149	1251	0.00	2.38	0.00	0.000	1158	0.000	0.056	2319	2201	3967	3955	3979	0	0	0	0	0	0	14.40	14.29	14.42
1572	-0.91	-145.9	2320	2201	3956	3980	231.2	-12.4	164	1576	0.00	2.47	0.00	0.000	388	0.000	0.092	2319	3613	3967	3955	3979	0	0	0	0	0	0	14.62	14.21	14.62
1626	-1.05	-145.9	2319	3614	3955	3980	237.2	-10.1	175	1634	0.25	2.38	0.00	0.000	5254	0.096	0.057	2230	2201	3967	3955	3979	0	0	0	0	0	0	14.30	14.26	14.39
1932	-0.93	-145.9	2230	2199	3956	3982	292.5	-17.8	186	1937	0.17	2.47	0.00	0.000	2436	0.298	0.085	2261	3612	3966	3955	3978	0	0	0	0	0	0	13.93	14.21	14.13
2082	-0.95	-145.9	2261	3615	3956	3978	313.0	-12.6	216	2087	0.00	2.40	0.00	0.000	1158	0.000	0.056	2259	2195	3966	3955	3978	0	0	0	0	0	0	14.42	14.31	14.45
2412	-0.93	-145.9	2267	2195	3953	3977	356.6	-13.0	232	2417	0.00	2.47	0.00	0.000	388	0.000	0.089	2252	3613	3966	3955	3977	0	0	0	0	0	0	14.64	14.25	14.66
2529	-0.96	-145.9	2252	3613	3957	3976	371.1	-12.1	255	2536	0.00	2.40	0.00	0.000	1158	0.000	0.056	2253	2194	3965	3955	3976	0	0	0	0	0	0	14.39	14.28	14.42
2833	-0.93	-145.9	2253	2194	3957	3974	411.6	-13.2	266	2837	0.00	2.50	0.00	0.000	388	0.000	0.088	2246	3620	3969	3963	3975	0	0	0	0	0	0	14.65	14.22	14.67
2977	-0.95	-145.9	2246	3621	3956	3976	430.4	-12.7	295	2984	0.00	2.40	0.00	0.000	1158	0.000	0.056	2247	2195	3965	3955	3975	0	0	0	0	0	0	14.32	14.21	14.35
3283	-0.93	-145.9	2247	2195	3957	3974	471.7	-13.5	306	3288	0.12	2.50	0.00	0.000	2436	0.289	0.086	2267	3615	3965	3955	3975	0	0	0	0	0	0	14.00	14.21	14.16
3356	end dive: TARGET_DEPTH_EXCEEDED
state	3356	begin apogee
3364	-0.13	0.0	2267	2106	3956	3975	480.4	-10.5	321	3599	1.00	0.00	231.15	1.401	10246	0.223	0.000	2528	2102	3360	3390	3330	0	0	0	0	0	0	13.84	13.45	12.69
3603	end apogee: CONTROL_FINISHED_OK
state	3603	begin climb
3606	0.57	145.9	2530	2104	3389	3325	492.9	0.0	329	3828	0.75	1.88	207.77	1.377	11012	0.067	0.075	2780	3506	2755	2806	2704	0	0	0	0	0	0	13.54	13.16	12.42
3958	0.13	145.9	2780	3506	2793	2707	475.5	17.4	357	3963	0.80	2.50	0.00	0.000	5254	0.353	0.059	2630	2099	2749	2791	2707	0	0	0	0	0	0	13.27	13.57	13.62
4269	0.05	176.4	2629	2099	2792	2705	447.2	8.6	369	4318	0.00	2.58	42.10	1.442	8868	0.000	0.083	2639	690	2637	2690	2585	0	0	0	0	0	0	14.31	13.82	13.07
4391	0.02	188.6	2639	691	2683	2578	436.1	9.4	393	4410	0.22	2.53	12.80	1.599	13478	0.250	0.079	2590	2105	2595	2657	2533	0	0	0	0	0	0	13.69	13.85	13.05
4722	0.10	249.8	2590	2106	2652	2514	411.7	7.2	409	4822	0.00	0.00	98.22	1.365	8358	0.000	0.000	2590	2105	2344	2408	2281	0	0	0	0	0	0	14.45	13.80	13.04
5110	0.23	308.4	2590	2106	2391	2261	383.1	7.3	422	5203	0.20	0.00	91.32	1.329	10406	0.102	0.000	2672	2105	2109	2168	2051	0	0	0	0	0	0	14.18	13.76	13.04
5500	0.20	308.4	2672	2106	2149	2034	332.6	13.4	435	5506	0.00	2.50	0.00	0.000	644	0.000	0.090	2672	691	2091	2149	2033	0	0	0	0	0	0	14.40	14.09	14.42
5571	0.22	308.4	2672	691	2146	2033	323.4	12.6	449	5576	0.00	2.47	0.00	0.000	1158	0.000	0.079	2672	2105	2088	2144	2033	0	0	0	0	0	0	14.21	14.11	14.26
5891	0.22	308.4	2673	2107	2145	2031	283.4	12.1	463	5896	0.00	2.47	0.00	0.000	516	0.000	0.088	2672	692	2087	2144	2031	0	0	0	0	0	0	14.56	14.12	14.57
5932	0.25	308.4	2672	694	2142	2032	278.6	11.5	471	5937	0.00	2.45	0.00	0.000	1158	0.000	0.079	2673	2105	2086	2142	2031	0	0	0	0	0	0	14.38	14.26	14.42
6253	0.25	308.4	2672	2105	2142	2032	241.9	11.0	485	6257	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	691	2086	2142	2030	0	0	0	0	0	0	14.64	14.25	14.64
6338	0.29	308.9	2673	692	2141	2031	233.4	10.0	502	6344	0.00	2.42	0.00	0.000	1190	0.000	0.078	2673	2100	2084	2139	2030	0	0	0	0	0	0	14.40	14.26	14.42
6643	0.31	325.6	2673	2102	2141	2032	203.9	9.2	513	6674	0.00	2.53	23.23	1.411	8740	0.000	0.086	2673	687	2030	2082	1979	0	0	0	0	0	0	14.62	14.19	13.38
6704	0.40	350.2	2673	686	2075	1978	198.4	8.9	525	6753	0.12	2.47	40.92	1.330	11430	0.140	0.079	2726	2106	1933	1980	1887	0	0	0	0	0	0	14.22	14.19	13.24
7064	0.35	350.2	2727	2106	1962	1879	155.2	11.7	547	7070	0.12	2.47	0.00	0.000	4740	0.242	0.083	2696	692	1919	1960	1879	0	0	0	0	0	0	14.04	14.15	14.20
7120	0.43	373.1	2699	692	1958	1879	149.8	8.9	558	7161	0.00	2.45	36.08	1.319	9382	0.000	0.076	2699	2103	1841	1874	1809	0	0	0	0	0	0	14.19	14.07	13.30
7489	0.49	400.1	2699	2104	1865	1794	116.8	8.8	581	7537	0.12	2.50	42.95	1.288	10916	0.132	0.084	2768	693	1730	1759	1701	0	0	0	0	0	0	14.20	13.85	13.35
7569	0.45	400.1	2769	693	1750	1699	107.3	12.9	597	7574	0.17	2.47	0.00	0.000	5254	0.236	0.080	2729	2098	1723	1749	1697	0	0	0	0	0	0	13.92	14.05	14.14
7880	0.51	422.1	2729	2100	1750	1689	77.2	9.0	625	7896	0.00	2.47	10.70	0.415	8612	0.000	0.080	2729	3515	1642	1676	1608	0	0	0	0	0	0	14.49	14.02	13.73
7957	0.61	447.8	2729	3516	1679	1619	70.2	8.8	640	7979	0.12	2.45	15.68	0.404	11430	0.125	0.067	2785	2101	1536	1572	1501	0	0	0	0	0	0	14.23	14.11	13.76
8284	0.66	525.5	2785	2102	1576	1506	43.8	6.4	675	8332	0.00	2.47	42.35	0.332	8484	0.000	0.076	2785	3513	1221	1283	1160	0	0	0	0	0	0	14.52	14.07	13.84
8367	0.74	552.2	2786	3514	1284	1166	37.6	8.8	691	8389	0.00	2.45	15.45	0.311	9382	0.000	0.067	2786	2096	1114	1181	1047	0	0	0	0	0	0	14.23	14.12	13.83
8687	0.98	657.8	2786	2096	1181	1052	15.5	5.1	725	8752	0.30	2.50	58.05	0.247	10916	0.087	0.088	2903	687	681	743	619	0	0	0	0	0	0	14.23	14.02	13.87
8835	end climb: SURFACE_DEPTH_REACHED
state	8835	begin surface coast
8855	end surface coast: CONTROL_FINISHED_OK
state	8855	begin surface