Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 403 * 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 403 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 1117.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 54 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 1117.0 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 25 VBD_MIN 500

DIVE 403 NOCOMM_ACTION 161 R_STBD_OVSHOOT 54 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 220917,113725,7417.6064,-15344.3301,15,0.8,19,19.3,0.5,96.2,10,8.9 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 1.39 MHEAD_RNG_PITCHd_Wd 271.5,1675,-24.2,-10.000,-27.12,1256

_SM_ANGLEo -77.8 D_GRID 480

GPS2 220917,114830,7417.6152,-15344.1787,20,0.7,23,19.3,0.0,0.0,11,9.5

Post-dive calculations and measurements:

FINISH 0.2,1.020979 _24V_AH 12.21,237.679

SM_CCo 9088,80.45,0.207,0,0,498,702.78 _10V_AH 12.09,0.000

SM_GC 1.31,8.43,2.30,80.45,0.083,0.054,0.207,203,2187,498,-7.38,0.57,702.78,0,0,0,0,0,0,14.22,14.16,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323708

IRIDIUM_FIX 7417.50,-15358.06,220917,090552 DATA_FILE_SIZE 26709,792

TT8_MAMPS 0.039697,0.926513 CAP_FILE_SIZE 102339,0

HUMID 47.75 CFSIZE 2097872896,1974534144

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

TCM_TEMP 13.20 SOUNDSPEED 1448.6

XPDR_PINGS 11 CURRENT 0.038,124.39,1

CP_FREE 0.000000 GPS 220917,142321,7418.028,-15346.271,41,0.8,41,19.2,0.0,0.0,10,9.7

PM_FREEKB_00 44677504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 145.98 nil 0 0 0.00

Roll_motor 85 2177 2276.88 nil 0 0 0.00

VBD_pump_during_apogee 1086 1349 17893.92 nil 0 0 0.00

VBD_pump_during_surface 80 207 203.64 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 9009 14 1582.02

Iridium_during_xfer 354 173 752.40 NCP 9064 20 2213.43

Transponder_ping 2 420 14.10 PMAR 9035 9 1094.02

GUMSTIX_24V 0 0 0.00

GPS 25 22 6.82

TT8 0 0 0.00

LPSleep 6127 2 171.13

TT8_Active 1070 13 180.78

TT8_Sampling 2266 33 916.38

TT8_CF8 382 38 178.80

TT8_Kalman 0 0 0.00

Analog_circuits 2284 10 276.25

GPS_charging 0 0 0.00

Compass 1134 7 96.04

RAFOS 2217 48 1286.57

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

53 end surface: CONTROL_FINISHED_OK

state 53 begin dive

57 -0.70 -82.0 192 2234 523 478 0.0 0.0 0 139 0.00 0.00 -80.38 0.000 16386 0.000 0.000 191 2233 1990 1921 2060 0 0 0 0 0 0 14.48 28.83 14.48

143 -0.74 -145.9 192 2234 1922 2063 3.1 -3.3 8 206 12.45 2.88 -41.65 0.000 18980 0.449 2.177 2334 800 3963 3945 3982 0 0 0 0 0 0 13.60 12.59 14.03

249 -0.88 -145.9 2333 796 3951 3982 33.4 -20.9 28 255 0.12 2.47 0.00 0.000 5254 0.131 0.089 2277 2175 3966 3950 3982 0 0 0 0 0 0 14.16 14.09 14.28

580 -0.96 -145.9 2278 2169 3952 3982 106.2 -18.0 60 585 0.00 2.58 0.00 0.000 388 0.000 0.087 2267 3611 3966 3951 3982 0 0 0 0 0 0 14.57 14.08 14.57

797 -1.17 -145.9 2266 3614 3952 3979 137.8 -13.1 100 802 0.20 2.42 0.00 0.000 5254 0.102 0.059 2188 2202 3966 3951 3982 0 0 0 0 0 0 14.09 14.04 14.19

1108 -1.17 -145.9 2188 2201 3953 3982 207.8 -22.2 112 1113 0.00 2.53 0.00 0.000 260 0.000 0.083 2176 3614 3965 3949 3982 0 0 0 0 0 0 14.40 13.97 14.42

1241 -1.21 -145.9 2178 3616 3952 3983 234.6 -19.4 138 1245 0.00 2.45 0.00 0.000 1158 0.000 0.058 2177 2200 3972 3959 3986 0 0 0 0 0 0 14.12 14.00 14.16

1561 -1.21 -145.9 2177 2200 3952 3983 298.0 -18.7 152 1566 0.00 2.53 0.00 0.000 260 0.000 0.084 2167 3607 3966 3951 3982 0 0 0 0 0 0 14.38 13.93 14.39

1689 -1.28 -145.9 2168 3608 3952 3983 319.9 -16.8 177 1694 0.00 2.47 0.00 0.000 1158 0.000 0.057 2168 2198 3966 3951 3982 0 0 0 0 0 0 14.09 13.96 14.13

2015 -1.31 -145.9 2168 2197 3953 3982 377.6 -17.3 192 2020 0.00 2.55 0.00 0.000 388 0.000 0.085 2155 3606 3966 3951 3982 0 0 0 0 0 0 14.37 13.87 14.38

2148 -1.38 -145.9 2158 3608 3951 3983 399.3 -16.1 218 2153 0.00 2.45 0.00 0.000 1158 0.000 0.057 2158 2192 3966 3950 3982 0 0 0 0 0 0 14.07 13.94 14.12

2468 -1.41 -145.9 2158 2193 3953 3980 455.9 -17.5 232 2473 0.00 2.58 0.00 0.000 388 0.000 0.085 2149 3607 3966 3951 3982 0 0 0 0 0 0 14.36 13.87 14.38

2601 -1.46 -145.9 2150 3608 3951 3983 478.3 -16.9 258 2606 0.12 2.45 0.00 0.000 5254 0.137 0.056 2103 2198 3966 3950 3982 0 0 0 0 0 0 13.89 13.87 14.02

2609 end dive: TARGET_DEPTH_EXCEEDED

state 2609 begin apogee

2616 -0.13 0.0 2104 2073 3952 3983 480.4 -16.7 260 3072 1.90 0.00 451.30 1.175 10246 0.299 0.000 2530 2071 3369 3378 3360 0 0 0 0 0 0 13.54 13.24 12.55

3123 end apogee: CONTROL_FINISHED_OK

state 3123 begin climb

3126 0.74 145.9 2530 2071 3371 3343 507.0 0.0 275 3351 0.90 2.78 213.20 1.310 10500 0.056 0.073 2832 3502 2759 2783 2736 0 0 0 0 0 0 13.47 13.01 12.21

3576 0.30 145.9 2833 3506 2767 2716 481.3 18.2 326 3582 0.82 2.42 0.00 0.000 5254 0.363 0.055 2683 2119 2740 2766 2715 0 0 0 0 0 0 13.33 13.84 13.78

3893 0.16 145.9 2684 2119 2767 2714 445.3 10.9 339 3898 0.17 2.47 0.00 0.000 4484 0.301 0.076 2643 3514 2739 2766 2713 0 0 0 0 0 0 13.71 14.03 13.90

4123 0.06 145.9 2644 3516 2767 2713 420.9 10.4 385 4128 0.22 2.42 0.00 0.000 5254 0.294 0.060 2604 2101 2739 2766 2712 0 0 0 0 0 0 13.73 14.12 14.09

4434 0.11 179.2 2604 2101 2768 2712 397.5 7.3 397 4496 0.00 2.55 52.00 1.298 8612 0.000 0.081 2603 3510 2627 2663 2592 0 0 0 0 0 0 14.59 14.02 13.23

4544 0.14 180.1 2601 3510 2657 2584 388.2 9.9 418 4549 0.00 2.42 0.00 0.000 1190 0.000 0.061 2604 2100 2619 2655 2583 0 0 0 0 0 0 14.22 14.11 14.26

4860 0.23 200.8 2604 2099 2656 2579 361.2 8.3 431 4897 0.15 2.58 31.42 1.349 10916 0.109 0.087 2680 682 2539 2580 2498 0 0 0 0 0 0 14.26 14.09 13.28

4907 0.18 200.8 2677 683 2572 2494 356.0 10.7 435 4913 0.17 2.47 0.00 0.000 5254 0.267 0.078 2644 2098 2530 2570 2490 0 0 0 0 0 0 13.92 14.12 14.19

5224 0.18 200.8 2645 2099 2570 2478 321.4 10.6 448 5224 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2099 2524 2570 2478 0 0 0 0 0 0 14.57 14.59 14.59

5523 0.18 203.2 2645 2099 2570 2477 291.5 9.8 458 5528 0.00 2.47 0.00 0.000 548 0.000 0.085 2651 691 2523 2570 2476 0 0 0 0 0 0 14.60 14.12 14.62

5574 0.23 212.7 2651 690 2571 2477 286.7 9.2 468 5586 0.00 2.47 3.65 1.170 9382 0.000 0.078 2650 2106 2496 2544 2449 0 0 0 0 0 0 14.23 14.09 13.19

5884 0.24 231.3 2651 2106 2563 2460 259.1 8.5 480 5930 0.00 2.58 40.90 1.301 8740 0.000 0.086 2651 691 2418 2464 2373 0 0 0 0 0 0 14.60 14.09 13.29

5978 0.33 250.1 2651 691 2452 2366 251.2 8.5 498 6013 0.12 2.47 27.95 1.304 11430 0.124 0.079 2703 2100 2343 2383 2304 0 0 0 0 0 0 14.16 14.09 13.20

6338 0.29 250.1 2703 2102 2368 2284 212.5 10.1 520 6344 0.00 2.50 0.00 0.000 644 0.000 0.084 2709 690 2325 2367 2284 0 0 0 0 0 0 14.57 14.07 14.59

6375 0.29 256.3 2710 689 2366 2285 209.0 9.5 527 6380 0.15 2.47 0.00 0.000 5158 0.256 0.077 2679 2109 2325 2366 2284 0 0 0 0 0 0 13.91 14.14 14.17

6701 0.31 284.2 2679 2109 2367 2281 183.0 7.7 542 6769 0.00 0.00 66.85 1.213 8742 0.000 0.000 2679 2109 2207 2248 2166 0 0 0 0 0 0 14.60 13.97 13.24

7061 0.39 308.9 2679 2109 2236 2145 153.4 8.0 559 7101 0.00 0.00 39.35 1.241 8358 0.000 0.000 2678 2109 2104 2148 2061 0 0 0 0 0 0 14.55 14.04 13.28

7391 0.51 335.0 2679 2110 2133 2041 127.1 7.9 570 7440 0.17 2.60 41.05 1.228 10916 0.103 0.087 2766 689 1989 2031 1948 0 0 0 0 0 0 14.24 14.05 13.27

7473 0.48 335.0 2767 689 2021 1948 117.8 13.1 586 7478 0.00 2.47 0.00 0.000 1158 0.000 0.077 2766 2101 1983 2019 1947 0 0 0 0 0 0 14.25 14.12 14.28

7787 0.43 335.0 2767 2103 2019 1937 81.0 10.2 608 7793 0.17 2.53 0.00 0.000 4740 0.287 0.083 2732 684 1977 2018 1936 0 0 0 0 0 0 13.76 14.05 13.96

7923 0.54 373.7 2734 684 2018 1936 70.2 6.8 635 7946 0.00 2.50 18.42 0.395 9382 0.000 0.079 2740 2101 1841 1870 1813 0 0 0 0 0 0 14.22 14.10 13.72

8252 0.68 461.7 2735 2101 1880 1813 53.1 2.8 670 8305 0.17 2.58 47.10 0.352 10916 0.097 0.086 2814 685 1484 1521 1447 0 0 0 0 0 0 14.22 14.12 13.74

8516 0.77 499.0 2814 685 1522 1448 33.3 6.9 722 8542 0.00 2.53 20.77 0.291 9382 0.000 0.077 2814 2115 1328 1375 1282 0 0 0 0 0 0 14.04 13.92 13.78

8848 0.90 556.7 2814 2115 1380 1292 16.2 5.3 758 8886 0.15 2.53 32.03 0.249 10660 0.109 0.078 2885 3513 1092 1151 1033 0 0 0 0 0 0 14.09 13.94 13.81

8998 end climb: SURFACE_DEPTH_REACHED

state 8998 begin surface coast

9018 end surface coast: CONTROL_FINISHED_OK

state 9019 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	403	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	1117.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	54	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,113725,7417.6064,-15344.3301,15,0.8,19,19.3,0.5,96.2,10,8.9	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	1.39	MHEAD_RNG_PITCHd_Wd	271.5,1675,-24.2,-10.000,-27.12,1256
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	220917,114830,7417.6152,-15344.1787,20,0.7,23,19.3,0.0,0.0,11,9.5

FINISH	0.2,1.020979	_24V_AH	12.21,237.679
SM_CCo	9088,80.45,0.207,0,0,498,702.78	_10V_AH	12.09,0.000
SM_GC	1.31,8.43,2.30,80.45,0.083,0.054,0.207,203,2187,498,-7.38,0.57,702.78,0,0,0,0,0,0,14.22,14.16,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323708
IRIDIUM_FIX	7417.50,-15358.06,220917,090552	DATA_FILE_SIZE	26709,792
TT8_MAMPS	0.039697,0.926513	CAP_FILE_SIZE	102339,0
HUMID	47.75	CFSIZE	2097872896,1974534144
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.6
XPDR_PINGS	11	CURRENT	0.038,124.39,1
CP_FREE	0.000000	GPS	220917,142321,7418.028,-15346.271,41,0.8,41,19.2,0.0,0.0,10,9.7
PM_FREEKB_00	44677504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	145.98	nil	0	0	0.00
Roll_motor	85	2177	2276.88	nil	0	0	0.00
VBD_pump_during_apogee	1086	1349	17893.92	nil	0	0	0.00
VBD_pump_during_surface	80	207	203.64	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	9009	14	1582.02
Iridium_during_xfer	354	173	752.40	NCP	9064	20	2213.43
Transponder_ping	2	420	14.10	PMAR	9035	9	1094.02
GUMSTIX_24V	0	0	0.00
GPS	25	22	6.82
TT8	0	0	0.00
LPSleep	6127	2	171.13
TT8_Active	1070	13	180.78
TT8_Sampling	2266	33	916.38
TT8_CF8	382	38	178.80
TT8_Kalman	0	0	0.00
Analog_circuits	2284	10	276.25
GPS_charging	0	0	0.00
Compass	1134	7	96.04
RAFOS	2217	48	1286.57
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
53	end surface: CONTROL_FINISHED_OK
state	53	begin dive
57	-0.70	-82.0	192	2234	523	478	0.0	0.0	0	139	0.00	0.00	-80.38	0.000	16386	0.000	0.000	191	2233	1990	1921	2060	0	0	0	0	0	0	14.48	28.83	14.48
143	-0.74	-145.9	192	2234	1922	2063	3.1	-3.3	8	206	12.45	2.88	-41.65	0.000	18980	0.449	2.177	2334	800	3963	3945	3982	0	0	0	0	0	0	13.60	12.59	14.03
249	-0.88	-145.9	2333	796	3951	3982	33.4	-20.9	28	255	0.12	2.47	0.00	0.000	5254	0.131	0.089	2277	2175	3966	3950	3982	0	0	0	0	0	0	14.16	14.09	14.28
580	-0.96	-145.9	2278	2169	3952	3982	106.2	-18.0	60	585	0.00	2.58	0.00	0.000	388	0.000	0.087	2267	3611	3966	3951	3982	0	0	0	0	0	0	14.57	14.08	14.57
797	-1.17	-145.9	2266	3614	3952	3979	137.8	-13.1	100	802	0.20	2.42	0.00	0.000	5254	0.102	0.059	2188	2202	3966	3951	3982	0	0	0	0	0	0	14.09	14.04	14.19
1108	-1.17	-145.9	2188	2201	3953	3982	207.8	-22.2	112	1113	0.00	2.53	0.00	0.000	260	0.000	0.083	2176	3614	3965	3949	3982	0	0	0	0	0	0	14.40	13.97	14.42
1241	-1.21	-145.9	2178	3616	3952	3983	234.6	-19.4	138	1245	0.00	2.45	0.00	0.000	1158	0.000	0.058	2177	2200	3972	3959	3986	0	0	0	0	0	0	14.12	14.00	14.16
1561	-1.21	-145.9	2177	2200	3952	3983	298.0	-18.7	152	1566	0.00	2.53	0.00	0.000	260	0.000	0.084	2167	3607	3966	3951	3982	0	0	0	0	0	0	14.38	13.93	14.39
1689	-1.28	-145.9	2168	3608	3952	3983	319.9	-16.8	177	1694	0.00	2.47	0.00	0.000	1158	0.000	0.057	2168	2198	3966	3951	3982	0	0	0	0	0	0	14.09	13.96	14.13
2015	-1.31	-145.9	2168	2197	3953	3982	377.6	-17.3	192	2020	0.00	2.55	0.00	0.000	388	0.000	0.085	2155	3606	3966	3951	3982	0	0	0	0	0	0	14.37	13.87	14.38
2148	-1.38	-145.9	2158	3608	3951	3983	399.3	-16.1	218	2153	0.00	2.45	0.00	0.000	1158	0.000	0.057	2158	2192	3966	3950	3982	0	0	0	0	0	0	14.07	13.94	14.12
2468	-1.41	-145.9	2158	2193	3953	3980	455.9	-17.5	232	2473	0.00	2.58	0.00	0.000	388	0.000	0.085	2149	3607	3966	3951	3982	0	0	0	0	0	0	14.36	13.87	14.38
2601	-1.46	-145.9	2150	3608	3951	3983	478.3	-16.9	258	2606	0.12	2.45	0.00	0.000	5254	0.137	0.056	2103	2198	3966	3950	3982	0	0	0	0	0	0	13.89	13.87	14.02
2609	end dive: TARGET_DEPTH_EXCEEDED
state	2609	begin apogee
2616	-0.13	0.0	2104	2073	3952	3983	480.4	-16.7	260	3072	1.90	0.00	451.30	1.175	10246	0.299	0.000	2530	2071	3369	3378	3360	0	0	0	0	0	0	13.54	13.24	12.55
3123	end apogee: CONTROL_FINISHED_OK
state	3123	begin climb
3126	0.74	145.9	2530	2071	3371	3343	507.0	0.0	275	3351	0.90	2.78	213.20	1.310	10500	0.056	0.073	2832	3502	2759	2783	2736	0	0	0	0	0	0	13.47	13.01	12.21
3576	0.30	145.9	2833	3506	2767	2716	481.3	18.2	326	3582	0.82	2.42	0.00	0.000	5254	0.363	0.055	2683	2119	2740	2766	2715	0	0	0	0	0	0	13.33	13.84	13.78
3893	0.16	145.9	2684	2119	2767	2714	445.3	10.9	339	3898	0.17	2.47	0.00	0.000	4484	0.301	0.076	2643	3514	2739	2766	2713	0	0	0	0	0	0	13.71	14.03	13.90
4123	0.06	145.9	2644	3516	2767	2713	420.9	10.4	385	4128	0.22	2.42	0.00	0.000	5254	0.294	0.060	2604	2101	2739	2766	2712	0	0	0	0	0	0	13.73	14.12	14.09
4434	0.11	179.2	2604	2101	2768	2712	397.5	7.3	397	4496	0.00	2.55	52.00	1.298	8612	0.000	0.081	2603	3510	2627	2663	2592	0	0	0	0	0	0	14.59	14.02	13.23
4544	0.14	180.1	2601	3510	2657	2584	388.2	9.9	418	4549	0.00	2.42	0.00	0.000	1190	0.000	0.061	2604	2100	2619	2655	2583	0	0	0	0	0	0	14.22	14.11	14.26
4860	0.23	200.8	2604	2099	2656	2579	361.2	8.3	431	4897	0.15	2.58	31.42	1.349	10916	0.109	0.087	2680	682	2539	2580	2498	0	0	0	0	0	0	14.26	14.09	13.28
4907	0.18	200.8	2677	683	2572	2494	356.0	10.7	435	4913	0.17	2.47	0.00	0.000	5254	0.267	0.078	2644	2098	2530	2570	2490	0	0	0	0	0	0	13.92	14.12	14.19
5224	0.18	200.8	2645	2099	2570	2478	321.4	10.6	448	5224	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2099	2524	2570	2478	0	0	0	0	0	0	14.57	14.59	14.59
5523	0.18	203.2	2645	2099	2570	2477	291.5	9.8	458	5528	0.00	2.47	0.00	0.000	548	0.000	0.085	2651	691	2523	2570	2476	0	0	0	0	0	0	14.60	14.12	14.62
5574	0.23	212.7	2651	690	2571	2477	286.7	9.2	468	5586	0.00	2.47	3.65	1.170	9382	0.000	0.078	2650	2106	2496	2544	2449	0	0	0	0	0	0	14.23	14.09	13.19
5884	0.24	231.3	2651	2106	2563	2460	259.1	8.5	480	5930	0.00	2.58	40.90	1.301	8740	0.000	0.086	2651	691	2418	2464	2373	0	0	0	0	0	0	14.60	14.09	13.29
5978	0.33	250.1	2651	691	2452	2366	251.2	8.5	498	6013	0.12	2.47	27.95	1.304	11430	0.124	0.079	2703	2100	2343	2383	2304	0	0	0	0	0	0	14.16	14.09	13.20
6338	0.29	250.1	2703	2102	2368	2284	212.5	10.1	520	6344	0.00	2.50	0.00	0.000	644	0.000	0.084	2709	690	2325	2367	2284	0	0	0	0	0	0	14.57	14.07	14.59
6375	0.29	256.3	2710	689	2366	2285	209.0	9.5	527	6380	0.15	2.47	0.00	0.000	5158	0.256	0.077	2679	2109	2325	2366	2284	0	0	0	0	0	0	13.91	14.14	14.17
6701	0.31	284.2	2679	2109	2367	2281	183.0	7.7	542	6769	0.00	0.00	66.85	1.213	8742	0.000	0.000	2679	2109	2207	2248	2166	0	0	0	0	0	0	14.60	13.97	13.24
7061	0.39	308.9	2679	2109	2236	2145	153.4	8.0	559	7101	0.00	0.00	39.35	1.241	8358	0.000	0.000	2678	2109	2104	2148	2061	0	0	0	0	0	0	14.55	14.04	13.28
7391	0.51	335.0	2679	2110	2133	2041	127.1	7.9	570	7440	0.17	2.60	41.05	1.228	10916	0.103	0.087	2766	689	1989	2031	1948	0	0	0	0	0	0	14.24	14.05	13.27
7473	0.48	335.0	2767	689	2021	1948	117.8	13.1	586	7478	0.00	2.47	0.00	0.000	1158	0.000	0.077	2766	2101	1983	2019	1947	0	0	0	0	0	0	14.25	14.12	14.28
7787	0.43	335.0	2767	2103	2019	1937	81.0	10.2	608	7793	0.17	2.53	0.00	0.000	4740	0.287	0.083	2732	684	1977	2018	1936	0	0	0	0	0	0	13.76	14.05	13.96
7923	0.54	373.7	2734	684	2018	1936	70.2	6.8	635	7946	0.00	2.50	18.42	0.395	9382	0.000	0.079	2740	2101	1841	1870	1813	0	0	0	0	0	0	14.22	14.10	13.72
8252	0.68	461.7	2735	2101	1880	1813	53.1	2.8	670	8305	0.17	2.58	47.10	0.352	10916	0.097	0.086	2814	685	1484	1521	1447	0	0	0	0	0	0	14.22	14.12	13.74
8516	0.77	499.0	2814	685	1522	1448	33.3	6.9	722	8542	0.00	2.53	20.77	0.291	9382	0.000	0.077	2814	2115	1328	1375	1282	0	0	0	0	0	0	14.04	13.92	13.78
8848	0.90	556.7	2814	2115	1380	1292	16.2	5.3	758	8886	0.15	2.53	32.03	0.249	10660	0.109	0.078	2885	3513	1092	1151	1033	0	0	0	0	0	0	14.09	13.94	13.81
8998	end climb: SURFACE_DEPTH_REACHED
state	8998	begin surface coast
9018	end surface coast: CONTROL_FINISHED_OK
state	9019	begin surface