Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 404 * 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 404 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 1119.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 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 1119.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 29 VBD_MIN 500

DIVE 404 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 220917,142321,7418.0283,-15346.2705,41,0.8,41,19.2,0.0,0.0,10,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.37 MHEAD_RNG_PITCHd_Wd 283.0,680,-27.3,-10.000,-30.00,994

_SM_ANGLEo -78.1 D_GRID 480

GPS2 220917,143815,7417.9077,-15345.8447,6,0.8,6,19.2,0.0,0.0,10,0.0

Post-dive calculations and measurements:

FINISH 0.5,1.020925 _24V_AH 12.36,238.117

SM_CCo 8525,97.30,0.210,0,0,498,702.78 _10V_AH 12.27,0.000

SM_GC 1.51,8.52,0.17,97.30,0.089,0.112,0.210,202,2221,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.21,14.26,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 178 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323416

IRIDIUM_FIX 7417.50,-15358.06,220917,142826 DATA_FILE_SIZE 26728,735

TT8_MAMPS 0.038948,0.939995 CAP_FILE_SIZE 101619,0

HUMID 46.45 CFSIZE 2097872896,1974272000

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 12 CURRENT 0.049,115.70,1

CP_FREE 15895199744.000000 GPS 220917,170341,7418.526,-15347.032,16,0.8,18,19.2,0.6,111.8,11,9.5

PM_FREEKB_00 44648256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 147.81 nil 0 0 0.00

Roll_motor 75 2173 2036.20 nil 0 0 0.00

VBD_pump_during_apogee 801 1546 15312.33 nil 0 0 0.00

VBD_pump_during_surface 97 210 253.00 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 8542 15 1596.25

Iridium_during_xfer 528 178 1163.90 NCP 8494 20 2099.72

Transponder_ping 3 420 15.57 PMAR 8475 9 1038.08

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.80

TT8 0 0 0.00

LPSleep 6109 2 173.17

TT8_Active 927 13 158.96

TT8_Sampling 2105 33 863.70

TT8_CF8 389 38 184.75

TT8_Kalman 0 0 0.00

Analog_circuits 2149 10 263.78

GPS_charging 0 0 0.00

Compass 1054 7 90.57

RAFOS 2205 48 1298.66

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

56 -0.76 -64.8 198 2185 494 495 0.0 0.0 0 139 0.00 0.00 -81.12 0.000 16386 0.000 0.000 197 2186 2003 1944 2063 0 0 0 0 0 0 14.45 28.83 14.47

143 -0.81 -129.2 196 2186 1946 2066 3.2 -3.3 8 203 12.35 2.78 -40.00 0.000 18980 0.452 2.173 2308 800 3897 3878 3916 0 0 0 0 0 0 13.62 12.58 14.08

219 -0.75 -129.2 2308 798 3880 3917 27.3 -35.9 21 224 0.15 2.47 0.00 0.000 3206 0.330 0.082 2329 2201 3898 3880 3916 0 0 0 0 0 0 13.76 14.08 14.13

530 -0.96 -129.2 2330 2200 3885 3916 86.3 -14.5 53 535 0.17 2.50 0.00 0.000 4484 0.112 0.086 2246 3607 3899 3883 3916 0 0 0 0 0 0 14.14 13.97 14.18

721 -1.13 -129.2 2247 3609 3884 3913 120.6 -16.8 91 726 0.00 2.40 0.00 0.000 1158 0.000 0.057 2246 2205 3899 3883 3915 0 0 0 0 0 0 14.06 13.95 14.11

1042 -1.28 -129.2 2248 2204 3885 3915 178.4 -16.9 105 1048 0.22 2.53 0.00 0.000 4484 0.105 0.083 2148 3608 3900 3884 3916 0 0 0 0 0 0 14.14 13.99 14.17

1128 -1.28 -129.2 2148 3609 3885 3917 199.0 -24.3 122 1134 0.00 2.42 0.00 0.000 1030 0.000 0.060 2148 2202 3899 3884 3915 0 0 0 0 0 0 14.19 14.04 14.20

1433 -1.28 -129.2 2149 2200 3884 3917 275.2 -23.4 133 1438 0.00 2.55 0.00 0.000 260 0.000 0.083 2140 3614 3900 3884 3916 0 0 0 0 0 0 14.61 13.97 14.62

1609 -1.31 -129.2 2140 3617 3885 3917 312.0 -19.8 168 1615 0.00 2.45 0.00 0.000 1158 0.000 0.058 2140 2189 3900 3884 3916 0 0 0 0 0 0 14.09 14.01 14.14

1914 -1.31 -129.2 2141 2188 3885 3916 374.8 -20.1 179 1920 0.00 2.55 0.00 0.000 260 0.000 0.083 2129 3610 3901 3886 3916 0 0 0 0 0 0 14.59 14.00 14.59

2110 -1.36 -129.2 2128 3611 3882 3916 413.6 -19.4 218 2115 0.00 2.42 0.00 0.000 1158 0.000 0.057 2129 2197 3899 3882 3916 0 0 0 0 0 0 14.12 14.04 14.14

2426 -1.36 -129.2 2129 2197 3883 3916 477.7 -20.2 231 2431 0.00 2.53 0.00 0.000 260 0.000 0.084 2119 3613 3898 3882 3915 0 0 0 0 0 0 14.60 13.98 14.63

2439 end dive: TARGET_DEPTH_EXCEEDED

state 2439 begin apogee

2448 -0.13 0.0 2120 2101 3883 3910 481.0 -20.1 234 2705 1.83 0.00 252.50 1.327 10246 0.303 0.000 2527 2100 3366 3375 3357 0 0 0 0 0 0 13.59 13.54 12.78

2708 end apogee: CONTROL_FINISHED_OK

state 2708 begin climb

2711 0.81 129.2 2528 2100 3371 3350 495.2 0.0 242 2907 0.98 2.70 180.02 1.380 10756 0.058 0.078 2869 690 2831 2872 2790 0 0 0 0 0 0 13.71 13.17 12.36

3132 0.45 129.2 2870 690 2856 2790 484.7 13.5 313 3139 0.70 2.55 0.00 0.000 5254 0.363 0.073 2735 2107 2823 2856 2790 0 0 0 0 0 0 13.37 13.83 13.82

3438 0.26 129.2 2735 2109 2857 2789 452.6 10.2 324 3443 0.28 2.53 0.00 0.000 4740 0.311 0.078 2683 688 2822 2856 2788 0 0 0 0 0 0 13.65 14.01 13.87

3566 0.23 153.4 2683 688 2857 2788 442.2 7.5 349 3600 0.00 2.47 29.98 1.492 9382 0.000 0.076 2686 2093 2742 2775 2709 0 0 0 0 0 0 13.32 13.27 13.21

3923 0.15 153.4 2683 2093 2769 2698 405.8 10.3 370 3925 0.22 0.00 0.00 0.000 4230 0.298 0.000 2635 2093 2732 2768 2697 0 0 0 0 0 0 13.76 14.23 14.14

4221 0.19 169.9 2636 2094 2768 2696 380.4 8.3 380 4252 0.00 2.47 23.60 1.517 8868 0.000 0.083 2644 690 2667 2703 2632 0 0 0 0 0 0 14.59 14.11 13.29

4268 0.25 185.0 2644 691 2702 2632 376.4 8.4 389 4297 0.00 2.47 22.45 1.492 9382 0.000 0.078 2644 2108 2606 2649 2564 0 0 0 0 0 0 14.29 14.17 13.17

4615 0.29 185.0 2645 2108 2649 2554 340.9 10.3 408 4620 0.00 2.53 0.00 0.000 644 0.000 0.086 2644 688 2600 2648 2553 0 0 0 0 0 0 14.57 14.07 14.59

4641 0.36 186.8 2645 688 2649 2553 338.1 9.8 413 4647 0.15 2.47 0.00 0.000 3238 0.106 0.079 2703 2107 2603 2647 2559 0 0 0 0 0 0 14.21 14.10 14.28

4948 0.28 186.8 2704 2104 2648 2552 300.7 12.1 424 4950 0.12 0.00 0.00 0.000 4230 0.269 0.000 2678 2103 2599 2647 2552 0 0 0 0 0 0 13.87 14.17 14.11

5246 0.29 202.3 2679 2104 2648 2553 272.0 8.4 434 5277 0.00 2.53 23.58 1.463 8740 0.000 0.085 2685 689 2538 2586 2490 0 0 0 0 0 0 14.42 14.02 13.24

5346 0.32 206.4 2686 690 2585 2489 263.2 9.6 453 5355 0.00 2.50 3.50 1.466 9382 0.000 0.078 2686 2102 2523 2572 2474 0 0 0 0 0 0 14.20 14.08 12.95

5671 0.33 230.9 2686 2105 2576 2475 235.9 7.5 468 5715 0.00 0.00 42.95 1.375 8230 0.000 0.000 2686 2102 2423 2471 2376 0 0 0 0 0 0 14.42 13.96 13.19

6001 0.38 254.6 2686 2102 2464 2367 210.2 7.5 479 6045 0.00 2.53 38.25 1.339 8868 0.000 0.087 2686 689 2326 2364 2288 0 0 0 0 0 0 14.40 14.00 13.21

6066 0.47 277.5 2686 690 2362 2287 205.3 7.6 487 6111 0.15 2.50 37.70 1.313 11430 0.114 0.078 2750 2105 2229 2271 2187 0 0 0 0 0 0 14.07 14.01 13.13

6424 0.42 277.5 2746 2104 2265 2178 162.8 11.9 508 6426 0.15 0.00 0.00 0.000 4230 0.275 0.000 2722 2105 2221 2265 2177 0 0 0 0 0 0 13.81 14.16 14.14

6722 0.46 286.5 2721 2106 2263 2175 134.4 9.1 518 6737 0.00 2.53 8.95 1.546 8868 0.000 0.086 2726 684 2194 2238 2151 0 0 0 0 0 0 14.40 14.10 13.29

6862 0.54 304.7 2732 683 2233 2151 122.2 8.1 546 6893 0.00 2.53 24.85 1.361 9382 0.000 0.078 2726 2109 2122 2163 2081 0 0 0 0 0 0 14.16 14.04 13.24

7194 0.62 324.9 2727 2109 2158 2070 93.4 7.9 569 7206 0.17 0.00 10.45 0.482 10406 0.099 0.000 2794 2109 2039 2079 1999 0 0 0 0 0 0 14.14 13.97 13.54

7506 0.59 371.0 2794 2109 2078 1998 65.8 5.2 600 7535 0.00 2.55 24.62 0.399 8868 0.000 0.087 2795 690 1850 1877 1824 0 0 0 0 0 0 14.36 14.09 13.66

7576 0.64 387.4 2796 686 1875 1824 61.0 8.3 611 7593 0.00 2.47 9.20 0.381 9382 0.000 0.076 2795 2103 1784 1804 1764 0 0 0 0 0 0 14.20 14.07 13.69

7898 0.72 472.1 2795 2104 1802 1759 44.9 1.2 645 7951 0.00 2.55 43.38 0.334 8868 0.000 0.086 2795 685 1440 1477 1403 0 0 0 0 0 0 14.54 13.95 13.76

8167 0.95 521.0 2795 686 1472 1395 28.9 4.9 698 8200 0.28 2.50 25.33 0.285 11430 0.077 0.077 2896 2101 1240 1291 1190 0 0 0 0 0 0 14.10 13.98 13.67

8482 end climb: SURFACE_DEPTH_REACHED

state 8482 begin surface coast

8503 end surface coast: CONTROL_FINISHED_OK

state 8503 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	404	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	1119.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,142321,7418.0283,-15346.2705,41,0.8,41,19.2,0.0,0.0,10,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.37	MHEAD_RNG_PITCHd_Wd	283.0,680,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	220917,143815,7417.9077,-15345.8447,6,0.8,6,19.2,0.0,0.0,10,0.0

FINISH	0.5,1.020925	_24V_AH	12.36,238.117
SM_CCo	8525,97.30,0.210,0,0,498,702.78	_10V_AH	12.27,0.000
SM_GC	1.51,8.52,0.17,97.30,0.089,0.112,0.210,202,2221,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.21,14.26,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	178	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323416
IRIDIUM_FIX	7417.50,-15358.06,220917,142826	DATA_FILE_SIZE	26728,735
TT8_MAMPS	0.038948,0.939995	CAP_FILE_SIZE	101619,0
HUMID	46.45	CFSIZE	2097872896,1974272000
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	12	CURRENT	0.049,115.70,1
CP_FREE	15895199744.000000	GPS	220917,170341,7418.526,-15347.032,16,0.8,18,19.2,0.6,111.8,11,9.5
PM_FREEKB_00	44648256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	147.81	nil	0	0	0.00
Roll_motor	75	2173	2036.20	nil	0	0	0.00
VBD_pump_during_apogee	801	1546	15312.33	nil	0	0	0.00
VBD_pump_during_surface	97	210	253.00	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	8542	15	1596.25
Iridium_during_xfer	528	178	1163.90	NCP	8494	20	2099.72
Transponder_ping	3	420	15.57	PMAR	8475	9	1038.08
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.80
TT8	0	0	0.00
LPSleep	6109	2	173.17
TT8_Active	927	13	158.96
TT8_Sampling	2105	33	863.70
TT8_CF8	389	38	184.75
TT8_Kalman	0	0	0.00
Analog_circuits	2149	10	263.78
GPS_charging	0	0	0.00
Compass	1054	7	90.57
RAFOS	2205	48	1298.66
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
56	-0.76	-64.8	198	2185	494	495	0.0	0.0	0	139	0.00	0.00	-81.12	0.000	16386	0.000	0.000	197	2186	2003	1944	2063	0	0	0	0	0	0	14.45	28.83	14.47
143	-0.81	-129.2	196	2186	1946	2066	3.2	-3.3	8	203	12.35	2.78	-40.00	0.000	18980	0.452	2.173	2308	800	3897	3878	3916	0	0	0	0	0	0	13.62	12.58	14.08
219	-0.75	-129.2	2308	798	3880	3917	27.3	-35.9	21	224	0.15	2.47	0.00	0.000	3206	0.330	0.082	2329	2201	3898	3880	3916	0	0	0	0	0	0	13.76	14.08	14.13
530	-0.96	-129.2	2330	2200	3885	3916	86.3	-14.5	53	535	0.17	2.50	0.00	0.000	4484	0.112	0.086	2246	3607	3899	3883	3916	0	0	0	0	0	0	14.14	13.97	14.18
721	-1.13	-129.2	2247	3609	3884	3913	120.6	-16.8	91	726	0.00	2.40	0.00	0.000	1158	0.000	0.057	2246	2205	3899	3883	3915	0	0	0	0	0	0	14.06	13.95	14.11
1042	-1.28	-129.2	2248	2204	3885	3915	178.4	-16.9	105	1048	0.22	2.53	0.00	0.000	4484	0.105	0.083	2148	3608	3900	3884	3916	0	0	0	0	0	0	14.14	13.99	14.17
1128	-1.28	-129.2	2148	3609	3885	3917	199.0	-24.3	122	1134	0.00	2.42	0.00	0.000	1030	0.000	0.060	2148	2202	3899	3884	3915	0	0	0	0	0	0	14.19	14.04	14.20
1433	-1.28	-129.2	2149	2200	3884	3917	275.2	-23.4	133	1438	0.00	2.55	0.00	0.000	260	0.000	0.083	2140	3614	3900	3884	3916	0	0	0	0	0	0	14.61	13.97	14.62
1609	-1.31	-129.2	2140	3617	3885	3917	312.0	-19.8	168	1615	0.00	2.45	0.00	0.000	1158	0.000	0.058	2140	2189	3900	3884	3916	0	0	0	0	0	0	14.09	14.01	14.14
1914	-1.31	-129.2	2141	2188	3885	3916	374.8	-20.1	179	1920	0.00	2.55	0.00	0.000	260	0.000	0.083	2129	3610	3901	3886	3916	0	0	0	0	0	0	14.59	14.00	14.59
2110	-1.36	-129.2	2128	3611	3882	3916	413.6	-19.4	218	2115	0.00	2.42	0.00	0.000	1158	0.000	0.057	2129	2197	3899	3882	3916	0	0	0	0	0	0	14.12	14.04	14.14
2426	-1.36	-129.2	2129	2197	3883	3916	477.7	-20.2	231	2431	0.00	2.53	0.00	0.000	260	0.000	0.084	2119	3613	3898	3882	3915	0	0	0	0	0	0	14.60	13.98	14.63
2439	end dive: TARGET_DEPTH_EXCEEDED
state	2439	begin apogee
2448	-0.13	0.0	2120	2101	3883	3910	481.0	-20.1	234	2705	1.83	0.00	252.50	1.327	10246	0.303	0.000	2527	2100	3366	3375	3357	0	0	0	0	0	0	13.59	13.54	12.78
2708	end apogee: CONTROL_FINISHED_OK
state	2708	begin climb
2711	0.81	129.2	2528	2100	3371	3350	495.2	0.0	242	2907	0.98	2.70	180.02	1.380	10756	0.058	0.078	2869	690	2831	2872	2790	0	0	0	0	0	0	13.71	13.17	12.36
3132	0.45	129.2	2870	690	2856	2790	484.7	13.5	313	3139	0.70	2.55	0.00	0.000	5254	0.363	0.073	2735	2107	2823	2856	2790	0	0	0	0	0	0	13.37	13.83	13.82
3438	0.26	129.2	2735	2109	2857	2789	452.6	10.2	324	3443	0.28	2.53	0.00	0.000	4740	0.311	0.078	2683	688	2822	2856	2788	0	0	0	0	0	0	13.65	14.01	13.87
3566	0.23	153.4	2683	688	2857	2788	442.2	7.5	349	3600	0.00	2.47	29.98	1.492	9382	0.000	0.076	2686	2093	2742	2775	2709	0	0	0	0	0	0	13.32	13.27	13.21
3923	0.15	153.4	2683	2093	2769	2698	405.8	10.3	370	3925	0.22	0.00	0.00	0.000	4230	0.298	0.000	2635	2093	2732	2768	2697	0	0	0	0	0	0	13.76	14.23	14.14
4221	0.19	169.9	2636	2094	2768	2696	380.4	8.3	380	4252	0.00	2.47	23.60	1.517	8868	0.000	0.083	2644	690	2667	2703	2632	0	0	0	0	0	0	14.59	14.11	13.29
4268	0.25	185.0	2644	691	2702	2632	376.4	8.4	389	4297	0.00	2.47	22.45	1.492	9382	0.000	0.078	2644	2108	2606	2649	2564	0	0	0	0	0	0	14.29	14.17	13.17
4615	0.29	185.0	2645	2108	2649	2554	340.9	10.3	408	4620	0.00	2.53	0.00	0.000	644	0.000	0.086	2644	688	2600	2648	2553	0	0	0	0	0	0	14.57	14.07	14.59
4641	0.36	186.8	2645	688	2649	2553	338.1	9.8	413	4647	0.15	2.47	0.00	0.000	3238	0.106	0.079	2703	2107	2603	2647	2559	0	0	0	0	0	0	14.21	14.10	14.28
4948	0.28	186.8	2704	2104	2648	2552	300.7	12.1	424	4950	0.12	0.00	0.00	0.000	4230	0.269	0.000	2678	2103	2599	2647	2552	0	0	0	0	0	0	13.87	14.17	14.11
5246	0.29	202.3	2679	2104	2648	2553	272.0	8.4	434	5277	0.00	2.53	23.58	1.463	8740	0.000	0.085	2685	689	2538	2586	2490	0	0	0	0	0	0	14.42	14.02	13.24
5346	0.32	206.4	2686	690	2585	2489	263.2	9.6	453	5355	0.00	2.50	3.50	1.466	9382	0.000	0.078	2686	2102	2523	2572	2474	0	0	0	0	0	0	14.20	14.08	12.95
5671	0.33	230.9	2686	2105	2576	2475	235.9	7.5	468	5715	0.00	0.00	42.95	1.375	8230	0.000	0.000	2686	2102	2423	2471	2376	0	0	0	0	0	0	14.42	13.96	13.19
6001	0.38	254.6	2686	2102	2464	2367	210.2	7.5	479	6045	0.00	2.53	38.25	1.339	8868	0.000	0.087	2686	689	2326	2364	2288	0	0	0	0	0	0	14.40	14.00	13.21
6066	0.47	277.5	2686	690	2362	2287	205.3	7.6	487	6111	0.15	2.50	37.70	1.313	11430	0.114	0.078	2750	2105	2229	2271	2187	0	0	0	0	0	0	14.07	14.01	13.13
6424	0.42	277.5	2746	2104	2265	2178	162.8	11.9	508	6426	0.15	0.00	0.00	0.000	4230	0.275	0.000	2722	2105	2221	2265	2177	0	0	0	0	0	0	13.81	14.16	14.14
6722	0.46	286.5	2721	2106	2263	2175	134.4	9.1	518	6737	0.00	2.53	8.95	1.546	8868	0.000	0.086	2726	684	2194	2238	2151	0	0	0	0	0	0	14.40	14.10	13.29
6862	0.54	304.7	2732	683	2233	2151	122.2	8.1	546	6893	0.00	2.53	24.85	1.361	9382	0.000	0.078	2726	2109	2122	2163	2081	0	0	0	0	0	0	14.16	14.04	13.24
7194	0.62	324.9	2727	2109	2158	2070	93.4	7.9	569	7206	0.17	0.00	10.45	0.482	10406	0.099	0.000	2794	2109	2039	2079	1999	0	0	0	0	0	0	14.14	13.97	13.54
7506	0.59	371.0	2794	2109	2078	1998	65.8	5.2	600	7535	0.00	2.55	24.62	0.399	8868	0.000	0.087	2795	690	1850	1877	1824	0	0	0	0	0	0	14.36	14.09	13.66
7576	0.64	387.4	2796	686	1875	1824	61.0	8.3	611	7593	0.00	2.47	9.20	0.381	9382	0.000	0.076	2795	2103	1784	1804	1764	0	0	0	0	0	0	14.20	14.07	13.69
7898	0.72	472.1	2795	2104	1802	1759	44.9	1.2	645	7951	0.00	2.55	43.38	0.334	8868	0.000	0.086	2795	685	1440	1477	1403	0	0	0	0	0	0	14.54	13.95	13.76
8167	0.95	521.0	2795	686	1472	1395	28.9	4.9	698	8200	0.28	2.50	25.33	0.285	11430	0.077	0.077	2896	2101	1240	1291	1190	0	0	0	0	0	0	14.10	13.98	13.67
8482	end climb: SURFACE_DEPTH_REACHED
state	8482	begin surface coast
8503	end surface coast: CONTROL_FINISHED_OK
state	8503	begin surface