Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 405 * 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 405 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 1122.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 1122.0 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 23 VBD_MIN 500

DIVE 405 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 220917,170341,7418.5259,-15347.0322,16,0.8,18,19.2,0.6,111.8,11,9.5 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 1.37 MHEAD_RNG_PITCHd_Wd 186.7,689,-27.3,-10.000,-30.00,994

_SM_ANGLEo -77.7 D_GRID 480

GPS2 220917,171601,7418.4663,-15346.7598,34,1.0,34,19.2,0.0,0.0,7,6.2

Post-dive calculations and measurements:

FINISH 0.4,1.004061 _24V_AH 12.38,238.502

SM_CCo 8489,80.40,0.209,0,0,498,702.78 _10V_AH 12.28,0.000

SM_GC 1.45,8.43,0.17,80.40,0.085,0.109,0.209,202,2229,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.21,14.23,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 381 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323384

IRIDIUM_FIX 7418.45,-15347.43,220917,143110 DATA_FILE_SIZE 26706,744

TT8_MAMPS 0.038948,0.884569 CAP_FILE_SIZE 100558,0

HUMID 48.18 CFSIZE 2097872896,1974009856

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1447.7

XPDR_PINGS 12 CURRENT 0.056,118.93,1

CP_FREE 15894708224.000000 GPS 220917,194035,7417.744,-15348.196,19,0.8,21,19.2,0.0,0.0,10,8.2

PM_FREEKB_00 44622528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.75 nil 0 0 0.00

Roll_motor 80 2175 2158.14 nil 0 0 0.00

VBD_pump_during_apogee 751 1659 15431.11 nil 0 0 0.00

VBD_pump_during_surface 80 208 207.87 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 8505 15 1614.12

Iridium_during_xfer 405 172 864.14 NCP 8438 20 2089.25

Transponder_ping 3 420 15.60 PMAR 8439 9 1030.64

GUMSTIX_24V 0 0 0.00

GPS 37 22 10.46

TT8 0 0 0.00

LPSleep 5914 2 167.78

TT8_Active 782 13 134.21

TT8_Sampling 2235 33 917.87

TT8_CF8 389 38 185.05

TT8_Kalman 0 0 0.00

Analog_circuits 2100 10 257.92

GPS_charging 0 0 0.00

Compass 1067 7 91.76

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

51 end surface: CONTROL_FINISHED_OK

state 52 begin dive

55 -0.76 -64.8 199 2224 485 494 0.0 0.0 0 137 0.00 0.00 -80.28 0.000 16386 0.000 0.000 198 2224 1983 1920 2046 0 0 0 0 0 0 14.45 28.83 14.47

141 -0.81 -129.7 199 2226 1922 2047 3.2 -3.3 8 198 12.35 2.67 -40.20 0.000 18724 0.452 2.176 2298 3588 3896 3878 3915 0 0 0 0 0 0 13.55 13.04 13.99

419 -1.03 -129.7 2300 3588 3886 3915 69.7 -15.7 63 426 0.17 2.40 0.00 0.000 5254 0.106 0.060 2237 2195 3900 3886 3915 0 0 0 0 0 0 14.09 14.02 14.19

736 -1.11 -129.7 2238 2194 3887 3915 139.9 -20.9 83 743 0.00 2.50 0.00 0.000 388 0.000 0.085 2228 3597 3900 3886 3914 0 0 0 0 0 0 14.55 14.04 14.57

886 -1.28 -129.7 2229 3597 3887 3916 165.8 -16.3 112 892 0.20 2.40 0.00 0.000 5254 0.101 0.058 2154 2202 3899 3885 3913 0 0 0 0 0 0 14.12 14.02 14.19

1188 -1.26 -129.7 2154 2202 3887 3916 243.5 -25.0 123 1194 0.00 2.47 0.00 0.000 388 0.000 0.082 2143 3590 3900 3886 3915 0 0 0 0 0 0 14.54 13.87 14.56

1380 -1.29 -129.7 2144 3592 3888 3915 285.8 -20.6 161 1385 0.00 2.40 0.00 0.000 1158 0.000 0.057 2143 2195 3900 3886 3915 0 0 0 0 0 0 14.18 14.04 14.22

1700 -1.29 -129.7 2144 2194 3890 3915 353.6 -20.4 175 1706 0.00 2.50 0.00 0.000 260 0.000 0.084 2133 3593 3900 3886 3915 0 0 0 0 0 0 14.57 13.97 14.62

1867 -1.33 -129.7 2133 3595 3886 3916 386.6 -19.1 208 1871 0.00 2.40 0.00 0.000 1158 0.000 0.057 2133 2192 3900 3886 3915 0 0 0 0 0 0 14.19 14.04 14.21

2182 -1.33 -129.7 2132 2191 3886 3916 450.6 -20.1 221 2187 0.00 2.50 0.00 0.000 260 0.000 0.085 2127 3590 3900 3885 3915 0 0 0 0 0 0 14.57 13.95 14.59

2330 end dive: TARGET_DEPTH_EXCEEDED

state 2330 begin apogee

2339 -0.13 0.0 2128 2096 3885 3915 480.1 -18.8 251 2534 1.75 0.00 191.20 1.435 10246 0.290 0.000 2526 2095 3365 3373 3357 0 0 0 0 0 0 13.61 13.63 12.85

2538 end apogee: CONTROL_FINISHED_OK

state 2538 begin climb

2541 0.81 129.7 2527 2096 3369 3352 490.5 0.0 257 2862 0.95 2.70 183.62 1.384 10756 0.057 0.077 2866 688 2822 2855 2789 0 0 0 0 0 0 13.76 12.97 12.38

3070 0.45 129.7 2866 688 2854 2789 465.7 13.6 300 3075 0.68 2.47 0.00 0.000 5254 0.370 0.073 2735 2091 2823 2857 2789 0 0 0 0 0 0 13.51 14.04 14.01

3396 0.27 129.7 2735 2091 2854 2786 431.3 10.3 315 3402 0.28 2.47 0.00 0.000 4740 0.317 0.076 2686 688 2819 2852 2786 0 0 0 0 0 0 13.14 13.62 13.32

3515 0.22 147.2 2686 689 2854 2787 421.2 8.2 338 3545 0.15 2.47 20.83 1.525 13478 0.285 0.076 2658 2099 2760 2792 2728 0 0 0 0 0 0 13.71 13.99 13.24

3853 0.20 156.3 2658 2100 2791 2724 390.9 9.1 355 3872 0.00 2.53 11.77 1.659 8868 0.000 0.084 2664 688 2723 2755 2691 0 0 0 0 0 0 14.60 14.16 13.27

3882 0.21 167.7 2665 688 2754 2691 388.1 8.8 361 3902 0.00 2.45 15.50 1.565 9254 0.000 0.079 2664 2097 2681 2715 2648 0 0 0 0 0 0 14.26 14.14 13.21

4213 0.21 167.7 2665 2097 2713 2638 353.7 10.3 377 4214 0.00 0.00 0.00 0.000 6 0.000 0.000 2664 2098 2675 2712 2638 0 0 0 0 0 0 14.59 14.61 14.61

4513 0.21 169.1 2664 2099 2712 2639 323.6 9.9 387 4519 0.00 2.50 0.00 0.000 548 0.000 0.083 2672 688 2675 2712 2638 0 0 0 0 0 0 14.60 14.06 14.62

4535 0.21 172.4 2672 690 2710 2639 321.5 9.7 391 4546 0.00 2.47 3.55 1.546 9254 0.000 0.077 2672 2105 2664 2703 2626 0 0 0 0 0 0 14.26 14.13 13.09

4845 0.19 180.5 2673 2105 2706 2625 292.1 9.2 403 4865 0.00 2.58 15.60 1.563 8868 0.000 0.085 2672 682 2627 2667 2588 0 0 0 0 0 0 14.59 14.19 13.33

4926 0.23 194.8 2673 682 2667 2586 285.1 8.5 419 4952 0.00 2.47 21.73 1.474 9382 0.000 0.079 2672 2096 2571 2616 2527 0 0 0 0 0 0 14.20 14.11 13.26

5270 0.24 211.7 2673 2097 2612 2516 254.3 8.3 437 5299 0.00 2.55 24.88 1.437 8484 0.000 0.082 2672 3515 2499 2546 2452 0 0 0 0 0 0 14.57 14.12 13.29

5357 0.22 217.3 2672 3516 2538 2453 246.8 9.4 454 5369 0.00 2.45 4.20 1.604 9382 0.000 0.060 2680 2090 2482 2524 2440 0 0 0 0 0 0 14.26 14.13 13.21

5695 0.24 246.5 2680 2097 2521 2438 220.8 7.0 471 5748 0.00 0.00 52.40 1.337 8230 0.000 0.000 2679 2088 2362 2402 2322 0 0 0 0 0 0 14.58 14.01 13.24

6025 0.32 263.3 2680 2092 2391 2311 195.1 8.3 482 6057 0.00 2.47 25.42 1.388 8868 0.000 0.086 2685 692 2289 2328 2251 0 0 0 0 0 0 14.54 13.88 13.29

6083 0.43 288.8 2686 691 2326 2250 190.6 7.4 493 6132 0.10 2.47 42.75 1.295 11430 0.155 0.079 2735 2106 2185 2224 2147 0 0 0 0 0 0 14.12 14.07 13.19

6448 0.43 288.8 2735 2107 2220 2134 148.8 11.2 516 6453 0.00 2.50 0.00 0.000 516 0.000 0.083 2745 694 2175 2218 2133 0 0 0 0 0 0 14.54 14.09 14.55

6494 0.46 288.8 2745 691 2220 2135 143.8 10.9 525 6498 0.00 2.47 0.00 0.000 1158 0.000 0.078 2745 2102 2174 2216 2133 0 0 0 0 0 0 14.20 14.07 14.27

6809 0.46 292.3 2745 2104 2216 2131 111.0 9.6 538 6810 0.00 0.00 0.00 0.000 38 0.000 0.000 2745 2099 2173 2216 2130 0 0 0 0 0 0 14.56 14.58 14.58

7109 0.48 324.6 2745 2104 2216 2130 88.0 6.7 558 7131 0.00 2.58 17.52 0.469 8740 0.000 0.083 2751 692 2042 2081 2003 0 0 0 0 0 0 14.56 14.12 13.63

7234 0.57 346.9 2752 693 2080 2004 78.8 7.7 582 7251 0.00 2.47 12.65 0.435 9382 0.000 0.078 2751 2100 1952 1988 1916 0 0 0 0 0 0 14.23 14.10 13.66

7557 0.68 416.2 2752 2100 1987 1906 57.0 2.8 616 7600 0.12 2.55 36.25 0.371 10660 0.121 0.080 2805 3511 1665 1687 1644 0 0 0 0 0 0 14.19 14.05 13.64

7826 0.71 459.8 2805 3511 1687 1637 40.2 5.5 669 7853 0.00 2.45 22.50 0.319 9254 0.000 0.062 2814 2090 1488 1518 1458 0 0 0 0 0 0 14.00 13.88 13.73

8151 0.87 546.6 2814 2093 1519 1448 22.9 1.0 704 8204 0.15 2.50 44.95 0.275 10660 0.108 0.076 2875 3511 1134 1192 1076 0 0 0 0 0 0 14.21 13.94 13.73

8252 0.88 553.6 2876 3512 1192 1076 16.6 9.3 721 8263 0.00 2.47 3.88 0.269 9254 0.000 0.067 2877 2104 1106 1168 1045 0 0 0 0 0 0 14.12 13.99 13.66

8448 end climb: SURFACE_DEPTH_REACHED

state 8448 begin surface coast

8466 end surface coast: CONTROL_FINISHED_OK

state 8466 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	405	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	1122.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,170341,7418.5259,-15347.0322,16,0.8,18,19.2,0.6,111.8,11,9.5	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	1.37	MHEAD_RNG_PITCHd_Wd	186.7,689,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	220917,171601,7418.4663,-15346.7598,34,1.0,34,19.2,0.0,0.0,7,6.2

FINISH	0.4,1.004061	_24V_AH	12.38,238.502
SM_CCo	8489,80.40,0.209,0,0,498,702.78	_10V_AH	12.28,0.000
SM_GC	1.45,8.43,0.17,80.40,0.085,0.109,0.209,202,2229,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.21,14.23,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	381	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323384
IRIDIUM_FIX	7418.45,-15347.43,220917,143110	DATA_FILE_SIZE	26706,744
TT8_MAMPS	0.038948,0.884569	CAP_FILE_SIZE	100558,0
HUMID	48.18	CFSIZE	2097872896,1974009856
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1447.7
XPDR_PINGS	12	CURRENT	0.056,118.93,1
CP_FREE	15894708224.000000	GPS	220917,194035,7417.744,-15348.196,19,0.8,21,19.2,0.0,0.0,10,8.2
PM_FREEKB_00	44622528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.75	nil	0	0	0.00
Roll_motor	80	2175	2158.14	nil	0	0	0.00
VBD_pump_during_apogee	751	1659	15431.11	nil	0	0	0.00
VBD_pump_during_surface	80	208	207.87	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	8505	15	1614.12
Iridium_during_xfer	405	172	864.14	NCP	8438	20	2089.25
Transponder_ping	3	420	15.60	PMAR	8439	9	1030.64
GUMSTIX_24V	0	0	0.00
GPS	37	22	10.46
TT8	0	0	0.00
LPSleep	5914	2	167.78
TT8_Active	782	13	134.21
TT8_Sampling	2235	33	917.87
TT8_CF8	389	38	185.05
TT8_Kalman	0	0	0.00
Analog_circuits	2100	10	257.92
GPS_charging	0	0	0.00
Compass	1067	7	91.76
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
51	end surface: CONTROL_FINISHED_OK
state	52	begin dive
55	-0.76	-64.8	199	2224	485	494	0.0	0.0	0	137	0.00	0.00	-80.28	0.000	16386	0.000	0.000	198	2224	1983	1920	2046	0	0	0	0	0	0	14.45	28.83	14.47
141	-0.81	-129.7	199	2226	1922	2047	3.2	-3.3	8	198	12.35	2.67	-40.20	0.000	18724	0.452	2.176	2298	3588	3896	3878	3915	0	0	0	0	0	0	13.55	13.04	13.99
419	-1.03	-129.7	2300	3588	3886	3915	69.7	-15.7	63	426	0.17	2.40	0.00	0.000	5254	0.106	0.060	2237	2195	3900	3886	3915	0	0	0	0	0	0	14.09	14.02	14.19
736	-1.11	-129.7	2238	2194	3887	3915	139.9	-20.9	83	743	0.00	2.50	0.00	0.000	388	0.000	0.085	2228	3597	3900	3886	3914	0	0	0	0	0	0	14.55	14.04	14.57
886	-1.28	-129.7	2229	3597	3887	3916	165.8	-16.3	112	892	0.20	2.40	0.00	0.000	5254	0.101	0.058	2154	2202	3899	3885	3913	0	0	0	0	0	0	14.12	14.02	14.19
1188	-1.26	-129.7	2154	2202	3887	3916	243.5	-25.0	123	1194	0.00	2.47	0.00	0.000	388	0.000	0.082	2143	3590	3900	3886	3915	0	0	0	0	0	0	14.54	13.87	14.56
1380	-1.29	-129.7	2144	3592	3888	3915	285.8	-20.6	161	1385	0.00	2.40	0.00	0.000	1158	0.000	0.057	2143	2195	3900	3886	3915	0	0	0	0	0	0	14.18	14.04	14.22
1700	-1.29	-129.7	2144	2194	3890	3915	353.6	-20.4	175	1706	0.00	2.50	0.00	0.000	260	0.000	0.084	2133	3593	3900	3886	3915	0	0	0	0	0	0	14.57	13.97	14.62
1867	-1.33	-129.7	2133	3595	3886	3916	386.6	-19.1	208	1871	0.00	2.40	0.00	0.000	1158	0.000	0.057	2133	2192	3900	3886	3915	0	0	0	0	0	0	14.19	14.04	14.21
2182	-1.33	-129.7	2132	2191	3886	3916	450.6	-20.1	221	2187	0.00	2.50	0.00	0.000	260	0.000	0.085	2127	3590	3900	3885	3915	0	0	0	0	0	0	14.57	13.95	14.59
2330	end dive: TARGET_DEPTH_EXCEEDED
state	2330	begin apogee
2339	-0.13	0.0	2128	2096	3885	3915	480.1	-18.8	251	2534	1.75	0.00	191.20	1.435	10246	0.290	0.000	2526	2095	3365	3373	3357	0	0	0	0	0	0	13.61	13.63	12.85
2538	end apogee: CONTROL_FINISHED_OK
state	2538	begin climb
2541	0.81	129.7	2527	2096	3369	3352	490.5	0.0	257	2862	0.95	2.70	183.62	1.384	10756	0.057	0.077	2866	688	2822	2855	2789	0	0	0	0	0	0	13.76	12.97	12.38
3070	0.45	129.7	2866	688	2854	2789	465.7	13.6	300	3075	0.68	2.47	0.00	0.000	5254	0.370	0.073	2735	2091	2823	2857	2789	0	0	0	0	0	0	13.51	14.04	14.01
3396	0.27	129.7	2735	2091	2854	2786	431.3	10.3	315	3402	0.28	2.47	0.00	0.000	4740	0.317	0.076	2686	688	2819	2852	2786	0	0	0	0	0	0	13.14	13.62	13.32
3515	0.22	147.2	2686	689	2854	2787	421.2	8.2	338	3545	0.15	2.47	20.83	1.525	13478	0.285	0.076	2658	2099	2760	2792	2728	0	0	0	0	0	0	13.71	13.99	13.24
3853	0.20	156.3	2658	2100	2791	2724	390.9	9.1	355	3872	0.00	2.53	11.77	1.659	8868	0.000	0.084	2664	688	2723	2755	2691	0	0	0	0	0	0	14.60	14.16	13.27
3882	0.21	167.7	2665	688	2754	2691	388.1	8.8	361	3902	0.00	2.45	15.50	1.565	9254	0.000	0.079	2664	2097	2681	2715	2648	0	0	0	0	0	0	14.26	14.14	13.21
4213	0.21	167.7	2665	2097	2713	2638	353.7	10.3	377	4214	0.00	0.00	0.00	0.000	6	0.000	0.000	2664	2098	2675	2712	2638	0	0	0	0	0	0	14.59	14.61	14.61
4513	0.21	169.1	2664	2099	2712	2639	323.6	9.9	387	4519	0.00	2.50	0.00	0.000	548	0.000	0.083	2672	688	2675	2712	2638	0	0	0	0	0	0	14.60	14.06	14.62
4535	0.21	172.4	2672	690	2710	2639	321.5	9.7	391	4546	0.00	2.47	3.55	1.546	9254	0.000	0.077	2672	2105	2664	2703	2626	0	0	0	0	0	0	14.26	14.13	13.09
4845	0.19	180.5	2673	2105	2706	2625	292.1	9.2	403	4865	0.00	2.58	15.60	1.563	8868	0.000	0.085	2672	682	2627	2667	2588	0	0	0	0	0	0	14.59	14.19	13.33
4926	0.23	194.8	2673	682	2667	2586	285.1	8.5	419	4952	0.00	2.47	21.73	1.474	9382	0.000	0.079	2672	2096	2571	2616	2527	0	0	0	0	0	0	14.20	14.11	13.26
5270	0.24	211.7	2673	2097	2612	2516	254.3	8.3	437	5299	0.00	2.55	24.88	1.437	8484	0.000	0.082	2672	3515	2499	2546	2452	0	0	0	0	0	0	14.57	14.12	13.29
5357	0.22	217.3	2672	3516	2538	2453	246.8	9.4	454	5369	0.00	2.45	4.20	1.604	9382	0.000	0.060	2680	2090	2482	2524	2440	0	0	0	0	0	0	14.26	14.13	13.21
5695	0.24	246.5	2680	2097	2521	2438	220.8	7.0	471	5748	0.00	0.00	52.40	1.337	8230	0.000	0.000	2679	2088	2362	2402	2322	0	0	0	0	0	0	14.58	14.01	13.24
6025	0.32	263.3	2680	2092	2391	2311	195.1	8.3	482	6057	0.00	2.47	25.42	1.388	8868	0.000	0.086	2685	692	2289	2328	2251	0	0	0	0	0	0	14.54	13.88	13.29
6083	0.43	288.8	2686	691	2326	2250	190.6	7.4	493	6132	0.10	2.47	42.75	1.295	11430	0.155	0.079	2735	2106	2185	2224	2147	0	0	0	0	0	0	14.12	14.07	13.19
6448	0.43	288.8	2735	2107	2220	2134	148.8	11.2	516	6453	0.00	2.50	0.00	0.000	516	0.000	0.083	2745	694	2175	2218	2133	0	0	0	0	0	0	14.54	14.09	14.55
6494	0.46	288.8	2745	691	2220	2135	143.8	10.9	525	6498	0.00	2.47	0.00	0.000	1158	0.000	0.078	2745	2102	2174	2216	2133	0	0	0	0	0	0	14.20	14.07	14.27
6809	0.46	292.3	2745	2104	2216	2131	111.0	9.6	538	6810	0.00	0.00	0.00	0.000	38	0.000	0.000	2745	2099	2173	2216	2130	0	0	0	0	0	0	14.56	14.58	14.58
7109	0.48	324.6	2745	2104	2216	2130	88.0	6.7	558	7131	0.00	2.58	17.52	0.469	8740	0.000	0.083	2751	692	2042	2081	2003	0	0	0	0	0	0	14.56	14.12	13.63
7234	0.57	346.9	2752	693	2080	2004	78.8	7.7	582	7251	0.00	2.47	12.65	0.435	9382	0.000	0.078	2751	2100	1952	1988	1916	0	0	0	0	0	0	14.23	14.10	13.66
7557	0.68	416.2	2752	2100	1987	1906	57.0	2.8	616	7600	0.12	2.55	36.25	0.371	10660	0.121	0.080	2805	3511	1665	1687	1644	0	0	0	0	0	0	14.19	14.05	13.64
7826	0.71	459.8	2805	3511	1687	1637	40.2	5.5	669	7853	0.00	2.45	22.50	0.319	9254	0.000	0.062	2814	2090	1488	1518	1458	0	0	0	0	0	0	14.00	13.88	13.73
8151	0.87	546.6	2814	2093	1519	1448	22.9	1.0	704	8204	0.15	2.50	44.95	0.275	10660	0.108	0.076	2875	3511	1134	1192	1076	0	0	0	0	0	0	14.21	13.94	13.73
8252	0.88	553.6	2876	3512	1192	1076	16.6	9.3	721	8263	0.00	2.47	3.88	0.269	9254	0.000	0.067	2877	2104	1106	1168	1045	0	0	0	0	0	0	14.12	13.99	13.66
8448	end climb: SURFACE_DEPTH_REACHED
state	8448	begin surface coast
8466	end surface coast: CONTROL_FINISHED_OK
state	8466	begin surface