Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 407 * 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 407 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 1132.0

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 24 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 1132.0 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 407 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 220917,221703,7418.3340,-15346.2246,34,0.7,34,19.2,0.0,0.0,11,9.8 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 1.36 MHEAD_RNG_PITCHd_Wd 213.5,651,-27.3,-10.000,-30.00,994

_SM_ANGLEo -76.6 D_GRID 480

GPS2 220917,222903,7418.3271,-15346.0098,6,0.8,9,19.2,0.0,0.0,11,9.4

Post-dive calculations and measurements:

FINISH 0.3,1.020917 _24V_AH 12.42,239.335

SM_CCo 8715,70.43,0.203,0,0,499,703.28 _10V_AH 12.31,0.000

SM_GC 1.20,8.30,0.17,70.43,0.073,0.108,0.203,197,2234,499,-7.39,-0.62,703.28,0,0,0,0,0,0,14.22,14.24,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 157 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7417.50,-15358.06,220917,194549 DATA_FILE_SIZE 23375,707

TT8_MAMPS 0.040446,1.37741 CAP_FILE_SIZE 99959,0

HUMID 47.12 CFSIZE 2097872896,1973420032

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1447.8

XPDR_PINGS 14 CURRENT 0.040,84.79,1

CP_FREE 0.000000 GPS 230917,005715,7418.025,-15348.378,17,0.7,23,19.2,0.3,33.4,12,9.6

PM_FREEKB_00 44560448

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 146.49 nil 0 0 0.00

Roll_motor 70 107 94.45 nil 0 0 0.00

VBD_pump_during_apogee 776 1650 15913.52 nil 0 0 0.00

VBD_pump_during_surface 70 203 177.99 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 8684 15 1656.01

Iridium_during_xfer 411 176 902.89 NCP 8671 20 2153.88

Transponder_ping 3 420 18.26 PMAR 8664 9 1065.09

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.60

TT8 0 0 0.00

LPSleep 6143 2 174.71

TT8_Active 802 13 138.04

TT8_Sampling 2184 33 899.25

TT8_CF8 387 38 184.48

TT8_Kalman 0 0 0.00

Analog_circuits 2048 10 252.14

GPS_charging 0 0 0.00

Compass 1015 7 87.48

RAFOS 2160 48 1276.30

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

54 end surface: CONTROL_FINISHED_OK

state 54 begin dive

57 -0.76 -64.8 189 2202 493 494 0.0 0.0 0 140 0.00 0.00 -81.05 0.000 16386 0.000 0.000 186 2202 2007 1943 2072 0 0 0 0 0 0 14.47 28.83 14.47

144 -0.81 -127.2 188 2203 1945 2074 3.2 -3.6 8 199 12.55 0.00 -37.75 0.000 19238 0.457 0.000 2309 2201 3888 3868 3908 1 0 0 0 0 0 13.37 13.10 14.09

499 -0.98 -127.2 2309 2203 3873 3909 91.2 -16.7 47 505 0.12 2.53 0.00 0.000 4484 0.142 0.083 2244 3616 3890 3873 3908 0 0 0 0 0 0 14.05 14.07 14.09

623 -1.13 -127.2 2244 3618 3874 3909 113.7 -17.5 71 629 0.00 2.47 0.00 0.000 1158 0.000 0.058 2243 2191 3890 3873 3908 0 0 0 0 0 0 14.20 14.08 14.21

955 -1.26 -127.2 2243 2190 3873 3909 175.6 -17.6 87 961 0.20 2.55 0.00 0.000 4484 0.110 0.082 2155 3613 3890 3873 3908 0 0 0 0 0 0 13.95 14.02 14.00

1096 -1.28 -127.2 2155 3614 3874 3908 209.2 -23.9 115 1102 0.00 2.42 0.00 0.000 1158 0.000 0.061 2154 2204 3890 3873 3908 0 0 0 0 0 0 14.14 14.00 14.19

1408 -1.28 -127.2 2155 2202 3874 3908 283.3 -22.4 127 1414 0.00 2.53 0.00 0.000 260 0.000 0.083 2144 3614 3890 3873 3908 0 0 0 0 0 0 14.57 14.00 14.61

1584 -1.33 -127.2 2144 3615 3878 3908 319.6 -19.6 162 1591 0.00 2.45 0.00 0.000 1158 0.000 0.056 2144 2196 3890 3873 3908 0 0 0 0 0 0 14.12 13.99 14.17

1889 -1.33 -127.2 2144 2195 3874 3908 381.7 -20.0 173 1894 0.00 2.53 0.00 0.000 260 0.000 0.084 2134 3613 3889 3872 3907 0 0 0 0 0 0 14.59 13.96 14.61

2040 -1.38 -127.2 2134 3613 3873 3908 410.5 -18.5 203 2045 0.00 2.42 0.00 0.000 1158 0.000 0.056 2134 2201 3889 3872 3907 0 0 0 0 0 0 14.16 14.04 14.21

2371 -1.38 -127.2 2134 2199 3873 3906 476.4 -19.9 219 2377 0.00 2.53 0.00 0.000 260 0.000 0.084 2127 3609 3889 3872 3906 0 0 0 0 0 0 14.57 13.94 14.59

2390 end dive: TARGET_DEPTH_EXCEEDED

state 2390 begin apogee

2399 -0.13 0.0 2128 2097 3873 3906 480.7 -20.9 223 2596 1.77 0.00 193.15 1.431 10246 0.296 0.000 2527 2095 3365 3374 3357 0 0 0 0 0 0 13.60 13.64 12.86

2600 end apogee: CONTROL_FINISHED_OK

state 2600 begin climb

2603 0.81 127.2 2528 2096 3367 3350 491.4 0.0 229 2873 0.95 2.67 180.10 1.380 10500 0.057 0.069 2858 3507 2825 2856 2795 0 0 0 0 0 0 13.76 13.01 12.42

3101 0.38 127.2 2858 3508 2853 2796 466.2 14.6 276 3108 0.82 2.45 0.00 0.000 5254 0.379 0.056 2710 2095 2824 2853 2795 0 0 0 0 0 0 13.50 14.00 13.95

3406 0.23 130.0 2710 2092 2854 2795 435.6 9.7 287 3412 0.22 2.50 0.00 0.000 4516 0.308 0.074 2661 3511 2823 2853 2794 0 0 0 0 0 0 13.62 13.97 13.83

3525 0.12 138.6 2661 3512 2853 2794 424.8 9.1 310 3537 0.22 2.42 4.25 1.571 13478 0.324 0.058 2625 2094 2800 2830 2770 0 0 0 0 0 0 13.62 14.07 13.23

3865 0.17 168.2 2625 2094 2846 2777 400.7 6.9 327 3923 0.00 0.00 54.33 1.427 8358 0.000 0.000 2625 2094 2676 2710 2642 0 0 0 0 0 0 14.58 13.97 13.19

4223 0.25 177.5 2625 2095 2704 2629 369.3 9.0 339 4229 0.12 0.00 4.40 1.597 10406 0.112 0.000 2682 2093 2642 2681 2604 0 0 0 0 0 0 14.28 14.14 13.21

4523 0.21 177.5 2683 2094 2693 2608 335.3 11.3 349 4529 0.12 2.55 1.45 0.243 12932 0.296 0.087 2663 690 2641 2683 2600 0 0 0 0 0 0 13.87 14.10 13.81

4565 0.24 179.5 2663 691 2690 2607 331.1 9.8 357 4574 0.00 2.47 4.22 1.614 9382 0.000 0.079 2663 2107 2635 2677 2593 0 0 0 0 0 0 14.29 14.16 13.28

4885 0.25 183.6 2663 2107 2685 2596 299.7 9.6 371 4896 0.00 0.00 9.90 1.651 8230 0.000 0.000 2663 2107 2618 2662 2574 0 0 0 0 0 0 14.62 14.16 13.34

5185 0.26 196.2 2664 2107 2656 2567 272.0 8.7 381 5204 0.00 0.00 18.23 1.512 8230 0.000 0.000 2662 2106 2566 2610 2522 0 0 0 0 0 0 14.61 14.11 13.31

5487 0.31 222.7 2663 2107 2607 2512 248.1 7.3 391 5534 0.00 2.53 41.28 1.375 8868 0.000 0.086 2671 693 2453 2497 2410 0 0 0 0 0 0 14.45 14.00 13.21

5555 0.39 253.8 2672 693 2494 2411 243.2 6.8 405 5611 0.12 2.47 49.72 1.317 11430 0.130 0.079 2721 2099 2329 2367 2292 0 0 0 0 0 0 14.12 14.05 13.10

5937 0.39 253.8 2721 2100 2360 2279 201.3 10.7 431 5943 0.00 2.53 0.00 0.000 516 0.000 0.083 2728 682 2318 2359 2278 0 0 0 0 0 0 14.42 14.03 14.41

5988 0.39 253.8 2729 682 2354 2278 196.1 10.1 441 5993 0.00 2.50 0.00 0.000 1030 0.000 0.077 2728 2098 2315 2358 2273 0 0 0 0 0 0 14.09 13.96 14.13

6299 0.39 262.2 2728 2096 2358 2276 166.3 9.1 453 6306 0.00 0.00 6.05 1.627 8230 0.000 0.000 2729 2099 2300 2340 2260 0 0 0 0 0 0 14.40 14.09 13.29

6599 0.41 277.4 2728 2100 2338 2255 140.2 8.4 463 6634 0.00 2.55 27.95 1.388 8740 0.000 0.085 2734 694 2230 2268 2192 0 0 0 0 0 0 14.42 14.04 13.27

6640 0.42 296.1 2734 695 2267 2193 136.8 8.1 471 6675 0.00 2.50 30.60 1.314 9254 0.000 0.079 2734 2115 2160 2196 2124 0 0 0 0 0 0 14.19 14.07 13.17

6993 0.45 304.4 2735 2115 2190 2103 103.4 9.1 491 7003 0.00 2.55 3.53 1.354 8868 0.000 0.084 2743 697 2123 2165 2082 0 0 0 0 0 0 14.38 14.07 13.09

7071 0.53 322.4 2743 698 2166 2084 96.6 8.1 506 7088 0.00 2.47 10.88 0.490 9382 0.000 0.077 2743 2100 2049 2088 2011 0 0 0 0 0 0 14.14 14.02 13.56

7384 0.59 349.6 2743 2102 2088 2007 70.3 7.2 539 7406 0.00 2.53 14.73 0.412 8612 0.000 0.083 2740 3513 1939 1979 1900 0 0 0 0 0 0 14.38 14.03 13.64

7499 0.66 374.3 2743 3513 1975 1900 61.2 7.4 561 7521 0.15 2.45 13.95 0.382 11430 0.099 0.059 2808 2093 1837 1861 1813 0 0 0 0 0 0 14.07 13.94 13.62

7817 0.72 460.2 2808 2092 1858 1809 50.5 1.1 595 7868 0.00 0.00 44.90 0.350 8230 0.000 0.000 2808 2097 1484 1519 1450 0 0 0 0 0 0 14.33 13.91 13.67

8167 0.85 493.6 2809 2092 1521 1440 24.7 6.5 630 8189 0.12 2.58 17.33 0.275 10916 0.121 0.086 2877 688 1350 1394 1307 0 0 0 0 0 0 14.14 14.02 13.74

8415 0.96 578.3 2877 688 1389 1303 18.1 1.2 679 8465 0.00 2.50 45.20 0.258 9382 0.000 0.076 2876 2103 1007 1072 942 0 0 0 0 0 0 14.14 14.00 13.80

8637 end climb: SURFACE_DEPTH_REACHED

state 8637 begin surface coast

8648 end surface coast: CONTROL_FINISHED_OK

state 8648 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	407	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	1132.0
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	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220917,221703,7418.3340,-15346.2246,34,0.7,34,19.2,0.0,0.0,11,9.8	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	1.36	MHEAD_RNG_PITCHd_Wd	213.5,651,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	220917,222903,7418.3271,-15346.0098,6,0.8,9,19.2,0.0,0.0,11,9.4

FINISH	0.3,1.020917	_24V_AH	12.42,239.335
SM_CCo	8715,70.43,0.203,0,0,499,703.28	_10V_AH	12.31,0.000
SM_GC	1.20,8.30,0.17,70.43,0.073,0.108,0.203,197,2234,499,-7.39,-0.62,703.28,0,0,0,0,0,0,14.22,14.24,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	157	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323416
IRIDIUM_FIX	7417.50,-15358.06,220917,194549	DATA_FILE_SIZE	23375,707
TT8_MAMPS	0.040446,1.37741	CAP_FILE_SIZE	99959,0
HUMID	47.12	CFSIZE	2097872896,1973420032
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1447.8
XPDR_PINGS	14	CURRENT	0.040,84.79,1
CP_FREE	0.000000	GPS	230917,005715,7418.025,-15348.378,17,0.7,23,19.2,0.3,33.4,12,9.6
PM_FREEKB_00	44560448

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	146.49	nil	0	0	0.00
Roll_motor	70	107	94.45	nil	0	0	0.00
VBD_pump_during_apogee	776	1650	15913.52	nil	0	0	0.00
VBD_pump_during_surface	70	203	177.99	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	8684	15	1656.01
Iridium_during_xfer	411	176	902.89	NCP	8671	20	2153.88
Transponder_ping	3	420	18.26	PMAR	8664	9	1065.09
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.60
TT8	0	0	0.00
LPSleep	6143	2	174.71
TT8_Active	802	13	138.04
TT8_Sampling	2184	33	899.25
TT8_CF8	387	38	184.48
TT8_Kalman	0	0	0.00
Analog_circuits	2048	10	252.14
GPS_charging	0	0	0.00
Compass	1015	7	87.48
RAFOS	2160	48	1276.30
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
54	end surface: CONTROL_FINISHED_OK
state	54	begin dive
57	-0.76	-64.8	189	2202	493	494	0.0	0.0	0	140	0.00	0.00	-81.05	0.000	16386	0.000	0.000	186	2202	2007	1943	2072	0	0	0	0	0	0	14.47	28.83	14.47
144	-0.81	-127.2	188	2203	1945	2074	3.2	-3.6	8	199	12.55	0.00	-37.75	0.000	19238	0.457	0.000	2309	2201	3888	3868	3908	1	0	0	0	0	0	13.37	13.10	14.09
499	-0.98	-127.2	2309	2203	3873	3909	91.2	-16.7	47	505	0.12	2.53	0.00	0.000	4484	0.142	0.083	2244	3616	3890	3873	3908	0	0	0	0	0	0	14.05	14.07	14.09
623	-1.13	-127.2	2244	3618	3874	3909	113.7	-17.5	71	629	0.00	2.47	0.00	0.000	1158	0.000	0.058	2243	2191	3890	3873	3908	0	0	0	0	0	0	14.20	14.08	14.21
955	-1.26	-127.2	2243	2190	3873	3909	175.6	-17.6	87	961	0.20	2.55	0.00	0.000	4484	0.110	0.082	2155	3613	3890	3873	3908	0	0	0	0	0	0	13.95	14.02	14.00
1096	-1.28	-127.2	2155	3614	3874	3908	209.2	-23.9	115	1102	0.00	2.42	0.00	0.000	1158	0.000	0.061	2154	2204	3890	3873	3908	0	0	0	0	0	0	14.14	14.00	14.19
1408	-1.28	-127.2	2155	2202	3874	3908	283.3	-22.4	127	1414	0.00	2.53	0.00	0.000	260	0.000	0.083	2144	3614	3890	3873	3908	0	0	0	0	0	0	14.57	14.00	14.61
1584	-1.33	-127.2	2144	3615	3878	3908	319.6	-19.6	162	1591	0.00	2.45	0.00	0.000	1158	0.000	0.056	2144	2196	3890	3873	3908	0	0	0	0	0	0	14.12	13.99	14.17
1889	-1.33	-127.2	2144	2195	3874	3908	381.7	-20.0	173	1894	0.00	2.53	0.00	0.000	260	0.000	0.084	2134	3613	3889	3872	3907	0	0	0	0	0	0	14.59	13.96	14.61
2040	-1.38	-127.2	2134	3613	3873	3908	410.5	-18.5	203	2045	0.00	2.42	0.00	0.000	1158	0.000	0.056	2134	2201	3889	3872	3907	0	0	0	0	0	0	14.16	14.04	14.21
2371	-1.38	-127.2	2134	2199	3873	3906	476.4	-19.9	219	2377	0.00	2.53	0.00	0.000	260	0.000	0.084	2127	3609	3889	3872	3906	0	0	0	0	0	0	14.57	13.94	14.59
2390	end dive: TARGET_DEPTH_EXCEEDED
state	2390	begin apogee
2399	-0.13	0.0	2128	2097	3873	3906	480.7	-20.9	223	2596	1.77	0.00	193.15	1.431	10246	0.296	0.000	2527	2095	3365	3374	3357	0	0	0	0	0	0	13.60	13.64	12.86
2600	end apogee: CONTROL_FINISHED_OK
state	2600	begin climb
2603	0.81	127.2	2528	2096	3367	3350	491.4	0.0	229	2873	0.95	2.67	180.10	1.380	10500	0.057	0.069	2858	3507	2825	2856	2795	0	0	0	0	0	0	13.76	13.01	12.42
3101	0.38	127.2	2858	3508	2853	2796	466.2	14.6	276	3108	0.82	2.45	0.00	0.000	5254	0.379	0.056	2710	2095	2824	2853	2795	0	0	0	0	0	0	13.50	14.00	13.95
3406	0.23	130.0	2710	2092	2854	2795	435.6	9.7	287	3412	0.22	2.50	0.00	0.000	4516	0.308	0.074	2661	3511	2823	2853	2794	0	0	0	0	0	0	13.62	13.97	13.83
3525	0.12	138.6	2661	3512	2853	2794	424.8	9.1	310	3537	0.22	2.42	4.25	1.571	13478	0.324	0.058	2625	2094	2800	2830	2770	0	0	0	0	0	0	13.62	14.07	13.23
3865	0.17	168.2	2625	2094	2846	2777	400.7	6.9	327	3923	0.00	0.00	54.33	1.427	8358	0.000	0.000	2625	2094	2676	2710	2642	0	0	0	0	0	0	14.58	13.97	13.19
4223	0.25	177.5	2625	2095	2704	2629	369.3	9.0	339	4229	0.12	0.00	4.40	1.597	10406	0.112	0.000	2682	2093	2642	2681	2604	0	0	0	0	0	0	14.28	14.14	13.21
4523	0.21	177.5	2683	2094	2693	2608	335.3	11.3	349	4529	0.12	2.55	1.45	0.243	12932	0.296	0.087	2663	690	2641	2683	2600	0	0	0	0	0	0	13.87	14.10	13.81
4565	0.24	179.5	2663	691	2690	2607	331.1	9.8	357	4574	0.00	2.47	4.22	1.614	9382	0.000	0.079	2663	2107	2635	2677	2593	0	0	0	0	0	0	14.29	14.16	13.28
4885	0.25	183.6	2663	2107	2685	2596	299.7	9.6	371	4896	0.00	0.00	9.90	1.651	8230	0.000	0.000	2663	2107	2618	2662	2574	0	0	0	0	0	0	14.62	14.16	13.34
5185	0.26	196.2	2664	2107	2656	2567	272.0	8.7	381	5204	0.00	0.00	18.23	1.512	8230	0.000	0.000	2662	2106	2566	2610	2522	0	0	0	0	0	0	14.61	14.11	13.31
5487	0.31	222.7	2663	2107	2607	2512	248.1	7.3	391	5534	0.00	2.53	41.28	1.375	8868	0.000	0.086	2671	693	2453	2497	2410	0	0	0	0	0	0	14.45	14.00	13.21
5555	0.39	253.8	2672	693	2494	2411	243.2	6.8	405	5611	0.12	2.47	49.72	1.317	11430	0.130	0.079	2721	2099	2329	2367	2292	0	0	0	0	0	0	14.12	14.05	13.10
5937	0.39	253.8	2721	2100	2360	2279	201.3	10.7	431	5943	0.00	2.53	0.00	0.000	516	0.000	0.083	2728	682	2318	2359	2278	0	0	0	0	0	0	14.42	14.03	14.41
5988	0.39	253.8	2729	682	2354	2278	196.1	10.1	441	5993	0.00	2.50	0.00	0.000	1030	0.000	0.077	2728	2098	2315	2358	2273	0	0	0	0	0	0	14.09	13.96	14.13
6299	0.39	262.2	2728	2096	2358	2276	166.3	9.1	453	6306	0.00	0.00	6.05	1.627	8230	0.000	0.000	2729	2099	2300	2340	2260	0	0	0	0	0	0	14.40	14.09	13.29
6599	0.41	277.4	2728	2100	2338	2255	140.2	8.4	463	6634	0.00	2.55	27.95	1.388	8740	0.000	0.085	2734	694	2230	2268	2192	0	0	0	0	0	0	14.42	14.04	13.27
6640	0.42	296.1	2734	695	2267	2193	136.8	8.1	471	6675	0.00	2.50	30.60	1.314	9254	0.000	0.079	2734	2115	2160	2196	2124	0	0	0	0	0	0	14.19	14.07	13.17
6993	0.45	304.4	2735	2115	2190	2103	103.4	9.1	491	7003	0.00	2.55	3.53	1.354	8868	0.000	0.084	2743	697	2123	2165	2082	0	0	0	0	0	0	14.38	14.07	13.09
7071	0.53	322.4	2743	698	2166	2084	96.6	8.1	506	7088	0.00	2.47	10.88	0.490	9382	0.000	0.077	2743	2100	2049	2088	2011	0	0	0	0	0	0	14.14	14.02	13.56
7384	0.59	349.6	2743	2102	2088	2007	70.3	7.2	539	7406	0.00	2.53	14.73	0.412	8612	0.000	0.083	2740	3513	1939	1979	1900	0	0	0	0	0	0	14.38	14.03	13.64
7499	0.66	374.3	2743	3513	1975	1900	61.2	7.4	561	7521	0.15	2.45	13.95	0.382	11430	0.099	0.059	2808	2093	1837	1861	1813	0	0	0	0	0	0	14.07	13.94	13.62
7817	0.72	460.2	2808	2092	1858	1809	50.5	1.1	595	7868	0.00	0.00	44.90	0.350	8230	0.000	0.000	2808	2097	1484	1519	1450	0	0	0	0	0	0	14.33	13.91	13.67
8167	0.85	493.6	2809	2092	1521	1440	24.7	6.5	630	8189	0.12	2.58	17.33	0.275	10916	0.121	0.086	2877	688	1350	1394	1307	0	0	0	0	0	0	14.14	14.02	13.74
8415	0.96	578.3	2877	688	1389	1303	18.1	1.2	679	8465	0.00	2.50	45.20	0.258	9382	0.000	0.076	2876	2103	1007	1072	942	0	0	0	0	0	0	14.14	14.00	13.80
8637	end climb: SURFACE_DEPTH_REACHED
state	8637	begin surface coast
8648	end surface coast: CONTROL_FINISHED_OK
state	8648	begin surface