Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 408 * 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 408 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 1136.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 52 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 1136.0 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 31 VBD_MIN 500

DIVE 408 NOCOMM_ACTION 161 R_STBD_OVSHOOT 52 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 230917,005715,7418.0254,-15348.3779,17,0.7,23,19.2,0.3,33.4,12,9.6 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 69.0,574,-27.3,-10.000,-30.00,994

_SM_ANGLEo -76.2 D_GRID 480

GPS2 230917,010932,7418.0869,-15348.1445,35,0.8,35,19.2,0.0,316.7,10,8.2

Post-dive calculations and measurements:

FINISH 0.3,1.020957 _24V_AH 12.36,239.727

SM_CCo 8700,71.15,0.208,0,0,499,702.78 _10V_AH 12.26,0.000

SM_GC 1.55,8.48,0.17,71.15,0.080,0.119,0.208,196,2218,499,-7.39,-0.65,702.78,0,0,0,0,0,0,14.23,14.23,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 388 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7418.45,-15347.43,220917,222213 DATA_FILE_SIZE 23414,725

TT8_MAMPS 0.038948,0.852362 CAP_FILE_SIZE 98017,0

HUMID 47.87 CFSIZE 2097872896,1973157888

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

TCM_TEMP 13.30 SOUNDSPEED 1448.1

XPDR_PINGS 20 CURRENT 0.060,39.10,1

CP_FREE 15893135360.000000 GPS 230917,033722,7418.091,-15344.805,17,0.8,18,19.3,0.0,0.0,11,9.1

PM_FREEKB_00 44536256

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 144.84 nil 0 0 0.00

Roll_motor 65 2171 1763.69 nil 0 0 0.00

VBD_pump_during_apogee 777 1638 15755.17 nil 0 0 0.00

VBD_pump_during_surface 71 208 182.99 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 8715 15 1647.11

Iridium_during_xfer 402 179 890.83 NCP 8649 20 2138.03

Transponder_ping 5 420 25.96 PMAR 8650 9 1053.85

GUMSTIX_24V 0 0 0.00

GPS 37 22 10.24

TT8 0 0 0.00

LPSleep 6136 2 173.79

TT8_Active 796 13 136.44

TT8_Sampling 2203 33 903.55

TT8_CF8 381 38 180.95

TT8_Kalman 0 0 0.00

Analog_circuits 2084 10 255.55

GPS_charging 0 0 0.00

Compass 1040 7 89.27

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

52 end surface: CONTROL_FINISHED_OK

state 52 begin dive

56 -0.76 -64.8 187 2197 488 496 0.0 0.0 0 138 0.00 0.00 -80.55 0.000 16386 0.000 0.000 185 2196 1994 1928 2060 0 0 0 0 0 0 14.44 28.83 14.47

142 -0.81 -130.8 186 2196 1932 2068 3.2 -3.2 8 199 12.45 2.72 -38.78 0.000 19236 0.453 2.171 2308 795 3903 3880 3927 1 0 0 0 0 0 13.36 12.59 14.09

425 -1.06 -130.8 2309 794 3889 3927 70.5 -14.7 64 430 0.22 2.45 0.00 0.000 5254 0.088 0.086 2229 2172 3907 3887 3927 0 0 0 0 0 0 14.03 13.93 14.10

739 -1.12 -130.8 2230 2173 3888 3928 142.2 -21.7 84 744 0.00 2.58 0.00 0.000 388 0.000 0.087 2223 3617 3907 3888 3927 0 0 0 0 0 0 14.57 14.04 14.58

920 -1.30 -130.8 2223 3620 3888 3928 175.3 -16.5 120 925 0.20 2.42 0.00 0.000 5254 0.099 0.058 2149 2199 3907 3887 3927 0 0 0 0 0 0 14.18 14.09 14.26

1251 -1.27 -130.8 2150 2198 3887 3926 259.6 -24.8 136 1256 0.00 2.53 0.00 0.000 388 0.000 0.083 2139 3621 3907 3887 3927 0 0 0 0 0 0 14.57 14.01 14.59

1431 -1.30 -130.8 2139 3623 3888 3928 298.6 -20.5 172 1436 0.00 2.45 0.00 0.000 1158 0.000 0.059 2139 2193 3907 3888 3927 0 0 0 0 0 0 14.18 14.04 14.25

1762 -1.30 -130.8 2138 2192 3889 3927 367.4 -20.4 188 1767 0.00 2.53 0.00 0.000 260 0.000 0.083 2127 3614 3906 3887 3926 0 0 0 0 0 0 14.57 13.97 14.59

1933 -1.34 -130.8 2129 3616 3888 3926 401.8 -19.8 222 1937 0.00 2.45 0.00 0.000 1158 0.000 0.057 2128 2194 3906 3887 3926 0 0 0 0 0 0 14.09 13.97 14.13

2243 -1.34 -130.8 2129 2194 3888 3927 466.7 -20.9 234 2248 0.00 2.55 0.00 0.000 260 0.000 0.084 2119 3619 3906 3887 3926 0 0 0 0 0 0 14.54 13.94 14.56

2306 end dive: TARGET_DEPTH_EXCEEDED

state 2306 begin apogee

2315 -0.13 0.0 2119 2103 3887 3927 480.5 -20.7 247 2519 1.83 0.00 197.25 1.434 10246 0.298 0.000 2529 2102 3362 3369 3355 0 0 0 0 0 0 13.58 13.43 12.84

2523 end apogee: CONTROL_FINISHED_OK

state 2523 begin climb

2526 0.81 130.8 2530 2102 3366 3351 493.8 0.0 254 2847 0.95 2.70 183.50 1.392 10756 0.055 0.077 2865 693 2816 2844 2789 0 0 0 0 0 0 13.75 12.95 12.36

3078 0.46 130.8 2867 690 2840 2790 463.6 13.9 302 3083 0.68 2.47 0.00 0.000 5254 0.367 0.074 2737 2107 2815 2842 2789 0 0 0 0 0 0 13.00 13.98 13.33

3409 0.28 130.8 2737 2107 2843 2786 427.3 10.7 318 3414 0.25 2.50 0.00 0.000 4740 0.314 0.078 2688 685 2814 2842 2786 0 0 0 0 0 0 13.63 14.02 13.87

3640 0.23 143.7 2688 685 2842 2786 406.6 8.7 364 3661 0.15 2.47 13.40 1.596 13478 0.284 0.077 2660 2099 2776 2805 2747 0 0 0 0 0 0 13.76 14.09 13.29

3984 0.21 154.9 2660 2099 2803 2741 376.3 8.9 382 4003 0.00 2.47 14.90 1.616 8868 0.000 0.082 2666 686 2728 2760 2697 0 0 0 0 0 0 14.60 13.93 13.30

4059 0.21 157.5 2667 687 2758 2700 369.3 9.7 397 4064 0.00 2.47 0.00 0.000 1062 0.000 0.079 2666 2111 2728 2757 2700 0 0 0 0 0 0 14.33 14.20 14.36

4375 0.18 164.2 2666 2110 2756 2698 339.4 9.3 410 4388 0.00 0.00 12.25 1.639 8358 0.000 0.000 2666 2109 2696 2727 2666 0 0 0 0 0 0 14.61 14.15 13.32

4675 0.17 173.7 2667 2109 2725 2657 311.4 9.0 420 4689 0.00 0.00 13.07 1.603 8358 0.000 0.000 2666 2109 2658 2692 2625 0 0 0 0 0 0 14.60 14.16 13.32

4974 0.18 182.5 2667 2109 2689 2614 283.5 9.1 430 4989 0.00 0.00 13.10 1.574 8230 0.000 0.000 2665 2109 2620 2659 2582 0 0 0 0 0 0 14.61 14.15 13.34

5274 0.19 208.6 2667 2109 2656 2572 259.2 7.3 440 5316 0.00 0.00 40.00 1.402 8230 0.000 0.000 2666 2109 2516 2560 2472 0 0 0 0 0 0 14.61 14.06 13.28

5605 0.25 233.9 2667 2109 2553 2459 234.2 7.4 451 5646 0.00 0.00 39.33 1.375 8358 0.000 0.000 2666 2109 2410 2454 2367 0 0 0 0 0 0 14.57 14.02 13.25

5935 0.34 257.9 2666 2109 2448 2356 209.1 7.5 462 5975 0.00 0.00 37.78 1.343 8870 0.000 0.000 2668 2109 2312 2353 2272 0 0 0 0 0 0 14.56 14.04 13.27

6298 0.47 282.3 2667 2109 2346 2258 181.4 7.5 484 6341 0.17 2.60 38.22 1.323 10916 0.106 0.085 2754 684 2212 2251 2173 0 0 0 0 0 0 14.21 14.07 13.28

6427 0.47 282.3 2754 687 2239 2173 166.5 12.1 510 6432 0.00 2.47 0.00 0.000 1030 0.000 0.078 2754 2098 2206 2241 2172 0 0 0 0 0 0 14.21 14.08 14.25

6748 0.43 282.3 2752 2099 2246 2165 130.2 10.5 524 6749 0.15 0.00 0.00 0.000 4230 0.278 0.000 2725 2099 2202 2241 2164 0 0 0 0 0 0 13.88 14.26 14.17

7048 0.49 302.8 2725 2099 2243 2161 105.0 7.9 534 7078 0.00 0.00 27.42 1.333 8358 0.000 0.000 2725 2099 2129 2168 2091 0 0 0 0 0 0 14.59 14.10 13.34

7380 0.58 332.2 2726 2099 2163 2079 80.3 7.0 561 7402 0.12 2.50 15.55 0.439 10916 0.112 0.083 2792 688 2008 2043 1973 0 0 0 0 0 0 14.25 13.97 13.68

7453 0.58 338.7 2793 688 2044 1973 73.7 9.3 575 7464 0.00 2.47 4.07 0.404 9254 0.000 0.077 2791 2101 1983 2019 1948 0 0 0 0 0 0 14.27 14.14 13.66

7763 0.62 434.0 2792 2102 2017 1946 57.9 0.2 607 7819 0.00 2.55 50.55 0.376 8612 0.000 0.080 2792 3512 1593 1621 1565 0 0 0 0 0 0 14.54 14.06 13.66

7873 0.65 444.5 2792 3514 1621 1564 52.0 8.9 627 7885 0.00 2.45 6.00 0.349 9382 0.000 0.062 2800 2097 1551 1585 1517 0 0 0 0 0 0 14.20 14.08 13.71

8181 0.78 482.5 2800 2098 1585 1512 29.8 6.1 659 8208 0.10 2.50 20.02 0.285 10916 0.142 0.087 2850 693 1395 1437 1354 0 0 0 0 0 0 14.21 14.00 13.78

8234 0.87 509.4 2851 694 1438 1355 26.1 7.2 669 8255 0.00 2.47 15.00 0.276 9382 0.000 0.075 2850 2101 1286 1336 1237 0 0 0 0 0 0 14.14 14.02 13.78

8554 1.00 566.1 2851 2101 1337 1231 10.3 4.1 703 8591 0.12 2.53 30.67 0.233 10916 0.121 0.086 2916 685 1053 1113 994 0 0 0 0 0 0 14.09 14.09 13.85

8644 1.04 576.2 2916 686 1113 994 4.3 8.9 720 8655 0.00 2.50 5.80 0.223 9382 0.000 0.072 2916 2103 1012 1074 951 0 0 0 0 0 0 14.12 13.99 13.81

8668 end climb: SURFACE_DEPTH_REACHED

state 8668 begin surface coast

8678 end surface coast: CONTROL_FINISHED_OK

state 8678 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	408	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	1136.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	52	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,005715,7418.0254,-15348.3779,17,0.7,23,19.2,0.3,33.4,12,9.6	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	69.0,574,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	230917,010932,7418.0869,-15348.1445,35,0.8,35,19.2,0.0,316.7,10,8.2

FINISH	0.3,1.020957	_24V_AH	12.36,239.727
SM_CCo	8700,71.15,0.208,0,0,499,702.78	_10V_AH	12.26,0.000
SM_GC	1.55,8.48,0.17,71.15,0.080,0.119,0.208,196,2218,499,-7.39,-0.65,702.78,0,0,0,0,0,0,14.23,14.23,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	388	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323384
IRIDIUM_FIX	7418.45,-15347.43,220917,222213	DATA_FILE_SIZE	23414,725
TT8_MAMPS	0.038948,0.852362	CAP_FILE_SIZE	98017,0
HUMID	47.87	CFSIZE	2097872896,1973157888
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1448.1
XPDR_PINGS	20	CURRENT	0.060,39.10,1
CP_FREE	15893135360.000000	GPS	230917,033722,7418.091,-15344.805,17,0.8,18,19.3,0.0,0.0,11,9.1
PM_FREEKB_00	44536256

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	144.84	nil	0	0	0.00
Roll_motor	65	2171	1763.69	nil	0	0	0.00
VBD_pump_during_apogee	777	1638	15755.17	nil	0	0	0.00
VBD_pump_during_surface	71	208	182.99	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	8715	15	1647.11
Iridium_during_xfer	402	179	890.83	NCP	8649	20	2138.03
Transponder_ping	5	420	25.96	PMAR	8650	9	1053.85
GUMSTIX_24V	0	0	0.00
GPS	37	22	10.24
TT8	0	0	0.00
LPSleep	6136	2	173.79
TT8_Active	796	13	136.44
TT8_Sampling	2203	33	903.55
TT8_CF8	381	38	180.95
TT8_Kalman	0	0	0.00
Analog_circuits	2084	10	255.55
GPS_charging	0	0	0.00
Compass	1040	7	89.27
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
52	end surface: CONTROL_FINISHED_OK
state	52	begin dive
56	-0.76	-64.8	187	2197	488	496	0.0	0.0	0	138	0.00	0.00	-80.55	0.000	16386	0.000	0.000	185	2196	1994	1928	2060	0	0	0	0	0	0	14.44	28.83	14.47
142	-0.81	-130.8	186	2196	1932	2068	3.2	-3.2	8	199	12.45	2.72	-38.78	0.000	19236	0.453	2.171	2308	795	3903	3880	3927	1	0	0	0	0	0	13.36	12.59	14.09
425	-1.06	-130.8	2309	794	3889	3927	70.5	-14.7	64	430	0.22	2.45	0.00	0.000	5254	0.088	0.086	2229	2172	3907	3887	3927	0	0	0	0	0	0	14.03	13.93	14.10
739	-1.12	-130.8	2230	2173	3888	3928	142.2	-21.7	84	744	0.00	2.58	0.00	0.000	388	0.000	0.087	2223	3617	3907	3888	3927	0	0	0	0	0	0	14.57	14.04	14.58
920	-1.30	-130.8	2223	3620	3888	3928	175.3	-16.5	120	925	0.20	2.42	0.00	0.000	5254	0.099	0.058	2149	2199	3907	3887	3927	0	0	0	0	0	0	14.18	14.09	14.26
1251	-1.27	-130.8	2150	2198	3887	3926	259.6	-24.8	136	1256	0.00	2.53	0.00	0.000	388	0.000	0.083	2139	3621	3907	3887	3927	0	0	0	0	0	0	14.57	14.01	14.59
1431	-1.30	-130.8	2139	3623	3888	3928	298.6	-20.5	172	1436	0.00	2.45	0.00	0.000	1158	0.000	0.059	2139	2193	3907	3888	3927	0	0	0	0	0	0	14.18	14.04	14.25
1762	-1.30	-130.8	2138	2192	3889	3927	367.4	-20.4	188	1767	0.00	2.53	0.00	0.000	260	0.000	0.083	2127	3614	3906	3887	3926	0	0	0	0	0	0	14.57	13.97	14.59
1933	-1.34	-130.8	2129	3616	3888	3926	401.8	-19.8	222	1937	0.00	2.45	0.00	0.000	1158	0.000	0.057	2128	2194	3906	3887	3926	0	0	0	0	0	0	14.09	13.97	14.13
2243	-1.34	-130.8	2129	2194	3888	3927	466.7	-20.9	234	2248	0.00	2.55	0.00	0.000	260	0.000	0.084	2119	3619	3906	3887	3926	0	0	0	0	0	0	14.54	13.94	14.56
2306	end dive: TARGET_DEPTH_EXCEEDED
state	2306	begin apogee
2315	-0.13	0.0	2119	2103	3887	3927	480.5	-20.7	247	2519	1.83	0.00	197.25	1.434	10246	0.298	0.000	2529	2102	3362	3369	3355	0	0	0	0	0	0	13.58	13.43	12.84
2523	end apogee: CONTROL_FINISHED_OK
state	2523	begin climb
2526	0.81	130.8	2530	2102	3366	3351	493.8	0.0	254	2847	0.95	2.70	183.50	1.392	10756	0.055	0.077	2865	693	2816	2844	2789	0	0	0	0	0	0	13.75	12.95	12.36
3078	0.46	130.8	2867	690	2840	2790	463.6	13.9	302	3083	0.68	2.47	0.00	0.000	5254	0.367	0.074	2737	2107	2815	2842	2789	0	0	0	0	0	0	13.00	13.98	13.33
3409	0.28	130.8	2737	2107	2843	2786	427.3	10.7	318	3414	0.25	2.50	0.00	0.000	4740	0.314	0.078	2688	685	2814	2842	2786	0	0	0	0	0	0	13.63	14.02	13.87
3640	0.23	143.7	2688	685	2842	2786	406.6	8.7	364	3661	0.15	2.47	13.40	1.596	13478	0.284	0.077	2660	2099	2776	2805	2747	0	0	0	0	0	0	13.76	14.09	13.29
3984	0.21	154.9	2660	2099	2803	2741	376.3	8.9	382	4003	0.00	2.47	14.90	1.616	8868	0.000	0.082	2666	686	2728	2760	2697	0	0	0	0	0	0	14.60	13.93	13.30
4059	0.21	157.5	2667	687	2758	2700	369.3	9.7	397	4064	0.00	2.47	0.00	0.000	1062	0.000	0.079	2666	2111	2728	2757	2700	0	0	0	0	0	0	14.33	14.20	14.36
4375	0.18	164.2	2666	2110	2756	2698	339.4	9.3	410	4388	0.00	0.00	12.25	1.639	8358	0.000	0.000	2666	2109	2696	2727	2666	0	0	0	0	0	0	14.61	14.15	13.32
4675	0.17	173.7	2667	2109	2725	2657	311.4	9.0	420	4689	0.00	0.00	13.07	1.603	8358	0.000	0.000	2666	2109	2658	2692	2625	0	0	0	0	0	0	14.60	14.16	13.32
4974	0.18	182.5	2667	2109	2689	2614	283.5	9.1	430	4989	0.00	0.00	13.10	1.574	8230	0.000	0.000	2665	2109	2620	2659	2582	0	0	0	0	0	0	14.61	14.15	13.34
5274	0.19	208.6	2667	2109	2656	2572	259.2	7.3	440	5316	0.00	0.00	40.00	1.402	8230	0.000	0.000	2666	2109	2516	2560	2472	0	0	0	0	0	0	14.61	14.06	13.28
5605	0.25	233.9	2667	2109	2553	2459	234.2	7.4	451	5646	0.00	0.00	39.33	1.375	8358	0.000	0.000	2666	2109	2410	2454	2367	0	0	0	0	0	0	14.57	14.02	13.25
5935	0.34	257.9	2666	2109	2448	2356	209.1	7.5	462	5975	0.00	0.00	37.78	1.343	8870	0.000	0.000	2668	2109	2312	2353	2272	0	0	0	0	0	0	14.56	14.04	13.27
6298	0.47	282.3	2667	2109	2346	2258	181.4	7.5	484	6341	0.17	2.60	38.22	1.323	10916	0.106	0.085	2754	684	2212	2251	2173	0	0	0	0	0	0	14.21	14.07	13.28
6427	0.47	282.3	2754	687	2239	2173	166.5	12.1	510	6432	0.00	2.47	0.00	0.000	1030	0.000	0.078	2754	2098	2206	2241	2172	0	0	0	0	0	0	14.21	14.08	14.25
6748	0.43	282.3	2752	2099	2246	2165	130.2	10.5	524	6749	0.15	0.00	0.00	0.000	4230	0.278	0.000	2725	2099	2202	2241	2164	0	0	0	0	0	0	13.88	14.26	14.17
7048	0.49	302.8	2725	2099	2243	2161	105.0	7.9	534	7078	0.00	0.00	27.42	1.333	8358	0.000	0.000	2725	2099	2129	2168	2091	0	0	0	0	0	0	14.59	14.10	13.34
7380	0.58	332.2	2726	2099	2163	2079	80.3	7.0	561	7402	0.12	2.50	15.55	0.439	10916	0.112	0.083	2792	688	2008	2043	1973	0	0	0	0	0	0	14.25	13.97	13.68
7453	0.58	338.7	2793	688	2044	1973	73.7	9.3	575	7464	0.00	2.47	4.07	0.404	9254	0.000	0.077	2791	2101	1983	2019	1948	0	0	0	0	0	0	14.27	14.14	13.66
7763	0.62	434.0	2792	2102	2017	1946	57.9	0.2	607	7819	0.00	2.55	50.55	0.376	8612	0.000	0.080	2792	3512	1593	1621	1565	0	0	0	0	0	0	14.54	14.06	13.66
7873	0.65	444.5	2792	3514	1621	1564	52.0	8.9	627	7885	0.00	2.45	6.00	0.349	9382	0.000	0.062	2800	2097	1551	1585	1517	0	0	0	0	0	0	14.20	14.08	13.71
8181	0.78	482.5	2800	2098	1585	1512	29.8	6.1	659	8208	0.10	2.50	20.02	0.285	10916	0.142	0.087	2850	693	1395	1437	1354	0	0	0	0	0	0	14.21	14.00	13.78
8234	0.87	509.4	2851	694	1438	1355	26.1	7.2	669	8255	0.00	2.47	15.00	0.276	9382	0.000	0.075	2850	2101	1286	1336	1237	0	0	0	0	0	0	14.14	14.02	13.78
8554	1.00	566.1	2851	2101	1337	1231	10.3	4.1	703	8591	0.12	2.53	30.67	0.233	10916	0.121	0.086	2916	685	1053	1113	994	0	0	0	0	0	0	14.09	14.09	13.85
8644	1.04	576.2	2916	686	1113	994	4.3	8.9	720	8655	0.00	2.50	5.80	0.223	9382	0.000	0.072	2916	2103	1012	1074	951	0	0	0	0	0	0	14.12	13.99	13.81
8668	end climb: SURFACE_DEPTH_REACHED
state	8668	begin surface coast
8678	end surface coast: CONTROL_FINISHED_OK
state	8678	begin surface