Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 409 * 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 409 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 1141.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 37 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 1141.0 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 26 VBD_MIN 500

DIVE 409 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 230917,033722,7418.0913,-15344.8047,17,0.8,18,19.3,0.0,0.0,11,9.1 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 235.0,1213,-27.3,-10.000,-30.00,994

_SM_ANGLEo -78.3 D_GRID 480

GPS2 230917,034908,7418.1030,-15344.5801,6,0.7,15,19.3,0.0,0.0,12,8.0

Post-dive calculations and measurements:

FINISH 0.3,1.011056 _24V_AH 12.29,240.141

SM_CCo 8683,64.35,0.205,0,0,499,703.28 _10V_AH 12.17,0.000

SM_GC 1.46,8.60,0.17,64.35,0.082,0.112,0.205,199,2228,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.24,14.26,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 369 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323420

IRIDIUM_FIX 7418.45,-15347.43,230917,010221 DATA_FILE_SIZE 23394,708

TT8_MAMPS 0.038948,0.98868 CAP_FILE_SIZE 102028,0

HUMID 47.71 CFSIZE 2097872896,1972830208

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

TCM_TEMP 13.30 SOUNDSPEED 1447.9

XPDR_PINGS 6 CURRENT 0.055,89.46,1

CP_FREE 0.000000 GPS 230917,061702,7418.151,-15346.953,38,0.8,42,19.2,0.3,78.6,9,6.8

PM_FREEKB_00 44507264

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.75 nil 0 0 0.00

Roll_motor 69 2172 1857.07 nil 0 0 0.00

VBD_pump_during_apogee 784 1587 15307.12 nil 0 0 0.00

VBD_pump_during_surface 64 205 162.14 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 8652 15 1608.18

Iridium_during_xfer 396 177 864.64 NCP 8627 20 2120.52

Transponder_ping 1 420 7.74 PMAR 8632 9 1050.16

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.78

TT8 0 0 0.00

LPSleep 6049 2 170.06

TT8_Active 803 13 136.56

TT8_Sampling 2227 33 906.56

TT8_CF8 392 38 184.68

TT8_Kalman 0 0 0.00

Analog_circuits 2082 10 253.41

GPS_charging 0 0 0.00

Compass 1020 7 86.94

RAFOS 2219 48 1296.25

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

53 end surface: CONTROL_FINISHED_OK

state 53 begin dive

57 -0.76 -64.8 187 2221 482 501 0.0 0.0 0 139 0.00 0.00 -80.75 0.000 16386 0.000 0.000 186 2221 1998 1933 2064 0 0 0 0 0 0 14.47 28.83 14.47

143 -0.81 -127.1 186 2222 1937 2066 3.3 -3.6 8 200 12.38 2.70 -38.45 0.000 19236 0.451 2.173 2300 3601 3887 3868 3907 0 0 0 0 0 0 13.63 12.58 14.09

248 -0.92 -127.1 2300 3602 3873 3908 37.4 -27.5 28 253 0.00 2.45 0.00 0.000 1158 0.000 0.065 2300 2201 3889 3872 3907 0 0 0 0 0 0 14.18 14.02 14.19

576 -1.08 -127.1 2300 2200 3876 3908 100.7 -16.5 60 582 0.22 2.50 0.00 0.000 4484 0.101 0.083 2210 3597 3891 3876 3906 0 0 0 0 0 0 13.97 13.84 14.09

685 -1.17 -127.1 2210 3601 3876 3908 126.0 -21.3 81 690 0.00 2.42 0.00 0.000 1158 0.000 0.059 2210 2198 3894 3882 3907 0 0 0 0 0 0 14.15 14.03 14.19

1001 -1.22 -127.1 2211 2197 3876 3908 194.6 -21.0 94 1006 0.00 2.53 0.00 0.000 388 0.000 0.084 2201 3604 3893 3880 3907 0 0 0 0 0 0 14.35 13.95 14.38

1144 -1.36 -127.1 2201 3607 3877 3907 220.8 -17.9 122 1149 0.20 2.45 0.00 0.000 5254 0.100 0.058 2138 2189 3891 3876 3907 0 0 0 0 0 0 13.94 13.89 14.06

1455 -1.32 -127.1 2134 2189 3877 3907 296.7 -23.2 134 1460 0.00 2.53 0.00 0.000 388 0.000 0.083 2127 3594 3891 3876 3907 0 0 0 0 0 0 14.36 13.90 14.40

1620 -1.32 -127.1 2127 3595 3876 3907 333.0 -20.5 167 1626 0.00 2.42 0.00 0.000 1030 0.000 0.057 2127 2196 3891 3875 3908 0 0 0 0 0 0 14.08 13.95 14.14

1937 -1.32 -127.1 2127 2193 3876 3912 401.3 -21.5 180 1942 0.00 2.47 0.00 0.000 260 0.000 0.083 2117 3595 3890 3875 3906 0 0 0 0 0 0 14.33 13.84 14.35

2112 -1.32 -127.1 2117 3596 3874 3907 438.1 -20.5 215 2119 0.17 2.42 0.00 0.000 3078 0.304 0.057 2148 2199 3890 3874 3906 0 0 0 0 0 0 13.52 13.87 13.85

2354 end dive: TARGET_DEPTH_EXCEEDED

state 2354 begin apogee

2361 -0.13 0.0 2148 2059 3874 3907 483.4 -18.3 224 2568 1.62 0.00 202.48 1.406 10246 0.278 0.000 2526 2057 3365 3374 3357 0 0 0 0 0 0 13.54 13.52 12.76

2572 end apogee: CONTROL_FINISHED_OK

state 2572 begin climb

2575 0.81 127.1 2527 2058 3374 3349 495.1 0.0 231 2898 0.95 2.58 180.45 1.367 10756 0.055 0.076 2862 730 2827 2863 2792 0 0 0 0 0 0 13.64 12.89 12.29

3129 0.46 127.1 2862 730 2860 2792 465.2 13.2 279 3135 0.60 2.40 0.00 0.000 5254 0.366 0.073 2739 2087 2825 2858 2792 0 0 0 0 0 0 13.42 13.89 13.85

3461 0.27 127.1 2739 2088 2860 2791 429.7 10.5 295 3466 0.28 2.40 0.00 0.000 4740 0.314 0.076 2686 728 2824 2859 2789 0 0 0 0 0 0 13.65 14.00 13.88

3602 0.22 141.8 2686 730 2860 2791 417.3 8.5 323 3622 0.15 2.42 14.00 1.587 13478 0.288 0.078 2657 2103 2785 2821 2749 0 0 0 0 0 0 13.76 14.08 13.29

3946 0.20 151.0 2658 2103 2811 2740 386.7 9.1 341 3950 0.00 0.00 3.62 1.346 8358 0.000 0.000 2658 2103 2749 2784 2715 0 0 0 0 0 0 14.58 14.17 13.07

4243 0.19 165.8 2658 2104 2802 2728 360.6 8.5 351 4279 0.00 2.45 31.35 1.465 8868 0.000 0.082 2664 717 2685 2719 2651 0 0 0 0 0 0 14.62 13.88 13.27

4290 0.19 170.6 2665 718 2712 2648 356.4 9.5 360 4296 0.00 2.42 1.40 0.251 9254 0.000 0.078 2665 2099 2666 2702 2631 0 0 0 0 0 0 14.14 14.02 13.95

4607 0.19 170.6 2665 2100 2712 2634 324.2 10.1 373 4612 0.00 2.42 0.00 0.000 516 0.000 0.082 2672 720 2673 2713 2633 0 0 0 0 0 0 14.57 14.12 14.59

4647 0.19 170.6 2672 721 2713 2635 320.1 10.2 381 4652 0.00 2.42 0.00 0.000 1030 0.000 0.078 2672 2101 2673 2713 2634 0 0 0 0 0 0 14.21 14.07 14.23

4968 0.17 180.4 2673 2102 2714 2634 290.2 9.0 395 4989 0.15 0.00 18.83 1.511 12454 0.295 0.000 2644 2102 2633 2673 2593 0 0 0 0 0 0 13.81 14.12 13.33

5268 0.25 205.4 2644 2102 2663 2574 266.9 7.4 405 5310 0.00 0.00 39.88 1.372 8358 0.000 0.000 2643 2102 2529 2577 2481 0 0 0 0 0 0 14.58 14.02 13.25

5598 0.35 233.2 2644 2102 2566 2461 242.6 7.1 416 5644 0.17 0.00 43.60 1.341 10406 0.096 0.000 2709 2102 2413 2459 2368 0 0 0 0 0 0 14.15 14.02 13.26

5928 0.36 241.5 2709 2102 2446 2354 211.2 9.1 427 5932 0.00 0.00 3.00 1.080 8230 0.000 0.000 2709 2102 2379 2423 2336 0 0 0 0 0 0 14.54 14.14 13.05

6228 0.37 264.7 2709 2103 2435 2345 186.9 7.6 437 6281 0.00 0.00 50.17 1.314 8742 0.000 0.000 2709 2102 2285 2326 2244 0 0 0 0 0 0 14.60 14.02 13.27

6558 0.42 277.4 2709 2103 2315 2227 157.9 8.7 453 6579 0.00 2.53 15.43 1.444 8868 0.000 0.086 2712 721 2230 2274 2187 0 0 0 0 0 0 14.53 14.14 13.32

6625 0.51 287.3 2713 721 2264 2185 152.1 9.0 466 6641 0.00 2.42 11.80 1.459 9382 0.000 0.078 2713 2103 2194 2236 2153 0 0 0 0 0 0 14.28 14.16 13.28

6954 0.58 298.0 2713 2103 2224 2137 122.1 8.9 481 6968 0.15 2.45 7.60 1.506 10916 0.111 0.082 2792 717 2153 2196 2111 0 0 0 0 0 0 14.26 14.20 13.33

7041 0.53 298.0 2793 717 2191 2111 112.2 11.6 498 7048 0.17 2.42 0.00 0.000 5254 0.291 0.076 2764 2101 2150 2190 2111 0 0 0 0 0 0 13.85 14.13 14.16

7347 0.55 321.1 2759 2102 2191 2106 85.5 7.6 521 7368 0.00 2.50 12.95 0.440 8484 0.000 0.081 2758 3517 2054 2094 2015 0 0 0 0 0 0 14.53 14.04 13.71

7373 0.56 347.2 2759 3517 2097 2018 83.3 7.3 526 7395 0.00 2.35 15.20 0.446 9254 0.000 0.060 2766 2132 1948 1986 1910 0 0 0 0 0 0 14.31 14.19 13.72

7701 0.63 400.9 2768 2132 1991 1910 57.3 4.5 561 7736 0.00 2.58 29.10 0.367 8868 0.000 0.089 2767 685 1731 1754 1708 0 0 0 0 0 0 14.55 14.05 13.72

7962 0.81 467.3 2767 687 1756 1708 46.4 3.1 613 8005 0.22 2.50 35.90 0.333 11430 0.094 0.076 2856 2105 1457 1489 1426 0 0 0 0 0 0 14.14 14.00 13.77

8302 0.92 569.0 2857 2105 1490 1426 21.5 -0.5 651 8364 0.00 2.53 54.50 0.267 8868 0.000 0.086 2863 688 1044 1111 977 0 0 0 0 0 0 14.54 14.07 13.76

8545 1.09 591.8 2863 689 1110 980 7.8 7.6 699 8567 0.22 2.50 13.38 0.226 11430 0.091 0.079 2949 2102 948 1013 883 0 0 0 0 0 0 13.97 13.94 13.80

8602 end climb: SURFACE_DEPTH_REACHED

state 8602 begin surface coast

8612 end surface coast: CONTROL_FINISHED_OK

state 8612 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	409	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	1141.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,033722,7418.0913,-15344.8047,17,0.8,18,19.3,0.0,0.0,11,9.1	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	235.0,1213,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	230917,034908,7418.1030,-15344.5801,6,0.7,15,19.3,0.0,0.0,12,8.0

FINISH	0.3,1.011056	_24V_AH	12.29,240.141
SM_CCo	8683,64.35,0.205,0,0,499,703.28	_10V_AH	12.17,0.000
SM_GC	1.46,8.60,0.17,64.35,0.082,0.112,0.205,199,2228,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.24,14.26,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	369	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323420
IRIDIUM_FIX	7418.45,-15347.43,230917,010221	DATA_FILE_SIZE	23394,708
TT8_MAMPS	0.038948,0.98868	CAP_FILE_SIZE	102028,0
HUMID	47.71	CFSIZE	2097872896,1972830208
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1447.9
XPDR_PINGS	6	CURRENT	0.055,89.46,1
CP_FREE	0.000000	GPS	230917,061702,7418.151,-15346.953,38,0.8,42,19.2,0.3,78.6,9,6.8
PM_FREEKB_00	44507264

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.75	nil	0	0	0.00
Roll_motor	69	2172	1857.07	nil	0	0	0.00
VBD_pump_during_apogee	784	1587	15307.12	nil	0	0	0.00
VBD_pump_during_surface	64	205	162.14	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	8652	15	1608.18
Iridium_during_xfer	396	177	864.64	NCP	8627	20	2120.52
Transponder_ping	1	420	7.74	PMAR	8632	9	1050.16
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.78
TT8	0	0	0.00
LPSleep	6049	2	170.06
TT8_Active	803	13	136.56
TT8_Sampling	2227	33	906.56
TT8_CF8	392	38	184.68
TT8_Kalman	0	0	0.00
Analog_circuits	2082	10	253.41
GPS_charging	0	0	0.00
Compass	1020	7	86.94
RAFOS	2219	48	1296.25
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
53	end surface: CONTROL_FINISHED_OK
state	53	begin dive
57	-0.76	-64.8	187	2221	482	501	0.0	0.0	0	139	0.00	0.00	-80.75	0.000	16386	0.000	0.000	186	2221	1998	1933	2064	0	0	0	0	0	0	14.47	28.83	14.47
143	-0.81	-127.1	186	2222	1937	2066	3.3	-3.6	8	200	12.38	2.70	-38.45	0.000	19236	0.451	2.173	2300	3601	3887	3868	3907	0	0	0	0	0	0	13.63	12.58	14.09
248	-0.92	-127.1	2300	3602	3873	3908	37.4	-27.5	28	253	0.00	2.45	0.00	0.000	1158	0.000	0.065	2300	2201	3889	3872	3907	0	0	0	0	0	0	14.18	14.02	14.19
576	-1.08	-127.1	2300	2200	3876	3908	100.7	-16.5	60	582	0.22	2.50	0.00	0.000	4484	0.101	0.083	2210	3597	3891	3876	3906	0	0	0	0	0	0	13.97	13.84	14.09
685	-1.17	-127.1	2210	3601	3876	3908	126.0	-21.3	81	690	0.00	2.42	0.00	0.000	1158	0.000	0.059	2210	2198	3894	3882	3907	0	0	0	0	0	0	14.15	14.03	14.19
1001	-1.22	-127.1	2211	2197	3876	3908	194.6	-21.0	94	1006	0.00	2.53	0.00	0.000	388	0.000	0.084	2201	3604	3893	3880	3907	0	0	0	0	0	0	14.35	13.95	14.38
1144	-1.36	-127.1	2201	3607	3877	3907	220.8	-17.9	122	1149	0.20	2.45	0.00	0.000	5254	0.100	0.058	2138	2189	3891	3876	3907	0	0	0	0	0	0	13.94	13.89	14.06
1455	-1.32	-127.1	2134	2189	3877	3907	296.7	-23.2	134	1460	0.00	2.53	0.00	0.000	388	0.000	0.083	2127	3594	3891	3876	3907	0	0	0	0	0	0	14.36	13.90	14.40
1620	-1.32	-127.1	2127	3595	3876	3907	333.0	-20.5	167	1626	0.00	2.42	0.00	0.000	1030	0.000	0.057	2127	2196	3891	3875	3908	0	0	0	0	0	0	14.08	13.95	14.14
1937	-1.32	-127.1	2127	2193	3876	3912	401.3	-21.5	180	1942	0.00	2.47	0.00	0.000	260	0.000	0.083	2117	3595	3890	3875	3906	0	0	0	0	0	0	14.33	13.84	14.35
2112	-1.32	-127.1	2117	3596	3874	3907	438.1	-20.5	215	2119	0.17	2.42	0.00	0.000	3078	0.304	0.057	2148	2199	3890	3874	3906	0	0	0	0	0	0	13.52	13.87	13.85
2354	end dive: TARGET_DEPTH_EXCEEDED
state	2354	begin apogee
2361	-0.13	0.0	2148	2059	3874	3907	483.4	-18.3	224	2568	1.62	0.00	202.48	1.406	10246	0.278	0.000	2526	2057	3365	3374	3357	0	0	0	0	0	0	13.54	13.52	12.76
2572	end apogee: CONTROL_FINISHED_OK
state	2572	begin climb
2575	0.81	127.1	2527	2058	3374	3349	495.1	0.0	231	2898	0.95	2.58	180.45	1.367	10756	0.055	0.076	2862	730	2827	2863	2792	0	0	0	0	0	0	13.64	12.89	12.29
3129	0.46	127.1	2862	730	2860	2792	465.2	13.2	279	3135	0.60	2.40	0.00	0.000	5254	0.366	0.073	2739	2087	2825	2858	2792	0	0	0	0	0	0	13.42	13.89	13.85
3461	0.27	127.1	2739	2088	2860	2791	429.7	10.5	295	3466	0.28	2.40	0.00	0.000	4740	0.314	0.076	2686	728	2824	2859	2789	0	0	0	0	0	0	13.65	14.00	13.88
3602	0.22	141.8	2686	730	2860	2791	417.3	8.5	323	3622	0.15	2.42	14.00	1.587	13478	0.288	0.078	2657	2103	2785	2821	2749	0	0	0	0	0	0	13.76	14.08	13.29
3946	0.20	151.0	2658	2103	2811	2740	386.7	9.1	341	3950	0.00	0.00	3.62	1.346	8358	0.000	0.000	2658	2103	2749	2784	2715	0	0	0	0	0	0	14.58	14.17	13.07
4243	0.19	165.8	2658	2104	2802	2728	360.6	8.5	351	4279	0.00	2.45	31.35	1.465	8868	0.000	0.082	2664	717	2685	2719	2651	0	0	0	0	0	0	14.62	13.88	13.27
4290	0.19	170.6	2665	718	2712	2648	356.4	9.5	360	4296	0.00	2.42	1.40	0.251	9254	0.000	0.078	2665	2099	2666	2702	2631	0	0	0	0	0	0	14.14	14.02	13.95
4607	0.19	170.6	2665	2100	2712	2634	324.2	10.1	373	4612	0.00	2.42	0.00	0.000	516	0.000	0.082	2672	720	2673	2713	2633	0	0	0	0	0	0	14.57	14.12	14.59
4647	0.19	170.6	2672	721	2713	2635	320.1	10.2	381	4652	0.00	2.42	0.00	0.000	1030	0.000	0.078	2672	2101	2673	2713	2634	0	0	0	0	0	0	14.21	14.07	14.23
4968	0.17	180.4	2673	2102	2714	2634	290.2	9.0	395	4989	0.15	0.00	18.83	1.511	12454	0.295	0.000	2644	2102	2633	2673	2593	0	0	0	0	0	0	13.81	14.12	13.33
5268	0.25	205.4	2644	2102	2663	2574	266.9	7.4	405	5310	0.00	0.00	39.88	1.372	8358	0.000	0.000	2643	2102	2529	2577	2481	0	0	0	0	0	0	14.58	14.02	13.25
5598	0.35	233.2	2644	2102	2566	2461	242.6	7.1	416	5644	0.17	0.00	43.60	1.341	10406	0.096	0.000	2709	2102	2413	2459	2368	0	0	0	0	0	0	14.15	14.02	13.26
5928	0.36	241.5	2709	2102	2446	2354	211.2	9.1	427	5932	0.00	0.00	3.00	1.080	8230	0.000	0.000	2709	2102	2379	2423	2336	0	0	0	0	0	0	14.54	14.14	13.05
6228	0.37	264.7	2709	2103	2435	2345	186.9	7.6	437	6281	0.00	0.00	50.17	1.314	8742	0.000	0.000	2709	2102	2285	2326	2244	0	0	0	0	0	0	14.60	14.02	13.27
6558	0.42	277.4	2709	2103	2315	2227	157.9	8.7	453	6579	0.00	2.53	15.43	1.444	8868	0.000	0.086	2712	721	2230	2274	2187	0	0	0	0	0	0	14.53	14.14	13.32
6625	0.51	287.3	2713	721	2264	2185	152.1	9.0	466	6641	0.00	2.42	11.80	1.459	9382	0.000	0.078	2713	2103	2194	2236	2153	0	0	0	0	0	0	14.28	14.16	13.28
6954	0.58	298.0	2713	2103	2224	2137	122.1	8.9	481	6968	0.15	2.45	7.60	1.506	10916	0.111	0.082	2792	717	2153	2196	2111	0	0	0	0	0	0	14.26	14.20	13.33
7041	0.53	298.0	2793	717	2191	2111	112.2	11.6	498	7048	0.17	2.42	0.00	0.000	5254	0.291	0.076	2764	2101	2150	2190	2111	0	0	0	0	0	0	13.85	14.13	14.16
7347	0.55	321.1	2759	2102	2191	2106	85.5	7.6	521	7368	0.00	2.50	12.95	0.440	8484	0.000	0.081	2758	3517	2054	2094	2015	0	0	0	0	0	0	14.53	14.04	13.71
7373	0.56	347.2	2759	3517	2097	2018	83.3	7.3	526	7395	0.00	2.35	15.20	0.446	9254	0.000	0.060	2766	2132	1948	1986	1910	0	0	0	0	0	0	14.31	14.19	13.72
7701	0.63	400.9	2768	2132	1991	1910	57.3	4.5	561	7736	0.00	2.58	29.10	0.367	8868	0.000	0.089	2767	685	1731	1754	1708	0	0	0	0	0	0	14.55	14.05	13.72
7962	0.81	467.3	2767	687	1756	1708	46.4	3.1	613	8005	0.22	2.50	35.90	0.333	11430	0.094	0.076	2856	2105	1457	1489	1426	0	0	0	0	0	0	14.14	14.00	13.77
8302	0.92	569.0	2857	2105	1490	1426	21.5	-0.5	651	8364	0.00	2.53	54.50	0.267	8868	0.000	0.086	2863	688	1044	1111	977	0	0	0	0	0	0	14.54	14.07	13.76
8545	1.09	591.8	2863	689	1110	980	7.8	7.6	699	8567	0.22	2.50	13.38	0.226	11430	0.091	0.079	2949	2102	948	1013	883	0	0	0	0	0	0	13.97	13.94	13.80
8602	end climb: SURFACE_DEPTH_REACHED
state	8602	begin surface coast
8612	end surface coast: CONTROL_FINISHED_OK
state	8612	begin surface