Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 410 * 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 410 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 1146.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 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 1146.0 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 28 VBD_MIN 500

DIVE 410 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 230917,061702,7418.1509,-15346.9531,38,0.8,42,19.2,0.3,78.6,9,6.8 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 212.3,193,-27.3,-10.000,-30.00,994

_SM_ANGLEo -77.3 D_GRID 480

GPS2 230917,062830,7418.1831,-15346.7676,6,0.8,12,19.2,0.0,2.8,9,9.1

Post-dive calculations and measurements:

FINISH 0.7,1.020858 _24V_AH 12.41,240.552

SM_CCo 8777,62.28,0.206,0,0,498,703.03 _10V_AH 12.35,0.000

SM_GC 1.54,8.45,2.65,62.28,0.081,0.067,0.206,204,2204,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.22,14.13,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 164 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323576

IRIDIUM_FIX 7419.36,-15354.57,230917,034224 DATA_FILE_SIZE 23408,666

TT8_MAMPS 0.040446,0.8988 CAP_FILE_SIZE 98360,0

HUMID 46.02 CFSIZE 2097872896,1972535296

INTERNAL_PRESSURE 7.77175 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.40 SOUNDSPEED 1448.3

XPDR_PINGS 13 CURRENT 0.046,91.38,1

CP_FREE 15892086784.000000 GPS 230917,085730,7417.809,-15349.110,18,0.7,21,19.2,0.0,0.0,12,8.9

PM_FREEKB_00 44476672

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 148.83 nil 0 0 0.00

Roll_motor 59 2169 1599.96 nil 0 0 0.00

VBD_pump_during_apogee 783 1536 14941.11 nil 0 0 0.00

VBD_pump_during_surface 62 205 159.04 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 8790 15 1657.09

Iridium_during_xfer 377 178 835.98 NCP 8731 20 2167.03

Transponder_ping 3 420 16.94 PMAR 8726 9 1071.85

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.47

TT8 0 0 0.00

LPSleep 6411 2 182.92

TT8_Active 831 13 143.40

TT8_Sampling 1912 33 789.63

TT8_CF8 380 38 181.75

TT8_Kalman 0 0 0.00

Analog_circuits 1896 10 234.17

GPS_charging 0 0 0.00

Compass 957 7 82.77

RAFOS 2203 48 1305.94

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 -64.8 189 2231 492 497 0.0 0.0 0 138 0.00 0.00 -80.82 0.000 16386 0.000 0.000 188 2230 2005 1939 2071 0 0 0 0 0 0 14.47 28.83 14.46

142 -0.81 -127.6 189 2231 1941 2074 3.3 -3.5 8 200 12.40 2.67 -37.20 0.000 18724 0.452 2.170 2300 3582 3888 3863 3914 0 0 0 0 0 0 13.62 12.62 14.09

238 -0.89 -127.6 2299 3585 3871 3915 35.5 -29.0 26 244 0.00 2.40 0.00 0.000 1158 0.000 0.065 2301 2201 3892 3870 3914 0 0 0 0 0 0 14.20 14.07 14.23

541 -1.04 -127.6 2300 2200 3874 3912 98.9 -17.2 57 546 0.15 2.50 0.00 0.000 4484 0.122 0.083 2235 3595 3894 3875 3913 0 0 0 0 0 0 14.13 14.00 14.17

617 -1.17 -127.6 2236 3596 3875 3914 114.0 -19.5 72 622 0.00 2.40 0.00 0.000 1158 0.000 0.060 2236 2198 3893 3874 3913 0 0 0 0 0 0 14.19 14.06 14.23

933 -1.28 -127.6 2235 2197 3875 3915 175.8 -18.6 85 938 0.20 2.50 0.00 0.000 4484 0.112 0.082 2146 3594 3894 3874 3914 0 0 0 0 0 0 14.02 13.97 14.07

1074 -1.28 -127.6 2147 3593 3875 3914 209.8 -24.0 113 1078 0.00 2.40 0.00 0.000 1030 0.000 0.059 2150 2198 3894 3874 3914 0 0 0 0 0 0 14.22 14.09 14.26

1384 -1.25 -127.6 2146 2203 3875 3916 285.7 -23.0 125 1389 0.12 2.47 0.00 0.000 2436 0.364 0.080 2160 3590 3893 3874 3913 0 0 0 0 0 0 13.59 13.94 13.78

1585 -1.34 -127.6 2161 3592 3875 3914 324.2 -18.0 165 1590 0.00 2.40 0.00 0.000 1158 0.000 0.057 2160 2195 3894 3874 3914 0 0 0 0 0 0 14.20 14.07 14.24

1896 -1.39 -127.6 2160 2194 3875 3914 381.7 -18.4 177 1901 0.00 2.50 0.00 0.000 388 0.000 0.084 2153 3587 3893 3874 3913 0 0 0 0 0 0 14.59 13.90 14.59

2035 -1.49 -127.6 2154 3588 3874 3914 405.6 -17.3 204 2040 0.17 2.38 0.00 0.000 5254 0.116 0.056 2083 2201 3893 3873 3913 0 0 0 0 0 0 14.07 14.04 14.18

2348 end dive: TARGET_DEPTH_EXCEEDED

state 2348 begin apogee

2355 -0.13 0.0 2084 2059 3874 3913 485.2 -25.4 217 2561 2.03 0.00 198.90 1.426 10246 0.313 0.000 2526 2057 3358 3365 3352 0 0 0 0 0 0 13.57 13.43 12.84

2564 end apogee: CONTROL_FINISHED_OK

state 2565 begin climb

2568 0.81 127.6 2528 2058 3360 3347 498.0 0.0 224 2758 0.95 2.53 178.62 1.375 10756 0.056 0.078 2863 726 2835 2872 2798 0 0 0 0 0 0 13.76 13.21 12.41

2971 0.45 127.6 2860 727 2853 2796 488.1 13.6 276 2976 0.68 2.40 0.00 0.000 5254 0.364 0.074 2734 2079 2824 2852 2797 0 0 0 0 0 0 13.39 13.86 13.84

3282 0.27 127.6 2735 2079 2853 2793 454.6 10.4 288 3287 0.25 2.40 0.00 0.000 4740 0.311 0.078 2686 721 2822 2852 2792 0 0 0 0 0 0 13.66 13.96 13.88

3318 0.21 137.0 2686 722 2852 2793 451.3 9.0 295 3327 0.15 2.42 2.22 0.522 13478 0.291 0.078 2657 2105 2806 2837 2775 0 0 0 0 0 0 13.74 14.07 12.81

3646 0.19 154.5 2658 2105 2854 2785 424.5 8.2 310 3684 0.00 2.53 33.08 1.474 8868 0.000 0.083 2664 717 2731 2762 2700 0 0 0 0 0 0 14.56 14.08 13.26

3720 0.19 161.4 2664 718 2756 2695 417.8 9.3 325 3726 0.00 2.42 2.40 0.707 9254 0.000 0.079 2665 2101 2706 2741 2672 0 0 0 0 0 0 14.24 14.12 12.71

4037 0.16 161.4 2665 2100 2756 2680 385.0 10.2 338 4039 0.00 0.00 1.23 0.262 8326 0.000 0.000 2662 2101 2706 2743 2670 0 0 0 0 0 0 14.57 14.15 13.86

4337 0.13 164.4 2665 2101 2757 2678 355.3 9.7 348 4343 0.17 0.00 3.83 1.505 12454 0.286 0.000 2629 2101 2695 2733 2657 0 0 0 0 0 0 13.78 14.03 13.10

4637 0.20 185.4 2629 2102 2749 2668 331.0 7.8 358 4682 0.00 0.00 43.53 1.424 8358 0.000 0.000 2629 2101 2608 2650 2566 0 0 0 0 0 0 14.60 14.03 13.27

4967 0.30 198.5 2629 2101 2642 2546 302.4 8.7 369 4987 0.12 2.42 14.77 1.537 10916 0.119 0.083 2696 724 2552 2599 2505 0 0 0 0 0 0 14.26 13.91 13.31

5037 0.30 198.5 2696 726 2591 2503 294.6 11.5 383 5042 0.00 2.40 0.00 0.000 1030 0.000 0.077 2697 2099 2545 2590 2501 0 0 0 0 0 0 14.25 14.13 14.29

5358 0.26 198.5 2697 2100 2592 2496 259.4 10.3 397 5359 0.12 0.00 0.00 0.000 4230 0.264 0.000 2671 2100 2543 2590 2496 0 0 0 0 0 0 13.97 14.30 14.23

5661 0.30 233.4 2671 2101 2592 2492 237.3 6.4 407 5720 0.00 0.00 57.55 1.332 8358 0.000 0.000 2671 2101 2412 2457 2367 0 0 0 0 0 0 14.42 13.93 13.19

6018 0.39 257.0 2672 2101 2445 2350 210.0 7.6 419 6058 0.12 0.00 36.97 1.338 10406 0.125 0.000 2720 2101 2317 2357 2278 0 0 0 0 0 0 14.14 13.92 13.19

6348 0.39 261.0 2720 2103 2345 2261 177.6 9.6 430 6349 0.00 0.00 0.00 0.000 38 0.000 0.000 2719 2101 2302 2344 2261 0 0 0 0 0 0 14.40 14.43 14.41

6648 0.40 275.5 2720 2100 2343 2260 150.8 8.5 440 6679 0.00 0.00 28.27 1.360 8742 0.000 0.000 2720 2100 2238 2280 2197 0 0 0 0 0 0 14.41 14.02 13.28

6978 0.45 291.3 2720 2102 2271 2184 121.8 8.4 456 7001 0.00 0.00 21.30 1.380 8358 0.000 0.000 2720 2097 2177 2218 2137 0 0 0 0 0 0 14.41 14.03 13.29

7278 0.53 318.7 2720 2101 2207 2121 97.9 7.2 468 7299 0.00 2.50 13.40 0.480 8868 0.000 0.086 2728 723 2064 2102 2027 0 0 0 0 0 0 14.39 14.03 13.63

7387 0.65 340.2 2726 723 2108 2029 89.9 7.8 489 7405 0.20 2.45 12.68 0.456 11430 0.089 0.077 2801 2106 1979 2013 1946 0 0 0 0 0 0 14.01 14.02 13.63

7701 0.63 392.4 2802 2106 2022 1946 59.6 4.6 522 7737 0.00 2.53 28.73 0.374 8612 0.000 0.080 2801 3504 1765 1787 1743 0 0 0 0 0 0 14.38 14.02 13.62

7881 0.62 449.2 2802 3503 1784 1743 49.1 4.1 555 7919 0.00 2.38 30.15 0.343 9382 0.000 0.060 2809 2129 1532 1559 1505 0 0 0 0 0 0 14.07 13.96 13.71

8218 0.72 488.5 2809 2129 1564 1499 26.7 5.9 592 8245 0.00 0.00 21.00 0.276 8358 0.000 0.000 2809 2129 1373 1413 1333 0 0 0 0 0 0 14.49 14.07 13.76

8545 0.97 591.3 2810 2129 1416 1334 17.1 -0.6 625 8609 0.22 2.60 54.75 0.255 10916 0.084 0.090 2904 701 951 1018 885 0 0 0 0 0 0 14.04 14.02 13.76

8742 end climb: SURFACE_DEPTH_REACHED

state 8742 begin surface coast

8752 end surface coast: CONTROL_FINISHED_OK

state 8752 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	410	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	1146.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,061702,7418.1509,-15346.9531,38,0.8,42,19.2,0.3,78.6,9,6.8	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	212.3,193,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	230917,062830,7418.1831,-15346.7676,6,0.8,12,19.2,0.0,2.8,9,9.1

FINISH	0.7,1.020858	_24V_AH	12.41,240.552
SM_CCo	8777,62.28,0.206,0,0,498,703.03	_10V_AH	12.35,0.000
SM_GC	1.54,8.45,2.65,62.28,0.081,0.067,0.206,204,2204,498,-7.38,-0.74,703.03,0,0,0,0,0,0,14.22,14.13,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	164	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323576
IRIDIUM_FIX	7419.36,-15354.57,230917,034224	DATA_FILE_SIZE	23408,666
TT8_MAMPS	0.040446,0.8988	CAP_FILE_SIZE	98360,0
HUMID	46.02	CFSIZE	2097872896,1972535296
INTERNAL_PRESSURE	7.77175	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.40	SOUNDSPEED	1448.3
XPDR_PINGS	13	CURRENT	0.046,91.38,1
CP_FREE	15892086784.000000	GPS	230917,085730,7417.809,-15349.110,18,0.7,21,19.2,0.0,0.0,12,8.9
PM_FREEKB_00	44476672

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	148.83	nil	0	0	0.00
Roll_motor	59	2169	1599.96	nil	0	0	0.00
VBD_pump_during_apogee	783	1536	14941.11	nil	0	0	0.00
VBD_pump_during_surface	62	205	159.04	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	8790	15	1657.09
Iridium_during_xfer	377	178	835.98	NCP	8731	20	2167.03
Transponder_ping	3	420	16.94	PMAR	8726	9	1071.85
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.47
TT8	0	0	0.00
LPSleep	6411	2	182.92
TT8_Active	831	13	143.40
TT8_Sampling	1912	33	789.63
TT8_CF8	380	38	181.75
TT8_Kalman	0	0	0.00
Analog_circuits	1896	10	234.17
GPS_charging	0	0	0.00
Compass	957	7	82.77
RAFOS	2203	48	1305.94
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	189	2231	492	497	0.0	0.0	0	138	0.00	0.00	-80.82	0.000	16386	0.000	0.000	188	2230	2005	1939	2071	0	0	0	0	0	0	14.47	28.83	14.46
142	-0.81	-127.6	189	2231	1941	2074	3.3	-3.5	8	200	12.40	2.67	-37.20	0.000	18724	0.452	2.170	2300	3582	3888	3863	3914	0	0	0	0	0	0	13.62	12.62	14.09
238	-0.89	-127.6	2299	3585	3871	3915	35.5	-29.0	26	244	0.00	2.40	0.00	0.000	1158	0.000	0.065	2301	2201	3892	3870	3914	0	0	0	0	0	0	14.20	14.07	14.23
541	-1.04	-127.6	2300	2200	3874	3912	98.9	-17.2	57	546	0.15	2.50	0.00	0.000	4484	0.122	0.083	2235	3595	3894	3875	3913	0	0	0	0	0	0	14.13	14.00	14.17
617	-1.17	-127.6	2236	3596	3875	3914	114.0	-19.5	72	622	0.00	2.40	0.00	0.000	1158	0.000	0.060	2236	2198	3893	3874	3913	0	0	0	0	0	0	14.19	14.06	14.23
933	-1.28	-127.6	2235	2197	3875	3915	175.8	-18.6	85	938	0.20	2.50	0.00	0.000	4484	0.112	0.082	2146	3594	3894	3874	3914	0	0	0	0	0	0	14.02	13.97	14.07
1074	-1.28	-127.6	2147	3593	3875	3914	209.8	-24.0	113	1078	0.00	2.40	0.00	0.000	1030	0.000	0.059	2150	2198	3894	3874	3914	0	0	0	0	0	0	14.22	14.09	14.26
1384	-1.25	-127.6	2146	2203	3875	3916	285.7	-23.0	125	1389	0.12	2.47	0.00	0.000	2436	0.364	0.080	2160	3590	3893	3874	3913	0	0	0	0	0	0	13.59	13.94	13.78
1585	-1.34	-127.6	2161	3592	3875	3914	324.2	-18.0	165	1590	0.00	2.40	0.00	0.000	1158	0.000	0.057	2160	2195	3894	3874	3914	0	0	0	0	0	0	14.20	14.07	14.24
1896	-1.39	-127.6	2160	2194	3875	3914	381.7	-18.4	177	1901	0.00	2.50	0.00	0.000	388	0.000	0.084	2153	3587	3893	3874	3913	0	0	0	0	0	0	14.59	13.90	14.59
2035	-1.49	-127.6	2154	3588	3874	3914	405.6	-17.3	204	2040	0.17	2.38	0.00	0.000	5254	0.116	0.056	2083	2201	3893	3873	3913	0	0	0	0	0	0	14.07	14.04	14.18
2348	end dive: TARGET_DEPTH_EXCEEDED
state	2348	begin apogee
2355	-0.13	0.0	2084	2059	3874	3913	485.2	-25.4	217	2561	2.03	0.00	198.90	1.426	10246	0.313	0.000	2526	2057	3358	3365	3352	0	0	0	0	0	0	13.57	13.43	12.84
2564	end apogee: CONTROL_FINISHED_OK
state	2565	begin climb
2568	0.81	127.6	2528	2058	3360	3347	498.0	0.0	224	2758	0.95	2.53	178.62	1.375	10756	0.056	0.078	2863	726	2835	2872	2798	0	0	0	0	0	0	13.76	13.21	12.41
2971	0.45	127.6	2860	727	2853	2796	488.1	13.6	276	2976	0.68	2.40	0.00	0.000	5254	0.364	0.074	2734	2079	2824	2852	2797	0	0	0	0	0	0	13.39	13.86	13.84
3282	0.27	127.6	2735	2079	2853	2793	454.6	10.4	288	3287	0.25	2.40	0.00	0.000	4740	0.311	0.078	2686	721	2822	2852	2792	0	0	0	0	0	0	13.66	13.96	13.88
3318	0.21	137.0	2686	722	2852	2793	451.3	9.0	295	3327	0.15	2.42	2.22	0.522	13478	0.291	0.078	2657	2105	2806	2837	2775	0	0	0	0	0	0	13.74	14.07	12.81
3646	0.19	154.5	2658	2105	2854	2785	424.5	8.2	310	3684	0.00	2.53	33.08	1.474	8868	0.000	0.083	2664	717	2731	2762	2700	0	0	0	0	0	0	14.56	14.08	13.26
3720	0.19	161.4	2664	718	2756	2695	417.8	9.3	325	3726	0.00	2.42	2.40	0.707	9254	0.000	0.079	2665	2101	2706	2741	2672	0	0	0	0	0	0	14.24	14.12	12.71
4037	0.16	161.4	2665	2100	2756	2680	385.0	10.2	338	4039	0.00	0.00	1.23	0.262	8326	0.000	0.000	2662	2101	2706	2743	2670	0	0	0	0	0	0	14.57	14.15	13.86
4337	0.13	164.4	2665	2101	2757	2678	355.3	9.7	348	4343	0.17	0.00	3.83	1.505	12454	0.286	0.000	2629	2101	2695	2733	2657	0	0	0	0	0	0	13.78	14.03	13.10
4637	0.20	185.4	2629	2102	2749	2668	331.0	7.8	358	4682	0.00	0.00	43.53	1.424	8358	0.000	0.000	2629	2101	2608	2650	2566	0	0	0	0	0	0	14.60	14.03	13.27
4967	0.30	198.5	2629	2101	2642	2546	302.4	8.7	369	4987	0.12	2.42	14.77	1.537	10916	0.119	0.083	2696	724	2552	2599	2505	0	0	0	0	0	0	14.26	13.91	13.31
5037	0.30	198.5	2696	726	2591	2503	294.6	11.5	383	5042	0.00	2.40	0.00	0.000	1030	0.000	0.077	2697	2099	2545	2590	2501	0	0	0	0	0	0	14.25	14.13	14.29
5358	0.26	198.5	2697	2100	2592	2496	259.4	10.3	397	5359	0.12	0.00	0.00	0.000	4230	0.264	0.000	2671	2100	2543	2590	2496	0	0	0	0	0	0	13.97	14.30	14.23
5661	0.30	233.4	2671	2101	2592	2492	237.3	6.4	407	5720	0.00	0.00	57.55	1.332	8358	0.000	0.000	2671	2101	2412	2457	2367	0	0	0	0	0	0	14.42	13.93	13.19
6018	0.39	257.0	2672	2101	2445	2350	210.0	7.6	419	6058	0.12	0.00	36.97	1.338	10406	0.125	0.000	2720	2101	2317	2357	2278	0	0	0	0	0	0	14.14	13.92	13.19
6348	0.39	261.0	2720	2103	2345	2261	177.6	9.6	430	6349	0.00	0.00	0.00	0.000	38	0.000	0.000	2719	2101	2302	2344	2261	0	0	0	0	0	0	14.40	14.43	14.41
6648	0.40	275.5	2720	2100	2343	2260	150.8	8.5	440	6679	0.00	0.00	28.27	1.360	8742	0.000	0.000	2720	2100	2238	2280	2197	0	0	0	0	0	0	14.41	14.02	13.28
6978	0.45	291.3	2720	2102	2271	2184	121.8	8.4	456	7001	0.00	0.00	21.30	1.380	8358	0.000	0.000	2720	2097	2177	2218	2137	0	0	0	0	0	0	14.41	14.03	13.29
7278	0.53	318.7	2720	2101	2207	2121	97.9	7.2	468	7299	0.00	2.50	13.40	0.480	8868	0.000	0.086	2728	723	2064	2102	2027	0	0	0	0	0	0	14.39	14.03	13.63
7387	0.65	340.2	2726	723	2108	2029	89.9	7.8	489	7405	0.20	2.45	12.68	0.456	11430	0.089	0.077	2801	2106	1979	2013	1946	0	0	0	0	0	0	14.01	14.02	13.63
7701	0.63	392.4	2802	2106	2022	1946	59.6	4.6	522	7737	0.00	2.53	28.73	0.374	8612	0.000	0.080	2801	3504	1765	1787	1743	0	0	0	0	0	0	14.38	14.02	13.62
7881	0.62	449.2	2802	3503	1784	1743	49.1	4.1	555	7919	0.00	2.38	30.15	0.343	9382	0.000	0.060	2809	2129	1532	1559	1505	0	0	0	0	0	0	14.07	13.96	13.71
8218	0.72	488.5	2809	2129	1564	1499	26.7	5.9	592	8245	0.00	0.00	21.00	0.276	8358	0.000	0.000	2809	2129	1373	1413	1333	0	0	0	0	0	0	14.49	14.07	13.76
8545	0.97	591.3	2810	2129	1416	1334	17.1	-0.6	625	8609	0.22	2.60	54.75	0.255	10916	0.084	0.090	2904	701	951	1018	885	0	0	0	0	0	0	14.04	14.02	13.76
8742	end climb: SURFACE_DEPTH_REACHED
state	8742	begin surface coast
8752	end surface coast: CONTROL_FINISHED_OK
state	8752	begin surface