Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 411 * 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 411 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 420 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 140 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 175 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 1150.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 420 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 140

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 175

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 1150.0 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 30 VBD_MIN 500

DIVE 411 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 230917,085730,7417.8086,-15349.1104,18,0.7,21,19.2,0.0,0.0,12,8.9 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 40.9,1079,-27.3,-10.000,-30.00,994

_SM_ANGLEo -78.1 D_GRID 420

GPS2 230917,090902,7417.8667,-15348.9746,6,0.8,17,19.2,0.0,335.0,11,9.9

Post-dive calculations and measurements:

FINISH 0.2,1.020890 _24V_AH 12.53,240.945

SM_CCo 8157,77.10,0.207,0,0,498,703.28 _10V_AH 12.43,0.000

SM_GC 1.32,8.45,2.30,77.10,0.086,0.054,0.207,199,2188,498,-7.38,0.45,703.28,0,0,0,0,0,0,14.21,14.12,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 363 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323620

IRIDIUM_FIX 7418.45,-15347.43,230917,062209 DATA_FILE_SIZE 26763,784

TT8_MAMPS 0.040446,0.893557 CAP_FILE_SIZE 94380,0

HUMID 48.30 CFSIZE 2097872896,1972273152

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

TCM_TEMP 13.20 SOUNDSPEED 1447.2

XPDR_PINGS 15 CURRENT 0.039,48.73,1

CP_FREE 15891595264.000000 GPS 230917,112802,7417.906,-15346.248,26,0.8,26,19.2,0.0,0.0,10,9.2

PM_FREEKB_00 44455680

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 146.65 nil 0 0 0.00

Roll_motor 64 2170 1757.41 nil 0 0 0.00

VBD_pump_during_apogee 811 1624 16512.57 nil 0 0 0.00

VBD_pump_during_surface 77 207 200.28 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 8124 16 1640.71

Iridium_during_xfer 376 182 858.18 NCP 8124 20 2035.87

Transponder_ping 3 420 19.73 PMAR 8103 9 1002.01

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.16

TT8 0 0 0.00

LPSleep 5413 2 155.45

TT8_Active 790 13 137.33

TT8_Sampling 2351 33 977.47

TT8_CF8 379 38 182.60

TT8_Kalman 0 0 0.00

Analog_circuits 2161 10 268.68

GPS_charging 0 0 0.00

Compass 1123 7 97.74

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 -64.8 191 2207 492 500 0.0 0.0 0 138 0.00 0.00 -80.55 0.000 16386 0.000 0.000 191 2207 2004 1938 2071 0 0 0 0 0 0 14.46 28.83 14.47

142 -0.81 -123.9 192 2207 1940 2073 3.4 -3.9 8 199 12.35 2.78 -36.88 0.000 18724 0.451 2.170 2300 3602 3875 3854 3896 0 0 0 0 0 0 13.63 12.57 14.09

425 -1.01 -123.9 2301 3606 3861 3899 71.1 -15.9 64 430 0.15 2.42 0.00 0.000 5254 0.113 0.059 2243 2197 3879 3860 3898 0 0 0 0 0 0 14.03 13.97 14.11

739 -1.08 -123.9 2244 2197 3861 3899 139.5 -20.4 84 744 0.00 2.50 0.00 0.000 388 0.000 0.084 2235 3603 3879 3861 3898 0 0 0 0 0 0 14.54 14.00 14.57

970 -1.28 -123.9 2236 3605 3862 3899 178.0 -15.0 130 975 0.22 2.40 0.00 0.000 5254 0.096 0.059 2159 2200 3879 3861 3898 0 0 0 0 0 0 14.19 14.11 14.28

1280 -1.26 -123.9 2153 2199 3863 3899 256.5 -24.4 142 1285 0.00 2.50 0.00 0.000 388 0.000 0.081 2143 3606 3879 3860 3898 0 0 0 0 0 0 14.59 13.95 14.60

1486 -1.28 -123.9 2143 3606 3863 3899 300.7 -20.5 183 1493 0.00 2.45 0.00 0.000 1158 0.000 0.058 2142 2195 3879 3861 3898 0 0 0 0 0 0 14.13 14.00 14.17

1791 -1.28 -123.9 2142 2195 3862 3899 364.4 -20.4 194 1796 0.00 2.53 0.00 0.000 260 0.000 0.083 2132 3605 3879 3861 3898 0 0 0 0 0 0 14.59 13.94 14.61

1929 -1.32 -123.9 2132 3608 3861 3899 391.3 -19.0 221 1934 0.00 2.42 0.00 0.000 1158 0.000 0.057 2132 2199 3879 3861 3898 0 0 0 0 0 0 14.17 14.04 14.21

2092 end dive: TARGET_DEPTH_EXCEEDED

state 2092 begin apogee

2099 -0.13 0.0 2133 2057 3861 3898 425.3 -20.3 229 2349 1.75 0.08 245.38 1.310 10246 0.295 0.181 2529 2100 3365 3371 3360 0 0 0 0 0 0 13.59 13.54 12.85

2398 end apogee: CONTROL_FINISHED_OK

state 2398 begin climb

2403 0.81 123.9 2530 2101 3364 3350 439.4 0.0 237 2764 0.93 2.60 176.30 1.349 11012 0.057 0.076 2862 726 2845 2883 2808 0 0 0 0 0 0 13.82 13.14 12.53

2998 0.46 123.9 2863 726 2882 2808 414.1 11.8 283 3004 0.65 2.42 0.00 0.000 5254 0.368 0.074 2735 2105 2843 2881 2806 0 0 0 0 0 0 13.52 14.03 13.98

3310 0.27 135.2 2735 2106 2882 2804 385.3 8.8 295 3325 0.28 2.50 10.50 1.625 12964 0.323 0.082 2683 719 2811 2846 2776 0 0 0 0 0 0 13.64 14.14 13.30

3551 0.24 158.0 2685 719 2842 2775 366.5 7.6 343 3591 0.00 2.42 33.75 1.471 9382 0.000 0.077 2683 2101 2716 2750 2683 0 0 0 0 0 0 14.31 14.17 13.24

3914 0.18 159.7 2682 2102 2747 2675 330.9 9.8 365 3919 0.17 2.42 0.00 0.000 4772 0.298 0.080 2653 720 2710 2747 2674 0 0 0 0 0 0 13.77 14.09 13.98

4145 0.23 177.2 2652 721 2747 2675 312.0 8.2 411 4180 0.00 2.42 28.30 1.451 9382 0.000 0.078 2649 2106 2638 2678 2599 0 0 0 0 0 0 14.27 14.13 13.28

4488 0.27 190.8 2653 2106 2679 2590 282.6 8.6 429 4511 0.00 2.45 18.70 1.507 8868 0.000 0.082 2659 716 2584 2630 2539 0 0 0 0 0 0 14.57 13.91 13.31

4622 0.36 213.3 2659 717 2628 2538 271.4 7.7 456 4662 0.12 2.42 34.58 1.395 11430 0.125 0.079 2707 2103 2495 2541 2450 0 0 0 0 0 0 14.23 14.17 13.23

4970 0.32 223.2 2708 2102 2535 2437 237.0 9.0 475 4989 0.00 2.47 13.55 1.506 8612 0.000 0.080 2707 3517 2449 2496 2403 0 0 0 0 0 0 14.54 13.95 13.31

5015 0.23 223.5 2707 3518 2491 2403 232.5 10.0 484 5021 0.25 2.38 0.00 0.000 5286 0.288 0.060 2659 2126 2446 2491 2402 0 0 0 0 0 0 13.91 14.19 14.21

5332 0.32 261.6 2659 2125 2490 2402 211.1 6.1 497 5396 0.00 0.00 62.35 1.311 8870 0.000 0.000 2660 2125 2299 2339 2259 0 0 0 0 0 0 14.59 13.92 13.19

5694 0.47 286.7 2660 2125 2336 2244 184.8 7.4 519 5742 0.20 2.55 40.62 1.313 10916 0.096 0.086 2754 694 2191 2229 2153 0 0 0 0 0 0 14.21 14.05 13.26

5903 0.47 286.7 2754 694 2223 2152 161.0 11.5 561 5908 0.00 2.47 0.00 0.000 1030 0.000 0.078 2754 2102 2186 2222 2151 0 0 0 0 0 0 14.09 13.95 14.14

6234 0.44 286.7 2751 2106 2219 2144 122.7 11.2 577 6235 0.12 0.00 0.00 0.000 4230 0.278 0.000 2730 2103 2183 2222 2144 0 0 0 0 0 0 13.93 14.27 14.21

6534 0.49 313.3 2730 2103 2223 2142 97.7 7.2 589 6553 0.00 0.00 13.35 0.496 8358 0.000 0.000 2736 2103 2086 2125 2048 0 0 0 0 0 0 14.54 14.12 13.63

6854 0.58 346.2 2731 2104 2126 2045 74.7 6.6 621 6876 0.12 2.58 17.92 0.422 10916 0.122 0.086 2795 693 1953 1987 1919 0 0 0 0 0 0 14.19 14.09 13.65

6977 0.59 361.4 2795 693 1986 1918 64.6 8.4 645 6992 0.00 2.47 8.88 0.388 9254 0.000 0.077 2794 2101 1889 1917 1861 0 0 0 0 0 0 14.21 14.09 13.66

7298 0.66 460.1 2795 2103 1915 1860 53.4 -0.2 679 7356 0.00 2.50 51.35 0.360 8484 0.000 0.080 2795 3517 1488 1524 1453 0 0 0 0 0 0 14.54 14.03 13.65

7382 0.71 479.9 2795 3518 1524 1454 49.8 8.0 695 7398 0.00 2.45 11.07 0.347 9382 0.000 0.067 2795 2103 1406 1453 1360 0 0 0 0 0 0 14.19 14.07 13.64

7704 0.89 510.6 2796 2103 1454 1351 23.5 6.8 729 7724 0.20 0.00 16.27 0.275 10662 0.096 0.000 2886 2103 1281 1333 1230 0 0 0 0 0 0 14.15 13.97 13.65

8024 0.96 563.6 2881 2103 1335 1224 8.8 4.5 762 8060 0.00 2.53 28.17 0.230 8612 0.000 0.077 2881 3507 1065 1126 1005 0 0 0 0 0 0 14.50 14.00 13.77

8113 end climb: SURFACE_DEPTH_REACHED

state 8113 begin surface coast

8133 end surface coast: CONTROL_FINISHED_OK

state 8133 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	411	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	420	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	140	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	175	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	1150.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230917,085730,7417.8086,-15349.1104,18,0.7,21,19.2,0.0,0.0,12,8.9	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	40.9,1079,-27.3,-10.000,-30.00,994
_SM_ANGLEo	-78.1	D_GRID	420
GPS2	230917,090902,7417.8667,-15348.9746,6,0.8,17,19.2,0.0,335.0,11,9.9

FINISH	0.2,1.020890	_24V_AH	12.53,240.945
SM_CCo	8157,77.10,0.207,0,0,498,703.28	_10V_AH	12.43,0.000
SM_GC	1.32,8.45,2.30,77.10,0.086,0.054,0.207,199,2188,498,-7.38,0.45,703.28,0,0,0,0,0,0,14.21,14.12,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	363	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323620
IRIDIUM_FIX	7418.45,-15347.43,230917,062209	DATA_FILE_SIZE	26763,784
TT8_MAMPS	0.040446,0.893557	CAP_FILE_SIZE	94380,0
HUMID	48.30	CFSIZE	2097872896,1972273152
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.2
XPDR_PINGS	15	CURRENT	0.039,48.73,1
CP_FREE	15891595264.000000	GPS	230917,112802,7417.906,-15346.248,26,0.8,26,19.2,0.0,0.0,10,9.2
PM_FREEKB_00	44455680

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	146.65	nil	0	0	0.00
Roll_motor	64	2170	1757.41	nil	0	0	0.00
VBD_pump_during_apogee	811	1624	16512.57	nil	0	0	0.00
VBD_pump_during_surface	77	207	200.28	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	8124	16	1640.71
Iridium_during_xfer	376	182	858.18	NCP	8124	20	2035.87
Transponder_ping	3	420	19.73	PMAR	8103	9	1002.01
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.16
TT8	0	0	0.00
LPSleep	5413	2	155.45
TT8_Active	790	13	137.33
TT8_Sampling	2351	33	977.47
TT8_CF8	379	38	182.60
TT8_Kalman	0	0	0.00
Analog_circuits	2161	10	268.68
GPS_charging	0	0	0.00
Compass	1123	7	97.74
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	191	2207	492	500	0.0	0.0	0	138	0.00	0.00	-80.55	0.000	16386	0.000	0.000	191	2207	2004	1938	2071	0	0	0	0	0	0	14.46	28.83	14.47
142	-0.81	-123.9	192	2207	1940	2073	3.4	-3.9	8	199	12.35	2.78	-36.88	0.000	18724	0.451	2.170	2300	3602	3875	3854	3896	0	0	0	0	0	0	13.63	12.57	14.09
425	-1.01	-123.9	2301	3606	3861	3899	71.1	-15.9	64	430	0.15	2.42	0.00	0.000	5254	0.113	0.059	2243	2197	3879	3860	3898	0	0	0	0	0	0	14.03	13.97	14.11
739	-1.08	-123.9	2244	2197	3861	3899	139.5	-20.4	84	744	0.00	2.50	0.00	0.000	388	0.000	0.084	2235	3603	3879	3861	3898	0	0	0	0	0	0	14.54	14.00	14.57
970	-1.28	-123.9	2236	3605	3862	3899	178.0	-15.0	130	975	0.22	2.40	0.00	0.000	5254	0.096	0.059	2159	2200	3879	3861	3898	0	0	0	0	0	0	14.19	14.11	14.28
1280	-1.26	-123.9	2153	2199	3863	3899	256.5	-24.4	142	1285	0.00	2.50	0.00	0.000	388	0.000	0.081	2143	3606	3879	3860	3898	0	0	0	0	0	0	14.59	13.95	14.60
1486	-1.28	-123.9	2143	3606	3863	3899	300.7	-20.5	183	1493	0.00	2.45	0.00	0.000	1158	0.000	0.058	2142	2195	3879	3861	3898	0	0	0	0	0	0	14.13	14.00	14.17
1791	-1.28	-123.9	2142	2195	3862	3899	364.4	-20.4	194	1796	0.00	2.53	0.00	0.000	260	0.000	0.083	2132	3605	3879	3861	3898	0	0	0	0	0	0	14.59	13.94	14.61
1929	-1.32	-123.9	2132	3608	3861	3899	391.3	-19.0	221	1934	0.00	2.42	0.00	0.000	1158	0.000	0.057	2132	2199	3879	3861	3898	0	0	0	0	0	0	14.17	14.04	14.21
2092	end dive: TARGET_DEPTH_EXCEEDED
state	2092	begin apogee
2099	-0.13	0.0	2133	2057	3861	3898	425.3	-20.3	229	2349	1.75	0.08	245.38	1.310	10246	0.295	0.181	2529	2100	3365	3371	3360	0	0	0	0	0	0	13.59	13.54	12.85
2398	end apogee: CONTROL_FINISHED_OK
state	2398	begin climb
2403	0.81	123.9	2530	2101	3364	3350	439.4	0.0	237	2764	0.93	2.60	176.30	1.349	11012	0.057	0.076	2862	726	2845	2883	2808	0	0	0	0	0	0	13.82	13.14	12.53
2998	0.46	123.9	2863	726	2882	2808	414.1	11.8	283	3004	0.65	2.42	0.00	0.000	5254	0.368	0.074	2735	2105	2843	2881	2806	0	0	0	0	0	0	13.52	14.03	13.98
3310	0.27	135.2	2735	2106	2882	2804	385.3	8.8	295	3325	0.28	2.50	10.50	1.625	12964	0.323	0.082	2683	719	2811	2846	2776	0	0	0	0	0	0	13.64	14.14	13.30
3551	0.24	158.0	2685	719	2842	2775	366.5	7.6	343	3591	0.00	2.42	33.75	1.471	9382	0.000	0.077	2683	2101	2716	2750	2683	0	0	0	0	0	0	14.31	14.17	13.24
3914	0.18	159.7	2682	2102	2747	2675	330.9	9.8	365	3919	0.17	2.42	0.00	0.000	4772	0.298	0.080	2653	720	2710	2747	2674	0	0	0	0	0	0	13.77	14.09	13.98
4145	0.23	177.2	2652	721	2747	2675	312.0	8.2	411	4180	0.00	2.42	28.30	1.451	9382	0.000	0.078	2649	2106	2638	2678	2599	0	0	0	0	0	0	14.27	14.13	13.28
4488	0.27	190.8	2653	2106	2679	2590	282.6	8.6	429	4511	0.00	2.45	18.70	1.507	8868	0.000	0.082	2659	716	2584	2630	2539	0	0	0	0	0	0	14.57	13.91	13.31
4622	0.36	213.3	2659	717	2628	2538	271.4	7.7	456	4662	0.12	2.42	34.58	1.395	11430	0.125	0.079	2707	2103	2495	2541	2450	0	0	0	0	0	0	14.23	14.17	13.23
4970	0.32	223.2	2708	2102	2535	2437	237.0	9.0	475	4989	0.00	2.47	13.55	1.506	8612	0.000	0.080	2707	3517	2449	2496	2403	0	0	0	0	0	0	14.54	13.95	13.31
5015	0.23	223.5	2707	3518	2491	2403	232.5	10.0	484	5021	0.25	2.38	0.00	0.000	5286	0.288	0.060	2659	2126	2446	2491	2402	0	0	0	0	0	0	13.91	14.19	14.21
5332	0.32	261.6	2659	2125	2490	2402	211.1	6.1	497	5396	0.00	0.00	62.35	1.311	8870	0.000	0.000	2660	2125	2299	2339	2259	0	0	0	0	0	0	14.59	13.92	13.19
5694	0.47	286.7	2660	2125	2336	2244	184.8	7.4	519	5742	0.20	2.55	40.62	1.313	10916	0.096	0.086	2754	694	2191	2229	2153	0	0	0	0	0	0	14.21	14.05	13.26
5903	0.47	286.7	2754	694	2223	2152	161.0	11.5	561	5908	0.00	2.47	0.00	0.000	1030	0.000	0.078	2754	2102	2186	2222	2151	0	0	0	0	0	0	14.09	13.95	14.14
6234	0.44	286.7	2751	2106	2219	2144	122.7	11.2	577	6235	0.12	0.00	0.00	0.000	4230	0.278	0.000	2730	2103	2183	2222	2144	0	0	0	0	0	0	13.93	14.27	14.21
6534	0.49	313.3	2730	2103	2223	2142	97.7	7.2	589	6553	0.00	0.00	13.35	0.496	8358	0.000	0.000	2736	2103	2086	2125	2048	0	0	0	0	0	0	14.54	14.12	13.63
6854	0.58	346.2	2731	2104	2126	2045	74.7	6.6	621	6876	0.12	2.58	17.92	0.422	10916	0.122	0.086	2795	693	1953	1987	1919	0	0	0	0	0	0	14.19	14.09	13.65
6977	0.59	361.4	2795	693	1986	1918	64.6	8.4	645	6992	0.00	2.47	8.88	0.388	9254	0.000	0.077	2794	2101	1889	1917	1861	0	0	0	0	0	0	14.21	14.09	13.66
7298	0.66	460.1	2795	2103	1915	1860	53.4	-0.2	679	7356	0.00	2.50	51.35	0.360	8484	0.000	0.080	2795	3517	1488	1524	1453	0	0	0	0	0	0	14.54	14.03	13.65
7382	0.71	479.9	2795	3518	1524	1454	49.8	8.0	695	7398	0.00	2.45	11.07	0.347	9382	0.000	0.067	2795	2103	1406	1453	1360	0	0	0	0	0	0	14.19	14.07	13.64
7704	0.89	510.6	2796	2103	1454	1351	23.5	6.8	729	7724	0.20	0.00	16.27	0.275	10662	0.096	0.000	2886	2103	1281	1333	1230	0	0	0	0	0	0	14.15	13.97	13.65
8024	0.96	563.6	2881	2103	1335	1224	8.8	4.5	762	8060	0.00	2.53	28.17	0.230	8612	0.000	0.077	2881	3507	1065	1126	1005	0	0	0	0	0	0	14.50	14.00	13.77
8113	end climb: SURFACE_DEPTH_REACHED
state	8113	begin surface coast
8133	end surface coast: CONTROL_FINISHED_OK
state	8133	begin surface