Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 290 * 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 290 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 805.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 805.0 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 61 VBD_MIN 500

DIVE 290 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 090917,122333,7542.2114,-15108.2852,72,0.8,72,20.8,0.6,351.5,10,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.13 MHEAD_RNG_PITCHd_Wd 140.7,106998,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.4 D_GRID 480

GPS2 090917,122950,7542.2075,-15108.2451,5,0.8,11,20.8,0.0,0.0,10,7.7

Post-dive calculations and measurements:

FINISH 0.6,1.021553 _24V_AH 12.21,181.605

SM_CCo 8913,7.85,0.212,0,0,497,702.78 _10V_AH 12.05,0.000

SM_GC 1.68,8.30,0.17,7.85,0.071,0.111,0.212,206,2231,497,-7.37,-0.65,702.78,0,0,0,0,0,0,14.22,14.24,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 396 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323600

IRIDIUM_FIX 7544.23,-15109.44,090917,094118 DATA_FILE_SIZE 26749,756

TT8_MAMPS 0.040446,0.981939 CAP_FILE_SIZE 102359,0

HUMID 47.55 CFSIZE 2097872896,2003828736

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.60 SOUNDSPEED 1448.6

XPDR_PINGS 6 CURRENT 0.032,40.31,1

CP_FREE 15948414976.000000 GPS 090917,150050,7541.134,-15107.074,57,0.8,57,20.8,1.2,129.7,10,8.9

PM_FREEKB_00 49264448

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 148.39 nil 0 0 0.00

Roll_motor 91 2128 2374.65 nil 0 0 0.00

VBD_pump_during_apogee 1134 1430 19817.64 nil 0 0 0.00

VBD_pump_during_surface 7 211 20.31 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 8836 14 1539.77

Iridium_during_xfer 185 132 299.43 NCP 8892 20 2171.43

Transponder_ping 1 420 7.69 PMAR 8864 101 11032.69

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.41

TT8 0 0 0.00

LPSleep 6207 2 172.79

TT8_Active 1003 13 169.00

TT8_Sampling 1853 33 746.94

TT8_CF8 251 38 117.28

TT8_Kalman 0 0 0.00

Analog_circuits 2048 10 246.83

GPS_charging 0 0 0.00

Compass 1084 7 91.45

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 191 2225 518 486 0.0 0.0 0 144 0.00 0.00 -91.28 0.000 16386 0.000 0.000 189 2224 2124 2055 2193 0 0 0 0 0 0 14.32 28.83 14.35

147 -0.57 -145.9 189 2224 2057 2195 3.2 -4.3 9 204 13.12 2.80 -38.42 0.000 18980 0.455 2.129 2387 829 3959 3941 3977 0 0 0 0 0 0 13.50 12.75 13.95

324 -0.71 -145.9 2387 828 3948 3977 40.0 -13.1 44 332 0.12 2.47 0.00 0.000 5254 0.122 0.087 2339 2180 3962 3947 3977 0 0 0 0 0 0 13.90 13.84 14.00

630 -0.76 -145.9 2339 2180 3949 3977 90.7 -13.2 75 634 0.00 2.55 0.00 0.000 388 0.000 0.088 2333 3610 3962 3947 3977 0 0 0 0 0 0 14.16 13.80 14.18

770 -0.93 -145.9 2333 3610 3953 3978 106.0 -10.3 103 775 0.17 2.38 0.00 0.000 5254 0.109 0.054 2263 2234 3962 3947 3977 0 0 0 0 0 0 13.90 13.84 13.93

1081 -0.93 -145.9 2264 2237 3949 3977 158.6 -16.3 115 1081 0.00 0.00 0.00 0.000 6 0.000 0.000 2263 2237 3962 3948 3977 0 0 0 0 0 0 14.31 14.33 14.33

1381 -0.93 -145.9 2264 2238 3949 3978 203.3 -14.3 125 1385 0.00 2.47 0.00 0.000 260 0.000 0.086 2259 3610 3962 3948 3977 0 0 0 0 0 0 14.30 13.82 14.31

1431 -1.03 -145.9 2260 3612 3948 3978 210.0 -12.5 135 1436 0.00 2.42 0.00 0.000 1158 0.000 0.056 2259 2204 3962 3948 3977 0 0 0 0 0 0 14.04 13.92 14.07

1741 -1.06 -145.9 2259 2203 3949 3976 250.4 -12.5 147 1746 0.00 2.55 0.00 0.000 388 0.000 0.087 2254 3614 3962 3948 3977 0 0 0 0 0 0 14.27 13.87 14.31

1826 -1.18 -145.9 2254 3615 3948 3977 260.0 -10.7 164 1833 0.17 2.47 0.00 0.000 5254 0.114 0.058 2188 2194 3962 3948 3977 0 0 0 0 0 0 13.85 13.80 13.95

2131 -1.09 -145.9 2188 2194 3948 3977 312.3 -17.2 175 2136 0.15 2.55 0.00 0.000 2436 0.272 0.082 2213 3613 3962 3948 3977 0 0 0 0 0 0 13.36 13.78 13.62

2197 -1.14 -145.9 2214 3614 3949 3976 321.5 -12.7 188 2202 0.00 2.45 0.00 0.000 1158 0.000 0.056 2212 2193 3962 3948 3977 0 0 0 0 0 0 14.04 13.94 14.08

2522 -1.14 -145.9 2213 2192 3949 3977 365.7 -13.4 203 2527 0.00 2.58 0.00 0.000 260 0.000 0.086 2210 3613 3962 3947 3977 0 0 0 0 0 0 14.28 13.88 14.29

2593 -1.20 -145.9 2210 3614 3948 3978 374.4 -11.9 217 2598 0.00 2.45 0.00 0.000 1158 0.000 0.054 2210 2199 3961 3946 3977 0 0 0 0 0 0 14.07 13.94 14.09

2913 -1.20 -145.9 2210 2199 3948 3975 416.7 -13.2 231 2918 0.00 2.55 0.00 0.000 260 0.000 0.089 2209 3609 3960 3947 3973 0 0 0 0 0 0 14.26 13.85 14.26

2988 -1.27 -145.9 2210 3610 3948 3977 425.9 -11.4 246 2993 0.12 2.45 0.00 0.000 5254 0.142 0.055 2161 2195 3961 3947 3976 0 0 0 0 0 0 13.95 13.90 14.04

3301 end dive: TARGET_DEPTH_EXCEEDED

state 3301 begin apogee

3307 -0.13 0.0 2161 2054 3947 3978 480.4 -17.5 259 3606 1.58 0.10 295.05 1.285 10246 0.269 0.158 2530 2118 3369 3387 3351 0 0 0 0 0 0 13.58 13.22 12.50

3610 end apogee: CONTROL_FINISHED_OK

state 3612 begin climb

3614 0.57 145.9 2530 2119 3379 3340 498.1 0.0 269 3836 0.75 2.67 216.57 1.322 10500 0.060 0.071 2780 3498 2763 2803 2723 0 0 0 0 0 0 13.45 12.78 12.21

4064 0.09 145.9 2780 3497 2770 2706 473.9 16.4 361 4069 0.85 2.42 0.00 0.000 5254 0.344 0.057 2617 2131 2739 2773 2705 0 0 0 0 0 0 13.32 13.62 13.65

4384 0.01 185.4 2617 2131 2770 2703 446.2 8.2 375 4446 0.12 2.53 55.70 1.321 12708 0.287 0.081 2588 3498 2603 2650 2556 0 0 0 0 0 0 13.76 13.85 13.10

4526 -0.02 202.2 2588 3499 2631 2544 434.2 9.2 403 4551 0.00 2.42 19.27 1.431 9382 0.000 0.059 2589 2100 2539 2589 2489 0 0 0 0 0 0 14.04 13.93 13.08

4868 0.01 239.8 2590 2101 2575 2465 406.0 8.3 421 4942 0.00 2.60 67.10 1.255 8740 0.000 0.090 2589 692 2381 2431 2332 0 0 0 0 0 0 14.30 13.84 13.15

4977 0.12 275.6 2589 692 2422 2326 396.7 8.4 433 5049 0.00 2.50 65.90 1.225 9382 0.000 0.079 2586 2087 2240 2293 2188 0 0 0 0 0 0 13.97 13.86 12.99

5348 0.21 310.3 2589 2088 2278 2166 365.4 8.4 457 5409 0.20 0.00 56.62 1.259 10406 0.099 0.000 2674 2087 2098 2148 2048 0 0 0 0 0 0 14.10 13.85 13.14

5708 0.14 310.3 2674 2088 2134 2031 315.1 13.9 469 5713 0.17 2.50 0.00 0.000 4740 0.249 0.084 2638 686 2081 2133 2030 0 0 0 0 0 0 13.82 14.00 13.97

5763 0.20 310.3 2639 685 2133 2030 308.8 10.6 480 5770 0.00 2.53 0.00 0.000 1158 0.000 0.078 2638 2109 2081 2132 2030 0 0 0 0 0 0 14.13 13.99 14.14

6068 0.20 310.3 2638 2111 2132 2030 275.8 10.8 491 6073 0.00 2.55 0.00 0.000 516 0.000 0.087 2641 688 2080 2131 2029 0 0 0 0 0 0 14.33 13.98 14.35

6103 0.24 310.3 2641 687 2130 2029 272.1 10.4 498 6108 0.00 2.50 0.00 0.000 1158 0.000 0.079 2640 2101 2079 2130 2029 0 0 0 0 0 0 14.16 14.04 14.20

6428 0.25 323.6 2641 2102 2131 2028 240.0 9.4 513 6443 0.00 0.00 13.45 1.419 8230 0.000 0.000 2641 2101 2046 2096 1997 0 0 0 0 0 0 14.32 14.03 13.21

6728 0.31 359.7 2641 2101 2084 1983 214.1 8.3 523 6799 0.12 2.55 63.10 1.233 10916 0.124 0.087 2702 692 1892 1928 1857 0 0 0 0 0 0 14.09 13.86 13.16

6834 0.31 359.7 2704 692 1913 1856 201.9 11.7 544 6840 0.00 2.53 0.00 0.000 1030 0.000 0.078 2706 2107 1883 1912 1854 0 0 0 0 0 0 14.02 13.90 14.04

7151 0.27 359.7 2704 2107 1911 1845 165.6 11.1 557 7156 0.12 2.53 0.00 0.000 4740 0.230 0.086 2669 696 1877 1910 1845 0 0 0 0 0 0 13.89 13.88 13.68

7171 0.27 359.7 2673 694 1909 1845 163.6 10.0 561 7176 0.00 2.50 0.00 0.000 1030 0.000 0.079 2672 2103 1876 1908 1845 0 0 0 0 0 0 14.15 14.01 14.19

7481 0.33 389.3 2673 2104 1909 1844 136.2 8.6 573 7544 0.00 2.60 56.38 1.201 8868 0.000 0.087 2672 694 1775 1801 1749 0 0 0 0 0 0 14.32 13.91 13.19

7581 0.49 435.5 2673 694 1790 1745 128.2 7.9 592 7671 0.20 2.53 84.00 1.134 11430 0.103 0.078 2753 2105 1589 1620 1558 0 0 0 0 0 0 13.96 13.92 13.00

7977 0.45 435.5 2753 2105 1609 1528 78.1 11.5 635 7981 0.00 2.55 0.00 0.000 644 0.000 0.086 2754 690 1567 1607 1527 0 0 0 0 0 0 14.25 13.65 14.27

8001 0.45 435.5 2755 691 1606 1528 75.4 10.7 640 8009 0.00 2.53 0.00 0.000 1030 0.000 0.078 2754 2107 1566 1600 1533 0 0 0 0 0 0 13.95 13.85 13.99

8307 0.51 528.5 2755 2107 1605 1524 49.3 5.7 671 8361 0.00 2.60 47.40 0.343 8740 0.000 0.085 2755 691 1207 1269 1145 0 0 0 0 0 0 14.30 13.95 13.59

8423 0.70 609.3 2754 692 1272 1158 42.6 6.3 693 8476 0.17 2.53 45.83 0.321 11430 0.106 0.079 2820 2105 880 953 808 0 0 0 0 0 0 13.99 13.93 13.64

8771 0.77 643.6 2821 2106 954 815 11.5 8.4 733 8798 0.00 2.60 20.00 0.239 8868 0.000 0.090 2821 698 739 806 673 0 0 0 0 0 0 14.26 13.84 13.71

8853 0.97 713.5 2822 697 807 677 4.8 6.8 749 8887 0.22 2.50 28.20 0.213 11426 0.088 0.078 2901 2102 544 582 507 0 0 0 0 0 0 14.04 13.95 14.13

8887 end climb: SURFACE_DEPTH_REACHED

state 8887 begin surface coast

8890 end surface coast: CONTROL_FINISHED_OK

state 8890 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	290	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	805.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,122333,7542.2114,-15108.2852,72,0.8,72,20.8,0.6,351.5,10,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.13	MHEAD_RNG_PITCHd_Wd	140.7,106998,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.4	D_GRID	480
GPS2	090917,122950,7542.2075,-15108.2451,5,0.8,11,20.8,0.0,0.0,10,7.7

FINISH	0.6,1.021553	_24V_AH	12.21,181.605
SM_CCo	8913,7.85,0.212,0,0,497,702.78	_10V_AH	12.05,0.000
SM_GC	1.68,8.30,0.17,7.85,0.071,0.111,0.212,206,2231,497,-7.37,-0.65,702.78,0,0,0,0,0,0,14.22,14.24,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	396	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323600
IRIDIUM_FIX	7544.23,-15109.44,090917,094118	DATA_FILE_SIZE	26749,756
TT8_MAMPS	0.040446,0.981939	CAP_FILE_SIZE	102359,0
HUMID	47.55	CFSIZE	2097872896,2003828736
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.60	SOUNDSPEED	1448.6
XPDR_PINGS	6	CURRENT	0.032,40.31,1
CP_FREE	15948414976.000000	GPS	090917,150050,7541.134,-15107.074,57,0.8,57,20.8,1.2,129.7,10,8.9
PM_FREEKB_00	49264448

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	148.39	nil	0	0	0.00
Roll_motor	91	2128	2374.65	nil	0	0	0.00
VBD_pump_during_apogee	1134	1430	19817.64	nil	0	0	0.00
VBD_pump_during_surface	7	211	20.31	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	8836	14	1539.77
Iridium_during_xfer	185	132	299.43	NCP	8892	20	2171.43
Transponder_ping	1	420	7.69	PMAR	8864	101	11032.69
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.41
TT8	0	0	0.00
LPSleep	6207	2	172.79
TT8_Active	1003	13	169.00
TT8_Sampling	1853	33	746.94
TT8_CF8	251	38	117.28
TT8_Kalman	0	0	0.00
Analog_circuits	2048	10	246.83
GPS_charging	0	0	0.00
Compass	1084	7	91.45
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	191	2225	518	486	0.0	0.0	0	144	0.00	0.00	-91.28	0.000	16386	0.000	0.000	189	2224	2124	2055	2193	0	0	0	0	0	0	14.32	28.83	14.35
147	-0.57	-145.9	189	2224	2057	2195	3.2	-4.3	9	204	13.12	2.80	-38.42	0.000	18980	0.455	2.129	2387	829	3959	3941	3977	0	0	0	0	0	0	13.50	12.75	13.95
324	-0.71	-145.9	2387	828	3948	3977	40.0	-13.1	44	332	0.12	2.47	0.00	0.000	5254	0.122	0.087	2339	2180	3962	3947	3977	0	0	0	0	0	0	13.90	13.84	14.00
630	-0.76	-145.9	2339	2180	3949	3977	90.7	-13.2	75	634	0.00	2.55	0.00	0.000	388	0.000	0.088	2333	3610	3962	3947	3977	0	0	0	0	0	0	14.16	13.80	14.18
770	-0.93	-145.9	2333	3610	3953	3978	106.0	-10.3	103	775	0.17	2.38	0.00	0.000	5254	0.109	0.054	2263	2234	3962	3947	3977	0	0	0	0	0	0	13.90	13.84	13.93
1081	-0.93	-145.9	2264	2237	3949	3977	158.6	-16.3	115	1081	0.00	0.00	0.00	0.000	6	0.000	0.000	2263	2237	3962	3948	3977	0	0	0	0	0	0	14.31	14.33	14.33
1381	-0.93	-145.9	2264	2238	3949	3978	203.3	-14.3	125	1385	0.00	2.47	0.00	0.000	260	0.000	0.086	2259	3610	3962	3948	3977	0	0	0	0	0	0	14.30	13.82	14.31
1431	-1.03	-145.9	2260	3612	3948	3978	210.0	-12.5	135	1436	0.00	2.42	0.00	0.000	1158	0.000	0.056	2259	2204	3962	3948	3977	0	0	0	0	0	0	14.04	13.92	14.07
1741	-1.06	-145.9	2259	2203	3949	3976	250.4	-12.5	147	1746	0.00	2.55	0.00	0.000	388	0.000	0.087	2254	3614	3962	3948	3977	0	0	0	0	0	0	14.27	13.87	14.31
1826	-1.18	-145.9	2254	3615	3948	3977	260.0	-10.7	164	1833	0.17	2.47	0.00	0.000	5254	0.114	0.058	2188	2194	3962	3948	3977	0	0	0	0	0	0	13.85	13.80	13.95
2131	-1.09	-145.9	2188	2194	3948	3977	312.3	-17.2	175	2136	0.15	2.55	0.00	0.000	2436	0.272	0.082	2213	3613	3962	3948	3977	0	0	0	0	0	0	13.36	13.78	13.62
2197	-1.14	-145.9	2214	3614	3949	3976	321.5	-12.7	188	2202	0.00	2.45	0.00	0.000	1158	0.000	0.056	2212	2193	3962	3948	3977	0	0	0	0	0	0	14.04	13.94	14.08
2522	-1.14	-145.9	2213	2192	3949	3977	365.7	-13.4	203	2527	0.00	2.58	0.00	0.000	260	0.000	0.086	2210	3613	3962	3947	3977	0	0	0	0	0	0	14.28	13.88	14.29
2593	-1.20	-145.9	2210	3614	3948	3978	374.4	-11.9	217	2598	0.00	2.45	0.00	0.000	1158	0.000	0.054	2210	2199	3961	3946	3977	0	0	0	0	0	0	14.07	13.94	14.09
2913	-1.20	-145.9	2210	2199	3948	3975	416.7	-13.2	231	2918	0.00	2.55	0.00	0.000	260	0.000	0.089	2209	3609	3960	3947	3973	0	0	0	0	0	0	14.26	13.85	14.26
2988	-1.27	-145.9	2210	3610	3948	3977	425.9	-11.4	246	2993	0.12	2.45	0.00	0.000	5254	0.142	0.055	2161	2195	3961	3947	3976	0	0	0	0	0	0	13.95	13.90	14.04
3301	end dive: TARGET_DEPTH_EXCEEDED
state	3301	begin apogee
3307	-0.13	0.0	2161	2054	3947	3978	480.4	-17.5	259	3606	1.58	0.10	295.05	1.285	10246	0.269	0.158	2530	2118	3369	3387	3351	0	0	0	0	0	0	13.58	13.22	12.50
3610	end apogee: CONTROL_FINISHED_OK
state	3612	begin climb
3614	0.57	145.9	2530	2119	3379	3340	498.1	0.0	269	3836	0.75	2.67	216.57	1.322	10500	0.060	0.071	2780	3498	2763	2803	2723	0	0	0	0	0	0	13.45	12.78	12.21
4064	0.09	145.9	2780	3497	2770	2706	473.9	16.4	361	4069	0.85	2.42	0.00	0.000	5254	0.344	0.057	2617	2131	2739	2773	2705	0	0	0	0	0	0	13.32	13.62	13.65
4384	0.01	185.4	2617	2131	2770	2703	446.2	8.2	375	4446	0.12	2.53	55.70	1.321	12708	0.287	0.081	2588	3498	2603	2650	2556	0	0	0	0	0	0	13.76	13.85	13.10
4526	-0.02	202.2	2588	3499	2631	2544	434.2	9.2	403	4551	0.00	2.42	19.27	1.431	9382	0.000	0.059	2589	2100	2539	2589	2489	0	0	0	0	0	0	14.04	13.93	13.08
4868	0.01	239.8	2590	2101	2575	2465	406.0	8.3	421	4942	0.00	2.60	67.10	1.255	8740	0.000	0.090	2589	692	2381	2431	2332	0	0	0	0	0	0	14.30	13.84	13.15
4977	0.12	275.6	2589	692	2422	2326	396.7	8.4	433	5049	0.00	2.50	65.90	1.225	9382	0.000	0.079	2586	2087	2240	2293	2188	0	0	0	0	0	0	13.97	13.86	12.99
5348	0.21	310.3	2589	2088	2278	2166	365.4	8.4	457	5409	0.20	0.00	56.62	1.259	10406	0.099	0.000	2674	2087	2098	2148	2048	0	0	0	0	0	0	14.10	13.85	13.14
5708	0.14	310.3	2674	2088	2134	2031	315.1	13.9	469	5713	0.17	2.50	0.00	0.000	4740	0.249	0.084	2638	686	2081	2133	2030	0	0	0	0	0	0	13.82	14.00	13.97
5763	0.20	310.3	2639	685	2133	2030	308.8	10.6	480	5770	0.00	2.53	0.00	0.000	1158	0.000	0.078	2638	2109	2081	2132	2030	0	0	0	0	0	0	14.13	13.99	14.14
6068	0.20	310.3	2638	2111	2132	2030	275.8	10.8	491	6073	0.00	2.55	0.00	0.000	516	0.000	0.087	2641	688	2080	2131	2029	0	0	0	0	0	0	14.33	13.98	14.35
6103	0.24	310.3	2641	687	2130	2029	272.1	10.4	498	6108	0.00	2.50	0.00	0.000	1158	0.000	0.079	2640	2101	2079	2130	2029	0	0	0	0	0	0	14.16	14.04	14.20
6428	0.25	323.6	2641	2102	2131	2028	240.0	9.4	513	6443	0.00	0.00	13.45	1.419	8230	0.000	0.000	2641	2101	2046	2096	1997	0	0	0	0	0	0	14.32	14.03	13.21
6728	0.31	359.7	2641	2101	2084	1983	214.1	8.3	523	6799	0.12	2.55	63.10	1.233	10916	0.124	0.087	2702	692	1892	1928	1857	0	0	0	0	0	0	14.09	13.86	13.16
6834	0.31	359.7	2704	692	1913	1856	201.9	11.7	544	6840	0.00	2.53	0.00	0.000	1030	0.000	0.078	2706	2107	1883	1912	1854	0	0	0	0	0	0	14.02	13.90	14.04
7151	0.27	359.7	2704	2107	1911	1845	165.6	11.1	557	7156	0.12	2.53	0.00	0.000	4740	0.230	0.086	2669	696	1877	1910	1845	0	0	0	0	0	0	13.89	13.88	13.68
7171	0.27	359.7	2673	694	1909	1845	163.6	10.0	561	7176	0.00	2.50	0.00	0.000	1030	0.000	0.079	2672	2103	1876	1908	1845	0	0	0	0	0	0	14.15	14.01	14.19
7481	0.33	389.3	2673	2104	1909	1844	136.2	8.6	573	7544	0.00	2.60	56.38	1.201	8868	0.000	0.087	2672	694	1775	1801	1749	0	0	0	0	0	0	14.32	13.91	13.19
7581	0.49	435.5	2673	694	1790	1745	128.2	7.9	592	7671	0.20	2.53	84.00	1.134	11430	0.103	0.078	2753	2105	1589	1620	1558	0	0	0	0	0	0	13.96	13.92	13.00
7977	0.45	435.5	2753	2105	1609	1528	78.1	11.5	635	7981	0.00	2.55	0.00	0.000	644	0.000	0.086	2754	690	1567	1607	1527	0	0	0	0	0	0	14.25	13.65	14.27
8001	0.45	435.5	2755	691	1606	1528	75.4	10.7	640	8009	0.00	2.53	0.00	0.000	1030	0.000	0.078	2754	2107	1566	1600	1533	0	0	0	0	0	0	13.95	13.85	13.99
8307	0.51	528.5	2755	2107	1605	1524	49.3	5.7	671	8361	0.00	2.60	47.40	0.343	8740	0.000	0.085	2755	691	1207	1269	1145	0	0	0	0	0	0	14.30	13.95	13.59
8423	0.70	609.3	2754	692	1272	1158	42.6	6.3	693	8476	0.17	2.53	45.83	0.321	11430	0.106	0.079	2820	2105	880	953	808	0	0	0	0	0	0	13.99	13.93	13.64
8771	0.77	643.6	2821	2106	954	815	11.5	8.4	733	8798	0.00	2.60	20.00	0.239	8868	0.000	0.090	2821	698	739	806	673	0	0	0	0	0	0	14.26	13.84	13.71
8853	0.97	713.5	2822	697	807	677	4.8	6.8	749	8887	0.22	2.50	28.20	0.213	11426	0.088	0.078	2901	2102	544	582	507	0	0	0	0	0	0	14.04	13.95	14.13
8887	end climb: SURFACE_DEPTH_REACHED
state	8887	begin surface coast
8890	end surface coast: CONTROL_FINISHED_OK
state	8890	begin surface