Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 303 * 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 303 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 844.0

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 63 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 844.0 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 63 VBD_MIN 500

DIVE 303 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 100917,232618,7540.4263,-15109.3594,14,0.8,16,20.8,0.8,46.6,11,8.8 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 1.14 MHEAD_RNG_PITCHd_Wd 155.5,103812,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.7 D_GRID 480

GPS2 100917,233804,7540.4375,-15109.2598,10,0.8,34,20.8,0.4,326.9,9,9.9

Post-dive calculations and measurements:

FINISH 0.1,1.021575 _24V_AH 12.19,188.891

SM_CCo 9013,23.48,0.202,0,0,499,703.03 _10V_AH 12.08,0.000

SM_GC 0.99,8.15,0.15,23.48,0.076,0.129,0.202,196,2219,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.27,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 349 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323288

IRIDIUM_FIX 7552.12,-14850.09,100917,204502 DATA_FILE_SIZE 30009,817

TT8_MAMPS 0.040446,0.957222 CAP_FILE_SIZE 109103,0

HUMID 46.65 CFSIZE 2097872896,2000781312

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.7

XPDR_PINGS 13 CURRENT 0.026,65.22,1

CP_FREE 15942877184.000000 GPS 110917,021031,7539.287,-15109.735,16,0.7,32,20.8,0.6,130.4,11,7.5

PM_FREEKB_00 48455936

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 144.81 nil 0 0 0.00

Roll_motor 95 2137 2485.65 nil 0 0 0.00

VBD_pump_during_apogee 1002 1540 18835.25 nil 0 0 0.00

VBD_pump_during_surface 23 201 57.79 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 9023 14 1569.01

Iridium_during_xfer 409 177 885.24 NCP 8986 20 2190.79

Transponder_ping 3 420 16.64 PMAR 8967 31 3435.65

GUMSTIX_24V 0 0 0.00

GPS 35 22 9.71

TT8 0 0 0.00

LPSleep 6278 2 175.19

TT8_Active 988 13 166.84

TT8_Sampling 2167 33 875.60

TT8_CF8 320 38 149.90

TT8_Kalman 0 0 0.00

Analog_circuits 2215 10 267.69

GPS_charging 0 0 0.00

Compass 1169 7 98.92

RAFOS 2134 48 1237.38

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 -145.9 189 2223 509 490 0.0 0.0 0 144 0.00 0.00 -91.62 0.000 16386 0.000 0.000 185 2222 2115 2043 2188 0 0 0 0 0 0 14.51 28.83 14.55

148 -0.57 -145.9 188 2223 2046 2189 3.4 -4.3 9 205 12.90 2.72 -38.72 0.000 18724 0.452 2.137 2376 3594 3958 3942 3974 1 0 0 0 0 0 13.32 12.85 14.09

340 -0.73 -145.9 2377 3594 3948 3973 41.0 -12.8 47 345 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2234 3961 3948 3974 0 0 0 0 0 0 14.12 13.97 14.13

650 -0.85 -145.9 2375 2233 3950 3976 82.0 -10.2 79 655 0.20 2.53 0.00 0.000 4740 0.104 0.080 2291 793 3961 3949 3974 0 0 0 0 0 0 14.21 13.97 14.28

685 -0.85 -145.9 2290 794 3950 3976 87.2 -15.6 86 692 0.00 2.47 0.00 0.000 1030 0.000 0.086 2287 2176 3961 3949 3974 0 0 0 0 0 0 14.07 13.91 14.10

1011 -0.85 -145.9 2288 2177 3950 3975 138.1 -14.5 103 1015 0.00 2.58 0.00 0.000 260 0.000 0.089 2280 3616 3961 3949 3974 0 0 0 0 0 0 14.51 13.95 14.53

1196 -0.97 -145.9 2281 3619 3950 3975 160.3 -11.5 140 1201 0.00 2.42 0.00 0.000 1158 0.000 0.057 2280 2198 3963 3949 3977 0 0 0 0 0 0 14.23 14.12 14.28

1523 -1.03 -145.9 2282 2198 3950 3975 201.8 -12.5 155 1528 0.00 2.55 0.00 0.000 388 0.000 0.089 2280 3615 3962 3950 3974 0 0 0 0 0 0 14.45 14.00 14.46

1574 -1.16 -145.9 2280 3615 3950 3974 207.8 -10.5 165 1579 0.25 2.42 0.00 0.000 5254 0.101 0.056 2190 2199 3965 3957 3974 0 0 0 0 0 0 14.09 14.07 14.19

1885 -1.05 -145.9 2190 2199 3950 3975 268.5 -18.8 177 1890 0.20 2.53 0.00 0.000 2436 0.288 0.083 2224 3614 3961 3949 3974 0 0 0 0 0 0 13.62 13.93 13.81

2015 -1.13 -145.9 2225 3616 3950 3976 285.7 -11.7 203 2020 0.00 2.45 0.00 0.000 1158 0.000 0.057 2225 2191 3960 3949 3971 0 0 0 0 0 0 14.16 14.03 14.19

2335 -1.13 -145.9 2225 2186 3950 3974 326.8 -12.5 217 2340 0.00 2.58 0.00 0.000 260 0.000 0.088 2222 3610 3961 3949 3974 0 0 0 0 0 0 14.30 13.80 14.32

2420 -1.22 -145.9 2223 3612 3950 3975 336.7 -10.9 234 2426 0.00 2.42 0.00 0.000 1158 0.000 0.056 2222 2200 3960 3946 3974 0 0 0 0 0 0 13.98 13.86 14.01

2725 -1.25 -145.9 2224 2200 3947 3975 373.8 -12.2 245 2730 0.12 2.58 0.00 0.000 4484 0.149 0.084 2161 3614 3961 3949 3974 0 0 0 0 0 0 13.95 13.83 14.00

2791 -1.19 -145.9 2162 3615 3948 3974 384.4 -16.6 258 2796 0.15 2.45 0.00 0.000 3206 0.272 0.057 2188 2196 3960 3947 3974 0 0 0 0 0 0 13.62 13.93 13.92

3116 -1.15 -145.9 2187 2196 3948 3975 433.3 -14.8 273 3121 0.00 2.58 0.00 0.000 388 0.000 0.086 2183 3620 3962 3951 3974 0 0 0 0 0 0 14.33 13.83 14.31

3221 -1.15 -145.9 2183 3621 3948 3975 448.3 -13.6 294 3226 0.00 2.47 0.00 0.000 1030 0.000 0.056 2184 2194 3960 3947 3974 0 0 0 0 0 0 14.07 13.95 14.11

3443 end dive: TARGET_DEPTH_EXCEEDED

state 3444 begin apogee

3449 -0.13 0.0 2184 2066 3947 3975 482.5 -15.3 304 3686 1.40 0.08 228.23 1.401 10246 0.246 0.179 2527 2114 3355 3372 3339 0 0 0 0 0 0 13.66 13.32 12.57

3692 end apogee: CONTROL_FINISHED_OK

state 3693 begin climb

3695 0.57 145.9 2528 2115 3372 3335 496.1 0.0 312 3915 0.75 2.60 209.95 1.355 10500 0.060 0.070 2777 3510 2762 2797 2728 0 0 0 0 0 0 13.52 12.80 12.19

4140 0.08 145.9 2779 3512 2779 2717 478.3 15.1 385 4147 0.85 2.42 0.00 0.000 5254 0.351 0.057 2617 2131 2747 2777 2718 0 0 0 0 0 0 13.45 13.74 13.81

4467 -0.01 194.8 2616 2131 2779 2716 451.8 7.7 400 4547 0.12 2.50 72.18 1.374 12708 0.294 0.081 2588 3495 2561 2609 2513 0 0 0 0 0 0 13.81 13.81 13.07

4692 -0.04 209.3 2588 3497 2593 2506 432.4 9.3 445 4713 0.00 2.40 14.93 1.541 9382 0.000 0.060 2589 2104 2509 2558 2461 0 0 0 0 0 0 14.16 14.05 13.12

5040 -0.02 246.8 2589 2104 2548 2445 403.7 8.3 464 5108 0.00 2.58 60.62 1.363 8740 0.000 0.089 2589 691 2353 2397 2309 0 0 0 0 0 0 14.46 13.94 13.15

5133 0.08 285.3 2589 690 2390 2304 395.7 8.2 478 5199 0.00 2.47 59.42 1.337 9382 0.000 0.078 2589 2094 2200 2248 2152 0 0 0 0 0 0 14.09 13.97 12.99

5520 0.16 312.5 2589 2092 2234 2128 361.8 8.7 505 5566 0.15 2.50 39.90 1.359 10916 0.118 0.087 2660 691 2086 2132 2040 0 0 0 0 0 0 14.24 13.95 13.17

5591 0.13 312.5 2664 692 2120 2034 352.8 13.7 514 5596 0.15 2.47 0.00 0.000 5254 0.242 0.077 2628 2098 2075 2119 2032 0 0 0 0 0 0 13.89 13.97 14.13

5911 0.13 312.5 2628 2099 2120 2021 317.2 10.8 528 5916 0.00 2.50 0.00 0.000 516 0.000 0.087 2630 692 2069 2119 2020 0 0 0 0 0 0 14.47 14.10 14.49

5941 0.17 312.5 2631 693 2119 2021 314.1 10.5 534 5946 0.00 2.47 0.00 0.000 1158 0.000 0.077 2630 2103 2069 2118 2020 0 0 0 0 0 0 14.30 14.14 14.32

6271 0.17 312.5 2630 2104 2119 2020 279.4 10.4 550 6276 0.00 2.53 0.00 0.000 516 0.000 0.086 2630 687 2068 2118 2019 0 0 0 0 0 0 14.53 14.12 14.54

6321 0.26 326.8 2631 688 2116 2020 274.5 9.3 560 6343 0.10 2.45 15.70 1.458 11430 0.146 0.076 2680 2101 2029 2072 1986 0 0 0 0 0 0 14.23 14.20 13.26

6665 0.20 326.8 2680 2101 2066 1973 232.1 11.9 578 6666 0.15 0.00 0.00 0.000 4230 0.248 0.000 2648 2101 2018 2065 1972 0 0 0 0 0 0 14.07 14.38 14.35

6964 0.25 362.2 2648 2101 2067 1970 205.4 8.4 588 7034 0.00 2.55 61.72 1.280 8868 0.000 0.088 2648 695 1881 1914 1848 0 0 0 0 0 0 14.69 14.03 13.22

7076 0.41 410.8 2648 696 1903 1846 196.6 7.8 610 7170 0.20 2.47 86.60 1.196 11430 0.101 0.077 2732 2101 1689 1713 1665 0 0 0 0 0 0 14.16 14.09 13.08

7475 0.38 410.8 2724 2102 1705 1638 144.2 12.9 640 7480 0.00 2.47 0.00 0.000 644 0.000 0.088 2726 692 1670 1702 1638 0 0 0 0 0 0 14.56 14.11 14.57

7570 0.38 410.8 2726 693 1700 1638 133.0 11.2 659 7575 0.00 2.47 0.00 0.000 1030 0.000 0.076 2726 2102 1668 1698 1638 0 0 0 0 0 0 14.09 13.96 14.12

7875 0.36 410.8 2727 2103 1700 1636 97.8 11.0 674 7880 0.12 2.53 0.00 0.000 4740 0.233 0.083 2699 688 1667 1699 1635 0 0 0 0 0 0 13.93 13.96 14.06

7930 0.48 450.2 2699 688 1698 1635 92.9 8.2 685 7959 0.12 2.50 20.45 0.463 11430 0.125 0.076 2756 2107 1529 1559 1499 0 0 0 0 0 0 14.02 13.97 13.56

8255 0.48 484.0 2756 2108 1569 1505 58.0 8.4 720 8282 0.00 2.50 20.90 0.363 8868 0.000 0.086 2756 687 1389 1430 1349 0 0 0 0 0 0 14.43 14.00 13.63

8302 0.56 564.6 2757 687 1434 1354 54.7 6.3 729 8356 0.00 2.50 47.97 0.359 9382 0.000 0.076 2757 2100 1061 1129 994 0 0 0 0 0 0 14.15 14.02 13.63

8662 0.74 651.2 2757 2100 1131 1003 30.7 6.0 770 8720 0.17 2.53 51.35 0.285 10916 0.106 0.089 2835 690 708 769 648 0 0 0 0 0 0 14.04 13.98 13.71

8790 0.84 670.5 2837 689 777 652 19.2 9.1 795 8808 0.00 2.53 12.95 0.256 9382 0.000 0.078 2836 2112 632 687 577 0 0 0 0 0 0 14.00 13.88 13.74

8973 end climb: SURFACE_DEPTH_REACHED

state 8973 begin surface coast

8993 end surface coast: CONTROL_FINISHED_OK

state 8993 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	303	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	844.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,232618,7540.4263,-15109.3594,14,0.8,16,20.8,0.8,46.6,11,8.8	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	1.14	MHEAD_RNG_PITCHd_Wd	155.5,103812,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.7	D_GRID	480
GPS2	100917,233804,7540.4375,-15109.2598,10,0.8,34,20.8,0.4,326.9,9,9.9

FINISH	0.1,1.021575	_24V_AH	12.19,188.891
SM_CCo	9013,23.48,0.202,0,0,499,703.03	_10V_AH	12.08,0.000
SM_GC	0.99,8.15,0.15,23.48,0.076,0.129,0.202,196,2219,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.27,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	349	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323288
IRIDIUM_FIX	7552.12,-14850.09,100917,204502	DATA_FILE_SIZE	30009,817
TT8_MAMPS	0.040446,0.957222	CAP_FILE_SIZE	109103,0
HUMID	46.65	CFSIZE	2097872896,2000781312
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.7
XPDR_PINGS	13	CURRENT	0.026,65.22,1
CP_FREE	15942877184.000000	GPS	110917,021031,7539.287,-15109.735,16,0.7,32,20.8,0.6,130.4,11,7.5
PM_FREEKB_00	48455936

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	144.81	nil	0	0	0.00
Roll_motor	95	2137	2485.65	nil	0	0	0.00
VBD_pump_during_apogee	1002	1540	18835.25	nil	0	0	0.00
VBD_pump_during_surface	23	201	57.79	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	9023	14	1569.01
Iridium_during_xfer	409	177	885.24	NCP	8986	20	2190.79
Transponder_ping	3	420	16.64	PMAR	8967	31	3435.65
GUMSTIX_24V	0	0	0.00
GPS	35	22	9.71
TT8	0	0	0.00
LPSleep	6278	2	175.19
TT8_Active	988	13	166.84
TT8_Sampling	2167	33	875.60
TT8_CF8	320	38	149.90
TT8_Kalman	0	0	0.00
Analog_circuits	2215	10	267.69
GPS_charging	0	0	0.00
Compass	1169	7	98.92
RAFOS	2134	48	1237.38
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	189	2223	509	490	0.0	0.0	0	144	0.00	0.00	-91.62	0.000	16386	0.000	0.000	185	2222	2115	2043	2188	0	0	0	0	0	0	14.51	28.83	14.55
148	-0.57	-145.9	188	2223	2046	2189	3.4	-4.3	9	205	12.90	2.72	-38.72	0.000	18724	0.452	2.137	2376	3594	3958	3942	3974	1	0	0	0	0	0	13.32	12.85	14.09
340	-0.73	-145.9	2377	3594	3948	3973	41.0	-12.8	47	345	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2234	3961	3948	3974	0	0	0	0	0	0	14.12	13.97	14.13
650	-0.85	-145.9	2375	2233	3950	3976	82.0	-10.2	79	655	0.20	2.53	0.00	0.000	4740	0.104	0.080	2291	793	3961	3949	3974	0	0	0	0	0	0	14.21	13.97	14.28
685	-0.85	-145.9	2290	794	3950	3976	87.2	-15.6	86	692	0.00	2.47	0.00	0.000	1030	0.000	0.086	2287	2176	3961	3949	3974	0	0	0	0	0	0	14.07	13.91	14.10
1011	-0.85	-145.9	2288	2177	3950	3975	138.1	-14.5	103	1015	0.00	2.58	0.00	0.000	260	0.000	0.089	2280	3616	3961	3949	3974	0	0	0	0	0	0	14.51	13.95	14.53
1196	-0.97	-145.9	2281	3619	3950	3975	160.3	-11.5	140	1201	0.00	2.42	0.00	0.000	1158	0.000	0.057	2280	2198	3963	3949	3977	0	0	0	0	0	0	14.23	14.12	14.28
1523	-1.03	-145.9	2282	2198	3950	3975	201.8	-12.5	155	1528	0.00	2.55	0.00	0.000	388	0.000	0.089	2280	3615	3962	3950	3974	0	0	0	0	0	0	14.45	14.00	14.46
1574	-1.16	-145.9	2280	3615	3950	3974	207.8	-10.5	165	1579	0.25	2.42	0.00	0.000	5254	0.101	0.056	2190	2199	3965	3957	3974	0	0	0	0	0	0	14.09	14.07	14.19
1885	-1.05	-145.9	2190	2199	3950	3975	268.5	-18.8	177	1890	0.20	2.53	0.00	0.000	2436	0.288	0.083	2224	3614	3961	3949	3974	0	0	0	0	0	0	13.62	13.93	13.81
2015	-1.13	-145.9	2225	3616	3950	3976	285.7	-11.7	203	2020	0.00	2.45	0.00	0.000	1158	0.000	0.057	2225	2191	3960	3949	3971	0	0	0	0	0	0	14.16	14.03	14.19
2335	-1.13	-145.9	2225	2186	3950	3974	326.8	-12.5	217	2340	0.00	2.58	0.00	0.000	260	0.000	0.088	2222	3610	3961	3949	3974	0	0	0	0	0	0	14.30	13.80	14.32
2420	-1.22	-145.9	2223	3612	3950	3975	336.7	-10.9	234	2426	0.00	2.42	0.00	0.000	1158	0.000	0.056	2222	2200	3960	3946	3974	0	0	0	0	0	0	13.98	13.86	14.01
2725	-1.25	-145.9	2224	2200	3947	3975	373.8	-12.2	245	2730	0.12	2.58	0.00	0.000	4484	0.149	0.084	2161	3614	3961	3949	3974	0	0	0	0	0	0	13.95	13.83	14.00
2791	-1.19	-145.9	2162	3615	3948	3974	384.4	-16.6	258	2796	0.15	2.45	0.00	0.000	3206	0.272	0.057	2188	2196	3960	3947	3974	0	0	0	0	0	0	13.62	13.93	13.92
3116	-1.15	-145.9	2187	2196	3948	3975	433.3	-14.8	273	3121	0.00	2.58	0.00	0.000	388	0.000	0.086	2183	3620	3962	3951	3974	0	0	0	0	0	0	14.33	13.83	14.31
3221	-1.15	-145.9	2183	3621	3948	3975	448.3	-13.6	294	3226	0.00	2.47	0.00	0.000	1030	0.000	0.056	2184	2194	3960	3947	3974	0	0	0	0	0	0	14.07	13.95	14.11
3443	end dive: TARGET_DEPTH_EXCEEDED
state	3444	begin apogee
3449	-0.13	0.0	2184	2066	3947	3975	482.5	-15.3	304	3686	1.40	0.08	228.23	1.401	10246	0.246	0.179	2527	2114	3355	3372	3339	0	0	0	0	0	0	13.66	13.32	12.57
3692	end apogee: CONTROL_FINISHED_OK
state	3693	begin climb
3695	0.57	145.9	2528	2115	3372	3335	496.1	0.0	312	3915	0.75	2.60	209.95	1.355	10500	0.060	0.070	2777	3510	2762	2797	2728	0	0	0	0	0	0	13.52	12.80	12.19
4140	0.08	145.9	2779	3512	2779	2717	478.3	15.1	385	4147	0.85	2.42	0.00	0.000	5254	0.351	0.057	2617	2131	2747	2777	2718	0	0	0	0	0	0	13.45	13.74	13.81
4467	-0.01	194.8	2616	2131	2779	2716	451.8	7.7	400	4547	0.12	2.50	72.18	1.374	12708	0.294	0.081	2588	3495	2561	2609	2513	0	0	0	0	0	0	13.81	13.81	13.07
4692	-0.04	209.3	2588	3497	2593	2506	432.4	9.3	445	4713	0.00	2.40	14.93	1.541	9382	0.000	0.060	2589	2104	2509	2558	2461	0	0	0	0	0	0	14.16	14.05	13.12
5040	-0.02	246.8	2589	2104	2548	2445	403.7	8.3	464	5108	0.00	2.58	60.62	1.363	8740	0.000	0.089	2589	691	2353	2397	2309	0	0	0	0	0	0	14.46	13.94	13.15
5133	0.08	285.3	2589	690	2390	2304	395.7	8.2	478	5199	0.00	2.47	59.42	1.337	9382	0.000	0.078	2589	2094	2200	2248	2152	0	0	0	0	0	0	14.09	13.97	12.99
5520	0.16	312.5	2589	2092	2234	2128	361.8	8.7	505	5566	0.15	2.50	39.90	1.359	10916	0.118	0.087	2660	691	2086	2132	2040	0	0	0	0	0	0	14.24	13.95	13.17
5591	0.13	312.5	2664	692	2120	2034	352.8	13.7	514	5596	0.15	2.47	0.00	0.000	5254	0.242	0.077	2628	2098	2075	2119	2032	0	0	0	0	0	0	13.89	13.97	14.13
5911	0.13	312.5	2628	2099	2120	2021	317.2	10.8	528	5916	0.00	2.50	0.00	0.000	516	0.000	0.087	2630	692	2069	2119	2020	0	0	0	0	0	0	14.47	14.10	14.49
5941	0.17	312.5	2631	693	2119	2021	314.1	10.5	534	5946	0.00	2.47	0.00	0.000	1158	0.000	0.077	2630	2103	2069	2118	2020	0	0	0	0	0	0	14.30	14.14	14.32
6271	0.17	312.5	2630	2104	2119	2020	279.4	10.4	550	6276	0.00	2.53	0.00	0.000	516	0.000	0.086	2630	687	2068	2118	2019	0	0	0	0	0	0	14.53	14.12	14.54
6321	0.26	326.8	2631	688	2116	2020	274.5	9.3	560	6343	0.10	2.45	15.70	1.458	11430	0.146	0.076	2680	2101	2029	2072	1986	0	0	0	0	0	0	14.23	14.20	13.26
6665	0.20	326.8	2680	2101	2066	1973	232.1	11.9	578	6666	0.15	0.00	0.00	0.000	4230	0.248	0.000	2648	2101	2018	2065	1972	0	0	0	0	0	0	14.07	14.38	14.35
6964	0.25	362.2	2648	2101	2067	1970	205.4	8.4	588	7034	0.00	2.55	61.72	1.280	8868	0.000	0.088	2648	695	1881	1914	1848	0	0	0	0	0	0	14.69	14.03	13.22
7076	0.41	410.8	2648	696	1903	1846	196.6	7.8	610	7170	0.20	2.47	86.60	1.196	11430	0.101	0.077	2732	2101	1689	1713	1665	0	0	0	0	0	0	14.16	14.09	13.08
7475	0.38	410.8	2724	2102	1705	1638	144.2	12.9	640	7480	0.00	2.47	0.00	0.000	644	0.000	0.088	2726	692	1670	1702	1638	0	0	0	0	0	0	14.56	14.11	14.57
7570	0.38	410.8	2726	693	1700	1638	133.0	11.2	659	7575	0.00	2.47	0.00	0.000	1030	0.000	0.076	2726	2102	1668	1698	1638	0	0	0	0	0	0	14.09	13.96	14.12
7875	0.36	410.8	2727	2103	1700	1636	97.8	11.0	674	7880	0.12	2.53	0.00	0.000	4740	0.233	0.083	2699	688	1667	1699	1635	0	0	0	0	0	0	13.93	13.96	14.06
7930	0.48	450.2	2699	688	1698	1635	92.9	8.2	685	7959	0.12	2.50	20.45	0.463	11430	0.125	0.076	2756	2107	1529	1559	1499	0	0	0	0	0	0	14.02	13.97	13.56
8255	0.48	484.0	2756	2108	1569	1505	58.0	8.4	720	8282	0.00	2.50	20.90	0.363	8868	0.000	0.086	2756	687	1389	1430	1349	0	0	0	0	0	0	14.43	14.00	13.63
8302	0.56	564.6	2757	687	1434	1354	54.7	6.3	729	8356	0.00	2.50	47.97	0.359	9382	0.000	0.076	2757	2100	1061	1129	994	0	0	0	0	0	0	14.15	14.02	13.63
8662	0.74	651.2	2757	2100	1131	1003	30.7	6.0	770	8720	0.17	2.53	51.35	0.285	10916	0.106	0.089	2835	690	708	769	648	0	0	0	0	0	0	14.04	13.98	13.71
8790	0.84	670.5	2837	689	777	652	19.2	9.1	795	8808	0.00	2.53	12.95	0.256	9382	0.000	0.078	2836	2112	632	687	577	0	0	0	0	0	0	14.00	13.88	13.74
8973	end climb: SURFACE_DEPTH_REACHED
state	8973	begin surface coast
8993	end surface coast: CONTROL_FINISHED_OK
state	8993	begin surface