Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 305 * 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 305 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 849.0

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 40 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 849.0 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 305 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 110917,050318,7538.0317,-15109.7510,18,0.8,21,20.8,0.0,0.0,10,9.7 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 1.12 MHEAD_RNG_PITCHd_Wd 161.3,99399,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 110917,051401,7538.0127,-15109.7500,16,0.7,28,20.8,0.5,124.5,12,7.0

Post-dive calculations and measurements:

FINISH 0.2,1.012821 _24V_AH 12.29,189.902

SM_CCo 9030,21.77,0.209,0,0,498,702.78 _10V_AH 12.26,0.000

SM_GC 1.03,8.32,0.17,21.77,0.081,0.123,0.209,205,2210,498,-7.37,-0.71,702.78,0,0,0,0,0,0,14.30,14.27,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 417 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323344

IRIDIUM_FIX 7540.39,-15058.41,110917,022404 DATA_FILE_SIZE 26737,727

TT8_MAMPS 0.039697,0.870338 CAP_FILE_SIZE 98522,0

HUMID 47.00 CFSIZE 2097872896,2000191488

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0

TCM_TEMP 13.10 SOUNDSPEED 1448.1

XPDR_PINGS 19 CURRENT 0.029,106.40,1

CP_FREE 15942025216.000000 GPS 110917,074647,7536.711,-15110.258,30,0.8,36,20.8,0.3,219.8,9,9.4

PM_FREEKB_00 48369728

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.89 nil 0 0 0.00

Roll_motor 79 2141 2101.31 nil 0 0 0.00

VBD_pump_during_apogee 976 1433 17211.19 nil 0 0 0.00

VBD_pump_during_surface 21 208 55.89 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 9042 14 1625.55

Iridium_during_xfer 356 180 791.24 NCP 9012 20 2215.15

Transponder_ping 4 420 24.52 PMAR 8984 18 2061.20

GUMSTIX_24V 0 0 0.00

GPS 30 22 8.30

TT8 0 0 0.00

LPSleep 6495 2 183.95

TT8_Active 1012 13 173.41

TT8_Sampling 1897 33 778.08

TT8_CF8 305 38 144.99

TT8_Kalman 0 0 0.00

Analog_circuits 2066 10 253.33

GPS_charging 0 0 0.00

Compass 1043 7 89.51

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 -145.9 189 2226 509 493 0.0 0.0 0 144 0.00 0.00 -91.38 0.000 16386 0.000 0.000 188 2227 2137 2059 2215 0 0 0 0 0 0 14.53 28.83 14.55

148 -0.57 -145.9 189 2228 2061 2209 3.8 -5.0 9 205 12.85 2.78 -37.03 0.000 18724 0.451 2.141 2376 3590 3963 3948 3979 0 0 0 0 0 0 13.59 12.59 14.04

365 -0.73 -145.9 2377 3592 3953 3978 45.2 -12.5 52 372 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2231 3965 3952 3979 0 0 0 0 0 0 14.08 13.97 14.12

670 -0.86 -145.9 2376 2231 3954 3980 84.3 -10.6 83 671 0.22 0.00 0.00 0.000 4230 0.099 0.000 2290 2230 3966 3953 3979 0 0 0 0 0 0 14.21 14.33 14.31

980 -0.89 -145.9 2290 2232 3954 3980 131.8 -14.2 100 981 0.00 0.00 0.00 0.000 134 0.000 0.000 2290 2230 3965 3953 3978 0 0 0 0 0 0 14.61 14.68 14.64

1280 -0.96 -145.9 2290 2231 3954 3980 170.7 -12.3 110 1285 0.00 2.40 0.00 0.000 388 0.000 0.086 2280 3593 3965 3952 3979 0 0 0 0 0 0 14.65 14.10 14.66

1350 -1.10 -145.9 2281 3594 3957 3979 178.7 -10.8 124 1356 0.17 2.38 0.00 0.000 5254 0.105 0.057 2216 2190 3966 3954 3979 0 0 0 0 0 0 14.09 14.03 14.18

1672 -1.05 -145.9 2216 2191 3954 3979 237.1 -17.7 138 1677 0.00 2.47 0.00 0.000 388 0.000 0.086 2210 3592 3965 3953 3978 0 0 0 0 0 0 14.64 14.10 14.66

1752 -1.07 -145.9 2210 3593 3954 3980 249.5 -14.4 154 1757 0.00 2.38 0.00 0.000 1158 0.000 0.057 2210 2199 3966 3954 3979 0 0 0 0 0 0 14.27 14.16 14.26

2062 -1.04 -145.9 2210 2199 3954 3980 297.5 -14.8 166 2067 0.12 2.47 0.00 0.000 2436 0.301 0.085 2235 3597 3966 3954 3978 0 0 0 0 0 0 13.92 14.13 14.07

2174 -1.14 -145.9 2237 3598 3955 3979 309.9 -10.9 188 2180 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2201 3966 3954 3979 0 0 0 0 0 0 14.33 14.21 14.38

2485 -1.19 -145.9 2236 2199 3954 3978 345.1 -11.1 200 2491 0.12 2.47 0.00 0.000 4484 0.147 0.086 2170 3594 3965 3953 3978 0 0 0 0 0 0 14.23 14.07 14.29

2541 -1.15 -145.9 2170 3596 3954 3979 353.5 -15.3 211 2548 0.17 2.38 0.00 0.000 3206 0.265 0.057 2210 2202 3966 3955 3978 0 0 0 0 0 0 13.82 14.15 14.15

2846 -1.15 -145.9 2206 2199 3954 3979 394.6 -13.3 222 2851 0.00 2.47 0.00 0.000 260 0.000 0.086 2198 3597 3965 3952 3978 0 0 0 0 0 0 14.66 14.09 14.68

2931 -1.20 -145.9 2198 3597 3953 3980 405.6 -12.2 239 2938 0.00 2.40 0.00 0.000 1158 0.000 0.057 2194 2190 3964 3952 3976 0 0 0 0 0 0 14.26 14.12 14.30

3236 -1.20 -145.9 2199 2190 3953 3979 446.9 -13.5 250 3241 0.00 2.47 0.00 0.000 260 0.000 0.086 2189 3592 3965 3953 3978 0 0 0 0 0 0 14.64 14.08 14.66

3321 -1.23 -145.9 2189 3592 3954 3978 458.3 -12.7 267 3327 0.00 2.38 0.00 0.000 1158 0.000 0.054 2189 2190 3965 3952 3978 0 0 0 0 0 0 14.26 14.13 14.29

3474 end dive: TARGET_DEPTH_EXCEEDED

state 3474 begin apogee

3480 -0.13 0.0 2189 2060 3954 3979 480.2 -14.2 273 3712 1.35 0.00 228.00 1.400 10246 0.236 0.000 2529 2058 3366 3385 3347 0 0 0 0 0 0 13.74 13.52 12.68

3716 end apogee: CONTROL_FINISHED_OK

state 3716 begin climb

3719 0.57 145.9 2530 2058 3377 3336 492.1 0.0 280 3941 0.75 2.78 211.75 1.350 11012 0.060 0.073 2791 3495 2762 2801 2724 0 0 0 0 0 0 13.69 13.12 12.29

4079 0.07 145.9 2785 3497 2782 2716 488.7 15.2 345 4086 0.93 2.42 0.00 0.000 5254 0.350 0.055 2613 2128 2748 2781 2716 0 0 0 0 0 0 13.21 13.55 13.59

4382 -0.01 198.6 2613 2128 2782 2715 464.0 7.6 356 4464 0.15 0.00 79.43 1.362 12454 0.284 0.000 2583 2133 2554 2608 2501 0 0 0 0 0 0 13.76 13.80 12.99

4742 0.02 243.0 2584 2128 2596 2474 436.3 7.9 368 4812 0.00 0.00 68.05 1.356 8230 0.000 0.000 2583 2127 2373 2427 2320 0 0 0 0 0 0 14.41 13.87 13.07

5102 0.09 282.1 2584 2128 2406 2301 406.8 8.2 380 5168 0.00 2.65 61.42 1.336 8868 0.000 0.088 2588 687 2210 2259 2161 0 0 0 0 0 0 14.55 13.91 13.16

5225 0.23 318.2 2589 688 2242 2153 396.7 8.3 404 5289 0.20 2.47 55.72 1.318 11430 0.098 0.079 2672 2082 2063 2111 2015 0 0 0 0 0 0 14.14 14.00 13.06

5614 0.17 318.2 2672 2083 2094 1997 340.4 14.6 432 5619 0.12 2.45 0.00 0.000 4740 0.272 0.083 2647 691 2044 2093 1996 0 0 0 0 0 0 14.00 14.06 14.13

5644 0.17 318.2 2648 690 2092 1996 336.4 12.6 438 5649 0.00 2.47 0.00 0.000 1030 0.000 0.078 2647 2104 2044 2090 1999 0 0 0 0 0 0 14.22 14.09 14.26

5975 0.17 318.2 2647 2106 2091 1994 296.3 11.8 454 5975 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2105 2041 2090 1993 0 0 0 0 0 0 14.66 14.68 14.68

6274 0.17 318.2 2648 2105 2091 1991 262.1 11.1 464 6279 0.00 2.50 0.00 0.000 516 0.000 0.086 2647 694 2041 2090 1992 0 0 0 0 0 0 14.52 14.00 14.54

6314 0.22 318.2 2648 694 2090 1990 257.9 10.3 472 6319 0.00 2.50 0.00 0.000 1158 0.000 0.077 2647 2108 2039 2088 1991 0 0 0 0 0 0 14.21 14.07 14.26

6634 0.23 334.2 2647 2110 2089 1993 226.6 9.3 486 6656 0.00 2.58 16.58 1.434 8740 0.000 0.085 2647 685 1999 2047 1951 0 0 0 0 0 0 14.52 14.10 13.23

6743 0.33 374.2 2648 685 2036 1947 217.5 8.2 507 6823 0.12 2.47 72.75 1.248 11430 0.126 0.078 2698 2101 1836 1865 1808 0 0 0 0 0 0 14.14 14.12 13.14

7148 0.30 374.2 2699 2101 1849 1791 171.1 11.2 538 7153 0.00 2.47 0.00 0.000 644 0.000 0.086 2699 694 1819 1848 1790 0 0 0 0 0 0 14.57 14.11 14.59

7203 0.33 374.2 2699 694 1844 1790 165.3 10.3 549 7210 0.00 2.47 0.00 0.000 1158 0.000 0.077 2698 2105 1817 1845 1790 0 0 0 0 0 0 14.11 14.00 14.15

7508 0.33 374.2 2699 2105 1845 1790 133.1 10.4 560 7509 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2105 1817 1844 1790 0 0 0 0 0 0 14.65 14.67 14.67

7808 0.34 390.2 2699 2105 1844 1788 104.0 9.3 570 7833 0.00 2.50 18.67 1.330 8740 0.000 0.085 2705 682 1769 1794 1745 0 0 0 0 0 0 14.66 14.22 13.31

7933 0.45 439.6 2699 682 1782 1740 93.8 7.7 595 7966 0.00 2.50 27.65 0.470 9382 0.000 0.077 2699 2109 1572 1599 1545 0 0 0 0 0 0 14.14 14.01 13.66

8271 0.59 515.5 2699 2110 1611 1550 67.9 6.5 632 8325 0.22 2.55 45.03 0.396 10916 0.091 0.086 2794 695 1261 1316 1207 0 0 0 0 0 0 14.14 14.09 13.64

8345 0.55 515.5 2794 696 1317 1210 60.0 11.7 644 8350 0.15 2.50 0.00 0.000 5254 0.231 0.077 2763 2112 1262 1316 1209 0 0 0 0 0 0 13.88 14.12 14.13

8656 0.67 597.4 2763 2109 1317 1215 36.1 6.2 676 8710 0.00 2.60 48.05 0.303 8868 0.000 0.087 2767 688 927 998 857 0 0 0 0 0 0 14.58 14.00 13.74

8777 0.89 666.4 2768 689 1000 868 28.1 6.8 699 8826 0.30 2.47 43.75 0.275 11430 0.085 0.078 2880 2093 648 702 594 0 0 0 0 0 0 14.15 14.09 13.73

8999 end climb: SURFACE_DEPTH_REACHED

state 8999 begin surface coast

9009 end surface coast: CONTROL_FINISHED_OK

state 9009 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	305	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	849.0
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	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,050318,7538.0317,-15109.7510,18,0.8,21,20.8,0.0,0.0,10,9.7	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	1.12	MHEAD_RNG_PITCHd_Wd	161.3,99399,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	110917,051401,7538.0127,-15109.7500,16,0.7,28,20.8,0.5,124.5,12,7.0

FINISH	0.2,1.012821	_24V_AH	12.29,189.902
SM_CCo	9030,21.77,0.209,0,0,498,702.78	_10V_AH	12.26,0.000
SM_GC	1.03,8.32,0.17,21.77,0.081,0.123,0.209,205,2210,498,-7.37,-0.71,702.78,0,0,0,0,0,0,14.30,14.27,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	417	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323344
IRIDIUM_FIX	7540.39,-15058.41,110917,022404	DATA_FILE_SIZE	26737,727
TT8_MAMPS	0.039697,0.870338	CAP_FILE_SIZE	98522,0
HUMID	47.00	CFSIZE	2097872896,2000191488
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
TCM_TEMP	13.10	SOUNDSPEED	1448.1
XPDR_PINGS	19	CURRENT	0.029,106.40,1
CP_FREE	15942025216.000000	GPS	110917,074647,7536.711,-15110.258,30,0.8,36,20.8,0.3,219.8,9,9.4
PM_FREEKB_00	48369728

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.89	nil	0	0	0.00
Roll_motor	79	2141	2101.31	nil	0	0	0.00
VBD_pump_during_apogee	976	1433	17211.19	nil	0	0	0.00
VBD_pump_during_surface	21	208	55.89	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	9042	14	1625.55
Iridium_during_xfer	356	180	791.24	NCP	9012	20	2215.15
Transponder_ping	4	420	24.52	PMAR	8984	18	2061.20
GUMSTIX_24V	0	0	0.00
GPS	30	22	8.30
TT8	0	0	0.00
LPSleep	6495	2	183.95
TT8_Active	1012	13	173.41
TT8_Sampling	1897	33	778.08
TT8_CF8	305	38	144.99
TT8_Kalman	0	0	0.00
Analog_circuits	2066	10	253.33
GPS_charging	0	0	0.00
Compass	1043	7	89.51
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	189	2226	509	493	0.0	0.0	0	144	0.00	0.00	-91.38	0.000	16386	0.000	0.000	188	2227	2137	2059	2215	0	0	0	0	0	0	14.53	28.83	14.55
148	-0.57	-145.9	189	2228	2061	2209	3.8	-5.0	9	205	12.85	2.78	-37.03	0.000	18724	0.451	2.141	2376	3590	3963	3948	3979	0	0	0	0	0	0	13.59	12.59	14.04
365	-0.73	-145.9	2377	3592	3953	3978	45.2	-12.5	52	372	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2231	3965	3952	3979	0	0	0	0	0	0	14.08	13.97	14.12
670	-0.86	-145.9	2376	2231	3954	3980	84.3	-10.6	83	671	0.22	0.00	0.00	0.000	4230	0.099	0.000	2290	2230	3966	3953	3979	0	0	0	0	0	0	14.21	14.33	14.31
980	-0.89	-145.9	2290	2232	3954	3980	131.8	-14.2	100	981	0.00	0.00	0.00	0.000	134	0.000	0.000	2290	2230	3965	3953	3978	0	0	0	0	0	0	14.61	14.68	14.64
1280	-0.96	-145.9	2290	2231	3954	3980	170.7	-12.3	110	1285	0.00	2.40	0.00	0.000	388	0.000	0.086	2280	3593	3965	3952	3979	0	0	0	0	0	0	14.65	14.10	14.66
1350	-1.10	-145.9	2281	3594	3957	3979	178.7	-10.8	124	1356	0.17	2.38	0.00	0.000	5254	0.105	0.057	2216	2190	3966	3954	3979	0	0	0	0	0	0	14.09	14.03	14.18
1672	-1.05	-145.9	2216	2191	3954	3979	237.1	-17.7	138	1677	0.00	2.47	0.00	0.000	388	0.000	0.086	2210	3592	3965	3953	3978	0	0	0	0	0	0	14.64	14.10	14.66
1752	-1.07	-145.9	2210	3593	3954	3980	249.5	-14.4	154	1757	0.00	2.38	0.00	0.000	1158	0.000	0.057	2210	2199	3966	3954	3979	0	0	0	0	0	0	14.27	14.16	14.26
2062	-1.04	-145.9	2210	2199	3954	3980	297.5	-14.8	166	2067	0.12	2.47	0.00	0.000	2436	0.301	0.085	2235	3597	3966	3954	3978	0	0	0	0	0	0	13.92	14.13	14.07
2174	-1.14	-145.9	2237	3598	3955	3979	309.9	-10.9	188	2180	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2201	3966	3954	3979	0	0	0	0	0	0	14.33	14.21	14.38
2485	-1.19	-145.9	2236	2199	3954	3978	345.1	-11.1	200	2491	0.12	2.47	0.00	0.000	4484	0.147	0.086	2170	3594	3965	3953	3978	0	0	0	0	0	0	14.23	14.07	14.29
2541	-1.15	-145.9	2170	3596	3954	3979	353.5	-15.3	211	2548	0.17	2.38	0.00	0.000	3206	0.265	0.057	2210	2202	3966	3955	3978	0	0	0	0	0	0	13.82	14.15	14.15
2846	-1.15	-145.9	2206	2199	3954	3979	394.6	-13.3	222	2851	0.00	2.47	0.00	0.000	260	0.000	0.086	2198	3597	3965	3952	3978	0	0	0	0	0	0	14.66	14.09	14.68
2931	-1.20	-145.9	2198	3597	3953	3980	405.6	-12.2	239	2938	0.00	2.40	0.00	0.000	1158	0.000	0.057	2194	2190	3964	3952	3976	0	0	0	0	0	0	14.26	14.12	14.30
3236	-1.20	-145.9	2199	2190	3953	3979	446.9	-13.5	250	3241	0.00	2.47	0.00	0.000	260	0.000	0.086	2189	3592	3965	3953	3978	0	0	0	0	0	0	14.64	14.08	14.66
3321	-1.23	-145.9	2189	3592	3954	3978	458.3	-12.7	267	3327	0.00	2.38	0.00	0.000	1158	0.000	0.054	2189	2190	3965	3952	3978	0	0	0	0	0	0	14.26	14.13	14.29
3474	end dive: TARGET_DEPTH_EXCEEDED
state	3474	begin apogee
3480	-0.13	0.0	2189	2060	3954	3979	480.2	-14.2	273	3712	1.35	0.00	228.00	1.400	10246	0.236	0.000	2529	2058	3366	3385	3347	0	0	0	0	0	0	13.74	13.52	12.68
3716	end apogee: CONTROL_FINISHED_OK
state	3716	begin climb
3719	0.57	145.9	2530	2058	3377	3336	492.1	0.0	280	3941	0.75	2.78	211.75	1.350	11012	0.060	0.073	2791	3495	2762	2801	2724	0	0	0	0	0	0	13.69	13.12	12.29
4079	0.07	145.9	2785	3497	2782	2716	488.7	15.2	345	4086	0.93	2.42	0.00	0.000	5254	0.350	0.055	2613	2128	2748	2781	2716	0	0	0	0	0	0	13.21	13.55	13.59
4382	-0.01	198.6	2613	2128	2782	2715	464.0	7.6	356	4464	0.15	0.00	79.43	1.362	12454	0.284	0.000	2583	2133	2554	2608	2501	0	0	0	0	0	0	13.76	13.80	12.99
4742	0.02	243.0	2584	2128	2596	2474	436.3	7.9	368	4812	0.00	0.00	68.05	1.356	8230	0.000	0.000	2583	2127	2373	2427	2320	0	0	0	0	0	0	14.41	13.87	13.07
5102	0.09	282.1	2584	2128	2406	2301	406.8	8.2	380	5168	0.00	2.65	61.42	1.336	8868	0.000	0.088	2588	687	2210	2259	2161	0	0	0	0	0	0	14.55	13.91	13.16
5225	0.23	318.2	2589	688	2242	2153	396.7	8.3	404	5289	0.20	2.47	55.72	1.318	11430	0.098	0.079	2672	2082	2063	2111	2015	0	0	0	0	0	0	14.14	14.00	13.06
5614	0.17	318.2	2672	2083	2094	1997	340.4	14.6	432	5619	0.12	2.45	0.00	0.000	4740	0.272	0.083	2647	691	2044	2093	1996	0	0	0	0	0	0	14.00	14.06	14.13
5644	0.17	318.2	2648	690	2092	1996	336.4	12.6	438	5649	0.00	2.47	0.00	0.000	1030	0.000	0.078	2647	2104	2044	2090	1999	0	0	0	0	0	0	14.22	14.09	14.26
5975	0.17	318.2	2647	2106	2091	1994	296.3	11.8	454	5975	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2105	2041	2090	1993	0	0	0	0	0	0	14.66	14.68	14.68
6274	0.17	318.2	2648	2105	2091	1991	262.1	11.1	464	6279	0.00	2.50	0.00	0.000	516	0.000	0.086	2647	694	2041	2090	1992	0	0	0	0	0	0	14.52	14.00	14.54
6314	0.22	318.2	2648	694	2090	1990	257.9	10.3	472	6319	0.00	2.50	0.00	0.000	1158	0.000	0.077	2647	2108	2039	2088	1991	0	0	0	0	0	0	14.21	14.07	14.26
6634	0.23	334.2	2647	2110	2089	1993	226.6	9.3	486	6656	0.00	2.58	16.58	1.434	8740	0.000	0.085	2647	685	1999	2047	1951	0	0	0	0	0	0	14.52	14.10	13.23
6743	0.33	374.2	2648	685	2036	1947	217.5	8.2	507	6823	0.12	2.47	72.75	1.248	11430	0.126	0.078	2698	2101	1836	1865	1808	0	0	0	0	0	0	14.14	14.12	13.14
7148	0.30	374.2	2699	2101	1849	1791	171.1	11.2	538	7153	0.00	2.47	0.00	0.000	644	0.000	0.086	2699	694	1819	1848	1790	0	0	0	0	0	0	14.57	14.11	14.59
7203	0.33	374.2	2699	694	1844	1790	165.3	10.3	549	7210	0.00	2.47	0.00	0.000	1158	0.000	0.077	2698	2105	1817	1845	1790	0	0	0	0	0	0	14.11	14.00	14.15
7508	0.33	374.2	2699	2105	1845	1790	133.1	10.4	560	7509	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2105	1817	1844	1790	0	0	0	0	0	0	14.65	14.67	14.67
7808	0.34	390.2	2699	2105	1844	1788	104.0	9.3	570	7833	0.00	2.50	18.67	1.330	8740	0.000	0.085	2705	682	1769	1794	1745	0	0	0	0	0	0	14.66	14.22	13.31
7933	0.45	439.6	2699	682	1782	1740	93.8	7.7	595	7966	0.00	2.50	27.65	0.470	9382	0.000	0.077	2699	2109	1572	1599	1545	0	0	0	0	0	0	14.14	14.01	13.66
8271	0.59	515.5	2699	2110	1611	1550	67.9	6.5	632	8325	0.22	2.55	45.03	0.396	10916	0.091	0.086	2794	695	1261	1316	1207	0	0	0	0	0	0	14.14	14.09	13.64
8345	0.55	515.5	2794	696	1317	1210	60.0	11.7	644	8350	0.15	2.50	0.00	0.000	5254	0.231	0.077	2763	2112	1262	1316	1209	0	0	0	0	0	0	13.88	14.12	14.13
8656	0.67	597.4	2763	2109	1317	1215	36.1	6.2	676	8710	0.00	2.60	48.05	0.303	8868	0.000	0.087	2767	688	927	998	857	0	0	0	0	0	0	14.58	14.00	13.74
8777	0.89	666.4	2768	689	1000	868	28.1	6.8	699	8826	0.30	2.47	43.75	0.275	11430	0.085	0.078	2880	2093	648	702	594	0	0	0	0	0	0	14.15	14.09	13.73
8999	end climb: SURFACE_DEPTH_REACHED
state	8999	begin surface coast
9009	end surface coast: CONTROL_FINISHED_OK
state	9009	begin surface