Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 311 * 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 311 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 863.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 863.0 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 27 VBD_MIN 500

DIVE 311 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 110917,213430,7530.4551,-15111.8877,17,0.7,25,20.7,0.3,31.9,11,10.0 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 1.18 MHEAD_RNG_PITCHd_Wd 153.6,85796,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.7 D_GRID 480

GPS2 110917,214515,7530.4834,-15111.8066,5,0.7,10,20.7,0.0,0.0,12,9.2

Post-dive calculations and measurements:

FINISH 0.1,1.021563 _24V_AH 12.21,192.896

SM_CCo 9548,44.97,0.210,0,0,499,703.28 _10V_AH 12.05,0.000

SM_GC 1.24,8.25,0.17,44.97,0.080,0.120,0.210,205,2219,499,-7.37,-0.76,703.28,0,0,0,0,0,0,14.16,14.14,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 77 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323304

IRIDIUM_FIX 7530.74,-15119.26,110917,185346 DATA_FILE_SIZE 26769,734

TT8_MAMPS 0.084637,0.886816 CAP_FILE_SIZE 100530,0

HUMID 44.21 CFSIZE 2097872896,1998585856

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1448.0

XPDR_PINGS 14 CURRENT 0.032,67.09,1

CP_FREE 15939436544.000000 GPS 120917,002702,7529.199,-15111.521,31,0.8,32,20.7,0.0,80.5,10,8.4

PM_FREEKB_00 48156416

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 450 143.32 nil 0 0 0.00

Roll_motor 78 2139 2043.69 nil 0 0 0.00

VBD_pump_during_apogee 1257 1315 20187.53 nil 0 0 0.00

VBD_pump_during_surface 44 210 115.53 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 9560 14 1666.17

Iridium_during_xfer 371 175 793.63 NCP 9521 20 2325.03

Transponder_ping 3 420 17.95 PMAR 9500 10 1261.33

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.11

TT8 0 0 0.00

LPSleep 6524 2 181.60

TT8_Active 1150 13 193.74

TT8_Sampling 2264 33 912.39

TT8_CF8 314 38 146.85

TT8_Kalman 0 0 0.00

Analog_circuits 2556 10 308.04

GPS_charging 0 0 0.00

Compass 1053 7 88.83

RAFOS 2159 48 1248.77

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 198 2228 520 485 0.0 0.0 0 143 0.00 0.00 -91.50 0.000 16386 0.000 0.000 198 2228 2125 2049 2201 0 0 0 0 0 0 14.52 28.83 14.54

146 -0.57 -145.9 199 2228 2053 2201 3.0 -3.7 9 204 12.82 2.67 -39.38 0.000 18724 0.451 2.140 2376 3579 3963 3950 3977 0 0 0 0 0 0 13.54 12.88 14.07

339 -0.73 -145.9 2376 3581 3956 3977 39.7 -13.4 47 344 0.00 2.35 0.00 0.000 1158 0.000 0.057 2376 2202 3966 3955 3977 0 0 0 0 0 0 14.08 13.97 14.12

649 -0.85 -145.9 2376 2202 3958 3977 80.9 -10.2 79 651 0.22 0.00 0.00 0.000 4230 0.100 0.000 2288 2202 3970 3964 3977 0 0 0 0 0 0 14.26 14.37 14.34

949 -0.85 -145.9 2288 2203 3957 3978 127.4 -14.7 97 954 0.00 2.45 0.00 0.000 260 0.000 0.086 2279 3588 3967 3957 3977 0 0 0 0 0 0 14.62 14.07 14.64

1054 -0.96 -145.9 2280 3589 3957 3977 140.7 -11.8 118 1059 0.00 2.35 0.00 0.000 1158 0.000 0.057 2279 2200 3966 3956 3977 0 0 0 0 0 0 14.26 14.12 14.29

1369 -1.01 -145.9 2280 2200 3957 3978 182.8 -13.2 131 1370 0.00 0.00 0.00 0.000 134 0.000 0.000 2279 2199 3967 3957 3977 0 0 0 0 0 0 14.64 14.66 14.66

1669 -1.07 -145.9 2279 2200 3957 3978 219.4 -11.7 141 1674 0.12 2.45 0.00 0.000 4484 0.141 0.083 2223 3586 3967 3957 3977 0 0 0 0 0 0 14.28 14.10 14.32

1735 -1.09 -145.9 2223 3587 3958 3977 229.0 -14.8 154 1740 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2198 3966 3956 3977 0 0 0 0 0 0 14.27 14.11 14.32

2060 -1.09 -145.9 2223 2197 3958 3975 278.4 -14.4 169 2065 0.00 2.45 0.00 0.000 260 0.000 0.088 2222 3582 3967 3957 3977 0 0 0 0 0 0 14.65 14.11 14.66

2160 -1.16 -145.9 2222 3583 3957 3979 291.1 -11.9 189 2165 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2190 3967 3957 3977 0 0 0 0 0 0 14.15 14.02 14.21

2480 -1.16 -145.9 2223 2191 3958 3980 332.2 -12.7 203 2485 0.00 2.47 0.00 0.000 260 0.000 0.087 2222 3587 3966 3956 3977 0 0 0 0 0 0 14.61 14.11 14.65

2540 -1.25 -145.9 2223 3588 3957 3977 339.3 -11.2 215 2545 0.15 2.35 0.00 0.000 5254 0.121 0.055 2162 2199 3966 3956 3977 0 0 0 0 0 0 14.20 14.16 14.30

2871 -1.14 -145.9 2163 2198 3956 3977 397.7 -17.9 231 2876 0.20 2.45 0.00 0.000 2436 0.320 0.083 2196 3582 3966 3955 3977 0 0 0 0 0 0 13.71 14.10 13.93

3006 -1.17 -145.9 2197 3582 3956 3976 416.2 -13.1 258 3011 0.00 2.35 0.00 0.000 1158 0.000 0.056 2196 2194 3966 3955 3977 0 0 0 0 0 0 14.31 14.19 14.35

3321 -1.17 -145.9 2197 2193 3956 3977 459.0 -13.5 271 3326 0.00 2.45 0.00 0.000 260 0.000 0.085 2187 3582 3966 3955 3977 0 0 0 0 0 0 14.66 14.09 14.67

3401 -1.17 -145.9 2187 3583 3955 3980 469.8 -13.3 287 3406 0.00 2.38 0.00 0.000 1030 0.000 0.054 2187 2193 3965 3954 3977 0 0 0 0 0 0 13.77 13.78 13.76

3498 end dive: TARGET_DEPTH_EXCEEDED

state 3499 begin apogee

3505 -0.13 0.0 2188 2062 3955 3978 483.9 -14.2 292 3986 1.38 0.00 477.55 1.154 10246 0.243 0.000 2530 2060 3365 3381 3350 0 0 0 0 0 0 13.72 13.30 12.53

3992 end apogee: CONTROL_FINISHED_OK

state 3992 begin climb

3994 0.57 145.9 2530 2061 3375 3345 512.3 0.0 308 4389 0.75 2.58 214.38 1.315 10756 0.059 0.080 2781 737 2740 2774 2706 0 0 0 0 0 0 13.46 12.81 12.21

4444 0.18 145.9 2782 737 2788 2706 490.6 14.6 321 4451 0.65 2.40 0.00 0.000 5254 0.320 0.075 2647 2076 2741 2779 2704 0 0 0 0 0 0 13.38 13.48 13.78

4772 0.01 156.5 2647 2073 2775 2701 458.7 9.5 336 4775 0.25 0.00 1.80 0.225 12454 0.261 0.000 2589 2076 2726 2765 2687 0 0 0 0 0 0 13.83 14.20 13.95

5071 0.00 221.6 2590 2076 2779 2694 437.3 7.0 346 5217 0.00 0.00 142.60 1.230 8870 0.000 0.000 2589 2077 2462 2516 2408 0 0 0 0 0 0 14.64 13.80 13.03

5522 0.03 256.2 2590 2077 2499 2383 400.3 8.4 381 5589 0.00 2.47 61.80 1.252 8740 0.000 0.086 2590 729 2316 2366 2267 0 0 0 0 0 0 14.58 14.00 13.19

5642 0.17 298.6 2590 730 2356 2257 390.7 8.0 404 5730 0.15 2.42 79.90 1.202 11430 0.116 0.079 2656 2101 2144 2193 2096 0 0 0 0 0 0 14.09 14.02 13.07

6036 0.12 298.6 2656 2101 2179 2078 339.9 13.0 433 6042 0.12 2.40 0.00 0.000 4740 0.249 0.081 2632 731 2128 2178 2078 0 0 0 0 0 0 14.00 14.10 14.13

6092 0.17 298.6 2633 733 2176 2079 333.6 10.5 444 6098 0.00 2.40 0.00 0.000 1158 0.000 0.077 2633 2110 2125 2174 2076 0 0 0 0 0 0 14.27 14.18 14.33

6397 0.17 298.6 2633 2107 2176 2076 300.3 10.8 455 6402 0.00 2.38 0.00 0.000 516 0.000 0.085 2633 726 2125 2174 2076 0 0 0 0 0 0 14.65 14.05 14.67

6437 0.22 298.6 2633 724 2173 2077 296.2 10.2 463 6442 0.00 2.38 0.00 0.000 1158 0.000 0.077 2633 2098 2124 2173 2076 0 0 0 0 0 0 14.37 14.23 14.41

6757 0.22 301.3 2634 2098 2173 2075 263.2 9.9 477 6763 0.00 2.40 0.00 0.000 548 0.000 0.084 2634 730 2126 2173 2080 0 0 0 0 0 0 14.67 14.16 14.69

6798 0.29 319.8 2634 732 2172 2076 259.4 9.1 485 6834 0.12 2.38 29.80 1.311 11430 0.128 0.077 2688 2101 2060 2103 2018 0 0 0 0 0 0 14.30 14.24 13.29

7151 0.23 319.8 2689 2100 2089 1996 217.6 11.4 505 7152 0.15 0.00 0.00 0.000 4230 0.238 0.000 2656 2101 2042 2088 1997 0 0 0 0 0 0 14.06 14.35 14.28

7449 0.25 349.4 2656 2102 2088 1995 190.7 8.6 515 7512 0.00 2.50 56.70 1.215 8740 0.000 0.088 2656 733 1937 1980 1894 0 0 0 0 0 0 14.66 14.07 13.25

7552 0.38 388.9 2657 733 1965 1894 182.1 8.2 530 7628 0.15 2.40 69.20 1.188 11430 0.114 0.078 2715 2101 1780 1805 1756 0 0 0 0 0 0 14.19 14.12 13.11

7933 0.35 388.9 2715 2101 1786 1735 136.2 11.8 556 7938 0.00 2.45 0.00 0.000 644 0.000 0.085 2723 723 1759 1784 1734 0 0 0 0 0 0 14.57 14.14 14.58

8023 0.35 388.9 2724 723 1783 1734 125.9 10.9 574 8028 0.00 2.42 0.00 0.000 1030 0.000 0.076 2720 2101 1757 1781 1734 0 0 0 0 0 0 14.31 14.18 14.36

8333 0.36 391.9 2723 2101 1782 1732 93.1 9.9 592 8338 0.00 2.50 0.00 0.000 292 0.000 0.082 2722 3511 1756 1781 1732 0 0 0 0 0 0 14.45 14.02 14.44

8368 0.31 391.9 2723 3512 1781 1733 89.4 11.1 599 8374 0.20 2.38 0.00 0.000 5254 0.244 0.061 2685 2135 1756 1780 1732 0 0 0 0 0 0 13.81 14.01 14.11

8673 0.46 482.9 2685 2135 1781 1730 69.2 5.8 630 8727 0.12 2.60 46.45 0.401 10916 0.133 0.085 2751 683 1394 1436 1353 0 0 0 0 0 0 14.09 13.59 13.21

8822 0.58 532.8 2751 682 1440 1356 57.0 7.7 659 8854 0.00 2.53 27.38 0.365 9382 0.000 0.076 2751 2099 1191 1251 1132 0 0 0 0 0 0 14.11 13.98 13.54

9159 0.75 620.9 2751 2100 1252 1142 34.6 5.9 696 9212 0.22 0.00 49.72 0.297 10662 0.092 0.000 2833 2099 834 899 769 0 0 0 0 0 0 14.12 14.02 13.69

9506 end climb: SURFACE_DEPTH_REACHED

state 9506 begin surface coast

9527 end surface coast: CONTROL_FINISHED_OK

state 9527 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	311	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	863.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,213430,7530.4551,-15111.8877,17,0.7,25,20.7,0.3,31.9,11,10.0	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	1.18	MHEAD_RNG_PITCHd_Wd	153.6,85796,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.7	D_GRID	480
GPS2	110917,214515,7530.4834,-15111.8066,5,0.7,10,20.7,0.0,0.0,12,9.2

FINISH	0.1,1.021563	_24V_AH	12.21,192.896
SM_CCo	9548,44.97,0.210,0,0,499,703.28	_10V_AH	12.05,0.000
SM_GC	1.24,8.25,0.17,44.97,0.080,0.120,0.210,205,2219,499,-7.37,-0.76,703.28,0,0,0,0,0,0,14.16,14.14,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	77	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323304
IRIDIUM_FIX	7530.74,-15119.26,110917,185346	DATA_FILE_SIZE	26769,734
TT8_MAMPS	0.084637,0.886816	CAP_FILE_SIZE	100530,0
HUMID	44.21	CFSIZE	2097872896,1998585856
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.0
XPDR_PINGS	14	CURRENT	0.032,67.09,1
CP_FREE	15939436544.000000	GPS	120917,002702,7529.199,-15111.521,31,0.8,32,20.7,0.0,80.5,10,8.4
PM_FREEKB_00	48156416

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	450	143.32	nil	0	0	0.00
Roll_motor	78	2139	2043.69	nil	0	0	0.00
VBD_pump_during_apogee	1257	1315	20187.53	nil	0	0	0.00
VBD_pump_during_surface	44	210	115.53	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	9560	14	1666.17
Iridium_during_xfer	371	175	793.63	NCP	9521	20	2325.03
Transponder_ping	3	420	17.95	PMAR	9500	10	1261.33
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.11
TT8	0	0	0.00
LPSleep	6524	2	181.60
TT8_Active	1150	13	193.74
TT8_Sampling	2264	33	912.39
TT8_CF8	314	38	146.85
TT8_Kalman	0	0	0.00
Analog_circuits	2556	10	308.04
GPS_charging	0	0	0.00
Compass	1053	7	88.83
RAFOS	2159	48	1248.77
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	198	2228	520	485	0.0	0.0	0	143	0.00	0.00	-91.50	0.000	16386	0.000	0.000	198	2228	2125	2049	2201	0	0	0	0	0	0	14.52	28.83	14.54
146	-0.57	-145.9	199	2228	2053	2201	3.0	-3.7	9	204	12.82	2.67	-39.38	0.000	18724	0.451	2.140	2376	3579	3963	3950	3977	0	0	0	0	0	0	13.54	12.88	14.07
339	-0.73	-145.9	2376	3581	3956	3977	39.7	-13.4	47	344	0.00	2.35	0.00	0.000	1158	0.000	0.057	2376	2202	3966	3955	3977	0	0	0	0	0	0	14.08	13.97	14.12
649	-0.85	-145.9	2376	2202	3958	3977	80.9	-10.2	79	651	0.22	0.00	0.00	0.000	4230	0.100	0.000	2288	2202	3970	3964	3977	0	0	0	0	0	0	14.26	14.37	14.34
949	-0.85	-145.9	2288	2203	3957	3978	127.4	-14.7	97	954	0.00	2.45	0.00	0.000	260	0.000	0.086	2279	3588	3967	3957	3977	0	0	0	0	0	0	14.62	14.07	14.64
1054	-0.96	-145.9	2280	3589	3957	3977	140.7	-11.8	118	1059	0.00	2.35	0.00	0.000	1158	0.000	0.057	2279	2200	3966	3956	3977	0	0	0	0	0	0	14.26	14.12	14.29
1369	-1.01	-145.9	2280	2200	3957	3978	182.8	-13.2	131	1370	0.00	0.00	0.00	0.000	134	0.000	0.000	2279	2199	3967	3957	3977	0	0	0	0	0	0	14.64	14.66	14.66
1669	-1.07	-145.9	2279	2200	3957	3978	219.4	-11.7	141	1674	0.12	2.45	0.00	0.000	4484	0.141	0.083	2223	3586	3967	3957	3977	0	0	0	0	0	0	14.28	14.10	14.32
1735	-1.09	-145.9	2223	3587	3958	3977	229.0	-14.8	154	1740	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2198	3966	3956	3977	0	0	0	0	0	0	14.27	14.11	14.32
2060	-1.09	-145.9	2223	2197	3958	3975	278.4	-14.4	169	2065	0.00	2.45	0.00	0.000	260	0.000	0.088	2222	3582	3967	3957	3977	0	0	0	0	0	0	14.65	14.11	14.66
2160	-1.16	-145.9	2222	3583	3957	3979	291.1	-11.9	189	2165	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2190	3967	3957	3977	0	0	0	0	0	0	14.15	14.02	14.21
2480	-1.16	-145.9	2223	2191	3958	3980	332.2	-12.7	203	2485	0.00	2.47	0.00	0.000	260	0.000	0.087	2222	3587	3966	3956	3977	0	0	0	0	0	0	14.61	14.11	14.65
2540	-1.25	-145.9	2223	3588	3957	3977	339.3	-11.2	215	2545	0.15	2.35	0.00	0.000	5254	0.121	0.055	2162	2199	3966	3956	3977	0	0	0	0	0	0	14.20	14.16	14.30
2871	-1.14	-145.9	2163	2198	3956	3977	397.7	-17.9	231	2876	0.20	2.45	0.00	0.000	2436	0.320	0.083	2196	3582	3966	3955	3977	0	0	0	0	0	0	13.71	14.10	13.93
3006	-1.17	-145.9	2197	3582	3956	3976	416.2	-13.1	258	3011	0.00	2.35	0.00	0.000	1158	0.000	0.056	2196	2194	3966	3955	3977	0	0	0	0	0	0	14.31	14.19	14.35
3321	-1.17	-145.9	2197	2193	3956	3977	459.0	-13.5	271	3326	0.00	2.45	0.00	0.000	260	0.000	0.085	2187	3582	3966	3955	3977	0	0	0	0	0	0	14.66	14.09	14.67
3401	-1.17	-145.9	2187	3583	3955	3980	469.8	-13.3	287	3406	0.00	2.38	0.00	0.000	1030	0.000	0.054	2187	2193	3965	3954	3977	0	0	0	0	0	0	13.77	13.78	13.76
3498	end dive: TARGET_DEPTH_EXCEEDED
state	3499	begin apogee
3505	-0.13	0.0	2188	2062	3955	3978	483.9	-14.2	292	3986	1.38	0.00	477.55	1.154	10246	0.243	0.000	2530	2060	3365	3381	3350	0	0	0	0	0	0	13.72	13.30	12.53
3992	end apogee: CONTROL_FINISHED_OK
state	3992	begin climb
3994	0.57	145.9	2530	2061	3375	3345	512.3	0.0	308	4389	0.75	2.58	214.38	1.315	10756	0.059	0.080	2781	737	2740	2774	2706	0	0	0	0	0	0	13.46	12.81	12.21
4444	0.18	145.9	2782	737	2788	2706	490.6	14.6	321	4451	0.65	2.40	0.00	0.000	5254	0.320	0.075	2647	2076	2741	2779	2704	0	0	0	0	0	0	13.38	13.48	13.78
4772	0.01	156.5	2647	2073	2775	2701	458.7	9.5	336	4775	0.25	0.00	1.80	0.225	12454	0.261	0.000	2589	2076	2726	2765	2687	0	0	0	0	0	0	13.83	14.20	13.95
5071	0.00	221.6	2590	2076	2779	2694	437.3	7.0	346	5217	0.00	0.00	142.60	1.230	8870	0.000	0.000	2589	2077	2462	2516	2408	0	0	0	0	0	0	14.64	13.80	13.03
5522	0.03	256.2	2590	2077	2499	2383	400.3	8.4	381	5589	0.00	2.47	61.80	1.252	8740	0.000	0.086	2590	729	2316	2366	2267	0	0	0	0	0	0	14.58	14.00	13.19
5642	0.17	298.6	2590	730	2356	2257	390.7	8.0	404	5730	0.15	2.42	79.90	1.202	11430	0.116	0.079	2656	2101	2144	2193	2096	0	0	0	0	0	0	14.09	14.02	13.07
6036	0.12	298.6	2656	2101	2179	2078	339.9	13.0	433	6042	0.12	2.40	0.00	0.000	4740	0.249	0.081	2632	731	2128	2178	2078	0	0	0	0	0	0	14.00	14.10	14.13
6092	0.17	298.6	2633	733	2176	2079	333.6	10.5	444	6098	0.00	2.40	0.00	0.000	1158	0.000	0.077	2633	2110	2125	2174	2076	0	0	0	0	0	0	14.27	14.18	14.33
6397	0.17	298.6	2633	2107	2176	2076	300.3	10.8	455	6402	0.00	2.38	0.00	0.000	516	0.000	0.085	2633	726	2125	2174	2076	0	0	0	0	0	0	14.65	14.05	14.67
6437	0.22	298.6	2633	724	2173	2077	296.2	10.2	463	6442	0.00	2.38	0.00	0.000	1158	0.000	0.077	2633	2098	2124	2173	2076	0	0	0	0	0	0	14.37	14.23	14.41
6757	0.22	301.3	2634	2098	2173	2075	263.2	9.9	477	6763	0.00	2.40	0.00	0.000	548	0.000	0.084	2634	730	2126	2173	2080	0	0	0	0	0	0	14.67	14.16	14.69
6798	0.29	319.8	2634	732	2172	2076	259.4	9.1	485	6834	0.12	2.38	29.80	1.311	11430	0.128	0.077	2688	2101	2060	2103	2018	0	0	0	0	0	0	14.30	14.24	13.29
7151	0.23	319.8	2689	2100	2089	1996	217.6	11.4	505	7152	0.15	0.00	0.00	0.000	4230	0.238	0.000	2656	2101	2042	2088	1997	0	0	0	0	0	0	14.06	14.35	14.28
7449	0.25	349.4	2656	2102	2088	1995	190.7	8.6	515	7512	0.00	2.50	56.70	1.215	8740	0.000	0.088	2656	733	1937	1980	1894	0	0	0	0	0	0	14.66	14.07	13.25
7552	0.38	388.9	2657	733	1965	1894	182.1	8.2	530	7628	0.15	2.40	69.20	1.188	11430	0.114	0.078	2715	2101	1780	1805	1756	0	0	0	0	0	0	14.19	14.12	13.11
7933	0.35	388.9	2715	2101	1786	1735	136.2	11.8	556	7938	0.00	2.45	0.00	0.000	644	0.000	0.085	2723	723	1759	1784	1734	0	0	0	0	0	0	14.57	14.14	14.58
8023	0.35	388.9	2724	723	1783	1734	125.9	10.9	574	8028	0.00	2.42	0.00	0.000	1030	0.000	0.076	2720	2101	1757	1781	1734	0	0	0	0	0	0	14.31	14.18	14.36
8333	0.36	391.9	2723	2101	1782	1732	93.1	9.9	592	8338	0.00	2.50	0.00	0.000	292	0.000	0.082	2722	3511	1756	1781	1732	0	0	0	0	0	0	14.45	14.02	14.44
8368	0.31	391.9	2723	3512	1781	1733	89.4	11.1	599	8374	0.20	2.38	0.00	0.000	5254	0.244	0.061	2685	2135	1756	1780	1732	0	0	0	0	0	0	13.81	14.01	14.11
8673	0.46	482.9	2685	2135	1781	1730	69.2	5.8	630	8727	0.12	2.60	46.45	0.401	10916	0.133	0.085	2751	683	1394	1436	1353	0	0	0	0	0	0	14.09	13.59	13.21
8822	0.58	532.8	2751	682	1440	1356	57.0	7.7	659	8854	0.00	2.53	27.38	0.365	9382	0.000	0.076	2751	2099	1191	1251	1132	0	0	0	0	0	0	14.11	13.98	13.54
9159	0.75	620.9	2751	2100	1252	1142	34.6	5.9	696	9212	0.22	0.00	49.72	0.297	10662	0.092	0.000	2833	2099	834	899	769	0	0	0	0	0	0	14.12	14.02	13.69
9506	end climb: SURFACE_DEPTH_REACHED
state	9506	begin surface coast
9527	end surface coast: CONTROL_FINISHED_OK
state	9527	begin surface