Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 313 * 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 313 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 868.0

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 64 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 868.0 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 64 VBD_MIN 500

DIVE 313 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 120917,031130,7527.9600,-15111.3838,18,0.7,25,20.7,0.0,118.5,12,9.5 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 1.21 MHEAD_RNG_PITCHd_Wd 161.3,81154,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 120917,032247,7527.9600,-15111.2793,10,0.8,13,20.7,0.0,44.2,10,9.0

Post-dive calculations and measurements:

FINISH 0.1,1.010577 _24V_AH 12.17,193.957

SM_CCo 9244,45.72,0.210,0,0,501,702.78 _10V_AH 12.01,0.000

SM_GC 1.34,8.15,0.17,45.72,0.075,0.110,0.210,201,2228,501,-7.38,-0.68,702.78,0,0,0,0,0,0,14.30,14.32,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 311 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323512

IRIDIUM_FIX 7529.74,-15111.73,120917,003340 DATA_FILE_SIZE 23401,684

TT8_MAMPS 0.040446,0.932505 CAP_FILE_SIZE 98838,0

HUMID 46.73 CFSIZE 2097872896,1998061568

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.20 SOUNDSPEED 1446.8

XPDR_PINGS 10 CURRENT 0.065,73.85,1

CP_FREE 15938584576.000000 GPS 120917,055932,7526.746,-15111.362,34,0.8,34,20.7,0.0,0.0,10,8.6

PM_FREEKB_00 48057024

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 142.47 nil 0 0 0.00

Roll_motor 80 2139 2087.12 nil 0 0 0.00

VBD_pump_during_apogee 1322 1305 21019.49 nil 0 0 0.00

VBD_pump_during_surface 45 210 117.07 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 9255 14 1582.72

Iridium_during_xfer 401 172 840.63 NCP 9210 20 2241.71

Transponder_ping 2 420 12.78 PMAR 9198 10 1198.99

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.88

TT8 0 0 0.00

LPSleep 6053 2 167.93

TT8_Active 1235 13 207.24

TT8_Sampling 2377 33 954.77

TT8_CF8 315 38 146.75

TT8_Kalman 0 0 0.00

Analog_circuits 2796 10 335.82

GPS_charging 0 0 0.00

Compass 981 7 82.54

RAFOS 2219 48 1279.21

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

51 -0.57 -145.9 203 2234 518 484 0.0 0.0 0 153 0.00 0.00 -100.78 0.000 16386 0.000 0.000 202 2231 2367 2314 2420 0 0 0 0 0 0 14.52 28.83 14.53

156 -0.57 -145.9 203 2234 2319 2419 5.0 -8.0 10 204 12.95 2.70 -28.25 0.000 18724 0.456 2.140 2377 3591 3962 3946 3979 0 0 0 0 0 0 13.56 12.62 14.07

304 -0.72 -145.9 2378 3592 3954 3980 40.1 -12.7 39 310 0.00 2.30 0.00 0.000 1158 0.000 0.057 2374 2240 3965 3951 3979 0 0 0 0 0 0 14.24 14.12 14.27

609 -0.84 -145.9 2377 2239 3955 3979 80.2 -10.6 70 614 0.17 2.58 0.00 0.000 4740 0.116 0.081 2301 783 3966 3953 3979 0 0 0 0 0 0 14.13 14.00 14.12

654 -0.92 -145.9 2301 784 3954 3980 86.4 -13.6 79 660 0.00 2.47 0.00 0.000 1158 0.000 0.085 2297 2174 3965 3953 3978 0 0 0 0 0 0 14.06 13.92 14.11

960 -0.96 -145.9 2298 2175 3954 3980 130.6 -13.9 96 964 0.00 2.55 0.00 0.000 388 0.000 0.090 2293 3616 3966 3954 3978 0 0 0 0 0 0 14.62 14.10 14.64

1106 -1.10 -145.9 2293 3617 3954 3980 147.5 -11.2 125 1114 0.22 2.42 0.00 0.000 5254 0.096 0.057 2211 2199 3965 3953 3978 0 0 0 0 0 0 14.20 14.12 14.28

1410 -1.00 -145.9 2211 2199 3954 3980 207.6 -19.8 136 1415 0.17 2.53 0.00 0.000 2436 0.290 0.083 2241 3622 3966 3953 3979 0 0 0 0 0 0 13.81 14.13 14.00

1522 -1.08 -145.9 2244 3622 3954 3978 223.5 -12.7 158 1527 0.00 2.45 0.00 0.000 1158 0.000 0.059 2241 2197 3965 3953 3978 0 0 0 0 0 0 14.26 14.12 14.33

1833 -1.10 -145.9 2242 2196 3955 3978 266.4 -13.2 170 1834 0.00 0.00 0.00 0.000 134 0.000 0.000 2241 2196 3966 3954 3978 0 0 0 0 0 0 14.66 14.68 14.68

2133 -1.14 -145.9 2242 2197 3955 3979 302.6 -11.6 180 2138 0.00 2.50 0.00 0.000 388 0.000 0.088 2236 3610 3965 3953 3978 0 0 0 0 0 0 14.66 14.04 14.69

2223 -1.24 -145.9 2237 3618 3955 3979 312.1 -10.0 195 2229 0.17 2.42 0.00 0.000 5254 0.113 0.057 2170 2196 3965 3953 3978 0 0 0 0 0 0 14.11 14.04 14.21

2539 -1.14 -145.9 2170 2194 3954 3979 366.0 -17.2 208 2544 0.15 2.55 0.00 0.000 2436 0.322 0.083 2191 3621 3965 3952 3979 0 0 0 0 0 0 13.64 13.85 13.83

2651 -1.16 -145.9 2191 3623 3953 3979 381.8 -13.1 230 2656 0.00 2.45 0.00 0.000 1158 0.000 0.055 2191 2200 3963 3952 3974 0 0 0 0 0 0 14.16 14.02 14.19

2961 -1.13 -145.9 2191 2199 3953 3976 426.9 -14.5 242 2966 0.00 2.55 0.00 0.000 388 0.000 0.086 2183 3614 3965 3952 3978 0 0 0 0 0 0 14.43 13.90 14.45

3071 -1.13 -145.9 2184 3617 3952 3979 442.5 -13.7 264 3076 0.12 2.45 0.00 0.000 3078 0.243 0.056 2208 2201 3964 3951 3978 0 0 0 0 0 0 13.79 14.01 14.02

3379 end dive: TARGET_DEPTH_EXCEEDED

state 3380 begin apogee

3386 -0.13 0.0 2211 2059 3953 3978 480.9 -12.3 276 3824 1.25 0.08 434.40 1.177 10246 0.230 0.177 2527 2112 3366 3379 3353 0 0 0 0 0 0 13.71 13.19 12.47

3830 end apogee: CONTROL_FINISHED_OK

state 3830 begin climb

3832 0.57 145.9 2528 2113 3376 3348 505.8 0.0 290 4391 0.75 2.70 213.65 1.306 10756 0.058 0.078 2781 730 2744 2779 2709 0 0 0 0 0 0 13.37 12.76 12.17

4405 0.57 145.9 2782 730 2780 2709 469.0 7.6 293 4412 0.00 2.40 0.00 0.000 1030 0.000 0.075 2781 2112 2743 2779 2707 0 0 0 0 0 0 14.02 13.90 14.06

4724 0.14 145.9 2781 2113 2779 2705 420.0 14.9 306 4729 0.65 2.40 0.00 0.000 4484 0.317 0.073 2636 3511 2740 2777 2703 0 0 0 0 0 0 13.61 14.00 13.86

4755 -0.08 145.9 2637 3512 2776 2705 416.0 11.5 312 4760 0.30 2.35 0.00 0.000 5254 0.262 0.057 2562 2129 2740 2775 2706 0 0 0 0 0 0 13.78 14.08 14.10

5085 -0.02 241.1 2562 2130 2775 2704 396.3 5.6 328 5282 0.00 0.00 194.68 1.188 8230 0.000 0.000 2562 2127 2382 2434 2330 0 0 0 0 0 0 14.64 13.66 12.93

5565 0.12 312.5 2562 2129 2414 2310 364.7 6.7 344 5724 0.17 2.65 147.32 1.154 10916 0.101 0.088 2647 694 2084 2130 2039 0 0 0 0 0 0 14.22 13.78 13.05

5774 0.15 312.5 2647 693 2116 2036 340.9 11.8 385 5781 0.00 2.50 0.00 0.000 1158 0.000 0.077 2646 2101 2074 2115 2034 0 0 0 0 0 0 14.03 13.90 14.07

6079 0.15 312.5 2649 2101 2115 2024 303.8 12.0 396 6084 0.00 2.50 0.00 0.000 516 0.000 0.086 2647 694 2068 2114 2023 0 0 0 0 0 0 14.58 14.14 14.60

6104 0.15 312.5 2647 694 2113 2025 300.8 11.8 401 6112 0.00 2.47 0.00 0.000 1030 0.000 0.078 2645 2098 2068 2113 2023 0 0 0 0 0 0 14.29 14.15 14.33

6409 0.15 312.5 2646 2102 2113 2021 266.4 10.9 412 6410 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2101 2066 2112 2020 0 0 0 0 0 0 14.66 14.66 14.68

6710 0.16 320.5 2647 2102 2113 2020 236.1 9.6 422 6715 0.00 2.47 0.00 0.000 548 0.000 0.084 2651 694 2065 2112 2019 0 0 0 0 0 0 14.65 14.18 14.67

6795 0.23 341.7 2652 694 2113 2019 228.1 9.0 439 6852 0.00 2.47 52.08 1.216 9382 0.000 0.079 2651 2109 1974 2019 1930 0 0 0 0 0 0 14.24 14.13 13.29

7164 0.30 374.3 2651 2108 2004 1913 195.7 8.5 462 7236 0.00 0.00 69.78 1.183 8870 0.000 0.000 2651 2109 1840 1870 1810 0 0 0 0 0 0 14.59 13.97 13.21

7522 0.40 419.3 2652 2109 1853 1794 166.4 7.9 479 7628 0.15 2.53 99.43 1.141 10916 0.115 0.086 2725 697 1651 1677 1626 0 0 0 0 0 0 14.28 13.72 13.17

7700 0.42 419.3 2725 697 1664 1618 145.7 11.2 514 7706 0.00 2.47 0.00 0.000 1158 0.000 0.077 2725 2098 1640 1663 1617 0 0 0 0 0 0 14.11 13.99 14.16

8005 0.42 419.3 2725 2099 1664 1611 109.4 11.3 525 8010 0.00 2.47 0.00 0.000 516 0.000 0.086 2726 694 1636 1663 1610 0 0 0 0 0 0 14.59 14.17 14.61

8101 0.47 426.8 2727 694 1664 1610 99.6 9.7 544 8106 0.00 2.42 1.40 0.202 9382 0.000 0.077 2726 2094 1623 1650 1596 0 0 0 0 0 0 14.23 14.15 13.83

8407 0.50 463.4 2726 2096 1661 1601 69.9 8.3 577 8433 0.00 2.50 21.17 0.396 8484 0.000 0.081 2726 3517 1475 1507 1443 0 0 0 0 0 0 14.62 13.95 13.65

8464 0.56 485.1 2726 3518 1508 1456 65.1 9.0 588 8482 0.12 2.42 13.55 0.383 11430 0.119 0.063 2780 2103 1386 1424 1348 0 0 0 0 0 0 14.12 14.11 13.58

8779 0.61 557.1 2780 2103 1433 1358 39.5 6.7 621 8827 0.00 2.58 39.67 0.314 8740 0.000 0.090 2780 690 1091 1150 1033 0 0 0 0 0 0 14.58 14.09 13.71

8927 0.77 618.0 2781 690 1152 1043 28.5 7.2 650 8970 0.15 2.47 35.50 0.281 11430 0.119 0.079 2847 2100 843 906 780 0 0 0 0 0 0 14.04 13.99 13.73

9202 end climb: SURFACE_DEPTH_REACHED

state 9203 begin surface coast

9223 end surface coast: CONTROL_FINISHED_OK

state 9223 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	313	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	868.0
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	64	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,031130,7527.9600,-15111.3838,18,0.7,25,20.7,0.0,118.5,12,9.5	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	1.21	MHEAD_RNG_PITCHd_Wd	161.3,81154,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	120917,032247,7527.9600,-15111.2793,10,0.8,13,20.7,0.0,44.2,10,9.0

FINISH	0.1,1.010577	_24V_AH	12.17,193.957
SM_CCo	9244,45.72,0.210,0,0,501,702.78	_10V_AH	12.01,0.000
SM_GC	1.34,8.15,0.17,45.72,0.075,0.110,0.210,201,2228,501,-7.38,-0.68,702.78,0,0,0,0,0,0,14.30,14.32,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	311	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323512
IRIDIUM_FIX	7529.74,-15111.73,120917,003340	DATA_FILE_SIZE	23401,684
TT8_MAMPS	0.040446,0.932505	CAP_FILE_SIZE	98838,0
HUMID	46.73	CFSIZE	2097872896,1998061568
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.20	SOUNDSPEED	1446.8
XPDR_PINGS	10	CURRENT	0.065,73.85,1
CP_FREE	15938584576.000000	GPS	120917,055932,7526.746,-15111.362,34,0.8,34,20.7,0.0,0.0,10,8.6
PM_FREEKB_00	48057024

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	142.47	nil	0	0	0.00
Roll_motor	80	2139	2087.12	nil	0	0	0.00
VBD_pump_during_apogee	1322	1305	21019.49	nil	0	0	0.00
VBD_pump_during_surface	45	210	117.07	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	9255	14	1582.72
Iridium_during_xfer	401	172	840.63	NCP	9210	20	2241.71
Transponder_ping	2	420	12.78	PMAR	9198	10	1198.99
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.88
TT8	0	0	0.00
LPSleep	6053	2	167.93
TT8_Active	1235	13	207.24
TT8_Sampling	2377	33	954.77
TT8_CF8	315	38	146.75
TT8_Kalman	0	0	0.00
Analog_circuits	2796	10	335.82
GPS_charging	0	0	0.00
Compass	981	7	82.54
RAFOS	2219	48	1279.21
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
51	-0.57	-145.9	203	2234	518	484	0.0	0.0	0	153	0.00	0.00	-100.78	0.000	16386	0.000	0.000	202	2231	2367	2314	2420	0	0	0	0	0	0	14.52	28.83	14.53
156	-0.57	-145.9	203	2234	2319	2419	5.0	-8.0	10	204	12.95	2.70	-28.25	0.000	18724	0.456	2.140	2377	3591	3962	3946	3979	0	0	0	0	0	0	13.56	12.62	14.07
304	-0.72	-145.9	2378	3592	3954	3980	40.1	-12.7	39	310	0.00	2.30	0.00	0.000	1158	0.000	0.057	2374	2240	3965	3951	3979	0	0	0	0	0	0	14.24	14.12	14.27
609	-0.84	-145.9	2377	2239	3955	3979	80.2	-10.6	70	614	0.17	2.58	0.00	0.000	4740	0.116	0.081	2301	783	3966	3953	3979	0	0	0	0	0	0	14.13	14.00	14.12
654	-0.92	-145.9	2301	784	3954	3980	86.4	-13.6	79	660	0.00	2.47	0.00	0.000	1158	0.000	0.085	2297	2174	3965	3953	3978	0	0	0	0	0	0	14.06	13.92	14.11
960	-0.96	-145.9	2298	2175	3954	3980	130.6	-13.9	96	964	0.00	2.55	0.00	0.000	388	0.000	0.090	2293	3616	3966	3954	3978	0	0	0	0	0	0	14.62	14.10	14.64
1106	-1.10	-145.9	2293	3617	3954	3980	147.5	-11.2	125	1114	0.22	2.42	0.00	0.000	5254	0.096	0.057	2211	2199	3965	3953	3978	0	0	0	0	0	0	14.20	14.12	14.28
1410	-1.00	-145.9	2211	2199	3954	3980	207.6	-19.8	136	1415	0.17	2.53	0.00	0.000	2436	0.290	0.083	2241	3622	3966	3953	3979	0	0	0	0	0	0	13.81	14.13	14.00
1522	-1.08	-145.9	2244	3622	3954	3978	223.5	-12.7	158	1527	0.00	2.45	0.00	0.000	1158	0.000	0.059	2241	2197	3965	3953	3978	0	0	0	0	0	0	14.26	14.12	14.33
1833	-1.10	-145.9	2242	2196	3955	3978	266.4	-13.2	170	1834	0.00	0.00	0.00	0.000	134	0.000	0.000	2241	2196	3966	3954	3978	0	0	0	0	0	0	14.66	14.68	14.68
2133	-1.14	-145.9	2242	2197	3955	3979	302.6	-11.6	180	2138	0.00	2.50	0.00	0.000	388	0.000	0.088	2236	3610	3965	3953	3978	0	0	0	0	0	0	14.66	14.04	14.69
2223	-1.24	-145.9	2237	3618	3955	3979	312.1	-10.0	195	2229	0.17	2.42	0.00	0.000	5254	0.113	0.057	2170	2196	3965	3953	3978	0	0	0	0	0	0	14.11	14.04	14.21
2539	-1.14	-145.9	2170	2194	3954	3979	366.0	-17.2	208	2544	0.15	2.55	0.00	0.000	2436	0.322	0.083	2191	3621	3965	3952	3979	0	0	0	0	0	0	13.64	13.85	13.83
2651	-1.16	-145.9	2191	3623	3953	3979	381.8	-13.1	230	2656	0.00	2.45	0.00	0.000	1158	0.000	0.055	2191	2200	3963	3952	3974	0	0	0	0	0	0	14.16	14.02	14.19
2961	-1.13	-145.9	2191	2199	3953	3976	426.9	-14.5	242	2966	0.00	2.55	0.00	0.000	388	0.000	0.086	2183	3614	3965	3952	3978	0	0	0	0	0	0	14.43	13.90	14.45
3071	-1.13	-145.9	2184	3617	3952	3979	442.5	-13.7	264	3076	0.12	2.45	0.00	0.000	3078	0.243	0.056	2208	2201	3964	3951	3978	0	0	0	0	0	0	13.79	14.01	14.02
3379	end dive: TARGET_DEPTH_EXCEEDED
state	3380	begin apogee
3386	-0.13	0.0	2211	2059	3953	3978	480.9	-12.3	276	3824	1.25	0.08	434.40	1.177	10246	0.230	0.177	2527	2112	3366	3379	3353	0	0	0	0	0	0	13.71	13.19	12.47
3830	end apogee: CONTROL_FINISHED_OK
state	3830	begin climb
3832	0.57	145.9	2528	2113	3376	3348	505.8	0.0	290	4391	0.75	2.70	213.65	1.306	10756	0.058	0.078	2781	730	2744	2779	2709	0	0	0	0	0	0	13.37	12.76	12.17
4405	0.57	145.9	2782	730	2780	2709	469.0	7.6	293	4412	0.00	2.40	0.00	0.000	1030	0.000	0.075	2781	2112	2743	2779	2707	0	0	0	0	0	0	14.02	13.90	14.06
4724	0.14	145.9	2781	2113	2779	2705	420.0	14.9	306	4729	0.65	2.40	0.00	0.000	4484	0.317	0.073	2636	3511	2740	2777	2703	0	0	0	0	0	0	13.61	14.00	13.86
4755	-0.08	145.9	2637	3512	2776	2705	416.0	11.5	312	4760	0.30	2.35	0.00	0.000	5254	0.262	0.057	2562	2129	2740	2775	2706	0	0	0	0	0	0	13.78	14.08	14.10
5085	-0.02	241.1	2562	2130	2775	2704	396.3	5.6	328	5282	0.00	0.00	194.68	1.188	8230	0.000	0.000	2562	2127	2382	2434	2330	0	0	0	0	0	0	14.64	13.66	12.93
5565	0.12	312.5	2562	2129	2414	2310	364.7	6.7	344	5724	0.17	2.65	147.32	1.154	10916	0.101	0.088	2647	694	2084	2130	2039	0	0	0	0	0	0	14.22	13.78	13.05
5774	0.15	312.5	2647	693	2116	2036	340.9	11.8	385	5781	0.00	2.50	0.00	0.000	1158	0.000	0.077	2646	2101	2074	2115	2034	0	0	0	0	0	0	14.03	13.90	14.07
6079	0.15	312.5	2649	2101	2115	2024	303.8	12.0	396	6084	0.00	2.50	0.00	0.000	516	0.000	0.086	2647	694	2068	2114	2023	0	0	0	0	0	0	14.58	14.14	14.60
6104	0.15	312.5	2647	694	2113	2025	300.8	11.8	401	6112	0.00	2.47	0.00	0.000	1030	0.000	0.078	2645	2098	2068	2113	2023	0	0	0	0	0	0	14.29	14.15	14.33
6409	0.15	312.5	2646	2102	2113	2021	266.4	10.9	412	6410	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2101	2066	2112	2020	0	0	0	0	0	0	14.66	14.66	14.68
6710	0.16	320.5	2647	2102	2113	2020	236.1	9.6	422	6715	0.00	2.47	0.00	0.000	548	0.000	0.084	2651	694	2065	2112	2019	0	0	0	0	0	0	14.65	14.18	14.67
6795	0.23	341.7	2652	694	2113	2019	228.1	9.0	439	6852	0.00	2.47	52.08	1.216	9382	0.000	0.079	2651	2109	1974	2019	1930	0	0	0	0	0	0	14.24	14.13	13.29
7164	0.30	374.3	2651	2108	2004	1913	195.7	8.5	462	7236	0.00	0.00	69.78	1.183	8870	0.000	0.000	2651	2109	1840	1870	1810	0	0	0	0	0	0	14.59	13.97	13.21
7522	0.40	419.3	2652	2109	1853	1794	166.4	7.9	479	7628	0.15	2.53	99.43	1.141	10916	0.115	0.086	2725	697	1651	1677	1626	0	0	0	0	0	0	14.28	13.72	13.17
7700	0.42	419.3	2725	697	1664	1618	145.7	11.2	514	7706	0.00	2.47	0.00	0.000	1158	0.000	0.077	2725	2098	1640	1663	1617	0	0	0	0	0	0	14.11	13.99	14.16
8005	0.42	419.3	2725	2099	1664	1611	109.4	11.3	525	8010	0.00	2.47	0.00	0.000	516	0.000	0.086	2726	694	1636	1663	1610	0	0	0	0	0	0	14.59	14.17	14.61
8101	0.47	426.8	2727	694	1664	1610	99.6	9.7	544	8106	0.00	2.42	1.40	0.202	9382	0.000	0.077	2726	2094	1623	1650	1596	0	0	0	0	0	0	14.23	14.15	13.83
8407	0.50	463.4	2726	2096	1661	1601	69.9	8.3	577	8433	0.00	2.50	21.17	0.396	8484	0.000	0.081	2726	3517	1475	1507	1443	0	0	0	0	0	0	14.62	13.95	13.65
8464	0.56	485.1	2726	3518	1508	1456	65.1	9.0	588	8482	0.12	2.42	13.55	0.383	11430	0.119	0.063	2780	2103	1386	1424	1348	0	0	0	0	0	0	14.12	14.11	13.58
8779	0.61	557.1	2780	2103	1433	1358	39.5	6.7	621	8827	0.00	2.58	39.67	0.314	8740	0.000	0.090	2780	690	1091	1150	1033	0	0	0	0	0	0	14.58	14.09	13.71
8927	0.77	618.0	2781	690	1152	1043	28.5	7.2	650	8970	0.15	2.47	35.50	0.281	11430	0.119	0.079	2847	2100	843	906	780	0	0	0	0	0	0	14.04	13.99	13.73
9202	end climb: SURFACE_DEPTH_REACHED
state	9203	begin surface coast
9223	end surface coast: CONTROL_FINISHED_OK
state	9223	begin surface