Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 321 * 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 321 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 891.0

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 37 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 891.0 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 321 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 130917,011134,7517.7090,-15110.8809,68,0.8,70,20.7,1.0,71.5,10,8.4 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 153.4,62678,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.0 D_GRID 480

GPS2 130917,012640,7517.7832,-15110.8242,7,0.8,9,20.7,0.0,12.2,10,9.0

Post-dive calculations and measurements:

FINISH 0.7,1.021497 _24V_AH 12.31,197.880

SM_CCo 8900,45.50,0.199,0,0,500,702.78 _10V_AH 12.14,0.000

SM_GC 1.18,8.20,0.15,45.50,0.081,0.106,0.199,199,2238,500,-7.38,-0.82,702.78,0,0,0,0,0,0,14.28,14.33,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7518.35,-15105.78,130917,011609 DATA_FILE_SIZE 23423,676

TT8_MAMPS 0.040446,0.865095 CAP_FILE_SIZE 98265,0

HUMID 47.40 CFSIZE 2097872896,1995964416

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

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 16 CURRENT 0.050,86.88,1

CP_FREE 15935307776.000000 GPS 130917,035728,7516.536,-15110.105,17,0.7,18,20.7,0.8,336.4,11,9.1

PM_FREEKB_00 47710144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 148.31 nil 0 0 0.00

Roll_motor 79 2142 2106.80 nil 0 0 0.00

VBD_pump_during_apogee 1017 1394 17459.31 nil 0 0 0.00

VBD_pump_during_surface 45 198 111.40 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 8913 14 1591.04

Iridium_during_xfer 572 169 1191.69 NCP 8875 20 2185.03

Transponder_ping 4 420 20.68 PMAR 8854 12 1355.65

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.75

TT8 0 0 0.00

LPSleep 6399 2 179.46

TT8_Active 971 13 164.74

TT8_Sampling 2170 33 881.21

TT8_CF8 326 38 153.14

TT8_Kalman 0 0 0.00

Analog_circuits 2346 10 284.91

GPS_charging 0 0 0.00

Compass 970 7 82.49

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

47 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 163 2222 512 489 0.0 0.0 0 143 0.00 0.00 -91.07 0.000 16386 0.000 0.000 166 2221 2119 2048 2190 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 159 2222 2051 2192 3.1 -3.6 9 204 13.20 2.75 -38.22 0.000 18980 0.456 2.142 2385 829 3959 3945 3973 1 0 0 0 0 0 13.26 12.91 14.07

264 -0.74 -145.9 2386 830 3950 3973 31.1 -13.2 32 272 0.12 2.42 0.00 0.000 5254 0.122 0.087 2333 2187 3961 3949 3973 0 0 0 0 0 0 13.97 14.01 14.04

569 -0.78 -145.9 2333 2188 3952 3972 86.1 -14.6 63 574 0.00 2.53 0.00 0.000 388 0.000 0.088 2331 3611 3961 3950 3973 0 0 0 0 0 0 14.54 13.97 14.58

684 -0.94 -145.9 2333 3613 3952 3973 99.3 -10.3 86 690 0.17 2.35 0.00 0.000 5254 0.106 0.054 2264 2229 3961 3950 3973 0 0 0 0 0 0 13.97 13.94 14.06

999 -0.94 -145.9 2263 2229 3951 3974 153.2 -16.1 98 1000 0.00 0.00 0.00 0.000 6 0.000 0.000 2264 2228 3961 3949 3973 0 0 0 0 0 0 14.65 14.66 14.66

1299 -0.97 -145.9 2264 2229 3951 3974 197.3 -14.3 108 1305 0.00 2.45 0.00 0.000 388 0.000 0.086 2256 3610 3961 3950 3973 0 0 0 0 0 0 14.66 14.00 14.67

1386 -1.07 -145.9 2256 3612 3951 3974 208.5 -12.3 125 1392 0.00 2.42 0.00 0.000 1158 0.000 0.057 2256 2195 3962 3951 3973 0 0 0 0 0 0 14.25 14.12 14.29

1691 -1.11 -145.9 2256 2195 3951 3973 249.5 -13.1 136 1696 0.00 2.55 0.00 0.000 388 0.000 0.088 2249 3619 3961 3950 3973 0 0 0 0 0 0 14.67 13.97 14.69

1757 -1.24 -145.9 2249 3620 3951 3974 257.4 -10.5 149 1762 0.22 2.40 0.00 0.000 5254 0.101 0.057 2164 2201 3961 3950 3972 0 0 0 0 0 0 14.26 14.18 14.35

2082 -1.11 -145.9 2165 2200 3952 3973 321.9 -19.6 164 2088 0.22 2.50 0.00 0.000 2436 0.300 0.083 2205 3612 3961 3950 3973 0 0 0 0 0 0 13.70 14.04 13.93

2180 -1.16 -145.9 2205 3613 3950 3974 335.7 -12.8 183 2185 0.00 2.42 0.00 0.000 1158 0.000 0.057 2205 2194 3961 3950 3973 0 0 0 0 0 0 14.28 14.14 14.33

2505 -1.16 -145.9 2204 2194 3951 3974 380.7 -13.5 198 2510 0.00 2.50 0.00 0.000 260 0.000 0.087 2197 3610 3961 3950 3973 0 0 0 0 0 0 14.68 14.10 14.69

2566 -1.21 -145.9 2198 3610 3952 3973 388.8 -12.9 210 2570 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2200 3961 3950 3972 0 0 0 0 0 0 14.33 14.16 14.33

2896 -1.21 -145.9 2198 2198 3952 3973 435.3 -14.0 226 2900 0.00 2.50 0.00 0.000 260 0.000 0.086 2188 3614 3961 3950 3973 0 0 0 0 0 0 14.64 14.09 14.66

2991 -1.24 -145.9 2188 3614 3951 3973 448.4 -13.3 245 2995 0.00 2.42 0.00 0.000 1158 0.000 0.057 2188 2198 3961 3950 3973 0 0 0 0 0 0 14.26 14.14 14.33

3223 end dive: TARGET_DEPTH_EXCEEDED

state 3223 begin apogee

3229 -0.13 0.0 2189 2052 3951 3972 483.0 -14.8 257 3467 1.35 0.10 228.80 1.395 10246 0.240 0.157 2527 2118 3357 3372 3342 0 0 0 0 0 0 13.77 13.53 12.65

3471 end apogee: CONTROL_FINISHED_OK

state 3471 begin climb

3474 0.57 145.9 2528 2119 3370 3339 497.8 0.0 265 3699 0.75 2.55 212.00 1.356 10500 0.060 0.073 2784 3495 2760 2788 2732 0 0 0 0 0 0 13.71 13.06 12.31

3925 0.07 145.9 2785 3495 2776 2721 483.2 14.5 312 3932 0.90 2.38 0.00 0.000 5254 0.348 0.055 2616 2124 2749 2774 2724 0 0 0 0 0 0 13.42 13.84 13.81

4230 -0.01 203.9 2612 2124 2775 2724 459.7 7.3 323 4321 0.15 0.00 89.03 1.344 12454 0.289 0.000 2587 2126 2533 2584 2483 0 0 0 0 0 0 13.83 13.84 13.02

4620 0.02 253.4 2583 2124 2570 2454 430.3 7.7 336 4700 0.00 0.00 78.12 1.317 8230 0.000 0.000 2588 2123 2331 2379 2284 0 0 0 0 0 0 14.54 13.90 13.11

4980 0.09 292.4 2582 2124 2360 2261 400.9 8.2 348 5046 0.00 2.58 59.40 1.327 8868 0.000 0.089 2588 697 2165 2209 2122 0 0 0 0 0 0 14.54 13.98 13.15

5089 0.24 328.9 2589 698 2197 2116 392.1 8.3 369 5152 0.22 2.47 57.17 1.290 11430 0.091 0.080 2679 2094 2023 2067 1980 0 0 0 0 0 0 14.09 14.00 13.05

5463 0.16 328.9 2679 2094 2048 1954 336.6 15.0 394 5468 0.15 2.45 0.00 0.000 4740 0.259 0.084 2647 697 2000 2046 1954 0 0 0 0 0 0 13.90 14.15 14.07

5508 0.20 328.9 2647 698 2044 1955 330.7 11.9 403 5513 0.00 2.45 0.00 0.000 1158 0.000 0.078 2647 2102 1999 2044 1954 0 0 0 0 0 0 14.32 14.18 14.39

5823 0.20 328.9 2647 2103 2044 1953 293.6 11.6 416 5829 0.00 2.47 0.00 0.000 516 0.000 0.086 2653 695 1997 2043 1952 0 0 0 0 0 0 14.62 14.19 14.64

5864 0.23 328.9 2653 696 2042 1953 288.8 11.6 424 5870 0.00 2.45 0.00 0.000 1158 0.000 0.079 2653 2101 1996 2041 1952 0 0 0 0 0 0 14.31 14.16 14.35

6185 0.23 328.9 2653 2102 2042 1952 252.9 10.7 438 6190 0.00 2.47 0.00 0.000 516 0.000 0.087 2654 694 1996 2041 1951 0 0 0 0 0 0 14.64 14.16 14.66

6221 0.27 337.5 2654 694 2042 1951 249.2 9.6 445 6225 0.00 2.45 0.00 0.000 1190 0.000 0.077 2654 2100 1995 2040 1951 0 0 0 0 0 0 14.30 14.18 14.34

6546 0.28 357.2 2655 2101 2041 1950 218.5 9.1 460 6590 0.00 0.00 43.50 1.280 8230 0.000 0.000 2654 2101 1908 1946 1871 0 0 0 0 0 0 14.65 14.07 13.25

6876 0.34 387.9 2653 2100 1925 1856 190.0 8.6 471 6937 0.12 2.53 52.75 1.241 10916 0.132 0.089 2716 691 1775 1798 1753 0 0 0 0 0 0 14.22 13.97 13.21

6974 0.34 387.9 2716 692 1787 1751 178.2 12.6 490 6979 0.00 2.50 0.00 0.000 1030 0.000 0.077 2716 2107 1767 1786 1748 0 0 0 0 0 0 14.05 13.94 14.09

7299 0.30 387.9 2716 2105 1781 1741 138.5 11.6 505 7304 0.12 2.50 0.00 0.000 4740 0.238 0.085 2685 694 1760 1785 1735 0 0 0 0 0 0 14.02 14.06 14.14

7350 0.40 406.4 2685 695 1784 1742 133.5 9.1 515 7381 0.00 2.47 26.27 1.273 9382 0.000 0.076 2685 2105 1704 1730 1679 0 0 0 0 0 0 14.20 14.04 13.29

7693 0.47 435.6 2686 2106 1719 1664 103.4 8.6 533 7753 0.12 2.58 49.17 1.209 10916 0.134 0.088 2751 695 1581 1606 1556 0 0 0 0 0 0 14.28 13.97 13.24

7776 0.44 435.6 2751 695 1608 1550 94.0 12.3 549 7781 0.00 2.47 0.00 0.000 1158 0.000 0.077 2757 2100 1575 1600 1550 0 0 0 0 0 0 14.21 14.08 14.24

8086 0.43 451.9 2751 2101 1601 1542 61.1 9.3 581 8097 0.12 0.00 7.62 0.338 12454 0.233 0.000 2724 2102 1522 1555 1489 0 0 0 0 0 0 13.97 14.07 13.65

8396 0.60 582.6 2724 2103 1564 1500 45.7 4.0 612 8481 0.12 2.58 78.80 0.328 10916 0.125 0.088 2785 697 987 1056 918 0 0 0 0 0 0 14.12 14.07 13.70

8536 0.75 635.2 2786 697 1059 925 36.2 7.6 638 8575 0.12 2.50 34.35 0.299 11430 0.130 0.079 2842 2109 775 845 706 0 0 0 0 0 0 14.13 14.07 13.70

8869 end climb: SURFACE_DEPTH_REACHED

state 8869 begin surface coast

8879 end surface coast: CONTROL_FINISHED_OK

state 8879 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	321	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	891.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,011134,7517.7090,-15110.8809,68,0.8,70,20.7,1.0,71.5,10,8.4	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	153.4,62678,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.0	D_GRID	480
GPS2	130917,012640,7517.7832,-15110.8242,7,0.8,9,20.7,0.0,12.2,10,9.0

FINISH	0.7,1.021497	_24V_AH	12.31,197.880
SM_CCo	8900,45.50,0.199,0,0,500,702.78	_10V_AH	12.14,0.000
SM_GC	1.18,8.20,0.15,45.50,0.081,0.106,0.199,199,2238,500,-7.38,-0.82,702.78,0,0,0,0,0,0,14.28,14.33,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323344
IRIDIUM_FIX	7518.35,-15105.78,130917,011609	DATA_FILE_SIZE	23423,676
TT8_MAMPS	0.040446,0.865095	CAP_FILE_SIZE	98265,0
HUMID	47.40	CFSIZE	2097872896,1995964416
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	16	CURRENT	0.050,86.88,1
CP_FREE	15935307776.000000	GPS	130917,035728,7516.536,-15110.105,17,0.7,18,20.7,0.8,336.4,11,9.1
PM_FREEKB_00	47710144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	148.31	nil	0	0	0.00
Roll_motor	79	2142	2106.80	nil	0	0	0.00
VBD_pump_during_apogee	1017	1394	17459.31	nil	0	0	0.00
VBD_pump_during_surface	45	198	111.40	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	8913	14	1591.04
Iridium_during_xfer	572	169	1191.69	NCP	8875	20	2185.03
Transponder_ping	4	420	20.68	PMAR	8854	12	1355.65
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.75
TT8	0	0	0.00
LPSleep	6399	2	179.46
TT8_Active	971	13	164.74
TT8_Sampling	2170	33	881.21
TT8_CF8	326	38	153.14
TT8_Kalman	0	0	0.00
Analog_circuits	2346	10	284.91
GPS_charging	0	0	0.00
Compass	970	7	82.49
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
47	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	163	2222	512	489	0.0	0.0	0	143	0.00	0.00	-91.07	0.000	16386	0.000	0.000	166	2221	2119	2048	2190	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	159	2222	2051	2192	3.1	-3.6	9	204	13.20	2.75	-38.22	0.000	18980	0.456	2.142	2385	829	3959	3945	3973	1	0	0	0	0	0	13.26	12.91	14.07
264	-0.74	-145.9	2386	830	3950	3973	31.1	-13.2	32	272	0.12	2.42	0.00	0.000	5254	0.122	0.087	2333	2187	3961	3949	3973	0	0	0	0	0	0	13.97	14.01	14.04
569	-0.78	-145.9	2333	2188	3952	3972	86.1	-14.6	63	574	0.00	2.53	0.00	0.000	388	0.000	0.088	2331	3611	3961	3950	3973	0	0	0	0	0	0	14.54	13.97	14.58
684	-0.94	-145.9	2333	3613	3952	3973	99.3	-10.3	86	690	0.17	2.35	0.00	0.000	5254	0.106	0.054	2264	2229	3961	3950	3973	0	0	0	0	0	0	13.97	13.94	14.06
999	-0.94	-145.9	2263	2229	3951	3974	153.2	-16.1	98	1000	0.00	0.00	0.00	0.000	6	0.000	0.000	2264	2228	3961	3949	3973	0	0	0	0	0	0	14.65	14.66	14.66
1299	-0.97	-145.9	2264	2229	3951	3974	197.3	-14.3	108	1305	0.00	2.45	0.00	0.000	388	0.000	0.086	2256	3610	3961	3950	3973	0	0	0	0	0	0	14.66	14.00	14.67
1386	-1.07	-145.9	2256	3612	3951	3974	208.5	-12.3	125	1392	0.00	2.42	0.00	0.000	1158	0.000	0.057	2256	2195	3962	3951	3973	0	0	0	0	0	0	14.25	14.12	14.29
1691	-1.11	-145.9	2256	2195	3951	3973	249.5	-13.1	136	1696	0.00	2.55	0.00	0.000	388	0.000	0.088	2249	3619	3961	3950	3973	0	0	0	0	0	0	14.67	13.97	14.69
1757	-1.24	-145.9	2249	3620	3951	3974	257.4	-10.5	149	1762	0.22	2.40	0.00	0.000	5254	0.101	0.057	2164	2201	3961	3950	3972	0	0	0	0	0	0	14.26	14.18	14.35
2082	-1.11	-145.9	2165	2200	3952	3973	321.9	-19.6	164	2088	0.22	2.50	0.00	0.000	2436	0.300	0.083	2205	3612	3961	3950	3973	0	0	0	0	0	0	13.70	14.04	13.93
2180	-1.16	-145.9	2205	3613	3950	3974	335.7	-12.8	183	2185	0.00	2.42	0.00	0.000	1158	0.000	0.057	2205	2194	3961	3950	3973	0	0	0	0	0	0	14.28	14.14	14.33
2505	-1.16	-145.9	2204	2194	3951	3974	380.7	-13.5	198	2510	0.00	2.50	0.00	0.000	260	0.000	0.087	2197	3610	3961	3950	3973	0	0	0	0	0	0	14.68	14.10	14.69
2566	-1.21	-145.9	2198	3610	3952	3973	388.8	-12.9	210	2570	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2200	3961	3950	3972	0	0	0	0	0	0	14.33	14.16	14.33
2896	-1.21	-145.9	2198	2198	3952	3973	435.3	-14.0	226	2900	0.00	2.50	0.00	0.000	260	0.000	0.086	2188	3614	3961	3950	3973	0	0	0	0	0	0	14.64	14.09	14.66
2991	-1.24	-145.9	2188	3614	3951	3973	448.4	-13.3	245	2995	0.00	2.42	0.00	0.000	1158	0.000	0.057	2188	2198	3961	3950	3973	0	0	0	0	0	0	14.26	14.14	14.33
3223	end dive: TARGET_DEPTH_EXCEEDED
state	3223	begin apogee
3229	-0.13	0.0	2189	2052	3951	3972	483.0	-14.8	257	3467	1.35	0.10	228.80	1.395	10246	0.240	0.157	2527	2118	3357	3372	3342	0	0	0	0	0	0	13.77	13.53	12.65
3471	end apogee: CONTROL_FINISHED_OK
state	3471	begin climb
3474	0.57	145.9	2528	2119	3370	3339	497.8	0.0	265	3699	0.75	2.55	212.00	1.356	10500	0.060	0.073	2784	3495	2760	2788	2732	0	0	0	0	0	0	13.71	13.06	12.31
3925	0.07	145.9	2785	3495	2776	2721	483.2	14.5	312	3932	0.90	2.38	0.00	0.000	5254	0.348	0.055	2616	2124	2749	2774	2724	0	0	0	0	0	0	13.42	13.84	13.81
4230	-0.01	203.9	2612	2124	2775	2724	459.7	7.3	323	4321	0.15	0.00	89.03	1.344	12454	0.289	0.000	2587	2126	2533	2584	2483	0	0	0	0	0	0	13.83	13.84	13.02
4620	0.02	253.4	2583	2124	2570	2454	430.3	7.7	336	4700	0.00	0.00	78.12	1.317	8230	0.000	0.000	2588	2123	2331	2379	2284	0	0	0	0	0	0	14.54	13.90	13.11
4980	0.09	292.4	2582	2124	2360	2261	400.9	8.2	348	5046	0.00	2.58	59.40	1.327	8868	0.000	0.089	2588	697	2165	2209	2122	0	0	0	0	0	0	14.54	13.98	13.15
5089	0.24	328.9	2589	698	2197	2116	392.1	8.3	369	5152	0.22	2.47	57.17	1.290	11430	0.091	0.080	2679	2094	2023	2067	1980	0	0	0	0	0	0	14.09	14.00	13.05
5463	0.16	328.9	2679	2094	2048	1954	336.6	15.0	394	5468	0.15	2.45	0.00	0.000	4740	0.259	0.084	2647	697	2000	2046	1954	0	0	0	0	0	0	13.90	14.15	14.07
5508	0.20	328.9	2647	698	2044	1955	330.7	11.9	403	5513	0.00	2.45	0.00	0.000	1158	0.000	0.078	2647	2102	1999	2044	1954	0	0	0	0	0	0	14.32	14.18	14.39
5823	0.20	328.9	2647	2103	2044	1953	293.6	11.6	416	5829	0.00	2.47	0.00	0.000	516	0.000	0.086	2653	695	1997	2043	1952	0	0	0	0	0	0	14.62	14.19	14.64
5864	0.23	328.9	2653	696	2042	1953	288.8	11.6	424	5870	0.00	2.45	0.00	0.000	1158	0.000	0.079	2653	2101	1996	2041	1952	0	0	0	0	0	0	14.31	14.16	14.35
6185	0.23	328.9	2653	2102	2042	1952	252.9	10.7	438	6190	0.00	2.47	0.00	0.000	516	0.000	0.087	2654	694	1996	2041	1951	0	0	0	0	0	0	14.64	14.16	14.66
6221	0.27	337.5	2654	694	2042	1951	249.2	9.6	445	6225	0.00	2.45	0.00	0.000	1190	0.000	0.077	2654	2100	1995	2040	1951	0	0	0	0	0	0	14.30	14.18	14.34
6546	0.28	357.2	2655	2101	2041	1950	218.5	9.1	460	6590	0.00	0.00	43.50	1.280	8230	0.000	0.000	2654	2101	1908	1946	1871	0	0	0	0	0	0	14.65	14.07	13.25
6876	0.34	387.9	2653	2100	1925	1856	190.0	8.6	471	6937	0.12	2.53	52.75	1.241	10916	0.132	0.089	2716	691	1775	1798	1753	0	0	0	0	0	0	14.22	13.97	13.21
6974	0.34	387.9	2716	692	1787	1751	178.2	12.6	490	6979	0.00	2.50	0.00	0.000	1030	0.000	0.077	2716	2107	1767	1786	1748	0	0	0	0	0	0	14.05	13.94	14.09
7299	0.30	387.9	2716	2105	1781	1741	138.5	11.6	505	7304	0.12	2.50	0.00	0.000	4740	0.238	0.085	2685	694	1760	1785	1735	0	0	0	0	0	0	14.02	14.06	14.14
7350	0.40	406.4	2685	695	1784	1742	133.5	9.1	515	7381	0.00	2.47	26.27	1.273	9382	0.000	0.076	2685	2105	1704	1730	1679	0	0	0	0	0	0	14.20	14.04	13.29
7693	0.47	435.6	2686	2106	1719	1664	103.4	8.6	533	7753	0.12	2.58	49.17	1.209	10916	0.134	0.088	2751	695	1581	1606	1556	0	0	0	0	0	0	14.28	13.97	13.24
7776	0.44	435.6	2751	695	1608	1550	94.0	12.3	549	7781	0.00	2.47	0.00	0.000	1158	0.000	0.077	2757	2100	1575	1600	1550	0	0	0	0	0	0	14.21	14.08	14.24
8086	0.43	451.9	2751	2101	1601	1542	61.1	9.3	581	8097	0.12	0.00	7.62	0.338	12454	0.233	0.000	2724	2102	1522	1555	1489	0	0	0	0	0	0	13.97	14.07	13.65
8396	0.60	582.6	2724	2103	1564	1500	45.7	4.0	612	8481	0.12	2.58	78.80	0.328	10916	0.125	0.088	2785	697	987	1056	918	0	0	0	0	0	0	14.12	14.07	13.70
8536	0.75	635.2	2786	697	1059	925	36.2	7.6	638	8575	0.12	2.50	34.35	0.299	11430	0.130	0.079	2842	2109	775	845	706	0	0	0	0	0	0	14.13	14.07	13.70
8869	end climb: SURFACE_DEPTH_REACHED
state	8869	begin surface coast
8879	end surface coast: CONTROL_FINISHED_OK
state	8879	begin surface