Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 323 * 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 323 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 48

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 897.0

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 50 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 897.0 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 323 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 130917,064734,7515.2974,-15109.5576,15,0.8,16,20.7,0.5,337.1,10,8.2 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 159.8,58292,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.9 D_GRID 480

GPS2 130917,071002,7515.4258,-15109.5645,28,0.9,29,20.7,0.0,347.0,8,6.9

Post-dive calculations and measurements:

FINISH 0.0,1.021583 _24V_AH 12.17,198.894

SM_CCo 9285,53.88,0.196,0,0,502,702.78 _10V_AH 12.07,0.000

SM_GC 1.27,8.07,0.17,53.88,0.062,0.092,0.196,195,2246,502,-7.37,-0.57,702.78,0,0,0,0,0,0,14.28,14.35,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 288 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323328

IRIDIUM_FIX 7514.70,-15113.94,130917,070456 DATA_FILE_SIZE 26727,745

TT8_MAMPS 0.038948,0.931007 CAP_FILE_SIZE 109979,0

HUMID 46.65 CFSIZE 2097872896,1995276288

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

TCM_TEMP 13.20 SOUNDSPEED 1448.9

XPDR_PINGS 12 CURRENT 0.060,100.80,1

CP_FREE 15934455808.000000 GPS 130917,094740,7514.051,-15109.848,33,0.8,41,20.7,0.4,324.0,9,9.7

PM_FREEKB_00 47605504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 459 145.80 nil 0 0 0.00

Roll_motor 80 2150 2109.35 nil 0 0 0.00

VBD_pump_during_apogee 991 1578 19049.62 nil 0 0 0.00

VBD_pump_during_surface 53 195 128.40 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 9299 14 1593.64

Iridium_during_xfer 803 166 1623.70 NCP 9257 20 2253.15

Transponder_ping 3 420 15.33 PMAR 9239 11 1250.65

GUMSTIX_24V 0 0 0.00

GPS 31 22 8.42

TT8 0 0 0.00

LPSleep 6925 2 193.10

TT8_Active 997 13 168.23

TT8_Sampling 2406 33 971.48

TT8_CF8 369 38 172.70

TT8_Kalman 0 0 0.00

Analog_circuits 2560 10 309.06

GPS_charging 0 0 0.00

Compass 1068 7 90.32

RAFOS 2218 48 1285.02

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 156 2234 494 483 0.0 0.0 0 144 0.00 0.00 -90.95 0.000 16386 0.000 0.000 154 2234 2150 2076 2225 0 0 0 0 0 0 14.55 28.83 14.57

148 -0.57 -145.9 153 2235 2077 2234 4.2 -6.6 9 201 13.35 2.92 -34.10 0.000 18980 0.459 2.150 2387 795 3965 3952 3978 1 0 0 0 0 0 13.27 12.63 14.07

233 -0.63 -145.9 2387 795 3955 3978 29.2 -18.0 25 238 0.00 2.45 0.00 0.000 1158 0.000 0.083 2387 2171 3967 3956 3978 0 0 0 0 0 0 14.18 14.02 14.21

543 -0.75 -145.9 2386 2173 3959 3979 73.3 -11.3 57 548 0.15 2.55 0.00 0.000 4484 0.116 0.086 2319 3610 3968 3959 3978 0 0 0 0 0 0 14.07 14.06 14.09

639 -0.86 -145.9 2320 3610 3960 3978 85.3 -12.4 76 646 0.00 2.40 0.00 0.000 1158 0.000 0.058 2319 2202 3968 3958 3978 0 0 0 0 0 0 14.19 14.12 14.22

954 -0.94 -145.9 2319 2201 3960 3978 126.6 -12.0 94 955 0.15 0.00 0.00 0.000 4230 0.120 0.000 2257 2200 3969 3961 3978 0 0 0 0 0 0 14.30 14.40 14.37

1254 -0.94 -145.9 2257 2202 3959 3978 175.8 -15.9 104 1260 0.00 2.50 0.00 0.000 260 0.000 0.087 2249 3616 3968 3958 3978 0 0 0 0 0 0 14.64 14.04 14.66

1367 -1.04 -145.9 2249 3617 3959 3979 191.1 -12.7 126 1372 0.00 2.42 0.00 0.000 1158 0.000 0.058 2248 2189 3967 3958 3976 0 0 0 0 0 0 14.30 14.16 14.34

1677 -1.04 -145.9 2249 2189 3959 3978 238.2 -14.8 138 1678 0.00 0.00 0.00 0.000 6 0.000 0.000 2248 2189 3968 3958 3978 0 0 0 0 0 0 14.63 14.66 14.68

1977 -1.08 -145.9 2255 2186 3961 3978 277.3 -12.5 148 1983 0.00 2.53 0.00 0.000 388 0.000 0.087 2240 3610 3968 3958 3978 0 0 0 0 0 0 14.67 14.02 14.69

2078 -1.19 -145.9 2240 3613 3960 3978 288.6 -10.8 168 2084 0.12 2.40 0.00 0.000 5254 0.138 0.057 2188 2199 3968 3959 3978 0 0 0 0 0 0 14.19 14.16 14.31

2399 -1.13 -145.9 2189 2198 3958 3978 340.8 -16.3 182 2404 0.00 2.53 0.00 0.000 388 0.000 0.087 2181 3613 3968 3958 3978 0 0 0 0 0 0 14.66 14.06 14.68

2484 -1.13 -145.9 2183 3615 3959 3979 354.0 -14.5 199 2491 0.15 2.40 0.00 0.000 3078 0.240 0.057 2213 2201 3967 3957 3977 0 0 0 0 0 0 13.78 14.05 14.06

2789 -1.13 -145.9 2213 2201 3959 3978 393.5 -12.7 210 2794 0.00 2.53 0.00 0.000 260 0.000 0.087 2209 3610 3968 3958 3978 0 0 0 0 0 0 14.67 14.05 14.70

2870 -1.22 -145.9 2210 3615 3958 3979 403.0 -11.2 226 2874 0.00 2.40 0.00 0.000 1158 0.000 0.057 2209 2199 3968 3958 3978 0 0 0 0 0 0 14.30 14.16 14.34

3180 -1.22 -145.9 2210 2198 3958 3977 442.4 -12.7 238 3181 0.00 0.00 0.00 0.000 6 0.000 0.000 2209 2198 3967 3957 3978 0 0 0 0 0 0 14.44 14.46 14.46

3480 -1.24 -145.9 2209 2199 3959 3979 479.9 -12.4 248 3485 0.00 2.55 0.00 0.000 388 0.000 0.088 2209 3610 3967 3957 3977 0 0 0 0 0 0 14.42 13.94 14.44

3488 end dive: TARGET_DEPTH_EXCEEDED

state 3488 begin apogee

3496 -0.13 0.0 2210 2099 3954 3977 481.2 -12.4 250 3723 1.27 0.00 223.07 1.428 10246 0.228 0.000 2527 2093 3366 3378 3355 0 0 0 0 0 0 13.73 13.43 12.59

3727 end apogee: CONTROL_FINISHED_OK

state 3727 begin climb

3729 0.57 145.9 2528 2094 3374 3350 493.7 0.0 257 3954 0.75 2.67 214.65 1.366 11012 0.060 0.083 2781 687 2764 2796 2733 0 0 0 0 0 0 13.57 13.03 12.17

4180 0.17 145.9 2782 687 2787 2730 484.8 12.6 331 4185 0.68 2.58 0.00 0.000 5254 0.326 0.075 2643 2107 2757 2786 2729 0 0 0 0 0 0 13.33 13.69 13.73

4500 0.00 186.3 2643 2108 2786 2725 457.7 8.1 345 4566 0.22 2.58 57.92 1.426 12964 0.268 0.085 2590 698 2601 2647 2556 0 0 0 0 0 0 13.73 13.90 13.06

4696 0.04 241.9 2589 698 2639 2551 443.4 7.4 384 4786 0.00 2.50 84.53 1.372 9254 0.000 0.079 2589 2101 2380 2430 2330 0 0 0 0 0 0 14.14 14.02 12.97

5102 0.09 274.3 2589 2102 2416 2310 409.3 8.5 415 5151 0.00 0.00 47.55 1.401 8870 0.000 0.000 2589 2101 2246 2296 2197 0 0 0 0 0 0 14.40 13.93 13.12

5464 0.16 303.1 2590 2101 2293 2179 378.3 8.7 432 5513 0.12 2.53 42.40 1.407 10916 0.130 0.086 2657 694 2127 2175 2080 0 0 0 0 0 0 14.16 13.94 13.12

5543 0.13 303.1 2659 694 2160 2078 368.0 13.3 448 5549 0.15 2.45 0.00 0.000 5254 0.237 0.078 2626 2103 2117 2158 2077 0 0 0 0 0 0 13.85 13.97 14.06

5854 0.13 303.1 2626 2104 2159 2072 334.3 10.6 460 5859 0.00 2.50 0.00 0.000 516 0.000 0.085 2628 691 2114 2158 2071 0 0 0 0 0 0 14.57 14.11 14.59

5889 0.16 303.1 2632 692 2157 2072 330.6 10.7 467 5894 0.00 2.45 0.00 0.000 1158 0.000 0.078 2632 2100 2114 2157 2071 0 0 0 0 0 0 14.33 14.20 14.38

6214 0.16 303.1 2633 2100 2158 2069 295.7 10.5 482 6215 0.00 0.00 0.00 0.000 6 0.000 0.000 2632 2100 2113 2157 2069 0 0 0 0 0 0 14.63 14.65 14.65

6514 0.17 311.2 2632 2100 2158 2068 266.0 9.6 492 6524 0.00 2.47 4.15 1.578 8740 0.000 0.086 2635 688 2096 2140 2052 0 0 0 0 0 0 14.64 14.25 13.20

6570 0.24 337.0 2635 689 2142 2055 261.0 8.8 503 6624 0.00 2.45 49.50 1.365 9382 0.000 0.078 2635 2099 1990 2030 1950 0 0 0 0 0 0 14.35 14.22 13.22

6937 0.31 369.2 2635 2101 2023 1935 229.7 8.5 526 6996 0.15 0.00 53.55 1.320 10406 0.111 0.000 2699 2100 1860 1884 1836 0 0 0 0 0 0 14.27 13.78 13.21

7295 0.27 369.2 2699 2100 1876 1822 187.3 11.5 538 7301 0.12 2.47 0.00 0.000 4740 0.240 0.083 2672 690 1847 1874 1821 0 0 0 0 0 0 14.03 14.16 14.14

7393 0.36 391.9 2673 690 1873 1822 178.5 9.0 557 7436 0.00 2.47 37.00 1.333 9382 0.000 0.078 2672 2103 1765 1786 1744 0 0 0 0 0 0 14.26 14.13 13.24

7748 0.43 419.2 2672 2104 1778 1734 146.7 8.7 578 7802 0.12 2.58 48.88 1.278 10916 0.132 0.086 2744 688 1652 1673 1631 0 0 0 0 0 0 14.29 14.08 13.24

7839 0.40 419.2 2745 691 1667 1628 135.2 13.2 596 7845 0.15 2.50 0.00 0.000 5254 0.239 0.079 2713 2106 1647 1665 1629 0 0 0 0 0 0 13.92 14.04 14.16

8170 0.40 419.2 2713 2108 1666 1620 99.8 10.0 612 8175 0.00 2.50 0.00 0.000 516 0.000 0.086 2712 692 1642 1665 1619 0 0 0 0 0 0 14.59 14.04 14.62

8231 0.48 442.2 2713 693 1664 1620 94.2 8.9 624 8248 0.00 2.47 13.23 0.468 9382 0.000 0.076 2713 2105 1562 1587 1538 0 0 0 0 0 0 14.31 14.18 13.56

8553 0.58 506.3 2713 2105 1590 1536 67.2 7.0 658 8595 0.17 0.00 40.20 0.398 10406 0.102 0.000 2781 2105 1300 1343 1257 0 0 0 0 0 0 14.26 14.09 13.67

8893 0.62 563.8 2787 2105 1348 1252 37.0 7.3 692 8936 0.00 2.53 35.50 0.306 8740 0.000 0.088 2789 688 1064 1124 1005 0 0 0 0 0 0 14.57 13.94 13.78

9013 0.83 626.6 2788 688 1125 1007 28.5 7.1 715 9062 0.17 2.50 39.70 0.276 11430 0.112 0.080 2862 2102 806 870 742 0 0 0 0 0 0 14.14 14.06 13.77

9254 end climb: SURFACE_DEPTH_REACHED

state 9254 begin surface coast

9265 end surface coast: CONTROL_FINISHED_OK

state 9265 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	323	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	48
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	897.0
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	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,064734,7515.2974,-15109.5576,15,0.8,16,20.7,0.5,337.1,10,8.2	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	159.8,58292,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.9	D_GRID	480
GPS2	130917,071002,7515.4258,-15109.5645,28,0.9,29,20.7,0.0,347.0,8,6.9

FINISH	0.0,1.021583	_24V_AH	12.17,198.894
SM_CCo	9285,53.88,0.196,0,0,502,702.78	_10V_AH	12.07,0.000
SM_GC	1.27,8.07,0.17,53.88,0.062,0.092,0.196,195,2246,502,-7.37,-0.57,702.78,0,0,0,0,0,0,14.28,14.35,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	288	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323328
IRIDIUM_FIX	7514.70,-15113.94,130917,070456	DATA_FILE_SIZE	26727,745
TT8_MAMPS	0.038948,0.931007	CAP_FILE_SIZE	109979,0
HUMID	46.65	CFSIZE	2097872896,1995276288
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.9
XPDR_PINGS	12	CURRENT	0.060,100.80,1
CP_FREE	15934455808.000000	GPS	130917,094740,7514.051,-15109.848,33,0.8,41,20.7,0.4,324.0,9,9.7
PM_FREEKB_00	47605504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	459	145.80	nil	0	0	0.00
Roll_motor	80	2150	2109.35	nil	0	0	0.00
VBD_pump_during_apogee	991	1578	19049.62	nil	0	0	0.00
VBD_pump_during_surface	53	195	128.40	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	9299	14	1593.64
Iridium_during_xfer	803	166	1623.70	NCP	9257	20	2253.15
Transponder_ping	3	420	15.33	PMAR	9239	11	1250.65
GUMSTIX_24V	0	0	0.00
GPS	31	22	8.42
TT8	0	0	0.00
LPSleep	6925	2	193.10
TT8_Active	997	13	168.23
TT8_Sampling	2406	33	971.48
TT8_CF8	369	38	172.70
TT8_Kalman	0	0	0.00
Analog_circuits	2560	10	309.06
GPS_charging	0	0	0.00
Compass	1068	7	90.32
RAFOS	2218	48	1285.02
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	156	2234	494	483	0.0	0.0	0	144	0.00	0.00	-90.95	0.000	16386	0.000	0.000	154	2234	2150	2076	2225	0	0	0	0	0	0	14.55	28.83	14.57
148	-0.57	-145.9	153	2235	2077	2234	4.2	-6.6	9	201	13.35	2.92	-34.10	0.000	18980	0.459	2.150	2387	795	3965	3952	3978	1	0	0	0	0	0	13.27	12.63	14.07
233	-0.63	-145.9	2387	795	3955	3978	29.2	-18.0	25	238	0.00	2.45	0.00	0.000	1158	0.000	0.083	2387	2171	3967	3956	3978	0	0	0	0	0	0	14.18	14.02	14.21
543	-0.75	-145.9	2386	2173	3959	3979	73.3	-11.3	57	548	0.15	2.55	0.00	0.000	4484	0.116	0.086	2319	3610	3968	3959	3978	0	0	0	0	0	0	14.07	14.06	14.09
639	-0.86	-145.9	2320	3610	3960	3978	85.3	-12.4	76	646	0.00	2.40	0.00	0.000	1158	0.000	0.058	2319	2202	3968	3958	3978	0	0	0	0	0	0	14.19	14.12	14.22
954	-0.94	-145.9	2319	2201	3960	3978	126.6	-12.0	94	955	0.15	0.00	0.00	0.000	4230	0.120	0.000	2257	2200	3969	3961	3978	0	0	0	0	0	0	14.30	14.40	14.37
1254	-0.94	-145.9	2257	2202	3959	3978	175.8	-15.9	104	1260	0.00	2.50	0.00	0.000	260	0.000	0.087	2249	3616	3968	3958	3978	0	0	0	0	0	0	14.64	14.04	14.66
1367	-1.04	-145.9	2249	3617	3959	3979	191.1	-12.7	126	1372	0.00	2.42	0.00	0.000	1158	0.000	0.058	2248	2189	3967	3958	3976	0	0	0	0	0	0	14.30	14.16	14.34
1677	-1.04	-145.9	2249	2189	3959	3978	238.2	-14.8	138	1678	0.00	0.00	0.00	0.000	6	0.000	0.000	2248	2189	3968	3958	3978	0	0	0	0	0	0	14.63	14.66	14.68
1977	-1.08	-145.9	2255	2186	3961	3978	277.3	-12.5	148	1983	0.00	2.53	0.00	0.000	388	0.000	0.087	2240	3610	3968	3958	3978	0	0	0	0	0	0	14.67	14.02	14.69
2078	-1.19	-145.9	2240	3613	3960	3978	288.6	-10.8	168	2084	0.12	2.40	0.00	0.000	5254	0.138	0.057	2188	2199	3968	3959	3978	0	0	0	0	0	0	14.19	14.16	14.31
2399	-1.13	-145.9	2189	2198	3958	3978	340.8	-16.3	182	2404	0.00	2.53	0.00	0.000	388	0.000	0.087	2181	3613	3968	3958	3978	0	0	0	0	0	0	14.66	14.06	14.68
2484	-1.13	-145.9	2183	3615	3959	3979	354.0	-14.5	199	2491	0.15	2.40	0.00	0.000	3078	0.240	0.057	2213	2201	3967	3957	3977	0	0	0	0	0	0	13.78	14.05	14.06
2789	-1.13	-145.9	2213	2201	3959	3978	393.5	-12.7	210	2794	0.00	2.53	0.00	0.000	260	0.000	0.087	2209	3610	3968	3958	3978	0	0	0	0	0	0	14.67	14.05	14.70
2870	-1.22	-145.9	2210	3615	3958	3979	403.0	-11.2	226	2874	0.00	2.40	0.00	0.000	1158	0.000	0.057	2209	2199	3968	3958	3978	0	0	0	0	0	0	14.30	14.16	14.34
3180	-1.22	-145.9	2210	2198	3958	3977	442.4	-12.7	238	3181	0.00	0.00	0.00	0.000	6	0.000	0.000	2209	2198	3967	3957	3978	0	0	0	0	0	0	14.44	14.46	14.46
3480	-1.24	-145.9	2209	2199	3959	3979	479.9	-12.4	248	3485	0.00	2.55	0.00	0.000	388	0.000	0.088	2209	3610	3967	3957	3977	0	0	0	0	0	0	14.42	13.94	14.44
3488	end dive: TARGET_DEPTH_EXCEEDED
state	3488	begin apogee
3496	-0.13	0.0	2210	2099	3954	3977	481.2	-12.4	250	3723	1.27	0.00	223.07	1.428	10246	0.228	0.000	2527	2093	3366	3378	3355	0	0	0	0	0	0	13.73	13.43	12.59
3727	end apogee: CONTROL_FINISHED_OK
state	3727	begin climb
3729	0.57	145.9	2528	2094	3374	3350	493.7	0.0	257	3954	0.75	2.67	214.65	1.366	11012	0.060	0.083	2781	687	2764	2796	2733	0	0	0	0	0	0	13.57	13.03	12.17
4180	0.17	145.9	2782	687	2787	2730	484.8	12.6	331	4185	0.68	2.58	0.00	0.000	5254	0.326	0.075	2643	2107	2757	2786	2729	0	0	0	0	0	0	13.33	13.69	13.73
4500	0.00	186.3	2643	2108	2786	2725	457.7	8.1	345	4566	0.22	2.58	57.92	1.426	12964	0.268	0.085	2590	698	2601	2647	2556	0	0	0	0	0	0	13.73	13.90	13.06
4696	0.04	241.9	2589	698	2639	2551	443.4	7.4	384	4786	0.00	2.50	84.53	1.372	9254	0.000	0.079	2589	2101	2380	2430	2330	0	0	0	0	0	0	14.14	14.02	12.97
5102	0.09	274.3	2589	2102	2416	2310	409.3	8.5	415	5151	0.00	0.00	47.55	1.401	8870	0.000	0.000	2589	2101	2246	2296	2197	0	0	0	0	0	0	14.40	13.93	13.12
5464	0.16	303.1	2590	2101	2293	2179	378.3	8.7	432	5513	0.12	2.53	42.40	1.407	10916	0.130	0.086	2657	694	2127	2175	2080	0	0	0	0	0	0	14.16	13.94	13.12
5543	0.13	303.1	2659	694	2160	2078	368.0	13.3	448	5549	0.15	2.45	0.00	0.000	5254	0.237	0.078	2626	2103	2117	2158	2077	0	0	0	0	0	0	13.85	13.97	14.06
5854	0.13	303.1	2626	2104	2159	2072	334.3	10.6	460	5859	0.00	2.50	0.00	0.000	516	0.000	0.085	2628	691	2114	2158	2071	0	0	0	0	0	0	14.57	14.11	14.59
5889	0.16	303.1	2632	692	2157	2072	330.6	10.7	467	5894	0.00	2.45	0.00	0.000	1158	0.000	0.078	2632	2100	2114	2157	2071	0	0	0	0	0	0	14.33	14.20	14.38
6214	0.16	303.1	2633	2100	2158	2069	295.7	10.5	482	6215	0.00	0.00	0.00	0.000	6	0.000	0.000	2632	2100	2113	2157	2069	0	0	0	0	0	0	14.63	14.65	14.65
6514	0.17	311.2	2632	2100	2158	2068	266.0	9.6	492	6524	0.00	2.47	4.15	1.578	8740	0.000	0.086	2635	688	2096	2140	2052	0	0	0	0	0	0	14.64	14.25	13.20
6570	0.24	337.0	2635	689	2142	2055	261.0	8.8	503	6624	0.00	2.45	49.50	1.365	9382	0.000	0.078	2635	2099	1990	2030	1950	0	0	0	0	0	0	14.35	14.22	13.22
6937	0.31	369.2	2635	2101	2023	1935	229.7	8.5	526	6996	0.15	0.00	53.55	1.320	10406	0.111	0.000	2699	2100	1860	1884	1836	0	0	0	0	0	0	14.27	13.78	13.21
7295	0.27	369.2	2699	2100	1876	1822	187.3	11.5	538	7301	0.12	2.47	0.00	0.000	4740	0.240	0.083	2672	690	1847	1874	1821	0	0	0	0	0	0	14.03	14.16	14.14
7393	0.36	391.9	2673	690	1873	1822	178.5	9.0	557	7436	0.00	2.47	37.00	1.333	9382	0.000	0.078	2672	2103	1765	1786	1744	0	0	0	0	0	0	14.26	14.13	13.24
7748	0.43	419.2	2672	2104	1778	1734	146.7	8.7	578	7802	0.12	2.58	48.88	1.278	10916	0.132	0.086	2744	688	1652	1673	1631	0	0	0	0	0	0	14.29	14.08	13.24
7839	0.40	419.2	2745	691	1667	1628	135.2	13.2	596	7845	0.15	2.50	0.00	0.000	5254	0.239	0.079	2713	2106	1647	1665	1629	0	0	0	0	0	0	13.92	14.04	14.16
8170	0.40	419.2	2713	2108	1666	1620	99.8	10.0	612	8175	0.00	2.50	0.00	0.000	516	0.000	0.086	2712	692	1642	1665	1619	0	0	0	0	0	0	14.59	14.04	14.62
8231	0.48	442.2	2713	693	1664	1620	94.2	8.9	624	8248	0.00	2.47	13.23	0.468	9382	0.000	0.076	2713	2105	1562	1587	1538	0	0	0	0	0	0	14.31	14.18	13.56
8553	0.58	506.3	2713	2105	1590	1536	67.2	7.0	658	8595	0.17	0.00	40.20	0.398	10406	0.102	0.000	2781	2105	1300	1343	1257	0	0	0	0	0	0	14.26	14.09	13.67
8893	0.62	563.8	2787	2105	1348	1252	37.0	7.3	692	8936	0.00	2.53	35.50	0.306	8740	0.000	0.088	2789	688	1064	1124	1005	0	0	0	0	0	0	14.57	13.94	13.78
9013	0.83	626.6	2788	688	1125	1007	28.5	7.1	715	9062	0.17	2.50	39.70	0.276	11430	0.112	0.080	2862	2102	806	870	742	0	0	0	0	0	0	14.14	14.06	13.77
9254	end climb: SURFACE_DEPTH_REACHED
state	9254	begin surface coast
9265	end surface coast: CONTROL_FINISHED_OK
state	9265	begin surface