Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 326 * 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 326 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 906.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 906.0 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 25 VBD_MIN 500

DIVE 326 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 130917,152732,7511.7471,-15109.6318,24,0.7,24,20.7,0.0,0.0,12,8.0 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 1.07 MHEAD_RNG_PITCHd_Wd 154.4,51809,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.1 D_GRID 480

GPS2 130917,153854,7511.7915,-15109.7021,6,0.7,9,20.7,0.6,336.2,12,9.8

Post-dive calculations and measurements:

FINISH 0.3,1.021531 _24V_AH 12.15,200.434

SM_CCo 9168,0.00,0.000,0,0,494,703.52 _10V_AH 12.01,0.000

SM_GC 1.05,8.23,2.58,0.00,0.067,0.064,0.000,199,2202,494,-7.38,-0.85,703.52,0,0,0,0,0,0,14.23,14.16,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 359 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323444

IRIDIUM_FIX 7515.52,-15102.47,130917,124549 DATA_FILE_SIZE 26738,757

TT8_MAMPS 0.039697,0.945238 CAP_FILE_SIZE 102282,0

HUMID 46.88 CFSIZE 2097872896,1994588160

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

TCM_TEMP 13.10 INTR 0,3783.35,0x2341ea,1,24

XPDR_PINGS 7 SOUNDSPEED 1448.6

CP_FREE 15933177856.000000 CURRENT 0.039,75.12,1

PM_FREEKB_00 47478720 GPS 130917,181406,7510.533,-15109.308,61,0.8,71,20.7,0.6,4.1,9,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.86 nil 0 0 0.00

Roll_motor 83 107 109.40 nil 0 0 0.00

VBD_pump_during_apogee 1142 1350 18746.67 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9117 14 1584.48

Iridium_during_xfer 407 182 905.24 NCP 9076 20 2205.47

Transponder_ping 1 420 8.93 PMAR 9060 11 1224.74

GUMSTIX_24V 0 0 0.00

GPS 11 22 2.97

TT8 0 0 0.00

LPSleep 6381 2 177.03

TT8_Active 982 13 164.80

TT8_Sampling 2170 33 871.58

TT8_CF8 324 38 150.99

TT8_Kalman 0 0 0.00

Analog_circuits 2282 10 274.17

GPS_charging 0 0 0.00

Compass 1085 7 91.30

RAFOS 2217 48 1278.06

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 169 2215 516 488 0.0 0.0 0 144 0.00 0.00 -91.72 0.000 16386 0.000 0.000 166 2214 2183 2117 2249 0 0 0 0 0 0 14.50 28.83 14.53

148 -0.57 -145.9 167 2214 2121 2249 4.5 -7.1 9 200 13.10 0.00 -33.83 0.000 18982 0.455 0.000 2388 2213 3962 3948 3977 0 0 0 0 0 0 13.54 13.14 14.04

495 -0.68 -145.9 2384 2215 3953 3978 70.4 -12.3 49 500 0.00 2.45 0.00 0.000 388 0.000 0.086 2377 3595 3965 3953 3977 0 0 0 0 0 0 14.56 14.07 14.58

530 -0.86 -145.9 2378 3596 3954 3977 74.2 -10.4 56 538 0.25 2.40 0.00 0.000 5254 0.099 0.056 2285 2195 3965 3953 3977 0 0 0 0 0 0 14.12 14.03 14.22

838 -0.86 -145.9 2286 2195 3954 3977 124.9 -15.8 77 838 0.00 0.00 0.00 0.000 6 0.000 0.000 2286 2194 3965 3953 3977 0 0 0 0 0 0 14.61 14.62 14.62

1136 -0.91 -145.9 2286 2194 3960 3978 167.0 -13.6 87 1140 0.00 2.50 0.00 0.000 388 0.000 0.084 2280 3597 3965 3953 3977 0 0 0 0 0 0 14.64 14.00 14.66

1201 -1.06 -145.9 2280 3598 3954 3977 174.7 -11.0 97 1206 0.15 2.40 0.00 0.000 5254 0.119 0.056 2224 2193 3965 3953 3977 0 0 0 0 0 0 14.11 14.02 14.20

1511 -1.02 -145.9 2225 2191 3954 3977 229.3 -17.1 109 1516 0.12 2.53 0.00 0.000 2436 0.286 0.082 2243 3594 3965 3953 3977 0 0 0 0 0 0 13.73 13.90 13.81

1562 -1.11 -145.9 2243 3596 3954 3978 236.7 -12.9 119 1566 0.00 2.40 0.00 0.000 1158 0.000 0.057 2243 2199 3965 3953 3977 0 0 0 0 0 0 14.14 14.02 14.18

1872 -1.14 -145.9 2242 2199 3957 3978 278.0 -12.8 131 1876 0.00 2.53 0.00 0.000 388 0.000 0.085 2236 3597 3965 3953 3977 0 0 0 0 0 0 14.44 13.90 14.46

1902 -1.21 -145.9 2237 3599 3954 3978 281.7 -12.2 137 1907 0.15 2.42 0.00 0.000 5254 0.119 0.056 2180 2202 3965 3953 3977 0 0 0 0 0 0 13.60 13.62 13.96

2233 -1.13 -145.9 2181 2201 3954 3978 338.4 -16.9 153 2238 0.12 2.53 0.00 0.000 2436 0.294 0.083 2198 3600 3965 3953 3977 0 0 0 0 0 0 13.53 13.83 13.71

2368 -1.17 -145.9 2199 3600 3954 3977 357.0 -12.8 180 2374 0.00 2.38 0.00 0.000 1158 0.000 0.056 2198 2198 3965 3953 3977 0 0 0 0 0 0 14.12 14.02 14.16

2684 -1.17 -145.9 2199 2196 3954 3977 401.0 -13.8 193 2689 0.00 2.53 0.00 0.000 260 0.000 0.086 2189 3599 3965 3953 3977 0 0 0 0 0 0 14.43 13.94 14.45

2749 -1.21 -145.9 2189 3601 3954 3976 409.9 -13.2 206 2754 0.00 2.40 0.00 0.000 1158 0.000 0.056 2189 2198 3964 3952 3976 0 0 0 0 0 0 14.14 14.00 14.17

3074 -1.19 -145.9 2190 2197 3954 3976 456.3 -14.2 221 3079 0.00 2.53 0.00 0.000 388 0.000 0.086 2181 3601 3965 3953 3977 0 0 0 0 0 0 14.42 13.94 14.46

3154 -1.22 -145.9 2184 3603 3953 3977 467.3 -13.1 237 3159 0.00 2.42 0.00 0.000 1158 0.000 0.056 2184 2189 3964 3952 3977 0 0 0 0 0 0 14.12 14.00 14.16

3252 end dive: TARGET_DEPTH_EXCEEDED

state 3252 begin apogee

3258 -0.13 0.0 2186 2060 3954 3977 481.7 -14.5 242 3559 1.40 0.00 296.73 1.299 10246 0.242 0.000 2530 2059 3365 3381 3350 0 0 0 0 0 0 13.66 13.34 12.53

3565 end apogee: CONTROL_FINISHED_OK

state 3565 begin climb

3568 0.57 145.9 2531 2059 3376 3341 499.7 0.0 252 3798 0.75 2.55 217.48 1.331 10756 0.059 0.076 2792 730 2759 2792 2727 0 0 0 0 0 0 13.48 12.76 12.15

4023 0.15 145.9 2792 730 2784 2717 489.1 12.9 299 4030 0.75 2.45 0.00 0.000 5254 0.330 0.073 2638 2100 2749 2783 2715 0 0 0 0 0 0 13.38 13.78 13.79

4329 0.00 187.3 2638 2101 2783 2711 463.4 8.1 310 4396 0.20 2.45 61.70 1.350 12964 0.270 0.082 2590 726 2596 2647 2546 0 0 0 0 0 0 13.78 13.72 13.09

4561 0.04 243.5 2590 730 2636 2531 446.4 7.4 356 4657 0.00 2.40 89.95 1.296 9254 0.000 0.079 2590 2097 2371 2426 2317 0 0 0 0 0 0 14.29 14.13 13.05

4962 0.06 272.3 2590 2098 2404 2296 412.4 8.7 386 5007 0.00 0.00 42.62 1.345 8230 0.000 0.000 2589 2097 2254 2306 2202 0 0 0 0 0 0 14.56 13.99 13.16

5292 0.13 304.9 2590 2098 2289 2180 384.0 8.5 397 5348 0.00 2.50 50.70 1.308 8868 0.000 0.086 2589 730 2118 2167 2069 0 0 0 0 0 0 14.59 14.04 13.21

5390 0.29 345.5 2590 727 2151 2062 376.0 8.1 416 5463 0.25 2.40 65.15 1.272 11430 0.086 0.078 2686 2096 1952 1996 1909 0 0 0 0 0 0 14.18 14.09 13.09

5774 0.21 345.5 2683 2100 1980 1890 317.5 15.4 443 5779 0.12 2.42 0.00 0.000 4740 0.242 0.084 2659 723 1933 1979 1888 0 0 0 0 0 0 14.00 14.14 14.16

5834 0.21 345.5 2660 724 1975 1890 309.6 12.2 455 5839 0.00 2.40 0.00 0.000 1030 0.000 0.078 2660 2103 1931 1975 1888 0 0 0 0 0 0 14.33 14.19 14.37

6164 0.21 345.5 2660 2101 1975 1887 268.7 12.0 471 6169 0.00 2.42 0.00 0.000 516 0.000 0.086 2659 728 1930 1974 1887 0 0 0 0 0 0 14.65 14.19 14.66

6214 0.24 345.5 2660 728 1974 1887 263.0 11.2 481 6220 0.00 2.40 0.00 0.000 1158 0.000 0.077 2660 2102 1929 1972 1886 0 0 0 0 0 0 14.35 14.21 14.40

6525 0.24 345.5 2660 2104 1973 1886 230.0 10.1 493 6531 0.00 2.42 0.00 0.000 516 0.000 0.086 2660 729 1929 1972 1886 0 0 0 0 0 0 14.64 14.17 14.64

6586 0.32 368.9 2660 730 1971 1887 224.4 8.9 505 6626 0.00 2.40 33.08 1.300 9382 0.000 0.076 2660 2105 1857 1891 1824 0 0 0 0 0 0 14.33 14.19 13.23

6949 0.37 385.6 2660 2106 1873 1813 190.8 9.2 527 6978 0.12 2.50 23.85 1.293 10916 0.130 0.086 2726 724 1785 1807 1764 0 0 0 0 0 0 14.31 14.13 13.28

7036 0.33 385.6 2727 724 1798 1757 180.0 12.7 544 7042 0.17 2.42 0.00 0.000 5254 0.245 0.076 2689 2108 1776 1795 1757 0 0 0 0 0 0 13.93 14.14 14.19

7339 0.33 390.9 2686 2113 1798 1751 149.3 9.8 555 7339 0.00 0.00 0.00 0.000 38 0.000 0.000 2689 2108 1773 1796 1751 0 0 0 0 0 0 14.62 14.64 14.64

7639 0.35 409.8 2689 2108 1797 1748 121.2 9.1 565 7689 0.00 2.45 43.65 1.235 8740 0.000 0.086 2689 733 1690 1711 1669 0 0 0 0 0 0 14.65 14.04 13.28

7769 0.46 439.6 2690 733 1703 1663 110.1 8.6 591 7830 0.12 2.40 54.15 1.180 11430 0.132 0.076 2748 2101 1570 1597 1544 0 0 0 0 0 0 14.19 14.14 13.18

8131 0.43 440.9 2749 2102 1586 1517 69.0 9.9 633 8136 0.00 2.42 0.00 0.000 676 0.000 0.085 2750 733 1550 1585 1516 0 0 0 0 0 0 14.54 14.12 14.57

8212 0.51 506.4 2751 733 1583 1516 62.6 7.0 649 8255 0.00 2.40 38.10 0.376 9382 0.000 0.077 2750 2103 1299 1348 1251 0 0 0 0 0 0 14.23 14.09 13.71

8552 0.63 593.2 2751 2103 1353 1263 40.6 6.0 687 8613 0.00 0.00 57.53 0.314 8358 0.000 0.000 2751 2103 942 1010 875 0 0 0 0 0 0 14.57 13.97 13.64

8912 0.89 707.0 2751 2104 1012 870 21.6 4.7 723 8986 0.35 2.53 68.05 0.256 10916 0.078 0.093 2887 730 497 518 476 0 0 0 0 0 0 14.02 14.07 13.76

9074 end climb: SURFACE_DEPTH_REACHED

state 9074 begin surface coast

9084 end surface coast: CONTROL_FINISHED_OK

state 9084 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	326	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	906.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,152732,7511.7471,-15109.6318,24,0.7,24,20.7,0.0,0.0,12,8.0	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	1.07	MHEAD_RNG_PITCHd_Wd	154.4,51809,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.1	D_GRID	480
GPS2	130917,153854,7511.7915,-15109.7021,6,0.7,9,20.7,0.6,336.2,12,9.8

FINISH	0.3,1.021531	_24V_AH	12.15,200.434
SM_CCo	9168,0.00,0.000,0,0,494,703.52	_10V_AH	12.01,0.000
SM_GC	1.05,8.23,2.58,0.00,0.067,0.064,0.000,199,2202,494,-7.38,-0.85,703.52,0,0,0,0,0,0,14.23,14.16,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	359	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323444
IRIDIUM_FIX	7515.52,-15102.47,130917,124549	DATA_FILE_SIZE	26738,757
TT8_MAMPS	0.039697,0.945238	CAP_FILE_SIZE	102282,0
HUMID	46.88	CFSIZE	2097872896,1994588160
INTERNAL_PRESSURE	7.74246	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	INTR	0,3783.35,0x2341ea,1,24
XPDR_PINGS	7	SOUNDSPEED	1448.6
CP_FREE	15933177856.000000	CURRENT	0.039,75.12,1
PM_FREEKB_00	47478720	GPS	130917,181406,7510.533,-15109.308,61,0.8,71,20.7,0.6,4.1,9,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.86	nil	0	0	0.00
Roll_motor	83	107	109.40	nil	0	0	0.00
VBD_pump_during_apogee	1142	1350	18746.67	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9117	14	1584.48
Iridium_during_xfer	407	182	905.24	NCP	9076	20	2205.47
Transponder_ping	1	420	8.93	PMAR	9060	11	1224.74
GUMSTIX_24V	0	0	0.00
GPS	11	22	2.97
TT8	0	0	0.00
LPSleep	6381	2	177.03
TT8_Active	982	13	164.80
TT8_Sampling	2170	33	871.58
TT8_CF8	324	38	150.99
TT8_Kalman	0	0	0.00
Analog_circuits	2282	10	274.17
GPS_charging	0	0	0.00
Compass	1085	7	91.30
RAFOS	2217	48	1278.06
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	169	2215	516	488	0.0	0.0	0	144	0.00	0.00	-91.72	0.000	16386	0.000	0.000	166	2214	2183	2117	2249	0	0	0	0	0	0	14.50	28.83	14.53
148	-0.57	-145.9	167	2214	2121	2249	4.5	-7.1	9	200	13.10	0.00	-33.83	0.000	18982	0.455	0.000	2388	2213	3962	3948	3977	0	0	0	0	0	0	13.54	13.14	14.04
495	-0.68	-145.9	2384	2215	3953	3978	70.4	-12.3	49	500	0.00	2.45	0.00	0.000	388	0.000	0.086	2377	3595	3965	3953	3977	0	0	0	0	0	0	14.56	14.07	14.58
530	-0.86	-145.9	2378	3596	3954	3977	74.2	-10.4	56	538	0.25	2.40	0.00	0.000	5254	0.099	0.056	2285	2195	3965	3953	3977	0	0	0	0	0	0	14.12	14.03	14.22
838	-0.86	-145.9	2286	2195	3954	3977	124.9	-15.8	77	838	0.00	0.00	0.00	0.000	6	0.000	0.000	2286	2194	3965	3953	3977	0	0	0	0	0	0	14.61	14.62	14.62
1136	-0.91	-145.9	2286	2194	3960	3978	167.0	-13.6	87	1140	0.00	2.50	0.00	0.000	388	0.000	0.084	2280	3597	3965	3953	3977	0	0	0	0	0	0	14.64	14.00	14.66
1201	-1.06	-145.9	2280	3598	3954	3977	174.7	-11.0	97	1206	0.15	2.40	0.00	0.000	5254	0.119	0.056	2224	2193	3965	3953	3977	0	0	0	0	0	0	14.11	14.02	14.20
1511	-1.02	-145.9	2225	2191	3954	3977	229.3	-17.1	109	1516	0.12	2.53	0.00	0.000	2436	0.286	0.082	2243	3594	3965	3953	3977	0	0	0	0	0	0	13.73	13.90	13.81
1562	-1.11	-145.9	2243	3596	3954	3978	236.7	-12.9	119	1566	0.00	2.40	0.00	0.000	1158	0.000	0.057	2243	2199	3965	3953	3977	0	0	0	0	0	0	14.14	14.02	14.18
1872	-1.14	-145.9	2242	2199	3957	3978	278.0	-12.8	131	1876	0.00	2.53	0.00	0.000	388	0.000	0.085	2236	3597	3965	3953	3977	0	0	0	0	0	0	14.44	13.90	14.46
1902	-1.21	-145.9	2237	3599	3954	3978	281.7	-12.2	137	1907	0.15	2.42	0.00	0.000	5254	0.119	0.056	2180	2202	3965	3953	3977	0	0	0	0	0	0	13.60	13.62	13.96
2233	-1.13	-145.9	2181	2201	3954	3978	338.4	-16.9	153	2238	0.12	2.53	0.00	0.000	2436	0.294	0.083	2198	3600	3965	3953	3977	0	0	0	0	0	0	13.53	13.83	13.71
2368	-1.17	-145.9	2199	3600	3954	3977	357.0	-12.8	180	2374	0.00	2.38	0.00	0.000	1158	0.000	0.056	2198	2198	3965	3953	3977	0	0	0	0	0	0	14.12	14.02	14.16
2684	-1.17	-145.9	2199	2196	3954	3977	401.0	-13.8	193	2689	0.00	2.53	0.00	0.000	260	0.000	0.086	2189	3599	3965	3953	3977	0	0	0	0	0	0	14.43	13.94	14.45
2749	-1.21	-145.9	2189	3601	3954	3976	409.9	-13.2	206	2754	0.00	2.40	0.00	0.000	1158	0.000	0.056	2189	2198	3964	3952	3976	0	0	0	0	0	0	14.14	14.00	14.17
3074	-1.19	-145.9	2190	2197	3954	3976	456.3	-14.2	221	3079	0.00	2.53	0.00	0.000	388	0.000	0.086	2181	3601	3965	3953	3977	0	0	0	0	0	0	14.42	13.94	14.46
3154	-1.22	-145.9	2184	3603	3953	3977	467.3	-13.1	237	3159	0.00	2.42	0.00	0.000	1158	0.000	0.056	2184	2189	3964	3952	3977	0	0	0	0	0	0	14.12	14.00	14.16
3252	end dive: TARGET_DEPTH_EXCEEDED
state	3252	begin apogee
3258	-0.13	0.0	2186	2060	3954	3977	481.7	-14.5	242	3559	1.40	0.00	296.73	1.299	10246	0.242	0.000	2530	2059	3365	3381	3350	0	0	0	0	0	0	13.66	13.34	12.53
3565	end apogee: CONTROL_FINISHED_OK
state	3565	begin climb
3568	0.57	145.9	2531	2059	3376	3341	499.7	0.0	252	3798	0.75	2.55	217.48	1.331	10756	0.059	0.076	2792	730	2759	2792	2727	0	0	0	0	0	0	13.48	12.76	12.15
4023	0.15	145.9	2792	730	2784	2717	489.1	12.9	299	4030	0.75	2.45	0.00	0.000	5254	0.330	0.073	2638	2100	2749	2783	2715	0	0	0	0	0	0	13.38	13.78	13.79
4329	0.00	187.3	2638	2101	2783	2711	463.4	8.1	310	4396	0.20	2.45	61.70	1.350	12964	0.270	0.082	2590	726	2596	2647	2546	0	0	0	0	0	0	13.78	13.72	13.09
4561	0.04	243.5	2590	730	2636	2531	446.4	7.4	356	4657	0.00	2.40	89.95	1.296	9254	0.000	0.079	2590	2097	2371	2426	2317	0	0	0	0	0	0	14.29	14.13	13.05
4962	0.06	272.3	2590	2098	2404	2296	412.4	8.7	386	5007	0.00	0.00	42.62	1.345	8230	0.000	0.000	2589	2097	2254	2306	2202	0	0	0	0	0	0	14.56	13.99	13.16
5292	0.13	304.9	2590	2098	2289	2180	384.0	8.5	397	5348	0.00	2.50	50.70	1.308	8868	0.000	0.086	2589	730	2118	2167	2069	0	0	0	0	0	0	14.59	14.04	13.21
5390	0.29	345.5	2590	727	2151	2062	376.0	8.1	416	5463	0.25	2.40	65.15	1.272	11430	0.086	0.078	2686	2096	1952	1996	1909	0	0	0	0	0	0	14.18	14.09	13.09
5774	0.21	345.5	2683	2100	1980	1890	317.5	15.4	443	5779	0.12	2.42	0.00	0.000	4740	0.242	0.084	2659	723	1933	1979	1888	0	0	0	0	0	0	14.00	14.14	14.16
5834	0.21	345.5	2660	724	1975	1890	309.6	12.2	455	5839	0.00	2.40	0.00	0.000	1030	0.000	0.078	2660	2103	1931	1975	1888	0	0	0	0	0	0	14.33	14.19	14.37
6164	0.21	345.5	2660	2101	1975	1887	268.7	12.0	471	6169	0.00	2.42	0.00	0.000	516	0.000	0.086	2659	728	1930	1974	1887	0	0	0	0	0	0	14.65	14.19	14.66
6214	0.24	345.5	2660	728	1974	1887	263.0	11.2	481	6220	0.00	2.40	0.00	0.000	1158	0.000	0.077	2660	2102	1929	1972	1886	0	0	0	0	0	0	14.35	14.21	14.40
6525	0.24	345.5	2660	2104	1973	1886	230.0	10.1	493	6531	0.00	2.42	0.00	0.000	516	0.000	0.086	2660	729	1929	1972	1886	0	0	0	0	0	0	14.64	14.17	14.64
6586	0.32	368.9	2660	730	1971	1887	224.4	8.9	505	6626	0.00	2.40	33.08	1.300	9382	0.000	0.076	2660	2105	1857	1891	1824	0	0	0	0	0	0	14.33	14.19	13.23
6949	0.37	385.6	2660	2106	1873	1813	190.8	9.2	527	6978	0.12	2.50	23.85	1.293	10916	0.130	0.086	2726	724	1785	1807	1764	0	0	0	0	0	0	14.31	14.13	13.28
7036	0.33	385.6	2727	724	1798	1757	180.0	12.7	544	7042	0.17	2.42	0.00	0.000	5254	0.245	0.076	2689	2108	1776	1795	1757	0	0	0	0	0	0	13.93	14.14	14.19
7339	0.33	390.9	2686	2113	1798	1751	149.3	9.8	555	7339	0.00	0.00	0.00	0.000	38	0.000	0.000	2689	2108	1773	1796	1751	0	0	0	0	0	0	14.62	14.64	14.64
7639	0.35	409.8	2689	2108	1797	1748	121.2	9.1	565	7689	0.00	2.45	43.65	1.235	8740	0.000	0.086	2689	733	1690	1711	1669	0	0	0	0	0	0	14.65	14.04	13.28
7769	0.46	439.6	2690	733	1703	1663	110.1	8.6	591	7830	0.12	2.40	54.15	1.180	11430	0.132	0.076	2748	2101	1570	1597	1544	0	0	0	0	0	0	14.19	14.14	13.18
8131	0.43	440.9	2749	2102	1586	1517	69.0	9.9	633	8136	0.00	2.42	0.00	0.000	676	0.000	0.085	2750	733	1550	1585	1516	0	0	0	0	0	0	14.54	14.12	14.57
8212	0.51	506.4	2751	733	1583	1516	62.6	7.0	649	8255	0.00	2.40	38.10	0.376	9382	0.000	0.077	2750	2103	1299	1348	1251	0	0	0	0	0	0	14.23	14.09	13.71
8552	0.63	593.2	2751	2103	1353	1263	40.6	6.0	687	8613	0.00	0.00	57.53	0.314	8358	0.000	0.000	2751	2103	942	1010	875	0	0	0	0	0	0	14.57	13.97	13.64
8912	0.89	707.0	2751	2104	1012	870	21.6	4.7	723	8986	0.35	2.53	68.05	0.256	10916	0.078	0.093	2887	730	497	518	476	0	0	0	0	0	0	14.02	14.07	13.76
9074	end climb: SURFACE_DEPTH_REACHED
state	9074	begin surface coast
9084	end surface coast: CONTROL_FINISHED_OK
state	9084	begin surface