Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 329 * 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 329 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 914.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 56 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 914.0 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 26 VBD_MIN 500

DIVE 329 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 130917,235554,7508.0488,-15108.4385,13,0.7,15,20.7,0.3,14.1,12,9.0 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 1.06 MHEAD_RNG_PITCHd_Wd 152.4,45016,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 140917,000755,7508.0718,-15108.3018,6,0.8,24,20.7,0.3,53.2,10,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.021359 _24V_AH 12.24,201.923

SM_CCo 9228,15.93,0.208,0,0,498,702.78 _10V_AH 12.24,0.000

SM_GC 0.79,8.07,2.65,15.93,0.075,0.068,0.208,200,2206,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.30,14.23,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 425 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323340

IRIDIUM_FIX 7511.68,-15051.82,130917,211213 DATA_FILE_SIZE 26766,777

TT8_MAMPS 0.038948,1.01789 CAP_FILE_SIZE 103335,0

HUMID 47.63 CFSIZE 2097872896,1993801728

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 1448.0

XPDR_PINGS 13 CURRENT 0.030,76.75,1

CP_FREE 0.000000 GPS 140917,024357,7506.740,-15108.173,36,0.8,37,20.7,0.5,40.4,11,6.8

PM_FREEKB_00 47367424

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 146.11 nil 0 0 0.00

Roll_motor 84 100 103.13 nil 0 0 0.00

VBD_pump_during_apogee 1062 1425 18538.06 nil 0 0 0.00

VBD_pump_during_surface 15 208 40.56 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 9195 14 1668.62

Iridium_during_xfer 438 178 956.36 NCP 9198 20 2251.67

Transponder_ping 3 420 16.71 PMAR 9179 9 1121.15

GUMSTIX_24V 0 0 0.00

GPS 26 22 7.16

TT8 0 0 0.00

LPSleep 6509 2 184.06

TT8_Active 978 13 167.35

TT8_Sampling 2162 33 885.07

TT8_CF8 328 38 155.48

TT8_Kalman 0 0 0.00

Analog_circuits 2245 10 274.79

GPS_charging 0 0 0.00

Compass 1113 7 95.43

RAFOS 1589 48 933.57

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 -145.9 178 2232 501 474 0.0 0.0 0 141 0.00 0.00 -87.80 0.000 16386 0.000 0.000 178 2232 2028 1953 2104 0 0 0 0 0 0 14.52 28.83 14.53

144 -0.57 -145.9 177 2232 1956 2103 3.8 -5.7 9 200 13.18 0.00 -40.58 0.000 18982 0.455 0.000 2384 2231 3963 3949 3977 1 0 0 0 0 0 13.28 12.55 13.98

506 -0.68 -145.9 2386 2233 3957 3977 68.4 -12.4 51 506 0.00 0.00 0.00 0.000 134 0.000 0.000 2386 2232 3966 3957 3976 0 0 0 0 0 0 14.40 14.40 14.40

808 -0.86 -145.9 2386 2233 3958 3977 97.4 -8.3 81 812 0.25 2.42 0.00 0.000 4516 0.089 0.085 2280 3573 3967 3958 3976 0 0 0 0 0 0 13.78 13.85 13.84

883 -0.94 -145.9 2279 3575 3959 3977 107.7 -13.5 96 889 0.00 2.40 0.00 0.000 1158 0.000 0.057 2280 2195 3968 3961 3976 0 0 0 0 0 0 13.99 13.84 14.04

1199 -0.98 -145.9 2280 2194 3959 3977 153.0 -13.6 109 1204 0.00 2.50 0.00 0.000 388 0.000 0.085 2270 3577 3967 3958 3976 0 0 0 0 0 0 14.42 13.95 14.43

1245 -1.09 -145.9 2270 3579 3964 3977 159.1 -12.4 118 1250 0.15 2.40 0.00 0.000 5254 0.114 0.058 2214 2195 3966 3957 3976 0 0 0 0 0 0 14.06 14.01 14.15

1561 -1.02 -145.9 2215 2195 3958 3978 218.6 -18.9 131 1566 0.12 2.47 0.00 0.000 2436 0.303 0.083 2235 3575 3967 3957 3977 0 0 0 0 0 0 13.64 13.92 13.80

1706 -1.08 -145.9 2236 3575 3959 3976 238.7 -12.8 160 1713 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2194 3967 3958 3976 0 0 0 0 0 0 13.91 13.79 13.95

2011 -1.11 -145.9 2236 2192 3962 3977 281.3 -13.3 171 2016 0.00 2.45 0.00 0.000 388 0.000 0.086 2230 3580 3967 3958 3976 0 0 0 0 0 0 14.40 13.92 14.41

2087 -1.20 -145.9 2230 3582 3958 3977 290.4 -11.6 186 2092 0.12 2.35 0.00 0.000 5254 0.132 0.056 2175 2196 3966 3957 3976 0 0 0 0 0 0 14.16 14.12 14.27

2402 -1.12 -145.9 2176 2197 3958 3977 345.3 -17.5 199 2408 0.17 2.45 0.00 0.000 2436 0.284 0.083 2206 3582 3967 3957 3977 0 0 0 0 0 0 13.78 14.08 13.97

2528 -1.19 -145.9 2206 3583 3957 3977 361.8 -12.0 224 2534 0.00 2.35 0.00 0.000 1158 0.000 0.056 2206 2198 3966 3957 3976 0 0 0 0 0 0 14.23 14.07 14.24

2854 -1.19 -145.9 2206 2197 3957 3978 404.0 -12.8 239 2859 0.00 2.45 0.00 0.000 260 0.000 0.086 2197 3581 3966 3957 3976 0 0 0 0 0 0 14.68 14.08 14.66

2934 -1.24 -145.9 2198 3581 3956 3976 414.1 -12.2 255 2939 0.00 2.35 0.00 0.000 1158 0.000 0.056 2198 2193 3966 3956 3976 0 0 0 0 0 0 14.21 14.12 14.25

3244 -1.24 -145.9 2198 2193 3957 3977 455.0 -13.2 267 3249 0.00 2.45 0.00 0.000 260 0.000 0.086 2190 3575 3966 3956 3976 0 0 0 0 0 0 14.66 14.09 14.70

3335 -1.28 -145.9 2190 3576 3956 3977 466.9 -12.6 285 3339 0.00 2.35 0.00 0.000 1158 0.000 0.055 2189 2195 3966 3956 3976 0 0 0 0 0 0 14.28 14.15 14.32

3452 end dive: TARGET_DEPTH_EXCEEDED

state 3452 begin apogee

3458 -0.13 0.0 2190 2051 3957 3977 483.4 -13.8 294 3684 1.35 0.00 222.27 1.426 10246 0.234 0.000 2527 2050 3365 3378 3353 0 0 0 0 0 0 13.78 13.52 12.66

3688 end apogee: CONTROL_FINISHED_OK

state 3688 begin climb

3690 0.57 145.9 2531 2050 3371 3346 495.6 0.0 301 3915 0.73 2.70 212.93 1.376 11012 0.060 0.070 2778 3480 2763 2794 2732 0 0 0 0 0 0 13.70 12.85 12.24

3940 0.06 145.9 2778 3480 2782 2729 508.6 10.1 344 3946 0.90 2.45 0.00 0.000 5254 0.348 0.056 2612 2131 2754 2781 2728 0 0 0 0 0 0 12.96 13.28 13.31

4266 -0.03 200.9 2613 2131 2782 2722 483.8 7.5 359 4357 0.17 0.00 83.32 1.387 12454 0.279 0.000 2576 2130 2535 2590 2480 0 0 0 0 0 0 13.76 13.78 12.95

4656 0.01 254.2 2577 2131 2585 2471 455.0 7.5 372 4747 0.00 2.60 83.38 1.365 8740 0.000 0.090 2573 690 2323 2370 2277 0 0 0 0 0 0 14.56 13.91 13.07

4792 0.16 303.8 2576 690 2363 2273 444.5 7.7 399 4879 0.17 2.45 79.78 1.329 11430 0.109 0.080 2650 2073 2125 2171 2079 0 0 0 0 0 0 14.05 14.00 12.97

5199 0.10 303.8 2650 2073 2155 2062 392.0 13.0 430 5205 0.12 2.42 0.00 0.000 4740 0.236 0.085 2619 694 2106 2154 2059 0 0 0 0 0 0 14.02 14.14 14.13

5240 0.17 303.8 2619 695 2152 2061 387.3 10.5 438 5246 0.00 2.45 0.00 0.000 1158 0.000 0.077 2619 2101 2106 2151 2061 0 0 0 0 0 0 14.30 14.16 14.38

5562 0.17 303.8 2619 2103 2153 2059 353.2 10.5 452 5567 0.00 2.47 0.00 0.000 516 0.000 0.088 2619 699 2105 2151 2059 0 0 0 0 0 0 14.64 14.17 14.65

5607 0.24 303.8 2620 698 2151 2058 348.6 10.3 461 5612 0.12 2.45 0.00 0.000 3206 0.125 0.077 2676 2106 2103 2149 2058 0 0 0 0 0 0 14.27 14.20 14.38

5922 0.15 303.8 2677 2108 2150 2058 303.8 14.2 474 5928 0.17 2.47 0.00 0.000 4740 0.259 0.081 2644 691 2104 2149 2059 0 0 0 0 0 0 13.90 14.18 14.06

5979 0.18 303.8 2644 692 2149 2059 297.1 10.7 485 5985 0.00 2.47 0.00 0.000 1158 0.000 0.078 2640 2110 2103 2148 2059 0 0 0 0 0 0 14.28 14.14 14.33

6284 0.18 303.8 2644 2106 2149 2058 264.3 10.4 496 6284 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2106 2103 2148 2058 0 0 0 0 0 0 14.66 14.68 14.67

6584 0.20 332.9 2645 2106 2149 2057 236.5 8.7 506 6638 0.00 2.55 46.75 1.333 8740 0.000 0.086 2644 698 2000 2040 1960 0 0 0 0 0 0 14.64 14.07 13.22

6666 0.30 371.8 2644 699 2032 1958 229.7 8.2 522 6740 0.10 2.45 69.18 1.251 11430 0.145 0.078 2690 2095 1849 1876 1823 0 0 0 0 0 0 13.99 13.97 13.09

7065 0.28 371.8 2690 2094 1858 1805 185.3 10.7 552 7070 0.00 2.50 0.00 0.000 644 0.000 0.086 2689 694 1830 1856 1804 0 0 0 0 0 0 14.57 14.06 14.59

7136 0.33 379.2 2690 694 1854 1805 178.3 9.7 566 7142 0.00 2.45 1.77 0.245 9382 0.000 0.076 2689 2099 1816 1840 1792 0 0 0 0 0 0 14.22 14.06 13.81

7457 0.33 379.2 2690 2100 1855 1796 145.8 10.0 580 7458 0.00 0.00 0.00 0.000 6 0.000 0.000 2689 2100 1823 1854 1793 0 0 0 0 0 0 14.64 14.64 14.65

7757 0.34 393.9 2690 2101 1855 1796 117.3 9.3 590 7793 0.00 2.47 30.88 1.315 8740 0.000 0.086 2689 697 1756 1779 1734 0 0 0 0 0 0 14.65 13.85 13.23

7870 0.46 440.5 2690 698 1768 1730 107.9 7.8 612 7965 0.12 2.45 86.80 1.191 11430 0.131 0.077 2747 2098 1567 1593 1542 0 0 0 0 0 0 14.03 14.01 13.14

8270 0.45 458.6 2745 2098 1586 1518 65.7 9.2 662 8282 0.00 0.00 9.05 0.366 8358 0.000 0.000 2747 2098 1494 1530 1458 0 0 0 0 0 0 14.52 14.07 13.63

8580 0.57 571.7 2748 2098 1535 1465 45.7 4.8 693 8655 0.00 2.58 69.07 0.332 8612 0.000 0.083 2747 3519 1032 1099 966 0 0 0 0 0 0 14.56 13.99 13.71

8697 0.72 618.5 2747 3520 1099 971 38.5 7.8 715 8734 0.17 2.45 29.33 0.311 11430 0.102 0.063 2819 2106 840 910 770 0 0 0 0 0 0 14.16 14.07 13.69

9039 0.83 678.0 2819 2106 911 778 9.6 7.3 753 9082 0.00 2.60 37.62 0.225 8868 0.000 0.090 2819 691 596 645 548 0 0 0 0 0 0 14.56 14.00 13.72

9140 end climb: SURFACE_DEPTH_REACHED

state 9140 begin surface coast

9160 end surface coast: CONTROL_FINISHED_OK

state 9160 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	329	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	914.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,235554,7508.0488,-15108.4385,13,0.7,15,20.7,0.3,14.1,12,9.0	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	1.06	MHEAD_RNG_PITCHd_Wd	152.4,45016,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	140917,000755,7508.0718,-15108.3018,6,0.8,24,20.7,0.3,53.2,10,10.0

FINISH	0.1,1.021359	_24V_AH	12.24,201.923
SM_CCo	9228,15.93,0.208,0,0,498,702.78	_10V_AH	12.24,0.000
SM_GC	0.79,8.07,2.65,15.93,0.075,0.068,0.208,200,2206,498,-7.37,-0.65,702.78,0,0,0,0,0,0,14.30,14.23,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	425	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323340
IRIDIUM_FIX	7511.68,-15051.82,130917,211213	DATA_FILE_SIZE	26766,777
TT8_MAMPS	0.038948,1.01789	CAP_FILE_SIZE	103335,0
HUMID	47.63	CFSIZE	2097872896,1993801728
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	1448.0
XPDR_PINGS	13	CURRENT	0.030,76.75,1
CP_FREE	0.000000	GPS	140917,024357,7506.740,-15108.173,36,0.8,37,20.7,0.5,40.4,11,6.8
PM_FREEKB_00	47367424

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	146.11	nil	0	0	0.00
Roll_motor	84	100	103.13	nil	0	0	0.00
VBD_pump_during_apogee	1062	1425	18538.06	nil	0	0	0.00
VBD_pump_during_surface	15	208	40.56	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	9195	14	1668.62
Iridium_during_xfer	438	178	956.36	NCP	9198	20	2251.67
Transponder_ping	3	420	16.71	PMAR	9179	9	1121.15
GUMSTIX_24V	0	0	0.00
GPS	26	22	7.16
TT8	0	0	0.00
LPSleep	6509	2	184.06
TT8_Active	978	13	167.35
TT8_Sampling	2162	33	885.07
TT8_CF8	328	38	155.48
TT8_Kalman	0	0	0.00
Analog_circuits	2245	10	274.79
GPS_charging	0	0	0.00
Compass	1113	7	95.43
RAFOS	1589	48	933.57
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	178	2232	501	474	0.0	0.0	0	141	0.00	0.00	-87.80	0.000	16386	0.000	0.000	178	2232	2028	1953	2104	0	0	0	0	0	0	14.52	28.83	14.53
144	-0.57	-145.9	177	2232	1956	2103	3.8	-5.7	9	200	13.18	0.00	-40.58	0.000	18982	0.455	0.000	2384	2231	3963	3949	3977	1	0	0	0	0	0	13.28	12.55	13.98
506	-0.68	-145.9	2386	2233	3957	3977	68.4	-12.4	51	506	0.00	0.00	0.00	0.000	134	0.000	0.000	2386	2232	3966	3957	3976	0	0	0	0	0	0	14.40	14.40	14.40
808	-0.86	-145.9	2386	2233	3958	3977	97.4	-8.3	81	812	0.25	2.42	0.00	0.000	4516	0.089	0.085	2280	3573	3967	3958	3976	0	0	0	0	0	0	13.78	13.85	13.84
883	-0.94	-145.9	2279	3575	3959	3977	107.7	-13.5	96	889	0.00	2.40	0.00	0.000	1158	0.000	0.057	2280	2195	3968	3961	3976	0	0	0	0	0	0	13.99	13.84	14.04
1199	-0.98	-145.9	2280	2194	3959	3977	153.0	-13.6	109	1204	0.00	2.50	0.00	0.000	388	0.000	0.085	2270	3577	3967	3958	3976	0	0	0	0	0	0	14.42	13.95	14.43
1245	-1.09	-145.9	2270	3579	3964	3977	159.1	-12.4	118	1250	0.15	2.40	0.00	0.000	5254	0.114	0.058	2214	2195	3966	3957	3976	0	0	0	0	0	0	14.06	14.01	14.15
1561	-1.02	-145.9	2215	2195	3958	3978	218.6	-18.9	131	1566	0.12	2.47	0.00	0.000	2436	0.303	0.083	2235	3575	3967	3957	3977	0	0	0	0	0	0	13.64	13.92	13.80
1706	-1.08	-145.9	2236	3575	3959	3976	238.7	-12.8	160	1713	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2194	3967	3958	3976	0	0	0	0	0	0	13.91	13.79	13.95
2011	-1.11	-145.9	2236	2192	3962	3977	281.3	-13.3	171	2016	0.00	2.45	0.00	0.000	388	0.000	0.086	2230	3580	3967	3958	3976	0	0	0	0	0	0	14.40	13.92	14.41
2087	-1.20	-145.9	2230	3582	3958	3977	290.4	-11.6	186	2092	0.12	2.35	0.00	0.000	5254	0.132	0.056	2175	2196	3966	3957	3976	0	0	0	0	0	0	14.16	14.12	14.27
2402	-1.12	-145.9	2176	2197	3958	3977	345.3	-17.5	199	2408	0.17	2.45	0.00	0.000	2436	0.284	0.083	2206	3582	3967	3957	3977	0	0	0	0	0	0	13.78	14.08	13.97
2528	-1.19	-145.9	2206	3583	3957	3977	361.8	-12.0	224	2534	0.00	2.35	0.00	0.000	1158	0.000	0.056	2206	2198	3966	3957	3976	0	0	0	0	0	0	14.23	14.07	14.24
2854	-1.19	-145.9	2206	2197	3957	3978	404.0	-12.8	239	2859	0.00	2.45	0.00	0.000	260	0.000	0.086	2197	3581	3966	3957	3976	0	0	0	0	0	0	14.68	14.08	14.66
2934	-1.24	-145.9	2198	3581	3956	3976	414.1	-12.2	255	2939	0.00	2.35	0.00	0.000	1158	0.000	0.056	2198	2193	3966	3956	3976	0	0	0	0	0	0	14.21	14.12	14.25
3244	-1.24	-145.9	2198	2193	3957	3977	455.0	-13.2	267	3249	0.00	2.45	0.00	0.000	260	0.000	0.086	2190	3575	3966	3956	3976	0	0	0	0	0	0	14.66	14.09	14.70
3335	-1.28	-145.9	2190	3576	3956	3977	466.9	-12.6	285	3339	0.00	2.35	0.00	0.000	1158	0.000	0.055	2189	2195	3966	3956	3976	0	0	0	0	0	0	14.28	14.15	14.32
3452	end dive: TARGET_DEPTH_EXCEEDED
state	3452	begin apogee
3458	-0.13	0.0	2190	2051	3957	3977	483.4	-13.8	294	3684	1.35	0.00	222.27	1.426	10246	0.234	0.000	2527	2050	3365	3378	3353	0	0	0	0	0	0	13.78	13.52	12.66
3688	end apogee: CONTROL_FINISHED_OK
state	3688	begin climb
3690	0.57	145.9	2531	2050	3371	3346	495.6	0.0	301	3915	0.73	2.70	212.93	1.376	11012	0.060	0.070	2778	3480	2763	2794	2732	0	0	0	0	0	0	13.70	12.85	12.24
3940	0.06	145.9	2778	3480	2782	2729	508.6	10.1	344	3946	0.90	2.45	0.00	0.000	5254	0.348	0.056	2612	2131	2754	2781	2728	0	0	0	0	0	0	12.96	13.28	13.31
4266	-0.03	200.9	2613	2131	2782	2722	483.8	7.5	359	4357	0.17	0.00	83.32	1.387	12454	0.279	0.000	2576	2130	2535	2590	2480	0	0	0	0	0	0	13.76	13.78	12.95
4656	0.01	254.2	2577	2131	2585	2471	455.0	7.5	372	4747	0.00	2.60	83.38	1.365	8740	0.000	0.090	2573	690	2323	2370	2277	0	0	0	0	0	0	14.56	13.91	13.07
4792	0.16	303.8	2576	690	2363	2273	444.5	7.7	399	4879	0.17	2.45	79.78	1.329	11430	0.109	0.080	2650	2073	2125	2171	2079	0	0	0	0	0	0	14.05	14.00	12.97
5199	0.10	303.8	2650	2073	2155	2062	392.0	13.0	430	5205	0.12	2.42	0.00	0.000	4740	0.236	0.085	2619	694	2106	2154	2059	0	0	0	0	0	0	14.02	14.14	14.13
5240	0.17	303.8	2619	695	2152	2061	387.3	10.5	438	5246	0.00	2.45	0.00	0.000	1158	0.000	0.077	2619	2101	2106	2151	2061	0	0	0	0	0	0	14.30	14.16	14.38
5562	0.17	303.8	2619	2103	2153	2059	353.2	10.5	452	5567	0.00	2.47	0.00	0.000	516	0.000	0.088	2619	699	2105	2151	2059	0	0	0	0	0	0	14.64	14.17	14.65
5607	0.24	303.8	2620	698	2151	2058	348.6	10.3	461	5612	0.12	2.45	0.00	0.000	3206	0.125	0.077	2676	2106	2103	2149	2058	0	0	0	0	0	0	14.27	14.20	14.38
5922	0.15	303.8	2677	2108	2150	2058	303.8	14.2	474	5928	0.17	2.47	0.00	0.000	4740	0.259	0.081	2644	691	2104	2149	2059	0	0	0	0	0	0	13.90	14.18	14.06
5979	0.18	303.8	2644	692	2149	2059	297.1	10.7	485	5985	0.00	2.47	0.00	0.000	1158	0.000	0.078	2640	2110	2103	2148	2059	0	0	0	0	0	0	14.28	14.14	14.33
6284	0.18	303.8	2644	2106	2149	2058	264.3	10.4	496	6284	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2106	2103	2148	2058	0	0	0	0	0	0	14.66	14.68	14.67
6584	0.20	332.9	2645	2106	2149	2057	236.5	8.7	506	6638	0.00	2.55	46.75	1.333	8740	0.000	0.086	2644	698	2000	2040	1960	0	0	0	0	0	0	14.64	14.07	13.22
6666	0.30	371.8	2644	699	2032	1958	229.7	8.2	522	6740	0.10	2.45	69.18	1.251	11430	0.145	0.078	2690	2095	1849	1876	1823	0	0	0	0	0	0	13.99	13.97	13.09
7065	0.28	371.8	2690	2094	1858	1805	185.3	10.7	552	7070	0.00	2.50	0.00	0.000	644	0.000	0.086	2689	694	1830	1856	1804	0	0	0	0	0	0	14.57	14.06	14.59
7136	0.33	379.2	2690	694	1854	1805	178.3	9.7	566	7142	0.00	2.45	1.77	0.245	9382	0.000	0.076	2689	2099	1816	1840	1792	0	0	0	0	0	0	14.22	14.06	13.81
7457	0.33	379.2	2690	2100	1855	1796	145.8	10.0	580	7458	0.00	0.00	0.00	0.000	6	0.000	0.000	2689	2100	1823	1854	1793	0	0	0	0	0	0	14.64	14.64	14.65
7757	0.34	393.9	2690	2101	1855	1796	117.3	9.3	590	7793	0.00	2.47	30.88	1.315	8740	0.000	0.086	2689	697	1756	1779	1734	0	0	0	0	0	0	14.65	13.85	13.23
7870	0.46	440.5	2690	698	1768	1730	107.9	7.8	612	7965	0.12	2.45	86.80	1.191	11430	0.131	0.077	2747	2098	1567	1593	1542	0	0	0	0	0	0	14.03	14.01	13.14
8270	0.45	458.6	2745	2098	1586	1518	65.7	9.2	662	8282	0.00	0.00	9.05	0.366	8358	0.000	0.000	2747	2098	1494	1530	1458	0	0	0	0	0	0	14.52	14.07	13.63
8580	0.57	571.7	2748	2098	1535	1465	45.7	4.8	693	8655	0.00	2.58	69.07	0.332	8612	0.000	0.083	2747	3519	1032	1099	966	0	0	0	0	0	0	14.56	13.99	13.71
8697	0.72	618.5	2747	3520	1099	971	38.5	7.8	715	8734	0.17	2.45	29.33	0.311	11430	0.102	0.063	2819	2106	840	910	770	0	0	0	0	0	0	14.16	14.07	13.69
9039	0.83	678.0	2819	2106	911	778	9.6	7.3	753	9082	0.00	2.60	37.62	0.225	8868	0.000	0.090	2819	691	596	645	548	0	0	0	0	0	0	14.56	14.00	13.72
9140	end climb: SURFACE_DEPTH_REACHED
state	9140	begin surface coast
9160	end surface coast: CONTROL_FINISHED_OK
state	9160	begin surface