Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 330 * 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 330 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 916.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 916.0 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 24 VBD_MIN 500

DIVE 330 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 140917,024357,7506.7402,-15108.1729,36,0.8,37,20.7,0.5,40.4,11,6.8 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 147.5,42612,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 140917,025502,7506.7280,-15108.0566,7,0.8,8,20.7,0.0,0.0,10,9.6

Post-dive calculations and measurements:

FINISH -0.1,1.010810 _24V_AH 12.23,202.421

SM_CCo 9097,5.45,0.216,0,0,501,702.78 _10V_AH 12.08,0.000

SM_GC 1.72,8.38,0.17,5.45,0.083,0.112,0.216,202,2222,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.28,14.28,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 243 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323724

IRIDIUM_FIX 7508.50,-15107.31,140917,000034 DATA_FILE_SIZE 26740,750

TT8_MAMPS 0.040446,0.940744 CAP_FILE_SIZE 106520,0

HUMID 46.53 CFSIZE 2097872896,1993539584

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.4

XPDR_PINGS 12 CURRENT 0.059,68.25,1

CP_FREE 0.000000 GPS 140917,052822,7505.508,-15107.031,16,0.8,20,20.7,0.3,17.1,10,9.6

PM_FREEKB_00 47332992

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 148.41 nil 0 0 0.00

Roll_motor 95 2148 2496.68 nil 0 0 0.00

VBD_pump_during_apogee 1038 1411 17925.01 nil 0 0 0.00

VBD_pump_during_surface 5 215 14.38 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 9067 14 1601.58

Iridium_during_xfer 387 184 872.66 NCP 9069 20 2218.28

Transponder_ping 3 420 15.41 PMAR 9050 10 1107.70

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.97

TT8 0 0 0.00

LPSleep 6371 2 177.80

TT8_Active 1009 13 170.35

TT8_Sampling 2060 33 832.47

TT8_CF8 336 38 157.23

TT8_Kalman 0 0 0.00

Analog_circuits 2182 10 263.60

GPS_charging 0 0 0.00

Compass 1076 7 91.03

RAFOS 2215 48 1284.35

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 -145.9 183 2209 513 487 0.0 0.0 0 145 0.00 0.00 -91.90 0.000 16386 0.000 0.000 180 2210 2124 2052 2196 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 182 2210 2055 2200 3.6 -4.6 9 205 13.00 2.80 -36.47 0.000 18724 0.454 2.149 2375 3594 3963 3949 3978 1 0 0 0 0 0 13.31 12.59 14.02

310 -0.70 -145.9 2375 3591 3954 3977 38.4 -13.9 41 315 0.00 2.40 0.00 0.000 1158 0.000 0.058 2374 2196 3965 3953 3978 0 0 0 0 0 0 14.12 13.95 14.16

623 -0.82 -145.9 2375 2196 3955 3979 81.4 -10.8 73 628 0.15 2.50 0.00 0.000 4484 0.123 0.084 2306 3605 3966 3954 3978 0 0 0 0 0 0 14.08 14.02 14.14

673 -0.91 -145.9 2306 3604 3954 3979 88.8 -14.1 83 678 0.00 2.42 0.00 0.000 1158 0.000 0.060 2305 2192 3966 3954 3978 0 0 0 0 0 0 14.29 14.15 14.33

993 -0.96 -145.9 2306 2190 3955 3978 132.4 -12.8 100 995 0.12 0.00 0.00 0.000 4230 0.132 0.000 2254 2191 3966 3954 3978 0 0 0 0 0 0 14.31 14.40 14.38

1293 -0.96 -145.9 2254 2191 3955 3979 180.3 -15.4 110 1298 0.00 2.50 0.00 0.000 260 0.000 0.086 2244 3608 3966 3954 3978 0 0 0 0 0 0 14.64 14.04 14.66

1449 -1.05 -145.9 2245 3604 3955 3978 201.2 -12.6 141 1453 0.00 2.40 0.00 0.000 1158 0.000 0.059 2244 2198 3966 3954 3978 0 0 0 0 0 0 14.23 14.11 14.28

1774 -1.05 -145.9 2245 2196 3955 3978 248.1 -14.1 156 1780 0.00 2.50 0.00 0.000 260 0.000 0.086 2236 3607 3966 3954 3978 0 0 0 0 0 0 14.64 14.09 14.65

1850 -1.14 -145.9 2236 3608 3955 3979 258.0 -12.0 171 1855 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2193 3966 3954 3978 0 0 0 0 0 0 14.30 14.16 14.34

2165 -1.17 -145.9 2237 2192 3955 3978 298.6 -12.3 184 2171 0.00 2.50 0.00 0.000 388 0.000 0.088 2236 3604 3966 3954 3978 0 0 0 0 0 0 14.64 14.09 14.66

2246 -1.29 -145.9 2236 3604 3955 3978 307.7 -10.1 200 2252 0.22 2.40 0.00 0.000 5254 0.100 0.057 2153 2199 3966 3954 3978 0 0 0 0 0 0 14.16 14.09 14.25

2558 -1.16 -145.9 2153 2199 3954 3977 368.0 -19.7 212 2564 0.20 2.50 0.00 0.000 2436 0.321 0.081 2186 3610 3966 3954 3978 0 0 0 0 0 0 13.65 14.01 13.88

2659 -1.16 -145.9 2186 3611 3954 3979 383.4 -13.7 232 2664 0.00 2.40 0.00 0.000 1030 0.000 0.057 2186 2198 3966 3954 3978 0 0 0 0 0 0 14.28 14.16 14.33

2980 -1.12 -145.9 2186 2197 3954 3978 430.8 -14.7 246 2985 0.12 2.50 0.00 0.000 2436 0.308 0.083 2204 3601 3966 3954 3978 0 0 0 0 0 0 13.83 13.99 14.00

3060 -1.20 -145.9 2205 3601 3955 3978 440.8 -11.4 262 3065 0.00 2.40 0.00 0.000 1158 0.000 0.056 2204 2196 3965 3953 3978 0 0 0 0 0 0 14.14 13.99 14.15

3371 -1.20 -145.9 2205 2195 3954 3978 480.0 -12.6 274 3375 0.00 2.47 0.00 0.000 260 0.000 0.086 2196 3607 3965 3953 3978 0 0 0 0 0 0 14.62 14.00 14.65

3378 end dive: TARGET_DEPTH_EXCEEDED

state 3378 begin apogee

3386 -0.13 0.0 2197 2101 3954 3978 481.2 -12.4 276 3622 1.33 0.00 227.30 1.411 10246 0.236 0.000 2532 2099 3356 3374 3339 0 0 0 0 0 0 13.74 13.51 12.65

3625 end apogee: CONTROL_FINISHED_OK

state 3625 begin climb

3628 0.57 145.9 2529 2099 3373 3334 495.2 0.0 284 3849 0.75 2.70 212.43 1.362 10500 0.060 0.070 2782 3509 2767 2806 2729 0 0 0 0 0 0 13.70 12.85 12.23

3974 0.08 145.9 2782 3504 2782 2720 493.1 14.9 339 3980 0.93 2.53 0.00 0.000 5254 0.346 0.054 2613 2098 2750 2781 2719 0 0 0 0 0 0 12.66 13.50 13.27

4300 -0.01 199.6 2614 2099 2782 2716 467.5 7.5 354 4383 0.15 0.00 80.88 1.378 12454 0.288 0.000 2588 2097 2554 2603 2505 0 0 0 0 0 0 13.71 13.78 12.97

4660 0.02 243.1 2585 2098 2590 2470 439.6 8.0 366 4731 0.00 2.53 65.03 1.370 8740 0.000 0.086 2589 691 2367 2419 2316 0 0 0 0 0 0 14.40 13.65 13.06

4761 0.11 272.0 2589 692 2408 2310 431.0 8.7 376 4813 0.00 2.50 42.60 1.382 9382 0.000 0.078 2588 2100 2252 2302 2202 0 0 0 0 0 0 14.05 13.94 12.96

5114 0.18 298.9 2588 2101 2292 2179 400.0 8.8 396 5157 0.12 2.50 37.42 1.396 10916 0.129 0.087 2658 694 2139 2188 2091 0 0 0 0 0 0 14.12 13.76 13.13

5189 0.15 298.9 2658 695 2175 2087 390.5 13.4 411 5194 0.00 2.47 0.00 0.000 1158 0.000 0.077 2658 2099 2129 2174 2085 0 0 0 0 0 0 14.13 14.01 14.16

5504 0.08 298.9 2658 2100 2174 2076 347.7 13.3 424 5509 0.17 2.50 0.00 0.000 4740 0.245 0.085 2615 689 2124 2174 2075 0 0 0 0 0 0 13.87 14.06 14.04

5540 0.15 298.9 2616 687 2172 2076 343.9 10.2 431 5544 0.00 2.47 0.00 0.000 1158 0.000 0.076 2616 2105 2123 2172 2075 0 0 0 0 0 0 14.23 14.12 14.26

5865 0.18 307.1 2616 2103 2173 2074 311.8 9.6 446 5870 0.00 0.00 1.50 0.240 8870 0.000 0.000 2615 2103 2110 2159 2062 0 0 0 0 0 0 14.47 14.13 13.86

6197 0.23 328.5 2616 2103 2170 2070 280.9 9.0 462 6251 0.12 2.55 44.80 1.336 10916 0.125 0.087 2684 700 2017 2059 1975 0 0 0 0 0 0 14.14 13.93 13.19

6323 0.23 328.5 2684 700 2044 1971 265.5 12.1 487 6328 0.00 2.42 0.00 0.000 1030 0.000 0.077 2682 2097 2008 2047 1970 0 0 0 0 0 0 14.12 13.99 14.16

6650 0.17 328.5 2684 2100 2048 1967 226.8 11.6 502 6655 0.17 2.47 0.00 0.000 4740 0.243 0.083 2646 694 2006 2047 1965 0 0 0 0 0 0 13.77 14.05 13.95

6666 0.15 328.5 2646 694 2047 1967 224.9 11.2 505 6672 0.00 2.47 0.00 0.000 1158 0.000 0.078 2642 2106 2005 2046 1965 0 0 0 0 0 0 14.29 14.16 14.33

6983 0.21 371.9 2646 2107 2047 1963 198.7 8.0 518 7062 0.00 2.53 75.12 1.256 8868 0.000 0.085 2654 691 1847 1876 1818 0 0 0 0 0 0 14.63 13.76 13.19

7108 0.37 417.9 2647 692 1859 1814 188.6 7.9 533 7196 0.17 2.50 82.85 1.190 11430 0.107 0.078 2712 2109 1664 1688 1640 0 0 0 0 0 0 14.10 14.02 13.07

7493 0.37 417.9 2712 2109 1677 1606 143.3 11.5 560 7497 0.00 2.50 0.00 0.000 516 0.000 0.089 2713 692 1641 1676 1606 0 0 0 0 0 0 14.56 14.12 14.57

7558 0.43 417.9 2713 695 1673 1606 136.3 10.3 573 7563 0.00 2.47 0.00 0.000 1158 0.000 0.076 2713 2103 1639 1672 1606 0 0 0 0 0 0 14.22 14.15 14.29

7884 0.43 417.9 2713 2103 1673 1603 101.9 10.1 588 7888 0.00 2.50 0.00 0.000 516 0.000 0.088 2713 694 1637 1672 1602 0 0 0 0 0 0 14.63 14.02 14.64

7944 0.53 439.1 2713 694 1671 1604 96.3 9.0 600 7961 0.12 2.47 10.25 0.438 11430 0.125 0.076 2770 2105 1573 1605 1541 0 0 0 0 0 0 14.06 13.95 13.50

8266 0.49 465.7 2770 2106 1615 1551 60.5 8.8 634 8289 0.12 2.58 17.15 0.367 12964 0.258 0.086 2742 696 1464 1500 1428 0 0 0 0 0 0 13.81 13.97 13.62

8385 0.63 547.9 2743 696 1509 1438 52.3 6.2 657 8444 0.12 2.47 50.55 0.352 11430 0.125 0.077 2796 2101 1130 1191 1069 0 0 0 0 0 0 14.16 14.09 13.63

8740 0.71 607.6 2795 2101 1192 1075 23.7 7.2 698 8783 0.00 2.50 36.08 0.265 8868 0.000 0.086 2795 695 885 952 819 0 0 0 0 0 0 14.57 13.90 13.69

8914 0.92 694.5 2795 696 955 832 13.7 6.0 732 8977 0.25 2.47 54.47 0.233 11430 0.086 0.076 2888 2105 530 560 501 0 0 0 0 0 0 14.07 13.93 13.78

9021 end climb: SURFACE_DEPTH_REACHED

state 9023 begin surface coast

9031 end surface coast: CONTROL_FINISHED_OK

state 9031 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	330	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	916.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,024357,7506.7402,-15108.1729,36,0.8,37,20.7,0.5,40.4,11,6.8	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	147.5,42612,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	140917,025502,7506.7280,-15108.0566,7,0.8,8,20.7,0.0,0.0,10,9.6

FINISH	-0.1,1.010810	_24V_AH	12.23,202.421
SM_CCo	9097,5.45,0.216,0,0,501,702.78	_10V_AH	12.08,0.000
SM_GC	1.72,8.38,0.17,5.45,0.083,0.112,0.216,202,2222,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.28,14.28,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	243	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323724
IRIDIUM_FIX	7508.50,-15107.31,140917,000034	DATA_FILE_SIZE	26740,750
TT8_MAMPS	0.040446,0.940744	CAP_FILE_SIZE	106520,0
HUMID	46.53	CFSIZE	2097872896,1993539584
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.4
XPDR_PINGS	12	CURRENT	0.059,68.25,1
CP_FREE	0.000000	GPS	140917,052822,7505.508,-15107.031,16,0.8,20,20.7,0.3,17.1,10,9.6
PM_FREEKB_00	47332992

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	148.41	nil	0	0	0.00
Roll_motor	95	2148	2496.68	nil	0	0	0.00
VBD_pump_during_apogee	1038	1411	17925.01	nil	0	0	0.00
VBD_pump_during_surface	5	215	14.38	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	9067	14	1601.58
Iridium_during_xfer	387	184	872.66	NCP	9069	20	2218.28
Transponder_ping	3	420	15.41	PMAR	9050	10	1107.70
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.97
TT8	0	0	0.00
LPSleep	6371	2	177.80
TT8_Active	1009	13	170.35
TT8_Sampling	2060	33	832.47
TT8_CF8	336	38	157.23
TT8_Kalman	0	0	0.00
Analog_circuits	2182	10	263.60
GPS_charging	0	0	0.00
Compass	1076	7	91.03
RAFOS	2215	48	1284.35
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	183	2209	513	487	0.0	0.0	0	145	0.00	0.00	-91.90	0.000	16386	0.000	0.000	180	2210	2124	2052	2196	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	182	2210	2055	2200	3.6	-4.6	9	205	13.00	2.80	-36.47	0.000	18724	0.454	2.149	2375	3594	3963	3949	3978	1	0	0	0	0	0	13.31	12.59	14.02
310	-0.70	-145.9	2375	3591	3954	3977	38.4	-13.9	41	315	0.00	2.40	0.00	0.000	1158	0.000	0.058	2374	2196	3965	3953	3978	0	0	0	0	0	0	14.12	13.95	14.16
623	-0.82	-145.9	2375	2196	3955	3979	81.4	-10.8	73	628	0.15	2.50	0.00	0.000	4484	0.123	0.084	2306	3605	3966	3954	3978	0	0	0	0	0	0	14.08	14.02	14.14
673	-0.91	-145.9	2306	3604	3954	3979	88.8	-14.1	83	678	0.00	2.42	0.00	0.000	1158	0.000	0.060	2305	2192	3966	3954	3978	0	0	0	0	0	0	14.29	14.15	14.33
993	-0.96	-145.9	2306	2190	3955	3978	132.4	-12.8	100	995	0.12	0.00	0.00	0.000	4230	0.132	0.000	2254	2191	3966	3954	3978	0	0	0	0	0	0	14.31	14.40	14.38
1293	-0.96	-145.9	2254	2191	3955	3979	180.3	-15.4	110	1298	0.00	2.50	0.00	0.000	260	0.000	0.086	2244	3608	3966	3954	3978	0	0	0	0	0	0	14.64	14.04	14.66
1449	-1.05	-145.9	2245	3604	3955	3978	201.2	-12.6	141	1453	0.00	2.40	0.00	0.000	1158	0.000	0.059	2244	2198	3966	3954	3978	0	0	0	0	0	0	14.23	14.11	14.28
1774	-1.05	-145.9	2245	2196	3955	3978	248.1	-14.1	156	1780	0.00	2.50	0.00	0.000	260	0.000	0.086	2236	3607	3966	3954	3978	0	0	0	0	0	0	14.64	14.09	14.65
1850	-1.14	-145.9	2236	3608	3955	3979	258.0	-12.0	171	1855	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2193	3966	3954	3978	0	0	0	0	0	0	14.30	14.16	14.34
2165	-1.17	-145.9	2237	2192	3955	3978	298.6	-12.3	184	2171	0.00	2.50	0.00	0.000	388	0.000	0.088	2236	3604	3966	3954	3978	0	0	0	0	0	0	14.64	14.09	14.66
2246	-1.29	-145.9	2236	3604	3955	3978	307.7	-10.1	200	2252	0.22	2.40	0.00	0.000	5254	0.100	0.057	2153	2199	3966	3954	3978	0	0	0	0	0	0	14.16	14.09	14.25
2558	-1.16	-145.9	2153	2199	3954	3977	368.0	-19.7	212	2564	0.20	2.50	0.00	0.000	2436	0.321	0.081	2186	3610	3966	3954	3978	0	0	0	0	0	0	13.65	14.01	13.88
2659	-1.16	-145.9	2186	3611	3954	3979	383.4	-13.7	232	2664	0.00	2.40	0.00	0.000	1030	0.000	0.057	2186	2198	3966	3954	3978	0	0	0	0	0	0	14.28	14.16	14.33
2980	-1.12	-145.9	2186	2197	3954	3978	430.8	-14.7	246	2985	0.12	2.50	0.00	0.000	2436	0.308	0.083	2204	3601	3966	3954	3978	0	0	0	0	0	0	13.83	13.99	14.00
3060	-1.20	-145.9	2205	3601	3955	3978	440.8	-11.4	262	3065	0.00	2.40	0.00	0.000	1158	0.000	0.056	2204	2196	3965	3953	3978	0	0	0	0	0	0	14.14	13.99	14.15
3371	-1.20	-145.9	2205	2195	3954	3978	480.0	-12.6	274	3375	0.00	2.47	0.00	0.000	260	0.000	0.086	2196	3607	3965	3953	3978	0	0	0	0	0	0	14.62	14.00	14.65
3378	end dive: TARGET_DEPTH_EXCEEDED
state	3378	begin apogee
3386	-0.13	0.0	2197	2101	3954	3978	481.2	-12.4	276	3622	1.33	0.00	227.30	1.411	10246	0.236	0.000	2532	2099	3356	3374	3339	0	0	0	0	0	0	13.74	13.51	12.65
3625	end apogee: CONTROL_FINISHED_OK
state	3625	begin climb
3628	0.57	145.9	2529	2099	3373	3334	495.2	0.0	284	3849	0.75	2.70	212.43	1.362	10500	0.060	0.070	2782	3509	2767	2806	2729	0	0	0	0	0	0	13.70	12.85	12.23
3974	0.08	145.9	2782	3504	2782	2720	493.1	14.9	339	3980	0.93	2.53	0.00	0.000	5254	0.346	0.054	2613	2098	2750	2781	2719	0	0	0	0	0	0	12.66	13.50	13.27
4300	-0.01	199.6	2614	2099	2782	2716	467.5	7.5	354	4383	0.15	0.00	80.88	1.378	12454	0.288	0.000	2588	2097	2554	2603	2505	0	0	0	0	0	0	13.71	13.78	12.97
4660	0.02	243.1	2585	2098	2590	2470	439.6	8.0	366	4731	0.00	2.53	65.03	1.370	8740	0.000	0.086	2589	691	2367	2419	2316	0	0	0	0	0	0	14.40	13.65	13.06
4761	0.11	272.0	2589	692	2408	2310	431.0	8.7	376	4813	0.00	2.50	42.60	1.382	9382	0.000	0.078	2588	2100	2252	2302	2202	0	0	0	0	0	0	14.05	13.94	12.96
5114	0.18	298.9	2588	2101	2292	2179	400.0	8.8	396	5157	0.12	2.50	37.42	1.396	10916	0.129	0.087	2658	694	2139	2188	2091	0	0	0	0	0	0	14.12	13.76	13.13
5189	0.15	298.9	2658	695	2175	2087	390.5	13.4	411	5194	0.00	2.47	0.00	0.000	1158	0.000	0.077	2658	2099	2129	2174	2085	0	0	0	0	0	0	14.13	14.01	14.16
5504	0.08	298.9	2658	2100	2174	2076	347.7	13.3	424	5509	0.17	2.50	0.00	0.000	4740	0.245	0.085	2615	689	2124	2174	2075	0	0	0	0	0	0	13.87	14.06	14.04
5540	0.15	298.9	2616	687	2172	2076	343.9	10.2	431	5544	0.00	2.47	0.00	0.000	1158	0.000	0.076	2616	2105	2123	2172	2075	0	0	0	0	0	0	14.23	14.12	14.26
5865	0.18	307.1	2616	2103	2173	2074	311.8	9.6	446	5870	0.00	0.00	1.50	0.240	8870	0.000	0.000	2615	2103	2110	2159	2062	0	0	0	0	0	0	14.47	14.13	13.86
6197	0.23	328.5	2616	2103	2170	2070	280.9	9.0	462	6251	0.12	2.55	44.80	1.336	10916	0.125	0.087	2684	700	2017	2059	1975	0	0	0	0	0	0	14.14	13.93	13.19
6323	0.23	328.5	2684	700	2044	1971	265.5	12.1	487	6328	0.00	2.42	0.00	0.000	1030	0.000	0.077	2682	2097	2008	2047	1970	0	0	0	0	0	0	14.12	13.99	14.16
6650	0.17	328.5	2684	2100	2048	1967	226.8	11.6	502	6655	0.17	2.47	0.00	0.000	4740	0.243	0.083	2646	694	2006	2047	1965	0	0	0	0	0	0	13.77	14.05	13.95
6666	0.15	328.5	2646	694	2047	1967	224.9	11.2	505	6672	0.00	2.47	0.00	0.000	1158	0.000	0.078	2642	2106	2005	2046	1965	0	0	0	0	0	0	14.29	14.16	14.33
6983	0.21	371.9	2646	2107	2047	1963	198.7	8.0	518	7062	0.00	2.53	75.12	1.256	8868	0.000	0.085	2654	691	1847	1876	1818	0	0	0	0	0	0	14.63	13.76	13.19
7108	0.37	417.9	2647	692	1859	1814	188.6	7.9	533	7196	0.17	2.50	82.85	1.190	11430	0.107	0.078	2712	2109	1664	1688	1640	0	0	0	0	0	0	14.10	14.02	13.07
7493	0.37	417.9	2712	2109	1677	1606	143.3	11.5	560	7497	0.00	2.50	0.00	0.000	516	0.000	0.089	2713	692	1641	1676	1606	0	0	0	0	0	0	14.56	14.12	14.57
7558	0.43	417.9	2713	695	1673	1606	136.3	10.3	573	7563	0.00	2.47	0.00	0.000	1158	0.000	0.076	2713	2103	1639	1672	1606	0	0	0	0	0	0	14.22	14.15	14.29
7884	0.43	417.9	2713	2103	1673	1603	101.9	10.1	588	7888	0.00	2.50	0.00	0.000	516	0.000	0.088	2713	694	1637	1672	1602	0	0	0	0	0	0	14.63	14.02	14.64
7944	0.53	439.1	2713	694	1671	1604	96.3	9.0	600	7961	0.12	2.47	10.25	0.438	11430	0.125	0.076	2770	2105	1573	1605	1541	0	0	0	0	0	0	14.06	13.95	13.50
8266	0.49	465.7	2770	2106	1615	1551	60.5	8.8	634	8289	0.12	2.58	17.15	0.367	12964	0.258	0.086	2742	696	1464	1500	1428	0	0	0	0	0	0	13.81	13.97	13.62
8385	0.63	547.9	2743	696	1509	1438	52.3	6.2	657	8444	0.12	2.47	50.55	0.352	11430	0.125	0.077	2796	2101	1130	1191	1069	0	0	0	0	0	0	14.16	14.09	13.63
8740	0.71	607.6	2795	2101	1192	1075	23.7	7.2	698	8783	0.00	2.50	36.08	0.265	8868	0.000	0.086	2795	695	885	952	819	0	0	0	0	0	0	14.57	13.90	13.69
8914	0.92	694.5	2795	696	955	832	13.7	6.0	732	8977	0.25	2.47	54.47	0.233	11430	0.086	0.076	2888	2105	530	560	501	0	0	0	0	0	0	14.07	13.93	13.78
9021	end climb: SURFACE_DEPTH_REACHED
state	9023	begin surface coast
9031	end surface coast: CONTROL_FINISHED_OK
state	9031	begin surface