Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 333 * 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 333 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 927.0

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 36 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 927.0 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 36 VBD_MIN 500

DIVE 333 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 140917,110601,7503.0278,-15105.7334,29,0.8,34,20.7,0.6,22.8,11,6.5 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 158.8,35744,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.9 D_GRID 480

GPS2 140917,111708,7503.0337,-15105.5215,9,0.8,10,20.7,0.0,0.0,12,9.9

Post-dive calculations and measurements:

FINISH -0.0,1.013043 _24V_AH 12.18,203.924

SM_CCo 9074,42.80,0.207,0,0,500,703.03 _10V_AH 12.25,0.000

SM_GC 0.98,8.07,0.17,42.80,0.073,0.114,0.207,196,2222,500,-7.39,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 298 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323608

IRIDIUM_FIX 7505.68,-15104.03,140917,082725 DATA_FILE_SIZE 30076,845

TT8_MAMPS 0.039697,0.977445 CAP_FILE_SIZE 106931,0

HUMID 47.12 CFSIZE 2097872896,1992753152

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

TCM_TEMP 13.10 SOUNDSPEED 1448.1

XPDR_PINGS 16 CURRENT 0.113,98.94,1

CP_FREE 15930294272.000000 GPS 140917,135040,7501.698,-15104.673,16,0.7,19,20.7,0.0,0.0,11,9.7

PM_FREEKB_00 47185472

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 139.71 nil 0 0 0.00

Roll_motor 85 2150 2251.21 nil 0 0 0.00

VBD_pump_during_apogee 970 1565 18493.52 nil 0 0 0.00

VBD_pump_during_surface 42 206 107.68 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 9088 14 1627.06

Iridium_during_xfer 383 175 818.08 NCP 9057 20 2206.29

Transponder_ping 4 420 20.46 PMAR 9028 12 1384.74

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.03

TT8 0 0 0.00

LPSleep 6339 2 179.38

TT8_Active 987 13 169.00

TT8_Sampling 2118 33 867.62

TT8_CF8 347 38 164.67

TT8_Kalman 0 0 0.00

Analog_circuits 2164 10 265.20

GPS_charging 0 0 0.00

Compass 1209 7 103.71

RAFOS 2219 48 1304.77

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 -145.9 191 2216 501 478 0.0 0.0 0 144 0.00 0.00 -91.68 0.000 16386 0.000 0.000 189 2216 2101 2022 2181 0 0 0 0 0 0 14.49 28.83 14.51

148 -0.57 -145.9 191 2217 2025 2183 3.4 -4.3 9 205 12.88 2.78 -38.10 0.000 18724 0.450 2.150 2377 3608 3964 3952 3977 0 0 0 0 0 0 13.50 12.58 13.97

340 -0.72 -145.9 2377 3610 3957 3978 41.7 -13.4 47 345 0.00 2.40 0.00 0.000 1158 0.000 0.059 2377 2214 3967 3957 3977 0 0 0 0 0 0 14.05 13.93 14.11

651 -0.84 -145.9 2377 2213 3959 3978 81.6 -10.1 79 656 0.20 2.53 0.00 0.000 4740 0.108 0.081 2294 780 3968 3959 3977 0 0 0 0 0 0 14.17 14.11 14.21

701 -0.93 -145.9 2295 781 3959 3977 88.7 -13.5 89 706 0.00 2.55 0.00 0.000 1158 0.000 0.087 2294 2203 3967 3957 3977 0 0 0 0 0 0 14.21 14.06 14.27

1022 -0.98 -145.9 2294 2203 3964 3977 134.5 -13.4 106 1026 0.00 2.53 0.00 0.000 388 0.000 0.090 2293 3619 3968 3959 3977 0 0 0 0 0 0 14.63 14.03 14.63

1102 -1.12 -145.9 2293 3620 3960 3977 143.9 -11.2 122 1107 0.22 2.42 0.00 0.000 5254 0.101 0.056 2213 2187 3968 3959 3977 0 0 0 0 0 0 14.20 14.12 14.31

1412 -1.03 -145.9 2213 2186 3959 3978 205.6 -19.6 134 1418 0.12 2.55 0.00 0.000 2436 0.304 0.084 2232 3617 3968 3959 3977 0 0 0 0 0 0 13.74 13.69 13.76

1573 -1.08 -145.9 2232 3620 3959 3978 229.8 -13.8 166 1578 0.00 2.42 0.00 0.000 1158 0.000 0.056 2232 2199 3968 3959 3977 0 0 0 0 0 0 14.27 14.14 14.31

1893 -1.08 -145.9 2232 2199 3959 3978 277.8 -14.2 180 1899 0.00 2.50 0.00 0.000 260 0.000 0.086 2223 3616 3968 3959 3977 0 0 0 0 0 0 14.64 14.09 14.66

2036 -1.15 -145.9 2223 3617 3960 3976 295.9 -12.4 208 2042 0.00 2.42 0.00 0.000 1158 0.000 0.056 2223 2190 3968 3959 3978 0 0 0 0 0 0 14.23 14.12 14.26

2347 -1.17 -145.9 2223 2190 3958 3978 337.0 -12.7 220 2353 0.00 2.58 0.00 0.000 388 0.000 0.089 2222 3622 3968 3959 3977 0 0 0 0 0 0 14.62 14.03 14.64

2471 -1.26 -145.9 2222 3623 3959 3978 350.9 -11.1 244 2477 0.15 2.45 0.00 0.000 5254 0.117 0.057 2163 2192 3967 3959 3976 0 0 0 0 0 0 14.19 14.08 14.28

2817 -1.16 -145.9 2163 2192 3959 3978 410.9 -17.3 260 2822 0.17 2.58 0.00 0.000 2436 0.310 0.083 2189 3620 3967 3958 3977 0 0 0 0 0 0 13.54 13.76 13.73

2920 -1.19 -145.9 2189 3620 3958 3980 425.3 -13.2 280 2925 0.00 2.45 0.00 0.000 1158 0.000 0.057 2189 2199 3967 3958 3977 0 0 0 0 0 0 14.02 13.90 14.11

3241 -1.17 -145.9 2189 2199 3958 3978 470.7 -14.0 294 3245 0.00 2.58 0.00 0.000 388 0.000 0.086 2184 3624 3967 3957 3977 0 0 0 0 0 0 14.38 13.89 14.40

3308 end dive: TARGET_DEPTH_EXCEEDED

state 3308 begin apogee

3316 -0.13 0.0 2184 2100 3957 3977 480.4 -13.3 308 3543 1.38 0.00 222.48 1.414 10246 0.236 0.000 2528 2099 3365 3377 3353 0 0 0 0 0 0 13.65 13.42 12.59

3547 end apogee: CONTROL_FINISHED_OK

state 3547 begin climb

3549 0.57 145.9 2529 2099 3371 3344 492.7 0.0 315 3775 0.75 2.75 211.45 1.370 10756 0.060 0.083 2781 694 2761 2791 2731 0 0 0 0 0 0 13.57 13.00 12.18

4000 0.17 145.9 2782 696 2781 2723 476.8 13.7 399 4005 0.68 2.55 0.00 0.000 5254 0.324 0.075 2643 2111 2752 2784 2721 0 0 0 0 0 0 13.34 13.71 13.73

4333 0.01 168.4 2643 2113 2785 2717 446.2 9.0 415 4368 0.20 2.53 29.77 1.467 12964 0.267 0.083 2601 685 2673 2712 2635 0 0 0 0 0 0 13.74 13.76 13.14

4483 0.02 220.6 2598 685 2709 2627 434.5 7.6 445 4574 0.00 2.53 82.75 1.357 9382 0.000 0.079 2601 2109 2460 2512 2409 0 0 0 0 0 0 14.16 14.04 13.00

4873 0.01 234.4 2602 2110 2506 2392 398.9 9.4 473 4894 0.00 2.55 15.62 1.565 8868 0.000 0.086 2602 684 2404 2456 2353 0 0 0 0 0 0 14.37 14.04 13.16

4942 0.08 256.7 2602 685 2450 2346 392.8 9.0 486 4982 0.00 2.45 34.15 1.436 9382 0.000 0.078 2602 2100 2317 2368 2267 0 0 0 0 0 0 14.15 14.03 13.10

5298 0.09 276.7 2602 2102 2350 2251 360.0 9.1 507 5330 0.00 2.58 28.12 1.438 8740 0.000 0.086 2605 691 2233 2281 2185 0 0 0 0 0 0 14.55 14.09 13.23

5383 0.20 312.4 2603 691 2271 2180 352.8 8.3 523 5446 0.12 2.47 57.15 1.342 11430 0.129 0.078 2662 2105 2091 2133 2050 0 0 0 0 0 0 14.16 14.09 13.13

5751 0.15 312.4 2663 2105 2120 2030 305.9 12.7 547 5753 0.15 0.00 0.00 0.000 4230 0.245 0.000 2630 2105 2074 2119 2030 0 0 0 0 0 0 13.98 14.26 14.21

6051 0.18 329.1 2631 2105 2120 2027 276.5 9.2 557 6075 0.00 0.00 22.12 1.430 8358 0.000 0.000 2632 2105 2024 2067 1982 0 0 0 0 0 0 14.64 14.12 13.28

6351 0.26 366.0 2630 2106 2056 1968 250.8 8.3 567 6422 0.10 2.53 64.78 1.298 10916 0.144 0.086 2682 686 1868 1897 1839 0 0 0 0 0 0 14.33 13.75 13.16

6463 0.29 366.0 2682 687 1885 1836 238.3 11.1 589 6468 0.00 2.50 0.00 0.000 1158 0.000 0.078 2683 2099 1859 1883 1836 0 0 0 0 0 0 14.17 14.04 14.21

6773 0.29 366.0 2682 2100 1883 1831 204.5 10.5 601 6774 0.00 0.00 0.00 0.000 6 0.000 0.000 2683 2105 1856 1882 1830 0 0 0 0 0 0 14.59 14.62 14.62

7073 0.29 372.5 2683 2098 1882 1827 175.1 9.7 611 7078 0.00 2.45 0.00 0.000 292 0.000 0.083 2683 3507 1854 1881 1827 0 0 0 0 0 0 14.66 14.17 14.65

7113 0.29 372.5 2683 3509 1879 1829 170.7 11.1 619 7118 0.00 2.42 0.00 0.000 1030 0.000 0.065 2685 2098 1852 1878 1827 0 0 0 0 0 0 14.30 14.16 14.33

7433 0.30 382.4 2685 2098 1879 1826 139.7 9.5 633 7464 0.00 2.55 21.83 1.385 8740 0.000 0.090 2685 693 1801 1819 1783 0 0 0 0 0 0 14.65 14.16 13.29

7565 0.39 409.7 2685 694 1814 1779 127.7 8.7 659 7618 0.00 2.45 48.70 1.281 9382 0.000 0.077 2684 2099 1696 1715 1677 0 0 0 0 0 0 14.23 14.15 13.18

7917 0.49 452.3 2686 2099 1706 1654 97.4 8.0 681 7949 0.15 2.53 23.92 0.484 10916 0.117 0.089 2769 687 1521 1547 1496 0 0 0 0 0 0 14.15 14.07 13.56

8139 0.49 452.3 2765 685 1552 1497 71.2 11.1 725 8144 0.00 2.50 0.00 0.000 1030 0.000 0.079 2764 2099 1523 1550 1497 0 0 0 0 0 0 14.11 13.98 14.14

8450 0.55 560.7 2765 2100 1551 1495 45.1 5.0 757 8518 0.00 2.53 63.45 0.331 8868 0.000 0.086 2765 685 1076 1137 1015 0 0 0 0 0 0 14.57 13.93 13.70

8679 0.73 627.3 2765 685 1140 1019 30.2 6.9 802 8727 0.15 2.50 39.72 0.285 11430 0.114 0.078 2825 2105 805 869 741 0 0 0 0 0 0 13.99 14.00 13.64

9024 0.80 667.3 2826 2105 870 744 2.3 8.2 841 9029 0.00 0.00 4.05 0.223 8866 0.000 0.000 2825 2105 781 844 718 0 0 0 0 0 0 14.56 28.83 14.57

9030 end climb: SURFACE_DEPTH_REACHED

state 9030 begin surface coast

9053 end surface coast: CONTROL_FINISHED_OK

state 9053 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	333	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	927.0
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	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,110601,7503.0278,-15105.7334,29,0.8,34,20.7,0.6,22.8,11,6.5	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	158.8,35744,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.9	D_GRID	480
GPS2	140917,111708,7503.0337,-15105.5215,9,0.8,10,20.7,0.0,0.0,12,9.9

FINISH	-0.0,1.013043	_24V_AH	12.18,203.924
SM_CCo	9074,42.80,0.207,0,0,500,703.03	_10V_AH	12.25,0.000
SM_GC	0.98,8.07,0.17,42.80,0.073,0.114,0.207,196,2222,500,-7.39,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	298	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323608
IRIDIUM_FIX	7505.68,-15104.03,140917,082725	DATA_FILE_SIZE	30076,845
TT8_MAMPS	0.039697,0.977445	CAP_FILE_SIZE	106931,0
HUMID	47.12	CFSIZE	2097872896,1992753152
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.1
XPDR_PINGS	16	CURRENT	0.113,98.94,1
CP_FREE	15930294272.000000	GPS	140917,135040,7501.698,-15104.673,16,0.7,19,20.7,0.0,0.0,11,9.7
PM_FREEKB_00	47185472

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	139.71	nil	0	0	0.00
Roll_motor	85	2150	2251.21	nil	0	0	0.00
VBD_pump_during_apogee	970	1565	18493.52	nil	0	0	0.00
VBD_pump_during_surface	42	206	107.68	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	9088	14	1627.06
Iridium_during_xfer	383	175	818.08	NCP	9057	20	2206.29
Transponder_ping	4	420	20.46	PMAR	9028	12	1384.74
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.03
TT8	0	0	0.00
LPSleep	6339	2	179.38
TT8_Active	987	13	169.00
TT8_Sampling	2118	33	867.62
TT8_CF8	347	38	164.67
TT8_Kalman	0	0	0.00
Analog_circuits	2164	10	265.20
GPS_charging	0	0	0.00
Compass	1209	7	103.71
RAFOS	2219	48	1304.77
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	191	2216	501	478	0.0	0.0	0	144	0.00	0.00	-91.68	0.000	16386	0.000	0.000	189	2216	2101	2022	2181	0	0	0	0	0	0	14.49	28.83	14.51
148	-0.57	-145.9	191	2217	2025	2183	3.4	-4.3	9	205	12.88	2.78	-38.10	0.000	18724	0.450	2.150	2377	3608	3964	3952	3977	0	0	0	0	0	0	13.50	12.58	13.97
340	-0.72	-145.9	2377	3610	3957	3978	41.7	-13.4	47	345	0.00	2.40	0.00	0.000	1158	0.000	0.059	2377	2214	3967	3957	3977	0	0	0	0	0	0	14.05	13.93	14.11
651	-0.84	-145.9	2377	2213	3959	3978	81.6	-10.1	79	656	0.20	2.53	0.00	0.000	4740	0.108	0.081	2294	780	3968	3959	3977	0	0	0	0	0	0	14.17	14.11	14.21
701	-0.93	-145.9	2295	781	3959	3977	88.7	-13.5	89	706	0.00	2.55	0.00	0.000	1158	0.000	0.087	2294	2203	3967	3957	3977	0	0	0	0	0	0	14.21	14.06	14.27
1022	-0.98	-145.9	2294	2203	3964	3977	134.5	-13.4	106	1026	0.00	2.53	0.00	0.000	388	0.000	0.090	2293	3619	3968	3959	3977	0	0	0	0	0	0	14.63	14.03	14.63
1102	-1.12	-145.9	2293	3620	3960	3977	143.9	-11.2	122	1107	0.22	2.42	0.00	0.000	5254	0.101	0.056	2213	2187	3968	3959	3977	0	0	0	0	0	0	14.20	14.12	14.31
1412	-1.03	-145.9	2213	2186	3959	3978	205.6	-19.6	134	1418	0.12	2.55	0.00	0.000	2436	0.304	0.084	2232	3617	3968	3959	3977	0	0	0	0	0	0	13.74	13.69	13.76
1573	-1.08	-145.9	2232	3620	3959	3978	229.8	-13.8	166	1578	0.00	2.42	0.00	0.000	1158	0.000	0.056	2232	2199	3968	3959	3977	0	0	0	0	0	0	14.27	14.14	14.31
1893	-1.08	-145.9	2232	2199	3959	3978	277.8	-14.2	180	1899	0.00	2.50	0.00	0.000	260	0.000	0.086	2223	3616	3968	3959	3977	0	0	0	0	0	0	14.64	14.09	14.66
2036	-1.15	-145.9	2223	3617	3960	3976	295.9	-12.4	208	2042	0.00	2.42	0.00	0.000	1158	0.000	0.056	2223	2190	3968	3959	3978	0	0	0	0	0	0	14.23	14.12	14.26
2347	-1.17	-145.9	2223	2190	3958	3978	337.0	-12.7	220	2353	0.00	2.58	0.00	0.000	388	0.000	0.089	2222	3622	3968	3959	3977	0	0	0	0	0	0	14.62	14.03	14.64
2471	-1.26	-145.9	2222	3623	3959	3978	350.9	-11.1	244	2477	0.15	2.45	0.00	0.000	5254	0.117	0.057	2163	2192	3967	3959	3976	0	0	0	0	0	0	14.19	14.08	14.28
2817	-1.16	-145.9	2163	2192	3959	3978	410.9	-17.3	260	2822	0.17	2.58	0.00	0.000	2436	0.310	0.083	2189	3620	3967	3958	3977	0	0	0	0	0	0	13.54	13.76	13.73
2920	-1.19	-145.9	2189	3620	3958	3980	425.3	-13.2	280	2925	0.00	2.45	0.00	0.000	1158	0.000	0.057	2189	2199	3967	3958	3977	0	0	0	0	0	0	14.02	13.90	14.11
3241	-1.17	-145.9	2189	2199	3958	3978	470.7	-14.0	294	3245	0.00	2.58	0.00	0.000	388	0.000	0.086	2184	3624	3967	3957	3977	0	0	0	0	0	0	14.38	13.89	14.40
3308	end dive: TARGET_DEPTH_EXCEEDED
state	3308	begin apogee
3316	-0.13	0.0	2184	2100	3957	3977	480.4	-13.3	308	3543	1.38	0.00	222.48	1.414	10246	0.236	0.000	2528	2099	3365	3377	3353	0	0	0	0	0	0	13.65	13.42	12.59
3547	end apogee: CONTROL_FINISHED_OK
state	3547	begin climb
3549	0.57	145.9	2529	2099	3371	3344	492.7	0.0	315	3775	0.75	2.75	211.45	1.370	10756	0.060	0.083	2781	694	2761	2791	2731	0	0	0	0	0	0	13.57	13.00	12.18
4000	0.17	145.9	2782	696	2781	2723	476.8	13.7	399	4005	0.68	2.55	0.00	0.000	5254	0.324	0.075	2643	2111	2752	2784	2721	0	0	0	0	0	0	13.34	13.71	13.73
4333	0.01	168.4	2643	2113	2785	2717	446.2	9.0	415	4368	0.20	2.53	29.77	1.467	12964	0.267	0.083	2601	685	2673	2712	2635	0	0	0	0	0	0	13.74	13.76	13.14
4483	0.02	220.6	2598	685	2709	2627	434.5	7.6	445	4574	0.00	2.53	82.75	1.357	9382	0.000	0.079	2601	2109	2460	2512	2409	0	0	0	0	0	0	14.16	14.04	13.00
4873	0.01	234.4	2602	2110	2506	2392	398.9	9.4	473	4894	0.00	2.55	15.62	1.565	8868	0.000	0.086	2602	684	2404	2456	2353	0	0	0	0	0	0	14.37	14.04	13.16
4942	0.08	256.7	2602	685	2450	2346	392.8	9.0	486	4982	0.00	2.45	34.15	1.436	9382	0.000	0.078	2602	2100	2317	2368	2267	0	0	0	0	0	0	14.15	14.03	13.10
5298	0.09	276.7	2602	2102	2350	2251	360.0	9.1	507	5330	0.00	2.58	28.12	1.438	8740	0.000	0.086	2605	691	2233	2281	2185	0	0	0	0	0	0	14.55	14.09	13.23
5383	0.20	312.4	2603	691	2271	2180	352.8	8.3	523	5446	0.12	2.47	57.15	1.342	11430	0.129	0.078	2662	2105	2091	2133	2050	0	0	0	0	0	0	14.16	14.09	13.13
5751	0.15	312.4	2663	2105	2120	2030	305.9	12.7	547	5753	0.15	0.00	0.00	0.000	4230	0.245	0.000	2630	2105	2074	2119	2030	0	0	0	0	0	0	13.98	14.26	14.21
6051	0.18	329.1	2631	2105	2120	2027	276.5	9.2	557	6075	0.00	0.00	22.12	1.430	8358	0.000	0.000	2632	2105	2024	2067	1982	0	0	0	0	0	0	14.64	14.12	13.28
6351	0.26	366.0	2630	2106	2056	1968	250.8	8.3	567	6422	0.10	2.53	64.78	1.298	10916	0.144	0.086	2682	686	1868	1897	1839	0	0	0	0	0	0	14.33	13.75	13.16
6463	0.29	366.0	2682	687	1885	1836	238.3	11.1	589	6468	0.00	2.50	0.00	0.000	1158	0.000	0.078	2683	2099	1859	1883	1836	0	0	0	0	0	0	14.17	14.04	14.21
6773	0.29	366.0	2682	2100	1883	1831	204.5	10.5	601	6774	0.00	0.00	0.00	0.000	6	0.000	0.000	2683	2105	1856	1882	1830	0	0	0	0	0	0	14.59	14.62	14.62
7073	0.29	372.5	2683	2098	1882	1827	175.1	9.7	611	7078	0.00	2.45	0.00	0.000	292	0.000	0.083	2683	3507	1854	1881	1827	0	0	0	0	0	0	14.66	14.17	14.65
7113	0.29	372.5	2683	3509	1879	1829	170.7	11.1	619	7118	0.00	2.42	0.00	0.000	1030	0.000	0.065	2685	2098	1852	1878	1827	0	0	0	0	0	0	14.30	14.16	14.33
7433	0.30	382.4	2685	2098	1879	1826	139.7	9.5	633	7464	0.00	2.55	21.83	1.385	8740	0.000	0.090	2685	693	1801	1819	1783	0	0	0	0	0	0	14.65	14.16	13.29
7565	0.39	409.7	2685	694	1814	1779	127.7	8.7	659	7618	0.00	2.45	48.70	1.281	9382	0.000	0.077	2684	2099	1696	1715	1677	0	0	0	0	0	0	14.23	14.15	13.18
7917	0.49	452.3	2686	2099	1706	1654	97.4	8.0	681	7949	0.15	2.53	23.92	0.484	10916	0.117	0.089	2769	687	1521	1547	1496	0	0	0	0	0	0	14.15	14.07	13.56
8139	0.49	452.3	2765	685	1552	1497	71.2	11.1	725	8144	0.00	2.50	0.00	0.000	1030	0.000	0.079	2764	2099	1523	1550	1497	0	0	0	0	0	0	14.11	13.98	14.14
8450	0.55	560.7	2765	2100	1551	1495	45.1	5.0	757	8518	0.00	2.53	63.45	0.331	8868	0.000	0.086	2765	685	1076	1137	1015	0	0	0	0	0	0	14.57	13.93	13.70
8679	0.73	627.3	2765	685	1140	1019	30.2	6.9	802	8727	0.15	2.50	39.72	0.285	11430	0.114	0.078	2825	2105	805	869	741	0	0	0	0	0	0	13.99	14.00	13.64
9024	0.80	667.3	2826	2105	870	744	2.3	8.2	841	9029	0.00	0.00	4.05	0.223	8866	0.000	0.000	2825	2105	781	844	718	0	0	0	0	0	0	14.56	28.83	14.57
9030	end climb: SURFACE_DEPTH_REACHED
state	9030	begin surface coast
9053	end surface coast: CONTROL_FINISHED_OK
state	9053	begin surface