Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 338 * 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 338 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 942.0

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 28 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 942.0 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 338 NOCOMM_ACTION 161 R_STBD_OVSHOOT 28 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 150917,010132,7455.6016,-15101.8037,22,0.8,22,20.7,0.0,0.0,10,8.8 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 119.6,22331,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 150917,011439,7455.5752,-15101.7109,7,0.7,10,20.7,0.0,0.0,11,8.8

Post-dive calculations and measurements:

FINISH 0.2,1.021317 _24V_AH 12.24,206.398

SM_CCo 9290,32.38,0.210,0,0,499,703.03 _10V_AH 12.09,0.000

SM_GC 1.39,8.27,0.17,32.38,0.083,0.116,0.210,200,2230,499,-7.38,-0.34,703.03,0,0,0,0,0,0,14.29,14.29,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 422 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323280

IRIDIUM_FIX 7455.84,-15105.56,150917,010615 DATA_FILE_SIZE 30031,825

TT8_MAMPS 0.039697,0.874832 CAP_FILE_SIZE 106158,0

HUMID 47.28 CFSIZE 2097872896,1991344128

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1447.7

XPDR_PINGS 15 CURRENT 0.070,221.52,1

CP_FREE 0.000000 GPS 150917,035156,7454.116,-15100.948,34,0.7,34,20.7,0.0,0.0,11,7.9

PM_FREEKB_00 46974720

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 141.74 nil 0 0 0.00

Roll_motor 88 2152 2329.27 nil 0 0 0.00

VBD_pump_during_apogee 963 1600 18879.54 nil 0 0 0.00

VBD_pump_during_surface 32 209 83.06 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 9258 14 1654.44

Iridium_during_xfer 442 179 972.71 NCP 9264 20 2267.83

Transponder_ping 3 420 19.28 PMAR 9242 12 1437.67

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.98

TT8 0 0 0.00

LPSleep 6550 2 182.94

TT8_Active 880 13 148.66

TT8_Sampling 2346 33 948.85

TT8_CF8 344 38 161.31

TT8_Kalman 0 0 0.00

Analog_circuits 2238 10 270.60

GPS_charging 0 0 0.00

Compass 1181 7 99.98

RAFOS 0 0 0.00

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 -145.9 196 2218 496 490 0.0 0.0 0 144 0.00 0.00 -91.35 0.000 16386 0.000 0.000 195 2218 2130 2054 2207 0 0 0 0 0 0 14.49 28.83 14.50

148 -0.57 -145.9 197 2218 2057 2207 3.8 -4.9 9 205 12.82 2.83 -35.92 0.000 18724 0.451 2.153 2377 3614 3966 3952 3980 0 0 0 0 0 0 13.52 12.59 14.05

395 -0.71 -145.9 2377 3615 3957 3981 49.1 -13.0 58 401 0.00 2.45 0.00 0.000 1158 0.000 0.055 2376 2190 3968 3957 3980 0 0 0 0 0 0 14.11 14.00 14.15

701 -0.85 -145.9 2377 2191 3960 3981 82.5 -8.7 89 706 0.20 2.50 0.00 0.000 4516 0.103 0.085 2291 3609 3969 3959 3980 0 0 0 0 0 0 14.16 14.05 14.20

824 -0.96 -145.9 2292 3610 3959 3978 98.2 -12.2 113 829 0.00 2.42 0.00 0.000 1158 0.000 0.058 2291 2194 3968 3958 3979 0 0 0 0 0 0 14.30 14.15 14.32

1144 -1.01 -145.9 2291 2194 3959 3981 141.4 -12.8 126 1149 0.12 2.50 0.00 0.000 4484 0.142 0.084 2236 3604 3971 3962 3980 0 0 0 0 0 0 14.27 14.10 14.31

1215 -1.05 -145.9 2236 3606 3960 3980 152.1 -14.9 140 1220 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2196 3969 3958 3980 0 0 0 0 0 0 14.15 14.02 14.19

1536 -1.02 -145.9 2236 2195 3960 3979 207.8 -17.3 154 1541 0.00 2.50 0.00 0.000 388 0.000 0.087 2236 3604 3969 3958 3980 0 0 0 0 0 0 14.59 14.08 14.62

1631 -1.10 -145.9 2236 3605 3960 3981 222.3 -13.7 173 1636 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2200 3972 3958 3986 0 0 0 0 0 0 14.23 14.12 14.26

1956 -1.10 -145.9 2236 2199 3959 3980 271.8 -14.6 188 1962 0.00 2.47 0.00 0.000 516 0.000 0.083 2235 784 3969 3958 3980 0 0 0 0 0 0 14.63 14.09 14.64

2002 -1.16 -145.9 2236 786 3957 3982 278.2 -13.2 197 2007 0.00 2.47 0.00 0.000 1158 0.000 0.086 2235 2190 3969 3959 3980 0 0 0 0 0 0 14.26 14.11 14.34

2318 -1.19 -145.9 2236 2192 3960 3980 316.7 -11.6 210 2323 0.12 2.53 0.00 0.000 4484 0.150 0.086 2176 3614 3968 3958 3979 0 0 0 0 0 0 14.25 14.01 14.28

2463 -1.16 -145.9 2177 3616 3960 3980 339.6 -15.6 239 2470 0.12 2.42 0.00 0.000 3206 0.249 0.057 2199 2196 3969 3958 3980 0 0 0 0 0 0 13.77 14.07 14.02

2768 -1.16 -145.9 2200 2197 3959 3980 382.0 -13.5 250 2773 0.00 2.53 0.00 0.000 260 0.000 0.087 2196 3614 3969 3958 3980 0 0 0 0 0 0 14.62 14.02 14.64

2853 -1.21 -145.9 2196 3615 3958 3980 393.0 -12.3 267 2859 0.00 2.42 0.00 0.000 1158 0.000 0.056 2196 2192 3970 3958 3982 0 0 0 0 0 0 14.15 14.02 14.19

3159 -1.21 -145.9 2196 2194 3959 3980 433.3 -13.4 278 3163 0.00 2.53 0.00 0.000 260 0.000 0.086 2187 3617 3967 3955 3979 0 0 0 0 0 0 14.64 14.08 14.66

3249 -1.25 -145.9 2188 3618 3957 3980 445.3 -12.6 296 3254 0.00 2.42 0.00 0.000 1158 0.000 0.055 2187 2192 3967 3955 3979 0 0 0 0 0 0 14.23 14.09 14.28

3517 end dive: TARGET_DEPTH_EXCEEDED

state 3517 begin apogee

3523 -0.13 0.0 2188 2064 3958 3980 483.2 -14.1 310 3746 1.38 0.08 218.95 1.440 10246 0.236 0.179 2529 2115 3367 3382 3352 0 0 0 0 0 0 13.78 13.50 12.66

3750 end apogee: CONTROL_FINISHED_OK

state 3750 begin climb

3754 0.57 145.9 2530 2116 3379 3345 495.5 0.0 317 3980 0.75 1.95 211.27 1.380 10756 0.060 0.080 2792 729 2763 2797 2730 0 0 0 0 0 0 13.71 13.12 12.24

4206 0.15 145.9 2793 729 2790 2728 480.1 13.7 364 4213 0.75 2.42 0.00 0.000 5254 0.325 0.074 2639 2094 2758 2789 2727 0 0 0 0 0 0 13.40 13.81 13.83

4511 0.00 177.1 2637 2095 2789 2723 453.3 8.6 375 4562 0.20 2.42 44.25 1.460 12964 0.269 0.082 2589 729 2638 2682 2594 0 0 0 0 0 0 13.78 13.74 13.09

4737 0.04 237.4 2590 727 2680 2588 437.0 7.2 420 4832 0.00 2.40 89.95 1.383 9254 0.000 0.080 2589 2099 2397 2451 2343 0 0 0 0 0 0 14.26 14.12 12.99

5143 0.06 266.7 2589 2100 2440 2327 402.8 8.6 451 5186 0.00 0.00 42.33 1.424 8230 0.000 0.000 2588 2099 2278 2329 2227 0 0 0 0 0 0 14.51 13.99 13.15

5473 0.13 295.9 2590 2099 2322 2213 373.9 8.6 462 5523 0.10 2.42 44.12 1.408 10916 0.151 0.085 2644 732 2154 2201 2107 0 0 0 0 0 0 14.29 13.79 13.16

5578 0.13 295.9 2644 732 2194 2106 361.9 11.4 483 5583 0.00 2.42 0.00 0.000 1030 0.000 0.077 2644 2098 2149 2193 2105 0 0 0 0 0 0 14.25 14.09 14.25

5894 0.10 295.9 2644 2100 2193 2099 323.3 12.1 496 5900 0.12 2.40 0.00 0.000 4740 0.241 0.082 2616 727 2144 2192 2097 0 0 0 0 0 0 14.05 14.17 14.17

5955 0.17 314.7 2616 727 2191 2100 317.2 9.1 508 5987 0.00 2.40 26.05 1.435 9382 0.000 0.076 2616 2111 2081 2127 2036 0 0 0 0 0 0 14.33 14.20 13.24

6287 0.24 340.5 2616 2111 2123 2028 287.1 8.8 524 6335 0.12 2.47 42.08 1.376 10916 0.124 0.088 2683 723 1971 2014 1929 0 0 0 0 0 0 14.32 14.09 13.20

6368 0.20 340.5 2687 723 2009 1930 277.5 12.1 540 6374 0.15 2.42 0.00 0.000 5254 0.234 0.078 2651 2100 1967 2006 1928 0 0 0 0 0 0 13.95 14.12 14.20

6679 0.21 348.7 2651 2100 2009 1919 245.9 9.6 552 6694 0.00 2.40 8.95 1.600 8740 0.000 0.087 2654 735 1941 1983 1899 0 0 0 0 0 0 14.59 14.17 13.22

6825 0.29 379.2 2654 735 1979 1900 233.1 8.6 581 6885 0.00 2.40 51.83 1.343 9382 0.000 0.078 2654 2107 1815 1841 1790 0 0 0 0 0 0 14.28 14.15 13.23

7193 0.38 414.4 2655 2109 1834 1782 201.3 8.4 604 7258 0.12 2.53 59.38 1.294 10916 0.129 0.088 2716 733 1675 1701 1649 0 0 0 0 0 0 14.28 14.02 13.19

7373 0.38 414.4 2716 733 1686 1648 179.6 11.8 640 7379 0.00 2.40 0.00 0.000 1030 0.000 0.076 2716 2100 1665 1685 1645 0 0 0 0 0 0 14.26 14.12 14.28

7704 0.38 414.4 2717 2101 1686 1639 139.6 12.1 656 7710 0.00 2.42 0.00 0.000 516 0.000 0.088 2716 724 1662 1685 1639 0 0 0 0 0 0 14.61 14.00 14.64

7775 0.42 414.4 2716 725 1684 1640 131.4 11.1 670 7780 0.00 2.40 0.00 0.000 1158 0.000 0.076 2716 2100 1661 1684 1639 0 0 0 0 0 0 14.33 14.19 14.38

8086 0.42 414.4 2717 2100 1685 1637 96.5 10.9 685 8086 0.00 0.00 0.00 0.000 6 0.000 0.000 2716 2100 1660 1684 1637 0 0 0 0 0 0 14.61 14.62 14.62

8388 0.46 444.7 2714 2098 1686 1635 68.3 8.6 715 8409 0.00 2.47 15.30 0.405 8612 0.000 0.082 2716 3510 1550 1576 1524 0 0 0 0 0 0 14.57 13.88 13.59

8525 0.54 486.5 2717 3510 1577 1524 56.1 8.1 742 8553 0.12 2.35 23.23 0.369 11430 0.116 0.061 2770 2138 1379 1415 1343 0 0 0 0 0 0 13.97 13.92 13.65

8850 0.60 581.7 2771 2138 1416 1338 33.9 5.6 777 8907 0.00 2.58 51.35 0.310 8740 0.000 0.088 2771 691 991 1055 928 0 0 0 0 0 0 14.54 13.87 13.65

8948 0.78 644.3 2772 692 1056 928 27.5 7.1 793 8991 0.20 2.50 34.78 0.285 11430 0.100 0.077 2854 2108 734 795 674 0 0 0 0 0 0 14.10 14.04 13.75

9204 end climb: SURFACE_DEPTH_REACHED

state 9204 begin surface coast

9224 end surface coast: CONTROL_FINISHED_OK

state 9224 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	338	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	942.0
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	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,010132,7455.6016,-15101.8037,22,0.8,22,20.7,0.0,0.0,10,8.8	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	119.6,22331,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	150917,011439,7455.5752,-15101.7109,7,0.7,10,20.7,0.0,0.0,11,8.8

FINISH	0.2,1.021317	_24V_AH	12.24,206.398
SM_CCo	9290,32.38,0.210,0,0,499,703.03	_10V_AH	12.09,0.000
SM_GC	1.39,8.27,0.17,32.38,0.083,0.116,0.210,200,2230,499,-7.38,-0.34,703.03,0,0,0,0,0,0,14.29,14.29,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	422	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323280
IRIDIUM_FIX	7455.84,-15105.56,150917,010615	DATA_FILE_SIZE	30031,825
TT8_MAMPS	0.039697,0.874832	CAP_FILE_SIZE	106158,0
HUMID	47.28	CFSIZE	2097872896,1991344128
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.7
XPDR_PINGS	15	CURRENT	0.070,221.52,1
CP_FREE	0.000000	GPS	150917,035156,7454.116,-15100.948,34,0.7,34,20.7,0.0,0.0,11,7.9
PM_FREEKB_00	46974720

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	141.74	nil	0	0	0.00
Roll_motor	88	2152	2329.27	nil	0	0	0.00
VBD_pump_during_apogee	963	1600	18879.54	nil	0	0	0.00
VBD_pump_during_surface	32	209	83.06	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	9258	14	1654.44
Iridium_during_xfer	442	179	972.71	NCP	9264	20	2267.83
Transponder_ping	3	420	19.28	PMAR	9242	12	1437.67
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.98
TT8	0	0	0.00
LPSleep	6550	2	182.94
TT8_Active	880	13	148.66
TT8_Sampling	2346	33	948.85
TT8_CF8	344	38	161.31
TT8_Kalman	0	0	0.00
Analog_circuits	2238	10	270.60
GPS_charging	0	0	0.00
Compass	1181	7	99.98
RAFOS	0	0	0.00
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	196	2218	496	490	0.0	0.0	0	144	0.00	0.00	-91.35	0.000	16386	0.000	0.000	195	2218	2130	2054	2207	0	0	0	0	0	0	14.49	28.83	14.50
148	-0.57	-145.9	197	2218	2057	2207	3.8	-4.9	9	205	12.82	2.83	-35.92	0.000	18724	0.451	2.153	2377	3614	3966	3952	3980	0	0	0	0	0	0	13.52	12.59	14.05
395	-0.71	-145.9	2377	3615	3957	3981	49.1	-13.0	58	401	0.00	2.45	0.00	0.000	1158	0.000	0.055	2376	2190	3968	3957	3980	0	0	0	0	0	0	14.11	14.00	14.15
701	-0.85	-145.9	2377	2191	3960	3981	82.5	-8.7	89	706	0.20	2.50	0.00	0.000	4516	0.103	0.085	2291	3609	3969	3959	3980	0	0	0	0	0	0	14.16	14.05	14.20
824	-0.96	-145.9	2292	3610	3959	3978	98.2	-12.2	113	829	0.00	2.42	0.00	0.000	1158	0.000	0.058	2291	2194	3968	3958	3979	0	0	0	0	0	0	14.30	14.15	14.32
1144	-1.01	-145.9	2291	2194	3959	3981	141.4	-12.8	126	1149	0.12	2.50	0.00	0.000	4484	0.142	0.084	2236	3604	3971	3962	3980	0	0	0	0	0	0	14.27	14.10	14.31
1215	-1.05	-145.9	2236	3606	3960	3980	152.1	-14.9	140	1220	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2196	3969	3958	3980	0	0	0	0	0	0	14.15	14.02	14.19
1536	-1.02	-145.9	2236	2195	3960	3979	207.8	-17.3	154	1541	0.00	2.50	0.00	0.000	388	0.000	0.087	2236	3604	3969	3958	3980	0	0	0	0	0	0	14.59	14.08	14.62
1631	-1.10	-145.9	2236	3605	3960	3981	222.3	-13.7	173	1636	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2200	3972	3958	3986	0	0	0	0	0	0	14.23	14.12	14.26
1956	-1.10	-145.9	2236	2199	3959	3980	271.8	-14.6	188	1962	0.00	2.47	0.00	0.000	516	0.000	0.083	2235	784	3969	3958	3980	0	0	0	0	0	0	14.63	14.09	14.64
2002	-1.16	-145.9	2236	786	3957	3982	278.2	-13.2	197	2007	0.00	2.47	0.00	0.000	1158	0.000	0.086	2235	2190	3969	3959	3980	0	0	0	0	0	0	14.26	14.11	14.34
2318	-1.19	-145.9	2236	2192	3960	3980	316.7	-11.6	210	2323	0.12	2.53	0.00	0.000	4484	0.150	0.086	2176	3614	3968	3958	3979	0	0	0	0	0	0	14.25	14.01	14.28
2463	-1.16	-145.9	2177	3616	3960	3980	339.6	-15.6	239	2470	0.12	2.42	0.00	0.000	3206	0.249	0.057	2199	2196	3969	3958	3980	0	0	0	0	0	0	13.77	14.07	14.02
2768	-1.16	-145.9	2200	2197	3959	3980	382.0	-13.5	250	2773	0.00	2.53	0.00	0.000	260	0.000	0.087	2196	3614	3969	3958	3980	0	0	0	0	0	0	14.62	14.02	14.64
2853	-1.21	-145.9	2196	3615	3958	3980	393.0	-12.3	267	2859	0.00	2.42	0.00	0.000	1158	0.000	0.056	2196	2192	3970	3958	3982	0	0	0	0	0	0	14.15	14.02	14.19
3159	-1.21	-145.9	2196	2194	3959	3980	433.3	-13.4	278	3163	0.00	2.53	0.00	0.000	260	0.000	0.086	2187	3617	3967	3955	3979	0	0	0	0	0	0	14.64	14.08	14.66
3249	-1.25	-145.9	2188	3618	3957	3980	445.3	-12.6	296	3254	0.00	2.42	0.00	0.000	1158	0.000	0.055	2187	2192	3967	3955	3979	0	0	0	0	0	0	14.23	14.09	14.28
3517	end dive: TARGET_DEPTH_EXCEEDED
state	3517	begin apogee
3523	-0.13	0.0	2188	2064	3958	3980	483.2	-14.1	310	3746	1.38	0.08	218.95	1.440	10246	0.236	0.179	2529	2115	3367	3382	3352	0	0	0	0	0	0	13.78	13.50	12.66
3750	end apogee: CONTROL_FINISHED_OK
state	3750	begin climb
3754	0.57	145.9	2530	2116	3379	3345	495.5	0.0	317	3980	0.75	1.95	211.27	1.380	10756	0.060	0.080	2792	729	2763	2797	2730	0	0	0	0	0	0	13.71	13.12	12.24
4206	0.15	145.9	2793	729	2790	2728	480.1	13.7	364	4213	0.75	2.42	0.00	0.000	5254	0.325	0.074	2639	2094	2758	2789	2727	0	0	0	0	0	0	13.40	13.81	13.83
4511	0.00	177.1	2637	2095	2789	2723	453.3	8.6	375	4562	0.20	2.42	44.25	1.460	12964	0.269	0.082	2589	729	2638	2682	2594	0	0	0	0	0	0	13.78	13.74	13.09
4737	0.04	237.4	2590	727	2680	2588	437.0	7.2	420	4832	0.00	2.40	89.95	1.383	9254	0.000	0.080	2589	2099	2397	2451	2343	0	0	0	0	0	0	14.26	14.12	12.99
5143	0.06	266.7	2589	2100	2440	2327	402.8	8.6	451	5186	0.00	0.00	42.33	1.424	8230	0.000	0.000	2588	2099	2278	2329	2227	0	0	0	0	0	0	14.51	13.99	13.15
5473	0.13	295.9	2590	2099	2322	2213	373.9	8.6	462	5523	0.10	2.42	44.12	1.408	10916	0.151	0.085	2644	732	2154	2201	2107	0	0	0	0	0	0	14.29	13.79	13.16
5578	0.13	295.9	2644	732	2194	2106	361.9	11.4	483	5583	0.00	2.42	0.00	0.000	1030	0.000	0.077	2644	2098	2149	2193	2105	0	0	0	0	0	0	14.25	14.09	14.25
5894	0.10	295.9	2644	2100	2193	2099	323.3	12.1	496	5900	0.12	2.40	0.00	0.000	4740	0.241	0.082	2616	727	2144	2192	2097	0	0	0	0	0	0	14.05	14.17	14.17
5955	0.17	314.7	2616	727	2191	2100	317.2	9.1	508	5987	0.00	2.40	26.05	1.435	9382	0.000	0.076	2616	2111	2081	2127	2036	0	0	0	0	0	0	14.33	14.20	13.24
6287	0.24	340.5	2616	2111	2123	2028	287.1	8.8	524	6335	0.12	2.47	42.08	1.376	10916	0.124	0.088	2683	723	1971	2014	1929	0	0	0	0	0	0	14.32	14.09	13.20
6368	0.20	340.5	2687	723	2009	1930	277.5	12.1	540	6374	0.15	2.42	0.00	0.000	5254	0.234	0.078	2651	2100	1967	2006	1928	0	0	0	0	0	0	13.95	14.12	14.20
6679	0.21	348.7	2651	2100	2009	1919	245.9	9.6	552	6694	0.00	2.40	8.95	1.600	8740	0.000	0.087	2654	735	1941	1983	1899	0	0	0	0	0	0	14.59	14.17	13.22
6825	0.29	379.2	2654	735	1979	1900	233.1	8.6	581	6885	0.00	2.40	51.83	1.343	9382	0.000	0.078	2654	2107	1815	1841	1790	0	0	0	0	0	0	14.28	14.15	13.23
7193	0.38	414.4	2655	2109	1834	1782	201.3	8.4	604	7258	0.12	2.53	59.38	1.294	10916	0.129	0.088	2716	733	1675	1701	1649	0	0	0	0	0	0	14.28	14.02	13.19
7373	0.38	414.4	2716	733	1686	1648	179.6	11.8	640	7379	0.00	2.40	0.00	0.000	1030	0.000	0.076	2716	2100	1665	1685	1645	0	0	0	0	0	0	14.26	14.12	14.28
7704	0.38	414.4	2717	2101	1686	1639	139.6	12.1	656	7710	0.00	2.42	0.00	0.000	516	0.000	0.088	2716	724	1662	1685	1639	0	0	0	0	0	0	14.61	14.00	14.64
7775	0.42	414.4	2716	725	1684	1640	131.4	11.1	670	7780	0.00	2.40	0.00	0.000	1158	0.000	0.076	2716	2100	1661	1684	1639	0	0	0	0	0	0	14.33	14.19	14.38
8086	0.42	414.4	2717	2100	1685	1637	96.5	10.9	685	8086	0.00	0.00	0.00	0.000	6	0.000	0.000	2716	2100	1660	1684	1637	0	0	0	0	0	0	14.61	14.62	14.62
8388	0.46	444.7	2714	2098	1686	1635	68.3	8.6	715	8409	0.00	2.47	15.30	0.405	8612	0.000	0.082	2716	3510	1550	1576	1524	0	0	0	0	0	0	14.57	13.88	13.59
8525	0.54	486.5	2717	3510	1577	1524	56.1	8.1	742	8553	0.12	2.35	23.23	0.369	11430	0.116	0.061	2770	2138	1379	1415	1343	0	0	0	0	0	0	13.97	13.92	13.65
8850	0.60	581.7	2771	2138	1416	1338	33.9	5.6	777	8907	0.00	2.58	51.35	0.310	8740	0.000	0.088	2771	691	991	1055	928	0	0	0	0	0	0	14.54	13.87	13.65
8948	0.78	644.3	2772	692	1056	928	27.5	7.1	793	8991	0.20	2.50	34.78	0.285	11430	0.100	0.077	2854	2108	734	795	674	0	0	0	0	0	0	14.10	14.04	13.75
9204	end climb: SURFACE_DEPTH_REACHED
state	9204	begin surface coast
9224	end surface coast: CONTROL_FINISHED_OK
state	9224	begin surface