Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 346 * 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 346 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 968.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 968.0 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 30 VBD_MIN 500

DIVE 346 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 150917,231716,7446.8638,-15048.8545,16,0.8,17,20.8,0.0,0.0,10,10.0 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 1.20 MHEAD_RNG_PITCHd_Wd 117.3,5529,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 150917,232819,7446.8682,-15048.9336,6,0.9,20,20.8,0.0,79.9,10,9.6

Post-dive calculations and measurements:

FINISH 0.1,1.021241 _24V_AH 12.18,210.371

SM_CCo 8821,27.95,0.210,0,0,499,703.03 _10V_AH 12.29,0.000

SM_GC 1.40,8.18,2.58,27.95,0.078,0.063,0.210,202,2207,499,-7.38,-0.76,703.03,0,0,0,0,0,0,14.29,14.21,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 312 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323368

IRIDIUM_FIX 7448.41,-15033.62,150917,204002 DATA_FILE_SIZE 26695,769

TT8_MAMPS 0.040446,0.955724 CAP_FILE_SIZE 104154,0

HUMID 47.51 CFSIZE 2097872896,1989148672

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

TCM_TEMP 13.20 SOUNDSPEED 1448.5

XPDR_PINGS 7 CURRENT 0.060,24.28,1

CP_FREE 15924723712.000000 GPS 160917,015732,7445.937,-15046.412,27,0.8,27,20.8,0.0,0.0,11,8.6

PM_FREEKB_00 46642048

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 144.38 nil 0 0 0.00

Roll_motor 89 2158 2348.59 nil 0 0 0.00

VBD_pump_during_apogee 950 1546 17900.72 nil 0 0 0.00

VBD_pump_during_surface 27 210 71.62 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 8827 14 1577.54

Iridium_during_xfer 368 178 800.67 NCP 8798 20 2143.19

Transponder_ping 1 420 8.95 PMAR 8771 11 1196.93

GUMSTIX_24V 0 0 0.00

GPS 21 22 6.07

TT8 0 0 0.00

LPSleep 6218 2 176.54

TT8_Active 960 13 164.89

TT8_Sampling 1996 33 820.72

TT8_CF8 346 38 164.80

TT8_Kalman 0 0 0.00

Analog_circuits 2070 10 254.41

GPS_charging 0 0 0.00

Compass 1105 7 95.12

RAFOS 2146 48 1265.97

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 205 2231 497 492 0.0 0.0 0 145 0.00 0.00 -91.32 0.000 16386 0.000 0.000 204 2230 2141 2068 2214 0 0 0 0 0 0 14.49 28.83 14.51

149 -0.57 -145.9 206 2230 2072 2215 3.8 -4.9 9 202 12.85 2.90 -35.15 0.000 18980 0.453 2.158 2384 804 3965 3950 3981 0 0 0 0 0 0 13.54 12.59 14.00

282 -0.72 -145.9 2384 801 3955 3980 37.2 -13.3 35 288 0.12 2.47 0.00 0.000 5254 0.122 0.085 2335 2188 3967 3955 3980 0 0 0 0 0 0 14.13 14.05 14.23

593 -0.78 -145.9 2336 2189 3957 3980 90.4 -13.7 67 598 0.00 2.53 0.00 0.000 388 0.000 0.088 2332 3610 3968 3956 3980 0 0 0 0 0 0 14.57 14.02 14.57

716 -0.96 -145.9 2333 3611 3957 3980 103.4 -9.9 91 721 0.20 2.42 0.00 0.000 5286 0.100 0.054 2253 2194 3967 3954 3980 0 0 0 0 0 0 14.02 13.95 14.09

1046 -0.96 -145.9 2253 2195 3957 3980 160.6 -16.6 107 1051 0.00 2.53 0.00 0.000 260 0.000 0.085 2243 3610 3967 3956 3979 0 0 0 0 0 0 14.61 14.00 14.63

1107 -1.03 -145.9 2244 3611 3957 3981 169.8 -14.2 119 1112 0.00 2.42 0.00 0.000 1158 0.000 0.057 2243 2197 3967 3956 3979 0 0 0 0 0 0 14.24 14.07 14.28

1437 -1.03 -145.9 2243 2195 3957 3980 220.7 -14.8 135 1442 0.00 2.55 0.00 0.000 260 0.000 0.087 2236 3617 3969 3956 3982 0 0 0 0 0 0 14.64 14.03 14.66

1517 -1.11 -145.9 2237 3619 3957 3981 231.5 -12.5 151 1522 0.00 2.42 0.00 0.000 1158 0.000 0.057 2236 2189 3967 3956 3979 0 0 0 0 0 0 14.28 14.15 14.33

1828 -1.14 -145.9 2237 2189 3957 3981 273.6 -13.1 163 1828 0.00 0.00 0.00 0.000 134 0.000 0.000 2236 2188 3968 3956 3980 0 0 0 0 0 0 14.65 14.66 14.66

2128 -1.17 -145.9 2237 2187 3957 3980 309.5 -11.6 173 2133 0.00 2.58 0.00 0.000 388 0.000 0.089 2236 3608 3967 3956 3979 0 0 0 0 0 0 14.44 13.48 14.45

2228 -1.29 -145.9 2236 3609 3957 3980 320.1 -10.2 193 2233 0.22 2.42 0.00 0.000 5254 0.101 0.057 2156 2199 3968 3956 3980 0 0 0 0 0 0 14.07 14.00 14.16

2549 -1.18 -145.9 2156 2198 3956 3979 378.6 -18.5 207 2554 0.17 2.55 0.00 0.000 2436 0.321 0.083 2181 3616 3967 3955 3979 0 0 0 0 0 0 13.47 13.83 13.69

2624 -1.18 -145.9 2182 3614 3956 3979 390.3 -14.0 222 2629 0.00 2.45 0.00 0.000 1030 0.000 0.057 2181 2198 3967 3955 3980 0 0 0 0 0 0 14.06 13.94 14.09

2940 -1.14 -145.9 2182 2196 3956 3979 437.8 -15.0 235 2945 0.12 2.58 0.00 0.000 2436 0.318 0.083 2198 3613 3967 3955 3979 0 0 0 0 0 0 13.60 13.88 13.78

3052 -1.20 -145.9 2199 3613 3956 3980 451.8 -11.8 257 3057 0.00 2.45 0.00 0.000 1158 0.000 0.055 2197 2198 3965 3954 3976 0 0 0 0 0 0 14.10 13.98 14.12

3270 end dive: TARGET_DEPTH_EXCEEDED

state 3270 begin apogee

3276 -0.13 0.0 2199 2058 3956 3979 480.6 -12.9 266 3499 1.33 0.10 219.02 1.434 10246 0.228 0.158 2530 2123 3365 3379 3351 0 0 0 0 0 0 13.62 13.43 12.58

3503 end apogee: CONTROL_FINISHED_OK

state 3503 begin climb

3508 0.57 145.9 2530 2124 3374 3341 492.4 0.0 273 3727 0.75 2.67 207.93 1.382 10756 0.063 0.075 2789 724 2766 2802 2731 0 0 0 0 0 0 13.58 12.77 12.18

3952 0.15 145.9 2792 727 2788 2728 475.9 14.2 355 3957 0.75 2.47 0.00 0.000 5254 0.322 0.074 2636 2089 2756 2787 2726 0 0 0 0 0 0 13.29 13.45 13.69

4265 0.00 172.0 2637 2090 2787 2723 447.6 8.8 367 4305 0.20 2.38 34.80 1.473 12964 0.275 0.082 2589 725 2659 2699 2619 0 0 0 0 0 0 13.65 13.72 13.08

4371 0.04 229.2 2589 725 2698 2614 439.6 7.4 388 4463 0.00 2.40 84.40 1.383 9254 0.000 0.080 2589 2111 2429 2484 2375 0 0 0 0 0 0 14.13 14.01 12.93

4779 0.06 259.3 2591 2111 2473 2360 404.6 8.6 419 4825 0.00 0.00 43.70 1.423 8230 0.000 0.000 2589 2111 2306 2357 2256 0 0 0 0 0 0 14.56 13.99 13.14

5109 0.12 288.0 2589 2111 2348 2244 375.9 8.7 430 5158 0.00 2.50 42.17 1.421 8868 0.000 0.087 2589 733 2186 2233 2140 0 0 0 0 0 0 14.58 14.04 13.16

5216 0.26 324.5 2590 733 2229 2138 367.0 8.3 451 5279 0.25 2.42 56.60 1.362 11430 0.085 0.080 2687 2107 2040 2083 1998 0 0 0 0 0 0 14.23 14.12 13.09

5590 0.17 324.5 2687 2107 2075 1984 309.7 15.3 476 5595 0.17 2.42 0.00 0.000 4740 0.246 0.083 2652 730 2028 2074 1983 0 0 0 0 0 0 13.85 14.08 14.04

5661 0.17 324.5 2652 730 2073 1983 300.7 11.7 490 5666 0.00 2.40 0.00 0.000 1030 0.000 0.078 2652 2100 2027 2072 1983 0 0 0 0 0 0 14.28 14.17 14.35

5981 0.17 324.5 2653 2100 2072 1980 262.8 11.6 504 5987 0.00 2.42 0.00 0.000 516 0.000 0.087 2654 721 2025 2071 1980 0 0 0 0 0 0 14.60 14.16 14.62

6057 0.21 324.5 2655 722 2071 1980 254.6 10.3 519 6062 0.00 2.40 0.00 0.000 1158 0.000 0.077 2654 2103 2025 2070 1980 0 0 0 0 0 0 14.33 14.19 14.38

6373 0.21 334.7 2654 2106 2070 1980 223.0 9.5 532 6388 0.00 2.40 10.70 1.547 8740 0.000 0.085 2654 730 1997 2042 1953 0 0 0 0 0 0 14.62 13.94 13.31

6438 0.30 364.8 2655 730 2039 1953 217.2 8.6 545 6494 0.00 2.40 50.78 1.336 9382 0.000 0.079 2654 2102 1878 1911 1846 0 0 0 0 0 0 14.18 14.05 13.19

6795 0.36 386.2 2654 2103 1899 1837 184.9 9.0 566 6835 0.12 2.50 34.65 1.343 10916 0.126 0.086 2716 731 1784 1804 1765 0 0 0 0 0 0 14.23 14.08 13.21

6875 0.36 386.2 2717 731 1804 1765 175.2 12.3 582 6880 0.00 2.40 0.00 0.000 1030 0.000 0.076 2716 2100 1783 1803 1764 0 0 0 0 0 0 14.26 14.14 14.31

7186 0.32 386.2 2717 2101 1804 1758 137.9 11.7 594 7191 0.12 2.42 0.00 0.000 4740 0.236 0.085 2685 723 1780 1802 1758 0 0 0 0 0 0 14.00 14.14 14.11

7246 0.42 407.8 2685 724 1802 1759 131.9 9.0 606 7287 0.00 2.40 34.83 1.321 9382 0.000 0.077 2685 2100 1702 1722 1682 0 0 0 0 0 0 14.32 14.18 13.25

7609 0.50 438.6 2684 2102 1719 1670 99.8 8.6 628 7632 0.17 2.42 16.27 0.504 10916 0.106 0.085 2766 730 1576 1600 1553 0 0 0 0 0 0 14.25 13.87 13.54

7700 0.45 438.6 2768 730 1601 1554 88.5 13.0 645 7706 0.17 2.42 0.00 0.000 5254 0.250 0.078 2730 2107 1576 1601 1552 0 0 0 0 0 0 13.90 14.11 14.16

8003 0.53 513.3 2730 2107 1601 1549 62.0 6.6 676 8044 0.00 0.00 39.83 0.388 8358 0.000 0.000 2730 2106 1271 1321 1222 0 0 0 0 0 0 14.59 14.12 13.71

8343 0.74 622.2 2730 2107 1322 1214 42.5 5.0 710 8407 0.25 2.45 57.92 0.324 10916 0.086 0.086 2838 731 825 891 759 0 0 0 0 0 0 14.22 13.93 13.69

8439 0.74 622.2 2838 731 892 758 33.0 11.3 728 8445 0.00 2.40 0.00 0.000 1030 0.000 0.076 2837 2099 824 891 758 0 0 0 0 0 0 14.20 14.07 14.23

8751 0.80 652.8 2837 2099 891 752 4.5 8.6 760 8772 0.00 2.50 16.52 0.220 8868 0.000 0.088 2838 730 699 760 639 0 0 0 0 0 0 14.53 14.02 13.78

8775 end climb: SURFACE_DEPTH_REACHED

state 8775 begin surface coast

8795 end surface coast: CONTROL_FINISHED_OK

state 8795 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	346	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	968.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,231716,7446.8638,-15048.8545,16,0.8,17,20.8,0.0,0.0,10,10.0	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	1.20	MHEAD_RNG_PITCHd_Wd	117.3,5529,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	150917,232819,7446.8682,-15048.9336,6,0.9,20,20.8,0.0,79.9,10,9.6

FINISH	0.1,1.021241	_24V_AH	12.18,210.371
SM_CCo	8821,27.95,0.210,0,0,499,703.03	_10V_AH	12.29,0.000
SM_GC	1.40,8.18,2.58,27.95,0.078,0.063,0.210,202,2207,499,-7.38,-0.76,703.03,0,0,0,0,0,0,14.29,14.21,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	312	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323368
IRIDIUM_FIX	7448.41,-15033.62,150917,204002	DATA_FILE_SIZE	26695,769
TT8_MAMPS	0.040446,0.955724	CAP_FILE_SIZE	104154,0
HUMID	47.51	CFSIZE	2097872896,1989148672
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.5
XPDR_PINGS	7	CURRENT	0.060,24.28,1
CP_FREE	15924723712.000000	GPS	160917,015732,7445.937,-15046.412,27,0.8,27,20.8,0.0,0.0,11,8.6
PM_FREEKB_00	46642048

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	144.38	nil	0	0	0.00
Roll_motor	89	2158	2348.59	nil	0	0	0.00
VBD_pump_during_apogee	950	1546	17900.72	nil	0	0	0.00
VBD_pump_during_surface	27	210	71.62	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	8827	14	1577.54
Iridium_during_xfer	368	178	800.67	NCP	8798	20	2143.19
Transponder_ping	1	420	8.95	PMAR	8771	11	1196.93
GUMSTIX_24V	0	0	0.00
GPS	21	22	6.07
TT8	0	0	0.00
LPSleep	6218	2	176.54
TT8_Active	960	13	164.89
TT8_Sampling	1996	33	820.72
TT8_CF8	346	38	164.80
TT8_Kalman	0	0	0.00
Analog_circuits	2070	10	254.41
GPS_charging	0	0	0.00
Compass	1105	7	95.12
RAFOS	2146	48	1265.97
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	205	2231	497	492	0.0	0.0	0	145	0.00	0.00	-91.32	0.000	16386	0.000	0.000	204	2230	2141	2068	2214	0	0	0	0	0	0	14.49	28.83	14.51
149	-0.57	-145.9	206	2230	2072	2215	3.8	-4.9	9	202	12.85	2.90	-35.15	0.000	18980	0.453	2.158	2384	804	3965	3950	3981	0	0	0	0	0	0	13.54	12.59	14.00
282	-0.72	-145.9	2384	801	3955	3980	37.2	-13.3	35	288	0.12	2.47	0.00	0.000	5254	0.122	0.085	2335	2188	3967	3955	3980	0	0	0	0	0	0	14.13	14.05	14.23
593	-0.78	-145.9	2336	2189	3957	3980	90.4	-13.7	67	598	0.00	2.53	0.00	0.000	388	0.000	0.088	2332	3610	3968	3956	3980	0	0	0	0	0	0	14.57	14.02	14.57
716	-0.96	-145.9	2333	3611	3957	3980	103.4	-9.9	91	721	0.20	2.42	0.00	0.000	5286	0.100	0.054	2253	2194	3967	3954	3980	0	0	0	0	0	0	14.02	13.95	14.09
1046	-0.96	-145.9	2253	2195	3957	3980	160.6	-16.6	107	1051	0.00	2.53	0.00	0.000	260	0.000	0.085	2243	3610	3967	3956	3979	0	0	0	0	0	0	14.61	14.00	14.63
1107	-1.03	-145.9	2244	3611	3957	3981	169.8	-14.2	119	1112	0.00	2.42	0.00	0.000	1158	0.000	0.057	2243	2197	3967	3956	3979	0	0	0	0	0	0	14.24	14.07	14.28
1437	-1.03	-145.9	2243	2195	3957	3980	220.7	-14.8	135	1442	0.00	2.55	0.00	0.000	260	0.000	0.087	2236	3617	3969	3956	3982	0	0	0	0	0	0	14.64	14.03	14.66
1517	-1.11	-145.9	2237	3619	3957	3981	231.5	-12.5	151	1522	0.00	2.42	0.00	0.000	1158	0.000	0.057	2236	2189	3967	3956	3979	0	0	0	0	0	0	14.28	14.15	14.33
1828	-1.14	-145.9	2237	2189	3957	3981	273.6	-13.1	163	1828	0.00	0.00	0.00	0.000	134	0.000	0.000	2236	2188	3968	3956	3980	0	0	0	0	0	0	14.65	14.66	14.66
2128	-1.17	-145.9	2237	2187	3957	3980	309.5	-11.6	173	2133	0.00	2.58	0.00	0.000	388	0.000	0.089	2236	3608	3967	3956	3979	0	0	0	0	0	0	14.44	13.48	14.45
2228	-1.29	-145.9	2236	3609	3957	3980	320.1	-10.2	193	2233	0.22	2.42	0.00	0.000	5254	0.101	0.057	2156	2199	3968	3956	3980	0	0	0	0	0	0	14.07	14.00	14.16
2549	-1.18	-145.9	2156	2198	3956	3979	378.6	-18.5	207	2554	0.17	2.55	0.00	0.000	2436	0.321	0.083	2181	3616	3967	3955	3979	0	0	0	0	0	0	13.47	13.83	13.69
2624	-1.18	-145.9	2182	3614	3956	3979	390.3	-14.0	222	2629	0.00	2.45	0.00	0.000	1030	0.000	0.057	2181	2198	3967	3955	3980	0	0	0	0	0	0	14.06	13.94	14.09
2940	-1.14	-145.9	2182	2196	3956	3979	437.8	-15.0	235	2945	0.12	2.58	0.00	0.000	2436	0.318	0.083	2198	3613	3967	3955	3979	0	0	0	0	0	0	13.60	13.88	13.78
3052	-1.20	-145.9	2199	3613	3956	3980	451.8	-11.8	257	3057	0.00	2.45	0.00	0.000	1158	0.000	0.055	2197	2198	3965	3954	3976	0	0	0	0	0	0	14.10	13.98	14.12
3270	end dive: TARGET_DEPTH_EXCEEDED
state	3270	begin apogee
3276	-0.13	0.0	2199	2058	3956	3979	480.6	-12.9	266	3499	1.33	0.10	219.02	1.434	10246	0.228	0.158	2530	2123	3365	3379	3351	0	0	0	0	0	0	13.62	13.43	12.58
3503	end apogee: CONTROL_FINISHED_OK
state	3503	begin climb
3508	0.57	145.9	2530	2124	3374	3341	492.4	0.0	273	3727	0.75	2.67	207.93	1.382	10756	0.063	0.075	2789	724	2766	2802	2731	0	0	0	0	0	0	13.58	12.77	12.18
3952	0.15	145.9	2792	727	2788	2728	475.9	14.2	355	3957	0.75	2.47	0.00	0.000	5254	0.322	0.074	2636	2089	2756	2787	2726	0	0	0	0	0	0	13.29	13.45	13.69
4265	0.00	172.0	2637	2090	2787	2723	447.6	8.8	367	4305	0.20	2.38	34.80	1.473	12964	0.275	0.082	2589	725	2659	2699	2619	0	0	0	0	0	0	13.65	13.72	13.08
4371	0.04	229.2	2589	725	2698	2614	439.6	7.4	388	4463	0.00	2.40	84.40	1.383	9254	0.000	0.080	2589	2111	2429	2484	2375	0	0	0	0	0	0	14.13	14.01	12.93
4779	0.06	259.3	2591	2111	2473	2360	404.6	8.6	419	4825	0.00	0.00	43.70	1.423	8230	0.000	0.000	2589	2111	2306	2357	2256	0	0	0	0	0	0	14.56	13.99	13.14
5109	0.12	288.0	2589	2111	2348	2244	375.9	8.7	430	5158	0.00	2.50	42.17	1.421	8868	0.000	0.087	2589	733	2186	2233	2140	0	0	0	0	0	0	14.58	14.04	13.16
5216	0.26	324.5	2590	733	2229	2138	367.0	8.3	451	5279	0.25	2.42	56.60	1.362	11430	0.085	0.080	2687	2107	2040	2083	1998	0	0	0	0	0	0	14.23	14.12	13.09
5590	0.17	324.5	2687	2107	2075	1984	309.7	15.3	476	5595	0.17	2.42	0.00	0.000	4740	0.246	0.083	2652	730	2028	2074	1983	0	0	0	0	0	0	13.85	14.08	14.04
5661	0.17	324.5	2652	730	2073	1983	300.7	11.7	490	5666	0.00	2.40	0.00	0.000	1030	0.000	0.078	2652	2100	2027	2072	1983	0	0	0	0	0	0	14.28	14.17	14.35
5981	0.17	324.5	2653	2100	2072	1980	262.8	11.6	504	5987	0.00	2.42	0.00	0.000	516	0.000	0.087	2654	721	2025	2071	1980	0	0	0	0	0	0	14.60	14.16	14.62
6057	0.21	324.5	2655	722	2071	1980	254.6	10.3	519	6062	0.00	2.40	0.00	0.000	1158	0.000	0.077	2654	2103	2025	2070	1980	0	0	0	0	0	0	14.33	14.19	14.38
6373	0.21	334.7	2654	2106	2070	1980	223.0	9.5	532	6388	0.00	2.40	10.70	1.547	8740	0.000	0.085	2654	730	1997	2042	1953	0	0	0	0	0	0	14.62	13.94	13.31
6438	0.30	364.8	2655	730	2039	1953	217.2	8.6	545	6494	0.00	2.40	50.78	1.336	9382	0.000	0.079	2654	2102	1878	1911	1846	0	0	0	0	0	0	14.18	14.05	13.19
6795	0.36	386.2	2654	2103	1899	1837	184.9	9.0	566	6835	0.12	2.50	34.65	1.343	10916	0.126	0.086	2716	731	1784	1804	1765	0	0	0	0	0	0	14.23	14.08	13.21
6875	0.36	386.2	2717	731	1804	1765	175.2	12.3	582	6880	0.00	2.40	0.00	0.000	1030	0.000	0.076	2716	2100	1783	1803	1764	0	0	0	0	0	0	14.26	14.14	14.31
7186	0.32	386.2	2717	2101	1804	1758	137.9	11.7	594	7191	0.12	2.42	0.00	0.000	4740	0.236	0.085	2685	723	1780	1802	1758	0	0	0	0	0	0	14.00	14.14	14.11
7246	0.42	407.8	2685	724	1802	1759	131.9	9.0	606	7287	0.00	2.40	34.83	1.321	9382	0.000	0.077	2685	2100	1702	1722	1682	0	0	0	0	0	0	14.32	14.18	13.25
7609	0.50	438.6	2684	2102	1719	1670	99.8	8.6	628	7632	0.17	2.42	16.27	0.504	10916	0.106	0.085	2766	730	1576	1600	1553	0	0	0	0	0	0	14.25	13.87	13.54
7700	0.45	438.6	2768	730	1601	1554	88.5	13.0	645	7706	0.17	2.42	0.00	0.000	5254	0.250	0.078	2730	2107	1576	1601	1552	0	0	0	0	0	0	13.90	14.11	14.16
8003	0.53	513.3	2730	2107	1601	1549	62.0	6.6	676	8044	0.00	0.00	39.83	0.388	8358	0.000	0.000	2730	2106	1271	1321	1222	0	0	0	0	0	0	14.59	14.12	13.71
8343	0.74	622.2	2730	2107	1322	1214	42.5	5.0	710	8407	0.25	2.45	57.92	0.324	10916	0.086	0.086	2838	731	825	891	759	0	0	0	0	0	0	14.22	13.93	13.69
8439	0.74	622.2	2838	731	892	758	33.0	11.3	728	8445	0.00	2.40	0.00	0.000	1030	0.000	0.076	2837	2099	824	891	758	0	0	0	0	0	0	14.20	14.07	14.23
8751	0.80	652.8	2837	2099	891	752	4.5	8.6	760	8772	0.00	2.50	16.52	0.220	8868	0.000	0.088	2838	730	699	760	639	0	0	0	0	0	0	14.53	14.02	13.78
8775	end climb: SURFACE_DEPTH_REACHED
state	8775	begin surface coast
8795	end surface coast: CONTROL_FINISHED_OK
state	8795	begin surface