Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 294 * 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 294 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 816.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 24 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 816.0 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 28 VBD_MIN 500

DIVE 294 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 090917,230336,7542.1572,-15110.2354,24,0.7,27,20.8,0.5,302.7,12,9.8 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 1.14 MHEAD_RNG_PITCHd_Wd 138.8,107011,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.6 D_GRID 480

GPS2 090917,231020,7542.1475,-15110.1748,6,0.8,22,20.8,0.5,244.8,11,9.5

Post-dive calculations and measurements:

FINISH 0.7,1.021558 _24V_AH 12.16,184.327

SM_CCo 9075,1.25,0.257,0,0,501,702.78 _10V_AH 11.99,0.000

SM_GC 1.80,8.25,0.15,1.25,0.074,0.125,0.257,199,2221,501,-7.39,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 252 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323628

IRIDIUM_FIX 7540.58,-15117.82,090917,202854 DATA_FILE_SIZE 23426,705

TT8_MAMPS 0.040446,1.0149 CAP_FILE_SIZE 98437,0

HUMID 46.65 CFSIZE 2097872896,2003009536

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

TCM_TEMP 13.30 SOUNDSPEED 1446.9

XPDR_PINGS 5 CURRENT 0.039,36.36,1

CP_FREE 15946711040.000000 GPS 100917,014339,7541.104,-15109.463,36,0.7,43,20.8,0.3,325.1,12,9.2

PM_FREEKB_00 48887616

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 144.11 nil 0 0 0.00

Roll_motor 80 2132 2079.99 nil 0 0 0.00

VBD_pump_during_apogee 1008 1468 18015.55 nil 0 0 0.00

VBD_pump_during_surface 1 257 3.91 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 8656 15 1618.85

Iridium_during_xfer 201 133 325.75 NCP 9042 20 2199.01

Transponder_ping 1 420 6.38 PMAR 9029 98 10826.32

GUMSTIX_24V 0 0 0.00

GPS 24 22 6.50

TT8 0 0 0.00

LPSleep 6269 2 173.65

TT8_Active 896 13 150.22

TT8_Sampling 2075 33 832.05

TT8_CF8 256 38 119.00

TT8_Kalman 0 0 0.00

Analog_circuits 2106 10 252.53

GPS_charging 0 0 0.00

Compass 1011 7 84.92

RAFOS 2140 48 1231.61

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 -145.9 193 2204 511 491 0.0 0.0 0 145 0.00 0.00 -91.65 0.000 16386 0.000 0.000 190 2203 2124 2053 2196 0 0 0 0 0 0 14.51 28.83 14.54

147 -0.57 -145.9 191 2204 2055 2198 3.5 -4.0 9 205 12.98 2.83 -38.25 0.000 19236 0.454 2.133 2375 3604 3963 3947 3980 1 0 0 0 0 0 13.31 12.55 13.94

210 -0.42 -145.9 2376 3603 3951 3980 22.1 -27.2 21 216 0.28 2.40 0.00 0.000 3206 0.256 0.051 2435 2202 3965 3951 3979 0 0 0 0 0 0 13.71 13.95 13.95

521 -0.61 -145.9 2435 2203 3955 3981 59.0 -8.3 53 526 0.15 2.55 0.00 0.000 4516 0.118 0.086 2362 3607 3967 3955 3980 0 0 0 0 0 0 13.99 13.88 14.03

736 -0.81 -145.9 2363 3609 3954 3981 81.2 -9.4 96 744 0.15 2.42 0.00 0.000 5286 0.119 0.053 2305 2199 3967 3955 3980 0 0 0 0 0 0 13.93 13.94 14.02

1043 -0.85 -145.9 2305 2196 3961 3980 125.2 -13.4 115 1048 0.00 2.55 0.00 0.000 388 0.000 0.087 2296 3614 3967 3954 3980 0 0 0 0 0 0 14.26 13.90 14.27

1128 -0.98 -145.9 2296 3616 3956 3981 135.6 -11.3 132 1135 0.00 2.45 0.00 0.000 1158 0.000 0.058 2296 2202 3967 3954 3980 0 0 0 0 0 0 14.05 13.93 14.08

1433 -1.05 -145.9 2297 2201 3956 3980 173.3 -12.0 143 1435 0.17 0.00 0.00 0.000 4230 0.113 0.000 2236 2201 3967 3954 3980 0 0 0 0 0 0 14.00 14.09 14.07

1733 -1.02 -145.9 2235 2202 3955 3982 222.2 -16.1 153 1738 0.00 2.55 0.00 0.000 388 0.000 0.089 2235 3609 3967 3954 3980 0 0 0 0 0 0 14.28 13.90 14.30

1889 -1.09 -145.9 2235 3611 3955 3981 243.6 -12.9 184 1894 0.00 2.45 0.00 0.000 1158 0.000 0.057 2235 2199 3967 3954 3980 0 0 0 0 0 0 14.07 13.96 14.14

2215 -1.09 -145.9 2235 2199 3955 3981 286.5 -12.5 199 2219 0.00 2.55 0.00 0.000 260 0.000 0.089 2235 3607 3967 3954 3980 0 0 0 0 0 0 14.27 13.86 14.28

2285 -1.19 -145.9 2236 3607 3956 3980 294.6 -10.8 213 2290 0.12 2.45 0.00 0.000 5254 0.135 0.057 2185 2193 3966 3953 3980 0 0 0 0 0 0 13.97 13.98 14.08

2605 -1.12 -145.9 2186 2193 3955 3981 346.8 -16.3 227 2610 0.12 2.55 0.00 0.000 2436 0.288 0.083 2204 3607 3967 3954 3980 0 0 0 0 0 0 13.64 13.85 13.81

2697 -1.17 -145.9 2203 3609 3955 3981 359.0 -12.3 245 2702 0.00 2.47 0.00 0.000 1158 0.000 0.055 2204 2190 3967 3954 3980 0 0 0 0 0 0 14.03 13.91 14.07

3029 -1.17 -145.9 2210 2189 3955 3980 403.6 -13.5 261 3034 0.00 2.60 0.00 0.000 260 0.000 0.087 2194 3614 3967 3954 3980 0 0 0 0 0 0 14.14 13.78 14.16

3124 -1.21 -145.9 2197 3616 3954 3981 416.0 -12.4 280 3130 0.00 2.47 0.00 0.000 1158 0.000 0.054 2198 2201 3967 3954 3980 0 0 0 0 0 0 13.95 13.84 14.00

3450 -1.21 -145.9 2198 2200 3954 3984 460.5 -13.6 295 3455 0.00 2.55 0.00 0.000 260 0.000 0.087 2192 3607 3967 3954 3980 0 0 0 0 0 0 14.14 13.81 14.16

3530 -1.25 -145.9 2193 3609 3955 3981 471.2 -12.8 311 3535 0.00 2.47 0.00 0.000 1158 0.000 0.056 2192 2194 3966 3953 3980 0 0 0 0 0 0 13.85 13.74 13.88

3598 end dive: TARGET_DEPTH_EXCEEDED

state 3598 begin apogee

3604 -0.13 0.0 2193 2056 3954 3981 480.8 -13.8 315 3842 1.38 0.08 228.75 1.414 10246 0.237 0.177 2531 2104 3357 3376 3338 0 0 0 0 0 0 13.61 13.17 12.44

3845 end apogee: CONTROL_FINISHED_OK

state 3845 begin climb

3848 0.57 145.9 2533 2104 3374 3334 494.2 0.0 323 4240 0.75 0.00 212.15 1.357 10758 0.060 0.000 2782 2106 2749 2789 2710 0 0 0 0 0 0 13.43 12.71 12.16

4573 0.14 145.9 2782 2105 2787 2713 436.6 14.1 339 4578 0.68 2.47 0.00 0.000 4740 0.321 0.077 2647 720 2749 2786 2713 0 0 0 0 0 0 13.52 13.84 13.74

4609 0.01 164.7 2644 720 2787 2713 432.9 9.1 346 4639 0.25 2.45 24.02 1.469 13478 0.268 0.080 2591 2094 2689 2730 2648 0 0 0 0 0 0 13.65 13.85 13.09

4965 0.01 225.1 2591 2096 2723 2635 406.7 7.2 367 5064 0.00 0.00 97.07 1.333 8358 0.000 0.000 2590 2095 2446 2502 2390 0 0 0 0 0 0 14.22 13.69 12.95

5356 0.03 262.3 2591 2095 2487 2371 374.9 8.3 380 5416 0.00 0.00 56.97 1.341 8230 0.000 0.000 2591 2095 2295 2346 2245 0 0 0 0 0 0 14.19 13.78 13.05

5717 0.11 296.3 2592 2095 2334 2227 344.3 8.4 392 5777 0.00 2.55 54.53 1.326 8868 0.000 0.087 2591 720 2152 2201 2103 0 0 0 0 0 0 14.30 13.87 13.12

5804 0.25 335.3 2591 721 2186 2099 337.1 8.2 409 5873 0.22 2.45 61.20 1.287 11430 0.091 0.079 2678 2101 1993 2040 1946 0 0 0 0 0 0 13.99 13.90 12.98

6198 0.20 335.3 2678 2100 2028 1927 281.1 14.0 438 6204 0.12 2.45 0.00 0.000 4740 0.262 0.084 2654 726 1977 2027 1928 0 0 0 0 0 0 13.87 13.97 14.01

6249 0.24 335.3 2654 727 2025 1928 275.0 11.4 448 6255 0.00 2.42 0.00 0.000 1158 0.000 0.079 2654 2101 1975 2024 1926 0 0 0 0 0 0 14.12 14.02 14.15

6560 0.24 335.3 2655 2102 2025 1924 240.5 10.5 460 6560 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2102 1974 2025 1924 0 0 0 0 0 0 14.35 14.38 14.37

6860 0.26 355.6 2655 2102 2025 1923 212.3 9.1 470 6891 0.00 2.53 26.62 1.366 8740 0.000 0.086 2654 725 1911 1954 1869 0 0 0 0 0 0 14.35 13.98 13.19

6949 0.38 393.7 2654 725 1940 1869 204.9 8.2 487 7023 0.15 2.45 67.47 1.242 11430 0.112 0.079 2712 2103 1759 1785 1733 0 0 0 0 0 0 14.00 13.94 13.11

7343 0.35 393.7 2712 2104 1775 1714 155.9 11.9 516 7349 0.00 2.47 0.00 0.000 644 0.000 0.087 2712 720 1743 1773 1713 0 0 0 0 0 0 14.31 13.98 14.33

7374 0.35 393.7 2713 718 1771 1713 152.3 11.3 522 7379 0.00 2.45 0.00 0.000 1030 0.000 0.077 2712 2105 1741 1770 1713 0 0 0 0 0 0 14.14 14.02 14.16

7704 0.35 393.7 2712 2106 1770 1712 116.2 10.4 538 7709 0.00 2.47 0.00 0.000 516 0.000 0.087 2712 719 1740 1770 1711 0 0 0 0 0 0 14.33 13.93 14.33

7749 0.40 393.7 2713 719 1767 1711 111.6 10.2 547 7754 0.00 2.45 0.00 0.000 1158 0.000 0.078 2712 2105 1739 1767 1711 0 0 0 0 0 0 14.06 13.95 14.09

8056 0.43 431.9 2713 2105 1768 1710 82.9 8.2 571 8078 0.00 0.00 20.12 0.437 8742 0.000 0.000 2712 2105 1602 1631 1574 0 0 0 0 0 0 14.31 13.91 13.51

8375 0.57 527.4 2713 2105 1641 1577 59.0 5.6 605 8439 0.12 2.47 55.88 0.369 10916 0.127 0.087 2778 728 1211 1270 1152 0 0 0 0 0 0 14.10 13.95 13.58

8544 0.69 585.7 2778 729 1271 1158 44.7 7.3 638 8583 0.00 2.42 34.45 0.329 9382 0.000 0.078 2779 2098 978 1045 911 0 0 0 0 0 0 14.03 13.96 13.62

8879 0.88 679.5 2778 2101 1045 915 21.2 5.7 675 8944 0.22 2.53 55.90 0.257 10916 0.096 0.094 2874 734 592 633 551 0 0 0 0 0 0 14.23 13.98 13.72

8994 0.92 700.4 2873 734 639 553 8.2 9.0 697 9016 0.00 2.42 13.52 0.224 9382 0.000 0.078 2873 2108 506 535 478 0 0 0 0 0 0 14.14 13.99 13.78

9042 end climb: SURFACE_DEPTH_REACHED

state 9042 begin surface coast

9052 end surface coast: CONTROL_FINISHED_OK

state 9052 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	294	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	816.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,230336,7542.1572,-15110.2354,24,0.7,27,20.8,0.5,302.7,12,9.8	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	1.14	MHEAD_RNG_PITCHd_Wd	138.8,107011,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.6	D_GRID	480
GPS2	090917,231020,7542.1475,-15110.1748,6,0.8,22,20.8,0.5,244.8,11,9.5

FINISH	0.7,1.021558	_24V_AH	12.16,184.327
SM_CCo	9075,1.25,0.257,0,0,501,702.78	_10V_AH	11.99,0.000
SM_GC	1.80,8.25,0.15,1.25,0.074,0.125,0.257,199,2221,501,-7.39,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	252	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323628
IRIDIUM_FIX	7540.58,-15117.82,090917,202854	DATA_FILE_SIZE	23426,705
TT8_MAMPS	0.040446,1.0149	CAP_FILE_SIZE	98437,0
HUMID	46.65	CFSIZE	2097872896,2003009536
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1446.9
XPDR_PINGS	5	CURRENT	0.039,36.36,1
CP_FREE	15946711040.000000	GPS	100917,014339,7541.104,-15109.463,36,0.7,43,20.8,0.3,325.1,12,9.2
PM_FREEKB_00	48887616

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	144.11	nil	0	0	0.00
Roll_motor	80	2132	2079.99	nil	0	0	0.00
VBD_pump_during_apogee	1008	1468	18015.55	nil	0	0	0.00
VBD_pump_during_surface	1	257	3.91	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	8656	15	1618.85
Iridium_during_xfer	201	133	325.75	NCP	9042	20	2199.01
Transponder_ping	1	420	6.38	PMAR	9029	98	10826.32
GUMSTIX_24V	0	0	0.00
GPS	24	22	6.50
TT8	0	0	0.00
LPSleep	6269	2	173.65
TT8_Active	896	13	150.22
TT8_Sampling	2075	33	832.05
TT8_CF8	256	38	119.00
TT8_Kalman	0	0	0.00
Analog_circuits	2106	10	252.53
GPS_charging	0	0	0.00
Compass	1011	7	84.92
RAFOS	2140	48	1231.61
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	193	2204	511	491	0.0	0.0	0	145	0.00	0.00	-91.65	0.000	16386	0.000	0.000	190	2203	2124	2053	2196	0	0	0	0	0	0	14.51	28.83	14.54
147	-0.57	-145.9	191	2204	2055	2198	3.5	-4.0	9	205	12.98	2.83	-38.25	0.000	19236	0.454	2.133	2375	3604	3963	3947	3980	1	0	0	0	0	0	13.31	12.55	13.94
210	-0.42	-145.9	2376	3603	3951	3980	22.1	-27.2	21	216	0.28	2.40	0.00	0.000	3206	0.256	0.051	2435	2202	3965	3951	3979	0	0	0	0	0	0	13.71	13.95	13.95
521	-0.61	-145.9	2435	2203	3955	3981	59.0	-8.3	53	526	0.15	2.55	0.00	0.000	4516	0.118	0.086	2362	3607	3967	3955	3980	0	0	0	0	0	0	13.99	13.88	14.03
736	-0.81	-145.9	2363	3609	3954	3981	81.2	-9.4	96	744	0.15	2.42	0.00	0.000	5286	0.119	0.053	2305	2199	3967	3955	3980	0	0	0	0	0	0	13.93	13.94	14.02
1043	-0.85	-145.9	2305	2196	3961	3980	125.2	-13.4	115	1048	0.00	2.55	0.00	0.000	388	0.000	0.087	2296	3614	3967	3954	3980	0	0	0	0	0	0	14.26	13.90	14.27
1128	-0.98	-145.9	2296	3616	3956	3981	135.6	-11.3	132	1135	0.00	2.45	0.00	0.000	1158	0.000	0.058	2296	2202	3967	3954	3980	0	0	0	0	0	0	14.05	13.93	14.08
1433	-1.05	-145.9	2297	2201	3956	3980	173.3	-12.0	143	1435	0.17	0.00	0.00	0.000	4230	0.113	0.000	2236	2201	3967	3954	3980	0	0	0	0	0	0	14.00	14.09	14.07
1733	-1.02	-145.9	2235	2202	3955	3982	222.2	-16.1	153	1738	0.00	2.55	0.00	0.000	388	0.000	0.089	2235	3609	3967	3954	3980	0	0	0	0	0	0	14.28	13.90	14.30
1889	-1.09	-145.9	2235	3611	3955	3981	243.6	-12.9	184	1894	0.00	2.45	0.00	0.000	1158	0.000	0.057	2235	2199	3967	3954	3980	0	0	0	0	0	0	14.07	13.96	14.14
2215	-1.09	-145.9	2235	2199	3955	3981	286.5	-12.5	199	2219	0.00	2.55	0.00	0.000	260	0.000	0.089	2235	3607	3967	3954	3980	0	0	0	0	0	0	14.27	13.86	14.28
2285	-1.19	-145.9	2236	3607	3956	3980	294.6	-10.8	213	2290	0.12	2.45	0.00	0.000	5254	0.135	0.057	2185	2193	3966	3953	3980	0	0	0	0	0	0	13.97	13.98	14.08
2605	-1.12	-145.9	2186	2193	3955	3981	346.8	-16.3	227	2610	0.12	2.55	0.00	0.000	2436	0.288	0.083	2204	3607	3967	3954	3980	0	0	0	0	0	0	13.64	13.85	13.81
2697	-1.17	-145.9	2203	3609	3955	3981	359.0	-12.3	245	2702	0.00	2.47	0.00	0.000	1158	0.000	0.055	2204	2190	3967	3954	3980	0	0	0	0	0	0	14.03	13.91	14.07
3029	-1.17	-145.9	2210	2189	3955	3980	403.6	-13.5	261	3034	0.00	2.60	0.00	0.000	260	0.000	0.087	2194	3614	3967	3954	3980	0	0	0	0	0	0	14.14	13.78	14.16
3124	-1.21	-145.9	2197	3616	3954	3981	416.0	-12.4	280	3130	0.00	2.47	0.00	0.000	1158	0.000	0.054	2198	2201	3967	3954	3980	0	0	0	0	0	0	13.95	13.84	14.00
3450	-1.21	-145.9	2198	2200	3954	3984	460.5	-13.6	295	3455	0.00	2.55	0.00	0.000	260	0.000	0.087	2192	3607	3967	3954	3980	0	0	0	0	0	0	14.14	13.81	14.16
3530	-1.25	-145.9	2193	3609	3955	3981	471.2	-12.8	311	3535	0.00	2.47	0.00	0.000	1158	0.000	0.056	2192	2194	3966	3953	3980	0	0	0	0	0	0	13.85	13.74	13.88
3598	end dive: TARGET_DEPTH_EXCEEDED
state	3598	begin apogee
3604	-0.13	0.0	2193	2056	3954	3981	480.8	-13.8	315	3842	1.38	0.08	228.75	1.414	10246	0.237	0.177	2531	2104	3357	3376	3338	0	0	0	0	0	0	13.61	13.17	12.44
3845	end apogee: CONTROL_FINISHED_OK
state	3845	begin climb
3848	0.57	145.9	2533	2104	3374	3334	494.2	0.0	323	4240	0.75	0.00	212.15	1.357	10758	0.060	0.000	2782	2106	2749	2789	2710	0	0	0	0	0	0	13.43	12.71	12.16
4573	0.14	145.9	2782	2105	2787	2713	436.6	14.1	339	4578	0.68	2.47	0.00	0.000	4740	0.321	0.077	2647	720	2749	2786	2713	0	0	0	0	0	0	13.52	13.84	13.74
4609	0.01	164.7	2644	720	2787	2713	432.9	9.1	346	4639	0.25	2.45	24.02	1.469	13478	0.268	0.080	2591	2094	2689	2730	2648	0	0	0	0	0	0	13.65	13.85	13.09
4965	0.01	225.1	2591	2096	2723	2635	406.7	7.2	367	5064	0.00	0.00	97.07	1.333	8358	0.000	0.000	2590	2095	2446	2502	2390	0	0	0	0	0	0	14.22	13.69	12.95
5356	0.03	262.3	2591	2095	2487	2371	374.9	8.3	380	5416	0.00	0.00	56.97	1.341	8230	0.000	0.000	2591	2095	2295	2346	2245	0	0	0	0	0	0	14.19	13.78	13.05
5717	0.11	296.3	2592	2095	2334	2227	344.3	8.4	392	5777	0.00	2.55	54.53	1.326	8868	0.000	0.087	2591	720	2152	2201	2103	0	0	0	0	0	0	14.30	13.87	13.12
5804	0.25	335.3	2591	721	2186	2099	337.1	8.2	409	5873	0.22	2.45	61.20	1.287	11430	0.091	0.079	2678	2101	1993	2040	1946	0	0	0	0	0	0	13.99	13.90	12.98
6198	0.20	335.3	2678	2100	2028	1927	281.1	14.0	438	6204	0.12	2.45	0.00	0.000	4740	0.262	0.084	2654	726	1977	2027	1928	0	0	0	0	0	0	13.87	13.97	14.01
6249	0.24	335.3	2654	727	2025	1928	275.0	11.4	448	6255	0.00	2.42	0.00	0.000	1158	0.000	0.079	2654	2101	1975	2024	1926	0	0	0	0	0	0	14.12	14.02	14.15
6560	0.24	335.3	2655	2102	2025	1924	240.5	10.5	460	6560	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2102	1974	2025	1924	0	0	0	0	0	0	14.35	14.38	14.37
6860	0.26	355.6	2655	2102	2025	1923	212.3	9.1	470	6891	0.00	2.53	26.62	1.366	8740	0.000	0.086	2654	725	1911	1954	1869	0	0	0	0	0	0	14.35	13.98	13.19
6949	0.38	393.7	2654	725	1940	1869	204.9	8.2	487	7023	0.15	2.45	67.47	1.242	11430	0.112	0.079	2712	2103	1759	1785	1733	0	0	0	0	0	0	14.00	13.94	13.11
7343	0.35	393.7	2712	2104	1775	1714	155.9	11.9	516	7349	0.00	2.47	0.00	0.000	644	0.000	0.087	2712	720	1743	1773	1713	0	0	0	0	0	0	14.31	13.98	14.33
7374	0.35	393.7	2713	718	1771	1713	152.3	11.3	522	7379	0.00	2.45	0.00	0.000	1030	0.000	0.077	2712	2105	1741	1770	1713	0	0	0	0	0	0	14.14	14.02	14.16
7704	0.35	393.7	2712	2106	1770	1712	116.2	10.4	538	7709	0.00	2.47	0.00	0.000	516	0.000	0.087	2712	719	1740	1770	1711	0	0	0	0	0	0	14.33	13.93	14.33
7749	0.40	393.7	2713	719	1767	1711	111.6	10.2	547	7754	0.00	2.45	0.00	0.000	1158	0.000	0.078	2712	2105	1739	1767	1711	0	0	0	0	0	0	14.06	13.95	14.09
8056	0.43	431.9	2713	2105	1768	1710	82.9	8.2	571	8078	0.00	0.00	20.12	0.437	8742	0.000	0.000	2712	2105	1602	1631	1574	0	0	0	0	0	0	14.31	13.91	13.51
8375	0.57	527.4	2713	2105	1641	1577	59.0	5.6	605	8439	0.12	2.47	55.88	0.369	10916	0.127	0.087	2778	728	1211	1270	1152	0	0	0	0	0	0	14.10	13.95	13.58
8544	0.69	585.7	2778	729	1271	1158	44.7	7.3	638	8583	0.00	2.42	34.45	0.329	9382	0.000	0.078	2779	2098	978	1045	911	0	0	0	0	0	0	14.03	13.96	13.62
8879	0.88	679.5	2778	2101	1045	915	21.2	5.7	675	8944	0.22	2.53	55.90	0.257	10916	0.096	0.094	2874	734	592	633	551	0	0	0	0	0	0	14.23	13.98	13.72
8994	0.92	700.4	2873	734	639	553	8.2	9.0	697	9016	0.00	2.42	13.52	0.224	9382	0.000	0.078	2873	2108	506	535	478	0	0	0	0	0	0	14.14	13.99	13.78
9042	end climb: SURFACE_DEPTH_REACHED
state	9042	begin surface coast
9052	end surface coast: CONTROL_FINISHED_OK
state	9052	begin surface