Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 296 * 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 296 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 822.0

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 42 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 58 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 822.0 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 42 VBD_MIN 500

DIVE 296 NOCOMM_ACTION 161 R_STBD_OVSHOOT 58 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 100917,042734,7542.2139,-15110.2412,31,0.7,32,20.8,0.0,0.0,11,9.9 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 145.4,107111,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.6 D_GRID 480

GPS2 100917,043423,7542.2002,-15110.2334,5,0.7,11,20.8,0.0,158.9,12,9.2

Post-dive calculations and measurements:

FINISH 0.2,1.021442 _24V_AH 12.25,185.348

SM_CCo 9169,32.60,0.204,0,0,499,702.78 _10V_AH 12.14,0.000

SM_GC 1.35,8.05,0.17,32.60,0.061,0.123,0.204,205,2220,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.29,14.26,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 415 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7543.81,-15030.46,100917,015444 DATA_FILE_SIZE 26693,759

TT8_MAMPS 0.039697,0.897302 CAP_FILE_SIZE 103187,0

HUMID 47.20 CFSIZE 2097872896,2002550784

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

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 9 CURRENT 0.031,76.55,1

CP_FREE 15945859072.000000 GPS 100917,070932,7540.903,-15109.663,26,0.9,26,20.8,0.0,0.0,9,8.2

PM_FREEKB_00 48785088

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 144.90 nil 0 0 0.00

Roll_motor 83 2131 2169.60 nil 0 0 0.00

VBD_pump_during_apogee 962 1475 17395.63 nil 0 0 0.00

VBD_pump_during_surface 32 204 81.57 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 9096 14 1631.61

Iridium_during_xfer 215 131 347.15 NCP 9152 20 2242.24

Transponder_ping 2 420 11.58 PMAR 9126 22 2465.38

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.44

TT8 0 0 0.00

LPSleep 6592 2 184.89

TT8_Active 889 13 150.78

TT8_Sampling 1889 33 767.00

TT8_CF8 257 38 120.73

TT8_Kalman 0 0 0.00

Analog_circuits 1941 10 235.75

GPS_charging 0 0 0.00

Compass 1088 7 92.48

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 -145.9 187 2180 504 491 0.0 0.0 0 145 0.00 0.00 -91.45 0.000 16386 0.000 0.000 184 2177 2154 2082 2227 0 0 0 0 0 0 14.38 28.83 14.40

148 -0.57 -145.9 185 2182 2085 2228 4.0 -5.9 9 204 12.98 2.83 -36.45 0.000 18724 0.457 2.131 2371 3573 3965 3950 3980 1 0 0 0 0 0 13.36 12.54 13.83

400 -0.74 -145.9 2370 3577 3955 3981 50.3 -12.3 58 407 0.00 2.35 0.00 0.000 1158 0.000 0.059 2370 2209 3967 3954 3980 0 0 0 0 0 0 14.07 13.97 14.09

705 -0.87 -145.9 2372 2210 3956 3980 88.2 -10.3 89 706 0.22 0.00 0.00 0.000 4230 0.100 0.000 2284 2209 3967 3955 3980 0 0 0 0 0 0 14.23 14.34 14.33

1024 -0.87 -145.9 2284 2209 3956 3976 138.6 -15.0 105 1029 0.00 2.40 0.00 0.000 260 0.000 0.087 2279 3576 3967 3955 3980 0 0 0 0 0 0 14.66 14.19 14.68

1119 -0.97 -145.9 2279 3578 3956 3981 151.0 -12.3 124 1124 0.00 2.35 0.00 0.000 1158 0.000 0.059 2279 2190 3967 3955 3980 0 0 0 0 0 0 14.30 14.17 14.33

1445 -1.02 -145.9 2280 2189 3957 3980 194.1 -12.8 139 1449 0.00 2.42 0.00 0.000 388 0.000 0.086 2271 3575 3967 3955 3979 0 0 0 0 0 0 14.69 14.20 14.71

1505 -1.15 -145.9 2272 3577 3955 3980 201.2 -10.9 151 1510 0.20 2.33 0.00 0.000 5254 0.103 0.058 2193 2195 3967 3955 3980 0 0 0 0 0 0 14.27 14.26 14.34

1835 -1.05 -145.9 2193 2195 3956 3981 265.1 -18.8 167 1840 0.17 2.42 0.00 0.000 2436 0.287 0.084 2225 3573 3967 3955 3980 0 0 0 0 0 0 13.90 13.59 14.08

1942 -1.11 -145.9 2225 3574 3957 3980 279.3 -12.1 188 1947 0.00 2.35 0.00 0.000 1158 0.000 0.058 2225 2191 3967 3955 3980 0 0 0 0 0 0 14.35 14.21 14.40

2257 -1.11 -145.9 2225 2188 3956 3981 320.5 -12.6 201 2262 0.00 2.45 0.00 0.000 260 0.000 0.088 2222 3574 3968 3956 3980 0 0 0 0 0 0 14.69 14.14 14.71

2342 -1.19 -145.9 2223 3574 3957 3980 330.4 -11.2 218 2349 0.00 2.35 0.00 0.000 1158 0.000 0.057 2223 2192 3967 3955 3980 0 0 0 0 0 0 14.35 14.21 14.38

2647 -1.21 -145.9 2222 2191 3955 3980 367.6 -12.1 229 2652 0.00 2.45 0.00 0.000 388 0.000 0.088 2222 3570 3967 3955 3980 0 0 0 0 0 0 14.66 14.11 14.69

2747 -1.31 -145.9 2222 3575 3956 3979 378.9 -10.7 249 2753 0.20 2.33 0.00 0.000 5254 0.103 0.057 2149 2193 3967 3955 3980 0 0 0 0 0 0 14.31 14.23 14.40

3068 -1.18 -145.9 2150 2192 3955 3981 438.8 -19.1 263 3073 0.20 2.45 0.00 0.000 2436 0.322 0.081 2182 3579 3967 3954 3980 0 0 0 0 0 0 13.69 14.07 13.92

3185 -1.18 -145.9 2183 3582 3955 3981 456.2 -14.0 286 3191 0.00 2.35 0.00 0.000 1030 0.000 0.057 2183 2195 3965 3952 3979 0 0 0 0 0 0 14.24 14.12 14.28

3366 end dive: TARGET_DEPTH_EXCEEDED

state 3366 begin apogee

3372 -0.13 0.0 2184 2064 3956 3979 484.4 -15.3 293 3612 1.40 0.00 236.90 1.389 10246 0.249 0.000 2530 2063 3367 3390 3344 0 0 0 0 0 0 13.76 13.49 12.63

3616 end apogee: CONTROL_FINISHED_OK

state 3616 begin climb

3619 0.57 145.9 2531 2063 3380 3335 497.8 0.0 301 3836 0.75 2.58 212.10 1.366 10756 0.061 0.077 2793 729 2765 2807 2723 0 0 0 0 0 0 13.64 12.87 12.25

3890 0.16 145.9 2794 728 2790 2717 504.9 12.4 357 3895 0.77 2.47 0.00 0.000 5254 0.325 0.073 2639 2067 2753 2791 2715 0 0 0 0 0 0 13.04 13.36 13.40

4211 -0.00 168.7 2638 2069 2791 2710 475.5 8.9 371 4247 0.22 2.40 29.62 1.476 12964 0.265 0.085 2589 725 2672 2717 2628 0 0 0 0 0 0 13.67 13.98 13.07

4262 0.02 229.6 2589 726 2713 2624 471.6 7.2 376 4364 0.00 2.42 95.55 1.345 9382 0.000 0.080 2589 2096 2427 2489 2366 0 0 0 0 0 0 14.12 14.01 12.86

4662 0.03 257.6 2589 2097 2475 2350 437.2 8.7 406 4704 0.00 0.00 40.08 1.416 8230 0.000 0.000 2589 2096 2316 2373 2260 0 0 0 0 0 0 14.50 13.98 13.14

4992 0.09 284.6 2589 2096 2358 2243 408.2 8.7 417 5036 0.00 0.00 42.17 1.407 8358 0.000 0.000 2588 2096 2204 2258 2151 0 0 0 0 0 0 14.60 13.98 13.18

5322 0.18 315.4 2589 2097 2241 2133 379.6 8.6 428 5378 0.12 2.50 47.45 1.378 10916 0.131 0.089 2657 730 2071 2121 2021 0 0 0 0 0 0 14.28 14.00 13.19

5425 0.18 315.4 2658 730 2118 2019 366.8 12.9 448 5430 0.00 2.42 0.00 0.000 1030 0.000 0.078 2658 2109 2064 2110 2018 0 0 0 0 0 0 14.20 14.11 14.22

5745 0.13 315.4 2657 2114 2112 2012 324.1 13.1 462 5751 0.12 2.42 0.00 0.000 4740 0.256 0.083 2630 724 2060 2110 2011 0 0 0 0 0 0 14.08 14.21 14.21

5771 0.13 315.4 2631 724 2110 2012 321.0 11.1 467 5777 0.00 2.40 0.00 0.000 1030 0.000 0.077 2630 2104 2060 2109 2011 0 0 0 0 0 0 14.33 14.20 14.39

6076 0.15 315.4 2630 2105 2109 2011 289.5 10.2 478 6082 0.00 2.40 0.00 0.000 644 0.000 0.086 2630 730 2059 2109 2010 0 0 0 0 0 0 14.65 14.23 14.64

6102 0.19 317.1 2630 731 2108 2011 286.8 9.9 483 6109 0.00 2.40 0.00 0.000 1190 0.000 0.077 2630 2109 2059 2109 2009 0 0 0 0 0 0 14.34 14.21 14.39

6407 0.23 330.0 2631 2112 2108 2010 257.2 9.4 494 6427 0.00 0.00 17.88 1.471 8870 0.000 0.000 2630 2108 2017 2065 1970 0 0 0 0 0 0 14.68 14.16 13.29

6738 0.31 368.4 2631 2112 2056 1959 228.5 8.2 510 6813 0.12 2.53 66.90 1.298 10916 0.127 0.088 2696 727 1859 1891 1827 0 0 0 0 0 0 14.35 14.00 13.19

6918 0.31 368.4 2696 728 1878 1827 208.0 11.0 546 6924 0.00 2.40 0.00 0.000 1030 0.000 0.078 2696 2099 1851 1878 1825 0 0 0 0 0 0 14.25 14.12 14.27

7249 0.29 368.4 2697 2100 1878 1821 170.8 11.0 562 7255 0.00 2.42 0.00 0.000 644 0.000 0.086 2696 730 1849 1877 1821 0 0 0 0 0 0 14.61 14.06 14.63

7285 0.31 368.4 2696 731 1876 1822 167.1 10.7 569 7290 0.00 2.42 0.00 0.000 1158 0.000 0.077 2696 2109 1848 1876 1821 0 0 0 0 0 0 14.16 14.04 14.23

7610 0.31 368.4 2697 2111 1876 1818 133.5 10.1 584 7615 0.00 2.47 0.00 0.000 516 0.000 0.086 2696 721 1844 1874 1814 0 0 0 0 0 0 14.42 14.06 14.45

7640 0.35 389.9 2696 722 1874 1818 130.6 9.0 590 7680 0.00 2.42 33.30 1.325 9382 0.000 0.078 2696 2111 1774 1798 1750 0 0 0 0 0 0 14.25 14.12 13.23

7982 0.39 411.5 2697 2111 1790 1739 98.9 9.0 612 7994 0.00 0.00 10.82 0.474 8358 0.000 0.000 2696 2110 1686 1710 1662 0 0 0 0 0 0 14.52 14.07 13.57

8291 0.50 477.6 2697 2111 1721 1662 75.2 7.0 643 8334 0.12 2.45 36.15 0.422 10916 0.135 0.086 2763 730 1417 1457 1377 0 0 0 0 0 0 14.18 13.91 13.62

8381 0.53 477.6 2764 730 1460 1380 65.9 10.3 660 8387 0.00 2.42 0.00 0.000 1158 0.000 0.077 2763 2111 1419 1459 1379 0 0 0 0 0 0 14.23 14.08 14.27

8684 0.60 571.0 2763 2111 1459 1380 41.7 5.7 691 8741 0.00 2.50 50.05 0.324 8740 0.000 0.088 2764 737 1033 1104 962 0 0 0 0 0 0 14.52 14.02 13.71

8856 0.80 651.2 2764 738 1104 970 30.9 6.3 725 8905 0.22 2.40 43.33 0.289 11430 0.096 0.078 2854 2107 708 771 645 0 0 0 0 0 0 14.17 14.08 13.74

9128 end climb: SURFACE_DEPTH_REACHED

state 9128 begin surface coast

9148 end surface coast: CONTROL_FINISHED_OK

state 9148 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	296	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	822.0
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	42	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	58	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,042734,7542.2139,-15110.2412,31,0.7,32,20.8,0.0,0.0,11,9.9	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	145.4,107111,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.6	D_GRID	480
GPS2	100917,043423,7542.2002,-15110.2334,5,0.7,11,20.8,0.0,158.9,12,9.2

FINISH	0.2,1.021442	_24V_AH	12.25,185.348
SM_CCo	9169,32.60,0.204,0,0,499,702.78	_10V_AH	12.14,0.000
SM_GC	1.35,8.05,0.17,32.60,0.061,0.123,0.204,205,2220,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.29,14.26,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	415	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7543.81,-15030.46,100917,015444	DATA_FILE_SIZE	26693,759
TT8_MAMPS	0.039697,0.897302	CAP_FILE_SIZE	103187,0
HUMID	47.20	CFSIZE	2097872896,2002550784
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	9	CURRENT	0.031,76.55,1
CP_FREE	15945859072.000000	GPS	100917,070932,7540.903,-15109.663,26,0.9,26,20.8,0.0,0.0,9,8.2
PM_FREEKB_00	48785088

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	144.90	nil	0	0	0.00
Roll_motor	83	2131	2169.60	nil	0	0	0.00
VBD_pump_during_apogee	962	1475	17395.63	nil	0	0	0.00
VBD_pump_during_surface	32	204	81.57	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	9096	14	1631.61
Iridium_during_xfer	215	131	347.15	NCP	9152	20	2242.24
Transponder_ping	2	420	11.58	PMAR	9126	22	2465.38
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.44
TT8	0	0	0.00
LPSleep	6592	2	184.89
TT8_Active	889	13	150.78
TT8_Sampling	1889	33	767.00
TT8_CF8	257	38	120.73
TT8_Kalman	0	0	0.00
Analog_circuits	1941	10	235.75
GPS_charging	0	0	0.00
Compass	1088	7	92.48
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	187	2180	504	491	0.0	0.0	0	145	0.00	0.00	-91.45	0.000	16386	0.000	0.000	184	2177	2154	2082	2227	0	0	0	0	0	0	14.38	28.83	14.40
148	-0.57	-145.9	185	2182	2085	2228	4.0	-5.9	9	204	12.98	2.83	-36.45	0.000	18724	0.457	2.131	2371	3573	3965	3950	3980	1	0	0	0	0	0	13.36	12.54	13.83
400	-0.74	-145.9	2370	3577	3955	3981	50.3	-12.3	58	407	0.00	2.35	0.00	0.000	1158	0.000	0.059	2370	2209	3967	3954	3980	0	0	0	0	0	0	14.07	13.97	14.09
705	-0.87	-145.9	2372	2210	3956	3980	88.2	-10.3	89	706	0.22	0.00	0.00	0.000	4230	0.100	0.000	2284	2209	3967	3955	3980	0	0	0	0	0	0	14.23	14.34	14.33
1024	-0.87	-145.9	2284	2209	3956	3976	138.6	-15.0	105	1029	0.00	2.40	0.00	0.000	260	0.000	0.087	2279	3576	3967	3955	3980	0	0	0	0	0	0	14.66	14.19	14.68
1119	-0.97	-145.9	2279	3578	3956	3981	151.0	-12.3	124	1124	0.00	2.35	0.00	0.000	1158	0.000	0.059	2279	2190	3967	3955	3980	0	0	0	0	0	0	14.30	14.17	14.33
1445	-1.02	-145.9	2280	2189	3957	3980	194.1	-12.8	139	1449	0.00	2.42	0.00	0.000	388	0.000	0.086	2271	3575	3967	3955	3979	0	0	0	0	0	0	14.69	14.20	14.71
1505	-1.15	-145.9	2272	3577	3955	3980	201.2	-10.9	151	1510	0.20	2.33	0.00	0.000	5254	0.103	0.058	2193	2195	3967	3955	3980	0	0	0	0	0	0	14.27	14.26	14.34
1835	-1.05	-145.9	2193	2195	3956	3981	265.1	-18.8	167	1840	0.17	2.42	0.00	0.000	2436	0.287	0.084	2225	3573	3967	3955	3980	0	0	0	0	0	0	13.90	13.59	14.08
1942	-1.11	-145.9	2225	3574	3957	3980	279.3	-12.1	188	1947	0.00	2.35	0.00	0.000	1158	0.000	0.058	2225	2191	3967	3955	3980	0	0	0	0	0	0	14.35	14.21	14.40
2257	-1.11	-145.9	2225	2188	3956	3981	320.5	-12.6	201	2262	0.00	2.45	0.00	0.000	260	0.000	0.088	2222	3574	3968	3956	3980	0	0	0	0	0	0	14.69	14.14	14.71
2342	-1.19	-145.9	2223	3574	3957	3980	330.4	-11.2	218	2349	0.00	2.35	0.00	0.000	1158	0.000	0.057	2223	2192	3967	3955	3980	0	0	0	0	0	0	14.35	14.21	14.38
2647	-1.21	-145.9	2222	2191	3955	3980	367.6	-12.1	229	2652	0.00	2.45	0.00	0.000	388	0.000	0.088	2222	3570	3967	3955	3980	0	0	0	0	0	0	14.66	14.11	14.69
2747	-1.31	-145.9	2222	3575	3956	3979	378.9	-10.7	249	2753	0.20	2.33	0.00	0.000	5254	0.103	0.057	2149	2193	3967	3955	3980	0	0	0	0	0	0	14.31	14.23	14.40
3068	-1.18	-145.9	2150	2192	3955	3981	438.8	-19.1	263	3073	0.20	2.45	0.00	0.000	2436	0.322	0.081	2182	3579	3967	3954	3980	0	0	0	0	0	0	13.69	14.07	13.92
3185	-1.18	-145.9	2183	3582	3955	3981	456.2	-14.0	286	3191	0.00	2.35	0.00	0.000	1030	0.000	0.057	2183	2195	3965	3952	3979	0	0	0	0	0	0	14.24	14.12	14.28
3366	end dive: TARGET_DEPTH_EXCEEDED
state	3366	begin apogee
3372	-0.13	0.0	2184	2064	3956	3979	484.4	-15.3	293	3612	1.40	0.00	236.90	1.389	10246	0.249	0.000	2530	2063	3367	3390	3344	0	0	0	0	0	0	13.76	13.49	12.63
3616	end apogee: CONTROL_FINISHED_OK
state	3616	begin climb
3619	0.57	145.9	2531	2063	3380	3335	497.8	0.0	301	3836	0.75	2.58	212.10	1.366	10756	0.061	0.077	2793	729	2765	2807	2723	0	0	0	0	0	0	13.64	12.87	12.25
3890	0.16	145.9	2794	728	2790	2717	504.9	12.4	357	3895	0.77	2.47	0.00	0.000	5254	0.325	0.073	2639	2067	2753	2791	2715	0	0	0	0	0	0	13.04	13.36	13.40
4211	-0.00	168.7	2638	2069	2791	2710	475.5	8.9	371	4247	0.22	2.40	29.62	1.476	12964	0.265	0.085	2589	725	2672	2717	2628	0	0	0	0	0	0	13.67	13.98	13.07
4262	0.02	229.6	2589	726	2713	2624	471.6	7.2	376	4364	0.00	2.42	95.55	1.345	9382	0.000	0.080	2589	2096	2427	2489	2366	0	0	0	0	0	0	14.12	14.01	12.86
4662	0.03	257.6	2589	2097	2475	2350	437.2	8.7	406	4704	0.00	0.00	40.08	1.416	8230	0.000	0.000	2589	2096	2316	2373	2260	0	0	0	0	0	0	14.50	13.98	13.14
4992	0.09	284.6	2589	2096	2358	2243	408.2	8.7	417	5036	0.00	0.00	42.17	1.407	8358	0.000	0.000	2588	2096	2204	2258	2151	0	0	0	0	0	0	14.60	13.98	13.18
5322	0.18	315.4	2589	2097	2241	2133	379.6	8.6	428	5378	0.12	2.50	47.45	1.378	10916	0.131	0.089	2657	730	2071	2121	2021	0	0	0	0	0	0	14.28	14.00	13.19
5425	0.18	315.4	2658	730	2118	2019	366.8	12.9	448	5430	0.00	2.42	0.00	0.000	1030	0.000	0.078	2658	2109	2064	2110	2018	0	0	0	0	0	0	14.20	14.11	14.22
5745	0.13	315.4	2657	2114	2112	2012	324.1	13.1	462	5751	0.12	2.42	0.00	0.000	4740	0.256	0.083	2630	724	2060	2110	2011	0	0	0	0	0	0	14.08	14.21	14.21
5771	0.13	315.4	2631	724	2110	2012	321.0	11.1	467	5777	0.00	2.40	0.00	0.000	1030	0.000	0.077	2630	2104	2060	2109	2011	0	0	0	0	0	0	14.33	14.20	14.39
6076	0.15	315.4	2630	2105	2109	2011	289.5	10.2	478	6082	0.00	2.40	0.00	0.000	644	0.000	0.086	2630	730	2059	2109	2010	0	0	0	0	0	0	14.65	14.23	14.64
6102	0.19	317.1	2630	731	2108	2011	286.8	9.9	483	6109	0.00	2.40	0.00	0.000	1190	0.000	0.077	2630	2109	2059	2109	2009	0	0	0	0	0	0	14.34	14.21	14.39
6407	0.23	330.0	2631	2112	2108	2010	257.2	9.4	494	6427	0.00	0.00	17.88	1.471	8870	0.000	0.000	2630	2108	2017	2065	1970	0	0	0	0	0	0	14.68	14.16	13.29
6738	0.31	368.4	2631	2112	2056	1959	228.5	8.2	510	6813	0.12	2.53	66.90	1.298	10916	0.127	0.088	2696	727	1859	1891	1827	0	0	0	0	0	0	14.35	14.00	13.19
6918	0.31	368.4	2696	728	1878	1827	208.0	11.0	546	6924	0.00	2.40	0.00	0.000	1030	0.000	0.078	2696	2099	1851	1878	1825	0	0	0	0	0	0	14.25	14.12	14.27
7249	0.29	368.4	2697	2100	1878	1821	170.8	11.0	562	7255	0.00	2.42	0.00	0.000	644	0.000	0.086	2696	730	1849	1877	1821	0	0	0	0	0	0	14.61	14.06	14.63
7285	0.31	368.4	2696	731	1876	1822	167.1	10.7	569	7290	0.00	2.42	0.00	0.000	1158	0.000	0.077	2696	2109	1848	1876	1821	0	0	0	0	0	0	14.16	14.04	14.23
7610	0.31	368.4	2697	2111	1876	1818	133.5	10.1	584	7615	0.00	2.47	0.00	0.000	516	0.000	0.086	2696	721	1844	1874	1814	0	0	0	0	0	0	14.42	14.06	14.45
7640	0.35	389.9	2696	722	1874	1818	130.6	9.0	590	7680	0.00	2.42	33.30	1.325	9382	0.000	0.078	2696	2111	1774	1798	1750	0	0	0	0	0	0	14.25	14.12	13.23
7982	0.39	411.5	2697	2111	1790	1739	98.9	9.0	612	7994	0.00	0.00	10.82	0.474	8358	0.000	0.000	2696	2110	1686	1710	1662	0	0	0	0	0	0	14.52	14.07	13.57
8291	0.50	477.6	2697	2111	1721	1662	75.2	7.0	643	8334	0.12	2.45	36.15	0.422	10916	0.135	0.086	2763	730	1417	1457	1377	0	0	0	0	0	0	14.18	13.91	13.62
8381	0.53	477.6	2764	730	1460	1380	65.9	10.3	660	8387	0.00	2.42	0.00	0.000	1158	0.000	0.077	2763	2111	1419	1459	1379	0	0	0	0	0	0	14.23	14.08	14.27
8684	0.60	571.0	2763	2111	1459	1380	41.7	5.7	691	8741	0.00	2.50	50.05	0.324	8740	0.000	0.088	2764	737	1033	1104	962	0	0	0	0	0	0	14.52	14.02	13.71
8856	0.80	651.2	2764	738	1104	970	30.9	6.3	725	8905	0.22	2.40	43.33	0.289	11430	0.096	0.078	2854	2107	708	771	645	0	0	0	0	0	0	14.17	14.08	13.74
9128	end climb: SURFACE_DEPTH_REACHED
state	9128	begin surface coast
9148	end surface coast: CONTROL_FINISHED_OK
state	9148	begin surface