Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 298 * 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 298 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 828.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 56 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 828.0 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 62 VBD_MIN 500

DIVE 298 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 100917,094633,7542.0366,-15110.3232,91,0.7,92,20.8,0.0,113.2,12,7.2 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 141.7,106803,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.5 D_GRID 480

GPS2 100917,095613,7542.0308,-15110.2773,6,0.8,10,20.8,0.0,0.0,10,9.3

Post-dive calculations and measurements:

FINISH 1.0,1.021562 _24V_AH 12.24,186.424

SM_CCo 9336,21.25,0.206,0,0,496,702.78 _10V_AH 12.09,0.000

SM_GC 0.98,8.23,0.17,21.25,0.076,0.112,0.206,200,2234,496,-7.38,-0.54,702.78,0,0,0,0,0,0,14.19,14.19,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 99 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7540.58,-15117.82,100917,071247 DATA_FILE_SIZE 23405,678

TT8_MAMPS 0.085386,0.917525 CAP_FILE_SIZE 96577,0

HUMID 43.81 CFSIZE 2097872896,2002124800

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 1447.3

XPDR_PINGS 9 CURRENT 0.017,29.90,1

CP_FREE 0.000000 GPS 100917,123403,7540.858,-15109.633,19,0.7,37,20.8,0.2,78.5,11,7.1

PM_FREEKB_00 48668992

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 460 145.15 nil 0 0 0.00

Roll_motor 69 2138 1830.03 nil 0 0 0.00

VBD_pump_during_apogee 979 1399 16792.25 nil 0 0 0.00

VBD_pump_during_surface 21 205 53.52 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 9296 14 1652.47

Iridium_during_xfer 328 166 668.24 NCP 9300 20 2276.64

Transponder_ping 2 420 11.57 PMAR 9289 42 4832.02

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.36

TT8 0 0 0.00

LPSleep 6435 2 179.73

TT8_Active 891 13 150.54

TT8_Sampling 2320 33 938.19

TT8_CF8 302 38 141.69

TT8_Kalman 0 0 0.00

Analog_circuits 2350 10 284.23

GPS_charging 0 0 0.00

Compass 973 7 82.42

RAFOS 2215 48 1285.41

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 -145.9 184 2244 505 493 0.0 0.0 0 144 0.00 0.00 -91.93 0.000 16386 0.000 0.000 181 2244 2141 2070 2213 0 0 0 0 0 0 14.49 28.83 14.52

147 -0.57 -145.9 182 2245 2075 2213 3.7 -4.8 9 205 13.23 2.88 -36.60 0.000 19236 0.461 2.139 2386 832 3965 3951 3979 1 0 0 0 0 0 13.34 12.57 14.04

370 -0.71 -145.9 2386 833 3956 3979 46.6 -12.8 53 375 0.12 2.40 0.00 0.000 5254 0.122 0.087 2341 2169 3966 3954 3979 0 0 0 0 0 0 13.90 13.83 14.01

681 -0.78 -145.9 2341 2169 3956 3979 94.4 -12.8 85 685 0.00 2.58 0.00 0.000 388 0.000 0.090 2333 3618 3964 3951 3978 0 0 0 0 0 0 14.56 14.10 14.58

813 -0.97 -145.9 2334 3619 3956 3979 108.2 -9.4 111 818 0.20 2.35 0.00 0.000 5286 0.101 0.055 2253 2234 3967 3955 3979 0 0 0 0 0 0 14.26 14.19 14.34

1133 -0.94 -145.9 2253 2234 3956 3980 165.1 -17.2 125 1134 0.00 0.00 0.00 0.000 134 0.000 0.000 2253 2234 3967 3956 3978 0 0 0 0 0 0 14.45 14.47 14.46

1433 -0.94 -145.9 2253 2234 3956 3980 211.3 -14.7 135 1438 0.00 2.47 0.00 0.000 260 0.000 0.087 2247 3620 3966 3955 3978 0 0 0 0 0 0 14.44 13.97 14.45

1528 -1.04 -145.9 2247 3620 3957 3979 223.8 -12.1 154 1533 0.00 2.45 0.00 0.000 1158 0.000 0.057 2247 2198 3967 3955 3979 0 0 0 0 0 0 14.17 14.05 14.21

1854 -1.07 -145.9 2246 2197 3956 3980 267.8 -12.7 169 1859 0.00 2.53 0.00 0.000 388 0.000 0.088 2236 3610 3967 3955 3979 0 0 0 0 0 0 14.42 13.93 14.43

1959 -1.16 -145.9 2237 3611 3956 3980 279.9 -11.0 190 1964 0.00 2.40 0.00 0.000 1158 0.000 0.055 2237 2199 3967 3955 3979 0 0 0 0 0 0 14.16 14.00 14.19

2274 -1.20 -145.9 2237 2198 3955 3980 317.8 -11.8 203 2279 0.12 2.53 0.00 0.000 4484 0.147 0.084 2179 3613 3967 3955 3979 0 0 0 0 0 0 14.08 13.93 14.13

2310 -1.15 -145.9 2179 3614 3956 3980 323.0 -15.8 210 2315 0.12 2.42 0.00 0.000 3206 0.264 0.057 2201 2195 3967 3955 3979 0 0 0 0 0 0 13.82 14.07 14.09

2635 -1.13 -145.9 2201 2195 3956 3979 369.6 -14.1 225 2640 0.00 2.55 0.00 0.000 388 0.000 0.087 2194 3618 3967 3955 3979 0 0 0 0 0 0 14.42 13.93 14.44

2725 -1.16 -145.9 2194 3619 3954 3979 381.8 -12.9 243 2730 0.00 2.45 0.00 0.000 1158 0.000 0.057 2194 2199 3968 3955 3981 0 0 0 0 0 0 14.09 13.97 14.12

3055 -1.13 -145.9 2194 2199 3955 3980 429.3 -14.4 259 3060 0.00 2.55 0.00 0.000 388 0.000 0.086 2184 3619 3967 3955 3979 0 0 0 0 0 0 14.41 13.88 14.42

3160 -1.13 -145.9 2185 3620 3955 3978 444.2 -13.7 280 3166 0.12 2.45 0.00 0.000 3078 0.243 0.057 2209 2198 3966 3954 3979 0 0 0 0 0 0 13.76 13.98 14.00

3444 end dive: TARGET_DEPTH_EXCEEDED

state 3444 begin apogee

3450 -0.13 0.0 2210 2058 3956 3979 480.1 -12.3 292 3686 1.27 0.10 228.60 1.395 10246 0.228 0.157 2535 2120 3357 3372 3343 0 0 0 0 0 0 13.73 13.39 12.60

3690 end apogee: CONTROL_FINISHED_OK

state 3690 begin climb

3693 0.57 145.9 2534 2120 3369 3338 493.5 0.0 300 4252 0.73 2.72 214.05 1.340 10756 0.060 0.080 2781 723 2749 2782 2717 0 0 0 0 0 0 13.61 12.83 12.24

4342 0.17 145.9 2782 723 2782 2717 451.8 13.3 319 4347 0.65 2.40 0.00 0.000 5254 0.326 0.075 2644 2093 2748 2781 2715 0 0 0 0 0 0 13.60 13.97 14.00

4668 0.01 175.5 2645 2096 2782 2713 422.7 8.6 334 4710 0.22 0.00 40.70 1.400 12454 0.262 0.000 2600 2095 2650 2692 2608 0 0 0 0 0 0 13.81 13.99 13.16

4998 0.01 229.1 2593 2095 2682 2585 397.8 7.5 345 5089 0.00 2.53 85.75 1.321 8868 0.000 0.083 2599 726 2425 2477 2374 0 0 0 0 0 0 14.42 13.84 13.07

5122 0.08 265.4 2599 727 2465 2367 388.1 8.3 369 5181 0.00 2.45 54.03 1.313 9382 0.000 0.077 2599 2101 2282 2332 2232 0 0 0 0 0 0 13.99 13.88 12.97

5482 0.12 284.5 2606 2102 2318 2207 355.5 9.1 391 5510 0.00 0.00 24.48 1.385 8358 0.000 0.000 2599 2103 2201 2253 2149 0 0 0 0 0 0 14.36 14.00 13.17

5810 0.19 308.1 2600 2102 2241 2134 325.8 8.9 402 5851 0.12 2.45 34.22 1.342 10916 0.124 0.086 2668 724 2105 2150 2060 0 0 0 0 0 0 14.22 13.97 13.21

5903 0.16 308.1 2668 725 2138 2055 314.1 13.0 420 5908 0.15 2.42 0.00 0.000 5254 0.246 0.078 2636 2102 2094 2136 2053 0 0 0 0 0 0 13.95 14.12 14.22

6233 0.16 308.1 2635 2104 2137 2046 278.6 10.4 436 6234 0.00 0.00 0.00 0.000 6 0.000 0.000 2636 2103 2088 2136 2041 0 0 0 0 0 0 14.60 14.61 14.60

6534 0.17 316.8 2636 2103 2137 2044 248.9 9.6 446 6543 0.00 2.45 2.38 0.623 8740 0.000 0.084 2642 724 2073 2118 2028 0 0 0 0 0 0 14.58 14.20 12.83

6594 0.25 342.0 2642 726 2125 2032 243.4 8.8 458 6656 0.00 2.42 54.83 1.310 9382 0.000 0.078 2642 2108 1966 2010 1922 0 0 0 0 0 0 14.26 14.13 13.21

6955 0.31 372.1 2642 2109 1999 1909 211.6 8.6 480 7008 0.12 0.00 50.72 1.274 10406 0.124 0.000 2696 2108 1848 1878 1818 0 0 0 0 0 0 14.12 14.00 13.23

7284 0.29 372.1 2696 2109 1858 1804 174.4 10.9 491 7288 0.00 2.45 0.00 0.000 644 0.000 0.086 2698 727 1830 1858 1802 0 0 0 0 0 0 14.62 14.08 14.60

7385 0.31 372.1 2699 726 1856 1805 164.0 10.4 508 7391 0.00 2.40 0.00 0.000 1158 0.000 0.078 2699 2104 1829 1856 1803 0 0 0 0 0 0 14.23 14.11 14.27

7688 0.31 372.1 2699 2097 1855 1800 132.1 10.2 519 7689 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2101 1827 1854 1800 0 0 0 0 0 0 14.50 14.52 14.51

7989 0.33 391.3 2699 2101 1855 1800 104.0 9.1 529 8020 0.00 2.42 25.92 1.315 8740 0.000 0.084 2699 724 1765 1788 1742 0 0 0 0 0 0 14.49 13.84 13.25

8093 0.44 431.6 2699 726 1777 1737 95.5 8.1 549 8119 0.00 2.40 22.75 0.471 9382 0.000 0.077 2699 2099 1604 1629 1580 0 0 0 0 0 0 14.15 14.03 13.60

8425 0.56 497.2 2698 2100 1641 1581 69.7 7.0 585 8466 0.20 0.00 39.25 0.399 10406 0.098 0.000 2782 2098 1335 1379 1291 0 0 0 0 0 0 14.14 14.02 13.62

8765 0.61 564.3 2782 2100 1382 1296 39.6 6.9 619 8806 0.00 0.00 39.85 0.311 8230 0.000 0.000 2782 2099 1063 1125 1001 0 0 0 0 0 0 14.42 14.05 13.70

9105 0.78 669.0 2781 2100 1126 1009 17.7 5.2 653 9174 0.12 2.47 62.45 0.245 10916 0.137 0.088 2843 718 633 685 582 0 0 0 0 0 0 14.09 13.88 13.75

9191 0.81 669.0 2844 719 686 583 9.7 11.3 669 9197 0.00 2.45 0.00 0.000 1158 0.000 0.073 2843 2105 631 680 582 0 0 0 0 0 0 14.12 14.00 14.15

9259 end climb: SURFACE_DEPTH_REACHED

state 9259 begin surface coast

9270 end surface coast: CONTROL_FINISHED_OK

state 9270 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	298	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	828.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,094633,7542.0366,-15110.3232,91,0.7,92,20.8,0.0,113.2,12,7.2	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	141.7,106803,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.5	D_GRID	480
GPS2	100917,095613,7542.0308,-15110.2773,6,0.8,10,20.8,0.0,0.0,10,9.3

FINISH	1.0,1.021562	_24V_AH	12.24,186.424
SM_CCo	9336,21.25,0.206,0,0,496,702.78	_10V_AH	12.09,0.000
SM_GC	0.98,8.23,0.17,21.25,0.076,0.112,0.206,200,2234,496,-7.38,-0.54,702.78,0,0,0,0,0,0,14.19,14.19,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	99	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7540.58,-15117.82,100917,071247	DATA_FILE_SIZE	23405,678
TT8_MAMPS	0.085386,0.917525	CAP_FILE_SIZE	96577,0
HUMID	43.81	CFSIZE	2097872896,2002124800
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	1447.3
XPDR_PINGS	9	CURRENT	0.017,29.90,1
CP_FREE	0.000000	GPS	100917,123403,7540.858,-15109.633,19,0.7,37,20.8,0.2,78.5,11,7.1
PM_FREEKB_00	48668992

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	460	145.15	nil	0	0	0.00
Roll_motor	69	2138	1830.03	nil	0	0	0.00
VBD_pump_during_apogee	979	1399	16792.25	nil	0	0	0.00
VBD_pump_during_surface	21	205	53.52	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	9296	14	1652.47
Iridium_during_xfer	328	166	668.24	NCP	9300	20	2276.64
Transponder_ping	2	420	11.57	PMAR	9289	42	4832.02
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.36
TT8	0	0	0.00
LPSleep	6435	2	179.73
TT8_Active	891	13	150.54
TT8_Sampling	2320	33	938.19
TT8_CF8	302	38	141.69
TT8_Kalman	0	0	0.00
Analog_circuits	2350	10	284.23
GPS_charging	0	0	0.00
Compass	973	7	82.42
RAFOS	2215	48	1285.41
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	184	2244	505	493	0.0	0.0	0	144	0.00	0.00	-91.93	0.000	16386	0.000	0.000	181	2244	2141	2070	2213	0	0	0	0	0	0	14.49	28.83	14.52
147	-0.57	-145.9	182	2245	2075	2213	3.7	-4.8	9	205	13.23	2.88	-36.60	0.000	19236	0.461	2.139	2386	832	3965	3951	3979	1	0	0	0	0	0	13.34	12.57	14.04
370	-0.71	-145.9	2386	833	3956	3979	46.6	-12.8	53	375	0.12	2.40	0.00	0.000	5254	0.122	0.087	2341	2169	3966	3954	3979	0	0	0	0	0	0	13.90	13.83	14.01
681	-0.78	-145.9	2341	2169	3956	3979	94.4	-12.8	85	685	0.00	2.58	0.00	0.000	388	0.000	0.090	2333	3618	3964	3951	3978	0	0	0	0	0	0	14.56	14.10	14.58
813	-0.97	-145.9	2334	3619	3956	3979	108.2	-9.4	111	818	0.20	2.35	0.00	0.000	5286	0.101	0.055	2253	2234	3967	3955	3979	0	0	0	0	0	0	14.26	14.19	14.34
1133	-0.94	-145.9	2253	2234	3956	3980	165.1	-17.2	125	1134	0.00	0.00	0.00	0.000	134	0.000	0.000	2253	2234	3967	3956	3978	0	0	0	0	0	0	14.45	14.47	14.46
1433	-0.94	-145.9	2253	2234	3956	3980	211.3	-14.7	135	1438	0.00	2.47	0.00	0.000	260	0.000	0.087	2247	3620	3966	3955	3978	0	0	0	0	0	0	14.44	13.97	14.45
1528	-1.04	-145.9	2247	3620	3957	3979	223.8	-12.1	154	1533	0.00	2.45	0.00	0.000	1158	0.000	0.057	2247	2198	3967	3955	3979	0	0	0	0	0	0	14.17	14.05	14.21
1854	-1.07	-145.9	2246	2197	3956	3980	267.8	-12.7	169	1859	0.00	2.53	0.00	0.000	388	0.000	0.088	2236	3610	3967	3955	3979	0	0	0	0	0	0	14.42	13.93	14.43
1959	-1.16	-145.9	2237	3611	3956	3980	279.9	-11.0	190	1964	0.00	2.40	0.00	0.000	1158	0.000	0.055	2237	2199	3967	3955	3979	0	0	0	0	0	0	14.16	14.00	14.19
2274	-1.20	-145.9	2237	2198	3955	3980	317.8	-11.8	203	2279	0.12	2.53	0.00	0.000	4484	0.147	0.084	2179	3613	3967	3955	3979	0	0	0	0	0	0	14.08	13.93	14.13
2310	-1.15	-145.9	2179	3614	3956	3980	323.0	-15.8	210	2315	0.12	2.42	0.00	0.000	3206	0.264	0.057	2201	2195	3967	3955	3979	0	0	0	0	0	0	13.82	14.07	14.09
2635	-1.13	-145.9	2201	2195	3956	3979	369.6	-14.1	225	2640	0.00	2.55	0.00	0.000	388	0.000	0.087	2194	3618	3967	3955	3979	0	0	0	0	0	0	14.42	13.93	14.44
2725	-1.16	-145.9	2194	3619	3954	3979	381.8	-12.9	243	2730	0.00	2.45	0.00	0.000	1158	0.000	0.057	2194	2199	3968	3955	3981	0	0	0	0	0	0	14.09	13.97	14.12
3055	-1.13	-145.9	2194	2199	3955	3980	429.3	-14.4	259	3060	0.00	2.55	0.00	0.000	388	0.000	0.086	2184	3619	3967	3955	3979	0	0	0	0	0	0	14.41	13.88	14.42
3160	-1.13	-145.9	2185	3620	3955	3978	444.2	-13.7	280	3166	0.12	2.45	0.00	0.000	3078	0.243	0.057	2209	2198	3966	3954	3979	0	0	0	0	0	0	13.76	13.98	14.00
3444	end dive: TARGET_DEPTH_EXCEEDED
state	3444	begin apogee
3450	-0.13	0.0	2210	2058	3956	3979	480.1	-12.3	292	3686	1.27	0.10	228.60	1.395	10246	0.228	0.157	2535	2120	3357	3372	3343	0	0	0	0	0	0	13.73	13.39	12.60
3690	end apogee: CONTROL_FINISHED_OK
state	3690	begin climb
3693	0.57	145.9	2534	2120	3369	3338	493.5	0.0	300	4252	0.73	2.72	214.05	1.340	10756	0.060	0.080	2781	723	2749	2782	2717	0	0	0	0	0	0	13.61	12.83	12.24
4342	0.17	145.9	2782	723	2782	2717	451.8	13.3	319	4347	0.65	2.40	0.00	0.000	5254	0.326	0.075	2644	2093	2748	2781	2715	0	0	0	0	0	0	13.60	13.97	14.00
4668	0.01	175.5	2645	2096	2782	2713	422.7	8.6	334	4710	0.22	0.00	40.70	1.400	12454	0.262	0.000	2600	2095	2650	2692	2608	0	0	0	0	0	0	13.81	13.99	13.16
4998	0.01	229.1	2593	2095	2682	2585	397.8	7.5	345	5089	0.00	2.53	85.75	1.321	8868	0.000	0.083	2599	726	2425	2477	2374	0	0	0	0	0	0	14.42	13.84	13.07
5122	0.08	265.4	2599	727	2465	2367	388.1	8.3	369	5181	0.00	2.45	54.03	1.313	9382	0.000	0.077	2599	2101	2282	2332	2232	0	0	0	0	0	0	13.99	13.88	12.97
5482	0.12	284.5	2606	2102	2318	2207	355.5	9.1	391	5510	0.00	0.00	24.48	1.385	8358	0.000	0.000	2599	2103	2201	2253	2149	0	0	0	0	0	0	14.36	14.00	13.17
5810	0.19	308.1	2600	2102	2241	2134	325.8	8.9	402	5851	0.12	2.45	34.22	1.342	10916	0.124	0.086	2668	724	2105	2150	2060	0	0	0	0	0	0	14.22	13.97	13.21
5903	0.16	308.1	2668	725	2138	2055	314.1	13.0	420	5908	0.15	2.42	0.00	0.000	5254	0.246	0.078	2636	2102	2094	2136	2053	0	0	0	0	0	0	13.95	14.12	14.22
6233	0.16	308.1	2635	2104	2137	2046	278.6	10.4	436	6234	0.00	0.00	0.00	0.000	6	0.000	0.000	2636	2103	2088	2136	2041	0	0	0	0	0	0	14.60	14.61	14.60
6534	0.17	316.8	2636	2103	2137	2044	248.9	9.6	446	6543	0.00	2.45	2.38	0.623	8740	0.000	0.084	2642	724	2073	2118	2028	0	0	0	0	0	0	14.58	14.20	12.83
6594	0.25	342.0	2642	726	2125	2032	243.4	8.8	458	6656	0.00	2.42	54.83	1.310	9382	0.000	0.078	2642	2108	1966	2010	1922	0	0	0	0	0	0	14.26	14.13	13.21
6955	0.31	372.1	2642	2109	1999	1909	211.6	8.6	480	7008	0.12	0.00	50.72	1.274	10406	0.124	0.000	2696	2108	1848	1878	1818	0	0	0	0	0	0	14.12	14.00	13.23
7284	0.29	372.1	2696	2109	1858	1804	174.4	10.9	491	7288	0.00	2.45	0.00	0.000	644	0.000	0.086	2698	727	1830	1858	1802	0	0	0	0	0	0	14.62	14.08	14.60
7385	0.31	372.1	2699	726	1856	1805	164.0	10.4	508	7391	0.00	2.40	0.00	0.000	1158	0.000	0.078	2699	2104	1829	1856	1803	0	0	0	0	0	0	14.23	14.11	14.27
7688	0.31	372.1	2699	2097	1855	1800	132.1	10.2	519	7689	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2101	1827	1854	1800	0	0	0	0	0	0	14.50	14.52	14.51
7989	0.33	391.3	2699	2101	1855	1800	104.0	9.1	529	8020	0.00	2.42	25.92	1.315	8740	0.000	0.084	2699	724	1765	1788	1742	0	0	0	0	0	0	14.49	13.84	13.25
8093	0.44	431.6	2699	726	1777	1737	95.5	8.1	549	8119	0.00	2.40	22.75	0.471	9382	0.000	0.077	2699	2099	1604	1629	1580	0	0	0	0	0	0	14.15	14.03	13.60
8425	0.56	497.2	2698	2100	1641	1581	69.7	7.0	585	8466	0.20	0.00	39.25	0.399	10406	0.098	0.000	2782	2098	1335	1379	1291	0	0	0	0	0	0	14.14	14.02	13.62
8765	0.61	564.3	2782	2100	1382	1296	39.6	6.9	619	8806	0.00	0.00	39.85	0.311	8230	0.000	0.000	2782	2099	1063	1125	1001	0	0	0	0	0	0	14.42	14.05	13.70
9105	0.78	669.0	2781	2100	1126	1009	17.7	5.2	653	9174	0.12	2.47	62.45	0.245	10916	0.137	0.088	2843	718	633	685	582	0	0	0	0	0	0	14.09	13.88	13.75
9191	0.81	669.0	2844	719	686	583	9.7	11.3	669	9197	0.00	2.45	0.00	0.000	1158	0.000	0.073	2843	2105	631	680	582	0	0	0	0	0	0	14.12	14.00	14.15
9259	end climb: SURFACE_DEPTH_REACHED
state	9259	begin surface coast
9270	end surface coast: CONTROL_FINISHED_OK
state	9270	begin surface