Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 301 * 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 301 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 839.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 68 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 839.0 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 29 VBD_MIN 500

DIVE 301 NOCOMM_ACTION 161 R_STBD_OVSHOOT 68 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 100917,175521,7542.9995,-15108.8545,13,0.8,25,20.8,0.0,137.4,9,10.0 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 1.16 MHEAD_RNG_PITCHd_Wd 148.7,108454,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 100917,180701,7542.9805,-15108.8457,6,0.8,39,20.8,1.3,128.8,10,9.2

Post-dive calculations and measurements:

FINISH 0.1,1.021559 _24V_AH 12.26,187.878

SM_CCo 9024,41.67,0.204,0,0,499,702.78 _10V_AH 12.22,0.000

SM_GC 0.88,8.30,0.20,41.67,0.083,0.125,0.204,200,2217,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.21,14.15,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 116 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323696

IRIDIUM_FIX 7540.58,-15117.82,100917,152710 DATA_FILE_SIZE 26712,765

TT8_MAMPS 0.083888,0.910035 CAP_FILE_SIZE 101739,0

HUMID 43.85 CFSIZE 2097872896,2001305600

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

TCM_TEMP 13.10 SOUNDSPEED 1448.1

XPDR_PINGS 16 CURRENT 0.022,97.54,1

CP_FREE 0.000000 GPS 100917,204033,7541.715,-15108.625,64,0.8,65,20.8,0.0,0.0,10,7.4

PM_FREEKB_00 48559488

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 143.73 nil 0 0 0.00

Roll_motor 85 2142 2236.92 nil 0 0 0.00

VBD_pump_during_apogee 997 1461 17872.50 nil 0 0 0.00

VBD_pump_during_surface 41 204 104.36 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 8987 14 1628.58

Iridium_during_xfer 405 171 850.91 NCP 9005 20 2208.03

Transponder_ping 4 420 20.60 PMAR 8977 17 1885.07

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.58

TT8 0 0 0.00

LPSleep 6342 2 179.05

TT8_Active 1048 13 178.92

TT8_Sampling 2069 33 845.79

TT8_CF8 320 38 151.46

TT8_Kalman 0 0 0.00

Analog_circuits 2185 10 267.03

GPS_charging 0 0 0.00

Compass 1097 7 93.86

RAFOS 2217 48 1300.40

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 184 2197 497 485 0.0 0.0 0 153 0.00 0.00 -100.88 0.000 16386 0.000 0.000 182 2197 2327 2276 2378 0 0 0 0 0 0 14.51 28.83 14.52

156 -0.57 -145.9 183 2198 2280 2379 4.6 -7.0 10 204 12.93 2.78 -29.38 0.000 18980 0.451 2.143 2384 799 3963 3946 3980 1 0 0 0 0 0 13.45 12.87 14.04

344 -0.70 -145.9 2384 799 3952 3981 47.1 -13.7 47 350 0.00 2.40 0.00 0.000 1158 0.000 0.086 2384 2152 3966 3952 3980 0 0 0 0 0 0 14.23 14.09 14.26

649 -0.84 -145.9 2384 2153 3954 3981 83.5 -10.0 78 654 0.22 2.60 0.00 0.000 4516 0.099 0.087 2289 3613 3966 3953 3980 0 0 0 0 0 0 13.89 13.88 13.87

819 -0.90 -145.9 2290 3615 3954 3981 107.2 -13.4 112 824 0.00 2.40 0.00 0.000 1158 0.000 0.056 2290 2198 3965 3952 3979 0 0 0 0 0 0 14.12 14.00 14.13

1130 -0.94 -145.9 2289 2197 3954 3981 152.0 -13.8 124 1134 0.00 2.50 0.00 0.000 388 0.000 0.086 2280 3610 3966 3953 3980 0 0 0 0 0 0 14.64 14.07 14.66

1220 -1.07 -145.9 2281 3612 3954 3980 163.1 -11.8 142 1225 0.15 2.42 0.00 0.000 5254 0.116 0.058 2224 2189 3966 3953 3980 0 0 0 0 0 0 14.22 14.14 14.33

1551 -1.01 -145.9 2224 2188 3954 3981 223.1 -17.8 158 1556 0.12 2.50 0.00 0.000 2436 0.295 0.083 2243 3610 3966 3953 3979 0 0 0 0 0 0 13.92 14.14 14.07

1668 -1.09 -145.9 2243 3611 3953 3976 238.6 -12.2 181 1675 0.00 2.40 0.00 0.000 1158 0.000 0.057 2238 2196 3966 3953 3980 0 0 0 0 0 0 14.29 14.16 14.33

1971 -1.12 -145.9 2243 2196 3954 3981 279.0 -12.8 192 1976 0.00 2.53 0.00 0.000 388 0.000 0.088 2234 3619 3966 3952 3980 0 0 0 0 0 0 14.66 14.05 14.67

2047 -1.23 -145.9 2236 3619 3953 3981 288.0 -11.4 207 2052 0.17 2.40 0.00 0.000 5254 0.113 0.057 2166 2200 3966 3953 3980 0 0 0 0 0 0 14.20 14.14 14.33

2362 -1.12 -145.9 2165 2199 3953 3981 345.9 -18.5 220 2367 0.20 2.50 0.00 0.000 2436 0.291 0.083 2203 3610 3964 3953 3975 0 0 0 0 0 0 13.81 13.76 13.97

2464 -1.17 -145.9 2203 3611 3954 3981 359.8 -12.3 240 2469 0.00 2.42 0.00 0.000 1158 0.000 0.057 2202 2196 3966 3953 3980 0 0 0 0 0 0 14.13 14.02 14.19

2784 -1.17 -145.9 2203 2195 3954 3980 403.6 -13.5 254 2789 0.00 2.53 0.00 0.000 260 0.000 0.086 2196 3614 3965 3952 3979 0 0 0 0 0 0 14.64 14.11 14.68

2879 -1.23 -145.9 2197 3617 3953 3981 416.0 -12.4 273 2885 0.00 2.40 0.00 0.000 1158 0.000 0.056 2196 2199 3966 3952 3980 0 0 0 0 0 0 14.11 13.98 14.14

3205 -1.23 -145.9 2197 2198 3953 3981 460.7 -13.6 288 3210 0.00 2.50 0.00 0.000 260 0.000 0.087 2196 3610 3966 3952 3980 0 0 0 0 0 0 14.66 14.12 14.67

3295 -1.28 -145.9 2196 3612 3953 3980 472.3 -12.2 306 3300 0.00 2.42 0.00 0.000 1158 0.000 0.056 2196 2195 3966 3952 3980 0 0 0 0 0 0 14.22 14.09 14.25

3353 end dive: TARGET_DEPTH_EXCEEDED

state 3353 begin apogee

3359 -0.13 0.0 2197 2055 3953 3980 480.3 -13.5 313 3589 1.30 0.10 226.25 1.411 10246 0.233 0.158 2527 2122 3365 3376 3355 0 0 0 0 0 0 13.81 13.47 12.65

3593 end apogee: CONTROL_FINISHED_OK

state 3593 begin climb

3597 0.57 145.9 2528 2122 3370 3343 492.4 0.0 320 3820 0.75 2.65 211.80 1.353 11012 0.061 0.073 2780 3498 2767 2795 2740 0 0 0 0 0 0 13.66 13.12 12.26

3925 0.08 145.9 2781 3498 2777 2726 493.2 14.9 379 3932 0.90 2.45 0.00 0.000 5254 0.352 0.056 2614 2127 2751 2776 2726 0 0 0 0 0 0 13.16 13.50 13.52

4231 -0.01 199.8 2615 2126 2778 2723 468.9 7.5 390 4320 0.15 0.00 83.12 1.356 12454 0.291 0.000 2583 2126 2543 2594 2493 0 0 0 0 0 0 13.85 13.78 13.02

4620 0.03 248.1 2584 2126 2590 2476 439.4 7.8 403 4700 0.00 0.00 75.25 1.357 8742 0.000 0.000 2584 2126 2349 2397 2301 0 0 0 0 0 0 14.55 13.66 13.08

5011 0.10 288.3 2584 2127 2384 2287 407.8 8.1 421 5081 0.00 2.58 64.05 1.346 8868 0.000 0.088 2588 694 2181 2225 2137 0 0 0 0 0 0 14.56 13.90 13.11

5157 0.25 327.2 2589 694 2214 2132 395.8 8.2 450 5224 0.22 2.45 60.97 1.323 11430 0.093 0.080 2678 2087 2029 2069 1989 0 0 0 0 0 0 14.14 14.05 13.07

5522 0.17 327.2 2679 2087 2056 1967 341.6 15.1 473 5527 0.15 2.45 0.00 0.000 4740 0.265 0.084 2647 691 2010 2054 1967 0 0 0 0 0 0 13.93 14.15 14.09

5578 0.21 327.2 2649 691 2052 1967 334.5 11.7 484 5584 0.00 2.47 0.00 0.000 1158 0.000 0.077 2647 2109 2009 2051 1967 0 0 0 0 0 0 14.33 14.19 14.38

5883 0.21 327.2 2647 2111 2052 1963 298.2 11.7 495 5887 0.00 2.50 0.00 0.000 516 0.000 0.086 2646 690 2007 2050 1964 0 0 0 0 0 0 14.66 14.08 14.67

5907 0.21 327.2 2647 690 2050 1963 295.3 11.2 500 5914 0.00 2.47 0.00 0.000 1030 0.000 0.076 2647 2101 2006 2049 1964 0 0 0 0 0 0 14.31 14.21 14.36

6213 0.21 327.2 2647 2102 2048 1964 260.9 11.1 511 6213 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2101 2005 2049 1962 0 0 0 0 0 0 14.66 14.71 14.70

6513 0.22 341.6 2647 2102 2050 1963 231.5 9.3 521 6533 0.00 2.47 14.40 1.461 8740 0.000 0.087 2647 693 1969 2012 1927 0 0 0 0 0 0 14.68 14.17 13.30

6610 0.33 372.7 2647 693 2003 1924 223.1 8.6 540 6674 0.12 2.45 56.58 1.279 11430 0.127 0.078 2698 2103 1844 1871 1817 0 0 0 0 0 0 14.28 14.19 13.17

7011 0.29 372.7 2699 2104 1854 1803 175.7 11.5 567 7015 0.00 2.50 0.00 0.000 644 0.000 0.086 2699 695 1828 1854 1802 0 0 0 0 0 0 14.45 14.07 14.46

7056 0.32 372.7 2699 696 1853 1803 170.7 10.7 576 7060 0.00 2.45 0.00 0.000 1158 0.000 0.077 2699 2099 1827 1852 1802 0 0 0 0 0 0 14.22 14.10 14.27

7371 0.32 372.7 2698 2100 1852 1801 137.8 10.1 589 7371 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2099 1826 1852 1800 0 0 0 0 0 0 14.47 14.49 14.49

7671 0.33 386.2 2699 2100 1853 1798 109.2 9.4 599 7691 0.00 2.50 14.25 1.403 8740 0.000 0.086 2699 687 1787 1810 1764 0 0 0 0 0 0 14.46 14.10 13.23

7721 0.42 418.3 2699 687 1803 1762 104.9 8.5 609 7787 0.00 2.50 58.95 1.219 9382 0.000 0.077 2699 2110 1657 1680 1634 0 0 0 0 0 0 14.18 14.06 13.18

8093 0.52 471.9 2700 2111 1673 1613 74.4 7.5 653 8129 0.12 2.53 30.42 0.416 10916 0.128 0.086 2768 695 1439 1473 1406 0 0 0 0 0 0 14.12 14.04 13.62

8175 0.52 471.9 2768 695 1477 1407 66.2 10.0 669 8180 0.00 2.47 0.00 0.000 1030 0.000 0.075 2768 2100 1442 1477 1407 0 0 0 0 0 0 14.18 14.06 14.21

8485 0.59 565.4 2767 2101 1479 1408 41.1 5.7 701 8548 0.00 2.53 56.72 0.320 8740 0.000 0.085 2768 689 1057 1121 994 0 0 0 0 0 0 14.41 13.92 13.69

8610 0.78 637.5 2768 689 1123 1004 33.5 6.7 725 8663 0.15 2.47 44.92 0.291 11430 0.072 0.077 2840 2098 763 830 696 0 0 0 0 0 0 14.06 14.02 13.69

8938 end climb: SURFACE_DEPTH_REACHED

state 8938 begin surface coast

8956 end surface coast: CONTROL_FINISHED_OK

state 8956 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	301	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	839.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	68	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,175521,7542.9995,-15108.8545,13,0.8,25,20.8,0.0,137.4,9,10.0	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	1.16	MHEAD_RNG_PITCHd_Wd	148.7,108454,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	100917,180701,7542.9805,-15108.8457,6,0.8,39,20.8,1.3,128.8,10,9.2

FINISH	0.1,1.021559	_24V_AH	12.26,187.878
SM_CCo	9024,41.67,0.204,0,0,499,702.78	_10V_AH	12.22,0.000
SM_GC	0.88,8.30,0.20,41.67,0.083,0.125,0.204,200,2217,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.21,14.15,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	116	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323696
IRIDIUM_FIX	7540.58,-15117.82,100917,152710	DATA_FILE_SIZE	26712,765
TT8_MAMPS	0.083888,0.910035	CAP_FILE_SIZE	101739,0
HUMID	43.85	CFSIZE	2097872896,2001305600
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1448.1
XPDR_PINGS	16	CURRENT	0.022,97.54,1
CP_FREE	0.000000	GPS	100917,204033,7541.715,-15108.625,64,0.8,65,20.8,0.0,0.0,10,7.4
PM_FREEKB_00	48559488

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	143.73	nil	0	0	0.00
Roll_motor	85	2142	2236.92	nil	0	0	0.00
VBD_pump_during_apogee	997	1461	17872.50	nil	0	0	0.00
VBD_pump_during_surface	41	204	104.36	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	8987	14	1628.58
Iridium_during_xfer	405	171	850.91	NCP	9005	20	2208.03
Transponder_ping	4	420	20.60	PMAR	8977	17	1885.07
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.58
TT8	0	0	0.00
LPSleep	6342	2	179.05
TT8_Active	1048	13	178.92
TT8_Sampling	2069	33	845.79
TT8_CF8	320	38	151.46
TT8_Kalman	0	0	0.00
Analog_circuits	2185	10	267.03
GPS_charging	0	0	0.00
Compass	1097	7	93.86
RAFOS	2217	48	1300.40
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	184	2197	497	485	0.0	0.0	0	153	0.00	0.00	-100.88	0.000	16386	0.000	0.000	182	2197	2327	2276	2378	0	0	0	0	0	0	14.51	28.83	14.52
156	-0.57	-145.9	183	2198	2280	2379	4.6	-7.0	10	204	12.93	2.78	-29.38	0.000	18980	0.451	2.143	2384	799	3963	3946	3980	1	0	0	0	0	0	13.45	12.87	14.04
344	-0.70	-145.9	2384	799	3952	3981	47.1	-13.7	47	350	0.00	2.40	0.00	0.000	1158	0.000	0.086	2384	2152	3966	3952	3980	0	0	0	0	0	0	14.23	14.09	14.26
649	-0.84	-145.9	2384	2153	3954	3981	83.5	-10.0	78	654	0.22	2.60	0.00	0.000	4516	0.099	0.087	2289	3613	3966	3953	3980	0	0	0	0	0	0	13.89	13.88	13.87
819	-0.90	-145.9	2290	3615	3954	3981	107.2	-13.4	112	824	0.00	2.40	0.00	0.000	1158	0.000	0.056	2290	2198	3965	3952	3979	0	0	0	0	0	0	14.12	14.00	14.13
1130	-0.94	-145.9	2289	2197	3954	3981	152.0	-13.8	124	1134	0.00	2.50	0.00	0.000	388	0.000	0.086	2280	3610	3966	3953	3980	0	0	0	0	0	0	14.64	14.07	14.66
1220	-1.07	-145.9	2281	3612	3954	3980	163.1	-11.8	142	1225	0.15	2.42	0.00	0.000	5254	0.116	0.058	2224	2189	3966	3953	3980	0	0	0	0	0	0	14.22	14.14	14.33
1551	-1.01	-145.9	2224	2188	3954	3981	223.1	-17.8	158	1556	0.12	2.50	0.00	0.000	2436	0.295	0.083	2243	3610	3966	3953	3979	0	0	0	0	0	0	13.92	14.14	14.07
1668	-1.09	-145.9	2243	3611	3953	3976	238.6	-12.2	181	1675	0.00	2.40	0.00	0.000	1158	0.000	0.057	2238	2196	3966	3953	3980	0	0	0	0	0	0	14.29	14.16	14.33
1971	-1.12	-145.9	2243	2196	3954	3981	279.0	-12.8	192	1976	0.00	2.53	0.00	0.000	388	0.000	0.088	2234	3619	3966	3952	3980	0	0	0	0	0	0	14.66	14.05	14.67
2047	-1.23	-145.9	2236	3619	3953	3981	288.0	-11.4	207	2052	0.17	2.40	0.00	0.000	5254	0.113	0.057	2166	2200	3966	3953	3980	0	0	0	0	0	0	14.20	14.14	14.33
2362	-1.12	-145.9	2165	2199	3953	3981	345.9	-18.5	220	2367	0.20	2.50	0.00	0.000	2436	0.291	0.083	2203	3610	3964	3953	3975	0	0	0	0	0	0	13.81	13.76	13.97
2464	-1.17	-145.9	2203	3611	3954	3981	359.8	-12.3	240	2469	0.00	2.42	0.00	0.000	1158	0.000	0.057	2202	2196	3966	3953	3980	0	0	0	0	0	0	14.13	14.02	14.19
2784	-1.17	-145.9	2203	2195	3954	3980	403.6	-13.5	254	2789	0.00	2.53	0.00	0.000	260	0.000	0.086	2196	3614	3965	3952	3979	0	0	0	0	0	0	14.64	14.11	14.68
2879	-1.23	-145.9	2197	3617	3953	3981	416.0	-12.4	273	2885	0.00	2.40	0.00	0.000	1158	0.000	0.056	2196	2199	3966	3952	3980	0	0	0	0	0	0	14.11	13.98	14.14
3205	-1.23	-145.9	2197	2198	3953	3981	460.7	-13.6	288	3210	0.00	2.50	0.00	0.000	260	0.000	0.087	2196	3610	3966	3952	3980	0	0	0	0	0	0	14.66	14.12	14.67
3295	-1.28	-145.9	2196	3612	3953	3980	472.3	-12.2	306	3300	0.00	2.42	0.00	0.000	1158	0.000	0.056	2196	2195	3966	3952	3980	0	0	0	0	0	0	14.22	14.09	14.25
3353	end dive: TARGET_DEPTH_EXCEEDED
state	3353	begin apogee
3359	-0.13	0.0	2197	2055	3953	3980	480.3	-13.5	313	3589	1.30	0.10	226.25	1.411	10246	0.233	0.158	2527	2122	3365	3376	3355	0	0	0	0	0	0	13.81	13.47	12.65
3593	end apogee: CONTROL_FINISHED_OK
state	3593	begin climb
3597	0.57	145.9	2528	2122	3370	3343	492.4	0.0	320	3820	0.75	2.65	211.80	1.353	11012	0.061	0.073	2780	3498	2767	2795	2740	0	0	0	0	0	0	13.66	13.12	12.26
3925	0.08	145.9	2781	3498	2777	2726	493.2	14.9	379	3932	0.90	2.45	0.00	0.000	5254	0.352	0.056	2614	2127	2751	2776	2726	0	0	0	0	0	0	13.16	13.50	13.52
4231	-0.01	199.8	2615	2126	2778	2723	468.9	7.5	390	4320	0.15	0.00	83.12	1.356	12454	0.291	0.000	2583	2126	2543	2594	2493	0	0	0	0	0	0	13.85	13.78	13.02
4620	0.03	248.1	2584	2126	2590	2476	439.4	7.8	403	4700	0.00	0.00	75.25	1.357	8742	0.000	0.000	2584	2126	2349	2397	2301	0	0	0	0	0	0	14.55	13.66	13.08
5011	0.10	288.3	2584	2127	2384	2287	407.8	8.1	421	5081	0.00	2.58	64.05	1.346	8868	0.000	0.088	2588	694	2181	2225	2137	0	0	0	0	0	0	14.56	13.90	13.11
5157	0.25	327.2	2589	694	2214	2132	395.8	8.2	450	5224	0.22	2.45	60.97	1.323	11430	0.093	0.080	2678	2087	2029	2069	1989	0	0	0	0	0	0	14.14	14.05	13.07
5522	0.17	327.2	2679	2087	2056	1967	341.6	15.1	473	5527	0.15	2.45	0.00	0.000	4740	0.265	0.084	2647	691	2010	2054	1967	0	0	0	0	0	0	13.93	14.15	14.09
5578	0.21	327.2	2649	691	2052	1967	334.5	11.7	484	5584	0.00	2.47	0.00	0.000	1158	0.000	0.077	2647	2109	2009	2051	1967	0	0	0	0	0	0	14.33	14.19	14.38
5883	0.21	327.2	2647	2111	2052	1963	298.2	11.7	495	5887	0.00	2.50	0.00	0.000	516	0.000	0.086	2646	690	2007	2050	1964	0	0	0	0	0	0	14.66	14.08	14.67
5907	0.21	327.2	2647	690	2050	1963	295.3	11.2	500	5914	0.00	2.47	0.00	0.000	1030	0.000	0.076	2647	2101	2006	2049	1964	0	0	0	0	0	0	14.31	14.21	14.36
6213	0.21	327.2	2647	2102	2048	1964	260.9	11.1	511	6213	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2101	2005	2049	1962	0	0	0	0	0	0	14.66	14.71	14.70
6513	0.22	341.6	2647	2102	2050	1963	231.5	9.3	521	6533	0.00	2.47	14.40	1.461	8740	0.000	0.087	2647	693	1969	2012	1927	0	0	0	0	0	0	14.68	14.17	13.30
6610	0.33	372.7	2647	693	2003	1924	223.1	8.6	540	6674	0.12	2.45	56.58	1.279	11430	0.127	0.078	2698	2103	1844	1871	1817	0	0	0	0	0	0	14.28	14.19	13.17
7011	0.29	372.7	2699	2104	1854	1803	175.7	11.5	567	7015	0.00	2.50	0.00	0.000	644	0.000	0.086	2699	695	1828	1854	1802	0	0	0	0	0	0	14.45	14.07	14.46
7056	0.32	372.7	2699	696	1853	1803	170.7	10.7	576	7060	0.00	2.45	0.00	0.000	1158	0.000	0.077	2699	2099	1827	1852	1802	0	0	0	0	0	0	14.22	14.10	14.27
7371	0.32	372.7	2698	2100	1852	1801	137.8	10.1	589	7371	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2099	1826	1852	1800	0	0	0	0	0	0	14.47	14.49	14.49
7671	0.33	386.2	2699	2100	1853	1798	109.2	9.4	599	7691	0.00	2.50	14.25	1.403	8740	0.000	0.086	2699	687	1787	1810	1764	0	0	0	0	0	0	14.46	14.10	13.23
7721	0.42	418.3	2699	687	1803	1762	104.9	8.5	609	7787	0.00	2.50	58.95	1.219	9382	0.000	0.077	2699	2110	1657	1680	1634	0	0	0	0	0	0	14.18	14.06	13.18
8093	0.52	471.9	2700	2111	1673	1613	74.4	7.5	653	8129	0.12	2.53	30.42	0.416	10916	0.128	0.086	2768	695	1439	1473	1406	0	0	0	0	0	0	14.12	14.04	13.62
8175	0.52	471.9	2768	695	1477	1407	66.2	10.0	669	8180	0.00	2.47	0.00	0.000	1030	0.000	0.075	2768	2100	1442	1477	1407	0	0	0	0	0	0	14.18	14.06	14.21
8485	0.59	565.4	2767	2101	1479	1408	41.1	5.7	701	8548	0.00	2.53	56.72	0.320	8740	0.000	0.085	2768	689	1057	1121	994	0	0	0	0	0	0	14.41	13.92	13.69
8610	0.78	637.5	2768	689	1123	1004	33.5	6.7	725	8663	0.15	2.47	44.92	0.291	11430	0.072	0.077	2840	2098	763	830	696	0	0	0	0	0	0	14.06	14.02	13.69
8938	end climb: SURFACE_DEPTH_REACHED
state	8938	begin surface coast
8956	end surface coast: CONTROL_FINISHED_OK
state	8956	begin surface