Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 302 * 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 302 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 841.0

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 28 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 841.0 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 302 NOCOMM_ACTION 161 R_STBD_OVSHOOT 28 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 100917,204033,7541.7153,-15108.6250,64,0.8,65,20.8,0.0,0.0,10,7.4 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 156.5,106141,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.9 D_GRID 480

GPS2 100917,205128,7541.7295,-15108.5918,5,0.8,10,20.8,0.0,0.0,10,10.0

Post-dive calculations and measurements:

FINISH 0.7,1.021567 _24V_AH 12.25,188.347

SM_CCo 9176,15.05,0.207,0,0,498,703.03 _10V_AH 12.14,0.000

SM_GC 0.90,8.43,0.15,15.05,0.081,0.129,0.207,205,2220,498,-7.36,-0.76,703.03,0,0,0,0,0,0,14.26,14.24,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 410 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323416

IRIDIUM_FIX 7542.41,-15113.64,100917,180559 DATA_FILE_SIZE 26694,756

TT8_MAMPS 0.038948,0.984935 CAP_FILE_SIZE 101938,0

HUMID 46.65 CFSIZE 2097872896,2001043456

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1448.5

XPDR_PINGS 15 CURRENT 0.022,116.06,1

CP_FREE 15943303168.000000 GPS 100917,232618,7540.426,-15109.359,14,0.8,16,20.8,0.8,46.6,11,8.8

PM_FREEKB_00 48519808

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.58 nil 0 0 0.00

Roll_motor 83 2138 2200.31 nil 0 0 0.00

VBD_pump_during_apogee 967 1425 16894.29 nil 0 0 0.00

VBD_pump_during_surface 15 206 38.08 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 9190 14 1643.74

Iridium_during_xfer 384 179 843.00 NCP 9152 20 2242.24

Transponder_ping 3 420 19.29 PMAR 9130 20 2278.68

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.18

TT8 0 0 0.00

LPSleep 6526 2 183.03

TT8_Active 882 13 149.67

TT8_Sampling 2142 33 869.66

TT8_CF8 310 38 145.84

TT8_Kalman 0 0 0.00

Analog_circuits 2124 10 257.97

GPS_charging 0 0 0.00

Compass 1090 7 92.66

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 185 2221 506 490 0.0 0.0 0 143 0.00 0.00 -91.95 0.000 16386 0.000 0.000 184 2220 2137 2065 2209 0 0 0 0 0 0 14.35 28.83 14.37

146 -0.57 -145.9 185 2221 2067 2211 3.4 -4.6 9 204 12.88 2.83 -37.12 0.000 18724 0.452 2.139 2376 3600 3963 3949 3978 0 0 0 0 0 0 13.60 12.57 14.05

324 -0.72 -145.9 2376 3602 3953 3979 39.6 -13.3 44 331 0.00 2.42 0.00 0.000 1158 0.000 0.057 2376 2204 3965 3952 3978 0 0 0 0 0 0 13.99 13.88 14.02

629 -0.84 -145.9 2376 2204 3954 3979 81.1 -10.8 75 634 0.17 2.47 0.00 0.000 4484 0.114 0.083 2291 3602 3965 3954 3977 0 0 0 0 0 0 14.23 13.95 14.28

665 -0.87 -145.9 2292 3604 3954 3979 86.0 -15.3 82 671 0.00 2.42 0.00 0.000 1158 0.000 0.059 2287 2190 3966 3954 3978 0 0 0 0 0 0 14.11 13.97 14.16

969 -0.87 -145.9 2291 2190 3954 3979 133.0 -14.3 99 974 0.00 2.50 0.00 0.000 260 0.000 0.085 2281 3611 3965 3953 3978 0 0 0 0 0 0 14.63 14.10 14.64

1064 -0.99 -145.9 2281 3616 3956 3978 144.8 -11.6 118 1069 0.00 2.40 0.00 0.000 1158 0.000 0.057 2281 2196 3966 3954 3978 0 0 0 0 0 0 14.21 14.10 14.26

1390 -1.04 -145.9 2281 2195 3955 3978 188.1 -13.0 133 1395 0.12 2.47 0.00 0.000 4484 0.137 0.083 2223 3602 3966 3954 3978 0 0 0 0 0 0 14.31 14.14 14.34

1451 -1.06 -145.9 2223 3604 3954 3979 197.7 -15.8 145 1455 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2201 3965 3953 3978 0 0 0 0 0 0 14.33 14.20 14.38

1781 -1.02 -145.9 2223 2201 3954 3979 254.3 -16.3 161 1785 0.00 2.47 0.00 0.000 388 0.000 0.088 2222 3602 3965 3953 3978 0 0 0 0 0 0 14.65 14.14 14.67

1876 -1.07 -145.9 2222 3603 3955 3978 267.4 -12.7 180 1882 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2190 3966 3954 3978 0 0 0 0 0 0 14.32 14.20 14.35

2202 -1.07 -145.9 2222 2190 3954 3979 311.4 -12.9 195 2207 0.00 2.53 0.00 0.000 260 0.000 0.088 2222 3609 3964 3951 3978 0 0 0 0 0 0 14.55 14.04 14.56

2319 -1.15 -145.9 2223 3609 3954 3979 324.7 -10.9 218 2324 0.00 2.40 0.00 0.000 1158 0.000 0.055 2221 2190 3969 3961 3978 0 0 0 0 0 0 14.26 14.16 14.31

2622 -1.18 -145.9 2225 2190 3954 3979 361.7 -12.1 229 2627 0.00 2.50 0.00 0.000 388 0.000 0.088 2222 3603 3966 3954 3978 0 0 0 0 0 0 14.64 14.11 14.65

2697 -1.28 -145.9 2222 3604 3954 3979 370.2 -10.6 244 2703 0.17 2.38 0.00 0.000 5254 0.114 0.056 2156 2196 3965 3953 3978 0 0 0 0 0 0 14.25 14.21 14.33

3013 -1.17 -145.9 2156 2197 3954 3979 426.4 -18.1 257 3018 0.17 2.50 0.00 0.000 2436 0.331 0.083 2182 3603 3965 3953 3978 0 0 0 0 0 0 13.58 13.97 13.81

3138 -1.17 -145.9 2183 3604 3954 3978 444.7 -13.7 282 3144 0.00 2.40 0.00 0.000 1030 0.000 0.056 2182 2199 3965 3953 3978 0 0 0 0 0 0 14.32 14.19 14.35

3371 end dive: TARGET_DEPTH_EXCEEDED

state 3371 begin apogee

3377 -0.13 0.0 2183 2055 3953 3979 480.4 -15.3 294 3616 1.40 0.08 231.32 1.394 10246 0.245 0.180 2528 2098 3360 3378 3343 0 0 0 0 0 0 13.76 13.46 12.65

3619 end apogee: CONTROL_FINISHED_OK

state 3619 begin climb

3622 0.57 145.9 2532 2099 3374 3338 494.2 0.0 302 3847 0.73 2.65 213.82 1.355 10756 0.060 0.080 2781 735 2762 2796 2728 0 0 0 0 0 0 13.66 12.88 12.25

4072 0.17 145.9 2782 734 2786 2719 480.1 13.1 349 4079 0.68 2.42 0.00 0.000 5254 0.324 0.074 2637 2099 2751 2786 2717 0 0 0 0 0 0 13.43 13.81 13.83

4377 0.02 180.7 2641 2099 2788 2714 453.6 8.4 360 4433 0.20 2.53 50.97 1.384 12964 0.265 0.084 2593 726 2626 2673 2579 0 0 0 0 0 0 13.67 13.95 13.11

4573 0.06 239.5 2593 725 2665 2566 439.3 7.3 399 4670 0.00 2.42 91.20 1.340 9254 0.000 0.079 2593 2100 2388 2443 2333 0 0 0 0 0 0 14.22 14.09 12.98

4980 0.08 264.4 2593 2102 2421 2311 404.3 8.9 430 5014 0.00 0.00 32.42 1.401 8230 0.000 0.000 2593 2101 2289 2341 2238 0 0 0 0 0 0 14.54 14.03 13.19

5310 0.13 288.9 2593 2102 2324 2217 374.8 8.9 441 5350 0.00 0.00 36.70 1.378 8870 0.000 0.000 2593 2101 2185 2236 2135 0 0 0 0 0 0 14.59 14.06 13.22

5672 0.21 321.3 2593 2102 2219 2118 343.9 8.5 463 5727 0.15 2.50 49.67 1.333 10916 0.114 0.087 2669 730 2051 2098 2005 0 0 0 0 0 0 14.21 14.07 13.23

5793 0.21 321.3 2671 730 2080 1999 328.0 13.3 487 5797 0.00 2.40 0.00 0.000 1030 0.000 0.078 2669 2099 2038 2079 1998 0 0 0 0 0 0 14.17 14.05 14.21

6123 0.17 321.3 2669 2102 2079 1992 283.7 13.1 503 6128 0.12 2.40 0.00 0.000 4740 0.273 0.082 2644 726 2034 2078 1991 0 0 0 0 0 0 14.04 14.14 14.18

6163 0.21 321.3 2644 726 2078 1992 279.0 10.8 511 6168 0.00 2.38 0.00 0.000 1158 0.000 0.077 2644 2100 2033 2077 1990 0 0 0 0 0 0 14.36 14.23 14.41

6483 0.21 321.3 2644 2102 2077 1989 245.2 10.0 525 6489 0.00 2.42 0.00 0.000 516 0.000 0.086 2644 728 2033 2077 1989 0 0 0 0 0 0 14.66 14.06 14.68

6519 0.28 335.0 2644 729 2077 1989 241.9 9.4 532 6539 0.00 2.40 14.20 1.425 9382 0.000 0.076 2644 2101 1998 2042 1954 0 0 0 0 0 0 14.28 14.16 13.30

6844 0.33 363.8 2645 2100 2036 1939 212.9 8.7 547 6897 0.12 0.00 51.00 1.276 10406 0.125 0.000 2698 2101 1883 1915 1851 0 0 0 0 0 0 14.32 14.02 13.24

7174 0.29 363.8 2699 2101 1895 1837 174.8 11.3 558 7179 0.00 2.42 0.00 0.000 644 0.000 0.086 2699 722 1862 1893 1832 0 0 0 0 0 0 14.55 14.15 14.59

7259 0.32 363.8 2700 721 1892 1833 165.7 10.3 575 7266 0.00 2.45 0.00 0.000 1158 0.000 0.076 2704 2102 1864 1891 1838 0 0 0 0 0 0 14.19 14.10 14.23

7564 0.30 363.8 2699 2103 1892 1832 133.7 10.2 586 7569 0.00 2.42 0.00 0.000 644 0.000 0.084 2698 730 1861 1891 1832 0 0 0 0 0 0 14.50 14.09 14.52

7630 0.34 376.2 2699 731 1889 1833 127.4 9.4 599 7646 0.00 2.40 9.73 1.408 9382 0.000 0.076 2699 2110 1834 1862 1807 0 0 0 0 0 0 14.29 14.19 13.27

7948 0.36 406.8 2699 2109 1854 1800 97.9 8.6 615 7968 0.00 0.00 18.50 0.474 8230 0.000 0.000 2699 2109 1707 1733 1682 0 0 0 0 0 0 14.46 14.09 13.59

8266 0.45 467.4 2698 2110 1741 1687 73.3 7.2 647 8308 0.00 2.53 37.45 0.411 8868 0.000 0.083 2699 722 1456 1492 1421 0 0 0 0 0 0 14.59 14.05 13.66

8353 0.64 540.2 2699 722 1497 1424 67.3 6.6 660 8407 0.28 2.42 44.38 0.392 11430 0.083 0.076 2800 2102 1157 1220 1095 0 0 0 0 0 0 14.23 14.12 13.65

8712 0.66 573.9 2800 2102 1225 1104 31.5 8.4 701 8734 0.00 0.00 20.75 0.285 8230 0.000 0.000 2800 2102 1023 1091 956 0 0 0 0 0 0 14.52 14.11 13.73

9032 0.78 657.2 2800 2102 1092 970 10.4 6.2 733 9091 0.00 2.50 51.35 0.224 8868 0.000 0.089 2802 733 681 741 622 0 0 0 0 0 0 14.55 14.02 13.74

9133 0.98 742.2 2800 734 741 623 3.5 6.1 752 9152 0.30 2.42 14.20 0.207 11426 0.083 0.076 2909 2113 594 641 547 0 0 0 0 0 0 14.21 14.02 14.28

9152 end climb: SURFACE_DEPTH_REACHED

state 9153 begin surface coast

9155 end surface coast: CONTROL_FINISHED_OK

state 9155 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	302	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	841.0
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	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100917,204033,7541.7153,-15108.6250,64,0.8,65,20.8,0.0,0.0,10,7.4	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	156.5,106141,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.9	D_GRID	480
GPS2	100917,205128,7541.7295,-15108.5918,5,0.8,10,20.8,0.0,0.0,10,10.0

FINISH	0.7,1.021567	_24V_AH	12.25,188.347
SM_CCo	9176,15.05,0.207,0,0,498,703.03	_10V_AH	12.14,0.000
SM_GC	0.90,8.43,0.15,15.05,0.081,0.129,0.207,205,2220,498,-7.36,-0.76,703.03,0,0,0,0,0,0,14.26,14.24,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	410	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323416
IRIDIUM_FIX	7542.41,-15113.64,100917,180559	DATA_FILE_SIZE	26694,756
TT8_MAMPS	0.038948,0.984935	CAP_FILE_SIZE	101938,0
HUMID	46.65	CFSIZE	2097872896,2001043456
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1448.5
XPDR_PINGS	15	CURRENT	0.022,116.06,1
CP_FREE	15943303168.000000	GPS	100917,232618,7540.426,-15109.359,14,0.8,16,20.8,0.8,46.6,11,8.8
PM_FREEKB_00	48519808

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.58	nil	0	0	0.00
Roll_motor	83	2138	2200.31	nil	0	0	0.00
VBD_pump_during_apogee	967	1425	16894.29	nil	0	0	0.00
VBD_pump_during_surface	15	206	38.08	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	9190	14	1643.74
Iridium_during_xfer	384	179	843.00	NCP	9152	20	2242.24
Transponder_ping	3	420	19.29	PMAR	9130	20	2278.68
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.18
TT8	0	0	0.00
LPSleep	6526	2	183.03
TT8_Active	882	13	149.67
TT8_Sampling	2142	33	869.66
TT8_CF8	310	38	145.84
TT8_Kalman	0	0	0.00
Analog_circuits	2124	10	257.97
GPS_charging	0	0	0.00
Compass	1090	7	92.66
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	185	2221	506	490	0.0	0.0	0	143	0.00	0.00	-91.95	0.000	16386	0.000	0.000	184	2220	2137	2065	2209	0	0	0	0	0	0	14.35	28.83	14.37
146	-0.57	-145.9	185	2221	2067	2211	3.4	-4.6	9	204	12.88	2.83	-37.12	0.000	18724	0.452	2.139	2376	3600	3963	3949	3978	0	0	0	0	0	0	13.60	12.57	14.05
324	-0.72	-145.9	2376	3602	3953	3979	39.6	-13.3	44	331	0.00	2.42	0.00	0.000	1158	0.000	0.057	2376	2204	3965	3952	3978	0	0	0	0	0	0	13.99	13.88	14.02
629	-0.84	-145.9	2376	2204	3954	3979	81.1	-10.8	75	634	0.17	2.47	0.00	0.000	4484	0.114	0.083	2291	3602	3965	3954	3977	0	0	0	0	0	0	14.23	13.95	14.28
665	-0.87	-145.9	2292	3604	3954	3979	86.0	-15.3	82	671	0.00	2.42	0.00	0.000	1158	0.000	0.059	2287	2190	3966	3954	3978	0	0	0	0	0	0	14.11	13.97	14.16
969	-0.87	-145.9	2291	2190	3954	3979	133.0	-14.3	99	974	0.00	2.50	0.00	0.000	260	0.000	0.085	2281	3611	3965	3953	3978	0	0	0	0	0	0	14.63	14.10	14.64
1064	-0.99	-145.9	2281	3616	3956	3978	144.8	-11.6	118	1069	0.00	2.40	0.00	0.000	1158	0.000	0.057	2281	2196	3966	3954	3978	0	0	0	0	0	0	14.21	14.10	14.26
1390	-1.04	-145.9	2281	2195	3955	3978	188.1	-13.0	133	1395	0.12	2.47	0.00	0.000	4484	0.137	0.083	2223	3602	3966	3954	3978	0	0	0	0	0	0	14.31	14.14	14.34
1451	-1.06	-145.9	2223	3604	3954	3979	197.7	-15.8	145	1455	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2201	3965	3953	3978	0	0	0	0	0	0	14.33	14.20	14.38
1781	-1.02	-145.9	2223	2201	3954	3979	254.3	-16.3	161	1785	0.00	2.47	0.00	0.000	388	0.000	0.088	2222	3602	3965	3953	3978	0	0	0	0	0	0	14.65	14.14	14.67
1876	-1.07	-145.9	2222	3603	3955	3978	267.4	-12.7	180	1882	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2190	3966	3954	3978	0	0	0	0	0	0	14.32	14.20	14.35
2202	-1.07	-145.9	2222	2190	3954	3979	311.4	-12.9	195	2207	0.00	2.53	0.00	0.000	260	0.000	0.088	2222	3609	3964	3951	3978	0	0	0	0	0	0	14.55	14.04	14.56
2319	-1.15	-145.9	2223	3609	3954	3979	324.7	-10.9	218	2324	0.00	2.40	0.00	0.000	1158	0.000	0.055	2221	2190	3969	3961	3978	0	0	0	0	0	0	14.26	14.16	14.31
2622	-1.18	-145.9	2225	2190	3954	3979	361.7	-12.1	229	2627	0.00	2.50	0.00	0.000	388	0.000	0.088	2222	3603	3966	3954	3978	0	0	0	0	0	0	14.64	14.11	14.65
2697	-1.28	-145.9	2222	3604	3954	3979	370.2	-10.6	244	2703	0.17	2.38	0.00	0.000	5254	0.114	0.056	2156	2196	3965	3953	3978	0	0	0	0	0	0	14.25	14.21	14.33
3013	-1.17	-145.9	2156	2197	3954	3979	426.4	-18.1	257	3018	0.17	2.50	0.00	0.000	2436	0.331	0.083	2182	3603	3965	3953	3978	0	0	0	0	0	0	13.58	13.97	13.81
3138	-1.17	-145.9	2183	3604	3954	3978	444.7	-13.7	282	3144	0.00	2.40	0.00	0.000	1030	0.000	0.056	2182	2199	3965	3953	3978	0	0	0	0	0	0	14.32	14.19	14.35
3371	end dive: TARGET_DEPTH_EXCEEDED
state	3371	begin apogee
3377	-0.13	0.0	2183	2055	3953	3979	480.4	-15.3	294	3616	1.40	0.08	231.32	1.394	10246	0.245	0.180	2528	2098	3360	3378	3343	0	0	0	0	0	0	13.76	13.46	12.65
3619	end apogee: CONTROL_FINISHED_OK
state	3619	begin climb
3622	0.57	145.9	2532	2099	3374	3338	494.2	0.0	302	3847	0.73	2.65	213.82	1.355	10756	0.060	0.080	2781	735	2762	2796	2728	0	0	0	0	0	0	13.66	12.88	12.25
4072	0.17	145.9	2782	734	2786	2719	480.1	13.1	349	4079	0.68	2.42	0.00	0.000	5254	0.324	0.074	2637	2099	2751	2786	2717	0	0	0	0	0	0	13.43	13.81	13.83
4377	0.02	180.7	2641	2099	2788	2714	453.6	8.4	360	4433	0.20	2.53	50.97	1.384	12964	0.265	0.084	2593	726	2626	2673	2579	0	0	0	0	0	0	13.67	13.95	13.11
4573	0.06	239.5	2593	725	2665	2566	439.3	7.3	399	4670	0.00	2.42	91.20	1.340	9254	0.000	0.079	2593	2100	2388	2443	2333	0	0	0	0	0	0	14.22	14.09	12.98
4980	0.08	264.4	2593	2102	2421	2311	404.3	8.9	430	5014	0.00	0.00	32.42	1.401	8230	0.000	0.000	2593	2101	2289	2341	2238	0	0	0	0	0	0	14.54	14.03	13.19
5310	0.13	288.9	2593	2102	2324	2217	374.8	8.9	441	5350	0.00	0.00	36.70	1.378	8870	0.000	0.000	2593	2101	2185	2236	2135	0	0	0	0	0	0	14.59	14.06	13.22
5672	0.21	321.3	2593	2102	2219	2118	343.9	8.5	463	5727	0.15	2.50	49.67	1.333	10916	0.114	0.087	2669	730	2051	2098	2005	0	0	0	0	0	0	14.21	14.07	13.23
5793	0.21	321.3	2671	730	2080	1999	328.0	13.3	487	5797	0.00	2.40	0.00	0.000	1030	0.000	0.078	2669	2099	2038	2079	1998	0	0	0	0	0	0	14.17	14.05	14.21
6123	0.17	321.3	2669	2102	2079	1992	283.7	13.1	503	6128	0.12	2.40	0.00	0.000	4740	0.273	0.082	2644	726	2034	2078	1991	0	0	0	0	0	0	14.04	14.14	14.18
6163	0.21	321.3	2644	726	2078	1992	279.0	10.8	511	6168	0.00	2.38	0.00	0.000	1158	0.000	0.077	2644	2100	2033	2077	1990	0	0	0	0	0	0	14.36	14.23	14.41
6483	0.21	321.3	2644	2102	2077	1989	245.2	10.0	525	6489	0.00	2.42	0.00	0.000	516	0.000	0.086	2644	728	2033	2077	1989	0	0	0	0	0	0	14.66	14.06	14.68
6519	0.28	335.0	2644	729	2077	1989	241.9	9.4	532	6539	0.00	2.40	14.20	1.425	9382	0.000	0.076	2644	2101	1998	2042	1954	0	0	0	0	0	0	14.28	14.16	13.30
6844	0.33	363.8	2645	2100	2036	1939	212.9	8.7	547	6897	0.12	0.00	51.00	1.276	10406	0.125	0.000	2698	2101	1883	1915	1851	0	0	0	0	0	0	14.32	14.02	13.24
7174	0.29	363.8	2699	2101	1895	1837	174.8	11.3	558	7179	0.00	2.42	0.00	0.000	644	0.000	0.086	2699	722	1862	1893	1832	0	0	0	0	0	0	14.55	14.15	14.59
7259	0.32	363.8	2700	721	1892	1833	165.7	10.3	575	7266	0.00	2.45	0.00	0.000	1158	0.000	0.076	2704	2102	1864	1891	1838	0	0	0	0	0	0	14.19	14.10	14.23
7564	0.30	363.8	2699	2103	1892	1832	133.7	10.2	586	7569	0.00	2.42	0.00	0.000	644	0.000	0.084	2698	730	1861	1891	1832	0	0	0	0	0	0	14.50	14.09	14.52
7630	0.34	376.2	2699	731	1889	1833	127.4	9.4	599	7646	0.00	2.40	9.73	1.408	9382	0.000	0.076	2699	2110	1834	1862	1807	0	0	0	0	0	0	14.29	14.19	13.27
7948	0.36	406.8	2699	2109	1854	1800	97.9	8.6	615	7968	0.00	0.00	18.50	0.474	8230	0.000	0.000	2699	2109	1707	1733	1682	0	0	0	0	0	0	14.46	14.09	13.59
8266	0.45	467.4	2698	2110	1741	1687	73.3	7.2	647	8308	0.00	2.53	37.45	0.411	8868	0.000	0.083	2699	722	1456	1492	1421	0	0	0	0	0	0	14.59	14.05	13.66
8353	0.64	540.2	2699	722	1497	1424	67.3	6.6	660	8407	0.28	2.42	44.38	0.392	11430	0.083	0.076	2800	2102	1157	1220	1095	0	0	0	0	0	0	14.23	14.12	13.65
8712	0.66	573.9	2800	2102	1225	1104	31.5	8.4	701	8734	0.00	0.00	20.75	0.285	8230	0.000	0.000	2800	2102	1023	1091	956	0	0	0	0	0	0	14.52	14.11	13.73
9032	0.78	657.2	2800	2102	1092	970	10.4	6.2	733	9091	0.00	2.50	51.35	0.224	8868	0.000	0.089	2802	733	681	741	622	0	0	0	0	0	0	14.55	14.02	13.74
9133	0.98	742.2	2800	734	741	623	3.5	6.1	752	9152	0.30	2.42	14.20	0.207	11426	0.083	0.076	2909	2113	594	641	547	0	0	0	0	0	0	14.21	14.02	14.28
9152	end climb: SURFACE_DEPTH_REACHED
state	9153	begin surface coast
9155	end surface coast: CONTROL_FINISHED_OK
state	9155	begin surface