Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 304 * 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 304 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 847.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 40 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 847.0 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 25 VBD_MIN 500

DIVE 304 NOCOMM_ACTION 161 R_STBD_OVSHOOT 40 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 110917,021031,7539.2871,-15109.7354,16,0.7,32,20.8,0.6,130.4,11,7.5 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 156.6,101680,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.2 D_GRID 480

GPS2 110917,022805,7539.2671,-15109.4766,10,0.9,12,20.8,0.5,149.2,10,8.7

Post-dive calculations and measurements:

FINISH 0.0,1.021602 _24V_AH 12.25,189.434

SM_CCo 9198,12.10,0.211,0,0,499,702.78 _10V_AH 12.23,0.000

SM_GC 1.50,8.23,0.17,12.10,0.069,0.117,0.211,199,2225,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.30,14.29,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 179 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323412

IRIDIUM_FIX 7539.58,-15110.21,110917,021913 DATA_FILE_SIZE 26701,792

TT8_MAMPS 0.038948,0.931007 CAP_FILE_SIZE 109239,0

HUMID 45.70 CFSIZE 2097872896,2000486400

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.3

XPDR_PINGS 7 CURRENT 0.046,75.90,1

CP_FREE 15942451200.000000 GPS 110917,050318,7538.032,-15109.751,18,0.8,21,20.8,0.0,0.0,10,9.7

PM_FREEKB_00 48403264

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.53 nil 0 0 0.00

Roll_motor 83 2138 2186.43 nil 0 0 0.00

VBD_pump_during_apogee 1028 1562 19689.13 nil 0 0 0.00

VBD_pump_during_surface 12 211 31.30 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 9209 14 1621.76

Iridium_during_xfer 660 157 1274.74 NCP 9179 20 2248.86

Transponder_ping 1 420 9.00 PMAR 9151 23 2676.49

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.73

TT8 0 0 0.00

LPSleep 6631 2 187.36

TT8_Active 1016 13 173.71

TT8_Sampling 2285 33 934.61

TT8_CF8 342 38 162.23

TT8_Kalman 0 0 0.00

Analog_circuits 2446 10 299.25

GPS_charging 0 0 0.00

Compass 1134 7 97.13

RAFOS 2217 48 1301.47

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 -145.9 178 2221 516 478 0.0 0.0 0 153 0.00 0.00 -100.82 0.000 16386 0.000 0.000 177 2222 2340 2284 2397 0 0 0 0 0 0 14.53 28.83 14.55

156 -0.57 -145.9 178 2222 2288 2397 4.9 -7.8 10 204 13.10 2.72 -28.73 0.000 18724 0.455 2.138 2375 3592 3962 3946 3978 1 0 0 0 0 0 13.40 12.86 14.09

379 -0.76 -145.9 2375 3593 3952 3979 50.0 -11.5 54 384 0.15 2.38 0.00 0.000 5254 0.116 0.057 2317 2199 3964 3951 3978 0 0 0 0 0 0 14.09 14.12 14.17

699 -0.79 -145.9 2317 2199 3952 3979 104.4 -14.0 85 705 0.00 2.47 0.00 0.000 388 0.000 0.086 2308 3600 3964 3951 3978 0 0 0 0 0 0 14.58 13.95 14.59

755 -0.95 -145.9 2305 3600 3953 3978 111.7 -11.6 96 761 0.00 2.40 0.00 0.000 1158 0.000 0.057 2308 2196 3965 3952 3979 0 0 0 0 0 0 14.12 14.00 14.16

1060 -1.01 -145.9 2307 2195 3953 3978 150.1 -12.0 107 1065 0.15 2.47 0.00 0.000 4484 0.120 0.085 2234 3592 3966 3954 3978 0 0 0 0 0 0 14.30 14.13 14.33

1116 -1.04 -145.9 2236 3593 3953 3978 158.8 -15.5 118 1122 0.00 2.38 0.00 0.000 1158 0.000 0.058 2236 2195 3965 3952 3978 0 0 0 0 0 0 14.28 14.15 14.32

1421 -1.00 -145.9 2236 2195 3951 3979 212.3 -16.9 129 1427 0.00 2.47 0.00 0.000 388 0.000 0.086 2230 3593 3965 3953 3978 0 0 0 0 0 0 14.63 14.09 14.65

1502 -1.05 -145.9 2231 3594 3952 3979 224.5 -13.9 145 1508 0.00 2.38 0.00 0.000 1158 0.000 0.058 2230 2199 3965 3952 3979 0 0 0 0 0 0 13.45 13.47 13.54

1813 -1.05 -145.9 2231 2198 3953 3978 271.1 -14.2 157 1818 0.00 2.45 0.00 0.000 260 0.000 0.086 2223 3592 3965 3952 3978 0 0 0 0 0 0 14.65 14.09 14.69

1919 -1.12 -145.9 2223 3593 3953 3979 284.1 -11.5 178 1924 0.00 2.38 0.00 0.000 1158 0.000 0.058 2223 2190 3965 3952 3978 0 0 0 0 0 0 14.34 14.21 14.38

2234 -1.12 -145.9 2223 2189 3953 3979 325.5 -13.1 191 2239 0.00 2.47 0.00 0.000 260 0.000 0.087 2222 3592 3965 3952 3978 0 0 0 0 0 0 14.67 14.06 14.69

2334 -1.21 -145.9 2222 3592 3953 3978 337.3 -11.2 211 2339 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2198 3965 3952 3978 0 0 0 0 0 0 14.33 14.21 14.37

2654 -1.24 -145.9 2222 2197 3952 3979 375.9 -11.8 225 2660 0.12 2.47 0.00 0.000 4484 0.148 0.084 2158 3595 3965 3952 3978 0 0 0 0 0 0 14.28 14.06 14.31

2741 -1.18 -145.9 2158 3598 3950 3979 389.7 -16.6 242 2747 0.17 2.40 0.00 0.000 3206 0.273 0.057 2191 2194 3964 3951 3978 0 0 0 0 0 0 13.77 14.12 14.07

3046 -1.15 -145.9 2192 2194 3953 3978 434.3 -14.3 253 3052 0.00 2.47 0.00 0.000 388 0.000 0.084 2184 3592 3964 3951 3978 0 0 0 0 0 0 14.67 14.12 14.67

3132 -1.15 -145.9 2185 3594 3953 3978 446.3 -13.7 270 3138 0.00 2.38 0.00 0.000 1030 0.000 0.056 2184 2204 3964 3950 3978 0 0 0 0 0 0 14.25 14.12 14.29

3375 end dive: TARGET_DEPTH_EXCEEDED

state 3375 begin apogee

3381 -0.13 0.0 2185 2057 3953 3978 483.2 -15.1 279 3610 1.40 0.00 226.00 1.405 10246 0.244 0.000 2530 2052 3366 3376 3357 0 0 0 0 0 0 13.70 13.47 12.64

3614 end apogee: CONTROL_FINISHED_OK

state 3614 begin climb

3617 0.57 145.9 2530 2057 3370 3349 495.6 0.0 286 3840 0.75 2.53 211.95 1.359 11012 0.060 0.076 2794 722 2762 2793 2732 0 0 0 0 0 0 13.66 12.86 12.25

4065 0.15 145.9 2794 722 2784 2721 481.9 13.7 369 4072 0.77 2.45 0.00 0.000 5254 0.324 0.073 2633 2093 2750 2783 2718 0 0 0 0 0 0 13.38 13.74 13.76

4370 0.01 183.7 2630 2092 2784 2715 455.6 8.3 380 4433 0.17 2.50 55.33 1.395 12964 0.274 0.081 2599 721 2612 2659 2566 0 0 0 0 0 0 13.85 13.98 13.12

4498 0.05 235.6 2600 722 2649 2559 446.0 7.6 405 4585 0.00 2.42 81.28 1.343 9254 0.000 0.077 2603 2101 2405 2456 2355 0 0 0 0 0 0 14.12 13.93 12.97

4883 0.05 248.4 2600 2102 2438 2333 410.1 9.4 432 4897 0.00 0.00 12.88 1.562 8230 0.000 0.000 2599 2101 2353 2403 2304 0 0 0 0 0 0 14.54 14.07 13.19

5183 0.07 265.3 2600 2102 2390 2290 382.3 9.2 442 5215 0.00 2.42 25.00 1.443 8740 0.000 0.083 2600 726 2277 2323 2231 0 0 0 0 0 0 14.61 13.87 13.23

5251 0.16 288.5 2600 727 2319 2228 376.1 8.9 455 5296 0.10 2.40 36.33 1.385 11430 0.147 0.077 2651 2103 2181 2227 2136 0 0 0 0 0 0 14.19 14.16 13.15

5607 0.10 288.5 2651 2102 2217 2122 331.1 12.8 476 5612 0.12 2.45 0.00 0.000 4740 0.234 0.080 2629 725 2169 2216 2122 0 0 0 0 0 0 13.86 13.96 13.95

5647 0.14 288.5 2629 724 2215 2123 326.6 10.8 484 5652 0.00 2.42 0.00 0.000 1158 0.000 0.076 2629 2101 2167 2213 2122 0 0 0 0 0 0 14.14 14.01 14.17

5967 0.14 288.5 2629 2102 2214 2122 292.8 10.4 498 5968 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2101 2167 2213 2121 0 0 0 0 0 0 14.33 14.34 14.34

6267 0.15 295.7 2629 2101 2215 2120 263.4 9.7 508 6268 0.00 0.00 0.00 0.000 38 0.000 0.000 2629 2101 2166 2213 2120 0 0 0 0 0 0 14.34 14.35 14.35

6567 0.18 338.1 2629 2102 2213 2120 237.7 8.0 518 6659 0.00 2.47 85.22 1.271 8740 0.000 0.083 2629 729 1978 2020 1937 0 0 0 0 0 0 14.35 13.66 13.08

6720 0.33 393.2 2629 735 2008 1937 226.1 7.5 548 6825 0.17 2.45 96.10 1.200 11430 0.102 0.076 2694 2100 1758 1780 1736 0 0 0 0 0 0 13.95 13.88 12.92

7142 0.33 393.2 2695 2101 1769 1718 176.6 11.6 582 7146 0.00 2.45 0.00 0.000 516 0.000 0.086 2696 726 1742 1767 1718 0 0 0 0 0 0 14.28 13.93 14.31

7207 0.38 393.2 2697 727 1766 1718 169.4 10.6 595 7212 0.00 2.45 0.00 0.000 1158 0.000 0.076 2696 2103 1741 1765 1717 0 0 0 0 0 0 14.00 13.88 14.03

7533 0.38 393.2 2697 2103 1766 1714 134.4 10.3 610 7538 0.00 2.45 0.00 0.000 516 0.000 0.085 2696 727 1739 1764 1714 0 0 0 0 0 0 14.42 14.07 14.46

7578 0.45 398.4 2697 727 1763 1714 129.9 9.8 619 7584 0.00 2.40 0.00 0.000 1190 0.000 0.076 2696 2100 1738 1762 1714 0 0 0 0 0 0 14.22 14.10 14.26

7897 0.49 420.8 2696 2101 1762 1713 100.2 9.0 632 7944 0.12 2.40 41.70 1.248 10916 0.134 0.083 2765 727 1646 1670 1623 0 0 0 0 0 0 14.09 13.75 13.19

7984 0.44 420.8 2765 724 1658 1616 89.4 12.7 649 7991 0.17 2.45 0.00 0.000 5254 0.247 0.076 2727 2109 1635 1656 1615 0 0 0 0 0 0 13.80 13.95 14.07

8289 0.48 477.0 2727 2109 1656 1608 62.5 7.4 680 8322 0.00 0.00 31.10 0.382 8230 0.000 0.000 2727 2109 1420 1456 1385 0 0 0 0 0 0 14.52 14.11 13.71

8619 0.66 594.1 2728 2109 1462 1386 43.7 4.6 713 8694 0.17 2.53 69.80 0.323 10916 0.101 0.087 2803 730 942 1009 875 0 0 0 0 0 0 14.16 14.05 13.68

8800 0.78 627.4 2804 723 1011 880 28.4 8.5 748 8827 0.00 2.42 20.62 0.278 9382 0.000 0.076 2803 2106 807 876 738 0 0 0 0 0 0 14.19 14.06 13.78

9125 0.93 690.3 2802 2106 877 746 5.5 7.1 783 9162 0.20 0.00 35.60 0.211 10914 0.097 0.000 2888 2106 575 614 537 0 0 0 0 0 0 14.14 28.83 14.18

9163 end climb: SURFACE_DEPTH_REACHED

state 9163 begin surface coast

9176 end surface coast: CONTROL_FINISHED_OK

state 9176 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	304	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	847.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	40	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,021031,7539.2871,-15109.7354,16,0.7,32,20.8,0.6,130.4,11,7.5	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	156.6,101680,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.2	D_GRID	480
GPS2	110917,022805,7539.2671,-15109.4766,10,0.9,12,20.8,0.5,149.2,10,8.7

FINISH	0.0,1.021602	_24V_AH	12.25,189.434
SM_CCo	9198,12.10,0.211,0,0,499,702.78	_10V_AH	12.23,0.000
SM_GC	1.50,8.23,0.17,12.10,0.069,0.117,0.211,199,2225,499,-7.38,-0.57,702.78,0,0,0,0,0,0,14.30,14.29,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	179	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323412
IRIDIUM_FIX	7539.58,-15110.21,110917,021913	DATA_FILE_SIZE	26701,792
TT8_MAMPS	0.038948,0.931007	CAP_FILE_SIZE	109239,0
HUMID	45.70	CFSIZE	2097872896,2000486400
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.3
XPDR_PINGS	7	CURRENT	0.046,75.90,1
CP_FREE	15942451200.000000	GPS	110917,050318,7538.032,-15109.751,18,0.8,21,20.8,0.0,0.0,10,9.7
PM_FREEKB_00	48403264

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.53	nil	0	0	0.00
Roll_motor	83	2138	2186.43	nil	0	0	0.00
VBD_pump_during_apogee	1028	1562	19689.13	nil	0	0	0.00
VBD_pump_during_surface	12	211	31.30	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	9209	14	1621.76
Iridium_during_xfer	660	157	1274.74	NCP	9179	20	2248.86
Transponder_ping	1	420	9.00	PMAR	9151	23	2676.49
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.73
TT8	0	0	0.00
LPSleep	6631	2	187.36
TT8_Active	1016	13	173.71
TT8_Sampling	2285	33	934.61
TT8_CF8	342	38	162.23
TT8_Kalman	0	0	0.00
Analog_circuits	2446	10	299.25
GPS_charging	0	0	0.00
Compass	1134	7	97.13
RAFOS	2217	48	1301.47
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	178	2221	516	478	0.0	0.0	0	153	0.00	0.00	-100.82	0.000	16386	0.000	0.000	177	2222	2340	2284	2397	0	0	0	0	0	0	14.53	28.83	14.55
156	-0.57	-145.9	178	2222	2288	2397	4.9	-7.8	10	204	13.10	2.72	-28.73	0.000	18724	0.455	2.138	2375	3592	3962	3946	3978	1	0	0	0	0	0	13.40	12.86	14.09
379	-0.76	-145.9	2375	3593	3952	3979	50.0	-11.5	54	384	0.15	2.38	0.00	0.000	5254	0.116	0.057	2317	2199	3964	3951	3978	0	0	0	0	0	0	14.09	14.12	14.17
699	-0.79	-145.9	2317	2199	3952	3979	104.4	-14.0	85	705	0.00	2.47	0.00	0.000	388	0.000	0.086	2308	3600	3964	3951	3978	0	0	0	0	0	0	14.58	13.95	14.59
755	-0.95	-145.9	2305	3600	3953	3978	111.7	-11.6	96	761	0.00	2.40	0.00	0.000	1158	0.000	0.057	2308	2196	3965	3952	3979	0	0	0	0	0	0	14.12	14.00	14.16
1060	-1.01	-145.9	2307	2195	3953	3978	150.1	-12.0	107	1065	0.15	2.47	0.00	0.000	4484	0.120	0.085	2234	3592	3966	3954	3978	0	0	0	0	0	0	14.30	14.13	14.33
1116	-1.04	-145.9	2236	3593	3953	3978	158.8	-15.5	118	1122	0.00	2.38	0.00	0.000	1158	0.000	0.058	2236	2195	3965	3952	3978	0	0	0	0	0	0	14.28	14.15	14.32
1421	-1.00	-145.9	2236	2195	3951	3979	212.3	-16.9	129	1427	0.00	2.47	0.00	0.000	388	0.000	0.086	2230	3593	3965	3953	3978	0	0	0	0	0	0	14.63	14.09	14.65
1502	-1.05	-145.9	2231	3594	3952	3979	224.5	-13.9	145	1508	0.00	2.38	0.00	0.000	1158	0.000	0.058	2230	2199	3965	3952	3979	0	0	0	0	0	0	13.45	13.47	13.54
1813	-1.05	-145.9	2231	2198	3953	3978	271.1	-14.2	157	1818	0.00	2.45	0.00	0.000	260	0.000	0.086	2223	3592	3965	3952	3978	0	0	0	0	0	0	14.65	14.09	14.69
1919	-1.12	-145.9	2223	3593	3953	3979	284.1	-11.5	178	1924	0.00	2.38	0.00	0.000	1158	0.000	0.058	2223	2190	3965	3952	3978	0	0	0	0	0	0	14.34	14.21	14.38
2234	-1.12	-145.9	2223	2189	3953	3979	325.5	-13.1	191	2239	0.00	2.47	0.00	0.000	260	0.000	0.087	2222	3592	3965	3952	3978	0	0	0	0	0	0	14.67	14.06	14.69
2334	-1.21	-145.9	2222	3592	3953	3978	337.3	-11.2	211	2339	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2198	3965	3952	3978	0	0	0	0	0	0	14.33	14.21	14.37
2654	-1.24	-145.9	2222	2197	3952	3979	375.9	-11.8	225	2660	0.12	2.47	0.00	0.000	4484	0.148	0.084	2158	3595	3965	3952	3978	0	0	0	0	0	0	14.28	14.06	14.31
2741	-1.18	-145.9	2158	3598	3950	3979	389.7	-16.6	242	2747	0.17	2.40	0.00	0.000	3206	0.273	0.057	2191	2194	3964	3951	3978	0	0	0	0	0	0	13.77	14.12	14.07
3046	-1.15	-145.9	2192	2194	3953	3978	434.3	-14.3	253	3052	0.00	2.47	0.00	0.000	388	0.000	0.084	2184	3592	3964	3951	3978	0	0	0	0	0	0	14.67	14.12	14.67
3132	-1.15	-145.9	2185	3594	3953	3978	446.3	-13.7	270	3138	0.00	2.38	0.00	0.000	1030	0.000	0.056	2184	2204	3964	3950	3978	0	0	0	0	0	0	14.25	14.12	14.29
3375	end dive: TARGET_DEPTH_EXCEEDED
state	3375	begin apogee
3381	-0.13	0.0	2185	2057	3953	3978	483.2	-15.1	279	3610	1.40	0.00	226.00	1.405	10246	0.244	0.000	2530	2052	3366	3376	3357	0	0	0	0	0	0	13.70	13.47	12.64
3614	end apogee: CONTROL_FINISHED_OK
state	3614	begin climb
3617	0.57	145.9	2530	2057	3370	3349	495.6	0.0	286	3840	0.75	2.53	211.95	1.359	11012	0.060	0.076	2794	722	2762	2793	2732	0	0	0	0	0	0	13.66	12.86	12.25
4065	0.15	145.9	2794	722	2784	2721	481.9	13.7	369	4072	0.77	2.45	0.00	0.000	5254	0.324	0.073	2633	2093	2750	2783	2718	0	0	0	0	0	0	13.38	13.74	13.76
4370	0.01	183.7	2630	2092	2784	2715	455.6	8.3	380	4433	0.17	2.50	55.33	1.395	12964	0.274	0.081	2599	721	2612	2659	2566	0	0	0	0	0	0	13.85	13.98	13.12
4498	0.05	235.6	2600	722	2649	2559	446.0	7.6	405	4585	0.00	2.42	81.28	1.343	9254	0.000	0.077	2603	2101	2405	2456	2355	0	0	0	0	0	0	14.12	13.93	12.97
4883	0.05	248.4	2600	2102	2438	2333	410.1	9.4	432	4897	0.00	0.00	12.88	1.562	8230	0.000	0.000	2599	2101	2353	2403	2304	0	0	0	0	0	0	14.54	14.07	13.19
5183	0.07	265.3	2600	2102	2390	2290	382.3	9.2	442	5215	0.00	2.42	25.00	1.443	8740	0.000	0.083	2600	726	2277	2323	2231	0	0	0	0	0	0	14.61	13.87	13.23
5251	0.16	288.5	2600	727	2319	2228	376.1	8.9	455	5296	0.10	2.40	36.33	1.385	11430	0.147	0.077	2651	2103	2181	2227	2136	0	0	0	0	0	0	14.19	14.16	13.15
5607	0.10	288.5	2651	2102	2217	2122	331.1	12.8	476	5612	0.12	2.45	0.00	0.000	4740	0.234	0.080	2629	725	2169	2216	2122	0	0	0	0	0	0	13.86	13.96	13.95
5647	0.14	288.5	2629	724	2215	2123	326.6	10.8	484	5652	0.00	2.42	0.00	0.000	1158	0.000	0.076	2629	2101	2167	2213	2122	0	0	0	0	0	0	14.14	14.01	14.17
5967	0.14	288.5	2629	2102	2214	2122	292.8	10.4	498	5968	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2101	2167	2213	2121	0	0	0	0	0	0	14.33	14.34	14.34
6267	0.15	295.7	2629	2101	2215	2120	263.4	9.7	508	6268	0.00	0.00	0.00	0.000	38	0.000	0.000	2629	2101	2166	2213	2120	0	0	0	0	0	0	14.34	14.35	14.35
6567	0.18	338.1	2629	2102	2213	2120	237.7	8.0	518	6659	0.00	2.47	85.22	1.271	8740	0.000	0.083	2629	729	1978	2020	1937	0	0	0	0	0	0	14.35	13.66	13.08
6720	0.33	393.2	2629	735	2008	1937	226.1	7.5	548	6825	0.17	2.45	96.10	1.200	11430	0.102	0.076	2694	2100	1758	1780	1736	0	0	0	0	0	0	13.95	13.88	12.92
7142	0.33	393.2	2695	2101	1769	1718	176.6	11.6	582	7146	0.00	2.45	0.00	0.000	516	0.000	0.086	2696	726	1742	1767	1718	0	0	0	0	0	0	14.28	13.93	14.31
7207	0.38	393.2	2697	727	1766	1718	169.4	10.6	595	7212	0.00	2.45	0.00	0.000	1158	0.000	0.076	2696	2103	1741	1765	1717	0	0	0	0	0	0	14.00	13.88	14.03
7533	0.38	393.2	2697	2103	1766	1714	134.4	10.3	610	7538	0.00	2.45	0.00	0.000	516	0.000	0.085	2696	727	1739	1764	1714	0	0	0	0	0	0	14.42	14.07	14.46
7578	0.45	398.4	2697	727	1763	1714	129.9	9.8	619	7584	0.00	2.40	0.00	0.000	1190	0.000	0.076	2696	2100	1738	1762	1714	0	0	0	0	0	0	14.22	14.10	14.26
7897	0.49	420.8	2696	2101	1762	1713	100.2	9.0	632	7944	0.12	2.40	41.70	1.248	10916	0.134	0.083	2765	727	1646	1670	1623	0	0	0	0	0	0	14.09	13.75	13.19
7984	0.44	420.8	2765	724	1658	1616	89.4	12.7	649	7991	0.17	2.45	0.00	0.000	5254	0.247	0.076	2727	2109	1635	1656	1615	0	0	0	0	0	0	13.80	13.95	14.07
8289	0.48	477.0	2727	2109	1656	1608	62.5	7.4	680	8322	0.00	0.00	31.10	0.382	8230	0.000	0.000	2727	2109	1420	1456	1385	0	0	0	0	0	0	14.52	14.11	13.71
8619	0.66	594.1	2728	2109	1462	1386	43.7	4.6	713	8694	0.17	2.53	69.80	0.323	10916	0.101	0.087	2803	730	942	1009	875	0	0	0	0	0	0	14.16	14.05	13.68
8800	0.78	627.4	2804	723	1011	880	28.4	8.5	748	8827	0.00	2.42	20.62	0.278	9382	0.000	0.076	2803	2106	807	876	738	0	0	0	0	0	0	14.19	14.06	13.78
9125	0.93	690.3	2802	2106	877	746	5.5	7.1	783	9162	0.20	0.00	35.60	0.211	10914	0.097	0.000	2888	2106	575	614	537	0	0	0	0	0	0	14.14	28.83	14.18
9163	end climb: SURFACE_DEPTH_REACHED
state	9163	begin surface coast
9176	end surface coast: CONTROL_FINISHED_OK
state	9176	begin surface