Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 307 * 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 307 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 854.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 854.0 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 26 VBD_MIN 500

DIVE 307 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 110917,102932,7535.4189,-15110.5645,33,0.8,33,20.8,0.5,27.5,10,9.6 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 156.8,94742,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 110917,104010,7535.4404,-15110.4883,9,0.9,12,20.8,0.0,0.0,10,9.9

Post-dive calculations and measurements:

FINISH 0.1,1.021485 _24V_AH 12.28,190.916

SM_CCo 9377,17.05,0.213,0,0,497,702.78 _10V_AH 12.14,0.000

SM_GC 0.81,8.05,0.17,17.05,0.067,0.128,0.213,200,2212,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.30,14.28,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 216 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7537.22,-15114.39,110917,075116 DATA_FILE_SIZE 23449,692

TT8_MAMPS 0.03745,0.877079 CAP_FILE_SIZE 100594,0

HUMID 46.37 CFSIZE 2097872896,1999667200

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1447.4

XPDR_PINGS 6 CURRENT 0.041,81.38,1

CP_FREE 15941173248.000000 GPS 110917,131831,7534.129,-15110.818,15,0.7,25,20.7,0.3,327.5,11,6.9

PM_FREEKB_00 48292288

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.62 nil 0 0 0.00

Roll_motor 82 2139 2180.22 nil 0 0 0.00

VBD_pump_during_apogee 993 1556 18990.77 nil 0 0 0.00

VBD_pump_during_surface 17 212 44.53 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 9387 14 1667.53

Iridium_during_xfer 373 174 799.19 NCP 9350 20 2296.36

Transponder_ping 1 420 7.74 PMAR 9329 13 1576.12

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.95

TT8 0 0 0.00

LPSleep 6765 2 189.73

TT8_Active 928 13 157.41

TT8_Sampling 2048 33 831.57

TT8_CF8 310 38 145.92

TT8_Kalman 0 0 0.00

Analog_circuits 2113 10 256.56

GPS_charging 0 0 0.00

Compass 997 7 84.79

RAFOS 2201 48 1282.57

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

51 -0.57 -145.9 190 2228 498 493 0.0 0.0 0 143 0.00 0.00 -91.18 0.000 16386 0.000 0.000 192 2229 2107 2036 2179 0 0 0 0 0 0 14.50 28.83 14.52

146 -0.57 -145.9 190 2230 2036 2182 3.1 -4.0 9 204 12.93 2.70 -39.28 0.000 18724 0.453 2.140 2376 3586 3963 3949 3977 0 0 0 0 0 0 13.59 12.87 14.10

329 -0.73 -145.9 2379 3587 3951 3979 38.5 -12.9 45 334 0.00 2.40 0.00 0.000 1158 0.000 0.058 2376 2192 3965 3954 3977 0 0 0 0 0 0 14.15 14.03 14.18

640 -0.86 -145.9 2376 2191 3957 3974 80.1 -10.9 77 641 0.22 0.00 0.00 0.000 4230 0.101 0.000 2289 2191 3966 3955 3978 0 0 0 0 0 0 14.26 14.38 14.35

950 -0.88 -145.9 2289 2192 3956 3979 128.3 -14.7 96 956 0.00 2.47 0.00 0.000 388 0.000 0.086 2279 3594 3966 3955 3978 0 0 0 0 0 0 14.60 14.12 14.64

1046 -0.99 -145.9 2280 3594 3956 3978 140.8 -11.9 115 1051 0.00 2.38 0.00 0.000 1158 0.000 0.057 2279 2199 3966 3955 3978 0 0 0 0 0 0 13.88 13.90 13.88

1371 -1.04 -145.9 2280 2198 3957 3978 184.2 -12.9 130 1372 0.12 0.00 0.00 0.000 4230 0.139 0.000 2235 2198 3966 3955 3978 0 0 0 0 0 0 14.31 14.42 14.39

1671 -1.04 -145.9 2235 2199 3956 3978 231.0 -15.1 140 1676 0.00 2.47 0.00 0.000 260 0.000 0.088 2227 3592 3967 3956 3978 0 0 0 0 0 0 14.64 14.08 14.66

1817 -1.11 -145.9 2228 3594 3956 3978 251.2 -12.9 169 1823 0.00 2.40 0.00 0.000 1158 0.000 0.057 2227 2189 3966 3955 3978 0 0 0 0 0 0 14.26 14.13 14.29

2122 -1.11 -145.9 2227 2188 3957 3978 292.8 -13.2 180 2128 0.00 2.47 0.00 0.000 260 0.000 0.088 2223 3588 3966 3955 3977 0 0 0 0 0 0 14.67 14.12 14.69

2168 -1.18 -145.9 2223 3588 3957 3978 298.7 -12.2 189 2173 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2199 3966 3955 3978 0 0 0 0 0 0 14.28 14.21 14.31

2483 -1.21 -145.9 2223 2199 3956 3978 337.8 -12.1 202 2488 0.10 2.47 0.00 0.000 4484 0.172 0.084 2173 3588 3966 3955 3978 0 0 0 0 0 0 14.22 14.00 14.28

2519 -1.15 -145.9 2172 3589 3956 3979 343.1 -15.9 209 2524 0.17 2.35 0.00 0.000 3206 0.266 0.056 2207 2202 3966 3955 3978 0 0 0 0 0 0 13.85 14.16 14.12

2844 -1.15 -145.9 2208 2201 3956 3977 386.5 -13.1 224 2850 0.00 2.47 0.00 0.000 260 0.000 0.087 2201 3594 3966 3955 3978 0 0 0 0 0 0 14.57 14.03 14.59

2930 -1.20 -145.9 2202 3594 3956 3978 397.4 -12.3 241 2936 0.00 2.40 0.00 0.000 1158 0.000 0.056 2201 2190 3966 3955 3978 0 0 0 0 0 0 14.19 14.05 14.22

3235 -1.20 -145.9 2202 2189 3956 3978 437.5 -13.0 252 3240 0.00 2.50 0.00 0.000 260 0.000 0.087 2194 3595 3966 3955 3977 0 0 0 0 0 0 14.66 14.10 14.68

3315 -1.25 -145.9 2197 3596 3956 3978 447.7 -12.1 268 3321 0.00 2.38 0.00 0.000 1158 0.000 0.056 2196 2194 3965 3954 3977 0 0 0 0 0 0 14.30 14.17 14.33

3564 end dive: TARGET_DEPTH_EXCEEDED

state 3564 begin apogee

3570 -0.13 0.0 2195 2062 3952 3978 480.6 -13.2 278 3795 1.33 0.00 221.15 1.411 10246 0.234 0.000 2532 2062 3365 3381 3350 0 0 0 0 0 0 13.80 13.54 12.66

3798 end apogee: CONTROL_FINISHED_OK

state 3798 begin climb

3801 0.57 145.9 2533 2062 3374 3344 491.9 0.0 285 4027 0.73 1.95 211.35 1.361 10756 0.060 0.080 2781 733 2761 2794 2728 0 0 0 0 0 0 13.69 13.14 12.28

4114 0.18 145.9 2781 734 2790 2727 495.1 13.2 304 4121 0.68 2.47 0.00 0.000 5254 0.323 0.074 2646 2080 2756 2789 2723 0 0 0 0 0 0 13.11 13.45 13.46

4448 0.01 169.7 2646 2081 2789 2718 464.4 8.9 320 4481 0.25 0.00 30.83 1.483 12454 0.262 0.000 2589 2080 2671 2711 2632 0 0 0 0 0 0 13.76 13.98 13.11

4778 0.01 230.1 2589 2080 2710 2619 440.5 7.2 331 4877 0.00 2.50 90.88 1.383 8868 0.000 0.085 2589 727 2422 2475 2369 0 0 0 0 0 0 14.45 13.81 13.01

4909 0.10 273.2 2589 727 2472 2367 430.5 8.0 347 4978 0.00 2.45 64.65 1.370 9382 0.000 0.079 2589 2099 2253 2307 2199 0 0 0 0 0 0 14.00 13.88 12.88

5288 0.18 301.1 2589 2100 2294 2179 397.9 8.7 373 5334 0.15 2.47 39.60 1.414 10916 0.116 0.086 2659 724 2133 2181 2085 0 0 0 0 0 0 14.15 13.72 13.11

5355 0.13 301.1 2659 724 2177 2080 389.4 13.2 381 5360 0.15 2.45 0.00 0.000 5254 0.244 0.079 2628 2100 2128 2173 2084 0 0 0 0 0 0 13.80 13.95 14.03

5680 0.13 301.1 2628 2102 2174 2076 351.6 11.4 396 5686 0.00 2.45 0.00 0.000 516 0.000 0.085 2630 723 2128 2181 2075 0 0 0 0 0 0 14.39 14.05 14.42

5721 0.17 301.1 2631 724 2173 2075 347.1 11.1 404 5727 0.00 2.42 0.00 0.000 1158 0.000 0.078 2631 2100 2123 2172 2075 0 0 0 0 0 0 14.22 14.09 14.26

6042 0.17 301.1 2631 2100 2173 2074 311.3 11.0 418 6047 0.00 2.42 0.00 0.000 516 0.000 0.084 2633 730 2123 2172 2074 0 0 0 0 0 0 14.47 14.09 14.49

6072 0.20 301.1 2633 730 2172 2074 308.1 10.9 424 6078 0.00 2.40 0.00 0.000 1158 0.000 0.077 2633 2101 2122 2171 2074 0 0 0 0 0 0 14.24 14.12 14.28

6403 0.20 301.1 2633 2103 2172 2074 273.7 10.0 440 6409 0.00 2.45 0.00 0.000 516 0.000 0.084 2633 717 2122 2171 2074 0 0 0 0 0 0 14.47 14.08 14.49

6449 0.27 311.8 2633 717 2171 2073 269.3 9.5 449 6466 0.12 2.45 12.35 1.556 11430 0.126 0.076 2688 2107 2095 2141 2049 0 0 0 0 0 0 14.16 14.09 13.20

6764 0.19 311.8 2688 2108 2135 2046 229.5 11.9 462 6766 0.20 0.00 0.00 0.000 4230 0.236 0.000 2644 2108 2088 2134 2042 0 0 0 0 0 0 13.78 14.06 14.00

7064 0.22 354.3 2643 2109 2134 2041 204.6 8.0 472 7140 0.00 0.00 74.15 1.297 8230 0.000 0.000 2644 2108 1920 1959 1882 0 0 0 0 0 0 14.45 13.90 13.14

7426 0.32 406.7 2644 2108 1946 1871 176.7 7.6 484 7525 0.12 2.53 90.90 1.230 10916 0.124 0.087 2700 734 1702 1726 1678 0 0 0 0 0 0 14.20 13.89 13.13

7612 0.39 406.7 2700 734 1718 1674 156.9 10.3 521 7617 0.00 2.40 0.00 0.000 1158 0.000 0.076 2699 2100 1696 1717 1675 0 0 0 0 0 0 14.18 14.05 14.23

7937 0.41 406.7 2700 2102 1717 1668 122.5 10.3 536 7943 0.00 2.40 0.00 0.000 644 0.000 0.086 2700 731 1691 1715 1667 0 0 0 0 0 0 14.61 14.12 14.62

7983 0.50 422.2 2699 731 1715 1668 118.1 9.3 545 8009 0.12 2.40 18.00 1.360 11430 0.132 0.076 2758 2105 1640 1667 1614 0 0 0 0 0 0 14.14 14.09 13.30

8310 0.44 422.2 2758 2105 1664 1603 77.0 11.4 574 8315 0.12 2.45 0.00 0.000 4740 0.246 0.082 2733 723 1633 1665 1602 0 0 0 0 0 0 13.86 14.05 13.97

8330 0.44 422.2 2733 724 1664 1602 74.9 10.3 578 8335 0.00 2.42 0.00 0.000 1030 0.000 0.078 2733 2101 1632 1663 1602 0 0 0 0 0 0 14.28 14.15 14.34

8640 0.51 533.4 2734 2104 1664 1601 52.9 4.9 610 8702 0.00 0.00 60.40 0.357 8230 0.000 0.000 2733 2102 1189 1250 1129 0 0 0 0 0 0 14.61 14.07 13.69

9000 0.74 646.9 2734 2103 1250 1122 33.6 4.8 646 9069 0.25 2.53 63.53 0.294 10916 0.093 0.088 2836 734 725 788 662 0 0 0 0 0 0 14.10 13.83 13.70

9091 0.82 674.2 2833 735 788 663 25.1 8.7 663 9113 0.00 2.40 16.10 0.274 9382 0.000 0.076 2836 2101 615 666 565 0 0 0 0 0 0 14.14 14.00 13.66

9336 end climb: SURFACE_DEPTH_REACHED

state 9336 begin surface coast

9356 end surface coast: CONTROL_FINISHED_OK

state 9356 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	307	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	854.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,102932,7535.4189,-15110.5645,33,0.8,33,20.8,0.5,27.5,10,9.6	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	156.8,94742,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	110917,104010,7535.4404,-15110.4883,9,0.9,12,20.8,0.0,0.0,10,9.9

FINISH	0.1,1.021485	_24V_AH	12.28,190.916
SM_CCo	9377,17.05,0.213,0,0,497,702.78	_10V_AH	12.14,0.000
SM_GC	0.81,8.05,0.17,17.05,0.067,0.128,0.213,200,2212,497,-7.38,-0.74,702.78,0,0,0,0,0,0,14.30,14.28,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	216	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323412
IRIDIUM_FIX	7537.22,-15114.39,110917,075116	DATA_FILE_SIZE	23449,692
TT8_MAMPS	0.03745,0.877079	CAP_FILE_SIZE	100594,0
HUMID	46.37	CFSIZE	2097872896,1999667200
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1447.4
XPDR_PINGS	6	CURRENT	0.041,81.38,1
CP_FREE	15941173248.000000	GPS	110917,131831,7534.129,-15110.818,15,0.7,25,20.7,0.3,327.5,11,6.9
PM_FREEKB_00	48292288

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.62	nil	0	0	0.00
Roll_motor	82	2139	2180.22	nil	0	0	0.00
VBD_pump_during_apogee	993	1556	18990.77	nil	0	0	0.00
VBD_pump_during_surface	17	212	44.53	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	9387	14	1667.53
Iridium_during_xfer	373	174	799.19	NCP	9350	20	2296.36
Transponder_ping	1	420	7.74	PMAR	9329	13	1576.12
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.95
TT8	0	0	0.00
LPSleep	6765	2	189.73
TT8_Active	928	13	157.41
TT8_Sampling	2048	33	831.57
TT8_CF8	310	38	145.92
TT8_Kalman	0	0	0.00
Analog_circuits	2113	10	256.56
GPS_charging	0	0	0.00
Compass	997	7	84.79
RAFOS	2201	48	1282.57
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
51	-0.57	-145.9	190	2228	498	493	0.0	0.0	0	143	0.00	0.00	-91.18	0.000	16386	0.000	0.000	192	2229	2107	2036	2179	0	0	0	0	0	0	14.50	28.83	14.52
146	-0.57	-145.9	190	2230	2036	2182	3.1	-4.0	9	204	12.93	2.70	-39.28	0.000	18724	0.453	2.140	2376	3586	3963	3949	3977	0	0	0	0	0	0	13.59	12.87	14.10
329	-0.73	-145.9	2379	3587	3951	3979	38.5	-12.9	45	334	0.00	2.40	0.00	0.000	1158	0.000	0.058	2376	2192	3965	3954	3977	0	0	0	0	0	0	14.15	14.03	14.18
640	-0.86	-145.9	2376	2191	3957	3974	80.1	-10.9	77	641	0.22	0.00	0.00	0.000	4230	0.101	0.000	2289	2191	3966	3955	3978	0	0	0	0	0	0	14.26	14.38	14.35
950	-0.88	-145.9	2289	2192	3956	3979	128.3	-14.7	96	956	0.00	2.47	0.00	0.000	388	0.000	0.086	2279	3594	3966	3955	3978	0	0	0	0	0	0	14.60	14.12	14.64
1046	-0.99	-145.9	2280	3594	3956	3978	140.8	-11.9	115	1051	0.00	2.38	0.00	0.000	1158	0.000	0.057	2279	2199	3966	3955	3978	0	0	0	0	0	0	13.88	13.90	13.88
1371	-1.04	-145.9	2280	2198	3957	3978	184.2	-12.9	130	1372	0.12	0.00	0.00	0.000	4230	0.139	0.000	2235	2198	3966	3955	3978	0	0	0	0	0	0	14.31	14.42	14.39
1671	-1.04	-145.9	2235	2199	3956	3978	231.0	-15.1	140	1676	0.00	2.47	0.00	0.000	260	0.000	0.088	2227	3592	3967	3956	3978	0	0	0	0	0	0	14.64	14.08	14.66
1817	-1.11	-145.9	2228	3594	3956	3978	251.2	-12.9	169	1823	0.00	2.40	0.00	0.000	1158	0.000	0.057	2227	2189	3966	3955	3978	0	0	0	0	0	0	14.26	14.13	14.29
2122	-1.11	-145.9	2227	2188	3957	3978	292.8	-13.2	180	2128	0.00	2.47	0.00	0.000	260	0.000	0.088	2223	3588	3966	3955	3977	0	0	0	0	0	0	14.67	14.12	14.69
2168	-1.18	-145.9	2223	3588	3957	3978	298.7	-12.2	189	2173	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2199	3966	3955	3978	0	0	0	0	0	0	14.28	14.21	14.31
2483	-1.21	-145.9	2223	2199	3956	3978	337.8	-12.1	202	2488	0.10	2.47	0.00	0.000	4484	0.172	0.084	2173	3588	3966	3955	3978	0	0	0	0	0	0	14.22	14.00	14.28
2519	-1.15	-145.9	2172	3589	3956	3979	343.1	-15.9	209	2524	0.17	2.35	0.00	0.000	3206	0.266	0.056	2207	2202	3966	3955	3978	0	0	0	0	0	0	13.85	14.16	14.12
2844	-1.15	-145.9	2208	2201	3956	3977	386.5	-13.1	224	2850	0.00	2.47	0.00	0.000	260	0.000	0.087	2201	3594	3966	3955	3978	0	0	0	0	0	0	14.57	14.03	14.59
2930	-1.20	-145.9	2202	3594	3956	3978	397.4	-12.3	241	2936	0.00	2.40	0.00	0.000	1158	0.000	0.056	2201	2190	3966	3955	3978	0	0	0	0	0	0	14.19	14.05	14.22
3235	-1.20	-145.9	2202	2189	3956	3978	437.5	-13.0	252	3240	0.00	2.50	0.00	0.000	260	0.000	0.087	2194	3595	3966	3955	3977	0	0	0	0	0	0	14.66	14.10	14.68
3315	-1.25	-145.9	2197	3596	3956	3978	447.7	-12.1	268	3321	0.00	2.38	0.00	0.000	1158	0.000	0.056	2196	2194	3965	3954	3977	0	0	0	0	0	0	14.30	14.17	14.33
3564	end dive: TARGET_DEPTH_EXCEEDED
state	3564	begin apogee
3570	-0.13	0.0	2195	2062	3952	3978	480.6	-13.2	278	3795	1.33	0.00	221.15	1.411	10246	0.234	0.000	2532	2062	3365	3381	3350	0	0	0	0	0	0	13.80	13.54	12.66
3798	end apogee: CONTROL_FINISHED_OK
state	3798	begin climb
3801	0.57	145.9	2533	2062	3374	3344	491.9	0.0	285	4027	0.73	1.95	211.35	1.361	10756	0.060	0.080	2781	733	2761	2794	2728	0	0	0	0	0	0	13.69	13.14	12.28
4114	0.18	145.9	2781	734	2790	2727	495.1	13.2	304	4121	0.68	2.47	0.00	0.000	5254	0.323	0.074	2646	2080	2756	2789	2723	0	0	0	0	0	0	13.11	13.45	13.46
4448	0.01	169.7	2646	2081	2789	2718	464.4	8.9	320	4481	0.25	0.00	30.83	1.483	12454	0.262	0.000	2589	2080	2671	2711	2632	0	0	0	0	0	0	13.76	13.98	13.11
4778	0.01	230.1	2589	2080	2710	2619	440.5	7.2	331	4877	0.00	2.50	90.88	1.383	8868	0.000	0.085	2589	727	2422	2475	2369	0	0	0	0	0	0	14.45	13.81	13.01
4909	0.10	273.2	2589	727	2472	2367	430.5	8.0	347	4978	0.00	2.45	64.65	1.370	9382	0.000	0.079	2589	2099	2253	2307	2199	0	0	0	0	0	0	14.00	13.88	12.88
5288	0.18	301.1	2589	2100	2294	2179	397.9	8.7	373	5334	0.15	2.47	39.60	1.414	10916	0.116	0.086	2659	724	2133	2181	2085	0	0	0	0	0	0	14.15	13.72	13.11
5355	0.13	301.1	2659	724	2177	2080	389.4	13.2	381	5360	0.15	2.45	0.00	0.000	5254	0.244	0.079	2628	2100	2128	2173	2084	0	0	0	0	0	0	13.80	13.95	14.03
5680	0.13	301.1	2628	2102	2174	2076	351.6	11.4	396	5686	0.00	2.45	0.00	0.000	516	0.000	0.085	2630	723	2128	2181	2075	0	0	0	0	0	0	14.39	14.05	14.42
5721	0.17	301.1	2631	724	2173	2075	347.1	11.1	404	5727	0.00	2.42	0.00	0.000	1158	0.000	0.078	2631	2100	2123	2172	2075	0	0	0	0	0	0	14.22	14.09	14.26
6042	0.17	301.1	2631	2100	2173	2074	311.3	11.0	418	6047	0.00	2.42	0.00	0.000	516	0.000	0.084	2633	730	2123	2172	2074	0	0	0	0	0	0	14.47	14.09	14.49
6072	0.20	301.1	2633	730	2172	2074	308.1	10.9	424	6078	0.00	2.40	0.00	0.000	1158	0.000	0.077	2633	2101	2122	2171	2074	0	0	0	0	0	0	14.24	14.12	14.28
6403	0.20	301.1	2633	2103	2172	2074	273.7	10.0	440	6409	0.00	2.45	0.00	0.000	516	0.000	0.084	2633	717	2122	2171	2074	0	0	0	0	0	0	14.47	14.08	14.49
6449	0.27	311.8	2633	717	2171	2073	269.3	9.5	449	6466	0.12	2.45	12.35	1.556	11430	0.126	0.076	2688	2107	2095	2141	2049	0	0	0	0	0	0	14.16	14.09	13.20
6764	0.19	311.8	2688	2108	2135	2046	229.5	11.9	462	6766	0.20	0.00	0.00	0.000	4230	0.236	0.000	2644	2108	2088	2134	2042	0	0	0	0	0	0	13.78	14.06	14.00
7064	0.22	354.3	2643	2109	2134	2041	204.6	8.0	472	7140	0.00	0.00	74.15	1.297	8230	0.000	0.000	2644	2108	1920	1959	1882	0	0	0	0	0	0	14.45	13.90	13.14
7426	0.32	406.7	2644	2108	1946	1871	176.7	7.6	484	7525	0.12	2.53	90.90	1.230	10916	0.124	0.087	2700	734	1702	1726	1678	0	0	0	0	0	0	14.20	13.89	13.13
7612	0.39	406.7	2700	734	1718	1674	156.9	10.3	521	7617	0.00	2.40	0.00	0.000	1158	0.000	0.076	2699	2100	1696	1717	1675	0	0	0	0	0	0	14.18	14.05	14.23
7937	0.41	406.7	2700	2102	1717	1668	122.5	10.3	536	7943	0.00	2.40	0.00	0.000	644	0.000	0.086	2700	731	1691	1715	1667	0	0	0	0	0	0	14.61	14.12	14.62
7983	0.50	422.2	2699	731	1715	1668	118.1	9.3	545	8009	0.12	2.40	18.00	1.360	11430	0.132	0.076	2758	2105	1640	1667	1614	0	0	0	0	0	0	14.14	14.09	13.30
8310	0.44	422.2	2758	2105	1664	1603	77.0	11.4	574	8315	0.12	2.45	0.00	0.000	4740	0.246	0.082	2733	723	1633	1665	1602	0	0	0	0	0	0	13.86	14.05	13.97
8330	0.44	422.2	2733	724	1664	1602	74.9	10.3	578	8335	0.00	2.42	0.00	0.000	1030	0.000	0.078	2733	2101	1632	1663	1602	0	0	0	0	0	0	14.28	14.15	14.34
8640	0.51	533.4	2734	2104	1664	1601	52.9	4.9	610	8702	0.00	0.00	60.40	0.357	8230	0.000	0.000	2733	2102	1189	1250	1129	0	0	0	0	0	0	14.61	14.07	13.69
9000	0.74	646.9	2734	2103	1250	1122	33.6	4.8	646	9069	0.25	2.53	63.53	0.294	10916	0.093	0.088	2836	734	725	788	662	0	0	0	0	0	0	14.10	13.83	13.70
9091	0.82	674.2	2833	735	788	663	25.1	8.7	663	9113	0.00	2.40	16.10	0.274	9382	0.000	0.076	2836	2101	615	666	565	0	0	0	0	0	0	14.14	14.00	13.66
9336	end climb: SURFACE_DEPTH_REACHED
state	9336	begin surface coast
9356	end surface coast: CONTROL_FINISHED_OK
state	9356	begin surface