Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 308 * 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 308 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 857.0

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 64 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 857.0 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 64 VBD_MIN 500

DIVE 308 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 110917,131831,7534.1289,-15110.8184,15,0.7,25,20.7,0.3,327.5,11,6.9 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 159.5,92383,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.7 D_GRID 480

GPS2 110917,133236,7534.1465,-15110.5850,8,0.7,11,20.7,0.0,32.3,10,8.6

Post-dive calculations and measurements:

FINISH 0.3,1.021567 _24V_AH 12.26,191.399

SM_CCo 8950,22.88,0.210,0,0,496,702.78 _10V_AH 12.24,0.000

SM_GC 1.30,8.32,0.17,22.88,0.073,0.118,0.210,197,2219,496,-7.39,-0.62,702.78,0,0,0,0,0,0,14.14,14.15,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 15 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7534.39,-15110.97,110917,132302 DATA_FILE_SIZE 26749,784

TT8_MAMPS 0.085386,0.952728 CAP_FILE_SIZE 104853,0

HUMID 46.18 CFSIZE 2097872896,1999405056

INTERNAL_PRESSURE 7.77175 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.8

XPDR_PINGS 16 CURRENT 0.040,68.92,1

CP_FREE 15940747264.000000 GPS 110917,160356,7532.981,-15111.197,20,0.7,24,20.7,0.6,182.6,11,9.3

PM_FREEKB_00 48266688

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 142.90 nil 0 0 0.00

Roll_motor 83 2138 2202.11 nil 0 0 0.00

VBD_pump_during_apogee 932 1503 17194.30 nil 0 0 0.00

VBD_pump_during_surface 22 210 59.00 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 8963 14 1581.05

Iridium_during_xfer 512 166 1042.39 NCP 8932 20 2190.13

Transponder_ping 4 420 20.60 PMAR 8902 12 1321.12

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.49

TT8 0 0 0.00

LPSleep 6437 2 182.02

TT8_Active 923 13 157.97

TT8_Sampling 2149 33 879.74

TT8_CF8 323 38 153.29

TT8_Kalman 0 0 0.00

Analog_circuits 2206 10 270.03

GPS_charging 0 0 0.00

Compass 1126 7 96.50

RAFOS 2217 48 1302.53

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 195 2215 504 486 0.0 0.0 0 144 0.00 0.00 -91.85 0.000 16386 0.000 0.000 194 2215 2107 2032 2182 0 0 0 0 0 0 14.51 28.83 14.53

148 -0.57 -145.9 196 2215 2035 2183 3.1 -3.3 9 205 12.82 2.75 -39.80 0.000 18724 0.451 2.139 2376 3598 3961 3947 3975 0 0 0 0 0 0 13.57 12.89 14.02

345 -0.73 -145.9 2376 3601 3954 3976 40.1 -12.7 48 352 0.00 2.33 0.00 0.000 1158 0.000 0.056 2376 2243 3964 3953 3975 0 0 0 0 0 0 14.14 14.01 14.21

650 -0.85 -145.9 2376 2242 3954 3975 80.6 -10.9 79 656 0.20 2.58 0.00 0.000 4740 0.106 0.080 2291 780 3964 3954 3975 0 0 0 0 0 0 14.18 14.12 14.23

711 -0.91 -145.9 2291 779 3955 3975 89.7 -14.8 91 716 0.00 2.53 0.00 0.000 1158 0.000 0.086 2288 2197 3964 3954 3975 0 0 0 0 0 0 14.27 14.12 14.31

1021 -0.94 -145.9 2288 2198 3954 3976 135.8 -13.8 107 1026 0.00 2.50 0.00 0.000 388 0.000 0.088 2280 3609 3964 3954 3975 0 0 0 0 0 0 14.66 14.06 14.66

1196 -1.06 -145.9 2280 3611 3955 3976 157.1 -11.4 142 1202 0.15 2.40 0.00 0.000 5254 0.115 0.057 2224 2196 3964 3954 3975 0 0 0 0 0 0 14.16 14.18 14.25

1501 -1.00 -145.9 2225 2195 3955 3975 212.4 -18.0 153 1506 0.12 2.53 0.00 0.000 2436 0.291 0.083 2243 3615 3964 3954 3975 0 0 0 0 0 0 13.85 14.07 13.97

1587 -1.08 -145.9 2244 3619 3955 3975 224.8 -12.6 170 1593 0.00 2.42 0.00 0.000 1158 0.000 0.057 2243 2202 3964 3954 3975 0 0 0 0 0 0 14.21 14.09 14.25

1892 -1.11 -145.9 2244 2201 3955 3975 265.8 -12.7 181 1897 0.00 2.50 0.00 0.000 388 0.000 0.086 2236 3610 3963 3952 3975 0 0 0 0 0 0 14.67 14.12 14.69

1952 -1.21 -145.9 2237 3611 3955 3975 273.0 -11.2 193 1957 0.15 2.42 0.00 0.000 5254 0.124 0.057 2178 2187 3964 3954 3975 0 0 0 0 0 0 14.23 14.19 14.33

2283 -1.12 -145.9 2178 2189 3955 3975 330.3 -17.2 209 2288 0.15 2.50 0.00 0.000 2436 0.279 0.083 2203 3609 3963 3954 3973 0 0 0 0 0 0 13.87 14.13 14.03

2405 -1.16 -145.9 2209 3607 3956 3975 346.6 -12.5 233 2410 0.00 2.40 0.00 0.000 1158 0.000 0.056 2203 2199 3964 3954 3975 0 0 0 0 0 0 14.31 14.18 14.34

2735 -1.16 -145.9 2203 2199 3954 3976 391.4 -13.3 249 2740 0.00 2.50 0.00 0.000 260 0.000 0.086 2197 3615 3965 3954 3977 0 0 0 0 0 0 14.65 14.12 14.67

2800 -1.20 -145.9 2197 3615 3953 3976 400.0 -12.7 262 2805 0.00 2.42 0.00 0.000 1158 0.000 0.056 2197 2195 3963 3952 3975 0 0 0 0 0 0 14.24 14.11 14.30

3125 -1.20 -145.9 2198 2194 3954 3975 443.9 -13.5 277 3130 0.00 2.53 0.00 0.000 260 0.000 0.086 2188 3619 3964 3953 3975 0 0 0 0 0 0 14.65 14.12 14.67

3186 -1.22 -145.9 2188 3621 3954 3976 452.2 -13.5 289 3191 0.00 2.42 0.00 0.000 1158 0.000 0.055 2188 2186 3963 3952 3975 0 0 0 0 0 0 14.31 14.17 14.33

3393 end dive: TARGET_DEPTH_EXCEEDED

state 3393 begin apogee

3399 -0.13 0.0 2188 2058 3953 3976 481.7 -14.1 301 3622 1.35 0.08 219.25 1.419 10246 0.239 0.182 2527 2113 3365 3377 3353 0 0 0 0 0 0 13.73 13.52 12.69

3626 end apogee: CONTROL_FINISHED_OK

state 3626 begin climb

3630 0.57 145.9 2528 2110 3371 3345 493.0 0.0 308 3848 0.75 2.62 207.15 1.372 10756 0.060 0.074 2792 720 2766 2799 2733 0 0 0 0 0 0 13.70 12.89 12.26

4073 0.16 145.9 2793 720 2787 2729 475.3 14.3 390 4078 0.75 2.45 0.00 0.000 5254 0.323 0.074 2635 2095 2757 2787 2728 0 0 0 0 0 0 13.43 13.82 13.83

4384 0.01 175.4 2636 2096 2787 2726 447.2 8.6 402 4429 0.17 2.42 39.92 1.451 12964 0.275 0.080 2602 727 2647 2689 2606 0 0 0 0 0 0 13.85 13.78 13.14

4599 0.05 226.1 2603 728 2686 2602 430.6 7.7 445 4680 0.00 2.40 75.57 1.385 9254 0.000 0.078 2602 2098 2445 2495 2395 0 0 0 0 0 0 14.23 14.10 13.05

4985 0.06 242.3 2602 2099 2485 2377 395.7 9.2 472 5008 0.00 0.00 21.70 1.503 8230 0.000 0.000 2602 2098 2379 2430 2329 0 0 0 0 0 0 14.48 14.05 13.19

5285 0.07 258.9 2602 2097 2422 2319 367.9 9.2 482 5317 0.00 2.42 24.23 1.489 8740 0.000 0.086 2598 727 2305 2352 2259 0 0 0 0 0 0 14.59 14.13 13.22

5347 0.15 282.1 2602 728 2350 2260 362.3 8.9 494 5388 0.00 2.40 36.00 1.419 9382 0.000 0.078 2602 2098 2214 2261 2167 0 0 0 0 0 0 14.26 14.16 13.13

5710 0.21 302.6 2603 2098 2256 2152 329.3 9.1 516 5742 0.15 0.00 29.67 1.428 10406 0.114 0.000 2671 2098 2132 2176 2089 0 0 0 0 0 0 14.33 14.08 13.21

6038 0.14 302.6 2671 2099 2168 2079 284.8 13.5 527 6043 0.15 2.40 0.00 0.000 4740 0.246 0.081 2642 725 2122 2168 2076 0 0 0 0 0 0 13.91 14.14 14.05

6119 0.19 302.6 2642 725 2166 2077 276.1 10.2 543 6124 0.00 2.40 0.00 0.000 1158 0.000 0.078 2642 2108 2120 2165 2076 0 0 0 0 0 0 14.35 14.21 14.40

6429 0.20 307.1 2642 2109 2165 2076 244.2 9.8 555 6430 0.00 0.00 0.00 0.000 38 0.000 0.000 2642 2108 2120 2165 2075 0 0 0 0 0 0 14.66 14.68 14.68

6729 0.22 341.6 2643 2109 2166 2074 217.7 8.4 565 6799 0.00 2.45 64.45 1.317 8740 0.000 0.084 2644 730 1968 2008 1928 0 0 0 0 0 0 14.67 14.07 13.22

6837 0.34 382.2 2644 731 2003 1928 209.1 8.1 586 6911 0.15 2.40 66.35 1.263 11430 0.114 0.077 2702 2098 1805 1828 1783 0 0 0 0 0 0 14.16 14.09 13.07

7210 0.32 382.2 2702 2099 1820 1772 165.0 11.6 611 7215 0.00 2.42 0.00 0.000 644 0.000 0.085 2708 723 1794 1819 1770 0 0 0 0 0 0 14.54 14.08 14.57

7235 0.32 382.2 2708 723 1819 1770 162.1 11.3 616 7241 0.00 2.42 0.00 0.000 1030 0.000 0.077 2708 2102 1794 1817 1771 0 0 0 0 0 0 14.11 13.98 14.15

7540 0.32 382.2 2709 2104 1817 1769 128.3 10.8 627 7545 0.00 2.42 0.00 0.000 516 0.000 0.085 2709 728 1792 1816 1768 0 0 0 0 0 0 14.64 14.12 14.66

7580 0.35 382.2 2710 728 1815 1768 124.1 10.5 635 7585 0.00 2.38 0.00 0.000 1158 0.000 0.077 2709 2093 1791 1814 1769 0 0 0 0 0 0 14.12 13.93 14.16

7890 0.36 394.3 2710 2095 1814 1768 93.5 9.4 652 7901 0.00 0.00 5.38 0.467 8230 0.000 0.000 2706 2094 1755 1778 1733 0 0 0 0 0 0 14.60 13.78 13.43

8200 0.44 467.0 2710 2095 1783 1734 69.1 6.6 683 8243 0.00 2.47 38.42 0.409 8868 0.000 0.084 2710 733 1463 1495 1431 0 0 0 0 0 0 14.59 14.09 13.66

8284 0.63 533.5 2710 732 1496 1430 63.2 6.9 699 8327 0.22 2.40 35.75 0.389 11430 0.091 0.076 2793 2103 1187 1246 1129 0 0 0 0 0 0 14.26 14.12 13.60

8624 0.66 577.0 2796 2102 1248 1120 30.7 8.0 737 8651 0.00 2.53 22.90 0.306 8740 0.000 0.087 2794 728 1011 1076 946 0 0 0 0 0 0 14.56 14.02 13.69

8739 0.85 661.9 2793 728 1077 946 23.2 6.1 759 8790 0.20 2.42 46.22 0.275 11430 0.098 0.078 2875 2106 665 719 611 0 0 0 0 0 0 14.12 14.02 13.62

8919 end climb: SURFACE_DEPTH_REACHED

state 8919 begin surface coast

8929 end surface coast: CONTROL_FINISHED_OK

state 8929 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	308	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	857.0
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	64	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,131831,7534.1289,-15110.8184,15,0.7,25,20.7,0.3,327.5,11,6.9	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	159.5,92383,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.7	D_GRID	480
GPS2	110917,133236,7534.1465,-15110.5850,8,0.7,11,20.7,0.0,32.3,10,8.6

FINISH	0.3,1.021567	_24V_AH	12.26,191.399
SM_CCo	8950,22.88,0.210,0,0,496,702.78	_10V_AH	12.24,0.000
SM_GC	1.30,8.32,0.17,22.88,0.073,0.118,0.210,197,2219,496,-7.39,-0.62,702.78,0,0,0,0,0,0,14.14,14.15,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	15	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323412
IRIDIUM_FIX	7534.39,-15110.97,110917,132302	DATA_FILE_SIZE	26749,784
TT8_MAMPS	0.085386,0.952728	CAP_FILE_SIZE	104853,0
HUMID	46.18	CFSIZE	2097872896,1999405056
INTERNAL_PRESSURE	7.77175	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.8
XPDR_PINGS	16	CURRENT	0.040,68.92,1
CP_FREE	15940747264.000000	GPS	110917,160356,7532.981,-15111.197,20,0.7,24,20.7,0.6,182.6,11,9.3
PM_FREEKB_00	48266688

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	142.90	nil	0	0	0.00
Roll_motor	83	2138	2202.11	nil	0	0	0.00
VBD_pump_during_apogee	932	1503	17194.30	nil	0	0	0.00
VBD_pump_during_surface	22	210	59.00	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	8963	14	1581.05
Iridium_during_xfer	512	166	1042.39	NCP	8932	20	2190.13
Transponder_ping	4	420	20.60	PMAR	8902	12	1321.12
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.49
TT8	0	0	0.00
LPSleep	6437	2	182.02
TT8_Active	923	13	157.97
TT8_Sampling	2149	33	879.74
TT8_CF8	323	38	153.29
TT8_Kalman	0	0	0.00
Analog_circuits	2206	10	270.03
GPS_charging	0	0	0.00
Compass	1126	7	96.50
RAFOS	2217	48	1302.53
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	195	2215	504	486	0.0	0.0	0	144	0.00	0.00	-91.85	0.000	16386	0.000	0.000	194	2215	2107	2032	2182	0	0	0	0	0	0	14.51	28.83	14.53
148	-0.57	-145.9	196	2215	2035	2183	3.1	-3.3	9	205	12.82	2.75	-39.80	0.000	18724	0.451	2.139	2376	3598	3961	3947	3975	0	0	0	0	0	0	13.57	12.89	14.02
345	-0.73	-145.9	2376	3601	3954	3976	40.1	-12.7	48	352	0.00	2.33	0.00	0.000	1158	0.000	0.056	2376	2243	3964	3953	3975	0	0	0	0	0	0	14.14	14.01	14.21
650	-0.85	-145.9	2376	2242	3954	3975	80.6	-10.9	79	656	0.20	2.58	0.00	0.000	4740	0.106	0.080	2291	780	3964	3954	3975	0	0	0	0	0	0	14.18	14.12	14.23
711	-0.91	-145.9	2291	779	3955	3975	89.7	-14.8	91	716	0.00	2.53	0.00	0.000	1158	0.000	0.086	2288	2197	3964	3954	3975	0	0	0	0	0	0	14.27	14.12	14.31
1021	-0.94	-145.9	2288	2198	3954	3976	135.8	-13.8	107	1026	0.00	2.50	0.00	0.000	388	0.000	0.088	2280	3609	3964	3954	3975	0	0	0	0	0	0	14.66	14.06	14.66
1196	-1.06	-145.9	2280	3611	3955	3976	157.1	-11.4	142	1202	0.15	2.40	0.00	0.000	5254	0.115	0.057	2224	2196	3964	3954	3975	0	0	0	0	0	0	14.16	14.18	14.25
1501	-1.00	-145.9	2225	2195	3955	3975	212.4	-18.0	153	1506	0.12	2.53	0.00	0.000	2436	0.291	0.083	2243	3615	3964	3954	3975	0	0	0	0	0	0	13.85	14.07	13.97
1587	-1.08	-145.9	2244	3619	3955	3975	224.8	-12.6	170	1593	0.00	2.42	0.00	0.000	1158	0.000	0.057	2243	2202	3964	3954	3975	0	0	0	0	0	0	14.21	14.09	14.25
1892	-1.11	-145.9	2244	2201	3955	3975	265.8	-12.7	181	1897	0.00	2.50	0.00	0.000	388	0.000	0.086	2236	3610	3963	3952	3975	0	0	0	0	0	0	14.67	14.12	14.69
1952	-1.21	-145.9	2237	3611	3955	3975	273.0	-11.2	193	1957	0.15	2.42	0.00	0.000	5254	0.124	0.057	2178	2187	3964	3954	3975	0	0	0	0	0	0	14.23	14.19	14.33
2283	-1.12	-145.9	2178	2189	3955	3975	330.3	-17.2	209	2288	0.15	2.50	0.00	0.000	2436	0.279	0.083	2203	3609	3963	3954	3973	0	0	0	0	0	0	13.87	14.13	14.03
2405	-1.16	-145.9	2209	3607	3956	3975	346.6	-12.5	233	2410	0.00	2.40	0.00	0.000	1158	0.000	0.056	2203	2199	3964	3954	3975	0	0	0	0	0	0	14.31	14.18	14.34
2735	-1.16	-145.9	2203	2199	3954	3976	391.4	-13.3	249	2740	0.00	2.50	0.00	0.000	260	0.000	0.086	2197	3615	3965	3954	3977	0	0	0	0	0	0	14.65	14.12	14.67
2800	-1.20	-145.9	2197	3615	3953	3976	400.0	-12.7	262	2805	0.00	2.42	0.00	0.000	1158	0.000	0.056	2197	2195	3963	3952	3975	0	0	0	0	0	0	14.24	14.11	14.30
3125	-1.20	-145.9	2198	2194	3954	3975	443.9	-13.5	277	3130	0.00	2.53	0.00	0.000	260	0.000	0.086	2188	3619	3964	3953	3975	0	0	0	0	0	0	14.65	14.12	14.67
3186	-1.22	-145.9	2188	3621	3954	3976	452.2	-13.5	289	3191	0.00	2.42	0.00	0.000	1158	0.000	0.055	2188	2186	3963	3952	3975	0	0	0	0	0	0	14.31	14.17	14.33
3393	end dive: TARGET_DEPTH_EXCEEDED
state	3393	begin apogee
3399	-0.13	0.0	2188	2058	3953	3976	481.7	-14.1	301	3622	1.35	0.08	219.25	1.419	10246	0.239	0.182	2527	2113	3365	3377	3353	0	0	0	0	0	0	13.73	13.52	12.69
3626	end apogee: CONTROL_FINISHED_OK
state	3626	begin climb
3630	0.57	145.9	2528	2110	3371	3345	493.0	0.0	308	3848	0.75	2.62	207.15	1.372	10756	0.060	0.074	2792	720	2766	2799	2733	0	0	0	0	0	0	13.70	12.89	12.26
4073	0.16	145.9	2793	720	2787	2729	475.3	14.3	390	4078	0.75	2.45	0.00	0.000	5254	0.323	0.074	2635	2095	2757	2787	2728	0	0	0	0	0	0	13.43	13.82	13.83
4384	0.01	175.4	2636	2096	2787	2726	447.2	8.6	402	4429	0.17	2.42	39.92	1.451	12964	0.275	0.080	2602	727	2647	2689	2606	0	0	0	0	0	0	13.85	13.78	13.14
4599	0.05	226.1	2603	728	2686	2602	430.6	7.7	445	4680	0.00	2.40	75.57	1.385	9254	0.000	0.078	2602	2098	2445	2495	2395	0	0	0	0	0	0	14.23	14.10	13.05
4985	0.06	242.3	2602	2099	2485	2377	395.7	9.2	472	5008	0.00	0.00	21.70	1.503	8230	0.000	0.000	2602	2098	2379	2430	2329	0	0	0	0	0	0	14.48	14.05	13.19
5285	0.07	258.9	2602	2097	2422	2319	367.9	9.2	482	5317	0.00	2.42	24.23	1.489	8740	0.000	0.086	2598	727	2305	2352	2259	0	0	0	0	0	0	14.59	14.13	13.22
5347	0.15	282.1	2602	728	2350	2260	362.3	8.9	494	5388	0.00	2.40	36.00	1.419	9382	0.000	0.078	2602	2098	2214	2261	2167	0	0	0	0	0	0	14.26	14.16	13.13
5710	0.21	302.6	2603	2098	2256	2152	329.3	9.1	516	5742	0.15	0.00	29.67	1.428	10406	0.114	0.000	2671	2098	2132	2176	2089	0	0	0	0	0	0	14.33	14.08	13.21
6038	0.14	302.6	2671	2099	2168	2079	284.8	13.5	527	6043	0.15	2.40	0.00	0.000	4740	0.246	0.081	2642	725	2122	2168	2076	0	0	0	0	0	0	13.91	14.14	14.05
6119	0.19	302.6	2642	725	2166	2077	276.1	10.2	543	6124	0.00	2.40	0.00	0.000	1158	0.000	0.078	2642	2108	2120	2165	2076	0	0	0	0	0	0	14.35	14.21	14.40
6429	0.20	307.1	2642	2109	2165	2076	244.2	9.8	555	6430	0.00	0.00	0.00	0.000	38	0.000	0.000	2642	2108	2120	2165	2075	0	0	0	0	0	0	14.66	14.68	14.68
6729	0.22	341.6	2643	2109	2166	2074	217.7	8.4	565	6799	0.00	2.45	64.45	1.317	8740	0.000	0.084	2644	730	1968	2008	1928	0	0	0	0	0	0	14.67	14.07	13.22
6837	0.34	382.2	2644	731	2003	1928	209.1	8.1	586	6911	0.15	2.40	66.35	1.263	11430	0.114	0.077	2702	2098	1805	1828	1783	0	0	0	0	0	0	14.16	14.09	13.07
7210	0.32	382.2	2702	2099	1820	1772	165.0	11.6	611	7215	0.00	2.42	0.00	0.000	644	0.000	0.085	2708	723	1794	1819	1770	0	0	0	0	0	0	14.54	14.08	14.57
7235	0.32	382.2	2708	723	1819	1770	162.1	11.3	616	7241	0.00	2.42	0.00	0.000	1030	0.000	0.077	2708	2102	1794	1817	1771	0	0	0	0	0	0	14.11	13.98	14.15
7540	0.32	382.2	2709	2104	1817	1769	128.3	10.8	627	7545	0.00	2.42	0.00	0.000	516	0.000	0.085	2709	728	1792	1816	1768	0	0	0	0	0	0	14.64	14.12	14.66
7580	0.35	382.2	2710	728	1815	1768	124.1	10.5	635	7585	0.00	2.38	0.00	0.000	1158	0.000	0.077	2709	2093	1791	1814	1769	0	0	0	0	0	0	14.12	13.93	14.16
7890	0.36	394.3	2710	2095	1814	1768	93.5	9.4	652	7901	0.00	0.00	5.38	0.467	8230	0.000	0.000	2706	2094	1755	1778	1733	0	0	0	0	0	0	14.60	13.78	13.43
8200	0.44	467.0	2710	2095	1783	1734	69.1	6.6	683	8243	0.00	2.47	38.42	0.409	8868	0.000	0.084	2710	733	1463	1495	1431	0	0	0	0	0	0	14.59	14.09	13.66
8284	0.63	533.5	2710	732	1496	1430	63.2	6.9	699	8327	0.22	2.40	35.75	0.389	11430	0.091	0.076	2793	2103	1187	1246	1129	0	0	0	0	0	0	14.26	14.12	13.60
8624	0.66	577.0	2796	2102	1248	1120	30.7	8.0	737	8651	0.00	2.53	22.90	0.306	8740	0.000	0.087	2794	728	1011	1076	946	0	0	0	0	0	0	14.56	14.02	13.69
8739	0.85	661.9	2793	728	1077	946	23.2	6.1	759	8790	0.20	2.42	46.22	0.275	11430	0.098	0.078	2875	2106	665	719	611	0	0	0	0	0	0	14.12	14.02	13.62
8919	end climb: SURFACE_DEPTH_REACHED
state	8919	begin surface coast
8929	end surface coast: CONTROL_FINISHED_OK
state	8929	begin surface