Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 309 * 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 309 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 859.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 859.0 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 62 VBD_MIN 500

DIVE 309 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 110917,160356,7532.9814,-15111.1973,20,0.7,24,20.7,0.6,182.6,11,9.3 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 1.19 MHEAD_RNG_PITCHd_Wd 158.6,90285,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 110917,161501,7532.9761,-15111.1104,6,0.7,25,20.7,0.4,45.8,12,8.1

Post-dive calculations and measurements:

FINISH 0.0,1.020940 _24V_AH 12.27,191.862

SM_CCo 9146,6.80,0.211,0,0,499,703.52 _10V_AH 12.24,0.000

SM_GC 1.92,8.30,0.17,6.80,0.074,0.127,0.211,199,2218,499,-7.38,-0.71,703.52,0,0,0,0,0,0,14.30,14.25,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323440

IRIDIUM_FIX 7536.21,-15106.80,110917,132822 DATA_FILE_SIZE 26679,777

TT8_MAMPS 0.040446,0.942242 CAP_FILE_SIZE 103868,0

HUMID 46.96 CFSIZE 2097872896,1999110144

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1447.7

XPDR_PINGS 11 CURRENT 0.065,71.11,1

CP_FREE 15940321280.000000 GPS 110917,184917,7531.729,-15111.326,20,0.7,22,20.7,0.0,0.0,11,8.6

PM_FREEKB_00 48230144

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 147.87 nil 0 0 0.00

Roll_motor 74 2135 1949.78 nil 0 0 0.00

VBD_pump_during_apogee 985 1630 19703.70 nil 0 0 0.00

VBD_pump_during_surface 6 211 17.62 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 9155 14 1653.75

Iridium_during_xfer 376 177 820.88 NCP 9125 20 2239.28

Transponder_ping 2 420 14.17 PMAR 9096 11 1306.71

GUMSTIX_24V 0 0 0.00

GPS 28 22 7.97

TT8 0 0 0.00

LPSleep 6530 2 184.66

TT8_Active 976 13 167.03

TT8_Sampling 2005 33 821.05

TT8_CF8 318 38 150.97

TT8_Kalman 0 0 0.00

Analog_circuits 2095 10 256.44

GPS_charging 0 0 0.00

Compass 1113 7 95.41

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 196 2222 498 485 0.0 0.0 0 144 0.00 0.00 -91.50 0.000 16386 0.000 0.000 195 2222 2101 2024 2178 0 0 0 0 0 0 14.36 28.83 14.38

147 -0.57 -145.9 196 2223 2025 2181 3.1 -3.1 9 210 12.90 2.78 -40.10 0.000 18724 0.451 2.135 2376 3585 3966 3953 3979 0 0 0 0 0 0 13.54 12.59 13.97

335 -0.73 -145.9 2376 3582 3959 3976 38.6 -12.7 46 341 0.00 2.35 0.00 0.000 1158 0.000 0.057 2375 2230 3968 3958 3979 0 0 0 0 0 0 13.97 13.87 14.02

640 -0.85 -145.9 2376 2229 3960 3980 78.3 -10.0 77 645 0.20 2.55 0.00 0.000 4740 0.101 0.080 2293 790 3969 3960 3978 0 0 0 0 0 0 14.09 13.87 14.14

691 -0.91 -145.9 2294 791 3960 3980 85.4 -14.0 87 696 0.00 2.45 0.00 0.000 1158 0.000 0.085 2293 2182 3968 3959 3978 0 0 0 0 0 0 13.95 13.81 13.98

1001 -0.95 -145.9 2294 2185 3960 3980 131.9 -13.9 105 1006 0.00 2.58 0.00 0.000 388 0.000 0.089 2293 3620 3969 3959 3979 0 0 0 0 0 0 14.42 14.02 14.44

1133 -1.07 -145.9 2294 3621 3961 3979 146.8 -11.0 131 1138 0.20 2.45 0.00 0.000 5254 0.100 0.056 2220 2199 3968 3958 3979 0 0 0 0 0 0 14.13 14.07 14.19

1456 -1.00 -145.9 2221 2203 3961 3979 206.5 -18.5 145 1461 0.12 2.50 0.00 0.000 2436 0.297 0.083 2239 3619 3969 3959 3979 0 0 0 0 0 0 13.73 13.93 13.90

1586 -1.08 -145.9 2239 3621 3960 3980 225.1 -12.6 171 1591 0.00 2.42 0.00 0.000 1158 0.000 0.058 2238 2194 3969 3959 3979 0 0 0 0 0 0 14.15 14.00 14.21

1909 -1.10 -145.9 2239 2194 3961 3979 268.5 -12.7 185 1913 0.00 2.50 0.00 0.000 388 0.000 0.089 2236 3614 3969 3960 3979 0 0 0 0 0 0 14.59 14.09 14.60

1954 -1.18 -145.9 2236 3615 3960 3980 274.2 -11.6 194 1958 0.00 2.40 0.00 0.000 1158 0.000 0.056 2235 2197 3971 3963 3979 0 0 0 0 0 0 14.31 14.17 14.34

2269 -1.22 -145.9 2236 2196 3960 3979 312.2 -11.9 207 2274 0.12 2.50 0.00 0.000 4484 0.149 0.084 2169 3614 3969 3959 3979 0 0 0 0 0 0 14.25 14.11 14.28

2339 -1.17 -145.9 2170 3611 3966 3978 323.3 -16.4 221 2344 0.15 2.42 0.00 0.000 3206 0.272 0.057 2198 2197 3968 3958 3979 0 0 0 0 0 0 13.84 14.17 14.17

2660 -1.14 -145.9 2197 2196 3959 3979 369.6 -14.0 235 2664 0.00 2.50 0.00 0.000 388 0.000 0.086 2189 3614 3968 3958 3978 0 0 0 0 0 0 14.64 14.06 14.69

2755 -1.14 -145.9 2190 3616 3959 3978 382.6 -13.3 254 2759 0.00 2.42 0.00 0.000 1030 0.000 0.056 2190 2199 3968 3958 3979 0 0 0 0 0 0 14.19 14.12 14.21

3080 -1.10 -145.9 2190 2198 3959 3979 429.8 -14.5 269 3085 0.12 2.53 0.00 0.000 2436 0.314 0.083 2209 3619 3968 3957 3979 0 0 0 0 0 0 13.82 13.97 13.97

3197 -1.18 -145.9 2210 3620 3958 3979 443.4 -10.9 292 3204 0.00 2.42 0.00 0.000 1158 0.000 0.055 2209 2193 3967 3957 3978 0 0 0 0 0 0 14.23 14.12 14.28

3498 end dive: TARGET_DEPTH_EXCEEDED

state 3498 begin apogee

3504 -0.13 0.0 2210 2062 3958 3979 480.4 -12.2 303 3728 1.25 0.08 219.88 1.417 10246 0.226 0.177 2528 2113 3365 3381 3350 0 0 0 0 0 0 13.76 13.50 12.67

3731 end apogee: CONTROL_FINISHED_OK

state 3732 begin climb

3736 0.57 145.9 2529 2113 3379 3340 492.2 0.0 310 3955 0.75 2.62 207.20 1.369 10756 0.063 0.075 2792 721 2766 2803 2730 0 0 0 0 0 0 13.69 13.12 12.27

4075 0.16 145.9 2792 725 2793 2728 489.7 14.1 371 4080 0.75 2.50 0.00 0.000 5254 0.323 0.073 2638 2093 2758 2790 2727 0 0 0 0 0 0 13.21 13.58 13.60

4401 0.01 171.1 2639 2093 2791 2721 459.9 8.8 386 4437 0.22 0.00 33.47 1.469 12454 0.267 0.000 2590 2094 2667 2708 2627 0 0 0 0 0 0 13.82 13.99 13.11

4731 0.01 224.3 2588 2094 2701 2615 435.0 7.5 397 4816 0.00 2.45 79.20 1.393 8868 0.000 0.083 2589 724 2448 2503 2394 0 0 0 0 0 0 14.58 13.70 13.07

4848 0.09 260.7 2589 725 2497 2392 425.8 8.3 420 4913 0.00 2.45 54.75 1.390 9382 0.000 0.078 2589 2107 2296 2348 2244 0 0 0 0 0 0 14.06 13.97 12.95

5213 0.15 292.2 2589 2107 2341 2233 394.5 8.5 443 5261 0.12 0.00 46.30 1.399 10406 0.130 0.000 2649 2106 2173 2222 2125 0 0 0 0 0 0 14.12 13.99 13.15

5541 0.11 292.2 2650 2108 2210 2112 352.4 12.9 454 5546 0.12 2.42 0.00 0.000 4740 0.246 0.083 2625 730 2160 2210 2110 0 0 0 0 0 0 14.02 14.07 14.15

5612 0.18 295.6 2620 730 2210 2111 344.9 9.8 468 5617 0.00 2.40 0.00 0.000 1190 0.000 0.077 2619 2103 2159 2209 2110 0 0 0 0 0 0 14.35 14.21 14.38

5933 0.20 295.6 2620 2106 2210 2109 312.1 10.2 482 5933 0.00 0.00 0.00 0.000 134 0.000 0.000 2619 2105 2158 2208 2108 0 0 0 0 0 0 14.65 14.68 14.66

6233 0.23 300.5 2620 2105 2209 2107 282.2 9.8 492 6239 0.12 0.00 4.40 1.630 10406 0.125 0.000 2680 2105 2141 2190 2093 0 0 0 0 0 0 14.39 14.21 13.18

6533 0.15 300.5 2679 2105 2194 2094 244.2 12.4 502 6538 0.17 2.42 0.00 0.000 4740 0.238 0.080 2644 724 2143 2192 2094 0 0 0 0 0 0 14.00 14.21 14.15

6640 0.22 334.0 2644 725 2193 2095 234.6 8.5 523 6709 0.00 2.40 61.42 1.336 9382 0.000 0.079 2643 2103 1999 2044 1954 0 0 0 0 0 0 14.35 14.22 13.21

7016 0.28 367.0 2644 2104 2041 1944 202.0 8.5 548 7076 0.00 2.45 53.00 1.304 8868 0.000 0.084 2644 727 1865 1898 1833 0 0 0 0 0 0 14.61 13.81 13.21

7151 0.44 413.7 2644 728 1890 1834 190.8 7.8 575 7236 0.25 2.42 79.15 1.227 11430 0.089 0.080 2743 2105 1677 1701 1654 0 0 0 0 0 0 14.14 14.02 13.10

7557 0.37 413.7 2744 2106 1698 1636 132.5 14.1 606 7558 0.17 0.00 0.00 0.000 4230 0.227 0.000 2704 2105 1666 1697 1635 0 0 0 0 0 0 14.02 14.33 14.27

7857 0.40 417.3 2704 2106 1697 1632 101.5 9.8 616 7862 0.00 2.45 0.00 0.000 676 0.000 0.087 2706 721 1663 1696 1630 0 0 0 0 0 0 14.62 14.13 14.64

7938 0.50 450.9 2706 722 1692 1632 94.6 8.5 632 7961 0.08 2.40 18.55 0.489 11430 0.087 0.077 2770 2093 1526 1555 1498 0 0 0 0 0 0 14.08 14.05 13.58

8258 0.46 450.9 2771 2094 1556 1494 56.9 10.2 666 8259 0.17 0.00 0.00 0.000 4230 0.239 0.000 2733 2094 1524 1555 1494 0 0 0 0 0 0 13.81 14.01 14.01

8558 0.62 580.5 2732 2095 1555 1489 41.4 4.0 696 8632 0.12 2.42 67.62 0.322 10916 0.123 0.084 2794 733 994 1062 926 0 0 0 0 0 0 14.13 13.91 13.67

8743 0.76 627.6 2794 730 1063 925 27.9 7.8 732 8776 0.00 2.42 25.08 0.288 9382 0.000 0.078 2794 2105 805 873 737 0 0 0 0 0 0 14.26 14.12 13.71

9073 0.95 699.2 2794 2105 874 733 6.3 6.7 768 9110 0.25 0.00 35.03 0.220 10914 0.089 0.000 2893 2105 544 576 512 0 0 0 0 0 0 14.11 28.83 14.14

9111 end climb: SURFACE_DEPTH_REACHED

state 9111 begin surface coast

9123 end surface coast: CONTROL_FINISHED_OK

state 9123 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	309	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	859.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,160356,7532.9814,-15111.1973,20,0.7,24,20.7,0.6,182.6,11,9.3	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	1.19	MHEAD_RNG_PITCHd_Wd	158.6,90285,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	110917,161501,7532.9761,-15111.1104,6,0.7,25,20.7,0.4,45.8,12,8.1

FINISH	0.0,1.020940	_24V_AH	12.27,191.862
SM_CCo	9146,6.80,0.211,0,0,499,703.52	_10V_AH	12.24,0.000
SM_GC	1.92,8.30,0.17,6.80,0.074,0.127,0.211,199,2218,499,-7.38,-0.71,703.52,0,0,0,0,0,0,14.30,14.25,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323440
IRIDIUM_FIX	7536.21,-15106.80,110917,132822	DATA_FILE_SIZE	26679,777
TT8_MAMPS	0.040446,0.942242	CAP_FILE_SIZE	103868,0
HUMID	46.96	CFSIZE	2097872896,1999110144
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.7
XPDR_PINGS	11	CURRENT	0.065,71.11,1
CP_FREE	15940321280.000000	GPS	110917,184917,7531.729,-15111.326,20,0.7,22,20.7,0.0,0.0,11,8.6
PM_FREEKB_00	48230144

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	147.87	nil	0	0	0.00
Roll_motor	74	2135	1949.78	nil	0	0	0.00
VBD_pump_during_apogee	985	1630	19703.70	nil	0	0	0.00
VBD_pump_during_surface	6	211	17.62	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	9155	14	1653.75
Iridium_during_xfer	376	177	820.88	NCP	9125	20	2239.28
Transponder_ping	2	420	14.17	PMAR	9096	11	1306.71
GUMSTIX_24V	0	0	0.00
GPS	28	22	7.97
TT8	0	0	0.00
LPSleep	6530	2	184.66
TT8_Active	976	13	167.03
TT8_Sampling	2005	33	821.05
TT8_CF8	318	38	150.97
TT8_Kalman	0	0	0.00
Analog_circuits	2095	10	256.44
GPS_charging	0	0	0.00
Compass	1113	7	95.41
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	196	2222	498	485	0.0	0.0	0	144	0.00	0.00	-91.50	0.000	16386	0.000	0.000	195	2222	2101	2024	2178	0	0	0	0	0	0	14.36	28.83	14.38
147	-0.57	-145.9	196	2223	2025	2181	3.1	-3.1	9	210	12.90	2.78	-40.10	0.000	18724	0.451	2.135	2376	3585	3966	3953	3979	0	0	0	0	0	0	13.54	12.59	13.97
335	-0.73	-145.9	2376	3582	3959	3976	38.6	-12.7	46	341	0.00	2.35	0.00	0.000	1158	0.000	0.057	2375	2230	3968	3958	3979	0	0	0	0	0	0	13.97	13.87	14.02
640	-0.85	-145.9	2376	2229	3960	3980	78.3	-10.0	77	645	0.20	2.55	0.00	0.000	4740	0.101	0.080	2293	790	3969	3960	3978	0	0	0	0	0	0	14.09	13.87	14.14
691	-0.91	-145.9	2294	791	3960	3980	85.4	-14.0	87	696	0.00	2.45	0.00	0.000	1158	0.000	0.085	2293	2182	3968	3959	3978	0	0	0	0	0	0	13.95	13.81	13.98
1001	-0.95	-145.9	2294	2185	3960	3980	131.9	-13.9	105	1006	0.00	2.58	0.00	0.000	388	0.000	0.089	2293	3620	3969	3959	3979	0	0	0	0	0	0	14.42	14.02	14.44
1133	-1.07	-145.9	2294	3621	3961	3979	146.8	-11.0	131	1138	0.20	2.45	0.00	0.000	5254	0.100	0.056	2220	2199	3968	3958	3979	0	0	0	0	0	0	14.13	14.07	14.19
1456	-1.00	-145.9	2221	2203	3961	3979	206.5	-18.5	145	1461	0.12	2.50	0.00	0.000	2436	0.297	0.083	2239	3619	3969	3959	3979	0	0	0	0	0	0	13.73	13.93	13.90
1586	-1.08	-145.9	2239	3621	3960	3980	225.1	-12.6	171	1591	0.00	2.42	0.00	0.000	1158	0.000	0.058	2238	2194	3969	3959	3979	0	0	0	0	0	0	14.15	14.00	14.21
1909	-1.10	-145.9	2239	2194	3961	3979	268.5	-12.7	185	1913	0.00	2.50	0.00	0.000	388	0.000	0.089	2236	3614	3969	3960	3979	0	0	0	0	0	0	14.59	14.09	14.60
1954	-1.18	-145.9	2236	3615	3960	3980	274.2	-11.6	194	1958	0.00	2.40	0.00	0.000	1158	0.000	0.056	2235	2197	3971	3963	3979	0	0	0	0	0	0	14.31	14.17	14.34
2269	-1.22	-145.9	2236	2196	3960	3979	312.2	-11.9	207	2274	0.12	2.50	0.00	0.000	4484	0.149	0.084	2169	3614	3969	3959	3979	0	0	0	0	0	0	14.25	14.11	14.28
2339	-1.17	-145.9	2170	3611	3966	3978	323.3	-16.4	221	2344	0.15	2.42	0.00	0.000	3206	0.272	0.057	2198	2197	3968	3958	3979	0	0	0	0	0	0	13.84	14.17	14.17
2660	-1.14	-145.9	2197	2196	3959	3979	369.6	-14.0	235	2664	0.00	2.50	0.00	0.000	388	0.000	0.086	2189	3614	3968	3958	3978	0	0	0	0	0	0	14.64	14.06	14.69
2755	-1.14	-145.9	2190	3616	3959	3978	382.6	-13.3	254	2759	0.00	2.42	0.00	0.000	1030	0.000	0.056	2190	2199	3968	3958	3979	0	0	0	0	0	0	14.19	14.12	14.21
3080	-1.10	-145.9	2190	2198	3959	3979	429.8	-14.5	269	3085	0.12	2.53	0.00	0.000	2436	0.314	0.083	2209	3619	3968	3957	3979	0	0	0	0	0	0	13.82	13.97	13.97
3197	-1.18	-145.9	2210	3620	3958	3979	443.4	-10.9	292	3204	0.00	2.42	0.00	0.000	1158	0.000	0.055	2209	2193	3967	3957	3978	0	0	0	0	0	0	14.23	14.12	14.28
3498	end dive: TARGET_DEPTH_EXCEEDED
state	3498	begin apogee
3504	-0.13	0.0	2210	2062	3958	3979	480.4	-12.2	303	3728	1.25	0.08	219.88	1.417	10246	0.226	0.177	2528	2113	3365	3381	3350	0	0	0	0	0	0	13.76	13.50	12.67
3731	end apogee: CONTROL_FINISHED_OK
state	3732	begin climb
3736	0.57	145.9	2529	2113	3379	3340	492.2	0.0	310	3955	0.75	2.62	207.20	1.369	10756	0.063	0.075	2792	721	2766	2803	2730	0	0	0	0	0	0	13.69	13.12	12.27
4075	0.16	145.9	2792	725	2793	2728	489.7	14.1	371	4080	0.75	2.50	0.00	0.000	5254	0.323	0.073	2638	2093	2758	2790	2727	0	0	0	0	0	0	13.21	13.58	13.60
4401	0.01	171.1	2639	2093	2791	2721	459.9	8.8	386	4437	0.22	0.00	33.47	1.469	12454	0.267	0.000	2590	2094	2667	2708	2627	0	0	0	0	0	0	13.82	13.99	13.11
4731	0.01	224.3	2588	2094	2701	2615	435.0	7.5	397	4816	0.00	2.45	79.20	1.393	8868	0.000	0.083	2589	724	2448	2503	2394	0	0	0	0	0	0	14.58	13.70	13.07
4848	0.09	260.7	2589	725	2497	2392	425.8	8.3	420	4913	0.00	2.45	54.75	1.390	9382	0.000	0.078	2589	2107	2296	2348	2244	0	0	0	0	0	0	14.06	13.97	12.95
5213	0.15	292.2	2589	2107	2341	2233	394.5	8.5	443	5261	0.12	0.00	46.30	1.399	10406	0.130	0.000	2649	2106	2173	2222	2125	0	0	0	0	0	0	14.12	13.99	13.15
5541	0.11	292.2	2650	2108	2210	2112	352.4	12.9	454	5546	0.12	2.42	0.00	0.000	4740	0.246	0.083	2625	730	2160	2210	2110	0	0	0	0	0	0	14.02	14.07	14.15
5612	0.18	295.6	2620	730	2210	2111	344.9	9.8	468	5617	0.00	2.40	0.00	0.000	1190	0.000	0.077	2619	2103	2159	2209	2110	0	0	0	0	0	0	14.35	14.21	14.38
5933	0.20	295.6	2620	2106	2210	2109	312.1	10.2	482	5933	0.00	0.00	0.00	0.000	134	0.000	0.000	2619	2105	2158	2208	2108	0	0	0	0	0	0	14.65	14.68	14.66
6233	0.23	300.5	2620	2105	2209	2107	282.2	9.8	492	6239	0.12	0.00	4.40	1.630	10406	0.125	0.000	2680	2105	2141	2190	2093	0	0	0	0	0	0	14.39	14.21	13.18
6533	0.15	300.5	2679	2105	2194	2094	244.2	12.4	502	6538	0.17	2.42	0.00	0.000	4740	0.238	0.080	2644	724	2143	2192	2094	0	0	0	0	0	0	14.00	14.21	14.15
6640	0.22	334.0	2644	725	2193	2095	234.6	8.5	523	6709	0.00	2.40	61.42	1.336	9382	0.000	0.079	2643	2103	1999	2044	1954	0	0	0	0	0	0	14.35	14.22	13.21
7016	0.28	367.0	2644	2104	2041	1944	202.0	8.5	548	7076	0.00	2.45	53.00	1.304	8868	0.000	0.084	2644	727	1865	1898	1833	0	0	0	0	0	0	14.61	13.81	13.21
7151	0.44	413.7	2644	728	1890	1834	190.8	7.8	575	7236	0.25	2.42	79.15	1.227	11430	0.089	0.080	2743	2105	1677	1701	1654	0	0	0	0	0	0	14.14	14.02	13.10
7557	0.37	413.7	2744	2106	1698	1636	132.5	14.1	606	7558	0.17	0.00	0.00	0.000	4230	0.227	0.000	2704	2105	1666	1697	1635	0	0	0	0	0	0	14.02	14.33	14.27
7857	0.40	417.3	2704	2106	1697	1632	101.5	9.8	616	7862	0.00	2.45	0.00	0.000	676	0.000	0.087	2706	721	1663	1696	1630	0	0	0	0	0	0	14.62	14.13	14.64
7938	0.50	450.9	2706	722	1692	1632	94.6	8.5	632	7961	0.08	2.40	18.55	0.489	11430	0.087	0.077	2770	2093	1526	1555	1498	0	0	0	0	0	0	14.08	14.05	13.58
8258	0.46	450.9	2771	2094	1556	1494	56.9	10.2	666	8259	0.17	0.00	0.00	0.000	4230	0.239	0.000	2733	2094	1524	1555	1494	0	0	0	0	0	0	13.81	14.01	14.01
8558	0.62	580.5	2732	2095	1555	1489	41.4	4.0	696	8632	0.12	2.42	67.62	0.322	10916	0.123	0.084	2794	733	994	1062	926	0	0	0	0	0	0	14.13	13.91	13.67
8743	0.76	627.6	2794	730	1063	925	27.9	7.8	732	8776	0.00	2.42	25.08	0.288	9382	0.000	0.078	2794	2105	805	873	737	0	0	0	0	0	0	14.26	14.12	13.71
9073	0.95	699.2	2794	2105	874	733	6.3	6.7	768	9110	0.25	0.00	35.03	0.220	10914	0.089	0.000	2893	2105	544	576	512	0	0	0	0	0	0	14.11	28.83	14.14
9111	end climb: SURFACE_DEPTH_REACHED
state	9111	begin surface coast
9123	end surface coast: CONTROL_FINISHED_OK
state	9123	begin surface