Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 312 * 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 312 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 866.0

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 42 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 866.0 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 312 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 120917,002702,7529.1992,-15111.5205,31,0.8,32,20.7,0.0,80.5,10,8.4 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 1.20 MHEAD_RNG_PITCHd_Wd 155.9,83446,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 120917,003951,7529.2153,-15111.3477,5,0.8,12,20.7,0.0,31.2,9,8.3

Post-dive calculations and measurements:

FINISH 0.1,1.010692 _24V_AH 12.25,193.379

SM_CCo 8991,0.98,0.252,0,0,501,702.78 _10V_AH 12.25,0.000

SM_GC 1.74,8.40,0.17,0.98,0.080,0.106,0.252,204,2231,501,-7.37,-0.51,702.78,0,0,0,0,0,0,14.28,14.31,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323448

IRIDIUM_FIX 7529.74,-15111.73,120917,003133 DATA_FILE_SIZE 26719,784

TT8_MAMPS 0.038948,0.94374 CAP_FILE_SIZE 103475,0

HUMID 47.04 CFSIZE 2097872896,1998323712

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

TCM_TEMP 13.20 SOUNDSPEED 1448.9

XPDR_PINGS 12 CURRENT 0.056,80.96,1

CP_FREE 15939010560.000000 GPS 120917,031130,7527.960,-15111.384,18,0.7,25,20.7,0.0,118.5,12,9.5

PM_FREEKB_00 48103744

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 144.97 nil 0 0 0.00

Roll_motor 83 2133 2178.47 nil 0 0 0.00

VBD_pump_during_apogee 1035 1505 19090.88 nil 0 0 0.00

VBD_pump_during_surface 0 252 3.02 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 9003 14 1586.59

Iridium_during_xfer 431 179 950.93 NCP 8974 20 2198.63

Transponder_ping 3 420 15.44 PMAR 8944 11 1305.24

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.68

TT8 0 0 0.00

LPSleep 6390 2 180.83

TT8_Active 1010 13 172.90

TT8_Sampling 2054 33 841.78

TT8_CF8 321 38 152.35

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 269.82

GPS_charging 0 0 0.00

Compass 1123 7 96.33

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 -145.9 204 2220 499 492 0.0 0.0 0 145 0.00 0.00 -91.20 0.000 16386 0.000 0.000 203 2222 2113 2040 2187 0 0 0 0 0 0 14.33 28.83 14.35

148 -0.57 -145.9 204 2222 2044 2188 3.1 -3.5 9 207 12.77 2.75 -39.28 0.000 18724 0.452 2.134 2382 3590 3963 3950 3977 0 0 0 0 0 0 13.48 12.57 13.99

297 -0.74 -145.9 2383 3591 3959 3977 33.3 -12.3 38 303 0.15 2.40 0.00 0.000 5254 0.113 0.056 2324 2194 3966 3957 3975 0 0 0 0 0 0 14.08 14.02 14.16

602 -0.77 -145.9 2325 2193 3960 3976 88.9 -14.4 69 607 0.00 2.50 0.00 0.000 388 0.000 0.084 2319 3592 3968 3959 3977 0 0 0 0 0 0 14.54 14.02 14.55

662 -0.91 -145.9 2320 3594 3960 3977 96.5 -11.6 81 667 0.00 2.40 0.00 0.000 1158 0.000 0.057 2319 2200 3967 3959 3975 0 0 0 0 0 0 14.22 14.09 14.23

992 -1.00 -145.9 2320 2198 3961 3977 135.7 -11.1 95 997 0.17 2.47 0.00 0.000 4484 0.109 0.083 2245 3589 3968 3959 3977 0 0 0 0 0 0 14.09 14.07 14.12

1048 -1.04 -145.9 2245 3590 3960 3978 143.7 -14.4 106 1054 0.00 2.38 0.00 0.000 1158 0.000 0.056 2245 2198 3968 3955 3982 0 0 0 0 0 0 14.26 14.12 14.30

1353 -1.04 -145.9 2245 2195 3960 3977 194.2 -16.0 117 1358 0.00 2.47 0.00 0.000 260 0.000 0.084 2236 3587 3968 3959 3977 0 0 0 0 0 0 14.66 13.63 14.67

1413 -1.10 -145.9 2237 3589 3959 3984 203.3 -14.0 129 1418 0.00 2.38 0.00 0.000 1158 0.000 0.055 2236 2196 3968 3959 3977 0 0 0 0 0 0 13.65 13.69 13.66

1743 -1.10 -145.9 2237 2195 3961 3977 253.0 -14.3 145 1748 0.00 2.50 0.00 0.000 260 0.000 0.087 2235 3588 3968 3959 3977 0 0 0 0 0 0 14.66 13.82 14.68

1855 -1.20 -145.9 2236 3588 3960 3976 266.5 -11.5 167 1860 0.15 2.38 0.00 0.000 5254 0.124 0.057 2176 2187 3968 3960 3976 0 0 0 0 0 0 14.22 14.19 14.33

2165 -1.10 -145.9 2176 2185 3960 3975 321.4 -17.6 179 2170 0.17 2.47 0.00 0.000 2436 0.291 0.081 2204 3588 3967 3959 3976 0 0 0 0 0 0 12.99 13.31 13.15

2287 -1.15 -145.9 2204 3590 3960 3977 337.8 -12.5 203 2292 0.00 2.35 0.00 0.000 1158 0.000 0.055 2204 2198 3967 3959 3976 0 0 0 0 0 0 14.32 14.19 14.35

2617 -1.15 -145.9 2205 2196 3960 3976 382.8 -13.4 219 2622 0.00 2.47 0.00 0.000 260 0.000 0.086 2197 3592 3967 3959 3976 0 0 0 0 0 0 14.62 14.07 14.63

2693 -1.19 -145.9 2198 3593 3959 3976 392.5 -12.4 234 2698 0.00 2.38 0.00 0.000 1158 0.000 0.055 2197 2195 3967 3958 3976 0 0 0 0 0 0 14.28 14.13 14.31

3008 -1.19 -145.9 2198 2198 3959 3977 435.7 -13.7 247 3012 0.00 2.45 0.00 0.000 260 0.000 0.085 2189 3588 3967 3958 3976 0 0 0 0 0 0 14.62 14.08 14.66

3083 -1.22 -145.9 2189 3588 3958 3976 446.0 -13.2 262 3088 0.00 2.35 0.00 0.000 1158 0.000 0.054 2188 2199 3970 3965 3976 0 0 0 0 0 0 14.28 14.16 14.32

3335 end dive: TARGET_DEPTH_EXCEEDED

state 3336 begin apogee

3341 -0.13 0.0 2188 2054 3957 3977 482.5 -14.3 273 3562 1.38 0.00 217.43 1.429 10246 0.242 0.000 2532 2052 3365 3379 3352 0 0 0 0 0 0 13.75 13.52 12.66

3566 end apogee: CONTROL_FINISHED_OK

state 3566 begin climb

3569 0.57 145.9 2532 2054 3373 3346 494.8 0.0 280 3786 0.73 2.50 207.18 1.375 11012 0.060 0.078 2781 731 2766 2801 2732 0 0 0 0 0 0 13.69 12.87 12.25

4012 0.17 145.9 2781 733 2788 2729 478.4 13.9 362 4017 0.68 2.42 0.00 0.000 5254 0.321 0.073 2644 2090 2756 2787 2726 0 0 0 0 0 0 13.42 13.80 13.81

4322 0.01 166.8 2644 2092 2788 2724 449.4 9.0 374 4354 0.22 2.47 26.48 1.506 12964 0.268 0.083 2589 726 2683 2720 2647 0 0 0 0 0 0 13.83 14.09 13.16

4499 0.05 232.4 2590 726 2719 2640 436.7 7.0 409 4605 0.00 2.40 99.22 1.374 9254 0.000 0.079 2589 2101 2413 2465 2361 0 0 0 0 0 0 14.26 14.14 12.99

4926 0.10 267.8 2589 2101 2456 2349 401.5 8.4 444 4979 0.00 0.00 51.22 1.400 8358 0.000 0.000 2589 2101 2274 2323 2225 0 0 0 0 0 0 14.57 13.98 13.16

5256 0.18 302.3 2590 2101 2315 2210 373.7 8.4 455 5317 0.12 2.53 51.95 1.382 10916 0.132 0.088 2658 723 2129 2169 2090 0 0 0 0 0 0 14.30 14.04 13.16

5359 0.18 302.3 2658 723 2165 2082 360.9 12.9 475 5364 0.00 2.42 0.00 0.000 1030 0.000 0.078 2658 2104 2122 2162 2082 0 0 0 0 0 0 14.19 14.07 14.23

5680 0.13 302.3 2658 2106 2164 2075 318.4 13.0 489 5685 0.12 2.40 0.00 0.000 4740 0.258 0.081 2635 732 2118 2163 2074 0 0 0 0 0 0 14.03 14.19 14.15

5721 0.17 302.3 2635 730 2163 2074 313.7 10.9 497 5727 0.00 2.40 0.00 0.000 1158 0.000 0.077 2636 2114 2118 2162 2074 0 0 0 0 0 0 14.35 14.21 14.40

6042 0.17 302.3 2636 2115 2162 2074 279.0 10.8 511 6047 0.00 2.42 0.00 0.000 516 0.000 0.084 2637 732 2118 2163 2073 0 0 0 0 0 0 14.66 14.14 14.67

6087 0.22 303.9 2637 733 2161 2074 274.3 9.9 520 6092 0.00 2.38 0.00 0.000 1190 0.000 0.076 2637 2103 2116 2160 2073 0 0 0 0 0 0 14.33 14.16 14.37

6402 0.24 325.3 2637 2106 2160 2074 244.1 9.0 533 6437 0.00 0.00 33.65 1.391 8230 0.000 0.000 2637 2105 2040 2083 1998 0 0 0 0 0 0 14.66 14.09 13.27

6732 0.31 363.7 2637 2106 2075 1987 215.7 8.2 544 6803 0.12 2.45 63.95 1.299 10916 0.127 0.084 2704 729 1878 1908 1849 0 0 0 0 0 0 14.33 13.78 13.20

6848 0.31 363.7 2704 730 1900 1850 202.5 11.5 567 6854 0.00 2.42 0.00 0.000 1030 0.000 0.076 2704 2097 1873 1898 1848 0 0 0 0 0 0 14.16 14.03 14.20

7154 0.27 363.7 2705 2099 1898 1840 166.8 11.6 578 7155 0.15 0.00 0.00 0.000 4230 0.221 0.000 2670 2099 1869 1897 1841 0 0 0 0 0 0 14.09 14.35 14.30

7454 0.33 396.2 2670 2100 1897 1839 140.3 8.5 588 7515 0.00 2.50 55.47 1.281 8868 0.000 0.088 2670 733 1744 1765 1723 0 0 0 0 0 0 14.63 14.08 13.26

7586 0.50 448.3 2670 733 1757 1722 129.6 7.6 614 7681 0.22 2.42 89.07 1.192 11430 0.097 0.079 2760 2109 1538 1567 1510 0 0 0 0 0 0 14.15 14.07 13.11

7986 0.46 448.3 2761 2109 1562 1487 76.2 12.1 657 7992 0.00 2.45 0.00 0.000 644 0.000 0.085 2767 726 1523 1561 1486 0 0 0 0 0 0 14.52 14.12 14.52

8114 0.47 460.8 2768 724 1558 1486 62.6 9.4 682 8125 0.15 2.42 5.35 0.373 13350 0.237 0.078 2736 2107 1484 1522 1447 0 0 0 0 0 0 13.81 13.97 13.56

8430 0.62 578.6 2737 2107 1525 1449 43.9 4.6 715 8495 0.12 0.00 62.28 0.330 10662 0.125 0.000 2797 2107 1006 1071 941 0 0 0 0 0 0 14.29 14.09 13.71

8790 0.77 665.9 2795 2107 1071 936 17.6 6.0 755 8843 0.00 2.45 46.38 0.260 8868 0.000 0.086 2798 731 650 702 598 0 0 0 0 0 0 14.58 13.98 13.77

8881 1.00 731.7 2799 731 703 598 11.7 7.0 772 8914 0.32 2.42 25.52 0.230 11430 0.081 0.076 2915 2106 499 521 478 0 0 0 0 0 0 14.16 14.06 13.88

8957 end climb: SURFACE_DEPTH_REACHED

state 8957 begin surface coast

8967 end surface coast: CONTROL_FINISHED_OK

state 8969 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	312	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	866.0
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	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,002702,7529.1992,-15111.5205,31,0.8,32,20.7,0.0,80.5,10,8.4	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	1.20	MHEAD_RNG_PITCHd_Wd	155.9,83446,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	120917,003951,7529.2153,-15111.3477,5,0.8,12,20.7,0.0,31.2,9,8.3

FINISH	0.1,1.010692	_24V_AH	12.25,193.379
SM_CCo	8991,0.98,0.252,0,0,501,702.78	_10V_AH	12.25,0.000
SM_GC	1.74,8.40,0.17,0.98,0.080,0.106,0.252,204,2231,501,-7.37,-0.51,702.78,0,0,0,0,0,0,14.28,14.31,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323448
IRIDIUM_FIX	7529.74,-15111.73,120917,003133	DATA_FILE_SIZE	26719,784
TT8_MAMPS	0.038948,0.94374	CAP_FILE_SIZE	103475,0
HUMID	47.04	CFSIZE	2097872896,1998323712
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.9
XPDR_PINGS	12	CURRENT	0.056,80.96,1
CP_FREE	15939010560.000000	GPS	120917,031130,7527.960,-15111.384,18,0.7,25,20.7,0.0,118.5,12,9.5
PM_FREEKB_00	48103744

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	144.97	nil	0	0	0.00
Roll_motor	83	2133	2178.47	nil	0	0	0.00
VBD_pump_during_apogee	1035	1505	19090.88	nil	0	0	0.00
VBD_pump_during_surface	0	252	3.02	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	9003	14	1586.59
Iridium_during_xfer	431	179	950.93	NCP	8974	20	2198.63
Transponder_ping	3	420	15.44	PMAR	8944	11	1305.24
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.68
TT8	0	0	0.00
LPSleep	6390	2	180.83
TT8_Active	1010	13	172.90
TT8_Sampling	2054	33	841.78
TT8_CF8	321	38	152.35
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	269.82
GPS_charging	0	0	0.00
Compass	1123	7	96.33
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	204	2220	499	492	0.0	0.0	0	145	0.00	0.00	-91.20	0.000	16386	0.000	0.000	203	2222	2113	2040	2187	0	0	0	0	0	0	14.33	28.83	14.35
148	-0.57	-145.9	204	2222	2044	2188	3.1	-3.5	9	207	12.77	2.75	-39.28	0.000	18724	0.452	2.134	2382	3590	3963	3950	3977	0	0	0	0	0	0	13.48	12.57	13.99
297	-0.74	-145.9	2383	3591	3959	3977	33.3	-12.3	38	303	0.15	2.40	0.00	0.000	5254	0.113	0.056	2324	2194	3966	3957	3975	0	0	0	0	0	0	14.08	14.02	14.16
602	-0.77	-145.9	2325	2193	3960	3976	88.9	-14.4	69	607	0.00	2.50	0.00	0.000	388	0.000	0.084	2319	3592	3968	3959	3977	0	0	0	0	0	0	14.54	14.02	14.55
662	-0.91	-145.9	2320	3594	3960	3977	96.5	-11.6	81	667	0.00	2.40	0.00	0.000	1158	0.000	0.057	2319	2200	3967	3959	3975	0	0	0	0	0	0	14.22	14.09	14.23
992	-1.00	-145.9	2320	2198	3961	3977	135.7	-11.1	95	997	0.17	2.47	0.00	0.000	4484	0.109	0.083	2245	3589	3968	3959	3977	0	0	0	0	0	0	14.09	14.07	14.12
1048	-1.04	-145.9	2245	3590	3960	3978	143.7	-14.4	106	1054	0.00	2.38	0.00	0.000	1158	0.000	0.056	2245	2198	3968	3955	3982	0	0	0	0	0	0	14.26	14.12	14.30
1353	-1.04	-145.9	2245	2195	3960	3977	194.2	-16.0	117	1358	0.00	2.47	0.00	0.000	260	0.000	0.084	2236	3587	3968	3959	3977	0	0	0	0	0	0	14.66	13.63	14.67
1413	-1.10	-145.9	2237	3589	3959	3984	203.3	-14.0	129	1418	0.00	2.38	0.00	0.000	1158	0.000	0.055	2236	2196	3968	3959	3977	0	0	0	0	0	0	13.65	13.69	13.66
1743	-1.10	-145.9	2237	2195	3961	3977	253.0	-14.3	145	1748	0.00	2.50	0.00	0.000	260	0.000	0.087	2235	3588	3968	3959	3977	0	0	0	0	0	0	14.66	13.82	14.68
1855	-1.20	-145.9	2236	3588	3960	3976	266.5	-11.5	167	1860	0.15	2.38	0.00	0.000	5254	0.124	0.057	2176	2187	3968	3960	3976	0	0	0	0	0	0	14.22	14.19	14.33
2165	-1.10	-145.9	2176	2185	3960	3975	321.4	-17.6	179	2170	0.17	2.47	0.00	0.000	2436	0.291	0.081	2204	3588	3967	3959	3976	0	0	0	0	0	0	12.99	13.31	13.15
2287	-1.15	-145.9	2204	3590	3960	3977	337.8	-12.5	203	2292	0.00	2.35	0.00	0.000	1158	0.000	0.055	2204	2198	3967	3959	3976	0	0	0	0	0	0	14.32	14.19	14.35
2617	-1.15	-145.9	2205	2196	3960	3976	382.8	-13.4	219	2622	0.00	2.47	0.00	0.000	260	0.000	0.086	2197	3592	3967	3959	3976	0	0	0	0	0	0	14.62	14.07	14.63
2693	-1.19	-145.9	2198	3593	3959	3976	392.5	-12.4	234	2698	0.00	2.38	0.00	0.000	1158	0.000	0.055	2197	2195	3967	3958	3976	0	0	0	0	0	0	14.28	14.13	14.31
3008	-1.19	-145.9	2198	2198	3959	3977	435.7	-13.7	247	3012	0.00	2.45	0.00	0.000	260	0.000	0.085	2189	3588	3967	3958	3976	0	0	0	0	0	0	14.62	14.08	14.66
3083	-1.22	-145.9	2189	3588	3958	3976	446.0	-13.2	262	3088	0.00	2.35	0.00	0.000	1158	0.000	0.054	2188	2199	3970	3965	3976	0	0	0	0	0	0	14.28	14.16	14.32
3335	end dive: TARGET_DEPTH_EXCEEDED
state	3336	begin apogee
3341	-0.13	0.0	2188	2054	3957	3977	482.5	-14.3	273	3562	1.38	0.00	217.43	1.429	10246	0.242	0.000	2532	2052	3365	3379	3352	0	0	0	0	0	0	13.75	13.52	12.66
3566	end apogee: CONTROL_FINISHED_OK
state	3566	begin climb
3569	0.57	145.9	2532	2054	3373	3346	494.8	0.0	280	3786	0.73	2.50	207.18	1.375	11012	0.060	0.078	2781	731	2766	2801	2732	0	0	0	0	0	0	13.69	12.87	12.25
4012	0.17	145.9	2781	733	2788	2729	478.4	13.9	362	4017	0.68	2.42	0.00	0.000	5254	0.321	0.073	2644	2090	2756	2787	2726	0	0	0	0	0	0	13.42	13.80	13.81
4322	0.01	166.8	2644	2092	2788	2724	449.4	9.0	374	4354	0.22	2.47	26.48	1.506	12964	0.268	0.083	2589	726	2683	2720	2647	0	0	0	0	0	0	13.83	14.09	13.16
4499	0.05	232.4	2590	726	2719	2640	436.7	7.0	409	4605	0.00	2.40	99.22	1.374	9254	0.000	0.079	2589	2101	2413	2465	2361	0	0	0	0	0	0	14.26	14.14	12.99
4926	0.10	267.8	2589	2101	2456	2349	401.5	8.4	444	4979	0.00	0.00	51.22	1.400	8358	0.000	0.000	2589	2101	2274	2323	2225	0	0	0	0	0	0	14.57	13.98	13.16
5256	0.18	302.3	2590	2101	2315	2210	373.7	8.4	455	5317	0.12	2.53	51.95	1.382	10916	0.132	0.088	2658	723	2129	2169	2090	0	0	0	0	0	0	14.30	14.04	13.16
5359	0.18	302.3	2658	723	2165	2082	360.9	12.9	475	5364	0.00	2.42	0.00	0.000	1030	0.000	0.078	2658	2104	2122	2162	2082	0	0	0	0	0	0	14.19	14.07	14.23
5680	0.13	302.3	2658	2106	2164	2075	318.4	13.0	489	5685	0.12	2.40	0.00	0.000	4740	0.258	0.081	2635	732	2118	2163	2074	0	0	0	0	0	0	14.03	14.19	14.15
5721	0.17	302.3	2635	730	2163	2074	313.7	10.9	497	5727	0.00	2.40	0.00	0.000	1158	0.000	0.077	2636	2114	2118	2162	2074	0	0	0	0	0	0	14.35	14.21	14.40
6042	0.17	302.3	2636	2115	2162	2074	279.0	10.8	511	6047	0.00	2.42	0.00	0.000	516	0.000	0.084	2637	732	2118	2163	2073	0	0	0	0	0	0	14.66	14.14	14.67
6087	0.22	303.9	2637	733	2161	2074	274.3	9.9	520	6092	0.00	2.38	0.00	0.000	1190	0.000	0.076	2637	2103	2116	2160	2073	0	0	0	0	0	0	14.33	14.16	14.37
6402	0.24	325.3	2637	2106	2160	2074	244.1	9.0	533	6437	0.00	0.00	33.65	1.391	8230	0.000	0.000	2637	2105	2040	2083	1998	0	0	0	0	0	0	14.66	14.09	13.27
6732	0.31	363.7	2637	2106	2075	1987	215.7	8.2	544	6803	0.12	2.45	63.95	1.299	10916	0.127	0.084	2704	729	1878	1908	1849	0	0	0	0	0	0	14.33	13.78	13.20
6848	0.31	363.7	2704	730	1900	1850	202.5	11.5	567	6854	0.00	2.42	0.00	0.000	1030	0.000	0.076	2704	2097	1873	1898	1848	0	0	0	0	0	0	14.16	14.03	14.20
7154	0.27	363.7	2705	2099	1898	1840	166.8	11.6	578	7155	0.15	0.00	0.00	0.000	4230	0.221	0.000	2670	2099	1869	1897	1841	0	0	0	0	0	0	14.09	14.35	14.30
7454	0.33	396.2	2670	2100	1897	1839	140.3	8.5	588	7515	0.00	2.50	55.47	1.281	8868	0.000	0.088	2670	733	1744	1765	1723	0	0	0	0	0	0	14.63	14.08	13.26
7586	0.50	448.3	2670	733	1757	1722	129.6	7.6	614	7681	0.22	2.42	89.07	1.192	11430	0.097	0.079	2760	2109	1538	1567	1510	0	0	0	0	0	0	14.15	14.07	13.11
7986	0.46	448.3	2761	2109	1562	1487	76.2	12.1	657	7992	0.00	2.45	0.00	0.000	644	0.000	0.085	2767	726	1523	1561	1486	0	0	0	0	0	0	14.52	14.12	14.52
8114	0.47	460.8	2768	724	1558	1486	62.6	9.4	682	8125	0.15	2.42	5.35	0.373	13350	0.237	0.078	2736	2107	1484	1522	1447	0	0	0	0	0	0	13.81	13.97	13.56
8430	0.62	578.6	2737	2107	1525	1449	43.9	4.6	715	8495	0.12	0.00	62.28	0.330	10662	0.125	0.000	2797	2107	1006	1071	941	0	0	0	0	0	0	14.29	14.09	13.71
8790	0.77	665.9	2795	2107	1071	936	17.6	6.0	755	8843	0.00	2.45	46.38	0.260	8868	0.000	0.086	2798	731	650	702	598	0	0	0	0	0	0	14.58	13.98	13.77
8881	1.00	731.7	2799	731	703	598	11.7	7.0	772	8914	0.32	2.42	25.52	0.230	11430	0.081	0.076	2915	2106	499	521	478	0	0	0	0	0	0	14.16	14.06	13.88
8957	end climb: SURFACE_DEPTH_REACHED
state	8957	begin surface coast
8967	end surface coast: CONTROL_FINISHED_OK
state	8969	begin surface