Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 314 * 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 314 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 872.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 872.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1.4 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 25 VBD_MIN 500

DIVE 314 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 120917,055932,7526.7456,-15111.3623,34,0.8,34,20.7,0.0,0.0,10,8.6 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 1.22 MHEAD_RNG_PITCHd_Wd 163.1,78935,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 120917,061022,7526.7383,-15111.3096,8,0.8,12,20.7,0.0,0.0,10,8.4

Post-dive calculations and measurements:

FINISH 0.3,1.021565 _24V_AH 12.23,194.445

SM_CCo 9055,36.88,0.208,0,0,498,702.78 _10V_AH 11.69,0.000

SM_GC 1.08,8.27,0.17,36.88,0.080,0.106,0.208,203,2238,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.16,14.17,13.84 FG_AHR_24Vo 0.000

RAFOS_CLK 124 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323328

IRIDIUM_FIX 7526.37,-15108.35,120917,031605 DATA_FILE_SIZE 23450,716

TT8_MAMPS 0.084637,0.879326 CAP_FILE_SIZE 101922,0

HUMID 44.25 CFSIZE 2097872896,1997799424

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

TCM_TEMP 13.00 SOUNDSPEED 1448.5

XPDR_PINGS 14 CURRENT 0.045,104.33,1

CP_FREE 15938158592.000000 GPS 120917,084356,7525.404,-15111.817,39,0.7,39,20.7,0.0,0.0,9,9.9

PM_FREEKB_00 48018048

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.15 nil 0 0 0.00

Roll_motor 85 2144 2244.18 nil 0 0 0.00

VBD_pump_during_apogee 939 1532 17598.70 nil 0 0 0.00

VBD_pump_during_surface 36 208 93.84 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 9065 14 1577.28

Iridium_during_xfer 377 175 813.03 NCP 9036 20 2210.21

Transponder_ping 3 420 17.98 PMAR 9008 10 1173.07

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.52

TT8 0 0 0.00

LPSleep 6508 2 175.77

TT8_Active 1017 13 166.24

TT8_Sampling 1914 33 748.24

TT8_CF8 318 38 143.89

TT8_Kalman 0 0 0.00

Analog_circuits 2088 10 244.12

GPS_charging 0 0 0.00

Compass 1028 7 84.19

RAFOS 2194 48 1231.10

Transponder 1 5 0.07

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 -145.9 202 2230 494 495 0.0 0.0 0 145 0.00 0.00 -91.93 0.000 16386 0.000 0.000 201 2230 2126 2054 2199 0 0 0 0 0 0 14.51 28.83 14.54

148 -0.57 -145.9 202 2230 2056 2200 3.2 -3.3 9 205 12.95 2.88 -38.70 0.000 18980 0.455 2.144 2385 790 3964 3952 3977 0 0 0 0 0 0 13.55 12.89 14.01

257 -0.77 -145.9 2385 791 3954 3979 29.3 -11.7 30 263 0.17 2.47 0.00 0.000 5254 0.105 0.086 2321 2177 3966 3954 3978 0 0 0 0 0 0 14.14 14.06 14.24

560 -0.80 -145.9 2322 2177 3956 3978 87.0 -14.7 61 565 0.00 2.55 0.00 0.000 388 0.000 0.089 2319 3611 3965 3954 3977 0 0 0 0 0 0 14.58 14.06 14.59

715 -0.96 -145.9 2320 3611 3956 3977 105.7 -10.7 92 721 0.15 2.42 0.00 0.000 5254 0.115 0.057 2256 2195 3966 3955 3978 0 0 0 0 0 0 14.16 14.02 14.26

1042 -0.94 -145.9 2257 2195 3956 3978 160.0 -16.4 107 1046 0.00 2.53 0.00 0.000 388 0.000 0.086 2249 3619 3966 3955 3978 0 0 0 0 0 0 14.64 14.13 14.66

1107 -1.01 -145.9 2249 3621 3956 3979 170.0 -13.9 120 1113 0.00 2.42 0.00 0.000 1158 0.000 0.057 2250 2196 3966 3955 3977 0 0 0 0 0 0 14.26 14.13 14.27

1433 -1.01 -145.9 2250 2195 3956 3978 219.0 -14.6 135 1437 0.00 2.53 0.00 0.000 260 0.000 0.087 2243 3621 3966 3955 3978 0 0 0 0 0 0 14.64 14.08 14.66

1498 -1.09 -145.9 2244 3620 3956 3978 227.8 -12.5 148 1504 0.00 2.45 0.00 0.000 1158 0.000 0.058 2244 2190 3966 3955 3978 0 0 0 0 0 0 14.26 14.13 14.31

1824 -1.12 -145.9 2244 2190 3956 3978 270.9 -12.5 163 1829 0.00 2.50 0.00 0.000 388 0.000 0.086 2237 3611 3966 3955 3978 0 0 0 0 0 0 14.66 14.04 14.68

1889 -1.22 -145.9 2237 3613 3956 3977 278.4 -10.8 176 1895 0.17 2.42 0.00 0.000 5254 0.110 0.057 2170 2194 3966 3955 3977 0 0 0 0 0 0 14.24 14.19 14.34

2216 -1.11 -145.9 2170 2194 3955 3978 337.6 -18.2 191 2221 0.20 2.53 0.00 0.000 2436 0.299 0.083 2204 3611 3966 3955 3978 0 0 0 0 0 0 13.77 14.06 13.97

2338 -1.17 -145.9 2205 3614 3956 3978 354.0 -13.0 215 2343 0.00 2.40 0.00 0.000 1158 0.000 0.056 2204 2200 3966 3955 3978 0 0 0 0 0 0 14.31 14.19 14.35

2668 -1.17 -145.9 2205 2198 3956 3977 398.4 -13.2 231 2673 0.00 2.53 0.00 0.000 260 0.000 0.087 2196 3614 3966 3954 3978 0 0 0 0 0 0 14.62 14.07 14.63

2753 -1.22 -145.9 2197 3617 3954 3978 409.4 -12.5 248 2760 0.00 2.45 0.00 0.000 1158 0.000 0.057 2196 2189 3965 3954 3977 0 0 0 0 0 0 14.22 14.09 14.26

3058 -1.22 -145.9 2197 2190 3955 3979 450.8 -13.5 259 3063 0.00 2.53 0.00 0.000 260 0.000 0.086 2187 3613 3965 3953 3978 0 0 0 0 0 0 14.62 14.08 14.64

3128 -1.24 -145.9 2188 3615 3954 3978 460.4 -13.1 273 3133 0.00 2.40 0.00 0.000 1158 0.000 0.056 2187 2200 3965 3953 3977 0 0 0 0 0 0 14.29 14.16 14.33

3296 end dive: TARGET_DEPTH_EXCEEDED

state 3296 begin apogee

3302 -0.13 0.0 2188 2056 3954 3978 484.2 -14.0 282 3523 1.38 0.10 216.95 1.429 10246 0.240 0.157 2532 2122 3366 3381 3351 0 0 0 0 0 0 13.72 13.52 12.66

3527 end apogee: CONTROL_FINISHED_OK

state 3527 begin climb

3531 0.57 145.9 2533 2122 3377 3342 495.7 0.0 289 3754 0.73 2.62 207.95 1.375 11012 0.060 0.073 2780 3493 2761 2795 2727 0 0 0 0 0 0 13.70 13.13 12.26

3759 0.12 183.5 2781 3493 2792 2728 507.3 8.3 328 3820 0.85 2.47 53.85 1.431 13478 0.353 0.054 2629 2132 2615 2670 2560 0 0 0 0 0 0 12.92 13.24 12.23

4135 0.01 183.5 2629 2132 2662 2541 468.3 10.6 353 4140 0.15 2.55 0.00 0.000 4740 0.282 0.082 2602 694 2601 2661 2541 0 0 0 0 0 0 13.71 13.95 13.88

4181 0.03 211.3 2603 694 2663 2541 464.2 8.7 362 4228 0.00 2.45 37.67 1.457 9254 0.000 0.078 2602 2086 2498 2558 2438 0 0 0 0 0 0 14.16 14.05 13.03

4528 0.02 227.7 2601 2087 2554 2432 432.5 9.2 381 4551 0.00 0.00 21.67 1.519 8358 0.000 0.000 2602 2085 2438 2497 2379 0 0 0 0 0 0 14.56 14.07 13.18

4826 0.03 242.5 2603 2086 2490 2370 404.5 9.3 391 4857 0.00 2.53 21.75 1.532 8740 0.000 0.086 2602 693 2371 2422 2320 0 0 0 0 0 0 14.61 14.15 13.21

4897 0.10 264.0 2602 695 2421 2321 398.0 9.0 405 4937 0.00 2.47 32.12 1.460 9382 0.000 0.078 2602 2104 2284 2334 2235 0 0 0 0 0 0 14.30 14.17 13.14

5249 0.13 280.8 2603 2104 2332 2227 365.3 9.2 425 5278 0.00 0.00 24.38 1.486 8358 0.000 0.000 2603 2103 2216 2266 2167 0 0 0 0 0 0 14.59 13.85 13.23

5577 0.19 302.0 2603 2104 2262 2161 335.4 9.0 436 5615 0.12 2.55 31.85 1.437 10916 0.129 0.088 2672 697 2130 2177 2083 0 0 0 0 0 0 14.28 14.07 13.21

5635 0.12 302.0 2672 696 2172 2084 328.0 13.7 447 5642 0.20 2.45 0.00 0.000 5254 0.233 0.078 2625 2100 2127 2171 2083 0 0 0 0 0 0 13.95 14.09 14.19

5940 0.12 303.9 2625 2101 2172 2076 296.3 9.9 458 5941 0.00 0.00 0.00 0.000 38 0.000 0.000 2625 2099 2123 2171 2076 0 0 0 0 0 0 14.61 14.64 14.64

6240 0.15 314.5 2626 2101 2171 2075 267.4 9.5 468 6265 0.00 2.50 17.48 1.508 8868 0.000 0.086 2633 698 2078 2124 2033 0 0 0 0 0 0 14.66 14.21 13.27

6332 0.26 336.8 2633 699 2120 2034 259.0 9.0 486 6376 0.00 2.45 35.42 1.393 9382 0.000 0.079 2633 2100 1988 2032 1945 0 0 0 0 0 0 14.34 14.21 13.22

6691 0.34 375.3 2633 2100 2032 1934 227.5 8.2 508 6758 0.17 0.00 64.50 1.295 10406 0.099 0.000 2704 2100 1833 1861 1806 0 0 0 0 0 0 14.21 13.93 13.16

7051 0.30 375.3 2705 2106 1850 1797 183.6 11.9 520 7056 0.00 2.50 0.00 0.000 644 0.000 0.088 2706 692 1823 1850 1796 0 0 0 0 0 0 14.47 14.00 14.45

7163 0.32 375.3 2706 693 1848 1797 171.0 11.0 542 7169 0.00 2.42 0.00 0.000 1158 0.000 0.076 2706 2103 1821 1846 1796 0 0 0 0 0 0 14.21 14.11 14.24

7474 0.30 375.3 2707 2110 1844 1795 136.2 10.8 554 7480 0.00 2.53 0.00 0.000 644 0.000 0.086 2709 694 1819 1845 1794 0 0 0 0 0 0 14.45 14.05 14.47

7500 0.30 375.3 2707 694 1845 1794 133.4 10.4 559 7506 0.12 2.50 0.00 0.000 5126 0.210 0.079 2679 2105 1819 1844 1794 0 0 0 0 0 0 13.95 14.00 14.11

7805 0.38 410.9 2680 2105 1845 1792 107.1 8.4 570 7866 0.00 0.00 55.53 1.264 8358 0.000 0.000 2678 2106 1686 1706 1666 0 0 0 0 0 0 14.45 13.76 13.21

8165 0.52 489.9 2680 2105 1708 1653 81.0 6.4 598 8212 0.20 2.53 40.85 0.442 10916 0.099 0.088 2767 695 1367 1409 1326 0 0 0 0 0 0 14.14 13.89 13.59

8275 0.56 489.9 2768 698 1408 1326 69.0 11.3 619 8281 0.00 2.50 0.00 0.000 1158 0.000 0.077 2768 2106 1362 1402 1323 0 0 0 0 0 0 14.16 14.02 14.19

8578 0.61 561.2 2768 2108 1408 1317 42.5 6.7 650 8620 0.00 2.60 37.42 0.327 8740 0.000 0.088 2768 692 1076 1139 1014 0 0 0 0 0 0 14.43 13.97 13.71

8745 0.80 635.7 2768 689 1139 1012 31.2 6.6 683 8790 0.22 2.50 39.70 0.290 11430 0.095 0.078 2859 2103 772 834 711 0 0 0 0 0 0 14.04 13.95 13.66

9025 end climb: SURFACE_DEPTH_REACHED

state 9025 begin surface coast

9033 end surface coast: CONTROL_FINISHED_OK

state 9033 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	314	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	872.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,055932,7526.7456,-15111.3623,34,0.8,34,20.7,0.0,0.0,10,8.6	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	1.22	MHEAD_RNG_PITCHd_Wd	163.1,78935,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	120917,061022,7526.7383,-15111.3096,8,0.8,12,20.7,0.0,0.0,10,8.4

FINISH	0.3,1.021565	_24V_AH	12.23,194.445
SM_CCo	9055,36.88,0.208,0,0,498,702.78	_10V_AH	11.69,0.000
SM_GC	1.08,8.27,0.17,36.88,0.080,0.106,0.208,203,2238,498,-7.37,-0.57,702.78,0,0,0,0,0,0,14.16,14.17,13.84	FG_AHR_24Vo	0.000
RAFOS_CLK	124	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323328
IRIDIUM_FIX	7526.37,-15108.35,120917,031605	DATA_FILE_SIZE	23450,716
TT8_MAMPS	0.084637,0.879326	CAP_FILE_SIZE	101922,0
HUMID	44.25	CFSIZE	2097872896,1997799424
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.00	SOUNDSPEED	1448.5
XPDR_PINGS	14	CURRENT	0.045,104.33,1
CP_FREE	15938158592.000000	GPS	120917,084356,7525.404,-15111.817,39,0.7,39,20.7,0.0,0.0,9,9.9
PM_FREEKB_00	48018048

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.15	nil	0	0	0.00
Roll_motor	85	2144	2244.18	nil	0	0	0.00
VBD_pump_during_apogee	939	1532	17598.70	nil	0	0	0.00
VBD_pump_during_surface	36	208	93.84	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	9065	14	1577.28
Iridium_during_xfer	377	175	813.03	NCP	9036	20	2210.21
Transponder_ping	3	420	17.98	PMAR	9008	10	1173.07
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.52
TT8	0	0	0.00
LPSleep	6508	2	175.77
TT8_Active	1017	13	166.24
TT8_Sampling	1914	33	748.24
TT8_CF8	318	38	143.89
TT8_Kalman	0	0	0.00
Analog_circuits	2088	10	244.12
GPS_charging	0	0	0.00
Compass	1028	7	84.19
RAFOS	2194	48	1231.10
Transponder	1	5	0.07

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	202	2230	494	495	0.0	0.0	0	145	0.00	0.00	-91.93	0.000	16386	0.000	0.000	201	2230	2126	2054	2199	0	0	0	0	0	0	14.51	28.83	14.54
148	-0.57	-145.9	202	2230	2056	2200	3.2	-3.3	9	205	12.95	2.88	-38.70	0.000	18980	0.455	2.144	2385	790	3964	3952	3977	0	0	0	0	0	0	13.55	12.89	14.01
257	-0.77	-145.9	2385	791	3954	3979	29.3	-11.7	30	263	0.17	2.47	0.00	0.000	5254	0.105	0.086	2321	2177	3966	3954	3978	0	0	0	0	0	0	14.14	14.06	14.24
560	-0.80	-145.9	2322	2177	3956	3978	87.0	-14.7	61	565	0.00	2.55	0.00	0.000	388	0.000	0.089	2319	3611	3965	3954	3977	0	0	0	0	0	0	14.58	14.06	14.59
715	-0.96	-145.9	2320	3611	3956	3977	105.7	-10.7	92	721	0.15	2.42	0.00	0.000	5254	0.115	0.057	2256	2195	3966	3955	3978	0	0	0	0	0	0	14.16	14.02	14.26
1042	-0.94	-145.9	2257	2195	3956	3978	160.0	-16.4	107	1046	0.00	2.53	0.00	0.000	388	0.000	0.086	2249	3619	3966	3955	3978	0	0	0	0	0	0	14.64	14.13	14.66
1107	-1.01	-145.9	2249	3621	3956	3979	170.0	-13.9	120	1113	0.00	2.42	0.00	0.000	1158	0.000	0.057	2250	2196	3966	3955	3977	0	0	0	0	0	0	14.26	14.13	14.27
1433	-1.01	-145.9	2250	2195	3956	3978	219.0	-14.6	135	1437	0.00	2.53	0.00	0.000	260	0.000	0.087	2243	3621	3966	3955	3978	0	0	0	0	0	0	14.64	14.08	14.66
1498	-1.09	-145.9	2244	3620	3956	3978	227.8	-12.5	148	1504	0.00	2.45	0.00	0.000	1158	0.000	0.058	2244	2190	3966	3955	3978	0	0	0	0	0	0	14.26	14.13	14.31
1824	-1.12	-145.9	2244	2190	3956	3978	270.9	-12.5	163	1829	0.00	2.50	0.00	0.000	388	0.000	0.086	2237	3611	3966	3955	3978	0	0	0	0	0	0	14.66	14.04	14.68
1889	-1.22	-145.9	2237	3613	3956	3977	278.4	-10.8	176	1895	0.17	2.42	0.00	0.000	5254	0.110	0.057	2170	2194	3966	3955	3977	0	0	0	0	0	0	14.24	14.19	14.34
2216	-1.11	-145.9	2170	2194	3955	3978	337.6	-18.2	191	2221	0.20	2.53	0.00	0.000	2436	0.299	0.083	2204	3611	3966	3955	3978	0	0	0	0	0	0	13.77	14.06	13.97
2338	-1.17	-145.9	2205	3614	3956	3978	354.0	-13.0	215	2343	0.00	2.40	0.00	0.000	1158	0.000	0.056	2204	2200	3966	3955	3978	0	0	0	0	0	0	14.31	14.19	14.35
2668	-1.17	-145.9	2205	2198	3956	3977	398.4	-13.2	231	2673	0.00	2.53	0.00	0.000	260	0.000	0.087	2196	3614	3966	3954	3978	0	0	0	0	0	0	14.62	14.07	14.63
2753	-1.22	-145.9	2197	3617	3954	3978	409.4	-12.5	248	2760	0.00	2.45	0.00	0.000	1158	0.000	0.057	2196	2189	3965	3954	3977	0	0	0	0	0	0	14.22	14.09	14.26
3058	-1.22	-145.9	2197	2190	3955	3979	450.8	-13.5	259	3063	0.00	2.53	0.00	0.000	260	0.000	0.086	2187	3613	3965	3953	3978	0	0	0	0	0	0	14.62	14.08	14.64
3128	-1.24	-145.9	2188	3615	3954	3978	460.4	-13.1	273	3133	0.00	2.40	0.00	0.000	1158	0.000	0.056	2187	2200	3965	3953	3977	0	0	0	0	0	0	14.29	14.16	14.33
3296	end dive: TARGET_DEPTH_EXCEEDED
state	3296	begin apogee
3302	-0.13	0.0	2188	2056	3954	3978	484.2	-14.0	282	3523	1.38	0.10	216.95	1.429	10246	0.240	0.157	2532	2122	3366	3381	3351	0	0	0	0	0	0	13.72	13.52	12.66
3527	end apogee: CONTROL_FINISHED_OK
state	3527	begin climb
3531	0.57	145.9	2533	2122	3377	3342	495.7	0.0	289	3754	0.73	2.62	207.95	1.375	11012	0.060	0.073	2780	3493	2761	2795	2727	0	0	0	0	0	0	13.70	13.13	12.26
3759	0.12	183.5	2781	3493	2792	2728	507.3	8.3	328	3820	0.85	2.47	53.85	1.431	13478	0.353	0.054	2629	2132	2615	2670	2560	0	0	0	0	0	0	12.92	13.24	12.23
4135	0.01	183.5	2629	2132	2662	2541	468.3	10.6	353	4140	0.15	2.55	0.00	0.000	4740	0.282	0.082	2602	694	2601	2661	2541	0	0	0	0	0	0	13.71	13.95	13.88
4181	0.03	211.3	2603	694	2663	2541	464.2	8.7	362	4228	0.00	2.45	37.67	1.457	9254	0.000	0.078	2602	2086	2498	2558	2438	0	0	0	0	0	0	14.16	14.05	13.03
4528	0.02	227.7	2601	2087	2554	2432	432.5	9.2	381	4551	0.00	0.00	21.67	1.519	8358	0.000	0.000	2602	2085	2438	2497	2379	0	0	0	0	0	0	14.56	14.07	13.18
4826	0.03	242.5	2603	2086	2490	2370	404.5	9.3	391	4857	0.00	2.53	21.75	1.532	8740	0.000	0.086	2602	693	2371	2422	2320	0	0	0	0	0	0	14.61	14.15	13.21
4897	0.10	264.0	2602	695	2421	2321	398.0	9.0	405	4937	0.00	2.47	32.12	1.460	9382	0.000	0.078	2602	2104	2284	2334	2235	0	0	0	0	0	0	14.30	14.17	13.14
5249	0.13	280.8	2603	2104	2332	2227	365.3	9.2	425	5278	0.00	0.00	24.38	1.486	8358	0.000	0.000	2603	2103	2216	2266	2167	0	0	0	0	0	0	14.59	13.85	13.23
5577	0.19	302.0	2603	2104	2262	2161	335.4	9.0	436	5615	0.12	2.55	31.85	1.437	10916	0.129	0.088	2672	697	2130	2177	2083	0	0	0	0	0	0	14.28	14.07	13.21
5635	0.12	302.0	2672	696	2172	2084	328.0	13.7	447	5642	0.20	2.45	0.00	0.000	5254	0.233	0.078	2625	2100	2127	2171	2083	0	0	0	0	0	0	13.95	14.09	14.19
5940	0.12	303.9	2625	2101	2172	2076	296.3	9.9	458	5941	0.00	0.00	0.00	0.000	38	0.000	0.000	2625	2099	2123	2171	2076	0	0	0	0	0	0	14.61	14.64	14.64
6240	0.15	314.5	2626	2101	2171	2075	267.4	9.5	468	6265	0.00	2.50	17.48	1.508	8868	0.000	0.086	2633	698	2078	2124	2033	0	0	0	0	0	0	14.66	14.21	13.27
6332	0.26	336.8	2633	699	2120	2034	259.0	9.0	486	6376	0.00	2.45	35.42	1.393	9382	0.000	0.079	2633	2100	1988	2032	1945	0	0	0	0	0	0	14.34	14.21	13.22
6691	0.34	375.3	2633	2100	2032	1934	227.5	8.2	508	6758	0.17	0.00	64.50	1.295	10406	0.099	0.000	2704	2100	1833	1861	1806	0	0	0	0	0	0	14.21	13.93	13.16
7051	0.30	375.3	2705	2106	1850	1797	183.6	11.9	520	7056	0.00	2.50	0.00	0.000	644	0.000	0.088	2706	692	1823	1850	1796	0	0	0	0	0	0	14.47	14.00	14.45
7163	0.32	375.3	2706	693	1848	1797	171.0	11.0	542	7169	0.00	2.42	0.00	0.000	1158	0.000	0.076	2706	2103	1821	1846	1796	0	0	0	0	0	0	14.21	14.11	14.24
7474	0.30	375.3	2707	2110	1844	1795	136.2	10.8	554	7480	0.00	2.53	0.00	0.000	644	0.000	0.086	2709	694	1819	1845	1794	0	0	0	0	0	0	14.45	14.05	14.47
7500	0.30	375.3	2707	694	1845	1794	133.4	10.4	559	7506	0.12	2.50	0.00	0.000	5126	0.210	0.079	2679	2105	1819	1844	1794	0	0	0	0	0	0	13.95	14.00	14.11
7805	0.38	410.9	2680	2105	1845	1792	107.1	8.4	570	7866	0.00	0.00	55.53	1.264	8358	0.000	0.000	2678	2106	1686	1706	1666	0	0	0	0	0	0	14.45	13.76	13.21
8165	0.52	489.9	2680	2105	1708	1653	81.0	6.4	598	8212	0.20	2.53	40.85	0.442	10916	0.099	0.088	2767	695	1367	1409	1326	0	0	0	0	0	0	14.14	13.89	13.59
8275	0.56	489.9	2768	698	1408	1326	69.0	11.3	619	8281	0.00	2.50	0.00	0.000	1158	0.000	0.077	2768	2106	1362	1402	1323	0	0	0	0	0	0	14.16	14.02	14.19
8578	0.61	561.2	2768	2108	1408	1317	42.5	6.7	650	8620	0.00	2.60	37.42	0.327	8740	0.000	0.088	2768	692	1076	1139	1014	0	0	0	0	0	0	14.43	13.97	13.71
8745	0.80	635.7	2768	689	1139	1012	31.2	6.6	683	8790	0.22	2.50	39.70	0.290	11430	0.095	0.078	2859	2103	772	834	711	0	0	0	0	0	0	14.04	13.95	13.66
9025	end climb: SURFACE_DEPTH_REACHED
state	9025	begin surface coast
9033	end surface coast: CONTROL_FINISHED_OK
state	9033	begin surface