Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 316 * 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 316 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 876.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 27 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 876.0 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 23 VBD_MIN 500

DIVE 316 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 120917,112530,7524.0977,-15111.6396,16,0.7,19,20.7,0.2,0.0,12,8.9 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 1.21 MHEAD_RNG_PITCHd_Wd 159.8,74223,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.5 D_GRID 480

GPS2 120917,113648,7524.1304,-15111.5488,15,0.7,15,20.7,0.0,0.0,12,9.3

Post-dive calculations and measurements:

FINISH 0.5,1.021500 _24V_AH 12.21,195.388

SM_CCo 8833,6.82,0.194,0,0,500,702.78 _10V_AH 12.04,0.000

SM_GC 1.71,8.38,0.17,6.82,0.076,0.092,0.194,199,2239,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.28,14.33,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 341 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323456

IRIDIUM_FIX 7525.54,-15119.96,120917,084827 DATA_FILE_SIZE 23397,655

TT8_MAMPS 0.038948,1.63507 CAP_FILE_SIZE 97286,0

HUMID 47.04 CFSIZE 2097872896,1997307904

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 13.00 SOUNDSPEED 1447.0

XPDR_PINGS 12 CURRENT 0.047,95.39,1

CP_FREE 0.000000 GPS 120917,140602,7522.875,-15111.647,35,0.7,35,20.7,0.0,0.0,10,8.3

PM_FREEKB_00 47960512

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 461 152.64 nil 0 0 0.00

Roll_motor 85 91 95.47 nil 0 0 0.00

VBD_pump_during_apogee 1004 1507 18475.60 nil 0 0 0.00

VBD_pump_during_surface 6 193 16.13 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 8801 14 1572.47

Iridium_during_xfer 396 175 852.84 NCP 5339 20 1303.78

Transponder_ping 3 420 15.38 PMAR 8770 9 1066.00

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.55

TT8 0 0 0.00

LPSleep 6083 2 169.20

TT8_Active 926 13 155.78

TT8_Sampling 2205 33 888.07

TT8_CF8 313 38 145.88

TT8_Kalman 0 0 0.00

Analog_circuits 2256 10 271.65

GPS_charging 0 0 0.00

Compass 942 7 79.43

RAFOS 2219 48 1282.40

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

64 end surface: CONTROL_FINISHED_OK

state 64 begin dive

67 -0.57 -145.9 196 2208 495 493 0.0 0.0 0 170 0.00 0.00 -101.57 0.000 16386 0.000 0.000 195 2208 2364 2311 2417 0 0 0 0 0 0 14.53 28.83 14.58

173 -0.57 -145.9 196 2208 2315 2417 4.8 -7.5 10 219 13.10 0.00 -28.50 0.000 18982 0.461 0.000 2384 2208 3964 3948 3980 0 0 0 0 0 0 13.58 12.55 14.12

518 -0.68 -145.9 2384 2207 3957 3981 70.6 -11.3 47 523 0.00 2.47 0.00 0.000 388 0.000 0.087 2378 3606 3968 3955 3981 0 0 0 0 0 0 14.66 14.07 14.63

559 -0.90 -145.9 2376 3608 3959 3982 74.6 -9.1 55 564 0.28 2.40 0.00 0.000 5286 0.100 0.056 2276 2189 3968 3956 3981 0 0 0 0 0 0 14.24 14.16 14.34

881 -0.90 -145.9 2275 2189 3955 3982 130.1 -16.1 76 886 0.00 2.50 0.00 0.000 260 0.000 0.086 2267 3604 3968 3955 3981 0 0 0 0 0 0 14.67 14.14 14.72

956 -0.99 -145.9 2267 3606 3954 3981 141.6 -13.6 91 961 0.00 2.40 0.00 0.000 1158 0.000 0.058 2266 2199 3968 3955 3981 0 0 0 0 0 0 14.34 14.21 14.38

1272 -1.02 -145.9 2267 2198 3957 3981 186.4 -13.8 104 1272 0.00 0.00 0.00 0.000 134 0.000 0.000 2267 2198 3968 3956 3981 0 0 0 0 0 0 14.69 14.71 14.71

1572 -1.06 -145.9 2267 2199 3956 3982 225.6 -12.6 114 1577 0.00 2.53 0.00 0.000 388 0.000 0.087 2261 3611 3967 3954 3981 0 0 0 0 0 0 14.51 14.00 14.50

1667 -1.19 -145.9 2264 3613 3956 3980 236.2 -10.5 133 1673 0.20 2.45 0.00 0.000 5254 0.109 0.057 2194 2189 3968 3955 3981 0 0 0 0 0 0 14.09 14.05 14.21

1993 -1.10 -145.9 2188 2188 3956 3980 295.5 -17.5 148 1999 0.15 2.53 0.00 0.000 2436 0.285 0.082 2211 3603 3970 3960 3981 0 0 0 0 0 0 13.73 13.98 13.90

2124 -1.15 -145.9 2212 3605 3956 3981 313.2 -12.2 174 2129 0.00 2.42 0.00 0.000 1158 0.000 0.057 2210 2189 3968 3955 3981 0 0 0 0 0 0 14.18 14.05 14.21

2444 -1.15 -145.9 2213 2185 3957 3981 355.7 -13.1 188 2449 0.00 2.55 0.00 0.000 260 0.000 0.088 2209 3614 3968 3956 3981 0 0 0 0 0 0 14.49 13.97 14.50

2539 -1.23 -145.9 2209 3613 3956 3982 367.3 -11.4 207 2544 0.00 2.42 0.00 0.000 1158 0.000 0.057 2209 2199 3968 3955 3981 0 0 0 0 0 0 13.97 13.85 14.00

2864 -1.23 -145.9 2209 2199 3956 3982 407.8 -12.3 222 2869 0.00 2.53 0.00 0.000 260 0.000 0.088 2209 3608 3970 3955 3986 0 0 0 0 0 0 14.48 13.95 14.48

2934 -1.31 -145.9 2210 3609 3956 3981 416.0 -11.0 236 2939 0.17 2.42 0.00 0.000 5254 0.109 0.057 2146 2192 3968 3955 3981 0 0 0 0 0 0 14.09 14.03 14.19

3255 -1.18 -145.9 2147 2191 3956 3981 473.9 -18.5 250 3260 0.22 2.53 0.00 0.000 2436 0.322 0.080 2184 3610 3968 3955 3981 0 0 0 0 0 0 13.54 13.93 13.76

3293 end dive: TARGET_DEPTH_EXCEEDED

state 3293 begin apogee

3301 -0.13 0.0 2185 2103 3955 3981 480.3 -14.5 258 3522 1.40 0.00 217.85 1.428 10246 0.242 0.000 2529 2102 3365 3378 3353 0 0 0 0 0 0 13.62 13.48 12.63

3524 end apogee: CONTROL_FINISHED_OK

state 3524 begin climb

3527 0.57 145.9 2530 2102 3373 3348 492.0 0.0 265 3889 0.75 2.72 209.38 1.380 10756 0.061 0.079 2786 694 2758 2790 2727 0 0 0 0 0 0 13.59 12.82 12.21

3901 0.57 145.9 2791 693 2789 2726 483.5 2.7 267 3906 0.00 2.53 0.00 0.000 1030 0.000 0.074 2786 2097 2757 2789 2725 0 0 0 0 0 0 13.66 13.52 13.69

4223 0.14 145.9 2787 2099 2789 2722 435.2 14.6 281 4228 0.68 2.47 0.00 0.000 4484 0.315 0.075 2635 3513 2754 2788 2721 0 0 0 0 0 0 13.66 14.06 13.91

4279 -0.07 145.9 2636 3513 2786 2720 428.7 10.8 292 4285 0.35 2.42 0.00 0.000 5254 0.278 0.058 2567 2091 2752 2786 2719 0 0 0 0 0 0 13.81 14.14 14.15

4584 -0.00 244.0 2565 2092 2788 2721 411.1 5.5 303 4735 0.00 0.00 148.07 1.343 8230 0.000 0.000 2565 2091 2367 2418 2317 0 0 0 0 0 0 14.64 13.76 12.95

5034 0.13 308.1 2565 2092 2405 2303 380.8 7.0 318 5139 0.20 2.58 96.20 1.328 10916 0.098 0.089 2653 695 2102 2145 2060 0 0 0 0 0 0 14.12 13.86 13.05

5164 0.13 308.1 2653 691 2141 2060 365.1 12.9 339 5169 0.00 2.50 0.00 0.000 1030 0.000 0.078 2653 2099 2099 2139 2059 0 0 0 0 0 0 14.07 13.95 14.10

5485 0.10 308.1 2653 2102 2139 2048 323.9 12.7 353 5490 0.15 2.47 0.00 0.000 4740 0.228 0.085 2616 694 2090 2134 2047 0 0 0 0 0 0 13.91 14.12 14.03

5535 0.22 319.7 2616 693 2136 2047 318.7 9.5 363 5556 0.12 2.45 12.85 1.507 11430 0.126 0.077 2674 2103 2058 2100 2017 0 0 0 0 0 0 14.26 14.20 13.23

5879 0.16 319.7 2674 2103 2099 2009 272.3 13.3 381 5884 0.15 2.50 0.00 0.000 4740 0.256 0.083 2644 682 2053 2097 2009 0 0 0 0 0 0 13.99 14.20 14.14

5944 0.23 324.8 2644 683 2095 2010 265.0 9.8 394 5955 0.00 2.47 3.38 1.434 9382 0.000 0.077 2650 2105 2042 2086 1999 0 0 0 0 0 0 14.36 14.22 12.86

6270 0.24 343.2 2645 2105 2090 1998 233.1 9.2 409 6306 0.00 0.00 34.92 1.386 8230 0.000 0.000 2643 2104 1966 2009 1923 0 0 0 0 0 0 14.64 14.11 13.26

6600 0.31 369.1 2644 2106 2002 1913 203.7 8.8 420 6650 0.12 2.53 43.03 1.331 10916 0.125 0.087 2708 688 1854 1884 1825 0 0 0 0 0 0 14.31 14.07 13.23

6697 0.31 369.1 2709 689 1878 1827 192.4 11.8 439 6702 0.00 2.47 0.00 0.000 1030 0.000 0.077 2709 2099 1851 1877 1825 0 0 0 0 0 0 14.12 14.00 14.15

7022 0.27 369.1 2709 2101 1876 1822 153.3 11.7 454 7028 0.12 2.50 0.00 0.000 4740 0.231 0.083 2685 686 1848 1875 1821 0 0 0 0 0 0 14.02 14.10 14.16

7110 0.36 395.6 2685 686 1873 1822 145.3 8.8 471 7159 0.00 2.47 42.65 1.314 9382 0.000 0.079 2685 2100 1752 1774 1731 0 0 0 0 0 0 14.26 14.12 13.27

7476 0.43 420.5 2684 2101 1769 1720 111.5 8.8 494 7520 0.10 2.50 38.30 1.287 10916 0.154 0.086 2737 688 1646 1670 1623 0 0 0 0 0 0 14.28 13.81 13.23

7555 0.43 420.5 2738 695 1668 1624 102.3 11.1 510 7561 0.00 2.47 0.00 0.000 1030 0.000 0.078 2738 2100 1642 1663 1622 0 0 0 0 0 0 14.21 14.11 14.26

7866 0.44 438.9 2738 2100 1665 1614 69.5 9.1 540 7883 0.00 2.55 9.12 0.411 8740 0.000 0.086 2739 690 1575 1603 1547 0 0 0 0 0 0 14.58 14.09 13.66

7909 0.51 464.8 2739 690 1604 1550 65.8 8.8 548 7931 0.00 2.50 14.57 0.400 9382 0.000 0.080 2739 2110 1467 1496 1439 0 0 0 0 0 0 14.31 14.16 13.64

8229 0.65 572.5 2740 2111 1500 1433 44.4 5.0 582 8292 0.15 0.00 56.67 0.331 10918 0.109 0.000 2801 2110 1029 1091 967 0 0 0 0 0 0 14.16 14.09 13.72

8589 0.77 646.5 2802 2111 1092 958 16.4 6.6 621 8636 0.00 2.58 39.22 0.257 8868 0.000 0.088 2807 694 726 785 668 0 0 0 0 0 0 14.57 14.06 13.82

8719 0.98 709.5 2807 696 785 664 7.2 7.1 646 8762 0.30 2.50 37.83 0.211 11426 0.083 0.079 2916 2106 518 540 497 0 0 0 0 0 0 14.16 14.07 14.25

8762 end climb: SURFACE_DEPTH_REACHED

state 8762 begin surface coast

8765 end surface coast: CONTROL_FINISHED_OK

state 8765 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	316	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	876.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,112530,7524.0977,-15111.6396,16,0.7,19,20.7,0.2,0.0,12,8.9	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	1.21	MHEAD_RNG_PITCHd_Wd	159.8,74223,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.5	D_GRID	480
GPS2	120917,113648,7524.1304,-15111.5488,15,0.7,15,20.7,0.0,0.0,12,9.3

FINISH	0.5,1.021500	_24V_AH	12.21,195.388
SM_CCo	8833,6.82,0.194,0,0,500,702.78	_10V_AH	12.04,0.000
SM_GC	1.71,8.38,0.17,6.82,0.076,0.092,0.194,199,2239,500,-7.36,-0.54,702.78,0,0,0,0,0,0,14.28,14.33,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	341	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323456
IRIDIUM_FIX	7525.54,-15119.96,120917,084827	DATA_FILE_SIZE	23397,655
TT8_MAMPS	0.038948,1.63507	CAP_FILE_SIZE	97286,0
HUMID	47.04	CFSIZE	2097872896,1997307904
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	13.00	SOUNDSPEED	1447.0
XPDR_PINGS	12	CURRENT	0.047,95.39,1
CP_FREE	0.000000	GPS	120917,140602,7522.875,-15111.647,35,0.7,35,20.7,0.0,0.0,10,8.3
PM_FREEKB_00	47960512

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	461	152.64	nil	0	0	0.00
Roll_motor	85	91	95.47	nil	0	0	0.00
VBD_pump_during_apogee	1004	1507	18475.60	nil	0	0	0.00
VBD_pump_during_surface	6	193	16.13	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	8801	14	1572.47
Iridium_during_xfer	396	175	852.84	NCP	5339	20	1303.78
Transponder_ping	3	420	15.38	PMAR	8770	9	1066.00
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.55
TT8	0	0	0.00
LPSleep	6083	2	169.20
TT8_Active	926	13	155.78
TT8_Sampling	2205	33	888.07
TT8_CF8	313	38	145.88
TT8_Kalman	0	0	0.00
Analog_circuits	2256	10	271.65
GPS_charging	0	0	0.00
Compass	942	7	79.43
RAFOS	2219	48	1282.40
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
64	end surface: CONTROL_FINISHED_OK
state	64	begin dive
67	-0.57	-145.9	196	2208	495	493	0.0	0.0	0	170	0.00	0.00	-101.57	0.000	16386	0.000	0.000	195	2208	2364	2311	2417	0	0	0	0	0	0	14.53	28.83	14.58
173	-0.57	-145.9	196	2208	2315	2417	4.8	-7.5	10	219	13.10	0.00	-28.50	0.000	18982	0.461	0.000	2384	2208	3964	3948	3980	0	0	0	0	0	0	13.58	12.55	14.12
518	-0.68	-145.9	2384	2207	3957	3981	70.6	-11.3	47	523	0.00	2.47	0.00	0.000	388	0.000	0.087	2378	3606	3968	3955	3981	0	0	0	0	0	0	14.66	14.07	14.63
559	-0.90	-145.9	2376	3608	3959	3982	74.6	-9.1	55	564	0.28	2.40	0.00	0.000	5286	0.100	0.056	2276	2189	3968	3956	3981	0	0	0	0	0	0	14.24	14.16	14.34
881	-0.90	-145.9	2275	2189	3955	3982	130.1	-16.1	76	886	0.00	2.50	0.00	0.000	260	0.000	0.086	2267	3604	3968	3955	3981	0	0	0	0	0	0	14.67	14.14	14.72
956	-0.99	-145.9	2267	3606	3954	3981	141.6	-13.6	91	961	0.00	2.40	0.00	0.000	1158	0.000	0.058	2266	2199	3968	3955	3981	0	0	0	0	0	0	14.34	14.21	14.38
1272	-1.02	-145.9	2267	2198	3957	3981	186.4	-13.8	104	1272	0.00	0.00	0.00	0.000	134	0.000	0.000	2267	2198	3968	3956	3981	0	0	0	0	0	0	14.69	14.71	14.71
1572	-1.06	-145.9	2267	2199	3956	3982	225.6	-12.6	114	1577	0.00	2.53	0.00	0.000	388	0.000	0.087	2261	3611	3967	3954	3981	0	0	0	0	0	0	14.51	14.00	14.50
1667	-1.19	-145.9	2264	3613	3956	3980	236.2	-10.5	133	1673	0.20	2.45	0.00	0.000	5254	0.109	0.057	2194	2189	3968	3955	3981	0	0	0	0	0	0	14.09	14.05	14.21
1993	-1.10	-145.9	2188	2188	3956	3980	295.5	-17.5	148	1999	0.15	2.53	0.00	0.000	2436	0.285	0.082	2211	3603	3970	3960	3981	0	0	0	0	0	0	13.73	13.98	13.90
2124	-1.15	-145.9	2212	3605	3956	3981	313.2	-12.2	174	2129	0.00	2.42	0.00	0.000	1158	0.000	0.057	2210	2189	3968	3955	3981	0	0	0	0	0	0	14.18	14.05	14.21
2444	-1.15	-145.9	2213	2185	3957	3981	355.7	-13.1	188	2449	0.00	2.55	0.00	0.000	260	0.000	0.088	2209	3614	3968	3956	3981	0	0	0	0	0	0	14.49	13.97	14.50
2539	-1.23	-145.9	2209	3613	3956	3982	367.3	-11.4	207	2544	0.00	2.42	0.00	0.000	1158	0.000	0.057	2209	2199	3968	3955	3981	0	0	0	0	0	0	13.97	13.85	14.00
2864	-1.23	-145.9	2209	2199	3956	3982	407.8	-12.3	222	2869	0.00	2.53	0.00	0.000	260	0.000	0.088	2209	3608	3970	3955	3986	0	0	0	0	0	0	14.48	13.95	14.48
2934	-1.31	-145.9	2210	3609	3956	3981	416.0	-11.0	236	2939	0.17	2.42	0.00	0.000	5254	0.109	0.057	2146	2192	3968	3955	3981	0	0	0	0	0	0	14.09	14.03	14.19
3255	-1.18	-145.9	2147	2191	3956	3981	473.9	-18.5	250	3260	0.22	2.53	0.00	0.000	2436	0.322	0.080	2184	3610	3968	3955	3981	0	0	0	0	0	0	13.54	13.93	13.76
3293	end dive: TARGET_DEPTH_EXCEEDED
state	3293	begin apogee
3301	-0.13	0.0	2185	2103	3955	3981	480.3	-14.5	258	3522	1.40	0.00	217.85	1.428	10246	0.242	0.000	2529	2102	3365	3378	3353	0	0	0	0	0	0	13.62	13.48	12.63
3524	end apogee: CONTROL_FINISHED_OK
state	3524	begin climb
3527	0.57	145.9	2530	2102	3373	3348	492.0	0.0	265	3889	0.75	2.72	209.38	1.380	10756	0.061	0.079	2786	694	2758	2790	2727	0	0	0	0	0	0	13.59	12.82	12.21
3901	0.57	145.9	2791	693	2789	2726	483.5	2.7	267	3906	0.00	2.53	0.00	0.000	1030	0.000	0.074	2786	2097	2757	2789	2725	0	0	0	0	0	0	13.66	13.52	13.69
4223	0.14	145.9	2787	2099	2789	2722	435.2	14.6	281	4228	0.68	2.47	0.00	0.000	4484	0.315	0.075	2635	3513	2754	2788	2721	0	0	0	0	0	0	13.66	14.06	13.91
4279	-0.07	145.9	2636	3513	2786	2720	428.7	10.8	292	4285	0.35	2.42	0.00	0.000	5254	0.278	0.058	2567	2091	2752	2786	2719	0	0	0	0	0	0	13.81	14.14	14.15
4584	-0.00	244.0	2565	2092	2788	2721	411.1	5.5	303	4735	0.00	0.00	148.07	1.343	8230	0.000	0.000	2565	2091	2367	2418	2317	0	0	0	0	0	0	14.64	13.76	12.95
5034	0.13	308.1	2565	2092	2405	2303	380.8	7.0	318	5139	0.20	2.58	96.20	1.328	10916	0.098	0.089	2653	695	2102	2145	2060	0	0	0	0	0	0	14.12	13.86	13.05
5164	0.13	308.1	2653	691	2141	2060	365.1	12.9	339	5169	0.00	2.50	0.00	0.000	1030	0.000	0.078	2653	2099	2099	2139	2059	0	0	0	0	0	0	14.07	13.95	14.10
5485	0.10	308.1	2653	2102	2139	2048	323.9	12.7	353	5490	0.15	2.47	0.00	0.000	4740	0.228	0.085	2616	694	2090	2134	2047	0	0	0	0	0	0	13.91	14.12	14.03
5535	0.22	319.7	2616	693	2136	2047	318.7	9.5	363	5556	0.12	2.45	12.85	1.507	11430	0.126	0.077	2674	2103	2058	2100	2017	0	0	0	0	0	0	14.26	14.20	13.23
5879	0.16	319.7	2674	2103	2099	2009	272.3	13.3	381	5884	0.15	2.50	0.00	0.000	4740	0.256	0.083	2644	682	2053	2097	2009	0	0	0	0	0	0	13.99	14.20	14.14
5944	0.23	324.8	2644	683	2095	2010	265.0	9.8	394	5955	0.00	2.47	3.38	1.434	9382	0.000	0.077	2650	2105	2042	2086	1999	0	0	0	0	0	0	14.36	14.22	12.86
6270	0.24	343.2	2645	2105	2090	1998	233.1	9.2	409	6306	0.00	0.00	34.92	1.386	8230	0.000	0.000	2643	2104	1966	2009	1923	0	0	0	0	0	0	14.64	14.11	13.26
6600	0.31	369.1	2644	2106	2002	1913	203.7	8.8	420	6650	0.12	2.53	43.03	1.331	10916	0.125	0.087	2708	688	1854	1884	1825	0	0	0	0	0	0	14.31	14.07	13.23
6697	0.31	369.1	2709	689	1878	1827	192.4	11.8	439	6702	0.00	2.47	0.00	0.000	1030	0.000	0.077	2709	2099	1851	1877	1825	0	0	0	0	0	0	14.12	14.00	14.15
7022	0.27	369.1	2709	2101	1876	1822	153.3	11.7	454	7028	0.12	2.50	0.00	0.000	4740	0.231	0.083	2685	686	1848	1875	1821	0	0	0	0	0	0	14.02	14.10	14.16
7110	0.36	395.6	2685	686	1873	1822	145.3	8.8	471	7159	0.00	2.47	42.65	1.314	9382	0.000	0.079	2685	2100	1752	1774	1731	0	0	0	0	0	0	14.26	14.12	13.27
7476	0.43	420.5	2684	2101	1769	1720	111.5	8.8	494	7520	0.10	2.50	38.30	1.287	10916	0.154	0.086	2737	688	1646	1670	1623	0	0	0	0	0	0	14.28	13.81	13.23
7555	0.43	420.5	2738	695	1668	1624	102.3	11.1	510	7561	0.00	2.47	0.00	0.000	1030	0.000	0.078	2738	2100	1642	1663	1622	0	0	0	0	0	0	14.21	14.11	14.26
7866	0.44	438.9	2738	2100	1665	1614	69.5	9.1	540	7883	0.00	2.55	9.12	0.411	8740	0.000	0.086	2739	690	1575	1603	1547	0	0	0	0	0	0	14.58	14.09	13.66
7909	0.51	464.8	2739	690	1604	1550	65.8	8.8	548	7931	0.00	2.50	14.57	0.400	9382	0.000	0.080	2739	2110	1467	1496	1439	0	0	0	0	0	0	14.31	14.16	13.64
8229	0.65	572.5	2740	2111	1500	1433	44.4	5.0	582	8292	0.15	0.00	56.67	0.331	10918	0.109	0.000	2801	2110	1029	1091	967	0	0	0	0	0	0	14.16	14.09	13.72
8589	0.77	646.5	2802	2111	1092	958	16.4	6.6	621	8636	0.00	2.58	39.22	0.257	8868	0.000	0.088	2807	694	726	785	668	0	0	0	0	0	0	14.57	14.06	13.82
8719	0.98	709.5	2807	696	785	664	7.2	7.1	646	8762	0.30	2.50	37.83	0.211	11426	0.083	0.079	2916	2106	518	540	497	0	0	0	0	0	0	14.16	14.07	14.25
8762	end climb: SURFACE_DEPTH_REACHED
state	8762	begin surface coast
8765	end surface coast: CONTROL_FINISHED_OK
state	8765	begin surface