Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 318 * 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 318 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 882.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 882.0 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 24 VBD_MIN 500

DIVE 318 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 120917,164807,7521.6118,-15111.0615,12,0.8,16,20.7,0.3,51.8,11,9.5 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 1.20 MHEAD_RNG_PITCHd_Wd 158.2,69672,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.1 D_GRID 480

GPS2 120917,165911,7521.6460,-15111.0488,7,0.7,22,20.7,0.6,346.3,12,8.9

Post-dive calculations and measurements:

FINISH 0.9,1.021409 _24V_AH 12.22,196.368

SM_CCo 9309,0.00,0.000,0,0,493,704.99 _10V_AH 12.08,0.000

SM_GC 1.30,8.30,2.67,0.00,0.078,0.070,0.000,193,2209,493,-7.38,-0.51,704.99,0,0,0,0,0,0,14.28,14.17,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 421 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323292

IRIDIUM_FIX 7521.72,-15109.12,120917,141016 DATA_FILE_SIZE 23433,713

TT8_MAMPS 0.040446,0.889063 CAP_FILE_SIZE 100138,0

HUMID 46.81 CFSIZE 2097872896,1996750848

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.30 SOUNDSPEED 1447.7

XPDR_PINGS 14 CURRENT 0.061,98.44,1

CP_FREE 15936585728.000000 GPS 120917,193602,7520.288,-15110.648,30,0.8,30,20.7,0.8,140.0,9,8.0

PM_FREEKB_00 47869376

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.76 nil 0 0 0.00

Roll_motor 84 111 114.85 nil 0 0 0.00

VBD_pump_during_apogee 1179 1333 19222.95 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9251 14 1643.14

Iridium_during_xfer 382 175 819.70 NCP 9202 20 2248.97

Transponder_ping 3 420 17.96 PMAR 9192 10 1224.36

GUMSTIX_24V 0 0 0.00

GPS 23 22 6.44

TT8 0 0 0.00

LPSleep 6500 2 181.41

TT8_Active 1058 13 178.55

TT8_Sampling 2105 33 850.58

TT8_CF8 318 38 148.87

TT8_Kalman 0 0 0.00

Analog_circuits 2329 10 281.39

GPS_charging 0 0 0.00

Compass 1023 7 86.52

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 184 2232 508 478 0.0 0.0 0 144 0.00 0.00 -90.95 0.000 16386 0.000 0.000 187 2232 2127 2058 2196 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 183 2232 2060 2198 3.5 -4.1 9 204 13.00 0.00 -38.00 0.000 18982 0.454 0.000 2384 2233 3962 3947 3977 0 0 0 0 0 0 13.57 12.69 14.07

502 -0.67 -145.9 2385 2233 3954 3977 68.7 -11.9 47 503 0.00 0.00 0.00 0.000 134 0.000 0.000 2384 2233 3965 3953 3977 0 0 0 0 0 0 14.58 14.60 14.59

805 -0.84 -145.9 2385 2233 3954 3978 96.7 -8.0 77 810 0.22 2.42 0.00 0.000 4516 0.096 0.085 2289 3588 3965 3953 3977 0 0 0 0 0 0 14.17 13.94 14.22

830 -0.92 -145.9 2289 3588 3954 3978 99.8 -12.8 82 836 0.00 2.38 0.00 0.000 1158 0.000 0.057 2288 2199 3965 3953 3977 0 0 0 0 0 0 14.07 13.98 14.11

1136 -0.95 -145.9 2290 2199 3954 3977 144.0 -13.8 93 1140 0.00 2.45 0.00 0.000 388 0.000 0.086 2280 3585 3965 3953 3977 0 0 0 0 0 0 14.64 14.12 14.66

1191 -1.08 -145.9 2281 3586 3954 3978 151.2 -11.7 104 1198 0.15 2.40 0.00 0.000 5254 0.112 0.058 2226 2188 3966 3955 3977 0 0 0 0 0 0 14.02 13.96 14.12

1496 -1.02 -145.9 2225 2188 3953 3978 207.1 -18.0 115 1501 0.00 2.47 0.00 0.000 388 0.000 0.087 2223 3582 3965 3953 3977 0 0 0 0 0 0 14.64 14.10 14.66

1596 -1.05 -145.9 2223 3585 3954 3977 223.2 -14.8 135 1601 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2194 3965 3953 3977 0 0 0 0 0 0 14.22 14.09 14.24

1917 -1.03 -145.9 2223 2194 3954 3978 273.7 -15.0 149 1921 0.00 2.45 0.00 0.000 388 0.000 0.087 2222 3583 3965 3953 3977 0 0 0 0 0 0 14.66 14.11 14.69

1972 -1.08 -145.9 2222 3586 3953 3977 281.2 -12.5 160 1979 0.00 2.38 0.00 0.000 1158 0.000 0.057 2221 2188 3965 3953 3977 0 0 0 0 0 0 14.23 14.10 14.28

2277 -1.08 -145.9 2222 2189 3954 3978 322.0 -13.2 171 2281 0.00 2.47 0.00 0.000 260 0.000 0.088 2221 3582 3965 3953 3977 0 0 0 0 0 0 14.67 14.09 14.69

2419 -1.16 -145.9 2222 3584 3954 3977 338.2 -11.3 199 2423 0.00 2.35 0.00 0.000 1158 0.000 0.057 2222 2198 3965 3953 3977 0 0 0 0 0 0 14.31 14.19 14.35

2729 -1.19 -145.9 2222 2196 3954 3977 375.6 -11.8 211 2734 0.00 2.45 0.00 0.000 388 0.000 0.088 2220 3583 3964 3952 3977 0 0 0 0 0 0 14.66 14.10 14.68

2799 -1.29 -145.9 2222 3585 3953 3977 383.4 -10.4 225 2804 0.17 2.38 0.00 0.000 5254 0.110 0.057 2154 2193 3964 3952 3977 0 0 0 0 0 0 14.24 14.17 14.33

3119 -1.17 -145.9 2154 2193 3952 3978 440.5 -18.2 239 3124 0.17 2.45 0.00 0.000 2436 0.323 0.081 2181 3585 3964 3951 3977 0 0 0 0 0 0 13.66 13.87 13.62

3244 -1.17 -145.9 2182 3587 3952 3978 458.9 -13.8 264 3250 0.00 2.38 0.00 0.000 1030 0.000 0.057 2181 2192 3964 3951 3977 0 0 0 0 0 0 14.22 14.16 14.24

3388 end dive: TARGET_DEPTH_EXCEEDED

state 3388 begin apogee

3394 -0.13 0.0 2181 2060 3953 3977 480.7 -15.0 273 3762 1.40 0.00 362.98 1.236 10246 0.249 0.000 2527 2059 3367 3381 3353 0 0 0 0 0 0 13.72 13.38 12.60

3766 end apogee: CONTROL_FINISHED_OK

state 3766 begin climb

3770 0.57 145.9 2527 2060 3378 3349 501.6 0.0 285 4040 0.75 2.75 213.95 1.324 10500 0.060 0.073 2782 3484 2740 2770 2711 0 0 0 0 0 0 13.57 12.85 12.22

4135 0.09 145.9 2783 3484 2767 2710 492.6 16.3 305 4140 0.90 2.40 0.00 0.000 5254 0.346 0.057 2614 2125 2737 2766 2709 0 0 0 0 0 0 13.26 13.64 13.63

4460 0.01 191.5 2614 2125 2767 2707 465.3 7.9 320 4528 0.12 0.00 65.40 1.329 12454 0.296 0.000 2589 2123 2584 2631 2538 0 0 0 0 0 0 13.92 13.91 13.09

4820 0.01 232.3 2589 2124 2618 2508 436.5 8.1 332 4900 0.00 2.58 73.57 1.262 8868 0.000 0.090 2590 690 2411 2465 2358 0 0 0 0 0 0 14.56 13.97 13.15

4937 0.11 269.2 2590 690 2455 2352 427.0 8.3 355 5011 0.00 2.45 67.12 1.235 9382 0.000 0.079 2589 2074 2267 2320 2215 0 0 0 0 0 0 14.13 14.00 13.05

5332 0.18 295.7 2590 2075 2305 2193 392.5 8.8 384 5374 0.15 0.00 39.50 1.333 10406 0.116 0.000 2659 2074 2158 2205 2111 0 0 0 0 0 0 14.25 14.03 13.20

5662 0.13 295.7 2659 2074 2187 2089 348.1 13.5 395 5667 0.12 2.42 0.00 0.000 4740 0.256 0.085 2634 696 2137 2186 2088 0 0 0 0 0 0 13.84 14.12 13.94

5702 0.16 295.7 2634 694 2184 2084 343.4 11.0 403 5707 0.00 2.47 0.00 0.000 1158 0.000 0.078 2632 2108 2135 2183 2087 0 0 0 0 0 0 14.21 14.09 14.26

6022 0.16 295.7 2634 2109 2184 2087 308.4 10.8 417 6027 0.00 2.47 0.00 0.000 516 0.000 0.086 2637 694 2134 2182 2087 0 0 0 0 0 0 14.61 14.16 14.63

6053 0.18 295.7 2638 694 2183 2087 305.2 10.5 423 6057 0.00 2.45 0.00 0.000 1158 0.000 0.078 2636 2099 2134 2181 2087 0 0 0 0 0 0 14.35 14.21 14.40

6383 0.18 295.7 2637 2101 2182 2087 270.5 10.3 439 6383 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2101 2133 2181 2086 0 0 0 0 0 0 14.66 14.69 14.69

6683 0.21 326.1 2637 2101 2182 2087 243.2 8.6 449 6745 0.00 2.50 54.85 1.248 8740 0.000 0.085 2637 691 2031 2075 1988 0 0 0 0 0 0 14.64 13.78 13.21

6778 0.31 357.8 2638 691 2065 1986 235.0 8.5 467 6837 0.15 2.47 54.10 1.237 11430 0.113 0.078 2697 2100 1906 1940 1872 0 0 0 0 0 0 14.16 14.10 13.13

7135 0.27 357.8 2697 2101 1916 1852 192.1 11.7 489 7140 0.00 2.50 0.00 0.000 644 0.000 0.087 2699 693 1883 1915 1852 0 0 0 0 0 0 14.56 14.11 14.57

7190 0.27 357.8 2699 693 1914 1853 186.1 10.5 500 7197 0.00 2.47 0.00 0.000 1030 0.000 0.077 2698 2106 1882 1912 1852 0 0 0 0 0 0 14.26 14.13 14.29

7496 0.24 357.8 2699 2107 1912 1850 153.5 10.4 511 7501 0.15 2.50 0.00 0.000 4740 0.221 0.086 2659 695 1880 1912 1849 0 0 0 0 0 0 13.98 14.10 14.12

7536 0.39 406.3 2660 696 1914 1850 150.1 7.8 519 7627 0.15 2.45 82.65 1.195 11430 0.117 0.080 2722 2100 1705 1727 1683 0 0 0 0 0 0 14.21 14.14 13.19

7947 0.39 406.3 2722 2101 1717 1663 103.2 10.8 551 7952 0.00 2.50 0.00 0.000 516 0.000 0.086 2725 693 1689 1716 1662 0 0 0 0 0 0 14.54 14.12 14.57

7992 0.43 413.9 2726 693 1714 1663 98.7 9.6 560 7999 0.00 2.47 1.40 0.254 9382 0.000 0.077 2726 2099 1676 1703 1650 0 0 0 0 0 0 14.26 14.16 13.88

8299 0.45 449.5 2726 2101 1712 1656 70.0 8.4 592 8321 0.00 0.00 20.98 0.397 8230 0.000 0.000 2725 2100 1532 1561 1503 0 0 0 0 0 0 14.58 14.10 13.66

8619 0.60 569.3 2726 2101 1574 1510 49.1 4.5 624 8694 0.12 2.55 64.85 0.341 10916 0.127 0.087 2793 697 1041 1107 975 0 0 0 0 0 0 14.16 14.06 13.74

8815 0.71 603.0 2795 696 1114 987 33.5 8.4 662 8841 0.00 2.47 20.10 0.292 9382 0.000 0.078 2794 2102 904 973 835 0 0 0 0 0 0 14.26 14.12 13.74

9147 0.90 716.9 2794 2101 977 850 10.8 4.7 698 9211 0.20 2.60 58.30 0.227 10916 0.097 0.096 2890 695 496 514 478 0 0 0 0 0 0 14.21 13.89 13.89

9218 end climb: SURFACE_DEPTH_REACHED

state 9218 begin surface coast

9226 end surface coast: CONTROL_FINISHED_OK

state 9226 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	318	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	882.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,164807,7521.6118,-15111.0615,12,0.8,16,20.7,0.3,51.8,11,9.5	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	1.20	MHEAD_RNG_PITCHd_Wd	158.2,69672,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.1	D_GRID	480
GPS2	120917,165911,7521.6460,-15111.0488,7,0.7,22,20.7,0.6,346.3,12,8.9

FINISH	0.9,1.021409	_24V_AH	12.22,196.368
SM_CCo	9309,0.00,0.000,0,0,493,704.99	_10V_AH	12.08,0.000
SM_GC	1.30,8.30,2.67,0.00,0.078,0.070,0.000,193,2209,493,-7.38,-0.51,704.99,0,0,0,0,0,0,14.28,14.17,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	421	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323292
IRIDIUM_FIX	7521.72,-15109.12,120917,141016	DATA_FILE_SIZE	23433,713
TT8_MAMPS	0.040446,0.889063	CAP_FILE_SIZE	100138,0
HUMID	46.81	CFSIZE	2097872896,1996750848
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1447.7
XPDR_PINGS	14	CURRENT	0.061,98.44,1
CP_FREE	15936585728.000000	GPS	120917,193602,7520.288,-15110.648,30,0.8,30,20.7,0.8,140.0,9,8.0
PM_FREEKB_00	47869376

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.76	nil	0	0	0.00
Roll_motor	84	111	114.85	nil	0	0	0.00
VBD_pump_during_apogee	1179	1333	19222.95	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9251	14	1643.14
Iridium_during_xfer	382	175	819.70	NCP	9202	20	2248.97
Transponder_ping	3	420	17.96	PMAR	9192	10	1224.36
GUMSTIX_24V	0	0	0.00
GPS	23	22	6.44
TT8	0	0	0.00
LPSleep	6500	2	181.41
TT8_Active	1058	13	178.55
TT8_Sampling	2105	33	850.58
TT8_CF8	318	38	148.87
TT8_Kalman	0	0	0.00
Analog_circuits	2329	10	281.39
GPS_charging	0	0	0.00
Compass	1023	7	86.52
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	184	2232	508	478	0.0	0.0	0	144	0.00	0.00	-90.95	0.000	16386	0.000	0.000	187	2232	2127	2058	2196	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	183	2232	2060	2198	3.5	-4.1	9	204	13.00	0.00	-38.00	0.000	18982	0.454	0.000	2384	2233	3962	3947	3977	0	0	0	0	0	0	13.57	12.69	14.07
502	-0.67	-145.9	2385	2233	3954	3977	68.7	-11.9	47	503	0.00	0.00	0.00	0.000	134	0.000	0.000	2384	2233	3965	3953	3977	0	0	0	0	0	0	14.58	14.60	14.59
805	-0.84	-145.9	2385	2233	3954	3978	96.7	-8.0	77	810	0.22	2.42	0.00	0.000	4516	0.096	0.085	2289	3588	3965	3953	3977	0	0	0	0	0	0	14.17	13.94	14.22
830	-0.92	-145.9	2289	3588	3954	3978	99.8	-12.8	82	836	0.00	2.38	0.00	0.000	1158	0.000	0.057	2288	2199	3965	3953	3977	0	0	0	0	0	0	14.07	13.98	14.11
1136	-0.95	-145.9	2290	2199	3954	3977	144.0	-13.8	93	1140	0.00	2.45	0.00	0.000	388	0.000	0.086	2280	3585	3965	3953	3977	0	0	0	0	0	0	14.64	14.12	14.66
1191	-1.08	-145.9	2281	3586	3954	3978	151.2	-11.7	104	1198	0.15	2.40	0.00	0.000	5254	0.112	0.058	2226	2188	3966	3955	3977	0	0	0	0	0	0	14.02	13.96	14.12
1496	-1.02	-145.9	2225	2188	3953	3978	207.1	-18.0	115	1501	0.00	2.47	0.00	0.000	388	0.000	0.087	2223	3582	3965	3953	3977	0	0	0	0	0	0	14.64	14.10	14.66
1596	-1.05	-145.9	2223	3585	3954	3977	223.2	-14.8	135	1601	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2194	3965	3953	3977	0	0	0	0	0	0	14.22	14.09	14.24
1917	-1.03	-145.9	2223	2194	3954	3978	273.7	-15.0	149	1921	0.00	2.45	0.00	0.000	388	0.000	0.087	2222	3583	3965	3953	3977	0	0	0	0	0	0	14.66	14.11	14.69
1972	-1.08	-145.9	2222	3586	3953	3977	281.2	-12.5	160	1979	0.00	2.38	0.00	0.000	1158	0.000	0.057	2221	2188	3965	3953	3977	0	0	0	0	0	0	14.23	14.10	14.28
2277	-1.08	-145.9	2222	2189	3954	3978	322.0	-13.2	171	2281	0.00	2.47	0.00	0.000	260	0.000	0.088	2221	3582	3965	3953	3977	0	0	0	0	0	0	14.67	14.09	14.69
2419	-1.16	-145.9	2222	3584	3954	3977	338.2	-11.3	199	2423	0.00	2.35	0.00	0.000	1158	0.000	0.057	2222	2198	3965	3953	3977	0	0	0	0	0	0	14.31	14.19	14.35
2729	-1.19	-145.9	2222	2196	3954	3977	375.6	-11.8	211	2734	0.00	2.45	0.00	0.000	388	0.000	0.088	2220	3583	3964	3952	3977	0	0	0	0	0	0	14.66	14.10	14.68
2799	-1.29	-145.9	2222	3585	3953	3977	383.4	-10.4	225	2804	0.17	2.38	0.00	0.000	5254	0.110	0.057	2154	2193	3964	3952	3977	0	0	0	0	0	0	14.24	14.17	14.33
3119	-1.17	-145.9	2154	2193	3952	3978	440.5	-18.2	239	3124	0.17	2.45	0.00	0.000	2436	0.323	0.081	2181	3585	3964	3951	3977	0	0	0	0	0	0	13.66	13.87	13.62
3244	-1.17	-145.9	2182	3587	3952	3978	458.9	-13.8	264	3250	0.00	2.38	0.00	0.000	1030	0.000	0.057	2181	2192	3964	3951	3977	0	0	0	0	0	0	14.22	14.16	14.24
3388	end dive: TARGET_DEPTH_EXCEEDED
state	3388	begin apogee
3394	-0.13	0.0	2181	2060	3953	3977	480.7	-15.0	273	3762	1.40	0.00	362.98	1.236	10246	0.249	0.000	2527	2059	3367	3381	3353	0	0	0	0	0	0	13.72	13.38	12.60
3766	end apogee: CONTROL_FINISHED_OK
state	3766	begin climb
3770	0.57	145.9	2527	2060	3378	3349	501.6	0.0	285	4040	0.75	2.75	213.95	1.324	10500	0.060	0.073	2782	3484	2740	2770	2711	0	0	0	0	0	0	13.57	12.85	12.22
4135	0.09	145.9	2783	3484	2767	2710	492.6	16.3	305	4140	0.90	2.40	0.00	0.000	5254	0.346	0.057	2614	2125	2737	2766	2709	0	0	0	0	0	0	13.26	13.64	13.63
4460	0.01	191.5	2614	2125	2767	2707	465.3	7.9	320	4528	0.12	0.00	65.40	1.329	12454	0.296	0.000	2589	2123	2584	2631	2538	0	0	0	0	0	0	13.92	13.91	13.09
4820	0.01	232.3	2589	2124	2618	2508	436.5	8.1	332	4900	0.00	2.58	73.57	1.262	8868	0.000	0.090	2590	690	2411	2465	2358	0	0	0	0	0	0	14.56	13.97	13.15
4937	0.11	269.2	2590	690	2455	2352	427.0	8.3	355	5011	0.00	2.45	67.12	1.235	9382	0.000	0.079	2589	2074	2267	2320	2215	0	0	0	0	0	0	14.13	14.00	13.05
5332	0.18	295.7	2590	2075	2305	2193	392.5	8.8	384	5374	0.15	0.00	39.50	1.333	10406	0.116	0.000	2659	2074	2158	2205	2111	0	0	0	0	0	0	14.25	14.03	13.20
5662	0.13	295.7	2659	2074	2187	2089	348.1	13.5	395	5667	0.12	2.42	0.00	0.000	4740	0.256	0.085	2634	696	2137	2186	2088	0	0	0	0	0	0	13.84	14.12	13.94
5702	0.16	295.7	2634	694	2184	2084	343.4	11.0	403	5707	0.00	2.47	0.00	0.000	1158	0.000	0.078	2632	2108	2135	2183	2087	0	0	0	0	0	0	14.21	14.09	14.26
6022	0.16	295.7	2634	2109	2184	2087	308.4	10.8	417	6027	0.00	2.47	0.00	0.000	516	0.000	0.086	2637	694	2134	2182	2087	0	0	0	0	0	0	14.61	14.16	14.63
6053	0.18	295.7	2638	694	2183	2087	305.2	10.5	423	6057	0.00	2.45	0.00	0.000	1158	0.000	0.078	2636	2099	2134	2181	2087	0	0	0	0	0	0	14.35	14.21	14.40
6383	0.18	295.7	2637	2101	2182	2087	270.5	10.3	439	6383	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2101	2133	2181	2086	0	0	0	0	0	0	14.66	14.69	14.69
6683	0.21	326.1	2637	2101	2182	2087	243.2	8.6	449	6745	0.00	2.50	54.85	1.248	8740	0.000	0.085	2637	691	2031	2075	1988	0	0	0	0	0	0	14.64	13.78	13.21
6778	0.31	357.8	2638	691	2065	1986	235.0	8.5	467	6837	0.15	2.47	54.10	1.237	11430	0.113	0.078	2697	2100	1906	1940	1872	0	0	0	0	0	0	14.16	14.10	13.13
7135	0.27	357.8	2697	2101	1916	1852	192.1	11.7	489	7140	0.00	2.50	0.00	0.000	644	0.000	0.087	2699	693	1883	1915	1852	0	0	0	0	0	0	14.56	14.11	14.57
7190	0.27	357.8	2699	693	1914	1853	186.1	10.5	500	7197	0.00	2.47	0.00	0.000	1030	0.000	0.077	2698	2106	1882	1912	1852	0	0	0	0	0	0	14.26	14.13	14.29
7496	0.24	357.8	2699	2107	1912	1850	153.5	10.4	511	7501	0.15	2.50	0.00	0.000	4740	0.221	0.086	2659	695	1880	1912	1849	0	0	0	0	0	0	13.98	14.10	14.12
7536	0.39	406.3	2660	696	1914	1850	150.1	7.8	519	7627	0.15	2.45	82.65	1.195	11430	0.117	0.080	2722	2100	1705	1727	1683	0	0	0	0	0	0	14.21	14.14	13.19
7947	0.39	406.3	2722	2101	1717	1663	103.2	10.8	551	7952	0.00	2.50	0.00	0.000	516	0.000	0.086	2725	693	1689	1716	1662	0	0	0	0	0	0	14.54	14.12	14.57
7992	0.43	413.9	2726	693	1714	1663	98.7	9.6	560	7999	0.00	2.47	1.40	0.254	9382	0.000	0.077	2726	2099	1676	1703	1650	0	0	0	0	0	0	14.26	14.16	13.88
8299	0.45	449.5	2726	2101	1712	1656	70.0	8.4	592	8321	0.00	0.00	20.98	0.397	8230	0.000	0.000	2725	2100	1532	1561	1503	0	0	0	0	0	0	14.58	14.10	13.66
8619	0.60	569.3	2726	2101	1574	1510	49.1	4.5	624	8694	0.12	2.55	64.85	0.341	10916	0.127	0.087	2793	697	1041	1107	975	0	0	0	0	0	0	14.16	14.06	13.74
8815	0.71	603.0	2795	696	1114	987	33.5	8.4	662	8841	0.00	2.47	20.10	0.292	9382	0.000	0.078	2794	2102	904	973	835	0	0	0	0	0	0	14.26	14.12	13.74
9147	0.90	716.9	2794	2101	977	850	10.8	4.7	698	9211	0.20	2.60	58.30	0.227	10916	0.097	0.096	2890	695	496	514	478	0	0	0	0	0	0	14.21	13.89	13.89
9218	end climb: SURFACE_DEPTH_REACHED
state	9218	begin surface coast
9226	end surface coast: CONTROL_FINISHED_OK
state	9226	begin surface