Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 320 * 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 320 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 888.0

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 63 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 888.0 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 63 VBD_MIN 500

DIVE 320 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 120917,222403,7518.9644,-15110.7891,66,0.8,66,20.7,0.5,311.9,10,9.1 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 1.17 MHEAD_RNG_PITCHd_Wd 157.2,64905,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.6 D_GRID 480

GPS2 120917,223515,7519.0195,-15110.8271,6,0.8,8,20.7,1.0,347.7,10,9.1

Post-dive calculations and measurements:

FINISH 0.0,1.021462 _24V_AH 12.24,197.395

SM_CCo 9199,25.67,0.199,0,0,502,703.28 _10V_AH 12.11,0.000

SM_GC 1.23,7.93,0.17,25.67,0.067,0.091,0.199,197,2221,502,-7.38,-0.57,703.28,0,0,0,0,0,0,14.31,14.35,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 195 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323652

IRIDIUM_FIX 7519.35,-15113.21,120917,194049 DATA_FILE_SIZE 23401,708

TT8_MAMPS 0.039697,0.862099 CAP_FILE_SIZE 101287,0

HUMID 46.14 CFSIZE 2097872896,1996193792

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.9

XPDR_PINGS 8 CURRENT 0.037,97.61,1

CP_FREE 15935733760.000000 GPS 130917,011134,7517.709,-15110.881,68,0.8,70,20.7,1.0,71.5,10,8.4

PM_FREEKB_00 47763392

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 460 149.10 nil 0 0 0.00

Roll_motor 74 2149 1947.07 nil 0 0 0.00

VBD_pump_during_apogee 1090 1389 18542.76 nil 0 0 0.00

VBD_pump_during_surface 25 198 62.51 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 9209 14 1636.89

Iridium_during_xfer 399 177 868.18 NCP 9172 20 2245.31

Transponder_ping 2 420 10.28 PMAR 9152 10 1179.13

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.71

TT8 0 0 0.00

LPSleep 6501 2 181.87

TT8_Active 1003 13 169.82

TT8_Sampling 2088 33 845.57

TT8_CF8 324 38 152.02

TT8_Kalman 0 0 0.00

Analog_circuits 2233 10 270.42

GPS_charging 0 0 0.00

Compass 1015 7 86.11

RAFOS 2146 48 1247.43

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 -145.9 178 2221 503 493 0.0 0.0 0 144 0.00 0.00 -91.53 0.000 16386 0.000 0.000 176 2221 2188 2124 2253 0 0 0 0 0 0 14.52 28.83 14.54

148 -0.57 -145.9 177 2221 2127 2252 4.5 -6.9 9 200 13.20 2.78 -32.92 0.000 18980 0.461 2.150 2386 826 3965 3950 3980 1 0 0 0 0 0 13.30 12.59 14.03

221 -0.53 -145.9 2386 827 3953 3980 28.4 -24.1 23 227 0.00 2.45 0.00 0.000 1158 0.000 0.085 2382 2200 3966 3952 3980 0 0 0 0 0 0 14.25 14.09 14.28

526 -0.63 -145.9 2382 2201 3955 3980 73.4 -11.6 54 531 0.00 2.53 0.00 0.000 388 0.000 0.089 2376 3621 3967 3954 3980 0 0 0 0 0 0 14.57 14.06 14.59

602 -0.87 -145.9 2377 3622 3956 3980 80.5 -8.8 69 608 0.25 2.35 0.00 0.000 5286 0.092 0.050 2276 2230 3969 3959 3980 0 0 0 0 0 0 14.20 14.14 14.28

928 -0.87 -145.9 2274 2231 3955 3981 136.4 -16.3 88 934 0.00 2.47 0.00 0.000 260 0.000 0.086 2266 3620 3966 3953 3980 0 0 0 0 0 0 14.59 14.11 14.62

984 -0.97 -145.9 2266 3622 3955 3981 144.9 -13.1 99 990 0.00 2.40 0.00 0.000 1158 0.000 0.058 2266 2207 3967 3954 3980 0 0 0 0 0 0 14.24 14.12 14.26

1289 -0.99 -145.9 2266 2206 3955 3981 190.0 -14.5 110 1290 0.00 0.00 0.00 0.000 134 0.000 0.000 2266 2205 3967 3955 3980 0 0 0 0 0 0 14.65 14.66 14.66

1589 -1.03 -145.9 2267 2205 3956 3980 229.9 -12.8 120 1595 0.00 2.50 0.00 0.000 388 0.000 0.086 2258 3617 3967 3954 3980 0 0 0 0 0 0 14.66 14.12 14.66

1655 -1.16 -145.9 2258 3620 3955 3981 237.8 -11.0 133 1661 0.17 2.40 0.00 0.000 5254 0.112 0.057 2188 2198 3967 3955 3980 0 0 0 0 0 0 14.17 14.14 14.27

1981 -1.07 -145.9 2189 2197 3956 3980 298.0 -17.8 148 1987 0.17 2.50 0.00 0.000 2436 0.285 0.085 2225 3613 3967 3954 3980 0 0 0 0 0 0 13.83 14.10 14.00

2137 -1.15 -145.9 2222 3614 3956 3980 317.1 -11.6 179 2142 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2198 3967 3954 3980 0 0 0 0 0 0 14.31 14.19 14.35

2462 -1.18 -145.9 2222 2198 3955 3981 358.0 -12.4 194 2467 0.00 2.53 0.00 0.000 388 0.000 0.088 2214 3622 3967 3954 3980 0 0 0 0 0 0 14.64 14.09 14.66

2512 -1.26 -145.9 2218 3623 3951 3980 364.2 -11.8 204 2519 0.12 2.42 0.00 0.000 5254 0.129 0.058 2160 2197 3966 3954 3979 0 0 0 0 0 0 14.19 14.14 14.30

2824 -1.16 -145.9 2160 2196 3955 3980 420.0 -18.1 216 2830 0.17 2.50 0.00 0.000 2436 0.321 0.083 2188 3614 3967 3954 3980 0 0 0 0 0 0 13.71 14.08 13.95

2942 -1.19 -145.9 2188 3615 3954 3981 436.5 -13.1 239 2948 0.00 2.40 0.00 0.000 1158 0.000 0.057 2193 2200 3966 3952 3980 0 0 0 0 0 0 14.25 14.10 14.29

3243 end dive: TARGET_DEPTH_EXCEEDED

state 3243 begin apogee

3249 -0.13 0.0 2189 2054 3954 3980 480.1 -14.3 250 3548 1.35 0.10 293.98 1.302 10246 0.239 0.161 2527 2121 3365 3381 3350 0 0 0 0 0 0 13.73 13.45 12.64

3551 end apogee: CONTROL_FINISHED_OK

state 3553 begin climb

3556 0.57 145.9 2528 2121 3376 3341 497.9 0.0 260 3782 0.75 2.35 211.55 1.351 10756 0.060 0.080 2794 727 2760 2793 2728 0 0 0 0 0 0 13.62 13.10 12.24

4007 0.15 145.9 2793 727 2787 2719 483.8 13.3 307 4014 0.75 2.42 0.00 0.000 5254 0.323 0.074 2637 2089 2751 2786 2716 0 0 0 0 0 0 13.42 13.81 13.81

4312 -0.00 185.4 2637 2091 2787 2715 457.9 8.2 318 4375 0.20 2.50 57.60 1.389 12964 0.274 0.083 2589 724 2609 2656 2562 0 0 0 0 0 0 13.80 13.91 13.10

4535 0.04 241.2 2589 723 2647 2543 441.5 7.4 362 4630 0.00 2.40 88.35 1.331 9254 0.000 0.080 2589 2102 2378 2434 2323 0 0 0 0 0 0 14.17 14.09 13.02

4946 0.06 274.8 2589 2103 2418 2305 407.0 8.4 394 5000 0.00 0.00 50.92 1.359 8742 0.000 0.000 2589 2101 2241 2295 2188 0 0 0 0 0 0 14.56 13.76 13.16

5308 0.14 308.0 2589 2103 2283 2170 376.2 8.5 411 5367 0.12 2.50 50.28 1.356 10916 0.130 0.087 2665 734 2100 2147 2054 0 0 0 0 0 0 14.16 13.96 13.15

5409 0.14 308.0 2659 735 2136 2051 363.7 12.9 431 5414 0.15 2.42 0.00 0.000 5126 0.244 0.079 2627 2103 2092 2135 2049 0 0 0 0 0 0 13.83 13.99 14.07

5730 0.14 308.0 2627 2104 2136 2041 327.8 10.9 445 5731 0.00 0.00 0.00 0.000 6 0.000 0.000 2627 2103 2087 2134 2040 0 0 0 0 0 0 14.46 14.47 14.46

6030 0.14 308.0 2628 2103 2138 2038 296.4 10.3 455 6035 0.00 2.45 0.00 0.000 516 0.000 0.086 2630 726 2086 2134 2038 0 0 0 0 0 0 14.48 14.04 14.50

6105 0.21 316.9 2630 727 2129 2035 288.9 9.6 470 6114 0.00 2.42 1.90 0.239 9382 0.000 0.077 2630 2105 2073 2119 2027 0 0 0 0 0 0 14.18 14.05 13.78

6420 0.22 331.1 2631 2105 2133 2035 258.5 9.3 483 6454 0.00 0.00 32.60 1.358 8230 0.000 0.000 2630 2105 2020 2070 1970 0 0 0 0 0 0 14.48 14.02 13.22

6750 0.29 371.0 2631 2106 2048 1953 230.9 8.2 494 6824 0.15 0.00 71.68 1.266 10406 0.112 0.000 2695 2105 1852 1882 1823 0 0 0 0 0 0 14.15 13.90 13.15

7110 0.27 371.0 2695 2106 1863 1806 189.4 11.3 506 7115 0.00 2.45 0.00 0.000 644 0.000 0.086 2698 724 1832 1861 1803 0 0 0 0 0 0 14.42 14.06 14.43

7185 0.27 371.0 2699 723 1860 1805 181.1 10.7 521 7191 0.12 2.42 0.00 0.000 5126 0.216 0.077 2671 2101 1830 1859 1801 0 0 0 0 0 0 13.96 14.08 14.18

7504 0.32 398.0 2672 2101 1859 1803 152.5 8.8 534 7552 0.00 2.45 41.42 1.295 8868 0.000 0.087 2672 732 1735 1760 1710 0 0 0 0 0 0 14.44 14.00 13.23

7593 0.44 426.4 2672 732 1751 1711 144.5 8.7 552 7648 0.17 2.38 48.80 1.230 11430 0.109 0.079 2746 2100 1623 1650 1596 0 0 0 0 0 0 14.07 14.00 13.14

7956 0.39 426.4 2747 2100 1643 1573 97.8 12.4 574 7961 0.17 2.42 0.00 0.000 4740 0.223 0.084 2713 732 1607 1641 1573 0 0 0 0 0 0 13.95 14.04 14.21

8022 0.49 448.9 2713 732 1638 1574 91.4 9.0 587 8040 0.00 2.42 11.00 0.437 9382 0.000 0.077 2713 2105 1535 1569 1501 0 0 0 0 0 0 14.14 14.02 13.54

8337 0.60 513.5 2713 2105 1577 1509 65.2 7.0 620 8384 0.20 2.47 39.45 0.387 10916 0.096 0.086 2794 727 1270 1320 1221 0 0 0 0 0 0 14.26 14.02 13.68

8404 0.56 513.5 2794 728 1324 1226 58.3 10.7 630 8410 0.15 2.42 0.00 0.000 5254 0.231 0.080 2763 2100 1273 1321 1225 0 0 0 0 0 0 13.90 14.12 14.13

8709 0.67 598.5 2763 2101 1322 1226 36.2 6.1 661 8762 0.12 0.00 51.12 0.301 10406 0.122 0.000 2813 2100 923 990 856 0 0 0 0 0 0 14.16 14.12 13.78

9059 0.78 663.2 2814 2101 991 861 7.7 7.0 696 9100 0.00 0.00 39.83 0.220 8358 0.000 0.000 2813 2101 659 715 604 0 0 0 0 0 0 14.54 14.00 13.74

9156 end climb: SURFACE_DEPTH_REACHED

state 9157 begin surface coast

9177 end surface coast: CONTROL_FINISHED_OK

state 9177 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	320	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	888.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,222403,7518.9644,-15110.7891,66,0.8,66,20.7,0.5,311.9,10,9.1	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	1.17	MHEAD_RNG_PITCHd_Wd	157.2,64905,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.6	D_GRID	480
GPS2	120917,223515,7519.0195,-15110.8271,6,0.8,8,20.7,1.0,347.7,10,9.1

FINISH	0.0,1.021462	_24V_AH	12.24,197.395
SM_CCo	9199,25.67,0.199,0,0,502,703.28	_10V_AH	12.11,0.000
SM_GC	1.23,7.93,0.17,25.67,0.067,0.091,0.199,197,2221,502,-7.38,-0.57,703.28,0,0,0,0,0,0,14.31,14.35,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	195	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323652
IRIDIUM_FIX	7519.35,-15113.21,120917,194049	DATA_FILE_SIZE	23401,708
TT8_MAMPS	0.039697,0.862099	CAP_FILE_SIZE	101287,0
HUMID	46.14	CFSIZE	2097872896,1996193792
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.9
XPDR_PINGS	8	CURRENT	0.037,97.61,1
CP_FREE	15935733760.000000	GPS	130917,011134,7517.709,-15110.881,68,0.8,70,20.7,1.0,71.5,10,8.4
PM_FREEKB_00	47763392

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	460	149.10	nil	0	0	0.00
Roll_motor	74	2149	1947.07	nil	0	0	0.00
VBD_pump_during_apogee	1090	1389	18542.76	nil	0	0	0.00
VBD_pump_during_surface	25	198	62.51	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	9209	14	1636.89
Iridium_during_xfer	399	177	868.18	NCP	9172	20	2245.31
Transponder_ping	2	420	10.28	PMAR	9152	10	1179.13
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.71
TT8	0	0	0.00
LPSleep	6501	2	181.87
TT8_Active	1003	13	169.82
TT8_Sampling	2088	33	845.57
TT8_CF8	324	38	152.02
TT8_Kalman	0	0	0.00
Analog_circuits	2233	10	270.42
GPS_charging	0	0	0.00
Compass	1015	7	86.11
RAFOS	2146	48	1247.43
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	178	2221	503	493	0.0	0.0	0	144	0.00	0.00	-91.53	0.000	16386	0.000	0.000	176	2221	2188	2124	2253	0	0	0	0	0	0	14.52	28.83	14.54
148	-0.57	-145.9	177	2221	2127	2252	4.5	-6.9	9	200	13.20	2.78	-32.92	0.000	18980	0.461	2.150	2386	826	3965	3950	3980	1	0	0	0	0	0	13.30	12.59	14.03
221	-0.53	-145.9	2386	827	3953	3980	28.4	-24.1	23	227	0.00	2.45	0.00	0.000	1158	0.000	0.085	2382	2200	3966	3952	3980	0	0	0	0	0	0	14.25	14.09	14.28
526	-0.63	-145.9	2382	2201	3955	3980	73.4	-11.6	54	531	0.00	2.53	0.00	0.000	388	0.000	0.089	2376	3621	3967	3954	3980	0	0	0	0	0	0	14.57	14.06	14.59
602	-0.87	-145.9	2377	3622	3956	3980	80.5	-8.8	69	608	0.25	2.35	0.00	0.000	5286	0.092	0.050	2276	2230	3969	3959	3980	0	0	0	0	0	0	14.20	14.14	14.28
928	-0.87	-145.9	2274	2231	3955	3981	136.4	-16.3	88	934	0.00	2.47	0.00	0.000	260	0.000	0.086	2266	3620	3966	3953	3980	0	0	0	0	0	0	14.59	14.11	14.62
984	-0.97	-145.9	2266	3622	3955	3981	144.9	-13.1	99	990	0.00	2.40	0.00	0.000	1158	0.000	0.058	2266	2207	3967	3954	3980	0	0	0	0	0	0	14.24	14.12	14.26
1289	-0.99	-145.9	2266	2206	3955	3981	190.0	-14.5	110	1290	0.00	0.00	0.00	0.000	134	0.000	0.000	2266	2205	3967	3955	3980	0	0	0	0	0	0	14.65	14.66	14.66
1589	-1.03	-145.9	2267	2205	3956	3980	229.9	-12.8	120	1595	0.00	2.50	0.00	0.000	388	0.000	0.086	2258	3617	3967	3954	3980	0	0	0	0	0	0	14.66	14.12	14.66
1655	-1.16	-145.9	2258	3620	3955	3981	237.8	-11.0	133	1661	0.17	2.40	0.00	0.000	5254	0.112	0.057	2188	2198	3967	3955	3980	0	0	0	0	0	0	14.17	14.14	14.27
1981	-1.07	-145.9	2189	2197	3956	3980	298.0	-17.8	148	1987	0.17	2.50	0.00	0.000	2436	0.285	0.085	2225	3613	3967	3954	3980	0	0	0	0	0	0	13.83	14.10	14.00
2137	-1.15	-145.9	2222	3614	3956	3980	317.1	-11.6	179	2142	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2198	3967	3954	3980	0	0	0	0	0	0	14.31	14.19	14.35
2462	-1.18	-145.9	2222	2198	3955	3981	358.0	-12.4	194	2467	0.00	2.53	0.00	0.000	388	0.000	0.088	2214	3622	3967	3954	3980	0	0	0	0	0	0	14.64	14.09	14.66
2512	-1.26	-145.9	2218	3623	3951	3980	364.2	-11.8	204	2519	0.12	2.42	0.00	0.000	5254	0.129	0.058	2160	2197	3966	3954	3979	0	0	0	0	0	0	14.19	14.14	14.30
2824	-1.16	-145.9	2160	2196	3955	3980	420.0	-18.1	216	2830	0.17	2.50	0.00	0.000	2436	0.321	0.083	2188	3614	3967	3954	3980	0	0	0	0	0	0	13.71	14.08	13.95
2942	-1.19	-145.9	2188	3615	3954	3981	436.5	-13.1	239	2948	0.00	2.40	0.00	0.000	1158	0.000	0.057	2193	2200	3966	3952	3980	0	0	0	0	0	0	14.25	14.10	14.29
3243	end dive: TARGET_DEPTH_EXCEEDED
state	3243	begin apogee
3249	-0.13	0.0	2189	2054	3954	3980	480.1	-14.3	250	3548	1.35	0.10	293.98	1.302	10246	0.239	0.161	2527	2121	3365	3381	3350	0	0	0	0	0	0	13.73	13.45	12.64
3551	end apogee: CONTROL_FINISHED_OK
state	3553	begin climb
3556	0.57	145.9	2528	2121	3376	3341	497.9	0.0	260	3782	0.75	2.35	211.55	1.351	10756	0.060	0.080	2794	727	2760	2793	2728	0	0	0	0	0	0	13.62	13.10	12.24
4007	0.15	145.9	2793	727	2787	2719	483.8	13.3	307	4014	0.75	2.42	0.00	0.000	5254	0.323	0.074	2637	2089	2751	2786	2716	0	0	0	0	0	0	13.42	13.81	13.81
4312	-0.00	185.4	2637	2091	2787	2715	457.9	8.2	318	4375	0.20	2.50	57.60	1.389	12964	0.274	0.083	2589	724	2609	2656	2562	0	0	0	0	0	0	13.80	13.91	13.10
4535	0.04	241.2	2589	723	2647	2543	441.5	7.4	362	4630	0.00	2.40	88.35	1.331	9254	0.000	0.080	2589	2102	2378	2434	2323	0	0	0	0	0	0	14.17	14.09	13.02
4946	0.06	274.8	2589	2103	2418	2305	407.0	8.4	394	5000	0.00	0.00	50.92	1.359	8742	0.000	0.000	2589	2101	2241	2295	2188	0	0	0	0	0	0	14.56	13.76	13.16
5308	0.14	308.0	2589	2103	2283	2170	376.2	8.5	411	5367	0.12	2.50	50.28	1.356	10916	0.130	0.087	2665	734	2100	2147	2054	0	0	0	0	0	0	14.16	13.96	13.15
5409	0.14	308.0	2659	735	2136	2051	363.7	12.9	431	5414	0.15	2.42	0.00	0.000	5126	0.244	0.079	2627	2103	2092	2135	2049	0	0	0	0	0	0	13.83	13.99	14.07
5730	0.14	308.0	2627	2104	2136	2041	327.8	10.9	445	5731	0.00	0.00	0.00	0.000	6	0.000	0.000	2627	2103	2087	2134	2040	0	0	0	0	0	0	14.46	14.47	14.46
6030	0.14	308.0	2628	2103	2138	2038	296.4	10.3	455	6035	0.00	2.45	0.00	0.000	516	0.000	0.086	2630	726	2086	2134	2038	0	0	0	0	0	0	14.48	14.04	14.50
6105	0.21	316.9	2630	727	2129	2035	288.9	9.6	470	6114	0.00	2.42	1.90	0.239	9382	0.000	0.077	2630	2105	2073	2119	2027	0	0	0	0	0	0	14.18	14.05	13.78
6420	0.22	331.1	2631	2105	2133	2035	258.5	9.3	483	6454	0.00	0.00	32.60	1.358	8230	0.000	0.000	2630	2105	2020	2070	1970	0	0	0	0	0	0	14.48	14.02	13.22
6750	0.29	371.0	2631	2106	2048	1953	230.9	8.2	494	6824	0.15	0.00	71.68	1.266	10406	0.112	0.000	2695	2105	1852	1882	1823	0	0	0	0	0	0	14.15	13.90	13.15
7110	0.27	371.0	2695	2106	1863	1806	189.4	11.3	506	7115	0.00	2.45	0.00	0.000	644	0.000	0.086	2698	724	1832	1861	1803	0	0	0	0	0	0	14.42	14.06	14.43
7185	0.27	371.0	2699	723	1860	1805	181.1	10.7	521	7191	0.12	2.42	0.00	0.000	5126	0.216	0.077	2671	2101	1830	1859	1801	0	0	0	0	0	0	13.96	14.08	14.18
7504	0.32	398.0	2672	2101	1859	1803	152.5	8.8	534	7552	0.00	2.45	41.42	1.295	8868	0.000	0.087	2672	732	1735	1760	1710	0	0	0	0	0	0	14.44	14.00	13.23
7593	0.44	426.4	2672	732	1751	1711	144.5	8.7	552	7648	0.17	2.38	48.80	1.230	11430	0.109	0.079	2746	2100	1623	1650	1596	0	0	0	0	0	0	14.07	14.00	13.14
7956	0.39	426.4	2747	2100	1643	1573	97.8	12.4	574	7961	0.17	2.42	0.00	0.000	4740	0.223	0.084	2713	732	1607	1641	1573	0	0	0	0	0	0	13.95	14.04	14.21
8022	0.49	448.9	2713	732	1638	1574	91.4	9.0	587	8040	0.00	2.42	11.00	0.437	9382	0.000	0.077	2713	2105	1535	1569	1501	0	0	0	0	0	0	14.14	14.02	13.54
8337	0.60	513.5	2713	2105	1577	1509	65.2	7.0	620	8384	0.20	2.47	39.45	0.387	10916	0.096	0.086	2794	727	1270	1320	1221	0	0	0	0	0	0	14.26	14.02	13.68
8404	0.56	513.5	2794	728	1324	1226	58.3	10.7	630	8410	0.15	2.42	0.00	0.000	5254	0.231	0.080	2763	2100	1273	1321	1225	0	0	0	0	0	0	13.90	14.12	14.13
8709	0.67	598.5	2763	2101	1322	1226	36.2	6.1	661	8762	0.12	0.00	51.12	0.301	10406	0.122	0.000	2813	2100	923	990	856	0	0	0	0	0	0	14.16	14.12	13.78
9059	0.78	663.2	2814	2101	991	861	7.7	7.0	696	9100	0.00	0.00	39.83	0.220	8358	0.000	0.000	2813	2101	659	715	604	0	0	0	0	0	0	14.54	14.00	13.74
9156	end climb: SURFACE_DEPTH_REACHED
state	9157	begin surface coast
9177	end surface coast: CONTROL_FINISHED_OK
state	9177	begin surface