Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 322 * 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 322 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 894.0

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 52 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 59 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 894.0 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 52 VBD_MIN 500

DIVE 322 NOCOMM_ACTION 161 R_STBD_OVSHOOT 59 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 130917,035728,7516.5361,-15110.1055,17,0.7,18,20.7,0.8,336.4,11,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 156.4,60478,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.1 D_GRID 480

GPS2 130917,041301,7516.6079,-15110.0830,7,0.7,36,20.7,0.4,325.4,10,7.3

Post-dive calculations and measurements:

FINISH 0.2,1.010529 _24V_AH 12.23,198.372

SM_CCo 9138,36.50,0.205,0,0,498,702.78 _10V_AH 12.13,0.000

SM_GC 1.15,8.15,0.17,36.50,0.074,0.112,0.205,204,2230,498,-7.36,-0.68,702.78,0,0,0,0,0,0,14.29,14.30,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 427 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323512

IRIDIUM_FIX 7516.52,-15109.87,130917,040411 DATA_FILE_SIZE 23365,674

TT8_MAMPS 0.040446,0.908537 CAP_FILE_SIZE 101280,0

HUMID 47.36 CFSIZE 2097872896,1995669504

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

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 17 CURRENT 0.066,85.70,1

CP_FREE 15934881792.000000 GPS 130917,064734,7515.297,-15109.558,15,0.8,16,20.7,0.5,337.1,10,8.2

PM_FREEKB_00 47656896

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 456 146.62 nil 0 0 0.00

Roll_motor 85 2146 2241.33 nil 0 0 0.00

VBD_pump_during_apogee 1027 1392 17493.54 nil 0 0 0.00

VBD_pump_during_surface 36 205 91.52 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 9151 14 1597.28

Iridium_during_xfer 512 181 1136.90 NCP 9115 20 2229.53

Transponder_ping 4 420 21.83 PMAR 9093 10 1201.82

GUMSTIX_24V 0 0 0.00

GPS 37 22 10.15

TT8 0 0 0.00

LPSleep 6680 2 187.18

TT8_Active 900 13 152.64

TT8_Sampling 2221 33 901.06

TT8_CF8 322 38 151.54

TT8_Kalman 0 0 0.00

Analog_circuits 2283 10 276.96

GPS_charging 0 0 0.00

Compass 967 7 82.14

RAFOS 1282 48 746.43

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 -145.9 169 2178 510 486 0.0 0.0 0 141 0.00 0.00 -88.45 0.000 16386 0.000 0.000 164 2178 2051 1974 2128 0 0 0 0 0 0 14.52 28.83 14.53

144 -0.57 -145.9 164 2178 1976 2129 3.7 -4.8 9 206 13.25 2.72 -40.28 0.000 18980 0.457 2.147 2383 824 3964 3950 3978 1 0 0 0 0 0 13.33 12.59 13.92

277 -0.72 -145.9 2384 824 3950 3979 32.8 -13.1 35 281 0.00 2.40 0.00 0.000 1158 0.000 0.086 2378 2160 3966 3955 3978 0 0 0 0 0 0 14.12 13.98 14.14

587 -0.83 -145.9 2378 2162 3963 3979 77.3 -10.9 67 592 0.20 2.62 0.00 0.000 4484 0.103 0.086 2289 3614 3966 3955 3978 0 0 0 0 0 0 13.88 13.90 13.92

727 -0.91 -145.9 2289 3617 3956 3979 97.5 -13.9 95 732 0.00 2.40 0.00 0.000 1158 0.000 0.058 2289 2222 3964 3955 3974 0 0 0 0 0 0 14.14 14.02 14.16

1048 -0.94 -145.9 2290 2222 3954 3978 145.1 -14.0 108 1048 0.00 0.00 0.00 0.000 134 0.000 0.000 2289 2221 3966 3954 3978 0 0 0 0 0 0 14.42 14.45 14.44

1347 -1.01 -145.9 2290 2221 3956 3978 183.4 -12.4 118 1352 0.12 2.50 0.00 0.000 4484 0.135 0.084 2236 3619 3966 3955 3978 0 0 0 0 0 0 14.02 13.94 14.04

1410 -1.06 -145.9 2236 3621 3955 3979 192.2 -14.4 130 1415 0.00 2.42 0.00 0.000 1158 0.000 0.057 2236 2191 3966 3954 3978 0 0 0 0 0 0 14.09 13.97 14.13

1742 -1.06 -145.9 2236 2190 3955 3979 244.8 -15.3 146 1747 0.00 2.53 0.00 0.000 260 0.000 0.087 2228 3615 3966 3955 3978 0 0 0 0 0 0 14.55 14.02 14.59

1812 -1.14 -145.9 2228 3617 3955 3980 254.7 -12.5 160 1818 0.00 2.42 0.00 0.000 1158 0.000 0.057 2228 2195 3966 3955 3978 0 0 0 0 0 0 14.27 14.14 14.31

2133 -1.14 -145.9 2228 2194 3955 3980 299.3 -13.4 174 2138 0.00 2.53 0.00 0.000 260 0.000 0.088 2223 3620 3966 3955 3978 0 0 0 0 0 0 14.64 14.09 14.66

2218 -1.24 -145.9 2223 3622 3956 3978 309.6 -11.2 191 2224 0.15 2.42 0.00 0.000 5254 0.118 0.057 2162 2198 3966 3955 3978 0 0 0 0 0 0 14.17 14.12 14.26

2523 -1.13 -145.9 2161 2196 3956 3978 365.3 -18.4 202 2528 0.22 2.50 0.00 0.000 2436 0.301 0.082 2202 3614 3966 3955 3978 0 0 0 0 0 0 13.73 14.10 13.95

2646 -1.19 -145.9 2203 3615 3955 3979 381.4 -12.1 226 2651 0.00 2.42 0.00 0.000 1158 0.000 0.057 2202 2195 3966 3954 3978 0 0 0 0 0 0 14.21 14.09 14.26

2976 -1.19 -145.9 2202 2195 3955 3979 426.0 -13.4 242 2981 0.00 2.53 0.00 0.000 260 0.000 0.086 2197 3616 3966 3955 3977 0 0 0 0 0 0 14.69 14.03 14.70

3041 -1.25 -145.9 2197 3616 3955 3978 434.4 -12.3 255 3046 0.00 2.42 0.00 0.000 1158 0.000 0.056 2196 2195 3966 3954 3978 0 0 0 0 0 0 14.30 14.17 14.34

3366 -1.25 -145.9 2197 2194 3955 3978 478.7 -13.7 270 3371 0.00 2.53 0.00 0.000 260 0.000 0.086 2192 3617 3966 3954 3978 0 0 0 0 0 0 14.68 14.03 14.68

3373 end dive: TARGET_DEPTH_EXCEEDED

state 3373 begin apogee

3381 -0.13 0.0 2193 2092 3954 3979 480.1 -13.8 272 3618 1.35 0.00 233.27 1.392 10246 0.241 0.000 2528 2091 3367 3385 3349 0 0 0 0 0 0 13.71 13.53 12.68

3622 end apogee: CONTROL_FINISHED_OK

state 3622 begin climb

3625 0.57 145.9 2529 2091 3376 3338 495.0 0.0 280 3851 0.75 2.70 214.73 1.353 10756 0.060 0.076 2793 690 2761 2795 2728 0 0 0 0 0 0 13.69 12.83 12.23

4016 0.14 145.9 2793 690 2785 2722 492.7 12.6 315 4023 0.77 2.55 0.00 0.000 5254 0.327 0.073 2633 2107 2758 2792 2724 0 0 0 0 0 0 13.30 13.69 13.70

4321 0.00 193.9 2633 2108 2785 2714 467.9 7.8 326 4396 0.20 0.00 72.60 1.359 12454 0.270 0.000 2590 2106 2573 2627 2520 0 0 0 0 0 0 13.80 13.88 13.07

4681 -0.00 234.5 2590 2108 2616 2494 439.7 8.1 338 4752 0.00 2.58 63.15 1.346 8868 0.000 0.086 2590 696 2402 2457 2348 0 0 0 0 0 0 14.55 13.97 13.14

4794 0.09 268.4 2592 696 2451 2342 430.5 8.4 360 4857 0.00 2.47 54.58 1.329 9382 0.000 0.080 2590 2098 2266 2321 2211 0 0 0 0 0 0 14.16 14.03 13.04

5163 0.16 296.1 2590 2099 2308 2194 398.3 8.7 384 5206 0.12 0.00 40.95 1.359 10406 0.130 0.000 2650 2098 2158 2209 2108 0 0 0 0 0 0 14.17 14.02 13.19

5493 0.10 296.1 2651 2099 2189 2088 356.1 12.8 395 5498 0.12 2.47 0.00 0.000 4740 0.246 0.083 2629 689 2137 2188 2086 0 0 0 0 0 0 13.91 14.12 14.03

5558 0.15 296.1 2629 690 2188 2087 348.9 10.4 408 5563 0.00 2.45 0.00 0.000 1158 0.000 0.077 2630 2101 2137 2187 2087 0 0 0 0 0 0 14.28 14.12 14.31

5883 0.15 296.1 2630 2100 2187 2086 314.3 10.4 423 5884 0.00 0.00 0.00 0.000 6 0.000 0.000 2629 2099 2135 2186 2085 0 0 0 0 0 0 14.64 14.66 14.66

6183 0.15 296.9 2630 2100 2187 2085 284.0 10.0 433 6189 0.00 2.47 0.00 0.000 548 0.000 0.085 2631 691 2135 2186 2084 0 0 0 0 0 0 14.66 14.17 14.68

6210 0.17 296.9 2631 692 2186 2085 281.5 10.5 438 6216 0.00 2.45 0.00 0.000 1158 0.000 0.077 2630 2101 2134 2185 2083 0 0 0 0 0 0 14.18 14.05 14.18

6515 0.19 322.0 2632 2102 2188 2084 253.5 8.8 449 6555 0.00 0.00 39.40 1.329 8230 0.000 0.000 2630 2102 2053 2101 2005 0 0 0 0 0 0 14.66 14.09 13.24

6845 0.27 371.1 2631 2102 2087 1987 226.6 7.7 460 6941 0.12 2.58 88.90 1.233 10916 0.129 0.088 2692 698 1846 1875 1817 0 0 0 0 0 0 14.30 13.93 13.15

6976 0.27 371.1 2692 698 1862 1809 212.4 11.0 476 6981 0.00 2.50 0.00 0.000 1030 0.000 0.077 2692 2102 1836 1861 1812 0 0 0 0 0 0 14.04 13.92 14.07

7296 0.24 371.1 2692 2104 1859 1805 177.0 10.9 490 7301 0.12 2.50 0.00 0.000 4740 0.229 0.085 2660 690 1830 1858 1803 0 0 0 0 0 0 13.98 14.09 14.12

7352 0.38 409.6 2660 692 1857 1805 172.2 8.2 501 7424 0.15 2.47 66.75 1.201 11430 0.119 0.078 2721 2102 1696 1719 1674 0 0 0 0 0 0 14.21 14.14 13.21

7749 0.35 409.6 2721 2103 1705 1648 124.7 11.4 530 7750 0.12 0.00 0.00 0.000 4230 0.235 0.000 2694 2102 1675 1705 1645 0 0 0 0 0 0 14.08 14.35 14.30

8049 0.41 439.4 2695 2102 1706 1641 97.5 8.6 540 8071 0.00 2.50 15.55 0.460 8868 0.000 0.086 2699 688 1574 1606 1543 0 0 0 0 0 0 14.61 14.00 13.55

8134 0.54 480.6 2699 687 1614 1549 90.7 8.1 556 8167 0.17 2.50 27.38 0.460 11430 0.106 0.078 2773 2109 1402 1439 1365 0 0 0 0 0 0 14.23 14.15 13.60

8462 0.53 503.9 2773 2110 1450 1375 53.6 8.9 592 8484 0.00 2.50 15.52 0.342 8868 0.000 0.083 2780 699 1309 1356 1262 0 0 0 0 0 0 14.57 13.81 13.59

8520 0.59 547.8 2781 695 1359 1271 48.8 8.0 603 8558 0.00 2.47 28.92 0.338 9382 0.000 0.077 2781 2106 1130 1191 1069 0 0 0 0 0 0 14.14 14.00 13.65

8855 0.73 629.8 2781 2106 1193 1081 24.4 6.2 640 8912 0.12 2.53 52.12 0.264 10916 0.129 0.086 2850 688 794 860 729 0 0 0 0 0 0 14.21 13.86 13.67

8954 0.74 645.7 2850 688 862 736 16.3 9.3 656 8972 0.00 2.47 13.52 0.249 9254 0.000 0.075 2850 2106 730 794 666 0 0 0 0 0 0 14.16 14.07 13.74

9105 end climb: SURFACE_DEPTH_REACHED

state 9105 begin surface coast

9117 end surface coast: CONTROL_FINISHED_OK

state 9117 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	322	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	894.0
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	52	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	59	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,035728,7516.5361,-15110.1055,17,0.7,18,20.7,0.8,336.4,11,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	156.4,60478,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.1	D_GRID	480
GPS2	130917,041301,7516.6079,-15110.0830,7,0.7,36,20.7,0.4,325.4,10,7.3

FINISH	0.2,1.010529	_24V_AH	12.23,198.372
SM_CCo	9138,36.50,0.205,0,0,498,702.78	_10V_AH	12.13,0.000
SM_GC	1.15,8.15,0.17,36.50,0.074,0.112,0.205,204,2230,498,-7.36,-0.68,702.78,0,0,0,0,0,0,14.29,14.30,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	427	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323512
IRIDIUM_FIX	7516.52,-15109.87,130917,040411	DATA_FILE_SIZE	23365,674
TT8_MAMPS	0.040446,0.908537	CAP_FILE_SIZE	101280,0
HUMID	47.36	CFSIZE	2097872896,1995669504
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	17	CURRENT	0.066,85.70,1
CP_FREE	15934881792.000000	GPS	130917,064734,7515.297,-15109.558,15,0.8,16,20.7,0.5,337.1,10,8.2
PM_FREEKB_00	47656896

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	456	146.62	nil	0	0	0.00
Roll_motor	85	2146	2241.33	nil	0	0	0.00
VBD_pump_during_apogee	1027	1392	17493.54	nil	0	0	0.00
VBD_pump_during_surface	36	205	91.52	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	9151	14	1597.28
Iridium_during_xfer	512	181	1136.90	NCP	9115	20	2229.53
Transponder_ping	4	420	21.83	PMAR	9093	10	1201.82
GUMSTIX_24V	0	0	0.00
GPS	37	22	10.15
TT8	0	0	0.00
LPSleep	6680	2	187.18
TT8_Active	900	13	152.64
TT8_Sampling	2221	33	901.06
TT8_CF8	322	38	151.54
TT8_Kalman	0	0	0.00
Analog_circuits	2283	10	276.96
GPS_charging	0	0	0.00
Compass	967	7	82.14
RAFOS	1282	48	746.43
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	169	2178	510	486	0.0	0.0	0	141	0.00	0.00	-88.45	0.000	16386	0.000	0.000	164	2178	2051	1974	2128	0	0	0	0	0	0	14.52	28.83	14.53
144	-0.57	-145.9	164	2178	1976	2129	3.7	-4.8	9	206	13.25	2.72	-40.28	0.000	18980	0.457	2.147	2383	824	3964	3950	3978	1	0	0	0	0	0	13.33	12.59	13.92
277	-0.72	-145.9	2384	824	3950	3979	32.8	-13.1	35	281	0.00	2.40	0.00	0.000	1158	0.000	0.086	2378	2160	3966	3955	3978	0	0	0	0	0	0	14.12	13.98	14.14
587	-0.83	-145.9	2378	2162	3963	3979	77.3	-10.9	67	592	0.20	2.62	0.00	0.000	4484	0.103	0.086	2289	3614	3966	3955	3978	0	0	0	0	0	0	13.88	13.90	13.92
727	-0.91	-145.9	2289	3617	3956	3979	97.5	-13.9	95	732	0.00	2.40	0.00	0.000	1158	0.000	0.058	2289	2222	3964	3955	3974	0	0	0	0	0	0	14.14	14.02	14.16
1048	-0.94	-145.9	2290	2222	3954	3978	145.1	-14.0	108	1048	0.00	0.00	0.00	0.000	134	0.000	0.000	2289	2221	3966	3954	3978	0	0	0	0	0	0	14.42	14.45	14.44
1347	-1.01	-145.9	2290	2221	3956	3978	183.4	-12.4	118	1352	0.12	2.50	0.00	0.000	4484	0.135	0.084	2236	3619	3966	3955	3978	0	0	0	0	0	0	14.02	13.94	14.04
1410	-1.06	-145.9	2236	3621	3955	3979	192.2	-14.4	130	1415	0.00	2.42	0.00	0.000	1158	0.000	0.057	2236	2191	3966	3954	3978	0	0	0	0	0	0	14.09	13.97	14.13
1742	-1.06	-145.9	2236	2190	3955	3979	244.8	-15.3	146	1747	0.00	2.53	0.00	0.000	260	0.000	0.087	2228	3615	3966	3955	3978	0	0	0	0	0	0	14.55	14.02	14.59
1812	-1.14	-145.9	2228	3617	3955	3980	254.7	-12.5	160	1818	0.00	2.42	0.00	0.000	1158	0.000	0.057	2228	2195	3966	3955	3978	0	0	0	0	0	0	14.27	14.14	14.31
2133	-1.14	-145.9	2228	2194	3955	3980	299.3	-13.4	174	2138	0.00	2.53	0.00	0.000	260	0.000	0.088	2223	3620	3966	3955	3978	0	0	0	0	0	0	14.64	14.09	14.66
2218	-1.24	-145.9	2223	3622	3956	3978	309.6	-11.2	191	2224	0.15	2.42	0.00	0.000	5254	0.118	0.057	2162	2198	3966	3955	3978	0	0	0	0	0	0	14.17	14.12	14.26
2523	-1.13	-145.9	2161	2196	3956	3978	365.3	-18.4	202	2528	0.22	2.50	0.00	0.000	2436	0.301	0.082	2202	3614	3966	3955	3978	0	0	0	0	0	0	13.73	14.10	13.95
2646	-1.19	-145.9	2203	3615	3955	3979	381.4	-12.1	226	2651	0.00	2.42	0.00	0.000	1158	0.000	0.057	2202	2195	3966	3954	3978	0	0	0	0	0	0	14.21	14.09	14.26
2976	-1.19	-145.9	2202	2195	3955	3979	426.0	-13.4	242	2981	0.00	2.53	0.00	0.000	260	0.000	0.086	2197	3616	3966	3955	3977	0	0	0	0	0	0	14.69	14.03	14.70
3041	-1.25	-145.9	2197	3616	3955	3978	434.4	-12.3	255	3046	0.00	2.42	0.00	0.000	1158	0.000	0.056	2196	2195	3966	3954	3978	0	0	0	0	0	0	14.30	14.17	14.34
3366	-1.25	-145.9	2197	2194	3955	3978	478.7	-13.7	270	3371	0.00	2.53	0.00	0.000	260	0.000	0.086	2192	3617	3966	3954	3978	0	0	0	0	0	0	14.68	14.03	14.68
3373	end dive: TARGET_DEPTH_EXCEEDED
state	3373	begin apogee
3381	-0.13	0.0	2193	2092	3954	3979	480.1	-13.8	272	3618	1.35	0.00	233.27	1.392	10246	0.241	0.000	2528	2091	3367	3385	3349	0	0	0	0	0	0	13.71	13.53	12.68
3622	end apogee: CONTROL_FINISHED_OK
state	3622	begin climb
3625	0.57	145.9	2529	2091	3376	3338	495.0	0.0	280	3851	0.75	2.70	214.73	1.353	10756	0.060	0.076	2793	690	2761	2795	2728	0	0	0	0	0	0	13.69	12.83	12.23
4016	0.14	145.9	2793	690	2785	2722	492.7	12.6	315	4023	0.77	2.55	0.00	0.000	5254	0.327	0.073	2633	2107	2758	2792	2724	0	0	0	0	0	0	13.30	13.69	13.70
4321	0.00	193.9	2633	2108	2785	2714	467.9	7.8	326	4396	0.20	0.00	72.60	1.359	12454	0.270	0.000	2590	2106	2573	2627	2520	0	0	0	0	0	0	13.80	13.88	13.07
4681	-0.00	234.5	2590	2108	2616	2494	439.7	8.1	338	4752	0.00	2.58	63.15	1.346	8868	0.000	0.086	2590	696	2402	2457	2348	0	0	0	0	0	0	14.55	13.97	13.14
4794	0.09	268.4	2592	696	2451	2342	430.5	8.4	360	4857	0.00	2.47	54.58	1.329	9382	0.000	0.080	2590	2098	2266	2321	2211	0	0	0	0	0	0	14.16	14.03	13.04
5163	0.16	296.1	2590	2099	2308	2194	398.3	8.7	384	5206	0.12	0.00	40.95	1.359	10406	0.130	0.000	2650	2098	2158	2209	2108	0	0	0	0	0	0	14.17	14.02	13.19
5493	0.10	296.1	2651	2099	2189	2088	356.1	12.8	395	5498	0.12	2.47	0.00	0.000	4740	0.246	0.083	2629	689	2137	2188	2086	0	0	0	0	0	0	13.91	14.12	14.03
5558	0.15	296.1	2629	690	2188	2087	348.9	10.4	408	5563	0.00	2.45	0.00	0.000	1158	0.000	0.077	2630	2101	2137	2187	2087	0	0	0	0	0	0	14.28	14.12	14.31
5883	0.15	296.1	2630	2100	2187	2086	314.3	10.4	423	5884	0.00	0.00	0.00	0.000	6	0.000	0.000	2629	2099	2135	2186	2085	0	0	0	0	0	0	14.64	14.66	14.66
6183	0.15	296.9	2630	2100	2187	2085	284.0	10.0	433	6189	0.00	2.47	0.00	0.000	548	0.000	0.085	2631	691	2135	2186	2084	0	0	0	0	0	0	14.66	14.17	14.68
6210	0.17	296.9	2631	692	2186	2085	281.5	10.5	438	6216	0.00	2.45	0.00	0.000	1158	0.000	0.077	2630	2101	2134	2185	2083	0	0	0	0	0	0	14.18	14.05	14.18
6515	0.19	322.0	2632	2102	2188	2084	253.5	8.8	449	6555	0.00	0.00	39.40	1.329	8230	0.000	0.000	2630	2102	2053	2101	2005	0	0	0	0	0	0	14.66	14.09	13.24
6845	0.27	371.1	2631	2102	2087	1987	226.6	7.7	460	6941	0.12	2.58	88.90	1.233	10916	0.129	0.088	2692	698	1846	1875	1817	0	0	0	0	0	0	14.30	13.93	13.15
6976	0.27	371.1	2692	698	1862	1809	212.4	11.0	476	6981	0.00	2.50	0.00	0.000	1030	0.000	0.077	2692	2102	1836	1861	1812	0	0	0	0	0	0	14.04	13.92	14.07
7296	0.24	371.1	2692	2104	1859	1805	177.0	10.9	490	7301	0.12	2.50	0.00	0.000	4740	0.229	0.085	2660	690	1830	1858	1803	0	0	0	0	0	0	13.98	14.09	14.12
7352	0.38	409.6	2660	692	1857	1805	172.2	8.2	501	7424	0.15	2.47	66.75	1.201	11430	0.119	0.078	2721	2102	1696	1719	1674	0	0	0	0	0	0	14.21	14.14	13.21
7749	0.35	409.6	2721	2103	1705	1648	124.7	11.4	530	7750	0.12	0.00	0.00	0.000	4230	0.235	0.000	2694	2102	1675	1705	1645	0	0	0	0	0	0	14.08	14.35	14.30
8049	0.41	439.4	2695	2102	1706	1641	97.5	8.6	540	8071	0.00	2.50	15.55	0.460	8868	0.000	0.086	2699	688	1574	1606	1543	0	0	0	0	0	0	14.61	14.00	13.55
8134	0.54	480.6	2699	687	1614	1549	90.7	8.1	556	8167	0.17	2.50	27.38	0.460	11430	0.106	0.078	2773	2109	1402	1439	1365	0	0	0	0	0	0	14.23	14.15	13.60
8462	0.53	503.9	2773	2110	1450	1375	53.6	8.9	592	8484	0.00	2.50	15.52	0.342	8868	0.000	0.083	2780	699	1309	1356	1262	0	0	0	0	0	0	14.57	13.81	13.59
8520	0.59	547.8	2781	695	1359	1271	48.8	8.0	603	8558	0.00	2.47	28.92	0.338	9382	0.000	0.077	2781	2106	1130	1191	1069	0	0	0	0	0	0	14.14	14.00	13.65
8855	0.73	629.8	2781	2106	1193	1081	24.4	6.2	640	8912	0.12	2.53	52.12	0.264	10916	0.129	0.086	2850	688	794	860	729	0	0	0	0	0	0	14.21	13.86	13.67
8954	0.74	645.7	2850	688	862	736	16.3	9.3	656	8972	0.00	2.47	13.52	0.249	9254	0.000	0.075	2850	2106	730	794	666	0	0	0	0	0	0	14.16	14.07	13.74
9105	end climb: SURFACE_DEPTH_REACHED
state	9105	begin surface coast
9117	end surface coast: CONTROL_FINISHED_OK
state	9117	begin surface