Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 325 * 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 325 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 903.0

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 64 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 55 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 903.0 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 64 VBD_MIN 500

DIVE 325 NOCOMM_ACTION 161 R_STBD_OVSHOOT 55 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 130917,123451,7512.8652,-15109.9268,49,0.7,50,20.7,0.0,96.1,12,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.07 MHEAD_RNG_PITCHd_Wd 153.0,53960,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -70.4 D_GRID 480

GPS2 130917,125235,7512.9785,-15109.9688,9,0.8,10,20.7,0.5,211.5,10,8.3

Post-dive calculations and measurements:

FINISH 0.1,1.011885 _24V_AH 12.23,199.907

SM_CCo 9162,31.00,0.197,0,0,500,703.03 _10V_AH 12.10,0.000

SM_GC 1.28,8.25,0.15,31.00,0.074,0.095,0.197,197,2213,500,-7.38,-0.85,703.03,0,0,0,0,0,0,14.29,14.35,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323340

IRIDIUM_FIX 7511.33,-15110.62,130917,124342 DATA_FILE_SIZE 23397,675

TT8_MAMPS 0.038948,1.02089 CAP_FILE_SIZE 99146,0

HUMID 47.44 CFSIZE 2097872896,1994850304

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

TCM_TEMP 13.10 SOUNDSPEED 1447.1

XPDR_PINGS 19 CURRENT 0.050,68.47,1

CP_FREE 15933603840.000000 GPS 130917,152732,7511.747,-15109.632,24,0.7,24,20.7,0.0,0.0,12,8.0

PM_FREEKB_00 47525504

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 27 457 151.20 nil 0 0 0.00

Roll_motor 80 2139 2096.10 nil 0 0 0.00

VBD_pump_during_apogee 1096 1325 17782.96 nil 0 0 0.00

VBD_pump_during_surface 31 196 74.54 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 9164 14 1611.31

Iridium_during_xfer 603 173 1282.51 NCP 9126 20 2232.22

Transponder_ping 4 420 24.40 PMAR 9105 11 1234.47

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.26

TT8 0 0 0.00

LPSleep 6694 2 187.12

TT8_Active 1037 13 175.42

TT8_Sampling 2217 33 897.27

TT8_CF8 322 38 150.75

TT8_Kalman 0 0 0.00

Analog_circuits 2430 10 294.04

GPS_charging 0 0 0.00

Compass 969 7 82.11

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

47 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 158 2232 525 483 0.0 0.0 0 143 0.00 0.00 -90.95 0.000 16386 0.000 0.000 155 2235 2147 2073 2221 0 0 0 0 0 0 14.35 28.83 14.38

147 -0.57 -145.9 155 2236 2072 2222 3.9 -5.7 9 200 13.25 2.85 -34.90 0.000 18980 0.457 2.140 2384 831 3964 3951 3977 1 0 0 0 0 0 13.30 12.56 14.08

305 -0.72 -145.9 2385 832 3955 3979 39.0 -13.0 40 311 0.00 2.38 0.00 0.000 1158 0.000 0.085 2379 2165 3965 3954 3977 0 0 0 0 0 0 14.06 13.93 14.09

610 -0.84 -145.9 2379 2163 3957 3978 80.5 -10.8 71 615 0.20 2.58 0.00 0.000 4484 0.099 0.086 2284 3609 3966 3956 3977 0 0 0 0 0 0 14.21 14.05 14.25

765 -0.91 -145.9 2284 3611 3956 3979 103.7 -14.1 102 770 0.00 2.35 0.00 0.000 1158 0.000 0.058 2284 2233 3966 3956 3977 0 0 0 0 0 0 14.28 14.15 14.32

1091 -0.94 -145.9 2289 2230 3963 3978 152.5 -14.2 117 1091 0.00 0.00 0.00 0.000 134 0.000 0.000 2284 2233 3966 3956 3977 0 0 0 0 0 0 14.65 14.66 14.66

1391 -1.01 -145.9 2284 2234 3956 3979 190.9 -12.2 127 1395 0.00 2.45 0.00 0.000 388 0.000 0.087 2279 3612 3966 3956 3977 0 0 0 0 0 0 14.66 14.10 14.68

1436 -1.15 -145.9 2280 3614 3957 3978 196.1 -10.8 136 1441 0.22 2.40 0.00 0.000 5254 0.096 0.057 2191 2201 3967 3956 3978 0 0 0 0 0 0 14.18 14.18 14.29

1751 -1.05 -145.9 2192 2200 3956 3977 260.7 -20.2 149 1757 0.17 2.50 0.00 0.000 2436 0.291 0.082 2222 3615 3966 3956 3976 0 0 0 0 0 0 13.68 13.76 13.53

1833 -1.11 -145.9 2222 3610 3957 3978 272.8 -13.2 165 1838 0.00 2.40 0.00 0.000 1158 0.000 0.058 2223 2198 3966 3956 3977 0 0 0 0 0 0 14.29 14.16 14.36

2143 -1.11 -145.9 2221 2197 3957 3978 315.9 -13.5 177 2149 0.00 2.53 0.00 0.000 260 0.000 0.086 2213 3616 3966 3956 3977 0 0 0 0 0 0 14.63 14.09 14.65

2200 -1.18 -145.9 2214 3617 3957 3978 323.3 -12.5 188 2206 0.00 2.42 0.00 0.000 1158 0.000 0.056 2213 2193 3966 3956 3977 0 0 0 0 0 0 14.14 14.02 14.18

2505 -1.18 -145.9 2213 2193 3957 3978 363.6 -13.0 199 2509 0.00 2.53 0.00 0.000 260 0.000 0.088 2209 3614 3966 3956 3977 0 0 0 0 0 0 14.60 14.06 14.62

2555 -1.26 -145.9 2209 3615 3956 3977 369.9 -11.9 209 2561 0.00 2.40 0.00 0.000 1158 0.000 0.057 2210 2200 3966 3955 3977 0 0 0 0 0 0 14.23 14.09 14.26

2866 -1.26 -145.9 2209 2200 3956 3978 410.3 -13.0 221 2871 0.00 2.53 0.00 0.000 260 0.000 0.088 2209 3614 3966 3956 3977 0 0 0 0 0 0 14.61 13.95 14.63

2917 -1.34 -145.9 2209 3615 3956 3978 416.5 -11.4 231 2922 0.20 2.42 0.00 0.000 5254 0.102 0.057 2140 2195 3966 3955 3977 0 0 0 0 0 0 13.92 14.03 13.90

3227 -1.19 -145.9 2140 2192 3956 3977 477.2 -19.9 243 3232 0.22 2.50 0.00 0.000 2436 0.321 0.081 2178 3608 3966 3955 3977 0 0 0 0 0 0 13.62 14.00 13.85

3240 end dive: TARGET_DEPTH_EXCEEDED

state 3240 begin apogee

3248 -0.13 0.0 2178 2097 3956 3977 480.3 -19.9 246 3552 1.45 0.00 299.33 1.299 10246 0.250 0.000 2529 2097 3366 3376 3357 0 0 0 0 0 0 13.76 13.44 12.59

3555 end apogee: CONTROL_FINISHED_OK

state 3555 begin climb

3558 0.57 145.9 2530 2097 3371 3349 498.8 0.0 256 3782 0.75 2.75 215.55 1.326 10500 0.060 0.071 2781 3522 2763 2793 2733 0 0 0 0 0 0 13.62 13.10 12.23

3930 0.07 145.9 2782 3523 2767 2716 495.6 14.3 286 3936 0.90 2.53 0.00 0.000 5254 0.349 0.056 2612 2093 2740 2766 2715 0 0 0 0 0 0 13.25 13.63 13.64

4235 -0.02 204.5 2613 2094 2767 2716 472.1 7.3 297 4328 0.15 0.00 91.20 1.308 12454 0.289 0.000 2583 2094 2533 2581 2485 0 0 0 0 0 0 13.81 13.81 13.02

4625 0.02 257.3 2583 2094 2566 2453 443.0 7.6 310 4719 0.00 0.00 93.38 1.264 8230 0.000 0.000 2585 2093 2318 2364 2272 0 0 0 0 0 0 14.57 13.88 13.09

5015 0.09 291.3 2583 2093 2347 2249 411.0 8.4 323 5076 0.00 0.00 53.80 1.313 8870 0.000 0.000 2582 2094 2169 2213 2126 0 0 0 0 0 0 14.57 13.99 13.17

5375 0.19 334.8 2583 2093 2203 2108 381.6 8.0 340 5450 0.17 2.53 70.18 1.284 10916 0.109 0.089 2668 688 1997 2038 1956 0 0 0 0 0 0 14.28 13.75 13.21

5530 0.19 334.8 2668 689 2018 1949 361.0 13.0 371 5535 0.00 2.50 0.00 0.000 1030 0.000 0.079 2668 2109 1982 2018 1946 0 0 0 0 0 0 14.22 14.09 14.26

5856 0.15 334.8 2668 2110 2019 1939 315.4 13.6 386 5861 0.15 2.47 0.00 0.000 4740 0.269 0.085 2639 697 1978 2018 1938 0 0 0 0 0 0 13.85 14.12 14.02

5911 0.20 334.8 2640 697 2018 1938 309.1 10.5 397 5918 0.00 2.45 0.00 0.000 1158 0.000 0.078 2639 2105 1977 2017 1938 0 0 0 0 0 0 14.30 14.16 14.35

6216 0.20 334.8 2639 2105 2018 1935 276.3 10.5 408 6221 0.00 2.47 0.00 0.000 516 0.000 0.087 2640 697 1976 2017 1935 0 0 0 0 0 0 14.65 14.19 14.67

6256 0.28 339.2 2641 697 2017 1936 272.3 9.8 416 6261 0.00 2.42 0.00 0.000 1190 0.000 0.077 2640 2099 1975 2017 1934 0 0 0 0 0 0 14.35 14.21 14.41

6577 0.31 355.8 2641 2100 2018 1934 241.5 9.2 430 6608 0.12 0.00 28.92 1.319 10406 0.126 0.000 2698 2100 1916 1951 1882 0 0 0 0 0 0 14.36 14.05 13.24

6907 0.26 355.8 2698 2100 1930 1866 201.7 11.6 441 6912 0.12 2.47 0.00 0.000 4740 0.243 0.084 2672 694 1894 1924 1865 0 0 0 0 0 0 13.99 14.18 14.12

7015 0.33 378.9 2674 694 1927 1866 191.7 8.9 462 7059 0.00 2.45 37.50 1.277 9382 0.000 0.079 2672 2101 1817 1841 1794 0 0 0 0 0 0 14.34 14.20 13.22

7360 0.37 397.2 2673 2101 1826 1777 159.3 9.2 481 7390 0.00 0.00 26.35 1.284 8358 0.000 0.000 2672 2100 1744 1765 1723 0 0 0 0 0 0 14.60 14.07 13.24

7688 0.44 418.7 2672 2102 1751 1707 130.5 9.0 492 7729 0.12 2.53 34.22 1.254 10916 0.133 0.087 2742 698 1652 1673 1631 0 0 0 0 0 0 14.30 14.09 13.27

7804 0.44 418.7 2742 699 1670 1624 116.3 11.3 515 7810 0.00 2.47 0.00 0.000 1030 0.000 0.077 2742 2101 1642 1662 1623 0 0 0 0 0 0 14.23 14.10 14.27

8112 0.40 418.7 2743 2101 1664 1616 81.5 10.3 536 8113 0.12 0.00 0.00 0.000 4230 0.236 0.000 2717 2102 1639 1663 1616 0 0 0 0 0 0 14.05 14.32 14.26

8410 0.52 519.3 2716 2103 1663 1615 60.9 5.4 566 8474 0.00 2.55 58.95 0.373 8612 0.000 0.083 2716 3508 1247 1300 1195 0 0 0 0 0 0 14.59 14.12 13.73

8549 0.71 596.2 2716 3510 1301 1205 52.2 6.4 593 8603 0.28 2.42 48.40 0.346 11430 0.083 0.064 2815 2104 932 1001 864 0 0 0 0 0 0 14.19 14.12 13.68

8909 0.80 657.2 2814 2105 1003 878 19.2 7.2 634 8952 0.00 2.60 39.00 0.252 8868 0.000 0.091 2815 687 681 743 620 0 0 0 0 0 0 14.56 13.91 13.77

9083 0.87 657.2 2816 687 750 628 7.9 11.5 668 9088 0.15 2.47 0.00 0.000 3206 0.113 0.073 2878 2105 689 751 627 0 0 0 0 0 0 13.93 13.98 14.06

9130 end climb: SURFACE_DEPTH_REACHED

state 9131 begin surface coast

9141 end surface coast: CONTROL_FINISHED_OK

state 9141 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	325	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	903.0
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	64	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	55	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,123451,7512.8652,-15109.9268,49,0.7,50,20.7,0.0,96.1,12,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.07	MHEAD_RNG_PITCHd_Wd	153.0,53960,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-70.4	D_GRID	480
GPS2	130917,125235,7512.9785,-15109.9688,9,0.8,10,20.7,0.5,211.5,10,8.3

FINISH	0.1,1.011885	_24V_AH	12.23,199.907
SM_CCo	9162,31.00,0.197,0,0,500,703.03	_10V_AH	12.10,0.000
SM_GC	1.28,8.25,0.15,31.00,0.074,0.095,0.197,197,2213,500,-7.38,-0.85,703.03,0,0,0,0,0,0,14.29,14.35,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323340
IRIDIUM_FIX	7511.33,-15110.62,130917,124342	DATA_FILE_SIZE	23397,675
TT8_MAMPS	0.038948,1.02089	CAP_FILE_SIZE	99146,0
HUMID	47.44	CFSIZE	2097872896,1994850304
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.1
XPDR_PINGS	19	CURRENT	0.050,68.47,1
CP_FREE	15933603840.000000	GPS	130917,152732,7511.747,-15109.632,24,0.7,24,20.7,0.0,0.0,12,8.0
PM_FREEKB_00	47525504

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	27	457	151.20	nil	0	0	0.00
Roll_motor	80	2139	2096.10	nil	0	0	0.00
VBD_pump_during_apogee	1096	1325	17782.96	nil	0	0	0.00
VBD_pump_during_surface	31	196	74.54	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	9164	14	1611.31
Iridium_during_xfer	603	173	1282.51	NCP	9126	20	2232.22
Transponder_ping	4	420	24.40	PMAR	9105	11	1234.47
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.26
TT8	0	0	0.00
LPSleep	6694	2	187.12
TT8_Active	1037	13	175.42
TT8_Sampling	2217	33	897.27
TT8_CF8	322	38	150.75
TT8_Kalman	0	0	0.00
Analog_circuits	2430	10	294.04
GPS_charging	0	0	0.00
Compass	969	7	82.11
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
47	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	158	2232	525	483	0.0	0.0	0	143	0.00	0.00	-90.95	0.000	16386	0.000	0.000	155	2235	2147	2073	2221	0	0	0	0	0	0	14.35	28.83	14.38
147	-0.57	-145.9	155	2236	2072	2222	3.9	-5.7	9	200	13.25	2.85	-34.90	0.000	18980	0.457	2.140	2384	831	3964	3951	3977	1	0	0	0	0	0	13.30	12.56	14.08
305	-0.72	-145.9	2385	832	3955	3979	39.0	-13.0	40	311	0.00	2.38	0.00	0.000	1158	0.000	0.085	2379	2165	3965	3954	3977	0	0	0	0	0	0	14.06	13.93	14.09
610	-0.84	-145.9	2379	2163	3957	3978	80.5	-10.8	71	615	0.20	2.58	0.00	0.000	4484	0.099	0.086	2284	3609	3966	3956	3977	0	0	0	0	0	0	14.21	14.05	14.25
765	-0.91	-145.9	2284	3611	3956	3979	103.7	-14.1	102	770	0.00	2.35	0.00	0.000	1158	0.000	0.058	2284	2233	3966	3956	3977	0	0	0	0	0	0	14.28	14.15	14.32
1091	-0.94	-145.9	2289	2230	3963	3978	152.5	-14.2	117	1091	0.00	0.00	0.00	0.000	134	0.000	0.000	2284	2233	3966	3956	3977	0	0	0	0	0	0	14.65	14.66	14.66
1391	-1.01	-145.9	2284	2234	3956	3979	190.9	-12.2	127	1395	0.00	2.45	0.00	0.000	388	0.000	0.087	2279	3612	3966	3956	3977	0	0	0	0	0	0	14.66	14.10	14.68
1436	-1.15	-145.9	2280	3614	3957	3978	196.1	-10.8	136	1441	0.22	2.40	0.00	0.000	5254	0.096	0.057	2191	2201	3967	3956	3978	0	0	0	0	0	0	14.18	14.18	14.29
1751	-1.05	-145.9	2192	2200	3956	3977	260.7	-20.2	149	1757	0.17	2.50	0.00	0.000	2436	0.291	0.082	2222	3615	3966	3956	3976	0	0	0	0	0	0	13.68	13.76	13.53
1833	-1.11	-145.9	2222	3610	3957	3978	272.8	-13.2	165	1838	0.00	2.40	0.00	0.000	1158	0.000	0.058	2223	2198	3966	3956	3977	0	0	0	0	0	0	14.29	14.16	14.36
2143	-1.11	-145.9	2221	2197	3957	3978	315.9	-13.5	177	2149	0.00	2.53	0.00	0.000	260	0.000	0.086	2213	3616	3966	3956	3977	0	0	0	0	0	0	14.63	14.09	14.65
2200	-1.18	-145.9	2214	3617	3957	3978	323.3	-12.5	188	2206	0.00	2.42	0.00	0.000	1158	0.000	0.056	2213	2193	3966	3956	3977	0	0	0	0	0	0	14.14	14.02	14.18
2505	-1.18	-145.9	2213	2193	3957	3978	363.6	-13.0	199	2509	0.00	2.53	0.00	0.000	260	0.000	0.088	2209	3614	3966	3956	3977	0	0	0	0	0	0	14.60	14.06	14.62
2555	-1.26	-145.9	2209	3615	3956	3977	369.9	-11.9	209	2561	0.00	2.40	0.00	0.000	1158	0.000	0.057	2210	2200	3966	3955	3977	0	0	0	0	0	0	14.23	14.09	14.26
2866	-1.26	-145.9	2209	2200	3956	3978	410.3	-13.0	221	2871	0.00	2.53	0.00	0.000	260	0.000	0.088	2209	3614	3966	3956	3977	0	0	0	0	0	0	14.61	13.95	14.63
2917	-1.34	-145.9	2209	3615	3956	3978	416.5	-11.4	231	2922	0.20	2.42	0.00	0.000	5254	0.102	0.057	2140	2195	3966	3955	3977	0	0	0	0	0	0	13.92	14.03	13.90
3227	-1.19	-145.9	2140	2192	3956	3977	477.2	-19.9	243	3232	0.22	2.50	0.00	0.000	2436	0.321	0.081	2178	3608	3966	3955	3977	0	0	0	0	0	0	13.62	14.00	13.85
3240	end dive: TARGET_DEPTH_EXCEEDED
state	3240	begin apogee
3248	-0.13	0.0	2178	2097	3956	3977	480.3	-19.9	246	3552	1.45	0.00	299.33	1.299	10246	0.250	0.000	2529	2097	3366	3376	3357	0	0	0	0	0	0	13.76	13.44	12.59
3555	end apogee: CONTROL_FINISHED_OK
state	3555	begin climb
3558	0.57	145.9	2530	2097	3371	3349	498.8	0.0	256	3782	0.75	2.75	215.55	1.326	10500	0.060	0.071	2781	3522	2763	2793	2733	0	0	0	0	0	0	13.62	13.10	12.23
3930	0.07	145.9	2782	3523	2767	2716	495.6	14.3	286	3936	0.90	2.53	0.00	0.000	5254	0.349	0.056	2612	2093	2740	2766	2715	0	0	0	0	0	0	13.25	13.63	13.64
4235	-0.02	204.5	2613	2094	2767	2716	472.1	7.3	297	4328	0.15	0.00	91.20	1.308	12454	0.289	0.000	2583	2094	2533	2581	2485	0	0	0	0	0	0	13.81	13.81	13.02
4625	0.02	257.3	2583	2094	2566	2453	443.0	7.6	310	4719	0.00	0.00	93.38	1.264	8230	0.000	0.000	2585	2093	2318	2364	2272	0	0	0	0	0	0	14.57	13.88	13.09
5015	0.09	291.3	2583	2093	2347	2249	411.0	8.4	323	5076	0.00	0.00	53.80	1.313	8870	0.000	0.000	2582	2094	2169	2213	2126	0	0	0	0	0	0	14.57	13.99	13.17
5375	0.19	334.8	2583	2093	2203	2108	381.6	8.0	340	5450	0.17	2.53	70.18	1.284	10916	0.109	0.089	2668	688	1997	2038	1956	0	0	0	0	0	0	14.28	13.75	13.21
5530	0.19	334.8	2668	689	2018	1949	361.0	13.0	371	5535	0.00	2.50	0.00	0.000	1030	0.000	0.079	2668	2109	1982	2018	1946	0	0	0	0	0	0	14.22	14.09	14.26
5856	0.15	334.8	2668	2110	2019	1939	315.4	13.6	386	5861	0.15	2.47	0.00	0.000	4740	0.269	0.085	2639	697	1978	2018	1938	0	0	0	0	0	0	13.85	14.12	14.02
5911	0.20	334.8	2640	697	2018	1938	309.1	10.5	397	5918	0.00	2.45	0.00	0.000	1158	0.000	0.078	2639	2105	1977	2017	1938	0	0	0	0	0	0	14.30	14.16	14.35
6216	0.20	334.8	2639	2105	2018	1935	276.3	10.5	408	6221	0.00	2.47	0.00	0.000	516	0.000	0.087	2640	697	1976	2017	1935	0	0	0	0	0	0	14.65	14.19	14.67
6256	0.28	339.2	2641	697	2017	1936	272.3	9.8	416	6261	0.00	2.42	0.00	0.000	1190	0.000	0.077	2640	2099	1975	2017	1934	0	0	0	0	0	0	14.35	14.21	14.41
6577	0.31	355.8	2641	2100	2018	1934	241.5	9.2	430	6608	0.12	0.00	28.92	1.319	10406	0.126	0.000	2698	2100	1916	1951	1882	0	0	0	0	0	0	14.36	14.05	13.24
6907	0.26	355.8	2698	2100	1930	1866	201.7	11.6	441	6912	0.12	2.47	0.00	0.000	4740	0.243	0.084	2672	694	1894	1924	1865	0	0	0	0	0	0	13.99	14.18	14.12
7015	0.33	378.9	2674	694	1927	1866	191.7	8.9	462	7059	0.00	2.45	37.50	1.277	9382	0.000	0.079	2672	2101	1817	1841	1794	0	0	0	0	0	0	14.34	14.20	13.22
7360	0.37	397.2	2673	2101	1826	1777	159.3	9.2	481	7390	0.00	0.00	26.35	1.284	8358	0.000	0.000	2672	2100	1744	1765	1723	0	0	0	0	0	0	14.60	14.07	13.24
7688	0.44	418.7	2672	2102	1751	1707	130.5	9.0	492	7729	0.12	2.53	34.22	1.254	10916	0.133	0.087	2742	698	1652	1673	1631	0	0	0	0	0	0	14.30	14.09	13.27
7804	0.44	418.7	2742	699	1670	1624	116.3	11.3	515	7810	0.00	2.47	0.00	0.000	1030	0.000	0.077	2742	2101	1642	1662	1623	0	0	0	0	0	0	14.23	14.10	14.27
8112	0.40	418.7	2743	2101	1664	1616	81.5	10.3	536	8113	0.12	0.00	0.00	0.000	4230	0.236	0.000	2717	2102	1639	1663	1616	0	0	0	0	0	0	14.05	14.32	14.26
8410	0.52	519.3	2716	2103	1663	1615	60.9	5.4	566	8474	0.00	2.55	58.95	0.373	8612	0.000	0.083	2716	3508	1247	1300	1195	0	0	0	0	0	0	14.59	14.12	13.73
8549	0.71	596.2	2716	3510	1301	1205	52.2	6.4	593	8603	0.28	2.42	48.40	0.346	11430	0.083	0.064	2815	2104	932	1001	864	0	0	0	0	0	0	14.19	14.12	13.68
8909	0.80	657.2	2814	2105	1003	878	19.2	7.2	634	8952	0.00	2.60	39.00	0.252	8868	0.000	0.091	2815	687	681	743	620	0	0	0	0	0	0	14.56	13.91	13.77
9083	0.87	657.2	2816	687	750	628	7.9	11.5	668	9088	0.15	2.47	0.00	0.000	3206	0.113	0.073	2878	2105	689	751	627	0	0	0	0	0	0	13.93	13.98	14.06
9130	end climb: SURFACE_DEPTH_REACHED
state	9131	begin surface coast
9141	end surface coast: CONTROL_FINISHED_OK
state	9141	begin surface