Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 327 * 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 327 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 909.0

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 65 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 24 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 909.0 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 65 VBD_MIN 500

DIVE 327 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 130917,181406,7510.5327,-15109.3076,61,0.8,71,20.7,0.6,4.1,9,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.06 MHEAD_RNG_PITCHd_Wd 151.5,49646,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.2 D_GRID 480

GPS2 130917,182712,7510.5928,-15109.4717,7,0.8,15,20.7,0.2,285.8,9,9.9

Post-dive calculations and measurements:

FINISH -0.1,1.004551 _24V_AH 12.26,200.930

SM_CCo 9125,23.48,0.204,0,0,499,703.28 _10V_AH 12.13,0.000

SM_GC 1.14,8.27,0.17,23.48,0.073,0.100,0.204,198,2247,499,-7.37,-0.57,703.28,0,0,0,0,0,0,14.28,14.33,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 172 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323352

IRIDIUM_FIX 7512.88,-15118.00,130917,181841 DATA_FILE_SIZE 23388,717

TT8_MAMPS 0.039697,0.96621 CAP_FILE_SIZE 102622,0

HUMID 46.06 CFSIZE 2097872896,1994326016

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

TCM_TEMP 13.20 SOUNDSPEED 1447.9

XPDR_PINGS 9 CURRENT 0.051,83.11,1

CP_FREE 15932751872.000000 GPS 130917,210139,7509.295,-15108.621,34,0.7,38,20.7,0.7,157.1,11,8.4

PM_FREEKB_00 47429632

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.37 nil 0 0 0.00

Roll_motor 84 100 104.37 nil 0 0 0.00

VBD_pump_during_apogee 1018 1457 18204.93 nil 0 0 0.00

VBD_pump_during_surface 23 204 58.79 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 9139 14 1629.23

Iridium_during_xfer 440 181 980.09 NCP 9100 20 2231.32

Transponder_ping 2 420 11.59 PMAR 9079 10 1194.01

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.48

TT8 0 0 0.00

LPSleep 6536 2 183.17

TT8_Active 925 13 156.75

TT8_Sampling 2150 33 872.17

TT8_CF8 336 38 157.83

TT8_Kalman 0 0 0.00

Analog_circuits 2208 10 267.87

GPS_charging 0 0 0.00

Compass 1030 7 87.48

RAFOS 2206 48 1284.42

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 -145.9 138 2205 502 475 0.0 0.0 0 144 0.00 0.00 -91.62 0.000 16386 0.000 0.000 136 2205 2109 2034 2185 0 0 0 0 0 0 14.51 28.83 14.53

148 -0.57 -145.9 143 2205 2031 2184 3.6 -4.9 9 204 13.32 0.00 -37.08 0.000 18982 0.455 0.000 2384 2205 3963 3950 3976 0 0 0 0 0 0 13.56 13.14 14.05

503 -0.67 -145.9 2384 2205 3955 3976 68.3 -12.5 48 507 0.00 2.50 0.00 0.000 388 0.000 0.086 2378 3615 3965 3954 3976 0 0 0 0 0 0 14.57 14.05 14.58

548 -0.92 -145.9 2378 3616 3956 3976 73.0 -9.1 57 554 0.30 2.35 0.00 0.000 5286 0.087 0.052 2265 2226 3964 3954 3975 0 0 0 0 0 0 14.19 14.14 14.26

875 -0.90 -145.9 2273 2226 3955 3977 133.6 -17.2 78 880 0.00 2.45 0.00 0.000 388 0.000 0.086 2255 3607 3965 3954 3976 0 0 0 0 0 0 14.59 14.14 14.61

930 -0.95 -145.9 2256 3609 3955 3975 142.8 -14.6 89 936 0.00 2.40 0.00 0.000 1158 0.000 0.057 2255 2205 3965 3954 3976 0 0 0 0 0 0 14.10 13.95 14.11

1236 -0.95 -145.9 2255 2204 3956 3976 190.6 -15.1 100 1240 0.00 2.50 0.00 0.000 260 0.000 0.087 2248 3612 3965 3954 3976 0 0 0 0 0 0 14.63 14.09 14.64

1286 -1.05 -145.9 2249 3613 3956 3976 197.7 -12.9 110 1290 0.00 2.40 0.00 0.000 1158 0.000 0.058 2246 2201 3965 3954 3976 0 0 0 0 0 0 14.31 14.16 14.35

1596 -1.07 -145.9 2248 2199 3955 3976 241.4 -13.7 122 1601 0.00 2.53 0.00 0.000 388 0.000 0.088 2240 3614 3965 3954 3976 0 0 0 0 0 0 14.62 14.09 14.69

1686 -1.18 -145.9 2240 3617 3955 3977 253.0 -12.2 140 1692 0.12 2.40 0.00 0.000 5254 0.142 0.057 2189 2199 3965 3954 3976 0 0 0 0 0 0 14.19 14.16 14.31

2017 -1.11 -145.9 2190 2199 3955 3977 310.6 -17.1 156 2022 0.12 2.50 0.00 0.000 2436 0.291 0.084 2208 3611 3965 3954 3976 0 0 0 0 0 0 13.87 14.09 14.04

2110 -1.17 -145.9 2212 3612 3958 3977 323.1 -12.5 174 2114 0.00 2.40 0.00 0.000 1158 0.000 0.056 2208 2193 3965 3954 3976 0 0 0 0 0 0 14.31 14.17 14.34

2440 -1.17 -145.9 2209 2192 3955 3975 367.6 -13.3 190 2444 0.00 2.50 0.00 0.000 260 0.000 0.086 2198 3607 3965 3954 3976 0 0 0 0 0 0 14.64 14.09 14.65

2557 -1.23 -145.9 2199 3609 3954 3977 382.5 -12.3 213 2563 0.00 2.40 0.00 0.000 1158 0.000 0.056 2198 2193 3965 3954 3976 0 0 0 0 0 0 14.23 14.09 14.27

2860 -1.23 -145.9 2198 2196 3954 3977 424.3 -13.7 224 2864 0.00 2.50 0.00 0.000 260 0.000 0.086 2189 3607 3964 3954 3975 0 0 0 0 0 0 14.62 14.07 14.64

2940 -1.27 -145.9 2190 3609 3954 3976 435.2 -12.9 240 2945 0.00 2.38 0.00 0.000 1158 0.000 0.055 2189 2202 3965 3954 3976 0 0 0 0 0 0 14.26 14.10 14.27

3250 -1.27 -145.9 2189 2202 3954 3977 479.1 -14.2 252 3255 0.00 2.50 0.00 0.000 260 0.000 0.086 2184 3609 3964 3954 3975 0 0 0 0 0 0 14.60 14.05 14.62

3258 end dive: TARGET_DEPTH_EXCEEDED

state 3258 begin apogee

3266 -0.13 0.0 2185 2096 3955 3976 480.4 -14.2 254 3493 1.40 0.00 223.62 1.408 10246 0.248 0.000 2529 2095 3364 3372 3357 0 0 0 0 0 0 13.75 13.52 12.68

3497 end apogee: CONTROL_FINISHED_OK

state 3497 begin climb

3500 0.57 145.9 2530 2095 3367 3349 493.3 0.0 261 3725 0.73 2.70 216.07 1.353 10756 0.061 0.080 2781 697 2761 2787 2736 0 0 0 0 0 0 13.71 12.86 12.26

3911 0.17 145.9 2781 697 2784 2725 490.0 12.4 300 3916 0.68 2.53 0.00 0.000 5254 0.330 0.073 2643 2105 2753 2782 2724 0 0 0 0 0 0 13.34 13.75 13.75

4227 0.01 190.0 2644 2106 2784 2719 463.7 8.0 313 4302 0.20 2.58 67.40 1.375 12964 0.273 0.086 2594 696 2582 2626 2538 0 0 0 0 0 0 13.81 13.91 13.09

4343 0.04 230.3 2594 695 2624 2532 455.2 8.1 336 4409 0.00 2.47 62.20 1.347 9254 0.000 0.080 2594 2099 2427 2477 2377 0 0 0 0 0 0 14.12 14.01 12.97

4710 0.06 257.3 2594 2099 2461 2355 423.8 8.8 359 4753 0.00 0.00 41.03 1.393 8742 0.000 0.000 2594 2099 2313 2359 2267 0 0 0 0 0 0 14.54 14.00 13.14

5069 0.10 280.5 2592 2100 2345 2248 391.7 8.9 376 5109 0.00 2.50 33.25 1.411 8868 0.000 0.087 2594 694 2215 2260 2170 0 0 0 0 0 0 14.58 14.09 13.20

5144 0.22 311.7 2594 693 2254 2163 385.1 8.6 391 5201 0.17 2.47 49.28 1.341 11430 0.105 0.078 2668 2105 2092 2132 2052 0 0 0 0 0 0 14.16 14.09 13.13

5521 0.15 311.7 2668 2107 2118 2032 333.2 13.7 416 5526 0.12 2.50 0.00 0.000 4740 0.261 0.083 2642 691 2074 2116 2032 0 0 0 0 0 0 13.92 14.07 14.04

5562 0.15 311.7 2644 692 2113 2033 328.3 11.5 424 5567 0.00 2.47 0.00 0.000 1030 0.000 0.078 2644 2101 2075 2119 2032 0 0 0 0 0 0 14.21 14.09 14.26

5882 0.15 311.7 2645 2102 2114 2030 291.9 11.1 438 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2099 2073 2116 2030 0 0 0 0 0 0 14.46 14.48 14.47

6182 0.15 311.7 2644 2103 2113 2030 260.0 10.4 448 6187 0.00 2.50 0.00 0.000 516 0.000 0.086 2644 690 2071 2113 2029 0 0 0 0 0 0 14.44 14.03 14.46

6294 0.22 326.0 2644 691 2113 2028 249.7 9.3 470 6315 0.00 2.50 14.98 1.457 9382 0.000 0.077 2644 2103 2036 2075 1997 0 0 0 0 0 0 14.19 14.05 13.23

6637 0.27 357.8 2644 2104 2066 1984 219.6 8.5 488 6696 0.00 0.00 57.15 1.292 8358 0.000 0.000 2644 2101 1905 1939 1872 0 0 0 0 0 0 14.45 13.94 13.16

6995 0.36 406.6 2643 2103 1920 1857 190.3 7.7 500 7091 0.17 2.60 87.70 1.217 10916 0.100 0.089 2713 694 1706 1722 1691 0 0 0 0 0 0 14.19 13.84 13.12

7126 0.36 406.6 2714 694 1712 1680 175.2 11.9 521 7131 0.00 2.50 0.00 0.000 1030 0.000 0.078 2713 2098 1694 1711 1678 0 0 0 0 0 0 14.05 13.93 14.12

7446 0.36 406.6 2713 2099 1709 1667 137.5 11.6 535 7452 0.00 2.53 0.00 0.000 516 0.000 0.087 2713 691 1689 1710 1668 0 0 0 0 0 0 14.43 14.05 14.47

7507 0.41 406.6 2713 691 1707 1668 131.1 10.4 547 7513 0.00 2.50 0.00 0.000 1158 0.000 0.077 2713 2105 1688 1708 1668 0 0 0 0 0 0 14.20 14.07 14.24

7840 0.42 416.3 2713 2106 1709 1666 97.4 9.5 563 7847 0.00 2.60 3.42 0.313 8740 0.000 0.086 2713 688 1665 1689 1641 0 0 0 0 0 0 14.42 13.95 13.38

7890 0.49 439.0 2713 688 1699 1647 93.1 9.0 572 7913 0.00 2.50 15.52 0.464 9382 0.000 0.077 2714 2106 1577 1601 1553 0 0 0 0 0 0 14.02 13.92 13.49

8220 0.60 499.9 2713 2105 1614 1557 66.6 7.2 607 8261 0.20 0.00 39.45 0.390 10406 0.097 0.000 2793 2105 1326 1366 1287 0 0 0 0 0 0 14.27 14.09 13.66

8558 0.60 546.4 2793 2105 1372 1291 36.9 7.9 641 8595 0.00 2.53 29.90 0.303 8868 0.000 0.088 2794 687 1135 1190 1081 0 0 0 0 0 0 14.57 14.07 13.68

8701 0.74 613.9 2795 687 1193 1095 26.0 6.9 669 8748 0.00 2.47 43.20 0.269 9382 0.000 0.076 2794 2101 862 925 799 0 0 0 0 0 0 14.02 13.96 13.77

9054 0.89 681.4 2795 2101 927 803 5.3 6.9 709 9091 0.22 0.00 34.75 0.209 10658 0.091 0.000 2884 2100 642 690 595 0 0 0 0 0 0 14.27 28.83 14.29

9091 end climb: SURFACE_DEPTH_REACHED

state 9091 begin surface coast

9104 end surface coast: CONTROL_FINISHED_OK

state 9104 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	327	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	909.0
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	65	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,181406,7510.5327,-15109.3076,61,0.8,71,20.7,0.6,4.1,9,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.06	MHEAD_RNG_PITCHd_Wd	151.5,49646,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.2	D_GRID	480
GPS2	130917,182712,7510.5928,-15109.4717,7,0.8,15,20.7,0.2,285.8,9,9.9

FINISH	-0.1,1.004551	_24V_AH	12.26,200.930
SM_CCo	9125,23.48,0.204,0,0,499,703.28	_10V_AH	12.13,0.000
SM_GC	1.14,8.27,0.17,23.48,0.073,0.100,0.204,198,2247,499,-7.37,-0.57,703.28,0,0,0,0,0,0,14.28,14.33,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	172	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323352
IRIDIUM_FIX	7512.88,-15118.00,130917,181841	DATA_FILE_SIZE	23388,717
TT8_MAMPS	0.039697,0.96621	CAP_FILE_SIZE	102622,0
HUMID	46.06	CFSIZE	2097872896,1994326016
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.9
XPDR_PINGS	9	CURRENT	0.051,83.11,1
CP_FREE	15932751872.000000	GPS	130917,210139,7509.295,-15108.621,34,0.7,38,20.7,0.7,157.1,11,8.4
PM_FREEKB_00	47429632

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.37	nil	0	0	0.00
Roll_motor	84	100	104.37	nil	0	0	0.00
VBD_pump_during_apogee	1018	1457	18204.93	nil	0	0	0.00
VBD_pump_during_surface	23	204	58.79	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	9139	14	1629.23
Iridium_during_xfer	440	181	980.09	NCP	9100	20	2231.32
Transponder_ping	2	420	11.59	PMAR	9079	10	1194.01
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.48
TT8	0	0	0.00
LPSleep	6536	2	183.17
TT8_Active	925	13	156.75
TT8_Sampling	2150	33	872.17
TT8_CF8	336	38	157.83
TT8_Kalman	0	0	0.00
Analog_circuits	2208	10	267.87
GPS_charging	0	0	0.00
Compass	1030	7	87.48
RAFOS	2206	48	1284.42
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	138	2205	502	475	0.0	0.0	0	144	0.00	0.00	-91.62	0.000	16386	0.000	0.000	136	2205	2109	2034	2185	0	0	0	0	0	0	14.51	28.83	14.53
148	-0.57	-145.9	143	2205	2031	2184	3.6	-4.9	9	204	13.32	0.00	-37.08	0.000	18982	0.455	0.000	2384	2205	3963	3950	3976	0	0	0	0	0	0	13.56	13.14	14.05
503	-0.67	-145.9	2384	2205	3955	3976	68.3	-12.5	48	507	0.00	2.50	0.00	0.000	388	0.000	0.086	2378	3615	3965	3954	3976	0	0	0	0	0	0	14.57	14.05	14.58
548	-0.92	-145.9	2378	3616	3956	3976	73.0	-9.1	57	554	0.30	2.35	0.00	0.000	5286	0.087	0.052	2265	2226	3964	3954	3975	0	0	0	0	0	0	14.19	14.14	14.26
875	-0.90	-145.9	2273	2226	3955	3977	133.6	-17.2	78	880	0.00	2.45	0.00	0.000	388	0.000	0.086	2255	3607	3965	3954	3976	0	0	0	0	0	0	14.59	14.14	14.61
930	-0.95	-145.9	2256	3609	3955	3975	142.8	-14.6	89	936	0.00	2.40	0.00	0.000	1158	0.000	0.057	2255	2205	3965	3954	3976	0	0	0	0	0	0	14.10	13.95	14.11
1236	-0.95	-145.9	2255	2204	3956	3976	190.6	-15.1	100	1240	0.00	2.50	0.00	0.000	260	0.000	0.087	2248	3612	3965	3954	3976	0	0	0	0	0	0	14.63	14.09	14.64
1286	-1.05	-145.9	2249	3613	3956	3976	197.7	-12.9	110	1290	0.00	2.40	0.00	0.000	1158	0.000	0.058	2246	2201	3965	3954	3976	0	0	0	0	0	0	14.31	14.16	14.35
1596	-1.07	-145.9	2248	2199	3955	3976	241.4	-13.7	122	1601	0.00	2.53	0.00	0.000	388	0.000	0.088	2240	3614	3965	3954	3976	0	0	0	0	0	0	14.62	14.09	14.69
1686	-1.18	-145.9	2240	3617	3955	3977	253.0	-12.2	140	1692	0.12	2.40	0.00	0.000	5254	0.142	0.057	2189	2199	3965	3954	3976	0	0	0	0	0	0	14.19	14.16	14.31
2017	-1.11	-145.9	2190	2199	3955	3977	310.6	-17.1	156	2022	0.12	2.50	0.00	0.000	2436	0.291	0.084	2208	3611	3965	3954	3976	0	0	0	0	0	0	13.87	14.09	14.04
2110	-1.17	-145.9	2212	3612	3958	3977	323.1	-12.5	174	2114	0.00	2.40	0.00	0.000	1158	0.000	0.056	2208	2193	3965	3954	3976	0	0	0	0	0	0	14.31	14.17	14.34
2440	-1.17	-145.9	2209	2192	3955	3975	367.6	-13.3	190	2444	0.00	2.50	0.00	0.000	260	0.000	0.086	2198	3607	3965	3954	3976	0	0	0	0	0	0	14.64	14.09	14.65
2557	-1.23	-145.9	2199	3609	3954	3977	382.5	-12.3	213	2563	0.00	2.40	0.00	0.000	1158	0.000	0.056	2198	2193	3965	3954	3976	0	0	0	0	0	0	14.23	14.09	14.27
2860	-1.23	-145.9	2198	2196	3954	3977	424.3	-13.7	224	2864	0.00	2.50	0.00	0.000	260	0.000	0.086	2189	3607	3964	3954	3975	0	0	0	0	0	0	14.62	14.07	14.64
2940	-1.27	-145.9	2190	3609	3954	3976	435.2	-12.9	240	2945	0.00	2.38	0.00	0.000	1158	0.000	0.055	2189	2202	3965	3954	3976	0	0	0	0	0	0	14.26	14.10	14.27
3250	-1.27	-145.9	2189	2202	3954	3977	479.1	-14.2	252	3255	0.00	2.50	0.00	0.000	260	0.000	0.086	2184	3609	3964	3954	3975	0	0	0	0	0	0	14.60	14.05	14.62
3258	end dive: TARGET_DEPTH_EXCEEDED
state	3258	begin apogee
3266	-0.13	0.0	2185	2096	3955	3976	480.4	-14.2	254	3493	1.40	0.00	223.62	1.408	10246	0.248	0.000	2529	2095	3364	3372	3357	0	0	0	0	0	0	13.75	13.52	12.68
3497	end apogee: CONTROL_FINISHED_OK
state	3497	begin climb
3500	0.57	145.9	2530	2095	3367	3349	493.3	0.0	261	3725	0.73	2.70	216.07	1.353	10756	0.061	0.080	2781	697	2761	2787	2736	0	0	0	0	0	0	13.71	12.86	12.26
3911	0.17	145.9	2781	697	2784	2725	490.0	12.4	300	3916	0.68	2.53	0.00	0.000	5254	0.330	0.073	2643	2105	2753	2782	2724	0	0	0	0	0	0	13.34	13.75	13.75
4227	0.01	190.0	2644	2106	2784	2719	463.7	8.0	313	4302	0.20	2.58	67.40	1.375	12964	0.273	0.086	2594	696	2582	2626	2538	0	0	0	0	0	0	13.81	13.91	13.09
4343	0.04	230.3	2594	695	2624	2532	455.2	8.1	336	4409	0.00	2.47	62.20	1.347	9254	0.000	0.080	2594	2099	2427	2477	2377	0	0	0	0	0	0	14.12	14.01	12.97
4710	0.06	257.3	2594	2099	2461	2355	423.8	8.8	359	4753	0.00	0.00	41.03	1.393	8742	0.000	0.000	2594	2099	2313	2359	2267	0	0	0	0	0	0	14.54	14.00	13.14
5069	0.10	280.5	2592	2100	2345	2248	391.7	8.9	376	5109	0.00	2.50	33.25	1.411	8868	0.000	0.087	2594	694	2215	2260	2170	0	0	0	0	0	0	14.58	14.09	13.20
5144	0.22	311.7	2594	693	2254	2163	385.1	8.6	391	5201	0.17	2.47	49.28	1.341	11430	0.105	0.078	2668	2105	2092	2132	2052	0	0	0	0	0	0	14.16	14.09	13.13
5521	0.15	311.7	2668	2107	2118	2032	333.2	13.7	416	5526	0.12	2.50	0.00	0.000	4740	0.261	0.083	2642	691	2074	2116	2032	0	0	0	0	0	0	13.92	14.07	14.04
5562	0.15	311.7	2644	692	2113	2033	328.3	11.5	424	5567	0.00	2.47	0.00	0.000	1030	0.000	0.078	2644	2101	2075	2119	2032	0	0	0	0	0	0	14.21	14.09	14.26
5882	0.15	311.7	2645	2102	2114	2030	291.9	11.1	438	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2099	2073	2116	2030	0	0	0	0	0	0	14.46	14.48	14.47
6182	0.15	311.7	2644	2103	2113	2030	260.0	10.4	448	6187	0.00	2.50	0.00	0.000	516	0.000	0.086	2644	690	2071	2113	2029	0	0	0	0	0	0	14.44	14.03	14.46
6294	0.22	326.0	2644	691	2113	2028	249.7	9.3	470	6315	0.00	2.50	14.98	1.457	9382	0.000	0.077	2644	2103	2036	2075	1997	0	0	0	0	0	0	14.19	14.05	13.23
6637	0.27	357.8	2644	2104	2066	1984	219.6	8.5	488	6696	0.00	0.00	57.15	1.292	8358	0.000	0.000	2644	2101	1905	1939	1872	0	0	0	0	0	0	14.45	13.94	13.16
6995	0.36	406.6	2643	2103	1920	1857	190.3	7.7	500	7091	0.17	2.60	87.70	1.217	10916	0.100	0.089	2713	694	1706	1722	1691	0	0	0	0	0	0	14.19	13.84	13.12
7126	0.36	406.6	2714	694	1712	1680	175.2	11.9	521	7131	0.00	2.50	0.00	0.000	1030	0.000	0.078	2713	2098	1694	1711	1678	0	0	0	0	0	0	14.05	13.93	14.12
7446	0.36	406.6	2713	2099	1709	1667	137.5	11.6	535	7452	0.00	2.53	0.00	0.000	516	0.000	0.087	2713	691	1689	1710	1668	0	0	0	0	0	0	14.43	14.05	14.47
7507	0.41	406.6	2713	691	1707	1668	131.1	10.4	547	7513	0.00	2.50	0.00	0.000	1158	0.000	0.077	2713	2105	1688	1708	1668	0	0	0	0	0	0	14.20	14.07	14.24
7840	0.42	416.3	2713	2106	1709	1666	97.4	9.5	563	7847	0.00	2.60	3.42	0.313	8740	0.000	0.086	2713	688	1665	1689	1641	0	0	0	0	0	0	14.42	13.95	13.38
7890	0.49	439.0	2713	688	1699	1647	93.1	9.0	572	7913	0.00	2.50	15.52	0.464	9382	0.000	0.077	2714	2106	1577	1601	1553	0	0	0	0	0	0	14.02	13.92	13.49
8220	0.60	499.9	2713	2105	1614	1557	66.6	7.2	607	8261	0.20	0.00	39.45	0.390	10406	0.097	0.000	2793	2105	1326	1366	1287	0	0	0	0	0	0	14.27	14.09	13.66
8558	0.60	546.4	2793	2105	1372	1291	36.9	7.9	641	8595	0.00	2.53	29.90	0.303	8868	0.000	0.088	2794	687	1135	1190	1081	0	0	0	0	0	0	14.57	14.07	13.68
8701	0.74	613.9	2795	687	1193	1095	26.0	6.9	669	8748	0.00	2.47	43.20	0.269	9382	0.000	0.076	2794	2101	862	925	799	0	0	0	0	0	0	14.02	13.96	13.77
9054	0.89	681.4	2795	2101	927	803	5.3	6.9	709	9091	0.22	0.00	34.75	0.209	10658	0.091	0.000	2884	2100	642	690	595	0	0	0	0	0	0	14.27	28.83	14.29
9091	end climb: SURFACE_DEPTH_REACHED
state	9091	begin surface coast
9104	end surface coast: CONTROL_FINISHED_OK
state	9104	begin surface