Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 331 * 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 331 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 919.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 919.0 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 28 VBD_MIN 500

DIVE 331 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 140917,052822,7505.5083,-15107.0312,16,0.8,20,20.7,0.3,17.1,10,9.6 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 1.07 MHEAD_RNG_PITCHd_Wd 153.9,40328,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 140917,054001,7505.5171,-15107.0381,7,0.8,27,20.7,0.0,357.4,10,7.2

Post-dive calculations and measurements:

FINISH 0.2,1.011279 _24V_AH 12.19,202.932

SM_CCo 9180,30.33,0.207,0,0,500,702.78 _10V_AH 12.07,0.000

SM_GC 1.34,8.18,0.17,30.33,0.067,0.115,0.207,203,2216,500,-7.37,-0.74,702.78,0,0,0,0,0,0,14.14,14.14,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 46 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323580

IRIDIUM_FIX 7506.68,-15111.35,140917,024836 DATA_FILE_SIZE 26720,771

TT8_MAMPS 0.085386,0.905541 CAP_FILE_SIZE 105847,0

HUMID 44.68 CFSIZE 2097872896,1993277440

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

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 9 CURRENT 0.081,85.77,1

CP_FREE 15931146240.000000 GPS 140917,081525,7504.278,-15106.479,17,0.7,33,20.7,0.0,338.2,11,9.7

PM_FREEKB_00 47290432

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 140.26 nil 0 0 0.00

Roll_motor 89 2151 2338.43 nil 0 0 0.00

VBD_pump_during_apogee 1034 1474 18595.75 nil 0 0 0.00

VBD_pump_during_surface 30 206 76.35 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 9192 14 1644.23

Iridium_during_xfer 401 176 865.38 NCP 9144 20 2229.31

Transponder_ping 2 420 11.52 PMAR 9131 11 1305.30

GUMSTIX_24V 0 0 0.00

GPS 28 22 7.77

TT8 0 0 0.00

LPSleep 6383 2 177.98

TT8_Active 942 13 158.88

TT8_Sampling 2259 33 912.14

TT8_CF8 337 38 157.74

TT8_Kalman 0 0 0.00

Analog_circuits 2266 10 273.56

GPS_charging 0 0 0.00

Compass 1110 7 93.86

RAFOS 2215 48 1283.28

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 -145.9 191 2224 515 492 0.0 0.0 0 145 0.00 0.00 -91.47 0.000 16386 0.000 0.000 189 2224 2131 2058 2205 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 190 2224 2060 2204 3.9 -5.2 9 201 12.95 2.78 -35.92 0.000 18724 0.452 2.151 2376 3586 3964 3950 3978 0 0 0 0 0 0 13.57 12.59 14.02

312 -0.71 -145.9 2376 3586 3961 3978 39.0 -14.2 41 317 0.00 2.38 0.00 0.000 1158 0.000 0.060 2376 2204 3966 3955 3978 0 0 0 0 0 0 14.26 14.13 14.33

622 -0.82 -145.9 2376 2205 3957 3979 81.7 -10.7 73 627 0.17 2.53 0.00 0.000 4740 0.114 0.080 2301 784 3967 3956 3978 0 0 0 0 0 0 14.11 14.09 14.14

643 -0.88 -145.9 2302 784 3957 3978 84.4 -13.2 77 647 0.00 2.47 0.00 0.000 1158 0.000 0.085 2300 2178 3967 3957 3978 0 0 0 0 0 0 14.19 14.04 14.23

963 -0.92 -145.9 2301 2179 3957 3979 130.3 -13.2 96 969 0.00 2.55 0.00 0.000 388 0.000 0.090 2294 3613 3967 3956 3978 0 0 0 0 0 0 14.59 14.08 14.62

1096 -1.06 -145.9 2294 3615 3957 3979 145.1 -10.6 122 1101 0.17 2.42 0.00 0.000 5254 0.106 0.057 2229 2199 3966 3956 3977 0 0 0 0 0 0 14.21 14.02 14.31

1417 -1.01 -145.9 2229 2199 3957 3978 203.6 -18.2 136 1422 0.00 2.50 0.00 0.000 388 0.000 0.086 2223 3613 3967 3956 3978 0 0 0 0 0 0 14.64 14.09 14.66

1493 -1.05 -145.9 2223 3613 3958 3978 215.7 -14.9 151 1498 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2201 3967 3956 3978 0 0 0 0 0 0 14.05 13.66 14.14

1808 -1.03 -145.9 2224 2199 3958 3979 266.5 -15.5 164 1814 0.00 2.53 0.00 0.000 388 0.000 0.090 2222 3613 3967 3956 3978 0 0 0 0 0 0 14.65 14.04 14.66

1964 -1.10 -145.9 2222 3614 3957 3979 286.8 -12.4 195 1969 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2201 3966 3956 3977 0 0 0 0 0 0 14.31 14.15 14.29

2290 -1.12 -145.9 2223 2199 3964 3978 328.4 -12.3 210 2295 0.00 2.53 0.00 0.000 388 0.000 0.089 2222 3613 3967 3956 3978 0 0 0 0 0 0 14.66 14.08 14.69

2365 -1.22 -145.9 2222 3614 3957 3979 337.1 -10.8 225 2370 0.12 2.42 0.00 0.000 5254 0.134 0.058 2173 2192 3967 3956 3978 0 0 0 0 0 0 14.19 14.15 14.30

2681 -1.15 -145.9 2173 2191 3957 3978 388.8 -16.5 238 2686 0.12 2.53 0.00 0.000 2436 0.329 0.083 2190 3615 3967 3956 3978 0 0 0 0 0 0 13.78 14.06 13.93

2817 -1.18 -145.9 2191 3617 3956 3979 407.3 -13.0 265 2821 0.00 2.40 0.00 0.000 1158 0.000 0.055 2190 2199 3966 3956 3977 0 0 0 0 0 0 14.27 14.14 14.31

3132 -1.16 -145.9 2190 2199 3956 3977 451.3 -13.9 278 3137 0.00 2.50 0.00 0.000 388 0.000 0.086 2184 3611 3966 3955 3977 0 0 0 0 0 0 14.66 14.07 14.66

3212 -1.19 -145.9 2184 3614 3958 3978 462.3 -13.2 294 3217 0.00 2.40 0.00 0.000 1158 0.000 0.056 2184 2196 3966 3954 3978 0 0 0 0 0 0 14.28 14.16 14.32

3339 end dive: TARGET_DEPTH_EXCEEDED

state 3339 begin apogee

3346 -0.13 0.0 2184 2061 3956 3978 480.9 -14.5 300 3619 1.38 0.08 268.70 1.349 10246 0.240 0.177 2527 2113 3364 3376 3353 0 0 0 0 0 0 13.64 13.41 12.62

3624 end apogee: CONTROL_FINISHED_OK

state 3625 begin climb

3627 0.57 145.9 2528 2113 3371 3346 496.3 0.0 309 3891 0.75 2.67 215.82 1.355 10756 0.062 0.080 2782 733 2753 2785 2721 0 0 0 0 0 0 13.64 12.82 12.19

4121 0.17 145.9 2782 733 2783 2718 476.7 13.4 356 4128 0.70 2.42 0.00 0.000 5254 0.321 0.074 2634 2099 2748 2781 2716 0 0 0 0 0 0 13.47 13.86 13.87

4426 0.02 178.6 2635 2099 2783 2713 450.0 8.5 367 4481 0.15 2.50 47.35 1.405 12964 0.275 0.084 2599 726 2628 2672 2585 0 0 0 0 0 0 13.80 14.01 13.13

4596 0.06 224.5 2600 725 2668 2575 436.6 7.9 401 4672 0.00 2.42 69.45 1.366 9254 0.000 0.078 2600 2107 2448 2500 2396 0 0 0 0 0 0 14.20 14.08 13.04

4997 0.07 243.2 2600 2106 2484 2374 400.2 9.1 431 5022 0.00 0.00 23.62 1.474 8230 0.000 0.000 2600 2102 2373 2425 2322 0 0 0 0 0 0 14.57 14.06 13.19

5297 0.08 262.8 2600 2106 2406 2307 372.9 9.1 441 5329 0.00 2.50 26.67 1.454 8740 0.000 0.086 2600 734 2288 2335 2242 0 0 0 0 0 0 14.57 14.10 13.21

5360 0.17 285.6 2600 733 2328 2235 367.3 8.9 453 5401 0.12 2.38 35.05 1.382 11430 0.125 0.078 2658 2096 2197 2243 2152 0 0 0 0 0 0 14.19 14.14 13.14

5721 0.10 285.6 2659 2097 2229 2131 320.8 12.7 475 5726 0.15 2.40 0.00 0.000 4740 0.246 0.080 2629 723 2179 2227 2132 0 0 0 0 0 0 13.94 14.17 14.09

5762 0.14 285.6 2629 723 2227 2132 316.3 10.4 483 5767 0.00 2.40 0.00 0.000 1158 0.000 0.076 2629 2099 2179 2226 2132 0 0 0 0 0 0 14.11 13.99 14.14

6082 0.14 293.0 2629 2100 2227 2130 284.5 9.7 497 6087 0.00 2.40 0.00 0.000 548 0.000 0.083 2630 728 2177 2225 2130 0 0 0 0 0 0 14.65 14.14 14.67

6117 0.19 312.2 2631 728 2225 2130 281.3 9.1 504 6163 0.00 2.40 40.45 1.339 9382 0.000 0.077 2630 2109 2090 2133 2047 0 0 0 0 0 0 14.35 14.21 13.22

6476 0.24 340.6 2631 2108 2121 2030 249.5 8.7 525 6524 0.00 0.00 46.58 1.312 8358 0.000 0.000 2629 2109 1975 2017 1933 0 0 0 0 0 0 14.60 14.04 13.22

6804 0.34 386.6 2630 2110 2003 1915 223.1 7.9 536 6888 0.17 0.00 81.47 1.242 10406 0.100 0.000 2701 2109 1787 1811 1764 0 0 0 0 0 0 14.22 13.92 13.15

7164 0.32 386.6 2701 2109 1796 1744 180.9 11.4 548 7170 0.00 2.45 0.00 0.000 644 0.000 0.088 2703 731 1769 1794 1745 0 0 0 0 0 0 14.52 14.12 14.54

7250 0.34 386.6 2703 732 1792 1745 171.4 10.4 565 7256 0.00 2.42 0.00 0.000 1158 0.000 0.076 2703 2109 1767 1790 1745 0 0 0 0 0 0 14.26 14.10 14.30

7555 0.34 386.6 2702 2110 1791 1744 137.9 10.7 576 7561 0.00 2.45 0.00 0.000 516 0.000 0.088 2703 726 1766 1790 1743 0 0 0 0 0 0 14.58 14.14 14.60

7606 0.39 391.9 2703 727 1789 1744 132.9 9.8 586 7611 0.00 2.42 0.00 0.000 1190 0.000 0.078 2703 2102 1766 1788 1745 0 0 0 0 0 0 14.28 14.14 14.31

7916 0.40 409.4 2703 2104 1788 1747 102.4 9.2 598 7954 0.00 2.50 33.33 1.286 8740 0.000 0.086 2703 728 1693 1714 1673 0 0 0 0 0 0 14.62 14.04 13.24

7979 0.47 421.6 2703 729 1705 1667 96.8 9.4 610 7991 0.00 2.42 6.30 0.405 9382 0.000 0.076 2704 2106 1644 1668 1620 0 0 0 0 0 0 14.27 14.12 13.60

8289 0.57 483.6 2702 2108 1682 1627 72.2 7.1 642 8333 0.17 2.50 37.38 0.409 10916 0.104 0.086 2789 735 1391 1429 1354 0 0 0 0 0 0 14.15 13.93 13.64

8560 0.61 538.2 2786 735 1433 1357 47.2 7.5 693 8597 0.00 2.42 32.25 0.335 9254 0.000 0.076 2786 2101 1169 1225 1113 0 0 0 0 0 0 14.14 14.01 13.62

8893 0.76 632.3 2786 2101 1228 1121 23.3 5.7 730 8957 0.12 2.50 55.25 0.263 10916 0.131 0.087 2850 734 789 849 729 0 0 0 0 0 0 14.12 13.93 13.73

9023 0.82 656.2 2851 736 849 724 13.0 8.9 755 9044 0.00 2.42 15.15 0.239 9382 0.000 0.074 2846 2101 686 745 628 0 0 0 0 0 0 13.97 13.85 13.64

9136 end climb: SURFACE_DEPTH_REACHED

state 9136 begin surface coast

9159 end surface coast: CONTROL_FINISHED_OK

state 9159 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	331	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	919.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,052822,7505.5083,-15107.0312,16,0.8,20,20.7,0.3,17.1,10,9.6	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	1.07	MHEAD_RNG_PITCHd_Wd	153.9,40328,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	140917,054001,7505.5171,-15107.0381,7,0.8,27,20.7,0.0,357.4,10,7.2

FINISH	0.2,1.011279	_24V_AH	12.19,202.932
SM_CCo	9180,30.33,0.207,0,0,500,702.78	_10V_AH	12.07,0.000
SM_GC	1.34,8.18,0.17,30.33,0.067,0.115,0.207,203,2216,500,-7.37,-0.74,702.78,0,0,0,0,0,0,14.14,14.14,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	46	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323580
IRIDIUM_FIX	7506.68,-15111.35,140917,024836	DATA_FILE_SIZE	26720,771
TT8_MAMPS	0.085386,0.905541	CAP_FILE_SIZE	105847,0
HUMID	44.68	CFSIZE	2097872896,1993277440
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	9	CURRENT	0.081,85.77,1
CP_FREE	15931146240.000000	GPS	140917,081525,7504.278,-15106.479,17,0.7,33,20.7,0.0,338.2,11,9.7
PM_FREEKB_00	47290432

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	140.26	nil	0	0	0.00
Roll_motor	89	2151	2338.43	nil	0	0	0.00
VBD_pump_during_apogee	1034	1474	18595.75	nil	0	0	0.00
VBD_pump_during_surface	30	206	76.35	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	9192	14	1644.23
Iridium_during_xfer	401	176	865.38	NCP	9144	20	2229.31
Transponder_ping	2	420	11.52	PMAR	9131	11	1305.30
GUMSTIX_24V	0	0	0.00
GPS	28	22	7.77
TT8	0	0	0.00
LPSleep	6383	2	177.98
TT8_Active	942	13	158.88
TT8_Sampling	2259	33	912.14
TT8_CF8	337	38	157.74
TT8_Kalman	0	0	0.00
Analog_circuits	2266	10	273.56
GPS_charging	0	0	0.00
Compass	1110	7	93.86
RAFOS	2215	48	1283.28
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	191	2224	515	492	0.0	0.0	0	145	0.00	0.00	-91.47	0.000	16386	0.000	0.000	189	2224	2131	2058	2205	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	190	2224	2060	2204	3.9	-5.2	9	201	12.95	2.78	-35.92	0.000	18724	0.452	2.151	2376	3586	3964	3950	3978	0	0	0	0	0	0	13.57	12.59	14.02
312	-0.71	-145.9	2376	3586	3961	3978	39.0	-14.2	41	317	0.00	2.38	0.00	0.000	1158	0.000	0.060	2376	2204	3966	3955	3978	0	0	0	0	0	0	14.26	14.13	14.33
622	-0.82	-145.9	2376	2205	3957	3979	81.7	-10.7	73	627	0.17	2.53	0.00	0.000	4740	0.114	0.080	2301	784	3967	3956	3978	0	0	0	0	0	0	14.11	14.09	14.14
643	-0.88	-145.9	2302	784	3957	3978	84.4	-13.2	77	647	0.00	2.47	0.00	0.000	1158	0.000	0.085	2300	2178	3967	3957	3978	0	0	0	0	0	0	14.19	14.04	14.23
963	-0.92	-145.9	2301	2179	3957	3979	130.3	-13.2	96	969	0.00	2.55	0.00	0.000	388	0.000	0.090	2294	3613	3967	3956	3978	0	0	0	0	0	0	14.59	14.08	14.62
1096	-1.06	-145.9	2294	3615	3957	3979	145.1	-10.6	122	1101	0.17	2.42	0.00	0.000	5254	0.106	0.057	2229	2199	3966	3956	3977	0	0	0	0	0	0	14.21	14.02	14.31
1417	-1.01	-145.9	2229	2199	3957	3978	203.6	-18.2	136	1422	0.00	2.50	0.00	0.000	388	0.000	0.086	2223	3613	3967	3956	3978	0	0	0	0	0	0	14.64	14.09	14.66
1493	-1.05	-145.9	2223	3613	3958	3978	215.7	-14.9	151	1498	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2201	3967	3956	3978	0	0	0	0	0	0	14.05	13.66	14.14
1808	-1.03	-145.9	2224	2199	3958	3979	266.5	-15.5	164	1814	0.00	2.53	0.00	0.000	388	0.000	0.090	2222	3613	3967	3956	3978	0	0	0	0	0	0	14.65	14.04	14.66
1964	-1.10	-145.9	2222	3614	3957	3979	286.8	-12.4	195	1969	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2201	3966	3956	3977	0	0	0	0	0	0	14.31	14.15	14.29
2290	-1.12	-145.9	2223	2199	3964	3978	328.4	-12.3	210	2295	0.00	2.53	0.00	0.000	388	0.000	0.089	2222	3613	3967	3956	3978	0	0	0	0	0	0	14.66	14.08	14.69
2365	-1.22	-145.9	2222	3614	3957	3979	337.1	-10.8	225	2370	0.12	2.42	0.00	0.000	5254	0.134	0.058	2173	2192	3967	3956	3978	0	0	0	0	0	0	14.19	14.15	14.30
2681	-1.15	-145.9	2173	2191	3957	3978	388.8	-16.5	238	2686	0.12	2.53	0.00	0.000	2436	0.329	0.083	2190	3615	3967	3956	3978	0	0	0	0	0	0	13.78	14.06	13.93
2817	-1.18	-145.9	2191	3617	3956	3979	407.3	-13.0	265	2821	0.00	2.40	0.00	0.000	1158	0.000	0.055	2190	2199	3966	3956	3977	0	0	0	0	0	0	14.27	14.14	14.31
3132	-1.16	-145.9	2190	2199	3956	3977	451.3	-13.9	278	3137	0.00	2.50	0.00	0.000	388	0.000	0.086	2184	3611	3966	3955	3977	0	0	0	0	0	0	14.66	14.07	14.66
3212	-1.19	-145.9	2184	3614	3958	3978	462.3	-13.2	294	3217	0.00	2.40	0.00	0.000	1158	0.000	0.056	2184	2196	3966	3954	3978	0	0	0	0	0	0	14.28	14.16	14.32
3339	end dive: TARGET_DEPTH_EXCEEDED
state	3339	begin apogee
3346	-0.13	0.0	2184	2061	3956	3978	480.9	-14.5	300	3619	1.38	0.08	268.70	1.349	10246	0.240	0.177	2527	2113	3364	3376	3353	0	0	0	0	0	0	13.64	13.41	12.62
3624	end apogee: CONTROL_FINISHED_OK
state	3625	begin climb
3627	0.57	145.9	2528	2113	3371	3346	496.3	0.0	309	3891	0.75	2.67	215.82	1.355	10756	0.062	0.080	2782	733	2753	2785	2721	0	0	0	0	0	0	13.64	12.82	12.19
4121	0.17	145.9	2782	733	2783	2718	476.7	13.4	356	4128	0.70	2.42	0.00	0.000	5254	0.321	0.074	2634	2099	2748	2781	2716	0	0	0	0	0	0	13.47	13.86	13.87
4426	0.02	178.6	2635	2099	2783	2713	450.0	8.5	367	4481	0.15	2.50	47.35	1.405	12964	0.275	0.084	2599	726	2628	2672	2585	0	0	0	0	0	0	13.80	14.01	13.13
4596	0.06	224.5	2600	725	2668	2575	436.6	7.9	401	4672	0.00	2.42	69.45	1.366	9254	0.000	0.078	2600	2107	2448	2500	2396	0	0	0	0	0	0	14.20	14.08	13.04
4997	0.07	243.2	2600	2106	2484	2374	400.2	9.1	431	5022	0.00	0.00	23.62	1.474	8230	0.000	0.000	2600	2102	2373	2425	2322	0	0	0	0	0	0	14.57	14.06	13.19
5297	0.08	262.8	2600	2106	2406	2307	372.9	9.1	441	5329	0.00	2.50	26.67	1.454	8740	0.000	0.086	2600	734	2288	2335	2242	0	0	0	0	0	0	14.57	14.10	13.21
5360	0.17	285.6	2600	733	2328	2235	367.3	8.9	453	5401	0.12	2.38	35.05	1.382	11430	0.125	0.078	2658	2096	2197	2243	2152	0	0	0	0	0	0	14.19	14.14	13.14
5721	0.10	285.6	2659	2097	2229	2131	320.8	12.7	475	5726	0.15	2.40	0.00	0.000	4740	0.246	0.080	2629	723	2179	2227	2132	0	0	0	0	0	0	13.94	14.17	14.09
5762	0.14	285.6	2629	723	2227	2132	316.3	10.4	483	5767	0.00	2.40	0.00	0.000	1158	0.000	0.076	2629	2099	2179	2226	2132	0	0	0	0	0	0	14.11	13.99	14.14
6082	0.14	293.0	2629	2100	2227	2130	284.5	9.7	497	6087	0.00	2.40	0.00	0.000	548	0.000	0.083	2630	728	2177	2225	2130	0	0	0	0	0	0	14.65	14.14	14.67
6117	0.19	312.2	2631	728	2225	2130	281.3	9.1	504	6163	0.00	2.40	40.45	1.339	9382	0.000	0.077	2630	2109	2090	2133	2047	0	0	0	0	0	0	14.35	14.21	13.22
6476	0.24	340.6	2631	2108	2121	2030	249.5	8.7	525	6524	0.00	0.00	46.58	1.312	8358	0.000	0.000	2629	2109	1975	2017	1933	0	0	0	0	0	0	14.60	14.04	13.22
6804	0.34	386.6	2630	2110	2003	1915	223.1	7.9	536	6888	0.17	0.00	81.47	1.242	10406	0.100	0.000	2701	2109	1787	1811	1764	0	0	0	0	0	0	14.22	13.92	13.15
7164	0.32	386.6	2701	2109	1796	1744	180.9	11.4	548	7170	0.00	2.45	0.00	0.000	644	0.000	0.088	2703	731	1769	1794	1745	0	0	0	0	0	0	14.52	14.12	14.54
7250	0.34	386.6	2703	732	1792	1745	171.4	10.4	565	7256	0.00	2.42	0.00	0.000	1158	0.000	0.076	2703	2109	1767	1790	1745	0	0	0	0	0	0	14.26	14.10	14.30
7555	0.34	386.6	2702	2110	1791	1744	137.9	10.7	576	7561	0.00	2.45	0.00	0.000	516	0.000	0.088	2703	726	1766	1790	1743	0	0	0	0	0	0	14.58	14.14	14.60
7606	0.39	391.9	2703	727	1789	1744	132.9	9.8	586	7611	0.00	2.42	0.00	0.000	1190	0.000	0.078	2703	2102	1766	1788	1745	0	0	0	0	0	0	14.28	14.14	14.31
7916	0.40	409.4	2703	2104	1788	1747	102.4	9.2	598	7954	0.00	2.50	33.33	1.286	8740	0.000	0.086	2703	728	1693	1714	1673	0	0	0	0	0	0	14.62	14.04	13.24
7979	0.47	421.6	2703	729	1705	1667	96.8	9.4	610	7991	0.00	2.42	6.30	0.405	9382	0.000	0.076	2704	2106	1644	1668	1620	0	0	0	0	0	0	14.27	14.12	13.60
8289	0.57	483.6	2702	2108	1682	1627	72.2	7.1	642	8333	0.17	2.50	37.38	0.409	10916	0.104	0.086	2789	735	1391	1429	1354	0	0	0	0	0	0	14.15	13.93	13.64
8560	0.61	538.2	2786	735	1433	1357	47.2	7.5	693	8597	0.00	2.42	32.25	0.335	9254	0.000	0.076	2786	2101	1169	1225	1113	0	0	0	0	0	0	14.14	14.01	13.62
8893	0.76	632.3	2786	2101	1228	1121	23.3	5.7	730	8957	0.12	2.50	55.25	0.263	10916	0.131	0.087	2850	734	789	849	729	0	0	0	0	0	0	14.12	13.93	13.73
9023	0.82	656.2	2851	736	849	724	13.0	8.9	755	9044	0.00	2.42	15.15	0.239	9382	0.000	0.074	2846	2101	686	745	628	0	0	0	0	0	0	13.97	13.85	13.64
9136	end climb: SURFACE_DEPTH_REACHED
state	9136	begin surface coast
9159	end surface coast: CONTROL_FINISHED_OK
state	9159	begin surface