Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 332 * 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 332 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 923.0

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 37 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 923.0 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 332 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 140917,081525,7504.2778,-15106.4785,17,0.7,33,20.7,0.0,338.2,11,9.7 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 1.07 MHEAD_RNG_PITCHd_Wd 157.6,38124,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 140917,083055,7504.3125,-15106.4355,8,0.7,8,20.7,0.0,0.0,10,8.8

Post-dive calculations and measurements:

FINISH 0.0,1.021345 _24V_AH 12.24,203.423

SM_CCo 9200,0.00,0.000,0,0,497,703.52 _10V_AH 12.10,0.000

SM_GC 1.00,8.20,1.05,0.00,0.059,0.050,0.000,201,2218,497,-7.37,1.64,703.52,0,0,0,0,0,0,14.28,14.26,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323592

IRIDIUM_FIX 7504.86,-15115.38,140917,082007 DATA_FILE_SIZE 26659,791

TT8_MAMPS 0.038948,0.877828 CAP_FILE_SIZE 107560,0

HUMID 47.20 CFSIZE 2097872896,1993015296

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

TCM_TEMP 13.20 SOUNDSPEED 1447.4

XPDR_PINGS 12 CURRENT 0.099,100.35,1

CP_FREE 15930720256.000000 GPS 140917,110601,7503.028,-15105.733,29,0.8,34,20.7,0.6,22.8,11,6.5

PM_FREEKB_00 47237888

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 142.26 nil 0 0 0.00

Roll_motor 81 2142 2138.08 nil 0 0 0.00

VBD_pump_during_apogee 1013 1591 19747.01 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 1658.62

Iridium_during_xfer 588 190 1371.99 NCP 9102 20 2228.17

Transponder_ping 3 420 15.42 PMAR 9091 12 1342.85

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.71

TT8 0 0 0.00

LPSleep 6451 2 180.32

TT8_Active 910 13 153.86

TT8_Sampling 2421 33 979.69

TT8_CF8 353 38 165.34

TT8_Kalman 0 0 0.00

Analog_circuits 2414 10 292.14

GPS_charging 0 0 0.00

Compass 1133 7 95.97

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 189 2219 496 491 0.0 0.0 0 144 0.00 0.00 -91.22 0.000 16386 0.000 0.000 190 2218 2101 2024 2179 0 0 0 0 0 0 14.35 28.83 14.38

147 -0.57 -145.9 192 2220 2026 2181 3.7 -4.8 9 204 12.90 2.75 -37.22 0.000 18724 0.451 2.142 2376 3592 3963 3950 3976 1 0 0 0 0 0 13.32 12.57 13.97

376 -0.74 -145.9 2375 3594 3955 3975 45.9 -12.7 54 383 0.00 2.35 0.00 0.000 1158 0.000 0.057 2376 2236 3965 3954 3976 0 0 0 0 0 0 14.05 13.97 14.07

680 -0.87 -145.9 2376 2235 3957 3976 84.3 -10.0 85 685 0.20 2.53 0.00 0.000 4740 0.104 0.080 2293 794 3965 3955 3976 0 0 0 0 0 0 14.04 13.86 14.08

747 -0.95 -145.9 2293 794 3955 3977 93.2 -13.4 98 753 0.00 2.53 0.00 0.000 1158 0.000 0.087 2292 2189 3966 3960 3972 0 0 0 0 0 0 14.09 13.94 14.13

1072 -1.00 -145.9 2293 2192 3957 3978 138.4 -12.9 113 1077 0.12 2.53 0.00 0.000 4484 0.132 0.087 2236 3616 3966 3956 3976 0 0 0 0 0 0 14.23 14.09 14.27

1238 -1.05 -145.9 2244 3615 3955 3975 163.8 -14.8 146 1242 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2199 3965 3955 3976 0 0 0 0 0 0 14.30 14.16 14.34

1553 -1.03 -145.9 2236 2198 3957 3976 216.7 -16.5 159 1558 0.00 2.50 0.00 0.000 388 0.000 0.086 2227 3612 3965 3955 3976 0 0 0 0 0 0 14.58 14.06 14.60

1658 -1.07 -145.9 2228 3614 3956 3977 232.4 -14.1 180 1664 0.00 2.40 0.00 0.000 1158 0.000 0.057 2228 2202 3966 3956 3976 0 0 0 0 0 0 14.26 14.14 14.31

1975 -1.07 -145.9 2228 2200 3956 3977 280.6 -14.6 193 1979 0.00 2.50 0.00 0.000 260 0.000 0.088 2223 3614 3965 3955 3976 0 0 0 0 0 0 14.63 14.09 14.64

2102 -1.14 -145.9 2223 3616 3956 3977 296.6 -11.9 218 2106 0.00 2.42 0.00 0.000 1158 0.000 0.056 2223 2197 3966 3956 3976 0 0 0 0 0 0 14.21 14.09 14.26

2427 -1.16 -145.9 2223 2197 3956 3977 337.5 -12.3 233 2432 0.00 2.53 0.00 0.000 388 0.000 0.090 2222 3614 3965 3955 3976 0 0 0 0 0 0 14.62 14.04 14.64

2512 -1.26 -145.9 2223 3614 3957 3976 347.3 -10.7 250 2518 0.15 2.42 0.00 0.000 5254 0.119 0.057 2162 2193 3966 3956 3976 0 0 0 0 0 0 14.13 14.08 14.23

2817 -1.16 -145.9 2162 2192 3956 3976 400.3 -17.5 261 2822 0.17 2.53 0.00 0.000 2436 0.319 0.082 2184 3614 3965 3955 3976 0 0 0 0 0 0 13.66 14.02 13.88

2963 -1.20 -145.9 2189 3618 3955 3977 420.2 -12.6 290 2969 0.00 2.42 0.00 0.000 1158 0.000 0.056 2189 2195 3965 3957 3974 0 0 0 0 0 0 14.21 14.08 14.25

3268 -1.17 -145.9 2189 2195 3955 3976 462.7 -13.9 301 3273 0.00 2.53 0.00 0.000 388 0.000 0.086 2183 3620 3965 3954 3976 0 0 0 0 0 0 14.63 14.07 14.63

3363 -1.20 -145.9 2183 3621 3955 3977 475.7 -13.1 320 3369 0.00 2.42 0.00 0.000 1158 0.000 0.056 2183 2200 3964 3954 3974 0 0 0 0 0 0 14.17 14.03 14.24

3416 end dive: TARGET_DEPTH_EXCEEDED

state 3416 begin apogee

3423 -0.13 0.0 2184 2056 3955 3976 483.6 -14.3 326 3645 1.40 0.10 218.77 1.436 10246 0.239 0.159 2531 2120 3363 3375 3352 0 0 0 0 0 0 13.71 13.52 12.66

3649 end apogee: CONTROL_FINISHED_OK

state 3649 begin climb

3654 0.57 145.9 2532 2121 3372 3345 495.8 0.0 333 3918 0.73 2.67 211.20 1.381 10756 0.060 0.079 2781 737 2758 2787 2729 0 0 0 0 0 0 13.71 12.86 12.24

4148 0.17 145.9 2781 738 2786 2728 476.6 13.2 380 4154 0.68 2.40 0.00 0.000 5254 0.323 0.075 2639 2092 2755 2785 2725 0 0 0 0 0 0 13.48 13.90 13.88

4453 0.01 178.7 2640 2092 2786 2721 449.7 8.5 391 4507 0.20 2.50 45.65 1.457 12964 0.268 0.084 2591 726 2629 2672 2587 0 0 0 0 0 0 13.76 13.98 13.09

4555 0.04 232.1 2591 730 2672 2585 442.4 7.5 411 4640 0.00 2.42 78.50 1.393 9254 0.000 0.079 2591 2105 2418 2469 2367 0 0 0 0 0 0 14.18 14.06 12.97

4965 0.06 260.0 2591 2106 2460 2351 407.1 8.7 443 5008 0.00 0.00 41.05 1.434 8230 0.000 0.000 2591 2105 2304 2353 2256 0 0 0 0 0 0 14.54 13.99 13.14

5296 0.12 288.0 2592 2105 2341 2242 378.4 8.7 454 5342 0.00 2.53 41.45 1.418 8868 0.000 0.086 2591 727 2188 2234 2142 0 0 0 0 0 0 14.56 14.06 13.18

5379 0.26 322.4 2592 729 2233 2139 371.4 8.4 470 5437 0.22 2.40 52.72 1.369 11430 0.090 0.079 2679 2098 2049 2090 2009 0 0 0 0 0 0 14.13 14.04 13.07

5748 0.18 322.4 2679 2099 2081 1997 317.7 14.7 494 5754 0.15 2.42 0.00 0.000 4740 0.258 0.082 2651 724 2037 2080 1995 0 0 0 0 0 0 13.89 14.15 14.05

5794 0.18 322.4 2651 724 2079 1995 312.0 11.3 503 5799 0.00 2.40 0.00 0.000 1030 0.000 0.079 2651 2099 2035 2076 1995 0 0 0 0 0 0 14.31 14.18 14.36

6109 0.18 322.4 2651 2100 2078 1993 275.7 11.2 516 6110 0.00 0.00 0.00 0.000 6 0.000 0.000 2651 2099 2034 2077 1992 0 0 0 0 0 0 14.59 14.64 14.64

6409 0.18 330.5 2651 2100 2078 1991 245.7 9.6 526 6420 0.00 2.42 4.07 1.591 8740 0.000 0.086 2651 736 2019 2063 1975 0 0 0 0 0 0 14.66 14.23 13.24

6465 0.26 351.9 2651 737 2065 1978 240.5 9.0 537 6511 0.00 2.40 40.95 1.380 9382 0.000 0.078 2650 2106 1932 1970 1894 0 0 0 0 0 0 14.30 14.16 13.23

6833 0.32 383.2 2651 2106 1956 1884 207.9 8.6 560 6891 0.00 0.00 53.05 1.323 8358 0.000 0.000 2649 2105 1798 1821 1775 0 0 0 0 0 0 14.59 13.74 13.16

7191 0.42 422.1 2651 2107 1815 1767 178.0 8.2 572 7263 0.20 0.00 69.40 1.260 10406 0.099 0.000 2731 2106 1642 1665 1620 0 0 0 0 0 0 14.17 13.95 13.18

7551 0.38 422.1 2731 2107 1661 1604 131.4 13.0 584 7556 0.00 2.45 0.00 0.000 644 0.000 0.089 2733 721 1631 1660 1602 0 0 0 0 0 0 14.54 14.12 14.57

7661 0.38 422.1 2734 721 1657 1602 117.7 11.8 606 7667 0.00 2.40 0.00 0.000 1030 0.000 0.076 2733 2099 1629 1656 1602 0 0 0 0 0 0 14.24 14.14 14.25

7972 0.38 422.1 2734 2099 1657 1601 82.3 10.8 628 7977 0.00 2.42 0.00 0.000 516 0.000 0.086 2733 726 1628 1656 1600 0 0 0 0 0 0 14.58 14.14 14.59

8167 0.46 478.9 2734 727 1656 1601 65.6 7.4 667 8204 0.00 2.42 29.85 0.396 9382 0.000 0.077 2733 2110 1414 1448 1381 0 0 0 0 0 0 14.20 14.07 13.66

8502 0.62 584.2 2734 2105 1450 1377 44.4 5.1 704 8567 0.12 2.53 59.08 0.328 10916 0.125 0.087 2794 724 981 1043 919 0 0 0 0 0 0 14.19 14.02 13.69

8727 0.77 636.5 2794 724 1045 915 26.4 7.6 748 8765 0.00 2.40 29.75 0.278 9382 0.000 0.078 2794 2095 768 832 705 0 0 0 0 0 0 14.24 14.10 13.76

9070 0.96 720.6 2794 2095 832 704 5.6 6.1 786 9112 0.30 1.27 38.40 0.214 10659 0.081 0.061 2906 2842 498 518 478 0 0 0 0 0 0 14.28 14.10 13.81

9113 end climb: SURFACE_DEPTH_REACHED

state 9113 begin surface coast

9118 end surface coast: CONTROL_FINISHED_OK

state 9118 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	332	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	923.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,081525,7504.2778,-15106.4785,17,0.7,33,20.7,0.0,338.2,11,9.7	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	1.07	MHEAD_RNG_PITCHd_Wd	157.6,38124,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	140917,083055,7504.3125,-15106.4355,8,0.7,8,20.7,0.0,0.0,10,8.8

FINISH	0.0,1.021345	_24V_AH	12.24,203.423
SM_CCo	9200,0.00,0.000,0,0,497,703.52	_10V_AH	12.10,0.000
SM_GC	1.00,8.20,1.05,0.00,0.059,0.050,0.000,201,2218,497,-7.37,1.64,703.52,0,0,0,0,0,0,14.28,14.26,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323592
IRIDIUM_FIX	7504.86,-15115.38,140917,082007	DATA_FILE_SIZE	26659,791
TT8_MAMPS	0.038948,0.877828	CAP_FILE_SIZE	107560,0
HUMID	47.20	CFSIZE	2097872896,1993015296
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.4
XPDR_PINGS	12	CURRENT	0.099,100.35,1
CP_FREE	15930720256.000000	GPS	140917,110601,7503.028,-15105.733,29,0.8,34,20.7,0.6,22.8,11,6.5
PM_FREEKB_00	47237888

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	142.26	nil	0	0	0.00
Roll_motor	81	2142	2138.08	nil	0	0	0.00
VBD_pump_during_apogee	1013	1591	19747.01	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	1658.62
Iridium_during_xfer	588	190	1371.99	NCP	9102	20	2228.17
Transponder_ping	3	420	15.42	PMAR	9091	12	1342.85
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.71
TT8	0	0	0.00
LPSleep	6451	2	180.32
TT8_Active	910	13	153.86
TT8_Sampling	2421	33	979.69
TT8_CF8	353	38	165.34
TT8_Kalman	0	0	0.00
Analog_circuits	2414	10	292.14
GPS_charging	0	0	0.00
Compass	1133	7	95.97
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	189	2219	496	491	0.0	0.0	0	144	0.00	0.00	-91.22	0.000	16386	0.000	0.000	190	2218	2101	2024	2179	0	0	0	0	0	0	14.35	28.83	14.38
147	-0.57	-145.9	192	2220	2026	2181	3.7	-4.8	9	204	12.90	2.75	-37.22	0.000	18724	0.451	2.142	2376	3592	3963	3950	3976	1	0	0	0	0	0	13.32	12.57	13.97
376	-0.74	-145.9	2375	3594	3955	3975	45.9	-12.7	54	383	0.00	2.35	0.00	0.000	1158	0.000	0.057	2376	2236	3965	3954	3976	0	0	0	0	0	0	14.05	13.97	14.07
680	-0.87	-145.9	2376	2235	3957	3976	84.3	-10.0	85	685	0.20	2.53	0.00	0.000	4740	0.104	0.080	2293	794	3965	3955	3976	0	0	0	0	0	0	14.04	13.86	14.08
747	-0.95	-145.9	2293	794	3955	3977	93.2	-13.4	98	753	0.00	2.53	0.00	0.000	1158	0.000	0.087	2292	2189	3966	3960	3972	0	0	0	0	0	0	14.09	13.94	14.13
1072	-1.00	-145.9	2293	2192	3957	3978	138.4	-12.9	113	1077	0.12	2.53	0.00	0.000	4484	0.132	0.087	2236	3616	3966	3956	3976	0	0	0	0	0	0	14.23	14.09	14.27
1238	-1.05	-145.9	2244	3615	3955	3975	163.8	-14.8	146	1242	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2199	3965	3955	3976	0	0	0	0	0	0	14.30	14.16	14.34
1553	-1.03	-145.9	2236	2198	3957	3976	216.7	-16.5	159	1558	0.00	2.50	0.00	0.000	388	0.000	0.086	2227	3612	3965	3955	3976	0	0	0	0	0	0	14.58	14.06	14.60
1658	-1.07	-145.9	2228	3614	3956	3977	232.4	-14.1	180	1664	0.00	2.40	0.00	0.000	1158	0.000	0.057	2228	2202	3966	3956	3976	0	0	0	0	0	0	14.26	14.14	14.31
1975	-1.07	-145.9	2228	2200	3956	3977	280.6	-14.6	193	1979	0.00	2.50	0.00	0.000	260	0.000	0.088	2223	3614	3965	3955	3976	0	0	0	0	0	0	14.63	14.09	14.64
2102	-1.14	-145.9	2223	3616	3956	3977	296.6	-11.9	218	2106	0.00	2.42	0.00	0.000	1158	0.000	0.056	2223	2197	3966	3956	3976	0	0	0	0	0	0	14.21	14.09	14.26
2427	-1.16	-145.9	2223	2197	3956	3977	337.5	-12.3	233	2432	0.00	2.53	0.00	0.000	388	0.000	0.090	2222	3614	3965	3955	3976	0	0	0	0	0	0	14.62	14.04	14.64
2512	-1.26	-145.9	2223	3614	3957	3976	347.3	-10.7	250	2518	0.15	2.42	0.00	0.000	5254	0.119	0.057	2162	2193	3966	3956	3976	0	0	0	0	0	0	14.13	14.08	14.23
2817	-1.16	-145.9	2162	2192	3956	3976	400.3	-17.5	261	2822	0.17	2.53	0.00	0.000	2436	0.319	0.082	2184	3614	3965	3955	3976	0	0	0	0	0	0	13.66	14.02	13.88
2963	-1.20	-145.9	2189	3618	3955	3977	420.2	-12.6	290	2969	0.00	2.42	0.00	0.000	1158	0.000	0.056	2189	2195	3965	3957	3974	0	0	0	0	0	0	14.21	14.08	14.25
3268	-1.17	-145.9	2189	2195	3955	3976	462.7	-13.9	301	3273	0.00	2.53	0.00	0.000	388	0.000	0.086	2183	3620	3965	3954	3976	0	0	0	0	0	0	14.63	14.07	14.63
3363	-1.20	-145.9	2183	3621	3955	3977	475.7	-13.1	320	3369	0.00	2.42	0.00	0.000	1158	0.000	0.056	2183	2200	3964	3954	3974	0	0	0	0	0	0	14.17	14.03	14.24
3416	end dive: TARGET_DEPTH_EXCEEDED
state	3416	begin apogee
3423	-0.13	0.0	2184	2056	3955	3976	483.6	-14.3	326	3645	1.40	0.10	218.77	1.436	10246	0.239	0.159	2531	2120	3363	3375	3352	0	0	0	0	0	0	13.71	13.52	12.66
3649	end apogee: CONTROL_FINISHED_OK
state	3649	begin climb
3654	0.57	145.9	2532	2121	3372	3345	495.8	0.0	333	3918	0.73	2.67	211.20	1.381	10756	0.060	0.079	2781	737	2758	2787	2729	0	0	0	0	0	0	13.71	12.86	12.24
4148	0.17	145.9	2781	738	2786	2728	476.6	13.2	380	4154	0.68	2.40	0.00	0.000	5254	0.323	0.075	2639	2092	2755	2785	2725	0	0	0	0	0	0	13.48	13.90	13.88
4453	0.01	178.7	2640	2092	2786	2721	449.7	8.5	391	4507	0.20	2.50	45.65	1.457	12964	0.268	0.084	2591	726	2629	2672	2587	0	0	0	0	0	0	13.76	13.98	13.09
4555	0.04	232.1	2591	730	2672	2585	442.4	7.5	411	4640	0.00	2.42	78.50	1.393	9254	0.000	0.079	2591	2105	2418	2469	2367	0	0	0	0	0	0	14.18	14.06	12.97
4965	0.06	260.0	2591	2106	2460	2351	407.1	8.7	443	5008	0.00	0.00	41.05	1.434	8230	0.000	0.000	2591	2105	2304	2353	2256	0	0	0	0	0	0	14.54	13.99	13.14
5296	0.12	288.0	2592	2105	2341	2242	378.4	8.7	454	5342	0.00	2.53	41.45	1.418	8868	0.000	0.086	2591	727	2188	2234	2142	0	0	0	0	0	0	14.56	14.06	13.18
5379	0.26	322.4	2592	729	2233	2139	371.4	8.4	470	5437	0.22	2.40	52.72	1.369	11430	0.090	0.079	2679	2098	2049	2090	2009	0	0	0	0	0	0	14.13	14.04	13.07
5748	0.18	322.4	2679	2099	2081	1997	317.7	14.7	494	5754	0.15	2.42	0.00	0.000	4740	0.258	0.082	2651	724	2037	2080	1995	0	0	0	0	0	0	13.89	14.15	14.05
5794	0.18	322.4	2651	724	2079	1995	312.0	11.3	503	5799	0.00	2.40	0.00	0.000	1030	0.000	0.079	2651	2099	2035	2076	1995	0	0	0	0	0	0	14.31	14.18	14.36
6109	0.18	322.4	2651	2100	2078	1993	275.7	11.2	516	6110	0.00	0.00	0.00	0.000	6	0.000	0.000	2651	2099	2034	2077	1992	0	0	0	0	0	0	14.59	14.64	14.64
6409	0.18	330.5	2651	2100	2078	1991	245.7	9.6	526	6420	0.00	2.42	4.07	1.591	8740	0.000	0.086	2651	736	2019	2063	1975	0	0	0	0	0	0	14.66	14.23	13.24
6465	0.26	351.9	2651	737	2065	1978	240.5	9.0	537	6511	0.00	2.40	40.95	1.380	9382	0.000	0.078	2650	2106	1932	1970	1894	0	0	0	0	0	0	14.30	14.16	13.23
6833	0.32	383.2	2651	2106	1956	1884	207.9	8.6	560	6891	0.00	0.00	53.05	1.323	8358	0.000	0.000	2649	2105	1798	1821	1775	0	0	0	0	0	0	14.59	13.74	13.16
7191	0.42	422.1	2651	2107	1815	1767	178.0	8.2	572	7263	0.20	0.00	69.40	1.260	10406	0.099	0.000	2731	2106	1642	1665	1620	0	0	0	0	0	0	14.17	13.95	13.18
7551	0.38	422.1	2731	2107	1661	1604	131.4	13.0	584	7556	0.00	2.45	0.00	0.000	644	0.000	0.089	2733	721	1631	1660	1602	0	0	0	0	0	0	14.54	14.12	14.57
7661	0.38	422.1	2734	721	1657	1602	117.7	11.8	606	7667	0.00	2.40	0.00	0.000	1030	0.000	0.076	2733	2099	1629	1656	1602	0	0	0	0	0	0	14.24	14.14	14.25
7972	0.38	422.1	2734	2099	1657	1601	82.3	10.8	628	7977	0.00	2.42	0.00	0.000	516	0.000	0.086	2733	726	1628	1656	1600	0	0	0	0	0	0	14.58	14.14	14.59
8167	0.46	478.9	2734	727	1656	1601	65.6	7.4	667	8204	0.00	2.42	29.85	0.396	9382	0.000	0.077	2733	2110	1414	1448	1381	0	0	0	0	0	0	14.20	14.07	13.66
8502	0.62	584.2	2734	2105	1450	1377	44.4	5.1	704	8567	0.12	2.53	59.08	0.328	10916	0.125	0.087	2794	724	981	1043	919	0	0	0	0	0	0	14.19	14.02	13.69
8727	0.77	636.5	2794	724	1045	915	26.4	7.6	748	8765	0.00	2.40	29.75	0.278	9382	0.000	0.078	2794	2095	768	832	705	0	0	0	0	0	0	14.24	14.10	13.76
9070	0.96	720.6	2794	2095	832	704	5.6	6.1	786	9112	0.30	1.27	38.40	0.214	10659	0.081	0.061	2906	2842	498	518	478	0	0	0	0	0	0	14.28	14.10	13.81
9113	end climb: SURFACE_DEPTH_REACHED
state	9113	begin surface coast
9118	end surface coast: CONTROL_FINISHED_OK
state	9118	begin surface