Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 334 * 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 334 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 929.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 929.0 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 25 VBD_MIN 500

DIVE 334 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 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 140917,135040,7501.6982,-15104.6729,16,0.7,19,20.7,0.0,0.0,11,9.7 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 161.0,33195,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 140917,140221,7501.6606,-15104.5449,41,0.8,42,20.7,0.4,181.7,10,7.2

Post-dive calculations and measurements:

FINISH 0.1,1.021338 _24V_AH 12.23,204.427

SM_CCo 9110,0.00,0.000,0,0,495,704.01 _10V_AH 12.11,0.000

SM_GC 1.24,8.48,0.17,0.00,0.084,0.125,0.000,204,2214,495,-7.37,-0.74,704.01,0,0,0,0,0,0,14.14,14.09,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 103 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323288

IRIDIUM_FIX 7504.67,-15056.72,140917,111044 DATA_FILE_SIZE 26692,754

TT8_MAMPS 0.085386,0.892059 CAP_FILE_SIZE 101414,0

HUMID 43.26 CFSIZE 2097872896,1992458240

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

TCM_TEMP 13.20 SOUNDSPEED 1446.4

XPDR_PINGS 10 CURRENT 0.112,103.41,1

CP_FREE 15929868288.000000 GPS 140917,163551,7500.327,-15104.041,16,0.7,21,20.7,0.0,240.0,12,8.9

PM_FREEKB_00 47142336

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 450 145.07 nil 0 0 0.00

Roll_motor 85 2152 2239.17 nil 0 0 0.00

VBD_pump_during_apogee 1029 1414 17815.53 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 9063 14 1631.57

Iridium_during_xfer 385 178 840.15 NCP 9015 20 2205.07

Transponder_ping 2 420 12.84 PMAR 9003 12 1331.74

GUMSTIX_24V 0 0 0.00

GPS 45 22 12.32

TT8 0 0 0.00

LPSleep 6079 2 170.07

TT8_Active 899 13 152.25

TT8_Sampling 2510 33 1016.67

TT8_CF8 331 38 155.45

TT8_Kalman 0 0 0.00

Analog_circuits 2502 10 303.03

GPS_charging 0 0 0.00

Compass 1080 7 91.63

RAFOS 2215 48 1287.54

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 -145.9 192 2225 499 497 0.0 0.0 0 144 0.00 0.00 -91.35 0.000 16386 0.000 0.000 190 2225 2128 2051 2205 0 0 0 0 0 0 14.48 28.83 14.50

148 -0.57 -145.9 191 2225 2055 2205 3.8 -5.3 9 205 12.85 2.75 -36.42 0.000 18724 0.451 2.153 2376 3585 3966 3954 3979 0 0 0 0 0 0 13.58 12.60 14.02

371 -0.70 -145.9 2376 3586 3959 3981 47.0 -12.9 53 375 0.00 2.38 0.00 0.000 1158 0.000 0.057 2376 2196 3969 3959 3980 0 0 0 0 0 0 14.14 14.02 14.18

683 -0.83 -145.9 2376 2196 3961 3981 84.7 -9.7 85 688 0.17 2.50 0.00 0.000 4772 0.111 0.081 2301 784 3970 3960 3980 0 0 0 0 0 0 14.02 14.04 14.07

718 -0.89 -145.9 2301 785 3961 3981 89.4 -13.7 92 725 0.00 2.50 0.00 0.000 1158 0.000 0.087 2298 2190 3970 3960 3980 0 0 0 0 0 0 14.16 14.04 14.21

1034 -0.95 -145.9 2299 2191 3961 3980 132.2 -13.0 108 1039 0.00 2.53 0.00 0.000 388 0.000 0.090 2294 3617 3970 3960 3980 0 0 0 0 0 0 14.63 14.04 14.64

1095 -1.11 -145.9 2294 3619 3961 3980 139.2 -10.4 120 1101 0.22 2.40 0.00 0.000 5254 0.094 0.057 2210 2199 3970 3960 3980 0 0 0 0 0 0 14.26 14.18 14.34

1426 -1.02 -145.9 2210 2199 3961 3981 205.8 -19.9 136 1432 0.15 2.50 0.00 0.000 2436 0.293 0.083 2236 3612 3969 3959 3979 0 0 0 0 0 0 13.74 14.04 13.91

1618 -1.08 -145.9 2236 3609 3961 3981 234.4 -14.0 174 1623 0.00 2.42 0.00 0.000 1158 0.000 0.057 2236 2194 3971 3962 3980 0 0 0 0 0 0 14.30 14.15 14.33

1938 -1.08 -145.9 2236 2192 3961 3983 281.2 -13.6 188 1944 0.00 2.53 0.00 0.000 260 0.000 0.089 2236 3614 3970 3960 3980 0 0 0 0 0 0 14.64 14.07 14.65

2081 -1.19 -145.9 2235 3615 3961 3981 298.1 -11.1 216 2087 0.12 2.40 0.00 0.000 5254 0.136 0.056 2183 2199 3970 3960 3980 0 0 0 0 0 0 14.16 14.14 14.28

2393 -1.12 -145.9 2183 2199 3960 3981 350.9 -16.8 228 2399 0.12 2.55 0.00 0.000 2436 0.291 0.084 2203 3614 3968 3960 3977 0 0 0 0 0 0 13.80 14.02 13.95

2480 -1.18 -145.9 2203 3615 3960 3981 362.6 -12.4 245 2486 0.00 2.42 0.00 0.000 1158 0.000 0.057 2203 2189 3970 3960 3980 0 0 0 0 0 0 14.23 14.10 14.27

2784 -1.18 -145.9 2203 2188 3961 3980 403.4 -13.3 256 2790 0.00 2.55 0.00 0.000 260 0.000 0.086 2197 3615 3969 3959 3980 0 0 0 0 0 0 14.66 13.95 14.68

2913 -1.24 -145.9 2194 3622 3960 3980 419.6 -12.4 281 2917 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2199 3969 3959 3980 0 0 0 0 0 0 14.29 14.16 14.33

3238 -1.24 -145.9 2196 2199 3958 3980 463.7 -13.5 296 3243 0.00 2.53 0.00 0.000 260 0.000 0.086 2190 3620 3969 3959 3980 0 0 0 0 0 0 14.66 14.07 14.67

3334 -1.28 -145.9 2189 3622 3959 3981 476.4 -12.6 315 3338 0.00 2.42 0.00 0.000 1158 0.000 0.056 2190 2190 3969 3959 3980 0 0 0 0 0 0 14.21 14.09 14.26

3386 end dive: TARGET_DEPTH_EXCEEDED

state 3386 begin apogee

3393 -0.13 0.0 2190 2060 3958 3981 483.9 -13.9 321 3631 1.35 0.08 231.43 1.407 10246 0.235 0.181 2530 2113 3359 3374 3345 0 0 0 0 0 0 13.76 13.43 12.64

3635 end apogee: CONTROL_FINISHED_OK

state 3635 begin climb

3637 0.57 145.9 2531 2113 3372 3339 498.0 0.0 329 4196 0.75 0.00 211.18 1.369 10758 0.060 0.000 2785 2113 2751 2783 2719 0 0 0 0 0 0 13.70 13.17 12.23

4521 0.13 145.9 2785 2114 2784 2719 419.4 13.6 345 4526 0.70 2.42 0.00 0.000 4740 0.323 0.079 2638 726 2750 2782 2718 0 0 0 0 0 0 13.67 14.07 13.93

4567 0.02 174.1 2638 725 2784 2719 415.0 8.7 354 4613 0.22 2.38 39.72 1.414 13478 0.270 0.079 2590 2093 2653 2692 2615 0 0 0 0 0 0 13.83 14.17 13.16

4914 0.03 227.2 2591 2092 2687 2598 389.3 7.5 373 5004 0.00 2.50 84.45 1.343 8868 0.000 0.084 2590 733 2439 2491 2387 0 0 0 0 0 0 14.55 13.92 13.08

5054 0.13 268.2 2590 734 2476 2377 378.1 8.1 401 5125 0.00 2.42 64.28 1.328 9382 0.000 0.078 2590 2098 2268 2319 2218 0 0 0 0 0 0 14.17 14.02 13.00

5424 0.21 310.8 2590 2099 2307 2199 347.2 8.0 425 5495 0.17 0.00 68.55 1.304 10406 0.107 0.000 2668 2098 2095 2140 2051 0 0 0 0 0 0 14.28 13.94 13.13

5784 0.15 310.8 2669 2098 2126 2032 300.8 13.0 437 5789 0.12 2.42 0.00 0.000 4740 0.262 0.083 2644 724 2079 2128 2031 0 0 0 0 0 0 13.95 14.12 14.07

5820 0.18 310.8 2644 725 2123 2032 296.8 10.7 444 5826 0.00 2.40 0.00 0.000 1158 0.000 0.077 2644 2104 2076 2122 2031 0 0 0 0 0 0 14.31 14.18 14.39

6146 0.18 317.3 2643 2103 2124 2029 263.3 9.7 459 6147 0.00 0.00 0.00 0.000 38 0.000 0.000 2644 2104 2075 2121 2029 0 0 0 0 0 0 14.66 14.66 14.66

6446 0.21 355.9 2645 2105 2122 2026 237.9 8.2 469 6530 0.00 2.58 76.22 1.274 8484 0.000 0.083 2644 3517 1907 1941 1874 0 0 0 0 0 0 14.65 13.93 13.19

6566 0.26 359.5 2644 3516 1928 1874 227.4 9.8 483 6571 0.00 2.38 0.00 0.000 1190 0.000 0.065 2644 2139 1900 1927 1873 0 0 0 0 0 0 14.17 14.05 14.20

6897 0.36 406.2 2647 2137 1927 1864 200.3 7.8 499 6995 0.12 2.65 89.20 1.226 10916 0.120 0.091 2701 695 1705 1727 1684 0 0 0 0 0 0 14.30 13.69 13.12

7035 0.41 406.2 2700 698 1715 1679 185.7 10.4 524 7041 0.00 2.50 0.00 0.000 1158 0.000 0.077 2700 2099 1696 1715 1678 0 0 0 0 0 0 14.07 13.95 14.09

7361 0.41 406.2 2699 2100 1715 1669 150.1 11.0 539 7366 0.00 2.50 0.00 0.000 516 0.000 0.090 2698 693 1691 1715 1668 0 0 0 0 0 0 14.41 14.04 14.42

7401 0.47 406.2 2699 693 1714 1669 145.9 10.4 547 7406 0.00 2.50 0.00 0.000 1158 0.000 0.077 2700 2106 1690 1713 1668 0 0 0 0 0 0 14.16 14.03 14.21

7722 0.49 406.2 2700 2108 1714 1667 112.5 10.2 561 7727 0.12 2.50 0.00 0.000 2692 0.130 0.086 2768 693 1689 1713 1666 0 0 0 0 0 0 14.15 14.02 14.19

7824 0.43 406.2 2768 693 1711 1667 99.2 13.4 581 7829 0.20 2.53 0.00 0.000 5254 0.243 0.078 2724 2109 1688 1711 1666 0 0 0 0 0 0 13.83 14.05 14.12

8135 0.45 436.2 2724 2112 1711 1665 68.5 8.6 614 8157 0.00 2.60 14.40 0.390 8740 0.000 0.086 2727 691 1585 1611 1560 0 0 0 0 0 0 14.42 13.95 13.59

8382 0.59 534.3 2727 692 1620 1570 51.6 5.5 663 8441 0.15 2.50 54.10 0.349 11430 0.111 0.077 2787 2104 1191 1252 1131 0 0 0 0 0 0 13.97 14.00 13.65

8737 0.71 638.9 2785 2105 1244 1136 24.5 5.2 704 8800 0.00 2.60 58.00 0.269 8868 0.000 0.086 2792 689 758 823 693 0 0 0 0 0 0 14.34 13.93 13.66

8911 0.94 715.3 2792 689 825 696 14.4 6.5 738 8954 0.28 2.50 38.33 0.243 11430 0.083 0.076 2893 2098 501 524 479 0 0 0 0 0 0 14.04 13.90 13.77

9018 end climb: SURFACE_DEPTH_REACHED

state 9018 begin surface coast

9028 end surface coast: CONTROL_FINISHED_OK

state 9028 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	334	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	929.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,135040,7501.6982,-15104.6729,16,0.7,19,20.7,0.0,0.0,11,9.7	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	161.0,33195,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	140917,140221,7501.6606,-15104.5449,41,0.8,42,20.7,0.4,181.7,10,7.2

FINISH	0.1,1.021338	_24V_AH	12.23,204.427
SM_CCo	9110,0.00,0.000,0,0,495,704.01	_10V_AH	12.11,0.000
SM_GC	1.24,8.48,0.17,0.00,0.084,0.125,0.000,204,2214,495,-7.37,-0.74,704.01,0,0,0,0,0,0,14.14,14.09,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	103	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323288
IRIDIUM_FIX	7504.67,-15056.72,140917,111044	DATA_FILE_SIZE	26692,754
TT8_MAMPS	0.085386,0.892059	CAP_FILE_SIZE	101414,0
HUMID	43.26	CFSIZE	2097872896,1992458240
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1446.4
XPDR_PINGS	10	CURRENT	0.112,103.41,1
CP_FREE	15929868288.000000	GPS	140917,163551,7500.327,-15104.041,16,0.7,21,20.7,0.0,240.0,12,8.9
PM_FREEKB_00	47142336

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	450	145.07	nil	0	0	0.00
Roll_motor	85	2152	2239.17	nil	0	0	0.00
VBD_pump_during_apogee	1029	1414	17815.53	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	9063	14	1631.57
Iridium_during_xfer	385	178	840.15	NCP	9015	20	2205.07
Transponder_ping	2	420	12.84	PMAR	9003	12	1331.74
GUMSTIX_24V	0	0	0.00
GPS	45	22	12.32
TT8	0	0	0.00
LPSleep	6079	2	170.07
TT8_Active	899	13	152.25
TT8_Sampling	2510	33	1016.67
TT8_CF8	331	38	155.45
TT8_Kalman	0	0	0.00
Analog_circuits	2502	10	303.03
GPS_charging	0	0	0.00
Compass	1080	7	91.63
RAFOS	2215	48	1287.54
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	192	2225	499	497	0.0	0.0	0	144	0.00	0.00	-91.35	0.000	16386	0.000	0.000	190	2225	2128	2051	2205	0	0	0	0	0	0	14.48	28.83	14.50
148	-0.57	-145.9	191	2225	2055	2205	3.8	-5.3	9	205	12.85	2.75	-36.42	0.000	18724	0.451	2.153	2376	3585	3966	3954	3979	0	0	0	0	0	0	13.58	12.60	14.02
371	-0.70	-145.9	2376	3586	3959	3981	47.0	-12.9	53	375	0.00	2.38	0.00	0.000	1158	0.000	0.057	2376	2196	3969	3959	3980	0	0	0	0	0	0	14.14	14.02	14.18
683	-0.83	-145.9	2376	2196	3961	3981	84.7	-9.7	85	688	0.17	2.50	0.00	0.000	4772	0.111	0.081	2301	784	3970	3960	3980	0	0	0	0	0	0	14.02	14.04	14.07
718	-0.89	-145.9	2301	785	3961	3981	89.4	-13.7	92	725	0.00	2.50	0.00	0.000	1158	0.000	0.087	2298	2190	3970	3960	3980	0	0	0	0	0	0	14.16	14.04	14.21
1034	-0.95	-145.9	2299	2191	3961	3980	132.2	-13.0	108	1039	0.00	2.53	0.00	0.000	388	0.000	0.090	2294	3617	3970	3960	3980	0	0	0	0	0	0	14.63	14.04	14.64
1095	-1.11	-145.9	2294	3619	3961	3980	139.2	-10.4	120	1101	0.22	2.40	0.00	0.000	5254	0.094	0.057	2210	2199	3970	3960	3980	0	0	0	0	0	0	14.26	14.18	14.34
1426	-1.02	-145.9	2210	2199	3961	3981	205.8	-19.9	136	1432	0.15	2.50	0.00	0.000	2436	0.293	0.083	2236	3612	3969	3959	3979	0	0	0	0	0	0	13.74	14.04	13.91
1618	-1.08	-145.9	2236	3609	3961	3981	234.4	-14.0	174	1623	0.00	2.42	0.00	0.000	1158	0.000	0.057	2236	2194	3971	3962	3980	0	0	0	0	0	0	14.30	14.15	14.33
1938	-1.08	-145.9	2236	2192	3961	3983	281.2	-13.6	188	1944	0.00	2.53	0.00	0.000	260	0.000	0.089	2236	3614	3970	3960	3980	0	0	0	0	0	0	14.64	14.07	14.65
2081	-1.19	-145.9	2235	3615	3961	3981	298.1	-11.1	216	2087	0.12	2.40	0.00	0.000	5254	0.136	0.056	2183	2199	3970	3960	3980	0	0	0	0	0	0	14.16	14.14	14.28
2393	-1.12	-145.9	2183	2199	3960	3981	350.9	-16.8	228	2399	0.12	2.55	0.00	0.000	2436	0.291	0.084	2203	3614	3968	3960	3977	0	0	0	0	0	0	13.80	14.02	13.95
2480	-1.18	-145.9	2203	3615	3960	3981	362.6	-12.4	245	2486	0.00	2.42	0.00	0.000	1158	0.000	0.057	2203	2189	3970	3960	3980	0	0	0	0	0	0	14.23	14.10	14.27
2784	-1.18	-145.9	2203	2188	3961	3980	403.4	-13.3	256	2790	0.00	2.55	0.00	0.000	260	0.000	0.086	2197	3615	3969	3959	3980	0	0	0	0	0	0	14.66	13.95	14.68
2913	-1.24	-145.9	2194	3622	3960	3980	419.6	-12.4	281	2917	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2199	3969	3959	3980	0	0	0	0	0	0	14.29	14.16	14.33
3238	-1.24	-145.9	2196	2199	3958	3980	463.7	-13.5	296	3243	0.00	2.53	0.00	0.000	260	0.000	0.086	2190	3620	3969	3959	3980	0	0	0	0	0	0	14.66	14.07	14.67
3334	-1.28	-145.9	2189	3622	3959	3981	476.4	-12.6	315	3338	0.00	2.42	0.00	0.000	1158	0.000	0.056	2190	2190	3969	3959	3980	0	0	0	0	0	0	14.21	14.09	14.26
3386	end dive: TARGET_DEPTH_EXCEEDED
state	3386	begin apogee
3393	-0.13	0.0	2190	2060	3958	3981	483.9	-13.9	321	3631	1.35	0.08	231.43	1.407	10246	0.235	0.181	2530	2113	3359	3374	3345	0	0	0	0	0	0	13.76	13.43	12.64
3635	end apogee: CONTROL_FINISHED_OK
state	3635	begin climb
3637	0.57	145.9	2531	2113	3372	3339	498.0	0.0	329	4196	0.75	0.00	211.18	1.369	10758	0.060	0.000	2785	2113	2751	2783	2719	0	0	0	0	0	0	13.70	13.17	12.23
4521	0.13	145.9	2785	2114	2784	2719	419.4	13.6	345	4526	0.70	2.42	0.00	0.000	4740	0.323	0.079	2638	726	2750	2782	2718	0	0	0	0	0	0	13.67	14.07	13.93
4567	0.02	174.1	2638	725	2784	2719	415.0	8.7	354	4613	0.22	2.38	39.72	1.414	13478	0.270	0.079	2590	2093	2653	2692	2615	0	0	0	0	0	0	13.83	14.17	13.16
4914	0.03	227.2	2591	2092	2687	2598	389.3	7.5	373	5004	0.00	2.50	84.45	1.343	8868	0.000	0.084	2590	733	2439	2491	2387	0	0	0	0	0	0	14.55	13.92	13.08
5054	0.13	268.2	2590	734	2476	2377	378.1	8.1	401	5125	0.00	2.42	64.28	1.328	9382	0.000	0.078	2590	2098	2268	2319	2218	0	0	0	0	0	0	14.17	14.02	13.00
5424	0.21	310.8	2590	2099	2307	2199	347.2	8.0	425	5495	0.17	0.00	68.55	1.304	10406	0.107	0.000	2668	2098	2095	2140	2051	0	0	0	0	0	0	14.28	13.94	13.13
5784	0.15	310.8	2669	2098	2126	2032	300.8	13.0	437	5789	0.12	2.42	0.00	0.000	4740	0.262	0.083	2644	724	2079	2128	2031	0	0	0	0	0	0	13.95	14.12	14.07
5820	0.18	310.8	2644	725	2123	2032	296.8	10.7	444	5826	0.00	2.40	0.00	0.000	1158	0.000	0.077	2644	2104	2076	2122	2031	0	0	0	0	0	0	14.31	14.18	14.39
6146	0.18	317.3	2643	2103	2124	2029	263.3	9.7	459	6147	0.00	0.00	0.00	0.000	38	0.000	0.000	2644	2104	2075	2121	2029	0	0	0	0	0	0	14.66	14.66	14.66
6446	0.21	355.9	2645	2105	2122	2026	237.9	8.2	469	6530	0.00	2.58	76.22	1.274	8484	0.000	0.083	2644	3517	1907	1941	1874	0	0	0	0	0	0	14.65	13.93	13.19
6566	0.26	359.5	2644	3516	1928	1874	227.4	9.8	483	6571	0.00	2.38	0.00	0.000	1190	0.000	0.065	2644	2139	1900	1927	1873	0	0	0	0	0	0	14.17	14.05	14.20
6897	0.36	406.2	2647	2137	1927	1864	200.3	7.8	499	6995	0.12	2.65	89.20	1.226	10916	0.120	0.091	2701	695	1705	1727	1684	0	0	0	0	0	0	14.30	13.69	13.12
7035	0.41	406.2	2700	698	1715	1679	185.7	10.4	524	7041	0.00	2.50	0.00	0.000	1158	0.000	0.077	2700	2099	1696	1715	1678	0	0	0	0	0	0	14.07	13.95	14.09
7361	0.41	406.2	2699	2100	1715	1669	150.1	11.0	539	7366	0.00	2.50	0.00	0.000	516	0.000	0.090	2698	693	1691	1715	1668	0	0	0	0	0	0	14.41	14.04	14.42
7401	0.47	406.2	2699	693	1714	1669	145.9	10.4	547	7406	0.00	2.50	0.00	0.000	1158	0.000	0.077	2700	2106	1690	1713	1668	0	0	0	0	0	0	14.16	14.03	14.21
7722	0.49	406.2	2700	2108	1714	1667	112.5	10.2	561	7727	0.12	2.50	0.00	0.000	2692	0.130	0.086	2768	693	1689	1713	1666	0	0	0	0	0	0	14.15	14.02	14.19
7824	0.43	406.2	2768	693	1711	1667	99.2	13.4	581	7829	0.20	2.53	0.00	0.000	5254	0.243	0.078	2724	2109	1688	1711	1666	0	0	0	0	0	0	13.83	14.05	14.12
8135	0.45	436.2	2724	2112	1711	1665	68.5	8.6	614	8157	0.00	2.60	14.40	0.390	8740	0.000	0.086	2727	691	1585	1611	1560	0	0	0	0	0	0	14.42	13.95	13.59
8382	0.59	534.3	2727	692	1620	1570	51.6	5.5	663	8441	0.15	2.50	54.10	0.349	11430	0.111	0.077	2787	2104	1191	1252	1131	0	0	0	0	0	0	13.97	14.00	13.65
8737	0.71	638.9	2785	2105	1244	1136	24.5	5.2	704	8800	0.00	2.60	58.00	0.269	8868	0.000	0.086	2792	689	758	823	693	0	0	0	0	0	0	14.34	13.93	13.66
8911	0.94	715.3	2792	689	825	696	14.4	6.5	738	8954	0.28	2.50	38.33	0.243	11430	0.083	0.076	2893	2098	501	524	479	0	0	0	0	0	0	14.04	13.90	13.77
9018	end climb: SURFACE_DEPTH_REACHED
state	9018	begin surface coast
9028	end surface coast: CONTROL_FINISHED_OK
state	9028	begin surface