Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 339 * 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 339 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 945.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 945.0 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 26 VBD_MIN 500

DIVE 339 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 150917,035156,7454.1157,-15100.9482,34,0.7,34,20.7,0.0,0.0,11,7.9 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 1.17 MHEAD_RNG_PITCHd_Wd 113.5,19743,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 150917,040711,7454.0693,-15101.0703,5,0.8,9,20.7,0.0,0.0,11,9.4

Post-dive calculations and measurements:

FINISH 0.3,1.013386 _24V_AH 12.24,206.889

SM_CCo 9125,34.85,0.209,0,0,501,702.78 _10V_AH 12.10,0.000

SM_GC 1.28,8.20,0.17,34.85,0.078,0.121,0.209,205,2214,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.26,14.26,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 419 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323532

IRIDIUM_FIX 7453.46,-15109.54,150917,035641 DATA_FILE_SIZE 23364,718

TT8_MAMPS 0.03745,1.29277 CAP_FILE_SIZE 102630,0

HUMID 47.48 CFSIZE 2097872896,1991049216

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 1446.5

XPDR_PINGS 9 CURRENT 0.089,250.48,1

CP_FREE 15927738368.000000 GPS 150917,064151,7452.855,-15100.076,34,0.8,35,20.7,0.0,0.0,10,7.7

PM_FREEKB_00 46934528

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 143.15 nil 0 0 0.00

Roll_motor 79 2150 2080.68 nil 0 0 0.00

VBD_pump_during_apogee 942 1434 16538.90 nil 0 0 0.00

VBD_pump_during_surface 34 208 89.09 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 9140 14 1660.54

Iridium_during_xfer 568 170 1186.61 NCP 9100 20 2227.68

Transponder_ping 2 420 11.57 PMAR 9079 12 1353.53

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.26

TT8 0 0 0.00

LPSleep 6436 2 179.90

TT8_Active 832 13 140.75

TT8_Sampling 2474 33 1001.15

TT8_CF8 346 38 162.29

TT8_Kalman 0 0 0.00

Analog_circuits 2452 10 296.74

GPS_charging 0 0 0.00

Compass 1030 7 87.27

RAFOS 1634 48 949.03

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 -145.9 197 2232 496 492 0.0 0.0 0 141 0.00 0.00 -88.32 0.000 16386 0.000 0.000 197 2233 2039 1961 2118 0 0 0 0 0 0 14.50 28.83 14.51

144 -0.57 -145.9 196 2233 1962 2120 3.6 -4.2 9 207 12.88 2.70 -41.62 0.000 18724 0.450 2.150 2377 3586 3965 3951 3979 0 0 0 0 0 0 13.45 12.58 13.90

367 -0.71 -145.9 2377 3587 3958 3979 43.9 -13.5 53 372 0.00 2.40 0.00 0.000 1158 0.000 0.057 2377 2195 3967 3956 3979 0 0 0 0 0 0 14.16 14.04 14.21

679 -0.84 -145.9 2377 2192 3961 3979 81.8 -9.6 85 684 0.20 2.50 0.00 0.000 4516 0.106 0.084 2293 3588 3969 3959 3979 0 0 0 0 0 0 14.08 13.89 14.12

782 -0.92 -145.9 2293 3590 3960 3979 94.8 -12.8 105 787 0.00 2.40 0.00 0.000 1158 0.000 0.057 2292 2200 3969 3959 3979 0 0 0 0 0 0 14.15 14.04 14.20

1092 -0.96 -145.9 2293 2199 3960 3979 137.3 -12.7 119 1097 0.00 2.50 0.00 0.000 388 0.000 0.086 2285 3592 3968 3959 3978 0 0 0 0 0 0 14.45 13.88 14.45

1197 -1.09 -145.9 2284 3592 3960 3979 149.5 -11.1 140 1203 0.17 2.40 0.00 0.000 5254 0.106 0.056 2222 2198 3969 3959 3979 0 0 0 0 0 0 14.02 13.95 14.11

1514 -1.03 -145.9 2223 2198 3960 3979 209.3 -19.0 153 1515 0.00 0.00 0.00 0.000 134 0.000 0.000 2223 2198 3969 3959 3979 0 0 0 0 0 0 14.40 14.41 14.43

1814 -0.99 -145.9 2223 2197 3960 3979 261.1 -16.5 163 1815 0.17 0.00 0.00 0.000 2182 0.275 0.000 2257 2196 3969 3959 3979 0 0 0 0 0 0 13.66 14.02 13.94

2114 -1.06 -145.9 2258 2197 3960 3979 294.9 -10.6 173 2119 0.00 2.50 0.00 0.000 388 0.000 0.089 2250 3592 3969 3959 3979 0 0 0 0 0 0 14.58 14.02 14.60

2169 -1.19 -145.9 2250 3593 3959 3980 300.4 -9.8 184 2176 0.17 2.38 0.00 0.000 5286 0.113 0.056 2182 2197 3968 3959 3977 0 0 0 0 0 0 13.98 14.08 14.07

2474 -1.12 -145.9 2182 2198 3959 3978 349.9 -16.2 195 2479 0.12 2.50 0.00 0.000 2436 0.294 0.084 2202 3600 3968 3959 3978 0 0 0 0 0 0 13.83 14.01 13.96

2545 -1.18 -145.9 2202 3601 3959 3979 359.9 -12.8 209 2549 0.00 2.38 0.00 0.000 1158 0.000 0.057 2201 2202 3969 3959 3979 0 0 0 0 0 0 14.28 14.14 14.32

2865 -1.18 -145.9 2202 2202 3959 3980 402.5 -13.3 223 2869 0.00 2.47 0.00 0.000 260 0.000 0.086 2197 3588 3968 3958 3979 0 0 0 0 0 0 14.66 13.30 14.68

2930 -1.23 -145.9 2197 3588 3959 3979 410.9 -12.3 236 2936 0.00 2.35 0.00 0.000 1158 0.000 0.057 2196 2198 3968 3958 3979 0 0 0 0 0 0 14.28 14.15 14.32

3256 -1.23 -145.9 2197 2198 3958 3980 454.6 -13.4 251 3261 0.00 2.50 0.00 0.000 260 0.000 0.086 2190 3595 3968 3958 3979 0 0 0 0 0 0 14.62 14.03 14.63

3336 -1.26 -145.9 2190 3596 3958 3979 465.1 -12.3 267 3341 0.00 2.38 0.00 0.000 1158 0.000 0.056 2190 2198 3968 3957 3979 0 0 0 0 0 0 14.23 14.11 14.27

3464 end dive: TARGET_DEPTH_EXCEEDED

state 3464 begin apogee

3470 -0.13 0.0 2191 2054 3958 3979 483.0 -13.9 273 3694 1.35 0.00 219.38 1.434 10246 0.235 0.000 2529 2052 3362 3374 3351 0 0 0 0 0 0 13.73 13.52 12.66

3697 end apogee: CONTROL_FINISHED_OK

state 3697 begin climb

3700 0.57 145.9 2530 2054 3371 3347 494.8 0.0 280 4095 0.75 2.08 210.48 1.379 11012 0.060 0.073 2784 3498 2754 2780 2728 0 0 0 0 0 0 13.69 13.12 12.24

4100 0.57 145.9 2785 3498 2778 2728 480.5 3.8 283 4105 0.00 2.40 0.00 0.000 1030 0.000 0.057 2793 2131 2753 2780 2727 0 0 0 0 0 0 13.82 13.72 13.89

4416 0.12 145.9 2793 2129 2781 2728 433.8 14.6 296 4421 0.73 2.53 0.00 0.000 4740 0.312 0.080 2638 687 2752 2779 2726 0 0 0 0 0 0 13.66 14.04 13.90

4632 0.01 187.1 2638 687 2781 2727 415.9 8.1 339 4698 0.22 2.45 59.22 1.410 13478 0.269 0.078 2590 2081 2599 2642 2556 0 0 0 0 0 0 13.78 14.07 13.12

5018 0.02 235.2 2591 2082 2640 2539 386.7 7.8 366 5092 0.00 0.00 72.15 1.378 8358 0.000 0.000 2590 2082 2406 2456 2356 0 0 0 0 0 0 14.57 13.93 13.11

5378 0.08 280.4 2591 2082 2446 2342 357.2 7.9 378 5450 0.00 0.00 70.07 1.352 8358 0.000 0.000 2590 2081 2220 2267 2174 0 0 0 0 0 0 14.57 13.94 13.12

5739 0.17 320.3 2592 2082 2259 2157 327.7 8.2 390 5804 0.15 2.50 60.45 1.346 10916 0.116 0.088 2655 684 2056 2098 2015 0 0 0 0 0 0 14.29 13.74 13.15

5834 0.17 320.3 2665 685 2089 2015 316.0 12.7 399 5839 0.00 2.50 0.00 0.000 1030 0.000 0.078 2659 2099 2051 2088 2014 0 0 0 0 0 0 14.14 14.03 14.15

6160 0.14 320.3 2660 2100 2090 2004 276.3 11.7 414 6165 0.12 2.50 0.00 0.000 4740 0.254 0.085 2630 690 2046 2088 2004 0 0 0 0 0 0 13.95 14.10 14.07

6257 0.25 353.5 2631 689 2087 2004 267.6 8.5 433 6316 0.00 2.47 51.83 1.336 9382 0.000 0.078 2630 2106 1923 1955 1892 0 0 0 0 0 0 14.31 14.19 13.21

6641 0.35 395.2 2631 2105 1946 1876 235.8 8.1 460 6717 0.17 2.58 66.93 1.294 10916 0.104 0.090 2706 694 1752 1772 1732 0 0 0 0 0 0 14.27 13.95 13.17

6842 0.35 395.2 2707 694 1765 1730 211.5 11.5 500 6847 0.00 2.47 0.00 0.000 1030 0.000 0.076 2706 2103 1747 1764 1730 0 0 0 0 0 0 14.23 14.12 14.28

7152 0.33 395.2 2706 2104 1764 1724 174.6 11.7 512 7157 0.00 2.50 0.00 0.000 644 0.000 0.088 2709 690 1743 1763 1724 0 0 0 0 0 0 14.59 14.15 14.61

7313 0.36 395.2 2710 690 1761 1725 157.1 10.5 544 7318 0.00 2.42 0.00 0.000 1158 0.000 0.076 2709 2099 1741 1759 1724 0 0 0 0 0 0 14.30 14.16 14.34

7633 0.36 395.2 2710 2100 1761 1721 121.9 10.5 558 7634 0.00 0.00 0.00 0.000 6 0.000 0.000 2709 2100 1740 1760 1721 0 0 0 0 0 0 14.61 14.62 14.63

7933 0.38 417.5 2710 2101 1761 1721 92.3 9.0 572 7949 0.00 2.47 11.45 0.475 8484 0.000 0.082 2715 3510 1660 1681 1640 0 0 0 0 0 0 14.59 13.90 13.54

8020 0.40 417.5 2710 3510 1681 1641 83.2 10.6 589 8027 0.00 2.42 0.00 0.000 1158 0.000 0.064 2709 2103 1660 1681 1640 0 0 0 0 0 0 14.09 13.97 14.14

8325 0.51 500.0 2710 2103 1681 1640 59.9 6.2 620 8377 0.12 2.53 44.03 0.376 10660 0.126 0.080 2772 3536 1322 1360 1284 0 0 0 0 0 0 14.26 13.94 13.70

8392 0.48 505.0 2780 3533 1367 1283 54.0 9.8 630 8403 0.20 2.47 2.92 0.368 13478 0.249 0.066 2737 2100 1302 1344 1261 0 0 0 0 0 0 13.86 14.12 13.57

8709 0.66 605.5 2738 2101 1355 1256 35.4 5.4 663 8768 0.15 2.58 53.50 0.301 10916 0.112 0.093 2802 691 893 957 830 0 0 0 0 0 0 14.21 14.00 13.70

8844 0.79 640.9 2803 692 959 828 24.3 8.4 689 8871 0.10 2.47 19.62 0.278 11430 0.151 0.078 2850 2100 752 815 689 0 0 0 0 0 0 14.07 14.04 13.72

9084 end climb: SURFACE_DEPTH_REACHED

state 9084 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	339	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	945.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,035156,7454.1157,-15100.9482,34,0.7,34,20.7,0.0,0.0,11,7.9	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	1.17	MHEAD_RNG_PITCHd_Wd	113.5,19743,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	150917,040711,7454.0693,-15101.0703,5,0.8,9,20.7,0.0,0.0,11,9.4

FINISH	0.3,1.013386	_24V_AH	12.24,206.889
SM_CCo	9125,34.85,0.209,0,0,501,702.78	_10V_AH	12.10,0.000
SM_GC	1.28,8.20,0.17,34.85,0.078,0.121,0.209,205,2214,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.26,14.26,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	419	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323532
IRIDIUM_FIX	7453.46,-15109.54,150917,035641	DATA_FILE_SIZE	23364,718
TT8_MAMPS	0.03745,1.29277	CAP_FILE_SIZE	102630,0
HUMID	47.48	CFSIZE	2097872896,1991049216
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	1446.5
XPDR_PINGS	9	CURRENT	0.089,250.48,1
CP_FREE	15927738368.000000	GPS	150917,064151,7452.855,-15100.076,34,0.8,35,20.7,0.0,0.0,10,7.7
PM_FREEKB_00	46934528

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	143.15	nil	0	0	0.00
Roll_motor	79	2150	2080.68	nil	0	0	0.00
VBD_pump_during_apogee	942	1434	16538.90	nil	0	0	0.00
VBD_pump_during_surface	34	208	89.09	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	9140	14	1660.54
Iridium_during_xfer	568	170	1186.61	NCP	9100	20	2227.68
Transponder_ping	2	420	11.57	PMAR	9079	12	1353.53
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.26
TT8	0	0	0.00
LPSleep	6436	2	179.90
TT8_Active	832	13	140.75
TT8_Sampling	2474	33	1001.15
TT8_CF8	346	38	162.29
TT8_Kalman	0	0	0.00
Analog_circuits	2452	10	296.74
GPS_charging	0	0	0.00
Compass	1030	7	87.27
RAFOS	1634	48	949.03
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	197	2232	496	492	0.0	0.0	0	141	0.00	0.00	-88.32	0.000	16386	0.000	0.000	197	2233	2039	1961	2118	0	0	0	0	0	0	14.50	28.83	14.51
144	-0.57	-145.9	196	2233	1962	2120	3.6	-4.2	9	207	12.88	2.70	-41.62	0.000	18724	0.450	2.150	2377	3586	3965	3951	3979	0	0	0	0	0	0	13.45	12.58	13.90
367	-0.71	-145.9	2377	3587	3958	3979	43.9	-13.5	53	372	0.00	2.40	0.00	0.000	1158	0.000	0.057	2377	2195	3967	3956	3979	0	0	0	0	0	0	14.16	14.04	14.21
679	-0.84	-145.9	2377	2192	3961	3979	81.8	-9.6	85	684	0.20	2.50	0.00	0.000	4516	0.106	0.084	2293	3588	3969	3959	3979	0	0	0	0	0	0	14.08	13.89	14.12
782	-0.92	-145.9	2293	3590	3960	3979	94.8	-12.8	105	787	0.00	2.40	0.00	0.000	1158	0.000	0.057	2292	2200	3969	3959	3979	0	0	0	0	0	0	14.15	14.04	14.20
1092	-0.96	-145.9	2293	2199	3960	3979	137.3	-12.7	119	1097	0.00	2.50	0.00	0.000	388	0.000	0.086	2285	3592	3968	3959	3978	0	0	0	0	0	0	14.45	13.88	14.45
1197	-1.09	-145.9	2284	3592	3960	3979	149.5	-11.1	140	1203	0.17	2.40	0.00	0.000	5254	0.106	0.056	2222	2198	3969	3959	3979	0	0	0	0	0	0	14.02	13.95	14.11
1514	-1.03	-145.9	2223	2198	3960	3979	209.3	-19.0	153	1515	0.00	0.00	0.00	0.000	134	0.000	0.000	2223	2198	3969	3959	3979	0	0	0	0	0	0	14.40	14.41	14.43
1814	-0.99	-145.9	2223	2197	3960	3979	261.1	-16.5	163	1815	0.17	0.00	0.00	0.000	2182	0.275	0.000	2257	2196	3969	3959	3979	0	0	0	0	0	0	13.66	14.02	13.94
2114	-1.06	-145.9	2258	2197	3960	3979	294.9	-10.6	173	2119	0.00	2.50	0.00	0.000	388	0.000	0.089	2250	3592	3969	3959	3979	0	0	0	0	0	0	14.58	14.02	14.60
2169	-1.19	-145.9	2250	3593	3959	3980	300.4	-9.8	184	2176	0.17	2.38	0.00	0.000	5286	0.113	0.056	2182	2197	3968	3959	3977	0	0	0	0	0	0	13.98	14.08	14.07
2474	-1.12	-145.9	2182	2198	3959	3978	349.9	-16.2	195	2479	0.12	2.50	0.00	0.000	2436	0.294	0.084	2202	3600	3968	3959	3978	0	0	0	0	0	0	13.83	14.01	13.96
2545	-1.18	-145.9	2202	3601	3959	3979	359.9	-12.8	209	2549	0.00	2.38	0.00	0.000	1158	0.000	0.057	2201	2202	3969	3959	3979	0	0	0	0	0	0	14.28	14.14	14.32
2865	-1.18	-145.9	2202	2202	3959	3980	402.5	-13.3	223	2869	0.00	2.47	0.00	0.000	260	0.000	0.086	2197	3588	3968	3958	3979	0	0	0	0	0	0	14.66	13.30	14.68
2930	-1.23	-145.9	2197	3588	3959	3979	410.9	-12.3	236	2936	0.00	2.35	0.00	0.000	1158	0.000	0.057	2196	2198	3968	3958	3979	0	0	0	0	0	0	14.28	14.15	14.32
3256	-1.23	-145.9	2197	2198	3958	3980	454.6	-13.4	251	3261	0.00	2.50	0.00	0.000	260	0.000	0.086	2190	3595	3968	3958	3979	0	0	0	0	0	0	14.62	14.03	14.63
3336	-1.26	-145.9	2190	3596	3958	3979	465.1	-12.3	267	3341	0.00	2.38	0.00	0.000	1158	0.000	0.056	2190	2198	3968	3957	3979	0	0	0	0	0	0	14.23	14.11	14.27
3464	end dive: TARGET_DEPTH_EXCEEDED
state	3464	begin apogee
3470	-0.13	0.0	2191	2054	3958	3979	483.0	-13.9	273	3694	1.35	0.00	219.38	1.434	10246	0.235	0.000	2529	2052	3362	3374	3351	0	0	0	0	0	0	13.73	13.52	12.66
3697	end apogee: CONTROL_FINISHED_OK
state	3697	begin climb
3700	0.57	145.9	2530	2054	3371	3347	494.8	0.0	280	4095	0.75	2.08	210.48	1.379	11012	0.060	0.073	2784	3498	2754	2780	2728	0	0	0	0	0	0	13.69	13.12	12.24
4100	0.57	145.9	2785	3498	2778	2728	480.5	3.8	283	4105	0.00	2.40	0.00	0.000	1030	0.000	0.057	2793	2131	2753	2780	2727	0	0	0	0	0	0	13.82	13.72	13.89
4416	0.12	145.9	2793	2129	2781	2728	433.8	14.6	296	4421	0.73	2.53	0.00	0.000	4740	0.312	0.080	2638	687	2752	2779	2726	0	0	0	0	0	0	13.66	14.04	13.90
4632	0.01	187.1	2638	687	2781	2727	415.9	8.1	339	4698	0.22	2.45	59.22	1.410	13478	0.269	0.078	2590	2081	2599	2642	2556	0	0	0	0	0	0	13.78	14.07	13.12
5018	0.02	235.2	2591	2082	2640	2539	386.7	7.8	366	5092	0.00	0.00	72.15	1.378	8358	0.000	0.000	2590	2082	2406	2456	2356	0	0	0	0	0	0	14.57	13.93	13.11
5378	0.08	280.4	2591	2082	2446	2342	357.2	7.9	378	5450	0.00	0.00	70.07	1.352	8358	0.000	0.000	2590	2081	2220	2267	2174	0	0	0	0	0	0	14.57	13.94	13.12
5739	0.17	320.3	2592	2082	2259	2157	327.7	8.2	390	5804	0.15	2.50	60.45	1.346	10916	0.116	0.088	2655	684	2056	2098	2015	0	0	0	0	0	0	14.29	13.74	13.15
5834	0.17	320.3	2665	685	2089	2015	316.0	12.7	399	5839	0.00	2.50	0.00	0.000	1030	0.000	0.078	2659	2099	2051	2088	2014	0	0	0	0	0	0	14.14	14.03	14.15
6160	0.14	320.3	2660	2100	2090	2004	276.3	11.7	414	6165	0.12	2.50	0.00	0.000	4740	0.254	0.085	2630	690	2046	2088	2004	0	0	0	0	0	0	13.95	14.10	14.07
6257	0.25	353.5	2631	689	2087	2004	267.6	8.5	433	6316	0.00	2.47	51.83	1.336	9382	0.000	0.078	2630	2106	1923	1955	1892	0	0	0	0	0	0	14.31	14.19	13.21
6641	0.35	395.2	2631	2105	1946	1876	235.8	8.1	460	6717	0.17	2.58	66.93	1.294	10916	0.104	0.090	2706	694	1752	1772	1732	0	0	0	0	0	0	14.27	13.95	13.17
6842	0.35	395.2	2707	694	1765	1730	211.5	11.5	500	6847	0.00	2.47	0.00	0.000	1030	0.000	0.076	2706	2103	1747	1764	1730	0	0	0	0	0	0	14.23	14.12	14.28
7152	0.33	395.2	2706	2104	1764	1724	174.6	11.7	512	7157	0.00	2.50	0.00	0.000	644	0.000	0.088	2709	690	1743	1763	1724	0	0	0	0	0	0	14.59	14.15	14.61
7313	0.36	395.2	2710	690	1761	1725	157.1	10.5	544	7318	0.00	2.42	0.00	0.000	1158	0.000	0.076	2709	2099	1741	1759	1724	0	0	0	0	0	0	14.30	14.16	14.34
7633	0.36	395.2	2710	2100	1761	1721	121.9	10.5	558	7634	0.00	0.00	0.00	0.000	6	0.000	0.000	2709	2100	1740	1760	1721	0	0	0	0	0	0	14.61	14.62	14.63
7933	0.38	417.5	2710	2101	1761	1721	92.3	9.0	572	7949	0.00	2.47	11.45	0.475	8484	0.000	0.082	2715	3510	1660	1681	1640	0	0	0	0	0	0	14.59	13.90	13.54
8020	0.40	417.5	2710	3510	1681	1641	83.2	10.6	589	8027	0.00	2.42	0.00	0.000	1158	0.000	0.064	2709	2103	1660	1681	1640	0	0	0	0	0	0	14.09	13.97	14.14
8325	0.51	500.0	2710	2103	1681	1640	59.9	6.2	620	8377	0.12	2.53	44.03	0.376	10660	0.126	0.080	2772	3536	1322	1360	1284	0	0	0	0	0	0	14.26	13.94	13.70
8392	0.48	505.0	2780	3533	1367	1283	54.0	9.8	630	8403	0.20	2.47	2.92	0.368	13478	0.249	0.066	2737	2100	1302	1344	1261	0	0	0	0	0	0	13.86	14.12	13.57
8709	0.66	605.5	2738	2101	1355	1256	35.4	5.4	663	8768	0.15	2.58	53.50	0.301	10916	0.112	0.093	2802	691	893	957	830	0	0	0	0	0	0	14.21	14.00	13.70
8844	0.79	640.9	2803	692	959	828	24.3	8.4	689	8871	0.10	2.47	19.62	0.278	11430	0.151	0.078	2850	2100	752	815	689	0	0	0	0	0	0	14.07	14.04	13.72
9084	end climb: SURFACE_DEPTH_REACHED
state	9084	begin surface coast
9104	end surface coast: CONTROL_FINISHED_OK
state	9104	begin surface