Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 340 * 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 340 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 948.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 948.0 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 24 VBD_MIN 500

DIVE 340 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 150917,064151,7452.8555,-15100.0762,34,0.8,35,20.7,0.0,0.0,10,7.7 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 1.17 MHEAD_RNG_PITCHd_Wd 106.4,17642,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 150917,065226,7452.8701,-15100.2305,7,0.9,10,20.7,0.0,0.0,8,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.021302 _24V_AH 12.22,207.389

SM_CCo 9114,0.38,0.379,0,0,501,702.78 _10V_AH 12.10,0.000

SM_GC 1.62,8.20,0.17,0.38,0.068,0.106,0.379,200,2236,501,-7.38,-0.48,702.78,0,0,0,0,0,0,14.28,14.31,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323564

IRIDIUM_FIX 7454.27,-15058.33,150917,040202 DATA_FILE_SIZE 26705,747

TT8_MAMPS 0.038948,0.942991 CAP_FILE_SIZE 103799,0

HUMID 46.61 CFSIZE 2097872896,1990787072

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

TCM_TEMP 13.20 SOUNDSPEED 1447.3

XPDR_PINGS 9 CURRENT 0.049,279.96,1

CP_FREE 0.000000 GPS 150917,092602,7451.911,-15058.153,26,0.8,26,20.7,0.5,68.7,10,8.2

PM_FREEKB_00 46891392

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 141.06 nil 0 0 0.00

Roll_motor 80 2152 2112.38 nil 0 0 0.00

VBD_pump_during_apogee 1012 1503 18600.40 nil 0 0 0.00

VBD_pump_during_surface 0 378 1.74 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 9080 14 1605.45

Iridium_during_xfer 351 181 778.82 NCP 9079 20 2218.91

Transponder_ping 2 420 11.55 PMAR 9068 12 1369.96

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.97

TT8 0 0 0.00

LPSleep 6335 2 177.10

TT8_Active 894 13 151.14

TT8_Sampling 2186 33 884.58

TT8_CF8 342 38 160.34

TT8_Kalman 0 0 0.00

Analog_circuits 2157 10 261.03

GPS_charging 0 0 0.00

Compass 1071 7 90.74

RAFOS 2219 48 1288.80

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 -145.9 204 2216 493 493 0.0 0.0 0 144 0.00 0.00 -91.60 0.000 16386 0.000 0.000 202 2216 2142 2069 2216 0 0 0 0 0 0 14.48 28.83 14.51

148 -0.57 -145.9 204 2217 2073 2218 3.9 -5.1 9 201 12.82 2.80 -35.58 0.000 18724 0.451 2.153 2374 3594 3964 3949 3979 0 0 0 0 0 0 13.50 12.59 14.02

362 -0.73 -145.9 2375 3594 3955 3980 45.1 -12.7 51 367 0.10 2.40 0.00 0.000 5254 0.145 0.057 2334 2193 3966 3954 3979 0 0 0 0 0 0 14.13 14.12 14.25

672 -0.79 -145.9 2335 2194 3956 3981 92.4 -12.8 83 677 0.00 2.53 0.00 0.000 388 0.000 0.086 2333 3599 3967 3955 3979 0 0 0 0 0 0 14.57 13.97 14.59

743 -0.98 -145.9 2333 3600 3956 3979 100.2 -9.8 97 749 0.15 2.42 0.00 0.000 5286 0.070 0.055 2248 2202 3967 3955 3979 0 0 0 0 0 0 14.20 14.11 14.26

1064 -0.95 -145.9 2248 2202 3955 3980 157.2 -17.3 111 1069 0.00 2.50 0.00 0.000 388 0.000 0.086 2240 3603 3967 3955 3979 0 0 0 0 0 0 14.64 14.08 14.64

1229 -1.01 -145.9 2240 3602 3955 3980 181.8 -14.1 144 1235 0.00 2.40 0.00 0.000 1158 0.000 0.059 2240 2197 3967 3955 3979 0 0 0 0 0 0 14.28 14.14 14.33

1545 -1.01 -145.9 2240 2197 3956 3980 232.8 -15.8 157 1546 0.00 0.00 0.00 0.000 6 0.000 0.000 2240 2196 3967 3955 3979 0 0 0 0 0 0 14.62 14.63 14.64

1845 -1.01 -145.9 2240 2196 3957 3979 274.9 -13.5 167 1846 0.00 0.00 0.00 0.000 6 0.000 0.000 2239 2196 3967 3955 3979 0 0 0 0 0 0 14.66 14.67 14.66

2146 -1.05 -145.9 2240 2197 3956 3980 311.2 -11.5 177 2150 0.00 2.50 0.00 0.000 388 0.000 0.090 2236 3601 3967 3955 3979 0 0 0 0 0 0 14.65 14.06 14.66

2191 -1.16 -145.9 2237 3602 3957 3979 316.1 -10.3 186 2196 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2189 3967 3955 3979 0 0 0 0 0 0 14.31 14.14 14.32

2506 -1.22 -145.9 2236 2190 3956 3980 349.4 -10.3 199 2511 0.12 2.50 0.00 0.000 4484 0.147 0.085 2170 3599 3967 3955 3979 0 0 0 0 0 0 14.26 14.07 14.27

2609 -1.20 -145.9 2170 3600 3957 3980 363.9 -14.5 219 2614 0.00 2.40 0.00 0.000 1158 0.000 0.057 2170 2193 3966 3953 3979 0 0 0 0 0 0 14.28 14.15 14.31

2929 -1.13 -145.9 2170 2192 3955 3980 415.9 -16.2 233 2935 0.17 2.50 0.00 0.000 2436 0.308 0.083 2200 3603 3966 3954 3979 0 0 0 0 0 0 13.72 14.07 13.93

3080 -1.19 -145.9 2200 3605 3955 3980 434.8 -11.8 263 3085 0.00 2.40 0.00 0.000 1158 0.000 0.056 2199 2196 3968 3957 3979 0 0 0 0 0 0 14.26 14.14 14.30

3410 -1.19 -145.9 2199 2196 3953 3980 478.3 -13.2 279 3415 0.00 2.47 0.00 0.000 260 0.000 0.086 2191 3595 3966 3954 3979 0 0 0 0 0 0 14.64 14.06 14.65

3423 end dive: TARGET_DEPTH_EXCEEDED

state 3423 begin apogee

3431 -0.13 0.0 2192 2101 3954 3980 480.3 -13.1 282 3667 1.38 0.00 226.75 1.413 10246 0.238 0.000 2533 2099 3357 3375 3339 0 0 0 0 0 0 13.68 13.52 12.65

3670 end apogee: CONTROL_FINISHED_OK

state 3670 begin climb

3673 0.57 145.9 2534 2099 3374 3338 494.6 0.0 290 3937 0.73 2.72 209.82 1.369 10756 0.060 0.080 2781 693 2757 2791 2723 0 0 0 0 0 0 13.71 12.85 12.22

4132 0.17 145.9 2781 693 2788 2722 475.5 13.9 327 4138 0.65 2.50 0.00 0.000 5254 0.321 0.075 2646 2089 2753 2787 2720 0 0 0 0 0 0 13.39 13.78 13.78

4458 0.01 168.8 2646 2090 2788 2715 445.7 8.9 342 4490 0.22 0.00 30.02 1.489 12966 0.272 0.000 2591 2090 2677 2718 2636 0 0 0 0 0 0 13.64 13.97 13.12

4790 0.00 220.0 2592 2097 2709 2619 420.8 7.6 358 4879 0.00 2.58 78.90 1.380 8868 0.000 0.084 2597 693 2460 2515 2406 0 0 0 0 0 0 14.40 13.84 13.03

4914 0.06 250.8 2601 693 2510 2409 410.5 8.6 383 4971 0.00 2.53 46.35 1.397 9382 0.000 0.078 2604 2098 2335 2388 2283 0 0 0 0 0 0 13.87 13.39 12.95

5271 0.07 267.5 2600 2100 2378 2272 377.5 9.2 404 5299 0.00 0.00 21.65 1.491 8230 0.000 0.000 2600 2099 2268 2320 2216 0 0 0 0 0 0 14.39 14.00 13.16

5600 0.12 282.6 2597 2100 2313 2208 346.5 9.3 415 5624 0.00 2.50 18.80 1.503 8868 0.000 0.086 2602 691 2210 2260 2161 0 0 0 0 0 0 14.45 14.10 13.19

5675 0.22 304.4 2602 692 2255 2161 339.7 9.0 430 5715 0.15 2.47 34.05 1.421 11430 0.112 0.079 2670 2104 2121 2168 2075 0 0 0 0 0 0 14.16 14.09 13.14

6023 0.16 304.4 2670 2105 2158 2064 292.0 13.8 449 6024 0.15 0.00 0.00 0.000 4230 0.249 0.000 2638 2105 2112 2161 2064 0 0 0 0 0 0 13.29 13.45 13.43

6321 0.16 309.5 2640 2104 2162 2062 261.2 9.8 459 6326 0.00 2.53 0.00 0.000 548 0.000 0.086 2644 691 2111 2160 2062 0 0 0 0 0 0 14.47 14.04 14.49

6462 0.24 343.9 2644 692 2158 2062 248.9 8.4 487 6533 0.00 2.45 62.53 1.323 9382 0.000 0.078 2641 2101 1960 2004 1916 0 0 0 0 0 0 13.97 13.43 13.14

6832 0.31 379.2 2645 2100 2000 1904 216.8 8.4 511 6898 0.12 2.58 57.83 1.301 10916 0.125 0.088 2706 693 1813 1841 1786 0 0 0 0 0 0 14.28 13.95 13.16

6993 0.31 379.2 2707 694 1833 1789 197.9 11.6 543 6998 0.00 2.47 0.00 0.000 1030 0.000 0.077 2706 2107 1810 1831 1789 0 0 0 0 0 0 14.10 13.98 14.14

7314 0.28 379.2 2707 2107 1832 1782 159.6 11.7 557 7320 0.12 2.53 0.00 0.000 4740 0.233 0.086 2675 684 1806 1831 1781 0 0 0 0 0 0 14.02 13.92 14.15

7391 0.40 412.7 2675 687 1829 1782 152.7 8.5 572 7455 0.12 2.47 57.33 1.279 11430 0.132 0.077 2728 2101 1678 1699 1657 0 0 0 0 0 0 14.24 14.19 13.22

7766 0.38 412.7 2728 2102 1698 1645 106.8 11.7 597 7771 0.00 2.50 0.00 0.000 644 0.000 0.088 2729 687 1669 1696 1643 0 0 0 0 0 0 14.56 14.13 14.58

7786 0.38 412.7 2729 688 1696 1644 104.2 12.7 601 7792 0.00 2.50 0.00 0.000 1030 0.000 0.077 2729 2102 1669 1695 1643 0 0 0 0 0 0 14.30 14.16 14.35

8098 0.40 448.9 2730 2103 1696 1642 72.9 8.3 631 8124 0.00 2.53 18.95 0.416 8484 0.000 0.081 2729 3505 1535 1564 1506 0 0 0 0 0 0 14.56 14.10 13.63

8155 0.42 473.5 2729 3507 1561 1507 68.1 8.9 641 8176 0.00 2.42 14.60 0.401 9254 0.000 0.065 2734 2101 1435 1474 1397 0 0 0 0 0 0 14.23 14.12 13.64

8482 0.59 594.4 2733 2102 1466 1393 46.5 4.4 676 8557 0.12 2.53 66.60 0.334 10916 0.124 0.089 2794 691 939 1006 872 0 0 0 0 0 0 14.20 13.88 13.65

8617 0.71 618.5 2794 690 1007 869 35.3 8.9 702 8639 0.00 2.50 13.38 0.304 9382 0.000 0.077 2794 2107 842 911 773 0 0 0 0 0 0 14.17 14.04 13.68

8937 0.89 703.2 2794 2109 912 770 13.0 6.1 736 8999 0.22 0.00 55.03 0.230 10406 0.093 0.000 2883 2108 497 517 478 0 0 0 0 0 0 14.19 13.98 13.83

9035 end climb: SURFACE_DEPTH_REACHED

state 9035 begin surface coast

9045 end surface coast: CONTROL_FINISHED_OK

state 9045 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	340	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	948.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,064151,7452.8555,-15100.0762,34,0.8,35,20.7,0.0,0.0,10,7.7	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	1.17	MHEAD_RNG_PITCHd_Wd	106.4,17642,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	150917,065226,7452.8701,-15100.2305,7,0.9,10,20.7,0.0,0.0,8,10.0

FINISH	0.1,1.021302	_24V_AH	12.22,207.389
SM_CCo	9114,0.38,0.379,0,0,501,702.78	_10V_AH	12.10,0.000
SM_GC	1.62,8.20,0.17,0.38,0.068,0.106,0.379,200,2236,501,-7.38,-0.48,702.78,0,0,0,0,0,0,14.28,14.31,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323564
IRIDIUM_FIX	7454.27,-15058.33,150917,040202	DATA_FILE_SIZE	26705,747
TT8_MAMPS	0.038948,0.942991	CAP_FILE_SIZE	103799,0
HUMID	46.61	CFSIZE	2097872896,1990787072
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.3
XPDR_PINGS	9	CURRENT	0.049,279.96,1
CP_FREE	0.000000	GPS	150917,092602,7451.911,-15058.153,26,0.8,26,20.7,0.5,68.7,10,8.2
PM_FREEKB_00	46891392

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	141.06	nil	0	0	0.00
Roll_motor	80	2152	2112.38	nil	0	0	0.00
VBD_pump_during_apogee	1012	1503	18600.40	nil	0	0	0.00
VBD_pump_during_surface	0	378	1.74	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	9080	14	1605.45
Iridium_during_xfer	351	181	778.82	NCP	9079	20	2218.91
Transponder_ping	2	420	11.55	PMAR	9068	12	1369.96
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.97
TT8	0	0	0.00
LPSleep	6335	2	177.10
TT8_Active	894	13	151.14
TT8_Sampling	2186	33	884.58
TT8_CF8	342	38	160.34
TT8_Kalman	0	0	0.00
Analog_circuits	2157	10	261.03
GPS_charging	0	0	0.00
Compass	1071	7	90.74
RAFOS	2219	48	1288.80
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	204	2216	493	493	0.0	0.0	0	144	0.00	0.00	-91.60	0.000	16386	0.000	0.000	202	2216	2142	2069	2216	0	0	0	0	0	0	14.48	28.83	14.51
148	-0.57	-145.9	204	2217	2073	2218	3.9	-5.1	9	201	12.82	2.80	-35.58	0.000	18724	0.451	2.153	2374	3594	3964	3949	3979	0	0	0	0	0	0	13.50	12.59	14.02
362	-0.73	-145.9	2375	3594	3955	3980	45.1	-12.7	51	367	0.10	2.40	0.00	0.000	5254	0.145	0.057	2334	2193	3966	3954	3979	0	0	0	0	0	0	14.13	14.12	14.25
672	-0.79	-145.9	2335	2194	3956	3981	92.4	-12.8	83	677	0.00	2.53	0.00	0.000	388	0.000	0.086	2333	3599	3967	3955	3979	0	0	0	0	0	0	14.57	13.97	14.59
743	-0.98	-145.9	2333	3600	3956	3979	100.2	-9.8	97	749	0.15	2.42	0.00	0.000	5286	0.070	0.055	2248	2202	3967	3955	3979	0	0	0	0	0	0	14.20	14.11	14.26
1064	-0.95	-145.9	2248	2202	3955	3980	157.2	-17.3	111	1069	0.00	2.50	0.00	0.000	388	0.000	0.086	2240	3603	3967	3955	3979	0	0	0	0	0	0	14.64	14.08	14.64
1229	-1.01	-145.9	2240	3602	3955	3980	181.8	-14.1	144	1235	0.00	2.40	0.00	0.000	1158	0.000	0.059	2240	2197	3967	3955	3979	0	0	0	0	0	0	14.28	14.14	14.33
1545	-1.01	-145.9	2240	2197	3956	3980	232.8	-15.8	157	1546	0.00	0.00	0.00	0.000	6	0.000	0.000	2240	2196	3967	3955	3979	0	0	0	0	0	0	14.62	14.63	14.64
1845	-1.01	-145.9	2240	2196	3957	3979	274.9	-13.5	167	1846	0.00	0.00	0.00	0.000	6	0.000	0.000	2239	2196	3967	3955	3979	0	0	0	0	0	0	14.66	14.67	14.66
2146	-1.05	-145.9	2240	2197	3956	3980	311.2	-11.5	177	2150	0.00	2.50	0.00	0.000	388	0.000	0.090	2236	3601	3967	3955	3979	0	0	0	0	0	0	14.65	14.06	14.66
2191	-1.16	-145.9	2237	3602	3957	3979	316.1	-10.3	186	2196	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2189	3967	3955	3979	0	0	0	0	0	0	14.31	14.14	14.32
2506	-1.22	-145.9	2236	2190	3956	3980	349.4	-10.3	199	2511	0.12	2.50	0.00	0.000	4484	0.147	0.085	2170	3599	3967	3955	3979	0	0	0	0	0	0	14.26	14.07	14.27
2609	-1.20	-145.9	2170	3600	3957	3980	363.9	-14.5	219	2614	0.00	2.40	0.00	0.000	1158	0.000	0.057	2170	2193	3966	3953	3979	0	0	0	0	0	0	14.28	14.15	14.31
2929	-1.13	-145.9	2170	2192	3955	3980	415.9	-16.2	233	2935	0.17	2.50	0.00	0.000	2436	0.308	0.083	2200	3603	3966	3954	3979	0	0	0	0	0	0	13.72	14.07	13.93
3080	-1.19	-145.9	2200	3605	3955	3980	434.8	-11.8	263	3085	0.00	2.40	0.00	0.000	1158	0.000	0.056	2199	2196	3968	3957	3979	0	0	0	0	0	0	14.26	14.14	14.30
3410	-1.19	-145.9	2199	2196	3953	3980	478.3	-13.2	279	3415	0.00	2.47	0.00	0.000	260	0.000	0.086	2191	3595	3966	3954	3979	0	0	0	0	0	0	14.64	14.06	14.65
3423	end dive: TARGET_DEPTH_EXCEEDED
state	3423	begin apogee
3431	-0.13	0.0	2192	2101	3954	3980	480.3	-13.1	282	3667	1.38	0.00	226.75	1.413	10246	0.238	0.000	2533	2099	3357	3375	3339	0	0	0	0	0	0	13.68	13.52	12.65
3670	end apogee: CONTROL_FINISHED_OK
state	3670	begin climb
3673	0.57	145.9	2534	2099	3374	3338	494.6	0.0	290	3937	0.73	2.72	209.82	1.369	10756	0.060	0.080	2781	693	2757	2791	2723	0	0	0	0	0	0	13.71	12.85	12.22
4132	0.17	145.9	2781	693	2788	2722	475.5	13.9	327	4138	0.65	2.50	0.00	0.000	5254	0.321	0.075	2646	2089	2753	2787	2720	0	0	0	0	0	0	13.39	13.78	13.78
4458	0.01	168.8	2646	2090	2788	2715	445.7	8.9	342	4490	0.22	0.00	30.02	1.489	12966	0.272	0.000	2591	2090	2677	2718	2636	0	0	0	0	0	0	13.64	13.97	13.12
4790	0.00	220.0	2592	2097	2709	2619	420.8	7.6	358	4879	0.00	2.58	78.90	1.380	8868	0.000	0.084	2597	693	2460	2515	2406	0	0	0	0	0	0	14.40	13.84	13.03
4914	0.06	250.8	2601	693	2510	2409	410.5	8.6	383	4971	0.00	2.53	46.35	1.397	9382	0.000	0.078	2604	2098	2335	2388	2283	0	0	0	0	0	0	13.87	13.39	12.95
5271	0.07	267.5	2600	2100	2378	2272	377.5	9.2	404	5299	0.00	0.00	21.65	1.491	8230	0.000	0.000	2600	2099	2268	2320	2216	0	0	0	0	0	0	14.39	14.00	13.16
5600	0.12	282.6	2597	2100	2313	2208	346.5	9.3	415	5624	0.00	2.50	18.80	1.503	8868	0.000	0.086	2602	691	2210	2260	2161	0	0	0	0	0	0	14.45	14.10	13.19
5675	0.22	304.4	2602	692	2255	2161	339.7	9.0	430	5715	0.15	2.47	34.05	1.421	11430	0.112	0.079	2670	2104	2121	2168	2075	0	0	0	0	0	0	14.16	14.09	13.14
6023	0.16	304.4	2670	2105	2158	2064	292.0	13.8	449	6024	0.15	0.00	0.00	0.000	4230	0.249	0.000	2638	2105	2112	2161	2064	0	0	0	0	0	0	13.29	13.45	13.43
6321	0.16	309.5	2640	2104	2162	2062	261.2	9.8	459	6326	0.00	2.53	0.00	0.000	548	0.000	0.086	2644	691	2111	2160	2062	0	0	0	0	0	0	14.47	14.04	14.49
6462	0.24	343.9	2644	692	2158	2062	248.9	8.4	487	6533	0.00	2.45	62.53	1.323	9382	0.000	0.078	2641	2101	1960	2004	1916	0	0	0	0	0	0	13.97	13.43	13.14
6832	0.31	379.2	2645	2100	2000	1904	216.8	8.4	511	6898	0.12	2.58	57.83	1.301	10916	0.125	0.088	2706	693	1813	1841	1786	0	0	0	0	0	0	14.28	13.95	13.16
6993	0.31	379.2	2707	694	1833	1789	197.9	11.6	543	6998	0.00	2.47	0.00	0.000	1030	0.000	0.077	2706	2107	1810	1831	1789	0	0	0	0	0	0	14.10	13.98	14.14
7314	0.28	379.2	2707	2107	1832	1782	159.6	11.7	557	7320	0.12	2.53	0.00	0.000	4740	0.233	0.086	2675	684	1806	1831	1781	0	0	0	0	0	0	14.02	13.92	14.15
7391	0.40	412.7	2675	687	1829	1782	152.7	8.5	572	7455	0.12	2.47	57.33	1.279	11430	0.132	0.077	2728	2101	1678	1699	1657	0	0	0	0	0	0	14.24	14.19	13.22
7766	0.38	412.7	2728	2102	1698	1645	106.8	11.7	597	7771	0.00	2.50	0.00	0.000	644	0.000	0.088	2729	687	1669	1696	1643	0	0	0	0	0	0	14.56	14.13	14.58
7786	0.38	412.7	2729	688	1696	1644	104.2	12.7	601	7792	0.00	2.50	0.00	0.000	1030	0.000	0.077	2729	2102	1669	1695	1643	0	0	0	0	0	0	14.30	14.16	14.35
8098	0.40	448.9	2730	2103	1696	1642	72.9	8.3	631	8124	0.00	2.53	18.95	0.416	8484	0.000	0.081	2729	3505	1535	1564	1506	0	0	0	0	0	0	14.56	14.10	13.63
8155	0.42	473.5	2729	3507	1561	1507	68.1	8.9	641	8176	0.00	2.42	14.60	0.401	9254	0.000	0.065	2734	2101	1435	1474	1397	0	0	0	0	0	0	14.23	14.12	13.64
8482	0.59	594.4	2733	2102	1466	1393	46.5	4.4	676	8557	0.12	2.53	66.60	0.334	10916	0.124	0.089	2794	691	939	1006	872	0	0	0	0	0	0	14.20	13.88	13.65
8617	0.71	618.5	2794	690	1007	869	35.3	8.9	702	8639	0.00	2.50	13.38	0.304	9382	0.000	0.077	2794	2107	842	911	773	0	0	0	0	0	0	14.17	14.04	13.68
8937	0.89	703.2	2794	2109	912	770	13.0	6.1	736	8999	0.22	0.00	55.03	0.230	10406	0.093	0.000	2883	2108	497	517	478	0	0	0	0	0	0	14.19	13.98	13.83
9035	end climb: SURFACE_DEPTH_REACHED
state	9035	begin surface coast
9045	end surface coast: CONTROL_FINISHED_OK
state	9045	begin surface