Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 341 * 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 341 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 952.0

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 38 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 952.0 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 38 VBD_MIN 500

DIVE 341 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 150917,092602,7451.9111,-15058.1533,26,0.8,26,20.7,0.5,68.7,10,8.2 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 1.20 MHEAD_RNG_PITCHd_Wd 117.8,15643,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 150917,093659,7451.9346,-15058.1719,7,0.8,9,20.7,0.0,0.0,9,9.3

Post-dive calculations and measurements:

FINISH 0.3,1.021098 _24V_AH 12.20,207.941

SM_CCo 9572,24.58,0.210,0,0,498,703.52 _10V_AH 12.06,0.000

SM_GC 1.16,8.18,0.17,24.58,0.074,0.116,0.210,203,2224,498,-7.37,-0.57,703.52,0,0,0,0,0,0,14.13,14.13,13.81 FG_AHR_24Vo 0.000

RAFOS_CLK 58 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323612

IRIDIUM_FIX 7452.46,-15102.33,150917,064633 DATA_FILE_SIZE 30012,838

TT8_MAMPS 0.084637,0.874832 CAP_FILE_SIZE 105773,0

HUMID 44.84 CFSIZE 2097872896,1990524928

INTERNAL_PRESSURE 7.81082 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1449.0

XPDR_PINGS 14 CURRENT 0.049,254.62,1

CP_FREE 15926886400.000000 GPS 150917,121856,7450.752,-15056.974,39,0.7,39,20.7,0.0,0.0,12,7.4

PM_FREEKB_00 46850496

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.00 nil 0 0 0.00

Roll_motor 78 2151 2060.26 nil 0 0 0.00

VBD_pump_during_apogee 1225 1465 21916.66 nil 0 0 0.00

VBD_pump_during_surface 24 210 63.07 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 9580 14 1692.48

Iridium_during_xfer 373 176 804.21 NCP 9542 20 2328.25

Transponder_ping 3 420 17.93 PMAR 9523 12 1434.25

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.72

TT8 0 0 0.00

LPSleep 6591 2 183.64

TT8_Active 1183 13 199.45

TT8_Sampling 2140 33 863.33

TT8_CF8 352 38 164.42

TT8_Kalman 0 0 0.00

Analog_circuits 2387 10 287.97

GPS_charging 0 0 0.00

Compass 1200 7 101.31

RAFOS 2219 48 1284.53

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 199 2188 516 482 0.0 0.0 0 144 0.00 0.00 -90.88 0.000 16386 0.000 0.000 198 2188 2127 2054 2201 0 0 0 0 0 0 14.48 28.83 14.50

148 -0.57 -145.9 199 2188 2055 2203 3.7 -4.5 9 205 12.90 2.83 -36.80 0.000 18724 0.452 2.152 2377 3580 3965 3951 3979 0 0 0 0 0 0 13.58 12.59 14.07

380 -0.72 -145.9 2378 3582 3956 3979 46.5 -12.8 55 385 0.00 2.35 0.00 0.000 1158 0.000 0.058 2377 2206 3967 3955 3979 0 0 0 0 0 0 14.14 14.03 14.19

691 -0.85 -145.9 2378 2205 3958 3979 84.8 -9.9 87 692 0.22 0.00 0.00 0.000 4262 0.100 0.000 2291 2205 3970 3957 3983 0 0 0 0 0 0 14.21 14.31 14.31

1001 -0.88 -145.9 2291 2206 3957 3980 129.9 -13.5 104 1007 0.00 2.45 0.00 0.000 388 0.000 0.086 2281 3581 3968 3957 3979 0 0 0 0 0 0 14.61 13.99 14.62

1139 -1.01 -145.9 2282 3581 3957 3980 146.8 -11.8 131 1144 0.00 2.35 0.00 0.000 1158 0.000 0.058 2282 2201 3968 3957 3979 0 0 0 0 0 0 14.27 14.09 14.32

1455 -1.06 -145.9 2282 2199 3958 3979 187.6 -12.5 144 1456 0.15 0.00 0.00 0.000 4230 0.125 0.000 2229 2199 3968 3957 3979 0 0 0 0 0 0 14.21 14.34 14.30

1755 -1.04 -145.9 2230 2200 3957 3980 236.9 -16.2 154 1759 0.00 2.47 0.00 0.000 388 0.000 0.087 2223 3594 3967 3956 3979 0 0 0 0 0 0 14.62 14.07 14.62

1815 -1.09 -145.9 2223 3595 3958 3978 246.0 -13.7 166 1820 0.00 2.38 0.00 0.000 1158 0.000 0.057 2223 2201 3967 3956 3979 0 0 0 0 0 0 14.23 14.12 14.26

2145 -1.09 -145.9 2223 2200 3957 3980 294.1 -14.1 182 2146 0.00 0.00 0.00 0.000 6 0.000 0.000 2223 2199 3968 3957 3979 0 0 0 0 0 0 14.61 14.63 14.63

2445 -1.09 -145.9 2223 2200 3957 3980 332.8 -12.3 192 2451 0.00 2.47 0.00 0.000 260 0.000 0.090 2223 3587 3967 3956 3979 0 0 0 0 0 0 14.65 14.00 14.66

2569 -1.18 -145.9 2223 3588 3957 3980 346.8 -11.5 216 2574 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2191 3968 3957 3979 0 0 0 0 0 0 14.23 14.10 14.26

2900 -1.22 -145.9 2222 2190 3957 3979 385.8 -11.8 232 2905 0.00 2.50 0.00 0.000 388 0.000 0.088 2222 3588 3967 3956 3979 0 0 0 0 0 0 14.65 14.06 14.66

2981 -1.33 -145.9 2223 3588 3957 3979 394.7 -10.3 248 2987 0.22 2.38 0.00 0.000 5254 0.099 0.056 2144 2197 3967 3955 3979 0 0 0 0 0 0 14.20 14.08 14.29

3292 -1.19 -145.9 2144 2197 3956 3979 452.8 -19.1 260 3298 0.20 2.45 0.00 0.000 2436 0.321 0.081 2177 3582 3967 3955 3979 0 0 0 0 0 0 13.65 14.04 13.88

3405 -1.19 -145.9 2177 3584 3955 3980 469.5 -14.1 282 3410 0.00 2.35 0.00 0.000 1030 0.000 0.055 2177 2201 3967 3955 3979 0 0 0 0 0 0 14.17 14.04 14.21

3473 end dive: TARGET_DEPTH_EXCEEDED

state 3473 begin apogee

3479 -0.13 0.0 2178 2058 3955 3980 480.4 -15.2 286 3929 1.42 0.00 445.38 1.183 10246 0.245 0.000 2530 2055 3366 3378 3354 0 0 0 0 0 0 13.71 13.31 12.55

3935 end apogee: CONTROL_FINISHED_OK

state 3935 begin climb

3938 0.57 145.9 2530 2056 3374 3349 508.4 0.0 301 4171 0.75 2.60 222.77 1.284 11012 0.060 0.081 2781 730 2764 2797 2731 0 0 0 0 0 0 13.51 13.03 12.20

4396 0.18 145.9 2781 731 2783 2716 490.5 13.8 376 4402 0.65 2.40 0.00 0.000 5254 0.320 0.074 2646 2076 2747 2782 2713 0 0 0 0 0 0 13.41 13.81 13.81

4712 0.00 162.1 2647 2077 2783 2709 460.5 9.3 389 4733 0.22 2.45 16.25 1.466 12964 0.264 0.084 2590 721 2703 2743 2664 0 0 0 0 0 0 13.80 14.10 13.24

4958 0.05 231.5 2590 722 2734 2653 443.4 6.8 438 5107 0.00 2.42 139.52 1.222 9254 0.000 0.080 2590 2107 2417 2473 2362 0 0 0 0 0 0 14.27 14.11 13.00

5403 0.07 263.7 2591 2108 2457 2348 407.1 8.5 477 5465 0.00 2.53 56.50 1.257 8740 0.000 0.086 2590 727 2285 2334 2237 0 0 0 0 0 0 14.55 14.02 13.18

5530 0.19 286.0 2590 728 2325 2228 396.4 9.0 502 5567 0.17 2.42 31.88 1.335 11430 0.102 0.080 2666 2103 2201 2250 2152 0 0 0 0 0 0 14.16 14.04 13.12

5890 0.11 286.0 2666 2102 2227 2128 348.1 13.4 523 5895 0.17 2.40 0.00 0.000 4740 0.247 0.082 2630 730 2177 2226 2128 0 0 0 0 0 0 13.91 14.14 14.07

5925 0.13 286.0 2631 731 2225 2129 343.5 11.3 530 5931 0.00 2.40 0.00 0.000 1158 0.000 0.078 2631 2099 2176 2224 2128 0 0 0 0 0 0 14.23 14.09 14.28

6252 0.13 286.0 2630 2100 2225 2127 307.7 10.7 545 6257 0.00 2.40 0.00 0.000 516 0.000 0.085 2630 723 2175 2224 2127 0 0 0 0 0 0 14.61 14.12 14.63

6292 0.17 286.0 2631 720 2230 2127 303.5 10.3 553 6297 0.00 2.40 0.00 0.000 1158 0.000 0.077 2630 2101 2175 2223 2127 0 0 0 0 0 0 14.32 14.19 14.37

6612 0.18 302.8 2631 2102 2224 2127 272.1 9.2 567 6638 0.00 2.42 19.80 1.375 8740 0.000 0.084 2630 730 2126 2171 2081 0 0 0 0 0 0 14.65 14.14 13.28

6683 0.28 330.8 2631 725 2159 2075 265.8 8.7 581 6736 0.12 2.40 46.90 1.272 11430 0.124 0.077 2684 2105 2015 2056 1975 0 0 0 0 0 0 14.25 14.16 13.19

7035 0.22 330.8 2688 2105 2042 1952 223.7 11.9 601 7040 0.12 2.42 0.00 0.000 4740 0.241 0.083 2660 729 1996 2040 1952 0 0 0 0 0 0 13.89 14.07 14.00

7163 0.29 360.8 2660 730 2037 1948 212.1 8.6 626 7217 0.00 2.40 47.67 1.258 9382 0.000 0.079 2660 2099 1890 1923 1858 0 0 0 0 0 0 14.22 14.10 13.24

7518 0.35 391.1 2660 2099 1906 1840 180.4 8.6 647 7578 0.10 2.47 50.38 1.240 10916 0.145 0.086 2709 736 1761 1781 1742 0 0 0 0 0 0 14.28 14.01 13.24

7658 0.35 391.1 2710 736 1771 1735 164.4 11.2 675 7663 0.00 2.40 0.00 0.000 1030 0.000 0.076 2710 2099 1752 1770 1734 0 0 0 0 0 0 14.20 14.07 14.24

7968 0.35 391.1 2710 2100 1770 1730 128.8 11.0 687 7973 0.00 2.42 0.00 0.000 516 0.000 0.086 2710 730 1749 1769 1729 0 0 0 0 0 0 14.61 14.09 14.62

8014 0.39 391.1 2710 731 1769 1730 124.1 10.1 696 8019 0.00 2.40 0.00 0.000 1158 0.000 0.076 2709 2100 1748 1768 1729 0 0 0 0 0 0 14.26 14.12 14.33

8319 0.40 406.7 2710 2101 1768 1728 93.9 9.3 712 8330 0.00 0.00 6.15 0.396 8230 0.000 0.000 2710 2100 1704 1722 1686 0 0 0 0 0 0 14.62 13.76 13.43

8640 0.48 479.0 2710 2100 1744 1690 67.9 6.7 743 8682 0.00 0.00 40.42 0.398 8358 0.000 0.000 2709 2100 1412 1449 1375 0 0 0 0 0 0 14.40 13.98 13.58

8980 0.69 587.3 2710 2101 1457 1379 48.4 5.0 777 9045 0.30 2.47 58.75 0.338 10916 0.080 0.088 2822 727 970 1035 905 0 0 0 0 0 0 14.00 13.99 13.70

9061 0.69 593.7 2822 723 1037 910 41.2 9.7 788 9072 0.00 2.45 4.80 0.315 9254 0.000 0.076 2822 2105 945 1010 880 0 0 0 0 0 0 14.14 14.01 13.62

9371 0.78 661.5 2822 2106 1014 891 13.8 6.9 820 9411 0.00 0.00 38.45 0.244 8358 0.000 0.000 2822 2106 666 720 613 0 0 0 0 0 0 14.39 14.02 13.72

9528 end climb: SURFACE_DEPTH_REACHED

state 9528 begin surface coast

9548 end surface coast: CONTROL_FINISHED_OK

state 9548 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	341	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	952.0
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	38	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,092602,7451.9111,-15058.1533,26,0.8,26,20.7,0.5,68.7,10,8.2	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	1.20	MHEAD_RNG_PITCHd_Wd	117.8,15643,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	150917,093659,7451.9346,-15058.1719,7,0.8,9,20.7,0.0,0.0,9,9.3

FINISH	0.3,1.021098	_24V_AH	12.20,207.941
SM_CCo	9572,24.58,0.210,0,0,498,703.52	_10V_AH	12.06,0.000
SM_GC	1.16,8.18,0.17,24.58,0.074,0.116,0.210,203,2224,498,-7.37,-0.57,703.52,0,0,0,0,0,0,14.13,14.13,13.81	FG_AHR_24Vo	0.000
RAFOS_CLK	58	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7452.46,-15102.33,150917,064633	DATA_FILE_SIZE	30012,838
TT8_MAMPS	0.084637,0.874832	CAP_FILE_SIZE	105773,0
HUMID	44.84	CFSIZE	2097872896,1990524928
INTERNAL_PRESSURE	7.81082	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1449.0
XPDR_PINGS	14	CURRENT	0.049,254.62,1
CP_FREE	15926886400.000000	GPS	150917,121856,7450.752,-15056.974,39,0.7,39,20.7,0.0,0.0,12,7.4
PM_FREEKB_00	46850496

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.00	nil	0	0	0.00
Roll_motor	78	2151	2060.26	nil	0	0	0.00
VBD_pump_during_apogee	1225	1465	21916.66	nil	0	0	0.00
VBD_pump_during_surface	24	210	63.07	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	9580	14	1692.48
Iridium_during_xfer	373	176	804.21	NCP	9542	20	2328.25
Transponder_ping	3	420	17.93	PMAR	9523	12	1434.25
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.72
TT8	0	0	0.00
LPSleep	6591	2	183.64
TT8_Active	1183	13	199.45
TT8_Sampling	2140	33	863.33
TT8_CF8	352	38	164.42
TT8_Kalman	0	0	0.00
Analog_circuits	2387	10	287.97
GPS_charging	0	0	0.00
Compass	1200	7	101.31
RAFOS	2219	48	1284.53
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	199	2188	516	482	0.0	0.0	0	144	0.00	0.00	-90.88	0.000	16386	0.000	0.000	198	2188	2127	2054	2201	0	0	0	0	0	0	14.48	28.83	14.50
148	-0.57	-145.9	199	2188	2055	2203	3.7	-4.5	9	205	12.90	2.83	-36.80	0.000	18724	0.452	2.152	2377	3580	3965	3951	3979	0	0	0	0	0	0	13.58	12.59	14.07
380	-0.72	-145.9	2378	3582	3956	3979	46.5	-12.8	55	385	0.00	2.35	0.00	0.000	1158	0.000	0.058	2377	2206	3967	3955	3979	0	0	0	0	0	0	14.14	14.03	14.19
691	-0.85	-145.9	2378	2205	3958	3979	84.8	-9.9	87	692	0.22	0.00	0.00	0.000	4262	0.100	0.000	2291	2205	3970	3957	3983	0	0	0	0	0	0	14.21	14.31	14.31
1001	-0.88	-145.9	2291	2206	3957	3980	129.9	-13.5	104	1007	0.00	2.45	0.00	0.000	388	0.000	0.086	2281	3581	3968	3957	3979	0	0	0	0	0	0	14.61	13.99	14.62
1139	-1.01	-145.9	2282	3581	3957	3980	146.8	-11.8	131	1144	0.00	2.35	0.00	0.000	1158	0.000	0.058	2282	2201	3968	3957	3979	0	0	0	0	0	0	14.27	14.09	14.32
1455	-1.06	-145.9	2282	2199	3958	3979	187.6	-12.5	144	1456	0.15	0.00	0.00	0.000	4230	0.125	0.000	2229	2199	3968	3957	3979	0	0	0	0	0	0	14.21	14.34	14.30
1755	-1.04	-145.9	2230	2200	3957	3980	236.9	-16.2	154	1759	0.00	2.47	0.00	0.000	388	0.000	0.087	2223	3594	3967	3956	3979	0	0	0	0	0	0	14.62	14.07	14.62
1815	-1.09	-145.9	2223	3595	3958	3978	246.0	-13.7	166	1820	0.00	2.38	0.00	0.000	1158	0.000	0.057	2223	2201	3967	3956	3979	0	0	0	0	0	0	14.23	14.12	14.26
2145	-1.09	-145.9	2223	2200	3957	3980	294.1	-14.1	182	2146	0.00	0.00	0.00	0.000	6	0.000	0.000	2223	2199	3968	3957	3979	0	0	0	0	0	0	14.61	14.63	14.63
2445	-1.09	-145.9	2223	2200	3957	3980	332.8	-12.3	192	2451	0.00	2.47	0.00	0.000	260	0.000	0.090	2223	3587	3967	3956	3979	0	0	0	0	0	0	14.65	14.00	14.66
2569	-1.18	-145.9	2223	3588	3957	3980	346.8	-11.5	216	2574	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2191	3968	3957	3979	0	0	0	0	0	0	14.23	14.10	14.26
2900	-1.22	-145.9	2222	2190	3957	3979	385.8	-11.8	232	2905	0.00	2.50	0.00	0.000	388	0.000	0.088	2222	3588	3967	3956	3979	0	0	0	0	0	0	14.65	14.06	14.66
2981	-1.33	-145.9	2223	3588	3957	3979	394.7	-10.3	248	2987	0.22	2.38	0.00	0.000	5254	0.099	0.056	2144	2197	3967	3955	3979	0	0	0	0	0	0	14.20	14.08	14.29
3292	-1.19	-145.9	2144	2197	3956	3979	452.8	-19.1	260	3298	0.20	2.45	0.00	0.000	2436	0.321	0.081	2177	3582	3967	3955	3979	0	0	0	0	0	0	13.65	14.04	13.88
3405	-1.19	-145.9	2177	3584	3955	3980	469.5	-14.1	282	3410	0.00	2.35	0.00	0.000	1030	0.000	0.055	2177	2201	3967	3955	3979	0	0	0	0	0	0	14.17	14.04	14.21
3473	end dive: TARGET_DEPTH_EXCEEDED
state	3473	begin apogee
3479	-0.13	0.0	2178	2058	3955	3980	480.4	-15.2	286	3929	1.42	0.00	445.38	1.183	10246	0.245	0.000	2530	2055	3366	3378	3354	0	0	0	0	0	0	13.71	13.31	12.55
3935	end apogee: CONTROL_FINISHED_OK
state	3935	begin climb
3938	0.57	145.9	2530	2056	3374	3349	508.4	0.0	301	4171	0.75	2.60	222.77	1.284	11012	0.060	0.081	2781	730	2764	2797	2731	0	0	0	0	0	0	13.51	13.03	12.20
4396	0.18	145.9	2781	731	2783	2716	490.5	13.8	376	4402	0.65	2.40	0.00	0.000	5254	0.320	0.074	2646	2076	2747	2782	2713	0	0	0	0	0	0	13.41	13.81	13.81
4712	0.00	162.1	2647	2077	2783	2709	460.5	9.3	389	4733	0.22	2.45	16.25	1.466	12964	0.264	0.084	2590	721	2703	2743	2664	0	0	0	0	0	0	13.80	14.10	13.24
4958	0.05	231.5	2590	722	2734	2653	443.4	6.8	438	5107	0.00	2.42	139.52	1.222	9254	0.000	0.080	2590	2107	2417	2473	2362	0	0	0	0	0	0	14.27	14.11	13.00
5403	0.07	263.7	2591	2108	2457	2348	407.1	8.5	477	5465	0.00	2.53	56.50	1.257	8740	0.000	0.086	2590	727	2285	2334	2237	0	0	0	0	0	0	14.55	14.02	13.18
5530	0.19	286.0	2590	728	2325	2228	396.4	9.0	502	5567	0.17	2.42	31.88	1.335	11430	0.102	0.080	2666	2103	2201	2250	2152	0	0	0	0	0	0	14.16	14.04	13.12
5890	0.11	286.0	2666	2102	2227	2128	348.1	13.4	523	5895	0.17	2.40	0.00	0.000	4740	0.247	0.082	2630	730	2177	2226	2128	0	0	0	0	0	0	13.91	14.14	14.07
5925	0.13	286.0	2631	731	2225	2129	343.5	11.3	530	5931	0.00	2.40	0.00	0.000	1158	0.000	0.078	2631	2099	2176	2224	2128	0	0	0	0	0	0	14.23	14.09	14.28
6252	0.13	286.0	2630	2100	2225	2127	307.7	10.7	545	6257	0.00	2.40	0.00	0.000	516	0.000	0.085	2630	723	2175	2224	2127	0	0	0	0	0	0	14.61	14.12	14.63
6292	0.17	286.0	2631	720	2230	2127	303.5	10.3	553	6297	0.00	2.40	0.00	0.000	1158	0.000	0.077	2630	2101	2175	2223	2127	0	0	0	0	0	0	14.32	14.19	14.37
6612	0.18	302.8	2631	2102	2224	2127	272.1	9.2	567	6638	0.00	2.42	19.80	1.375	8740	0.000	0.084	2630	730	2126	2171	2081	0	0	0	0	0	0	14.65	14.14	13.28
6683	0.28	330.8	2631	725	2159	2075	265.8	8.7	581	6736	0.12	2.40	46.90	1.272	11430	0.124	0.077	2684	2105	2015	2056	1975	0	0	0	0	0	0	14.25	14.16	13.19
7035	0.22	330.8	2688	2105	2042	1952	223.7	11.9	601	7040	0.12	2.42	0.00	0.000	4740	0.241	0.083	2660	729	1996	2040	1952	0	0	0	0	0	0	13.89	14.07	14.00
7163	0.29	360.8	2660	730	2037	1948	212.1	8.6	626	7217	0.00	2.40	47.67	1.258	9382	0.000	0.079	2660	2099	1890	1923	1858	0	0	0	0	0	0	14.22	14.10	13.24
7518	0.35	391.1	2660	2099	1906	1840	180.4	8.6	647	7578	0.10	2.47	50.38	1.240	10916	0.145	0.086	2709	736	1761	1781	1742	0	0	0	0	0	0	14.28	14.01	13.24
7658	0.35	391.1	2710	736	1771	1735	164.4	11.2	675	7663	0.00	2.40	0.00	0.000	1030	0.000	0.076	2710	2099	1752	1770	1734	0	0	0	0	0	0	14.20	14.07	14.24
7968	0.35	391.1	2710	2100	1770	1730	128.8	11.0	687	7973	0.00	2.42	0.00	0.000	516	0.000	0.086	2710	730	1749	1769	1729	0	0	0	0	0	0	14.61	14.09	14.62
8014	0.39	391.1	2710	731	1769	1730	124.1	10.1	696	8019	0.00	2.40	0.00	0.000	1158	0.000	0.076	2709	2100	1748	1768	1729	0	0	0	0	0	0	14.26	14.12	14.33
8319	0.40	406.7	2710	2101	1768	1728	93.9	9.3	712	8330	0.00	0.00	6.15	0.396	8230	0.000	0.000	2710	2100	1704	1722	1686	0	0	0	0	0	0	14.62	13.76	13.43
8640	0.48	479.0	2710	2100	1744	1690	67.9	6.7	743	8682	0.00	0.00	40.42	0.398	8358	0.000	0.000	2709	2100	1412	1449	1375	0	0	0	0	0	0	14.40	13.98	13.58
8980	0.69	587.3	2710	2101	1457	1379	48.4	5.0	777	9045	0.30	2.47	58.75	0.338	10916	0.080	0.088	2822	727	970	1035	905	0	0	0	0	0	0	14.00	13.99	13.70
9061	0.69	593.7	2822	723	1037	910	41.2	9.7	788	9072	0.00	2.45	4.80	0.315	9254	0.000	0.076	2822	2105	945	1010	880	0	0	0	0	0	0	14.14	14.01	13.62
9371	0.78	661.5	2822	2106	1014	891	13.8	6.9	820	9411	0.00	0.00	38.45	0.244	8358	0.000	0.000	2822	2106	666	720	613	0	0	0	0	0	0	14.39	14.02	13.72
9528	end climb: SURFACE_DEPTH_REACHED
state	9528	begin surface coast
9548	end surface coast: CONTROL_FINISHED_OK
state	9548	begin surface