Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 342 * 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 342 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 955.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 955.0 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 62 VBD_MIN 500

DIVE 342 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 150917,121856,7450.7520,-15056.9736,39,0.7,39,20.7,0.0,0.0,12,7.4 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 112.5,13497,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 150917,123054,7450.7471,-15056.9355,9,0.7,9,20.7,0.0,0.0,11,8.4

Post-dive calculations and measurements:

FINISH 0.3,1.021295 _24V_AH 12.26,208.414

SM_CCo 9232,0.00,0.000,0,0,498,703.28 _10V_AH 12.13,0.000

SM_GC 1.17,8.35,0.15,0.00,0.077,0.121,0.000,205,2230,498,-7.37,-0.85,703.28,0,0,0,0,0,0,14.26,14.26,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 414 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7452.46,-15102.33,150917,093046 DATA_FILE_SIZE 26687,780

TT8_MAMPS 0.039697,0.898051 CAP_FILE_SIZE 107571,0

HUMID 47.08 CFSIZE 2097872896,1990230016

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 1448.2

XPDR_PINGS 21 CURRENT 0.057,315.29,1

CP_FREE 15926460416.000000 GPS 150917,150629,7449.772,-15054.863,13,0.8,26,20.7,0.3,226.4,11,9.9

PM_FREEKB_00 46807232

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.12 nil 0 0 0.00

Roll_motor 87 2143 2310.64 nil 0 0 0.00

VBD_pump_during_apogee 1003 1523 18749.56 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 9186 14 1637.27

Iridium_during_xfer 431 172 910.89 NCP 9147 20 2242.84

Transponder_ping 5 420 27.03 PMAR 9127 12 1393.68

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.72

TT8 0 0 0.00

LPSleep 6504 2 182.26

TT8_Active 878 13 148.82

TT8_Sampling 2226 33 903.07

TT8_CF8 349 38 164.23

TT8_Kalman 0 0 0.00

Analog_circuits 2208 10 267.84

GPS_charging 0 0 0.00

Compass 1117 7 94.91

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 202 2226 508 489 0.0 0.0 0 144 0.00 0.00 -91.38 0.000 16386 0.000 0.000 201 2227 2155 2084 2227 0 0 0 0 0 0 14.35 28.83 14.37

148 -0.57 -145.9 202 2228 2087 2229 4.1 -5.6 9 200 12.88 2.78 -34.75 0.000 18724 0.451 2.144 2377 3589 3964 3949 3979 0 0 0 0 0 0 13.49 12.57 13.95

346 -0.70 -145.9 2377 3589 3955 3981 44.5 -13.4 48 353 0.00 2.35 0.00 0.000 1158 0.000 0.057 2377 2230 3967 3954 3980 0 0 0 0 0 0 14.07 13.95 14.10

651 -0.83 -145.9 2376 2229 3957 3980 83.7 -10.7 79 652 0.20 0.00 0.00 0.000 4230 0.103 0.000 2302 2228 3966 3952 3980 0 0 0 0 0 0 14.02 14.12 14.09

951 -0.88 -145.9 2304 2228 3956 3984 125.2 -13.0 97 956 0.00 2.42 0.00 0.000 388 0.000 0.086 2294 3590 3967 3956 3979 0 0 0 0 0 0 14.58 14.06 14.59

1056 -1.02 -145.9 2294 3590 3956 3981 137.6 -11.0 118 1061 0.15 2.38 0.00 0.000 5254 0.115 0.054 2239 2196 3967 3955 3980 0 0 0 0 0 0 14.13 14.15 14.21

1372 -1.00 -145.9 2241 2195 3957 3980 191.1 -16.6 131 1377 0.00 2.47 0.00 0.000 388 0.000 0.086 2236 3590 3969 3960 3979 0 0 0 0 0 0 14.64 14.04 14.66

1407 -1.02 -145.9 2236 3590 3957 3980 196.8 -15.9 138 1412 0.00 2.35 0.00 0.000 1158 0.000 0.056 2236 2202 3968 3956 3980 0 0 0 0 0 0 14.27 14.12 14.31

1732 -1.02 -145.9 2236 2202 3956 3981 247.2 -14.8 153 1737 0.00 2.47 0.00 0.000 260 0.000 0.087 2235 3588 3968 3956 3980 0 0 0 0 0 0 14.65 14.07 14.66

1782 -1.10 -145.9 2236 3590 3957 3980 254.1 -12.7 163 1787 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2193 3967 3956 3979 0 0 0 0 0 0 14.28 14.15 14.33

2093 -1.12 -145.9 2236 2190 3957 3980 294.9 -12.6 175 2098 0.00 2.50 0.00 0.000 388 0.000 0.088 2236 3598 3967 3956 3979 0 0 0 0 0 0 14.61 14.07 14.63

2148 -1.23 -145.9 2236 3600 3957 3980 301.6 -11.1 186 2154 0.17 2.40 0.00 0.000 5254 0.112 0.056 2174 2196 3968 3956 3980 0 0 0 0 0 0 14.14 13.93 14.24

2454 -1.14 -145.9 2168 2194 3956 3980 355.1 -17.6 197 2459 0.15 2.50 0.00 0.000 2436 0.287 0.082 2194 3597 3967 3955 3980 0 0 0 0 0 0 13.71 13.99 13.88

2499 -1.16 -145.9 2194 3600 3956 3980 362.2 -14.1 206 2504 0.00 2.38 0.00 0.000 1158 0.000 0.055 2194 2200 3967 3955 3979 0 0 0 0 0 0 14.22 14.07 14.28

2814 -1.16 -145.9 2195 2200 3956 3980 407.4 -14.1 219 2819 0.00 2.50 0.00 0.000 260 0.000 0.086 2185 3594 3966 3953 3979 0 0 0 0 0 0 14.64 13.97 14.66

2894 -1.16 -145.9 2185 3596 3955 3980 418.6 -13.5 235 2899 0.00 2.35 0.00 0.000 1030 0.000 0.056 2185 2200 3966 3954 3979 0 0 0 0 0 0 14.33 14.17 14.34

3205 -1.13 -145.9 2186 2199 3956 3979 463.7 -14.5 247 3210 0.12 2.47 0.00 0.000 2436 0.298 0.085 2208 3588 3966 3954 3979 0 0 0 0 0 0 13.82 14.00 13.97

3275 -1.22 -145.9 2209 3588 3955 3978 472.2 -11.0 261 3280 0.00 2.35 0.00 0.000 1158 0.000 0.055 2208 2201 3966 3954 3979 0 0 0 0 0 0 14.30 14.17 14.33

3353 end dive: TARGET_DEPTH_EXCEEDED

state 3353 begin apogee

3359 -0.13 0.0 2209 2057 3953 3980 481.7 -12.1 267 3595 1.25 0.00 227.48 1.407 10246 0.224 0.000 2530 2055 3357 3378 3336 0 0 0 0 0 0 13.79 13.50 12.66

3599 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3602 0.57 145.9 2531 2056 3374 3331 495.1 0.0 275 3828 0.73 2.12 211.85 1.357 10756 0.062 0.082 2781 732 2758 2796 2721 0 0 0 0 0 0 13.72 13.12 12.26

4053 0.17 145.9 2781 732 2789 2716 476.9 14.3 322 4060 0.68 2.40 0.00 0.000 5254 0.322 0.073 2639 2080 2750 2788 2713 0 0 0 0 0 0 13.42 13.85 13.84

4359 0.01 172.4 2641 2085 2788 2710 449.1 8.8 333 4400 0.20 2.47 35.55 1.445 12964 0.264 0.082 2600 721 2661 2710 2613 0 0 0 0 0 0 13.61 14.04 13.14

4626 0.03 224.8 2600 722 2699 2602 429.0 7.6 386 4716 0.00 2.42 83.05 1.351 9382 0.000 0.078 2600 2107 2448 2506 2391 0 0 0 0 0 0 14.25 14.13 13.07

5021 0.04 238.9 2601 2107 2492 2369 393.2 9.3 415 5039 0.00 0.00 17.05 1.524 8230 0.000 0.000 2600 2107 2391 2449 2334 0 0 0 0 0 0 14.57 14.07 13.19

5321 0.05 257.7 2601 2107 2434 2320 365.5 9.1 425 5353 0.00 2.50 27.27 1.459 8740 0.000 0.084 2602 729 2310 2362 2259 0 0 0 0 0 0 14.60 14.05 13.19

5436 0.13 279.1 2602 729 2351 2259 355.7 9.0 447 5475 0.00 2.40 31.80 1.426 9382 0.000 0.077 2602 2099 2222 2275 2170 0 0 0 0 0 0 14.26 14.12 13.16

5776 0.19 301.8 2601 2103 2264 2159 325.2 9.0 465 5815 0.12 2.50 33.53 1.400 10916 0.127 0.086 2672 723 2129 2179 2080 0 0 0 0 0 0 14.28 14.12 13.23

5868 0.15 301.8 2672 724 2167 2076 313.3 13.4 483 5873 0.17 2.42 0.00 0.000 5254 0.244 0.077 2633 2103 2121 2166 2076 0 0 0 0 0 0 13.95 14.12 14.21

6198 0.15 305.6 2632 2105 2166 2070 278.7 9.8 499 6203 0.00 2.42 0.00 0.000 548 0.000 0.085 2633 721 2117 2166 2069 0 0 0 0 0 0 14.61 14.16 14.62

6254 0.23 330.2 2634 722 2165 2070 273.5 8.9 510 6304 0.00 2.42 44.80 1.346 9382 0.000 0.076 2633 2105 2022 2064 1980 0 0 0 0 0 0 14.28 14.15 13.23

6621 0.30 362.5 2633 2107 2054 1956 240.1 8.5 533 6682 0.12 2.47 55.05 1.290 10916 0.123 0.086 2697 723 1885 1917 1853 0 0 0 0 0 0 14.30 14.04 13.20

6787 0.30 362.5 2699 726 1901 1849 220.3 11.7 566 6792 0.00 2.42 0.00 0.000 1030 0.000 0.077 2698 2102 1874 1900 1848 0 0 0 0 0 0 14.09 13.98 14.14

7103 0.26 362.5 2698 2104 1900 1842 182.9 11.4 579 7108 0.12 2.45 0.00 0.000 4740 0.226 0.083 2672 720 1870 1899 1841 0 0 0 0 0 0 14.06 14.12 14.18

7143 0.34 386.7 2672 720 1897 1842 179.0 8.9 587 7188 0.00 2.40 39.15 1.300 9382 0.000 0.077 2672 2100 1790 1817 1764 0 0 0 0 0 0 14.33 14.19 13.24

7495 0.40 409.0 2673 2100 1800 1749 147.6 9.0 607 7538 0.12 2.45 36.72 1.309 10916 0.129 0.087 2739 721 1690 1714 1667 0 0 0 0 0 0 14.26 14.09 13.23

7576 0.37 409.0 2739 721 1706 1669 137.8 12.7 623 7581 0.15 2.42 0.00 0.000 5254 0.236 0.077 2706 2099 1687 1706 1668 0 0 0 0 0 0 13.95 14.12 14.20

7886 0.37 409.7 2706 2101 1706 1662 105.3 10.0 635 7891 0.00 2.42 0.00 0.000 548 0.000 0.086 2707 723 1683 1706 1661 0 0 0 0 0 0 14.59 14.00 14.61

7912 0.41 416.2 2703 723 1700 1662 103.0 9.7 640 7920 0.00 2.42 2.15 0.470 9382 0.000 0.076 2707 2105 1668 1692 1644 0 0 0 0 0 0 14.14 14.00 12.69

8217 0.48 459.3 2707 2105 1704 1650 77.2 8.0 669 8247 0.00 0.00 25.27 0.425 8870 0.000 0.000 2703 2105 1490 1521 1459 0 0 0 0 0 0 14.57 13.97 13.65

8547 0.67 576.8 2708 2104 1527 1463 56.4 4.6 704 8617 0.28 0.00 63.05 0.363 10406 0.084 0.000 2806 2104 1010 1079 942 0 0 0 0 0 0 14.29 14.12 13.72

8917 0.76 648.3 2807 2106 1080 949 22.1 6.7 741 8964 0.00 2.53 39.15 0.273 8868 0.000 0.087 2807 725 718 782 655 0 0 0 0 0 0 14.52 13.95 13.78

9047 0.95 711.5 2808 726 784 659 13.9 7.1 766 9085 0.25 2.45 30.65 0.246 11430 0.084 0.076 2900 2109 497 520 474 0 0 0 0 0 0 13.99 13.93 13.79

9138 end climb: SURFACE_DEPTH_REACHED

state 9138 begin surface coast

9150 end surface coast: CONTROL_FINISHED_OK

state 9150 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	342	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	955.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,121856,7450.7520,-15056.9736,39,0.7,39,20.7,0.0,0.0,12,7.4	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	112.5,13497,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	150917,123054,7450.7471,-15056.9355,9,0.7,9,20.7,0.0,0.0,11,8.4

FINISH	0.3,1.021295	_24V_AH	12.26,208.414
SM_CCo	9232,0.00,0.000,0,0,498,703.28	_10V_AH	12.13,0.000
SM_GC	1.17,8.35,0.15,0.00,0.077,0.121,0.000,205,2230,498,-7.37,-0.85,703.28,0,0,0,0,0,0,14.26,14.26,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	414	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323532
IRIDIUM_FIX	7452.46,-15102.33,150917,093046	DATA_FILE_SIZE	26687,780
TT8_MAMPS	0.039697,0.898051	CAP_FILE_SIZE	107571,0
HUMID	47.08	CFSIZE	2097872896,1990230016
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	1448.2
XPDR_PINGS	21	CURRENT	0.057,315.29,1
CP_FREE	15926460416.000000	GPS	150917,150629,7449.772,-15054.863,13,0.8,26,20.7,0.3,226.4,11,9.9
PM_FREEKB_00	46807232

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.12	nil	0	0	0.00
Roll_motor	87	2143	2310.64	nil	0	0	0.00
VBD_pump_during_apogee	1003	1523	18749.56	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	9186	14	1637.27
Iridium_during_xfer	431	172	910.89	NCP	9147	20	2242.84
Transponder_ping	5	420	27.03	PMAR	9127	12	1393.68
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.72
TT8	0	0	0.00
LPSleep	6504	2	182.26
TT8_Active	878	13	148.82
TT8_Sampling	2226	33	903.07
TT8_CF8	349	38	164.23
TT8_Kalman	0	0	0.00
Analog_circuits	2208	10	267.84
GPS_charging	0	0	0.00
Compass	1117	7	94.91
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	202	2226	508	489	0.0	0.0	0	144	0.00	0.00	-91.38	0.000	16386	0.000	0.000	201	2227	2155	2084	2227	0	0	0	0	0	0	14.35	28.83	14.37
148	-0.57	-145.9	202	2228	2087	2229	4.1	-5.6	9	200	12.88	2.78	-34.75	0.000	18724	0.451	2.144	2377	3589	3964	3949	3979	0	0	0	0	0	0	13.49	12.57	13.95
346	-0.70	-145.9	2377	3589	3955	3981	44.5	-13.4	48	353	0.00	2.35	0.00	0.000	1158	0.000	0.057	2377	2230	3967	3954	3980	0	0	0	0	0	0	14.07	13.95	14.10
651	-0.83	-145.9	2376	2229	3957	3980	83.7	-10.7	79	652	0.20	0.00	0.00	0.000	4230	0.103	0.000	2302	2228	3966	3952	3980	0	0	0	0	0	0	14.02	14.12	14.09
951	-0.88	-145.9	2304	2228	3956	3984	125.2	-13.0	97	956	0.00	2.42	0.00	0.000	388	0.000	0.086	2294	3590	3967	3956	3979	0	0	0	0	0	0	14.58	14.06	14.59
1056	-1.02	-145.9	2294	3590	3956	3981	137.6	-11.0	118	1061	0.15	2.38	0.00	0.000	5254	0.115	0.054	2239	2196	3967	3955	3980	0	0	0	0	0	0	14.13	14.15	14.21
1372	-1.00	-145.9	2241	2195	3957	3980	191.1	-16.6	131	1377	0.00	2.47	0.00	0.000	388	0.000	0.086	2236	3590	3969	3960	3979	0	0	0	0	0	0	14.64	14.04	14.66
1407	-1.02	-145.9	2236	3590	3957	3980	196.8	-15.9	138	1412	0.00	2.35	0.00	0.000	1158	0.000	0.056	2236	2202	3968	3956	3980	0	0	0	0	0	0	14.27	14.12	14.31
1732	-1.02	-145.9	2236	2202	3956	3981	247.2	-14.8	153	1737	0.00	2.47	0.00	0.000	260	0.000	0.087	2235	3588	3968	3956	3980	0	0	0	0	0	0	14.65	14.07	14.66
1782	-1.10	-145.9	2236	3590	3957	3980	254.1	-12.7	163	1787	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2193	3967	3956	3979	0	0	0	0	0	0	14.28	14.15	14.33
2093	-1.12	-145.9	2236	2190	3957	3980	294.9	-12.6	175	2098	0.00	2.50	0.00	0.000	388	0.000	0.088	2236	3598	3967	3956	3979	0	0	0	0	0	0	14.61	14.07	14.63
2148	-1.23	-145.9	2236	3600	3957	3980	301.6	-11.1	186	2154	0.17	2.40	0.00	0.000	5254	0.112	0.056	2174	2196	3968	3956	3980	0	0	0	0	0	0	14.14	13.93	14.24
2454	-1.14	-145.9	2168	2194	3956	3980	355.1	-17.6	197	2459	0.15	2.50	0.00	0.000	2436	0.287	0.082	2194	3597	3967	3955	3980	0	0	0	0	0	0	13.71	13.99	13.88
2499	-1.16	-145.9	2194	3600	3956	3980	362.2	-14.1	206	2504	0.00	2.38	0.00	0.000	1158	0.000	0.055	2194	2200	3967	3955	3979	0	0	0	0	0	0	14.22	14.07	14.28
2814	-1.16	-145.9	2195	2200	3956	3980	407.4	-14.1	219	2819	0.00	2.50	0.00	0.000	260	0.000	0.086	2185	3594	3966	3953	3979	0	0	0	0	0	0	14.64	13.97	14.66
2894	-1.16	-145.9	2185	3596	3955	3980	418.6	-13.5	235	2899	0.00	2.35	0.00	0.000	1030	0.000	0.056	2185	2200	3966	3954	3979	0	0	0	0	0	0	14.33	14.17	14.34
3205	-1.13	-145.9	2186	2199	3956	3979	463.7	-14.5	247	3210	0.12	2.47	0.00	0.000	2436	0.298	0.085	2208	3588	3966	3954	3979	0	0	0	0	0	0	13.82	14.00	13.97
3275	-1.22	-145.9	2209	3588	3955	3978	472.2	-11.0	261	3280	0.00	2.35	0.00	0.000	1158	0.000	0.055	2208	2201	3966	3954	3979	0	0	0	0	0	0	14.30	14.17	14.33
3353	end dive: TARGET_DEPTH_EXCEEDED
state	3353	begin apogee
3359	-0.13	0.0	2209	2057	3953	3980	481.7	-12.1	267	3595	1.25	0.00	227.48	1.407	10246	0.224	0.000	2530	2055	3357	3378	3336	0	0	0	0	0	0	13.79	13.50	12.66
3599	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3602	0.57	145.9	2531	2056	3374	3331	495.1	0.0	275	3828	0.73	2.12	211.85	1.357	10756	0.062	0.082	2781	732	2758	2796	2721	0	0	0	0	0	0	13.72	13.12	12.26
4053	0.17	145.9	2781	732	2789	2716	476.9	14.3	322	4060	0.68	2.40	0.00	0.000	5254	0.322	0.073	2639	2080	2750	2788	2713	0	0	0	0	0	0	13.42	13.85	13.84
4359	0.01	172.4	2641	2085	2788	2710	449.1	8.8	333	4400	0.20	2.47	35.55	1.445	12964	0.264	0.082	2600	721	2661	2710	2613	0	0	0	0	0	0	13.61	14.04	13.14
4626	0.03	224.8	2600	722	2699	2602	429.0	7.6	386	4716	0.00	2.42	83.05	1.351	9382	0.000	0.078	2600	2107	2448	2506	2391	0	0	0	0	0	0	14.25	14.13	13.07
5021	0.04	238.9	2601	2107	2492	2369	393.2	9.3	415	5039	0.00	0.00	17.05	1.524	8230	0.000	0.000	2600	2107	2391	2449	2334	0	0	0	0	0	0	14.57	14.07	13.19
5321	0.05	257.7	2601	2107	2434	2320	365.5	9.1	425	5353	0.00	2.50	27.27	1.459	8740	0.000	0.084	2602	729	2310	2362	2259	0	0	0	0	0	0	14.60	14.05	13.19
5436	0.13	279.1	2602	729	2351	2259	355.7	9.0	447	5475	0.00	2.40	31.80	1.426	9382	0.000	0.077	2602	2099	2222	2275	2170	0	0	0	0	0	0	14.26	14.12	13.16
5776	0.19	301.8	2601	2103	2264	2159	325.2	9.0	465	5815	0.12	2.50	33.53	1.400	10916	0.127	0.086	2672	723	2129	2179	2080	0	0	0	0	0	0	14.28	14.12	13.23
5868	0.15	301.8	2672	724	2167	2076	313.3	13.4	483	5873	0.17	2.42	0.00	0.000	5254	0.244	0.077	2633	2103	2121	2166	2076	0	0	0	0	0	0	13.95	14.12	14.21
6198	0.15	305.6	2632	2105	2166	2070	278.7	9.8	499	6203	0.00	2.42	0.00	0.000	548	0.000	0.085	2633	721	2117	2166	2069	0	0	0	0	0	0	14.61	14.16	14.62
6254	0.23	330.2	2634	722	2165	2070	273.5	8.9	510	6304	0.00	2.42	44.80	1.346	9382	0.000	0.076	2633	2105	2022	2064	1980	0	0	0	0	0	0	14.28	14.15	13.23
6621	0.30	362.5	2633	2107	2054	1956	240.1	8.5	533	6682	0.12	2.47	55.05	1.290	10916	0.123	0.086	2697	723	1885	1917	1853	0	0	0	0	0	0	14.30	14.04	13.20
6787	0.30	362.5	2699	726	1901	1849	220.3	11.7	566	6792	0.00	2.42	0.00	0.000	1030	0.000	0.077	2698	2102	1874	1900	1848	0	0	0	0	0	0	14.09	13.98	14.14
7103	0.26	362.5	2698	2104	1900	1842	182.9	11.4	579	7108	0.12	2.45	0.00	0.000	4740	0.226	0.083	2672	720	1870	1899	1841	0	0	0	0	0	0	14.06	14.12	14.18
7143	0.34	386.7	2672	720	1897	1842	179.0	8.9	587	7188	0.00	2.40	39.15	1.300	9382	0.000	0.077	2672	2100	1790	1817	1764	0	0	0	0	0	0	14.33	14.19	13.24
7495	0.40	409.0	2673	2100	1800	1749	147.6	9.0	607	7538	0.12	2.45	36.72	1.309	10916	0.129	0.087	2739	721	1690	1714	1667	0	0	0	0	0	0	14.26	14.09	13.23
7576	0.37	409.0	2739	721	1706	1669	137.8	12.7	623	7581	0.15	2.42	0.00	0.000	5254	0.236	0.077	2706	2099	1687	1706	1668	0	0	0	0	0	0	13.95	14.12	14.20
7886	0.37	409.7	2706	2101	1706	1662	105.3	10.0	635	7891	0.00	2.42	0.00	0.000	548	0.000	0.086	2707	723	1683	1706	1661	0	0	0	0	0	0	14.59	14.00	14.61
7912	0.41	416.2	2703	723	1700	1662	103.0	9.7	640	7920	0.00	2.42	2.15	0.470	9382	0.000	0.076	2707	2105	1668	1692	1644	0	0	0	0	0	0	14.14	14.00	12.69
8217	0.48	459.3	2707	2105	1704	1650	77.2	8.0	669	8247	0.00	0.00	25.27	0.425	8870	0.000	0.000	2703	2105	1490	1521	1459	0	0	0	0	0	0	14.57	13.97	13.65
8547	0.67	576.8	2708	2104	1527	1463	56.4	4.6	704	8617	0.28	0.00	63.05	0.363	10406	0.084	0.000	2806	2104	1010	1079	942	0	0	0	0	0	0	14.29	14.12	13.72
8917	0.76	648.3	2807	2106	1080	949	22.1	6.7	741	8964	0.00	2.53	39.15	0.273	8868	0.000	0.087	2807	725	718	782	655	0	0	0	0	0	0	14.52	13.95	13.78
9047	0.95	711.5	2808	726	784	659	13.9	7.1	766	9085	0.25	2.45	30.65	0.246	11430	0.084	0.076	2900	2109	497	520	474	0	0	0	0	0	0	13.99	13.93	13.79
9138	end climb: SURFACE_DEPTH_REACHED
state	9138	begin surface coast
9150	end surface coast: CONTROL_FINISHED_OK
state	9150	begin surface