Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 343 * 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 343 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 958.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 52 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 958.0 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 61 VBD_MIN 500

DIVE 343 NOCOMM_ACTION 161 R_STBD_OVSHOOT 52 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 150917,150629,7449.7720,-15054.8633,13,0.8,26,20.7,0.3,226.4,11,9.9 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 1.19 MHEAD_RNG_PITCHd_Wd 119.6,11430,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 150917,151747,7449.7437,-15054.9375,6,0.8,11,20.7,0.0,0.0,11,8.4

Post-dive calculations and measurements:

FINISH 0.5,1.021299 _24V_AH 12.19,208.933

SM_CCo 9295,0.00,0.000,0,0,493,704.50 _10V_AH 12.02,0.000

SM_GC 1.13,8.32,2.62,0.00,0.076,0.070,0.000,200,2201,493,-7.39,-0.74,704.50,0,0,0,0,0,0,14.26,14.16,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 304 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323720

IRIDIUM_FIX 7450.64,-15106.31,150917,122352 DATA_FILE_SIZE 26767,734

TT8_MAMPS 0.039697,0.963963 CAP_FILE_SIZE 105550,0

HUMID 46.81 CFSIZE 2097872896,1989935104

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

TCM_TEMP 13.20 INTR 0,1486.54,0x2341e8,0,24

XPDR_PINGS 13 SOUNDSPEED 1447.0

CP_FREE 15926034432.000000 CURRENT 0.043,347.11,1

PM_FREEKB_00 46763904 GPS 150917,175432,7448.721,-15053.044,31,0.8,31,20.7,0.0,0.0,10,7.0

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 145.53 nil 0 0 0.00

Roll_motor 88 2151 2314.99 nil 0 0 0.00

VBD_pump_during_apogee 1073 1427 18680.95 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 9247 14 1639.98

Iridium_during_xfer 389 172 821.78 NCP 9198 20 2242.47

Transponder_ping 3 420 16.64 PMAR 9187 12 1435.82

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.53

TT8 0 0 0.00

LPSleep 6537 2 181.53

TT8_Active 932 13 156.54

TT8_Sampling 2164 33 870.09

TT8_CF8 349 38 162.69

TT8_Kalman 0 0 0.00

Analog_circuits 2243 10 269.73

GPS_charging 0 0 0.00

Compass 1053 7 88.61

RAFOS 2207 48 1273.35

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 2232 513 476 0.0 0.0 0 144 0.00 0.00 -91.38 0.000 16386 0.000 0.000 202 2232 2144 2073 2216 0 0 0 0 0 0 14.47 28.83 14.49

148 -0.57 -145.9 202 2233 2076 2217 4.0 -5.3 9 201 12.85 2.72 -35.00 0.000 18724 0.451 2.152 2377 3576 3964 3949 3979 0 0 0 0 0 0 13.56 12.58 14.02

392 -0.72 -145.9 2379 3580 3956 3981 50.9 -13.1 57 397 0.00 2.33 0.00 0.000 1158 0.000 0.057 2377 2227 3966 3953 3979 0 0 0 0 0 0 14.24 14.12 14.28

702 -0.86 -145.9 2377 2226 3956 3980 88.2 -9.9 89 707 0.20 2.42 0.00 0.000 4516 0.103 0.085 2292 3586 3967 3955 3979 0 0 0 0 0 0 14.08 14.02 14.12

743 -0.92 -145.9 2293 3586 3956 3979 93.6 -14.7 97 748 0.00 2.38 0.00 0.000 1158 0.000 0.057 2293 2202 3967 3955 3979 0 0 0 0 0 0 13.39 13.36 13.55

1063 -0.96 -145.9 2293 2201 3957 3979 139.1 -13.4 112 1069 0.00 2.42 0.00 0.000 388 0.000 0.086 2284 3579 3967 3955 3979 0 0 0 0 0 0 14.63 14.02 14.67

1110 -1.09 -145.9 2285 3581 3956 3979 144.8 -11.6 121 1115 0.17 2.35 0.00 0.000 5254 0.106 0.057 2218 2198 3967 3954 3980 0 0 0 0 0 0 14.25 14.16 14.32

1426 -1.02 -145.9 2219 2196 3955 3980 205.4 -19.0 134 1431 0.12 2.45 0.00 0.000 2436 0.296 0.082 2236 3579 3967 3955 3979 0 0 0 0 0 0 13.83 14.05 13.98

1486 -1.08 -145.9 2236 3581 3955 3981 214.9 -14.0 146 1494 0.00 2.33 0.00 0.000 1158 0.000 0.056 2236 2198 3967 3955 3979 0 0 0 0 0 0 14.28 14.15 14.31

1820 -1.08 -145.9 2237 2198 3954 3980 263.8 -14.0 162 1825 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3579 3967 3955 3980 0 0 0 0 0 0 14.69 14.01 14.66

1855 -1.13 -145.9 2235 3580 3956 3981 268.5 -13.0 169 1860 0.00 2.35 0.00 0.000 1158 0.000 0.056 2235 2200 3967 3955 3979 0 0 0 0 0 0 14.14 14.02 14.17

2180 -1.17 -145.9 2236 2199 3956 3979 309.6 -12.4 184 2186 0.10 2.45 0.00 0.000 4484 0.173 0.084 2190 3579 3967 3955 3979 0 0 0 0 0 0 14.28 14.00 14.34

2221 -1.17 -145.9 2190 3579 3956 3980 315.7 -15.6 192 2227 0.00 2.35 0.00 0.000 1030 0.000 0.058 2190 2199 3967 3955 3979 0 0 0 0 0 0 14.26 14.12 14.29

2545 -1.13 -145.9 2190 2198 3955 3979 364.6 -15.0 206 2549 0.00 2.50 0.00 0.000 388 0.000 0.086 2184 3582 3967 3955 3979 0 0 0 0 0 0 14.40 13.80 14.42

2615 -1.13 -145.9 2187 3584 3955 3980 375.1 -14.0 220 2621 0.15 2.40 0.00 0.000 3078 0.243 0.057 2213 2194 3966 3954 3979 0 0 0 0 0 0 13.71 13.99 13.97

2936 -1.15 -145.9 2214 2193 3955 3980 414.2 -11.9 234 2941 0.00 2.50 0.00 0.000 388 0.000 0.086 2212 3581 3966 3954 3978 0 0 0 0 0 0 14.38 13.88 14.40

3001 -1.24 -145.9 2211 3581 3955 3979 421.9 -11.5 247 3006 0.00 2.40 0.00 0.000 1158 0.000 0.055 2210 2196 3966 3954 3979 0 0 0 0 0 0 14.08 13.96 14.11

3327 -1.26 -145.9 2209 2196 3955 3980 460.7 -12.1 262 3332 0.12 2.53 0.00 0.000 4484 0.143 0.083 2154 3587 3966 3954 3979 0 0 0 0 0 0 13.92 13.89 13.95

3403 -1.21 -145.9 2154 3587 3954 3979 472.5 -16.1 277 3408 0.17 2.38 0.00 0.000 3206 0.260 0.054 2188 2200 3965 3952 3979 0 0 0 0 0 0 13.63 13.99 13.94

3475 end dive: TARGET_DEPTH_EXCEEDED

state 3475 begin apogee

3482 -0.13 0.0 2188 2062 3954 3980 483.4 -14.4 282 3719 1.38 0.00 231.32 1.398 10246 0.236 0.000 2531 2060 3362 3378 3346 0 0 0 0 0 0 13.62 13.42 12.57

3722 end apogee: CONTROL_FINISHED_OK

state 3723 begin climb

3725 0.57 145.9 2531 2061 3372 3339 496.4 0.0 290 3989 0.75 2.60 214.35 1.336 10756 0.059 0.076 2792 721 2753 2788 2718 0 0 0 0 0 0 13.57 12.78 12.19

4039 0.15 145.9 2792 722 2788 2717 497.9 13.7 301 4046 0.77 2.53 0.00 0.000 5254 0.324 0.073 2638 2070 2751 2787 2715 0 0 0 0 0 0 13.00 13.32 13.34

4344 -0.00 172.1 2639 2071 2786 2708 470.1 8.8 312 4380 0.20 0.00 34.03 1.427 12966 0.270 0.000 2590 2072 2664 2709 2620 0 0 0 0 0 0 13.64 13.88 13.05

4676 -0.01 223.3 2591 2072 2697 2596 444.9 7.6 328 4757 0.00 0.00 78.32 1.348 8870 0.000 0.000 2589 2072 2454 2509 2399 0 0 0 0 0 0 14.40 13.83 13.03

5034 0.01 251.9 2590 2072 2492 2376 414.4 8.7 350 5079 0.00 0.00 40.62 1.385 8742 0.000 0.000 2589 2071 2333 2384 2283 0 0 0 0 0 0 14.39 13.73 13.12

5395 0.07 280.9 2591 2071 2369 2265 382.9 8.7 372 5441 0.00 2.47 41.22 1.365 8868 0.000 0.088 2590 717 2217 2266 2169 0 0 0 0 0 0 14.59 14.05 13.19

5493 0.21 319.7 2591 718 2251 2161 374.7 8.2 391 5562 0.20 2.42 61.70 1.307 11430 0.096 0.078 2673 2105 2059 2102 2016 0 0 0 0 0 0 14.20 14.11 13.11

5878 0.14 319.7 2673 2105 2088 1993 320.0 14.2 418 5883 0.15 2.42 0.00 0.000 4740 0.257 0.083 2645 721 2040 2087 1993 0 0 0 0 0 0 13.93 14.16 14.10

5923 0.18 319.7 2646 722 2084 1992 314.4 11.7 427 5928 0.00 2.42 0.00 0.000 1158 0.000 0.079 2645 2107 2038 2083 1993 0 0 0 0 0 0 14.32 14.18 14.36

6238 0.18 319.7 2645 2109 2083 1991 278.1 11.3 440 6244 0.00 2.45 0.00 0.000 516 0.000 0.086 2646 716 2037 2083 1991 0 0 0 0 0 0 14.64 14.18 14.65

6294 0.23 319.7 2647 716 2083 1991 272.2 10.0 451 6300 0.00 2.40 0.00 0.000 1158 0.000 0.076 2646 2096 2034 2081 1987 0 0 0 0 0 0 14.30 14.16 14.38

6599 0.24 332.6 2646 2102 2082 1990 242.0 9.4 462 6609 0.00 2.42 4.20 1.353 8740 0.000 0.086 2646 723 2012 2058 1967 0 0 0 0 0 0 14.64 13.63 13.21

6692 0.32 362.9 2646 724 2066 1977 234.0 8.6 480 6765 0.12 2.40 66.45 1.260 11430 0.126 0.077 2698 2104 1885 1917 1853 0 0 0 0 0 0 14.23 14.17 13.19

7081 0.28 362.9 2698 2105 1897 1836 188.0 11.5 508 7086 0.00 2.45 0.00 0.000 644 0.000 0.085 2699 719 1866 1896 1837 0 0 0 0 0 0 14.58 14.09 14.59

7131 0.28 362.9 2699 720 1895 1837 182.2 11.1 518 7136 0.00 2.42 0.00 0.000 1030 0.000 0.076 2698 2108 1864 1892 1837 0 0 0 0 0 0 14.28 14.16 14.35

7442 0.26 362.9 2699 2109 1896 1833 148.5 10.5 530 7447 0.12 2.45 0.00 0.000 4740 0.224 0.083 2672 721 1863 1893 1834 0 0 0 0 0 0 14.00 14.07 14.12

7487 0.37 407.2 2673 721 1893 1834 144.5 8.0 539 7572 0.00 2.42 77.82 1.206 9382 0.000 0.078 2672 2105 1703 1725 1682 0 0 0 0 0 0 14.23 14.10 13.20

7893 0.48 450.1 2673 2106 1714 1660 110.8 8.0 570 7977 0.17 2.53 75.97 1.171 10916 0.106 0.088 2754 721 1521 1550 1493 0 0 0 0 0 0 14.04 13.97 13.19

8033 0.48 450.1 2754 720 1540 1486 93.9 11.7 598 8038 0.00 2.45 0.00 0.000 1030 0.000 0.076 2754 2097 1511 1538 1484 0 0 0 0 0 0 14.14 14.00 14.12

8343 0.50 484.3 2755 2098 1540 1476 61.4 8.4 630 8364 0.00 0.00 17.20 0.370 8230 0.000 0.000 2754 2101 1389 1430 1348 0 0 0 0 0 0 14.54 14.06 13.65

8663 0.62 594.4 2755 2097 1435 1357 41.5 4.9 662 8735 0.00 0.00 64.38 0.319 8358 0.000 0.000 2754 2097 942 1009 875 0 0 0 0 0 0 14.54 13.88 13.68

9033 0.92 727.8 2754 2098 1010 885 21.4 3.8 699 9109 0.35 2.47 65.95 0.252 10916 0.077 0.089 2889 721 496 512 481 0 0 0 0 0 0 14.09 13.92 13.72

9201 end climb: SURFACE_DEPTH_REACHED

state 9201 begin surface coast

9211 end surface coast: CONTROL_FINISHED_OK

state 9211 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	343	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	958.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	52	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,150629,7449.7720,-15054.8633,13,0.8,26,20.7,0.3,226.4,11,9.9	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	1.19	MHEAD_RNG_PITCHd_Wd	119.6,11430,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	150917,151747,7449.7437,-15054.9375,6,0.8,11,20.7,0.0,0.0,11,8.4

FINISH	0.5,1.021299	_24V_AH	12.19,208.933
SM_CCo	9295,0.00,0.000,0,0,493,704.50	_10V_AH	12.02,0.000
SM_GC	1.13,8.32,2.62,0.00,0.076,0.070,0.000,200,2201,493,-7.39,-0.74,704.50,0,0,0,0,0,0,14.26,14.16,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	304	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323720
IRIDIUM_FIX	7450.64,-15106.31,150917,122352	DATA_FILE_SIZE	26767,734
TT8_MAMPS	0.039697,0.963963	CAP_FILE_SIZE	105550,0
HUMID	46.81	CFSIZE	2097872896,1989935104
INTERNAL_PRESSURE	7.73269	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	INTR	0,1486.54,0x2341e8,0,24
XPDR_PINGS	13	SOUNDSPEED	1447.0
CP_FREE	15926034432.000000	CURRENT	0.043,347.11,1
PM_FREEKB_00	46763904	GPS	150917,175432,7448.721,-15053.044,31,0.8,31,20.7,0.0,0.0,10,7.0

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	145.53	nil	0	0	0.00
Roll_motor	88	2151	2314.99	nil	0	0	0.00
VBD_pump_during_apogee	1073	1427	18680.95	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	9247	14	1639.98
Iridium_during_xfer	389	172	821.78	NCP	9198	20	2242.47
Transponder_ping	3	420	16.64	PMAR	9187	12	1435.82
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.53
TT8	0	0	0.00
LPSleep	6537	2	181.53
TT8_Active	932	13	156.54
TT8_Sampling	2164	33	870.09
TT8_CF8	349	38	162.69
TT8_Kalman	0	0	0.00
Analog_circuits	2243	10	269.73
GPS_charging	0	0	0.00
Compass	1053	7	88.61
RAFOS	2207	48	1273.35
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	2232	513	476	0.0	0.0	0	144	0.00	0.00	-91.38	0.000	16386	0.000	0.000	202	2232	2144	2073	2216	0	0	0	0	0	0	14.47	28.83	14.49
148	-0.57	-145.9	202	2233	2076	2217	4.0	-5.3	9	201	12.85	2.72	-35.00	0.000	18724	0.451	2.152	2377	3576	3964	3949	3979	0	0	0	0	0	0	13.56	12.58	14.02
392	-0.72	-145.9	2379	3580	3956	3981	50.9	-13.1	57	397	0.00	2.33	0.00	0.000	1158	0.000	0.057	2377	2227	3966	3953	3979	0	0	0	0	0	0	14.24	14.12	14.28
702	-0.86	-145.9	2377	2226	3956	3980	88.2	-9.9	89	707	0.20	2.42	0.00	0.000	4516	0.103	0.085	2292	3586	3967	3955	3979	0	0	0	0	0	0	14.08	14.02	14.12
743	-0.92	-145.9	2293	3586	3956	3979	93.6	-14.7	97	748	0.00	2.38	0.00	0.000	1158	0.000	0.057	2293	2202	3967	3955	3979	0	0	0	0	0	0	13.39	13.36	13.55
1063	-0.96	-145.9	2293	2201	3957	3979	139.1	-13.4	112	1069	0.00	2.42	0.00	0.000	388	0.000	0.086	2284	3579	3967	3955	3979	0	0	0	0	0	0	14.63	14.02	14.67
1110	-1.09	-145.9	2285	3581	3956	3979	144.8	-11.6	121	1115	0.17	2.35	0.00	0.000	5254	0.106	0.057	2218	2198	3967	3954	3980	0	0	0	0	0	0	14.25	14.16	14.32
1426	-1.02	-145.9	2219	2196	3955	3980	205.4	-19.0	134	1431	0.12	2.45	0.00	0.000	2436	0.296	0.082	2236	3579	3967	3955	3979	0	0	0	0	0	0	13.83	14.05	13.98
1486	-1.08	-145.9	2236	3581	3955	3981	214.9	-14.0	146	1494	0.00	2.33	0.00	0.000	1158	0.000	0.056	2236	2198	3967	3955	3979	0	0	0	0	0	0	14.28	14.15	14.31
1820	-1.08	-145.9	2237	2198	3954	3980	263.8	-14.0	162	1825	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3579	3967	3955	3980	0	0	0	0	0	0	14.69	14.01	14.66
1855	-1.13	-145.9	2235	3580	3956	3981	268.5	-13.0	169	1860	0.00	2.35	0.00	0.000	1158	0.000	0.056	2235	2200	3967	3955	3979	0	0	0	0	0	0	14.14	14.02	14.17
2180	-1.17	-145.9	2236	2199	3956	3979	309.6	-12.4	184	2186	0.10	2.45	0.00	0.000	4484	0.173	0.084	2190	3579	3967	3955	3979	0	0	0	0	0	0	14.28	14.00	14.34
2221	-1.17	-145.9	2190	3579	3956	3980	315.7	-15.6	192	2227	0.00	2.35	0.00	0.000	1030	0.000	0.058	2190	2199	3967	3955	3979	0	0	0	0	0	0	14.26	14.12	14.29
2545	-1.13	-145.9	2190	2198	3955	3979	364.6	-15.0	206	2549	0.00	2.50	0.00	0.000	388	0.000	0.086	2184	3582	3967	3955	3979	0	0	0	0	0	0	14.40	13.80	14.42
2615	-1.13	-145.9	2187	3584	3955	3980	375.1	-14.0	220	2621	0.15	2.40	0.00	0.000	3078	0.243	0.057	2213	2194	3966	3954	3979	0	0	0	0	0	0	13.71	13.99	13.97
2936	-1.15	-145.9	2214	2193	3955	3980	414.2	-11.9	234	2941	0.00	2.50	0.00	0.000	388	0.000	0.086	2212	3581	3966	3954	3978	0	0	0	0	0	0	14.38	13.88	14.40
3001	-1.24	-145.9	2211	3581	3955	3979	421.9	-11.5	247	3006	0.00	2.40	0.00	0.000	1158	0.000	0.055	2210	2196	3966	3954	3979	0	0	0	0	0	0	14.08	13.96	14.11
3327	-1.26	-145.9	2209	2196	3955	3980	460.7	-12.1	262	3332	0.12	2.53	0.00	0.000	4484	0.143	0.083	2154	3587	3966	3954	3979	0	0	0	0	0	0	13.92	13.89	13.95
3403	-1.21	-145.9	2154	3587	3954	3979	472.5	-16.1	277	3408	0.17	2.38	0.00	0.000	3206	0.260	0.054	2188	2200	3965	3952	3979	0	0	0	0	0	0	13.63	13.99	13.94
3475	end dive: TARGET_DEPTH_EXCEEDED
state	3475	begin apogee
3482	-0.13	0.0	2188	2062	3954	3980	483.4	-14.4	282	3719	1.38	0.00	231.32	1.398	10246	0.236	0.000	2531	2060	3362	3378	3346	0	0	0	0	0	0	13.62	13.42	12.57
3722	end apogee: CONTROL_FINISHED_OK
state	3723	begin climb
3725	0.57	145.9	2531	2061	3372	3339	496.4	0.0	290	3989	0.75	2.60	214.35	1.336	10756	0.059	0.076	2792	721	2753	2788	2718	0	0	0	0	0	0	13.57	12.78	12.19
4039	0.15	145.9	2792	722	2788	2717	497.9	13.7	301	4046	0.77	2.53	0.00	0.000	5254	0.324	0.073	2638	2070	2751	2787	2715	0	0	0	0	0	0	13.00	13.32	13.34
4344	-0.00	172.1	2639	2071	2786	2708	470.1	8.8	312	4380	0.20	0.00	34.03	1.427	12966	0.270	0.000	2590	2072	2664	2709	2620	0	0	0	0	0	0	13.64	13.88	13.05
4676	-0.01	223.3	2591	2072	2697	2596	444.9	7.6	328	4757	0.00	0.00	78.32	1.348	8870	0.000	0.000	2589	2072	2454	2509	2399	0	0	0	0	0	0	14.40	13.83	13.03
5034	0.01	251.9	2590	2072	2492	2376	414.4	8.7	350	5079	0.00	0.00	40.62	1.385	8742	0.000	0.000	2589	2071	2333	2384	2283	0	0	0	0	0	0	14.39	13.73	13.12
5395	0.07	280.9	2591	2071	2369	2265	382.9	8.7	372	5441	0.00	2.47	41.22	1.365	8868	0.000	0.088	2590	717	2217	2266	2169	0	0	0	0	0	0	14.59	14.05	13.19
5493	0.21	319.7	2591	718	2251	2161	374.7	8.2	391	5562	0.20	2.42	61.70	1.307	11430	0.096	0.078	2673	2105	2059	2102	2016	0	0	0	0	0	0	14.20	14.11	13.11
5878	0.14	319.7	2673	2105	2088	1993	320.0	14.2	418	5883	0.15	2.42	0.00	0.000	4740	0.257	0.083	2645	721	2040	2087	1993	0	0	0	0	0	0	13.93	14.16	14.10
5923	0.18	319.7	2646	722	2084	1992	314.4	11.7	427	5928	0.00	2.42	0.00	0.000	1158	0.000	0.079	2645	2107	2038	2083	1993	0	0	0	0	0	0	14.32	14.18	14.36
6238	0.18	319.7	2645	2109	2083	1991	278.1	11.3	440	6244	0.00	2.45	0.00	0.000	516	0.000	0.086	2646	716	2037	2083	1991	0	0	0	0	0	0	14.64	14.18	14.65
6294	0.23	319.7	2647	716	2083	1991	272.2	10.0	451	6300	0.00	2.40	0.00	0.000	1158	0.000	0.076	2646	2096	2034	2081	1987	0	0	0	0	0	0	14.30	14.16	14.38
6599	0.24	332.6	2646	2102	2082	1990	242.0	9.4	462	6609	0.00	2.42	4.20	1.353	8740	0.000	0.086	2646	723	2012	2058	1967	0	0	0	0	0	0	14.64	13.63	13.21
6692	0.32	362.9	2646	724	2066	1977	234.0	8.6	480	6765	0.12	2.40	66.45	1.260	11430	0.126	0.077	2698	2104	1885	1917	1853	0	0	0	0	0	0	14.23	14.17	13.19
7081	0.28	362.9	2698	2105	1897	1836	188.0	11.5	508	7086	0.00	2.45	0.00	0.000	644	0.000	0.085	2699	719	1866	1896	1837	0	0	0	0	0	0	14.58	14.09	14.59
7131	0.28	362.9	2699	720	1895	1837	182.2	11.1	518	7136	0.00	2.42	0.00	0.000	1030	0.000	0.076	2698	2108	1864	1892	1837	0	0	0	0	0	0	14.28	14.16	14.35
7442	0.26	362.9	2699	2109	1896	1833	148.5	10.5	530	7447	0.12	2.45	0.00	0.000	4740	0.224	0.083	2672	721	1863	1893	1834	0	0	0	0	0	0	14.00	14.07	14.12
7487	0.37	407.2	2673	721	1893	1834	144.5	8.0	539	7572	0.00	2.42	77.82	1.206	9382	0.000	0.078	2672	2105	1703	1725	1682	0	0	0	0	0	0	14.23	14.10	13.20
7893	0.48	450.1	2673	2106	1714	1660	110.8	8.0	570	7977	0.17	2.53	75.97	1.171	10916	0.106	0.088	2754	721	1521	1550	1493	0	0	0	0	0	0	14.04	13.97	13.19
8033	0.48	450.1	2754	720	1540	1486	93.9	11.7	598	8038	0.00	2.45	0.00	0.000	1030	0.000	0.076	2754	2097	1511	1538	1484	0	0	0	0	0	0	14.14	14.00	14.12
8343	0.50	484.3	2755	2098	1540	1476	61.4	8.4	630	8364	0.00	0.00	17.20	0.370	8230	0.000	0.000	2754	2101	1389	1430	1348	0	0	0	0	0	0	14.54	14.06	13.65
8663	0.62	594.4	2755	2097	1435	1357	41.5	4.9	662	8735	0.00	0.00	64.38	0.319	8358	0.000	0.000	2754	2097	942	1009	875	0	0	0	0	0	0	14.54	13.88	13.68
9033	0.92	727.8	2754	2098	1010	885	21.4	3.8	699	9109	0.35	2.47	65.95	0.252	10916	0.077	0.089	2889	721	496	512	481	0	0	0	0	0	0	14.09	13.92	13.72
9201	end climb: SURFACE_DEPTH_REACHED
state	9201	begin surface coast
9211	end surface coast: CONTROL_FINISHED_OK
state	9211	begin surface