Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 344 * 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 344 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 962.0

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 54 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 962.0 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 54 VBD_MIN 500

DIVE 344 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 150917,175432,7448.7207,-15053.0439,31,0.8,31,20.7,0.0,0.0,10,7.0 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 122.5,9429,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 150917,180546,7448.7183,-15053.2021,6,0.8,9,20.7,0.0,255.6,10,8.9

Post-dive calculations and measurements:

FINISH 0.1,1.021269 _24V_AH 12.26,209.428

SM_CCo 8865,0.00,0.000,0,0,496,704.26 _10V_AH 12.11,0.000

SM_GC 1.17,8.43,0.17,0.00,0.077,0.104,0.000,205,2244,496,-7.37,-0.48,704.26,0,0,0,0,0,0,14.14,14.16,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 101 FG_AHR_10Vo 0.000

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

IRIDIUM_FIX 7449.63,-15059.12,150917,151114 DATA_FILE_SIZE 23458,676

TT8_MAMPS 0.085386,0.963963 CAP_FILE_SIZE 97637,0

HUMID 43.93 CFSIZE 2097872896,1989705728

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1446.7

XPDR_PINGS 18 CURRENT 0.043,335.48,1

CP_FREE 15925608448.000000 GPS 150917,203526,7447.744,-15051.281,13,0.8,36,20.7,0.0,280.9,10,7.9

PM_FREEKB_00 46726656

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 146.83 nil 0 0 0.00

Roll_motor 85 104 109.03 nil 0 0 0.00

VBD_pump_during_apogee 1008 1523 18846.24 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 8613 14 1547.50

Iridium_during_xfer 387 175 833.12 NCP 8776 20 2151.88

Transponder_ping 4 420 23.17 PMAR 8758 12 1306.41

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.96

TT8 0 0 0.00

LPSleep 6148 2 171.99

TT8_Active 879 13 148.76

TT8_Sampling 2191 33 887.32

TT8_CF8 332 38 155.70

TT8_Kalman 0 0 0.00

Analog_circuits 2271 10 275.10

GPS_charging 0 0 0.00

Compass 970 7 82.30

RAFOS 2216 48 1288.12

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 -145.9 196 2200 495 478 0.0 0.0 0 144 0.00 0.00 -91.47 0.000 16386 0.000 0.000 196 2203 2124 2051 2198 0 0 0 0 0 0 14.48 28.83 14.49

148 -0.57 -145.9 197 2204 2054 2200 3.7 -4.5 9 204 12.93 0.00 -36.33 0.000 19238 0.454 0.000 2384 2202 3961 3946 3976 0 0 0 0 0 0 13.54 12.53 13.97

503 -0.67 -145.9 2385 2204 3952 3971 70.3 -12.2 47 507 0.00 2.50 0.00 0.000 388 0.000 0.087 2378 3614 3963 3951 3976 0 0 0 0 0 0 14.59 14.07 14.59

563 -0.91 -145.9 2378 3614 3953 3976 76.5 -8.9 59 568 0.30 2.35 0.00 0.000 5286 0.093 0.054 2267 2223 3963 3951 3976 0 0 0 0 0 0 14.22 14.18 14.32

876 -0.89 -145.9 2267 2221 3953 3976 132.2 -16.8 79 881 0.00 2.47 0.00 0.000 388 0.000 0.086 2257 3616 3963 3951 3976 0 0 0 0 0 0 14.62 14.12 14.64

921 -0.95 -145.9 2258 3616 3953 3976 139.7 -14.7 88 928 0.00 2.40 0.00 0.000 1158 0.000 0.057 2257 2202 3964 3952 3976 0 0 0 0 0 0 14.30 14.16 14.32

1238 -0.95 -145.9 2257 2201 3953 3976 188.1 -14.6 101 1243 0.00 2.50 0.00 0.000 260 0.000 0.086 2250 3616 3963 3951 3976 0 0 0 0 0 0 14.64 14.04 14.65

1313 -1.05 -145.9 2250 3617 3955 3977 198.0 -12.1 116 1319 0.00 2.40 0.00 0.000 1158 0.000 0.057 2249 2202 3963 3950 3976 0 0 0 0 0 0 14.25 14.12 14.29

1630 -1.05 -145.9 2249 2202 3952 3977 242.3 -13.6 129 1635 0.00 2.50 0.00 0.000 260 0.000 0.087 2243 3607 3963 3951 3976 0 0 0 0 0 0 14.64 14.09 14.66

1685 -1.17 -145.9 2243 3607 3953 3976 249.3 -11.6 140 1693 0.12 2.42 0.00 0.000 5254 0.133 0.057 2192 2190 3963 3951 3976 0 0 0 0 0 0 14.12 14.09 14.23

1990 -1.10 -145.9 2193 2189 3953 3976 301.1 -16.6 151 1995 0.12 2.55 0.00 0.000 2436 0.292 0.083 2210 3621 3963 3951 3976 0 0 0 0 0 0 13.88 14.07 14.02

2056 -1.15 -145.9 2210 3623 3952 3977 310.3 -12.8 164 2062 0.00 2.42 0.00 0.000 1158 0.000 0.055 2210 2201 3963 3951 3976 0 0 0 0 0 0 14.21 14.09 14.26

2382 -1.15 -145.9 2210 2199 3952 3976 354.5 -13.3 179 2387 0.00 2.53 0.00 0.000 260 0.000 0.089 2209 3616 3963 3951 3976 0 0 0 0 0 0 14.60 14.05 14.62

2462 -1.23 -145.9 2210 3617 3953 3976 364.3 -11.3 195 2467 0.00 2.45 0.00 0.000 1158 0.000 0.057 2209 2194 3963 3951 3976 0 0 0 0 0 0 14.20 14.07 14.23

2772 -1.23 -145.9 2210 2193 3952 3976 403.3 -12.7 207 2777 0.00 2.53 0.00 0.000 260 0.000 0.089 2211 3614 3962 3949 3976 0 0 0 0 0 0 14.61 14.07 14.63

2848 -1.32 -145.9 2209 3615 3951 3977 412.2 -11.1 222 2853 0.17 2.40 0.00 0.000 5254 0.110 0.055 2148 2196 3963 3951 3975 0 0 0 0 0 0 14.14 14.08 14.23

3164 -1.20 -145.9 2148 2196 3951 3977 468.2 -18.1 235 3169 0.17 2.50 0.00 0.000 2436 0.318 0.081 2174 3610 3962 3950 3975 0 0 0 0 0 0 13.66 13.98 13.88

3241 end dive: TARGET_DEPTH_EXCEEDED

state 3242 begin apogee

3250 -0.13 0.0 2174 2102 3950 3977 480.6 -14.0 251 3485 1.42 0.00 228.27 1.398 10246 0.243 0.000 2526 2100 3360 3375 3346 0 0 0 0 0 0 13.71 13.29 12.66

3489 end apogee: CONTROL_FINISHED_OK

state 3489 begin climb

3491 0.57 145.9 2527 2101 3373 3344 494.2 0.0 259 3889 0.75 2.70 213.75 1.372 10756 0.060 0.074 2792 692 2756 2787 2726 0 0 0 0 0 0 13.72 12.88 12.26

3894 0.57 145.9 2792 693 2786 2725 484.2 2.5 262 3898 0.00 2.53 0.00 0.000 1030 0.000 0.074 2791 2101 2755 2786 2724 0 0 0 0 0 0 13.84 13.74 13.90

4209 0.12 145.9 2792 2103 2786 2718 439.2 14.2 275 4211 0.75 0.00 0.00 0.000 4230 0.318 0.000 2629 2103 2752 2785 2720 0 0 0 0 0 0 13.64 14.20 14.12

4509 0.00 192.0 2629 2103 2786 2718 414.3 7.9 285 4584 0.15 2.58 66.28 1.402 12964 0.293 0.083 2602 682 2575 2623 2527 0 0 0 0 0 0 13.85 13.99 13.10

4634 0.03 235.3 2602 683 2619 2523 404.9 8.0 310 4704 0.00 2.53 63.72 1.375 9254 0.000 0.079 2601 2102 2402 2455 2349 0 0 0 0 0 0 14.16 14.04 13.00

5020 0.05 253.0 2602 2103 2445 2336 370.0 9.2 337 5044 0.00 0.00 23.00 1.473 8230 0.000 0.000 2602 2102 2335 2385 2285 0 0 0 0 0 0 14.54 14.05 13.18

5320 0.06 274.2 2602 2102 2375 2273 342.7 9.0 347 5352 0.00 0.00 31.45 1.443 8230 0.000 0.000 2602 2102 2248 2296 2200 0 0 0 0 0 0 14.59 14.06 13.19

5650 0.11 299.2 2602 2103 2289 2186 313.0 8.8 358 5695 0.00 2.55 37.83 1.388 8868 0.000 0.086 2602 692 2140 2186 2095 0 0 0 0 0 0 14.60 14.07 13.21

5742 0.24 323.6 2603 692 2180 2094 305.1 8.9 376 5787 0.17 2.47 37.35 1.370 11430 0.103 0.078 2675 2106 2044 2087 2002 0 0 0 0 0 0 14.09 14.03 13.14

6102 0.18 323.6 2676 2106 2080 1988 258.8 12.3 398 6107 0.12 2.50 0.00 0.000 4740 0.262 0.083 2653 690 2033 2079 1988 0 0 0 0 0 0 13.98 14.15 14.13

6183 0.24 330.0 2654 689 2077 1988 250.5 9.7 414 6193 0.00 2.47 3.85 1.524 9382 0.000 0.078 2654 2106 2018 2062 1974 0 0 0 0 0 0 14.26 14.12 12.95

6493 0.25 345.8 2655 2107 2066 1976 220.8 9.3 426 6529 0.00 2.53 29.33 1.406 8740 0.000 0.086 2654 685 1950 1994 1907 0 0 0 0 0 0 14.64 14.07 13.25

6592 0.35 382.2 2654 686 1989 1910 212.5 8.3 445 6660 0.12 2.50 62.15 1.288 11430 0.126 0.078 2704 2103 1805 1829 1782 0 0 0 0 0 0 14.18 14.13 13.14

6975 0.32 382.2 2705 2104 1817 1770 166.8 11.8 472 6981 0.00 2.55 0.00 0.000 644 0.000 0.086 2712 685 1791 1817 1765 0 0 0 0 0 0 14.41 13.98 14.42

7051 0.32 382.2 2712 685 1814 1770 157.9 11.1 487 7056 0.00 2.50 0.00 0.000 1030 0.000 0.077 2711 2103 1791 1814 1769 0 0 0 0 0 0 14.21 14.05 14.23

7367 0.29 382.2 2712 2106 1813 1767 123.0 10.8 500 7373 0.12 2.53 0.00 0.000 4740 0.227 0.084 2685 688 1789 1812 1766 0 0 0 0 0 0 13.93 14.03 14.04

7419 0.40 411.5 2686 686 1811 1766 118.2 8.6 510 7468 0.00 2.53 43.45 1.282 9382 0.000 0.076 2685 2102 1684 1703 1666 0 0 0 0 0 0 14.07 13.95 13.21

7769 0.51 473.6 2686 2103 1705 1658 89.3 7.1 542 7809 0.17 0.00 35.05 0.467 10406 0.105 0.000 2761 2103 1433 1466 1400 0 0 0 0 0 0 14.13 13.91 13.62

8109 0.54 521.3 2762 2103 1467 1395 54.2 7.8 576 8141 0.00 2.62 27.20 0.360 8740 0.000 0.086 2764 681 1237 1284 1190 0 0 0 0 0 0 14.40 14.02 13.62

8277 0.68 594.0 2768 686 1290 1190 42.3 6.6 609 8324 0.00 2.53 42.47 0.322 9382 0.000 0.079 2767 2101 941 1007 876 0 0 0 0 0 0 14.07 13.93 13.71

8622 0.95 711.9 2768 2101 1008 871 20.4 4.6 648 8691 0.35 2.60 63.60 0.252 10916 0.078 0.089 2902 690 497 513 481 0 0 0 0 0 0 14.04 13.92 13.75

8741 0.95 711.9 2903 691 515 481 5.8 13.5 671 8747 0.00 2.53 0.00 0.000 1030 0.000 0.075 2903 2106 497 514 481 0 0 0 0 0 0 14.04 13.92 14.08

8773 end climb: SURFACE_DEPTH_REACHED

state 8773 begin surface coast

8783 end surface coast: CONTROL_FINISHED_OK

state 8784 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	344	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	962.0
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	54	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,175432,7448.7207,-15053.0439,31,0.8,31,20.7,0.0,0.0,10,7.0	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	122.5,9429,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	150917,180546,7448.7183,-15053.2021,6,0.8,9,20.7,0.0,255.6,10,8.9

FINISH	0.1,1.021269	_24V_AH	12.26,209.428
SM_CCo	8865,0.00,0.000,0,0,496,704.26	_10V_AH	12.11,0.000
SM_GC	1.17,8.43,0.17,0.00,0.077,0.104,0.000,205,2244,496,-7.37,-0.48,704.26,0,0,0,0,0,0,14.14,14.16,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	101	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323612
IRIDIUM_FIX	7449.63,-15059.12,150917,151114	DATA_FILE_SIZE	23458,676
TT8_MAMPS	0.085386,0.963963	CAP_FILE_SIZE	97637,0
HUMID	43.93	CFSIZE	2097872896,1989705728
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1446.7
XPDR_PINGS	18	CURRENT	0.043,335.48,1
CP_FREE	15925608448.000000	GPS	150917,203526,7447.744,-15051.281,13,0.8,36,20.7,0.0,280.9,10,7.9
PM_FREEKB_00	46726656

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	146.83	nil	0	0	0.00
Roll_motor	85	104	109.03	nil	0	0	0.00
VBD_pump_during_apogee	1008	1523	18846.24	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	8613	14	1547.50
Iridium_during_xfer	387	175	833.12	NCP	8776	20	2151.88
Transponder_ping	4	420	23.17	PMAR	8758	12	1306.41
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.96
TT8	0	0	0.00
LPSleep	6148	2	171.99
TT8_Active	879	13	148.76
TT8_Sampling	2191	33	887.32
TT8_CF8	332	38	155.70
TT8_Kalman	0	0	0.00
Analog_circuits	2271	10	275.10
GPS_charging	0	0	0.00
Compass	970	7	82.30
RAFOS	2216	48	1288.12
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	196	2200	495	478	0.0	0.0	0	144	0.00	0.00	-91.47	0.000	16386	0.000	0.000	196	2203	2124	2051	2198	0	0	0	0	0	0	14.48	28.83	14.49
148	-0.57	-145.9	197	2204	2054	2200	3.7	-4.5	9	204	12.93	0.00	-36.33	0.000	19238	0.454	0.000	2384	2202	3961	3946	3976	0	0	0	0	0	0	13.54	12.53	13.97
503	-0.67	-145.9	2385	2204	3952	3971	70.3	-12.2	47	507	0.00	2.50	0.00	0.000	388	0.000	0.087	2378	3614	3963	3951	3976	0	0	0	0	0	0	14.59	14.07	14.59
563	-0.91	-145.9	2378	3614	3953	3976	76.5	-8.9	59	568	0.30	2.35	0.00	0.000	5286	0.093	0.054	2267	2223	3963	3951	3976	0	0	0	0	0	0	14.22	14.18	14.32
876	-0.89	-145.9	2267	2221	3953	3976	132.2	-16.8	79	881	0.00	2.47	0.00	0.000	388	0.000	0.086	2257	3616	3963	3951	3976	0	0	0	0	0	0	14.62	14.12	14.64
921	-0.95	-145.9	2258	3616	3953	3976	139.7	-14.7	88	928	0.00	2.40	0.00	0.000	1158	0.000	0.057	2257	2202	3964	3952	3976	0	0	0	0	0	0	14.30	14.16	14.32
1238	-0.95	-145.9	2257	2201	3953	3976	188.1	-14.6	101	1243	0.00	2.50	0.00	0.000	260	0.000	0.086	2250	3616	3963	3951	3976	0	0	0	0	0	0	14.64	14.04	14.65
1313	-1.05	-145.9	2250	3617	3955	3977	198.0	-12.1	116	1319	0.00	2.40	0.00	0.000	1158	0.000	0.057	2249	2202	3963	3950	3976	0	0	0	0	0	0	14.25	14.12	14.29
1630	-1.05	-145.9	2249	2202	3952	3977	242.3	-13.6	129	1635	0.00	2.50	0.00	0.000	260	0.000	0.087	2243	3607	3963	3951	3976	0	0	0	0	0	0	14.64	14.09	14.66
1685	-1.17	-145.9	2243	3607	3953	3976	249.3	-11.6	140	1693	0.12	2.42	0.00	0.000	5254	0.133	0.057	2192	2190	3963	3951	3976	0	0	0	0	0	0	14.12	14.09	14.23
1990	-1.10	-145.9	2193	2189	3953	3976	301.1	-16.6	151	1995	0.12	2.55	0.00	0.000	2436	0.292	0.083	2210	3621	3963	3951	3976	0	0	0	0	0	0	13.88	14.07	14.02
2056	-1.15	-145.9	2210	3623	3952	3977	310.3	-12.8	164	2062	0.00	2.42	0.00	0.000	1158	0.000	0.055	2210	2201	3963	3951	3976	0	0	0	0	0	0	14.21	14.09	14.26
2382	-1.15	-145.9	2210	2199	3952	3976	354.5	-13.3	179	2387	0.00	2.53	0.00	0.000	260	0.000	0.089	2209	3616	3963	3951	3976	0	0	0	0	0	0	14.60	14.05	14.62
2462	-1.23	-145.9	2210	3617	3953	3976	364.3	-11.3	195	2467	0.00	2.45	0.00	0.000	1158	0.000	0.057	2209	2194	3963	3951	3976	0	0	0	0	0	0	14.20	14.07	14.23
2772	-1.23	-145.9	2210	2193	3952	3976	403.3	-12.7	207	2777	0.00	2.53	0.00	0.000	260	0.000	0.089	2211	3614	3962	3949	3976	0	0	0	0	0	0	14.61	14.07	14.63
2848	-1.32	-145.9	2209	3615	3951	3977	412.2	-11.1	222	2853	0.17	2.40	0.00	0.000	5254	0.110	0.055	2148	2196	3963	3951	3975	0	0	0	0	0	0	14.14	14.08	14.23
3164	-1.20	-145.9	2148	2196	3951	3977	468.2	-18.1	235	3169	0.17	2.50	0.00	0.000	2436	0.318	0.081	2174	3610	3962	3950	3975	0	0	0	0	0	0	13.66	13.98	13.88
3241	end dive: TARGET_DEPTH_EXCEEDED
state	3242	begin apogee
3250	-0.13	0.0	2174	2102	3950	3977	480.6	-14.0	251	3485	1.42	0.00	228.27	1.398	10246	0.243	0.000	2526	2100	3360	3375	3346	0	0	0	0	0	0	13.71	13.29	12.66
3489	end apogee: CONTROL_FINISHED_OK
state	3489	begin climb
3491	0.57	145.9	2527	2101	3373	3344	494.2	0.0	259	3889	0.75	2.70	213.75	1.372	10756	0.060	0.074	2792	692	2756	2787	2726	0	0	0	0	0	0	13.72	12.88	12.26
3894	0.57	145.9	2792	693	2786	2725	484.2	2.5	262	3898	0.00	2.53	0.00	0.000	1030	0.000	0.074	2791	2101	2755	2786	2724	0	0	0	0	0	0	13.84	13.74	13.90
4209	0.12	145.9	2792	2103	2786	2718	439.2	14.2	275	4211	0.75	0.00	0.00	0.000	4230	0.318	0.000	2629	2103	2752	2785	2720	0	0	0	0	0	0	13.64	14.20	14.12
4509	0.00	192.0	2629	2103	2786	2718	414.3	7.9	285	4584	0.15	2.58	66.28	1.402	12964	0.293	0.083	2602	682	2575	2623	2527	0	0	0	0	0	0	13.85	13.99	13.10
4634	0.03	235.3	2602	683	2619	2523	404.9	8.0	310	4704	0.00	2.53	63.72	1.375	9254	0.000	0.079	2601	2102	2402	2455	2349	0	0	0	0	0	0	14.16	14.04	13.00
5020	0.05	253.0	2602	2103	2445	2336	370.0	9.2	337	5044	0.00	0.00	23.00	1.473	8230	0.000	0.000	2602	2102	2335	2385	2285	0	0	0	0	0	0	14.54	14.05	13.18
5320	0.06	274.2	2602	2102	2375	2273	342.7	9.0	347	5352	0.00	0.00	31.45	1.443	8230	0.000	0.000	2602	2102	2248	2296	2200	0	0	0	0	0	0	14.59	14.06	13.19
5650	0.11	299.2	2602	2103	2289	2186	313.0	8.8	358	5695	0.00	2.55	37.83	1.388	8868	0.000	0.086	2602	692	2140	2186	2095	0	0	0	0	0	0	14.60	14.07	13.21
5742	0.24	323.6	2603	692	2180	2094	305.1	8.9	376	5787	0.17	2.47	37.35	1.370	11430	0.103	0.078	2675	2106	2044	2087	2002	0	0	0	0	0	0	14.09	14.03	13.14
6102	0.18	323.6	2676	2106	2080	1988	258.8	12.3	398	6107	0.12	2.50	0.00	0.000	4740	0.262	0.083	2653	690	2033	2079	1988	0	0	0	0	0	0	13.98	14.15	14.13
6183	0.24	330.0	2654	689	2077	1988	250.5	9.7	414	6193	0.00	2.47	3.85	1.524	9382	0.000	0.078	2654	2106	2018	2062	1974	0	0	0	0	0	0	14.26	14.12	12.95
6493	0.25	345.8	2655	2107	2066	1976	220.8	9.3	426	6529	0.00	2.53	29.33	1.406	8740	0.000	0.086	2654	685	1950	1994	1907	0	0	0	0	0	0	14.64	14.07	13.25
6592	0.35	382.2	2654	686	1989	1910	212.5	8.3	445	6660	0.12	2.50	62.15	1.288	11430	0.126	0.078	2704	2103	1805	1829	1782	0	0	0	0	0	0	14.18	14.13	13.14
6975	0.32	382.2	2705	2104	1817	1770	166.8	11.8	472	6981	0.00	2.55	0.00	0.000	644	0.000	0.086	2712	685	1791	1817	1765	0	0	0	0	0	0	14.41	13.98	14.42
7051	0.32	382.2	2712	685	1814	1770	157.9	11.1	487	7056	0.00	2.50	0.00	0.000	1030	0.000	0.077	2711	2103	1791	1814	1769	0	0	0	0	0	0	14.21	14.05	14.23
7367	0.29	382.2	2712	2106	1813	1767	123.0	10.8	500	7373	0.12	2.53	0.00	0.000	4740	0.227	0.084	2685	688	1789	1812	1766	0	0	0	0	0	0	13.93	14.03	14.04
7419	0.40	411.5	2686	686	1811	1766	118.2	8.6	510	7468	0.00	2.53	43.45	1.282	9382	0.000	0.076	2685	2102	1684	1703	1666	0	0	0	0	0	0	14.07	13.95	13.21
7769	0.51	473.6	2686	2103	1705	1658	89.3	7.1	542	7809	0.17	0.00	35.05	0.467	10406	0.105	0.000	2761	2103	1433	1466	1400	0	0	0	0	0	0	14.13	13.91	13.62
8109	0.54	521.3	2762	2103	1467	1395	54.2	7.8	576	8141	0.00	2.62	27.20	0.360	8740	0.000	0.086	2764	681	1237	1284	1190	0	0	0	0	0	0	14.40	14.02	13.62
8277	0.68	594.0	2768	686	1290	1190	42.3	6.6	609	8324	0.00	2.53	42.47	0.322	9382	0.000	0.079	2767	2101	941	1007	876	0	0	0	0	0	0	14.07	13.93	13.71
8622	0.95	711.9	2768	2101	1008	871	20.4	4.6	648	8691	0.35	2.60	63.60	0.252	10916	0.078	0.089	2902	690	497	513	481	0	0	0	0	0	0	14.04	13.92	13.75
8741	0.95	711.9	2903	691	515	481	5.8	13.5	671	8747	0.00	2.53	0.00	0.000	1030	0.000	0.075	2903	2106	497	514	481	0	0	0	0	0	0	14.04	13.92	14.08
8773	end climb: SURFACE_DEPTH_REACHED
state	8773	begin surface coast
8783	end surface coast: CONTROL_FINISHED_OK
state	8784	begin surface