Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 347 * 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 347 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 970.0

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 29 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 970.0 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 347 NOCOMM_ACTION 161 R_STBD_OVSHOOT 29 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 160917,015732,7445.9370,-15046.4121,27,0.8,27,20.8,0.0,0.0,11,8.6 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 114.8,3572,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 160917,021924,7445.9243,-15046.6123,7,0.8,9,20.8,0.0,0.0,11,9.6

Post-dive calculations and measurements:

FINISH 0.0,1.012494 _24V_AH 12.25,210.868

SM_CCo 8984,1.08,0.243,0,0,501,702.78 _10V_AH 12.27,0.000

SM_GC 1.24,8.27,0.17,1.08,0.069,0.109,0.243,202,2235,501,-7.37,-0.48,702.78,0,0,0,0,0,0,14.27,14.27,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 143 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323636

IRIDIUM_FIX 7447.61,-15044.79,160917,021440 DATA_FILE_SIZE 26764,814

TT8_MAMPS 0.039697,1.0456 CAP_FILE_SIZE 115837,0

HUMID 44.56 CFSIZE 2097872896,1988886528

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

TCM_TEMP 13.20 SOUNDSPEED 1448.6

XPDR_PINGS 22 CURRENT 0.064,11.09,1

CP_FREE 0.000000 GPS 160917,045104,7445.114,-15043.947,32,0.8,33,20.8,0.0,0.0,10,7.1

PM_FREEKB_00 46596160

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 457 147.53 nil 0 0 0.00

Roll_motor 93 2159 2483.47 nil 0 0 0.00

VBD_pump_during_apogee 950 1560 18173.91 nil 0 0 0.00

VBD_pump_during_surface 1 242 3.19 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 8950 14 1613.97

Iridium_during_xfer 786 164 1584.05 NCP 8953 20 2193.49

Transponder_ping 5 420 28.30 PMAR 8935 11 1306.00

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.70

TT8 0 0 0.00

LPSleep 6476 2 183.57

TT8_Active 909 13 155.92

TT8_Sampling 2528 33 1037.56

TT8_CF8 396 38 188.03

TT8_Kalman 0 0 0.00

Analog_circuits 2512 10 308.31

GPS_charging 0 0 0.00

Compass 1165 7 100.14

RAFOS 2196 48 1293.36

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 -145.9 201 2209 494 495 0.0 0.0 0 145 0.00 0.00 -91.45 0.000 16386 0.000 0.000 200 2209 2133 2058 2208 0 0 0 0 0 0 14.50 28.83 14.52

149 -0.57 -145.9 200 2209 2060 2208 3.5 -4.4 9 206 13.02 2.78 -36.12 0.000 18980 0.457 2.160 2383 838 3965 3952 3978 0 0 0 0 0 0 13.52 12.59 14.00

281 -0.72 -145.9 2388 838 3958 3979 35.7 -13.3 35 286 0.00 2.42 0.00 0.000 1158 0.000 0.085 2379 2198 3967 3957 3978 0 0 0 0 0 0 14.23 14.06 14.23

592 -0.83 -145.9 2379 2199 3960 3979 79.9 -10.9 67 597 0.20 2.53 0.00 0.000 4484 0.108 0.088 2291 3610 3968 3959 3978 0 0 0 0 0 0 14.07 14.07 14.10

732 -0.93 -145.9 2292 3613 3960 3982 99.5 -12.7 95 737 0.00 2.35 0.00 0.000 1158 0.000 0.057 2291 2237 3968 3959 3977 0 0 0 0 0 0 14.16 14.04 14.20

1043 -0.97 -145.9 2291 2237 3959 3979 142.8 -13.5 107 1048 0.00 2.45 0.00 0.000 388 0.000 0.086 2285 3610 3968 3959 3978 0 0 0 0 0 0 14.62 14.09 14.64

1088 -1.10 -145.9 2285 3612 3960 3977 148.6 -11.8 116 1095 0.20 2.42 0.00 0.000 5254 0.099 0.058 2211 2195 3968 3959 3977 0 0 0 0 0 0 14.23 14.15 14.31

1405 -1.02 -145.9 2212 2195 3960 3978 210.1 -19.1 129 1411 0.15 2.53 0.00 0.000 2436 0.287 0.083 2236 3609 3968 3959 3977 0 0 0 0 0 0 13.79 14.02 13.97

1503 -1.09 -145.9 2237 3610 3960 3978 224.3 -13.0 148 1509 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2201 3968 3959 3978 0 0 0 0 0 0 14.26 14.13 14.29

1829 -1.09 -145.9 2237 2200 3959 3978 269.5 -13.2 163 1834 0.00 2.53 0.00 0.000 260 0.000 0.088 2236 3608 3968 3959 3978 0 0 0 0 0 0 14.62 14.07 14.64

1879 -1.20 -145.9 2236 3610 3960 3978 275.7 -11.5 173 1885 0.15 2.40 0.00 0.000 5254 0.120 0.057 2175 2195 3968 3959 3978 0 0 0 0 0 0 14.20 14.15 14.30

2190 -1.12 -145.9 2176 2195 3959 3979 329.5 -17.0 185 2195 0.17 2.50 0.00 0.000 2436 0.273 0.083 2205 3610 3967 3958 3977 0 0 0 0 0 0 13.03 13.31 13.20

2256 -1.17 -145.9 2205 3611 3960 3978 338.7 -12.4 198 2260 0.00 2.40 0.00 0.000 1158 0.000 0.056 2205 2199 3968 3959 3978 0 0 0 0 0 0 14.23 14.07 14.28

2581 -1.17 -145.9 2205 2198 3959 3978 381.6 -13.1 213 2586 0.00 2.50 0.00 0.000 260 0.000 0.086 2196 3609 3968 3958 3978 0 0 0 0 0 0 14.64 14.06 14.66

2666 -1.22 -145.9 2198 3609 3959 3978 392.6 -12.2 230 2672 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2200 3967 3957 3978 0 0 0 0 0 0 14.18 14.04 14.21

2971 -1.22 -145.9 2197 2198 3959 3978 433.2 -13.2 241 2976 0.00 2.53 0.00 0.000 260 0.000 0.087 2190 3613 3967 3957 3978 0 0 0 0 0 0 14.66 14.07 14.67

3042 -1.26 -145.9 2190 3615 3957 3979 442.5 -13.0 255 3046 0.00 2.42 0.00 0.000 1158 0.000 0.056 2190 2192 3967 3957 3978 0 0 0 0 0 0 14.19 14.06 14.21

3329 end dive: TARGET_DEPTH_EXCEEDED

state 3329 begin apogee

3336 -0.13 0.0 2191 2062 3957 3978 481.9 -13.5 268 3557 1.35 0.08 217.40 1.439 10246 0.235 0.179 2529 2112 3365 3378 3352 0 0 0 0 0 0 13.63 13.52 12.67

3561 end apogee: CONTROL_FINISHED_OK

state 3561 begin climb

3565 0.57 145.9 2530 2112 3374 3344 493.7 0.0 275 3786 0.73 2.67 206.90 1.385 11012 0.060 0.080 2781 731 2763 2794 2732 0 0 0 0 0 0 13.73 13.12 12.25

4012 0.17 145.9 2781 732 2786 2729 476.7 13.8 348 4018 0.68 2.42 0.00 0.000 5254 0.323 0.074 2642 2093 2756 2786 2726 0 0 0 0 0 0 13.41 13.81 13.81

4339 0.01 170.1 2642 2095 2786 2723 446.4 8.9 363 4375 0.20 2.42 31.52 1.487 12964 0.265 0.081 2596 722 2668 2707 2630 0 0 0 0 0 0 13.80 13.78 13.13

4601 0.05 226.7 2597 727 2704 2625 426.7 7.4 415 4692 0.00 2.42 84.93 1.391 9254 0.000 0.079 2596 2105 2439 2490 2388 0 0 0 0 0 0 14.29 14.15 13.05

5003 0.07 249.9 2597 2106 2483 2373 391.7 8.9 445 5043 0.00 2.47 32.17 1.450 8740 0.000 0.085 2596 732 2342 2390 2295 0 0 0 0 0 0 14.57 14.09 13.17

5096 0.16 278.0 2597 733 2387 2294 383.6 8.7 463 5145 0.12 2.40 42.75 1.405 11430 0.125 0.078 2657 2106 2231 2279 2184 0 0 0 0 0 0 14.16 14.07 13.11

5455 0.08 278.0 2657 2107 2272 2170 336.4 13.2 485 5460 0.17 2.42 0.00 0.000 4740 0.239 0.083 2615 724 2218 2271 2165 0 0 0 0 0 0 13.93 14.15 14.10

5496 0.15 280.5 2616 725 2268 2170 332.0 9.9 493 5501 0.00 2.40 0.00 0.000 1190 0.000 0.078 2615 2101 2219 2268 2170 0 0 0 0 0 0 14.30 14.16 14.33

5816 0.15 288.5 2616 2102 2268 2168 300.4 9.6 507 5836 0.00 2.45 12.23 1.561 8740 0.000 0.086 2616 729 2185 2231 2139 0 0 0 0 0 0 14.64 14.20 13.26

5867 0.23 300.9 2616 730 2228 2139 295.7 9.4 517 5892 0.12 2.38 19.20 1.470 11430 0.122 0.076 2675 2099 2135 2179 2092 0 0 0 0 0 0 14.28 14.23 13.23

6207 0.15 300.9 2676 2100 2174 2084 252.3 12.3 535 6213 0.15 2.45 0.00 0.000 4740 0.263 0.080 2646 723 2129 2173 2085 0 0 0 0 0 0 13.84 14.01 14.02

6283 0.20 313.1 2646 723 2173 2080 244.9 9.4 550 6305 0.00 2.45 17.58 1.502 9382 0.000 0.079 2646 2111 2089 2132 2046 0 0 0 0 0 0 14.20 14.07 13.20

6633 0.22 341.0 2647 2113 2126 2038 213.4 8.7 569 6685 0.00 2.50 45.90 1.353 8740 0.000 0.086 2646 734 1971 2012 1931 0 0 0 0 0 0 14.45 13.99 13.18

6733 0.34 381.2 2646 735 2007 1940 205.0 8.1 589 6806 0.15 2.40 66.53 1.275 11430 0.112 0.077 2704 2099 1812 1834 1790 0 0 0 0 0 0 14.09 14.01 13.05

7111 0.32 381.2 2704 2099 1825 1778 160.2 11.7 615 7116 0.00 2.45 0.00 0.000 644 0.000 0.087 2706 727 1800 1824 1777 0 0 0 0 0 0 14.39 13.92 14.41

7172 0.34 381.2 2706 728 1821 1778 153.5 10.7 627 7176 0.00 2.42 0.00 0.000 1158 0.000 0.076 2706 2101 1798 1820 1777 0 0 0 0 0 0 14.10 13.95 14.16

7502 0.34 381.2 2707 2101 1820 1774 118.6 10.2 643 7506 0.00 2.45 0.00 0.000 516 0.000 0.086 2706 732 1797 1820 1774 0 0 0 0 0 0 14.45 14.04 14.46

7572 0.37 385.7 2707 732 1820 1778 111.7 9.8 657 7577 0.00 2.45 0.00 0.000 1190 0.000 0.076 2706 2106 1796 1819 1774 0 0 0 0 0 0 14.19 14.05 14.22

7885 0.41 441.3 2706 2107 1819 1773 84.3 7.4 682 7917 0.00 0.00 30.85 0.454 8230 0.000 0.000 2706 2106 1565 1589 1542 0 0 0 0 0 0 14.40 14.03 13.59

8213 0.57 542.7 2707 2107 1589 1537 61.1 5.3 715 8273 0.15 2.53 52.45 0.381 10916 0.110 0.090 2781 733 1148 1203 1094 0 0 0 0 0 0 13.95 13.83 13.62

8291 0.60 554.6 2781 733 1209 1094 54.5 9.5 729 8302 0.00 2.40 6.68 0.363 9382 0.000 0.076 2781 2108 1105 1167 1043 0 0 0 0 0 0 13.99 13.86 13.63

8603 0.70 606.5 2782 2109 1168 1039 29.3 7.6 761 8636 0.00 2.50 27.67 0.293 8868 0.000 0.087 2779 734 890 955 826 0 0 0 0 0 0 14.37 13.86 13.64

8761 0.96 710.3 2788 731 956 823 19.6 5.2 792 8825 0.32 2.45 55.90 0.257 11430 0.080 0.076 2898 2107 498 518 479 0 0 0 0 0 0 14.07 13.95 13.76

8907 end climb: SURFACE_DEPTH_REACHED

state 8907 begin surface coast

8917 end surface coast: CONTROL_FINISHED_OK

state 8917 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	347	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	970.0
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	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160917,015732,7445.9370,-15046.4121,27,0.8,27,20.8,0.0,0.0,11,8.6	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	114.8,3572,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	160917,021924,7445.9243,-15046.6123,7,0.8,9,20.8,0.0,0.0,11,9.6

FINISH	0.0,1.012494	_24V_AH	12.25,210.868
SM_CCo	8984,1.08,0.243,0,0,501,702.78	_10V_AH	12.27,0.000
SM_GC	1.24,8.27,0.17,1.08,0.069,0.109,0.243,202,2235,501,-7.37,-0.48,702.78,0,0,0,0,0,0,14.27,14.27,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	143	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323636
IRIDIUM_FIX	7447.61,-15044.79,160917,021440	DATA_FILE_SIZE	26764,814
TT8_MAMPS	0.039697,1.0456	CAP_FILE_SIZE	115837,0
HUMID	44.56	CFSIZE	2097872896,1988886528
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.6
XPDR_PINGS	22	CURRENT	0.064,11.09,1
CP_FREE	0.000000	GPS	160917,045104,7445.114,-15043.947,32,0.8,33,20.8,0.0,0.0,10,7.1
PM_FREEKB_00	46596160

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	457	147.53	nil	0	0	0.00
Roll_motor	93	2159	2483.47	nil	0	0	0.00
VBD_pump_during_apogee	950	1560	18173.91	nil	0	0	0.00
VBD_pump_during_surface	1	242	3.19	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	8950	14	1613.97
Iridium_during_xfer	786	164	1584.05	NCP	8953	20	2193.49
Transponder_ping	5	420	28.30	PMAR	8935	11	1306.00
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.70
TT8	0	0	0.00
LPSleep	6476	2	183.57
TT8_Active	909	13	155.92
TT8_Sampling	2528	33	1037.56
TT8_CF8	396	38	188.03
TT8_Kalman	0	0	0.00
Analog_circuits	2512	10	308.31
GPS_charging	0	0	0.00
Compass	1165	7	100.14
RAFOS	2196	48	1293.36
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	201	2209	494	495	0.0	0.0	0	145	0.00	0.00	-91.45	0.000	16386	0.000	0.000	200	2209	2133	2058	2208	0	0	0	0	0	0	14.50	28.83	14.52
149	-0.57	-145.9	200	2209	2060	2208	3.5	-4.4	9	206	13.02	2.78	-36.12	0.000	18980	0.457	2.160	2383	838	3965	3952	3978	0	0	0	0	0	0	13.52	12.59	14.00
281	-0.72	-145.9	2388	838	3958	3979	35.7	-13.3	35	286	0.00	2.42	0.00	0.000	1158	0.000	0.085	2379	2198	3967	3957	3978	0	0	0	0	0	0	14.23	14.06	14.23
592	-0.83	-145.9	2379	2199	3960	3979	79.9	-10.9	67	597	0.20	2.53	0.00	0.000	4484	0.108	0.088	2291	3610	3968	3959	3978	0	0	0	0	0	0	14.07	14.07	14.10
732	-0.93	-145.9	2292	3613	3960	3982	99.5	-12.7	95	737	0.00	2.35	0.00	0.000	1158	0.000	0.057	2291	2237	3968	3959	3977	0	0	0	0	0	0	14.16	14.04	14.20
1043	-0.97	-145.9	2291	2237	3959	3979	142.8	-13.5	107	1048	0.00	2.45	0.00	0.000	388	0.000	0.086	2285	3610	3968	3959	3978	0	0	0	0	0	0	14.62	14.09	14.64
1088	-1.10	-145.9	2285	3612	3960	3977	148.6	-11.8	116	1095	0.20	2.42	0.00	0.000	5254	0.099	0.058	2211	2195	3968	3959	3977	0	0	0	0	0	0	14.23	14.15	14.31
1405	-1.02	-145.9	2212	2195	3960	3978	210.1	-19.1	129	1411	0.15	2.53	0.00	0.000	2436	0.287	0.083	2236	3609	3968	3959	3977	0	0	0	0	0	0	13.79	14.02	13.97
1503	-1.09	-145.9	2237	3610	3960	3978	224.3	-13.0	148	1509	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2201	3968	3959	3978	0	0	0	0	0	0	14.26	14.13	14.29
1829	-1.09	-145.9	2237	2200	3959	3978	269.5	-13.2	163	1834	0.00	2.53	0.00	0.000	260	0.000	0.088	2236	3608	3968	3959	3978	0	0	0	0	0	0	14.62	14.07	14.64
1879	-1.20	-145.9	2236	3610	3960	3978	275.7	-11.5	173	1885	0.15	2.40	0.00	0.000	5254	0.120	0.057	2175	2195	3968	3959	3978	0	0	0	0	0	0	14.20	14.15	14.30
2190	-1.12	-145.9	2176	2195	3959	3979	329.5	-17.0	185	2195	0.17	2.50	0.00	0.000	2436	0.273	0.083	2205	3610	3967	3958	3977	0	0	0	0	0	0	13.03	13.31	13.20
2256	-1.17	-145.9	2205	3611	3960	3978	338.7	-12.4	198	2260	0.00	2.40	0.00	0.000	1158	0.000	0.056	2205	2199	3968	3959	3978	0	0	0	0	0	0	14.23	14.07	14.28
2581	-1.17	-145.9	2205	2198	3959	3978	381.6	-13.1	213	2586	0.00	2.50	0.00	0.000	260	0.000	0.086	2196	3609	3968	3958	3978	0	0	0	0	0	0	14.64	14.06	14.66
2666	-1.22	-145.9	2198	3609	3959	3978	392.6	-12.2	230	2672	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2200	3967	3957	3978	0	0	0	0	0	0	14.18	14.04	14.21
2971	-1.22	-145.9	2197	2198	3959	3978	433.2	-13.2	241	2976	0.00	2.53	0.00	0.000	260	0.000	0.087	2190	3613	3967	3957	3978	0	0	0	0	0	0	14.66	14.07	14.67
3042	-1.26	-145.9	2190	3615	3957	3979	442.5	-13.0	255	3046	0.00	2.42	0.00	0.000	1158	0.000	0.056	2190	2192	3967	3957	3978	0	0	0	0	0	0	14.19	14.06	14.21
3329	end dive: TARGET_DEPTH_EXCEEDED
state	3329	begin apogee
3336	-0.13	0.0	2191	2062	3957	3978	481.9	-13.5	268	3557	1.35	0.08	217.40	1.439	10246	0.235	0.179	2529	2112	3365	3378	3352	0	0	0	0	0	0	13.63	13.52	12.67
3561	end apogee: CONTROL_FINISHED_OK
state	3561	begin climb
3565	0.57	145.9	2530	2112	3374	3344	493.7	0.0	275	3786	0.73	2.67	206.90	1.385	11012	0.060	0.080	2781	731	2763	2794	2732	0	0	0	0	0	0	13.73	13.12	12.25
4012	0.17	145.9	2781	732	2786	2729	476.7	13.8	348	4018	0.68	2.42	0.00	0.000	5254	0.323	0.074	2642	2093	2756	2786	2726	0	0	0	0	0	0	13.41	13.81	13.81
4339	0.01	170.1	2642	2095	2786	2723	446.4	8.9	363	4375	0.20	2.42	31.52	1.487	12964	0.265	0.081	2596	722	2668	2707	2630	0	0	0	0	0	0	13.80	13.78	13.13
4601	0.05	226.7	2597	727	2704	2625	426.7	7.4	415	4692	0.00	2.42	84.93	1.391	9254	0.000	0.079	2596	2105	2439	2490	2388	0	0	0	0	0	0	14.29	14.15	13.05
5003	0.07	249.9	2597	2106	2483	2373	391.7	8.9	445	5043	0.00	2.47	32.17	1.450	8740	0.000	0.085	2596	732	2342	2390	2295	0	0	0	0	0	0	14.57	14.09	13.17
5096	0.16	278.0	2597	733	2387	2294	383.6	8.7	463	5145	0.12	2.40	42.75	1.405	11430	0.125	0.078	2657	2106	2231	2279	2184	0	0	0	0	0	0	14.16	14.07	13.11
5455	0.08	278.0	2657	2107	2272	2170	336.4	13.2	485	5460	0.17	2.42	0.00	0.000	4740	0.239	0.083	2615	724	2218	2271	2165	0	0	0	0	0	0	13.93	14.15	14.10
5496	0.15	280.5	2616	725	2268	2170	332.0	9.9	493	5501	0.00	2.40	0.00	0.000	1190	0.000	0.078	2615	2101	2219	2268	2170	0	0	0	0	0	0	14.30	14.16	14.33
5816	0.15	288.5	2616	2102	2268	2168	300.4	9.6	507	5836	0.00	2.45	12.23	1.561	8740	0.000	0.086	2616	729	2185	2231	2139	0	0	0	0	0	0	14.64	14.20	13.26
5867	0.23	300.9	2616	730	2228	2139	295.7	9.4	517	5892	0.12	2.38	19.20	1.470	11430	0.122	0.076	2675	2099	2135	2179	2092	0	0	0	0	0	0	14.28	14.23	13.23
6207	0.15	300.9	2676	2100	2174	2084	252.3	12.3	535	6213	0.15	2.45	0.00	0.000	4740	0.263	0.080	2646	723	2129	2173	2085	0	0	0	0	0	0	13.84	14.01	14.02
6283	0.20	313.1	2646	723	2173	2080	244.9	9.4	550	6305	0.00	2.45	17.58	1.502	9382	0.000	0.079	2646	2111	2089	2132	2046	0	0	0	0	0	0	14.20	14.07	13.20
6633	0.22	341.0	2647	2113	2126	2038	213.4	8.7	569	6685	0.00	2.50	45.90	1.353	8740	0.000	0.086	2646	734	1971	2012	1931	0	0	0	0	0	0	14.45	13.99	13.18
6733	0.34	381.2	2646	735	2007	1940	205.0	8.1	589	6806	0.15	2.40	66.53	1.275	11430	0.112	0.077	2704	2099	1812	1834	1790	0	0	0	0	0	0	14.09	14.01	13.05
7111	0.32	381.2	2704	2099	1825	1778	160.2	11.7	615	7116	0.00	2.45	0.00	0.000	644	0.000	0.087	2706	727	1800	1824	1777	0	0	0	0	0	0	14.39	13.92	14.41
7172	0.34	381.2	2706	728	1821	1778	153.5	10.7	627	7176	0.00	2.42	0.00	0.000	1158	0.000	0.076	2706	2101	1798	1820	1777	0	0	0	0	0	0	14.10	13.95	14.16
7502	0.34	381.2	2707	2101	1820	1774	118.6	10.2	643	7506	0.00	2.45	0.00	0.000	516	0.000	0.086	2706	732	1797	1820	1774	0	0	0	0	0	0	14.45	14.04	14.46
7572	0.37	385.7	2707	732	1820	1778	111.7	9.8	657	7577	0.00	2.45	0.00	0.000	1190	0.000	0.076	2706	2106	1796	1819	1774	0	0	0	0	0	0	14.19	14.05	14.22
7885	0.41	441.3	2706	2107	1819	1773	84.3	7.4	682	7917	0.00	0.00	30.85	0.454	8230	0.000	0.000	2706	2106	1565	1589	1542	0	0	0	0	0	0	14.40	14.03	13.59
8213	0.57	542.7	2707	2107	1589	1537	61.1	5.3	715	8273	0.15	2.53	52.45	0.381	10916	0.110	0.090	2781	733	1148	1203	1094	0	0	0	0	0	0	13.95	13.83	13.62
8291	0.60	554.6	2781	733	1209	1094	54.5	9.5	729	8302	0.00	2.40	6.68	0.363	9382	0.000	0.076	2781	2108	1105	1167	1043	0	0	0	0	0	0	13.99	13.86	13.63
8603	0.70	606.5	2782	2109	1168	1039	29.3	7.6	761	8636	0.00	2.50	27.67	0.293	8868	0.000	0.087	2779	734	890	955	826	0	0	0	0	0	0	14.37	13.86	13.64
8761	0.96	710.3	2788	731	956	823	19.6	5.2	792	8825	0.32	2.45	55.90	0.257	11430	0.080	0.076	2898	2107	498	518	479	0	0	0	0	0	0	14.07	13.95	13.76
8907	end climb: SURFACE_DEPTH_REACHED
state	8907	begin surface coast
8917	end surface coast: CONTROL_FINISHED_OK
state	8917	begin surface