Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 292 * 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 292 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 810.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 810.0 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 31 VBD_MIN 500

DIVE 292 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 090917,174230,7542.2593,-15109.2812,22,0.8,28,20.8,0.5,181.8,11,9.4 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 1.15 MHEAD_RNG_PITCHd_Wd 147.8,107129,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.8 D_GRID 480

GPS2 090917,175152,7542.2422,-15109.3359,5,0.9,37,20.8,0.0,145.0,10,10.0

Post-dive calculations and measurements:

FINISH 0.1,1.021575 _24V_AH 12.20,182.978

SM_CCo 9078,31.80,0.206,0,0,497,702.78 _10V_AH 12.08,0.000

SM_GC 1.29,8.23,0.15,31.80,0.069,0.120,0.206,198,2232,497,-7.38,-0.68,702.78,0,0,0,0,0,0,14.16,14.14,13.87 FG_AHR_24Vo 0.000

RAFOS_CLK 73 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323672

IRIDIUM_FIX 7541.40,-15106.02,090917,150402 DATA_FILE_SIZE 26709,780

TT8_MAMPS 0.086135,1.03662 CAP_FILE_SIZE 103036,0

HUMID 44.88 CFSIZE 2097872896,2003402752

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

TCM_TEMP 13.40 INTR 0,3719.58,0x2341ea,1,24

XPDR_PINGS 20 SOUNDSPEED 1445.9

CP_FREE 0.000000 CURRENT 0.022,115.10,1

PM_FREEKB_00 49075520 GPS 090917,202534,7540.983,-15109.357,31,0.9,32,20.8,0.5,151.2,9,8.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 145.14 nil 0 0 0.00

Roll_motor 85 2133 2224.24 nil 0 0 0.00

VBD_pump_during_apogee 978 1434 17131.45 nil 0 0 0.00

VBD_pump_during_surface 31 205 79.84 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 5392 14 952.99

Iridium_during_xfer 301 166 609.60 NCP 9050 20 2208.20

Transponder_ping 5 420 25.62 PMAR 9032 102 11339.58

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.55

TT8 0 0 0.00

LPSleep 6389 2 178.30

TT8_Active 973 13 164.22

TT8_Sampling 2030 33 820.38

TT8_CF8 292 38 136.83

TT8_Kalman 0 0 0.00

Analog_circuits 2058 10 248.61

GPS_charging 0 0 0.00

Compass 1116 7 94.37

RAFOS 2198 48 1274.49

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 -145.9 184 2189 503 490 0.0 0.0 0 145 0.00 0.00 -91.70 0.000 16386 0.000 0.000 182 2189 2160 2094 2226 0 0 0 0 0 0 14.50 28.83 14.52

147 -0.57 -145.9 183 2189 2098 2227 3.9 -6.2 9 205 13.18 2.83 -35.92 0.000 18980 0.460 2.134 2385 806 3964 3947 3981 1 0 0 0 0 0 13.47 12.55 14.01

370 -0.72 -145.9 2385 807 3953 3982 47.2 -12.8 53 376 0.12 2.45 0.00 0.000 5254 0.122 0.086 2335 2177 3966 3952 3981 0 0 0 0 0 0 14.08 14.00 14.17

681 -0.78 -145.9 2335 2177 3954 3982 95.5 -12.9 85 686 0.00 2.58 0.00 0.000 388 0.000 0.091 2333 3614 3967 3953 3981 0 0 0 0 0 0 14.34 13.99 14.35

803 -0.92 -145.9 2333 3614 3954 3981 108.2 -10.4 109 808 0.17 2.42 0.00 0.000 5254 0.105 0.054 2264 2202 3967 3953 3981 0 0 0 0 0 0 14.07 14.01 14.14

1133 -0.92 -145.9 2265 2201 3954 3980 163.3 -16.0 125 1138 0.00 2.53 0.00 0.000 260 0.000 0.087 2255 3610 3967 3953 3981 0 0 0 0 0 0 14.33 13.95 14.35

1228 -1.00 -145.9 2256 3610 3954 3981 176.7 -13.1 144 1234 0.00 2.45 0.00 0.000 1158 0.000 0.059 2255 2199 3967 3953 3981 0 0 0 0 0 0 14.05 13.94 14.09

1554 -1.00 -145.9 2255 2199 3953 3982 224.6 -14.1 159 1559 0.00 2.55 0.00 0.000 260 0.000 0.087 2247 3620 3967 3954 3981 0 0 0 0 0 0 14.32 13.94 14.36

1614 -1.10 -145.9 2247 3620 3954 3982 232.4 -11.8 171 1619 0.00 2.45 0.00 0.000 1158 0.000 0.057 2246 2199 3966 3953 3980 0 0 0 0 0 0 14.09 13.97 14.12

1944 -1.13 -145.9 2247 2199 3954 3982 274.9 -12.5 187 1949 0.00 2.55 0.00 0.000 388 0.000 0.089 2239 3614 3967 3953 3981 0 0 0 0 0 0 14.31 13.96 14.33

2019 -1.24 -145.9 2240 3615 3954 3981 283.4 -10.5 202 2025 0.17 2.45 0.00 0.000 5254 0.114 0.057 2166 2195 3967 3953 3981 0 0 0 0 0 0 14.04 13.97 14.14

2335 -1.12 -145.9 2168 2195 3954 3981 342.1 -18.8 215 2340 0.20 2.55 0.00 0.000 2436 0.298 0.083 2201 3614 3967 3953 3981 0 0 0 0 0 0 13.63 13.92 13.83

2460 -1.15 -145.9 2202 3617 3953 3981 359.5 -12.8 240 2466 0.00 2.47 0.00 0.000 1158 0.000 0.056 2201 2194 3967 3953 3981 0 0 0 0 0 0 14.07 13.92 14.07

2786 -1.13 -145.9 2202 2192 3954 3981 405.4 -13.9 255 2791 0.00 2.55 0.00 0.000 388 0.000 0.087 2197 3610 3966 3952 3981 0 0 0 0 0 0 14.28 13.90 14.32

2811 -1.11 -145.9 2197 3610 3953 3980 408.9 -15.0 260 2818 0.00 2.45 0.00 0.000 1158 0.000 0.056 2196 2190 3966 3952 3981 0 0 0 0 0 0 14.07 13.95 14.10

3116 -1.08 -145.9 2197 2190 3953 3982 452.0 -14.0 271 3122 0.12 2.58 0.00 0.000 2436 0.304 0.086 2222 3613 3966 3952 3981 0 0 0 0 0 0 13.69 13.86 13.85

3262 -1.18 -145.9 2223 3613 3953 3980 467.8 -10.4 300 3269 0.00 2.45 0.00 0.000 1158 0.000 0.055 2222 2195 3966 3952 3980 0 0 0 0 0 0 14.06 13.95 14.09

3385 end dive: TARGET_DEPTH_EXCEEDED

state 3385 begin apogee

3391 -0.13 0.0 2223 2066 3954 3981 481.8 -11.2 305 3644 1.20 0.08 249.62 1.352 10246 0.221 0.177 2527 2110 3366 3383 3350 0 0 0 0 0 0 13.70 13.28 12.55

3647 end apogee: CONTROL_FINISHED_OK

state 3647 begin climb

3649 0.57 145.9 2528 2111 3376 3342 494.5 0.0 313 3878 0.75 2.72 216.23 1.328 10756 0.061 0.081 2781 730 2761 2796 2726 0 0 0 0 0 0 13.52 12.97 12.20

4105 0.17 145.9 2781 731 2786 2710 477.4 13.9 386 4111 0.68 2.50 0.00 0.000 5254 0.324 0.076 2644 2104 2746 2785 2708 0 0 0 0 0 0 13.24 13.62 13.57

4431 0.02 171.6 2644 2106 2786 2704 447.6 8.8 401 4472 0.20 2.53 32.90 1.397 12964 0.262 0.083 2602 723 2657 2701 2614 0 0 0 0 0 0 13.71 13.91 13.14

4557 0.05 223.0 2602 724 2698 2604 437.9 7.6 426 4643 0.00 2.47 80.68 1.304 9254 0.000 0.080 2602 2106 2454 2511 2398 0 0 0 0 0 0 14.00 13.89 12.99

4942 0.06 239.2 2602 2107 2492 2374 403.2 9.3 453 4962 0.00 0.00 19.05 1.434 8230 0.000 0.000 2602 2106 2389 2446 2333 0 0 0 0 0 0 14.28 13.98 13.16

5242 0.08 256.2 2603 2107 2426 2316 375.4 9.2 463 5268 0.00 2.53 21.48 1.414 8740 0.000 0.086 2602 729 2317 2369 2266 0 0 0 0 0 0 14.31 14.00 13.21

5308 0.16 282.0 2602 730 2358 2258 369.4 8.8 476 5354 0.00 2.42 40.47 1.317 9382 0.000 0.079 2602 2099 2214 2267 2161 0 0 0 0 0 0 14.08 13.96 13.10

5666 0.23 308.4 2602 2100 2251 2141 337.6 8.8 497 5707 0.17 0.00 38.70 1.324 10406 0.103 0.000 2678 2099 2108 2156 2061 0 0 0 0 0 0 14.14 13.94 13.18

5994 0.15 308.4 2678 2100 2140 2039 291.5 14.2 508 6000 0.17 2.42 0.00 0.000 4740 0.246 0.083 2643 728 2088 2138 2038 0 0 0 0 0 0 13.85 14.02 13.99

6041 0.19 308.4 2643 729 2136 2039 286.1 10.8 517 6045 0.00 2.42 0.00 0.000 1158 0.000 0.079 2643 2103 2086 2135 2038 0 0 0 0 0 0 14.14 14.02 14.18

6355 0.19 308.4 2643 2106 2136 2038 252.7 10.2 530 6356 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2105 2086 2135 2037 0 0 0 0 0 0 14.33 14.35 14.36

6656 0.21 337.0 2644 2105 2136 2037 225.5 8.7 540 6706 0.00 2.47 46.08 1.263 8740 0.000 0.084 2650 721 1986 2033 1939 0 0 0 0 0 0 14.33 13.76 13.19

6817 0.33 381.1 2644 723 2015 1932 212.1 8.0 572 6899 0.15 2.45 76.25 1.206 11430 0.113 0.080 2701 2103 1808 1837 1780 0 0 0 0 0 0 14.01 13.93 13.07

7197 0.33 381.1 2701 2104 1819 1761 168.2 11.3 598 7201 0.00 2.47 0.00 0.000 516 0.000 0.086 2707 727 1788 1818 1758 0 0 0 0 0 0 14.30 13.90 14.31

7232 0.33 381.1 2707 728 1816 1761 164.4 10.8 605 7237 0.00 2.42 0.00 0.000 1030 0.000 0.077 2707 2098 1787 1815 1760 0 0 0 0 0 0 13.74 13.75 13.74

7557 0.33 381.1 2707 2100 1816 1755 129.3 10.5 620 7562 0.00 2.45 0.00 0.000 516 0.000 0.086 2712 728 1784 1812 1757 0 0 0 0 0 0 14.33 13.92 14.35

7582 0.33 381.1 2713 727 1814 1757 126.8 10.1 625 7589 0.00 2.47 0.00 0.000 1030 0.000 0.078 2712 2112 1785 1812 1758 0 0 0 0 0 0 14.10 13.99 14.14

7889 0.33 383.0 2712 2113 1813 1758 96.0 9.9 638 7890 0.00 0.00 0.00 0.000 38 0.000 0.000 2712 2112 1784 1812 1757 0 0 0 0 0 0 14.21 14.23 14.23

8189 0.38 448.3 2713 2112 1813 1755 72.0 7.0 668 8231 0.00 2.50 35.95 0.405 8740 0.000 0.083 2712 724 1536 1567 1505 0 0 0 0 0 0 14.19 13.77 13.50

8271 0.55 510.1 2713 727 1572 1507 65.8 7.1 684 8313 0.15 2.47 36.90 0.390 11430 0.115 0.077 2774 2106 1282 1338 1226 0 0 0 0 0 0 13.85 13.80 13.55

8611 0.63 582.8 2777 2108 1340 1236 37.5 6.6 722 8664 0.00 2.50 44.88 0.305 8868 0.000 0.086 2781 726 987 1056 918 0 0 0 0 0 0 14.16 13.80 13.59

8749 0.82 649.7 2781 729 1057 917 27.8 6.9 749 8797 0.20 2.47 39.80 0.276 11430 0.101 0.079 2861 2107 712 774 651 0 0 0 0 0 0 13.89 13.83 13.62

8991 end climb: SURFACE_DEPTH_REACHED

state 8992 begin surface coast

9012 end surface coast: CONTROL_FINISHED_OK

state 9012 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	292	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	810.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	090917,174230,7542.2593,-15109.2812,22,0.8,28,20.8,0.5,181.8,11,9.4	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	1.15	MHEAD_RNG_PITCHd_Wd	147.8,107129,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.8	D_GRID	480
GPS2	090917,175152,7542.2422,-15109.3359,5,0.9,37,20.8,0.0,145.0,10,10.0

FINISH	0.1,1.021575	_24V_AH	12.20,182.978
SM_CCo	9078,31.80,0.206,0,0,497,702.78	_10V_AH	12.08,0.000
SM_GC	1.29,8.23,0.15,31.80,0.069,0.120,0.206,198,2232,497,-7.38,-0.68,702.78,0,0,0,0,0,0,14.16,14.14,13.87	FG_AHR_24Vo	0.000
RAFOS_CLK	73	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323672
IRIDIUM_FIX	7541.40,-15106.02,090917,150402	DATA_FILE_SIZE	26709,780
TT8_MAMPS	0.086135,1.03662	CAP_FILE_SIZE	103036,0
HUMID	44.88	CFSIZE	2097872896,2003402752
INTERNAL_PRESSURE	7.73269	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.40	INTR	0,3719.58,0x2341ea,1,24
XPDR_PINGS	20	SOUNDSPEED	1445.9
CP_FREE	0.000000	CURRENT	0.022,115.10,1
PM_FREEKB_00	49075520	GPS	090917,202534,7540.983,-15109.357,31,0.9,32,20.8,0.5,151.2,9,8.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	145.14	nil	0	0	0.00
Roll_motor	85	2133	2224.24	nil	0	0	0.00
VBD_pump_during_apogee	978	1434	17131.45	nil	0	0	0.00
VBD_pump_during_surface	31	205	79.84	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	5392	14	952.99
Iridium_during_xfer	301	166	609.60	NCP	9050	20	2208.20
Transponder_ping	5	420	25.62	PMAR	9032	102	11339.58
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.55
TT8	0	0	0.00
LPSleep	6389	2	178.30
TT8_Active	973	13	164.22
TT8_Sampling	2030	33	820.38
TT8_CF8	292	38	136.83
TT8_Kalman	0	0	0.00
Analog_circuits	2058	10	248.61
GPS_charging	0	0	0.00
Compass	1116	7	94.37
RAFOS	2198	48	1274.49
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	184	2189	503	490	0.0	0.0	0	145	0.00	0.00	-91.70	0.000	16386	0.000	0.000	182	2189	2160	2094	2226	0	0	0	0	0	0	14.50	28.83	14.52
147	-0.57	-145.9	183	2189	2098	2227	3.9	-6.2	9	205	13.18	2.83	-35.92	0.000	18980	0.460	2.134	2385	806	3964	3947	3981	1	0	0	0	0	0	13.47	12.55	14.01
370	-0.72	-145.9	2385	807	3953	3982	47.2	-12.8	53	376	0.12	2.45	0.00	0.000	5254	0.122	0.086	2335	2177	3966	3952	3981	0	0	0	0	0	0	14.08	14.00	14.17
681	-0.78	-145.9	2335	2177	3954	3982	95.5	-12.9	85	686	0.00	2.58	0.00	0.000	388	0.000	0.091	2333	3614	3967	3953	3981	0	0	0	0	0	0	14.34	13.99	14.35
803	-0.92	-145.9	2333	3614	3954	3981	108.2	-10.4	109	808	0.17	2.42	0.00	0.000	5254	0.105	0.054	2264	2202	3967	3953	3981	0	0	0	0	0	0	14.07	14.01	14.14
1133	-0.92	-145.9	2265	2201	3954	3980	163.3	-16.0	125	1138	0.00	2.53	0.00	0.000	260	0.000	0.087	2255	3610	3967	3953	3981	0	0	0	0	0	0	14.33	13.95	14.35
1228	-1.00	-145.9	2256	3610	3954	3981	176.7	-13.1	144	1234	0.00	2.45	0.00	0.000	1158	0.000	0.059	2255	2199	3967	3953	3981	0	0	0	0	0	0	14.05	13.94	14.09
1554	-1.00	-145.9	2255	2199	3953	3982	224.6	-14.1	159	1559	0.00	2.55	0.00	0.000	260	0.000	0.087	2247	3620	3967	3954	3981	0	0	0	0	0	0	14.32	13.94	14.36
1614	-1.10	-145.9	2247	3620	3954	3982	232.4	-11.8	171	1619	0.00	2.45	0.00	0.000	1158	0.000	0.057	2246	2199	3966	3953	3980	0	0	0	0	0	0	14.09	13.97	14.12
1944	-1.13	-145.9	2247	2199	3954	3982	274.9	-12.5	187	1949	0.00	2.55	0.00	0.000	388	0.000	0.089	2239	3614	3967	3953	3981	0	0	0	0	0	0	14.31	13.96	14.33
2019	-1.24	-145.9	2240	3615	3954	3981	283.4	-10.5	202	2025	0.17	2.45	0.00	0.000	5254	0.114	0.057	2166	2195	3967	3953	3981	0	0	0	0	0	0	14.04	13.97	14.14
2335	-1.12	-145.9	2168	2195	3954	3981	342.1	-18.8	215	2340	0.20	2.55	0.00	0.000	2436	0.298	0.083	2201	3614	3967	3953	3981	0	0	0	0	0	0	13.63	13.92	13.83
2460	-1.15	-145.9	2202	3617	3953	3981	359.5	-12.8	240	2466	0.00	2.47	0.00	0.000	1158	0.000	0.056	2201	2194	3967	3953	3981	0	0	0	0	0	0	14.07	13.92	14.07
2786	-1.13	-145.9	2202	2192	3954	3981	405.4	-13.9	255	2791	0.00	2.55	0.00	0.000	388	0.000	0.087	2197	3610	3966	3952	3981	0	0	0	0	0	0	14.28	13.90	14.32
2811	-1.11	-145.9	2197	3610	3953	3980	408.9	-15.0	260	2818	0.00	2.45	0.00	0.000	1158	0.000	0.056	2196	2190	3966	3952	3981	0	0	0	0	0	0	14.07	13.95	14.10
3116	-1.08	-145.9	2197	2190	3953	3982	452.0	-14.0	271	3122	0.12	2.58	0.00	0.000	2436	0.304	0.086	2222	3613	3966	3952	3981	0	0	0	0	0	0	13.69	13.86	13.85
3262	-1.18	-145.9	2223	3613	3953	3980	467.8	-10.4	300	3269	0.00	2.45	0.00	0.000	1158	0.000	0.055	2222	2195	3966	3952	3980	0	0	0	0	0	0	14.06	13.95	14.09
3385	end dive: TARGET_DEPTH_EXCEEDED
state	3385	begin apogee
3391	-0.13	0.0	2223	2066	3954	3981	481.8	-11.2	305	3644	1.20	0.08	249.62	1.352	10246	0.221	0.177	2527	2110	3366	3383	3350	0	0	0	0	0	0	13.70	13.28	12.55
3647	end apogee: CONTROL_FINISHED_OK
state	3647	begin climb
3649	0.57	145.9	2528	2111	3376	3342	494.5	0.0	313	3878	0.75	2.72	216.23	1.328	10756	0.061	0.081	2781	730	2761	2796	2726	0	0	0	0	0	0	13.52	12.97	12.20
4105	0.17	145.9	2781	731	2786	2710	477.4	13.9	386	4111	0.68	2.50	0.00	0.000	5254	0.324	0.076	2644	2104	2746	2785	2708	0	0	0	0	0	0	13.24	13.62	13.57
4431	0.02	171.6	2644	2106	2786	2704	447.6	8.8	401	4472	0.20	2.53	32.90	1.397	12964	0.262	0.083	2602	723	2657	2701	2614	0	0	0	0	0	0	13.71	13.91	13.14
4557	0.05	223.0	2602	724	2698	2604	437.9	7.6	426	4643	0.00	2.47	80.68	1.304	9254	0.000	0.080	2602	2106	2454	2511	2398	0	0	0	0	0	0	14.00	13.89	12.99
4942	0.06	239.2	2602	2107	2492	2374	403.2	9.3	453	4962	0.00	0.00	19.05	1.434	8230	0.000	0.000	2602	2106	2389	2446	2333	0	0	0	0	0	0	14.28	13.98	13.16
5242	0.08	256.2	2603	2107	2426	2316	375.4	9.2	463	5268	0.00	2.53	21.48	1.414	8740	0.000	0.086	2602	729	2317	2369	2266	0	0	0	0	0	0	14.31	14.00	13.21
5308	0.16	282.0	2602	730	2358	2258	369.4	8.8	476	5354	0.00	2.42	40.47	1.317	9382	0.000	0.079	2602	2099	2214	2267	2161	0	0	0	0	0	0	14.08	13.96	13.10
5666	0.23	308.4	2602	2100	2251	2141	337.6	8.8	497	5707	0.17	0.00	38.70	1.324	10406	0.103	0.000	2678	2099	2108	2156	2061	0	0	0	0	0	0	14.14	13.94	13.18
5994	0.15	308.4	2678	2100	2140	2039	291.5	14.2	508	6000	0.17	2.42	0.00	0.000	4740	0.246	0.083	2643	728	2088	2138	2038	0	0	0	0	0	0	13.85	14.02	13.99
6041	0.19	308.4	2643	729	2136	2039	286.1	10.8	517	6045	0.00	2.42	0.00	0.000	1158	0.000	0.079	2643	2103	2086	2135	2038	0	0	0	0	0	0	14.14	14.02	14.18
6355	0.19	308.4	2643	2106	2136	2038	252.7	10.2	530	6356	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2105	2086	2135	2037	0	0	0	0	0	0	14.33	14.35	14.36
6656	0.21	337.0	2644	2105	2136	2037	225.5	8.7	540	6706	0.00	2.47	46.08	1.263	8740	0.000	0.084	2650	721	1986	2033	1939	0	0	0	0	0	0	14.33	13.76	13.19
6817	0.33	381.1	2644	723	2015	1932	212.1	8.0	572	6899	0.15	2.45	76.25	1.206	11430	0.113	0.080	2701	2103	1808	1837	1780	0	0	0	0	0	0	14.01	13.93	13.07
7197	0.33	381.1	2701	2104	1819	1761	168.2	11.3	598	7201	0.00	2.47	0.00	0.000	516	0.000	0.086	2707	727	1788	1818	1758	0	0	0	0	0	0	14.30	13.90	14.31
7232	0.33	381.1	2707	728	1816	1761	164.4	10.8	605	7237	0.00	2.42	0.00	0.000	1030	0.000	0.077	2707	2098	1787	1815	1760	0	0	0	0	0	0	13.74	13.75	13.74
7557	0.33	381.1	2707	2100	1816	1755	129.3	10.5	620	7562	0.00	2.45	0.00	0.000	516	0.000	0.086	2712	728	1784	1812	1757	0	0	0	0	0	0	14.33	13.92	14.35
7582	0.33	381.1	2713	727	1814	1757	126.8	10.1	625	7589	0.00	2.47	0.00	0.000	1030	0.000	0.078	2712	2112	1785	1812	1758	0	0	0	0	0	0	14.10	13.99	14.14
7889	0.33	383.0	2712	2113	1813	1758	96.0	9.9	638	7890	0.00	0.00	0.00	0.000	38	0.000	0.000	2712	2112	1784	1812	1757	0	0	0	0	0	0	14.21	14.23	14.23
8189	0.38	448.3	2713	2112	1813	1755	72.0	7.0	668	8231	0.00	2.50	35.95	0.405	8740	0.000	0.083	2712	724	1536	1567	1505	0	0	0	0	0	0	14.19	13.77	13.50
8271	0.55	510.1	2713	727	1572	1507	65.8	7.1	684	8313	0.15	2.47	36.90	0.390	11430	0.115	0.077	2774	2106	1282	1338	1226	0	0	0	0	0	0	13.85	13.80	13.55
8611	0.63	582.8	2777	2108	1340	1236	37.5	6.6	722	8664	0.00	2.50	44.88	0.305	8868	0.000	0.086	2781	726	987	1056	918	0	0	0	0	0	0	14.16	13.80	13.59
8749	0.82	649.7	2781	729	1057	917	27.8	6.9	749	8797	0.20	2.47	39.80	0.276	11430	0.101	0.079	2861	2107	712	774	651	0	0	0	0	0	0	13.89	13.83	13.62
8991	end climb: SURFACE_DEPTH_REACHED
state	8992	begin surface coast
9012	end surface coast: CONTROL_FINISHED_OK
state	9012	begin surface