Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 306 * 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 306 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 851.0

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 26 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 851.0 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 26 VBD_MIN 500

DIVE 306 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 110917,074647,7536.7114,-15110.2578,30,0.8,36,20.8,0.3,219.8,9,9.4 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 156.6,97080,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 110917,075830,7536.7261,-15110.2891,13,0.8,13,20.8,0.0,0.0,10,6.5

Post-dive calculations and measurements:

FINISH 0.7,1.021583 _24V_AH 12.26,190.412

SM_CCo 8916,32.05,0.208,0,0,501,702.78 _10V_AH 12.12,0.000

SM_GC 1.28,8.12,0.17,32.05,0.070,0.114,0.208,203,2226,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 411 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323276

IRIDIUM_FIX 7537.75,-15114.39,110917,050744 DATA_FILE_SIZE 23405,685

TT8_MAMPS 0.038948,0.98868 CAP_FILE_SIZE 101677,0

HUMID 46.61 CFSIZE 2097872896,1999929344

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0

TCM_TEMP 13.10 SOUNDSPEED 1447.1

XPDR_PINGS 8 CURRENT 0.031,101.82,1

CP_FREE 0.000000 GPS 110917,102932,7535.419,-15110.564,33,0.8,33,20.8,0.5,27.5,10,9.6

PM_FREEKB_00 48328832

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.48 nil 0 0 0.00

Roll_motor 84 2134 2208.51 nil 0 0 0.00

VBD_pump_during_apogee 984 1543 18619.77 nil 0 0 0.00

VBD_pump_during_surface 32 208 81.76 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 8884 14 1556.65

Iridium_during_xfer 430 173 915.90 NCP 8892 20 2180.32

Transponder_ping 2 420 10.30 PMAR 8870 16 1753.21

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.97

TT8 0 0 0.00

LPSleep 6325 2 177.09

TT8_Active 851 13 144.22

TT8_Sampling 2176 33 882.15

TT8_CF8 311 38 145.99

TT8_Kalman 0 0 0.00

Analog_circuits 2167 10 262.72

GPS_charging 0 0 0.00

Compass 983 7 83.44

RAFOS 2156 48 1254.27

Transponder 0 5 0.05

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

51 -0.57 -145.9 192 2213 505 479 0.0 0.0 0 140 0.00 0.00 -87.82 0.000 16386 0.000 0.000 189 2215 2019 1946 2092 0 0 0 0 0 0 14.50 28.83 14.52

143 -0.57 -145.9 190 2214 1947 2103 3.2 -4.0 9 206 12.93 2.85 -43.53 0.000 18724 0.452 2.134 2373 3603 3964 3951 3978 0 0 0 0 0 0 13.54 12.60 14.02

316 -0.74 -145.9 2377 3605 3957 3979 35.6 -12.5 43 321 0.12 2.42 0.00 0.000 5254 0.128 0.055 2327 2195 3967 3956 3978 0 0 0 0 0 0 14.04 14.00 14.13

627 -0.79 -145.9 2326 2195 3958 3978 90.0 -14.6 75 631 0.00 2.55 0.00 0.000 388 0.000 0.083 2319 3610 3966 3956 3976 0 0 0 0 0 0 14.40 13.97 14.43

682 -0.94 -145.9 2320 3610 3958 3979 97.0 -11.4 86 688 0.15 2.45 0.00 0.000 5254 0.115 0.057 2258 2195 3967 3957 3977 0 0 0 0 0 0 14.06 14.04 14.14

1007 -0.94 -145.9 2258 2196 3956 3979 153.5 -16.8 99 1011 0.00 2.53 0.00 0.000 260 0.000 0.086 2249 3604 3967 3957 3978 0 0 0 0 0 0 14.43 14.00 14.45

1092 -1.00 -145.9 2250 3606 3965 3978 166.1 -13.6 116 1098 0.00 2.42 0.00 0.000 1158 0.000 0.057 2249 2193 3967 3957 3977 0 0 0 0 0 0 14.15 14.02 14.19

1397 -1.00 -145.9 2249 2193 3958 3978 213.0 -14.8 127 1401 0.00 2.55 0.00 0.000 260 0.000 0.086 2240 3609 3967 3957 3978 0 0 0 0 0 0 14.44 13.95 14.47

1472 -1.09 -145.9 2241 3610 3958 3978 223.1 -12.5 142 1477 0.00 2.45 0.00 0.000 1158 0.000 0.057 2240 2194 3967 3957 3977 0 0 0 0 0 0 13.30 13.29 13.53

1787 -1.11 -145.9 2241 2194 3957 3979 266.5 -13.0 155 1792 0.00 2.55 0.00 0.000 388 0.000 0.087 2236 3601 3967 3957 3978 0 0 0 0 0 0 14.45 13.93 14.47

1862 -1.22 -145.9 2236 3601 3958 3978 275.4 -11.0 170 1867 0.15 2.45 0.00 0.000 5254 0.123 0.057 2180 2189 3967 3957 3978 0 0 0 0 0 0 13.98 13.94 14.08

2178 -1.13 -145.9 2179 2189 3956 3978 330.6 -17.5 183 2183 0.12 2.55 0.00 0.000 2436 0.290 0.083 2198 3604 3967 3957 3978 0 0 0 0 0 0 13.68 13.93 13.86

2308 -1.16 -145.9 2198 3607 3957 3978 349.1 -13.0 209 2313 0.00 2.40 0.00 0.000 1158 0.000 0.055 2198 2182 3967 3957 3978 0 0 0 0 0 0 14.12 13.96 14.17

2630 -1.14 -145.9 2198 2180 3958 3978 394.4 -14.0 223 2635 0.00 2.53 0.00 0.000 388 0.000 0.086 2188 3601 3967 3956 3978 0 0 0 0 0 0 14.26 13.82 14.27

2741 -1.16 -145.9 2188 3602 3956 3979 409.9 -13.0 245 2745 0.00 2.40 0.00 0.000 1158 0.000 0.057 2188 2194 3966 3956 3977 0 0 0 0 0 0 14.21 14.09 14.24

3051 -1.13 -145.9 2191 2190 3958 3978 455.2 -14.4 257 3056 0.00 2.50 0.00 0.000 388 0.000 0.086 2178 3607 3966 3956 3977 0 0 0 0 0 0 14.62 14.09 14.63

3141 -1.13 -145.9 2179 3609 3957 3979 468.0 -14.3 275 3146 0.15 2.40 0.00 0.000 3078 0.247 0.055 2208 2192 3967 3956 3978 0 0 0 0 0 0 13.85 14.13 14.12

3259 end dive: TARGET_DEPTH_EXCEEDED

state 3259 begin apogee

3265 -0.13 0.0 2209 2068 3956 3977 482.9 -12.0 284 3488 1.23 0.00 219.40 1.424 10246 0.223 0.000 2527 2067 3365 3380 3351 0 0 0 0 0 0 13.84 13.52 12.66

3491 end apogee: CONTROL_FINISHED_OK

state 3491 begin climb

3494 0.57 145.9 2528 2067 3375 3342 494.5 0.0 291 3719 0.75 0.00 211.60 1.367 11014 0.061 0.000 2782 2067 2760 2795 2726 0 0 0 0 0 0 13.67 13.07 12.26

4040 0.13 145.9 2782 2067 2787 2721 466.0 13.7 307 4041 0.70 0.00 0.00 0.000 4230 0.318 0.000 2632 2066 2753 2786 2720 0 0 0 0 0 0 13.57 14.04 13.97

4340 0.01 187.6 2632 2067 2787 2719 440.9 8.1 317 4401 0.17 0.00 59.72 1.408 12454 0.291 0.000 2590 2066 2600 2647 2554 0 0 0 0 0 0 13.90 13.96 13.13

4700 0.02 236.4 2591 2068 2642 2535 413.4 7.8 329 4775 0.00 0.00 73.05 1.380 8358 0.000 0.000 2591 2066 2402 2454 2350 0 0 0 0 0 0 14.58 13.90 13.09

5060 0.06 269.9 2591 2066 2443 2336 383.2 8.5 341 5115 0.00 2.40 50.28 1.395 8868 0.000 0.087 2591 722 2260 2309 2212 0 0 0 0 0 0 14.53 13.76 13.16

5142 0.17 306.5 2592 721 2302 2209 376.5 8.3 357 5206 0.15 2.42 56.00 1.349 11430 0.118 0.079 2657 2098 2111 2156 2066 0 0 0 0 0 0 14.11 14.04 13.02

5511 0.12 306.5 2657 2099 2149 2052 329.4 12.7 381 5516 0.12 2.42 0.00 0.000 4740 0.249 0.081 2634 723 2100 2148 2052 0 0 0 0 0 0 13.83 14.04 14.00

5567 0.17 306.5 2634 723 2146 2052 323.3 11.1 392 5574 0.00 2.40 0.00 0.000 1158 0.000 0.076 2639 2106 2099 2145 2054 0 0 0 0 0 0 14.29 14.16 14.33

5872 0.17 306.5 2633 2107 2145 2051 290.2 10.7 403 5876 0.00 2.45 0.00 0.000 516 0.000 0.087 2633 719 2097 2145 2050 0 0 0 0 0 0 14.64 14.21 14.66

5902 0.20 306.5 2634 718 2145 2050 287.0 10.1 409 5907 0.00 2.40 0.00 0.000 1158 0.000 0.078 2634 2100 2097 2144 2050 0 0 0 0 0 0 14.37 14.25 14.42

6232 0.21 318.3 2634 2102 2144 2051 254.6 9.5 425 6253 0.00 2.45 12.43 1.543 8740 0.000 0.085 2633 727 2063 2108 2019 0 0 0 0 0 0 14.67 14.26 13.29

6298 0.32 344.8 2634 727 2104 2020 248.6 8.8 438 6348 0.15 2.40 43.47 1.350 11430 0.113 0.078 2694 2101 1961 2001 1921 0 0 0 0 0 0 14.28 14.19 13.23

6655 0.26 344.8 2695 2102 1996 1905 204.7 12.1 459 6657 0.12 0.00 0.00 0.000 4230 0.236 0.000 2668 2102 1950 1995 1905 0 0 0 0 0 0 14.09 14.36 14.31

6954 0.27 363.0 2669 2102 1996 1903 176.2 9.2 469 6989 0.00 2.47 28.17 1.371 8740 0.000 0.088 2675 730 1881 1917 1846 0 0 0 0 0 0 14.64 14.16 13.26

7051 0.37 391.3 2672 731 1910 1849 167.7 8.7 488 7106 0.00 2.42 49.38 1.289 9382 0.000 0.080 2672 2101 1769 1794 1744 0 0 0 0 0 0 14.26 14.12 13.19

7407 0.44 420.5 2673 2106 1786 1732 136.3 8.7 509 7467 0.12 2.50 50.35 1.260 10916 0.135 0.087 2737 728 1645 1670 1621 0 0 0 0 0 0 14.20 14.04 13.25

7508 0.44 420.5 2737 729 1665 1620 124.0 12.2 529 7513 0.00 2.42 0.00 0.000 1030 0.000 0.077 2737 2106 1641 1664 1619 0 0 0 0 0 0 14.19 14.07 14.23

7821 0.41 420.5 2737 2108 1665 1612 87.0 10.5 550 7825 0.00 2.45 0.00 0.000 644 0.000 0.086 2737 723 1637 1664 1611 0 0 0 0 0 0 14.54 14.16 14.57

7891 0.44 426.5 2738 722 1664 1611 79.9 9.7 564 7897 0.00 2.45 1.45 0.335 9382 0.000 0.078 2737 2105 1627 1655 1600 0 0 0 0 0 0 14.24 14.07 13.59

8202 0.49 501.1 2738 2107 1659 1601 54.5 6.6 596 8255 0.00 2.53 44.12 0.363 8484 0.000 0.083 2737 3511 1319 1366 1272 0 0 0 0 0 0 14.59 14.04 13.66

8285 0.60 555.2 2738 3511 1367 1272 48.9 7.5 608 8323 0.12 2.38 31.48 0.347 11430 0.121 0.063 2788 2129 1100 1164 1036 0 0 0 0 0 0 14.22 14.17 13.72

8629 0.76 648.7 2789 2130 1165 1030 22.0 5.7 646 8688 0.12 2.62 53.38 0.259 10916 0.134 0.093 2851 695 717 780 655 0 0 0 0 0 0 14.18 13.97 13.83

8798 0.83 648.7 2851 695 782 652 6.3 10.2 679 8804 0.00 2.47 0.00 0.000 1158 0.000 0.075 2851 2103 716 780 652 0 0 0 0 0 0 14.17 14.04 14.21

8840 end climb: SURFACE_DEPTH_REACHED

state 8840 begin surface coast

8851 end surface coast: CONTROL_FINISHED_OK

state 8851 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	306	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	851.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,074647,7536.7114,-15110.2578,30,0.8,36,20.8,0.3,219.8,9,9.4	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	156.6,97080,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	110917,075830,7536.7261,-15110.2891,13,0.8,13,20.8,0.0,0.0,10,6.5

FINISH	0.7,1.021583	_24V_AH	12.26,190.412
SM_CCo	8916,32.05,0.208,0,0,501,702.78	_10V_AH	12.12,0.000
SM_GC	1.28,8.12,0.17,32.05,0.070,0.114,0.208,203,2226,501,-7.37,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	411	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323276
IRIDIUM_FIX	7537.75,-15114.39,110917,050744	DATA_FILE_SIZE	23405,685
TT8_MAMPS	0.038948,0.98868	CAP_FILE_SIZE	101677,0
HUMID	46.61	CFSIZE	2097872896,1999929344
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
TCM_TEMP	13.10	SOUNDSPEED	1447.1
XPDR_PINGS	8	CURRENT	0.031,101.82,1
CP_FREE	0.000000	GPS	110917,102932,7535.419,-15110.564,33,0.8,33,20.8,0.5,27.5,10,9.6
PM_FREEKB_00	48328832

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.48	nil	0	0	0.00
Roll_motor	84	2134	2208.51	nil	0	0	0.00
VBD_pump_during_apogee	984	1543	18619.77	nil	0	0	0.00
VBD_pump_during_surface	32	208	81.76	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	8884	14	1556.65
Iridium_during_xfer	430	173	915.90	NCP	8892	20	2180.32
Transponder_ping	2	420	10.30	PMAR	8870	16	1753.21
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.97
TT8	0	0	0.00
LPSleep	6325	2	177.09
TT8_Active	851	13	144.22
TT8_Sampling	2176	33	882.15
TT8_CF8	311	38	145.99
TT8_Kalman	0	0	0.00
Analog_circuits	2167	10	262.72
GPS_charging	0	0	0.00
Compass	983	7	83.44
RAFOS	2156	48	1254.27
Transponder	0	5	0.05

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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
51	-0.57	-145.9	192	2213	505	479	0.0	0.0	0	140	0.00	0.00	-87.82	0.000	16386	0.000	0.000	189	2215	2019	1946	2092	0	0	0	0	0	0	14.50	28.83	14.52
143	-0.57	-145.9	190	2214	1947	2103	3.2	-4.0	9	206	12.93	2.85	-43.53	0.000	18724	0.452	2.134	2373	3603	3964	3951	3978	0	0	0	0	0	0	13.54	12.60	14.02
316	-0.74	-145.9	2377	3605	3957	3979	35.6	-12.5	43	321	0.12	2.42	0.00	0.000	5254	0.128	0.055	2327	2195	3967	3956	3978	0	0	0	0	0	0	14.04	14.00	14.13
627	-0.79	-145.9	2326	2195	3958	3978	90.0	-14.6	75	631	0.00	2.55	0.00	0.000	388	0.000	0.083	2319	3610	3966	3956	3976	0	0	0	0	0	0	14.40	13.97	14.43
682	-0.94	-145.9	2320	3610	3958	3979	97.0	-11.4	86	688	0.15	2.45	0.00	0.000	5254	0.115	0.057	2258	2195	3967	3957	3977	0	0	0	0	0	0	14.06	14.04	14.14
1007	-0.94	-145.9	2258	2196	3956	3979	153.5	-16.8	99	1011	0.00	2.53	0.00	0.000	260	0.000	0.086	2249	3604	3967	3957	3978	0	0	0	0	0	0	14.43	14.00	14.45
1092	-1.00	-145.9	2250	3606	3965	3978	166.1	-13.6	116	1098	0.00	2.42	0.00	0.000	1158	0.000	0.057	2249	2193	3967	3957	3977	0	0	0	0	0	0	14.15	14.02	14.19
1397	-1.00	-145.9	2249	2193	3958	3978	213.0	-14.8	127	1401	0.00	2.55	0.00	0.000	260	0.000	0.086	2240	3609	3967	3957	3978	0	0	0	0	0	0	14.44	13.95	14.47
1472	-1.09	-145.9	2241	3610	3958	3978	223.1	-12.5	142	1477	0.00	2.45	0.00	0.000	1158	0.000	0.057	2240	2194	3967	3957	3977	0	0	0	0	0	0	13.30	13.29	13.53
1787	-1.11	-145.9	2241	2194	3957	3979	266.5	-13.0	155	1792	0.00	2.55	0.00	0.000	388	0.000	0.087	2236	3601	3967	3957	3978	0	0	0	0	0	0	14.45	13.93	14.47
1862	-1.22	-145.9	2236	3601	3958	3978	275.4	-11.0	170	1867	0.15	2.45	0.00	0.000	5254	0.123	0.057	2180	2189	3967	3957	3978	0	0	0	0	0	0	13.98	13.94	14.08
2178	-1.13	-145.9	2179	2189	3956	3978	330.6	-17.5	183	2183	0.12	2.55	0.00	0.000	2436	0.290	0.083	2198	3604	3967	3957	3978	0	0	0	0	0	0	13.68	13.93	13.86
2308	-1.16	-145.9	2198	3607	3957	3978	349.1	-13.0	209	2313	0.00	2.40	0.00	0.000	1158	0.000	0.055	2198	2182	3967	3957	3978	0	0	0	0	0	0	14.12	13.96	14.17
2630	-1.14	-145.9	2198	2180	3958	3978	394.4	-14.0	223	2635	0.00	2.53	0.00	0.000	388	0.000	0.086	2188	3601	3967	3956	3978	0	0	0	0	0	0	14.26	13.82	14.27
2741	-1.16	-145.9	2188	3602	3956	3979	409.9	-13.0	245	2745	0.00	2.40	0.00	0.000	1158	0.000	0.057	2188	2194	3966	3956	3977	0	0	0	0	0	0	14.21	14.09	14.24
3051	-1.13	-145.9	2191	2190	3958	3978	455.2	-14.4	257	3056	0.00	2.50	0.00	0.000	388	0.000	0.086	2178	3607	3966	3956	3977	0	0	0	0	0	0	14.62	14.09	14.63
3141	-1.13	-145.9	2179	3609	3957	3979	468.0	-14.3	275	3146	0.15	2.40	0.00	0.000	3078	0.247	0.055	2208	2192	3967	3956	3978	0	0	0	0	0	0	13.85	14.13	14.12
3259	end dive: TARGET_DEPTH_EXCEEDED
state	3259	begin apogee
3265	-0.13	0.0	2209	2068	3956	3977	482.9	-12.0	284	3488	1.23	0.00	219.40	1.424	10246	0.223	0.000	2527	2067	3365	3380	3351	0	0	0	0	0	0	13.84	13.52	12.66
3491	end apogee: CONTROL_FINISHED_OK
state	3491	begin climb
3494	0.57	145.9	2528	2067	3375	3342	494.5	0.0	291	3719	0.75	0.00	211.60	1.367	11014	0.061	0.000	2782	2067	2760	2795	2726	0	0	0	0	0	0	13.67	13.07	12.26
4040	0.13	145.9	2782	2067	2787	2721	466.0	13.7	307	4041	0.70	0.00	0.00	0.000	4230	0.318	0.000	2632	2066	2753	2786	2720	0	0	0	0	0	0	13.57	14.04	13.97
4340	0.01	187.6	2632	2067	2787	2719	440.9	8.1	317	4401	0.17	0.00	59.72	1.408	12454	0.291	0.000	2590	2066	2600	2647	2554	0	0	0	0	0	0	13.90	13.96	13.13
4700	0.02	236.4	2591	2068	2642	2535	413.4	7.8	329	4775	0.00	0.00	73.05	1.380	8358	0.000	0.000	2591	2066	2402	2454	2350	0	0	0	0	0	0	14.58	13.90	13.09
5060	0.06	269.9	2591	2066	2443	2336	383.2	8.5	341	5115	0.00	2.40	50.28	1.395	8868	0.000	0.087	2591	722	2260	2309	2212	0	0	0	0	0	0	14.53	13.76	13.16
5142	0.17	306.5	2592	721	2302	2209	376.5	8.3	357	5206	0.15	2.42	56.00	1.349	11430	0.118	0.079	2657	2098	2111	2156	2066	0	0	0	0	0	0	14.11	14.04	13.02
5511	0.12	306.5	2657	2099	2149	2052	329.4	12.7	381	5516	0.12	2.42	0.00	0.000	4740	0.249	0.081	2634	723	2100	2148	2052	0	0	0	0	0	0	13.83	14.04	14.00
5567	0.17	306.5	2634	723	2146	2052	323.3	11.1	392	5574	0.00	2.40	0.00	0.000	1158	0.000	0.076	2639	2106	2099	2145	2054	0	0	0	0	0	0	14.29	14.16	14.33
5872	0.17	306.5	2633	2107	2145	2051	290.2	10.7	403	5876	0.00	2.45	0.00	0.000	516	0.000	0.087	2633	719	2097	2145	2050	0	0	0	0	0	0	14.64	14.21	14.66
5902	0.20	306.5	2634	718	2145	2050	287.0	10.1	409	5907	0.00	2.40	0.00	0.000	1158	0.000	0.078	2634	2100	2097	2144	2050	0	0	0	0	0	0	14.37	14.25	14.42
6232	0.21	318.3	2634	2102	2144	2051	254.6	9.5	425	6253	0.00	2.45	12.43	1.543	8740	0.000	0.085	2633	727	2063	2108	2019	0	0	0	0	0	0	14.67	14.26	13.29
6298	0.32	344.8	2634	727	2104	2020	248.6	8.8	438	6348	0.15	2.40	43.47	1.350	11430	0.113	0.078	2694	2101	1961	2001	1921	0	0	0	0	0	0	14.28	14.19	13.23
6655	0.26	344.8	2695	2102	1996	1905	204.7	12.1	459	6657	0.12	0.00	0.00	0.000	4230	0.236	0.000	2668	2102	1950	1995	1905	0	0	0	0	0	0	14.09	14.36	14.31
6954	0.27	363.0	2669	2102	1996	1903	176.2	9.2	469	6989	0.00	2.47	28.17	1.371	8740	0.000	0.088	2675	730	1881	1917	1846	0	0	0	0	0	0	14.64	14.16	13.26
7051	0.37	391.3	2672	731	1910	1849	167.7	8.7	488	7106	0.00	2.42	49.38	1.289	9382	0.000	0.080	2672	2101	1769	1794	1744	0	0	0	0	0	0	14.26	14.12	13.19
7407	0.44	420.5	2673	2106	1786	1732	136.3	8.7	509	7467	0.12	2.50	50.35	1.260	10916	0.135	0.087	2737	728	1645	1670	1621	0	0	0	0	0	0	14.20	14.04	13.25
7508	0.44	420.5	2737	729	1665	1620	124.0	12.2	529	7513	0.00	2.42	0.00	0.000	1030	0.000	0.077	2737	2106	1641	1664	1619	0	0	0	0	0	0	14.19	14.07	14.23
7821	0.41	420.5	2737	2108	1665	1612	87.0	10.5	550	7825	0.00	2.45	0.00	0.000	644	0.000	0.086	2737	723	1637	1664	1611	0	0	0	0	0	0	14.54	14.16	14.57
7891	0.44	426.5	2738	722	1664	1611	79.9	9.7	564	7897	0.00	2.45	1.45	0.335	9382	0.000	0.078	2737	2105	1627	1655	1600	0	0	0	0	0	0	14.24	14.07	13.59
8202	0.49	501.1	2738	2107	1659	1601	54.5	6.6	596	8255	0.00	2.53	44.12	0.363	8484	0.000	0.083	2737	3511	1319	1366	1272	0	0	0	0	0	0	14.59	14.04	13.66
8285	0.60	555.2	2738	3511	1367	1272	48.9	7.5	608	8323	0.12	2.38	31.48	0.347	11430	0.121	0.063	2788	2129	1100	1164	1036	0	0	0	0	0	0	14.22	14.17	13.72
8629	0.76	648.7	2789	2130	1165	1030	22.0	5.7	646	8688	0.12	2.62	53.38	0.259	10916	0.134	0.093	2851	695	717	780	655	0	0	0	0	0	0	14.18	13.97	13.83
8798	0.83	648.7	2851	695	782	652	6.3	10.2	679	8804	0.00	2.47	0.00	0.000	1158	0.000	0.075	2851	2103	716	780	652	0	0	0	0	0	0	14.17	14.04	14.21
8840	end climb: SURFACE_DEPTH_REACHED
state	8840	begin surface coast
8851	end surface coast: CONTROL_FINISHED_OK
state	8851	begin surface