Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 310 * 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 310 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 861.0

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 36 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 861.0 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 310 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 110917,184917,7531.7295,-15111.3262,20,0.7,22,20.7,0.0,0.0,11,8.6 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 1.18 MHEAD_RNG_PITCHd_Wd 164.1,87972,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.1 D_GRID 480

GPS2 110917,190019,7531.7104,-15111.0762,6,0.8,46,20.7,0.4,54.5,10,10.5

Post-dive calculations and measurements:

FINISH 0.1,1.021539 _24V_AH 12.21,192.338

SM_CCo 9144,1.50,0.224,0,0,501,702.78 _10V_AH 12.13,0.000

SM_GC 1.56,8.40,0.17,1.50,0.077,0.115,0.224,200,2226,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 252 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323212

IRIDIUM_FIX 7532.56,-15115.12,110917,160827 DATA_FILE_SIZE 23403,719

TT8_MAMPS 0.040446,0.971453 CAP_FILE_SIZE 99259,0

HUMID 46.14 CFSIZE 2097872896,1998848000

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.9

XPDR_PINGS 9 CURRENT 0.022,101.32,1

CP_FREE 15939862528.000000 GPS 110917,213430,7530.455,-15111.888,17,0.7,25,20.7,0.3,31.9,11,10.0

PM_FREEKB_00 48196096

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 451 144.25 nil 0 0 0.00

Roll_motor 80 2139 2095.29 nil 0 0 0.00

VBD_pump_during_apogee 966 1482 17494.40 nil 0 0 0.00

VBD_pump_during_surface 1 224 4.11 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 9111 14 1640.53

Iridium_during_xfer 352 179 773.04 NCP 9127 20 2228.81

Transponder_ping 2 420 11.54 PMAR 9098 11 1239.50

GUMSTIX_24V 0 0 0.00

GPS 47 22 13.02

TT8 0 0 0.00

LPSleep 6515 2 182.56

TT8_Active 730 13 123.75

TT8_Sampling 2258 33 916.24

TT8_CF8 318 38 149.30

TT8_Kalman 0 0 0.00

Analog_circuits 2052 10 248.99

GPS_charging 0 0 0.00

Compass 1031 7 87.58

RAFOS 2199 48 1280.35

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 196 2220 503 488 0.0 0.0 0 144 0.00 0.00 -91.72 0.000 16386 0.000 0.000 195 2220 2121 2045 2198 0 0 0 0 0 0 14.53 28.83 14.55

148 -0.57 -145.9 196 2221 2049 2200 3.2 -3.6 9 205 12.85 2.72 -39.42 0.000 18724 0.451 2.140 2376 3593 3963 3950 3976 0 0 0 0 0 0 13.58 12.89 14.03

315 -0.73 -145.9 2376 3595 3955 3977 36.4 -13.1 42 321 0.00 2.33 0.00 0.000 1158 0.000 0.057 2375 2235 3964 3953 3976 0 0 0 0 0 0 14.05 13.94 14.09

620 -0.84 -145.9 2376 2235 3957 3976 77.2 -10.8 73 625 0.17 2.55 0.00 0.000 4740 0.114 0.080 2298 786 3966 3956 3976 0 0 0 0 0 0 14.21 13.98 14.26

666 -0.91 -145.9 2299 786 3957 3976 83.8 -14.6 82 672 0.00 2.50 0.00 0.000 1158 0.000 0.086 2297 2187 3966 3956 3976 0 0 0 0 0 0 14.09 13.97 14.12

981 -0.94 -145.9 2297 2189 3957 3977 130.0 -13.7 100 986 0.00 2.53 0.00 0.000 388 0.000 0.088 2293 3613 3964 3953 3976 0 0 0 0 0 0 14.60 13.97 14.64

1098 -1.09 -145.9 2294 3614 3957 3976 143.3 -10.1 123 1105 0.20 2.42 0.00 0.000 5254 0.103 0.054 2222 2189 3966 3956 3976 0 0 0 0 0 0 14.19 14.14 14.28

1402 -1.01 -145.9 2222 2190 3957 3977 201.3 -18.9 134 1407 0.12 2.53 0.00 0.000 2436 0.300 0.082 2240 3614 3966 3956 3976 0 0 0 0 0 0 13.89 14.07 14.04

1537 -1.10 -145.9 2240 3615 3957 3977 220.1 -12.6 161 1542 0.00 2.42 0.00 0.000 1158 0.000 0.058 2240 2195 3966 3956 3976 0 0 0 0 0 0 14.26 14.12 14.28

1852 -1.10 -145.9 2241 2195 3958 3976 263.5 -13.0 174 1857 0.00 2.53 0.00 0.000 260 0.000 0.086 2236 3614 3966 3956 3976 0 0 0 0 0 0 14.66 14.12 14.67

1892 -1.17 -145.9 2237 3614 3957 3976 268.5 -12.5 182 1897 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2196 3966 3956 3976 0 0 0 0 0 0 14.33 14.19 14.36

2212 -1.20 -145.9 2237 2196 3957 3976 307.9 -12.0 196 2218 0.12 2.53 0.00 0.000 4484 0.146 0.084 2169 3620 3965 3956 3975 0 0 0 0 0 0 14.15 14.12 14.18

2320 -1.15 -145.9 2170 3622 3957 3975 325.1 -16.6 217 2325 0.17 2.42 0.00 0.000 3206 0.272 0.057 2204 2198 3968 3956 3981 0 0 0 0 0 0 13.75 14.10 14.06

2636 -1.15 -145.9 2204 2198 3956 3977 369.8 -13.5 230 2640 0.00 2.50 0.00 0.000 260 0.000 0.086 2196 3613 3965 3955 3975 0 0 0 0 0 0 14.68 14.05 14.69

2726 -1.18 -145.9 2196 3615 3957 3977 381.8 -12.9 248 2732 0.00 2.40 0.00 0.000 1158 0.000 0.056 2195 2198 3965 3954 3976 0 0 0 0 0 0 14.29 14.17 14.33

3057 -1.15 -145.9 2196 2199 3955 3976 428.0 -13.9 264 3063 0.00 2.53 0.00 0.000 388 0.000 0.084 2186 3614 3965 3954 3976 0 0 0 0 0 0 14.64 14.06 14.66

3133 -1.15 -145.9 2186 3615 3955 3979 438.6 -13.4 279 3138 0.00 2.42 0.00 0.000 1030 0.000 0.056 2185 2198 3965 3954 3976 0 0 0 0 0 0 14.29 14.16 14.33

3446 end dive: TARGET_DEPTH_EXCEEDED

state 3446 begin apogee

3452 -0.13 0.0 2187 2054 3955 3976 484.1 -14.5 292 3675 1.38 0.08 218.77 1.419 10246 0.244 0.107 2529 2120 3363 3377 3349 0 0 0 0 0 0 13.78 13.24 12.62

3725 end apogee: CONTROL_FINISHED_OK

state 3725 begin climb

3728 0.57 145.9 2530 2119 3369 3340 495.7 0.0 299 3948 0.73 2.65 208.90 1.375 11012 0.060 0.073 2777 3493 2759 2788 2730 0 0 0 0 0 0 13.69 13.05 12.21

4173 0.10 145.9 2777 3493 2777 2732 474.1 16.3 350 4178 0.82 2.40 0.00 0.000 5254 0.349 0.057 2621 2132 2751 2776 2726 0 0 0 0 0 0 13.38 13.71 13.75

4489 -0.01 186.2 2621 2131 2777 2724 446.6 8.1 363 4550 0.15 0.00 55.58 1.424 12710 0.292 0.000 2588 2130 2603 2644 2562 0 0 0 0 0 0 13.72 13.82 13.03

4851 0.03 235.8 2587 2130 2643 2547 418.8 7.7 385 4927 0.00 0.00 74.20 1.390 8230 0.000 0.000 2586 2131 2403 2450 2356 0 0 0 0 0 0 14.43 13.85 13.05

5209 0.09 271.6 2587 2131 2439 2342 389.3 8.3 397 5271 0.00 2.62 52.42 1.392 8868 0.000 0.090 2585 700 2253 2297 2209 0 0 0 0 0 0 14.42 13.92 13.12

5323 0.23 309.1 2589 700 2293 2207 379.9 8.3 419 5386 0.22 2.45 57.08 1.359 11430 0.090 0.079 2677 2087 2103 2144 2063 0 0 0 0 0 0 13.95 13.86 13.01

5691 0.15 309.1 2684 2086 2134 2047 326.1 14.6 443 5696 0.17 2.47 0.00 0.000 4740 0.259 0.083 2643 687 2090 2134 2046 0 0 0 0 0 0 13.85 14.06 14.01

5722 0.15 309.1 2644 686 2134 2046 322.2 12.4 449 5727 0.00 2.47 0.00 0.000 1030 0.000 0.078 2643 2099 2089 2132 2046 0 0 0 0 0 0 14.17 14.03 14.19

6054 0.15 309.1 2645 2098 2133 2044 283.6 11.5 465 6055 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2099 2088 2132 2044 0 0 0 0 0 0 14.44 14.46 14.47

6352 0.15 309.1 2644 2099 2133 2043 251.6 10.4 475 6357 0.00 2.47 0.00 0.000 516 0.000 0.086 2644 694 2086 2130 2043 0 0 0 0 0 0 14.63 14.13 14.64

6407 0.22 322.4 2644 693 2132 2043 246.3 9.4 486 6428 0.00 2.45 16.10 1.483 9382 0.000 0.078 2644 2101 2051 2095 2008 0 0 0 0 0 0 14.30 14.16 13.27

6745 0.26 344.3 2644 2102 2087 2000 215.4 9.0 503 6782 0.00 0.00 35.75 1.377 8358 0.000 0.000 2644 2100 1965 2004 1927 0 0 0 0 0 0 14.61 14.03 13.23

7073 0.35 383.5 2644 2100 1997 1910 187.6 8.2 514 7149 0.12 2.55 66.80 1.283 10916 0.127 0.088 2707 701 1797 1820 1775 0 0 0 0 0 0 14.31 13.96 13.17

7194 0.37 383.5 2708 698 1813 1775 173.9 11.4 538 7199 0.00 2.47 0.00 0.000 1158 0.000 0.076 2708 2105 1794 1814 1774 0 0 0 0 0 0 14.19 14.07 14.22

7524 0.37 383.5 2708 2106 1813 1767 136.0 11.1 554 7529 0.00 2.47 0.00 0.000 516 0.000 0.086 2712 693 1789 1813 1766 0 0 0 0 0 0 14.59 14.16 14.60

7574 0.39 383.5 2713 693 1811 1766 130.7 10.2 564 7580 0.00 2.47 0.00 0.000 1158 0.000 0.077 2712 2105 1786 1810 1762 0 0 0 0 0 0 14.27 14.14 14.32

7885 0.39 383.5 2713 2106 1811 1764 98.4 10.1 576 7886 0.00 0.00 0.00 0.000 6 0.000 0.000 2712 2106 1787 1810 1764 0 0 0 0 0 0 14.62 14.63 14.63

8187 0.43 440.8 2712 2107 1810 1764 73.0 7.4 606 8217 0.00 0.00 29.55 0.421 8230 0.000 0.000 2712 2106 1565 1591 1540 0 0 0 0 0 0 14.59 14.14 13.67

8515 0.61 548.7 2711 2107 1591 1537 51.9 5.0 639 8578 0.22 2.58 56.80 0.353 10916 0.092 0.088 2799 695 1127 1187 1068 0 0 0 0 0 0 14.13 13.94 13.71

8603 0.64 561.1 2799 695 1187 1068 44.2 9.4 650 8620 0.00 2.47 7.55 0.335 9382 0.000 0.076 2798 2102 1075 1138 1012 0 0 0 0 0 0 14.10 13.97 13.65

8918 0.76 643.1 2799 2102 1139 1006 18.8 6.2 683 8972 0.00 2.55 43.70 0.265 8868 0.000 0.087 2799 694 742 804 681 0 0 0 0 0 0 14.57 13.87 13.81

9040 0.97 713.8 2799 695 804 679 10.8 6.7 706 9088 0.30 2.47 43.22 0.222 11430 0.083 0.076 2906 2100 501 522 481 0 0 0 0 0 0 14.18 14.07 13.85

9111 end climb: SURFACE_DEPTH_REACHED

state 9111 begin surface coast

9123 end surface coast: CONTROL_FINISHED_OK

state 9123 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	310	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	861.0
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	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110917,184917,7531.7295,-15111.3262,20,0.7,22,20.7,0.0,0.0,11,8.6	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	1.18	MHEAD_RNG_PITCHd_Wd	164.1,87972,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.1	D_GRID	480
GPS2	110917,190019,7531.7104,-15111.0762,6,0.8,46,20.7,0.4,54.5,10,10.5

FINISH	0.1,1.021539	_24V_AH	12.21,192.338
SM_CCo	9144,1.50,0.224,0,0,501,702.78	_10V_AH	12.13,0.000
SM_GC	1.56,8.40,0.17,1.50,0.077,0.115,0.224,200,2226,501,-7.38,-0.74,702.78,0,0,0,0,0,0,14.27,14.26,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	252	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323212
IRIDIUM_FIX	7532.56,-15115.12,110917,160827	DATA_FILE_SIZE	23403,719
TT8_MAMPS	0.040446,0.971453	CAP_FILE_SIZE	99259,0
HUMID	46.14	CFSIZE	2097872896,1998848000
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.9
XPDR_PINGS	9	CURRENT	0.022,101.32,1
CP_FREE	15939862528.000000	GPS	110917,213430,7530.455,-15111.888,17,0.7,25,20.7,0.3,31.9,11,10.0
PM_FREEKB_00	48196096

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	451	144.25	nil	0	0	0.00
Roll_motor	80	2139	2095.29	nil	0	0	0.00
VBD_pump_during_apogee	966	1482	17494.40	nil	0	0	0.00
VBD_pump_during_surface	1	224	4.11	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	9111	14	1640.53
Iridium_during_xfer	352	179	773.04	NCP	9127	20	2228.81
Transponder_ping	2	420	11.54	PMAR	9098	11	1239.50
GUMSTIX_24V	0	0	0.00
GPS	47	22	13.02
TT8	0	0	0.00
LPSleep	6515	2	182.56
TT8_Active	730	13	123.75
TT8_Sampling	2258	33	916.24
TT8_CF8	318	38	149.30
TT8_Kalman	0	0	0.00
Analog_circuits	2052	10	248.99
GPS_charging	0	0	0.00
Compass	1031	7	87.58
RAFOS	2199	48	1280.35
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	196	2220	503	488	0.0	0.0	0	144	0.00	0.00	-91.72	0.000	16386	0.000	0.000	195	2220	2121	2045	2198	0	0	0	0	0	0	14.53	28.83	14.55
148	-0.57	-145.9	196	2221	2049	2200	3.2	-3.6	9	205	12.85	2.72	-39.42	0.000	18724	0.451	2.140	2376	3593	3963	3950	3976	0	0	0	0	0	0	13.58	12.89	14.03
315	-0.73	-145.9	2376	3595	3955	3977	36.4	-13.1	42	321	0.00	2.33	0.00	0.000	1158	0.000	0.057	2375	2235	3964	3953	3976	0	0	0	0	0	0	14.05	13.94	14.09
620	-0.84	-145.9	2376	2235	3957	3976	77.2	-10.8	73	625	0.17	2.55	0.00	0.000	4740	0.114	0.080	2298	786	3966	3956	3976	0	0	0	0	0	0	14.21	13.98	14.26
666	-0.91	-145.9	2299	786	3957	3976	83.8	-14.6	82	672	0.00	2.50	0.00	0.000	1158	0.000	0.086	2297	2187	3966	3956	3976	0	0	0	0	0	0	14.09	13.97	14.12
981	-0.94	-145.9	2297	2189	3957	3977	130.0	-13.7	100	986	0.00	2.53	0.00	0.000	388	0.000	0.088	2293	3613	3964	3953	3976	0	0	0	0	0	0	14.60	13.97	14.64
1098	-1.09	-145.9	2294	3614	3957	3976	143.3	-10.1	123	1105	0.20	2.42	0.00	0.000	5254	0.103	0.054	2222	2189	3966	3956	3976	0	0	0	0	0	0	14.19	14.14	14.28
1402	-1.01	-145.9	2222	2190	3957	3977	201.3	-18.9	134	1407	0.12	2.53	0.00	0.000	2436	0.300	0.082	2240	3614	3966	3956	3976	0	0	0	0	0	0	13.89	14.07	14.04
1537	-1.10	-145.9	2240	3615	3957	3977	220.1	-12.6	161	1542	0.00	2.42	0.00	0.000	1158	0.000	0.058	2240	2195	3966	3956	3976	0	0	0	0	0	0	14.26	14.12	14.28
1852	-1.10	-145.9	2241	2195	3958	3976	263.5	-13.0	174	1857	0.00	2.53	0.00	0.000	260	0.000	0.086	2236	3614	3966	3956	3976	0	0	0	0	0	0	14.66	14.12	14.67
1892	-1.17	-145.9	2237	3614	3957	3976	268.5	-12.5	182	1897	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2196	3966	3956	3976	0	0	0	0	0	0	14.33	14.19	14.36
2212	-1.20	-145.9	2237	2196	3957	3976	307.9	-12.0	196	2218	0.12	2.53	0.00	0.000	4484	0.146	0.084	2169	3620	3965	3956	3975	0	0	0	0	0	0	14.15	14.12	14.18
2320	-1.15	-145.9	2170	3622	3957	3975	325.1	-16.6	217	2325	0.17	2.42	0.00	0.000	3206	0.272	0.057	2204	2198	3968	3956	3981	0	0	0	0	0	0	13.75	14.10	14.06
2636	-1.15	-145.9	2204	2198	3956	3977	369.8	-13.5	230	2640	0.00	2.50	0.00	0.000	260	0.000	0.086	2196	3613	3965	3955	3975	0	0	0	0	0	0	14.68	14.05	14.69
2726	-1.18	-145.9	2196	3615	3957	3977	381.8	-12.9	248	2732	0.00	2.40	0.00	0.000	1158	0.000	0.056	2195	2198	3965	3954	3976	0	0	0	0	0	0	14.29	14.17	14.33
3057	-1.15	-145.9	2196	2199	3955	3976	428.0	-13.9	264	3063	0.00	2.53	0.00	0.000	388	0.000	0.084	2186	3614	3965	3954	3976	0	0	0	0	0	0	14.64	14.06	14.66
3133	-1.15	-145.9	2186	3615	3955	3979	438.6	-13.4	279	3138	0.00	2.42	0.00	0.000	1030	0.000	0.056	2185	2198	3965	3954	3976	0	0	0	0	0	0	14.29	14.16	14.33
3446	end dive: TARGET_DEPTH_EXCEEDED
state	3446	begin apogee
3452	-0.13	0.0	2187	2054	3955	3976	484.1	-14.5	292	3675	1.38	0.08	218.77	1.419	10246	0.244	0.107	2529	2120	3363	3377	3349	0	0	0	0	0	0	13.78	13.24	12.62
3725	end apogee: CONTROL_FINISHED_OK
state	3725	begin climb
3728	0.57	145.9	2530	2119	3369	3340	495.7	0.0	299	3948	0.73	2.65	208.90	1.375	11012	0.060	0.073	2777	3493	2759	2788	2730	0	0	0	0	0	0	13.69	13.05	12.21
4173	0.10	145.9	2777	3493	2777	2732	474.1	16.3	350	4178	0.82	2.40	0.00	0.000	5254	0.349	0.057	2621	2132	2751	2776	2726	0	0	0	0	0	0	13.38	13.71	13.75
4489	-0.01	186.2	2621	2131	2777	2724	446.6	8.1	363	4550	0.15	0.00	55.58	1.424	12710	0.292	0.000	2588	2130	2603	2644	2562	0	0	0	0	0	0	13.72	13.82	13.03
4851	0.03	235.8	2587	2130	2643	2547	418.8	7.7	385	4927	0.00	0.00	74.20	1.390	8230	0.000	0.000	2586	2131	2403	2450	2356	0	0	0	0	0	0	14.43	13.85	13.05
5209	0.09	271.6	2587	2131	2439	2342	389.3	8.3	397	5271	0.00	2.62	52.42	1.392	8868	0.000	0.090	2585	700	2253	2297	2209	0	0	0	0	0	0	14.42	13.92	13.12
5323	0.23	309.1	2589	700	2293	2207	379.9	8.3	419	5386	0.22	2.45	57.08	1.359	11430	0.090	0.079	2677	2087	2103	2144	2063	0	0	0	0	0	0	13.95	13.86	13.01
5691	0.15	309.1	2684	2086	2134	2047	326.1	14.6	443	5696	0.17	2.47	0.00	0.000	4740	0.259	0.083	2643	687	2090	2134	2046	0	0	0	0	0	0	13.85	14.06	14.01
5722	0.15	309.1	2644	686	2134	2046	322.2	12.4	449	5727	0.00	2.47	0.00	0.000	1030	0.000	0.078	2643	2099	2089	2132	2046	0	0	0	0	0	0	14.17	14.03	14.19
6054	0.15	309.1	2645	2098	2133	2044	283.6	11.5	465	6055	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2099	2088	2132	2044	0	0	0	0	0	0	14.44	14.46	14.47
6352	0.15	309.1	2644	2099	2133	2043	251.6	10.4	475	6357	0.00	2.47	0.00	0.000	516	0.000	0.086	2644	694	2086	2130	2043	0	0	0	0	0	0	14.63	14.13	14.64
6407	0.22	322.4	2644	693	2132	2043	246.3	9.4	486	6428	0.00	2.45	16.10	1.483	9382	0.000	0.078	2644	2101	2051	2095	2008	0	0	0	0	0	0	14.30	14.16	13.27
6745	0.26	344.3	2644	2102	2087	2000	215.4	9.0	503	6782	0.00	0.00	35.75	1.377	8358	0.000	0.000	2644	2100	1965	2004	1927	0	0	0	0	0	0	14.61	14.03	13.23
7073	0.35	383.5	2644	2100	1997	1910	187.6	8.2	514	7149	0.12	2.55	66.80	1.283	10916	0.127	0.088	2707	701	1797	1820	1775	0	0	0	0	0	0	14.31	13.96	13.17
7194	0.37	383.5	2708	698	1813	1775	173.9	11.4	538	7199	0.00	2.47	0.00	0.000	1158	0.000	0.076	2708	2105	1794	1814	1774	0	0	0	0	0	0	14.19	14.07	14.22
7524	0.37	383.5	2708	2106	1813	1767	136.0	11.1	554	7529	0.00	2.47	0.00	0.000	516	0.000	0.086	2712	693	1789	1813	1766	0	0	0	0	0	0	14.59	14.16	14.60
7574	0.39	383.5	2713	693	1811	1766	130.7	10.2	564	7580	0.00	2.47	0.00	0.000	1158	0.000	0.077	2712	2105	1786	1810	1762	0	0	0	0	0	0	14.27	14.14	14.32
7885	0.39	383.5	2713	2106	1811	1764	98.4	10.1	576	7886	0.00	0.00	0.00	0.000	6	0.000	0.000	2712	2106	1787	1810	1764	0	0	0	0	0	0	14.62	14.63	14.63
8187	0.43	440.8	2712	2107	1810	1764	73.0	7.4	606	8217	0.00	0.00	29.55	0.421	8230	0.000	0.000	2712	2106	1565	1591	1540	0	0	0	0	0	0	14.59	14.14	13.67
8515	0.61	548.7	2711	2107	1591	1537	51.9	5.0	639	8578	0.22	2.58	56.80	0.353	10916	0.092	0.088	2799	695	1127	1187	1068	0	0	0	0	0	0	14.13	13.94	13.71
8603	0.64	561.1	2799	695	1187	1068	44.2	9.4	650	8620	0.00	2.47	7.55	0.335	9382	0.000	0.076	2798	2102	1075	1138	1012	0	0	0	0	0	0	14.10	13.97	13.65
8918	0.76	643.1	2799	2102	1139	1006	18.8	6.2	683	8972	0.00	2.55	43.70	0.265	8868	0.000	0.087	2799	694	742	804	681	0	0	0	0	0	0	14.57	13.87	13.81
9040	0.97	713.8	2799	695	804	679	10.8	6.7	706	9088	0.30	2.47	43.22	0.222	11430	0.083	0.076	2906	2100	501	522	481	0	0	0	0	0	0	14.18	14.07	13.85
9111	end climb: SURFACE_DEPTH_REACHED
state	9111	begin surface coast
9123	end surface coast: CONTROL_FINISHED_OK
state	9123	begin surface