Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 315 * 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 315 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 874.0

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 36 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 874.0 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 36 VBD_MIN 500

DIVE 315 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 120917,084356,7525.4038,-15111.8174,39,0.7,39,20.7,0.0,0.0,9,9.9 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 1.20 MHEAD_RNG_PITCHd_Wd 156.8,76619,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 120917,085419,7525.4385,-15111.7930,9,0.8,9,20.7,0.0,0.0,10,8.5

Post-dive calculations and measurements:

FINISH 0.6,1.021536 _24V_AH 12.28,194.899

SM_CCo 8941,30.25,0.211,0,0,500,702.78 _10V_AH 12.26,0.000

SM_GC 1.34,8.30,2.65,30.25,0.082,0.067,0.211,200,2206,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.21,13.92 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323448

IRIDIUM_FIX 7528.37,-15123.37,120917,060401 DATA_FILE_SIZE 26674,764

TT8_MAMPS 0.039697,0.904792 CAP_FILE_SIZE 102798,0

HUMID 47.04 CFSIZE 2097872896,1997537280

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.30 SOUNDSPEED 1448.7

XPDR_PINGS 9 CURRENT 0.058,97.35,1

CP_FREE 0.000000 GPS 120917,112530,7524.098,-15111.640,16,0.7,19,20.7,0.2,0.0,12,8.9

PM_FREEKB_00 47992576

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 455 145.99 nil 0 0 0.00

Roll_motor 89 2144 2351.44 nil 0 0 0.00

VBD_pump_during_apogee 949 1497 17462.66 nil 0 0 0.00

VBD_pump_during_surface 30 211 78.43 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 8904 14 1605.67

Iridium_during_xfer 351 176 761.69 NCP 8920 20 2190.75

Transponder_ping 2 420 11.60 PMAR 8891 9 1078.71

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.10

TT8 0 0 0.00

LPSleep 6323 2 179.08

TT8_Active 976 13 167.19

TT8_Sampling 1982 33 812.95

TT8_CF8 328 38 156.02

TT8_Kalman 0 0 0.00

Analog_circuits 2064 10 253.09

GPS_charging 0 0 0.00

Compass 1095 7 94.04

RAFOS 0 0 0.00

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 -145.9 204 2193 493 491 0.0 0.0 0 145 0.00 0.00 -91.43 0.000 16386 0.000 0.000 202 2193 2123 2051 2195 0 0 0 0 0 0 14.38 28.83 14.37

148 -0.57 -145.9 203 2194 2054 2197 3.3 -3.6 9 205 12.90 2.75 -39.10 0.000 18980 0.456 2.144 2386 806 3964 3950 3978 0 0 0 0 0 0 13.61 12.90 14.10

232 -0.55 -145.9 2386 807 3953 3979 25.5 -22.8 25 237 0.00 2.42 0.00 0.000 1158 0.000 0.086 2386 2169 3965 3954 3977 0 0 0 0 0 0 14.25 14.10 14.29

543 -0.67 -145.9 2386 2172 3957 3979 70.4 -10.8 57 547 0.00 2.58 0.00 0.000 388 0.000 0.089 2378 3614 3967 3956 3978 0 0 0 0 0 0 14.58 14.00 14.59

618 -0.91 -145.9 2378 3614 3958 3978 77.6 -8.8 72 625 0.30 2.40 0.00 0.000 5286 0.088 0.051 2265 2201 3966 3957 3976 0 0 0 0 0 0 13.96 13.39 14.28

925 -0.88 -145.9 2265 2201 3958 3978 132.7 -17.0 91 930 0.12 2.50 0.00 0.000 2436 0.282 0.083 2284 3616 3967 3957 3978 0 0 0 0 0 0 13.91 14.12 14.07

980 -1.01 -145.9 2285 3616 3958 3978 140.5 -11.5 102 986 0.00 2.42 0.00 0.000 1158 0.000 0.058 2289 2197 3967 3956 3978 0 0 0 0 0 0 14.14 14.00 14.17

1285 -1.07 -145.9 2284 2198 3957 3979 179.6 -12.7 113 1286 0.15 0.00 0.00 0.000 4230 0.122 0.000 2231 2197 3967 3957 3978 0 0 0 0 0 0 14.31 14.40 14.39

1585 -1.04 -145.9 2230 2198 3957 3979 228.9 -16.0 123 1590 0.00 2.50 0.00 0.000 388 0.000 0.087 2223 3614 3967 3957 3978 0 0 0 0 0 0 14.65 14.13 14.65

1702 -1.09 -145.9 2223 3615 3957 3979 245.7 -13.4 146 1708 0.00 2.42 0.00 0.000 1158 0.000 0.057 2223 2199 3967 3956 3978 0 0 0 0 0 0 14.26 14.12 14.29

2005 -1.09 -145.9 2223 2199 3957 3979 289.0 -13.7 157 2010 0.00 2.53 0.00 0.000 260 0.000 0.089 2222 3620 3968 3957 3979 0 0 0 0 0 0 14.68 14.12 14.66

2090 -1.17 -145.9 2223 3620 3958 3978 299.7 -11.8 174 2096 0.00 2.45 0.00 0.000 1158 0.000 0.058 2222 2193 3967 3957 3978 0 0 0 0 0 0 14.13 13.98 14.17

2395 -1.20 -145.9 2223 2194 3957 3978 337.7 -12.3 185 2400 0.00 2.53 0.00 0.000 388 0.000 0.089 2222 3616 3967 3956 3978 0 0 0 0 0 0 14.66 14.12 14.67

2445 -1.29 -145.9 2223 3617 3956 3979 343.6 -11.2 195 2451 0.20 2.42 0.00 0.000 5254 0.108 0.057 2148 2195 3967 3956 3978 0 0 0 0 0 0 14.18 14.11 14.27

2756 -1.16 -145.9 2152 2191 3955 3979 401.2 -18.8 207 2761 0.20 2.53 0.00 0.000 2436 0.327 0.083 2185 3620 3966 3955 3978 0 0 0 0 0 0 13.64 14.02 13.87

2873 -1.16 -145.9 2185 3622 3955 3979 418.3 -13.7 230 2879 0.00 2.42 0.00 0.000 1030 0.000 0.057 2184 2196 3966 3955 3978 0 0 0 0 0 0 14.26 14.13 14.30

3177 -1.12 -145.9 2185 2195 3955 3978 463.2 -14.6 241 3182 0.12 2.50 0.00 0.000 2436 0.317 0.083 2203 3615 3969 3954 3985 0 0 0 0 0 0 13.81 14.09 13.97

3247 -1.19 -145.9 2203 3615 3955 3979 472.0 -11.6 255 3252 0.00 2.40 0.00 0.000 1158 0.000 0.056 2203 2196 3966 3954 3978 0 0 0 0 0 0 14.32 14.19 14.35

3324 end dive: TARGET_DEPTH_EXCEEDED

state 3324 begin apogee

3331 -0.13 0.0 2203 2066 3955 3979 482.0 -12.7 261 3553 1.27 0.08 218.52 1.425 10246 0.233 0.181 2526 2114 3366 3384 3349 0 0 0 0 0 0 13.81 13.51 12.68

3556 end apogee: CONTROL_FINISHED_OK

state 3556 begin climb

3561 0.57 145.9 2529 2114 3377 3339 493.7 0.0 268 3778 0.75 2.62 206.88 1.372 10756 0.060 0.074 2794 724 2764 2802 2727 0 0 0 0 0 0 13.71 12.93 12.28

4004 0.16 145.9 2794 724 2788 2728 474.4 14.7 350 4009 0.75 2.45 0.00 0.000 5254 0.323 0.073 2637 2101 2757 2787 2727 0 0 0 0 0 0 13.43 13.69 13.83

4314 0.00 167.9 2638 2101 2788 2722 445.3 9.0 362 4350 0.20 2.47 28.27 1.498 12964 0.269 0.085 2590 726 2676 2715 2638 0 0 0 0 0 0 13.84 14.09 13.16

4455 0.04 225.9 2590 727 2713 2636 434.8 7.3 390 4550 0.00 2.42 86.18 1.381 9254 0.000 0.078 2590 2105 2440 2495 2385 0 0 0 0 0 0 14.28 14.14 13.01

4855 0.06 252.4 2590 2106 2491 2374 400.3 8.8 420 4895 0.00 0.00 38.35 1.429 8230 0.000 0.000 2590 2108 2337 2389 2286 0 0 0 0 0 0 14.57 14.02 13.17

5186 0.12 281.9 2590 2105 2378 2273 371.6 8.6 431 5236 0.00 2.45 45.40 1.397 8868 0.000 0.085 2589 720 2209 2259 2160 0 0 0 0 0 0 14.59 13.80 13.17

5268 0.26 314.8 2590 721 2252 2159 364.7 8.5 447 5322 0.22 2.42 48.70 1.371 11430 0.091 0.078 2679 2101 2082 2127 2037 0 0 0 0 0 0 14.18 14.08 13.07

5638 0.18 314.8 2679 2102 2118 2020 311.1 14.4 471 5643 0.12 2.42 0.00 0.000 4740 0.263 0.083 2655 728 2068 2117 2019 0 0 0 0 0 0 13.92 14.09 14.00

5703 0.18 314.8 2656 728 2115 2019 303.1 11.2 484 5708 0.00 2.40 0.00 0.000 1030 0.000 0.078 2655 2100 2065 2112 2019 0 0 0 0 0 0 14.33 14.18 14.36

6028 0.18 314.8 2656 2102 2115 2018 265.2 11.4 499 6029 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2102 2065 2113 2018 0 0 0 0 0 0 14.64 14.67 14.67

6328 0.18 314.8 2656 2102 2114 2019 233.7 10.1 509 6334 0.00 2.42 0.00 0.000 516 0.000 0.085 2655 729 2065 2113 2018 0 0 0 0 0 0 14.65 14.16 14.67

6364 0.23 331.0 2655 730 2113 2019 230.4 9.3 516 6391 0.00 2.40 21.40 1.445 9382 0.000 0.078 2655 2110 2015 2061 1970 0 0 0 0 0 0 14.35 14.21 13.25

6689 0.24 349.1 2656 2113 2056 1962 200.0 9.2 531 6725 0.00 2.45 29.92 1.388 8740 0.000 0.085 2655 728 1938 1982 1894 0 0 0 0 0 0 14.62 14.16 13.28

6751 0.33 374.2 2655 729 1978 1896 194.6 8.8 538 6800 0.00 2.35 41.45 1.314 9382 0.000 0.076 2655 2102 1837 1866 1808 0 0 0 0 0 0 14.23 14.09 13.19

7112 0.42 409.1 2656 2102 1860 1801 163.4 8.4 560 7176 0.15 2.45 58.88 1.268 10916 0.115 0.085 2730 730 1695 1717 1673 0 0 0 0 0 0 14.28 13.79 13.21

7232 0.42 409.1 2730 730 1712 1671 148.8 12.4 584 7237 0.00 2.42 0.00 0.000 1030 0.000 0.077 2728 2101 1690 1710 1670 0 0 0 0 0 0 14.21 14.08 14.25

7562 0.39 409.1 2730 2103 1710 1664 108.3 11.9 600 7563 0.00 0.00 0.00 0.000 134 0.000 0.000 2729 2102 1686 1709 1663 0 0 0 0 0 0 14.58 14.60 14.60

7864 0.40 424.1 2730 2103 1711 1660 77.3 9.3 624 7876 0.00 2.53 7.35 0.429 8740 0.000 0.084 2730 723 1634 1662 1607 0 0 0 0 0 0 14.57 14.12 13.58

8026 0.49 470.8 2730 723 1664 1607 63.8 7.8 656 8059 0.00 2.42 25.23 0.394 9382 0.000 0.078 2730 2105 1444 1477 1411 0 0 0 0 0 0 14.13 14.00 13.67

8356 0.67 590.6 2730 2105 1479 1403 44.3 4.5 692 8425 0.17 2.47 62.85 0.331 10660 0.104 0.079 2804 3513 952 1019 886 0 0 0 0 0 0 14.27 13.96 13.72

8491 0.71 590.6 2804 3514 1020 886 31.6 10.4 718 8496 0.00 2.38 0.00 0.000 1158 0.000 0.067 2807 2138 952 1019 885 0 0 0 0 0 0 14.12 13.97 14.15

8801 0.82 647.8 2808 2138 1020 878 8.7 7.4 750 8838 0.12 2.62 30.00 0.230 10916 0.128 0.092 2877 690 721 782 660 0 0 0 0 0 0 14.16 14.07 13.81

8861 end climb: SURFACE_DEPTH_REACHED

state 8861 begin surface coast

8873 end surface coast: CONTROL_FINISHED_OK

state 8873 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	315	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	874.0
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	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,084356,7525.4038,-15111.8174,39,0.7,39,20.7,0.0,0.0,9,9.9	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	1.20	MHEAD_RNG_PITCHd_Wd	156.8,76619,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	120917,085419,7525.4385,-15111.7930,9,0.8,9,20.7,0.0,0.0,10,8.5

FINISH	0.6,1.021536	_24V_AH	12.28,194.899
SM_CCo	8941,30.25,0.211,0,0,500,702.78	_10V_AH	12.26,0.000
SM_GC	1.34,8.30,2.65,30.25,0.082,0.067,0.211,200,2206,500,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.21,13.92	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323448
IRIDIUM_FIX	7528.37,-15123.37,120917,060401	DATA_FILE_SIZE	26674,764
TT8_MAMPS	0.039697,0.904792	CAP_FILE_SIZE	102798,0
HUMID	47.04	CFSIZE	2097872896,1997537280
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.30	SOUNDSPEED	1448.7
XPDR_PINGS	9	CURRENT	0.058,97.35,1
CP_FREE	0.000000	GPS	120917,112530,7524.098,-15111.640,16,0.7,19,20.7,0.2,0.0,12,8.9
PM_FREEKB_00	47992576

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	455	145.99	nil	0	0	0.00
Roll_motor	89	2144	2351.44	nil	0	0	0.00
VBD_pump_during_apogee	949	1497	17462.66	nil	0	0	0.00
VBD_pump_during_surface	30	211	78.43	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	8904	14	1605.67
Iridium_during_xfer	351	176	761.69	NCP	8920	20	2190.75
Transponder_ping	2	420	11.60	PMAR	8891	9	1078.71
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.10
TT8	0	0	0.00
LPSleep	6323	2	179.08
TT8_Active	976	13	167.19
TT8_Sampling	1982	33	812.95
TT8_CF8	328	38	156.02
TT8_Kalman	0	0	0.00
Analog_circuits	2064	10	253.09
GPS_charging	0	0	0.00
Compass	1095	7	94.04
RAFOS	0	0	0.00
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	204	2193	493	491	0.0	0.0	0	145	0.00	0.00	-91.43	0.000	16386	0.000	0.000	202	2193	2123	2051	2195	0	0	0	0	0	0	14.38	28.83	14.37
148	-0.57	-145.9	203	2194	2054	2197	3.3	-3.6	9	205	12.90	2.75	-39.10	0.000	18980	0.456	2.144	2386	806	3964	3950	3978	0	0	0	0	0	0	13.61	12.90	14.10
232	-0.55	-145.9	2386	807	3953	3979	25.5	-22.8	25	237	0.00	2.42	0.00	0.000	1158	0.000	0.086	2386	2169	3965	3954	3977	0	0	0	0	0	0	14.25	14.10	14.29
543	-0.67	-145.9	2386	2172	3957	3979	70.4	-10.8	57	547	0.00	2.58	0.00	0.000	388	0.000	0.089	2378	3614	3967	3956	3978	0	0	0	0	0	0	14.58	14.00	14.59
618	-0.91	-145.9	2378	3614	3958	3978	77.6	-8.8	72	625	0.30	2.40	0.00	0.000	5286	0.088	0.051	2265	2201	3966	3957	3976	0	0	0	0	0	0	13.96	13.39	14.28
925	-0.88	-145.9	2265	2201	3958	3978	132.7	-17.0	91	930	0.12	2.50	0.00	0.000	2436	0.282	0.083	2284	3616	3967	3957	3978	0	0	0	0	0	0	13.91	14.12	14.07
980	-1.01	-145.9	2285	3616	3958	3978	140.5	-11.5	102	986	0.00	2.42	0.00	0.000	1158	0.000	0.058	2289	2197	3967	3956	3978	0	0	0	0	0	0	14.14	14.00	14.17
1285	-1.07	-145.9	2284	2198	3957	3979	179.6	-12.7	113	1286	0.15	0.00	0.00	0.000	4230	0.122	0.000	2231	2197	3967	3957	3978	0	0	0	0	0	0	14.31	14.40	14.39
1585	-1.04	-145.9	2230	2198	3957	3979	228.9	-16.0	123	1590	0.00	2.50	0.00	0.000	388	0.000	0.087	2223	3614	3967	3957	3978	0	0	0	0	0	0	14.65	14.13	14.65
1702	-1.09	-145.9	2223	3615	3957	3979	245.7	-13.4	146	1708	0.00	2.42	0.00	0.000	1158	0.000	0.057	2223	2199	3967	3956	3978	0	0	0	0	0	0	14.26	14.12	14.29
2005	-1.09	-145.9	2223	2199	3957	3979	289.0	-13.7	157	2010	0.00	2.53	0.00	0.000	260	0.000	0.089	2222	3620	3968	3957	3979	0	0	0	0	0	0	14.68	14.12	14.66
2090	-1.17	-145.9	2223	3620	3958	3978	299.7	-11.8	174	2096	0.00	2.45	0.00	0.000	1158	0.000	0.058	2222	2193	3967	3957	3978	0	0	0	0	0	0	14.13	13.98	14.17
2395	-1.20	-145.9	2223	2194	3957	3978	337.7	-12.3	185	2400	0.00	2.53	0.00	0.000	388	0.000	0.089	2222	3616	3967	3956	3978	0	0	0	0	0	0	14.66	14.12	14.67
2445	-1.29	-145.9	2223	3617	3956	3979	343.6	-11.2	195	2451	0.20	2.42	0.00	0.000	5254	0.108	0.057	2148	2195	3967	3956	3978	0	0	0	0	0	0	14.18	14.11	14.27
2756	-1.16	-145.9	2152	2191	3955	3979	401.2	-18.8	207	2761	0.20	2.53	0.00	0.000	2436	0.327	0.083	2185	3620	3966	3955	3978	0	0	0	0	0	0	13.64	14.02	13.87
2873	-1.16	-145.9	2185	3622	3955	3979	418.3	-13.7	230	2879	0.00	2.42	0.00	0.000	1030	0.000	0.057	2184	2196	3966	3955	3978	0	0	0	0	0	0	14.26	14.13	14.30
3177	-1.12	-145.9	2185	2195	3955	3978	463.2	-14.6	241	3182	0.12	2.50	0.00	0.000	2436	0.317	0.083	2203	3615	3969	3954	3985	0	0	0	0	0	0	13.81	14.09	13.97
3247	-1.19	-145.9	2203	3615	3955	3979	472.0	-11.6	255	3252	0.00	2.40	0.00	0.000	1158	0.000	0.056	2203	2196	3966	3954	3978	0	0	0	0	0	0	14.32	14.19	14.35
3324	end dive: TARGET_DEPTH_EXCEEDED
state	3324	begin apogee
3331	-0.13	0.0	2203	2066	3955	3979	482.0	-12.7	261	3553	1.27	0.08	218.52	1.425	10246	0.233	0.181	2526	2114	3366	3384	3349	0	0	0	0	0	0	13.81	13.51	12.68
3556	end apogee: CONTROL_FINISHED_OK
state	3556	begin climb
3561	0.57	145.9	2529	2114	3377	3339	493.7	0.0	268	3778	0.75	2.62	206.88	1.372	10756	0.060	0.074	2794	724	2764	2802	2727	0	0	0	0	0	0	13.71	12.93	12.28
4004	0.16	145.9	2794	724	2788	2728	474.4	14.7	350	4009	0.75	2.45	0.00	0.000	5254	0.323	0.073	2637	2101	2757	2787	2727	0	0	0	0	0	0	13.43	13.69	13.83
4314	0.00	167.9	2638	2101	2788	2722	445.3	9.0	362	4350	0.20	2.47	28.27	1.498	12964	0.269	0.085	2590	726	2676	2715	2638	0	0	0	0	0	0	13.84	14.09	13.16
4455	0.04	225.9	2590	727	2713	2636	434.8	7.3	390	4550	0.00	2.42	86.18	1.381	9254	0.000	0.078	2590	2105	2440	2495	2385	0	0	0	0	0	0	14.28	14.14	13.01
4855	0.06	252.4	2590	2106	2491	2374	400.3	8.8	420	4895	0.00	0.00	38.35	1.429	8230	0.000	0.000	2590	2108	2337	2389	2286	0	0	0	0	0	0	14.57	14.02	13.17
5186	0.12	281.9	2590	2105	2378	2273	371.6	8.6	431	5236	0.00	2.45	45.40	1.397	8868	0.000	0.085	2589	720	2209	2259	2160	0	0	0	0	0	0	14.59	13.80	13.17
5268	0.26	314.8	2590	721	2252	2159	364.7	8.5	447	5322	0.22	2.42	48.70	1.371	11430	0.091	0.078	2679	2101	2082	2127	2037	0	0	0	0	0	0	14.18	14.08	13.07
5638	0.18	314.8	2679	2102	2118	2020	311.1	14.4	471	5643	0.12	2.42	0.00	0.000	4740	0.263	0.083	2655	728	2068	2117	2019	0	0	0	0	0	0	13.92	14.09	14.00
5703	0.18	314.8	2656	728	2115	2019	303.1	11.2	484	5708	0.00	2.40	0.00	0.000	1030	0.000	0.078	2655	2100	2065	2112	2019	0	0	0	0	0	0	14.33	14.18	14.36
6028	0.18	314.8	2656	2102	2115	2018	265.2	11.4	499	6029	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2102	2065	2113	2018	0	0	0	0	0	0	14.64	14.67	14.67
6328	0.18	314.8	2656	2102	2114	2019	233.7	10.1	509	6334	0.00	2.42	0.00	0.000	516	0.000	0.085	2655	729	2065	2113	2018	0	0	0	0	0	0	14.65	14.16	14.67
6364	0.23	331.0	2655	730	2113	2019	230.4	9.3	516	6391	0.00	2.40	21.40	1.445	9382	0.000	0.078	2655	2110	2015	2061	1970	0	0	0	0	0	0	14.35	14.21	13.25
6689	0.24	349.1	2656	2113	2056	1962	200.0	9.2	531	6725	0.00	2.45	29.92	1.388	8740	0.000	0.085	2655	728	1938	1982	1894	0	0	0	0	0	0	14.62	14.16	13.28
6751	0.33	374.2	2655	729	1978	1896	194.6	8.8	538	6800	0.00	2.35	41.45	1.314	9382	0.000	0.076	2655	2102	1837	1866	1808	0	0	0	0	0	0	14.23	14.09	13.19
7112	0.42	409.1	2656	2102	1860	1801	163.4	8.4	560	7176	0.15	2.45	58.88	1.268	10916	0.115	0.085	2730	730	1695	1717	1673	0	0	0	0	0	0	14.28	13.79	13.21
7232	0.42	409.1	2730	730	1712	1671	148.8	12.4	584	7237	0.00	2.42	0.00	0.000	1030	0.000	0.077	2728	2101	1690	1710	1670	0	0	0	0	0	0	14.21	14.08	14.25
7562	0.39	409.1	2730	2103	1710	1664	108.3	11.9	600	7563	0.00	0.00	0.00	0.000	134	0.000	0.000	2729	2102	1686	1709	1663	0	0	0	0	0	0	14.58	14.60	14.60
7864	0.40	424.1	2730	2103	1711	1660	77.3	9.3	624	7876	0.00	2.53	7.35	0.429	8740	0.000	0.084	2730	723	1634	1662	1607	0	0	0	0	0	0	14.57	14.12	13.58
8026	0.49	470.8	2730	723	1664	1607	63.8	7.8	656	8059	0.00	2.42	25.23	0.394	9382	0.000	0.078	2730	2105	1444	1477	1411	0	0	0	0	0	0	14.13	14.00	13.67
8356	0.67	590.6	2730	2105	1479	1403	44.3	4.5	692	8425	0.17	2.47	62.85	0.331	10660	0.104	0.079	2804	3513	952	1019	886	0	0	0	0	0	0	14.27	13.96	13.72
8491	0.71	590.6	2804	3514	1020	886	31.6	10.4	718	8496	0.00	2.38	0.00	0.000	1158	0.000	0.067	2807	2138	952	1019	885	0	0	0	0	0	0	14.12	13.97	14.15
8801	0.82	647.8	2808	2138	1020	878	8.7	7.4	750	8838	0.12	2.62	30.00	0.230	10916	0.128	0.092	2877	690	721	782	660	0	0	0	0	0	0	14.16	14.07	13.81
8861	end climb: SURFACE_DEPTH_REACHED
state	8861	begin surface coast
8873	end surface coast: CONTROL_FINISHED_OK
state	8873	begin surface