Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 317 * 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 317 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 879.0

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 51 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 879.0 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 317 NOCOMM_ACTION 161 R_STBD_OVSHOOT 51 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 120917,140602,7522.8755,-15111.6475,35,0.7,35,20.7,0.0,0.0,10,8.3 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 1.21 MHEAD_RNG_PITCHd_Wd 157.2,71998,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.0 D_GRID 480

GPS2 120917,141612,7522.9048,-15111.5059,10,0.9,11,20.7,0.0,350.3,10,9.6

Post-dive calculations and measurements:

FINISH 0.4,1.021409 _24V_AH 12.28,195.869

SM_CCo 8999,18.92,0.210,0,0,499,703.03 _10V_AH 12.14,0.000

SM_GC 0.96,8.15,0.17,18.92,0.070,0.112,0.210,197,2230,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.27,14.27,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 137 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323520

IRIDIUM_FIX 7527.37,-15115.85,120917,113002 DATA_FILE_SIZE 23381,702

TT8_MAMPS 0.039697,0.897302 CAP_FILE_SIZE 103893,0

HUMID 43.54 CFSIZE 2097872896,1997012992

INTERNAL_PRESSURE 7.74246 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

TCM_TEMP 13.10 SOUNDSPEED 1448.1

XPDR_PINGS 6 CURRENT 0.051,66.96,1

CP_FREE 15937011712.000000 GPS 120917,164807,7521.612,-15111.062,12,0.8,16,20.7,0.3,51.8,11,9.5

PM_FREEKB_00 47916736

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 145.74 nil 0 0 0.00

Roll_motor 88 2143 2334.15 nil 0 0 0.00

VBD_pump_during_apogee 985 1412 17082.43 nil 0 0 0.00

VBD_pump_during_surface 18 210 48.89 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 9011 14 1586.57

Iridium_during_xfer 351 179 775.98 NCP 8962 20 2201.07

Transponder_ping 1 420 7.74 PMAR 8954 10 1175.42

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.33

TT8 0 0 0.00

LPSleep 6388 2 179.17

TT8_Active 913 13 154.92

TT8_Sampling 2026 33 822.58

TT8_CF8 312 38 146.70

TT8_Kalman 0 0 0.00

Analog_circuits 2100 10 255.00

GPS_charging 0 0 0.00

Compass 1007 7 85.62

RAFOS 2217 48 1291.89

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 -145.9 195 2196 514 493 0.0 0.0 0 144 0.00 0.00 -91.93 0.000 16386 0.000 0.000 193 2196 2136 2064 2209 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 194 2196 2065 2209 3.3 -3.5 9 206 13.05 2.75 -38.50 0.000 18724 0.458 2.144 2377 3578 3963 3950 3977 0 0 0 0 0 0 13.57 12.89 14.07

243 -0.69 -145.9 2378 3579 3954 3978 27.7 -17.3 26 249 0.00 2.38 0.00 0.000 1158 0.000 0.063 2377 2201 3965 3954 3977 0 0 0 0 0 0 14.19 14.04 14.22

546 -0.79 -145.9 2377 2200 3956 3979 72.0 -12.0 57 548 0.17 0.00 0.00 0.000 4230 0.119 0.000 2308 2199 3967 3956 3978 0 0 0 0 0 0 14.19 14.31 14.29

858 -0.84 -145.9 2308 2200 3956 3979 117.6 -13.7 80 864 0.00 2.45 0.00 0.000 388 0.000 0.087 2306 3582 3967 3956 3978 0 0 0 0 0 0 14.58 14.11 14.59

960 -0.98 -145.9 2306 3582 3957 3978 129.4 -11.0 100 966 0.15 2.35 0.00 0.000 5254 0.109 0.057 2245 2196 3966 3956 3977 0 0 0 0 0 0 14.12 14.05 14.20

1281 -0.95 -145.9 2245 2196 3957 3979 183.6 -16.7 114 1287 0.12 2.47 0.00 0.000 2436 0.280 0.083 2264 3587 3967 3956 3978 0 0 0 0 0 0 13.87 14.05 14.02

1342 -1.06 -145.9 2263 3589 3957 3979 191.8 -12.1 126 1347 0.00 2.38 0.00 0.000 1158 0.000 0.057 2264 2197 3966 3956 3977 0 0 0 0 0 0 14.34 14.17 14.34

1672 -1.11 -145.9 2265 2196 3957 3978 234.4 -12.4 142 1677 0.12 2.47 0.00 0.000 4484 0.145 0.085 2209 3586 3967 3956 3978 0 0 0 0 0 0 14.21 14.07 14.22

1747 -1.11 -145.9 2209 3589 3956 3979 245.8 -15.5 157 1752 0.00 2.38 0.00 0.000 1030 0.000 0.057 2209 2190 3966 3956 3977 0 0 0 0 0 0 14.31 14.18 14.35

2063 -1.07 -145.9 2209 2191 3956 3979 295.6 -14.9 170 2067 0.00 2.47 0.00 0.000 388 0.000 0.086 2203 3588 3966 3955 3977 0 0 0 0 0 0 14.64 14.12 14.65

2138 -1.09 -145.9 2204 3588 3957 3978 306.2 -13.4 185 2143 0.00 2.35 0.00 0.000 1158 0.000 0.055 2204 2201 3967 3956 3978 0 0 0 0 0 0 14.32 14.18 14.36

2453 -1.09 -145.9 2204 2201 3956 3978 351.2 -13.9 198 2458 0.00 2.45 0.00 0.000 260 0.000 0.087 2197 3587 3966 3956 3977 0 0 0 0 0 0 14.65 14.11 14.66

2558 -1.12 -145.9 2197 3589 3956 3978 365.2 -12.8 219 2563 0.00 2.35 0.00 0.000 1158 0.000 0.055 2197 2200 3966 3955 3977 0 0 0 0 0 0 14.32 14.19 14.35

2873 -1.10 -145.9 2198 2198 3957 3976 408.7 -13.7 232 2879 0.00 2.45 0.00 0.000 388 0.000 0.086 2190 3582 3965 3955 3976 0 0 0 0 0 0 14.64 14.10 14.66

2939 -1.10 -145.9 2190 3585 3956 3977 417.7 -13.2 245 2944 0.15 2.38 0.00 0.000 3078 0.248 0.055 2219 2195 3966 3955 3977 0 0 0 0 0 0 13.76 14.09 14.03

3265 -1.14 -145.9 2221 2194 3957 3975 454.7 -11.2 260 3270 0.00 2.45 0.00 0.000 388 0.000 0.086 2212 3581 3965 3955 3976 0 0 0 0 0 0 14.66 14.04 14.68

3320 -1.22 -145.9 2213 3580 3956 3976 461.0 -10.9 271 3326 0.00 2.35 0.00 0.000 1158 0.000 0.056 2212 2203 3965 3955 3976 0 0 0 0 0 0 14.15 14.02 14.19

3503 end dive: TARGET_DEPTH_EXCEEDED

state 3503 begin apogee

3509 -0.13 0.0 2213 2054 3956 3976 482.6 -11.7 278 3747 1.25 0.00 232.68 1.386 10246 0.227 0.000 2531 2053 3361 3385 3338 0 0 0 0 0 0 13.80 13.50 12.66

3750 end apogee: CONTROL_FINISHED_OK

state 3750 begin climb

3753 0.57 145.9 2531 2054 3380 3331 495.8 0.0 286 3978 0.73 1.92 210.60 1.350 10500 0.060 0.075 2779 3475 2755 2796 2715 0 0 0 0 0 0 13.69 13.13 12.28

4204 0.09 145.9 2780 3473 2780 2711 470.9 16.1 333 4210 0.82 2.33 0.00 0.000 5254 0.346 0.057 2619 2133 2746 2782 2710 0 0 0 0 0 0 13.49 13.85 13.85

4509 -0.01 184.3 2619 2132 2785 2710 444.4 8.2 344 4570 0.12 2.40 54.53 1.392 12708 0.291 0.078 2595 3487 2605 2655 2555 0 0 0 0 0 0 13.83 13.74 13.11

4597 -0.07 186.6 2591 3487 2649 2549 437.6 9.9 361 4604 0.12 2.40 0.00 0.000 5286 0.278 0.060 2565 2095 2595 2643 2548 0 0 0 0 0 0 13.86 14.04 14.10

4901 0.02 262.1 2566 2096 2644 2543 417.2 6.5 372 5026 0.00 0.00 124.07 1.319 8358 0.000 0.000 2565 2095 2296 2351 2242 0 0 0 0 0 0 14.57 13.82 13.00

5321 0.16 328.8 2566 2095 2334 2221 388.3 6.9 386 5436 0.17 2.62 105.15 1.294 10916 0.106 0.090 2648 686 2019 2069 1969 0 0 0 0 0 0 14.10 13.86 13.06

5493 0.19 328.8 2649 686 2055 1966 367.7 12.1 420 5499 0.00 2.47 0.00 0.000 1158 0.000 0.077 2648 2070 2010 2054 1967 0 0 0 0 0 0 14.09 13.96 14.12

5804 0.19 328.8 2649 2072 2054 1955 327.7 13.0 432 5805 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2071 2003 2053 1954 0 0 0 0 0 0 14.57 14.59 14.59

6104 0.19 328.8 2649 2072 2053 1954 290.8 12.1 442 6109 0.00 2.45 0.00 0.000 516 0.000 0.088 2652 685 2002 2052 1953 0 0 0 0 0 0 14.63 14.19 14.64

6170 0.25 328.8 2651 686 2050 1954 283.1 11.2 452 6176 0.00 2.50 0.00 0.000 1158 0.000 0.076 2650 2105 2001 2049 1953 0 0 0 0 0 0 14.26 14.12 14.31

6481 0.25 328.8 2651 2106 2050 1953 248.2 10.8 464 6487 0.00 2.53 0.00 0.000 516 0.000 0.087 2651 691 1998 2048 1948 0 0 0 0 0 0 14.50 14.01 14.51

6542 0.32 339.0 2651 691 2049 1952 242.2 9.5 476 6552 0.10 2.47 2.75 0.898 11430 0.145 0.077 2694 2098 1982 2031 1934 0 0 0 0 0 0 14.08 14.04 12.82

6875 0.26 339.0 2695 2099 2043 1944 203.4 11.2 492 6877 0.00 0.00 1.77 0.252 8326 0.000 0.000 2694 2098 1982 2032 1933 0 0 0 0 0 0 14.46 14.09 13.76

7173 0.20 339.0 2695 2099 2042 1943 170.7 10.7 502 7182 0.17 2.60 1.50 0.239 12932 0.227 0.087 2651 687 1982 2031 1934 0 0 0 0 0 0 13.81 14.04 13.77

7213 0.34 389.3 2651 687 2036 1938 167.3 7.7 510 7318 0.12 2.50 96.88 1.258 11430 0.127 0.078 2701 2105 1775 1803 1747 0 0 0 0 0 0 14.08 14.00 13.09

7625 0.34 389.3 2701 2106 1796 1735 124.0 10.3 542 7630 0.00 2.53 0.00 0.000 516 0.000 0.087 2703 691 1764 1795 1734 0 0 0 0 0 0 14.40 14.02 14.42

7690 0.41 401.7 2704 691 1793 1734 117.7 9.4 555 7710 0.00 2.50 12.48 1.412 9382 0.000 0.077 2704 2102 1724 1752 1696 0 0 0 0 0 0 14.17 14.06 13.18

8017 0.46 432.1 2702 2102 1752 1685 88.0 8.6 578 8039 0.00 2.53 15.85 0.461 8868 0.000 0.086 2704 685 1601 1633 1569 0 0 0 0 0 0 14.39 13.85 13.54

8094 0.60 471.1 2706 686 1635 1566 81.2 8.2 593 8121 0.22 2.53 21.27 0.444 11430 0.090 0.079 2789 2105 1445 1480 1410 0 0 0 0 0 0 14.13 13.95 13.62

8419 0.58 526.6 2789 2105 1481 1404 45.7 7.4 628 8457 0.00 2.53 29.65 0.338 8868 0.000 0.086 2794 692 1215 1271 1160 0 0 0 0 0 0 14.40 13.98 13.66

8498 0.66 568.2 2794 693 1272 1161 39.9 8.1 643 8526 0.00 2.50 22.38 0.319 9382 0.000 0.077 2800 2102 1047 1114 981 0 0 0 0 0 0 14.13 14.00 13.67

8825 0.80 668.2 2792 2102 1114 978 16.5 5.4 678 8884 0.12 2.60 53.50 0.254 10916 0.132 0.092 2860 691 636 686 586 0 0 0 0 0 0 14.09 14.01 13.72

8910 0.85 668.2 2861 690 688 586 8.2 11.2 694 8915 0.00 2.50 0.00 0.000 1158 0.000 0.076 2860 2102 636 686 586 0 0 0 0 0 0 14.21 14.07 14.23

8967 end climb: SURFACE_DEPTH_REACHED

state 8967 begin surface coast

8977 end surface coast: CONTROL_FINISHED_OK

state 8977 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	317	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	879.0
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	51	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,140602,7522.8755,-15111.6475,35,0.7,35,20.7,0.0,0.0,10,8.3	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	1.21	MHEAD_RNG_PITCHd_Wd	157.2,71998,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.0	D_GRID	480
GPS2	120917,141612,7522.9048,-15111.5059,10,0.9,11,20.7,0.0,350.3,10,9.6

FINISH	0.4,1.021409	_24V_AH	12.28,195.869
SM_CCo	8999,18.92,0.210,0,0,499,703.03	_10V_AH	12.14,0.000
SM_GC	0.96,8.15,0.17,18.92,0.070,0.112,0.210,197,2230,499,-7.38,-0.68,703.03,0,0,0,0,0,0,14.27,14.27,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	137	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323520
IRIDIUM_FIX	7527.37,-15115.85,120917,113002	DATA_FILE_SIZE	23381,702
TT8_MAMPS	0.039697,0.897302	CAP_FILE_SIZE	103893,0
HUMID	43.54	CFSIZE	2097872896,1997012992
INTERNAL_PRESSURE	7.74246	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
TCM_TEMP	13.10	SOUNDSPEED	1448.1
XPDR_PINGS	6	CURRENT	0.051,66.96,1
CP_FREE	15937011712.000000	GPS	120917,164807,7521.612,-15111.062,12,0.8,16,20.7,0.3,51.8,11,9.5
PM_FREEKB_00	47916736

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	145.74	nil	0	0	0.00
Roll_motor	88	2143	2334.15	nil	0	0	0.00
VBD_pump_during_apogee	985	1412	17082.43	nil	0	0	0.00
VBD_pump_during_surface	18	210	48.89	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	9011	14	1586.57
Iridium_during_xfer	351	179	775.98	NCP	8962	20	2201.07
Transponder_ping	1	420	7.74	PMAR	8954	10	1175.42
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.33
TT8	0	0	0.00
LPSleep	6388	2	179.17
TT8_Active	913	13	154.92
TT8_Sampling	2026	33	822.58
TT8_CF8	312	38	146.70
TT8_Kalman	0	0	0.00
Analog_circuits	2100	10	255.00
GPS_charging	0	0	0.00
Compass	1007	7	85.62
RAFOS	2217	48	1291.89
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	195	2196	514	493	0.0	0.0	0	144	0.00	0.00	-91.93	0.000	16386	0.000	0.000	193	2196	2136	2064	2209	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	194	2196	2065	2209	3.3	-3.5	9	206	13.05	2.75	-38.50	0.000	18724	0.458	2.144	2377	3578	3963	3950	3977	0	0	0	0	0	0	13.57	12.89	14.07
243	-0.69	-145.9	2378	3579	3954	3978	27.7	-17.3	26	249	0.00	2.38	0.00	0.000	1158	0.000	0.063	2377	2201	3965	3954	3977	0	0	0	0	0	0	14.19	14.04	14.22
546	-0.79	-145.9	2377	2200	3956	3979	72.0	-12.0	57	548	0.17	0.00	0.00	0.000	4230	0.119	0.000	2308	2199	3967	3956	3978	0	0	0	0	0	0	14.19	14.31	14.29
858	-0.84	-145.9	2308	2200	3956	3979	117.6	-13.7	80	864	0.00	2.45	0.00	0.000	388	0.000	0.087	2306	3582	3967	3956	3978	0	0	0	0	0	0	14.58	14.11	14.59
960	-0.98	-145.9	2306	3582	3957	3978	129.4	-11.0	100	966	0.15	2.35	0.00	0.000	5254	0.109	0.057	2245	2196	3966	3956	3977	0	0	0	0	0	0	14.12	14.05	14.20
1281	-0.95	-145.9	2245	2196	3957	3979	183.6	-16.7	114	1287	0.12	2.47	0.00	0.000	2436	0.280	0.083	2264	3587	3967	3956	3978	0	0	0	0	0	0	13.87	14.05	14.02
1342	-1.06	-145.9	2263	3589	3957	3979	191.8	-12.1	126	1347	0.00	2.38	0.00	0.000	1158	0.000	0.057	2264	2197	3966	3956	3977	0	0	0	0	0	0	14.34	14.17	14.34
1672	-1.11	-145.9	2265	2196	3957	3978	234.4	-12.4	142	1677	0.12	2.47	0.00	0.000	4484	0.145	0.085	2209	3586	3967	3956	3978	0	0	0	0	0	0	14.21	14.07	14.22
1747	-1.11	-145.9	2209	3589	3956	3979	245.8	-15.5	157	1752	0.00	2.38	0.00	0.000	1030	0.000	0.057	2209	2190	3966	3956	3977	0	0	0	0	0	0	14.31	14.18	14.35
2063	-1.07	-145.9	2209	2191	3956	3979	295.6	-14.9	170	2067	0.00	2.47	0.00	0.000	388	0.000	0.086	2203	3588	3966	3955	3977	0	0	0	0	0	0	14.64	14.12	14.65
2138	-1.09	-145.9	2204	3588	3957	3978	306.2	-13.4	185	2143	0.00	2.35	0.00	0.000	1158	0.000	0.055	2204	2201	3967	3956	3978	0	0	0	0	0	0	14.32	14.18	14.36
2453	-1.09	-145.9	2204	2201	3956	3978	351.2	-13.9	198	2458	0.00	2.45	0.00	0.000	260	0.000	0.087	2197	3587	3966	3956	3977	0	0	0	0	0	0	14.65	14.11	14.66
2558	-1.12	-145.9	2197	3589	3956	3978	365.2	-12.8	219	2563	0.00	2.35	0.00	0.000	1158	0.000	0.055	2197	2200	3966	3955	3977	0	0	0	0	0	0	14.32	14.19	14.35
2873	-1.10	-145.9	2198	2198	3957	3976	408.7	-13.7	232	2879	0.00	2.45	0.00	0.000	388	0.000	0.086	2190	3582	3965	3955	3976	0	0	0	0	0	0	14.64	14.10	14.66
2939	-1.10	-145.9	2190	3585	3956	3977	417.7	-13.2	245	2944	0.15	2.38	0.00	0.000	3078	0.248	0.055	2219	2195	3966	3955	3977	0	0	0	0	0	0	13.76	14.09	14.03
3265	-1.14	-145.9	2221	2194	3957	3975	454.7	-11.2	260	3270	0.00	2.45	0.00	0.000	388	0.000	0.086	2212	3581	3965	3955	3976	0	0	0	0	0	0	14.66	14.04	14.68
3320	-1.22	-145.9	2213	3580	3956	3976	461.0	-10.9	271	3326	0.00	2.35	0.00	0.000	1158	0.000	0.056	2212	2203	3965	3955	3976	0	0	0	0	0	0	14.15	14.02	14.19
3503	end dive: TARGET_DEPTH_EXCEEDED
state	3503	begin apogee
3509	-0.13	0.0	2213	2054	3956	3976	482.6	-11.7	278	3747	1.25	0.00	232.68	1.386	10246	0.227	0.000	2531	2053	3361	3385	3338	0	0	0	0	0	0	13.80	13.50	12.66
3750	end apogee: CONTROL_FINISHED_OK
state	3750	begin climb
3753	0.57	145.9	2531	2054	3380	3331	495.8	0.0	286	3978	0.73	1.92	210.60	1.350	10500	0.060	0.075	2779	3475	2755	2796	2715	0	0	0	0	0	0	13.69	13.13	12.28
4204	0.09	145.9	2780	3473	2780	2711	470.9	16.1	333	4210	0.82	2.33	0.00	0.000	5254	0.346	0.057	2619	2133	2746	2782	2710	0	0	0	0	0	0	13.49	13.85	13.85
4509	-0.01	184.3	2619	2132	2785	2710	444.4	8.2	344	4570	0.12	2.40	54.53	1.392	12708	0.291	0.078	2595	3487	2605	2655	2555	0	0	0	0	0	0	13.83	13.74	13.11
4597	-0.07	186.6	2591	3487	2649	2549	437.6	9.9	361	4604	0.12	2.40	0.00	0.000	5286	0.278	0.060	2565	2095	2595	2643	2548	0	0	0	0	0	0	13.86	14.04	14.10
4901	0.02	262.1	2566	2096	2644	2543	417.2	6.5	372	5026	0.00	0.00	124.07	1.319	8358	0.000	0.000	2565	2095	2296	2351	2242	0	0	0	0	0	0	14.57	13.82	13.00
5321	0.16	328.8	2566	2095	2334	2221	388.3	6.9	386	5436	0.17	2.62	105.15	1.294	10916	0.106	0.090	2648	686	2019	2069	1969	0	0	0	0	0	0	14.10	13.86	13.06
5493	0.19	328.8	2649	686	2055	1966	367.7	12.1	420	5499	0.00	2.47	0.00	0.000	1158	0.000	0.077	2648	2070	2010	2054	1967	0	0	0	0	0	0	14.09	13.96	14.12
5804	0.19	328.8	2649	2072	2054	1955	327.7	13.0	432	5805	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2071	2003	2053	1954	0	0	0	0	0	0	14.57	14.59	14.59
6104	0.19	328.8	2649	2072	2053	1954	290.8	12.1	442	6109	0.00	2.45	0.00	0.000	516	0.000	0.088	2652	685	2002	2052	1953	0	0	0	0	0	0	14.63	14.19	14.64
6170	0.25	328.8	2651	686	2050	1954	283.1	11.2	452	6176	0.00	2.50	0.00	0.000	1158	0.000	0.076	2650	2105	2001	2049	1953	0	0	0	0	0	0	14.26	14.12	14.31
6481	0.25	328.8	2651	2106	2050	1953	248.2	10.8	464	6487	0.00	2.53	0.00	0.000	516	0.000	0.087	2651	691	1998	2048	1948	0	0	0	0	0	0	14.50	14.01	14.51
6542	0.32	339.0	2651	691	2049	1952	242.2	9.5	476	6552	0.10	2.47	2.75	0.898	11430	0.145	0.077	2694	2098	1982	2031	1934	0	0	0	0	0	0	14.08	14.04	12.82
6875	0.26	339.0	2695	2099	2043	1944	203.4	11.2	492	6877	0.00	0.00	1.77	0.252	8326	0.000	0.000	2694	2098	1982	2032	1933	0	0	0	0	0	0	14.46	14.09	13.76
7173	0.20	339.0	2695	2099	2042	1943	170.7	10.7	502	7182	0.17	2.60	1.50	0.239	12932	0.227	0.087	2651	687	1982	2031	1934	0	0	0	0	0	0	13.81	14.04	13.77
7213	0.34	389.3	2651	687	2036	1938	167.3	7.7	510	7318	0.12	2.50	96.88	1.258	11430	0.127	0.078	2701	2105	1775	1803	1747	0	0	0	0	0	0	14.08	14.00	13.09
7625	0.34	389.3	2701	2106	1796	1735	124.0	10.3	542	7630	0.00	2.53	0.00	0.000	516	0.000	0.087	2703	691	1764	1795	1734	0	0	0	0	0	0	14.40	14.02	14.42
7690	0.41	401.7	2704	691	1793	1734	117.7	9.4	555	7710	0.00	2.50	12.48	1.412	9382	0.000	0.077	2704	2102	1724	1752	1696	0	0	0	0	0	0	14.17	14.06	13.18
8017	0.46	432.1	2702	2102	1752	1685	88.0	8.6	578	8039	0.00	2.53	15.85	0.461	8868	0.000	0.086	2704	685	1601	1633	1569	0	0	0	0	0	0	14.39	13.85	13.54
8094	0.60	471.1	2706	686	1635	1566	81.2	8.2	593	8121	0.22	2.53	21.27	0.444	11430	0.090	0.079	2789	2105	1445	1480	1410	0	0	0	0	0	0	14.13	13.95	13.62
8419	0.58	526.6	2789	2105	1481	1404	45.7	7.4	628	8457	0.00	2.53	29.65	0.338	8868	0.000	0.086	2794	692	1215	1271	1160	0	0	0	0	0	0	14.40	13.98	13.66
8498	0.66	568.2	2794	693	1272	1161	39.9	8.1	643	8526	0.00	2.50	22.38	0.319	9382	0.000	0.077	2800	2102	1047	1114	981	0	0	0	0	0	0	14.13	14.00	13.67
8825	0.80	668.2	2792	2102	1114	978	16.5	5.4	678	8884	0.12	2.60	53.50	0.254	10916	0.132	0.092	2860	691	636	686	586	0	0	0	0	0	0	14.09	14.01	13.72
8910	0.85	668.2	2861	690	688	586	8.2	11.2	694	8915	0.00	2.50	0.00	0.000	1158	0.000	0.076	2860	2102	636	686	586	0	0	0	0	0	0	14.21	14.07	14.23
8967	end climb: SURFACE_DEPTH_REACHED
state	8967	begin surface coast
8977	end surface coast: CONTROL_FINISHED_OK
state	8977	begin surface