Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 324 * 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 324 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 900.0

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 34 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 61 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 900.0 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 34 VBD_MIN 500

DIVE 324 NOCOMM_ACTION 161 R_STBD_OVSHOOT 61 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 130917,094740,7514.0513,-15109.8477,33,0.8,41,20.7,0.4,324.0,9,9.7 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 1.17 MHEAD_RNG_PITCHd_Wd 156.6,56071,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.7 D_GRID 480

GPS2 130917,100227,7514.1631,-15109.9131,7,0.9,16,20.7,0.6,100.6,9,9.8

Post-dive calculations and measurements:

FINISH 0.5,1.021567 _24V_AH 12.26,199.411

SM_CCo 8999,11.85,0.195,0,0,498,702.78 _10V_AH 12.13,0.000

SM_GC 1.29,8.32,0.15,11.85,0.064,0.103,0.195,199,2233,498,-7.38,-0.82,702.78,0,0,0,0,0,0,14.14,14.18,13.85 FG_AHR_24Vo 0.000

RAFOS_CLK 100 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323412

IRIDIUM_FIX 7517.53,-15117.29,130917,070906 DATA_FILE_SIZE 23401,708

TT8_MAMPS 0.086135,0.912282 CAP_FILE_SIZE 100892,0

HUMID 44.01 CFSIZE 2097872896,1995112448

INTERNAL_PRESSURE 7.76199 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1447.9

XPDR_PINGS 12 CURRENT 0.042,90.04,1

CP_FREE 15934029824.000000 GPS 130917,123451,7512.865,-15109.927,49,0.7,50,20.7,0.0,96.1,12,9.7

PM_FREEKB_00 47571456

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 457 148.49 nil 0 0 0.00

Roll_motor 84 2148 2219.59 nil 0 0 0.00

VBD_pump_during_apogee 1046 1500 19255.69 nil 0 0 0.00

VBD_pump_during_surface 11 195 28.34 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 9006 14 1579.80

Iridium_during_xfer 595 179 1306.59 NCP 8966 20 2198.46

Transponder_ping 3 420 15.45 PMAR 8946 10 1131.55

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.67

TT8 0 0 0.00

LPSleep 6353 2 178.04

TT8_Active 933 13 158.26

TT8_Sampling 2272 33 921.74

TT8_CF8 353 38 165.94

TT8_Kalman 0 0 0.00

Analog_circuits 2377 10 288.34

GPS_charging 0 0 0.00

Compass 1016 7 86.34

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 162 2192 502 489 0.0 0.0 0 145 0.00 0.00 -91.45 0.000 16386 0.000 0.000 158 2192 2158 2085 2231 0 0 0 0 0 0 14.48 28.83 14.50

149 -0.57 -145.9 159 2192 2089 2231 4.2 -6.3 9 202 13.25 2.78 -33.58 0.000 18980 0.457 2.149 2384 800 3963 3950 3977 1 0 0 0 0 0 13.39 12.89 14.01

259 -0.74 -145.9 2385 800 3954 3979 33.8 -12.5 30 266 0.15 2.42 0.00 0.000 5254 0.106 0.086 2329 2157 3965 3953 3977 0 0 0 0 0 0 13.48 13.74 14.00

562 -0.78 -145.9 2329 2159 3955 3978 89.2 -14.7 61 567 0.00 2.60 0.00 0.000 388 0.000 0.087 2319 3622 3965 3954 3977 0 0 0 0 0 0 14.57 14.09 14.59

699 -0.92 -145.9 2320 3624 3955 3978 105.4 -10.9 88 706 0.12 2.38 0.00 0.000 5254 0.128 0.055 2263 2185 3966 3955 3977 0 0 0 0 0 0 14.21 14.16 14.32

1016 -0.92 -145.9 2263 2184 3954 3977 158.4 -16.0 101 1021 0.00 2.55 0.00 0.000 260 0.000 0.086 2253 3622 3969 3954 3985 0 0 0 0 0 0 14.63 14.12 14.64

1076 -1.01 -145.9 2252 3623 3955 3978 167.0 -13.0 113 1081 0.00 2.45 0.00 0.000 1158 0.000 0.058 2255 2194 3964 3952 3976 0 0 0 0 0 0 14.31 14.17 14.35

1406 -1.01 -145.9 2254 2193 3956 3977 216.6 -14.7 129 1411 0.00 2.53 0.00 0.000 260 0.000 0.085 2244 3619 3966 3955 3977 0 0 0 0 0 0 14.64 14.04 14.66

1456 -1.10 -145.9 2243 3620 3956 3977 223.8 -13.4 139 1461 0.00 2.42 0.00 0.000 1158 0.000 0.057 2244 2192 3965 3954 3977 0 0 0 0 0 0 14.16 14.03 14.20

1767 -1.12 -145.9 2244 2191 3955 3977 267.5 -13.6 151 1771 0.00 2.53 0.00 0.000 388 0.000 0.086 2236 3614 3966 3955 3977 0 0 0 0 0 0 14.65 14.11 14.66

1827 -1.23 -145.9 2236 3615 3955 3978 275.1 -11.7 163 1832 0.17 2.42 0.00 0.000 5254 0.112 0.057 2167 2199 3965 3954 3977 0 0 0 0 0 0 14.23 14.18 14.33

2157 -1.11 -145.9 2167 2199 3955 3978 338.1 -19.1 179 2162 0.20 2.50 0.00 0.000 2436 0.303 0.082 2202 3613 3965 3954 3977 0 0 0 0 0 0 13.65 13.97 13.84

2275 -1.16 -145.9 2202 3615 3955 3978 354.2 -12.4 202 2281 0.00 2.42 0.00 0.000 1158 0.000 0.057 2202 2191 3965 3954 3977 0 0 0 0 0 0 14.09 13.96 14.12

2578 -1.16 -145.9 2201 2189 3956 3977 396.1 -13.6 213 2583 0.00 2.53 0.00 0.000 260 0.000 0.087 2197 3614 3965 3954 3977 0 0 0 0 0 0 14.64 14.09 14.70

2648 -1.22 -145.9 2197 3615 3954 3978 405.3 -12.6 227 2653 0.00 2.40 0.00 0.000 1158 0.000 0.056 2195 2195 3965 3954 3977 0 0 0 0 0 0 14.30 14.17 14.34

2968 -1.22 -145.9 2197 2194 3955 3977 449.1 -13.6 241 2973 0.00 2.50 0.00 0.000 260 0.000 0.086 2187 3614 3965 3953 3977 0 0 0 0 0 0 14.65 14.10 14.66

3028 -1.26 -145.9 2188 3616 3954 3978 457.2 -13.0 253 3033 0.00 2.42 0.00 0.000 1158 0.000 0.056 2188 2189 3965 3953 3977 0 0 0 0 0 0 14.28 14.16 14.33

3206 end dive: TARGET_DEPTH_EXCEEDED

state 3206 begin apogee

3212 -0.13 0.0 2189 2060 3954 3977 482.8 -14.3 264 3441 1.38 0.10 224.62 1.420 10246 0.239 0.158 2532 2124 3364 3378 3350 0 0 0 0 0 0 13.70 13.50 12.66

3445 end apogee: CONTROL_FINISHED_OK

state 3445 begin climb

3449 0.57 145.9 2532 2124 3372 3339 494.8 0.0 271 3677 0.73 2.50 213.77 1.363 10756 0.060 0.083 2781 731 2761 2792 2731 0 0 0 0 0 0 13.70 13.05 12.26

3769 0.17 145.9 2782 732 2787 2725 500.8 12.4 291 3774 0.70 2.47 0.00 0.000 5254 0.324 0.073 2641 2091 2754 2786 2723 0 0 0 0 0 0 13.15 13.51 13.54

4095 0.01 182.1 2640 2093 2787 2717 472.6 8.3 306 4156 0.22 0.00 54.03 1.398 12454 0.260 0.000 2589 2092 2615 2664 2567 0 0 0 0 0 0 13.78 13.91 13.09

4455 -0.00 229.1 2590 2092 2660 2551 444.8 7.8 318 4535 0.00 2.42 73.50 1.367 8868 0.000 0.085 2590 732 2427 2481 2373 0 0 0 0 0 0 14.57 13.96 13.12

4562 0.06 262.8 2590 733 2470 2369 436.2 8.4 339 4620 0.00 2.42 51.40 1.372 9382 0.000 0.079 2590 2106 2289 2340 2238 0 0 0 0 0 0 14.13 14.01 13.00

4938 0.12 288.0 2590 2108 2326 2218 403.1 8.8 364 4976 0.00 0.00 35.38 1.401 8870 0.000 0.000 2590 2106 2188 2237 2139 0 0 0 0 0 0 14.55 14.02 13.21

5297 0.20 316.4 2590 2106 2224 2123 371.4 8.7 381 5347 0.15 2.45 43.42 1.371 10916 0.114 0.086 2672 733 2068 2112 2025 0 0 0 0 0 0 14.31 14.07 13.18

5413 0.16 316.4 2671 734 2097 2020 356.1 13.3 404 5420 0.15 2.40 0.00 0.000 5254 0.246 0.079 2640 2101 2054 2091 2018 0 0 0 0 0 0 13.93 14.09 14.18

5718 0.16 316.4 2640 2102 2097 2010 320.2 11.4 415 5722 0.00 2.42 0.00 0.000 516 0.000 0.085 2640 726 2053 2096 2010 0 0 0 0 0 0 14.62 14.14 14.64

5753 0.19 316.4 2640 726 2096 2011 316.3 11.3 422 5757 0.00 2.40 0.00 0.000 1158 0.000 0.078 2640 2103 2052 2095 2010 0 0 0 0 0 0 14.34 14.21 14.39

6078 0.19 316.4 2641 2104 2096 2008 280.5 10.7 437 6079 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2104 2052 2095 2009 0 0 0 0 0 0 14.66 14.69 14.69

6378 0.20 329.4 2646 2101 2100 2007 251.1 9.4 447 6397 0.00 2.47 12.07 1.501 8740 0.000 0.086 2641 721 2018 2060 1976 0 0 0 0 0 0 14.68 14.23 13.30

6465 0.30 367.4 2641 724 2055 1975 243.8 8.2 464 6539 0.12 2.40 69.20 1.283 11430 0.126 0.078 2693 2103 1867 1896 1839 0 0 0 0 0 0 14.24 14.18 13.16

6860 0.27 367.4 2693 2105 1877 1823 197.2 11.3 493 6865 0.00 2.42 0.00 0.000 644 0.000 0.085 2698 729 1849 1876 1822 0 0 0 0 0 0 14.57 14.16 14.59

6895 0.27 367.4 2699 729 1875 1820 193.3 11.1 500 6901 0.00 2.40 0.00 0.000 1030 0.000 0.078 2699 2099 1848 1874 1822 0 0 0 0 0 0 14.26 14.12 14.29

7223 0.24 367.4 2699 2100 1875 1820 157.1 10.9 515 7228 0.15 2.45 0.00 0.000 4740 0.220 0.083 2661 732 1850 1880 1821 0 0 0 0 0 0 13.79 13.98 13.91

7289 0.39 425.8 2661 733 1873 1821 151.7 7.3 528 7405 0.15 2.42 107.80 1.194 11430 0.116 0.078 2718 2106 1626 1650 1602 0 0 0 0 0 0 14.14 14.07 13.11

7704 0.39 425.8 2719 2104 1643 1578 105.4 10.9 561 7708 0.00 2.45 0.00 0.000 516 0.000 0.085 2726 727 1611 1645 1577 0 0 0 0 0 0 14.40 14.00 14.42

7769 0.44 429.2 2727 727 1640 1577 98.6 9.8 574 7775 0.00 2.42 0.00 0.000 1190 0.000 0.078 2726 2098 1607 1638 1577 0 0 0 0 0 0 14.12 13.99 14.16

8074 0.47 476.9 2726 2102 1638 1575 70.3 7.8 605 8105 0.00 0.00 29.20 0.397 8230 0.000 0.000 2723 2101 1418 1457 1380 0 0 0 0 0 0 14.40 13.95 13.56

8404 0.64 586.9 2726 2101 1463 1385 48.8 4.9 638 8476 0.20 0.00 68.85 0.334 10406 0.092 0.000 2802 2100 970 1037 904 0 0 0 0 0 0 14.05 13.95 13.62

8774 0.78 685.7 2802 2101 1039 911 19.3 5.4 675 8842 0.00 2.53 63.17 0.249 8868 0.000 0.089 2802 734 565 604 526 0 0 0 0 0 0 14.39 13.98 13.71

8904 0.98 685.7 2803 734 607 528 9.4 10.0 700 8912 0.30 2.45 0.00 0.000 3206 0.080 0.076 2908 2108 568 609 527 0 0 0 0 0 0 14.07 14.00 14.14

8964 end climb: SURFACE_DEPTH_REACHED

state 8964 begin surface coast

8975 end surface coast: CONTROL_FINISHED_OK

state 8975 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	324	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	900.0
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	34	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	61	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,094740,7514.0513,-15109.8477,33,0.8,41,20.7,0.4,324.0,9,9.7	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	1.17	MHEAD_RNG_PITCHd_Wd	156.6,56071,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.7	D_GRID	480
GPS2	130917,100227,7514.1631,-15109.9131,7,0.9,16,20.7,0.6,100.6,9,9.8

FINISH	0.5,1.021567	_24V_AH	12.26,199.411
SM_CCo	8999,11.85,0.195,0,0,498,702.78	_10V_AH	12.13,0.000
SM_GC	1.29,8.32,0.15,11.85,0.064,0.103,0.195,199,2233,498,-7.38,-0.82,702.78,0,0,0,0,0,0,14.14,14.18,13.85	FG_AHR_24Vo	0.000
RAFOS_CLK	100	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323412
IRIDIUM_FIX	7517.53,-15117.29,130917,070906	DATA_FILE_SIZE	23401,708
TT8_MAMPS	0.086135,0.912282	CAP_FILE_SIZE	100892,0
HUMID	44.01	CFSIZE	2097872896,1995112448
INTERNAL_PRESSURE	7.76199	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1447.9
XPDR_PINGS	12	CURRENT	0.042,90.04,1
CP_FREE	15934029824.000000	GPS	130917,123451,7512.865,-15109.927,49,0.7,50,20.7,0.0,96.1,12,9.7
PM_FREEKB_00	47571456

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	457	148.49	nil	0	0	0.00
Roll_motor	84	2148	2219.59	nil	0	0	0.00
VBD_pump_during_apogee	1046	1500	19255.69	nil	0	0	0.00
VBD_pump_during_surface	11	195	28.34	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	9006	14	1579.80
Iridium_during_xfer	595	179	1306.59	NCP	8966	20	2198.46
Transponder_ping	3	420	15.45	PMAR	8946	10	1131.55
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.67
TT8	0	0	0.00
LPSleep	6353	2	178.04
TT8_Active	933	13	158.26
TT8_Sampling	2272	33	921.74
TT8_CF8	353	38	165.94
TT8_Kalman	0	0	0.00
Analog_circuits	2377	10	288.34
GPS_charging	0	0	0.00
Compass	1016	7	86.34
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	162	2192	502	489	0.0	0.0	0	145	0.00	0.00	-91.45	0.000	16386	0.000	0.000	158	2192	2158	2085	2231	0	0	0	0	0	0	14.48	28.83	14.50
149	-0.57	-145.9	159	2192	2089	2231	4.2	-6.3	9	202	13.25	2.78	-33.58	0.000	18980	0.457	2.149	2384	800	3963	3950	3977	1	0	0	0	0	0	13.39	12.89	14.01
259	-0.74	-145.9	2385	800	3954	3979	33.8	-12.5	30	266	0.15	2.42	0.00	0.000	5254	0.106	0.086	2329	2157	3965	3953	3977	0	0	0	0	0	0	13.48	13.74	14.00
562	-0.78	-145.9	2329	2159	3955	3978	89.2	-14.7	61	567	0.00	2.60	0.00	0.000	388	0.000	0.087	2319	3622	3965	3954	3977	0	0	0	0	0	0	14.57	14.09	14.59
699	-0.92	-145.9	2320	3624	3955	3978	105.4	-10.9	88	706	0.12	2.38	0.00	0.000	5254	0.128	0.055	2263	2185	3966	3955	3977	0	0	0	0	0	0	14.21	14.16	14.32
1016	-0.92	-145.9	2263	2184	3954	3977	158.4	-16.0	101	1021	0.00	2.55	0.00	0.000	260	0.000	0.086	2253	3622	3969	3954	3985	0	0	0	0	0	0	14.63	14.12	14.64
1076	-1.01	-145.9	2252	3623	3955	3978	167.0	-13.0	113	1081	0.00	2.45	0.00	0.000	1158	0.000	0.058	2255	2194	3964	3952	3976	0	0	0	0	0	0	14.31	14.17	14.35
1406	-1.01	-145.9	2254	2193	3956	3977	216.6	-14.7	129	1411	0.00	2.53	0.00	0.000	260	0.000	0.085	2244	3619	3966	3955	3977	0	0	0	0	0	0	14.64	14.04	14.66
1456	-1.10	-145.9	2243	3620	3956	3977	223.8	-13.4	139	1461	0.00	2.42	0.00	0.000	1158	0.000	0.057	2244	2192	3965	3954	3977	0	0	0	0	0	0	14.16	14.03	14.20
1767	-1.12	-145.9	2244	2191	3955	3977	267.5	-13.6	151	1771	0.00	2.53	0.00	0.000	388	0.000	0.086	2236	3614	3966	3955	3977	0	0	0	0	0	0	14.65	14.11	14.66
1827	-1.23	-145.9	2236	3615	3955	3978	275.1	-11.7	163	1832	0.17	2.42	0.00	0.000	5254	0.112	0.057	2167	2199	3965	3954	3977	0	0	0	0	0	0	14.23	14.18	14.33
2157	-1.11	-145.9	2167	2199	3955	3978	338.1	-19.1	179	2162	0.20	2.50	0.00	0.000	2436	0.303	0.082	2202	3613	3965	3954	3977	0	0	0	0	0	0	13.65	13.97	13.84
2275	-1.16	-145.9	2202	3615	3955	3978	354.2	-12.4	202	2281	0.00	2.42	0.00	0.000	1158	0.000	0.057	2202	2191	3965	3954	3977	0	0	0	0	0	0	14.09	13.96	14.12
2578	-1.16	-145.9	2201	2189	3956	3977	396.1	-13.6	213	2583	0.00	2.53	0.00	0.000	260	0.000	0.087	2197	3614	3965	3954	3977	0	0	0	0	0	0	14.64	14.09	14.70
2648	-1.22	-145.9	2197	3615	3954	3978	405.3	-12.6	227	2653	0.00	2.40	0.00	0.000	1158	0.000	0.056	2195	2195	3965	3954	3977	0	0	0	0	0	0	14.30	14.17	14.34
2968	-1.22	-145.9	2197	2194	3955	3977	449.1	-13.6	241	2973	0.00	2.50	0.00	0.000	260	0.000	0.086	2187	3614	3965	3953	3977	0	0	0	0	0	0	14.65	14.10	14.66
3028	-1.26	-145.9	2188	3616	3954	3978	457.2	-13.0	253	3033	0.00	2.42	0.00	0.000	1158	0.000	0.056	2188	2189	3965	3953	3977	0	0	0	0	0	0	14.28	14.16	14.33
3206	end dive: TARGET_DEPTH_EXCEEDED
state	3206	begin apogee
3212	-0.13	0.0	2189	2060	3954	3977	482.8	-14.3	264	3441	1.38	0.10	224.62	1.420	10246	0.239	0.158	2532	2124	3364	3378	3350	0	0	0	0	0	0	13.70	13.50	12.66
3445	end apogee: CONTROL_FINISHED_OK
state	3445	begin climb
3449	0.57	145.9	2532	2124	3372	3339	494.8	0.0	271	3677	0.73	2.50	213.77	1.363	10756	0.060	0.083	2781	731	2761	2792	2731	0	0	0	0	0	0	13.70	13.05	12.26
3769	0.17	145.9	2782	732	2787	2725	500.8	12.4	291	3774	0.70	2.47	0.00	0.000	5254	0.324	0.073	2641	2091	2754	2786	2723	0	0	0	0	0	0	13.15	13.51	13.54
4095	0.01	182.1	2640	2093	2787	2717	472.6	8.3	306	4156	0.22	0.00	54.03	1.398	12454	0.260	0.000	2589	2092	2615	2664	2567	0	0	0	0	0	0	13.78	13.91	13.09
4455	-0.00	229.1	2590	2092	2660	2551	444.8	7.8	318	4535	0.00	2.42	73.50	1.367	8868	0.000	0.085	2590	732	2427	2481	2373	0	0	0	0	0	0	14.57	13.96	13.12
4562	0.06	262.8	2590	733	2470	2369	436.2	8.4	339	4620	0.00	2.42	51.40	1.372	9382	0.000	0.079	2590	2106	2289	2340	2238	0	0	0	0	0	0	14.13	14.01	13.00
4938	0.12	288.0	2590	2108	2326	2218	403.1	8.8	364	4976	0.00	0.00	35.38	1.401	8870	0.000	0.000	2590	2106	2188	2237	2139	0	0	0	0	0	0	14.55	14.02	13.21
5297	0.20	316.4	2590	2106	2224	2123	371.4	8.7	381	5347	0.15	2.45	43.42	1.371	10916	0.114	0.086	2672	733	2068	2112	2025	0	0	0	0	0	0	14.31	14.07	13.18
5413	0.16	316.4	2671	734	2097	2020	356.1	13.3	404	5420	0.15	2.40	0.00	0.000	5254	0.246	0.079	2640	2101	2054	2091	2018	0	0	0	0	0	0	13.93	14.09	14.18
5718	0.16	316.4	2640	2102	2097	2010	320.2	11.4	415	5722	0.00	2.42	0.00	0.000	516	0.000	0.085	2640	726	2053	2096	2010	0	0	0	0	0	0	14.62	14.14	14.64
5753	0.19	316.4	2640	726	2096	2011	316.3	11.3	422	5757	0.00	2.40	0.00	0.000	1158	0.000	0.078	2640	2103	2052	2095	2010	0	0	0	0	0	0	14.34	14.21	14.39
6078	0.19	316.4	2641	2104	2096	2008	280.5	10.7	437	6079	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2104	2052	2095	2009	0	0	0	0	0	0	14.66	14.69	14.69
6378	0.20	329.4	2646	2101	2100	2007	251.1	9.4	447	6397	0.00	2.47	12.07	1.501	8740	0.000	0.086	2641	721	2018	2060	1976	0	0	0	0	0	0	14.68	14.23	13.30
6465	0.30	367.4	2641	724	2055	1975	243.8	8.2	464	6539	0.12	2.40	69.20	1.283	11430	0.126	0.078	2693	2103	1867	1896	1839	0	0	0	0	0	0	14.24	14.18	13.16
6860	0.27	367.4	2693	2105	1877	1823	197.2	11.3	493	6865	0.00	2.42	0.00	0.000	644	0.000	0.085	2698	729	1849	1876	1822	0	0	0	0	0	0	14.57	14.16	14.59
6895	0.27	367.4	2699	729	1875	1820	193.3	11.1	500	6901	0.00	2.40	0.00	0.000	1030	0.000	0.078	2699	2099	1848	1874	1822	0	0	0	0	0	0	14.26	14.12	14.29
7223	0.24	367.4	2699	2100	1875	1820	157.1	10.9	515	7228	0.15	2.45	0.00	0.000	4740	0.220	0.083	2661	732	1850	1880	1821	0	0	0	0	0	0	13.79	13.98	13.91
7289	0.39	425.8	2661	733	1873	1821	151.7	7.3	528	7405	0.15	2.42	107.80	1.194	11430	0.116	0.078	2718	2106	1626	1650	1602	0	0	0	0	0	0	14.14	14.07	13.11
7704	0.39	425.8	2719	2104	1643	1578	105.4	10.9	561	7708	0.00	2.45	0.00	0.000	516	0.000	0.085	2726	727	1611	1645	1577	0	0	0	0	0	0	14.40	14.00	14.42
7769	0.44	429.2	2727	727	1640	1577	98.6	9.8	574	7775	0.00	2.42	0.00	0.000	1190	0.000	0.078	2726	2098	1607	1638	1577	0	0	0	0	0	0	14.12	13.99	14.16
8074	0.47	476.9	2726	2102	1638	1575	70.3	7.8	605	8105	0.00	0.00	29.20	0.397	8230	0.000	0.000	2723	2101	1418	1457	1380	0	0	0	0	0	0	14.40	13.95	13.56
8404	0.64	586.9	2726	2101	1463	1385	48.8	4.9	638	8476	0.20	0.00	68.85	0.334	10406	0.092	0.000	2802	2100	970	1037	904	0	0	0	0	0	0	14.05	13.95	13.62
8774	0.78	685.7	2802	2101	1039	911	19.3	5.4	675	8842	0.00	2.53	63.17	0.249	8868	0.000	0.089	2802	734	565	604	526	0	0	0	0	0	0	14.39	13.98	13.71
8904	0.98	685.7	2803	734	607	528	9.4	10.0	700	8912	0.30	2.45	0.00	0.000	3206	0.080	0.076	2908	2108	568	609	527	0	0	0	0	0	0	14.07	14.00	14.14
8964	end climb: SURFACE_DEPTH_REACHED
state	8964	begin surface coast
8975	end surface coast: CONTROL_FINISHED_OK
state	8975	begin surface