Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 328 * 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 328 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 912.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 65 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 912.0 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 30 VBD_MIN 500

DIVE 328 NOCOMM_ACTION 161 R_STBD_OVSHOOT 65 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 130917,210139,7509.2954,-15108.6211,34,0.7,38,20.7,0.7,157.1,11,8.4 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.06 MHEAD_RNG_PITCHd_Wd 153.7,47362,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.4 D_GRID 480

GPS2 130917,211607,7509.3745,-15108.5859,6,0.8,8,20.7,0.0,124.3,11,9.5

Post-dive calculations and measurements:

FINISH 0.2,1.021392 _24V_AH 12.25,201.414

SM_CCo 9493,0.00,0.000,0,0,495,704.26 _10V_AH 12.17,0.000

SM_GC 1.16,8.27,0.15,0.00,0.070,0.106,0.000,203,2229,495,-7.38,-0.96,704.26,0,0,0,0,0,0,14.28,14.30,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 432 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323216

IRIDIUM_FIX 7502.22,-15558.87,130917,210633 DATA_FILE_SIZE 26694,755

TT8_MAMPS 0.038948,0.883071 CAP_FILE_SIZE 104591,0

HUMID 47.32 CFSIZE 2097872896,1994063872

INTERNAL_PRESSURE 7.73269 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.10 SOUNDSPEED 1447.7

XPDR_PINGS 15 CURRENT 0.048,75.88,1

CP_FREE 15932456960.000000 GPS 130917,235554,7508.049,-15108.438,13,0.7,15,20.7,0.3,14.1,12,9.0

PM_FREEKB_00 47401152

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 145.52 nil 0 0 0.00

Roll_motor 89 2154 2348.66 nil 0 0 0.00

VBD_pump_during_apogee 1079 1458 19290.82 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9448 14 1692.09

Iridium_during_xfer 529 166 1080.81 NCP 5626 20 1378.37

Transponder_ping 3 420 19.29 PMAR 9265 9 1128.15

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.76

TT8 0 0 0.00

LPSleep 6699 2 188.34

TT8_Active 969 13 164.90

TT8_Sampling 2360 33 960.56

TT8_CF8 344 38 162.21

TT8_Kalman 0 0 0.00

Analog_circuits 2356 10 286.77

GPS_charging 0 0 0.00

Compass 1082 7 92.21

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

170 end surface: CONTROL_FINISHED_OK

state 170 begin dive

173 -0.57 -145.9 161 2195 507 491 0.0 0.0 0 266 0.00 0.00 -91.82 0.000 16386 0.000 0.000 159 2195 2121 2046 2196 0 0 0 0 0 0 14.54 28.83 14.57

270 -0.57 -145.9 159 2195 2048 2199 3.4 -4.8 9 327 13.12 2.75 -37.65 0.000 18980 0.452 2.154 2386 800 3964 3951 3977 0 0 0 0 0 0 13.47 12.58 13.95

354 -0.60 -145.9 2386 801 3954 3981 26.6 -21.0 25 359 0.00 2.40 0.00 0.000 1158 0.000 0.087 2385 2155 3965 3954 3977 0 0 0 0 0 0 14.21 14.14 14.22

664 -0.71 -145.9 2384 2157 3956 3978 70.9 -11.9 57 670 0.12 2.58 0.00 0.000 4484 0.132 0.087 2332 3613 3965 3954 3977 0 0 0 0 0 0 14.29 13.95 14.32

782 -0.82 -145.9 2333 3615 3956 3978 85.7 -13.0 80 789 0.00 2.40 0.00 0.000 1158 0.000 0.058 2333 2205 3966 3955 3977 0 0 0 0 0 0 14.33 14.19 14.36

1105 -0.92 -145.9 2333 2204 3956 3978 124.0 -10.9 99 1106 0.17 0.00 0.00 0.000 4230 0.109 0.000 2260 2203 3966 3955 3977 0 0 0 0 0 0 14.35 14.45 14.44

1405 -0.92 -145.9 2261 2204 3956 3977 171.2 -15.4 109 1410 0.00 2.47 0.00 0.000 260 0.000 0.087 2250 3614 3967 3955 3979 0 0 0 0 0 0 14.72 14.15 14.72

1505 -1.02 -145.9 2250 3615 3957 3978 185.0 -12.8 129 1510 0.00 2.40 0.00 0.000 1158 0.000 0.057 2250 2199 3966 3956 3976 0 0 0 0 0 0 14.19 14.07 14.23

1826 -1.04 -145.9 2250 2199 3955 3978 230.9 -14.1 143 1830 0.00 2.50 0.00 0.000 388 0.000 0.088 2243 3615 3966 3956 3977 0 0 0 0 0 0 14.73 14.08 14.74

1926 -1.12 -145.9 2244 3615 3956 3978 243.7 -12.5 163 1931 0.00 2.42 0.00 0.000 1158 0.000 0.058 2243 2197 3966 3956 3977 0 0 0 0 0 0 14.22 14.03 14.28

2246 -1.16 -145.9 2243 2197 3956 3978 284.5 -12.2 177 2251 0.12 2.50 0.00 0.000 4484 0.147 0.085 2178 3615 3966 3956 3977 0 0 0 0 0 0 14.31 14.14 14.35

2307 -1.13 -145.9 2179 3614 3957 3977 294.1 -16.1 189 2312 0.15 2.40 0.00 0.000 3206 0.256 0.058 2215 2199 3966 3956 3977 0 0 0 0 0 0 13.89 14.21 14.18

2637 -1.13 -145.9 2210 2198 3957 3978 340.4 -13.6 205 2642 0.00 2.50 0.00 0.000 260 0.000 0.089 2206 3614 3966 3955 3977 0 0 0 0 0 0 14.74 14.12 14.73

2759 -1.20 -145.9 2206 3615 3956 3977 355.7 -11.9 229 2764 0.00 2.40 0.00 0.000 1158 0.000 0.056 2206 2194 3966 3955 3977 0 0 0 0 0 0 14.33 14.19 14.37

3089 -1.20 -145.9 2206 2194 3955 3978 399.6 -13.2 245 3094 0.00 2.50 0.00 0.000 260 0.000 0.087 2197 3614 3966 3955 3977 0 0 0 0 0 0 14.73 14.12 14.75

3170 -1.26 -145.9 2198 3614 3955 3977 410.0 -12.3 261 3174 0.00 2.40 0.00 0.000 1158 0.000 0.056 2197 2193 3966 3955 3977 0 0 0 0 0 0 14.34 14.21 14.38

3480 -1.26 -145.9 2197 2192 3955 3978 451.8 -13.5 273 3485 0.00 2.50 0.00 0.000 260 0.000 0.086 2188 3616 3965 3954 3977 0 0 0 0 0 0 14.75 14.09 14.76

3555 -1.30 -145.9 2188 3615 3954 3978 462.1 -13.0 288 3561 0.00 2.38 0.00 0.000 1158 0.000 0.054 2188 2199 3965 3954 3977 0 0 0 0 0 0 14.34 14.21 14.38

3689 end dive: TARGET_DEPTH_EXCEEDED

state 3689 begin apogee

3695 -0.13 0.0 2189 2063 3956 3977 481.3 -14.2 295 3955 1.35 0.08 255.38 1.357 10246 0.238 0.178 2528 2113 3364 3381 3348 0 0 0 0 0 0 13.78 13.53 12.71

3957 end apogee: CONTROL_FINISHED_OK

state 3957 begin climb

3959 0.57 145.9 2529 2112 3377 3339 495.2 0.0 303 4189 0.75 2.67 220.57 1.340 10756 0.060 0.077 2794 730 2762 2797 2728 0 0 0 0 0 0 13.72 13.13 12.25

4360 0.15 145.9 2794 731 2785 2721 491.1 13.3 345 4365 0.77 2.47 0.00 0.000 5254 0.328 0.073 2634 2094 2750 2783 2717 0 0 0 0 0 0 13.31 13.71 13.72

4693 0.01 185.5 2635 2094 2785 2712 463.0 8.2 361 4752 0.20 0.00 58.05 1.383 12454 0.269 0.000 2590 2095 2612 2658 2567 0 0 0 0 0 0 13.84 13.93 13.09

5051 0.01 232.1 2590 2096 2644 2529 435.2 7.8 373 5126 0.00 0.00 71.60 1.350 8870 0.000 0.000 2589 2095 2419 2471 2367 0 0 0 0 0 0 14.58 13.93 13.11

5441 0.03 262.9 2590 2095 2454 2342 402.3 8.6 391 5492 0.00 2.42 44.97 1.365 8740 0.000 0.085 2589 727 2287 2337 2238 0 0 0 0 0 0 14.59 13.81 13.19

5545 0.16 303.5 2590 727 2328 2230 393.6 8.1 411 5614 0.15 2.40 64.57 1.304 11430 0.116 0.079 2656 2098 2129 2176 2082 0 0 0 0 0 0 14.14 14.07 13.07

5925 0.10 303.5 2657 2098 2156 2054 343.9 13.2 437 5930 0.15 2.40 0.00 0.000 4740 0.244 0.081 2626 729 2104 2155 2053 0 0 0 0 0 0 13.93 14.12 14.09

5980 0.17 303.5 2628 730 2153 2054 337.8 10.5 448 5987 0.00 2.40 0.00 0.000 1158 0.000 0.076 2626 2105 2103 2152 2054 0 0 0 0 0 0 14.25 14.12 14.29

6285 0.17 303.5 2627 2106 2153 2051 305.9 10.3 459 6290 0.00 2.42 0.00 0.000 516 0.000 0.086 2627 726 2101 2151 2051 0 0 0 0 0 0 14.64 14.18 14.66

6316 0.21 306.6 2627 726 2152 2052 302.8 9.9 465 6320 0.00 2.40 0.00 0.000 1190 0.000 0.076 2626 2107 2100 2150 2051 0 0 0 0 0 0 14.34 14.21 14.39

6646 0.23 317.0 2627 2109 2152 2050 270.2 9.5 481 6656 0.00 2.47 6.15 1.459 8868 0.000 0.085 2627 727 2074 2123 2025 0 0 0 0 0 0 14.66 14.23 13.22

6701 0.35 355.6 2627 728 2124 2028 265.4 8.2 492 6788 0.20 2.38 78.05 1.266 11430 0.091 0.078 2701 2098 1913 1949 1878 0 0 0 0 0 0 13.78 14.20 13.15

7098 0.29 355.6 2701 2101 1929 1862 214.5 12.5 521 7103 0.00 2.40 0.00 0.000 644 0.000 0.085 2706 733 1895 1928 1862 0 0 0 0 0 0 14.58 14.14 14.59

7168 0.26 355.6 2707 730 1922 1862 206.1 11.9 535 7174 0.17 2.40 0.00 0.000 5254 0.213 0.076 2665 2102 1892 1923 1862 0 0 0 0 0 0 14.00 14.18 14.26

7489 0.30 380.2 2666 2103 1925 1860 176.4 8.9 549 7529 0.00 0.00 38.20 1.269 8358 0.000 0.000 2666 2103 1816 1842 1790 0 0 0 0 0 0 14.62 14.09 13.29

7819 0.38 413.8 2666 2102 1823 1771 148.0 8.4 560 7886 0.12 2.50 58.70 1.211 10916 0.125 0.087 2726 718 1672 1695 1650 0 0 0 0 0 0 14.26 13.95 13.24

7951 0.38 413.8 2727 718 1683 1640 132.9 11.5 586 7956 0.00 2.42 0.00 0.000 1030 0.000 0.076 2726 2099 1660 1680 1641 0 0 0 0 0 0 14.16 14.04 14.21

8272 0.35 413.8 2723 2100 1682 1633 97.1 10.7 600 8278 0.00 2.47 0.00 0.000 644 0.000 0.086 2726 730 1657 1682 1632 0 0 0 0 0 0 14.59 14.08 14.60

8329 0.40 428.9 2727 732 1681 1633 91.5 9.3 611 8340 0.00 2.40 7.03 0.387 9382 0.000 0.077 2726 2101 1614 1640 1588 0 0 0 0 0 0 14.28 14.14 13.56

8646 0.47 488.0 2727 2103 1657 1598 65.5 7.3 644 8688 0.00 2.55 38.03 0.387 8612 0.000 0.082 2726 3511 1372 1415 1330 0 0 0 0 0 0 14.59 14.01 13.69

8789 0.58 544.6 2727 3511 1416 1342 55.6 7.4 672 8831 0.12 2.35 35.83 0.359 11430 0.118 0.065 2780 2139 1141 1200 1083 0 0 0 0 0 0 14.21 14.15 13.62

9129 0.67 605.9 2779 2140 1204 1096 28.2 7.2 710 9176 0.00 2.62 38.65 0.277 8868 0.000 0.090 2781 694 892 958 826 0 0 0 0 0 0 14.57 14.09 13.77

9238 0.92 711.6 2781 694 961 834 21.8 5.1 731 9308 0.30 2.47 63.67 0.250 11430 0.083 0.076 2891 2108 498 518 479 0 0 0 0 0 0 14.19 14.11 13.78

9401 end climb: SURFACE_DEPTH_REACHED

state 9401 begin surface coast

9412 end surface coast: CONTROL_FINISHED_OK

state 9412 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	328	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	912.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	65	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130917,210139,7509.2954,-15108.6211,34,0.7,38,20.7,0.7,157.1,11,8.4	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.06	MHEAD_RNG_PITCHd_Wd	153.7,47362,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.4	D_GRID	480
GPS2	130917,211607,7509.3745,-15108.5859,6,0.8,8,20.7,0.0,124.3,11,9.5

FINISH	0.2,1.021392	_24V_AH	12.25,201.414
SM_CCo	9493,0.00,0.000,0,0,495,704.26	_10V_AH	12.17,0.000
SM_GC	1.16,8.27,0.15,0.00,0.070,0.106,0.000,203,2229,495,-7.38,-0.96,704.26,0,0,0,0,0,0,14.28,14.30,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	432	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323216
IRIDIUM_FIX	7502.22,-15558.87,130917,210633	DATA_FILE_SIZE	26694,755
TT8_MAMPS	0.038948,0.883071	CAP_FILE_SIZE	104591,0
HUMID	47.32	CFSIZE	2097872896,1994063872
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.10	SOUNDSPEED	1447.7
XPDR_PINGS	15	CURRENT	0.048,75.88,1
CP_FREE	15932456960.000000	GPS	130917,235554,7508.049,-15108.438,13,0.7,15,20.7,0.3,14.1,12,9.0
PM_FREEKB_00	47401152

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	145.52	nil	0	0	0.00
Roll_motor	89	2154	2348.66	nil	0	0	0.00
VBD_pump_during_apogee	1079	1458	19290.82	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9448	14	1692.09
Iridium_during_xfer	529	166	1080.81	NCP	5626	20	1378.37
Transponder_ping	3	420	19.29	PMAR	9265	9	1128.15
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.76
TT8	0	0	0.00
LPSleep	6699	2	188.34
TT8_Active	969	13	164.90
TT8_Sampling	2360	33	960.56
TT8_CF8	344	38	162.21
TT8_Kalman	0	0	0.00
Analog_circuits	2356	10	286.77
GPS_charging	0	0	0.00
Compass	1082	7	92.21
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
170	end surface: CONTROL_FINISHED_OK
state	170	begin dive
173	-0.57	-145.9	161	2195	507	491	0.0	0.0	0	266	0.00	0.00	-91.82	0.000	16386	0.000	0.000	159	2195	2121	2046	2196	0	0	0	0	0	0	14.54	28.83	14.57
270	-0.57	-145.9	159	2195	2048	2199	3.4	-4.8	9	327	13.12	2.75	-37.65	0.000	18980	0.452	2.154	2386	800	3964	3951	3977	0	0	0	0	0	0	13.47	12.58	13.95
354	-0.60	-145.9	2386	801	3954	3981	26.6	-21.0	25	359	0.00	2.40	0.00	0.000	1158	0.000	0.087	2385	2155	3965	3954	3977	0	0	0	0	0	0	14.21	14.14	14.22
664	-0.71	-145.9	2384	2157	3956	3978	70.9	-11.9	57	670	0.12	2.58	0.00	0.000	4484	0.132	0.087	2332	3613	3965	3954	3977	0	0	0	0	0	0	14.29	13.95	14.32
782	-0.82	-145.9	2333	3615	3956	3978	85.7	-13.0	80	789	0.00	2.40	0.00	0.000	1158	0.000	0.058	2333	2205	3966	3955	3977	0	0	0	0	0	0	14.33	14.19	14.36
1105	-0.92	-145.9	2333	2204	3956	3978	124.0	-10.9	99	1106	0.17	0.00	0.00	0.000	4230	0.109	0.000	2260	2203	3966	3955	3977	0	0	0	0	0	0	14.35	14.45	14.44
1405	-0.92	-145.9	2261	2204	3956	3977	171.2	-15.4	109	1410	0.00	2.47	0.00	0.000	260	0.000	0.087	2250	3614	3967	3955	3979	0	0	0	0	0	0	14.72	14.15	14.72
1505	-1.02	-145.9	2250	3615	3957	3978	185.0	-12.8	129	1510	0.00	2.40	0.00	0.000	1158	0.000	0.057	2250	2199	3966	3956	3976	0	0	0	0	0	0	14.19	14.07	14.23
1826	-1.04	-145.9	2250	2199	3955	3978	230.9	-14.1	143	1830	0.00	2.50	0.00	0.000	388	0.000	0.088	2243	3615	3966	3956	3977	0	0	0	0	0	0	14.73	14.08	14.74
1926	-1.12	-145.9	2244	3615	3956	3978	243.7	-12.5	163	1931	0.00	2.42	0.00	0.000	1158	0.000	0.058	2243	2197	3966	3956	3977	0	0	0	0	0	0	14.22	14.03	14.28
2246	-1.16	-145.9	2243	2197	3956	3978	284.5	-12.2	177	2251	0.12	2.50	0.00	0.000	4484	0.147	0.085	2178	3615	3966	3956	3977	0	0	0	0	0	0	14.31	14.14	14.35
2307	-1.13	-145.9	2179	3614	3957	3977	294.1	-16.1	189	2312	0.15	2.40	0.00	0.000	3206	0.256	0.058	2215	2199	3966	3956	3977	0	0	0	0	0	0	13.89	14.21	14.18
2637	-1.13	-145.9	2210	2198	3957	3978	340.4	-13.6	205	2642	0.00	2.50	0.00	0.000	260	0.000	0.089	2206	3614	3966	3955	3977	0	0	0	0	0	0	14.74	14.12	14.73
2759	-1.20	-145.9	2206	3615	3956	3977	355.7	-11.9	229	2764	0.00	2.40	0.00	0.000	1158	0.000	0.056	2206	2194	3966	3955	3977	0	0	0	0	0	0	14.33	14.19	14.37
3089	-1.20	-145.9	2206	2194	3955	3978	399.6	-13.2	245	3094	0.00	2.50	0.00	0.000	260	0.000	0.087	2197	3614	3966	3955	3977	0	0	0	0	0	0	14.73	14.12	14.75
3170	-1.26	-145.9	2198	3614	3955	3977	410.0	-12.3	261	3174	0.00	2.40	0.00	0.000	1158	0.000	0.056	2197	2193	3966	3955	3977	0	0	0	0	0	0	14.34	14.21	14.38
3480	-1.26	-145.9	2197	2192	3955	3978	451.8	-13.5	273	3485	0.00	2.50	0.00	0.000	260	0.000	0.086	2188	3616	3965	3954	3977	0	0	0	0	0	0	14.75	14.09	14.76
3555	-1.30	-145.9	2188	3615	3954	3978	462.1	-13.0	288	3561	0.00	2.38	0.00	0.000	1158	0.000	0.054	2188	2199	3965	3954	3977	0	0	0	0	0	0	14.34	14.21	14.38
3689	end dive: TARGET_DEPTH_EXCEEDED
state	3689	begin apogee
3695	-0.13	0.0	2189	2063	3956	3977	481.3	-14.2	295	3955	1.35	0.08	255.38	1.357	10246	0.238	0.178	2528	2113	3364	3381	3348	0	0	0	0	0	0	13.78	13.53	12.71
3957	end apogee: CONTROL_FINISHED_OK
state	3957	begin climb
3959	0.57	145.9	2529	2112	3377	3339	495.2	0.0	303	4189	0.75	2.67	220.57	1.340	10756	0.060	0.077	2794	730	2762	2797	2728	0	0	0	0	0	0	13.72	13.13	12.25
4360	0.15	145.9	2794	731	2785	2721	491.1	13.3	345	4365	0.77	2.47	0.00	0.000	5254	0.328	0.073	2634	2094	2750	2783	2717	0	0	0	0	0	0	13.31	13.71	13.72
4693	0.01	185.5	2635	2094	2785	2712	463.0	8.2	361	4752	0.20	0.00	58.05	1.383	12454	0.269	0.000	2590	2095	2612	2658	2567	0	0	0	0	0	0	13.84	13.93	13.09
5051	0.01	232.1	2590	2096	2644	2529	435.2	7.8	373	5126	0.00	0.00	71.60	1.350	8870	0.000	0.000	2589	2095	2419	2471	2367	0	0	0	0	0	0	14.58	13.93	13.11
5441	0.03	262.9	2590	2095	2454	2342	402.3	8.6	391	5492	0.00	2.42	44.97	1.365	8740	0.000	0.085	2589	727	2287	2337	2238	0	0	0	0	0	0	14.59	13.81	13.19
5545	0.16	303.5	2590	727	2328	2230	393.6	8.1	411	5614	0.15	2.40	64.57	1.304	11430	0.116	0.079	2656	2098	2129	2176	2082	0	0	0	0	0	0	14.14	14.07	13.07
5925	0.10	303.5	2657	2098	2156	2054	343.9	13.2	437	5930	0.15	2.40	0.00	0.000	4740	0.244	0.081	2626	729	2104	2155	2053	0	0	0	0	0	0	13.93	14.12	14.09
5980	0.17	303.5	2628	730	2153	2054	337.8	10.5	448	5987	0.00	2.40	0.00	0.000	1158	0.000	0.076	2626	2105	2103	2152	2054	0	0	0	0	0	0	14.25	14.12	14.29
6285	0.17	303.5	2627	2106	2153	2051	305.9	10.3	459	6290	0.00	2.42	0.00	0.000	516	0.000	0.086	2627	726	2101	2151	2051	0	0	0	0	0	0	14.64	14.18	14.66
6316	0.21	306.6	2627	726	2152	2052	302.8	9.9	465	6320	0.00	2.40	0.00	0.000	1190	0.000	0.076	2626	2107	2100	2150	2051	0	0	0	0	0	0	14.34	14.21	14.39
6646	0.23	317.0	2627	2109	2152	2050	270.2	9.5	481	6656	0.00	2.47	6.15	1.459	8868	0.000	0.085	2627	727	2074	2123	2025	0	0	0	0	0	0	14.66	14.23	13.22
6701	0.35	355.6	2627	728	2124	2028	265.4	8.2	492	6788	0.20	2.38	78.05	1.266	11430	0.091	0.078	2701	2098	1913	1949	1878	0	0	0	0	0	0	13.78	14.20	13.15
7098	0.29	355.6	2701	2101	1929	1862	214.5	12.5	521	7103	0.00	2.40	0.00	0.000	644	0.000	0.085	2706	733	1895	1928	1862	0	0	0	0	0	0	14.58	14.14	14.59
7168	0.26	355.6	2707	730	1922	1862	206.1	11.9	535	7174	0.17	2.40	0.00	0.000	5254	0.213	0.076	2665	2102	1892	1923	1862	0	0	0	0	0	0	14.00	14.18	14.26
7489	0.30	380.2	2666	2103	1925	1860	176.4	8.9	549	7529	0.00	0.00	38.20	1.269	8358	0.000	0.000	2666	2103	1816	1842	1790	0	0	0	0	0	0	14.62	14.09	13.29
7819	0.38	413.8	2666	2102	1823	1771	148.0	8.4	560	7886	0.12	2.50	58.70	1.211	10916	0.125	0.087	2726	718	1672	1695	1650	0	0	0	0	0	0	14.26	13.95	13.24
7951	0.38	413.8	2727	718	1683	1640	132.9	11.5	586	7956	0.00	2.42	0.00	0.000	1030	0.000	0.076	2726	2099	1660	1680	1641	0	0	0	0	0	0	14.16	14.04	14.21
8272	0.35	413.8	2723	2100	1682	1633	97.1	10.7	600	8278	0.00	2.47	0.00	0.000	644	0.000	0.086	2726	730	1657	1682	1632	0	0	0	0	0	0	14.59	14.08	14.60
8329	0.40	428.9	2727	732	1681	1633	91.5	9.3	611	8340	0.00	2.40	7.03	0.387	9382	0.000	0.077	2726	2101	1614	1640	1588	0	0	0	0	0	0	14.28	14.14	13.56
8646	0.47	488.0	2727	2103	1657	1598	65.5	7.3	644	8688	0.00	2.55	38.03	0.387	8612	0.000	0.082	2726	3511	1372	1415	1330	0	0	0	0	0	0	14.59	14.01	13.69
8789	0.58	544.6	2727	3511	1416	1342	55.6	7.4	672	8831	0.12	2.35	35.83	0.359	11430	0.118	0.065	2780	2139	1141	1200	1083	0	0	0	0	0	0	14.21	14.15	13.62
9129	0.67	605.9	2779	2140	1204	1096	28.2	7.2	710	9176	0.00	2.62	38.65	0.277	8868	0.000	0.090	2781	694	892	958	826	0	0	0	0	0	0	14.57	14.09	13.77
9238	0.92	711.6	2781	694	961	834	21.8	5.1	731	9308	0.30	2.47	63.67	0.250	11430	0.083	0.076	2891	2108	498	518	479	0	0	0	0	0	0	14.19	14.11	13.78
9401	end climb: SURFACE_DEPTH_REACHED
state	9401	begin surface coast
9412	end surface coast: CONTROL_FINISHED_OK
state	9412	begin surface