Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 336 * 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 336 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 936.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 936.0 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 25 VBD_MIN 500

DIVE 336 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 140917,192431,7458.7744,-15103.1250,13,0.7,16,20.7,0.0,29.5,10,8.8 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 1.14 MHEAD_RNG_PITCHd_Wd 149.7,28029,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 140917,193625,7458.7969,-15103.1826,7,0.8,24,20.7,0.6,33.7,10,9.4

Post-dive calculations and measurements:

FINISH 0.1,1.021290 _24V_AH 12.09,205.413

SM_CCo 9243,-0.03,0.000,0,0,500,702.78 _10V_AH 11.53,0.000

SM_GC 1.35,8.38,0.17,-0.03,0.077,0.116,0.000,200,2216,500,-7.38,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.76 FG_AHR_24Vo 0.000

RAFOS_CLK 364 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323628

IRIDIUM_FIX 7501.48,-15112.08,140917,164631 DATA_FILE_SIZE 26735,799

TT8_MAMPS 0.039697,0.945238 CAP_FILE_SIZE 107874,0

HUMID 46.69 CFSIZE 2097872896,1991901184

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

TCM_TEMP 13.30 SOUNDSPEED 1447.4

XPDR_PINGS 8 CURRENT 0.094,142.79,1

CP_FREE 15929016320.000000 GPS 140917,221227,7457.151,-15102.764,37,0.8,37,20.7,0.0,0.0,10,8.1

PM_FREEKB_00 47056448

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 449 143.30 nil 0 0 0.00

Roll_motor 89 2153 2341.89 nil 0 0 0.00

VBD_pump_during_apogee 1008 1481 18055.29 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 9252 14 1621.14

Iridium_during_xfer 416 175 886.84 NCP 9225 20 2230.61

Transponder_ping 2 420 10.16 PMAR 9197 12 1345.64

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.11

TT8 0 0 0.00

LPSleep 6506 2 173.31

TT8_Active 1013 13 163.18

TT8_Sampling 2104 33 811.42

TT8_CF8 347 38 154.89

TT8_Kalman 0 0 0.00

Analog_circuits 2196 10 253.26

GPS_charging 0 0 0.00

Compass 1146 7 92.54

RAFOS 2194 48 1214.25

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 -145.9 192 2215 508 482 0.0 0.0 0 145 0.00 0.00 -91.80 0.000 16386 0.000 0.000 190 2216 2141 2067 2215 0 0 0 0 0 0 14.51 28.83 14.53

149 -0.57 -145.9 191 2216 2072 2216 3.8 -5.4 9 202 12.82 2.83 -35.92 0.000 18724 0.450 2.153 2376 3600 3964 3950 3978 0 0 0 0 0 0 13.55 12.59 14.02

373 -0.73 -145.9 2376 3601 3956 3978 47.2 -13.3 53 377 0.00 2.42 0.00 0.000 1158 0.000 0.060 2376 2192 3966 3955 3978 0 0 0 0 0 0 14.22 14.09 14.26

685 -0.87 -145.9 2376 2192 3956 3978 82.9 -9.7 85 690 0.20 2.47 0.00 0.000 4772 0.106 0.079 2291 787 3967 3957 3978 0 0 0 0 0 0 14.14 13.88 14.19

721 -0.91 -145.9 2292 788 3957 3980 87.7 -14.4 92 728 0.00 2.50 0.00 0.000 1158 0.000 0.086 2288 2182 3967 3956 3978 0 0 0 0 0 0 14.05 13.90 14.07

1046 -0.95 -145.9 2288 2183 3958 3978 133.8 -13.5 109 1051 0.00 2.55 0.00 0.000 388 0.000 0.088 2280 3619 3967 3956 3978 0 0 0 0 0 0 14.62 13.95 14.64

1168 -1.07 -145.9 2280 3621 3957 3979 147.9 -11.2 133 1173 0.15 2.45 0.00 0.000 5254 0.112 0.057 2224 2198 3967 3956 3978 0 0 0 0 0 0 14.16 14.06 14.26

1499 -1.01 -145.9 2223 2201 3952 3978 208.6 -18.6 149 1504 0.12 2.55 0.00 0.000 2436 0.283 0.083 2242 3623 3967 3957 3978 0 0 0 0 0 0 13.63 13.90 13.78

1584 -1.09 -145.9 2242 3623 3957 3978 221.7 -13.7 166 1590 0.00 2.45 0.00 0.000 1158 0.000 0.057 2242 2209 3970 3956 3985 0 0 0 0 0 0 14.12 13.96 14.12

1889 -1.09 -145.9 2242 2203 3956 3978 268.5 -15.0 177 1894 0.00 2.55 0.00 0.000 260 0.000 0.087 2236 3622 3967 3957 3978 0 0 0 0 0 0 14.42 13.96 14.43

2040 -1.19 -145.9 2237 3623 3957 3978 287.1 -11.5 207 2045 0.12 2.47 0.00 0.000 5254 0.138 0.057 2187 2185 3967 3956 3978 0 0 0 0 0 0 14.02 14.00 14.14

2370 -1.12 -145.9 2187 2184 3952 3979 342.2 -16.8 223 2375 0.12 2.58 0.00 0.000 2436 0.277 0.083 2204 3619 3967 3956 3978 0 0 0 0 0 0 13.70 13.91 13.85

2526 -1.18 -145.9 2205 3620 3957 3978 362.8 -12.3 254 2530 0.00 2.47 0.00 0.000 1158 0.000 0.056 2204 2191 3967 3956 3978 0 0 0 0 0 0 14.00 13.87 14.00

2851 -1.18 -145.9 2205 2189 3957 3978 406.1 -13.2 269 2855 0.00 2.58 0.00 0.000 260 0.000 0.086 2197 3620 3967 3956 3978 0 0 0 0 0 0 14.38 13.83 14.38

2983 -1.23 -145.9 2197 3622 3956 3979 422.7 -12.3 295 2987 0.00 2.45 0.00 0.000 1158 0.000 0.056 2197 2198 3966 3955 3978 0 0 0 0 0 0 14.09 13.97 14.13

3303 -1.23 -145.9 2197 2196 3956 3978 466.5 -13.5 309 3308 0.00 2.58 0.00 0.000 260 0.000 0.086 2188 3622 3966 3955 3978 0 0 0 0 0 0 14.38 13.88 14.39

3378 -1.27 -145.9 2189 3623 3957 3978 476.4 -12.8 324 3384 0.00 2.47 0.00 0.000 1158 0.000 0.056 2188 2193 3970 3962 3978 0 0 0 0 0 0 14.05 13.93 14.09

3421 end dive: TARGET_DEPTH_EXCEEDED

state 3421 begin apogee

3428 -0.13 0.0 2188 2063 3955 3977 482.7 -13.7 328 3666 1.38 0.10 231.68 1.411 10246 0.235 0.154 2533 2129 3362 3378 3346 0 0 0 0 0 0 13.64 13.38 12.57

3672 end apogee: CONTROL_FINISHED_OK

state 3672 begin climb

3674 0.57 145.9 2528 2130 3373 3339 496.0 0.0 336 3895 0.77 2.70 207.65 1.372 10756 0.070 0.078 2795 727 2764 2799 2729 0 0 0 0 0 0 13.54 13.01 12.14

3906 0.16 198.0 2791 728 2801 2728 507.7 7.6 374 3990 0.77 2.53 76.05 1.397 13478 0.325 0.073 2640 2087 2558 2617 2500 0 0 0 0 0 0 12.81 13.09 12.09

4286 0.03 198.0 2640 2088 2599 2475 465.7 11.5 400 4287 0.20 0.00 0.00 0.000 4230 0.251 0.000 2596 2087 2536 2598 2474 0 0 0 0 0 0 13.67 14.04 13.98

4586 0.03 234.1 2596 2088 2598 2474 440.0 8.3 410 4647 0.00 2.47 51.45 1.414 8868 0.000 0.086 2596 727 2401 2455 2347 0 0 0 0 0 0 14.56 14.00 13.12

4695 0.10 263.2 2597 727 2447 2342 430.8 8.7 431 4743 0.00 2.42 42.25 1.418 9382 0.000 0.080 2596 2106 2288 2341 2235 0 0 0 0 0 0 14.18 14.06 13.06

5069 0.15 284.5 2596 2100 2329 2216 396.3 9.0 456 5100 0.00 0.00 29.85 1.439 8358 0.000 0.000 2596 2102 2205 2256 2154 0 0 0 0 0 0 14.55 14.03 13.19

5399 0.21 300.8 2597 2108 2241 2138 365.7 9.2 467 5430 0.12 2.47 21.85 1.481 10916 0.129 0.088 2669 732 2132 2178 2086 0 0 0 0 0 0 14.27 14.13 13.24

5456 0.15 300.8 2669 732 2172 2087 358.3 14.4 478 5462 0.17 2.40 0.00 0.000 5254 0.243 0.080 2629 2100 2128 2171 2085 0 0 0 0 0 0 14.00 14.12 14.26

5760 0.15 300.8 2629 2101 2172 2077 324.9 10.4 489 5766 0.00 2.42 0.00 0.000 516 0.000 0.086 2630 729 2124 2171 2077 0 0 0 0 0 0 14.61 14.16 14.61

5787 0.18 307.1 2632 729 2172 2077 322.4 9.7 494 5793 0.00 2.42 0.00 0.000 1190 0.000 0.078 2630 2105 2123 2170 2077 0 0 0 0 0 0 14.28 14.14 14.30

6091 0.18 307.1 2630 2104 2171 2076 291.7 10.1 505 6094 0.00 0.00 1.45 0.256 8198 0.000 0.000 2630 2105 2111 2157 2065 0 0 0 0 0 0 14.62 14.17 13.88

6392 0.23 341.5 2631 2105 2167 2072 265.3 8.4 515 6465 0.00 0.00 72.10 1.321 8358 0.000 0.000 2630 2105 1974 2018 1930 0 0 0 0 0 0 14.69 13.97 13.18

6752 0.33 402.9 2630 2106 2004 1912 237.9 7.2 527 6874 0.17 2.47 113.38 1.232 10916 0.101 0.086 2702 731 1715 1737 1693 0 0 0 0 0 0 14.24 13.64 13.07

6909 0.35 402.9 2704 733 1729 1690 220.3 11.6 553 6915 0.00 2.45 0.00 0.000 1158 0.000 0.077 2703 2109 1708 1728 1688 0 0 0 0 0 0 14.04 13.93 14.08

7235 0.35 402.9 2704 2111 1729 1679 182.2 11.5 568 7240 0.00 2.47 0.00 0.000 516 0.000 0.088 2704 722 1703 1728 1678 0 0 0 0 0 0 14.59 14.11 14.61

7280 0.40 402.9 2704 723 1727 1679 177.2 10.9 577 7286 0.00 2.42 0.00 0.000 1158 0.000 0.077 2702 2103 1702 1726 1678 0 0 0 0 0 0 14.30 14.16 14.35

7597 0.40 402.9 2704 2101 1723 1677 142.4 10.9 590 7602 0.00 2.45 0.00 0.000 516 0.000 0.087 2704 724 1701 1726 1676 0 0 0 0 0 0 14.62 14.16 14.64

7662 0.47 408.6 2704 724 1722 1676 135.8 9.7 603 7667 0.00 2.40 0.00 0.000 1190 0.000 0.077 2704 2100 1699 1723 1676 0 0 0 0 0 0 14.24 14.14 14.28

7987 0.47 408.6 2704 2101 1724 1674 101.5 10.3 618 7992 0.00 2.42 0.00 0.000 516 0.000 0.086 2705 730 1698 1722 1675 0 0 0 0 0 0 14.62 14.12 14.64

8017 0.52 408.6 2705 730 1722 1674 98.4 10.6 624 8023 0.15 2.40 0.00 0.000 3206 0.116 0.077 2770 2100 1698 1721 1675 0 0 0 0 0 0 14.24 14.16 14.35

8329 0.43 417.6 2771 2101 1723 1674 59.2 9.6 656 8341 0.20 2.45 5.75 0.340 12964 0.271 0.084 2726 731 1661 1688 1635 0 0 0 0 0 0 13.71 13.78 13.50

8567 0.59 565.5 2727 731 1697 1640 46.9 3.2 703 8652 0.15 2.42 79.12 0.336 11430 0.112 0.076 2789 2108 1057 1125 989 0 0 0 0 0 0 14.19 14.12 13.72

8957 0.75 676.1 2789 2108 1126 996 19.4 4.9 750 9022 0.00 2.53 60.22 0.262 8868 0.000 0.086 2792 730 609 660 559 0 0 0 0 0 0 14.52 14.01 13.75

9173 0.99 746.5 2792 730 661 560 5.7 6.8 792 9195 0.32 2.40 15.55 0.221 11430 0.084 0.074 2906 2098 498 528 469 0 0 0 0 0 0 14.20 14.05 13.76

9210 end climb: SURFACE_DEPTH_REACHED

state 9210 begin surface coast

9220 end surface coast: CONTROL_FINISHED_OK

state 9220 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	336	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	936.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,192431,7458.7744,-15103.1250,13,0.7,16,20.7,0.0,29.5,10,8.8	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	1.14	MHEAD_RNG_PITCHd_Wd	149.7,28029,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	140917,193625,7458.7969,-15103.1826,7,0.8,24,20.7,0.6,33.7,10,9.4

FINISH	0.1,1.021290	_24V_AH	12.09,205.413
SM_CCo	9243,-0.03,0.000,0,0,500,702.78	_10V_AH	11.53,0.000
SM_GC	1.35,8.38,0.17,-0.03,0.077,0.116,0.000,200,2216,500,-7.38,-0.79,702.78,0,0,0,0,0,0,14.28,14.26,13.76	FG_AHR_24Vo	0.000
RAFOS_CLK	364	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323628
IRIDIUM_FIX	7501.48,-15112.08,140917,164631	DATA_FILE_SIZE	26735,799
TT8_MAMPS	0.039697,0.945238	CAP_FILE_SIZE	107874,0
HUMID	46.69	CFSIZE	2097872896,1991901184
INTERNAL_PRESSURE	7.73269	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.30	SOUNDSPEED	1447.4
XPDR_PINGS	8	CURRENT	0.094,142.79,1
CP_FREE	15929016320.000000	GPS	140917,221227,7457.151,-15102.764,37,0.8,37,20.7,0.0,0.0,10,8.1
PM_FREEKB_00	47056448

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	449	143.30	nil	0	0	0.00
Roll_motor	89	2153	2341.89	nil	0	0	0.00
VBD_pump_during_apogee	1008	1481	18055.29	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	9252	14	1621.14
Iridium_during_xfer	416	175	886.84	NCP	9225	20	2230.61
Transponder_ping	2	420	10.16	PMAR	9197	12	1345.64
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.11
TT8	0	0	0.00
LPSleep	6506	2	173.31
TT8_Active	1013	13	163.18
TT8_Sampling	2104	33	811.42
TT8_CF8	347	38	154.89
TT8_Kalman	0	0	0.00
Analog_circuits	2196	10	253.26
GPS_charging	0	0	0.00
Compass	1146	7	92.54
RAFOS	2194	48	1214.25
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	192	2215	508	482	0.0	0.0	0	145	0.00	0.00	-91.80	0.000	16386	0.000	0.000	190	2216	2141	2067	2215	0	0	0	0	0	0	14.51	28.83	14.53
149	-0.57	-145.9	191	2216	2072	2216	3.8	-5.4	9	202	12.82	2.83	-35.92	0.000	18724	0.450	2.153	2376	3600	3964	3950	3978	0	0	0	0	0	0	13.55	12.59	14.02
373	-0.73	-145.9	2376	3601	3956	3978	47.2	-13.3	53	377	0.00	2.42	0.00	0.000	1158	0.000	0.060	2376	2192	3966	3955	3978	0	0	0	0	0	0	14.22	14.09	14.26
685	-0.87	-145.9	2376	2192	3956	3978	82.9	-9.7	85	690	0.20	2.47	0.00	0.000	4772	0.106	0.079	2291	787	3967	3957	3978	0	0	0	0	0	0	14.14	13.88	14.19
721	-0.91	-145.9	2292	788	3957	3980	87.7	-14.4	92	728	0.00	2.50	0.00	0.000	1158	0.000	0.086	2288	2182	3967	3956	3978	0	0	0	0	0	0	14.05	13.90	14.07
1046	-0.95	-145.9	2288	2183	3958	3978	133.8	-13.5	109	1051	0.00	2.55	0.00	0.000	388	0.000	0.088	2280	3619	3967	3956	3978	0	0	0	0	0	0	14.62	13.95	14.64
1168	-1.07	-145.9	2280	3621	3957	3979	147.9	-11.2	133	1173	0.15	2.45	0.00	0.000	5254	0.112	0.057	2224	2198	3967	3956	3978	0	0	0	0	0	0	14.16	14.06	14.26
1499	-1.01	-145.9	2223	2201	3952	3978	208.6	-18.6	149	1504	0.12	2.55	0.00	0.000	2436	0.283	0.083	2242	3623	3967	3957	3978	0	0	0	0	0	0	13.63	13.90	13.78
1584	-1.09	-145.9	2242	3623	3957	3978	221.7	-13.7	166	1590	0.00	2.45	0.00	0.000	1158	0.000	0.057	2242	2209	3970	3956	3985	0	0	0	0	0	0	14.12	13.96	14.12
1889	-1.09	-145.9	2242	2203	3956	3978	268.5	-15.0	177	1894	0.00	2.55	0.00	0.000	260	0.000	0.087	2236	3622	3967	3957	3978	0	0	0	0	0	0	14.42	13.96	14.43
2040	-1.19	-145.9	2237	3623	3957	3978	287.1	-11.5	207	2045	0.12	2.47	0.00	0.000	5254	0.138	0.057	2187	2185	3967	3956	3978	0	0	0	0	0	0	14.02	14.00	14.14
2370	-1.12	-145.9	2187	2184	3952	3979	342.2	-16.8	223	2375	0.12	2.58	0.00	0.000	2436	0.277	0.083	2204	3619	3967	3956	3978	0	0	0	0	0	0	13.70	13.91	13.85
2526	-1.18	-145.9	2205	3620	3957	3978	362.8	-12.3	254	2530	0.00	2.47	0.00	0.000	1158	0.000	0.056	2204	2191	3967	3956	3978	0	0	0	0	0	0	14.00	13.87	14.00
2851	-1.18	-145.9	2205	2189	3957	3978	406.1	-13.2	269	2855	0.00	2.58	0.00	0.000	260	0.000	0.086	2197	3620	3967	3956	3978	0	0	0	0	0	0	14.38	13.83	14.38
2983	-1.23	-145.9	2197	3622	3956	3979	422.7	-12.3	295	2987	0.00	2.45	0.00	0.000	1158	0.000	0.056	2197	2198	3966	3955	3978	0	0	0	0	0	0	14.09	13.97	14.13
3303	-1.23	-145.9	2197	2196	3956	3978	466.5	-13.5	309	3308	0.00	2.58	0.00	0.000	260	0.000	0.086	2188	3622	3966	3955	3978	0	0	0	0	0	0	14.38	13.88	14.39
3378	-1.27	-145.9	2189	3623	3957	3978	476.4	-12.8	324	3384	0.00	2.47	0.00	0.000	1158	0.000	0.056	2188	2193	3970	3962	3978	0	0	0	0	0	0	14.05	13.93	14.09
3421	end dive: TARGET_DEPTH_EXCEEDED
state	3421	begin apogee
3428	-0.13	0.0	2188	2063	3955	3977	482.7	-13.7	328	3666	1.38	0.10	231.68	1.411	10246	0.235	0.154	2533	2129	3362	3378	3346	0	0	0	0	0	0	13.64	13.38	12.57
3672	end apogee: CONTROL_FINISHED_OK
state	3672	begin climb
3674	0.57	145.9	2528	2130	3373	3339	496.0	0.0	336	3895	0.77	2.70	207.65	1.372	10756	0.070	0.078	2795	727	2764	2799	2729	0	0	0	0	0	0	13.54	13.01	12.14
3906	0.16	198.0	2791	728	2801	2728	507.7	7.6	374	3990	0.77	2.53	76.05	1.397	13478	0.325	0.073	2640	2087	2558	2617	2500	0	0	0	0	0	0	12.81	13.09	12.09
4286	0.03	198.0	2640	2088	2599	2475	465.7	11.5	400	4287	0.20	0.00	0.00	0.000	4230	0.251	0.000	2596	2087	2536	2598	2474	0	0	0	0	0	0	13.67	14.04	13.98
4586	0.03	234.1	2596	2088	2598	2474	440.0	8.3	410	4647	0.00	2.47	51.45	1.414	8868	0.000	0.086	2596	727	2401	2455	2347	0	0	0	0	0	0	14.56	14.00	13.12
4695	0.10	263.2	2597	727	2447	2342	430.8	8.7	431	4743	0.00	2.42	42.25	1.418	9382	0.000	0.080	2596	2106	2288	2341	2235	0	0	0	0	0	0	14.18	14.06	13.06
5069	0.15	284.5	2596	2100	2329	2216	396.3	9.0	456	5100	0.00	0.00	29.85	1.439	8358	0.000	0.000	2596	2102	2205	2256	2154	0	0	0	0	0	0	14.55	14.03	13.19
5399	0.21	300.8	2597	2108	2241	2138	365.7	9.2	467	5430	0.12	2.47	21.85	1.481	10916	0.129	0.088	2669	732	2132	2178	2086	0	0	0	0	0	0	14.27	14.13	13.24
5456	0.15	300.8	2669	732	2172	2087	358.3	14.4	478	5462	0.17	2.40	0.00	0.000	5254	0.243	0.080	2629	2100	2128	2171	2085	0	0	0	0	0	0	14.00	14.12	14.26
5760	0.15	300.8	2629	2101	2172	2077	324.9	10.4	489	5766	0.00	2.42	0.00	0.000	516	0.000	0.086	2630	729	2124	2171	2077	0	0	0	0	0	0	14.61	14.16	14.61
5787	0.18	307.1	2632	729	2172	2077	322.4	9.7	494	5793	0.00	2.42	0.00	0.000	1190	0.000	0.078	2630	2105	2123	2170	2077	0	0	0	0	0	0	14.28	14.14	14.30
6091	0.18	307.1	2630	2104	2171	2076	291.7	10.1	505	6094	0.00	0.00	1.45	0.256	8198	0.000	0.000	2630	2105	2111	2157	2065	0	0	0	0	0	0	14.62	14.17	13.88
6392	0.23	341.5	2631	2105	2167	2072	265.3	8.4	515	6465	0.00	0.00	72.10	1.321	8358	0.000	0.000	2630	2105	1974	2018	1930	0	0	0	0	0	0	14.69	13.97	13.18
6752	0.33	402.9	2630	2106	2004	1912	237.9	7.2	527	6874	0.17	2.47	113.38	1.232	10916	0.101	0.086	2702	731	1715	1737	1693	0	0	0	0	0	0	14.24	13.64	13.07
6909	0.35	402.9	2704	733	1729	1690	220.3	11.6	553	6915	0.00	2.45	0.00	0.000	1158	0.000	0.077	2703	2109	1708	1728	1688	0	0	0	0	0	0	14.04	13.93	14.08
7235	0.35	402.9	2704	2111	1729	1679	182.2	11.5	568	7240	0.00	2.47	0.00	0.000	516	0.000	0.088	2704	722	1703	1728	1678	0	0	0	0	0	0	14.59	14.11	14.61
7280	0.40	402.9	2704	723	1727	1679	177.2	10.9	577	7286	0.00	2.42	0.00	0.000	1158	0.000	0.077	2702	2103	1702	1726	1678	0	0	0	0	0	0	14.30	14.16	14.35
7597	0.40	402.9	2704	2101	1723	1677	142.4	10.9	590	7602	0.00	2.45	0.00	0.000	516	0.000	0.087	2704	724	1701	1726	1676	0	0	0	0	0	0	14.62	14.16	14.64
7662	0.47	408.6	2704	724	1722	1676	135.8	9.7	603	7667	0.00	2.40	0.00	0.000	1190	0.000	0.077	2704	2100	1699	1723	1676	0	0	0	0	0	0	14.24	14.14	14.28
7987	0.47	408.6	2704	2101	1724	1674	101.5	10.3	618	7992	0.00	2.42	0.00	0.000	516	0.000	0.086	2705	730	1698	1722	1675	0	0	0	0	0	0	14.62	14.12	14.64
8017	0.52	408.6	2705	730	1722	1674	98.4	10.6	624	8023	0.15	2.40	0.00	0.000	3206	0.116	0.077	2770	2100	1698	1721	1675	0	0	0	0	0	0	14.24	14.16	14.35
8329	0.43	417.6	2771	2101	1723	1674	59.2	9.6	656	8341	0.20	2.45	5.75	0.340	12964	0.271	0.084	2726	731	1661	1688	1635	0	0	0	0	0	0	13.71	13.78	13.50
8567	0.59	565.5	2727	731	1697	1640	46.9	3.2	703	8652	0.15	2.42	79.12	0.336	11430	0.112	0.076	2789	2108	1057	1125	989	0	0	0	0	0	0	14.19	14.12	13.72
8957	0.75	676.1	2789	2108	1126	996	19.4	4.9	750	9022	0.00	2.53	60.22	0.262	8868	0.000	0.086	2792	730	609	660	559	0	0	0	0	0	0	14.52	14.01	13.75
9173	0.99	746.5	2792	730	661	560	5.7	6.8	792	9195	0.32	2.40	15.55	0.221	11430	0.084	0.074	2906	2098	498	528	469	0	0	0	0	0	0	14.20	14.05	13.76
9210	end climb: SURFACE_DEPTH_REACHED
state	9210	begin surface coast
9220	end surface coast: CONTROL_FINISHED_OK
state	9220	begin surface