Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 345 * 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 345 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 965.0

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 57 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 965.0 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 345 NOCOMM_ACTION 161 R_STBD_OVSHOOT 57 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 150917,203526,7447.7437,-15051.2812,13,0.8,36,20.7,0.0,280.9,10,7.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 117.5,7576,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.8 D_GRID 480

GPS2 150917,204614,7447.7744,-15051.4648,7,0.8,9,20.7,0.0,0.0,10,9.3

Post-dive calculations and measurements:

FINISH 0.1,1.021277 _24V_AH 12.24,209.884

SM_CCo 8928,32.20,0.210,0,0,499,702.78 _10V_AH 12.12,0.000

SM_GC 1.44,8.23,0.17,32.20,0.079,0.107,0.210,205,2228,499,-7.36,-0.48,702.78,0,0,0,0,0,0,14.27,14.29,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323548

IRIDIUM_FIX 7451.45,-15055.12,150917,175914 DATA_FILE_SIZE 23408,692

TT8_MAMPS 0.038948,0.917525 CAP_FILE_SIZE 100206,0

HUMID 47.44 CFSIZE 2097872896,1989410816

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 1446.8

XPDR_PINGS 20 CURRENT 0.045,354.49,1

CP_FREE 15925182464.000000 GPS 150917,231716,7446.864,-15048.854,16,0.8,17,20.8,0.0,0.0,10,10.0

PM_FREEKB_00 46682560

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 145.31 nil 0 0 0.00

Roll_motor 95 2149 2506.85 nil 0 0 0.00

VBD_pump_during_apogee 989 1367 16570.09 nil 0 0 0.00

VBD_pump_during_surface 32 209 82.61 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 8937 14 1613.70

Iridium_during_xfer 368 173 784.00 NCP 8898 20 2178.23

Transponder_ping 5 420 25.70 PMAR 8878 12 1317.04

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.66

TT8 0 0 0.00

LPSleep 6356 2 177.97

TT8_Active 918 13 155.58

TT8_Sampling 2014 33 816.43

TT8_CF8 335 38 157.52

TT8_Kalman 0 0 0.00

Analog_circuits 2122 10 257.30

GPS_charging 0 0 0.00

Compass 993 7 84.30

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

51 end surface: CONTROL_FINISHED_OK

state 51 begin dive

54 -0.57 -145.9 203 2186 499 480 0.0 0.0 0 146 0.00 0.00 -90.78 0.000 16386 0.000 0.000 203 2186 2119 2044 2194 0 0 0 0 0 0 14.33 28.83 14.33

150 -0.57 -145.9 204 2186 2047 2195 3.6 -4.5 9 207 12.90 2.78 -36.40 0.000 18980 0.454 2.150 2384 807 3964 3950 3979 0 0 0 0 0 0 13.53 12.55 14.00

227 -0.57 -145.9 2385 807 3953 3981 27.2 -24.0 24 234 0.00 2.42 0.00 0.000 1030 0.000 0.084 2382 2164 3964 3949 3980 0 0 0 0 0 0 14.13 13.99 14.18

532 -0.68 -145.9 2382 2164 3956 3980 73.1 -11.7 55 537 0.00 2.60 0.00 0.000 388 0.000 0.089 2378 3616 3967 3955 3980 0 0 0 0 0 0 14.59 14.09 14.57

608 -0.91 -145.9 2378 3617 3956 3981 80.0 -8.9 70 614 0.30 2.40 0.00 0.000 5286 0.090 0.051 2264 2196 3967 3955 3979 0 0 0 0 0 0 14.18 14.14 14.27

935 -0.89 -145.9 2265 2196 3956 3980 137.7 -16.4 89 940 0.00 2.53 0.00 0.000 388 0.000 0.086 2254 3614 3967 3955 3979 0 0 0 0 0 0 14.58 13.31 14.60

1030 -0.97 -145.9 2254 3614 3956 3980 152.2 -13.6 108 1036 0.00 2.38 0.00 0.000 1158 0.000 0.057 2254 2205 3967 3955 3979 0 0 0 0 0 0 14.31 14.18 14.35

1356 -0.97 -145.9 2254 2204 3956 3980 200.9 -14.5 123 1361 0.00 2.50 0.00 0.000 260 0.000 0.086 2247 3610 3967 3955 3979 0 0 0 0 0 0 14.65 14.11 14.66

1406 -1.06 -145.9 2247 3611 3956 3979 207.7 -12.9 133 1411 0.00 2.40 0.00 0.000 1158 0.000 0.057 2246 2198 3967 3955 3979 0 0 0 0 0 0 14.31 14.16 14.34

1717 -1.08 -145.9 2246 2197 3956 3980 251.3 -13.5 145 1721 0.00 2.53 0.00 0.000 388 0.000 0.087 2240 3610 3965 3951 3979 0 0 0 0 0 0 14.63 14.05 14.64

1777 -1.19 -145.9 2240 3613 3956 3979 258.5 -11.2 157 1782 0.15 2.42 0.00 0.000 5254 0.122 0.058 2178 2198 3967 3955 3979 0 0 0 0 0 0 14.21 14.16 14.31

2108 -1.10 -145.9 2179 2197 3956 3979 317.2 -17.6 173 2113 0.17 2.50 0.00 0.000 2436 0.275 0.083 2209 3610 3967 3955 3979 0 0 0 0 0 0 13.76 14.05 13.93

2184 -1.16 -145.9 2210 3611 3956 3979 327.7 -12.6 188 2189 0.00 2.40 0.00 0.000 1158 0.000 0.056 2209 2196 3967 3955 3979 0 0 0 0 0 0 14.29 14.16 14.33

2500 -1.16 -145.9 2209 2197 3956 3980 369.6 -13.0 201 2505 0.00 2.55 0.00 0.000 260 0.000 0.088 2204 3614 3967 3955 3979 0 0 0 0 0 0 14.63 14.04 14.64

2590 -1.23 -145.9 2205 3616 3956 3979 380.7 -11.7 219 2595 0.00 2.40 0.00 0.000 1158 0.000 0.057 2204 2201 3966 3954 3979 0 0 0 0 0 0 14.28 14.15 14.33

2920 -1.23 -145.9 2204 2200 3955 3980 422.6 -12.5 235 2925 0.00 2.50 0.00 0.000 260 0.000 0.086 2198 3610 3966 3954 3979 0 0 0 0 0 0 14.62 14.04 14.62

2996 -1.30 -145.9 2198 3611 3953 3979 431.9 -11.7 250 3001 0.12 2.40 0.00 0.000 5254 0.132 0.057 2150 2199 3966 3954 3979 0 0 0 0 0 0 14.16 14.13 14.28

3279 end dive: TARGET_DEPTH_EXCEEDED

state 3279 begin apogee

3285 -0.13 0.0 2151 2054 3955 3979 481.8 -17.8 262 3535 1.58 0.10 245.60 1.368 10246 0.271 0.157 2526 2120 3365 3381 3350 0 0 0 0 0 0 13.67 13.50 12.66

3539 end apogee: CONTROL_FINISHED_OK

state 3539 begin climb

3544 0.57 145.9 2527 2121 3373 3339 495.6 0.0 270 3770 0.75 2.62 216.38 1.329 11012 0.061 0.072 2782 3492 2759 2792 2727 0 0 0 0 0 0 13.70 12.86 12.24

3775 0.57 145.9 2782 3493 2785 2726 508.7 -5.6 273 3780 0.00 2.47 0.00 0.000 1030 0.000 0.054 2791 2130 2751 2781 2721 0 0 0 0 0 0 13.32 13.24 13.36

4091 0.12 145.9 2792 2130 2782 2714 463.3 14.8 286 4093 0.77 0.00 0.00 0.000 4230 0.317 0.000 2626 2131 2745 2776 2715 0 0 0 0 0 0 13.49 13.97 13.93

4391 -0.00 186.8 2626 2131 2777 2712 437.9 8.1 296 4458 0.17 2.60 59.25 1.357 12964 0.287 0.085 2596 701 2593 2638 2549 0 0 0 0 0 0 13.71 13.97 13.12

4498 0.06 238.1 2589 702 2635 2539 429.9 7.6 307 4584 0.00 2.45 78.53 1.309 9382 0.000 0.079 2596 2093 2389 2443 2336 0 0 0 0 0 0 14.16 14.08 12.98

4905 0.10 268.2 2589 2094 2425 2317 395.1 8.6 338 4948 0.00 0.00 42.25 1.355 8358 0.000 0.000 2589 2093 2272 2322 2223 0 0 0 0 0 0 14.57 14.01 13.17

5235 0.18 300.1 2589 2094 2306 2198 366.8 8.5 349 5289 0.12 2.50 47.90 1.327 10916 0.134 0.087 2658 690 2135 2181 2089 0 0 0 0 0 0 14.25 14.06 13.18

5340 0.18 300.1 2658 691 2167 2087 353.8 12.6 370 5345 0.00 2.47 0.00 0.000 1030 0.000 0.076 2658 2100 2124 2166 2083 0 0 0 0 0 0 14.20 14.07 14.26

5655 0.12 300.1 2658 2102 2167 2074 312.7 13.1 383 5660 0.12 2.47 0.00 0.000 4740 0.255 0.083 2633 688 2119 2165 2074 0 0 0 0 0 0 14.00 14.16 14.14

5701 0.18 300.1 2634 688 2165 2075 307.5 10.9 392 5705 0.00 2.47 0.00 0.000 1158 0.000 0.078 2633 2105 2119 2164 2074 0 0 0 0 0 0 14.31 14.18 14.36

6016 0.18 300.1 2634 2107 2165 2073 274.8 10.3 405 6021 0.00 2.47 0.00 0.000 516 0.000 0.085 2633 698 2118 2164 2073 0 0 0 0 0 0 14.64 14.16 14.66

6067 0.26 308.3 2634 698 2164 2074 269.6 9.6 415 6077 0.00 2.47 1.65 0.239 9382 0.000 0.078 2633 2109 2106 2151 2062 0 0 0 0 0 0 14.32 14.18 13.79

6377 0.27 331.0 2633 2110 2161 2067 241.0 9.0 427 6433 0.12 2.53 48.22 1.292 10788 0.123 0.086 2699 691 2009 2050 1969 0 0 0 0 0 0 14.30 14.05 13.22

6499 0.23 331.0 2699 691 2038 1962 226.7 12.0 451 6504 0.17 2.47 0.00 0.000 5254 0.215 0.077 2659 2106 1998 2036 1961 0 0 0 0 0 0 13.93 14.08 14.17

6829 0.25 353.4 2659 2106 2037 1955 195.2 9.0 467 6870 0.00 2.53 34.50 1.304 8740 0.000 0.088 2659 691 1917 1952 1883 0 0 0 0 0 0 14.59 14.06 13.25

6918 0.37 391.2 2660 691 1938 1880 187.8 8.3 484 6991 0.12 2.47 65.32 1.218 11430 0.127 0.078 2708 2103 1767 1788 1746 0 0 0 0 0 0 14.16 14.12 13.12

7312 0.34 391.2 2709 2104 1775 1728 141.7 11.4 513 7317 0.00 2.47 0.00 0.000 644 0.000 0.088 2712 698 1750 1773 1727 0 0 0 0 0 0 14.58 14.13 14.59

7383 0.37 391.2 2713 697 1771 1727 133.8 10.7 527 7388 0.00 2.47 0.00 0.000 1158 0.000 0.076 2712 2100 1749 1771 1727 0 0 0 0 0 0 13.73 13.33 14.04

7703 0.37 391.2 2712 2101 1771 1726 99.8 10.3 541 7710 0.00 2.53 0.00 0.000 516 0.000 0.087 2713 675 1747 1770 1725 0 0 0 0 0 0 14.62 14.00 14.64

7760 0.43 413.0 2714 675 1770 1725 94.7 9.0 552 7777 0.00 2.53 10.07 0.432 9382 0.000 0.076 2713 2106 1680 1702 1659 0 0 0 0 0 0 14.18 14.05 13.50

8075 0.52 483.8 2713 2108 1719 1665 69.6 6.7 585 8123 0.10 2.53 41.95 0.399 10916 0.146 0.085 2768 694 1391 1429 1353 0 0 0 0 0 0 14.22 13.91 13.63

8149 0.52 483.8 2768 694 1433 1354 63.0 10.0 599 8153 0.00 2.50 0.00 0.000 1030 0.000 0.079 2768 2106 1393 1433 1354 0 0 0 0 0 0 14.12 13.96 14.15

8459 0.58 574.6 2768 2108 1436 1358 40.3 5.8 631 8517 0.00 2.50 52.47 0.314 8740 0.000 0.086 2768 695 1022 1087 957 0 0 0 0 0 0 14.53 13.95 13.71

8580 0.78 647.7 2768 696 1088 965 32.7 6.6 654 8633 0.20 2.50 45.62 0.289 11430 0.099 0.078 2849 2103 725 784 667 0 0 0 0 0 0 14.11 14.00 13.69

8886 end climb: SURFACE_DEPTH_REACHED

state 8886 begin surface coast

8906 end surface coast: CONTROL_FINISHED_OK

state 8906 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	345	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	965.0
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	57	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150917,203526,7447.7437,-15051.2812,13,0.8,36,20.7,0.0,280.9,10,7.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	117.5,7576,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.8	D_GRID	480
GPS2	150917,204614,7447.7744,-15051.4648,7,0.8,9,20.7,0.0,0.0,10,9.3

FINISH	0.1,1.021277	_24V_AH	12.24,209.884
SM_CCo	8928,32.20,0.210,0,0,499,702.78	_10V_AH	12.12,0.000
SM_GC	1.44,8.23,0.17,32.20,0.079,0.107,0.210,205,2228,499,-7.36,-0.48,702.78,0,0,0,0,0,0,14.27,14.29,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323548
IRIDIUM_FIX	7451.45,-15055.12,150917,175914	DATA_FILE_SIZE	23408,692
TT8_MAMPS	0.038948,0.917525	CAP_FILE_SIZE	100206,0
HUMID	47.44	CFSIZE	2097872896,1989410816
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	1446.8
XPDR_PINGS	20	CURRENT	0.045,354.49,1
CP_FREE	15925182464.000000	GPS	150917,231716,7446.864,-15048.854,16,0.8,17,20.8,0.0,0.0,10,10.0
PM_FREEKB_00	46682560

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	145.31	nil	0	0	0.00
Roll_motor	95	2149	2506.85	nil	0	0	0.00
VBD_pump_during_apogee	989	1367	16570.09	nil	0	0	0.00
VBD_pump_during_surface	32	209	82.61	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	8937	14	1613.70
Iridium_during_xfer	368	173	784.00	NCP	8898	20	2178.23
Transponder_ping	5	420	25.70	PMAR	8878	12	1317.04
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.66
TT8	0	0	0.00
LPSleep	6356	2	177.97
TT8_Active	918	13	155.58
TT8_Sampling	2014	33	816.43
TT8_CF8	335	38	157.52
TT8_Kalman	0	0	0.00
Analog_circuits	2122	10	257.30
GPS_charging	0	0	0.00
Compass	993	7	84.30
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
51	end surface: CONTROL_FINISHED_OK
state	51	begin dive
54	-0.57	-145.9	203	2186	499	480	0.0	0.0	0	146	0.00	0.00	-90.78	0.000	16386	0.000	0.000	203	2186	2119	2044	2194	0	0	0	0	0	0	14.33	28.83	14.33
150	-0.57	-145.9	204	2186	2047	2195	3.6	-4.5	9	207	12.90	2.78	-36.40	0.000	18980	0.454	2.150	2384	807	3964	3950	3979	0	0	0	0	0	0	13.53	12.55	14.00
227	-0.57	-145.9	2385	807	3953	3981	27.2	-24.0	24	234	0.00	2.42	0.00	0.000	1030	0.000	0.084	2382	2164	3964	3949	3980	0	0	0	0	0	0	14.13	13.99	14.18
532	-0.68	-145.9	2382	2164	3956	3980	73.1	-11.7	55	537	0.00	2.60	0.00	0.000	388	0.000	0.089	2378	3616	3967	3955	3980	0	0	0	0	0	0	14.59	14.09	14.57
608	-0.91	-145.9	2378	3617	3956	3981	80.0	-8.9	70	614	0.30	2.40	0.00	0.000	5286	0.090	0.051	2264	2196	3967	3955	3979	0	0	0	0	0	0	14.18	14.14	14.27
935	-0.89	-145.9	2265	2196	3956	3980	137.7	-16.4	89	940	0.00	2.53	0.00	0.000	388	0.000	0.086	2254	3614	3967	3955	3979	0	0	0	0	0	0	14.58	13.31	14.60
1030	-0.97	-145.9	2254	3614	3956	3980	152.2	-13.6	108	1036	0.00	2.38	0.00	0.000	1158	0.000	0.057	2254	2205	3967	3955	3979	0	0	0	0	0	0	14.31	14.18	14.35
1356	-0.97	-145.9	2254	2204	3956	3980	200.9	-14.5	123	1361	0.00	2.50	0.00	0.000	260	0.000	0.086	2247	3610	3967	3955	3979	0	0	0	0	0	0	14.65	14.11	14.66
1406	-1.06	-145.9	2247	3611	3956	3979	207.7	-12.9	133	1411	0.00	2.40	0.00	0.000	1158	0.000	0.057	2246	2198	3967	3955	3979	0	0	0	0	0	0	14.31	14.16	14.34
1717	-1.08	-145.9	2246	2197	3956	3980	251.3	-13.5	145	1721	0.00	2.53	0.00	0.000	388	0.000	0.087	2240	3610	3965	3951	3979	0	0	0	0	0	0	14.63	14.05	14.64
1777	-1.19	-145.9	2240	3613	3956	3979	258.5	-11.2	157	1782	0.15	2.42	0.00	0.000	5254	0.122	0.058	2178	2198	3967	3955	3979	0	0	0	0	0	0	14.21	14.16	14.31
2108	-1.10	-145.9	2179	2197	3956	3979	317.2	-17.6	173	2113	0.17	2.50	0.00	0.000	2436	0.275	0.083	2209	3610	3967	3955	3979	0	0	0	0	0	0	13.76	14.05	13.93
2184	-1.16	-145.9	2210	3611	3956	3979	327.7	-12.6	188	2189	0.00	2.40	0.00	0.000	1158	0.000	0.056	2209	2196	3967	3955	3979	0	0	0	0	0	0	14.29	14.16	14.33
2500	-1.16	-145.9	2209	2197	3956	3980	369.6	-13.0	201	2505	0.00	2.55	0.00	0.000	260	0.000	0.088	2204	3614	3967	3955	3979	0	0	0	0	0	0	14.63	14.04	14.64
2590	-1.23	-145.9	2205	3616	3956	3979	380.7	-11.7	219	2595	0.00	2.40	0.00	0.000	1158	0.000	0.057	2204	2201	3966	3954	3979	0	0	0	0	0	0	14.28	14.15	14.33
2920	-1.23	-145.9	2204	2200	3955	3980	422.6	-12.5	235	2925	0.00	2.50	0.00	0.000	260	0.000	0.086	2198	3610	3966	3954	3979	0	0	0	0	0	0	14.62	14.04	14.62
2996	-1.30	-145.9	2198	3611	3953	3979	431.9	-11.7	250	3001	0.12	2.40	0.00	0.000	5254	0.132	0.057	2150	2199	3966	3954	3979	0	0	0	0	0	0	14.16	14.13	14.28
3279	end dive: TARGET_DEPTH_EXCEEDED
state	3279	begin apogee
3285	-0.13	0.0	2151	2054	3955	3979	481.8	-17.8	262	3535	1.58	0.10	245.60	1.368	10246	0.271	0.157	2526	2120	3365	3381	3350	0	0	0	0	0	0	13.67	13.50	12.66
3539	end apogee: CONTROL_FINISHED_OK
state	3539	begin climb
3544	0.57	145.9	2527	2121	3373	3339	495.6	0.0	270	3770	0.75	2.62	216.38	1.329	11012	0.061	0.072	2782	3492	2759	2792	2727	0	0	0	0	0	0	13.70	12.86	12.24
3775	0.57	145.9	2782	3493	2785	2726	508.7	-5.6	273	3780	0.00	2.47	0.00	0.000	1030	0.000	0.054	2791	2130	2751	2781	2721	0	0	0	0	0	0	13.32	13.24	13.36
4091	0.12	145.9	2792	2130	2782	2714	463.3	14.8	286	4093	0.77	0.00	0.00	0.000	4230	0.317	0.000	2626	2131	2745	2776	2715	0	0	0	0	0	0	13.49	13.97	13.93
4391	-0.00	186.8	2626	2131	2777	2712	437.9	8.1	296	4458	0.17	2.60	59.25	1.357	12964	0.287	0.085	2596	701	2593	2638	2549	0	0	0	0	0	0	13.71	13.97	13.12
4498	0.06	238.1	2589	702	2635	2539	429.9	7.6	307	4584	0.00	2.45	78.53	1.309	9382	0.000	0.079	2596	2093	2389	2443	2336	0	0	0	0	0	0	14.16	14.08	12.98
4905	0.10	268.2	2589	2094	2425	2317	395.1	8.6	338	4948	0.00	0.00	42.25	1.355	8358	0.000	0.000	2589	2093	2272	2322	2223	0	0	0	0	0	0	14.57	14.01	13.17
5235	0.18	300.1	2589	2094	2306	2198	366.8	8.5	349	5289	0.12	2.50	47.90	1.327	10916	0.134	0.087	2658	690	2135	2181	2089	0	0	0	0	0	0	14.25	14.06	13.18
5340	0.18	300.1	2658	691	2167	2087	353.8	12.6	370	5345	0.00	2.47	0.00	0.000	1030	0.000	0.076	2658	2100	2124	2166	2083	0	0	0	0	0	0	14.20	14.07	14.26
5655	0.12	300.1	2658	2102	2167	2074	312.7	13.1	383	5660	0.12	2.47	0.00	0.000	4740	0.255	0.083	2633	688	2119	2165	2074	0	0	0	0	0	0	14.00	14.16	14.14
5701	0.18	300.1	2634	688	2165	2075	307.5	10.9	392	5705	0.00	2.47	0.00	0.000	1158	0.000	0.078	2633	2105	2119	2164	2074	0	0	0	0	0	0	14.31	14.18	14.36
6016	0.18	300.1	2634	2107	2165	2073	274.8	10.3	405	6021	0.00	2.47	0.00	0.000	516	0.000	0.085	2633	698	2118	2164	2073	0	0	0	0	0	0	14.64	14.16	14.66
6067	0.26	308.3	2634	698	2164	2074	269.6	9.6	415	6077	0.00	2.47	1.65	0.239	9382	0.000	0.078	2633	2109	2106	2151	2062	0	0	0	0	0	0	14.32	14.18	13.79
6377	0.27	331.0	2633	2110	2161	2067	241.0	9.0	427	6433	0.12	2.53	48.22	1.292	10788	0.123	0.086	2699	691	2009	2050	1969	0	0	0	0	0	0	14.30	14.05	13.22
6499	0.23	331.0	2699	691	2038	1962	226.7	12.0	451	6504	0.17	2.47	0.00	0.000	5254	0.215	0.077	2659	2106	1998	2036	1961	0	0	0	0	0	0	13.93	14.08	14.17
6829	0.25	353.4	2659	2106	2037	1955	195.2	9.0	467	6870	0.00	2.53	34.50	1.304	8740	0.000	0.088	2659	691	1917	1952	1883	0	0	0	0	0	0	14.59	14.06	13.25
6918	0.37	391.2	2660	691	1938	1880	187.8	8.3	484	6991	0.12	2.47	65.32	1.218	11430	0.127	0.078	2708	2103	1767	1788	1746	0	0	0	0	0	0	14.16	14.12	13.12
7312	0.34	391.2	2709	2104	1775	1728	141.7	11.4	513	7317	0.00	2.47	0.00	0.000	644	0.000	0.088	2712	698	1750	1773	1727	0	0	0	0	0	0	14.58	14.13	14.59
7383	0.37	391.2	2713	697	1771	1727	133.8	10.7	527	7388	0.00	2.47	0.00	0.000	1158	0.000	0.076	2712	2100	1749	1771	1727	0	0	0	0	0	0	13.73	13.33	14.04
7703	0.37	391.2	2712	2101	1771	1726	99.8	10.3	541	7710	0.00	2.53	0.00	0.000	516	0.000	0.087	2713	675	1747	1770	1725	0	0	0	0	0	0	14.62	14.00	14.64
7760	0.43	413.0	2714	675	1770	1725	94.7	9.0	552	7777	0.00	2.53	10.07	0.432	9382	0.000	0.076	2713	2106	1680	1702	1659	0	0	0	0	0	0	14.18	14.05	13.50
8075	0.52	483.8	2713	2108	1719	1665	69.6	6.7	585	8123	0.10	2.53	41.95	0.399	10916	0.146	0.085	2768	694	1391	1429	1353	0	0	0	0	0	0	14.22	13.91	13.63
8149	0.52	483.8	2768	694	1433	1354	63.0	10.0	599	8153	0.00	2.50	0.00	0.000	1030	0.000	0.079	2768	2106	1393	1433	1354	0	0	0	0	0	0	14.12	13.96	14.15
8459	0.58	574.6	2768	2108	1436	1358	40.3	5.8	631	8517	0.00	2.50	52.47	0.314	8740	0.000	0.086	2768	695	1022	1087	957	0	0	0	0	0	0	14.53	13.95	13.71
8580	0.78	647.7	2768	696	1088	965	32.7	6.6	654	8633	0.20	2.50	45.62	0.289	11430	0.099	0.078	2849	2103	725	784	667	0	0	0	0	0	0	14.11	14.00	13.69
8886	end climb: SURFACE_DEPTH_REACHED
state	8886	begin surface coast
8906	end surface coast: CONTROL_FINISHED_OK
state	8906	begin surface