Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 335 * 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 335 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 933.0

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 933.0 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 335 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 140917,163551,7500.3267,-15104.0410,16,0.7,21,20.7,0.0,240.0,12,8.9 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 1.11 MHEAD_RNG_PITCHd_Wd 158.1,30745,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 140917,165027,7500.2842,-15104.1113,7,0.8,22,20.7,0.0,202.9,10,9.3

Post-dive calculations and measurements:

FINISH -0.0,1.021357 _24V_AH 12.20,204.913

SM_CCo 9128,23.65,0.207,0,0,500,702.78 _10V_AH 12.08,0.000

SM_GC 1.08,8.18,0.17,23.65,0.077,0.121,0.207,196,2213,500,-7.39,-0.68,702.78,0,0,0,0,0,0,14.28,14.26,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 MEM 323476

IRIDIUM_FIX 7501.48,-15112.08,140917,164028 DATA_FILE_SIZE 30029,820

TT8_MAMPS 0.040446,0.894306 CAP_FILE_SIZE 109405,0

HUMID 47.28 CFSIZE 2097872896,1992196096

INTERNAL_PRESSURE 7.75222 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 15 CURRENT 0.107,122.21,1

CP_FREE 15929442304.000000 GPS 140917,192431,7458.774,-15103.125,13,0.7,16,20.7,0.0,29.5,10,8.8

PM_FREEKB_00 47103104

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 449 142.27 nil 0 0 0.00

Roll_motor 89 2148 2354.89 nil 0 0 0.00

VBD_pump_during_apogee 1033 1564 19727.27 nil 0 0 0.00

VBD_pump_during_surface 23 206 59.60 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 9139 14 1607.21

Iridium_during_xfer 521 167 1065.24 NCP 9096 20 2219.42

Transponder_ping 3 420 19.21 PMAR 9079 12 1378.79

GUMSTIX_24V 0 0 0.00

GPS 23 22 6.34

TT8 0 0 0.00

LPSleep 6410 2 178.89

TT8_Active 1024 13 172.92

TT8_Sampling 2239 33 904.71

TT8_CF8 362 38 169.60

TT8_Kalman 0 0 0.00

Analog_circuits 2369 10 286.23

GPS_charging 0 0 0.00

Compass 1174 7 99.27

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 199 2218 502 473 0.0 0.0 0 145 0.00 0.00 -91.68 0.000 16386 0.000 0.000 197 2216 2102 2024 2181 0 0 0 0 0 0 14.34 28.83 14.36

149 -0.57 -145.9 199 2217 2028 2185 3.4 -4.1 9 206 12.77 2.75 -37.78 0.000 18724 0.450 2.149 2375 3595 3964 3951 3978 0 0 0 0 0 0 13.54 12.57 14.00

281 -0.74 -145.9 2376 3597 3956 3978 33.8 -12.8 35 286 0.00 2.40 0.00 0.000 1158 0.000 0.058 2375 2201 3966 3955 3978 0 0 0 0 0 0 14.14 13.97 14.18

594 -0.85 -145.9 2375 2202 3958 3979 76.0 -11.0 67 599 0.20 2.47 0.00 0.000 4740 0.105 0.081 2293 792 3971 3964 3978 0 0 0 0 0 0 14.10 14.05 14.17

624 -0.85 -145.9 2294 792 3959 3978 80.6 -16.1 73 629 0.00 2.47 0.00 0.000 1030 0.000 0.086 2293 2188 3967 3957 3978 0 0 0 0 0 0 14.16 14.07 14.21

934 -0.89 -145.9 2293 2189 3958 3979 125.7 -13.7 93 939 0.00 2.53 0.00 0.000 388 0.000 0.090 2292 3613 3967 3957 3978 0 0 0 0 0 0 14.63 14.04 14.65

1000 -1.04 -145.9 2293 3614 3959 3978 133.5 -10.8 106 1005 0.15 2.40 0.00 0.000 5254 0.115 0.057 2236 2199 3967 3957 3978 0 0 0 0 0 0 14.14 14.16 14.28

1326 -1.00 -145.9 2236 2198 3954 3978 189.7 -17.1 121 1330 0.00 2.50 0.00 0.000 388 0.000 0.085 2227 3610 3965 3953 3978 0 0 0 0 0 0 14.59 14.08 14.62

1448 -1.03 -145.9 2228 3612 3958 3978 208.6 -15.0 145 1453 0.00 2.40 0.00 0.000 1158 0.000 0.057 2227 2199 3967 3957 3977 0 0 0 0 0 0 14.26 14.12 14.33

1778 -1.01 -145.9 2228 2199 3958 3979 264.1 -16.1 161 1783 0.00 2.50 0.00 0.000 388 0.000 0.086 2222 3610 3968 3958 3978 0 0 0 0 0 0 14.58 14.04 14.58

2008 -1.09 -145.9 2222 3610 3958 3979 295.3 -12.4 207 2013 0.00 2.42 0.00 0.000 1158 0.000 0.057 2222 2199 3968 3958 3978 0 0 0 0 0 0 14.20 14.07 14.24

2318 -1.09 -145.9 2222 2198 3959 3978 335.9 -12.5 219 2323 0.00 2.53 0.00 0.000 260 0.000 0.089 2222 3620 3968 3958 3978 0 0 0 0 0 0 14.64 14.07 14.65

2414 -1.19 -145.9 2223 3621 3958 3978 346.9 -11.0 238 2418 0.00 2.45 0.00 0.000 1158 0.000 0.057 2222 2192 3967 3957 3978 0 0 0 0 0 0 14.25 14.11 14.26

2739 -1.22 -145.9 2223 2191 3958 3978 385.1 -11.5 253 2744 0.00 2.53 0.00 0.000 388 0.000 0.089 2221 3610 3967 3956 3978 0 0 0 0 0 0 14.65 14.07 14.66

2809 -1.33 -145.9 2222 3612 3956 3979 392.9 -10.4 267 2815 0.22 2.40 0.00 0.000 5254 0.097 0.057 2144 2198 3967 3956 3978 0 0 0 0 0 0 14.20 14.14 14.31

3130 -1.19 -145.9 2145 2199 3957 3979 452.8 -18.9 281 3135 0.20 2.50 0.00 0.000 2436 0.318 0.080 2177 3610 3966 3955 3978 0 0 0 0 0 0 13.62 13.98 13.85

3247 -1.19 -145.9 2177 3613 3956 3979 469.9 -13.6 304 3254 0.00 2.40 0.00 0.000 1030 0.000 0.055 2176 2201 3966 3955 3977 0 0 0 0 0 0 14.21 14.07 14.25

3338 end dive: TARGET_DEPTH_EXCEEDED

state 3338 begin apogee

3344 -0.13 0.0 2178 2055 3956 3978 483.9 -14.8 308 3626 1.42 0.10 277.75 1.331 10246 0.246 0.159 2529 2123 3364 3381 3347 0 0 0 0 0 0 13.71 13.44 12.62

3632 end apogee: CONTROL_FINISHED_OK

state 3632 begin climb

3635 0.57 145.9 2529 2124 3376 3339 499.3 0.0 317 3857 0.75 2.62 209.25 1.365 10500 0.060 0.074 2783 3505 2761 2796 2726 0 0 0 0 0 0 13.64 13.08 12.20

4082 0.08 145.9 2788 3504 2781 2721 479.0 15.8 390 4087 0.88 2.40 0.00 0.000 5254 0.347 0.057 2616 2128 2750 2780 2720 0 0 0 0 0 0 13.40 13.81 13.78

4408 -0.01 195.2 2617 2124 2781 2718 452.2 7.7 405 4489 0.15 2.50 71.85 1.387 12708 0.287 0.083 2582 3493 2560 2608 2513 0 0 0 0 0 0 13.84 13.92 13.07

4614 -0.03 220.1 2583 3494 2597 2507 435.5 8.9 446 4656 0.00 2.40 35.50 1.420 9382 0.000 0.060 2588 2101 2465 2513 2417 0 0 0 0 0 0 14.17 14.07 13.10

4984 -0.01 251.6 2589 2102 2504 2403 404.4 8.5 469 5043 0.00 2.53 50.95 1.377 8740 0.000 0.091 2585 692 2332 2376 2288 0 0 0 0 0 0 14.58 14.03 13.19

5096 0.11 287.6 2589 693 2369 2294 394.8 8.3 491 5159 0.00 2.45 57.35 1.347 9382 0.000 0.079 2592 2089 2192 2240 2145 0 0 0 0 0 0 14.23 14.10 13.09

5464 0.20 322.0 2590 2090 2225 2126 362.9 8.4 515 5526 0.17 0.00 53.42 1.344 10406 0.106 0.000 2667 2089 2045 2091 1999 0 0 0 0 0 0 14.31 13.98 13.16

5824 0.15 322.0 2668 2090 2084 1988 314.1 13.8 527 5829 0.12 2.47 0.00 0.000 4740 0.255 0.085 2645 685 2036 2083 1989 0 0 0 0 0 0 13.93 14.12 14.10

5855 0.17 322.0 2645 686 2082 1989 310.3 11.6 533 5860 0.00 2.47 0.00 0.000 1158 0.000 0.079 2644 2099 2034 2081 1988 0 0 0 0 0 0 14.28 14.15 14.33

6186 0.17 323.2 2644 2101 2081 1988 274.9 9.9 549 6190 0.00 2.50 0.00 0.000 548 0.000 0.087 2644 691 2034 2082 1987 0 0 0 0 0 0 14.65 14.17 14.67

6236 0.25 341.8 2645 691 2080 1987 270.2 9.1 559 6271 0.00 2.45 29.05 1.379 9382 0.000 0.078 2644 2107 1968 2014 1923 0 0 0 0 0 0 14.34 14.20 13.25

6579 0.30 375.2 2644 2100 2004 1905 240.6 8.5 577 6640 0.10 0.00 59.65 1.291 10662 0.143 0.000 2692 2101 1835 1864 1807 0 0 0 0 0 0 14.32 13.98 13.19

6938 0.30 375.2 2692 2101 1846 1792 200.1 11.1 599 6939 0.00 0.00 0.00 0.000 6 0.000 0.000 2692 2101 1818 1846 1791 0 0 0 0 0 0 14.53 14.55 14.54

7236 0.30 375.2 2693 2101 1845 1790 168.3 10.5 609 7241 0.00 2.50 0.00 0.000 516 0.000 0.090 2693 691 1816 1843 1790 0 0 0 0 0 0 14.62 14.14 14.62

7292 0.36 383.4 2693 692 1841 1791 162.9 9.6 620 7299 0.00 2.47 1.90 0.258 9382 0.000 0.078 2693 2096 1804 1831 1777 0 0 0 0 0 0 13.41 13.33 13.72

7597 0.36 386.8 2693 2097 1843 1782 132.0 9.8 631 7612 0.00 2.53 7.62 1.564 8740 0.000 0.088 2693 691 1790 1817 1764 0 0 0 0 0 0 14.65 14.14 13.26

7657 0.44 398.4 2700 687 1820 1764 126.2 9.5 643 7689 0.00 2.45 23.20 1.380 9382 0.000 0.078 2693 2103 1733 1756 1710 0 0 0 0 0 0 14.35 14.21 13.23

7989 0.49 423.2 2693 2103 1752 1700 95.5 8.9 661 8011 0.12 2.50 13.12 0.465 10916 0.129 0.088 2762 692 1639 1664 1615 0 0 0 0 0 0 14.24 14.07 13.55

8068 0.43 423.2 2767 693 1671 1616 85.5 13.4 676 8076 0.20 2.47 0.00 0.000 5254 0.239 0.079 2725 2099 1644 1671 1617 0 0 0 0 0 0 13.45 14.02 14.02

8372 0.50 483.8 2725 2100 1671 1618 58.2 7.2 707 8414 0.00 2.50 35.90 0.369 8868 0.000 0.085 2725 687 1392 1434 1351 0 0 0 0 0 0 14.59 13.95 13.71

8630 0.73 607.5 2727 687 1432 1353 43.1 4.3 758 8710 0.28 2.50 72.05 0.320 11430 0.082 0.077 2826 2103 886 956 817 0 0 0 0 0 0 14.00 13.97 13.73

9005 0.79 651.4 2826 2104 957 819 8.4 8.0 803 9038 0.00 2.53 26.27 0.223 8868 0.000 0.087 2834 685 705 768 643 0 0 0 0 0 0 14.55 13.90 13.74

9064 0.89 665.2 2834 686 769 644 3.3 9.4 814 9081 0.00 2.47 8.75 0.215 9382 0.000 0.073 2837 2101 650 708 593 0 0 0 0 0 0 14.24 14.11 13.81

9086 end climb: SURFACE_DEPTH_REACHED

state 9086 begin surface coast

9106 end surface coast: CONTROL_FINISHED_OK

state 9106 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	335	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	933.0
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	140917,163551,7500.3267,-15104.0410,16,0.7,21,20.7,0.0,240.0,12,8.9	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	1.11	MHEAD_RNG_PITCHd_Wd	158.1,30745,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	140917,165027,7500.2842,-15104.1113,7,0.8,22,20.7,0.0,202.9,10,9.3

FINISH	-0.0,1.021357	_24V_AH	12.20,204.913
SM_CCo	9128,23.65,0.207,0,0,500,702.78	_10V_AH	12.08,0.000
SM_GC	1.08,8.18,0.17,23.65,0.077,0.121,0.207,196,2213,500,-7.39,-0.68,702.78,0,0,0,0,0,0,14.28,14.26,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	MEM	323476
IRIDIUM_FIX	7501.48,-15112.08,140917,164028	DATA_FILE_SIZE	30029,820
TT8_MAMPS	0.040446,0.894306	CAP_FILE_SIZE	109405,0
HUMID	47.28	CFSIZE	2097872896,1992196096
INTERNAL_PRESSURE	7.75222	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	15	CURRENT	0.107,122.21,1
CP_FREE	15929442304.000000	GPS	140917,192431,7458.774,-15103.125,13,0.7,16,20.7,0.0,29.5,10,8.8
PM_FREEKB_00	47103104

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	449	142.27	nil	0	0	0.00
Roll_motor	89	2148	2354.89	nil	0	0	0.00
VBD_pump_during_apogee	1033	1564	19727.27	nil	0	0	0.00
VBD_pump_during_surface	23	206	59.60	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	9139	14	1607.21
Iridium_during_xfer	521	167	1065.24	NCP	9096	20	2219.42
Transponder_ping	3	420	19.21	PMAR	9079	12	1378.79
GUMSTIX_24V	0	0	0.00
GPS	23	22	6.34
TT8	0	0	0.00
LPSleep	6410	2	178.89
TT8_Active	1024	13	172.92
TT8_Sampling	2239	33	904.71
TT8_CF8	362	38	169.60
TT8_Kalman	0	0	0.00
Analog_circuits	2369	10	286.23
GPS_charging	0	0	0.00
Compass	1174	7	99.27
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	199	2218	502	473	0.0	0.0	0	145	0.00	0.00	-91.68	0.000	16386	0.000	0.000	197	2216	2102	2024	2181	0	0	0	0	0	0	14.34	28.83	14.36
149	-0.57	-145.9	199	2217	2028	2185	3.4	-4.1	9	206	12.77	2.75	-37.78	0.000	18724	0.450	2.149	2375	3595	3964	3951	3978	0	0	0	0	0	0	13.54	12.57	14.00
281	-0.74	-145.9	2376	3597	3956	3978	33.8	-12.8	35	286	0.00	2.40	0.00	0.000	1158	0.000	0.058	2375	2201	3966	3955	3978	0	0	0	0	0	0	14.14	13.97	14.18
594	-0.85	-145.9	2375	2202	3958	3979	76.0	-11.0	67	599	0.20	2.47	0.00	0.000	4740	0.105	0.081	2293	792	3971	3964	3978	0	0	0	0	0	0	14.10	14.05	14.17
624	-0.85	-145.9	2294	792	3959	3978	80.6	-16.1	73	629	0.00	2.47	0.00	0.000	1030	0.000	0.086	2293	2188	3967	3957	3978	0	0	0	0	0	0	14.16	14.07	14.21
934	-0.89	-145.9	2293	2189	3958	3979	125.7	-13.7	93	939	0.00	2.53	0.00	0.000	388	0.000	0.090	2292	3613	3967	3957	3978	0	0	0	0	0	0	14.63	14.04	14.65
1000	-1.04	-145.9	2293	3614	3959	3978	133.5	-10.8	106	1005	0.15	2.40	0.00	0.000	5254	0.115	0.057	2236	2199	3967	3957	3978	0	0	0	0	0	0	14.14	14.16	14.28
1326	-1.00	-145.9	2236	2198	3954	3978	189.7	-17.1	121	1330	0.00	2.50	0.00	0.000	388	0.000	0.085	2227	3610	3965	3953	3978	0	0	0	0	0	0	14.59	14.08	14.62
1448	-1.03	-145.9	2228	3612	3958	3978	208.6	-15.0	145	1453	0.00	2.40	0.00	0.000	1158	0.000	0.057	2227	2199	3967	3957	3977	0	0	0	0	0	0	14.26	14.12	14.33
1778	-1.01	-145.9	2228	2199	3958	3979	264.1	-16.1	161	1783	0.00	2.50	0.00	0.000	388	0.000	0.086	2222	3610	3968	3958	3978	0	0	0	0	0	0	14.58	14.04	14.58
2008	-1.09	-145.9	2222	3610	3958	3979	295.3	-12.4	207	2013	0.00	2.42	0.00	0.000	1158	0.000	0.057	2222	2199	3968	3958	3978	0	0	0	0	0	0	14.20	14.07	14.24
2318	-1.09	-145.9	2222	2198	3959	3978	335.9	-12.5	219	2323	0.00	2.53	0.00	0.000	260	0.000	0.089	2222	3620	3968	3958	3978	0	0	0	0	0	0	14.64	14.07	14.65
2414	-1.19	-145.9	2223	3621	3958	3978	346.9	-11.0	238	2418	0.00	2.45	0.00	0.000	1158	0.000	0.057	2222	2192	3967	3957	3978	0	0	0	0	0	0	14.25	14.11	14.26
2739	-1.22	-145.9	2223	2191	3958	3978	385.1	-11.5	253	2744	0.00	2.53	0.00	0.000	388	0.000	0.089	2221	3610	3967	3956	3978	0	0	0	0	0	0	14.65	14.07	14.66
2809	-1.33	-145.9	2222	3612	3956	3979	392.9	-10.4	267	2815	0.22	2.40	0.00	0.000	5254	0.097	0.057	2144	2198	3967	3956	3978	0	0	0	0	0	0	14.20	14.14	14.31
3130	-1.19	-145.9	2145	2199	3957	3979	452.8	-18.9	281	3135	0.20	2.50	0.00	0.000	2436	0.318	0.080	2177	3610	3966	3955	3978	0	0	0	0	0	0	13.62	13.98	13.85
3247	-1.19	-145.9	2177	3613	3956	3979	469.9	-13.6	304	3254	0.00	2.40	0.00	0.000	1030	0.000	0.055	2176	2201	3966	3955	3977	0	0	0	0	0	0	14.21	14.07	14.25
3338	end dive: TARGET_DEPTH_EXCEEDED
state	3338	begin apogee
3344	-0.13	0.0	2178	2055	3956	3978	483.9	-14.8	308	3626	1.42	0.10	277.75	1.331	10246	0.246	0.159	2529	2123	3364	3381	3347	0	0	0	0	0	0	13.71	13.44	12.62
3632	end apogee: CONTROL_FINISHED_OK
state	3632	begin climb
3635	0.57	145.9	2529	2124	3376	3339	499.3	0.0	317	3857	0.75	2.62	209.25	1.365	10500	0.060	0.074	2783	3505	2761	2796	2726	0	0	0	0	0	0	13.64	13.08	12.20
4082	0.08	145.9	2788	3504	2781	2721	479.0	15.8	390	4087	0.88	2.40	0.00	0.000	5254	0.347	0.057	2616	2128	2750	2780	2720	0	0	0	0	0	0	13.40	13.81	13.78
4408	-0.01	195.2	2617	2124	2781	2718	452.2	7.7	405	4489	0.15	2.50	71.85	1.387	12708	0.287	0.083	2582	3493	2560	2608	2513	0	0	0	0	0	0	13.84	13.92	13.07
4614	-0.03	220.1	2583	3494	2597	2507	435.5	8.9	446	4656	0.00	2.40	35.50	1.420	9382	0.000	0.060	2588	2101	2465	2513	2417	0	0	0	0	0	0	14.17	14.07	13.10
4984	-0.01	251.6	2589	2102	2504	2403	404.4	8.5	469	5043	0.00	2.53	50.95	1.377	8740	0.000	0.091	2585	692	2332	2376	2288	0	0	0	0	0	0	14.58	14.03	13.19
5096	0.11	287.6	2589	693	2369	2294	394.8	8.3	491	5159	0.00	2.45	57.35	1.347	9382	0.000	0.079	2592	2089	2192	2240	2145	0	0	0	0	0	0	14.23	14.10	13.09
5464	0.20	322.0	2590	2090	2225	2126	362.9	8.4	515	5526	0.17	0.00	53.42	1.344	10406	0.106	0.000	2667	2089	2045	2091	1999	0	0	0	0	0	0	14.31	13.98	13.16
5824	0.15	322.0	2668	2090	2084	1988	314.1	13.8	527	5829	0.12	2.47	0.00	0.000	4740	0.255	0.085	2645	685	2036	2083	1989	0	0	0	0	0	0	13.93	14.12	14.10
5855	0.17	322.0	2645	686	2082	1989	310.3	11.6	533	5860	0.00	2.47	0.00	0.000	1158	0.000	0.079	2644	2099	2034	2081	1988	0	0	0	0	0	0	14.28	14.15	14.33
6186	0.17	323.2	2644	2101	2081	1988	274.9	9.9	549	6190	0.00	2.50	0.00	0.000	548	0.000	0.087	2644	691	2034	2082	1987	0	0	0	0	0	0	14.65	14.17	14.67
6236	0.25	341.8	2645	691	2080	1987	270.2	9.1	559	6271	0.00	2.45	29.05	1.379	9382	0.000	0.078	2644	2107	1968	2014	1923	0	0	0	0	0	0	14.34	14.20	13.25
6579	0.30	375.2	2644	2100	2004	1905	240.6	8.5	577	6640	0.10	0.00	59.65	1.291	10662	0.143	0.000	2692	2101	1835	1864	1807	0	0	0	0	0	0	14.32	13.98	13.19
6938	0.30	375.2	2692	2101	1846	1792	200.1	11.1	599	6939	0.00	0.00	0.00	0.000	6	0.000	0.000	2692	2101	1818	1846	1791	0	0	0	0	0	0	14.53	14.55	14.54
7236	0.30	375.2	2693	2101	1845	1790	168.3	10.5	609	7241	0.00	2.50	0.00	0.000	516	0.000	0.090	2693	691	1816	1843	1790	0	0	0	0	0	0	14.62	14.14	14.62
7292	0.36	383.4	2693	692	1841	1791	162.9	9.6	620	7299	0.00	2.47	1.90	0.258	9382	0.000	0.078	2693	2096	1804	1831	1777	0	0	0	0	0	0	13.41	13.33	13.72
7597	0.36	386.8	2693	2097	1843	1782	132.0	9.8	631	7612	0.00	2.53	7.62	1.564	8740	0.000	0.088	2693	691	1790	1817	1764	0	0	0	0	0	0	14.65	14.14	13.26
7657	0.44	398.4	2700	687	1820	1764	126.2	9.5	643	7689	0.00	2.45	23.20	1.380	9382	0.000	0.078	2693	2103	1733	1756	1710	0	0	0	0	0	0	14.35	14.21	13.23
7989	0.49	423.2	2693	2103	1752	1700	95.5	8.9	661	8011	0.12	2.50	13.12	0.465	10916	0.129	0.088	2762	692	1639	1664	1615	0	0	0	0	0	0	14.24	14.07	13.55
8068	0.43	423.2	2767	693	1671	1616	85.5	13.4	676	8076	0.20	2.47	0.00	0.000	5254	0.239	0.079	2725	2099	1644	1671	1617	0	0	0	0	0	0	13.45	14.02	14.02
8372	0.50	483.8	2725	2100	1671	1618	58.2	7.2	707	8414	0.00	2.50	35.90	0.369	8868	0.000	0.085	2725	687	1392	1434	1351	0	0	0	0	0	0	14.59	13.95	13.71
8630	0.73	607.5	2727	687	1432	1353	43.1	4.3	758	8710	0.28	2.50	72.05	0.320	11430	0.082	0.077	2826	2103	886	956	817	0	0	0	0	0	0	14.00	13.97	13.73
9005	0.79	651.4	2826	2104	957	819	8.4	8.0	803	9038	0.00	2.53	26.27	0.223	8868	0.000	0.087	2834	685	705	768	643	0	0	0	0	0	0	14.55	13.90	13.74
9064	0.89	665.2	2834	686	769	644	3.3	9.4	814	9081	0.00	2.47	8.75	0.215	9382	0.000	0.073	2837	2101	650	708	593	0	0	0	0	0	0	14.24	14.11	13.81
9086	end climb: SURFACE_DEPTH_REACHED
state	9086	begin surface coast
9106	end surface coast: CONTROL_FINISHED_OK
state	9106	begin surface