Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 10 * 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 10 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 12 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 692.78448 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 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 450 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 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 165 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 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 3.0

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 68.0

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 3.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 20 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 360 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 692.78448

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 0 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 3.0 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 120

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 165

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 68.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 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 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 20 VBD_MIN 500

DIVE 10 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 450 N_DIVES 12 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 070817,153912,7113.9756,-14735.6182,7,0.9,18,21.2,0.3,76.3,8,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7124.785,-14735.377

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 315.2,20000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 360

GPS2 070817,155015,7113.9858,-14735.3770,14,0.9,23,21.2,0.2,82.9,8,9.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170807161509.548298,3,70,12,0104,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39 PM_FREEKB_00 61931200

FINISH 0.1,1.009904 _24V_AH 12.74,46.894

SM_CCo 6936,0.00,0.000,0,0,492,704.75 _10V_AH 12.67,0.000

SM_GC 1.10,8.65,0.17,0.00,0.089,0.123,0.000,206,2215,492,-7.37,-0.37,704.75,0,0,0,0,0,0,14.00,14.01,14.09 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

MODEM 0,1502121981,75.36600,-145.04601,327.802,475449.8 MEM 324744

RAFOS_FIX 7109.520996,-14750.911133,070817,161645,2,255,10.14 DATA_FILE_SIZE 43331,1271

IRIDIUM_FIX 7123.95,-15046.25,070817,133455 CAP_FILE_SIZE 126719,0

TT8_MAMPS 0.040446,0.877828 CFSIZE 2097872896,2085257216

HUMID 47.95 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1450.4

TCM_TEMP 13.40 CURRENT 0.109,23.97,1

XPDR_PINGS 2 GPS 070817,174736,7115.193,-14735.216,32,0.8,33,21.2,0.0,0.0,11,10.0

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 145.62 nil 0 0 0.00

Roll_motor 86 2142 2372.95 nil 0 0 0.00

VBD_pump_during_apogee 941 1474 17686.76 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 6880 17 1558.53

Iridium_during_xfer 422 175 947.97 NCP 6838 111 9669.89

Transponder_ping 0 420 2.68 PMAR 6856 16 1447.93

GUMSTIX_24V 0 0 0.00

GPS 24 22 7.05

TT8 0 0 0.00

LPSleep 3403 2 99.62

TT8_Active 990 13 175.26

TT8_Sampling 2878 33 1219.54

TT8_CF8 331 38 162.42

TT8_Kalman 0 0 0.00

Analog_circuits 2447 10 310.12

GPS_charging 0 0 0.00

Compass 1824 7 161.79

RAFOS 2216 48 1347.68

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

17 end surface: CONTROL_FINISHED_OK

state 17 begin dive

20 -0.57 -145.9 206 2216 523 463 0.0 0.0 0 106 0.00 0.00 -83.55 0.000 16386 0.000 0.000 205 2215 2153 2076 2231 0 0 0 0 0 0 14.22 28.83 14.24

109 -0.57 -145.9 206 2216 2080 2232 3.5 -7.8 15 163 12.43 2.75 -32.65 0.000 18724 0.451 2.143 2378 3607 3964 3945 3983 0 0 0 0 0 0 13.64 12.78 13.89

388 -0.51 -145.9 2378 3609 3954 3984 73.4 -18.1 69 395 0.15 2.45 0.00 0.000 3206 0.268 0.063 2407 2196 3968 3954 3983 0 0 0 0 0 0 13.78 13.94 14.00

591 -0.51 -145.9 2409 2196 3956 3984 103.6 -13.2 106 598 0.00 2.55 0.00 0.000 260 0.000 0.092 2400 3608 3974 3955 3994 0 0 0 0 0 0 14.21 13.92 14.22

715 -0.64 -145.9 2401 3609 3956 3982 116.8 -10.0 130 722 0.00 2.45 0.00 0.000 1158 0.000 0.063 2400 2202 3969 3955 3983 0 0 0 0 0 0 14.00 13.88 14.01

902 -0.72 -145.9 2400 2201 3956 3984 136.7 -9.9 167 908 0.15 2.53 0.00 0.000 4772 0.131 0.086 2344 787 3969 3955 3983 0 0 0 0 0 0 13.97 13.91 14.02

963 -0.72 -145.9 2344 787 3956 3982 144.5 -13.2 179 970 0.00 2.58 0.00 0.000 1030 0.000 0.095 2340 2200 3972 3956 3988 0 0 0 0 0 0 14.08 13.92 14.07

1150 -0.72 -145.9 2341 2200 3956 3983 171.2 -13.4 216 1156 0.00 2.55 0.00 0.000 260 0.000 0.097 2337 3613 3968 3955 3982 0 0 0 0 0 0 14.21 13.90 14.22

1251 -0.78 -145.9 2337 3612 3956 3983 183.8 -11.6 236 1257 0.00 2.47 0.00 0.000 1158 0.000 0.066 2337 2199 3969 3956 3983 0 0 0 0 0 0 14.04 13.94 14.07

1437 -0.78 -145.9 2338 2200 3956 3982 206.5 -12.1 273 1442 0.00 0.00 0.00 0.000 6 0.000 0.000 2336 2199 3967 3954 3981 0 0 0 0 0 0 14.21 14.23 14.23

1623 -0.80 -145.9 2337 2200 3956 3982 228.6 -11.3 310 1629 0.00 2.58 0.00 0.000 388 0.000 0.096 2333 3616 3967 3955 3980 0 0 0 0 0 0 14.21 13.85 14.23

1736 -0.89 -145.9 2333 3617 3963 3981 240.5 -10.2 332 1743 0.12 2.50 0.00 0.000 5254 0.138 0.066 2282 2189 3965 3951 3980 0 0 0 0 0 0 13.96 13.93 14.04

1923 -0.80 -145.9 2287 2188 3956 3978 267.5 -15.1 369 1929 0.15 0.00 0.00 0.000 2182 0.282 0.000 2320 2188 3966 3955 3978 0 0 0 0 0 0 13.73 13.97 13.89

2109 -0.80 -145.9 2320 2188 3955 3977 290.6 -12.1 406 2116 0.00 2.58 0.00 0.000 260 0.000 0.096 2312 3608 3966 3955 3977 0 0 0 0 0 0 14.21 13.89 14.21

2196 -0.84 -145.9 2312 3608 3951 3977 300.9 -11.7 423 2202 0.00 2.47 0.00 0.000 1158 0.000 0.064 2311 2200 3969 3961 3977 0 0 0 0 0 0 14.04 13.94 14.07

2382 -0.84 -145.9 2311 2200 3955 3976 323.7 -12.4 460 2388 0.00 2.55 0.00 0.000 260 0.000 0.096 2305 3608 3965 3955 3976 0 0 0 0 0 0 14.21 13.88 14.22

2428 -0.87 -145.9 2306 3609 3956 3975 329.3 -12.1 469 2434 0.00 2.47 0.00 0.000 1158 0.000 0.067 2304 2196 3965 3954 3976 0 0 0 0 0 0 14.03 13.92 14.09

2624 -0.85 -145.9 2305 2196 3955 3976 354.3 -12.5 503 2625 0.00 0.00 0.00 0.000 134 0.000 0.000 2305 2195 3967 3954 3980 0 0 0 0 0 0 14.23 14.23 14.23

2682 end dive: TARGET_DEPTH_EXCEEDED

state 2682 begin apogee

2688 -0.13 0.0 2305 2072 3955 3976 361.8 -12.5 505 2917 0.90 0.05 224.05 1.325 10246 0.249 0.226 2526 2103 3364 3388 3341 0 0 0 0 0 0 13.75 13.33 12.89

2920 end apogee: CONTROL_FINISHED_OK

state 2921 begin climb

2923 0.57 145.9 2528 2103 3380 3332 371.8 0.0 512 3135 0.75 2.67 196.75 1.269 11012 0.073 0.086 2782 709 2760 2803 2718 0 0 0 0 0 0 13.47 13.21 12.74

3362 0.29 145.9 2782 709 2793 2713 337.9 14.4 597 3368 0.47 2.55 0.00 0.000 5254 0.310 0.085 2681 2101 2751 2792 2711 0 0 0 0 0 0 13.47 13.66 13.75

3549 0.17 148.9 2681 2102 2793 2708 318.1 9.9 634 3556 0.17 2.50 0.00 0.000 4772 0.296 0.084 2649 712 2749 2791 2708 0 0 0 0 0 0 13.60 13.82 13.79

3782 0.19 187.8 2650 713 2792 2709 299.4 8.2 680 3848 0.00 2.50 60.85 1.289 9254 0.000 0.090 2649 2104 2596 2649 2544 0 0 0 0 0 0 14.04 13.93 13.19

4028 0.20 200.1 2649 2106 2640 2524 276.1 9.4 727 4046 0.00 2.53 11.43 1.474 8740 0.000 0.089 2654 712 2545 2601 2489 0 0 0 0 0 0 14.16 13.85 13.28

4118 0.26 229.7 2655 712 2599 2485 268.1 8.6 744 4172 0.00 2.50 46.45 1.300 9382 0.000 0.088 2654 2099 2424 2481 2367 0 0 0 0 0 0 13.97 13.88 13.19

4352 0.27 241.1 2655 2101 2470 2354 246.1 9.5 789 4370 0.00 2.60 11.07 1.453 8484 0.000 0.094 2654 3504 2377 2431 2323 0 0 0 0 0 0 14.16 13.81 13.31

4385 0.27 241.1 2655 3505 2425 2322 242.6 10.8 795 4392 0.00 2.45 0.00 0.000 1030 0.000 0.069 2657 2117 2372 2423 2322 0 0 0 0 0 0 13.96 13.87 13.98

4572 0.30 245.6 2655 2118 2421 2322 224.5 9.8 832 4578 0.00 2.58 0.00 0.000 676 0.000 0.096 2655 690 2370 2420 2320 0 0 0 0 0 0 14.19 13.91 14.21

4648 0.40 269.4 2655 689 2419 2321 217.4 8.9 847 4703 0.17 2.55 45.40 1.291 11430 0.119 0.090 2719 2109 2262 2309 2215 0 0 0 0 0 0 13.95 13.90 13.24

4883 0.33 269.4 2718 2109 2302 2202 186.2 13.9 892 4889 0.12 2.53 0.00 0.000 4484 0.236 0.089 2688 3507 2251 2301 2201 0 0 0 0 0 0 13.83 13.88 13.94

4910 0.29 269.4 2689 3508 2300 2200 182.7 13.4 897 4916 0.00 2.47 0.00 0.000 1158 0.000 0.068 2696 2099 2250 2299 2201 0 0 0 0 0 0 14.03 13.93 14.06

5096 0.26 269.4 2696 2100 2300 2200 162.5 10.5 934 5103 0.12 2.55 0.00 0.000 4740 0.281 0.095 2674 690 2248 2299 2198 0 0 0 0 0 0 13.84 13.97 14.02

5173 0.37 313.4 2675 688 2298 2200 155.9 8.0 949 5251 0.00 2.53 72.47 1.223 9382 0.000 0.088 2674 2103 2086 2135 2038 0 0 0 0 0 0 14.10 14.00 13.24

5432 0.48 358.0 2675 2103 2121 2020 135.3 7.9 998 5511 0.15 2.67 72.00 1.183 10916 0.130 0.092 2742 691 1901 1938 1864 0 0 0 0 0 0 13.95 13.64 13.19

5537 0.48 358.0 2743 691 1925 1862 123.7 11.4 1016 5543 0.00 2.58 0.00 0.000 1030 0.000 0.086 2743 2103 1891 1922 1861 0 0 0 0 0 0 13.85 13.74 13.85

5723 0.48 358.0 2743 2104 1920 1852 102.4 10.1 1053 5729 0.00 0.00 0.00 0.000 6 0.000 0.000 2743 2103 1886 1922 1851 0 0 0 0 0 0 14.13 14.15 14.14

5909 0.49 383.5 2743 2103 1922 1847 84.5 8.8 1090 5927 0.00 0.00 12.45 0.430 8230 0.000 0.000 2743 2103 1801 1833 1770 0 0 0 0 0 0 14.22 13.85 13.60

6107 0.57 426.8 2743 2104 1841 1777 66.8 8.0 1129 6138 0.00 2.62 26.38 0.396 8868 0.000 0.093 2743 687 1623 1656 1590 0 0 0 0 0 0 14.23 13.95 13.70

6183 0.77 472.0 2743 687 1660 1592 60.8 7.9 1143 6219 0.28 2.55 26.75 0.379 11430 0.099 0.089 2842 2105 1439 1484 1395 0 0 0 0 0 0 13.95 13.88 13.68

6399 0.72 472.0 2842 2105 1485 1398 33.2 11.7 1185 6405 0.12 0.00 0.00 0.000 4230 0.256 0.000 2818 2104 1441 1484 1399 0 0 0 0 0 0 13.82 14.04 14.00

6585 0.82 532.0 2819 2106 1485 1396 17.3 7.2 1222 6628 0.00 2.58 34.67 0.252 8868 0.000 0.092 2824 680 1194 1259 1129 0 0 0 0 0 0 14.28 13.95 13.79

6705 1.15 715.5 2819 681 1255 1136 13.8 1.5 1244 6812 0.40 2.55 101.03 0.236 11430 0.086 0.086 2957 2109 497 529 466 0 0 0 0 0 0 14.01 13.96 13.79

6840 end climb: SURFACE_DEPTH_REACHED

state 6840 begin surface coast

6855 end surface coast: CONTROL_FINISHED_OK

state 6855 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	10	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	12	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	692.78448	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	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	450	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	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	165	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	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	3.0
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	68.0
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	3.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	20	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070817,153912,7113.9756,-14735.6182,7,0.9,18,21.2,0.3,76.3,8,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7124.785,-14735.377
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	315.2,20000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	360
GPS2	070817,155015,7113.9858,-14735.3770,14,0.9,23,21.2,0.2,82.9,8,9.6

MODEM_MSG	CACST,6,1,20170807161509.548298,3,70,12,0104,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39	PM_FREEKB_00	61931200
FINISH	0.1,1.009904	_24V_AH	12.74,46.894
SM_CCo	6936,0.00,0.000,0,0,492,704.75	_10V_AH	12.67,0.000
SM_GC	1.10,8.65,0.17,0.00,0.089,0.123,0.000,206,2215,492,-7.37,-0.37,704.75,0,0,0,0,0,0,14.00,14.01,14.09	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
MODEM	0,1502121981,75.36600,-145.04601,327.802,475449.8	MEM	324744
RAFOS_FIX	7109.520996,-14750.911133,070817,161645,2,255,10.14	DATA_FILE_SIZE	43331,1271
IRIDIUM_FIX	7123.95,-15046.25,070817,133455	CAP_FILE_SIZE	126719,0
TT8_MAMPS	0.040446,0.877828	CFSIZE	2097872896,2085257216
HUMID	47.95	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1450.4
TCM_TEMP	13.40	CURRENT	0.109,23.97,1
XPDR_PINGS	2	GPS	070817,174736,7115.193,-14735.216,32,0.8,33,21.2,0.0,0.0,11,10.0
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	145.62	nil	0	0	0.00
Roll_motor	86	2142	2372.95	nil	0	0	0.00
VBD_pump_during_apogee	941	1474	17686.76	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	6880	17	1558.53
Iridium_during_xfer	422	175	947.97	NCP	6838	111	9669.89
Transponder_ping	0	420	2.68	PMAR	6856	16	1447.93
GUMSTIX_24V	0	0	0.00
GPS	24	22	7.05
TT8	0	0	0.00
LPSleep	3403	2	99.62
TT8_Active	990	13	175.26
TT8_Sampling	2878	33	1219.54
TT8_CF8	331	38	162.42
TT8_Kalman	0	0	0.00
Analog_circuits	2447	10	310.12
GPS_charging	0	0	0.00
Compass	1824	7	161.79
RAFOS	2216	48	1347.68
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
17	end surface: CONTROL_FINISHED_OK
state	17	begin dive
20	-0.57	-145.9	206	2216	523	463	0.0	0.0	0	106	0.00	0.00	-83.55	0.000	16386	0.000	0.000	205	2215	2153	2076	2231	0	0	0	0	0	0	14.22	28.83	14.24
109	-0.57	-145.9	206	2216	2080	2232	3.5	-7.8	15	163	12.43	2.75	-32.65	0.000	18724	0.451	2.143	2378	3607	3964	3945	3983	0	0	0	0	0	0	13.64	12.78	13.89
388	-0.51	-145.9	2378	3609	3954	3984	73.4	-18.1	69	395	0.15	2.45	0.00	0.000	3206	0.268	0.063	2407	2196	3968	3954	3983	0	0	0	0	0	0	13.78	13.94	14.00
591	-0.51	-145.9	2409	2196	3956	3984	103.6	-13.2	106	598	0.00	2.55	0.00	0.000	260	0.000	0.092	2400	3608	3974	3955	3994	0	0	0	0	0	0	14.21	13.92	14.22
715	-0.64	-145.9	2401	3609	3956	3982	116.8	-10.0	130	722	0.00	2.45	0.00	0.000	1158	0.000	0.063	2400	2202	3969	3955	3983	0	0	0	0	0	0	14.00	13.88	14.01
902	-0.72	-145.9	2400	2201	3956	3984	136.7	-9.9	167	908	0.15	2.53	0.00	0.000	4772	0.131	0.086	2344	787	3969	3955	3983	0	0	0	0	0	0	13.97	13.91	14.02
963	-0.72	-145.9	2344	787	3956	3982	144.5	-13.2	179	970	0.00	2.58	0.00	0.000	1030	0.000	0.095	2340	2200	3972	3956	3988	0	0	0	0	0	0	14.08	13.92	14.07
1150	-0.72	-145.9	2341	2200	3956	3983	171.2	-13.4	216	1156	0.00	2.55	0.00	0.000	260	0.000	0.097	2337	3613	3968	3955	3982	0	0	0	0	0	0	14.21	13.90	14.22
1251	-0.78	-145.9	2337	3612	3956	3983	183.8	-11.6	236	1257	0.00	2.47	0.00	0.000	1158	0.000	0.066	2337	2199	3969	3956	3983	0	0	0	0	0	0	14.04	13.94	14.07
1437	-0.78	-145.9	2338	2200	3956	3982	206.5	-12.1	273	1442	0.00	0.00	0.00	0.000	6	0.000	0.000	2336	2199	3967	3954	3981	0	0	0	0	0	0	14.21	14.23	14.23
1623	-0.80	-145.9	2337	2200	3956	3982	228.6	-11.3	310	1629	0.00	2.58	0.00	0.000	388	0.000	0.096	2333	3616	3967	3955	3980	0	0	0	0	0	0	14.21	13.85	14.23
1736	-0.89	-145.9	2333	3617	3963	3981	240.5	-10.2	332	1743	0.12	2.50	0.00	0.000	5254	0.138	0.066	2282	2189	3965	3951	3980	0	0	0	0	0	0	13.96	13.93	14.04
1923	-0.80	-145.9	2287	2188	3956	3978	267.5	-15.1	369	1929	0.15	0.00	0.00	0.000	2182	0.282	0.000	2320	2188	3966	3955	3978	0	0	0	0	0	0	13.73	13.97	13.89
2109	-0.80	-145.9	2320	2188	3955	3977	290.6	-12.1	406	2116	0.00	2.58	0.00	0.000	260	0.000	0.096	2312	3608	3966	3955	3977	0	0	0	0	0	0	14.21	13.89	14.21
2196	-0.84	-145.9	2312	3608	3951	3977	300.9	-11.7	423	2202	0.00	2.47	0.00	0.000	1158	0.000	0.064	2311	2200	3969	3961	3977	0	0	0	0	0	0	14.04	13.94	14.07
2382	-0.84	-145.9	2311	2200	3955	3976	323.7	-12.4	460	2388	0.00	2.55	0.00	0.000	260	0.000	0.096	2305	3608	3965	3955	3976	0	0	0	0	0	0	14.21	13.88	14.22
2428	-0.87	-145.9	2306	3609	3956	3975	329.3	-12.1	469	2434	0.00	2.47	0.00	0.000	1158	0.000	0.067	2304	2196	3965	3954	3976	0	0	0	0	0	0	14.03	13.92	14.09
2624	-0.85	-145.9	2305	2196	3955	3976	354.3	-12.5	503	2625	0.00	0.00	0.00	0.000	134	0.000	0.000	2305	2195	3967	3954	3980	0	0	0	0	0	0	14.23	14.23	14.23
2682	end dive: TARGET_DEPTH_EXCEEDED
state	2682	begin apogee
2688	-0.13	0.0	2305	2072	3955	3976	361.8	-12.5	505	2917	0.90	0.05	224.05	1.325	10246	0.249	0.226	2526	2103	3364	3388	3341	0	0	0	0	0	0	13.75	13.33	12.89
2920	end apogee: CONTROL_FINISHED_OK
state	2921	begin climb
2923	0.57	145.9	2528	2103	3380	3332	371.8	0.0	512	3135	0.75	2.67	196.75	1.269	11012	0.073	0.086	2782	709	2760	2803	2718	0	0	0	0	0	0	13.47	13.21	12.74
3362	0.29	145.9	2782	709	2793	2713	337.9	14.4	597	3368	0.47	2.55	0.00	0.000	5254	0.310	0.085	2681	2101	2751	2792	2711	0	0	0	0	0	0	13.47	13.66	13.75
3549	0.17	148.9	2681	2102	2793	2708	318.1	9.9	634	3556	0.17	2.50	0.00	0.000	4772	0.296	0.084	2649	712	2749	2791	2708	0	0	0	0	0	0	13.60	13.82	13.79
3782	0.19	187.8	2650	713	2792	2709	299.4	8.2	680	3848	0.00	2.50	60.85	1.289	9254	0.000	0.090	2649	2104	2596	2649	2544	0	0	0	0	0	0	14.04	13.93	13.19
4028	0.20	200.1	2649	2106	2640	2524	276.1	9.4	727	4046	0.00	2.53	11.43	1.474	8740	0.000	0.089	2654	712	2545	2601	2489	0	0	0	0	0	0	14.16	13.85	13.28
4118	0.26	229.7	2655	712	2599	2485	268.1	8.6	744	4172	0.00	2.50	46.45	1.300	9382	0.000	0.088	2654	2099	2424	2481	2367	0	0	0	0	0	0	13.97	13.88	13.19
4352	0.27	241.1	2655	2101	2470	2354	246.1	9.5	789	4370	0.00	2.60	11.07	1.453	8484	0.000	0.094	2654	3504	2377	2431	2323	0	0	0	0	0	0	14.16	13.81	13.31
4385	0.27	241.1	2655	3505	2425	2322	242.6	10.8	795	4392	0.00	2.45	0.00	0.000	1030	0.000	0.069	2657	2117	2372	2423	2322	0	0	0	0	0	0	13.96	13.87	13.98
4572	0.30	245.6	2655	2118	2421	2322	224.5	9.8	832	4578	0.00	2.58	0.00	0.000	676	0.000	0.096	2655	690	2370	2420	2320	0	0	0	0	0	0	14.19	13.91	14.21
4648	0.40	269.4	2655	689	2419	2321	217.4	8.9	847	4703	0.17	2.55	45.40	1.291	11430	0.119	0.090	2719	2109	2262	2309	2215	0	0	0	0	0	0	13.95	13.90	13.24
4883	0.33	269.4	2718	2109	2302	2202	186.2	13.9	892	4889	0.12	2.53	0.00	0.000	4484	0.236	0.089	2688	3507	2251	2301	2201	0	0	0	0	0	0	13.83	13.88	13.94
4910	0.29	269.4	2689	3508	2300	2200	182.7	13.4	897	4916	0.00	2.47	0.00	0.000	1158	0.000	0.068	2696	2099	2250	2299	2201	0	0	0	0	0	0	14.03	13.93	14.06
5096	0.26	269.4	2696	2100	2300	2200	162.5	10.5	934	5103	0.12	2.55	0.00	0.000	4740	0.281	0.095	2674	690	2248	2299	2198	0	0	0	0	0	0	13.84	13.97	14.02
5173	0.37	313.4	2675	688	2298	2200	155.9	8.0	949	5251	0.00	2.53	72.47	1.223	9382	0.000	0.088	2674	2103	2086	2135	2038	0	0	0	0	0	0	14.10	14.00	13.24
5432	0.48	358.0	2675	2103	2121	2020	135.3	7.9	998	5511	0.15	2.67	72.00	1.183	10916	0.130	0.092	2742	691	1901	1938	1864	0	0	0	0	0	0	13.95	13.64	13.19
5537	0.48	358.0	2743	691	1925	1862	123.7	11.4	1016	5543	0.00	2.58	0.00	0.000	1030	0.000	0.086	2743	2103	1891	1922	1861	0	0	0	0	0	0	13.85	13.74	13.85
5723	0.48	358.0	2743	2104	1920	1852	102.4	10.1	1053	5729	0.00	0.00	0.00	0.000	6	0.000	0.000	2743	2103	1886	1922	1851	0	0	0	0	0	0	14.13	14.15	14.14
5909	0.49	383.5	2743	2103	1922	1847	84.5	8.8	1090	5927	0.00	0.00	12.45	0.430	8230	0.000	0.000	2743	2103	1801	1833	1770	0	0	0	0	0	0	14.22	13.85	13.60
6107	0.57	426.8	2743	2104	1841	1777	66.8	8.0	1129	6138	0.00	2.62	26.38	0.396	8868	0.000	0.093	2743	687	1623	1656	1590	0	0	0	0	0	0	14.23	13.95	13.70
6183	0.77	472.0	2743	687	1660	1592	60.8	7.9	1143	6219	0.28	2.55	26.75	0.379	11430	0.099	0.089	2842	2105	1439	1484	1395	0	0	0	0	0	0	13.95	13.88	13.68
6399	0.72	472.0	2842	2105	1485	1398	33.2	11.7	1185	6405	0.12	0.00	0.00	0.000	4230	0.256	0.000	2818	2104	1441	1484	1399	0	0	0	0	0	0	13.82	14.04	14.00
6585	0.82	532.0	2819	2106	1485	1396	17.3	7.2	1222	6628	0.00	2.58	34.67	0.252	8868	0.000	0.092	2824	680	1194	1259	1129	0	0	0	0	0	0	14.28	13.95	13.79
6705	1.15	715.5	2819	681	1255	1136	13.8	1.5	1244	6812	0.40	2.55	101.03	0.236	11430	0.086	0.086	2957	2109	497	529	466	0	0	0	0	0	0	14.01	13.96	13.79
6840	end climb: SURFACE_DEPTH_REACHED
state	6840	begin surface coast
6855	end surface coast: CONTROL_FINISHED_OK
state	6855	begin surface