Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 132 * 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 132 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 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 374.0

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 45 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 49 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 374.0 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 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 45 VBD_MIN 500

DIVE 132 NOCOMM_ACTION 161 R_STBD_OVSHOOT 49 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 220817,021955,7313.2568,-14958.4268,22,0.6,38,20.8,0.5,74.6,12,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 289.7,169431,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 220817,023123,7313.3340,-14958.1934,8,0.7,8,20.8,0.0,87.6,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822042813.967307,3,1591,32,0807,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 54083264

FINISH 0.1,1.010379 _24V_AH 12.42,105.867

SM_CCo 9060,2.80,0.222,0,0,501,702.78 _10V_AH 12.34,0.000

SM_GC 2.13,8.20,0.15,2.80,0.076,0.121,0.222,205,2234,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 175 FG_AHR_10Vo 0.000

MODEM 0,1503374648,75.36600,-145.04601,194.698,281813.2 MEM 323528

RAFOS_FIX 7312.612305,-15000.722656,220817,040419,4,255,0.30 DATA_FILE_SIZE 30033,871

IRIDIUM_FIX 7312.21,-14959.61,210817,233602 CAP_FILE_SIZE 113613,0

TT8_MAMPS 0.040446,0.874832 CFSIZE 2097872896,2047639552

HUMID 45.15 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 INTR 1,3788.32,0x2341ea,1,24

TCM_TEMP 13.10 SOUNDSPEED 1448.1

XPDR_PINGS 10 CURRENT 0.027,135.63,1

CP_FREE 15996977152.000000 GPS 220817,050407,7314.231,-14959.939,16,0.7,18,20.8,0.5,68.1,12,9.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 140.28 nil 0 0 0.00

Roll_motor 93 2146 2498.77 nil 0 0 0.00

VBD_pump_during_apogee 987 1476 18115.17 nil 0 0 0.00

VBD_pump_during_surface 2 221 7.72 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 9067 14 1632.31

Iridium_during_xfer 410 185 948.63 NCP 9069 20 2252.74

Transponder_ping 2 420 13.04 PMAR 9014 10 1126.93

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.66

TT8 0 0 0.00

LPSleep 6272 2 178.80

TT8_Active 970 13 167.24

TT8_Sampling 2218 33 915.33

TT8_CF8 308 38 147.21

TT8_Kalman 0 0 0.00

Analog_circuits 2201 10 271.64

GPS_charging 0 0 0.00

Compass 1246 7 107.65

RAFOS 2192 48 1298.37

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 194 2235 495 490 0.0 0.0 0 130 0.00 0.00 -80.97 0.000 16386 0.000 0.000 192 2235 1953 1880 2027 0 0 0 0 0 0 14.45 28.83 14.49

133 -0.57 -145.9 193 2236 1882 2030 3.1 -3.3 8 197 12.48 2.80 -42.15 0.000 19236 0.451 2.147 2384 807 3964 3951 3978 0 0 0 0 0 0 13.67 12.58 14.11

392 -0.63 -145.9 2384 807 3953 3979 59.5 -15.6 59 399 0.00 2.42 0.00 0.000 1158 0.000 0.085 2378 2171 3965 3953 3978 0 0 0 0 0 0 14.27 14.12 14.28

717 -0.68 -145.9 2379 2176 3954 3979 108.1 -13.0 88 722 0.00 2.55 0.00 0.000 388 0.000 0.093 2376 3611 3966 3954 3978 0 0 0 0 0 0 14.54 14.16 14.57

907 -0.86 -145.9 2377 3613 3954 3978 127.0 -9.0 126 913 0.22 2.35 0.00 0.000 5286 0.099 0.054 2285 2217 3966 3954 3978 0 0 0 0 0 0 14.27 14.23 14.32

1228 -0.79 -145.9 2285 2216 3955 3978 184.2 -17.6 140 1233 0.12 2.45 0.00 0.000 2436 0.288 0.084 2305 3613 3966 3954 3978 0 0 0 0 0 0 13.94 14.19 14.09

1378 -0.87 -145.9 2306 3615 3954 3979 204.1 -12.4 170 1383 0.00 2.38 0.00 0.000 1158 0.000 0.056 2305 2199 3966 3954 3978 0 0 0 0 0 0 14.39 14.27 14.42

1709 -0.89 -145.9 2301 2204 3949 3979 247.6 -12.4 186 1714 0.00 2.47 0.00 0.000 388 0.000 0.090 2299 3610 3965 3954 3977 0 0 0 0 0 0 14.60 14.23 14.64

1794 -0.99 -145.9 2300 3611 3955 3978 257.4 -10.8 203 1801 0.12 2.38 0.00 0.000 5254 0.133 0.055 2251 2201 3965 3953 3978 0 0 0 0 0 0 14.28 14.24 14.38

2099 -0.93 -145.9 2252 2199 3955 3977 303.5 -15.0 214 2104 0.00 2.47 0.00 0.000 388 0.000 0.088 2242 3614 3965 3953 3977 0 0 0 0 0 0 14.63 14.24 14.65

2230 -0.93 -145.9 2242 3614 3954 3977 322.4 -13.9 240 2235 0.15 2.38 0.00 0.000 3078 0.249 0.057 2272 2197 3965 3954 3976 0 0 0 0 0 0 14.03 14.30 14.30

2551 -0.93 -145.9 2273 2196 3955 3975 361.9 -12.0 254 2555 0.00 2.47 0.00 0.000 260 0.000 0.089 2267 3610 3967 3960 3975 0 0 0 0 0 0 14.64 14.23 14.65

2626 -1.00 -145.9 2267 3610 3955 3975 370.4 -10.8 269 2631 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2196 3964 3953 3975 0 0 0 0 0 0 14.40 14.29 14.44

2941 -1.00 -145.9 2267 2196 3954 3974 408.0 -11.9 282 2945 0.00 2.47 0.00 0.000 260 0.000 0.088 2258 3611 3964 3954 3974 0 0 0 0 0 0 14.64 14.23 14.64

3036 -1.06 -145.9 2257 3613 3954 3975 419.1 -11.3 301 3044 0.00 2.38 0.00 0.000 1158 0.000 0.057 2258 2190 3964 3954 3974 0 0 0 0 0 0 14.37 14.26 14.40

3364 -1.06 -145.9 2258 2190 3954 3975 459.9 -12.4 316 3369 0.00 2.50 0.00 0.000 260 0.000 0.088 2249 3616 3963 3953 3974 0 0 0 0 0 0 14.62 14.13 14.64

3476 -1.11 -145.9 2250 3617 3954 3975 473.3 -11.8 338 3480 0.00 2.38 0.00 0.000 1158 0.000 0.054 2250 2205 3964 3954 3974 0 0 0 0 0 0 14.24 14.14 14.26

3543 end dive: TARGET_DEPTH_EXCEEDED

state 3543 begin apogee

3549 -0.13 0.0 2250 2062 3954 3974 482.4 -12.9 342 3766 1.10 0.08 213.90 1.453 10246 0.243 0.181 2530 2109 3366 3395 3338 0 0 0 0 0 0 13.91 13.43 12.71

3770 end apogee: CONTROL_FINISHED_OK

state 3770 begin climb

3774 0.57 145.9 2531 2110 3391 3330 493.1 0.0 349 3994 0.75 2.70 205.68 1.395 10756 0.064 0.080 2790 725 2762 2812 2713 0 0 0 0 0 0 13.57 13.08 12.42

4126 0.20 145.9 2791 725 2803 2712 479.4 15.7 412 4131 0.65 2.50 0.00 0.000 5254 0.321 0.075 2654 2101 2755 2802 2708 0 0 0 0 0 0 13.31 13.59 13.64

4442 0.06 147.6 2655 2102 2803 2706 446.5 9.9 425 4447 0.20 2.42 0.00 0.000 4772 0.291 0.077 2615 729 2754 2802 2706 0 0 0 0 0 0 13.66 13.93 13.83

4539 0.07 201.7 2616 729 2803 2706 438.9 7.5 444 4624 0.00 2.42 79.57 1.404 9382 0.000 0.080 2615 2107 2541 2608 2475 0 0 0 0 0 0 14.17 14.05 12.97

4922 0.09 222.6 2616 2107 2601 2459 404.6 9.0 471 4954 0.00 0.00 28.65 1.476 8230 0.000 0.000 2615 2107 2453 2522 2385 0 0 0 0 0 0 14.40 13.97 13.16

5269 0.10 247.7 2621 2108 2515 2379 375.0 8.8 482 5310 0.00 2.45 37.03 1.449 8740 0.000 0.083 2614 726 2352 2411 2293 0 0 0 0 0 0 14.41 13.80 13.19

5367 0.22 283.7 2616 729 2404 2291 365.3 8.3 502 5427 0.12 2.42 54.55 1.392 11430 0.128 0.078 2671 2098 2211 2270 2152 0 0 0 0 0 0 14.04 14.00 13.05

5747 0.17 283.7 2672 2098 2258 2135 317.1 12.7 528 5752 0.12 2.42 0.00 0.000 4740 0.269 0.081 2647 726 2196 2257 2135 0 0 0 0 0 0 13.88 14.03 14.00

5777 0.19 283.7 2647 725 2254 2136 313.6 10.7 534 5782 0.00 2.42 0.00 0.000 1158 0.000 0.077 2647 2106 2195 2255 2135 0 0 0 0 0 0 14.18 14.07 14.21

6107 0.19 283.7 2647 2107 2257 2134 278.8 10.4 550 6112 0.00 2.42 0.00 0.000 516 0.000 0.084 2647 730 2194 2255 2134 0 0 0 0 0 0 14.42 14.14 14.47

6147 0.26 283.7 2647 730 2254 2134 274.7 10.2 558 6152 0.00 2.40 0.00 0.000 1158 0.000 0.079 2647 2101 2193 2254 2133 0 0 0 0 0 0 14.25 14.10 14.26

6467 0.27 305.7 2647 2104 2255 2134 244.3 9.0 572 6508 0.00 2.47 32.47 1.417 8740 0.000 0.084 2649 732 2112 2168 2056 0 0 0 0 0 0 14.45 14.02 13.28

6533 0.38 338.2 2647 732 2164 2057 238.4 8.5 585 6591 0.17 2.42 52.17 1.337 11430 0.109 0.078 2713 2109 1986 2037 1935 0 0 0 0 0 0 14.09 14.02 13.12

6888 0.33 338.2 2713 2109 2028 1923 193.8 12.2 606 6893 0.00 2.45 0.00 0.000 644 0.000 0.084 2717 723 1974 2027 1922 0 0 0 0 0 0 14.33 14.06 14.35

6973 0.33 338.2 2718 723 2025 1921 184.3 10.8 623 6980 0.00 2.42 0.00 0.000 1030 0.000 0.076 2718 2106 1972 2023 1922 0 0 0 0 0 0 14.18 14.07 14.21

7278 0.29 338.2 2718 2107 2024 1919 149.4 11.3 634 7283 0.15 2.42 0.00 0.000 4740 0.233 0.082 2685 724 1971 2023 1919 0 0 0 0 0 0 14.00 14.13 14.12

7323 0.41 374.8 2685 724 2021 1921 145.3 8.3 643 7390 0.00 2.40 60.62 1.289 9382 0.000 0.077 2686 2102 1837 1874 1801 0 0 0 0 0 0 14.26 14.15 13.21

7702 0.52 423.9 2685 2103 1865 1790 114.9 7.7 668 7793 0.17 2.50 81.00 1.222 10916 0.111 0.087 2768 731 1627 1658 1597 0 0 0 0 0 0 14.02 13.74 13.13

7834 0.52 423.9 2769 730 1658 1596 97.5 12.8 694 7839 0.00 2.47 0.00 0.000 1030 0.000 0.080 2768 2109 1626 1657 1596 0 0 0 0 0 0 13.93 13.79 13.95

8144 0.52 459.4 2769 2111 1658 1588 62.9 8.4 726 8167 0.00 2.55 17.33 0.395 8612 0.000 0.082 2768 3514 1490 1531 1449 0 0 0 0 0 0 14.40 14.04 13.66

8347 0.58 515.5 2769 3516 1533 1449 45.8 7.4 766 8381 0.00 2.38 29.27 0.342 9382 0.000 0.066 2773 2129 1264 1321 1207 0 0 0 0 0 0 14.24 14.14 13.82

8677 0.75 595.0 2773 2130 1322 1200 24.1 6.3 802 8725 0.12 2.53 41.17 0.285 10916 0.135 0.089 2834 694 936 1007 866 0 0 0 0 0 0 14.16 14.04 13.92

8950 0.95 697.6 2833 694 1006 863 6.6 5.3 856 9014 0.15 2.47 54.45 0.223 11430 0.117 0.077 2894 2114 515 545 485 0 0 0 0 0 0 14.22 14.10 13.93

9017 end climb: SURFACE_DEPTH_REACHED

state 9017 begin surface coast

9040 end surface coast: CONTROL_FINISHED_OK

state 9040 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	132	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	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	374.0
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	45	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	49	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,021955,7313.2568,-14958.4268,22,0.6,38,20.8,0.5,74.6,12,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	289.7,169431,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	220817,023123,7313.3340,-14958.1934,8,0.7,8,20.8,0.0,87.6,11,9.9

MODEM_MSG	CACST,6,1,20170822042813.967307,3,1591,32,0807,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	54083264
FINISH	0.1,1.010379	_24V_AH	12.42,105.867
SM_CCo	9060,2.80,0.222,0,0,501,702.78	_10V_AH	12.34,0.000
SM_GC	2.13,8.20,0.15,2.80,0.076,0.121,0.222,205,2234,501,-7.36,-0.71,702.78,0,0,0,0,0,0,14.26,14.26,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	175	FG_AHR_10Vo	0.000
MODEM	0,1503374648,75.36600,-145.04601,194.698,281813.2	MEM	323528
RAFOS_FIX	7312.612305,-15000.722656,220817,040419,4,255,0.30	DATA_FILE_SIZE	30033,871
IRIDIUM_FIX	7312.21,-14959.61,210817,233602	CAP_FILE_SIZE	113613,0
TT8_MAMPS	0.040446,0.874832	CFSIZE	2097872896,2047639552
HUMID	45.15	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	INTR	1,3788.32,0x2341ea,1,24
TCM_TEMP	13.10	SOUNDSPEED	1448.1
XPDR_PINGS	10	CURRENT	0.027,135.63,1
CP_FREE	15996977152.000000	GPS	220817,050407,7314.231,-14959.939,16,0.7,18,20.8,0.5,68.1,12,9.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	140.28	nil	0	0	0.00
Roll_motor	93	2146	2498.77	nil	0	0	0.00
VBD_pump_during_apogee	987	1476	18115.17	nil	0	0	0.00
VBD_pump_during_surface	2	221	7.72	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	9067	14	1632.31
Iridium_during_xfer	410	185	948.63	NCP	9069	20	2252.74
Transponder_ping	2	420	13.04	PMAR	9014	10	1126.93
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.66
TT8	0	0	0.00
LPSleep	6272	2	178.80
TT8_Active	970	13	167.24
TT8_Sampling	2218	33	915.33
TT8_CF8	308	38	147.21
TT8_Kalman	0	0	0.00
Analog_circuits	2201	10	271.64
GPS_charging	0	0	0.00
Compass	1246	7	107.65
RAFOS	2192	48	1298.37
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	194	2235	495	490	0.0	0.0	0	130	0.00	0.00	-80.97	0.000	16386	0.000	0.000	192	2235	1953	1880	2027	0	0	0	0	0	0	14.45	28.83	14.49
133	-0.57	-145.9	193	2236	1882	2030	3.1	-3.3	8	197	12.48	2.80	-42.15	0.000	19236	0.451	2.147	2384	807	3964	3951	3978	0	0	0	0	0	0	13.67	12.58	14.11
392	-0.63	-145.9	2384	807	3953	3979	59.5	-15.6	59	399	0.00	2.42	0.00	0.000	1158	0.000	0.085	2378	2171	3965	3953	3978	0	0	0	0	0	0	14.27	14.12	14.28
717	-0.68	-145.9	2379	2176	3954	3979	108.1	-13.0	88	722	0.00	2.55	0.00	0.000	388	0.000	0.093	2376	3611	3966	3954	3978	0	0	0	0	0	0	14.54	14.16	14.57
907	-0.86	-145.9	2377	3613	3954	3978	127.0	-9.0	126	913	0.22	2.35	0.00	0.000	5286	0.099	0.054	2285	2217	3966	3954	3978	0	0	0	0	0	0	14.27	14.23	14.32
1228	-0.79	-145.9	2285	2216	3955	3978	184.2	-17.6	140	1233	0.12	2.45	0.00	0.000	2436	0.288	0.084	2305	3613	3966	3954	3978	0	0	0	0	0	0	13.94	14.19	14.09
1378	-0.87	-145.9	2306	3615	3954	3979	204.1	-12.4	170	1383	0.00	2.38	0.00	0.000	1158	0.000	0.056	2305	2199	3966	3954	3978	0	0	0	0	0	0	14.39	14.27	14.42
1709	-0.89	-145.9	2301	2204	3949	3979	247.6	-12.4	186	1714	0.00	2.47	0.00	0.000	388	0.000	0.090	2299	3610	3965	3954	3977	0	0	0	0	0	0	14.60	14.23	14.64
1794	-0.99	-145.9	2300	3611	3955	3978	257.4	-10.8	203	1801	0.12	2.38	0.00	0.000	5254	0.133	0.055	2251	2201	3965	3953	3978	0	0	0	0	0	0	14.28	14.24	14.38
2099	-0.93	-145.9	2252	2199	3955	3977	303.5	-15.0	214	2104	0.00	2.47	0.00	0.000	388	0.000	0.088	2242	3614	3965	3953	3977	0	0	0	0	0	0	14.63	14.24	14.65
2230	-0.93	-145.9	2242	3614	3954	3977	322.4	-13.9	240	2235	0.15	2.38	0.00	0.000	3078	0.249	0.057	2272	2197	3965	3954	3976	0	0	0	0	0	0	14.03	14.30	14.30
2551	-0.93	-145.9	2273	2196	3955	3975	361.9	-12.0	254	2555	0.00	2.47	0.00	0.000	260	0.000	0.089	2267	3610	3967	3960	3975	0	0	0	0	0	0	14.64	14.23	14.65
2626	-1.00	-145.9	2267	3610	3955	3975	370.4	-10.8	269	2631	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2196	3964	3953	3975	0	0	0	0	0	0	14.40	14.29	14.44
2941	-1.00	-145.9	2267	2196	3954	3974	408.0	-11.9	282	2945	0.00	2.47	0.00	0.000	260	0.000	0.088	2258	3611	3964	3954	3974	0	0	0	0	0	0	14.64	14.23	14.64
3036	-1.06	-145.9	2257	3613	3954	3975	419.1	-11.3	301	3044	0.00	2.38	0.00	0.000	1158	0.000	0.057	2258	2190	3964	3954	3974	0	0	0	0	0	0	14.37	14.26	14.40
3364	-1.06	-145.9	2258	2190	3954	3975	459.9	-12.4	316	3369	0.00	2.50	0.00	0.000	260	0.000	0.088	2249	3616	3963	3953	3974	0	0	0	0	0	0	14.62	14.13	14.64
3476	-1.11	-145.9	2250	3617	3954	3975	473.3	-11.8	338	3480	0.00	2.38	0.00	0.000	1158	0.000	0.054	2250	2205	3964	3954	3974	0	0	0	0	0	0	14.24	14.14	14.26
3543	end dive: TARGET_DEPTH_EXCEEDED
state	3543	begin apogee
3549	-0.13	0.0	2250	2062	3954	3974	482.4	-12.9	342	3766	1.10	0.08	213.90	1.453	10246	0.243	0.181	2530	2109	3366	3395	3338	0	0	0	0	0	0	13.91	13.43	12.71
3770	end apogee: CONTROL_FINISHED_OK
state	3770	begin climb
3774	0.57	145.9	2531	2110	3391	3330	493.1	0.0	349	3994	0.75	2.70	205.68	1.395	10756	0.064	0.080	2790	725	2762	2812	2713	0	0	0	0	0	0	13.57	13.08	12.42
4126	0.20	145.9	2791	725	2803	2712	479.4	15.7	412	4131	0.65	2.50	0.00	0.000	5254	0.321	0.075	2654	2101	2755	2802	2708	0	0	0	0	0	0	13.31	13.59	13.64
4442	0.06	147.6	2655	2102	2803	2706	446.5	9.9	425	4447	0.20	2.42	0.00	0.000	4772	0.291	0.077	2615	729	2754	2802	2706	0	0	0	0	0	0	13.66	13.93	13.83
4539	0.07	201.7	2616	729	2803	2706	438.9	7.5	444	4624	0.00	2.42	79.57	1.404	9382	0.000	0.080	2615	2107	2541	2608	2475	0	0	0	0	0	0	14.17	14.05	12.97
4922	0.09	222.6	2616	2107	2601	2459	404.6	9.0	471	4954	0.00	0.00	28.65	1.476	8230	0.000	0.000	2615	2107	2453	2522	2385	0	0	0	0	0	0	14.40	13.97	13.16
5269	0.10	247.7	2621	2108	2515	2379	375.0	8.8	482	5310	0.00	2.45	37.03	1.449	8740	0.000	0.083	2614	726	2352	2411	2293	0	0	0	0	0	0	14.41	13.80	13.19
5367	0.22	283.7	2616	729	2404	2291	365.3	8.3	502	5427	0.12	2.42	54.55	1.392	11430	0.128	0.078	2671	2098	2211	2270	2152	0	0	0	0	0	0	14.04	14.00	13.05
5747	0.17	283.7	2672	2098	2258	2135	317.1	12.7	528	5752	0.12	2.42	0.00	0.000	4740	0.269	0.081	2647	726	2196	2257	2135	0	0	0	0	0	0	13.88	14.03	14.00
5777	0.19	283.7	2647	725	2254	2136	313.6	10.7	534	5782	0.00	2.42	0.00	0.000	1158	0.000	0.077	2647	2106	2195	2255	2135	0	0	0	0	0	0	14.18	14.07	14.21
6107	0.19	283.7	2647	2107	2257	2134	278.8	10.4	550	6112	0.00	2.42	0.00	0.000	516	0.000	0.084	2647	730	2194	2255	2134	0	0	0	0	0	0	14.42	14.14	14.47
6147	0.26	283.7	2647	730	2254	2134	274.7	10.2	558	6152	0.00	2.40	0.00	0.000	1158	0.000	0.079	2647	2101	2193	2254	2133	0	0	0	0	0	0	14.25	14.10	14.26
6467	0.27	305.7	2647	2104	2255	2134	244.3	9.0	572	6508	0.00	2.47	32.47	1.417	8740	0.000	0.084	2649	732	2112	2168	2056	0	0	0	0	0	0	14.45	14.02	13.28
6533	0.38	338.2	2647	732	2164	2057	238.4	8.5	585	6591	0.17	2.42	52.17	1.337	11430	0.109	0.078	2713	2109	1986	2037	1935	0	0	0	0	0	0	14.09	14.02	13.12
6888	0.33	338.2	2713	2109	2028	1923	193.8	12.2	606	6893	0.00	2.45	0.00	0.000	644	0.000	0.084	2717	723	1974	2027	1922	0	0	0	0	0	0	14.33	14.06	14.35
6973	0.33	338.2	2718	723	2025	1921	184.3	10.8	623	6980	0.00	2.42	0.00	0.000	1030	0.000	0.076	2718	2106	1972	2023	1922	0	0	0	0	0	0	14.18	14.07	14.21
7278	0.29	338.2	2718	2107	2024	1919	149.4	11.3	634	7283	0.15	2.42	0.00	0.000	4740	0.233	0.082	2685	724	1971	2023	1919	0	0	0	0	0	0	14.00	14.13	14.12
7323	0.41	374.8	2685	724	2021	1921	145.3	8.3	643	7390	0.00	2.40	60.62	1.289	9382	0.000	0.077	2686	2102	1837	1874	1801	0	0	0	0	0	0	14.26	14.15	13.21
7702	0.52	423.9	2685	2103	1865	1790	114.9	7.7	668	7793	0.17	2.50	81.00	1.222	10916	0.111	0.087	2768	731	1627	1658	1597	0	0	0	0	0	0	14.02	13.74	13.13
7834	0.52	423.9	2769	730	1658	1596	97.5	12.8	694	7839	0.00	2.47	0.00	0.000	1030	0.000	0.080	2768	2109	1626	1657	1596	0	0	0	0	0	0	13.93	13.79	13.95
8144	0.52	459.4	2769	2111	1658	1588	62.9	8.4	726	8167	0.00	2.55	17.33	0.395	8612	0.000	0.082	2768	3514	1490	1531	1449	0	0	0	0	0	0	14.40	14.04	13.66
8347	0.58	515.5	2769	3516	1533	1449	45.8	7.4	766	8381	0.00	2.38	29.27	0.342	9382	0.000	0.066	2773	2129	1264	1321	1207	0	0	0	0	0	0	14.24	14.14	13.82
8677	0.75	595.0	2773	2130	1322	1200	24.1	6.3	802	8725	0.12	2.53	41.17	0.285	10916	0.135	0.089	2834	694	936	1007	866	0	0	0	0	0	0	14.16	14.04	13.92
8950	0.95	697.6	2833	694	1006	863	6.6	5.3	856	9014	0.15	2.47	54.45	0.223	11430	0.117	0.077	2894	2114	515	545	485	0	0	0	0	0	0	14.22	14.10	13.93
9017	end climb: SURFACE_DEPTH_REACHED
state	9017	begin surface coast
9040	end surface coast: CONTROL_FINISHED_OK
state	9040	begin surface