Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 134 * 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 134 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 48

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 379.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 379.0 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 23 VBD_MIN 500

DIVE 134 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 220817,074627,7315.1733,-15001.5625,18,0.8,23,20.8,0.0,0.0,10,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 5 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 294.4,166006,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 220817,080953,7315.0742,-15001.4365,6,0.7,35,20.8,0.0,161.4,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822082812.477520,3,1002,30,0385,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33 PM_FREEKB_00 54021760

FINISH 0.1,1.009717 _24V_AH 12.42,106.813

SM_CCo 9067,57.03,0.214,0,0,502,702.78 _10V_AH 12.44,0.000

SM_GC 0.98,8.15,0.17,57.03,0.080,0.121,0.214,200,2216,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.30,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 416 FG_AHR_10Vo 0.000

MODEM 2,1503389551,73.18300,-149.96500,4.935,7144.7 MEM 323472

RAFOS_FIX 7314.153320,-15000.886719,220817,080822,3,255,2.76 DATA_FILE_SIZE 26680,799

IRIDIUM_FIX 7315.64,-15002.34,220817,080340 CAP_FILE_SIZE 115502,0

TT8_MAMPS 0.039697,0.864346 CFSIZE 2097872896,2046885888

HUMID 47.04 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.5

TCM_TEMP 13.20 CURRENT 0.015,286.14,1

XPDR_PINGS 13 GPS 220817,104350,7316.175,-15003.397,39,0.8,39,20.7,0.0,0.0,10,8.9

CP_FREE 15996649472.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.27 nil 0 0 0.00

Roll_motor 89 2152 2399.62 nil 0 0 0.00

VBD_pump_during_apogee 902 1541 17276.56 nil 0 0 0.00

VBD_pump_during_surface 57 214 151.71 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 9074 14 1609.57

Iridium_during_xfer 849 162 1711.08 NCP 9073 20 2253.73

Transponder_ping 3 420 16.95 PMAR 9022 10 1137.90

GUMSTIX_24V 0 0 0.00

GPS 36 22 10.12

TT8 0 0 0.00

LPSleep 6690 2 192.25

TT8_Active 935 13 162.50

TT8_Sampling 2561 33 1065.40

TT8_CF8 358 38 172.48

TT8_Kalman 0 0 0.00

Analog_circuits 2580 10 320.99

GPS_charging 0 0 0.00

Compass 1144 7 99.69

RAFOS 1482 48 884.93

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 191 2206 503 489 0.0 0.0 0 126 0.00 0.00 -77.45 0.000 16386 0.000 0.000 190 2207 1878 1805 1951 0 0 0 0 0 0 14.52 28.83 14.54

129 -0.57 -145.9 190 2207 1811 1959 3.0 -3.1 8 196 12.62 2.80 -46.45 0.000 18724 0.456 2.153 2376 3600 3962 3943 3981 0 0 0 0 0 0 13.68 12.66 14.13

421 -0.57 -145.9 2376 3602 3950 3983 64.4 -17.7 66 427 0.00 2.42 0.00 0.000 1030 0.000 0.057 2375 2191 3968 3954 3982 0 0 0 0 0 0 14.14 14.03 14.17

744 -0.61 -145.9 2375 2192 3956 3982 112.0 -12.9 93 749 0.00 2.53 0.00 0.000 388 0.000 0.087 2366 3612 3966 3954 3978 0 0 0 0 0 0 14.40 14.03 14.41

914 -0.78 -145.9 2366 3613 3956 3982 130.3 -9.6 127 919 0.12 2.40 0.00 0.000 5286 0.132 0.054 2314 2196 3971 3954 3988 0 0 0 0 0 0 14.08 14.09 14.19

1224 -0.78 -145.9 2315 2196 3956 3984 178.2 -15.3 139 1229 0.00 2.50 0.00 0.000 260 0.000 0.087 2308 3609 3967 3954 3981 0 0 0 0 0 0 14.42 14.05 14.43

1309 -0.88 -145.9 2304 3610 3955 3983 189.8 -12.3 156 1316 0.00 2.40 0.00 0.000 1158 0.000 0.055 2307 2202 3967 3954 3981 0 0 0 0 0 0 14.21 14.10 14.24

1614 -0.88 -145.9 2308 2202 3956 3982 232.3 -13.4 167 1619 0.00 2.47 0.00 0.000 260 0.000 0.089 2301 3620 3967 3954 3981 0 0 0 0 0 0 14.42 14.07 14.45

1735 -0.99 -145.9 2301 3621 3955 3980 246.0 -10.4 191 1740 0.12 2.40 0.00 0.000 5254 0.129 0.057 2252 2187 3967 3954 3981 0 0 0 0 0 0 14.12 14.09 14.21

2065 -0.94 -145.9 2252 2185 3955 3982 296.6 -15.0 207 2070 0.00 2.50 0.00 0.000 388 0.000 0.087 2242 3609 3968 3955 3981 0 0 0 0 0 0 14.57 14.16 14.58

2220 -0.94 -145.9 2243 3609 3954 3982 319.2 -14.4 238 2226 0.15 2.40 0.00 0.000 3078 0.260 0.059 2272 2190 3967 3954 3981 0 0 0 0 0 0 13.95 14.19 14.21

2546 -0.94 -145.9 2272 2190 3955 3980 359.8 -12.1 253 2551 0.00 2.50 0.00 0.000 260 0.000 0.088 2267 3613 3967 3954 3980 0 0 0 0 0 0 14.61 14.18 14.62

2646 -1.01 -145.9 2267 3614 3955 3980 371.2 -11.0 273 2651 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2196 3967 3954 3980 0 0 0 0 0 0 14.38 14.28 14.42

2967 -1.01 -145.9 2267 2196 3954 3981 410.0 -12.0 287 2971 0.00 2.47 0.00 0.000 260 0.000 0.088 2258 3608 3966 3953 3980 0 0 0 0 0 0 14.62 14.19 14.63

3057 -1.07 -145.9 2258 3610 3953 3981 420.6 -11.7 305 3061 0.00 2.38 0.00 0.000 1158 0.000 0.056 2258 2194 3963 3953 3974 0 0 0 0 0 0 14.38 14.26 14.41

3387 -1.07 -145.9 2259 2192 3954 3979 461.6 -12.5 321 3391 0.00 2.47 0.00 0.000 260 0.000 0.088 2250 3608 3966 3953 3979 0 0 0 0 0 0 14.63 14.19 14.64

3482 -1.11 -145.9 2250 3609 3954 3979 473.2 -12.0 340 3486 0.00 2.38 0.00 0.000 1158 0.000 0.055 2249 2198 3966 3953 3979 0 0 0 0 0 0 14.29 14.19 14.34

3534 end dive: TARGET_DEPTH_EXCEEDED

state 3534 begin apogee

3540 -0.13 0.0 2250 2068 3953 3984 480.3 -13.2 346 3767 1.10 0.05 224.00 1.431 10246 0.245 0.218 2529 2101 3365 3386 3345 0 0 0 0 0 0 13.95 13.38 12.69

3771 end apogee: CONTROL_FINISHED_OK

state 3771 begin climb

3773 0.57 145.9 2530 2102 3379 3334 491.0 0.0 353 3988 0.75 2.67 204.50 1.386 11012 0.067 0.075 2781 3524 2762 2805 2720 0 0 0 0 0 0 13.54 13.15 12.42

4020 0.12 145.9 2782 3519 2790 2719 493.1 15.3 387 4026 0.85 2.50 0.00 0.000 5254 0.351 0.054 2626 2133 2754 2789 2719 0 0 0 0 0 0 13.09 13.35 13.39

4353 0.05 182.0 2626 2132 2790 2715 463.9 8.3 403 4406 0.00 2.60 48.55 1.443 8868 0.000 0.082 2636 693 2624 2668 2580 0 0 0 0 0 0 14.21 13.55 12.94

4501 0.03 196.4 2636 693 2665 2567 450.3 9.3 433 4527 0.20 2.53 18.58 1.541 13478 0.246 0.079 2592 2107 2563 2621 2505 0 0 0 0 0 0 13.70 13.87 12.94

4834 0.10 250.9 2592 2109 2618 2494 425.2 7.5 449 4923 0.00 0.00 82.97 1.405 8358 0.000 0.000 2593 2108 2332 2386 2278 0 0 0 0 0 0 14.41 13.70 13.02

5222 0.21 297.3 2593 2108 2386 2271 394.7 7.9 462 5298 0.15 2.58 68.62 1.385 10916 0.120 0.088 2668 688 2148 2199 2098 0 0 0 0 0 0 14.18 13.85 13.08

5332 0.21 297.3 2668 689 2192 2097 381.1 12.9 484 5338 0.00 2.53 0.00 0.000 1030 0.000 0.078 2668 2108 2143 2191 2095 0 0 0 0 0 0 14.00 13.89 14.02

5643 0.17 297.3 2669 2104 2191 2090 340.8 12.8 496 5648 0.12 2.47 0.00 0.000 4740 0.275 0.083 2647 694 2137 2189 2086 0 0 0 0 0 0 13.96 14.13 14.11

5688 0.23 297.3 2647 695 2188 2088 335.7 10.7 505 5693 0.00 2.45 0.00 0.000 1158 0.000 0.078 2647 2098 2137 2188 2087 0 0 0 0 0 0 14.26 14.19 14.32

6003 0.23 297.3 2647 2100 2187 2087 301.9 10.5 518 6004 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2099 2136 2187 2085 0 0 0 0 0 0 14.62 14.60 14.60

6303 0.26 299.4 2645 2100 2188 2085 271.5 9.9 528 6308 0.00 2.47 0.00 0.000 676 0.000 0.086 2647 685 2136 2188 2084 0 0 0 0 0 0 14.62 14.26 14.64

6353 0.35 313.0 2647 684 2188 2084 266.7 9.4 538 6380 0.15 2.45 20.73 1.474 11430 0.119 0.078 2705 2107 2087 2136 2038 0 0 0 0 0 0 14.36 14.30 13.36

6697 0.28 313.0 2706 2107 2133 2031 222.0 12.5 556 6699 0.15 0.00 0.00 0.000 4230 0.228 0.000 2671 2108 2080 2131 2030 0 0 0 0 0 0 14.12 14.37 14.31

6996 0.30 343.1 2672 2109 2132 2030 194.7 8.6 566 7051 0.00 2.50 49.72 1.358 8740 0.000 0.086 2672 695 1963 2010 1917 0 0 0 0 0 0 14.64 13.88 13.31

7113 0.44 390.1 2672 694 2003 1916 185.3 7.8 589 7202 0.15 2.47 79.47 1.263 11430 0.124 0.078 2735 2100 1769 1798 1741 0 0 0 0 0 0 14.11 14.07 13.10

7507 0.41 390.1 2736 2100 1795 1729 136.9 12.0 618 7513 0.00 2.47 0.00 0.000 644 0.000 0.086 2742 692 1761 1794 1728 0 0 0 0 0 0 14.45 14.12 14.45

7613 0.41 390.1 2742 692 1789 1729 124.4 11.3 639 7618 0.00 2.45 0.00 0.000 1030 0.000 0.077 2742 2099 1758 1788 1728 0 0 0 0 0 0 14.31 14.19 14.34

7918 0.41 390.1 2746 2097 1788 1728 90.1 10.4 657 7923 0.00 2.45 0.00 0.000 516 0.000 0.085 2746 693 1756 1787 1726 0 0 0 0 0 0 14.54 14.13 14.55

7953 0.41 393.0 2747 694 1787 1728 86.6 9.9 664 7959 0.12 2.45 0.00 0.000 5158 0.236 0.079 2719 2099 1755 1786 1724 0 0 0 0 0 0 13.97 14.15 14.17

8258 0.54 471.5 2719 2101 1786 1727 64.7 6.4 695 8306 0.00 2.53 40.33 0.399 8612 0.000 0.083 2720 3507 1441 1483 1400 0 0 0 0 0 0 14.54 14.04 13.78

8353 0.71 532.2 2720 3507 1484 1400 58.4 7.2 713 8391 0.25 2.40 31.70 0.379 11430 0.086 0.063 2816 2100 1193 1255 1132 0 0 0 0 0 0 14.16 14.08 13.76

8696 0.71 541.3 2816 2101 1256 1123 24.7 9.6 751 8707 0.00 2.53 4.22 0.298 8740 0.000 0.088 2822 685 1158 1226 1090 0 0 0 0 0 0 14.51 14.13 13.85

8794 0.86 595.0 2822 684 1226 1091 16.4 7.5 770 8833 0.12 2.47 29.00 0.262 11430 0.130 0.076 2876 2106 934 1002 866 0 0 0 0 0 0 14.19 14.16 13.87

9015 end climb: SURFACE_DEPTH_REACHED

state 9016 begin surface coast

9046 end surface coast: CONTROL_FINISHED_OK

state 9046 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	134	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	48
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	379.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,074627,7315.1733,-15001.5625,18,0.8,23,20.8,0.0,0.0,10,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	5	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	294.4,166006,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	220817,080953,7315.0742,-15001.4365,6,0.7,35,20.8,0.0,161.4,11,10.0

MODEM_MSG	CACST,6,1,20170822082812.477520,3,1002,30,0385,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33	PM_FREEKB_00	54021760
FINISH	0.1,1.009717	_24V_AH	12.42,106.813
SM_CCo	9067,57.03,0.214,0,0,502,702.78	_10V_AH	12.44,0.000
SM_GC	0.98,8.15,0.17,57.03,0.080,0.121,0.214,200,2216,502,-7.37,-0.68,702.78,0,0,0,0,0,0,14.31,14.30,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	416	FG_AHR_10Vo	0.000
MODEM	2,1503389551,73.18300,-149.96500,4.935,7144.7	MEM	323472
RAFOS_FIX	7314.153320,-15000.886719,220817,080822,3,255,2.76	DATA_FILE_SIZE	26680,799
IRIDIUM_FIX	7315.64,-15002.34,220817,080340	CAP_FILE_SIZE	115502,0
TT8_MAMPS	0.039697,0.864346	CFSIZE	2097872896,2046885888
HUMID	47.04	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.5
TCM_TEMP	13.20	CURRENT	0.015,286.14,1
XPDR_PINGS	13	GPS	220817,104350,7316.175,-15003.397,39,0.8,39,20.7,0.0,0.0,10,8.9
CP_FREE	15996649472.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.27	nil	0	0	0.00
Roll_motor	89	2152	2399.62	nil	0	0	0.00
VBD_pump_during_apogee	902	1541	17276.56	nil	0	0	0.00
VBD_pump_during_surface	57	214	151.71	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	9074	14	1609.57
Iridium_during_xfer	849	162	1711.08	NCP	9073	20	2253.73
Transponder_ping	3	420	16.95	PMAR	9022	10	1137.90
GUMSTIX_24V	0	0	0.00
GPS	36	22	10.12
TT8	0	0	0.00
LPSleep	6690	2	192.25
TT8_Active	935	13	162.50
TT8_Sampling	2561	33	1065.40
TT8_CF8	358	38	172.48
TT8_Kalman	0	0	0.00
Analog_circuits	2580	10	320.99
GPS_charging	0	0	0.00
Compass	1144	7	99.69
RAFOS	1482	48	884.93
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	191	2206	503	489	0.0	0.0	0	126	0.00	0.00	-77.45	0.000	16386	0.000	0.000	190	2207	1878	1805	1951	0	0	0	0	0	0	14.52	28.83	14.54
129	-0.57	-145.9	190	2207	1811	1959	3.0	-3.1	8	196	12.62	2.80	-46.45	0.000	18724	0.456	2.153	2376	3600	3962	3943	3981	0	0	0	0	0	0	13.68	12.66	14.13
421	-0.57	-145.9	2376	3602	3950	3983	64.4	-17.7	66	427	0.00	2.42	0.00	0.000	1030	0.000	0.057	2375	2191	3968	3954	3982	0	0	0	0	0	0	14.14	14.03	14.17
744	-0.61	-145.9	2375	2192	3956	3982	112.0	-12.9	93	749	0.00	2.53	0.00	0.000	388	0.000	0.087	2366	3612	3966	3954	3978	0	0	0	0	0	0	14.40	14.03	14.41
914	-0.78	-145.9	2366	3613	3956	3982	130.3	-9.6	127	919	0.12	2.40	0.00	0.000	5286	0.132	0.054	2314	2196	3971	3954	3988	0	0	0	0	0	0	14.08	14.09	14.19
1224	-0.78	-145.9	2315	2196	3956	3984	178.2	-15.3	139	1229	0.00	2.50	0.00	0.000	260	0.000	0.087	2308	3609	3967	3954	3981	0	0	0	0	0	0	14.42	14.05	14.43
1309	-0.88	-145.9	2304	3610	3955	3983	189.8	-12.3	156	1316	0.00	2.40	0.00	0.000	1158	0.000	0.055	2307	2202	3967	3954	3981	0	0	0	0	0	0	14.21	14.10	14.24
1614	-0.88	-145.9	2308	2202	3956	3982	232.3	-13.4	167	1619	0.00	2.47	0.00	0.000	260	0.000	0.089	2301	3620	3967	3954	3981	0	0	0	0	0	0	14.42	14.07	14.45
1735	-0.99	-145.9	2301	3621	3955	3980	246.0	-10.4	191	1740	0.12	2.40	0.00	0.000	5254	0.129	0.057	2252	2187	3967	3954	3981	0	0	0	0	0	0	14.12	14.09	14.21
2065	-0.94	-145.9	2252	2185	3955	3982	296.6	-15.0	207	2070	0.00	2.50	0.00	0.000	388	0.000	0.087	2242	3609	3968	3955	3981	0	0	0	0	0	0	14.57	14.16	14.58
2220	-0.94	-145.9	2243	3609	3954	3982	319.2	-14.4	238	2226	0.15	2.40	0.00	0.000	3078	0.260	0.059	2272	2190	3967	3954	3981	0	0	0	0	0	0	13.95	14.19	14.21
2546	-0.94	-145.9	2272	2190	3955	3980	359.8	-12.1	253	2551	0.00	2.50	0.00	0.000	260	0.000	0.088	2267	3613	3967	3954	3980	0	0	0	0	0	0	14.61	14.18	14.62
2646	-1.01	-145.9	2267	3614	3955	3980	371.2	-11.0	273	2651	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2196	3967	3954	3980	0	0	0	0	0	0	14.38	14.28	14.42
2967	-1.01	-145.9	2267	2196	3954	3981	410.0	-12.0	287	2971	0.00	2.47	0.00	0.000	260	0.000	0.088	2258	3608	3966	3953	3980	0	0	0	0	0	0	14.62	14.19	14.63
3057	-1.07	-145.9	2258	3610	3953	3981	420.6	-11.7	305	3061	0.00	2.38	0.00	0.000	1158	0.000	0.056	2258	2194	3963	3953	3974	0	0	0	0	0	0	14.38	14.26	14.41
3387	-1.07	-145.9	2259	2192	3954	3979	461.6	-12.5	321	3391	0.00	2.47	0.00	0.000	260	0.000	0.088	2250	3608	3966	3953	3979	0	0	0	0	0	0	14.63	14.19	14.64
3482	-1.11	-145.9	2250	3609	3954	3979	473.2	-12.0	340	3486	0.00	2.38	0.00	0.000	1158	0.000	0.055	2249	2198	3966	3953	3979	0	0	0	0	0	0	14.29	14.19	14.34
3534	end dive: TARGET_DEPTH_EXCEEDED
state	3534	begin apogee
3540	-0.13	0.0	2250	2068	3953	3984	480.3	-13.2	346	3767	1.10	0.05	224.00	1.431	10246	0.245	0.218	2529	2101	3365	3386	3345	0	0	0	0	0	0	13.95	13.38	12.69
3771	end apogee: CONTROL_FINISHED_OK
state	3771	begin climb
3773	0.57	145.9	2530	2102	3379	3334	491.0	0.0	353	3988	0.75	2.67	204.50	1.386	11012	0.067	0.075	2781	3524	2762	2805	2720	0	0	0	0	0	0	13.54	13.15	12.42
4020	0.12	145.9	2782	3519	2790	2719	493.1	15.3	387	4026	0.85	2.50	0.00	0.000	5254	0.351	0.054	2626	2133	2754	2789	2719	0	0	0	0	0	0	13.09	13.35	13.39
4353	0.05	182.0	2626	2132	2790	2715	463.9	8.3	403	4406	0.00	2.60	48.55	1.443	8868	0.000	0.082	2636	693	2624	2668	2580	0	0	0	0	0	0	14.21	13.55	12.94
4501	0.03	196.4	2636	693	2665	2567	450.3	9.3	433	4527	0.20	2.53	18.58	1.541	13478	0.246	0.079	2592	2107	2563	2621	2505	0	0	0	0	0	0	13.70	13.87	12.94
4834	0.10	250.9	2592	2109	2618	2494	425.2	7.5	449	4923	0.00	0.00	82.97	1.405	8358	0.000	0.000	2593	2108	2332	2386	2278	0	0	0	0	0	0	14.41	13.70	13.02
5222	0.21	297.3	2593	2108	2386	2271	394.7	7.9	462	5298	0.15	2.58	68.62	1.385	10916	0.120	0.088	2668	688	2148	2199	2098	0	0	0	0	0	0	14.18	13.85	13.08
5332	0.21	297.3	2668	689	2192	2097	381.1	12.9	484	5338	0.00	2.53	0.00	0.000	1030	0.000	0.078	2668	2108	2143	2191	2095	0	0	0	0	0	0	14.00	13.89	14.02
5643	0.17	297.3	2669	2104	2191	2090	340.8	12.8	496	5648	0.12	2.47	0.00	0.000	4740	0.275	0.083	2647	694	2137	2189	2086	0	0	0	0	0	0	13.96	14.13	14.11
5688	0.23	297.3	2647	695	2188	2088	335.7	10.7	505	5693	0.00	2.45	0.00	0.000	1158	0.000	0.078	2647	2098	2137	2188	2087	0	0	0	0	0	0	14.26	14.19	14.32
6003	0.23	297.3	2647	2100	2187	2087	301.9	10.5	518	6004	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2099	2136	2187	2085	0	0	0	0	0	0	14.62	14.60	14.60
6303	0.26	299.4	2645	2100	2188	2085	271.5	9.9	528	6308	0.00	2.47	0.00	0.000	676	0.000	0.086	2647	685	2136	2188	2084	0	0	0	0	0	0	14.62	14.26	14.64
6353	0.35	313.0	2647	684	2188	2084	266.7	9.4	538	6380	0.15	2.45	20.73	1.474	11430	0.119	0.078	2705	2107	2087	2136	2038	0	0	0	0	0	0	14.36	14.30	13.36
6697	0.28	313.0	2706	2107	2133	2031	222.0	12.5	556	6699	0.15	0.00	0.00	0.000	4230	0.228	0.000	2671	2108	2080	2131	2030	0	0	0	0	0	0	14.12	14.37	14.31
6996	0.30	343.1	2672	2109	2132	2030	194.7	8.6	566	7051	0.00	2.50	49.72	1.358	8740	0.000	0.086	2672	695	1963	2010	1917	0	0	0	0	0	0	14.64	13.88	13.31
7113	0.44	390.1	2672	694	2003	1916	185.3	7.8	589	7202	0.15	2.47	79.47	1.263	11430	0.124	0.078	2735	2100	1769	1798	1741	0	0	0	0	0	0	14.11	14.07	13.10
7507	0.41	390.1	2736	2100	1795	1729	136.9	12.0	618	7513	0.00	2.47	0.00	0.000	644	0.000	0.086	2742	692	1761	1794	1728	0	0	0	0	0	0	14.45	14.12	14.45
7613	0.41	390.1	2742	692	1789	1729	124.4	11.3	639	7618	0.00	2.45	0.00	0.000	1030	0.000	0.077	2742	2099	1758	1788	1728	0	0	0	0	0	0	14.31	14.19	14.34
7918	0.41	390.1	2746	2097	1788	1728	90.1	10.4	657	7923	0.00	2.45	0.00	0.000	516	0.000	0.085	2746	693	1756	1787	1726	0	0	0	0	0	0	14.54	14.13	14.55
7953	0.41	393.0	2747	694	1787	1728	86.6	9.9	664	7959	0.12	2.45	0.00	0.000	5158	0.236	0.079	2719	2099	1755	1786	1724	0	0	0	0	0	0	13.97	14.15	14.17
8258	0.54	471.5	2719	2101	1786	1727	64.7	6.4	695	8306	0.00	2.53	40.33	0.399	8612	0.000	0.083	2720	3507	1441	1483	1400	0	0	0	0	0	0	14.54	14.04	13.78
8353	0.71	532.2	2720	3507	1484	1400	58.4	7.2	713	8391	0.25	2.40	31.70	0.379	11430	0.086	0.063	2816	2100	1193	1255	1132	0	0	0	0	0	0	14.16	14.08	13.76
8696	0.71	541.3	2816	2101	1256	1123	24.7	9.6	751	8707	0.00	2.53	4.22	0.298	8740	0.000	0.088	2822	685	1158	1226	1090	0	0	0	0	0	0	14.51	14.13	13.85
8794	0.86	595.0	2822	684	1226	1091	16.4	7.5	770	8833	0.12	2.47	29.00	0.262	11430	0.130	0.076	2876	2106	934	1002	866	0	0	0	0	0	0	14.19	14.16	13.87
9015	end climb: SURFACE_DEPTH_REACHED
state	9016	begin surface coast
9046	end surface coast: CONTROL_FINISHED_OK
state	9046	begin surface