Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 148 * 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 148 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 415.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 415.0 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 61 VBD_MIN 500

DIVE 148 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 230817,233251,7329.9712,-15036.6904,37,0.7,38,20.5,0.0,0.0,11,7.0 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 303.5,134000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 230817,234912,7329.9971,-15037.2432,8,0.8,12,20.5,0.0,291.5,10,8.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170824002750.177273,3,31,14,0103,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34 PM_FREEKB_00 53608064

FINISH 0.4,1.020529 _24V_AH 12.40,113.561

SM_CCo 8986,38.62,0.214,0,0,498,703.28 _10V_AH 12.26,0.000

SM_GC 1.47,8.00,0.17,38.62,0.059,0.115,0.214,201,2226,498,-7.38,-0.59,703.28,0,0,0,0,0,0,14.31,14.31,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 385 FG_AHR_10Vo 0.000

MODEM 0,1503533037,75.36600,-145.04601,183.909,266455.4 MEM 323568

RAFOS_FIX 7329.203613,-15037.407227,240817,000009,4,255,0.91 DATA_FILE_SIZE 23400,710

IRIDIUM_FIX 7329.39,-15036.89,230817,234318 CAP_FILE_SIZE 107291,0

TT8_MAMPS 0.041195,0.935501 CFSIZE 2097872896,2042527744

HUMID 47.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.4

TCM_TEMP 13.10 CURRENT 0.069,287.94,1

XPDR_PINGS 6 GPS 240817,022132,7331.272,-15040.098,34,0.8,35,20.5,0.2,276.1,10,9.4

CP_FREE 15994355712.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 467 148.38 nil 0 0 0.00

Roll_motor 83 2153 2231.04 nil 0 0 0.00

VBD_pump_during_apogee 935 1465 16998.79 nil 0 0 0.00

VBD_pump_during_surface 38 214 102.59 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 8994 14 1605.97

Iridium_during_xfer 578 181 1300.97 NCP 8989 20 2229.27

Transponder_ping 1 420 7.81 PMAR 8946 9 1107.97

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.75

TT8 0 0 0.00

LPSleep 6554 2 185.63

TT8_Active 882 13 151.10

TT8_Sampling 2275 33 932.80

TT8_CF8 310 38 147.40

TT8_Kalman 0 0 0.00

Analog_circuits 2279 10 279.45

GPS_charging 0 0 0.00

Compass 1018 7 87.45

RAFOS 2154 48 1267.59

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

41 end surface: CONTROL_FINISHED_OK

state 41 begin dive

44 -0.57 -145.9 194 2232 498 484 0.0 0.0 0 137 0.00 0.00 -91.47 0.000 16386 0.000 0.000 193 2231 2234 2174 2294 0 0 0 0 0 0 14.48 28.83 14.50

140 -0.57 -145.9 200 2231 2178 2299 4.7 -7.0 9 193 12.93 2.72 -30.88 0.000 18724 0.467 2.153 2376 3575 3965 3950 3981 0 0 0 0 0 0 13.69 12.64 14.13

368 -0.64 -145.9 2376 3575 3959 3981 56.9 -15.6 54 374 0.00 2.30 0.00 0.000 1158 0.000 0.058 2376 2233 3967 3955 3980 0 0 0 0 0 0 14.19 14.05 14.19

685 -0.69 -145.9 2376 2231 3960 3981 104.5 -12.9 83 689 0.00 2.40 0.00 0.000 388 0.000 0.087 2367 3585 3970 3959 3981 0 0 0 0 0 0 14.45 14.11 14.46

734 -0.84 -145.9 2367 3587 3960 3982 110.2 -10.6 93 740 0.17 2.35 0.00 0.000 5254 0.108 0.056 2295 2200 3970 3959 3981 0 0 0 0 0 0 14.20 14.16 14.28

1045 -0.79 -145.9 2295 2199 3960 3981 163.9 -17.2 105 1049 0.00 2.42 0.00 0.000 388 0.000 0.086 2285 3580 3970 3959 3981 0 0 0 0 0 0 14.46 14.11 14.46

1176 -0.82 -145.9 2285 3585 3960 3981 183.8 -14.1 131 1181 0.12 2.35 0.00 0.000 3206 0.244 0.058 2309 2199 3970 3959 3981 0 0 0 0 0 0 13.97 14.15 14.19

1496 -0.85 -145.9 2310 2198 3960 3981 227.1 -12.9 145 1501 0.00 2.45 0.00 0.000 388 0.000 0.088 2305 3581 3970 3959 3981 0 0 0 0 0 0 14.45 14.09 14.47

1576 -0.94 -145.9 2302 3583 3959 3982 236.5 -11.3 161 1581 0.00 2.35 0.00 0.000 1158 0.000 0.058 2305 2201 3970 3960 3981 0 0 0 0 0 0 14.21 14.10 14.24

1886 -0.99 -145.9 2305 2199 3960 3980 272.2 -11.0 173 1892 0.12 2.45 0.00 0.000 4484 0.137 0.086 2242 3581 3973 3966 3980 0 0 0 0 0 0 14.20 14.09 14.23

1952 -0.96 -145.9 2243 3581 3959 3981 281.7 -14.8 186 1957 0.00 2.38 0.00 0.000 1158 0.000 0.059 2242 2191 3969 3959 3980 0 0 0 0 0 0 14.21 14.07 14.22

2277 -0.91 -145.9 2242 2190 3959 3980 330.6 -14.5 201 2282 0.15 2.45 0.00 0.000 2436 0.292 0.083 2267 3581 3968 3959 3978 0 0 0 0 0 0 13.85 14.09 14.03

2374 -0.99 -145.9 2268 3581 3960 3984 341.6 -10.7 220 2380 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2188 3968 3958 3978 0 0 0 0 0 0 14.25 14.11 14.26

2700 -0.99 -145.9 2267 2188 3959 3978 379.4 -11.5 235 2705 0.00 2.47 0.00 0.000 260 0.000 0.088 2262 3579 3967 3959 3976 0 0 0 0 0 0 14.47 14.06 14.47

2839 -1.06 -145.9 2262 3581 3959 3977 394.4 -10.2 262 2844 0.00 2.38 0.00 0.000 1158 0.000 0.057 2262 2192 3967 3958 3977 0 0 0 0 0 0 14.23 14.10 14.26

3156 -1.06 -145.9 2262 2192 3954 3977 430.7 -11.5 275 3161 0.00 2.42 0.00 0.000 260 0.000 0.086 2256 3582 3967 3958 3976 0 0 0 0 0 0 14.44 14.02 14.46

3223 -1.13 -145.9 2256 3582 3959 3976 438.3 -10.9 288 3230 0.12 2.38 0.00 0.000 5254 0.141 0.055 2206 2189 3966 3957 3976 0 0 0 0 0 0 14.14 14.12 14.25

3487 end dive: TARGET_DEPTH_EXCEEDED

state 3487 begin apogee

3495 -0.13 0.0 2207 2061 3959 3975 480.9 -16.4 301 3712 1.30 0.00 213.73 1.435 10246 0.267 0.000 2526 2060 3365 3394 3337 0 0 0 0 0 0 13.90 13.46 12.70

3716 end apogee: CONTROL_FINISHED_OK

state 3716 begin climb

3718 0.57 145.9 2527 2061 3389 3331 491.9 0.0 308 3939 0.75 2.35 205.07 1.385 10500 0.066 0.072 2780 3485 2759 2808 2711 0 0 0 0 0 0 13.56 12.99 12.40

4009 0.13 145.9 2780 3485 2802 2711 485.7 17.1 324 4014 0.80 2.42 0.00 0.000 5254 0.349 0.057 2631 2129 2756 2801 2711 0 0 0 0 0 0 13.16 13.45 13.50

4320 0.04 173.0 2631 2130 2801 2710 456.9 8.7 336 4361 0.12 2.58 36.03 1.466 12964 0.298 0.085 2602 696 2655 2706 2605 0 0 0 0 0 0 13.76 13.62 13.01

4427 0.11 223.5 2603 696 2700 2604 448.7 7.7 357 4507 0.00 2.45 72.75 1.404 9382 0.000 0.080 2602 2073 2450 2517 2383 0 0 0 0 0 0 14.02 13.92 12.86

4832 0.16 254.0 2603 2074 2510 2372 414.2 8.6 388 4877 0.00 0.00 43.50 1.429 8358 0.000 0.000 2603 2074 2331 2391 2271 0 0 0 0 0 0 14.41 13.89 13.10

5162 0.24 291.4 2603 2075 2381 2261 386.4 8.3 399 5224 0.17 0.00 57.25 1.397 10406 0.109 0.000 2679 2074 2172 2229 2115 0 0 0 0 0 0 14.23 13.90 13.15

5522 0.19 291.4 2679 2074 2224 2105 337.3 13.9 411 5527 0.12 2.42 0.00 0.000 4740 0.272 0.084 2657 691 2163 2222 2105 0 0 0 0 0 0 13.79 14.09 14.00

5578 0.23 291.4 2658 694 2220 2105 330.5 11.5 422 5584 0.00 2.45 0.00 0.000 1158 0.000 0.079 2657 2105 2165 2219 2112 0 0 0 0 0 0 14.30 14.17 14.33

5882 0.23 291.4 2657 2102 2219 2105 294.1 11.9 433 5883 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2101 2161 2218 2104 0 0 0 0 0 0 14.60 14.62 14.62

6182 0.23 291.4 2658 2102 2219 2104 261.3 10.5 443 6187 0.00 2.47 0.00 0.000 516 0.000 0.087 2660 686 2160 2218 2103 0 0 0 0 0 0 14.63 14.19 14.66

6238 0.29 294.8 2660 687 2218 2103 255.8 9.8 454 6244 0.00 2.45 0.00 0.000 1190 0.000 0.080 2659 2102 2160 2217 2103 0 0 0 0 0 0 14.40 14.27 14.43

6543 0.31 320.2 2666 2102 2219 2103 227.4 8.8 465 6588 0.00 0.00 44.15 1.359 8230 0.000 0.000 2659 2104 2060 2113 2007 0 0 0 0 0 0 14.65 14.12 13.36

6873 0.38 360.0 2659 2104 2103 1997 199.4 8.2 476 6944 0.12 2.58 65.97 1.291 10916 0.135 0.086 2726 695 1894 1933 1855 0 0 0 0 0 0 14.27 13.96 13.24

6999 0.38 360.0 2726 695 1922 1854 184.9 11.5 501 7005 0.00 2.50 0.00 0.000 1030 0.000 0.078 2726 2107 1887 1921 1854 0 0 0 0 0 0 14.14 14.02 14.16

7326 0.35 360.0 2726 2109 1920 1850 145.9 11.6 516 7331 0.12 2.50 0.00 0.000 4740 0.240 0.083 2699 690 1884 1918 1851 0 0 0 0 0 0 14.05 14.16 14.18

7386 0.45 379.9 2699 692 1916 1849 140.0 9.1 528 7423 0.00 2.45 30.65 1.322 9382 0.000 0.079 2700 2106 1813 1843 1784 0 0 0 0 0 0 14.31 14.23 13.33

7750 0.53 413.8 2699 2107 1839 1774 108.2 8.4 550 7811 0.12 2.53 53.28 1.252 10916 0.132 0.086 2767 690 1674 1702 1647 0 0 0 0 0 0 14.28 13.78 13.26

7881 0.53 413.8 2768 691 1698 1647 92.4 11.7 576 7886 0.00 2.50 0.00 0.000 1030 0.000 0.078 2768 2106 1670 1696 1645 0 0 0 0 0 0 14.10 14.01 14.12

8191 0.55 447.0 2768 2106 1698 1638 59.5 8.5 608 8214 0.00 2.47 16.85 0.385 8484 0.000 0.082 2768 3511 1541 1575 1508 0 0 0 0 0 0 14.49 14.00 13.78

8239 0.56 462.9 2768 3511 1576 1508 55.4 9.3 617 8256 0.00 2.42 9.18 0.370 9254 0.000 0.064 2769 2102 1474 1514 1435 0 0 0 0 0 0 14.24 14.14 13.74

8554 0.68 555.5 2769 2103 1515 1432 35.8 5.7 650 8608 0.00 2.55 47.85 0.311 8868 0.000 0.090 2769 689 1097 1165 1030 0 0 0 0 0 0 14.52 14.09 13.83

8708 0.92 630.9 2770 689 1164 1028 25.9 6.5 680 8752 0.32 2.47 39.03 0.289 11430 0.085 0.079 2889 2103 790 856 724 0 0 0 0 0 0 14.18 14.15 13.87

8945 end climb: SURFACE_DEPTH_REACHED

state 8945 begin surface coast

8966 end surface coast: CONTROL_FINISHED_OK

state 8966 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	148	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	415.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,233251,7329.9712,-15036.6904,37,0.7,38,20.5,0.0,0.0,11,7.0	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	303.5,134000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	230817,234912,7329.9971,-15037.2432,8,0.8,12,20.5,0.0,291.5,10,8.9

MODEM_MSG	CACST,6,1,20170824002750.177273,3,31,14,0103,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34	PM_FREEKB_00	53608064
FINISH	0.4,1.020529	_24V_AH	12.40,113.561
SM_CCo	8986,38.62,0.214,0,0,498,703.28	_10V_AH	12.26,0.000
SM_GC	1.47,8.00,0.17,38.62,0.059,0.115,0.214,201,2226,498,-7.38,-0.59,703.28,0,0,0,0,0,0,14.31,14.31,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	385	FG_AHR_10Vo	0.000
MODEM	0,1503533037,75.36600,-145.04601,183.909,266455.4	MEM	323568
RAFOS_FIX	7329.203613,-15037.407227,240817,000009,4,255,0.91	DATA_FILE_SIZE	23400,710
IRIDIUM_FIX	7329.39,-15036.89,230817,234318	CAP_FILE_SIZE	107291,0
TT8_MAMPS	0.041195,0.935501	CFSIZE	2097872896,2042527744
HUMID	47.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.4
TCM_TEMP	13.10	CURRENT	0.069,287.94,1
XPDR_PINGS	6	GPS	240817,022132,7331.272,-15040.098,34,0.8,35,20.5,0.2,276.1,10,9.4
CP_FREE	15994355712.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	467	148.38	nil	0	0	0.00
Roll_motor	83	2153	2231.04	nil	0	0	0.00
VBD_pump_during_apogee	935	1465	16998.79	nil	0	0	0.00
VBD_pump_during_surface	38	214	102.59	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	8994	14	1605.97
Iridium_during_xfer	578	181	1300.97	NCP	8989	20	2229.27
Transponder_ping	1	420	7.81	PMAR	8946	9	1107.97
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.75
TT8	0	0	0.00
LPSleep	6554	2	185.63
TT8_Active	882	13	151.10
TT8_Sampling	2275	33	932.80
TT8_CF8	310	38	147.40
TT8_Kalman	0	0	0.00
Analog_circuits	2279	10	279.45
GPS_charging	0	0	0.00
Compass	1018	7	87.45
RAFOS	2154	48	1267.59
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
41	end surface: CONTROL_FINISHED_OK
state	41	begin dive
44	-0.57	-145.9	194	2232	498	484	0.0	0.0	0	137	0.00	0.00	-91.47	0.000	16386	0.000	0.000	193	2231	2234	2174	2294	0	0	0	0	0	0	14.48	28.83	14.50
140	-0.57	-145.9	200	2231	2178	2299	4.7	-7.0	9	193	12.93	2.72	-30.88	0.000	18724	0.467	2.153	2376	3575	3965	3950	3981	0	0	0	0	0	0	13.69	12.64	14.13
368	-0.64	-145.9	2376	3575	3959	3981	56.9	-15.6	54	374	0.00	2.30	0.00	0.000	1158	0.000	0.058	2376	2233	3967	3955	3980	0	0	0	0	0	0	14.19	14.05	14.19
685	-0.69	-145.9	2376	2231	3960	3981	104.5	-12.9	83	689	0.00	2.40	0.00	0.000	388	0.000	0.087	2367	3585	3970	3959	3981	0	0	0	0	0	0	14.45	14.11	14.46
734	-0.84	-145.9	2367	3587	3960	3982	110.2	-10.6	93	740	0.17	2.35	0.00	0.000	5254	0.108	0.056	2295	2200	3970	3959	3981	0	0	0	0	0	0	14.20	14.16	14.28
1045	-0.79	-145.9	2295	2199	3960	3981	163.9	-17.2	105	1049	0.00	2.42	0.00	0.000	388	0.000	0.086	2285	3580	3970	3959	3981	0	0	0	0	0	0	14.46	14.11	14.46
1176	-0.82	-145.9	2285	3585	3960	3981	183.8	-14.1	131	1181	0.12	2.35	0.00	0.000	3206	0.244	0.058	2309	2199	3970	3959	3981	0	0	0	0	0	0	13.97	14.15	14.19
1496	-0.85	-145.9	2310	2198	3960	3981	227.1	-12.9	145	1501	0.00	2.45	0.00	0.000	388	0.000	0.088	2305	3581	3970	3959	3981	0	0	0	0	0	0	14.45	14.09	14.47
1576	-0.94	-145.9	2302	3583	3959	3982	236.5	-11.3	161	1581	0.00	2.35	0.00	0.000	1158	0.000	0.058	2305	2201	3970	3960	3981	0	0	0	0	0	0	14.21	14.10	14.24
1886	-0.99	-145.9	2305	2199	3960	3980	272.2	-11.0	173	1892	0.12	2.45	0.00	0.000	4484	0.137	0.086	2242	3581	3973	3966	3980	0	0	0	0	0	0	14.20	14.09	14.23
1952	-0.96	-145.9	2243	3581	3959	3981	281.7	-14.8	186	1957	0.00	2.38	0.00	0.000	1158	0.000	0.059	2242	2191	3969	3959	3980	0	0	0	0	0	0	14.21	14.07	14.22
2277	-0.91	-145.9	2242	2190	3959	3980	330.6	-14.5	201	2282	0.15	2.45	0.00	0.000	2436	0.292	0.083	2267	3581	3968	3959	3978	0	0	0	0	0	0	13.85	14.09	14.03
2374	-0.99	-145.9	2268	3581	3960	3984	341.6	-10.7	220	2380	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2188	3968	3958	3978	0	0	0	0	0	0	14.25	14.11	14.26
2700	-0.99	-145.9	2267	2188	3959	3978	379.4	-11.5	235	2705	0.00	2.47	0.00	0.000	260	0.000	0.088	2262	3579	3967	3959	3976	0	0	0	0	0	0	14.47	14.06	14.47
2839	-1.06	-145.9	2262	3581	3959	3977	394.4	-10.2	262	2844	0.00	2.38	0.00	0.000	1158	0.000	0.057	2262	2192	3967	3958	3977	0	0	0	0	0	0	14.23	14.10	14.26
3156	-1.06	-145.9	2262	2192	3954	3977	430.7	-11.5	275	3161	0.00	2.42	0.00	0.000	260	0.000	0.086	2256	3582	3967	3958	3976	0	0	0	0	0	0	14.44	14.02	14.46
3223	-1.13	-145.9	2256	3582	3959	3976	438.3	-10.9	288	3230	0.12	2.38	0.00	0.000	5254	0.141	0.055	2206	2189	3966	3957	3976	0	0	0	0	0	0	14.14	14.12	14.25
3487	end dive: TARGET_DEPTH_EXCEEDED
state	3487	begin apogee
3495	-0.13	0.0	2207	2061	3959	3975	480.9	-16.4	301	3712	1.30	0.00	213.73	1.435	10246	0.267	0.000	2526	2060	3365	3394	3337	0	0	0	0	0	0	13.90	13.46	12.70
3716	end apogee: CONTROL_FINISHED_OK
state	3716	begin climb
3718	0.57	145.9	2527	2061	3389	3331	491.9	0.0	308	3939	0.75	2.35	205.07	1.385	10500	0.066	0.072	2780	3485	2759	2808	2711	0	0	0	0	0	0	13.56	12.99	12.40
4009	0.13	145.9	2780	3485	2802	2711	485.7	17.1	324	4014	0.80	2.42	0.00	0.000	5254	0.349	0.057	2631	2129	2756	2801	2711	0	0	0	0	0	0	13.16	13.45	13.50
4320	0.04	173.0	2631	2130	2801	2710	456.9	8.7	336	4361	0.12	2.58	36.03	1.466	12964	0.298	0.085	2602	696	2655	2706	2605	0	0	0	0	0	0	13.76	13.62	13.01
4427	0.11	223.5	2603	696	2700	2604	448.7	7.7	357	4507	0.00	2.45	72.75	1.404	9382	0.000	0.080	2602	2073	2450	2517	2383	0	0	0	0	0	0	14.02	13.92	12.86
4832	0.16	254.0	2603	2074	2510	2372	414.2	8.6	388	4877	0.00	0.00	43.50	1.429	8358	0.000	0.000	2603	2074	2331	2391	2271	0	0	0	0	0	0	14.41	13.89	13.10
5162	0.24	291.4	2603	2075	2381	2261	386.4	8.3	399	5224	0.17	0.00	57.25	1.397	10406	0.109	0.000	2679	2074	2172	2229	2115	0	0	0	0	0	0	14.23	13.90	13.15
5522	0.19	291.4	2679	2074	2224	2105	337.3	13.9	411	5527	0.12	2.42	0.00	0.000	4740	0.272	0.084	2657	691	2163	2222	2105	0	0	0	0	0	0	13.79	14.09	14.00
5578	0.23	291.4	2658	694	2220	2105	330.5	11.5	422	5584	0.00	2.45	0.00	0.000	1158	0.000	0.079	2657	2105	2165	2219	2112	0	0	0	0	0	0	14.30	14.17	14.33
5882	0.23	291.4	2657	2102	2219	2105	294.1	11.9	433	5883	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2101	2161	2218	2104	0	0	0	0	0	0	14.60	14.62	14.62
6182	0.23	291.4	2658	2102	2219	2104	261.3	10.5	443	6187	0.00	2.47	0.00	0.000	516	0.000	0.087	2660	686	2160	2218	2103	0	0	0	0	0	0	14.63	14.19	14.66
6238	0.29	294.8	2660	687	2218	2103	255.8	9.8	454	6244	0.00	2.45	0.00	0.000	1190	0.000	0.080	2659	2102	2160	2217	2103	0	0	0	0	0	0	14.40	14.27	14.43
6543	0.31	320.2	2666	2102	2219	2103	227.4	8.8	465	6588	0.00	0.00	44.15	1.359	8230	0.000	0.000	2659	2104	2060	2113	2007	0	0	0	0	0	0	14.65	14.12	13.36
6873	0.38	360.0	2659	2104	2103	1997	199.4	8.2	476	6944	0.12	2.58	65.97	1.291	10916	0.135	0.086	2726	695	1894	1933	1855	0	0	0	0	0	0	14.27	13.96	13.24
6999	0.38	360.0	2726	695	1922	1854	184.9	11.5	501	7005	0.00	2.50	0.00	0.000	1030	0.000	0.078	2726	2107	1887	1921	1854	0	0	0	0	0	0	14.14	14.02	14.16
7326	0.35	360.0	2726	2109	1920	1850	145.9	11.6	516	7331	0.12	2.50	0.00	0.000	4740	0.240	0.083	2699	690	1884	1918	1851	0	0	0	0	0	0	14.05	14.16	14.18
7386	0.45	379.9	2699	692	1916	1849	140.0	9.1	528	7423	0.00	2.45	30.65	1.322	9382	0.000	0.079	2700	2106	1813	1843	1784	0	0	0	0	0	0	14.31	14.23	13.33
7750	0.53	413.8	2699	2107	1839	1774	108.2	8.4	550	7811	0.12	2.53	53.28	1.252	10916	0.132	0.086	2767	690	1674	1702	1647	0	0	0	0	0	0	14.28	13.78	13.26
7881	0.53	413.8	2768	691	1698	1647	92.4	11.7	576	7886	0.00	2.50	0.00	0.000	1030	0.000	0.078	2768	2106	1670	1696	1645	0	0	0	0	0	0	14.10	14.01	14.12
8191	0.55	447.0	2768	2106	1698	1638	59.5	8.5	608	8214	0.00	2.47	16.85	0.385	8484	0.000	0.082	2768	3511	1541	1575	1508	0	0	0	0	0	0	14.49	14.00	13.78
8239	0.56	462.9	2768	3511	1576	1508	55.4	9.3	617	8256	0.00	2.42	9.18	0.370	9254	0.000	0.064	2769	2102	1474	1514	1435	0	0	0	0	0	0	14.24	14.14	13.74
8554	0.68	555.5	2769	2103	1515	1432	35.8	5.7	650	8608	0.00	2.55	47.85	0.311	8868	0.000	0.090	2769	689	1097	1165	1030	0	0	0	0	0	0	14.52	14.09	13.83
8708	0.92	630.9	2770	689	1164	1028	25.9	6.5	680	8752	0.32	2.47	39.03	0.289	11430	0.085	0.079	2889	2103	790	856	724	0	0	0	0	0	0	14.18	14.15	13.87
8945	end climb: SURFACE_DEPTH_REACHED
state	8945	begin surface coast
8966	end surface coast: CONTROL_FINISHED_OK
state	8966	begin surface