Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 152 * 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 152 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 426.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 426.0 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 25 VBD_MIN 500

DIVE 152 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 240817,110428,7334.3481,-15049.8115,38,0.8,40,20.5,0.4,251.1,11,7.7 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 1.16 MHEAD_RNG_PITCHd_Wd 298.3,123806,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 240817,111506,7334.3335,-15050.2412,5,0.8,10,20.5,0.6,254.3,10,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170824121952.395585,3,396,25,0282,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04 PM_FREEKB_00 53475776

FINISH 0.3,1.020721 _24V_AH 12.37,115.484

SM_CCo 8780,55.33,0.210,0,0,499,702.78 _10V_AH 12.22,0.000

SM_GC 1.24,8.00,0.17,55.33,0.083,0.118,0.210,196,2226,499,-7.39,-0.48,702.78,0,0,0,0,0,0,14.34,14.33,14.03 FG_AHR_24Vo 0.000

RAFOS_CLK 274 FG_AHR_10Vo 0.000

MODEM 3,1503577192,74.30400,-153.94400,85.396,123664.9 MEM 323348

RAFOS_FIX 7332.196777,-15037.294922,240817,040412,3,255,0.40 DATA_FILE_SIZE 26674,740

IRIDIUM_FIX 7331.40,-15050.10,240817,083214 CAP_FILE_SIZE 103319,0

TT8_MAMPS 0.038948,0.983437 CFSIZE 2097872896,2041249792

HUMID 46.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.8

TCM_TEMP 13.10 CURRENT 0.051,273.45,1

XPDR_PINGS 14 GPS 240817,134411,7335.484,-15053.162,29,0.7,31,20.4,0.5,331.9,12,8.9

CP_FREE 15993700352.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 458 141.43 nil 0 0 0.00

Roll_motor 88 2148 2345.17 nil 0 0 0.00

VBD_pump_during_apogee 924 1437 16436.38 nil 0 0 0.00

VBD_pump_during_surface 55 209 143.45 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 8790 14 1607.17

Iridium_during_xfer 365 184 832.47 NCP 8779 20 2171.92

Transponder_ping 3 420 18.18 PMAR 8736 9 1076.10

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.12

TT8 0 0 0.00

LPSleep 6225 2 175.74

TT8_Active 859 13 146.68

TT8_Sampling 2119 33 866.02

TT8_CF8 287 38 136.15

TT8_Kalman 0 0 0.00

Analog_circuits 2085 10 254.88

GPS_charging 0 0 0.00

Compass 1061 7 90.79

RAFOS 2191 48 1285.15

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 -145.9 191 2208 507 490 0.0 0.0 0 140 0.00 0.00 -91.82 0.000 16386 0.000 0.000 190 2208 2206 2137 2276 0 0 0 0 0 0 14.45 28.83 14.47

143 -0.57 -145.9 191 2209 2140 2276 4.5 -7.2 9 196 12.70 2.78 -32.62 0.000 18724 0.458 2.149 2375 3604 3964 3948 3981 0 0 0 0 0 0 13.68 12.59 14.14

406 -0.64 -145.9 2376 3605 3955 3980 60.1 -15.2 61 411 0.00 2.42 0.00 0.000 1158 0.000 0.063 2374 2198 3967 3954 3980 0 0 0 0 0 0 13.81 13.63 14.02

736 -0.69 -145.9 2375 2197 3956 3981 108.2 -12.4 91 741 0.00 2.47 0.00 0.000 388 0.000 0.086 2365 3601 3967 3955 3980 0 0 0 0 0 0 14.61 14.06 14.60

781 -0.85 -145.9 2365 3601 3956 3980 113.2 -10.3 100 788 0.20 2.40 0.00 0.000 5254 0.102 0.057 2286 2188 3967 3955 3980 0 0 0 0 0 0 14.09 14.21 14.28

1098 -0.79 -145.9 2285 2187 3956 3981 171.2 -18.0 113 1103 0.12 2.50 0.00 0.000 2436 0.283 0.084 2306 3610 3967 3955 3980 0 0 0 0 0 0 13.99 14.22 14.15

1205 -0.88 -145.9 2306 3609 3956 3981 185.7 -12.2 134 1210 0.00 2.38 0.00 0.000 1158 0.000 0.059 2306 2201 3968 3956 3980 0 0 0 0 0 0 14.39 14.26 14.42

1520 -0.91 -145.9 2306 2201 3956 3980 228.8 -13.3 147 1525 0.00 2.45 0.00 0.000 388 0.000 0.088 2299 3601 3967 3955 3979 0 0 0 0 0 0 14.64 14.24 14.65

1565 -1.01 -145.9 2299 3602 3956 3981 234.5 -11.7 156 1572 0.15 2.38 0.00 0.000 5254 0.122 0.060 2243 2194 3967 3955 3980 0 0 0 0 0 0 14.33 14.27 14.42

1882 -0.94 -145.9 2242 2194 3956 3981 287.4 -16.2 169 1887 0.12 2.47 0.00 0.000 2436 0.300 0.083 2264 3607 3967 3955 3980 0 0 0 0 0 0 13.97 14.20 14.14

2012 -0.99 -145.9 2261 3609 3955 3981 304.4 -12.2 195 2017 0.00 2.40 0.00 0.000 1158 0.000 0.057 2261 2195 3967 3955 3980 0 0 0 0 0 0 14.38 14.26 14.41

2332 -0.99 -145.9 2261 2195 3956 3980 345.9 -12.7 209 2337 0.00 2.45 0.00 0.000 260 0.000 0.087 2252 3599 3967 3955 3979 0 0 0 0 0 0 14.66 14.23 14.67

2412 -1.04 -145.9 2252 3600 3956 3980 355.9 -12.1 225 2417 0.00 2.35 0.00 0.000 1158 0.000 0.057 2248 2200 3966 3954 3979 0 0 0 0 0 0 14.42 14.29 14.45

2722 -1.04 -145.9 2252 2199 3956 3978 396.2 -12.8 237 2727 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3603 3966 3955 3978 0 0 0 0 0 0 14.54 14.13 14.55

2807 -1.07 -145.9 2242 3604 3956 3979 407.1 -12.5 254 2813 0.00 2.40 0.00 0.000 1158 0.000 0.057 2242 2203 3966 3955 3978 0 0 0 0 0 0 14.21 14.11 14.24

3112 -1.07 -145.9 2242 2203 3956 3976 447.8 -13.3 265 3117 0.00 2.50 0.00 0.000 260 0.000 0.089 2236 3607 3965 3954 3977 0 0 0 0 0 0 14.48 14.06 14.53

3182 -1.10 -145.9 2237 3607 3959 3977 457.0 -12.7 279 3187 0.00 2.42 0.00 0.000 1158 0.000 0.059 2237 2196 3966 3955 3977 0 0 0 0 0 0 14.25 14.13 14.28

3350 end dive: TARGET_DEPTH_EXCEEDED

state 3350 begin apogee

3356 -0.13 0.0 2236 2068 3956 3977 480.1 -13.6 288 3584 1.17 0.00 224.50 1.414 10246 0.246 0.000 2529 2066 3367 3395 3339 0 0 0 0 0 0 13.84 13.36 12.62

3587 end apogee: CONTROL_FINISHED_OK

state 3587 begin climb

3590 0.57 145.9 2532 2066 3389 3326 491.2 0.0 295 3812 0.75 2.22 208.93 1.363 10756 0.064 0.085 2781 729 2760 2809 2711 0 0 0 0 0 0 13.45 13.08 12.37

3937 0.21 145.9 2782 730 2802 2709 479.7 14.9 322 3943 0.62 2.53 0.00 0.000 5254 0.324 0.076 2655 2092 2753 2801 2706 0 0 0 0 0 0 13.21 13.49 13.54

4253 0.06 156.1 2655 2094 2801 2701 448.3 9.5 335 4264 0.20 2.50 3.42 1.327 12964 0.281 0.085 2613 723 2732 2781 2684 0 0 0 0 0 0 13.66 13.91 12.59

4319 0.11 222.0 2608 724 2786 2695 443.4 7.0 348 4435 0.00 2.45 106.10 1.389 9254 0.000 0.080 2607 2100 2453 2521 2385 0 0 0 0 0 0 14.05 13.95 12.82

4734 0.16 256.7 2609 2100 2512 2374 409.3 8.4 381 4789 0.00 2.50 48.72 1.411 8868 0.000 0.085 2607 719 2314 2376 2253 0 0 0 0 0 0 14.22 13.77 13.00

4821 0.28 292.1 2608 721 2371 2252 402.1 8.4 398 4881 0.20 2.47 52.62 1.388 11430 0.099 0.079 2682 2099 2174 2235 2114 0 0 0 0 0 0 13.87 13.80 12.83

5191 0.21 292.1 2683 2099 2224 2099 350.6 14.2 421 5197 0.12 2.40 0.00 0.000 4740 0.261 0.082 2660 724 2160 2222 2098 0 0 0 0 0 0 13.78 13.98 13.93

5232 0.23 292.1 2660 725 2219 2100 345.2 12.2 429 5237 0.00 2.40 0.00 0.000 1158 0.000 0.078 2660 2109 2156 2218 2094 0 0 0 0 0 0 14.10 13.95 14.13

5552 0.23 292.1 2660 2111 2218 2098 306.3 12.0 443 5557 0.00 2.42 0.00 0.000 516 0.000 0.086 2660 726 2157 2218 2097 0 0 0 0 0 0 14.52 14.17 14.54

5612 0.27 292.1 2661 726 2217 2097 299.6 10.2 455 5617 0.00 2.40 0.00 0.000 1158 0.000 0.078 2660 2109 2155 2216 2095 0 0 0 0 0 0 14.32 14.20 14.36

5942 0.27 292.1 2660 2111 2217 2098 263.3 10.7 471 5947 0.00 2.42 0.00 0.000 516 0.000 0.085 2668 722 2156 2216 2096 0 0 0 0 0 0 14.62 14.23 14.63

5982 0.30 292.1 2668 722 2215 2097 259.0 10.4 479 5987 0.00 2.40 0.00 0.000 1158 0.000 0.081 2668 2107 2155 2214 2097 0 0 0 0 0 0 14.35 14.23 14.39

6302 0.31 298.4 2668 2109 2215 2098 227.0 9.7 493 6303 0.00 0.00 0.00 0.000 38 0.000 0.000 2668 2108 2154 2214 2095 0 0 0 0 0 0 14.62 14.64 14.64

6602 0.33 332.8 2667 2109 2215 2097 200.6 8.4 503 6673 0.00 2.45 64.85 1.315 8740 0.000 0.083 2672 721 2004 2055 1953 0 0 0 0 0 0 14.63 13.84 13.26

6733 0.45 374.7 2673 722 2048 1953 189.7 8.1 529 6809 0.17 2.45 69.93 1.263 11430 0.114 0.080 2746 2109 1837 1871 1804 0 0 0 0 0 0 14.13 14.07 13.07

7114 0.39 374.7 2745 2110 1859 1792 140.2 12.7 555 7119 0.15 2.42 0.00 0.000 4740 0.235 0.083 2713 726 1823 1855 1791 0 0 0 0 0 0 13.99 14.12 14.12

7179 0.47 386.0 2713 726 1855 1791 133.5 9.5 568 7199 0.00 2.40 13.30 1.437 9382 0.000 0.076 2713 2101 1788 1819 1757 0 0 0 0 0 0 14.12 13.92 13.25

7505 0.51 407.0 2712 2103 1815 1746 102.7 9.0 583 7541 0.00 2.47 29.75 1.313 8868 0.000 0.086 2710 730 1699 1727 1672 0 0 0 0 0 0 14.55 14.03 13.33

7598 0.65 444.9 2711 731 1726 1673 94.9 8.2 601 7625 0.25 2.40 19.77 0.494 11430 0.091 0.078 2803 2101 1550 1581 1520 0 0 0 0 0 0 14.15 14.13 13.65

7930 0.60 467.5 2803 2102 1582 1513 54.4 9.0 637 7946 0.00 2.50 11.75 0.369 8868 0.000 0.085 2805 718 1457 1497 1418 0 0 0 0 0 0 14.50 14.14 13.75

8076 0.64 515.2 2805 720 1497 1419 42.3 7.8 666 8107 0.00 2.42 25.25 0.332 9254 0.000 0.078 2804 2107 1267 1324 1210 0 0 0 0 0 0 14.31 14.19 13.83

8413 0.75 602.9 2805 2109 1318 1203 15.9 5.9 703 8463 0.00 0.00 45.47 0.259 8614 0.000 0.000 2805 2107 906 978 835 0 0 0 0 0 0 14.53 14.07 13.89

8710 end climb: SURFACE_DEPTH_REACHED

state 8710 begin surface coast

8760 end surface coast: CONTROL_FINISHED_OK

state 8760 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	152	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	426.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,110428,7334.3481,-15049.8115,38,0.8,40,20.5,0.4,251.1,11,7.7	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	1.16	MHEAD_RNG_PITCHd_Wd	298.3,123806,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	240817,111506,7334.3335,-15050.2412,5,0.8,10,20.5,0.6,254.3,10,9.7

MODEM_MSG	CACST,6,1,20170824121952.395585,3,396,25,0282,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04	PM_FREEKB_00	53475776
FINISH	0.3,1.020721	_24V_AH	12.37,115.484
SM_CCo	8780,55.33,0.210,0,0,499,702.78	_10V_AH	12.22,0.000
SM_GC	1.24,8.00,0.17,55.33,0.083,0.118,0.210,196,2226,499,-7.39,-0.48,702.78,0,0,0,0,0,0,14.34,14.33,14.03	FG_AHR_24Vo	0.000
RAFOS_CLK	274	FG_AHR_10Vo	0.000
MODEM	3,1503577192,74.30400,-153.94400,85.396,123664.9	MEM	323348
RAFOS_FIX	7332.196777,-15037.294922,240817,040412,3,255,0.40	DATA_FILE_SIZE	26674,740
IRIDIUM_FIX	7331.40,-15050.10,240817,083214	CAP_FILE_SIZE	103319,0
TT8_MAMPS	0.038948,0.983437	CFSIZE	2097872896,2041249792
HUMID	46.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.8
TCM_TEMP	13.10	CURRENT	0.051,273.45,1
XPDR_PINGS	14	GPS	240817,134411,7335.484,-15053.162,29,0.7,31,20.4,0.5,331.9,12,8.9
CP_FREE	15993700352.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	458	141.43	nil	0	0	0.00
Roll_motor	88	2148	2345.17	nil	0	0	0.00
VBD_pump_during_apogee	924	1437	16436.38	nil	0	0	0.00
VBD_pump_during_surface	55	209	143.45	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	8790	14	1607.17
Iridium_during_xfer	365	184	832.47	NCP	8779	20	2171.92
Transponder_ping	3	420	18.18	PMAR	8736	9	1076.10
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.12
TT8	0	0	0.00
LPSleep	6225	2	175.74
TT8_Active	859	13	146.68
TT8_Sampling	2119	33	866.02
TT8_CF8	287	38	136.15
TT8_Kalman	0	0	0.00
Analog_circuits	2085	10	254.88
GPS_charging	0	0	0.00
Compass	1061	7	90.79
RAFOS	2191	48	1285.15
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	191	2208	507	490	0.0	0.0	0	140	0.00	0.00	-91.82	0.000	16386	0.000	0.000	190	2208	2206	2137	2276	0	0	0	0	0	0	14.45	28.83	14.47
143	-0.57	-145.9	191	2209	2140	2276	4.5	-7.2	9	196	12.70	2.78	-32.62	0.000	18724	0.458	2.149	2375	3604	3964	3948	3981	0	0	0	0	0	0	13.68	12.59	14.14
406	-0.64	-145.9	2376	3605	3955	3980	60.1	-15.2	61	411	0.00	2.42	0.00	0.000	1158	0.000	0.063	2374	2198	3967	3954	3980	0	0	0	0	0	0	13.81	13.63	14.02
736	-0.69	-145.9	2375	2197	3956	3981	108.2	-12.4	91	741	0.00	2.47	0.00	0.000	388	0.000	0.086	2365	3601	3967	3955	3980	0	0	0	0	0	0	14.61	14.06	14.60
781	-0.85	-145.9	2365	3601	3956	3980	113.2	-10.3	100	788	0.20	2.40	0.00	0.000	5254	0.102	0.057	2286	2188	3967	3955	3980	0	0	0	0	0	0	14.09	14.21	14.28
1098	-0.79	-145.9	2285	2187	3956	3981	171.2	-18.0	113	1103	0.12	2.50	0.00	0.000	2436	0.283	0.084	2306	3610	3967	3955	3980	0	0	0	0	0	0	13.99	14.22	14.15
1205	-0.88	-145.9	2306	3609	3956	3981	185.7	-12.2	134	1210	0.00	2.38	0.00	0.000	1158	0.000	0.059	2306	2201	3968	3956	3980	0	0	0	0	0	0	14.39	14.26	14.42
1520	-0.91	-145.9	2306	2201	3956	3980	228.8	-13.3	147	1525	0.00	2.45	0.00	0.000	388	0.000	0.088	2299	3601	3967	3955	3979	0	0	0	0	0	0	14.64	14.24	14.65
1565	-1.01	-145.9	2299	3602	3956	3981	234.5	-11.7	156	1572	0.15	2.38	0.00	0.000	5254	0.122	0.060	2243	2194	3967	3955	3980	0	0	0	0	0	0	14.33	14.27	14.42
1882	-0.94	-145.9	2242	2194	3956	3981	287.4	-16.2	169	1887	0.12	2.47	0.00	0.000	2436	0.300	0.083	2264	3607	3967	3955	3980	0	0	0	0	0	0	13.97	14.20	14.14
2012	-0.99	-145.9	2261	3609	3955	3981	304.4	-12.2	195	2017	0.00	2.40	0.00	0.000	1158	0.000	0.057	2261	2195	3967	3955	3980	0	0	0	0	0	0	14.38	14.26	14.41
2332	-0.99	-145.9	2261	2195	3956	3980	345.9	-12.7	209	2337	0.00	2.45	0.00	0.000	260	0.000	0.087	2252	3599	3967	3955	3979	0	0	0	0	0	0	14.66	14.23	14.67
2412	-1.04	-145.9	2252	3600	3956	3980	355.9	-12.1	225	2417	0.00	2.35	0.00	0.000	1158	0.000	0.057	2248	2200	3966	3954	3979	0	0	0	0	0	0	14.42	14.29	14.45
2722	-1.04	-145.9	2252	2199	3956	3978	396.2	-12.8	237	2727	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3603	3966	3955	3978	0	0	0	0	0	0	14.54	14.13	14.55
2807	-1.07	-145.9	2242	3604	3956	3979	407.1	-12.5	254	2813	0.00	2.40	0.00	0.000	1158	0.000	0.057	2242	2203	3966	3955	3978	0	0	0	0	0	0	14.21	14.11	14.24
3112	-1.07	-145.9	2242	2203	3956	3976	447.8	-13.3	265	3117	0.00	2.50	0.00	0.000	260	0.000	0.089	2236	3607	3965	3954	3977	0	0	0	0	0	0	14.48	14.06	14.53
3182	-1.10	-145.9	2237	3607	3959	3977	457.0	-12.7	279	3187	0.00	2.42	0.00	0.000	1158	0.000	0.059	2237	2196	3966	3955	3977	0	0	0	0	0	0	14.25	14.13	14.28
3350	end dive: TARGET_DEPTH_EXCEEDED
state	3350	begin apogee
3356	-0.13	0.0	2236	2068	3956	3977	480.1	-13.6	288	3584	1.17	0.00	224.50	1.414	10246	0.246	0.000	2529	2066	3367	3395	3339	0	0	0	0	0	0	13.84	13.36	12.62
3587	end apogee: CONTROL_FINISHED_OK
state	3587	begin climb
3590	0.57	145.9	2532	2066	3389	3326	491.2	0.0	295	3812	0.75	2.22	208.93	1.363	10756	0.064	0.085	2781	729	2760	2809	2711	0	0	0	0	0	0	13.45	13.08	12.37
3937	0.21	145.9	2782	730	2802	2709	479.7	14.9	322	3943	0.62	2.53	0.00	0.000	5254	0.324	0.076	2655	2092	2753	2801	2706	0	0	0	0	0	0	13.21	13.49	13.54
4253	0.06	156.1	2655	2094	2801	2701	448.3	9.5	335	4264	0.20	2.50	3.42	1.327	12964	0.281	0.085	2613	723	2732	2781	2684	0	0	0	0	0	0	13.66	13.91	12.59
4319	0.11	222.0	2608	724	2786	2695	443.4	7.0	348	4435	0.00	2.45	106.10	1.389	9254	0.000	0.080	2607	2100	2453	2521	2385	0	0	0	0	0	0	14.05	13.95	12.82
4734	0.16	256.7	2609	2100	2512	2374	409.3	8.4	381	4789	0.00	2.50	48.72	1.411	8868	0.000	0.085	2607	719	2314	2376	2253	0	0	0	0	0	0	14.22	13.77	13.00
4821	0.28	292.1	2608	721	2371	2252	402.1	8.4	398	4881	0.20	2.47	52.62	1.388	11430	0.099	0.079	2682	2099	2174	2235	2114	0	0	0	0	0	0	13.87	13.80	12.83
5191	0.21	292.1	2683	2099	2224	2099	350.6	14.2	421	5197	0.12	2.40	0.00	0.000	4740	0.261	0.082	2660	724	2160	2222	2098	0	0	0	0	0	0	13.78	13.98	13.93
5232	0.23	292.1	2660	725	2219	2100	345.2	12.2	429	5237	0.00	2.40	0.00	0.000	1158	0.000	0.078	2660	2109	2156	2218	2094	0	0	0	0	0	0	14.10	13.95	14.13
5552	0.23	292.1	2660	2111	2218	2098	306.3	12.0	443	5557	0.00	2.42	0.00	0.000	516	0.000	0.086	2660	726	2157	2218	2097	0	0	0	0	0	0	14.52	14.17	14.54
5612	0.27	292.1	2661	726	2217	2097	299.6	10.2	455	5617	0.00	2.40	0.00	0.000	1158	0.000	0.078	2660	2109	2155	2216	2095	0	0	0	0	0	0	14.32	14.20	14.36
5942	0.27	292.1	2660	2111	2217	2098	263.3	10.7	471	5947	0.00	2.42	0.00	0.000	516	0.000	0.085	2668	722	2156	2216	2096	0	0	0	0	0	0	14.62	14.23	14.63
5982	0.30	292.1	2668	722	2215	2097	259.0	10.4	479	5987	0.00	2.40	0.00	0.000	1158	0.000	0.081	2668	2107	2155	2214	2097	0	0	0	0	0	0	14.35	14.23	14.39
6302	0.31	298.4	2668	2109	2215	2098	227.0	9.7	493	6303	0.00	0.00	0.00	0.000	38	0.000	0.000	2668	2108	2154	2214	2095	0	0	0	0	0	0	14.62	14.64	14.64
6602	0.33	332.8	2667	2109	2215	2097	200.6	8.4	503	6673	0.00	2.45	64.85	1.315	8740	0.000	0.083	2672	721	2004	2055	1953	0	0	0	0	0	0	14.63	13.84	13.26
6733	0.45	374.7	2673	722	2048	1953	189.7	8.1	529	6809	0.17	2.45	69.93	1.263	11430	0.114	0.080	2746	2109	1837	1871	1804	0	0	0	0	0	0	14.13	14.07	13.07
7114	0.39	374.7	2745	2110	1859	1792	140.2	12.7	555	7119	0.15	2.42	0.00	0.000	4740	0.235	0.083	2713	726	1823	1855	1791	0	0	0	0	0	0	13.99	14.12	14.12
7179	0.47	386.0	2713	726	1855	1791	133.5	9.5	568	7199	0.00	2.40	13.30	1.437	9382	0.000	0.076	2713	2101	1788	1819	1757	0	0	0	0	0	0	14.12	13.92	13.25
7505	0.51	407.0	2712	2103	1815	1746	102.7	9.0	583	7541	0.00	2.47	29.75	1.313	8868	0.000	0.086	2710	730	1699	1727	1672	0	0	0	0	0	0	14.55	14.03	13.33
7598	0.65	444.9	2711	731	1726	1673	94.9	8.2	601	7625	0.25	2.40	19.77	0.494	11430	0.091	0.078	2803	2101	1550	1581	1520	0	0	0	0	0	0	14.15	14.13	13.65
7930	0.60	467.5	2803	2102	1582	1513	54.4	9.0	637	7946	0.00	2.50	11.75	0.369	8868	0.000	0.085	2805	718	1457	1497	1418	0	0	0	0	0	0	14.50	14.14	13.75
8076	0.64	515.2	2805	720	1497	1419	42.3	7.8	666	8107	0.00	2.42	25.25	0.332	9254	0.000	0.078	2804	2107	1267	1324	1210	0	0	0	0	0	0	14.31	14.19	13.83
8413	0.75	602.9	2805	2109	1318	1203	15.9	5.9	703	8463	0.00	0.00	45.47	0.259	8614	0.000	0.000	2805	2107	906	978	835	0	0	0	0	0	0	14.53	14.07	13.89
8710	end climb: SURFACE_DEPTH_REACHED
state	8710	begin surface coast
8760	end surface coast: CONTROL_FINISHED_OK
state	8760	begin surface