Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 171 * 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 171 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 481.0

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 37 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 481.0 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 171 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 260817,195804,7353.4858,-15149.4229,16,0.7,22,20.1,0.0,0.0,12,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 287.0,78462,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 260817,201532,7353.4946,-15149.5342,13,0.7,31,20.1,0.0,0.0,11,8.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170826202721.972196,3,581,27,0099,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07 PM_FREEKB_00 52956352

FINISH 0.1,1.014337 _24V_AH 12.37,124.857

SM_CCo 9004,0.00,0.000,0,0,499,703.03 _10V_AH 12.23,0.000

SM_GC 1.25,8.35,0.17,0.00,0.077,0.122,0.000,200,2216,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.29,14.26,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 412 FG_AHR_10Vo 0.000

MODEM 3,1503778761,74.30400,-153.94400,54.821,79371.1 MEM 323360

RAFOS_FIX 7352.480469,-15149.855469,260817,202021,2,255,4.06 DATA_FILE_SIZE 26764,737

IRIDIUM_FIX 7354.15,-15152.46,260817,200300 CAP_FILE_SIZE 107994,0

TT8_MAMPS 0.039697,0.923517 CFSIZE 2097872896,2035220480

HUMID 46.73 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 13.40 CURRENT 0.025,276.11,1

XPDR_PINGS 12 GPS 260817,224724,7354.487,-15153.054,16,0.7,30,20.0,0.3,302.5,11,9.8

CP_FREE 15990620160.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 145.88 nil 0 0 0.00

Roll_motor 94 2147 2497.57 nil 0 0 0.00

VBD_pump_during_apogee 996 1569 19341.27 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8951 14 1604.39

Iridium_during_xfer 676 176 1478.15 NCP 8940 20 2211.76

Transponder_ping 3 420 15.59 PMAR 8897 10 1125.54

GUMSTIX_24V 0 0 0.00

GPS 34 22 9.57

TT8 0 0 0.00

LPSleep 6443 2 182.04

TT8_Active 810 13 138.46

TT8_Sampling 2478 33 1013.56

TT8_CF8 332 38 157.56

TT8_Kalman 0 0 0.00

Analog_circuits 2417 10 295.68

GPS_charging 0 0 0.00

Compass 1058 7 90.60

RAFOS 1136 48 666.88

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 2218 502 487 0.0 0.0 0 137 0.00 0.00 -87.68 0.000 16386 0.000 0.000 188 2219 2094 2013 2175 0 0 0 0 0 0 14.51 28.83 14.53

140 -0.57 -145.9 192 2219 2013 2175 4.8 -7.0 9 196 12.82 2.75 -35.88 0.000 18724 0.460 2.147 2376 3588 3963 3945 3982 0 0 0 0 0 0 13.58 12.64 14.01

346 -0.65 -145.9 2377 3588 3952 3982 50.7 -15.7 50 352 0.00 2.35 0.00 0.000 1158 0.000 0.060 2382 2228 3966 3951 3982 0 0 0 0 0 0 14.06 13.95 14.09

651 -0.72 -145.9 2377 2228 3953 3983 97.9 -12.5 81 652 0.00 0.00 0.00 0.000 134 0.000 0.000 2377 2227 3968 3953 3983 0 0 0 0 0 0 14.40 14.42 14.42

971 -0.84 -145.9 2377 2228 3954 3981 131.2 -9.7 93 977 0.20 2.45 0.00 0.000 4516 0.109 0.087 2288 3597 3967 3953 3982 0 0 0 0 0 0 14.12 14.05 14.17

1007 -0.84 -145.9 2289 3597 3953 3989 136.2 -15.2 100 1012 0.00 2.40 0.00 0.000 1030 0.000 0.060 2288 2198 3967 3953 3982 0 0 0 0 0 0 14.17 14.06 14.21

1332 -0.84 -145.9 2288 2198 3954 3983 189.1 -15.9 115 1337 0.00 2.45 0.00 0.000 260 0.000 0.088 2280 3592 3968 3953 3983 0 0 0 0 0 0 14.44 14.02 14.45

1422 -0.91 -145.9 2280 3595 3953 3983 201.7 -12.9 133 1428 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2200 3966 3953 3980 0 0 0 0 0 0 14.21 14.07 14.24

1753 -0.91 -145.9 2281 2199 3954 3982 248.3 -13.4 149 1759 0.00 2.47 0.00 0.000 260 0.000 0.090 2271 3601 3967 3953 3982 0 0 0 0 0 0 14.59 14.12 14.62

1834 -1.00 -145.9 2272 3602 3953 3983 258.3 -11.5 165 1840 0.00 2.38 0.00 0.000 1158 0.000 0.059 2271 2199 3967 3953 3982 0 0 0 0 0 0 14.36 14.23 14.40

2145 -1.02 -145.9 2271 2200 3953 3983 296.6 -12.1 177 2151 0.00 2.47 0.00 0.000 388 0.000 0.090 2267 3601 3967 3953 3982 0 0 0 0 0 0 14.64 14.16 14.69

2211 -1.11 -145.9 2267 3603 3954 3982 304.1 -11.0 190 2216 0.15 2.38 0.00 0.000 5254 0.128 0.058 2211 2193 3967 3953 3982 0 0 0 0 0 0 14.28 14.26 14.38

2536 -1.03 -145.9 2211 2193 3953 3983 357.9 -16.5 205 2542 0.12 2.47 0.00 0.000 2436 0.305 0.087 2236 3592 3967 3953 3982 0 0 0 0 0 0 13.90 14.16 14.09

2639 -1.06 -145.9 2234 3594 3953 3983 371.8 -12.8 225 2645 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2195 3967 3952 3982 0 0 0 0 0 0 14.34 14.22 14.38

2960 -1.04 -145.9 2235 2196 3953 3982 416.3 -13.8 239 2965 0.00 2.45 0.00 0.000 388 0.000 0.090 2235 3594 3967 3953 3981 0 0 0 0 0 0 14.65 14.21 14.69

3065 -1.08 -145.9 2235 3595 3954 3981 429.8 -12.3 260 3070 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2198 3965 3949 3981 0 0 0 0 0 0 14.40 14.28 14.43

3380 -1.08 -145.9 2239 2197 3954 3980 472.2 -13.4 273 3386 0.00 2.45 0.00 0.000 260 0.000 0.090 2235 3594 3967 3953 3981 0 0 0 0 0 0 14.65 14.21 14.67

3438 end dive: TARGET_DEPTH_EXCEEDED

state 3438 begin apogee

3446 -0.13 0.0 2236 2101 3954 3981 480.1 -12.4 285 3667 1.15 0.00 217.27 1.433 10246 0.243 0.000 2529 2100 3364 3386 3343 0 0 0 0 0 0 13.95 13.47 12.69

3671 end apogee: CONTROL_FINISHED_OK

state 3671 begin climb

3673 0.57 145.9 2530 2101 3381 3336 492.4 0.0 292 3896 0.75 2.30 209.05 1.384 10756 0.065 0.082 2792 690 2762 2805 2720 0 0 0 0 0 0 13.57 13.13 12.37

3966 0.19 145.9 2792 691 2801 2718 492.5 14.3 308 3972 0.70 2.58 0.00 0.000 5254 0.312 0.076 2646 2086 2758 2801 2716 0 0 0 0 0 0 13.16 13.41 13.52

4277 0.05 160.2 2647 2088 2798 2710 462.8 9.3 320 4302 0.17 2.53 17.02 1.569 12964 0.303 0.083 2613 702 2706 2751 2661 0 0 0 0 0 0 13.70 13.91 13.02

4379 0.08 204.6 2613 702 2751 2661 454.7 8.0 340 4452 0.00 2.50 66.35 1.427 9254 0.000 0.080 2613 2109 2526 2588 2465 0 0 0 0 0 0 14.10 13.98 12.93

4758 0.07 224.7 2613 2109 2584 2452 420.2 9.1 366 4789 0.00 2.58 27.23 1.494 8868 0.000 0.086 2613 694 2444 2507 2382 0 0 0 0 0 0 14.44 14.01 13.16

4810 0.09 254.9 2613 695 2502 2382 415.5 8.6 376 4861 0.00 2.50 45.42 1.424 9254 0.000 0.080 2613 2105 2323 2381 2266 0 0 0 0 0 0 14.14 14.03 13.05

5183 0.13 271.5 2613 2105 2373 2253 381.6 9.2 400 5213 0.00 2.50 22.88 1.498 8868 0.000 0.085 2613 688 2253 2309 2197 0 0 0 0 0 0 14.47 13.99 13.22

5248 0.24 291.2 2613 688 2306 2197 375.4 9.1 413 5284 0.15 2.47 29.55 1.445 11430 0.116 0.080 2679 2099 2174 2227 2121 0 0 0 0 0 0 14.16 14.07 13.16

5607 0.17 291.2 2679 2099 2221 2111 326.4 13.8 434 5612 0.15 2.45 0.00 0.000 4740 0.264 0.083 2649 696 2165 2220 2111 0 0 0 0 0 0 13.96 14.19 14.13

5642 0.19 291.2 2651 693 2217 2111 321.7 11.6 441 5648 0.00 2.45 0.00 0.000 1158 0.000 0.080 2650 2101 2164 2217 2111 0 0 0 0 0 0 14.33 14.21 14.41

5968 0.19 291.2 2650 2103 2218 2110 285.3 10.9 456 5973 0.00 2.47 0.00 0.000 516 0.000 0.086 2651 688 2163 2217 2109 0 0 0 0 0 0 14.62 14.17 14.63

6003 0.23 291.2 2651 688 2215 2109 281.6 10.6 463 6008 0.00 2.45 0.00 0.000 1158 0.000 0.080 2651 2102 2162 2216 2109 0 0 0 0 0 0 14.40 14.28 14.45

6328 0.24 296.7 2651 2102 2217 2109 248.2 9.7 478 6333 0.00 2.45 0.00 0.000 548 0.000 0.084 2648 691 2161 2215 2108 0 0 0 0 0 0 14.66 14.21 14.67

6408 0.32 326.0 2651 692 2214 2108 241.0 8.6 494 6469 0.00 2.45 54.85 1.354 9382 0.000 0.080 2651 2105 2033 2083 1984 0 0 0 0 0 0 14.28 14.16 13.28

6781 0.39 362.6 2651 2105 2077 1974 209.1 8.3 518 6844 0.17 0.00 60.72 1.302 10406 0.109 0.000 2723 2105 1886 1923 1850 0 0 0 0 0 0 14.29 13.97 13.27

7140 0.35 362.6 2721 2106 1909 1841 165.5 11.8 530 7144 0.00 2.50 0.00 0.000 644 0.000 0.086 2726 688 1874 1908 1840 0 0 0 0 0 0 14.50 14.14 14.52

7224 0.35 362.6 2726 688 1906 1840 156.0 10.7 547 7231 0.15 2.47 0.00 0.000 5126 0.247 0.079 2694 2100 1872 1905 1840 0 0 0 0 0 0 14.00 14.18 14.26

7530 0.39 384.8 2694 2103 1906 1838 127.3 9.0 558 7570 0.00 2.55 31.73 1.334 8868 0.000 0.086 2698 679 1790 1817 1764 0 0 0 0 0 0 14.62 14.12 13.35

7637 0.52 427.3 2699 680 1812 1764 118.4 8.0 579 7714 0.15 2.50 71.15 1.226 11430 0.121 0.080 2764 2106 1623 1651 1595 0 0 0 0 0 0 14.21 14.15 13.17

8010 0.49 427.3 2764 2107 1646 1576 73.1 10.8 618 8011 0.00 0.00 0.00 0.000 134 0.000 0.000 2764 2106 1610 1645 1575 0 0 0 0 0 0 14.45 14.47 14.47

8312 0.56 519.4 2765 2107 1646 1573 49.9 5.8 648 8365 0.00 2.58 46.40 0.353 8740 0.000 0.085 2764 690 1246 1304 1188 0 0 0 0 0 0 14.52 14.10 13.78

8418 0.75 598.2 2765 691 1303 1188 43.6 6.4 668 8465 0.17 2.47 41.00 0.330 11430 0.112 0.080 2836 2102 924 997 851 0 0 0 0 0 0 14.09 14.09 13.80

8771 0.87 678.1 2836 2105 998 846 11.1 6.3 708 8818 0.00 2.50 42.10 0.241 8868 0.000 0.086 2837 688 597 647 548 0 0 0 0 0 0 14.54 14.04 13.90

8890 1.08 741.2 2838 688 648 547 2.9 7.1 731 8909 0.28 2.47 13.80 0.213 11426 0.090 0.076 2943 2102 499 528 471 0 0 0 0 0 0 14.16 14.09 14.26

8909 end climb: SURFACE_DEPTH_REACHED

state 8909 begin surface coast

8922 end surface coast: CONTROL_FINISHED_OK

state 8922 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	171	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	481.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	260817,195804,7353.4858,-15149.4229,16,0.7,22,20.1,0.0,0.0,12,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	287.0,78462,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	260817,201532,7353.4946,-15149.5342,13,0.7,31,20.1,0.0,0.0,11,8.6

MODEM_MSG	CACST,6,1,20170826202721.972196,3,581,27,0099,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07	PM_FREEKB_00	52956352
FINISH	0.1,1.014337	_24V_AH	12.37,124.857
SM_CCo	9004,0.00,0.000,0,0,499,703.03	_10V_AH	12.23,0.000
SM_GC	1.25,8.35,0.17,0.00,0.077,0.122,0.000,200,2216,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.29,14.26,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	412	FG_AHR_10Vo	0.000
MODEM	3,1503778761,74.30400,-153.94400,54.821,79371.1	MEM	323360
RAFOS_FIX	7352.480469,-15149.855469,260817,202021,2,255,4.06	DATA_FILE_SIZE	26764,737
IRIDIUM_FIX	7354.15,-15152.46,260817,200300	CAP_FILE_SIZE	107994,0
TT8_MAMPS	0.039697,0.923517	CFSIZE	2097872896,2035220480
HUMID	46.73	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	13.40	CURRENT	0.025,276.11,1
XPDR_PINGS	12	GPS	260817,224724,7354.487,-15153.054,16,0.7,30,20.0,0.3,302.5,11,9.8
CP_FREE	15990620160.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	145.88	nil	0	0	0.00
Roll_motor	94	2147	2497.57	nil	0	0	0.00
VBD_pump_during_apogee	996	1569	19341.27	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8951	14	1604.39
Iridium_during_xfer	676	176	1478.15	NCP	8940	20	2211.76
Transponder_ping	3	420	15.59	PMAR	8897	10	1125.54
GUMSTIX_24V	0	0	0.00
GPS	34	22	9.57
TT8	0	0	0.00
LPSleep	6443	2	182.04
TT8_Active	810	13	138.46
TT8_Sampling	2478	33	1013.56
TT8_CF8	332	38	157.56
TT8_Kalman	0	0	0.00
Analog_circuits	2417	10	295.68
GPS_charging	0	0	0.00
Compass	1058	7	90.60
RAFOS	1136	48	666.88
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	2218	502	487	0.0	0.0	0	137	0.00	0.00	-87.68	0.000	16386	0.000	0.000	188	2219	2094	2013	2175	0	0	0	0	0	0	14.51	28.83	14.53
140	-0.57	-145.9	192	2219	2013	2175	4.8	-7.0	9	196	12.82	2.75	-35.88	0.000	18724	0.460	2.147	2376	3588	3963	3945	3982	0	0	0	0	0	0	13.58	12.64	14.01
346	-0.65	-145.9	2377	3588	3952	3982	50.7	-15.7	50	352	0.00	2.35	0.00	0.000	1158	0.000	0.060	2382	2228	3966	3951	3982	0	0	0	0	0	0	14.06	13.95	14.09
651	-0.72	-145.9	2377	2228	3953	3983	97.9	-12.5	81	652	0.00	0.00	0.00	0.000	134	0.000	0.000	2377	2227	3968	3953	3983	0	0	0	0	0	0	14.40	14.42	14.42
971	-0.84	-145.9	2377	2228	3954	3981	131.2	-9.7	93	977	0.20	2.45	0.00	0.000	4516	0.109	0.087	2288	3597	3967	3953	3982	0	0	0	0	0	0	14.12	14.05	14.17
1007	-0.84	-145.9	2289	3597	3953	3989	136.2	-15.2	100	1012	0.00	2.40	0.00	0.000	1030	0.000	0.060	2288	2198	3967	3953	3982	0	0	0	0	0	0	14.17	14.06	14.21
1332	-0.84	-145.9	2288	2198	3954	3983	189.1	-15.9	115	1337	0.00	2.45	0.00	0.000	260	0.000	0.088	2280	3592	3968	3953	3983	0	0	0	0	0	0	14.44	14.02	14.45
1422	-0.91	-145.9	2280	3595	3953	3983	201.7	-12.9	133	1428	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2200	3966	3953	3980	0	0	0	0	0	0	14.21	14.07	14.24
1753	-0.91	-145.9	2281	2199	3954	3982	248.3	-13.4	149	1759	0.00	2.47	0.00	0.000	260	0.000	0.090	2271	3601	3967	3953	3982	0	0	0	0	0	0	14.59	14.12	14.62
1834	-1.00	-145.9	2272	3602	3953	3983	258.3	-11.5	165	1840	0.00	2.38	0.00	0.000	1158	0.000	0.059	2271	2199	3967	3953	3982	0	0	0	0	0	0	14.36	14.23	14.40
2145	-1.02	-145.9	2271	2200	3953	3983	296.6	-12.1	177	2151	0.00	2.47	0.00	0.000	388	0.000	0.090	2267	3601	3967	3953	3982	0	0	0	0	0	0	14.64	14.16	14.69
2211	-1.11	-145.9	2267	3603	3954	3982	304.1	-11.0	190	2216	0.15	2.38	0.00	0.000	5254	0.128	0.058	2211	2193	3967	3953	3982	0	0	0	0	0	0	14.28	14.26	14.38
2536	-1.03	-145.9	2211	2193	3953	3983	357.9	-16.5	205	2542	0.12	2.47	0.00	0.000	2436	0.305	0.087	2236	3592	3967	3953	3982	0	0	0	0	0	0	13.90	14.16	14.09
2639	-1.06	-145.9	2234	3594	3953	3983	371.8	-12.8	225	2645	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2195	3967	3952	3982	0	0	0	0	0	0	14.34	14.22	14.38
2960	-1.04	-145.9	2235	2196	3953	3982	416.3	-13.8	239	2965	0.00	2.45	0.00	0.000	388	0.000	0.090	2235	3594	3967	3953	3981	0	0	0	0	0	0	14.65	14.21	14.69
3065	-1.08	-145.9	2235	3595	3954	3981	429.8	-12.3	260	3070	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2198	3965	3949	3981	0	0	0	0	0	0	14.40	14.28	14.43
3380	-1.08	-145.9	2239	2197	3954	3980	472.2	-13.4	273	3386	0.00	2.45	0.00	0.000	260	0.000	0.090	2235	3594	3967	3953	3981	0	0	0	0	0	0	14.65	14.21	14.67
3438	end dive: TARGET_DEPTH_EXCEEDED
state	3438	begin apogee
3446	-0.13	0.0	2236	2101	3954	3981	480.1	-12.4	285	3667	1.15	0.00	217.27	1.433	10246	0.243	0.000	2529	2100	3364	3386	3343	0	0	0	0	0	0	13.95	13.47	12.69
3671	end apogee: CONTROL_FINISHED_OK
state	3671	begin climb
3673	0.57	145.9	2530	2101	3381	3336	492.4	0.0	292	3896	0.75	2.30	209.05	1.384	10756	0.065	0.082	2792	690	2762	2805	2720	0	0	0	0	0	0	13.57	13.13	12.37
3966	0.19	145.9	2792	691	2801	2718	492.5	14.3	308	3972	0.70	2.58	0.00	0.000	5254	0.312	0.076	2646	2086	2758	2801	2716	0	0	0	0	0	0	13.16	13.41	13.52
4277	0.05	160.2	2647	2088	2798	2710	462.8	9.3	320	4302	0.17	2.53	17.02	1.569	12964	0.303	0.083	2613	702	2706	2751	2661	0	0	0	0	0	0	13.70	13.91	13.02
4379	0.08	204.6	2613	702	2751	2661	454.7	8.0	340	4452	0.00	2.50	66.35	1.427	9254	0.000	0.080	2613	2109	2526	2588	2465	0	0	0	0	0	0	14.10	13.98	12.93
4758	0.07	224.7	2613	2109	2584	2452	420.2	9.1	366	4789	0.00	2.58	27.23	1.494	8868	0.000	0.086	2613	694	2444	2507	2382	0	0	0	0	0	0	14.44	14.01	13.16
4810	0.09	254.9	2613	695	2502	2382	415.5	8.6	376	4861	0.00	2.50	45.42	1.424	9254	0.000	0.080	2613	2105	2323	2381	2266	0	0	0	0	0	0	14.14	14.03	13.05
5183	0.13	271.5	2613	2105	2373	2253	381.6	9.2	400	5213	0.00	2.50	22.88	1.498	8868	0.000	0.085	2613	688	2253	2309	2197	0	0	0	0	0	0	14.47	13.99	13.22
5248	0.24	291.2	2613	688	2306	2197	375.4	9.1	413	5284	0.15	2.47	29.55	1.445	11430	0.116	0.080	2679	2099	2174	2227	2121	0	0	0	0	0	0	14.16	14.07	13.16
5607	0.17	291.2	2679	2099	2221	2111	326.4	13.8	434	5612	0.15	2.45	0.00	0.000	4740	0.264	0.083	2649	696	2165	2220	2111	0	0	0	0	0	0	13.96	14.19	14.13
5642	0.19	291.2	2651	693	2217	2111	321.7	11.6	441	5648	0.00	2.45	0.00	0.000	1158	0.000	0.080	2650	2101	2164	2217	2111	0	0	0	0	0	0	14.33	14.21	14.41
5968	0.19	291.2	2650	2103	2218	2110	285.3	10.9	456	5973	0.00	2.47	0.00	0.000	516	0.000	0.086	2651	688	2163	2217	2109	0	0	0	0	0	0	14.62	14.17	14.63
6003	0.23	291.2	2651	688	2215	2109	281.6	10.6	463	6008	0.00	2.45	0.00	0.000	1158	0.000	0.080	2651	2102	2162	2216	2109	0	0	0	0	0	0	14.40	14.28	14.45
6328	0.24	296.7	2651	2102	2217	2109	248.2	9.7	478	6333	0.00	2.45	0.00	0.000	548	0.000	0.084	2648	691	2161	2215	2108	0	0	0	0	0	0	14.66	14.21	14.67
6408	0.32	326.0	2651	692	2214	2108	241.0	8.6	494	6469	0.00	2.45	54.85	1.354	9382	0.000	0.080	2651	2105	2033	2083	1984	0	0	0	0	0	0	14.28	14.16	13.28
6781	0.39	362.6	2651	2105	2077	1974	209.1	8.3	518	6844	0.17	0.00	60.72	1.302	10406	0.109	0.000	2723	2105	1886	1923	1850	0	0	0	0	0	0	14.29	13.97	13.27
7140	0.35	362.6	2721	2106	1909	1841	165.5	11.8	530	7144	0.00	2.50	0.00	0.000	644	0.000	0.086	2726	688	1874	1908	1840	0	0	0	0	0	0	14.50	14.14	14.52
7224	0.35	362.6	2726	688	1906	1840	156.0	10.7	547	7231	0.15	2.47	0.00	0.000	5126	0.247	0.079	2694	2100	1872	1905	1840	0	0	0	0	0	0	14.00	14.18	14.26
7530	0.39	384.8	2694	2103	1906	1838	127.3	9.0	558	7570	0.00	2.55	31.73	1.334	8868	0.000	0.086	2698	679	1790	1817	1764	0	0	0	0	0	0	14.62	14.12	13.35
7637	0.52	427.3	2699	680	1812	1764	118.4	8.0	579	7714	0.15	2.50	71.15	1.226	11430	0.121	0.080	2764	2106	1623	1651	1595	0	0	0	0	0	0	14.21	14.15	13.17
8010	0.49	427.3	2764	2107	1646	1576	73.1	10.8	618	8011	0.00	0.00	0.00	0.000	134	0.000	0.000	2764	2106	1610	1645	1575	0	0	0	0	0	0	14.45	14.47	14.47
8312	0.56	519.4	2765	2107	1646	1573	49.9	5.8	648	8365	0.00	2.58	46.40	0.353	8740	0.000	0.085	2764	690	1246	1304	1188	0	0	0	0	0	0	14.52	14.10	13.78
8418	0.75	598.2	2765	691	1303	1188	43.6	6.4	668	8465	0.17	2.47	41.00	0.330	11430	0.112	0.080	2836	2102	924	997	851	0	0	0	0	0	0	14.09	14.09	13.80
8771	0.87	678.1	2836	2105	998	846	11.1	6.3	708	8818	0.00	2.50	42.10	0.241	8868	0.000	0.086	2837	688	597	647	548	0	0	0	0	0	0	14.54	14.04	13.90
8890	1.08	741.2	2838	688	648	547	2.9	7.1	731	8909	0.28	2.47	13.80	0.213	11426	0.090	0.076	2943	2102	499	528	471	0	0	0	0	0	0	14.16	14.09	14.26
8909	end climb: SURFACE_DEPTH_REACHED
state	8909	begin surface coast
8922	end surface coast: CONTROL_FINISHED_OK
state	8922	begin surface