Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 174 * 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 174 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 490.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 32 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 490.0 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 26 VBD_MIN 500

DIVE 174 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 270817,041906,7356.6455,-15159.8203,20,0.8,28,20.0,0.3,338.7,11,9.3 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 1.30 MHEAD_RNG_PITCHd_Wd 284.2,70729,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.8 D_GRID 480

GPS2 270817,043816,7356.6577,-15200.1992,6,0.7,15,20.0,0.0,278.1,12,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827041916.419173,3,26,02,0136,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 52825856

FINISH 0.8,1.020854 _24V_AH 12.36,126.321

SM_CCo 8812,0.95,0.266,0,0,502,702.78 _10V_AH 12.26,0.000

SM_GC 2.03,8.27,0.20,0.95,0.082,0.104,0.266,204,2239,502,-7.37,-0.34,702.78,0,0,0,0,0,0,14.27,14.28,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 388 FG_AHR_10Vo 0.000

MODEM 0,1503806633,75.36600,-145.04601,179.826,260299.2 MEM 323460

RAFOS_FIX 7355.189941,-15159.291992,270817,040416,3,255,0.00 DATA_FILE_SIZE 23445,695

IRIDIUM_FIX 7357.06,-15213.04,270817,042923 CAP_FILE_SIZE 106698,0

TT8_MAMPS 0.040446,0.873334 CFSIZE 2097872896,2034302976

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.3

TCM_TEMP 13.10 CURRENT 0.012,328.73,1

XPDR_PINGS 17 GPS 270817,070729,7357.662,-15203.175,62,0.8,63,20.0,0.4,257.1,11,8.8

CP_FREE 15990128640.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 139.66 nil 0 0 0.00

Roll_motor 84 2143 2236.76 nil 0 0 0.00

VBD_pump_during_apogee 941 1474 17160.37 nil 0 0 0.00

VBD_pump_during_surface 0 266 3.13 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 8821 14 1592.78

Iridium_during_xfer 738 179 1633.37 NCP 8804 20 2176.35

Transponder_ping 4 420 22.06 PMAR 8767 11 1265.75

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.30

TT8 0 0 0.00

LPSleep 6246 2 176.90

TT8_Active 843 13 144.54

TT8_Sampling 2557 33 1048.36

TT8_CF8 328 38 155.60

TT8_Kalman 0 0 0.00

Analog_circuits 2572 10 315.34

GPS_charging 0 0 0.00

Compass 998 7 85.67

RAFOS 0 0 0.00

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 -145.9 190 2215 497 490 0.0 0.0 0 142 0.00 0.00 -90.88 0.000 16386 0.000 0.000 188 2220 2164 2089 2239 0 0 0 0 0 0 14.35 28.83 14.35

145 -0.57 -145.9 189 2214 2094 2240 4.0 -5.3 9 200 12.57 2.75 -33.33 0.000 18724 0.453 2.144 2377 3594 3964 3947 3982 1 0 0 0 0 0 13.50 12.63 13.99

425 -0.69 -145.9 2376 3594 3957 3982 61.7 -13.4 64 432 0.00 2.40 0.00 0.000 1158 0.000 0.058 2375 2192 3967 3952 3982 0 0 0 0 0 0 14.11 14.00 14.14

732 -0.76 -145.9 2375 2194 3953 3983 104.6 -11.9 93 737 0.12 2.50 0.00 0.000 4484 0.151 0.086 2319 3601 3967 3953 3982 0 0 0 0 0 0 14.04 14.13 14.10

822 -0.86 -145.9 2319 3602 3953 3983 117.0 -12.7 111 827 0.00 2.38 0.00 0.000 1158 0.000 0.059 2319 2200 3967 3953 3982 0 0 0 0 0 0 14.33 14.21 14.36

1152 -0.89 -145.9 2319 2199 3954 3983 163.9 -13.7 127 1157 0.00 2.47 0.00 0.000 388 0.000 0.090 2319 3600 3967 3954 3981 0 0 0 0 0 0 14.60 14.16 14.62

1217 -1.03 -145.9 2319 3602 3954 3982 171.9 -11.2 140 1223 0.22 2.38 0.00 0.000 5254 0.099 0.057 2238 2201 3969 3957 3982 0 0 0 0 0 0 14.31 14.29 14.38

1544 -0.94 -145.9 2239 2199 3956 3982 234.9 -19.1 155 1549 0.12 2.45 0.00 0.000 2436 0.303 0.085 2257 3601 3967 3952 3982 0 0 0 0 0 0 13.97 14.22 14.15

1666 -0.96 -145.9 2257 3602 3953 3983 253.0 -13.8 179 1670 0.00 2.38 0.00 0.000 1158 0.000 0.058 2256 2192 3967 3953 3982 0 0 0 0 0 0 14.36 14.24 14.39

1995 -0.96 -145.9 2257 2192 3953 3983 298.9 -13.2 195 2000 0.00 2.47 0.00 0.000 260 0.000 0.089 2249 3602 3967 3953 3982 0 0 0 0 0 0 14.66 14.21 14.69

2100 -1.01 -145.9 2250 3602 3954 3982 312.3 -12.2 216 2106 0.00 2.38 0.00 0.000 1158 0.000 0.057 2249 2196 3967 3953 3982 0 0 0 0 0 0 14.41 14.29 14.43

2416 -1.01 -145.9 2249 2196 3953 3981 353.9 -13.0 229 2421 0.00 2.47 0.00 0.000 260 0.000 0.088 2241 3600 3967 3953 3981 0 0 0 0 0 0 14.66 13.47 14.69

2486 -1.06 -145.9 2240 3601 3953 3983 362.7 -12.1 243 2491 0.00 2.38 0.00 0.000 1158 0.000 0.058 2241 2193 3967 3953 3982 0 0 0 0 0 0 14.40 14.28 14.43

2806 -1.06 -145.9 2241 2193 3953 3982 405.2 -13.1 257 2811 0.00 2.47 0.00 0.000 260 0.000 0.090 2236 3600 3966 3952 3981 0 0 0 0 0 0 14.66 14.20 14.68

2882 -1.11 -145.9 2237 3601 3952 3984 414.5 -11.8 272 2887 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2199 3967 3953 3981 0 0 0 0 0 0 14.40 14.28 14.42

3197 -1.11 -145.9 2236 2199 3953 3982 455.9 -13.1 285 3202 0.00 2.47 0.00 0.000 260 0.000 0.090 2236 3600 3966 3953 3980 0 0 0 0 0 0 14.64 14.15 14.66

3282 -1.16 -145.9 2235 3601 3953 3981 466.3 -11.6 302 3288 0.00 2.38 0.00 0.000 1158 0.000 0.057 2235 2195 3966 3952 3980 0 0 0 0 0 0 14.36 14.23 14.40

3405 end dive: TARGET_DEPTH_EXCEEDED

state 3405 begin apogee

3411 -0.13 0.0 2237 2066 3953 3980 482.2 -12.7 307 3632 1.15 0.00 217.02 1.439 10246 0.239 0.000 2530 2065 3363 3386 3341 0 0 0 0 0 0 13.87 13.47 12.68

3636 end apogee: CONTROL_FINISHED_OK

state 3636 begin climb

3638 0.57 145.9 2531 2065 3382 3335 493.1 0.0 314 4032 0.73 2.75 208.23 1.383 10500 0.063 0.076 2777 3498 2755 2794 2716 0 0 0 0 0 0 13.57 12.96 12.36

4044 0.57 145.9 2778 3498 2789 2716 471.1 6.7 317 4049 0.00 2.40 0.00 0.000 1030 0.000 0.058 2786 2131 2752 2788 2716 0 0 0 0 0 0 13.78 13.66 13.81

4359 0.16 145.9 2787 2131 2789 2715 420.2 15.7 330 4364 0.62 2.53 0.00 0.000 4740 0.310 0.080 2651 687 2751 2788 2715 0 0 0 0 0 0 13.71 14.08 13.96

4466 0.05 169.0 2652 686 2789 2716 409.5 8.9 351 4501 0.22 2.45 28.80 1.475 13478 0.282 0.080 2603 2092 2676 2718 2634 0 0 0 0 0 0 13.91 14.14 13.19

4813 0.06 219.3 2604 2092 2714 2624 382.8 7.7 370 4896 0.00 2.50 77.00 1.382 8868 0.000 0.086 2604 694 2465 2522 2409 0 0 0 0 0 0 14.57 13.89 13.12

4933 0.16 258.6 2604 694 2518 2405 373.1 8.2 394 4998 0.00 2.50 58.22 1.369 9382 0.000 0.080 2603 2102 2308 2364 2253 0 0 0 0 0 0 13.97 13.85 12.96

5323 0.24 292.6 2604 2103 2355 2241 339.8 8.4 422 5376 0.17 0.00 50.80 1.372 10406 0.108 0.000 2678 2102 2172 2224 2121 0 0 0 0 0 0 14.23 13.93 13.14

5653 0.18 292.6 2679 2103 2213 2108 296.2 13.1 433 5658 0.15 2.47 0.00 0.000 4740 0.254 0.083 2650 694 2160 2213 2107 0 0 0 0 0 0 13.97 14.03 14.11

5750 0.23 292.6 2649 695 2211 2108 286.0 10.2 452 5756 0.00 2.45 0.00 0.000 1158 0.000 0.080 2650 2106 2158 2210 2107 0 0 0 0 0 0 14.34 14.21 14.38

6076 0.24 298.8 2651 2106 2211 2105 251.9 9.7 467 6080 0.00 0.00 3.03 1.270 8230 0.000 0.000 2650 2106 2147 2200 2094 0 0 0 0 0 0 14.60 14.21 12.89

6376 0.28 327.1 2651 2107 2203 2097 225.1 8.7 477 6431 0.00 0.00 52.58 1.349 8358 0.000 0.000 2651 2106 2030 2078 1982 0 0 0 0 0 0 14.64 14.06 13.28

6706 0.37 369.6 2651 2107 2072 1970 198.3 8.0 488 6782 0.12 2.53 70.30 1.281 10916 0.132 0.086 2712 694 1856 1890 1822 0 0 0 0 0 0 14.20 13.76 13.19

6857 0.39 369.6 2713 694 1877 1822 181.2 11.1 518 6862 0.00 2.50 0.00 0.000 1158 0.000 0.079 2712 2103 1848 1875 1821 0 0 0 0 0 0 14.13 14.02 14.18

7187 0.39 369.6 2713 2104 1876 1815 144.9 10.5 534 7192 0.00 2.47 0.00 0.000 516 0.000 0.086 2712 693 1844 1875 1814 0 0 0 0 0 0 14.54 14.18 14.55

7207 0.39 369.6 2713 693 1875 1814 142.9 10.2 538 7213 0.00 2.47 0.00 0.000 1030 0.000 0.079 2713 2105 1843 1873 1813 0 0 0 0 0 0 14.30 14.17 14.34

7518 0.40 378.3 2713 2106 1873 1814 111.7 9.6 550 7522 0.00 0.00 2.97 1.174 8230 0.000 0.000 2712 2106 1822 1852 1793 0 0 0 0 0 0 14.59 14.15 12.91

7820 0.46 428.7 2713 2106 1861 1794 85.9 7.7 570 7856 0.00 2.53 28.00 0.464 8868 0.000 0.085 2712 695 1616 1646 1586 0 0 0 0 0 0 14.57 14.08 13.71

7934 0.64 503.1 2713 697 1647 1587 77.7 6.6 592 7981 0.22 2.45 38.97 0.435 11430 0.095 0.079 2796 2101 1313 1365 1261 0 0 0 0 0 0 14.19 14.08 13.63

8287 0.67 547.4 2797 2101 1365 1253 42.0 8.0 632 8314 0.00 2.55 23.12 0.331 8740 0.000 0.085 2805 694 1132 1196 1069 0 0 0 0 0 0 14.52 14.14 13.78

8344 0.75 579.1 2806 694 1197 1070 37.3 8.5 643 8367 0.00 2.47 17.40 0.317 9382 0.000 0.078 2805 2103 1004 1073 935 0 0 0 0 0 0 14.26 14.12 13.69

8672 0.96 699.1 2805 2103 1073 932 12.7 4.5 678 8743 0.22 2.50 64.88 0.243 10916 0.096 0.086 2903 687 508 529 487 0 0 0 0 0 0 14.22 14.03 13.88

8758 0.96 699.1 2903 688 527 487 5.1 11.8 691 8765 0.00 2.47 0.00 0.000 1030 0.000 0.078 2903 2097 508 530 487 0 0 0 0 0 0 14.16 14.02 14.18

8781 end climb: SURFACE_DEPTH_REACHED

state 8781 begin surface coast

8791 end surface coast: CONTROL_FINISHED_OK

state 8791 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	174	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	490.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,041906,7356.6455,-15159.8203,20,0.8,28,20.0,0.3,338.7,11,9.3	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	1.30	MHEAD_RNG_PITCHd_Wd	284.2,70729,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.8	D_GRID	480
GPS2	270817,043816,7356.6577,-15200.1992,6,0.7,15,20.0,0.0,278.1,12,9.3

MODEM_MSG	CACST,6,1,20170827041916.419173,3,26,02,0136,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	52825856
FINISH	0.8,1.020854	_24V_AH	12.36,126.321
SM_CCo	8812,0.95,0.266,0,0,502,702.78	_10V_AH	12.26,0.000
SM_GC	2.03,8.27,0.20,0.95,0.082,0.104,0.266,204,2239,502,-7.37,-0.34,702.78,0,0,0,0,0,0,14.27,14.28,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	388	FG_AHR_10Vo	0.000
MODEM	0,1503806633,75.36600,-145.04601,179.826,260299.2	MEM	323460
RAFOS_FIX	7355.189941,-15159.291992,270817,040416,3,255,0.00	DATA_FILE_SIZE	23445,695
IRIDIUM_FIX	7357.06,-15213.04,270817,042923	CAP_FILE_SIZE	106698,0
TT8_MAMPS	0.040446,0.873334	CFSIZE	2097872896,2034302976
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.3
TCM_TEMP	13.10	CURRENT	0.012,328.73,1
XPDR_PINGS	17	GPS	270817,070729,7357.662,-15203.175,62,0.8,63,20.0,0.4,257.1,11,8.8
CP_FREE	15990128640.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	139.66	nil	0	0	0.00
Roll_motor	84	2143	2236.76	nil	0	0	0.00
VBD_pump_during_apogee	941	1474	17160.37	nil	0	0	0.00
VBD_pump_during_surface	0	266	3.13	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	8821	14	1592.78
Iridium_during_xfer	738	179	1633.37	NCP	8804	20	2176.35
Transponder_ping	4	420	22.06	PMAR	8767	11	1265.75
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.30
TT8	0	0	0.00
LPSleep	6246	2	176.90
TT8_Active	843	13	144.54
TT8_Sampling	2557	33	1048.36
TT8_CF8	328	38	155.60
TT8_Kalman	0	0	0.00
Analog_circuits	2572	10	315.34
GPS_charging	0	0	0.00
Compass	998	7	85.67
RAFOS	0	0	0.00
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	190	2215	497	490	0.0	0.0	0	142	0.00	0.00	-90.88	0.000	16386	0.000	0.000	188	2220	2164	2089	2239	0	0	0	0	0	0	14.35	28.83	14.35
145	-0.57	-145.9	189	2214	2094	2240	4.0	-5.3	9	200	12.57	2.75	-33.33	0.000	18724	0.453	2.144	2377	3594	3964	3947	3982	1	0	0	0	0	0	13.50	12.63	13.99
425	-0.69	-145.9	2376	3594	3957	3982	61.7	-13.4	64	432	0.00	2.40	0.00	0.000	1158	0.000	0.058	2375	2192	3967	3952	3982	0	0	0	0	0	0	14.11	14.00	14.14
732	-0.76	-145.9	2375	2194	3953	3983	104.6	-11.9	93	737	0.12	2.50	0.00	0.000	4484	0.151	0.086	2319	3601	3967	3953	3982	0	0	0	0	0	0	14.04	14.13	14.10
822	-0.86	-145.9	2319	3602	3953	3983	117.0	-12.7	111	827	0.00	2.38	0.00	0.000	1158	0.000	0.059	2319	2200	3967	3953	3982	0	0	0	0	0	0	14.33	14.21	14.36
1152	-0.89	-145.9	2319	2199	3954	3983	163.9	-13.7	127	1157	0.00	2.47	0.00	0.000	388	0.000	0.090	2319	3600	3967	3954	3981	0	0	0	0	0	0	14.60	14.16	14.62
1217	-1.03	-145.9	2319	3602	3954	3982	171.9	-11.2	140	1223	0.22	2.38	0.00	0.000	5254	0.099	0.057	2238	2201	3969	3957	3982	0	0	0	0	0	0	14.31	14.29	14.38
1544	-0.94	-145.9	2239	2199	3956	3982	234.9	-19.1	155	1549	0.12	2.45	0.00	0.000	2436	0.303	0.085	2257	3601	3967	3952	3982	0	0	0	0	0	0	13.97	14.22	14.15
1666	-0.96	-145.9	2257	3602	3953	3983	253.0	-13.8	179	1670	0.00	2.38	0.00	0.000	1158	0.000	0.058	2256	2192	3967	3953	3982	0	0	0	0	0	0	14.36	14.24	14.39
1995	-0.96	-145.9	2257	2192	3953	3983	298.9	-13.2	195	2000	0.00	2.47	0.00	0.000	260	0.000	0.089	2249	3602	3967	3953	3982	0	0	0	0	0	0	14.66	14.21	14.69
2100	-1.01	-145.9	2250	3602	3954	3982	312.3	-12.2	216	2106	0.00	2.38	0.00	0.000	1158	0.000	0.057	2249	2196	3967	3953	3982	0	0	0	0	0	0	14.41	14.29	14.43
2416	-1.01	-145.9	2249	2196	3953	3981	353.9	-13.0	229	2421	0.00	2.47	0.00	0.000	260	0.000	0.088	2241	3600	3967	3953	3981	0	0	0	0	0	0	14.66	13.47	14.69
2486	-1.06	-145.9	2240	3601	3953	3983	362.7	-12.1	243	2491	0.00	2.38	0.00	0.000	1158	0.000	0.058	2241	2193	3967	3953	3982	0	0	0	0	0	0	14.40	14.28	14.43
2806	-1.06	-145.9	2241	2193	3953	3982	405.2	-13.1	257	2811	0.00	2.47	0.00	0.000	260	0.000	0.090	2236	3600	3966	3952	3981	0	0	0	0	0	0	14.66	14.20	14.68
2882	-1.11	-145.9	2237	3601	3952	3984	414.5	-11.8	272	2887	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2199	3967	3953	3981	0	0	0	0	0	0	14.40	14.28	14.42
3197	-1.11	-145.9	2236	2199	3953	3982	455.9	-13.1	285	3202	0.00	2.47	0.00	0.000	260	0.000	0.090	2236	3600	3966	3953	3980	0	0	0	0	0	0	14.64	14.15	14.66
3282	-1.16	-145.9	2235	3601	3953	3981	466.3	-11.6	302	3288	0.00	2.38	0.00	0.000	1158	0.000	0.057	2235	2195	3966	3952	3980	0	0	0	0	0	0	14.36	14.23	14.40
3405	end dive: TARGET_DEPTH_EXCEEDED
state	3405	begin apogee
3411	-0.13	0.0	2237	2066	3953	3980	482.2	-12.7	307	3632	1.15	0.00	217.02	1.439	10246	0.239	0.000	2530	2065	3363	3386	3341	0	0	0	0	0	0	13.87	13.47	12.68
3636	end apogee: CONTROL_FINISHED_OK
state	3636	begin climb
3638	0.57	145.9	2531	2065	3382	3335	493.1	0.0	314	4032	0.73	2.75	208.23	1.383	10500	0.063	0.076	2777	3498	2755	2794	2716	0	0	0	0	0	0	13.57	12.96	12.36
4044	0.57	145.9	2778	3498	2789	2716	471.1	6.7	317	4049	0.00	2.40	0.00	0.000	1030	0.000	0.058	2786	2131	2752	2788	2716	0	0	0	0	0	0	13.78	13.66	13.81
4359	0.16	145.9	2787	2131	2789	2715	420.2	15.7	330	4364	0.62	2.53	0.00	0.000	4740	0.310	0.080	2651	687	2751	2788	2715	0	0	0	0	0	0	13.71	14.08	13.96
4466	0.05	169.0	2652	686	2789	2716	409.5	8.9	351	4501	0.22	2.45	28.80	1.475	13478	0.282	0.080	2603	2092	2676	2718	2634	0	0	0	0	0	0	13.91	14.14	13.19
4813	0.06	219.3	2604	2092	2714	2624	382.8	7.7	370	4896	0.00	2.50	77.00	1.382	8868	0.000	0.086	2604	694	2465	2522	2409	0	0	0	0	0	0	14.57	13.89	13.12
4933	0.16	258.6	2604	694	2518	2405	373.1	8.2	394	4998	0.00	2.50	58.22	1.369	9382	0.000	0.080	2603	2102	2308	2364	2253	0	0	0	0	0	0	13.97	13.85	12.96
5323	0.24	292.6	2604	2103	2355	2241	339.8	8.4	422	5376	0.17	0.00	50.80	1.372	10406	0.108	0.000	2678	2102	2172	2224	2121	0	0	0	0	0	0	14.23	13.93	13.14
5653	0.18	292.6	2679	2103	2213	2108	296.2	13.1	433	5658	0.15	2.47	0.00	0.000	4740	0.254	0.083	2650	694	2160	2213	2107	0	0	0	0	0	0	13.97	14.03	14.11
5750	0.23	292.6	2649	695	2211	2108	286.0	10.2	452	5756	0.00	2.45	0.00	0.000	1158	0.000	0.080	2650	2106	2158	2210	2107	0	0	0	0	0	0	14.34	14.21	14.38
6076	0.24	298.8	2651	2106	2211	2105	251.9	9.7	467	6080	0.00	0.00	3.03	1.270	8230	0.000	0.000	2650	2106	2147	2200	2094	0	0	0	0	0	0	14.60	14.21	12.89
6376	0.28	327.1	2651	2107	2203	2097	225.1	8.7	477	6431	0.00	0.00	52.58	1.349	8358	0.000	0.000	2651	2106	2030	2078	1982	0	0	0	0	0	0	14.64	14.06	13.28
6706	0.37	369.6	2651	2107	2072	1970	198.3	8.0	488	6782	0.12	2.53	70.30	1.281	10916	0.132	0.086	2712	694	1856	1890	1822	0	0	0	0	0	0	14.20	13.76	13.19
6857	0.39	369.6	2713	694	1877	1822	181.2	11.1	518	6862	0.00	2.50	0.00	0.000	1158	0.000	0.079	2712	2103	1848	1875	1821	0	0	0	0	0	0	14.13	14.02	14.18
7187	0.39	369.6	2713	2104	1876	1815	144.9	10.5	534	7192	0.00	2.47	0.00	0.000	516	0.000	0.086	2712	693	1844	1875	1814	0	0	0	0	0	0	14.54	14.18	14.55
7207	0.39	369.6	2713	693	1875	1814	142.9	10.2	538	7213	0.00	2.47	0.00	0.000	1030	0.000	0.079	2713	2105	1843	1873	1813	0	0	0	0	0	0	14.30	14.17	14.34
7518	0.40	378.3	2713	2106	1873	1814	111.7	9.6	550	7522	0.00	0.00	2.97	1.174	8230	0.000	0.000	2712	2106	1822	1852	1793	0	0	0	0	0	0	14.59	14.15	12.91
7820	0.46	428.7	2713	2106	1861	1794	85.9	7.7	570	7856	0.00	2.53	28.00	0.464	8868	0.000	0.085	2712	695	1616	1646	1586	0	0	0	0	0	0	14.57	14.08	13.71
7934	0.64	503.1	2713	697	1647	1587	77.7	6.6	592	7981	0.22	2.45	38.97	0.435	11430	0.095	0.079	2796	2101	1313	1365	1261	0	0	0	0	0	0	14.19	14.08	13.63
8287	0.67	547.4	2797	2101	1365	1253	42.0	8.0	632	8314	0.00	2.55	23.12	0.331	8740	0.000	0.085	2805	694	1132	1196	1069	0	0	0	0	0	0	14.52	14.14	13.78
8344	0.75	579.1	2806	694	1197	1070	37.3	8.5	643	8367	0.00	2.47	17.40	0.317	9382	0.000	0.078	2805	2103	1004	1073	935	0	0	0	0	0	0	14.26	14.12	13.69
8672	0.96	699.1	2805	2103	1073	932	12.7	4.5	678	8743	0.22	2.50	64.88	0.243	10916	0.096	0.086	2903	687	508	529	487	0	0	0	0	0	0	14.22	14.03	13.88
8758	0.96	699.1	2903	688	527	487	5.1	11.8	691	8765	0.00	2.47	0.00	0.000	1030	0.000	0.078	2903	2097	508	530	487	0	0	0	0	0	0	14.16	14.02	14.18
8781	end climb: SURFACE_DEPTH_REACHED
state	8781	begin surface coast
8791	end surface coast: CONTROL_FINISHED_OK
state	8791	begin surface