Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 184 * 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 184 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 520.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 520.0 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 27 VBD_MIN 500

DIVE 184 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 280817,082120,7405.9692,-15234.4307,42,0.8,42,19.8,0.0,0.0,9,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 285.6,47020,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 280817,084435,7405.9790,-15234.5498,9,0.8,13,19.8,0.0,0.0,9,8.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828082708.707731,3,5,00,0125,0150,250,00,00,01,01,-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 52472128

FINISH 0.3,1.021109 _24V_AH 12.34,131.214

SM_CCo 8772,18.95,0.214,0,0,503,703.03 _10V_AH 12.21,0.000

SM_GC 0.91,8.05,0.17,18.95,0.064,0.132,0.214,202,2208,503,-7.37,-0.68,703.03,0,0,0,0,0,0,14.31,14.27,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 390 FG_AHR_10Vo 0.000

MODEM 0,1503907436,75.36600,-145.04601,182.230,263907.2 MEM 323272

RAFOS_FIX 7404.822266,-15233.298828,280817,080800,3,255,0.00 DATA_FILE_SIZE 23445,690

IRIDIUM_FIX 7407.05,-15247.43,280817,083824 CAP_FILE_SIZE 108509,0

TT8_MAMPS 0.038948,0.922768 CFSIZE 2097872896,2031190016

HUMID 46.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.72292 SOUNDSPEED 1446.5

TCM_TEMP 13.10 CURRENT 0.029,180.62,1

XPDR_PINGS 19 GPS 280817,111302,7406.758,-15237.556,35,0.8,35,19.7,0.0,0.0,10,10.0

CP_FREE 15987572736.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 139.52 nil 0 0 0.00

Roll_motor 83 2141 2210.27 nil 0 0 0.00

VBD_pump_during_apogee 960 1430 16948.63 nil 0 0 0.00

VBD_pump_during_surface 18 214 50.09 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 8781 14 1575.09

Iridium_during_xfer 860 172 1836.70 NCP 8761 20 2162.21

Transponder_ping 4 420 24.62 PMAR 8726 9 1074.74

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.72

TT8 0 0 0.00

LPSleep 6216 2 175.35

TT8_Active 862 13 147.18

TT8_Sampling 2776 33 1133.81

TT8_CF8 344 38 162.62

TT8_Kalman 0 0 0.00

Analog_circuits 2839 10 346.73

GPS_charging 0 0 0.00

Compass 990 7 84.66

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

44 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 195 2208 503 493 0.0 0.0 0 142 0.00 0.00 -91.10 0.000 16386 0.000 0.000 194 2209 2175 2100 2251 0 0 0 0 0 0 14.35 28.83 14.37

145 -0.57 -145.9 195 2207 2110 2251 4.0 -5.6 9 198 12.57 2.78 -33.17 0.000 18724 0.451 2.141 2376 3613 3964 3947 3982 0 0 0 0 0 0 13.61 12.55 14.09

398 -0.70 -145.9 2376 3613 3953 3982 57.5 -14.2 59 403 0.00 2.40 0.00 0.000 1158 0.000 0.057 2375 2196 3967 3952 3982 0 0 0 0 0 0 14.26 14.14 14.29

708 -0.78 -145.9 2376 2196 3954 3982 101.0 -11.6 91 714 0.15 2.42 0.00 0.000 4740 0.138 0.081 2323 792 3969 3952 3986 0 0 0 0 0 0 14.26 14.20 14.36

749 -0.82 -145.9 2323 793 3954 3983 106.7 -14.5 99 754 0.00 2.47 0.00 0.000 1158 0.000 0.090 2323 2198 3967 3953 3982 0 0 0 0 0 0 14.18 14.04 14.21

1069 -0.85 -145.9 2323 2199 3954 3983 152.0 -13.5 113 1074 0.00 2.50 0.00 0.000 388 0.000 0.093 2319 3617 3967 3953 3982 0 0 0 0 0 0 14.62 14.15 14.64

1186 -0.98 -145.9 2320 3618 3954 3982 165.3 -11.1 136 1193 0.17 2.40 0.00 0.000 5254 0.110 0.057 2249 2199 3967 3953 3982 0 0 0 0 0 0 14.28 14.23 14.38

1489 -0.90 -145.9 2250 2199 3954 3982 222.2 -18.3 147 1494 0.12 2.47 0.00 0.000 2436 0.296 0.086 2268 3614 3967 3953 3982 0 0 0 0 0 0 13.97 14.18 14.17

1591 -0.97 -145.9 2269 3614 3954 3982 236.6 -12.9 167 1596 0.00 2.40 0.00 0.000 1158 0.000 0.058 2268 2196 3967 3952 3982 0 0 0 0 0 0 14.40 14.26 14.43

1912 -0.97 -145.9 2268 2199 3953 3984 280.8 -13.1 181 1917 0.00 2.45 0.00 0.000 260 0.000 0.089 2261 3618 3967 3953 3982 0 0 0 0 0 0 14.66 14.22 14.69

1982 -1.05 -145.9 2262 3619 3954 3982 289.4 -11.5 195 1987 0.00 2.40 0.00 0.000 1158 0.000 0.057 2261 2193 3967 3953 3982 0 0 0 0 0 0 14.40 14.28 14.45

2302 -1.07 -145.9 2261 2192 3953 3982 328.2 -12.0 209 2307 0.00 2.50 0.00 0.000 388 0.000 0.090 2253 3617 3967 3953 3982 0 0 0 0 0 0 14.67 14.22 14.69

2357 -1.15 -145.9 2253 3620 3954 3983 334.7 -11.2 220 2364 0.15 2.40 0.00 0.000 5254 0.126 0.057 2196 2190 3967 3953 3982 0 0 0 0 0 0 14.27 14.24 14.38

2662 -1.05 -145.9 2196 2189 3954 3982 386.7 -17.2 231 2667 0.17 2.50 0.00 0.000 2436 0.305 0.086 2227 3616 3967 3953 3982 0 0 0 0 0 0 13.90 14.23 14.10

2792 -1.08 -145.9 2226 3618 3957 3982 404.0 -12.4 257 2797 0.00 2.38 0.00 0.000 1158 0.000 0.056 2227 2198 3967 3952 3982 0 0 0 0 0 0 14.43 14.28 14.43

3113 -1.05 -145.9 2227 2197 3953 3982 447.3 -13.5 271 3117 0.00 2.47 0.00 0.000 388 0.000 0.089 2222 3613 3967 3952 3982 0 0 0 0 0 0 14.68 14.21 14.70

3213 -1.08 -145.9 2223 3614 3952 3983 460.3 -12.5 291 3217 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2196 3966 3951 3982 0 0 0 0 0 0 14.40 14.28 14.44

3380 end dive: TARGET_DEPTH_EXCEEDED

state 3380 begin apogee

3386 -0.13 0.0 2223 2066 3952 3982 483.8 -13.9 300 3614 1.23 0.08 224.27 1.431 10246 0.248 0.183 2532 2111 3363 3384 3343 0 0 0 0 0 0 13.89 13.40 12.68

3618 end apogee: CONTROL_FINISHED_OK

state 3618 begin climb

3622 0.57 145.9 2533 2112 3376 3333 494.9 0.0 307 4136 0.73 2.67 210.05 1.371 11012 0.064 0.081 2785 732 2750 2791 2709 0 0 0 0 0 0 13.58 12.94 12.34

4147 0.57 145.9 2782 731 2792 2710 460.4 7.6 310 4152 0.00 2.42 0.00 0.000 1030 0.000 0.076 2781 2093 2750 2791 2709 0 0 0 0 0 0 13.93 13.80 13.95

4462 0.17 145.9 2782 2094 2790 2705 411.4 15.2 323 4464 0.62 0.00 0.00 0.000 4230 0.308 0.000 2643 2094 2747 2789 2705 0 0 0 0 0 0 13.81 14.26 14.19

4762 0.05 174.4 2642 2095 2789 2705 384.1 8.7 333 4808 0.17 0.00 39.12 1.426 12966 0.278 0.000 2610 2094 2648 2694 2602 0 0 0 0 0 0 14.02 14.08 13.26

5125 0.06 224.5 2603 2094 2690 2588 356.4 7.7 350 5208 0.00 2.45 78.40 1.347 8868 0.000 0.083 2603 726 2444 2501 2388 0 0 0 0 0 0 14.57 13.73 13.14

5249 0.17 269.0 2602 726 2492 2381 346.5 7.9 375 5324 0.00 2.45 70.78 1.306 9382 0.000 0.079 2603 2104 2269 2326 2213 0 0 0 0 0 0 14.05 13.94 12.97

5634 0.27 316.1 2602 2105 2310 2188 315.7 7.8 402 5716 0.17 2.47 73.88 1.294 10916 0.106 0.089 2685 732 2068 2119 2018 0 0 0 0 0 0 14.18 13.85 13.12

5732 0.22 316.1 2685 732 2109 2019 303.4 13.2 416 5738 0.00 2.45 0.00 0.000 1158 0.000 0.080 2684 2107 2061 2108 2014 0 0 0 0 0 0 14.01 13.88 14.04

6059 0.17 316.1 2685 2109 2107 2006 259.4 12.8 431 6064 0.17 2.42 0.00 0.000 4740 0.244 0.083 2647 729 2055 2106 2004 0 0 0 0 0 0 13.97 14.18 14.14

6151 0.28 338.9 2647 728 2103 2004 250.7 8.9 449 6190 0.00 2.38 32.08 1.343 9382 0.000 0.080 2647 2100 1981 2031 1931 0 0 0 0 0 0 14.33 14.22 13.31

6512 0.37 373.5 2647 2100 2022 1917 219.1 8.4 471 6576 0.12 2.50 59.17 1.291 10916 0.131 0.086 2709 730 1838 1872 1805 0 0 0 0 0 0 14.31 13.98 13.25

6603 0.37 373.5 2710 731 1858 1802 208.6 11.8 489 6608 0.00 2.42 0.00 0.000 1030 0.000 0.078 2710 2105 1829 1857 1801 0 0 0 0 0 0 14.14 14.03 14.18

6933 0.37 373.5 2711 2105 1857 1791 170.5 11.1 505 6938 0.00 2.42 0.00 0.000 516 0.000 0.086 2712 725 1823 1856 1791 0 0 0 0 0 0 14.54 14.21 14.57

6998 0.41 373.5 2713 725 1853 1787 163.6 10.2 518 7003 0.00 2.40 0.00 0.000 1158 0.000 0.078 2712 2100 1821 1852 1791 0 0 0 0 0 0 14.36 14.23 14.40

7323 0.41 373.5 2711 2101 1853 1791 129.9 10.1 533 7328 0.00 2.40 0.00 0.000 516 0.000 0.086 2712 726 1819 1852 1786 0 0 0 0 0 0 14.62 14.26 14.64

7354 0.46 391.1 2712 726 1852 1790 126.9 9.2 539 7386 0.00 2.38 22.58 1.357 9382 0.000 0.078 2712 2099 1764 1794 1735 0 0 0 0 0 0 14.38 14.25 13.35

7686 0.50 415.3 2713 2099 1787 1725 96.1 8.9 557 7707 0.00 2.45 11.73 0.470 8868 0.000 0.084 2712 730 1672 1702 1642 0 0 0 0 0 0 14.56 14.06 13.69

7752 0.63 449.2 2713 731 1708 1647 90.1 8.4 570 7780 0.22 2.40 19.67 0.467 11430 0.093 0.079 2794 2106 1532 1560 1504 0 0 0 0 0 0 14.13 14.07 13.59

8077 0.60 489.1 2795 2107 1570 1505 52.9 8.2 605 8104 0.00 2.42 22.17 0.356 8868 0.000 0.083 2795 726 1368 1410 1326 0 0 0 0 0 0 14.55 13.97 13.71

8206 0.67 556.2 2795 726 1414 1330 43.7 6.9 630 8249 0.00 2.40 36.33 0.329 9382 0.000 0.077 2795 2103 1094 1159 1030 0 0 0 0 0 0 14.25 14.12 13.72

8554 0.87 668.4 2795 2103 1160 1036 18.2 4.8 669 8616 0.20 0.00 59.88 0.260 10662 0.105 0.000 2876 2103 640 689 591 0 0 0 0 0 0 14.16 14.07 13.78

8732 end climb: SURFACE_DEPTH_REACHED

state 8732 begin surface coast

8752 end surface coast: CONTROL_FINISHED_OK

state 8752 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	184	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	520.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,082120,7405.9692,-15234.4307,42,0.8,42,19.8,0.0,0.0,9,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	285.6,47020,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	280817,084435,7405.9790,-15234.5498,9,0.8,13,19.8,0.0,0.0,9,8.7

MODEM_MSG	CACST,6,1,20170828082708.707731,3,5,00,0125,0150,250,00,00,01,01,-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	52472128
FINISH	0.3,1.021109	_24V_AH	12.34,131.214
SM_CCo	8772,18.95,0.214,0,0,503,703.03	_10V_AH	12.21,0.000
SM_GC	0.91,8.05,0.17,18.95,0.064,0.132,0.214,202,2208,503,-7.37,-0.68,703.03,0,0,0,0,0,0,14.31,14.27,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	390	FG_AHR_10Vo	0.000
MODEM	0,1503907436,75.36600,-145.04601,182.230,263907.2	MEM	323272
RAFOS_FIX	7404.822266,-15233.298828,280817,080800,3,255,0.00	DATA_FILE_SIZE	23445,690
IRIDIUM_FIX	7407.05,-15247.43,280817,083824	CAP_FILE_SIZE	108509,0
TT8_MAMPS	0.038948,0.922768	CFSIZE	2097872896,2031190016
HUMID	46.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.72292	SOUNDSPEED	1446.5
TCM_TEMP	13.10	CURRENT	0.029,180.62,1
XPDR_PINGS	19	GPS	280817,111302,7406.758,-15237.556,35,0.8,35,19.7,0.0,0.0,10,10.0
CP_FREE	15987572736.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	139.52	nil	0	0	0.00
Roll_motor	83	2141	2210.27	nil	0	0	0.00
VBD_pump_during_apogee	960	1430	16948.63	nil	0	0	0.00
VBD_pump_during_surface	18	214	50.09	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	8781	14	1575.09
Iridium_during_xfer	860	172	1836.70	NCP	8761	20	2162.21
Transponder_ping	4	420	24.62	PMAR	8726	9	1074.74
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.72
TT8	0	0	0.00
LPSleep	6216	2	175.35
TT8_Active	862	13	147.18
TT8_Sampling	2776	33	1133.81
TT8_CF8	344	38	162.62
TT8_Kalman	0	0	0.00
Analog_circuits	2839	10	346.73
GPS_charging	0	0	0.00
Compass	990	7	84.66
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
44	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	195	2208	503	493	0.0	0.0	0	142	0.00	0.00	-91.10	0.000	16386	0.000	0.000	194	2209	2175	2100	2251	0	0	0	0	0	0	14.35	28.83	14.37
145	-0.57	-145.9	195	2207	2110	2251	4.0	-5.6	9	198	12.57	2.78	-33.17	0.000	18724	0.451	2.141	2376	3613	3964	3947	3982	0	0	0	0	0	0	13.61	12.55	14.09
398	-0.70	-145.9	2376	3613	3953	3982	57.5	-14.2	59	403	0.00	2.40	0.00	0.000	1158	0.000	0.057	2375	2196	3967	3952	3982	0	0	0	0	0	0	14.26	14.14	14.29
708	-0.78	-145.9	2376	2196	3954	3982	101.0	-11.6	91	714	0.15	2.42	0.00	0.000	4740	0.138	0.081	2323	792	3969	3952	3986	0	0	0	0	0	0	14.26	14.20	14.36
749	-0.82	-145.9	2323	793	3954	3983	106.7	-14.5	99	754	0.00	2.47	0.00	0.000	1158	0.000	0.090	2323	2198	3967	3953	3982	0	0	0	0	0	0	14.18	14.04	14.21
1069	-0.85	-145.9	2323	2199	3954	3983	152.0	-13.5	113	1074	0.00	2.50	0.00	0.000	388	0.000	0.093	2319	3617	3967	3953	3982	0	0	0	0	0	0	14.62	14.15	14.64
1186	-0.98	-145.9	2320	3618	3954	3982	165.3	-11.1	136	1193	0.17	2.40	0.00	0.000	5254	0.110	0.057	2249	2199	3967	3953	3982	0	0	0	0	0	0	14.28	14.23	14.38
1489	-0.90	-145.9	2250	2199	3954	3982	222.2	-18.3	147	1494	0.12	2.47	0.00	0.000	2436	0.296	0.086	2268	3614	3967	3953	3982	0	0	0	0	0	0	13.97	14.18	14.17
1591	-0.97	-145.9	2269	3614	3954	3982	236.6	-12.9	167	1596	0.00	2.40	0.00	0.000	1158	0.000	0.058	2268	2196	3967	3952	3982	0	0	0	0	0	0	14.40	14.26	14.43
1912	-0.97	-145.9	2268	2199	3953	3984	280.8	-13.1	181	1917	0.00	2.45	0.00	0.000	260	0.000	0.089	2261	3618	3967	3953	3982	0	0	0	0	0	0	14.66	14.22	14.69
1982	-1.05	-145.9	2262	3619	3954	3982	289.4	-11.5	195	1987	0.00	2.40	0.00	0.000	1158	0.000	0.057	2261	2193	3967	3953	3982	0	0	0	0	0	0	14.40	14.28	14.45
2302	-1.07	-145.9	2261	2192	3953	3982	328.2	-12.0	209	2307	0.00	2.50	0.00	0.000	388	0.000	0.090	2253	3617	3967	3953	3982	0	0	0	0	0	0	14.67	14.22	14.69
2357	-1.15	-145.9	2253	3620	3954	3983	334.7	-11.2	220	2364	0.15	2.40	0.00	0.000	5254	0.126	0.057	2196	2190	3967	3953	3982	0	0	0	0	0	0	14.27	14.24	14.38
2662	-1.05	-145.9	2196	2189	3954	3982	386.7	-17.2	231	2667	0.17	2.50	0.00	0.000	2436	0.305	0.086	2227	3616	3967	3953	3982	0	0	0	0	0	0	13.90	14.23	14.10
2792	-1.08	-145.9	2226	3618	3957	3982	404.0	-12.4	257	2797	0.00	2.38	0.00	0.000	1158	0.000	0.056	2227	2198	3967	3952	3982	0	0	0	0	0	0	14.43	14.28	14.43
3113	-1.05	-145.9	2227	2197	3953	3982	447.3	-13.5	271	3117	0.00	2.47	0.00	0.000	388	0.000	0.089	2222	3613	3967	3952	3982	0	0	0	0	0	0	14.68	14.21	14.70
3213	-1.08	-145.9	2223	3614	3952	3983	460.3	-12.5	291	3217	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2196	3966	3951	3982	0	0	0	0	0	0	14.40	14.28	14.44
3380	end dive: TARGET_DEPTH_EXCEEDED
state	3380	begin apogee
3386	-0.13	0.0	2223	2066	3952	3982	483.8	-13.9	300	3614	1.23	0.08	224.27	1.431	10246	0.248	0.183	2532	2111	3363	3384	3343	0	0	0	0	0	0	13.89	13.40	12.68
3618	end apogee: CONTROL_FINISHED_OK
state	3618	begin climb
3622	0.57	145.9	2533	2112	3376	3333	494.9	0.0	307	4136	0.73	2.67	210.05	1.371	11012	0.064	0.081	2785	732	2750	2791	2709	0	0	0	0	0	0	13.58	12.94	12.34
4147	0.57	145.9	2782	731	2792	2710	460.4	7.6	310	4152	0.00	2.42	0.00	0.000	1030	0.000	0.076	2781	2093	2750	2791	2709	0	0	0	0	0	0	13.93	13.80	13.95
4462	0.17	145.9	2782	2094	2790	2705	411.4	15.2	323	4464	0.62	0.00	0.00	0.000	4230	0.308	0.000	2643	2094	2747	2789	2705	0	0	0	0	0	0	13.81	14.26	14.19
4762	0.05	174.4	2642	2095	2789	2705	384.1	8.7	333	4808	0.17	0.00	39.12	1.426	12966	0.278	0.000	2610	2094	2648	2694	2602	0	0	0	0	0	0	14.02	14.08	13.26
5125	0.06	224.5	2603	2094	2690	2588	356.4	7.7	350	5208	0.00	2.45	78.40	1.347	8868	0.000	0.083	2603	726	2444	2501	2388	0	0	0	0	0	0	14.57	13.73	13.14
5249	0.17	269.0	2602	726	2492	2381	346.5	7.9	375	5324	0.00	2.45	70.78	1.306	9382	0.000	0.079	2603	2104	2269	2326	2213	0	0	0	0	0	0	14.05	13.94	12.97
5634	0.27	316.1	2602	2105	2310	2188	315.7	7.8	402	5716	0.17	2.47	73.88	1.294	10916	0.106	0.089	2685	732	2068	2119	2018	0	0	0	0	0	0	14.18	13.85	13.12
5732	0.22	316.1	2685	732	2109	2019	303.4	13.2	416	5738	0.00	2.45	0.00	0.000	1158	0.000	0.080	2684	2107	2061	2108	2014	0	0	0	0	0	0	14.01	13.88	14.04
6059	0.17	316.1	2685	2109	2107	2006	259.4	12.8	431	6064	0.17	2.42	0.00	0.000	4740	0.244	0.083	2647	729	2055	2106	2004	0	0	0	0	0	0	13.97	14.18	14.14
6151	0.28	338.9	2647	728	2103	2004	250.7	8.9	449	6190	0.00	2.38	32.08	1.343	9382	0.000	0.080	2647	2100	1981	2031	1931	0	0	0	0	0	0	14.33	14.22	13.31
6512	0.37	373.5	2647	2100	2022	1917	219.1	8.4	471	6576	0.12	2.50	59.17	1.291	10916	0.131	0.086	2709	730	1838	1872	1805	0	0	0	0	0	0	14.31	13.98	13.25
6603	0.37	373.5	2710	731	1858	1802	208.6	11.8	489	6608	0.00	2.42	0.00	0.000	1030	0.000	0.078	2710	2105	1829	1857	1801	0	0	0	0	0	0	14.14	14.03	14.18
6933	0.37	373.5	2711	2105	1857	1791	170.5	11.1	505	6938	0.00	2.42	0.00	0.000	516	0.000	0.086	2712	725	1823	1856	1791	0	0	0	0	0	0	14.54	14.21	14.57
6998	0.41	373.5	2713	725	1853	1787	163.6	10.2	518	7003	0.00	2.40	0.00	0.000	1158	0.000	0.078	2712	2100	1821	1852	1791	0	0	0	0	0	0	14.36	14.23	14.40
7323	0.41	373.5	2711	2101	1853	1791	129.9	10.1	533	7328	0.00	2.40	0.00	0.000	516	0.000	0.086	2712	726	1819	1852	1786	0	0	0	0	0	0	14.62	14.26	14.64
7354	0.46	391.1	2712	726	1852	1790	126.9	9.2	539	7386	0.00	2.38	22.58	1.357	9382	0.000	0.078	2712	2099	1764	1794	1735	0	0	0	0	0	0	14.38	14.25	13.35
7686	0.50	415.3	2713	2099	1787	1725	96.1	8.9	557	7707	0.00	2.45	11.73	0.470	8868	0.000	0.084	2712	730	1672	1702	1642	0	0	0	0	0	0	14.56	14.06	13.69
7752	0.63	449.2	2713	731	1708	1647	90.1	8.4	570	7780	0.22	2.40	19.67	0.467	11430	0.093	0.079	2794	2106	1532	1560	1504	0	0	0	0	0	0	14.13	14.07	13.59
8077	0.60	489.1	2795	2107	1570	1505	52.9	8.2	605	8104	0.00	2.42	22.17	0.356	8868	0.000	0.083	2795	726	1368	1410	1326	0	0	0	0	0	0	14.55	13.97	13.71
8206	0.67	556.2	2795	726	1414	1330	43.7	6.9	630	8249	0.00	2.40	36.33	0.329	9382	0.000	0.077	2795	2103	1094	1159	1030	0	0	0	0	0	0	14.25	14.12	13.72
8554	0.87	668.4	2795	2103	1160	1036	18.2	4.8	669	8616	0.20	0.00	59.88	0.260	10662	0.105	0.000	2876	2103	640	689	591	0	0	0	0	0	0	14.16	14.07	13.78
8732	end climb: SURFACE_DEPTH_REACHED
state	8732	begin surface coast
8752	end surface coast: CONTROL_FINISHED_OK
state	8752	begin surface