Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 192 * 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 192 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 541.0

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 42 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 541.0 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 42 VBD_MIN 500

DIVE 192 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 290817,071055,7412.9785,-15304.5000,20,0.8,24,19.6,0.0,232.7,10,10.0 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 1.23 MHEAD_RNG_PITCHd_Wd 274.2,27870,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 290817,072701,7412.9116,-15304.7930,10,0.8,28,19.5,0.0,295.4,9,7.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829081845.149435,3,7338,38,0338,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 52216576

FINISH 0.6,1.021392 _24V_AH 12.36,135.144

SM_CCo 8894,41.38,0.209,0,0,501,702.78 _10V_AH 12.33,0.000

SM_GC 1.01,8.10,0.17,41.38,0.073,0.128,0.209,202,2210,501,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.28,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 317 FG_AHR_10Vo 0.000

MODEM 0,1503993840,75.36600,-145.04601,186.696,270429.5 MEM 323356

RAFOS_FIX 7411.256348,-15307.306641,290817,080818,3,255,1.22 DATA_FILE_SIZE 23411,718

IRIDIUM_FIX 7414.74,-15301.31,290817,071543 CAP_FILE_SIZE 103033,0

TT8_MAMPS 0.040446,0.907788 CFSIZE 2097872896,2028634112

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

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.8

TCM_TEMP 13.10 CURRENT 0.032,199.15,1

XPDR_PINGS 7 GPS 290817,095739,7413.508,-15308.548,18,0.8,23,19.5,0.9,225.5,11,9.3

CP_FREE 15985475584.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 140.21 nil 0 0 0.00

Roll_motor 79 2145 2115.82 nil 0 0 0.00

VBD_pump_during_apogee 962 1537 18295.50 nil 0 0 0.00

VBD_pump_during_surface 41 208 106.80 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 8904 14 1600.84

Iridium_during_xfer 607 176 1326.24 NCP 8900 20 2200.08

Transponder_ping 1 420 9.08 PMAR 8849 9 1085.86

GUMSTIX_24V 0 0 0.00

GPS 29 22 8.17

TT8 0 0 0.00

LPSleep 6440 2 183.44

TT8_Active 1011 13 174.17

TT8_Sampling 2161 33 891.37

TT8_CF8 305 38 145.73

TT8_Kalman 0 0 0.00

Analog_circuits 2306 10 284.43

GPS_charging 0 0 0.00

Compass 1030 7 88.94

RAFOS 2207 48 1306.19

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 -145.9 184 2221 514 492 0.0 0.0 0 141 0.00 0.00 -91.50 0.000 16386 0.000 0.000 183 2221 2161 2090 2233 0 0 0 0 0 0 14.52 28.83 14.52

144 -0.57 -145.9 183 2219 2094 2235 3.5 -4.5 9 201 12.60 2.78 -36.80 0.000 18724 0.451 2.146 2375 3601 3961 3943 3980 0 0 0 0 0 0 13.67 12.58 14.14

421 -0.69 -145.9 2376 3602 3950 3981 57.7 -14.1 64 428 0.00 2.38 0.00 0.000 1158 0.000 0.057 2375 2214 3965 3949 3981 0 0 0 0 0 0 14.27 14.15 14.33

726 -0.78 -145.9 2375 2215 3950 3981 97.9 -11.7 95 731 0.15 2.50 0.00 0.000 4740 0.131 0.080 2309 784 3965 3950 3981 0 0 0 0 0 0 14.23 14.16 14.27

757 -0.78 -145.9 2310 785 3951 3985 102.3 -15.9 101 761 0.00 2.53 0.00 0.000 1030 0.000 0.088 2307 2206 3966 3952 3981 0 0 0 0 0 0 14.30 14.16 14.35

1087 -0.78 -145.9 2308 2206 3951 3981 154.0 -14.9 117 1091 0.00 2.47 0.00 0.000 260 0.000 0.090 2306 3613 3965 3950 3981 0 0 0 0 0 0 14.64 14.20 14.64

1224 -0.87 -145.9 2306 3613 3951 3981 170.9 -12.2 144 1229 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2201 3965 3950 3981 0 0 0 0 0 0 14.39 14.26 14.42

1540 -0.92 -145.9 2306 2199 3951 3981 212.2 -12.6 157 1545 0.00 2.53 0.00 0.000 388 0.000 0.089 2299 3621 3965 3950 3981 0 0 0 0 0 0 14.64 14.17 14.66

1575 -1.02 -145.9 2299 3623 3951 3982 216.4 -11.7 164 1581 0.15 2.40 0.00 0.000 5254 0.116 0.058 2240 2201 3965 3950 3981 0 0 0 0 0 0 14.29 14.21 14.38

1919 -0.97 -145.9 2241 2201 3951 3981 271.1 -16.4 179 1924 0.12 2.50 0.00 0.000 2436 0.291 0.085 2259 3617 3965 3950 3980 0 0 0 0 0 0 13.90 14.14 14.07

2004 -1.04 -145.9 2258 3619 3952 3981 284.7 -11.5 196 2011 0.00 2.42 0.00 0.000 1158 0.000 0.057 2258 2195 3965 3950 3981 0 0 0 0 0 0 14.24 14.12 14.28

2309 -1.04 -145.9 2258 2195 3951 3980 323.0 -12.1 207 2310 0.00 0.00 0.00 0.000 6 0.000 0.000 2258 2193 3965 3950 3980 0 0 0 0 0 0 14.49 14.51 14.50

2609 -1.07 -145.9 2261 2193 3951 3986 358.6 -11.7 217 2614 0.00 2.53 0.00 0.000 388 0.000 0.089 2249 3614 3965 3950 3980 0 0 0 0 0 0 14.48 14.07 14.50

2721 -1.15 -145.9 2250 3614 3951 3980 370.8 -10.7 239 2726 0.12 2.42 0.00 0.000 5254 0.138 0.056 2202 2192 3963 3947 3980 0 0 0 0 0 0 14.01 14.01 14.12

3031 -1.07 -145.9 2199 2192 3948 3981 420.0 -16.0 251 3036 0.12 2.53 0.00 0.000 2436 0.297 0.085 2222 3613 3964 3948 3980 0 0 0 0 0 0 13.81 14.06 13.98

3143 -1.10 -145.9 2223 3613 3949 3980 434.9 -12.8 273 3148 0.00 2.40 0.00 0.000 1158 0.000 0.056 2222 2174 3964 3948 3980 0 0 0 0 0 0 14.22 14.09 14.26

3453 -1.07 -145.9 2222 2175 3949 3981 478.7 -14.0 285 3458 0.00 2.55 0.00 0.000 388 0.000 0.087 2212 3614 3964 3948 3980 0 0 0 0 0 0 14.46 14.05 14.48

3466 end dive: TARGET_DEPTH_EXCEEDED

state 3466 begin apogee

3474 -0.13 0.0 2213 2100 3948 3988 480.8 -13.9 288 3702 1.27 0.00 225.02 1.416 10246 0.252 0.000 2526 2096 3363 3381 3346 0 0 0 0 0 0 13.83 13.35 12.59

3706 end apogee: CONTROL_FINISHED_OK

state 3706 begin climb

3709 0.57 145.9 2528 2098 3375 3337 492.4 0.0 295 3923 0.75 0.00 210.00 1.365 11014 0.063 0.000 2778 2098 2770 2812 2729 0 0 0 0 0 0 13.46 13.07 12.36

4218 0.17 145.9 2778 2098 2789 2709 459.7 15.2 328 4220 0.65 0.00 0.00 0.000 4230 0.330 0.000 2644 2098 2749 2788 2710 0 0 0 0 0 0 13.42 13.86 13.78

4518 0.04 169.1 2644 2098 2789 2709 431.8 8.9 338 4555 0.17 2.50 29.08 1.457 12964 0.301 0.086 2602 693 2669 2710 2628 0 0 0 0 0 0 13.76 13.95 13.15

4630 0.08 223.9 2603 694 2708 2621 423.3 7.5 360 4726 0.00 2.47 87.95 1.349 9254 0.000 0.080 2602 2107 2449 2506 2393 0 0 0 0 0 0 14.07 14.01 13.00

5031 0.10 251.0 2602 2108 2494 2375 388.9 8.7 390 5076 0.00 2.53 40.28 1.413 8740 0.000 0.084 2602 687 2336 2389 2284 0 0 0 0 0 0 14.47 13.78 13.16

5106 0.21 289.0 2603 686 2380 2277 382.4 8.2 405 5172 0.15 2.50 59.50 1.346 11430 0.118 0.080 2665 2103 2184 2236 2133 0 0 0 0 0 0 14.07 14.02 13.05

5482 0.15 289.0 2667 2104 2219 2113 333.4 13.1 430 5483 0.15 0.00 0.00 0.000 4230 0.252 0.000 2642 2104 2165 2218 2112 0 0 0 0 0 0 14.00 14.31 14.25

5782 0.16 291.9 2636 2104 2218 2116 302.6 9.9 440 5788 0.00 2.47 0.00 0.000 548 0.000 0.085 2644 686 2163 2217 2110 0 0 0 0 0 0 14.61 14.25 14.63

5858 0.22 301.4 2645 685 2215 2110 295.2 9.6 455 5869 0.00 2.45 4.53 1.538 9382 0.000 0.079 2644 2100 2138 2190 2087 0 0 0 0 0 0 14.40 14.27 13.09

6174 0.22 307.6 2645 2101 2201 2093 263.0 9.7 468 6195 0.00 2.53 16.33 1.522 8740 0.000 0.084 2644 688 2109 2158 2060 0 0 0 0 0 0 14.67 14.25 13.34

6267 0.31 331.8 2645 688 2148 2056 254.8 8.9 486 6315 0.12 2.45 41.50 1.364 11430 0.131 0.080 2690 2099 2010 2055 1966 0 0 0 0 0 0 14.28 14.23 13.26

6625 0.27 331.8 2695 2099 2047 1948 211.0 11.8 508 6626 0.00 0.00 0.00 0.000 134 0.000 0.000 2696 2099 1996 2045 1948 0 0 0 0 0 0 14.56 14.57 14.58

6925 0.23 331.8 2696 2099 2046 1946 178.6 10.6 518 6931 0.12 2.47 0.00 0.000 4740 0.230 0.082 2678 684 1995 2044 1946 0 0 0 0 0 0 14.11 14.21 14.23

6996 0.34 368.1 2672 685 2043 1947 172.5 8.3 532 7066 0.00 2.45 63.60 1.288 9382 0.000 0.080 2672 2100 1860 1895 1826 0 0 0 0 0 0 14.38 14.26 13.26

7376 0.42 406.4 2672 2102 1882 1814 140.8 8.2 558 7446 0.15 0.00 67.82 1.240 10406 0.122 0.000 2735 2100 1708 1735 1682 0 0 0 0 0 0 14.21 13.95 13.23

7736 0.42 406.4 2736 2101 1724 1662 98.0 11.2 570 7742 0.00 2.47 0.00 0.000 516 0.000 0.086 2744 694 1694 1722 1667 0 0 0 0 0 0 14.52 14.14 14.54

7837 0.44 406.4 2745 693 1720 1662 87.8 10.1 590 7842 0.00 2.47 0.00 0.000 1158 0.000 0.081 2743 2102 1691 1719 1663 0 0 0 0 0 0 14.29 14.16 14.33

8147 0.47 450.2 2744 2107 1719 1661 57.9 8.0 622 8173 0.00 2.50 21.17 0.373 8740 0.000 0.083 2752 686 1529 1562 1497 0 0 0 0 0 0 14.58 14.09 13.76

8250 0.60 521.0 2753 687 1570 1500 50.3 6.7 642 8293 0.00 2.50 38.62 0.350 9382 0.000 0.082 2752 2112 1239 1298 1181 0 0 0 0 0 0 14.33 14.20 13.76

8589 0.80 628.8 2753 2112 1299 1181 30.1 5.0 680 8652 0.25 2.45 57.25 0.285 10660 0.096 0.080 2856 3511 799 868 731 0 0 0 0 0 0 14.23 14.02 13.81

8684 0.80 628.8 2858 3512 869 737 20.5 12.3 698 8689 0.00 2.42 0.00 0.000 1030 0.000 0.065 2863 2102 802 868 736 0 0 0 0 0 0 14.21 14.07 14.26

8862 end climb: SURFACE_DEPTH_REACHED

state 8862 begin surface coast

8874 end surface coast: CONTROL_FINISHED_OK

state 8874 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	192	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	541.0
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	42	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,071055,7412.9785,-15304.5000,20,0.8,24,19.6,0.0,232.7,10,10.0	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	1.23	MHEAD_RNG_PITCHd_Wd	274.2,27870,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	290817,072701,7412.9116,-15304.7930,10,0.8,28,19.5,0.0,295.4,9,7.9

MODEM_MSG	CACST,6,1,20170829081845.149435,3,7338,38,0338,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	52216576
FINISH	0.6,1.021392	_24V_AH	12.36,135.144
SM_CCo	8894,41.38,0.209,0,0,501,702.78	_10V_AH	12.33,0.000
SM_GC	1.01,8.10,0.17,41.38,0.073,0.128,0.209,202,2210,501,-7.38,-0.76,702.78,0,0,0,0,0,0,14.31,14.28,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	317	FG_AHR_10Vo	0.000
MODEM	0,1503993840,75.36600,-145.04601,186.696,270429.5	MEM	323356
RAFOS_FIX	7411.256348,-15307.306641,290817,080818,3,255,1.22	DATA_FILE_SIZE	23411,718
IRIDIUM_FIX	7414.74,-15301.31,290817,071543	CAP_FILE_SIZE	103033,0
TT8_MAMPS	0.040446,0.907788	CFSIZE	2097872896,2028634112
HUMID	46.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.8
TCM_TEMP	13.10	CURRENT	0.032,199.15,1
XPDR_PINGS	7	GPS	290817,095739,7413.508,-15308.548,18,0.8,23,19.5,0.9,225.5,11,9.3
CP_FREE	15985475584.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	140.21	nil	0	0	0.00
Roll_motor	79	2145	2115.82	nil	0	0	0.00
VBD_pump_during_apogee	962	1537	18295.50	nil	0	0	0.00
VBD_pump_during_surface	41	208	106.80	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	8904	14	1600.84
Iridium_during_xfer	607	176	1326.24	NCP	8900	20	2200.08
Transponder_ping	1	420	9.08	PMAR	8849	9	1085.86
GUMSTIX_24V	0	0	0.00
GPS	29	22	8.17
TT8	0	0	0.00
LPSleep	6440	2	183.44
TT8_Active	1011	13	174.17
TT8_Sampling	2161	33	891.37
TT8_CF8	305	38	145.73
TT8_Kalman	0	0	0.00
Analog_circuits	2306	10	284.43
GPS_charging	0	0	0.00
Compass	1030	7	88.94
RAFOS	2207	48	1306.19
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	184	2221	514	492	0.0	0.0	0	141	0.00	0.00	-91.50	0.000	16386	0.000	0.000	183	2221	2161	2090	2233	0	0	0	0	0	0	14.52	28.83	14.52
144	-0.57	-145.9	183	2219	2094	2235	3.5	-4.5	9	201	12.60	2.78	-36.80	0.000	18724	0.451	2.146	2375	3601	3961	3943	3980	0	0	0	0	0	0	13.67	12.58	14.14
421	-0.69	-145.9	2376	3602	3950	3981	57.7	-14.1	64	428	0.00	2.38	0.00	0.000	1158	0.000	0.057	2375	2214	3965	3949	3981	0	0	0	0	0	0	14.27	14.15	14.33
726	-0.78	-145.9	2375	2215	3950	3981	97.9	-11.7	95	731	0.15	2.50	0.00	0.000	4740	0.131	0.080	2309	784	3965	3950	3981	0	0	0	0	0	0	14.23	14.16	14.27
757	-0.78	-145.9	2310	785	3951	3985	102.3	-15.9	101	761	0.00	2.53	0.00	0.000	1030	0.000	0.088	2307	2206	3966	3952	3981	0	0	0	0	0	0	14.30	14.16	14.35
1087	-0.78	-145.9	2308	2206	3951	3981	154.0	-14.9	117	1091	0.00	2.47	0.00	0.000	260	0.000	0.090	2306	3613	3965	3950	3981	0	0	0	0	0	0	14.64	14.20	14.64
1224	-0.87	-145.9	2306	3613	3951	3981	170.9	-12.2	144	1229	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2201	3965	3950	3981	0	0	0	0	0	0	14.39	14.26	14.42
1540	-0.92	-145.9	2306	2199	3951	3981	212.2	-12.6	157	1545	0.00	2.53	0.00	0.000	388	0.000	0.089	2299	3621	3965	3950	3981	0	0	0	0	0	0	14.64	14.17	14.66
1575	-1.02	-145.9	2299	3623	3951	3982	216.4	-11.7	164	1581	0.15	2.40	0.00	0.000	5254	0.116	0.058	2240	2201	3965	3950	3981	0	0	0	0	0	0	14.29	14.21	14.38
1919	-0.97	-145.9	2241	2201	3951	3981	271.1	-16.4	179	1924	0.12	2.50	0.00	0.000	2436	0.291	0.085	2259	3617	3965	3950	3980	0	0	0	0	0	0	13.90	14.14	14.07
2004	-1.04	-145.9	2258	3619	3952	3981	284.7	-11.5	196	2011	0.00	2.42	0.00	0.000	1158	0.000	0.057	2258	2195	3965	3950	3981	0	0	0	0	0	0	14.24	14.12	14.28
2309	-1.04	-145.9	2258	2195	3951	3980	323.0	-12.1	207	2310	0.00	0.00	0.00	0.000	6	0.000	0.000	2258	2193	3965	3950	3980	0	0	0	0	0	0	14.49	14.51	14.50
2609	-1.07	-145.9	2261	2193	3951	3986	358.6	-11.7	217	2614	0.00	2.53	0.00	0.000	388	0.000	0.089	2249	3614	3965	3950	3980	0	0	0	0	0	0	14.48	14.07	14.50
2721	-1.15	-145.9	2250	3614	3951	3980	370.8	-10.7	239	2726	0.12	2.42	0.00	0.000	5254	0.138	0.056	2202	2192	3963	3947	3980	0	0	0	0	0	0	14.01	14.01	14.12
3031	-1.07	-145.9	2199	2192	3948	3981	420.0	-16.0	251	3036	0.12	2.53	0.00	0.000	2436	0.297	0.085	2222	3613	3964	3948	3980	0	0	0	0	0	0	13.81	14.06	13.98
3143	-1.10	-145.9	2223	3613	3949	3980	434.9	-12.8	273	3148	0.00	2.40	0.00	0.000	1158	0.000	0.056	2222	2174	3964	3948	3980	0	0	0	0	0	0	14.22	14.09	14.26
3453	-1.07	-145.9	2222	2175	3949	3981	478.7	-14.0	285	3458	0.00	2.55	0.00	0.000	388	0.000	0.087	2212	3614	3964	3948	3980	0	0	0	0	0	0	14.46	14.05	14.48
3466	end dive: TARGET_DEPTH_EXCEEDED
state	3466	begin apogee
3474	-0.13	0.0	2213	2100	3948	3988	480.8	-13.9	288	3702	1.27	0.00	225.02	1.416	10246	0.252	0.000	2526	2096	3363	3381	3346	0	0	0	0	0	0	13.83	13.35	12.59
3706	end apogee: CONTROL_FINISHED_OK
state	3706	begin climb
3709	0.57	145.9	2528	2098	3375	3337	492.4	0.0	295	3923	0.75	0.00	210.00	1.365	11014	0.063	0.000	2778	2098	2770	2812	2729	0	0	0	0	0	0	13.46	13.07	12.36
4218	0.17	145.9	2778	2098	2789	2709	459.7	15.2	328	4220	0.65	0.00	0.00	0.000	4230	0.330	0.000	2644	2098	2749	2788	2710	0	0	0	0	0	0	13.42	13.86	13.78
4518	0.04	169.1	2644	2098	2789	2709	431.8	8.9	338	4555	0.17	2.50	29.08	1.457	12964	0.301	0.086	2602	693	2669	2710	2628	0	0	0	0	0	0	13.76	13.95	13.15
4630	0.08	223.9	2603	694	2708	2621	423.3	7.5	360	4726	0.00	2.47	87.95	1.349	9254	0.000	0.080	2602	2107	2449	2506	2393	0	0	0	0	0	0	14.07	14.01	13.00
5031	0.10	251.0	2602	2108	2494	2375	388.9	8.7	390	5076	0.00	2.53	40.28	1.413	8740	0.000	0.084	2602	687	2336	2389	2284	0	0	0	0	0	0	14.47	13.78	13.16
5106	0.21	289.0	2603	686	2380	2277	382.4	8.2	405	5172	0.15	2.50	59.50	1.346	11430	0.118	0.080	2665	2103	2184	2236	2133	0	0	0	0	0	0	14.07	14.02	13.05
5482	0.15	289.0	2667	2104	2219	2113	333.4	13.1	430	5483	0.15	0.00	0.00	0.000	4230	0.252	0.000	2642	2104	2165	2218	2112	0	0	0	0	0	0	14.00	14.31	14.25
5782	0.16	291.9	2636	2104	2218	2116	302.6	9.9	440	5788	0.00	2.47	0.00	0.000	548	0.000	0.085	2644	686	2163	2217	2110	0	0	0	0	0	0	14.61	14.25	14.63
5858	0.22	301.4	2645	685	2215	2110	295.2	9.6	455	5869	0.00	2.45	4.53	1.538	9382	0.000	0.079	2644	2100	2138	2190	2087	0	0	0	0	0	0	14.40	14.27	13.09
6174	0.22	307.6	2645	2101	2201	2093	263.0	9.7	468	6195	0.00	2.53	16.33	1.522	8740	0.000	0.084	2644	688	2109	2158	2060	0	0	0	0	0	0	14.67	14.25	13.34
6267	0.31	331.8	2645	688	2148	2056	254.8	8.9	486	6315	0.12	2.45	41.50	1.364	11430	0.131	0.080	2690	2099	2010	2055	1966	0	0	0	0	0	0	14.28	14.23	13.26
6625	0.27	331.8	2695	2099	2047	1948	211.0	11.8	508	6626	0.00	0.00	0.00	0.000	134	0.000	0.000	2696	2099	1996	2045	1948	0	0	0	0	0	0	14.56	14.57	14.58
6925	0.23	331.8	2696	2099	2046	1946	178.6	10.6	518	6931	0.12	2.47	0.00	0.000	4740	0.230	0.082	2678	684	1995	2044	1946	0	0	0	0	0	0	14.11	14.21	14.23
6996	0.34	368.1	2672	685	2043	1947	172.5	8.3	532	7066	0.00	2.45	63.60	1.288	9382	0.000	0.080	2672	2100	1860	1895	1826	0	0	0	0	0	0	14.38	14.26	13.26
7376	0.42	406.4	2672	2102	1882	1814	140.8	8.2	558	7446	0.15	0.00	67.82	1.240	10406	0.122	0.000	2735	2100	1708	1735	1682	0	0	0	0	0	0	14.21	13.95	13.23
7736	0.42	406.4	2736	2101	1724	1662	98.0	11.2	570	7742	0.00	2.47	0.00	0.000	516	0.000	0.086	2744	694	1694	1722	1667	0	0	0	0	0	0	14.52	14.14	14.54
7837	0.44	406.4	2745	693	1720	1662	87.8	10.1	590	7842	0.00	2.47	0.00	0.000	1158	0.000	0.081	2743	2102	1691	1719	1663	0	0	0	0	0	0	14.29	14.16	14.33
8147	0.47	450.2	2744	2107	1719	1661	57.9	8.0	622	8173	0.00	2.50	21.17	0.373	8740	0.000	0.083	2752	686	1529	1562	1497	0	0	0	0	0	0	14.58	14.09	13.76
8250	0.60	521.0	2753	687	1570	1500	50.3	6.7	642	8293	0.00	2.50	38.62	0.350	9382	0.000	0.082	2752	2112	1239	1298	1181	0	0	0	0	0	0	14.33	14.20	13.76
8589	0.80	628.8	2753	2112	1299	1181	30.1	5.0	680	8652	0.25	2.45	57.25	0.285	10660	0.096	0.080	2856	3511	799	868	731	0	0	0	0	0	0	14.23	14.02	13.81
8684	0.80	628.8	2858	3512	869	737	20.5	12.3	698	8689	0.00	2.42	0.00	0.000	1030	0.000	0.065	2863	2102	802	868	736	0	0	0	0	0	0	14.21	14.07	14.26
8862	end climb: SURFACE_DEPTH_REACHED
state	8862	begin surface coast
8874	end surface coast: CONTROL_FINISHED_OK
state	8874	begin surface