Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 206 * 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 206 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 1.4 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 581.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 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 581.0 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 1.4 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 30 VBD_MIN 500

DIVE 206 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 300817,221519,7419.1475,-15351.9561,5,0.7,15,19.2,0.0,0.0,11,6.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 15.7,172118,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 300817,222714,7419.1255,-15352.0078,7,0.7,16,19.2,0.0,241.5,11,8.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831002659.827334,3,2818,34,0095,0150,250,00,00,00,00,-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 51834880

FINISH 0.4,1.021399 _24V_AH 12.11,141.949

SM_CCo 8957,22.65,0.210,0,0,500,703.03 _10V_AH 12.20,0.000

SM_GC 0.87,8.00,0.17,22.65,0.060,0.117,0.210,200,2227,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.27,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 159 FG_AHR_10Vo 0.000

MODEM 0,1504137849,75.36600,-145.04601,195.501,282013.2 MEM 323248

RAFOS_FIX 7418.881836,-15350.428711,310817,000001,4,255,0.14 DATA_FILE_SIZE 26714,730

IRIDIUM_FIX 7416.23,-15544.53,300817,221845 CAP_FILE_SIZE 105935,0

TT8_MAMPS 0.039697,0.867342 CFSIZE 2097872896,2024275968

HUMID 45.27 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.4

TCM_TEMP 13.00 CURRENT 0.049,232.32,1

XPDR_PINGS 12 GPS 310817,005852,7419.927,-15349.209,36,0.7,37,19.2,0.4,163.8,11,7.5

CP_FREE 15981903872.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 140.06 nil 0 0 0.00

Roll_motor 88 117 125.90 nil 0 0 0.00

VBD_pump_during_apogee 910 2074 22883.91 nil 0 0 0.00

VBD_pump_during_surface 22 209 57.49 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 8731 14 1538.30

Iridium_during_xfer 437 180 957.23 NCP 8911 20 2158.24

Transponder_ping 3 420 15.26 PMAR 8910 9 1071.45

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.86

TT8 0 0 0.00

LPSleep 6455 2 181.94

TT8_Active 811 13 138.32

TT8_Sampling 2158 33 880.44

TT8_CF8 292 38 138.30

TT8_Kalman 0 0 0.00

Analog_circuits 2117 10 258.36

GPS_charging 0 0 0.00

Compass 1047 7 89.44

RAFOS 2133 48 1249.08

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 46 begin dive

49 -0.57 -145.9 203 2227 573 501 0.0 0.0 0 141 0.00 0.00 -91.25 0.000 16386 0.000 0.000 201 2226 2181 2133 2230 0 0 0 0 0 0 14.53 28.83 14.55

144 -0.57 -145.9 202 2226 2138 2231 3.3 -4.0 9 200 12.65 0.00 -36.58 0.000 18982 0.457 0.000 2384 2227 3964 3937 3991 0 0 0 0 0 0 13.59 12.58 14.04

499 -0.63 -145.9 2384 2228 3939 3992 75.8 -13.4 46 504 0.00 2.40 0.00 0.000 388 0.000 0.089 2378 3588 3965 3939 3991 0 0 0 0 0 0 14.54 14.15 14.56

564 -0.82 -145.9 2379 3590 3939 3992 82.6 -9.4 59 571 0.20 2.35 0.00 0.000 5286 0.102 0.054 2301 2203 3964 3938 3991 0 0 0 0 0 0 14.19 14.20 14.21

881 -0.80 -145.9 2301 2202 3940 3990 136.8 -16.3 77 886 0.00 2.42 0.00 0.000 388 0.000 0.088 2294 3586 3964 3938 3990 0 0 0 0 0 0 14.62 14.20 14.64

946 -0.87 -145.9 2294 3587 3939 3991 146.7 -13.1 90 951 0.00 2.35 0.00 0.000 1158 0.000 0.060 2293 2196 3964 3938 3990 0 0 0 0 0 0 14.38 14.25 14.40

1271 -0.87 -145.9 2294 2195 3940 3990 194.9 -14.4 105 1276 0.00 2.45 0.00 0.000 260 0.000 0.086 2286 3591 3964 3939 3990 0 0 0 0 0 0 14.64 14.21 14.66

1336 -0.97 -145.9 2287 3592 3939 3990 203.5 -12.2 118 1341 0.00 2.35 0.00 0.000 1158 0.000 0.057 2286 2198 3964 3939 3990 0 0 0 0 0 0 14.40 14.31 14.43

1662 -0.99 -145.9 2286 2197 3940 3990 247.2 -13.0 133 1667 0.00 2.45 0.00 0.000 388 0.000 0.088 2281 3586 3964 3939 3990 0 0 0 0 0 0 14.65 14.16 14.67

1732 -1.11 -145.9 2281 3588 3940 3990 255.2 -10.8 147 1737 0.17 2.35 0.00 0.000 5254 0.112 0.057 2218 2196 3964 3939 3990 0 0 0 0 0 0 14.30 14.26 14.40

2052 -1.03 -145.9 2217 2196 3939 3989 309.6 -16.6 161 2057 0.12 2.45 0.00 0.000 2436 0.303 0.086 2238 3586 3963 3939 3988 0 0 0 0 0 0 13.90 14.16 14.08

2150 -1.06 -145.9 2237 3587 3939 3987 322.8 -12.7 180 2155 0.00 2.33 0.00 0.000 1158 0.000 0.056 2236 2201 3963 3939 3988 0 0 0 0 0 0 14.21 14.12 14.25

2475 -1.06 -145.9 2236 2201 3939 3987 367.5 -13.4 195 2480 0.00 2.45 0.00 0.000 260 0.000 0.090 2235 3594 3962 3939 3986 0 0 0 0 0 0 14.69 14.21 14.71

2586 -1.11 -145.9 2236 3595 3940 3986 381.3 -12.0 217 2590 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2195 3962 3939 3985 0 0 0 0 0 0 14.40 14.28 14.42

2895 -1.11 -145.9 2237 2195 3940 3986 421.5 -13.0 229 2900 0.00 2.45 0.00 0.000 260 0.000 0.090 2235 3589 3962 3939 3985 0 0 0 0 0 0 14.69 14.21 14.71

2986 -1.17 -145.9 2235 3589 3940 3985 432.5 -11.6 247 2990 0.00 2.33 0.00 0.000 1158 0.000 0.056 2236 2199 3962 3939 3985 0 0 0 0 0 0 14.40 14.28 14.44

3315 -1.17 -145.9 2236 2199 3939 3985 473.8 -12.5 263 3320 0.00 2.42 0.00 0.000 260 0.000 0.090 2236 3587 3962 3940 3984 0 0 0 0 0 0 14.69 14.20 14.71

3368 end dive: TARGET_DEPTH_EXCEEDED

state 3368 begin apogee

3376 -0.13 0.0 2234 2095 3943 3984 480.5 -11.3 274 3552 1.15 0.00 168.32 2.075 10246 0.238 0.000 2529 2093 3366 3395 3338 0 0 0 0 1 0 13.94 13.26 12.11

3556 end apogee: CONTROL_FINISHED_OK

state 3556 begin climb

3559 0.57 145.9 2530 2094 3401 3338 490.9 0.0 280 3794 0.75 2.70 229.20 1.370 10756 0.063 0.080 2782 696 2762 2812 2713 0 0 0 0 0 0 13.38 12.91 12.32

3924 0.19 145.9 2781 696 2800 2700 488.2 14.0 313 3931 0.65 2.53 0.00 0.000 5254 0.326 0.076 2649 2073 2750 2800 2701 0 0 0 0 0 0 13.24 13.56 13.60

4241 0.04 174.3 2650 2074 2801 2696 459.2 8.7 326 4280 0.20 0.00 37.17 1.440 12966 0.274 0.000 2601 2074 2655 2711 2600 0 0 0 0 0 0 13.79 13.91 13.09

4573 0.04 227.3 2602 2074 2698 2577 434.5 7.6 342 4662 0.00 2.53 80.00 1.347 8868 0.000 0.085 2603 695 2431 2493 2370 0 0 0 0 0 0 14.51 13.84 13.03

4694 0.12 260.4 2603 696 2485 2367 424.7 8.5 366 4754 0.00 2.53 50.33 1.368 9382 0.000 0.079 2602 2107 2295 2358 2233 0 0 0 0 0 0 14.06 13.95 12.96

5054 0.17 282.8 2602 2108 2347 2217 392.4 9.0 388 5085 0.10 0.00 29.65 1.432 10406 0.152 0.000 2653 2108 2214 2275 2154 0 0 0 0 0 0 14.20 14.00 13.19

5382 0.13 282.8 2653 2109 2257 2135 352.9 12.1 399 5387 0.00 2.47 0.00 0.000 644 0.000 0.087 2654 691 2195 2256 2134 0 0 0 0 0 0 14.56 14.19 14.57

5437 0.13 282.8 2655 691 2255 2134 346.5 11.3 410 5443 0.12 2.47 0.00 0.000 5126 0.245 0.079 2629 2110 2194 2254 2134 0 0 0 0 0 0 13.91 13.94 14.27

5744 0.13 282.8 2629 2112 2255 2133 315.6 10.0 421 5750 0.00 2.50 0.00 0.000 516 0.000 0.086 2630 691 2193 2254 2133 0 0 0 0 0 0 14.50 14.15 14.52

5780 0.18 286.4 2631 692 2253 2139 311.9 9.8 428 5785 0.00 2.47 0.00 0.000 1190 0.000 0.080 2630 2110 2192 2252 2133 0 0 0 0 0 0 14.25 14.17 14.28

6105 0.19 305.1 2630 2111 2253 2133 281.1 9.1 443 6145 0.00 2.58 32.75 1.395 8740 0.000 0.086 2630 689 2115 2169 2062 0 0 0 0 0 0 14.50 14.09 13.27

6202 0.32 340.1 2631 691 2158 2064 272.7 8.4 462 6266 0.17 2.50 57.90 1.299 11430 0.105 0.078 2706 2112 1979 2028 1930 0 0 0 0 0 0 14.13 14.06 13.12

6587 0.26 340.1 2697 2108 2011 1911 223.5 12.1 489 6593 0.12 2.50 0.00 0.000 4740 0.229 0.083 2672 691 1959 2008 1910 0 0 0 0 0 0 13.97 13.96 14.09

6623 0.31 342.3 2673 691 2009 1909 219.8 9.9 496 6628 0.00 2.47 0.00 0.000 1190 0.000 0.079 2672 2103 1959 2008 1910 0 0 0 0 0 0 14.23 14.10 14.26

6948 0.32 352.8 2675 2105 2009 1907 188.4 9.5 511 6968 0.00 2.55 13.48 1.423 8740 0.000 0.087 2672 689 1921 1965 1878 0 0 0 0 0 0 14.50 14.05 13.30

7055 0.41 378.4 2672 690 1954 1879 178.7 8.8 532 7105 0.12 2.47 44.72 1.278 11430 0.139 0.080 2727 2101 1821 1855 1787 0 0 0 0 0 0 14.15 14.11 13.23

7430 0.37 378.4 2726 2101 1840 1772 133.7 11.5 557 7431 0.00 0.00 0.00 0.000 134 0.000 0.000 2726 2101 1805 1838 1772 0 0 0 0 0 0 14.42 14.45 14.46

7738 0.34 378.4 2727 2101 1839 1770 100.2 11.3 567 7743 0.12 2.45 0.00 0.000 4740 0.240 0.083 2699 688 1803 1837 1769 0 0 0 0 0 0 14.00 14.02 14.11

7848 0.45 425.0 2698 689 1833 1771 90.4 7.9 589 7882 0.00 2.45 25.42 0.461 9382 0.000 0.080 2699 2106 1635 1671 1600 0 0 0 0 0 0 14.23 14.11 13.61

8180 0.59 493.5 2699 2107 1674 1602 66.0 6.8 625 8231 0.22 2.53 40.85 0.392 10660 0.094 0.083 2787 3511 1352 1401 1303 0 0 0 0 0 0 14.27 13.99 13.69

8256 0.54 493.5 2788 3513 1401 1308 57.1 13.8 636 8262 0.17 2.45 0.00 0.000 5254 0.264 0.067 2755 2093 1354 1401 1307 0 0 0 0 0 0 13.88 14.12 14.15

8561 0.66 578.4 2758 2094 1402 1307 34.8 6.1 667 8615 0.12 2.55 48.83 0.298 10916 0.125 0.090 2818 688 1006 1080 932 0 0 0 0 0 0 14.26 14.06 13.82

8765 0.83 663.7 2812 692 1081 946 18.7 6.1 707 8824 0.12 2.47 52.20 0.246 11430 0.131 0.079 2868 2106 655 716 595 0 0 0 0 0 0 14.20 14.14 13.90

8929 end climb: SURFACE_DEPTH_REACHED

state 8929 begin surface coast

8937 end surface coast: CONTROL_FINISHED_OK

state 8937 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	206	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	1.4	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	581.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,221519,7419.1475,-15351.9561,5,0.7,15,19.2,0.0,0.0,11,6.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	15.7,172118,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	300817,222714,7419.1255,-15352.0078,7,0.7,16,19.2,0.0,241.5,11,8.1

MODEM_MSG	CACST,6,1,20170831002659.827334,3,2818,34,0095,0150,250,00,00,00,00,-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	51834880
FINISH	0.4,1.021399	_24V_AH	12.11,141.949
SM_CCo	8957,22.65,0.210,0,0,500,703.03	_10V_AH	12.20,0.000
SM_GC	0.87,8.00,0.17,22.65,0.060,0.117,0.210,200,2227,500,-7.38,-0.57,703.03,0,0,0,0,0,0,14.29,14.27,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	159	FG_AHR_10Vo	0.000
MODEM	0,1504137849,75.36600,-145.04601,195.501,282013.2	MEM	323248
RAFOS_FIX	7418.881836,-15350.428711,310817,000001,4,255,0.14	DATA_FILE_SIZE	26714,730
IRIDIUM_FIX	7416.23,-15544.53,300817,221845	CAP_FILE_SIZE	105935,0
TT8_MAMPS	0.039697,0.867342	CFSIZE	2097872896,2024275968
HUMID	45.27	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.4
TCM_TEMP	13.00	CURRENT	0.049,232.32,1
XPDR_PINGS	12	GPS	310817,005852,7419.927,-15349.209,36,0.7,37,19.2,0.4,163.8,11,7.5
CP_FREE	15981903872.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	140.06	nil	0	0	0.00
Roll_motor	88	117	125.90	nil	0	0	0.00
VBD_pump_during_apogee	910	2074	22883.91	nil	0	0	0.00
VBD_pump_during_surface	22	209	57.49	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	8731	14	1538.30
Iridium_during_xfer	437	180	957.23	NCP	8911	20	2158.24
Transponder_ping	3	420	15.26	PMAR	8910	9	1071.45
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.86
TT8	0	0	0.00
LPSleep	6455	2	181.94
TT8_Active	811	13	138.32
TT8_Sampling	2158	33	880.44
TT8_CF8	292	38	138.30
TT8_Kalman	0	0	0.00
Analog_circuits	2117	10	258.36
GPS_charging	0	0	0.00
Compass	1047	7	89.44
RAFOS	2133	48	1249.08
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	46	begin dive
49	-0.57	-145.9	203	2227	573	501	0.0	0.0	0	141	0.00	0.00	-91.25	0.000	16386	0.000	0.000	201	2226	2181	2133	2230	0	0	0	0	0	0	14.53	28.83	14.55
144	-0.57	-145.9	202	2226	2138	2231	3.3	-4.0	9	200	12.65	0.00	-36.58	0.000	18982	0.457	0.000	2384	2227	3964	3937	3991	0	0	0	0	0	0	13.59	12.58	14.04
499	-0.63	-145.9	2384	2228	3939	3992	75.8	-13.4	46	504	0.00	2.40	0.00	0.000	388	0.000	0.089	2378	3588	3965	3939	3991	0	0	0	0	0	0	14.54	14.15	14.56
564	-0.82	-145.9	2379	3590	3939	3992	82.6	-9.4	59	571	0.20	2.35	0.00	0.000	5286	0.102	0.054	2301	2203	3964	3938	3991	0	0	0	0	0	0	14.19	14.20	14.21
881	-0.80	-145.9	2301	2202	3940	3990	136.8	-16.3	77	886	0.00	2.42	0.00	0.000	388	0.000	0.088	2294	3586	3964	3938	3990	0	0	0	0	0	0	14.62	14.20	14.64
946	-0.87	-145.9	2294	3587	3939	3991	146.7	-13.1	90	951	0.00	2.35	0.00	0.000	1158	0.000	0.060	2293	2196	3964	3938	3990	0	0	0	0	0	0	14.38	14.25	14.40
1271	-0.87	-145.9	2294	2195	3940	3990	194.9	-14.4	105	1276	0.00	2.45	0.00	0.000	260	0.000	0.086	2286	3591	3964	3939	3990	0	0	0	0	0	0	14.64	14.21	14.66
1336	-0.97	-145.9	2287	3592	3939	3990	203.5	-12.2	118	1341	0.00	2.35	0.00	0.000	1158	0.000	0.057	2286	2198	3964	3939	3990	0	0	0	0	0	0	14.40	14.31	14.43
1662	-0.99	-145.9	2286	2197	3940	3990	247.2	-13.0	133	1667	0.00	2.45	0.00	0.000	388	0.000	0.088	2281	3586	3964	3939	3990	0	0	0	0	0	0	14.65	14.16	14.67
1732	-1.11	-145.9	2281	3588	3940	3990	255.2	-10.8	147	1737	0.17	2.35	0.00	0.000	5254	0.112	0.057	2218	2196	3964	3939	3990	0	0	0	0	0	0	14.30	14.26	14.40
2052	-1.03	-145.9	2217	2196	3939	3989	309.6	-16.6	161	2057	0.12	2.45	0.00	0.000	2436	0.303	0.086	2238	3586	3963	3939	3988	0	0	0	0	0	0	13.90	14.16	14.08
2150	-1.06	-145.9	2237	3587	3939	3987	322.8	-12.7	180	2155	0.00	2.33	0.00	0.000	1158	0.000	0.056	2236	2201	3963	3939	3988	0	0	0	0	0	0	14.21	14.12	14.25
2475	-1.06	-145.9	2236	2201	3939	3987	367.5	-13.4	195	2480	0.00	2.45	0.00	0.000	260	0.000	0.090	2235	3594	3962	3939	3986	0	0	0	0	0	0	14.69	14.21	14.71
2586	-1.11	-145.9	2236	3595	3940	3986	381.3	-12.0	217	2590	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2195	3962	3939	3985	0	0	0	0	0	0	14.40	14.28	14.42
2895	-1.11	-145.9	2237	2195	3940	3986	421.5	-13.0	229	2900	0.00	2.45	0.00	0.000	260	0.000	0.090	2235	3589	3962	3939	3985	0	0	0	0	0	0	14.69	14.21	14.71
2986	-1.17	-145.9	2235	3589	3940	3985	432.5	-11.6	247	2990	0.00	2.33	0.00	0.000	1158	0.000	0.056	2236	2199	3962	3939	3985	0	0	0	0	0	0	14.40	14.28	14.44
3315	-1.17	-145.9	2236	2199	3939	3985	473.8	-12.5	263	3320	0.00	2.42	0.00	0.000	260	0.000	0.090	2236	3587	3962	3940	3984	0	0	0	0	0	0	14.69	14.20	14.71
3368	end dive: TARGET_DEPTH_EXCEEDED
state	3368	begin apogee
3376	-0.13	0.0	2234	2095	3943	3984	480.5	-11.3	274	3552	1.15	0.00	168.32	2.075	10246	0.238	0.000	2529	2093	3366	3395	3338	0	0	0	0	1	0	13.94	13.26	12.11
3556	end apogee: CONTROL_FINISHED_OK
state	3556	begin climb
3559	0.57	145.9	2530	2094	3401	3338	490.9	0.0	280	3794	0.75	2.70	229.20	1.370	10756	0.063	0.080	2782	696	2762	2812	2713	0	0	0	0	0	0	13.38	12.91	12.32
3924	0.19	145.9	2781	696	2800	2700	488.2	14.0	313	3931	0.65	2.53	0.00	0.000	5254	0.326	0.076	2649	2073	2750	2800	2701	0	0	0	0	0	0	13.24	13.56	13.60
4241	0.04	174.3	2650	2074	2801	2696	459.2	8.7	326	4280	0.20	0.00	37.17	1.440	12966	0.274	0.000	2601	2074	2655	2711	2600	0	0	0	0	0	0	13.79	13.91	13.09
4573	0.04	227.3	2602	2074	2698	2577	434.5	7.6	342	4662	0.00	2.53	80.00	1.347	8868	0.000	0.085	2603	695	2431	2493	2370	0	0	0	0	0	0	14.51	13.84	13.03
4694	0.12	260.4	2603	696	2485	2367	424.7	8.5	366	4754	0.00	2.53	50.33	1.368	9382	0.000	0.079	2602	2107	2295	2358	2233	0	0	0	0	0	0	14.06	13.95	12.96
5054	0.17	282.8	2602	2108	2347	2217	392.4	9.0	388	5085	0.10	0.00	29.65	1.432	10406	0.152	0.000	2653	2108	2214	2275	2154	0	0	0	0	0	0	14.20	14.00	13.19
5382	0.13	282.8	2653	2109	2257	2135	352.9	12.1	399	5387	0.00	2.47	0.00	0.000	644	0.000	0.087	2654	691	2195	2256	2134	0	0	0	0	0	0	14.56	14.19	14.57
5437	0.13	282.8	2655	691	2255	2134	346.5	11.3	410	5443	0.12	2.47	0.00	0.000	5126	0.245	0.079	2629	2110	2194	2254	2134	0	0	0	0	0	0	13.91	13.94	14.27
5744	0.13	282.8	2629	2112	2255	2133	315.6	10.0	421	5750	0.00	2.50	0.00	0.000	516	0.000	0.086	2630	691	2193	2254	2133	0	0	0	0	0	0	14.50	14.15	14.52
5780	0.18	286.4	2631	692	2253	2139	311.9	9.8	428	5785	0.00	2.47	0.00	0.000	1190	0.000	0.080	2630	2110	2192	2252	2133	0	0	0	0	0	0	14.25	14.17	14.28
6105	0.19	305.1	2630	2111	2253	2133	281.1	9.1	443	6145	0.00	2.58	32.75	1.395	8740	0.000	0.086	2630	689	2115	2169	2062	0	0	0	0	0	0	14.50	14.09	13.27
6202	0.32	340.1	2631	691	2158	2064	272.7	8.4	462	6266	0.17	2.50	57.90	1.299	11430	0.105	0.078	2706	2112	1979	2028	1930	0	0	0	0	0	0	14.13	14.06	13.12
6587	0.26	340.1	2697	2108	2011	1911	223.5	12.1	489	6593	0.12	2.50	0.00	0.000	4740	0.229	0.083	2672	691	1959	2008	1910	0	0	0	0	0	0	13.97	13.96	14.09
6623	0.31	342.3	2673	691	2009	1909	219.8	9.9	496	6628	0.00	2.47	0.00	0.000	1190	0.000	0.079	2672	2103	1959	2008	1910	0	0	0	0	0	0	14.23	14.10	14.26
6948	0.32	352.8	2675	2105	2009	1907	188.4	9.5	511	6968	0.00	2.55	13.48	1.423	8740	0.000	0.087	2672	689	1921	1965	1878	0	0	0	0	0	0	14.50	14.05	13.30
7055	0.41	378.4	2672	690	1954	1879	178.7	8.8	532	7105	0.12	2.47	44.72	1.278	11430	0.139	0.080	2727	2101	1821	1855	1787	0	0	0	0	0	0	14.15	14.11	13.23
7430	0.37	378.4	2726	2101	1840	1772	133.7	11.5	557	7431	0.00	0.00	0.00	0.000	134	0.000	0.000	2726	2101	1805	1838	1772	0	0	0	0	0	0	14.42	14.45	14.46
7738	0.34	378.4	2727	2101	1839	1770	100.2	11.3	567	7743	0.12	2.45	0.00	0.000	4740	0.240	0.083	2699	688	1803	1837	1769	0	0	0	0	0	0	14.00	14.02	14.11
7848	0.45	425.0	2698	689	1833	1771	90.4	7.9	589	7882	0.00	2.45	25.42	0.461	9382	0.000	0.080	2699	2106	1635	1671	1600	0	0	0	0	0	0	14.23	14.11	13.61
8180	0.59	493.5	2699	2107	1674	1602	66.0	6.8	625	8231	0.22	2.53	40.85	0.392	10660	0.094	0.083	2787	3511	1352	1401	1303	0	0	0	0	0	0	14.27	13.99	13.69
8256	0.54	493.5	2788	3513	1401	1308	57.1	13.8	636	8262	0.17	2.45	0.00	0.000	5254	0.264	0.067	2755	2093	1354	1401	1307	0	0	0	0	0	0	13.88	14.12	14.15
8561	0.66	578.4	2758	2094	1402	1307	34.8	6.1	667	8615	0.12	2.55	48.83	0.298	10916	0.125	0.090	2818	688	1006	1080	932	0	0	0	0	0	0	14.26	14.06	13.82
8765	0.83	663.7	2812	692	1081	946	18.7	6.1	707	8824	0.12	2.47	52.20	0.246	11430	0.131	0.079	2868	2106	655	716	595	0	0	0	0	0	0	14.20	14.14	13.90
8929	end climb: SURFACE_DEPTH_REACHED
state	8929	begin surface coast
8937	end surface coast: CONTROL_FINISHED_OK
state	8937	begin surface