Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 144 * 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 144 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 406.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 30 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 406.0 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 22 VBD_MIN 500

DIVE 144 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 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 230817,120857,7325.7959,-15024.0918,39,0.8,40,20.6,0.5,263.0,11,7.7 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 301.9,143816,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 230817,122913,7325.8335,-15024.7402,9,0.7,12,20.6,0.0,282.6,12,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823121247.743698,3,60,11,0352,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D PM_FREEKB_00 53731712

FINISH 0.1,1.020408 _24V_AH 12.40,111.664

SM_CCo 8969,2.12,0.236,0,0,500,702.78 _10V_AH 12.46,0.000

SM_GC 1.60,8.10,0.17,2.12,0.073,0.116,0.236,203,2226,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.29,14.27,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 391 FG_AHR_10Vo 0.000

MODEM 2,1503490367,73.18300,-149.96500,20.744,30035.7 MEM 323456

RAFOS_FIX 7325.783691,-15019.523438,230817,080827,2,255,0.72 DATA_FILE_SIZE 30009,817

IRIDIUM_FIX 7324.95,-15027.46,230817,122201 CAP_FILE_SIZE 111680,0

TT8_MAMPS 0.040446,0.841876 CFSIZE 2097872896,2043838464

HUMID 46.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1449.4

TCM_TEMP 13.20 CURRENT 0.055,270.39,1

XPDR_PINGS 18 GPS 230817,150032,7327.038,-15027.193,29,0.7,29,20.6,0.0,0.0,11,8.9

CP_FREE 15995011072.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.58 nil 0 0 0.00

Roll_motor 83 2146 2211.27 nil 0 0 0.00

VBD_pump_during_apogee 978 1461 17729.17 nil 0 0 0.00

VBD_pump_during_surface 2 235 6.21 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 8976 14 1590.62

Iridium_during_xfer 758 164 1547.72 NCP 8975 20 2225.80

Transponder_ping 4 420 23.44 PMAR 8925 9 1096.63

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.53

TT8 0 0 0.00

LPSleep 6500 2 187.11

TT8_Active 957 13 166.75

TT8_Sampling 2411 33 1004.87

TT8_CF8 331 38 159.87

TT8_Kalman 0 0 0.00

Analog_circuits 2495 10 310.96

GPS_charging 0 0 0.00

Compass 1169 7 102.04

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 -145.9 200 2217 517 478 0.0 0.0 0 130 0.00 0.00 -80.80 0.000 16386 0.000 0.000 199 2218 1999 1922 2077 0 0 0 0 0 0 14.35 28.83 14.35

133 -0.57 -145.9 200 2218 1925 2081 3.2 -3.8 8 189 12.68 2.75 -38.40 0.000 18724 0.456 2.147 2376 3597 3960 3947 3973 0 0 0 0 0 0 13.62 12.86 14.06

380 -0.66 -145.9 2376 3598 3955 3978 56.5 -15.0 57 386 0.00 2.40 0.00 0.000 1158 0.000 0.057 2375 2197 3965 3954 3977 0 0 0 0 0 0 14.11 14.02 14.16

695 -0.71 -145.9 2376 2193 3956 3977 104.0 -12.5 87 700 0.00 2.47 0.00 0.000 388 0.000 0.087 2365 3602 3965 3955 3976 0 0 0 0 0 0 14.54 14.17 14.55

791 -0.87 -145.9 2365 3603 3956 3978 114.3 -9.9 106 796 0.22 2.38 0.00 0.000 5286 0.096 0.054 2274 2195 3966 3955 3977 0 0 0 0 0 0 14.19 14.14 14.27

1117 -0.79 -145.9 2275 2193 3957 3977 175.9 -18.5 121 1122 0.17 2.47 0.00 0.000 2436 0.282 0.083 2306 3602 3965 3955 3976 0 0 0 0 0 0 13.93 14.20 14.10

1229 -0.87 -145.9 2306 3604 3956 3978 190.9 -12.5 143 1234 0.00 2.35 0.00 0.000 1158 0.000 0.055 2306 2199 3966 3955 3977 0 0 0 0 0 0 14.40 14.29 14.42

1540 -0.89 -145.9 2307 2198 3957 3977 233.9 -13.4 155 1545 0.00 2.47 0.00 0.000 388 0.000 0.088 2303 3608 3966 3955 3977 0 0 0 0 0 0 14.65 14.24 14.64

1641 -1.00 -145.9 2303 3609 3956 3978 245.7 -10.9 175 1647 0.15 2.38 0.00 0.000 5254 0.121 0.056 2247 2199 3966 3955 3977 0 0 0 0 0 0 14.21 14.20 14.31

1962 -0.94 -145.9 2247 2199 3956 3976 295.9 -15.5 189 1967 0.00 2.45 0.00 0.000 388 0.000 0.087 2239 3601 3964 3953 3975 0 0 0 0 0 0 14.65 14.21 14.67

2112 -0.94 -145.9 2240 3603 3955 3976 318.0 -13.6 219 2118 0.15 2.35 0.00 0.000 3078 0.253 0.057 2270 2199 3964 3954 3975 0 0 0 0 0 0 14.04 14.31 14.31

2443 -0.94 -145.9 2271 2199 3956 3973 357.8 -11.7 235 2449 0.00 2.45 0.00 0.000 260 0.000 0.088 2266 3601 3963 3954 3973 0 0 0 0 0 0 14.66 14.21 14.68

2529 -1.02 -145.9 2267 3602 3955 3974 367.3 -10.6 252 2535 0.00 2.38 0.00 0.000 1158 0.000 0.057 2269 2198 3965 3954 3976 0 0 0 0 0 0 14.36 14.26 14.39

2834 -1.02 -145.9 2267 2198 3955 3973 402.5 -11.6 263 2839 0.00 2.45 0.00 0.000 260 0.000 0.087 2259 3604 3963 3955 3971 0 0 0 0 0 0 14.67 14.21 14.69

2910 -1.10 -145.9 2258 3603 3955 3972 411.1 -10.9 278 2915 0.00 2.38 0.00 0.000 1158 0.000 0.057 2259 2191 3963 3954 3972 0 0 0 0 0 0 14.37 14.24 14.40

3225 -1.10 -145.9 2259 2189 3956 3971 449.2 -12.2 291 3230 0.00 2.47 0.00 0.000 260 0.000 0.086 2250 3606 3963 3955 3971 0 0 0 0 0 0 14.67 14.19 14.69

3320 -1.16 -145.9 2250 3607 3954 3972 460.5 -11.3 310 3326 0.15 2.38 0.00 0.000 5254 0.129 0.054 2193 2193 3962 3954 3970 0 0 0 0 0 0 14.21 14.19 14.31

3463 end dive: TARGET_DEPTH_EXCEEDED

state 3463 begin apogee

3469 -0.13 0.0 2194 2064 3955 3970 485.2 -17.7 319 3688 1.38 0.00 214.85 1.431 10246 0.276 0.000 2529 2063 3364 3394 3334 0 0 0 0 0 0 13.93 13.50 12.75

3692 end apogee: CONTROL_FINISHED_OK

state 3692 begin climb

3694 0.57 145.9 2529 2063 3387 3329 495.9 0.0 326 3908 0.75 2.55 201.25 1.395 10756 0.064 0.080 2782 731 2764 2815 2713 0 0 0 0 0 0 13.59 13.12 12.40

4133 0.21 145.9 2782 732 2802 2711 469.5 15.1 408 4138 0.60 2.45 0.00 0.000 5254 0.323 0.074 2657 2101 2755 2801 2709 0 0 0 0 0 0 13.45 13.77 13.80

4444 0.06 151.6 2657 2102 2802 2704 438.1 9.7 420 4449 0.20 2.40 0.00 0.000 4772 0.289 0.076 2616 727 2753 2801 2705 0 0 0 0 0 0 13.84 14.10 14.02

4524 0.07 207.8 2616 727 2802 2707 431.8 7.4 436 4619 0.00 2.40 87.85 1.388 9382 0.000 0.079 2616 2101 2514 2581 2448 0 0 0 0 0 0 14.26 14.15 13.03

4924 0.09 229.3 2616 2101 2574 2434 396.4 9.0 466 4956 0.00 0.00 28.00 1.461 8742 0.000 0.000 2616 2100 2427 2494 2360 0 0 0 0 0 0 14.45 14.01 13.20

5255 0.10 253.3 2616 2102 2487 2354 366.6 8.9 482 5296 0.00 2.45 34.97 1.448 8740 0.000 0.085 2616 722 2329 2388 2270 0 0 0 0 0 0 14.52 14.00 13.26

5342 0.21 280.5 2617 721 2382 2270 359.1 8.7 499 5392 0.00 2.42 41.78 1.408 9382 0.000 0.077 2616 2106 2216 2277 2155 0 0 0 0 0 0 14.18 14.07 13.12

5709 0.29 306.1 2615 2106 2271 2145 326.5 8.8 522 5748 0.15 0.00 36.85 1.402 10918 0.118 0.000 2687 2111 2115 2170 2061 0 0 0 0 0 0 14.23 14.01 13.23

6039 0.23 306.1 2687 2107 2163 2050 282.4 13.4 538 6044 0.12 2.42 0.00 0.000 4740 0.255 0.083 2660 726 2105 2162 2049 0 0 0 0 0 0 14.01 14.07 14.16

6124 0.28 306.1 2666 726 2162 2050 272.8 10.2 555 6131 0.00 2.40 0.00 0.000 1158 0.000 0.078 2660 2105 2104 2159 2049 0 0 0 0 0 0 14.33 14.21 14.36

6429 0.29 307.4 2661 2105 2160 2048 241.3 9.9 566 6430 0.00 0.00 0.00 0.000 38 0.000 0.000 2660 2105 2103 2158 2048 0 0 0 0 0 0 14.62 14.63 14.63

6729 0.30 329.4 2660 2105 2160 2047 213.7 9.0 576 6770 0.00 2.47 35.80 1.384 8740 0.000 0.085 2660 730 2018 2069 1968 0 0 0 0 0 0 14.64 14.17 13.38

6832 0.42 364.9 2661 729 2062 1967 205.2 8.4 596 6896 0.17 2.40 57.97 1.306 11430 0.113 0.079 2729 2099 1877 1914 1841 0 0 0 0 0 0 14.19 14.14 13.19

7212 0.37 364.9 2730 2105 1900 1834 157.5 12.1 622 7216 0.00 2.42 0.00 0.000 644 0.000 0.083 2738 727 1866 1901 1832 0 0 0 0 0 0 14.50 14.16 14.51

7247 0.34 364.9 2738 727 1899 1833 153.3 11.9 629 7252 0.20 2.40 0.00 0.000 5254 0.241 0.079 2694 2106 1863 1895 1832 0 0 0 0 0 0 13.97 14.18 14.26

7572 0.40 391.5 2694 2107 1898 1830 124.0 8.8 644 7617 0.00 2.45 38.90 1.317 8868 0.000 0.086 2698 717 1765 1794 1736 0 0 0 0 0 0 14.59 14.11 13.35

7659 0.53 423.9 2699 717 1788 1735 116.7 8.5 661 7718 0.17 2.42 52.40 1.242 11430 0.108 0.077 2771 2102 1633 1665 1602 0 0 0 0 0 0 14.08 14.00 13.19

8023 0.49 423.9 2771 2103 1662 1587 71.6 11.1 698 8028 0.12 2.42 0.00 0.000 4740 0.260 0.082 2755 721 1623 1661 1586 0 0 0 0 0 0 13.94 14.09 14.14

8069 0.56 442.0 2755 722 1658 1587 67.2 9.2 707 8086 0.00 2.42 8.68 0.401 9382 0.000 0.079 2755 2109 1562 1600 1525 0 0 0 0 0 0 14.17 14.09 13.77

8384 0.67 531.2 2755 2111 1599 1526 43.8 5.9 740 8436 0.12 0.00 48.17 0.331 10918 0.131 0.000 2812 2109 1198 1261 1136 0 0 0 0 0 0 14.23 14.17 13.83

8734 0.83 653.5 2811 2110 1261 1128 15.5 4.4 778 8809 0.12 2.45 65.85 0.251 10916 0.133 0.086 2876 730 696 761 632 0 0 0 0 0 0 14.23 14.13 13.91

8889 0.95 698.4 2877 731 762 629 4.8 7.9 808 8921 0.00 2.40 25.20 0.217 9382 0.000 0.080 2880 2102 512 547 477 0 0 0 0 0 0 14.17 14.05 13.86

8927 end climb: SURFACE_DEPTH_REACHED

state 8927 begin surface coast

8947 end surface coast: CONTROL_FINISHED_OK

state 8947 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	144	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	406.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,120857,7325.7959,-15024.0918,39,0.8,40,20.6,0.5,263.0,11,7.7	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	301.9,143816,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	230817,122913,7325.8335,-15024.7402,9,0.7,12,20.6,0.0,282.6,12,8.8

MODEM_MSG	CACST,6,1,20170823121247.743698,3,60,11,0352,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D	PM_FREEKB_00	53731712
FINISH	0.1,1.020408	_24V_AH	12.40,111.664
SM_CCo	8969,2.12,0.236,0,0,500,702.78	_10V_AH	12.46,0.000
SM_GC	1.60,8.10,0.17,2.12,0.073,0.116,0.236,203,2226,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.29,14.27,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	391	FG_AHR_10Vo	0.000
MODEM	2,1503490367,73.18300,-149.96500,20.744,30035.7	MEM	323456
RAFOS_FIX	7325.783691,-15019.523438,230817,080827,2,255,0.72	DATA_FILE_SIZE	30009,817
IRIDIUM_FIX	7324.95,-15027.46,230817,122201	CAP_FILE_SIZE	111680,0
TT8_MAMPS	0.040446,0.841876	CFSIZE	2097872896,2043838464
HUMID	46.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1449.4
TCM_TEMP	13.20	CURRENT	0.055,270.39,1
XPDR_PINGS	18	GPS	230817,150032,7327.038,-15027.193,29,0.7,29,20.6,0.0,0.0,11,8.9
CP_FREE	15995011072.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.58	nil	0	0	0.00
Roll_motor	83	2146	2211.27	nil	0	0	0.00
VBD_pump_during_apogee	978	1461	17729.17	nil	0	0	0.00
VBD_pump_during_surface	2	235	6.21	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	8976	14	1590.62
Iridium_during_xfer	758	164	1547.72	NCP	8975	20	2225.80
Transponder_ping	4	420	23.44	PMAR	8925	9	1096.63
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.53
TT8	0	0	0.00
LPSleep	6500	2	187.11
TT8_Active	957	13	166.75
TT8_Sampling	2411	33	1004.87
TT8_CF8	331	38	159.87
TT8_Kalman	0	0	0.00
Analog_circuits	2495	10	310.96
GPS_charging	0	0	0.00
Compass	1169	7	102.04
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	200	2217	517	478	0.0	0.0	0	130	0.00	0.00	-80.80	0.000	16386	0.000	0.000	199	2218	1999	1922	2077	0	0	0	0	0	0	14.35	28.83	14.35
133	-0.57	-145.9	200	2218	1925	2081	3.2	-3.8	8	189	12.68	2.75	-38.40	0.000	18724	0.456	2.147	2376	3597	3960	3947	3973	0	0	0	0	0	0	13.62	12.86	14.06
380	-0.66	-145.9	2376	3598	3955	3978	56.5	-15.0	57	386	0.00	2.40	0.00	0.000	1158	0.000	0.057	2375	2197	3965	3954	3977	0	0	0	0	0	0	14.11	14.02	14.16
695	-0.71	-145.9	2376	2193	3956	3977	104.0	-12.5	87	700	0.00	2.47	0.00	0.000	388	0.000	0.087	2365	3602	3965	3955	3976	0	0	0	0	0	0	14.54	14.17	14.55
791	-0.87	-145.9	2365	3603	3956	3978	114.3	-9.9	106	796	0.22	2.38	0.00	0.000	5286	0.096	0.054	2274	2195	3966	3955	3977	0	0	0	0	0	0	14.19	14.14	14.27
1117	-0.79	-145.9	2275	2193	3957	3977	175.9	-18.5	121	1122	0.17	2.47	0.00	0.000	2436	0.282	0.083	2306	3602	3965	3955	3976	0	0	0	0	0	0	13.93	14.20	14.10
1229	-0.87	-145.9	2306	3604	3956	3978	190.9	-12.5	143	1234	0.00	2.35	0.00	0.000	1158	0.000	0.055	2306	2199	3966	3955	3977	0	0	0	0	0	0	14.40	14.29	14.42
1540	-0.89	-145.9	2307	2198	3957	3977	233.9	-13.4	155	1545	0.00	2.47	0.00	0.000	388	0.000	0.088	2303	3608	3966	3955	3977	0	0	0	0	0	0	14.65	14.24	14.64
1641	-1.00	-145.9	2303	3609	3956	3978	245.7	-10.9	175	1647	0.15	2.38	0.00	0.000	5254	0.121	0.056	2247	2199	3966	3955	3977	0	0	0	0	0	0	14.21	14.20	14.31
1962	-0.94	-145.9	2247	2199	3956	3976	295.9	-15.5	189	1967	0.00	2.45	0.00	0.000	388	0.000	0.087	2239	3601	3964	3953	3975	0	0	0	0	0	0	14.65	14.21	14.67
2112	-0.94	-145.9	2240	3603	3955	3976	318.0	-13.6	219	2118	0.15	2.35	0.00	0.000	3078	0.253	0.057	2270	2199	3964	3954	3975	0	0	0	0	0	0	14.04	14.31	14.31
2443	-0.94	-145.9	2271	2199	3956	3973	357.8	-11.7	235	2449	0.00	2.45	0.00	0.000	260	0.000	0.088	2266	3601	3963	3954	3973	0	0	0	0	0	0	14.66	14.21	14.68
2529	-1.02	-145.9	2267	3602	3955	3974	367.3	-10.6	252	2535	0.00	2.38	0.00	0.000	1158	0.000	0.057	2269	2198	3965	3954	3976	0	0	0	0	0	0	14.36	14.26	14.39
2834	-1.02	-145.9	2267	2198	3955	3973	402.5	-11.6	263	2839	0.00	2.45	0.00	0.000	260	0.000	0.087	2259	3604	3963	3955	3971	0	0	0	0	0	0	14.67	14.21	14.69
2910	-1.10	-145.9	2258	3603	3955	3972	411.1	-10.9	278	2915	0.00	2.38	0.00	0.000	1158	0.000	0.057	2259	2191	3963	3954	3972	0	0	0	0	0	0	14.37	14.24	14.40
3225	-1.10	-145.9	2259	2189	3956	3971	449.2	-12.2	291	3230	0.00	2.47	0.00	0.000	260	0.000	0.086	2250	3606	3963	3955	3971	0	0	0	0	0	0	14.67	14.19	14.69
3320	-1.16	-145.9	2250	3607	3954	3972	460.5	-11.3	310	3326	0.15	2.38	0.00	0.000	5254	0.129	0.054	2193	2193	3962	3954	3970	0	0	0	0	0	0	14.21	14.19	14.31
3463	end dive: TARGET_DEPTH_EXCEEDED
state	3463	begin apogee
3469	-0.13	0.0	2194	2064	3955	3970	485.2	-17.7	319	3688	1.38	0.00	214.85	1.431	10246	0.276	0.000	2529	2063	3364	3394	3334	0	0	0	0	0	0	13.93	13.50	12.75
3692	end apogee: CONTROL_FINISHED_OK
state	3692	begin climb
3694	0.57	145.9	2529	2063	3387	3329	495.9	0.0	326	3908	0.75	2.55	201.25	1.395	10756	0.064	0.080	2782	731	2764	2815	2713	0	0	0	0	0	0	13.59	13.12	12.40
4133	0.21	145.9	2782	732	2802	2711	469.5	15.1	408	4138	0.60	2.45	0.00	0.000	5254	0.323	0.074	2657	2101	2755	2801	2709	0	0	0	0	0	0	13.45	13.77	13.80
4444	0.06	151.6	2657	2102	2802	2704	438.1	9.7	420	4449	0.20	2.40	0.00	0.000	4772	0.289	0.076	2616	727	2753	2801	2705	0	0	0	0	0	0	13.84	14.10	14.02
4524	0.07	207.8	2616	727	2802	2707	431.8	7.4	436	4619	0.00	2.40	87.85	1.388	9382	0.000	0.079	2616	2101	2514	2581	2448	0	0	0	0	0	0	14.26	14.15	13.03
4924	0.09	229.3	2616	2101	2574	2434	396.4	9.0	466	4956	0.00	0.00	28.00	1.461	8742	0.000	0.000	2616	2100	2427	2494	2360	0	0	0	0	0	0	14.45	14.01	13.20
5255	0.10	253.3	2616	2102	2487	2354	366.6	8.9	482	5296	0.00	2.45	34.97	1.448	8740	0.000	0.085	2616	722	2329	2388	2270	0	0	0	0	0	0	14.52	14.00	13.26
5342	0.21	280.5	2617	721	2382	2270	359.1	8.7	499	5392	0.00	2.42	41.78	1.408	9382	0.000	0.077	2616	2106	2216	2277	2155	0	0	0	0	0	0	14.18	14.07	13.12
5709	0.29	306.1	2615	2106	2271	2145	326.5	8.8	522	5748	0.15	0.00	36.85	1.402	10918	0.118	0.000	2687	2111	2115	2170	2061	0	0	0	0	0	0	14.23	14.01	13.23
6039	0.23	306.1	2687	2107	2163	2050	282.4	13.4	538	6044	0.12	2.42	0.00	0.000	4740	0.255	0.083	2660	726	2105	2162	2049	0	0	0	0	0	0	14.01	14.07	14.16
6124	0.28	306.1	2666	726	2162	2050	272.8	10.2	555	6131	0.00	2.40	0.00	0.000	1158	0.000	0.078	2660	2105	2104	2159	2049	0	0	0	0	0	0	14.33	14.21	14.36
6429	0.29	307.4	2661	2105	2160	2048	241.3	9.9	566	6430	0.00	0.00	0.00	0.000	38	0.000	0.000	2660	2105	2103	2158	2048	0	0	0	0	0	0	14.62	14.63	14.63
6729	0.30	329.4	2660	2105	2160	2047	213.7	9.0	576	6770	0.00	2.47	35.80	1.384	8740	0.000	0.085	2660	730	2018	2069	1968	0	0	0	0	0	0	14.64	14.17	13.38
6832	0.42	364.9	2661	729	2062	1967	205.2	8.4	596	6896	0.17	2.40	57.97	1.306	11430	0.113	0.079	2729	2099	1877	1914	1841	0	0	0	0	0	0	14.19	14.14	13.19
7212	0.37	364.9	2730	2105	1900	1834	157.5	12.1	622	7216	0.00	2.42	0.00	0.000	644	0.000	0.083	2738	727	1866	1901	1832	0	0	0	0	0	0	14.50	14.16	14.51
7247	0.34	364.9	2738	727	1899	1833	153.3	11.9	629	7252	0.20	2.40	0.00	0.000	5254	0.241	0.079	2694	2106	1863	1895	1832	0	0	0	0	0	0	13.97	14.18	14.26
7572	0.40	391.5	2694	2107	1898	1830	124.0	8.8	644	7617	0.00	2.45	38.90	1.317	8868	0.000	0.086	2698	717	1765	1794	1736	0	0	0	0	0	0	14.59	14.11	13.35
7659	0.53	423.9	2699	717	1788	1735	116.7	8.5	661	7718	0.17	2.42	52.40	1.242	11430	0.108	0.077	2771	2102	1633	1665	1602	0	0	0	0	0	0	14.08	14.00	13.19
8023	0.49	423.9	2771	2103	1662	1587	71.6	11.1	698	8028	0.12	2.42	0.00	0.000	4740	0.260	0.082	2755	721	1623	1661	1586	0	0	0	0	0	0	13.94	14.09	14.14
8069	0.56	442.0	2755	722	1658	1587	67.2	9.2	707	8086	0.00	2.42	8.68	0.401	9382	0.000	0.079	2755	2109	1562	1600	1525	0	0	0	0	0	0	14.17	14.09	13.77
8384	0.67	531.2	2755	2111	1599	1526	43.8	5.9	740	8436	0.12	0.00	48.17	0.331	10918	0.131	0.000	2812	2109	1198	1261	1136	0	0	0	0	0	0	14.23	14.17	13.83
8734	0.83	653.5	2811	2110	1261	1128	15.5	4.4	778	8809	0.12	2.45	65.85	0.251	10916	0.133	0.086	2876	730	696	761	632	0	0	0	0	0	0	14.23	14.13	13.91
8889	0.95	698.4	2877	731	762	629	4.8	7.9	808	8921	0.00	2.40	25.20	0.217	9382	0.000	0.080	2880	2102	512	547	477	0	0	0	0	0	0	14.17	14.05	13.86
8927	end climb: SURFACE_DEPTH_REACHED
state	8927	begin surface coast
8947	end surface coast: CONTROL_FINISHED_OK
state	8947	begin surface