Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 149 * 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 149 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 418.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 418.0 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 25 VBD_MIN 500

DIVE 149 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 240817,022132,7331.2720,-15040.0977,34,0.8,35,20.5,0.2,276.1,10,9.4 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 1.17 MHEAD_RNG_PITCHd_Wd 296.8,131134,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 240817,024610,7331.3584,-15040.4307,10,0.7,11,20.5,0.0,210.1,11,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170824042745.975484,3,25,07,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37 PM_FREEKB_00 53573440

FINISH 0.2,1.020614 _24V_AH 12.41,114.051

SM_CCo 9117,24.38,0.214,0,0,499,702.78 _10V_AH 12.47,0.000

SM_GC 0.92,8.12,2.67,24.38,0.073,0.076,0.214,202,2199,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.33,14.23,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 224 FG_AHR_10Vo 0.000

MODEM 2,1503547976,73.18300,-149.96500,29.873,43238.1 MEM 323492

RAFOS_FIX 7332.196777,-15037.294922,240817,040412,3,255,0.40 DATA_FILE_SIZE 26700,776

IRIDIUM_FIX 7332.19,-15039.78,240817,023848 CAP_FILE_SIZE 114854,0

TT8_MAMPS 0.040446,0.820904 CFSIZE 2097872896,2042232832

HUMID 46.14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.3

TCM_TEMP 13.40 CURRENT 0.043,274.67,1

XPDR_PINGS 16 GPS 240817,052015,7332.542,-15043.228,16,0.8,21,20.5,0.0,0.0,11,9.0

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 461 144.12 nil 0 0 0.00

Roll_motor 94 2150 2511.88 nil 0 0 0.00

VBD_pump_during_apogee 898 1521 16970.51 nil 0 0 0.00

VBD_pump_during_surface 24 214 64.79 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 9077 14 1631.45

Iridium_during_xfer 964 166 1997.02 NCP 9127 20 2265.32

Transponder_ping 4 420 20.85 PMAR 9074 9 1125.52

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.54

TT8 0 0 0.00

LPSleep 6726 2 193.77

TT8_Active 960 13 167.41

TT8_Sampling 2621 33 1093.05

TT8_CF8 330 38 159.30

TT8_Kalman 0 0 0.00

Analog_circuits 2655 10 331.18

GPS_charging 0 0 0.00

Compass 1112 7 97.08

RAFOS 2215 48 1325.81

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

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

45 -0.57 -145.9 190 2228 490 490 0.0 0.0 0 138 0.00 0.00 -91.38 0.000 16386 0.000 0.000 188 2229 2246 2184 2309 0 0 0 0 0 0 14.47 28.83 14.49

141 -0.57 -145.9 189 2229 2188 2309 4.5 -6.7 9 194 12.80 2.78 -30.25 0.000 18724 0.461 2.150 2378 3593 3966 3954 3979 0 0 0 0 0 0 13.69 12.62 14.16

394 -0.64 -145.9 2377 3592 3958 3979 61.0 -15.0 59 399 0.00 2.38 0.00 0.000 1158 0.000 0.059 2376 2198 3968 3957 3979 0 0 0 0 0 0 14.27 14.16 14.30

716 -0.69 -145.9 2377 2197 3959 3981 107.5 -12.4 88 721 0.00 2.45 0.00 0.000 388 0.000 0.086 2367 3592 3968 3958 3979 0 0 0 0 0 0 14.54 14.18 14.57

796 -0.84 -145.9 2367 3593 3959 3979 116.4 -10.2 104 803 0.20 2.38 0.00 0.000 5254 0.102 0.054 2286 2194 3970 3962 3979 0 0 0 0 0 0 14.29 14.24 14.38

1108 -0.79 -145.9 2286 2194 3959 3981 172.0 -17.2 116 1114 0.12 2.45 0.00 0.000 2436 0.277 0.083 2307 3595 3969 3959 3979 0 0 0 0 0 0 14.03 14.17 14.19

1201 -0.87 -145.9 2308 3597 3960 3979 184.4 -12.5 134 1206 0.00 2.35 0.00 0.000 1158 0.000 0.056 2304 2199 3968 3957 3979 0 0 0 0 0 0 14.38 14.28 14.42

1531 -0.89 -145.9 2307 2199 3959 3980 228.8 -13.1 150 1536 0.00 2.45 0.00 0.000 388 0.000 0.089 2301 3590 3968 3957 3979 0 0 0 0 0 0 14.62 14.21 14.64

1606 -1.00 -145.9 2302 3592 3959 3979 237.8 -11.2 165 1611 0.15 2.35 0.00 0.000 5254 0.121 0.057 2245 2195 3969 3959 3979 0 0 0 0 0 0 14.33 14.29 14.42

1921 -0.94 -145.9 2245 2195 3959 3979 288.7 -15.8 178 1926 0.12 2.45 0.00 0.000 2436 0.293 0.086 2264 3591 3968 3958 3978 0 0 0 0 0 0 13.95 14.25 14.14

2122 -0.99 -145.9 2265 3592 3958 3978 313.3 -11.9 218 2127 0.00 2.35 0.00 0.000 1158 0.000 0.056 2264 2194 3967 3957 3978 0 0 0 0 0 0 14.42 14.31 14.45

2432 -0.99 -145.9 2265 2192 3959 3976 352.0 -12.4 230 2437 0.00 2.45 0.00 0.000 260 0.000 0.088 2255 3589 3966 3957 3976 0 0 0 0 0 0 14.66 14.21 14.68

2527 -1.05 -145.9 2255 3590 3958 3974 363.7 -11.8 249 2532 0.00 2.33 0.00 0.000 1158 0.000 0.056 2255 2201 3966 3957 3976 0 0 0 0 0 0 14.42 14.31 14.45

2852 -1.05 -145.9 2255 2201 3957 3974 404.9 -12.6 264 2857 0.00 2.42 0.00 0.000 260 0.000 0.088 2249 3587 3965 3957 3974 0 0 0 0 0 0 14.66 14.23 14.69

2938 -1.09 -145.9 2249 3588 3959 3974 415.4 -11.8 281 2944 0.00 2.35 0.00 0.000 1158 0.000 0.056 2255 2193 3965 3957 3974 0 0 0 0 0 0 14.35 14.22 14.39

3243 -1.09 -145.9 2250 2192 3957 3973 454.1 -12.7 292 3248 0.00 2.45 0.00 0.000 260 0.000 0.088 2242 3594 3965 3957 3973 0 0 0 0 0 0 14.68 14.23 14.69

3338 -1.13 -145.9 2242 3594 3958 3973 466.1 -12.1 311 3343 0.00 2.35 0.00 0.000 1158 0.000 0.057 2241 2195 3966 3959 3973 0 0 0 0 0 0 14.25 14.13 14.28

3451 end dive: TARGET_DEPTH_EXCEEDED

state 3451 begin apogee

3457 -0.13 0.0 2242 2065 3957 3974 481.1 -13.2 319 3676 1.12 0.00 215.95 1.421 10246 0.244 0.000 2530 2065 3365 3393 3337 0 0 0 0 0 0 14.00 13.52 12.70

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3682 0.57 145.9 2530 2066 3387 3330 491.7 0.0 326 3897 0.75 2.65 202.98 1.379 10500 0.065 0.073 2784 3484 2762 2814 2710 0 0 0 0 0 0 13.59 12.98 12.41

3922 0.11 145.9 2784 3489 2797 2710 493.1 15.4 368 3929 0.88 2.45 0.00 0.000 5254 0.346 0.055 2622 2129 2752 2797 2708 0 0 0 0 0 0 13.08 13.32 13.37

4227 0.05 183.0 2622 2130 2797 2704 466.3 8.3 379 4288 0.00 2.67 51.20 1.419 8868 0.000 0.085 2632 691 2611 2667 2556 0 0 0 0 0 0 14.20 13.71 12.93

4368 0.06 199.6 2632 692 2665 2548 453.5 9.2 404 4396 0.12 2.50 21.27 1.522 13350 0.249 0.079 2607 2082 2548 2616 2481 0 0 0 0 0 0 13.66 13.80 12.94

4695 0.08 226.2 2607 2082 2608 2472 425.1 8.8 419 4734 0.00 0.00 37.05 1.458 8230 0.000 0.000 2607 2082 2446 2516 2376 0 0 0 0 0 0 14.29 13.88 13.09

5024 0.12 251.4 2607 2083 2503 2363 395.8 8.8 430 5064 0.00 0.00 36.05 1.448 8870 0.000 0.000 2607 2082 2336 2395 2277 0 0 0 0 0 0 14.36 13.76 13.15

5384 0.19 280.5 2607 2083 2390 2268 364.2 8.7 447 5435 0.12 2.55 43.15 1.415 10916 0.133 0.089 2672 693 2214 2271 2158 0 0 0 0 0 0 14.17 13.92 13.14

5482 0.19 280.5 2672 694 2267 2165 352.3 12.7 466 5487 0.00 2.50 0.00 0.000 1030 0.000 0.080 2676 2101 2216 2266 2167 0 0 0 0 0 0 14.07 13.95 14.11

5807 0.14 280.5 2672 2101 2267 2153 309.4 12.9 481 5812 0.15 2.47 0.00 0.000 4740 0.274 0.083 2645 694 2208 2265 2152 0 0 0 0 0 0 13.90 14.11 14.09

5842 0.19 280.5 2645 696 2265 2153 305.5 11.2 488 5848 0.00 2.47 0.00 0.000 1158 0.000 0.080 2651 2107 2208 2264 2153 0 0 0 0 0 0 14.25 14.13 14.26

6168 0.19 283.2 2645 2110 2265 2151 272.1 9.9 503 6173 0.00 2.47 0.00 0.000 548 0.000 0.085 2649 692 2207 2264 2151 0 0 0 0 0 0 14.47 14.14 14.49

6203 0.25 293.0 2647 694 2264 2152 268.8 9.5 510 6224 0.00 2.45 15.93 1.502 9382 0.000 0.080 2647 2100 2169 2224 2114 0 0 0 0 0 0 14.29 14.17 13.31

6529 0.30 321.4 2647 2101 2219 2106 239.0 8.7 525 6579 0.00 0.00 46.62 1.365 8614 0.000 0.000 2647 2100 2050 2102 1999 0 0 0 0 0 0 14.44 13.96 13.21

6890 0.40 370.6 2647 2101 2096 1991 210.1 7.7 542 6982 0.17 2.60 80.28 1.283 10916 0.109 0.087 2728 693 1846 1881 1811 0 0 0 0 0 0 14.14 13.78 13.12

7022 0.40 370.6 2728 695 1874 1816 194.1 12.0 568 7029 0.00 2.53 0.00 0.000 1030 0.000 0.078 2728 2110 1843 1873 1814 0 0 0 0 0 0 13.95 13.85 13.99

7344 0.37 370.6 2729 2106 1873 1807 153.8 12.3 582 7349 0.00 2.47 0.00 0.000 644 0.000 0.087 2730 694 1838 1871 1805 0 0 0 0 0 0 14.48 14.12 14.51

7414 0.37 370.6 2730 695 1868 1808 145.6 11.4 596 7420 0.00 2.45 0.00 0.000 1030 0.000 0.079 2728 2098 1837 1867 1808 0 0 0 0 0 0 14.33 14.21 14.37

7735 0.37 370.6 2730 2100 1868 1806 109.5 10.9 610 7740 0.00 2.47 0.00 0.000 516 0.000 0.086 2734 687 1836 1868 1805 0 0 0 0 0 0 14.59 14.11 14.62

7790 0.39 370.6 2734 687 1866 1805 103.8 10.0 621 7796 0.00 2.45 0.00 0.000 1158 0.000 0.080 2734 2099 1834 1864 1805 0 0 0 0 0 0 14.24 14.12 14.28

8097 0.42 412.1 2734 2101 1865 1804 75.9 8.1 648 8122 0.00 2.47 20.05 0.435 8740 0.000 0.083 2737 688 1684 1711 1657 0 0 0 0 0 0 14.57 13.97 13.72

8137 0.49 466.1 2737 688 1712 1658 72.6 7.5 655 8171 0.00 2.47 28.65 0.422 9382 0.000 0.079 2737 2106 1461 1503 1420 0 0 0 0 0 0 14.31 14.18 13.74

8467 0.67 566.2 2738 2107 1504 1412 50.0 5.4 691 8527 0.15 2.53 51.42 0.352 10660 0.119 0.082 2802 3510 1053 1124 983 0 0 0 0 0 0 14.17 14.08 13.76

8582 0.74 569.9 2802 3511 1125 983 39.5 9.8 713 8588 0.00 2.42 2.00 0.324 9382 0.000 0.068 2807 2104 1041 1116 966 0 0 0 0 0 0 14.22 14.10 13.78

8893 0.92 657.8 2809 2104 1114 964 14.1 5.9 745 8947 0.17 2.50 46.12 0.252 10916 0.108 0.091 2888 685 680 740 621 0 0 0 0 0 0 14.16 14.00 13.95

9029 end climb: SURFACE_DEPTH_REACHED

state 9029 begin surface coast

9049 end surface coast: CONTROL_FINISHED_OK

state 9049 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	149	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	418.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,022132,7331.2720,-15040.0977,34,0.8,35,20.5,0.2,276.1,10,9.4	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	1.17	MHEAD_RNG_PITCHd_Wd	296.8,131134,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	240817,024610,7331.3584,-15040.4307,10,0.7,11,20.5,0.0,210.1,11,9.1

MODEM_MSG	CACST,6,1,20170824042745.975484,3,25,07,0113,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37	PM_FREEKB_00	53573440
FINISH	0.2,1.020614	_24V_AH	12.41,114.051
SM_CCo	9117,24.38,0.214,0,0,499,702.78	_10V_AH	12.47,0.000
SM_GC	0.92,8.12,2.67,24.38,0.073,0.076,0.214,202,2199,499,-7.37,-0.82,702.78,0,0,0,0,0,0,14.33,14.23,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	224	FG_AHR_10Vo	0.000
MODEM	2,1503547976,73.18300,-149.96500,29.873,43238.1	MEM	323492
RAFOS_FIX	7332.196777,-15037.294922,240817,040412,3,255,0.40	DATA_FILE_SIZE	26700,776
IRIDIUM_FIX	7332.19,-15039.78,240817,023848	CAP_FILE_SIZE	114854,0
TT8_MAMPS	0.040446,0.820904	CFSIZE	2097872896,2042232832
HUMID	46.14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.3
TCM_TEMP	13.40	CURRENT	0.043,274.67,1
XPDR_PINGS	16	GPS	240817,052015,7332.542,-15043.228,16,0.8,21,20.5,0.0,0.0,11,9.0
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	461	144.12	nil	0	0	0.00
Roll_motor	94	2150	2511.88	nil	0	0	0.00
VBD_pump_during_apogee	898	1521	16970.51	nil	0	0	0.00
VBD_pump_during_surface	24	214	64.79	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	9077	14	1631.45
Iridium_during_xfer	964	166	1997.02	NCP	9127	20	2265.32
Transponder_ping	4	420	20.85	PMAR	9074	9	1125.52
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.54
TT8	0	0	0.00
LPSleep	6726	2	193.77
TT8_Active	960	13	167.41
TT8_Sampling	2621	33	1093.05
TT8_CF8	330	38	159.30
TT8_Kalman	0	0	0.00
Analog_circuits	2655	10	331.18
GPS_charging	0	0	0.00
Compass	1112	7	97.08
RAFOS	2215	48	1325.81
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
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
45	-0.57	-145.9	190	2228	490	490	0.0	0.0	0	138	0.00	0.00	-91.38	0.000	16386	0.000	0.000	188	2229	2246	2184	2309	0	0	0	0	0	0	14.47	28.83	14.49
141	-0.57	-145.9	189	2229	2188	2309	4.5	-6.7	9	194	12.80	2.78	-30.25	0.000	18724	0.461	2.150	2378	3593	3966	3954	3979	0	0	0	0	0	0	13.69	12.62	14.16
394	-0.64	-145.9	2377	3592	3958	3979	61.0	-15.0	59	399	0.00	2.38	0.00	0.000	1158	0.000	0.059	2376	2198	3968	3957	3979	0	0	0	0	0	0	14.27	14.16	14.30
716	-0.69	-145.9	2377	2197	3959	3981	107.5	-12.4	88	721	0.00	2.45	0.00	0.000	388	0.000	0.086	2367	3592	3968	3958	3979	0	0	0	0	0	0	14.54	14.18	14.57
796	-0.84	-145.9	2367	3593	3959	3979	116.4	-10.2	104	803	0.20	2.38	0.00	0.000	5254	0.102	0.054	2286	2194	3970	3962	3979	0	0	0	0	0	0	14.29	14.24	14.38
1108	-0.79	-145.9	2286	2194	3959	3981	172.0	-17.2	116	1114	0.12	2.45	0.00	0.000	2436	0.277	0.083	2307	3595	3969	3959	3979	0	0	0	0	0	0	14.03	14.17	14.19
1201	-0.87	-145.9	2308	3597	3960	3979	184.4	-12.5	134	1206	0.00	2.35	0.00	0.000	1158	0.000	0.056	2304	2199	3968	3957	3979	0	0	0	0	0	0	14.38	14.28	14.42
1531	-0.89	-145.9	2307	2199	3959	3980	228.8	-13.1	150	1536	0.00	2.45	0.00	0.000	388	0.000	0.089	2301	3590	3968	3957	3979	0	0	0	0	0	0	14.62	14.21	14.64
1606	-1.00	-145.9	2302	3592	3959	3979	237.8	-11.2	165	1611	0.15	2.35	0.00	0.000	5254	0.121	0.057	2245	2195	3969	3959	3979	0	0	0	0	0	0	14.33	14.29	14.42
1921	-0.94	-145.9	2245	2195	3959	3979	288.7	-15.8	178	1926	0.12	2.45	0.00	0.000	2436	0.293	0.086	2264	3591	3968	3958	3978	0	0	0	0	0	0	13.95	14.25	14.14
2122	-0.99	-145.9	2265	3592	3958	3978	313.3	-11.9	218	2127	0.00	2.35	0.00	0.000	1158	0.000	0.056	2264	2194	3967	3957	3978	0	0	0	0	0	0	14.42	14.31	14.45
2432	-0.99	-145.9	2265	2192	3959	3976	352.0	-12.4	230	2437	0.00	2.45	0.00	0.000	260	0.000	0.088	2255	3589	3966	3957	3976	0	0	0	0	0	0	14.66	14.21	14.68
2527	-1.05	-145.9	2255	3590	3958	3974	363.7	-11.8	249	2532	0.00	2.33	0.00	0.000	1158	0.000	0.056	2255	2201	3966	3957	3976	0	0	0	0	0	0	14.42	14.31	14.45
2852	-1.05	-145.9	2255	2201	3957	3974	404.9	-12.6	264	2857	0.00	2.42	0.00	0.000	260	0.000	0.088	2249	3587	3965	3957	3974	0	0	0	0	0	0	14.66	14.23	14.69
2938	-1.09	-145.9	2249	3588	3959	3974	415.4	-11.8	281	2944	0.00	2.35	0.00	0.000	1158	0.000	0.056	2255	2193	3965	3957	3974	0	0	0	0	0	0	14.35	14.22	14.39
3243	-1.09	-145.9	2250	2192	3957	3973	454.1	-12.7	292	3248	0.00	2.45	0.00	0.000	260	0.000	0.088	2242	3594	3965	3957	3973	0	0	0	0	0	0	14.68	14.23	14.69
3338	-1.13	-145.9	2242	3594	3958	3973	466.1	-12.1	311	3343	0.00	2.35	0.00	0.000	1158	0.000	0.057	2241	2195	3966	3959	3973	0	0	0	0	0	0	14.25	14.13	14.28
3451	end dive: TARGET_DEPTH_EXCEEDED
state	3451	begin apogee
3457	-0.13	0.0	2242	2065	3957	3974	481.1	-13.2	319	3676	1.12	0.00	215.95	1.421	10246	0.244	0.000	2530	2065	3365	3393	3337	0	0	0	0	0	0	14.00	13.52	12.70
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3682	0.57	145.9	2530	2066	3387	3330	491.7	0.0	326	3897	0.75	2.65	202.98	1.379	10500	0.065	0.073	2784	3484	2762	2814	2710	0	0	0	0	0	0	13.59	12.98	12.41
3922	0.11	145.9	2784	3489	2797	2710	493.1	15.4	368	3929	0.88	2.45	0.00	0.000	5254	0.346	0.055	2622	2129	2752	2797	2708	0	0	0	0	0	0	13.08	13.32	13.37
4227	0.05	183.0	2622	2130	2797	2704	466.3	8.3	379	4288	0.00	2.67	51.20	1.419	8868	0.000	0.085	2632	691	2611	2667	2556	0	0	0	0	0	0	14.20	13.71	12.93
4368	0.06	199.6	2632	692	2665	2548	453.5	9.2	404	4396	0.12	2.50	21.27	1.522	13350	0.249	0.079	2607	2082	2548	2616	2481	0	0	0	0	0	0	13.66	13.80	12.94
4695	0.08	226.2	2607	2082	2608	2472	425.1	8.8	419	4734	0.00	0.00	37.05	1.458	8230	0.000	0.000	2607	2082	2446	2516	2376	0	0	0	0	0	0	14.29	13.88	13.09
5024	0.12	251.4	2607	2083	2503	2363	395.8	8.8	430	5064	0.00	0.00	36.05	1.448	8870	0.000	0.000	2607	2082	2336	2395	2277	0	0	0	0	0	0	14.36	13.76	13.15
5384	0.19	280.5	2607	2083	2390	2268	364.2	8.7	447	5435	0.12	2.55	43.15	1.415	10916	0.133	0.089	2672	693	2214	2271	2158	0	0	0	0	0	0	14.17	13.92	13.14
5482	0.19	280.5	2672	694	2267	2165	352.3	12.7	466	5487	0.00	2.50	0.00	0.000	1030	0.000	0.080	2676	2101	2216	2266	2167	0	0	0	0	0	0	14.07	13.95	14.11
5807	0.14	280.5	2672	2101	2267	2153	309.4	12.9	481	5812	0.15	2.47	0.00	0.000	4740	0.274	0.083	2645	694	2208	2265	2152	0	0	0	0	0	0	13.90	14.11	14.09
5842	0.19	280.5	2645	696	2265	2153	305.5	11.2	488	5848	0.00	2.47	0.00	0.000	1158	0.000	0.080	2651	2107	2208	2264	2153	0	0	0	0	0	0	14.25	14.13	14.26
6168	0.19	283.2	2645	2110	2265	2151	272.1	9.9	503	6173	0.00	2.47	0.00	0.000	548	0.000	0.085	2649	692	2207	2264	2151	0	0	0	0	0	0	14.47	14.14	14.49
6203	0.25	293.0	2647	694	2264	2152	268.8	9.5	510	6224	0.00	2.45	15.93	1.502	9382	0.000	0.080	2647	2100	2169	2224	2114	0	0	0	0	0	0	14.29	14.17	13.31
6529	0.30	321.4	2647	2101	2219	2106	239.0	8.7	525	6579	0.00	0.00	46.62	1.365	8614	0.000	0.000	2647	2100	2050	2102	1999	0	0	0	0	0	0	14.44	13.96	13.21
6890	0.40	370.6	2647	2101	2096	1991	210.1	7.7	542	6982	0.17	2.60	80.28	1.283	10916	0.109	0.087	2728	693	1846	1881	1811	0	0	0	0	0	0	14.14	13.78	13.12
7022	0.40	370.6	2728	695	1874	1816	194.1	12.0	568	7029	0.00	2.53	0.00	0.000	1030	0.000	0.078	2728	2110	1843	1873	1814	0	0	0	0	0	0	13.95	13.85	13.99
7344	0.37	370.6	2729	2106	1873	1807	153.8	12.3	582	7349	0.00	2.47	0.00	0.000	644	0.000	0.087	2730	694	1838	1871	1805	0	0	0	0	0	0	14.48	14.12	14.51
7414	0.37	370.6	2730	695	1868	1808	145.6	11.4	596	7420	0.00	2.45	0.00	0.000	1030	0.000	0.079	2728	2098	1837	1867	1808	0	0	0	0	0	0	14.33	14.21	14.37
7735	0.37	370.6	2730	2100	1868	1806	109.5	10.9	610	7740	0.00	2.47	0.00	0.000	516	0.000	0.086	2734	687	1836	1868	1805	0	0	0	0	0	0	14.59	14.11	14.62
7790	0.39	370.6	2734	687	1866	1805	103.8	10.0	621	7796	0.00	2.45	0.00	0.000	1158	0.000	0.080	2734	2099	1834	1864	1805	0	0	0	0	0	0	14.24	14.12	14.28
8097	0.42	412.1	2734	2101	1865	1804	75.9	8.1	648	8122	0.00	2.47	20.05	0.435	8740	0.000	0.083	2737	688	1684	1711	1657	0	0	0	0	0	0	14.57	13.97	13.72
8137	0.49	466.1	2737	688	1712	1658	72.6	7.5	655	8171	0.00	2.47	28.65	0.422	9382	0.000	0.079	2737	2106	1461	1503	1420	0	0	0	0	0	0	14.31	14.18	13.74
8467	0.67	566.2	2738	2107	1504	1412	50.0	5.4	691	8527	0.15	2.53	51.42	0.352	10660	0.119	0.082	2802	3510	1053	1124	983	0	0	0	0	0	0	14.17	14.08	13.76
8582	0.74	569.9	2802	3511	1125	983	39.5	9.8	713	8588	0.00	2.42	2.00	0.324	9382	0.000	0.068	2807	2104	1041	1116	966	0	0	0	0	0	0	14.22	14.10	13.78
8893	0.92	657.8	2809	2104	1114	964	14.1	5.9	745	8947	0.17	2.50	46.12	0.252	10916	0.108	0.091	2888	685	680	740	621	0	0	0	0	0	0	14.16	14.00	13.95
9029	end climb: SURFACE_DEPTH_REACHED
state	9029	begin surface coast
9049	end surface coast: CONTROL_FINISHED_OK
state	9049	begin surface