Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 182 * 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 182 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 48

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 514.0

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 35 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 514.0 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 182 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 280817,024439,7404.0923,-15228.3887,16,0.7,22,19.8,0.3,320.4,12,8.6 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 293.9,51317,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 280817,030701,7404.1626,-15228.4893,36,0.8,42,19.8,0.4,327.0,12,6.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828041901.716271,3,335,25,0213,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A PM_FREEKB_00 52538304

FINISH 0.5,1.021073 _24V_AH 12.33,130.245

SM_CCo 8749,19.60,0.216,0,0,499,702.78 _10V_AH 12.16,0.000

SM_GC 0.91,8.25,2.70,19.60,0.077,0.076,0.216,203,2208,499,-7.38,-0.48,702.78,0,0,0,0,0,0,14.29,14.21,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 247 FG_AHR_10Vo 0.000

MODEM 0,1503893033,75.36600,-145.04601,179.946,260560.2 MEM 323508

RAFOS_FIX 7403.962891,-15227.045898,280817,040416,3,255,0.21 DATA_FILE_SIZE 23373,716

IRIDIUM_FIX 7405.15,-15233.48,280817,030047 CAP_FILE_SIZE 111593,0

TT8_MAMPS 0.038948,0.967708 CFSIZE 2097872896,2031779840

HUMID 46.02 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1446.8

TCM_TEMP 13.00 CURRENT 0.033,237.21,1

XPDR_PINGS 13 GPS 280817,053451,7405.085,-15231.334,17,0.6,21,19.8,0.0,28.4,12,8.8

CP_FREE 15988097024.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.23 nil 0 0 0.00

Roll_motor 93 2151 2490.83 nil 0 0 0.00

VBD_pump_during_apogee 985 1454 17672.43 nil 0 0 0.00

VBD_pump_during_surface 19 215 52.14 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 8756 14 1585.74

Iridium_during_xfer 776 164 1574.62 NCP 8737 20 2154.54

Transponder_ping 3 420 16.83 PMAR 8702 10 1087.44

GUMSTIX_24V 0 0 0.00

GPS 43 22 11.97

TT8 0 0 0.00

LPSleep 6111 2 171.66

TT8_Active 883 13 150.14

TT8_Sampling 2793 33 1135.75

TT8_CF8 339 38 159.55

TT8_Kalman 0 0 0.00

Analog_circuits 2806 10 341.31

GPS_charging 0 0 0.00

Compass 1027 7 87.44

RAFOS 2203 48 1285.85

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 2220 492 500 0.0 0.0 0 142 0.00 0.00 -91.85 0.000 16386 0.000 0.000 198 2220 2180 2111 2250 0 0 0 0 0 0 14.53 28.83 14.55

144 -0.57 -145.9 199 2220 2117 2251 3.8 -5.1 9 197 12.52 2.72 -34.08 0.000 18724 0.453 2.152 2374 3592 3962 3944 3980 0 0 0 0 0 0 13.62 12.89 14.05

423 -0.67 -145.9 2375 3593 3952 3982 61.7 -14.0 64 429 0.00 2.38 0.00 0.000 1158 0.000 0.060 2374 2200 3965 3950 3981 0 0 0 0 0 0 14.24 14.14 14.26

729 -0.75 -145.9 2375 2200 3952 3982 104.2 -11.7 93 734 0.12 2.47 0.00 0.000 4484 0.146 0.086 2319 3601 3966 3951 3981 0 0 0 0 0 0 14.21 14.09 14.26

805 -0.83 -145.9 2320 3601 3952 3981 114.6 -13.0 108 811 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2196 3966 3951 3981 0 0 0 0 0 0 14.24 14.12 14.27

1121 -0.86 -145.9 2319 2196 3952 3982 159.1 -13.5 121 1126 0.00 2.50 0.00 0.000 388 0.000 0.089 2313 3598 3966 3951 3981 0 0 0 0 0 0 14.64 14.19 14.65

1181 -0.97 -145.9 2314 3602 3952 3982 166.4 -11.5 133 1186 0.15 2.38 0.00 0.000 5254 0.119 0.057 2258 2193 3966 3951 3981 0 0 0 0 0 0 14.33 14.26 14.41

1512 -0.91 -145.9 2254 2193 3952 3981 225.5 -17.7 149 1517 0.12 2.47 0.00 0.000 2436 0.304 0.084 2271 3601 3966 3951 3981 0 0 0 0 0 0 13.97 14.20 14.12

1614 -0.98 -145.9 2272 3601 3955 3981 239.2 -12.1 169 1619 0.00 2.38 0.00 0.000 1158 0.000 0.057 2272 2195 3966 3951 3981 0 0 0 0 0 0 14.40 14.27 14.43

1934 -0.98 -145.9 2269 2199 3954 3981 282.1 -12.7 183 1939 0.00 2.47 0.00 0.000 260 0.000 0.089 2267 3603 3966 3951 3981 0 0 0 0 0 0 14.66 14.21 14.67

2051 -1.06 -145.9 2268 3604 3950 3982 295.4 -11.1 206 2056 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2196 3966 3951 3981 0 0 0 0 0 0 14.24 14.12 14.26

2354 -1.09 -145.9 2267 2196 3952 3981 331.5 -11.6 217 2359 0.12 2.47 0.00 0.000 4484 0.145 0.086 2209 3601 3966 3951 3981 0 0 0 0 0 0 14.33 14.21 14.38

2405 -1.06 -145.9 2209 3602 3952 3981 338.8 -15.1 227 2410 0.12 2.35 0.00 0.000 3206 0.271 0.056 2231 2199 3966 3951 3981 0 0 0 0 0 0 13.99 14.28 14.26

2715 -1.03 -145.9 2233 2199 3952 3982 382.0 -13.5 239 2720 0.00 2.45 0.00 0.000 388 0.000 0.086 2224 3600 3963 3946 3980 0 0 0 0 0 0 14.66 14.22 14.69

2785 -1.06 -145.9 2225 3601 3950 3981 391.5 -13.1 253 2790 0.00 2.38 0.00 0.000 1158 0.000 0.057 2224 2195 3965 3950 3980 0 0 0 0 0 0 14.40 14.28 14.45

3125 -1.02 -145.9 2225 2194 3949 3980 437.0 -14.2 267 3129 0.00 2.47 0.00 0.000 388 0.000 0.089 2222 3595 3965 3950 3981 0 0 0 0 0 0 14.52 14.12 14.55

3234 -1.02 -145.9 2223 3595 3953 3981 454.5 -13.1 289 3239 0.00 2.38 0.00 0.000 1030 0.000 0.055 2222 2198 3965 3950 3981 0 0 0 0 0 0 14.28 14.16 14.31

3422 end dive: TARGET_DEPTH_EXCEEDED

state 3422 begin apogee

3428 -0.13 0.0 2223 2067 3951 3980 481.2 -14.0 297 3654 1.23 0.00 222.73 1.431 10246 0.249 0.000 2528 2065 3368 3384 3352 0 0 0 0 0 0 13.78 13.38 12.59

3657 end apogee: CONTROL_FINISHED_OK

state 3657 begin climb

3660 0.57 145.9 2529 2066 3374 3342 492.1 0.0 304 4174 0.75 2.20 209.35 1.385 10756 0.064 0.083 2779 724 2753 2789 2718 0 0 0 0 0 0 13.46 13.06 12.33

4185 0.57 145.9 2782 724 2790 2718 457.4 7.6 307 4190 0.00 2.45 0.00 0.000 1030 0.000 0.076 2782 2087 2752 2788 2717 0 0 0 0 0 0 13.82 13.70 13.85

4501 0.17 145.9 2782 2088 2788 2716 408.6 15.1 320 4506 0.60 2.50 0.00 0.000 4484 0.314 0.076 2646 3513 2751 2788 2714 0 0 0 0 0 0 13.71 14.03 13.93

4607 -0.03 145.9 2646 3514 2787 2713 396.8 10.5 341 4614 0.32 2.35 0.00 0.000 5254 0.280 0.057 2579 2129 2749 2786 2713 0 0 0 0 0 0 13.83 14.12 14.14

4924 0.03 233.3 2579 2130 2786 2714 377.3 6.0 354 5077 0.00 2.67 140.95 1.311 8740 0.000 0.086 2579 695 2406 2460 2353 0 0 0 0 0 0 14.47 13.64 12.93

5127 0.21 289.7 2579 696 2454 2354 363.6 7.4 394 5230 0.22 2.55 95.65 1.278 11430 0.096 0.081 2667 2099 2183 2234 2132 0 0 0 0 0 0 13.81 13.74 12.74

5529 0.16 289.7 2667 2103 2218 2114 312.2 13.0 424 5534 0.12 2.47 0.00 0.000 4740 0.265 0.081 2646 696 2164 2219 2109 0 0 0 0 0 0 13.73 13.86 13.86

5569 0.21 289.7 2647 696 2217 2114 307.3 10.9 432 5574 0.00 2.47 0.00 0.000 1158 0.000 0.079 2646 2111 2164 2216 2112 0 0 0 0 0 0 14.06 13.94 14.09

5891 0.21 289.7 2647 2111 2217 2117 273.7 10.1 446 5896 0.00 2.47 0.00 0.000 516 0.000 0.085 2647 697 2162 2215 2110 0 0 0 0 0 0 14.52 14.14 14.53

5927 0.28 305.0 2648 698 2214 2111 270.1 9.3 453 5953 0.00 2.45 18.38 1.433 9382 0.000 0.079 2647 2103 2117 2166 2068 0 0 0 0 0 0 14.32 14.20 13.24

6253 0.32 330.5 2648 2105 2158 2061 240.1 8.8 468 6302 0.12 2.50 42.25 1.349 10916 0.130 0.086 2710 695 2011 2056 1967 0 0 0 0 0 0 14.28 14.07 13.27

6345 0.29 330.5 2711 696 2046 1969 229.3 11.9 486 6350 0.15 2.47 0.00 0.000 5254 0.230 0.077 2677 2106 2006 2045 1967 0 0 0 0 0 0 13.90 14.09 14.13

6675 0.30 342.6 2677 2107 2046 1959 196.9 9.4 502 6691 0.00 0.00 14.55 1.454 8230 0.000 0.000 2677 2107 1966 2007 1926 0 0 0 0 0 0 14.58 14.16 13.32

6975 0.35 372.9 2677 2107 2003 1907 170.2 8.6 512 7036 0.00 2.53 54.05 1.304 8868 0.000 0.087 2685 690 1840 1872 1809 0 0 0 0 0 0 14.59 14.00 13.27

7083 0.48 398.7 2681 690 1859 1808 161.1 8.8 533 7134 0.15 2.50 43.53 1.278 11430 0.121 0.080 2749 2107 1736 1761 1711 0 0 0 0 0 0 13.88 13.89 13.15

7459 0.43 398.7 2750 2110 1753 1694 112.0 12.5 558 7464 0.00 2.47 0.00 0.000 644 0.000 0.086 2755 691 1724 1756 1693 0 0 0 0 0 0 14.51 14.17 14.52

7514 0.43 398.7 2755 692 1751 1695 105.5 11.4 569 7521 0.15 2.47 0.00 0.000 5126 0.242 0.079 2723 2103 1721 1750 1693 0 0 0 0 0 0 14.01 14.17 14.26

7819 0.49 443.1 2724 2110 1752 1691 78.5 8.0 596 7846 0.00 2.47 21.77 0.432 8868 0.000 0.083 2726 698 1558 1587 1529 0 0 0 0 0 0 14.56 13.98 13.68

7902 0.65 507.2 2727 697 1594 1524 72.5 7.0 612 7944 0.20 2.45 34.58 0.417 11430 0.100 0.078 2801 2101 1295 1345 1245 0 0 0 0 0 0 14.27 14.19 13.66

8241 0.68 541.5 2802 2101 1346 1246 39.0 8.4 650 8264 0.00 2.55 18.58 0.317 8740 0.000 0.086 2807 691 1157 1215 1099 0 0 0 0 0 0 14.56 14.07 13.83

8305 0.77 566.7 2811 690 1216 1104 33.4 8.8 662 8327 0.00 2.45 14.88 0.301 9382 0.000 0.078 2807 2099 1051 1114 989 0 0 0 0 0 0 14.18 14.04 13.76

8625 0.94 667.9 2807 2099 1115 997 11.2 5.3 696 8688 0.20 2.53 54.35 0.238 10916 0.102 0.086 2898 687 638 683 593 0 0 0 0 0 0 14.26 13.98 13.91

8718 end climb: SURFACE_DEPTH_REACHED

state 8718 begin surface coast

8726 end surface coast: CONTROL_FINISHED_OK

state 8726 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	182	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	48
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	514.0
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	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,024439,7404.0923,-15228.3887,16,0.7,22,19.8,0.3,320.4,12,8.6	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	293.9,51317,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	280817,030701,7404.1626,-15228.4893,36,0.8,42,19.8,0.4,327.0,12,6.9

MODEM_MSG	CACST,6,1,20170828041901.716271,3,335,25,0213,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A	PM_FREEKB_00	52538304
FINISH	0.5,1.021073	_24V_AH	12.33,130.245
SM_CCo	8749,19.60,0.216,0,0,499,702.78	_10V_AH	12.16,0.000
SM_GC	0.91,8.25,2.70,19.60,0.077,0.076,0.216,203,2208,499,-7.38,-0.48,702.78,0,0,0,0,0,0,14.29,14.21,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	247	FG_AHR_10Vo	0.000
MODEM	0,1503893033,75.36600,-145.04601,179.946,260560.2	MEM	323508
RAFOS_FIX	7403.962891,-15227.045898,280817,040416,3,255,0.21	DATA_FILE_SIZE	23373,716
IRIDIUM_FIX	7405.15,-15233.48,280817,030047	CAP_FILE_SIZE	111593,0
TT8_MAMPS	0.038948,0.967708	CFSIZE	2097872896,2031779840
HUMID	46.02	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1446.8
TCM_TEMP	13.00	CURRENT	0.033,237.21,1
XPDR_PINGS	13	GPS	280817,053451,7405.085,-15231.334,17,0.6,21,19.8,0.0,28.4,12,8.8
CP_FREE	15988097024.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.23	nil	0	0	0.00
Roll_motor	93	2151	2490.83	nil	0	0	0.00
VBD_pump_during_apogee	985	1454	17672.43	nil	0	0	0.00
VBD_pump_during_surface	19	215	52.14	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	8756	14	1585.74
Iridium_during_xfer	776	164	1574.62	NCP	8737	20	2154.54
Transponder_ping	3	420	16.83	PMAR	8702	10	1087.44
GUMSTIX_24V	0	0	0.00
GPS	43	22	11.97
TT8	0	0	0.00
LPSleep	6111	2	171.66
TT8_Active	883	13	150.14
TT8_Sampling	2793	33	1135.75
TT8_CF8	339	38	159.55
TT8_Kalman	0	0	0.00
Analog_circuits	2806	10	341.31
GPS_charging	0	0	0.00
Compass	1027	7	87.44
RAFOS	2203	48	1285.85
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	2220	492	500	0.0	0.0	0	142	0.00	0.00	-91.85	0.000	16386	0.000	0.000	198	2220	2180	2111	2250	0	0	0	0	0	0	14.53	28.83	14.55
144	-0.57	-145.9	199	2220	2117	2251	3.8	-5.1	9	197	12.52	2.72	-34.08	0.000	18724	0.453	2.152	2374	3592	3962	3944	3980	0	0	0	0	0	0	13.62	12.89	14.05
423	-0.67	-145.9	2375	3593	3952	3982	61.7	-14.0	64	429	0.00	2.38	0.00	0.000	1158	0.000	0.060	2374	2200	3965	3950	3981	0	0	0	0	0	0	14.24	14.14	14.26
729	-0.75	-145.9	2375	2200	3952	3982	104.2	-11.7	93	734	0.12	2.47	0.00	0.000	4484	0.146	0.086	2319	3601	3966	3951	3981	0	0	0	0	0	0	14.21	14.09	14.26
805	-0.83	-145.9	2320	3601	3952	3981	114.6	-13.0	108	811	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2196	3966	3951	3981	0	0	0	0	0	0	14.24	14.12	14.27
1121	-0.86	-145.9	2319	2196	3952	3982	159.1	-13.5	121	1126	0.00	2.50	0.00	0.000	388	0.000	0.089	2313	3598	3966	3951	3981	0	0	0	0	0	0	14.64	14.19	14.65
1181	-0.97	-145.9	2314	3602	3952	3982	166.4	-11.5	133	1186	0.15	2.38	0.00	0.000	5254	0.119	0.057	2258	2193	3966	3951	3981	0	0	0	0	0	0	14.33	14.26	14.41
1512	-0.91	-145.9	2254	2193	3952	3981	225.5	-17.7	149	1517	0.12	2.47	0.00	0.000	2436	0.304	0.084	2271	3601	3966	3951	3981	0	0	0	0	0	0	13.97	14.20	14.12
1614	-0.98	-145.9	2272	3601	3955	3981	239.2	-12.1	169	1619	0.00	2.38	0.00	0.000	1158	0.000	0.057	2272	2195	3966	3951	3981	0	0	0	0	0	0	14.40	14.27	14.43
1934	-0.98	-145.9	2269	2199	3954	3981	282.1	-12.7	183	1939	0.00	2.47	0.00	0.000	260	0.000	0.089	2267	3603	3966	3951	3981	0	0	0	0	0	0	14.66	14.21	14.67
2051	-1.06	-145.9	2268	3604	3950	3982	295.4	-11.1	206	2056	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2196	3966	3951	3981	0	0	0	0	0	0	14.24	14.12	14.26
2354	-1.09	-145.9	2267	2196	3952	3981	331.5	-11.6	217	2359	0.12	2.47	0.00	0.000	4484	0.145	0.086	2209	3601	3966	3951	3981	0	0	0	0	0	0	14.33	14.21	14.38
2405	-1.06	-145.9	2209	3602	3952	3981	338.8	-15.1	227	2410	0.12	2.35	0.00	0.000	3206	0.271	0.056	2231	2199	3966	3951	3981	0	0	0	0	0	0	13.99	14.28	14.26
2715	-1.03	-145.9	2233	2199	3952	3982	382.0	-13.5	239	2720	0.00	2.45	0.00	0.000	388	0.000	0.086	2224	3600	3963	3946	3980	0	0	0	0	0	0	14.66	14.22	14.69
2785	-1.06	-145.9	2225	3601	3950	3981	391.5	-13.1	253	2790	0.00	2.38	0.00	0.000	1158	0.000	0.057	2224	2195	3965	3950	3980	0	0	0	0	0	0	14.40	14.28	14.45
3125	-1.02	-145.9	2225	2194	3949	3980	437.0	-14.2	267	3129	0.00	2.47	0.00	0.000	388	0.000	0.089	2222	3595	3965	3950	3981	0	0	0	0	0	0	14.52	14.12	14.55
3234	-1.02	-145.9	2223	3595	3953	3981	454.5	-13.1	289	3239	0.00	2.38	0.00	0.000	1030	0.000	0.055	2222	2198	3965	3950	3981	0	0	0	0	0	0	14.28	14.16	14.31
3422	end dive: TARGET_DEPTH_EXCEEDED
state	3422	begin apogee
3428	-0.13	0.0	2223	2067	3951	3980	481.2	-14.0	297	3654	1.23	0.00	222.73	1.431	10246	0.249	0.000	2528	2065	3368	3384	3352	0	0	0	0	0	0	13.78	13.38	12.59
3657	end apogee: CONTROL_FINISHED_OK
state	3657	begin climb
3660	0.57	145.9	2529	2066	3374	3342	492.1	0.0	304	4174	0.75	2.20	209.35	1.385	10756	0.064	0.083	2779	724	2753	2789	2718	0	0	0	0	0	0	13.46	13.06	12.33
4185	0.57	145.9	2782	724	2790	2718	457.4	7.6	307	4190	0.00	2.45	0.00	0.000	1030	0.000	0.076	2782	2087	2752	2788	2717	0	0	0	0	0	0	13.82	13.70	13.85
4501	0.17	145.9	2782	2088	2788	2716	408.6	15.1	320	4506	0.60	2.50	0.00	0.000	4484	0.314	0.076	2646	3513	2751	2788	2714	0	0	0	0	0	0	13.71	14.03	13.93
4607	-0.03	145.9	2646	3514	2787	2713	396.8	10.5	341	4614	0.32	2.35	0.00	0.000	5254	0.280	0.057	2579	2129	2749	2786	2713	0	0	0	0	0	0	13.83	14.12	14.14
4924	0.03	233.3	2579	2130	2786	2714	377.3	6.0	354	5077	0.00	2.67	140.95	1.311	8740	0.000	0.086	2579	695	2406	2460	2353	0	0	0	0	0	0	14.47	13.64	12.93
5127	0.21	289.7	2579	696	2454	2354	363.6	7.4	394	5230	0.22	2.55	95.65	1.278	11430	0.096	0.081	2667	2099	2183	2234	2132	0	0	0	0	0	0	13.81	13.74	12.74
5529	0.16	289.7	2667	2103	2218	2114	312.2	13.0	424	5534	0.12	2.47	0.00	0.000	4740	0.265	0.081	2646	696	2164	2219	2109	0	0	0	0	0	0	13.73	13.86	13.86
5569	0.21	289.7	2647	696	2217	2114	307.3	10.9	432	5574	0.00	2.47	0.00	0.000	1158	0.000	0.079	2646	2111	2164	2216	2112	0	0	0	0	0	0	14.06	13.94	14.09
5891	0.21	289.7	2647	2111	2217	2117	273.7	10.1	446	5896	0.00	2.47	0.00	0.000	516	0.000	0.085	2647	697	2162	2215	2110	0	0	0	0	0	0	14.52	14.14	14.53
5927	0.28	305.0	2648	698	2214	2111	270.1	9.3	453	5953	0.00	2.45	18.38	1.433	9382	0.000	0.079	2647	2103	2117	2166	2068	0	0	0	0	0	0	14.32	14.20	13.24
6253	0.32	330.5	2648	2105	2158	2061	240.1	8.8	468	6302	0.12	2.50	42.25	1.349	10916	0.130	0.086	2710	695	2011	2056	1967	0	0	0	0	0	0	14.28	14.07	13.27
6345	0.29	330.5	2711	696	2046	1969	229.3	11.9	486	6350	0.15	2.47	0.00	0.000	5254	0.230	0.077	2677	2106	2006	2045	1967	0	0	0	0	0	0	13.90	14.09	14.13
6675	0.30	342.6	2677	2107	2046	1959	196.9	9.4	502	6691	0.00	0.00	14.55	1.454	8230	0.000	0.000	2677	2107	1966	2007	1926	0	0	0	0	0	0	14.58	14.16	13.32
6975	0.35	372.9	2677	2107	2003	1907	170.2	8.6	512	7036	0.00	2.53	54.05	1.304	8868	0.000	0.087	2685	690	1840	1872	1809	0	0	0	0	0	0	14.59	14.00	13.27
7083	0.48	398.7	2681	690	1859	1808	161.1	8.8	533	7134	0.15	2.50	43.53	1.278	11430	0.121	0.080	2749	2107	1736	1761	1711	0	0	0	0	0	0	13.88	13.89	13.15
7459	0.43	398.7	2750	2110	1753	1694	112.0	12.5	558	7464	0.00	2.47	0.00	0.000	644	0.000	0.086	2755	691	1724	1756	1693	0	0	0	0	0	0	14.51	14.17	14.52
7514	0.43	398.7	2755	692	1751	1695	105.5	11.4	569	7521	0.15	2.47	0.00	0.000	5126	0.242	0.079	2723	2103	1721	1750	1693	0	0	0	0	0	0	14.01	14.17	14.26
7819	0.49	443.1	2724	2110	1752	1691	78.5	8.0	596	7846	0.00	2.47	21.77	0.432	8868	0.000	0.083	2726	698	1558	1587	1529	0	0	0	0	0	0	14.56	13.98	13.68
7902	0.65	507.2	2727	697	1594	1524	72.5	7.0	612	7944	0.20	2.45	34.58	0.417	11430	0.100	0.078	2801	2101	1295	1345	1245	0	0	0	0	0	0	14.27	14.19	13.66
8241	0.68	541.5	2802	2101	1346	1246	39.0	8.4	650	8264	0.00	2.55	18.58	0.317	8740	0.000	0.086	2807	691	1157	1215	1099	0	0	0	0	0	0	14.56	14.07	13.83
8305	0.77	566.7	2811	690	1216	1104	33.4	8.8	662	8327	0.00	2.45	14.88	0.301	9382	0.000	0.078	2807	2099	1051	1114	989	0	0	0	0	0	0	14.18	14.04	13.76
8625	0.94	667.9	2807	2099	1115	997	11.2	5.3	696	8688	0.20	2.53	54.35	0.238	10916	0.102	0.086	2898	687	638	683	593	0	0	0	0	0	0	14.26	13.98	13.91
8718	end climb: SURFACE_DEPTH_REACHED
state	8718	begin surface coast
8726	end surface coast: CONTROL_FINISHED_OK
state	8726	begin surface