Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 211 * 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 211 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 596.0

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 36 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 596.0 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 36 VBD_MIN 500

DIVE 211 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 310817,121703,7423.2925,-15340.3135,21,0.7,29,19.3,0.4,220.7,12,8.6 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 15.9,162937,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 310817,122927,7423.2622,-15340.4316,7,0.8,11,19.3,0.0,0.0,10,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831122653.978052,3,90,07,0155,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39 PM_FREEKB_00 51691392

FINISH 0.3,1.011728 _24V_AH 12.34,144.305

SM_CCo 9155,9.02,0.218,0,0,499,702.78 _10V_AH 12.21,0.000

SM_GC 2.14,8.23,0.17,9.02,0.071,0.108,0.218,201,2241,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 413 FG_AHR_10Vo 0.000

MODEM 0,1504181043,75.36600,-145.04601,189.299,272804.2 MEM 323484

RAFOS_FIX 7422.036133,-15340.410156,310817,121259,4,255,0.00 DATA_FILE_SIZE 26735,774

IRIDIUM_FIX 7423.08,-15347.54,310817,093700 CAP_FILE_SIZE 107321,0

TT8_MAMPS 0.039697,0.923517 CFSIZE 2097872896,2022801408

HUMID 47.04 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1449.1

TCM_TEMP 13.30 CURRENT 0.068,265.46,1

XPDR_PINGS 16 GPS 310817,150401,7424.182,-15338.477,19,0.8,29,19.3,0.0,194.2,10,7.3

CP_FREE 15980560384.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.05 nil 0 0 0.00

Roll_motor 83 2138 2201.96 nil 0 0 0.00

VBD_pump_during_apogee 993 1512 18546.43 nil 0 0 0.00

VBD_pump_during_surface 9 218 24.28 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 9147 14 1638.48

Iridium_during_xfer 360 179 800.74 NCP 9155 20 2259.45

Transponder_ping 4 420 20.73 PMAR 9110 9 1111.58

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.30

TT8 0 0 0.00

LPSleep 6578 2 185.53

TT8_Active 893 13 152.44

TT8_Sampling 2173 33 887.62

TT8_CF8 278 38 131.51

TT8_Kalman 0 0 0.00

Analog_circuits 2124 10 259.34

GPS_charging 0 0 0.00

Compass 1111 7 94.99

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 -145.9 196 2186 502 494 0.0 0.0 0 141 0.00 0.00 -91.72 0.000 16386 0.000 0.000 195 2186 2156 2085 2227 0 0 0 0 0 0 14.35 28.83 14.36

144 -0.57 -145.9 201 2187 2088 2234 3.4 -4.1 9 201 12.88 2.80 -36.12 0.000 18724 0.456 2.139 2376 3582 3961 3944 3978 0 0 0 0 0 0 13.49 12.59 13.95

248 -0.64 -145.9 2379 3586 3949 3979 32.8 -18.4 26 254 0.00 2.38 0.00 0.000 1158 0.000 0.063 2373 2211 3961 3944 3978 0 0 0 0 0 0 14.16 14.00 14.18

552 -0.72 -145.9 2376 2211 3950 3979 80.4 -12.4 57 553 0.00 0.00 0.00 0.000 134 0.000 0.000 2376 2210 3964 3951 3978 0 0 0 0 0 0 14.40 14.41 14.41

862 -0.85 -145.9 2376 2210 3952 3979 112.2 -9.5 80 867 0.20 2.45 0.00 0.000 4516 0.110 0.086 2293 3586 3966 3954 3978 0 0 0 0 0 0 14.08 14.09 14.12

892 -0.89 -145.9 2294 3584 3952 3978 116.2 -14.8 86 897 0.00 2.38 0.00 0.000 1158 0.000 0.057 2294 2196 3965 3952 3978 0 0 0 0 0 0 14.26 14.12 14.30

1222 -0.89 -145.9 2294 2195 3952 3978 166.6 -14.9 102 1227 0.00 2.45 0.00 0.000 260 0.000 0.085 2285 3588 3964 3951 3978 0 0 0 0 0 0 14.62 14.18 14.64

1312 -0.99 -145.9 2290 3591 3951 3979 178.4 -12.3 120 1317 0.00 2.35 0.00 0.000 1158 0.000 0.055 2285 2198 3964 3951 3978 0 0 0 0 0 0 14.38 14.26 14.41

1642 -1.02 -145.9 2285 2198 3952 3979 222.9 -13.0 136 1647 0.00 2.45 0.00 0.000 388 0.000 0.088 2278 3588 3964 3951 3978 0 0 0 0 0 0 14.66 14.20 14.68

1703 -1.13 -145.9 2281 3590 3952 3979 229.8 -10.6 148 1708 0.20 2.35 0.00 0.000 5254 0.108 0.057 2207 2195 3964 3951 3978 0 0 0 0 0 0 14.30 14.27 14.40

2033 -1.04 -145.9 2208 2195 3952 3979 287.8 -17.5 164 2038 0.12 2.45 0.00 0.000 2436 0.314 0.086 2226 3588 3964 3951 3978 0 0 0 0 0 0 13.85 14.15 14.02

2125 -1.07 -145.9 2229 3590 3952 3978 301.1 -13.5 182 2130 0.00 2.33 0.00 0.000 1158 0.000 0.056 2226 2201 3964 3951 3978 0 0 0 0 0 0 14.40 14.28 14.43

2455 -1.05 -145.9 2226 2199 3952 3978 348.8 -14.1 198 2460 0.00 2.45 0.00 0.000 388 0.000 0.089 2222 3594 3963 3950 3977 0 0 0 0 0 0 14.66 14.20 14.72

2560 -1.09 -145.9 2222 3596 3952 3978 362.6 -12.6 219 2566 0.00 2.35 0.00 0.000 1158 0.000 0.057 2222 2200 3964 3951 3977 0 0 0 0 0 0 14.40 14.27 14.43

2876 -1.09 -145.9 2223 2199 3951 3977 406.0 -13.6 232 2881 0.00 2.45 0.00 0.000 260 0.000 0.089 2222 3590 3963 3951 3975 0 0 0 0 0 0 14.66 14.12 14.68

2961 -1.14 -145.9 2222 3593 3952 3978 416.9 -12.3 249 2967 0.00 2.35 0.00 0.000 1158 0.000 0.056 2223 2199 3963 3951 3976 0 0 0 0 0 0 14.32 14.19 14.33

3266 -1.14 -145.9 2222 2199 3952 3977 457.8 -13.4 260 3271 0.00 2.45 0.00 0.000 260 0.000 0.090 2222 3587 3963 3951 3976 0 0 0 0 0 0 14.66 14.07 14.68

3356 -1.19 -145.9 2223 3588 3952 3978 469.3 -12.6 278 3361 0.00 2.35 0.00 0.000 1158 0.000 0.055 2222 2197 3963 3951 3976 0 0 0 0 0 0 14.32 14.19 14.35

3444 end dive: TARGET_DEPTH_EXCEEDED

state 3444 begin apogee

3450 -0.13 0.0 2223 2065 3952 3975 481.1 -13.4 286 3676 1.23 0.00 222.48 1.419 10246 0.245 0.000 2531 2063 3363 3388 3339 0 0 0 0 0 0 13.89 13.47 12.67

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3682 0.57 145.9 2532 2065 3381 3333 492.8 0.0 293 3904 0.75 2.15 207.48 1.383 11012 0.063 0.073 2794 713 2759 2802 2716 0 0 0 0 0 0 13.60 12.94 12.34

4129 0.17 145.9 2795 713 2796 2715 472.2 14.7 340 4136 0.73 2.45 0.00 0.000 5254 0.325 0.074 2644 2084 2754 2795 2713 0 0 0 0 0 0 13.40 13.76 13.78

4435 0.03 165.9 2645 2080 2796 2709 443.8 9.1 351 4467 0.20 2.55 24.40 1.512 12708 0.277 0.085 2593 3507 2682 2728 2637 0 0 0 0 0 0 13.85 14.05 13.18

4682 -0.02 196.0 2595 3507 2721 2636 422.5 8.6 400 4732 0.00 2.33 44.12 1.460 9382 0.000 0.058 2602 2130 2561 2615 2508 0 0 0 0 0 0 14.32 14.21 13.16

5039 -0.02 226.5 2600 2131 2612 2495 392.5 8.6 421 5087 0.00 2.60 43.90 1.438 8868 0.000 0.086 2602 697 2436 2492 2380 0 0 0 0 0 0 14.55 14.04 13.19

5178 0.07 260.7 2602 698 2486 2378 380.3 8.4 449 5234 0.00 2.45 50.22 1.404 9382 0.000 0.080 2602 2095 2301 2356 2247 0 0 0 0 0 0 14.24 14.09 13.11

5551 0.13 288.2 2603 2095 2348 2236 347.8 8.7 473 5594 0.00 0.00 41.47 1.404 8358 0.000 0.000 2602 2094 2190 2244 2136 0 0 0 0 0 0 14.54 14.03 13.22

5880 0.22 317.0 2603 2095 2240 2124 319.3 8.7 484 5926 0.15 0.00 44.15 1.379 10406 0.117 0.000 2671 2094 2073 2125 2022 0 0 0 0 0 0 14.21 14.04 13.24

6210 0.19 317.0 2672 2094 2115 2009 276.6 12.9 495 6215 0.00 2.47 0.00 0.000 644 0.000 0.086 2672 688 2064 2119 2009 0 0 0 0 0 0 14.57 14.20 14.58

6347 0.21 317.0 2673 689 2113 2009 260.7 10.9 522 6352 0.00 2.45 0.00 0.000 1158 0.000 0.078 2672 2103 2060 2112 2009 0 0 0 0 0 0 14.36 14.21 14.41

6662 0.18 317.0 2673 2105 2111 2008 225.6 10.6 535 6664 0.12 0.00 0.00 0.000 4230 0.258 0.000 2647 2105 2058 2111 2006 0 0 0 0 0 0 14.14 14.43 14.38

6963 0.26 358.7 2647 2105 2113 2006 200.5 8.1 545 7034 0.00 0.00 69.62 1.295 8870 0.000 0.000 2647 2101 1901 1941 1861 0 0 0 0 0 0 14.67 14.02 13.27

7322 0.39 419.9 2647 2106 1925 1852 174.2 7.2 562 7434 0.17 2.55 103.82 1.221 10916 0.107 0.086 2723 691 1648 1679 1618 0 0 0 0 0 0 14.25 13.68 13.12

7536 0.44 419.9 2724 692 1671 1615 150.3 10.8 604 7541 0.00 2.50 0.00 0.000 1158 0.000 0.079 2724 2096 1641 1670 1613 0 0 0 0 0 0 13.95 13.44 14.07

7866 0.44 419.9 2725 2098 1670 1606 112.8 11.1 620 7871 0.00 2.47 0.00 0.000 516 0.000 0.087 2726 695 1638 1670 1606 0 0 0 0 0 0 14.57 14.06 14.59

7916 0.50 420.1 2727 694 1670 1606 107.6 10.0 630 7921 0.00 2.45 0.00 0.000 1190 0.000 0.079 2726 2106 1637 1668 1606 0 0 0 0 0 0 14.35 14.22 14.40

8228 0.54 430.4 2727 2106 1669 1603 76.3 9.5 656 8239 0.00 2.50 3.70 0.399 8868 0.000 0.086 2726 693 1611 1646 1576 0 0 0 0 0 0 14.58 14.07 13.66

8284 0.65 460.8 2727 693 1649 1580 71.2 8.6 667 8306 0.20 2.47 17.50 0.416 11430 0.099 0.080 2800 2105 1486 1520 1452 0 0 0 0 0 0 14.22 14.12 13.65

8612 0.62 508.7 2800 2105 1522 1450 36.8 7.8 702 8645 0.00 2.50 25.95 0.313 8868 0.000 0.082 2808 690 1287 1335 1239 0 0 0 0 0 0 14.58 13.99 13.76

8675 0.67 541.3 2808 690 1336 1240 31.8 8.5 714 8698 0.00 2.47 17.80 0.297 9382 0.000 0.078 2808 2109 1156 1215 1097 0 0 0 0 0 0 14.31 14.18 13.82

8995 0.79 641.0 2808 2109 1216 1091 11.3 5.4 748 9052 0.00 2.47 52.53 0.239 8612 0.000 0.082 2808 3513 749 813 685 0 0 0 0 0 0 14.57 14.04 13.83

9094 0.96 689.8 2808 3513 814 685 4.4 7.8 767 9124 0.25 2.42 24.60 0.216 11426 0.087 0.067 2899 2104 563 600 526 0 0 0 0 0 0 14.23 14.15 14.32

9124 end climb: SURFACE_DEPTH_REACHED

state 9124 begin surface coast

9132 end surface coast: CONTROL_FINISHED_OK

state 9132 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	211	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	596.0
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	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,121703,7423.2925,-15340.3135,21,0.7,29,19.3,0.4,220.7,12,8.6	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	15.9,162937,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	310817,122927,7423.2622,-15340.4316,7,0.8,11,19.3,0.0,0.0,10,9.7

MODEM_MSG	CACST,6,1,20170831122653.978052,3,90,07,0155,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39	PM_FREEKB_00	51691392
FINISH	0.3,1.011728	_24V_AH	12.34,144.305
SM_CCo	9155,9.02,0.218,0,0,499,702.78	_10V_AH	12.21,0.000
SM_GC	2.14,8.23,0.17,9.02,0.071,0.108,0.218,201,2241,499,-7.37,-0.65,702.78,0,0,0,0,0,0,14.28,14.28,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	413	FG_AHR_10Vo	0.000
MODEM	0,1504181043,75.36600,-145.04601,189.299,272804.2	MEM	323484
RAFOS_FIX	7422.036133,-15340.410156,310817,121259,4,255,0.00	DATA_FILE_SIZE	26735,774
IRIDIUM_FIX	7423.08,-15347.54,310817,093700	CAP_FILE_SIZE	107321,0
TT8_MAMPS	0.039697,0.923517	CFSIZE	2097872896,2022801408
HUMID	47.04	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1449.1
TCM_TEMP	13.30	CURRENT	0.068,265.46,1
XPDR_PINGS	16	GPS	310817,150401,7424.182,-15338.477,19,0.8,29,19.3,0.0,194.2,10,7.3
CP_FREE	15980560384.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.05	nil	0	0	0.00
Roll_motor	83	2138	2201.96	nil	0	0	0.00
VBD_pump_during_apogee	993	1512	18546.43	nil	0	0	0.00
VBD_pump_during_surface	9	218	24.28	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	9147	14	1638.48
Iridium_during_xfer	360	179	800.74	NCP	9155	20	2259.45
Transponder_ping	4	420	20.73	PMAR	9110	9	1111.58
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.30
TT8	0	0	0.00
LPSleep	6578	2	185.53
TT8_Active	893	13	152.44
TT8_Sampling	2173	33	887.62
TT8_CF8	278	38	131.51
TT8_Kalman	0	0	0.00
Analog_circuits	2124	10	259.34
GPS_charging	0	0	0.00
Compass	1111	7	94.99
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	196	2186	502	494	0.0	0.0	0	141	0.00	0.00	-91.72	0.000	16386	0.000	0.000	195	2186	2156	2085	2227	0	0	0	0	0	0	14.35	28.83	14.36
144	-0.57	-145.9	201	2187	2088	2234	3.4	-4.1	9	201	12.88	2.80	-36.12	0.000	18724	0.456	2.139	2376	3582	3961	3944	3978	0	0	0	0	0	0	13.49	12.59	13.95
248	-0.64	-145.9	2379	3586	3949	3979	32.8	-18.4	26	254	0.00	2.38	0.00	0.000	1158	0.000	0.063	2373	2211	3961	3944	3978	0	0	0	0	0	0	14.16	14.00	14.18
552	-0.72	-145.9	2376	2211	3950	3979	80.4	-12.4	57	553	0.00	0.00	0.00	0.000	134	0.000	0.000	2376	2210	3964	3951	3978	0	0	0	0	0	0	14.40	14.41	14.41
862	-0.85	-145.9	2376	2210	3952	3979	112.2	-9.5	80	867	0.20	2.45	0.00	0.000	4516	0.110	0.086	2293	3586	3966	3954	3978	0	0	0	0	0	0	14.08	14.09	14.12
892	-0.89	-145.9	2294	3584	3952	3978	116.2	-14.8	86	897	0.00	2.38	0.00	0.000	1158	0.000	0.057	2294	2196	3965	3952	3978	0	0	0	0	0	0	14.26	14.12	14.30
1222	-0.89	-145.9	2294	2195	3952	3978	166.6	-14.9	102	1227	0.00	2.45	0.00	0.000	260	0.000	0.085	2285	3588	3964	3951	3978	0	0	0	0	0	0	14.62	14.18	14.64
1312	-0.99	-145.9	2290	3591	3951	3979	178.4	-12.3	120	1317	0.00	2.35	0.00	0.000	1158	0.000	0.055	2285	2198	3964	3951	3978	0	0	0	0	0	0	14.38	14.26	14.41
1642	-1.02	-145.9	2285	2198	3952	3979	222.9	-13.0	136	1647	0.00	2.45	0.00	0.000	388	0.000	0.088	2278	3588	3964	3951	3978	0	0	0	0	0	0	14.66	14.20	14.68
1703	-1.13	-145.9	2281	3590	3952	3979	229.8	-10.6	148	1708	0.20	2.35	0.00	0.000	5254	0.108	0.057	2207	2195	3964	3951	3978	0	0	0	0	0	0	14.30	14.27	14.40
2033	-1.04	-145.9	2208	2195	3952	3979	287.8	-17.5	164	2038	0.12	2.45	0.00	0.000	2436	0.314	0.086	2226	3588	3964	3951	3978	0	0	0	0	0	0	13.85	14.15	14.02
2125	-1.07	-145.9	2229	3590	3952	3978	301.1	-13.5	182	2130	0.00	2.33	0.00	0.000	1158	0.000	0.056	2226	2201	3964	3951	3978	0	0	0	0	0	0	14.40	14.28	14.43
2455	-1.05	-145.9	2226	2199	3952	3978	348.8	-14.1	198	2460	0.00	2.45	0.00	0.000	388	0.000	0.089	2222	3594	3963	3950	3977	0	0	0	0	0	0	14.66	14.20	14.72
2560	-1.09	-145.9	2222	3596	3952	3978	362.6	-12.6	219	2566	0.00	2.35	0.00	0.000	1158	0.000	0.057	2222	2200	3964	3951	3977	0	0	0	0	0	0	14.40	14.27	14.43
2876	-1.09	-145.9	2223	2199	3951	3977	406.0	-13.6	232	2881	0.00	2.45	0.00	0.000	260	0.000	0.089	2222	3590	3963	3951	3975	0	0	0	0	0	0	14.66	14.12	14.68
2961	-1.14	-145.9	2222	3593	3952	3978	416.9	-12.3	249	2967	0.00	2.35	0.00	0.000	1158	0.000	0.056	2223	2199	3963	3951	3976	0	0	0	0	0	0	14.32	14.19	14.33
3266	-1.14	-145.9	2222	2199	3952	3977	457.8	-13.4	260	3271	0.00	2.45	0.00	0.000	260	0.000	0.090	2222	3587	3963	3951	3976	0	0	0	0	0	0	14.66	14.07	14.68
3356	-1.19	-145.9	2223	3588	3952	3978	469.3	-12.6	278	3361	0.00	2.35	0.00	0.000	1158	0.000	0.055	2222	2197	3963	3951	3976	0	0	0	0	0	0	14.32	14.19	14.35
3444	end dive: TARGET_DEPTH_EXCEEDED
state	3444	begin apogee
3450	-0.13	0.0	2223	2065	3952	3975	481.1	-13.4	286	3676	1.23	0.00	222.48	1.419	10246	0.245	0.000	2531	2063	3363	3388	3339	0	0	0	0	0	0	13.89	13.47	12.67
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3682	0.57	145.9	2532	2065	3381	3333	492.8	0.0	293	3904	0.75	2.15	207.48	1.383	11012	0.063	0.073	2794	713	2759	2802	2716	0	0	0	0	0	0	13.60	12.94	12.34
4129	0.17	145.9	2795	713	2796	2715	472.2	14.7	340	4136	0.73	2.45	0.00	0.000	5254	0.325	0.074	2644	2084	2754	2795	2713	0	0	0	0	0	0	13.40	13.76	13.78
4435	0.03	165.9	2645	2080	2796	2709	443.8	9.1	351	4467	0.20	2.55	24.40	1.512	12708	0.277	0.085	2593	3507	2682	2728	2637	0	0	0	0	0	0	13.85	14.05	13.18
4682	-0.02	196.0	2595	3507	2721	2636	422.5	8.6	400	4732	0.00	2.33	44.12	1.460	9382	0.000	0.058	2602	2130	2561	2615	2508	0	0	0	0	0	0	14.32	14.21	13.16
5039	-0.02	226.5	2600	2131	2612	2495	392.5	8.6	421	5087	0.00	2.60	43.90	1.438	8868	0.000	0.086	2602	697	2436	2492	2380	0	0	0	0	0	0	14.55	14.04	13.19
5178	0.07	260.7	2602	698	2486	2378	380.3	8.4	449	5234	0.00	2.45	50.22	1.404	9382	0.000	0.080	2602	2095	2301	2356	2247	0	0	0	0	0	0	14.24	14.09	13.11
5551	0.13	288.2	2603	2095	2348	2236	347.8	8.7	473	5594	0.00	0.00	41.47	1.404	8358	0.000	0.000	2602	2094	2190	2244	2136	0	0	0	0	0	0	14.54	14.03	13.22
5880	0.22	317.0	2603	2095	2240	2124	319.3	8.7	484	5926	0.15	0.00	44.15	1.379	10406	0.117	0.000	2671	2094	2073	2125	2022	0	0	0	0	0	0	14.21	14.04	13.24
6210	0.19	317.0	2672	2094	2115	2009	276.6	12.9	495	6215	0.00	2.47	0.00	0.000	644	0.000	0.086	2672	688	2064	2119	2009	0	0	0	0	0	0	14.57	14.20	14.58
6347	0.21	317.0	2673	689	2113	2009	260.7	10.9	522	6352	0.00	2.45	0.00	0.000	1158	0.000	0.078	2672	2103	2060	2112	2009	0	0	0	0	0	0	14.36	14.21	14.41
6662	0.18	317.0	2673	2105	2111	2008	225.6	10.6	535	6664	0.12	0.00	0.00	0.000	4230	0.258	0.000	2647	2105	2058	2111	2006	0	0	0	0	0	0	14.14	14.43	14.38
6963	0.26	358.7	2647	2105	2113	2006	200.5	8.1	545	7034	0.00	0.00	69.62	1.295	8870	0.000	0.000	2647	2101	1901	1941	1861	0	0	0	0	0	0	14.67	14.02	13.27
7322	0.39	419.9	2647	2106	1925	1852	174.2	7.2	562	7434	0.17	2.55	103.82	1.221	10916	0.107	0.086	2723	691	1648	1679	1618	0	0	0	0	0	0	14.25	13.68	13.12
7536	0.44	419.9	2724	692	1671	1615	150.3	10.8	604	7541	0.00	2.50	0.00	0.000	1158	0.000	0.079	2724	2096	1641	1670	1613	0	0	0	0	0	0	13.95	13.44	14.07
7866	0.44	419.9	2725	2098	1670	1606	112.8	11.1	620	7871	0.00	2.47	0.00	0.000	516	0.000	0.087	2726	695	1638	1670	1606	0	0	0	0	0	0	14.57	14.06	14.59
7916	0.50	420.1	2727	694	1670	1606	107.6	10.0	630	7921	0.00	2.45	0.00	0.000	1190	0.000	0.079	2726	2106	1637	1668	1606	0	0	0	0	0	0	14.35	14.22	14.40
8228	0.54	430.4	2727	2106	1669	1603	76.3	9.5	656	8239	0.00	2.50	3.70	0.399	8868	0.000	0.086	2726	693	1611	1646	1576	0	0	0	0	0	0	14.58	14.07	13.66
8284	0.65	460.8	2727	693	1649	1580	71.2	8.6	667	8306	0.20	2.47	17.50	0.416	11430	0.099	0.080	2800	2105	1486	1520	1452	0	0	0	0	0	0	14.22	14.12	13.65
8612	0.62	508.7	2800	2105	1522	1450	36.8	7.8	702	8645	0.00	2.50	25.95	0.313	8868	0.000	0.082	2808	690	1287	1335	1239	0	0	0	0	0	0	14.58	13.99	13.76
8675	0.67	541.3	2808	690	1336	1240	31.8	8.5	714	8698	0.00	2.47	17.80	0.297	9382	0.000	0.078	2808	2109	1156	1215	1097	0	0	0	0	0	0	14.31	14.18	13.82
8995	0.79	641.0	2808	2109	1216	1091	11.3	5.4	748	9052	0.00	2.47	52.53	0.239	8612	0.000	0.082	2808	3513	749	813	685	0	0	0	0	0	0	14.57	14.04	13.83
9094	0.96	689.8	2808	3513	814	685	4.4	7.8	767	9124	0.25	2.42	24.60	0.216	11426	0.087	0.067	2899	2104	563	600	526	0	0	0	0	0	0	14.23	14.15	14.32
9124	end climb: SURFACE_DEPTH_REACHED
state	9124	begin surface coast
9132	end surface coast: CONTROL_FINISHED_OK
state	9132	begin surface