Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 8 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 12 TGT_DEFAULT_LAT 7545 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 8 TGT_DEFAULT_LON -15041 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 10 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.44999999

STOP_T 0 SM_CC 692.78448 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 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 420 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 83

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 60 LOGGERDEVICE3 135

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 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 160 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 0.004407478

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00064096908

USE_BATHY 0 PITCH_MIN 212 MINV_24V 11 SEABIRD_T_I 2.5637486e-05

USE_ICE 0 PITCH_MAX 3894 MINV_10V 11 SEABIRD_T_J 3.1305062e-06

ICE_FREEZE_MARGIN 0.1 C_PITCH 2200 MAXI_24V 0.60000002 SEABIRD_C_G -9.8934832

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_C_H 1.0879974

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0021788499

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021905446

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 36 PRESSURE_YINT -160.33199 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010704049 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 PM_RECORDABOVE 2000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

MASS 55522 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

MASS_COMP 0 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 PM_NDIVE 1.0

NAV_MODE 2 ROLL_MAX 3790 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

KALMAN_USE 2 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 0.0

HD_A 0.00281 C_ROLL_CLIMB 2320 ALTIM_TOP_MIN_OBSTACLE 1 CP_RECORDABOVE 1000.0

HD_B 0.0107 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_PROFILE 3.0

HD_C 1.91e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_XMITPROFILE 0.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_UPLOADMAX 100000.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 23 ALTIM_PULSE 3 CP_STARTS 79.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 ALTIM_SENSITIVITY 2 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0021788499

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021905446

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.004407478

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00064096908

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 360 PITCH_CNV 0.003125763 SEABIRD_T_I 2.5637486e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 3.1305062e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 692.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 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 0.00281 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0107 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.91e-06 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING 0 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7545

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -15041

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 198 PRESSURE_SLOPE 0.00010704049 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -160.33199 T_DIVE 120

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 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 83 RAFOS_CORR_THRESH 60 T_MISSION 160

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 79.0 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 2200 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2320 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 60

C_ROLL_DIVE 2500 MASS 55522 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 3790 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 12 ROLL_MIN 200 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 23 VBD_MIN 500

DIVE 8 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 420 N_DIVES 10 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 -9.8934832 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.0879974 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 070817,112706,7111.7168,-14736.6895,21,1.4,33,21.2,0.2,59.1,6,8.9 SPEED_LIMITS 0.173,0.254

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7122.570,-14736.622

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.05 MHEAD_RNG_PITCHd_Wd 293.8,20000,-17.5,-10.000,-21.45,2245

_SM_ANGLEo -71.3 D_GRID 360

GPS2 070817,113621,7111.7715,-14736.6221,18,1.1,21,21.2,0.3,8.6,7,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170807121511.250153,3,63,-6,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*21 CP_FREE 0.000000

FINISH -0.0,1.019745 _24V_AH 12.79,53.725

SM_CCo 7157,9.60,0.207,0,0,538,692.97 _10V_AH 12.72,0.000

SM_GC 2.02,7.20,0.32,9.60,0.086,0.124,0.207,193,2499,538,-6.17,-0.71,692.97,0,0,0,0,0,0,14.12,14.05,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 350 FG_AHR_10Vo 0.000

MODEM 0,1502107584,75.36600,-145.04601,330.192,478756.2 MEM 324716

RAFOS_FIX 7107.572754,-14749.040039,070817,121247,2,255,5.22 DATA_FILE_SIZE 43248,1323

IRIDIUM_FIX 7110.16,-14739.90,070817,091557 CAP_FILE_SIZE 129948,0

TT8_MAMPS 0.041944,0.866593 CFSIZE 2097872896,2085945344

HUMID 49.64 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.58742 SOUNDSPEED 1450.0

TCM_TEMP 13.20 CURRENT 0.230,55.87,1

XPDR_PINGS 1 GPS 070817,133739,7112.803,-14736.218,16,0.9,25,21.2,0.3,26.9,8,9.8

PM_FREEKB_00 62028032

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 481 131.24 nil 0 0 0.00

Roll_motor 79 2178 2225.78 nil 0 0 0.00

VBD_pump_during_apogee 948 1237 15013.80 nil 0 0 0.00

VBD_pump_during_surface 9 207 25.45 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 7154 14 1322.44

Iridium_during_xfer 341 189 827.99 PMAR 7146 16 1497.55

Transponder_ping 0 420 1.34 NCP 7129 111 10120.97

GUMSTIX_24V 0 0 0.00

GPS 24 20 6.59

TT8 0 0 0.00

LPSleep 3518 2 103.38

TT8_Active 1033 10 140.22

TT8_Sampling 2898 30 1111.53

TT8_CF8 291 35 131.20

TT8_Kalman 0 0 0.00

Analog_circuits 2429 10 318.29

GPS_charging 0 0 0.00

Compass 1893 6 162.33

RAFOS 2215 48 1352.39

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

20 end surface: CONTROL_FINISHED_OK

state 20 begin dive

23 -0.59 -145.9 199 2509 503 498 0.0 0.0 0 129 0.00 0.00 -104.28 0.000 16386 0.000 0.000 198 2508 2042 2008 2077 0 0 0 0 0 0 14.25 28.83 14.26

132 -0.59 -145.9 199 2509 2003 2079 3.1 -6.9 18 193 10.32 2.58 -42.22 0.000 18724 0.481 2.179 1991 3780 3964 3915 4014 0 0 0 0 0 0 13.66 13.02 14.07

418 -0.50 -145.9 1992 3781 3918 4015 68.8 -18.7 73 424 0.20 2.17 0.00 0.000 3206 0.291 0.057 2033 2485 3965 3917 4014 0 0 0 0 0 0 13.78 13.93 14.04

604 -0.52 -145.9 2033 2485 3917 4014 94.4 -12.5 110 610 0.00 2.38 0.00 0.000 388 0.000 0.116 2030 3777 3965 3917 4014 0 0 0 0 0 0 14.34 13.96 14.35

700 -0.58 -145.9 2030 3778 3917 4015 106.4 -12.4 129 706 0.00 2.15 0.00 0.000 1158 0.000 0.058 2030 2500 3965 3917 4014 0 0 0 0 0 0 14.17 14.10 14.20

886 -0.65 -145.9 2030 2500 3918 4015 127.4 -10.9 166 893 0.12 2.40 0.00 0.000 4740 0.131 0.073 1978 1093 3965 3917 4014 0 0 0 0 0 0 14.18 14.02 14.25

987 -0.65 -145.9 1972 1092 3917 4014 141.6 -13.9 186 994 0.00 2.50 0.00 0.000 1030 0.000 0.094 1969 2494 3965 3918 4013 0 0 0 0 0 0 14.16 14.02 14.19

1174 -0.65 -145.9 1969 2495 3917 4014 166.6 -12.8 223 1181 0.00 2.40 0.00 0.000 516 0.000 0.073 1969 1095 3965 3917 4013 0 0 0 0 0 0 14.40 14.09 14.42

1240 -0.65 -145.9 1969 1095 3917 4014 174.7 -11.7 236 1247 0.00 2.53 0.00 0.000 1030 0.000 0.094 1968 2503 3965 3917 4013 0 0 0 0 0 0 14.21 14.05 14.23

1443 -0.65 -145.9 1970 2505 3919 4014 197.0 -10.9 273 1449 0.00 0.00 0.00 0.000 6 0.000 0.000 1974 2503 3964 3917 4012 0 0 0 0 0 0 14.32 14.34 14.33

1629 -0.68 -145.9 1969 2504 3918 4013 217.7 -10.9 310 1635 0.00 2.38 0.00 0.000 388 0.000 0.122 1971 3789 3965 3917 4013 0 0 0 0 0 0 14.29 13.90 14.31

1680 -0.75 -145.9 1970 3789 3918 4013 223.3 -10.8 320 1686 0.00 2.17 0.00 0.000 1158 0.000 0.059 1969 2499 3962 3917 4008 0 0 0 0 0 0 14.12 14.04 14.15

1866 -0.79 -145.9 1968 2499 3918 4013 242.0 -9.8 357 1871 0.00 0.00 0.00 0.000 166 0.000 0.000 1969 2498 3964 3916 4012 0 0 0 0 0 0 14.28 14.30 14.29

2051 -0.85 -145.9 1969 2503 3917 4013 260.7 -10.1 394 2057 0.15 0.00 0.00 0.000 4230 0.125 0.000 1908 2503 3963 3915 4012 0 0 0 0 0 0 14.04 14.15 14.12

2237 -0.81 -145.9 1909 2500 3917 4012 285.9 -14.1 431 2243 0.00 0.00 0.00 0.000 134 0.000 0.000 1908 2498 3963 3916 4011 0 0 0 0 0 0 14.26 14.27 14.28

2423 -0.77 -145.9 1908 2499 3915 4012 311.4 -13.2 468 2429 0.17 0.00 0.00 0.000 2182 0.292 0.000 1944 2498 3963 3915 4011 0 0 0 0 0 0 13.73 14.04 14.00

2609 -0.80 -145.9 1944 2499 3915 4012 331.3 -10.5 505 2614 0.00 0.00 0.00 0.000 134 0.000 0.000 1944 2502 3963 3915 4011 0 0 0 0 0 0 14.24 14.28 14.28

2819 -0.83 -145.9 1944 2499 3914 4012 353.1 -10.3 542 2820 0.00 0.00 0.00 0.000 134 0.000 0.000 1945 2498 3962 3913 4011 0 0 0 0 0 0 14.26 14.28 14.28

2907 end dive: TARGET_DEPTH_EXCEEDED

state 2907 begin apogee

2912 -0.14 0.0 1945 2321 3913 4010 362.5 -10.4 545 3157 0.80 0.00 241.07 1.183 10246 0.246 0.000 2150 2321 3365 3316 3414 0 0 0 0 0 0 13.79 13.47 12.97

3160 end apogee: CONTROL_FINISHED_OK

state 3160 begin climb

3163 0.59 145.9 2150 2322 3308 3407 374.2 0.0 553 3345 0.75 2.75 172.35 1.213 10500 0.098 0.107 2384 3737 2758 2699 2818 0 0 0 0 0 0 13.50 13.20 12.79

3571 0.36 145.9 2387 3737 2689 2794 344.2 13.5 634 3577 0.32 2.47 0.00 0.000 5254 0.297 0.057 2324 2321 2739 2686 2793 0 0 0 0 0 0 13.49 13.71 13.74

3758 0.34 181.0 2325 2321 2681 2794 327.8 8.4 671 3802 0.00 2.70 38.00 1.222 8612 0.000 0.112 2324 3734 2620 2562 2679 0 0 0 0 0 0 14.03 13.63 13.14

4027 0.26 181.0 2324 3735 2553 2660 299.1 11.0 723 4034 0.17 2.45 0.00 0.000 5254 0.278 0.058 2291 2319 2604 2549 2659 0 0 0 0 0 0 13.67 13.83 13.87

4214 0.34 235.5 2291 2318 2544 2659 284.8 7.5 760 4309 0.00 2.72 85.07 1.122 8612 0.000 0.112 2290 3730 2398 2340 2457 0 0 0 0 0 0 14.21 13.67 13.20

4399 0.39 249.7 2292 3730 2334 2440 269.2 9.3 794 4419 0.12 2.45 15.48 1.238 11430 0.142 0.058 2349 2316 2348 2294 2402 0 0 0 0 0 0 13.88 13.86 13.27

4599 0.39 249.7 2350 2317 2266 2385 248.0 10.6 833 4604 0.00 0.00 0.00 0.000 6 0.000 0.000 2350 2316 2324 2266 2383 0 0 0 0 0 0 14.17 14.19 14.19

4784 0.39 249.7 2350 2317 2264 2384 228.1 11.2 870 4790 0.00 2.60 0.00 0.000 260 0.000 0.112 2349 3731 2322 2262 2383 0 0 0 0 0 0 14.26 13.93 14.28

4840 0.35 249.7 2348 3731 2263 2383 220.9 12.9 881 4847 0.17 2.42 0.00 0.000 5254 0.269 0.059 2317 2315 2322 2263 2382 0 0 0 0 0 0 13.81 14.04 14.07

5027 0.42 286.0 2317 2315 2259 2382 204.7 8.3 918 5092 0.00 2.47 57.12 1.106 8868 0.000 0.080 2325 911 2191 2127 2256 0 0 0 0 0 0 14.36 13.85 13.36

5119 0.52 320.6 2325 912 2118 2249 197.2 8.4 934 5179 0.15 2.50 53.90 1.078 11430 0.127 0.082 2392 2324 2059 1990 2129 0 0 0 0 0 0 13.94 13.89 13.26

5359 0.50 320.6 2393 2324 1971 2110 165.4 13.0 980 5366 0.00 2.60 0.00 0.000 388 0.000 0.112 2392 3729 2039 1969 2109 0 0 0 0 0 0 14.16 13.87 14.18

5381 0.46 320.6 2392 3729 1969 2108 162.4 14.1 984 5389 0.20 2.45 0.00 0.000 5254 0.269 0.060 2351 2306 2038 1969 2107 0 0 0 0 0 0 13.77 13.93 14.01

5569 0.54 351.3 2351 2305 1966 2107 144.6 8.6 1021 5622 0.00 2.53 48.25 1.070 8868 0.000 0.082 2353 915 1927 1854 2001 0 0 0 0 0 0 14.26 13.84 13.35

5669 0.67 391.5 2353 916 1847 1988 136.5 8.2 1039 5735 0.17 2.50 57.67 1.058 11430 0.111 0.082 2432 2326 1761 1695 1828 0 0 0 0 0 0 13.93 13.89 13.25

5915 0.67 391.5 2427 2328 1674 1812 106.1 12.4 1086 5921 0.00 2.50 0.00 0.000 516 0.000 0.081 2432 911 1742 1672 1812 0 0 0 0 0 0 14.17 13.89 14.18

5956 0.69 391.5 2433 912 1672 1812 101.2 11.8 1094 5962 0.00 2.50 0.00 0.000 1158 0.000 0.082 2432 2326 1739 1670 1808 0 0 0 0 0 0 13.99 13.89 14.01

6142 0.69 391.5 2432 2322 1668 1811 80.5 10.4 1131 6148 0.00 2.58 0.00 0.000 260 0.000 0.112 2432 3722 1739 1668 1810 0 0 0 0 0 0 14.27 13.52 14.28

6238 0.67 391.5 2433 3723 1671 1808 69.2 11.7 1150 6244 0.00 2.40 0.00 0.000 1158 0.000 0.060 2438 2320 1738 1669 1807 0 0 0 0 0 0 14.13 14.04 14.16

6424 0.70 436.0 2437 2320 1667 1811 51.9 8.0 1187 6454 0.00 2.60 23.23 0.323 8484 0.000 0.112 2437 3732 1589 1522 1656 0 0 0 0 0 0 14.33 13.97 13.81

6560 0.74 457.5 2438 3733 1535 1674 39.7 9.0 1213 6584 0.00 2.42 16.17 0.288 9382 0.000 0.059 2443 2315 1499 1428 1570 0 0 0 0 0 0 14.13 14.02 13.81

6764 0.88 536.0 2443 2314 1440 1589 25.2 6.4 1253 6819 0.12 2.53 50.38 0.254 10916 0.134 0.084 2510 912 1179 1117 1241 0 0 0 0 0 0 14.07 14.00 13.85

6919 1.12 681.3 2510 913 1118 1265 14.3 3.3 1282 7016 0.15 2.47 89.68 0.228 11430 0.119 0.082 2577 2322 585 562 609 0 0 0 0 0 0 14.05 14.02 13.81

7118 end climb: SURFACE_DEPTH_REACHED

state 7118 begin surface coast

7138 end surface coast: CONTROL_FINISHED_OK

state 7139 begin surface

ID	198	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	12	TGT_DEFAULT_LAT	7545	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	8	TGT_DEFAULT_LON	-15041	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	10	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.44999999
STOP_T	0	SM_CC	692.78448	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	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	420	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	83
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	60	LOGGERDEVICE3	135
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	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	160	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	0.004407478
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00064096908
USE_BATHY	0	PITCH_MIN	212	MINV_24V	11	SEABIRD_T_I	2.5637486e-05
USE_ICE	0	PITCH_MAX	3894	MINV_10V	11	SEABIRD_T_J	3.1305062e-06
ICE_FREEZE_MARGIN	0.1	C_PITCH	2200	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8934832
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_C_H	1.0879974
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0021788499
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021905446
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	36	PRESSURE_YINT	-160.33199	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010704049	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	PM_RECORDABOVE	2000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
MASS	55522	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
MASS_COMP	0	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	PM_NDIVE	1.0
NAV_MODE	2	ROLL_MAX	3790	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
KALMAN_USE	2	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	0.0
HD_A	0.00281	C_ROLL_CLIMB	2320	ALTIM_TOP_MIN_OBSTACLE	1	CP_RECORDABOVE	1000.0
HD_B	0.0107	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_PROFILE	3.0
HD_C	1.91e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_XMITPROFILE	0.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_UPLOADMAX	100000.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	23	ALTIM_PULSE	3	CP_STARTS	79.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	070817,112706,7111.7168,-14736.6895,21,1.4,33,21.2,0.2,59.1,6,8.9	SPEED_LIMITS	0.173,0.254
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7122.570,-14736.622
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.05	MHEAD_RNG_PITCHd_Wd	293.8,20000,-17.5,-10.000,-21.45,2245
_SM_ANGLEo	-71.3	D_GRID	360
GPS2	070817,113621,7111.7715,-14736.6221,18,1.1,21,21.2,0.3,8.6,7,9.9

MODEM_MSG	CACST,6,1,20170807121511.250153,3,63,-6,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*21	CP_FREE	0.000000
FINISH	-0.0,1.019745	_24V_AH	12.79,53.725
SM_CCo	7157,9.60,0.207,0,0,538,692.97	_10V_AH	12.72,0.000
SM_GC	2.02,7.20,0.32,9.60,0.086,0.124,0.207,193,2499,538,-6.17,-0.71,692.97,0,0,0,0,0,0,14.12,14.05,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	350	FG_AHR_10Vo	0.000
MODEM	0,1502107584,75.36600,-145.04601,330.192,478756.2	MEM	324716
RAFOS_FIX	7107.572754,-14749.040039,070817,121247,2,255,5.22	DATA_FILE_SIZE	43248,1323
IRIDIUM_FIX	7110.16,-14739.90,070817,091557	CAP_FILE_SIZE	129948,0
TT8_MAMPS	0.041944,0.866593	CFSIZE	2097872896,2085945344
HUMID	49.64	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.58742	SOUNDSPEED	1450.0
TCM_TEMP	13.20	CURRENT	0.230,55.87,1
XPDR_PINGS	1	GPS	070817,133739,7112.803,-14736.218,16,0.9,25,21.2,0.3,26.9,8,9.8
PM_FREEKB_00	62028032

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	481	131.24	nil	0	0	0.00
Roll_motor	79	2178	2225.78	nil	0	0	0.00
VBD_pump_during_apogee	948	1237	15013.80	nil	0	0	0.00
VBD_pump_during_surface	9	207	25.45	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	7154	14	1322.44
Iridium_during_xfer	341	189	827.99	PMAR	7146	16	1497.55
Transponder_ping	0	420	1.34	NCP	7129	111	10120.97
GUMSTIX_24V	0	0	0.00
GPS	24	20	6.59
TT8	0	0	0.00
LPSleep	3518	2	103.38
TT8_Active	1033	10	140.22
TT8_Sampling	2898	30	1111.53
TT8_CF8	291	35	131.20
TT8_Kalman	0	0	0.00
Analog_circuits	2429	10	318.29
GPS_charging	0	0	0.00
Compass	1893	6	162.33
RAFOS	2215	48	1352.39
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
20	end surface: CONTROL_FINISHED_OK
state	20	begin dive
23	-0.59	-145.9	199	2509	503	498	0.0	0.0	0	129	0.00	0.00	-104.28	0.000	16386	0.000	0.000	198	2508	2042	2008	2077	0	0	0	0	0	0	14.25	28.83	14.26
132	-0.59	-145.9	199	2509	2003	2079	3.1	-6.9	18	193	10.32	2.58	-42.22	0.000	18724	0.481	2.179	1991	3780	3964	3915	4014	0	0	0	0	0	0	13.66	13.02	14.07
418	-0.50	-145.9	1992	3781	3918	4015	68.8	-18.7	73	424	0.20	2.17	0.00	0.000	3206	0.291	0.057	2033	2485	3965	3917	4014	0	0	0	0	0	0	13.78	13.93	14.04
604	-0.52	-145.9	2033	2485	3917	4014	94.4	-12.5	110	610	0.00	2.38	0.00	0.000	388	0.000	0.116	2030	3777	3965	3917	4014	0	0	0	0	0	0	14.34	13.96	14.35
700	-0.58	-145.9	2030	3778	3917	4015	106.4	-12.4	129	706	0.00	2.15	0.00	0.000	1158	0.000	0.058	2030	2500	3965	3917	4014	0	0	0	0	0	0	14.17	14.10	14.20
886	-0.65	-145.9	2030	2500	3918	4015	127.4	-10.9	166	893	0.12	2.40	0.00	0.000	4740	0.131	0.073	1978	1093	3965	3917	4014	0	0	0	0	0	0	14.18	14.02	14.25
987	-0.65	-145.9	1972	1092	3917	4014	141.6	-13.9	186	994	0.00	2.50	0.00	0.000	1030	0.000	0.094	1969	2494	3965	3918	4013	0	0	0	0	0	0	14.16	14.02	14.19
1174	-0.65	-145.9	1969	2495	3917	4014	166.6	-12.8	223	1181	0.00	2.40	0.00	0.000	516	0.000	0.073	1969	1095	3965	3917	4013	0	0	0	0	0	0	14.40	14.09	14.42
1240	-0.65	-145.9	1969	1095	3917	4014	174.7	-11.7	236	1247	0.00	2.53	0.00	0.000	1030	0.000	0.094	1968	2503	3965	3917	4013	0	0	0	0	0	0	14.21	14.05	14.23
1443	-0.65	-145.9	1970	2505	3919	4014	197.0	-10.9	273	1449	0.00	0.00	0.00	0.000	6	0.000	0.000	1974	2503	3964	3917	4012	0	0	0	0	0	0	14.32	14.34	14.33
1629	-0.68	-145.9	1969	2504	3918	4013	217.7	-10.9	310	1635	0.00	2.38	0.00	0.000	388	0.000	0.122	1971	3789	3965	3917	4013	0	0	0	0	0	0	14.29	13.90	14.31
1680	-0.75	-145.9	1970	3789	3918	4013	223.3	-10.8	320	1686	0.00	2.17	0.00	0.000	1158	0.000	0.059	1969	2499	3962	3917	4008	0	0	0	0	0	0	14.12	14.04	14.15
1866	-0.79	-145.9	1968	2499	3918	4013	242.0	-9.8	357	1871	0.00	0.00	0.00	0.000	166	0.000	0.000	1969	2498	3964	3916	4012	0	0	0	0	0	0	14.28	14.30	14.29
2051	-0.85	-145.9	1969	2503	3917	4013	260.7	-10.1	394	2057	0.15	0.00	0.00	0.000	4230	0.125	0.000	1908	2503	3963	3915	4012	0	0	0	0	0	0	14.04	14.15	14.12
2237	-0.81	-145.9	1909	2500	3917	4012	285.9	-14.1	431	2243	0.00	0.00	0.00	0.000	134	0.000	0.000	1908	2498	3963	3916	4011	0	0	0	0	0	0	14.26	14.27	14.28
2423	-0.77	-145.9	1908	2499	3915	4012	311.4	-13.2	468	2429	0.17	0.00	0.00	0.000	2182	0.292	0.000	1944	2498	3963	3915	4011	0	0	0	0	0	0	13.73	14.04	14.00
2609	-0.80	-145.9	1944	2499	3915	4012	331.3	-10.5	505	2614	0.00	0.00	0.00	0.000	134	0.000	0.000	1944	2502	3963	3915	4011	0	0	0	0	0	0	14.24	14.28	14.28
2819	-0.83	-145.9	1944	2499	3914	4012	353.1	-10.3	542	2820	0.00	0.00	0.00	0.000	134	0.000	0.000	1945	2498	3962	3913	4011	0	0	0	0	0	0	14.26	14.28	14.28
2907	end dive: TARGET_DEPTH_EXCEEDED
state	2907	begin apogee
2912	-0.14	0.0	1945	2321	3913	4010	362.5	-10.4	545	3157	0.80	0.00	241.07	1.183	10246	0.246	0.000	2150	2321	3365	3316	3414	0	0	0	0	0	0	13.79	13.47	12.97
3160	end apogee: CONTROL_FINISHED_OK
state	3160	begin climb
3163	0.59	145.9	2150	2322	3308	3407	374.2	0.0	553	3345	0.75	2.75	172.35	1.213	10500	0.098	0.107	2384	3737	2758	2699	2818	0	0	0	0	0	0	13.50	13.20	12.79
3571	0.36	145.9	2387	3737	2689	2794	344.2	13.5	634	3577	0.32	2.47	0.00	0.000	5254	0.297	0.057	2324	2321	2739	2686	2793	0	0	0	0	0	0	13.49	13.71	13.74
3758	0.34	181.0	2325	2321	2681	2794	327.8	8.4	671	3802	0.00	2.70	38.00	1.222	8612	0.000	0.112	2324	3734	2620	2562	2679	0	0	0	0	0	0	14.03	13.63	13.14
4027	0.26	181.0	2324	3735	2553	2660	299.1	11.0	723	4034	0.17	2.45	0.00	0.000	5254	0.278	0.058	2291	2319	2604	2549	2659	0	0	0	0	0	0	13.67	13.83	13.87
4214	0.34	235.5	2291	2318	2544	2659	284.8	7.5	760	4309	0.00	2.72	85.07	1.122	8612	0.000	0.112	2290	3730	2398	2340	2457	0	0	0	0	0	0	14.21	13.67	13.20
4399	0.39	249.7	2292	3730	2334	2440	269.2	9.3	794	4419	0.12	2.45	15.48	1.238	11430	0.142	0.058	2349	2316	2348	2294	2402	0	0	0	0	0	0	13.88	13.86	13.27
4599	0.39	249.7	2350	2317	2266	2385	248.0	10.6	833	4604	0.00	0.00	0.00	0.000	6	0.000	0.000	2350	2316	2324	2266	2383	0	0	0	0	0	0	14.17	14.19	14.19
4784	0.39	249.7	2350	2317	2264	2384	228.1	11.2	870	4790	0.00	2.60	0.00	0.000	260	0.000	0.112	2349	3731	2322	2262	2383	0	0	0	0	0	0	14.26	13.93	14.28
4840	0.35	249.7	2348	3731	2263	2383	220.9	12.9	881	4847	0.17	2.42	0.00	0.000	5254	0.269	0.059	2317	2315	2322	2263	2382	0	0	0	0	0	0	13.81	14.04	14.07
5027	0.42	286.0	2317	2315	2259	2382	204.7	8.3	918	5092	0.00	2.47	57.12	1.106	8868	0.000	0.080	2325	911	2191	2127	2256	0	0	0	0	0	0	14.36	13.85	13.36
5119	0.52	320.6	2325	912	2118	2249	197.2	8.4	934	5179	0.15	2.50	53.90	1.078	11430	0.127	0.082	2392	2324	2059	1990	2129	0	0	0	0	0	0	13.94	13.89	13.26
5359	0.50	320.6	2393	2324	1971	2110	165.4	13.0	980	5366	0.00	2.60	0.00	0.000	388	0.000	0.112	2392	3729	2039	1969	2109	0	0	0	0	0	0	14.16	13.87	14.18
5381	0.46	320.6	2392	3729	1969	2108	162.4	14.1	984	5389	0.20	2.45	0.00	0.000	5254	0.269	0.060	2351	2306	2038	1969	2107	0	0	0	0	0	0	13.77	13.93	14.01
5569	0.54	351.3	2351	2305	1966	2107	144.6	8.6	1021	5622	0.00	2.53	48.25	1.070	8868	0.000	0.082	2353	915	1927	1854	2001	0	0	0	0	0	0	14.26	13.84	13.35
5669	0.67	391.5	2353	916	1847	1988	136.5	8.2	1039	5735	0.17	2.50	57.67	1.058	11430	0.111	0.082	2432	2326	1761	1695	1828	0	0	0	0	0	0	13.93	13.89	13.25
5915	0.67	391.5	2427	2328	1674	1812	106.1	12.4	1086	5921	0.00	2.50	0.00	0.000	516	0.000	0.081	2432	911	1742	1672	1812	0	0	0	0	0	0	14.17	13.89	14.18
5956	0.69	391.5	2433	912	1672	1812	101.2	11.8	1094	5962	0.00	2.50	0.00	0.000	1158	0.000	0.082	2432	2326	1739	1670	1808	0	0	0	0	0	0	13.99	13.89	14.01
6142	0.69	391.5	2432	2322	1668	1811	80.5	10.4	1131	6148	0.00	2.58	0.00	0.000	260	0.000	0.112	2432	3722	1739	1668	1810	0	0	0	0	0	0	14.27	13.52	14.28
6238	0.67	391.5	2433	3723	1671	1808	69.2	11.7	1150	6244	0.00	2.40	0.00	0.000	1158	0.000	0.060	2438	2320	1738	1669	1807	0	0	0	0	0	0	14.13	14.04	14.16
6424	0.70	436.0	2437	2320	1667	1811	51.9	8.0	1187	6454	0.00	2.60	23.23	0.323	8484	0.000	0.112	2437	3732	1589	1522	1656	0	0	0	0	0	0	14.33	13.97	13.81
6560	0.74	457.5	2438	3733	1535	1674	39.7	9.0	1213	6584	0.00	2.42	16.17	0.288	9382	0.000	0.059	2443	2315	1499	1428	1570	0	0	0	0	0	0	14.13	14.02	13.81
6764	0.88	536.0	2443	2314	1440	1589	25.2	6.4	1253	6819	0.12	2.53	50.38	0.254	10916	0.134	0.084	2510	912	1179	1117	1241	0	0	0	0	0	0	14.07	14.00	13.85
6919	1.12	681.3	2510	913	1118	1265	14.3	3.3	1282	7016	0.15	2.47	89.68	0.228	11430	0.119	0.082	2577	2322	585	562	609	0	0	0	0	0	0	14.05	14.02	13.81
7118	end climb: SURFACE_DEPTH_REACHED
state	7118	begin surface coast
7138	end surface coast: CONTROL_FINISHED_OK
state	7139	begin surface