Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 141 * 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 141 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 397.0

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 26 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 397.0 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 26 VBD_MIN 500

DIVE 141 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 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 230817,033233,7322.6040,-15015.4990,24,0.8,25,20.7,0.0,0.0,10,8.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 294.2,151218,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 230817,034701,7322.6333,-15015.5439,8,0.8,11,20.7,0.0,0.0,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823042802.617907,3,13,11,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30 PM_FREEKB_00 53820736

FINISH 0.1,1.020574 _24V_AH 12.40,110.164

SM_CCo 9215,50.60,0.327,1,0,502,703.03 _10V_AH 12.30,0.000

SM_GC 1.04,8.38,0.17,50.60,0.080,0.131,0.327,206,2211,502,-7.36,-0.57,703.03,0,0,0,0,1,0,14.23,14.20,13.07 FG_AHR_24Vo 0.000

RAFOS_CLK 392 FG_AHR_10Vo 0.000

MODEM 0,1503461042,75.36600,-145.04601,188.287,272676.9 MEM 323488

RAFOS_FIX 7321.319336,-15017.490234,230817,040415,4,255,1.52 DATA_FILE_SIZE 30004,867

IRIDIUM_FIX 7315.26,-14708.27,230817,033736 CAP_FILE_SIZE 111149,0

TT8_MAMPS 0.040446,0.829143 CFSIZE 2097872896,2044788736

HUMID 45.86 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0

INTERNAL_PRESSURE 7.75222 INTR 0,9106.63,0x2341e8,1,24

TCM_TEMP 13.40 SOUNDSPEED 1449.4

XPDR_PINGS 8 CURRENT 0.030,252.82,1

CP_FREE 15995502592.000000 GPS 230817,062332,7323.666,-15017.609,18,0.8,40,20.7,0.0,259.0,11,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 141.99 nil 0 0 0.00

Roll_motor 78 2155 2101.02 nil 0 0 0.00

VBD_pump_during_apogee 961 1622 19353.24 nil 0 0 0.00

VBD_pump_during_surface 50 326 204.96 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 9222 14 1674.81

Iridium_during_xfer 526 160 1048.62 NCP 9222 20 2287.06

Transponder_ping 2 420 10.42 PMAR 9170 9 1136.40

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.24

TT8 0 0 0.00

LPSleep 6498 2 184.65

TT8_Active 1025 13 176.19

TT8_Sampling 2308 33 949.66

TT8_CF8 318 38 151.80

TT8_Kalman 0 0 0.00

Analog_circuits 2340 10 287.83

GPS_charging 0 0 0.00

Compass 1240 7 106.82

RAFOS 2192 48 1294.16

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 197 2219 499 484 0.0 0.0 0 140 0.00 0.00 -91.32 0.000 16386 0.000 0.000 195 2223 2189 2119 2259 0 0 0 0 0 0 14.46 28.83 14.47

143 -0.57 -145.9 196 2219 2125 2260 4.1 -5.6 9 196 12.52 2.75 -33.15 0.000 18724 0.454 2.155 2374 3598 3964 3945 3984 0 0 0 0 0 0 13.69 12.59 14.15

421 -0.66 -145.9 2376 3600 3954 3984 66.0 -13.9 64 428 0.00 2.40 0.00 0.000 1158 0.000 0.057 2375 2196 3969 3953 3985 0 0 0 0 0 0 14.23 14.10 14.29

747 -0.70 -145.9 2375 2196 3954 3985 110.9 -11.7 91 752 0.00 2.47 0.00 0.000 388 0.000 0.087 2365 3595 3968 3954 3982 0 0 0 0 0 0 14.45 14.11 14.47

879 -0.85 -145.9 2365 3596 3954 3985 124.0 -9.3 117 884 0.20 2.38 0.00 0.000 5286 0.106 0.055 2287 2194 3968 3954 3983 0 0 0 0 0 0 14.19 14.12 14.27

1199 -0.80 -145.9 2286 2193 3954 3985 180.0 -17.3 131 1204 0.12 2.47 0.00 0.000 2436 0.276 0.084 2306 3595 3968 3954 3983 0 0 0 0 0 0 13.91 14.10 14.07

1296 -0.89 -145.9 2304 3597 3954 3985 193.0 -12.0 150 1300 0.00 2.38 0.00 0.000 1158 0.000 0.056 2306 2195 3968 3954 3983 0 0 0 0 0 0 14.26 14.15 14.30

1621 -0.89 -145.9 2306 2195 3953 3985 237.5 -13.1 165 1625 0.00 2.50 0.00 0.000 260 0.000 0.089 2299 3602 3973 3963 3984 0 0 0 0 0 0 14.45 14.04 14.47

1716 -0.99 -145.9 2300 3601 3954 3984 248.6 -10.7 184 1722 0.12 2.40 0.00 0.000 5254 0.132 0.057 2252 2192 3968 3953 3983 0 0 0 0 0 0 14.12 14.09 14.22

2043 -0.94 -145.9 2253 2192 3955 3983 298.0 -14.8 199 2047 0.00 2.50 0.00 0.000 388 0.000 0.087 2249 3607 3968 3954 3982 0 0 0 0 0 0 14.46 14.09 14.47

2192 -0.94 -145.9 2243 3608 3954 3984 319.5 -13.2 229 2198 0.15 2.40 0.00 0.000 3078 0.252 0.056 2273 2189 3968 3953 3983 0 0 0 0 0 0 13.90 14.14 14.16

2523 -0.94 -145.9 2273 2189 3954 3981 359.2 -11.9 245 2528 0.00 2.50 0.00 0.000 260 0.000 0.088 2267 3601 3966 3953 3980 0 0 0 0 0 0 14.45 14.08 14.45

2645 -1.01 -145.9 2267 3607 3954 3980 372.8 -10.9 269 2649 0.00 2.38 0.00 0.000 1158 0.000 0.055 2266 2198 3965 3951 3980 0 0 0 0 0 0 14.20 14.09 14.25

2975 -1.01 -145.9 2267 2197 3954 3980 412.9 -12.1 285 2980 0.00 2.50 0.00 0.000 260 0.000 0.088 2258 3602 3966 3953 3979 0 0 0 0 0 0 14.45 14.02 14.46

3075 -1.08 -145.9 2259 3600 3955 3979 424.7 -11.3 305 3080 0.00 2.38 0.00 0.000 1158 0.000 0.056 2258 2201 3968 3954 3982 0 0 0 0 0 0 14.23 14.11 14.25

3397 -1.08 -145.9 2258 2200 3954 3978 463.7 -12.2 319 3402 0.00 2.50 0.00 0.000 260 0.000 0.088 2256 3603 3966 3954 3978 0 0 0 0 0 0 14.42 14.03 14.45

3488 -1.12 -145.9 2250 3604 3954 3979 474.8 -11.1 337 3492 0.00 2.38 0.00 0.000 1158 0.000 0.056 2250 2194 3966 3954 3978 0 0 0 0 0 0 14.33 14.21 14.36

3545 end dive: TARGET_DEPTH_EXCEEDED

state 3545 begin apogee

3551 -0.13 0.0 2250 2065 3955 3978 482.3 -12.6 344 3768 1.10 0.00 213.55 1.444 10246 0.242 0.000 2530 2065 3362 3387 3338 0 0 0 0 0 0 13.90 13.45 12.68

3772 end apogee: CONTROL_FINISHED_OK

state 3772 begin climb

3774 0.57 145.9 2530 2066 3388 3333 493.0 0.0 351 3989 0.75 2.53 203.93 1.391 11012 0.063 0.077 2793 723 2765 2818 2712 0 0 0 0 0 0 13.54 13.12 12.40

4215 0.20 145.9 2794 724 2804 2712 462.2 16.1 433 4220 0.68 2.45 0.00 0.000 5254 0.322 0.074 2651 2088 2756 2803 2710 0 0 0 0 0 0 13.45 13.75 13.78

4525 0.06 154.6 2651 2090 2803 2707 431.1 9.6 445 4535 0.17 2.38 4.28 1.623 12964 0.286 0.081 2616 727 2739 2787 2691 0 0 0 0 0 0 13.83 14.02 12.95

4760 0.10 208.6 2616 727 2788 2698 413.0 7.5 492 4857 0.00 2.40 87.03 1.405 9254 0.000 0.080 2622 2101 2508 2574 2443 0 0 0 0 0 0 14.28 14.16 13.06

5156 0.11 226.3 2616 2101 2570 2433 377.2 9.2 521 5187 0.00 2.50 22.80 1.500 8740 0.000 0.085 2616 720 2438 2503 2373 0 0 0 0 0 0 14.45 14.01 13.24

5244 0.19 250.7 2616 721 2500 2374 369.5 8.9 538 5288 0.00 2.42 36.53 1.440 9382 0.000 0.078 2616 2102 2340 2401 2279 0 0 0 0 0 0 14.18 14.04 13.12

5610 0.25 277.5 2616 2102 2394 2266 336.8 8.8 561 5651 0.15 0.00 39.70 1.411 10406 0.118 0.000 2682 2102 2237 2295 2179 0 0 0 0 0 0 14.28 14.01 13.21

5938 0.17 277.5 2683 2102 2286 2166 293.0 13.3 572 5944 0.15 2.40 0.00 0.000 4740 0.258 0.082 2649 726 2225 2285 2166 0 0 0 0 0 0 14.02 14.19 14.18

6056 0.24 286.9 2651 727 2282 2167 281.1 9.6 595 6072 0.00 2.40 10.77 1.561 9382 0.000 0.078 2651 2108 2197 2255 2140 0 0 0 0 0 0 14.33 14.21 13.28

6392 0.24 294.0 2651 2109 2251 2135 247.3 9.7 612 6403 0.00 0.00 10.02 1.591 8230 0.000 0.000 2651 2108 2168 2226 2111 0 0 0 0 0 0 14.59 14.19 13.31

6692 0.30 327.4 2651 2108 2221 2104 221.0 8.5 622 6754 0.00 0.00 56.28 1.354 8870 0.000 0.000 2651 2108 2027 2080 1975 0 0 0 0 0 0 14.59 13.98 13.26

7052 0.40 375.6 2651 2109 2074 1968 192.2 7.8 639 7144 0.15 2.55 81.07 1.272 10916 0.119 0.086 2725 714 1827 1859 1795 0 0 0 0 0 0 14.19 13.82 13.16

7219 0.40 375.6 2725 717 1852 1794 173.1 11.2 672 7225 0.00 2.45 0.00 0.000 1030 0.000 0.079 2725 2100 1822 1851 1794 0 0 0 0 0 0 14.08 13.97 14.11

7535 0.40 375.6 2725 2102 1851 1788 137.0 11.1 685 7540 0.00 2.42 0.00 0.000 516 0.000 0.085 2729 720 1818 1850 1786 0 0 0 0 0 0 14.51 14.19 14.53

7560 0.40 375.6 2730 720 1849 1789 134.2 11.1 690 7566 0.00 2.42 0.00 0.000 1030 0.000 0.077 2729 2109 1817 1848 1786 0 0 0 0 0 0 14.22 14.10 14.26

7865 0.40 375.6 2730 2107 1848 1784 101.2 10.5 701 7870 0.00 2.45 0.00 0.000 516 0.000 0.086 2729 714 1816 1848 1784 0 0 0 0 0 0 14.59 14.20 14.60

7896 0.43 376.0 2730 715 1846 1785 98.2 10.0 707 7901 0.00 2.40 0.00 0.000 1190 0.000 0.078 2729 2099 1813 1842 1784 0 0 0 0 0 0 14.39 14.27 14.43

8206 0.48 419.7 2730 2100 1845 1784 70.5 8.0 739 8229 0.00 0.00 21.35 0.419 8614 0.000 0.000 2729 2099 1654 1684 1624 0 0 0 0 0 0 14.59 14.21 13.76

8526 0.65 523.8 2730 2099 1684 1619 50.3 5.2 772 8587 0.17 0.00 54.17 0.353 10406 0.110 0.000 2796 2107 1228 1290 1167 0 0 0 0 0 0 14.19 14.04 13.35

8886 0.76 575.3 2797 2100 1291 1155 19.6 7.6 808 8919 0.00 2.42 26.42 0.273 8868 0.000 0.084 2798 718 1017 1089 946 0 0 0 0 0 0 14.53 14.07 13.87

9085 1.06 709.7 2798 719 1088 943 10.6 3.8 847 9184 0.38 2.42 94.00 0.219 11426 0.086 0.077 2933 2109 511 530 492 0 0 0 0 0 0 14.12 14.05 14.23

9185 end climb: SURFACE_DEPTH_REACHED

state 9185 begin surface coast

9192 end surface coast: CONTROL_FINISHED_OK

state 9193 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	141	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	397.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,033233,7322.6040,-15015.4990,24,0.8,25,20.7,0.0,0.0,10,8.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	294.2,151218,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	230817,034701,7322.6333,-15015.5439,8,0.8,11,20.7,0.0,0.0,11,9.9

MODEM_MSG	CACST,6,1,20170823042802.617907,3,13,11,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30	PM_FREEKB_00	53820736
FINISH	0.1,1.020574	_24V_AH	12.40,110.164
SM_CCo	9215,50.60,0.327,1,0,502,703.03	_10V_AH	12.30,0.000
SM_GC	1.04,8.38,0.17,50.60,0.080,0.131,0.327,206,2211,502,-7.36,-0.57,703.03,0,0,0,0,1,0,14.23,14.20,13.07	FG_AHR_24Vo	0.000
RAFOS_CLK	392	FG_AHR_10Vo	0.000
MODEM	0,1503461042,75.36600,-145.04601,188.287,272676.9	MEM	323488
RAFOS_FIX	7321.319336,-15017.490234,230817,040415,4,255,1.52	DATA_FILE_SIZE	30004,867
IRIDIUM_FIX	7315.26,-14708.27,230817,033736	CAP_FILE_SIZE	111149,0
TT8_MAMPS	0.040446,0.829143	CFSIZE	2097872896,2044788736
HUMID	45.86	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,1,2,0
INTERNAL_PRESSURE	7.75222	INTR	0,9106.63,0x2341e8,1,24
TCM_TEMP	13.40	SOUNDSPEED	1449.4
XPDR_PINGS	8	CURRENT	0.030,252.82,1
CP_FREE	15995502592.000000	GPS	230817,062332,7323.666,-15017.609,18,0.8,40,20.7,0.0,259.0,11,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	141.99	nil	0	0	0.00
Roll_motor	78	2155	2101.02	nil	0	0	0.00
VBD_pump_during_apogee	961	1622	19353.24	nil	0	0	0.00
VBD_pump_during_surface	50	326	204.96	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	9222	14	1674.81
Iridium_during_xfer	526	160	1048.62	NCP	9222	20	2287.06
Transponder_ping	2	420	10.42	PMAR	9170	9	1136.40
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.24
TT8	0	0	0.00
LPSleep	6498	2	184.65
TT8_Active	1025	13	176.19
TT8_Sampling	2308	33	949.66
TT8_CF8	318	38	151.80
TT8_Kalman	0	0	0.00
Analog_circuits	2340	10	287.83
GPS_charging	0	0	0.00
Compass	1240	7	106.82
RAFOS	2192	48	1294.16
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	197	2219	499	484	0.0	0.0	0	140	0.00	0.00	-91.32	0.000	16386	0.000	0.000	195	2223	2189	2119	2259	0	0	0	0	0	0	14.46	28.83	14.47
143	-0.57	-145.9	196	2219	2125	2260	4.1	-5.6	9	196	12.52	2.75	-33.15	0.000	18724	0.454	2.155	2374	3598	3964	3945	3984	0	0	0	0	0	0	13.69	12.59	14.15
421	-0.66	-145.9	2376	3600	3954	3984	66.0	-13.9	64	428	0.00	2.40	0.00	0.000	1158	0.000	0.057	2375	2196	3969	3953	3985	0	0	0	0	0	0	14.23	14.10	14.29
747	-0.70	-145.9	2375	2196	3954	3985	110.9	-11.7	91	752	0.00	2.47	0.00	0.000	388	0.000	0.087	2365	3595	3968	3954	3982	0	0	0	0	0	0	14.45	14.11	14.47
879	-0.85	-145.9	2365	3596	3954	3985	124.0	-9.3	117	884	0.20	2.38	0.00	0.000	5286	0.106	0.055	2287	2194	3968	3954	3983	0	0	0	0	0	0	14.19	14.12	14.27
1199	-0.80	-145.9	2286	2193	3954	3985	180.0	-17.3	131	1204	0.12	2.47	0.00	0.000	2436	0.276	0.084	2306	3595	3968	3954	3983	0	0	0	0	0	0	13.91	14.10	14.07
1296	-0.89	-145.9	2304	3597	3954	3985	193.0	-12.0	150	1300	0.00	2.38	0.00	0.000	1158	0.000	0.056	2306	2195	3968	3954	3983	0	0	0	0	0	0	14.26	14.15	14.30
1621	-0.89	-145.9	2306	2195	3953	3985	237.5	-13.1	165	1625	0.00	2.50	0.00	0.000	260	0.000	0.089	2299	3602	3973	3963	3984	0	0	0	0	0	0	14.45	14.04	14.47
1716	-0.99	-145.9	2300	3601	3954	3984	248.6	-10.7	184	1722	0.12	2.40	0.00	0.000	5254	0.132	0.057	2252	2192	3968	3953	3983	0	0	0	0	0	0	14.12	14.09	14.22
2043	-0.94	-145.9	2253	2192	3955	3983	298.0	-14.8	199	2047	0.00	2.50	0.00	0.000	388	0.000	0.087	2249	3607	3968	3954	3982	0	0	0	0	0	0	14.46	14.09	14.47
2192	-0.94	-145.9	2243	3608	3954	3984	319.5	-13.2	229	2198	0.15	2.40	0.00	0.000	3078	0.252	0.056	2273	2189	3968	3953	3983	0	0	0	0	0	0	13.90	14.14	14.16
2523	-0.94	-145.9	2273	2189	3954	3981	359.2	-11.9	245	2528	0.00	2.50	0.00	0.000	260	0.000	0.088	2267	3601	3966	3953	3980	0	0	0	0	0	0	14.45	14.08	14.45
2645	-1.01	-145.9	2267	3607	3954	3980	372.8	-10.9	269	2649	0.00	2.38	0.00	0.000	1158	0.000	0.055	2266	2198	3965	3951	3980	0	0	0	0	0	0	14.20	14.09	14.25
2975	-1.01	-145.9	2267	2197	3954	3980	412.9	-12.1	285	2980	0.00	2.50	0.00	0.000	260	0.000	0.088	2258	3602	3966	3953	3979	0	0	0	0	0	0	14.45	14.02	14.46
3075	-1.08	-145.9	2259	3600	3955	3979	424.7	-11.3	305	3080	0.00	2.38	0.00	0.000	1158	0.000	0.056	2258	2201	3968	3954	3982	0	0	0	0	0	0	14.23	14.11	14.25
3397	-1.08	-145.9	2258	2200	3954	3978	463.7	-12.2	319	3402	0.00	2.50	0.00	0.000	260	0.000	0.088	2256	3603	3966	3954	3978	0	0	0	0	0	0	14.42	14.03	14.45
3488	-1.12	-145.9	2250	3604	3954	3979	474.8	-11.1	337	3492	0.00	2.38	0.00	0.000	1158	0.000	0.056	2250	2194	3966	3954	3978	0	0	0	0	0	0	14.33	14.21	14.36
3545	end dive: TARGET_DEPTH_EXCEEDED
state	3545	begin apogee
3551	-0.13	0.0	2250	2065	3955	3978	482.3	-12.6	344	3768	1.10	0.00	213.55	1.444	10246	0.242	0.000	2530	2065	3362	3387	3338	0	0	0	0	0	0	13.90	13.45	12.68
3772	end apogee: CONTROL_FINISHED_OK
state	3772	begin climb
3774	0.57	145.9	2530	2066	3388	3333	493.0	0.0	351	3989	0.75	2.53	203.93	1.391	11012	0.063	0.077	2793	723	2765	2818	2712	0	0	0	0	0	0	13.54	13.12	12.40
4215	0.20	145.9	2794	724	2804	2712	462.2	16.1	433	4220	0.68	2.45	0.00	0.000	5254	0.322	0.074	2651	2088	2756	2803	2710	0	0	0	0	0	0	13.45	13.75	13.78
4525	0.06	154.6	2651	2090	2803	2707	431.1	9.6	445	4535	0.17	2.38	4.28	1.623	12964	0.286	0.081	2616	727	2739	2787	2691	0	0	0	0	0	0	13.83	14.02	12.95
4760	0.10	208.6	2616	727	2788	2698	413.0	7.5	492	4857	0.00	2.40	87.03	1.405	9254	0.000	0.080	2622	2101	2508	2574	2443	0	0	0	0	0	0	14.28	14.16	13.06
5156	0.11	226.3	2616	2101	2570	2433	377.2	9.2	521	5187	0.00	2.50	22.80	1.500	8740	0.000	0.085	2616	720	2438	2503	2373	0	0	0	0	0	0	14.45	14.01	13.24
5244	0.19	250.7	2616	721	2500	2374	369.5	8.9	538	5288	0.00	2.42	36.53	1.440	9382	0.000	0.078	2616	2102	2340	2401	2279	0	0	0	0	0	0	14.18	14.04	13.12
5610	0.25	277.5	2616	2102	2394	2266	336.8	8.8	561	5651	0.15	0.00	39.70	1.411	10406	0.118	0.000	2682	2102	2237	2295	2179	0	0	0	0	0	0	14.28	14.01	13.21
5938	0.17	277.5	2683	2102	2286	2166	293.0	13.3	572	5944	0.15	2.40	0.00	0.000	4740	0.258	0.082	2649	726	2225	2285	2166	0	0	0	0	0	0	14.02	14.19	14.18
6056	0.24	286.9	2651	727	2282	2167	281.1	9.6	595	6072	0.00	2.40	10.77	1.561	9382	0.000	0.078	2651	2108	2197	2255	2140	0	0	0	0	0	0	14.33	14.21	13.28
6392	0.24	294.0	2651	2109	2251	2135	247.3	9.7	612	6403	0.00	0.00	10.02	1.591	8230	0.000	0.000	2651	2108	2168	2226	2111	0	0	0	0	0	0	14.59	14.19	13.31
6692	0.30	327.4	2651	2108	2221	2104	221.0	8.5	622	6754	0.00	0.00	56.28	1.354	8870	0.000	0.000	2651	2108	2027	2080	1975	0	0	0	0	0	0	14.59	13.98	13.26
7052	0.40	375.6	2651	2109	2074	1968	192.2	7.8	639	7144	0.15	2.55	81.07	1.272	10916	0.119	0.086	2725	714	1827	1859	1795	0	0	0	0	0	0	14.19	13.82	13.16
7219	0.40	375.6	2725	717	1852	1794	173.1	11.2	672	7225	0.00	2.45	0.00	0.000	1030	0.000	0.079	2725	2100	1822	1851	1794	0	0	0	0	0	0	14.08	13.97	14.11
7535	0.40	375.6	2725	2102	1851	1788	137.0	11.1	685	7540	0.00	2.42	0.00	0.000	516	0.000	0.085	2729	720	1818	1850	1786	0	0	0	0	0	0	14.51	14.19	14.53
7560	0.40	375.6	2730	720	1849	1789	134.2	11.1	690	7566	0.00	2.42	0.00	0.000	1030	0.000	0.077	2729	2109	1817	1848	1786	0	0	0	0	0	0	14.22	14.10	14.26
7865	0.40	375.6	2730	2107	1848	1784	101.2	10.5	701	7870	0.00	2.45	0.00	0.000	516	0.000	0.086	2729	714	1816	1848	1784	0	0	0	0	0	0	14.59	14.20	14.60
7896	0.43	376.0	2730	715	1846	1785	98.2	10.0	707	7901	0.00	2.40	0.00	0.000	1190	0.000	0.078	2729	2099	1813	1842	1784	0	0	0	0	0	0	14.39	14.27	14.43
8206	0.48	419.7	2730	2100	1845	1784	70.5	8.0	739	8229	0.00	0.00	21.35	0.419	8614	0.000	0.000	2729	2099	1654	1684	1624	0	0	0	0	0	0	14.59	14.21	13.76
8526	0.65	523.8	2730	2099	1684	1619	50.3	5.2	772	8587	0.17	0.00	54.17	0.353	10406	0.110	0.000	2796	2107	1228	1290	1167	0	0	0	0	0	0	14.19	14.04	13.35
8886	0.76	575.3	2797	2100	1291	1155	19.6	7.6	808	8919	0.00	2.42	26.42	0.273	8868	0.000	0.084	2798	718	1017	1089	946	0	0	0	0	0	0	14.53	14.07	13.87
9085	1.06	709.7	2798	719	1088	943	10.6	3.8	847	9184	0.38	2.42	94.00	0.219	11426	0.086	0.077	2933	2109	511	530	492	0	0	0	0	0	0	14.12	14.05	14.23
9185	end climb: SURFACE_DEPTH_REACHED
state	9185	begin surface coast
9192	end surface coast: CONTROL_FINISHED_OK
state	9193	begin surface