Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 142 * 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 142 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 399.0

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 59 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 26 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 399.0 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 59 VBD_MIN 500

DIVE 142 NOCOMM_ACTION 161 R_STBD_OVSHOOT 26 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 230817,062332,7323.6655,-15017.6094,18,0.8,40,20.7,0.0,259.0,11,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 3 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 297.8,149165,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 230817,064201,7323.6436,-15017.6738,8,0.7,9,20.7,0.0,0.0,12,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823082010.220501,3,3103,34,0544,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A PM_FREEKB_00 53787520

FINISH 0.1,1.020462 _24V_AH 12.10,110.683

SM_CCo 9064,46.12,0.211,0,0,499,703.03 _10V_AH 12.24,0.000

SM_GC 0.98,7.80,0.17,46.12,0.062,0.119,0.211,202,2211,499,-7.36,-0.76,703.03,0,0,0,0,0,0,14.35,14.34,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 210 FG_AHR_10Vo 0.000

MODEM 2,1503475964,73.18300,-149.96500,17.278,25042.3 MEM 323356

RAFOS_FIX 7325.783691,-15019.523438,230817,080827,2,255,0.72 DATA_FILE_SIZE 26724,776

IRIDIUM_FIX 7323.93,-15020.91,230817,063350 CAP_FILE_SIZE 108462,0

TT8_MAMPS 0.040446,0.925015 CFSIZE 2097872896,2044461056

HUMID 47.16 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.5

TCM_TEMP 13.30 CURRENT 0.061,259.00,1

XPDR_PINGS 12 GPS 230817,091540,7324.684,-15020.781,16,0.8,23,20.6,0.6,228.3,9,9.0

CP_FREE 15995338752.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 136.27 nil 0 0 0.00

Roll_motor 79 2145 2062.23 nil 0 0 0.00

VBD_pump_during_apogee 921 1894 21119.88 nil 0 0 0.00

VBD_pump_during_surface 46 211 117.84 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 9074 14 1617.07

Iridium_during_xfer 707 167 1434.58 NCP 9064 20 2193.49

Transponder_ping 3 420 15.25 PMAR 9019 9 1085.52

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.92

TT8 0 0 0.00

LPSleep 6563 2 185.58

TT8_Active 848 13 145.05

TT8_Sampling 2502 33 1024.39

TT8_CF8 325 38 154.08

TT8_Kalman 0 0 0.00

Analog_circuits 2444 10 299.26

GPS_charging 0 0 0.00

Compass 1112 7 95.32

RAFOS 2216 48 1301.94

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 45 begin dive

48 -0.57 -145.9 196 2215 501 489 0.0 0.0 0 141 0.00 0.00 -91.28 0.000 16386 0.000 0.000 196 2218 2224 2157 2292 0 0 0 0 0 0 14.45 28.83 14.47

143 -0.57 -145.9 196 2215 2161 2292 4.5 -6.5 9 196 12.57 2.78 -31.05 0.000 18724 0.456 2.146 2375 3601 3962 3941 3983 0 0 0 0 0 0 13.70 12.59 14.16

401 -0.61 -145.9 2375 3602 3948 3983 64.3 -15.3 60 408 0.00 2.35 0.00 0.000 1158 0.000 0.060 2375 2228 3965 3947 3983 0 0 0 0 0 0 14.21 14.10 14.25

708 -0.65 -145.9 2375 2229 3949 3985 108.3 -12.7 87 713 0.00 2.42 0.00 0.000 388 0.000 0.087 2365 3604 3965 3948 3983 0 0 0 0 0 0 14.54 14.16 14.56

778 -0.79 -145.9 2366 3606 3949 3985 116.2 -10.5 101 783 0.12 2.38 0.00 0.000 5254 0.132 0.054 2316 2192 3965 3949 3982 0 0 0 0 0 0 14.26 14.23 14.35

1098 -0.79 -145.9 2316 2191 3949 3983 166.0 -15.3 115 1103 0.00 2.50 0.00 0.000 260 0.000 0.088 2307 3617 3965 3948 3983 0 0 0 0 0 0 14.61 14.19 14.62

1243 -0.87 -145.9 2308 3614 3949 3984 185.4 -12.9 144 1251 0.00 2.38 0.00 0.000 1158 0.000 0.057 2307 2200 3965 3948 3983 0 0 0 0 0 0 14.35 14.22 14.38

1548 -0.87 -145.9 2307 2200 3949 3985 228.4 -13.6 155 1554 0.00 2.50 0.00 0.000 260 0.000 0.090 2306 3613 3965 3948 3983 0 0 0 0 0 0 14.63 14.20 14.65

1629 -0.96 -145.9 2306 3615 3949 3985 237.8 -10.8 171 1634 0.12 2.38 0.00 0.000 5254 0.134 0.057 2255 2198 3964 3946 3983 0 0 0 0 0 0 14.32 14.29 14.42

1939 -0.90 -145.9 2256 2196 3949 3983 286.0 -15.3 183 1944 0.12 2.47 0.00 0.000 2436 0.314 0.085 2271 3610 3966 3948 3984 0 0 0 0 0 0 13.95 14.21 14.14

2089 -0.97 -145.9 2273 3610 3949 3983 304.4 -11.2 213 2094 0.00 2.40 0.00 0.000 1158 0.000 0.055 2272 2196 3965 3948 3983 0 0 0 0 0 0 14.42 14.29 14.45

2420 -0.97 -145.9 2273 2196 3949 3983 345.5 -12.3 229 2425 0.00 2.47 0.00 0.000 260 0.000 0.089 2267 3603 3965 3948 3982 0 0 0 0 0 0 14.66 14.20 14.67

2536 -1.04 -145.9 2267 3606 3948 3983 358.7 -11.0 252 2543 0.00 2.40 0.00 0.000 1158 0.000 0.055 2267 2198 3964 3946 3982 0 0 0 0 0 0 13.88 13.83 14.09

2840 -1.04 -145.9 2267 2197 3948 3981 395.1 -11.9 263 2844 0.00 2.47 0.00 0.000 260 0.000 0.089 2264 3608 3964 3947 3981 0 0 0 0 0 0 14.66 14.21 14.68

2905 -1.11 -145.9 2265 3614 3949 3981 402.6 -11.0 276 2911 0.12 2.38 0.00 0.000 5254 0.136 0.056 2217 2191 3964 3947 3981 0 0 0 0 0 0 14.32 14.30 14.42

3232 -1.02 -145.9 2217 2190 3946 3981 454.4 -16.0 291 3237 0.12 2.50 0.00 0.000 2436 0.312 0.084 2236 3613 3963 3947 3980 0 0 0 0 0 0 13.95 14.21 14.13

3392 -1.02 -145.9 2235 3614 3948 3979 476.1 -13.0 323 3397 0.00 2.40 0.00 0.000 1030 0.000 0.056 2235 2192 3960 3942 3979 0 0 0 0 0 0 14.36 14.25 14.40

3440 end dive: TARGET_DEPTH_EXCEEDED

state 3440 begin apogee

3446 -0.13 0.0 2236 2064 3948 3978 483.1 -14.2 328 3654 1.17 0.05 199.40 1.895 10246 0.259 0.218 2525 2098 3365 3386 3344 0 0 0 0 1 0 13.94 13.17 12.10

3658 end apogee: CONTROL_FINISHED_OK

state 3658 begin climb

3661 0.57 145.9 2529 2099 3391 3346 494.4 0.0 335 3883 0.75 2.70 211.85 1.411 10500 0.064 0.073 2777 3507 2763 2805 2722 0 0 0 0 0 0 13.32 12.97 12.40

4108 0.13 145.9 2778 3507 2787 2720 464.5 17.1 382 4114 0.77 2.40 0.00 0.000 5254 0.352 0.057 2630 2131 2751 2786 2717 0 0 0 0 0 0 13.41 13.72 13.76

4413 0.04 174.2 2631 2131 2789 2716 436.7 8.7 393 4455 0.12 2.62 37.25 1.463 12964 0.295 0.085 2606 696 2651 2695 2607 0 0 0 0 0 0 13.88 13.93 13.12

4512 0.12 228.0 2602 696 2690 2606 429.3 7.5 412 4606 0.00 2.47 78.75 1.385 9382 0.000 0.079 2603 2100 2430 2490 2371 0 0 0 0 0 0 14.12 14.00 12.92

4913 0.18 261.7 2603 2099 2482 2362 395.6 8.4 439 4964 0.12 0.00 48.92 1.409 10406 0.135 0.000 2661 2106 2298 2349 2247 0 0 0 0 0 0 14.04 13.82 13.07

5243 0.13 261.7 2661 2100 2340 2237 355.4 12.2 450 5248 0.12 2.47 0.00 0.000 4740 0.265 0.081 2638 695 2286 2338 2234 0 0 0 0 0 0 13.88 14.00 14.01

5308 0.18 263.5 2638 696 2338 2235 348.6 9.9 463 5313 0.00 2.45 0.00 0.000 1190 0.000 0.077 2638 2097 2286 2337 2235 0 0 0 0 0 0 14.19 14.07 14.21

5633 0.18 263.5 2639 2097 2337 2232 315.6 10.1 478 5638 0.00 2.45 0.00 0.000 516 0.000 0.083 2646 695 2283 2336 2231 0 0 0 0 0 0 14.44 14.12 14.46

5668 0.20 263.5 2646 696 2336 2233 312.1 10.4 485 5673 0.00 2.45 0.00 0.000 1158 0.000 0.078 2646 2101 2283 2335 2231 0 0 0 0 0 0 14.25 14.13 14.28

5993 0.21 266.3 2647 2100 2336 2232 279.0 9.9 500 5994 0.00 0.00 0.00 0.000 38 0.000 0.000 2646 2100 2281 2330 2232 0 0 0 0 0 0 14.47 14.49 14.49

6293 0.22 289.5 2647 2100 2335 2231 251.6 8.9 510 6338 0.00 0.00 43.08 1.375 8742 0.000 0.000 2646 2100 2185 2233 2137 0 0 0 0 0 0 14.47 14.01 13.26

6623 0.28 327.6 2646 2101 2223 2124 224.0 8.2 526 6693 0.00 2.58 61.92 1.310 8868 0.000 0.085 2646 691 2028 2077 1979 0 0 0 0 0 0 14.38 13.83 13.17

6754 0.45 376.2 2647 691 2062 1978 213.6 7.8 552 6846 0.25 2.53 81.07 1.245 11430 0.093 0.079 2743 2101 1826 1854 1798 0 0 0 0 0 0 13.99 13.93 12.96

7173 0.38 376.2 2744 2102 1846 1784 156.1 13.2 584 7179 0.15 2.45 0.00 0.000 4740 0.239 0.083 2712 697 1813 1844 1783 0 0 0 0 0 0 13.83 14.00 13.97

7215 0.43 376.2 2713 697 1844 1782 151.3 10.3 592 7221 0.00 2.42 0.00 0.000 1158 0.000 0.076 2713 2100 1810 1837 1783 0 0 0 0 0 0 14.13 14.04 14.16

7536 0.43 381.7 2713 2102 1842 1781 118.8 9.7 606 7541 0.00 2.45 0.00 0.000 548 0.000 0.086 2713 696 1810 1842 1779 0 0 0 0 0 0 14.54 14.11 14.56

7576 0.52 402.4 2714 697 1839 1780 115.1 9.0 614 7621 0.10 2.45 37.05 1.290 11430 0.151 0.076 2761 2105 1725 1755 1695 0 0 0 0 0 0 14.12 14.10 13.31

7926 0.48 402.4 2762 2106 1743 1684 73.2 11.1 648 7927 0.00 0.00 0.00 0.000 134 0.000 0.000 2761 2105 1712 1742 1683 0 0 0 0 0 0 14.50 14.52 14.51

8228 0.55 505.9 2762 2105 1743 1683 50.1 5.2 678 8289 0.00 0.00 56.80 0.350 8742 0.000 0.000 2761 2105 1300 1355 1245 0 0 0 0 0 0 14.55 14.18 13.83

8586 0.73 590.3 2762 2105 1356 1237 27.2 6.1 719 8641 0.12 2.50 47.10 0.278 10916 0.139 0.087 2827 693 952 1025 880 0 0 0 0 0 0 14.20 14.03 13.82

8688 0.85 621.9 2825 688 1026 883 18.4 8.5 738 8711 0.00 2.47 17.92 0.262 9382 0.000 0.081 2825 2100 826 898 755 0 0 0 0 0 0 14.26 14.16 13.85

9003 end climb: SURFACE_DEPTH_REACHED

state 9003 begin surface coast

9044 end surface coast: CONTROL_FINISHED_OK

state 9044 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	142	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	399.0
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	59	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	26	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,062332,7323.6655,-15017.6094,18,0.8,40,20.7,0.0,259.0,11,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	3	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	297.8,149165,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	230817,064201,7323.6436,-15017.6738,8,0.7,9,20.7,0.0,0.0,12,9.7

MODEM_MSG	CACST,6,1,20170823082010.220501,3,3103,34,0544,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A	PM_FREEKB_00	53787520
FINISH	0.1,1.020462	_24V_AH	12.10,110.683
SM_CCo	9064,46.12,0.211,0,0,499,703.03	_10V_AH	12.24,0.000
SM_GC	0.98,7.80,0.17,46.12,0.062,0.119,0.211,202,2211,499,-7.36,-0.76,703.03,0,0,0,0,0,0,14.35,14.34,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	210	FG_AHR_10Vo	0.000
MODEM	2,1503475964,73.18300,-149.96500,17.278,25042.3	MEM	323356
RAFOS_FIX	7325.783691,-15019.523438,230817,080827,2,255,0.72	DATA_FILE_SIZE	26724,776
IRIDIUM_FIX	7323.93,-15020.91,230817,063350	CAP_FILE_SIZE	108462,0
TT8_MAMPS	0.040446,0.925015	CFSIZE	2097872896,2044461056
HUMID	47.16	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.5
TCM_TEMP	13.30	CURRENT	0.061,259.00,1
XPDR_PINGS	12	GPS	230817,091540,7324.684,-15020.781,16,0.8,23,20.6,0.6,228.3,9,9.0
CP_FREE	15995338752.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	136.27	nil	0	0	0.00
Roll_motor	79	2145	2062.23	nil	0	0	0.00
VBD_pump_during_apogee	921	1894	21119.88	nil	0	0	0.00
VBD_pump_during_surface	46	211	117.84	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	9074	14	1617.07
Iridium_during_xfer	707	167	1434.58	NCP	9064	20	2193.49
Transponder_ping	3	420	15.25	PMAR	9019	9	1085.52
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.92
TT8	0	0	0.00
LPSleep	6563	2	185.58
TT8_Active	848	13	145.05
TT8_Sampling	2502	33	1024.39
TT8_CF8	325	38	154.08
TT8_Kalman	0	0	0.00
Analog_circuits	2444	10	299.26
GPS_charging	0	0	0.00
Compass	1112	7	95.32
RAFOS	2216	48	1301.94
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	45	begin dive
48	-0.57	-145.9	196	2215	501	489	0.0	0.0	0	141	0.00	0.00	-91.28	0.000	16386	0.000	0.000	196	2218	2224	2157	2292	0	0	0	0	0	0	14.45	28.83	14.47
143	-0.57	-145.9	196	2215	2161	2292	4.5	-6.5	9	196	12.57	2.78	-31.05	0.000	18724	0.456	2.146	2375	3601	3962	3941	3983	0	0	0	0	0	0	13.70	12.59	14.16
401	-0.61	-145.9	2375	3602	3948	3983	64.3	-15.3	60	408	0.00	2.35	0.00	0.000	1158	0.000	0.060	2375	2228	3965	3947	3983	0	0	0	0	0	0	14.21	14.10	14.25
708	-0.65	-145.9	2375	2229	3949	3985	108.3	-12.7	87	713	0.00	2.42	0.00	0.000	388	0.000	0.087	2365	3604	3965	3948	3983	0	0	0	0	0	0	14.54	14.16	14.56
778	-0.79	-145.9	2366	3606	3949	3985	116.2	-10.5	101	783	0.12	2.38	0.00	0.000	5254	0.132	0.054	2316	2192	3965	3949	3982	0	0	0	0	0	0	14.26	14.23	14.35
1098	-0.79	-145.9	2316	2191	3949	3983	166.0	-15.3	115	1103	0.00	2.50	0.00	0.000	260	0.000	0.088	2307	3617	3965	3948	3983	0	0	0	0	0	0	14.61	14.19	14.62
1243	-0.87	-145.9	2308	3614	3949	3984	185.4	-12.9	144	1251	0.00	2.38	0.00	0.000	1158	0.000	0.057	2307	2200	3965	3948	3983	0	0	0	0	0	0	14.35	14.22	14.38
1548	-0.87	-145.9	2307	2200	3949	3985	228.4	-13.6	155	1554	0.00	2.50	0.00	0.000	260	0.000	0.090	2306	3613	3965	3948	3983	0	0	0	0	0	0	14.63	14.20	14.65
1629	-0.96	-145.9	2306	3615	3949	3985	237.8	-10.8	171	1634	0.12	2.38	0.00	0.000	5254	0.134	0.057	2255	2198	3964	3946	3983	0	0	0	0	0	0	14.32	14.29	14.42
1939	-0.90	-145.9	2256	2196	3949	3983	286.0	-15.3	183	1944	0.12	2.47	0.00	0.000	2436	0.314	0.085	2271	3610	3966	3948	3984	0	0	0	0	0	0	13.95	14.21	14.14
2089	-0.97	-145.9	2273	3610	3949	3983	304.4	-11.2	213	2094	0.00	2.40	0.00	0.000	1158	0.000	0.055	2272	2196	3965	3948	3983	0	0	0	0	0	0	14.42	14.29	14.45
2420	-0.97	-145.9	2273	2196	3949	3983	345.5	-12.3	229	2425	0.00	2.47	0.00	0.000	260	0.000	0.089	2267	3603	3965	3948	3982	0	0	0	0	0	0	14.66	14.20	14.67
2536	-1.04	-145.9	2267	3606	3948	3983	358.7	-11.0	252	2543	0.00	2.40	0.00	0.000	1158	0.000	0.055	2267	2198	3964	3946	3982	0	0	0	0	0	0	13.88	13.83	14.09
2840	-1.04	-145.9	2267	2197	3948	3981	395.1	-11.9	263	2844	0.00	2.47	0.00	0.000	260	0.000	0.089	2264	3608	3964	3947	3981	0	0	0	0	0	0	14.66	14.21	14.68
2905	-1.11	-145.9	2265	3614	3949	3981	402.6	-11.0	276	2911	0.12	2.38	0.00	0.000	5254	0.136	0.056	2217	2191	3964	3947	3981	0	0	0	0	0	0	14.32	14.30	14.42
3232	-1.02	-145.9	2217	2190	3946	3981	454.4	-16.0	291	3237	0.12	2.50	0.00	0.000	2436	0.312	0.084	2236	3613	3963	3947	3980	0	0	0	0	0	0	13.95	14.21	14.13
3392	-1.02	-145.9	2235	3614	3948	3979	476.1	-13.0	323	3397	0.00	2.40	0.00	0.000	1030	0.000	0.056	2235	2192	3960	3942	3979	0	0	0	0	0	0	14.36	14.25	14.40
3440	end dive: TARGET_DEPTH_EXCEEDED
state	3440	begin apogee
3446	-0.13	0.0	2236	2064	3948	3978	483.1	-14.2	328	3654	1.17	0.05	199.40	1.895	10246	0.259	0.218	2525	2098	3365	3386	3344	0	0	0	0	1	0	13.94	13.17	12.10
3658	end apogee: CONTROL_FINISHED_OK
state	3658	begin climb
3661	0.57	145.9	2529	2099	3391	3346	494.4	0.0	335	3883	0.75	2.70	211.85	1.411	10500	0.064	0.073	2777	3507	2763	2805	2722	0	0	0	0	0	0	13.32	12.97	12.40
4108	0.13	145.9	2778	3507	2787	2720	464.5	17.1	382	4114	0.77	2.40	0.00	0.000	5254	0.352	0.057	2630	2131	2751	2786	2717	0	0	0	0	0	0	13.41	13.72	13.76
4413	0.04	174.2	2631	2131	2789	2716	436.7	8.7	393	4455	0.12	2.62	37.25	1.463	12964	0.295	0.085	2606	696	2651	2695	2607	0	0	0	0	0	0	13.88	13.93	13.12
4512	0.12	228.0	2602	696	2690	2606	429.3	7.5	412	4606	0.00	2.47	78.75	1.385	9382	0.000	0.079	2603	2100	2430	2490	2371	0	0	0	0	0	0	14.12	14.00	12.92
4913	0.18	261.7	2603	2099	2482	2362	395.6	8.4	439	4964	0.12	0.00	48.92	1.409	10406	0.135	0.000	2661	2106	2298	2349	2247	0	0	0	0	0	0	14.04	13.82	13.07
5243	0.13	261.7	2661	2100	2340	2237	355.4	12.2	450	5248	0.12	2.47	0.00	0.000	4740	0.265	0.081	2638	695	2286	2338	2234	0	0	0	0	0	0	13.88	14.00	14.01
5308	0.18	263.5	2638	696	2338	2235	348.6	9.9	463	5313	0.00	2.45	0.00	0.000	1190	0.000	0.077	2638	2097	2286	2337	2235	0	0	0	0	0	0	14.19	14.07	14.21
5633	0.18	263.5	2639	2097	2337	2232	315.6	10.1	478	5638	0.00	2.45	0.00	0.000	516	0.000	0.083	2646	695	2283	2336	2231	0	0	0	0	0	0	14.44	14.12	14.46
5668	0.20	263.5	2646	696	2336	2233	312.1	10.4	485	5673	0.00	2.45	0.00	0.000	1158	0.000	0.078	2646	2101	2283	2335	2231	0	0	0	0	0	0	14.25	14.13	14.28
5993	0.21	266.3	2647	2100	2336	2232	279.0	9.9	500	5994	0.00	0.00	0.00	0.000	38	0.000	0.000	2646	2100	2281	2330	2232	0	0	0	0	0	0	14.47	14.49	14.49
6293	0.22	289.5	2647	2100	2335	2231	251.6	8.9	510	6338	0.00	0.00	43.08	1.375	8742	0.000	0.000	2646	2100	2185	2233	2137	0	0	0	0	0	0	14.47	14.01	13.26
6623	0.28	327.6	2646	2101	2223	2124	224.0	8.2	526	6693	0.00	2.58	61.92	1.310	8868	0.000	0.085	2646	691	2028	2077	1979	0	0	0	0	0	0	14.38	13.83	13.17
6754	0.45	376.2	2647	691	2062	1978	213.6	7.8	552	6846	0.25	2.53	81.07	1.245	11430	0.093	0.079	2743	2101	1826	1854	1798	0	0	0	0	0	0	13.99	13.93	12.96
7173	0.38	376.2	2744	2102	1846	1784	156.1	13.2	584	7179	0.15	2.45	0.00	0.000	4740	0.239	0.083	2712	697	1813	1844	1783	0	0	0	0	0	0	13.83	14.00	13.97
7215	0.43	376.2	2713	697	1844	1782	151.3	10.3	592	7221	0.00	2.42	0.00	0.000	1158	0.000	0.076	2713	2100	1810	1837	1783	0	0	0	0	0	0	14.13	14.04	14.16
7536	0.43	381.7	2713	2102	1842	1781	118.8	9.7	606	7541	0.00	2.45	0.00	0.000	548	0.000	0.086	2713	696	1810	1842	1779	0	0	0	0	0	0	14.54	14.11	14.56
7576	0.52	402.4	2714	697	1839	1780	115.1	9.0	614	7621	0.10	2.45	37.05	1.290	11430	0.151	0.076	2761	2105	1725	1755	1695	0	0	0	0	0	0	14.12	14.10	13.31
7926	0.48	402.4	2762	2106	1743	1684	73.2	11.1	648	7927	0.00	0.00	0.00	0.000	134	0.000	0.000	2761	2105	1712	1742	1683	0	0	0	0	0	0	14.50	14.52	14.51
8228	0.55	505.9	2762	2105	1743	1683	50.1	5.2	678	8289	0.00	0.00	56.80	0.350	8742	0.000	0.000	2761	2105	1300	1355	1245	0	0	0	0	0	0	14.55	14.18	13.83
8586	0.73	590.3	2762	2105	1356	1237	27.2	6.1	719	8641	0.12	2.50	47.10	0.278	10916	0.139	0.087	2827	693	952	1025	880	0	0	0	0	0	0	14.20	14.03	13.82
8688	0.85	621.9	2825	688	1026	883	18.4	8.5	738	8711	0.00	2.47	17.92	0.262	9382	0.000	0.081	2825	2100	826	898	755	0	0	0	0	0	0	14.26	14.16	13.85
9003	end climb: SURFACE_DEPTH_REACHED
state	9003	begin surface coast
9044	end surface coast: CONTROL_FINISHED_OK
state	9044	begin surface