Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 145 * 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 145 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 408.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 408.0 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 62 VBD_MIN 500

DIVE 145 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 230817,150032,7327.0376,-15027.1934,29,0.7,29,20.6,0.0,0.0,11,8.9 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 1.19 MHEAD_RNG_PITCHd_Wd 299.5,141325,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 230817,151531,7327.0562,-15027.3535,9,0.7,12,20.6,0.0,0.0,12,8.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823162754.455275,3,74,12,0129,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31 PM_FREEKB_00 53698432

FINISH 0.2,1.020421 _24V_AH 12.39,112.141

SM_CCo 8950,21.25,0.215,0,0,499,702.78 _10V_AH 12.24,0.000

SM_GC 0.85,8.20,0.20,21.25,0.078,0.093,0.215,199,2239,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.31,14.33,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 279 FG_AHR_10Vo 0.000

MODEM 0,1503504239,75.36600,-145.04601,185.059,268230.2 MEM 323456

RAFOS_FIX 7326.657715,-15029.191406,230817,161619,3,255,0.33 DATA_FILE_SIZE 26724,795

IRIDIUM_FIX 7326.74,-15023.73,230817,150508 CAP_FILE_SIZE 110079,0

TT8_MAMPS 0.040446,0.991676 CFSIZE 2097872896,2043510784

HUMID 46.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.9

TCM_TEMP 13.20 CURRENT 0.059,259.75,1

XPDR_PINGS 9 GPS 230817,174641,7328.037,-15030.035,15,0.7,17,20.6,0.0,215.4,12,9.9

CP_FREE 15994847232.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 453 139.53 nil 0 0 0.00

Roll_motor 83 2151 2226.87 nil 0 0 0.00

VBD_pump_during_apogee 925 1435 16459.66 nil 0 0 0.00

VBD_pump_during_surface 21 214 56.60 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 8957 14 1622.82

Iridium_during_xfer 557 166 1146.72 NCP 8947 20 2217.07

Transponder_ping 2 420 11.71 PMAR 8904 9 1098.35

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.47

TT8 0 0 0.00

LPSleep 6351 2 179.58

TT8_Active 822 13 140.57

TT8_Sampling 2397 33 981.39

TT8_CF8 314 38 149.04

TT8_Kalman 0 0 0.00

Analog_circuits 2267 10 277.57

GPS_charging 0 0 0.00

Compass 1138 7 97.57

RAFOS 2206 48 1296.07

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

47 -0.57 -145.9 200 2229 512 474 0.0 0.0 0 130 0.00 0.00 -80.95 0.000 16386 0.000 0.000 199 2229 1989 1915 2064 0 0 0 0 0 0 14.47 28.83 14.49

133 -0.57 -145.9 200 2228 1918 2066 3.3 -3.9 8 190 12.50 2.70 -38.92 0.000 18724 0.454 2.151 2376 3587 3957 3937 3978 0 0 0 0 0 0 13.69 12.90 14.14

415 -0.63 -145.9 2377 3589 3945 3979 63.8 -15.3 64 420 0.00 2.30 0.00 0.000 1158 0.000 0.060 2376 2237 3963 3948 3978 0 0 0 0 0 0 14.18 14.05 14.21

727 -0.68 -145.9 2376 2236 3950 3979 107.9 -12.6 92 732 0.00 2.38 0.00 0.000 388 0.000 0.086 2367 3591 3964 3950 3978 0 0 0 0 0 0 14.56 14.20 14.57

797 -0.84 -145.9 2367 3589 3950 3978 115.9 -10.2 106 803 0.17 2.38 0.00 0.000 5254 0.109 0.055 2295 2190 3963 3949 3977 0 0 0 0 0 0 14.29 14.25 14.38

1118 -0.80 -145.9 2295 2189 3950 3978 170.1 -16.7 120 1123 0.00 2.45 0.00 0.000 388 0.000 0.086 2287 3588 3963 3949 3977 0 0 0 0 0 0 14.61 14.21 14.62

1244 -0.82 -145.9 2287 3588 3950 3978 188.7 -14.4 145 1250 0.00 2.33 0.00 0.000 1158 0.000 0.057 2287 2205 3963 3949 3978 0 0 0 0 0 0 14.33 14.23 14.38

1570 -0.82 -145.9 2286 2205 3949 3979 238.7 -14.6 160 1574 0.00 2.42 0.00 0.000 260 0.000 0.088 2280 3585 3963 3949 3978 0 0 0 0 0 0 14.63 14.21 14.64

1665 -0.88 -145.9 2280 3588 3949 3976 251.2 -12.3 179 1670 0.00 2.35 0.00 0.000 1158 0.000 0.059 2280 2198 3963 3949 3978 0 0 0 0 0 0 14.36 14.23 14.40

1990 -0.88 -145.9 2280 2198 3950 3977 292.9 -12.5 194 1995 0.00 2.42 0.00 0.000 260 0.000 0.090 2280 3587 3963 3949 3977 0 0 0 0 0 0 14.64 14.25 14.66

2090 -0.96 -145.9 2280 3588 3950 3977 304.1 -10.8 214 2095 0.00 2.33 0.00 0.000 1158 0.000 0.057 2279 2198 3963 3949 3977 0 0 0 0 0 0 14.42 14.31 14.45

2411 -0.99 -145.9 2280 2196 3950 3976 341.6 -11.6 228 2416 0.00 2.42 0.00 0.000 388 0.000 0.088 2273 3587 3962 3948 3976 0 0 0 0 0 0 14.66 14.21 14.67

2496 -1.09 -145.9 2273 3589 3947 3977 351.0 -10.4 245 2502 0.15 2.35 0.00 0.000 5254 0.120 0.055 2218 2190 3961 3948 3975 0 0 0 0 0 0 14.26 14.13 14.35

2803 -1.00 -145.9 2218 2190 3949 3976 399.8 -16.3 256 2808 0.12 2.47 0.00 0.000 2436 0.309 0.083 2236 3588 3960 3947 3974 0 0 0 0 0 0 13.88 14.14 14.07

2933 -1.00 -145.9 2236 3589 3948 3975 418.1 -13.1 282 2938 0.00 2.35 0.00 0.000 1030 0.000 0.056 2236 2201 3960 3947 3974 0 0 0 0 0 0 14.28 14.16 14.31

3254 -0.97 -145.9 2237 2200 3948 3973 463.0 -14.0 296 3258 0.12 2.47 0.00 0.000 2436 0.303 0.085 2254 3595 3958 3942 3974 0 0 0 0 0 0 13.84 14.05 14.01

3365 -1.04 -145.9 2256 3595 3947 3974 475.9 -10.9 318 3370 0.00 2.38 0.00 0.000 1158 0.000 0.056 2255 2198 3960 3947 3974 0 0 0 0 0 0 14.16 14.07 14.16

3403 end dive: TARGET_DEPTH_EXCEEDED

state 3403 begin apogee

3409 -0.13 0.0 2256 2057 3948 3974 480.7 -11.5 321 3627 1.08 0.00 214.70 1.424 10246 0.234 0.000 2527 2056 3366 3388 3344 0 0 0 0 0 0 13.85 13.40 12.64

3630 end apogee: CONTROL_FINISHED_OK

state 3630 begin climb

3633 0.57 145.9 2528 2056 3381 3336 491.6 0.0 328 3855 0.75 2.72 204.95 1.375 10500 0.063 0.076 2779 3487 2759 2800 2718 0 0 0 0 0 0 13.47 13.12 12.39

4080 0.13 145.9 2778 3486 2788 2717 459.9 17.2 375 4086 0.80 2.40 0.00 0.000 5254 0.352 0.057 2627 2127 2752 2787 2717 0 0 0 0 0 0 13.39 13.66 13.70

4385 0.05 180.7 2627 2126 2789 2715 432.8 8.4 386 4440 0.12 2.45 48.60 1.420 12708 0.294 0.083 2599 3487 2623 2670 2576 0 0 0 0 0 0 13.76 13.81 13.04

4641 0.05 210.3 2599 3487 2656 2569 410.8 8.6 437 4688 0.00 2.38 41.30 1.436 9382 0.000 0.060 2602 2102 2502 2555 2450 0 0 0 0 0 0 14.12 14.01 13.07

4985 0.08 246.0 2602 2103 2551 2437 382.2 8.4 456 5042 0.00 2.47 50.40 1.412 8740 0.000 0.087 2608 691 2358 2408 2309 0 0 0 0 0 0 14.35 13.69 13.11

5107 0.21 285.2 2602 692 2400 2308 372.1 8.2 480 5175 0.15 2.42 57.92 1.370 11430 0.117 0.078 2664 2080 2201 2252 2151 0 0 0 0 0 0 13.88 13.84 12.97

5500 0.17 285.2 2665 2081 2244 2137 322.9 12.4 508 5501 0.00 0.00 0.00 0.000 134 0.000 0.000 2665 2080 2189 2243 2135 0 0 0 0 0 0 14.42 14.45 14.44

5801 0.14 285.2 2666 2082 2243 2134 286.9 11.9 518 5806 0.12 2.42 0.00 0.000 4740 0.258 0.083 2644 689 2187 2241 2134 0 0 0 0 0 0 14.00 14.20 14.13

5846 0.22 289.6 2644 687 2241 2134 282.2 9.8 527 5851 0.00 2.45 0.00 0.000 1190 0.000 0.078 2644 2105 2184 2236 2133 0 0 0 0 0 0 14.41 14.25 14.40

6161 0.23 305.2 2644 2107 2241 2133 252.1 9.3 540 6193 0.00 2.55 27.35 1.427 8740 0.000 0.086 2644 693 2120 2172 2068 0 0 0 0 0 0 14.62 14.12 13.36

6218 0.32 333.2 2645 692 2166 2067 247.0 8.7 546 6268 0.12 2.45 45.78 1.342 11430 0.129 0.079 2695 2099 2008 2055 1961 0 0 0 0 0 0 14.14 14.07 13.23

6584 0.30 333.2 2696 2099 2046 1945 205.3 11.0 569 6589 0.00 2.47 0.00 0.000 644 0.000 0.086 2699 692 1994 2044 1944 0 0 0 0 0 0 14.51 14.18 14.53

6639 0.33 333.2 2699 693 2043 1945 199.5 10.1 580 6646 0.00 2.47 0.00 0.000 1158 0.000 0.078 2699 2109 1993 2041 1945 0 0 0 0 0 0 14.31 14.19 14.33

6944 0.33 333.2 2699 2110 2042 1943 168.4 10.1 591 6945 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2109 1991 2040 1942 0 0 0 0 0 0 14.59 14.62 14.62

7244 0.34 351.6 2699 2109 2042 1941 140.0 9.2 601 7276 0.00 2.55 27.25 1.393 8740 0.000 0.086 2699 689 1930 1973 1888 0 0 0 0 0 0 14.62 14.17 13.38

7372 0.45 384.8 2699 694 1963 1885 128.8 8.5 626 7434 0.00 2.45 55.42 1.287 9382 0.000 0.079 2699 2103 1793 1822 1764 0 0 0 0 0 0 14.33 14.20 13.24

7739 0.54 428.2 2698 2104 1817 1751 97.8 8.0 653 7767 0.15 2.58 22.67 0.503 10916 0.119 0.087 2778 689 1620 1650 1590 0 0 0 0 0 0 14.21 14.06 13.63

7812 0.54 428.2 2778 689 1652 1590 89.0 12.4 667 7817 0.00 2.47 0.00 0.000 1030 0.000 0.078 2778 2100 1619 1650 1589 0 0 0 0 0 0 14.21 14.10 14.25

8122 0.52 455.5 2778 2102 1651 1584 55.5 8.7 699 8143 0.00 0.00 15.15 0.369 8358 0.000 0.000 2782 2106 1503 1542 1465 0 0 0 0 0 0 14.54 14.05 13.81

8442 0.61 543.9 2779 2101 1543 1466 33.5 5.9 731 8495 0.00 2.50 47.45 0.311 8612 0.000 0.083 2777 3526 1143 1209 1078 0 0 0 0 0 0 14.54 13.95 13.77

8532 0.75 588.9 2778 3522 1210 1083 27.4 7.9 748 8565 0.12 2.45 25.05 0.291 11430 0.134 0.067 2832 2094 961 1033 889 0 0 0 0 0 0 14.13 14.16 13.76

8870 0.91 693.3 2833 2095 1034 884 5.2 5.2 785 8914 0.12 0.00 41.17 0.216 10914 0.132 0.000 2888 2094 651 706 596 0 0 0 0 0 0 14.16 28.83 14.19

8914 end climb: SURFACE_DEPTH_REACHED

state 8914 begin surface coast

8928 end surface coast: CONTROL_FINISHED_OK

state 8928 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	145	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	408.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,150032,7327.0376,-15027.1934,29,0.7,29,20.6,0.0,0.0,11,8.9	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	1.19	MHEAD_RNG_PITCHd_Wd	299.5,141325,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	230817,151531,7327.0562,-15027.3535,9,0.7,12,20.6,0.0,0.0,12,8.3

MODEM_MSG	CACST,6,1,20170823162754.455275,3,74,12,0129,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31	PM_FREEKB_00	53698432
FINISH	0.2,1.020421	_24V_AH	12.39,112.141
SM_CCo	8950,21.25,0.215,0,0,499,702.78	_10V_AH	12.24,0.000
SM_GC	0.85,8.20,0.20,21.25,0.078,0.093,0.215,199,2239,499,-7.37,-0.42,702.78,0,0,0,0,0,0,14.31,14.33,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	279	FG_AHR_10Vo	0.000
MODEM	0,1503504239,75.36600,-145.04601,185.059,268230.2	MEM	323456
RAFOS_FIX	7326.657715,-15029.191406,230817,161619,3,255,0.33	DATA_FILE_SIZE	26724,795
IRIDIUM_FIX	7326.74,-15023.73,230817,150508	CAP_FILE_SIZE	110079,0
TT8_MAMPS	0.040446,0.991676	CFSIZE	2097872896,2043510784
HUMID	46.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.9
TCM_TEMP	13.20	CURRENT	0.059,259.75,1
XPDR_PINGS	9	GPS	230817,174641,7328.037,-15030.035,15,0.7,17,20.6,0.0,215.4,12,9.9
CP_FREE	15994847232.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	453	139.53	nil	0	0	0.00
Roll_motor	83	2151	2226.87	nil	0	0	0.00
VBD_pump_during_apogee	925	1435	16459.66	nil	0	0	0.00
VBD_pump_during_surface	21	214	56.60	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	8957	14	1622.82
Iridium_during_xfer	557	166	1146.72	NCP	8947	20	2217.07
Transponder_ping	2	420	11.71	PMAR	8904	9	1098.35
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.47
TT8	0	0	0.00
LPSleep	6351	2	179.58
TT8_Active	822	13	140.57
TT8_Sampling	2397	33	981.39
TT8_CF8	314	38	149.04
TT8_Kalman	0	0	0.00
Analog_circuits	2267	10	277.57
GPS_charging	0	0	0.00
Compass	1138	7	97.57
RAFOS	2206	48	1296.07
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
47	-0.57	-145.9	200	2229	512	474	0.0	0.0	0	130	0.00	0.00	-80.95	0.000	16386	0.000	0.000	199	2229	1989	1915	2064	0	0	0	0	0	0	14.47	28.83	14.49
133	-0.57	-145.9	200	2228	1918	2066	3.3	-3.9	8	190	12.50	2.70	-38.92	0.000	18724	0.454	2.151	2376	3587	3957	3937	3978	0	0	0	0	0	0	13.69	12.90	14.14
415	-0.63	-145.9	2377	3589	3945	3979	63.8	-15.3	64	420	0.00	2.30	0.00	0.000	1158	0.000	0.060	2376	2237	3963	3948	3978	0	0	0	0	0	0	14.18	14.05	14.21
727	-0.68	-145.9	2376	2236	3950	3979	107.9	-12.6	92	732	0.00	2.38	0.00	0.000	388	0.000	0.086	2367	3591	3964	3950	3978	0	0	0	0	0	0	14.56	14.20	14.57
797	-0.84	-145.9	2367	3589	3950	3978	115.9	-10.2	106	803	0.17	2.38	0.00	0.000	5254	0.109	0.055	2295	2190	3963	3949	3977	0	0	0	0	0	0	14.29	14.25	14.38
1118	-0.80	-145.9	2295	2189	3950	3978	170.1	-16.7	120	1123	0.00	2.45	0.00	0.000	388	0.000	0.086	2287	3588	3963	3949	3977	0	0	0	0	0	0	14.61	14.21	14.62
1244	-0.82	-145.9	2287	3588	3950	3978	188.7	-14.4	145	1250	0.00	2.33	0.00	0.000	1158	0.000	0.057	2287	2205	3963	3949	3978	0	0	0	0	0	0	14.33	14.23	14.38
1570	-0.82	-145.9	2286	2205	3949	3979	238.7	-14.6	160	1574	0.00	2.42	0.00	0.000	260	0.000	0.088	2280	3585	3963	3949	3978	0	0	0	0	0	0	14.63	14.21	14.64
1665	-0.88	-145.9	2280	3588	3949	3976	251.2	-12.3	179	1670	0.00	2.35	0.00	0.000	1158	0.000	0.059	2280	2198	3963	3949	3978	0	0	0	0	0	0	14.36	14.23	14.40
1990	-0.88	-145.9	2280	2198	3950	3977	292.9	-12.5	194	1995	0.00	2.42	0.00	0.000	260	0.000	0.090	2280	3587	3963	3949	3977	0	0	0	0	0	0	14.64	14.25	14.66
2090	-0.96	-145.9	2280	3588	3950	3977	304.1	-10.8	214	2095	0.00	2.33	0.00	0.000	1158	0.000	0.057	2279	2198	3963	3949	3977	0	0	0	0	0	0	14.42	14.31	14.45
2411	-0.99	-145.9	2280	2196	3950	3976	341.6	-11.6	228	2416	0.00	2.42	0.00	0.000	388	0.000	0.088	2273	3587	3962	3948	3976	0	0	0	0	0	0	14.66	14.21	14.67
2496	-1.09	-145.9	2273	3589	3947	3977	351.0	-10.4	245	2502	0.15	2.35	0.00	0.000	5254	0.120	0.055	2218	2190	3961	3948	3975	0	0	0	0	0	0	14.26	14.13	14.35
2803	-1.00	-145.9	2218	2190	3949	3976	399.8	-16.3	256	2808	0.12	2.47	0.00	0.000	2436	0.309	0.083	2236	3588	3960	3947	3974	0	0	0	0	0	0	13.88	14.14	14.07
2933	-1.00	-145.9	2236	3589	3948	3975	418.1	-13.1	282	2938	0.00	2.35	0.00	0.000	1030	0.000	0.056	2236	2201	3960	3947	3974	0	0	0	0	0	0	14.28	14.16	14.31
3254	-0.97	-145.9	2237	2200	3948	3973	463.0	-14.0	296	3258	0.12	2.47	0.00	0.000	2436	0.303	0.085	2254	3595	3958	3942	3974	0	0	0	0	0	0	13.84	14.05	14.01
3365	-1.04	-145.9	2256	3595	3947	3974	475.9	-10.9	318	3370	0.00	2.38	0.00	0.000	1158	0.000	0.056	2255	2198	3960	3947	3974	0	0	0	0	0	0	14.16	14.07	14.16
3403	end dive: TARGET_DEPTH_EXCEEDED
state	3403	begin apogee
3409	-0.13	0.0	2256	2057	3948	3974	480.7	-11.5	321	3627	1.08	0.00	214.70	1.424	10246	0.234	0.000	2527	2056	3366	3388	3344	0	0	0	0	0	0	13.85	13.40	12.64
3630	end apogee: CONTROL_FINISHED_OK
state	3630	begin climb
3633	0.57	145.9	2528	2056	3381	3336	491.6	0.0	328	3855	0.75	2.72	204.95	1.375	10500	0.063	0.076	2779	3487	2759	2800	2718	0	0	0	0	0	0	13.47	13.12	12.39
4080	0.13	145.9	2778	3486	2788	2717	459.9	17.2	375	4086	0.80	2.40	0.00	0.000	5254	0.352	0.057	2627	2127	2752	2787	2717	0	0	0	0	0	0	13.39	13.66	13.70
4385	0.05	180.7	2627	2126	2789	2715	432.8	8.4	386	4440	0.12	2.45	48.60	1.420	12708	0.294	0.083	2599	3487	2623	2670	2576	0	0	0	0	0	0	13.76	13.81	13.04
4641	0.05	210.3	2599	3487	2656	2569	410.8	8.6	437	4688	0.00	2.38	41.30	1.436	9382	0.000	0.060	2602	2102	2502	2555	2450	0	0	0	0	0	0	14.12	14.01	13.07
4985	0.08	246.0	2602	2103	2551	2437	382.2	8.4	456	5042	0.00	2.47	50.40	1.412	8740	0.000	0.087	2608	691	2358	2408	2309	0	0	0	0	0	0	14.35	13.69	13.11
5107	0.21	285.2	2602	692	2400	2308	372.1	8.2	480	5175	0.15	2.42	57.92	1.370	11430	0.117	0.078	2664	2080	2201	2252	2151	0	0	0	0	0	0	13.88	13.84	12.97
5500	0.17	285.2	2665	2081	2244	2137	322.9	12.4	508	5501	0.00	0.00	0.00	0.000	134	0.000	0.000	2665	2080	2189	2243	2135	0	0	0	0	0	0	14.42	14.45	14.44
5801	0.14	285.2	2666	2082	2243	2134	286.9	11.9	518	5806	0.12	2.42	0.00	0.000	4740	0.258	0.083	2644	689	2187	2241	2134	0	0	0	0	0	0	14.00	14.20	14.13
5846	0.22	289.6	2644	687	2241	2134	282.2	9.8	527	5851	0.00	2.45	0.00	0.000	1190	0.000	0.078	2644	2105	2184	2236	2133	0	0	0	0	0	0	14.41	14.25	14.40
6161	0.23	305.2	2644	2107	2241	2133	252.1	9.3	540	6193	0.00	2.55	27.35	1.427	8740	0.000	0.086	2644	693	2120	2172	2068	0	0	0	0	0	0	14.62	14.12	13.36
6218	0.32	333.2	2645	692	2166	2067	247.0	8.7	546	6268	0.12	2.45	45.78	1.342	11430	0.129	0.079	2695	2099	2008	2055	1961	0	0	0	0	0	0	14.14	14.07	13.23
6584	0.30	333.2	2696	2099	2046	1945	205.3	11.0	569	6589	0.00	2.47	0.00	0.000	644	0.000	0.086	2699	692	1994	2044	1944	0	0	0	0	0	0	14.51	14.18	14.53
6639	0.33	333.2	2699	693	2043	1945	199.5	10.1	580	6646	0.00	2.47	0.00	0.000	1158	0.000	0.078	2699	2109	1993	2041	1945	0	0	0	0	0	0	14.31	14.19	14.33
6944	0.33	333.2	2699	2110	2042	1943	168.4	10.1	591	6945	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2109	1991	2040	1942	0	0	0	0	0	0	14.59	14.62	14.62
7244	0.34	351.6	2699	2109	2042	1941	140.0	9.2	601	7276	0.00	2.55	27.25	1.393	8740	0.000	0.086	2699	689	1930	1973	1888	0	0	0	0	0	0	14.62	14.17	13.38
7372	0.45	384.8	2699	694	1963	1885	128.8	8.5	626	7434	0.00	2.45	55.42	1.287	9382	0.000	0.079	2699	2103	1793	1822	1764	0	0	0	0	0	0	14.33	14.20	13.24
7739	0.54	428.2	2698	2104	1817	1751	97.8	8.0	653	7767	0.15	2.58	22.67	0.503	10916	0.119	0.087	2778	689	1620	1650	1590	0	0	0	0	0	0	14.21	14.06	13.63
7812	0.54	428.2	2778	689	1652	1590	89.0	12.4	667	7817	0.00	2.47	0.00	0.000	1030	0.000	0.078	2778	2100	1619	1650	1589	0	0	0	0	0	0	14.21	14.10	14.25
8122	0.52	455.5	2778	2102	1651	1584	55.5	8.7	699	8143	0.00	0.00	15.15	0.369	8358	0.000	0.000	2782	2106	1503	1542	1465	0	0	0	0	0	0	14.54	14.05	13.81
8442	0.61	543.9	2779	2101	1543	1466	33.5	5.9	731	8495	0.00	2.50	47.45	0.311	8612	0.000	0.083	2777	3526	1143	1209	1078	0	0	0	0	0	0	14.54	13.95	13.77
8532	0.75	588.9	2778	3522	1210	1083	27.4	7.9	748	8565	0.12	2.45	25.05	0.291	11430	0.134	0.067	2832	2094	961	1033	889	0	0	0	0	0	0	14.13	14.16	13.76
8870	0.91	693.3	2833	2095	1034	884	5.2	5.2	785	8914	0.12	0.00	41.17	0.216	10914	0.132	0.000	2888	2094	651	706	596	0	0	0	0	0	0	14.16	28.83	14.19
8914	end climb: SURFACE_DEPTH_REACHED
state	8914	begin surface coast
8928	end surface coast: CONTROL_FINISHED_OK
state	8928	begin surface