Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 146 * 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 146 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 48

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 411.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 36 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 411.0 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 36 VBD_MIN 500

DIVE 146 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 230817,174641,7328.0371,-15030.0352,15,0.7,17,20.6,0.0,215.4,12,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 301.8,139157,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 230817,180920,7327.9546,-15030.1855,6,0.8,37,20.6,0.0,353.9,11,9.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823202753.832804,3,719,28,0143,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00 PM_FREEKB_00 53668096

FINISH 0.0,1.020511 _24V_AH 12.41,112.613

SM_CCo 8972,60.78,0.213,0,0,497,702.78 _10V_AH 12.30,0.000

SM_GC 1.22,8.07,0.20,60.78,0.067,0.107,0.213,205,2224,497,-7.38,-0.40,702.78,0,0,0,0,0,0,14.18,14.19,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 117 FG_AHR_10Vo 0.000

MODEM 0,1503518639,75.36600,-145.04601,185.717,269086.9 MEM 323676

RAFOS_FIX 7327.592285,-15032.682617,230817,202011,4,255,0.19 DATA_FILE_SIZE 26736,821

IRIDIUM_FIX 7327.76,-15030.30,230817,180300 CAP_FILE_SIZE 113880,0

TT8_MAMPS 0.085386,0.850864 CFSIZE 2097872896,2043052032

HUMID 43.69 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.76199 SOUNDSPEED 1449.6

TCM_TEMP 13.20 CURRENT 0.060,250.94,1

XPDR_PINGS 8 GPS 230817,204151,7328.942,-15033.038,35,1.0,36,20.6,0.5,242.2,7,8.2

CP_FREE 15994683392.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 138.39 nil 0 0 0.00

Roll_motor 83 2152 2231.38 nil 0 0 0.00

VBD_pump_during_apogee 849 1477 15586.80 nil 0 0 0.00

VBD_pump_during_surface 60 213 160.98 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 8982 14 1613.37

Iridium_during_xfer 801 161 1606.43 NCP 8979 20 2228.59

Transponder_ping 2 420 10.42 PMAR 8928 9 1104.64

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.59

TT8 0 0 0.00

LPSleep 6630 2 188.40

TT8_Active 924 13 158.79

TT8_Sampling 2501 33 1028.92

TT8_CF8 352 38 167.70

TT8_Kalman 0 0 0.00

Analog_circuits 2475 10 304.43

GPS_charging 0 0 0.00

Compass 1175 7 101.22

RAFOS 2196 48 1296.52

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 -145.9 194 2191 497 489 0.0 0.0 0 140 0.00 0.00 -91.82 0.000 16386 0.000 0.000 193 2190 2280 2221 2340 0 0 0 0 0 0 14.52 28.83 14.54

143 -0.57 -145.9 194 2190 2217 2339 4.8 -7.2 9 191 12.52 2.75 -28.65 0.000 18724 0.455 2.153 2375 3579 3962 3942 3983 0 0 0 0 0 0 13.71 12.64 14.17

366 -0.60 -145.9 2376 3581 3951 3984 58.6 -17.0 53 371 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2209 3967 3951 3984 0 0 0 0 0 0 14.29 14.18 14.33

696 -0.65 -145.9 2376 2208 3953 3983 108.2 -12.6 83 701 0.00 2.42 0.00 0.000 388 0.000 0.086 2367 3585 3967 3952 3983 0 0 0 0 0 0 14.56 14.16 14.57

756 -0.82 -145.9 2368 3585 3953 3983 114.8 -10.1 95 761 0.17 2.35 0.00 0.000 5254 0.110 0.054 2293 2198 3968 3953 3983 0 0 0 0 0 0 14.26 14.23 14.34

1086 -0.78 -145.9 2294 2197 3953 3984 172.5 -17.2 111 1091 0.12 2.42 0.00 0.000 2436 0.283 0.086 2319 3580 3967 3952 3983 0 0 0 0 0 0 14.03 14.23 14.19

1208 -0.88 -145.9 2319 3581 3953 3984 187.7 -11.7 135 1213 0.00 2.33 0.00 0.000 1158 0.000 0.056 2319 2194 3967 3952 3983 0 0 0 0 0 0 14.40 14.28 14.43

1538 -0.93 -145.9 2319 2193 3953 3984 228.5 -11.9 151 1543 0.12 2.45 0.00 0.000 4484 0.141 0.087 2252 3586 3967 3952 3983 0 0 0 0 0 0 14.33 14.21 14.37

1683 -0.93 -145.9 2253 3586 3953 3983 250.7 -15.5 180 1691 0.10 2.35 0.00 0.000 3078 0.254 0.058 2271 2199 3966 3952 3980 0 0 0 0 0 0 14.07 14.25 14.29

1988 -0.93 -145.9 2271 2200 3953 3984 292.0 -13.1 191 1993 0.00 2.42 0.00 0.000 260 0.000 0.087 2266 3585 3968 3952 3985 0 0 0 0 0 0 14.63 14.21 14.65

2068 -0.98 -145.9 2266 3586 3952 3987 302.3 -12.2 207 2073 0.00 2.33 0.00 0.000 1158 0.000 0.056 2266 2199 3967 3951 3983 0 0 0 0 0 0 14.41 14.29 14.44

2378 -0.98 -145.9 2265 2198 3952 3982 342.3 -12.5 219 2383 0.00 2.42 0.00 0.000 260 0.000 0.086 2256 3585 3966 3950 3983 0 0 0 0 0 0 14.64 14.21 14.66

2463 -1.02 -145.9 2257 3587 3952 3983 352.7 -11.9 236 2470 0.00 2.35 0.00 0.000 1158 0.000 0.056 2256 2189 3965 3947 3983 0 0 0 0 0 0 14.36 14.24 14.40

2768 -1.02 -145.9 2256 2189 3951 3982 391.7 -12.8 247 2773 0.00 2.45 0.00 0.000 260 0.000 0.087 2249 3581 3966 3950 3982 0 0 0 0 0 0 14.65 14.20 14.66

2864 -1.06 -145.9 2250 3581 3950 3982 403.4 -11.8 266 2868 0.00 2.33 0.00 0.000 1158 0.000 0.055 2249 2198 3965 3949 3982 0 0 0 0 0 0 14.40 14.28 14.44

3189 -1.06 -145.9 2249 2197 3948 3982 445.4 -13.0 281 3193 0.00 2.42 0.00 0.000 260 0.000 0.087 2241 3581 3965 3949 3981 0 0 0 0 0 0 14.64 14.21 14.66

3310 -1.09 -145.9 2242 3580 3949 3981 460.7 -12.5 305 3315 0.00 2.33 0.00 0.000 1158 0.000 0.055 2241 2191 3964 3948 3981 0 0 0 0 0 0 14.41 14.29 14.45

3458 end dive: TARGET_DEPTH_EXCEEDED

state 3458 begin apogee

3464 -0.13 0.0 2242 2062 3949 3981 480.9 -13.4 315 3679 1.12 0.00 211.73 1.438 10246 0.243 0.000 2527 2061 3366 3384 3348 0 0 0 0 0 0 13.92 13.50 12.71

3682 end apogee: CONTROL_FINISHED_OK

state 3682 begin climb

3685 0.57 145.9 2528 2061 3378 3339 492.1 0.0 322 3900 0.75 2.72 201.93 1.387 10500 0.065 0.074 2780 3479 2761 2802 2721 0 0 0 0 0 0 13.59 13.16 12.41

4125 0.13 145.9 2781 3481 2786 2721 461.3 17.0 404 4132 0.77 2.35 0.00 0.000 5254 0.353 0.058 2631 2134 2753 2786 2720 0 0 0 0 0 0 13.44 13.78 13.81

4437 0.04 174.7 2631 2134 2786 2720 432.9 8.7 416 4483 0.12 2.40 38.75 1.451 12708 0.300 0.081 2603 3481 2647 2684 2610 0 0 0 0 0 0 13.88 13.94 13.13

4710 0.02 198.5 2603 3482 2679 2603 408.9 8.9 470 4749 0.00 2.35 32.70 1.478 9382 0.000 0.061 2602 2100 2552 2599 2506 0 0 0 0 0 0 14.16 14.05 13.18

5071 0.05 241.5 2603 2101 2597 2494 379.7 8.0 492 5141 0.00 2.53 64.80 1.393 8740 0.000 0.087 2602 693 2375 2422 2328 0 0 0 0 0 0 14.52 13.75 13.16

5211 0.19 290.1 2603 692 2414 2326 368.5 7.8 520 5291 0.12 2.42 72.35 1.352 11430 0.133 0.079 2659 2071 2178 2225 2131 0 0 0 0 0 0 14.07 14.02 12.99

5611 0.19 290.1 2659 2072 2218 2118 320.7 12.1 550 5612 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2070 2166 2217 2116 0 0 0 0 0 0 14.45 14.46 14.49

5912 0.19 290.1 2659 2077 2221 2117 286.0 11.3 560 5917 0.00 2.42 0.00 0.000 516 0.000 0.087 2659 693 2165 2215 2116 0 0 0 0 0 0 14.57 14.23 14.59

5963 0.23 290.1 2660 694 2214 2117 280.6 10.3 570 5967 0.00 2.45 0.00 0.000 1158 0.000 0.078 2660 2108 2164 2213 2116 0 0 0 0 0 0 14.38 14.25 14.42

6272 0.23 290.1 2660 2109 2214 2112 247.9 10.2 582 6278 0.00 2.50 0.00 0.000 516 0.000 0.087 2660 684 2164 2214 2114 0 0 0 0 0 0 14.64 14.27 14.65

6333 0.30 319.1 2660 685 2213 2115 242.5 8.7 594 6383 0.00 2.45 42.20 1.355 9382 0.000 0.078 2660 2106 2063 2108 2018 0 0 0 0 0 0 14.42 14.29 13.31

6693 0.35 345.9 2660 2106 2103 2009 210.5 8.8 616 6739 0.12 0.00 44.22 1.345 10406 0.132 0.000 2711 2106 1954 1997 1912 0 0 0 0 0 0 14.13 13.95 13.24

7023 0.32 345.9 2712 2106 1990 1899 173.3 11.1 627 7028 0.00 2.50 0.00 0.000 644 0.000 0.088 2713 691 1944 1989 1899 0 0 0 0 0 0 14.40 14.05 14.41

7083 0.32 345.9 2712 692 1989 1899 166.9 10.4 639 7088 0.00 2.47 0.00 0.000 1030 0.000 0.076 2712 2105 1943 1987 1899 0 0 0 0 0 0 14.20 14.08 14.25

7413 0.32 345.9 2713 2103 1988 1898 132.5 10.2 655 7414 0.00 0.00 0.00 0.000 6 0.000 0.000 2713 2103 1941 1987 1896 0 0 0 0 0 0 14.46 14.47 14.48

7713 0.33 365.4 2713 2104 1986 1897 104.4 9.1 665 7744 0.00 2.53 24.05 1.346 8740 0.000 0.088 2712 685 1872 1907 1837 0 0 0 0 0 0 14.46 14.08 13.31

7821 0.44 403.3 2712 685 1902 1837 95.1 8.3 686 7848 0.00 2.50 20.17 0.496 9382 0.000 0.079 2713 2100 1719 1745 1693 0 0 0 0 0 0 14.11 13.98 13.63

8144 0.57 478.9 2711 2100 1747 1685 70.5 6.5 721 8188 0.12 2.58 38.83 0.415 10916 0.133 0.089 2780 692 1411 1456 1366 0 0 0 0 0 0 14.09 14.00 13.66

8235 0.63 485.5 2781 693 1455 1368 61.9 9.7 738 8246 0.00 2.50 3.88 0.383 9382 0.000 0.079 2780 2107 1384 1433 1336 0 0 0 0 0 0 14.07 13.95 13.66

8551 0.72 557.3 2781 2109 1432 1333 37.3 6.7 771 8594 0.00 2.55 37.15 0.321 8612 0.000 0.083 2781 3511 1092 1157 1028 0 0 0 0 0 0 14.39 14.02 13.74

8634 0.86 589.2 2780 3511 1157 1029 30.9 8.5 787 8657 0.22 2.45 17.05 0.301 11430 0.099 0.067 2870 2099 962 1031 894 0 0 0 0 0 0 14.09 14.00 13.78

8931 end climb: SURFACE_DEPTH_REACHED

state 8931 begin surface coast

8952 end surface coast: CONTROL_FINISHED_OK

state 8952 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	146	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	48
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	411.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	36	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,174641,7328.0371,-15030.0352,15,0.7,17,20.6,0.0,215.4,12,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	301.8,139157,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	230817,180920,7327.9546,-15030.1855,6,0.8,37,20.6,0.0,353.9,11,9.4

MODEM_MSG	CACST,6,1,20170823202753.832804,3,719,28,0143,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00	PM_FREEKB_00	53668096
FINISH	0.0,1.020511	_24V_AH	12.41,112.613
SM_CCo	8972,60.78,0.213,0,0,497,702.78	_10V_AH	12.30,0.000
SM_GC	1.22,8.07,0.20,60.78,0.067,0.107,0.213,205,2224,497,-7.38,-0.40,702.78,0,0,0,0,0,0,14.18,14.19,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	117	FG_AHR_10Vo	0.000
MODEM	0,1503518639,75.36600,-145.04601,185.717,269086.9	MEM	323676
RAFOS_FIX	7327.592285,-15032.682617,230817,202011,4,255,0.19	DATA_FILE_SIZE	26736,821
IRIDIUM_FIX	7327.76,-15030.30,230817,180300	CAP_FILE_SIZE	113880,0
TT8_MAMPS	0.085386,0.850864	CFSIZE	2097872896,2043052032
HUMID	43.69	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.76199	SOUNDSPEED	1449.6
TCM_TEMP	13.20	CURRENT	0.060,250.94,1
XPDR_PINGS	8	GPS	230817,204151,7328.942,-15033.038,35,1.0,36,20.6,0.5,242.2,7,8.2
CP_FREE	15994683392.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	138.39	nil	0	0	0.00
Roll_motor	83	2152	2231.38	nil	0	0	0.00
VBD_pump_during_apogee	849	1477	15586.80	nil	0	0	0.00
VBD_pump_during_surface	60	213	160.98	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	8982	14	1613.37
Iridium_during_xfer	801	161	1606.43	NCP	8979	20	2228.59
Transponder_ping	2	420	10.42	PMAR	8928	9	1104.64
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.59
TT8	0	0	0.00
LPSleep	6630	2	188.40
TT8_Active	924	13	158.79
TT8_Sampling	2501	33	1028.92
TT8_CF8	352	38	167.70
TT8_Kalman	0	0	0.00
Analog_circuits	2475	10	304.43
GPS_charging	0	0	0.00
Compass	1175	7	101.22
RAFOS	2196	48	1296.52
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	194	2191	497	489	0.0	0.0	0	140	0.00	0.00	-91.82	0.000	16386	0.000	0.000	193	2190	2280	2221	2340	0	0	0	0	0	0	14.52	28.83	14.54
143	-0.57	-145.9	194	2190	2217	2339	4.8	-7.2	9	191	12.52	2.75	-28.65	0.000	18724	0.455	2.153	2375	3579	3962	3942	3983	0	0	0	0	0	0	13.71	12.64	14.17
366	-0.60	-145.9	2376	3581	3951	3984	58.6	-17.0	53	371	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2209	3967	3951	3984	0	0	0	0	0	0	14.29	14.18	14.33
696	-0.65	-145.9	2376	2208	3953	3983	108.2	-12.6	83	701	0.00	2.42	0.00	0.000	388	0.000	0.086	2367	3585	3967	3952	3983	0	0	0	0	0	0	14.56	14.16	14.57
756	-0.82	-145.9	2368	3585	3953	3983	114.8	-10.1	95	761	0.17	2.35	0.00	0.000	5254	0.110	0.054	2293	2198	3968	3953	3983	0	0	0	0	0	0	14.26	14.23	14.34
1086	-0.78	-145.9	2294	2197	3953	3984	172.5	-17.2	111	1091	0.12	2.42	0.00	0.000	2436	0.283	0.086	2319	3580	3967	3952	3983	0	0	0	0	0	0	14.03	14.23	14.19
1208	-0.88	-145.9	2319	3581	3953	3984	187.7	-11.7	135	1213	0.00	2.33	0.00	0.000	1158	0.000	0.056	2319	2194	3967	3952	3983	0	0	0	0	0	0	14.40	14.28	14.43
1538	-0.93	-145.9	2319	2193	3953	3984	228.5	-11.9	151	1543	0.12	2.45	0.00	0.000	4484	0.141	0.087	2252	3586	3967	3952	3983	0	0	0	0	0	0	14.33	14.21	14.37
1683	-0.93	-145.9	2253	3586	3953	3983	250.7	-15.5	180	1691	0.10	2.35	0.00	0.000	3078	0.254	0.058	2271	2199	3966	3952	3980	0	0	0	0	0	0	14.07	14.25	14.29
1988	-0.93	-145.9	2271	2200	3953	3984	292.0	-13.1	191	1993	0.00	2.42	0.00	0.000	260	0.000	0.087	2266	3585	3968	3952	3985	0	0	0	0	0	0	14.63	14.21	14.65
2068	-0.98	-145.9	2266	3586	3952	3987	302.3	-12.2	207	2073	0.00	2.33	0.00	0.000	1158	0.000	0.056	2266	2199	3967	3951	3983	0	0	0	0	0	0	14.41	14.29	14.44
2378	-0.98	-145.9	2265	2198	3952	3982	342.3	-12.5	219	2383	0.00	2.42	0.00	0.000	260	0.000	0.086	2256	3585	3966	3950	3983	0	0	0	0	0	0	14.64	14.21	14.66
2463	-1.02	-145.9	2257	3587	3952	3983	352.7	-11.9	236	2470	0.00	2.35	0.00	0.000	1158	0.000	0.056	2256	2189	3965	3947	3983	0	0	0	0	0	0	14.36	14.24	14.40
2768	-1.02	-145.9	2256	2189	3951	3982	391.7	-12.8	247	2773	0.00	2.45	0.00	0.000	260	0.000	0.087	2249	3581	3966	3950	3982	0	0	0	0	0	0	14.65	14.20	14.66
2864	-1.06	-145.9	2250	3581	3950	3982	403.4	-11.8	266	2868	0.00	2.33	0.00	0.000	1158	0.000	0.055	2249	2198	3965	3949	3982	0	0	0	0	0	0	14.40	14.28	14.44
3189	-1.06	-145.9	2249	2197	3948	3982	445.4	-13.0	281	3193	0.00	2.42	0.00	0.000	260	0.000	0.087	2241	3581	3965	3949	3981	0	0	0	0	0	0	14.64	14.21	14.66
3310	-1.09	-145.9	2242	3580	3949	3981	460.7	-12.5	305	3315	0.00	2.33	0.00	0.000	1158	0.000	0.055	2241	2191	3964	3948	3981	0	0	0	0	0	0	14.41	14.29	14.45
3458	end dive: TARGET_DEPTH_EXCEEDED
state	3458	begin apogee
3464	-0.13	0.0	2242	2062	3949	3981	480.9	-13.4	315	3679	1.12	0.00	211.73	1.438	10246	0.243	0.000	2527	2061	3366	3384	3348	0	0	0	0	0	0	13.92	13.50	12.71
3682	end apogee: CONTROL_FINISHED_OK
state	3682	begin climb
3685	0.57	145.9	2528	2061	3378	3339	492.1	0.0	322	3900	0.75	2.72	201.93	1.387	10500	0.065	0.074	2780	3479	2761	2802	2721	0	0	0	0	0	0	13.59	13.16	12.41
4125	0.13	145.9	2781	3481	2786	2721	461.3	17.0	404	4132	0.77	2.35	0.00	0.000	5254	0.353	0.058	2631	2134	2753	2786	2720	0	0	0	0	0	0	13.44	13.78	13.81
4437	0.04	174.7	2631	2134	2786	2720	432.9	8.7	416	4483	0.12	2.40	38.75	1.451	12708	0.300	0.081	2603	3481	2647	2684	2610	0	0	0	0	0	0	13.88	13.94	13.13
4710	0.02	198.5	2603	3482	2679	2603	408.9	8.9	470	4749	0.00	2.35	32.70	1.478	9382	0.000	0.061	2602	2100	2552	2599	2506	0	0	0	0	0	0	14.16	14.05	13.18
5071	0.05	241.5	2603	2101	2597	2494	379.7	8.0	492	5141	0.00	2.53	64.80	1.393	8740	0.000	0.087	2602	693	2375	2422	2328	0	0	0	0	0	0	14.52	13.75	13.16
5211	0.19	290.1	2603	692	2414	2326	368.5	7.8	520	5291	0.12	2.42	72.35	1.352	11430	0.133	0.079	2659	2071	2178	2225	2131	0	0	0	0	0	0	14.07	14.02	12.99
5611	0.19	290.1	2659	2072	2218	2118	320.7	12.1	550	5612	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2070	2166	2217	2116	0	0	0	0	0	0	14.45	14.46	14.49
5912	0.19	290.1	2659	2077	2221	2117	286.0	11.3	560	5917	0.00	2.42	0.00	0.000	516	0.000	0.087	2659	693	2165	2215	2116	0	0	0	0	0	0	14.57	14.23	14.59
5963	0.23	290.1	2660	694	2214	2117	280.6	10.3	570	5967	0.00	2.45	0.00	0.000	1158	0.000	0.078	2660	2108	2164	2213	2116	0	0	0	0	0	0	14.38	14.25	14.42
6272	0.23	290.1	2660	2109	2214	2112	247.9	10.2	582	6278	0.00	2.50	0.00	0.000	516	0.000	0.087	2660	684	2164	2214	2114	0	0	0	0	0	0	14.64	14.27	14.65
6333	0.30	319.1	2660	685	2213	2115	242.5	8.7	594	6383	0.00	2.45	42.20	1.355	9382	0.000	0.078	2660	2106	2063	2108	2018	0	0	0	0	0	0	14.42	14.29	13.31
6693	0.35	345.9	2660	2106	2103	2009	210.5	8.8	616	6739	0.12	0.00	44.22	1.345	10406	0.132	0.000	2711	2106	1954	1997	1912	0	0	0	0	0	0	14.13	13.95	13.24
7023	0.32	345.9	2712	2106	1990	1899	173.3	11.1	627	7028	0.00	2.50	0.00	0.000	644	0.000	0.088	2713	691	1944	1989	1899	0	0	0	0	0	0	14.40	14.05	14.41
7083	0.32	345.9	2712	692	1989	1899	166.9	10.4	639	7088	0.00	2.47	0.00	0.000	1030	0.000	0.076	2712	2105	1943	1987	1899	0	0	0	0	0	0	14.20	14.08	14.25
7413	0.32	345.9	2713	2103	1988	1898	132.5	10.2	655	7414	0.00	0.00	0.00	0.000	6	0.000	0.000	2713	2103	1941	1987	1896	0	0	0	0	0	0	14.46	14.47	14.48
7713	0.33	365.4	2713	2104	1986	1897	104.4	9.1	665	7744	0.00	2.53	24.05	1.346	8740	0.000	0.088	2712	685	1872	1907	1837	0	0	0	0	0	0	14.46	14.08	13.31
7821	0.44	403.3	2712	685	1902	1837	95.1	8.3	686	7848	0.00	2.50	20.17	0.496	9382	0.000	0.079	2713	2100	1719	1745	1693	0	0	0	0	0	0	14.11	13.98	13.63
8144	0.57	478.9	2711	2100	1747	1685	70.5	6.5	721	8188	0.12	2.58	38.83	0.415	10916	0.133	0.089	2780	692	1411	1456	1366	0	0	0	0	0	0	14.09	14.00	13.66
8235	0.63	485.5	2781	693	1455	1368	61.9	9.7	738	8246	0.00	2.50	3.88	0.383	9382	0.000	0.079	2780	2107	1384	1433	1336	0	0	0	0	0	0	14.07	13.95	13.66
8551	0.72	557.3	2781	2109	1432	1333	37.3	6.7	771	8594	0.00	2.55	37.15	0.321	8612	0.000	0.083	2781	3511	1092	1157	1028	0	0	0	0	0	0	14.39	14.02	13.74
8634	0.86	589.2	2780	3511	1157	1029	30.9	8.5	787	8657	0.22	2.45	17.05	0.301	11430	0.099	0.067	2870	2099	962	1031	894	0	0	0	0	0	0	14.09	14.00	13.78
8931	end climb: SURFACE_DEPTH_REACHED
state	8931	begin surface coast
8952	end surface coast: CONTROL_FINISHED_OK
state	8952	begin surface