Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 164 * 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 164 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 315 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 105 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 48

T_MISSION 135 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 461.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 315 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 105

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 135

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 461.0 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 25 VBD_MIN 500

DIVE 164 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 250817,203421,7346.6597,-15128.6416,38,0.7,39,20.2,0.0,0.0,11,8.0 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 1.23 MHEAD_RNG_PITCHd_Wd 293.5,94406,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.7 D_GRID 315

GPS2 250817,205733,7346.6372,-15128.7705,5,0.8,10,20.2,0.0,11.4,10,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825202730.802294,3,2064,33,0688,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38 PM_FREEKB_00 53145024

FINISH 0.3,1.020811 _24V_AH 12.46,121.326

SM_CCo 6705,29.52,0.213,0,0,498,703.03 _10V_AH 12.33,0.000

SM_GC 1.50,8.27,0.17,29.52,0.088,0.133,0.213,203,2210,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.30,14.25,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 293 FG_AHR_10Vo 0.000

MODEM 0,1503691434,75.36600,-145.04601,180.569,261629.4 MEM 323660

RAFOS_FIX 7345.462402,-15129.008789,250817,202004,4,255,0.00 DATA_FILE_SIZE 20151,615

IRIDIUM_FIX 7348.80,-15135.69,250817,205203 CAP_FILE_SIZE 91961,0

TT8_MAMPS 0.040446,0.825398 CFSIZE 2097872896,2037383168

HUMID 46.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1444.3

TCM_TEMP 13.10 CURRENT 0.056,278.35,1

XPDR_PINGS 9 GPS 250817,225156,7347.283,-15130.841,5,0.7,46,20.2,0.0,324.7,11,127.3

CP_FREE 15991767040.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 142.81 nil 0 0 0.00

Roll_motor 59 2150 1602.29 nil 0 0 0.00

VBD_pump_during_apogee 1044 1464 19072.72 nil 0 0 0.00

VBD_pump_during_surface 29 212 78.24 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 6666 17 1426.61

Iridium_during_xfer 863 188 2024.37 NCP 6710 20 1672.13

Transponder_ping 2 420 11.77 PMAR 6660 9 821.79

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.21

TT8 0 0 0.00

LPSleep 4531 2 129.08

TT8_Active 940 13 162.02

TT8_Sampling 2365 33 975.32

TT8_CF8 305 38 145.72

TT8_Kalman 0 0 0.00

Analog_circuits 2544 10 313.78

GPS_charging 0 0 0.00

Compass 883 7 76.27

RAFOS 0 0 0.00

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 -145.9 170 2216 504 491 0.0 0.0 0 140 0.00 0.00 -91.12 0.000 16386 0.000 0.000 168 2216 2168 2094 2242 0 0 0 0 0 0 14.38 28.83 14.40

143 -0.57 -145.9 169 2217 2097 2248 4.1 -5.5 9 196 12.60 2.75 -33.67 0.000 18724 0.452 2.150 2377 3600 3964 3947 3981 0 0 0 0 0 0 13.69 12.88 14.15

397 -0.67 -145.9 2378 3602 3954 3981 59.4 -15.3 59 401 0.00 2.40 0.00 0.000 1158 0.000 0.062 2377 2201 3966 3953 3980 0 0 0 0 0 0 14.24 14.16 14.27

707 -0.74 -145.9 2377 2200 3954 3981 104.7 -12.3 89 712 0.12 2.40 0.00 0.000 4484 0.150 0.083 2319 3597 3967 3954 3980 0 0 0 0 0 0 14.19 14.16 14.25

747 -0.78 -145.9 2320 3599 3954 3981 110.5 -15.0 97 752 0.00 2.38 0.00 0.000 1158 0.000 0.058 2319 2198 3966 3953 3980 0 0 0 0 0 0 14.35 14.20 14.36

1067 -0.78 -145.9 2320 2197 3955 3980 158.6 -14.3 111 1072 0.00 2.45 0.00 0.000 260 0.000 0.088 2315 3597 3967 3954 3980 0 0 0 0 0 0 14.62 14.23 14.64

1137 -0.90 -145.9 2315 3598 3955 3980 167.5 -11.2 125 1142 0.00 2.38 0.00 0.000 1158 0.000 0.058 2314 2192 3967 3954 3980 0 0 0 0 0 0 14.38 14.28 14.42

1457 -0.94 -145.9 2316 2190 3955 3980 207.7 -12.1 139 1458 0.12 0.00 0.00 0.000 4230 0.138 0.000 2263 2190 3967 3954 3980 0 0 0 0 0 0 14.28 14.36 14.33

1758 -0.90 -145.9 2264 2191 3955 3980 255.6 -15.5 149 1763 0.12 2.47 0.00 0.000 2436 0.277 0.085 2282 3603 3967 3954 3980 0 0 0 0 0 0 13.96 14.21 14.11

1903 -1.00 -145.9 2283 3605 3954 3982 272.6 -10.9 178 1909 0.00 2.38 0.00 0.000 1158 0.000 0.057 2283 2197 3967 3955 3980 0 0 0 0 0 0 14.33 14.21 14.37

2208 -1.04 -145.9 2283 2196 3954 3981 307.6 -11.4 189 2213 0.00 2.45 0.00 0.000 388 0.000 0.089 2279 3597 3966 3953 3980 0 0 0 0 0 0 14.66 14.24 14.66

2278 -1.16 -145.9 2280 3598 3955 3980 314.9 -9.8 203 2283 0.22 2.35 0.00 0.000 5286 0.103 0.057 2193 2197 3970 3954 3986 0 0 0 0 0 0 14.35 14.31 14.44

2286 end dive: TARGET_DEPTH_EXCEEDED

state 2286 begin apogee

2292 -0.13 0.0 2194 2070 3955 3981 315.9 -9.7 205 2541 1.38 0.00 244.93 1.290 10246 0.283 0.000 2526 2068 3362 3385 3340 0 0 0 0 0 0 13.93 13.49 12.76

2589 end apogee: CONTROL_FINISHED_OK

state 2589 begin climb

2592 0.57 145.9 2527 2068 3377 3328 328.9 0.0 213 2819 0.75 2.70 218.35 1.244 11012 0.065 0.074 2783 3504 2762 2804 2721 0 0 0 0 0 0 13.69 13.02 12.46

3044 0.13 145.9 2784 3505 2784 2715 309.4 15.4 266 3050 0.80 2.40 0.00 0.000 5254 0.349 0.057 2630 2129 2749 2783 2715 0 0 0 0 0 0 13.42 13.77 13.78

3349 0.09 219.3 2630 2129 2784 2714 287.3 6.6 277 3476 0.00 2.58 121.78 1.225 8612 0.000 0.082 2630 3507 2469 2524 2414 0 0 0 0 0 0 14.42 13.72 13.00

3703 0.06 231.2 2631 3507 2500 2410 257.3 9.4 347 3724 0.15 2.42 12.77 1.465 13478 0.268 0.060 2607 2099 2419 2468 2371 0 0 0 0 0 0 13.83 13.57 13.14

4046 0.20 326.3 2607 2100 2457 2359 236.7 5.6 365 4226 0.12 0.00 177.00 1.187 10406 0.132 0.000 2663 2099 2033 2084 1983 0 0 0 0 0 0 14.27 13.62 12.96

4526 0.25 356.8 2664 2099 2066 1961 195.2 8.6 381 4580 0.00 2.53 47.53 1.248 8868 0.000 0.087 2670 691 1905 1946 1864 0 0 0 0 0 0 14.36 13.88 13.15

4675 0.38 396.9 2671 690 1928 1864 182.6 8.2 411 4750 0.10 2.47 68.45 1.204 11430 0.158 0.080 2706 2087 1745 1771 1719 0 0 0 0 0 0 14.01 14.00 13.09

5066 0.41 396.9 2711 2088 1760 1698 141.5 10.3 439 5070 0.00 2.47 0.00 0.000 644 0.000 0.087 2712 688 1729 1759 1699 0 0 0 0 0 0 14.45 14.13 14.47

5121 0.51 414.4 2712 689 1759 1701 136.2 9.2 450 5151 0.00 2.47 24.30 1.310 9382 0.000 0.077 2712 2108 1673 1704 1643 0 0 0 0 0 0 14.23 14.10 13.28

5458 0.56 424.3 2712 2108 1696 1625 104.2 9.5 467 5468 0.12 2.50 3.80 1.320 10916 0.134 0.088 2781 688 1635 1670 1600 0 0 0 0 0 0 14.29 14.12 12.91

5503 0.52 424.3 2781 688 1674 1604 98.5 13.4 476 5510 0.15 2.47 0.00 0.000 5254 0.258 0.078 2750 2109 1640 1675 1605 0 0 0 0 0 0 14.03 14.21 14.28

5810 0.55 466.3 2750 2110 1679 1607 68.4 8.1 508 5842 0.00 2.55 23.80 0.404 8740 0.000 0.085 2755 689 1463 1501 1425 0 0 0 0 0 0 14.54 14.15 13.81

5899 0.69 525.0 2755 690 1505 1430 61.8 7.3 525 5937 0.15 2.47 32.45 0.386 11430 0.122 0.080 2813 2098 1223 1280 1167 0 0 0 0 0 0 14.23 14.16 13.72

6232 0.71 548.0 2813 2100 1281 1174 30.2 8.9 562 6250 0.00 2.55 13.10 0.298 8740 0.000 0.087 2822 687 1129 1190 1069 0 0 0 0 0 0 14.54 14.18 13.79

6285 0.78 559.9 2818 684 1191 1078 25.3 9.5 572 6297 0.00 2.47 7.85 0.287 9382 0.000 0.079 2823 2108 1081 1143 1019 0 0 0 0 0 0 14.27 14.13 13.85

6595 0.92 649.4 2822 2104 1144 1030 7.4 5.9 604 6648 0.15 0.00 48.78 0.226 10918 0.116 0.000 2889 2103 714 770 658 0 0 0 0 0 0 14.14 14.14 13.88

6672 end climb: SURFACE_DEPTH_REACHED

state 6672 begin surface coast

6683 end surface coast: CONTROL_FINISHED_OK

state 6683 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	164	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	315	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	105	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	48
T_MISSION	135	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	461.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,203421,7346.6597,-15128.6416,38,0.7,39,20.2,0.0,0.0,11,8.0	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	1.23	MHEAD_RNG_PITCHd_Wd	293.5,94406,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.7	D_GRID	315
GPS2	250817,205733,7346.6372,-15128.7705,5,0.8,10,20.2,0.0,11.4,10,9.8

MODEM_MSG	CACST,6,1,20170825202730.802294,3,2064,33,0688,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38	PM_FREEKB_00	53145024
FINISH	0.3,1.020811	_24V_AH	12.46,121.326
SM_CCo	6705,29.52,0.213,0,0,498,703.03	_10V_AH	12.33,0.000
SM_GC	1.50,8.27,0.17,29.52,0.088,0.133,0.213,203,2210,498,-7.37,-0.68,703.03,0,0,0,0,0,0,14.30,14.25,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	293	FG_AHR_10Vo	0.000
MODEM	0,1503691434,75.36600,-145.04601,180.569,261629.4	MEM	323660
RAFOS_FIX	7345.462402,-15129.008789,250817,202004,4,255,0.00	DATA_FILE_SIZE	20151,615
IRIDIUM_FIX	7348.80,-15135.69,250817,205203	CAP_FILE_SIZE	91961,0
TT8_MAMPS	0.040446,0.825398	CFSIZE	2097872896,2037383168
HUMID	46.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1444.3
TCM_TEMP	13.10	CURRENT	0.056,278.35,1
XPDR_PINGS	9	GPS	250817,225156,7347.283,-15130.841,5,0.7,46,20.2,0.0,324.7,11,127.3
CP_FREE	15991767040.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	142.81	nil	0	0	0.00
Roll_motor	59	2150	1602.29	nil	0	0	0.00
VBD_pump_during_apogee	1044	1464	19072.72	nil	0	0	0.00
VBD_pump_during_surface	29	212	78.24	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	6666	17	1426.61
Iridium_during_xfer	863	188	2024.37	NCP	6710	20	1672.13
Transponder_ping	2	420	11.77	PMAR	6660	9	821.79
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.21
TT8	0	0	0.00
LPSleep	4531	2	129.08
TT8_Active	940	13	162.02
TT8_Sampling	2365	33	975.32
TT8_CF8	305	38	145.72
TT8_Kalman	0	0	0.00
Analog_circuits	2544	10	313.78
GPS_charging	0	0	0.00
Compass	883	7	76.27
RAFOS	0	0	0.00
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	170	2216	504	491	0.0	0.0	0	140	0.00	0.00	-91.12	0.000	16386	0.000	0.000	168	2216	2168	2094	2242	0	0	0	0	0	0	14.38	28.83	14.40
143	-0.57	-145.9	169	2217	2097	2248	4.1	-5.5	9	196	12.60	2.75	-33.67	0.000	18724	0.452	2.150	2377	3600	3964	3947	3981	0	0	0	0	0	0	13.69	12.88	14.15
397	-0.67	-145.9	2378	3602	3954	3981	59.4	-15.3	59	401	0.00	2.40	0.00	0.000	1158	0.000	0.062	2377	2201	3966	3953	3980	0	0	0	0	0	0	14.24	14.16	14.27
707	-0.74	-145.9	2377	2200	3954	3981	104.7	-12.3	89	712	0.12	2.40	0.00	0.000	4484	0.150	0.083	2319	3597	3967	3954	3980	0	0	0	0	0	0	14.19	14.16	14.25
747	-0.78	-145.9	2320	3599	3954	3981	110.5	-15.0	97	752	0.00	2.38	0.00	0.000	1158	0.000	0.058	2319	2198	3966	3953	3980	0	0	0	0	0	0	14.35	14.20	14.36
1067	-0.78	-145.9	2320	2197	3955	3980	158.6	-14.3	111	1072	0.00	2.45	0.00	0.000	260	0.000	0.088	2315	3597	3967	3954	3980	0	0	0	0	0	0	14.62	14.23	14.64
1137	-0.90	-145.9	2315	3598	3955	3980	167.5	-11.2	125	1142	0.00	2.38	0.00	0.000	1158	0.000	0.058	2314	2192	3967	3954	3980	0	0	0	0	0	0	14.38	14.28	14.42
1457	-0.94	-145.9	2316	2190	3955	3980	207.7	-12.1	139	1458	0.12	0.00	0.00	0.000	4230	0.138	0.000	2263	2190	3967	3954	3980	0	0	0	0	0	0	14.28	14.36	14.33
1758	-0.90	-145.9	2264	2191	3955	3980	255.6	-15.5	149	1763	0.12	2.47	0.00	0.000	2436	0.277	0.085	2282	3603	3967	3954	3980	0	0	0	0	0	0	13.96	14.21	14.11
1903	-1.00	-145.9	2283	3605	3954	3982	272.6	-10.9	178	1909	0.00	2.38	0.00	0.000	1158	0.000	0.057	2283	2197	3967	3955	3980	0	0	0	0	0	0	14.33	14.21	14.37
2208	-1.04	-145.9	2283	2196	3954	3981	307.6	-11.4	189	2213	0.00	2.45	0.00	0.000	388	0.000	0.089	2279	3597	3966	3953	3980	0	0	0	0	0	0	14.66	14.24	14.66
2278	-1.16	-145.9	2280	3598	3955	3980	314.9	-9.8	203	2283	0.22	2.35	0.00	0.000	5286	0.103	0.057	2193	2197	3970	3954	3986	0	0	0	0	0	0	14.35	14.31	14.44
2286	end dive: TARGET_DEPTH_EXCEEDED
state	2286	begin apogee
2292	-0.13	0.0	2194	2070	3955	3981	315.9	-9.7	205	2541	1.38	0.00	244.93	1.290	10246	0.283	0.000	2526	2068	3362	3385	3340	0	0	0	0	0	0	13.93	13.49	12.76
2589	end apogee: CONTROL_FINISHED_OK
state	2589	begin climb
2592	0.57	145.9	2527	2068	3377	3328	328.9	0.0	213	2819	0.75	2.70	218.35	1.244	11012	0.065	0.074	2783	3504	2762	2804	2721	0	0	0	0	0	0	13.69	13.02	12.46
3044	0.13	145.9	2784	3505	2784	2715	309.4	15.4	266	3050	0.80	2.40	0.00	0.000	5254	0.349	0.057	2630	2129	2749	2783	2715	0	0	0	0	0	0	13.42	13.77	13.78
3349	0.09	219.3	2630	2129	2784	2714	287.3	6.6	277	3476	0.00	2.58	121.78	1.225	8612	0.000	0.082	2630	3507	2469	2524	2414	0	0	0	0	0	0	14.42	13.72	13.00
3703	0.06	231.2	2631	3507	2500	2410	257.3	9.4	347	3724	0.15	2.42	12.77	1.465	13478	0.268	0.060	2607	2099	2419	2468	2371	0	0	0	0	0	0	13.83	13.57	13.14
4046	0.20	326.3	2607	2100	2457	2359	236.7	5.6	365	4226	0.12	0.00	177.00	1.187	10406	0.132	0.000	2663	2099	2033	2084	1983	0	0	0	0	0	0	14.27	13.62	12.96
4526	0.25	356.8	2664	2099	2066	1961	195.2	8.6	381	4580	0.00	2.53	47.53	1.248	8868	0.000	0.087	2670	691	1905	1946	1864	0	0	0	0	0	0	14.36	13.88	13.15
4675	0.38	396.9	2671	690	1928	1864	182.6	8.2	411	4750	0.10	2.47	68.45	1.204	11430	0.158	0.080	2706	2087	1745	1771	1719	0	0	0	0	0	0	14.01	14.00	13.09
5066	0.41	396.9	2711	2088	1760	1698	141.5	10.3	439	5070	0.00	2.47	0.00	0.000	644	0.000	0.087	2712	688	1729	1759	1699	0	0	0	0	0	0	14.45	14.13	14.47
5121	0.51	414.4	2712	689	1759	1701	136.2	9.2	450	5151	0.00	2.47	24.30	1.310	9382	0.000	0.077	2712	2108	1673	1704	1643	0	0	0	0	0	0	14.23	14.10	13.28
5458	0.56	424.3	2712	2108	1696	1625	104.2	9.5	467	5468	0.12	2.50	3.80	1.320	10916	0.134	0.088	2781	688	1635	1670	1600	0	0	0	0	0	0	14.29	14.12	12.91
5503	0.52	424.3	2781	688	1674	1604	98.5	13.4	476	5510	0.15	2.47	0.00	0.000	5254	0.258	0.078	2750	2109	1640	1675	1605	0	0	0	0	0	0	14.03	14.21	14.28
5810	0.55	466.3	2750	2110	1679	1607	68.4	8.1	508	5842	0.00	2.55	23.80	0.404	8740	0.000	0.085	2755	689	1463	1501	1425	0	0	0	0	0	0	14.54	14.15	13.81
5899	0.69	525.0	2755	690	1505	1430	61.8	7.3	525	5937	0.15	2.47	32.45	0.386	11430	0.122	0.080	2813	2098	1223	1280	1167	0	0	0	0	0	0	14.23	14.16	13.72
6232	0.71	548.0	2813	2100	1281	1174	30.2	8.9	562	6250	0.00	2.55	13.10	0.298	8740	0.000	0.087	2822	687	1129	1190	1069	0	0	0	0	0	0	14.54	14.18	13.79
6285	0.78	559.9	2818	684	1191	1078	25.3	9.5	572	6297	0.00	2.47	7.85	0.287	9382	0.000	0.079	2823	2108	1081	1143	1019	0	0	0	0	0	0	14.27	14.13	13.85
6595	0.92	649.4	2822	2104	1144	1030	7.4	5.9	604	6648	0.15	0.00	48.78	0.226	10918	0.116	0.000	2889	2103	714	770	658	0	0	0	0	0	0	14.14	14.14	13.88
6672	end climb: SURFACE_DEPTH_REACHED
state	6672	begin surface coast
6683	end surface coast: CONTROL_FINISHED_OK
state	6683	begin surface