Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 172 * 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 172 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 484.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 484.0 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 27 VBD_MIN 500

DIVE 172 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 260817,224724,7354.4873,-15153.0537,16,0.7,30,20.0,0.3,302.5,11,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 288.0,75931,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 260817,225932,7354.4917,-15153.1143,5,0.7,29,20.0,0.0,303.8,11,7.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827002720.164393,3,271,18,0347,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B PM_FREEKB_00 52908928

FINISH 0.1,1.019869 _24V_AH 12.36,125.357

SM_CCo 8767,11.95,0.216,0,0,499,702.78 _10V_AH 12.24,0.000

SM_GC 2.06,8.15,0.17,11.95,0.072,0.124,0.216,204,2213,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.25,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

MODEM 2,1503792817,73.18300,-149.96500,70.317,101804.7 MEM 323696

RAFOS_FIX 7354.074707,-15153.484375,270817,000005,3,255,0.16 DATA_FILE_SIZE 26681,725

IRIDIUM_FIX 7353.18,-15145.63,260817,201100 CAP_FILE_SIZE 103254,0

TT8_MAMPS 0.040446,0.917525 CFSIZE 2097872896,2034892800

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.1

TCM_TEMP 13.20 CURRENT 0.023,271.90,1

XPDR_PINGS 15 GPS 270817,012739,7355.529,-15156.204,21,0.8,27,20.0,0.0,0.0,10,9.7

CP_FREE 15990456320.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 143.49 nil 0 0 0.00

Roll_motor 88 2148 2345.93 nil 0 0 0.00

VBD_pump_during_apogee 1050 1408 18279.07 nil 0 0 0.00

VBD_pump_during_surface 11 215 31.86 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 8778 14 1582.09

Iridium_during_xfer 427 182 961.98 NCP 8750 20 2163.00

Transponder_ping 3 420 19.47 PMAR 8723 12 1384.36

GUMSTIX_24V 0 0 0.00

GPS 30 22 8.40

TT8 0 0 0.00

LPSleep 6130 2 173.34

TT8_Active 912 13 156.09

TT8_Sampling 2181 33 892.87

TT8_CF8 299 38 141.61

TT8_Kalman 0 0 0.00

Analog_circuits 2219 10 271.65

GPS_charging 0 0 0.00

Compass 1044 7 89.46

RAFOS 1947 48 1143.90

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 -145.9 192 2219 514 472 0.0 0.0 0 140 0.00 0.00 -91.57 0.000 16386 0.000 0.000 191 2219 2201 2130 2273 0 0 0 0 0 0 14.47 28.83 14.49

143 -0.57 -145.9 192 2219 2134 2269 4.6 -6.7 9 196 12.73 2.78 -31.75 0.000 18724 0.460 2.149 2375 3595 3966 3949 3983 0 0 0 0 0 0 13.66 12.57 14.14

397 -0.67 -145.9 2375 3596 3950 3985 60.8 -14.0 59 401 0.00 2.40 0.00 0.000 1158 0.000 0.060 2376 2196 3966 3950 3983 0 0 0 0 0 0 14.21 14.12 14.23

707 -0.74 -145.9 2375 2195 3952 3983 104.6 -12.0 89 712 0.00 2.45 0.00 0.000 388 0.000 0.089 2365 3602 3966 3950 3983 0 0 0 0 0 0 14.56 14.16 14.57

762 -0.91 -145.9 2366 3604 3952 3982 110.6 -10.1 100 769 0.25 2.40 0.00 0.000 5254 0.094 0.057 2266 2190 3967 3950 3984 0 0 0 0 0 0 14.22 14.19 14.28

1067 -0.83 -145.9 2266 2190 3951 3984 170.5 -19.5 111 1072 0.15 2.47 0.00 0.000 2436 0.297 0.084 2291 3596 3966 3950 3983 0 0 0 0 0 0 13.84 14.12 14.02

1164 -0.91 -145.9 2291 3598 3951 3985 184.3 -12.6 130 1169 0.00 2.38 0.00 0.000 1158 0.000 0.059 2291 2192 3966 3950 3983 0 0 0 0 0 0 14.38 14.25 14.40

1489 -0.91 -145.9 2292 2191 3952 3983 230.6 -13.7 145 1494 0.00 2.47 0.00 0.000 260 0.000 0.088 2281 3600 3966 3950 3983 0 0 0 0 0 0 14.62 14.16 14.64

1574 -1.00 -145.9 2282 3597 3952 3984 241.0 -11.5 162 1580 0.00 2.38 0.00 0.000 1158 0.000 0.057 2281 2199 3966 3950 3983 0 0 0 0 0 0 14.21 14.09 14.23

1880 -1.03 -145.9 2281 2199 3951 3984 278.1 -11.8 173 1885 0.00 2.47 0.00 0.000 388 0.000 0.091 2279 3595 3966 3950 3983 0 0 0 0 0 0 14.66 14.21 14.67

1940 -1.13 -145.9 2280 3595 3951 3983 284.8 -10.4 185 1945 0.20 2.35 0.00 0.000 5254 0.109 0.058 2207 2197 3967 3950 3984 0 0 0 0 0 0 14.31 14.28 14.41

2271 -1.04 -145.9 2207 2196 3951 3984 341.2 -17.1 201 2276 0.12 2.45 0.00 0.000 2436 0.311 0.086 2227 3595 3966 3950 3983 0 0 0 0 0 0 13.97 14.23 14.14

2416 -1.04 -145.9 2229 3596 3952 3983 362.1 -13.6 230 2422 0.00 2.38 0.00 0.000 1030 0.000 0.057 2227 2197 3966 3950 3983 0 0 0 0 0 0 14.35 14.23 14.38

2721 -1.00 -145.9 2228 2195 3952 3982 406.1 -14.2 241 2726 0.12 2.45 0.00 0.000 2436 0.313 0.086 2246 3595 3966 3950 3982 0 0 0 0 0 0 13.96 14.19 14.12

2791 -1.06 -145.9 2245 3596 3952 3984 414.6 -11.4 255 2796 0.00 2.38 0.00 0.000 1158 0.000 0.057 2246 2197 3966 3950 3982 0 0 0 0 0 0 13.97 13.98 13.97

3112 -1.06 -145.9 2247 2196 3951 3983 454.6 -12.4 269 3116 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3595 3966 3950 3982 0 0 0 0 0 0 14.65 14.21 14.66

3187 -1.11 -145.9 2237 3596 3952 3982 463.7 -11.6 284 3193 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2196 3967 3952 3982 0 0 0 0 0 0 14.39 14.28 14.41

3320 end dive: TARGET_DEPTH_EXCEEDED

state 3320 begin apogee

3326 -0.13 0.0 2237 2066 3951 3982 481.3 -13.1 291 3594 1.15 0.00 262.02 1.334 10246 0.242 0.000 2531 2065 3360 3382 3338 0 0 0 0 0 0 13.96 13.39 12.65

3598 end apogee: CONTROL_FINISHED_OK

state 3598 begin climb

3600 0.57 145.9 2532 2065 3379 3333 496.1 0.0 300 3827 0.73 2.60 214.00 1.324 10756 0.064 0.081 2782 727 2758 2803 2713 0 0 0 0 0 0 13.52 12.98 12.36

3838 0.57 145.9 2781 727 2799 2706 502.9 -2.7 302 3843 0.00 2.55 0.00 0.000 1030 0.000 0.076 2782 2086 2750 2797 2704 0 0 0 0 0 0 13.32 13.22 13.34

4158 0.17 145.9 2782 2083 2791 2696 452.9 15.6 316 4160 0.65 0.00 0.00 0.000 4230 0.320 0.000 2643 2086 2742 2788 2696 0 0 0 0 0 0 13.49 13.91 13.85

4458 0.04 168.6 2643 2087 2789 2696 424.7 9.0 326 4490 0.15 2.47 27.23 1.408 12964 0.300 0.083 2612 729 2674 2722 2626 0 0 0 0 0 0 13.82 13.99 13.18

4547 0.08 218.1 2612 729 2713 2611 418.0 7.7 343 4631 0.00 2.45 78.20 1.288 9254 0.000 0.080 2612 2106 2476 2538 2415 0 0 0 0 0 0 14.09 13.98 12.98

4941 0.10 246.6 2612 2106 2518 2390 384.0 8.7 372 4985 0.00 0.00 41.55 1.334 8742 0.000 0.000 2612 2107 2356 2413 2299 0 0 0 0 0 0 14.33 13.90 13.16

5301 0.13 265.4 2612 2107 2395 2283 351.3 9.1 389 5332 0.00 2.45 24.77 1.381 8868 0.000 0.083 2613 725 2274 2331 2218 0 0 0 0 0 0 14.40 13.83 13.23

5384 0.26 309.1 2613 725 2322 2216 344.3 8.0 405 5458 0.17 2.42 69.53 1.275 11430 0.109 0.080 2685 2100 2108 2158 2059 0 0 0 0 0 0 14.09 14.02 13.07

5784 0.20 309.1 2685 2100 2141 2033 289.0 13.7 435 5793 0.15 2.40 0.00 0.000 4740 0.242 0.080 2658 726 2085 2139 2032 0 0 0 0 0 0 13.64 14.04 13.92

5810 0.20 309.1 2658 726 2137 2034 285.7 12.3 439 5815 0.00 2.42 0.00 0.000 1030 0.000 0.079 2657 2103 2085 2137 2033 0 0 0 0 0 0 14.16 14.06 14.22

6120 0.20 309.1 2658 2106 2137 2030 252.2 10.2 451 6121 0.00 0.00 0.00 0.000 6 0.000 0.000 2657 2105 2083 2137 2030 0 0 0 0 0 0 14.47 14.46 14.46

6420 0.21 325.8 2658 2105 2137 2030 223.9 9.2 461 6447 0.00 2.50 21.27 1.366 8740 0.000 0.085 2658 724 2032 2083 1981 0 0 0 0 0 0 14.59 14.17 13.35

6524 0.34 369.4 2658 723 2068 1972 215.2 8.0 481 6608 0.00 2.40 76.50 1.226 9382 0.000 0.080 2658 2102 1856 1891 1821 0 0 0 0 0 0 14.29 14.16 13.18

6934 0.45 416.2 2659 2101 1873 1805 181.0 7.8 513 7025 0.17 2.53 82.50 1.196 10916 0.112 0.087 2747 726 1659 1687 1631 0 0 0 0 0 0 14.24 13.88 13.17

7060 0.45 416.2 2742 726 1678 1625 164.6 13.5 538 7065 0.00 2.45 0.00 0.000 1030 0.000 0.078 2742 2102 1650 1678 1623 0 0 0 0 0 0 14.04 13.93 14.07

7386 0.42 416.2 2743 2103 1678 1614 121.7 12.6 553 7391 0.00 2.42 0.00 0.000 644 0.000 0.086 2744 729 1645 1677 1614 0 0 0 0 0 0 14.51 14.07 14.52

7452 0.45 416.2 2744 729 1675 1615 114.0 11.4 566 7457 0.00 2.40 0.00 0.000 1158 0.000 0.079 2743 2099 1644 1674 1614 0 0 0 0 0 0 14.33 14.19 14.36

7759 0.45 419.8 2743 2101 1675 1612 80.9 9.8 591 7763 0.00 2.40 0.00 0.000 548 0.000 0.085 2744 726 1642 1674 1611 0 0 0 0 0 0 14.57 14.22 14.60

7819 0.54 451.7 2744 726 1674 1611 75.2 8.5 603 7841 0.00 2.40 17.30 0.408 9382 0.000 0.079 2743 2105 1522 1556 1488 0 0 0 0 0 0 14.33 14.20 13.68

8139 0.69 551.0 2744 2105 1567 1494 52.3 5.4 637 8202 0.15 2.42 56.75 0.352 10916 0.119 0.083 2808 730 1115 1176 1054 0 0 0 0 0 0 14.20 14.00 13.74

8263 0.76 569.2 2808 731 1182 1063 41.9 9.2 661 8279 0.00 2.42 11.68 0.317 9382 0.000 0.077 2808 2108 1042 1112 973 0 0 0 0 0 0 14.27 14.14 13.80

8585 0.94 681.0 2807 2109 1113 992 15.6 4.8 695 8658 0.20 2.47 66.78 0.243 10916 0.101 0.088 2899 725 585 626 544 0 0 0 0 0 0 14.23 14.02 13.84

8724 0.97 681.0 2900 727 627 538 2.1 10.6 722 8730 0.00 2.40 0.00 0.000 1158 0.000 0.078 2900 2101 582 625 539 0 0 0 0 0 0 14.18 14.09 14.22

8736 end climb: SURFACE_DEPTH_REACHED

state 8736 begin surface coast

8746 end surface coast: CONTROL_FINISHED_OK

state 8746 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	172	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	484.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	260817,224724,7354.4873,-15153.0537,16,0.7,30,20.0,0.3,302.5,11,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	288.0,75931,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	260817,225932,7354.4917,-15153.1143,5,0.7,29,20.0,0.0,303.8,11,7.0

MODEM_MSG	CACST,6,1,20170827002720.164393,3,271,18,0347,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0B	PM_FREEKB_00	52908928
FINISH	0.1,1.019869	_24V_AH	12.36,125.357
SM_CCo	8767,11.95,0.216,0,0,499,702.78	_10V_AH	12.24,0.000
SM_GC	2.06,8.15,0.17,11.95,0.072,0.124,0.216,204,2213,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.25,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
MODEM	2,1503792817,73.18300,-149.96500,70.317,101804.7	MEM	323696
RAFOS_FIX	7354.074707,-15153.484375,270817,000005,3,255,0.16	DATA_FILE_SIZE	26681,725
IRIDIUM_FIX	7353.18,-15145.63,260817,201100	CAP_FILE_SIZE	103254,0
TT8_MAMPS	0.040446,0.917525	CFSIZE	2097872896,2034892800
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.1
TCM_TEMP	13.20	CURRENT	0.023,271.90,1
XPDR_PINGS	15	GPS	270817,012739,7355.529,-15156.204,21,0.8,27,20.0,0.0,0.0,10,9.7
CP_FREE	15990456320.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	143.49	nil	0	0	0.00
Roll_motor	88	2148	2345.93	nil	0	0	0.00
VBD_pump_during_apogee	1050	1408	18279.07	nil	0	0	0.00
VBD_pump_during_surface	11	215	31.86	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	8778	14	1582.09
Iridium_during_xfer	427	182	961.98	NCP	8750	20	2163.00
Transponder_ping	3	420	19.47	PMAR	8723	12	1384.36
GUMSTIX_24V	0	0	0.00
GPS	30	22	8.40
TT8	0	0	0.00
LPSleep	6130	2	173.34
TT8_Active	912	13	156.09
TT8_Sampling	2181	33	892.87
TT8_CF8	299	38	141.61
TT8_Kalman	0	0	0.00
Analog_circuits	2219	10	271.65
GPS_charging	0	0	0.00
Compass	1044	7	89.46
RAFOS	1947	48	1143.90
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	192	2219	514	472	0.0	0.0	0	140	0.00	0.00	-91.57	0.000	16386	0.000	0.000	191	2219	2201	2130	2273	0	0	0	0	0	0	14.47	28.83	14.49
143	-0.57	-145.9	192	2219	2134	2269	4.6	-6.7	9	196	12.73	2.78	-31.75	0.000	18724	0.460	2.149	2375	3595	3966	3949	3983	0	0	0	0	0	0	13.66	12.57	14.14
397	-0.67	-145.9	2375	3596	3950	3985	60.8	-14.0	59	401	0.00	2.40	0.00	0.000	1158	0.000	0.060	2376	2196	3966	3950	3983	0	0	0	0	0	0	14.21	14.12	14.23
707	-0.74	-145.9	2375	2195	3952	3983	104.6	-12.0	89	712	0.00	2.45	0.00	0.000	388	0.000	0.089	2365	3602	3966	3950	3983	0	0	0	0	0	0	14.56	14.16	14.57
762	-0.91	-145.9	2366	3604	3952	3982	110.6	-10.1	100	769	0.25	2.40	0.00	0.000	5254	0.094	0.057	2266	2190	3967	3950	3984	0	0	0	0	0	0	14.22	14.19	14.28
1067	-0.83	-145.9	2266	2190	3951	3984	170.5	-19.5	111	1072	0.15	2.47	0.00	0.000	2436	0.297	0.084	2291	3596	3966	3950	3983	0	0	0	0	0	0	13.84	14.12	14.02
1164	-0.91	-145.9	2291	3598	3951	3985	184.3	-12.6	130	1169	0.00	2.38	0.00	0.000	1158	0.000	0.059	2291	2192	3966	3950	3983	0	0	0	0	0	0	14.38	14.25	14.40
1489	-0.91	-145.9	2292	2191	3952	3983	230.6	-13.7	145	1494	0.00	2.47	0.00	0.000	260	0.000	0.088	2281	3600	3966	3950	3983	0	0	0	0	0	0	14.62	14.16	14.64
1574	-1.00	-145.9	2282	3597	3952	3984	241.0	-11.5	162	1580	0.00	2.38	0.00	0.000	1158	0.000	0.057	2281	2199	3966	3950	3983	0	0	0	0	0	0	14.21	14.09	14.23
1880	-1.03	-145.9	2281	2199	3951	3984	278.1	-11.8	173	1885	0.00	2.47	0.00	0.000	388	0.000	0.091	2279	3595	3966	3950	3983	0	0	0	0	0	0	14.66	14.21	14.67
1940	-1.13	-145.9	2280	3595	3951	3983	284.8	-10.4	185	1945	0.20	2.35	0.00	0.000	5254	0.109	0.058	2207	2197	3967	3950	3984	0	0	0	0	0	0	14.31	14.28	14.41
2271	-1.04	-145.9	2207	2196	3951	3984	341.2	-17.1	201	2276	0.12	2.45	0.00	0.000	2436	0.311	0.086	2227	3595	3966	3950	3983	0	0	0	0	0	0	13.97	14.23	14.14
2416	-1.04	-145.9	2229	3596	3952	3983	362.1	-13.6	230	2422	0.00	2.38	0.00	0.000	1030	0.000	0.057	2227	2197	3966	3950	3983	0	0	0	0	0	0	14.35	14.23	14.38
2721	-1.00	-145.9	2228	2195	3952	3982	406.1	-14.2	241	2726	0.12	2.45	0.00	0.000	2436	0.313	0.086	2246	3595	3966	3950	3982	0	0	0	0	0	0	13.96	14.19	14.12
2791	-1.06	-145.9	2245	3596	3952	3984	414.6	-11.4	255	2796	0.00	2.38	0.00	0.000	1158	0.000	0.057	2246	2197	3966	3950	3982	0	0	0	0	0	0	13.97	13.98	13.97
3112	-1.06	-145.9	2247	2196	3951	3983	454.6	-12.4	269	3116	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3595	3966	3950	3982	0	0	0	0	0	0	14.65	14.21	14.66
3187	-1.11	-145.9	2237	3596	3952	3982	463.7	-11.6	284	3193	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2196	3967	3952	3982	0	0	0	0	0	0	14.39	14.28	14.41
3320	end dive: TARGET_DEPTH_EXCEEDED
state	3320	begin apogee
3326	-0.13	0.0	2237	2066	3951	3982	481.3	-13.1	291	3594	1.15	0.00	262.02	1.334	10246	0.242	0.000	2531	2065	3360	3382	3338	0	0	0	0	0	0	13.96	13.39	12.65
3598	end apogee: CONTROL_FINISHED_OK
state	3598	begin climb
3600	0.57	145.9	2532	2065	3379	3333	496.1	0.0	300	3827	0.73	2.60	214.00	1.324	10756	0.064	0.081	2782	727	2758	2803	2713	0	0	0	0	0	0	13.52	12.98	12.36
3838	0.57	145.9	2781	727	2799	2706	502.9	-2.7	302	3843	0.00	2.55	0.00	0.000	1030	0.000	0.076	2782	2086	2750	2797	2704	0	0	0	0	0	0	13.32	13.22	13.34
4158	0.17	145.9	2782	2083	2791	2696	452.9	15.6	316	4160	0.65	0.00	0.00	0.000	4230	0.320	0.000	2643	2086	2742	2788	2696	0	0	0	0	0	0	13.49	13.91	13.85
4458	0.04	168.6	2643	2087	2789	2696	424.7	9.0	326	4490	0.15	2.47	27.23	1.408	12964	0.300	0.083	2612	729	2674	2722	2626	0	0	0	0	0	0	13.82	13.99	13.18
4547	0.08	218.1	2612	729	2713	2611	418.0	7.7	343	4631	0.00	2.45	78.20	1.288	9254	0.000	0.080	2612	2106	2476	2538	2415	0	0	0	0	0	0	14.09	13.98	12.98
4941	0.10	246.6	2612	2106	2518	2390	384.0	8.7	372	4985	0.00	0.00	41.55	1.334	8742	0.000	0.000	2612	2107	2356	2413	2299	0	0	0	0	0	0	14.33	13.90	13.16
5301	0.13	265.4	2612	2107	2395	2283	351.3	9.1	389	5332	0.00	2.45	24.77	1.381	8868	0.000	0.083	2613	725	2274	2331	2218	0	0	0	0	0	0	14.40	13.83	13.23
5384	0.26	309.1	2613	725	2322	2216	344.3	8.0	405	5458	0.17	2.42	69.53	1.275	11430	0.109	0.080	2685	2100	2108	2158	2059	0	0	0	0	0	0	14.09	14.02	13.07
5784	0.20	309.1	2685	2100	2141	2033	289.0	13.7	435	5793	0.15	2.40	0.00	0.000	4740	0.242	0.080	2658	726	2085	2139	2032	0	0	0	0	0	0	13.64	14.04	13.92
5810	0.20	309.1	2658	726	2137	2034	285.7	12.3	439	5815	0.00	2.42	0.00	0.000	1030	0.000	0.079	2657	2103	2085	2137	2033	0	0	0	0	0	0	14.16	14.06	14.22
6120	0.20	309.1	2658	2106	2137	2030	252.2	10.2	451	6121	0.00	0.00	0.00	0.000	6	0.000	0.000	2657	2105	2083	2137	2030	0	0	0	0	0	0	14.47	14.46	14.46
6420	0.21	325.8	2658	2105	2137	2030	223.9	9.2	461	6447	0.00	2.50	21.27	1.366	8740	0.000	0.085	2658	724	2032	2083	1981	0	0	0	0	0	0	14.59	14.17	13.35
6524	0.34	369.4	2658	723	2068	1972	215.2	8.0	481	6608	0.00	2.40	76.50	1.226	9382	0.000	0.080	2658	2102	1856	1891	1821	0	0	0	0	0	0	14.29	14.16	13.18
6934	0.45	416.2	2659	2101	1873	1805	181.0	7.8	513	7025	0.17	2.53	82.50	1.196	10916	0.112	0.087	2747	726	1659	1687	1631	0	0	0	0	0	0	14.24	13.88	13.17
7060	0.45	416.2	2742	726	1678	1625	164.6	13.5	538	7065	0.00	2.45	0.00	0.000	1030	0.000	0.078	2742	2102	1650	1678	1623	0	0	0	0	0	0	14.04	13.93	14.07
7386	0.42	416.2	2743	2103	1678	1614	121.7	12.6	553	7391	0.00	2.42	0.00	0.000	644	0.000	0.086	2744	729	1645	1677	1614	0	0	0	0	0	0	14.51	14.07	14.52
7452	0.45	416.2	2744	729	1675	1615	114.0	11.4	566	7457	0.00	2.40	0.00	0.000	1158	0.000	0.079	2743	2099	1644	1674	1614	0	0	0	0	0	0	14.33	14.19	14.36
7759	0.45	419.8	2743	2101	1675	1612	80.9	9.8	591	7763	0.00	2.40	0.00	0.000	548	0.000	0.085	2744	726	1642	1674	1611	0	0	0	0	0	0	14.57	14.22	14.60
7819	0.54	451.7	2744	726	1674	1611	75.2	8.5	603	7841	0.00	2.40	17.30	0.408	9382	0.000	0.079	2743	2105	1522	1556	1488	0	0	0	0	0	0	14.33	14.20	13.68
8139	0.69	551.0	2744	2105	1567	1494	52.3	5.4	637	8202	0.15	2.42	56.75	0.352	10916	0.119	0.083	2808	730	1115	1176	1054	0	0	0	0	0	0	14.20	14.00	13.74
8263	0.76	569.2	2808	731	1182	1063	41.9	9.2	661	8279	0.00	2.42	11.68	0.317	9382	0.000	0.077	2808	2108	1042	1112	973	0	0	0	0	0	0	14.27	14.14	13.80
8585	0.94	681.0	2807	2109	1113	992	15.6	4.8	695	8658	0.20	2.47	66.78	0.243	10916	0.101	0.088	2899	725	585	626	544	0	0	0	0	0	0	14.23	14.02	13.84
8724	0.97	681.0	2900	727	627	538	2.1	10.6	722	8730	0.00	2.40	0.00	0.000	1158	0.000	0.078	2900	2101	582	625	539	0	0	0	0	0	0	14.18	14.09	14.22
8736	end climb: SURFACE_DEPTH_REACHED
state	8736	begin surface coast
8746	end surface coast: CONTROL_FINISHED_OK
state	8746	begin surface