Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 179 * 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 179 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 507.0

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 32 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 507.0 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 179 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 270817,183133,7401.5322,-15217.2178,18,0.8,41,19.9,0.4,72.4,10,8.5 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 1.29 MHEAD_RNG_PITCHd_Wd 278.7,58630,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 270817,184228,7401.5259,-15217.3145,6,0.8,12,19.9,0.0,0.0,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827201906.222769,3,573,27,0206,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04 PM_FREEKB_00 52642112

FINISH 0.3,1.021089 _24V_AH 12.36,128.756

SM_CCo 9084,5.20,0.202,0,0,499,703.03 _10V_AH 12.24,0.000

SM_GC 2.11,8.32,0.17,5.20,0.080,0.132,0.202,205,2210,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.28,14.22,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 211 FG_AHR_10Vo 0.000

MODEM 2,1503864830,73.18300,-149.96500,83.151,120279.6 MEM 323720

RAFOS_FIX 7400.629883,-15220.530273,270817,202028,2,255,0.41 DATA_FILE_SIZE 26725,803

IRIDIUM_FIX 7400.45,-15216.30,270817,155955 CAP_FILE_SIZE 107196,0

TT8_MAMPS 0.040446,0.873334 CFSIZE 2097872896,2032762880

HUMID 45.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.4

TCM_TEMP 13.10 CURRENT 0.018,283.38,1

XPDR_PINGS 16 GPS 270817,211557,7402.415,-15220.942,39,0.9,40,19.9,0.3,241.8,9,7.7

CP_FREE 15988883456.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.38 nil 0 0 0.00

Roll_motor 94 2143 2510.97 nil 0 0 0.00

VBD_pump_during_apogee 947 1476 17294.50 nil 0 0 0.00

VBD_pump_during_surface 5 201 12.98 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 9093 14 1661.57

Iridium_during_xfer 374 170 789.81 NCP 9089 20 2246.80

Transponder_ping 4 420 20.76 PMAR 9040 10 1150.19

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.46

TT8 0 0 0.00

LPSleep 6423 2 181.63

TT8_Active 965 13 165.15

TT8_Sampling 2070 33 847.39

TT8_CF8 300 38 142.46

TT8_Kalman 0 0 0.00

Analog_circuits 2097 10 256.69

GPS_charging 0 0 0.00

Compass 1150 7 98.57

RAFOS 2218 48 1303.12

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 188 2215 488 493 0.0 0.0 0 141 0.00 0.00 -91.65 0.000 16386 0.000 0.000 187 2214 2171 2102 2240 0 0 0 0 0 0 14.48 28.83 14.50

144 -0.57 -145.9 187 2214 2106 2241 3.8 -4.9 9 198 12.65 2.80 -34.72 0.000 18724 0.454 2.144 2375 3597 3963 3944 3983 0 0 0 0 0 0 13.67 12.58 14.12

423 -0.66 -145.9 2377 3600 3952 3982 61.5 -15.4 64 430 0.00 2.40 0.00 0.000 1158 0.000 0.063 2375 2201 3967 3951 3983 0 0 0 0 0 0 14.23 14.12 14.26

728 -0.73 -145.9 2376 2199 3953 3983 104.2 -11.3 93 729 0.00 0.00 0.00 0.000 134 0.000 0.000 2375 2199 3967 3951 3983 0 0 0 0 0 0 14.57 14.59 14.58

1028 -0.85 -145.9 2375 2200 3953 3984 133.9 -9.2 103 1033 0.20 2.47 0.00 0.000 4516 0.110 0.088 2290 3599 3967 3952 3982 0 0 0 0 0 0 14.19 14.18 14.25

1089 -0.90 -145.9 2291 3599 3953 3983 141.9 -13.7 115 1093 0.00 2.38 0.00 0.000 1158 0.000 0.058 2291 2196 3968 3953 3983 0 0 0 0 0 0 14.36 14.23 14.40

1418 -0.90 -145.9 2291 2195 3953 3985 193.5 -15.4 131 1423 0.00 2.47 0.00 0.000 260 0.000 0.088 2283 3601 3967 3952 3983 0 0 0 0 0 0 14.65 14.21 14.66

1519 -0.99 -145.9 2284 3603 3953 3980 207.0 -12.4 151 1523 0.00 2.38 0.00 0.000 1158 0.000 0.059 2283 2195 3967 3952 3983 0 0 0 0 0 0 14.39 14.26 14.42

1839 -0.99 -145.9 2284 2195 3953 3984 251.1 -13.4 165 1843 0.00 2.47 0.00 0.000 260 0.000 0.089 2280 3600 3967 3952 3983 0 0 0 0 0 0 14.66 14.21 14.67

1904 -1.09 -145.9 2280 3601 3952 3983 258.9 -11.0 178 1909 0.17 2.35 0.00 0.000 5254 0.112 0.058 2216 2199 3967 3951 3983 0 0 0 0 0 0 14.32 14.28 14.41

2229 -1.00 -145.9 2216 2199 3952 3984 314.3 -16.8 193 2234 0.15 2.47 0.00 0.000 2436 0.301 0.084 2241 3608 3967 3951 3983 0 0 0 0 0 0 13.90 14.22 14.09

2346 -1.04 -145.9 2241 3610 3951 3984 329.8 -12.2 216 2353 0.00 2.40 0.00 0.000 1158 0.000 0.057 2241 2192 3965 3949 3982 0 0 0 0 0 0 14.38 14.21 14.42

2649 -1.02 -145.9 2242 2190 3953 3982 370.5 -13.3 227 2654 0.00 2.47 0.00 0.000 388 0.000 0.088 2236 3601 3968 3951 3985 0 0 0 0 0 0 14.68 14.23 14.69

2734 -1.06 -145.9 2237 3601 3950 3979 381.4 -12.4 244 2742 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2194 3966 3951 3982 0 0 0 0 0 0 14.36 14.23 14.40

3039 -1.06 -145.9 2236 2195 3952 3983 421.8 -13.3 255 3044 0.00 2.47 0.00 0.000 260 0.000 0.089 2236 3600 3966 3951 3981 0 0 0 0 0 0 14.68 14.21 14.70

3104 -1.10 -145.9 2236 3601 3952 3982 430.0 -12.0 268 3110 0.00 2.38 0.00 0.000 1158 0.000 0.056 2235 2190 3970 3951 3989 0 0 0 0 0 0 14.41 14.28 14.43

3430 -1.10 -145.9 2236 2190 3952 3983 471.5 -12.7 283 3435 0.00 2.47 0.00 0.000 260 0.000 0.089 2235 3601 3965 3949 3981 0 0 0 0 0 0 14.69 14.21 14.70

3498 end dive: TARGET_DEPTH_EXCEEDED

state 3498 begin apogee

3506 -0.13 0.0 2236 2095 3952 3981 480.1 -11.6 297 3728 1.15 0.00 218.38 1.434 10246 0.242 0.000 2528 2094 3361 3377 3345 0 0 0 0 0 0 13.95 13.48 12.69

3731 end apogee: CONTROL_FINISHED_OK

state 3731 begin climb

3734 0.57 145.9 2529 2094 3376 3338 491.1 0.0 304 3953 0.75 2.65 206.65 1.386 10756 0.067 0.083 2783 691 2763 2804 2723 0 0 0 0 0 0 13.58 13.14 12.36

4178 0.20 145.9 2784 691 2796 2718 463.4 15.5 387 4185 0.62 2.55 0.00 0.000 5254 0.314 0.076 2651 2099 2755 2794 2716 0 0 0 0 0 0 13.40 13.71 13.76

4484 0.05 151.3 2651 2100 2795 2713 432.5 9.8 398 4489 0.20 2.47 0.00 0.000 4772 0.282 0.081 2604 690 2754 2794 2714 0 0 0 0 0 0 13.83 14.09 14.01

4635 0.09 201.8 2604 690 2796 2712 421.2 7.7 425 4722 0.00 2.50 80.32 1.394 9254 0.000 0.080 2604 2108 2541 2596 2486 0 0 0 0 0 0 14.21 14.09 13.05

5042 0.11 230.6 2604 2109 2590 2470 386.4 8.7 456 5088 0.00 2.60 41.20 1.434 8740 0.000 0.086 2601 691 2421 2478 2364 0 0 0 0 0 0 14.36 13.91 13.13

5123 0.21 259.5 2604 693 2474 2363 379.4 8.7 472 5174 0.15 2.50 43.25 1.411 11430 0.118 0.079 2669 2100 2304 2356 2252 0 0 0 0 0 0 14.01 13.95 13.01

5494 0.15 259.5 2667 2102 2348 2243 330.5 13.1 496 5499 0.15 2.47 0.00 0.000 4740 0.256 0.080 2639 693 2294 2347 2241 0 0 0 0 0 0 13.88 14.06 14.03

5534 0.19 259.5 2639 692 2346 2247 326.0 10.6 504 5539 0.00 2.50 0.00 0.000 1158 0.000 0.080 2639 2103 2293 2346 2241 0 0 0 0 0 0 14.20 14.08 14.23

5854 0.19 259.5 2639 2106 2345 2240 292.4 10.2 518 5855 0.00 0.00 0.00 0.000 6 0.000 0.000 2639 2105 2294 2345 2244 0 0 0 0 0 0 14.46 14.48 14.47

6154 0.20 278.6 2640 2105 2345 2238 263.8 9.1 528 6187 0.00 2.55 27.08 1.431 8740 0.000 0.083 2644 692 2228 2282 2175 0 0 0 0 0 0 14.48 14.09 13.28

6244 0.30 318.1 2644 692 2271 2176 256.4 8.2 545 6314 0.00 2.50 63.75 1.334 9382 0.000 0.080 2644 2103 2066 2113 2019 0 0 0 0 0 0 14.17 14.06 13.10

6639 0.38 356.1 2644 2104 2107 2007 223.0 8.2 574 6706 0.15 2.55 60.38 1.305 10916 0.115 0.086 2710 691 1910 1948 1872 0 0 0 0 0 0 14.11 13.87 13.16

6743 0.38 356.1 2710 693 1940 1873 211.3 11.5 594 6747 0.00 2.50 0.00 0.000 1030 0.000 0.078 2709 2096 1905 1939 1871 0 0 0 0 0 0 14.00 13.89 14.05

7063 0.35 356.1 2710 2096 1938 1864 174.6 11.2 608 7068 0.00 2.45 0.00 0.000 644 0.000 0.084 2710 690 1900 1936 1864 0 0 0 0 0 0 14.40 14.04 14.42

7098 0.35 356.1 2710 690 1936 1864 170.8 10.8 615 7103 0.00 2.50 0.00 0.000 1030 0.000 0.078 2710 2107 1897 1930 1865 0 0 0 0 0 0 14.17 14.09 14.25

7425 0.35 356.1 2706 2115 1943 1864 137.2 10.0 630 7430 0.00 2.47 0.00 0.000 516 0.000 0.086 2710 692 1898 1934 1863 0 0 0 0 0 0 14.57 14.21 14.58

7465 0.40 368.8 2710 693 1933 1863 133.3 9.4 638 7487 0.00 2.45 14.65 1.476 9382 0.000 0.078 2716 2105 1860 1892 1829 0 0 0 0 0 0 14.37 14.23 13.31

7785 0.41 383.7 2710 2105 1887 1824 102.5 9.3 652 7807 0.00 0.00 20.80 1.375 8230 0.000 0.000 2710 2112 1800 1827 1773 0 0 0 0 0 0 14.59 14.16 13.35

8085 0.52 450.1 2710 2105 1819 1762 79.1 6.9 680 8128 0.12 2.55 34.40 0.443 10916 0.132 0.086 2781 694 1527 1558 1497 0 0 0 0 0 0 14.26 14.07 13.74

8203 0.52 453.6 2781 694 1558 1495 67.0 9.8 703 8210 0.15 2.47 1.60 0.363 13350 0.257 0.077 2750 2110 1514 1546 1482 0 0 0 0 0 0 13.83 14.14 13.71

8509 0.67 563.6 2750 2111 1549 1481 48.1 4.9 734 8573 0.12 2.50 57.62 0.345 10916 0.130 0.086 2807 693 1067 1132 1002 0 0 0 0 0 0 14.28 13.95 13.71

8620 0.78 585.9 2808 692 1133 1000 39.1 9.0 753 8638 0.00 2.47 12.27 0.321 9382 0.000 0.078 2807 2102 973 1041 905 0 0 0 0 0 0 14.13 14.00 13.77

8933 0.99 698.2 2808 2102 1044 900 14.9 4.8 786 9006 0.28 2.50 65.35 0.245 10916 0.090 0.086 2916 691 516 537 495 0 0 0 0 0 0 14.27 14.03 13.90

9031 0.99 698.2 2914 692 543 496 4.0 13.6 799 9037 0.00 2.50 0.00 0.000 1030 0.000 0.079 2918 2107 520 544 496 0 0 0 0 0 0 14.23 14.11 14.27

9054 end climb: SURFACE_DEPTH_REACHED

state 9054 begin surface coast

9064 end surface coast: CONTROL_FINISHED_OK

state 9064 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	179	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	507.0
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	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,183133,7401.5322,-15217.2178,18,0.8,41,19.9,0.4,72.4,10,8.5	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	1.29	MHEAD_RNG_PITCHd_Wd	278.7,58630,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	270817,184228,7401.5259,-15217.3145,6,0.8,12,19.9,0.0,0.0,11,9.8

MODEM_MSG	CACST,6,1,20170827201906.222769,3,573,27,0206,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04	PM_FREEKB_00	52642112
FINISH	0.3,1.021089	_24V_AH	12.36,128.756
SM_CCo	9084,5.20,0.202,0,0,499,703.03	_10V_AH	12.24,0.000
SM_GC	2.11,8.32,0.17,5.20,0.080,0.132,0.202,205,2210,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.28,14.22,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	211	FG_AHR_10Vo	0.000
MODEM	2,1503864830,73.18300,-149.96500,83.151,120279.6	MEM	323720
RAFOS_FIX	7400.629883,-15220.530273,270817,202028,2,255,0.41	DATA_FILE_SIZE	26725,803
IRIDIUM_FIX	7400.45,-15216.30,270817,155955	CAP_FILE_SIZE	107196,0
TT8_MAMPS	0.040446,0.873334	CFSIZE	2097872896,2032762880
HUMID	45.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.4
TCM_TEMP	13.10	CURRENT	0.018,283.38,1
XPDR_PINGS	16	GPS	270817,211557,7402.415,-15220.942,39,0.9,40,19.9,0.3,241.8,9,7.7
CP_FREE	15988883456.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.38	nil	0	0	0.00
Roll_motor	94	2143	2510.97	nil	0	0	0.00
VBD_pump_during_apogee	947	1476	17294.50	nil	0	0	0.00
VBD_pump_during_surface	5	201	12.98	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	9093	14	1661.57
Iridium_during_xfer	374	170	789.81	NCP	9089	20	2246.80
Transponder_ping	4	420	20.76	PMAR	9040	10	1150.19
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.46
TT8	0	0	0.00
LPSleep	6423	2	181.63
TT8_Active	965	13	165.15
TT8_Sampling	2070	33	847.39
TT8_CF8	300	38	142.46
TT8_Kalman	0	0	0.00
Analog_circuits	2097	10	256.69
GPS_charging	0	0	0.00
Compass	1150	7	98.57
RAFOS	2218	48	1303.12
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	188	2215	488	493	0.0	0.0	0	141	0.00	0.00	-91.65	0.000	16386	0.000	0.000	187	2214	2171	2102	2240	0	0	0	0	0	0	14.48	28.83	14.50
144	-0.57	-145.9	187	2214	2106	2241	3.8	-4.9	9	198	12.65	2.80	-34.72	0.000	18724	0.454	2.144	2375	3597	3963	3944	3983	0	0	0	0	0	0	13.67	12.58	14.12
423	-0.66	-145.9	2377	3600	3952	3982	61.5	-15.4	64	430	0.00	2.40	0.00	0.000	1158	0.000	0.063	2375	2201	3967	3951	3983	0	0	0	0	0	0	14.23	14.12	14.26
728	-0.73	-145.9	2376	2199	3953	3983	104.2	-11.3	93	729	0.00	0.00	0.00	0.000	134	0.000	0.000	2375	2199	3967	3951	3983	0	0	0	0	0	0	14.57	14.59	14.58
1028	-0.85	-145.9	2375	2200	3953	3984	133.9	-9.2	103	1033	0.20	2.47	0.00	0.000	4516	0.110	0.088	2290	3599	3967	3952	3982	0	0	0	0	0	0	14.19	14.18	14.25
1089	-0.90	-145.9	2291	3599	3953	3983	141.9	-13.7	115	1093	0.00	2.38	0.00	0.000	1158	0.000	0.058	2291	2196	3968	3953	3983	0	0	0	0	0	0	14.36	14.23	14.40
1418	-0.90	-145.9	2291	2195	3953	3985	193.5	-15.4	131	1423	0.00	2.47	0.00	0.000	260	0.000	0.088	2283	3601	3967	3952	3983	0	0	0	0	0	0	14.65	14.21	14.66
1519	-0.99	-145.9	2284	3603	3953	3980	207.0	-12.4	151	1523	0.00	2.38	0.00	0.000	1158	0.000	0.059	2283	2195	3967	3952	3983	0	0	0	0	0	0	14.39	14.26	14.42
1839	-0.99	-145.9	2284	2195	3953	3984	251.1	-13.4	165	1843	0.00	2.47	0.00	0.000	260	0.000	0.089	2280	3600	3967	3952	3983	0	0	0	0	0	0	14.66	14.21	14.67
1904	-1.09	-145.9	2280	3601	3952	3983	258.9	-11.0	178	1909	0.17	2.35	0.00	0.000	5254	0.112	0.058	2216	2199	3967	3951	3983	0	0	0	0	0	0	14.32	14.28	14.41
2229	-1.00	-145.9	2216	2199	3952	3984	314.3	-16.8	193	2234	0.15	2.47	0.00	0.000	2436	0.301	0.084	2241	3608	3967	3951	3983	0	0	0	0	0	0	13.90	14.22	14.09
2346	-1.04	-145.9	2241	3610	3951	3984	329.8	-12.2	216	2353	0.00	2.40	0.00	0.000	1158	0.000	0.057	2241	2192	3965	3949	3982	0	0	0	0	0	0	14.38	14.21	14.42
2649	-1.02	-145.9	2242	2190	3953	3982	370.5	-13.3	227	2654	0.00	2.47	0.00	0.000	388	0.000	0.088	2236	3601	3968	3951	3985	0	0	0	0	0	0	14.68	14.23	14.69
2734	-1.06	-145.9	2237	3601	3950	3979	381.4	-12.4	244	2742	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2194	3966	3951	3982	0	0	0	0	0	0	14.36	14.23	14.40
3039	-1.06	-145.9	2236	2195	3952	3983	421.8	-13.3	255	3044	0.00	2.47	0.00	0.000	260	0.000	0.089	2236	3600	3966	3951	3981	0	0	0	0	0	0	14.68	14.21	14.70
3104	-1.10	-145.9	2236	3601	3952	3982	430.0	-12.0	268	3110	0.00	2.38	0.00	0.000	1158	0.000	0.056	2235	2190	3970	3951	3989	0	0	0	0	0	0	14.41	14.28	14.43
3430	-1.10	-145.9	2236	2190	3952	3983	471.5	-12.7	283	3435	0.00	2.47	0.00	0.000	260	0.000	0.089	2235	3601	3965	3949	3981	0	0	0	0	0	0	14.69	14.21	14.70
3498	end dive: TARGET_DEPTH_EXCEEDED
state	3498	begin apogee
3506	-0.13	0.0	2236	2095	3952	3981	480.1	-11.6	297	3728	1.15	0.00	218.38	1.434	10246	0.242	0.000	2528	2094	3361	3377	3345	0	0	0	0	0	0	13.95	13.48	12.69
3731	end apogee: CONTROL_FINISHED_OK
state	3731	begin climb
3734	0.57	145.9	2529	2094	3376	3338	491.1	0.0	304	3953	0.75	2.65	206.65	1.386	10756	0.067	0.083	2783	691	2763	2804	2723	0	0	0	0	0	0	13.58	13.14	12.36
4178	0.20	145.9	2784	691	2796	2718	463.4	15.5	387	4185	0.62	2.55	0.00	0.000	5254	0.314	0.076	2651	2099	2755	2794	2716	0	0	0	0	0	0	13.40	13.71	13.76
4484	0.05	151.3	2651	2100	2795	2713	432.5	9.8	398	4489	0.20	2.47	0.00	0.000	4772	0.282	0.081	2604	690	2754	2794	2714	0	0	0	0	0	0	13.83	14.09	14.01
4635	0.09	201.8	2604	690	2796	2712	421.2	7.7	425	4722	0.00	2.50	80.32	1.394	9254	0.000	0.080	2604	2108	2541	2596	2486	0	0	0	0	0	0	14.21	14.09	13.05
5042	0.11	230.6	2604	2109	2590	2470	386.4	8.7	456	5088	0.00	2.60	41.20	1.434	8740	0.000	0.086	2601	691	2421	2478	2364	0	0	0	0	0	0	14.36	13.91	13.13
5123	0.21	259.5	2604	693	2474	2363	379.4	8.7	472	5174	0.15	2.50	43.25	1.411	11430	0.118	0.079	2669	2100	2304	2356	2252	0	0	0	0	0	0	14.01	13.95	13.01
5494	0.15	259.5	2667	2102	2348	2243	330.5	13.1	496	5499	0.15	2.47	0.00	0.000	4740	0.256	0.080	2639	693	2294	2347	2241	0	0	0	0	0	0	13.88	14.06	14.03
5534	0.19	259.5	2639	692	2346	2247	326.0	10.6	504	5539	0.00	2.50	0.00	0.000	1158	0.000	0.080	2639	2103	2293	2346	2241	0	0	0	0	0	0	14.20	14.08	14.23
5854	0.19	259.5	2639	2106	2345	2240	292.4	10.2	518	5855	0.00	0.00	0.00	0.000	6	0.000	0.000	2639	2105	2294	2345	2244	0	0	0	0	0	0	14.46	14.48	14.47
6154	0.20	278.6	2640	2105	2345	2238	263.8	9.1	528	6187	0.00	2.55	27.08	1.431	8740	0.000	0.083	2644	692	2228	2282	2175	0	0	0	0	0	0	14.48	14.09	13.28
6244	0.30	318.1	2644	692	2271	2176	256.4	8.2	545	6314	0.00	2.50	63.75	1.334	9382	0.000	0.080	2644	2103	2066	2113	2019	0	0	0	0	0	0	14.17	14.06	13.10
6639	0.38	356.1	2644	2104	2107	2007	223.0	8.2	574	6706	0.15	2.55	60.38	1.305	10916	0.115	0.086	2710	691	1910	1948	1872	0	0	0	0	0	0	14.11	13.87	13.16
6743	0.38	356.1	2710	693	1940	1873	211.3	11.5	594	6747	0.00	2.50	0.00	0.000	1030	0.000	0.078	2709	2096	1905	1939	1871	0	0	0	0	0	0	14.00	13.89	14.05
7063	0.35	356.1	2710	2096	1938	1864	174.6	11.2	608	7068	0.00	2.45	0.00	0.000	644	0.000	0.084	2710	690	1900	1936	1864	0	0	0	0	0	0	14.40	14.04	14.42
7098	0.35	356.1	2710	690	1936	1864	170.8	10.8	615	7103	0.00	2.50	0.00	0.000	1030	0.000	0.078	2710	2107	1897	1930	1865	0	0	0	0	0	0	14.17	14.09	14.25
7425	0.35	356.1	2706	2115	1943	1864	137.2	10.0	630	7430	0.00	2.47	0.00	0.000	516	0.000	0.086	2710	692	1898	1934	1863	0	0	0	0	0	0	14.57	14.21	14.58
7465	0.40	368.8	2710	693	1933	1863	133.3	9.4	638	7487	0.00	2.45	14.65	1.476	9382	0.000	0.078	2716	2105	1860	1892	1829	0	0	0	0	0	0	14.37	14.23	13.31
7785	0.41	383.7	2710	2105	1887	1824	102.5	9.3	652	7807	0.00	0.00	20.80	1.375	8230	0.000	0.000	2710	2112	1800	1827	1773	0	0	0	0	0	0	14.59	14.16	13.35
8085	0.52	450.1	2710	2105	1819	1762	79.1	6.9	680	8128	0.12	2.55	34.40	0.443	10916	0.132	0.086	2781	694	1527	1558	1497	0	0	0	0	0	0	14.26	14.07	13.74
8203	0.52	453.6	2781	694	1558	1495	67.0	9.8	703	8210	0.15	2.47	1.60	0.363	13350	0.257	0.077	2750	2110	1514	1546	1482	0	0	0	0	0	0	13.83	14.14	13.71
8509	0.67	563.6	2750	2111	1549	1481	48.1	4.9	734	8573	0.12	2.50	57.62	0.345	10916	0.130	0.086	2807	693	1067	1132	1002	0	0	0	0	0	0	14.28	13.95	13.71
8620	0.78	585.9	2808	692	1133	1000	39.1	9.0	753	8638	0.00	2.47	12.27	0.321	9382	0.000	0.078	2807	2102	973	1041	905	0	0	0	0	0	0	14.13	14.00	13.77
8933	0.99	698.2	2808	2102	1044	900	14.9	4.8	786	9006	0.28	2.50	65.35	0.245	10916	0.090	0.086	2916	691	516	537	495	0	0	0	0	0	0	14.27	14.03	13.90
9031	0.99	698.2	2914	692	543	496	4.0	13.6	799	9037	0.00	2.50	0.00	0.000	1030	0.000	0.079	2918	2107	520	544	496	0	0	0	0	0	0	14.23	14.11	14.27
9054	end climb: SURFACE_DEPTH_REACHED
state	9054	begin surface coast
9064	end surface coast: CONTROL_FINISHED_OK
state	9064	begin surface