Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 185 * 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 185 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 524.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 28 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 524.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 62 VBD_MIN 500

DIVE 185 NOCOMM_ACTION 161 R_STBD_OVSHOOT 28 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 280817,111302,7406.7578,-15237.5557,35,0.8,35,19.7,0.0,0.0,10,10.0 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 1.28 MHEAD_RNG_PITCHd_Wd 283.9,44919,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 280817,112355,7406.7871,-15237.7080,8,0.8,11,19.7,0.0,317.7,10,8.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828121855.782908,3,3142,34,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F PM_FREEKB_00 52434496

FINISH 0.4,1.021088 _24V_AH 12.32,131.718

SM_CCo 8922,0.00,0.000,0,0,495,704.01 _10V_AH 12.29,0.000

SM_GC 1.36,8.25,0.17,0.00,0.071,0.133,0.000,204,2207,495,-7.36,-0.71,704.01,0,0,0,0,0,0,14.29,14.23,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 306 FG_AHR_10Vo 0.000

MODEM 0,1503921835,75.36600,-145.04601,181.681,262809.7 MEM 323548

RAFOS_FIX 7405.907715,-15239.416992,280817,121215,3,255,0.64 DATA_FILE_SIZE 26700,792

IRIDIUM_FIX 7406.99,-15229.86,280817,084402 CAP_FILE_SIZE 106690,0

TT8_MAMPS 0.038948,0.983437 CFSIZE 2097872896,2030895104

HUMID 46.14 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1448.1

TCM_TEMP 13.10 CURRENT 0.026,198.82,1

XPDR_PINGS 9 GPS 280817,135420,7407.570,-15240.939,21,0.7,24,19.7,0.4,282.5,10,8.6

CP_FREE 15987310592.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 143.08 nil 0 0 0.00

Roll_motor 89 2142 2367.98 nil 0 0 0.00

VBD_pump_during_apogee 1024 1435 18121.62 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8872 14 1568.17

Iridium_during_xfer 372 184 845.75 NCP 8869 20 2185.32

Transponder_ping 2 420 11.64 PMAR 8818 10 1091.16

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.47

TT8 0 0 0.00

LPSleep 6249 2 177.43

TT8_Active 994 13 170.76

TT8_Sampling 2048 33 842.09

TT8_CF8 296 38 141.08

TT8_Kalman 0 0 0.00

Analog_circuits 2137 10 262.69

GPS_charging 0 0 0.00

Compass 1134 7 97.61

RAFOS 2215 48 1306.67

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 -145.9 196 2212 510 492 0.0 0.0 0 140 0.00 0.00 -91.32 0.000 16386 0.000 0.000 195 2211 2172 2099 2245 0 0 0 0 0 0 14.50 28.83 14.50

143 -0.57 -145.9 195 2211 2102 2247 3.9 -5.0 9 196 12.62 2.75 -34.20 0.000 18724 0.454 2.143 2376 3600 3965 3950 3981 0 0 0 0 0 0 13.65 12.86 14.14

422 -0.69 -145.9 2378 3601 3951 3981 60.0 -13.5 64 429 0.00 2.33 0.00 0.000 1158 0.000 0.058 2377 2238 3965 3950 3981 0 0 0 0 0 0 14.28 14.16 14.31

727 -0.77 -145.9 2377 2237 3951 3982 100.6 -11.5 95 728 0.15 0.00 0.00 0.000 4230 0.131 0.000 2324 2236 3966 3951 3981 0 0 0 0 0 0 14.12 14.25 14.21

1027 -0.80 -145.9 2325 2235 3952 3981 142.9 -13.3 105 1032 0.00 2.42 0.00 0.000 388 0.000 0.089 2319 3609 3966 3951 3981 0 0 0 0 0 0 14.63 14.15 14.64

1102 -0.93 -145.9 2320 3609 3952 3981 151.9 -11.5 120 1108 0.12 2.40 0.00 0.000 5254 0.131 0.057 2268 2190 3965 3950 3981 0 0 0 0 0 0 14.26 14.21 14.35

1419 -0.89 -145.9 2268 2190 3949 3981 206.5 -16.9 133 1423 0.00 2.47 0.00 0.000 388 0.000 0.086 2258 3601 3965 3950 3981 0 0 0 0 0 0 14.64 14.16 14.66

1509 -0.92 -145.9 2258 3602 3951 3982 220.1 -14.2 151 1513 0.00 2.38 0.00 0.000 1158 0.000 0.057 2258 2198 3965 3950 3981 0 0 0 0 0 0 14.35 14.23 14.38

1839 -0.89 -145.9 2258 2196 3951 3980 271.4 -15.0 167 1844 0.12 2.47 0.00 0.000 2436 0.303 0.085 2280 3607 3965 3950 3980 0 0 0 0 0 0 13.95 14.21 14.11

1914 -1.00 -145.9 2280 3609 3951 3982 280.5 -10.9 182 1919 0.00 2.38 0.00 0.000 1158 0.000 0.056 2279 2191 3965 3950 3981 0 0 0 0 0 0 14.31 14.25 14.34

2231 -1.05 -145.9 2280 2194 3952 3980 315.3 -10.6 195 2236 0.12 2.50 0.00 0.000 4484 0.142 0.086 2222 3601 3965 3950 3981 0 0 0 0 0 0 14.19 14.09 14.25

2321 -1.05 -145.9 2223 3603 3951 3980 328.0 -14.1 213 2326 0.00 2.38 0.00 0.000 1030 0.000 0.057 2223 2199 3965 3950 3980 0 0 0 0 0 0 14.30 14.15 14.30

2651 -1.00 -145.9 2223 2198 3951 3980 377.7 -15.0 229 2656 0.12 2.50 0.00 0.000 2436 0.303 0.086 2241 3607 3965 3950 3980 0 0 0 0 0 0 13.84 14.07 14.00

2758 -1.07 -145.9 2241 3608 3952 3980 390.6 -11.0 250 2763 0.00 2.40 0.00 0.000 1158 0.000 0.057 2241 2201 3964 3950 3979 0 0 0 0 0 0 14.21 14.11 14.26

3073 -1.07 -145.9 2241 2200 3951 3978 430.2 -12.5 263 3078 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3606 3962 3949 3976 0 0 0 0 0 0 14.45 14.04 14.47

3153 -1.14 -145.9 2235 3608 3951 3979 439.9 -11.6 279 3158 0.00 2.42 0.00 0.000 1158 0.000 0.057 2237 2189 3964 3950 3979 0 0 0 0 0 0 14.22 14.09 14.25

3463 -1.14 -145.9 2236 2188 3950 3978 478.9 -12.6 291 3468 0.00 2.53 0.00 0.000 260 0.000 0.090 2236 3607 3963 3949 3978 0 0 0 0 0 0 14.45 14.04 14.47

3470 end dive: TARGET_DEPTH_EXCEEDED

state 3470 begin apogee

3478 -0.13 0.0 2237 2096 3951 3979 480.1 -12.5 293 3715 1.17 0.00 227.60 1.422 10246 0.245 0.000 2529 2094 3356 3382 3330 0 0 0 0 0 0 13.77 13.35 12.57

3718 end apogee: CONTROL_FINISHED_OK

state 3718 begin climb

3721 0.57 145.9 2530 2094 3380 3328 492.7 0.0 301 3941 0.75 2.72 207.77 1.377 11012 0.063 0.075 2778 3500 2760 2806 2715 0 0 0 0 0 0 13.45 13.08 12.32

4078 0.12 145.9 2778 3501 2789 2713 478.4 16.9 367 4083 0.82 2.53 0.00 0.000 5254 0.351 0.056 2627 2092 2750 2788 2712 0 0 0 0 0 0 13.07 13.51 13.51

4409 0.03 178.2 2628 2091 2790 2709 448.3 8.5 383 4461 0.12 2.47 45.28 1.426 12964 0.293 0.083 2602 689 2633 2683 2583 0 0 0 0 0 0 13.72 13.62 13.01

4496 0.08 224.6 2602 686 2677 2576 441.7 7.9 400 4574 0.00 2.53 68.47 1.388 9382 0.000 0.080 2602 2096 2444 2509 2380 0 0 0 0 0 0 13.90 13.80 12.81

4895 0.10 251.7 2603 2096 2495 2362 407.1 8.7 429 4935 0.00 0.00 39.35 1.418 8230 0.000 0.000 2602 2096 2338 2397 2279 0 0 0 0 0 0 14.39 13.91 13.11

5225 0.15 276.1 2602 2097 2381 2261 377.9 8.9 440 5265 0.00 2.55 35.88 1.420 8868 0.000 0.086 2602 694 2236 2294 2178 0 0 0 0 0 0 14.51 14.04 13.22

5312 0.30 308.8 2603 693 2281 2173 370.4 8.5 457 5371 0.22 2.47 51.08 1.368 11430 0.092 0.080 2689 2101 2102 2156 2048 0 0 0 0 0 0 14.17 14.05 13.09

5677 0.22 308.8 2689 2101 2143 2034 316.9 14.6 480 5678 0.15 0.00 0.00 0.000 4230 0.237 0.000 2657 2101 2087 2143 2032 0 0 0 0 0 0 13.98 14.29 14.24

5977 0.22 308.8 2658 2101 2142 2029 281.8 11.3 490 5981 0.00 2.47 0.00 0.000 516 0.000 0.089 2658 693 2085 2141 2030 0 0 0 0 0 0 14.62 14.16 14.64

6042 0.27 308.8 2660 693 2141 2030 275.0 10.1 503 6047 0.00 2.45 0.00 0.000 1158 0.000 0.080 2659 2105 2084 2139 2030 0 0 0 0 0 0 14.40 14.27 14.45

6367 0.28 312.1 2661 2104 2139 2030 241.7 9.8 518 6372 0.00 2.47 0.00 0.000 548 0.000 0.086 2659 693 2084 2139 2029 0 0 0 0 0 0 14.66 14.24 14.67

6412 0.34 326.0 2660 693 2138 2031 237.5 9.4 527 6443 0.00 2.45 22.62 1.435 9382 0.000 0.080 2659 2105 2030 2082 1978 0 0 0 0 0 0 14.42 14.28 13.36

6760 0.40 356.8 2659 2105 2075 1970 206.5 8.6 546 6820 0.12 2.50 52.95 1.326 10916 0.133 0.084 2725 691 1906 1945 1867 0 0 0 0 0 0 14.33 13.83 13.26

6880 0.38 356.8 2725 692 1932 1866 191.9 12.0 570 6886 0.00 2.50 0.00 0.000 1158 0.000 0.078 2725 2102 1897 1930 1864 0 0 0 0 0 0 14.19 14.09 14.20

7211 0.32 356.8 2726 2103 1930 1860 151.7 11.8 586 7216 0.12 2.47 0.00 0.000 4740 0.245 0.083 2699 687 1894 1929 1859 0 0 0 0 0 0 14.05 14.18 14.19

7256 0.40 374.0 2699 687 1928 1859 147.2 9.2 595 7287 0.00 2.47 24.83 1.375 9382 0.000 0.079 2699 2110 1839 1871 1808 0 0 0 0 0 0 14.36 14.23 13.31

7604 0.44 398.8 2699 2111 1861 1792 115.5 8.9 614 7648 0.00 2.50 38.38 1.304 8868 0.000 0.085 2699 694 1736 1765 1707 0 0 0 0 0 0 14.57 13.85 13.27

7715 0.58 440.2 2700 694 1752 1704 106.1 8.1 636 7795 0.20 2.47 72.93 1.204 11430 0.099 0.079 2779 2107 1568 1602 1534 0 0 0 0 0 0 14.21 14.12 13.14

8093 0.53 444.0 2780 2107 1599 1510 59.6 9.8 682 8098 0.00 2.50 0.00 0.000 676 0.000 0.086 2781 691 1554 1599 1509 0 0 0 0 0 0 14.45 14.10 14.47

8220 0.61 519.5 2781 691 1595 1510 49.6 6.5 707 8268 0.00 2.47 39.62 0.348 9382 0.000 0.079 2781 2105 1244 1304 1184 0 0 0 0 0 0 14.29 14.17 13.76

8563 0.73 592.6 2781 2106 1305 1190 25.9 6.6 746 8607 0.00 2.58 38.72 0.287 8868 0.000 0.086 2781 688 949 1022 876 0 0 0 0 0 0 14.54 14.09 13.87

8694 1.00 704.7 2782 686 1025 883 18.0 4.8 771 8758 0.38 2.47 59.45 0.259 11430 0.082 0.077 2912 2102 499 519 480 0 0 0 0 0 0 14.08 14.15 13.90

8832 end climb: SURFACE_DEPTH_REACHED

state 8833 begin surface coast

8841 end surface coast: CONTROL_FINISHED_OK

state 8841 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	185	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	524.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,111302,7406.7578,-15237.5557,35,0.8,35,19.7,0.0,0.0,10,10.0	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	1.28	MHEAD_RNG_PITCHd_Wd	283.9,44919,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	280817,112355,7406.7871,-15237.7080,8,0.8,11,19.7,0.0,317.7,10,8.7

MODEM_MSG	CACST,6,1,20170828121855.782908,3,3142,34,0155,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F	PM_FREEKB_00	52434496
FINISH	0.4,1.021088	_24V_AH	12.32,131.718
SM_CCo	8922,0.00,0.000,0,0,495,704.01	_10V_AH	12.29,0.000
SM_GC	1.36,8.25,0.17,0.00,0.071,0.133,0.000,204,2207,495,-7.36,-0.71,704.01,0,0,0,0,0,0,14.29,14.23,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	306	FG_AHR_10Vo	0.000
MODEM	0,1503921835,75.36600,-145.04601,181.681,262809.7	MEM	323548
RAFOS_FIX	7405.907715,-15239.416992,280817,121215,3,255,0.64	DATA_FILE_SIZE	26700,792
IRIDIUM_FIX	7406.99,-15229.86,280817,084402	CAP_FILE_SIZE	106690,0
TT8_MAMPS	0.038948,0.983437	CFSIZE	2097872896,2030895104
HUMID	46.14	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1448.1
TCM_TEMP	13.10	CURRENT	0.026,198.82,1
XPDR_PINGS	9	GPS	280817,135420,7407.570,-15240.939,21,0.7,24,19.7,0.4,282.5,10,8.6
CP_FREE	15987310592.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	143.08	nil	0	0	0.00
Roll_motor	89	2142	2367.98	nil	0	0	0.00
VBD_pump_during_apogee	1024	1435	18121.62	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8872	14	1568.17
Iridium_during_xfer	372	184	845.75	NCP	8869	20	2185.32
Transponder_ping	2	420	11.64	PMAR	8818	10	1091.16
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.47
TT8	0	0	0.00
LPSleep	6249	2	177.43
TT8_Active	994	13	170.76
TT8_Sampling	2048	33	842.09
TT8_CF8	296	38	141.08
TT8_Kalman	0	0	0.00
Analog_circuits	2137	10	262.69
GPS_charging	0	0	0.00
Compass	1134	7	97.61
RAFOS	2215	48	1306.67
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	196	2212	510	492	0.0	0.0	0	140	0.00	0.00	-91.32	0.000	16386	0.000	0.000	195	2211	2172	2099	2245	0	0	0	0	0	0	14.50	28.83	14.50
143	-0.57	-145.9	195	2211	2102	2247	3.9	-5.0	9	196	12.62	2.75	-34.20	0.000	18724	0.454	2.143	2376	3600	3965	3950	3981	0	0	0	0	0	0	13.65	12.86	14.14
422	-0.69	-145.9	2378	3601	3951	3981	60.0	-13.5	64	429	0.00	2.33	0.00	0.000	1158	0.000	0.058	2377	2238	3965	3950	3981	0	0	0	0	0	0	14.28	14.16	14.31
727	-0.77	-145.9	2377	2237	3951	3982	100.6	-11.5	95	728	0.15	0.00	0.00	0.000	4230	0.131	0.000	2324	2236	3966	3951	3981	0	0	0	0	0	0	14.12	14.25	14.21
1027	-0.80	-145.9	2325	2235	3952	3981	142.9	-13.3	105	1032	0.00	2.42	0.00	0.000	388	0.000	0.089	2319	3609	3966	3951	3981	0	0	0	0	0	0	14.63	14.15	14.64
1102	-0.93	-145.9	2320	3609	3952	3981	151.9	-11.5	120	1108	0.12	2.40	0.00	0.000	5254	0.131	0.057	2268	2190	3965	3950	3981	0	0	0	0	0	0	14.26	14.21	14.35
1419	-0.89	-145.9	2268	2190	3949	3981	206.5	-16.9	133	1423	0.00	2.47	0.00	0.000	388	0.000	0.086	2258	3601	3965	3950	3981	0	0	0	0	0	0	14.64	14.16	14.66
1509	-0.92	-145.9	2258	3602	3951	3982	220.1	-14.2	151	1513	0.00	2.38	0.00	0.000	1158	0.000	0.057	2258	2198	3965	3950	3981	0	0	0	0	0	0	14.35	14.23	14.38
1839	-0.89	-145.9	2258	2196	3951	3980	271.4	-15.0	167	1844	0.12	2.47	0.00	0.000	2436	0.303	0.085	2280	3607	3965	3950	3980	0	0	0	0	0	0	13.95	14.21	14.11
1914	-1.00	-145.9	2280	3609	3951	3982	280.5	-10.9	182	1919	0.00	2.38	0.00	0.000	1158	0.000	0.056	2279	2191	3965	3950	3981	0	0	0	0	0	0	14.31	14.25	14.34
2231	-1.05	-145.9	2280	2194	3952	3980	315.3	-10.6	195	2236	0.12	2.50	0.00	0.000	4484	0.142	0.086	2222	3601	3965	3950	3981	0	0	0	0	0	0	14.19	14.09	14.25
2321	-1.05	-145.9	2223	3603	3951	3980	328.0	-14.1	213	2326	0.00	2.38	0.00	0.000	1030	0.000	0.057	2223	2199	3965	3950	3980	0	0	0	0	0	0	14.30	14.15	14.30
2651	-1.00	-145.9	2223	2198	3951	3980	377.7	-15.0	229	2656	0.12	2.50	0.00	0.000	2436	0.303	0.086	2241	3607	3965	3950	3980	0	0	0	0	0	0	13.84	14.07	14.00
2758	-1.07	-145.9	2241	3608	3952	3980	390.6	-11.0	250	2763	0.00	2.40	0.00	0.000	1158	0.000	0.057	2241	2201	3964	3950	3979	0	0	0	0	0	0	14.21	14.11	14.26
3073	-1.07	-145.9	2241	2200	3951	3978	430.2	-12.5	263	3078	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3606	3962	3949	3976	0	0	0	0	0	0	14.45	14.04	14.47
3153	-1.14	-145.9	2235	3608	3951	3979	439.9	-11.6	279	3158	0.00	2.42	0.00	0.000	1158	0.000	0.057	2237	2189	3964	3950	3979	0	0	0	0	0	0	14.22	14.09	14.25
3463	-1.14	-145.9	2236	2188	3950	3978	478.9	-12.6	291	3468	0.00	2.53	0.00	0.000	260	0.000	0.090	2236	3607	3963	3949	3978	0	0	0	0	0	0	14.45	14.04	14.47
3470	end dive: TARGET_DEPTH_EXCEEDED
state	3470	begin apogee
3478	-0.13	0.0	2237	2096	3951	3979	480.1	-12.5	293	3715	1.17	0.00	227.60	1.422	10246	0.245	0.000	2529	2094	3356	3382	3330	0	0	0	0	0	0	13.77	13.35	12.57
3718	end apogee: CONTROL_FINISHED_OK
state	3718	begin climb
3721	0.57	145.9	2530	2094	3380	3328	492.7	0.0	301	3941	0.75	2.72	207.77	1.377	11012	0.063	0.075	2778	3500	2760	2806	2715	0	0	0	0	0	0	13.45	13.08	12.32
4078	0.12	145.9	2778	3501	2789	2713	478.4	16.9	367	4083	0.82	2.53	0.00	0.000	5254	0.351	0.056	2627	2092	2750	2788	2712	0	0	0	0	0	0	13.07	13.51	13.51
4409	0.03	178.2	2628	2091	2790	2709	448.3	8.5	383	4461	0.12	2.47	45.28	1.426	12964	0.293	0.083	2602	689	2633	2683	2583	0	0	0	0	0	0	13.72	13.62	13.01
4496	0.08	224.6	2602	686	2677	2576	441.7	7.9	400	4574	0.00	2.53	68.47	1.388	9382	0.000	0.080	2602	2096	2444	2509	2380	0	0	0	0	0	0	13.90	13.80	12.81
4895	0.10	251.7	2603	2096	2495	2362	407.1	8.7	429	4935	0.00	0.00	39.35	1.418	8230	0.000	0.000	2602	2096	2338	2397	2279	0	0	0	0	0	0	14.39	13.91	13.11
5225	0.15	276.1	2602	2097	2381	2261	377.9	8.9	440	5265	0.00	2.55	35.88	1.420	8868	0.000	0.086	2602	694	2236	2294	2178	0	0	0	0	0	0	14.51	14.04	13.22
5312	0.30	308.8	2603	693	2281	2173	370.4	8.5	457	5371	0.22	2.47	51.08	1.368	11430	0.092	0.080	2689	2101	2102	2156	2048	0	0	0	0	0	0	14.17	14.05	13.09
5677	0.22	308.8	2689	2101	2143	2034	316.9	14.6	480	5678	0.15	0.00	0.00	0.000	4230	0.237	0.000	2657	2101	2087	2143	2032	0	0	0	0	0	0	13.98	14.29	14.24
5977	0.22	308.8	2658	2101	2142	2029	281.8	11.3	490	5981	0.00	2.47	0.00	0.000	516	0.000	0.089	2658	693	2085	2141	2030	0	0	0	0	0	0	14.62	14.16	14.64
6042	0.27	308.8	2660	693	2141	2030	275.0	10.1	503	6047	0.00	2.45	0.00	0.000	1158	0.000	0.080	2659	2105	2084	2139	2030	0	0	0	0	0	0	14.40	14.27	14.45
6367	0.28	312.1	2661	2104	2139	2030	241.7	9.8	518	6372	0.00	2.47	0.00	0.000	548	0.000	0.086	2659	693	2084	2139	2029	0	0	0	0	0	0	14.66	14.24	14.67
6412	0.34	326.0	2660	693	2138	2031	237.5	9.4	527	6443	0.00	2.45	22.62	1.435	9382	0.000	0.080	2659	2105	2030	2082	1978	0	0	0	0	0	0	14.42	14.28	13.36
6760	0.40	356.8	2659	2105	2075	1970	206.5	8.6	546	6820	0.12	2.50	52.95	1.326	10916	0.133	0.084	2725	691	1906	1945	1867	0	0	0	0	0	0	14.33	13.83	13.26
6880	0.38	356.8	2725	692	1932	1866	191.9	12.0	570	6886	0.00	2.50	0.00	0.000	1158	0.000	0.078	2725	2102	1897	1930	1864	0	0	0	0	0	0	14.19	14.09	14.20
7211	0.32	356.8	2726	2103	1930	1860	151.7	11.8	586	7216	0.12	2.47	0.00	0.000	4740	0.245	0.083	2699	687	1894	1929	1859	0	0	0	0	0	0	14.05	14.18	14.19
7256	0.40	374.0	2699	687	1928	1859	147.2	9.2	595	7287	0.00	2.47	24.83	1.375	9382	0.000	0.079	2699	2110	1839	1871	1808	0	0	0	0	0	0	14.36	14.23	13.31
7604	0.44	398.8	2699	2111	1861	1792	115.5	8.9	614	7648	0.00	2.50	38.38	1.304	8868	0.000	0.085	2699	694	1736	1765	1707	0	0	0	0	0	0	14.57	13.85	13.27
7715	0.58	440.2	2700	694	1752	1704	106.1	8.1	636	7795	0.20	2.47	72.93	1.204	11430	0.099	0.079	2779	2107	1568	1602	1534	0	0	0	0	0	0	14.21	14.12	13.14
8093	0.53	444.0	2780	2107	1599	1510	59.6	9.8	682	8098	0.00	2.50	0.00	0.000	676	0.000	0.086	2781	691	1554	1599	1509	0	0	0	0	0	0	14.45	14.10	14.47
8220	0.61	519.5	2781	691	1595	1510	49.6	6.5	707	8268	0.00	2.47	39.62	0.348	9382	0.000	0.079	2781	2105	1244	1304	1184	0	0	0	0	0	0	14.29	14.17	13.76
8563	0.73	592.6	2781	2106	1305	1190	25.9	6.6	746	8607	0.00	2.58	38.72	0.287	8868	0.000	0.086	2781	688	949	1022	876	0	0	0	0	0	0	14.54	14.09	13.87
8694	1.00	704.7	2782	686	1025	883	18.0	4.8	771	8758	0.38	2.47	59.45	0.259	11430	0.082	0.077	2912	2102	499	519	480	0	0	0	0	0	0	14.08	14.15	13.90
8832	end climb: SURFACE_DEPTH_REACHED
state	8833	begin surface coast
8841	end surface coast: CONTROL_FINISHED_OK
state	8841	begin surface