Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 186 * 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 186 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 526.0

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 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 526.0 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 186 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 280817,135420,7407.5703,-15240.9395,21,0.7,24,19.7,0.4,282.5,10,8.6 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 1.28 MHEAD_RNG_PITCHd_Wd 283.0,42664,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 280817,141732,7407.6816,-15241.0635,6,0.7,35,19.7,0.2,333.8,11,7.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828162705.174799,3,47,16,0092,0150,250,00,00,00,00,-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 52394880

FINISH 0.1,1.003234 _24V_AH 12.36,132.218

SM_CCo 8963,49.25,0.208,0,0,500,703.03 _10V_AH 12.21,0.000

SM_GC 1.32,7.95,0.17,49.25,0.060,0.126,0.208,204,2218,500,-7.36,-0.59,703.03,0,0,0,0,0,0,14.31,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 141 FG_AHR_10Vo 0.000

MODEM 0,1503936236,75.36600,-145.04601,182.927,264892.8 MEM 323380

RAFOS_FIX 7407.576660,-15243.542969,280817,161659,4,255,0.18 DATA_FILE_SIZE 23428,711

IRIDIUM_FIX 7406.10,-15240.45,280817,141108 CAP_FILE_SIZE 110854,0

TT8_MAMPS 0.039697,0.942991 CFSIZE 2097872896,2030567424

HUMID 43.58 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.74246 INTR 0,179.59,0x2341e8,0,24

TCM_TEMP 13.20 SOUNDSPEED 1447.6

XPDR_PINGS 21 CURRENT 0.026,243.20,1

CP_FREE 15987048448.000000 GPS 280817,164924,7408.575,-15244.586,17,0.7,20,19.7,0.0,0.0,12,9.1

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 140.60 nil 0 0 0.00

Roll_motor 79 2146 2121.88 nil 0 0 0.00

VBD_pump_during_apogee 960 1400 16621.19 nil 0 0 0.00

VBD_pump_during_surface 49 208 126.66 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 8972 14 1607.96

Iridium_during_xfer 836 166 1724.41 NCP 8960 20 2214.91

Transponder_ping 5 420 27.25 PMAR 8918 10 1102.82

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.47

TT8 0 0 0.00

LPSleep 6662 2 187.93

TT8_Active 877 13 149.65

TT8_Sampling 2539 33 1036.73

TT8_CF8 340 38 160.62

TT8_Kalman 0 0 0.00

Analog_circuits 2557 10 312.30

GPS_charging 0 0 0.00

Compass 1020 7 87.22

RAFOS 2213 48 1297.00

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 191 2211 501 478 0.0 0.0 0 141 0.00 0.00 -91.35 0.000 16386 0.000 0.000 190 2210 2156 2080 2232 0 0 0 0 0 0 14.50 28.83 14.52

144 -0.57 -145.9 191 2211 2084 2233 3.6 -4.7 9 200 12.65 2.78 -35.00 0.000 18724 0.456 2.147 2374 3602 3964 3947 3982 0 0 0 0 0 0 13.67 12.59 14.10

350 -0.69 -145.9 2374 3603 3953 3982 51.3 -14.5 49 355 0.00 2.40 0.00 0.000 1158 0.000 0.062 2374 2204 3966 3950 3983 0 0 0 0 0 0 14.20 14.05 14.20

661 -0.76 -145.9 2374 2203 3954 3984 96.8 -12.5 81 662 0.15 0.00 0.00 0.000 4230 0.141 0.000 2323 2202 3971 3953 3990 0 0 0 0 0 0 14.23 14.36 14.33

961 -0.79 -145.9 2324 2202 3954 3983 140.9 -13.7 93 965 0.00 2.47 0.00 0.000 388 0.000 0.090 2319 3607 3967 3953 3982 0 0 0 0 0 0 14.62 14.15 14.64

1056 -0.91 -145.9 2319 3607 3954 3983 152.2 -11.3 112 1062 0.00 2.38 0.00 0.000 1158 0.000 0.057 2319 2196 3967 3953 3982 0 0 0 0 0 0 14.39 14.26 14.42

1382 -0.97 -145.9 2319 2195 3954 3983 192.6 -12.0 127 1383 0.17 0.00 0.00 0.000 4230 0.115 0.000 2256 2195 3970 3959 3982 0 0 0 0 0 0 14.28 14.34 14.33

1682 -0.91 -145.9 2253 2196 3954 3984 243.6 -16.7 137 1687 0.12 2.47 0.00 0.000 2436 0.288 0.086 2273 3601 3968 3953 3983 0 0 0 0 0 0 14.00 14.19 14.13

1812 -1.01 -145.9 2273 3603 3954 3982 260.0 -11.7 163 1817 0.00 2.38 0.00 0.000 1158 0.000 0.057 2272 2202 3968 3953 3983 0 0 0 0 0 0 14.40 14.28 14.44

2132 -1.03 -145.9 2273 2202 3954 3983 299.6 -11.8 177 2137 0.00 2.47 0.00 0.000 388 0.000 0.090 2267 3603 3967 3953 3982 0 0 0 0 0 0 14.68 14.19 14.69

2213 -1.14 -145.9 2267 3604 3954 3984 308.2 -10.3 193 2218 0.17 2.38 0.00 0.000 5254 0.122 0.057 2203 2189 3967 3953 3982 0 0 0 0 0 0 14.31 14.28 14.42

2523 -1.04 -145.9 2204 2188 3954 3982 359.9 -16.7 205 2528 0.15 2.50 0.00 0.000 2436 0.311 0.085 2227 3604 3965 3948 3982 0 0 0 0 0 0 13.88 14.23 14.08

2646 -1.07 -145.9 2227 3604 3953 3982 376.2 -12.6 229 2650 0.00 2.38 0.00 0.000 1158 0.000 0.057 2227 2191 3967 3952 3982 0 0 0 0 0 0 14.40 14.28 14.43

2976 -1.03 -145.9 2227 2190 3954 3982 422.1 -13.8 245 2981 0.00 2.47 0.00 0.000 388 0.000 0.088 2225 3603 3966 3952 3981 0 0 0 0 0 0 14.69 14.22 14.70

3066 -1.06 -145.9 2223 3603 3953 3982 434.0 -12.6 263 3071 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2199 3966 3952 3981 0 0 0 0 0 0 14.40 14.28 14.45

3397 -1.02 -145.9 2223 2199 3953 3982 479.0 -13.6 279 3401 0.00 2.47 0.00 0.000 388 0.000 0.089 2220 3604 3966 3952 3981 0 0 0 0 0 0 14.68 14.20 14.71

3404 end dive: TARGET_DEPTH_EXCEEDED

state 3404 begin apogee

3412 -0.13 0.0 2223 2100 3953 3982 480.5 -13.6 281 3652 1.23 0.00 236.55 1.391 10246 0.255 0.000 2528 2098 3365 3385 3345 0 0 0 0 0 0 13.93 13.45 12.65

3656 end apogee: CONTROL_FINISHED_OK

state 3656 begin climb

3658 0.57 145.9 2528 2100 3376 3334 492.7 0.0 289 3884 0.75 2.65 216.12 1.334 10756 0.064 0.081 2781 700 2761 2801 2721 0 0 0 0 0 0 13.56 12.93 12.36

3924 0.20 145.9 2782 700 2794 2710 495.3 13.9 300 3932 0.65 2.60 0.00 0.000 5254 0.317 0.076 2651 2094 2750 2792 2708 0 0 0 0 0 0 13.06 13.32 13.37

4230 0.04 154.9 2651 2095 2793 2701 465.1 9.6 311 4240 0.20 2.58 1.73 0.220 12964 0.277 0.083 2603 693 2732 2776 2688 0 0 0 0 0 0 13.65 13.89 13.73

4275 0.09 216.8 2604 692 2782 2695 461.4 7.1 320 4387 0.00 2.50 106.00 1.357 9254 0.000 0.080 2610 2100 2480 2541 2419 0 0 0 0 0 0 14.10 13.98 12.84

4713 0.11 244.5 2604 2100 2523 2396 424.1 8.7 357 4758 0.00 2.55 38.55 1.401 8740 0.000 0.086 2604 696 2362 2417 2307 0 0 0 0 0 0 14.42 13.93 13.14

4800 0.22 279.7 2604 696 2409 2301 416.7 8.4 374 4859 0.15 2.47 53.58 1.357 11430 0.116 0.079 2667 2094 2225 2280 2170 0 0 0 0 0 0 14.04 13.98 13.03

5165 0.16 279.7 2668 2094 2260 2145 368.6 13.3 397 5170 0.12 2.45 0.00 0.000 4740 0.263 0.080 2647 693 2201 2258 2145 0 0 0 0 0 0 13.98 14.14 14.12

5195 0.16 279.7 2647 693 2258 2145 364.9 11.8 403 5200 0.00 2.47 0.00 0.000 1030 0.000 0.078 2647 2106 2201 2257 2145 0 0 0 0 0 0 14.30 14.16 14.33

5525 0.16 279.7 2647 2107 2257 2148 327.0 11.4 419 5530 0.00 2.47 0.00 0.000 516 0.000 0.086 2646 693 2203 2264 2142 0 0 0 0 0 0 14.64 14.24 14.66

5555 0.16 279.7 2647 694 2256 2144 323.7 11.0 425 5560 0.00 2.45 0.00 0.000 1030 0.000 0.078 2646 2101 2198 2255 2142 0 0 0 0 0 0 14.36 14.23 14.40

5885 0.16 279.7 2647 2101 2256 2142 287.9 10.6 441 5886 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2101 2198 2255 2142 0 0 0 0 0 0 14.64 14.68 14.68

6185 0.17 292.7 2647 2104 2255 2142 258.6 9.4 451 6191 0.00 0.00 4.10 1.374 8230 0.000 0.000 2647 2101 2171 2224 2119 0 0 0 0 0 0 14.55 14.19 13.10

6485 0.20 330.1 2647 2101 2239 2130 232.8 8.3 461 6570 0.00 2.53 79.22 1.281 8740 0.000 0.083 2647 691 2015 2063 1967 0 0 0 0 0 0 14.51 13.72 13.16

6607 0.34 372.9 2648 691 2048 1963 223.0 8.0 485 6687 0.15 2.53 73.62 1.224 11430 0.118 0.079 2704 2101 1845 1877 1813 0 0 0 0 0 0 13.99 13.90 12.99

6997 0.34 372.9 2703 2102 1856 1792 178.9 11.0 513 7002 0.00 2.50 0.00 0.000 516 0.000 0.084 2712 688 1823 1855 1792 0 0 0 0 0 0 14.33 14.02 14.41

7077 0.38 372.9 2711 689 1852 1792 170.3 10.4 529 7082 0.00 2.47 0.00 0.000 1158 0.000 0.079 2712 2099 1821 1852 1791 0 0 0 0 0 0 14.19 14.07 14.23

7387 0.38 372.9 2713 2099 1853 1790 137.3 10.3 541 7388 0.00 0.00 0.00 0.000 6 0.000 0.000 2711 2099 1820 1851 1790 0 0 0 0 0 0 14.46 14.48 14.48

7687 0.39 388.7 2712 2099 1852 1794 108.5 9.3 551 7712 0.00 2.55 17.10 1.336 8740 0.000 0.086 2712 694 1775 1803 1747 0 0 0 0 0 0 14.50 14.14 13.31

7794 0.49 420.0 2713 696 1792 1744 99.2 8.6 572 7821 0.00 2.50 17.08 0.480 9382 0.000 0.079 2712 2107 1649 1675 1624 0 0 0 0 0 0 14.13 14.02 13.57

8117 0.59 478.0 2712 2107 1689 1629 72.2 7.3 607 8158 0.15 0.00 34.05 0.409 10918 0.114 0.000 2784 2106 1413 1455 1372 0 0 0 0 0 0 14.14 14.06 13.66

8458 0.64 551.5 2785 2105 1461 1379 41.6 6.6 642 8506 0.00 2.53 41.78 0.320 8740 0.000 0.086 2788 691 1115 1178 1052 0 0 0 0 0 0 14.40 14.02 13.73

8628 0.81 617.8 2786 691 1181 1063 30.1 6.9 675 8678 0.17 2.50 40.58 0.283 11430 0.111 0.080 2858 2105 845 910 780 0 0 0 0 0 0 14.02 13.96 13.73

8921 end climb: SURFACE_DEPTH_REACHED

state 8921 begin surface coast

8943 end surface coast: CONTROL_FINISHED_OK

state 8943 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	186	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	526.0
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	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,135420,7407.5703,-15240.9395,21,0.7,24,19.7,0.4,282.5,10,8.6	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	1.28	MHEAD_RNG_PITCHd_Wd	283.0,42664,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	280817,141732,7407.6816,-15241.0635,6,0.7,35,19.7,0.2,333.8,11,7.4

MODEM_MSG	CACST,6,1,20170828162705.174799,3,47,16,0092,0150,250,00,00,00,00,-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	52394880
FINISH	0.1,1.003234	_24V_AH	12.36,132.218
SM_CCo	8963,49.25,0.208,0,0,500,703.03	_10V_AH	12.21,0.000
SM_GC	1.32,7.95,0.17,49.25,0.060,0.126,0.208,204,2218,500,-7.36,-0.59,703.03,0,0,0,0,0,0,14.31,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	141	FG_AHR_10Vo	0.000
MODEM	0,1503936236,75.36600,-145.04601,182.927,264892.8	MEM	323380
RAFOS_FIX	7407.576660,-15243.542969,280817,161659,4,255,0.18	DATA_FILE_SIZE	23428,711
IRIDIUM_FIX	7406.10,-15240.45,280817,141108	CAP_FILE_SIZE	110854,0
TT8_MAMPS	0.039697,0.942991	CFSIZE	2097872896,2030567424
HUMID	43.58	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.74246	INTR	0,179.59,0x2341e8,0,24
TCM_TEMP	13.20	SOUNDSPEED	1447.6
XPDR_PINGS	21	CURRENT	0.026,243.20,1
CP_FREE	15987048448.000000	GPS	280817,164924,7408.575,-15244.586,17,0.7,20,19.7,0.0,0.0,12,9.1

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	140.60	nil	0	0	0.00
Roll_motor	79	2146	2121.88	nil	0	0	0.00
VBD_pump_during_apogee	960	1400	16621.19	nil	0	0	0.00
VBD_pump_during_surface	49	208	126.66	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	8972	14	1607.96
Iridium_during_xfer	836	166	1724.41	NCP	8960	20	2214.91
Transponder_ping	5	420	27.25	PMAR	8918	10	1102.82
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.47
TT8	0	0	0.00
LPSleep	6662	2	187.93
TT8_Active	877	13	149.65
TT8_Sampling	2539	33	1036.73
TT8_CF8	340	38	160.62
TT8_Kalman	0	0	0.00
Analog_circuits	2557	10	312.30
GPS_charging	0	0	0.00
Compass	1020	7	87.22
RAFOS	2213	48	1297.00
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	191	2211	501	478	0.0	0.0	0	141	0.00	0.00	-91.35	0.000	16386	0.000	0.000	190	2210	2156	2080	2232	0	0	0	0	0	0	14.50	28.83	14.52
144	-0.57	-145.9	191	2211	2084	2233	3.6	-4.7	9	200	12.65	2.78	-35.00	0.000	18724	0.456	2.147	2374	3602	3964	3947	3982	0	0	0	0	0	0	13.67	12.59	14.10
350	-0.69	-145.9	2374	3603	3953	3982	51.3	-14.5	49	355	0.00	2.40	0.00	0.000	1158	0.000	0.062	2374	2204	3966	3950	3983	0	0	0	0	0	0	14.20	14.05	14.20
661	-0.76	-145.9	2374	2203	3954	3984	96.8	-12.5	81	662	0.15	0.00	0.00	0.000	4230	0.141	0.000	2323	2202	3971	3953	3990	0	0	0	0	0	0	14.23	14.36	14.33
961	-0.79	-145.9	2324	2202	3954	3983	140.9	-13.7	93	965	0.00	2.47	0.00	0.000	388	0.000	0.090	2319	3607	3967	3953	3982	0	0	0	0	0	0	14.62	14.15	14.64
1056	-0.91	-145.9	2319	3607	3954	3983	152.2	-11.3	112	1062	0.00	2.38	0.00	0.000	1158	0.000	0.057	2319	2196	3967	3953	3982	0	0	0	0	0	0	14.39	14.26	14.42
1382	-0.97	-145.9	2319	2195	3954	3983	192.6	-12.0	127	1383	0.17	0.00	0.00	0.000	4230	0.115	0.000	2256	2195	3970	3959	3982	0	0	0	0	0	0	14.28	14.34	14.33
1682	-0.91	-145.9	2253	2196	3954	3984	243.6	-16.7	137	1687	0.12	2.47	0.00	0.000	2436	0.288	0.086	2273	3601	3968	3953	3983	0	0	0	0	0	0	14.00	14.19	14.13
1812	-1.01	-145.9	2273	3603	3954	3982	260.0	-11.7	163	1817	0.00	2.38	0.00	0.000	1158	0.000	0.057	2272	2202	3968	3953	3983	0	0	0	0	0	0	14.40	14.28	14.44
2132	-1.03	-145.9	2273	2202	3954	3983	299.6	-11.8	177	2137	0.00	2.47	0.00	0.000	388	0.000	0.090	2267	3603	3967	3953	3982	0	0	0	0	0	0	14.68	14.19	14.69
2213	-1.14	-145.9	2267	3604	3954	3984	308.2	-10.3	193	2218	0.17	2.38	0.00	0.000	5254	0.122	0.057	2203	2189	3967	3953	3982	0	0	0	0	0	0	14.31	14.28	14.42
2523	-1.04	-145.9	2204	2188	3954	3982	359.9	-16.7	205	2528	0.15	2.50	0.00	0.000	2436	0.311	0.085	2227	3604	3965	3948	3982	0	0	0	0	0	0	13.88	14.23	14.08
2646	-1.07	-145.9	2227	3604	3953	3982	376.2	-12.6	229	2650	0.00	2.38	0.00	0.000	1158	0.000	0.057	2227	2191	3967	3952	3982	0	0	0	0	0	0	14.40	14.28	14.43
2976	-1.03	-145.9	2227	2190	3954	3982	422.1	-13.8	245	2981	0.00	2.47	0.00	0.000	388	0.000	0.088	2225	3603	3966	3952	3981	0	0	0	0	0	0	14.69	14.22	14.70
3066	-1.06	-145.9	2223	3603	3953	3982	434.0	-12.6	263	3071	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2199	3966	3952	3981	0	0	0	0	0	0	14.40	14.28	14.45
3397	-1.02	-145.9	2223	2199	3953	3982	479.0	-13.6	279	3401	0.00	2.47	0.00	0.000	388	0.000	0.089	2220	3604	3966	3952	3981	0	0	0	0	0	0	14.68	14.20	14.71
3404	end dive: TARGET_DEPTH_EXCEEDED
state	3404	begin apogee
3412	-0.13	0.0	2223	2100	3953	3982	480.5	-13.6	281	3652	1.23	0.00	236.55	1.391	10246	0.255	0.000	2528	2098	3365	3385	3345	0	0	0	0	0	0	13.93	13.45	12.65
3656	end apogee: CONTROL_FINISHED_OK
state	3656	begin climb
3658	0.57	145.9	2528	2100	3376	3334	492.7	0.0	289	3884	0.75	2.65	216.12	1.334	10756	0.064	0.081	2781	700	2761	2801	2721	0	0	0	0	0	0	13.56	12.93	12.36
3924	0.20	145.9	2782	700	2794	2710	495.3	13.9	300	3932	0.65	2.60	0.00	0.000	5254	0.317	0.076	2651	2094	2750	2792	2708	0	0	0	0	0	0	13.06	13.32	13.37
4230	0.04	154.9	2651	2095	2793	2701	465.1	9.6	311	4240	0.20	2.58	1.73	0.220	12964	0.277	0.083	2603	693	2732	2776	2688	0	0	0	0	0	0	13.65	13.89	13.73
4275	0.09	216.8	2604	692	2782	2695	461.4	7.1	320	4387	0.00	2.50	106.00	1.357	9254	0.000	0.080	2610	2100	2480	2541	2419	0	0	0	0	0	0	14.10	13.98	12.84
4713	0.11	244.5	2604	2100	2523	2396	424.1	8.7	357	4758	0.00	2.55	38.55	1.401	8740	0.000	0.086	2604	696	2362	2417	2307	0	0	0	0	0	0	14.42	13.93	13.14
4800	0.22	279.7	2604	696	2409	2301	416.7	8.4	374	4859	0.15	2.47	53.58	1.357	11430	0.116	0.079	2667	2094	2225	2280	2170	0	0	0	0	0	0	14.04	13.98	13.03
5165	0.16	279.7	2668	2094	2260	2145	368.6	13.3	397	5170	0.12	2.45	0.00	0.000	4740	0.263	0.080	2647	693	2201	2258	2145	0	0	0	0	0	0	13.98	14.14	14.12
5195	0.16	279.7	2647	693	2258	2145	364.9	11.8	403	5200	0.00	2.47	0.00	0.000	1030	0.000	0.078	2647	2106	2201	2257	2145	0	0	0	0	0	0	14.30	14.16	14.33
5525	0.16	279.7	2647	2107	2257	2148	327.0	11.4	419	5530	0.00	2.47	0.00	0.000	516	0.000	0.086	2646	693	2203	2264	2142	0	0	0	0	0	0	14.64	14.24	14.66
5555	0.16	279.7	2647	694	2256	2144	323.7	11.0	425	5560	0.00	2.45	0.00	0.000	1030	0.000	0.078	2646	2101	2198	2255	2142	0	0	0	0	0	0	14.36	14.23	14.40
5885	0.16	279.7	2647	2101	2256	2142	287.9	10.6	441	5886	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2101	2198	2255	2142	0	0	0	0	0	0	14.64	14.68	14.68
6185	0.17	292.7	2647	2104	2255	2142	258.6	9.4	451	6191	0.00	0.00	4.10	1.374	8230	0.000	0.000	2647	2101	2171	2224	2119	0	0	0	0	0	0	14.55	14.19	13.10
6485	0.20	330.1	2647	2101	2239	2130	232.8	8.3	461	6570	0.00	2.53	79.22	1.281	8740	0.000	0.083	2647	691	2015	2063	1967	0	0	0	0	0	0	14.51	13.72	13.16
6607	0.34	372.9	2648	691	2048	1963	223.0	8.0	485	6687	0.15	2.53	73.62	1.224	11430	0.118	0.079	2704	2101	1845	1877	1813	0	0	0	0	0	0	13.99	13.90	12.99
6997	0.34	372.9	2703	2102	1856	1792	178.9	11.0	513	7002	0.00	2.50	0.00	0.000	516	0.000	0.084	2712	688	1823	1855	1792	0	0	0	0	0	0	14.33	14.02	14.41
7077	0.38	372.9	2711	689	1852	1792	170.3	10.4	529	7082	0.00	2.47	0.00	0.000	1158	0.000	0.079	2712	2099	1821	1852	1791	0	0	0	0	0	0	14.19	14.07	14.23
7387	0.38	372.9	2713	2099	1853	1790	137.3	10.3	541	7388	0.00	0.00	0.00	0.000	6	0.000	0.000	2711	2099	1820	1851	1790	0	0	0	0	0	0	14.46	14.48	14.48
7687	0.39	388.7	2712	2099	1852	1794	108.5	9.3	551	7712	0.00	2.55	17.10	1.336	8740	0.000	0.086	2712	694	1775	1803	1747	0	0	0	0	0	0	14.50	14.14	13.31
7794	0.49	420.0	2713	696	1792	1744	99.2	8.6	572	7821	0.00	2.50	17.08	0.480	9382	0.000	0.079	2712	2107	1649	1675	1624	0	0	0	0	0	0	14.13	14.02	13.57
8117	0.59	478.0	2712	2107	1689	1629	72.2	7.3	607	8158	0.15	0.00	34.05	0.409	10918	0.114	0.000	2784	2106	1413	1455	1372	0	0	0	0	0	0	14.14	14.06	13.66
8458	0.64	551.5	2785	2105	1461	1379	41.6	6.6	642	8506	0.00	2.53	41.78	0.320	8740	0.000	0.086	2788	691	1115	1178	1052	0	0	0	0	0	0	14.40	14.02	13.73
8628	0.81	617.8	2786	691	1181	1063	30.1	6.9	675	8678	0.17	2.50	40.58	0.283	11430	0.111	0.080	2858	2105	845	910	780	0	0	0	0	0	0	14.02	13.96	13.73
8921	end climb: SURFACE_DEPTH_REACHED
state	8921	begin surface coast
8943	end surface coast: CONTROL_FINISHED_OK
state	8943	begin surface