Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 195 * 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 195 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 548.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 548.0 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 61 VBD_MIN 500

DIVE 195 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 290817,154651,7414.8472,-15317.3242,39,0.8,40,19.5,0.0,0.0,10,8.4 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 276.1,20725,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 290817,160648,7414.8706,-15317.3994,13,0.8,15,19.5,0.0,287.1,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829162700.827779,3,3369,35,0693,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D PM_FREEKB_00 52128896

FINISH 0.1,1.021588 _24V_AH 12.36,136.620

SM_CCo 8760,36.40,0.210,0,0,500,702.78 _10V_AH 12.20,0.000

SM_GC 1.02,8.05,0.17,36.40,0.065,0.119,0.210,197,2227,500,-7.39,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

MODEM 2,1504023255,73.18300,-149.96500,108.031,156412.6 MEM 323356

RAFOS_FIX 7414.234863,-15317.242188,290817,161658,3,255,1.50 DATA_FILE_SIZE 23484,695

IRIDIUM_FIX 7414.18,-15319.02,290817,160028 CAP_FILE_SIZE 104402,0

TT8_MAMPS 0.039697,0.925764 CFSIZE 2097872896,2027683840

HUMID 46.61 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,3,0

INTERNAL_PRESSURE 7.74246 INTR 0,154.19,0x2341ea,0,24

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 12 CURRENT 0.028,225.87,1

CP_FREE 15984689152.000000 GPS 290817,183528,7415.423,-15321.199,41,0.8,42,19.4,0.7,174.8,11,7.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.28 nil 0 0 0.00

Roll_motor 73 2141 1946.55 nil 0 0 0.00

VBD_pump_during_apogee 939 1445 16776.18 nil 0 0 0.00

VBD_pump_during_surface 36 210 94.65 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 8771 14 1594.49

Iridium_during_xfer 720 171 1525.92 NCP 8750 20 2163.00

Transponder_ping 3 420 15.57 PMAR 8715 9 1066.94

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.44

TT8 0 0 0.00

LPSleep 6123 2 172.57

TT8_Active 802 13 136.78

TT8_Sampling 2760 33 1126.14

TT8_CF8 322 38 152.42

TT8_Kalman 0 0 0.00

Analog_circuits 2719 10 331.79

GPS_charging 0 0 0.00

Compass 997 7 85.20

RAFOS 1661 48 972.68

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 -145.9 176 2236 497 486 0.0 0.0 0 146 0.00 0.00 -97.38 0.000 16386 0.000 0.000 175 2237 2268 2207 2329 0 0 0 0 0 0 14.50 28.83 14.50

149 -0.57 -145.9 176 2237 2209 2329 4.8 -7.5 10 199 12.75 2.67 -32.58 0.000 18724 0.454 2.141 2376 3584 3962 3945 3980 1 0 0 0 0 0 13.51 12.85 13.96

425 -0.71 -145.9 2376 3586 3953 3981 58.9 -12.2 64 429 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2228 3966 3952 3980 0 0 0 0 0 0 14.07 13.95 14.09

735 -0.80 -145.9 2375 2228 3955 3981 97.6 -11.0 96 736 0.17 0.00 0.00 0.000 4230 0.118 0.000 2308 2227 3967 3954 3980 0 0 0 0 0 0 14.09 14.21 14.19

1055 -0.80 -145.9 2308 2228 3955 3981 147.0 -14.8 108 1059 0.00 2.40 0.00 0.000 260 0.000 0.087 2299 3586 3966 3952 3980 0 0 0 0 0 0 14.45 14.07 14.47

1135 -0.89 -145.9 2301 3586 3953 3981 157.2 -12.2 124 1140 0.00 2.38 0.00 0.000 1158 0.000 0.058 2301 2197 3966 3953 3980 0 0 0 0 0 0 14.20 14.08 14.22

1445 -0.92 -145.9 2301 2195 3956 3980 199.1 -13.2 136 1450 0.00 2.47 0.00 0.000 388 0.000 0.086 2293 3594 3967 3954 3980 0 0 0 0 0 0 14.46 14.02 14.48

1530 -1.03 -145.9 2293 3595 3955 3980 209.4 -11.5 153 1537 0.15 2.40 0.00 0.000 5254 0.117 0.057 2238 2190 3966 3952 3980 0 0 0 0 0 0 13.97 13.99 14.05

1835 -0.96 -145.9 2239 2189 3955 3980 261.9 -17.0 164 1840 0.12 2.45 0.00 0.000 2436 0.295 0.083 2256 3597 3967 3954 3980 0 0 0 0 0 0 13.81 14.04 13.98

1897 -1.03 -145.9 2257 3591 3954 3980 270.4 -12.3 176 1902 0.00 2.40 0.00 0.000 1158 0.000 0.057 2257 2193 3966 3953 3980 0 0 0 0 0 0 14.16 14.08 14.24

2229 -1.03 -145.9 2257 2193 3953 3980 313.7 -12.6 192 2230 0.00 0.00 0.00 0.000 6 0.000 0.000 2257 2192 3966 3954 3979 0 0 0 0 0 0 14.62 14.61 14.61

2528 -1.05 -145.9 2256 2192 3955 3978 349.3 -11.7 202 2532 0.00 2.45 0.00 0.000 388 0.000 0.087 2249 3590 3968 3953 3983 0 0 0 0 0 0 14.66 14.19 14.66

2628 -1.14 -145.9 2249 3592 3955 3979 360.6 -10.9 222 2633 0.12 2.35 0.00 0.000 5254 0.140 0.056 2199 2194 3965 3953 3978 0 0 0 0 0 0 14.26 14.26 14.38

2948 -1.06 -145.9 2199 2194 3954 3979 412.4 -16.3 236 2953 0.12 2.45 0.00 0.000 2436 0.307 0.086 2222 3590 3965 3953 3977 0 0 0 0 0 0 13.97 14.21 14.14

3070 -1.10 -145.9 2223 3591 3954 3977 428.4 -12.5 260 3075 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2198 3965 3953 3977 0 0 0 0 0 0 14.31 14.20 14.34

3401 -1.07 -145.9 2222 2199 3954 3977 473.9 -13.7 276 3406 0.00 2.45 0.00 0.000 388 0.000 0.090 2222 3588 3965 3954 3976 0 0 0 0 0 0 14.69 14.08 14.70

3448 end dive: TARGET_DEPTH_EXCEEDED

state 3448 begin apogee

3456 -0.13 0.0 2223 2102 3954 3976 480.6 -12.6 286 3675 1.20 0.00 215.27 1.445 10246 0.242 0.000 2527 2101 3366 3394 3339 0 0 0 0 0 0 13.95 13.49 12.69

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3681 0.57 145.9 2528 2102 3389 3332 492.3 0.0 293 4225 0.75 2.00 208.20 1.394 10756 0.066 0.080 2779 682 2755 2799 2711 0 0 0 0 0 0 13.59 13.15 12.36

4236 0.57 145.9 2782 684 2799 2712 456.7 7.4 296 4241 0.00 2.47 0.00 0.000 1030 0.000 0.076 2782 2079 2754 2799 2710 0 0 0 0 0 0 14.00 13.88 14.02

4551 0.16 145.9 2782 2080 2797 2709 410.1 14.4 309 4557 0.62 2.47 0.00 0.000 4484 0.328 0.077 2643 3510 2752 2796 2708 0 0 0 0 0 0 13.78 14.16 14.02

4747 -0.04 149.3 2644 3511 2795 2708 390.0 9.8 348 4752 0.35 2.40 0.00 0.000 5286 0.282 0.059 2571 2085 2750 2794 2707 0 0 0 0 0 0 13.95 14.28 14.26

5062 0.03 256.0 2571 2085 2796 2709 373.0 5.1 361 5237 0.00 2.58 166.65 1.325 8740 0.000 0.086 2576 701 2315 2375 2256 0 0 0 0 0 0 14.66 13.66 12.94

5265 0.24 329.1 2576 702 2372 2253 360.8 6.6 391 5380 0.25 2.53 109.80 1.291 11430 0.092 0.081 2671 2097 2028 2083 1973 0 0 0 0 0 0 13.81 13.74 12.67

5697 0.21 329.1 2672 2097 2065 1950 303.9 13.2 427 5702 0.00 2.50 0.00 0.000 644 0.000 0.088 2672 695 2007 2064 1950 0 0 0 0 0 0 14.35 14.00 14.36

5727 0.21 329.1 2673 694 2061 1950 300.0 12.6 433 5732 0.00 2.47 0.00 0.000 1030 0.000 0.079 2672 2101 2006 2059 1953 0 0 0 0 0 0 14.17 14.04 14.21

6057 0.21 329.1 2672 2102 2060 1950 258.4 12.2 449 6062 0.00 2.47 0.00 0.000 516 0.000 0.088 2672 694 2004 2059 1949 0 0 0 0 0 0 14.59 14.20 14.61

6117 0.25 329.1 2673 694 2058 1949 251.7 10.8 461 6122 0.00 2.45 0.00 0.000 1158 0.000 0.080 2672 2101 2002 2057 1948 0 0 0 0 0 0 14.36 14.23 14.41

6447 0.25 329.1 2672 2102 2057 1948 215.9 10.3 477 6452 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 691 2002 2057 1948 0 0 0 0 0 0 14.64 14.23 14.69

6547 0.33 348.0 2673 691 2056 1948 206.6 9.1 497 6578 0.00 2.45 25.15 1.405 9382 0.000 0.079 2672 2106 1944 1996 1892 0 0 0 0 0 0 14.39 14.26 13.34

6901 0.37 367.6 2672 2107 1988 1887 173.3 9.1 517 6934 0.00 0.00 32.28 1.381 8358 0.000 0.000 2672 2106 1866 1908 1825 0 0 0 0 0 0 14.59 14.12 13.32

7229 0.45 400.4 2673 2107 1896 1820 144.7 8.5 528 7290 0.17 0.00 57.80 1.286 10406 0.119 0.000 2745 2106 1729 1759 1700 0 0 0 0 0 0 14.17 14.01 13.28

7589 0.41 400.4 2746 2107 1752 1690 99.3 12.3 540 7594 0.15 2.50 0.00 0.000 4740 0.237 0.088 2713 687 1720 1751 1689 0 0 0 0 0 0 13.93 14.16 14.15

7710 0.51 435.2 2712 687 1750 1689 88.3 8.4 564 7732 0.00 2.47 17.30 0.468 9382 0.000 0.078 2713 2106 1591 1624 1559 0 0 0 0 0 0 14.26 14.12 13.70

8030 0.65 506.5 2713 2107 1625 1559 63.4 6.7 598 8072 0.25 0.00 38.00 0.392 10918 0.089 0.000 2804 2106 1299 1349 1249 0 0 0 0 0 0 14.30 14.08 13.69

8370 0.68 543.4 2804 2106 1350 1243 29.7 8.3 633 8396 0.00 2.55 19.60 0.302 8740 0.000 0.087 2807 691 1147 1210 1085 0 0 0 0 0 0 14.55 14.12 13.81

8567 0.83 635.3 2806 692 1210 1086 17.2 5.8 672 8626 0.12 2.47 49.20 0.258 11430 0.134 0.078 2863 2105 768 831 706 0 0 0 0 0 0 14.11 14.07 13.78

8729 end climb: SURFACE_DEPTH_REACHED

state 8729 begin surface coast

8739 end surface coast: CONTROL_FINISHED_OK

state 8739 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	195	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	548.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,154651,7414.8472,-15317.3242,39,0.8,40,19.5,0.0,0.0,10,8.4	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	276.1,20725,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	290817,160648,7414.8706,-15317.3994,13,0.8,15,19.5,0.0,287.1,10,9.9

MODEM_MSG	CACST,6,1,20170829162700.827779,3,3369,35,0693,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D	PM_FREEKB_00	52128896
FINISH	0.1,1.021588	_24V_AH	12.36,136.620
SM_CCo	8760,36.40,0.210,0,0,500,702.78	_10V_AH	12.20,0.000
SM_GC	1.02,8.05,0.17,36.40,0.065,0.119,0.210,197,2227,500,-7.39,-0.57,702.78,0,0,0,0,0,0,14.30,14.30,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
MODEM	2,1504023255,73.18300,-149.96500,108.031,156412.6	MEM	323356
RAFOS_FIX	7414.234863,-15317.242188,290817,161658,3,255,1.50	DATA_FILE_SIZE	23484,695
IRIDIUM_FIX	7414.18,-15319.02,290817,160028	CAP_FILE_SIZE	104402,0
TT8_MAMPS	0.039697,0.925764	CFSIZE	2097872896,2027683840
HUMID	46.61	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,3,0
INTERNAL_PRESSURE	7.74246	INTR	0,154.19,0x2341ea,0,24
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	12	CURRENT	0.028,225.87,1
CP_FREE	15984689152.000000	GPS	290817,183528,7415.423,-15321.199,41,0.8,42,19.4,0.7,174.8,11,7.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.28	nil	0	0	0.00
Roll_motor	73	2141	1946.55	nil	0	0	0.00
VBD_pump_during_apogee	939	1445	16776.18	nil	0	0	0.00
VBD_pump_during_surface	36	210	94.65	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	8771	14	1594.49
Iridium_during_xfer	720	171	1525.92	NCP	8750	20	2163.00
Transponder_ping	3	420	15.57	PMAR	8715	9	1066.94
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.44
TT8	0	0	0.00
LPSleep	6123	2	172.57
TT8_Active	802	13	136.78
TT8_Sampling	2760	33	1126.14
TT8_CF8	322	38	152.42
TT8_Kalman	0	0	0.00
Analog_circuits	2719	10	331.79
GPS_charging	0	0	0.00
Compass	997	7	85.20
RAFOS	1661	48	972.68
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	176	2236	497	486	0.0	0.0	0	146	0.00	0.00	-97.38	0.000	16386	0.000	0.000	175	2237	2268	2207	2329	0	0	0	0	0	0	14.50	28.83	14.50
149	-0.57	-145.9	176	2237	2209	2329	4.8	-7.5	10	199	12.75	2.67	-32.58	0.000	18724	0.454	2.141	2376	3584	3962	3945	3980	1	0	0	0	0	0	13.51	12.85	13.96
425	-0.71	-145.9	2376	3586	3953	3981	58.9	-12.2	64	429	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2228	3966	3952	3980	0	0	0	0	0	0	14.07	13.95	14.09
735	-0.80	-145.9	2375	2228	3955	3981	97.6	-11.0	96	736	0.17	0.00	0.00	0.000	4230	0.118	0.000	2308	2227	3967	3954	3980	0	0	0	0	0	0	14.09	14.21	14.19
1055	-0.80	-145.9	2308	2228	3955	3981	147.0	-14.8	108	1059	0.00	2.40	0.00	0.000	260	0.000	0.087	2299	3586	3966	3952	3980	0	0	0	0	0	0	14.45	14.07	14.47
1135	-0.89	-145.9	2301	3586	3953	3981	157.2	-12.2	124	1140	0.00	2.38	0.00	0.000	1158	0.000	0.058	2301	2197	3966	3953	3980	0	0	0	0	0	0	14.20	14.08	14.22
1445	-0.92	-145.9	2301	2195	3956	3980	199.1	-13.2	136	1450	0.00	2.47	0.00	0.000	388	0.000	0.086	2293	3594	3967	3954	3980	0	0	0	0	0	0	14.46	14.02	14.48
1530	-1.03	-145.9	2293	3595	3955	3980	209.4	-11.5	153	1537	0.15	2.40	0.00	0.000	5254	0.117	0.057	2238	2190	3966	3952	3980	0	0	0	0	0	0	13.97	13.99	14.05
1835	-0.96	-145.9	2239	2189	3955	3980	261.9	-17.0	164	1840	0.12	2.45	0.00	0.000	2436	0.295	0.083	2256	3597	3967	3954	3980	0	0	0	0	0	0	13.81	14.04	13.98
1897	-1.03	-145.9	2257	3591	3954	3980	270.4	-12.3	176	1902	0.00	2.40	0.00	0.000	1158	0.000	0.057	2257	2193	3966	3953	3980	0	0	0	0	0	0	14.16	14.08	14.24
2229	-1.03	-145.9	2257	2193	3953	3980	313.7	-12.6	192	2230	0.00	0.00	0.00	0.000	6	0.000	0.000	2257	2192	3966	3954	3979	0	0	0	0	0	0	14.62	14.61	14.61
2528	-1.05	-145.9	2256	2192	3955	3978	349.3	-11.7	202	2532	0.00	2.45	0.00	0.000	388	0.000	0.087	2249	3590	3968	3953	3983	0	0	0	0	0	0	14.66	14.19	14.66
2628	-1.14	-145.9	2249	3592	3955	3979	360.6	-10.9	222	2633	0.12	2.35	0.00	0.000	5254	0.140	0.056	2199	2194	3965	3953	3978	0	0	0	0	0	0	14.26	14.26	14.38
2948	-1.06	-145.9	2199	2194	3954	3979	412.4	-16.3	236	2953	0.12	2.45	0.00	0.000	2436	0.307	0.086	2222	3590	3965	3953	3977	0	0	0	0	0	0	13.97	14.21	14.14
3070	-1.10	-145.9	2223	3591	3954	3977	428.4	-12.5	260	3075	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2198	3965	3953	3977	0	0	0	0	0	0	14.31	14.20	14.34
3401	-1.07	-145.9	2222	2199	3954	3977	473.9	-13.7	276	3406	0.00	2.45	0.00	0.000	388	0.000	0.090	2222	3588	3965	3954	3976	0	0	0	0	0	0	14.69	14.08	14.70
3448	end dive: TARGET_DEPTH_EXCEEDED
state	3448	begin apogee
3456	-0.13	0.0	2223	2102	3954	3976	480.6	-12.6	286	3675	1.20	0.00	215.27	1.445	10246	0.242	0.000	2527	2101	3366	3394	3339	0	0	0	0	0	0	13.95	13.49	12.69
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3681	0.57	145.9	2528	2102	3389	3332	492.3	0.0	293	4225	0.75	2.00	208.20	1.394	10756	0.066	0.080	2779	682	2755	2799	2711	0	0	0	0	0	0	13.59	13.15	12.36
4236	0.57	145.9	2782	684	2799	2712	456.7	7.4	296	4241	0.00	2.47	0.00	0.000	1030	0.000	0.076	2782	2079	2754	2799	2710	0	0	0	0	0	0	14.00	13.88	14.02
4551	0.16	145.9	2782	2080	2797	2709	410.1	14.4	309	4557	0.62	2.47	0.00	0.000	4484	0.328	0.077	2643	3510	2752	2796	2708	0	0	0	0	0	0	13.78	14.16	14.02
4747	-0.04	149.3	2644	3511	2795	2708	390.0	9.8	348	4752	0.35	2.40	0.00	0.000	5286	0.282	0.059	2571	2085	2750	2794	2707	0	0	0	0	0	0	13.95	14.28	14.26
5062	0.03	256.0	2571	2085	2796	2709	373.0	5.1	361	5237	0.00	2.58	166.65	1.325	8740	0.000	0.086	2576	701	2315	2375	2256	0	0	0	0	0	0	14.66	13.66	12.94
5265	0.24	329.1	2576	702	2372	2253	360.8	6.6	391	5380	0.25	2.53	109.80	1.291	11430	0.092	0.081	2671	2097	2028	2083	1973	0	0	0	0	0	0	13.81	13.74	12.67
5697	0.21	329.1	2672	2097	2065	1950	303.9	13.2	427	5702	0.00	2.50	0.00	0.000	644	0.000	0.088	2672	695	2007	2064	1950	0	0	0	0	0	0	14.35	14.00	14.36
5727	0.21	329.1	2673	694	2061	1950	300.0	12.6	433	5732	0.00	2.47	0.00	0.000	1030	0.000	0.079	2672	2101	2006	2059	1953	0	0	0	0	0	0	14.17	14.04	14.21
6057	0.21	329.1	2672	2102	2060	1950	258.4	12.2	449	6062	0.00	2.47	0.00	0.000	516	0.000	0.088	2672	694	2004	2059	1949	0	0	0	0	0	0	14.59	14.20	14.61
6117	0.25	329.1	2673	694	2058	1949	251.7	10.8	461	6122	0.00	2.45	0.00	0.000	1158	0.000	0.080	2672	2101	2002	2057	1948	0	0	0	0	0	0	14.36	14.23	14.41
6447	0.25	329.1	2672	2102	2057	1948	215.9	10.3	477	6452	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	691	2002	2057	1948	0	0	0	0	0	0	14.64	14.23	14.69
6547	0.33	348.0	2673	691	2056	1948	206.6	9.1	497	6578	0.00	2.45	25.15	1.405	9382	0.000	0.079	2672	2106	1944	1996	1892	0	0	0	0	0	0	14.39	14.26	13.34
6901	0.37	367.6	2672	2107	1988	1887	173.3	9.1	517	6934	0.00	0.00	32.28	1.381	8358	0.000	0.000	2672	2106	1866	1908	1825	0	0	0	0	0	0	14.59	14.12	13.32
7229	0.45	400.4	2673	2107	1896	1820	144.7	8.5	528	7290	0.17	0.00	57.80	1.286	10406	0.119	0.000	2745	2106	1729	1759	1700	0	0	0	0	0	0	14.17	14.01	13.28
7589	0.41	400.4	2746	2107	1752	1690	99.3	12.3	540	7594	0.15	2.50	0.00	0.000	4740	0.237	0.088	2713	687	1720	1751	1689	0	0	0	0	0	0	13.93	14.16	14.15
7710	0.51	435.2	2712	687	1750	1689	88.3	8.4	564	7732	0.00	2.47	17.30	0.468	9382	0.000	0.078	2713	2106	1591	1624	1559	0	0	0	0	0	0	14.26	14.12	13.70
8030	0.65	506.5	2713	2107	1625	1559	63.4	6.7	598	8072	0.25	0.00	38.00	0.392	10918	0.089	0.000	2804	2106	1299	1349	1249	0	0	0	0	0	0	14.30	14.08	13.69
8370	0.68	543.4	2804	2106	1350	1243	29.7	8.3	633	8396	0.00	2.55	19.60	0.302	8740	0.000	0.087	2807	691	1147	1210	1085	0	0	0	0	0	0	14.55	14.12	13.81
8567	0.83	635.3	2806	692	1210	1086	17.2	5.8	672	8626	0.12	2.47	49.20	0.258	11430	0.134	0.078	2863	2105	768	831	706	0	0	0	0	0	0	14.11	14.07	13.78
8729	end climb: SURFACE_DEPTH_REACHED
state	8729	begin surface coast
8739	end surface coast: CONTROL_FINISHED_OK
state	8739	begin surface