Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 196 * 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 196 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 48

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 552.0

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 44 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 552.0 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 196 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 290817,183528,7415.4229,-15321.1992,41,0.8,42,19.4,0.7,174.8,11,7.7 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 1.20 MHEAD_RNG_PITCHd_Wd 271.7,18638,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 290817,185703,7415.3828,-15321.1865,10,0.8,11,19.4,0.0,113.5,10,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829202701.147065,3,27,14,0112,0150,250,00,00,00,00,-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 52098624

FINISH 0.4,1.021523 _24V_AH 12.30,137.096

SM_CCo 8765,20.45,0.210,0,0,498,702.78 _10V_AH 12.16,0.000

SM_GC 1.03,7.97,0.17,20.45,0.057,0.125,0.210,196,2213,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 226 FG_AHR_10Vo 0.000

MODEM 2,1504037657,73.18300,-149.96500,110.749,160339.2 MEM 323608

RAFOS_FIX 7415.113770,-15322.087891,290817,202058,3,255,0.14 DATA_FILE_SIZE 26719,735

IRIDIUM_FIX 7415.10,-15326.10,290817,185048 CAP_FILE_SIZE 112785,0

TT8_MAMPS 0.040446,0.98119 CFSIZE 2097872896,2027257856

HUMID 46.53 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 INTR 0,3739.56,0x2341ea,1,24

TCM_TEMP 13.20 SOUNDSPEED 1448.5

XPDR_PINGS 13 CURRENT 0.042,200.20,1

CP_FREE 0.000000 GPS 290817,212525,7415.864,-15325.139,38,0.8,39,19.4,0.4,224.7,10,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 453 145.49 nil 0 0 0.00

Roll_motor 93 2146 2481.23 nil 0 0 0.00

VBD_pump_during_apogee 913 1569 17635.23 nil 0 0 0.00

VBD_pump_during_surface 20 210 52.92 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 8728 14 1576.61

Iridium_during_xfer 760 172 1610.98 NCP 8756 20 2153.98

Transponder_ping 3 420 16.79 PMAR 8718 9 1062.77

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.33

TT8 0 0 0.00

LPSleep 6413 2 180.15

TT8_Active 807 13 137.11

TT8_Sampling 2537 33 1031.92

TT8_CF8 334 38 157.18

TT8_Kalman 0 0 0.00

Analog_circuits 2438 10 296.56

GPS_charging 0 0 0.00

Compass 1054 7 89.76

RAFOS 2206 48 1287.60

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 178 2230 495 493 0.0 0.0 0 152 0.00 0.00 -101.65 0.000 16386 0.000 0.000 175 2230 2390 2332 2449 0 0 0 0 0 0 14.56 28.83 14.54

155 -0.57 -145.9 176 2237 2331 2444 4.6 -7.1 10 202 12.75 2.70 -28.35 0.000 18724 0.454 2.147 2376 3594 3964 3944 3984 0 0 0 0 0 0 13.59 12.67 14.04

423 -0.68 -145.9 2377 3595 3952 3985 59.1 -13.2 63 429 0.00 2.38 0.00 0.000 1158 0.000 0.059 2376 2204 3967 3950 3984 0 0 0 0 0 0 14.28 14.16 14.31

728 -0.78 -145.9 2377 2204 3952 3985 97.1 -10.7 94 729 0.15 0.00 0.00 0.000 4230 0.125 0.000 2319 2202 3967 3951 3984 0 0 0 0 0 0 14.12 14.21 14.19

1028 -0.81 -145.9 2320 2202 3952 3983 140.0 -13.7 106 1033 0.00 2.42 0.00 0.000 388 0.000 0.087 2310 3586 3967 3951 3984 0 0 0 0 0 0 14.64 14.14 14.65

1093 -0.92 -145.9 2309 3589 3952 3985 148.1 -11.6 119 1098 0.00 2.35 0.00 0.000 1158 0.000 0.057 2310 2197 3968 3952 3984 0 0 0 0 0 0 14.34 14.22 14.39

1418 -0.97 -145.9 2310 2197 3953 3983 190.0 -12.6 134 1423 0.12 2.45 0.00 0.000 4484 0.135 0.085 2244 3592 3967 3951 3984 0 0 0 0 0 0 14.23 14.16 14.27

1468 -0.97 -145.9 2245 3593 3952 3984 198.0 -16.5 144 1473 0.00 2.38 0.00 0.000 1030 0.000 0.059 2244 2195 3968 3952 3984 0 0 0 0 0 0 13.81 13.74 14.04

1779 -0.91 -145.9 2245 2193 3953 3984 251.6 -16.5 156 1784 0.15 2.45 0.00 0.000 2436 0.288 0.083 2269 3595 3968 3952 3984 0 0 0 0 0 0 13.87 14.21 14.09

1859 -0.99 -145.9 2269 3595 3953 3984 261.8 -11.4 172 1864 0.00 2.38 0.00 0.000 1158 0.000 0.058 2269 2198 3968 3952 3984 0 0 0 0 0 0 14.34 14.21 14.38

2169 -1.02 -145.9 2269 2194 3953 3984 298.9 -11.5 184 2170 0.00 0.00 0.00 0.000 134 0.000 0.000 2268 2196 3967 3952 3983 0 0 0 0 0 0 14.67 14.69 14.69

2470 -1.07 -145.9 2269 2197 3952 3984 332.7 -11.0 194 2474 0.00 2.45 0.00 0.000 388 0.000 0.090 2267 3592 3967 3951 3984 0 0 0 0 0 0 14.68 14.21 14.69

2550 -1.19 -145.9 2267 3593 3952 3984 340.9 -9.8 210 2555 0.22 2.35 0.00 0.000 5286 0.109 0.055 2182 2195 3967 3952 3983 0 0 0 0 0 0 14.30 14.27 14.42

2860 -1.07 -145.9 2183 2194 3951 3982 395.6 -18.0 222 2865 0.20 2.45 0.00 0.000 2436 0.297 0.085 2220 3588 3967 3950 3985 0 0 0 0 0 0 13.84 14.16 14.06

2990 -1.10 -145.9 2220 3589 3951 3984 413.6 -12.9 248 2995 0.00 2.35 0.00 0.000 1158 0.000 0.056 2219 2193 3966 3949 3983 0 0 0 0 0 0 14.40 14.27 14.43

3311 -1.06 -145.9 2220 2193 3951 3984 458.4 -14.0 262 3315 0.00 2.42 0.00 0.000 388 0.000 0.086 2210 3588 3966 3950 3983 0 0 0 0 0 0 14.68 14.15 14.69

3390 -1.06 -145.9 2210 3589 3950 3984 469.6 -13.4 278 3395 0.00 2.35 0.00 0.000 1030 0.000 0.056 2210 2195 3966 3950 3983 0 0 0 0 0 0 14.38 14.26 14.41

3488 end dive: TARGET_DEPTH_EXCEEDED

state 3488 begin apogee

3494 -0.13 0.0 2211 2065 3951 3983 484.0 -14.6 283 3718 1.27 0.00 218.77 1.435 10246 0.251 0.000 2528 2066 3363 3382 3345 0 0 0 0 0 0 13.81 13.24 12.65

3723 end apogee: CONTROL_FINISHED_OK

state 3723 begin climb

3725 0.57 145.9 2529 2065 3377 3338 495.2 0.0 290 3941 0.75 2.70 207.27 1.389 10500 0.063 0.076 2781 3485 2763 2803 2724 0 0 0 0 0 0 13.54 13.08 12.30

4169 0.11 145.9 2781 3488 2785 2723 467.8 16.9 336 4175 0.85 2.38 0.00 0.000 5254 0.350 0.057 2622 2132 2753 2784 2722 0 0 0 0 0 0 13.34 13.69 13.67

4480 0.03 185.8 2623 2131 2785 2720 440.5 8.2 348 4542 0.00 2.45 55.50 1.433 8612 0.000 0.080 2618 3495 2604 2645 2563 0 0 0 0 0 0 14.33 13.65 13.05

4584 -0.06 185.8 2621 3497 2639 2554 431.1 10.3 368 4589 0.28 2.42 0.00 0.000 5254 0.256 0.059 2567 2099 2596 2637 2556 0 0 0 0 0 0 13.69 13.92 13.95

4905 0.06 270.9 2568 2097 2639 2550 410.7 6.1 382 5040 0.00 2.58 127.95 1.351 8868 0.000 0.086 2567 694 2256 2305 2207 0 0 0 0 0 0 14.43 13.62 12.90

5077 0.28 332.8 2567 699 2295 2204 399.7 7.1 416 5179 0.32 2.53 92.25 1.327 11430 0.080 0.080 2684 2084 2002 2048 1957 0 0 0 0 0 0 13.78 13.70 12.64

5477 0.22 332.8 2684 2085 2041 1943 340.8 15.0 446 5482 0.12 2.50 0.00 0.000 4740 0.252 0.086 2659 696 1991 2040 1942 0 0 0 0 0 0 13.73 13.89 13.87

5517 0.26 332.8 2658 696 2036 1943 335.3 12.6 454 5522 0.00 2.47 0.00 0.000 1158 0.000 0.079 2660 2111 1989 2037 1942 0 0 0 0 0 0 14.07 13.94 14.10

5837 0.26 332.8 2660 2111 2038 1940 294.7 12.5 468 5842 0.00 2.53 0.00 0.000 516 0.000 0.090 2660 693 1988 2036 1940 0 0 0 0 0 0 14.43 14.08 14.45

5887 0.31 332.8 2659 693 2036 1941 288.7 11.9 478 5892 0.00 2.47 0.00 0.000 1158 0.000 0.077 2660 2108 1984 2030 1939 0 0 0 0 0 0 14.24 14.12 14.27

6197 0.31 332.8 2660 2109 2036 1939 253.4 10.9 490 6202 0.00 2.47 0.00 0.000 516 0.000 0.088 2659 692 1986 2035 1938 0 0 0 0 0 0 14.47 14.08 14.49

6248 0.39 332.8 2660 692 2034 1940 248.1 10.1 500 6253 0.15 2.42 0.00 0.000 3206 0.122 0.078 2719 2105 1986 2033 1939 0 0 0 0 0 0 14.21 14.13 14.30

6560 0.30 332.8 2719 2106 2034 1940 204.8 13.6 512 6565 0.15 2.47 0.00 0.000 4740 0.236 0.083 2685 687 1983 2028 1938 0 0 0 0 0 0 14.06 14.16 14.21

6605 0.34 334.9 2686 687 2033 1939 199.7 9.9 521 6610 0.00 2.45 0.00 0.000 1190 0.000 0.078 2685 2100 1985 2032 1939 0 0 0 0 0 0 14.33 14.19 14.40

6920 0.34 342.7 2686 2102 2032 1938 168.5 9.6 534 6931 0.00 2.45 4.00 1.570 8740 0.000 0.087 2685 693 1970 2018 1923 0 0 0 0 0 0 14.66 14.29 13.12

6976 0.43 368.9 2686 692 2021 1926 163.4 8.8 545 7037 0.10 2.45 52.78 1.328 11430 0.161 0.079 2732 2103 1858 1890 1826 0 0 0 0 0 0 14.23 14.23 13.26

7342 0.38 368.9 2735 2103 1882 1818 119.3 12.0 568 7347 0.00 2.47 0.00 0.000 644 0.000 0.085 2740 691 1850 1881 1819 0 0 0 0 0 0 14.55 14.16 14.57

7412 0.38 368.9 2740 691 1879 1820 111.6 10.9 582 7417 0.15 2.47 0.00 0.000 5126 0.239 0.079 2708 2102 1848 1878 1819 0 0 0 0 0 0 14.03 14.21 14.29

7722 0.43 414.3 2708 2104 1879 1818 84.6 7.9 607 7750 0.00 2.58 22.70 0.459 8868 0.000 0.086 2710 686 1676 1702 1651 0 0 0 0 0 0 14.58 14.09 13.70

7805 0.58 461.1 2710 686 1703 1652 78.1 7.8 623 7838 0.17 2.50 25.38 0.435 11430 0.107 0.080 2781 2109 1483 1517 1449 0 0 0 0 0 0 14.16 14.07 13.66

8135 0.61 510.5 2782 2108 1518 1440 43.8 7.7 659 8167 0.00 2.47 25.75 0.333 8484 0.000 0.084 2781 3514 1281 1332 1231 0 0 0 0 0 0 14.55 13.94 13.78

8188 0.63 543.9 2781 3515 1332 1232 39.5 8.5 669 8210 0.00 2.45 17.77 0.321 9254 0.000 0.068 2781 2097 1146 1207 1086 0 0 0 0 0 0 14.30 14.17 13.73

8508 0.83 665.1 2782 2101 1208 1077 19.5 4.4 703 8577 0.17 2.58 63.22 0.262 10916 0.115 0.091 2863 692 650 702 598 0 0 0 0 0 0 14.12 14.07 13.88

8637 0.92 665.1 2864 692 703 597 7.4 10.9 728 8643 0.00 2.50 0.00 0.000 1158 0.000 0.079 2864 2101 649 702 596 0 0 0 0 0 0 14.23 14.10 14.27

8690 end climb: SURFACE_DEPTH_REACHED

state 8690 begin surface coast

8700 end surface coast: CONTROL_FINISHED_OK

state 8700 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	196	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	48
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	552.0
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	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,183528,7415.4229,-15321.1992,41,0.8,42,19.4,0.7,174.8,11,7.7	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	1.20	MHEAD_RNG_PITCHd_Wd	271.7,18638,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	290817,185703,7415.3828,-15321.1865,10,0.8,11,19.4,0.0,113.5,10,9.2

MODEM_MSG	CACST,6,1,20170829202701.147065,3,27,14,0112,0150,250,00,00,00,00,-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	52098624
FINISH	0.4,1.021523	_24V_AH	12.30,137.096
SM_CCo	8765,20.45,0.210,0,0,498,702.78	_10V_AH	12.16,0.000
SM_GC	1.03,7.97,0.17,20.45,0.057,0.125,0.210,196,2213,498,-7.38,-0.68,702.78,0,0,0,0,0,0,14.32,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	226	FG_AHR_10Vo	0.000
MODEM	2,1504037657,73.18300,-149.96500,110.749,160339.2	MEM	323608
RAFOS_FIX	7415.113770,-15322.087891,290817,202058,3,255,0.14	DATA_FILE_SIZE	26719,735
IRIDIUM_FIX	7415.10,-15326.10,290817,185048	CAP_FILE_SIZE	112785,0
TT8_MAMPS	0.040446,0.98119	CFSIZE	2097872896,2027257856
HUMID	46.53	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	INTR	0,3739.56,0x2341ea,1,24
TCM_TEMP	13.20	SOUNDSPEED	1448.5
XPDR_PINGS	13	CURRENT	0.042,200.20,1
CP_FREE	0.000000	GPS	290817,212525,7415.864,-15325.139,38,0.8,39,19.4,0.4,224.7,10,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	453	145.49	nil	0	0	0.00
Roll_motor	93	2146	2481.23	nil	0	0	0.00
VBD_pump_during_apogee	913	1569	17635.23	nil	0	0	0.00
VBD_pump_during_surface	20	210	52.92	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	8728	14	1576.61
Iridium_during_xfer	760	172	1610.98	NCP	8756	20	2153.98
Transponder_ping	3	420	16.79	PMAR	8718	9	1062.77
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.33
TT8	0	0	0.00
LPSleep	6413	2	180.15
TT8_Active	807	13	137.11
TT8_Sampling	2537	33	1031.92
TT8_CF8	334	38	157.18
TT8_Kalman	0	0	0.00
Analog_circuits	2438	10	296.56
GPS_charging	0	0	0.00
Compass	1054	7	89.76
RAFOS	2206	48	1287.60
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	178	2230	495	493	0.0	0.0	0	152	0.00	0.00	-101.65	0.000	16386	0.000	0.000	175	2230	2390	2332	2449	0	0	0	0	0	0	14.56	28.83	14.54
155	-0.57	-145.9	176	2237	2331	2444	4.6	-7.1	10	202	12.75	2.70	-28.35	0.000	18724	0.454	2.147	2376	3594	3964	3944	3984	0	0	0	0	0	0	13.59	12.67	14.04
423	-0.68	-145.9	2377	3595	3952	3985	59.1	-13.2	63	429	0.00	2.38	0.00	0.000	1158	0.000	0.059	2376	2204	3967	3950	3984	0	0	0	0	0	0	14.28	14.16	14.31
728	-0.78	-145.9	2377	2204	3952	3985	97.1	-10.7	94	729	0.15	0.00	0.00	0.000	4230	0.125	0.000	2319	2202	3967	3951	3984	0	0	0	0	0	0	14.12	14.21	14.19
1028	-0.81	-145.9	2320	2202	3952	3983	140.0	-13.7	106	1033	0.00	2.42	0.00	0.000	388	0.000	0.087	2310	3586	3967	3951	3984	0	0	0	0	0	0	14.64	14.14	14.65
1093	-0.92	-145.9	2309	3589	3952	3985	148.1	-11.6	119	1098	0.00	2.35	0.00	0.000	1158	0.000	0.057	2310	2197	3968	3952	3984	0	0	0	0	0	0	14.34	14.22	14.39
1418	-0.97	-145.9	2310	2197	3953	3983	190.0	-12.6	134	1423	0.12	2.45	0.00	0.000	4484	0.135	0.085	2244	3592	3967	3951	3984	0	0	0	0	0	0	14.23	14.16	14.27
1468	-0.97	-145.9	2245	3593	3952	3984	198.0	-16.5	144	1473	0.00	2.38	0.00	0.000	1030	0.000	0.059	2244	2195	3968	3952	3984	0	0	0	0	0	0	13.81	13.74	14.04
1779	-0.91	-145.9	2245	2193	3953	3984	251.6	-16.5	156	1784	0.15	2.45	0.00	0.000	2436	0.288	0.083	2269	3595	3968	3952	3984	0	0	0	0	0	0	13.87	14.21	14.09
1859	-0.99	-145.9	2269	3595	3953	3984	261.8	-11.4	172	1864	0.00	2.38	0.00	0.000	1158	0.000	0.058	2269	2198	3968	3952	3984	0	0	0	0	0	0	14.34	14.21	14.38
2169	-1.02	-145.9	2269	2194	3953	3984	298.9	-11.5	184	2170	0.00	0.00	0.00	0.000	134	0.000	0.000	2268	2196	3967	3952	3983	0	0	0	0	0	0	14.67	14.69	14.69
2470	-1.07	-145.9	2269	2197	3952	3984	332.7	-11.0	194	2474	0.00	2.45	0.00	0.000	388	0.000	0.090	2267	3592	3967	3951	3984	0	0	0	0	0	0	14.68	14.21	14.69
2550	-1.19	-145.9	2267	3593	3952	3984	340.9	-9.8	210	2555	0.22	2.35	0.00	0.000	5286	0.109	0.055	2182	2195	3967	3952	3983	0	0	0	0	0	0	14.30	14.27	14.42
2860	-1.07	-145.9	2183	2194	3951	3982	395.6	-18.0	222	2865	0.20	2.45	0.00	0.000	2436	0.297	0.085	2220	3588	3967	3950	3985	0	0	0	0	0	0	13.84	14.16	14.06
2990	-1.10	-145.9	2220	3589	3951	3984	413.6	-12.9	248	2995	0.00	2.35	0.00	0.000	1158	0.000	0.056	2219	2193	3966	3949	3983	0	0	0	0	0	0	14.40	14.27	14.43
3311	-1.06	-145.9	2220	2193	3951	3984	458.4	-14.0	262	3315	0.00	2.42	0.00	0.000	388	0.000	0.086	2210	3588	3966	3950	3983	0	0	0	0	0	0	14.68	14.15	14.69
3390	-1.06	-145.9	2210	3589	3950	3984	469.6	-13.4	278	3395	0.00	2.35	0.00	0.000	1030	0.000	0.056	2210	2195	3966	3950	3983	0	0	0	0	0	0	14.38	14.26	14.41
3488	end dive: TARGET_DEPTH_EXCEEDED
state	3488	begin apogee
3494	-0.13	0.0	2211	2065	3951	3983	484.0	-14.6	283	3718	1.27	0.00	218.77	1.435	10246	0.251	0.000	2528	2066	3363	3382	3345	0	0	0	0	0	0	13.81	13.24	12.65
3723	end apogee: CONTROL_FINISHED_OK
state	3723	begin climb
3725	0.57	145.9	2529	2065	3377	3338	495.2	0.0	290	3941	0.75	2.70	207.27	1.389	10500	0.063	0.076	2781	3485	2763	2803	2724	0	0	0	0	0	0	13.54	13.08	12.30
4169	0.11	145.9	2781	3488	2785	2723	467.8	16.9	336	4175	0.85	2.38	0.00	0.000	5254	0.350	0.057	2622	2132	2753	2784	2722	0	0	0	0	0	0	13.34	13.69	13.67
4480	0.03	185.8	2623	2131	2785	2720	440.5	8.2	348	4542	0.00	2.45	55.50	1.433	8612	0.000	0.080	2618	3495	2604	2645	2563	0	0	0	0	0	0	14.33	13.65	13.05
4584	-0.06	185.8	2621	3497	2639	2554	431.1	10.3	368	4589	0.28	2.42	0.00	0.000	5254	0.256	0.059	2567	2099	2596	2637	2556	0	0	0	0	0	0	13.69	13.92	13.95
4905	0.06	270.9	2568	2097	2639	2550	410.7	6.1	382	5040	0.00	2.58	127.95	1.351	8868	0.000	0.086	2567	694	2256	2305	2207	0	0	0	0	0	0	14.43	13.62	12.90
5077	0.28	332.8	2567	699	2295	2204	399.7	7.1	416	5179	0.32	2.53	92.25	1.327	11430	0.080	0.080	2684	2084	2002	2048	1957	0	0	0	0	0	0	13.78	13.70	12.64
5477	0.22	332.8	2684	2085	2041	1943	340.8	15.0	446	5482	0.12	2.50	0.00	0.000	4740	0.252	0.086	2659	696	1991	2040	1942	0	0	0	0	0	0	13.73	13.89	13.87
5517	0.26	332.8	2658	696	2036	1943	335.3	12.6	454	5522	0.00	2.47	0.00	0.000	1158	0.000	0.079	2660	2111	1989	2037	1942	0	0	0	0	0	0	14.07	13.94	14.10
5837	0.26	332.8	2660	2111	2038	1940	294.7	12.5	468	5842	0.00	2.53	0.00	0.000	516	0.000	0.090	2660	693	1988	2036	1940	0	0	0	0	0	0	14.43	14.08	14.45
5887	0.31	332.8	2659	693	2036	1941	288.7	11.9	478	5892	0.00	2.47	0.00	0.000	1158	0.000	0.077	2660	2108	1984	2030	1939	0	0	0	0	0	0	14.24	14.12	14.27
6197	0.31	332.8	2660	2109	2036	1939	253.4	10.9	490	6202	0.00	2.47	0.00	0.000	516	0.000	0.088	2659	692	1986	2035	1938	0	0	0	0	0	0	14.47	14.08	14.49
6248	0.39	332.8	2660	692	2034	1940	248.1	10.1	500	6253	0.15	2.42	0.00	0.000	3206	0.122	0.078	2719	2105	1986	2033	1939	0	0	0	0	0	0	14.21	14.13	14.30
6560	0.30	332.8	2719	2106	2034	1940	204.8	13.6	512	6565	0.15	2.47	0.00	0.000	4740	0.236	0.083	2685	687	1983	2028	1938	0	0	0	0	0	0	14.06	14.16	14.21
6605	0.34	334.9	2686	687	2033	1939	199.7	9.9	521	6610	0.00	2.45	0.00	0.000	1190	0.000	0.078	2685	2100	1985	2032	1939	0	0	0	0	0	0	14.33	14.19	14.40
6920	0.34	342.7	2686	2102	2032	1938	168.5	9.6	534	6931	0.00	2.45	4.00	1.570	8740	0.000	0.087	2685	693	1970	2018	1923	0	0	0	0	0	0	14.66	14.29	13.12
6976	0.43	368.9	2686	692	2021	1926	163.4	8.8	545	7037	0.10	2.45	52.78	1.328	11430	0.161	0.079	2732	2103	1858	1890	1826	0	0	0	0	0	0	14.23	14.23	13.26
7342	0.38	368.9	2735	2103	1882	1818	119.3	12.0	568	7347	0.00	2.47	0.00	0.000	644	0.000	0.085	2740	691	1850	1881	1819	0	0	0	0	0	0	14.55	14.16	14.57
7412	0.38	368.9	2740	691	1879	1820	111.6	10.9	582	7417	0.15	2.47	0.00	0.000	5126	0.239	0.079	2708	2102	1848	1878	1819	0	0	0	0	0	0	14.03	14.21	14.29
7722	0.43	414.3	2708	2104	1879	1818	84.6	7.9	607	7750	0.00	2.58	22.70	0.459	8868	0.000	0.086	2710	686	1676	1702	1651	0	0	0	0	0	0	14.58	14.09	13.70
7805	0.58	461.1	2710	686	1703	1652	78.1	7.8	623	7838	0.17	2.50	25.38	0.435	11430	0.107	0.080	2781	2109	1483	1517	1449	0	0	0	0	0	0	14.16	14.07	13.66
8135	0.61	510.5	2782	2108	1518	1440	43.8	7.7	659	8167	0.00	2.47	25.75	0.333	8484	0.000	0.084	2781	3514	1281	1332	1231	0	0	0	0	0	0	14.55	13.94	13.78
8188	0.63	543.9	2781	3515	1332	1232	39.5	8.5	669	8210	0.00	2.45	17.77	0.321	9254	0.000	0.068	2781	2097	1146	1207	1086	0	0	0	0	0	0	14.30	14.17	13.73
8508	0.83	665.1	2782	2101	1208	1077	19.5	4.4	703	8577	0.17	2.58	63.22	0.262	10916	0.115	0.091	2863	692	650	702	598	0	0	0	0	0	0	14.12	14.07	13.88
8637	0.92	665.1	2864	692	703	597	7.4	10.9	728	8643	0.00	2.50	0.00	0.000	1158	0.000	0.079	2864	2101	649	702	596	0	0	0	0	0	0	14.23	14.10	14.27
8690	end climb: SURFACE_DEPTH_REACHED
state	8690	begin surface coast
8700	end surface coast: CONTROL_FINISHED_OK
state	8700	begin surface