Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 200 * 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 200 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 562.0

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 25 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 562.0 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 25 VBD_MIN 500

DIVE 200 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 300817,060128,7417.4614,-15336.9590,14,0.8,21,19.3,0.5,76.3,10,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 264.3,10209,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 300817,061750,7417.4697,-15336.7607,7,0.8,41,19.3,0.0,94.0,10,8.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830082700.632142,3,61,17,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30 PM_FREEKB_00 51985280

FINISH 0.1,1.021541 _24V_AH 12.34,139.088

SM_CCo 9082,31.05,0.210,0,0,497,702.78 _10V_AH 12.23,0.000

SM_GC 1.34,8.20,0.20,31.05,0.082,0.103,0.210,197,2227,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.28,14.30,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 145 FG_AHR_10Vo 0.000

MODEM 0,1504080247,75.36600,-145.04601,193.179,279801.3 MEM 323668

RAFOS_FIX 7417.214844,-15339.044922,300817,080800,4,255,0.17 DATA_FILE_SIZE 23433,711

IRIDIUM_FIX 7416.61,-15333.19,300817,060611 CAP_FILE_SIZE 109448,0

TT8_MAMPS 0.039697,0.914529 CFSIZE 2097872896,2026110976

HUMID 44.13 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.7

TCM_TEMP 13.20 CURRENT 0.037,179.76,1

XPDR_PINGS 15 GPS 300817,085122,7417.843,-15340.928,15,0.7,16,19.3,0.0,0.0,11,9.7

CP_FREE 15983378432.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.79 nil 0 0 0.00

Roll_motor 84 2144 2246.50 nil 0 0 0.00

VBD_pump_during_apogee 921 1480 16832.21 nil 0 0 0.00

VBD_pump_during_surface 31 209 80.31 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 9091 14 1650.21

Iridium_during_xfer 605 172 1285.51 NCP 9067 20 2237.74

Transponder_ping 3 420 19.44 PMAR 9035 9 1106.11

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.64

TT8 0 0 0.00

LPSleep 6401 2 180.86

TT8_Active 869 13 148.57

TT8_Sampling 2523 33 1032.00

TT8_CF8 317 38 150.21

TT8_Kalman 0 0 0.00

Analog_circuits 2467 10 301.77

GPS_charging 0 0 0.00

Compass 1020 7 87.39

RAFOS 2206 48 1295.01

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 -145.9 185 2209 492 492 0.0 0.0 0 151 0.00 0.00 -101.10 0.000 16386 0.000 0.000 182 2209 2357 2300 2415 0 0 0 0 0 0 14.50 28.83 14.52

154 -0.57 -145.9 184 2209 2302 2419 4.5 -6.8 10 201 12.80 2.75 -29.60 0.000 18724 0.455 2.144 2375 3600 3961 3940 3983 0 0 0 0 0 0 13.56 12.87 14.02

367 -0.70 -145.9 2375 3602 3948 3982 50.2 -13.3 52 371 0.00 2.40 0.00 0.000 1158 0.000 0.059 2375 2200 3965 3948 3983 0 0 0 0 0 0 14.23 14.10 14.26

678 -0.77 -145.9 2375 2202 3950 3984 92.6 -11.6 84 680 0.15 0.00 0.00 0.000 4230 0.136 0.000 2322 2199 3966 3949 3983 0 0 0 0 0 0 14.23 14.31 14.31

977 -0.80 -145.9 2323 2200 3950 3984 134.6 -13.2 98 982 0.00 2.47 0.00 0.000 388 0.000 0.089 2319 3601 3965 3948 3983 0 0 0 0 0 0 14.64 14.18 14.65

1042 -0.95 -145.9 2320 3603 3951 3983 142.3 -10.7 111 1047 0.15 2.38 0.00 0.000 5254 0.116 0.058 2260 2197 3966 3949 3983 0 0 0 0 0 0 14.31 14.25 14.40

1367 -0.90 -145.9 2260 2197 3950 3983 199.4 -17.2 126 1372 0.12 2.47 0.00 0.000 2436 0.302 0.084 2277 3607 3966 3949 3983 0 0 0 0 0 0 13.87 14.14 14.04

1474 -0.97 -145.9 2276 3607 3951 3983 213.4 -12.3 147 1479 0.00 2.38 0.00 0.000 1158 0.000 0.058 2277 2201 3966 3949 3983 0 0 0 0 0 0 14.38 14.26 14.42

1789 -0.97 -145.9 2277 2200 3950 3984 255.5 -12.8 160 1794 0.00 2.45 0.00 0.000 260 0.000 0.089 2267 3601 3965 3949 3982 0 0 0 0 0 0 14.67 14.20 14.66

1869 -1.05 -145.9 2267 3603 3950 3982 264.9 -11.3 176 1874 0.00 2.38 0.00 0.000 1158 0.000 0.060 2266 2201 3967 3948 3986 0 0 0 0 0 0 14.42 14.26 14.42

2179 -1.08 -145.9 2267 2200 3950 3984 301.8 -11.5 188 2180 0.12 0.00 0.00 0.000 4230 0.142 0.000 2220 2199 3966 3950 3982 0 0 0 0 0 0 14.35 14.45 14.43

2479 -1.03 -145.9 2220 2200 3950 3983 346.4 -14.8 198 2484 0.00 2.47 0.00 0.000 388 0.000 0.089 2210 3609 3965 3949 3982 0 0 0 0 0 0 14.66 14.21 14.72

2621 -1.03 -145.9 2210 3610 3949 3983 366.8 -14.0 226 2626 0.15 2.38 0.00 0.000 3078 0.257 0.057 2240 2199 3965 3949 3981 0 0 0 0 0 0 13.94 14.21 14.22

2931 -1.03 -145.9 2240 2198 3950 3981 405.3 -12.1 238 2936 0.00 2.47 0.00 0.000 260 0.000 0.089 2236 3607 3965 3949 3981 0 0 0 0 0 0 14.66 14.19 14.68

3026 -1.11 -145.9 2237 3607 3950 3981 416.2 -11.2 257 3032 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2198 3965 3949 3981 0 0 0 0 0 0 14.38 14.24 14.42

3352 -1.11 -145.9 2238 2198 3949 3980 455.8 -12.1 272 3357 0.00 2.47 0.00 0.000 260 0.000 0.090 2235 3597 3964 3948 3980 0 0 0 0 0 0 14.66 14.12 14.68

3402 -1.17 -145.9 2236 3600 3950 3980 461.8 -11.5 282 3407 0.00 2.38 0.00 0.000 1158 0.000 0.058 2235 2208 3964 3948 3980 0 0 0 0 0 0 14.30 14.14 14.35

3560 end dive: TARGET_DEPTH_EXCEEDED

state 3560 begin apogee

3566 -0.13 0.0 2237 2058 3950 3980 481.2 -12.2 289 3790 1.15 0.08 220.93 1.427 10246 0.237 0.182 2529 2098 3364 3385 3344 0 0 0 0 0 0 13.90 13.44 12.68

3794 end apogee: CONTROL_FINISHED_OK

state 3794 begin climb

3798 0.57 145.9 2530 2103 3376 3335 492.4 0.0 296 4193 0.75 2.70 207.48 1.382 10500 0.063 0.074 2782 3512 2749 2783 2716 0 0 0 0 0 0 13.60 12.95 12.34

4311 0.11 145.9 2783 3513 2783 2717 450.3 17.2 321 4318 0.82 2.40 0.00 0.000 5254 0.348 0.058 2624 2130 2749 2782 2716 0 0 0 0 0 0 13.52 13.89 13.90

4638 0.03 177.6 2625 2130 2784 2716 420.9 8.5 336 4689 0.12 2.58 42.33 1.439 12964 0.292 0.085 2602 704 2633 2676 2591 0 0 0 0 0 0 13.90 14.00 13.18

4769 0.08 226.1 2603 703 2674 2584 410.8 7.8 362 4845 0.00 2.47 69.65 1.385 9382 0.000 0.080 2602 2104 2443 2500 2386 0 0 0 0 0 0 14.17 14.07 13.02

5150 0.10 251.9 2603 2108 2490 2371 377.4 8.8 388 5188 0.00 0.00 36.83 1.424 8230 0.000 0.000 2602 2108 2338 2390 2287 0 0 0 0 0 0 14.50 14.01 13.19

5480 0.16 284.0 2602 2109 2379 2275 348.6 8.5 399 5530 0.00 0.00 48.38 1.398 8358 0.000 0.000 2602 2108 2208 2259 2158 0 0 0 0 0 0 14.55 14.01 13.21

5810 0.25 312.9 2602 2109 2249 2142 320.2 8.7 410 5860 0.15 2.53 43.83 1.384 10916 0.116 0.089 2685 695 2085 2133 2037 0 0 0 0 0 0 14.28 14.02 13.24

5902 0.23 312.9 2686 695 2126 2037 308.2 14.4 428 5907 0.00 2.47 0.00 0.000 1158 0.000 0.079 2685 2105 2080 2125 2036 0 0 0 0 0 0 14.20 14.07 14.22

6234 0.18 312.9 2686 2106 2124 2027 262.4 13.3 444 6239 0.15 2.50 0.00 0.000 4740 0.245 0.083 2657 688 2075 2124 2027 0 0 0 0 0 0 13.94 14.05 14.10

6321 0.24 319.7 2657 689 2122 2028 253.1 9.7 461 6329 0.00 2.47 3.70 1.480 9382 0.000 0.079 2656 2098 2063 2108 2018 0 0 0 0 0 0 14.24 14.12 12.83

6624 0.25 334.7 2657 2102 2113 2016 223.8 9.3 472 6657 0.00 2.58 28.33 1.412 8484 0.000 0.085 2657 3524 1997 2045 1950 0 0 0 0 0 0 14.48 14.01 13.27

6677 0.25 334.7 2657 3525 2038 1952 218.7 10.3 482 6682 0.00 2.45 0.00 0.000 1030 0.000 0.063 2662 2101 1993 2037 1950 0 0 0 0 0 0 14.16 14.07 14.18

6988 0.30 354.6 2664 2102 2039 1944 189.5 9.1 494 7028 0.00 2.55 31.73 1.382 8868 0.000 0.090 2671 695 1914 1952 1877 0 0 0 0 0 0 14.45 14.04 13.28

7133 0.41 384.1 2671 696 1946 1877 176.7 8.6 523 7190 0.12 2.50 49.60 1.304 11430 0.134 0.080 2722 2104 1795 1821 1770 0 0 0 0 0 0 13.97 13.93 13.16

7500 0.41 384.1 2722 2107 1816 1758 133.7 11.6 546 7505 0.00 2.50 0.00 0.000 516 0.000 0.086 2729 692 1786 1814 1758 0 0 0 0 0 0 14.40 14.07 14.42

7555 0.44 384.1 2729 693 1812 1758 127.4 10.9 557 7562 0.00 2.50 0.00 0.000 1158 0.000 0.079 2731 2102 1785 1812 1758 0 0 0 0 0 0 14.21 14.08 14.24

7860 0.44 384.1 2729 2103 1812 1758 94.1 10.4 570 7865 0.00 2.53 0.00 0.000 516 0.000 0.086 2738 684 1784 1811 1757 0 0 0 0 0 0 14.45 14.08 14.46

7920 0.49 395.7 2732 685 1809 1758 88.3 9.5 582 7931 0.00 2.50 4.90 0.452 9382 0.000 0.080 2733 2102 1751 1778 1724 0 0 0 0 0 0 14.19 14.09 13.64

8230 0.52 440.7 2733 2103 1782 1725 60.4 7.9 614 8262 0.00 0.00 24.83 0.383 8742 0.000 0.000 2733 2102 1570 1602 1538 0 0 0 0 0 0 14.44 14.01 13.66

8560 0.69 561.4 2733 2103 1596 1532 40.1 4.4 648 8631 0.17 2.55 62.53 0.317 10916 0.103 0.088 2807 687 1072 1139 1006 0 0 0 0 0 0 14.02 13.97 13.69

8668 0.78 579.8 2808 683 1140 1006 31.3 9.1 668 8685 0.00 2.45 10.07 0.298 9382 0.000 0.076 2807 2099 999 1072 927 0 0 0 0 0 0 14.01 13.90 13.60

8991 0.93 647.8 2808 2101 1070 922 8.2 6.9 702 9033 0.22 2.55 36.40 0.228 10660 0.094 0.081 2894 3517 718 775 661 0 0 0 0 0 0 14.12 14.12 13.92

9044 0.85 647.8 2894 3518 779 662 2.0 12.9 708 9049 0.22 2.45 0.00 0.000 5254 0.273 0.065 2856 2096 719 778 661 0 0 0 0 0 0 13.73 14.06 14.03

9051 end climb: SURFACE_DEPTH_REACHED

state 9051 begin surface coast

9062 end surface coast: CONTROL_FINISHED_OK

state 9062 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	200	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	562.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,060128,7417.4614,-15336.9590,14,0.8,21,19.3,0.5,76.3,10,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	264.3,10209,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	300817,061750,7417.4697,-15336.7607,7,0.8,41,19.3,0.0,94.0,10,8.2

MODEM_MSG	CACST,6,1,20170830082700.632142,3,61,17,0095,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30	PM_FREEKB_00	51985280
FINISH	0.1,1.021541	_24V_AH	12.34,139.088
SM_CCo	9082,31.05,0.210,0,0,497,702.78	_10V_AH	12.23,0.000
SM_GC	1.34,8.20,0.20,31.05,0.082,0.103,0.210,197,2227,497,-7.38,-0.45,702.78,0,0,0,0,0,0,14.28,14.30,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	145	FG_AHR_10Vo	0.000
MODEM	0,1504080247,75.36600,-145.04601,193.179,279801.3	MEM	323668
RAFOS_FIX	7417.214844,-15339.044922,300817,080800,4,255,0.17	DATA_FILE_SIZE	23433,711
IRIDIUM_FIX	7416.61,-15333.19,300817,060611	CAP_FILE_SIZE	109448,0
TT8_MAMPS	0.039697,0.914529	CFSIZE	2097872896,2026110976
HUMID	44.13	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.7
TCM_TEMP	13.20	CURRENT	0.037,179.76,1
XPDR_PINGS	15	GPS	300817,085122,7417.843,-15340.928,15,0.7,16,19.3,0.0,0.0,11,9.7
CP_FREE	15983378432.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.79	nil	0	0	0.00
Roll_motor	84	2144	2246.50	nil	0	0	0.00
VBD_pump_during_apogee	921	1480	16832.21	nil	0	0	0.00
VBD_pump_during_surface	31	209	80.31	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	9091	14	1650.21
Iridium_during_xfer	605	172	1285.51	NCP	9067	20	2237.74
Transponder_ping	3	420	19.44	PMAR	9035	9	1106.11
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.64
TT8	0	0	0.00
LPSleep	6401	2	180.86
TT8_Active	869	13	148.57
TT8_Sampling	2523	33	1032.00
TT8_CF8	317	38	150.21
TT8_Kalman	0	0	0.00
Analog_circuits	2467	10	301.77
GPS_charging	0	0	0.00
Compass	1020	7	87.39
RAFOS	2206	48	1295.01
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	185	2209	492	492	0.0	0.0	0	151	0.00	0.00	-101.10	0.000	16386	0.000	0.000	182	2209	2357	2300	2415	0	0	0	0	0	0	14.50	28.83	14.52
154	-0.57	-145.9	184	2209	2302	2419	4.5	-6.8	10	201	12.80	2.75	-29.60	0.000	18724	0.455	2.144	2375	3600	3961	3940	3983	0	0	0	0	0	0	13.56	12.87	14.02
367	-0.70	-145.9	2375	3602	3948	3982	50.2	-13.3	52	371	0.00	2.40	0.00	0.000	1158	0.000	0.059	2375	2200	3965	3948	3983	0	0	0	0	0	0	14.23	14.10	14.26
678	-0.77	-145.9	2375	2202	3950	3984	92.6	-11.6	84	680	0.15	0.00	0.00	0.000	4230	0.136	0.000	2322	2199	3966	3949	3983	0	0	0	0	0	0	14.23	14.31	14.31
977	-0.80	-145.9	2323	2200	3950	3984	134.6	-13.2	98	982	0.00	2.47	0.00	0.000	388	0.000	0.089	2319	3601	3965	3948	3983	0	0	0	0	0	0	14.64	14.18	14.65
1042	-0.95	-145.9	2320	3603	3951	3983	142.3	-10.7	111	1047	0.15	2.38	0.00	0.000	5254	0.116	0.058	2260	2197	3966	3949	3983	0	0	0	0	0	0	14.31	14.25	14.40
1367	-0.90	-145.9	2260	2197	3950	3983	199.4	-17.2	126	1372	0.12	2.47	0.00	0.000	2436	0.302	0.084	2277	3607	3966	3949	3983	0	0	0	0	0	0	13.87	14.14	14.04
1474	-0.97	-145.9	2276	3607	3951	3983	213.4	-12.3	147	1479	0.00	2.38	0.00	0.000	1158	0.000	0.058	2277	2201	3966	3949	3983	0	0	0	0	0	0	14.38	14.26	14.42
1789	-0.97	-145.9	2277	2200	3950	3984	255.5	-12.8	160	1794	0.00	2.45	0.00	0.000	260	0.000	0.089	2267	3601	3965	3949	3982	0	0	0	0	0	0	14.67	14.20	14.66
1869	-1.05	-145.9	2267	3603	3950	3982	264.9	-11.3	176	1874	0.00	2.38	0.00	0.000	1158	0.000	0.060	2266	2201	3967	3948	3986	0	0	0	0	0	0	14.42	14.26	14.42
2179	-1.08	-145.9	2267	2200	3950	3984	301.8	-11.5	188	2180	0.12	0.00	0.00	0.000	4230	0.142	0.000	2220	2199	3966	3950	3982	0	0	0	0	0	0	14.35	14.45	14.43
2479	-1.03	-145.9	2220	2200	3950	3983	346.4	-14.8	198	2484	0.00	2.47	0.00	0.000	388	0.000	0.089	2210	3609	3965	3949	3982	0	0	0	0	0	0	14.66	14.21	14.72
2621	-1.03	-145.9	2210	3610	3949	3983	366.8	-14.0	226	2626	0.15	2.38	0.00	0.000	3078	0.257	0.057	2240	2199	3965	3949	3981	0	0	0	0	0	0	13.94	14.21	14.22
2931	-1.03	-145.9	2240	2198	3950	3981	405.3	-12.1	238	2936	0.00	2.47	0.00	0.000	260	0.000	0.089	2236	3607	3965	3949	3981	0	0	0	0	0	0	14.66	14.19	14.68
3026	-1.11	-145.9	2237	3607	3950	3981	416.2	-11.2	257	3032	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2198	3965	3949	3981	0	0	0	0	0	0	14.38	14.24	14.42
3352	-1.11	-145.9	2238	2198	3949	3980	455.8	-12.1	272	3357	0.00	2.47	0.00	0.000	260	0.000	0.090	2235	3597	3964	3948	3980	0	0	0	0	0	0	14.66	14.12	14.68
3402	-1.17	-145.9	2236	3600	3950	3980	461.8	-11.5	282	3407	0.00	2.38	0.00	0.000	1158	0.000	0.058	2235	2208	3964	3948	3980	0	0	0	0	0	0	14.30	14.14	14.35
3560	end dive: TARGET_DEPTH_EXCEEDED
state	3560	begin apogee
3566	-0.13	0.0	2237	2058	3950	3980	481.2	-12.2	289	3790	1.15	0.08	220.93	1.427	10246	0.237	0.182	2529	2098	3364	3385	3344	0	0	0	0	0	0	13.90	13.44	12.68
3794	end apogee: CONTROL_FINISHED_OK
state	3794	begin climb
3798	0.57	145.9	2530	2103	3376	3335	492.4	0.0	296	4193	0.75	2.70	207.48	1.382	10500	0.063	0.074	2782	3512	2749	2783	2716	0	0	0	0	0	0	13.60	12.95	12.34
4311	0.11	145.9	2783	3513	2783	2717	450.3	17.2	321	4318	0.82	2.40	0.00	0.000	5254	0.348	0.058	2624	2130	2749	2782	2716	0	0	0	0	0	0	13.52	13.89	13.90
4638	0.03	177.6	2625	2130	2784	2716	420.9	8.5	336	4689	0.12	2.58	42.33	1.439	12964	0.292	0.085	2602	704	2633	2676	2591	0	0	0	0	0	0	13.90	14.00	13.18
4769	0.08	226.1	2603	703	2674	2584	410.8	7.8	362	4845	0.00	2.47	69.65	1.385	9382	0.000	0.080	2602	2104	2443	2500	2386	0	0	0	0	0	0	14.17	14.07	13.02
5150	0.10	251.9	2603	2108	2490	2371	377.4	8.8	388	5188	0.00	0.00	36.83	1.424	8230	0.000	0.000	2602	2108	2338	2390	2287	0	0	0	0	0	0	14.50	14.01	13.19
5480	0.16	284.0	2602	2109	2379	2275	348.6	8.5	399	5530	0.00	0.00	48.38	1.398	8358	0.000	0.000	2602	2108	2208	2259	2158	0	0	0	0	0	0	14.55	14.01	13.21
5810	0.25	312.9	2602	2109	2249	2142	320.2	8.7	410	5860	0.15	2.53	43.83	1.384	10916	0.116	0.089	2685	695	2085	2133	2037	0	0	0	0	0	0	14.28	14.02	13.24
5902	0.23	312.9	2686	695	2126	2037	308.2	14.4	428	5907	0.00	2.47	0.00	0.000	1158	0.000	0.079	2685	2105	2080	2125	2036	0	0	0	0	0	0	14.20	14.07	14.22
6234	0.18	312.9	2686	2106	2124	2027	262.4	13.3	444	6239	0.15	2.50	0.00	0.000	4740	0.245	0.083	2657	688	2075	2124	2027	0	0	0	0	0	0	13.94	14.05	14.10
6321	0.24	319.7	2657	689	2122	2028	253.1	9.7	461	6329	0.00	2.47	3.70	1.480	9382	0.000	0.079	2656	2098	2063	2108	2018	0	0	0	0	0	0	14.24	14.12	12.83
6624	0.25	334.7	2657	2102	2113	2016	223.8	9.3	472	6657	0.00	2.58	28.33	1.412	8484	0.000	0.085	2657	3524	1997	2045	1950	0	0	0	0	0	0	14.48	14.01	13.27
6677	0.25	334.7	2657	3525	2038	1952	218.7	10.3	482	6682	0.00	2.45	0.00	0.000	1030	0.000	0.063	2662	2101	1993	2037	1950	0	0	0	0	0	0	14.16	14.07	14.18
6988	0.30	354.6	2664	2102	2039	1944	189.5	9.1	494	7028	0.00	2.55	31.73	1.382	8868	0.000	0.090	2671	695	1914	1952	1877	0	0	0	0	0	0	14.45	14.04	13.28
7133	0.41	384.1	2671	696	1946	1877	176.7	8.6	523	7190	0.12	2.50	49.60	1.304	11430	0.134	0.080	2722	2104	1795	1821	1770	0	0	0	0	0	0	13.97	13.93	13.16
7500	0.41	384.1	2722	2107	1816	1758	133.7	11.6	546	7505	0.00	2.50	0.00	0.000	516	0.000	0.086	2729	692	1786	1814	1758	0	0	0	0	0	0	14.40	14.07	14.42
7555	0.44	384.1	2729	693	1812	1758	127.4	10.9	557	7562	0.00	2.50	0.00	0.000	1158	0.000	0.079	2731	2102	1785	1812	1758	0	0	0	0	0	0	14.21	14.08	14.24
7860	0.44	384.1	2729	2103	1812	1758	94.1	10.4	570	7865	0.00	2.53	0.00	0.000	516	0.000	0.086	2738	684	1784	1811	1757	0	0	0	0	0	0	14.45	14.08	14.46
7920	0.49	395.7	2732	685	1809	1758	88.3	9.5	582	7931	0.00	2.50	4.90	0.452	9382	0.000	0.080	2733	2102	1751	1778	1724	0	0	0	0	0	0	14.19	14.09	13.64
8230	0.52	440.7	2733	2103	1782	1725	60.4	7.9	614	8262	0.00	0.00	24.83	0.383	8742	0.000	0.000	2733	2102	1570	1602	1538	0	0	0	0	0	0	14.44	14.01	13.66
8560	0.69	561.4	2733	2103	1596	1532	40.1	4.4	648	8631	0.17	2.55	62.53	0.317	10916	0.103	0.088	2807	687	1072	1139	1006	0	0	0	0	0	0	14.02	13.97	13.69
8668	0.78	579.8	2808	683	1140	1006	31.3	9.1	668	8685	0.00	2.45	10.07	0.298	9382	0.000	0.076	2807	2099	999	1072	927	0	0	0	0	0	0	14.01	13.90	13.60
8991	0.93	647.8	2808	2101	1070	922	8.2	6.9	702	9033	0.22	2.55	36.40	0.228	10660	0.094	0.081	2894	3517	718	775	661	0	0	0	0	0	0	14.12	14.12	13.92
9044	0.85	647.8	2894	3518	779	662	2.0	12.9	708	9049	0.22	2.45	0.00	0.000	5254	0.273	0.065	2856	2096	719	778	661	0	0	0	0	0	0	13.73	14.06	14.03
9051	end climb: SURFACE_DEPTH_REACHED
state	9051	begin surface coast
9062	end surface coast: CONTROL_FINISHED_OK
state	9062	begin surface