Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 202 * 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 202 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 569.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 569.0 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 26 VBD_MIN 500

DIVE 202 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 300817,113132,7418.0176,-15344.8691,35,0.8,35,19.3,0.0,0.0,10,8.3 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 263.0,6068,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 300817,115227,7417.9697,-15344.9004,6,0.7,7,19.3,0.0,0.0,12,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830122701.579260,3,121,14,0091,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D PM_FREEKB_00 51929792

FINISH 0.1,1.021558 _24V_AH 12.33,140.013

SM_CCo 8990,42.60,0.206,0,0,499,702.78 _10V_AH 12.20,0.000

SM_GC 1.19,7.88,0.17,42.60,0.061,0.114,0.206,204,2229,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.33,14.31,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 400 FG_AHR_10Vo 0.000

MODEM 0,1504094648,75.36600,-145.04601,194.362,281601.0 MEM 323648

RAFOS_FIX 7417.204590,-15344.891602,300817,121201,4,255,1.00 DATA_FILE_SIZE 26681,727

IRIDIUM_FIX 7419.36,-15354.57,300817,114711 CAP_FILE_SIZE 111736,0

TT8_MAMPS 0.039697,0.904792 CFSIZE 2097872896,2025324544

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.7

TCM_TEMP 13.10 CURRENT 0.049,179.30,1

XPDR_PINGS 14 GPS 300817,142456,7418.314,-15349.021,34,0.7,35,19.2,0.0,0.0,12,9.1

CP_FREE 15982854144.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.45 nil 0 0 0.00

Roll_motor 93 2145 2463.90 nil 0 0 0.00

VBD_pump_during_apogee 920 1621 18411.05 nil 0 0 0.00

VBD_pump_during_surface 42 205 108.09 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 8998 14 1620.47

Iridium_during_xfer 723 157 1405.77 NCP 8983 20 2215.21

Transponder_ping 3 420 18.13 PMAR 8942 9 1094.50

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.47

TT8 0 0 0.00

LPSleep 6668 2 187.92

TT8_Active 858 13 146.38

TT8_Sampling 2444 33 997.23

TT8_CF8 334 38 157.75

TT8_Kalman 0 0 0.00

Analog_circuits 2428 10 296.25

GPS_charging 0 0 0.00

Compass 1043 7 89.08

RAFOS 2215 48 1297.10

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 -145.9 186 2224 483 500 0.0 0.0 0 151 0.00 0.00 -101.25 0.000 16386 0.000 0.000 185 2224 2337 2280 2395 0 0 0 0 0 0 14.52 28.83 14.54

154 -0.57 -145.9 186 2228 2284 2395 4.1 -5.8 10 207 12.77 2.72 -30.83 0.000 18724 0.454 2.146 2376 3581 3964 3944 3985 1 0 0 0 0 0 13.51 12.64 14.01

448 -0.70 -145.9 2377 3581 3951 3986 60.2 -12.3 65 454 0.00 2.38 0.00 0.000 1158 0.000 0.057 2377 2193 3967 3950 3985 0 0 0 0 0 0 14.16 14.09 14.21

752 -0.80 -145.9 2377 2192 3954 3987 97.7 -10.6 96 757 0.15 2.50 0.00 0.000 4484 0.125 0.086 2305 3595 3967 3949 3985 0 0 0 0 0 0 14.00 14.00 14.02

892 -0.88 -145.9 2305 3596 3952 3986 116.7 -12.8 124 897 0.00 2.42 0.00 0.000 1158 0.000 0.059 2306 2195 3968 3951 3985 0 0 0 0 0 0 14.19 14.04 14.22

1203 -0.88 -145.9 2306 2194 3952 3985 161.6 -14.1 136 1207 0.00 2.47 0.00 0.000 260 0.000 0.086 2299 3591 3967 3950 3985 0 0 0 0 0 0 14.45 14.05 14.47

1248 -0.97 -145.9 2297 3593 3952 3986 167.6 -12.5 145 1254 0.00 2.38 0.00 0.000 1158 0.000 0.057 2296 2197 3967 3951 3984 0 0 0 0 0 0 14.23 14.12 14.26

1564 -1.00 -145.9 2296 2198 3951 3986 209.5 -12.9 158 1569 0.12 2.47 0.00 0.000 4484 0.134 0.085 2236 3588 3968 3951 3985 0 0 0 0 0 0 14.17 14.05 14.21

1604 -0.97 -145.9 2236 3591 3952 3984 215.8 -16.5 166 1609 0.12 2.38 0.00 0.000 3206 0.253 0.057 2259 2201 3968 3951 3985 0 0 0 0 0 0 13.78 14.07 14.02

1924 -0.97 -145.9 2259 2199 3953 3985 263.2 -13.9 180 1929 0.00 2.42 0.00 0.000 260 0.000 0.086 2251 3590 3968 3951 3985 0 0 0 0 0 0 14.47 14.06 14.48

2029 -1.02 -145.9 2251 3591 3952 3986 276.4 -11.9 201 2035 0.00 2.38 0.00 0.000 1158 0.000 0.057 2251 2196 3968 3951 3985 0 0 0 0 0 0 14.23 14.11 14.26

2345 -1.02 -145.9 2252 2197 3952 3985 316.8 -12.6 214 2350 0.00 2.47 0.00 0.000 260 0.000 0.087 2242 3587 3967 3951 3984 0 0 0 0 0 0 14.47 14.00 14.49

2467 -1.10 -145.9 2243 3589 3953 3985 331.3 -11.4 238 2472 0.00 2.38 0.00 0.000 1158 0.000 0.055 2242 2201 3967 3951 3984 0 0 0 0 0 0 13.85 13.87 13.85

2797 -1.10 -145.9 2242 2199 3952 3983 373.1 -12.6 254 2802 0.00 2.42 0.00 0.000 260 0.000 0.087 2236 3594 3968 3952 3984 0 0 0 0 0 0 14.44 14.00 14.46

2874 -1.17 -145.9 2237 3588 3952 3984 382.4 -11.8 269 2880 0.00 2.38 0.00 0.000 1158 0.000 0.057 2236 2190 3967 3950 3984 0 0 0 0 0 0 14.20 14.06 14.24

3191 -1.17 -145.9 2236 2190 3951 3985 422.6 -12.5 282 3196 0.00 2.47 0.00 0.000 260 0.000 0.089 2236 3588 3967 3950 3984 0 0 0 0 0 0 14.60 14.06 14.62

3261 -1.23 -145.9 2236 3590 3951 3984 431.1 -11.2 296 3266 0.17 2.35 0.00 0.000 5254 0.117 0.056 2167 2193 3967 3950 3984 0 0 0 0 0 0 14.26 14.21 14.35

3549 end dive: TARGET_DEPTH_EXCEEDED

state 3549 begin apogee

3555 -0.13 0.0 2168 2065 3950 3985 484.3 -18.7 309 3777 1.52 0.00 218.75 1.431 10246 0.282 0.000 2529 2062 3361 3377 3346 0 0 0 0 0 0 13.78 13.47 12.66

3781 end apogee: CONTROL_FINISHED_OK

state 3781 begin climb

3784 0.57 145.9 2529 2064 3378 3338 495.7 0.0 316 3998 0.75 2.62 206.73 1.386 10756 0.065 0.085 2781 723 2768 2809 2727 0 0 0 0 0 0 13.59 13.14 12.33

4030 0.19 145.9 2782 724 2802 2722 499.3 14.0 323 4035 0.65 2.53 0.00 0.000 5254 0.319 0.076 2651 2080 2760 2801 2720 0 0 0 0 0 0 13.04 13.31 13.35

4362 0.03 149.2 2652 2080 2801 2712 465.9 9.8 339 4367 0.20 2.42 0.00 0.000 4772 0.271 0.080 2602 721 2756 2800 2712 0 0 0 0 0 0 13.71 13.88 13.88

4402 0.07 199.5 2600 723 2802 2713 462.5 7.7 347 4485 0.00 2.45 76.62 1.405 9254 0.000 0.080 2602 2108 2550 2606 2494 0 0 0 0 0 0 14.14 14.02 12.94

4783 0.09 233.0 2603 2104 2598 2479 430.7 8.5 373 4831 0.00 0.00 46.80 1.439 8742 0.000 0.000 2602 2104 2417 2474 2361 0 0 0 0 0 0 14.47 13.94 13.14

5113 0.14 264.2 2603 2103 2463 2348 402.3 8.6 389 5167 0.00 2.53 46.55 1.429 8868 0.000 0.086 2602 728 2282 2332 2232 0 0 0 0 0 0 14.53 14.00 13.19

5214 0.28 304.5 2601 724 2329 2227 394.0 8.1 409 5283 0.20 2.42 60.97 1.375 11430 0.099 0.079 2682 2100 2119 2166 2073 0 0 0 0 0 0 14.12 14.04 13.04

5593 0.21 304.5 2682 2100 2164 2061 340.2 14.3 435 5598 0.12 2.42 0.00 0.000 4740 0.259 0.083 2659 721 2108 2157 2060 0 0 0 0 0 0 14.01 14.16 14.14

5659 0.23 304.5 2659 721 2156 2061 332.2 11.3 448 5664 0.00 2.42 0.00 0.000 1158 0.000 0.079 2659 2108 2107 2154 2061 0 0 0 0 0 0 14.33 14.20 14.37

5984 0.23 304.5 2660 2109 2155 2059 293.0 11.8 463 5989 0.00 2.45 0.00 0.000 516 0.000 0.087 2660 723 2106 2155 2058 0 0 0 0 0 0 14.62 14.26 14.65

6004 0.23 304.5 2660 723 2154 2059 290.7 12.2 467 6009 0.00 2.40 0.00 0.000 1030 0.000 0.078 2660 2105 2105 2153 2058 0 0 0 0 0 0 14.40 14.28 14.47

6314 0.23 304.5 2660 2107 2154 2058 255.7 10.9 479 6315 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2106 2105 2153 2057 0 0 0 0 0 0 14.66 14.67 14.69

6614 0.24 314.2 2660 2106 2154 2056 225.6 9.6 489 6629 0.00 2.45 8.50 1.622 8740 0.000 0.086 2660 732 2083 2129 2037 0 0 0 0 0 0 14.66 14.28 13.29

6674 0.32 340.1 2660 732 2127 2037 220.2 8.8 501 6725 0.00 2.38 43.90 1.366 9382 0.000 0.079 2660 2101 1977 2021 1933 0 0 0 0 0 0 14.36 14.23 13.28

7037 0.39 372.5 2660 2101 2017 1921 188.0 8.5 523 7097 0.12 2.45 54.00 1.308 10916 0.134 0.085 2725 722 1843 1873 1814 0 0 0 0 0 0 14.28 13.83 13.24

7134 0.39 372.5 2726 722 1868 1814 176.7 12.4 542 7139 0.00 2.42 0.00 0.000 1030 0.000 0.078 2725 2099 1838 1863 1813 0 0 0 0 0 0 14.16 14.04 14.19

7459 0.36 372.5 2725 2101 1865 1808 136.8 11.7 557 7465 0.00 2.40 0.00 0.000 644 0.000 0.086 2729 730 1835 1864 1807 0 0 0 0 0 0 14.57 14.18 14.57

7505 0.36 372.5 2730 730 1863 1807 131.3 11.4 566 7510 0.15 2.38 0.00 0.000 5126 0.229 0.080 2696 2100 1834 1862 1807 0 0 0 0 0 0 14.07 14.23 14.34

7820 0.41 397.8 2697 2101 1862 1804 102.5 8.8 579 7861 0.00 2.42 36.30 1.297 8868 0.000 0.084 2699 724 1742 1766 1718 0 0 0 0 0 0 14.63 13.94 13.38

7886 0.53 427.2 2699 724 1760 1717 96.9 8.6 592 7908 0.17 2.40 15.93 0.500 11430 0.106 0.077 2771 2100 1620 1645 1596 0 0 0 0 0 0 14.09 14.03 13.64

8214 0.49 427.2 2772 2101 1646 1591 57.6 10.2 627 8219 0.12 2.42 0.00 0.000 4740 0.271 0.082 2751 726 1617 1645 1590 0 0 0 0 0 0 13.92 14.15 14.06

8255 0.58 473.4 2751 726 1644 1590 54.0 7.9 635 8286 0.00 2.45 23.67 0.364 9382 0.000 0.080 2751 2113 1436 1472 1401 0 0 0 0 0 0 14.26 14.12 13.73

8585 0.72 566.5 2752 2113 1473 1392 32.8 5.7 671 8639 0.17 2.53 48.92 0.297 10916 0.109 0.086 2833 725 1052 1115 989 0 0 0 0 0 0 14.14 14.07 13.77

8729 0.82 630.6 2834 726 1114 986 19.9 7.0 699 8767 0.00 2.42 33.05 0.270 9382 0.000 0.078 2833 2108 794 857 731 0 0 0 0 0 0 14.23 14.10 13.77

8951 end climb: SURFACE_DEPTH_REACHED

state 8951 begin surface coast

8970 end surface coast: CONTROL_FINISHED_OK

state 8970 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	202	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	569.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,113132,7418.0176,-15344.8691,35,0.8,35,19.3,0.0,0.0,10,8.3	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	263.0,6068,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	300817,115227,7417.9697,-15344.9004,6,0.7,7,19.3,0.0,0.0,12,9.9

MODEM_MSG	CACST,6,1,20170830122701.579260,3,121,14,0091,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D	PM_FREEKB_00	51929792
FINISH	0.1,1.021558	_24V_AH	12.33,140.013
SM_CCo	8990,42.60,0.206,0,0,499,702.78	_10V_AH	12.20,0.000
SM_GC	1.19,7.88,0.17,42.60,0.061,0.114,0.206,204,2229,499,-7.37,-0.34,702.78,0,0,0,0,0,0,14.33,14.31,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	400	FG_AHR_10Vo	0.000
MODEM	0,1504094648,75.36600,-145.04601,194.362,281601.0	MEM	323648
RAFOS_FIX	7417.204590,-15344.891602,300817,121201,4,255,1.00	DATA_FILE_SIZE	26681,727
IRIDIUM_FIX	7419.36,-15354.57,300817,114711	CAP_FILE_SIZE	111736,0
TT8_MAMPS	0.039697,0.904792	CFSIZE	2097872896,2025324544
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.7
TCM_TEMP	13.10	CURRENT	0.049,179.30,1
XPDR_PINGS	14	GPS	300817,142456,7418.314,-15349.021,34,0.7,35,19.2,0.0,0.0,12,9.1
CP_FREE	15982854144.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.45	nil	0	0	0.00
Roll_motor	93	2145	2463.90	nil	0	0	0.00
VBD_pump_during_apogee	920	1621	18411.05	nil	0	0	0.00
VBD_pump_during_surface	42	205	108.09	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	8998	14	1620.47
Iridium_during_xfer	723	157	1405.77	NCP	8983	20	2215.21
Transponder_ping	3	420	18.13	PMAR	8942	9	1094.50
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.47
TT8	0	0	0.00
LPSleep	6668	2	187.92
TT8_Active	858	13	146.38
TT8_Sampling	2444	33	997.23
TT8_CF8	334	38	157.75
TT8_Kalman	0	0	0.00
Analog_circuits	2428	10	296.25
GPS_charging	0	0	0.00
Compass	1043	7	89.08
RAFOS	2215	48	1297.10
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	186	2224	483	500	0.0	0.0	0	151	0.00	0.00	-101.25	0.000	16386	0.000	0.000	185	2224	2337	2280	2395	0	0	0	0	0	0	14.52	28.83	14.54
154	-0.57	-145.9	186	2228	2284	2395	4.1	-5.8	10	207	12.77	2.72	-30.83	0.000	18724	0.454	2.146	2376	3581	3964	3944	3985	1	0	0	0	0	0	13.51	12.64	14.01
448	-0.70	-145.9	2377	3581	3951	3986	60.2	-12.3	65	454	0.00	2.38	0.00	0.000	1158	0.000	0.057	2377	2193	3967	3950	3985	0	0	0	0	0	0	14.16	14.09	14.21
752	-0.80	-145.9	2377	2192	3954	3987	97.7	-10.6	96	757	0.15	2.50	0.00	0.000	4484	0.125	0.086	2305	3595	3967	3949	3985	0	0	0	0	0	0	14.00	14.00	14.02
892	-0.88	-145.9	2305	3596	3952	3986	116.7	-12.8	124	897	0.00	2.42	0.00	0.000	1158	0.000	0.059	2306	2195	3968	3951	3985	0	0	0	0	0	0	14.19	14.04	14.22
1203	-0.88	-145.9	2306	2194	3952	3985	161.6	-14.1	136	1207	0.00	2.47	0.00	0.000	260	0.000	0.086	2299	3591	3967	3950	3985	0	0	0	0	0	0	14.45	14.05	14.47
1248	-0.97	-145.9	2297	3593	3952	3986	167.6	-12.5	145	1254	0.00	2.38	0.00	0.000	1158	0.000	0.057	2296	2197	3967	3951	3984	0	0	0	0	0	0	14.23	14.12	14.26
1564	-1.00	-145.9	2296	2198	3951	3986	209.5	-12.9	158	1569	0.12	2.47	0.00	0.000	4484	0.134	0.085	2236	3588	3968	3951	3985	0	0	0	0	0	0	14.17	14.05	14.21
1604	-0.97	-145.9	2236	3591	3952	3984	215.8	-16.5	166	1609	0.12	2.38	0.00	0.000	3206	0.253	0.057	2259	2201	3968	3951	3985	0	0	0	0	0	0	13.78	14.07	14.02
1924	-0.97	-145.9	2259	2199	3953	3985	263.2	-13.9	180	1929	0.00	2.42	0.00	0.000	260	0.000	0.086	2251	3590	3968	3951	3985	0	0	0	0	0	0	14.47	14.06	14.48
2029	-1.02	-145.9	2251	3591	3952	3986	276.4	-11.9	201	2035	0.00	2.38	0.00	0.000	1158	0.000	0.057	2251	2196	3968	3951	3985	0	0	0	0	0	0	14.23	14.11	14.26
2345	-1.02	-145.9	2252	2197	3952	3985	316.8	-12.6	214	2350	0.00	2.47	0.00	0.000	260	0.000	0.087	2242	3587	3967	3951	3984	0	0	0	0	0	0	14.47	14.00	14.49
2467	-1.10	-145.9	2243	3589	3953	3985	331.3	-11.4	238	2472	0.00	2.38	0.00	0.000	1158	0.000	0.055	2242	2201	3967	3951	3984	0	0	0	0	0	0	13.85	13.87	13.85
2797	-1.10	-145.9	2242	2199	3952	3983	373.1	-12.6	254	2802	0.00	2.42	0.00	0.000	260	0.000	0.087	2236	3594	3968	3952	3984	0	0	0	0	0	0	14.44	14.00	14.46
2874	-1.17	-145.9	2237	3588	3952	3984	382.4	-11.8	269	2880	0.00	2.38	0.00	0.000	1158	0.000	0.057	2236	2190	3967	3950	3984	0	0	0	0	0	0	14.20	14.06	14.24
3191	-1.17	-145.9	2236	2190	3951	3985	422.6	-12.5	282	3196	0.00	2.47	0.00	0.000	260	0.000	0.089	2236	3588	3967	3950	3984	0	0	0	0	0	0	14.60	14.06	14.62
3261	-1.23	-145.9	2236	3590	3951	3984	431.1	-11.2	296	3266	0.17	2.35	0.00	0.000	5254	0.117	0.056	2167	2193	3967	3950	3984	0	0	0	0	0	0	14.26	14.21	14.35
3549	end dive: TARGET_DEPTH_EXCEEDED
state	3549	begin apogee
3555	-0.13	0.0	2168	2065	3950	3985	484.3	-18.7	309	3777	1.52	0.00	218.75	1.431	10246	0.282	0.000	2529	2062	3361	3377	3346	0	0	0	0	0	0	13.78	13.47	12.66
3781	end apogee: CONTROL_FINISHED_OK
state	3781	begin climb
3784	0.57	145.9	2529	2064	3378	3338	495.7	0.0	316	3998	0.75	2.62	206.73	1.386	10756	0.065	0.085	2781	723	2768	2809	2727	0	0	0	0	0	0	13.59	13.14	12.33
4030	0.19	145.9	2782	724	2802	2722	499.3	14.0	323	4035	0.65	2.53	0.00	0.000	5254	0.319	0.076	2651	2080	2760	2801	2720	0	0	0	0	0	0	13.04	13.31	13.35
4362	0.03	149.2	2652	2080	2801	2712	465.9	9.8	339	4367	0.20	2.42	0.00	0.000	4772	0.271	0.080	2602	721	2756	2800	2712	0	0	0	0	0	0	13.71	13.88	13.88
4402	0.07	199.5	2600	723	2802	2713	462.5	7.7	347	4485	0.00	2.45	76.62	1.405	9254	0.000	0.080	2602	2108	2550	2606	2494	0	0	0	0	0	0	14.14	14.02	12.94
4783	0.09	233.0	2603	2104	2598	2479	430.7	8.5	373	4831	0.00	0.00	46.80	1.439	8742	0.000	0.000	2602	2104	2417	2474	2361	0	0	0	0	0	0	14.47	13.94	13.14
5113	0.14	264.2	2603	2103	2463	2348	402.3	8.6	389	5167	0.00	2.53	46.55	1.429	8868	0.000	0.086	2602	728	2282	2332	2232	0	0	0	0	0	0	14.53	14.00	13.19
5214	0.28	304.5	2601	724	2329	2227	394.0	8.1	409	5283	0.20	2.42	60.97	1.375	11430	0.099	0.079	2682	2100	2119	2166	2073	0	0	0	0	0	0	14.12	14.04	13.04
5593	0.21	304.5	2682	2100	2164	2061	340.2	14.3	435	5598	0.12	2.42	0.00	0.000	4740	0.259	0.083	2659	721	2108	2157	2060	0	0	0	0	0	0	14.01	14.16	14.14
5659	0.23	304.5	2659	721	2156	2061	332.2	11.3	448	5664	0.00	2.42	0.00	0.000	1158	0.000	0.079	2659	2108	2107	2154	2061	0	0	0	0	0	0	14.33	14.20	14.37
5984	0.23	304.5	2660	2109	2155	2059	293.0	11.8	463	5989	0.00	2.45	0.00	0.000	516	0.000	0.087	2660	723	2106	2155	2058	0	0	0	0	0	0	14.62	14.26	14.65
6004	0.23	304.5	2660	723	2154	2059	290.7	12.2	467	6009	0.00	2.40	0.00	0.000	1030	0.000	0.078	2660	2105	2105	2153	2058	0	0	0	0	0	0	14.40	14.28	14.47
6314	0.23	304.5	2660	2107	2154	2058	255.7	10.9	479	6315	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2106	2105	2153	2057	0	0	0	0	0	0	14.66	14.67	14.69
6614	0.24	314.2	2660	2106	2154	2056	225.6	9.6	489	6629	0.00	2.45	8.50	1.622	8740	0.000	0.086	2660	732	2083	2129	2037	0	0	0	0	0	0	14.66	14.28	13.29
6674	0.32	340.1	2660	732	2127	2037	220.2	8.8	501	6725	0.00	2.38	43.90	1.366	9382	0.000	0.079	2660	2101	1977	2021	1933	0	0	0	0	0	0	14.36	14.23	13.28
7037	0.39	372.5	2660	2101	2017	1921	188.0	8.5	523	7097	0.12	2.45	54.00	1.308	10916	0.134	0.085	2725	722	1843	1873	1814	0	0	0	0	0	0	14.28	13.83	13.24
7134	0.39	372.5	2726	722	1868	1814	176.7	12.4	542	7139	0.00	2.42	0.00	0.000	1030	0.000	0.078	2725	2099	1838	1863	1813	0	0	0	0	0	0	14.16	14.04	14.19
7459	0.36	372.5	2725	2101	1865	1808	136.8	11.7	557	7465	0.00	2.40	0.00	0.000	644	0.000	0.086	2729	730	1835	1864	1807	0	0	0	0	0	0	14.57	14.18	14.57
7505	0.36	372.5	2730	730	1863	1807	131.3	11.4	566	7510	0.15	2.38	0.00	0.000	5126	0.229	0.080	2696	2100	1834	1862	1807	0	0	0	0	0	0	14.07	14.23	14.34
7820	0.41	397.8	2697	2101	1862	1804	102.5	8.8	579	7861	0.00	2.42	36.30	1.297	8868	0.000	0.084	2699	724	1742	1766	1718	0	0	0	0	0	0	14.63	13.94	13.38
7886	0.53	427.2	2699	724	1760	1717	96.9	8.6	592	7908	0.17	2.40	15.93	0.500	11430	0.106	0.077	2771	2100	1620	1645	1596	0	0	0	0	0	0	14.09	14.03	13.64
8214	0.49	427.2	2772	2101	1646	1591	57.6	10.2	627	8219	0.12	2.42	0.00	0.000	4740	0.271	0.082	2751	726	1617	1645	1590	0	0	0	0	0	0	13.92	14.15	14.06
8255	0.58	473.4	2751	726	1644	1590	54.0	7.9	635	8286	0.00	2.45	23.67	0.364	9382	0.000	0.080	2751	2113	1436	1472	1401	0	0	0	0	0	0	14.26	14.12	13.73
8585	0.72	566.5	2752	2113	1473	1392	32.8	5.7	671	8639	0.17	2.53	48.92	0.297	10916	0.109	0.086	2833	725	1052	1115	989	0	0	0	0	0	0	14.14	14.07	13.77
8729	0.82	630.6	2834	726	1114	986	19.9	7.0	699	8767	0.00	2.42	33.05	0.270	9382	0.000	0.078	2833	2108	794	857	731	0	0	0	0	0	0	14.23	14.10	13.77
8951	end climb: SURFACE_DEPTH_REACHED
state	8951	begin surface coast
8970	end surface coast: CONTROL_FINISHED_OK
state	8970	begin surface