Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 4 * 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 4 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 6 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 692.78448 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 360 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 450 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 120 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 165 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 2595 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 3.0

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 47.0

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 3.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING 0 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 34 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 17 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 360 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 692.78448

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 0 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 3.0 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 120

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 165

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 47.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2595 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 34 VBD_MIN 500

DIVE 4 NOCOMM_ACTION 161 R_STBD_OVSHOOT 17 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 450 N_DIVES 6 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 070817,025012,7108.3994,-14739.1152,7,0.8,16,21.2,0.0,0.0,9,9.1 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME HEADING

_XMS_NAKs 0 TGT_LATLONG 7119.198,-14739.045

_XMS_TOUTs 0 TGT_RADIUS 1852.000

_SM_DEPTHo 1.34 MHEAD_RNG_PITCHd_Wd 295.9,20000,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -79.6 D_GRID 360

GPS2 070817,025355,7108.3989,-14739.0449,6,0.8,16,21.2,0.0,0.0,9,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170807043104.960468,3,46,16,0102,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 62217472

FINISH 0.1,1.019209 _24V_AH 12.83,44.258

SM_CCo 7120,0.00,0.000,0,0,491,704.26 _10V_AH 12.32,0.000

SM_GC 1.38,8.57,2.35,0.00,0.093,0.061,0.000,208,2188,491,-7.42,0.48,704.26,0,0,0,0,0,0,14.00,13.99,14.09 FG_AHR_24Vo 0.000

RAFOS_CLK 108 FG_AHR_10Vo 0.000

MODEM 3,1502079792,74.30400,-153.94400,285.861,418786.2 MEM 324816

RAFOS_FIX 0.000000,0.000000,010170,000000,0,0,0.00 DATA_FILE_SIZE 39983,1222

IRIDIUM_FIX 7110.79,-14730.71,070817,024533 CAP_FILE_SIZE 130702,0

TT8_MAMPS 0.038948,0.929509 CFSIZE 2097872896,2087026688

HUMID 47.08 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1450.0

TCM_TEMP 13.60 CURRENT 0.167,94.77,1

XPDR_PINGS 4 GPS 070817,045432,7109.139,-14738.651,36,0.7,39,21.2,0.2,0.0,12,9.7

CP_FREE 16017719296.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 147.17 nil 0 0 0.00

Roll_motor 71 2175 2000.72 nil 0 0 0.00

VBD_pump_during_apogee 1299 1210 20192.75 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 7025 17 1581.34

Iridium_during_xfer 0 0 0.00 NCP 3812 111 5428.78

Transponder_ping 1 420 5.39 PMAR 6986 16 1501.31

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.76

TT8 0 0 0.00

LPSleep 3266 2 92.97

TT8_Active 1178 13 202.88

TT8_Sampling 2603 33 1072.69

TT8_CF8 168 38 80.43

TT8_Kalman 0 0 0.00

Analog_circuits 2364 10 291.29

GPS_charging 0 0 0.00

Compass 1750 7 150.98

RAFOS 2216 48 1310.45

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

55 end surface: CONTROL_FINISHED_OK

state 55 begin dive

58 -0.57 -145.9 207 2192 538 468 0.0 0.0 0 133 0.00 0.00 -73.18 0.000 16386 0.000 0.000 207 2192 1973 1883 2063 0 0 0 0 0 0 14.39 28.83 14.40

136 -0.57 -145.9 207 2192 1886 2066 3.4 -7.2 13 195 12.40 2.78 -41.10 0.000 18724 0.455 2.176 2389 3611 3962 3947 3977 0 0 0 0 0 0 13.77 13.14 14.02

421 -0.46 -145.9 2389 3613 3953 3978 68.9 -19.3 68 428 0.22 2.45 0.00 0.000 3206 0.276 0.066 2436 2205 3965 3953 3977 0 0 0 0 0 0 13.87 14.01 14.12

608 -0.46 -145.9 2437 2205 3955 3978 97.1 -13.3 105 614 0.00 2.53 0.00 0.000 260 0.000 0.094 2428 3614 3965 3953 3977 0 0 0 0 0 0 14.38 14.07 14.40

699 -0.58 -145.9 2428 3614 3952 3977 108.1 -11.1 123 706 0.00 2.42 0.00 0.000 1158 0.000 0.066 2428 2202 3965 3953 3977 0 0 0 0 0 0 14.11 14.06 14.14

886 -0.62 -145.9 2428 2202 3954 3978 131.7 -12.2 160 892 0.00 0.00 0.00 0.000 134 0.000 0.000 2428 2201 3965 3953 3977 0 0 0 0 0 0 14.43 14.45 14.45

1073 -0.68 -145.9 2428 2201 3954 3977 153.3 -11.2 197 1078 0.15 0.00 0.00 0.000 4230 0.136 0.000 2369 2200 3965 3953 3977 0 0 0 0 0 0 14.10 14.21 14.17

1258 -0.66 -145.9 2369 2201 3954 3976 180.2 -13.9 234 1264 0.00 2.53 0.00 0.000 388 0.000 0.099 2359 3614 3965 3953 3977 0 0 0 0 0 0 14.45 14.09 14.47

1299 -0.66 -145.9 2359 3615 3954 3978 186.1 -13.8 242 1306 0.00 2.45 0.00 0.000 1030 0.000 0.067 2359 2194 3965 3953 3977 0 0 0 0 0 0 14.20 14.06 14.23

1486 -0.63 -145.9 2359 2194 3954 3977 211.4 -12.9 279 1492 0.12 0.00 0.00 0.000 2182 0.296 0.000 2382 2192 3965 3953 3977 0 0 0 0 0 0 13.91 14.23 14.16

1672 -0.67 -145.9 2382 2193 3954 3978 231.8 -11.0 316 1679 0.00 2.55 0.00 0.000 388 0.000 0.101 2372 3613 3965 3953 3977 0 0 0 0 0 0 14.45 14.07 14.46

1694 -0.71 -145.9 2372 3615 3954 3978 234.2 -10.7 320 1702 0.00 2.47 0.00 0.000 1158 0.000 0.067 2373 2193 3965 3953 3977 0 0 0 0 0 0 14.11 13.99 14.14

1882 -0.75 -145.9 2374 2192 3954 3983 254.9 -10.6 357 1888 0.00 0.00 0.00 0.000 134 0.000 0.000 2373 2192 3964 3953 3976 0 0 0 0 0 0 14.45 14.47 14.46

2068 -0.80 -145.9 2373 2198 3954 3975 273.7 -10.0 394 2074 0.12 2.55 0.00 0.000 4516 0.149 0.099 2320 3613 3964 3953 3975 0 0 0 0 0 0 14.14 14.06 14.19

2149 -0.78 -145.9 2320 3613 3954 3975 284.5 -13.6 410 2155 0.00 2.45 0.00 0.000 1158 0.000 0.068 2319 2191 3964 3953 3975 0 0 0 0 0 0 14.24 14.12 14.28

2336 -0.71 -145.9 2319 2190 3954 3973 311.0 -14.1 447 2342 0.15 2.58 0.00 0.000 2436 0.295 0.097 2344 3621 3963 3953 3973 0 0 0 0 0 0 13.82 14.07 14.00

2402 -0.77 -145.9 2345 3622 3954 3973 318.8 -10.3 460 2409 0.00 2.47 0.00 0.000 1158 0.000 0.069 2344 2201 3961 3949 3973 0 0 0 0 0 0 14.24 14.11 14.27

2589 -0.77 -145.9 2344 2199 3954 3972 340.5 -11.7 497 2595 0.00 0.00 0.00 0.000 6 0.000 0.000 2344 2199 3963 3954 3972 0 0 0 0 0 0 14.49 14.50 14.50

2762 end dive: TARGET_DEPTH_EXCEEDED

state 2762 begin apogee

2768 -0.13 0.0 2348 2073 3954 3971 361.0 -11.6 517 3209 0.80 0.05 436.02 1.101 10246 0.252 0.233 2542 2104 3364 3387 3342 0 0 0 0 0 0 13.89 13.40 13.00

3212 end apogee: CONTROL_FINISHED_OK

state 3212 begin climb

3214 0.57 145.9 2543 2104 3383 3337 381.2 0.0 531 3459 0.75 2.70 209.38 1.200 11012 0.075 0.090 2787 3504 2748 2784 2712 0 0 0 0 0 0 13.53 13.23 12.83

3466 0.35 271.3 2788 3503 2784 2711 377.5 4.2 537 3673 0.43 2.50 197.70 1.151 13478 0.335 0.066 2716 2121 2256 2309 2204 0 0 0 0 0 0 13.30 13.47 12.84

3853 0.31 271.3 2716 2121 2286 2177 329.6 12.4 609 3859 0.00 2.65 0.00 0.000 644 0.000 0.097 2723 690 2230 2284 2176 0 0 0 0 0 0 13.94 13.67 13.97

3909 0.31 271.3 2724 690 2281 2183 322.5 12.4 617 3916 0.00 2.60 0.00 0.000 1030 0.000 0.090 2724 2103 2228 2280 2176 0 0 0 0 0 0 13.73 13.62 13.76

4096 0.26 271.3 2724 2104 2280 2174 297.8 13.3 654 4101 0.17 0.00 0.00 0.000 4230 0.239 0.000 2681 2105 2226 2279 2174 0 0 0 0 0 0 13.64 13.84 13.78

4282 0.31 294.0 2682 2106 2280 2174 279.7 8.9 691 4317 0.00 0.00 31.27 1.211 8870 0.000 0.000 2681 2105 2163 2214 2113 0 0 0 0 0 0 14.12 13.83 13.28

4498 0.38 314.4 2682 2105 2200 2096 259.5 9.1 733 4539 0.12 0.00 34.50 1.196 10918 0.143 0.000 2729 2102 2080 2127 2034 0 0 0 0 0 0 13.88 13.69 13.26

4719 0.35 314.4 2730 2105 2113 2018 231.5 12.6 776 4726 0.00 2.58 0.00 0.000 644 0.000 0.096 2732 692 2065 2111 2019 0 0 0 0 0 0 14.11 13.83 14.12

4766 0.38 314.4 2732 693 2109 2018 225.7 12.4 785 4772 0.00 2.55 0.00 0.000 1158 0.000 0.090 2732 2101 2063 2108 2018 0 0 0 0 0 0 13.97 13.88 14.02

4952 0.36 314.4 2732 2101 2108 2020 202.2 12.2 822 4958 0.00 2.58 0.00 0.000 644 0.000 0.094 2746 687 2062 2107 2018 0 0 0 0 0 0 14.18 13.88 14.19

4993 0.36 314.4 2740 687 2107 2019 197.2 12.0 830 5000 0.00 2.58 0.00 0.000 1030 0.000 0.090 2740 2110 2062 2106 2019 0 0 0 0 0 0 14.02 13.90 14.05

5180 0.33 314.4 2740 2109 2107 2017 175.5 10.7 867 5186 0.15 0.00 0.00 0.000 4230 0.248 0.000 2704 2109 2061 2105 2017 0 0 0 0 0 0 13.78 13.98 13.92

5366 0.43 367.8 2705 2110 2106 2017 160.5 7.5 904 5495 0.00 2.70 120.00 1.111 8868 0.000 0.096 2704 686 1859 1887 1832 0 0 0 0 0 0 14.21 13.61 13.18

5566 0.65 423.9 2704 690 1872 1825 145.1 7.4 940 5673 0.32 2.58 98.40 1.087 11430 0.090 0.090 2812 2099 1632 1657 1607 0 0 0 0 0 0 13.80 13.76 13.09

5853 0.58 423.9 2813 2100 1644 1576 102.4 14.8 994 5859 0.12 2.58 0.00 0.000 4740 0.250 0.093 2795 692 1608 1642 1574 0 0 0 0 0 0 13.62 13.72 13.77

5919 0.63 423.9 2796 692 1641 1575 94.0 11.6 1007 5925 0.00 2.58 0.00 0.000 1158 0.000 0.089 2797 2098 1607 1640 1574 0 0 0 0 0 0 13.82 13.71 13.84

6105 0.63 423.9 2796 2098 1640 1572 72.1 11.5 1044 6112 0.00 0.00 0.00 0.000 6 0.000 0.000 2795 2098 1605 1639 1571 0 0 0 0 0 0 14.08 14.10 14.10

6294 0.65 423.9 2795 2097 1640 1570 51.0 10.4 1081 6300 0.00 0.00 0.00 0.000 134 0.000 0.000 2795 2098 1604 1639 1569 0 0 0 0 0 0 14.12 14.13 14.13

6482 0.74 468.9 2795 2098 1640 1568 34.4 7.9 1118 6513 0.12 2.62 22.58 0.291 10660 0.142 0.097 2849 3509 1454 1490 1419 0 0 0 0 0 0 13.88 13.78 13.72

6614 0.70 468.9 2850 3511 1493 1438 19.7 11.0 1143 6621 0.17 2.50 2.42 0.235 13446 0.259 0.073 2822 2095 1451 1485 1418 0 0 0 0 0 0 13.78 13.93 13.80

6801 0.99 716.2 2823 2094 1501 1426 13.7 -1.4 1180 6959 0.28 2.60 147.38 0.236 10660 0.096 0.095 2920 3513 497 547 448 0 0 0 0 0 0 13.99 13.88 13.78

7017 end climb: SURFACE_DEPTH_REACHED

state 7017 begin surface coast

7037 end surface coast: CONTROL_FINISHED_OK

state 7037 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	4	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	6	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	692.78448	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	360	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	450	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	120	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	165	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	2595	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	3.0
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	47.0
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	3.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	0	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	34	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	17	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	070817,025012,7108.3994,-14739.1152,7,0.8,16,21.2,0.0,0.0,9,9.1	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	HEADING
_XMS_NAKs	0	TGT_LATLONG	7119.198,-14739.045
_XMS_TOUTs	0	TGT_RADIUS	1852.000
_SM_DEPTHo	1.34	MHEAD_RNG_PITCHd_Wd	295.9,20000,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-79.6	D_GRID	360
GPS2	070817,025355,7108.3989,-14739.0449,6,0.8,16,21.2,0.0,0.0,9,9.1

MODEM_MSG	CACST,6,1,20170807043104.960468,3,46,16,0102,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	62217472
FINISH	0.1,1.019209	_24V_AH	12.83,44.258
SM_CCo	7120,0.00,0.000,0,0,491,704.26	_10V_AH	12.32,0.000
SM_GC	1.38,8.57,2.35,0.00,0.093,0.061,0.000,208,2188,491,-7.42,0.48,704.26,0,0,0,0,0,0,14.00,13.99,14.09	FG_AHR_24Vo	0.000
RAFOS_CLK	108	FG_AHR_10Vo	0.000
MODEM	3,1502079792,74.30400,-153.94400,285.861,418786.2	MEM	324816
RAFOS_FIX	0.000000,0.000000,010170,000000,0,0,0.00	DATA_FILE_SIZE	39983,1222
IRIDIUM_FIX	7110.79,-14730.71,070817,024533	CAP_FILE_SIZE	130702,0
TT8_MAMPS	0.038948,0.929509	CFSIZE	2097872896,2087026688
HUMID	47.08	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1450.0
TCM_TEMP	13.60	CURRENT	0.167,94.77,1
XPDR_PINGS	4	GPS	070817,045432,7109.139,-14738.651,36,0.7,39,21.2,0.2,0.0,12,9.7
CP_FREE	16017719296.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	147.17	nil	0	0	0.00
Roll_motor	71	2175	2000.72	nil	0	0	0.00
VBD_pump_during_apogee	1299	1210	20192.75	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	7025	17	1581.34
Iridium_during_xfer	0	0	0.00	NCP	3812	111	5428.78
Transponder_ping	1	420	5.39	PMAR	6986	16	1501.31
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.76
TT8	0	0	0.00
LPSleep	3266	2	92.97
TT8_Active	1178	13	202.88
TT8_Sampling	2603	33	1072.69
TT8_CF8	168	38	80.43
TT8_Kalman	0	0	0.00
Analog_circuits	2364	10	291.29
GPS_charging	0	0	0.00
Compass	1750	7	150.98
RAFOS	2216	48	1310.45
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
55	end surface: CONTROL_FINISHED_OK
state	55	begin dive
58	-0.57	-145.9	207	2192	538	468	0.0	0.0	0	133	0.00	0.00	-73.18	0.000	16386	0.000	0.000	207	2192	1973	1883	2063	0	0	0	0	0	0	14.39	28.83	14.40
136	-0.57	-145.9	207	2192	1886	2066	3.4	-7.2	13	195	12.40	2.78	-41.10	0.000	18724	0.455	2.176	2389	3611	3962	3947	3977	0	0	0	0	0	0	13.77	13.14	14.02
421	-0.46	-145.9	2389	3613	3953	3978	68.9	-19.3	68	428	0.22	2.45	0.00	0.000	3206	0.276	0.066	2436	2205	3965	3953	3977	0	0	0	0	0	0	13.87	14.01	14.12
608	-0.46	-145.9	2437	2205	3955	3978	97.1	-13.3	105	614	0.00	2.53	0.00	0.000	260	0.000	0.094	2428	3614	3965	3953	3977	0	0	0	0	0	0	14.38	14.07	14.40
699	-0.58	-145.9	2428	3614	3952	3977	108.1	-11.1	123	706	0.00	2.42	0.00	0.000	1158	0.000	0.066	2428	2202	3965	3953	3977	0	0	0	0	0	0	14.11	14.06	14.14
886	-0.62	-145.9	2428	2202	3954	3978	131.7	-12.2	160	892	0.00	0.00	0.00	0.000	134	0.000	0.000	2428	2201	3965	3953	3977	0	0	0	0	0	0	14.43	14.45	14.45
1073	-0.68	-145.9	2428	2201	3954	3977	153.3	-11.2	197	1078	0.15	0.00	0.00	0.000	4230	0.136	0.000	2369	2200	3965	3953	3977	0	0	0	0	0	0	14.10	14.21	14.17
1258	-0.66	-145.9	2369	2201	3954	3976	180.2	-13.9	234	1264	0.00	2.53	0.00	0.000	388	0.000	0.099	2359	3614	3965	3953	3977	0	0	0	0	0	0	14.45	14.09	14.47
1299	-0.66	-145.9	2359	3615	3954	3978	186.1	-13.8	242	1306	0.00	2.45	0.00	0.000	1030	0.000	0.067	2359	2194	3965	3953	3977	0	0	0	0	0	0	14.20	14.06	14.23
1486	-0.63	-145.9	2359	2194	3954	3977	211.4	-12.9	279	1492	0.12	0.00	0.00	0.000	2182	0.296	0.000	2382	2192	3965	3953	3977	0	0	0	0	0	0	13.91	14.23	14.16
1672	-0.67	-145.9	2382	2193	3954	3978	231.8	-11.0	316	1679	0.00	2.55	0.00	0.000	388	0.000	0.101	2372	3613	3965	3953	3977	0	0	0	0	0	0	14.45	14.07	14.46
1694	-0.71	-145.9	2372	3615	3954	3978	234.2	-10.7	320	1702	0.00	2.47	0.00	0.000	1158	0.000	0.067	2373	2193	3965	3953	3977	0	0	0	0	0	0	14.11	13.99	14.14
1882	-0.75	-145.9	2374	2192	3954	3983	254.9	-10.6	357	1888	0.00	0.00	0.00	0.000	134	0.000	0.000	2373	2192	3964	3953	3976	0	0	0	0	0	0	14.45	14.47	14.46
2068	-0.80	-145.9	2373	2198	3954	3975	273.7	-10.0	394	2074	0.12	2.55	0.00	0.000	4516	0.149	0.099	2320	3613	3964	3953	3975	0	0	0	0	0	0	14.14	14.06	14.19
2149	-0.78	-145.9	2320	3613	3954	3975	284.5	-13.6	410	2155	0.00	2.45	0.00	0.000	1158	0.000	0.068	2319	2191	3964	3953	3975	0	0	0	0	0	0	14.24	14.12	14.28
2336	-0.71	-145.9	2319	2190	3954	3973	311.0	-14.1	447	2342	0.15	2.58	0.00	0.000	2436	0.295	0.097	2344	3621	3963	3953	3973	0	0	0	0	0	0	13.82	14.07	14.00
2402	-0.77	-145.9	2345	3622	3954	3973	318.8	-10.3	460	2409	0.00	2.47	0.00	0.000	1158	0.000	0.069	2344	2201	3961	3949	3973	0	0	0	0	0	0	14.24	14.11	14.27
2589	-0.77	-145.9	2344	2199	3954	3972	340.5	-11.7	497	2595	0.00	0.00	0.00	0.000	6	0.000	0.000	2344	2199	3963	3954	3972	0	0	0	0	0	0	14.49	14.50	14.50
2762	end dive: TARGET_DEPTH_EXCEEDED
state	2762	begin apogee
2768	-0.13	0.0	2348	2073	3954	3971	361.0	-11.6	517	3209	0.80	0.05	436.02	1.101	10246	0.252	0.233	2542	2104	3364	3387	3342	0	0	0	0	0	0	13.89	13.40	13.00
3212	end apogee: CONTROL_FINISHED_OK
state	3212	begin climb
3214	0.57	145.9	2543	2104	3383	3337	381.2	0.0	531	3459	0.75	2.70	209.38	1.200	11012	0.075	0.090	2787	3504	2748	2784	2712	0	0	0	0	0	0	13.53	13.23	12.83
3466	0.35	271.3	2788	3503	2784	2711	377.5	4.2	537	3673	0.43	2.50	197.70	1.151	13478	0.335	0.066	2716	2121	2256	2309	2204	0	0	0	0	0	0	13.30	13.47	12.84
3853	0.31	271.3	2716	2121	2286	2177	329.6	12.4	609	3859	0.00	2.65	0.00	0.000	644	0.000	0.097	2723	690	2230	2284	2176	0	0	0	0	0	0	13.94	13.67	13.97
3909	0.31	271.3	2724	690	2281	2183	322.5	12.4	617	3916	0.00	2.60	0.00	0.000	1030	0.000	0.090	2724	2103	2228	2280	2176	0	0	0	0	0	0	13.73	13.62	13.76
4096	0.26	271.3	2724	2104	2280	2174	297.8	13.3	654	4101	0.17	0.00	0.00	0.000	4230	0.239	0.000	2681	2105	2226	2279	2174	0	0	0	0	0	0	13.64	13.84	13.78
4282	0.31	294.0	2682	2106	2280	2174	279.7	8.9	691	4317	0.00	0.00	31.27	1.211	8870	0.000	0.000	2681	2105	2163	2214	2113	0	0	0	0	0	0	14.12	13.83	13.28
4498	0.38	314.4	2682	2105	2200	2096	259.5	9.1	733	4539	0.12	0.00	34.50	1.196	10918	0.143	0.000	2729	2102	2080	2127	2034	0	0	0	0	0	0	13.88	13.69	13.26
4719	0.35	314.4	2730	2105	2113	2018	231.5	12.6	776	4726	0.00	2.58	0.00	0.000	644	0.000	0.096	2732	692	2065	2111	2019	0	0	0	0	0	0	14.11	13.83	14.12
4766	0.38	314.4	2732	693	2109	2018	225.7	12.4	785	4772	0.00	2.55	0.00	0.000	1158	0.000	0.090	2732	2101	2063	2108	2018	0	0	0	0	0	0	13.97	13.88	14.02
4952	0.36	314.4	2732	2101	2108	2020	202.2	12.2	822	4958	0.00	2.58	0.00	0.000	644	0.000	0.094	2746	687	2062	2107	2018	0	0	0	0	0	0	14.18	13.88	14.19
4993	0.36	314.4	2740	687	2107	2019	197.2	12.0	830	5000	0.00	2.58	0.00	0.000	1030	0.000	0.090	2740	2110	2062	2106	2019	0	0	0	0	0	0	14.02	13.90	14.05
5180	0.33	314.4	2740	2109	2107	2017	175.5	10.7	867	5186	0.15	0.00	0.00	0.000	4230	0.248	0.000	2704	2109	2061	2105	2017	0	0	0	0	0	0	13.78	13.98	13.92
5366	0.43	367.8	2705	2110	2106	2017	160.5	7.5	904	5495	0.00	2.70	120.00	1.111	8868	0.000	0.096	2704	686	1859	1887	1832	0	0	0	0	0	0	14.21	13.61	13.18
5566	0.65	423.9	2704	690	1872	1825	145.1	7.4	940	5673	0.32	2.58	98.40	1.087	11430	0.090	0.090	2812	2099	1632	1657	1607	0	0	0	0	0	0	13.80	13.76	13.09
5853	0.58	423.9	2813	2100	1644	1576	102.4	14.8	994	5859	0.12	2.58	0.00	0.000	4740	0.250	0.093	2795	692	1608	1642	1574	0	0	0	0	0	0	13.62	13.72	13.77
5919	0.63	423.9	2796	692	1641	1575	94.0	11.6	1007	5925	0.00	2.58	0.00	0.000	1158	0.000	0.089	2797	2098	1607	1640	1574	0	0	0	0	0	0	13.82	13.71	13.84
6105	0.63	423.9	2796	2098	1640	1572	72.1	11.5	1044	6112	0.00	0.00	0.00	0.000	6	0.000	0.000	2795	2098	1605	1639	1571	0	0	0	0	0	0	14.08	14.10	14.10
6294	0.65	423.9	2795	2097	1640	1570	51.0	10.4	1081	6300	0.00	0.00	0.00	0.000	134	0.000	0.000	2795	2098	1604	1639	1569	0	0	0	0	0	0	14.12	14.13	14.13
6482	0.74	468.9	2795	2098	1640	1568	34.4	7.9	1118	6513	0.12	2.62	22.58	0.291	10660	0.142	0.097	2849	3509	1454	1490	1419	0	0	0	0	0	0	13.88	13.78	13.72
6614	0.70	468.9	2850	3511	1493	1438	19.7	11.0	1143	6621	0.17	2.50	2.42	0.235	13446	0.259	0.073	2822	2095	1451	1485	1418	0	0	0	0	0	0	13.78	13.93	13.80
6801	0.99	716.2	2823	2094	1501	1426	13.7	-1.4	1180	6959	0.28	2.60	147.38	0.236	10660	0.096	0.095	2920	3513	497	547	448	0	0	0	0	0	0	13.99	13.88	13.78
7017	end climb: SURFACE_DEPTH_REACHED
state	7017	begin surface coast
7037	end surface coast: CONTROL_FINISHED_OK
state	7037	begin surface