Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 130 * 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 130 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 368.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 36 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 368.0 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 24 VBD_MIN 500

DIVE 130 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 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 210817,202720,7311.1880,-14954.9062,36,0.8,36,20.8,0.0,0.0,10,9.0 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 1.23 MHEAD_RNG_PITCHd_Wd 298.1,173494,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 210817,205002,7311.0527,-14955.1953,8,0.7,10,20.8,0.0,44.1,10,9.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170821202029.826492,3,127,21,0147,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03 PM_FREEKB_00 54147584

FINISH 0.2,1.010053 _24V_AH 12.43,104.868

SM_CCo 8831,28.30,0.214,0,0,499,703.28 _10V_AH 12.29,0.000

SM_GC 1.17,8.23,0.17,28.30,0.077,0.112,0.214,201,2225,499,-7.38,-0.68,703.28,0,0,0,0,0,0,14.28,14.28,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 381 FG_AHR_10Vo 0.000

MODEM 0,1503345850,75.36600,-145.04601,196.823,285256.7 MEM 323456

RAFOS_FIX 7311.126953,-14954.778320,210817,202022,3,255,0.00 DATA_FILE_SIZE 26713,777

IRIDIUM_FIX 7310.42,-15003.33,210817,204423 CAP_FILE_SIZE 109186,0

TT8_MAMPS 0.038948,0.919772 CFSIZE 2097872896,2048163840

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

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.3

TCM_TEMP 13.10 CURRENT 0.030,305.67,1

XPDR_PINGS 16 GPS 210817,231925,7312.079,-14957.038,14,0.7,23,20.8,0.0,316.4,12,9.6

CP_FREE 15997337600.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 139.04 nil 0 0 0.00

Roll_motor 83 2148 2233.55 nil 0 0 0.00

VBD_pump_during_apogee 999 1395 17339.99 nil 0 0 0.00

VBD_pump_during_surface 28 214 75.35 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 8838 14 1608.96

Iridium_during_xfer 826 165 1697.94 NCP 8820 20 2192.65

Transponder_ping 4 420 20.88 PMAR 8786 10 1099.09

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.20

TT8 0 0 0.00

LPSleep 6139 2 174.29

TT8_Active 878 13 150.91

TT8_Sampling 2868 33 1178.75

TT8_CF8 349 38 166.10

TT8_Kalman 0 0 0.00

Analog_circuits 2883 10 354.34

GPS_charging 0 0 0.00

Compass 1113 7 95.81

RAFOS 0 0 0.00

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 -145.9 198 2227 498 472 0.0 0.0 0 142 0.00 0.00 -91.10 0.000 16386 0.000 0.000 195 2226 2229 2153 2306 0 0 0 0 0 0 14.35 28.83 14.38

145 -0.57 -145.9 199 2228 2158 2306 4.8 -7.3 9 193 12.50 2.67 -30.02 0.000 19236 0.453 2.148 2377 3594 3962 3944 3980 0 0 0 0 0 0 13.62 12.91 14.05

418 -0.57 -145.9 2378 3594 3953 3980 69.2 -20.8 63 423 0.00 2.40 0.00 0.000 1030 0.000 0.067 2377 2203 3965 3951 3980 0 0 0 0 0 0 14.26 14.12 14.30

750 -0.62 -145.9 2377 2203 3954 3981 115.6 -12.7 89 755 0.00 2.45 0.00 0.000 388 0.000 0.089 2371 3596 3966 3953 3980 0 0 0 0 0 0 14.53 14.14 14.54

910 -0.79 -145.9 2371 3595 3954 3980 131.9 -9.3 121 915 0.15 2.38 0.00 0.000 5286 0.118 0.055 2311 2180 3966 3952 3980 0 0 0 0 0 0 14.20 14.26 14.28

1230 -0.79 -145.9 2311 2180 3954 3980 181.4 -15.1 135 1235 0.00 2.50 0.00 0.000 260 0.000 0.089 2305 3601 3965 3951 3980 0 0 0 0 0 0 14.60 14.21 14.60

1320 -0.87 -145.9 2306 3601 3954 3980 193.6 -12.6 153 1325 0.00 2.38 0.00 0.000 1158 0.000 0.057 2305 2194 3966 3953 3980 0 0 0 0 0 0 14.35 14.23 14.38

1651 -0.87 -145.9 2306 2193 3953 3981 239.4 -13.4 169 1656 0.00 2.47 0.00 0.000 260 0.000 0.089 2300 3595 3966 3953 3980 0 0 0 0 0 0 14.60 14.19 14.62

1767 -0.95 -145.9 2299 3596 3953 3981 253.1 -11.3 192 1775 0.00 2.35 0.00 0.000 1158 0.000 0.055 2300 2195 3966 3953 3980 0 0 0 0 0 0 14.36 14.26 14.38

2071 -0.99 -145.9 2300 2196 3953 3981 288.5 -11.4 203 2076 0.12 2.47 0.00 0.000 4484 0.140 0.087 2239 3604 3966 3952 3980 0 0 0 0 0 0 14.31 14.21 14.35

2196 -0.99 -145.9 2243 3604 3953 3980 306.2 -14.2 228 2202 0.00 2.38 0.00 0.000 1030 0.000 0.057 2242 2199 3966 3953 3980 0 0 0 0 0 0 14.37 14.25 14.41

2522 -0.93 -145.9 2243 2198 3953 3980 356.0 -14.9 243 2527 0.12 2.45 0.00 0.000 2436 0.301 0.085 2261 3601 3966 3952 3980 0 0 0 0 0 0 14.00 14.23 14.19

2644 -0.99 -145.9 2261 3602 3952 3981 370.8 -11.2 267 2649 0.00 2.35 0.00 0.000 1158 0.000 0.057 2261 2202 3965 3951 3980 0 0 0 0 0 0 14.35 14.24 14.39

2974 -0.99 -145.9 2261 2202 3952 3981 412.3 -12.4 283 2979 0.00 2.45 0.00 0.000 260 0.000 0.087 2252 3600 3965 3951 3980 0 0 0 0 0 0 14.64 14.16 14.66

3086 -1.03 -145.9 2253 3601 3952 3980 425.9 -12.1 305 3091 0.00 2.38 0.00 0.000 1158 0.000 0.056 2251 2190 3965 3950 3980 0 0 0 0 0 0 14.37 14.26 14.40

3396 -1.03 -145.9 2252 2190 3951 3981 467.2 -13.2 317 3401 0.00 2.45 0.00 0.000 260 0.000 0.086 2242 3595 3965 3951 3980 0 0 0 0 0 0 14.62 14.23 14.66

3493 end dive: TARGET_DEPTH_EXCEEDED

state 3494 begin apogee

3501 -0.13 0.0 2243 2100 3951 3981 480.3 -12.7 337 3740 1.12 0.00 235.48 1.395 10246 0.249 0.000 2526 2098 3365 3384 3347 0 0 0 0 0 0 13.98 13.44 12.69

3744 end apogee: CONTROL_FINISHED_OK

state 3744 begin climb

3746 0.57 145.9 2527 2099 3378 3339 493.2 0.0 345 4260 0.75 2.08 208.25 1.375 11012 0.067 0.084 2782 696 2755 2795 2715 0 0 0 0 0 0 13.53 13.14 12.43

4271 0.57 145.9 2782 697 2795 2716 455.5 8.0 348 4277 0.00 2.47 0.00 0.000 1030 0.000 0.076 2781 2086 2753 2795 2712 0 0 0 0 0 0 13.95 13.83 13.98

4587 0.18 145.9 2782 2087 2794 2712 405.3 15.6 361 4592 0.60 2.47 0.00 0.000 4484 0.329 0.076 2649 3511 2751 2793 2710 0 0 0 0 0 0 13.75 14.10 13.99

4722 -0.00 145.9 2649 3512 2790 2710 390.1 10.6 388 4729 0.32 2.42 0.00 0.000 5254 0.287 0.059 2584 2089 2749 2789 2710 0 0 0 0 0 0 13.90 14.20 14.19

5039 0.06 235.1 2584 2088 2790 2710 370.7 5.9 401 5192 0.00 2.58 141.62 1.308 8740 0.000 0.086 2585 704 2403 2457 2349 0 0 0 0 0 0 14.57 13.69 13.02

5223 0.25 300.1 2586 700 2450 2341 358.8 7.0 437 5333 0.22 2.53 103.80 1.273 11430 0.095 0.080 2672 2100 2141 2195 2088 0 0 0 0 0 0 13.84 13.78 12.79

5645 0.22 300.1 2673 2100 2174 2070 304.5 12.9 471 5650 0.00 2.50 0.00 0.000 644 0.000 0.087 2673 694 2121 2174 2068 0 0 0 0 0 0 14.26 13.97 14.27

5680 0.22 300.1 2673 695 2173 2069 300.0 12.6 478 5685 0.00 2.47 0.00 0.000 1030 0.000 0.079 2673 2098 2120 2172 2068 0 0 0 0 0 0 14.10 13.99 14.14

6005 0.19 300.1 2673 2100 2172 2068 260.4 11.9 493 6010 0.00 2.47 0.00 0.000 644 0.000 0.086 2672 688 2118 2170 2067 0 0 0 0 0 0 14.51 14.19 14.54

6050 0.23 300.1 2673 688 2169 2067 255.3 11.0 502 6055 0.00 2.45 0.00 0.000 1158 0.000 0.080 2672 2100 2118 2169 2067 0 0 0 0 0 0 14.33 14.21 14.37

6365 0.23 302.3 2673 2101 2169 2067 222.8 9.9 515 6366 0.00 0.00 0.00 0.000 38 0.000 0.000 2672 2101 2116 2167 2066 0 0 0 0 0 0 14.58 14.60 14.60

6665 0.24 318.2 2673 2101 2169 2066 194.5 9.3 525 6690 0.00 0.00 23.67 1.394 8230 0.000 0.000 2672 2100 2071 2116 2027 0 0 0 0 0 0 14.59 14.18 13.38

6965 0.30 351.7 2673 2101 2102 2006 168.2 8.5 535 7031 0.00 2.53 59.20 1.294 8868 0.000 0.086 2673 694 1924 1964 1885 0 0 0 0 0 0 14.55 14.00 13.26

7142 0.45 398.5 2673 694 1950 1883 154.0 7.8 570 7232 0.17 2.50 83.35 1.222 11430 0.116 0.080 2743 2107 1738 1765 1712 0 0 0 0 0 0 14.02 13.96 13.10

7537 0.45 398.5 2745 2107 1756 1688 105.8 11.6 599 7542 0.00 2.50 0.00 0.000 516 0.000 0.086 2753 694 1722 1755 1690 0 0 0 0 0 0 14.42 14.02 14.43

7627 0.45 398.5 2753 695 1752 1691 96.0 10.7 617 7632 0.00 2.47 0.00 0.000 1030 0.000 0.078 2753 2101 1720 1751 1690 0 0 0 0 0 0 14.16 14.06 14.21

7937 0.46 449.7 2753 2102 1752 1689 67.5 7.6 649 7969 0.00 2.47 26.85 0.402 9124 0.000 0.083 2754 687 1529 1562 1497 0 0 0 0 0 0 14.52 13.95 13.69

8195 0.65 560.3 2755 688 1568 1497 51.2 4.9 700 8265 0.12 2.47 62.08 0.352 11430 0.135 0.080 2804 2107 1079 1147 1012 0 0 0 0 0 0 14.21 14.18 13.78

8560 0.75 598.9 2804 2108 1147 1017 20.6 8.2 743 8587 0.00 2.50 22.30 0.269 8868 0.000 0.085 2804 691 919 988 851 0 0 0 0 0 0 14.48 14.07 13.88

8617 0.95 655.4 2805 690 989 857 16.1 7.4 754 8656 0.25 2.47 33.15 0.252 11430 0.104 0.077 2893 2100 691 750 632 0 0 0 0 0 0 14.15 14.02 13.79

8791 end climb: SURFACE_DEPTH_REACHED

state 8792 begin surface coast

8810 end surface coast: CONTROL_FINISHED_OK

state 8810 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	130	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	368.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,202720,7311.1880,-14954.9062,36,0.8,36,20.8,0.0,0.0,10,9.0	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	1.23	MHEAD_RNG_PITCHd_Wd	298.1,173494,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	210817,205002,7311.0527,-14955.1953,8,0.7,10,20.8,0.0,44.1,10,9.6

MODEM_MSG	CACST,6,1,20170821202029.826492,3,127,21,0147,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03	PM_FREEKB_00	54147584
FINISH	0.2,1.010053	_24V_AH	12.43,104.868
SM_CCo	8831,28.30,0.214,0,0,499,703.28	_10V_AH	12.29,0.000
SM_GC	1.17,8.23,0.17,28.30,0.077,0.112,0.214,201,2225,499,-7.38,-0.68,703.28,0,0,0,0,0,0,14.28,14.28,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	381	FG_AHR_10Vo	0.000
MODEM	0,1503345850,75.36600,-145.04601,196.823,285256.7	MEM	323456
RAFOS_FIX	7311.126953,-14954.778320,210817,202022,3,255,0.00	DATA_FILE_SIZE	26713,777
IRIDIUM_FIX	7310.42,-15003.33,210817,204423	CAP_FILE_SIZE	109186,0
TT8_MAMPS	0.038948,0.919772	CFSIZE	2097872896,2048163840
HUMID	46.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.3
TCM_TEMP	13.10	CURRENT	0.030,305.67,1
XPDR_PINGS	16	GPS	210817,231925,7312.079,-14957.038,14,0.7,23,20.8,0.0,316.4,12,9.6
CP_FREE	15997337600.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	139.04	nil	0	0	0.00
Roll_motor	83	2148	2233.55	nil	0	0	0.00
VBD_pump_during_apogee	999	1395	17339.99	nil	0	0	0.00
VBD_pump_during_surface	28	214	75.35	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	8838	14	1608.96
Iridium_during_xfer	826	165	1697.94	NCP	8820	20	2192.65
Transponder_ping	4	420	20.88	PMAR	8786	10	1099.09
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.20
TT8	0	0	0.00
LPSleep	6139	2	174.29
TT8_Active	878	13	150.91
TT8_Sampling	2868	33	1178.75
TT8_CF8	349	38	166.10
TT8_Kalman	0	0	0.00
Analog_circuits	2883	10	354.34
GPS_charging	0	0	0.00
Compass	1113	7	95.81
RAFOS	0	0	0.00
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	198	2227	498	472	0.0	0.0	0	142	0.00	0.00	-91.10	0.000	16386	0.000	0.000	195	2226	2229	2153	2306	0	0	0	0	0	0	14.35	28.83	14.38
145	-0.57	-145.9	199	2228	2158	2306	4.8	-7.3	9	193	12.50	2.67	-30.02	0.000	19236	0.453	2.148	2377	3594	3962	3944	3980	0	0	0	0	0	0	13.62	12.91	14.05
418	-0.57	-145.9	2378	3594	3953	3980	69.2	-20.8	63	423	0.00	2.40	0.00	0.000	1030	0.000	0.067	2377	2203	3965	3951	3980	0	0	0	0	0	0	14.26	14.12	14.30
750	-0.62	-145.9	2377	2203	3954	3981	115.6	-12.7	89	755	0.00	2.45	0.00	0.000	388	0.000	0.089	2371	3596	3966	3953	3980	0	0	0	0	0	0	14.53	14.14	14.54
910	-0.79	-145.9	2371	3595	3954	3980	131.9	-9.3	121	915	0.15	2.38	0.00	0.000	5286	0.118	0.055	2311	2180	3966	3952	3980	0	0	0	0	0	0	14.20	14.26	14.28
1230	-0.79	-145.9	2311	2180	3954	3980	181.4	-15.1	135	1235	0.00	2.50	0.00	0.000	260	0.000	0.089	2305	3601	3965	3951	3980	0	0	0	0	0	0	14.60	14.21	14.60
1320	-0.87	-145.9	2306	3601	3954	3980	193.6	-12.6	153	1325	0.00	2.38	0.00	0.000	1158	0.000	0.057	2305	2194	3966	3953	3980	0	0	0	0	0	0	14.35	14.23	14.38
1651	-0.87	-145.9	2306	2193	3953	3981	239.4	-13.4	169	1656	0.00	2.47	0.00	0.000	260	0.000	0.089	2300	3595	3966	3953	3980	0	0	0	0	0	0	14.60	14.19	14.62
1767	-0.95	-145.9	2299	3596	3953	3981	253.1	-11.3	192	1775	0.00	2.35	0.00	0.000	1158	0.000	0.055	2300	2195	3966	3953	3980	0	0	0	0	0	0	14.36	14.26	14.38
2071	-0.99	-145.9	2300	2196	3953	3981	288.5	-11.4	203	2076	0.12	2.47	0.00	0.000	4484	0.140	0.087	2239	3604	3966	3952	3980	0	0	0	0	0	0	14.31	14.21	14.35
2196	-0.99	-145.9	2243	3604	3953	3980	306.2	-14.2	228	2202	0.00	2.38	0.00	0.000	1030	0.000	0.057	2242	2199	3966	3953	3980	0	0	0	0	0	0	14.37	14.25	14.41
2522	-0.93	-145.9	2243	2198	3953	3980	356.0	-14.9	243	2527	0.12	2.45	0.00	0.000	2436	0.301	0.085	2261	3601	3966	3952	3980	0	0	0	0	0	0	14.00	14.23	14.19
2644	-0.99	-145.9	2261	3602	3952	3981	370.8	-11.2	267	2649	0.00	2.35	0.00	0.000	1158	0.000	0.057	2261	2202	3965	3951	3980	0	0	0	0	0	0	14.35	14.24	14.39
2974	-0.99	-145.9	2261	2202	3952	3981	412.3	-12.4	283	2979	0.00	2.45	0.00	0.000	260	0.000	0.087	2252	3600	3965	3951	3980	0	0	0	0	0	0	14.64	14.16	14.66
3086	-1.03	-145.9	2253	3601	3952	3980	425.9	-12.1	305	3091	0.00	2.38	0.00	0.000	1158	0.000	0.056	2251	2190	3965	3950	3980	0	0	0	0	0	0	14.37	14.26	14.40
3396	-1.03	-145.9	2252	2190	3951	3981	467.2	-13.2	317	3401	0.00	2.45	0.00	0.000	260	0.000	0.086	2242	3595	3965	3951	3980	0	0	0	0	0	0	14.62	14.23	14.66
3493	end dive: TARGET_DEPTH_EXCEEDED
state	3494	begin apogee
3501	-0.13	0.0	2243	2100	3951	3981	480.3	-12.7	337	3740	1.12	0.00	235.48	1.395	10246	0.249	0.000	2526	2098	3365	3384	3347	0	0	0	0	0	0	13.98	13.44	12.69
3744	end apogee: CONTROL_FINISHED_OK
state	3744	begin climb
3746	0.57	145.9	2527	2099	3378	3339	493.2	0.0	345	4260	0.75	2.08	208.25	1.375	11012	0.067	0.084	2782	696	2755	2795	2715	0	0	0	0	0	0	13.53	13.14	12.43
4271	0.57	145.9	2782	697	2795	2716	455.5	8.0	348	4277	0.00	2.47	0.00	0.000	1030	0.000	0.076	2781	2086	2753	2795	2712	0	0	0	0	0	0	13.95	13.83	13.98
4587	0.18	145.9	2782	2087	2794	2712	405.3	15.6	361	4592	0.60	2.47	0.00	0.000	4484	0.329	0.076	2649	3511	2751	2793	2710	0	0	0	0	0	0	13.75	14.10	13.99
4722	-0.00	145.9	2649	3512	2790	2710	390.1	10.6	388	4729	0.32	2.42	0.00	0.000	5254	0.287	0.059	2584	2089	2749	2789	2710	0	0	0	0	0	0	13.90	14.20	14.19
5039	0.06	235.1	2584	2088	2790	2710	370.7	5.9	401	5192	0.00	2.58	141.62	1.308	8740	0.000	0.086	2585	704	2403	2457	2349	0	0	0	0	0	0	14.57	13.69	13.02
5223	0.25	300.1	2586	700	2450	2341	358.8	7.0	437	5333	0.22	2.53	103.80	1.273	11430	0.095	0.080	2672	2100	2141	2195	2088	0	0	0	0	0	0	13.84	13.78	12.79
5645	0.22	300.1	2673	2100	2174	2070	304.5	12.9	471	5650	0.00	2.50	0.00	0.000	644	0.000	0.087	2673	694	2121	2174	2068	0	0	0	0	0	0	14.26	13.97	14.27
5680	0.22	300.1	2673	695	2173	2069	300.0	12.6	478	5685	0.00	2.47	0.00	0.000	1030	0.000	0.079	2673	2098	2120	2172	2068	0	0	0	0	0	0	14.10	13.99	14.14
6005	0.19	300.1	2673	2100	2172	2068	260.4	11.9	493	6010	0.00	2.47	0.00	0.000	644	0.000	0.086	2672	688	2118	2170	2067	0	0	0	0	0	0	14.51	14.19	14.54
6050	0.23	300.1	2673	688	2169	2067	255.3	11.0	502	6055	0.00	2.45	0.00	0.000	1158	0.000	0.080	2672	2100	2118	2169	2067	0	0	0	0	0	0	14.33	14.21	14.37
6365	0.23	302.3	2673	2101	2169	2067	222.8	9.9	515	6366	0.00	0.00	0.00	0.000	38	0.000	0.000	2672	2101	2116	2167	2066	0	0	0	0	0	0	14.58	14.60	14.60
6665	0.24	318.2	2673	2101	2169	2066	194.5	9.3	525	6690	0.00	0.00	23.67	1.394	8230	0.000	0.000	2672	2100	2071	2116	2027	0	0	0	0	0	0	14.59	14.18	13.38
6965	0.30	351.7	2673	2101	2102	2006	168.2	8.5	535	7031	0.00	2.53	59.20	1.294	8868	0.000	0.086	2673	694	1924	1964	1885	0	0	0	0	0	0	14.55	14.00	13.26
7142	0.45	398.5	2673	694	1950	1883	154.0	7.8	570	7232	0.17	2.50	83.35	1.222	11430	0.116	0.080	2743	2107	1738	1765	1712	0	0	0	0	0	0	14.02	13.96	13.10
7537	0.45	398.5	2745	2107	1756	1688	105.8	11.6	599	7542	0.00	2.50	0.00	0.000	516	0.000	0.086	2753	694	1722	1755	1690	0	0	0	0	0	0	14.42	14.02	14.43
7627	0.45	398.5	2753	695	1752	1691	96.0	10.7	617	7632	0.00	2.47	0.00	0.000	1030	0.000	0.078	2753	2101	1720	1751	1690	0	0	0	0	0	0	14.16	14.06	14.21
7937	0.46	449.7	2753	2102	1752	1689	67.5	7.6	649	7969	0.00	2.47	26.85	0.402	9124	0.000	0.083	2754	687	1529	1562	1497	0	0	0	0	0	0	14.52	13.95	13.69
8195	0.65	560.3	2755	688	1568	1497	51.2	4.9	700	8265	0.12	2.47	62.08	0.352	11430	0.135	0.080	2804	2107	1079	1147	1012	0	0	0	0	0	0	14.21	14.18	13.78
8560	0.75	598.9	2804	2108	1147	1017	20.6	8.2	743	8587	0.00	2.50	22.30	0.269	8868	0.000	0.085	2804	691	919	988	851	0	0	0	0	0	0	14.48	14.07	13.88
8617	0.95	655.4	2805	690	989	857	16.1	7.4	754	8656	0.25	2.47	33.15	0.252	11430	0.104	0.077	2893	2100	691	750	632	0	0	0	0	0	0	14.15	14.02	13.79
8791	end climb: SURFACE_DEPTH_REACHED
state	8792	begin surface coast
8810	end surface coast: CONTROL_FINISHED_OK
state	8810	begin surface