Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 131 * 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 131 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 372.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 45 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 372.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 27 VBD_MIN 500

DIVE 131 NOCOMM_ACTION 161 R_STBD_OVSHOOT 45 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 210817,231925,7312.0786,-14957.0381,14,0.7,23,20.8,0.0,316.4,12,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 295.7,171262,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.6 D_GRID 480

GPS2 210817,234255,7312.1514,-14957.4170,5,0.7,37,20.8,0.4,293.0,11,7.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822002816.319283,3,17,06,0094,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33 PM_FREEKB_00 54117184

FINISH 0.4,1.020495 _24V_AH 12.39,105.370

SM_CCo 9257,47.80,0.215,0,0,498,703.03 _10V_AH 12.30,0.000

SM_GC 1.27,8.05,0.17,47.80,0.073,0.115,0.215,200,2233,498,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.32,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 375 FG_AHR_10Vo 0.000

MODEM 0,1503360250,75.36600,-145.04601,196.270,284055.0 MEM 323332

RAFOS_FIX 7311.293457,-14956.324219,220817,000020,4,255,0.85 DATA_FILE_SIZE 26765,794

IRIDIUM_FIX 7314.61,-14955.88,210817,233256 CAP_FILE_SIZE 112837,0

TT8_MAMPS 0.040446,0.842625 CFSIZE 2097872896,2047967232

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

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.4

TCM_TEMP 13.10 CURRENT 0.021,46.50,1

XPDR_PINGS 11 GPS 220817,021955,7313.257,-14958.427,22,0.6,38,20.8,0.5,74.6,12,9.9

CP_FREE 15997108224.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 453 138.41 nil 0 0 0.00

Roll_motor 83 2155 2230.28 nil 0 0 0.00

VBD_pump_during_apogee 896 1588 17656.36 nil 0 0 0.00

VBD_pump_during_surface 47 214 127.31 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 9220 14 1655.62

Iridium_during_xfer 917 173 1973.86 NCP 9262 20 2295.12

Transponder_ping 2 420 14.31 PMAR 9213 10 1142.63

GUMSTIX_24V 0 0 0.00

GPS 38 22 10.66

TT8 0 0 0.00

LPSleep 6756 2 191.97

TT8_Active 851 13 146.25

TT8_Sampling 2768 33 1138.52

TT8_CF8 352 38 167.94

TT8_Kalman 0 0 0.00

Analog_circuits 2632 10 323.78

GPS_charging 0 0 0.00

Compass 1137 7 97.94

RAFOS 2147 48 1267.59

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 197 2227 502 497 0.0 0.0 0 130 0.00 0.00 -80.97 0.000 16386 0.000 0.000 198 2227 1971 1887 2055 0 0 0 0 0 0 14.45 28.83 14.47

133 -0.57 -145.9 198 2227 1887 2057 3.0 -3.1 8 197 12.52 2.67 -42.20 0.000 18724 0.454 2.156 2375 3581 3962 3949 3976 0 0 0 0 0 0 13.69 12.59 14.13

422 -0.57 -145.9 2376 3585 3955 3979 67.1 -22.8 65 428 0.00 2.42 0.00 0.000 1030 0.000 0.079 2376 2210 3966 3954 3979 0 0 0 0 0 0 14.23 14.09 14.27

739 -0.61 -145.9 2375 2208 3956 3980 112.1 -13.0 91 744 0.00 2.45 0.00 0.000 388 0.000 0.088 2368 3595 3967 3955 3979 0 0 0 0 0 0 14.53 14.16 14.54

960 -0.78 -145.9 2365 3594 3957 3980 134.5 -9.4 135 966 0.12 2.38 0.00 0.000 5286 0.132 0.055 2318 2185 3967 3955 3979 0 0 0 0 0 0 14.15 14.20 14.23

1283 -0.78 -145.9 2318 2184 3956 3979 181.3 -14.3 149 1288 0.00 2.47 0.00 0.000 260 0.000 0.088 2308 3586 3965 3952 3979 0 0 0 0 0 0 14.48 14.07 14.47

1373 -0.85 -145.9 2310 3586 3956 3979 193.3 -12.3 167 1379 0.00 2.38 0.00 0.000 1158 0.000 0.057 2308 2197 3966 3954 3978 0 0 0 0 0 0 14.18 14.07 14.21

1704 -0.87 -145.9 2309 2195 3955 3979 237.9 -13.0 183 1710 0.00 2.47 0.00 0.000 388 0.000 0.088 2306 3592 3967 3955 3979 0 0 0 0 0 0 14.44 14.09 14.46

1817 -0.98 -145.9 2306 3593 3956 3979 250.2 -10.6 205 1822 0.15 2.38 0.00 0.000 5254 0.117 0.056 2250 2202 3967 3955 3979 0 0 0 0 0 0 14.15 14.11 14.26

2127 -0.92 -145.9 2251 2199 3956 3978 298.3 -15.1 217 2132 0.12 2.45 0.00 0.000 2436 0.302 0.084 2268 3586 3966 3955 3978 0 0 0 0 0 0 13.83 14.08 14.02

2298 -0.97 -145.9 2266 3589 3955 3979 319.2 -11.7 251 2304 0.00 2.38 0.00 0.000 1158 0.000 0.057 2268 2197 3966 3954 3978 0 0 0 0 0 0 14.21 14.11 14.27

2609 -0.97 -145.9 2267 2197 3951 3978 358.2 -12.5 263 2614 0.00 2.45 0.00 0.000 260 0.000 0.089 2260 3586 3969 3961 3977 0 0 0 0 0 0 14.43 14.08 14.47

2714 -1.02 -145.9 2260 3587 3955 3977 370.9 -11.5 284 2719 0.00 2.35 0.00 0.000 1158 0.000 0.055 2260 2199 3965 3954 3977 0 0 0 0 0 0 14.19 14.08 14.21

3029 -1.02 -145.9 2260 2199 3956 3977 410.3 -12.5 297 3034 0.00 2.47 0.00 0.000 260 0.000 0.087 2246 3594 3965 3954 3976 0 0 0 0 0 0 14.45 14.02 14.47

3141 -1.06 -145.9 2249 3592 3953 3977 424.1 -12.1 319 3147 0.00 2.38 0.00 0.000 1158 0.000 0.056 2249 2201 3965 3954 3976 0 0 0 0 0 0 14.19 14.09 14.22

3452 -1.04 -145.9 2250 2199 3955 3977 465.7 -13.3 331 3458 0.00 2.42 0.00 0.000 388 0.000 0.087 2242 3588 3965 3954 3976 0 0 0 0 0 0 14.45 14.02 14.45

3558 -1.04 -145.9 2241 3587 3954 3976 479.7 -12.9 352 3563 0.00 2.38 0.00 0.000 1030 0.000 0.056 2242 2194 3964 3953 3976 0 0 0 0 0 0 14.21 14.10 14.23

3565 end dive: TARGET_DEPTH_EXCEEDED

state 3565 begin apogee

3571 -0.13 0.0 2243 2070 3955 3975 480.9 -13.2 354 3801 1.17 0.00 226.38 1.421 10246 0.259 0.000 2530 2068 3362 3386 3339 0 0 0 0 0 0 13.75 13.38 12.62

3850 end apogee: CONTROL_FINISHED_OK

state 3850 begin climb

3853 0.57 145.9 2531 2069 3377 3328 492.2 0.0 361 4070 0.73 2.60 204.93 1.405 11012 0.066 0.082 2778 720 2763 2806 2720 0 0 0 0 0 0 13.59 13.13 12.39

4080 0.18 145.9 2779 721 2802 2717 500.0 11.1 369 4085 0.65 2.55 0.00 0.000 5254 0.324 0.075 2649 2082 2757 2801 2714 0 0 0 0 0 0 13.03 13.24 13.33

4401 0.05 160.4 2650 2082 2800 2706 469.5 9.3 383 4418 0.20 0.00 15.40 1.589 12454 0.272 0.000 2605 2082 2713 2760 2667 0 0 0 0 0 0 13.59 13.82 12.95

4701 0.05 210.0 2606 2084 2754 2657 446.2 7.7 393 4781 0.00 2.47 73.65 1.439 8868 0.000 0.085 2605 714 2505 2565 2445 0 0 0 0 0 0 14.42 13.79 13.02

4836 0.15 253.1 2606 714 2562 2443 435.4 8.0 420 4906 0.00 2.47 63.33 1.414 9382 0.000 0.079 2606 2103 2331 2390 2273 0 0 0 0 0 0 14.00 13.89 12.88

5213 0.22 278.9 2606 2103 2381 2260 402.4 8.8 445 5253 0.12 0.00 38.10 1.450 10918 0.130 0.000 2668 2102 2226 2282 2171 0 0 0 0 0 0 14.12 13.89 13.09

5543 0.17 278.9 2671 2103 2271 2158 358.2 13.6 461 5548 0.12 2.45 0.00 0.000 4740 0.273 0.083 2647 705 2214 2270 2158 0 0 0 0 0 0 13.99 14.14 14.12

5628 0.22 278.9 2648 706 2268 2159 348.2 10.7 478 5635 0.00 2.45 0.00 0.000 1158 0.000 0.078 2648 2099 2212 2267 2158 0 0 0 0 0 0 14.18 14.05 14.21

5933 0.22 278.9 2648 2101 2267 2157 314.3 11.0 489 5934 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2100 2211 2267 2156 0 0 0 0 0 0 14.58 14.59 14.59

6233 0.22 278.9 2648 2101 2267 2156 282.0 10.6 499 6239 0.00 2.40 0.00 0.000 516 0.000 0.084 2655 713 2211 2267 2155 0 0 0 0 0 0 14.62 14.26 14.64

6284 0.26 278.9 2656 711 2267 2155 276.8 10.7 509 6289 0.00 2.38 0.00 0.000 1158 0.000 0.077 2655 2100 2210 2267 2154 0 0 0 0 0 0 14.42 14.29 14.45

6594 0.27 284.4 2655 2101 2265 2156 245.3 9.7 521 6595 0.00 0.00 0.00 0.000 38 0.000 0.000 2655 2101 2210 2266 2155 0 0 0 0 0 0 14.64 14.64 14.65

6894 0.29 318.0 2656 2101 2268 2155 218.8 8.4 531 6961 0.00 2.45 61.12 1.343 8740 0.000 0.083 2660 713 2065 2115 2016 0 0 0 0 0 0 14.64 13.87 13.31

7013 0.42 362.9 2659 713 2107 2017 208.9 7.9 554 7092 0.17 2.45 74.03 1.283 11430 0.112 0.079 2726 2106 1886 1922 1850 0 0 0 0 0 0 14.09 14.00 13.09

7408 0.38 362.9 2727 2106 1906 1835 160.7 12.0 583 7413 0.00 2.45 0.00 0.000 644 0.000 0.085 2729 713 1870 1905 1836 0 0 0 0 0 0 14.44 14.07 14.46

7438 0.38 362.9 2730 713 1904 1836 157.1 11.8 589 7443 0.00 2.42 0.00 0.000 1030 0.000 0.077 2729 2102 1869 1903 1836 0 0 0 0 0 0 14.23 14.10 14.27

7769 0.35 362.9 2730 2099 1903 1833 119.7 11.2 605 7774 0.12 2.42 0.00 0.000 4740 0.247 0.083 2699 708 1867 1901 1833 0 0 0 0 0 0 14.09 14.23 14.21

7794 0.41 379.5 2699 708 1901 1833 117.3 9.2 610 7819 0.00 2.42 18.67 1.375 9382 0.000 0.078 2699 2099 1814 1844 1785 0 0 0 0 0 0 14.33 14.20 13.35

8119 0.51 435.7 2703 2099 1838 1777 91.4 7.4 634 8153 0.12 2.50 28.70 0.485 10916 0.135 0.085 2766 710 1589 1617 1561 0 0 0 0 0 0 14.27 14.07 13.69

8278 0.52 446.2 2769 705 1615 1558 74.9 9.5 665 8289 0.00 2.45 5.88 0.418 9254 0.000 0.079 2768 2101 1546 1577 1515 0 0 0 0 0 0 14.17 14.07 13.73

8594 0.58 537.2 2768 2102 1577 1512 49.6 5.8 698 8649 0.00 2.45 47.33 0.353 8740 0.000 0.083 2768 708 1171 1233 1109 0 0 0 0 0 0 14.54 14.00 13.77

8874 0.80 613.6 2769 707 1234 1101 31.3 6.5 753 8922 0.22 2.45 39.38 0.296 11430 0.102 0.079 2858 2104 860 929 791 0 0 0 0 0 0 14.23 14.16 13.83

9217 end climb: SURFACE_DEPTH_REACHED

state 9217 begin surface coast

9237 end surface coast: CONTROL_FINISHED_OK

state 9237 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	131	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	372.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	45	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,231925,7312.0786,-14957.0381,14,0.7,23,20.8,0.0,316.4,12,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	295.7,171262,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	210817,234255,7312.1514,-14957.4170,5,0.7,37,20.8,0.4,293.0,11,7.5

MODEM_MSG	CACST,6,1,20170822002816.319283,3,17,06,0094,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33	PM_FREEKB_00	54117184
FINISH	0.4,1.020495	_24V_AH	12.39,105.370
SM_CCo	9257,47.80,0.215,0,0,498,703.03	_10V_AH	12.30,0.000
SM_GC	1.27,8.05,0.17,47.80,0.073,0.115,0.215,200,2233,498,-7.38,-0.54,703.03,0,0,0,0,0,0,14.31,14.32,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	375	FG_AHR_10Vo	0.000
MODEM	0,1503360250,75.36600,-145.04601,196.270,284055.0	MEM	323332
RAFOS_FIX	7311.293457,-14956.324219,220817,000020,4,255,0.85	DATA_FILE_SIZE	26765,794
IRIDIUM_FIX	7314.61,-14955.88,210817,233256	CAP_FILE_SIZE	112837,0
TT8_MAMPS	0.040446,0.842625	CFSIZE	2097872896,2047967232
HUMID	46.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.4
TCM_TEMP	13.10	CURRENT	0.021,46.50,1
XPDR_PINGS	11	GPS	220817,021955,7313.257,-14958.427,22,0.6,38,20.8,0.5,74.6,12,9.9
CP_FREE	15997108224.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	453	138.41	nil	0	0	0.00
Roll_motor	83	2155	2230.28	nil	0	0	0.00
VBD_pump_during_apogee	896	1588	17656.36	nil	0	0	0.00
VBD_pump_during_surface	47	214	127.31	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	9220	14	1655.62
Iridium_during_xfer	917	173	1973.86	NCP	9262	20	2295.12
Transponder_ping	2	420	14.31	PMAR	9213	10	1142.63
GUMSTIX_24V	0	0	0.00
GPS	38	22	10.66
TT8	0	0	0.00
LPSleep	6756	2	191.97
TT8_Active	851	13	146.25
TT8_Sampling	2768	33	1138.52
TT8_CF8	352	38	167.94
TT8_Kalman	0	0	0.00
Analog_circuits	2632	10	323.78
GPS_charging	0	0	0.00
Compass	1137	7	97.94
RAFOS	2147	48	1267.59
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	197	2227	502	497	0.0	0.0	0	130	0.00	0.00	-80.97	0.000	16386	0.000	0.000	198	2227	1971	1887	2055	0	0	0	0	0	0	14.45	28.83	14.47
133	-0.57	-145.9	198	2227	1887	2057	3.0	-3.1	8	197	12.52	2.67	-42.20	0.000	18724	0.454	2.156	2375	3581	3962	3949	3976	0	0	0	0	0	0	13.69	12.59	14.13
422	-0.57	-145.9	2376	3585	3955	3979	67.1	-22.8	65	428	0.00	2.42	0.00	0.000	1030	0.000	0.079	2376	2210	3966	3954	3979	0	0	0	0	0	0	14.23	14.09	14.27
739	-0.61	-145.9	2375	2208	3956	3980	112.1	-13.0	91	744	0.00	2.45	0.00	0.000	388	0.000	0.088	2368	3595	3967	3955	3979	0	0	0	0	0	0	14.53	14.16	14.54
960	-0.78	-145.9	2365	3594	3957	3980	134.5	-9.4	135	966	0.12	2.38	0.00	0.000	5286	0.132	0.055	2318	2185	3967	3955	3979	0	0	0	0	0	0	14.15	14.20	14.23
1283	-0.78	-145.9	2318	2184	3956	3979	181.3	-14.3	149	1288	0.00	2.47	0.00	0.000	260	0.000	0.088	2308	3586	3965	3952	3979	0	0	0	0	0	0	14.48	14.07	14.47
1373	-0.85	-145.9	2310	3586	3956	3979	193.3	-12.3	167	1379	0.00	2.38	0.00	0.000	1158	0.000	0.057	2308	2197	3966	3954	3978	0	0	0	0	0	0	14.18	14.07	14.21
1704	-0.87	-145.9	2309	2195	3955	3979	237.9	-13.0	183	1710	0.00	2.47	0.00	0.000	388	0.000	0.088	2306	3592	3967	3955	3979	0	0	0	0	0	0	14.44	14.09	14.46
1817	-0.98	-145.9	2306	3593	3956	3979	250.2	-10.6	205	1822	0.15	2.38	0.00	0.000	5254	0.117	0.056	2250	2202	3967	3955	3979	0	0	0	0	0	0	14.15	14.11	14.26
2127	-0.92	-145.9	2251	2199	3956	3978	298.3	-15.1	217	2132	0.12	2.45	0.00	0.000	2436	0.302	0.084	2268	3586	3966	3955	3978	0	0	0	0	0	0	13.83	14.08	14.02
2298	-0.97	-145.9	2266	3589	3955	3979	319.2	-11.7	251	2304	0.00	2.38	0.00	0.000	1158	0.000	0.057	2268	2197	3966	3954	3978	0	0	0	0	0	0	14.21	14.11	14.27
2609	-0.97	-145.9	2267	2197	3951	3978	358.2	-12.5	263	2614	0.00	2.45	0.00	0.000	260	0.000	0.089	2260	3586	3969	3961	3977	0	0	0	0	0	0	14.43	14.08	14.47
2714	-1.02	-145.9	2260	3587	3955	3977	370.9	-11.5	284	2719	0.00	2.35	0.00	0.000	1158	0.000	0.055	2260	2199	3965	3954	3977	0	0	0	0	0	0	14.19	14.08	14.21
3029	-1.02	-145.9	2260	2199	3956	3977	410.3	-12.5	297	3034	0.00	2.47	0.00	0.000	260	0.000	0.087	2246	3594	3965	3954	3976	0	0	0	0	0	0	14.45	14.02	14.47
3141	-1.06	-145.9	2249	3592	3953	3977	424.1	-12.1	319	3147	0.00	2.38	0.00	0.000	1158	0.000	0.056	2249	2201	3965	3954	3976	0	0	0	0	0	0	14.19	14.09	14.22
3452	-1.04	-145.9	2250	2199	3955	3977	465.7	-13.3	331	3458	0.00	2.42	0.00	0.000	388	0.000	0.087	2242	3588	3965	3954	3976	0	0	0	0	0	0	14.45	14.02	14.45
3558	-1.04	-145.9	2241	3587	3954	3976	479.7	-12.9	352	3563	0.00	2.38	0.00	0.000	1030	0.000	0.056	2242	2194	3964	3953	3976	0	0	0	0	0	0	14.21	14.10	14.23
3565	end dive: TARGET_DEPTH_EXCEEDED
state	3565	begin apogee
3571	-0.13	0.0	2243	2070	3955	3975	480.9	-13.2	354	3801	1.17	0.00	226.38	1.421	10246	0.259	0.000	2530	2068	3362	3386	3339	0	0	0	0	0	0	13.75	13.38	12.62
3850	end apogee: CONTROL_FINISHED_OK
state	3850	begin climb
3853	0.57	145.9	2531	2069	3377	3328	492.2	0.0	361	4070	0.73	2.60	204.93	1.405	11012	0.066	0.082	2778	720	2763	2806	2720	0	0	0	0	0	0	13.59	13.13	12.39
4080	0.18	145.9	2779	721	2802	2717	500.0	11.1	369	4085	0.65	2.55	0.00	0.000	5254	0.324	0.075	2649	2082	2757	2801	2714	0	0	0	0	0	0	13.03	13.24	13.33
4401	0.05	160.4	2650	2082	2800	2706	469.5	9.3	383	4418	0.20	0.00	15.40	1.589	12454	0.272	0.000	2605	2082	2713	2760	2667	0	0	0	0	0	0	13.59	13.82	12.95
4701	0.05	210.0	2606	2084	2754	2657	446.2	7.7	393	4781	0.00	2.47	73.65	1.439	8868	0.000	0.085	2605	714	2505	2565	2445	0	0	0	0	0	0	14.42	13.79	13.02
4836	0.15	253.1	2606	714	2562	2443	435.4	8.0	420	4906	0.00	2.47	63.33	1.414	9382	0.000	0.079	2606	2103	2331	2390	2273	0	0	0	0	0	0	14.00	13.89	12.88
5213	0.22	278.9	2606	2103	2381	2260	402.4	8.8	445	5253	0.12	0.00	38.10	1.450	10918	0.130	0.000	2668	2102	2226	2282	2171	0	0	0	0	0	0	14.12	13.89	13.09
5543	0.17	278.9	2671	2103	2271	2158	358.2	13.6	461	5548	0.12	2.45	0.00	0.000	4740	0.273	0.083	2647	705	2214	2270	2158	0	0	0	0	0	0	13.99	14.14	14.12
5628	0.22	278.9	2648	706	2268	2159	348.2	10.7	478	5635	0.00	2.45	0.00	0.000	1158	0.000	0.078	2648	2099	2212	2267	2158	0	0	0	0	0	0	14.18	14.05	14.21
5933	0.22	278.9	2648	2101	2267	2157	314.3	11.0	489	5934	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2100	2211	2267	2156	0	0	0	0	0	0	14.58	14.59	14.59
6233	0.22	278.9	2648	2101	2267	2156	282.0	10.6	499	6239	0.00	2.40	0.00	0.000	516	0.000	0.084	2655	713	2211	2267	2155	0	0	0	0	0	0	14.62	14.26	14.64
6284	0.26	278.9	2656	711	2267	2155	276.8	10.7	509	6289	0.00	2.38	0.00	0.000	1158	0.000	0.077	2655	2100	2210	2267	2154	0	0	0	0	0	0	14.42	14.29	14.45
6594	0.27	284.4	2655	2101	2265	2156	245.3	9.7	521	6595	0.00	0.00	0.00	0.000	38	0.000	0.000	2655	2101	2210	2266	2155	0	0	0	0	0	0	14.64	14.64	14.65
6894	0.29	318.0	2656	2101	2268	2155	218.8	8.4	531	6961	0.00	2.45	61.12	1.343	8740	0.000	0.083	2660	713	2065	2115	2016	0	0	0	0	0	0	14.64	13.87	13.31
7013	0.42	362.9	2659	713	2107	2017	208.9	7.9	554	7092	0.17	2.45	74.03	1.283	11430	0.112	0.079	2726	2106	1886	1922	1850	0	0	0	0	0	0	14.09	14.00	13.09
7408	0.38	362.9	2727	2106	1906	1835	160.7	12.0	583	7413	0.00	2.45	0.00	0.000	644	0.000	0.085	2729	713	1870	1905	1836	0	0	0	0	0	0	14.44	14.07	14.46
7438	0.38	362.9	2730	713	1904	1836	157.1	11.8	589	7443	0.00	2.42	0.00	0.000	1030	0.000	0.077	2729	2102	1869	1903	1836	0	0	0	0	0	0	14.23	14.10	14.27
7769	0.35	362.9	2730	2099	1903	1833	119.7	11.2	605	7774	0.12	2.42	0.00	0.000	4740	0.247	0.083	2699	708	1867	1901	1833	0	0	0	0	0	0	14.09	14.23	14.21
7794	0.41	379.5	2699	708	1901	1833	117.3	9.2	610	7819	0.00	2.42	18.67	1.375	9382	0.000	0.078	2699	2099	1814	1844	1785	0	0	0	0	0	0	14.33	14.20	13.35
8119	0.51	435.7	2703	2099	1838	1777	91.4	7.4	634	8153	0.12	2.50	28.70	0.485	10916	0.135	0.085	2766	710	1589	1617	1561	0	0	0	0	0	0	14.27	14.07	13.69
8278	0.52	446.2	2769	705	1615	1558	74.9	9.5	665	8289	0.00	2.45	5.88	0.418	9254	0.000	0.079	2768	2101	1546	1577	1515	0	0	0	0	0	0	14.17	14.07	13.73
8594	0.58	537.2	2768	2102	1577	1512	49.6	5.8	698	8649	0.00	2.45	47.33	0.353	8740	0.000	0.083	2768	708	1171	1233	1109	0	0	0	0	0	0	14.54	14.00	13.77
8874	0.80	613.6	2769	707	1234	1101	31.3	6.5	753	8922	0.22	2.45	39.38	0.296	11430	0.102	0.079	2858	2104	860	929	791	0	0	0	0	0	0	14.23	14.16	13.83
9217	end climb: SURFACE_DEPTH_REACHED
state	9217	begin surface coast
9237	end surface coast: CONTROL_FINISHED_OK
state	9237	begin surface