Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 135 * 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 135 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 381.0

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 32 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 381.0 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 135 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 220817,104350,7316.1748,-15003.3975,39,0.8,39,20.7,0.0,0.0,10,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 295.3,163700,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 220817,105628,7316.2266,-15003.7021,8,0.7,9,20.7,0.0,282.2,12,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822122808.888738,3,15,11,0093,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B PM_FREEKB_00 53989376

FINISH 0.2,1.020509 _24V_AH 12.38,107.301

SM_CCo 9070,15.40,0.220,0,0,499,703.28 _10V_AH 12.30,0.000

SM_GC 1.74,8.18,2.62,15.40,0.085,0.074,0.220,201,2203,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.31,14.22,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 242 FG_AHR_10Vo 0.000

MODEM 0,1503403444,75.36600,-145.04601,190.365,275736.8 MEM 323380

RAFOS_FIX 7316.027344,-15002.902344,220817,121216,4,255,0.12 DATA_FILE_SIZE 30016,850

IRIDIUM_FIX 7313.85,-15006.07,220817,080854 CAP_FILE_SIZE 109967,0

TT8_MAMPS 0.038948,0.881573 CFSIZE 2097872896,2046689280

HUMID 46.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1449.1

TCM_TEMP 13.10 CURRENT 0.006,53.66,1

XPDR_PINGS 11 GPS 220817,132947,7317.334,-15005.340,17,0.7,31,20.7,0.0,29.2,11,9.9

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 139.89 nil 0 0 0.00

Roll_motor 83 2148 2219.91 nil 0 0 0.00

VBD_pump_during_apogee 939 1538 17897.61 nil 0 0 0.00

VBD_pump_during_surface 15 219 41.86 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 9033 14 1610.78

Iridium_during_xfer 474 188 1105.60 NCP 9076 20 2247.22

Transponder_ping 2 420 14.30 PMAR 9024 10 1121.86

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.95

TT8 0 0 0.00

LPSleep 6346 2 180.33

TT8_Active 846 13 145.51

TT8_Sampling 2357 33 969.78

TT8_CF8 309 38 147.35

TT8_Kalman 0 0 0.00

Analog_circuits 2208 10 271.65

GPS_charging 0 0 0.00

Compass 1216 7 104.75

RAFOS 2193 48 1294.75

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 193 2218 492 493 0.0 0.0 0 129 0.00 0.00 -81.05 0.000 16386 0.000 0.000 192 2219 1977 1910 2045 0 0 0 0 0 0 14.42 28.83 14.45

132 -0.57 -145.9 193 2219 1912 2048 3.3 -3.7 8 196 12.60 2.75 -41.03 0.000 18724 0.455 2.148 2377 3601 3962 3943 3981 0 0 0 0 0 0 13.67 12.57 14.12

421 -0.66 -145.9 2377 3596 3952 3981 63.6 -15.3 65 427 0.00 2.40 0.00 0.000 1158 0.000 0.063 2377 2205 3966 3951 3981 0 0 0 0 0 0 14.28 14.15 14.28

728 -0.70 -145.9 2377 2205 3953 3981 108.1 -12.9 92 733 0.00 2.45 0.00 0.000 388 0.000 0.087 2367 3600 3966 3951 3981 0 0 0 0 0 0 14.52 14.18 14.54

898 -0.85 -145.9 2368 3600 3953 3981 125.8 -10.2 126 903 0.20 2.38 0.00 0.000 5254 0.103 0.055 2284 2193 3965 3950 3981 0 0 0 0 0 0 14.33 14.23 14.38

1208 -0.79 -145.9 2284 2192 3952 3982 182.1 -18.0 138 1213 0.15 2.47 0.00 0.000 2436 0.275 0.086 2313 3601 3969 3951 3988 0 0 0 0 0 0 14.00 14.19 14.16

1293 -0.88 -145.9 2314 3601 3953 3981 193.8 -11.9 155 1300 0.00 2.38 0.00 0.000 1158 0.000 0.057 2313 2196 3966 3951 3981 0 0 0 0 0 0 14.34 14.22 14.38

1598 -0.91 -145.9 2314 2195 3953 3981 233.6 -12.8 166 1603 0.00 2.47 0.00 0.000 388 0.000 0.090 2308 3601 3966 3951 3981 0 0 0 0 0 0 14.62 14.20 14.63

1689 -1.01 -145.9 2304 3604 3962 3982 243.7 -10.6 184 1694 0.15 2.38 0.00 0.000 5254 0.122 0.057 2248 2192 3966 3951 3981 0 0 0 0 0 0 14.29 14.28 14.38

2019 -0.94 -145.9 2248 2192 3952 3981 296.3 -16.0 200 2024 0.12 2.47 0.00 0.000 2436 0.297 0.084 2266 3603 3967 3954 3980 0 0 0 0 0 0 13.94 13.94 13.80

2194 -1.00 -145.9 2266 3604 3952 3981 318.3 -11.4 235 2201 0.00 2.38 0.00 0.000 1158 0.000 0.057 2266 2195 3966 3952 3980 0 0 0 0 0 0 14.24 14.14 14.27

2500 -1.00 -145.9 2267 2193 3952 3979 356.0 -12.3 246 2504 0.00 2.45 0.00 0.000 260 0.000 0.087 2259 3600 3965 3951 3979 0 0 0 0 0 0 14.65 14.24 14.67

2594 -1.05 -145.9 2257 3601 3952 3980 367.6 -11.6 265 2600 0.00 2.38 0.00 0.000 1158 0.000 0.057 2257 2199 3964 3951 3978 0 0 0 0 0 0 14.42 14.30 14.45

2920 -1.05 -145.9 2257 2199 3952 3978 408.5 -12.5 280 2924 0.00 2.45 0.00 0.000 260 0.000 0.088 2248 3598 3964 3951 3977 0 0 0 0 0 0 14.66 14.20 14.67

3025 -1.09 -145.9 2249 3602 3951 3978 421.6 -12.0 301 3030 0.00 2.38 0.00 0.000 1158 0.000 0.057 2248 2192 3964 3951 3977 0 0 0 0 0 0 14.40 14.28 14.44

3340 -1.06 -145.9 2249 2191 3952 3977 463.0 -13.2 314 3345 0.00 2.45 0.00 0.000 388 0.000 0.087 2239 3601 3965 3951 3980 0 0 0 0 0 0 14.65 14.23 14.67

3460 -1.06 -145.9 2240 3602 3952 3978 478.6 -12.6 338 3465 0.00 2.35 0.00 0.000 1030 0.000 0.056 2239 2199 3963 3951 3976 0 0 0 0 0 0 14.41 14.29 14.45

3473 end dive: TARGET_DEPTH_EXCEEDED

state 3473 begin apogee

3478 -0.13 0.0 2239 2065 3952 3978 480.6 -12.8 341 3696 1.15 0.00 214.85 1.440 10246 0.256 0.000 2527 2063 3364 3389 3339 0 0 0 0 0 0 13.93 13.47 12.72

3700 end apogee: CONTROL_FINISHED_OK

state 3700 begin climb

3702 0.57 145.9 2527 2064 3383 3332 491.3 0.0 348 3915 0.75 2.58 206.15 1.388 10756 0.078 0.078 2779 728 2763 2814 2712 0 0 0 0 0 0 13.53 12.95 12.38

4140 0.22 145.9 2778 727 2800 2713 463.8 15.1 439 4146 0.57 2.47 0.00 0.000 5254 0.318 0.075 2658 2094 2755 2800 2711 0 0 0 0 0 0 13.38 13.66 13.71

4461 0.07 148.3 2659 2094 2797 2707 431.0 9.9 453 4467 0.20 2.42 0.00 0.000 4772 0.282 0.076 2618 717 2753 2800 2707 0 0 0 0 0 0 13.76 13.98 13.93

4564 0.08 199.4 2618 718 2801 2709 423.0 7.6 473 4648 0.00 2.42 75.65 1.398 9382 0.000 0.079 2622 2098 2549 2609 2489 0 0 0 0 0 0 14.15 14.04 12.98

4973 0.09 212.7 2621 2097 2606 2472 385.7 9.4 505 4991 0.00 0.00 16.48 1.538 8230 0.000 0.000 2618 2097 2499 2564 2434 0 0 0 0 0 0 14.32 13.97 13.14

5273 0.10 233.3 2618 2098 2556 2424 358.1 9.0 515 5310 0.00 2.47 30.27 1.467 8740 0.000 0.085 2619 710 2409 2470 2348 0 0 0 0 0 0 14.38 13.97 13.19

5346 0.19 258.3 2619 710 2465 2349 351.7 8.8 529 5391 0.00 2.47 38.33 1.421 9382 0.000 0.078 2622 2110 2307 2365 2249 0 0 0 0 0 0 14.09 13.98 13.08

5698 0.24 276.9 2620 2109 2360 2240 319.4 9.1 549 5729 0.12 0.00 26.38 1.449 10406 0.132 0.000 2678 2115 2233 2290 2176 0 0 0 0 0 0 14.14 13.95 13.19

6026 0.18 276.9 2679 2110 2285 2170 277.4 12.9 560 6032 0.15 2.40 0.00 0.000 4740 0.254 0.081 2647 720 2226 2284 2168 0 0 0 0 0 0 13.92 14.05 14.07

6117 0.26 297.0 2647 720 2282 2169 268.6 9.1 578 6153 0.00 2.40 29.08 1.421 9382 0.000 0.078 2647 2100 2153 2208 2099 0 0 0 0 0 0 14.19 14.04 13.23

6478 0.32 322.2 2647 2100 2203 2092 235.6 8.8 600 6524 0.12 0.00 41.42 1.373 10662 0.128 0.000 2698 2101 2049 2100 1998 0 0 0 0 0 0 14.24 13.98 13.22

6839 0.28 322.2 2698 2101 2093 1989 194.9 11.0 617 6844 0.00 2.42 0.00 0.000 644 0.000 0.085 2699 714 2040 2091 1989 0 0 0 0 0 0 14.51 14.17 14.52

6910 0.32 330.9 2699 716 2090 1989 187.8 9.6 631 6926 0.00 2.42 10.07 1.522 9382 0.000 0.077 2699 2112 2016 2067 1965 0 0 0 0 0 0 14.33 14.21 13.31

7231 0.33 334.6 2699 2112 2062 1959 155.4 9.8 645 7232 0.00 0.00 0.00 0.000 38 0.000 0.000 2699 2112 2009 2060 1959 0 0 0 0 0 0 14.57 14.59 14.58

7531 0.34 352.1 2699 2112 2060 1958 127.3 9.2 655 7568 0.00 2.53 32.10 1.379 8740 0.000 0.085 2699 717 1926 1970 1882 0 0 0 0 0 0 14.62 14.14 13.37

7688 0.45 398.7 2699 716 1961 1882 114.2 7.8 686 7774 0.00 2.42 77.25 1.239 9382 0.000 0.079 2699 2101 1733 1766 1701 0 0 0 0 0 0 14.22 14.10 13.16

8073 0.58 462.7 2699 2101 1765 1689 84.2 7.0 727 8112 0.17 2.45 32.28 0.461 10916 0.109 0.086 2781 716 1475 1516 1434 0 0 0 0 0 0 14.17 13.96 13.67

8179 0.60 462.7 2781 716 1516 1432 72.8 10.8 747 8184 0.00 2.42 0.00 0.000 1158 0.000 0.078 2781 2101 1473 1514 1432 0 0 0 0 0 0 14.25 14.12 14.27

8489 0.64 520.7 2782 2101 1516 1423 43.9 7.3 779 8526 0.00 2.50 29.52 0.338 8740 0.000 0.086 2781 715 1241 1300 1182 0 0 0 0 0 0 14.51 14.12 13.82

8556 0.80 586.4 2782 719 1301 1182 39.1 7.0 791 8595 0.17 2.42 34.55 0.320 11430 0.114 0.078 2854 2103 972 1044 901 0 0 0 0 0 0 14.18 14.16 13.85

8891 0.89 673.9 2854 2104 1044 893 8.4 6.0 828 8945 0.00 2.45 45.35 0.233 8868 0.000 0.085 2867 717 615 667 564 0 0 0 0 0 0 14.51 14.07 13.93

8983 end climb: SURFACE_DEPTH_REACHED

state 8983 begin surface coast

9003 end surface coast: CONTROL_FINISHED_OK

state 9003 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	135	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	381.0
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	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,104350,7316.1748,-15003.3975,39,0.8,39,20.7,0.0,0.0,10,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	295.3,163700,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	220817,105628,7316.2266,-15003.7021,8,0.7,9,20.7,0.0,282.2,12,10.0

MODEM_MSG	CACST,6,1,20170822122808.888738,3,15,11,0093,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B	PM_FREEKB_00	53989376
FINISH	0.2,1.020509	_24V_AH	12.38,107.301
SM_CCo	9070,15.40,0.220,0,0,499,703.28	_10V_AH	12.30,0.000
SM_GC	1.74,8.18,2.62,15.40,0.085,0.074,0.220,201,2203,499,-7.38,-0.65,703.28,0,0,0,0,0,0,14.31,14.22,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	242	FG_AHR_10Vo	0.000
MODEM	0,1503403444,75.36600,-145.04601,190.365,275736.8	MEM	323380
RAFOS_FIX	7316.027344,-15002.902344,220817,121216,4,255,0.12	DATA_FILE_SIZE	30016,850
IRIDIUM_FIX	7313.85,-15006.07,220817,080854	CAP_FILE_SIZE	109967,0
TT8_MAMPS	0.038948,0.881573	CFSIZE	2097872896,2046689280
HUMID	46.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1449.1
TCM_TEMP	13.10	CURRENT	0.006,53.66,1
XPDR_PINGS	11	GPS	220817,132947,7317.334,-15005.340,17,0.7,31,20.7,0.0,29.2,11,9.9
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	139.89	nil	0	0	0.00
Roll_motor	83	2148	2219.91	nil	0	0	0.00
VBD_pump_during_apogee	939	1538	17897.61	nil	0	0	0.00
VBD_pump_during_surface	15	219	41.86	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	9033	14	1610.78
Iridium_during_xfer	474	188	1105.60	NCP	9076	20	2247.22
Transponder_ping	2	420	14.30	PMAR	9024	10	1121.86
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.95
TT8	0	0	0.00
LPSleep	6346	2	180.33
TT8_Active	846	13	145.51
TT8_Sampling	2357	33	969.78
TT8_CF8	309	38	147.35
TT8_Kalman	0	0	0.00
Analog_circuits	2208	10	271.65
GPS_charging	0	0	0.00
Compass	1216	7	104.75
RAFOS	2193	48	1294.75
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	193	2218	492	493	0.0	0.0	0	129	0.00	0.00	-81.05	0.000	16386	0.000	0.000	192	2219	1977	1910	2045	0	0	0	0	0	0	14.42	28.83	14.45
132	-0.57	-145.9	193	2219	1912	2048	3.3	-3.7	8	196	12.60	2.75	-41.03	0.000	18724	0.455	2.148	2377	3601	3962	3943	3981	0	0	0	0	0	0	13.67	12.57	14.12
421	-0.66	-145.9	2377	3596	3952	3981	63.6	-15.3	65	427	0.00	2.40	0.00	0.000	1158	0.000	0.063	2377	2205	3966	3951	3981	0	0	0	0	0	0	14.28	14.15	14.28
728	-0.70	-145.9	2377	2205	3953	3981	108.1	-12.9	92	733	0.00	2.45	0.00	0.000	388	0.000	0.087	2367	3600	3966	3951	3981	0	0	0	0	0	0	14.52	14.18	14.54
898	-0.85	-145.9	2368	3600	3953	3981	125.8	-10.2	126	903	0.20	2.38	0.00	0.000	5254	0.103	0.055	2284	2193	3965	3950	3981	0	0	0	0	0	0	14.33	14.23	14.38
1208	-0.79	-145.9	2284	2192	3952	3982	182.1	-18.0	138	1213	0.15	2.47	0.00	0.000	2436	0.275	0.086	2313	3601	3969	3951	3988	0	0	0	0	0	0	14.00	14.19	14.16
1293	-0.88	-145.9	2314	3601	3953	3981	193.8	-11.9	155	1300	0.00	2.38	0.00	0.000	1158	0.000	0.057	2313	2196	3966	3951	3981	0	0	0	0	0	0	14.34	14.22	14.38
1598	-0.91	-145.9	2314	2195	3953	3981	233.6	-12.8	166	1603	0.00	2.47	0.00	0.000	388	0.000	0.090	2308	3601	3966	3951	3981	0	0	0	0	0	0	14.62	14.20	14.63
1689	-1.01	-145.9	2304	3604	3962	3982	243.7	-10.6	184	1694	0.15	2.38	0.00	0.000	5254	0.122	0.057	2248	2192	3966	3951	3981	0	0	0	0	0	0	14.29	14.28	14.38
2019	-0.94	-145.9	2248	2192	3952	3981	296.3	-16.0	200	2024	0.12	2.47	0.00	0.000	2436	0.297	0.084	2266	3603	3967	3954	3980	0	0	0	0	0	0	13.94	13.94	13.80
2194	-1.00	-145.9	2266	3604	3952	3981	318.3	-11.4	235	2201	0.00	2.38	0.00	0.000	1158	0.000	0.057	2266	2195	3966	3952	3980	0	0	0	0	0	0	14.24	14.14	14.27
2500	-1.00	-145.9	2267	2193	3952	3979	356.0	-12.3	246	2504	0.00	2.45	0.00	0.000	260	0.000	0.087	2259	3600	3965	3951	3979	0	0	0	0	0	0	14.65	14.24	14.67
2594	-1.05	-145.9	2257	3601	3952	3980	367.6	-11.6	265	2600	0.00	2.38	0.00	0.000	1158	0.000	0.057	2257	2199	3964	3951	3978	0	0	0	0	0	0	14.42	14.30	14.45
2920	-1.05	-145.9	2257	2199	3952	3978	408.5	-12.5	280	2924	0.00	2.45	0.00	0.000	260	0.000	0.088	2248	3598	3964	3951	3977	0	0	0	0	0	0	14.66	14.20	14.67
3025	-1.09	-145.9	2249	3602	3951	3978	421.6	-12.0	301	3030	0.00	2.38	0.00	0.000	1158	0.000	0.057	2248	2192	3964	3951	3977	0	0	0	0	0	0	14.40	14.28	14.44
3340	-1.06	-145.9	2249	2191	3952	3977	463.0	-13.2	314	3345	0.00	2.45	0.00	0.000	388	0.000	0.087	2239	3601	3965	3951	3980	0	0	0	0	0	0	14.65	14.23	14.67
3460	-1.06	-145.9	2240	3602	3952	3978	478.6	-12.6	338	3465	0.00	2.35	0.00	0.000	1030	0.000	0.056	2239	2199	3963	3951	3976	0	0	0	0	0	0	14.41	14.29	14.45
3473	end dive: TARGET_DEPTH_EXCEEDED
state	3473	begin apogee
3478	-0.13	0.0	2239	2065	3952	3978	480.6	-12.8	341	3696	1.15	0.00	214.85	1.440	10246	0.256	0.000	2527	2063	3364	3389	3339	0	0	0	0	0	0	13.93	13.47	12.72
3700	end apogee: CONTROL_FINISHED_OK
state	3700	begin climb
3702	0.57	145.9	2527	2064	3383	3332	491.3	0.0	348	3915	0.75	2.58	206.15	1.388	10756	0.078	0.078	2779	728	2763	2814	2712	0	0	0	0	0	0	13.53	12.95	12.38
4140	0.22	145.9	2778	727	2800	2713	463.8	15.1	439	4146	0.57	2.47	0.00	0.000	5254	0.318	0.075	2658	2094	2755	2800	2711	0	0	0	0	0	0	13.38	13.66	13.71
4461	0.07	148.3	2659	2094	2797	2707	431.0	9.9	453	4467	0.20	2.42	0.00	0.000	4772	0.282	0.076	2618	717	2753	2800	2707	0	0	0	0	0	0	13.76	13.98	13.93
4564	0.08	199.4	2618	718	2801	2709	423.0	7.6	473	4648	0.00	2.42	75.65	1.398	9382	0.000	0.079	2622	2098	2549	2609	2489	0	0	0	0	0	0	14.15	14.04	12.98
4973	0.09	212.7	2621	2097	2606	2472	385.7	9.4	505	4991	0.00	0.00	16.48	1.538	8230	0.000	0.000	2618	2097	2499	2564	2434	0	0	0	0	0	0	14.32	13.97	13.14
5273	0.10	233.3	2618	2098	2556	2424	358.1	9.0	515	5310	0.00	2.47	30.27	1.467	8740	0.000	0.085	2619	710	2409	2470	2348	0	0	0	0	0	0	14.38	13.97	13.19
5346	0.19	258.3	2619	710	2465	2349	351.7	8.8	529	5391	0.00	2.47	38.33	1.421	9382	0.000	0.078	2622	2110	2307	2365	2249	0	0	0	0	0	0	14.09	13.98	13.08
5698	0.24	276.9	2620	2109	2360	2240	319.4	9.1	549	5729	0.12	0.00	26.38	1.449	10406	0.132	0.000	2678	2115	2233	2290	2176	0	0	0	0	0	0	14.14	13.95	13.19
6026	0.18	276.9	2679	2110	2285	2170	277.4	12.9	560	6032	0.15	2.40	0.00	0.000	4740	0.254	0.081	2647	720	2226	2284	2168	0	0	0	0	0	0	13.92	14.05	14.07
6117	0.26	297.0	2647	720	2282	2169	268.6	9.1	578	6153	0.00	2.40	29.08	1.421	9382	0.000	0.078	2647	2100	2153	2208	2099	0	0	0	0	0	0	14.19	14.04	13.23
6478	0.32	322.2	2647	2100	2203	2092	235.6	8.8	600	6524	0.12	0.00	41.42	1.373	10662	0.128	0.000	2698	2101	2049	2100	1998	0	0	0	0	0	0	14.24	13.98	13.22
6839	0.28	322.2	2698	2101	2093	1989	194.9	11.0	617	6844	0.00	2.42	0.00	0.000	644	0.000	0.085	2699	714	2040	2091	1989	0	0	0	0	0	0	14.51	14.17	14.52
6910	0.32	330.9	2699	716	2090	1989	187.8	9.6	631	6926	0.00	2.42	10.07	1.522	9382	0.000	0.077	2699	2112	2016	2067	1965	0	0	0	0	0	0	14.33	14.21	13.31
7231	0.33	334.6	2699	2112	2062	1959	155.4	9.8	645	7232	0.00	0.00	0.00	0.000	38	0.000	0.000	2699	2112	2009	2060	1959	0	0	0	0	0	0	14.57	14.59	14.58
7531	0.34	352.1	2699	2112	2060	1958	127.3	9.2	655	7568	0.00	2.53	32.10	1.379	8740	0.000	0.085	2699	717	1926	1970	1882	0	0	0	0	0	0	14.62	14.14	13.37
7688	0.45	398.7	2699	716	1961	1882	114.2	7.8	686	7774	0.00	2.42	77.25	1.239	9382	0.000	0.079	2699	2101	1733	1766	1701	0	0	0	0	0	0	14.22	14.10	13.16
8073	0.58	462.7	2699	2101	1765	1689	84.2	7.0	727	8112	0.17	2.45	32.28	0.461	10916	0.109	0.086	2781	716	1475	1516	1434	0	0	0	0	0	0	14.17	13.96	13.67
8179	0.60	462.7	2781	716	1516	1432	72.8	10.8	747	8184	0.00	2.42	0.00	0.000	1158	0.000	0.078	2781	2101	1473	1514	1432	0	0	0	0	0	0	14.25	14.12	14.27
8489	0.64	520.7	2782	2101	1516	1423	43.9	7.3	779	8526	0.00	2.50	29.52	0.338	8740	0.000	0.086	2781	715	1241	1300	1182	0	0	0	0	0	0	14.51	14.12	13.82
8556	0.80	586.4	2782	719	1301	1182	39.1	7.0	791	8595	0.17	2.42	34.55	0.320	11430	0.114	0.078	2854	2103	972	1044	901	0	0	0	0	0	0	14.18	14.16	13.85
8891	0.89	673.9	2854	2104	1044	893	8.4	6.0	828	8945	0.00	2.45	45.35	0.233	8868	0.000	0.085	2867	717	615	667	564	0	0	0	0	0	0	14.51	14.07	13.93
8983	end climb: SURFACE_DEPTH_REACHED
state	8983	begin surface coast
9003	end surface coast: CONTROL_FINISHED_OK
state	9003	begin surface