Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 137 * 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 137 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 387.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 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 387.0 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 31 VBD_MIN 500

DIVE 137 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 220817,161534,7318.3374,-15006.9580,40,0.8,42,20.7,0.4,221.6,11,8.3 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.17 MHEAD_RNG_PITCHd_Wd 290.8,159981,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 220817,163540,7318.2886,-15006.6504,8,0.8,11,20.7,0.0,0.0,10,9.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822162018.386349,3,149,-2,0090,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*1B PM_FREEKB_00 53932032

FINISH 0.1,1.015958 _24V_AH 12.41,108.236

SM_CCo 9092,6.50,0.216,0,0,500,702.78 _10V_AH 12.43,0.000

SM_GC 2.07,8.12,0.17,6.50,0.075,0.129,0.216,202,2213,500,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.25,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 407 FG_AHR_10Vo 0.000

MODEM 0,1503417845,75.36600,-145.04601,191.213,276775.3 MEM 323644

RAFOS_FIX 7318.078125,-15009.374023,220817,161611,2,255,0.00 DATA_FILE_SIZE 26726,780

IRIDIUM_FIX 7317.69,-15015.31,220817,163101 CAP_FILE_SIZE 113649,0

TT8_MAMPS 0.039697,0.844872 CFSIZE 2097872896,2045935616

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.6

TCM_TEMP 13.20 CURRENT 0.031,214.37,1

XPDR_PINGS 16 GPS 220817,190913,7319.245,-15009.024,26,0.7,31,20.7,0.0,103.9,11,9.7

CP_FREE 15996157952.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.75 nil 0 0 0.00

Roll_motor 83 2148 2233.29 nil 0 0 0.00

VBD_pump_during_apogee 943 1525 17859.35 nil 0 0 0.00

VBD_pump_during_surface 6 216 17.46 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 9101 14 1621.42

Iridium_during_xfer 680 174 1471.95 NCP 9102 20 2259.12

Transponder_ping 4 420 20.85 PMAR 9049 9 1119.39

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.51

TT8 0 0 0.00

LPSleep 6736 2 193.44

TT8_Active 949 13 164.96

TT8_Sampling 2315 33 962.63

TT8_CF8 320 38 154.19

TT8_Kalman 0 0 0.00

Analog_circuits 2370 10 294.69

GPS_charging 0 0 0.00

Compass 1119 7 97.42

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 185 2180 499 489 0.0 0.0 0 141 0.00 0.00 -91.57 0.000 16386 0.000 0.000 183 2175 2231 2164 2299 0 0 0 0 0 0 14.37 28.83 14.40

145 -0.57 -145.9 180 2177 2170 2300 4.4 -6.5 9 194 12.65 2.72 -29.73 0.000 18724 0.455 2.148 2375 3582 3966 3950 3982 0 0 0 0 0 0 13.66 12.89 14.05

419 -0.60 -145.9 2375 3584 3958 3983 65.6 -14.8 63 424 0.00 2.38 0.00 0.000 1158 0.000 0.057 2375 2202 3969 3957 3982 0 0 0 0 0 0 14.06 13.97 14.12

740 -0.64 -145.9 2377 2201 3959 3982 111.0 -12.3 90 745 0.00 2.45 0.00 0.000 388 0.000 0.087 2365 3590 3970 3958 3982 0 0 0 0 0 0 14.53 14.07 14.54

862 -0.80 -145.9 2365 3593 3959 3983 123.8 -10.1 114 867 0.15 2.33 0.00 0.000 5254 0.118 0.054 2301 2201 3970 3958 3982 0 0 0 0 0 0 14.27 14.24 14.36

1192 -0.77 -145.9 2302 2201 3959 3985 177.2 -15.8 130 1197 0.12 2.42 0.00 0.000 2436 0.284 0.084 2322 3586 3969 3958 3980 0 0 0 0 0 0 13.96 14.19 14.11

1294 -0.87 -145.9 2322 3588 3958 3983 189.4 -11.6 150 1299 0.00 2.33 0.00 0.000 1158 0.000 0.057 2322 2201 3969 3957 3982 0 0 0 0 0 0 14.39 14.28 14.38

1614 -0.91 -145.9 2323 2200 3959 3982 230.0 -12.2 164 1619 0.12 2.42 0.00 0.000 4484 0.142 0.087 2258 3587 3969 3957 3981 0 0 0 0 0 0 14.35 14.13 14.37

1714 -0.91 -145.9 2259 3587 3959 3982 244.9 -14.6 184 1719 0.00 2.33 0.00 0.000 1030 0.000 0.058 2258 2203 3970 3958 3982 0 0 0 0 0 0 14.35 14.23 14.38

2035 -0.86 -145.9 2258 2203 3960 3982 293.6 -14.7 198 2040 0.15 2.42 0.00 0.000 2436 0.288 0.085 2283 3589 3969 3958 3981 0 0 0 0 0 0 13.98 14.19 14.17

2132 -0.95 -145.9 2284 3591 3959 3982 304.7 -10.8 217 2138 0.00 2.35 0.00 0.000 1158 0.000 0.057 2286 2196 3970 3958 3982 0 0 0 0 0 0 14.40 14.29 14.45

2458 -0.98 -145.9 2284 2195 3959 3979 342.6 -11.3 232 2463 0.00 2.45 0.00 0.000 388 0.000 0.090 2280 3588 3968 3958 3979 0 0 0 0 0 0 14.65 14.23 14.66

2533 -1.08 -145.9 2280 3590 3958 3980 350.6 -10.0 247 2538 0.15 2.35 0.00 0.000 5254 0.125 0.057 2225 2189 3968 3958 3979 0 0 0 0 0 0 14.32 14.29 14.40

2849 -1.00 -145.9 2225 2191 3958 3978 399.0 -15.5 260 2854 0.12 2.45 0.00 0.000 2436 0.294 0.084 2244 3589 3967 3957 3977 0 0 0 0 0 0 13.74 13.69 13.69

2994 -1.00 -145.9 2244 3590 3958 3977 418.1 -12.5 289 3001 0.00 2.33 0.00 0.000 1030 0.000 0.056 2244 2201 3967 3957 3977 0 0 0 0 0 0 14.38 14.26 14.40

3299 -0.97 -145.9 2244 2201 3958 3978 459.5 -13.6 300 3304 0.00 2.42 0.00 0.000 388 0.000 0.087 2236 3586 3966 3957 3976 0 0 0 0 0 0 14.66 14.13 14.67

3414 -0.97 -145.9 2237 3588 3957 3977 474.8 -12.8 323 3420 0.12 2.33 0.00 0.000 3078 0.253 0.056 2260 2202 3967 3957 3977 0 0 0 0 0 0 14.02 14.25 14.26

3476 end dive: TARGET_DEPTH_EXCEEDED

state 3476 begin apogee

3482 -0.13 0.0 2261 2061 3958 3977 482.7 -12.3 326 3706 1.05 0.00 220.52 1.434 10246 0.236 0.000 2532 2059 3363 3392 3335 0 0 0 0 0 0 13.99 13.47 12.71

3710 end apogee: CONTROL_FINISHED_OK

state 3710 begin climb

3712 0.57 145.9 2532 2060 3384 3329 493.3 0.0 333 3928 0.73 2.78 202.10 1.389 10500 0.068 0.076 2774 3501 2761 2811 2711 0 0 0 0 0 0 13.55 13.16 12.41

3963 0.14 145.9 2775 3508 2796 2711 493.2 16.1 377 3968 0.77 2.47 0.00 0.000 5254 0.348 0.057 2632 2131 2755 2800 2711 0 0 0 0 0 0 13.10 13.38 13.44

4284 0.04 169.3 2633 2131 2800 2707 463.3 8.9 391 4319 0.12 2.60 29.20 1.496 12964 0.295 0.086 2603 694 2671 2720 2622 0 0 0 0 0 0 13.70 13.81 12.97

4390 0.12 227.4 2604 689 2716 2621 455.0 7.3 412 4485 0.00 2.45 86.20 1.401 9382 0.000 0.079 2604 2075 2430 2496 2364 0 0 0 0 0 0 14.01 13.90 12.79

4796 0.18 260.2 2604 2076 2491 2358 420.9 8.5 443 4844 0.12 0.00 46.08 1.434 10406 0.132 0.000 2659 2075 2304 2363 2246 0 0 0 0 0 0 14.10 13.84 13.06

5126 0.13 260.2 2660 2075 2354 2235 380.5 12.3 454 5127 0.15 0.00 0.00 0.000 4230 0.249 0.000 2627 2076 2293 2352 2235 0 0 0 0 0 0 13.98 14.26 14.22

5426 0.15 263.3 2628 2076 2351 2234 350.7 9.9 464 5431 0.00 2.40 0.00 0.000 676 0.000 0.086 2633 696 2292 2350 2234 0 0 0 0 0 0 14.56 14.23 14.57

5486 0.23 273.3 2633 696 2350 2234 344.8 9.5 476 5511 0.00 2.42 17.12 1.525 9382 0.000 0.078 2631 2101 2248 2306 2191 0 0 0 0 0 0 14.38 14.25 13.30

5818 0.26 277.4 2633 2101 2304 2186 311.8 9.8 492 5822 0.00 0.00 3.00 1.319 8358 0.000 0.000 2633 2101 2235 2293 2177 0 0 0 0 0 0 14.57 14.21 12.90

6116 0.30 291.3 2633 2101 2297 2179 283.3 9.4 502 6148 0.12 2.47 26.00 1.476 10916 0.132 0.083 2698 690 2173 2227 2119 0 0 0 0 0 0 14.38 13.95 13.34

6184 0.25 291.3 2700 692 2223 2123 275.0 13.0 515 6189 0.15 2.45 0.00 0.000 5254 0.228 0.076 2666 2099 2170 2223 2118 0 0 0 0 0 0 14.02 14.16 14.23

6509 0.25 292.6 2667 2099 2225 2114 240.5 9.9 530 6515 0.00 2.45 0.00 0.000 548 0.000 0.084 2672 697 2168 2223 2113 0 0 0 0 0 0 14.57 14.19 14.59

6575 0.29 306.0 2673 697 2224 2113 234.2 9.4 543 6602 0.00 2.42 22.20 1.473 9382 0.000 0.079 2672 2102 2117 2171 2064 0 0 0 0 0 0 14.38 14.26 13.32

6900 0.30 321.5 2672 2104 2164 2055 202.8 9.3 558 6931 0.00 2.53 23.58 1.444 8740 0.000 0.085 2675 697 2055 2108 2002 0 0 0 0 0 0 14.55 14.12 13.33

6952 0.37 351.3 2673 697 2106 2002 198.1 8.6 568 7008 0.00 2.45 51.47 1.326 9382 0.000 0.079 2672 2101 1931 1978 1884 0 0 0 0 0 0 14.25 14.13 13.19

7325 0.46 387.3 2673 2101 1962 1878 165.8 8.3 592 7390 0.15 2.53 57.95 1.288 10916 0.123 0.086 2749 695 1782 1809 1755 0 0 0 0 0 0 14.23 13.94 13.21

7445 0.46 387.3 2750 695 1806 1754 150.8 12.3 616 7450 0.00 2.50 0.00 0.000 1030 0.000 0.078 2750 2098 1779 1805 1753 0 0 0 0 0 0 14.10 14.01 14.13

7775 0.42 387.3 2750 2099 1805 1746 109.1 12.2 632 7776 0.15 0.00 0.00 0.000 4230 0.232 0.000 2717 2099 1775 1804 1746 0 0 0 0 0 0 13.98 14.23 14.19

8077 0.50 422.4 2717 2099 1804 1742 81.8 8.4 654 8099 0.00 2.53 17.45 0.454 8868 0.000 0.085 2725 695 1642 1673 1612 0 0 0 0 0 0 14.53 14.16 13.69

8181 0.65 474.6 2725 696 1674 1612 73.7 7.6 674 8214 0.20 2.45 27.58 0.425 11430 0.099 0.079 2799 2100 1430 1470 1390 0 0 0 0 0 0 14.26 14.18 13.77

8510 0.66 507.4 2800 2104 1471 1379 39.3 8.5 710 8530 0.00 0.00 17.10 0.325 8358 0.000 0.000 2799 2103 1295 1348 1242 0 0 0 0 0 0 14.53 14.16 13.83

8829 0.85 654.1 2800 2104 1349 1235 17.8 3.2 742 8913 0.17 2.50 75.82 0.264 10916 0.109 0.086 2881 694 696 757 635 0 0 0 0 0 0 14.21 14.07 13.91

8988 0.95 691.8 2877 692 757 629 6.9 8.3 769 9015 0.00 2.47 20.05 0.231 9382 0.000 0.077 2876 2102 541 580 502 0 0 0 0 0 0 14.14 14.03 13.90

9050 end climb: SURFACE_DEPTH_REACHED

state 9051 begin surface coast

9071 end surface coast: CONTROL_FINISHED_OK

state 9071 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	137	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	387.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,161534,7318.3374,-15006.9580,40,0.8,42,20.7,0.4,221.6,11,8.3	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.17	MHEAD_RNG_PITCHd_Wd	290.8,159981,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	220817,163540,7318.2886,-15006.6504,8,0.8,11,20.7,0.0,0.0,10,9.4

MODEM_MSG	CACST,6,1,20170822162018.386349,3,149,-2,0090,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*1B	PM_FREEKB_00	53932032
FINISH	0.1,1.015958	_24V_AH	12.41,108.236
SM_CCo	9092,6.50,0.216,0,0,500,702.78	_10V_AH	12.43,0.000
SM_GC	2.07,8.12,0.17,6.50,0.075,0.129,0.216,202,2213,500,-7.37,-0.57,702.78,0,0,0,0,0,0,14.27,14.25,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	407	FG_AHR_10Vo	0.000
MODEM	0,1503417845,75.36600,-145.04601,191.213,276775.3	MEM	323644
RAFOS_FIX	7318.078125,-15009.374023,220817,161611,2,255,0.00	DATA_FILE_SIZE	26726,780
IRIDIUM_FIX	7317.69,-15015.31,220817,163101	CAP_FILE_SIZE	113649,0
TT8_MAMPS	0.039697,0.844872	CFSIZE	2097872896,2045935616
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.6
TCM_TEMP	13.20	CURRENT	0.031,214.37,1
XPDR_PINGS	16	GPS	220817,190913,7319.245,-15009.024,26,0.7,31,20.7,0.0,103.9,11,9.7
CP_FREE	15996157952.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.75	nil	0	0	0.00
Roll_motor	83	2148	2233.29	nil	0	0	0.00
VBD_pump_during_apogee	943	1525	17859.35	nil	0	0	0.00
VBD_pump_during_surface	6	216	17.46	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	9101	14	1621.42
Iridium_during_xfer	680	174	1471.95	NCP	9102	20	2259.12
Transponder_ping	4	420	20.85	PMAR	9049	9	1119.39
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.51
TT8	0	0	0.00
LPSleep	6736	2	193.44
TT8_Active	949	13	164.96
TT8_Sampling	2315	33	962.63
TT8_CF8	320	38	154.19
TT8_Kalman	0	0	0.00
Analog_circuits	2370	10	294.69
GPS_charging	0	0	0.00
Compass	1119	7	97.42
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	185	2180	499	489	0.0	0.0	0	141	0.00	0.00	-91.57	0.000	16386	0.000	0.000	183	2175	2231	2164	2299	0	0	0	0	0	0	14.37	28.83	14.40
145	-0.57	-145.9	180	2177	2170	2300	4.4	-6.5	9	194	12.65	2.72	-29.73	0.000	18724	0.455	2.148	2375	3582	3966	3950	3982	0	0	0	0	0	0	13.66	12.89	14.05
419	-0.60	-145.9	2375	3584	3958	3983	65.6	-14.8	63	424	0.00	2.38	0.00	0.000	1158	0.000	0.057	2375	2202	3969	3957	3982	0	0	0	0	0	0	14.06	13.97	14.12
740	-0.64	-145.9	2377	2201	3959	3982	111.0	-12.3	90	745	0.00	2.45	0.00	0.000	388	0.000	0.087	2365	3590	3970	3958	3982	0	0	0	0	0	0	14.53	14.07	14.54
862	-0.80	-145.9	2365	3593	3959	3983	123.8	-10.1	114	867	0.15	2.33	0.00	0.000	5254	0.118	0.054	2301	2201	3970	3958	3982	0	0	0	0	0	0	14.27	14.24	14.36
1192	-0.77	-145.9	2302	2201	3959	3985	177.2	-15.8	130	1197	0.12	2.42	0.00	0.000	2436	0.284	0.084	2322	3586	3969	3958	3980	0	0	0	0	0	0	13.96	14.19	14.11
1294	-0.87	-145.9	2322	3588	3958	3983	189.4	-11.6	150	1299	0.00	2.33	0.00	0.000	1158	0.000	0.057	2322	2201	3969	3957	3982	0	0	0	0	0	0	14.39	14.28	14.38
1614	-0.91	-145.9	2323	2200	3959	3982	230.0	-12.2	164	1619	0.12	2.42	0.00	0.000	4484	0.142	0.087	2258	3587	3969	3957	3981	0	0	0	0	0	0	14.35	14.13	14.37
1714	-0.91	-145.9	2259	3587	3959	3982	244.9	-14.6	184	1719	0.00	2.33	0.00	0.000	1030	0.000	0.058	2258	2203	3970	3958	3982	0	0	0	0	0	0	14.35	14.23	14.38
2035	-0.86	-145.9	2258	2203	3960	3982	293.6	-14.7	198	2040	0.15	2.42	0.00	0.000	2436	0.288	0.085	2283	3589	3969	3958	3981	0	0	0	0	0	0	13.98	14.19	14.17
2132	-0.95	-145.9	2284	3591	3959	3982	304.7	-10.8	217	2138	0.00	2.35	0.00	0.000	1158	0.000	0.057	2286	2196	3970	3958	3982	0	0	0	0	0	0	14.40	14.29	14.45
2458	-0.98	-145.9	2284	2195	3959	3979	342.6	-11.3	232	2463	0.00	2.45	0.00	0.000	388	0.000	0.090	2280	3588	3968	3958	3979	0	0	0	0	0	0	14.65	14.23	14.66
2533	-1.08	-145.9	2280	3590	3958	3980	350.6	-10.0	247	2538	0.15	2.35	0.00	0.000	5254	0.125	0.057	2225	2189	3968	3958	3979	0	0	0	0	0	0	14.32	14.29	14.40
2849	-1.00	-145.9	2225	2191	3958	3978	399.0	-15.5	260	2854	0.12	2.45	0.00	0.000	2436	0.294	0.084	2244	3589	3967	3957	3977	0	0	0	0	0	0	13.74	13.69	13.69
2994	-1.00	-145.9	2244	3590	3958	3977	418.1	-12.5	289	3001	0.00	2.33	0.00	0.000	1030	0.000	0.056	2244	2201	3967	3957	3977	0	0	0	0	0	0	14.38	14.26	14.40
3299	-0.97	-145.9	2244	2201	3958	3978	459.5	-13.6	300	3304	0.00	2.42	0.00	0.000	388	0.000	0.087	2236	3586	3966	3957	3976	0	0	0	0	0	0	14.66	14.13	14.67
3414	-0.97	-145.9	2237	3588	3957	3977	474.8	-12.8	323	3420	0.12	2.33	0.00	0.000	3078	0.253	0.056	2260	2202	3967	3957	3977	0	0	0	0	0	0	14.02	14.25	14.26
3476	end dive: TARGET_DEPTH_EXCEEDED
state	3476	begin apogee
3482	-0.13	0.0	2261	2061	3958	3977	482.7	-12.3	326	3706	1.05	0.00	220.52	1.434	10246	0.236	0.000	2532	2059	3363	3392	3335	0	0	0	0	0	0	13.99	13.47	12.71
3710	end apogee: CONTROL_FINISHED_OK
state	3710	begin climb
3712	0.57	145.9	2532	2060	3384	3329	493.3	0.0	333	3928	0.73	2.78	202.10	1.389	10500	0.068	0.076	2774	3501	2761	2811	2711	0	0	0	0	0	0	13.55	13.16	12.41
3963	0.14	145.9	2775	3508	2796	2711	493.2	16.1	377	3968	0.77	2.47	0.00	0.000	5254	0.348	0.057	2632	2131	2755	2800	2711	0	0	0	0	0	0	13.10	13.38	13.44
4284	0.04	169.3	2633	2131	2800	2707	463.3	8.9	391	4319	0.12	2.60	29.20	1.496	12964	0.295	0.086	2603	694	2671	2720	2622	0	0	0	0	0	0	13.70	13.81	12.97
4390	0.12	227.4	2604	689	2716	2621	455.0	7.3	412	4485	0.00	2.45	86.20	1.401	9382	0.000	0.079	2604	2075	2430	2496	2364	0	0	0	0	0	0	14.01	13.90	12.79
4796	0.18	260.2	2604	2076	2491	2358	420.9	8.5	443	4844	0.12	0.00	46.08	1.434	10406	0.132	0.000	2659	2075	2304	2363	2246	0	0	0	0	0	0	14.10	13.84	13.06
5126	0.13	260.2	2660	2075	2354	2235	380.5	12.3	454	5127	0.15	0.00	0.00	0.000	4230	0.249	0.000	2627	2076	2293	2352	2235	0	0	0	0	0	0	13.98	14.26	14.22
5426	0.15	263.3	2628	2076	2351	2234	350.7	9.9	464	5431	0.00	2.40	0.00	0.000	676	0.000	0.086	2633	696	2292	2350	2234	0	0	0	0	0	0	14.56	14.23	14.57
5486	0.23	273.3	2633	696	2350	2234	344.8	9.5	476	5511	0.00	2.42	17.12	1.525	9382	0.000	0.078	2631	2101	2248	2306	2191	0	0	0	0	0	0	14.38	14.25	13.30
5818	0.26	277.4	2633	2101	2304	2186	311.8	9.8	492	5822	0.00	0.00	3.00	1.319	8358	0.000	0.000	2633	2101	2235	2293	2177	0	0	0	0	0	0	14.57	14.21	12.90
6116	0.30	291.3	2633	2101	2297	2179	283.3	9.4	502	6148	0.12	2.47	26.00	1.476	10916	0.132	0.083	2698	690	2173	2227	2119	0	0	0	0	0	0	14.38	13.95	13.34
6184	0.25	291.3	2700	692	2223	2123	275.0	13.0	515	6189	0.15	2.45	0.00	0.000	5254	0.228	0.076	2666	2099	2170	2223	2118	0	0	0	0	0	0	14.02	14.16	14.23
6509	0.25	292.6	2667	2099	2225	2114	240.5	9.9	530	6515	0.00	2.45	0.00	0.000	548	0.000	0.084	2672	697	2168	2223	2113	0	0	0	0	0	0	14.57	14.19	14.59
6575	0.29	306.0	2673	697	2224	2113	234.2	9.4	543	6602	0.00	2.42	22.20	1.473	9382	0.000	0.079	2672	2102	2117	2171	2064	0	0	0	0	0	0	14.38	14.26	13.32
6900	0.30	321.5	2672	2104	2164	2055	202.8	9.3	558	6931	0.00	2.53	23.58	1.444	8740	0.000	0.085	2675	697	2055	2108	2002	0	0	0	0	0	0	14.55	14.12	13.33
6952	0.37	351.3	2673	697	2106	2002	198.1	8.6	568	7008	0.00	2.45	51.47	1.326	9382	0.000	0.079	2672	2101	1931	1978	1884	0	0	0	0	0	0	14.25	14.13	13.19
7325	0.46	387.3	2673	2101	1962	1878	165.8	8.3	592	7390	0.15	2.53	57.95	1.288	10916	0.123	0.086	2749	695	1782	1809	1755	0	0	0	0	0	0	14.23	13.94	13.21
7445	0.46	387.3	2750	695	1806	1754	150.8	12.3	616	7450	0.00	2.50	0.00	0.000	1030	0.000	0.078	2750	2098	1779	1805	1753	0	0	0	0	0	0	14.10	14.01	14.13
7775	0.42	387.3	2750	2099	1805	1746	109.1	12.2	632	7776	0.15	0.00	0.00	0.000	4230	0.232	0.000	2717	2099	1775	1804	1746	0	0	0	0	0	0	13.98	14.23	14.19
8077	0.50	422.4	2717	2099	1804	1742	81.8	8.4	654	8099	0.00	2.53	17.45	0.454	8868	0.000	0.085	2725	695	1642	1673	1612	0	0	0	0	0	0	14.53	14.16	13.69
8181	0.65	474.6	2725	696	1674	1612	73.7	7.6	674	8214	0.20	2.45	27.58	0.425	11430	0.099	0.079	2799	2100	1430	1470	1390	0	0	0	0	0	0	14.26	14.18	13.77
8510	0.66	507.4	2800	2104	1471	1379	39.3	8.5	710	8530	0.00	0.00	17.10	0.325	8358	0.000	0.000	2799	2103	1295	1348	1242	0	0	0	0	0	0	14.53	14.16	13.83
8829	0.85	654.1	2800	2104	1349	1235	17.8	3.2	742	8913	0.17	2.50	75.82	0.264	10916	0.109	0.086	2881	694	696	757	635	0	0	0	0	0	0	14.21	14.07	13.91
8988	0.95	691.8	2877	692	757	629	6.9	8.3	769	9015	0.00	2.47	20.05	0.231	9382	0.000	0.077	2876	2102	541	580	502	0	0	0	0	0	0	14.14	14.03	13.90
9050	end climb: SURFACE_DEPTH_REACHED
state	9051	begin surface coast
9071	end surface coast: CONTROL_FINISHED_OK
state	9071	begin surface