Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 138 * 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 138 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 389.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 33 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 389.0 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 29 VBD_MIN 500

DIVE 138 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 220817,190913,7319.2451,-15009.0244,26,0.7,31,20.7,0.0,103.9,11,9.7 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 1.17 MHEAD_RNG_PITCHd_Wd 300.0,157931,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 220817,192433,7319.1890,-15009.1260,38,0.8,39,20.7,0.0,0.0,10,7.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170822201238.202370,3,6397,38,0171,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35 PM_FREEKB_00 53901120

FINISH 0.1,1.020536 _24V_AH 12.38,108.735

SM_CCo 8944,12.55,0.219,0,0,498,702.78 _10V_AH 12.28,0.000

SM_GC 1.92,8.27,0.20,12.55,0.080,0.110,0.219,201,2222,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.30,14.28,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 310 FG_AHR_10Vo 0.000

MODEM 0,1503432244,75.36600,-145.04601,190.738,276307.5 MEM 323512

RAFOS_FIX 7318.028320,-15010.394531,220817,202021,2,255,0.86 DATA_FILE_SIZE 30032,832

IRIDIUM_FIX 7318.45,-15005.09,220817,163505 CAP_FILE_SIZE 112882,0

TT8_MAMPS 0.039697,0.88382 CFSIZE 2097872896,2045739008

HUMID 46.10 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1449.1

TCM_TEMP 13.10 CURRENT 0.034,245.73,1

XPDR_PINGS 7 GPS 220817,215530,7320.270,-15011.193,17,0.7,19,20.7,0.0,0.0,11,8.7

CP_FREE 15995994112.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 460 146.10 nil 0 0 0.00

Roll_motor 93 2143 2475.23 nil 0 0 0.00

VBD_pump_during_apogee 947 1487 17452.29 nil 0 0 0.00

VBD_pump_during_surface 12 218 33.99 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 8951 14 1595.27

Iridium_during_xfer 607 182 1374.51 NCP 8942 20 2214.04

Transponder_ping 1 420 9.10 PMAR 8898 9 1099.48

GUMSTIX_24V 0 0 0.00

GPS 40 22 11.14

TT8 0 0 0.00

LPSleep 6234 2 176.87

TT8_Active 943 13 161.91

TT8_Sampling 2391 33 981.95

TT8_CF8 324 38 154.05

TT8_Kalman 0 0 0.00

Analog_circuits 2349 10 288.56

GPS_charging 0 0 0.00

Compass 1191 7 102.39

RAFOS 2218 48 1307.38

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 -145.9 192 2217 506 483 0.0 0.0 0 140 0.00 0.00 -91.57 0.000 16386 0.000 0.000 191 2216 2243 2179 2308 0 0 0 0 0 0 14.44 28.83 14.46

143 -0.57 -145.9 192 2216 2183 2308 4.7 -7.1 9 191 12.75 2.70 -29.65 0.000 18724 0.461 2.144 2377 3601 3960 3939 3981 0 0 0 0 0 0 13.68 12.92 14.14

416 -0.63 -145.9 2379 3598 3946 3982 65.8 -15.3 63 421 0.00 2.40 0.00 0.000 1158 0.000 0.059 2379 2198 3963 3945 3981 0 0 0 0 0 0 14.28 14.16 14.31

748 -0.69 -145.9 2380 2197 3948 3981 111.1 -11.6 91 753 0.00 2.45 0.00 0.000 388 0.000 0.088 2376 3599 3964 3947 3981 0 0 0 0 0 0 14.53 14.16 14.54

833 -0.86 -145.9 2376 3600 3948 3982 119.5 -9.2 108 840 0.22 2.38 0.00 0.000 5286 0.098 0.054 2285 2189 3964 3947 3981 0 0 0 0 0 0 14.26 14.16 14.33

1138 -0.79 -145.9 2286 2188 3948 3981 173.9 -17.7 119 1143 0.12 2.50 0.00 0.000 2436 0.275 0.083 2305 3612 3964 3947 3981 0 0 0 0 0 0 13.98 14.19 14.18

1235 -0.88 -145.9 2306 3610 3948 3982 186.8 -12.0 138 1240 0.00 2.38 0.00 0.000 1158 0.000 0.055 2306 2190 3964 3947 3981 0 0 0 0 0 0 14.40 14.28 14.42

1560 -0.88 -145.9 2307 2189 3948 3981 232.0 -13.4 153 1565 0.00 2.47 0.00 0.000 260 0.000 0.090 2306 3598 3964 3947 3981 0 0 0 0 0 0 14.62 14.18 14.63

1672 -0.97 -145.9 2306 3600 3948 3981 244.5 -10.8 175 1677 0.12 2.35 0.00 0.000 5254 0.138 0.055 2257 2201 3964 3947 3981 0 0 0 0 0 0 14.26 14.26 14.37

1982 -0.93 -145.9 2257 2201 3948 3981 291.0 -14.9 187 1987 0.00 2.45 0.00 0.000 388 0.000 0.088 2249 3600 3964 3948 3981 0 0 0 0 0 0 14.64 14.20 14.65

2110 -0.93 -145.9 2249 3600 3947 3982 309.3 -13.3 210 2117 0.12 2.40 0.00 0.000 3078 0.255 0.057 2273 2200 3963 3946 3980 0 0 0 0 0 0 13.84 14.07 14.09

2416 -0.93 -145.9 2273 2199 3948 3980 345.8 -11.6 221 2420 0.00 2.47 0.00 0.000 260 0.000 0.088 2267 3600 3963 3947 3979 0 0 0 0 0 0 14.47 14.11 14.49

2506 -1.00 -145.9 2267 3600 3947 3980 355.8 -10.7 239 2510 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2201 3961 3944 3979 0 0 0 0 0 0 14.27 14.15 14.28

2835 -1.00 -145.9 2267 2200 3948 3979 394.6 -11.8 255 2840 0.00 2.47 0.00 0.000 260 0.000 0.088 2260 3600 3964 3946 3982 0 0 0 0 0 0 14.45 14.09 14.47

2910 -1.06 -145.9 2259 3601 3946 3978 403.5 -11.4 270 2915 0.00 2.40 0.00 0.000 1158 0.000 0.057 2258 2195 3961 3945 3978 0 0 0 0 0 0 14.25 14.13 14.28

3225 -1.06 -145.9 2260 2193 3944 3977 442.9 -12.5 283 3230 0.00 2.50 0.00 0.000 260 0.000 0.089 2253 3601 3961 3945 3977 0 0 0 0 0 0 14.45 14.05 14.47

3331 -1.11 -145.9 2252 3602 3946 3976 455.7 -11.8 304 3336 0.00 2.38 0.00 0.000 1158 0.000 0.056 2253 2200 3961 3945 3977 0 0 0 0 0 0 14.24 14.13 14.28

3524 end dive: TARGET_DEPTH_EXCEEDED

state 3524 begin apogee

3530 -0.13 0.0 2253 2056 3946 3976 480.7 -12.8 313 3747 1.10 0.05 213.12 1.447 10246 0.239 0.221 2530 2091 3363 3383 3343 0 0 0 0 0 0 13.82 13.31 12.62

3751 end apogee: CONTROL_FINISHED_OK

state 3751 begin climb

3755 0.57 145.9 2530 2092 3380 3337 491.6 0.0 320 3968 0.75 2.60 202.55 1.400 11012 0.064 0.079 2782 721 2765 2810 2721 0 0 0 0 0 0 13.46 12.94 12.38

4193 0.22 145.9 2783 722 2800 2715 464.0 15.3 397 4200 0.60 2.50 0.00 0.000 5254 0.326 0.076 2659 2105 2756 2799 2714 0 0 0 0 0 0 13.34 13.64 13.66

4499 0.06 145.9 2660 2105 2797 2710 432.1 10.2 408 4504 0.20 2.40 0.00 0.000 4740 0.285 0.076 2618 722 2754 2798 2710 0 0 0 0 0 0 13.27 13.49 13.40

4729 0.08 204.0 2618 721 2800 2710 414.4 7.3 454 4819 0.00 2.40 83.05 1.394 9382 0.000 0.080 2619 2114 2531 2589 2474 0 0 0 0 0 0 14.19 14.07 13.02

5131 0.09 227.2 2619 2114 2583 2459 379.2 8.9 484 5168 0.00 2.45 32.12 1.453 8740 0.000 0.081 2621 729 2434 2492 2376 0 0 0 0 0 0 14.44 13.79 13.19

5215 0.17 255.4 2621 731 2492 2375 372.0 8.7 500 5264 0.00 2.42 42.35 1.421 9382 0.000 0.078 2620 2109 2320 2375 2266 0 0 0 0 0 0 14.13 14.01 13.07

5586 0.21 270.8 2621 2109 2368 2254 337.6 9.3 524 5616 0.00 2.47 20.50 1.487 8868 0.000 0.084 2628 731 2256 2310 2202 0 0 0 0 0 0 14.50 14.07 13.25

5636 0.29 292.8 2628 732 2310 2203 332.8 9.0 534 5679 0.15 2.40 33.42 1.424 11430 0.116 0.077 2686 2102 2167 2218 2117 0 0 0 0 0 0 14.16 14.10 13.15

5978 0.22 292.8 2689 2105 2213 2107 286.4 13.5 552 5983 0.12 2.42 0.00 0.000 4740 0.247 0.083 2660 724 2159 2212 2107 0 0 0 0 0 0 14.01 14.15 14.13

6018 0.26 292.8 2661 723 2211 2106 281.4 11.1 560 6023 0.00 2.40 0.00 0.000 1158 0.000 0.078 2661 2106 2158 2210 2107 0 0 0 0 0 0 14.33 14.21 14.36

6338 0.26 292.8 2660 2107 2210 2106 246.8 10.2 574 6343 0.00 2.42 0.00 0.000 516 0.000 0.084 2660 720 2155 2206 2105 0 0 0 0 0 0 14.59 14.27 14.62

6399 0.34 310.8 2660 720 2209 2106 241.1 9.2 586 6430 0.00 2.40 24.60 1.435 9382 0.000 0.078 2660 2111 2098 2148 2049 0 0 0 0 0 0 14.40 14.28 13.36

6730 0.39 336.9 2661 2111 2144 2042 210.8 8.8 602 6775 0.15 0.00 42.83 1.360 10406 0.120 0.000 2721 2111 1994 2040 1948 0 0 0 0 0 0 14.33 14.06 13.29

7059 0.34 336.9 2721 2111 2032 1934 171.2 11.9 613 7064 0.12 2.42 0.00 0.000 4740 0.246 0.080 2699 719 1982 2031 1934 0 0 0 0 0 0 14.07 14.16 14.17

7151 0.39 348.8 2699 721 2029 1935 162.1 9.5 631 7175 0.00 2.40 17.75 1.434 9382 0.000 0.077 2699 2099 1941 1988 1895 0 0 0 0 0 0 14.33 14.21 13.33

7480 0.41 366.3 2699 2100 1982 1888 130.6 9.2 647 7512 0.00 2.40 25.92 1.370 8740 0.000 0.083 2699 728 1872 1913 1832 0 0 0 0 0 0 14.57 13.93 13.34

7564 0.53 409.2 2696 727 1898 1833 123.7 8.0 663 7643 0.15 2.40 71.75 1.244 11430 0.120 0.077 2764 2106 1693 1721 1666 0 0 0 0 0 0 14.20 14.15 13.17

7943 0.49 409.2 2765 2106 1718 1652 76.5 11.4 705 7949 0.00 2.47 0.00 0.000 388 0.000 0.083 2764 3510 1684 1717 1652 0 0 0 0 0 0 14.42 14.09 14.44

7959 0.44 409.2 2765 3512 1717 1653 74.6 11.8 708 7966 0.22 2.35 0.00 0.000 5254 0.285 0.066 2722 2136 1683 1716 1651 0 0 0 0 0 0 13.90 14.12 14.19

8264 0.61 516.4 2722 2136 1717 1647 54.3 5.0 739 8324 0.15 2.62 53.60 0.366 10916 0.116 0.088 2794 688 1258 1317 1199 0 0 0 0 0 0 14.23 14.12 13.78

8429 0.72 550.2 2793 688 1314 1196 40.5 8.4 771 8452 0.00 2.47 17.45 0.329 9382 0.000 0.078 2794 2105 1119 1186 1052 0 0 0 0 0 0 14.27 14.15 13.83

8749 0.98 679.1 2793 2105 1188 1049 17.6 4.0 805 8824 0.28 2.47 66.90 0.260 10660 0.093 0.079 2900 3515 591 633 550 0 0 0 0 0 0 14.25 14.11 13.90

8846 0.94 679.1 2901 3513 635 551 9.1 11.6 823 8851 0.00 2.45 0.00 0.000 1158 0.000 0.068 2906 2097 592 634 550 0 0 0 0 0 0 14.22 14.09 14.26

8914 end climb: SURFACE_DEPTH_REACHED

state 8914 begin surface coast

8924 end surface coast: CONTROL_FINISHED_OK

state 8924 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	138	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	389.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	220817,190913,7319.2451,-15009.0244,26,0.7,31,20.7,0.0,103.9,11,9.7	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	1.17	MHEAD_RNG_PITCHd_Wd	300.0,157931,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	220817,192433,7319.1890,-15009.1260,38,0.8,39,20.7,0.0,0.0,10,7.1

MODEM_MSG	CACST,6,1,20170822201238.202370,3,6397,38,0171,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35	PM_FREEKB_00	53901120
FINISH	0.1,1.020536	_24V_AH	12.38,108.735
SM_CCo	8944,12.55,0.219,0,0,498,702.78	_10V_AH	12.28,0.000
SM_GC	1.92,8.27,0.20,12.55,0.080,0.110,0.219,201,2222,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.30,14.28,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	310	FG_AHR_10Vo	0.000
MODEM	0,1503432244,75.36600,-145.04601,190.738,276307.5	MEM	323512
RAFOS_FIX	7318.028320,-15010.394531,220817,202021,2,255,0.86	DATA_FILE_SIZE	30032,832
IRIDIUM_FIX	7318.45,-15005.09,220817,163505	CAP_FILE_SIZE	112882,0
TT8_MAMPS	0.039697,0.88382	CFSIZE	2097872896,2045739008
HUMID	46.10	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1449.1
TCM_TEMP	13.10	CURRENT	0.034,245.73,1
XPDR_PINGS	7	GPS	220817,215530,7320.270,-15011.193,17,0.7,19,20.7,0.0,0.0,11,8.7
CP_FREE	15995994112.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	460	146.10	nil	0	0	0.00
Roll_motor	93	2143	2475.23	nil	0	0	0.00
VBD_pump_during_apogee	947	1487	17452.29	nil	0	0	0.00
VBD_pump_during_surface	12	218	33.99	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	8951	14	1595.27
Iridium_during_xfer	607	182	1374.51	NCP	8942	20	2214.04
Transponder_ping	1	420	9.10	PMAR	8898	9	1099.48
GUMSTIX_24V	0	0	0.00
GPS	40	22	11.14
TT8	0	0	0.00
LPSleep	6234	2	176.87
TT8_Active	943	13	161.91
TT8_Sampling	2391	33	981.95
TT8_CF8	324	38	154.05
TT8_Kalman	0	0	0.00
Analog_circuits	2349	10	288.56
GPS_charging	0	0	0.00
Compass	1191	7	102.39
RAFOS	2218	48	1307.38
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	192	2217	506	483	0.0	0.0	0	140	0.00	0.00	-91.57	0.000	16386	0.000	0.000	191	2216	2243	2179	2308	0	0	0	0	0	0	14.44	28.83	14.46
143	-0.57	-145.9	192	2216	2183	2308	4.7	-7.1	9	191	12.75	2.70	-29.65	0.000	18724	0.461	2.144	2377	3601	3960	3939	3981	0	0	0	0	0	0	13.68	12.92	14.14
416	-0.63	-145.9	2379	3598	3946	3982	65.8	-15.3	63	421	0.00	2.40	0.00	0.000	1158	0.000	0.059	2379	2198	3963	3945	3981	0	0	0	0	0	0	14.28	14.16	14.31
748	-0.69	-145.9	2380	2197	3948	3981	111.1	-11.6	91	753	0.00	2.45	0.00	0.000	388	0.000	0.088	2376	3599	3964	3947	3981	0	0	0	0	0	0	14.53	14.16	14.54
833	-0.86	-145.9	2376	3600	3948	3982	119.5	-9.2	108	840	0.22	2.38	0.00	0.000	5286	0.098	0.054	2285	2189	3964	3947	3981	0	0	0	0	0	0	14.26	14.16	14.33
1138	-0.79	-145.9	2286	2188	3948	3981	173.9	-17.7	119	1143	0.12	2.50	0.00	0.000	2436	0.275	0.083	2305	3612	3964	3947	3981	0	0	0	0	0	0	13.98	14.19	14.18
1235	-0.88	-145.9	2306	3610	3948	3982	186.8	-12.0	138	1240	0.00	2.38	0.00	0.000	1158	0.000	0.055	2306	2190	3964	3947	3981	0	0	0	0	0	0	14.40	14.28	14.42
1560	-0.88	-145.9	2307	2189	3948	3981	232.0	-13.4	153	1565	0.00	2.47	0.00	0.000	260	0.000	0.090	2306	3598	3964	3947	3981	0	0	0	0	0	0	14.62	14.18	14.63
1672	-0.97	-145.9	2306	3600	3948	3981	244.5	-10.8	175	1677	0.12	2.35	0.00	0.000	5254	0.138	0.055	2257	2201	3964	3947	3981	0	0	0	0	0	0	14.26	14.26	14.37
1982	-0.93	-145.9	2257	2201	3948	3981	291.0	-14.9	187	1987	0.00	2.45	0.00	0.000	388	0.000	0.088	2249	3600	3964	3948	3981	0	0	0	0	0	0	14.64	14.20	14.65
2110	-0.93	-145.9	2249	3600	3947	3982	309.3	-13.3	210	2117	0.12	2.40	0.00	0.000	3078	0.255	0.057	2273	2200	3963	3946	3980	0	0	0	0	0	0	13.84	14.07	14.09
2416	-0.93	-145.9	2273	2199	3948	3980	345.8	-11.6	221	2420	0.00	2.47	0.00	0.000	260	0.000	0.088	2267	3600	3963	3947	3979	0	0	0	0	0	0	14.47	14.11	14.49
2506	-1.00	-145.9	2267	3600	3947	3980	355.8	-10.7	239	2510	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2201	3961	3944	3979	0	0	0	0	0	0	14.27	14.15	14.28
2835	-1.00	-145.9	2267	2200	3948	3979	394.6	-11.8	255	2840	0.00	2.47	0.00	0.000	260	0.000	0.088	2260	3600	3964	3946	3982	0	0	0	0	0	0	14.45	14.09	14.47
2910	-1.06	-145.9	2259	3601	3946	3978	403.5	-11.4	270	2915	0.00	2.40	0.00	0.000	1158	0.000	0.057	2258	2195	3961	3945	3978	0	0	0	0	0	0	14.25	14.13	14.28
3225	-1.06	-145.9	2260	2193	3944	3977	442.9	-12.5	283	3230	0.00	2.50	0.00	0.000	260	0.000	0.089	2253	3601	3961	3945	3977	0	0	0	0	0	0	14.45	14.05	14.47
3331	-1.11	-145.9	2252	3602	3946	3976	455.7	-11.8	304	3336	0.00	2.38	0.00	0.000	1158	0.000	0.056	2253	2200	3961	3945	3977	0	0	0	0	0	0	14.24	14.13	14.28
3524	end dive: TARGET_DEPTH_EXCEEDED
state	3524	begin apogee
3530	-0.13	0.0	2253	2056	3946	3976	480.7	-12.8	313	3747	1.10	0.05	213.12	1.447	10246	0.239	0.221	2530	2091	3363	3383	3343	0	0	0	0	0	0	13.82	13.31	12.62
3751	end apogee: CONTROL_FINISHED_OK
state	3751	begin climb
3755	0.57	145.9	2530	2092	3380	3337	491.6	0.0	320	3968	0.75	2.60	202.55	1.400	11012	0.064	0.079	2782	721	2765	2810	2721	0	0	0	0	0	0	13.46	12.94	12.38
4193	0.22	145.9	2783	722	2800	2715	464.0	15.3	397	4200	0.60	2.50	0.00	0.000	5254	0.326	0.076	2659	2105	2756	2799	2714	0	0	0	0	0	0	13.34	13.64	13.66
4499	0.06	145.9	2660	2105	2797	2710	432.1	10.2	408	4504	0.20	2.40	0.00	0.000	4740	0.285	0.076	2618	722	2754	2798	2710	0	0	0	0	0	0	13.27	13.49	13.40
4729	0.08	204.0	2618	721	2800	2710	414.4	7.3	454	4819	0.00	2.40	83.05	1.394	9382	0.000	0.080	2619	2114	2531	2589	2474	0	0	0	0	0	0	14.19	14.07	13.02
5131	0.09	227.2	2619	2114	2583	2459	379.2	8.9	484	5168	0.00	2.45	32.12	1.453	8740	0.000	0.081	2621	729	2434	2492	2376	0	0	0	0	0	0	14.44	13.79	13.19
5215	0.17	255.4	2621	731	2492	2375	372.0	8.7	500	5264	0.00	2.42	42.35	1.421	9382	0.000	0.078	2620	2109	2320	2375	2266	0	0	0	0	0	0	14.13	14.01	13.07
5586	0.21	270.8	2621	2109	2368	2254	337.6	9.3	524	5616	0.00	2.47	20.50	1.487	8868	0.000	0.084	2628	731	2256	2310	2202	0	0	0	0	0	0	14.50	14.07	13.25
5636	0.29	292.8	2628	732	2310	2203	332.8	9.0	534	5679	0.15	2.40	33.42	1.424	11430	0.116	0.077	2686	2102	2167	2218	2117	0	0	0	0	0	0	14.16	14.10	13.15
5978	0.22	292.8	2689	2105	2213	2107	286.4	13.5	552	5983	0.12	2.42	0.00	0.000	4740	0.247	0.083	2660	724	2159	2212	2107	0	0	0	0	0	0	14.01	14.15	14.13
6018	0.26	292.8	2661	723	2211	2106	281.4	11.1	560	6023	0.00	2.40	0.00	0.000	1158	0.000	0.078	2661	2106	2158	2210	2107	0	0	0	0	0	0	14.33	14.21	14.36
6338	0.26	292.8	2660	2107	2210	2106	246.8	10.2	574	6343	0.00	2.42	0.00	0.000	516	0.000	0.084	2660	720	2155	2206	2105	0	0	0	0	0	0	14.59	14.27	14.62
6399	0.34	310.8	2660	720	2209	2106	241.1	9.2	586	6430	0.00	2.40	24.60	1.435	9382	0.000	0.078	2660	2111	2098	2148	2049	0	0	0	0	0	0	14.40	14.28	13.36
6730	0.39	336.9	2661	2111	2144	2042	210.8	8.8	602	6775	0.15	0.00	42.83	1.360	10406	0.120	0.000	2721	2111	1994	2040	1948	0	0	0	0	0	0	14.33	14.06	13.29
7059	0.34	336.9	2721	2111	2032	1934	171.2	11.9	613	7064	0.12	2.42	0.00	0.000	4740	0.246	0.080	2699	719	1982	2031	1934	0	0	0	0	0	0	14.07	14.16	14.17
7151	0.39	348.8	2699	721	2029	1935	162.1	9.5	631	7175	0.00	2.40	17.75	1.434	9382	0.000	0.077	2699	2099	1941	1988	1895	0	0	0	0	0	0	14.33	14.21	13.33
7480	0.41	366.3	2699	2100	1982	1888	130.6	9.2	647	7512	0.00	2.40	25.92	1.370	8740	0.000	0.083	2699	728	1872	1913	1832	0	0	0	0	0	0	14.57	13.93	13.34
7564	0.53	409.2	2696	727	1898	1833	123.7	8.0	663	7643	0.15	2.40	71.75	1.244	11430	0.120	0.077	2764	2106	1693	1721	1666	0	0	0	0	0	0	14.20	14.15	13.17
7943	0.49	409.2	2765	2106	1718	1652	76.5	11.4	705	7949	0.00	2.47	0.00	0.000	388	0.000	0.083	2764	3510	1684	1717	1652	0	0	0	0	0	0	14.42	14.09	14.44
7959	0.44	409.2	2765	3512	1717	1653	74.6	11.8	708	7966	0.22	2.35	0.00	0.000	5254	0.285	0.066	2722	2136	1683	1716	1651	0	0	0	0	0	0	13.90	14.12	14.19
8264	0.61	516.4	2722	2136	1717	1647	54.3	5.0	739	8324	0.15	2.62	53.60	0.366	10916	0.116	0.088	2794	688	1258	1317	1199	0	0	0	0	0	0	14.23	14.12	13.78
8429	0.72	550.2	2793	688	1314	1196	40.5	8.4	771	8452	0.00	2.47	17.45	0.329	9382	0.000	0.078	2794	2105	1119	1186	1052	0	0	0	0	0	0	14.27	14.15	13.83
8749	0.98	679.1	2793	2105	1188	1049	17.6	4.0	805	8824	0.28	2.47	66.90	0.260	10660	0.093	0.079	2900	3515	591	633	550	0	0	0	0	0	0	14.25	14.11	13.90
8846	0.94	679.1	2901	3513	635	551	9.1	11.6	823	8851	0.00	2.45	0.00	0.000	1158	0.000	0.068	2906	2097	592	634	550	0	0	0	0	0	0	14.22	14.09	14.26
8914	end climb: SURFACE_DEPTH_REACHED
state	8914	begin surface coast
8924	end surface coast: CONTROL_FINISHED_OK
state	8924	begin surface