Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 140 * 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 140 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 395.0

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 36 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 395.0 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 140 NOCOMM_ACTION 161 R_STBD_OVSHOOT 36 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 230817,003724,7321.4316,-15013.2197,19,1.1,32,20.7,0.0,94.2,9,9.6 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 1.15 MHEAD_RNG_PITCHd_Wd 292.6,153498,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 230817,005820,7321.4883,-15013.2676,7,0.8,25,20.7,0.6,345.2,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170823000403.396602,3,7194,32,1068,0150,250,00,00,01,01,-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 53852544

FINISH 0.1,1.017193 _24V_AH 12.40,109.680

SM_CCo 9137,10.93,0.220,0,0,498,703.03 _10V_AH 12.45,0.000

SM_GC 2.12,8.00,0.17,10.93,0.059,0.121,0.220,205,2216,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.27,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 404 FG_AHR_10Vo 0.000

MODEM 0,1503446643,75.36600,-145.04601,189.397,274141.9 MEM 323348

RAFOS_FIX 7318.028320,-15010.394531,220817,202021,2,255,0.86 DATA_FILE_SIZE 26741,797

IRIDIUM_FIX 7321.88,-15007.86,230817,005030 CAP_FILE_SIZE 112242,0

TT8_MAMPS 0.040446,0.826896 CFSIZE 2097872896,2045116416

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.2

TCM_TEMP 13.20 CURRENT 0.020,284.87,1

XPDR_PINGS 14 GPS 230817,033233,7322.604,-15015.499,24,0.8,25,20.7,0.0,0.0,10,8.6

CP_FREE 15995666432.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 140.91 nil 0 0 0.00

Roll_motor 89 2151 2382.89 nil 0 0 0.00

VBD_pump_during_apogee 923 1643 18834.08 nil 0 0 0.00

VBD_pump_during_surface 10 219 29.74 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 9145 14 1635.65

Iridium_during_xfer 778 173 1675.93 NCP 9144 20 2267.71

Transponder_ping 3 420 18.23 PMAR 9092 9 1122.67

GUMSTIX_24V 0 0 0.00

GPS 26 22 7.34

TT8 0 0 0.00

LPSleep 6701 2 192.72

TT8_Active 954 13 165.99

TT8_Sampling 2427 33 1010.78

TT8_CF8 335 38 161.84

TT8_Kalman 0 0 0.00

Analog_circuits 2475 10 308.16

GPS_charging 0 0 0.00

Compass 1143 7 99.65

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 -145.9 192 2219 497 487 0.0 0.0 0 140 0.00 0.00 -91.35 0.000 16386 0.000 0.000 190 2219 2200 2132 2269 0 0 0 0 0 0 14.33 28.83 14.35

143 -0.57 -145.9 192 2219 2134 2269 4.2 -5.8 9 196 12.52 2.72 -32.55 0.000 18724 0.454 2.152 2375 3592 3964 3946 3983 0 0 0 0 0 0 13.68 12.57 14.14

421 -0.61 -145.9 2375 3595 3954 3985 65.2 -15.9 64 428 0.00 2.38 0.00 0.000 1158 0.000 0.058 2375 2203 3968 3953 3984 0 0 0 0 0 0 14.23 14.11 14.25

748 -0.66 -145.9 2375 2203 3955 3985 111.8 -12.6 91 753 0.00 2.45 0.00 0.000 388 0.000 0.087 2365 3596 3968 3954 3983 0 0 0 0 0 0 14.52 14.18 14.57

885 -0.81 -145.9 2365 3598 3955 3984 126.0 -10.1 118 890 0.15 2.38 0.00 0.000 5254 0.119 0.055 2305 2188 3969 3955 3984 0 0 0 0 0 0 14.23 14.20 14.33

1200 -0.78 -145.9 2305 2187 3956 3983 176.6 -15.7 131 1205 0.00 2.47 0.00 0.000 388 0.000 0.086 2295 3600 3968 3954 3983 0 0 0 0 0 0 14.61 14.17 14.63

1290 -0.83 -145.9 2295 3602 3955 3985 189.4 -13.6 149 1295 0.00 2.35 0.00 0.000 1158 0.000 0.055 2295 2199 3968 3954 3983 0 0 0 0 0 0 14.35 14.24 14.38

1620 -0.83 -145.9 2296 2199 3955 3984 237.2 -14.1 165 1625 0.00 2.45 0.00 0.000 260 0.000 0.088 2287 3598 3968 3954 3983 0 0 0 0 0 0 14.63 14.19 14.65

1757 -0.89 -145.9 2288 3600 3955 3983 253.7 -11.7 192 1762 0.00 2.38 0.00 0.000 1158 0.000 0.057 2287 2193 3968 3953 3983 0 0 0 0 0 0 14.38 14.26 14.39

2073 -0.89 -145.9 2288 2192 3955 3983 292.7 -12.0 205 2078 0.00 2.45 0.00 0.000 260 0.000 0.088 2280 3595 3968 3954 3983 0 0 0 0 0 0 14.64 14.22 14.65

2178 -0.98 -145.9 2281 3596 3955 3984 304.5 -10.8 226 2182 0.00 2.35 0.00 0.000 1158 0.000 0.057 2280 2195 3968 3954 3983 0 0 0 0 0 0 14.40 14.29 14.44

2493 -1.00 -145.9 2281 2195 3955 3989 340.8 -11.3 239 2498 0.00 2.47 0.00 0.000 388 0.000 0.090 2279 3603 3968 3954 3982 0 0 0 0 0 0 14.64 14.21 14.66

2568 -1.11 -145.9 2279 3603 3954 3990 348.7 -9.9 254 2573 0.17 2.38 0.00 0.000 5286 0.116 0.057 2215 2190 3967 3953 3982 0 0 0 0 0 0 14.33 14.28 14.45

2883 -1.01 -145.9 2215 2190 3954 3982 399.5 -16.4 267 2888 0.12 2.47 0.00 0.000 2436 0.306 0.084 2236 3602 3966 3951 3981 0 0 0 0 0 0 13.95 14.20 14.14

3043 -1.01 -145.9 2236 3602 3953 3982 421.8 -13.3 299 3048 0.00 2.35 0.00 0.000 1030 0.000 0.056 2242 2201 3966 3952 3981 0 0 0 0 0 0 14.41 14.30 14.45

3364 -0.97 -145.9 2237 2200 3953 3982 467.0 -14.0 313 3369 0.12 2.42 0.00 0.000 2436 0.309 0.084 2255 3592 3967 3953 3981 0 0 0 0 0 0 14.00 14.19 14.17

3471 -1.03 -145.9 2259 3593 3952 3981 479.5 -11.1 334 3475 0.00 2.33 0.00 0.000 1158 0.000 0.055 2255 2200 3966 3953 3980 0 0 0 0 0 0 14.39 14.26 14.41

3478 end dive: TARGET_DEPTH_EXCEEDED

state 3478 begin apogee

3483 -0.13 0.0 2255 2069 3953 3981 480.8 -10.8 336 3701 1.05 0.00 214.35 1.443 10246 0.241 0.000 2527 2070 3364 3387 3342 0 0 0 0 0 0 14.00 13.48 12.71

3704 end apogee: CONTROL_FINISHED_OK

state 3705 begin climb

3707 0.57 145.9 2528 2071 3382 3334 491.3 0.0 343 3922 0.75 2.72 203.48 1.392 11012 0.064 0.074 2780 3490 2762 2808 2716 0 0 0 0 0 0 13.57 13.14 12.40

3942 0.13 145.9 2780 3490 2804 2716 492.7 14.6 373 3947 0.82 2.50 0.00 0.000 5254 0.350 0.057 2626 2111 2758 2800 2716 0 0 0 0 0 0 13.05 13.28 13.35

4263 0.05 167.9 2629 2110 2797 2711 462.7 9.0 387 4296 0.12 2.62 27.60 1.496 12964 0.292 0.084 2602 690 2679 2724 2634 0 0 0 0 0 0 13.69 13.79 12.96

4368 0.12 218.6 2603 690 2721 2631 454.7 7.7 407 4448 0.00 2.50 74.93 1.411 9382 0.000 0.078 2602 2092 2474 2536 2413 0 0 0 0 0 0 14.02 13.90 12.87

4746 0.17 250.5 2602 2093 2526 2397 422.6 8.5 433 4794 0.12 0.00 46.35 1.438 10406 0.133 0.000 2661 2092 2343 2398 2288 0 0 0 0 0 0 14.08 13.84 13.04

5076 0.11 250.5 2661 2092 2387 2276 381.7 12.6 444 5082 0.15 2.45 0.00 0.000 4740 0.257 0.081 2633 693 2331 2386 2276 0 0 0 0 0 0 13.96 14.12 14.10

5137 0.18 254.9 2633 691 2386 2276 375.3 9.8 456 5143 0.00 2.47 0.00 0.000 1190 0.000 0.078 2632 2109 2330 2384 2276 0 0 0 0 0 0 14.28 14.16 14.31

5468 0.18 254.9 2633 2108 2385 2275 341.5 10.2 472 5469 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2107 2329 2384 2274 0 0 0 0 0 0 14.59 14.60 14.59

5769 0.18 258.8 2633 2107 2384 2275 311.6 9.8 482 5778 0.00 2.47 4.22 1.644 8740 0.000 0.085 2641 684 2312 2366 2259 0 0 0 0 0 0 14.61 14.28 13.15

5829 0.25 269.2 2640 685 2368 2265 305.7 9.5 494 5854 0.00 2.45 20.52 1.503 9382 0.000 0.080 2641 2099 2269 2321 2217 0 0 0 0 0 0 14.38 14.26 13.32

6159 0.26 278.6 2641 2099 2317 2208 273.2 9.6 510 6175 0.00 0.00 14.00 1.548 8742 0.000 0.000 2641 2099 2228 2280 2176 0 0 0 0 0 0 14.57 14.18 13.33

6490 0.31 312.3 2641 2100 2276 2169 243.7 8.4 526 6552 0.12 2.50 55.78 1.364 10916 0.129 0.084 2696 690 2086 2135 2038 0 0 0 0 0 0 14.26 13.83 13.24

6617 0.31 312.3 2700 691 2128 2039 229.1 10.9 551 6622 0.00 2.50 0.00 0.000 1030 0.000 0.078 2700 2107 2082 2127 2038 0 0 0 0 0 0 14.14 14.02 14.19

6943 0.27 312.3 2700 2109 2128 2032 193.7 10.6 566 6948 0.12 2.47 0.00 0.000 4740 0.228 0.082 2672 691 2079 2127 2031 0 0 0 0 0 0 14.09 14.18 14.20

6983 0.36 342.8 2672 692 2126 2032 189.9 8.6 574 7040 0.00 2.45 48.45 1.331 9382 0.000 0.078 2670 2101 1964 2010 1918 0 0 0 0 0 0 14.35 14.23 13.27

7365 0.45 376.4 2673 2101 2005 1907 157.1 8.5 600 7427 0.15 2.58 55.85 1.298 10916 0.124 0.086 2752 692 1826 1857 1796 0 0 0 0 0 0 14.24 13.95 13.26

7463 0.42 376.4 2754 694 1852 1796 145.1 13.1 619 7469 0.15 2.50 0.00 0.000 5254 0.246 0.079 2721 2103 1822 1850 1795 0 0 0 0 0 0 13.88 14.02 14.04

7789 0.42 376.4 2721 2106 1850 1788 109.6 10.2 634 7793 0.00 2.50 0.00 0.000 516 0.000 0.085 2728 687 1818 1849 1787 0 0 0 0 0 0 14.51 14.17 14.52

7829 0.46 376.4 2729 687 1848 1787 105.6 10.2 642 7834 0.00 2.47 0.00 0.000 1158 0.000 0.079 2728 2100 1817 1847 1787 0 0 0 0 0 0 14.33 14.22 14.38

8139 0.49 407.4 2729 2101 1854 1785 76.6 8.6 671 8161 0.00 0.00 15.32 0.438 8230 0.000 0.000 2728 2101 1703 1729 1677 0 0 0 0 0 0 14.55 13.98 13.70

8459 0.64 511.4 2728 2101 1729 1673 53.9 5.2 703 8518 0.15 2.50 53.67 0.364 10916 0.116 0.086 2794 687 1277 1334 1221 0 0 0 0 0 0 14.23 14.00 13.76

8593 0.74 541.0 2795 686 1333 1218 42.4 8.6 729 8616 0.00 2.47 15.50 0.333 9382 0.000 0.078 2794 2100 1156 1223 1090 0 0 0 0 0 0 14.26 14.12 13.78

8913 0.94 659.1 2795 2101 1224 1083 18.0 4.5 763 8982 0.22 2.53 61.08 0.264 10916 0.101 0.089 2890 701 674 732 616 0 0 0 0 0 0 14.21 14.08 13.85

9042 1.01 683.0 2890 702 733 614 7.2 8.9 788 9060 0.00 2.47 12.80 0.233 9382 0.000 0.079 2890 2102 578 620 536 0 0 0 0 0 0 14.12 13.97 13.91

9095 end climb: SURFACE_DEPTH_REACHED

state 9095 begin surface coast

9115 end surface coast: CONTROL_FINISHED_OK

state 9115 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	140	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	395.0
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	36	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	230817,003724,7321.4316,-15013.2197,19,1.1,32,20.7,0.0,94.2,9,9.6	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	1.15	MHEAD_RNG_PITCHd_Wd	292.6,153498,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	230817,005820,7321.4883,-15013.2676,7,0.8,25,20.7,0.6,345.2,11,10.0

MODEM_MSG	CACST,6,1,20170823000403.396602,3,7194,32,1068,0150,250,00,00,01,01,-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	53852544
FINISH	0.1,1.017193	_24V_AH	12.40,109.680
SM_CCo	9137,10.93,0.220,0,0,498,703.03	_10V_AH	12.45,0.000
SM_GC	2.12,8.00,0.17,10.93,0.059,0.121,0.220,205,2216,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.27,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	404	FG_AHR_10Vo	0.000
MODEM	0,1503446643,75.36600,-145.04601,189.397,274141.9	MEM	323348
RAFOS_FIX	7318.028320,-15010.394531,220817,202021,2,255,0.86	DATA_FILE_SIZE	26741,797
IRIDIUM_FIX	7321.88,-15007.86,230817,005030	CAP_FILE_SIZE	112242,0
TT8_MAMPS	0.040446,0.826896	CFSIZE	2097872896,2045116416
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.2
TCM_TEMP	13.20	CURRENT	0.020,284.87,1
XPDR_PINGS	14	GPS	230817,033233,7322.604,-15015.499,24,0.8,25,20.7,0.0,0.0,10,8.6
CP_FREE	15995666432.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	140.91	nil	0	0	0.00
Roll_motor	89	2151	2382.89	nil	0	0	0.00
VBD_pump_during_apogee	923	1643	18834.08	nil	0	0	0.00
VBD_pump_during_surface	10	219	29.74	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	9145	14	1635.65
Iridium_during_xfer	778	173	1675.93	NCP	9144	20	2267.71
Transponder_ping	3	420	18.23	PMAR	9092	9	1122.67
GUMSTIX_24V	0	0	0.00
GPS	26	22	7.34
TT8	0	0	0.00
LPSleep	6701	2	192.72
TT8_Active	954	13	165.99
TT8_Sampling	2427	33	1010.78
TT8_CF8	335	38	161.84
TT8_Kalman	0	0	0.00
Analog_circuits	2475	10	308.16
GPS_charging	0	0	0.00
Compass	1143	7	99.65
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	192	2219	497	487	0.0	0.0	0	140	0.00	0.00	-91.35	0.000	16386	0.000	0.000	190	2219	2200	2132	2269	0	0	0	0	0	0	14.33	28.83	14.35
143	-0.57	-145.9	192	2219	2134	2269	4.2	-5.8	9	196	12.52	2.72	-32.55	0.000	18724	0.454	2.152	2375	3592	3964	3946	3983	0	0	0	0	0	0	13.68	12.57	14.14
421	-0.61	-145.9	2375	3595	3954	3985	65.2	-15.9	64	428	0.00	2.38	0.00	0.000	1158	0.000	0.058	2375	2203	3968	3953	3984	0	0	0	0	0	0	14.23	14.11	14.25
748	-0.66	-145.9	2375	2203	3955	3985	111.8	-12.6	91	753	0.00	2.45	0.00	0.000	388	0.000	0.087	2365	3596	3968	3954	3983	0	0	0	0	0	0	14.52	14.18	14.57
885	-0.81	-145.9	2365	3598	3955	3984	126.0	-10.1	118	890	0.15	2.38	0.00	0.000	5254	0.119	0.055	2305	2188	3969	3955	3984	0	0	0	0	0	0	14.23	14.20	14.33
1200	-0.78	-145.9	2305	2187	3956	3983	176.6	-15.7	131	1205	0.00	2.47	0.00	0.000	388	0.000	0.086	2295	3600	3968	3954	3983	0	0	0	0	0	0	14.61	14.17	14.63
1290	-0.83	-145.9	2295	3602	3955	3985	189.4	-13.6	149	1295	0.00	2.35	0.00	0.000	1158	0.000	0.055	2295	2199	3968	3954	3983	0	0	0	0	0	0	14.35	14.24	14.38
1620	-0.83	-145.9	2296	2199	3955	3984	237.2	-14.1	165	1625	0.00	2.45	0.00	0.000	260	0.000	0.088	2287	3598	3968	3954	3983	0	0	0	0	0	0	14.63	14.19	14.65
1757	-0.89	-145.9	2288	3600	3955	3983	253.7	-11.7	192	1762	0.00	2.38	0.00	0.000	1158	0.000	0.057	2287	2193	3968	3953	3983	0	0	0	0	0	0	14.38	14.26	14.39
2073	-0.89	-145.9	2288	2192	3955	3983	292.7	-12.0	205	2078	0.00	2.45	0.00	0.000	260	0.000	0.088	2280	3595	3968	3954	3983	0	0	0	0	0	0	14.64	14.22	14.65
2178	-0.98	-145.9	2281	3596	3955	3984	304.5	-10.8	226	2182	0.00	2.35	0.00	0.000	1158	0.000	0.057	2280	2195	3968	3954	3983	0	0	0	0	0	0	14.40	14.29	14.44
2493	-1.00	-145.9	2281	2195	3955	3989	340.8	-11.3	239	2498	0.00	2.47	0.00	0.000	388	0.000	0.090	2279	3603	3968	3954	3982	0	0	0	0	0	0	14.64	14.21	14.66
2568	-1.11	-145.9	2279	3603	3954	3990	348.7	-9.9	254	2573	0.17	2.38	0.00	0.000	5286	0.116	0.057	2215	2190	3967	3953	3982	0	0	0	0	0	0	14.33	14.28	14.45
2883	-1.01	-145.9	2215	2190	3954	3982	399.5	-16.4	267	2888	0.12	2.47	0.00	0.000	2436	0.306	0.084	2236	3602	3966	3951	3981	0	0	0	0	0	0	13.95	14.20	14.14
3043	-1.01	-145.9	2236	3602	3953	3982	421.8	-13.3	299	3048	0.00	2.35	0.00	0.000	1030	0.000	0.056	2242	2201	3966	3952	3981	0	0	0	0	0	0	14.41	14.30	14.45
3364	-0.97	-145.9	2237	2200	3953	3982	467.0	-14.0	313	3369	0.12	2.42	0.00	0.000	2436	0.309	0.084	2255	3592	3967	3953	3981	0	0	0	0	0	0	14.00	14.19	14.17
3471	-1.03	-145.9	2259	3593	3952	3981	479.5	-11.1	334	3475	0.00	2.33	0.00	0.000	1158	0.000	0.055	2255	2200	3966	3953	3980	0	0	0	0	0	0	14.39	14.26	14.41
3478	end dive: TARGET_DEPTH_EXCEEDED
state	3478	begin apogee
3483	-0.13	0.0	2255	2069	3953	3981	480.8	-10.8	336	3701	1.05	0.00	214.35	1.443	10246	0.241	0.000	2527	2070	3364	3387	3342	0	0	0	0	0	0	14.00	13.48	12.71
3704	end apogee: CONTROL_FINISHED_OK
state	3705	begin climb
3707	0.57	145.9	2528	2071	3382	3334	491.3	0.0	343	3922	0.75	2.72	203.48	1.392	11012	0.064	0.074	2780	3490	2762	2808	2716	0	0	0	0	0	0	13.57	13.14	12.40
3942	0.13	145.9	2780	3490	2804	2716	492.7	14.6	373	3947	0.82	2.50	0.00	0.000	5254	0.350	0.057	2626	2111	2758	2800	2716	0	0	0	0	0	0	13.05	13.28	13.35
4263	0.05	167.9	2629	2110	2797	2711	462.7	9.0	387	4296	0.12	2.62	27.60	1.496	12964	0.292	0.084	2602	690	2679	2724	2634	0	0	0	0	0	0	13.69	13.79	12.96
4368	0.12	218.6	2603	690	2721	2631	454.7	7.7	407	4448	0.00	2.50	74.93	1.411	9382	0.000	0.078	2602	2092	2474	2536	2413	0	0	0	0	0	0	14.02	13.90	12.87
4746	0.17	250.5	2602	2093	2526	2397	422.6	8.5	433	4794	0.12	0.00	46.35	1.438	10406	0.133	0.000	2661	2092	2343	2398	2288	0	0	0	0	0	0	14.08	13.84	13.04
5076	0.11	250.5	2661	2092	2387	2276	381.7	12.6	444	5082	0.15	2.45	0.00	0.000	4740	0.257	0.081	2633	693	2331	2386	2276	0	0	0	0	0	0	13.96	14.12	14.10
5137	0.18	254.9	2633	691	2386	2276	375.3	9.8	456	5143	0.00	2.47	0.00	0.000	1190	0.000	0.078	2632	2109	2330	2384	2276	0	0	0	0	0	0	14.28	14.16	14.31
5468	0.18	254.9	2633	2108	2385	2275	341.5	10.2	472	5469	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2107	2329	2384	2274	0	0	0	0	0	0	14.59	14.60	14.59
5769	0.18	258.8	2633	2107	2384	2275	311.6	9.8	482	5778	0.00	2.47	4.22	1.644	8740	0.000	0.085	2641	684	2312	2366	2259	0	0	0	0	0	0	14.61	14.28	13.15
5829	0.25	269.2	2640	685	2368	2265	305.7	9.5	494	5854	0.00	2.45	20.52	1.503	9382	0.000	0.080	2641	2099	2269	2321	2217	0	0	0	0	0	0	14.38	14.26	13.32
6159	0.26	278.6	2641	2099	2317	2208	273.2	9.6	510	6175	0.00	0.00	14.00	1.548	8742	0.000	0.000	2641	2099	2228	2280	2176	0	0	0	0	0	0	14.57	14.18	13.33
6490	0.31	312.3	2641	2100	2276	2169	243.7	8.4	526	6552	0.12	2.50	55.78	1.364	10916	0.129	0.084	2696	690	2086	2135	2038	0	0	0	0	0	0	14.26	13.83	13.24
6617	0.31	312.3	2700	691	2128	2039	229.1	10.9	551	6622	0.00	2.50	0.00	0.000	1030	0.000	0.078	2700	2107	2082	2127	2038	0	0	0	0	0	0	14.14	14.02	14.19
6943	0.27	312.3	2700	2109	2128	2032	193.7	10.6	566	6948	0.12	2.47	0.00	0.000	4740	0.228	0.082	2672	691	2079	2127	2031	0	0	0	0	0	0	14.09	14.18	14.20
6983	0.36	342.8	2672	692	2126	2032	189.9	8.6	574	7040	0.00	2.45	48.45	1.331	9382	0.000	0.078	2670	2101	1964	2010	1918	0	0	0	0	0	0	14.35	14.23	13.27
7365	0.45	376.4	2673	2101	2005	1907	157.1	8.5	600	7427	0.15	2.58	55.85	1.298	10916	0.124	0.086	2752	692	1826	1857	1796	0	0	0	0	0	0	14.24	13.95	13.26
7463	0.42	376.4	2754	694	1852	1796	145.1	13.1	619	7469	0.15	2.50	0.00	0.000	5254	0.246	0.079	2721	2103	1822	1850	1795	0	0	0	0	0	0	13.88	14.02	14.04
7789	0.42	376.4	2721	2106	1850	1788	109.6	10.2	634	7793	0.00	2.50	0.00	0.000	516	0.000	0.085	2728	687	1818	1849	1787	0	0	0	0	0	0	14.51	14.17	14.52
7829	0.46	376.4	2729	687	1848	1787	105.6	10.2	642	7834	0.00	2.47	0.00	0.000	1158	0.000	0.079	2728	2100	1817	1847	1787	0	0	0	0	0	0	14.33	14.22	14.38
8139	0.49	407.4	2729	2101	1854	1785	76.6	8.6	671	8161	0.00	0.00	15.32	0.438	8230	0.000	0.000	2728	2101	1703	1729	1677	0	0	0	0	0	0	14.55	13.98	13.70
8459	0.64	511.4	2728	2101	1729	1673	53.9	5.2	703	8518	0.15	2.50	53.67	0.364	10916	0.116	0.086	2794	687	1277	1334	1221	0	0	0	0	0	0	14.23	14.00	13.76
8593	0.74	541.0	2795	686	1333	1218	42.4	8.6	729	8616	0.00	2.47	15.50	0.333	9382	0.000	0.078	2794	2100	1156	1223	1090	0	0	0	0	0	0	14.26	14.12	13.78
8913	0.94	659.1	2795	2101	1224	1083	18.0	4.5	763	8982	0.22	2.53	61.08	0.264	10916	0.101	0.089	2890	701	674	732	616	0	0	0	0	0	0	14.21	14.08	13.85
9042	1.01	683.0	2890	702	733	614	7.2	8.9	788	9060	0.00	2.47	12.80	0.233	9382	0.000	0.079	2890	2102	578	620	536	0	0	0	0	0	0	14.12	13.97	13.91
9095	end climb: SURFACE_DEPTH_REACHED
state	9095	begin surface coast
9115	end surface coast: CONTROL_FINISHED_OK
state	9115	begin surface