Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 154 * 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 154 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 432.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 432.0 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 24 VBD_MIN 500

DIVE 154 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 240817,162934,7336.6797,-15056.3750,36,0.9,37,20.4,0.5,303.9,10,9.7 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 1.18 MHEAD_RNG_PITCHd_Wd 293.5,118529,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.0 D_GRID 480

GPS2 240817,165123,7336.6685,-15056.7158,5,0.7,12,20.4,0.0,193.2,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170824161949.857767,3,19,12,0118,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32 PM_FREEKB_00 53424640

FINISH 0.1,1.020608 _24V_AH 12.40,116.417

SM_CCo 8750,16.10,0.214,0,0,498,703.03 _10V_AH 12.26,0.000

SM_GC 1.31,8.07,0.17,16.10,0.074,0.119,0.214,198,2218,498,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.30,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 382 FG_AHR_10Vo 0.000

MODEM 0,1503590636,75.36600,-145.04601,182.887,264754.7 MEM 323664

RAFOS_FIX 7335.062012,-15057.400391,240817,161616,3,255,0.00 DATA_FILE_SIZE 26708,747

IRIDIUM_FIX 7335.21,-15059.68,240817,164456 CAP_FILE_SIZE 107599,0

TT8_MAMPS 0.039697,0.929509 CFSIZE 2097872896,2040528896

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.72292 SOUNDSPEED 1448.6

TCM_TEMP 13.20 CURRENT 0.038,277.89,1

XPDR_PINGS 19 GPS 240817,191926,7337.687,-15059.813,40,0.8,40,20.4,0.8,257.2,10,10.0

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 144.64 nil 0 0 0.00

Roll_motor 79 2144 2109.19 nil 0 0 0.00

VBD_pump_during_apogee 927 1577 18141.53 nil 0 0 0.00

VBD_pump_during_surface 16 214 42.76 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 8711 14 1566.13

Iridium_during_xfer 776 161 1553.20 NCP 8749 20 2169.75

Transponder_ping 4 420 24.74 PMAR 8706 9 1069.61

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.72

TT8 0 0 0.00

LPSleep 6382 2 180.77

TT8_Active 821 13 140.73

TT8_Sampling 2563 33 1050.86

TT8_CF8 320 38 152.21

TT8_Kalman 0 0 0.00

Analog_circuits 2454 10 300.92

GPS_charging 0 0 0.00

Compass 1075 7 92.28

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 -145.9 166 2212 495 488 0.0 0.0 0 140 0.00 0.00 -91.68 0.000 16386 0.000 0.000 164 2211 2178 2105 2251 0 0 0 0 0 0 14.34 28.83 14.36

145 -0.57 -145.9 165 2212 2106 2253 3.7 -4.9 9 198 12.70 2.78 -33.35 0.000 18724 0.452 2.144 2375 3616 3962 3944 3981 1 0 0 0 0 0 13.54 12.89 14.09

348 -0.65 -145.9 2376 3618 3952 3981 52.2 -16.5 49 353 0.00 2.42 0.00 0.000 1158 0.000 0.062 2375 2198 3966 3951 3981 0 0 0 0 0 0 14.23 14.14 14.25

678 -0.70 -145.9 2376 2197 3952 3981 104.1 -12.9 81 683 0.00 2.47 0.00 0.000 388 0.000 0.087 2365 3611 3966 3952 3981 0 0 0 0 0 0 14.54 14.19 14.57

733 -0.86 -145.9 2365 3613 3953 3979 110.4 -10.6 92 741 0.20 2.40 0.00 0.000 5254 0.102 0.056 2282 2187 3966 3951 3981 0 0 0 0 0 0 14.26 14.21 14.33

1038 -0.79 -145.9 2289 2188 3951 3981 166.9 -18.5 103 1043 0.15 2.50 0.00 0.000 2436 0.286 0.084 2309 3616 3966 3952 3981 0 0 0 0 0 0 13.81 14.23 14.08

1160 -0.88 -145.9 2309 3618 3952 3985 183.1 -12.4 127 1165 0.00 2.38 0.00 0.000 1158 0.000 0.057 2309 2202 3966 3951 3981 0 0 0 0 0 0 14.40 14.28 14.43

1490 -0.91 -145.9 2309 2203 3953 3982 226.7 -12.8 143 1491 0.00 0.00 0.00 0.000 134 0.000 0.000 2309 2202 3965 3951 3980 0 0 0 0 0 0 14.62 14.64 14.63

1790 -0.97 -145.9 2309 2202 3952 3981 261.2 -10.9 153 1796 0.12 2.50 0.00 0.000 4484 0.142 0.087 2248 3614 3966 3952 3981 0 0 0 0 0 0 14.38 14.18 14.39

1855 -0.97 -145.9 2248 3615 3952 3982 270.6 -14.9 166 1861 0.00 2.38 0.00 0.000 1030 0.000 0.057 2248 2201 3966 3951 3981 0 0 0 0 0 0 14.38 14.26 14.42

2181 -0.93 -145.9 2249 2199 3952 3981 318.9 -14.4 181 2186 0.12 2.47 0.00 0.000 2436 0.290 0.086 2267 3613 3966 3951 3981 0 0 0 0 0 0 14.02 14.25 14.19

2278 -1.02 -145.9 2267 3613 3953 3980 330.3 -11.1 200 2284 0.00 2.40 0.00 0.000 1158 0.000 0.058 2267 2189 3965 3951 3980 0 0 0 0 0 0 14.41 14.28 14.44

2605 -1.04 -145.9 2267 2190 3952 3981 368.8 -11.8 215 2610 0.00 2.50 0.00 0.000 388 0.000 0.088 2258 3615 3965 3951 3980 0 0 0 0 0 0 14.66 14.14 14.69

2690 -1.13 -145.9 2259 3616 3952 3986 378.6 -10.9 232 2697 0.12 2.40 0.00 0.000 5254 0.135 0.056 2210 2192 3964 3951 3978 0 0 0 0 0 0 14.17 14.16 14.27

2995 -1.04 -145.9 2211 2192 3951 3981 427.4 -16.1 243 3000 0.12 2.50 0.00 0.000 2436 0.311 0.086 2231 3618 3964 3950 3979 0 0 0 0 0 0 13.97 14.19 14.15

3117 -1.04 -145.9 2231 3619 3946 3980 443.8 -12.9 267 3122 0.00 2.40 0.00 0.000 1030 0.000 0.056 2231 2201 3964 3950 3979 0 0 0 0 0 0 14.39 14.27 14.42

3384 end dive: TARGET_DEPTH_EXCEEDED

state 3384 begin apogee

3390 -0.13 0.0 2232 2057 3951 3980 482.3 -14.3 281 3610 1.17 0.10 215.15 1.432 10246 0.250 0.162 2529 2120 3363 3382 3345 0 0 0 0 0 0 13.97 13.46 12.71

3613 end apogee: CONTROL_FINISHED_OK

state 3613 begin climb

3617 0.57 145.9 2530 2121 3379 3339 493.7 0.0 288 3840 0.75 2.15 207.35 1.375 11012 0.064 0.078 2784 719 2760 2800 2721 0 0 0 0 0 0 13.59 12.99 12.40

4065 0.21 145.9 2785 721 2794 2717 466.9 15.2 335 4072 0.62 2.47 0.00 0.000 5254 0.317 0.076 2652 2092 2754 2794 2715 0 0 0 0 0 0 13.43 13.72 13.78

4370 0.07 159.5 2653 2093 2794 2711 437.2 9.4 346 4391 0.17 2.53 14.27 1.577 12708 0.285 0.084 2610 3517 2710 2752 2669 0 0 0 0 0 0 13.83 14.04 13.13

4532 -0.00 179.2 2610 3517 2745 2668 422.6 9.1 378 4567 0.15 2.35 28.67 1.492 13478 0.282 0.058 2586 2131 2631 2677 2586 0 0 0 0 0 0 13.90 14.13 13.16

4884 0.07 240.0 2587 2132 2675 2576 397.3 7.2 398 4983 0.00 2.60 91.55 1.375 8868 0.000 0.088 2588 693 2381 2433 2329 0 0 0 0 0 0 14.52 13.83 13.07

5049 0.23 291.2 2589 693 2430 2326 384.8 7.6 431 5131 0.20 2.50 76.72 1.343 11430 0.103 0.080 2669 2099 2178 2229 2128 0 0 0 0 0 0 14.01 13.94 12.91

5456 0.19 291.2 2670 2099 2216 2110 332.4 12.8 462 5461 0.00 2.50 0.00 0.000 644 0.000 0.087 2672 691 2162 2215 2110 0 0 0 0 0 0 14.41 14.09 14.43

5501 0.19 291.2 2673 691 2213 2109 326.7 12.5 471 5506 0.00 2.47 0.00 0.000 1030 0.000 0.079 2672 2101 2160 2212 2108 0 0 0 0 0 0 14.22 14.13 14.26

5816 0.16 291.2 2672 2103 2213 2111 287.4 12.2 484 5821 0.15 2.45 0.00 0.000 4740 0.262 0.081 2645 691 2160 2212 2108 0 0 0 0 0 0 14.03 14.21 14.20

5872 0.25 302.8 2645 692 2211 2108 281.7 9.5 495 5888 0.00 2.45 12.80 1.535 9382 0.000 0.079 2645 2106 2130 2181 2080 0 0 0 0 0 0 14.35 14.23 13.32

6211 0.30 329.1 2645 2107 2175 2073 250.7 8.8 512 6260 0.00 2.50 43.15 1.369 8868 0.000 0.084 2645 691 2021 2065 1977 0 0 0 0 0 0 14.56 13.87 13.29

6302 0.45 364.7 2642 691 2060 1971 242.8 8.4 530 6367 0.25 2.47 56.38 1.304 11430 0.095 0.079 2744 2101 1878 1913 1844 0 0 0 0 0 0 14.11 14.06 13.14

6692 0.36 364.7 2744 2102 1899 1835 184.5 14.6 558 6698 0.17 2.47 0.00 0.000 4740 0.239 0.083 2709 687 1866 1898 1834 0 0 0 0 0 0 14.00 14.13 14.14

6773 0.40 364.7 2709 687 1896 1834 175.5 10.2 574 6778 0.00 2.47 0.00 0.000 1158 0.000 0.077 2709 2100 1864 1895 1833 0 0 0 0 0 0 14.18 14.09 14.24

7083 0.40 364.7 2709 2104 1895 1834 142.6 10.2 586 7088 0.00 2.47 0.00 0.000 516 0.000 0.086 2709 687 1862 1893 1832 0 0 0 0 0 0 14.61 14.22 14.62

7138 0.48 374.8 2709 685 1893 1832 137.2 9.5 597 7154 0.00 2.45 11.43 1.475 9382 0.000 0.078 2709 2102 1837 1866 1809 0 0 0 0 0 0 14.37 14.23 13.37

7477 0.52 391.2 2709 2102 1861 1803 105.1 9.2 614 7506 0.12 0.00 22.25 1.378 10406 0.135 0.000 2768 2102 1768 1793 1744 0 0 0 0 0 0 14.35 14.16 13.38

7805 0.48 419.8 2768 2103 1789 1738 68.8 8.7 643 7822 0.12 0.00 15.18 0.412 12710 0.265 0.000 2739 2101 1651 1676 1626 0 0 0 0 0 0 13.91 14.14 13.73

8127 0.65 553.9 2740 2103 1678 1622 50.7 3.8 677 8202 0.12 2.58 68.85 0.354 10916 0.132 0.088 2795 689 1105 1172 1039 0 0 0 0 0 0 14.24 14.13 13.78

8252 0.80 597.1 2796 683 1171 1035 41.7 8.0 701 8280 0.15 2.47 22.58 0.330 11430 0.122 0.079 2860 2099 930 1001 859 0 0 0 0 0 0 14.09 14.02 13.82

8586 0.86 674.2 2860 2100 1002 849 7.8 6.4 737 8628 0.00 0.00 41.15 0.230 8230 0.000 0.000 2860 2098 614 663 565 0 0 0 0 0 0 14.53 14.20 13.94

8663 end climb: SURFACE_DEPTH_REACHED

state 8663 begin surface coast

8683 end surface coast: CONTROL_FINISHED_OK

state 8683 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	154	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	432.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,162934,7336.6797,-15056.3750,36,0.9,37,20.4,0.5,303.9,10,9.7	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	1.18	MHEAD_RNG_PITCHd_Wd	293.5,118529,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.0	D_GRID	480
GPS2	240817,165123,7336.6685,-15056.7158,5,0.7,12,20.4,0.0,193.2,11,9.8

MODEM_MSG	CACST,6,1,20170824161949.857767,3,19,12,0118,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32	PM_FREEKB_00	53424640
FINISH	0.1,1.020608	_24V_AH	12.40,116.417
SM_CCo	8750,16.10,0.214,0,0,498,703.03	_10V_AH	12.26,0.000
SM_GC	1.31,8.07,0.17,16.10,0.074,0.119,0.214,198,2218,498,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.30,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	382	FG_AHR_10Vo	0.000
MODEM	0,1503590636,75.36600,-145.04601,182.887,264754.7	MEM	323664
RAFOS_FIX	7335.062012,-15057.400391,240817,161616,3,255,0.00	DATA_FILE_SIZE	26708,747
IRIDIUM_FIX	7335.21,-15059.68,240817,164456	CAP_FILE_SIZE	107599,0
TT8_MAMPS	0.039697,0.929509	CFSIZE	2097872896,2040528896
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.72292	SOUNDSPEED	1448.6
TCM_TEMP	13.20	CURRENT	0.038,277.89,1
XPDR_PINGS	19	GPS	240817,191926,7337.687,-15059.813,40,0.8,40,20.4,0.8,257.2,10,10.0
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	144.64	nil	0	0	0.00
Roll_motor	79	2144	2109.19	nil	0	0	0.00
VBD_pump_during_apogee	927	1577	18141.53	nil	0	0	0.00
VBD_pump_during_surface	16	214	42.76	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	8711	14	1566.13
Iridium_during_xfer	776	161	1553.20	NCP	8749	20	2169.75
Transponder_ping	4	420	24.74	PMAR	8706	9	1069.61
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.72
TT8	0	0	0.00
LPSleep	6382	2	180.77
TT8_Active	821	13	140.73
TT8_Sampling	2563	33	1050.86
TT8_CF8	320	38	152.21
TT8_Kalman	0	0	0.00
Analog_circuits	2454	10	300.92
GPS_charging	0	0	0.00
Compass	1075	7	92.28
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	166	2212	495	488	0.0	0.0	0	140	0.00	0.00	-91.68	0.000	16386	0.000	0.000	164	2211	2178	2105	2251	0	0	0	0	0	0	14.34	28.83	14.36
145	-0.57	-145.9	165	2212	2106	2253	3.7	-4.9	9	198	12.70	2.78	-33.35	0.000	18724	0.452	2.144	2375	3616	3962	3944	3981	1	0	0	0	0	0	13.54	12.89	14.09
348	-0.65	-145.9	2376	3618	3952	3981	52.2	-16.5	49	353	0.00	2.42	0.00	0.000	1158	0.000	0.062	2375	2198	3966	3951	3981	0	0	0	0	0	0	14.23	14.14	14.25
678	-0.70	-145.9	2376	2197	3952	3981	104.1	-12.9	81	683	0.00	2.47	0.00	0.000	388	0.000	0.087	2365	3611	3966	3952	3981	0	0	0	0	0	0	14.54	14.19	14.57
733	-0.86	-145.9	2365	3613	3953	3979	110.4	-10.6	92	741	0.20	2.40	0.00	0.000	5254	0.102	0.056	2282	2187	3966	3951	3981	0	0	0	0	0	0	14.26	14.21	14.33
1038	-0.79	-145.9	2289	2188	3951	3981	166.9	-18.5	103	1043	0.15	2.50	0.00	0.000	2436	0.286	0.084	2309	3616	3966	3952	3981	0	0	0	0	0	0	13.81	14.23	14.08
1160	-0.88	-145.9	2309	3618	3952	3985	183.1	-12.4	127	1165	0.00	2.38	0.00	0.000	1158	0.000	0.057	2309	2202	3966	3951	3981	0	0	0	0	0	0	14.40	14.28	14.43
1490	-0.91	-145.9	2309	2203	3953	3982	226.7	-12.8	143	1491	0.00	0.00	0.00	0.000	134	0.000	0.000	2309	2202	3965	3951	3980	0	0	0	0	0	0	14.62	14.64	14.63
1790	-0.97	-145.9	2309	2202	3952	3981	261.2	-10.9	153	1796	0.12	2.50	0.00	0.000	4484	0.142	0.087	2248	3614	3966	3952	3981	0	0	0	0	0	0	14.38	14.18	14.39
1855	-0.97	-145.9	2248	3615	3952	3982	270.6	-14.9	166	1861	0.00	2.38	0.00	0.000	1030	0.000	0.057	2248	2201	3966	3951	3981	0	0	0	0	0	0	14.38	14.26	14.42
2181	-0.93	-145.9	2249	2199	3952	3981	318.9	-14.4	181	2186	0.12	2.47	0.00	0.000	2436	0.290	0.086	2267	3613	3966	3951	3981	0	0	0	0	0	0	14.02	14.25	14.19
2278	-1.02	-145.9	2267	3613	3953	3980	330.3	-11.1	200	2284	0.00	2.40	0.00	0.000	1158	0.000	0.058	2267	2189	3965	3951	3980	0	0	0	0	0	0	14.41	14.28	14.44
2605	-1.04	-145.9	2267	2190	3952	3981	368.8	-11.8	215	2610	0.00	2.50	0.00	0.000	388	0.000	0.088	2258	3615	3965	3951	3980	0	0	0	0	0	0	14.66	14.14	14.69
2690	-1.13	-145.9	2259	3616	3952	3986	378.6	-10.9	232	2697	0.12	2.40	0.00	0.000	5254	0.135	0.056	2210	2192	3964	3951	3978	0	0	0	0	0	0	14.17	14.16	14.27
2995	-1.04	-145.9	2211	2192	3951	3981	427.4	-16.1	243	3000	0.12	2.50	0.00	0.000	2436	0.311	0.086	2231	3618	3964	3950	3979	0	0	0	0	0	0	13.97	14.19	14.15
3117	-1.04	-145.9	2231	3619	3946	3980	443.8	-12.9	267	3122	0.00	2.40	0.00	0.000	1030	0.000	0.056	2231	2201	3964	3950	3979	0	0	0	0	0	0	14.39	14.27	14.42
3384	end dive: TARGET_DEPTH_EXCEEDED
state	3384	begin apogee
3390	-0.13	0.0	2232	2057	3951	3980	482.3	-14.3	281	3610	1.17	0.10	215.15	1.432	10246	0.250	0.162	2529	2120	3363	3382	3345	0	0	0	0	0	0	13.97	13.46	12.71
3613	end apogee: CONTROL_FINISHED_OK
state	3613	begin climb
3617	0.57	145.9	2530	2121	3379	3339	493.7	0.0	288	3840	0.75	2.15	207.35	1.375	11012	0.064	0.078	2784	719	2760	2800	2721	0	0	0	0	0	0	13.59	12.99	12.40
4065	0.21	145.9	2785	721	2794	2717	466.9	15.2	335	4072	0.62	2.47	0.00	0.000	5254	0.317	0.076	2652	2092	2754	2794	2715	0	0	0	0	0	0	13.43	13.72	13.78
4370	0.07	159.5	2653	2093	2794	2711	437.2	9.4	346	4391	0.17	2.53	14.27	1.577	12708	0.285	0.084	2610	3517	2710	2752	2669	0	0	0	0	0	0	13.83	14.04	13.13
4532	-0.00	179.2	2610	3517	2745	2668	422.6	9.1	378	4567	0.15	2.35	28.67	1.492	13478	0.282	0.058	2586	2131	2631	2677	2586	0	0	0	0	0	0	13.90	14.13	13.16
4884	0.07	240.0	2587	2132	2675	2576	397.3	7.2	398	4983	0.00	2.60	91.55	1.375	8868	0.000	0.088	2588	693	2381	2433	2329	0	0	0	0	0	0	14.52	13.83	13.07
5049	0.23	291.2	2589	693	2430	2326	384.8	7.6	431	5131	0.20	2.50	76.72	1.343	11430	0.103	0.080	2669	2099	2178	2229	2128	0	0	0	0	0	0	14.01	13.94	12.91
5456	0.19	291.2	2670	2099	2216	2110	332.4	12.8	462	5461	0.00	2.50	0.00	0.000	644	0.000	0.087	2672	691	2162	2215	2110	0	0	0	0	0	0	14.41	14.09	14.43
5501	0.19	291.2	2673	691	2213	2109	326.7	12.5	471	5506	0.00	2.47	0.00	0.000	1030	0.000	0.079	2672	2101	2160	2212	2108	0	0	0	0	0	0	14.22	14.13	14.26
5816	0.16	291.2	2672	2103	2213	2111	287.4	12.2	484	5821	0.15	2.45	0.00	0.000	4740	0.262	0.081	2645	691	2160	2212	2108	0	0	0	0	0	0	14.03	14.21	14.20
5872	0.25	302.8	2645	692	2211	2108	281.7	9.5	495	5888	0.00	2.45	12.80	1.535	9382	0.000	0.079	2645	2106	2130	2181	2080	0	0	0	0	0	0	14.35	14.23	13.32
6211	0.30	329.1	2645	2107	2175	2073	250.7	8.8	512	6260	0.00	2.50	43.15	1.369	8868	0.000	0.084	2645	691	2021	2065	1977	0	0	0	0	0	0	14.56	13.87	13.29
6302	0.45	364.7	2642	691	2060	1971	242.8	8.4	530	6367	0.25	2.47	56.38	1.304	11430	0.095	0.079	2744	2101	1878	1913	1844	0	0	0	0	0	0	14.11	14.06	13.14
6692	0.36	364.7	2744	2102	1899	1835	184.5	14.6	558	6698	0.17	2.47	0.00	0.000	4740	0.239	0.083	2709	687	1866	1898	1834	0	0	0	0	0	0	14.00	14.13	14.14
6773	0.40	364.7	2709	687	1896	1834	175.5	10.2	574	6778	0.00	2.47	0.00	0.000	1158	0.000	0.077	2709	2100	1864	1895	1833	0	0	0	0	0	0	14.18	14.09	14.24
7083	0.40	364.7	2709	2104	1895	1834	142.6	10.2	586	7088	0.00	2.47	0.00	0.000	516	0.000	0.086	2709	687	1862	1893	1832	0	0	0	0	0	0	14.61	14.22	14.62
7138	0.48	374.8	2709	685	1893	1832	137.2	9.5	597	7154	0.00	2.45	11.43	1.475	9382	0.000	0.078	2709	2102	1837	1866	1809	0	0	0	0	0	0	14.37	14.23	13.37
7477	0.52	391.2	2709	2102	1861	1803	105.1	9.2	614	7506	0.12	0.00	22.25	1.378	10406	0.135	0.000	2768	2102	1768	1793	1744	0	0	0	0	0	0	14.35	14.16	13.38
7805	0.48	419.8	2768	2103	1789	1738	68.8	8.7	643	7822	0.12	0.00	15.18	0.412	12710	0.265	0.000	2739	2101	1651	1676	1626	0	0	0	0	0	0	13.91	14.14	13.73
8127	0.65	553.9	2740	2103	1678	1622	50.7	3.8	677	8202	0.12	2.58	68.85	0.354	10916	0.132	0.088	2795	689	1105	1172	1039	0	0	0	0	0	0	14.24	14.13	13.78
8252	0.80	597.1	2796	683	1171	1035	41.7	8.0	701	8280	0.15	2.47	22.58	0.330	11430	0.122	0.079	2860	2099	930	1001	859	0	0	0	0	0	0	14.09	14.02	13.82
8586	0.86	674.2	2860	2100	1002	849	7.8	6.4	737	8628	0.00	0.00	41.15	0.230	8230	0.000	0.000	2860	2098	614	663	565	0	0	0	0	0	0	14.53	14.20	13.94
8663	end climb: SURFACE_DEPTH_REACHED
state	8663	begin surface coast
8683	end surface coast: CONTROL_FINISHED_OK
state	8683	begin surface