Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 155 * 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 155 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 435.0

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 37 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 435.0 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 155 NOCOMM_ACTION 161 R_STBD_OVSHOOT 37 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 240817,191926,7337.6865,-15059.8135,40,0.8,40,20.4,0.8,257.2,10,10.0 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 1.12 MHEAD_RNG_PITCHd_Wd 294.4,116079,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.3 D_GRID 480

GPS2 240817,193430,7337.6362,-15100.0928,5,0.8,12,20.4,0.0,0.0,10,9.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170824202738.940119,3,194,16,0213,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A PM_FREEKB_00 53394624

FINISH 0.1,1.013173 _24V_AH 12.36,116.899

SM_CCo 8788,42.47,0.211,0,0,502,702.78 _10V_AH 12.22,0.000

SM_GC 1.18,8.12,0.17,42.47,0.074,0.125,0.211,201,2210,502,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.30,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 330 FG_AHR_10Vo 0.000

MODEM 0,1503605035,75.36600,-145.04601,181.830,263399.2 MEM 323608

RAFOS_FIX 7337.499512,-15100.943359,240817,202006,4,255,0.21 DATA_FILE_SIZE 23421,693

IRIDIUM_FIX 7339.43,-15052.27,240817,165046 CAP_FILE_SIZE 102653,0

TT8_MAMPS 0.038948,0.982688 CFSIZE 2097872896,2040332288

HUMID 47.12 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 INTR 0,3708.20,0x2341e8,1,24

TCM_TEMP 13.20 SOUNDSPEED 1447.6

XPDR_PINGS 12 CURRENT 0.032,249.36,1

CP_FREE 15993208832.000000 GPS 240817,220318,7338.659,-15103.191,17,0.7,19,20.4,0.0,0.0,12,9.9

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 462 150.59 nil 0 0 0.00

Roll_motor 79 2149 2105.65 nil 0 0 0.00

VBD_pump_during_apogee 909 1433 16108.28 nil 0 0 0.00

VBD_pump_during_surface 42 211 110.85 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 8797 14 1562.46

Iridium_during_xfer 619 175 1346.93 NCP 8772 20 2168.44

Transponder_ping 3 420 15.57 PMAR 8744 9 1077.95

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.67

TT8 0 0 0.00

LPSleep 6314 2 178.25

TT8_Active 836 13 142.76

TT8_Sampling 2287 33 934.56

TT8_CF8 309 38 146.46

TT8_Kalman 0 0 0.00

Analog_circuits 2274 10 278.00

GPS_charging 0 0 0.00

Compass 994 7 85.10

RAFOS 2211 48 1296.88

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 183 2221 498 486 0.0 0.0 0 141 0.00 0.00 -91.95 0.000 16386 0.000 0.000 180 2220 2228 2162 2294 0 0 0 0 0 0 14.45 28.83 14.47

144 -0.57 -145.9 181 2220 2165 2293 4.6 -7.2 9 197 12.90 2.78 -31.35 0.000 18724 0.463 2.150 2375 3590 3964 3946 3982 1 0 0 0 0 0 13.56 12.59 14.00

328 -0.62 -145.9 2375 3594 3954 3983 49.0 -17.6 45 332 0.00 2.40 0.00 0.000 1158 0.000 0.060 2375 2194 3967 3953 3982 0 0 0 0 0 0 14.19 13.97 14.26

638 -0.67 -145.9 2375 2193 3956 3983 100.8 -13.2 77 643 0.00 2.47 0.00 0.000 388 0.000 0.086 2366 3601 3968 3955 3982 0 0 0 0 0 0 14.58 14.12 14.55

698 -0.83 -145.9 2366 3602 3955 3983 107.5 -10.3 89 704 0.17 2.38 0.00 0.000 5254 0.111 0.055 2294 2195 3968 3955 3982 0 0 0 0 0 0 14.23 14.17 14.33

1029 -0.79 -145.9 2294 2194 3955 3982 165.4 -16.9 105 1034 0.12 2.45 0.00 0.000 2436 0.288 0.084 2319 3594 3968 3955 3981 0 0 0 0 0 0 14.01 14.22 14.18

1121 -0.90 -145.9 2319 3595 3956 3982 176.8 -11.4 123 1126 0.00 2.35 0.00 0.000 1158 0.000 0.057 2319 2199 3968 3955 3982 0 0 0 0 0 0 14.35 14.23 14.38

1470 -0.95 -145.9 2319 2199 3956 3982 217.6 -12.0 139 1471 0.15 0.00 0.00 0.000 4230 0.125 0.000 2259 2198 3968 3955 3981 0 0 0 0 0 0 14.26 14.35 14.33

1751 -0.91 -145.9 2259 2198 3956 3982 264.9 -15.7 149 1756 0.00 2.47 0.00 0.000 388 0.000 0.088 2249 3601 3968 3955 3981 0 0 0 0 0 0 14.50 14.08 14.52

1931 -0.91 -145.9 2250 3600 3955 3981 290.5 -13.3 185 1936 0.15 2.38 0.00 0.000 3078 0.249 0.056 2277 2202 3968 3955 3981 0 0 0 0 0 0 13.87 14.13 14.16

2261 -0.95 -145.9 2279 2202 3955 3982 329.4 -11.4 201 2266 0.00 2.47 0.00 0.000 388 0.000 0.087 2272 3600 3968 3955 3981 0 0 0 0 0 0 14.47 14.10 14.50

2306 -1.04 -145.9 2273 3601 3956 3981 334.4 -10.8 210 2311 0.00 2.40 0.00 0.000 1158 0.000 0.057 2272 2198 3968 3955 3981 0 0 0 0 0 0 14.19 14.10 14.23

2621 -1.08 -145.9 2273 2197 3955 3981 369.1 -10.9 223 2626 0.12 2.47 0.00 0.000 4484 0.142 0.085 2211 3595 3967 3954 3981 0 0 0 0 0 0 14.15 14.07 14.19

2713 -1.04 -145.9 2210 3596 3953 3982 382.5 -15.2 241 2719 0.15 2.40 0.00 0.000 3206 0.267 0.058 2240 2195 3967 3953 3981 0 0 0 0 0 0 13.85 14.10 14.12

3044 -1.02 -145.9 2240 2196 3954 3982 427.4 -13.3 257 3049 0.00 2.50 0.00 0.000 388 0.000 0.087 2236 3601 3967 3953 3981 0 0 0 0 0 0 14.46 14.04 14.48

3149 -1.04 -145.9 2236 3602 3953 3982 441.0 -12.4 278 3154 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2195 3966 3952 3981 0 0 0 0 0 0 14.22 14.12 14.28

3462 end dive: TARGET_DEPTH_EXCEEDED

state 3462 begin apogee

3468 -0.13 0.0 2237 2066 3953 3982 483.5 -13.5 291 3687 1.15 0.00 215.73 1.432 10246 0.246 0.000 2533 2064 3359 3375 3344 0 0 0 0 0 0 13.85 13.38 12.63

3691 end apogee: CONTROL_FINISHED_OK

state 3691 begin climb

3694 0.57 145.9 2528 2065 3379 3337 494.1 0.0 298 3916 0.75 0.00 206.15 1.375 10502 0.066 0.000 2778 2065 2762 2804 2720 0 0 0 0 0 0 13.46 12.91 12.36

4243 0.18 145.9 2779 2065 2796 2715 447.7 16.0 314 4249 0.60 2.55 0.00 0.000 4484 0.327 0.075 2645 3497 2755 2796 2715 0 0 0 0 0 0 13.52 13.85 13.75

4264 -0.11 145.9 2648 3498 2794 2714 444.8 14.1 318 4269 0.45 2.38 0.00 0.000 5254 0.281 0.057 2551 2125 2753 2793 2714 0 0 0 0 0 0 13.64 13.90 13.95

4575 0.03 251.9 2553 2125 2794 2715 427.8 5.1 330 4742 0.12 2.67 155.98 1.329 10916 0.128 0.087 2605 700 2333 2384 2282 0 0 0 0 0 0 14.23 13.57 12.87

4792 0.17 286.6 2605 700 2380 2275 410.1 8.4 373 4849 0.00 2.50 49.72 1.371 9382 0.000 0.079 2606 2083 2193 2252 2135 0 0 0 0 0 0 13.81 13.71 12.77

5149 0.27 317.3 2609 2083 2242 2125 379.3 8.6 394 5197 0.20 0.00 45.17 1.387 10406 0.098 0.000 2685 2083 2074 2128 2021 0 0 0 0 0 0 14.10 13.84 13.05

5477 0.22 317.3 2685 2083 2108 2009 332.3 14.4 405 5482 0.12 2.45 0.00 0.000 4740 0.263 0.086 2659 691 2058 2107 2009 0 0 0 0 0 0 13.97 14.12 14.12

5533 0.27 317.3 2660 691 2104 2010 325.4 11.6 416 5540 0.00 2.47 0.00 0.000 1158 0.000 0.079 2659 2103 2056 2103 2009 0 0 0 0 0 0 14.28 14.16 14.32

5838 0.27 317.3 2660 2105 2105 2007 289.4 11.7 427 5842 0.00 2.47 0.00 0.000 516 0.000 0.088 2660 695 2055 2103 2007 0 0 0 0 0 0 14.61 14.23 14.60

5888 0.33 317.3 2660 695 2102 2008 283.8 10.7 437 5892 0.00 2.42 0.00 0.000 1158 0.000 0.080 2659 2101 2054 2102 2007 0 0 0 0 0 0 14.39 14.26 14.42

6198 0.33 318.0 2659 2102 2103 2007 250.8 10.0 449 6202 0.00 2.47 0.00 0.000 548 0.000 0.087 2660 690 2054 2102 2006 0 0 0 0 0 0 14.64 14.28 14.66

6248 0.43 342.5 2660 690 2102 2007 246.3 8.9 459 6290 0.17 2.45 36.85 1.379 11430 0.114 0.080 2731 2111 1969 2013 1926 0 0 0 0 0 0 14.36 14.30 13.35

6590 0.34 342.5 2732 2111 2007 1914 199.0 13.8 477 6595 0.15 2.47 0.00 0.000 4740 0.241 0.083 2701 691 1959 2005 1914 0 0 0 0 0 0 14.05 14.18 14.19

6640 0.38 342.5 2699 692 2002 1915 193.1 10.5 487 6645 0.00 2.45 0.00 0.000 1158 0.000 0.077 2699 2101 1957 2001 1914 0 0 0 0 0 0 14.28 14.16 14.31

6950 0.38 342.5 2699 2104 2003 1914 161.1 10.0 499 6951 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2103 1957 2002 1912 0 0 0 0 0 0 14.63 14.62 14.68

7250 0.39 356.5 2699 2103 2003 1910 132.3 9.4 509 7275 0.00 2.47 19.25 1.434 8740 0.000 0.086 2699 691 1908 1948 1869 0 0 0 0 0 0 14.65 14.19 13.40

7372 0.49 392.3 2699 691 1942 1869 122.1 8.3 533 7437 0.12 2.47 59.12 1.271 11430 0.135 0.080 2753 2105 1765 1791 1740 0 0 0 0 0 0 14.24 14.20 13.26

7743 0.45 393.6 2756 2105 1785 1727 80.1 9.9 571 7748 0.00 2.47 0.00 0.000 676 0.000 0.085 2752 697 1758 1783 1734 0 0 0 0 0 0 14.48 14.10 14.50

7753 0.42 401.0 2756 698 1783 1727 79.2 9.7 573 7764 0.17 2.47 3.85 0.428 13478 0.244 0.079 2717 2101 1730 1760 1701 0 0 0 0 0 0 13.96 14.12 13.68

8063 0.59 509.6 2718 2101 1761 1702 60.1 5.0 605 8124 0.15 0.00 56.65 0.382 10662 0.117 0.000 2785 2100 1286 1341 1231 0 0 0 0 0 0 14.27 14.16 13.77

8423 0.69 570.3 2786 2101 1341 1222 32.6 7.2 646 8461 0.00 2.47 31.35 0.305 8868 0.000 0.085 2789 702 1037 1105 969 0 0 0 0 0 0 14.54 14.01 13.87

8518 0.89 625.9 2790 698 1105 969 25.8 7.4 664 8555 0.25 2.45 29.25 0.289 11430 0.092 0.078 2886 2099 811 877 746 0 0 0 0 0 0 14.27 14.18 13.85

8747 end climb: SURFACE_DEPTH_REACHED

state 8747 begin surface coast

8768 end surface coast: CONTROL_FINISHED_OK

state 8768 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	155	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	435.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,191926,7337.6865,-15059.8135,40,0.8,40,20.4,0.8,257.2,10,10.0	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	1.12	MHEAD_RNG_PITCHd_Wd	294.4,116079,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.3	D_GRID	480
GPS2	240817,193430,7337.6362,-15100.0928,5,0.8,12,20.4,0.0,0.0,10,9.6

MODEM_MSG	CACST,6,1,20170824202738.940119,3,194,16,0213,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A	PM_FREEKB_00	53394624
FINISH	0.1,1.013173	_24V_AH	12.36,116.899
SM_CCo	8788,42.47,0.211,0,0,502,702.78	_10V_AH	12.22,0.000
SM_GC	1.18,8.12,0.17,42.47,0.074,0.125,0.211,201,2210,502,-7.37,-0.74,702.78,0,0,0,0,0,0,14.31,14.30,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	330	FG_AHR_10Vo	0.000
MODEM	0,1503605035,75.36600,-145.04601,181.830,263399.2	MEM	323608
RAFOS_FIX	7337.499512,-15100.943359,240817,202006,4,255,0.21	DATA_FILE_SIZE	23421,693
IRIDIUM_FIX	7339.43,-15052.27,240817,165046	CAP_FILE_SIZE	102653,0
TT8_MAMPS	0.038948,0.982688	CFSIZE	2097872896,2040332288
HUMID	47.12	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	INTR	0,3708.20,0x2341e8,1,24
TCM_TEMP	13.20	SOUNDSPEED	1447.6
XPDR_PINGS	12	CURRENT	0.032,249.36,1
CP_FREE	15993208832.000000	GPS	240817,220318,7338.659,-15103.191,17,0.7,19,20.4,0.0,0.0,12,9.9

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	462	150.59	nil	0	0	0.00
Roll_motor	79	2149	2105.65	nil	0	0	0.00
VBD_pump_during_apogee	909	1433	16108.28	nil	0	0	0.00
VBD_pump_during_surface	42	211	110.85	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	8797	14	1562.46
Iridium_during_xfer	619	175	1346.93	NCP	8772	20	2168.44
Transponder_ping	3	420	15.57	PMAR	8744	9	1077.95
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.67
TT8	0	0	0.00
LPSleep	6314	2	178.25
TT8_Active	836	13	142.76
TT8_Sampling	2287	33	934.56
TT8_CF8	309	38	146.46
TT8_Kalman	0	0	0.00
Analog_circuits	2274	10	278.00
GPS_charging	0	0	0.00
Compass	994	7	85.10
RAFOS	2211	48	1296.88
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	183	2221	498	486	0.0	0.0	0	141	0.00	0.00	-91.95	0.000	16386	0.000	0.000	180	2220	2228	2162	2294	0	0	0	0	0	0	14.45	28.83	14.47
144	-0.57	-145.9	181	2220	2165	2293	4.6	-7.2	9	197	12.90	2.78	-31.35	0.000	18724	0.463	2.150	2375	3590	3964	3946	3982	1	0	0	0	0	0	13.56	12.59	14.00
328	-0.62	-145.9	2375	3594	3954	3983	49.0	-17.6	45	332	0.00	2.40	0.00	0.000	1158	0.000	0.060	2375	2194	3967	3953	3982	0	0	0	0	0	0	14.19	13.97	14.26
638	-0.67	-145.9	2375	2193	3956	3983	100.8	-13.2	77	643	0.00	2.47	0.00	0.000	388	0.000	0.086	2366	3601	3968	3955	3982	0	0	0	0	0	0	14.58	14.12	14.55
698	-0.83	-145.9	2366	3602	3955	3983	107.5	-10.3	89	704	0.17	2.38	0.00	0.000	5254	0.111	0.055	2294	2195	3968	3955	3982	0	0	0	0	0	0	14.23	14.17	14.33
1029	-0.79	-145.9	2294	2194	3955	3982	165.4	-16.9	105	1034	0.12	2.45	0.00	0.000	2436	0.288	0.084	2319	3594	3968	3955	3981	0	0	0	0	0	0	14.01	14.22	14.18
1121	-0.90	-145.9	2319	3595	3956	3982	176.8	-11.4	123	1126	0.00	2.35	0.00	0.000	1158	0.000	0.057	2319	2199	3968	3955	3982	0	0	0	0	0	0	14.35	14.23	14.38
1470	-0.95	-145.9	2319	2199	3956	3982	217.6	-12.0	139	1471	0.15	0.00	0.00	0.000	4230	0.125	0.000	2259	2198	3968	3955	3981	0	0	0	0	0	0	14.26	14.35	14.33
1751	-0.91	-145.9	2259	2198	3956	3982	264.9	-15.7	149	1756	0.00	2.47	0.00	0.000	388	0.000	0.088	2249	3601	3968	3955	3981	0	0	0	0	0	0	14.50	14.08	14.52
1931	-0.91	-145.9	2250	3600	3955	3981	290.5	-13.3	185	1936	0.15	2.38	0.00	0.000	3078	0.249	0.056	2277	2202	3968	3955	3981	0	0	0	0	0	0	13.87	14.13	14.16
2261	-0.95	-145.9	2279	2202	3955	3982	329.4	-11.4	201	2266	0.00	2.47	0.00	0.000	388	0.000	0.087	2272	3600	3968	3955	3981	0	0	0	0	0	0	14.47	14.10	14.50
2306	-1.04	-145.9	2273	3601	3956	3981	334.4	-10.8	210	2311	0.00	2.40	0.00	0.000	1158	0.000	0.057	2272	2198	3968	3955	3981	0	0	0	0	0	0	14.19	14.10	14.23
2621	-1.08	-145.9	2273	2197	3955	3981	369.1	-10.9	223	2626	0.12	2.47	0.00	0.000	4484	0.142	0.085	2211	3595	3967	3954	3981	0	0	0	0	0	0	14.15	14.07	14.19
2713	-1.04	-145.9	2210	3596	3953	3982	382.5	-15.2	241	2719	0.15	2.40	0.00	0.000	3206	0.267	0.058	2240	2195	3967	3953	3981	0	0	0	0	0	0	13.85	14.10	14.12
3044	-1.02	-145.9	2240	2196	3954	3982	427.4	-13.3	257	3049	0.00	2.50	0.00	0.000	388	0.000	0.087	2236	3601	3967	3953	3981	0	0	0	0	0	0	14.46	14.04	14.48
3149	-1.04	-145.9	2236	3602	3953	3982	441.0	-12.4	278	3154	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2195	3966	3952	3981	0	0	0	0	0	0	14.22	14.12	14.28
3462	end dive: TARGET_DEPTH_EXCEEDED
state	3462	begin apogee
3468	-0.13	0.0	2237	2066	3953	3982	483.5	-13.5	291	3687	1.15	0.00	215.73	1.432	10246	0.246	0.000	2533	2064	3359	3375	3344	0	0	0	0	0	0	13.85	13.38	12.63
3691	end apogee: CONTROL_FINISHED_OK
state	3691	begin climb
3694	0.57	145.9	2528	2065	3379	3337	494.1	0.0	298	3916	0.75	0.00	206.15	1.375	10502	0.066	0.000	2778	2065	2762	2804	2720	0	0	0	0	0	0	13.46	12.91	12.36
4243	0.18	145.9	2779	2065	2796	2715	447.7	16.0	314	4249	0.60	2.55	0.00	0.000	4484	0.327	0.075	2645	3497	2755	2796	2715	0	0	0	0	0	0	13.52	13.85	13.75
4264	-0.11	145.9	2648	3498	2794	2714	444.8	14.1	318	4269	0.45	2.38	0.00	0.000	5254	0.281	0.057	2551	2125	2753	2793	2714	0	0	0	0	0	0	13.64	13.90	13.95
4575	0.03	251.9	2553	2125	2794	2715	427.8	5.1	330	4742	0.12	2.67	155.98	1.329	10916	0.128	0.087	2605	700	2333	2384	2282	0	0	0	0	0	0	14.23	13.57	12.87
4792	0.17	286.6	2605	700	2380	2275	410.1	8.4	373	4849	0.00	2.50	49.72	1.371	9382	0.000	0.079	2606	2083	2193	2252	2135	0	0	0	0	0	0	13.81	13.71	12.77
5149	0.27	317.3	2609	2083	2242	2125	379.3	8.6	394	5197	0.20	0.00	45.17	1.387	10406	0.098	0.000	2685	2083	2074	2128	2021	0	0	0	0	0	0	14.10	13.84	13.05
5477	0.22	317.3	2685	2083	2108	2009	332.3	14.4	405	5482	0.12	2.45	0.00	0.000	4740	0.263	0.086	2659	691	2058	2107	2009	0	0	0	0	0	0	13.97	14.12	14.12
5533	0.27	317.3	2660	691	2104	2010	325.4	11.6	416	5540	0.00	2.47	0.00	0.000	1158	0.000	0.079	2659	2103	2056	2103	2009	0	0	0	0	0	0	14.28	14.16	14.32
5838	0.27	317.3	2660	2105	2105	2007	289.4	11.7	427	5842	0.00	2.47	0.00	0.000	516	0.000	0.088	2660	695	2055	2103	2007	0	0	0	0	0	0	14.61	14.23	14.60
5888	0.33	317.3	2660	695	2102	2008	283.8	10.7	437	5892	0.00	2.42	0.00	0.000	1158	0.000	0.080	2659	2101	2054	2102	2007	0	0	0	0	0	0	14.39	14.26	14.42
6198	0.33	318.0	2659	2102	2103	2007	250.8	10.0	449	6202	0.00	2.47	0.00	0.000	548	0.000	0.087	2660	690	2054	2102	2006	0	0	0	0	0	0	14.64	14.28	14.66
6248	0.43	342.5	2660	690	2102	2007	246.3	8.9	459	6290	0.17	2.45	36.85	1.379	11430	0.114	0.080	2731	2111	1969	2013	1926	0	0	0	0	0	0	14.36	14.30	13.35
6590	0.34	342.5	2732	2111	2007	1914	199.0	13.8	477	6595	0.15	2.47	0.00	0.000	4740	0.241	0.083	2701	691	1959	2005	1914	0	0	0	0	0	0	14.05	14.18	14.19
6640	0.38	342.5	2699	692	2002	1915	193.1	10.5	487	6645	0.00	2.45	0.00	0.000	1158	0.000	0.077	2699	2101	1957	2001	1914	0	0	0	0	0	0	14.28	14.16	14.31
6950	0.38	342.5	2699	2104	2003	1914	161.1	10.0	499	6951	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2103	1957	2002	1912	0	0	0	0	0	0	14.63	14.62	14.68
7250	0.39	356.5	2699	2103	2003	1910	132.3	9.4	509	7275	0.00	2.47	19.25	1.434	8740	0.000	0.086	2699	691	1908	1948	1869	0	0	0	0	0	0	14.65	14.19	13.40
7372	0.49	392.3	2699	691	1942	1869	122.1	8.3	533	7437	0.12	2.47	59.12	1.271	11430	0.135	0.080	2753	2105	1765	1791	1740	0	0	0	0	0	0	14.24	14.20	13.26
7743	0.45	393.6	2756	2105	1785	1727	80.1	9.9	571	7748	0.00	2.47	0.00	0.000	676	0.000	0.085	2752	697	1758	1783	1734	0	0	0	0	0	0	14.48	14.10	14.50
7753	0.42	401.0	2756	698	1783	1727	79.2	9.7	573	7764	0.17	2.47	3.85	0.428	13478	0.244	0.079	2717	2101	1730	1760	1701	0	0	0	0	0	0	13.96	14.12	13.68
8063	0.59	509.6	2718	2101	1761	1702	60.1	5.0	605	8124	0.15	0.00	56.65	0.382	10662	0.117	0.000	2785	2100	1286	1341	1231	0	0	0	0	0	0	14.27	14.16	13.77
8423	0.69	570.3	2786	2101	1341	1222	32.6	7.2	646	8461	0.00	2.47	31.35	0.305	8868	0.000	0.085	2789	702	1037	1105	969	0	0	0	0	0	0	14.54	14.01	13.87
8518	0.89	625.9	2790	698	1105	969	25.8	7.4	664	8555	0.25	2.45	29.25	0.289	11430	0.092	0.078	2886	2099	811	877	746	0	0	0	0	0	0	14.27	14.18	13.85
8747	end climb: SURFACE_DEPTH_REACHED
state	8747	begin surface coast
8768	end surface coast: CONTROL_FINISHED_OK
state	8768	begin surface