Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 156 * 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 156 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 438.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 32 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 438.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 31 VBD_MIN 500

DIVE 156 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 240817,220318,7338.6587,-15103.1914,17,0.7,19,20.4,0.0,0.0,12,9.9 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 1.18 MHEAD_RNG_PITCHd_Wd 296.0,113611,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 240817,221431,7338.6333,-15103.4277,17,1.0,40,20.4,0.0,225.1,6,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825002739.978465,3,239,17,0268,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00 PM_FREEKB_00 53366720

FINISH 0.5,1.020682 _24V_AH 12.40,117.373

SM_CCo 8763,5.88,0.200,0,0,497,702.78 _10V_AH 12.24,0.000

SM_GC 1.86,8.20,0.20,5.88,0.070,0.115,0.200,200,2215,497,-7.38,-0.57,702.78,0,0,0,0,0,0,14.14,14.14,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 116 FG_AHR_10Vo 0.000

MODEM 0,1503619435,75.36600,-145.04601,181.660,262972.5 MEM 323692

RAFOS_FIX 7338.549805,-15105.124023,250817,000007,4,255,0.12 DATA_FILE_SIZE 26717,767

IRIDIUM_FIX 7339.62,-15109.34,240817,192407 CAP_FILE_SIZE 107162,0

TT8_MAMPS 0.084637,0.919023 CFSIZE 2097872896,2040037376

HUMID 43.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.5

TCM_TEMP 13.20 CURRENT 0.046,272.37,1

XPDR_PINGS 13 GPS 250817,004212,7339.631,-15106.396,14,0.9,17,20.3,0.5,200.2,10,8.9

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 145.26 nil 0 0 0.00

Roll_motor 93 2150 2495.86 nil 0 0 0.00

VBD_pump_during_apogee 962 1445 17258.91 nil 0 0 0.00

VBD_pump_during_surface 5 199 14.55 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 8726 14 1580.95

Iridium_during_xfer 366 179 813.25 NCP 8759 20 2172.23

Transponder_ping 3 420 16.93 PMAR 8718 9 1072.06

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.46

TT8 0 0 0.00

LPSleep 6051 2 171.10

TT8_Active 861 13 147.35

TT8_Sampling 2245 33 919.18

TT8_CF8 294 38 139.39

TT8_Kalman 0 0 0.00

Analog_circuits 2111 10 258.44

GPS_charging 0 0 0.00

Compass 1099 7 94.19

RAFOS 2140 48 1257.29

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 185 2211 497 493 0.0 0.0 0 130 0.00 0.00 -81.05 0.000 16386 0.000 0.000 182 2212 1942 1870 2014 0 0 0 0 0 0 14.49 28.83 14.51

133 -0.57 -145.9 183 2213 1874 2016 3.0 -3.1 8 196 12.68 2.75 -43.12 0.000 18724 0.457 2.150 2377 3597 3964 3949 3980 0 0 0 0 0 0 13.71 12.90 14.15

337 -0.66 -145.9 2378 3601 3956 3980 47.5 -16.1 48 342 0.00 2.40 0.00 0.000 1158 0.000 0.060 2377 2201 3967 3954 3980 0 0 0 0 0 0 14.22 14.11 14.26

647 -0.71 -145.9 2378 2201 3959 3981 98.6 -12.7 80 652 0.00 2.47 0.00 0.000 388 0.000 0.086 2369 3600 3968 3956 3980 0 0 0 0 0 0 14.54 14.12 14.56

722 -0.87 -145.9 2370 3601 3957 3979 107.0 -10.5 95 728 0.22 2.38 0.00 0.000 5254 0.096 0.057 2277 2198 3968 3956 3980 0 0 0 0 0 0 14.29 14.23 14.35

1038 -0.79 -145.9 2278 2197 3957 3981 168.1 -19.1 108 1044 0.17 2.47 0.00 0.000 2436 0.276 0.084 2311 3601 3968 3956 3980 0 0 0 0 0 0 13.97 14.19 14.14

1135 -0.90 -145.9 2307 3602 3965 3981 180.9 -11.7 127 1141 0.00 2.38 0.00 0.000 1158 0.000 0.059 2311 2194 3967 3956 3979 0 0 0 0 0 0 14.40 14.27 14.42

1461 -0.93 -145.9 2311 2192 3957 3980 223.5 -12.8 142 1466 0.00 2.47 0.00 0.000 388 0.000 0.088 2304 3602 3968 3956 3980 0 0 0 0 0 0 14.63 14.20 14.65

1511 -1.06 -145.9 2305 3604 3957 3986 229.4 -10.6 152 1516 0.20 2.38 0.00 0.000 5254 0.107 0.058 2232 2193 3968 3956 3980 0 0 0 0 0 0 14.30 14.25 14.40

1822 -0.97 -145.9 2234 2192 3957 3980 284.5 -17.0 164 1827 0.12 2.47 0.00 0.000 2436 0.298 0.083 2252 3607 3968 3956 3980 0 0 0 0 0 0 13.96 14.21 14.14

1939 -1.00 -145.9 2253 3608 3957 3980 300.7 -12.9 187 1945 0.00 2.38 0.00 0.000 1158 0.000 0.056 2248 2195 3966 3956 3976 0 0 0 0 0 0 14.39 14.26 14.40

2242 -1.00 -145.9 2252 2194 3957 3978 342.4 -13.4 198 2247 0.00 2.45 0.00 0.000 260 0.000 0.087 2243 3600 3967 3956 3979 0 0 0 0 0 0 14.64 14.23 14.67

2337 -1.00 -145.9 2243 3601 3956 3979 354.8 -12.2 217 2342 0.00 2.38 0.00 0.000 1030 0.000 0.058 2242 2192 3967 3956 3979 0 0 0 0 0 0 14.38 14.26 14.41

2662 -0.97 -145.9 2242 2192 3956 3979 398.5 -13.4 232 2667 0.00 2.47 0.00 0.000 388 0.000 0.087 2236 3604 3970 3962 3978 0 0 0 0 0 0 14.70 14.20 14.68

2747 -1.00 -145.9 2236 3606 3956 3979 409.7 -12.6 249 2753 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2201 3966 3955 3978 0 0 0 0 0 0 14.39 14.25 14.40

3052 -0.97 -145.9 2237 2199 3957 3977 451.3 -13.6 260 3058 0.12 2.45 0.00 0.000 2436 0.290 0.084 2256 3606 3966 3955 3977 0 0 0 0 0 0 14.01 14.23 14.17

3133 -1.06 -145.9 2256 3607 3957 3977 460.5 -10.5 276 3137 0.00 2.38 0.00 0.000 1158 0.000 0.057 2256 2194 3966 3955 3977 0 0 0 0 0 0 14.41 14.26 14.43

3320 end dive: TARGET_DEPTH_EXCEEDED

state 3320 begin apogee

3326 -0.13 0.0 2257 2066 3956 3976 482.3 -11.5 284 3546 1.05 0.00 216.57 1.424 10246 0.230 0.000 2527 2065 3365 3391 3339 0 0 0 0 0 0 13.97 13.49 12.72

3550 end apogee: CONTROL_FINISHED_OK

state 3550 begin climb

3552 0.57 145.9 2530 2065 3386 3332 492.8 0.0 291 3775 0.75 1.98 207.82 1.376 10500 0.064 0.074 2782 3507 2758 2803 2713 0 0 0 0 0 0 13.58 13.16 12.40

4000 0.12 145.9 2783 3507 2790 2713 458.6 17.7 338 4007 0.80 2.42 0.00 0.000 5254 0.358 0.060 2627 2128 2749 2789 2710 0 0 0 0 0 0 13.41 13.74 13.77

4305 0.04 175.2 2627 2127 2791 2711 430.6 8.6 349 4351 0.12 2.50 38.72 1.431 12708 0.293 0.083 2598 3501 2643 2689 2598 0 0 0 0 0 0 13.88 13.92 13.13

4511 0.04 199.6 2598 3503 2684 2596 412.8 8.9 390 4553 0.00 2.40 35.03 1.446 9382 0.000 0.060 2602 2098 2547 2602 2492 0 0 0 0 0 0 14.21 14.12 13.14

4880 0.06 234.4 2603 2098 2598 2480 382.1 8.4 413 4940 0.00 2.55 50.95 1.409 8740 0.000 0.089 2602 697 2399 2451 2348 0 0 0 0 0 0 14.51 13.94 13.19

5021 0.18 273.8 2603 697 2452 2347 370.2 8.2 441 5086 0.12 2.45 59.22 1.370 11430 0.135 0.080 2659 2092 2247 2302 2193 0 0 0 0 0 0 14.11 14.06 13.07

5392 0.15 273.8 2659 2092 2295 2178 325.5 12.3 465 5396 0.00 2.47 0.00 0.000 644 0.000 0.086 2659 689 2237 2295 2179 0 0 0 0 0 0 14.47 14.11 14.49

5421 0.15 273.8 2660 688 2293 2179 321.9 12.0 471 5426 0.00 2.47 0.00 0.000 1030 0.000 0.079 2660 2101 2235 2292 2178 0 0 0 0 0 0 14.27 14.14 14.31

5752 0.12 273.8 2659 2104 2293 2177 284.7 11.0 487 5757 0.12 2.45 0.00 0.000 4740 0.259 0.082 2637 692 2234 2292 2176 0 0 0 0 0 0 14.07 14.22 14.20

5797 0.22 298.8 2638 692 2291 2177 280.4 8.8 496 5843 0.00 2.45 36.33 1.382 9382 0.000 0.079 2637 2105 2141 2197 2086 0 0 0 0 0 0 13.97 13.99 13.33

6144 0.29 329.0 2637 2106 2195 2080 249.8 8.6 515 6199 0.12 2.50 48.45 1.339 10916 0.129 0.083 2699 693 2019 2068 1970 0 0 0 0 0 0 14.33 13.84 13.26

6224 0.29 329.0 2699 693 2063 1970 240.6 12.4 526 6229 0.00 2.50 0.00 0.000 1030 0.000 0.078 2699 2108 2015 2062 1969 0 0 0 0 0 0 14.16 14.04 14.19

6536 0.26 329.0 2699 2108 2062 1960 204.3 11.4 538 6541 0.12 2.50 0.00 0.000 4740 0.229 0.083 2672 685 2009 2056 1962 0 0 0 0 0 0 14.00 14.11 14.14

6611 0.36 359.1 2672 688 2059 1961 197.0 8.6 553 6666 0.00 2.47 48.55 1.314 9382 0.000 0.078 2672 2104 1897 1937 1857 0 0 0 0 0 0 14.26 14.14 13.21

6988 0.46 394.7 2674 2104 1926 1850 164.6 8.4 578 7053 0.15 2.53 59.22 1.271 10916 0.123 0.086 2753 694 1752 1780 1725 0 0 0 0 0 0 14.16 13.74 13.19

7089 0.46 394.7 2753 692 1774 1725 151.6 13.5 598 7094 0.00 2.50 0.00 0.000 1030 0.000 0.078 2753 2098 1751 1773 1729 0 0 0 0 0 0 14.04 13.93 14.07

7409 0.41 394.7 2753 2101 1773 1718 109.3 12.6 612 7415 0.12 2.50 0.00 0.000 4740 0.246 0.083 2726 689 1744 1772 1716 0 0 0 0 0 0 13.93 14.06 14.07

7465 0.49 400.8 2730 689 1770 1717 103.3 9.7 623 7472 0.00 2.47 1.83 0.431 9382 0.000 0.079 2736 2100 1730 1757 1703 0 0 0 0 0 0 14.19 14.07 13.50

7771 0.55 443.1 2730 2102 1762 1705 75.8 8.0 652 7803 0.00 2.58 23.38 0.435 8868 0.000 0.086 2730 687 1556 1587 1526 0 0 0 0 0 0 14.41 14.05 13.67

7895 0.70 509.8 2730 688 1589 1527 66.5 6.9 676 7937 0.22 2.50 34.83 0.403 11430 0.095 0.081 2812 2106 1287 1340 1234 0 0 0 0 0 0 14.12 14.07 13.67

8233 0.71 530.3 2811 2107 1340 1227 33.7 9.1 714 8245 0.00 0.00 10.52 0.312 8230 0.000 0.000 2811 2106 1208 1274 1143 0 0 0 0 0 0 14.38 14.06 13.74

8545 0.92 698.0 2811 2107 1268 1141 13.6 2.3 745 8649 0.20 2.55 91.22 0.244 10660 0.098 0.082 2890 3509 520 546 495 0 0 0 0 0 0 14.09 13.88 13.82

8654 0.92 698.0 2892 3509 548 496 5.7 10.4 762 8660 0.00 2.47 0.00 0.000 1030 0.000 0.067 2895 2094 521 548 495 0 0 0 0 0 0 14.12 14.00 14.15

8687 end climb: SURFACE_DEPTH_REACHED

state 8687 begin surface coast

8697 end surface coast: CONTROL_FINISHED_OK

state 8697 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	156	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	438.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	240817,220318,7338.6587,-15103.1914,17,0.7,19,20.4,0.0,0.0,12,9.9	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	1.18	MHEAD_RNG_PITCHd_Wd	296.0,113611,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	240817,221431,7338.6333,-15103.4277,17,1.0,40,20.4,0.0,225.1,6,9.9

MODEM_MSG	CACST,6,1,20170825002739.978465,3,239,17,0268,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00	PM_FREEKB_00	53366720
FINISH	0.5,1.020682	_24V_AH	12.40,117.373
SM_CCo	8763,5.88,0.200,0,0,497,702.78	_10V_AH	12.24,0.000
SM_GC	1.86,8.20,0.20,5.88,0.070,0.115,0.200,200,2215,497,-7.38,-0.57,702.78,0,0,0,0,0,0,14.14,14.14,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	116	FG_AHR_10Vo	0.000
MODEM	0,1503619435,75.36600,-145.04601,181.660,262972.5	MEM	323692
RAFOS_FIX	7338.549805,-15105.124023,250817,000007,4,255,0.12	DATA_FILE_SIZE	26717,767
IRIDIUM_FIX	7339.62,-15109.34,240817,192407	CAP_FILE_SIZE	107162,0
TT8_MAMPS	0.084637,0.919023	CFSIZE	2097872896,2040037376
HUMID	43.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.5
TCM_TEMP	13.20	CURRENT	0.046,272.37,1
XPDR_PINGS	13	GPS	250817,004212,7339.631,-15106.396,14,0.9,17,20.3,0.5,200.2,10,8.9
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	145.26	nil	0	0	0.00
Roll_motor	93	2150	2495.86	nil	0	0	0.00
VBD_pump_during_apogee	962	1445	17258.91	nil	0	0	0.00
VBD_pump_during_surface	5	199	14.55	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	8726	14	1580.95
Iridium_during_xfer	366	179	813.25	NCP	8759	20	2172.23
Transponder_ping	3	420	16.93	PMAR	8718	9	1072.06
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.46
TT8	0	0	0.00
LPSleep	6051	2	171.10
TT8_Active	861	13	147.35
TT8_Sampling	2245	33	919.18
TT8_CF8	294	38	139.39
TT8_Kalman	0	0	0.00
Analog_circuits	2111	10	258.44
GPS_charging	0	0	0.00
Compass	1099	7	94.19
RAFOS	2140	48	1257.29
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	185	2211	497	493	0.0	0.0	0	130	0.00	0.00	-81.05	0.000	16386	0.000	0.000	182	2212	1942	1870	2014	0	0	0	0	0	0	14.49	28.83	14.51
133	-0.57	-145.9	183	2213	1874	2016	3.0	-3.1	8	196	12.68	2.75	-43.12	0.000	18724	0.457	2.150	2377	3597	3964	3949	3980	0	0	0	0	0	0	13.71	12.90	14.15
337	-0.66	-145.9	2378	3601	3956	3980	47.5	-16.1	48	342	0.00	2.40	0.00	0.000	1158	0.000	0.060	2377	2201	3967	3954	3980	0	0	0	0	0	0	14.22	14.11	14.26
647	-0.71	-145.9	2378	2201	3959	3981	98.6	-12.7	80	652	0.00	2.47	0.00	0.000	388	0.000	0.086	2369	3600	3968	3956	3980	0	0	0	0	0	0	14.54	14.12	14.56
722	-0.87	-145.9	2370	3601	3957	3979	107.0	-10.5	95	728	0.22	2.38	0.00	0.000	5254	0.096	0.057	2277	2198	3968	3956	3980	0	0	0	0	0	0	14.29	14.23	14.35
1038	-0.79	-145.9	2278	2197	3957	3981	168.1	-19.1	108	1044	0.17	2.47	0.00	0.000	2436	0.276	0.084	2311	3601	3968	3956	3980	0	0	0	0	0	0	13.97	14.19	14.14
1135	-0.90	-145.9	2307	3602	3965	3981	180.9	-11.7	127	1141	0.00	2.38	0.00	0.000	1158	0.000	0.059	2311	2194	3967	3956	3979	0	0	0	0	0	0	14.40	14.27	14.42
1461	-0.93	-145.9	2311	2192	3957	3980	223.5	-12.8	142	1466	0.00	2.47	0.00	0.000	388	0.000	0.088	2304	3602	3968	3956	3980	0	0	0	0	0	0	14.63	14.20	14.65
1511	-1.06	-145.9	2305	3604	3957	3986	229.4	-10.6	152	1516	0.20	2.38	0.00	0.000	5254	0.107	0.058	2232	2193	3968	3956	3980	0	0	0	0	0	0	14.30	14.25	14.40
1822	-0.97	-145.9	2234	2192	3957	3980	284.5	-17.0	164	1827	0.12	2.47	0.00	0.000	2436	0.298	0.083	2252	3607	3968	3956	3980	0	0	0	0	0	0	13.96	14.21	14.14
1939	-1.00	-145.9	2253	3608	3957	3980	300.7	-12.9	187	1945	0.00	2.38	0.00	0.000	1158	0.000	0.056	2248	2195	3966	3956	3976	0	0	0	0	0	0	14.39	14.26	14.40
2242	-1.00	-145.9	2252	2194	3957	3978	342.4	-13.4	198	2247	0.00	2.45	0.00	0.000	260	0.000	0.087	2243	3600	3967	3956	3979	0	0	0	0	0	0	14.64	14.23	14.67
2337	-1.00	-145.9	2243	3601	3956	3979	354.8	-12.2	217	2342	0.00	2.38	0.00	0.000	1030	0.000	0.058	2242	2192	3967	3956	3979	0	0	0	0	0	0	14.38	14.26	14.41
2662	-0.97	-145.9	2242	2192	3956	3979	398.5	-13.4	232	2667	0.00	2.47	0.00	0.000	388	0.000	0.087	2236	3604	3970	3962	3978	0	0	0	0	0	0	14.70	14.20	14.68
2747	-1.00	-145.9	2236	3606	3956	3979	409.7	-12.6	249	2753	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2201	3966	3955	3978	0	0	0	0	0	0	14.39	14.25	14.40
3052	-0.97	-145.9	2237	2199	3957	3977	451.3	-13.6	260	3058	0.12	2.45	0.00	0.000	2436	0.290	0.084	2256	3606	3966	3955	3977	0	0	0	0	0	0	14.01	14.23	14.17
3133	-1.06	-145.9	2256	3607	3957	3977	460.5	-10.5	276	3137	0.00	2.38	0.00	0.000	1158	0.000	0.057	2256	2194	3966	3955	3977	0	0	0	0	0	0	14.41	14.26	14.43
3320	end dive: TARGET_DEPTH_EXCEEDED
state	3320	begin apogee
3326	-0.13	0.0	2257	2066	3956	3976	482.3	-11.5	284	3546	1.05	0.00	216.57	1.424	10246	0.230	0.000	2527	2065	3365	3391	3339	0	0	0	0	0	0	13.97	13.49	12.72
3550	end apogee: CONTROL_FINISHED_OK
state	3550	begin climb
3552	0.57	145.9	2530	2065	3386	3332	492.8	0.0	291	3775	0.75	1.98	207.82	1.376	10500	0.064	0.074	2782	3507	2758	2803	2713	0	0	0	0	0	0	13.58	13.16	12.40
4000	0.12	145.9	2783	3507	2790	2713	458.6	17.7	338	4007	0.80	2.42	0.00	0.000	5254	0.358	0.060	2627	2128	2749	2789	2710	0	0	0	0	0	0	13.41	13.74	13.77
4305	0.04	175.2	2627	2127	2791	2711	430.6	8.6	349	4351	0.12	2.50	38.72	1.431	12708	0.293	0.083	2598	3501	2643	2689	2598	0	0	0	0	0	0	13.88	13.92	13.13
4511	0.04	199.6	2598	3503	2684	2596	412.8	8.9	390	4553	0.00	2.40	35.03	1.446	9382	0.000	0.060	2602	2098	2547	2602	2492	0	0	0	0	0	0	14.21	14.12	13.14
4880	0.06	234.4	2603	2098	2598	2480	382.1	8.4	413	4940	0.00	2.55	50.95	1.409	8740	0.000	0.089	2602	697	2399	2451	2348	0	0	0	0	0	0	14.51	13.94	13.19
5021	0.18	273.8	2603	697	2452	2347	370.2	8.2	441	5086	0.12	2.45	59.22	1.370	11430	0.135	0.080	2659	2092	2247	2302	2193	0	0	0	0	0	0	14.11	14.06	13.07
5392	0.15	273.8	2659	2092	2295	2178	325.5	12.3	465	5396	0.00	2.47	0.00	0.000	644	0.000	0.086	2659	689	2237	2295	2179	0	0	0	0	0	0	14.47	14.11	14.49
5421	0.15	273.8	2660	688	2293	2179	321.9	12.0	471	5426	0.00	2.47	0.00	0.000	1030	0.000	0.079	2660	2101	2235	2292	2178	0	0	0	0	0	0	14.27	14.14	14.31
5752	0.12	273.8	2659	2104	2293	2177	284.7	11.0	487	5757	0.12	2.45	0.00	0.000	4740	0.259	0.082	2637	692	2234	2292	2176	0	0	0	0	0	0	14.07	14.22	14.20
5797	0.22	298.8	2638	692	2291	2177	280.4	8.8	496	5843	0.00	2.45	36.33	1.382	9382	0.000	0.079	2637	2105	2141	2197	2086	0	0	0	0	0	0	13.97	13.99	13.33
6144	0.29	329.0	2637	2106	2195	2080	249.8	8.6	515	6199	0.12	2.50	48.45	1.339	10916	0.129	0.083	2699	693	2019	2068	1970	0	0	0	0	0	0	14.33	13.84	13.26
6224	0.29	329.0	2699	693	2063	1970	240.6	12.4	526	6229	0.00	2.50	0.00	0.000	1030	0.000	0.078	2699	2108	2015	2062	1969	0	0	0	0	0	0	14.16	14.04	14.19
6536	0.26	329.0	2699	2108	2062	1960	204.3	11.4	538	6541	0.12	2.50	0.00	0.000	4740	0.229	0.083	2672	685	2009	2056	1962	0	0	0	0	0	0	14.00	14.11	14.14
6611	0.36	359.1	2672	688	2059	1961	197.0	8.6	553	6666	0.00	2.47	48.55	1.314	9382	0.000	0.078	2672	2104	1897	1937	1857	0	0	0	0	0	0	14.26	14.14	13.21
6988	0.46	394.7	2674	2104	1926	1850	164.6	8.4	578	7053	0.15	2.53	59.22	1.271	10916	0.123	0.086	2753	694	1752	1780	1725	0	0	0	0	0	0	14.16	13.74	13.19
7089	0.46	394.7	2753	692	1774	1725	151.6	13.5	598	7094	0.00	2.50	0.00	0.000	1030	0.000	0.078	2753	2098	1751	1773	1729	0	0	0	0	0	0	14.04	13.93	14.07
7409	0.41	394.7	2753	2101	1773	1718	109.3	12.6	612	7415	0.12	2.50	0.00	0.000	4740	0.246	0.083	2726	689	1744	1772	1716	0	0	0	0	0	0	13.93	14.06	14.07
7465	0.49	400.8	2730	689	1770	1717	103.3	9.7	623	7472	0.00	2.47	1.83	0.431	9382	0.000	0.079	2736	2100	1730	1757	1703	0	0	0	0	0	0	14.19	14.07	13.50
7771	0.55	443.1	2730	2102	1762	1705	75.8	8.0	652	7803	0.00	2.58	23.38	0.435	8868	0.000	0.086	2730	687	1556	1587	1526	0	0	0	0	0	0	14.41	14.05	13.67
7895	0.70	509.8	2730	688	1589	1527	66.5	6.9	676	7937	0.22	2.50	34.83	0.403	11430	0.095	0.081	2812	2106	1287	1340	1234	0	0	0	0	0	0	14.12	14.07	13.67
8233	0.71	530.3	2811	2107	1340	1227	33.7	9.1	714	8245	0.00	0.00	10.52	0.312	8230	0.000	0.000	2811	2106	1208	1274	1143	0	0	0	0	0	0	14.38	14.06	13.74
8545	0.92	698.0	2811	2107	1268	1141	13.6	2.3	745	8649	0.20	2.55	91.22	0.244	10660	0.098	0.082	2890	3509	520	546	495	0	0	0	0	0	0	14.09	13.88	13.82
8654	0.92	698.0	2892	3509	548	496	5.7	10.4	762	8660	0.00	2.47	0.00	0.000	1030	0.000	0.067	2895	2094	521	548	495	0	0	0	0	0	0	14.12	14.00	14.15
8687	end climb: SURFACE_DEPTH_REACHED
state	8687	begin surface coast
8697	end surface coast: CONTROL_FINISHED_OK
state	8697	begin surface