Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 158 * 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 158 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 444.0

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 28 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 444.0 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 28 VBD_MIN 500

DIVE 158 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 250817,033604,7340.7295,-15109.7441,33,1.7,35,20.3,0.4,119.3,4,8.8 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.21 MHEAD_RNG_PITCHd_Wd 295.2,108614,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.4 D_GRID 480

GPS2 250817,035050,7340.7607,-15109.8564,5,0.8,14,20.3,0.0,0.0,11,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825042737.535173,3,60,11,0193,0150,250,00,00,01,01,-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 53309696

FINISH 0.2,1.020760 _24V_AH 12.40,118.357

SM_CCo 9054,0.00,0.000,0,0,497,703.52 _10V_AH 12.26,0.000

SM_GC 1.27,8.45,0.17,0.00,0.086,0.119,0.000,201,2216,497,-7.39,-0.71,703.52,0,0,0,0,0,0,14.25,14.27,14.34 FG_AHR_24Vo 0.000

RAFOS_CLK 390 FG_AHR_10Vo 0.000

MODEM 0,1503633835,75.36600,-145.04601,181.617,263083.7 MEM 323612

RAFOS_FIX 7339.553223,-15110.039062,250817,040406,4,255,1.48 DATA_FILE_SIZE 26725,763

IRIDIUM_FIX 7344.32,-15153.39,250817,034100 CAP_FILE_SIZE 108439,0

TT8_MAMPS 0.040446,0.892808 CFSIZE 2097872896,2039382016

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

INTERNAL_PRESSURE 7.73269 INTR 0,9854.14,0x213afc,7,24

TCM_TEMP 13.10 SOUNDSPEED 1447.9

XPDR_PINGS 15 CURRENT 0.021,269.49,1

CP_FREE 15992717312.000000 GPS 250817,062403,7341.863,-15112.468,59,0.7,60,20.3,0.0,191.9,11,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 459 149.94 nil 0 0 0.00

Roll_motor 83 2150 2236.54 nil 0 0 0.00

VBD_pump_during_apogee 1043 1428 18484.30 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8998 14 1622.08

Iridium_during_xfer 542 176 1187.89 NCP 8990 20 2229.52

Transponder_ping 3 420 19.53 PMAR 8947 9 1104.55

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.52

TT8 0 0 0.00

LPSleep 6372 2 180.47

TT8_Active 929 13 159.27

TT8_Sampling 2341 33 959.94

TT8_CF8 309 38 146.98

TT8_Kalman 0 0 0.00

Analog_circuits 2343 10 287.37

GPS_charging 0 0 0.00

Compass 1094 7 93.89

RAFOS 2212 48 1301.72

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 -145.9 176 2216 514 479 0.0 0.0 0 140 0.00 0.00 -91.60 0.000 16386 0.000 0.000 173 2216 2203 2132 2274 0 0 0 0 0 0 14.46 28.83 14.48

143 -0.57 -145.9 174 2216 2134 2273 4.3 -6.5 9 196 12.80 2.75 -31.80 0.000 18724 0.460 2.150 2374 3598 3964 3948 3980 1 0 0 0 0 0 13.57 12.59 14.14

421 -0.67 -145.9 2375 3600 3955 3981 65.1 -14.0 64 428 0.00 2.40 0.00 0.000 1158 0.000 0.058 2374 2200 3967 3954 3980 0 0 0 0 0 0 14.26 14.15 14.29

745 -0.73 -145.9 2374 2197 3955 3982 111.0 -12.3 90 750 0.00 2.50 0.00 0.000 388 0.000 0.086 2365 3604 3971 3955 3987 0 0 0 0 0 0 14.42 13.95 14.44

815 -0.90 -145.9 2372 3605 3956 3981 118.5 -9.7 104 821 0.25 2.40 0.00 0.000 5286 0.091 0.055 2266 2197 3967 3954 3980 0 0 0 0 0 0 14.09 14.00 14.20

1136 -0.82 -145.9 2266 2197 3956 3981 180.3 -19.0 118 1141 0.17 2.50 0.00 0.000 2436 0.294 0.084 2299 3601 3965 3952 3979 0 0 0 0 0 0 13.83 14.06 14.00

1233 -0.91 -145.9 2299 3601 3956 3981 194.1 -12.8 137 1238 0.00 2.40 0.00 0.000 1158 0.000 0.058 2299 2196 3967 3955 3980 0 0 0 0 0 0 14.24 14.14 14.28

1558 -0.93 -145.9 2299 2195 3956 3980 238.8 -13.2 152 1564 0.00 2.50 0.00 0.000 388 0.000 0.087 2293 3607 3967 3954 3980 0 0 0 0 0 0 14.45 14.09 14.47

1634 -1.03 -145.9 2292 3609 3955 3981 247.9 -11.2 167 1639 0.15 2.40 0.00 0.000 5254 0.123 0.057 2239 2197 3967 3955 3979 0 0 0 0 0 0 14.12 14.14 14.24

1949 -0.96 -145.9 2240 2197 3955 3980 299.0 -15.6 180 1955 0.12 2.47 0.00 0.000 2436 0.295 0.084 2257 3602 3967 3955 3980 0 0 0 0 0 0 13.83 14.04 14.02

2042 -1.01 -145.9 2257 3602 3955 3981 310.9 -12.3 198 2047 0.00 2.40 0.00 0.000 1158 0.000 0.057 2257 2201 3967 3954 3980 0 0 0 0 0 0 14.23 14.11 14.26

2372 -1.01 -145.9 2256 2200 3955 3984 353.9 -12.7 214 2377 0.00 2.50 0.00 0.000 260 0.000 0.088 2249 3607 3966 3954 3979 0 0 0 0 0 0 14.45 14.06 14.47

2442 -1.07 -145.9 2249 3609 3956 3979 362.7 -12.0 228 2448 0.00 2.42 0.00 0.000 1158 0.000 0.057 2249 2192 3967 3955 3979 0 0 0 0 0 0 14.23 14.12 14.26

2763 -1.07 -145.9 2249 2191 3956 3977 404.5 -12.9 242 2768 0.00 2.47 0.00 0.000 260 0.000 0.086 2240 3607 3965 3954 3977 0 0 0 0 0 0 14.42 14.04 14.46

2884 -1.11 -145.9 2241 3609 3955 3978 419.6 -12.1 266 2889 0.00 2.38 0.00 0.000 1158 0.000 0.055 2241 2204 3965 3954 3977 0 0 0 0 0 0 14.23 14.08 14.25

3214 -1.11 -145.9 2241 2202 3954 3977 462.9 -13.0 282 3218 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3600 3965 3954 3977 0 0 0 0 0 0 14.57 14.16 14.58

3284 -1.14 -145.9 2237 3601 3954 3977 471.9 -12.4 296 3290 0.00 2.38 0.00 0.000 1158 0.000 0.056 2236 2203 3965 3954 3977 0 0 0 0 0 0 14.33 14.22 14.38

3362 end dive: TARGET_DEPTH_EXCEEDED

state 3362 begin apogee

3368 -0.13 0.0 2237 2055 3955 3978 482.7 -13.4 302 3650 1.15 0.08 277.70 1.320 10246 0.242 0.182 2527 2099 3364 3391 3337 0 0 0 0 0 0 13.91 13.29 12.58

3655 end apogee: CONTROL_FINISHED_OK

state 3655 begin climb

3658 0.57 145.9 2528 2099 3379 3322 497.4 0.0 311 3881 0.75 1.88 208.85 1.331 11012 0.065 0.076 2779 3501 2754 2798 2711 0 0 0 0 0 0 13.46 13.15 12.40

4066 0.12 145.9 2780 3501 2780 2705 472.9 17.0 350 4072 0.80 2.40 0.00 0.000 5254 0.352 0.057 2630 2131 2742 2780 2704 0 0 0 0 0 0 13.38 13.71 13.74

4382 0.05 185.5 2627 2130 2783 2703 445.5 8.2 363 4444 0.00 2.58 55.20 1.343 8868 0.000 0.082 2636 687 2604 2657 2551 0 0 0 0 0 0 14.40 13.69 13.10

4509 0.03 201.9 2636 687 2646 2539 434.2 9.2 388 4535 0.17 2.50 19.17 1.428 13478 0.254 0.080 2599 2099 2540 2604 2476 0 0 0 0 0 0 13.80 13.97 13.09

4836 0.07 251.8 2599 2100 2592 2456 408.9 7.7 403 4916 0.00 0.00 79.00 1.298 8230 0.000 0.000 2599 2102 2340 2400 2281 0 0 0 0 0 0 14.47 13.86 13.13

5194 0.16 293.9 2599 2099 2379 2258 380.3 8.1 415 5265 0.12 2.60 65.72 1.291 10916 0.132 0.086 2672 688 2163 2220 2107 0 0 0 0 0 0 14.23 13.90 13.14

5292 0.14 293.9 2674 687 2205 2101 368.8 12.9 434 5297 0.17 2.50 0.00 0.000 5254 0.239 0.079 2633 2100 2151 2203 2099 0 0 0 0 0 0 13.80 13.94 14.03

5617 0.17 293.9 2633 2099 2204 2087 334.0 10.5 449 5623 0.00 2.47 0.00 0.000 644 0.000 0.086 2633 689 2144 2202 2087 0 0 0 0 0 0 14.52 14.19 14.53

5668 0.28 301.1 2633 690 2201 2088 328.8 9.7 459 5673 0.12 2.45 0.00 0.000 3238 0.131 0.078 2686 2099 2143 2200 2087 0 0 0 0 0 0 14.27 14.21 14.35

5979 0.21 301.1 2687 2099 2202 2086 287.3 13.4 471 5980 0.15 0.00 0.00 0.000 4230 0.244 0.000 2654 2100 2143 2200 2086 0 0 0 0 0 0 14.12 14.40 14.34

6279 0.21 301.1 2654 2100 2201 2085 255.6 10.2 481 6284 0.00 2.42 0.00 0.000 516 0.000 0.086 2659 695 2142 2200 2085 0 0 0 0 0 0 14.65 14.28 14.66

6374 0.29 332.3 2659 696 2198 2086 246.8 8.6 500 6440 0.00 2.42 61.28 1.266 9382 0.000 0.080 2659 2100 2013 2064 1962 0 0 0 0 0 0 14.42 14.30 13.32

6760 0.36 361.8 2660 2100 2046 1939 212.1 8.6 527 6816 0.12 2.53 47.12 1.257 10916 0.136 0.086 2724 701 1884 1921 1847 0 0 0 0 0 0 14.25 14.02 13.28

6871 0.36 361.8 2725 701 1909 1845 198.9 12.0 549 6878 0.00 2.47 0.00 0.000 1030 0.000 0.076 2725 2103 1876 1908 1844 0 0 0 0 0 0 14.20 14.09 14.23

7183 0.31 361.8 2725 2104 1906 1838 160.8 11.8 561 7189 0.15 2.47 0.00 0.000 4740 0.236 0.085 2687 690 1871 1905 1838 0 0 0 0 0 0 14.06 14.17 14.20

7254 0.44 399.2 2688 689 1904 1837 154.6 8.3 575 7324 0.12 2.47 64.00 1.210 11430 0.139 0.079 2742 2099 1742 1773 1711 0 0 0 0 0 0 14.26 14.23 13.28

7634 0.41 399.2 2742 2100 1751 1690 109.4 11.5 601 7635 0.00 0.00 0.00 0.000 134 0.000 0.000 2742 2099 1720 1751 1690 0 0 0 0 0 0 14.50 14.52 14.52

7936 0.42 413.3 2742 2100 1751 1687 78.2 9.3 625 7948 0.00 2.47 5.28 0.364 8740 0.000 0.084 2751 687 1682 1714 1650 0 0 0 0 0 0 14.54 14.19 13.75

8019 0.51 455.2 2751 688 1722 1659 71.2 8.1 641 8051 0.00 2.47 24.62 0.412 9382 0.000 0.080 2751 2102 1513 1546 1481 0 0 0 0 0 0 14.28 14.15 13.74

8348 0.67 574.3 2751 2103 1550 1479 50.1 4.5 677 8419 0.15 0.00 64.12 0.347 10406 0.116 0.000 2810 2102 1021 1094 949 0 0 0 0 0 0 14.31 14.12 13.77

8718 0.79 627.5 2810 2102 1095 960 18.2 7.5 714 8755 0.00 2.55 29.40 0.265 8868 0.000 0.087 2811 697 804 876 732 0 0 0 0 0 0 14.54 14.00 13.90

8910 1.06 708.0 2812 696 878 744 8.0 6.3 752 8958 0.35 2.45 42.22 0.225 11430 0.086 0.078 2942 2100 498 523 474 0 0 0 0 0 0 14.20 14.15 13.87

8961 end climb: SURFACE_DEPTH_REACHED

state 8961 begin surface coast

8971 end surface coast: CONTROL_FINISHED_OK

state 8971 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	158	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	444.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,033604,7340.7295,-15109.7441,33,1.7,35,20.3,0.4,119.3,4,8.8	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.21	MHEAD_RNG_PITCHd_Wd	295.2,108614,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.4	D_GRID	480
GPS2	250817,035050,7340.7607,-15109.8564,5,0.8,14,20.3,0.0,0.0,11,9.7

MODEM_MSG	CACST,6,1,20170825042737.535173,3,60,11,0193,0150,250,00,00,01,01,-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	53309696
FINISH	0.2,1.020760	_24V_AH	12.40,118.357
SM_CCo	9054,0.00,0.000,0,0,497,703.52	_10V_AH	12.26,0.000
SM_GC	1.27,8.45,0.17,0.00,0.086,0.119,0.000,201,2216,497,-7.39,-0.71,703.52,0,0,0,0,0,0,14.25,14.27,14.34	FG_AHR_24Vo	0.000
RAFOS_CLK	390	FG_AHR_10Vo	0.000
MODEM	0,1503633835,75.36600,-145.04601,181.617,263083.7	MEM	323612
RAFOS_FIX	7339.553223,-15110.039062,250817,040406,4,255,1.48	DATA_FILE_SIZE	26725,763
IRIDIUM_FIX	7344.32,-15153.39,250817,034100	CAP_FILE_SIZE	108439,0
TT8_MAMPS	0.040446,0.892808	CFSIZE	2097872896,2039382016
HUMID	46.61	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.73269	INTR	0,9854.14,0x213afc,7,24
TCM_TEMP	13.10	SOUNDSPEED	1447.9
XPDR_PINGS	15	CURRENT	0.021,269.49,1
CP_FREE	15992717312.000000	GPS	250817,062403,7341.863,-15112.468,59,0.7,60,20.3,0.0,191.9,11,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	459	149.94	nil	0	0	0.00
Roll_motor	83	2150	2236.54	nil	0	0	0.00
VBD_pump_during_apogee	1043	1428	18484.30	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8998	14	1622.08
Iridium_during_xfer	542	176	1187.89	NCP	8990	20	2229.52
Transponder_ping	3	420	19.53	PMAR	8947	9	1104.55
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.52
TT8	0	0	0.00
LPSleep	6372	2	180.47
TT8_Active	929	13	159.27
TT8_Sampling	2341	33	959.94
TT8_CF8	309	38	146.98
TT8_Kalman	0	0	0.00
Analog_circuits	2343	10	287.37
GPS_charging	0	0	0.00
Compass	1094	7	93.89
RAFOS	2212	48	1301.72
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	176	2216	514	479	0.0	0.0	0	140	0.00	0.00	-91.60	0.000	16386	0.000	0.000	173	2216	2203	2132	2274	0	0	0	0	0	0	14.46	28.83	14.48
143	-0.57	-145.9	174	2216	2134	2273	4.3	-6.5	9	196	12.80	2.75	-31.80	0.000	18724	0.460	2.150	2374	3598	3964	3948	3980	1	0	0	0	0	0	13.57	12.59	14.14
421	-0.67	-145.9	2375	3600	3955	3981	65.1	-14.0	64	428	0.00	2.40	0.00	0.000	1158	0.000	0.058	2374	2200	3967	3954	3980	0	0	0	0	0	0	14.26	14.15	14.29
745	-0.73	-145.9	2374	2197	3955	3982	111.0	-12.3	90	750	0.00	2.50	0.00	0.000	388	0.000	0.086	2365	3604	3971	3955	3987	0	0	0	0	0	0	14.42	13.95	14.44
815	-0.90	-145.9	2372	3605	3956	3981	118.5	-9.7	104	821	0.25	2.40	0.00	0.000	5286	0.091	0.055	2266	2197	3967	3954	3980	0	0	0	0	0	0	14.09	14.00	14.20
1136	-0.82	-145.9	2266	2197	3956	3981	180.3	-19.0	118	1141	0.17	2.50	0.00	0.000	2436	0.294	0.084	2299	3601	3965	3952	3979	0	0	0	0	0	0	13.83	14.06	14.00
1233	-0.91	-145.9	2299	3601	3956	3981	194.1	-12.8	137	1238	0.00	2.40	0.00	0.000	1158	0.000	0.058	2299	2196	3967	3955	3980	0	0	0	0	0	0	14.24	14.14	14.28
1558	-0.93	-145.9	2299	2195	3956	3980	238.8	-13.2	152	1564	0.00	2.50	0.00	0.000	388	0.000	0.087	2293	3607	3967	3954	3980	0	0	0	0	0	0	14.45	14.09	14.47
1634	-1.03	-145.9	2292	3609	3955	3981	247.9	-11.2	167	1639	0.15	2.40	0.00	0.000	5254	0.123	0.057	2239	2197	3967	3955	3979	0	0	0	0	0	0	14.12	14.14	14.24
1949	-0.96	-145.9	2240	2197	3955	3980	299.0	-15.6	180	1955	0.12	2.47	0.00	0.000	2436	0.295	0.084	2257	3602	3967	3955	3980	0	0	0	0	0	0	13.83	14.04	14.02
2042	-1.01	-145.9	2257	3602	3955	3981	310.9	-12.3	198	2047	0.00	2.40	0.00	0.000	1158	0.000	0.057	2257	2201	3967	3954	3980	0	0	0	0	0	0	14.23	14.11	14.26
2372	-1.01	-145.9	2256	2200	3955	3984	353.9	-12.7	214	2377	0.00	2.50	0.00	0.000	260	0.000	0.088	2249	3607	3966	3954	3979	0	0	0	0	0	0	14.45	14.06	14.47
2442	-1.07	-145.9	2249	3609	3956	3979	362.7	-12.0	228	2448	0.00	2.42	0.00	0.000	1158	0.000	0.057	2249	2192	3967	3955	3979	0	0	0	0	0	0	14.23	14.12	14.26
2763	-1.07	-145.9	2249	2191	3956	3977	404.5	-12.9	242	2768	0.00	2.47	0.00	0.000	260	0.000	0.086	2240	3607	3965	3954	3977	0	0	0	0	0	0	14.42	14.04	14.46
2884	-1.11	-145.9	2241	3609	3955	3978	419.6	-12.1	266	2889	0.00	2.38	0.00	0.000	1158	0.000	0.055	2241	2204	3965	3954	3977	0	0	0	0	0	0	14.23	14.08	14.25
3214	-1.11	-145.9	2241	2202	3954	3977	462.9	-13.0	282	3218	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3600	3965	3954	3977	0	0	0	0	0	0	14.57	14.16	14.58
3284	-1.14	-145.9	2237	3601	3954	3977	471.9	-12.4	296	3290	0.00	2.38	0.00	0.000	1158	0.000	0.056	2236	2203	3965	3954	3977	0	0	0	0	0	0	14.33	14.22	14.38
3362	end dive: TARGET_DEPTH_EXCEEDED
state	3362	begin apogee
3368	-0.13	0.0	2237	2055	3955	3978	482.7	-13.4	302	3650	1.15	0.08	277.70	1.320	10246	0.242	0.182	2527	2099	3364	3391	3337	0	0	0	0	0	0	13.91	13.29	12.58
3655	end apogee: CONTROL_FINISHED_OK
state	3655	begin climb
3658	0.57	145.9	2528	2099	3379	3322	497.4	0.0	311	3881	0.75	1.88	208.85	1.331	11012	0.065	0.076	2779	3501	2754	2798	2711	0	0	0	0	0	0	13.46	13.15	12.40
4066	0.12	145.9	2780	3501	2780	2705	472.9	17.0	350	4072	0.80	2.40	0.00	0.000	5254	0.352	0.057	2630	2131	2742	2780	2704	0	0	0	0	0	0	13.38	13.71	13.74
4382	0.05	185.5	2627	2130	2783	2703	445.5	8.2	363	4444	0.00	2.58	55.20	1.343	8868	0.000	0.082	2636	687	2604	2657	2551	0	0	0	0	0	0	14.40	13.69	13.10
4509	0.03	201.9	2636	687	2646	2539	434.2	9.2	388	4535	0.17	2.50	19.17	1.428	13478	0.254	0.080	2599	2099	2540	2604	2476	0	0	0	0	0	0	13.80	13.97	13.09
4836	0.07	251.8	2599	2100	2592	2456	408.9	7.7	403	4916	0.00	0.00	79.00	1.298	8230	0.000	0.000	2599	2102	2340	2400	2281	0	0	0	0	0	0	14.47	13.86	13.13
5194	0.16	293.9	2599	2099	2379	2258	380.3	8.1	415	5265	0.12	2.60	65.72	1.291	10916	0.132	0.086	2672	688	2163	2220	2107	0	0	0	0	0	0	14.23	13.90	13.14
5292	0.14	293.9	2674	687	2205	2101	368.8	12.9	434	5297	0.17	2.50	0.00	0.000	5254	0.239	0.079	2633	2100	2151	2203	2099	0	0	0	0	0	0	13.80	13.94	14.03
5617	0.17	293.9	2633	2099	2204	2087	334.0	10.5	449	5623	0.00	2.47	0.00	0.000	644	0.000	0.086	2633	689	2144	2202	2087	0	0	0	0	0	0	14.52	14.19	14.53
5668	0.28	301.1	2633	690	2201	2088	328.8	9.7	459	5673	0.12	2.45	0.00	0.000	3238	0.131	0.078	2686	2099	2143	2200	2087	0	0	0	0	0	0	14.27	14.21	14.35
5979	0.21	301.1	2687	2099	2202	2086	287.3	13.4	471	5980	0.15	0.00	0.00	0.000	4230	0.244	0.000	2654	2100	2143	2200	2086	0	0	0	0	0	0	14.12	14.40	14.34
6279	0.21	301.1	2654	2100	2201	2085	255.6	10.2	481	6284	0.00	2.42	0.00	0.000	516	0.000	0.086	2659	695	2142	2200	2085	0	0	0	0	0	0	14.65	14.28	14.66
6374	0.29	332.3	2659	696	2198	2086	246.8	8.6	500	6440	0.00	2.42	61.28	1.266	9382	0.000	0.080	2659	2100	2013	2064	1962	0	0	0	0	0	0	14.42	14.30	13.32
6760	0.36	361.8	2660	2100	2046	1939	212.1	8.6	527	6816	0.12	2.53	47.12	1.257	10916	0.136	0.086	2724	701	1884	1921	1847	0	0	0	0	0	0	14.25	14.02	13.28
6871	0.36	361.8	2725	701	1909	1845	198.9	12.0	549	6878	0.00	2.47	0.00	0.000	1030	0.000	0.076	2725	2103	1876	1908	1844	0	0	0	0	0	0	14.20	14.09	14.23
7183	0.31	361.8	2725	2104	1906	1838	160.8	11.8	561	7189	0.15	2.47	0.00	0.000	4740	0.236	0.085	2687	690	1871	1905	1838	0	0	0	0	0	0	14.06	14.17	14.20
7254	0.44	399.2	2688	689	1904	1837	154.6	8.3	575	7324	0.12	2.47	64.00	1.210	11430	0.139	0.079	2742	2099	1742	1773	1711	0	0	0	0	0	0	14.26	14.23	13.28
7634	0.41	399.2	2742	2100	1751	1690	109.4	11.5	601	7635	0.00	0.00	0.00	0.000	134	0.000	0.000	2742	2099	1720	1751	1690	0	0	0	0	0	0	14.50	14.52	14.52
7936	0.42	413.3	2742	2100	1751	1687	78.2	9.3	625	7948	0.00	2.47	5.28	0.364	8740	0.000	0.084	2751	687	1682	1714	1650	0	0	0	0	0	0	14.54	14.19	13.75
8019	0.51	455.2	2751	688	1722	1659	71.2	8.1	641	8051	0.00	2.47	24.62	0.412	9382	0.000	0.080	2751	2102	1513	1546	1481	0	0	0	0	0	0	14.28	14.15	13.74
8348	0.67	574.3	2751	2103	1550	1479	50.1	4.5	677	8419	0.15	0.00	64.12	0.347	10406	0.116	0.000	2810	2102	1021	1094	949	0	0	0	0	0	0	14.31	14.12	13.77
8718	0.79	627.5	2810	2102	1095	960	18.2	7.5	714	8755	0.00	2.55	29.40	0.265	8868	0.000	0.087	2811	697	804	876	732	0	0	0	0	0	0	14.54	14.00	13.90
8910	1.06	708.0	2812	696	878	744	8.0	6.3	752	8958	0.35	2.45	42.22	0.225	11430	0.086	0.078	2942	2100	498	523	474	0	0	0	0	0	0	14.20	14.15	13.87
8961	end climb: SURFACE_DEPTH_REACHED
state	8961	begin surface coast
8971	end surface coast: CONTROL_FINISHED_OK
state	8971	begin surface