Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 159 * 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 159 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 447.0

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 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 447.0 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 159 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 250817,062403,7341.8633,-15112.4678,59,0.7,60,20.3,0.0,191.9,11,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 291.8,106301,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 250817,064341,7341.8569,-15112.5029,7,0.8,7,20.3,0.0,0.0,10,0.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825082736.083691,3,907,29,0495,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00 PM_FREEKB_00 53278592

FINISH 0.4,1.020837 _24V_AH 12.38,118.891

SM_CCo 9095,14.00,0.217,0,0,498,703.03 _10V_AH 12.25,0.000

SM_GC 1.79,8.05,0.17,14.00,0.065,0.126,0.217,206,2212,498,-7.37,-0.71,703.03,0,0,0,0,0,0,14.28,14.26,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 213 FG_AHR_10Vo 0.000

MODEM 0,1503648234,75.36600,-145.04601,180.329,261102.4 MEM 323724

RAFOS_FIX 7341.236328,-15114.365234,250817,080806,4,255,0.27 DATA_FILE_SIZE 26753,775

IRIDIUM_FIX 7345.83,-15115.39,250817,063558 CAP_FILE_SIZE 111039,0

TT8_MAMPS 0.039697,0.880824 CFSIZE 2097872896,2039054336

HUMID 45.86 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1448.3

TCM_TEMP 13.10 CURRENT 0.036,237.61,1

XPDR_PINGS 13 GPS 250817,091713,7342.848,-15115.577,18,0.7,21,20.3,0.8,12.6,12,9.2

CP_FREE 15992553472.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 141.62 nil 0 0 0.00

Roll_motor 83 2147 2216.46 nil 0 0 0.00

VBD_pump_during_apogee 1083 1401 18806.01 nil 0 0 0.00

VBD_pump_during_surface 14 217 37.66 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 9050 14 1587.03

Iridium_during_xfer 724 176 1584.08 NCP 9092 20 2251.18

Transponder_ping 3 420 16.90 PMAR 9050 9 1113.56

GUMSTIX_24V 0 0 0.00

GPS 7 22 2.14

TT8 0 0 0.00

LPSleep 6577 2 186.14

TT8_Active 958 13 164.07

TT8_Sampling 2451 33 1004.04

TT8_CF8 317 38 150.60

TT8_Kalman 0 0 0.00

Analog_circuits 2546 10 311.89

GPS_charging 0 0 0.00

Compass 1110 7 95.25

RAFOS 2193 48 1289.48

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 -145.9 161 2219 513 479 0.0 0.0 0 130 0.00 0.00 -81.47 0.000 16386 0.000 0.000 158 2217 1968 1894 2042 0 0 0 0 0 0 14.47 28.83 14.50

133 -0.57 -145.9 159 2217 1895 2044 3.0 -3.9 8 196 12.75 2.72 -41.50 0.000 18724 0.454 2.147 2377 3587 3963 3947 3980 0 0 0 0 0 0 13.69 12.59 14.16

332 -0.64 -145.9 2377 3587 3952 3980 48.3 -16.6 47 339 0.00 2.38 0.00 0.000 1158 0.000 0.060 2376 2205 3965 3951 3980 0 0 0 0 0 0 14.24 14.12 14.27

637 -0.69 -145.9 2377 2205 3953 3981 99.2 -13.5 78 641 0.00 2.45 0.00 0.000 388 0.000 0.085 2367 3595 3966 3952 3980 0 0 0 0 0 0 14.54 14.10 14.57

677 -0.81 -145.9 2367 3596 3953 3981 103.9 -11.5 86 682 0.15 2.38 0.00 0.000 5254 0.120 0.055 2308 2197 3966 3952 3980 0 0 0 0 0 0 14.23 14.02 14.32

997 -0.81 -145.9 2309 2196 3954 3980 156.9 -16.0 100 1002 0.00 2.45 0.00 0.000 260 0.000 0.089 2307 3594 3967 3954 3980 0 0 0 0 0 0 14.61 14.21 14.64

1102 -0.89 -145.9 2312 3596 3953 3980 171.0 -12.4 121 1107 0.00 2.35 0.00 0.000 1158 0.000 0.057 2305 2201 3966 3953 3979 0 0 0 0 0 0 14.39 14.27 14.42

1417 -0.89 -145.9 2305 2200 3953 3981 215.2 -13.6 134 1422 0.00 2.45 0.00 0.000 260 0.000 0.086 2297 3598 3966 3952 3980 0 0 0 0 0 0 14.64 14.19 14.64

1447 -0.94 -145.9 2298 3600 3954 3980 219.2 -13.7 140 1452 0.00 2.38 0.00 0.000 1158 0.000 0.060 2297 2202 3966 3952 3980 0 0 0 0 0 0 14.32 14.19 14.35

1778 -0.97 -145.9 2298 2201 3954 3980 260.7 -11.7 156 1783 0.10 2.45 0.00 0.000 4484 0.158 0.084 2244 3597 3966 3952 3980 0 0 0 0 0 0 14.28 14.23 14.33

1838 -0.97 -145.9 2244 3599 3953 3981 269.4 -14.4 168 1843 0.00 2.38 0.00 0.000 1030 0.000 0.059 2244 2190 3966 3953 3980 0 0 0 0 0 0 14.40 14.28 14.44

2168 -0.93 -145.9 2244 2190 3953 3981 319.5 -14.9 184 2173 0.12 2.45 0.00 0.000 2436 0.295 0.083 2264 3596 3966 3952 3980 0 0 0 0 0 0 13.99 14.23 14.16

2266 -1.01 -145.9 2264 3596 3954 3981 331.0 -11.1 203 2271 0.00 2.38 0.00 0.000 1158 0.000 0.058 2264 2188 3966 3952 3980 0 0 0 0 0 0 14.35 14.22 14.38

2592 -1.01 -145.9 2264 2186 3953 3979 370.9 -11.9 218 2596 0.00 2.45 0.00 0.000 260 0.000 0.086 2253 3595 3965 3952 3979 0 0 0 0 0 0 14.66 14.23 14.68

2657 -1.08 -145.9 2255 3595 3948 3979 378.5 -11.4 231 2662 0.00 2.35 0.00 0.000 1158 0.000 0.057 2254 2200 3965 3952 3979 0 0 0 0 0 0 14.38 14.23 14.38

2983 -1.08 -145.9 2254 2198 3952 3978 419.0 -12.5 246 2987 0.00 2.45 0.00 0.000 260 0.000 0.086 2245 3601 3965 3952 3978 0 0 0 0 0 0 14.66 14.19 14.68

3058 -1.13 -145.9 2245 3602 3952 3979 428.3 -11.8 261 3063 0.10 2.38 0.00 0.000 5254 0.161 0.057 2203 2195 3964 3951 3978 0 0 0 0 0 0 14.28 14.28 14.40

3371 end dive: TARGET_DEPTH_EXCEEDED

state 3371 begin apogee

3377 -0.13 0.0 2204 2066 3952 3979 481.2 -17.0 274 3675 1.33 0.00 292.92 1.304 10246 0.266 0.000 2530 2064 3362 3383 3342 0 0 0 0 0 0 13.90 13.36 12.62

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3681 0.57 145.9 2531 2065 3380 3336 498.2 0.0 284 3901 0.73 2.58 212.75 1.346 10756 0.064 0.080 2781 730 2761 2805 2718 0 0 0 0 0 0 13.47 12.97 12.38

4088 0.21 145.9 2781 730 2792 2708 479.7 14.7 367 4095 0.60 2.45 0.00 0.000 5254 0.325 0.076 2655 2087 2748 2791 2705 0 0 0 0 0 0 13.32 13.65 13.66

4393 0.05 149.8 2656 2091 2791 2701 448.9 9.8 378 4395 0.22 0.00 0.00 0.000 4262 0.273 0.000 2604 2087 2745 2790 2701 0 0 0 0 0 0 13.77 14.12 14.07

4695 0.04 206.2 2605 2088 2791 2700 426.3 7.4 388 4789 0.00 2.45 88.38 1.361 8868 0.000 0.083 2601 734 2519 2578 2460 0 0 0 0 0 0 14.42 13.62 13.05

4839 0.13 248.4 2605 729 2569 2452 414.9 8.1 417 4910 0.00 2.45 64.93 1.352 9382 0.000 0.080 2604 2098 2351 2409 2293 0 0 0 0 0 0 13.96 13.85 12.88

5235 0.20 279.6 2604 2099 2391 2274 381.1 8.6 446 5282 0.15 0.00 45.20 1.382 10406 0.116 0.000 2669 2100 2226 2281 2171 0 0 0 0 0 0 14.08 13.85 13.09

5565 0.15 279.6 2670 2097 2265 2147 338.5 13.0 457 5570 0.15 2.42 0.00 0.000 4740 0.260 0.081 2640 720 2207 2263 2151 0 0 0 0 0 0 13.88 14.06 14.02

5635 0.21 279.6 2641 721 2261 2152 330.9 10.1 471 5641 0.00 2.42 0.00 0.000 1158 0.000 0.078 2640 2101 2204 2261 2148 0 0 0 0 0 0 14.20 14.06 14.21

5956 0.21 279.6 2641 2100 2262 2149 297.1 10.4 485 5957 0.00 0.00 0.00 0.000 6 0.000 0.000 2640 2100 2204 2260 2148 0 0 0 0 0 0 14.47 14.47 14.48

6256 0.21 289.2 2641 2101 2261 2147 267.6 9.6 495 6262 0.00 2.47 2.60 0.904 8740 0.000 0.084 2646 722 2184 2240 2128 0 0 0 0 0 0 14.50 14.19 12.82

6308 0.29 306.3 2647 722 2248 2141 262.9 9.2 505 6349 0.00 2.40 35.62 1.401 9382 0.000 0.080 2646 2100 2114 2166 2063 0 0 0 0 0 0 14.29 14.17 13.25

6650 0.35 338.9 2646 2101 2158 2053 232.2 8.5 523 6709 0.15 0.00 53.62 1.333 10406 0.117 0.000 2706 2100 1978 2026 1931 0 0 0 0 0 0 14.19 13.71 13.19

7008 0.31 338.9 2705 2101 2020 1920 190.5 11.3 535 7014 0.00 2.42 0.00 0.000 644 0.000 0.084 2710 707 1968 2018 1919 0 0 0 0 0 0 14.38 14.04 14.40

7134 0.31 338.9 2711 707 2017 1919 177.2 10.4 560 7139 0.00 2.45 0.00 0.000 1030 0.000 0.078 2712 2102 1966 2015 1917 0 0 0 0 0 0 14.21 14.12 14.23

7461 0.29 338.9 2710 2099 2016 1919 142.6 10.3 575 7467 0.12 2.38 0.00 0.000 4740 0.243 0.081 2685 727 1966 2015 1918 0 0 0 0 0 0 13.90 14.15 13.97

7507 0.40 375.0 2684 727 2015 1919 138.3 8.3 584 7572 0.00 2.38 60.72 1.285 9382 0.000 0.079 2685 2098 1836 1870 1803 0 0 0 0 0 0 14.29 14.17 13.27

7883 0.51 434.4 2686 2098 1858 1791 108.9 7.3 609 7990 0.15 2.47 100.57 1.189 10916 0.122 0.085 2767 730 1590 1622 1558 0 0 0 0 0 0 14.23 13.84 13.14

8047 0.51 434.4 2768 730 1614 1555 90.0 11.0 641 8052 0.00 2.45 0.00 0.000 1030 0.000 0.078 2767 2101 1584 1613 1555 0 0 0 0 0 0 13.95 13.84 14.01

8357 0.54 475.8 2768 2102 1614 1546 58.7 8.1 673 8384 0.00 2.55 20.15 0.383 8484 0.000 0.085 2767 3511 1425 1467 1383 0 0 0 0 0 0 14.47 14.06 13.72

8394 0.58 529.2 2769 3513 1468 1383 55.9 7.5 680 8431 0.00 2.38 28.48 0.375 9254 0.000 0.063 2769 2132 1207 1269 1146 0 0 0 0 0 0 14.24 14.13 13.74

8729 0.73 602.4 2769 2133 1269 1140 33.2 6.6 717 8773 0.12 2.62 38.25 0.314 10916 0.134 0.090 2825 688 903 972 835 0 0 0 0 0 0 14.12 14.12 13.85

8924 0.93 677.0 2826 691 978 835 16.4 6.6 755 8971 0.17 2.47 39.70 0.259 11430 0.109 0.080 2895 2101 602 649 555 0 0 0 0 0 0 14.25 14.16 13.90

9066 end climb: SURFACE_DEPTH_REACHED

state 9066 begin surface coast

9075 end surface coast: CONTROL_FINISHED_OK

state 9075 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	159	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	447.0
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	37	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,062403,7341.8633,-15112.4678,59,0.7,60,20.3,0.0,191.9,11,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	291.8,106301,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	250817,064341,7341.8569,-15112.5029,7,0.8,7,20.3,0.0,0.0,10,0.0

MODEM_MSG	CACST,6,1,20170825082736.083691,3,907,29,0495,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*00	PM_FREEKB_00	53278592
FINISH	0.4,1.020837	_24V_AH	12.38,118.891
SM_CCo	9095,14.00,0.217,0,0,498,703.03	_10V_AH	12.25,0.000
SM_GC	1.79,8.05,0.17,14.00,0.065,0.126,0.217,206,2212,498,-7.37,-0.71,703.03,0,0,0,0,0,0,14.28,14.26,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	213	FG_AHR_10Vo	0.000
MODEM	0,1503648234,75.36600,-145.04601,180.329,261102.4	MEM	323724
RAFOS_FIX	7341.236328,-15114.365234,250817,080806,4,255,0.27	DATA_FILE_SIZE	26753,775
IRIDIUM_FIX	7345.83,-15115.39,250817,063558	CAP_FILE_SIZE	111039,0
TT8_MAMPS	0.039697,0.880824	CFSIZE	2097872896,2039054336
HUMID	45.86	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1448.3
TCM_TEMP	13.10	CURRENT	0.036,237.61,1
XPDR_PINGS	13	GPS	250817,091713,7342.848,-15115.577,18,0.7,21,20.3,0.8,12.6,12,9.2
CP_FREE	15992553472.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	141.62	nil	0	0	0.00
Roll_motor	83	2147	2216.46	nil	0	0	0.00
VBD_pump_during_apogee	1083	1401	18806.01	nil	0	0	0.00
VBD_pump_during_surface	14	217	37.66	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	9050	14	1587.03
Iridium_during_xfer	724	176	1584.08	NCP	9092	20	2251.18
Transponder_ping	3	420	16.90	PMAR	9050	9	1113.56
GUMSTIX_24V	0	0	0.00
GPS	7	22	2.14
TT8	0	0	0.00
LPSleep	6577	2	186.14
TT8_Active	958	13	164.07
TT8_Sampling	2451	33	1004.04
TT8_CF8	317	38	150.60
TT8_Kalman	0	0	0.00
Analog_circuits	2546	10	311.89
GPS_charging	0	0	0.00
Compass	1110	7	95.25
RAFOS	2193	48	1289.48
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	161	2219	513	479	0.0	0.0	0	130	0.00	0.00	-81.47	0.000	16386	0.000	0.000	158	2217	1968	1894	2042	0	0	0	0	0	0	14.47	28.83	14.50
133	-0.57	-145.9	159	2217	1895	2044	3.0	-3.9	8	196	12.75	2.72	-41.50	0.000	18724	0.454	2.147	2377	3587	3963	3947	3980	0	0	0	0	0	0	13.69	12.59	14.16
332	-0.64	-145.9	2377	3587	3952	3980	48.3	-16.6	47	339	0.00	2.38	0.00	0.000	1158	0.000	0.060	2376	2205	3965	3951	3980	0	0	0	0	0	0	14.24	14.12	14.27
637	-0.69	-145.9	2377	2205	3953	3981	99.2	-13.5	78	641	0.00	2.45	0.00	0.000	388	0.000	0.085	2367	3595	3966	3952	3980	0	0	0	0	0	0	14.54	14.10	14.57
677	-0.81	-145.9	2367	3596	3953	3981	103.9	-11.5	86	682	0.15	2.38	0.00	0.000	5254	0.120	0.055	2308	2197	3966	3952	3980	0	0	0	0	0	0	14.23	14.02	14.32
997	-0.81	-145.9	2309	2196	3954	3980	156.9	-16.0	100	1002	0.00	2.45	0.00	0.000	260	0.000	0.089	2307	3594	3967	3954	3980	0	0	0	0	0	0	14.61	14.21	14.64
1102	-0.89	-145.9	2312	3596	3953	3980	171.0	-12.4	121	1107	0.00	2.35	0.00	0.000	1158	0.000	0.057	2305	2201	3966	3953	3979	0	0	0	0	0	0	14.39	14.27	14.42
1417	-0.89	-145.9	2305	2200	3953	3981	215.2	-13.6	134	1422	0.00	2.45	0.00	0.000	260	0.000	0.086	2297	3598	3966	3952	3980	0	0	0	0	0	0	14.64	14.19	14.64
1447	-0.94	-145.9	2298	3600	3954	3980	219.2	-13.7	140	1452	0.00	2.38	0.00	0.000	1158	0.000	0.060	2297	2202	3966	3952	3980	0	0	0	0	0	0	14.32	14.19	14.35
1778	-0.97	-145.9	2298	2201	3954	3980	260.7	-11.7	156	1783	0.10	2.45	0.00	0.000	4484	0.158	0.084	2244	3597	3966	3952	3980	0	0	0	0	0	0	14.28	14.23	14.33
1838	-0.97	-145.9	2244	3599	3953	3981	269.4	-14.4	168	1843	0.00	2.38	0.00	0.000	1030	0.000	0.059	2244	2190	3966	3953	3980	0	0	0	0	0	0	14.40	14.28	14.44
2168	-0.93	-145.9	2244	2190	3953	3981	319.5	-14.9	184	2173	0.12	2.45	0.00	0.000	2436	0.295	0.083	2264	3596	3966	3952	3980	0	0	0	0	0	0	13.99	14.23	14.16
2266	-1.01	-145.9	2264	3596	3954	3981	331.0	-11.1	203	2271	0.00	2.38	0.00	0.000	1158	0.000	0.058	2264	2188	3966	3952	3980	0	0	0	0	0	0	14.35	14.22	14.38
2592	-1.01	-145.9	2264	2186	3953	3979	370.9	-11.9	218	2596	0.00	2.45	0.00	0.000	260	0.000	0.086	2253	3595	3965	3952	3979	0	0	0	0	0	0	14.66	14.23	14.68
2657	-1.08	-145.9	2255	3595	3948	3979	378.5	-11.4	231	2662	0.00	2.35	0.00	0.000	1158	0.000	0.057	2254	2200	3965	3952	3979	0	0	0	0	0	0	14.38	14.23	14.38
2983	-1.08	-145.9	2254	2198	3952	3978	419.0	-12.5	246	2987	0.00	2.45	0.00	0.000	260	0.000	0.086	2245	3601	3965	3952	3978	0	0	0	0	0	0	14.66	14.19	14.68
3058	-1.13	-145.9	2245	3602	3952	3979	428.3	-11.8	261	3063	0.10	2.38	0.00	0.000	5254	0.161	0.057	2203	2195	3964	3951	3978	0	0	0	0	0	0	14.28	14.28	14.40
3371	end dive: TARGET_DEPTH_EXCEEDED
state	3371	begin apogee
3377	-0.13	0.0	2204	2066	3952	3979	481.2	-17.0	274	3675	1.33	0.00	292.92	1.304	10246	0.266	0.000	2530	2064	3362	3383	3342	0	0	0	0	0	0	13.90	13.36	12.62
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3681	0.57	145.9	2531	2065	3380	3336	498.2	0.0	284	3901	0.73	2.58	212.75	1.346	10756	0.064	0.080	2781	730	2761	2805	2718	0	0	0	0	0	0	13.47	12.97	12.38
4088	0.21	145.9	2781	730	2792	2708	479.7	14.7	367	4095	0.60	2.45	0.00	0.000	5254	0.325	0.076	2655	2087	2748	2791	2705	0	0	0	0	0	0	13.32	13.65	13.66
4393	0.05	149.8	2656	2091	2791	2701	448.9	9.8	378	4395	0.22	0.00	0.00	0.000	4262	0.273	0.000	2604	2087	2745	2790	2701	0	0	0	0	0	0	13.77	14.12	14.07
4695	0.04	206.2	2605	2088	2791	2700	426.3	7.4	388	4789	0.00	2.45	88.38	1.361	8868	0.000	0.083	2601	734	2519	2578	2460	0	0	0	0	0	0	14.42	13.62	13.05
4839	0.13	248.4	2605	729	2569	2452	414.9	8.1	417	4910	0.00	2.45	64.93	1.352	9382	0.000	0.080	2604	2098	2351	2409	2293	0	0	0	0	0	0	13.96	13.85	12.88
5235	0.20	279.6	2604	2099	2391	2274	381.1	8.6	446	5282	0.15	0.00	45.20	1.382	10406	0.116	0.000	2669	2100	2226	2281	2171	0	0	0	0	0	0	14.08	13.85	13.09
5565	0.15	279.6	2670	2097	2265	2147	338.5	13.0	457	5570	0.15	2.42	0.00	0.000	4740	0.260	0.081	2640	720	2207	2263	2151	0	0	0	0	0	0	13.88	14.06	14.02
5635	0.21	279.6	2641	721	2261	2152	330.9	10.1	471	5641	0.00	2.42	0.00	0.000	1158	0.000	0.078	2640	2101	2204	2261	2148	0	0	0	0	0	0	14.20	14.06	14.21
5956	0.21	279.6	2641	2100	2262	2149	297.1	10.4	485	5957	0.00	0.00	0.00	0.000	6	0.000	0.000	2640	2100	2204	2260	2148	0	0	0	0	0	0	14.47	14.47	14.48
6256	0.21	289.2	2641	2101	2261	2147	267.6	9.6	495	6262	0.00	2.47	2.60	0.904	8740	0.000	0.084	2646	722	2184	2240	2128	0	0	0	0	0	0	14.50	14.19	12.82
6308	0.29	306.3	2647	722	2248	2141	262.9	9.2	505	6349	0.00	2.40	35.62	1.401	9382	0.000	0.080	2646	2100	2114	2166	2063	0	0	0	0	0	0	14.29	14.17	13.25
6650	0.35	338.9	2646	2101	2158	2053	232.2	8.5	523	6709	0.15	0.00	53.62	1.333	10406	0.117	0.000	2706	2100	1978	2026	1931	0	0	0	0	0	0	14.19	13.71	13.19
7008	0.31	338.9	2705	2101	2020	1920	190.5	11.3	535	7014	0.00	2.42	0.00	0.000	644	0.000	0.084	2710	707	1968	2018	1919	0	0	0	0	0	0	14.38	14.04	14.40
7134	0.31	338.9	2711	707	2017	1919	177.2	10.4	560	7139	0.00	2.45	0.00	0.000	1030	0.000	0.078	2712	2102	1966	2015	1917	0	0	0	0	0	0	14.21	14.12	14.23
7461	0.29	338.9	2710	2099	2016	1919	142.6	10.3	575	7467	0.12	2.38	0.00	0.000	4740	0.243	0.081	2685	727	1966	2015	1918	0	0	0	0	0	0	13.90	14.15	13.97
7507	0.40	375.0	2684	727	2015	1919	138.3	8.3	584	7572	0.00	2.38	60.72	1.285	9382	0.000	0.079	2685	2098	1836	1870	1803	0	0	0	0	0	0	14.29	14.17	13.27
7883	0.51	434.4	2686	2098	1858	1791	108.9	7.3	609	7990	0.15	2.47	100.57	1.189	10916	0.122	0.085	2767	730	1590	1622	1558	0	0	0	0	0	0	14.23	13.84	13.14
8047	0.51	434.4	2768	730	1614	1555	90.0	11.0	641	8052	0.00	2.45	0.00	0.000	1030	0.000	0.078	2767	2101	1584	1613	1555	0	0	0	0	0	0	13.95	13.84	14.01
8357	0.54	475.8	2768	2102	1614	1546	58.7	8.1	673	8384	0.00	2.55	20.15	0.383	8484	0.000	0.085	2767	3511	1425	1467	1383	0	0	0	0	0	0	14.47	14.06	13.72
8394	0.58	529.2	2769	3513	1468	1383	55.9	7.5	680	8431	0.00	2.38	28.48	0.375	9254	0.000	0.063	2769	2132	1207	1269	1146	0	0	0	0	0	0	14.24	14.13	13.74
8729	0.73	602.4	2769	2133	1269	1140	33.2	6.6	717	8773	0.12	2.62	38.25	0.314	10916	0.134	0.090	2825	688	903	972	835	0	0	0	0	0	0	14.12	14.12	13.85
8924	0.93	677.0	2826	691	978	835	16.4	6.6	755	8971	0.17	2.47	39.70	0.259	11430	0.109	0.080	2895	2101	602	649	555	0	0	0	0	0	0	14.25	14.16	13.90
9066	end climb: SURFACE_DEPTH_REACHED
state	9066	begin surface coast
9075	end surface coast: CONTROL_FINISHED_OK
state	9075	begin surface