Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 161 * 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 161 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 453.0

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 20 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 18 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 453.0 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 20 VBD_MIN 500

DIVE 161 NOCOMM_ACTION 161 R_STBD_OVSHOOT 18 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 250817,120703,7343.8286,-15118.6318,37,0.8,38,20.3,0.0,0.0,11,7.6 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 1.22 MHEAD_RNG_PITCHd_Wd 297.9,101561,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 250817,122107,7343.8037,-15118.8516,9,0.7,12,20.3,0.0,0.0,11,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825122734.374792,3,243,17,0289,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D PM_FREEKB_00 53221632

FINISH 0.2,1.020903 _24V_AH 12.39,119.843

SM_CCo 8705,8.57,0.217,0,0,500,702.78 _10V_AH 12.00,0.000

SM_GC 2.01,8.15,0.12,8.57,0.077,0.142,0.217,203,2225,500,-7.37,-0.62,702.78,0,0,0,0,0,0,14.27,14.23,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 386 FG_AHR_10Vo 0.000

MODEM 2,1503663200,73.18300,-149.96500,53.938,78126.6 MEM 323508

RAFOS_FIX 7342.551758,-15125.452148,250817,121227,2,255,0.00 DATA_FILE_SIZE 23456,710

IRIDIUM_FIX 7343.42,-15119.08,250817,121154 CAP_FILE_SIZE 106130,0

TT8_MAMPS 0.040446,1.00066 CFSIZE 2097872896,2038398976

HUMID 46.49 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.3

TCM_TEMP 13.10 CURRENT 0.042,266.67,1

XPDR_PINGS 13 GPS 250817,144821,7344.857,-15121.892,39,0.8,40,20.2,0.7,352.5,10,8.1

CP_FREE 15992225792.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.06 nil 0 0 0.00

Roll_motor 93 2146 2484.75 nil 0 0 0.00

VBD_pump_during_apogee 953 1510 17845.53 nil 0 0 0.00

VBD_pump_during_surface 8 217 23.08 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 8713 14 1592.32

Iridium_during_xfer 501 172 1073.62 NCP 8701 20 2156.11

Transponder_ping 3 420 16.91 PMAR 8658 9 1063.50

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.45

TT8 0 0 0.00

LPSleep 6221 2 172.47

TT8_Active 850 13 142.57

TT8_Sampling 2191 33 879.31

TT8_CF8 309 38 143.52

TT8_Kalman 0 0 0.00

Analog_circuits 2202 10 264.30

GPS_charging 0 0 0.00

Compass 1019 7 85.66

RAFOS 0 0 0.00

Transponder 0 5 0.03

Guidance and control:

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 172 2205 514 482 0.0 0.0 0 141 0.00 0.00 -91.90 0.000 16386 0.000 0.000 171 2208 2205 2135 2276 0 0 0 0 0 0 14.33 28.83 14.35

144 -0.57 -145.9 172 2208 2140 2277 4.6 -7.3 9 196 12.73 2.80 -31.98 0.000 18724 0.454 2.147 2375 3611 3961 3941 3982 1 0 0 0 0 0 13.50 12.57 13.98

367 -0.65 -145.9 2378 3614 3945 3983 55.1 -15.8 53 371 0.00 2.45 0.00 0.000 1158 0.000 0.062 2375 2197 3964 3947 3982 0 0 0 0 0 0 14.12 14.00 14.14

687 -0.70 -145.9 2375 2195 3948 3982 104.4 -12.2 84 692 0.00 2.53 0.00 0.000 388 0.000 0.086 2360 3614 3964 3947 3982 0 0 0 0 0 0 14.44 14.04 14.43

742 -0.89 -145.9 2365 3612 3955 3983 110.6 -10.1 95 749 0.22 2.42 0.00 0.000 5254 0.105 0.056 2274 2196 3964 3947 3982 0 0 0 0 0 0 14.13 14.06 14.23

1048 -0.81 -145.9 2277 2195 3949 3982 168.0 -18.3 106 1053 0.15 2.47 0.00 0.000 2436 0.291 0.083 2301 3614 3964 3947 3982 0 0 0 0 0 0 13.76 14.03 13.93

1138 -0.90 -145.9 2301 3615 3947 3982 180.8 -12.5 124 1144 0.00 2.40 0.00 0.000 1158 0.000 0.057 2301 2185 3964 3947 3982 0 0 0 0 0 0 14.19 14.07 14.22

1469 -0.92 -145.9 2301 2183 3948 3982 226.6 -13.3 140 1475 0.00 2.53 0.00 0.000 388 0.000 0.088 2293 3620 3964 3947 3982 0 0 0 0 0 0 14.56 14.19 14.58

1535 -1.02 -145.9 2293 3620 3949 3982 234.7 -11.1 153 1540 0.15 2.42 0.00 0.000 5254 0.122 0.059 2239 2189 3964 3947 3982 0 0 0 0 0 0 14.27 14.22 14.36

1861 -0.96 -145.9 2240 2188 3951 3982 287.7 -16.0 168 1867 0.12 2.53 0.00 0.000 2436 0.295 0.086 2258 3616 3964 3947 3982 0 0 0 0 0 0 13.95 14.18 14.12

1974 -1.01 -145.9 2258 3617 3949 3985 302.1 -12.1 190 1979 0.00 2.40 0.00 0.000 1158 0.000 0.057 2257 2197 3964 3947 3982 0 0 0 0 0 0 14.40 14.28 14.43

2284 -1.01 -145.9 2257 2199 3948 3983 342.1 -12.7 202 2289 0.00 2.47 0.00 0.000 260 0.000 0.088 2249 3614 3964 3947 3982 0 0 0 0 0 0 14.65 14.24 14.67

2339 -1.06 -145.9 2250 3614 3948 3982 349.1 -12.3 213 2345 0.00 2.40 0.00 0.000 1158 0.000 0.058 2249 2195 3964 3947 3982 0 0 0 0 0 0 14.38 14.25 14.40

2644 -1.06 -145.9 2250 2194 3948 3981 388.9 -12.9 224 2650 0.00 2.50 0.00 0.000 260 0.000 0.087 2241 3619 3964 3947 3982 0 0 0 0 0 0 14.66 14.24 14.68

2685 -1.09 -145.9 2241 3620 3948 3983 394.3 -12.8 232 2691 0.00 2.40 0.00 0.000 1158 0.000 0.059 2241 2192 3964 3947 3982 0 0 0 0 0 0 14.41 14.28 14.42

3006 -1.07 -145.9 2241 2192 3948 3983 436.8 -13.2 246 3011 0.00 2.50 0.00 0.000 388 0.000 0.088 2236 3620 3964 3947 3981 0 0 0 0 0 0 14.66 14.24 14.71

3076 -1.11 -145.9 2237 3621 3948 3981 446.0 -12.8 260 3082 0.00 2.40 0.00 0.000 1158 0.000 0.058 2236 2195 3964 3947 3981 0 0 0 0 0 0 14.39 14.23 14.44

3334 end dive: TARGET_DEPTH_EXCEEDED

state 3334 begin apogee

3340 -0.13 0.0 2237 2067 3948 3981 481.2 -13.6 272 3564 1.15 0.08 219.35 1.425 10246 0.242 0.181 2532 2111 3363 3383 3344 0 0 0 0 0 0 14.00 13.43 12.69

3567 end apogee: CONTROL_FINISHED_OK

state 3567 begin climb

3572 0.57 145.9 2532 2112 3376 3335 492.6 0.0 279 3794 0.73 0.00 208.60 1.388 10502 0.064 0.000 2780 2111 2759 2802 2717 0 0 0 0 0 0 13.58 13.21 12.39

4114 0.17 145.9 2780 2112 2792 2714 452.2 15.2 295 4119 0.62 2.47 0.00 0.000 4740 0.330 0.078 2653 721 2753 2794 2712 0 0 0 0 0 0 13.50 13.87 13.76

4190 0.07 166.0 2654 721 2793 2713 444.5 9.1 310 4226 0.20 2.42 26.40 1.483 13478 0.283 0.080 2612 2093 2680 2725 2636 0 0 0 0 0 0 13.75 13.98 13.05

4538 0.05 216.2 2612 2093 2722 2626 417.6 7.7 329 4617 0.00 2.45 73.35 1.404 8868 0.000 0.083 2616 724 2477 2534 2421 0 0 0 0 0 0 14.50 13.68 13.07

4649 0.12 248.9 2616 726 2529 2418 408.6 8.5 351 4703 0.00 2.45 47.62 1.401 9382 0.000 0.079 2615 2103 2347 2401 2293 0 0 0 0 0 0 14.03 13.92 12.95

5020 0.15 267.9 2617 2105 2392 2281 375.0 9.1 375 5051 0.00 2.53 25.80 1.476 8868 0.000 0.086 2616 721 2268 2322 2215 0 0 0 0 0 0 14.43 13.95 13.17

5096 0.27 295.4 2617 721 2318 2215 367.9 8.7 390 5143 0.17 2.42 41.20 1.410 11430 0.104 0.079 2685 2099 2160 2210 2110 0 0 0 0 0 0 14.00 14.01 13.10

5443 0.19 295.4 2686 2099 2202 2097 319.9 13.9 409 5448 0.15 2.40 0.00 0.000 4740 0.256 0.082 2656 724 2148 2200 2097 0 0 0 0 0 0 13.97 14.17 14.11

5488 0.23 295.4 2656 723 2198 2097 314.2 11.5 418 5493 0.00 2.40 0.00 0.000 1158 0.000 0.080 2656 2099 2146 2196 2097 0 0 0 0 0 0 14.32 14.19 14.33

5803 0.23 295.4 2656 2101 2195 2099 278.8 11.0 431 5808 0.00 2.40 0.00 0.000 516 0.000 0.086 2659 721 2146 2196 2096 0 0 0 0 0 0 14.60 14.25 14.62

5843 0.27 295.4 2659 722 2196 2097 274.5 10.3 439 5848 0.00 2.38 0.00 0.000 1158 0.000 0.079 2659 2099 2145 2196 2095 0 0 0 0 0 0 14.40 14.28 14.44

6163 0.27 295.8 2660 2101 2196 2096 241.6 10.0 453 6168 0.00 2.40 0.00 0.000 548 0.000 0.085 2660 724 2144 2195 2094 0 0 0 0 0 0 14.62 14.26 14.65

6198 0.32 307.3 2660 724 2196 2095 238.2 9.5 460 6218 0.00 2.38 14.27 1.511 9382 0.000 0.078 2659 2101 2111 2160 2063 0 0 0 0 0 0 14.42 14.28 13.36

6523 0.34 342.4 2660 2101 2158 2056 209.6 8.4 475 6589 0.00 2.45 59.40 1.339 8740 0.000 0.085 2660 722 1965 2012 1919 0 0 0 0 0 0 14.61 14.02 13.26

6626 0.49 384.3 2661 723 2006 1919 201.2 8.1 495 6706 0.25 2.42 70.50 1.269 11430 0.097 0.079 2759 2099 1796 1819 1774 0 0 0 0 0 0 14.09 14.01 13.07

7005 0.40 384.3 2759 2100 1813 1756 145.6 14.2 521 7010 0.17 2.42 0.00 0.000 4740 0.262 0.080 2726 717 1783 1811 1755 0 0 0 0 0 0 13.90 14.10 14.07

7045 0.42 384.3 2726 718 1809 1756 140.8 11.0 529 7050 0.00 2.42 0.00 0.000 1158 0.000 0.078 2727 2104 1782 1809 1755 0 0 0 0 0 0 14.24 14.11 14.29

7365 0.42 384.3 2727 2106 1809 1753 106.3 10.4 543 7370 0.00 2.42 0.00 0.000 516 0.000 0.085 2729 717 1780 1808 1752 0 0 0 0 0 0 14.58 14.24 14.59

7472 0.50 410.8 2729 718 1806 1753 96.4 8.8 564 7489 0.00 2.40 13.15 0.496 9382 0.000 0.077 2729 2099 1688 1713 1664 0 0 0 0 0 0 14.22 14.10 13.69

7785 0.59 472.4 2730 2100 1717 1661 69.7 7.2 597 7828 0.12 2.45 33.92 0.410 10916 0.135 0.084 2794 730 1441 1481 1401 0 0 0 0 0 0 14.29 14.10 13.70

7875 0.60 483.2 2795 731 1475 1402 61.6 9.5 614 7886 0.00 2.40 6.75 0.380 9254 0.000 0.080 2794 2101 1392 1436 1349 0 0 0 0 0 0 14.28 14.15 13.68

8191 0.63 530.6 2795 2101 1437 1347 35.7 7.8 647 8222 0.00 0.00 26.30 0.309 8230 0.000 0.000 2794 2101 1199 1257 1141 0 0 0 0 0 0 14.55 14.04 13.82

8521 0.86 687.0 2795 2101 1257 1136 14.4 2.8 680 8617 0.17 2.55 86.68 0.241 10660 0.115 0.084 2872 3512 558 592 524 0 0 0 0 0 0 14.26 14.01 13.84

8662 0.93 687.0 2872 3516 597 525 2.1 10.1 707 8668 0.00 2.40 0.00 0.000 1158 0.000 0.071 2876 2136 558 593 524 0 0 0 0 0 0 14.12 14.01 14.14

8675 end climb: SURFACE_DEPTH_REACHED

state 8675 begin surface coast

8685 end surface coast: CONTROL_FINISHED_OK

state 8685 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	161	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	453.0
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	20	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	18	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,120703,7343.8286,-15118.6318,37,0.8,38,20.3,0.0,0.0,11,7.6	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	1.22	MHEAD_RNG_PITCHd_Wd	297.9,101561,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	250817,122107,7343.8037,-15118.8516,9,0.7,12,20.3,0.0,0.0,11,9.3

MODEM_MSG	CACST,6,1,20170825122734.374792,3,243,17,0289,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D	PM_FREEKB_00	53221632
FINISH	0.2,1.020903	_24V_AH	12.39,119.843
SM_CCo	8705,8.57,0.217,0,0,500,702.78	_10V_AH	12.00,0.000
SM_GC	2.01,8.15,0.12,8.57,0.077,0.142,0.217,203,2225,500,-7.37,-0.62,702.78,0,0,0,0,0,0,14.27,14.23,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	386	FG_AHR_10Vo	0.000
MODEM	2,1503663200,73.18300,-149.96500,53.938,78126.6	MEM	323508
RAFOS_FIX	7342.551758,-15125.452148,250817,121227,2,255,0.00	DATA_FILE_SIZE	23456,710
IRIDIUM_FIX	7343.42,-15119.08,250817,121154	CAP_FILE_SIZE	106130,0
TT8_MAMPS	0.040446,1.00066	CFSIZE	2097872896,2038398976
HUMID	46.49	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.3
TCM_TEMP	13.10	CURRENT	0.042,266.67,1
XPDR_PINGS	13	GPS	250817,144821,7344.857,-15121.892,39,0.8,40,20.2,0.7,352.5,10,8.1
CP_FREE	15992225792.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.06	nil	0	0	0.00
Roll_motor	93	2146	2484.75	nil	0	0	0.00
VBD_pump_during_apogee	953	1510	17845.53	nil	0	0	0.00
VBD_pump_during_surface	8	217	23.08	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	8713	14	1592.32
Iridium_during_xfer	501	172	1073.62	NCP	8701	20	2156.11
Transponder_ping	3	420	16.91	PMAR	8658	9	1063.50
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.45
TT8	0	0	0.00
LPSleep	6221	2	172.47
TT8_Active	850	13	142.57
TT8_Sampling	2191	33	879.31
TT8_CF8	309	38	143.52
TT8_Kalman	0	0	0.00
Analog_circuits	2202	10	264.30
GPS_charging	0	0	0.00
Compass	1019	7	85.66
RAFOS	0	0	0.00
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	172	2205	514	482	0.0	0.0	0	141	0.00	0.00	-91.90	0.000	16386	0.000	0.000	171	2208	2205	2135	2276	0	0	0	0	0	0	14.33	28.83	14.35
144	-0.57	-145.9	172	2208	2140	2277	4.6	-7.3	9	196	12.73	2.80	-31.98	0.000	18724	0.454	2.147	2375	3611	3961	3941	3982	1	0	0	0	0	0	13.50	12.57	13.98
367	-0.65	-145.9	2378	3614	3945	3983	55.1	-15.8	53	371	0.00	2.45	0.00	0.000	1158	0.000	0.062	2375	2197	3964	3947	3982	0	0	0	0	0	0	14.12	14.00	14.14
687	-0.70	-145.9	2375	2195	3948	3982	104.4	-12.2	84	692	0.00	2.53	0.00	0.000	388	0.000	0.086	2360	3614	3964	3947	3982	0	0	0	0	0	0	14.44	14.04	14.43
742	-0.89	-145.9	2365	3612	3955	3983	110.6	-10.1	95	749	0.22	2.42	0.00	0.000	5254	0.105	0.056	2274	2196	3964	3947	3982	0	0	0	0	0	0	14.13	14.06	14.23
1048	-0.81	-145.9	2277	2195	3949	3982	168.0	-18.3	106	1053	0.15	2.47	0.00	0.000	2436	0.291	0.083	2301	3614	3964	3947	3982	0	0	0	0	0	0	13.76	14.03	13.93
1138	-0.90	-145.9	2301	3615	3947	3982	180.8	-12.5	124	1144	0.00	2.40	0.00	0.000	1158	0.000	0.057	2301	2185	3964	3947	3982	0	0	0	0	0	0	14.19	14.07	14.22
1469	-0.92	-145.9	2301	2183	3948	3982	226.6	-13.3	140	1475	0.00	2.53	0.00	0.000	388	0.000	0.088	2293	3620	3964	3947	3982	0	0	0	0	0	0	14.56	14.19	14.58
1535	-1.02	-145.9	2293	3620	3949	3982	234.7	-11.1	153	1540	0.15	2.42	0.00	0.000	5254	0.122	0.059	2239	2189	3964	3947	3982	0	0	0	0	0	0	14.27	14.22	14.36
1861	-0.96	-145.9	2240	2188	3951	3982	287.7	-16.0	168	1867	0.12	2.53	0.00	0.000	2436	0.295	0.086	2258	3616	3964	3947	3982	0	0	0	0	0	0	13.95	14.18	14.12
1974	-1.01	-145.9	2258	3617	3949	3985	302.1	-12.1	190	1979	0.00	2.40	0.00	0.000	1158	0.000	0.057	2257	2197	3964	3947	3982	0	0	0	0	0	0	14.40	14.28	14.43
2284	-1.01	-145.9	2257	2199	3948	3983	342.1	-12.7	202	2289	0.00	2.47	0.00	0.000	260	0.000	0.088	2249	3614	3964	3947	3982	0	0	0	0	0	0	14.65	14.24	14.67
2339	-1.06	-145.9	2250	3614	3948	3982	349.1	-12.3	213	2345	0.00	2.40	0.00	0.000	1158	0.000	0.058	2249	2195	3964	3947	3982	0	0	0	0	0	0	14.38	14.25	14.40
2644	-1.06	-145.9	2250	2194	3948	3981	388.9	-12.9	224	2650	0.00	2.50	0.00	0.000	260	0.000	0.087	2241	3619	3964	3947	3982	0	0	0	0	0	0	14.66	14.24	14.68
2685	-1.09	-145.9	2241	3620	3948	3983	394.3	-12.8	232	2691	0.00	2.40	0.00	0.000	1158	0.000	0.059	2241	2192	3964	3947	3982	0	0	0	0	0	0	14.41	14.28	14.42
3006	-1.07	-145.9	2241	2192	3948	3983	436.8	-13.2	246	3011	0.00	2.50	0.00	0.000	388	0.000	0.088	2236	3620	3964	3947	3981	0	0	0	0	0	0	14.66	14.24	14.71
3076	-1.11	-145.9	2237	3621	3948	3981	446.0	-12.8	260	3082	0.00	2.40	0.00	0.000	1158	0.000	0.058	2236	2195	3964	3947	3981	0	0	0	0	0	0	14.39	14.23	14.44
3334	end dive: TARGET_DEPTH_EXCEEDED
state	3334	begin apogee
3340	-0.13	0.0	2237	2067	3948	3981	481.2	-13.6	272	3564	1.15	0.08	219.35	1.425	10246	0.242	0.181	2532	2111	3363	3383	3344	0	0	0	0	0	0	14.00	13.43	12.69
3567	end apogee: CONTROL_FINISHED_OK
state	3567	begin climb
3572	0.57	145.9	2532	2112	3376	3335	492.6	0.0	279	3794	0.73	0.00	208.60	1.388	10502	0.064	0.000	2780	2111	2759	2802	2717	0	0	0	0	0	0	13.58	13.21	12.39
4114	0.17	145.9	2780	2112	2792	2714	452.2	15.2	295	4119	0.62	2.47	0.00	0.000	4740	0.330	0.078	2653	721	2753	2794	2712	0	0	0	0	0	0	13.50	13.87	13.76
4190	0.07	166.0	2654	721	2793	2713	444.5	9.1	310	4226	0.20	2.42	26.40	1.483	13478	0.283	0.080	2612	2093	2680	2725	2636	0	0	0	0	0	0	13.75	13.98	13.05
4538	0.05	216.2	2612	2093	2722	2626	417.6	7.7	329	4617	0.00	2.45	73.35	1.404	8868	0.000	0.083	2616	724	2477	2534	2421	0	0	0	0	0	0	14.50	13.68	13.07
4649	0.12	248.9	2616	726	2529	2418	408.6	8.5	351	4703	0.00	2.45	47.62	1.401	9382	0.000	0.079	2615	2103	2347	2401	2293	0	0	0	0	0	0	14.03	13.92	12.95
5020	0.15	267.9	2617	2105	2392	2281	375.0	9.1	375	5051	0.00	2.53	25.80	1.476	8868	0.000	0.086	2616	721	2268	2322	2215	0	0	0	0	0	0	14.43	13.95	13.17
5096	0.27	295.4	2617	721	2318	2215	367.9	8.7	390	5143	0.17	2.42	41.20	1.410	11430	0.104	0.079	2685	2099	2160	2210	2110	0	0	0	0	0	0	14.00	14.01	13.10
5443	0.19	295.4	2686	2099	2202	2097	319.9	13.9	409	5448	0.15	2.40	0.00	0.000	4740	0.256	0.082	2656	724	2148	2200	2097	0	0	0	0	0	0	13.97	14.17	14.11
5488	0.23	295.4	2656	723	2198	2097	314.2	11.5	418	5493	0.00	2.40	0.00	0.000	1158	0.000	0.080	2656	2099	2146	2196	2097	0	0	0	0	0	0	14.32	14.19	14.33
5803	0.23	295.4	2656	2101	2195	2099	278.8	11.0	431	5808	0.00	2.40	0.00	0.000	516	0.000	0.086	2659	721	2146	2196	2096	0	0	0	0	0	0	14.60	14.25	14.62
5843	0.27	295.4	2659	722	2196	2097	274.5	10.3	439	5848	0.00	2.38	0.00	0.000	1158	0.000	0.079	2659	2099	2145	2196	2095	0	0	0	0	0	0	14.40	14.28	14.44
6163	0.27	295.8	2660	2101	2196	2096	241.6	10.0	453	6168	0.00	2.40	0.00	0.000	548	0.000	0.085	2660	724	2144	2195	2094	0	0	0	0	0	0	14.62	14.26	14.65
6198	0.32	307.3	2660	724	2196	2095	238.2	9.5	460	6218	0.00	2.38	14.27	1.511	9382	0.000	0.078	2659	2101	2111	2160	2063	0	0	0	0	0	0	14.42	14.28	13.36
6523	0.34	342.4	2660	2101	2158	2056	209.6	8.4	475	6589	0.00	2.45	59.40	1.339	8740	0.000	0.085	2660	722	1965	2012	1919	0	0	0	0	0	0	14.61	14.02	13.26
6626	0.49	384.3	2661	723	2006	1919	201.2	8.1	495	6706	0.25	2.42	70.50	1.269	11430	0.097	0.079	2759	2099	1796	1819	1774	0	0	0	0	0	0	14.09	14.01	13.07
7005	0.40	384.3	2759	2100	1813	1756	145.6	14.2	521	7010	0.17	2.42	0.00	0.000	4740	0.262	0.080	2726	717	1783	1811	1755	0	0	0	0	0	0	13.90	14.10	14.07
7045	0.42	384.3	2726	718	1809	1756	140.8	11.0	529	7050	0.00	2.42	0.00	0.000	1158	0.000	0.078	2727	2104	1782	1809	1755	0	0	0	0	0	0	14.24	14.11	14.29
7365	0.42	384.3	2727	2106	1809	1753	106.3	10.4	543	7370	0.00	2.42	0.00	0.000	516	0.000	0.085	2729	717	1780	1808	1752	0	0	0	0	0	0	14.58	14.24	14.59
7472	0.50	410.8	2729	718	1806	1753	96.4	8.8	564	7489	0.00	2.40	13.15	0.496	9382	0.000	0.077	2729	2099	1688	1713	1664	0	0	0	0	0	0	14.22	14.10	13.69
7785	0.59	472.4	2730	2100	1717	1661	69.7	7.2	597	7828	0.12	2.45	33.92	0.410	10916	0.135	0.084	2794	730	1441	1481	1401	0	0	0	0	0	0	14.29	14.10	13.70
7875	0.60	483.2	2795	731	1475	1402	61.6	9.5	614	7886	0.00	2.40	6.75	0.380	9254	0.000	0.080	2794	2101	1392	1436	1349	0	0	0	0	0	0	14.28	14.15	13.68
8191	0.63	530.6	2795	2101	1437	1347	35.7	7.8	647	8222	0.00	0.00	26.30	0.309	8230	0.000	0.000	2794	2101	1199	1257	1141	0	0	0	0	0	0	14.55	14.04	13.82
8521	0.86	687.0	2795	2101	1257	1136	14.4	2.8	680	8617	0.17	2.55	86.68	0.241	10660	0.115	0.084	2872	3512	558	592	524	0	0	0	0	0	0	14.26	14.01	13.84
8662	0.93	687.0	2872	3516	597	525	2.1	10.1	707	8668	0.00	2.40	0.00	0.000	1158	0.000	0.071	2876	2136	558	593	524	0	0	0	0	0	0	14.12	14.01	14.14
8675	end climb: SURFACE_DEPTH_REACHED
state	8675	begin surface coast
8685	end surface coast: CONTROL_FINISHED_OK
state	8685	begin surface