Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 162 * 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 162 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 48

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 456.0

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 21 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 456.0 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 21 VBD_MIN 500

DIVE 162 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 250817,144821,7344.8569,-15121.8916,39,0.8,40,20.2,0.7,352.5,10,8.1 SPEED_LIMITS 0.173,0.256

_CALLS 5 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 294.6,99085,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 250817,151016,7344.8184,-15122.1797,13,0.7,13,20.2,0.7,210.0,12,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170825161934.813696,3,40,16,0285,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 53191104

FINISH 0.1,1.020840 _24V_AH 12.35,120.346

SM_CCo 8820,42.97,0.203,0,0,499,702.78 _10V_AH 12.19,0.000

SM_GC 0.97,8.02,0.17,42.97,0.070,0.123,0.203,202,2215,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.33,14.32,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 264 FG_AHR_10Vo 0.000

MODEM 0,1503677033,75.36600,-145.04601,179.889,260359.9 MEM 323680

RAFOS_FIX 7344.783691,-15124.022461,250817,161643,2,255,0.26 DATA_FILE_SIZE 26730,727

IRIDIUM_FIX 7345.83,-15115.39,250817,150227 CAP_FILE_SIZE 109467,0

TT8_MAMPS 0.038948,0.979692 CFSIZE 2097872896,2037972992

HUMID 47.20 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.1

TCM_TEMP 13.10 CURRENT 0.028,273.88,1

XPDR_PINGS 13 GPS 250817,173955,7345.827,-15125.336,23,0.7,36,20.2,0.0,314.9,10,6.8

CP_FREE 15992061952.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 140.39 nil 0 0 0.00

Roll_motor 88 2150 2347.03 nil 0 0 0.00

VBD_pump_during_apogee 956 1610 19022.90 nil 0 0 0.00

VBD_pump_during_surface 42 203 108.00 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 8829 14 1557.17

Iridium_during_xfer 783 153 1488.43 NCP 8817 20 2177.80

Transponder_ping 3 420 16.86 PMAR 8776 9 1076.79

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.06

TT8 0 0 0.00

LPSleep 6481 2 182.51

TT8_Active 884 13 150.65

TT8_Sampling 2510 33 1023.18

TT8_CF8 318 38 150.25

TT8_Kalman 0 0 0.00

Analog_circuits 2520 10 307.30

GPS_charging 0 0 0.00

Compass 1042 7 88.99

RAFOS 2203 48 1289.02

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 -145.9 168 2227 497 490 0.0 0.0 0 140 0.00 0.00 -91.30 0.000 16386 0.000 0.000 168 2226 2161 2080 2242 0 0 0 0 0 0 14.52 28.83 14.54

143 -0.57 -145.9 168 2228 2087 2244 4.1 -6.1 9 196 12.65 2.70 -34.40 0.000 18724 0.453 2.150 2378 3588 3963 3946 3980 1 0 0 0 0 0 13.54 12.90 14.16

352 -0.65 -145.9 2378 3593 3953 3981 51.4 -16.3 50 358 0.00 2.40 0.00 0.000 1158 0.000 0.060 2377 2188 3966 3952 3980 0 0 0 0 0 0 14.27 14.14 14.30

657 -0.71 -145.9 2377 2188 3954 3981 100.6 -12.3 81 663 0.00 2.47 0.00 0.000 388 0.000 0.087 2372 3589 3966 3953 3980 0 0 0 0 0 0 14.57 14.15 14.59

708 -0.87 -145.9 2372 3592 3953 3981 106.2 -10.2 91 713 0.22 2.35 0.00 0.000 5254 0.104 0.057 2280 2198 3966 3953 3980 0 0 0 0 0 0 14.28 14.20 14.37

1018 -0.80 -145.9 2282 2197 3954 3980 163.5 -18.2 103 1023 0.12 2.45 0.00 0.000 2436 0.290 0.084 2302 3596 3966 3953 3980 0 0 0 0 0 0 14.00 14.21 14.16

1094 -0.90 -145.9 2303 3597 3954 3980 174.1 -12.2 118 1099 0.00 2.38 0.00 0.000 1158 0.000 0.059 2303 2192 3966 3953 3980 0 0 0 0 0 0 14.39 14.26 14.42

1409 -0.90 -145.9 2302 2191 3954 3979 217.3 -13.5 131 1413 0.00 2.45 0.00 0.000 260 0.000 0.086 2294 3588 3967 3954 3980 0 0 0 0 0 0 14.63 14.20 14.65

1489 -0.99 -145.9 2301 3593 3950 3980 227.4 -12.0 147 1494 0.00 2.35 0.00 0.000 1158 0.000 0.057 2294 2195 3966 3954 3979 0 0 0 0 0 0 14.39 14.28 14.42

1799 -1.03 -145.9 2294 2195 3954 3981 266.2 -11.8 159 1800 0.15 0.00 0.00 0.000 4230 0.122 0.000 2238 2193 3966 3953 3980 0 0 0 0 0 0 14.37 14.48 14.44

2099 -0.97 -145.9 2238 2194 3954 3981 312.1 -15.1 169 2104 0.00 2.45 0.00 0.000 388 0.000 0.089 2236 3588 3966 3953 3980 0 0 0 0 0 0 14.66 14.19 14.69

2214 -0.97 -145.9 2236 3590 3954 3981 328.2 -13.2 192 2221 0.12 2.35 0.00 0.000 3078 0.248 0.056 2258 2193 3968 3956 3980 0 0 0 0 0 0 13.93 14.14 14.17

2520 -0.97 -145.9 2260 2193 3954 3980 365.3 -12.0 203 2525 0.00 2.45 0.00 0.000 260 0.000 0.088 2252 3592 3966 3953 3980 0 0 0 0 0 0 14.67 14.18 14.69

2580 -1.04 -145.9 2253 3594 3952 3980 372.5 -11.7 215 2585 0.00 2.35 0.00 0.000 1158 0.000 0.056 2252 2204 3965 3951 3979 0 0 0 0 0 0 14.35 14.23 14.40

2929 -1.04 -145.9 2252 2203 3952 3980 413.8 -12.5 231 2934 0.00 2.45 0.00 0.000 260 0.000 0.086 2243 3594 3966 3953 3979 0 0 0 0 0 0 14.52 14.14 14.54

3019 -1.09 -145.9 2249 3592 3949 3979 427.3 -11.9 249 3025 0.00 2.38 0.00 0.000 1158 0.000 0.056 2242 2196 3970 3961 3979 0 0 0 0 0 0 14.29 14.18 14.36

3350 -1.09 -145.9 2243 2195 3952 3977 470.0 -12.8 265 3356 0.00 2.47 0.00 0.000 260 0.000 0.088 2236 3594 3965 3952 3978 0 0 0 0 0 0 14.48 14.08 14.50

3416 -1.12 -145.9 2237 3594 3953 3978 478.3 -12.1 278 3421 0.00 2.40 0.00 0.000 1158 0.000 0.057 2237 2190 3965 3952 3978 0 0 0 0 0 0 14.25 14.13 14.28

3428 end dive: TARGET_DEPTH_EXCEEDED

state 3429 begin apogee

3434 -0.13 0.0 2237 2069 3954 3978 480.2 -12.5 281 3655 1.17 0.00 217.27 1.427 10246 0.248 0.000 2531 2068 3362 3385 3340 0 0 0 0 0 0 13.83 13.39 12.62

3659 end apogee: CONTROL_FINISHED_OK

state 3659 begin climb

3662 0.57 145.9 2532 2068 3381 3333 490.8 0.0 288 3884 0.73 2.10 208.55 1.378 10500 0.065 0.078 2776 3485 2758 2801 2716 0 0 0 0 0 0 13.47 13.08 12.35

4110 0.13 145.9 2777 3484 2788 2716 459.1 17.1 335 4116 0.77 2.40 0.00 0.000 5254 0.355 0.057 2629 2125 2751 2787 2716 0 0 0 0 0 0 13.33 13.66 13.68

4415 0.03 168.3 2631 2129 2789 2715 430.3 9.0 346 4451 0.12 2.47 28.77 1.486 12708 0.295 0.083 2602 3481 2671 2713 2630 0 0 0 0 0 0 13.77 13.88 13.07

4483 -0.02 185.1 2602 3483 2709 2629 424.6 9.2 359 4512 0.00 2.38 22.92 1.519 9382 0.000 0.060 2603 2107 2610 2658 2562 0 0 0 0 0 0 14.03 13.92 13.02

4839 0.01 220.0 2602 2107 2655 2549 394.7 8.4 380 4898 0.00 2.60 51.15 1.431 8740 0.000 0.088 2599 685 2461 2514 2409 0 0 0 0 0 0 14.38 13.85 13.10

4963 0.12 265.4 2603 686 2516 2408 384.1 7.9 405 5038 0.00 2.47 68.25 1.367 9382 0.000 0.080 2602 2079 2283 2337 2230 0 0 0 0 0 0 14.04 13.94 12.94

5348 0.20 296.0 2603 2080 2329 2219 350.4 8.6 432 5396 0.15 0.00 45.72 1.392 10406 0.119 0.000 2671 2080 2160 2212 2109 0 0 0 0 0 0 14.08 13.85 13.09

5680 0.17 296.0 2671 2080 2202 2093 307.7 12.8 443 5685 0.12 2.45 0.00 0.000 4740 0.264 0.083 2648 684 2147 2201 2093 0 0 0 0 0 0 13.91 14.12 14.04

5715 0.21 296.0 2648 684 2199 2094 303.4 10.9 450 5720 0.00 2.47 0.00 0.000 1158 0.000 0.080 2648 2100 2145 2198 2093 0 0 0 0 0 0 14.29 14.16 14.33

6040 0.21 296.0 2648 2101 2199 2092 268.9 10.4 465 6046 0.00 2.45 0.00 0.000 516 0.000 0.085 2654 689 2144 2197 2091 0 0 0 0 0 0 14.59 14.26 14.60

6086 0.28 300.6 2654 690 2197 2091 264.3 9.8 474 6091 0.00 2.45 0.00 0.000 1190 0.000 0.079 2654 2106 2143 2196 2091 0 0 0 0 0 0 14.40 14.27 14.44

6401 0.29 318.1 2654 2108 2197 2091 233.9 9.2 487 6442 0.00 2.55 33.42 1.392 8740 0.000 0.086 2654 690 2063 2112 2014 0 0 0 0 0 0 14.64 14.16 13.36

6490 0.41 350.4 2655 690 2108 2014 226.3 8.5 504 6548 0.17 2.47 53.08 1.317 11430 0.113 0.079 2723 2105 1937 1980 1894 0 0 0 0 0 0 14.20 14.14 13.19

6853 0.35 350.4 2723 2106 1962 1884 180.6 12.3 527 6858 0.00 2.50 0.00 0.000 644 0.000 0.084 2729 684 1922 1961 1883 0 0 0 0 0 0 14.50 14.15 14.52

6898 0.35 350.4 2729 685 1960 1884 174.9 12.3 536 6903 0.15 2.47 0.00 0.000 5126 0.243 0.079 2698 2103 1921 1959 1883 0 0 0 0 0 0 14.03 14.20 14.28

7214 0.36 358.5 2698 2105 1960 1881 143.0 9.6 549 7224 0.00 2.47 5.78 1.610 8740 0.000 0.083 2697 685 1904 1943 1866 0 0 0 0 0 0 14.59 13.95 13.21

7279 0.46 388.1 2698 685 1939 1867 137.1 8.6 562 7341 0.00 2.45 54.50 1.297 9382 0.000 0.079 2697 2100 1780 1807 1753 0 0 0 0 0 0 14.35 14.23 13.28

7666 0.55 422.2 2698 2101 1802 1742 103.5 8.4 589 7728 0.15 2.53 55.40 1.230 10916 0.119 0.085 2778 685 1638 1666 1611 0 0 0 0 0 0 14.28 13.80 13.25

7768 0.52 422.2 2778 685 1661 1611 91.2 12.6 609 7774 0.00 2.53 0.00 0.000 1158 0.000 0.079 2778 2102 1634 1660 1609 0 0 0 0 0 0 14.12 14.01 14.16

8079 0.52 497.6 2779 2103 1661 1602 58.9 6.5 641 8120 0.00 0.00 39.00 0.379 8870 0.000 0.000 2778 2103 1336 1384 1289 0 0 0 0 0 0 14.50 14.09 13.71

8419 0.63 564.4 2779 2103 1385 1280 34.8 6.9 677 8461 0.00 2.50 35.95 0.308 8868 0.000 0.085 2778 682 1060 1126 995 0 0 0 0 0 0 14.52 14.02 13.80

8502 0.85 632.2 2779 682 1126 996 29.0 6.9 693 8545 0.25 2.47 36.75 0.285 11430 0.097 0.080 2873 2101 785 851 719 0 0 0 0 0 0 14.16 14.06 13.83

8779 end climb: SURFACE_DEPTH_REACHED

state 8779 begin surface coast

8799 end surface coast: CONTROL_FINISHED_OK

state 8799 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	162	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	48
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	456.0
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	21	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	250817,144821,7344.8569,-15121.8916,39,0.8,40,20.2,0.7,352.5,10,8.1	SPEED_LIMITS	0.173,0.256
_CALLS	5	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	294.6,99085,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	250817,151016,7344.8184,-15122.1797,13,0.7,13,20.2,0.7,210.0,12,8.8

MODEM_MSG	CACST,6,1,20170825161934.813696,3,40,16,0285,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	53191104
FINISH	0.1,1.020840	_24V_AH	12.35,120.346
SM_CCo	8820,42.97,0.203,0,0,499,702.78	_10V_AH	12.19,0.000
SM_GC	0.97,8.02,0.17,42.97,0.070,0.123,0.203,202,2215,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.33,14.32,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	264	FG_AHR_10Vo	0.000
MODEM	0,1503677033,75.36600,-145.04601,179.889,260359.9	MEM	323680
RAFOS_FIX	7344.783691,-15124.022461,250817,161643,2,255,0.26	DATA_FILE_SIZE	26730,727
IRIDIUM_FIX	7345.83,-15115.39,250817,150227	CAP_FILE_SIZE	109467,0
TT8_MAMPS	0.038948,0.979692	CFSIZE	2097872896,2037972992
HUMID	47.20	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.1
TCM_TEMP	13.10	CURRENT	0.028,273.88,1
XPDR_PINGS	13	GPS	250817,173955,7345.827,-15125.336,23,0.7,36,20.2,0.0,314.9,10,6.8
CP_FREE	15992061952.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	140.39	nil	0	0	0.00
Roll_motor	88	2150	2347.03	nil	0	0	0.00
VBD_pump_during_apogee	956	1610	19022.90	nil	0	0	0.00
VBD_pump_during_surface	42	203	108.00	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	8829	14	1557.17
Iridium_during_xfer	783	153	1488.43	NCP	8817	20	2177.80
Transponder_ping	3	420	16.86	PMAR	8776	9	1076.79
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.06
TT8	0	0	0.00
LPSleep	6481	2	182.51
TT8_Active	884	13	150.65
TT8_Sampling	2510	33	1023.18
TT8_CF8	318	38	150.25
TT8_Kalman	0	0	0.00
Analog_circuits	2520	10	307.30
GPS_charging	0	0	0.00
Compass	1042	7	88.99
RAFOS	2203	48	1289.02
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	168	2227	497	490	0.0	0.0	0	140	0.00	0.00	-91.30	0.000	16386	0.000	0.000	168	2226	2161	2080	2242	0	0	0	0	0	0	14.52	28.83	14.54
143	-0.57	-145.9	168	2228	2087	2244	4.1	-6.1	9	196	12.65	2.70	-34.40	0.000	18724	0.453	2.150	2378	3588	3963	3946	3980	1	0	0	0	0	0	13.54	12.90	14.16
352	-0.65	-145.9	2378	3593	3953	3981	51.4	-16.3	50	358	0.00	2.40	0.00	0.000	1158	0.000	0.060	2377	2188	3966	3952	3980	0	0	0	0	0	0	14.27	14.14	14.30
657	-0.71	-145.9	2377	2188	3954	3981	100.6	-12.3	81	663	0.00	2.47	0.00	0.000	388	0.000	0.087	2372	3589	3966	3953	3980	0	0	0	0	0	0	14.57	14.15	14.59
708	-0.87	-145.9	2372	3592	3953	3981	106.2	-10.2	91	713	0.22	2.35	0.00	0.000	5254	0.104	0.057	2280	2198	3966	3953	3980	0	0	0	0	0	0	14.28	14.20	14.37
1018	-0.80	-145.9	2282	2197	3954	3980	163.5	-18.2	103	1023	0.12	2.45	0.00	0.000	2436	0.290	0.084	2302	3596	3966	3953	3980	0	0	0	0	0	0	14.00	14.21	14.16
1094	-0.90	-145.9	2303	3597	3954	3980	174.1	-12.2	118	1099	0.00	2.38	0.00	0.000	1158	0.000	0.059	2303	2192	3966	3953	3980	0	0	0	0	0	0	14.39	14.26	14.42
1409	-0.90	-145.9	2302	2191	3954	3979	217.3	-13.5	131	1413	0.00	2.45	0.00	0.000	260	0.000	0.086	2294	3588	3967	3954	3980	0	0	0	0	0	0	14.63	14.20	14.65
1489	-0.99	-145.9	2301	3593	3950	3980	227.4	-12.0	147	1494	0.00	2.35	0.00	0.000	1158	0.000	0.057	2294	2195	3966	3954	3979	0	0	0	0	0	0	14.39	14.28	14.42
1799	-1.03	-145.9	2294	2195	3954	3981	266.2	-11.8	159	1800	0.15	0.00	0.00	0.000	4230	0.122	0.000	2238	2193	3966	3953	3980	0	0	0	0	0	0	14.37	14.48	14.44
2099	-0.97	-145.9	2238	2194	3954	3981	312.1	-15.1	169	2104	0.00	2.45	0.00	0.000	388	0.000	0.089	2236	3588	3966	3953	3980	0	0	0	0	0	0	14.66	14.19	14.69
2214	-0.97	-145.9	2236	3590	3954	3981	328.2	-13.2	192	2221	0.12	2.35	0.00	0.000	3078	0.248	0.056	2258	2193	3968	3956	3980	0	0	0	0	0	0	13.93	14.14	14.17
2520	-0.97	-145.9	2260	2193	3954	3980	365.3	-12.0	203	2525	0.00	2.45	0.00	0.000	260	0.000	0.088	2252	3592	3966	3953	3980	0	0	0	0	0	0	14.67	14.18	14.69
2580	-1.04	-145.9	2253	3594	3952	3980	372.5	-11.7	215	2585	0.00	2.35	0.00	0.000	1158	0.000	0.056	2252	2204	3965	3951	3979	0	0	0	0	0	0	14.35	14.23	14.40
2929	-1.04	-145.9	2252	2203	3952	3980	413.8	-12.5	231	2934	0.00	2.45	0.00	0.000	260	0.000	0.086	2243	3594	3966	3953	3979	0	0	0	0	0	0	14.52	14.14	14.54
3019	-1.09	-145.9	2249	3592	3949	3979	427.3	-11.9	249	3025	0.00	2.38	0.00	0.000	1158	0.000	0.056	2242	2196	3970	3961	3979	0	0	0	0	0	0	14.29	14.18	14.36
3350	-1.09	-145.9	2243	2195	3952	3977	470.0	-12.8	265	3356	0.00	2.47	0.00	0.000	260	0.000	0.088	2236	3594	3965	3952	3978	0	0	0	0	0	0	14.48	14.08	14.50
3416	-1.12	-145.9	2237	3594	3953	3978	478.3	-12.1	278	3421	0.00	2.40	0.00	0.000	1158	0.000	0.057	2237	2190	3965	3952	3978	0	0	0	0	0	0	14.25	14.13	14.28
3428	end dive: TARGET_DEPTH_EXCEEDED
state	3429	begin apogee
3434	-0.13	0.0	2237	2069	3954	3978	480.2	-12.5	281	3655	1.17	0.00	217.27	1.427	10246	0.248	0.000	2531	2068	3362	3385	3340	0	0	0	0	0	0	13.83	13.39	12.62
3659	end apogee: CONTROL_FINISHED_OK
state	3659	begin climb
3662	0.57	145.9	2532	2068	3381	3333	490.8	0.0	288	3884	0.73	2.10	208.55	1.378	10500	0.065	0.078	2776	3485	2758	2801	2716	0	0	0	0	0	0	13.47	13.08	12.35
4110	0.13	145.9	2777	3484	2788	2716	459.1	17.1	335	4116	0.77	2.40	0.00	0.000	5254	0.355	0.057	2629	2125	2751	2787	2716	0	0	0	0	0	0	13.33	13.66	13.68
4415	0.03	168.3	2631	2129	2789	2715	430.3	9.0	346	4451	0.12	2.47	28.77	1.486	12708	0.295	0.083	2602	3481	2671	2713	2630	0	0	0	0	0	0	13.77	13.88	13.07
4483	-0.02	185.1	2602	3483	2709	2629	424.6	9.2	359	4512	0.00	2.38	22.92	1.519	9382	0.000	0.060	2603	2107	2610	2658	2562	0	0	0	0	0	0	14.03	13.92	13.02
4839	0.01	220.0	2602	2107	2655	2549	394.7	8.4	380	4898	0.00	2.60	51.15	1.431	8740	0.000	0.088	2599	685	2461	2514	2409	0	0	0	0	0	0	14.38	13.85	13.10
4963	0.12	265.4	2603	686	2516	2408	384.1	7.9	405	5038	0.00	2.47	68.25	1.367	9382	0.000	0.080	2602	2079	2283	2337	2230	0	0	0	0	0	0	14.04	13.94	12.94
5348	0.20	296.0	2603	2080	2329	2219	350.4	8.6	432	5396	0.15	0.00	45.72	1.392	10406	0.119	0.000	2671	2080	2160	2212	2109	0	0	0	0	0	0	14.08	13.85	13.09
5680	0.17	296.0	2671	2080	2202	2093	307.7	12.8	443	5685	0.12	2.45	0.00	0.000	4740	0.264	0.083	2648	684	2147	2201	2093	0	0	0	0	0	0	13.91	14.12	14.04
5715	0.21	296.0	2648	684	2199	2094	303.4	10.9	450	5720	0.00	2.47	0.00	0.000	1158	0.000	0.080	2648	2100	2145	2198	2093	0	0	0	0	0	0	14.29	14.16	14.33
6040	0.21	296.0	2648	2101	2199	2092	268.9	10.4	465	6046	0.00	2.45	0.00	0.000	516	0.000	0.085	2654	689	2144	2197	2091	0	0	0	0	0	0	14.59	14.26	14.60
6086	0.28	300.6	2654	690	2197	2091	264.3	9.8	474	6091	0.00	2.45	0.00	0.000	1190	0.000	0.079	2654	2106	2143	2196	2091	0	0	0	0	0	0	14.40	14.27	14.44
6401	0.29	318.1	2654	2108	2197	2091	233.9	9.2	487	6442	0.00	2.55	33.42	1.392	8740	0.000	0.086	2654	690	2063	2112	2014	0	0	0	0	0	0	14.64	14.16	13.36
6490	0.41	350.4	2655	690	2108	2014	226.3	8.5	504	6548	0.17	2.47	53.08	1.317	11430	0.113	0.079	2723	2105	1937	1980	1894	0	0	0	0	0	0	14.20	14.14	13.19
6853	0.35	350.4	2723	2106	1962	1884	180.6	12.3	527	6858	0.00	2.50	0.00	0.000	644	0.000	0.084	2729	684	1922	1961	1883	0	0	0	0	0	0	14.50	14.15	14.52
6898	0.35	350.4	2729	685	1960	1884	174.9	12.3	536	6903	0.15	2.47	0.00	0.000	5126	0.243	0.079	2698	2103	1921	1959	1883	0	0	0	0	0	0	14.03	14.20	14.28
7214	0.36	358.5	2698	2105	1960	1881	143.0	9.6	549	7224	0.00	2.47	5.78	1.610	8740	0.000	0.083	2697	685	1904	1943	1866	0	0	0	0	0	0	14.59	13.95	13.21
7279	0.46	388.1	2698	685	1939	1867	137.1	8.6	562	7341	0.00	2.45	54.50	1.297	9382	0.000	0.079	2697	2100	1780	1807	1753	0	0	0	0	0	0	14.35	14.23	13.28
7666	0.55	422.2	2698	2101	1802	1742	103.5	8.4	589	7728	0.15	2.53	55.40	1.230	10916	0.119	0.085	2778	685	1638	1666	1611	0	0	0	0	0	0	14.28	13.80	13.25
7768	0.52	422.2	2778	685	1661	1611	91.2	12.6	609	7774	0.00	2.53	0.00	0.000	1158	0.000	0.079	2778	2102	1634	1660	1609	0	0	0	0	0	0	14.12	14.01	14.16
8079	0.52	497.6	2779	2103	1661	1602	58.9	6.5	641	8120	0.00	0.00	39.00	0.379	8870	0.000	0.000	2778	2103	1336	1384	1289	0	0	0	0	0	0	14.50	14.09	13.71
8419	0.63	564.4	2779	2103	1385	1280	34.8	6.9	677	8461	0.00	2.50	35.95	0.308	8868	0.000	0.085	2778	682	1060	1126	995	0	0	0	0	0	0	14.52	14.02	13.80
8502	0.85	632.2	2779	682	1126	996	29.0	6.9	693	8545	0.25	2.47	36.75	0.285	11430	0.097	0.080	2873	2101	785	851	719	0	0	0	0	0	0	14.16	14.06	13.83
8779	end climb: SURFACE_DEPTH_REACHED
state	8779	begin surface coast
8799	end surface coast: CONTROL_FINISHED_OK
state	8799	begin surface