Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 175 * 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 175 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 494.0

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 33 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 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 494.0 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 33 VBD_MIN 500

DIVE 175 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 270817,070729,7357.6621,-15203.1748,62,0.8,63,20.0,0.4,257.1,11,8.8 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 1.25 MHEAD_RNG_PITCHd_Wd 282.4,68252,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.0 D_GRID 480

GPS2 270817,072824,7357.6816,-15203.6123,5,0.8,13,20.0,0.0,243.3,10,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827081913.362658,3,34,15,0188,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30 PM_FREEKB_00 52782208

FINISH 0.5,1.020906 _24V_AH 12.34,126.826

SM_CCo 8928,8.70,0.220,0,0,498,702.78 _10V_AH 12.15,0.000

SM_GC 1.97,8.18,0.17,8.70,0.083,0.109,0.220,201,2231,498,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 320 FG_AHR_10Vo 0.000

MODEM 0,1503821033,75.36600,-145.04601,179.963,260451.9 MEM 323356

RAFOS_FIX 7356.634766,-15204.778320,270817,080816,3,255,0.77 DATA_FILE_SIZE 26754,783

IRIDIUM_FIX 7401.31,-15205.76,270817,072203 CAP_FILE_SIZE 114928,0

TT8_MAMPS 0.039697,0.993923 CFSIZE 2097872896,2033778688

HUMID 46.69 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.73269 INTR 0,7694.69,0x2341ea,1,24

TCM_TEMP 13.10 SOUNDSPEED 1448.4

XPDR_PINGS 10 CURRENT 0.008,251.88,1

CP_FREE 15989964800.000000 GPS 270817,095921,7358.587,-15206.701,39,0.7,40,20.0,0.0,0.0,11,8.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 143.01 nil 0 0 0.00

Roll_motor 92 2149 2459.69 nil 0 0 0.00

VBD_pump_during_apogee 994 1519 18652.42 nil 0 0 0.00

VBD_pump_during_surface 8 220 23.65 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 8937 14 1565.13

Iridium_during_xfer 719 148 1316.99 NCP 8933 20 2204.66

Transponder_ping 2 420 12.96 PMAR 8884 11 1278.05

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.97

TT8 0 0 0.00

LPSleep 6513 2 182.81

TT8_Active 996 13 169.19

TT8_Sampling 2371 33 963.58

TT8_CF8 327 38 153.73

TT8_Kalman 0 0 0.00

Analog_circuits 2478 10 301.19

GPS_charging 0 0 0.00

Compass 1122 7 95.43

RAFOS 2195 48 1280.12

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 -145.9 177 2194 509 486 0.0 0.0 0 140 0.00 0.00 -91.22 0.000 16386 0.000 0.000 175 2193 2162 2087 2238 0 0 0 0 0 0 14.50 28.83 14.53

143 -0.57 -145.9 176 2193 2089 2240 3.8 -4.9 9 197 12.75 2.83 -34.53 0.000 18724 0.457 2.150 2375 3581 3961 3943 3980 1 0 0 0 0 0 13.50 12.60 14.14

422 -0.67 -145.9 2376 3582 3951 3981 62.8 -14.5 64 429 0.00 2.38 0.00 0.000 1158 0.000 0.061 2374 2207 3965 3950 3981 0 0 0 0 0 0 14.24 14.12 14.28

747 -0.73 -145.9 2375 2206 3951 3982 107.9 -11.5 93 752 0.00 2.42 0.00 0.000 388 0.000 0.088 2371 3585 3966 3951 3981 0 0 0 0 0 0 14.58 14.17 14.59

832 -0.91 -145.9 2366 3586 3951 3980 116.3 -9.3 110 838 0.25 2.35 0.00 0.000 5286 0.093 0.055 2265 2196 3966 3951 3981 0 0 0 0 0 0 14.26 14.21 14.34

1137 -0.83 -145.9 2266 2196 3951 3981 173.7 -18.7 121 1142 0.17 2.45 0.00 0.000 2436 0.288 0.085 2297 3585 3965 3950 3981 0 0 0 0 0 0 13.85 14.14 14.03

1234 -0.92 -145.9 2298 3587 3951 3982 186.7 -11.9 140 1240 0.00 2.33 0.00 0.000 1158 0.000 0.057 2298 2201 3965 3950 3980 0 0 0 0 0 0 14.39 14.27 14.42

1560 -0.94 -145.9 2302 2200 3952 3981 230.8 -13.1 155 1565 0.00 2.45 0.00 0.000 388 0.000 0.089 2291 3588 3965 3950 3981 0 0 0 0 0 0 14.62 14.13 14.64

1620 -1.04 -145.9 2291 3589 3951 3982 238.1 -11.3 167 1625 0.15 2.35 0.00 0.000 5254 0.125 0.057 2237 2197 3966 3951 3981 0 0 0 0 0 0 14.25 14.21 14.38

1950 -0.98 -145.9 2238 2197 3951 3982 291.3 -15.4 183 1955 0.00 2.45 0.00 0.000 388 0.000 0.090 2235 3584 3966 3952 3981 0 0 0 0 0 0 14.50 14.10 14.52

2060 -0.98 -145.9 2236 3586 3952 3981 306.8 -13.6 205 2065 0.12 2.38 0.00 0.000 3078 0.252 0.057 2259 2195 3964 3947 3981 0 0 0 0 0 0 13.88 14.10 14.13

2370 -0.98 -145.9 2260 2194 3951 3981 344.9 -11.9 217 2375 0.00 2.47 0.00 0.000 260 0.000 0.088 2248 3589 3964 3947 3981 0 0 0 0 0 0 14.47 14.07 14.49

2431 -1.05 -145.9 2253 3591 3952 3981 352.0 -11.5 229 2435 0.00 2.38 0.00 0.000 1158 0.000 0.057 2252 2198 3966 3951 3981 0 0 0 0 0 0 14.25 14.12 14.28

2760 -1.05 -145.9 2252 2197 3951 3980 392.6 -12.1 245 2765 0.00 2.47 0.00 0.000 260 0.000 0.088 2244 3594 3965 3951 3980 0 0 0 0 0 0 14.47 14.04 14.45

2830 -1.11 -145.9 2243 3592 3952 3980 401.1 -11.6 259 2835 0.00 2.40 0.00 0.000 1158 0.000 0.057 2242 2195 3965 3950 3980 0 0 0 0 0 0 14.09 13.99 14.14

3151 -1.11 -145.9 2242 2195 3954 3979 441.3 -12.6 273 3156 0.00 2.45 0.00 0.000 260 0.000 0.088 2236 3581 3965 3950 3980 0 0 0 0 0 0 14.44 13.99 14.45

3241 -1.16 -145.9 2236 3582 3951 3980 452.4 -11.7 291 3246 0.00 2.38 0.00 0.000 1158 0.000 0.056 2236 2200 3965 3948 3982 0 0 0 0 0 0 14.16 14.07 14.20

3478 end dive: TARGET_DEPTH_EXCEEDED

state 3478 begin apogee

3484 -0.13 0.0 2237 2055 3951 3980 483.6 -13.0 304 3724 1.15 0.00 236.88 1.392 10246 0.239 0.000 2527 2054 3367 3385 3349 0 0 0 0 0 0 13.80 13.32 12.55

3728 end apogee: CONTROL_FINISHED_OK

state 3728 begin climb

3730 0.57 145.9 2528 2055 3376 3337 496.3 0.0 312 3952 0.75 2.55 211.07 1.345 10756 0.064 0.080 2788 724 2764 2808 2721 0 0 0 0 0 0 13.41 12.90 12.34

4081 0.21 145.9 2781 726 2794 2710 484.9 14.9 376 4087 0.62 2.42 0.00 0.000 5254 0.322 0.075 2653 2075 2750 2792 2708 0 0 0 0 0 0 13.19 13.50 13.52

4394 0.05 147.3 2653 2076 2793 2703 452.9 9.9 388 4399 0.20 2.35 0.00 0.000 4772 0.281 0.077 2614 726 2747 2792 2702 0 0 0 0 0 0 13.64 13.89 13.83

4447 0.05 193.9 2615 726 2794 2702 448.5 7.9 398 4528 0.00 2.42 70.20 1.362 9382 0.000 0.079 2615 2115 2568 2626 2511 0 0 0 0 0 0 14.07 13.95 12.99

4848 0.04 220.8 2614 2116 2617 2494 413.0 8.8 428 4893 0.00 2.50 37.83 1.402 8868 0.000 0.083 2616 730 2455 2513 2398 0 0 0 0 0 0 14.45 13.98 13.19

4929 0.10 248.5 2615 731 2507 2394 406.0 8.7 439 4974 0.00 2.40 39.22 1.394 9382 0.000 0.079 2616 2097 2348 2404 2292 0 0 0 0 0 0 14.15 14.03 13.07

5300 0.11 262.5 2616 2098 2390 2277 371.7 9.4 463 5316 0.00 0.00 15.32 1.504 8230 0.000 0.000 2615 2098 2296 2351 2242 0 0 0 0 0 0 14.51 14.10 13.27

5600 0.15 275.5 2616 2098 2337 2228 343.3 9.4 473 5625 0.00 2.45 18.08 1.519 8868 0.000 0.086 2615 730 2235 2288 2183 0 0 0 0 0 0 14.57 14.16 13.32

5661 0.27 297.4 2616 730 2282 2181 337.7 9.0 485 5701 0.17 2.38 33.33 1.425 11430 0.105 0.078 2686 2100 2150 2198 2102 0 0 0 0 0 0 14.27 14.18 13.21

6021 0.20 297.4 2686 2101 2188 2087 287.2 14.0 507 6026 0.15 2.40 0.00 0.000 4740 0.246 0.080 2658 719 2136 2187 2086 0 0 0 0 0 0 14.02 14.21 14.17

6081 0.25 297.4 2658 720 2185 2085 280.2 10.8 519 6086 0.00 2.40 0.00 0.000 1158 0.000 0.079 2657 2100 2134 2184 2085 0 0 0 0 0 0 14.34 14.21 14.38

6411 0.25 300.8 2658 2101 2185 2085 245.6 9.8 535 6412 0.00 0.00 0.00 0.000 38 0.000 0.000 2657 2100 2134 2184 2084 0 0 0 0 0 0 14.63 14.64 14.64

6711 0.26 322.0 2658 2101 2185 2082 218.4 9.0 545 6752 0.00 2.40 36.10 1.395 8740 0.000 0.083 2658 727 2048 2096 2001 0 0 0 0 0 0 14.63 13.93 13.32

6809 0.38 354.1 2658 728 2088 2000 210.2 8.5 564 6868 0.15 2.42 52.10 1.326 11430 0.121 0.079 2715 2105 1920 1958 1882 0 0 0 0 0 0 14.02 14.12 13.19

7193 0.34 354.1 2717 2106 1946 1874 163.6 11.9 591 7198 0.00 2.42 0.00 0.000 644 0.000 0.083 2725 724 1909 1945 1873 0 0 0 0 0 0 14.52 14.16 14.53

7228 0.34 354.1 2725 725 1946 1874 159.6 11.4 598 7233 0.15 2.40 0.00 0.000 5126 0.240 0.079 2693 2100 1909 1945 1873 0 0 0 0 0 0 14.02 14.20 14.28

7554 0.36 379.4 2694 2101 1944 1872 129.7 8.8 613 7599 0.00 2.47 38.15 1.329 8740 0.000 0.085 2699 732 1815 1842 1788 0 0 0 0 0 0 14.57 14.09 13.32

7636 0.48 413.9 2699 732 1836 1788 122.8 8.4 629 7704 0.12 2.42 56.78 1.254 11430 0.133 0.079 2755 2109 1673 1698 1648 0 0 0 0 0 0 14.07 14.03 13.19

8009 0.45 413.9 2756 2109 1697 1634 78.9 10.4 665 8015 0.00 2.45 0.00 0.000 644 0.000 0.086 2756 726 1662 1695 1630 0 0 0 0 0 0 14.47 14.01 14.49

8065 0.49 437.1 2757 726 1694 1634 73.7 8.9 676 8082 0.00 2.40 11.68 0.421 9382 0.000 0.078 2756 2100 1580 1610 1551 0 0 0 0 0 0 14.15 14.04 13.71

8380 0.59 550.6 2756 2101 1612 1551 50.6 4.8 709 8449 0.00 2.42 61.78 0.353 8868 0.000 0.083 2756 726 1119 1188 1051 0 0 0 0 0 0 14.53 13.95 13.71

8496 0.82 628.6 2756 727 1182 1052 44.0 6.4 731 8548 0.28 2.42 42.92 0.330 11430 0.090 0.078 2863 2106 798 870 727 0 0 0 0 0 0 14.14 14.05 13.76

8844 0.85 673.8 2864 2105 871 724 6.6 7.9 771 8876 0.00 2.45 25.05 0.224 8740 0.000 0.088 2863 722 615 669 561 0 0 0 0 0 0 14.52 14.10 13.94

8891 0.94 703.1 2864 723 671 560 2.5 8.6 780 8904 0.00 2.42 8.43 0.219 9378 0.000 0.078 2863 2105 560 604 516 0 0 0 0 0 0 14.23 14.09 14.27

8904 end climb: SURFACE_DEPTH_REACHED

state 8904 begin surface coast

8907 end surface coast: CONTROL_FINISHED_OK

state 8907 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	175	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	494.0
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	33	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,070729,7357.6621,-15203.1748,62,0.8,63,20.0,0.4,257.1,11,8.8	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	1.25	MHEAD_RNG_PITCHd_Wd	282.4,68252,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.0	D_GRID	480
GPS2	270817,072824,7357.6816,-15203.6123,5,0.8,13,20.0,0.0,243.3,10,9.2

MODEM_MSG	CACST,6,1,20170827081913.362658,3,34,15,0188,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30	PM_FREEKB_00	52782208
FINISH	0.5,1.020906	_24V_AH	12.34,126.826
SM_CCo	8928,8.70,0.220,0,0,498,702.78	_10V_AH	12.15,0.000
SM_GC	1.97,8.18,0.17,8.70,0.083,0.109,0.220,201,2231,498,-7.38,-0.54,702.78,0,0,0,0,0,0,14.28,14.30,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	320	FG_AHR_10Vo	0.000
MODEM	0,1503821033,75.36600,-145.04601,179.963,260451.9	MEM	323356
RAFOS_FIX	7356.634766,-15204.778320,270817,080816,3,255,0.77	DATA_FILE_SIZE	26754,783
IRIDIUM_FIX	7401.31,-15205.76,270817,072203	CAP_FILE_SIZE	114928,0
TT8_MAMPS	0.039697,0.993923	CFSIZE	2097872896,2033778688
HUMID	46.69	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.73269	INTR	0,7694.69,0x2341ea,1,24
TCM_TEMP	13.10	SOUNDSPEED	1448.4
XPDR_PINGS	10	CURRENT	0.008,251.88,1
CP_FREE	15989964800.000000	GPS	270817,095921,7358.587,-15206.701,39,0.7,40,20.0,0.0,0.0,11,8.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	143.01	nil	0	0	0.00
Roll_motor	92	2149	2459.69	nil	0	0	0.00
VBD_pump_during_apogee	994	1519	18652.42	nil	0	0	0.00
VBD_pump_during_surface	8	220	23.65	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	8937	14	1565.13
Iridium_during_xfer	719	148	1316.99	NCP	8933	20	2204.66
Transponder_ping	2	420	12.96	PMAR	8884	11	1278.05
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.97
TT8	0	0	0.00
LPSleep	6513	2	182.81
TT8_Active	996	13	169.19
TT8_Sampling	2371	33	963.58
TT8_CF8	327	38	153.73
TT8_Kalman	0	0	0.00
Analog_circuits	2478	10	301.19
GPS_charging	0	0	0.00
Compass	1122	7	95.43
RAFOS	2195	48	1280.12
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	177	2194	509	486	0.0	0.0	0	140	0.00	0.00	-91.22	0.000	16386	0.000	0.000	175	2193	2162	2087	2238	0	0	0	0	0	0	14.50	28.83	14.53
143	-0.57	-145.9	176	2193	2089	2240	3.8	-4.9	9	197	12.75	2.83	-34.53	0.000	18724	0.457	2.150	2375	3581	3961	3943	3980	1	0	0	0	0	0	13.50	12.60	14.14
422	-0.67	-145.9	2376	3582	3951	3981	62.8	-14.5	64	429	0.00	2.38	0.00	0.000	1158	0.000	0.061	2374	2207	3965	3950	3981	0	0	0	0	0	0	14.24	14.12	14.28
747	-0.73	-145.9	2375	2206	3951	3982	107.9	-11.5	93	752	0.00	2.42	0.00	0.000	388	0.000	0.088	2371	3585	3966	3951	3981	0	0	0	0	0	0	14.58	14.17	14.59
832	-0.91	-145.9	2366	3586	3951	3980	116.3	-9.3	110	838	0.25	2.35	0.00	0.000	5286	0.093	0.055	2265	2196	3966	3951	3981	0	0	0	0	0	0	14.26	14.21	14.34
1137	-0.83	-145.9	2266	2196	3951	3981	173.7	-18.7	121	1142	0.17	2.45	0.00	0.000	2436	0.288	0.085	2297	3585	3965	3950	3981	0	0	0	0	0	0	13.85	14.14	14.03
1234	-0.92	-145.9	2298	3587	3951	3982	186.7	-11.9	140	1240	0.00	2.33	0.00	0.000	1158	0.000	0.057	2298	2201	3965	3950	3980	0	0	0	0	0	0	14.39	14.27	14.42
1560	-0.94	-145.9	2302	2200	3952	3981	230.8	-13.1	155	1565	0.00	2.45	0.00	0.000	388	0.000	0.089	2291	3588	3965	3950	3981	0	0	0	0	0	0	14.62	14.13	14.64
1620	-1.04	-145.9	2291	3589	3951	3982	238.1	-11.3	167	1625	0.15	2.35	0.00	0.000	5254	0.125	0.057	2237	2197	3966	3951	3981	0	0	0	0	0	0	14.25	14.21	14.38
1950	-0.98	-145.9	2238	2197	3951	3982	291.3	-15.4	183	1955	0.00	2.45	0.00	0.000	388	0.000	0.090	2235	3584	3966	3952	3981	0	0	0	0	0	0	14.50	14.10	14.52
2060	-0.98	-145.9	2236	3586	3952	3981	306.8	-13.6	205	2065	0.12	2.38	0.00	0.000	3078	0.252	0.057	2259	2195	3964	3947	3981	0	0	0	0	0	0	13.88	14.10	14.13
2370	-0.98	-145.9	2260	2194	3951	3981	344.9	-11.9	217	2375	0.00	2.47	0.00	0.000	260	0.000	0.088	2248	3589	3964	3947	3981	0	0	0	0	0	0	14.47	14.07	14.49
2431	-1.05	-145.9	2253	3591	3952	3981	352.0	-11.5	229	2435	0.00	2.38	0.00	0.000	1158	0.000	0.057	2252	2198	3966	3951	3981	0	0	0	0	0	0	14.25	14.12	14.28
2760	-1.05	-145.9	2252	2197	3951	3980	392.6	-12.1	245	2765	0.00	2.47	0.00	0.000	260	0.000	0.088	2244	3594	3965	3951	3980	0	0	0	0	0	0	14.47	14.04	14.45
2830	-1.11	-145.9	2243	3592	3952	3980	401.1	-11.6	259	2835	0.00	2.40	0.00	0.000	1158	0.000	0.057	2242	2195	3965	3950	3980	0	0	0	0	0	0	14.09	13.99	14.14
3151	-1.11	-145.9	2242	2195	3954	3979	441.3	-12.6	273	3156	0.00	2.45	0.00	0.000	260	0.000	0.088	2236	3581	3965	3950	3980	0	0	0	0	0	0	14.44	13.99	14.45
3241	-1.16	-145.9	2236	3582	3951	3980	452.4	-11.7	291	3246	0.00	2.38	0.00	0.000	1158	0.000	0.056	2236	2200	3965	3948	3982	0	0	0	0	0	0	14.16	14.07	14.20
3478	end dive: TARGET_DEPTH_EXCEEDED
state	3478	begin apogee
3484	-0.13	0.0	2237	2055	3951	3980	483.6	-13.0	304	3724	1.15	0.00	236.88	1.392	10246	0.239	0.000	2527	2054	3367	3385	3349	0	0	0	0	0	0	13.80	13.32	12.55
3728	end apogee: CONTROL_FINISHED_OK
state	3728	begin climb
3730	0.57	145.9	2528	2055	3376	3337	496.3	0.0	312	3952	0.75	2.55	211.07	1.345	10756	0.064	0.080	2788	724	2764	2808	2721	0	0	0	0	0	0	13.41	12.90	12.34
4081	0.21	145.9	2781	726	2794	2710	484.9	14.9	376	4087	0.62	2.42	0.00	0.000	5254	0.322	0.075	2653	2075	2750	2792	2708	0	0	0	0	0	0	13.19	13.50	13.52
4394	0.05	147.3	2653	2076	2793	2703	452.9	9.9	388	4399	0.20	2.35	0.00	0.000	4772	0.281	0.077	2614	726	2747	2792	2702	0	0	0	0	0	0	13.64	13.89	13.83
4447	0.05	193.9	2615	726	2794	2702	448.5	7.9	398	4528	0.00	2.42	70.20	1.362	9382	0.000	0.079	2615	2115	2568	2626	2511	0	0	0	0	0	0	14.07	13.95	12.99
4848	0.04	220.8	2614	2116	2617	2494	413.0	8.8	428	4893	0.00	2.50	37.83	1.402	8868	0.000	0.083	2616	730	2455	2513	2398	0	0	0	0	0	0	14.45	13.98	13.19
4929	0.10	248.5	2615	731	2507	2394	406.0	8.7	439	4974	0.00	2.40	39.22	1.394	9382	0.000	0.079	2616	2097	2348	2404	2292	0	0	0	0	0	0	14.15	14.03	13.07
5300	0.11	262.5	2616	2098	2390	2277	371.7	9.4	463	5316	0.00	0.00	15.32	1.504	8230	0.000	0.000	2615	2098	2296	2351	2242	0	0	0	0	0	0	14.51	14.10	13.27
5600	0.15	275.5	2616	2098	2337	2228	343.3	9.4	473	5625	0.00	2.45	18.08	1.519	8868	0.000	0.086	2615	730	2235	2288	2183	0	0	0	0	0	0	14.57	14.16	13.32
5661	0.27	297.4	2616	730	2282	2181	337.7	9.0	485	5701	0.17	2.38	33.33	1.425	11430	0.105	0.078	2686	2100	2150	2198	2102	0	0	0	0	0	0	14.27	14.18	13.21
6021	0.20	297.4	2686	2101	2188	2087	287.2	14.0	507	6026	0.15	2.40	0.00	0.000	4740	0.246	0.080	2658	719	2136	2187	2086	0	0	0	0	0	0	14.02	14.21	14.17
6081	0.25	297.4	2658	720	2185	2085	280.2	10.8	519	6086	0.00	2.40	0.00	0.000	1158	0.000	0.079	2657	2100	2134	2184	2085	0	0	0	0	0	0	14.34	14.21	14.38
6411	0.25	300.8	2658	2101	2185	2085	245.6	9.8	535	6412	0.00	0.00	0.00	0.000	38	0.000	0.000	2657	2100	2134	2184	2084	0	0	0	0	0	0	14.63	14.64	14.64
6711	0.26	322.0	2658	2101	2185	2082	218.4	9.0	545	6752	0.00	2.40	36.10	1.395	8740	0.000	0.083	2658	727	2048	2096	2001	0	0	0	0	0	0	14.63	13.93	13.32
6809	0.38	354.1	2658	728	2088	2000	210.2	8.5	564	6868	0.15	2.42	52.10	1.326	11430	0.121	0.079	2715	2105	1920	1958	1882	0	0	0	0	0	0	14.02	14.12	13.19
7193	0.34	354.1	2717	2106	1946	1874	163.6	11.9	591	7198	0.00	2.42	0.00	0.000	644	0.000	0.083	2725	724	1909	1945	1873	0	0	0	0	0	0	14.52	14.16	14.53
7228	0.34	354.1	2725	725	1946	1874	159.6	11.4	598	7233	0.15	2.40	0.00	0.000	5126	0.240	0.079	2693	2100	1909	1945	1873	0	0	0	0	0	0	14.02	14.20	14.28
7554	0.36	379.4	2694	2101	1944	1872	129.7	8.8	613	7599	0.00	2.47	38.15	1.329	8740	0.000	0.085	2699	732	1815	1842	1788	0	0	0	0	0	0	14.57	14.09	13.32
7636	0.48	413.9	2699	732	1836	1788	122.8	8.4	629	7704	0.12	2.42	56.78	1.254	11430	0.133	0.079	2755	2109	1673	1698	1648	0	0	0	0	0	0	14.07	14.03	13.19
8009	0.45	413.9	2756	2109	1697	1634	78.9	10.4	665	8015	0.00	2.45	0.00	0.000	644	0.000	0.086	2756	726	1662	1695	1630	0	0	0	0	0	0	14.47	14.01	14.49
8065	0.49	437.1	2757	726	1694	1634	73.7	8.9	676	8082	0.00	2.40	11.68	0.421	9382	0.000	0.078	2756	2100	1580	1610	1551	0	0	0	0	0	0	14.15	14.04	13.71
8380	0.59	550.6	2756	2101	1612	1551	50.6	4.8	709	8449	0.00	2.42	61.78	0.353	8868	0.000	0.083	2756	726	1119	1188	1051	0	0	0	0	0	0	14.53	13.95	13.71
8496	0.82	628.6	2756	727	1182	1052	44.0	6.4	731	8548	0.28	2.42	42.92	0.330	11430	0.090	0.078	2863	2106	798	870	727	0	0	0	0	0	0	14.14	14.05	13.76
8844	0.85	673.8	2864	2105	871	724	6.6	7.9	771	8876	0.00	2.45	25.05	0.224	8740	0.000	0.088	2863	722	615	669	561	0	0	0	0	0	0	14.52	14.10	13.94
8891	0.94	703.1	2864	723	671	560	2.5	8.6	780	8904	0.00	2.42	8.43	0.219	9378	0.000	0.078	2863	2105	560	604	516	0	0	0	0	0	0	14.23	14.09	14.27
8904	end climb: SURFACE_DEPTH_REACHED
state	8904	begin surface coast
8907	end surface coast: CONTROL_FINISHED_OK
state	8907	begin surface