Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 176 * 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 176 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 496.0

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 59 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 496.0 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 59 VBD_MIN 500

DIVE 176 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 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 270817,095921,7358.5869,-15206.7012,39,0.7,40,20.0,0.0,0.0,11,8.3 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 1.26 MHEAD_RNG_PITCHd_Wd 284.7,65761,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.3 D_GRID 480

GPS2 270817,102359,7358.6626,-15207.1758,5,0.7,13,19.9,0.0,109.1,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827122714.393478,3,18256,36,1343,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C PM_FREEKB_00 52744960

FINISH 0.4,1.021041 _24V_AH 12.37,127.328

SM_CCo 8870,31.83,0.213,0,0,499,702.78 _10V_AH 12.22,0.000

SM_GC 1.47,8.18,0.17,31.83,0.077,0.125,0.213,203,2215,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.27,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 152 FG_AHR_10Vo 0.000

MODEM 2,1503836024,73.18300,-149.96500,77.052,111600.3 MEM 323440

RAFOS_FIX 7358.794434,-15208.318359,270817,121202,3,255,0.09 DATA_FILE_SIZE 26689,731

IRIDIUM_FIX 7402.28,-15212.67,270817,101325 CAP_FILE_SIZE 114587,0

TT8_MAMPS 0.039697,0.997668 CFSIZE 2097872896,2033680384

HUMID 44.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.6

TCM_TEMP 13.20 CURRENT 0.017,258.74,1

XPDR_PINGS 21 GPS 270817,125419,7359.598,-15210.331,24,0.7,41,19.9,0.6,277.4,11,7.0

CP_FREE 15989702656.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 142.45 nil 0 0 0.00

Roll_motor 91 2145 2434.07 nil 0 0 0.00

VBD_pump_during_apogee 898 1502 16689.72 nil 0 0 0.00

VBD_pump_during_surface 31 212 83.72 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 8878 14 1604.92

Iridium_during_xfer 1000 181 2242.91 NCP 8865 20 2193.20

Transponder_ping 5 420 27.28 PMAR 8824 10 1138.68

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.54

TT8 0 0 0.00

LPSleep 6481 2 182.95

TT8_Active 845 13 144.26

TT8_Sampling 2707 33 1106.30

TT8_CF8 358 38 169.36

TT8_Kalman 0 0 0.00

Analog_circuits 2696 10 329.47

GPS_charging 0 0 0.00

Compass 1048 7 89.70

RAFOS 2216 48 1299.82

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 -145.9 180 2234 505 480 0.0 0.0 0 140 0.00 0.00 -91.10 0.000 16386 0.000 0.000 177 2230 2176 2099 2254 0 0 0 0 0 0 14.47 28.83 14.49

143 -0.57 -145.9 178 2232 2103 2254 4.1 -5.6 9 196 12.68 2.67 -33.62 0.000 18724 0.455 2.146 2380 3586 3964 3949 3980 0 0 0 0 0 0 13.68 12.89 14.15

421 -0.69 -145.9 2376 3587 3955 3981 61.8 -13.6 64 429 0.00 2.33 0.00 0.000 1158 0.000 0.058 2376 2227 3967 3955 3979 0 0 0 0 0 0 14.02 14.04 14.02

727 -0.76 -145.9 2376 2226 3961 3980 103.8 -11.5 93 732 0.12 2.40 0.00 0.000 4484 0.148 0.085 2319 3587 3967 3955 3980 0 0 0 0 0 0 14.17 14.18 14.21

817 -0.84 -145.9 2320 3588 3957 3980 115.7 -12.9 111 822 0.00 2.35 0.00 0.000 1158 0.000 0.058 2319 2199 3967 3955 3980 0 0 0 0 0 0 14.36 14.24 14.39

1147 -0.88 -145.9 2318 2198 3957 3980 163.1 -13.8 127 1152 0.00 2.45 0.00 0.000 388 0.000 0.087 2312 3594 3967 3955 3979 0 0 0 0 0 0 14.63 14.21 14.64

1202 -1.00 -145.9 2313 3594 3957 3979 170.0 -11.1 138 1208 0.17 2.38 0.00 0.000 5254 0.108 0.059 2247 2195 3967 3956 3979 0 0 0 0 0 0 14.29 14.23 14.38

1507 -0.92 -145.9 2247 2194 3952 3980 227.1 -18.5 149 1512 0.12 2.45 0.00 0.000 2436 0.302 0.084 2265 3589 3967 3955 3980 0 0 0 0 0 0 13.88 14.17 14.06

1624 -0.97 -145.9 2265 3590 3956 3981 243.8 -13.3 172 1631 0.00 2.35 0.00 0.000 1158 0.000 0.057 2265 2198 3967 3956 3979 0 0 0 0 0 0 14.36 14.24 14.40

1927 -0.97 -145.9 2266 2199 3955 3980 285.9 -13.1 183 1932 0.00 2.42 0.00 0.000 260 0.000 0.087 2256 3587 3967 3955 3979 0 0 0 0 0 0 14.64 14.23 14.67

2002 -1.02 -145.9 2255 3588 3956 3978 295.5 -12.0 198 2007 0.00 2.33 0.00 0.000 1158 0.000 0.057 2255 2197 3967 3956 3979 0 0 0 0 0 0 14.36 14.23 14.39

2317 -1.02 -145.9 2256 2197 3957 3979 335.3 -12.6 211 2322 0.00 2.42 0.00 0.000 260 0.000 0.089 2249 3586 3966 3955 3978 0 0 0 0 0 0 14.67 14.21 14.69

2402 -1.08 -145.9 2249 3588 3956 3980 345.4 -11.4 228 2409 0.00 2.35 0.00 0.000 1158 0.000 0.057 2249 2192 3964 3950 3979 0 0 0 0 0 0 14.33 14.21 14.35

2707 -1.08 -145.9 2249 2192 3956 3978 383.3 -12.5 239 2712 0.00 2.45 0.00 0.000 260 0.000 0.087 2241 3591 3966 3954 3978 0 0 0 0 0 0 14.70 14.23 14.69

2787 -1.14 -145.9 2241 3592 3956 3983 393.1 -11.8 255 2792 0.00 2.35 0.00 0.000 1158 0.000 0.057 2241 2192 3966 3955 3978 0 0 0 0 0 0 14.41 14.29 14.45

3097 -1.14 -145.9 2237 2197 3952 3977 433.2 -12.9 267 3102 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3590 3966 3955 3977 0 0 0 0 0 0 14.68 14.22 14.69

3173 -1.19 -145.9 2237 3591 3956 3977 442.6 -12.0 282 3178 0.12 2.33 0.00 0.000 5254 0.140 0.055 2186 2199 3966 3955 3977 0 0 0 0 0 0 14.25 14.24 14.38

3395 end dive: TARGET_DEPTH_EXCEEDED

state 3395 begin apogee

3401 -0.13 0.0 2188 2065 3956 3977 481.5 -17.7 292 3621 1.40 0.00 215.82 1.447 10246 0.270 0.000 2530 2063 3365 3393 3338 0 0 0 0 0 0 13.90 13.48 12.68

3625 end apogee: CONTROL_FINISHED_OK

state 3625 begin climb

3627 0.57 145.9 2530 2065 3387 3332 492.9 0.0 299 3850 0.73 1.77 208.40 1.387 10756 0.065 0.081 2781 730 2761 2809 2714 0 0 0 0 0 0 13.58 13.12 12.37

4000 0.20 145.9 2782 730 2804 2712 478.6 14.7 331 4005 0.62 2.45 0.00 0.000 5254 0.323 0.076 2652 2077 2756 2801 2711 0 0 0 0 0 0 13.31 13.62 13.66

4321 0.05 147.9 2652 2078 2803 2707 445.9 9.9 345 4326 0.20 2.38 0.00 0.000 4772 0.278 0.078 2610 723 2754 2802 2706 0 0 0 0 0 0 13.80 14.07 13.98

4418 0.05 197.6 2611 724 2803 2706 438.3 7.7 364 4502 0.00 2.42 74.30 1.404 9382 0.000 0.080 2610 2103 2550 2613 2487 0 0 0 0 0 0 14.26 14.12 13.04

4801 0.05 217.7 2610 2105 2615 2478 403.8 9.1 391 4832 0.00 0.00 26.50 1.496 8358 0.000 0.000 2610 2104 2475 2542 2408 0 0 0 0 0 0 14.47 14.02 13.21

5131 0.06 240.8 2611 2104 2537 2399 374.0 8.9 402 5172 0.00 2.47 33.78 1.464 8740 0.000 0.083 2615 730 2380 2440 2320 0 0 0 0 0 0 14.54 14.05 13.21

5187 0.11 265.9 2616 730 2438 2320 368.9 8.8 413 5233 0.00 2.42 38.12 1.417 9382 0.000 0.080 2615 2106 2277 2337 2218 0 0 0 0 0 0 14.18 14.07 13.12

5555 0.16 280.6 2615 2107 2332 2210 334.4 9.3 436 5580 0.00 2.50 19.90 1.502 8868 0.000 0.085 2616 725 2219 2278 2161 0 0 0 0 0 0 14.52 14.10 13.26

5610 0.26 295.2 2616 725 2273 2161 329.3 9.3 447 5641 0.15 2.40 22.90 1.466 11430 0.115 0.079 2679 2100 2156 2211 2101 0 0 0 0 0 0 14.17 14.11 13.19

5947 0.21 295.2 2680 2101 2207 2094 285.4 13.0 464 5952 0.12 2.40 0.00 0.000 4740 0.255 0.081 2659 736 2149 2206 2093 0 0 0 0 0 0 13.99 14.11 14.16

5972 0.21 295.2 2660 731 2206 2094 282.2 12.3 469 5979 0.00 2.42 0.00 0.000 1030 0.000 0.080 2659 2104 2149 2205 2093 0 0 0 0 0 0 13.86 13.60 14.06

6277 0.21 295.2 2660 2105 2206 2092 249.6 10.3 480 6283 0.00 2.42 0.00 0.000 516 0.000 0.085 2659 727 2148 2204 2092 0 0 0 0 0 0 14.49 14.12 14.48

6333 0.27 312.7 2660 728 2203 2093 244.3 9.2 491 6364 0.00 2.42 24.73 1.431 9382 0.000 0.080 2659 2106 2090 2143 2037 0 0 0 0 0 0 14.16 14.05 13.28

6671 0.32 341.9 2660 2106 2138 2031 213.7 8.7 508 6725 0.00 2.45 48.97 1.350 8868 0.000 0.083 2659 730 1968 2017 1919 0 0 0 0 0 0 14.42 13.78 13.21

6750 0.42 367.2 2660 732 2012 1919 206.6 8.8 519 6796 0.17 2.42 40.72 1.319 11430 0.111 0.078 2736 2099 1869 1905 1833 0 0 0 0 0 0 14.01 13.95 13.09

7121 0.37 367.2 2731 2100 1892 1824 159.6 12.4 543 7126 0.12 2.42 0.00 0.000 4740 0.243 0.081 2713 720 1857 1890 1824 0 0 0 0 0 0 13.95 14.07 14.14

7218 0.41 367.2 2715 729 1887 1825 149.4 10.1 562 7223 0.00 2.42 0.00 0.000 1158 0.000 0.077 2712 2111 1855 1886 1824 0 0 0 0 0 0 14.13 14.01 14.17

7543 0.41 367.7 2713 2107 1885 1823 115.9 10.0 577 7544 0.00 0.00 0.00 0.000 38 0.000 0.000 2713 2107 1854 1886 1822 0 0 0 0 0 0 14.46 14.48 14.47

7843 0.44 409.7 2713 2107 1885 1821 89.4 8.1 595 7869 0.00 2.42 21.55 0.477 8740 0.000 0.082 2713 727 1692 1718 1666 0 0 0 0 0 0 14.45 13.91 13.58

7905 0.57 453.3 2713 730 1719 1666 84.5 8.0 607 7938 0.17 2.42 23.08 0.457 11430 0.108 0.079 2781 2103 1517 1549 1486 0 0 0 0 0 0 14.13 14.05 13.57

8243 0.62 513.0 2784 2103 1550 1475 50.3 7.2 643 8282 0.00 2.50 30.83 0.354 8740 0.000 0.084 2791 724 1270 1324 1216 0 0 0 0 0 0 14.39 14.02 13.71

8327 0.72 563.2 2792 727 1324 1218 44.1 7.7 659 8361 0.00 2.40 26.33 0.334 9382 0.000 0.079 2791 2111 1066 1134 999 0 0 0 0 0 0 14.15 14.02 13.69

8657 0.89 643.6 2792 2111 1136 990 18.8 6.3 695 8705 0.20 2.47 42.08 0.265 10916 0.102 0.085 2887 717 737 800 674 0 0 0 0 0 0 14.23 13.93 13.76

8825 0.91 643.6 2887 719 801 671 2.6 10.4 728 8833 0.00 2.45 0.00 0.000 1158 0.000 0.080 2887 2102 735 801 670 0 0 0 0 0 0 14.19 14.06 14.24

8838 end climb: SURFACE_DEPTH_REACHED

state 8838 begin surface coast

8848 end surface coast: CONTROL_FINISHED_OK

state 8848 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	176	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	496.0
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	59	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,095921,7358.5869,-15206.7012,39,0.7,40,20.0,0.0,0.0,11,8.3	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	1.26	MHEAD_RNG_PITCHd_Wd	284.7,65761,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.3	D_GRID	480
GPS2	270817,102359,7358.6626,-15207.1758,5,0.7,13,19.9,0.0,109.1,11,9.8

MODEM_MSG	CACST,6,1,20170827122714.393478,3,18256,36,1343,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0C	PM_FREEKB_00	52744960
FINISH	0.4,1.021041	_24V_AH	12.37,127.328
SM_CCo	8870,31.83,0.213,0,0,499,702.78	_10V_AH	12.22,0.000
SM_GC	1.47,8.18,0.17,31.83,0.077,0.125,0.213,203,2215,499,-7.37,-0.68,702.78,0,0,0,0,0,0,14.28,14.27,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	152	FG_AHR_10Vo	0.000
MODEM	2,1503836024,73.18300,-149.96500,77.052,111600.3	MEM	323440
RAFOS_FIX	7358.794434,-15208.318359,270817,121202,3,255,0.09	DATA_FILE_SIZE	26689,731
IRIDIUM_FIX	7402.28,-15212.67,270817,101325	CAP_FILE_SIZE	114587,0
TT8_MAMPS	0.039697,0.997668	CFSIZE	2097872896,2033680384
HUMID	44.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.6
TCM_TEMP	13.20	CURRENT	0.017,258.74,1
XPDR_PINGS	21	GPS	270817,125419,7359.598,-15210.331,24,0.7,41,19.9,0.6,277.4,11,7.0
CP_FREE	15989702656.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	142.45	nil	0	0	0.00
Roll_motor	91	2145	2434.07	nil	0	0	0.00
VBD_pump_during_apogee	898	1502	16689.72	nil	0	0	0.00
VBD_pump_during_surface	31	212	83.72	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	8878	14	1604.92
Iridium_during_xfer	1000	181	2242.91	NCP	8865	20	2193.20
Transponder_ping	5	420	27.28	PMAR	8824	10	1138.68
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.54
TT8	0	0	0.00
LPSleep	6481	2	182.95
TT8_Active	845	13	144.26
TT8_Sampling	2707	33	1106.30
TT8_CF8	358	38	169.36
TT8_Kalman	0	0	0.00
Analog_circuits	2696	10	329.47
GPS_charging	0	0	0.00
Compass	1048	7	89.70
RAFOS	2216	48	1299.82
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	180	2234	505	480	0.0	0.0	0	140	0.00	0.00	-91.10	0.000	16386	0.000	0.000	177	2230	2176	2099	2254	0	0	0	0	0	0	14.47	28.83	14.49
143	-0.57	-145.9	178	2232	2103	2254	4.1	-5.6	9	196	12.68	2.67	-33.62	0.000	18724	0.455	2.146	2380	3586	3964	3949	3980	0	0	0	0	0	0	13.68	12.89	14.15
421	-0.69	-145.9	2376	3587	3955	3981	61.8	-13.6	64	429	0.00	2.33	0.00	0.000	1158	0.000	0.058	2376	2227	3967	3955	3979	0	0	0	0	0	0	14.02	14.04	14.02
727	-0.76	-145.9	2376	2226	3961	3980	103.8	-11.5	93	732	0.12	2.40	0.00	0.000	4484	0.148	0.085	2319	3587	3967	3955	3980	0	0	0	0	0	0	14.17	14.18	14.21
817	-0.84	-145.9	2320	3588	3957	3980	115.7	-12.9	111	822	0.00	2.35	0.00	0.000	1158	0.000	0.058	2319	2199	3967	3955	3980	0	0	0	0	0	0	14.36	14.24	14.39
1147	-0.88	-145.9	2318	2198	3957	3980	163.1	-13.8	127	1152	0.00	2.45	0.00	0.000	388	0.000	0.087	2312	3594	3967	3955	3979	0	0	0	0	0	0	14.63	14.21	14.64
1202	-1.00	-145.9	2313	3594	3957	3979	170.0	-11.1	138	1208	0.17	2.38	0.00	0.000	5254	0.108	0.059	2247	2195	3967	3956	3979	0	0	0	0	0	0	14.29	14.23	14.38
1507	-0.92	-145.9	2247	2194	3952	3980	227.1	-18.5	149	1512	0.12	2.45	0.00	0.000	2436	0.302	0.084	2265	3589	3967	3955	3980	0	0	0	0	0	0	13.88	14.17	14.06
1624	-0.97	-145.9	2265	3590	3956	3981	243.8	-13.3	172	1631	0.00	2.35	0.00	0.000	1158	0.000	0.057	2265	2198	3967	3956	3979	0	0	0	0	0	0	14.36	14.24	14.40
1927	-0.97	-145.9	2266	2199	3955	3980	285.9	-13.1	183	1932	0.00	2.42	0.00	0.000	260	0.000	0.087	2256	3587	3967	3955	3979	0	0	0	0	0	0	14.64	14.23	14.67
2002	-1.02	-145.9	2255	3588	3956	3978	295.5	-12.0	198	2007	0.00	2.33	0.00	0.000	1158	0.000	0.057	2255	2197	3967	3956	3979	0	0	0	0	0	0	14.36	14.23	14.39
2317	-1.02	-145.9	2256	2197	3957	3979	335.3	-12.6	211	2322	0.00	2.42	0.00	0.000	260	0.000	0.089	2249	3586	3966	3955	3978	0	0	0	0	0	0	14.67	14.21	14.69
2402	-1.08	-145.9	2249	3588	3956	3980	345.4	-11.4	228	2409	0.00	2.35	0.00	0.000	1158	0.000	0.057	2249	2192	3964	3950	3979	0	0	0	0	0	0	14.33	14.21	14.35
2707	-1.08	-145.9	2249	2192	3956	3978	383.3	-12.5	239	2712	0.00	2.45	0.00	0.000	260	0.000	0.087	2241	3591	3966	3954	3978	0	0	0	0	0	0	14.70	14.23	14.69
2787	-1.14	-145.9	2241	3592	3956	3983	393.1	-11.8	255	2792	0.00	2.35	0.00	0.000	1158	0.000	0.057	2241	2192	3966	3955	3978	0	0	0	0	0	0	14.41	14.29	14.45
3097	-1.14	-145.9	2237	2197	3952	3977	433.2	-12.9	267	3102	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3590	3966	3955	3977	0	0	0	0	0	0	14.68	14.22	14.69
3173	-1.19	-145.9	2237	3591	3956	3977	442.6	-12.0	282	3178	0.12	2.33	0.00	0.000	5254	0.140	0.055	2186	2199	3966	3955	3977	0	0	0	0	0	0	14.25	14.24	14.38
3395	end dive: TARGET_DEPTH_EXCEEDED
state	3395	begin apogee
3401	-0.13	0.0	2188	2065	3956	3977	481.5	-17.7	292	3621	1.40	0.00	215.82	1.447	10246	0.270	0.000	2530	2063	3365	3393	3338	0	0	0	0	0	0	13.90	13.48	12.68
3625	end apogee: CONTROL_FINISHED_OK
state	3625	begin climb
3627	0.57	145.9	2530	2065	3387	3332	492.9	0.0	299	3850	0.73	1.77	208.40	1.387	10756	0.065	0.081	2781	730	2761	2809	2714	0	0	0	0	0	0	13.58	13.12	12.37
4000	0.20	145.9	2782	730	2804	2712	478.6	14.7	331	4005	0.62	2.45	0.00	0.000	5254	0.323	0.076	2652	2077	2756	2801	2711	0	0	0	0	0	0	13.31	13.62	13.66
4321	0.05	147.9	2652	2078	2803	2707	445.9	9.9	345	4326	0.20	2.38	0.00	0.000	4772	0.278	0.078	2610	723	2754	2802	2706	0	0	0	0	0	0	13.80	14.07	13.98
4418	0.05	197.6	2611	724	2803	2706	438.3	7.7	364	4502	0.00	2.42	74.30	1.404	9382	0.000	0.080	2610	2103	2550	2613	2487	0	0	0	0	0	0	14.26	14.12	13.04
4801	0.05	217.7	2610	2105	2615	2478	403.8	9.1	391	4832	0.00	0.00	26.50	1.496	8358	0.000	0.000	2610	2104	2475	2542	2408	0	0	0	0	0	0	14.47	14.02	13.21
5131	0.06	240.8	2611	2104	2537	2399	374.0	8.9	402	5172	0.00	2.47	33.78	1.464	8740	0.000	0.083	2615	730	2380	2440	2320	0	0	0	0	0	0	14.54	14.05	13.21
5187	0.11	265.9	2616	730	2438	2320	368.9	8.8	413	5233	0.00	2.42	38.12	1.417	9382	0.000	0.080	2615	2106	2277	2337	2218	0	0	0	0	0	0	14.18	14.07	13.12
5555	0.16	280.6	2615	2107	2332	2210	334.4	9.3	436	5580	0.00	2.50	19.90	1.502	8868	0.000	0.085	2616	725	2219	2278	2161	0	0	0	0	0	0	14.52	14.10	13.26
5610	0.26	295.2	2616	725	2273	2161	329.3	9.3	447	5641	0.15	2.40	22.90	1.466	11430	0.115	0.079	2679	2100	2156	2211	2101	0	0	0	0	0	0	14.17	14.11	13.19
5947	0.21	295.2	2680	2101	2207	2094	285.4	13.0	464	5952	0.12	2.40	0.00	0.000	4740	0.255	0.081	2659	736	2149	2206	2093	0	0	0	0	0	0	13.99	14.11	14.16
5972	0.21	295.2	2660	731	2206	2094	282.2	12.3	469	5979	0.00	2.42	0.00	0.000	1030	0.000	0.080	2659	2104	2149	2205	2093	0	0	0	0	0	0	13.86	13.60	14.06
6277	0.21	295.2	2660	2105	2206	2092	249.6	10.3	480	6283	0.00	2.42	0.00	0.000	516	0.000	0.085	2659	727	2148	2204	2092	0	0	0	0	0	0	14.49	14.12	14.48
6333	0.27	312.7	2660	728	2203	2093	244.3	9.2	491	6364	0.00	2.42	24.73	1.431	9382	0.000	0.080	2659	2106	2090	2143	2037	0	0	0	0	0	0	14.16	14.05	13.28
6671	0.32	341.9	2660	2106	2138	2031	213.7	8.7	508	6725	0.00	2.45	48.97	1.350	8868	0.000	0.083	2659	730	1968	2017	1919	0	0	0	0	0	0	14.42	13.78	13.21
6750	0.42	367.2	2660	732	2012	1919	206.6	8.8	519	6796	0.17	2.42	40.72	1.319	11430	0.111	0.078	2736	2099	1869	1905	1833	0	0	0	0	0	0	14.01	13.95	13.09
7121	0.37	367.2	2731	2100	1892	1824	159.6	12.4	543	7126	0.12	2.42	0.00	0.000	4740	0.243	0.081	2713	720	1857	1890	1824	0	0	0	0	0	0	13.95	14.07	14.14
7218	0.41	367.2	2715	729	1887	1825	149.4	10.1	562	7223	0.00	2.42	0.00	0.000	1158	0.000	0.077	2712	2111	1855	1886	1824	0	0	0	0	0	0	14.13	14.01	14.17
7543	0.41	367.7	2713	2107	1885	1823	115.9	10.0	577	7544	0.00	0.00	0.00	0.000	38	0.000	0.000	2713	2107	1854	1886	1822	0	0	0	0	0	0	14.46	14.48	14.47
7843	0.44	409.7	2713	2107	1885	1821	89.4	8.1	595	7869	0.00	2.42	21.55	0.477	8740	0.000	0.082	2713	727	1692	1718	1666	0	0	0	0	0	0	14.45	13.91	13.58
7905	0.57	453.3	2713	730	1719	1666	84.5	8.0	607	7938	0.17	2.42	23.08	0.457	11430	0.108	0.079	2781	2103	1517	1549	1486	0	0	0	0	0	0	14.13	14.05	13.57
8243	0.62	513.0	2784	2103	1550	1475	50.3	7.2	643	8282	0.00	2.50	30.83	0.354	8740	0.000	0.084	2791	724	1270	1324	1216	0	0	0	0	0	0	14.39	14.02	13.71
8327	0.72	563.2	2792	727	1324	1218	44.1	7.7	659	8361	0.00	2.40	26.33	0.334	9382	0.000	0.079	2791	2111	1066	1134	999	0	0	0	0	0	0	14.15	14.02	13.69
8657	0.89	643.6	2792	2111	1136	990	18.8	6.3	695	8705	0.20	2.47	42.08	0.265	10916	0.102	0.085	2887	717	737	800	674	0	0	0	0	0	0	14.23	13.93	13.76
8825	0.91	643.6	2887	719	801	671	2.6	10.4	728	8833	0.00	2.45	0.00	0.000	1158	0.000	0.080	2887	2102	735	801	670	0	0	0	0	0	0	14.19	14.06	14.24
8838	end climb: SURFACE_DEPTH_REACHED
state	8838	begin surface coast
8848	end surface coast: CONTROL_FINISHED_OK
state	8848	begin surface