Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 178 * 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 178 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 503.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 503.0 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 29 VBD_MIN 500

DIVE 178 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 270817,154157,7400.5762,-15213.9297,40,0.8,41,19.9,0.0,0.0,10,9.4 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 1.30 MHEAD_RNG_PITCHd_Wd 281.4,60908,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 270817,160413,7400.5991,-15214.0908,5,0.8,11,19.9,0.0,124.4,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170827162714.151102,3,4044,36,0601,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 52679040

FINISH 0.2,1.021086 _24V_AH 12.36,128.283

SM_CCo 8681,37.08,0.210,0,0,499,703.28 _10V_AH 12.22,0.000

SM_GC 1.25,8.02,0.17,37.08,0.070,0.129,0.210,194,2211,499,-7.39,-0.74,703.28,0,0,0,0,0,0,14.29,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 391 FG_AHR_10Vo 0.000

MODEM 2,1503850427,73.18300,-149.96500,80.471,116415.5 MEM 323624

RAFOS_FIX 7359.944824,-15213.093750,270817,161603,3,255,1.40 DATA_FILE_SIZE 23365,699

IRIDIUM_FIX 7400.45,-15216.30,270817,155737 CAP_FILE_SIZE 107754,0

TT8_MAMPS 0.039697,0.916776 CFSIZE 2097872896,2033057792

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1446.5

TCM_TEMP 13.20 CURRENT 0.022,340.29,1

XPDR_PINGS 16 GPS 270817,183133,7401.532,-15217.218,18,0.8,41,19.9,0.4,72.4,10,8.5

CP_FREE 15989145600.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 143.51 nil 0 0 0.00

Roll_motor 93 2146 2479.40 nil 0 0 0.00

VBD_pump_during_apogee 941 1594 18554.28 nil 0 0 0.00

VBD_pump_during_surface 37 210 96.40 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 8689 14 1554.56

Iridium_during_xfer 816 166 1676.13 NCP 8669 20 2142.98

Transponder_ping 4 420 20.76 PMAR 8636 10 1092.81

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.20

TT8 0 0 0.00

LPSleep 6071 2 171.38

TT8_Active 824 13 140.76

TT8_Sampling 2857 33 1167.61

TT8_CF8 318 38 150.38

TT8_Kalman 0 0 0.00

Analog_circuits 2854 10 348.87

GPS_charging 0 0 0.00

Compass 1003 7 85.82

RAFOS 1815 48 1064.61

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 2227 491 491 0.0 0.0 0 138 0.00 0.00 -87.72 0.000 16386 0.000 0.000 179 2228 2062 1982 2142 0 0 0 0 0 0 14.48 28.83 14.50

141 -0.57 -145.9 181 2228 1982 2143 3.6 -4.6 9 203 12.70 2.72 -39.90 0.000 18724 0.451 2.147 2376 3588 3964 3948 3980 1 0 0 0 0 0 13.50 12.65 14.00

428 -0.68 -145.9 2375 3582 3954 3980 60.3 -13.3 66 434 0.00 2.38 0.00 0.000 1158 0.000 0.057 2377 2200 3967 3954 3980 0 0 0 0 0 0 14.15 14.04 14.19

743 -0.76 -145.9 2377 2200 3955 3980 104.5 -11.6 96 749 0.12 2.47 0.00 0.000 4484 0.149 0.086 2333 3586 3971 3962 3980 0 0 0 0 0 0 14.03 14.01 14.09

894 -0.87 -145.9 2333 3588 3954 3980 123.1 -11.8 126 899 0.00 2.38 0.00 0.000 1158 0.000 0.057 2333 2198 3967 3954 3980 0 0 0 0 0 0 14.16 14.05 14.20

1224 -0.93 -145.9 2333 2197 3958 3980 164.6 -12.3 142 1229 0.15 2.47 0.00 0.000 4484 0.122 0.085 2256 3595 3967 3954 3980 0 0 0 0 0 0 14.18 14.04 14.21

1270 -0.90 -145.9 2257 3595 3955 3980 171.7 -16.9 151 1275 0.15 2.38 0.00 0.000 3206 0.265 0.057 2285 2202 3970 3961 3980 0 0 0 0 0 0 13.83 14.08 14.11

1585 -0.90 -145.9 2285 2200 3955 3981 219.3 -14.3 164 1590 0.00 2.45 0.00 0.000 260 0.000 0.087 2280 3589 3967 3954 3980 0 0 0 0 0 0 14.45 14.05 14.47

1671 -0.97 -145.9 2281 3588 3956 3980 230.5 -12.4 181 1677 0.00 2.40 0.00 0.000 1158 0.000 0.059 2283 2192 3964 3949 3980 0 0 0 0 0 0 14.11 13.97 14.13

1976 -0.97 -145.9 2280 2193 3955 3981 270.7 -12.7 192 1981 0.00 2.45 0.00 0.000 260 0.000 0.086 2270 3607 3967 3954 3980 0 0 0 0 0 0 14.44 14.02 14.45

2043 -1.05 -145.9 2272 3607 3955 3980 278.6 -11.4 205 2049 0.00 2.42 0.00 0.000 1158 0.000 0.057 2270 2187 3967 3954 3980 0 0 0 0 0 0 14.23 14.12 14.28

2371 -1.08 -145.9 2271 2186 3955 3980 317.3 -11.5 220 2377 0.12 2.47 0.00 0.000 4484 0.139 0.086 2210 3592 3967 3954 3980 0 0 0 0 0 0 14.26 14.09 14.30

2447 -1.04 -145.9 2209 3594 3955 3980 329.2 -15.2 235 2452 0.15 2.38 0.00 0.000 3206 0.265 0.057 2239 2195 3966 3954 3979 0 0 0 0 0 0 13.90 14.19 14.15

2762 -1.04 -145.9 2239 2194 3955 3979 371.8 -13.2 248 2768 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3588 3966 3954 3978 0 0 0 0 0 0 14.64 14.15 14.65

2838 -1.08 -145.9 2236 3589 3954 3980 381.7 -12.4 263 2843 0.00 2.35 0.00 0.000 1158 0.000 0.057 2236 2197 3966 3954 3978 0 0 0 0 0 0 14.32 14.21 14.38

3153 -1.08 -145.9 2237 2197 3955 3977 423.9 -13.3 276 3158 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3587 3965 3954 3977 0 0 0 0 0 0 14.66 14.17 14.67

3229 -1.12 -145.9 2236 3588 3955 3978 433.4 -11.9 291 3234 0.00 2.35 0.00 0.000 1158 0.000 0.056 2236 2195 3965 3953 3977 0 0 0 0 0 0 14.38 14.26 14.42

3544 -1.12 -145.9 2236 2194 3955 3977 474.3 -13.1 304 3549 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3587 3965 3953 3977 0 0 0 0 0 0 14.70 14.21 14.69

3587 end dive: TARGET_DEPTH_EXCEEDED

state 3587 begin apogee

3595 -0.13 0.0 2236 2100 3955 3978 480.1 -12.2 313 3817 1.15 0.00 218.05 1.428 10246 0.240 0.000 2530 2098 3363 3387 3340 0 0 0 0 0 0 13.96 13.48 12.69

3820 end apogee: CONTROL_FINISHED_OK

state 3820 begin climb

3823 0.57 145.9 2531 2098 3382 3333 491.7 0.0 320 4366 0.75 2.03 207.98 1.382 10756 0.064 0.077 2792 690 2754 2794 2715 0 0 0 0 0 0 13.58 13.15 12.36

4377 0.57 145.9 2793 690 2795 2716 448.7 8.9 323 4382 0.00 2.45 0.00 0.000 1030 0.000 0.076 2793 2079 2754 2794 2715 0 0 0 0 0 0 14.01 13.89 14.04

4693 0.15 145.9 2793 2080 2794 2720 397.4 15.9 336 4698 0.68 2.47 0.00 0.000 4484 0.318 0.077 2639 3510 2752 2793 2712 0 0 0 0 0 0 13.77 14.14 14.01

4708 -0.20 145.9 2639 3512 2793 2714 395.2 15.7 339 4714 0.52 2.42 0.00 0.000 5254 0.277 0.059 2528 2088 2752 2792 2712 0 0 0 0 0 0 13.88 14.16 14.22

5024 0.03 283.2 2525 2088 2793 2710 382.4 3.7 352 5242 0.17 2.58 209.68 1.300 10916 0.108 0.083 2602 690 2206 2266 2146 0 0 0 0 0 0 14.33 13.36 12.80

5267 0.20 333.7 2603 690 2256 2142 364.9 7.7 385 5348 0.12 2.58 74.12 1.311 11430 0.128 0.079 2659 2096 2004 2059 1949 0 0 0 0 0 0 13.57 13.52 12.64

5658 0.20 333.7 2659 2097 2043 1932 318.3 11.9 413 5664 0.00 2.50 0.00 0.000 516 0.000 0.088 2659 694 1986 2042 1931 0 0 0 0 0 0 14.29 13.85 14.31

5699 0.26 333.7 2659 695 2041 1933 313.5 11.5 421 5705 0.00 2.47 0.00 0.000 1158 0.000 0.077 2659 2101 1986 2041 1932 0 0 0 0 0 0 14.14 14.02 14.19

6020 0.26 333.7 2659 2102 2040 1931 275.9 11.5 435 6025 0.00 2.47 0.00 0.000 516 0.000 0.088 2659 695 1985 2040 1930 0 0 0 0 0 0 14.55 14.19 14.58

6085 0.36 343.1 2659 699 2037 1931 269.0 9.6 448 6097 0.12 2.47 4.97 1.594 11430 0.138 0.079 2710 2109 1968 2021 1916 0 0 0 0 0 0 14.23 14.19 13.12

6414 0.30 343.1 2710 2112 2022 1917 224.8 13.1 463 6415 0.12 0.00 0.00 0.000 4230 0.236 0.000 2683 2111 1969 2023 1916 0 0 0 0 0 0 14.16 14.40 14.35

6712 0.30 343.4 2683 2110 2022 1916 194.2 10.0 473 6718 0.00 2.47 0.00 0.000 548 0.000 0.088 2685 689 1967 2020 1915 0 0 0 0 0 0 14.64 14.26 14.66

6783 0.37 359.3 2686 688 2019 1916 187.4 9.3 487 6819 0.00 2.45 30.23 1.401 9382 0.000 0.080 2685 2102 1901 1947 1856 0 0 0 0 0 0 14.31 14.17 13.35

7136 0.41 375.4 2686 2102 1937 1853 154.9 9.3 507 7171 0.00 2.55 26.73 1.398 8868 0.000 0.087 2685 688 1831 1864 1798 0 0 0 0 0 0 14.57 14.10 13.33

7228 0.55 402.7 2686 689 1858 1799 146.4 8.7 525 7281 0.22 2.47 46.50 1.304 11430 0.098 0.080 2774 2100 1722 1748 1696 0 0 0 0 0 0 14.24 14.12 13.21

7587 0.46 402.7 2775 2099 1742 1685 94.8 13.6 549 7592 0.17 2.47 0.00 0.000 4740 0.263 0.083 2743 687 1713 1741 1685 0 0 0 0 0 0 13.93 14.13 14.14

7633 0.51 404.8 2743 687 1739 1685 89.8 9.9 558 7639 0.00 2.47 0.00 0.000 1190 0.000 0.080 2743 2098 1711 1738 1685 0 0 0 0 0 0 14.16 14.04 14.19

7938 0.56 480.8 2743 2098 1739 1682 64.5 6.5 589 7985 0.00 2.53 39.85 0.398 8740 0.000 0.085 2744 692 1405 1448 1362 0 0 0 0 0 0 14.56 14.02 13.75

8071 0.76 553.7 2745 692 1446 1361 55.5 6.6 615 8115 0.25 2.47 39.12 0.367 11430 0.093 0.080 2841 2103 1107 1171 1044 0 0 0 0 0 0 14.19 14.13 13.76

8411 0.76 553.7 2841 2104 1170 1033 18.8 10.0 653 8416 0.00 2.47 0.00 0.000 516 0.000 0.086 2848 694 1101 1170 1032 0 0 0 0 0 0 14.55 14.09 14.57

8572 0.85 638.0 2850 694 1167 1032 7.1 6.1 685 8625 0.00 2.45 44.38 0.223 9382 0.000 0.080 2851 2100 763 825 701 0 0 0 0 0 0 14.31 14.18 13.90

8639 end climb: SURFACE_DEPTH_REACHED

state 8639 begin surface coast

8659 end surface coast: CONTROL_FINISHED_OK

state 8659 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	178	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	503.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	270817,154157,7400.5762,-15213.9297,40,0.8,41,19.9,0.0,0.0,10,9.4	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	1.30	MHEAD_RNG_PITCHd_Wd	281.4,60908,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	270817,160413,7400.5991,-15214.0908,5,0.8,11,19.9,0.0,124.4,11,9.9

MODEM_MSG	CACST,6,1,20170827162714.151102,3,4044,36,0601,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	52679040
FINISH	0.2,1.021086	_24V_AH	12.36,128.283
SM_CCo	8681,37.08,0.210,0,0,499,703.28	_10V_AH	12.22,0.000
SM_GC	1.25,8.02,0.17,37.08,0.070,0.129,0.210,194,2211,499,-7.39,-0.74,703.28,0,0,0,0,0,0,14.29,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	391	FG_AHR_10Vo	0.000
MODEM	2,1503850427,73.18300,-149.96500,80.471,116415.5	MEM	323624
RAFOS_FIX	7359.944824,-15213.093750,270817,161603,3,255,1.40	DATA_FILE_SIZE	23365,699
IRIDIUM_FIX	7400.45,-15216.30,270817,155737	CAP_FILE_SIZE	107754,0
TT8_MAMPS	0.039697,0.916776	CFSIZE	2097872896,2033057792
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1446.5
TCM_TEMP	13.20	CURRENT	0.022,340.29,1
XPDR_PINGS	16	GPS	270817,183133,7401.532,-15217.218,18,0.8,41,19.9,0.4,72.4,10,8.5
CP_FREE	15989145600.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	143.51	nil	0	0	0.00
Roll_motor	93	2146	2479.40	nil	0	0	0.00
VBD_pump_during_apogee	941	1594	18554.28	nil	0	0	0.00
VBD_pump_during_surface	37	210	96.40	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	8689	14	1554.56
Iridium_during_xfer	816	166	1676.13	NCP	8669	20	2142.98
Transponder_ping	4	420	20.76	PMAR	8636	10	1092.81
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.20
TT8	0	0	0.00
LPSleep	6071	2	171.38
TT8_Active	824	13	140.76
TT8_Sampling	2857	33	1167.61
TT8_CF8	318	38	150.38
TT8_Kalman	0	0	0.00
Analog_circuits	2854	10	348.87
GPS_charging	0	0	0.00
Compass	1003	7	85.82
RAFOS	1815	48	1064.61
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	2227	491	491	0.0	0.0	0	138	0.00	0.00	-87.72	0.000	16386	0.000	0.000	179	2228	2062	1982	2142	0	0	0	0	0	0	14.48	28.83	14.50
141	-0.57	-145.9	181	2228	1982	2143	3.6	-4.6	9	203	12.70	2.72	-39.90	0.000	18724	0.451	2.147	2376	3588	3964	3948	3980	1	0	0	0	0	0	13.50	12.65	14.00
428	-0.68	-145.9	2375	3582	3954	3980	60.3	-13.3	66	434	0.00	2.38	0.00	0.000	1158	0.000	0.057	2377	2200	3967	3954	3980	0	0	0	0	0	0	14.15	14.04	14.19
743	-0.76	-145.9	2377	2200	3955	3980	104.5	-11.6	96	749	0.12	2.47	0.00	0.000	4484	0.149	0.086	2333	3586	3971	3962	3980	0	0	0	0	0	0	14.03	14.01	14.09
894	-0.87	-145.9	2333	3588	3954	3980	123.1	-11.8	126	899	0.00	2.38	0.00	0.000	1158	0.000	0.057	2333	2198	3967	3954	3980	0	0	0	0	0	0	14.16	14.05	14.20
1224	-0.93	-145.9	2333	2197	3958	3980	164.6	-12.3	142	1229	0.15	2.47	0.00	0.000	4484	0.122	0.085	2256	3595	3967	3954	3980	0	0	0	0	0	0	14.18	14.04	14.21
1270	-0.90	-145.9	2257	3595	3955	3980	171.7	-16.9	151	1275	0.15	2.38	0.00	0.000	3206	0.265	0.057	2285	2202	3970	3961	3980	0	0	0	0	0	0	13.83	14.08	14.11
1585	-0.90	-145.9	2285	2200	3955	3981	219.3	-14.3	164	1590	0.00	2.45	0.00	0.000	260	0.000	0.087	2280	3589	3967	3954	3980	0	0	0	0	0	0	14.45	14.05	14.47
1671	-0.97	-145.9	2281	3588	3956	3980	230.5	-12.4	181	1677	0.00	2.40	0.00	0.000	1158	0.000	0.059	2283	2192	3964	3949	3980	0	0	0	0	0	0	14.11	13.97	14.13
1976	-0.97	-145.9	2280	2193	3955	3981	270.7	-12.7	192	1981	0.00	2.45	0.00	0.000	260	0.000	0.086	2270	3607	3967	3954	3980	0	0	0	0	0	0	14.44	14.02	14.45
2043	-1.05	-145.9	2272	3607	3955	3980	278.6	-11.4	205	2049	0.00	2.42	0.00	0.000	1158	0.000	0.057	2270	2187	3967	3954	3980	0	0	0	0	0	0	14.23	14.12	14.28
2371	-1.08	-145.9	2271	2186	3955	3980	317.3	-11.5	220	2377	0.12	2.47	0.00	0.000	4484	0.139	0.086	2210	3592	3967	3954	3980	0	0	0	0	0	0	14.26	14.09	14.30
2447	-1.04	-145.9	2209	3594	3955	3980	329.2	-15.2	235	2452	0.15	2.38	0.00	0.000	3206	0.265	0.057	2239	2195	3966	3954	3979	0	0	0	0	0	0	13.90	14.19	14.15
2762	-1.04	-145.9	2239	2194	3955	3979	371.8	-13.2	248	2768	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3588	3966	3954	3978	0	0	0	0	0	0	14.64	14.15	14.65
2838	-1.08	-145.9	2236	3589	3954	3980	381.7	-12.4	263	2843	0.00	2.35	0.00	0.000	1158	0.000	0.057	2236	2197	3966	3954	3978	0	0	0	0	0	0	14.32	14.21	14.38
3153	-1.08	-145.9	2237	2197	3955	3977	423.9	-13.3	276	3158	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3587	3965	3954	3977	0	0	0	0	0	0	14.66	14.17	14.67
3229	-1.12	-145.9	2236	3588	3955	3978	433.4	-11.9	291	3234	0.00	2.35	0.00	0.000	1158	0.000	0.056	2236	2195	3965	3953	3977	0	0	0	0	0	0	14.38	14.26	14.42
3544	-1.12	-145.9	2236	2194	3955	3977	474.3	-13.1	304	3549	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3587	3965	3953	3977	0	0	0	0	0	0	14.70	14.21	14.69
3587	end dive: TARGET_DEPTH_EXCEEDED
state	3587	begin apogee
3595	-0.13	0.0	2236	2100	3955	3978	480.1	-12.2	313	3817	1.15	0.00	218.05	1.428	10246	0.240	0.000	2530	2098	3363	3387	3340	0	0	0	0	0	0	13.96	13.48	12.69
3820	end apogee: CONTROL_FINISHED_OK
state	3820	begin climb
3823	0.57	145.9	2531	2098	3382	3333	491.7	0.0	320	4366	0.75	2.03	207.98	1.382	10756	0.064	0.077	2792	690	2754	2794	2715	0	0	0	0	0	0	13.58	13.15	12.36
4377	0.57	145.9	2793	690	2795	2716	448.7	8.9	323	4382	0.00	2.45	0.00	0.000	1030	0.000	0.076	2793	2079	2754	2794	2715	0	0	0	0	0	0	14.01	13.89	14.04
4693	0.15	145.9	2793	2080	2794	2720	397.4	15.9	336	4698	0.68	2.47	0.00	0.000	4484	0.318	0.077	2639	3510	2752	2793	2712	0	0	0	0	0	0	13.77	14.14	14.01
4708	-0.20	145.9	2639	3512	2793	2714	395.2	15.7	339	4714	0.52	2.42	0.00	0.000	5254	0.277	0.059	2528	2088	2752	2792	2712	0	0	0	0	0	0	13.88	14.16	14.22
5024	0.03	283.2	2525	2088	2793	2710	382.4	3.7	352	5242	0.17	2.58	209.68	1.300	10916	0.108	0.083	2602	690	2206	2266	2146	0	0	0	0	0	0	14.33	13.36	12.80
5267	0.20	333.7	2603	690	2256	2142	364.9	7.7	385	5348	0.12	2.58	74.12	1.311	11430	0.128	0.079	2659	2096	2004	2059	1949	0	0	0	0	0	0	13.57	13.52	12.64
5658	0.20	333.7	2659	2097	2043	1932	318.3	11.9	413	5664	0.00	2.50	0.00	0.000	516	0.000	0.088	2659	694	1986	2042	1931	0	0	0	0	0	0	14.29	13.85	14.31
5699	0.26	333.7	2659	695	2041	1933	313.5	11.5	421	5705	0.00	2.47	0.00	0.000	1158	0.000	0.077	2659	2101	1986	2041	1932	0	0	0	0	0	0	14.14	14.02	14.19
6020	0.26	333.7	2659	2102	2040	1931	275.9	11.5	435	6025	0.00	2.47	0.00	0.000	516	0.000	0.088	2659	695	1985	2040	1930	0	0	0	0	0	0	14.55	14.19	14.58
6085	0.36	343.1	2659	699	2037	1931	269.0	9.6	448	6097	0.12	2.47	4.97	1.594	11430	0.138	0.079	2710	2109	1968	2021	1916	0	0	0	0	0	0	14.23	14.19	13.12
6414	0.30	343.1	2710	2112	2022	1917	224.8	13.1	463	6415	0.12	0.00	0.00	0.000	4230	0.236	0.000	2683	2111	1969	2023	1916	0	0	0	0	0	0	14.16	14.40	14.35
6712	0.30	343.4	2683	2110	2022	1916	194.2	10.0	473	6718	0.00	2.47	0.00	0.000	548	0.000	0.088	2685	689	1967	2020	1915	0	0	0	0	0	0	14.64	14.26	14.66
6783	0.37	359.3	2686	688	2019	1916	187.4	9.3	487	6819	0.00	2.45	30.23	1.401	9382	0.000	0.080	2685	2102	1901	1947	1856	0	0	0	0	0	0	14.31	14.17	13.35
7136	0.41	375.4	2686	2102	1937	1853	154.9	9.3	507	7171	0.00	2.55	26.73	1.398	8868	0.000	0.087	2685	688	1831	1864	1798	0	0	0	0	0	0	14.57	14.10	13.33
7228	0.55	402.7	2686	689	1858	1799	146.4	8.7	525	7281	0.22	2.47	46.50	1.304	11430	0.098	0.080	2774	2100	1722	1748	1696	0	0	0	0	0	0	14.24	14.12	13.21
7587	0.46	402.7	2775	2099	1742	1685	94.8	13.6	549	7592	0.17	2.47	0.00	0.000	4740	0.263	0.083	2743	687	1713	1741	1685	0	0	0	0	0	0	13.93	14.13	14.14
7633	0.51	404.8	2743	687	1739	1685	89.8	9.9	558	7639	0.00	2.47	0.00	0.000	1190	0.000	0.080	2743	2098	1711	1738	1685	0	0	0	0	0	0	14.16	14.04	14.19
7938	0.56	480.8	2743	2098	1739	1682	64.5	6.5	589	7985	0.00	2.53	39.85	0.398	8740	0.000	0.085	2744	692	1405	1448	1362	0	0	0	0	0	0	14.56	14.02	13.75
8071	0.76	553.7	2745	692	1446	1361	55.5	6.6	615	8115	0.25	2.47	39.12	0.367	11430	0.093	0.080	2841	2103	1107	1171	1044	0	0	0	0	0	0	14.19	14.13	13.76
8411	0.76	553.7	2841	2104	1170	1033	18.8	10.0	653	8416	0.00	2.47	0.00	0.000	516	0.000	0.086	2848	694	1101	1170	1032	0	0	0	0	0	0	14.55	14.09	14.57
8572	0.85	638.0	2850	694	1167	1032	7.1	6.1	685	8625	0.00	2.45	44.38	0.223	9382	0.000	0.080	2851	2100	763	825	701	0	0	0	0	0	0	14.31	14.18	13.90
8639	end climb: SURFACE_DEPTH_REACHED
state	8639	begin surface coast
8659	end surface coast: CONTROL_FINISHED_OK
state	8659	begin surface