Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 181 * 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 181 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 512.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 39 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 512.0 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 28 VBD_MIN 500

DIVE 181 NOCOMM_ACTION 161 R_STBD_OVSHOOT 39 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 280817,000053,7403.1792,-15224.8457,18,0.8,19,19.8,0.0,0.0,10,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.29 MHEAD_RNG_PITCHd_Wd 289.2,53761,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 280817,001201,7403.1973,-15224.9297,6,0.8,40,19.8,0.0,252.7,11,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828002711.382605,3,412,20,1004,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04 PM_FREEKB_00 52573824

FINISH 0.1,1.008349 _24V_AH 12.35,129.740

SM_CCo 8999,57.85,0.212,0,0,500,702.78 _10V_AH 12.34,0.000

SM_GC 1.46,8.02,0.17,57.85,0.068,0.118,0.212,201,2217,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.34,14.32,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 419 FG_AHR_10Vo 0.000

MODEM 2,1503879232,73.18300,-149.96500,85.116,123198.2 MEM 323488

RAFOS_FIX 7402.301270,-15224.319336,280817,000002,3,255,3.53 DATA_FILE_SIZE 26682,748

IRIDIUM_FIX 7402.36,-15230.15,270817,212051 CAP_FILE_SIZE 104625,0

TT8_MAMPS 0.038948,0.871836 CFSIZE 2097872896,2032140288

HUMID 46.77 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1448.0

TCM_TEMP 13.10 CURRENT 0.061,220.13,1

XPDR_PINGS 10 GPS 280817,024439,7404.092,-15228.389,16,0.7,22,19.8,0.3,320.4,12,8.6

CP_FREE 15988359168.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.44 nil 0 0 0.00

Roll_motor 89 2144 2380.07 nil 0 0 0.00

VBD_pump_during_apogee 927 1574 18034.30 nil 0 0 0.00

VBD_pump_during_surface 57 211 151.39 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 8989 14 1584.73

Iridium_during_xfer 362 178 797.82 NCP 8987 20 2219.79

Transponder_ping 2 420 12.97 PMAR 8935 10 1140.44

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.61

TT8 0 0 0.00

LPSleep 6466 2 184.34

TT8_Active 935 13 161.34

TT8_Sampling 2046 33 844.39

TT8_CF8 296 38 141.38

TT8_Kalman 0 0 0.00

Analog_circuits 2087 10 257.62

GPS_charging 0 0 0.00

Compass 1075 7 92.93

RAFOS 1348 48 798.45

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 -145.9 200 2225 499 497 0.0 0.0 0 138 0.00 0.00 -88.47 0.000 16386 0.000 0.000 198 2224 2089 2019 2159 0 0 0 0 0 0 14.50 28.83 14.52

141 -0.57 -145.9 199 2223 2021 2163 4.0 -5.4 9 197 12.65 2.72 -37.97 0.000 18724 0.454 2.144 2376 3592 3961 3941 3982 0 0 0 0 0 0 13.55 12.88 13.99

387 -0.71 -145.9 2376 3593 3948 3982 56.2 -13.7 58 393 0.00 2.42 0.00 0.000 1158 0.000 0.062 2375 2206 3964 3947 3982 0 0 0 0 0 0 14.12 14.00 14.13

692 -0.78 -145.9 2376 2206 3949 3981 100.0 -11.7 89 694 0.15 0.00 0.00 0.000 4230 0.134 0.000 2322 2205 3965 3948 3982 0 0 0 0 0 0 14.02 14.13 14.09

992 -0.78 -145.9 2322 2206 3948 3983 144.1 -14.1 99 997 0.00 2.47 0.00 0.000 260 0.000 0.089 2319 3592 3964 3948 3981 0 0 0 0 0 0 14.45 14.02 14.46

1092 -0.90 -145.9 2319 3595 3948 3985 156.1 -11.0 119 1097 0.00 2.38 0.00 0.000 1158 0.000 0.056 2319 2197 3967 3953 3982 0 0 0 0 0 0 14.17 14.04 14.17

1412 -0.96 -145.9 2320 2196 3948 3982 196.2 -12.4 133 1417 0.12 2.47 0.00 0.000 4484 0.138 0.086 2253 3596 3965 3948 3982 0 0 0 0 0 0 14.09 14.04 14.12

1471 -0.96 -145.9 2253 3593 3949 3983 205.4 -15.3 144 1478 0.00 2.40 0.00 0.000 1030 0.000 0.057 2258 2195 3965 3948 3982 0 0 0 0 0 0 14.18 14.02 14.21

1776 -0.91 -145.9 2253 2193 3949 3982 256.8 -16.1 155 1781 0.12 2.47 0.00 0.000 2436 0.301 0.085 2271 3600 3965 3948 3982 0 0 0 0 0 0 13.91 14.19 14.09

1883 -0.99 -145.9 2271 3602 3949 3983 270.3 -12.3 176 1889 0.00 2.38 0.00 0.000 1158 0.000 0.057 2271 2199 3965 3948 3982 0 0 0 0 0 0 14.33 14.21 14.37

2199 -1.01 -145.9 2271 2199 3949 3983 309.6 -12.2 189 2204 0.00 2.47 0.00 0.000 388 0.000 0.090 2266 3602 3965 3948 3982 0 0 0 0 0 0 14.63 14.16 14.62

2254 -1.11 -145.9 2266 3602 3949 3982 315.9 -11.1 200 2261 0.15 2.40 0.00 0.000 5254 0.123 0.058 2210 2191 3965 3948 3982 0 0 0 0 0 0 14.22 14.18 14.32

2559 -1.03 -145.9 2211 2189 3949 3981 365.6 -16.4 211 2564 0.12 2.47 0.00 0.000 2436 0.300 0.087 2235 3594 3964 3948 3981 0 0 0 0 0 0 13.94 14.17 14.10

2666 -1.07 -145.9 2236 3595 3949 3981 379.7 -12.3 232 2671 0.00 2.35 0.00 0.000 1158 0.000 0.056 2235 2199 3964 3948 3981 0 0 0 0 0 0 14.33 14.21 14.35

2982 -1.07 -145.9 2235 2199 3948 3982 422.2 -13.3 245 2987 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3588 3964 3947 3981 0 0 0 0 0 0 14.67 13.58 14.69

3087 -1.12 -145.9 2236 3588 3948 3981 435.2 -12.1 266 3092 0.00 2.35 0.00 0.000 1158 0.000 0.056 2235 2196 3964 3947 3981 0 0 0 0 0 0 14.20 13.79 14.32

3402 -1.12 -145.9 2235 2195 3948 3981 475.6 -12.8 279 3407 0.00 2.47 0.00 0.000 260 0.000 0.089 2235 3598 3967 3954 3980 0 0 0 0 0 0 14.66 13.52 14.69

3435 end dive: TARGET_DEPTH_EXCEEDED

state 3435 begin apogee

3443 -0.13 0.0 2236 2097 3948 3980 480.0 -12.6 286 3677 1.15 0.00 226.38 1.424 10246 0.240 0.000 2529 2097 3357 3375 3340 0 0 0 0 0 0 13.96 13.45 12.65

3681 end apogee: CONTROL_FINISHED_OK

state 3681 begin climb

3683 0.57 145.9 2530 2098 3373 3338 492.6 0.0 294 3903 0.75 2.72 210.25 1.375 10756 0.065 0.080 2784 688 2764 2805 2724 0 0 0 0 0 0 13.57 13.14 12.35

3928 0.19 145.9 2782 692 2794 2716 497.1 13.2 333 3934 0.65 2.60 0.00 0.000 5254 0.326 0.074 2651 2086 2754 2794 2714 0 0 0 0 0 0 13.02 13.28 13.35

4249 0.03 148.9 2652 2086 2793 2703 465.0 9.9 347 4254 0.20 2.50 0.00 0.000 4772 0.265 0.081 2602 690 2748 2792 2705 0 0 0 0 0 0 13.69 13.91 13.85

4299 0.06 196.0 2603 690 2794 2705 460.9 7.8 357 4380 0.00 2.50 71.95 1.395 9254 0.000 0.080 2602 2101 2559 2616 2502 0 0 0 0 0 0 14.07 13.95 12.93

4701 0.08 223.5 2602 2102 2607 2487 426.4 8.7 387 4746 0.00 2.58 38.35 1.442 8740 0.000 0.085 2602 687 2446 2502 2390 0 0 0 0 0 0 14.46 13.94 13.15

4756 0.13 252.6 2602 688 2498 2388 421.6 8.7 393 4806 0.00 2.50 44.10 1.397 9382 0.000 0.079 2602 2101 2332 2387 2277 0 0 0 0 0 0 14.11 13.97 13.03

5123 0.19 278.8 2601 2102 2372 2260 389.2 8.8 416 5167 0.12 2.53 37.12 1.426 10916 0.132 0.087 2672 687 2224 2274 2174 0 0 0 0 0 0 14.21 14.00 13.20

5183 0.12 278.8 2672 688 2267 2171 381.6 13.4 428 5189 0.20 2.50 0.00 0.000 5254 0.239 0.079 2626 2103 2217 2266 2169 0 0 0 0 0 0 13.89 14.04 14.12

5514 0.15 278.8 2626 2104 2267 2161 347.6 10.0 444 5520 0.00 2.47 0.00 0.000 644 0.000 0.085 2633 693 2213 2266 2160 0 0 0 0 0 0 14.54 14.17 14.56

5555 0.21 278.8 2634 691 2265 2160 343.3 10.1 452 5561 0.00 2.45 0.00 0.000 1158 0.000 0.079 2634 2102 2212 2264 2160 0 0 0 0 0 0 14.35 14.23 14.40

5876 0.21 278.8 2633 2103 2264 2159 309.8 10.4 466 5877 0.00 0.00 0.00 0.000 6 0.000 0.000 2633 2102 2211 2264 2158 0 0 0 0 0 0 14.63 14.65 14.65

6176 0.24 290.8 2634 2102 2264 2157 281.2 9.4 476 6196 0.00 2.50 12.70 1.574 8868 0.000 0.085 2633 692 2175 2224 2126 0 0 0 0 0 0 14.66 14.26 13.33

6268 0.35 320.6 2634 693 2217 2125 273.1 8.6 494 6328 0.20 2.45 50.95 1.375 11430 0.101 0.079 2708 2101 2052 2097 2008 0 0 0 0 0 0 14.33 14.25 13.23

6626 0.28 320.6 2708 2100 2089 1996 226.4 12.2 516 6627 0.15 0.00 0.00 0.000 4230 0.230 0.000 2676 2106 2042 2088 1996 0 0 0 0 0 0 14.03 14.33 14.27

6926 0.29 337.2 2675 2101 2089 1993 198.0 9.2 526 6957 0.00 2.53 22.48 1.432 8740 0.000 0.088 2675 696 1982 2030 1935 0 0 0 0 0 0 14.62 14.16 13.36

7009 0.39 367.5 2676 690 2024 1937 190.7 8.6 542 7068 0.00 2.47 53.60 1.305 9382 0.000 0.078 2675 2107 1867 1901 1833 0 0 0 0 0 0 14.31 14.18 13.21

7380 0.48 399.3 2675 2106 1884 1819 158.2 8.5 566 7441 0.15 2.60 54.38 1.276 10916 0.123 0.086 2753 685 1732 1756 1708 0 0 0 0 0 0 14.23 13.97 13.24

7511 0.48 399.3 2754 686 1746 1705 141.5 12.7 592 7517 0.00 2.50 0.00 0.000 1030 0.000 0.079 2754 2106 1724 1745 1703 0 0 0 0 0 0 14.19 14.06 14.22

7832 0.43 399.3 2755 2107 1746 1696 100.4 12.3 606 7834 0.15 0.00 0.00 0.000 4230 0.232 0.000 2721 2107 1720 1745 1696 0 0 0 0 0 0 14.08 14.34 14.30

8132 0.51 456.0 2721 2108 1745 1694 75.5 7.4 634 8169 0.00 2.53 28.25 0.426 8868 0.000 0.085 2725 697 1503 1536 1470 0 0 0 0 0 0 14.57 13.88 13.69

8241 0.68 521.0 2726 696 1540 1472 67.8 7.0 655 8284 0.22 2.45 34.85 0.402 11430 0.093 0.080 2808 2100 1242 1295 1189 0 0 0 0 0 0 14.25 14.16 13.71

8589 0.70 556.7 2808 2101 1296 1187 33.7 8.4 694 8615 0.00 2.55 19.58 0.306 8740 0.000 0.088 2809 688 1093 1156 1030 0 0 0 0 0 0 14.54 14.07 13.83

8718 0.82 597.5 2809 688 1159 1038 23.2 8.1 719 8746 0.12 2.47 22.60 0.281 11430 0.129 0.078 2867 2108 928 993 863 0 0 0 0 0 0 14.08 14.02 13.88

8959 end climb: SURFACE_DEPTH_REACHED

state 8959 begin surface coast

8979 end surface coast: CONTROL_FINISHED_OK

state 8979 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	181	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	512.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	39	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,000053,7403.1792,-15224.8457,18,0.8,19,19.8,0.0,0.0,10,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.29	MHEAD_RNG_PITCHd_Wd	289.2,53761,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	280817,001201,7403.1973,-15224.9297,6,0.8,40,19.8,0.0,252.7,11,9.2

MODEM_MSG	CACST,6,1,20170828002711.382605,3,412,20,1004,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04	PM_FREEKB_00	52573824
FINISH	0.1,1.008349	_24V_AH	12.35,129.740
SM_CCo	8999,57.85,0.212,0,0,500,702.78	_10V_AH	12.34,0.000
SM_GC	1.46,8.02,0.17,57.85,0.068,0.118,0.212,201,2217,500,-7.37,-0.65,702.78,0,0,0,0,0,0,14.34,14.32,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	419	FG_AHR_10Vo	0.000
MODEM	2,1503879232,73.18300,-149.96500,85.116,123198.2	MEM	323488
RAFOS_FIX	7402.301270,-15224.319336,280817,000002,3,255,3.53	DATA_FILE_SIZE	26682,748
IRIDIUM_FIX	7402.36,-15230.15,270817,212051	CAP_FILE_SIZE	104625,0
TT8_MAMPS	0.038948,0.871836	CFSIZE	2097872896,2032140288
HUMID	46.77	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1448.0
TCM_TEMP	13.10	CURRENT	0.061,220.13,1
XPDR_PINGS	10	GPS	280817,024439,7404.092,-15228.389,16,0.7,22,19.8,0.3,320.4,12,8.6
CP_FREE	15988359168.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.44	nil	0	0	0.00
Roll_motor	89	2144	2380.07	nil	0	0	0.00
VBD_pump_during_apogee	927	1574	18034.30	nil	0	0	0.00
VBD_pump_during_surface	57	211	151.39	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	8989	14	1584.73
Iridium_during_xfer	362	178	797.82	NCP	8987	20	2219.79
Transponder_ping	2	420	12.97	PMAR	8935	10	1140.44
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.61
TT8	0	0	0.00
LPSleep	6466	2	184.34
TT8_Active	935	13	161.34
TT8_Sampling	2046	33	844.39
TT8_CF8	296	38	141.38
TT8_Kalman	0	0	0.00
Analog_circuits	2087	10	257.62
GPS_charging	0	0	0.00
Compass	1075	7	92.93
RAFOS	1348	48	798.45
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	200	2225	499	497	0.0	0.0	0	138	0.00	0.00	-88.47	0.000	16386	0.000	0.000	198	2224	2089	2019	2159	0	0	0	0	0	0	14.50	28.83	14.52
141	-0.57	-145.9	199	2223	2021	2163	4.0	-5.4	9	197	12.65	2.72	-37.97	0.000	18724	0.454	2.144	2376	3592	3961	3941	3982	0	0	0	0	0	0	13.55	12.88	13.99
387	-0.71	-145.9	2376	3593	3948	3982	56.2	-13.7	58	393	0.00	2.42	0.00	0.000	1158	0.000	0.062	2375	2206	3964	3947	3982	0	0	0	0	0	0	14.12	14.00	14.13
692	-0.78	-145.9	2376	2206	3949	3981	100.0	-11.7	89	694	0.15	0.00	0.00	0.000	4230	0.134	0.000	2322	2205	3965	3948	3982	0	0	0	0	0	0	14.02	14.13	14.09
992	-0.78	-145.9	2322	2206	3948	3983	144.1	-14.1	99	997	0.00	2.47	0.00	0.000	260	0.000	0.089	2319	3592	3964	3948	3981	0	0	0	0	0	0	14.45	14.02	14.46
1092	-0.90	-145.9	2319	3595	3948	3985	156.1	-11.0	119	1097	0.00	2.38	0.00	0.000	1158	0.000	0.056	2319	2197	3967	3953	3982	0	0	0	0	0	0	14.17	14.04	14.17
1412	-0.96	-145.9	2320	2196	3948	3982	196.2	-12.4	133	1417	0.12	2.47	0.00	0.000	4484	0.138	0.086	2253	3596	3965	3948	3982	0	0	0	0	0	0	14.09	14.04	14.12
1471	-0.96	-145.9	2253	3593	3949	3983	205.4	-15.3	144	1478	0.00	2.40	0.00	0.000	1030	0.000	0.057	2258	2195	3965	3948	3982	0	0	0	0	0	0	14.18	14.02	14.21
1776	-0.91	-145.9	2253	2193	3949	3982	256.8	-16.1	155	1781	0.12	2.47	0.00	0.000	2436	0.301	0.085	2271	3600	3965	3948	3982	0	0	0	0	0	0	13.91	14.19	14.09
1883	-0.99	-145.9	2271	3602	3949	3983	270.3	-12.3	176	1889	0.00	2.38	0.00	0.000	1158	0.000	0.057	2271	2199	3965	3948	3982	0	0	0	0	0	0	14.33	14.21	14.37
2199	-1.01	-145.9	2271	2199	3949	3983	309.6	-12.2	189	2204	0.00	2.47	0.00	0.000	388	0.000	0.090	2266	3602	3965	3948	3982	0	0	0	0	0	0	14.63	14.16	14.62
2254	-1.11	-145.9	2266	3602	3949	3982	315.9	-11.1	200	2261	0.15	2.40	0.00	0.000	5254	0.123	0.058	2210	2191	3965	3948	3982	0	0	0	0	0	0	14.22	14.18	14.32
2559	-1.03	-145.9	2211	2189	3949	3981	365.6	-16.4	211	2564	0.12	2.47	0.00	0.000	2436	0.300	0.087	2235	3594	3964	3948	3981	0	0	0	0	0	0	13.94	14.17	14.10
2666	-1.07	-145.9	2236	3595	3949	3981	379.7	-12.3	232	2671	0.00	2.35	0.00	0.000	1158	0.000	0.056	2235	2199	3964	3948	3981	0	0	0	0	0	0	14.33	14.21	14.35
2982	-1.07	-145.9	2235	2199	3948	3982	422.2	-13.3	245	2987	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3588	3964	3947	3981	0	0	0	0	0	0	14.67	13.58	14.69
3087	-1.12	-145.9	2236	3588	3948	3981	435.2	-12.1	266	3092	0.00	2.35	0.00	0.000	1158	0.000	0.056	2235	2196	3964	3947	3981	0	0	0	0	0	0	14.20	13.79	14.32
3402	-1.12	-145.9	2235	2195	3948	3981	475.6	-12.8	279	3407	0.00	2.47	0.00	0.000	260	0.000	0.089	2235	3598	3967	3954	3980	0	0	0	0	0	0	14.66	13.52	14.69
3435	end dive: TARGET_DEPTH_EXCEEDED
state	3435	begin apogee
3443	-0.13	0.0	2236	2097	3948	3980	480.0	-12.6	286	3677	1.15	0.00	226.38	1.424	10246	0.240	0.000	2529	2097	3357	3375	3340	0	0	0	0	0	0	13.96	13.45	12.65
3681	end apogee: CONTROL_FINISHED_OK
state	3681	begin climb
3683	0.57	145.9	2530	2098	3373	3338	492.6	0.0	294	3903	0.75	2.72	210.25	1.375	10756	0.065	0.080	2784	688	2764	2805	2724	0	0	0	0	0	0	13.57	13.14	12.35
3928	0.19	145.9	2782	692	2794	2716	497.1	13.2	333	3934	0.65	2.60	0.00	0.000	5254	0.326	0.074	2651	2086	2754	2794	2714	0	0	0	0	0	0	13.02	13.28	13.35
4249	0.03	148.9	2652	2086	2793	2703	465.0	9.9	347	4254	0.20	2.50	0.00	0.000	4772	0.265	0.081	2602	690	2748	2792	2705	0	0	0	0	0	0	13.69	13.91	13.85
4299	0.06	196.0	2603	690	2794	2705	460.9	7.8	357	4380	0.00	2.50	71.95	1.395	9254	0.000	0.080	2602	2101	2559	2616	2502	0	0	0	0	0	0	14.07	13.95	12.93
4701	0.08	223.5	2602	2102	2607	2487	426.4	8.7	387	4746	0.00	2.58	38.35	1.442	8740	0.000	0.085	2602	687	2446	2502	2390	0	0	0	0	0	0	14.46	13.94	13.15
4756	0.13	252.6	2602	688	2498	2388	421.6	8.7	393	4806	0.00	2.50	44.10	1.397	9382	0.000	0.079	2602	2101	2332	2387	2277	0	0	0	0	0	0	14.11	13.97	13.03
5123	0.19	278.8	2601	2102	2372	2260	389.2	8.8	416	5167	0.12	2.53	37.12	1.426	10916	0.132	0.087	2672	687	2224	2274	2174	0	0	0	0	0	0	14.21	14.00	13.20
5183	0.12	278.8	2672	688	2267	2171	381.6	13.4	428	5189	0.20	2.50	0.00	0.000	5254	0.239	0.079	2626	2103	2217	2266	2169	0	0	0	0	0	0	13.89	14.04	14.12
5514	0.15	278.8	2626	2104	2267	2161	347.6	10.0	444	5520	0.00	2.47	0.00	0.000	644	0.000	0.085	2633	693	2213	2266	2160	0	0	0	0	0	0	14.54	14.17	14.56
5555	0.21	278.8	2634	691	2265	2160	343.3	10.1	452	5561	0.00	2.45	0.00	0.000	1158	0.000	0.079	2634	2102	2212	2264	2160	0	0	0	0	0	0	14.35	14.23	14.40
5876	0.21	278.8	2633	2103	2264	2159	309.8	10.4	466	5877	0.00	0.00	0.00	0.000	6	0.000	0.000	2633	2102	2211	2264	2158	0	0	0	0	0	0	14.63	14.65	14.65
6176	0.24	290.8	2634	2102	2264	2157	281.2	9.4	476	6196	0.00	2.50	12.70	1.574	8868	0.000	0.085	2633	692	2175	2224	2126	0	0	0	0	0	0	14.66	14.26	13.33
6268	0.35	320.6	2634	693	2217	2125	273.1	8.6	494	6328	0.20	2.45	50.95	1.375	11430	0.101	0.079	2708	2101	2052	2097	2008	0	0	0	0	0	0	14.33	14.25	13.23
6626	0.28	320.6	2708	2100	2089	1996	226.4	12.2	516	6627	0.15	0.00	0.00	0.000	4230	0.230	0.000	2676	2106	2042	2088	1996	0	0	0	0	0	0	14.03	14.33	14.27
6926	0.29	337.2	2675	2101	2089	1993	198.0	9.2	526	6957	0.00	2.53	22.48	1.432	8740	0.000	0.088	2675	696	1982	2030	1935	0	0	0	0	0	0	14.62	14.16	13.36
7009	0.39	367.5	2676	690	2024	1937	190.7	8.6	542	7068	0.00	2.47	53.60	1.305	9382	0.000	0.078	2675	2107	1867	1901	1833	0	0	0	0	0	0	14.31	14.18	13.21
7380	0.48	399.3	2675	2106	1884	1819	158.2	8.5	566	7441	0.15	2.60	54.38	1.276	10916	0.123	0.086	2753	685	1732	1756	1708	0	0	0	0	0	0	14.23	13.97	13.24
7511	0.48	399.3	2754	686	1746	1705	141.5	12.7	592	7517	0.00	2.50	0.00	0.000	1030	0.000	0.079	2754	2106	1724	1745	1703	0	0	0	0	0	0	14.19	14.06	14.22
7832	0.43	399.3	2755	2107	1746	1696	100.4	12.3	606	7834	0.15	0.00	0.00	0.000	4230	0.232	0.000	2721	2107	1720	1745	1696	0	0	0	0	0	0	14.08	14.34	14.30
8132	0.51	456.0	2721	2108	1745	1694	75.5	7.4	634	8169	0.00	2.53	28.25	0.426	8868	0.000	0.085	2725	697	1503	1536	1470	0	0	0	0	0	0	14.57	13.88	13.69
8241	0.68	521.0	2726	696	1540	1472	67.8	7.0	655	8284	0.22	2.45	34.85	0.402	11430	0.093	0.080	2808	2100	1242	1295	1189	0	0	0	0	0	0	14.25	14.16	13.71
8589	0.70	556.7	2808	2101	1296	1187	33.7	8.4	694	8615	0.00	2.55	19.58	0.306	8740	0.000	0.088	2809	688	1093	1156	1030	0	0	0	0	0	0	14.54	14.07	13.83
8718	0.82	597.5	2809	688	1159	1038	23.2	8.1	719	8746	0.12	2.47	22.60	0.281	11430	0.129	0.078	2867	2108	928	993	863	0	0	0	0	0	0	14.08	14.02	13.88
8959	end climb: SURFACE_DEPTH_REACHED
state	8959	begin surface coast
8979	end surface coast: CONTROL_FINISHED_OK
state	8979	begin surface