Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 188 * 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 188 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 531.0

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 56 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 531.0 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 188 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 280817,194634,7409.5127,-15247.8672,30,0.8,31,19.7,0.7,292.1,10,7.2 SPEED_LIMITS 0.173,0.256

_CALLS 2 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 277.6,37961,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 280817,200400,7409.6025,-15248.0605,9,0.8,13,19.7,0.0,115.2,10,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170828202705.071844,3,5155,37,0824,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34 PM_FREEKB_00 52332608

FINISH 0.3,1.021262 _24V_AH 12.35,133.186

SM_CCo 8891,45.33,0.209,0,0,499,702.78 _10V_AH 12.21,0.000

SM_GC 1.17,8.15,0.17,45.33,0.085,0.127,0.209,197,2221,499,-7.39,-0.57,702.78,0,0,0,0,0,0,14.32,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 406 FG_AHR_10Vo 0.000

MODEM 2,1503951244,73.18300,-149.96500,97.165,140736.6 MEM 323452

RAFOS_FIX 7409.017090,-15247.749023,280817,202000,3,255,1.14 DATA_FILE_SIZE 23374,725

IRIDIUM_FIX 7410.43,-15250.84,280817,195127 CAP_FILE_SIZE 105647,0

TT8_MAMPS 0.039697,1.15421 CFSIZE 2097872896,2029912064

HUMID 47.24 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1447.4

TCM_TEMP 13.20 CURRENT 0.023,195.17,1

XPDR_PINGS 13 GPS 280817,223453,7410.396,-15251.371,37,0.7,40,19.6,0.3,275.2,12,8.9

CP_FREE 15986524160.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 465 148.78 nil 0 0 0.00

Roll_motor 78 2138 2069.03 nil 0 0 0.00

VBD_pump_during_apogee 925 1545 17661.23 nil 0 0 0.00

VBD_pump_during_surface 45 208 116.90 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 8901 14 1585.92

Iridium_during_xfer 690 175 1500.99 NCP 8888 20 2195.34

Transponder_ping 3 420 16.86 PMAR 8844 9 1082.84

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.73

TT8 0 0 0.00

LPSleep 6394 2 180.35

TT8_Active 814 13 139.01

TT8_Sampling 2456 33 1003.18

TT8_CF8 326 38 154.44

TT8_Kalman 0 0 0.00

Analog_circuits 2400 10 293.07

GPS_charging 0 0 0.00

Compass 1042 7 89.07

RAFOS 1831 48 1073.11

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 -145.9 190 2197 493 490 0.0 0.0 0 138 0.00 0.00 -88.53 0.000 16386 0.000 0.000 195 2197 2088 2013 2164 0 0 0 0 0 0 14.47 28.83 14.49

141 -0.57 -145.9 190 2194 2015 2165 3.8 -5.3 9 203 13.12 2.78 -39.67 0.000 18724 0.465 2.139 2374 3569 3960 3941 3979 0 0 0 0 0 0 13.59 12.62 14.04

423 -0.69 -145.9 2375 3571 3948 3981 57.3 -13.9 65 428 0.00 2.35 0.00 0.000 1158 0.000 0.061 2375 2205 3964 3948 3980 0 0 0 0 0 0 14.17 14.05 14.21

733 -0.77 -145.9 2376 2204 3950 3980 98.5 -11.1 97 738 0.12 2.50 0.00 0.000 4740 0.147 0.080 2326 781 3963 3948 3978 0 0 0 0 0 0 14.05 14.04 14.12

764 -0.81 -145.9 2327 781 3949 3980 102.5 -14.2 103 768 0.00 2.47 0.00 0.000 1158 0.000 0.088 2326 2165 3964 3949 3979 0 0 0 0 0 0 14.15 14.02 14.22

1094 -0.85 -145.9 2327 2165 3950 3979 147.9 -13.1 119 1098 0.00 2.58 0.00 0.000 388 0.000 0.091 2319 3613 3963 3949 3978 0 0 0 0 0 0 14.48 14.02 14.45

1244 -0.99 -145.9 2320 3614 3947 3980 164.6 -10.6 149 1249 0.20 2.42 0.00 0.000 5254 0.098 0.055 2243 2189 3964 3949 3979 0 0 0 0 0 0 14.15 14.09 14.23

1574 -0.91 -145.9 2243 2190 3949 3980 226.7 -18.4 165 1579 0.15 2.53 0.00 0.000 2436 0.289 0.083 2267 3616 3962 3945 3980 0 0 0 0 0 0 13.81 14.08 14.00

1699 -1.00 -145.9 2268 3617 3949 3980 244.2 -12.3 190 1704 0.00 2.42 0.00 0.000 1158 0.000 0.057 2267 2200 3963 3948 3979 0 0 0 0 0 0 14.24 14.12 14.26

2025 -1.00 -145.9 2268 2198 3950 3979 287.1 -12.8 205 2025 0.00 0.00 0.00 0.000 6 0.000 0.000 2266 2198 3964 3949 3979 0 0 0 0 0 0 14.45 14.47 14.47

2325 -1.03 -145.9 2268 2198 3950 3979 321.7 -11.1 215 2329 0.00 2.53 0.00 0.000 388 0.000 0.090 2270 3620 3964 3949 3979 0 0 0 0 0 0 14.52 14.11 14.57

2415 -1.13 -145.9 2266 3621 3949 3980 330.9 -10.0 233 2420 0.17 2.42 0.00 0.000 5254 0.118 0.056 2202 2195 3963 3947 3979 0 0 0 0 0 0 14.21 14.19 14.31

2745 -1.04 -145.9 2202 2193 3949 3977 385.6 -16.7 249 2750 0.15 2.50 0.00 0.000 2436 0.296 0.086 2225 3615 3962 3948 3977 0 0 0 0 0 0 13.91 14.20 14.09

2862 -1.08 -145.9 2226 3617 3950 3977 401.3 -12.7 272 2869 0.00 2.40 0.00 0.000 1158 0.000 0.057 2226 2197 3963 3949 3977 0 0 0 0 0 0 14.33 14.21 14.36

3166 -1.05 -145.9 2226 2196 3950 3977 443.6 -13.8 283 3170 0.00 2.50 0.00 0.000 388 0.000 0.089 2222 3620 3962 3948 3977 0 0 0 0 0 0 14.66 14.21 14.67

3241 -1.07 -145.9 2223 3621 3949 3978 453.5 -12.7 298 3245 0.00 2.40 0.00 0.000 1158 0.000 0.057 2222 2196 3962 3948 3977 0 0 0 0 0 0 14.40 14.28 14.42

3433 end dive: TARGET_DEPTH_EXCEEDED

state 3433 begin apogee

3439 -0.13 0.0 2223 2064 3950 3976 480.0 -13.7 307 3659 1.23 0.08 216.62 1.447 10246 0.249 0.183 2530 2110 3364 3389 3340 0 0 0 0 0 0 13.95 13.43 12.68

3663 end apogee: CONTROL_FINISHED_OK

state 3663 begin climb

3667 0.57 145.9 2531 2111 3382 3334 490.8 0.0 314 3890 0.75 1.85 208.60 1.393 10756 0.064 0.078 2792 729 2762 2805 2719 0 0 0 0 0 0 13.59 13.12 12.35

4040 0.18 145.9 2793 730 2800 2717 477.5 15.0 346 4045 0.70 2.47 0.00 0.000 5254 0.325 0.075 2647 2094 2756 2796 2716 0 0 0 0 0 0 13.30 13.63 13.66

4361 0.04 162.8 2647 2095 2798 2711 446.7 9.2 360 4383 0.22 0.00 21.08 1.545 12454 0.275 0.000 2597 2095 2701 2746 2656 0 0 0 0 0 0 13.82 13.97 13.11

4661 0.05 221.5 2597 2096 2740 2645 424.7 7.3 370 4757 0.00 2.50 88.05 1.407 8868 0.000 0.083 2602 730 2456 2516 2396 0 0 0 0 0 0 14.56 13.81 13.04

4792 0.13 255.0 2603 729 2512 2395 414.3 8.5 396 4848 0.00 2.45 49.50 1.409 9382 0.000 0.078 2602 2099 2320 2376 2264 0 0 0 0 0 0 13.97 13.78 12.90

5173 0.19 284.2 2602 2100 2372 2251 381.1 8.7 422 5219 0.12 0.00 42.75 1.431 10406 0.131 0.000 2661 2103 2213 2268 2159 0 0 0 0 0 0 14.23 13.95 13.14

5504 0.15 284.2 2661 2101 2251 2137 340.2 12.5 433 5509 0.12 2.40 0.00 0.000 4740 0.263 0.081 2638 729 2193 2250 2136 0 0 0 0 0 0 14.03 14.19 14.18

5559 0.20 284.2 2640 726 2248 2138 334.2 10.7 444 5566 0.00 2.40 0.00 0.000 1158 0.000 0.079 2634 2109 2195 2254 2137 0 0 0 0 0 0 14.31 14.19 14.35

5864 0.20 284.2 2638 2109 2248 2135 301.4 10.6 455 5865 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2109 2191 2247 2136 0 0 0 0 0 0 14.62 14.65 14.66

6164 0.20 287.5 2638 2110 2247 2135 271.0 9.8 465 6169 0.00 2.40 0.00 0.000 548 0.000 0.083 2644 729 2189 2245 2134 0 0 0 0 0 0 14.67 14.28 14.69

6276 0.27 305.9 2645 729 2246 2134 260.8 9.2 487 6315 0.00 2.38 31.23 1.427 9382 0.000 0.081 2643 2102 2115 2168 2062 0 0 0 0 0 0 14.43 14.29 13.34

6616 0.33 348.4 2645 2105 2164 2054 231.6 8.0 505 6690 0.15 0.00 71.97 1.323 10406 0.115 0.000 2705 2105 1947 1990 1904 0 0 0 0 0 0 14.32 13.96 13.20

6974 0.29 348.4 2706 2105 1981 1884 188.8 11.7 517 6979 0.12 2.42 0.00 0.000 4740 0.244 0.085 2676 731 1931 1980 1883 0 0 0 0 0 0 13.90 14.09 14.02

7040 0.41 387.7 2676 731 1978 1884 182.9 8.2 530 7110 0.12 2.38 64.53 1.291 11430 0.135 0.080 2727 2101 1783 1814 1753 0 0 0 0 0 0 14.24 14.19 13.22

7425 0.38 387.7 2727 2102 1806 1739 136.1 11.8 557 7430 0.00 2.42 0.00 0.000 644 0.000 0.086 2729 722 1771 1805 1738 0 0 0 0 0 0 14.56 14.18 14.54

7495 0.42 387.7 2730 723 1801 1744 128.2 10.9 571 7500 0.00 2.42 0.00 0.000 1158 0.000 0.078 2729 2107 1769 1802 1737 0 0 0 0 0 0 14.35 14.22 14.38

7805 0.42 387.7 2729 2108 1803 1736 95.2 10.1 586 7811 0.00 2.42 0.00 0.000 516 0.000 0.085 2729 727 1769 1802 1736 0 0 0 0 0 0 14.60 14.20 14.62

7851 0.48 406.3 2730 728 1800 1737 91.0 9.1 595 7868 0.00 2.40 9.02 0.470 9382 0.000 0.078 2729 2103 1709 1739 1680 0 0 0 0 0 0 14.39 14.22 13.64

8166 0.55 468.9 2730 2104 1742 1680 63.7 7.1 628 8208 0.00 2.42 34.80 0.392 8868 0.000 0.083 2729 719 1452 1491 1414 0 0 0 0 0 0 14.60 14.16 13.78

8270 0.74 548.5 2730 723 1492 1414 57.1 6.3 648 8324 0.28 2.42 44.45 0.368 11430 0.091 0.078 2832 2108 1128 1199 1058 0 0 0 0 0 0 14.21 14.12 13.69

8619 0.75 565.7 2832 2109 1193 1050 19.5 9.2 688 8632 0.00 2.50 9.05 0.272 8740 0.000 0.084 2838 731 1055 1127 984 0 0 0 0 0 0 14.54 14.17 13.84

8703 0.85 625.5 2839 730 1128 986 13.4 7.2 704 8745 0.00 2.40 33.78 0.243 9382 0.000 0.077 2838 2109 811 880 742 0 0 0 0 0 0 14.20 14.07 13.80

8850 end climb: SURFACE_DEPTH_REACHED

state 8850 begin surface coast

8870 end surface coast: CONTROL_FINISHED_OK

state 8870 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	188	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	531.0
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	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,194634,7409.5127,-15247.8672,30,0.8,31,19.7,0.7,292.1,10,7.2	SPEED_LIMITS	0.173,0.256
_CALLS	2	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	277.6,37961,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	280817,200400,7409.6025,-15248.0605,9,0.8,13,19.7,0.0,115.2,10,9.8

MODEM_MSG	CACST,6,1,20170828202705.071844,3,5155,37,0824,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34	PM_FREEKB_00	52332608
FINISH	0.3,1.021262	_24V_AH	12.35,133.186
SM_CCo	8891,45.33,0.209,0,0,499,702.78	_10V_AH	12.21,0.000
SM_GC	1.17,8.15,0.17,45.33,0.085,0.127,0.209,197,2221,499,-7.39,-0.57,702.78,0,0,0,0,0,0,14.32,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	406	FG_AHR_10Vo	0.000
MODEM	2,1503951244,73.18300,-149.96500,97.165,140736.6	MEM	323452
RAFOS_FIX	7409.017090,-15247.749023,280817,202000,3,255,1.14	DATA_FILE_SIZE	23374,725
IRIDIUM_FIX	7410.43,-15250.84,280817,195127	CAP_FILE_SIZE	105647,0
TT8_MAMPS	0.039697,1.15421	CFSIZE	2097872896,2029912064
HUMID	47.24	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1447.4
TCM_TEMP	13.20	CURRENT	0.023,195.17,1
XPDR_PINGS	13	GPS	280817,223453,7410.396,-15251.371,37,0.7,40,19.6,0.3,275.2,12,8.9
CP_FREE	15986524160.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	465	148.78	nil	0	0	0.00
Roll_motor	78	2138	2069.03	nil	0	0	0.00
VBD_pump_during_apogee	925	1545	17661.23	nil	0	0	0.00
VBD_pump_during_surface	45	208	116.90	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	8901	14	1585.92
Iridium_during_xfer	690	175	1500.99	NCP	8888	20	2195.34
Transponder_ping	3	420	16.86	PMAR	8844	9	1082.84
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.73
TT8	0	0	0.00
LPSleep	6394	2	180.35
TT8_Active	814	13	139.01
TT8_Sampling	2456	33	1003.18
TT8_CF8	326	38	154.44
TT8_Kalman	0	0	0.00
Analog_circuits	2400	10	293.07
GPS_charging	0	0	0.00
Compass	1042	7	89.07
RAFOS	1831	48	1073.11
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	190	2197	493	490	0.0	0.0	0	138	0.00	0.00	-88.53	0.000	16386	0.000	0.000	195	2197	2088	2013	2164	0	0	0	0	0	0	14.47	28.83	14.49
141	-0.57	-145.9	190	2194	2015	2165	3.8	-5.3	9	203	13.12	2.78	-39.67	0.000	18724	0.465	2.139	2374	3569	3960	3941	3979	0	0	0	0	0	0	13.59	12.62	14.04
423	-0.69	-145.9	2375	3571	3948	3981	57.3	-13.9	65	428	0.00	2.35	0.00	0.000	1158	0.000	0.061	2375	2205	3964	3948	3980	0	0	0	0	0	0	14.17	14.05	14.21
733	-0.77	-145.9	2376	2204	3950	3980	98.5	-11.1	97	738	0.12	2.50	0.00	0.000	4740	0.147	0.080	2326	781	3963	3948	3978	0	0	0	0	0	0	14.05	14.04	14.12
764	-0.81	-145.9	2327	781	3949	3980	102.5	-14.2	103	768	0.00	2.47	0.00	0.000	1158	0.000	0.088	2326	2165	3964	3949	3979	0	0	0	0	0	0	14.15	14.02	14.22
1094	-0.85	-145.9	2327	2165	3950	3979	147.9	-13.1	119	1098	0.00	2.58	0.00	0.000	388	0.000	0.091	2319	3613	3963	3949	3978	0	0	0	0	0	0	14.48	14.02	14.45
1244	-0.99	-145.9	2320	3614	3947	3980	164.6	-10.6	149	1249	0.20	2.42	0.00	0.000	5254	0.098	0.055	2243	2189	3964	3949	3979	0	0	0	0	0	0	14.15	14.09	14.23
1574	-0.91	-145.9	2243	2190	3949	3980	226.7	-18.4	165	1579	0.15	2.53	0.00	0.000	2436	0.289	0.083	2267	3616	3962	3945	3980	0	0	0	0	0	0	13.81	14.08	14.00
1699	-1.00	-145.9	2268	3617	3949	3980	244.2	-12.3	190	1704	0.00	2.42	0.00	0.000	1158	0.000	0.057	2267	2200	3963	3948	3979	0	0	0	0	0	0	14.24	14.12	14.26
2025	-1.00	-145.9	2268	2198	3950	3979	287.1	-12.8	205	2025	0.00	0.00	0.00	0.000	6	0.000	0.000	2266	2198	3964	3949	3979	0	0	0	0	0	0	14.45	14.47	14.47
2325	-1.03	-145.9	2268	2198	3950	3979	321.7	-11.1	215	2329	0.00	2.53	0.00	0.000	388	0.000	0.090	2270	3620	3964	3949	3979	0	0	0	0	0	0	14.52	14.11	14.57
2415	-1.13	-145.9	2266	3621	3949	3980	330.9	-10.0	233	2420	0.17	2.42	0.00	0.000	5254	0.118	0.056	2202	2195	3963	3947	3979	0	0	0	0	0	0	14.21	14.19	14.31
2745	-1.04	-145.9	2202	2193	3949	3977	385.6	-16.7	249	2750	0.15	2.50	0.00	0.000	2436	0.296	0.086	2225	3615	3962	3948	3977	0	0	0	0	0	0	13.91	14.20	14.09
2862	-1.08	-145.9	2226	3617	3950	3977	401.3	-12.7	272	2869	0.00	2.40	0.00	0.000	1158	0.000	0.057	2226	2197	3963	3949	3977	0	0	0	0	0	0	14.33	14.21	14.36
3166	-1.05	-145.9	2226	2196	3950	3977	443.6	-13.8	283	3170	0.00	2.50	0.00	0.000	388	0.000	0.089	2222	3620	3962	3948	3977	0	0	0	0	0	0	14.66	14.21	14.67
3241	-1.07	-145.9	2223	3621	3949	3978	453.5	-12.7	298	3245	0.00	2.40	0.00	0.000	1158	0.000	0.057	2222	2196	3962	3948	3977	0	0	0	0	0	0	14.40	14.28	14.42
3433	end dive: TARGET_DEPTH_EXCEEDED
state	3433	begin apogee
3439	-0.13	0.0	2223	2064	3950	3976	480.0	-13.7	307	3659	1.23	0.08	216.62	1.447	10246	0.249	0.183	2530	2110	3364	3389	3340	0	0	0	0	0	0	13.95	13.43	12.68
3663	end apogee: CONTROL_FINISHED_OK
state	3663	begin climb
3667	0.57	145.9	2531	2111	3382	3334	490.8	0.0	314	3890	0.75	1.85	208.60	1.393	10756	0.064	0.078	2792	729	2762	2805	2719	0	0	0	0	0	0	13.59	13.12	12.35
4040	0.18	145.9	2793	730	2800	2717	477.5	15.0	346	4045	0.70	2.47	0.00	0.000	5254	0.325	0.075	2647	2094	2756	2796	2716	0	0	0	0	0	0	13.30	13.63	13.66
4361	0.04	162.8	2647	2095	2798	2711	446.7	9.2	360	4383	0.22	0.00	21.08	1.545	12454	0.275	0.000	2597	2095	2701	2746	2656	0	0	0	0	0	0	13.82	13.97	13.11
4661	0.05	221.5	2597	2096	2740	2645	424.7	7.3	370	4757	0.00	2.50	88.05	1.407	8868	0.000	0.083	2602	730	2456	2516	2396	0	0	0	0	0	0	14.56	13.81	13.04
4792	0.13	255.0	2603	729	2512	2395	414.3	8.5	396	4848	0.00	2.45	49.50	1.409	9382	0.000	0.078	2602	2099	2320	2376	2264	0	0	0	0	0	0	13.97	13.78	12.90
5173	0.19	284.2	2602	2100	2372	2251	381.1	8.7	422	5219	0.12	0.00	42.75	1.431	10406	0.131	0.000	2661	2103	2213	2268	2159	0	0	0	0	0	0	14.23	13.95	13.14
5504	0.15	284.2	2661	2101	2251	2137	340.2	12.5	433	5509	0.12	2.40	0.00	0.000	4740	0.263	0.081	2638	729	2193	2250	2136	0	0	0	0	0	0	14.03	14.19	14.18
5559	0.20	284.2	2640	726	2248	2138	334.2	10.7	444	5566	0.00	2.40	0.00	0.000	1158	0.000	0.079	2634	2109	2195	2254	2137	0	0	0	0	0	0	14.31	14.19	14.35
5864	0.20	284.2	2638	2109	2248	2135	301.4	10.6	455	5865	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2109	2191	2247	2136	0	0	0	0	0	0	14.62	14.65	14.66
6164	0.20	287.5	2638	2110	2247	2135	271.0	9.8	465	6169	0.00	2.40	0.00	0.000	548	0.000	0.083	2644	729	2189	2245	2134	0	0	0	0	0	0	14.67	14.28	14.69
6276	0.27	305.9	2645	729	2246	2134	260.8	9.2	487	6315	0.00	2.38	31.23	1.427	9382	0.000	0.081	2643	2102	2115	2168	2062	0	0	0	0	0	0	14.43	14.29	13.34
6616	0.33	348.4	2645	2105	2164	2054	231.6	8.0	505	6690	0.15	0.00	71.97	1.323	10406	0.115	0.000	2705	2105	1947	1990	1904	0	0	0	0	0	0	14.32	13.96	13.20
6974	0.29	348.4	2706	2105	1981	1884	188.8	11.7	517	6979	0.12	2.42	0.00	0.000	4740	0.244	0.085	2676	731	1931	1980	1883	0	0	0	0	0	0	13.90	14.09	14.02
7040	0.41	387.7	2676	731	1978	1884	182.9	8.2	530	7110	0.12	2.38	64.53	1.291	11430	0.135	0.080	2727	2101	1783	1814	1753	0	0	0	0	0	0	14.24	14.19	13.22
7425	0.38	387.7	2727	2102	1806	1739	136.1	11.8	557	7430	0.00	2.42	0.00	0.000	644	0.000	0.086	2729	722	1771	1805	1738	0	0	0	0	0	0	14.56	14.18	14.54
7495	0.42	387.7	2730	723	1801	1744	128.2	10.9	571	7500	0.00	2.42	0.00	0.000	1158	0.000	0.078	2729	2107	1769	1802	1737	0	0	0	0	0	0	14.35	14.22	14.38
7805	0.42	387.7	2729	2108	1803	1736	95.2	10.1	586	7811	0.00	2.42	0.00	0.000	516	0.000	0.085	2729	727	1769	1802	1736	0	0	0	0	0	0	14.60	14.20	14.62
7851	0.48	406.3	2730	728	1800	1737	91.0	9.1	595	7868	0.00	2.40	9.02	0.470	9382	0.000	0.078	2729	2103	1709	1739	1680	0	0	0	0	0	0	14.39	14.22	13.64
8166	0.55	468.9	2730	2104	1742	1680	63.7	7.1	628	8208	0.00	2.42	34.80	0.392	8868	0.000	0.083	2729	719	1452	1491	1414	0	0	0	0	0	0	14.60	14.16	13.78
8270	0.74	548.5	2730	723	1492	1414	57.1	6.3	648	8324	0.28	2.42	44.45	0.368	11430	0.091	0.078	2832	2108	1128	1199	1058	0	0	0	0	0	0	14.21	14.12	13.69
8619	0.75	565.7	2832	2109	1193	1050	19.5	9.2	688	8632	0.00	2.50	9.05	0.272	8740	0.000	0.084	2838	731	1055	1127	984	0	0	0	0	0	0	14.54	14.17	13.84
8703	0.85	625.5	2839	730	1128	986	13.4	7.2	704	8745	0.00	2.40	33.78	0.243	9382	0.000	0.077	2838	2109	811	880	742	0	0	0	0	0	0	14.20	14.07	13.80
8850	end climb: SURFACE_DEPTH_REACHED
state	8850	begin surface coast
8870	end surface coast: CONTROL_FINISHED_OK
state	8870	begin surface