Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 189 * 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 189 TGT_DEFAULT_LON -14430 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT 0.75

STOP_T 0 SM_CC 702.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3365 DEVICE1 -1

D_TGT 480 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 650 COMM_SEQ 0 VBD_CNV -0.24529999 DEVICE3 -1

D_NO_BLEED 50 PROTOCOL 9 VBD_LP_IGNORE 0 DEVICE4 -1

D_BOOST 100 N_NOCOMM 1 VBD_TIMEOUT 720 DEVICE5 -1

T_BOOST 4 NOCOMM_ACTION 161 PITCH_VBD_SHIFT 0.00069999998 DEVICE6 -1

D_FINISH 0 N_NOSURFACE 0 VBD_PUMP_AD_RATE_SURFACE 1 LOGGERS 7

D_PITCH 0 UPLOAD_DIVES_MAX -1 VBD_PUMP_AD_RATE_APOGEE 1 LOGGERDEVICE1 54

D_SAFE 0 CALL_TRIES 5 VBD_BLEED_AD_RATE 8 LOGGERDEVICE2 135

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 20 LOGGERDEVICE3 83

SURFACE_URGENCY 0 CAPUPLOAD 0 VBD_MAXERRORS 1 LOGGERDEVICE4 -1

SURFACE_URGENCY_TRY 0 CAPMAXSIZE 100000 W_ADJ_DBAND 0 COMPASS_DEVICE 97

SURFACE_URGENCY_FORCE 0 HEAPDBG 0 DBDW 0 COMPASS2_DEVICE 150

T_DIVE 160 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 48

T_MISSION 195 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 0 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00061896152

USE_BATHY 0 PITCH_MIN 208 MINV_24V 11 SEABIRD_T_I 2.1649632e-05

USE_ICE 0 PITCH_MAX 3950 MINV_10V 11 SEABIRD_T_J 2.1628491e-06

ICE_FREEZE_MARGIN 0.050000001 C_PITCH 2580 MAXI_24V 0.60000002 SEABIRD_C_G -9.8804169

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_C_H 1.1388741

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0017082796

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021409935

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 38 PRESSURE_YINT -162.29706 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010687162 SC_XMITPROFILE 3.0

GLIDE_SLOPE 30 PITCH_AD_RATE 160 AD7714Ch0Gain 1 SC_NDIVE 1.0

SPEED_FACTOR 1 PITCH_MAXERRORS 1 TCM_PITCH_OFFSET 0 CP_RECORDABOVE 1000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 CP_PROFILE 3.0

MASS 55566 PITCH_ADJ_DBAND 1 COMPASS_USE 4 CP_XMITPROFILE 0.0

MASS_COMP 0 ROLL_MIN 218 ALTIM_BOTTOM_PING_RANGE 0 CP_UPLOADMAX 100000.0

NAV_MODE 2 ROLL_MAX 3787 ALTIM_TOP_PING_RANGE 0 CP_STARTS 534.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 534.0 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 63 VBD_MIN 500

DIVE 189 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 280817,223453,7410.3955,-15251.3711,37,0.7,40,19.6,0.3,275.2,12,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 278.7,35602,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.0 D_GRID 480

GPS2 280817,225318,7410.4570,-15251.8086,8,0.8,12,19.6,0.0,33.9,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829002702.097052,3,43,16,0186,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B PM_FREEKB_00 52302336

FINISH 0.6,1.021300 _24V_AH 12.33,133.657

SM_CCo 8863,17.65,0.214,0,0,500,703.03 _10V_AH 12.22,0.000

SM_GC 0.95,8.35,0.17,17.65,0.086,0.116,0.214,197,2220,500,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.29,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

MODEM 0,1503965034,75.36600,-145.04601,180.170,260781.5 MEM 323544

RAFOS_FIX 7410.698730,-15249.871094,290817,000056,4,255,0.22 DATA_FILE_SIZE 26698,784

IRIDIUM_FIX 7411.32,-15240.22,280817,224658 CAP_FILE_SIZE 112695,0

TT8_MAMPS 0.038948,0.864346 CFSIZE 2097872896,2029518848

HUMID 46.10 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 INTR 0,8851.38,0x213afc,7,24

TCM_TEMP 13.10 SOUNDSPEED 1447.8

XPDR_PINGS 10 CURRENT 0.021,218.88,1

CP_FREE 15986262016.000000 GPS 290817,012311,7411.211,-15255.402,20,0.7,28,19.6,0.6,315.2,11,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 461 146.32 nil 0 0 0.00

Roll_motor 93 2147 2478.90 nil 0 0 0.00

VBD_pump_during_apogee 923 1601 18238.09 nil 0 0 0.00

VBD_pump_during_surface 17 214 46.62 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 8872 14 1585.31

Iridium_during_xfer 569 166 1164.76 NCP 8868 20 2186.85

Transponder_ping 2 420 12.95 PMAR 8816 9 1077.77

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.73

TT8 0 0 0.00

LPSleep 6489 2 183.20

TT8_Active 957 13 163.45

TT8_Sampling 2233 33 912.71

TT8_CF8 324 38 153.19

TT8_Kalman 0 0 0.00

Analog_circuits 2277 10 278.33

GPS_charging 0 0 0.00

Compass 1123 7 96.11

RAFOS 2153 48 1262.86

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 -145.9 185 2223 495 490 0.0 0.0 0 141 0.00 0.00 -91.38 0.000 16386 0.000 0.000 182 2223 2158 2086 2231 0 0 0 0 0 0 14.56 28.83 14.58

144 -0.57 -145.9 184 2225 2088 2232 3.6 -4.8 9 201 12.90 2.72 -37.00 0.000 18724 0.461 2.147 2377 3590 3967 3953 3981 0 0 0 0 0 0 13.57 12.58 14.04

427 -0.68 -145.9 2375 3592 3953 3983 58.0 -13.5 65 431 0.00 2.33 0.00 0.000 1158 0.000 0.059 2376 2230 3964 3946 3982 0 0 0 0 0 0 14.29 14.16 14.33

737 -0.77 -145.9 2376 2229 3952 3983 99.1 -11.4 97 742 0.12 2.53 0.00 0.000 4740 0.148 0.080 2327 787 3967 3953 3981 0 0 0 0 0 0 14.22 14.12 14.27

777 -0.84 -145.9 2324 788 3953 3983 104.5 -13.5 105 782 0.00 2.47 0.00 0.000 1158 0.000 0.089 2325 2181 3967 3953 3982 0 0 0 0 0 0 14.30 14.16 14.34

1097 -0.88 -145.9 2326 2180 3954 3982 149.1 -13.5 119 1102 0.00 2.53 0.00 0.000 388 0.000 0.091 2319 3610 3968 3954 3982 0 0 0 0 0 0 14.63 14.19 14.64

1234 -1.03 -145.9 2320 3612 3954 3982 164.6 -10.6 146 1239 0.22 2.38 0.00 0.000 5254 0.098 0.056 2237 2198 3967 3952 3982 0 0 0 0 0 0 14.33 14.27 14.41

1549 -0.93 -145.9 2239 2197 3954 3982 226.9 -19.4 159 1555 0.15 2.50 0.00 0.000 2436 0.304 0.083 2262 3621 3967 3953 3982 0 0 0 0 0 0 13.88 14.17 14.07

1668 -0.99 -145.9 2263 3619 3954 3982 243.6 -13.1 182 1674 0.00 2.42 0.00 0.000 1158 0.000 0.058 2262 2194 3966 3952 3981 0 0 0 0 0 0 14.35 14.22 14.39

1970 -0.99 -145.9 2262 2189 3952 3983 285.3 -13.0 193 1975 0.00 2.50 0.00 0.000 260 0.000 0.088 2256 3616 3967 3953 3982 0 0 0 0 0 0 14.65 14.14 14.69

2045 -1.05 -145.9 2253 3612 3954 3982 294.8 -12.0 208 2051 0.00 2.40 0.00 0.000 1158 0.000 0.057 2253 2185 3967 3953 3982 0 0 0 0 0 0 14.35 14.22 14.38

2361 -1.05 -145.9 2253 2184 3953 3982 335.7 -12.5 221 2366 0.00 2.53 0.00 0.000 260 0.000 0.088 2245 3613 3967 3952 3982 0 0 0 0 0 0 14.66 14.19 14.69

2446 -1.12 -145.9 2245 3614 3953 3982 346.0 -11.7 238 2452 0.00 2.40 0.00 0.000 1158 0.000 0.057 2245 2199 3967 3952 3982 0 0 0 0 0 0 14.34 14.23 14.38

2752 -1.12 -145.9 2246 2198 3953 3981 384.3 -12.4 249 2756 0.00 2.50 0.00 0.000 260 0.000 0.088 2236 3619 3966 3952 3980 0 0 0 0 0 0 14.66 14.17 14.68

2822 -1.19 -145.9 2237 3620 3953 3980 392.7 -11.7 263 2827 0.12 2.40 0.00 0.000 5254 0.138 0.057 2185 2193 3966 3952 3980 0 0 0 0 0 0 14.28 14.26 14.38

3142 -1.07 -145.9 2185 2193 3953 3980 448.8 -17.7 277 3147 0.17 2.50 0.00 0.000 2436 0.305 0.086 2222 3610 3965 3952 3979 0 0 0 0 0 0 13.85 14.15 14.04

3264 -1.10 -145.9 2223 3612 3953 3980 465.3 -13.1 301 3269 0.00 2.38 0.00 0.000 1158 0.000 0.056 2222 2198 3965 3952 3979 0 0 0 0 0 0 14.40 14.26 14.42

3382 end dive: TARGET_DEPTH_EXCEEDED

state 3382 begin apogee

3387 -0.13 0.0 2223 2066 3952 3980 481.9 -13.9 310 3609 1.23 0.08 217.80 1.452 10246 0.247 0.181 2530 2118 3364 3387 3341 0 0 0 0 0 0 13.92 13.43 12.66

3612 end apogee: CONTROL_FINISHED_OK

state 3613 begin climb

3617 0.57 145.9 2530 2113 3380 3334 493.2 0.0 317 3837 0.75 2.67 205.60 1.394 10756 0.065 0.080 2781 731 2763 2806 2720 0 0 0 0 0 0 13.58 13.13 12.33

3867 0.20 145.9 2782 733 2802 2719 498.2 13.1 361 3872 0.65 2.53 0.00 0.000 5254 0.321 0.076 2652 2086 2759 2802 2717 0 0 0 0 0 0 13.05 13.31 13.37

4189 0.04 157.9 2652 2088 2802 2711 466.9 9.4 375 4209 0.22 2.45 13.25 1.602 12964 0.284 0.081 2602 721 2716 2761 2671 0 0 0 0 0 0 13.59 13.60 12.93

4259 0.09 226.6 2602 722 2760 2672 461.6 6.8 389 4371 0.00 2.47 102.28 1.396 9254 0.000 0.079 2602 2103 2438 2504 2373 0 0 0 0 0 0 14.00 13.90 12.74

4669 0.13 255.9 2603 2103 2492 2363 426.9 8.7 421 4718 0.00 2.55 41.58 1.448 8868 0.000 0.085 2602 730 2317 2373 2261 0 0 0 0 0 0 14.23 13.81 13.00

4744 0.23 288.7 2602 731 2369 2261 420.4 8.5 431 4799 0.17 2.45 49.83 1.411 11430 0.105 0.079 2673 2099 2187 2242 2132 0 0 0 0 0 0 13.90 13.84 12.88

5119 0.17 288.7 2673 2099 2225 2117 369.9 13.5 456 5124 0.12 2.42 0.00 0.000 4740 0.271 0.080 2651 729 2172 2228 2117 0 0 0 0 0 0 13.85 14.02 14.00

5160 0.19 288.7 2651 730 2226 2118 365.0 11.6 464 5164 0.00 2.42 0.00 0.000 1158 0.000 0.080 2650 2106 2171 2226 2117 0 0 0 0 0 0 14.13 14.01 14.16

5480 0.19 288.7 2650 2107 2226 2116 327.8 11.5 478 5485 0.00 2.42 0.00 0.000 516 0.000 0.085 2655 730 2170 2225 2115 0 0 0 0 0 0 14.44 14.13 14.47

5505 0.19 288.7 2655 731 2225 2117 324.8 11.4 483 5511 0.00 2.40 0.00 0.000 1030 0.000 0.079 2654 2099 2169 2224 2115 0 0 0 0 0 0 14.27 14.14 14.31

5810 0.19 288.7 2655 2101 2225 2116 288.7 11.8 494 5816 0.00 2.40 0.00 0.000 516 0.000 0.086 2655 730 2170 2224 2117 0 0 0 0 0 0 14.49 14.14 14.51

5862 0.23 288.7 2655 731 2225 2116 283.1 10.7 504 5866 0.00 2.40 0.00 0.000 1158 0.000 0.079 2655 2105 2169 2224 2115 0 0 0 0 0 0 14.24 14.12 14.28

6179 0.23 288.7 2655 2105 2224 2115 250.8 10.0 516 6180 0.00 0.00 0.00 0.000 6 0.000 0.000 2655 2105 2168 2223 2114 0 0 0 0 0 0 14.48 14.50 14.50

6472 0.25 316.9 2655 2106 2224 2115 223.6 8.7 526 6518 0.00 2.45 41.12 1.385 8740 0.000 0.084 2655 730 2070 2121 2019 0 0 0 0 0 0 14.47 14.04 13.24

6589 0.35 355.4 2655 731 2115 2019 214.1 8.2 549 6660 0.12 2.42 63.70 1.312 11430 0.132 0.079 2704 2102 1913 1952 1875 0 0 0 0 0 0 14.03 14.00 13.10

6985 0.35 355.4 2704 2104 1944 1868 169.3 11.1 578 6991 0.00 2.40 0.00 0.000 516 0.000 0.084 2706 730 1905 1943 1867 0 0 0 0 0 0 14.52 14.15 14.54

7026 0.39 355.4 2706 731 1939 1868 165.0 10.4 586 7032 0.00 2.38 0.00 0.000 1158 0.000 0.078 2706 2100 1903 1940 1867 0 0 0 0 0 0 14.32 14.19 14.36

7347 0.39 355.4 2706 2102 1939 1865 131.8 10.1 600 7352 0.00 2.40 0.00 0.000 516 0.000 0.084 2706 729 1901 1938 1865 0 0 0 0 0 0 14.62 14.25 14.64

7437 0.46 377.2 2706 729 1937 1866 123.3 9.0 618 7473 0.00 2.38 30.12 1.356 9382 0.000 0.079 2706 2100 1825 1855 1795 0 0 0 0 0 0 14.39 14.26 13.34

7779 0.51 407.4 2706 2101 1849 1787 92.2 8.6 644 7800 0.12 0.00 15.80 0.483 10406 0.132 0.000 2764 2100 1706 1728 1685 0 0 0 0 0 0 14.17 14.09 13.62

8099 0.50 452.5 2764 2101 1730 1676 58.4 7.9 676 8130 0.00 2.42 24.45 0.377 8868 0.000 0.084 2767 727 1519 1550 1489 0 0 0 0 0 0 14.57 14.14 13.77

8246 0.61 527.8 2768 728 1549 1488 48.0 6.5 705 8294 0.00 2.40 40.35 0.342 9382 0.000 0.080 2768 2103 1212 1273 1151 0 0 0 0 0 0 14.29 14.16 13.67

8591 0.77 621.1 2768 2104 1274 1142 25.4 5.7 744 8650 0.15 2.50 49.85 0.281 10916 0.120 0.087 2838 725 829 900 759 0 0 0 0 0 0 14.23 14.00 13.81

8716 0.91 671.2 2838 727 901 757 15.4 7.7 768 8748 0.12 2.40 27.65 0.254 11430 0.132 0.078 2893 2096 631 680 582 0 0 0 0 0 0 14.20 14.14 13.90

8833 end climb: SURFACE_DEPTH_REACHED

state 8833 begin surface coast

8843 end surface coast: CONTROL_FINISHED_OK

state 8843 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	189	TGT_DEFAULT_LON	-14430	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	0.75
STOP_T	0	SM_CC	702.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3365	DEVICE1	-1
D_TGT	480	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	650	COMM_SEQ	0	VBD_CNV	-0.24529999	DEVICE3	-1
D_NO_BLEED	50	PROTOCOL	9	VBD_LP_IGNORE	0	DEVICE4	-1
D_BOOST	100	N_NOCOMM	1	VBD_TIMEOUT	720	DEVICE5	-1
T_BOOST	4	NOCOMM_ACTION	161	PITCH_VBD_SHIFT	0.00069999998	DEVICE6	-1
D_FINISH	0	N_NOSURFACE	0	VBD_PUMP_AD_RATE_SURFACE	1	LOGGERS	7
D_PITCH	0	UPLOAD_DIVES_MAX	-1	VBD_PUMP_AD_RATE_APOGEE	1	LOGGERDEVICE1	54
D_SAFE	0	CALL_TRIES	5	VBD_BLEED_AD_RATE	8	LOGGERDEVICE2	135
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	20	LOGGERDEVICE3	83
SURFACE_URGENCY	0	CAPUPLOAD	0	VBD_MAXERRORS	1	LOGGERDEVICE4	-1
SURFACE_URGENCY_TRY	0	CAPMAXSIZE	100000	W_ADJ_DBAND	0	COMPASS_DEVICE	97
SURFACE_URGENCY_FORCE	0	HEAPDBG	0	DBDW	0	COMPASS2_DEVICE	150
T_DIVE	160	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	48
T_MISSION	195	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	0	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00061896152
USE_BATHY	0	PITCH_MIN	208	MINV_24V	11	SEABIRD_T_I	2.1649632e-05
USE_ICE	0	PITCH_MAX	3950	MINV_10V	11	SEABIRD_T_J	2.1628491e-06
ICE_FREEZE_MARGIN	0.050000001	C_PITCH	2580	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8804169
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_C_H	1.1388741
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0017082796
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021409935
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	38	PRESSURE_YINT	-162.29706	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010687162	SC_XMITPROFILE	3.0
GLIDE_SLOPE	30	PITCH_AD_RATE	160	AD7714Ch0Gain	1	SC_NDIVE	1.0
SPEED_FACTOR	1	PITCH_MAXERRORS	1	TCM_PITCH_OFFSET	0	CP_RECORDABOVE	1000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	CP_PROFILE	3.0
MASS	55566	PITCH_ADJ_DBAND	1	COMPASS_USE	4	CP_XMITPROFILE	0.0
MASS_COMP	0	ROLL_MIN	218	ALTIM_BOTTOM_PING_RANGE	0	CP_UPLOADMAX	100000.0
NAV_MODE	2	ROLL_MAX	3787	ALTIM_TOP_PING_RANGE	0	CP_STARTS	534.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	280817,223453,7410.3955,-15251.3711,37,0.7,40,19.6,0.3,275.2,12,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	278.7,35602,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.0	D_GRID	480
GPS2	280817,225318,7410.4570,-15251.8086,8,0.8,12,19.6,0.0,33.9,10,9.9

MODEM_MSG	CACST,6,1,20170829002702.097052,3,43,16,0186,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B	PM_FREEKB_00	52302336
FINISH	0.6,1.021300	_24V_AH	12.33,133.657
SM_CCo	8863,17.65,0.214,0,0,500,703.03	_10V_AH	12.22,0.000
SM_GC	0.95,8.35,0.17,17.65,0.086,0.116,0.214,197,2220,500,-7.39,-0.74,703.03,0,0,0,0,0,0,14.29,14.29,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
MODEM	0,1503965034,75.36600,-145.04601,180.170,260781.5	MEM	323544
RAFOS_FIX	7410.698730,-15249.871094,290817,000056,4,255,0.22	DATA_FILE_SIZE	26698,784
IRIDIUM_FIX	7411.32,-15240.22,280817,224658	CAP_FILE_SIZE	112695,0
TT8_MAMPS	0.038948,0.864346	CFSIZE	2097872896,2029518848
HUMID	46.10	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	INTR	0,8851.38,0x213afc,7,24
TCM_TEMP	13.10	SOUNDSPEED	1447.8
XPDR_PINGS	10	CURRENT	0.021,218.88,1
CP_FREE	15986262016.000000	GPS	290817,012311,7411.211,-15255.402,20,0.7,28,19.6,0.6,315.2,11,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	461	146.32	nil	0	0	0.00
Roll_motor	93	2147	2478.90	nil	0	0	0.00
VBD_pump_during_apogee	923	1601	18238.09	nil	0	0	0.00
VBD_pump_during_surface	17	214	46.62	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	8872	14	1585.31
Iridium_during_xfer	569	166	1164.76	NCP	8868	20	2186.85
Transponder_ping	2	420	12.95	PMAR	8816	9	1077.77
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.73
TT8	0	0	0.00
LPSleep	6489	2	183.20
TT8_Active	957	13	163.45
TT8_Sampling	2233	33	912.71
TT8_CF8	324	38	153.19
TT8_Kalman	0	0	0.00
Analog_circuits	2277	10	278.33
GPS_charging	0	0	0.00
Compass	1123	7	96.11
RAFOS	2153	48	1262.86
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	185	2223	495	490	0.0	0.0	0	141	0.00	0.00	-91.38	0.000	16386	0.000	0.000	182	2223	2158	2086	2231	0	0	0	0	0	0	14.56	28.83	14.58
144	-0.57	-145.9	184	2225	2088	2232	3.6	-4.8	9	201	12.90	2.72	-37.00	0.000	18724	0.461	2.147	2377	3590	3967	3953	3981	0	0	0	0	0	0	13.57	12.58	14.04
427	-0.68	-145.9	2375	3592	3953	3983	58.0	-13.5	65	431	0.00	2.33	0.00	0.000	1158	0.000	0.059	2376	2230	3964	3946	3982	0	0	0	0	0	0	14.29	14.16	14.33
737	-0.77	-145.9	2376	2229	3952	3983	99.1	-11.4	97	742	0.12	2.53	0.00	0.000	4740	0.148	0.080	2327	787	3967	3953	3981	0	0	0	0	0	0	14.22	14.12	14.27
777	-0.84	-145.9	2324	788	3953	3983	104.5	-13.5	105	782	0.00	2.47	0.00	0.000	1158	0.000	0.089	2325	2181	3967	3953	3982	0	0	0	0	0	0	14.30	14.16	14.34
1097	-0.88	-145.9	2326	2180	3954	3982	149.1	-13.5	119	1102	0.00	2.53	0.00	0.000	388	0.000	0.091	2319	3610	3968	3954	3982	0	0	0	0	0	0	14.63	14.19	14.64
1234	-1.03	-145.9	2320	3612	3954	3982	164.6	-10.6	146	1239	0.22	2.38	0.00	0.000	5254	0.098	0.056	2237	2198	3967	3952	3982	0	0	0	0	0	0	14.33	14.27	14.41
1549	-0.93	-145.9	2239	2197	3954	3982	226.9	-19.4	159	1555	0.15	2.50	0.00	0.000	2436	0.304	0.083	2262	3621	3967	3953	3982	0	0	0	0	0	0	13.88	14.17	14.07
1668	-0.99	-145.9	2263	3619	3954	3982	243.6	-13.1	182	1674	0.00	2.42	0.00	0.000	1158	0.000	0.058	2262	2194	3966	3952	3981	0	0	0	0	0	0	14.35	14.22	14.39
1970	-0.99	-145.9	2262	2189	3952	3983	285.3	-13.0	193	1975	0.00	2.50	0.00	0.000	260	0.000	0.088	2256	3616	3967	3953	3982	0	0	0	0	0	0	14.65	14.14	14.69
2045	-1.05	-145.9	2253	3612	3954	3982	294.8	-12.0	208	2051	0.00	2.40	0.00	0.000	1158	0.000	0.057	2253	2185	3967	3953	3982	0	0	0	0	0	0	14.35	14.22	14.38
2361	-1.05	-145.9	2253	2184	3953	3982	335.7	-12.5	221	2366	0.00	2.53	0.00	0.000	260	0.000	0.088	2245	3613	3967	3952	3982	0	0	0	0	0	0	14.66	14.19	14.69
2446	-1.12	-145.9	2245	3614	3953	3982	346.0	-11.7	238	2452	0.00	2.40	0.00	0.000	1158	0.000	0.057	2245	2199	3967	3952	3982	0	0	0	0	0	0	14.34	14.23	14.38
2752	-1.12	-145.9	2246	2198	3953	3981	384.3	-12.4	249	2756	0.00	2.50	0.00	0.000	260	0.000	0.088	2236	3619	3966	3952	3980	0	0	0	0	0	0	14.66	14.17	14.68
2822	-1.19	-145.9	2237	3620	3953	3980	392.7	-11.7	263	2827	0.12	2.40	0.00	0.000	5254	0.138	0.057	2185	2193	3966	3952	3980	0	0	0	0	0	0	14.28	14.26	14.38
3142	-1.07	-145.9	2185	2193	3953	3980	448.8	-17.7	277	3147	0.17	2.50	0.00	0.000	2436	0.305	0.086	2222	3610	3965	3952	3979	0	0	0	0	0	0	13.85	14.15	14.04
3264	-1.10	-145.9	2223	3612	3953	3980	465.3	-13.1	301	3269	0.00	2.38	0.00	0.000	1158	0.000	0.056	2222	2198	3965	3952	3979	0	0	0	0	0	0	14.40	14.26	14.42
3382	end dive: TARGET_DEPTH_EXCEEDED
state	3382	begin apogee
3387	-0.13	0.0	2223	2066	3952	3980	481.9	-13.9	310	3609	1.23	0.08	217.80	1.452	10246	0.247	0.181	2530	2118	3364	3387	3341	0	0	0	0	0	0	13.92	13.43	12.66
3612	end apogee: CONTROL_FINISHED_OK
state	3613	begin climb
3617	0.57	145.9	2530	2113	3380	3334	493.2	0.0	317	3837	0.75	2.67	205.60	1.394	10756	0.065	0.080	2781	731	2763	2806	2720	0	0	0	0	0	0	13.58	13.13	12.33
3867	0.20	145.9	2782	733	2802	2719	498.2	13.1	361	3872	0.65	2.53	0.00	0.000	5254	0.321	0.076	2652	2086	2759	2802	2717	0	0	0	0	0	0	13.05	13.31	13.37
4189	0.04	157.9	2652	2088	2802	2711	466.9	9.4	375	4209	0.22	2.45	13.25	1.602	12964	0.284	0.081	2602	721	2716	2761	2671	0	0	0	0	0	0	13.59	13.60	12.93
4259	0.09	226.6	2602	722	2760	2672	461.6	6.8	389	4371	0.00	2.47	102.28	1.396	9254	0.000	0.079	2602	2103	2438	2504	2373	0	0	0	0	0	0	14.00	13.90	12.74
4669	0.13	255.9	2603	2103	2492	2363	426.9	8.7	421	4718	0.00	2.55	41.58	1.448	8868	0.000	0.085	2602	730	2317	2373	2261	0	0	0	0	0	0	14.23	13.81	13.00
4744	0.23	288.7	2602	731	2369	2261	420.4	8.5	431	4799	0.17	2.45	49.83	1.411	11430	0.105	0.079	2673	2099	2187	2242	2132	0	0	0	0	0	0	13.90	13.84	12.88
5119	0.17	288.7	2673	2099	2225	2117	369.9	13.5	456	5124	0.12	2.42	0.00	0.000	4740	0.271	0.080	2651	729	2172	2228	2117	0	0	0	0	0	0	13.85	14.02	14.00
5160	0.19	288.7	2651	730	2226	2118	365.0	11.6	464	5164	0.00	2.42	0.00	0.000	1158	0.000	0.080	2650	2106	2171	2226	2117	0	0	0	0	0	0	14.13	14.01	14.16
5480	0.19	288.7	2650	2107	2226	2116	327.8	11.5	478	5485	0.00	2.42	0.00	0.000	516	0.000	0.085	2655	730	2170	2225	2115	0	0	0	0	0	0	14.44	14.13	14.47
5505	0.19	288.7	2655	731	2225	2117	324.8	11.4	483	5511	0.00	2.40	0.00	0.000	1030	0.000	0.079	2654	2099	2169	2224	2115	0	0	0	0	0	0	14.27	14.14	14.31
5810	0.19	288.7	2655	2101	2225	2116	288.7	11.8	494	5816	0.00	2.40	0.00	0.000	516	0.000	0.086	2655	730	2170	2224	2117	0	0	0	0	0	0	14.49	14.14	14.51
5862	0.23	288.7	2655	731	2225	2116	283.1	10.7	504	5866	0.00	2.40	0.00	0.000	1158	0.000	0.079	2655	2105	2169	2224	2115	0	0	0	0	0	0	14.24	14.12	14.28
6179	0.23	288.7	2655	2105	2224	2115	250.8	10.0	516	6180	0.00	0.00	0.00	0.000	6	0.000	0.000	2655	2105	2168	2223	2114	0	0	0	0	0	0	14.48	14.50	14.50
6472	0.25	316.9	2655	2106	2224	2115	223.6	8.7	526	6518	0.00	2.45	41.12	1.385	8740	0.000	0.084	2655	730	2070	2121	2019	0	0	0	0	0	0	14.47	14.04	13.24
6589	0.35	355.4	2655	731	2115	2019	214.1	8.2	549	6660	0.12	2.42	63.70	1.312	11430	0.132	0.079	2704	2102	1913	1952	1875	0	0	0	0	0	0	14.03	14.00	13.10
6985	0.35	355.4	2704	2104	1944	1868	169.3	11.1	578	6991	0.00	2.40	0.00	0.000	516	0.000	0.084	2706	730	1905	1943	1867	0	0	0	0	0	0	14.52	14.15	14.54
7026	0.39	355.4	2706	731	1939	1868	165.0	10.4	586	7032	0.00	2.38	0.00	0.000	1158	0.000	0.078	2706	2100	1903	1940	1867	0	0	0	0	0	0	14.32	14.19	14.36
7347	0.39	355.4	2706	2102	1939	1865	131.8	10.1	600	7352	0.00	2.40	0.00	0.000	516	0.000	0.084	2706	729	1901	1938	1865	0	0	0	0	0	0	14.62	14.25	14.64
7437	0.46	377.2	2706	729	1937	1866	123.3	9.0	618	7473	0.00	2.38	30.12	1.356	9382	0.000	0.079	2706	2100	1825	1855	1795	0	0	0	0	0	0	14.39	14.26	13.34
7779	0.51	407.4	2706	2101	1849	1787	92.2	8.6	644	7800	0.12	0.00	15.80	0.483	10406	0.132	0.000	2764	2100	1706	1728	1685	0	0	0	0	0	0	14.17	14.09	13.62
8099	0.50	452.5	2764	2101	1730	1676	58.4	7.9	676	8130	0.00	2.42	24.45	0.377	8868	0.000	0.084	2767	727	1519	1550	1489	0	0	0	0	0	0	14.57	14.14	13.77
8246	0.61	527.8	2768	728	1549	1488	48.0	6.5	705	8294	0.00	2.40	40.35	0.342	9382	0.000	0.080	2768	2103	1212	1273	1151	0	0	0	0	0	0	14.29	14.16	13.67
8591	0.77	621.1	2768	2104	1274	1142	25.4	5.7	744	8650	0.15	2.50	49.85	0.281	10916	0.120	0.087	2838	725	829	900	759	0	0	0	0	0	0	14.23	14.00	13.81
8716	0.91	671.2	2838	727	901	757	15.4	7.7	768	8748	0.12	2.40	27.65	0.254	11430	0.132	0.078	2893	2096	631	680	582	0	0	0	0	0	0	14.20	14.14	13.90
8833	end climb: SURFACE_DEPTH_REACHED
state	8833	begin surface coast
8843	end surface coast: CONTROL_FINISHED_OK
state	8843	begin surface