Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 191 * 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 191 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 539.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 539.0 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 32 VBD_MIN 500

DIVE 191 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 290817,042003,7412.1890,-15300.1045,31,0.8,32,19.6,0.0,0.0,11,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 275.6,30335,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.5 D_GRID 480

GPS2 290817,043747,7412.2319,-15300.4814,5,0.8,12,19.6,0.0,52.0,11,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829040359.204654,3,168,22,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D PM_FREEKB_00 52247296

FINISH 0.4,1.021385 _24V_AH 12.37,134.646

SM_CCo 9055,25.83,0.202,0,0,499,702.78 _10V_AH 12.24,0.000

SM_GC 1.35,8.23,2.17,25.83,0.078,0.047,0.202,203,2219,499,-7.37,1.84,702.78,0,0,0,0,0,0,14.33,14.31,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

MODEM 0,1503979439,75.36600,-145.04601,185.205,268167.7 MEM 323492

RAFOS_FIX 7410.698730,-15249.871094,290817,000056,4,255,0.22 DATA_FILE_SIZE 26669,799

IRIDIUM_FIX 7412.31,-15304.90,290817,043000 CAP_FILE_SIZE 112594,0

TT8_MAMPS 0.039697,0.848617 CFSIZE 2097872896,2028961792

HUMID 46.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.5

TCM_TEMP 13.20 CURRENT 0.025,251.25,1

XPDR_PINGS 18 GPS 290817,071055,7412.979,-15304.500,20,0.8,24,19.6,0.0,232.7,10,10.0

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.24 nil 0 0 0.00

Roll_motor 92 2138 2435.97 nil 0 0 0.00

VBD_pump_during_apogee 968 1473 17654.00 nil 0 0 0.00

VBD_pump_during_surface 25 201 64.52 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 9018 14 1626.33

Iridium_during_xfer 658 173 1415.07 NCP 9057 20 2240.70

Transponder_ping 4 420 23.38 PMAR 9009 9 1101.15

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.69

TT8 0 0 0.00

LPSleep 6496 2 183.69

TT8_Active 986 13 168.60

TT8_Sampling 2354 33 963.54

TT8_CF8 323 38 153.40

TT8_Kalman 0 0 0.00

Analog_circuits 2411 10 295.14

GPS_charging 0 0 0.00

Compass 1146 7 98.26

RAFOS 0 0 0.00

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 -145.9 179 2191 493 488 0.0 0.0 0 142 0.00 0.00 -91.78 0.000 16386 0.000 0.000 175 2192 2144 2073 2216 0 0 0 0 0 0 14.33 28.83 14.35

145 -0.57 -145.9 176 2192 2075 2217 3.1 -3.4 9 203 12.77 2.78 -38.05 0.000 18724 0.456 2.138 2375 3573 3966 3951 3981 1 0 0 0 0 0 13.44 12.56 13.99

379 -0.70 -145.9 2376 3575 3954 3981 50.0 -13.2 55 383 0.00 2.33 0.00 0.000 1158 0.000 0.059 2375 2207 3972 3964 3980 0 0 0 0 0 0 14.21 14.09 14.24

689 -0.77 -145.9 2376 2207 3956 3981 93.6 -12.1 87 690 0.15 0.00 0.00 0.000 4230 0.140 0.000 2323 2207 3967 3954 3981 0 0 0 0 0 0 14.18 14.31 14.30

1009 -0.80 -145.9 2324 2206 3956 3981 140.7 -13.7 101 1013 0.00 2.42 0.00 0.000 388 0.000 0.089 2318 3589 3968 3955 3981 0 0 0 0 0 0 14.62 14.20 14.64

1084 -0.93 -145.9 2319 3591 3955 3981 149.7 -11.1 116 1090 0.12 2.35 0.00 0.000 5254 0.129 0.057 2265 2189 3967 3954 3981 0 0 0 0 0 0 14.27 14.27 14.34

1400 -0.88 -145.9 2265 2190 3955 3982 204.8 -17.2 129 1406 0.12 2.45 0.00 0.000 2436 0.302 0.084 2282 3587 3968 3955 3981 0 0 0 0 0 0 14.00 14.22 14.16

1503 -0.97 -145.9 2283 3588 3956 3981 218.1 -11.6 149 1508 0.00 2.38 0.00 0.000 1158 0.000 0.057 2282 2186 3968 3955 3981 0 0 0 0 0 0 14.39 14.28 14.42

1823 -1.00 -145.9 2283 2186 3956 3981 259.8 -12.3 163 1828 0.00 2.45 0.00 0.000 388 0.000 0.088 2274 3583 3968 3955 3981 0 0 0 0 0 0 14.67 14.19 14.69

1893 -1.11 -145.9 2275 3585 3956 3981 267.7 -10.6 177 1898 0.17 2.33 0.00 0.000 5254 0.116 0.057 2210 2200 3968 3955 3981 0 0 0 0 0 0 14.32 14.32 14.42

2214 -1.02 -145.9 2211 2200 3955 3981 323.1 -17.2 191 2219 0.15 2.42 0.00 0.000 2436 0.307 0.084 2236 3583 3967 3955 3980 0 0 0 0 0 0 13.90 14.21 14.09

2336 -1.05 -145.9 2236 3585 3956 3980 339.3 -12.7 215 2340 0.00 2.33 0.00 0.000 1158 0.000 0.057 2236 2201 3967 3954 3980 0 0 0 0 0 0 14.41 14.29 14.45

2666 -1.05 -145.9 2235 2199 3956 3979 384.3 -13.2 231 2670 0.00 2.45 0.00 0.000 260 0.000 0.090 2236 3591 3966 3954 3979 0 0 0 0 0 0 14.67 14.17 14.69

2736 -1.11 -145.9 2236 3593 3955 3980 393.1 -12.1 245 2741 0.00 2.35 0.00 0.000 1158 0.000 0.057 2235 2196 3966 3954 3979 0 0 0 0 0 0 14.41 14.28 14.45

3056 -1.11 -145.9 2237 2195 3956 3978 433.5 -12.7 259 3061 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3588 3966 3954 3978 0 0 0 0 0 0 14.69 14.17 14.70

3146 -1.17 -145.9 2235 3589 3955 3979 444.1 -10.9 277 3151 0.00 2.33 0.00 0.000 1158 0.000 0.056 2235 2195 3966 3955 3978 0 0 0 0 0 0 14.35 14.25 14.40

3443 end dive: TARGET_DEPTH_EXCEEDED

state 3443 begin apogee

3449 -0.13 0.0 2236 2070 3955 3978 481.5 -12.5 292 3687 1.15 0.00 232.18 1.386 10246 0.240 0.000 2530 2068 3360 3387 3333 0 0 0 0 0 0 13.95 13.45 12.66

3691 end apogee: CONTROL_FINISHED_OK

state 3691 begin climb

3694 0.57 145.9 2531 2068 3382 3327 494.2 0.0 300 3913 0.75 2.53 207.98 1.348 10756 0.064 0.080 2782 732 2762 2810 2714 0 0 0 0 0 0 13.59 12.95 12.37

4138 0.20 145.9 2782 729 2795 2704 468.4 15.1 383 4145 0.62 2.42 0.00 0.000 5254 0.326 0.076 2653 2076 2748 2794 2703 0 0 0 0 0 0 13.38 13.74 13.75

4443 0.04 151.9 2654 2077 2794 2699 437.5 9.7 394 4448 0.20 2.35 0.00 0.000 4772 0.269 0.077 2610 727 2745 2793 2698 0 0 0 0 0 0 13.86 14.13 14.04

4489 0.05 202.9 2610 727 2795 2698 433.9 7.6 403 4579 0.00 2.40 84.75 1.342 9382 0.000 0.080 2611 2102 2537 2603 2472 0 0 0 0 0 0 14.23 14.10 13.07

4894 0.06 229.3 2611 2104 2589 2451 398.8 8.8 434 4933 0.00 0.00 37.47 1.392 8230 0.000 0.000 2611 2103 2431 2496 2367 0 0 0 0 0 0 14.51 13.97 13.19

5224 0.08 250.9 2611 2104 2481 2351 369.0 9.0 445 5260 0.00 2.45 32.03 1.421 8740 0.000 0.083 2613 720 2337 2395 2280 0 0 0 0 0 0 14.54 13.87 13.25

5300 0.18 282.8 2613 720 2386 2275 362.2 8.5 460 5357 0.00 2.42 50.12 1.358 9382 0.000 0.079 2613 2107 2208 2267 2149 0 0 0 0 0 0 14.23 14.09 13.12

5679 0.25 300.0 2613 2108 2255 2131 327.5 9.2 485 5709 0.12 2.47 21.67 1.449 10916 0.132 0.085 2684 730 2134 2191 2078 0 0 0 0 0 0 14.28 14.09 13.27

5744 0.21 300.0 2685 730 2183 2077 318.8 14.0 498 5749 0.15 2.40 0.00 0.000 5254 0.234 0.079 2653 2099 2128 2182 2075 0 0 0 0 0 0 13.98 14.14 14.23

6069 0.21 300.0 2654 2101 2183 2071 280.6 11.2 513 6075 0.00 2.40 0.00 0.000 516 0.000 0.084 2659 729 2125 2181 2070 0 0 0 0 0 0 14.61 14.15 14.62

6110 0.23 300.0 2659 730 2181 2071 276.1 10.7 521 6116 0.00 2.38 0.00 0.000 1158 0.000 0.078 2659 2099 2125 2180 2070 0 0 0 0 0 0 14.39 14.26 14.42

6431 0.23 300.0 2660 2100 2181 2076 242.5 10.1 535 6436 0.00 2.40 0.00 0.000 516 0.000 0.084 2660 726 2124 2180 2068 0 0 0 0 0 0 14.66 14.23 14.67

6456 0.25 300.0 2660 726 2180 2070 240.1 10.7 540 6462 0.00 2.40 0.00 0.000 1158 0.000 0.079 2659 2105 2123 2179 2067 0 0 0 0 0 0 14.38 14.25 14.42

6762 0.27 327.9 2666 2107 2176 2068 212.0 8.7 551 6812 0.00 2.50 45.70 1.346 8740 0.000 0.085 2658 726 2025 2076 1975 0 0 0 0 0 0 14.66 14.12 13.31

6854 0.38 361.1 2658 727 2063 1971 204.3 8.5 569 6919 0.15 2.42 58.20 1.271 11430 0.123 0.079 2718 2103 1889 1926 1852 0 0 0 0 0 0 14.13 14.08 13.16

7244 0.35 361.1 2718 2104 1909 1840 157.6 11.8 597 7250 0.12 2.40 0.00 0.000 4740 0.231 0.081 2699 730 1873 1908 1838 0 0 0 0 0 0 14.09 14.18 14.26

7285 0.41 372.0 2700 729 1906 1838 153.6 9.5 605 7296 0.00 2.40 5.03 1.473 9382 0.000 0.078 2699 2101 1849 1882 1817 0 0 0 0 0 0 14.33 14.20 13.10

7606 0.41 382.5 2699 2101 1892 1817 122.3 9.5 619 7632 0.00 2.47 21.40 1.392 8740 0.000 0.084 2699 727 1801 1833 1770 0 0 0 0 0 0 14.59 13.78 13.35

7662 0.51 403.5 2699 730 1822 1768 117.0 9.0 630 7704 0.15 2.40 33.90 1.292 11430 0.120 0.077 2764 2105 1716 1743 1689 0 0 0 0 0 0 14.22 14.16 13.28

8009 0.45 403.5 2764 2105 1737 1672 75.1 10.7 665 8015 0.12 2.42 0.00 0.000 4740 0.259 0.080 2743 723 1703 1735 1672 0 0 0 0 0 0 13.95 14.07 14.10

8090 0.52 446.4 2744 723 1732 1674 68.4 8.0 681 8117 0.00 2.42 21.30 0.400 9382 0.000 0.079 2740 2106 1542 1575 1510 0 0 0 0 0 0 14.31 14.19 13.74

8423 0.66 543.0 2744 2107 1580 1511 44.5 5.5 717 8480 0.12 2.50 50.95 0.330 10916 0.130 0.085 2807 727 1150 1216 1084 0 0 0 0 0 0 14.28 14.01 13.78

8586 0.76 573.2 2808 726 1217 1087 30.8 8.6 749 8608 0.00 2.40 16.90 0.290 9382 0.000 0.078 2807 2100 1028 1100 956 0 0 0 0 0 0 14.23 14.08 13.86

8906 0.91 663.8 2807 2101 1100 964 9.4 5.8 783 8960 0.17 2.55 49.05 0.229 10660 0.107 0.085 2885 3506 661 718 604 0 0 0 0 0 0 14.13 14.09 13.83

8978 end climb: SURFACE_DEPTH_REACHED

state 8978 begin surface coast

8988 end surface coast: CONTROL_FINISHED_OK

state 8988 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	191	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	539.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,042003,7412.1890,-15300.1045,31,0.8,32,19.6,0.0,0.0,11,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	275.6,30335,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.5	D_GRID	480
GPS2	290817,043747,7412.2319,-15300.4814,5,0.8,12,19.6,0.0,52.0,11,9.0

MODEM_MSG	CACST,6,1,20170829040359.204654,3,168,22,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0D	PM_FREEKB_00	52247296
FINISH	0.4,1.021385	_24V_AH	12.37,134.646
SM_CCo	9055,25.83,0.202,0,0,499,702.78	_10V_AH	12.24,0.000
SM_GC	1.35,8.23,2.17,25.83,0.078,0.047,0.202,203,2219,499,-7.37,1.84,702.78,0,0,0,0,0,0,14.33,14.31,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
MODEM	0,1503979439,75.36600,-145.04601,185.205,268167.7	MEM	323492
RAFOS_FIX	7410.698730,-15249.871094,290817,000056,4,255,0.22	DATA_FILE_SIZE	26669,799
IRIDIUM_FIX	7412.31,-15304.90,290817,043000	CAP_FILE_SIZE	112594,0
TT8_MAMPS	0.039697,0.848617	CFSIZE	2097872896,2028961792
HUMID	46.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.5
TCM_TEMP	13.20	CURRENT	0.025,251.25,1
XPDR_PINGS	18	GPS	290817,071055,7412.979,-15304.500,20,0.8,24,19.6,0.0,232.7,10,10.0
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.24	nil	0	0	0.00
Roll_motor	92	2138	2435.97	nil	0	0	0.00
VBD_pump_during_apogee	968	1473	17654.00	nil	0	0	0.00
VBD_pump_during_surface	25	201	64.52	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	9018	14	1626.33
Iridium_during_xfer	658	173	1415.07	NCP	9057	20	2240.70
Transponder_ping	4	420	23.38	PMAR	9009	9	1101.15
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.69
TT8	0	0	0.00
LPSleep	6496	2	183.69
TT8_Active	986	13	168.60
TT8_Sampling	2354	33	963.54
TT8_CF8	323	38	153.40
TT8_Kalman	0	0	0.00
Analog_circuits	2411	10	295.14
GPS_charging	0	0	0.00
Compass	1146	7	98.26
RAFOS	0	0	0.00
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	179	2191	493	488	0.0	0.0	0	142	0.00	0.00	-91.78	0.000	16386	0.000	0.000	175	2192	2144	2073	2216	0	0	0	0	0	0	14.33	28.83	14.35
145	-0.57	-145.9	176	2192	2075	2217	3.1	-3.4	9	203	12.77	2.78	-38.05	0.000	18724	0.456	2.138	2375	3573	3966	3951	3981	1	0	0	0	0	0	13.44	12.56	13.99
379	-0.70	-145.9	2376	3575	3954	3981	50.0	-13.2	55	383	0.00	2.33	0.00	0.000	1158	0.000	0.059	2375	2207	3972	3964	3980	0	0	0	0	0	0	14.21	14.09	14.24
689	-0.77	-145.9	2376	2207	3956	3981	93.6	-12.1	87	690	0.15	0.00	0.00	0.000	4230	0.140	0.000	2323	2207	3967	3954	3981	0	0	0	0	0	0	14.18	14.31	14.30
1009	-0.80	-145.9	2324	2206	3956	3981	140.7	-13.7	101	1013	0.00	2.42	0.00	0.000	388	0.000	0.089	2318	3589	3968	3955	3981	0	0	0	0	0	0	14.62	14.20	14.64
1084	-0.93	-145.9	2319	3591	3955	3981	149.7	-11.1	116	1090	0.12	2.35	0.00	0.000	5254	0.129	0.057	2265	2189	3967	3954	3981	0	0	0	0	0	0	14.27	14.27	14.34
1400	-0.88	-145.9	2265	2190	3955	3982	204.8	-17.2	129	1406	0.12	2.45	0.00	0.000	2436	0.302	0.084	2282	3587	3968	3955	3981	0	0	0	0	0	0	14.00	14.22	14.16
1503	-0.97	-145.9	2283	3588	3956	3981	218.1	-11.6	149	1508	0.00	2.38	0.00	0.000	1158	0.000	0.057	2282	2186	3968	3955	3981	0	0	0	0	0	0	14.39	14.28	14.42
1823	-1.00	-145.9	2283	2186	3956	3981	259.8	-12.3	163	1828	0.00	2.45	0.00	0.000	388	0.000	0.088	2274	3583	3968	3955	3981	0	0	0	0	0	0	14.67	14.19	14.69
1893	-1.11	-145.9	2275	3585	3956	3981	267.7	-10.6	177	1898	0.17	2.33	0.00	0.000	5254	0.116	0.057	2210	2200	3968	3955	3981	0	0	0	0	0	0	14.32	14.32	14.42
2214	-1.02	-145.9	2211	2200	3955	3981	323.1	-17.2	191	2219	0.15	2.42	0.00	0.000	2436	0.307	0.084	2236	3583	3967	3955	3980	0	0	0	0	0	0	13.90	14.21	14.09
2336	-1.05	-145.9	2236	3585	3956	3980	339.3	-12.7	215	2340	0.00	2.33	0.00	0.000	1158	0.000	0.057	2236	2201	3967	3954	3980	0	0	0	0	0	0	14.41	14.29	14.45
2666	-1.05	-145.9	2235	2199	3956	3979	384.3	-13.2	231	2670	0.00	2.45	0.00	0.000	260	0.000	0.090	2236	3591	3966	3954	3979	0	0	0	0	0	0	14.67	14.17	14.69
2736	-1.11	-145.9	2236	3593	3955	3980	393.1	-12.1	245	2741	0.00	2.35	0.00	0.000	1158	0.000	0.057	2235	2196	3966	3954	3979	0	0	0	0	0	0	14.41	14.28	14.45
3056	-1.11	-145.9	2237	2195	3956	3978	433.5	-12.7	259	3061	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3588	3966	3954	3978	0	0	0	0	0	0	14.69	14.17	14.70
3146	-1.17	-145.9	2235	3589	3955	3979	444.1	-10.9	277	3151	0.00	2.33	0.00	0.000	1158	0.000	0.056	2235	2195	3966	3955	3978	0	0	0	0	0	0	14.35	14.25	14.40
3443	end dive: TARGET_DEPTH_EXCEEDED
state	3443	begin apogee
3449	-0.13	0.0	2236	2070	3955	3978	481.5	-12.5	292	3687	1.15	0.00	232.18	1.386	10246	0.240	0.000	2530	2068	3360	3387	3333	0	0	0	0	0	0	13.95	13.45	12.66
3691	end apogee: CONTROL_FINISHED_OK
state	3691	begin climb
3694	0.57	145.9	2531	2068	3382	3327	494.2	0.0	300	3913	0.75	2.53	207.98	1.348	10756	0.064	0.080	2782	732	2762	2810	2714	0	0	0	0	0	0	13.59	12.95	12.37
4138	0.20	145.9	2782	729	2795	2704	468.4	15.1	383	4145	0.62	2.42	0.00	0.000	5254	0.326	0.076	2653	2076	2748	2794	2703	0	0	0	0	0	0	13.38	13.74	13.75
4443	0.04	151.9	2654	2077	2794	2699	437.5	9.7	394	4448	0.20	2.35	0.00	0.000	4772	0.269	0.077	2610	727	2745	2793	2698	0	0	0	0	0	0	13.86	14.13	14.04
4489	0.05	202.9	2610	727	2795	2698	433.9	7.6	403	4579	0.00	2.40	84.75	1.342	9382	0.000	0.080	2611	2102	2537	2603	2472	0	0	0	0	0	0	14.23	14.10	13.07
4894	0.06	229.3	2611	2104	2589	2451	398.8	8.8	434	4933	0.00	0.00	37.47	1.392	8230	0.000	0.000	2611	2103	2431	2496	2367	0	0	0	0	0	0	14.51	13.97	13.19
5224	0.08	250.9	2611	2104	2481	2351	369.0	9.0	445	5260	0.00	2.45	32.03	1.421	8740	0.000	0.083	2613	720	2337	2395	2280	0	0	0	0	0	0	14.54	13.87	13.25
5300	0.18	282.8	2613	720	2386	2275	362.2	8.5	460	5357	0.00	2.42	50.12	1.358	9382	0.000	0.079	2613	2107	2208	2267	2149	0	0	0	0	0	0	14.23	14.09	13.12
5679	0.25	300.0	2613	2108	2255	2131	327.5	9.2	485	5709	0.12	2.47	21.67	1.449	10916	0.132	0.085	2684	730	2134	2191	2078	0	0	0	0	0	0	14.28	14.09	13.27
5744	0.21	300.0	2685	730	2183	2077	318.8	14.0	498	5749	0.15	2.40	0.00	0.000	5254	0.234	0.079	2653	2099	2128	2182	2075	0	0	0	0	0	0	13.98	14.14	14.23
6069	0.21	300.0	2654	2101	2183	2071	280.6	11.2	513	6075	0.00	2.40	0.00	0.000	516	0.000	0.084	2659	729	2125	2181	2070	0	0	0	0	0	0	14.61	14.15	14.62
6110	0.23	300.0	2659	730	2181	2071	276.1	10.7	521	6116	0.00	2.38	0.00	0.000	1158	0.000	0.078	2659	2099	2125	2180	2070	0	0	0	0	0	0	14.39	14.26	14.42
6431	0.23	300.0	2660	2100	2181	2076	242.5	10.1	535	6436	0.00	2.40	0.00	0.000	516	0.000	0.084	2660	726	2124	2180	2068	0	0	0	0	0	0	14.66	14.23	14.67
6456	0.25	300.0	2660	726	2180	2070	240.1	10.7	540	6462	0.00	2.40	0.00	0.000	1158	0.000	0.079	2659	2105	2123	2179	2067	0	0	0	0	0	0	14.38	14.25	14.42
6762	0.27	327.9	2666	2107	2176	2068	212.0	8.7	551	6812	0.00	2.50	45.70	1.346	8740	0.000	0.085	2658	726	2025	2076	1975	0	0	0	0	0	0	14.66	14.12	13.31
6854	0.38	361.1	2658	727	2063	1971	204.3	8.5	569	6919	0.15	2.42	58.20	1.271	11430	0.123	0.079	2718	2103	1889	1926	1852	0	0	0	0	0	0	14.13	14.08	13.16
7244	0.35	361.1	2718	2104	1909	1840	157.6	11.8	597	7250	0.12	2.40	0.00	0.000	4740	0.231	0.081	2699	730	1873	1908	1838	0	0	0	0	0	0	14.09	14.18	14.26
7285	0.41	372.0	2700	729	1906	1838	153.6	9.5	605	7296	0.00	2.40	5.03	1.473	9382	0.000	0.078	2699	2101	1849	1882	1817	0	0	0	0	0	0	14.33	14.20	13.10
7606	0.41	382.5	2699	2101	1892	1817	122.3	9.5	619	7632	0.00	2.47	21.40	1.392	8740	0.000	0.084	2699	727	1801	1833	1770	0	0	0	0	0	0	14.59	13.78	13.35
7662	0.51	403.5	2699	730	1822	1768	117.0	9.0	630	7704	0.15	2.40	33.90	1.292	11430	0.120	0.077	2764	2105	1716	1743	1689	0	0	0	0	0	0	14.22	14.16	13.28
8009	0.45	403.5	2764	2105	1737	1672	75.1	10.7	665	8015	0.12	2.42	0.00	0.000	4740	0.259	0.080	2743	723	1703	1735	1672	0	0	0	0	0	0	13.95	14.07	14.10
8090	0.52	446.4	2744	723	1732	1674	68.4	8.0	681	8117	0.00	2.42	21.30	0.400	9382	0.000	0.079	2740	2106	1542	1575	1510	0	0	0	0	0	0	14.31	14.19	13.74
8423	0.66	543.0	2744	2107	1580	1511	44.5	5.5	717	8480	0.12	2.50	50.95	0.330	10916	0.130	0.085	2807	727	1150	1216	1084	0	0	0	0	0	0	14.28	14.01	13.78
8586	0.76	573.2	2808	726	1217	1087	30.8	8.6	749	8608	0.00	2.40	16.90	0.290	9382	0.000	0.078	2807	2100	1028	1100	956	0	0	0	0	0	0	14.23	14.08	13.86
8906	0.91	663.8	2807	2101	1100	964	9.4	5.8	783	8960	0.17	2.55	49.05	0.229	10660	0.107	0.085	2885	3506	661	718	604	0	0	0	0	0	0	14.13	14.09	13.83
8978	end climb: SURFACE_DEPTH_REACHED
state	8978	begin surface coast
8988	end surface coast: CONTROL_FINISHED_OK
state	8988	begin surface