Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 193 * 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 193 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 543.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 31 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 543.0 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 23 VBD_MIN 500

DIVE 193 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 290817,095739,7413.5083,-15308.5479,18,0.8,23,19.5,0.9,225.5,11,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15357.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 277.3,25569,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.1 D_GRID 480

GPS2 290817,101732,7413.4741,-15308.9238,11,0.8,41,19.5,0.5,288.9,10,7.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829122702.372031,3,3420,35,0705,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39 PM_FREEKB_00 52185216

FINISH 0.2,1.021471 _24V_AH 12.33,135.650

SM_CCo 9060,0.00,0.000,0,0,499,703.28 _10V_AH 12.23,0.000

SM_GC 1.27,8.30,0.17,0.00,0.075,0.108,0.000,203,2222,499,-7.37,-0.65,703.28,0,0,0,0,0,0,14.28,14.26,14.35 FG_AHR_24Vo 0.000

RAFOS_CLK 142 FG_AHR_10Vo 0.000

MODEM 0,1504008241,75.36600,-145.04601,187.093,270866.2 MEM 323472

RAFOS_FIX 7413.061035,-15312.512695,290817,121205,3,255,0.28 DATA_FILE_SIZE 26670,793

IRIDIUM_FIX 7416.61,-15315.45,290817,101014 CAP_FILE_SIZE 113118,0

TT8_MAMPS 0.038948,0.907039 CFSIZE 2097872896,2028339200

HUMID 43.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.5

TCM_TEMP 13.20 CURRENT 0.043,211.06,1

XPDR_PINGS 15 GPS 290817,125007,7414.118,-15312.838,19,0.7,22,19.5,0.6,2.5,12,8.1

CP_FREE 15985213440.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 143.68 nil 0 0 0.00

Roll_motor 88 2147 2342.54 nil 0 0 0.00

VBD_pump_during_apogee 1006 1578 19579.79 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9008 14 1629.93

Iridium_during_xfer 697 163 1408.49 NCP 9003 20 2220.14

Transponder_ping 3 420 19.42 PMAR 8952 9 1093.85

GUMSTIX_24V 0 0 0.00

GPS 42 22 11.71

TT8 0 0 0.00

LPSleep 6578 2 185.85

TT8_Active 977 13 167.08

TT8_Sampling 2382 33 974.25

TT8_CF8 323 38 153.18

TT8_Kalman 0 0 0.00

Analog_circuits 2460 10 300.89

GPS_charging 0 0 0.00

Compass 1136 7 97.27

RAFOS 2215 48 1300.29

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 -145.9 178 2212 502 492 0.0 0.0 0 141 0.00 0.00 -91.57 0.000 16386 0.000 0.000 177 2212 2149 2076 2223 0 0 0 0 0 0 14.51 28.83 14.53

144 -0.57 -145.9 177 2213 2080 2225 3.2 -3.8 9 202 12.73 2.78 -37.15 0.000 18724 0.452 2.147 2373 3591 3962 3946 3979 1 0 0 0 0 0 13.54 12.69 13.85

428 -0.73 -145.9 2374 3593 3952 3980 58.5 -12.2 65 433 0.00 2.38 0.00 0.000 1158 0.000 0.057 2373 2202 3966 3952 3980 0 0 0 0 0 0 14.29 14.17 14.33

739 -0.82 -145.9 2374 2194 3954 3979 98.9 -11.7 97 740 0.20 0.00 0.00 0.000 4230 0.109 0.000 2294 2194 3965 3952 3979 0 0 0 0 0 0 14.26 14.38 14.34

1048 -0.82 -145.9 2295 2194 3953 3980 150.2 -15.6 108 1053 0.00 2.47 0.00 0.000 260 0.000 0.087 2284 3602 3965 3951 3979 0 0 0 0 0 0 14.64 14.21 14.66

1170 -0.91 -145.9 2286 3604 3954 3979 166.7 -12.6 132 1175 0.00 2.40 0.00 0.000 1158 0.000 0.058 2286 2185 3963 3948 3979 0 0 0 0 0 0 14.35 14.22 14.39

1500 -0.91 -145.9 2286 2184 3954 3983 215.0 -14.5 148 1505 0.00 2.47 0.00 0.000 260 0.000 0.088 2280 3601 3966 3953 3979 0 0 0 0 0 0 14.66 14.17 14.68

1525 -0.93 -145.9 2280 3601 3954 3979 218.5 -13.9 153 1532 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2202 3965 3952 3979 0 0 0 0 0 0 14.18 14.07 14.22

1830 -0.95 -145.9 2280 2202 3953 3979 258.3 -12.3 164 1836 0.00 2.47 0.00 0.000 388 0.000 0.089 2271 3608 3965 3952 3979 0 0 0 0 0 0 14.65 14.22 14.68

1916 -1.07 -145.9 2271 3609 3954 3979 268.1 -10.5 181 1923 0.12 2.40 0.00 0.000 5254 0.133 0.058 2224 2190 3965 3952 3979 0 0 0 0 0 0 14.12 14.09 14.23

2221 -1.01 -145.9 2225 2189 3954 3977 315.7 -15.6 192 2226 0.12 2.47 0.00 0.000 2436 0.295 0.085 2244 3604 3965 3952 3978 0 0 0 0 0 0 14.00 14.23 14.15

2291 -1.06 -145.9 2244 3606 3954 3978 325.3 -12.1 206 2296 0.00 2.38 0.00 0.000 1158 0.000 0.057 2244 2195 3965 3953 3977 0 0 0 0 0 0 14.40 14.26 14.43

2611 -1.06 -145.9 2245 2194 3954 3977 366.2 -12.5 220 2616 0.00 2.47 0.00 0.000 260 0.000 0.088 2233 3607 3964 3952 3977 0 0 0 0 0 0 14.68 14.21 14.70

2701 -1.13 -145.9 2236 3609 3953 3978 376.9 -11.7 238 2706 0.00 2.38 0.00 0.000 1158 0.000 0.057 2237 2198 3964 3952 3977 0 0 0 0 0 0 14.35 14.23 14.39

3031 -1.13 -145.9 2236 2197 3953 3977 419.0 -12.7 254 3036 0.00 2.47 0.00 0.000 260 0.000 0.089 2236 3602 3964 3952 3976 0 0 0 0 0 0 14.66 14.16 14.68

3122 -1.20 -145.9 2236 3603 3953 3977 429.7 -11.6 272 3127 0.12 2.38 0.00 0.000 5254 0.139 0.056 2184 2199 3963 3953 3974 0 0 0 0 0 0 14.24 14.22 14.35

3419 end dive: TARGET_DEPTH_EXCEEDED

state 3419 begin apogee

3425 -0.13 0.0 2185 2056 3952 3976 481.0 -17.5 287 3650 1.40 0.08 220.10 1.431 10246 0.271 0.179 2526 2098 3364 3391 3338 0 0 0 0 0 0 13.88 13.42 12.66

3653 end apogee: CONTROL_FINISHED_OK

state 3653 begin climb

3657 0.57 145.9 2527 2100 3382 3329 492.4 0.0 294 3878 0.75 2.58 208.20 1.383 10756 0.064 0.076 2791 730 2760 2809 2712 0 0 0 0 0 0 13.59 12.94 12.33

4103 0.19 145.9 2791 731 2799 2710 469.4 14.9 377 4109 0.70 2.45 0.00 0.000 5254 0.327 0.075 2645 2097 2749 2791 2708 0 0 0 0 0 0 13.40 13.71 13.78

4408 0.04 164.6 2646 2098 2795 2703 440.5 9.1 388 4439 0.17 2.47 22.65 1.522 12964 0.275 0.083 2603 728 2687 2734 2641 0 0 0 0 0 0 13.83 14.03 13.19

4524 0.08 216.8 2603 730 2732 2636 431.7 7.6 411 4615 0.00 2.42 82.03 1.375 9254 0.000 0.080 2603 2108 2477 2542 2412 0 0 0 0 0 0 14.20 14.07 13.01

4920 0.10 242.7 2603 2107 2531 2395 397.7 8.8 440 4966 0.00 2.47 38.62 1.413 8740 0.000 0.086 2603 716 2370 2430 2310 0 0 0 0 0 0 14.47 14.00 13.19

4986 0.18 275.8 2603 717 2422 2308 391.9 8.5 448 5043 0.12 2.45 51.95 1.375 11430 0.132 0.080 2660 2111 2241 2301 2182 0 0 0 0 0 0 14.08 14.02 13.06

5341 0.13 275.8 2660 2106 2284 2161 347.0 12.7 469 5346 0.15 2.40 0.00 0.000 4740 0.244 0.080 2630 730 2221 2283 2159 0 0 0 0 0 0 13.99 14.16 14.14

5391 0.19 276.9 2630 731 2281 2160 341.6 9.9 479 5397 0.00 2.38 0.00 0.000 1190 0.000 0.078 2630 2095 2220 2281 2159 0 0 0 0 0 0 14.30 14.19 14.35

5702 0.19 279.6 2631 2096 2281 2158 310.2 9.9 491 5703 0.00 0.00 0.00 0.000 38 0.000 0.000 2630 2095 2218 2280 2157 0 0 0 0 0 0 14.62 14.64 14.64

6002 0.20 288.4 2631 2096 2281 2156 281.0 9.6 501 6019 0.00 2.45 11.77 1.578 8740 0.000 0.083 2630 723 2185 2244 2127 0 0 0 0 0 0 14.66 14.29 13.32

6044 0.28 312.1 2630 723 2237 2126 277.2 8.9 509 6089 0.12 2.40 39.75 1.373 11430 0.128 0.079 2682 2111 2093 2147 2039 0 0 0 0 0 0 14.32 14.26 13.26

6399 0.23 312.1 2685 2112 2133 2024 234.3 11.4 529 6404 0.00 2.45 0.00 0.000 644 0.000 0.083 2685 724 2077 2132 2023 0 0 0 0 0 0 14.43 14.09 14.45

6444 0.23 314.9 2686 724 2132 2023 229.5 9.9 538 6449 0.00 2.42 0.00 0.000 1062 0.000 0.079 2685 2103 2077 2131 2023 0 0 0 0 0 0 14.25 14.12 14.28

6759 0.20 314.9 2685 2105 2131 2021 197.0 10.3 551 6765 0.15 2.42 0.00 0.000 4740 0.244 0.080 2657 721 2075 2130 2021 0 0 0 0 0 0 13.93 14.12 14.07

6800 0.31 353.9 2657 722 2129 2022 193.2 8.2 559 6881 0.00 2.42 73.20 1.283 9382 0.000 0.080 2657 2106 1923 1970 1876 0 0 0 0 0 0 14.27 14.14 13.18

7180 0.42 410.1 2657 2107 1948 1867 163.3 7.4 585 7290 0.15 2.55 102.40 1.211 10916 0.117 0.087 2726 708 1688 1718 1658 0 0 0 0 0 0 14.11 13.76 13.08

7357 0.46 410.1 2727 708 1708 1652 143.6 10.7 620 7364 0.00 2.50 0.00 0.000 1158 0.000 0.076 2726 2104 1679 1707 1652 0 0 0 0 0 0 13.93 13.81 13.94

7662 0.46 410.1 2733 2103 1708 1644 110.2 10.3 631 7668 0.00 2.42 0.00 0.000 516 0.000 0.086 2726 731 1675 1706 1644 0 0 0 0 0 0 14.41 13.97 14.41

7693 0.49 410.1 2726 732 1705 1644 107.0 10.1 637 7698 0.00 2.42 0.00 0.000 1158 0.000 0.079 2726 2101 1674 1705 1644 0 0 0 0 0 0 14.13 14.01 14.16

8003 0.53 424.5 2726 2102 1705 1641 76.2 9.3 667 8015 0.00 0.00 6.00 0.386 8358 0.000 0.000 2726 2106 1632 1668 1597 0 0 0 0 0 0 14.42 13.91 13.61

8318 0.66 512.9 2727 2102 1672 1606 52.9 5.9 698 8374 0.17 2.42 47.12 0.354 10916 0.109 0.081 2808 730 1270 1324 1217 0 0 0 0 0 0 14.16 13.89 13.69

8474 0.68 548.0 2807 731 1326 1222 39.0 8.4 728 8498 0.00 2.38 19.02 0.314 9254 0.000 0.077 2804 2103 1129 1193 1065 0 0 0 0 0 0 14.14 14.01 13.74

8796 0.79 644.6 2808 2107 1193 1074 16.9 5.5 762 8854 0.00 2.45 51.72 0.257 8868 0.000 0.085 2808 726 734 800 669 0 0 0 0 0 0 14.50 14.03 13.88

8896 0.99 703.9 2808 726 801 670 10.3 7.3 781 8934 0.28 2.40 31.65 0.234 11430 0.089 0.076 2906 2102 497 522 472 0 0 0 0 0 0 14.19 14.09 13.75

8967 end climb: SURFACE_DEPTH_REACHED

state 8967 begin surface coast

8977 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	193	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	543.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	290817,095739,7413.5083,-15308.5479,18,0.8,23,19.5,0.9,225.5,11,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15357.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	277.3,25569,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.1	D_GRID	480
GPS2	290817,101732,7413.4741,-15308.9238,11,0.8,41,19.5,0.5,288.9,10,7.9

MODEM_MSG	CACST,6,1,20170829122702.372031,3,3420,35,0705,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39	PM_FREEKB_00	52185216
FINISH	0.2,1.021471	_24V_AH	12.33,135.650
SM_CCo	9060,0.00,0.000,0,0,499,703.28	_10V_AH	12.23,0.000
SM_GC	1.27,8.30,0.17,0.00,0.075,0.108,0.000,203,2222,499,-7.37,-0.65,703.28,0,0,0,0,0,0,14.28,14.26,14.35	FG_AHR_24Vo	0.000
RAFOS_CLK	142	FG_AHR_10Vo	0.000
MODEM	0,1504008241,75.36600,-145.04601,187.093,270866.2	MEM	323472
RAFOS_FIX	7413.061035,-15312.512695,290817,121205,3,255,0.28	DATA_FILE_SIZE	26670,793
IRIDIUM_FIX	7416.61,-15315.45,290817,101014	CAP_FILE_SIZE	113118,0
TT8_MAMPS	0.038948,0.907039	CFSIZE	2097872896,2028339200
HUMID	43.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.5
TCM_TEMP	13.20	CURRENT	0.043,211.06,1
XPDR_PINGS	15	GPS	290817,125007,7414.118,-15312.838,19,0.7,22,19.5,0.6,2.5,12,8.1
CP_FREE	15985213440.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	143.68	nil	0	0	0.00
Roll_motor	88	2147	2342.54	nil	0	0	0.00
VBD_pump_during_apogee	1006	1578	19579.79	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9008	14	1629.93
Iridium_during_xfer	697	163	1408.49	NCP	9003	20	2220.14
Transponder_ping	3	420	19.42	PMAR	8952	9	1093.85
GUMSTIX_24V	0	0	0.00
GPS	42	22	11.71
TT8	0	0	0.00
LPSleep	6578	2	185.85
TT8_Active	977	13	167.08
TT8_Sampling	2382	33	974.25
TT8_CF8	323	38	153.18
TT8_Kalman	0	0	0.00
Analog_circuits	2460	10	300.89
GPS_charging	0	0	0.00
Compass	1136	7	97.27
RAFOS	2215	48	1300.29
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	178	2212	502	492	0.0	0.0	0	141	0.00	0.00	-91.57	0.000	16386	0.000	0.000	177	2212	2149	2076	2223	0	0	0	0	0	0	14.51	28.83	14.53
144	-0.57	-145.9	177	2213	2080	2225	3.2	-3.8	9	202	12.73	2.78	-37.15	0.000	18724	0.452	2.147	2373	3591	3962	3946	3979	1	0	0	0	0	0	13.54	12.69	13.85
428	-0.73	-145.9	2374	3593	3952	3980	58.5	-12.2	65	433	0.00	2.38	0.00	0.000	1158	0.000	0.057	2373	2202	3966	3952	3980	0	0	0	0	0	0	14.29	14.17	14.33
739	-0.82	-145.9	2374	2194	3954	3979	98.9	-11.7	97	740	0.20	0.00	0.00	0.000	4230	0.109	0.000	2294	2194	3965	3952	3979	0	0	0	0	0	0	14.26	14.38	14.34
1048	-0.82	-145.9	2295	2194	3953	3980	150.2	-15.6	108	1053	0.00	2.47	0.00	0.000	260	0.000	0.087	2284	3602	3965	3951	3979	0	0	0	0	0	0	14.64	14.21	14.66
1170	-0.91	-145.9	2286	3604	3954	3979	166.7	-12.6	132	1175	0.00	2.40	0.00	0.000	1158	0.000	0.058	2286	2185	3963	3948	3979	0	0	0	0	0	0	14.35	14.22	14.39
1500	-0.91	-145.9	2286	2184	3954	3983	215.0	-14.5	148	1505	0.00	2.47	0.00	0.000	260	0.000	0.088	2280	3601	3966	3953	3979	0	0	0	0	0	0	14.66	14.17	14.68
1525	-0.93	-145.9	2280	3601	3954	3979	218.5	-13.9	153	1532	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2202	3965	3952	3979	0	0	0	0	0	0	14.18	14.07	14.22
1830	-0.95	-145.9	2280	2202	3953	3979	258.3	-12.3	164	1836	0.00	2.47	0.00	0.000	388	0.000	0.089	2271	3608	3965	3952	3979	0	0	0	0	0	0	14.65	14.22	14.68
1916	-1.07	-145.9	2271	3609	3954	3979	268.1	-10.5	181	1923	0.12	2.40	0.00	0.000	5254	0.133	0.058	2224	2190	3965	3952	3979	0	0	0	0	0	0	14.12	14.09	14.23
2221	-1.01	-145.9	2225	2189	3954	3977	315.7	-15.6	192	2226	0.12	2.47	0.00	0.000	2436	0.295	0.085	2244	3604	3965	3952	3978	0	0	0	0	0	0	14.00	14.23	14.15
2291	-1.06	-145.9	2244	3606	3954	3978	325.3	-12.1	206	2296	0.00	2.38	0.00	0.000	1158	0.000	0.057	2244	2195	3965	3953	3977	0	0	0	0	0	0	14.40	14.26	14.43
2611	-1.06	-145.9	2245	2194	3954	3977	366.2	-12.5	220	2616	0.00	2.47	0.00	0.000	260	0.000	0.088	2233	3607	3964	3952	3977	0	0	0	0	0	0	14.68	14.21	14.70
2701	-1.13	-145.9	2236	3609	3953	3978	376.9	-11.7	238	2706	0.00	2.38	0.00	0.000	1158	0.000	0.057	2237	2198	3964	3952	3977	0	0	0	0	0	0	14.35	14.23	14.39
3031	-1.13	-145.9	2236	2197	3953	3977	419.0	-12.7	254	3036	0.00	2.47	0.00	0.000	260	0.000	0.089	2236	3602	3964	3952	3976	0	0	0	0	0	0	14.66	14.16	14.68
3122	-1.20	-145.9	2236	3603	3953	3977	429.7	-11.6	272	3127	0.12	2.38	0.00	0.000	5254	0.139	0.056	2184	2199	3963	3953	3974	0	0	0	0	0	0	14.24	14.22	14.35
3419	end dive: TARGET_DEPTH_EXCEEDED
state	3419	begin apogee
3425	-0.13	0.0	2185	2056	3952	3976	481.0	-17.5	287	3650	1.40	0.08	220.10	1.431	10246	0.271	0.179	2526	2098	3364	3391	3338	0	0	0	0	0	0	13.88	13.42	12.66
3653	end apogee: CONTROL_FINISHED_OK
state	3653	begin climb
3657	0.57	145.9	2527	2100	3382	3329	492.4	0.0	294	3878	0.75	2.58	208.20	1.383	10756	0.064	0.076	2791	730	2760	2809	2712	0	0	0	0	0	0	13.59	12.94	12.33
4103	0.19	145.9	2791	731	2799	2710	469.4	14.9	377	4109	0.70	2.45	0.00	0.000	5254	0.327	0.075	2645	2097	2749	2791	2708	0	0	0	0	0	0	13.40	13.71	13.78
4408	0.04	164.6	2646	2098	2795	2703	440.5	9.1	388	4439	0.17	2.47	22.65	1.522	12964	0.275	0.083	2603	728	2687	2734	2641	0	0	0	0	0	0	13.83	14.03	13.19
4524	0.08	216.8	2603	730	2732	2636	431.7	7.6	411	4615	0.00	2.42	82.03	1.375	9254	0.000	0.080	2603	2108	2477	2542	2412	0	0	0	0	0	0	14.20	14.07	13.01
4920	0.10	242.7	2603	2107	2531	2395	397.7	8.8	440	4966	0.00	2.47	38.62	1.413	8740	0.000	0.086	2603	716	2370	2430	2310	0	0	0	0	0	0	14.47	14.00	13.19
4986	0.18	275.8	2603	717	2422	2308	391.9	8.5	448	5043	0.12	2.45	51.95	1.375	11430	0.132	0.080	2660	2111	2241	2301	2182	0	0	0	0	0	0	14.08	14.02	13.06
5341	0.13	275.8	2660	2106	2284	2161	347.0	12.7	469	5346	0.15	2.40	0.00	0.000	4740	0.244	0.080	2630	730	2221	2283	2159	0	0	0	0	0	0	13.99	14.16	14.14
5391	0.19	276.9	2630	731	2281	2160	341.6	9.9	479	5397	0.00	2.38	0.00	0.000	1190	0.000	0.078	2630	2095	2220	2281	2159	0	0	0	0	0	0	14.30	14.19	14.35
5702	0.19	279.6	2631	2096	2281	2158	310.2	9.9	491	5703	0.00	0.00	0.00	0.000	38	0.000	0.000	2630	2095	2218	2280	2157	0	0	0	0	0	0	14.62	14.64	14.64
6002	0.20	288.4	2631	2096	2281	2156	281.0	9.6	501	6019	0.00	2.45	11.77	1.578	8740	0.000	0.083	2630	723	2185	2244	2127	0	0	0	0	0	0	14.66	14.29	13.32
6044	0.28	312.1	2630	723	2237	2126	277.2	8.9	509	6089	0.12	2.40	39.75	1.373	11430	0.128	0.079	2682	2111	2093	2147	2039	0	0	0	0	0	0	14.32	14.26	13.26
6399	0.23	312.1	2685	2112	2133	2024	234.3	11.4	529	6404	0.00	2.45	0.00	0.000	644	0.000	0.083	2685	724	2077	2132	2023	0	0	0	0	0	0	14.43	14.09	14.45
6444	0.23	314.9	2686	724	2132	2023	229.5	9.9	538	6449	0.00	2.42	0.00	0.000	1062	0.000	0.079	2685	2103	2077	2131	2023	0	0	0	0	0	0	14.25	14.12	14.28
6759	0.20	314.9	2685	2105	2131	2021	197.0	10.3	551	6765	0.15	2.42	0.00	0.000	4740	0.244	0.080	2657	721	2075	2130	2021	0	0	0	0	0	0	13.93	14.12	14.07
6800	0.31	353.9	2657	722	2129	2022	193.2	8.2	559	6881	0.00	2.42	73.20	1.283	9382	0.000	0.080	2657	2106	1923	1970	1876	0	0	0	0	0	0	14.27	14.14	13.18
7180	0.42	410.1	2657	2107	1948	1867	163.3	7.4	585	7290	0.15	2.55	102.40	1.211	10916	0.117	0.087	2726	708	1688	1718	1658	0	0	0	0	0	0	14.11	13.76	13.08
7357	0.46	410.1	2727	708	1708	1652	143.6	10.7	620	7364	0.00	2.50	0.00	0.000	1158	0.000	0.076	2726	2104	1679	1707	1652	0	0	0	0	0	0	13.93	13.81	13.94
7662	0.46	410.1	2733	2103	1708	1644	110.2	10.3	631	7668	0.00	2.42	0.00	0.000	516	0.000	0.086	2726	731	1675	1706	1644	0	0	0	0	0	0	14.41	13.97	14.41
7693	0.49	410.1	2726	732	1705	1644	107.0	10.1	637	7698	0.00	2.42	0.00	0.000	1158	0.000	0.079	2726	2101	1674	1705	1644	0	0	0	0	0	0	14.13	14.01	14.16
8003	0.53	424.5	2726	2102	1705	1641	76.2	9.3	667	8015	0.00	0.00	6.00	0.386	8358	0.000	0.000	2726	2106	1632	1668	1597	0	0	0	0	0	0	14.42	13.91	13.61
8318	0.66	512.9	2727	2102	1672	1606	52.9	5.9	698	8374	0.17	2.42	47.12	0.354	10916	0.109	0.081	2808	730	1270	1324	1217	0	0	0	0	0	0	14.16	13.89	13.69
8474	0.68	548.0	2807	731	1326	1222	39.0	8.4	728	8498	0.00	2.38	19.02	0.314	9254	0.000	0.077	2804	2103	1129	1193	1065	0	0	0	0	0	0	14.14	14.01	13.74
8796	0.79	644.6	2808	2107	1193	1074	16.9	5.5	762	8854	0.00	2.45	51.72	0.257	8868	0.000	0.085	2808	726	734	800	669	0	0	0	0	0	0	14.50	14.03	13.88
8896	0.99	703.9	2808	726	801	670	10.3	7.3	781	8934	0.28	2.40	31.65	0.234	11430	0.089	0.076	2906	2102	497	522	472	0	0	0	0	0	0	14.19	14.09	13.75
8967	end climb: SURFACE_DEPTH_REACHED
state	8967	begin surface coast
8977	end surface coast: CONTROL_FINISHED_OK
state	8979	begin surface