Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 198 * 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 198 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 557.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 34 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 557.0 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 25 VBD_MIN 500

DIVE 198 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 300817,002305,7416.3418,-15329.0342,26,0.9,30,19.4,0.4,120.4,9,9.5 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 1.21 MHEAD_RNG_PITCHd_Wd 276.0,14334,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 300817,004107,7416.3057,-15329.1738,7,0.7,12,19.4,0.0,0.0,12,8.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830001836.608670,3,32767,45,0791,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F PM_FREEKB_00 52046336

FINISH 0.8,1.021554 _24V_AH 12.33,138.117

SM_CCo 8869,23.62,0.212,0,0,499,703.03 _10V_AH 12.41,0.000

SM_GC 1.32,8.30,2.67,23.62,0.082,0.079,0.212,200,2199,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.21,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 393 FG_AHR_10Vo 0.000

MODEM 0,1504051444,75.36600,-145.04601,190.662,276050.7 MEM 323380

RAFOS_FIX 7415.262207,-15329.167969,300817,000020,3,255,0.00 DATA_FILE_SIZE 26768,741

IRIDIUM_FIX 7417.54,-15322.55,300817,003059 CAP_FILE_SIZE 108833,0

TT8_MAMPS 0.040446,0.853111 CFSIZE 2097872896,2026733568

HUMID 47.00 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.75222 INTR 0,4308.41,0x2341ea,1,24

TCM_TEMP 13.30 SOUNDSPEED 1448.3

XPDR_PINGS 24 CURRENT 0.046,205.21,1

CP_FREE 15983902720.000000 GPS 300817,031122,7416.912,-15333.242,40,0.8,41,19.3,0.3,302.5,11,8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 145.00 nil 0 0 0.00

Roll_motor 93 2142 2477.34 nil 0 0 0.00

VBD_pump_during_apogee 988 1473 17964.79 nil 0 0 0.00

VBD_pump_during_surface 23 211 61.73 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 8874 14 1553.38

Iridium_during_xfer 677 174 1456.82 NCP 8872 20 2187.84

Transponder_ping 6 420 31.07 PMAR 8821 9 1073.60

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.71

TT8 0 0 0.00

LPSleep 6426 2 184.24

TT8_Active 1006 13 174.50

TT8_Sampling 2236 33 928.26

TT8_CF8 321 38 154.35

TT8_Kalman 0 0 0.00

Analog_circuits 2421 10 300.56

GPS_charging 0 0 0.00

Compass 1067 7 92.73

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 -145.9 178 2221 497 488 0.0 0.0 0 153 0.00 0.00 -103.18 0.000 16386 0.000 0.000 176 2220 2423 2373 2474 0 0 0 0 0 0 14.33 28.83 14.35

156 -0.57 -145.9 177 2227 2376 2475 4.3 -6.5 10 204 12.88 2.80 -27.15 0.000 18724 0.457 2.142 2373 3594 3964 3941 3987 1 0 0 0 0 0 13.44 12.57 14.12

359 -0.70 -145.9 2375 3597 3949 3988 52.6 -13.1 50 364 0.00 2.38 0.00 0.000 1158 0.000 0.059 2374 2202 3967 3948 3987 0 0 0 0 0 0 14.16 14.06 14.19

669 -0.78 -145.9 2375 2201 3951 3988 94.1 -11.3 82 670 0.15 0.00 0.00 0.000 4230 0.135 0.000 2317 2201 3968 3950 3987 0 0 0 0 0 0 14.20 14.35 14.31

989 -0.81 -145.9 2318 2201 3952 3987 141.2 -14.1 96 994 0.00 2.45 0.00 0.000 388 0.000 0.087 2308 3600 3969 3950 3988 0 0 0 0 0 0 14.63 14.16 14.64

1084 -0.93 -145.9 2309 3601 3950 3989 152.9 -11.6 115 1089 0.00 2.38 0.00 0.000 1158 0.000 0.059 2308 2199 3969 3950 3988 0 0 0 0 0 0 14.30 14.21 14.35

1409 -0.97 -145.9 2309 2198 3952 3988 194.2 -12.2 130 1414 0.12 2.45 0.00 0.000 4484 0.137 0.085 2242 3597 3969 3950 3988 0 0 0 0 0 0 14.35 14.17 14.39

1454 -0.97 -145.9 2243 3597 3951 3988 201.3 -16.2 139 1459 0.00 2.38 0.00 0.000 1030 0.000 0.060 2242 2193 3969 3950 3988 0 0 0 0 0 0 14.35 14.21 14.38

1770 -0.91 -145.9 2243 2192 3951 3988 255.9 -16.4 152 1775 0.15 2.45 0.00 0.000 2436 0.295 0.084 2267 3597 3969 3950 3988 0 0 0 0 0 0 13.98 14.23 14.14

1850 -0.98 -145.9 2267 3598 3951 3988 266.0 -11.4 168 1855 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2194 3969 3950 3988 0 0 0 0 0 0 14.40 14.28 14.44

2160 -1.01 -145.9 2268 2193 3951 3988 302.5 -11.4 180 2165 0.00 2.45 0.00 0.000 388 0.000 0.089 2262 3619 3968 3950 3987 0 0 0 0 0 0 14.68 14.21 14.69

2273 -1.12 -145.9 2262 3620 3950 3988 314.3 -9.8 202 2278 0.12 2.40 0.00 0.000 5286 0.137 0.057 2215 2193 3968 3950 3987 0 0 0 0 0 0 14.29 14.28 14.40

2583 -1.06 -145.9 2215 2193 3951 3988 360.9 -15.0 214 2588 0.00 2.47 0.00 0.000 388 0.000 0.088 2209 3596 3968 3950 3987 0 0 0 0 0 0 14.68 13.52 14.70

2658 -1.06 -145.9 2209 3598 3951 3989 371.9 -13.9 229 2664 0.12 2.35 0.00 0.000 3078 0.262 0.057 2233 2199 3971 3949 3993 0 0 0 0 0 0 14.00 14.23 14.26

2974 -1.06 -145.9 2232 2199 3949 3989 412.6 -12.7 242 2979 0.00 2.47 0.00 0.000 260 0.000 0.087 2226 3603 3967 3948 3987 0 0 0 0 0 0 14.68 14.16 14.70

3024 -1.09 -145.9 2226 3604 3948 3988 418.9 -12.3 252 3029 0.00 2.38 0.00 0.000 1158 0.000 0.059 2226 2199 3967 3948 3987 0 0 0 0 0 0 14.23 14.19 14.26

3334 -1.09 -145.9 2226 2198 3949 3987 459.7 -13.1 264 3339 0.00 2.47 0.00 0.000 260 0.000 0.088 2222 3603 3967 3948 3987 0 0 0 0 0 0 14.68 14.14 14.71

3419 -1.13 -145.9 2223 3604 3947 3988 470.5 -12.2 281 3426 0.00 2.40 0.00 0.000 1158 0.000 0.058 2222 2185 3967 3947 3987 0 0 0 0 0 0 14.35 14.21 14.38

3511 end dive: TARGET_DEPTH_EXCEEDED

state 3511 begin apogee

3517 -0.13 0.0 2223 2055 3948 3988 483.0 -13.2 285 3738 1.20 0.05 216.45 1.434 10246 0.246 0.222 2527 2084 3367 3381 3353 0 0 0 0 0 0 13.93 13.43 12.69

3741 end apogee: CONTROL_FINISHED_OK

state 3741 begin climb

3746 0.57 145.9 2528 2084 3376 3339 493.9 0.0 292 3962 0.75 2.58 205.43 1.394 10756 0.065 0.080 2785 733 2761 2805 2718 0 0 0 0 0 0 13.61 12.93 12.33

3967 0.13 147.6 2793 733 2804 2719 501.2 9.9 330 3973 0.77 2.58 0.00 0.000 5286 0.317 0.075 2629 2104 2759 2802 2717 0 0 0 0 0 0 12.98 13.21 13.27

4293 0.04 174.4 2630 2107 2801 2709 471.9 8.8 345 4336 0.12 2.50 36.78 1.473 12964 0.285 0.084 2602 728 2652 2702 2603 0 0 0 0 0 0 13.61 13.79 12.95

4366 0.07 221.9 2602 730 2700 2601 466.2 7.8 359 4443 0.00 2.45 70.60 1.407 9254 0.000 0.080 2602 2101 2460 2521 2400 0 0 0 0 0 0 13.99 13.88 12.84

4748 0.09 247.3 2602 2102 2506 2387 432.9 8.8 385 4785 0.00 0.00 36.20 1.463 8230 0.000 0.000 2602 2101 2355 2409 2302 0 0 0 0 0 0 14.40 13.93 13.09

5078 0.14 273.1 2602 2102 2397 2290 403.6 8.8 396 5123 0.00 2.47 37.35 1.461 8868 0.000 0.086 2602 737 2246 2296 2197 0 0 0 0 0 0 14.50 14.02 13.19

5153 0.27 305.2 2598 738 2292 2194 397.0 8.5 411 5210 0.20 2.40 47.17 1.408 11430 0.098 0.080 2681 2101 2118 2164 2072 0 0 0 0 0 0 14.12 14.04 13.07

5530 0.19 305.2 2683 2101 2158 2061 341.9 14.7 436 5535 0.12 2.42 0.00 0.000 4740 0.261 0.083 2660 718 2106 2156 2056 0 0 0 0 0 0 14.00 14.15 14.15

5585 0.22 305.2 2659 719 2156 2061 334.8 12.0 447 5591 0.00 2.42 0.00 0.000 1158 0.000 0.079 2660 2112 2107 2155 2060 0 0 0 0 0 0 14.33 14.18 14.34

5890 0.19 305.2 2659 2114 2155 2059 296.8 12.3 458 5895 0.00 2.42 0.00 0.000 644 0.000 0.087 2660 730 2106 2154 2058 0 0 0 0 0 0 14.63 14.21 14.64

5935 0.23 305.2 2660 731 2154 2059 291.4 11.7 467 5940 0.00 2.38 0.00 0.000 1158 0.000 0.079 2660 2103 2105 2153 2058 0 0 0 0 0 0 14.40 14.28 14.45

6250 0.23 305.2 2660 2106 2153 2059 255.2 10.9 480 6255 0.00 2.45 0.00 0.000 260 0.000 0.083 2660 3514 2105 2152 2058 0 0 0 0 0 0 14.67 14.24 14.69

6275 0.20 305.2 2660 3516 2152 2058 252.3 11.8 485 6283 0.00 2.35 0.00 0.000 1158 0.000 0.063 2668 2132 2104 2151 2057 0 0 0 0 0 0 14.40 14.31 14.44

6580 0.20 311.7 2667 2133 2152 2058 221.0 9.7 496 6585 0.00 2.50 0.00 0.000 548 0.000 0.089 2672 694 2104 2151 2057 0 0 0 0 0 0 14.68 14.23 14.69

6713 0.25 334.2 2673 694 2152 2057 209.0 9.0 522 6762 0.00 2.45 44.72 1.353 9382 0.000 0.080 2671 2103 2003 2047 1959 0 0 0 0 0 0 14.42 14.29 13.33

7063 0.28 356.9 2672 2103 2041 1946 176.7 9.0 542 7101 0.00 0.00 37.20 1.338 8358 0.000 0.000 2672 2103 1910 1947 1873 0 0 0 0 0 0 14.57 14.09 13.30

7391 0.36 388.7 2673 2104 1936 1864 148.2 8.5 553 7451 0.00 2.58 52.90 1.291 8868 0.000 0.090 2678 688 1776 1803 1749 0 0 0 0 0 0 14.57 14.00 13.27

7493 0.55 440.6 2672 688 1798 1754 140.2 7.6 573 7592 0.28 2.50 90.72 1.199 11430 0.092 0.080 2777 2103 1567 1599 1536 0 0 0 0 0 0 14.13 14.04 13.04

7892 0.49 440.6 2778 2102 1597 1516 81.7 13.8 612 7897 0.15 2.50 0.00 0.000 4740 0.268 0.085 2752 692 1555 1596 1515 0 0 0 0 0 0 13.88 14.04 14.04

7973 0.55 440.6 2752 693 1591 1517 72.9 10.2 628 7978 0.00 2.45 0.00 0.000 1158 0.000 0.080 2752 2104 1553 1591 1516 0 0 0 0 0 0 14.22 14.09 14.26

8283 0.64 532.9 2752 2105 1591 1514 47.1 5.7 660 8337 0.10 2.50 46.33 0.342 10916 0.150 0.086 2799 691 1189 1247 1132 0 0 0 0 0 0 14.20 14.02 13.78

8408 0.76 573.9 2799 691 1247 1129 36.8 8.1 684 8434 0.00 2.47 21.65 0.311 9382 0.000 0.078 2798 2103 1023 1088 958 0 0 0 0 0 0 14.27 14.12 13.83

8739 0.92 660.7 2798 2103 1089 953 13.5 6.0 720 8793 0.20 2.50 45.38 0.245 10916 0.103 0.092 2888 694 666 715 618 0 0 0 0 0 0 14.26 14.02 13.91

8843 end climb: SURFACE_DEPTH_REACHED

state 8843 begin surface coast

8846 end surface coast: CONTROL_FINISHED_OK

state 8846 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	198	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	557.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,002305,7416.3418,-15329.0342,26,0.9,30,19.4,0.4,120.4,9,9.5	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	1.21	MHEAD_RNG_PITCHd_Wd	276.0,14334,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	300817,004107,7416.3057,-15329.1738,7,0.7,12,19.4,0.0,0.0,12,8.3

MODEM_MSG	CACST,6,1,20170830001836.608670,3,32767,45,0791,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F	PM_FREEKB_00	52046336
FINISH	0.8,1.021554	_24V_AH	12.33,138.117
SM_CCo	8869,23.62,0.212,0,0,499,703.03	_10V_AH	12.41,0.000
SM_GC	1.32,8.30,2.67,23.62,0.082,0.079,0.212,200,2199,499,-7.38,-0.79,703.03,0,0,0,0,0,0,14.30,14.21,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	393	FG_AHR_10Vo	0.000
MODEM	0,1504051444,75.36600,-145.04601,190.662,276050.7	MEM	323380
RAFOS_FIX	7415.262207,-15329.167969,300817,000020,3,255,0.00	DATA_FILE_SIZE	26768,741
IRIDIUM_FIX	7417.54,-15322.55,300817,003059	CAP_FILE_SIZE	108833,0
TT8_MAMPS	0.040446,0.853111	CFSIZE	2097872896,2026733568
HUMID	47.00	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.75222	INTR	0,4308.41,0x2341ea,1,24
TCM_TEMP	13.30	SOUNDSPEED	1448.3
XPDR_PINGS	24	CURRENT	0.046,205.21,1
CP_FREE	15983902720.000000	GPS	300817,031122,7416.912,-15333.242,40,0.8,41,19.3,0.3,302.5,11,8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	145.00	nil	0	0	0.00
Roll_motor	93	2142	2477.34	nil	0	0	0.00
VBD_pump_during_apogee	988	1473	17964.79	nil	0	0	0.00
VBD_pump_during_surface	23	211	61.73	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	8874	14	1553.38
Iridium_during_xfer	677	174	1456.82	NCP	8872	20	2187.84
Transponder_ping	6	420	31.07	PMAR	8821	9	1073.60
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.71
TT8	0	0	0.00
LPSleep	6426	2	184.24
TT8_Active	1006	13	174.50
TT8_Sampling	2236	33	928.26
TT8_CF8	321	38	154.35
TT8_Kalman	0	0	0.00
Analog_circuits	2421	10	300.56
GPS_charging	0	0	0.00
Compass	1067	7	92.73
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	178	2221	497	488	0.0	0.0	0	153	0.00	0.00	-103.18	0.000	16386	0.000	0.000	176	2220	2423	2373	2474	0	0	0	0	0	0	14.33	28.83	14.35
156	-0.57	-145.9	177	2227	2376	2475	4.3	-6.5	10	204	12.88	2.80	-27.15	0.000	18724	0.457	2.142	2373	3594	3964	3941	3987	1	0	0	0	0	0	13.44	12.57	14.12
359	-0.70	-145.9	2375	3597	3949	3988	52.6	-13.1	50	364	0.00	2.38	0.00	0.000	1158	0.000	0.059	2374	2202	3967	3948	3987	0	0	0	0	0	0	14.16	14.06	14.19
669	-0.78	-145.9	2375	2201	3951	3988	94.1	-11.3	82	670	0.15	0.00	0.00	0.000	4230	0.135	0.000	2317	2201	3968	3950	3987	0	0	0	0	0	0	14.20	14.35	14.31
989	-0.81	-145.9	2318	2201	3952	3987	141.2	-14.1	96	994	0.00	2.45	0.00	0.000	388	0.000	0.087	2308	3600	3969	3950	3988	0	0	0	0	0	0	14.63	14.16	14.64
1084	-0.93	-145.9	2309	3601	3950	3989	152.9	-11.6	115	1089	0.00	2.38	0.00	0.000	1158	0.000	0.059	2308	2199	3969	3950	3988	0	0	0	0	0	0	14.30	14.21	14.35
1409	-0.97	-145.9	2309	2198	3952	3988	194.2	-12.2	130	1414	0.12	2.45	0.00	0.000	4484	0.137	0.085	2242	3597	3969	3950	3988	0	0	0	0	0	0	14.35	14.17	14.39
1454	-0.97	-145.9	2243	3597	3951	3988	201.3	-16.2	139	1459	0.00	2.38	0.00	0.000	1030	0.000	0.060	2242	2193	3969	3950	3988	0	0	0	0	0	0	14.35	14.21	14.38
1770	-0.91	-145.9	2243	2192	3951	3988	255.9	-16.4	152	1775	0.15	2.45	0.00	0.000	2436	0.295	0.084	2267	3597	3969	3950	3988	0	0	0	0	0	0	13.98	14.23	14.14
1850	-0.98	-145.9	2267	3598	3951	3988	266.0	-11.4	168	1855	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2194	3969	3950	3988	0	0	0	0	0	0	14.40	14.28	14.44
2160	-1.01	-145.9	2268	2193	3951	3988	302.5	-11.4	180	2165	0.00	2.45	0.00	0.000	388	0.000	0.089	2262	3619	3968	3950	3987	0	0	0	0	0	0	14.68	14.21	14.69
2273	-1.12	-145.9	2262	3620	3950	3988	314.3	-9.8	202	2278	0.12	2.40	0.00	0.000	5286	0.137	0.057	2215	2193	3968	3950	3987	0	0	0	0	0	0	14.29	14.28	14.40
2583	-1.06	-145.9	2215	2193	3951	3988	360.9	-15.0	214	2588	0.00	2.47	0.00	0.000	388	0.000	0.088	2209	3596	3968	3950	3987	0	0	0	0	0	0	14.68	13.52	14.70
2658	-1.06	-145.9	2209	3598	3951	3989	371.9	-13.9	229	2664	0.12	2.35	0.00	0.000	3078	0.262	0.057	2233	2199	3971	3949	3993	0	0	0	0	0	0	14.00	14.23	14.26
2974	-1.06	-145.9	2232	2199	3949	3989	412.6	-12.7	242	2979	0.00	2.47	0.00	0.000	260	0.000	0.087	2226	3603	3967	3948	3987	0	0	0	0	0	0	14.68	14.16	14.70
3024	-1.09	-145.9	2226	3604	3948	3988	418.9	-12.3	252	3029	0.00	2.38	0.00	0.000	1158	0.000	0.059	2226	2199	3967	3948	3987	0	0	0	0	0	0	14.23	14.19	14.26
3334	-1.09	-145.9	2226	2198	3949	3987	459.7	-13.1	264	3339	0.00	2.47	0.00	0.000	260	0.000	0.088	2222	3603	3967	3948	3987	0	0	0	0	0	0	14.68	14.14	14.71
3419	-1.13	-145.9	2223	3604	3947	3988	470.5	-12.2	281	3426	0.00	2.40	0.00	0.000	1158	0.000	0.058	2222	2185	3967	3947	3987	0	0	0	0	0	0	14.35	14.21	14.38
3511	end dive: TARGET_DEPTH_EXCEEDED
state	3511	begin apogee
3517	-0.13	0.0	2223	2055	3948	3988	483.0	-13.2	285	3738	1.20	0.05	216.45	1.434	10246	0.246	0.222	2527	2084	3367	3381	3353	0	0	0	0	0	0	13.93	13.43	12.69
3741	end apogee: CONTROL_FINISHED_OK
state	3741	begin climb
3746	0.57	145.9	2528	2084	3376	3339	493.9	0.0	292	3962	0.75	2.58	205.43	1.394	10756	0.065	0.080	2785	733	2761	2805	2718	0	0	0	0	0	0	13.61	12.93	12.33
3967	0.13	147.6	2793	733	2804	2719	501.2	9.9	330	3973	0.77	2.58	0.00	0.000	5286	0.317	0.075	2629	2104	2759	2802	2717	0	0	0	0	0	0	12.98	13.21	13.27
4293	0.04	174.4	2630	2107	2801	2709	471.9	8.8	345	4336	0.12	2.50	36.78	1.473	12964	0.285	0.084	2602	728	2652	2702	2603	0	0	0	0	0	0	13.61	13.79	12.95
4366	0.07	221.9	2602	730	2700	2601	466.2	7.8	359	4443	0.00	2.45	70.60	1.407	9254	0.000	0.080	2602	2101	2460	2521	2400	0	0	0	0	0	0	13.99	13.88	12.84
4748	0.09	247.3	2602	2102	2506	2387	432.9	8.8	385	4785	0.00	0.00	36.20	1.463	8230	0.000	0.000	2602	2101	2355	2409	2302	0	0	0	0	0	0	14.40	13.93	13.09
5078	0.14	273.1	2602	2102	2397	2290	403.6	8.8	396	5123	0.00	2.47	37.35	1.461	8868	0.000	0.086	2602	737	2246	2296	2197	0	0	0	0	0	0	14.50	14.02	13.19
5153	0.27	305.2	2598	738	2292	2194	397.0	8.5	411	5210	0.20	2.40	47.17	1.408	11430	0.098	0.080	2681	2101	2118	2164	2072	0	0	0	0	0	0	14.12	14.04	13.07
5530	0.19	305.2	2683	2101	2158	2061	341.9	14.7	436	5535	0.12	2.42	0.00	0.000	4740	0.261	0.083	2660	718	2106	2156	2056	0	0	0	0	0	0	14.00	14.15	14.15
5585	0.22	305.2	2659	719	2156	2061	334.8	12.0	447	5591	0.00	2.42	0.00	0.000	1158	0.000	0.079	2660	2112	2107	2155	2060	0	0	0	0	0	0	14.33	14.18	14.34
5890	0.19	305.2	2659	2114	2155	2059	296.8	12.3	458	5895	0.00	2.42	0.00	0.000	644	0.000	0.087	2660	730	2106	2154	2058	0	0	0	0	0	0	14.63	14.21	14.64
5935	0.23	305.2	2660	731	2154	2059	291.4	11.7	467	5940	0.00	2.38	0.00	0.000	1158	0.000	0.079	2660	2103	2105	2153	2058	0	0	0	0	0	0	14.40	14.28	14.45
6250	0.23	305.2	2660	2106	2153	2059	255.2	10.9	480	6255	0.00	2.45	0.00	0.000	260	0.000	0.083	2660	3514	2105	2152	2058	0	0	0	0	0	0	14.67	14.24	14.69
6275	0.20	305.2	2660	3516	2152	2058	252.3	11.8	485	6283	0.00	2.35	0.00	0.000	1158	0.000	0.063	2668	2132	2104	2151	2057	0	0	0	0	0	0	14.40	14.31	14.44
6580	0.20	311.7	2667	2133	2152	2058	221.0	9.7	496	6585	0.00	2.50	0.00	0.000	548	0.000	0.089	2672	694	2104	2151	2057	0	0	0	0	0	0	14.68	14.23	14.69
6713	0.25	334.2	2673	694	2152	2057	209.0	9.0	522	6762	0.00	2.45	44.72	1.353	9382	0.000	0.080	2671	2103	2003	2047	1959	0	0	0	0	0	0	14.42	14.29	13.33
7063	0.28	356.9	2672	2103	2041	1946	176.7	9.0	542	7101	0.00	0.00	37.20	1.338	8358	0.000	0.000	2672	2103	1910	1947	1873	0	0	0	0	0	0	14.57	14.09	13.30
7391	0.36	388.7	2673	2104	1936	1864	148.2	8.5	553	7451	0.00	2.58	52.90	1.291	8868	0.000	0.090	2678	688	1776	1803	1749	0	0	0	0	0	0	14.57	14.00	13.27
7493	0.55	440.6	2672	688	1798	1754	140.2	7.6	573	7592	0.28	2.50	90.72	1.199	11430	0.092	0.080	2777	2103	1567	1599	1536	0	0	0	0	0	0	14.13	14.04	13.04
7892	0.49	440.6	2778	2102	1597	1516	81.7	13.8	612	7897	0.15	2.50	0.00	0.000	4740	0.268	0.085	2752	692	1555	1596	1515	0	0	0	0	0	0	13.88	14.04	14.04
7973	0.55	440.6	2752	693	1591	1517	72.9	10.2	628	7978	0.00	2.45	0.00	0.000	1158	0.000	0.080	2752	2104	1553	1591	1516	0	0	0	0	0	0	14.22	14.09	14.26
8283	0.64	532.9	2752	2105	1591	1514	47.1	5.7	660	8337	0.10	2.50	46.33	0.342	10916	0.150	0.086	2799	691	1189	1247	1132	0	0	0	0	0	0	14.20	14.02	13.78
8408	0.76	573.9	2799	691	1247	1129	36.8	8.1	684	8434	0.00	2.47	21.65	0.311	9382	0.000	0.078	2798	2103	1023	1088	958	0	0	0	0	0	0	14.27	14.12	13.83
8739	0.92	660.7	2798	2103	1089	953	13.5	6.0	720	8793	0.20	2.50	45.38	0.245	10916	0.103	0.092	2888	694	666	715	618	0	0	0	0	0	0	14.26	14.02	13.91
8843	end climb: SURFACE_DEPTH_REACHED
state	8843	begin surface coast
8846	end surface coast: CONTROL_FINISHED_OK
state	8846	begin surface