Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 199 * 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 199 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 559.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 559.0 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 26 VBD_MIN 500

DIVE 199 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 300817,031122,7416.9121,-15333.2422,40,0.8,41,19.3,0.3,302.5,11,8.2 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 1.19 MHEAD_RNG_PITCHd_Wd 270.8,12147,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 300817,033509,7416.9502,-15333.1348,7,0.8,10,19.3,0.0,121.8,11,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830042658.361463,3,212,17,0115,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01 PM_FREEKB_00 52016128

FINISH 0.5,1.021543 _24V_AH 12.30,138.599

SM_CCo 8651,26.80,0.213,0,0,501,703.03 _10V_AH 12.16,0.000

SM_GC 1.32,8.25,0.17,26.80,0.081,0.132,0.213,205,2207,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.27,14.24,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 321 FG_AHR_10Vo 0.000

MODEM 2,1504066461,73.18300,-149.96500,114.104,165260.2 MEM 323636

RAFOS_FIX 7417.486816,-15331.795898,300817,040457,3,255,0.45 DATA_FILE_SIZE 23415,711

IRIDIUM_FIX 7416.61,-15333.19,300817,032850 CAP_FILE_SIZE 108679,0

TT8_MAMPS 0.039697,0.96621 CFSIZE 2097872896,2026340352

HUMID 46.57 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.4

TCM_TEMP 13.10 CURRENT 0.032,179.14,1

XPDR_PINGS 9 GPS 300817,060128,7417.461,-15336.959,14,0.8,21,19.3,0.5,76.3,10,9.6

CP_FREE 15983640576.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 147.23 nil 0 0 0.00

Roll_motor 79 2142 2104.53 nil 0 0 0.00

VBD_pump_during_apogee 903 1438 15985.10 nil 0 0 0.00

VBD_pump_during_surface 26 212 70.10 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 8661 14 1544.69

Iridium_during_xfer 890 162 1784.26 NCP 8644 20 2126.42

Transponder_ping 2 420 11.62 PMAR 8605 9 1051.32

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.00

TT8 0 0 0.00

LPSleep 6239 2 175.26

TT8_Active 808 13 137.40

TT8_Sampling 2727 33 1109.23

TT8_CF8 342 38 161.05

TT8_Kalman 0 0 0.00

Analog_circuits 2701 10 328.55

GPS_charging 0 0 0.00

Compass 1020 7 86.84

RAFOS 2217 48 1294.02

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 2201 493 489 0.0 0.0 0 151 0.00 0.00 -101.25 0.000 16386 0.000 0.000 181 2202 2365 2309 2422 0 0 0 0 0 0 14.52 28.83 14.54

154 -0.57 -145.9 178 2198 2312 2422 4.3 -6.4 10 202 12.70 2.80 -29.60 0.000 18724 0.452 2.143 2376 3613 3964 3947 3982 0 0 0 0 0 0 13.57 12.87 14.01

269 -0.70 -145.9 2376 3614 3954 3982 36.4 -14.3 32 274 0.00 2.40 0.00 0.000 1158 0.000 0.061 2376 2204 3967 3953 3982 0 0 0 0 0 0 14.28 14.14 14.30

579 -0.77 -145.9 2376 2203 3955 3983 84.6 -11.9 64 580 0.15 0.00 0.00 0.000 4230 0.141 0.000 2323 2202 3969 3956 3982 0 0 0 0 0 0 14.19 14.31 14.28

889 -0.80 -145.9 2324 2203 3956 3983 130.3 -13.7 81 895 0.00 2.47 0.00 0.000 388 0.000 0.089 2319 3610 3968 3955 3981 0 0 0 0 0 0 14.62 14.13 14.64

965 -0.93 -145.9 2319 3610 3957 3982 139.2 -10.8 96 970 0.12 2.38 0.00 0.000 5254 0.132 0.056 2265 2196 3968 3955 3982 0 0 0 0 0 0 14.22 14.16 14.36

1280 -0.88 -145.9 2265 2196 3956 3982 193.9 -17.4 109 1286 0.12 2.50 0.00 0.000 2436 0.298 0.084 2282 3622 3968 3955 3982 0 0 0 0 0 0 13.98 14.16 14.15

1393 -0.97 -145.9 2283 3622 3963 3982 208.6 -11.7 131 1398 0.00 2.40 0.00 0.000 1158 0.000 0.059 2283 2202 3968 3955 3982 0 0 0 0 0 0 14.38 14.25 14.41

1705 -1.00 -145.9 2283 2202 3956 3983 249.2 -12.6 143 1706 0.00 0.00 0.00 0.000 134 0.000 0.000 2282 2202 3968 3954 3982 0 0 0 0 0 0 14.47 14.50 14.50

2003 -1.05 -145.9 2283 2202 3957 3983 283.0 -10.8 153 2009 0.12 2.50 0.00 0.000 4484 0.139 0.086 2223 3609 3966 3955 3978 0 0 0 0 0 0 14.13 14.07 14.17

2099 -1.05 -145.9 2223 3610 3956 3982 296.4 -14.2 172 2104 0.00 2.40 0.00 0.000 1030 0.000 0.057 2222 2201 3968 3955 3981 0 0 0 0 0 0 14.08 13.97 14.11

2425 -1.00 -145.9 2222 2201 3955 3981 345.2 -14.7 187 2430 0.12 2.50 0.00 0.000 2436 0.301 0.085 2240 3609 3967 3955 3980 0 0 0 0 0 0 13.17 13.52 13.26

2547 -1.07 -145.9 2241 3611 3955 3981 359.5 -11.0 211 2551 0.00 2.40 0.00 0.000 1158 0.000 0.057 2240 2197 3967 3955 3980 0 0 0 0 0 0 14.23 14.11 14.26

2877 -1.07 -145.9 2240 2196 3956 3980 400.9 -12.5 227 2881 0.00 2.53 0.00 0.000 260 0.000 0.089 2236 3610 3967 3955 3979 0 0 0 0 0 0 14.45 14.00 14.47

2927 -1.13 -145.9 2236 3611 3956 3980 407.0 -11.7 237 2933 0.00 2.40 0.00 0.000 1158 0.000 0.057 2236 2199 3966 3954 3979 0 0 0 0 0 0 14.22 14.10 14.25

3238 -1.13 -145.9 2236 2199 3956 3979 446.1 -12.7 249 3243 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3609 3966 3955 3978 0 0 0 0 0 0 14.46 14.04 14.47

3304 -1.21 -145.9 2236 3609 3956 3978 454.0 -11.4 262 3309 0.15 2.40 0.00 0.000 5254 0.126 0.057 2172 2201 3966 3955 3978 0 0 0 0 0 0 14.17 14.09 14.23

3476 end dive: TARGET_DEPTH_EXCEEDED

state 3476 begin apogee

3482 -0.13 0.0 2174 2058 3956 3977 484.5 -18.1 272 3704 1.50 0.08 215.70 1.439 10246 0.277 0.181 2528 2108 3363 3389 3337 0 0 0 0 0 0 13.74 13.35 12.59

3708 end apogee: CONTROL_FINISHED_OK

state 3708 begin climb

3711 0.57 145.9 2528 2108 3384 3330 495.4 0.0 279 4103 0.75 2.70 205.70 1.393 10500 0.063 0.076 2780 3503 2754 2793 2716 0 0 0 0 0 0 13.49 13.07 12.30

4328 0.12 145.9 2781 3503 2792 2716 434.0 16.7 326 4335 0.80 2.38 0.00 0.000 5254 0.350 0.058 2624 2124 2753 2790 2716 0 0 0 0 0 0 13.63 14.00 14.01

4634 0.04 186.1 2625 2123 2791 2715 407.6 8.1 337 4695 0.00 2.53 56.90 1.416 8612 0.000 0.081 2623 3506 2601 2653 2550 0 0 0 0 0 0 14.54 13.97 13.16

4747 -0.06 186.1 2623 3507 2643 2549 396.9 10.8 359 4752 0.28 2.40 0.00 0.000 5254 0.258 0.059 2569 2105 2594 2641 2548 0 0 0 0 0 0 13.83 14.06 14.11

5058 0.06 267.7 2570 2105 2644 2542 376.7 6.2 371 5188 0.00 2.58 123.32 1.337 8868 0.000 0.088 2575 691 2268 2322 2215 0 0 0 0 0 0 14.57 13.76 13.01

5250 0.27 326.9 2573 690 2314 2213 363.8 7.3 409 5346 0.30 2.53 89.07 1.315 11430 0.084 0.082 2684 2097 2030 2082 1978 0 0 0 0 0 0 13.97 13.89 12.86

5661 0.21 326.9 2684 2099 2068 1962 304.6 14.4 441 5662 0.15 0.00 0.00 0.000 4230 0.243 0.000 2653 2098 2014 2067 1961 0 0 0 0 0 0 13.93 14.24 14.19

5961 0.21 326.9 2653 2099 2066 1960 270.7 10.9 451 5966 0.00 2.47 0.00 0.000 516 0.000 0.090 2659 693 2011 2064 1959 0 0 0 0 0 0 14.59 14.22 14.61

6026 0.29 326.9 2659 692 2064 1959 263.9 10.0 464 6031 0.00 2.45 0.00 0.000 1158 0.000 0.080 2659 2101 2011 2064 1959 0 0 0 0 0 0 14.26 14.12 14.29

6351 0.31 329.6 2659 2102 2065 1960 230.6 9.9 479 6356 0.00 2.47 0.00 0.000 676 0.000 0.088 2659 691 2011 2064 1959 0 0 0 0 0 0 14.64 14.22 14.69

6411 0.43 358.3 2659 692 2062 1960 225.2 8.7 491 6467 0.17 2.45 45.90 1.339 11430 0.114 0.080 2732 2102 1901 1940 1862 0 0 0 0 0 0 14.31 14.24 13.30

6772 0.35 358.3 2733 2102 1932 1859 175.8 13.4 513 6778 0.15 2.47 0.00 0.000 4740 0.236 0.084 2699 690 1895 1931 1859 0 0 0 0 0 0 14.02 14.17 14.16

6823 0.41 358.3 2698 691 1929 1860 170.0 10.1 523 6828 0.00 2.47 0.00 0.000 1158 0.000 0.077 2699 2101 1893 1928 1859 0 0 0 0 0 0 14.37 14.23 14.43

7133 0.41 358.9 2699 2103 1929 1858 138.5 10.0 535 7138 0.00 2.47 0.00 0.000 548 0.000 0.087 2700 691 1892 1928 1857 0 0 0 0 0 0 14.63 14.21 14.65

7168 0.47 373.0 2699 692 1925 1858 135.2 9.3 542 7195 0.10 2.45 21.08 1.419 11430 0.155 0.078 2748 2100 1844 1874 1814 0 0 0 0 0 0 14.28 14.26 13.35

7495 0.41 373.0 2748 2101 1866 1809 95.2 11.6 559 7500 0.15 2.47 0.00 0.000 4740 0.233 0.084 2713 688 1836 1865 1807 0 0 0 0 0 0 14.00 14.09 14.14

7571 0.49 408.3 2719 689 1870 1809 88.0 8.4 574 7593 0.00 2.47 18.45 0.473 9382 0.000 0.078 2713 2105 1700 1726 1675 0 0 0 0 0 0 14.19 14.07 13.71

7898 0.59 482.0 2714 2104 1725 1669 62.3 6.6 609 7941 0.15 0.00 38.47 0.386 10918 0.116 0.000 2784 2105 1398 1441 1356 0 0 0 0 0 0 14.23 14.13 13.73

8238 0.63 540.0 2785 2106 1441 1345 32.5 7.3 644 8272 0.00 2.58 29.83 0.300 8740 0.000 0.088 2786 689 1161 1222 1100 0 0 0 0 0 0 14.57 14.08 13.76

8462 0.87 652.4 2786 689 1222 1096 18.7 4.8 688 8527 0.22 2.50 58.72 0.262 11430 0.099 0.079 2876 2102 702 758 646 0 0 0 0 0 0 14.19 14.15 13.86

8620 end climb: SURFACE_DEPTH_REACHED

state 8620 begin surface coast

8630 end surface coast: CONTROL_FINISHED_OK

state 8630 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	199	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	559.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,031122,7416.9121,-15333.2422,40,0.8,41,19.3,0.3,302.5,11,8.2	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	1.19	MHEAD_RNG_PITCHd_Wd	270.8,12147,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	300817,033509,7416.9502,-15333.1348,7,0.8,10,19.3,0.0,121.8,11,9.1

MODEM_MSG	CACST,6,1,20170830042658.361463,3,212,17,0115,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01	PM_FREEKB_00	52016128
FINISH	0.5,1.021543	_24V_AH	12.30,138.599
SM_CCo	8651,26.80,0.213,0,0,501,703.03	_10V_AH	12.16,0.000
SM_GC	1.32,8.25,0.17,26.80,0.081,0.132,0.213,205,2207,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.27,14.24,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	321	FG_AHR_10Vo	0.000
MODEM	2,1504066461,73.18300,-149.96500,114.104,165260.2	MEM	323636
RAFOS_FIX	7417.486816,-15331.795898,300817,040457,3,255,0.45	DATA_FILE_SIZE	23415,711
IRIDIUM_FIX	7416.61,-15333.19,300817,032850	CAP_FILE_SIZE	108679,0
TT8_MAMPS	0.039697,0.96621	CFSIZE	2097872896,2026340352
HUMID	46.57	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.4
TCM_TEMP	13.10	CURRENT	0.032,179.14,1
XPDR_PINGS	9	GPS	300817,060128,7417.461,-15336.959,14,0.8,21,19.3,0.5,76.3,10,9.6
CP_FREE	15983640576.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	147.23	nil	0	0	0.00
Roll_motor	79	2142	2104.53	nil	0	0	0.00
VBD_pump_during_apogee	903	1438	15985.10	nil	0	0	0.00
VBD_pump_during_surface	26	212	70.10	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	8661	14	1544.69
Iridium_during_xfer	890	162	1784.26	NCP	8644	20	2126.42
Transponder_ping	2	420	11.62	PMAR	8605	9	1051.32
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.00
TT8	0	0	0.00
LPSleep	6239	2	175.26
TT8_Active	808	13	137.40
TT8_Sampling	2727	33	1109.23
TT8_CF8	342	38	161.05
TT8_Kalman	0	0	0.00
Analog_circuits	2701	10	328.55
GPS_charging	0	0	0.00
Compass	1020	7	86.84
RAFOS	2217	48	1294.02
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	2201	493	489	0.0	0.0	0	151	0.00	0.00	-101.25	0.000	16386	0.000	0.000	181	2202	2365	2309	2422	0	0	0	0	0	0	14.52	28.83	14.54
154	-0.57	-145.9	178	2198	2312	2422	4.3	-6.4	10	202	12.70	2.80	-29.60	0.000	18724	0.452	2.143	2376	3613	3964	3947	3982	0	0	0	0	0	0	13.57	12.87	14.01
269	-0.70	-145.9	2376	3614	3954	3982	36.4	-14.3	32	274	0.00	2.40	0.00	0.000	1158	0.000	0.061	2376	2204	3967	3953	3982	0	0	0	0	0	0	14.28	14.14	14.30
579	-0.77	-145.9	2376	2203	3955	3983	84.6	-11.9	64	580	0.15	0.00	0.00	0.000	4230	0.141	0.000	2323	2202	3969	3956	3982	0	0	0	0	0	0	14.19	14.31	14.28
889	-0.80	-145.9	2324	2203	3956	3983	130.3	-13.7	81	895	0.00	2.47	0.00	0.000	388	0.000	0.089	2319	3610	3968	3955	3981	0	0	0	0	0	0	14.62	14.13	14.64
965	-0.93	-145.9	2319	3610	3957	3982	139.2	-10.8	96	970	0.12	2.38	0.00	0.000	5254	0.132	0.056	2265	2196	3968	3955	3982	0	0	0	0	0	0	14.22	14.16	14.36
1280	-0.88	-145.9	2265	2196	3956	3982	193.9	-17.4	109	1286	0.12	2.50	0.00	0.000	2436	0.298	0.084	2282	3622	3968	3955	3982	0	0	0	0	0	0	13.98	14.16	14.15
1393	-0.97	-145.9	2283	3622	3963	3982	208.6	-11.7	131	1398	0.00	2.40	0.00	0.000	1158	0.000	0.059	2283	2202	3968	3955	3982	0	0	0	0	0	0	14.38	14.25	14.41
1705	-1.00	-145.9	2283	2202	3956	3983	249.2	-12.6	143	1706	0.00	0.00	0.00	0.000	134	0.000	0.000	2282	2202	3968	3954	3982	0	0	0	0	0	0	14.47	14.50	14.50
2003	-1.05	-145.9	2283	2202	3957	3983	283.0	-10.8	153	2009	0.12	2.50	0.00	0.000	4484	0.139	0.086	2223	3609	3966	3955	3978	0	0	0	0	0	0	14.13	14.07	14.17
2099	-1.05	-145.9	2223	3610	3956	3982	296.4	-14.2	172	2104	0.00	2.40	0.00	0.000	1030	0.000	0.057	2222	2201	3968	3955	3981	0	0	0	0	0	0	14.08	13.97	14.11
2425	-1.00	-145.9	2222	2201	3955	3981	345.2	-14.7	187	2430	0.12	2.50	0.00	0.000	2436	0.301	0.085	2240	3609	3967	3955	3980	0	0	0	0	0	0	13.17	13.52	13.26
2547	-1.07	-145.9	2241	3611	3955	3981	359.5	-11.0	211	2551	0.00	2.40	0.00	0.000	1158	0.000	0.057	2240	2197	3967	3955	3980	0	0	0	0	0	0	14.23	14.11	14.26
2877	-1.07	-145.9	2240	2196	3956	3980	400.9	-12.5	227	2881	0.00	2.53	0.00	0.000	260	0.000	0.089	2236	3610	3967	3955	3979	0	0	0	0	0	0	14.45	14.00	14.47
2927	-1.13	-145.9	2236	3611	3956	3980	407.0	-11.7	237	2933	0.00	2.40	0.00	0.000	1158	0.000	0.057	2236	2199	3966	3954	3979	0	0	0	0	0	0	14.22	14.10	14.25
3238	-1.13	-145.9	2236	2199	3956	3979	446.1	-12.7	249	3243	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3609	3966	3955	3978	0	0	0	0	0	0	14.46	14.04	14.47
3304	-1.21	-145.9	2236	3609	3956	3978	454.0	-11.4	262	3309	0.15	2.40	0.00	0.000	5254	0.126	0.057	2172	2201	3966	3955	3978	0	0	0	0	0	0	14.17	14.09	14.23
3476	end dive: TARGET_DEPTH_EXCEEDED
state	3476	begin apogee
3482	-0.13	0.0	2174	2058	3956	3977	484.5	-18.1	272	3704	1.50	0.08	215.70	1.439	10246	0.277	0.181	2528	2108	3363	3389	3337	0	0	0	0	0	0	13.74	13.35	12.59
3708	end apogee: CONTROL_FINISHED_OK
state	3708	begin climb
3711	0.57	145.9	2528	2108	3384	3330	495.4	0.0	279	4103	0.75	2.70	205.70	1.393	10500	0.063	0.076	2780	3503	2754	2793	2716	0	0	0	0	0	0	13.49	13.07	12.30
4328	0.12	145.9	2781	3503	2792	2716	434.0	16.7	326	4335	0.80	2.38	0.00	0.000	5254	0.350	0.058	2624	2124	2753	2790	2716	0	0	0	0	0	0	13.63	14.00	14.01
4634	0.04	186.1	2625	2123	2791	2715	407.6	8.1	337	4695	0.00	2.53	56.90	1.416	8612	0.000	0.081	2623	3506	2601	2653	2550	0	0	0	0	0	0	14.54	13.97	13.16
4747	-0.06	186.1	2623	3507	2643	2549	396.9	10.8	359	4752	0.28	2.40	0.00	0.000	5254	0.258	0.059	2569	2105	2594	2641	2548	0	0	0	0	0	0	13.83	14.06	14.11
5058	0.06	267.7	2570	2105	2644	2542	376.7	6.2	371	5188	0.00	2.58	123.32	1.337	8868	0.000	0.088	2575	691	2268	2322	2215	0	0	0	0	0	0	14.57	13.76	13.01
5250	0.27	326.9	2573	690	2314	2213	363.8	7.3	409	5346	0.30	2.53	89.07	1.315	11430	0.084	0.082	2684	2097	2030	2082	1978	0	0	0	0	0	0	13.97	13.89	12.86
5661	0.21	326.9	2684	2099	2068	1962	304.6	14.4	441	5662	0.15	0.00	0.00	0.000	4230	0.243	0.000	2653	2098	2014	2067	1961	0	0	0	0	0	0	13.93	14.24	14.19
5961	0.21	326.9	2653	2099	2066	1960	270.7	10.9	451	5966	0.00	2.47	0.00	0.000	516	0.000	0.090	2659	693	2011	2064	1959	0	0	0	0	0	0	14.59	14.22	14.61
6026	0.29	326.9	2659	692	2064	1959	263.9	10.0	464	6031	0.00	2.45	0.00	0.000	1158	0.000	0.080	2659	2101	2011	2064	1959	0	0	0	0	0	0	14.26	14.12	14.29
6351	0.31	329.6	2659	2102	2065	1960	230.6	9.9	479	6356	0.00	2.47	0.00	0.000	676	0.000	0.088	2659	691	2011	2064	1959	0	0	0	0	0	0	14.64	14.22	14.69
6411	0.43	358.3	2659	692	2062	1960	225.2	8.7	491	6467	0.17	2.45	45.90	1.339	11430	0.114	0.080	2732	2102	1901	1940	1862	0	0	0	0	0	0	14.31	14.24	13.30
6772	0.35	358.3	2733	2102	1932	1859	175.8	13.4	513	6778	0.15	2.47	0.00	0.000	4740	0.236	0.084	2699	690	1895	1931	1859	0	0	0	0	0	0	14.02	14.17	14.16
6823	0.41	358.3	2698	691	1929	1860	170.0	10.1	523	6828	0.00	2.47	0.00	0.000	1158	0.000	0.077	2699	2101	1893	1928	1859	0	0	0	0	0	0	14.37	14.23	14.43
7133	0.41	358.9	2699	2103	1929	1858	138.5	10.0	535	7138	0.00	2.47	0.00	0.000	548	0.000	0.087	2700	691	1892	1928	1857	0	0	0	0	0	0	14.63	14.21	14.65
7168	0.47	373.0	2699	692	1925	1858	135.2	9.3	542	7195	0.10	2.45	21.08	1.419	11430	0.155	0.078	2748	2100	1844	1874	1814	0	0	0	0	0	0	14.28	14.26	13.35
7495	0.41	373.0	2748	2101	1866	1809	95.2	11.6	559	7500	0.15	2.47	0.00	0.000	4740	0.233	0.084	2713	688	1836	1865	1807	0	0	0	0	0	0	14.00	14.09	14.14
7571	0.49	408.3	2719	689	1870	1809	88.0	8.4	574	7593	0.00	2.47	18.45	0.473	9382	0.000	0.078	2713	2105	1700	1726	1675	0	0	0	0	0	0	14.19	14.07	13.71
7898	0.59	482.0	2714	2104	1725	1669	62.3	6.6	609	7941	0.15	0.00	38.47	0.386	10918	0.116	0.000	2784	2105	1398	1441	1356	0	0	0	0	0	0	14.23	14.13	13.73
8238	0.63	540.0	2785	2106	1441	1345	32.5	7.3	644	8272	0.00	2.58	29.83	0.300	8740	0.000	0.088	2786	689	1161	1222	1100	0	0	0	0	0	0	14.57	14.08	13.76
8462	0.87	652.4	2786	689	1222	1096	18.7	4.8	688	8527	0.22	2.50	58.72	0.262	11430	0.099	0.079	2876	2102	702	758	646	0	0	0	0	0	0	14.19	14.15	13.86
8620	end climb: SURFACE_DEPTH_REACHED
state	8620	begin surface coast
8630	end surface coast: CONTROL_FINISHED_OK
state	8630	begin surface