Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 203 * 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 203 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 572.0

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 61 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 41 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 572.0 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 61 VBD_MIN 500

DIVE 203 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 300817,142456,7418.3140,-15349.0215,34,0.7,35,19.2,0.0,0.0,12,9.1 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 257.1,3921,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 300817,145043,7418.2695,-15349.1992,7,0.7,11,19.2,0.7,259.0,12,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830162701.295537,3,334,25,0300,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03 PM_FREEKB_00 51899712

FINISH 0.1,1.004278 _24V_AH 12.33,140.510

SM_CCo 8831,50.15,0.205,0,0,501,702.78 _10V_AH 12.39,0.000

SM_GC 1.34,8.12,0.17,50.15,0.080,0.116,0.205,201,2216,501,-7.38,-0.82,702.78,0,0,0,0,0,0,14.31,14.32,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 223 FG_AHR_10Vo 0.000

MODEM 2,1504109664,73.18300,-149.96500,117.992,170813.2 MEM 323416

RAFOS_FIX 7417.623047,-15349.572266,300817,161657,3,255,0.23 DATA_FILE_SIZE 26715,732

IRIDIUM_FIX 7417.53,-15340.30,300817,144206 CAP_FILE_SIZE 112696,0

TT8_MAMPS 0.038948,0.86135 CFSIZE 2097872896,2025095168

HUMID 45.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.4

TCM_TEMP 13.20 CURRENT 0.052,190.93,1

XPDR_PINGS 17 GPS 300817,172031,7418.492,-15353.683,20,0.7,29,19.2,0.0,40.6,10,6.1

CP_FREE 15982592000.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 146.01 nil 0 0 0.00

Roll_motor 83 2147 2197.58 nil 0 0 0.00

VBD_pump_during_apogee 904 1465 16338.96 nil 0 0 0.00

VBD_pump_during_surface 50 205 126.77 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 8840 14 1570.65

Iridium_during_xfer 997 179 2210.20 NCP 8837 20 2179.20

Transponder_ping 4 420 22.01 PMAR 8785 9 1073.88

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.35

TT8 0 0 0.00

LPSleep 6578 2 188.27

TT8_Active 973 13 168.46

TT8_Sampling 2523 33 1045.47

TT8_CF8 364 38 174.83

TT8_Kalman 0 0 0.00

Analog_circuits 2679 10 331.99

GPS_charging 0 0 0.00

Compass 1050 7 91.07

RAFOS 2210 48 1314.33

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 -145.9 183 2232 492 492 0.0 0.0 0 150 0.00 0.00 -100.70 0.000 16386 0.000 0.000 182 2232 2322 2261 2383 0 0 0 0 0 0 14.52 28.83 14.52

153 -0.57 -145.9 183 2233 2264 2382 4.0 -5.5 10 206 12.90 2.75 -31.20 0.000 18724 0.459 2.147 2377 3588 3967 3951 3983 0 0 0 0 0 0 13.65 12.64 14.14

366 -0.71 -145.9 2376 3590 3959 3984 49.7 -13.2 52 371 0.00 2.30 0.00 0.000 1158 0.000 0.056 2376 2234 3970 3958 3983 0 0 0 0 0 0 14.26 14.14 14.30

676 -0.79 -145.9 2377 2234 3961 3983 91.5 -11.2 84 677 0.17 0.00 0.00 0.000 4230 0.124 0.000 2308 2233 3972 3962 3983 0 0 0 0 0 0 14.26 14.42 14.36

976 -0.79 -145.9 2308 2234 3961 3983 138.0 -14.7 98 981 0.00 2.40 0.00 0.000 260 0.000 0.089 2305 3594 3971 3960 3983 0 0 0 0 0 0 14.63 14.19 14.62

1081 -0.90 -145.9 2306 3594 3961 3983 150.9 -11.8 119 1086 0.00 2.35 0.00 0.000 1158 0.000 0.057 2305 2199 3971 3960 3983 0 0 0 0 0 0 14.38 14.26 14.41

1396 -0.94 -145.9 2306 2198 3961 3983 192.6 -13.0 132 1401 0.00 2.45 0.00 0.000 388 0.000 0.087 2297 3590 3971 3960 3983 0 0 0 0 0 0 14.66 14.21 14.67

1466 -1.06 -145.9 2297 3593 3962 3984 200.8 -10.8 146 1471 0.20 2.35 0.00 0.000 5254 0.103 0.057 2228 2194 3971 3960 3983 0 0 0 0 0 0 13.81 14.22 14.08

1787 -0.98 -145.9 2228 2193 3961 3983 258.5 -17.4 160 1792 0.12 2.45 0.00 0.000 2436 0.306 0.085 2247 3591 3971 3960 3983 0 0 0 0 0 0 13.87 14.15 14.03

1932 -1.02 -145.9 2246 3590 3961 3983 277.8 -11.9 189 1939 0.00 2.35 0.00 0.000 1158 0.000 0.056 2247 2197 3971 3959 3983 0 0 0 0 0 0 14.37 14.24 14.40

2237 -1.02 -145.9 2248 2197 3961 3982 317.9 -12.9 200 2242 0.00 2.45 0.00 0.000 260 0.000 0.088 2238 3589 3971 3960 3982 0 0 0 0 0 0 14.69 14.19 14.70

2312 -1.07 -145.9 2238 3590 3961 3982 327.4 -12.2 215 2317 0.00 2.35 0.00 0.000 1158 0.000 0.056 2238 2196 3971 3960 3982 0 0 0 0 0 0 14.32 14.20 14.36

2627 -1.07 -145.9 2239 2197 3961 3981 367.6 -12.5 228 2632 0.00 2.47 0.00 0.000 260 0.000 0.090 2236 3592 3970 3959 3981 0 0 0 0 0 0 14.69 14.19 14.71

2712 -1.14 -145.9 2237 3592 3961 3981 377.7 -11.1 245 2719 0.00 2.35 0.00 0.000 1158 0.000 0.056 2235 2191 3969 3958 3981 0 0 0 0 0 0 14.29 14.23 14.35

3017 -1.14 -145.9 2236 2191 3961 3980 415.3 -12.2 256 3022 0.00 2.50 0.00 0.000 260 0.000 0.089 2235 3595 3969 3959 3980 0 0 0 0 0 0 14.69 14.19 14.69

3129 -1.21 -145.9 2235 3597 3960 3981 427.9 -10.9 278 3134 0.15 2.35 0.00 0.000 5254 0.125 0.055 2174 2194 3970 3960 3980 0 0 0 0 0 0 14.30 14.27 14.40

3437 end dive: TARGET_DEPTH_EXCEEDED

state 3437 begin apogee

3443 -0.13 0.0 2175 2064 3960 3980 482.6 -17.9 290 3675 1.48 0.00 227.70 1.401 10246 0.278 0.000 2530 2061 3365 3394 3336 0 0 0 0 0 0 13.76 13.48 12.67

3679 end apogee: CONTROL_FINISHED_OK

state 3679 begin climb

3681 0.57 145.9 2530 2062 3385 3329 494.1 0.0 297 3898 0.75 2.53 204.93 1.376 10756 0.062 0.079 2794 732 2764 2814 2715 0 0 0 0 0 0 13.59 12.92 12.33

3968 0.18 145.9 2794 733 2802 2711 492.5 15.4 348 3973 0.73 2.50 0.00 0.000 5254 0.321 0.075 2647 2085 2755 2801 2709 0 0 0 0 0 0 13.14 13.43 13.48

4289 0.03 155.8 2647 2087 2802 2702 460.8 9.5 362 4300 0.20 2.45 3.67 1.421 12964 0.272 0.083 2602 736 2734 2782 2687 0 0 0 0 0 0 13.66 13.93 12.55

4355 0.08 223.2 2603 736 2786 2698 455.8 6.9 375 4471 0.00 2.42 110.80 1.373 9254 0.000 0.080 2602 2101 2454 2522 2387 0 0 0 0 0 0 14.09 13.97 12.85

4770 0.10 248.9 2603 2101 2504 2369 419.8 8.8 408 4810 0.00 2.47 34.83 1.455 8740 0.000 0.086 2602 728 2348 2404 2292 0 0 0 0 0 0 14.29 13.90 13.09

4836 0.19 281.4 2603 728 2396 2284 414.0 8.5 421 4892 0.12 2.45 47.72 1.405 11430 0.129 0.079 2660 2107 2214 2271 2158 0 0 0 0 0 0 13.97 13.92 12.93

5192 0.14 281.4 2660 2105 2262 2142 368.2 13.1 442 5198 0.12 2.45 0.00 0.000 4740 0.256 0.082 2637 724 2201 2261 2141 0 0 0 0 0 0 13.85 14.02 13.98

5228 0.18 281.4 2638 724 2260 2140 363.7 11.3 449 5233 0.00 2.42 0.00 0.000 1158 0.000 0.080 2638 2099 2199 2259 2140 0 0 0 0 0 0 14.18 14.07 14.23

5553 0.18 281.4 2639 2099 2260 2139 327.5 11.1 464 5554 0.00 0.00 0.00 0.000 6 0.000 0.000 2638 2100 2199 2259 2139 0 0 0 0 0 0 14.47 14.49 14.49

5853 0.18 281.4 2638 2099 2259 2139 296.0 10.4 474 5859 0.00 2.42 0.00 0.000 516 0.000 0.085 2644 724 2198 2258 2139 0 0 0 0 0 0 14.50 14.14 14.52

5919 0.23 285.2 2645 724 2257 2139 289.3 9.8 487 5924 0.00 2.42 0.00 0.000 1190 0.000 0.078 2644 2101 2195 2256 2134 0 0 0 0 0 0 14.28 14.15 14.31

6244 0.24 298.0 2644 2102 2256 2139 256.7 9.4 502 6267 0.00 0.00 21.25 1.466 8230 0.000 0.000 2644 2101 2149 2206 2092 0 0 0 0 0 0 14.47 14.12 13.28

6545 0.30 334.4 2645 2101 2198 2083 230.6 8.3 512 6611 0.00 2.50 58.83 1.335 8868 0.000 0.086 2644 731 1997 2047 1947 0 0 0 0 0 0 14.45 13.92 13.19

6673 0.44 377.8 2646 734 2041 1947 220.0 8.0 537 6755 0.25 2.45 71.15 1.267 11430 0.092 0.079 2741 2103 1820 1851 1790 0 0 0 0 0 0 14.02 13.90 13.02

7061 0.36 377.8 2742 2103 1841 1779 164.5 13.9 564 7066 0.15 2.40 0.00 0.000 4740 0.233 0.082 2712 731 1809 1840 1779 0 0 0 0 0 0 13.99 14.14 14.12

7096 0.38 377.8 2713 732 1839 1781 160.3 11.2 571 7101 0.00 2.40 0.00 0.000 1158 0.000 0.078 2712 2108 1808 1837 1780 0 0 0 0 0 0 14.26 14.13 14.31

7421 0.38 377.8 2713 2104 1838 1778 124.9 10.6 586 7427 0.00 2.40 0.00 0.000 516 0.000 0.086 2713 730 1807 1837 1777 0 0 0 0 0 0 14.61 14.24 14.63

7447 0.42 381.0 2713 731 1835 1778 122.3 9.9 591 7453 0.00 2.38 0.00 0.000 1190 0.000 0.077 2713 2102 1806 1835 1777 0 0 0 0 0 0 14.31 14.18 14.35

7752 0.43 405.5 2713 2104 1835 1777 93.2 8.9 606 7773 0.00 2.45 13.00 0.487 8740 0.000 0.084 2713 734 1711 1740 1683 0 0 0 0 0 0 14.60 14.14 13.60

7819 0.55 435.1 2713 735 1739 1684 87.4 8.6 619 7841 0.15 2.40 16.58 0.466 11430 0.115 0.077 2777 2106 1590 1618 1562 0 0 0 0 0 0 14.26 14.14 13.66

8146 0.52 445.7 2777 2107 1618 1558 49.9 9.5 654 8158 0.00 0.00 5.65 0.351 8358 0.000 0.000 2776 2106 1548 1581 1515 0 0 0 0 0 0 14.58 13.96 13.72

8456 0.59 540.5 2777 2106 1585 1515 29.2 5.6 685 8513 0.00 2.47 49.88 0.291 8740 0.000 0.086 2780 728 1159 1222 1097 0 0 0 0 0 0 14.62 14.10 13.83

8565 0.79 613.4 2781 728 1222 1103 22.2 6.6 703 8608 0.17 2.40 38.10 0.273 11430 0.116 0.079 2854 2099 862 933 792 0 0 0 0 0 0 14.14 14.07 13.84

8791 end climb: SURFACE_DEPTH_REACHED

state 8791 begin surface coast

8811 end surface coast: CONTROL_FINISHED_OK

state 8811 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	203	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	572.0
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	61	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,142456,7418.3140,-15349.0215,34,0.7,35,19.2,0.0,0.0,12,9.1	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	257.1,3921,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	300817,145043,7418.2695,-15349.1992,7,0.7,11,19.2,0.7,259.0,12,9.2

MODEM_MSG	CACST,6,1,20170830162701.295537,3,334,25,0300,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03	PM_FREEKB_00	51899712
FINISH	0.1,1.004278	_24V_AH	12.33,140.510
SM_CCo	8831,50.15,0.205,0,0,501,702.78	_10V_AH	12.39,0.000
SM_GC	1.34,8.12,0.17,50.15,0.080,0.116,0.205,201,2216,501,-7.38,-0.82,702.78,0,0,0,0,0,0,14.31,14.32,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	223	FG_AHR_10Vo	0.000
MODEM	2,1504109664,73.18300,-149.96500,117.992,170813.2	MEM	323416
RAFOS_FIX	7417.623047,-15349.572266,300817,161657,3,255,0.23	DATA_FILE_SIZE	26715,732
IRIDIUM_FIX	7417.53,-15340.30,300817,144206	CAP_FILE_SIZE	112696,0
TT8_MAMPS	0.038948,0.86135	CFSIZE	2097872896,2025095168
HUMID	45.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.4
TCM_TEMP	13.20	CURRENT	0.052,190.93,1
XPDR_PINGS	17	GPS	300817,172031,7418.492,-15353.683,20,0.7,29,19.2,0.0,40.6,10,6.1
CP_FREE	15982592000.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	146.01	nil	0	0	0.00
Roll_motor	83	2147	2197.58	nil	0	0	0.00
VBD_pump_during_apogee	904	1465	16338.96	nil	0	0	0.00
VBD_pump_during_surface	50	205	126.77	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	8840	14	1570.65
Iridium_during_xfer	997	179	2210.20	NCP	8837	20	2179.20
Transponder_ping	4	420	22.01	PMAR	8785	9	1073.88
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.35
TT8	0	0	0.00
LPSleep	6578	2	188.27
TT8_Active	973	13	168.46
TT8_Sampling	2523	33	1045.47
TT8_CF8	364	38	174.83
TT8_Kalman	0	0	0.00
Analog_circuits	2679	10	331.99
GPS_charging	0	0	0.00
Compass	1050	7	91.07
RAFOS	2210	48	1314.33
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	183	2232	492	492	0.0	0.0	0	150	0.00	0.00	-100.70	0.000	16386	0.000	0.000	182	2232	2322	2261	2383	0	0	0	0	0	0	14.52	28.83	14.52
153	-0.57	-145.9	183	2233	2264	2382	4.0	-5.5	10	206	12.90	2.75	-31.20	0.000	18724	0.459	2.147	2377	3588	3967	3951	3983	0	0	0	0	0	0	13.65	12.64	14.14
366	-0.71	-145.9	2376	3590	3959	3984	49.7	-13.2	52	371	0.00	2.30	0.00	0.000	1158	0.000	0.056	2376	2234	3970	3958	3983	0	0	0	0	0	0	14.26	14.14	14.30
676	-0.79	-145.9	2377	2234	3961	3983	91.5	-11.2	84	677	0.17	0.00	0.00	0.000	4230	0.124	0.000	2308	2233	3972	3962	3983	0	0	0	0	0	0	14.26	14.42	14.36
976	-0.79	-145.9	2308	2234	3961	3983	138.0	-14.7	98	981	0.00	2.40	0.00	0.000	260	0.000	0.089	2305	3594	3971	3960	3983	0	0	0	0	0	0	14.63	14.19	14.62
1081	-0.90	-145.9	2306	3594	3961	3983	150.9	-11.8	119	1086	0.00	2.35	0.00	0.000	1158	0.000	0.057	2305	2199	3971	3960	3983	0	0	0	0	0	0	14.38	14.26	14.41
1396	-0.94	-145.9	2306	2198	3961	3983	192.6	-13.0	132	1401	0.00	2.45	0.00	0.000	388	0.000	0.087	2297	3590	3971	3960	3983	0	0	0	0	0	0	14.66	14.21	14.67
1466	-1.06	-145.9	2297	3593	3962	3984	200.8	-10.8	146	1471	0.20	2.35	0.00	0.000	5254	0.103	0.057	2228	2194	3971	3960	3983	0	0	0	0	0	0	13.81	14.22	14.08
1787	-0.98	-145.9	2228	2193	3961	3983	258.5	-17.4	160	1792	0.12	2.45	0.00	0.000	2436	0.306	0.085	2247	3591	3971	3960	3983	0	0	0	0	0	0	13.87	14.15	14.03
1932	-1.02	-145.9	2246	3590	3961	3983	277.8	-11.9	189	1939	0.00	2.35	0.00	0.000	1158	0.000	0.056	2247	2197	3971	3959	3983	0	0	0	0	0	0	14.37	14.24	14.40
2237	-1.02	-145.9	2248	2197	3961	3982	317.9	-12.9	200	2242	0.00	2.45	0.00	0.000	260	0.000	0.088	2238	3589	3971	3960	3982	0	0	0	0	0	0	14.69	14.19	14.70
2312	-1.07	-145.9	2238	3590	3961	3982	327.4	-12.2	215	2317	0.00	2.35	0.00	0.000	1158	0.000	0.056	2238	2196	3971	3960	3982	0	0	0	0	0	0	14.32	14.20	14.36
2627	-1.07	-145.9	2239	2197	3961	3981	367.6	-12.5	228	2632	0.00	2.47	0.00	0.000	260	0.000	0.090	2236	3592	3970	3959	3981	0	0	0	0	0	0	14.69	14.19	14.71
2712	-1.14	-145.9	2237	3592	3961	3981	377.7	-11.1	245	2719	0.00	2.35	0.00	0.000	1158	0.000	0.056	2235	2191	3969	3958	3981	0	0	0	0	0	0	14.29	14.23	14.35
3017	-1.14	-145.9	2236	2191	3961	3980	415.3	-12.2	256	3022	0.00	2.50	0.00	0.000	260	0.000	0.089	2235	3595	3969	3959	3980	0	0	0	0	0	0	14.69	14.19	14.69
3129	-1.21	-145.9	2235	3597	3960	3981	427.9	-10.9	278	3134	0.15	2.35	0.00	0.000	5254	0.125	0.055	2174	2194	3970	3960	3980	0	0	0	0	0	0	14.30	14.27	14.40
3437	end dive: TARGET_DEPTH_EXCEEDED
state	3437	begin apogee
3443	-0.13	0.0	2175	2064	3960	3980	482.6	-17.9	290	3675	1.48	0.00	227.70	1.401	10246	0.278	0.000	2530	2061	3365	3394	3336	0	0	0	0	0	0	13.76	13.48	12.67
3679	end apogee: CONTROL_FINISHED_OK
state	3679	begin climb
3681	0.57	145.9	2530	2062	3385	3329	494.1	0.0	297	3898	0.75	2.53	204.93	1.376	10756	0.062	0.079	2794	732	2764	2814	2715	0	0	0	0	0	0	13.59	12.92	12.33
3968	0.18	145.9	2794	733	2802	2711	492.5	15.4	348	3973	0.73	2.50	0.00	0.000	5254	0.321	0.075	2647	2085	2755	2801	2709	0	0	0	0	0	0	13.14	13.43	13.48
4289	0.03	155.8	2647	2087	2802	2702	460.8	9.5	362	4300	0.20	2.45	3.67	1.421	12964	0.272	0.083	2602	736	2734	2782	2687	0	0	0	0	0	0	13.66	13.93	12.55
4355	0.08	223.2	2603	736	2786	2698	455.8	6.9	375	4471	0.00	2.42	110.80	1.373	9254	0.000	0.080	2602	2101	2454	2522	2387	0	0	0	0	0	0	14.09	13.97	12.85
4770	0.10	248.9	2603	2101	2504	2369	419.8	8.8	408	4810	0.00	2.47	34.83	1.455	8740	0.000	0.086	2602	728	2348	2404	2292	0	0	0	0	0	0	14.29	13.90	13.09
4836	0.19	281.4	2603	728	2396	2284	414.0	8.5	421	4892	0.12	2.45	47.72	1.405	11430	0.129	0.079	2660	2107	2214	2271	2158	0	0	0	0	0	0	13.97	13.92	12.93
5192	0.14	281.4	2660	2105	2262	2142	368.2	13.1	442	5198	0.12	2.45	0.00	0.000	4740	0.256	0.082	2637	724	2201	2261	2141	0	0	0	0	0	0	13.85	14.02	13.98
5228	0.18	281.4	2638	724	2260	2140	363.7	11.3	449	5233	0.00	2.42	0.00	0.000	1158	0.000	0.080	2638	2099	2199	2259	2140	0	0	0	0	0	0	14.18	14.07	14.23
5553	0.18	281.4	2639	2099	2260	2139	327.5	11.1	464	5554	0.00	0.00	0.00	0.000	6	0.000	0.000	2638	2100	2199	2259	2139	0	0	0	0	0	0	14.47	14.49	14.49
5853	0.18	281.4	2638	2099	2259	2139	296.0	10.4	474	5859	0.00	2.42	0.00	0.000	516	0.000	0.085	2644	724	2198	2258	2139	0	0	0	0	0	0	14.50	14.14	14.52
5919	0.23	285.2	2645	724	2257	2139	289.3	9.8	487	5924	0.00	2.42	0.00	0.000	1190	0.000	0.078	2644	2101	2195	2256	2134	0	0	0	0	0	0	14.28	14.15	14.31
6244	0.24	298.0	2644	2102	2256	2139	256.7	9.4	502	6267	0.00	0.00	21.25	1.466	8230	0.000	0.000	2644	2101	2149	2206	2092	0	0	0	0	0	0	14.47	14.12	13.28
6545	0.30	334.4	2645	2101	2198	2083	230.6	8.3	512	6611	0.00	2.50	58.83	1.335	8868	0.000	0.086	2644	731	1997	2047	1947	0	0	0	0	0	0	14.45	13.92	13.19
6673	0.44	377.8	2646	734	2041	1947	220.0	8.0	537	6755	0.25	2.45	71.15	1.267	11430	0.092	0.079	2741	2103	1820	1851	1790	0	0	0	0	0	0	14.02	13.90	13.02
7061	0.36	377.8	2742	2103	1841	1779	164.5	13.9	564	7066	0.15	2.40	0.00	0.000	4740	0.233	0.082	2712	731	1809	1840	1779	0	0	0	0	0	0	13.99	14.14	14.12
7096	0.38	377.8	2713	732	1839	1781	160.3	11.2	571	7101	0.00	2.40	0.00	0.000	1158	0.000	0.078	2712	2108	1808	1837	1780	0	0	0	0	0	0	14.26	14.13	14.31
7421	0.38	377.8	2713	2104	1838	1778	124.9	10.6	586	7427	0.00	2.40	0.00	0.000	516	0.000	0.086	2713	730	1807	1837	1777	0	0	0	0	0	0	14.61	14.24	14.63
7447	0.42	381.0	2713	731	1835	1778	122.3	9.9	591	7453	0.00	2.38	0.00	0.000	1190	0.000	0.077	2713	2102	1806	1835	1777	0	0	0	0	0	0	14.31	14.18	14.35
7752	0.43	405.5	2713	2104	1835	1777	93.2	8.9	606	7773	0.00	2.45	13.00	0.487	8740	0.000	0.084	2713	734	1711	1740	1683	0	0	0	0	0	0	14.60	14.14	13.60
7819	0.55	435.1	2713	735	1739	1684	87.4	8.6	619	7841	0.15	2.40	16.58	0.466	11430	0.115	0.077	2777	2106	1590	1618	1562	0	0	0	0	0	0	14.26	14.14	13.66
8146	0.52	445.7	2777	2107	1618	1558	49.9	9.5	654	8158	0.00	0.00	5.65	0.351	8358	0.000	0.000	2776	2106	1548	1581	1515	0	0	0	0	0	0	14.58	13.96	13.72
8456	0.59	540.5	2777	2106	1585	1515	29.2	5.6	685	8513	0.00	2.47	49.88	0.291	8740	0.000	0.086	2780	728	1159	1222	1097	0	0	0	0	0	0	14.62	14.10	13.83
8565	0.79	613.4	2781	728	1222	1103	22.2	6.6	703	8608	0.17	2.40	38.10	0.273	11430	0.116	0.079	2854	2099	862	933	792	0	0	0	0	0	0	14.14	14.07	13.84
8791	end climb: SURFACE_DEPTH_REACHED
state	8791	begin surface coast
8811	end surface coast: CONTROL_FINISHED_OK
state	8811	begin surface