Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 366 * 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 366 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 1.4 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 1019.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 57 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 1019.0 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 1.4 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 60 VBD_MIN 500

DIVE 366 NOCOMM_ACTION 161 R_STBD_OVSHOOT 57 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 180917,065252,7437.1025,-15205.0391,15,0.9,27,20.1,0.2,36.6,8,9.6 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T4

_XMS_NAKs 0 TGT_LATLONG 7418.100,-15347.000

_XMS_TOUTs 0 TGT_RADIUS 1000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 211.6,62147,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 180917,070420,7437.1445,-15204.8877,8,0.8,34,20.1,0.4,38.7,9,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170918080708.369233,3,79,-5,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*29 PM_FREEKB_00 45873920

FINISH 0.3,1.020977 _24V_AH 12.19,220.373

SM_CCo 8989,15.73,0.210,0,0,499,703.03 _10V_AH 12.05,0.000

SM_GC 1.67,8.18,0.17,15.73,0.076,0.102,0.210,198,2254,499,-7.39,-0.54,703.03,0,0,0,0,0,0,14.23,14.28,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 250 FG_AHR_10Vo 0.000

MODEM 1,1505722028,73.78700,-144.83000,7.619,11030.4 MEM 323472

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 23452,662

IRIDIUM_FIX 7441.25,-15202.35,180917,041944 CAP_FILE_SIZE 99267,0

TT8_MAMPS 0.040446,1.04036 CFSIZE 2097872896,1983938560

HUMID 46.92 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.9

TCM_TEMP 13.10 CURRENT 0.025,9.63,1

XPDR_PINGS 14 GPS 180917,093620,7436.625,-15209.023,36,0.8,36,20.1,0.5,66.6,10,8.9

CP_FREE 15914762240.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 141.53 nil 0 0 0.00

Roll_motor 85 2165 2254.57 nil 0 0 0.00

VBD_pump_during_apogee 1000 1485 18113.45 nil 0 0 0.00

VBD_pump_during_surface 15 209 40.18 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 8585 14 1533.66

Iridium_during_xfer 346 169 713.79 NCP 8959 20 2184.20

Transponder_ping 3 420 17.92 PMAR 8945 11 1274.45

GUMSTIX_24V 0 0 0.00

GPS 35 22 9.70

TT8 0 0 0.00

LPSleep 6344 2 176.60

TT8_Active 874 13 147.28

TT8_Sampling 2160 33 870.69

TT8_CF8 322 38 150.15

TT8_Kalman 0 0 0.00

Analog_circuits 2224 10 268.02

GPS_charging 0 0 0.00

Compass 951 7 80.25

RAFOS 2219 48 1283.47

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 193 2245 515 491 0.0 0.0 0 134 0.00 0.00 -81.25 0.000 16386 0.000 0.000 191 2245 1962 1888 2037 0 0 0 0 0 0 14.50 28.83 14.51

137 -0.57 -145.9 192 2245 1892 2038 3.1 -3.2 8 201 13.00 2.85 -40.78 0.000 18980 0.454 2.166 2386 834 3964 3949 3979 0 0 0 0 0 0 13.59 12.59 14.08

292 -0.72 -145.9 2383 831 3948 3981 38.4 -12.7 38 297 0.12 2.38 0.00 0.000 5254 0.122 0.086 2336 2167 3966 3953 3980 0 0 0 0 0 0 14.20 14.12 14.30

603 -0.77 -145.9 2337 2168 3953 3979 93.7 -13.7 70 607 0.00 2.55 0.00 0.000 388 0.000 0.087 2336 3607 3967 3954 3980 0 0 0 0 0 0 14.57 14.05 14.58

740 -0.94 -145.9 2337 3610 3955 3980 107.9 -9.7 97 746 0.20 2.35 0.00 0.000 5286 0.101 0.053 2260 2224 3967 3954 3980 0 0 0 0 0 0 14.12 14.04 14.26

1056 -0.92 -145.9 2261 2223 3956 3980 161.1 -16.2 110 1057 0.00 0.00 0.00 0.000 134 0.000 0.000 2260 2224 3966 3954 3979 0 0 0 0 0 0 14.58 14.60 14.58

1356 -0.92 -145.9 2260 2225 3955 3981 205.6 -14.3 120 1361 0.00 2.47 0.00 0.000 260 0.000 0.084 2250 3615 3967 3954 3980 0 0 0 0 0 0 14.62 14.09 14.64

1406 -1.02 -145.9 2251 3616 3956 3980 212.5 -12.8 130 1411 0.00 2.42 0.00 0.000 1158 0.000 0.058 2250 2206 3967 3954 3980 0 0 0 0 0 0 14.12 13.87 14.18

1717 -1.05 -145.9 2251 2205 3955 3980 255.1 -13.2 142 1722 0.00 2.50 0.00 0.000 388 0.000 0.085 2245 3610 3967 3954 3980 0 0 0 0 0 0 14.64 14.04 14.65

1742 -1.09 -145.9 2244 3611 3955 3981 258.2 -11.9 147 1750 0.00 2.42 0.00 0.000 1158 0.000 0.060 2244 2199 3967 3954 3980 0 0 0 0 0 0 14.18 14.06 14.23

2048 -1.13 -145.9 2244 2198 3955 3981 295.2 -11.6 158 2053 0.10 2.53 0.00 0.000 4484 0.164 0.083 2197 3619 3966 3954 3979 0 0 0 0 0 0 14.19 14.04 14.18

2108 -1.16 -145.9 2196 3625 3956 3980 303.4 -13.6 170 2113 0.00 2.42 0.00 0.000 1158 0.000 0.059 2198 2199 3967 3955 3980 0 0 0 0 0 0 14.18 14.00 14.24

2439 -1.12 -145.9 2197 2199 3955 3981 352.2 -14.3 186 2443 0.00 2.50 0.00 0.000 388 0.000 0.084 2187 3609 3967 3954 3980 0 0 0 0 0 0 14.62 13.97 14.64

2504 -1.12 -145.9 2188 3611 3954 3980 361.5 -13.8 199 2510 0.12 2.45 0.00 0.000 3078 0.245 0.058 2211 2195 3966 3953 3979 0 0 0 0 0 0 13.85 14.02 14.10

2830 -1.12 -145.9 2211 2192 3954 3980 402.9 -12.5 214 2831 0.00 0.00 0.00 0.000 6 0.000 0.000 2211 2192 3966 3953 3979 0 0 0 0 0 0 14.62 14.63 14.64

3131 -1.12 -145.9 2212 2193 3954 3980 440.2 -12.3 224 3135 0.00 2.53 0.00 0.000 260 0.000 0.086 2209 3610 3965 3953 3978 0 0 0 0 0 0 14.62 13.96 14.64

3231 -1.21 -145.9 2210 3612 3954 3980 451.8 -11.1 244 3236 0.00 2.40 0.00 0.000 1158 0.000 0.055 2209 2202 3966 3953 3980 0 0 0 0 0 0 14.25 14.12 14.28

3458 end dive: TARGET_DEPTH_EXCEEDED

state 3458 begin apogee

3465 -0.13 0.0 2210 2057 3953 3980 480.1 -12.2 255 3702 1.27 0.05 229.43 1.390 10246 0.226 0.122 2530 2104 3358 3375 3341 0 0 0 0 0 0 13.64 13.23 12.64

3706 end apogee: CONTROL_FINISHED_OK

state 3706 begin climb

3709 0.57 145.9 2531 2104 3374 3339 493.9 0.0 263 4104 0.75 2.67 211.15 1.363 10500 0.060 0.070 2786 3499 2753 2782 2724 0 0 0 0 0 0 13.63 12.82 12.19

4204 0.06 145.9 2784 3498 2781 2723 469.2 14.9 283 4210 0.93 2.38 0.00 0.000 5254 0.343 0.056 2608 2127 2751 2780 2723 0 0 0 0 0 0 13.43 13.81 13.81

4525 -0.01 204.4 2609 2125 2782 2720 444.5 7.3 297 4621 0.12 2.60 89.20 1.355 12964 0.291 0.086 2589 687 2527 2578 2477 0 0 0 0 0 0 13.76 13.83 13.02

4633 0.03 262.6 2588 688 2572 2471 437.0 7.3 313 4733 0.00 2.53 92.40 1.315 9254 0.000 0.079 2589 2098 2293 2345 2242 0 0 0 0 0 0 13.97 13.89 12.82

5038 0.08 286.1 2591 2099 2333 2222 401.3 8.9 344 5074 0.00 0.00 33.80 1.399 8870 0.000 0.000 2588 2103 2198 2248 2148 0 0 0 0 0 0 14.38 13.92 13.12

5368 0.15 316.1 2589 2098 2233 2129 372.5 8.6 360 5423 0.12 2.60 46.00 1.366 10916 0.127 0.090 2657 689 2068 2114 2023 0 0 0 0 0 0 14.12 13.98 13.16

5483 0.15 316.1 2659 690 2103 2020 357.7 12.8 383 5489 0.00 2.50 0.00 0.000 1030 0.000 0.079 2654 2099 2060 2102 2019 0 0 0 0 0 0 14.12 14.00 14.15

5791 0.10 316.1 2658 2104 2103 2011 316.1 13.4 394 5796 0.15 2.45 0.00 0.000 4740 0.248 0.083 2624 690 2056 2100 2013 0 0 0 0 0 0 13.87 14.02 14.02

5817 0.10 316.1 2628 690 2103 2012 312.7 11.9 399 5823 0.00 2.47 0.00 0.000 1030 0.000 0.076 2627 2098 2057 2101 2013 0 0 0 0 0 0 14.16 14.04 14.21

6122 0.10 316.1 2627 2101 2103 2011 280.2 10.3 410 6126 0.00 2.47 0.00 0.000 516 0.000 0.087 2630 697 2055 2101 2009 0 0 0 0 0 0 14.62 14.07 14.64

6142 0.14 330.0 2631 696 2102 2010 278.2 9.4 414 6162 0.00 2.45 15.85 1.486 9382 0.000 0.078 2630 2100 2019 2064 1975 0 0 0 0 0 0 14.31 14.16 13.27

6485 0.19 352.9 2630 2103 2055 1962 245.5 8.9 432 6529 0.00 2.58 38.55 1.354 8868 0.000 0.087 2630 688 1921 1960 1883 0 0 0 0 0 0 14.61 14.09 13.24

6577 0.33 395.8 2630 689 1946 1883 237.9 8.0 450 6660 0.17 2.47 75.25 1.249 11430 0.099 0.078 2698 2102 1750 1772 1728 0 0 0 0 0 0 14.23 14.14 13.12

6965 0.30 395.8 2699 2102 1761 1710 189.6 12.0 478 6970 0.00 2.50 0.00 0.000 644 0.000 0.088 2698 695 1735 1760 1710 0 0 0 0 0 0 14.54 14.10 14.55

6985 0.30 395.8 2700 695 1758 1710 187.2 11.7 482 6990 0.00 2.47 0.00 0.000 1030 0.000 0.076 2699 2099 1733 1757 1710 0 0 0 0 0 0 14.14 14.02 14.19

7296 0.30 395.8 2699 2101 1757 1709 152.0 11.2 494 7301 0.00 2.50 0.00 0.000 516 0.000 0.089 2698 691 1732 1756 1708 0 0 0 0 0 0 14.62 14.12 14.64

7336 0.34 395.8 2699 693 1756 1708 147.7 10.4 502 7341 0.00 2.47 0.00 0.000 1158 0.000 0.076 2699 2101 1731 1755 1708 0 0 0 0 0 0 14.30 14.15 14.34

7657 0.35 398.8 2699 2102 1756 1706 114.9 9.9 516 7658 0.00 0.00 0.00 0.000 38 0.000 0.000 2699 2102 1731 1755 1707 0 0 0 0 0 0 14.61 14.63 14.63

7957 0.38 447.9 2699 2103 1755 1707 88.4 7.7 534 7994 0.00 2.55 28.27 0.455 8740 0.000 0.086 2699 702 1539 1566 1513 0 0 0 0 0 0 14.58 14.04 13.61

8062 0.51 496.8 2700 702 1576 1515 80.3 7.7 554 8099 0.15 2.47 29.88 0.430 11430 0.117 0.077 2765 2103 1338 1382 1294 0 0 0 0 0 0 14.16 14.04 13.59

8405 0.56 562.0 2766 2103 1385 1302 48.5 7.0 592 8452 0.00 2.58 38.97 0.339 8740 0.000 0.087 2767 686 1073 1134 1012 0 0 0 0 0 0 14.53 13.91 13.69

8500 0.72 616.5 2768 687 1136 1019 41.9 7.5 610 8542 0.15 2.50 33.42 0.318 11430 0.116 0.077 2827 2107 849 916 783 0 0 0 0 0 0 14.04 13.96 13.66

8838 0.81 678.4 2828 2108 917 791 9.8 7.1 648 8880 0.00 0.00 38.03 0.226 8870 0.000 0.000 2827 2103 595 638 552 0 0 0 0 0 0 14.52 14.10 13.81

8945 end climb: SURFACE_DEPTH_REACHED

state 8945 begin surface coast

8965 end surface coast: CONTROL_FINISHED_OK

state 8965 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	366	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	1.4	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	1019.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,065252,7437.1025,-15205.0391,15,0.9,27,20.1,0.2,36.6,8,9.6	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T4
_XMS_NAKs	0	TGT_LATLONG	7418.100,-15347.000
_XMS_TOUTs	0	TGT_RADIUS	1000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	211.6,62147,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	180917,070420,7437.1445,-15204.8877,8,0.8,34,20.1,0.4,38.7,9,10.0

MODEM_MSG	CACST,6,1,20170918080708.369233,3,79,-5,0103,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*29	PM_FREEKB_00	45873920
FINISH	0.3,1.020977	_24V_AH	12.19,220.373
SM_CCo	8989,15.73,0.210,0,0,499,703.03	_10V_AH	12.05,0.000
SM_GC	1.67,8.18,0.17,15.73,0.076,0.102,0.210,198,2254,499,-7.39,-0.54,703.03,0,0,0,0,0,0,14.23,14.28,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	250	FG_AHR_10Vo	0.000
MODEM	1,1505722028,73.78700,-144.83000,7.619,11030.4	MEM	323472
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	23452,662
IRIDIUM_FIX	7441.25,-15202.35,180917,041944	CAP_FILE_SIZE	99267,0
TT8_MAMPS	0.040446,1.04036	CFSIZE	2097872896,1983938560
HUMID	46.92	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.9
TCM_TEMP	13.10	CURRENT	0.025,9.63,1
XPDR_PINGS	14	GPS	180917,093620,7436.625,-15209.023,36,0.8,36,20.1,0.5,66.6,10,8.9
CP_FREE	15914762240.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	141.53	nil	0	0	0.00
Roll_motor	85	2165	2254.57	nil	0	0	0.00
VBD_pump_during_apogee	1000	1485	18113.45	nil	0	0	0.00
VBD_pump_during_surface	15	209	40.18	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	8585	14	1533.66
Iridium_during_xfer	346	169	713.79	NCP	8959	20	2184.20
Transponder_ping	3	420	17.92	PMAR	8945	11	1274.45
GUMSTIX_24V	0	0	0.00
GPS	35	22	9.70
TT8	0	0	0.00
LPSleep	6344	2	176.60
TT8_Active	874	13	147.28
TT8_Sampling	2160	33	870.69
TT8_CF8	322	38	150.15
TT8_Kalman	0	0	0.00
Analog_circuits	2224	10	268.02
GPS_charging	0	0	0.00
Compass	951	7	80.25
RAFOS	2219	48	1283.47
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	193	2245	515	491	0.0	0.0	0	134	0.00	0.00	-81.25	0.000	16386	0.000	0.000	191	2245	1962	1888	2037	0	0	0	0	0	0	14.50	28.83	14.51
137	-0.57	-145.9	192	2245	1892	2038	3.1	-3.2	8	201	13.00	2.85	-40.78	0.000	18980	0.454	2.166	2386	834	3964	3949	3979	0	0	0	0	0	0	13.59	12.59	14.08
292	-0.72	-145.9	2383	831	3948	3981	38.4	-12.7	38	297	0.12	2.38	0.00	0.000	5254	0.122	0.086	2336	2167	3966	3953	3980	0	0	0	0	0	0	14.20	14.12	14.30
603	-0.77	-145.9	2337	2168	3953	3979	93.7	-13.7	70	607	0.00	2.55	0.00	0.000	388	0.000	0.087	2336	3607	3967	3954	3980	0	0	0	0	0	0	14.57	14.05	14.58
740	-0.94	-145.9	2337	3610	3955	3980	107.9	-9.7	97	746	0.20	2.35	0.00	0.000	5286	0.101	0.053	2260	2224	3967	3954	3980	0	0	0	0	0	0	14.12	14.04	14.26
1056	-0.92	-145.9	2261	2223	3956	3980	161.1	-16.2	110	1057	0.00	0.00	0.00	0.000	134	0.000	0.000	2260	2224	3966	3954	3979	0	0	0	0	0	0	14.58	14.60	14.58
1356	-0.92	-145.9	2260	2225	3955	3981	205.6	-14.3	120	1361	0.00	2.47	0.00	0.000	260	0.000	0.084	2250	3615	3967	3954	3980	0	0	0	0	0	0	14.62	14.09	14.64
1406	-1.02	-145.9	2251	3616	3956	3980	212.5	-12.8	130	1411	0.00	2.42	0.00	0.000	1158	0.000	0.058	2250	2206	3967	3954	3980	0	0	0	0	0	0	14.12	13.87	14.18
1717	-1.05	-145.9	2251	2205	3955	3980	255.1	-13.2	142	1722	0.00	2.50	0.00	0.000	388	0.000	0.085	2245	3610	3967	3954	3980	0	0	0	0	0	0	14.64	14.04	14.65
1742	-1.09	-145.9	2244	3611	3955	3981	258.2	-11.9	147	1750	0.00	2.42	0.00	0.000	1158	0.000	0.060	2244	2199	3967	3954	3980	0	0	0	0	0	0	14.18	14.06	14.23
2048	-1.13	-145.9	2244	2198	3955	3981	295.2	-11.6	158	2053	0.10	2.53	0.00	0.000	4484	0.164	0.083	2197	3619	3966	3954	3979	0	0	0	0	0	0	14.19	14.04	14.18
2108	-1.16	-145.9	2196	3625	3956	3980	303.4	-13.6	170	2113	0.00	2.42	0.00	0.000	1158	0.000	0.059	2198	2199	3967	3955	3980	0	0	0	0	0	0	14.18	14.00	14.24
2439	-1.12	-145.9	2197	2199	3955	3981	352.2	-14.3	186	2443	0.00	2.50	0.00	0.000	388	0.000	0.084	2187	3609	3967	3954	3980	0	0	0	0	0	0	14.62	13.97	14.64
2504	-1.12	-145.9	2188	3611	3954	3980	361.5	-13.8	199	2510	0.12	2.45	0.00	0.000	3078	0.245	0.058	2211	2195	3966	3953	3979	0	0	0	0	0	0	13.85	14.02	14.10
2830	-1.12	-145.9	2211	2192	3954	3980	402.9	-12.5	214	2831	0.00	0.00	0.00	0.000	6	0.000	0.000	2211	2192	3966	3953	3979	0	0	0	0	0	0	14.62	14.63	14.64
3131	-1.12	-145.9	2212	2193	3954	3980	440.2	-12.3	224	3135	0.00	2.53	0.00	0.000	260	0.000	0.086	2209	3610	3965	3953	3978	0	0	0	0	0	0	14.62	13.96	14.64
3231	-1.21	-145.9	2210	3612	3954	3980	451.8	-11.1	244	3236	0.00	2.40	0.00	0.000	1158	0.000	0.055	2209	2202	3966	3953	3980	0	0	0	0	0	0	14.25	14.12	14.28
3458	end dive: TARGET_DEPTH_EXCEEDED
state	3458	begin apogee
3465	-0.13	0.0	2210	2057	3953	3980	480.1	-12.2	255	3702	1.27	0.05	229.43	1.390	10246	0.226	0.122	2530	2104	3358	3375	3341	0	0	0	0	0	0	13.64	13.23	12.64
3706	end apogee: CONTROL_FINISHED_OK
state	3706	begin climb
3709	0.57	145.9	2531	2104	3374	3339	493.9	0.0	263	4104	0.75	2.67	211.15	1.363	10500	0.060	0.070	2786	3499	2753	2782	2724	0	0	0	0	0	0	13.63	12.82	12.19
4204	0.06	145.9	2784	3498	2781	2723	469.2	14.9	283	4210	0.93	2.38	0.00	0.000	5254	0.343	0.056	2608	2127	2751	2780	2723	0	0	0	0	0	0	13.43	13.81	13.81
4525	-0.01	204.4	2609	2125	2782	2720	444.5	7.3	297	4621	0.12	2.60	89.20	1.355	12964	0.291	0.086	2589	687	2527	2578	2477	0	0	0	0	0	0	13.76	13.83	13.02
4633	0.03	262.6	2588	688	2572	2471	437.0	7.3	313	4733	0.00	2.53	92.40	1.315	9254	0.000	0.079	2589	2098	2293	2345	2242	0	0	0	0	0	0	13.97	13.89	12.82
5038	0.08	286.1	2591	2099	2333	2222	401.3	8.9	344	5074	0.00	0.00	33.80	1.399	8870	0.000	0.000	2588	2103	2198	2248	2148	0	0	0	0	0	0	14.38	13.92	13.12
5368	0.15	316.1	2589	2098	2233	2129	372.5	8.6	360	5423	0.12	2.60	46.00	1.366	10916	0.127	0.090	2657	689	2068	2114	2023	0	0	0	0	0	0	14.12	13.98	13.16
5483	0.15	316.1	2659	690	2103	2020	357.7	12.8	383	5489	0.00	2.50	0.00	0.000	1030	0.000	0.079	2654	2099	2060	2102	2019	0	0	0	0	0	0	14.12	14.00	14.15
5791	0.10	316.1	2658	2104	2103	2011	316.1	13.4	394	5796	0.15	2.45	0.00	0.000	4740	0.248	0.083	2624	690	2056	2100	2013	0	0	0	0	0	0	13.87	14.02	14.02
5817	0.10	316.1	2628	690	2103	2012	312.7	11.9	399	5823	0.00	2.47	0.00	0.000	1030	0.000	0.076	2627	2098	2057	2101	2013	0	0	0	0	0	0	14.16	14.04	14.21
6122	0.10	316.1	2627	2101	2103	2011	280.2	10.3	410	6126	0.00	2.47	0.00	0.000	516	0.000	0.087	2630	697	2055	2101	2009	0	0	0	0	0	0	14.62	14.07	14.64
6142	0.14	330.0	2631	696	2102	2010	278.2	9.4	414	6162	0.00	2.45	15.85	1.486	9382	0.000	0.078	2630	2100	2019	2064	1975	0	0	0	0	0	0	14.31	14.16	13.27
6485	0.19	352.9	2630	2103	2055	1962	245.5	8.9	432	6529	0.00	2.58	38.55	1.354	8868	0.000	0.087	2630	688	1921	1960	1883	0	0	0	0	0	0	14.61	14.09	13.24
6577	0.33	395.8	2630	689	1946	1883	237.9	8.0	450	6660	0.17	2.47	75.25	1.249	11430	0.099	0.078	2698	2102	1750	1772	1728	0	0	0	0	0	0	14.23	14.14	13.12
6965	0.30	395.8	2699	2102	1761	1710	189.6	12.0	478	6970	0.00	2.50	0.00	0.000	644	0.000	0.088	2698	695	1735	1760	1710	0	0	0	0	0	0	14.54	14.10	14.55
6985	0.30	395.8	2700	695	1758	1710	187.2	11.7	482	6990	0.00	2.47	0.00	0.000	1030	0.000	0.076	2699	2099	1733	1757	1710	0	0	0	0	0	0	14.14	14.02	14.19
7296	0.30	395.8	2699	2101	1757	1709	152.0	11.2	494	7301	0.00	2.50	0.00	0.000	516	0.000	0.089	2698	691	1732	1756	1708	0	0	0	0	0	0	14.62	14.12	14.64
7336	0.34	395.8	2699	693	1756	1708	147.7	10.4	502	7341	0.00	2.47	0.00	0.000	1158	0.000	0.076	2699	2101	1731	1755	1708	0	0	0	0	0	0	14.30	14.15	14.34
7657	0.35	398.8	2699	2102	1756	1706	114.9	9.9	516	7658	0.00	0.00	0.00	0.000	38	0.000	0.000	2699	2102	1731	1755	1707	0	0	0	0	0	0	14.61	14.63	14.63
7957	0.38	447.9	2699	2103	1755	1707	88.4	7.7	534	7994	0.00	2.55	28.27	0.455	8740	0.000	0.086	2699	702	1539	1566	1513	0	0	0	0	0	0	14.58	14.04	13.61
8062	0.51	496.8	2700	702	1576	1515	80.3	7.7	554	8099	0.15	2.47	29.88	0.430	11430	0.117	0.077	2765	2103	1338	1382	1294	0	0	0	0	0	0	14.16	14.04	13.59
8405	0.56	562.0	2766	2103	1385	1302	48.5	7.0	592	8452	0.00	2.58	38.97	0.339	8740	0.000	0.087	2767	686	1073	1134	1012	0	0	0	0	0	0	14.53	13.91	13.69
8500	0.72	616.5	2768	687	1136	1019	41.9	7.5	610	8542	0.15	2.50	33.42	0.318	11430	0.116	0.077	2827	2107	849	916	783	0	0	0	0	0	0	14.04	13.96	13.66
8838	0.81	678.4	2828	2108	917	791	9.8	7.1	648	8880	0.00	0.00	38.03	0.226	8870	0.000	0.000	2827	2103	595	638	552	0	0	0	0	0	0	14.52	14.10	13.81
8945	end climb: SURFACE_DEPTH_REACHED
state	8945	begin surface coast
8965	end surface coast: CONTROL_FINISHED_OK
state	8965	begin surface