Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 368 * 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 368 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 1025.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 55 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 1025.0 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 62 VBD_MIN 500

DIVE 368 NOCOMM_ACTION 161 R_STBD_OVSHOOT 55 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 180917,122000,7436.1626,-15213.2305,17,0.7,38,20.0,0.0,250.0,11,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 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 211.9,57665,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 180917,122621,7436.1650,-15213.2715,16,0.8,16,20.0,0.0,0.0,9,7.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170918122911.883288,3,47,-7,0092,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F PM_FREEKB_00 45779584

FINISH 0.3,1.020949 _24V_AH 12.26,221.331

SM_CCo 9230,20.85,0.209,0,0,499,703.03 _10V_AH 12.14,0.000

SM_GC 1.04,8.27,0.17,20.85,0.080,0.103,0.209,202,2240,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.26,14.30,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 420 FG_AHR_10Vo 0.000

MODEM 4,1505737751,75.71700,-151.21500,251.133,363400.7 MEM 323480

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26753,791

IRIDIUM_FIX 7436.14,-15220.90,180917,094104 CAP_FILE_SIZE 100937,0

TT8_MAMPS 0.039697,0.954226 CFSIZE 2097872896,1983479808

HUMID 47.28 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.3

TCM_TEMP 13.20 CURRENT 0.047,3.04,1

XPDR_PINGS 16 GPS 180917,150232,7435.805,-15217.278,40,0.7,40,20.0,0.0,0.0,11,7.6

CP_FREE 15913713664.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 454 146.10 nil 0 0 0.00

Roll_motor 75 2166 2003.37 nil 0 0 0.00

VBD_pump_during_apogee 1095 1444 19398.86 nil 0 0 0.00

VBD_pump_during_surface 20 208 53.39 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 5568 14 969.07

Iridium_during_xfer 163 137 276.11 NCP 9208 20 2257.80

Transponder_ping 4 420 20.60 PMAR 9184 11 1272.56

GUMSTIX_24V 0 0 0.00

GPS 18 22 4.92

TT8 0 0 0.00

LPSleep 6480 2 181.74

TT8_Active 1090 13 184.96

TT8_Sampling 1795 33 728.94

TT8_CF8 277 38 130.52

TT8_Kalman 0 0 0.00

Analog_circuits 2002 10 243.11

GPS_charging 0 0 0.00

Compass 1132 7 96.20

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 195 2244 505 487 0.0 0.0 0 144 0.00 0.00 -91.38 0.000 16386 0.000 0.000 195 2245 2216 2156 2277 0 0 0 0 0 0 14.38 28.83 14.40

148 -0.57 -145.9 196 2245 2158 2277 4.9 -7.9 9 200 12.93 2.85 -29.95 0.000 18980 0.454 2.166 2384 836 3962 3942 3982 0 0 0 0 0 0 13.56 12.58 14.02

380 -0.73 -145.9 2384 836 3953 3982 52.9 -12.3 55 385 0.12 2.38 0.00 0.000 5254 0.124 0.085 2335 2169 3967 3952 3982 0 0 0 0 0 0 14.14 14.06 14.23

691 -0.79 -145.9 2335 2170 3953 3983 100.5 -12.9 87 696 0.00 2.58 0.00 0.000 388 0.000 0.088 2333 3614 3967 3953 3982 0 0 0 0 0 0 14.47 13.98 14.49

782 -0.96 -145.9 2333 3614 3954 3982 110.2 -10.2 105 788 0.20 2.35 0.00 0.000 5254 0.099 0.054 2253 2225 3968 3953 3983 0 0 0 0 0 0 14.12 13.97 14.19

1113 -0.93 -145.9 2253 2225 3953 3983 168.1 -16.9 121 1114 0.00 0.00 0.00 0.000 134 0.000 0.000 2252 2224 3967 3953 3982 0 0 0 0 0 0 14.64 14.66 14.65

1413 -0.93 -145.9 2253 2224 3954 3982 214.8 -14.8 131 1418 0.00 2.47 0.00 0.000 260 0.000 0.086 2244 3617 3967 3953 3982 0 0 0 0 0 0 14.69 14.04 14.70

1474 -1.03 -145.9 2244 3619 3954 3983 223.0 -12.4 143 1478 0.00 2.42 0.00 0.000 1158 0.000 0.057 2244 2202 3967 3953 3982 0 0 0 0 0 0 14.21 14.08 14.24

1804 -1.03 -145.9 2245 2201 3954 3982 267.7 -12.5 159 1809 0.00 2.50 0.00 0.000 260 0.000 0.086 2237 3613 3967 3953 3982 0 0 0 0 0 0 14.70 14.01 14.71

1854 -1.15 -145.9 2237 3615 3953 3984 273.8 -11.4 169 1859 0.00 2.40 0.00 0.000 1158 0.000 0.058 2237 2200 3967 3953 3982 0 0 0 0 0 0 14.28 14.15 14.33

2165 -1.18 -145.9 2237 2199 3954 3982 311.4 -11.8 181 2166 0.12 0.00 0.00 0.000 4230 0.145 0.000 2183 2199 3967 3953 3982 0 0 0 0 0 0 14.31 14.40 14.40

2465 -1.12 -145.9 2185 2199 3954 3982 358.6 -15.8 191 2470 0.12 2.53 0.00 0.000 2436 0.279 0.086 2209 3614 3969 3953 3986 0 0 0 0 0 0 13.90 14.02 14.04

2625 -1.20 -145.9 2209 3615 3953 3983 378.4 -11.2 223 2630 0.00 2.40 0.00 0.000 1158 0.000 0.056 2209 2198 3967 3953 3982 0 0 0 0 0 0 14.26 14.12 14.31

2946 -1.20 -145.9 2210 2198 3954 3982 419.3 -12.8 237 2950 0.00 2.53 0.00 0.000 260 0.000 0.087 2209 3613 3966 3952 3981 0 0 0 0 0 0 14.70 14.04 14.69

3026 -1.30 -145.9 2210 3614 3952 3981 428.8 -11.0 253 3031 0.15 2.42 0.00 0.000 5254 0.119 0.056 2152 2190 3967 3952 3982 0 0 0 0 0 0 14.19 14.14 14.29

3334 end dive: TARGET_DEPTH_EXCEEDED

state 3334 begin apogee

3341 -0.13 0.0 2153 2059 3953 3982 484.1 -18.2 265 3638 1.58 0.08 290.85 1.301 10246 0.272 0.181 2526 2112 3363 3373 3353 0 0 0 0 0 0 13.68 13.48 12.69

3642 end apogee: CONTROL_FINISHED_OK

state 3642 begin climb

3647 0.57 145.9 2528 2111 3370 3346 502.5 0.0 275 3877 0.75 2.65 216.23 1.317 10500 0.061 0.073 2781 3497 2758 2787 2729 0 0 0 0 0 0 13.70 13.14 12.26

4103 0.07 145.9 2782 3497 2770 2721 484.2 15.3 360 4109 0.88 2.38 0.00 0.000 5254 0.343 0.059 2612 2131 2744 2768 2720 0 0 0 0 0 0 13.47 13.78 13.88

4430 -0.02 196.1 2612 2131 2770 2719 457.6 7.7 375 4509 0.12 2.50 71.93 1.348 12708 0.287 0.084 2584 3498 2558 2602 2514 0 0 0 0 0 0 13.82 13.93 13.07

4655 -0.04 217.9 2584 3499 2585 2505 438.4 9.0 420 4690 0.00 2.40 28.52 1.407 9382 0.000 0.060 2589 2097 2473 2516 2430 0 0 0 0 0 0 14.23 14.12 13.13

5002 -0.03 242.4 2589 2097 2503 2410 408.2 8.9 439 5041 0.00 2.58 34.90 1.393 8740 0.000 0.090 2589 688 2371 2413 2329 0 0 0 0 0 0 14.54 14.08 13.19

5067 0.05 271.4 2589 688 2402 2321 402.3 8.7 447 5118 0.00 2.47 43.65 1.336 9382 0.000 0.079 2589 2098 2254 2299 2210 0 0 0 0 0 0 14.26 14.13 13.12

5426 0.11 298.6 2589 2099 2288 2187 370.6 8.7 468 5467 0.00 0.00 39.78 1.340 8358 0.000 0.000 2589 2099 2146 2190 2102 0 0 0 0 0 0 14.56 14.02 13.19

5753 0.20 330.2 2589 2098 2174 2081 342.0 8.5 479 5804 0.17 0.00 49.05 1.314 10406 0.103 0.000 2667 2098 2018 2059 1977 0 0 0 0 0 0 14.03 14.02 13.18

6084 0.15 330.2 2668 2098 2042 1954 296.9 13.7 490 6089 0.12 2.50 0.00 0.000 4740 0.256 0.084 2644 688 1997 2041 1954 0 0 0 0 0 0 13.99 14.08 14.13

6144 0.20 330.2 2645 687 2041 1952 289.6 11.2 502 6149 0.00 2.50 0.00 0.000 1158 0.000 0.077 2644 2101 1995 2037 1954 0 0 0 0 0 0 14.31 14.16 14.35

6474 0.20 330.2 2642 2104 2040 1953 253.2 10.7 518 6479 0.00 2.53 0.00 0.000 516 0.000 0.087 2644 685 1995 2039 1952 0 0 0 0 0 0 14.64 14.07 14.66

6530 0.27 334.1 2645 685 2038 1951 247.9 9.8 529 6536 0.00 2.47 0.00 0.000 1190 0.000 0.077 2650 2101 1997 2037 1958 0 0 0 0 0 0 14.26 14.12 14.32

6835 0.31 360.9 2644 2102 2038 1952 220.2 8.8 540 6890 0.12 2.50 48.88 1.274 10916 0.124 0.086 2706 691 1888 1919 1858 0 0 0 0 0 0 14.19 13.81 13.22

6956 0.28 360.9 2706 692 1903 1855 205.8 11.8 564 6962 0.15 2.47 0.00 0.000 5254 0.212 0.077 2673 2103 1876 1901 1852 0 0 0 0 0 0 14.00 14.12 14.24

7287 0.29 372.7 2673 2104 1902 1847 173.1 9.5 580 7296 0.00 0.00 7.55 1.444 8230 0.000 0.000 2673 2104 1848 1874 1823 0 0 0 0 0 0 14.59 14.15 13.26

7588 0.34 399.0 2673 2104 1873 1822 146.2 8.8 590 7642 0.00 0.00 52.70 1.251 8870 0.000 0.000 2672 2104 1739 1759 1719 0 0 0 0 0 0 14.62 14.03 13.24

7918 0.42 438.7 2673 2104 1745 1698 118.2 8.2 606 7994 0.12 2.62 69.95 1.187 10916 0.126 0.089 2736 685 1571 1597 1546 0 0 0 0 0 0 14.25 13.54 13.24

8094 0.46 438.7 2736 686 1582 1538 99.5 10.2 641 8101 0.00 2.53 0.00 0.000 1158 0.000 0.078 2736 2107 1558 1581 1536 0 0 0 0 0 0 14.17 14.05 14.22

8399 0.49 477.3 2737 2108 1582 1531 68.1 8.2 672 8426 0.00 2.50 20.60 0.388 8740 0.000 0.086 2737 692 1416 1453 1380 0 0 0 0 0 0 14.54 13.89 13.62

8504 0.62 542.4 2737 692 1461 1387 60.4 7.0 692 8552 0.15 2.50 40.47 0.373 11430 0.111 0.078 2795 2105 1150 1209 1092 0 0 0 0 0 0 14.18 14.12 13.70

8857 0.64 579.6 2796 2105 1211 1101 28.0 8.3 732 8885 0.00 2.60 22.83 0.280 8740 0.000 0.088 2803 688 1001 1063 939 0 0 0 0 0 0 14.56 14.05 13.74

9040 0.82 671.6 2804 688 1066 951 15.7 5.8 768 9104 0.12 2.50 57.65 0.242 11430 0.129 0.080 2861 2103 622 669 575 0 0 0 0 0 0 14.17 14.11 13.80

9197 end climb: SURFACE_DEPTH_REACHED

state 9197 begin surface coast

9208 end surface coast: CONTROL_FINISHED_OK

state 9208 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	368	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	1025.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	55	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180917,122000,7436.1626,-15213.2305,17,0.7,38,20.0,0.0,250.0,11,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	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	211.9,57665,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	180917,122621,7436.1650,-15213.2715,16,0.8,16,20.0,0.0,0.0,9,7.3

MODEM_MSG	CACST,6,1,20170918122911.883288,3,47,-7,0092,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F	PM_FREEKB_00	45779584
FINISH	0.3,1.020949	_24V_AH	12.26,221.331
SM_CCo	9230,20.85,0.209,0,0,499,703.03	_10V_AH	12.14,0.000
SM_GC	1.04,8.27,0.17,20.85,0.080,0.103,0.209,202,2240,499,-7.37,-0.54,703.03,0,0,0,0,0,0,14.26,14.30,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	420	FG_AHR_10Vo	0.000
MODEM	4,1505737751,75.71700,-151.21500,251.133,363400.7	MEM	323480
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26753,791
IRIDIUM_FIX	7436.14,-15220.90,180917,094104	CAP_FILE_SIZE	100937,0
TT8_MAMPS	0.039697,0.954226	CFSIZE	2097872896,1983479808
HUMID	47.28	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.3
TCM_TEMP	13.20	CURRENT	0.047,3.04,1
XPDR_PINGS	16	GPS	180917,150232,7435.805,-15217.278,40,0.7,40,20.0,0.0,0.0,11,7.6
CP_FREE	15913713664.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	454	146.10	nil	0	0	0.00
Roll_motor	75	2166	2003.37	nil	0	0	0.00
VBD_pump_during_apogee	1095	1444	19398.86	nil	0	0	0.00
VBD_pump_during_surface	20	208	53.39	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	5568	14	969.07
Iridium_during_xfer	163	137	276.11	NCP	9208	20	2257.80
Transponder_ping	4	420	20.60	PMAR	9184	11	1272.56
GUMSTIX_24V	0	0	0.00
GPS	18	22	4.92
TT8	0	0	0.00
LPSleep	6480	2	181.74
TT8_Active	1090	13	184.96
TT8_Sampling	1795	33	728.94
TT8_CF8	277	38	130.52
TT8_Kalman	0	0	0.00
Analog_circuits	2002	10	243.11
GPS_charging	0	0	0.00
Compass	1132	7	96.20
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	195	2244	505	487	0.0	0.0	0	144	0.00	0.00	-91.38	0.000	16386	0.000	0.000	195	2245	2216	2156	2277	0	0	0	0	0	0	14.38	28.83	14.40
148	-0.57	-145.9	196	2245	2158	2277	4.9	-7.9	9	200	12.93	2.85	-29.95	0.000	18980	0.454	2.166	2384	836	3962	3942	3982	0	0	0	0	0	0	13.56	12.58	14.02
380	-0.73	-145.9	2384	836	3953	3982	52.9	-12.3	55	385	0.12	2.38	0.00	0.000	5254	0.124	0.085	2335	2169	3967	3952	3982	0	0	0	0	0	0	14.14	14.06	14.23
691	-0.79	-145.9	2335	2170	3953	3983	100.5	-12.9	87	696	0.00	2.58	0.00	0.000	388	0.000	0.088	2333	3614	3967	3953	3982	0	0	0	0	0	0	14.47	13.98	14.49
782	-0.96	-145.9	2333	3614	3954	3982	110.2	-10.2	105	788	0.20	2.35	0.00	0.000	5254	0.099	0.054	2253	2225	3968	3953	3983	0	0	0	0	0	0	14.12	13.97	14.19
1113	-0.93	-145.9	2253	2225	3953	3983	168.1	-16.9	121	1114	0.00	0.00	0.00	0.000	134	0.000	0.000	2252	2224	3967	3953	3982	0	0	0	0	0	0	14.64	14.66	14.65
1413	-0.93	-145.9	2253	2224	3954	3982	214.8	-14.8	131	1418	0.00	2.47	0.00	0.000	260	0.000	0.086	2244	3617	3967	3953	3982	0	0	0	0	0	0	14.69	14.04	14.70
1474	-1.03	-145.9	2244	3619	3954	3983	223.0	-12.4	143	1478	0.00	2.42	0.00	0.000	1158	0.000	0.057	2244	2202	3967	3953	3982	0	0	0	0	0	0	14.21	14.08	14.24
1804	-1.03	-145.9	2245	2201	3954	3982	267.7	-12.5	159	1809	0.00	2.50	0.00	0.000	260	0.000	0.086	2237	3613	3967	3953	3982	0	0	0	0	0	0	14.70	14.01	14.71
1854	-1.15	-145.9	2237	3615	3953	3984	273.8	-11.4	169	1859	0.00	2.40	0.00	0.000	1158	0.000	0.058	2237	2200	3967	3953	3982	0	0	0	0	0	0	14.28	14.15	14.33
2165	-1.18	-145.9	2237	2199	3954	3982	311.4	-11.8	181	2166	0.12	0.00	0.00	0.000	4230	0.145	0.000	2183	2199	3967	3953	3982	0	0	0	0	0	0	14.31	14.40	14.40
2465	-1.12	-145.9	2185	2199	3954	3982	358.6	-15.8	191	2470	0.12	2.53	0.00	0.000	2436	0.279	0.086	2209	3614	3969	3953	3986	0	0	0	0	0	0	13.90	14.02	14.04
2625	-1.20	-145.9	2209	3615	3953	3983	378.4	-11.2	223	2630	0.00	2.40	0.00	0.000	1158	0.000	0.056	2209	2198	3967	3953	3982	0	0	0	0	0	0	14.26	14.12	14.31
2946	-1.20	-145.9	2210	2198	3954	3982	419.3	-12.8	237	2950	0.00	2.53	0.00	0.000	260	0.000	0.087	2209	3613	3966	3952	3981	0	0	0	0	0	0	14.70	14.04	14.69
3026	-1.30	-145.9	2210	3614	3952	3981	428.8	-11.0	253	3031	0.15	2.42	0.00	0.000	5254	0.119	0.056	2152	2190	3967	3952	3982	0	0	0	0	0	0	14.19	14.14	14.29
3334	end dive: TARGET_DEPTH_EXCEEDED
state	3334	begin apogee
3341	-0.13	0.0	2153	2059	3953	3982	484.1	-18.2	265	3638	1.58	0.08	290.85	1.301	10246	0.272	0.181	2526	2112	3363	3373	3353	0	0	0	0	0	0	13.68	13.48	12.69
3642	end apogee: CONTROL_FINISHED_OK
state	3642	begin climb
3647	0.57	145.9	2528	2111	3370	3346	502.5	0.0	275	3877	0.75	2.65	216.23	1.317	10500	0.061	0.073	2781	3497	2758	2787	2729	0	0	0	0	0	0	13.70	13.14	12.26
4103	0.07	145.9	2782	3497	2770	2721	484.2	15.3	360	4109	0.88	2.38	0.00	0.000	5254	0.343	0.059	2612	2131	2744	2768	2720	0	0	0	0	0	0	13.47	13.78	13.88
4430	-0.02	196.1	2612	2131	2770	2719	457.6	7.7	375	4509	0.12	2.50	71.93	1.348	12708	0.287	0.084	2584	3498	2558	2602	2514	0	0	0	0	0	0	13.82	13.93	13.07
4655	-0.04	217.9	2584	3499	2585	2505	438.4	9.0	420	4690	0.00	2.40	28.52	1.407	9382	0.000	0.060	2589	2097	2473	2516	2430	0	0	0	0	0	0	14.23	14.12	13.13
5002	-0.03	242.4	2589	2097	2503	2410	408.2	8.9	439	5041	0.00	2.58	34.90	1.393	8740	0.000	0.090	2589	688	2371	2413	2329	0	0	0	0	0	0	14.54	14.08	13.19
5067	0.05	271.4	2589	688	2402	2321	402.3	8.7	447	5118	0.00	2.47	43.65	1.336	9382	0.000	0.079	2589	2098	2254	2299	2210	0	0	0	0	0	0	14.26	14.13	13.12
5426	0.11	298.6	2589	2099	2288	2187	370.6	8.7	468	5467	0.00	0.00	39.78	1.340	8358	0.000	0.000	2589	2099	2146	2190	2102	0	0	0	0	0	0	14.56	14.02	13.19
5753	0.20	330.2	2589	2098	2174	2081	342.0	8.5	479	5804	0.17	0.00	49.05	1.314	10406	0.103	0.000	2667	2098	2018	2059	1977	0	0	0	0	0	0	14.03	14.02	13.18
6084	0.15	330.2	2668	2098	2042	1954	296.9	13.7	490	6089	0.12	2.50	0.00	0.000	4740	0.256	0.084	2644	688	1997	2041	1954	0	0	0	0	0	0	13.99	14.08	14.13
6144	0.20	330.2	2645	687	2041	1952	289.6	11.2	502	6149	0.00	2.50	0.00	0.000	1158	0.000	0.077	2644	2101	1995	2037	1954	0	0	0	0	0	0	14.31	14.16	14.35
6474	0.20	330.2	2642	2104	2040	1953	253.2	10.7	518	6479	0.00	2.53	0.00	0.000	516	0.000	0.087	2644	685	1995	2039	1952	0	0	0	0	0	0	14.64	14.07	14.66
6530	0.27	334.1	2645	685	2038	1951	247.9	9.8	529	6536	0.00	2.47	0.00	0.000	1190	0.000	0.077	2650	2101	1997	2037	1958	0	0	0	0	0	0	14.26	14.12	14.32
6835	0.31	360.9	2644	2102	2038	1952	220.2	8.8	540	6890	0.12	2.50	48.88	1.274	10916	0.124	0.086	2706	691	1888	1919	1858	0	0	0	0	0	0	14.19	13.81	13.22
6956	0.28	360.9	2706	692	1903	1855	205.8	11.8	564	6962	0.15	2.47	0.00	0.000	5254	0.212	0.077	2673	2103	1876	1901	1852	0	0	0	0	0	0	14.00	14.12	14.24
7287	0.29	372.7	2673	2104	1902	1847	173.1	9.5	580	7296	0.00	0.00	7.55	1.444	8230	0.000	0.000	2673	2104	1848	1874	1823	0	0	0	0	0	0	14.59	14.15	13.26
7588	0.34	399.0	2673	2104	1873	1822	146.2	8.8	590	7642	0.00	0.00	52.70	1.251	8870	0.000	0.000	2672	2104	1739	1759	1719	0	0	0	0	0	0	14.62	14.03	13.24
7918	0.42	438.7	2673	2104	1745	1698	118.2	8.2	606	7994	0.12	2.62	69.95	1.187	10916	0.126	0.089	2736	685	1571	1597	1546	0	0	0	0	0	0	14.25	13.54	13.24
8094	0.46	438.7	2736	686	1582	1538	99.5	10.2	641	8101	0.00	2.53	0.00	0.000	1158	0.000	0.078	2736	2107	1558	1581	1536	0	0	0	0	0	0	14.17	14.05	14.22
8399	0.49	477.3	2737	2108	1582	1531	68.1	8.2	672	8426	0.00	2.50	20.60	0.388	8740	0.000	0.086	2737	692	1416	1453	1380	0	0	0	0	0	0	14.54	13.89	13.62
8504	0.62	542.4	2737	692	1461	1387	60.4	7.0	692	8552	0.15	2.50	40.47	0.373	11430	0.111	0.078	2795	2105	1150	1209	1092	0	0	0	0	0	0	14.18	14.12	13.70
8857	0.64	579.6	2796	2105	1211	1101	28.0	8.3	732	8885	0.00	2.60	22.83	0.280	8740	0.000	0.088	2803	688	1001	1063	939	0	0	0	0	0	0	14.56	14.05	13.74
9040	0.82	671.6	2804	688	1066	951	15.7	5.8	768	9104	0.12	2.50	57.65	0.242	11430	0.129	0.080	2861	2103	622	669	575	0	0	0	0	0	0	14.17	14.11	13.80
9197	end climb: SURFACE_DEPTH_REACHED
state	9197	begin surface coast
9208	end surface coast: CONTROL_FINISHED_OK
state	9208	begin surface