Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 381 * 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 381 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 1059.0

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 31 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 1059.0 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 26 VBD_MIN 500

DIVE 381 NOCOMM_ACTION 161 R_STBD_OVSHOOT 31 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 190917,232554,7430.5229,-15259.0762,17,0.7,19,19.7,0.0,4.4,11,9.5 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 1.25 MHEAD_RNG_PITCHd_Wd 205.1,33324,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 190917,233555,7430.5220,-15258.8896,5,0.8,35,19.7,0.0,67.4,9,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170920001129.833471,3,49,04,0090,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D PM_FREEKB_00 45392640

FINISH 0.7,1.020992 _24V_AH 12.20,227.443

SM_CCo 8943,12.48,0.212,0,0,500,703.52 _10V_AH 12.04,0.000

SM_GC 1.99,8.12,0.17,12.48,0.056,0.111,0.212,202,2230,500,-7.38,-0.68,703.52,0,0,0,0,0,0,14.26,14.25,13.86 FG_AHR_24Vo 0.000

RAFOS_CLK 338 FG_AHR_10Vo 0.000

MODEM 1,1505866289,73.78700,-144.83000,269.083,389642.5 MEM 323296

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26781,785

IRIDIUM_FIX 7422.08,-15920.10,190917,204816 CAP_FILE_SIZE 106232,0

TT8_MAMPS 0.039697,0.994672 CFSIZE 2097872896,1980465152

HUMID 47.40 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1449.6

TCM_TEMP 13.30 CURRENT 0.038,62.29,1

XPDR_PINGS 13 GPS 200917,020703,7429.991,-15302.373,29,0.9,30,19.6,0.0,0.0,9,7.0

CP_FREE 15907028992.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 447 141.82 nil 0 0 0.00

Roll_motor 84 2158 2228.04 nil 0 0 0.00

VBD_pump_during_apogee 954 1448 16867.92 nil 0 0 0.00

VBD_pump_during_surface 12 211 32.25 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 8938 14 1572.84

Iridium_during_xfer 319 169 658.43 NCP 8926 20 2177.94

Transponder_ping 3 420 16.65 PMAR 8895 9 1074.45

GUMSTIX_24V 0 0 0.00

GPS 37 22 10.03

TT8 0 0 0.00

LPSleep 6310 2 175.51

TT8_Active 940 13 158.16

TT8_Sampling 1983 33 798.77

TT8_CF8 338 38 157.49

TT8_Kalman 0 0 0.00

Analog_circuits 2022 10 243.50

GPS_charging 0 0 0.00

Compass 1124 7 94.81

RAFOS 2136 48 1234.44

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

49 end surface: CONTROL_FINISHED_OK

state 49 begin dive

52 -0.57 -145.9 185 2222 490 492 0.0 0.0 0 145 0.00 0.00 -91.43 0.000 16386 0.000 0.000 182 2222 2243 2184 2303 0 0 0 0 0 0 14.50 28.83 14.52

149 -0.57 -145.9 183 2223 2188 2304 4.9 -7.5 9 196 12.80 2.67 -29.80 0.000 18724 0.448 2.158 2373 3600 3961 3941 3982 0 0 0 0 0 0 13.52 13.04 13.97

307 -0.71 -145.9 2378 3601 3948 3982 41.2 -13.1 40 314 0.00 2.40 0.00 0.000 1158 0.000 0.058 2377 2202 3964 3947 3981 0 0 0 0 0 0 14.21 14.09 14.26

612 -0.85 -145.9 2377 2203 3950 3983 79.4 -9.9 71 614 0.22 0.00 0.00 0.000 4262 0.097 0.000 2294 2202 3965 3949 3982 0 0 0 0 0 0 14.04 14.13 14.14

922 -0.87 -145.9 2294 2202 3951 3982 127.2 -14.6 90 927 0.00 2.50 0.00 0.000 388 0.000 0.084 2285 3602 3965 3949 3982 0 0 0 0 0 0 14.62 14.07 14.63

978 -1.01 -145.9 2286 3604 3950 3980 134.4 -11.5 101 984 0.00 2.42 0.00 0.000 1158 0.000 0.057 2285 2196 3966 3950 3983 0 0 0 0 0 0 13.73 13.28 13.95

1283 -1.05 -145.9 2286 2194 3950 3982 174.8 -12.7 112 1289 0.12 2.50 0.00 0.000 4484 0.135 0.083 2223 3601 3968 3954 3982 0 0 0 0 0 0 14.24 14.05 14.27

1305 -1.05 -145.9 2224 3603 3950 3980 178.1 -14.9 116 1310 0.00 2.40 0.00 0.000 1030 0.000 0.059 2223 2196 3965 3948 3982 0 0 0 0 0 0 14.24 14.10 14.28

1618 -0.99 -145.9 2224 2196 3950 3983 234.1 -17.3 128 1624 0.12 2.53 0.00 0.000 2436 0.302 0.081 2241 3603 3965 3949 3981 0 0 0 0 0 0 13.66 13.88 13.80

1695 -1.08 -145.9 2242 3603 3951 3982 244.8 -12.1 143 1700 0.00 2.45 0.00 0.000 1158 0.000 0.057 2242 2186 3965 3949 3982 0 0 0 0 0 0 14.06 13.93 14.07

2011 -1.10 -145.9 2242 2185 3951 3981 286.4 -12.8 156 2016 0.00 2.55 0.00 0.000 388 0.000 0.086 2236 3602 3963 3944 3982 0 0 0 0 0 0 14.39 13.89 14.42

2042 -1.16 -145.9 2236 3602 3951 3983 290.3 -11.9 162 2047 0.00 2.45 0.00 0.000 1158 0.000 0.058 2236 2196 3967 3949 3986 0 0 0 0 0 0 14.12 13.94 14.12

2373 -1.20 -145.9 2237 2195 3950 3979 329.4 -11.6 178 2378 0.12 2.53 0.00 0.000 4484 0.148 0.083 2171 3602 3965 3949 3982 0 0 0 0 0 0 13.97 13.83 13.97

2453 -1.16 -145.9 2172 3601 3950 3982 341.9 -15.7 194 2458 0.15 2.42 0.00 0.000 3206 0.267 0.059 2199 2198 3965 3949 3982 0 0 0 0 0 0 13.64 13.93 13.93

2764 -1.14 -145.9 2199 2198 3950 3982 385.8 -13.7 206 2769 0.00 2.58 0.00 0.000 388 0.000 0.086 2193 3607 3964 3949 3980 0 0 0 0 0 0 14.37 13.79 14.38

2844 -1.17 -145.9 2194 3609 3949 3982 396.5 -13.0 222 2849 0.00 2.45 0.00 0.000 1158 0.000 0.057 2194 2194 3965 3948 3982 0 0 0 0 0 0 14.05 13.93 14.09

3155 -1.15 -145.9 2194 2193 3949 3980 440.7 -14.2 234 3160 0.00 2.55 0.00 0.000 388 0.000 0.083 2184 3601 3964 3947 3981 0 0 0 0 0 0 14.38 13.77 14.40

3220 -1.15 -145.9 2185 3602 3948 3981 449.9 -13.7 247 3225 0.00 2.42 0.00 0.000 1030 0.000 0.057 2184 2201 3964 3947 3982 0 0 0 0 0 0 14.06 13.93 14.10

3423 end dive: TARGET_DEPTH_EXCEEDED

state 3423 begin apogee

3429 -0.13 0.0 2185 2062 3948 3983 480.5 -15.0 258 3649 1.40 0.05 215.62 1.419 10246 0.241 0.214 2528 2093 3365 3380 3351 0 0 0 0 0 0 13.60 13.42 12.68

3655 end apogee: CONTROL_FINISHED_OK

state 3656 begin climb

3658 0.57 145.9 2529 2094 3378 3349 492.5 0.0 265 3874 0.75 2.62 205.50 1.376 11012 0.057 0.077 2794 725 2768 2804 2732 0 0 0 0 0 0 13.62 13.03 12.20

4099 0.14 145.9 2794 725 2797 2729 477.5 14.3 345 4105 0.77 2.45 0.00 0.000 5254 0.323 0.074 2632 2101 2761 2796 2726 0 0 0 0 0 0 13.41 13.83 13.82

4420 -0.00 175.8 2632 2102 2797 2724 449.1 8.6 359 4470 0.17 2.50 42.00 1.448 12964 0.272 0.086 2590 736 2644 2689 2599 0 0 0 0 0 0 13.78 13.97 13.12

4696 0.04 234.9 2590 730 2688 2597 428.2 7.3 414 4791 0.00 2.40 88.53 1.367 9254 0.000 0.079 2590 2101 2403 2456 2350 0 0 0 0 0 0 14.27 14.13 13.03

5112 0.05 260.2 2591 2100 2450 2337 392.0 8.8 447 5153 0.00 2.50 35.45 1.430 8740 0.000 0.086 2590 727 2299 2350 2248 0 0 0 0 0 0 14.57 14.07 13.20

5201 0.17 292.2 2591 727 2345 2245 384.5 8.5 464 5255 0.15 2.40 48.03 1.377 11430 0.113 0.079 2657 2099 2171 2220 2123 0 0 0 0 0 0 14.12 14.09 13.12

5566 0.10 292.2 2658 2099 2212 2108 335.1 13.5 487 5567 0.20 0.00 0.00 0.000 4230 0.243 0.000 2612 2100 2159 2211 2108 0 0 0 0 0 0 13.90 14.24 14.21

5866 0.12 297.5 2613 2100 2211 2105 305.1 9.8 497 5871 0.00 2.42 0.93 0.320 8868 0.000 0.085 2612 726 2152 2204 2100 0 0 0 0 0 0 14.62 13.88 13.59

5922 0.21 318.0 2609 727 2205 2106 299.8 9.1 508 5968 0.12 2.40 37.78 1.384 11430 0.121 0.077 2673 2101 2064 2109 2019 0 0 0 0 0 0 14.19 14.11 13.23

6289 0.15 318.0 2673 2101 2103 2010 253.0 12.4 531 6294 0.15 2.42 0.00 0.000 4740 0.259 0.083 2644 720 2056 2102 2011 0 0 0 0 0 0 13.92 14.14 14.09

6359 0.22 335.9 2644 721 2102 2012 246.1 9.2 545 6390 0.00 2.42 25.95 1.401 9382 0.000 0.077 2644 2101 1996 2040 1952 0 0 0 0 0 0 14.30 14.16 13.27

6713 0.26 355.6 2644 2102 2035 1941 213.5 9.1 565 6746 0.00 0.00 31.73 1.383 8358 0.000 0.000 2644 2101 1919 1954 1885 0 0 0 0 0 0 14.57 14.07 13.26

7041 0.34 392.2 2645 2101 1941 1870 185.2 8.3 576 7111 0.12 2.50 62.30 1.274 10916 0.124 0.089 2706 731 1761 1783 1740 0 0 0 0 0 0 14.12 14.00 13.23

7192 0.36 392.2 2706 733 1777 1740 167.8 11.7 606 7197 0.00 2.42 0.00 0.000 1158 0.000 0.077 2706 2102 1757 1776 1738 0 0 0 0 0 0 14.20 14.08 14.23

7523 0.33 392.2 2707 2102 1776 1733 129.9 11.2 622 7524 0.00 0.00 0.00 0.000 134 0.000 0.000 2706 2103 1754 1775 1733 0 0 0 0 0 0 14.62 14.62 14.62

7823 0.33 392.2 2706 2104 1776 1730 98.6 10.0 632 7828 0.00 2.53 0.00 0.000 516 0.000 0.087 2706 708 1752 1775 1730 0 0 0 0 0 0 14.62 13.97 14.64

7879 0.40 417.5 2706 709 1773 1731 93.5 8.8 643 7901 0.00 2.47 13.23 0.475 9382 0.000 0.077 2706 2105 1661 1684 1639 0 0 0 0 0 0 14.18 13.98 13.58

8206 0.48 478.7 2707 2108 1686 1638 65.3 7.2 678 8249 0.00 2.50 33.97 0.391 8868 0.000 0.086 2706 732 1412 1449 1376 0 0 0 0 0 0 14.57 14.05 13.62

8322 0.69 548.5 2706 731 1450 1375 57.4 6.8 700 8369 0.30 2.42 38.95 0.366 11430 0.078 0.077 2814 2109 1128 1188 1068 0 0 0 0 0 0 14.12 14.04 13.71

8675 0.72 597.2 2814 2109 1190 1061 20.1 7.8 740 8707 0.00 2.55 26.98 0.261 8740 0.000 0.086 2816 718 927 994 861 0 0 0 0 0 0 14.55 13.99 13.78

8833 0.87 681.2 2815 718 995 860 9.4 6.1 771 8886 0.15 2.45 47.83 0.223 11430 0.106 0.077 2876 2100 585 625 546 0 0 0 0 0 0 13.62 14.03 13.62

8908 end climb: SURFACE_DEPTH_REACHED

state 8908 begin surface coast

8921 end surface coast: CONTROL_FINISHED_OK

state 8921 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	381	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	1059.0
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	31	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190917,232554,7430.5229,-15259.0762,17,0.7,19,19.7,0.0,4.4,11,9.5	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	1.25	MHEAD_RNG_PITCHd_Wd	205.1,33324,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	190917,233555,7430.5220,-15258.8896,5,0.8,35,19.7,0.0,67.4,9,9.7

MODEM_MSG	CACST,6,1,20170920001129.833471,3,49,04,0090,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D	PM_FREEKB_00	45392640
FINISH	0.7,1.020992	_24V_AH	12.20,227.443
SM_CCo	8943,12.48,0.212,0,0,500,703.52	_10V_AH	12.04,0.000
SM_GC	1.99,8.12,0.17,12.48,0.056,0.111,0.212,202,2230,500,-7.38,-0.68,703.52,0,0,0,0,0,0,14.26,14.25,13.86	FG_AHR_24Vo	0.000
RAFOS_CLK	338	FG_AHR_10Vo	0.000
MODEM	1,1505866289,73.78700,-144.83000,269.083,389642.5	MEM	323296
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26781,785
IRIDIUM_FIX	7422.08,-15920.10,190917,204816	CAP_FILE_SIZE	106232,0
TT8_MAMPS	0.039697,0.994672	CFSIZE	2097872896,1980465152
HUMID	47.40	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1449.6
TCM_TEMP	13.30	CURRENT	0.038,62.29,1
XPDR_PINGS	13	GPS	200917,020703,7429.991,-15302.373,29,0.9,30,19.6,0.0,0.0,9,7.0
CP_FREE	15907028992.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	447	141.82	nil	0	0	0.00
Roll_motor	84	2158	2228.04	nil	0	0	0.00
VBD_pump_during_apogee	954	1448	16867.92	nil	0	0	0.00
VBD_pump_during_surface	12	211	32.25	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	8938	14	1572.84
Iridium_during_xfer	319	169	658.43	NCP	8926	20	2177.94
Transponder_ping	3	420	16.65	PMAR	8895	9	1074.45
GUMSTIX_24V	0	0	0.00
GPS	37	22	10.03
TT8	0	0	0.00
LPSleep	6310	2	175.51
TT8_Active	940	13	158.16
TT8_Sampling	1983	33	798.77
TT8_CF8	338	38	157.49
TT8_Kalman	0	0	0.00
Analog_circuits	2022	10	243.50
GPS_charging	0	0	0.00
Compass	1124	7	94.81
RAFOS	2136	48	1234.44
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
49	end surface: CONTROL_FINISHED_OK
state	49	begin dive
52	-0.57	-145.9	185	2222	490	492	0.0	0.0	0	145	0.00	0.00	-91.43	0.000	16386	0.000	0.000	182	2222	2243	2184	2303	0	0	0	0	0	0	14.50	28.83	14.52
149	-0.57	-145.9	183	2223	2188	2304	4.9	-7.5	9	196	12.80	2.67	-29.80	0.000	18724	0.448	2.158	2373	3600	3961	3941	3982	0	0	0	0	0	0	13.52	13.04	13.97
307	-0.71	-145.9	2378	3601	3948	3982	41.2	-13.1	40	314	0.00	2.40	0.00	0.000	1158	0.000	0.058	2377	2202	3964	3947	3981	0	0	0	0	0	0	14.21	14.09	14.26
612	-0.85	-145.9	2377	2203	3950	3983	79.4	-9.9	71	614	0.22	0.00	0.00	0.000	4262	0.097	0.000	2294	2202	3965	3949	3982	0	0	0	0	0	0	14.04	14.13	14.14
922	-0.87	-145.9	2294	2202	3951	3982	127.2	-14.6	90	927	0.00	2.50	0.00	0.000	388	0.000	0.084	2285	3602	3965	3949	3982	0	0	0	0	0	0	14.62	14.07	14.63
978	-1.01	-145.9	2286	3604	3950	3980	134.4	-11.5	101	984	0.00	2.42	0.00	0.000	1158	0.000	0.057	2285	2196	3966	3950	3983	0	0	0	0	0	0	13.73	13.28	13.95
1283	-1.05	-145.9	2286	2194	3950	3982	174.8	-12.7	112	1289	0.12	2.50	0.00	0.000	4484	0.135	0.083	2223	3601	3968	3954	3982	0	0	0	0	0	0	14.24	14.05	14.27
1305	-1.05	-145.9	2224	3603	3950	3980	178.1	-14.9	116	1310	0.00	2.40	0.00	0.000	1030	0.000	0.059	2223	2196	3965	3948	3982	0	0	0	0	0	0	14.24	14.10	14.28
1618	-0.99	-145.9	2224	2196	3950	3983	234.1	-17.3	128	1624	0.12	2.53	0.00	0.000	2436	0.302	0.081	2241	3603	3965	3949	3981	0	0	0	0	0	0	13.66	13.88	13.80
1695	-1.08	-145.9	2242	3603	3951	3982	244.8	-12.1	143	1700	0.00	2.45	0.00	0.000	1158	0.000	0.057	2242	2186	3965	3949	3982	0	0	0	0	0	0	14.06	13.93	14.07
2011	-1.10	-145.9	2242	2185	3951	3981	286.4	-12.8	156	2016	0.00	2.55	0.00	0.000	388	0.000	0.086	2236	3602	3963	3944	3982	0	0	0	0	0	0	14.39	13.89	14.42
2042	-1.16	-145.9	2236	3602	3951	3983	290.3	-11.9	162	2047	0.00	2.45	0.00	0.000	1158	0.000	0.058	2236	2196	3967	3949	3986	0	0	0	0	0	0	14.12	13.94	14.12
2373	-1.20	-145.9	2237	2195	3950	3979	329.4	-11.6	178	2378	0.12	2.53	0.00	0.000	4484	0.148	0.083	2171	3602	3965	3949	3982	0	0	0	0	0	0	13.97	13.83	13.97
2453	-1.16	-145.9	2172	3601	3950	3982	341.9	-15.7	194	2458	0.15	2.42	0.00	0.000	3206	0.267	0.059	2199	2198	3965	3949	3982	0	0	0	0	0	0	13.64	13.93	13.93
2764	-1.14	-145.9	2199	2198	3950	3982	385.8	-13.7	206	2769	0.00	2.58	0.00	0.000	388	0.000	0.086	2193	3607	3964	3949	3980	0	0	0	0	0	0	14.37	13.79	14.38
2844	-1.17	-145.9	2194	3609	3949	3982	396.5	-13.0	222	2849	0.00	2.45	0.00	0.000	1158	0.000	0.057	2194	2194	3965	3948	3982	0	0	0	0	0	0	14.05	13.93	14.09
3155	-1.15	-145.9	2194	2193	3949	3980	440.7	-14.2	234	3160	0.00	2.55	0.00	0.000	388	0.000	0.083	2184	3601	3964	3947	3981	0	0	0	0	0	0	14.38	13.77	14.40
3220	-1.15	-145.9	2185	3602	3948	3981	449.9	-13.7	247	3225	0.00	2.42	0.00	0.000	1030	0.000	0.057	2184	2201	3964	3947	3982	0	0	0	0	0	0	14.06	13.93	14.10
3423	end dive: TARGET_DEPTH_EXCEEDED
state	3423	begin apogee
3429	-0.13	0.0	2185	2062	3948	3983	480.5	-15.0	258	3649	1.40	0.05	215.62	1.419	10246	0.241	0.214	2528	2093	3365	3380	3351	0	0	0	0	0	0	13.60	13.42	12.68
3655	end apogee: CONTROL_FINISHED_OK
state	3656	begin climb
3658	0.57	145.9	2529	2094	3378	3349	492.5	0.0	265	3874	0.75	2.62	205.50	1.376	11012	0.057	0.077	2794	725	2768	2804	2732	0	0	0	0	0	0	13.62	13.03	12.20
4099	0.14	145.9	2794	725	2797	2729	477.5	14.3	345	4105	0.77	2.45	0.00	0.000	5254	0.323	0.074	2632	2101	2761	2796	2726	0	0	0	0	0	0	13.41	13.83	13.82
4420	-0.00	175.8	2632	2102	2797	2724	449.1	8.6	359	4470	0.17	2.50	42.00	1.448	12964	0.272	0.086	2590	736	2644	2689	2599	0	0	0	0	0	0	13.78	13.97	13.12
4696	0.04	234.9	2590	730	2688	2597	428.2	7.3	414	4791	0.00	2.40	88.53	1.367	9254	0.000	0.079	2590	2101	2403	2456	2350	0	0	0	0	0	0	14.27	14.13	13.03
5112	0.05	260.2	2591	2100	2450	2337	392.0	8.8	447	5153	0.00	2.50	35.45	1.430	8740	0.000	0.086	2590	727	2299	2350	2248	0	0	0	0	0	0	14.57	14.07	13.20
5201	0.17	292.2	2591	727	2345	2245	384.5	8.5	464	5255	0.15	2.40	48.03	1.377	11430	0.113	0.079	2657	2099	2171	2220	2123	0	0	0	0	0	0	14.12	14.09	13.12
5566	0.10	292.2	2658	2099	2212	2108	335.1	13.5	487	5567	0.20	0.00	0.00	0.000	4230	0.243	0.000	2612	2100	2159	2211	2108	0	0	0	0	0	0	13.90	14.24	14.21
5866	0.12	297.5	2613	2100	2211	2105	305.1	9.8	497	5871	0.00	2.42	0.93	0.320	8868	0.000	0.085	2612	726	2152	2204	2100	0	0	0	0	0	0	14.62	13.88	13.59
5922	0.21	318.0	2609	727	2205	2106	299.8	9.1	508	5968	0.12	2.40	37.78	1.384	11430	0.121	0.077	2673	2101	2064	2109	2019	0	0	0	0	0	0	14.19	14.11	13.23
6289	0.15	318.0	2673	2101	2103	2010	253.0	12.4	531	6294	0.15	2.42	0.00	0.000	4740	0.259	0.083	2644	720	2056	2102	2011	0	0	0	0	0	0	13.92	14.14	14.09
6359	0.22	335.9	2644	721	2102	2012	246.1	9.2	545	6390	0.00	2.42	25.95	1.401	9382	0.000	0.077	2644	2101	1996	2040	1952	0	0	0	0	0	0	14.30	14.16	13.27
6713	0.26	355.6	2644	2102	2035	1941	213.5	9.1	565	6746	0.00	0.00	31.73	1.383	8358	0.000	0.000	2644	2101	1919	1954	1885	0	0	0	0	0	0	14.57	14.07	13.26
7041	0.34	392.2	2645	2101	1941	1870	185.2	8.3	576	7111	0.12	2.50	62.30	1.274	10916	0.124	0.089	2706	731	1761	1783	1740	0	0	0	0	0	0	14.12	14.00	13.23
7192	0.36	392.2	2706	733	1777	1740	167.8	11.7	606	7197	0.00	2.42	0.00	0.000	1158	0.000	0.077	2706	2102	1757	1776	1738	0	0	0	0	0	0	14.20	14.08	14.23
7523	0.33	392.2	2707	2102	1776	1733	129.9	11.2	622	7524	0.00	0.00	0.00	0.000	134	0.000	0.000	2706	2103	1754	1775	1733	0	0	0	0	0	0	14.62	14.62	14.62
7823	0.33	392.2	2706	2104	1776	1730	98.6	10.0	632	7828	0.00	2.53	0.00	0.000	516	0.000	0.087	2706	708	1752	1775	1730	0	0	0	0	0	0	14.62	13.97	14.64
7879	0.40	417.5	2706	709	1773	1731	93.5	8.8	643	7901	0.00	2.47	13.23	0.475	9382	0.000	0.077	2706	2105	1661	1684	1639	0	0	0	0	0	0	14.18	13.98	13.58
8206	0.48	478.7	2707	2108	1686	1638	65.3	7.2	678	8249	0.00	2.50	33.97	0.391	8868	0.000	0.086	2706	732	1412	1449	1376	0	0	0	0	0	0	14.57	14.05	13.62
8322	0.69	548.5	2706	731	1450	1375	57.4	6.8	700	8369	0.30	2.42	38.95	0.366	11430	0.078	0.077	2814	2109	1128	1188	1068	0	0	0	0	0	0	14.12	14.04	13.71
8675	0.72	597.2	2814	2109	1190	1061	20.1	7.8	740	8707	0.00	2.55	26.98	0.261	8740	0.000	0.086	2816	718	927	994	861	0	0	0	0	0	0	14.55	13.99	13.78
8833	0.87	681.2	2815	718	995	860	9.4	6.1	771	8886	0.15	2.45	47.83	0.223	11430	0.106	0.077	2876	2100	585	625	546	0	0	0	0	0	0	13.62	14.03	13.62
8908	end climb: SURFACE_DEPTH_REACHED
state	8908	begin surface coast
8921	end surface coast: CONTROL_FINISHED_OK
state	8921	begin surface