Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 142 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 FIX_MISSING_TIMEOUT 0 ROLL_AD_RATE 350 XPDR_VALID 2

MISSION 12 TGT_DEFAULT_LAT 7545 ROLL_MAXERRORS 1 XPDR_INHIBIT 90

DIVE 142 TGT_DEFAULT_LON -15041 ROLL_ADJ_GAIN 0 INT_PRESSURE_SLOPE 0.0097660003

N_DIVES 0 TGT_AUTO_DEFAULT 0 ROLL_ADJ_DBAND 0 INT_PRESSURE_YINT -0.44999999

STOP_T 0 SM_CC 692.78448 VBD_MIN 500 DEEPGLIDER 0

D_SURF 2 N_FILEKB 8 VBD_MAX 3960 MOTHERBOARD 4

D_FLARE 3 FILEMGR 0 C_VBD 3107 DEVICE1 -1

D_TGT 180 CALL_NDIVES 1 VBD_DBAND 2 DEVICE2 -1

D_ABORT 820 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 83

D_CALL 0 CALL_WAIT 60 UNCOM_BLEED 60 LOGGERDEVICE3 135

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 60 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 120 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 3600 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.004407478

T_EPIRB 0 RAFOS_MMODEM 0 AH0_10V 0 SEABIRD_T_H 0.00064096908

USE_BATHY 0 PITCH_MIN 212 MINV_24V 11 SEABIRD_T_I 2.5637486e-05

USE_ICE 0 PITCH_MAX 3894 MINV_10V 11 SEABIRD_T_J 3.1305062e-06

ICE_FREEZE_MARGIN 0.1 C_PITCH 2200 MAXI_24V 0.60000002 SEABIRD_C_G -9.8934832

D_OFFGRID 1000 PITCH_DBAND 0.1 MAXI_10V 1 SEABIRD_C_H 1.0879974

T_WATCHDOG 10 PITCH_CNV 0.003125763 FG_AHR_10V 0 SEABIRD_C_I -0.0021788499

RELAUNCH 1 P_OVSHOOT 0.039999999 FG_AHR_24V 0 SEABIRD_C_J 0.00021905446

APOGEE_PITCH -5 P_OVSHOOT_WITHG 0 PHONE_SUPPLY -2 SC_RECORDABOVE 2000.0

MAX_BUOY 150 PITCH_GAIN 36 PRESSURE_YINT -160.33199 SC_PROFILE 3.0

COURSE_BIAS 0 PITCH_TIMEOUT 20 PRESSURE_SLOPE 0.00010704049 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 PM_RECORDABOVE 2000.0

RHO 1.028 PITCH_ADJ_GAIN 0.02 TCM_ROLL_OFFSET 0 PM_PROFILE 3.0

MASS 55522 PITCH_ADJ_DBAND 1 COMPASS_USE 4 PM_XMITPROFILE 3.0

MASS_COMP 0 ROLL_MIN 200 ALTIM_BOTTOM_PING_RANGE 0 PM_NDIVE 1.0

NAV_MODE 2 ROLL_MAX 3790 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 PM_MOTORS 0.0

KALMAN_USE 2 C_ROLL_DIVE 2500 ALTIM_TOP_TURN_MARGIN 0 PM_SENDDEPTH 0.0

HD_A 0.0022 C_ROLL_CLIMB 2320 ALTIM_TOP_MIN_OBSTACLE 1 CP_RECORDABOVE 1000.0

HD_B 0.0185 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 CP_PROFILE 3.0

HD_C 1.91e-06 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 CP_XMITPROFILE 3.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 CP_UPLOADMAX 100000.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 31 ALTIM_PULSE 3 CP_STARTS 425.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 ALTIM_SENSITIVITY 2 CP_NDIVE 1.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0021788499

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021905446

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.004407478

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00064096908

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 180 PITCH_CNV 0.003125763 SEABIRD_T_I 2.5637486e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 3.1305062e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 36 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3894 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 692.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 212 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 0.0022 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0185 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.91e-06 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 7545

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 3.0 TGT_DEFAULT_LON -15041

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.1 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 198 PRESSURE_SLOPE 0.00010704049 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -160.33199 T_DIVE 60

COMPASS_USE 4 INT_PRESSURE_YINT -0.44999999 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 3600

CP_PROFILE 3.0 LOGGERDEVICE2 83 RAFOS_CORR_THRESH 60 T_MISSION 120

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 425.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 3.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2200 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2320 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 60

C_ROLL_DIVE 2500 MASS 55522 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3107 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 3790 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 12 ROLL_MIN 200 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 31 VBD_MIN 500

DIVE 142 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 820 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 -9.8934832 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.0879974 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 290817,033231,7422.9526,-14723.3457,35,0.7,39,22.1,0.0,0.0,10,4.9 SPEED_LIMITS 0.173,0.195

_CALLS 1 TGT_NAME T1

_XMS_NAKs 0 TGT_LATLONG 7521.800,-14503.100

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.92 MHEAD_RNG_PITCHd_Wd 11.6,127234,-19.7,-10.000,-27.15,2241

_SM_ANGLEo -67.9 D_GRID 180

GPS2 290817,034446,7422.9790,-14723.5723,7,0.7,8,22.1,0.0,269.0,12,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170829042703.024206,3,100,13,0322,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08 CP_FREE 15983378432.000000

FINISH -0.0,1.020839 _24V_AH 12.64,116.657

SM_CCo 7376,-0.22,0.000,0,0,501,639.50 _10V_AH 12.45,0.000

SM_GC 1.30,7.12,2.12,-0.22,0.063,0.047,0.000,189,2476,501,-6.19,0.90,639.50,0,0,0,0,0,0,14.24,14.24,14.33 FG_AHR_24Vo 0.000

RAFOS_CLK 405 FG_AHR_10Vo 0.000

MODEM 0,1503979338,75.36600,-145.04601,84.096,121795.9 MEM 323452

RAFOS_FIX 7423.776855,-14731.616211,290817,040402,4,255,2.28 DATA_FILE_SIZE 46594,1370

IRIDIUM_FIX 7425.32,-14727.43,280817,232900 CAP_FILE_SIZE 129624,1

TT8_MAMPS 0.041944,0.878577 CFSIZE 2097872896,2046066688

HUMID 45.03 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.52882 SOUNDSPEED 1442.5

TCM_TEMP 12.80 CURRENT 0.107,17.32,1

XPDR_PINGS 10 GPS 290817,054934,7423.598,-14722.009,15,0.8,16,22.1,0.5,275.0,10,7.6

PM_FREEKB_00 48992768

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 21 494 135.71 nil 0 0 0.00

Roll_motor 29 2170 812.01 nil 0 0 0.00

VBD_pump_during_apogee 1023 1410 18251.55 nil 0 0 0.00

VBD_pump_during_surface 0 2589 0.82 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 3774 19 930.60

Iridium_during_xfer 464 206 1212.84 PMAR 3762 16 774.76

Transponder_ping 2 420 13.27 NCP 3746 30 1420.48

GUMSTIX_24V 0 0 0.00

GPS 8 20 2.30

TT8 0 0 0.00

LPSleep 3503 2 100.75

TT8_Active 983 10 130.59

TT8_Sampling 3305 30 1240.74

TT8_CF8 333 35 147.11

TT8_Kalman 0 0 0.00

Analog_circuits 2736 10 350.90

GPS_charging 0 0 0.00

Compass 1951 6 163.77

RAFOS 2218 48 1325.48

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.65 -145.9 186 2505 507 491 0.0 0.0 0 167 0.00 0.00 -118.95 0.000 16386 0.000 0.000 186 2505 2162 2129 2196 0 0 0 0 0 0 14.41 28.83 14.43

170 -0.65 -145.9 186 2508 2130 2197 3.2 -7.3 20 225 10.73 2.60 -36.40 0.000 18724 0.494 2.170 1973 3777 3706 3640 3773 0 0 0 0 0 0 13.57 12.64 14.06

365 -0.52 -145.9 1973 3781 3631 3790 60.6 -26.2 57 371 0.25 2.17 0.00 0.000 3206 0.298 0.050 2025 2489 3707 3628 3786 0 0 0 0 0 0 13.78 14.12 14.07

551 -0.52 -145.9 2026 2490 3624 3793 93.2 -15.0 94 558 0.00 0.00 0.00 0.000 6 0.000 0.000 2024 2494 3707 3623 3792 0 0 0 0 0 0 14.50 14.52 14.52

738 -0.56 -145.9 2026 2490 3627 3793 118.1 -12.5 131 743 0.00 0.00 0.00 0.000 134 0.000 0.000 2025 2490 3709 3626 3793 0 0 0 0 0 0 14.54 14.57 14.56

939 -0.62 -145.9 2022 2490 3626 3795 142.4 -11.5 168 945 0.00 0.00 0.00 0.000 134 0.000 0.000 2025 2489 3712 3624 3800 0 0 0 0 0 0 14.43 14.47 14.49

1125 -0.70 -145.9 2026 2495 3626 3795 162.7 -10.8 205 1131 0.15 0.00 0.00 0.000 4230 0.125 0.000 1959 2489 3709 3624 3794 0 0 0 0 0 0 14.12 14.21 14.19

1243 end dive: TARGET_DEPTH_EXCEEDED

state 1243 begin apogee

1249 -0.14 0.0 1961 2297 3625 3796 180.1 -14.9 229 1689 0.73 0.00 429.40 1.024 10246 0.261 0.000 2144 2294 3109 3050 3168 0 0 0 0 0 0 13.76 13.28 12.68

1693 end apogee: CONTROL_FINISHED_OK

state 1693 begin loiter

1873 -0.09 75.0 2145 2296 3048 3161 208.2 -3.4 341 1975 0.00 0.00 97.55 1.118 8230 0.000 0.000 2144 2295 2797 2730 2865 0 0 0 0 0 0 13.97 13.45 12.77

2155 -0.31 75.0 2144 2296 2719 2857 208.6 1.6 395 2161 0.15 0.00 0.00 0.000 4230 0.111 0.000 2064 2295 2787 2719 2856 0 0 0 0 0 0 13.83 13.88 13.87

2341 -0.36 75.0 2064 2296 2720 2854 205.7 1.5 432 2346 0.00 0.00 0.00 0.000 134 0.000 0.000 2064 2295 2786 2720 2853 0 0 0 0 0 0 14.28 14.30 14.29

2526 -0.41 75.0 2064 2295 2719 2854 203.3 1.2 469 2532 0.00 0.00 0.00 0.000 134 0.000 0.000 2065 2295 2786 2719 2853 0 0 0 0 0 0 14.42 14.44 14.44

2712 -0.45 75.0 2064 2296 2719 2852 201.4 0.8 506 2718 0.00 0.00 0.00 0.000 134 0.000 0.000 2064 2296 2781 2715 2848 0 0 0 0 0 0 14.52 14.50 14.50

2898 -0.49 75.0 2063 2296 2724 2853 199.8 0.8 543 2904 0.00 0.00 0.00 0.000 134 0.000 0.000 2064 2295 2786 2719 2853 0 0 0 0 0 0 14.54 14.53 14.55

3089 -0.54 75.0 2064 2296 2719 2852 198.4 0.5 580 3095 0.12 0.00 0.00 0.000 4230 0.135 0.000 2001 2295 2785 2719 2852 0 0 0 0 0 0 14.27 14.34 14.31

3277 -0.46 78.6 2001 2296 2719 2852 198.0 -0.2 617 3283 0.17 0.00 0.00 0.000 2214 0.308 0.000 2042 2295 2785 2719 2852 0 0 0 0 0 0 13.88 14.21 14.08

3465 -0.45 89.6 2042 2296 2719 2848 198.8 -0.5 654 3486 0.00 0.00 16.67 1.411 8230 0.000 0.000 2042 2295 2740 2681 2800 0 0 0 0 0 0 14.53 14.19 13.40

3665 -0.45 89.6 2043 2296 2678 2796 195.8 2.0 693 3671 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2736 2677 2795 0 0 0 0 0 0 14.68 14.69 14.69

3851 -0.45 89.6 2042 2296 2677 2795 192.4 1.7 730 3857 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2735 2676 2795 0 0 0 0 0 0 14.73 14.78 14.75

4037 -0.45 89.6 2042 2296 2677 2794 189.7 1.2 767 4042 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2735 2676 2794 0 0 0 0 0 0 14.77 14.78 14.79

4222 -0.45 89.6 2043 2296 2678 2795 187.7 1.1 804 4227 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2735 2676 2794 0 0 0 0 0 0 14.79 14.81 14.81

4408 -0.45 89.6 2042 2296 2676 2794 186.1 0.8 841 4413 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2734 2676 2793 0 0 0 0 0 0 14.82 14.84 14.84

4593 -0.45 89.6 2042 2296 2676 2794 184.7 0.8 878 4599 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2735 2676 2794 0 0 0 0 0 0 14.83 14.83 14.85

4779 -0.45 89.6 2042 2296 2677 2794 183.6 0.5 915 4784 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2735 2676 2794 0 0 0 0 0 0 14.84 14.88 14.85

4964 -0.45 89.6 2043 2296 2677 2794 182.6 0.5 952 4970 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2734 2676 2793 0 0 0 0 0 0 14.86 14.88 14.88

5150 -0.45 89.6 2042 2296 2676 2793 181.9 0.3 989 5155 0.00 0.00 0.00 0.000 6 0.000 0.000 2042 2295 2734 2676 2793 0 0 0 0 0 0 14.86 14.88 14.88

5288 end loiter: LOITER_COMPLETE

state 5288 begin climb

5290 0.65 145.9 2042 2296 2675 2793 181.6 0.0 1017 5500 1.33 2.40 80.00 1.223 10756 0.259 0.066 2397 929 2495 2435 2556 0 0 0 0 0 0 14.07 13.88 13.35

5509 0.65 145.9 2398 929 2435 2557 172.7 4.3 1019 5517 0.00 2.42 0.00 0.000 1030 0.000 0.075 2397 2319 2495 2434 2556 0 0 0 0 0 0 14.14 14.02 14.19

5697 0.72 243.1 2397 2319 2431 2555 161.8 5.5 1056 5841 0.10 2.72 137.25 1.138 10532 0.161 0.106 2446 3733 2111 2039 2183 0 0 0 0 0 0 14.18 13.70 13.08

5963 0.65 243.1 2447 3733 2033 2170 134.4 12.1 1104 5970 0.17 2.40 0.00 0.000 5254 0.256 0.050 2412 2331 2100 2032 2169 0 0 0 0 0 0 13.71 13.93 13.97

6150 0.73 289.5 2413 2331 2026 2170 118.4 7.9 1141 6220 0.00 0.00 63.95 1.125 8358 0.000 0.000 2412 2331 1919 1847 1992 0 0 0 0 0 0 14.38 13.69 13.19

6400 0.85 337.1 2411 2331 1836 1984 98.1 7.8 1189 6430 0.17 0.00 23.73 0.469 10662 0.107 0.000 2502 2330 1735 1663 1807 0 0 0 0 0 0 13.81 14.03 13.59

6610 0.82 337.1 2505 2331 1667 1814 72.4 11.0 1230 6616 0.15 0.00 0.00 0.000 4230 0.252 0.000 2466 2331 1739 1665 1813 0 0 0 0 0 0 13.45 14.02 13.83

6796 0.94 420.8 2470 2331 1664 1811 58.1 6.2 1267 6852 0.00 2.58 48.22 0.363 8612 0.000 0.101 2469 3735 1391 1324 1458 0 0 0 0 0 0 14.47 13.98 13.72

6887 1.08 472.8 2472 3736 1325 1468 52.0 7.6 1283 6925 0.22 2.40 30.67 0.346 11430 0.090 0.050 2564 2317 1177 1122 1233 0 0 0 0 0 0 14.16 14.12 13.75

7105 1.08 472.8 2564 2318 1123 1245 28.0 11.1 1325 7111 0.00 2.42 0.00 0.000 516 0.000 0.076 2564 921 1183 1122 1245 0 0 0 0 0 0 14.46 14.05 14.48

7156 1.11 472.8 2566 921 1124 1244 22.6 10.6 1335 7163 0.00 2.45 0.00 0.000 1158 0.000 0.073 2564 2327 1183 1122 1244 0 0 0 0 0 0 14.26 14.13 14.29

7208 1.32 716.6 2564 2327 1122 1245 18.0 6.5 1345 7311 0.15 2.62 96.15 0.236 10660 0.116 0.101 2640 3732 497 499 496 0 0 0 0 0 0 14.23 13.94 13.83

7339 end climb: SURFACE_DEPTH_REACHED

state 7339 begin surface coast

7349 end surface coast: CONTROL_FINISHED_OK

state 7349 begin surface

ID	198	FIX_MISSING_TIMEOUT	0	ROLL_AD_RATE	350	XPDR_VALID	2
MISSION	12	TGT_DEFAULT_LAT	7545	ROLL_MAXERRORS	1	XPDR_INHIBIT	90
DIVE	142	TGT_DEFAULT_LON	-15041	ROLL_ADJ_GAIN	0	INT_PRESSURE_SLOPE	0.0097660003
N_DIVES	0	TGT_AUTO_DEFAULT	0	ROLL_ADJ_DBAND	0	INT_PRESSURE_YINT	-0.44999999
STOP_T	0	SM_CC	692.78448	VBD_MIN	500	DEEPGLIDER	0
D_SURF	2	N_FILEKB	8	VBD_MAX	3960	MOTHERBOARD	4
D_FLARE	3	FILEMGR	0	C_VBD	3107	DEVICE1	-1
D_TGT	180	CALL_NDIVES	1	VBD_DBAND	2	DEVICE2	-1
D_ABORT	820	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	83
D_CALL	0	CALL_WAIT	60	UNCOM_BLEED	60	LOGGERDEVICE3	135
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	60	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	120	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	3600	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.004407478
T_EPIRB	0	RAFOS_MMODEM	0	AH0_10V	0	SEABIRD_T_H	0.00064096908
USE_BATHY	0	PITCH_MIN	212	MINV_24V	11	SEABIRD_T_I	2.5637486e-05
USE_ICE	0	PITCH_MAX	3894	MINV_10V	11	SEABIRD_T_J	3.1305062e-06
ICE_FREEZE_MARGIN	0.1	C_PITCH	2200	MAXI_24V	0.60000002	SEABIRD_C_G	-9.8934832
D_OFFGRID	1000	PITCH_DBAND	0.1	MAXI_10V	1	SEABIRD_C_H	1.0879974
T_WATCHDOG	10	PITCH_CNV	0.003125763	FG_AHR_10V	0	SEABIRD_C_I	-0.0021788499
RELAUNCH	1	P_OVSHOOT	0.039999999	FG_AHR_24V	0	SEABIRD_C_J	0.00021905446
APOGEE_PITCH	-5	P_OVSHOOT_WITHG	0	PHONE_SUPPLY	-2	SC_RECORDABOVE	2000.0
MAX_BUOY	150	PITCH_GAIN	36	PRESSURE_YINT	-160.33199	SC_PROFILE	3.0
COURSE_BIAS	0	PITCH_TIMEOUT	20	PRESSURE_SLOPE	0.00010704049	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	PM_RECORDABOVE	2000.0
RHO	1.028	PITCH_ADJ_GAIN	0.02	TCM_ROLL_OFFSET	0	PM_PROFILE	3.0
MASS	55522	PITCH_ADJ_DBAND	1	COMPASS_USE	4	PM_XMITPROFILE	3.0
MASS_COMP	0	ROLL_MIN	200	ALTIM_BOTTOM_PING_RANGE	0	PM_NDIVE	1.0
NAV_MODE	2	ROLL_MAX	3790	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	PM_MOTORS	0.0
KALMAN_USE	2	C_ROLL_DIVE	2500	ALTIM_TOP_TURN_MARGIN	0	PM_SENDDEPTH	0.0
HD_A	0.0022	C_ROLL_CLIMB	2320	ALTIM_TOP_MIN_OBSTACLE	1	CP_RECORDABOVE	1000.0
HD_B	0.0185	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	CP_PROFILE	3.0
HD_C	1.91e-06	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	CP_XMITPROFILE	3.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	CP_UPLOADMAX	100000.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	31	ALTIM_PULSE	3	CP_STARTS	425.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	290817,033231,7422.9526,-14723.3457,35,0.7,39,22.1,0.0,0.0,10,4.9	SPEED_LIMITS	0.173,0.195
_CALLS	1	TGT_NAME	T1
_XMS_NAKs	0	TGT_LATLONG	7521.800,-14503.100
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.92	MHEAD_RNG_PITCHd_Wd	11.6,127234,-19.7,-10.000,-27.15,2241
_SM_ANGLEo	-67.9	D_GRID	180
GPS2	290817,034446,7422.9790,-14723.5723,7,0.7,8,22.1,0.0,269.0,12,9.2

MODEM_MSG	CACST,6,1,20170829042703.024206,3,100,13,0322,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08	CP_FREE	15983378432.000000
FINISH	-0.0,1.020839	_24V_AH	12.64,116.657
SM_CCo	7376,-0.22,0.000,0,0,501,639.50	_10V_AH	12.45,0.000
SM_GC	1.30,7.12,2.12,-0.22,0.063,0.047,0.000,189,2476,501,-6.19,0.90,639.50,0,0,0,0,0,0,14.24,14.24,14.33	FG_AHR_24Vo	0.000
RAFOS_CLK	405	FG_AHR_10Vo	0.000
MODEM	0,1503979338,75.36600,-145.04601,84.096,121795.9	MEM	323452
RAFOS_FIX	7423.776855,-14731.616211,290817,040402,4,255,2.28	DATA_FILE_SIZE	46594,1370
IRIDIUM_FIX	7425.32,-14727.43,280817,232900	CAP_FILE_SIZE	129624,1
TT8_MAMPS	0.041944,0.878577	CFSIZE	2097872896,2046066688
HUMID	45.03	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.52882	SOUNDSPEED	1442.5
TCM_TEMP	12.80	CURRENT	0.107,17.32,1
XPDR_PINGS	10	GPS	290817,054934,7423.598,-14722.009,15,0.8,16,22.1,0.5,275.0,10,7.6
PM_FREEKB_00	48992768

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	21	494	135.71	nil	0	0	0.00
Roll_motor	29	2170	812.01	nil	0	0	0.00
VBD_pump_during_apogee	1023	1410	18251.55	nil	0	0	0.00
VBD_pump_during_surface	0	2589	0.82	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	3774	19	930.60
Iridium_during_xfer	464	206	1212.84	PMAR	3762	16	774.76
Transponder_ping	2	420	13.27	NCP	3746	30	1420.48
GUMSTIX_24V	0	0	0.00
GPS	8	20	2.30
TT8	0	0	0.00
LPSleep	3503	2	100.75
TT8_Active	983	10	130.59
TT8_Sampling	3305	30	1240.74
TT8_CF8	333	35	147.11
TT8_Kalman	0	0	0.00
Analog_circuits	2736	10	350.90
GPS_charging	0	0	0.00
Compass	1951	6	163.77
RAFOS	2218	48	1325.48
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.65	-145.9	186	2505	507	491	0.0	0.0	0	167	0.00	0.00	-118.95	0.000	16386	0.000	0.000	186	2505	2162	2129	2196	0	0	0	0	0	0	14.41	28.83	14.43
170	-0.65	-145.9	186	2508	2130	2197	3.2	-7.3	20	225	10.73	2.60	-36.40	0.000	18724	0.494	2.170	1973	3777	3706	3640	3773	0	0	0	0	0	0	13.57	12.64	14.06
365	-0.52	-145.9	1973	3781	3631	3790	60.6	-26.2	57	371	0.25	2.17	0.00	0.000	3206	0.298	0.050	2025	2489	3707	3628	3786	0	0	0	0	0	0	13.78	14.12	14.07
551	-0.52	-145.9	2026	2490	3624	3793	93.2	-15.0	94	558	0.00	0.00	0.00	0.000	6	0.000	0.000	2024	2494	3707	3623	3792	0	0	0	0	0	0	14.50	14.52	14.52
738	-0.56	-145.9	2026	2490	3627	3793	118.1	-12.5	131	743	0.00	0.00	0.00	0.000	134	0.000	0.000	2025	2490	3709	3626	3793	0	0	0	0	0	0	14.54	14.57	14.56
939	-0.62	-145.9	2022	2490	3626	3795	142.4	-11.5	168	945	0.00	0.00	0.00	0.000	134	0.000	0.000	2025	2489	3712	3624	3800	0	0	0	0	0	0	14.43	14.47	14.49
1125	-0.70	-145.9	2026	2495	3626	3795	162.7	-10.8	205	1131	0.15	0.00	0.00	0.000	4230	0.125	0.000	1959	2489	3709	3624	3794	0	0	0	0	0	0	14.12	14.21	14.19
1243	end dive: TARGET_DEPTH_EXCEEDED
state	1243	begin apogee
1249	-0.14	0.0	1961	2297	3625	3796	180.1	-14.9	229	1689	0.73	0.00	429.40	1.024	10246	0.261	0.000	2144	2294	3109	3050	3168	0	0	0	0	0	0	13.76	13.28	12.68
1693	end apogee: CONTROL_FINISHED_OK
state	1693	begin loiter
1873	-0.09	75.0	2145	2296	3048	3161	208.2	-3.4	341	1975	0.00	0.00	97.55	1.118	8230	0.000	0.000	2144	2295	2797	2730	2865	0	0	0	0	0	0	13.97	13.45	12.77
2155	-0.31	75.0	2144	2296	2719	2857	208.6	1.6	395	2161	0.15	0.00	0.00	0.000	4230	0.111	0.000	2064	2295	2787	2719	2856	0	0	0	0	0	0	13.83	13.88	13.87
2341	-0.36	75.0	2064	2296	2720	2854	205.7	1.5	432	2346	0.00	0.00	0.00	0.000	134	0.000	0.000	2064	2295	2786	2720	2853	0	0	0	0	0	0	14.28	14.30	14.29
2526	-0.41	75.0	2064	2295	2719	2854	203.3	1.2	469	2532	0.00	0.00	0.00	0.000	134	0.000	0.000	2065	2295	2786	2719	2853	0	0	0	0	0	0	14.42	14.44	14.44
2712	-0.45	75.0	2064	2296	2719	2852	201.4	0.8	506	2718	0.00	0.00	0.00	0.000	134	0.000	0.000	2064	2296	2781	2715	2848	0	0	0	0	0	0	14.52	14.50	14.50
2898	-0.49	75.0	2063	2296	2724	2853	199.8	0.8	543	2904	0.00	0.00	0.00	0.000	134	0.000	0.000	2064	2295	2786	2719	2853	0	0	0	0	0	0	14.54	14.53	14.55
3089	-0.54	75.0	2064	2296	2719	2852	198.4	0.5	580	3095	0.12	0.00	0.00	0.000	4230	0.135	0.000	2001	2295	2785	2719	2852	0	0	0	0	0	0	14.27	14.34	14.31
3277	-0.46	78.6	2001	2296	2719	2852	198.0	-0.2	617	3283	0.17	0.00	0.00	0.000	2214	0.308	0.000	2042	2295	2785	2719	2852	0	0	0	0	0	0	13.88	14.21	14.08
3465	-0.45	89.6	2042	2296	2719	2848	198.8	-0.5	654	3486	0.00	0.00	16.67	1.411	8230	0.000	0.000	2042	2295	2740	2681	2800	0	0	0	0	0	0	14.53	14.19	13.40
3665	-0.45	89.6	2043	2296	2678	2796	195.8	2.0	693	3671	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2736	2677	2795	0	0	0	0	0	0	14.68	14.69	14.69
3851	-0.45	89.6	2042	2296	2677	2795	192.4	1.7	730	3857	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2735	2676	2795	0	0	0	0	0	0	14.73	14.78	14.75
4037	-0.45	89.6	2042	2296	2677	2794	189.7	1.2	767	4042	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2735	2676	2794	0	0	0	0	0	0	14.77	14.78	14.79
4222	-0.45	89.6	2043	2296	2678	2795	187.7	1.1	804	4227	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2735	2676	2794	0	0	0	0	0	0	14.79	14.81	14.81
4408	-0.45	89.6	2042	2296	2676	2794	186.1	0.8	841	4413	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2734	2676	2793	0	0	0	0	0	0	14.82	14.84	14.84
4593	-0.45	89.6	2042	2296	2676	2794	184.7	0.8	878	4599	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2735	2676	2794	0	0	0	0	0	0	14.83	14.83	14.85
4779	-0.45	89.6	2042	2296	2677	2794	183.6	0.5	915	4784	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2735	2676	2794	0	0	0	0	0	0	14.84	14.88	14.85
4964	-0.45	89.6	2043	2296	2677	2794	182.6	0.5	952	4970	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2734	2676	2793	0	0	0	0	0	0	14.86	14.88	14.88
5150	-0.45	89.6	2042	2296	2676	2793	181.9	0.3	989	5155	0.00	0.00	0.00	0.000	6	0.000	0.000	2042	2295	2734	2676	2793	0	0	0	0	0	0	14.86	14.88	14.88
5288	end loiter: LOITER_COMPLETE
state	5288	begin climb
5290	0.65	145.9	2042	2296	2675	2793	181.6	0.0	1017	5500	1.33	2.40	80.00	1.223	10756	0.259	0.066	2397	929	2495	2435	2556	0	0	0	0	0	0	14.07	13.88	13.35
5509	0.65	145.9	2398	929	2435	2557	172.7	4.3	1019	5517	0.00	2.42	0.00	0.000	1030	0.000	0.075	2397	2319	2495	2434	2556	0	0	0	0	0	0	14.14	14.02	14.19
5697	0.72	243.1	2397	2319	2431	2555	161.8	5.5	1056	5841	0.10	2.72	137.25	1.138	10532	0.161	0.106	2446	3733	2111	2039	2183	0	0	0	0	0	0	14.18	13.70	13.08
5963	0.65	243.1	2447	3733	2033	2170	134.4	12.1	1104	5970	0.17	2.40	0.00	0.000	5254	0.256	0.050	2412	2331	2100	2032	2169	0	0	0	0	0	0	13.71	13.93	13.97
6150	0.73	289.5	2413	2331	2026	2170	118.4	7.9	1141	6220	0.00	0.00	63.95	1.125	8358	0.000	0.000	2412	2331	1919	1847	1992	0	0	0	0	0	0	14.38	13.69	13.19
6400	0.85	337.1	2411	2331	1836	1984	98.1	7.8	1189	6430	0.17	0.00	23.73	0.469	10662	0.107	0.000	2502	2330	1735	1663	1807	0	0	0	0	0	0	13.81	14.03	13.59
6610	0.82	337.1	2505	2331	1667	1814	72.4	11.0	1230	6616	0.15	0.00	0.00	0.000	4230	0.252	0.000	2466	2331	1739	1665	1813	0	0	0	0	0	0	13.45	14.02	13.83
6796	0.94	420.8	2470	2331	1664	1811	58.1	6.2	1267	6852	0.00	2.58	48.22	0.363	8612	0.000	0.101	2469	3735	1391	1324	1458	0	0	0	0	0	0	14.47	13.98	13.72
6887	1.08	472.8	2472	3736	1325	1468	52.0	7.6	1283	6925	0.22	2.40	30.67	0.346	11430	0.090	0.050	2564	2317	1177	1122	1233	0	0	0	0	0	0	14.16	14.12	13.75
7105	1.08	472.8	2564	2318	1123	1245	28.0	11.1	1325	7111	0.00	2.42	0.00	0.000	516	0.000	0.076	2564	921	1183	1122	1245	0	0	0	0	0	0	14.46	14.05	14.48
7156	1.11	472.8	2566	921	1124	1244	22.6	10.6	1335	7163	0.00	2.45	0.00	0.000	1158	0.000	0.073	2564	2327	1183	1122	1244	0	0	0	0	0	0	14.26	14.13	14.29
7208	1.32	716.6	2564	2327	1122	1245	18.0	6.5	1345	7311	0.15	2.62	96.15	0.236	10660	0.116	0.101	2640	3732	497	499	496	0	0	0	0	0	0	14.23	13.94	13.83
7339	end climb: SURFACE_DEPTH_REACHED
state	7339	begin surface coast
7349	end surface coast: CONTROL_FINISHED_OK
state	7349	begin surface