Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 208 * 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 208 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 587.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 35 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 587.0 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 25 VBD_MIN 500

DIVE 208 NOCOMM_ACTION 161 R_STBD_OVSHOOT 35 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 310817,035342,7420.7202,-15347.2168,16,0.8,25,19.2,0.0,0.0,11,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 15.4,168560,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 310817,041033,7420.7148,-15347.4092,27,0.7,28,19.2,0.0,0.0,12,7.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831042658.226861,3,1478,31,0152,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31 PM_FREEKB_00 51780288

FINISH 1.3,1.021484 _24V_AH 12.34,142.901

SM_CCo 8840,31.35,0.211,0,0,499,702.78 _10V_AH 12.23,0.000

SM_GC 1.39,8.00,2.67,31.35,0.079,0.075,0.211,202,2206,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.33,14.22,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 402 FG_AHR_10Vo 0.000

MODEM 2,1504152868,73.18300,-149.96500,121.640,176158.3 MEM 323316

RAFOS_FIX 7420.267578,-15349.641602,310817,040459,3,255,2.47 DATA_FILE_SIZE 23404,705

IRIDIUM_FIX 7425.52,-15344.00,310817,040402 CAP_FILE_SIZE 104305,0

TT8_MAMPS 0.038199,0.859103 CFSIZE 2097872896,2023686144

HUMID 46.61 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.0

TCM_TEMP 13.30 CURRENT 0.047,265.76,1

XPDR_PINGS 16 GPS 310817,064003,7421.578,-15345.306,17,0.8,21,19.3,0.0,0.0,10,8.9

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 140.31 nil 0 0 0.00

Roll_motor 83 106 110.12 nil 0 0 0.00

VBD_pump_during_apogee 967 1600 19108.83 nil 0 0 0.00

VBD_pump_during_surface 31 211 81.68 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 8600 14 1538.06

Iridium_during_xfer 582 174 1254.28 NCP 8825 20 2178.01

Transponder_ping 4 420 20.73 PMAR 8791 9 1072.12

GUMSTIX_24V 0 0 0.00

GPS 29 22 8.12

TT8 0 0 0.00

LPSleep 6063 2 171.31

TT8_Active 797 13 136.28

TT8_Sampling 2725 33 1114.75

TT8_CF8 309 38 146.62

TT8_Kalman 0 0 0.00

Analog_circuits 2625 10 321.06

GPS_charging 0 0 0.00

Compass 1011 7 86.59

RAFOS 1435 48 842.40

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

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 198 2218 501 479 0.0 0.0 0 139 0.00 0.00 -88.40 0.000 16386 0.000 0.000 198 2218 2042 1965 2120 0 0 0 0 0 0 14.52 28.83 14.54

142 -0.57 -145.9 198 2218 1969 2121 3.1 -3.4 9 201 12.75 0.00 -43.03 0.000 18982 0.452 0.000 2386 2219 3966 3947 3986 0 0 0 0 0 0 13.60 12.59 14.05

500 -0.64 -145.9 2386 2216 3954 3981 72.3 -13.2 46 505 0.00 2.47 0.00 0.000 388 0.000 0.088 2378 3604 3966 3954 3979 0 0 0 0 0 0 14.40 13.93 14.42

576 -0.84 -145.9 2378 3606 3953 3980 80.3 -9.7 61 582 0.22 2.40 0.00 0.000 5286 0.096 0.054 2290 2199 3967 3954 3980 0 0 0 0 0 0 14.06 13.95 14.16

902 -0.81 -145.9 2290 2199 3955 3981 136.3 -16.4 80 908 0.00 2.47 0.00 0.000 388 0.000 0.086 2280 3598 3968 3957 3979 0 0 0 0 0 0 14.44 14.05 14.46

973 -0.89 -145.9 2281 3597 3955 3979 147.3 -13.7 94 978 0.00 2.40 0.00 0.000 1158 0.000 0.058 2280 2199 3967 3954 3980 0 0 0 0 0 0 14.21 14.09 14.24

1293 -0.89 -145.9 2280 2198 3958 3980 196.4 -14.9 108 1299 0.00 2.47 0.00 0.000 260 0.000 0.086 2272 3597 3966 3954 3979 0 0 0 0 0 0 14.45 14.05 14.46

1349 -0.98 -145.9 2272 3598 3954 3978 204.1 -12.6 119 1355 0.00 2.40 0.00 0.000 1158 0.000 0.058 2272 2198 3966 3954 3979 0 0 0 0 0 0 14.19 14.06 14.22

1654 -0.98 -145.9 2272 2198 3955 3980 246.3 -13.5 130 1659 0.00 2.45 0.00 0.000 260 0.000 0.088 2267 3595 3967 3954 3980 0 0 0 0 0 0 14.43 14.00 14.45

1684 -1.02 -145.9 2267 3596 3955 3980 250.1 -12.8 136 1690 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2181 3966 3954 3979 0 0 0 0 0 0 14.18 14.05 14.22

2017 -1.06 -145.9 2267 2180 3955 3980 290.9 -11.9 152 2023 0.00 2.50 0.00 0.000 388 0.000 0.089 2260 3598 3966 3954 3979 0 0 0 0 0 0 14.61 14.10 14.63

2118 -1.15 -145.9 2260 3601 3954 3980 302.2 -10.7 172 2124 0.17 2.38 0.00 0.000 5254 0.119 0.057 2197 2189 3966 3953 3979 0 0 0 0 0 0 14.26 14.23 14.37

2439 -1.06 -145.9 2196 2190 3955 3979 356.4 -17.1 186 2444 0.15 2.50 0.00 0.000 2436 0.298 0.086 2222 3601 3966 3954 3978 0 0 0 0 0 0 13.88 14.14 14.07

2566 -1.11 -145.9 2222 3603 3954 3985 373.4 -12.4 211 2571 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2191 3968 3958 3978 0 0 0 0 0 0 14.38 14.26 14.42

2891 -1.11 -145.9 2222 2190 3955 3978 418.1 -13.6 226 2896 0.00 2.50 0.00 0.000 260 0.000 0.090 2221 3598 3966 3956 3977 0 0 0 0 0 0 14.68 14.19 14.69

2967 -1.16 -145.9 2223 3599 3955 3978 427.7 -12.1 241 2971 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2200 3965 3954 3977 0 0 0 0 0 0 14.39 14.26 14.42

3281 -1.16 -145.9 2223 2198 3955 3977 469.5 -13.3 254 3286 0.00 2.47 0.00 0.000 260 0.000 0.090 2222 3595 3965 3954 3977 0 0 0 0 0 0 14.69 14.19 14.71

3362 -1.21 -145.9 2223 3596 3955 3977 479.4 -11.5 270 3366 0.00 2.35 0.00 0.000 1158 0.000 0.056 2222 2198 3965 3954 3977 0 0 0 0 0 0 14.39 14.26 14.42

3369 end dive: TARGET_DEPTH_EXCEEDED

state 3369 begin apogee

3375 -0.13 0.0 2223 2072 3956 3978 480.5 -11.4 272 3595 1.23 0.00 217.18 1.433 10246 0.249 0.000 2530 2066 3364 3389 3340 0 0 0 0 0 0 13.90 13.53 12.69

3598 end apogee: CONTROL_FINISHED_OK

state 3599 begin climb

3601 0.57 145.9 2531 2067 3382 3333 491.7 0.0 279 4158 0.73 2.60 210.73 1.377 10756 0.064 0.078 2782 717 2755 2795 2715 0 0 0 0 0 0 13.61 12.95 12.34

4168 0.57 145.9 2781 716 2795 2715 456.2 7.3 282 4172 0.00 2.45 0.00 0.000 1030 0.000 0.076 2781 2098 2754 2794 2715 0 0 0 0 0 0 14.02 13.90 14.06

4483 0.15 145.9 2781 2099 2794 2712 410.7 14.1 295 4488 0.62 2.47 0.00 0.000 4484 0.314 0.076 2639 3521 2751 2793 2710 0 0 0 0 0 0 13.79 14.16 14.03

4618 -0.04 155.2 2639 3521 2791 2711 396.9 9.6 322 4629 0.32 2.38 4.00 1.600 13478 0.279 0.057 2574 2110 2732 2774 2691 0 0 0 0 0 0 13.92 14.26 12.89

4934 0.02 247.0 2574 2110 2784 2697 378.3 5.8 335 5093 0.00 2.60 148.65 1.327 8740 0.000 0.086 2573 704 2352 2408 2296 0 0 0 0 0 0 14.62 13.69 12.98

5153 0.21 308.3 2574 705 2401 2293 363.8 7.2 378 5253 0.25 2.53 92.53 1.301 11430 0.091 0.081 2670 2106 2103 2157 2049 0 0 0 0 0 0 13.94 13.85 12.80

5568 0.16 308.3 2670 2106 2146 2037 309.1 13.0 411 5573 0.12 2.47 0.00 0.000 4740 0.267 0.082 2649 696 2091 2146 2036 0 0 0 0 0 0 13.90 14.07 14.04

5624 0.21 308.3 2650 696 2144 2037 302.8 10.7 422 5630 0.00 2.47 0.00 0.000 1158 0.000 0.080 2649 2100 2089 2143 2036 0 0 0 0 0 0 14.22 14.09 14.29

5929 0.21 308.3 2650 2102 2144 2034 269.1 10.8 433 5929 0.00 0.00 0.00 0.000 6 0.000 0.000 2649 2100 2088 2143 2033 0 0 0 0 0 0 14.60 14.62 14.62

6229 0.22 327.7 2650 2101 2143 2032 240.2 9.1 443 6261 0.00 2.45 25.90 1.405 8740 0.000 0.085 2652 695 2026 2082 1971 0 0 0 0 0 0 14.64 13.97 13.35

6343 0.33 363.5 2652 696 2068 1972 230.7 8.3 465 6407 0.10 2.45 58.45 1.306 11430 0.148 0.079 2695 2100 1882 1920 1845 0 0 0 0 0 0 14.21 14.19 13.19

6712 0.33 363.5 2696 2101 1907 1829 188.6 11.4 489 6717 0.00 2.47 0.00 0.000 516 0.000 0.086 2696 695 1869 1905 1833 0 0 0 0 0 0 14.53 14.15 14.54

6762 0.38 363.5 2695 696 1904 1835 183.1 10.4 499 6767 0.00 2.45 0.00 0.000 1158 0.000 0.078 2696 2104 1868 1903 1833 0 0 0 0 0 0 14.34 14.21 14.38

7072 0.38 363.9 2696 2102 1904 1832 151.0 10.0 511 7073 0.00 0.00 0.00 0.000 38 0.000 0.000 2696 2102 1867 1902 1833 0 0 0 0 0 0 14.62 14.64 14.64

7372 0.39 379.2 2696 2103 1902 1834 121.9 9.3 521 7394 0.00 2.53 16.55 1.431 8740 0.000 0.086 2696 694 1819 1849 1789 0 0 0 0 0 0 14.64 14.22 13.38

7524 0.49 423.3 2696 695 1840 1790 109.0 8.0 551 7609 0.15 2.45 78.07 1.223 11430 0.119 0.080 2762 2100 1637 1665 1609 0 0 0 0 0 0 14.12 14.07 13.22

7915 0.45 423.3 2763 2100 1664 1596 63.5 10.2 599 7920 0.12 2.47 0.00 0.000 4740 0.260 0.082 2741 692 1626 1662 1591 0 0 0 0 0 0 13.93 14.02 14.08

7970 0.55 474.0 2742 694 1658 1591 59.0 7.7 610 8001 0.00 2.47 25.45 0.381 9382 0.000 0.080 2742 2100 1430 1470 1390 0 0 0 0 0 0 14.12 14.01 13.73

8307 0.71 574.9 2742 2103 1471 1387 38.1 5.3 647 8361 0.20 0.00 52.97 0.322 10406 0.101 0.000 2816 2102 1019 1088 950 0 0 0 0 0 0 14.19 14.16 13.82

8657 0.82 645.4 2816 2102 1088 943 10.1 6.7 682 8700 0.00 2.47 37.12 0.237 8868 0.000 0.086 2821 697 730 796 664 0 0 0 0 0 0 14.57 14.03 13.86

8770 end climb: SURFACE_DEPTH_REACHED

state 8770 begin surface coast

8772 end surface coast: CONTROL_FINISHED_OK

state 8772 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	208	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	587.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	35	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,035342,7420.7202,-15347.2168,16,0.8,25,19.2,0.0,0.0,11,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	15.4,168560,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	310817,041033,7420.7148,-15347.4092,27,0.7,28,19.2,0.0,0.0,12,7.9

MODEM_MSG	CACST,6,1,20170831042658.226861,3,1478,31,0152,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31	PM_FREEKB_00	51780288
FINISH	1.3,1.021484	_24V_AH	12.34,142.901
SM_CCo	8840,31.35,0.211,0,0,499,702.78	_10V_AH	12.23,0.000
SM_GC	1.39,8.00,2.67,31.35,0.079,0.075,0.211,202,2206,499,-7.37,-0.48,702.78,0,0,0,0,0,0,14.33,14.22,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	402	FG_AHR_10Vo	0.000
MODEM	2,1504152868,73.18300,-149.96500,121.640,176158.3	MEM	323316
RAFOS_FIX	7420.267578,-15349.641602,310817,040459,3,255,2.47	DATA_FILE_SIZE	23404,705
IRIDIUM_FIX	7425.52,-15344.00,310817,040402	CAP_FILE_SIZE	104305,0
TT8_MAMPS	0.038199,0.859103	CFSIZE	2097872896,2023686144
HUMID	46.61	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.0
TCM_TEMP	13.30	CURRENT	0.047,265.76,1
XPDR_PINGS	16	GPS	310817,064003,7421.578,-15345.306,17,0.8,21,19.3,0.0,0.0,10,8.9
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	140.31	nil	0	0	0.00
Roll_motor	83	106	110.12	nil	0	0	0.00
VBD_pump_during_apogee	967	1600	19108.83	nil	0	0	0.00
VBD_pump_during_surface	31	211	81.68	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	8600	14	1538.06
Iridium_during_xfer	582	174	1254.28	NCP	8825	20	2178.01
Transponder_ping	4	420	20.73	PMAR	8791	9	1072.12
GUMSTIX_24V	0	0	0.00
GPS	29	22	8.12
TT8	0	0	0.00
LPSleep	6063	2	171.31
TT8_Active	797	13	136.28
TT8_Sampling	2725	33	1114.75
TT8_CF8	309	38	146.62
TT8_Kalman	0	0	0.00
Analog_circuits	2625	10	321.06
GPS_charging	0	0	0.00
Compass	1011	7	86.59
RAFOS	1435	48	842.40
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
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	198	2218	501	479	0.0	0.0	0	139	0.00	0.00	-88.40	0.000	16386	0.000	0.000	198	2218	2042	1965	2120	0	0	0	0	0	0	14.52	28.83	14.54
142	-0.57	-145.9	198	2218	1969	2121	3.1	-3.4	9	201	12.75	0.00	-43.03	0.000	18982	0.452	0.000	2386	2219	3966	3947	3986	0	0	0	0	0	0	13.60	12.59	14.05
500	-0.64	-145.9	2386	2216	3954	3981	72.3	-13.2	46	505	0.00	2.47	0.00	0.000	388	0.000	0.088	2378	3604	3966	3954	3979	0	0	0	0	0	0	14.40	13.93	14.42
576	-0.84	-145.9	2378	3606	3953	3980	80.3	-9.7	61	582	0.22	2.40	0.00	0.000	5286	0.096	0.054	2290	2199	3967	3954	3980	0	0	0	0	0	0	14.06	13.95	14.16
902	-0.81	-145.9	2290	2199	3955	3981	136.3	-16.4	80	908	0.00	2.47	0.00	0.000	388	0.000	0.086	2280	3598	3968	3957	3979	0	0	0	0	0	0	14.44	14.05	14.46
973	-0.89	-145.9	2281	3597	3955	3979	147.3	-13.7	94	978	0.00	2.40	0.00	0.000	1158	0.000	0.058	2280	2199	3967	3954	3980	0	0	0	0	0	0	14.21	14.09	14.24
1293	-0.89	-145.9	2280	2198	3958	3980	196.4	-14.9	108	1299	0.00	2.47	0.00	0.000	260	0.000	0.086	2272	3597	3966	3954	3979	0	0	0	0	0	0	14.45	14.05	14.46
1349	-0.98	-145.9	2272	3598	3954	3978	204.1	-12.6	119	1355	0.00	2.40	0.00	0.000	1158	0.000	0.058	2272	2198	3966	3954	3979	0	0	0	0	0	0	14.19	14.06	14.22
1654	-0.98	-145.9	2272	2198	3955	3980	246.3	-13.5	130	1659	0.00	2.45	0.00	0.000	260	0.000	0.088	2267	3595	3967	3954	3980	0	0	0	0	0	0	14.43	14.00	14.45
1684	-1.02	-145.9	2267	3596	3955	3980	250.1	-12.8	136	1690	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2181	3966	3954	3979	0	0	0	0	0	0	14.18	14.05	14.22
2017	-1.06	-145.9	2267	2180	3955	3980	290.9	-11.9	152	2023	0.00	2.50	0.00	0.000	388	0.000	0.089	2260	3598	3966	3954	3979	0	0	0	0	0	0	14.61	14.10	14.63
2118	-1.15	-145.9	2260	3601	3954	3980	302.2	-10.7	172	2124	0.17	2.38	0.00	0.000	5254	0.119	0.057	2197	2189	3966	3953	3979	0	0	0	0	0	0	14.26	14.23	14.37
2439	-1.06	-145.9	2196	2190	3955	3979	356.4	-17.1	186	2444	0.15	2.50	0.00	0.000	2436	0.298	0.086	2222	3601	3966	3954	3978	0	0	0	0	0	0	13.88	14.14	14.07
2566	-1.11	-145.9	2222	3603	3954	3985	373.4	-12.4	211	2571	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2191	3968	3958	3978	0	0	0	0	0	0	14.38	14.26	14.42
2891	-1.11	-145.9	2222	2190	3955	3978	418.1	-13.6	226	2896	0.00	2.50	0.00	0.000	260	0.000	0.090	2221	3598	3966	3956	3977	0	0	0	0	0	0	14.68	14.19	14.69
2967	-1.16	-145.9	2223	3599	3955	3978	427.7	-12.1	241	2971	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2200	3965	3954	3977	0	0	0	0	0	0	14.39	14.26	14.42
3281	-1.16	-145.9	2223	2198	3955	3977	469.5	-13.3	254	3286	0.00	2.47	0.00	0.000	260	0.000	0.090	2222	3595	3965	3954	3977	0	0	0	0	0	0	14.69	14.19	14.71
3362	-1.21	-145.9	2223	3596	3955	3977	479.4	-11.5	270	3366	0.00	2.35	0.00	0.000	1158	0.000	0.056	2222	2198	3965	3954	3977	0	0	0	0	0	0	14.39	14.26	14.42
3369	end dive: TARGET_DEPTH_EXCEEDED
state	3369	begin apogee
3375	-0.13	0.0	2223	2072	3956	3978	480.5	-11.4	272	3595	1.23	0.00	217.18	1.433	10246	0.249	0.000	2530	2066	3364	3389	3340	0	0	0	0	0	0	13.90	13.53	12.69
3598	end apogee: CONTROL_FINISHED_OK
state	3599	begin climb
3601	0.57	145.9	2531	2067	3382	3333	491.7	0.0	279	4158	0.73	2.60	210.73	1.377	10756	0.064	0.078	2782	717	2755	2795	2715	0	0	0	0	0	0	13.61	12.95	12.34
4168	0.57	145.9	2781	716	2795	2715	456.2	7.3	282	4172	0.00	2.45	0.00	0.000	1030	0.000	0.076	2781	2098	2754	2794	2715	0	0	0	0	0	0	14.02	13.90	14.06
4483	0.15	145.9	2781	2099	2794	2712	410.7	14.1	295	4488	0.62	2.47	0.00	0.000	4484	0.314	0.076	2639	3521	2751	2793	2710	0	0	0	0	0	0	13.79	14.16	14.03
4618	-0.04	155.2	2639	3521	2791	2711	396.9	9.6	322	4629	0.32	2.38	4.00	1.600	13478	0.279	0.057	2574	2110	2732	2774	2691	0	0	0	0	0	0	13.92	14.26	12.89
4934	0.02	247.0	2574	2110	2784	2697	378.3	5.8	335	5093	0.00	2.60	148.65	1.327	8740	0.000	0.086	2573	704	2352	2408	2296	0	0	0	0	0	0	14.62	13.69	12.98
5153	0.21	308.3	2574	705	2401	2293	363.8	7.2	378	5253	0.25	2.53	92.53	1.301	11430	0.091	0.081	2670	2106	2103	2157	2049	0	0	0	0	0	0	13.94	13.85	12.80
5568	0.16	308.3	2670	2106	2146	2037	309.1	13.0	411	5573	0.12	2.47	0.00	0.000	4740	0.267	0.082	2649	696	2091	2146	2036	0	0	0	0	0	0	13.90	14.07	14.04
5624	0.21	308.3	2650	696	2144	2037	302.8	10.7	422	5630	0.00	2.47	0.00	0.000	1158	0.000	0.080	2649	2100	2089	2143	2036	0	0	0	0	0	0	14.22	14.09	14.29
5929	0.21	308.3	2650	2102	2144	2034	269.1	10.8	433	5929	0.00	0.00	0.00	0.000	6	0.000	0.000	2649	2100	2088	2143	2033	0	0	0	0	0	0	14.60	14.62	14.62
6229	0.22	327.7	2650	2101	2143	2032	240.2	9.1	443	6261	0.00	2.45	25.90	1.405	8740	0.000	0.085	2652	695	2026	2082	1971	0	0	0	0	0	0	14.64	13.97	13.35
6343	0.33	363.5	2652	696	2068	1972	230.7	8.3	465	6407	0.10	2.45	58.45	1.306	11430	0.148	0.079	2695	2100	1882	1920	1845	0	0	0	0	0	0	14.21	14.19	13.19
6712	0.33	363.5	2696	2101	1907	1829	188.6	11.4	489	6717	0.00	2.47	0.00	0.000	516	0.000	0.086	2696	695	1869	1905	1833	0	0	0	0	0	0	14.53	14.15	14.54
6762	0.38	363.5	2695	696	1904	1835	183.1	10.4	499	6767	0.00	2.45	0.00	0.000	1158	0.000	0.078	2696	2104	1868	1903	1833	0	0	0	0	0	0	14.34	14.21	14.38
7072	0.38	363.9	2696	2102	1904	1832	151.0	10.0	511	7073	0.00	0.00	0.00	0.000	38	0.000	0.000	2696	2102	1867	1902	1833	0	0	0	0	0	0	14.62	14.64	14.64
7372	0.39	379.2	2696	2103	1902	1834	121.9	9.3	521	7394	0.00	2.53	16.55	1.431	8740	0.000	0.086	2696	694	1819	1849	1789	0	0	0	0	0	0	14.64	14.22	13.38
7524	0.49	423.3	2696	695	1840	1790	109.0	8.0	551	7609	0.15	2.45	78.07	1.223	11430	0.119	0.080	2762	2100	1637	1665	1609	0	0	0	0	0	0	14.12	14.07	13.22
7915	0.45	423.3	2763	2100	1664	1596	63.5	10.2	599	7920	0.12	2.47	0.00	0.000	4740	0.260	0.082	2741	692	1626	1662	1591	0	0	0	0	0	0	13.93	14.02	14.08
7970	0.55	474.0	2742	694	1658	1591	59.0	7.7	610	8001	0.00	2.47	25.45	0.381	9382	0.000	0.080	2742	2100	1430	1470	1390	0	0	0	0	0	0	14.12	14.01	13.73
8307	0.71	574.9	2742	2103	1471	1387	38.1	5.3	647	8361	0.20	0.00	52.97	0.322	10406	0.101	0.000	2816	2102	1019	1088	950	0	0	0	0	0	0	14.19	14.16	13.82
8657	0.82	645.4	2816	2102	1088	943	10.1	6.7	682	8700	0.00	2.47	37.12	0.237	8868	0.000	0.086	2821	697	730	796	664	0	0	0	0	0	0	14.57	14.03	13.86
8770	end climb: SURFACE_DEPTH_REACHED
state	8770	begin surface coast
8772	end surface coast: CONTROL_FINISHED_OK
state	8772	begin surface