Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 212 * 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 212 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 599.0

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 44 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 59 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 599.0 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 44 VBD_MIN 500

DIVE 212 NOCOMM_ACTION 161 R_STBD_OVSHOOT 59 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 310817,150401,7424.1816,-15338.4766,19,0.8,29,19.3,0.0,194.2,10,7.3 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.25 MHEAD_RNG_PITCHd_Wd 18.9,161106,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 310817,152304,7424.1587,-15338.7383,7,0.7,10,19.3,0.0,0.0,12,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831161836.431138,3,12166,34,0791,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F PM_FREEKB_00 51659648

FINISH 0.1,1.021323 _24V_AH 12.31,144.791

SM_CCo 9014,8.02,0.217,0,0,498,702.78 _10V_AH 12.18,0.000

SM_GC 1.93,8.23,0.17,8.02,0.073,0.106,0.217,201,2230,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.31,14.32,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 307 FG_AHR_10Vo 0.000

MODEM 0,1504195438,75.36600,-145.04601,184.992,268074.3 MEM 323616

RAFOS_FIX 7423.020508,-15337.044922,310817,161620,3,255,0.77 DATA_FILE_SIZE 26725,737

IRIDIUM_FIX 7422.74,-15340.38,310817,151505 CAP_FILE_SIZE 105749,0

TT8_MAMPS 0.038948,0.916776 CFSIZE 2097872896,2022473728

HUMID 46.37 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.8

TCM_TEMP 13.30 CURRENT 0.077,293.42,1

XPDR_PINGS 15 GPS 310817,175525,7425.127,-15336.422,17,0.9,37,19.3,0.0,270.6,9,8.1

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 145.33 nil 0 0 0.00

Roll_motor 73 2144 1930.89 nil 0 0 0.00

VBD_pump_during_apogee 953 1578 18534.15 nil 0 0 0.00

VBD_pump_during_surface 8 217 21.46 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 8906 14 1574.99

Iridium_during_xfer 674 166 1379.27 NCP 9022 20 2221.22

Transponder_ping 3 420 19.39 PMAR 8967 9 1093.79

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.01

TT8 0 0 0.00

LPSleep 6618 2 186.22

TT8_Active 860 13 146.41

TT8_Sampling 2377 33 968.26

TT8_CF8 323 38 152.36

TT8_Kalman 0 0 0.00

Analog_circuits 2343 10 285.48

GPS_charging 0 0 0.00

Compass 1056 7 90.11

RAFOS 2195 48 1283.28

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

49 -0.57 -145.9 196 2177 498 489 0.0 0.0 0 142 0.00 0.00 -91.35 0.000 16386 0.000 0.000 196 2182 2139 2066 2213 0 0 0 0 0 0 14.49 28.83 14.50

144 -0.57 -145.9 196 2177 2070 2213 3.1 -3.6 9 203 12.82 2.80 -37.78 0.000 18724 0.457 2.144 2375 3572 3964 3947 3981 1 0 0 0 0 0 13.48 12.58 14.03

264 -0.70 -145.9 2375 3572 3953 3980 33.4 -14.3 30 269 0.00 2.30 0.00 0.000 1158 0.000 0.058 2374 2220 3966 3952 3980 0 0 0 0 0 0 14.14 14.05 14.16

575 -0.78 -145.9 2375 2219 3954 3981 81.8 -12.4 62 580 0.12 2.40 0.00 0.000 4484 0.148 0.085 2319 3573 3968 3954 3983 0 0 0 0 0 0 14.16 14.04 14.21

625 -0.85 -145.9 2320 3573 3955 3980 89.1 -14.1 72 630 0.00 2.35 0.00 0.000 1158 0.000 0.059 2319 2195 3970 3960 3980 0 0 0 0 0 0 14.18 14.06 14.21

945 -0.88 -145.9 2319 2194 3955 3981 135.3 -13.6 89 950 0.00 2.42 0.00 0.000 388 0.000 0.088 2318 3571 3966 3953 3980 0 0 0 0 0 0 14.63 14.01 14.65

990 -1.04 -145.9 2319 3573 3955 3983 140.6 -10.9 98 995 0.22 2.33 0.00 0.000 5254 0.097 0.057 2238 2195 3967 3954 3980 0 0 0 0 0 0 14.19 14.16 14.22

1306 -0.95 -145.9 2237 2195 3955 3981 201.5 -19.1 111 1311 0.12 2.42 0.00 0.000 2436 0.295 0.083 2256 3573 3967 3954 3980 0 0 0 0 0 0 13.96 14.16 14.14

1398 -1.00 -145.9 2256 3574 3955 3980 215.2 -14.0 129 1404 0.00 2.35 0.00 0.000 1158 0.000 0.057 2256 2194 3967 3954 3980 0 0 0 0 0 0 14.33 14.19 14.37

1729 -1.00 -145.9 2256 2193 3955 3982 263.3 -13.6 145 1734 0.00 2.45 0.00 0.000 260 0.000 0.086 2247 3577 3967 3954 3980 0 0 0 0 0 0 14.68 14.17 14.70

1819 -1.07 -145.9 2248 3579 3955 3981 274.4 -11.8 163 1825 0.00 2.35 0.00 0.000 1158 0.000 0.058 2247 2193 3970 3954 3986 0 0 0 0 0 0 14.39 14.26 14.42

2168 -1.07 -145.9 2248 2192 3955 3980 317.0 -12.6 179 2174 0.00 2.42 0.00 0.000 260 0.000 0.087 2241 3573 3966 3953 3980 0 0 0 0 0 0 14.53 14.06 14.54

2264 -1.15 -145.9 2240 3574 3955 3980 330.5 -11.1 198 2269 0.00 2.35 0.00 0.000 1158 0.000 0.056 2240 2192 3966 3954 3979 0 0 0 0 0 0 14.16 14.06 14.19

2590 -1.15 -145.9 2240 2191 3954 3981 370.2 -12.1 213 2594 0.00 2.45 0.00 0.000 260 0.000 0.087 2236 3575 3967 3954 3980 0 0 0 0 0 0 14.51 14.07 14.53

2665 -1.22 -145.9 2237 3575 3955 3980 378.9 -11.1 228 2670 0.17 2.33 0.00 0.000 5254 0.114 0.055 2167 2201 3966 3954 3979 0 0 0 0 0 0 14.16 14.12 14.24

2980 -1.08 -145.9 2166 2199 3954 3979 436.9 -18.9 241 2985 0.28 2.42 0.00 0.000 2436 0.298 0.082 2218 3572 3966 3953 3979 0 0 0 0 0 0 13.70 14.05 13.90

3116 -1.12 -145.9 2219 3573 3954 3979 455.0 -12.4 268 3120 0.00 2.35 0.00 0.000 1158 0.000 0.055 2219 2194 3966 3953 3979 0 0 0 0 0 0 14.16 14.05 14.19

3308 end dive: TARGET_DEPTH_EXCEEDED

state 3308 begin apogee

3314 -0.13 0.0 2219 2068 3953 3979 480.9 -13.3 277 3535 1.25 0.00 217.10 1.427 10246 0.244 0.000 2530 2066 3363 3385 3341 0 0 0 0 0 0 13.78 13.40 12.60

3539 end apogee: CONTROL_FINISHED_OK

state 3539 begin climb

3541 0.57 145.9 2531 2068 3379 3335 491.7 0.0 284 3755 0.75 2.58 208.65 1.382 10756 0.063 0.076 2793 733 2766 2809 2724 0 0 0 0 0 0 13.50 12.89 12.31

3901 0.17 145.9 2792 729 2795 2720 481.0 15.0 360 3907 0.73 2.45 0.00 0.000 5254 0.327 0.075 2644 2067 2754 2793 2715 0 0 0 0 0 0 13.14 13.42 13.47

4206 0.03 160.9 2644 2068 2794 2713 451.4 9.3 371 4224 0.22 0.00 16.40 1.579 12454 0.269 0.000 2596 2067 2711 2754 2668 0 0 0 0 0 0 13.71 13.90 13.05

4506 0.03 221.0 2596 2067 2748 2658 429.3 7.2 381 4600 0.00 0.00 91.65 1.395 8358 0.000 0.000 2594 2068 2463 2523 2403 0 0 0 0 0 0 14.40 13.77 13.00

4898 0.08 255.1 2595 2067 2511 2388 397.5 8.4 394 4957 0.00 2.45 49.12 1.407 8868 0.000 0.084 2602 728 2320 2373 2267 0 0 0 0 0 0 14.45 13.95 13.13

4994 0.19 286.3 2603 729 2370 2266 389.2 8.6 413 5049 0.12 2.42 46.88 1.389 11430 0.128 0.080 2660 2101 2194 2247 2141 0 0 0 0 0 0 14.06 14.00 13.03

5350 0.14 286.3 2662 2101 2241 2128 342.9 13.2 434 5351 0.15 0.00 0.00 0.000 4230 0.247 0.000 2628 2102 2183 2239 2128 0 0 0 0 0 0 14.02 14.31 14.27

5648 0.14 286.3 2629 2102 2240 2127 311.4 10.3 444 5652 0.00 2.42 0.00 0.000 516 0.000 0.086 2633 719 2182 2239 2126 0 0 0 0 0 0 14.62 14.22 14.64

5718 0.21 289.7 2634 718 2237 2128 304.1 9.8 458 5723 0.00 2.40 0.00 0.000 1190 0.000 0.078 2634 2101 2180 2235 2126 0 0 0 0 0 0 14.39 14.26 14.41

6038 0.21 291.1 2634 2101 2237 2127 271.5 9.9 472 6039 0.00 0.00 0.00 0.000 38 0.000 0.000 2631 2102 2181 2236 2126 0 0 0 0 0 0 14.65 14.69 14.67

6338 0.27 325.7 2634 2102 2237 2126 244.8 8.4 482 6401 0.00 0.00 61.12 1.333 8614 0.000 0.000 2634 2102 2038 2088 1989 0 0 0 0 0 0 14.68 14.07 13.26

6698 0.37 377.7 2634 2102 2079 1975 216.1 7.6 499 6795 0.17 2.50 87.05 1.263 10916 0.109 0.086 2709 734 1819 1848 1790 0 0 0 0 0 0 14.28 13.89 13.18

6865 0.37 377.7 2710 734 1840 1790 196.4 11.5 532 6870 0.00 2.42 0.00 0.000 1030 0.000 0.078 2710 2106 1813 1838 1789 0 0 0 0 0 0 14.10 14.02 14.13

7180 0.37 377.7 2710 2107 1837 1782 159.4 11.4 545 7186 0.00 2.42 0.00 0.000 516 0.000 0.086 2710 728 1809 1837 1781 0 0 0 0 0 0 14.57 14.16 14.58

7241 0.42 377.7 2710 728 1834 1782 152.7 10.5 557 7247 0.00 2.38 0.00 0.000 1158 0.000 0.078 2710 2101 1807 1834 1781 0 0 0 0 0 0 14.37 14.23 14.40

7572 0.42 377.7 2710 2102 1834 1777 117.3 10.2 573 7578 0.00 2.42 0.00 0.000 516 0.000 0.086 2709 717 1805 1833 1778 0 0 0 0 0 0 14.63 14.24 14.65

7658 0.49 396.4 2710 717 1833 1778 109.2 9.1 590 7688 0.00 2.42 21.80 1.351 9382 0.000 0.078 2710 2107 1746 1771 1722 0 0 0 0 0 0 14.17 13.64 13.33

7993 0.55 433.7 2709 2108 1770 1713 79.5 8.3 621 8015 0.15 0.00 19.48 0.441 10406 0.116 0.000 2775 2107 1598 1620 1577 0 0 0 0 0 0 14.21 14.08 13.63

8313 0.55 497.4 2776 2103 1620 1567 47.1 7.1 653 8353 0.00 0.00 33.62 0.342 8358 0.000 0.000 2782 2107 1335 1379 1292 0 0 0 0 0 0 14.57 14.18 13.78

8653 0.68 589.9 2776 2108 1379 1296 24.3 5.7 687 8707 0.00 2.53 48.22 0.282 8868 0.000 0.086 2778 721 959 1029 890 0 0 0 0 0 0 14.58 14.09 13.85

8807 0.94 688.2 2779 721 1031 888 16.5 5.5 717 8865 0.32 2.42 52.45 0.255 11430 0.085 0.078 2895 2101 557 594 521 0 0 0 0 0 0 14.26 14.14 13.79

8940 end climb: SURFACE_DEPTH_REACHED

state 8940 begin surface coast

8948 end surface coast: CONTROL_FINISHED_OK

state 8948 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	212	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	599.0
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	44	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	59	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,150401,7424.1816,-15338.4766,19,0.8,29,19.3,0.0,194.2,10,7.3	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.25	MHEAD_RNG_PITCHd_Wd	18.9,161106,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	310817,152304,7424.1587,-15338.7383,7,0.7,10,19.3,0.0,0.0,12,9.9

MODEM_MSG	CACST,6,1,20170831161836.431138,3,12166,34,0791,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F	PM_FREEKB_00	51659648
FINISH	0.1,1.021323	_24V_AH	12.31,144.791
SM_CCo	9014,8.02,0.217,0,0,498,702.78	_10V_AH	12.18,0.000
SM_GC	1.93,8.23,0.17,8.02,0.073,0.106,0.217,201,2230,498,-7.37,-0.48,702.78,0,0,0,0,0,0,14.31,14.32,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	307	FG_AHR_10Vo	0.000
MODEM	0,1504195438,75.36600,-145.04601,184.992,268074.3	MEM	323616
RAFOS_FIX	7423.020508,-15337.044922,310817,161620,3,255,0.77	DATA_FILE_SIZE	26725,737
IRIDIUM_FIX	7422.74,-15340.38,310817,151505	CAP_FILE_SIZE	105749,0
TT8_MAMPS	0.038948,0.916776	CFSIZE	2097872896,2022473728
HUMID	46.37	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.8
TCM_TEMP	13.30	CURRENT	0.077,293.42,1
XPDR_PINGS	15	GPS	310817,175525,7425.127,-15336.422,17,0.9,37,19.3,0.0,270.6,9,8.1
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	145.33	nil	0	0	0.00
Roll_motor	73	2144	1930.89	nil	0	0	0.00
VBD_pump_during_apogee	953	1578	18534.15	nil	0	0	0.00
VBD_pump_during_surface	8	217	21.46	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	8906	14	1574.99
Iridium_during_xfer	674	166	1379.27	NCP	9022	20	2221.22
Transponder_ping	3	420	19.39	PMAR	8967	9	1093.79
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.01
TT8	0	0	0.00
LPSleep	6618	2	186.22
TT8_Active	860	13	146.41
TT8_Sampling	2377	33	968.26
TT8_CF8	323	38	152.36
TT8_Kalman	0	0	0.00
Analog_circuits	2343	10	285.48
GPS_charging	0	0	0.00
Compass	1056	7	90.11
RAFOS	2195	48	1283.28
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
49	-0.57	-145.9	196	2177	498	489	0.0	0.0	0	142	0.00	0.00	-91.35	0.000	16386	0.000	0.000	196	2182	2139	2066	2213	0	0	0	0	0	0	14.49	28.83	14.50
144	-0.57	-145.9	196	2177	2070	2213	3.1	-3.6	9	203	12.82	2.80	-37.78	0.000	18724	0.457	2.144	2375	3572	3964	3947	3981	1	0	0	0	0	0	13.48	12.58	14.03
264	-0.70	-145.9	2375	3572	3953	3980	33.4	-14.3	30	269	0.00	2.30	0.00	0.000	1158	0.000	0.058	2374	2220	3966	3952	3980	0	0	0	0	0	0	14.14	14.05	14.16
575	-0.78	-145.9	2375	2219	3954	3981	81.8	-12.4	62	580	0.12	2.40	0.00	0.000	4484	0.148	0.085	2319	3573	3968	3954	3983	0	0	0	0	0	0	14.16	14.04	14.21
625	-0.85	-145.9	2320	3573	3955	3980	89.1	-14.1	72	630	0.00	2.35	0.00	0.000	1158	0.000	0.059	2319	2195	3970	3960	3980	0	0	0	0	0	0	14.18	14.06	14.21
945	-0.88	-145.9	2319	2194	3955	3981	135.3	-13.6	89	950	0.00	2.42	0.00	0.000	388	0.000	0.088	2318	3571	3966	3953	3980	0	0	0	0	0	0	14.63	14.01	14.65
990	-1.04	-145.9	2319	3573	3955	3983	140.6	-10.9	98	995	0.22	2.33	0.00	0.000	5254	0.097	0.057	2238	2195	3967	3954	3980	0	0	0	0	0	0	14.19	14.16	14.22
1306	-0.95	-145.9	2237	2195	3955	3981	201.5	-19.1	111	1311	0.12	2.42	0.00	0.000	2436	0.295	0.083	2256	3573	3967	3954	3980	0	0	0	0	0	0	13.96	14.16	14.14
1398	-1.00	-145.9	2256	3574	3955	3980	215.2	-14.0	129	1404	0.00	2.35	0.00	0.000	1158	0.000	0.057	2256	2194	3967	3954	3980	0	0	0	0	0	0	14.33	14.19	14.37
1729	-1.00	-145.9	2256	2193	3955	3982	263.3	-13.6	145	1734	0.00	2.45	0.00	0.000	260	0.000	0.086	2247	3577	3967	3954	3980	0	0	0	0	0	0	14.68	14.17	14.70
1819	-1.07	-145.9	2248	3579	3955	3981	274.4	-11.8	163	1825	0.00	2.35	0.00	0.000	1158	0.000	0.058	2247	2193	3970	3954	3986	0	0	0	0	0	0	14.39	14.26	14.42
2168	-1.07	-145.9	2248	2192	3955	3980	317.0	-12.6	179	2174	0.00	2.42	0.00	0.000	260	0.000	0.087	2241	3573	3966	3953	3980	0	0	0	0	0	0	14.53	14.06	14.54
2264	-1.15	-145.9	2240	3574	3955	3980	330.5	-11.1	198	2269	0.00	2.35	0.00	0.000	1158	0.000	0.056	2240	2192	3966	3954	3979	0	0	0	0	0	0	14.16	14.06	14.19
2590	-1.15	-145.9	2240	2191	3954	3981	370.2	-12.1	213	2594	0.00	2.45	0.00	0.000	260	0.000	0.087	2236	3575	3967	3954	3980	0	0	0	0	0	0	14.51	14.07	14.53
2665	-1.22	-145.9	2237	3575	3955	3980	378.9	-11.1	228	2670	0.17	2.33	0.00	0.000	5254	0.114	0.055	2167	2201	3966	3954	3979	0	0	0	0	0	0	14.16	14.12	14.24
2980	-1.08	-145.9	2166	2199	3954	3979	436.9	-18.9	241	2985	0.28	2.42	0.00	0.000	2436	0.298	0.082	2218	3572	3966	3953	3979	0	0	0	0	0	0	13.70	14.05	13.90
3116	-1.12	-145.9	2219	3573	3954	3979	455.0	-12.4	268	3120	0.00	2.35	0.00	0.000	1158	0.000	0.055	2219	2194	3966	3953	3979	0	0	0	0	0	0	14.16	14.05	14.19
3308	end dive: TARGET_DEPTH_EXCEEDED
state	3308	begin apogee
3314	-0.13	0.0	2219	2068	3953	3979	480.9	-13.3	277	3535	1.25	0.00	217.10	1.427	10246	0.244	0.000	2530	2066	3363	3385	3341	0	0	0	0	0	0	13.78	13.40	12.60
3539	end apogee: CONTROL_FINISHED_OK
state	3539	begin climb
3541	0.57	145.9	2531	2068	3379	3335	491.7	0.0	284	3755	0.75	2.58	208.65	1.382	10756	0.063	0.076	2793	733	2766	2809	2724	0	0	0	0	0	0	13.50	12.89	12.31
3901	0.17	145.9	2792	729	2795	2720	481.0	15.0	360	3907	0.73	2.45	0.00	0.000	5254	0.327	0.075	2644	2067	2754	2793	2715	0	0	0	0	0	0	13.14	13.42	13.47
4206	0.03	160.9	2644	2068	2794	2713	451.4	9.3	371	4224	0.22	0.00	16.40	1.579	12454	0.269	0.000	2596	2067	2711	2754	2668	0	0	0	0	0	0	13.71	13.90	13.05
4506	0.03	221.0	2596	2067	2748	2658	429.3	7.2	381	4600	0.00	0.00	91.65	1.395	8358	0.000	0.000	2594	2068	2463	2523	2403	0	0	0	0	0	0	14.40	13.77	13.00
4898	0.08	255.1	2595	2067	2511	2388	397.5	8.4	394	4957	0.00	2.45	49.12	1.407	8868	0.000	0.084	2602	728	2320	2373	2267	0	0	0	0	0	0	14.45	13.95	13.13
4994	0.19	286.3	2603	729	2370	2266	389.2	8.6	413	5049	0.12	2.42	46.88	1.389	11430	0.128	0.080	2660	2101	2194	2247	2141	0	0	0	0	0	0	14.06	14.00	13.03
5350	0.14	286.3	2662	2101	2241	2128	342.9	13.2	434	5351	0.15	0.00	0.00	0.000	4230	0.247	0.000	2628	2102	2183	2239	2128	0	0	0	0	0	0	14.02	14.31	14.27
5648	0.14	286.3	2629	2102	2240	2127	311.4	10.3	444	5652	0.00	2.42	0.00	0.000	516	0.000	0.086	2633	719	2182	2239	2126	0	0	0	0	0	0	14.62	14.22	14.64
5718	0.21	289.7	2634	718	2237	2128	304.1	9.8	458	5723	0.00	2.40	0.00	0.000	1190	0.000	0.078	2634	2101	2180	2235	2126	0	0	0	0	0	0	14.39	14.26	14.41
6038	0.21	291.1	2634	2101	2237	2127	271.5	9.9	472	6039	0.00	0.00	0.00	0.000	38	0.000	0.000	2631	2102	2181	2236	2126	0	0	0	0	0	0	14.65	14.69	14.67
6338	0.27	325.7	2634	2102	2237	2126	244.8	8.4	482	6401	0.00	0.00	61.12	1.333	8614	0.000	0.000	2634	2102	2038	2088	1989	0	0	0	0	0	0	14.68	14.07	13.26
6698	0.37	377.7	2634	2102	2079	1975	216.1	7.6	499	6795	0.17	2.50	87.05	1.263	10916	0.109	0.086	2709	734	1819	1848	1790	0	0	0	0	0	0	14.28	13.89	13.18
6865	0.37	377.7	2710	734	1840	1790	196.4	11.5	532	6870	0.00	2.42	0.00	0.000	1030	0.000	0.078	2710	2106	1813	1838	1789	0	0	0	0	0	0	14.10	14.02	14.13
7180	0.37	377.7	2710	2107	1837	1782	159.4	11.4	545	7186	0.00	2.42	0.00	0.000	516	0.000	0.086	2710	728	1809	1837	1781	0	0	0	0	0	0	14.57	14.16	14.58
7241	0.42	377.7	2710	728	1834	1782	152.7	10.5	557	7247	0.00	2.38	0.00	0.000	1158	0.000	0.078	2710	2101	1807	1834	1781	0	0	0	0	0	0	14.37	14.23	14.40
7572	0.42	377.7	2710	2102	1834	1777	117.3	10.2	573	7578	0.00	2.42	0.00	0.000	516	0.000	0.086	2709	717	1805	1833	1778	0	0	0	0	0	0	14.63	14.24	14.65
7658	0.49	396.4	2710	717	1833	1778	109.2	9.1	590	7688	0.00	2.42	21.80	1.351	9382	0.000	0.078	2710	2107	1746	1771	1722	0	0	0	0	0	0	14.17	13.64	13.33
7993	0.55	433.7	2709	2108	1770	1713	79.5	8.3	621	8015	0.15	0.00	19.48	0.441	10406	0.116	0.000	2775	2107	1598	1620	1577	0	0	0	0	0	0	14.21	14.08	13.63
8313	0.55	497.4	2776	2103	1620	1567	47.1	7.1	653	8353	0.00	0.00	33.62	0.342	8358	0.000	0.000	2782	2107	1335	1379	1292	0	0	0	0	0	0	14.57	14.18	13.78
8653	0.68	589.9	2776	2108	1379	1296	24.3	5.7	687	8707	0.00	2.53	48.22	0.282	8868	0.000	0.086	2778	721	959	1029	890	0	0	0	0	0	0	14.58	14.09	13.85
8807	0.94	688.2	2779	721	1031	888	16.5	5.5	717	8865	0.32	2.42	52.45	0.255	11430	0.085	0.078	2895	2101	557	594	521	0	0	0	0	0	0	14.26	14.14	13.79
8940	end climb: SURFACE_DEPTH_REACHED
state	8940	begin surface coast
8948	end surface coast: CONTROL_FINISHED_OK
state	8948	begin surface