Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 245 * 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 245 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 688.0

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 63 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 30 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 688.0 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 63 VBD_MIN 500

DIVE 245 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 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 040917,102425,7451.8242,-15223.7461,40,0.9,43,20.0,0.0,319.1,10,8.0 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.24 MHEAD_RNG_PITCHd_Wd 20.0,100572,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.9 D_GRID 480

GPS2 040917,104639,7451.9033,-15223.9990,8,0.8,10,20.0,0.0,198.8,10,8.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170904120839.457539,3,50,-13,0094,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*19 PM_FREEKB_00 50710784

FINISH 0.1,1.021297 _24V_AH 12.28,160.321

SM_CCo 9147,27.52,0.211,0,0,499,702.78 _10V_AH 12.33,0.000

SM_GC 1.42,8.35,0.17,27.52,0.083,0.119,0.211,201,2213,499,-7.38,-0.74,702.78,0,0,0,0,0,0,14.29,14.29,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

MODEM 1,1504526919,73.78700,-144.83000,98.708,142955.3 MEM 323380

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26761,781

IRIDIUM_FIX 7451.20,-15219.85,040917,104006 CAP_FILE_SIZE 108685,0

TT8_MAMPS 0.040446,0.886816 CFSIZE 2097872896,2014085120

HUMID 45.98 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.73269 INTR 0,7851.72,0x2341e8,1,24

TCM_TEMP 13.20 SOUNDSPEED 1448.4

XPDR_PINGS 23 CURRENT 0.094,264.45,1

CP_FREE 15967682560.000000 GPS 040917,132108,7452.619,-15221.617,15,0.8,20,20.0,0.5,328.0,10,8.6

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 143.14 nil 0 0 0.00

Roll_motor 73 2140 1936.55 nil 0 0 0.00

VBD_pump_during_apogee 950 1455 16976.61 nil 0 0 0.00

VBD_pump_during_surface 27 211 71.37 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 9160 14 1630.35

Iridium_during_xfer 828 169 1727.85 NCP 9131 20 2242.57

Transponder_ping 5 420 29.66 PMAR 9100 9 1105.30

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.26

TT8 0 0 0.00

LPSleep 6774 2 192.95

TT8_Active 980 13 168.90

TT8_Sampling 2434 33 1003.67

TT8_CF8 330 38 157.72

TT8_Kalman 0 0 0.00

Analog_circuits 2541 10 313.35

GPS_charging 0 0 0.00

Compass 1119 7 96.59

RAFOS 2209 48 1307.37

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

50 -0.57 -145.9 198 2217 483 497 0.0 0.0 0 143 0.00 0.00 -91.30 0.000 16386 0.000 0.000 198 2217 2144 2073 2215 0 0 0 0 0 0 14.50 28.83 14.54

146 -0.57 -145.9 198 2217 2075 2216 3.3 -4.2 9 203 12.73 2.78 -37.97 0.000 18724 0.451 2.140 2381 3601 3966 3951 3982 0 0 0 0 0 0 13.63 12.61 14.13

389 -0.73 -145.9 2376 3604 3958 3983 47.6 -12.9 57 394 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2234 3970 3958 3982 0 0 0 0 0 0 14.33 14.17 14.33

699 -0.85 -145.9 2375 2232 3960 3983 85.5 -10.2 89 701 0.22 0.00 0.00 0.000 4230 0.101 0.000 2288 2237 3970 3959 3982 0 0 0 0 0 0 14.16 14.28 14.25

999 -0.85 -145.9 2289 2232 3961 3982 132.8 -15.0 105 1004 0.00 2.42 0.00 0.000 260 0.000 0.086 2279 3601 3970 3959 3982 0 0 0 0 0 0 14.64 14.16 14.65

1099 -0.94 -145.9 2280 3602 3961 3982 146.3 -12.6 125 1104 0.00 2.38 0.00 0.000 1158 0.000 0.057 2280 2201 3970 3960 3981 0 0 0 0 0 0 14.25 14.19 14.26

1419 -0.96 -145.9 2280 2200 3960 3983 191.5 -13.7 139 1424 0.00 2.47 0.00 0.000 388 0.000 0.086 2269 3608 3970 3959 3982 0 0 0 0 0 0 14.66 14.18 14.67

1480 -1.06 -145.9 2270 3609 3961 3979 199.5 -12.2 151 1484 0.00 2.38 0.00 0.000 1158 0.000 0.057 2269 2198 3970 3959 3982 0 0 0 0 0 0 14.36 14.23 14.40

1809 -1.08 -145.9 2270 2197 3961 3981 243.4 -12.9 167 1815 0.12 2.47 0.00 0.000 4484 0.142 0.084 2209 3605 3970 3959 3982 0 0 0 0 0 0 14.25 14.17 14.28

1860 -1.06 -145.9 2210 3607 3960 3983 251.3 -16.0 177 1865 0.12 2.38 0.00 0.000 3206 0.260 0.057 2232 2196 3970 3959 3982 0 0 0 0 0 0 13.93 14.23 14.17

2170 -1.06 -145.9 2233 2195 3960 3982 295.0 -13.4 189 2175 0.00 2.47 0.00 0.000 260 0.000 0.087 2226 3604 3970 3959 3982 0 0 0 0 0 0 14.67 14.17 14.69

2255 -1.09 -145.9 2226 3606 3960 3983 306.3 -12.9 206 2261 0.00 2.40 0.00 0.000 1158 0.000 0.056 2226 2194 3970 3959 3982 0 0 0 0 0 0 14.10 13.98 14.15

2560 -1.09 -145.9 2226 2194 3959 3982 347.5 -13.2 217 2565 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3601 3971 3960 3982 0 0 0 0 0 0 14.67 14.16 14.69

2650 -1.14 -145.9 2224 3603 3958 3983 359.0 -12.3 235 2655 0.00 2.38 0.00 0.000 1158 0.000 0.056 2223 2194 3970 3958 3982 0 0 0 0 0 0 14.36 14.23 14.40

2980 -1.14 -145.9 2222 2195 3959 3982 401.1 -12.6 251 2985 0.00 2.47 0.00 0.000 260 0.000 0.089 2222 3601 3969 3957 3981 0 0 0 0 0 0 14.67 14.15 14.69

3097 -1.21 -145.9 2222 3601 3958 3981 414.6 -11.3 274 3103 0.00 2.40 0.00 0.000 1158 0.000 0.056 2222 2194 3968 3957 3980 0 0 0 0 0 0 13.93 13.95 13.93

3400 -1.21 -145.9 2222 2194 3958 3981 451.6 -12.1 285 3405 0.10 2.47 0.00 0.000 4356 0.177 0.084 2172 3601 3968 3957 3979 0 0 0 0 0 0 14.34 14.16 14.39

3460 -1.16 -145.9 2173 3603 3957 3981 460.8 -15.9 297 3466 0.15 2.38 0.00 0.000 3206 0.271 0.057 2201 2194 3968 3956 3980 0 0 0 0 0 0 13.90 14.23 14.20

3608 end dive: TARGET_DEPTH_EXCEEDED

state 3608 begin apogee

3614 -0.13 0.0 2202 2066 3957 3978 481.9 -13.7 307 3837 1.30 0.00 219.68 1.455 10246 0.242 0.000 2532 2064 3366 3389 3344 0 0 0 0 0 0 13.86 13.47 12.62

3841 end apogee: CONTROL_FINISHED_OK

state 3841 begin climb

3843 0.57 145.9 2532 2064 3380 3335 493.1 0.0 314 4061 0.73 2.60 206.02 1.395 10756 0.063 0.080 2781 726 2761 2806 2717 0 0 0 0 0 0 13.61 13.08 12.28

4271 0.20 145.9 2781 727 2791 2715 469.5 15.2 393 4277 0.62 2.47 0.00 0.000 5254 0.318 0.075 2654 2100 2751 2790 2713 0 0 0 0 0 0 13.38 13.71 13.76

4597 0.03 148.4 2654 2102 2791 2709 436.2 9.9 408 4599 0.25 0.00 0.00 0.000 4262 0.275 0.000 2597 2101 2749 2790 2708 0 0 0 0 0 0 13.78 14.12 14.06

4897 0.02 211.0 2598 2101 2791 2707 414.5 7.1 418 4998 0.00 0.00 98.05 1.372 8870 0.000 0.000 2597 2101 2505 2565 2445 0 0 0 0 0 0 14.45 13.79 13.02

5287 0.05 245.5 2598 2102 2552 2426 382.4 8.4 436 5348 0.00 2.53 51.67 1.382 8740 0.000 0.083 2602 727 2357 2410 2304 0 0 0 0 0 0 14.41 13.93 13.12

5400 0.16 278.5 2603 727 2406 2300 373.0 8.5 458 5458 0.00 2.42 51.83 1.362 9382 0.000 0.079 2602 2100 2228 2284 2173 0 0 0 0 0 0 14.04 13.93 13.00

5770 0.25 304.5 2602 2101 2272 2149 340.2 8.8 482 5811 0.20 0.00 37.80 1.389 10406 0.096 0.000 2683 2101 2122 2174 2071 0 0 0 0 0 0 14.19 13.95 13.16

6098 0.18 304.5 2684 2101 2161 2055 294.2 14.0 493 6103 0.15 2.45 0.00 0.000 4740 0.249 0.083 2653 717 2107 2160 2054 0 0 0 0 0 0 13.90 13.98 14.04

6189 0.23 304.5 2654 716 2158 2054 284.3 10.4 511 6194 0.00 2.42 0.00 0.000 1158 0.000 0.078 2653 2100 2105 2157 2054 0 0 0 0 0 0 13.78 13.81 13.78

6519 0.23 304.5 2653 2101 2158 2052 250.1 10.1 527 6524 0.00 2.45 0.00 0.000 516 0.000 0.084 2654 724 2104 2157 2052 0 0 0 0 0 0 14.50 13.54 14.51

6581 0.31 328.1 2655 725 2157 2053 244.2 8.9 539 6621 0.00 2.40 32.75 1.388 9382 0.000 0.079 2654 2120 2026 2074 1978 0 0 0 0 0 0 14.23 14.14 13.25

6942 0.37 356.0 2662 2125 2069 1968 211.5 8.7 561 6989 0.12 0.00 45.28 1.349 10662 0.129 0.000 2719 2119 1915 1953 1877 0 0 0 0 0 0 14.14 13.97 13.19

7271 0.33 356.0 2713 2120 1939 1867 171.1 11.9 577 7276 0.00 2.45 0.00 0.000 644 0.000 0.086 2717 727 1902 1938 1866 0 0 0 0 0 0 14.55 14.18 14.57

7381 0.33 356.0 2717 728 1936 1867 158.7 10.7 599 7386 0.00 2.40 0.00 0.000 1030 0.000 0.076 2717 2111 1898 1931 1866 0 0 0 0 0 0 14.35 14.23 14.40

7692 0.30 356.0 2717 2112 1936 1865 125.0 10.6 611 7697 0.12 2.42 0.00 0.000 4740 0.237 0.083 2685 722 1899 1935 1864 0 0 0 0 0 0 14.02 14.21 14.13

7789 0.43 402.7 2686 722 1933 1865 117.0 7.8 630 7870 0.00 2.40 75.28 1.274 9382 0.000 0.078 2685 2099 1724 1750 1699 0 0 0 0 0 0 14.21 14.09 13.22

8178 0.56 459.6 2686 2099 1745 1682 87.2 7.4 667 8209 0.22 0.00 29.30 0.465 10918 0.095 0.000 2776 2099 1491 1524 1458 0 0 0 0 0 0 14.25 14.11 13.64

8506 0.58 485.6 2777 2100 1524 1446 50.3 8.8 701 8526 0.00 0.00 14.05 0.353 8230 0.000 0.000 2776 2099 1385 1426 1344 0 0 0 0 0 0 14.56 14.12 13.74

8826 0.67 562.4 2778 2099 1428 1338 27.9 6.5 733 8873 0.00 2.47 40.53 0.292 8868 0.000 0.088 2778 728 1071 1135 1008 0 0 0 0 0 0 14.57 14.11 13.81

8959 0.92 653.3 2778 730 1133 1008 19.4 5.8 759 9013 0.30 2.40 47.90 0.265 11430 0.084 0.079 2887 2099 699 753 646 0 0 0 0 0 0 14.12 14.05 13.81

9118 end climb: SURFACE_DEPTH_REACHED

state 9118 begin surface coast

9126 end surface coast: CONTROL_FINISHED_OK

state 9126 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	245	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	688.0
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	63	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	040917,102425,7451.8242,-15223.7461,40,0.9,43,20.0,0.0,319.1,10,8.0	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.24	MHEAD_RNG_PITCHd_Wd	20.0,100572,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.9	D_GRID	480
GPS2	040917,104639,7451.9033,-15223.9990,8,0.8,10,20.0,0.0,198.8,10,8.5

MODEM_MSG	CACST,6,1,20170904120839.457539,3,50,-13,0094,0150,250,00,00,05,05,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*19	PM_FREEKB_00	50710784
FINISH	0.1,1.021297	_24V_AH	12.28,160.321
SM_CCo	9147,27.52,0.211,0,0,499,702.78	_10V_AH	12.33,0.000
SM_GC	1.42,8.35,0.17,27.52,0.083,0.119,0.211,201,2213,499,-7.38,-0.74,702.78,0,0,0,0,0,0,14.29,14.29,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
MODEM	1,1504526919,73.78700,-144.83000,98.708,142955.3	MEM	323380
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26761,781
IRIDIUM_FIX	7451.20,-15219.85,040917,104006	CAP_FILE_SIZE	108685,0
TT8_MAMPS	0.040446,0.886816	CFSIZE	2097872896,2014085120
HUMID	45.98	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.73269	INTR	0,7851.72,0x2341e8,1,24
TCM_TEMP	13.20	SOUNDSPEED	1448.4
XPDR_PINGS	23	CURRENT	0.094,264.45,1
CP_FREE	15967682560.000000	GPS	040917,132108,7452.619,-15221.617,15,0.8,20,20.0,0.5,328.0,10,8.6

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	143.14	nil	0	0	0.00
Roll_motor	73	2140	1936.55	nil	0	0	0.00
VBD_pump_during_apogee	950	1455	16976.61	nil	0	0	0.00
VBD_pump_during_surface	27	211	71.37	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	9160	14	1630.35
Iridium_during_xfer	828	169	1727.85	NCP	9131	20	2242.57
Transponder_ping	5	420	29.66	PMAR	9100	9	1105.30
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.26
TT8	0	0	0.00
LPSleep	6774	2	192.95
TT8_Active	980	13	168.90
TT8_Sampling	2434	33	1003.67
TT8_CF8	330	38	157.72
TT8_Kalman	0	0	0.00
Analog_circuits	2541	10	313.35
GPS_charging	0	0	0.00
Compass	1119	7	96.59
RAFOS	2209	48	1307.37
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
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
50	-0.57	-145.9	198	2217	483	497	0.0	0.0	0	143	0.00	0.00	-91.30	0.000	16386	0.000	0.000	198	2217	2144	2073	2215	0	0	0	0	0	0	14.50	28.83	14.54
146	-0.57	-145.9	198	2217	2075	2216	3.3	-4.2	9	203	12.73	2.78	-37.97	0.000	18724	0.451	2.140	2381	3601	3966	3951	3982	0	0	0	0	0	0	13.63	12.61	14.13
389	-0.73	-145.9	2376	3604	3958	3983	47.6	-12.9	57	394	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2234	3970	3958	3982	0	0	0	0	0	0	14.33	14.17	14.33
699	-0.85	-145.9	2375	2232	3960	3983	85.5	-10.2	89	701	0.22	0.00	0.00	0.000	4230	0.101	0.000	2288	2237	3970	3959	3982	0	0	0	0	0	0	14.16	14.28	14.25
999	-0.85	-145.9	2289	2232	3961	3982	132.8	-15.0	105	1004	0.00	2.42	0.00	0.000	260	0.000	0.086	2279	3601	3970	3959	3982	0	0	0	0	0	0	14.64	14.16	14.65
1099	-0.94	-145.9	2280	3602	3961	3982	146.3	-12.6	125	1104	0.00	2.38	0.00	0.000	1158	0.000	0.057	2280	2201	3970	3960	3981	0	0	0	0	0	0	14.25	14.19	14.26
1419	-0.96	-145.9	2280	2200	3960	3983	191.5	-13.7	139	1424	0.00	2.47	0.00	0.000	388	0.000	0.086	2269	3608	3970	3959	3982	0	0	0	0	0	0	14.66	14.18	14.67
1480	-1.06	-145.9	2270	3609	3961	3979	199.5	-12.2	151	1484	0.00	2.38	0.00	0.000	1158	0.000	0.057	2269	2198	3970	3959	3982	0	0	0	0	0	0	14.36	14.23	14.40
1809	-1.08	-145.9	2270	2197	3961	3981	243.4	-12.9	167	1815	0.12	2.47	0.00	0.000	4484	0.142	0.084	2209	3605	3970	3959	3982	0	0	0	0	0	0	14.25	14.17	14.28
1860	-1.06	-145.9	2210	3607	3960	3983	251.3	-16.0	177	1865	0.12	2.38	0.00	0.000	3206	0.260	0.057	2232	2196	3970	3959	3982	0	0	0	0	0	0	13.93	14.23	14.17
2170	-1.06	-145.9	2233	2195	3960	3982	295.0	-13.4	189	2175	0.00	2.47	0.00	0.000	260	0.000	0.087	2226	3604	3970	3959	3982	0	0	0	0	0	0	14.67	14.17	14.69
2255	-1.09	-145.9	2226	3606	3960	3983	306.3	-12.9	206	2261	0.00	2.40	0.00	0.000	1158	0.000	0.056	2226	2194	3970	3959	3982	0	0	0	0	0	0	14.10	13.98	14.15
2560	-1.09	-145.9	2226	2194	3959	3982	347.5	-13.2	217	2565	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3601	3971	3960	3982	0	0	0	0	0	0	14.67	14.16	14.69
2650	-1.14	-145.9	2224	3603	3958	3983	359.0	-12.3	235	2655	0.00	2.38	0.00	0.000	1158	0.000	0.056	2223	2194	3970	3958	3982	0	0	0	0	0	0	14.36	14.23	14.40
2980	-1.14	-145.9	2222	2195	3959	3982	401.1	-12.6	251	2985	0.00	2.47	0.00	0.000	260	0.000	0.089	2222	3601	3969	3957	3981	0	0	0	0	0	0	14.67	14.15	14.69
3097	-1.21	-145.9	2222	3601	3958	3981	414.6	-11.3	274	3103	0.00	2.40	0.00	0.000	1158	0.000	0.056	2222	2194	3968	3957	3980	0	0	0	0	0	0	13.93	13.95	13.93
3400	-1.21	-145.9	2222	2194	3958	3981	451.6	-12.1	285	3405	0.10	2.47	0.00	0.000	4356	0.177	0.084	2172	3601	3968	3957	3979	0	0	0	0	0	0	14.34	14.16	14.39
3460	-1.16	-145.9	2173	3603	3957	3981	460.8	-15.9	297	3466	0.15	2.38	0.00	0.000	3206	0.271	0.057	2201	2194	3968	3956	3980	0	0	0	0	0	0	13.90	14.23	14.20
3608	end dive: TARGET_DEPTH_EXCEEDED
state	3608	begin apogee
3614	-0.13	0.0	2202	2066	3957	3978	481.9	-13.7	307	3837	1.30	0.00	219.68	1.455	10246	0.242	0.000	2532	2064	3366	3389	3344	0	0	0	0	0	0	13.86	13.47	12.62
3841	end apogee: CONTROL_FINISHED_OK
state	3841	begin climb
3843	0.57	145.9	2532	2064	3380	3335	493.1	0.0	314	4061	0.73	2.60	206.02	1.395	10756	0.063	0.080	2781	726	2761	2806	2717	0	0	0	0	0	0	13.61	13.08	12.28
4271	0.20	145.9	2781	727	2791	2715	469.5	15.2	393	4277	0.62	2.47	0.00	0.000	5254	0.318	0.075	2654	2100	2751	2790	2713	0	0	0	0	0	0	13.38	13.71	13.76
4597	0.03	148.4	2654	2102	2791	2709	436.2	9.9	408	4599	0.25	0.00	0.00	0.000	4262	0.275	0.000	2597	2101	2749	2790	2708	0	0	0	0	0	0	13.78	14.12	14.06
4897	0.02	211.0	2598	2101	2791	2707	414.5	7.1	418	4998	0.00	0.00	98.05	1.372	8870	0.000	0.000	2597	2101	2505	2565	2445	0	0	0	0	0	0	14.45	13.79	13.02
5287	0.05	245.5	2598	2102	2552	2426	382.4	8.4	436	5348	0.00	2.53	51.67	1.382	8740	0.000	0.083	2602	727	2357	2410	2304	0	0	0	0	0	0	14.41	13.93	13.12
5400	0.16	278.5	2603	727	2406	2300	373.0	8.5	458	5458	0.00	2.42	51.83	1.362	9382	0.000	0.079	2602	2100	2228	2284	2173	0	0	0	0	0	0	14.04	13.93	13.00
5770	0.25	304.5	2602	2101	2272	2149	340.2	8.8	482	5811	0.20	0.00	37.80	1.389	10406	0.096	0.000	2683	2101	2122	2174	2071	0	0	0	0	0	0	14.19	13.95	13.16
6098	0.18	304.5	2684	2101	2161	2055	294.2	14.0	493	6103	0.15	2.45	0.00	0.000	4740	0.249	0.083	2653	717	2107	2160	2054	0	0	0	0	0	0	13.90	13.98	14.04
6189	0.23	304.5	2654	716	2158	2054	284.3	10.4	511	6194	0.00	2.42	0.00	0.000	1158	0.000	0.078	2653	2100	2105	2157	2054	0	0	0	0	0	0	13.78	13.81	13.78
6519	0.23	304.5	2653	2101	2158	2052	250.1	10.1	527	6524	0.00	2.45	0.00	0.000	516	0.000	0.084	2654	724	2104	2157	2052	0	0	0	0	0	0	14.50	13.54	14.51
6581	0.31	328.1	2655	725	2157	2053	244.2	8.9	539	6621	0.00	2.40	32.75	1.388	9382	0.000	0.079	2654	2120	2026	2074	1978	0	0	0	0	0	0	14.23	14.14	13.25
6942	0.37	356.0	2662	2125	2069	1968	211.5	8.7	561	6989	0.12	0.00	45.28	1.349	10662	0.129	0.000	2719	2119	1915	1953	1877	0	0	0	0	0	0	14.14	13.97	13.19
7271	0.33	356.0	2713	2120	1939	1867	171.1	11.9	577	7276	0.00	2.45	0.00	0.000	644	0.000	0.086	2717	727	1902	1938	1866	0	0	0	0	0	0	14.55	14.18	14.57
7381	0.33	356.0	2717	728	1936	1867	158.7	10.7	599	7386	0.00	2.40	0.00	0.000	1030	0.000	0.076	2717	2111	1898	1931	1866	0	0	0	0	0	0	14.35	14.23	14.40
7692	0.30	356.0	2717	2112	1936	1865	125.0	10.6	611	7697	0.12	2.42	0.00	0.000	4740	0.237	0.083	2685	722	1899	1935	1864	0	0	0	0	0	0	14.02	14.21	14.13
7789	0.43	402.7	2686	722	1933	1865	117.0	7.8	630	7870	0.00	2.40	75.28	1.274	9382	0.000	0.078	2685	2099	1724	1750	1699	0	0	0	0	0	0	14.21	14.09	13.22
8178	0.56	459.6	2686	2099	1745	1682	87.2	7.4	667	8209	0.22	0.00	29.30	0.465	10918	0.095	0.000	2776	2099	1491	1524	1458	0	0	0	0	0	0	14.25	14.11	13.64
8506	0.58	485.6	2777	2100	1524	1446	50.3	8.8	701	8526	0.00	0.00	14.05	0.353	8230	0.000	0.000	2776	2099	1385	1426	1344	0	0	0	0	0	0	14.56	14.12	13.74
8826	0.67	562.4	2778	2099	1428	1338	27.9	6.5	733	8873	0.00	2.47	40.53	0.292	8868	0.000	0.088	2778	728	1071	1135	1008	0	0	0	0	0	0	14.57	14.11	13.81
8959	0.92	653.3	2778	730	1133	1008	19.4	5.8	759	9013	0.30	2.40	47.90	0.265	11430	0.084	0.079	2887	2099	699	753	646	0	0	0	0	0	0	14.12	14.05	13.81
9118	end climb: SURFACE_DEPTH_REACHED
state	9118	begin surface coast
9126	end surface coast: CONTROL_FINISHED_OK
state	9126	begin surface