Glider dive log

CABAGE Aug17 * SG198 * Dive index * Mission links * Dive 158 * 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 158 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 150 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 3

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 50 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 140 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 1.4 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 34 ALTIM_PULSE 3 CP_STARTS 448.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 30 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 150 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 50

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 140

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 135 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 448.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 3 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 1.4 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 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 34 VBD_MIN 500

DIVE 158 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 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 310817,185603,7446.1675,-14629.4795,36,0.8,36,22.6,0.0,0.0,10,7.1 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 0.91 MHEAD_RNG_PITCHd_Wd 10.9,77382,-19.7,-10.000,-27.15,2241

_SM_ANGLEo -69.0 D_GRID 150

GPS2 310817,190650,7446.1860,-14629.5781,3,0.8,9,22.6,0.0,184.7,10,8.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831202658.529421,3,246,17,0319,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03 PM_FREEKB_00 47411456

FINISH 0.0,1.020997 _24V_AH 12.63,124.286

SM_CCo 6984,0.08,1.180,0,0,500,639.50 _10V_AH 12.84,0.000

SM_GC 0.88,6.75,0.32,0.08,0.048,0.106,1.180,187,2512,500,-6.18,-0.54,639.50,0,0,0,0,0,0,14.33,14.27,13.77 FG_AHR_24Vo 0.000

RAFOS_CLK 241 FG_AHR_10Vo 0.000

MODEM 0,1504209708,75.36600,-145.04601,54.198,78478.7 MEM 323532

RAFOS_FIX 7445.924316,-14631.064453,310817,202010,4,255,0.21 DATA_FILE_SIZE 43319,1327

IRIDIUM_FIX 7444.47,-14632.19,310817,145612 CAP_FILE_SIZE 119786,0

TT8_MAMPS 0.041195,0.548268 CFSIZE 2097872896,2041643008

HUMID 44.21 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.53859 SOUNDSPEED 1441.7

TCM_TEMP 13.00 CURRENT 0.040,253.69,1

XPDR_PINGS 17 GPS 310817,210514,7446.352,-14629.234,4,0.8,44,22.6,0.3,249.0,10,14.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 20 491 127.67 nil 0 0 0.00

Roll_motor 29 2170 801.77 nil 0 0 0.00

VBD_pump_during_apogee 956 1274 15401.83 nil 0 0 0.00

VBD_pump_during_surface 56 1179 848.11 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 3339 20 873.04

Iridium_during_xfer 412 203 1059.13 PMAR 3320 16 684.20

Transponder_ping 4 420 22.54 NCP 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 10 20 2.90

TT8 0 0 0.00

LPSleep 3375 2 100.12

TT8_Active 1029 10 141.11

TT8_Sampling 2914 30 1128.26

TT8_CF8 313 35 142.30

TT8_Kalman 0 0 0.00

Analog_circuits 2521 10 333.46

GPS_charging 0 0 0.00

Compass 1890 6 163.62

RAFOS 2217 48 1366.38

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.65 -145.9 186 2516 511 488 0.0 0.0 0 137 0.00 0.00 -122.43 0.000 16386 0.000 0.000 184 2516 2222 2190 2255 0 0 0 0 0 0 14.46 28.83 14.48

140 -0.65 -145.9 186 2517 2192 2256 3.7 -8.9 21 190 10.65 2.60 -33.92 0.000 18724 0.492 2.170 1971 3769 3703 3672 3735 0 0 0 0 0 0 13.54 12.63 14.07

295 -0.54 -145.9 1972 3774 3675 3735 51.5 -26.8 50 302 0.22 2.12 0.00 0.000 3206 0.301 0.050 2018 2497 3703 3673 3734 0 0 0 0 0 0 13.84 14.18 14.16

481 -0.54 -145.9 2018 2497 3673 3735 86.3 -15.7 87 488 0.00 2.38 0.00 0.000 516 0.000 0.068 2018 1087 3704 3673 3735 0 0 0 0 0 0 14.51 14.19 14.55

508 -0.54 -145.9 2019 1088 3674 3735 90.4 -15.1 92 515 0.00 2.47 0.00 0.000 1030 0.000 0.087 2018 2493 3706 3673 3739 0 0 0 0 0 0 14.20 14.05 14.23

695 -0.57 -145.9 2017 2494 3672 3735 115.7 -12.7 129 701 0.00 2.35 0.00 0.000 388 0.000 0.115 2016 3792 3704 3673 3735 0 0 0 0 0 0 14.62 14.09 14.60

751 -0.62 -145.9 2016 3791 3674 3736 122.9 -12.7 140 757 0.00 2.15 0.00 0.000 1158 0.000 0.048 2015 2484 3704 3673 3735 0 0 0 0 0 0 14.39 14.30 14.41

937 -0.69 -145.9 2015 2484 3673 3735 145.4 -11.8 177 943 0.12 0.00 0.00 0.000 4230 0.133 0.000 1961 2483 3703 3672 3735 0 0 0 0 0 0 14.29 14.38 14.35

970 end dive: TARGET_DEPTH_EXCEEDED

state 970 begin apogee

976 -0.14 0.0 1962 2299 3674 3736 150.4 -14.8 184 1419 0.73 0.00 430.20 0.995 10246 0.266 0.000 2144 2298 3104 3066 3142 0 0 0 0 0 0 13.88 13.23 12.77

1421 end apogee: CONTROL_FINISHED_OK

state 1421 begin loiter

1601 -0.07 92.5 2145 2299 3061 3140 179.9 -4.2 296 1728 0.00 0.00 120.80 1.074 8230 0.000 0.000 2144 2298 2721 2663 2780 0 0 0 0 0 0 14.16 13.35 12.84

1908 -0.28 92.5 2145 2299 2653 2772 179.8 2.3 353 1914 0.12 0.00 0.00 0.000 4230 0.126 0.000 2082 2298 2711 2652 2770 0 0 0 0 0 0 14.00 14.06 14.04

2094 -0.36 92.5 2081 2298 2652 2770 175.6 2.1 390 2100 0.00 0.00 0.00 0.000 134 0.000 0.000 2082 2298 2710 2652 2769 0 0 0 0 0 0 14.50 14.52 14.52

2280 -0.43 92.5 2081 2299 2652 2769 172.2 1.8 427 2286 0.00 0.00 0.00 0.000 134 0.000 0.000 2082 2298 2710 2652 2768 0 0 0 0 0 0 14.64 14.66 14.66

2466 -0.50 92.5 2082 2299 2653 2769 169.2 1.5 464 2472 0.12 0.00 0.00 0.000 4230 0.130 0.000 2023 2298 2709 2651 2768 0 0 0 0 0 0 14.42 14.48 14.47

2652 -0.44 92.5 2024 2299 2653 2768 166.2 1.5 501 2657 0.12 0.00 0.00 0.000 2182 0.313 0.000 2048 2298 2709 2651 2767 0 0 0 0 0 0 14.07 14.43 14.36

2837 -0.44 92.5 2049 2299 2653 2768 163.6 1.2 538 2843 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2709 2651 2767 0 0 0 0 0 0 14.80 14.82 14.82

3023 -0.44 92.5 2049 2299 2653 2767 161.7 0.9 575 3029 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2708 2651 2766 0 0 0 0 0 0 14.82 14.84 14.83

3224 -0.44 92.5 2047 2299 2652 2766 160.2 0.5 612 3230 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2708 2651 2766 0 0 0 0 0 0 14.66 14.68 14.68

3410 -0.44 92.5 2049 2304 2652 2767 159.6 0.1 649 3415 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2709 2652 2766 0 0 0 0 0 0 14.64 14.66 14.64

3595 -0.44 96.5 2048 2299 2651 2766 159.9 -0.2 686 3600 0.00 0.00 0.00 0.000 38 0.000 0.000 2048 2298 2709 2652 2766 0 0 0 0 0 0 14.62 14.63 14.62

3780 -0.44 96.5 2049 2299 2653 2767 160.0 0.0 723 3786 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2708 2651 2766 0 0 0 0 0 0 14.62 14.63 14.65

3966 -0.44 100.2 2048 2298 2651 2766 160.2 -0.2 760 3972 0.00 0.00 1.33 0.267 8230 0.000 0.000 2048 2298 2699 2640 2758 0 0 0 0 0 0 14.61 14.07 13.90

4152 -0.43 108.9 2046 2298 2648 2767 160.8 -0.4 797 4181 0.00 0.00 27.30 1.274 8230 0.000 0.000 2048 2298 2662 2606 2719 0 0 0 0 0 0 14.59 14.20 13.46

4361 -0.43 108.9 2049 2299 2602 2718 157.9 1.8 838 4367 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2658 2600 2716 0 0 0 0 0 0 14.52 14.54 14.52

4547 -0.43 108.9 2048 2299 2602 2717 154.8 1.7 875 4552 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2658 2601 2716 0 0 0 0 0 0 14.55 14.57 14.57

4732 -0.43 108.9 2048 2299 2601 2716 151.8 1.5 912 4738 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2657 2600 2715 0 0 0 0 0 0 14.57 14.59 14.59

4918 -0.43 108.9 2049 2299 2602 2717 149.7 0.9 949 4923 0.00 0.00 0.00 0.000 6 0.000 0.000 2048 2298 2658 2601 2715 0 0 0 0 0 0 14.57 14.59 14.59

5016 end loiter: LOITER_COMPLETE

state 5016 begin climb

5018 0.65 145.9 2048 2299 2601 2716 148.8 0.0 969 5080 1.35 2.33 53.67 1.216 10756 0.262 0.063 2402 934 2505 2448 2562 0 0 0 0 0 0 13.88 13.88 13.33

5307 0.76 263.6 2402 935 2448 2556 137.9 4.6 1023 5485 0.12 2.42 167.45 1.088 11430 0.133 0.076 2453 2331 2030 1959 2101 0 0 0 0 0 0 14.07 14.06 12.98

5667 0.77 274.2 2453 2332 1943 2087 104.9 9.5 1087 5679 0.00 2.60 4.25 1.263 8484 0.000 0.106 2453 3724 1992 1920 2065 0 0 0 0 0 0 14.12 13.81 12.86

5731 0.73 274.2 2453 3724 1927 2070 97.8 11.5 1099 5738 0.00 2.35 0.00 0.000 1158 0.000 0.050 2456 2338 1997 1925 2069 0 0 0 0 0 0 14.03 13.94 14.04

5918 0.75 308.0 2457 2339 1926 2070 80.7 8.4 1136 5942 0.00 0.00 20.42 0.428 8230 0.000 0.000 2456 2338 1853 1780 1926 0 0 0 0 0 0 14.40 14.04 13.59

6122 0.86 390.8 2457 2338 1783 1934 65.3 6.2 1176 6175 0.00 0.00 47.08 0.387 8614 0.000 0.000 2456 2337 1514 1446 1582 0 0 0 0 0 0 14.47 13.93 13.68

6355 1.05 481.9 2456 2338 1446 1589 50.2 5.8 1221 6416 0.22 2.47 52.38 0.340 10916 0.088 0.077 2566 913 1143 1090 1196 0 0 0 0 0 0 14.16 14.03 13.78

6436 1.05 481.9 2566 914 1091 1201 42.1 11.0 1235 6442 0.00 2.42 0.00 0.000 1030 0.000 0.072 2565 2322 1145 1090 1201 0 0 0 0 0 0 14.21 14.09 14.24

6623 1.07 481.9 2566 2323 1091 1202 21.4 10.4 1272 6628 0.00 0.00 0.00 0.000 134 0.000 0.000 2565 2322 1145 1089 1201 0 0 0 0 0 0 14.51 14.53 14.54

6808 1.17 537.6 2566 2323 1090 1205 7.9 7.4 1309 6844 0.00 0.00 31.95 0.220 8614 0.000 0.000 2566 2324 913 868 958 0 0 0 0 0 0 14.55 14.15 13.90

6882 end climb: SURFACE_DEPTH_REACHED

state 6882 begin surface coast

6902 end surface coast: CONTROL_FINISHED_OK

state 6902 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	158	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	150	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	3
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	50	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	140	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	1.4	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	34	ALTIM_PULSE	3	CP_STARTS	448.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2	CP_NDIVE	1.0

GPS1	310817,185603,7446.1675,-14629.4795,36,0.8,36,22.6,0.0,0.0,10,7.1	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	0.91	MHEAD_RNG_PITCHd_Wd	10.9,77382,-19.7,-10.000,-27.15,2241
_SM_ANGLEo	-69.0	D_GRID	150
GPS2	310817,190650,7446.1860,-14629.5781,3,0.8,9,22.6,0.0,184.7,10,8.4

MODEM_MSG	CACST,6,1,20170831202658.529421,3,246,17,0319,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03	PM_FREEKB_00	47411456
FINISH	0.0,1.020997	_24V_AH	12.63,124.286
SM_CCo	6984,0.08,1.180,0,0,500,639.50	_10V_AH	12.84,0.000
SM_GC	0.88,6.75,0.32,0.08,0.048,0.106,1.180,187,2512,500,-6.18,-0.54,639.50,0,0,0,0,0,0,14.33,14.27,13.77	FG_AHR_24Vo	0.000
RAFOS_CLK	241	FG_AHR_10Vo	0.000
MODEM	0,1504209708,75.36600,-145.04601,54.198,78478.7	MEM	323532
RAFOS_FIX	7445.924316,-14631.064453,310817,202010,4,255,0.21	DATA_FILE_SIZE	43319,1327
IRIDIUM_FIX	7444.47,-14632.19,310817,145612	CAP_FILE_SIZE	119786,0
TT8_MAMPS	0.041195,0.548268	CFSIZE	2097872896,2041643008
HUMID	44.21	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.53859	SOUNDSPEED	1441.7
TCM_TEMP	13.00	CURRENT	0.040,253.69,1
XPDR_PINGS	17	GPS	310817,210514,7446.352,-14629.234,4,0.8,44,22.6,0.3,249.0,10,14.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	20	491	127.67	nil	0	0	0.00
Roll_motor	29	2170	801.77	nil	0	0	0.00
VBD_pump_during_apogee	956	1274	15401.83	nil	0	0	0.00
VBD_pump_during_surface	56	1179	848.11	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	3339	20	873.04
Iridium_during_xfer	412	203	1059.13	PMAR	3320	16	684.20
Transponder_ping	4	420	22.54	NCP	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	10	20	2.90
TT8	0	0	0.00
LPSleep	3375	2	100.12
TT8_Active	1029	10	141.11
TT8_Sampling	2914	30	1128.26
TT8_CF8	313	35	142.30
TT8_Kalman	0	0	0.00
Analog_circuits	2521	10	333.46
GPS_charging	0	0	0.00
Compass	1890	6	163.62
RAFOS	2217	48	1366.38
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.65	-145.9	186	2516	511	488	0.0	0.0	0	137	0.00	0.00	-122.43	0.000	16386	0.000	0.000	184	2516	2222	2190	2255	0	0	0	0	0	0	14.46	28.83	14.48
140	-0.65	-145.9	186	2517	2192	2256	3.7	-8.9	21	190	10.65	2.60	-33.92	0.000	18724	0.492	2.170	1971	3769	3703	3672	3735	0	0	0	0	0	0	13.54	12.63	14.07
295	-0.54	-145.9	1972	3774	3675	3735	51.5	-26.8	50	302	0.22	2.12	0.00	0.000	3206	0.301	0.050	2018	2497	3703	3673	3734	0	0	0	0	0	0	13.84	14.18	14.16
481	-0.54	-145.9	2018	2497	3673	3735	86.3	-15.7	87	488	0.00	2.38	0.00	0.000	516	0.000	0.068	2018	1087	3704	3673	3735	0	0	0	0	0	0	14.51	14.19	14.55
508	-0.54	-145.9	2019	1088	3674	3735	90.4	-15.1	92	515	0.00	2.47	0.00	0.000	1030	0.000	0.087	2018	2493	3706	3673	3739	0	0	0	0	0	0	14.20	14.05	14.23
695	-0.57	-145.9	2017	2494	3672	3735	115.7	-12.7	129	701	0.00	2.35	0.00	0.000	388	0.000	0.115	2016	3792	3704	3673	3735	0	0	0	0	0	0	14.62	14.09	14.60
751	-0.62	-145.9	2016	3791	3674	3736	122.9	-12.7	140	757	0.00	2.15	0.00	0.000	1158	0.000	0.048	2015	2484	3704	3673	3735	0	0	0	0	0	0	14.39	14.30	14.41
937	-0.69	-145.9	2015	2484	3673	3735	145.4	-11.8	177	943	0.12	0.00	0.00	0.000	4230	0.133	0.000	1961	2483	3703	3672	3735	0	0	0	0	0	0	14.29	14.38	14.35
970	end dive: TARGET_DEPTH_EXCEEDED
state	970	begin apogee
976	-0.14	0.0	1962	2299	3674	3736	150.4	-14.8	184	1419	0.73	0.00	430.20	0.995	10246	0.266	0.000	2144	2298	3104	3066	3142	0	0	0	0	0	0	13.88	13.23	12.77
1421	end apogee: CONTROL_FINISHED_OK
state	1421	begin loiter
1601	-0.07	92.5	2145	2299	3061	3140	179.9	-4.2	296	1728	0.00	0.00	120.80	1.074	8230	0.000	0.000	2144	2298	2721	2663	2780	0	0	0	0	0	0	14.16	13.35	12.84
1908	-0.28	92.5	2145	2299	2653	2772	179.8	2.3	353	1914	0.12	0.00	0.00	0.000	4230	0.126	0.000	2082	2298	2711	2652	2770	0	0	0	0	0	0	14.00	14.06	14.04
2094	-0.36	92.5	2081	2298	2652	2770	175.6	2.1	390	2100	0.00	0.00	0.00	0.000	134	0.000	0.000	2082	2298	2710	2652	2769	0	0	0	0	0	0	14.50	14.52	14.52
2280	-0.43	92.5	2081	2299	2652	2769	172.2	1.8	427	2286	0.00	0.00	0.00	0.000	134	0.000	0.000	2082	2298	2710	2652	2768	0	0	0	0	0	0	14.64	14.66	14.66
2466	-0.50	92.5	2082	2299	2653	2769	169.2	1.5	464	2472	0.12	0.00	0.00	0.000	4230	0.130	0.000	2023	2298	2709	2651	2768	0	0	0	0	0	0	14.42	14.48	14.47
2652	-0.44	92.5	2024	2299	2653	2768	166.2	1.5	501	2657	0.12	0.00	0.00	0.000	2182	0.313	0.000	2048	2298	2709	2651	2767	0	0	0	0	0	0	14.07	14.43	14.36
2837	-0.44	92.5	2049	2299	2653	2768	163.6	1.2	538	2843	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2709	2651	2767	0	0	0	0	0	0	14.80	14.82	14.82
3023	-0.44	92.5	2049	2299	2653	2767	161.7	0.9	575	3029	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2708	2651	2766	0	0	0	0	0	0	14.82	14.84	14.83
3224	-0.44	92.5	2047	2299	2652	2766	160.2	0.5	612	3230	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2708	2651	2766	0	0	0	0	0	0	14.66	14.68	14.68
3410	-0.44	92.5	2049	2304	2652	2767	159.6	0.1	649	3415	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2709	2652	2766	0	0	0	0	0	0	14.64	14.66	14.64
3595	-0.44	96.5	2048	2299	2651	2766	159.9	-0.2	686	3600	0.00	0.00	0.00	0.000	38	0.000	0.000	2048	2298	2709	2652	2766	0	0	0	0	0	0	14.62	14.63	14.62
3780	-0.44	96.5	2049	2299	2653	2767	160.0	0.0	723	3786	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2708	2651	2766	0	0	0	0	0	0	14.62	14.63	14.65
3966	-0.44	100.2	2048	2298	2651	2766	160.2	-0.2	760	3972	0.00	0.00	1.33	0.267	8230	0.000	0.000	2048	2298	2699	2640	2758	0	0	0	0	0	0	14.61	14.07	13.90
4152	-0.43	108.9	2046	2298	2648	2767	160.8	-0.4	797	4181	0.00	0.00	27.30	1.274	8230	0.000	0.000	2048	2298	2662	2606	2719	0	0	0	0	0	0	14.59	14.20	13.46
4361	-0.43	108.9	2049	2299	2602	2718	157.9	1.8	838	4367	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2658	2600	2716	0	0	0	0	0	0	14.52	14.54	14.52
4547	-0.43	108.9	2048	2299	2602	2717	154.8	1.7	875	4552	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2658	2601	2716	0	0	0	0	0	0	14.55	14.57	14.57
4732	-0.43	108.9	2048	2299	2601	2716	151.8	1.5	912	4738	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2657	2600	2715	0	0	0	0	0	0	14.57	14.59	14.59
4918	-0.43	108.9	2049	2299	2602	2717	149.7	0.9	949	4923	0.00	0.00	0.00	0.000	6	0.000	0.000	2048	2298	2658	2601	2715	0	0	0	0	0	0	14.57	14.59	14.59
5016	end loiter: LOITER_COMPLETE
state	5016	begin climb
5018	0.65	145.9	2048	2299	2601	2716	148.8	0.0	969	5080	1.35	2.33	53.67	1.216	10756	0.262	0.063	2402	934	2505	2448	2562	0	0	0	0	0	0	13.88	13.88	13.33
5307	0.76	263.6	2402	935	2448	2556	137.9	4.6	1023	5485	0.12	2.42	167.45	1.088	11430	0.133	0.076	2453	2331	2030	1959	2101	0	0	0	0	0	0	14.07	14.06	12.98
5667	0.77	274.2	2453	2332	1943	2087	104.9	9.5	1087	5679	0.00	2.60	4.25	1.263	8484	0.000	0.106	2453	3724	1992	1920	2065	0	0	0	0	0	0	14.12	13.81	12.86
5731	0.73	274.2	2453	3724	1927	2070	97.8	11.5	1099	5738	0.00	2.35	0.00	0.000	1158	0.000	0.050	2456	2338	1997	1925	2069	0	0	0	0	0	0	14.03	13.94	14.04
5918	0.75	308.0	2457	2339	1926	2070	80.7	8.4	1136	5942	0.00	0.00	20.42	0.428	8230	0.000	0.000	2456	2338	1853	1780	1926	0	0	0	0	0	0	14.40	14.04	13.59
6122	0.86	390.8	2457	2338	1783	1934	65.3	6.2	1176	6175	0.00	0.00	47.08	0.387	8614	0.000	0.000	2456	2337	1514	1446	1582	0	0	0	0	0	0	14.47	13.93	13.68
6355	1.05	481.9	2456	2338	1446	1589	50.2	5.8	1221	6416	0.22	2.47	52.38	0.340	10916	0.088	0.077	2566	913	1143	1090	1196	0	0	0	0	0	0	14.16	14.03	13.78
6436	1.05	481.9	2566	914	1091	1201	42.1	11.0	1235	6442	0.00	2.42	0.00	0.000	1030	0.000	0.072	2565	2322	1145	1090	1201	0	0	0	0	0	0	14.21	14.09	14.24
6623	1.07	481.9	2566	2323	1091	1202	21.4	10.4	1272	6628	0.00	0.00	0.00	0.000	134	0.000	0.000	2565	2322	1145	1089	1201	0	0	0	0	0	0	14.51	14.53	14.54
6808	1.17	537.6	2566	2323	1090	1205	7.9	7.4	1309	6844	0.00	0.00	31.95	0.220	8614	0.000	0.000	2566	2324	913	868	958	0	0	0	0	0	0	14.55	14.15	13.90
6882	end climb: SURFACE_DEPTH_REACHED
state	6882	begin surface coast
6902	end surface coast: CONTROL_FINISHED_OK
state	6902	begin surface