Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 205 * 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 205 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 90 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 30 T_GPS 5 LOITER_W_DBAND 0 PHONE_DEVICE 49

T_MISSION 120 N_GPS 100440 LOITER_DBDW 0 GPS_DEVICE 32

T_ABORT 1440 T_RSLEEP 3 LOITER_D_NO_PUMP 0 RAFOS_DEVICE 1125

T_TURN 225 STROBE 0 PITCH_W_GAIN 0 XPDR_DEVICE 24

T_TURN_SAMPINT -5 RAFOS_PEAK_OFFSET 0 PITCH_W_DBAND 0 SIM_W 0

T_NO_W 120 RAFOS_CORR_THRESH 60 CF8_MAXERRORS 20 SIM_PITCH 0

T_LOITER 3600 RAFOS_HIT_WINDOW 3600 AH0_24V 350 SEABIRD_T_G 0.0043055275

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 578.0

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 31 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 46 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 90 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 30

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 3600

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 120

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 578.0 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 31 VBD_MIN 500

DIVE 205 NOCOMM_ACTION 161 R_STBD_OVSHOOT 46 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 300817,200914,7419.2988,-15352.1943,17,0.7,34,19.2,0.3,167.4,11,9.8 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 1.21 MHEAD_RNG_PITCHd_Wd 9.2,171978,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 90

GPS2 300817,203302,7419.2305,-15352.1904,10,0.8,34,19.2,0.0,92.6,10,6.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170830202701.546555,3,14,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C PM_FREEKB_00 51865728

FREEZE 120.81,-1.020,-1.861,0,1,0 _24V_AH 12.49,141.466

SM_CCo 5993,45.62,0.166,1,0,500,702.78 _10V_AH 12.81,0.000

SM_GC 1.16,7.90,2.20,45.62,0.077,0.058,0.166,205,2228,500,-7.37,1.87,702.78,0,0,0,0,1,0,14.09,14.07,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 272 FG_AHR_10Vo 0.000

MODEM 3,1504124308,74.30400,-153.94400,1.772,2565.5 MEM 323336

RAFOS_FIX 7418.475586,-15353.587891,300817,202044,2,255,0.00 DATA_FILE_SIZE 6797,231

IRIDIUM_FIX 7420.31,-15343.91,300817,202250 CAP_FILE_SIZE 73572,7

TT8_MAMPS 0.040446,0.823151 CFSIZE 2097872896,2024570880

HUMID 45.19 ERRORS 0,0,0,0,0,0,0,0,0,0,1,1,0,2,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1442.5

TCM_TEMP 12.90 CURRENT 0.153,221.36,1

XPDR_PINGS 8 GPS 300817,221519,7419.147,-15351.956,5,0.7,15,19.2,0.0,0.0,11,6.6

CP_FREE 15982231552.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 136.37 nil 0 0 0.00

Roll_motor 14 2140 394.33 nil 0 0 0.00

VBD_pump_during_apogee 376 1494 7025.59 nil 0 0 0.00

VBD_pump_during_surface 1003 1058 13275.82 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 892 27 308.75

Iridium_during_xfer 928 185 2148.04 NCP 1083 20 270.53

Transponder_ping 2 420 10.49 PMAR 1041 9 129.98

GUMSTIX_24V 0 0 0.00

GPS 35 22 10.29

TT8 0 0 0.00

LPSleep 3914 2 115.84

TT8_Active 1512 13 270.74

TT8_Sampling 1772 33 759.12

TT8_CF8 287 38 142.54

TT8_Kalman 0 0 0.00

Analog_circuits 2877 10 368.59

GPS_charging 0 0 0.00

Compass 339 7 30.41

RAFOS 0 0 0.00

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 -145.9 193 2235 489 496 0.0 0.0 0 151 0.00 0.00 -100.78 0.000 16386 0.000 0.000 192 2235 2324 2268 2381 0 0 0 0 0 0 14.33 28.83 14.35

154 -0.57 -145.9 193 2235 2272 2392 4.0 -5.6 10 209 12.70 2.72 -31.00 0.000 18724 0.452 2.140 2376 3574 3964 3947 3981 1 0 0 0 0 0 13.44 12.62 14.04

259 -0.70 -145.9 2376 3577 3952 3981 34.7 -15.0 29 265 0.00 2.35 0.00 0.000 1158 0.000 0.059 2371 2189 3966 3951 3981 0 0 0 0 0 0 14.09 13.97 14.12

571 -0.77 -145.9 2376 2188 3955 3981 83.2 -12.8 61 577 0.12 2.50 0.00 0.000 4484 0.148 0.084 2319 3586 3967 3954 3981 0 0 0 0 0 0 14.05 13.91 14.10

597 -0.81 -145.9 2325 3587 3954 3983 87.1 -14.9 66 603 0.00 2.40 0.00 0.000 1158 0.000 0.056 2318 2190 3967 3954 3981 0 0 0 0 0 0 14.00 13.47 14.11

620 end dive: TARGET_DEPTH_EXCEEDED

state 620 begin apogee

626 -0.13 0.0 2319 2069 3955 3982 91.0 -15.3 69 703 0.85 0.00 72.03 0.490 10246 0.251 0.000 2527 2065 3363 3382 3344 0 0 0 0 0 0 13.78 14.03 13.55

707 end apogee: CONTROL_FINISHED_OK

state 707 begin loiter

1002 -0.01 177.0 2527 2065 3386 3344 119.1 -8.2 91 1281 0.17 0.00 276.83 1.149 10278 0.133 0.000 2582 2065 2643 2699 2588 0 0 0 0 0 0 14.29 13.54 12.85

1574 -0.55 186.4 2582 2066 2689 2572 132.6 -0.4 110 1585 0.65 0.00 8.48 1.469 12454 0.167 0.000 2400 2065 2604 2662 2546 0 0 0 0 0 0 14.01 14.05 13.15

1872 -0.52 186.4 2400 2066 2656 2540 131.4 0.3 120 1873 0.00 0.00 0.00 0.000 134 0.000 0.000 2400 2065 2596 2655 2538 0 0 0 0 0 0 14.69 14.71 14.71

2173 -0.49 197.4 2400 2066 2656 2538 132.8 -0.5 130 2187 0.00 0.00 13.07 1.495 8358 0.000 0.000 2400 2065 2563 2622 2504 0 0 0 0 0 0 14.78 14.28 13.38

2472 -0.46 197.4 2400 2065 2615 2494 129.2 1.0 140 2473 0.12 0.00 0.00 0.000 2182 0.292 0.000 2424 2065 2554 2614 2494 0 0 0 0 0 0 14.14 14.47 14.40

2772 -0.48 197.4 2424 2065 2615 2493 127.0 0.7 150 2773 0.00 0.00 0.00 0.000 134 0.000 0.000 2424 2065 2553 2613 2493 0 0 0 0 0 0 14.84 14.86 14.86

3072 -0.51 197.4 2424 2065 2614 2493 125.5 0.3 160 3073 0.00 0.00 0.00 0.000 134 0.000 0.000 2424 2065 2553 2613 2493 0 0 0 0 0 0 14.88 14.89 14.89

3372 -0.53 203.4 2425 2065 2613 2493 126.1 -0.3 170 3376 0.00 0.00 2.72 1.141 8358 0.000 0.000 2424 2065 2535 2595 2475 0 0 0 0 0 0 14.89 14.34 12.92

3672 -0.56 203.4 2424 2066 2600 2481 124.7 0.5 180 3673 0.00 0.00 0.00 0.000 134 0.000 0.000 2424 2065 2539 2600 2479 0 0 0 0 0 0 14.90 14.92 14.92

3972 -0.58 203.4 2424 2066 2600 2481 123.7 0.3 190 3973 0.00 0.00 0.00 0.000 134 0.000 0.000 2424 2065 2539 2600 2479 0 0 0 0 0 0 14.91 14.93 14.93

4272 -0.60 207.2 2425 2065 2601 2479 123.8 -0.2 200 4277 0.12 0.00 3.17 1.370 12454 0.147 0.000 2373 2065 2519 2579 2460 0 0 0 0 0 0 14.54 14.37 13.00

4300 end loiter: LOITER_COMPLETE

state 4300 begin climb

4302 0.57 145.9 2374 2066 2583 2464 123.9 0.0 201 4510 1.50 2.42 0.00 0.000 2308 0.265 0.083 2747 3484 2524 2581 2468 0 0 0 0 0 0 14.07 14.35 14.28

4660 end climb: NO_VERTICAL_VELOCITY

state 4660 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	205	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	90	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	30	T_GPS	5	LOITER_W_DBAND	0	PHONE_DEVICE	49
T_MISSION	120	N_GPS	100440	LOITER_DBDW	0	GPS_DEVICE	32
T_ABORT	1440	T_RSLEEP	3	LOITER_D_NO_PUMP	0	RAFOS_DEVICE	1125
T_TURN	225	STROBE	0	PITCH_W_GAIN	0	XPDR_DEVICE	24
T_TURN_SAMPINT	-5	RAFOS_PEAK_OFFSET	0	PITCH_W_DBAND	0	SIM_W	0
T_NO_W	120	RAFOS_CORR_THRESH	60	CF8_MAXERRORS	20	SIM_PITCH	0
T_LOITER	3600	RAFOS_HIT_WINDOW	3600	AH0_24V	350	SEABIRD_T_G	0.0043055275
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	578.0
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	31	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	46	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	300817,200914,7419.2988,-15352.1943,17,0.7,34,19.2,0.3,167.4,11,9.8	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	1.21	MHEAD_RNG_PITCHd_Wd	9.2,171978,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	90
GPS2	300817,203302,7419.2305,-15352.1904,10,0.8,34,19.2,0.0,92.6,10,6.9

MODEM_MSG	CACST,6,1,20170830202701.546555,3,14,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	PM_FREEKB_00	51865728
FREEZE	120.81,-1.020,-1.861,0,1,0	_24V_AH	12.49,141.466
SM_CCo	5993,45.62,0.166,1,0,500,702.78	_10V_AH	12.81,0.000
SM_GC	1.16,7.90,2.20,45.62,0.077,0.058,0.166,205,2228,500,-7.37,1.87,702.78,0,0,0,0,1,0,14.09,14.07,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	272	FG_AHR_10Vo	0.000
MODEM	3,1504124308,74.30400,-153.94400,1.772,2565.5	MEM	323336
RAFOS_FIX	7418.475586,-15353.587891,300817,202044,2,255,0.00	DATA_FILE_SIZE	6797,231
IRIDIUM_FIX	7420.31,-15343.91,300817,202250	CAP_FILE_SIZE	73572,7
TT8_MAMPS	0.040446,0.823151	CFSIZE	2097872896,2024570880
HUMID	45.19	ERRORS	0,0,0,0,0,0,0,0,0,0,1,1,0,2,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1442.5
TCM_TEMP	12.90	CURRENT	0.153,221.36,1
XPDR_PINGS	8	GPS	300817,221519,7419.147,-15351.956,5,0.7,15,19.2,0.0,0.0,11,6.6
CP_FREE	15982231552.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	136.37	nil	0	0	0.00
Roll_motor	14	2140	394.33	nil	0	0	0.00
VBD_pump_during_apogee	376	1494	7025.59	nil	0	0	0.00
VBD_pump_during_surface	1003	1058	13275.82	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	892	27	308.75
Iridium_during_xfer	928	185	2148.04	NCP	1083	20	270.53
Transponder_ping	2	420	10.49	PMAR	1041	9	129.98
GUMSTIX_24V	0	0	0.00
GPS	35	22	10.29
TT8	0	0	0.00
LPSleep	3914	2	115.84
TT8_Active	1512	13	270.74
TT8_Sampling	1772	33	759.12
TT8_CF8	287	38	142.54
TT8_Kalman	0	0	0.00
Analog_circuits	2877	10	368.59
GPS_charging	0	0	0.00
Compass	339	7	30.41
RAFOS	0	0	0.00
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	193	2235	489	496	0.0	0.0	0	151	0.00	0.00	-100.78	0.000	16386	0.000	0.000	192	2235	2324	2268	2381	0	0	0	0	0	0	14.33	28.83	14.35
154	-0.57	-145.9	193	2235	2272	2392	4.0	-5.6	10	209	12.70	2.72	-31.00	0.000	18724	0.452	2.140	2376	3574	3964	3947	3981	1	0	0	0	0	0	13.44	12.62	14.04
259	-0.70	-145.9	2376	3577	3952	3981	34.7	-15.0	29	265	0.00	2.35	0.00	0.000	1158	0.000	0.059	2371	2189	3966	3951	3981	0	0	0	0	0	0	14.09	13.97	14.12
571	-0.77	-145.9	2376	2188	3955	3981	83.2	-12.8	61	577	0.12	2.50	0.00	0.000	4484	0.148	0.084	2319	3586	3967	3954	3981	0	0	0	0	0	0	14.05	13.91	14.10
597	-0.81	-145.9	2325	3587	3954	3983	87.1	-14.9	66	603	0.00	2.40	0.00	0.000	1158	0.000	0.056	2318	2190	3967	3954	3981	0	0	0	0	0	0	14.00	13.47	14.11
620	end dive: TARGET_DEPTH_EXCEEDED
state	620	begin apogee
626	-0.13	0.0	2319	2069	3955	3982	91.0	-15.3	69	703	0.85	0.00	72.03	0.490	10246	0.251	0.000	2527	2065	3363	3382	3344	0	0	0	0	0	0	13.78	14.03	13.55
707	end apogee: CONTROL_FINISHED_OK
state	707	begin loiter
1002	-0.01	177.0	2527	2065	3386	3344	119.1	-8.2	91	1281	0.17	0.00	276.83	1.149	10278	0.133	0.000	2582	2065	2643	2699	2588	0	0	0	0	0	0	14.29	13.54	12.85
1574	-0.55	186.4	2582	2066	2689	2572	132.6	-0.4	110	1585	0.65	0.00	8.48	1.469	12454	0.167	0.000	2400	2065	2604	2662	2546	0	0	0	0	0	0	14.01	14.05	13.15
1872	-0.52	186.4	2400	2066	2656	2540	131.4	0.3	120	1873	0.00	0.00	0.00	0.000	134	0.000	0.000	2400	2065	2596	2655	2538	0	0	0	0	0	0	14.69	14.71	14.71
2173	-0.49	197.4	2400	2066	2656	2538	132.8	-0.5	130	2187	0.00	0.00	13.07	1.495	8358	0.000	0.000	2400	2065	2563	2622	2504	0	0	0	0	0	0	14.78	14.28	13.38
2472	-0.46	197.4	2400	2065	2615	2494	129.2	1.0	140	2473	0.12	0.00	0.00	0.000	2182	0.292	0.000	2424	2065	2554	2614	2494	0	0	0	0	0	0	14.14	14.47	14.40
2772	-0.48	197.4	2424	2065	2615	2493	127.0	0.7	150	2773	0.00	0.00	0.00	0.000	134	0.000	0.000	2424	2065	2553	2613	2493	0	0	0	0	0	0	14.84	14.86	14.86
3072	-0.51	197.4	2424	2065	2614	2493	125.5	0.3	160	3073	0.00	0.00	0.00	0.000	134	0.000	0.000	2424	2065	2553	2613	2493	0	0	0	0	0	0	14.88	14.89	14.89
3372	-0.53	203.4	2425	2065	2613	2493	126.1	-0.3	170	3376	0.00	0.00	2.72	1.141	8358	0.000	0.000	2424	2065	2535	2595	2475	0	0	0	0	0	0	14.89	14.34	12.92
3672	-0.56	203.4	2424	2066	2600	2481	124.7	0.5	180	3673	0.00	0.00	0.00	0.000	134	0.000	0.000	2424	2065	2539	2600	2479	0	0	0	0	0	0	14.90	14.92	14.92
3972	-0.58	203.4	2424	2066	2600	2481	123.7	0.3	190	3973	0.00	0.00	0.00	0.000	134	0.000	0.000	2424	2065	2539	2600	2479	0	0	0	0	0	0	14.91	14.93	14.93
4272	-0.60	207.2	2425	2065	2601	2479	123.8	-0.2	200	4277	0.12	0.00	3.17	1.370	12454	0.147	0.000	2373	2065	2519	2579	2460	0	0	0	0	0	0	14.54	14.37	13.00
4300	end loiter: LOITER_COMPLETE
state	4300	begin climb
4302	0.57	145.9	2374	2066	2583	2464	123.9	0.0	201	4510	1.50	2.42	0.00	0.000	2308	0.265	0.083	2747	3484	2524	2581	2468	0	0	0	0	0	0	14.07	14.35	14.28
4660	end climb: NO_VERTICAL_VELOCITY
state	4660	begin surface