Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 209 * 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 209 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 591.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 591.0 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 29 VBD_MIN 500

DIVE 209 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 310817,064003,7421.5776,-15345.3057,17,0.8,21,19.3,0.0,0.0,10,8.9 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 14.9,166752,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 310817,065053,7421.5591,-15345.3906,7,0.8,15,19.3,0.0,0.0,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831082656.567191,3,1324,31,0380,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39 PM_FREEKB_00 51748992

FINISH 0.1,1.012297 _24V_AH 12.33,143.371

SM_CCo 9129,0.00,0.000,0,0,498,703.03 _10V_AH 12.18,0.000

SM_GC 1.29,8.18,0.17,0.00,0.066,0.112,0.000,198,2225,498,-7.38,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,14.37 FG_AHR_24Vo 0.000

RAFOS_CLK 234 FG_AHR_10Vo 0.000

MODEM 2,1504167267,73.18300,-149.96500,120.755,174854.3 MEM 323548

RAFOS_FIX 7421.005371,-15345.310547,310817,080841,2,255,0.19 DATA_FILE_SIZE 23404,703

IRIDIUM_FIX 7423.66,-15347.54,310817,040943 CAP_FILE_SIZE 100115,0

TT8_MAMPS 0.039697,0.923517 CFSIZE 2097872896,2023391232

HUMID 46.22 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.73269 SOUNDSPEED 1448.3

TCM_TEMP 13.20 CURRENT 0.078,283.83,1

XPDR_PINGS 9 GPS 310817,092456,7422.487,-15343.008,37,0.8,37,19.3,0.0,0.0,10,9.6

CP_FREE 15981117440.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.45 nil 0 0 0.00

Roll_motor 80 2145 2117.21 nil 0 0 0.00

VBD_pump_during_apogee 952 1520 17848.74 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 9076 14 1622.32

Iridium_during_xfer 358 179 795.49 NCP 9062 20 2234.69

Transponder_ping 2 420 11.65 PMAR 9018 9 1100.47

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.60

TT8 0 0 0.00

LPSleep 6547 2 184.22

TT8_Active 874 13 148.80

TT8_Sampling 2066 33 841.88

TT8_CF8 301 38 142.07

TT8_Kalman 0 0 0.00

Analog_circuits 2047 10 249.34

GPS_charging 0 0 0.00

Compass 1010 7 86.16

RAFOS 2216 48 1295.56

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl pitch_ad_start roll_ad_start vbd_pot1_ad_start vbd_pot2_ad_start depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad vbd_pot1_ad vbd_pot2_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

46 end surface: CONTROL_FINISHED_OK

state 46 begin dive

49 -0.57 -145.9 200 2209 497 491 0.0 0.0 0 142 0.00 0.00 -92.12 0.000 16386 0.000 0.000 200 2209 2140 2068 2213 0 0 0 0 0 0 14.49 28.83 14.51

145 -0.57 -145.9 202 2209 2073 2214 3.2 -3.8 9 202 12.57 2.80 -37.78 0.000 18724 0.452 2.145 2374 3610 3964 3947 3982 0 0 0 0 0 0 13.60 12.59 14.07

308 -0.70 -145.9 2376 3610 3953 3982 40.6 -13.9 41 313 0.00 2.40 0.00 0.000 1158 0.000 0.057 2375 2205 3967 3952 3982 0 0 0 0 0 0 14.26 14.14 14.29

618 -0.78 -145.9 2376 2204 3955 3981 86.3 -11.5 73 623 0.12 2.50 0.00 0.000 4484 0.149 0.086 2320 3616 3968 3954 3982 0 0 0 0 0 0 14.10 14.12 14.14

633 -0.84 -145.9 2320 3616 3955 3982 88.3 -11.7 76 640 0.00 2.40 0.00 0.000 1158 0.000 0.055 2319 2201 3968 3954 3982 0 0 0 0 0 0 14.29 14.17 14.31

949 -0.87 -145.9 2319 2199 3955 3983 135.2 -14.0 92 954 0.00 2.47 0.00 0.000 388 0.000 0.088 2314 3613 3968 3954 3982 0 0 0 0 0 0 14.63 14.19 14.64

1019 -1.00 -145.9 2315 3613 3955 3982 143.8 -11.4 106 1025 0.17 2.40 0.00 0.000 5254 0.107 0.057 2248 2191 3968 3954 3982 0 0 0 0 0 0 14.14 14.21 14.23

1340 -0.93 -145.9 2249 2190 3955 3982 202.2 -17.5 120 1346 0.12 2.50 0.00 0.000 2436 0.291 0.084 2266 3616 3968 3954 3982 0 0 0 0 0 0 13.99 14.20 14.14

1411 -1.02 -145.9 2266 3617 3955 3983 212.4 -12.7 134 1416 0.00 2.42 0.00 0.000 1158 0.000 0.057 2266 2198 3968 3954 3982 0 0 0 0 0 0 14.38 14.25 14.41

1731 -1.02 -145.9 2266 2197 3955 3982 257.5 -13.4 148 1737 0.00 2.50 0.00 0.000 260 0.000 0.087 2257 3619 3968 3954 3982 0 0 0 0 0 0 14.69 14.21 14.71

1747 -1.02 -145.9 2257 3620 3955 3982 259.8 -13.0 151 1752 0.00 2.40 0.00 0.000 1030 0.000 0.057 2257 2198 3969 3954 3985 0 0 0 0 0 0 14.40 14.28 14.47

2062 -1.02 -145.9 2257 2198 3954 3982 300.1 -12.6 164 2068 0.00 2.50 0.00 0.000 260 0.000 0.088 2248 3614 3967 3953 3982 0 0 0 0 0 0 14.69 14.23 14.72

2190 -1.10 -145.9 2249 3614 3955 3982 314.6 -11.1 189 2195 0.00 2.40 0.00 0.000 1158 0.000 0.057 2248 2192 3968 3954 3982 0 0 0 0 0 0 14.27 14.14 14.31

2515 -1.10 -145.9 2249 2190 3955 3982 354.5 -12.0 204 2521 0.00 2.50 0.00 0.000 260 0.000 0.088 2241 3618 3968 3954 3982 0 0 0 0 0 0 14.71 14.22 14.72

2591 -1.19 -145.9 2241 3620 3957 3982 363.0 -10.7 219 2596 0.15 2.40 0.00 0.000 5254 0.128 0.057 2183 2191 3968 3954 3982 0 0 0 0 0 0 14.31 14.28 14.41

2906 -1.08 -145.9 2184 2191 3955 3981 417.0 -17.5 232 2912 0.17 2.50 0.00 0.000 2436 0.299 0.085 2215 3615 3967 3953 3981 0 0 0 0 0 0 13.85 14.17 14.04

3024 -1.11 -145.9 2215 3615 3954 3983 433.0 -12.9 255 3030 0.00 2.38 0.00 0.000 1158 0.000 0.056 2214 2201 3967 3953 3981 0 0 0 0 0 0 14.34 14.22 14.38

3328 -1.08 -145.9 2215 2200 3954 3981 474.9 -13.6 266 3332 0.00 2.50 0.00 0.000 388 0.000 0.088 2210 3622 3967 3953 3981 0 0 0 0 0 0 14.69 14.14 14.70

3365 end dive: TARGET_DEPTH_EXCEEDED

state 3365 begin apogee

3373 -0.13 0.0 2210 2103 3953 3982 480.5 -13.7 274 3597 1.27 0.00 220.15 1.416 10246 0.246 0.000 2529 2101 3364 3383 3345 0 0 0 0 0 0 13.88 13.49 12.70

3601 end apogee: CONTROL_FINISHED_OK

state 3601 begin climb

3603 0.57 145.9 2531 2102 3378 3339 492.0 0.0 281 3828 0.75 2.67 208.65 1.379 10756 0.064 0.080 2792 693 2762 2801 2724 0 0 0 0 0 0 13.62 13.14 12.33

4043 0.18 145.9 2793 693 2796 2721 471.6 14.4 326 4049 0.73 2.55 0.00 0.000 5254 0.330 0.076 2642 2108 2757 2794 2720 0 0 0 0 0 0 13.40 13.76 13.78

4379 0.03 165.0 2643 2109 2795 2715 440.1 9.1 340 4410 0.20 0.00 24.48 1.520 12454 0.270 0.000 2599 2109 2689 2731 2647 0 0 0 0 0 0 13.77 13.76 13.14

4708 0.03 214.3 2600 2109 2730 2639 414.3 7.7 351 4784 0.00 0.00 73.30 1.398 8870 0.000 0.000 2598 2115 2491 2548 2435 0 0 0 0 0 0 14.42 13.84 13.07

5069 0.05 248.2 2599 2109 2541 2421 384.1 8.4 373 5129 0.00 2.60 50.12 1.405 8740 0.000 0.086 2601 688 2348 2399 2297 0 0 0 0 0 0 14.37 13.89 13.12

5195 0.16 280.4 2602 689 2396 2296 373.2 8.5 398 5252 0.00 2.50 48.58 1.385 9382 0.000 0.080 2602 2099 2219 2275 2163 0 0 0 0 0 0 14.09 13.97 13.02

5552 0.25 310.1 2602 2100 2267 2152 342.2 8.6 419 5598 0.17 0.00 44.38 1.388 10406 0.106 0.000 2679 2100 2101 2150 2052 0 0 0 0 0 0 14.17 13.91 13.13

5880 0.18 310.1 2679 2101 2141 2039 297.1 13.6 430 5885 0.12 2.47 0.00 0.000 4740 0.261 0.084 2656 693 2089 2140 2038 0 0 0 0 0 0 13.91 14.09 14.07

5945 0.22 310.1 2657 692 2139 2038 289.5 10.8 443 5950 0.00 2.47 0.00 0.000 1158 0.000 0.079 2656 2103 2087 2136 2038 0 0 0 0 0 0 14.24 14.12 14.28

6270 0.22 310.1 2657 2103 2138 2037 253.6 10.7 458 6275 0.00 2.50 0.00 0.000 516 0.000 0.086 2659 686 2087 2137 2038 0 0 0 0 0 0 14.49 14.14 14.53

6371 0.28 326.5 2659 686 2136 2037 243.6 9.2 478 6398 0.00 2.45 22.67 1.425 9382 0.000 0.079 2659 2103 2035 2083 1988 0 0 0 0 0 0 14.14 14.00 13.29

6723 0.29 340.5 2660 2104 2077 1976 210.3 9.4 498 6748 0.00 0.00 20.73 1.455 8486 0.000 0.000 2659 2103 1976 2025 1928 0 0 0 0 0 0 14.42 13.86 13.27

7055 0.36 379.1 2659 2104 2022 1920 181.8 8.2 514 7126 0.12 0.00 69.05 1.290 10406 0.138 0.000 2712 2103 1819 1849 1789 0 0 0 0 0 0 14.32 13.92 13.21

7413 0.36 379.1 2712 2104 1837 1777 141.4 11.0 526 7418 0.00 2.50 0.00 0.000 516 0.000 0.087 2712 687 1806 1836 1776 0 0 0 0 0 0 14.53 14.12 14.54

7493 0.40 379.1 2713 687 1835 1776 133.0 10.4 542 7498 0.00 2.47 0.00 0.000 1158 0.000 0.078 2713 2106 1805 1834 1776 0 0 0 0 0 0 14.35 14.21 14.40

7803 0.41 382.8 2713 2107 1834 1782 101.7 9.8 554 7804 0.00 0.00 0.00 0.000 38 0.000 0.000 2713 2107 1803 1833 1774 0 0 0 0 0 0 14.62 14.66 14.65

8105 0.44 433.1 2713 2107 1834 1773 76.0 7.7 582 8137 0.00 2.58 26.95 0.432 8740 0.000 0.086 2713 687 1600 1630 1571 0 0 0 0 0 0 14.60 14.16 13.71

8199 0.58 486.3 2713 687 1631 1571 68.6 7.5 600 8232 0.17 2.47 28.35 0.407 11430 0.108 0.080 2784 2100 1384 1429 1340 0 0 0 0 0 0 14.25 14.16 13.73

8527 0.62 542.2 2785 2101 1429 1329 36.7 7.4 636 8564 0.00 2.55 29.35 0.314 8740 0.000 0.085 2793 689 1152 1215 1089 0 0 0 0 0 0 14.59 14.03 13.79

8641 0.76 605.0 2793 690 1214 1089 28.7 7.1 658 8683 0.00 2.47 33.60 0.295 9382 0.000 0.079 2792 2105 893 964 823 0 0 0 0 0 0 14.16 14.03 13.76

8979 0.97 701.8 2793 2105 966 817 7.8 5.5 696 9033 0.32 0.00 51.97 0.223 10406 0.084 0.000 2907 2105 501 524 478 0 0 0 0 0 0 14.11 14.16 13.93

9037 end climb: SURFACE_DEPTH_REACHED

state 9037 begin surface coast

9047 end surface coast: CONTROL_FINISHED_OK

state 9047 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	209	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	591.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,064003,7421.5776,-15345.3057,17,0.8,21,19.3,0.0,0.0,10,8.9	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	14.9,166752,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	310817,065053,7421.5591,-15345.3906,7,0.8,15,19.3,0.0,0.0,11,9.9

MODEM_MSG	CACST,6,1,20170831082656.567191,3,1324,31,0380,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*39	PM_FREEKB_00	51748992
FINISH	0.1,1.012297	_24V_AH	12.33,143.371
SM_CCo	9129,0.00,0.000,0,0,498,703.03	_10V_AH	12.18,0.000
SM_GC	1.29,8.18,0.17,0.00,0.066,0.112,0.000,198,2225,498,-7.38,-0.57,703.03,0,0,0,0,0,0,14.28,14.29,14.37	FG_AHR_24Vo	0.000
RAFOS_CLK	234	FG_AHR_10Vo	0.000
MODEM	2,1504167267,73.18300,-149.96500,120.755,174854.3	MEM	323548
RAFOS_FIX	7421.005371,-15345.310547,310817,080841,2,255,0.19	DATA_FILE_SIZE	23404,703
IRIDIUM_FIX	7423.66,-15347.54,310817,040943	CAP_FILE_SIZE	100115,0
TT8_MAMPS	0.039697,0.923517	CFSIZE	2097872896,2023391232
HUMID	46.22	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.73269	SOUNDSPEED	1448.3
TCM_TEMP	13.20	CURRENT	0.078,283.83,1
XPDR_PINGS	9	GPS	310817,092456,7422.487,-15343.008,37,0.8,37,19.3,0.0,0.0,10,9.6
CP_FREE	15981117440.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.45	nil	0	0	0.00
Roll_motor	80	2145	2117.21	nil	0	0	0.00
VBD_pump_during_apogee	952	1520	17848.74	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	9076	14	1622.32
Iridium_during_xfer	358	179	795.49	NCP	9062	20	2234.69
Transponder_ping	2	420	11.65	PMAR	9018	9	1100.47
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.60
TT8	0	0	0.00
LPSleep	6547	2	184.22
TT8_Active	874	13	148.80
TT8_Sampling	2066	33	841.88
TT8_CF8	301	38	142.07
TT8_Kalman	0	0	0.00
Analog_circuits	2047	10	249.34
GPS_charging	0	0	0.00
Compass	1010	7	86.16
RAFOS	2216	48	1295.56
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
46	end surface: CONTROL_FINISHED_OK
state	46	begin dive
49	-0.57	-145.9	200	2209	497	491	0.0	0.0	0	142	0.00	0.00	-92.12	0.000	16386	0.000	0.000	200	2209	2140	2068	2213	0	0	0	0	0	0	14.49	28.83	14.51
145	-0.57	-145.9	202	2209	2073	2214	3.2	-3.8	9	202	12.57	2.80	-37.78	0.000	18724	0.452	2.145	2374	3610	3964	3947	3982	0	0	0	0	0	0	13.60	12.59	14.07
308	-0.70	-145.9	2376	3610	3953	3982	40.6	-13.9	41	313	0.00	2.40	0.00	0.000	1158	0.000	0.057	2375	2205	3967	3952	3982	0	0	0	0	0	0	14.26	14.14	14.29
618	-0.78	-145.9	2376	2204	3955	3981	86.3	-11.5	73	623	0.12	2.50	0.00	0.000	4484	0.149	0.086	2320	3616	3968	3954	3982	0	0	0	0	0	0	14.10	14.12	14.14
633	-0.84	-145.9	2320	3616	3955	3982	88.3	-11.7	76	640	0.00	2.40	0.00	0.000	1158	0.000	0.055	2319	2201	3968	3954	3982	0	0	0	0	0	0	14.29	14.17	14.31
949	-0.87	-145.9	2319	2199	3955	3983	135.2	-14.0	92	954	0.00	2.47	0.00	0.000	388	0.000	0.088	2314	3613	3968	3954	3982	0	0	0	0	0	0	14.63	14.19	14.64
1019	-1.00	-145.9	2315	3613	3955	3982	143.8	-11.4	106	1025	0.17	2.40	0.00	0.000	5254	0.107	0.057	2248	2191	3968	3954	3982	0	0	0	0	0	0	14.14	14.21	14.23
1340	-0.93	-145.9	2249	2190	3955	3982	202.2	-17.5	120	1346	0.12	2.50	0.00	0.000	2436	0.291	0.084	2266	3616	3968	3954	3982	0	0	0	0	0	0	13.99	14.20	14.14
1411	-1.02	-145.9	2266	3617	3955	3983	212.4	-12.7	134	1416	0.00	2.42	0.00	0.000	1158	0.000	0.057	2266	2198	3968	3954	3982	0	0	0	0	0	0	14.38	14.25	14.41
1731	-1.02	-145.9	2266	2197	3955	3982	257.5	-13.4	148	1737	0.00	2.50	0.00	0.000	260	0.000	0.087	2257	3619	3968	3954	3982	0	0	0	0	0	0	14.69	14.21	14.71
1747	-1.02	-145.9	2257	3620	3955	3982	259.8	-13.0	151	1752	0.00	2.40	0.00	0.000	1030	0.000	0.057	2257	2198	3969	3954	3985	0	0	0	0	0	0	14.40	14.28	14.47
2062	-1.02	-145.9	2257	2198	3954	3982	300.1	-12.6	164	2068	0.00	2.50	0.00	0.000	260	0.000	0.088	2248	3614	3967	3953	3982	0	0	0	0	0	0	14.69	14.23	14.72
2190	-1.10	-145.9	2249	3614	3955	3982	314.6	-11.1	189	2195	0.00	2.40	0.00	0.000	1158	0.000	0.057	2248	2192	3968	3954	3982	0	0	0	0	0	0	14.27	14.14	14.31
2515	-1.10	-145.9	2249	2190	3955	3982	354.5	-12.0	204	2521	0.00	2.50	0.00	0.000	260	0.000	0.088	2241	3618	3968	3954	3982	0	0	0	0	0	0	14.71	14.22	14.72
2591	-1.19	-145.9	2241	3620	3957	3982	363.0	-10.7	219	2596	0.15	2.40	0.00	0.000	5254	0.128	0.057	2183	2191	3968	3954	3982	0	0	0	0	0	0	14.31	14.28	14.41
2906	-1.08	-145.9	2184	2191	3955	3981	417.0	-17.5	232	2912	0.17	2.50	0.00	0.000	2436	0.299	0.085	2215	3615	3967	3953	3981	0	0	0	0	0	0	13.85	14.17	14.04
3024	-1.11	-145.9	2215	3615	3954	3983	433.0	-12.9	255	3030	0.00	2.38	0.00	0.000	1158	0.000	0.056	2214	2201	3967	3953	3981	0	0	0	0	0	0	14.34	14.22	14.38
3328	-1.08	-145.9	2215	2200	3954	3981	474.9	-13.6	266	3332	0.00	2.50	0.00	0.000	388	0.000	0.088	2210	3622	3967	3953	3981	0	0	0	0	0	0	14.69	14.14	14.70
3365	end dive: TARGET_DEPTH_EXCEEDED
state	3365	begin apogee
3373	-0.13	0.0	2210	2103	3953	3982	480.5	-13.7	274	3597	1.27	0.00	220.15	1.416	10246	0.246	0.000	2529	2101	3364	3383	3345	0	0	0	0	0	0	13.88	13.49	12.70
3601	end apogee: CONTROL_FINISHED_OK
state	3601	begin climb
3603	0.57	145.9	2531	2102	3378	3339	492.0	0.0	281	3828	0.75	2.67	208.65	1.379	10756	0.064	0.080	2792	693	2762	2801	2724	0	0	0	0	0	0	13.62	13.14	12.33
4043	0.18	145.9	2793	693	2796	2721	471.6	14.4	326	4049	0.73	2.55	0.00	0.000	5254	0.330	0.076	2642	2108	2757	2794	2720	0	0	0	0	0	0	13.40	13.76	13.78
4379	0.03	165.0	2643	2109	2795	2715	440.1	9.1	340	4410	0.20	0.00	24.48	1.520	12454	0.270	0.000	2599	2109	2689	2731	2647	0	0	0	0	0	0	13.77	13.76	13.14
4708	0.03	214.3	2600	2109	2730	2639	414.3	7.7	351	4784	0.00	0.00	73.30	1.398	8870	0.000	0.000	2598	2115	2491	2548	2435	0	0	0	0	0	0	14.42	13.84	13.07
5069	0.05	248.2	2599	2109	2541	2421	384.1	8.4	373	5129	0.00	2.60	50.12	1.405	8740	0.000	0.086	2601	688	2348	2399	2297	0	0	0	0	0	0	14.37	13.89	13.12
5195	0.16	280.4	2602	689	2396	2296	373.2	8.5	398	5252	0.00	2.50	48.58	1.385	9382	0.000	0.080	2602	2099	2219	2275	2163	0	0	0	0	0	0	14.09	13.97	13.02
5552	0.25	310.1	2602	2100	2267	2152	342.2	8.6	419	5598	0.17	0.00	44.38	1.388	10406	0.106	0.000	2679	2100	2101	2150	2052	0	0	0	0	0	0	14.17	13.91	13.13
5880	0.18	310.1	2679	2101	2141	2039	297.1	13.6	430	5885	0.12	2.47	0.00	0.000	4740	0.261	0.084	2656	693	2089	2140	2038	0	0	0	0	0	0	13.91	14.09	14.07
5945	0.22	310.1	2657	692	2139	2038	289.5	10.8	443	5950	0.00	2.47	0.00	0.000	1158	0.000	0.079	2656	2103	2087	2136	2038	0	0	0	0	0	0	14.24	14.12	14.28
6270	0.22	310.1	2657	2103	2138	2037	253.6	10.7	458	6275	0.00	2.50	0.00	0.000	516	0.000	0.086	2659	686	2087	2137	2038	0	0	0	0	0	0	14.49	14.14	14.53
6371	0.28	326.5	2659	686	2136	2037	243.6	9.2	478	6398	0.00	2.45	22.67	1.425	9382	0.000	0.079	2659	2103	2035	2083	1988	0	0	0	0	0	0	14.14	14.00	13.29
6723	0.29	340.5	2660	2104	2077	1976	210.3	9.4	498	6748	0.00	0.00	20.73	1.455	8486	0.000	0.000	2659	2103	1976	2025	1928	0	0	0	0	0	0	14.42	13.86	13.27
7055	0.36	379.1	2659	2104	2022	1920	181.8	8.2	514	7126	0.12	0.00	69.05	1.290	10406	0.138	0.000	2712	2103	1819	1849	1789	0	0	0	0	0	0	14.32	13.92	13.21
7413	0.36	379.1	2712	2104	1837	1777	141.4	11.0	526	7418	0.00	2.50	0.00	0.000	516	0.000	0.087	2712	687	1806	1836	1776	0	0	0	0	0	0	14.53	14.12	14.54
7493	0.40	379.1	2713	687	1835	1776	133.0	10.4	542	7498	0.00	2.47	0.00	0.000	1158	0.000	0.078	2713	2106	1805	1834	1776	0	0	0	0	0	0	14.35	14.21	14.40
7803	0.41	382.8	2713	2107	1834	1782	101.7	9.8	554	7804	0.00	0.00	0.00	0.000	38	0.000	0.000	2713	2107	1803	1833	1774	0	0	0	0	0	0	14.62	14.66	14.65
8105	0.44	433.1	2713	2107	1834	1773	76.0	7.7	582	8137	0.00	2.58	26.95	0.432	8740	0.000	0.086	2713	687	1600	1630	1571	0	0	0	0	0	0	14.60	14.16	13.71
8199	0.58	486.3	2713	687	1631	1571	68.6	7.5	600	8232	0.17	2.47	28.35	0.407	11430	0.108	0.080	2784	2100	1384	1429	1340	0	0	0	0	0	0	14.25	14.16	13.73
8527	0.62	542.2	2785	2101	1429	1329	36.7	7.4	636	8564	0.00	2.55	29.35	0.314	8740	0.000	0.085	2793	689	1152	1215	1089	0	0	0	0	0	0	14.59	14.03	13.79
8641	0.76	605.0	2793	690	1214	1089	28.7	7.1	658	8683	0.00	2.47	33.60	0.295	9382	0.000	0.079	2792	2105	893	964	823	0	0	0	0	0	0	14.16	14.03	13.76
8979	0.97	701.8	2793	2105	966	817	7.8	5.5	696	9033	0.32	0.00	51.97	0.223	10406	0.084	0.000	2907	2105	501	524	478	0	0	0	0	0	0	14.11	14.16	13.93
9037	end climb: SURFACE_DEPTH_REACHED
state	9037	begin surface coast
9047	end surface coast: CONTROL_FINISHED_OK
state	9047	begin surface