Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 213 * 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 213 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 601.0

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 59 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 601.0 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 59 VBD_MIN 500

DIVE 213 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 310817,175525,7425.1274,-15336.4219,17,0.9,37,19.3,0.0,270.6,9,8.1 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T5

_XMS_NAKs 0 TGT_LATLONG 7543.100,-15110.600

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 22.9,159052,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.2 D_GRID 480

GPS2 310817,180831,7425.1494,-15336.7168,7,1.0,12,19.3,0.0,0.0,8,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170831202650.382471,3,457,26,0138,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A PM_FREEKB_00 51631232

FINISH 0.8,1.021180 _24V_AH 12.34,145.274

SM_CCo 9011,7.38,0.207,0,0,497,702.78 _10V_AH 12.23,0.000

SM_GC 1.92,8.30,2.70,7.38,0.073,0.071,0.207,202,2210,497,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.08,13.88 FG_AHR_24Vo 0.000

RAFOS_CLK 111 FG_AHR_10Vo 0.000

MODEM 2,1504210470,73.18300,-149.96500,123.398,178778.6 MEM 323484

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 23431,709

IRIDIUM_FIX 7426.45,-15333.27,310817,151909 CAP_FILE_SIZE 102374,0

TT8_MAMPS 0.08988,0.858354 CFSIZE 2097872896,2022178816

HUMID 43.73 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.3

TCM_TEMP 13.20 CURRENT 0.075,302.64,1

XPDR_PINGS 13 GPS 310817,204035,7426.076,-15333.986,27,0.7,29,19.4,0.3,39.5,10,9.5

CP_FREE 15980036096.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 146.25 nil 0 0 0.00

Roll_motor 83 2144 2221.37 nil 0 0 0.00

VBD_pump_during_apogee 963 1523 18123.48 nil 0 0 0.00

VBD_pump_during_surface 7 207 18.87 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 8776 15 1630.39

Iridium_during_xfer 438 179 968.36 NCP 9002 20 2221.69

Transponder_ping 3 420 16.84 PMAR 8961 9 1092.96

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.72

TT8 0 0 0.00

LPSleep 6474 2 182.93

TT8_Active 855 13 146.22

TT8_Sampling 2189 33 895.57

TT8_CF8 296 38 140.21

TT8_Kalman 0 0 0.00

Analog_circuits 2136 10 261.35

GPS_charging 0 0 0.00

Compass 1017 7 87.15

RAFOS 2198 48 1290.31

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 -145.9 196 2234 503 486 0.0 0.0 0 142 0.00 0.00 -91.93 0.000 16386 0.000 0.000 195 2233 2155 2083 2227 0 0 0 0 0 0 14.50 28.83 14.51

145 -0.57 -145.9 197 2233 2088 2227 3.5 -4.2 9 202 12.77 2.72 -36.83 0.000 18724 0.457 2.144 2375 3573 3964 3949 3980 1 0 0 0 0 0 13.00 12.60 14.02

282 -0.71 -145.9 2376 3574 3955 3981 36.2 -13.8 36 290 0.00 2.33 0.00 0.000 1158 0.000 0.062 2376 2228 3967 3954 3980 0 0 0 0 0 0 14.24 14.11 14.27

589 -0.79 -145.9 2376 2227 3956 3980 82.1 -11.8 67 594 0.15 2.40 0.00 0.000 4484 0.132 0.084 2305 3590 3967 3954 3980 0 0 0 0 0 0 14.18 14.13 14.23

630 -0.82 -145.9 2306 3590 3955 3981 88.2 -15.7 75 635 0.00 2.38 0.00 0.000 1158 0.000 0.059 2306 2193 3965 3955 3975 0 0 0 0 0 0 14.19 14.09 14.22

950 -0.82 -145.9 2306 2193 3956 3981 137.3 -14.4 92 955 0.00 2.42 0.00 0.000 260 0.000 0.085 2297 3581 3967 3955 3980 0 0 0 0 0 0 14.64 14.19 14.65

1021 -0.93 -145.9 2297 3583 3956 3981 146.5 -11.8 106 1026 0.00 2.35 0.00 0.000 1158 0.000 0.057 2297 2190 3967 3955 3980 0 0 0 0 0 0 14.21 14.11 14.26

1341 -0.96 -145.9 2297 2190 3956 3979 189.6 -13.2 120 1347 0.00 2.45 0.00 0.000 388 0.000 0.086 2293 3586 3967 3955 3980 0 0 0 0 0 0 14.65 14.14 14.68

1367 -1.02 -145.9 2294 3587 3956 3981 192.9 -12.5 125 1373 0.15 2.35 0.00 0.000 5254 0.122 0.057 2239 2199 3968 3957 3980 0 0 0 0 0 0 14.26 14.23 14.34

1672 -0.97 -145.9 2239 2198 3956 3980 244.2 -16.7 136 1678 0.00 2.45 0.00 0.000 388 0.000 0.087 2235 3584 3969 3959 3980 0 0 0 0 0 0 14.66 14.14 14.67

1763 -1.01 -145.9 2236 3586 3956 3981 257.8 -14.2 154 1768 0.00 2.35 0.00 0.000 1158 0.000 0.059 2236 2202 3968 3956 3980 0 0 0 0 0 0 14.33 14.20 14.37

2093 -1.01 -145.9 2236 2202 3956 3980 305.6 -13.8 170 2098 0.00 2.42 0.00 0.000 260 0.000 0.090 2235 3582 3965 3950 3980 0 0 0 0 0 0 14.67 14.16 14.69

2203 -1.07 -145.9 2236 3583 3956 3981 319.0 -11.6 192 2208 0.00 2.35 0.00 0.000 1158 0.000 0.058 2235 2191 3967 3955 3980 0 0 0 0 0 0 14.39 14.26 14.45

2513 -1.07 -145.9 2236 2192 3956 3979 358.7 -12.7 204 2519 0.00 2.45 0.00 0.000 260 0.000 0.089 2236 3582 3967 3955 3979 0 0 0 0 0 0 14.69 14.15 14.73

2624 -1.15 -145.9 2237 3582 3956 3979 371.6 -10.8 226 2629 0.00 2.33 0.00 0.000 1158 0.000 0.056 2235 2198 3967 3955 3979 0 0 0 0 0 0 14.40 14.27 14.43

2934 -1.15 -145.9 2236 2198 3956 3979 409.8 -12.3 238 2939 0.00 2.45 0.00 0.000 260 0.000 0.089 2235 3586 3966 3955 3978 0 0 0 0 0 0 14.69 14.19 14.70

3014 -1.23 -145.9 2236 3586 3956 3980 418.9 -10.7 254 3019 0.17 2.35 0.00 0.000 5254 0.115 0.055 2166 2191 3966 3955 3978 0 0 0 0 0 0 14.32 14.27 14.41

3325 -1.09 -145.9 2166 2190 3955 3977 474.8 -18.5 266 3330 0.25 2.45 0.00 0.000 2436 0.305 0.083 2211 3587 3966 3954 3978 0 0 0 0 0 0 13.79 14.17 14.00

3358 end dive: TARGET_DEPTH_EXCEEDED

state 3358 begin apogee

3366 -0.13 0.0 2212 2094 3955 3978 480.4 -14.3 273 3586 1.25 0.00 216.80 1.431 10246 0.243 0.000 2527 2093 3368 3391 3345 0 0 0 0 0 0 13.90 13.50 12.69

3590 end apogee: CONTROL_FINISHED_OK

state 3590 begin climb

3592 0.57 145.9 2529 2093 3384 3332 491.3 0.0 280 3814 0.75 2.67 208.98 1.379 10756 0.063 0.076 2790 700 2760 2805 2715 0 0 0 0 0 0 13.63 12.94 12.34

4014 0.19 145.9 2790 694 2798 2715 470.7 14.9 317 4020 0.68 2.47 0.00 0.000 5254 0.321 0.074 2648 2074 2755 2796 2714 0 0 0 0 0 0 13.40 13.75 13.77

4341 0.04 163.9 2649 2075 2797 2710 439.5 9.2 332 4365 0.20 0.00 21.60 1.524 12966 0.278 0.000 2600 2075 2695 2742 2648 0 0 0 0 0 0 13.81 14.04 13.19

4671 0.03 212.7 2600 2074 2738 2641 414.3 7.7 348 4751 0.00 2.47 72.93 1.408 8868 0.000 0.085 2602 692 2493 2554 2433 0 0 0 0 0 0 14.56 13.93 13.11

4801 0.11 247.5 2602 692 2551 2429 403.5 8.4 374 4857 0.00 2.50 51.05 1.399 9382 0.000 0.079 2602 2100 2358 2417 2299 0 0 0 0 0 0 14.12 14.00 13.00

5182 0.16 272.8 2603 2099 2404 2285 369.8 8.8 400 5220 0.00 0.00 37.33 1.423 8358 0.000 0.000 2602 2101 2253 2310 2196 0 0 0 0 0 0 14.50 14.02 13.21

5512 0.24 300.3 2602 2101 2301 2184 341.0 8.7 411 5558 0.17 2.50 41.22 1.407 10916 0.107 0.084 2685 692 2137 2192 2083 0 0 0 0 0 0 14.31 13.84 13.21

5598 0.19 300.3 2685 694 2183 2082 329.4 14.1 423 5604 0.17 2.47 0.00 0.000 5254 0.244 0.079 2647 2101 2132 2183 2081 0 0 0 0 0 0 13.89 14.07 14.15

5903 0.19 300.3 2648 2102 2183 2074 293.7 11.5 434 5908 0.00 2.47 0.00 0.000 516 0.000 0.086 2654 686 2127 2181 2074 0 0 0 0 0 0 14.59 14.21 14.60

5968 0.24 300.3 2654 687 2181 2074 286.6 10.6 447 5973 0.00 2.45 0.00 0.000 1158 0.000 0.079 2654 2101 2127 2181 2074 0 0 0 0 0 0 14.35 14.18 14.38

6293 0.24 300.3 2654 2101 2181 2073 251.6 10.4 462 6294 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2101 2126 2180 2073 0 0 0 0 0 0 14.66 14.67 14.67

6593 0.25 314.5 2654 2102 2181 2073 222.8 9.3 472 6613 0.00 0.00 18.38 1.475 8230 0.000 0.000 2654 2101 2086 2140 2033 0 0 0 0 0 0 14.66 14.20 13.35

6895 0.30 352.8 2655 2101 2132 2024 197.0 8.2 482 6968 0.00 2.58 65.75 1.307 8868 0.000 0.086 2655 694 1921 1963 1879 0 0 0 0 0 0 14.48 13.91 13.17

7023 0.46 399.5 2655 695 1954 1880 186.4 7.8 508 7108 0.22 2.50 78.32 1.240 11430 0.096 0.080 2745 2101 1733 1759 1707 0 0 0 0 0 0 13.99 13.92 13.02

7434 0.40 399.5 2745 2100 1755 1691 129.5 13.8 540 7439 0.12 2.50 0.00 0.000 4740 0.243 0.084 2719 689 1721 1753 1690 0 0 0 0 0 0 13.92 13.97 14.04

7509 0.46 399.5 2720 692 1750 1690 121.1 10.2 555 7514 0.00 2.47 0.00 0.000 1158 0.000 0.078 2719 2100 1720 1750 1690 0 0 0 0 0 0 14.15 14.04 14.21

7814 0.47 412.7 2720 2102 1750 1689 89.9 9.4 573 7826 0.00 0.00 5.47 0.457 8230 0.000 0.000 2719 2101 1680 1710 1651 0 0 0 0 0 0 14.40 13.85 13.52

8124 0.56 472.5 2720 2101 1715 1652 65.1 7.2 604 8162 0.12 2.50 32.22 0.396 10916 0.130 0.083 2791 688 1434 1472 1397 0 0 0 0 0 0 14.18 13.83 13.55

8192 0.56 472.5 2791 688 1473 1398 57.9 11.5 617 8199 0.12 2.53 0.00 0.000 5126 0.239 0.080 2768 2109 1434 1472 1397 0 0 0 0 0 0 13.87 14.04 14.11

8497 0.66 564.0 2767 2110 1473 1390 34.9 5.8 648 8548 0.00 0.00 47.58 0.305 8358 0.000 0.000 2767 2109 1064 1132 997 0 0 0 0 0 0 14.42 14.00 13.73

8847 0.92 690.3 2767 2109 1133 988 16.1 4.2 683 8920 0.32 2.58 66.15 0.251 10916 0.079 0.090 2890 692 546 579 513 0 0 0 0 0 0 14.02 13.93 13.81

8978 end climb: SURFACE_DEPTH_REACHED

state 8978 begin surface coast

8988 end surface coast: CONTROL_FINISHED_OK

state 8988 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	213	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	601.0
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	59	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	310817,175525,7425.1274,-15336.4219,17,0.9,37,19.3,0.0,270.6,9,8.1	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T5
_XMS_NAKs	0	TGT_LATLONG	7543.100,-15110.600
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	22.9,159052,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.2	D_GRID	480
GPS2	310817,180831,7425.1494,-15336.7168,7,1.0,12,19.3,0.0,0.0,8,9.1

MODEM_MSG	CACST,6,1,20170831202650.382471,3,457,26,0138,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0A	PM_FREEKB_00	51631232
FINISH	0.8,1.021180	_24V_AH	12.34,145.274
SM_CCo	9011,7.38,0.207,0,0,497,702.78	_10V_AH	12.23,0.000
SM_GC	1.92,8.30,2.70,7.38,0.073,0.071,0.207,202,2210,497,-7.38,-0.51,702.78,0,0,0,0,0,0,14.14,14.08,13.88	FG_AHR_24Vo	0.000
RAFOS_CLK	111	FG_AHR_10Vo	0.000
MODEM	2,1504210470,73.18300,-149.96500,123.398,178778.6	MEM	323484
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	23431,709
IRIDIUM_FIX	7426.45,-15333.27,310817,151909	CAP_FILE_SIZE	102374,0
TT8_MAMPS	0.08988,0.858354	CFSIZE	2097872896,2022178816
HUMID	43.73	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.3
TCM_TEMP	13.20	CURRENT	0.075,302.64,1
XPDR_PINGS	13	GPS	310817,204035,7426.076,-15333.986,27,0.7,29,19.4,0.3,39.5,10,9.5
CP_FREE	15980036096.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	146.25	nil	0	0	0.00
Roll_motor	83	2144	2221.37	nil	0	0	0.00
VBD_pump_during_apogee	963	1523	18123.48	nil	0	0	0.00
VBD_pump_during_surface	7	207	18.87	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	8776	15	1630.39
Iridium_during_xfer	438	179	968.36	NCP	9002	20	2221.69
Transponder_ping	3	420	16.84	PMAR	8961	9	1092.96
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.72
TT8	0	0	0.00
LPSleep	6474	2	182.93
TT8_Active	855	13	146.22
TT8_Sampling	2189	33	895.57
TT8_CF8	296	38	140.21
TT8_Kalman	0	0	0.00
Analog_circuits	2136	10	261.35
GPS_charging	0	0	0.00
Compass	1017	7	87.15
RAFOS	2198	48	1290.31
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	196	2234	503	486	0.0	0.0	0	142	0.00	0.00	-91.93	0.000	16386	0.000	0.000	195	2233	2155	2083	2227	0	0	0	0	0	0	14.50	28.83	14.51
145	-0.57	-145.9	197	2233	2088	2227	3.5	-4.2	9	202	12.77	2.72	-36.83	0.000	18724	0.457	2.144	2375	3573	3964	3949	3980	1	0	0	0	0	0	13.00	12.60	14.02
282	-0.71	-145.9	2376	3574	3955	3981	36.2	-13.8	36	290	0.00	2.33	0.00	0.000	1158	0.000	0.062	2376	2228	3967	3954	3980	0	0	0	0	0	0	14.24	14.11	14.27
589	-0.79	-145.9	2376	2227	3956	3980	82.1	-11.8	67	594	0.15	2.40	0.00	0.000	4484	0.132	0.084	2305	3590	3967	3954	3980	0	0	0	0	0	0	14.18	14.13	14.23
630	-0.82	-145.9	2306	3590	3955	3981	88.2	-15.7	75	635	0.00	2.38	0.00	0.000	1158	0.000	0.059	2306	2193	3965	3955	3975	0	0	0	0	0	0	14.19	14.09	14.22
950	-0.82	-145.9	2306	2193	3956	3981	137.3	-14.4	92	955	0.00	2.42	0.00	0.000	260	0.000	0.085	2297	3581	3967	3955	3980	0	0	0	0	0	0	14.64	14.19	14.65
1021	-0.93	-145.9	2297	3583	3956	3981	146.5	-11.8	106	1026	0.00	2.35	0.00	0.000	1158	0.000	0.057	2297	2190	3967	3955	3980	0	0	0	0	0	0	14.21	14.11	14.26
1341	-0.96	-145.9	2297	2190	3956	3979	189.6	-13.2	120	1347	0.00	2.45	0.00	0.000	388	0.000	0.086	2293	3586	3967	3955	3980	0	0	0	0	0	0	14.65	14.14	14.68
1367	-1.02	-145.9	2294	3587	3956	3981	192.9	-12.5	125	1373	0.15	2.35	0.00	0.000	5254	0.122	0.057	2239	2199	3968	3957	3980	0	0	0	0	0	0	14.26	14.23	14.34
1672	-0.97	-145.9	2239	2198	3956	3980	244.2	-16.7	136	1678	0.00	2.45	0.00	0.000	388	0.000	0.087	2235	3584	3969	3959	3980	0	0	0	0	0	0	14.66	14.14	14.67
1763	-1.01	-145.9	2236	3586	3956	3981	257.8	-14.2	154	1768	0.00	2.35	0.00	0.000	1158	0.000	0.059	2236	2202	3968	3956	3980	0	0	0	0	0	0	14.33	14.20	14.37
2093	-1.01	-145.9	2236	2202	3956	3980	305.6	-13.8	170	2098	0.00	2.42	0.00	0.000	260	0.000	0.090	2235	3582	3965	3950	3980	0	0	0	0	0	0	14.67	14.16	14.69
2203	-1.07	-145.9	2236	3583	3956	3981	319.0	-11.6	192	2208	0.00	2.35	0.00	0.000	1158	0.000	0.058	2235	2191	3967	3955	3980	0	0	0	0	0	0	14.39	14.26	14.45
2513	-1.07	-145.9	2236	2192	3956	3979	358.7	-12.7	204	2519	0.00	2.45	0.00	0.000	260	0.000	0.089	2236	3582	3967	3955	3979	0	0	0	0	0	0	14.69	14.15	14.73
2624	-1.15	-145.9	2237	3582	3956	3979	371.6	-10.8	226	2629	0.00	2.33	0.00	0.000	1158	0.000	0.056	2235	2198	3967	3955	3979	0	0	0	0	0	0	14.40	14.27	14.43
2934	-1.15	-145.9	2236	2198	3956	3979	409.8	-12.3	238	2939	0.00	2.45	0.00	0.000	260	0.000	0.089	2235	3586	3966	3955	3978	0	0	0	0	0	0	14.69	14.19	14.70
3014	-1.23	-145.9	2236	3586	3956	3980	418.9	-10.7	254	3019	0.17	2.35	0.00	0.000	5254	0.115	0.055	2166	2191	3966	3955	3978	0	0	0	0	0	0	14.32	14.27	14.41
3325	-1.09	-145.9	2166	2190	3955	3977	474.8	-18.5	266	3330	0.25	2.45	0.00	0.000	2436	0.305	0.083	2211	3587	3966	3954	3978	0	0	0	0	0	0	13.79	14.17	14.00
3358	end dive: TARGET_DEPTH_EXCEEDED
state	3358	begin apogee
3366	-0.13	0.0	2212	2094	3955	3978	480.4	-14.3	273	3586	1.25	0.00	216.80	1.431	10246	0.243	0.000	2527	2093	3368	3391	3345	0	0	0	0	0	0	13.90	13.50	12.69
3590	end apogee: CONTROL_FINISHED_OK
state	3590	begin climb
3592	0.57	145.9	2529	2093	3384	3332	491.3	0.0	280	3814	0.75	2.67	208.98	1.379	10756	0.063	0.076	2790	700	2760	2805	2715	0	0	0	0	0	0	13.63	12.94	12.34
4014	0.19	145.9	2790	694	2798	2715	470.7	14.9	317	4020	0.68	2.47	0.00	0.000	5254	0.321	0.074	2648	2074	2755	2796	2714	0	0	0	0	0	0	13.40	13.75	13.77
4341	0.04	163.9	2649	2075	2797	2710	439.5	9.2	332	4365	0.20	0.00	21.60	1.524	12966	0.278	0.000	2600	2075	2695	2742	2648	0	0	0	0	0	0	13.81	14.04	13.19
4671	0.03	212.7	2600	2074	2738	2641	414.3	7.7	348	4751	0.00	2.47	72.93	1.408	8868	0.000	0.085	2602	692	2493	2554	2433	0	0	0	0	0	0	14.56	13.93	13.11
4801	0.11	247.5	2602	692	2551	2429	403.5	8.4	374	4857	0.00	2.50	51.05	1.399	9382	0.000	0.079	2602	2100	2358	2417	2299	0	0	0	0	0	0	14.12	14.00	13.00
5182	0.16	272.8	2603	2099	2404	2285	369.8	8.8	400	5220	0.00	0.00	37.33	1.423	8358	0.000	0.000	2602	2101	2253	2310	2196	0	0	0	0	0	0	14.50	14.02	13.21
5512	0.24	300.3	2602	2101	2301	2184	341.0	8.7	411	5558	0.17	2.50	41.22	1.407	10916	0.107	0.084	2685	692	2137	2192	2083	0	0	0	0	0	0	14.31	13.84	13.21
5598	0.19	300.3	2685	694	2183	2082	329.4	14.1	423	5604	0.17	2.47	0.00	0.000	5254	0.244	0.079	2647	2101	2132	2183	2081	0	0	0	0	0	0	13.89	14.07	14.15
5903	0.19	300.3	2648	2102	2183	2074	293.7	11.5	434	5908	0.00	2.47	0.00	0.000	516	0.000	0.086	2654	686	2127	2181	2074	0	0	0	0	0	0	14.59	14.21	14.60
5968	0.24	300.3	2654	687	2181	2074	286.6	10.6	447	5973	0.00	2.45	0.00	0.000	1158	0.000	0.079	2654	2101	2127	2181	2074	0	0	0	0	0	0	14.35	14.18	14.38
6293	0.24	300.3	2654	2101	2181	2073	251.6	10.4	462	6294	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2101	2126	2180	2073	0	0	0	0	0	0	14.66	14.67	14.67
6593	0.25	314.5	2654	2102	2181	2073	222.8	9.3	472	6613	0.00	0.00	18.38	1.475	8230	0.000	0.000	2654	2101	2086	2140	2033	0	0	0	0	0	0	14.66	14.20	13.35
6895	0.30	352.8	2655	2101	2132	2024	197.0	8.2	482	6968	0.00	2.58	65.75	1.307	8868	0.000	0.086	2655	694	1921	1963	1879	0	0	0	0	0	0	14.48	13.91	13.17
7023	0.46	399.5	2655	695	1954	1880	186.4	7.8	508	7108	0.22	2.50	78.32	1.240	11430	0.096	0.080	2745	2101	1733	1759	1707	0	0	0	0	0	0	13.99	13.92	13.02
7434	0.40	399.5	2745	2100	1755	1691	129.5	13.8	540	7439	0.12	2.50	0.00	0.000	4740	0.243	0.084	2719	689	1721	1753	1690	0	0	0	0	0	0	13.92	13.97	14.04
7509	0.46	399.5	2720	692	1750	1690	121.1	10.2	555	7514	0.00	2.47	0.00	0.000	1158	0.000	0.078	2719	2100	1720	1750	1690	0	0	0	0	0	0	14.15	14.04	14.21
7814	0.47	412.7	2720	2102	1750	1689	89.9	9.4	573	7826	0.00	0.00	5.47	0.457	8230	0.000	0.000	2719	2101	1680	1710	1651	0	0	0	0	0	0	14.40	13.85	13.52
8124	0.56	472.5	2720	2101	1715	1652	65.1	7.2	604	8162	0.12	2.50	32.22	0.396	10916	0.130	0.083	2791	688	1434	1472	1397	0	0	0	0	0	0	14.18	13.83	13.55
8192	0.56	472.5	2791	688	1473	1398	57.9	11.5	617	8199	0.12	2.53	0.00	0.000	5126	0.239	0.080	2768	2109	1434	1472	1397	0	0	0	0	0	0	13.87	14.04	14.11
8497	0.66	564.0	2767	2110	1473	1390	34.9	5.8	648	8548	0.00	0.00	47.58	0.305	8358	0.000	0.000	2767	2109	1064	1132	997	0	0	0	0	0	0	14.42	14.00	13.73
8847	0.92	690.3	2767	2109	1133	988	16.1	4.2	683	8920	0.32	2.58	66.15	0.251	10916	0.079	0.090	2890	692	546	579	513	0	0	0	0	0	0	14.02	13.93	13.81
8978	end climb: SURFACE_DEPTH_REACHED
state	8978	begin surface coast
8988	end surface coast: CONTROL_FINISHED_OK
state	8988	begin surface