Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 257 * 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 257 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 721.0

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 60 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 18 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 721.0 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 60 VBD_MIN 500

DIVE 257 NOCOMM_ACTION 161 R_STBD_OVSHOOT 18 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 050917,191342,7503.3672,-15156.1201,18,0.8,21,20.3,0.5,332.9,10,9.3 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 1.25 MHEAD_RNG_PITCHd_Wd 7.8,76373,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.3 D_GRID 480

GPS2 050917,191937,7503.4189,-15156.0967,5,0.7,17,20.3,0.0,27.9,11,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170905202101.826665,3,33,-8,0094,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F PM_FREEKB_00 50358144

FINISH 0.2,1.021314 _24V_AH 12.24,165.946

SM_CCo 9169,0.82,0.297,0,0,501,702.78 _10V_AH 12.10,0.000

SM_GC 1.21,8.27,2.25,0.82,0.071,0.048,0.297,201,2194,501,-7.37,0.74,702.78,0,0,0,0,0,0,14.28,14.21,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 307 FG_AHR_10Vo 0.000

MODEM 3,1504642861,74.30400,-153.94400,154.827,223889.0 MEM 323596

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26695,752

IRIDIUM_FIX 7505.16,-15152.70,050917,163937 CAP_FILE_SIZE 101433,0

TT8_MAMPS 0.040446,0.917525 CFSIZE 2097872896,2011136000

HUMID 47.12 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1445.7

TCM_TEMP 13.10 CURRENT 0.065,301.73,1

XPDR_PINGS 17 GPS 050917,215422,7504.521,-15153.675,35,1.9,37,20.3,0.7,332.7,4,10.0

CP_FREE 15962472448.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 142.55 nil 0 0 0.00

Roll_motor 89 2142 2343.42 nil 0 0 0.00

VBD_pump_during_apogee 981 1468 17648.21 nil 0 0 0.00

VBD_pump_during_surface 0 296 3.00 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 5075 15 961.46

Iridium_during_xfer 156 136 261.85 NCP 9138 20 2236.98

Transponder_ping 4 420 21.85 PMAR 9123 9 1105.38

GUMSTIX_24V 0 0 0.00

GPS 18 22 5.05

TT8 0 0 0.00

LPSleep 6346 2 177.38

TT8_Active 857 13 144.89

TT8_Sampling 2104 33 851.66

TT8_CF8 229 38 107.40

TT8_Kalman 0 0 0.00

Analog_circuits 2057 10 248.91

GPS_charging 0 0 0.00

Compass 1076 7 91.15

RAFOS 2215 48 1286.47

Transponder 0 5 0.03

Guidance and control:

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

47 end surface: CONTROL_FINISHED_OK

state 47 begin dive

51 -0.57 -145.9 192 2203 509 490 0.0 0.0 0 143 0.00 0.00 -91.20 0.000 16386 0.000 0.000 191 2203 2155 2090 2221 0 0 0 0 0 0 14.58 28.83 14.60

146 -0.57 -145.9 192 2203 2095 2221 3.7 -5.0 9 203 12.88 2.88 -36.72 0.000 18724 0.457 2.143 2375 3610 3963 3947 3980 0 0 0 0 0 0 13.62 12.53 14.15

343 -0.72 -145.9 2376 3610 3953 3980 41.3 -13.4 48 350 0.00 2.35 0.00 0.000 1158 0.000 0.059 2375 2230 3965 3951 3980 0 0 0 0 0 0 14.23 14.04 14.28

651 -0.83 -145.9 2376 2228 3954 3979 82.0 -11.1 79 656 0.17 2.50 0.00 0.000 4740 0.122 0.082 2301 789 3966 3953 3980 0 0 0 0 0 0 14.30 14.22 14.35

681 -0.85 -145.9 2301 789 3953 3981 86.7 -16.1 85 686 0.00 2.50 0.00 0.000 1158 0.000 0.089 2299 2204 3966 3953 3980 0 0 0 0 0 0 14.38 14.21 14.41

1011 -0.88 -145.9 2299 2206 3953 3981 136.3 -14.0 103 1016 0.00 2.47 0.00 0.000 388 0.000 0.091 2295 3616 3966 3953 3980 0 0 0 0 0 0 14.72 14.22 14.75

1128 -1.01 -145.9 2296 3617 3954 3980 150.2 -11.4 126 1134 0.12 2.38 0.00 0.000 5254 0.130 0.057 2244 2199 3966 3953 3980 0 0 0 0 0 0 14.33 14.28 14.43

1432 -0.97 -145.9 2245 2198 3954 3980 201.9 -16.6 137 1436 0.00 2.47 0.00 0.000 388 0.000 0.088 2236 3614 3966 3953 3980 0 0 0 0 0 0 14.73 14.22 14.74

1527 -1.02 -145.9 2236 3615 3954 3980 216.7 -14.1 156 1533 0.00 2.40 0.00 0.000 1158 0.000 0.058 2236 2199 3966 3953 3979 0 0 0 0 0 0 14.35 14.23 14.40

1853 -1.02 -145.9 2237 2198 3954 3980 265.7 -14.3 171 1858 0.00 2.47 0.00 0.000 260 0.000 0.090 2235 3614 3966 3953 3980 0 0 0 0 0 0 14.73 14.21 14.73

1933 -1.09 -145.9 2237 3614 3954 3980 276.1 -11.9 187 1938 0.00 2.40 0.00 0.000 1158 0.000 0.057 2235 2198 3966 3953 3980 0 0 0 0 0 0 14.38 14.26 14.39

2243 -1.09 -145.9 2236 2197 3952 3981 316.0 -12.5 199 2248 0.00 2.50 0.00 0.000 260 0.000 0.090 2235 3616 3966 3952 3980 0 0 0 0 0 0 14.73 14.21 14.76

2358 -1.18 -145.9 2236 3617 3954 3979 329.1 -10.8 219 2363 0.00 2.42 0.00 0.000 1158 0.000 0.056 2235 2194 3966 3952 3980 0 0 0 0 0 0 14.26 14.15 14.30

2679 -1.22 -145.9 2236 2194 3953 3980 366.9 -11.6 233 2684 0.12 2.55 0.00 0.000 4484 0.147 0.086 2172 3614 3965 3951 3979 0 0 0 0 0 0 14.11 14.04 14.15

2739 -1.18 -145.9 2173 3614 3953 3979 376.3 -16.1 245 2744 0.00 2.42 0.00 0.000 1158 0.000 0.057 2172 2199 3965 3952 3978 0 0 0 0 0 0 14.23 14.10 14.26

3069 -1.08 -145.9 2172 2198 3954 3978 433.3 -17.2 261 3074 0.22 2.55 0.00 0.000 2436 0.296 0.085 2214 3621 3965 3952 3978 0 0 0 0 0 0 13.70 14.02 13.89

3199 -1.16 -145.9 2214 3622 3954 3979 449.5 -11.3 287 3204 0.00 2.42 0.00 0.000 1158 0.000 0.057 2214 2201 3965 3952 3978 0 0 0 0 0 0 14.19 14.04 14.23

3457 end dive: TARGET_DEPTH_EXCEEDED

state 3457 begin apogee

3463 -0.13 0.0 2214 2059 3953 3979 481.8 -12.4 299 3690 1.23 0.10 223.73 1.437 10246 0.230 0.158 2527 2122 3365 3389 3341 0 0 0 0 0 0 13.76 13.39 12.59

3693 end apogee: CONTROL_FINISHED_OK

state 3693 begin climb

3696 0.57 145.9 2528 2123 3380 3332 493.0 0.0 306 4089 0.75 2.70 213.45 1.370 10756 0.062 0.079 2782 733 2751 2792 2711 0 0 0 0 0 0 13.52 12.83 12.24

4179 0.19 145.9 2781 734 2793 2711 469.6 14.0 325 4184 0.65 2.45 0.00 0.000 5254 0.323 0.075 2647 2092 2750 2792 2709 0 0 0 0 0 0 13.35 13.68 13.72

4505 0.03 167.8 2647 2091 2791 2704 439.0 9.0 340 4537 0.22 0.00 27.65 1.469 12454 0.259 0.000 2596 2091 2673 2723 2624 0 0 0 0 0 0 13.81 13.99 13.18

4835 0.03 219.6 2598 2093 2715 2617 413.9 7.6 351 4922 0.00 2.40 79.22 1.369 8868 0.000 0.083 2602 729 2467 2528 2406 0 0 0 0 0 0 14.44 13.65 13.07

4977 0.11 257.7 2603 730 2518 2398 402.3 8.2 379 5042 0.00 2.40 57.80 1.372 9382 0.000 0.078 2602 2105 2310 2368 2252 0 0 0 0 0 0 14.02 13.90 12.93

5349 0.16 279.9 2603 2105 2355 2234 368.9 9.0 403 5381 0.00 0.00 30.38 1.416 8358 0.000 0.000 2602 2105 2226 2285 2168 0 0 0 0 0 0 14.52 14.04 13.21

5679 0.23 306.4 2603 2105 2268 2147 339.7 8.8 414 5729 0.12 2.50 41.50 1.372 10916 0.130 0.087 2672 731 2106 2158 2054 0 0 0 0 0 0 14.31 14.08 13.24

5776 0.23 306.4 2673 732 2153 2052 327.4 13.1 433 5781 0.00 2.40 0.00 0.000 1030 0.000 0.080 2672 2099 2100 2150 2051 0 0 0 0 0 0 14.24 14.12 14.27

6101 0.17 306.4 2673 2100 2150 2047 284.2 13.0 448 6107 0.12 2.40 0.00 0.000 4740 0.274 0.082 2647 727 2096 2149 2044 0 0 0 0 0 0 14.00 14.19 14.16

6147 0.21 306.4 2647 728 2148 2045 279.0 10.2 457 6152 0.00 2.40 0.00 0.000 1158 0.000 0.078 2647 2106 2096 2147 2046 0 0 0 0 0 0 14.38 14.24 14.42

6462 0.22 314.0 2647 2107 2148 2043 247.8 9.7 470 6468 0.00 2.50 1.50 0.259 8484 0.000 0.084 2647 3506 2082 2134 2031 0 0 0 0 0 0 14.66 14.23 13.94

6493 0.22 314.0 2647 3507 2135 2038 244.4 10.8 476 6499 0.00 2.33 0.00 0.000 1030 0.000 0.062 2654 2132 2086 2136 2037 0 0 0 0 0 0 14.39 14.28 14.43

6824 0.24 343.7 2654 2132 2143 2040 214.4 8.6 492 6895 0.00 2.60 62.60 1.313 8740 0.000 0.089 2654 700 1956 2003 1910 0 0 0 0 0 0 14.66 14.02 13.21

7050 0.36 386.1 2655 700 1993 1906 196.2 8.0 537 7132 0.15 2.47 74.30 1.249 11430 0.117 0.080 2712 2101 1790 1819 1761 0 0 0 0 0 0 14.10 14.02 13.13

7457 0.36 386.1 2713 2106 1808 1743 148.5 11.2 568 7462 0.00 2.50 0.00 0.000 516 0.000 0.086 2713 694 1774 1806 1742 0 0 0 0 0 0 14.56 14.13 14.57

7523 0.41 386.1 2713 695 1805 1743 141.6 10.2 581 7528 0.00 2.45 0.00 0.000 1158 0.000 0.077 2713 2105 1772 1803 1742 0 0 0 0 0 0 14.28 14.21 14.33

7848 0.41 388.1 2712 2106 1803 1741 108.0 9.9 596 7849 0.00 0.00 0.00 0.000 38 0.000 0.000 2713 2105 1771 1803 1740 0 0 0 0 0 0 14.62 14.64 14.64

8148 0.44 431.4 2713 2105 1804 1738 81.7 8.0 620 8175 0.00 2.58 22.12 0.438 8740 0.000 0.086 2712 692 1605 1637 1574 0 0 0 0 0 0 14.60 13.43 13.62

8300 0.58 488.0 2713 693 1643 1576 69.9 7.4 650 8338 0.17 2.47 31.23 0.405 11430 0.103 0.079 2782 2102 1370 1418 1323 0 0 0 0 0 0 14.12 14.07 13.68

8643 0.62 548.6 2783 2102 1420 1332 39.4 7.2 688 8680 0.00 2.58 32.70 0.316 8740 0.000 0.086 2792 685 1127 1190 1065 0 0 0 0 0 0 14.57 14.07 13.80

8737 0.74 593.8 2792 687 1192 1070 32.2 7.9 706 8769 0.00 2.47 25.17 0.295 9382 0.000 0.079 2792 2100 942 1011 874 0 0 0 0 0 0 14.28 14.14 13.75

9065 0.93 700.3 2792 2101 1014 881 9.4 5.1 742 9132 0.28 2.53 58.30 0.229 10660 0.085 0.079 2896 3505 508 531 485 0 0 0 0 0 0 14.29 13.93 13.87

9135 end climb: SURFACE_DEPTH_REACHED

state 9135 begin surface coast

9145 end surface coast: CONTROL_FINISHED_OK

state 9145 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	257	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	721.0
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	60	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	18	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	050917,191342,7503.3672,-15156.1201,18,0.8,21,20.3,0.5,332.9,10,9.3	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	1.25	MHEAD_RNG_PITCHd_Wd	7.8,76373,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.3	D_GRID	480
GPS2	050917,191937,7503.4189,-15156.0967,5,0.7,17,20.3,0.0,27.9,11,9.0

MODEM_MSG	CACST,6,1,20170905202101.826665,3,33,-8,0094,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*2F	PM_FREEKB_00	50358144
FINISH	0.2,1.021314	_24V_AH	12.24,165.946
SM_CCo	9169,0.82,0.297,0,0,501,702.78	_10V_AH	12.10,0.000
SM_GC	1.21,8.27,2.25,0.82,0.071,0.048,0.297,201,2194,501,-7.37,0.74,702.78,0,0,0,0,0,0,14.28,14.21,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	307	FG_AHR_10Vo	0.000
MODEM	3,1504642861,74.30400,-153.94400,154.827,223889.0	MEM	323596
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26695,752
IRIDIUM_FIX	7505.16,-15152.70,050917,163937	CAP_FILE_SIZE	101433,0
TT8_MAMPS	0.040446,0.917525	CFSIZE	2097872896,2011136000
HUMID	47.12	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1445.7
TCM_TEMP	13.10	CURRENT	0.065,301.73,1
XPDR_PINGS	17	GPS	050917,215422,7504.521,-15153.675,35,1.9,37,20.3,0.7,332.7,4,10.0
CP_FREE	15962472448.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	142.55	nil	0	0	0.00
Roll_motor	89	2142	2343.42	nil	0	0	0.00
VBD_pump_during_apogee	981	1468	17648.21	nil	0	0	0.00
VBD_pump_during_surface	0	296	3.00	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	5075	15	961.46
Iridium_during_xfer	156	136	261.85	NCP	9138	20	2236.98
Transponder_ping	4	420	21.85	PMAR	9123	9	1105.38
GUMSTIX_24V	0	0	0.00
GPS	18	22	5.05
TT8	0	0	0.00
LPSleep	6346	2	177.38
TT8_Active	857	13	144.89
TT8_Sampling	2104	33	851.66
TT8_CF8	229	38	107.40
TT8_Kalman	0	0	0.00
Analog_circuits	2057	10	248.91
GPS_charging	0	0	0.00
Compass	1076	7	91.15
RAFOS	2215	48	1286.47
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	pitch_ad_start	roll_ad_start	vbd_pot1_ad_start	vbd_pot2_ad_start	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	vbd_pot1_ad	vbd_pot2_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
47	end surface: CONTROL_FINISHED_OK
state	47	begin dive
51	-0.57	-145.9	192	2203	509	490	0.0	0.0	0	143	0.00	0.00	-91.20	0.000	16386	0.000	0.000	191	2203	2155	2090	2221	0	0	0	0	0	0	14.58	28.83	14.60
146	-0.57	-145.9	192	2203	2095	2221	3.7	-5.0	9	203	12.88	2.88	-36.72	0.000	18724	0.457	2.143	2375	3610	3963	3947	3980	0	0	0	0	0	0	13.62	12.53	14.15
343	-0.72	-145.9	2376	3610	3953	3980	41.3	-13.4	48	350	0.00	2.35	0.00	0.000	1158	0.000	0.059	2375	2230	3965	3951	3980	0	0	0	0	0	0	14.23	14.04	14.28
651	-0.83	-145.9	2376	2228	3954	3979	82.0	-11.1	79	656	0.17	2.50	0.00	0.000	4740	0.122	0.082	2301	789	3966	3953	3980	0	0	0	0	0	0	14.30	14.22	14.35
681	-0.85	-145.9	2301	789	3953	3981	86.7	-16.1	85	686	0.00	2.50	0.00	0.000	1158	0.000	0.089	2299	2204	3966	3953	3980	0	0	0	0	0	0	14.38	14.21	14.41
1011	-0.88	-145.9	2299	2206	3953	3981	136.3	-14.0	103	1016	0.00	2.47	0.00	0.000	388	0.000	0.091	2295	3616	3966	3953	3980	0	0	0	0	0	0	14.72	14.22	14.75
1128	-1.01	-145.9	2296	3617	3954	3980	150.2	-11.4	126	1134	0.12	2.38	0.00	0.000	5254	0.130	0.057	2244	2199	3966	3953	3980	0	0	0	0	0	0	14.33	14.28	14.43
1432	-0.97	-145.9	2245	2198	3954	3980	201.9	-16.6	137	1436	0.00	2.47	0.00	0.000	388	0.000	0.088	2236	3614	3966	3953	3980	0	0	0	0	0	0	14.73	14.22	14.74
1527	-1.02	-145.9	2236	3615	3954	3980	216.7	-14.1	156	1533	0.00	2.40	0.00	0.000	1158	0.000	0.058	2236	2199	3966	3953	3979	0	0	0	0	0	0	14.35	14.23	14.40
1853	-1.02	-145.9	2237	2198	3954	3980	265.7	-14.3	171	1858	0.00	2.47	0.00	0.000	260	0.000	0.090	2235	3614	3966	3953	3980	0	0	0	0	0	0	14.73	14.21	14.73
1933	-1.09	-145.9	2237	3614	3954	3980	276.1	-11.9	187	1938	0.00	2.40	0.00	0.000	1158	0.000	0.057	2235	2198	3966	3953	3980	0	0	0	0	0	0	14.38	14.26	14.39
2243	-1.09	-145.9	2236	2197	3952	3981	316.0	-12.5	199	2248	0.00	2.50	0.00	0.000	260	0.000	0.090	2235	3616	3966	3952	3980	0	0	0	0	0	0	14.73	14.21	14.76
2358	-1.18	-145.9	2236	3617	3954	3979	329.1	-10.8	219	2363	0.00	2.42	0.00	0.000	1158	0.000	0.056	2235	2194	3966	3952	3980	0	0	0	0	0	0	14.26	14.15	14.30
2679	-1.22	-145.9	2236	2194	3953	3980	366.9	-11.6	233	2684	0.12	2.55	0.00	0.000	4484	0.147	0.086	2172	3614	3965	3951	3979	0	0	0	0	0	0	14.11	14.04	14.15
2739	-1.18	-145.9	2173	3614	3953	3979	376.3	-16.1	245	2744	0.00	2.42	0.00	0.000	1158	0.000	0.057	2172	2199	3965	3952	3978	0	0	0	0	0	0	14.23	14.10	14.26
3069	-1.08	-145.9	2172	2198	3954	3978	433.3	-17.2	261	3074	0.22	2.55	0.00	0.000	2436	0.296	0.085	2214	3621	3965	3952	3978	0	0	0	0	0	0	13.70	14.02	13.89
3199	-1.16	-145.9	2214	3622	3954	3979	449.5	-11.3	287	3204	0.00	2.42	0.00	0.000	1158	0.000	0.057	2214	2201	3965	3952	3978	0	0	0	0	0	0	14.19	14.04	14.23
3457	end dive: TARGET_DEPTH_EXCEEDED
state	3457	begin apogee
3463	-0.13	0.0	2214	2059	3953	3979	481.8	-12.4	299	3690	1.23	0.10	223.73	1.437	10246	0.230	0.158	2527	2122	3365	3389	3341	0	0	0	0	0	0	13.76	13.39	12.59
3693	end apogee: CONTROL_FINISHED_OK
state	3693	begin climb
3696	0.57	145.9	2528	2123	3380	3332	493.0	0.0	306	4089	0.75	2.70	213.45	1.370	10756	0.062	0.079	2782	733	2751	2792	2711	0	0	0	0	0	0	13.52	12.83	12.24
4179	0.19	145.9	2781	734	2793	2711	469.6	14.0	325	4184	0.65	2.45	0.00	0.000	5254	0.323	0.075	2647	2092	2750	2792	2709	0	0	0	0	0	0	13.35	13.68	13.72
4505	0.03	167.8	2647	2091	2791	2704	439.0	9.0	340	4537	0.22	0.00	27.65	1.469	12454	0.259	0.000	2596	2091	2673	2723	2624	0	0	0	0	0	0	13.81	13.99	13.18
4835	0.03	219.6	2598	2093	2715	2617	413.9	7.6	351	4922	0.00	2.40	79.22	1.369	8868	0.000	0.083	2602	729	2467	2528	2406	0	0	0	0	0	0	14.44	13.65	13.07
4977	0.11	257.7	2603	730	2518	2398	402.3	8.2	379	5042	0.00	2.40	57.80	1.372	9382	0.000	0.078	2602	2105	2310	2368	2252	0	0	0	0	0	0	14.02	13.90	12.93
5349	0.16	279.9	2603	2105	2355	2234	368.9	9.0	403	5381	0.00	0.00	30.38	1.416	8358	0.000	0.000	2602	2105	2226	2285	2168	0	0	0	0	0	0	14.52	14.04	13.21
5679	0.23	306.4	2603	2105	2268	2147	339.7	8.8	414	5729	0.12	2.50	41.50	1.372	10916	0.130	0.087	2672	731	2106	2158	2054	0	0	0	0	0	0	14.31	14.08	13.24
5776	0.23	306.4	2673	732	2153	2052	327.4	13.1	433	5781	0.00	2.40	0.00	0.000	1030	0.000	0.080	2672	2099	2100	2150	2051	0	0	0	0	0	0	14.24	14.12	14.27
6101	0.17	306.4	2673	2100	2150	2047	284.2	13.0	448	6107	0.12	2.40	0.00	0.000	4740	0.274	0.082	2647	727	2096	2149	2044	0	0	0	0	0	0	14.00	14.19	14.16
6147	0.21	306.4	2647	728	2148	2045	279.0	10.2	457	6152	0.00	2.40	0.00	0.000	1158	0.000	0.078	2647	2106	2096	2147	2046	0	0	0	0	0	0	14.38	14.24	14.42
6462	0.22	314.0	2647	2107	2148	2043	247.8	9.7	470	6468	0.00	2.50	1.50	0.259	8484	0.000	0.084	2647	3506	2082	2134	2031	0	0	0	0	0	0	14.66	14.23	13.94
6493	0.22	314.0	2647	3507	2135	2038	244.4	10.8	476	6499	0.00	2.33	0.00	0.000	1030	0.000	0.062	2654	2132	2086	2136	2037	0	0	0	0	0	0	14.39	14.28	14.43
6824	0.24	343.7	2654	2132	2143	2040	214.4	8.6	492	6895	0.00	2.60	62.60	1.313	8740	0.000	0.089	2654	700	1956	2003	1910	0	0	0	0	0	0	14.66	14.02	13.21
7050	0.36	386.1	2655	700	1993	1906	196.2	8.0	537	7132	0.15	2.47	74.30	1.249	11430	0.117	0.080	2712	2101	1790	1819	1761	0	0	0	0	0	0	14.10	14.02	13.13
7457	0.36	386.1	2713	2106	1808	1743	148.5	11.2	568	7462	0.00	2.50	0.00	0.000	516	0.000	0.086	2713	694	1774	1806	1742	0	0	0	0	0	0	14.56	14.13	14.57
7523	0.41	386.1	2713	695	1805	1743	141.6	10.2	581	7528	0.00	2.45	0.00	0.000	1158	0.000	0.077	2713	2105	1772	1803	1742	0	0	0	0	0	0	14.28	14.21	14.33
7848	0.41	388.1	2712	2106	1803	1741	108.0	9.9	596	7849	0.00	0.00	0.00	0.000	38	0.000	0.000	2713	2105	1771	1803	1740	0	0	0	0	0	0	14.62	14.64	14.64
8148	0.44	431.4	2713	2105	1804	1738	81.7	8.0	620	8175	0.00	2.58	22.12	0.438	8740	0.000	0.086	2712	692	1605	1637	1574	0	0	0	0	0	0	14.60	13.43	13.62
8300	0.58	488.0	2713	693	1643	1576	69.9	7.4	650	8338	0.17	2.47	31.23	0.405	11430	0.103	0.079	2782	2102	1370	1418	1323	0	0	0	0	0	0	14.12	14.07	13.68
8643	0.62	548.6	2783	2102	1420	1332	39.4	7.2	688	8680	0.00	2.58	32.70	0.316	8740	0.000	0.086	2792	685	1127	1190	1065	0	0	0	0	0	0	14.57	14.07	13.80
8737	0.74	593.8	2792	687	1192	1070	32.2	7.9	706	8769	0.00	2.47	25.17	0.295	9382	0.000	0.079	2792	2100	942	1011	874	0	0	0	0	0	0	14.28	14.14	13.75
9065	0.93	700.3	2792	2101	1014	881	9.4	5.1	742	9132	0.28	2.53	58.30	0.229	10660	0.085	0.079	2896	3505	508	531	485	0	0	0	0	0	0	14.29	13.93	13.87
9135	end climb: SURFACE_DEPTH_REACHED
state	9135	begin surface coast
9145	end surface coast: CONTROL_FINISHED_OK
state	9145	begin surface