Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 319 * 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 319 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 886.0

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 27 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 24 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 886.0 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 27 VBD_MIN 500

DIVE 319 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 120917,193602,7520.2876,-15110.6484,30,0.8,30,20.7,0.8,140.0,9,8.0 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.19 MHEAD_RNG_PITCHd_Wd 159.5,67288,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.2 D_GRID 480

GPS2 120917,194748,7520.3472,-15110.7070,6,0.9,7,20.7,0.0,332.7,9,9.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170912203139.886988,3,72,00,0096,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32 PM_FREEKB_00 47813696

FINISH 0.1,1.011184 _24V_AH 12.28,196.875

SM_CCo 9168,58.25,0.201,0,0,499,703.03 _10V_AH 12.37,0.000

SM_GC 1.31,8.05,0.20,58.25,0.073,0.121,0.201,201,2218,499,-7.39,-0.37,703.03,0,0,0,0,0,0,14.28,14.27,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 394 FG_AHR_10Vo 0.000

MODEM 5,1505248299,74.50000,-149.00000,72.887,105520.5 MEM 323508

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26748,765

IRIDIUM_FIX 7523.72,-15124.05,120917,165234 CAP_FILE_SIZE 106096,0

TT8_MAMPS 0.039697,0.944489 CFSIZE 2097872896,1996488704

HUMID 47.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.8

TCM_TEMP 13.10 CURRENT 0.055,103.27,1

XPDR_PINGS 8 GPS 120917,222403,7518.964,-15110.789,66,0.8,66,20.7,0.5,311.9,10,9.1

CP_FREE 15936159744.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 456 147.92 nil 0 0 0.00

Roll_motor 84 2144 2227.68 nil 0 0 0.00

VBD_pump_during_apogee 999 1502 18434.53 nil 0 0 0.00

VBD_pump_during_surface 58 201 143.92 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 9180 14 1651.50

Iridium_during_xfer 432 171 910.48 NCP 9149 20 2246.99

Transponder_ping 2 420 10.32 PMAR 9121 11 1268.02

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.51

TT8 0 0 0.00

LPSleep 6504 2 185.87

TT8_Active 1067 13 184.40

TT8_Sampling 2045 33 845.96

TT8_CF8 334 38 159.88

TT8_Kalman 0 0 0.00

Analog_circuits 2240 10 277.20

GPS_charging 0 0 0.00

Compass 1096 7 94.96

RAFOS 2217 48 1316.37

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

48 end surface: CONTROL_FINISHED_OK

state 48 begin dive

51 -0.57 -145.9 178 2214 495 476 0.0 0.0 0 144 0.00 0.00 -91.82 0.000 16386 0.000 0.000 175 2213 2155 2082 2229 0 0 0 0 0 0 14.48 28.83 14.52

147 -0.57 -145.9 177 2214 2086 2231 3.9 -5.3 9 201 13.07 2.90 -35.45 0.000 18980 0.457 2.144 2384 796 3965 3950 3980 1 0 0 0 0 0 13.30 12.61 14.02

221 -0.51 -145.9 2384 797 3953 3980 26.9 -27.2 23 227 0.15 2.50 0.00 0.000 3206 0.275 0.083 2409 2199 3969 3954 3984 0 0 0 0 0 0 13.85 14.06 14.16

532 -0.66 -145.9 2409 2201 3957 3981 66.1 -10.0 55 537 0.12 2.53 0.00 0.000 4516 0.132 0.087 2349 3615 3968 3956 3980 0 0 0 0 0 0 14.15 14.04 14.17

597 -0.82 -145.9 2350 3617 3957 3981 73.3 -10.8 68 605 0.00 2.45 0.00 0.000 1158 0.000 0.057 2350 2195 3968 3956 3980 0 0 0 0 0 0 14.24 14.12 14.28

921 -0.94 -145.9 2350 2195 3956 3981 109.8 -10.4 94 922 0.22 0.00 0.00 0.000 4230 0.103 0.000 2263 2195 3968 3957 3980 0 0 0 0 0 0 14.09 14.22 14.18

1221 -0.94 -145.9 2264 2194 3957 3980 157.2 -15.5 104 1226 0.00 2.55 0.00 0.000 260 0.000 0.087 2256 3609 3968 3957 3979 0 0 0 0 0 0 14.42 13.95 14.44

1349 -1.02 -145.9 2253 3611 3957 3981 174.4 -13.1 129 1354 0.00 2.42 0.00 0.000 1158 0.000 0.057 2256 2203 3968 3956 3980 0 0 0 0 0 0 14.15 14.03 14.19

1674 -1.02 -145.9 2256 2203 3957 3981 220.6 -13.8 144 1679 0.00 2.53 0.00 0.000 260 0.000 0.086 2251 3611 3968 3956 3980 0 0 0 0 0 0 14.40 13.95 14.42

1730 -1.12 -145.9 2248 3614 3957 3980 227.7 -11.9 155 1736 0.00 2.45 0.00 0.000 1158 0.000 0.057 2248 2199 3968 3956 3980 0 0 0 0 0 0 13.99 13.87 14.02

2035 -1.15 -145.9 2248 2199 3957 3981 267.6 -12.5 166 2040 0.12 2.53 0.00 0.000 4484 0.145 0.083 2184 3610 3968 3957 3980 0 0 0 0 0 0 14.07 13.95 14.12

2090 -1.11 -145.9 2185 3610 3957 3981 276.6 -16.7 177 2097 0.17 2.45 0.00 0.000 3206 0.252 0.057 2219 2197 3967 3954 3980 0 0 0 0 0 0 13.66 13.84 13.95

2395 -1.11 -145.9 2220 2196 3957 3980 318.9 -13.2 188 2401 0.00 2.53 0.00 0.000 260 0.000 0.085 2211 3610 3966 3956 3976 0 0 0 0 0 0 14.38 13.93 14.40

2518 -1.18 -145.9 2212 3611 3957 3980 334.0 -12.3 212 2523 0.00 2.45 0.00 0.000 1158 0.000 0.057 2210 2192 3967 3956 3979 0 0 0 0 0 0 14.12 14.00 14.18

2849 -1.18 -145.9 2212 2190 3955 3980 377.8 -13.0 228 2854 0.00 2.55 0.00 0.000 260 0.000 0.089 2207 3609 3968 3956 3980 0 0 0 0 0 0 14.40 13.89 14.42

2912 -1.25 -145.9 2209 3611 3955 3981 385.4 -11.3 240 2918 0.10 2.45 0.00 0.000 5254 0.150 0.056 2163 2194 3967 3955 3980 0 0 0 0 0 0 13.97 13.92 14.09

3244 -1.16 -145.9 2164 2194 3956 3980 442.5 -17.4 256 3250 0.17 2.50 0.00 0.000 2436 0.307 0.081 2190 3610 3970 3954 3986 0 0 0 0 0 0 13.55 13.88 13.76

3371 -1.20 -145.9 2190 3612 3955 3981 459.9 -12.6 281 3375 0.00 2.42 0.00 0.000 1158 0.000 0.056 2190 2192 3967 3954 3980 0 0 0 0 0 0 14.23 14.10 14.27

3513 end dive: TARGET_DEPTH_EXCEEDED

state 3513 begin apogee

3519 -0.13 0.0 2191 2061 3955 3980 480.1 -14.0 290 3765 1.35 0.08 242.30 1.378 10246 0.239 0.180 2528 2110 3365 3384 3347 0 0 0 0 0 0 13.73 13.45 12.62

3769 end apogee: CONTROL_FINISHED_OK

state 3769 begin climb

3773 0.57 145.9 2528 2111 3375 3334 493.5 0.0 298 3997 0.75 2.62 211.43 1.339 10756 0.061 0.078 2794 734 2763 2803 2723 0 0 0 0 0 0 13.66 13.14 12.28

4222 0.15 145.9 2794 730 2784 2713 475.5 14.4 381 4230 0.75 2.42 0.00 0.000 5254 0.325 0.074 2637 2095 2746 2784 2709 0 0 0 0 0 0 13.42 13.81 13.82

4527 0.01 174.9 2638 2096 2785 2705 447.9 8.7 392 4573 0.17 2.45 37.67 1.396 12964 0.271 0.083 2602 733 2646 2690 2602 0 0 0 0 0 0 13.84 14.04 13.15

4633 0.04 221.0 2603 732 2687 2588 439.8 7.9 413 4710 0.00 2.40 70.05 1.328 9254 0.000 0.079 2608 2101 2463 2523 2403 0 0 0 0 0 0 14.21 14.07 13.05

5009 0.03 236.9 2602 2102 2504 2383 405.6 9.3 438 5028 0.00 0.00 18.55 1.454 8358 0.000 0.000 2602 2101 2400 2458 2342 0 0 0 0 0 0 14.56 14.06 13.21

5308 0.04 250.0 2603 2100 2439 2325 377.4 9.4 448 5327 0.00 0.00 14.05 1.502 8742 0.000 0.000 2602 2101 2343 2394 2292 0 0 0 0 0 0 14.61 14.13 13.26

5638 0.06 271.7 2602 2102 2386 2282 347.2 9.0 464 5679 0.00 2.47 33.65 1.382 8740 0.000 0.086 2602 726 2250 2301 2200 0 0 0 0 0 0 14.64 14.12 13.25

5741 0.17 307.0 2603 725 2292 2192 338.4 8.4 484 5804 0.12 2.40 56.55 1.301 11430 0.125 0.079 2658 2100 2110 2158 2063 0 0 0 0 0 0 14.21 14.16 13.14

6120 0.12 307.0 2662 2101 2144 2043 290.4 12.6 510 6125 0.15 2.42 0.00 0.000 4740 0.252 0.083 2630 730 2093 2144 2042 0 0 0 0 0 0 13.93 14.15 14.07

6150 0.17 307.0 2630 731 2142 2043 287.0 10.5 516 6155 0.00 2.40 0.00 0.000 1158 0.000 0.077 2630 2099 2091 2141 2042 0 0 0 0 0 0 14.32 14.19 14.37

6480 0.21 332.0 2631 2101 2141 2040 255.8 8.8 532 6518 0.00 0.00 36.67 1.315 8358 0.000 0.000 2630 2101 2016 2068 1965 0 0 0 0 0 0 14.66 14.07 13.26

6810 0.30 370.7 2631 2102 2046 1946 227.9 8.2 543 6886 0.15 2.50 67.35 1.242 10916 0.112 0.087 2698 733 1847 1877 1817 0 0 0 0 0 0 14.16 13.97 13.19

6928 0.30 370.7 2699 732 1864 1813 214.3 12.0 561 6935 0.00 2.40 0.00 0.000 1030 0.000 0.077 2698 2098 1837 1862 1813 0 0 0 0 0 0 14.16 14.04 14.22

7231 0.27 370.7 2699 2099 1861 1805 178.5 11.5 572 7236 0.12 2.40 0.00 0.000 4740 0.224 0.084 2672 732 1832 1860 1805 0 0 0 0 0 0 13.96 14.14 14.07

7257 0.30 370.7 2672 733 1859 1806 175.9 10.6 577 7264 0.00 2.42 0.00 0.000 1158 0.000 0.079 2672 2105 1831 1858 1805 0 0 0 0 0 0 14.27 14.14 14.32

7562 0.36 398.2 2672 2106 1859 1809 148.2 8.7 588 7612 0.00 2.45 43.20 1.251 8868 0.000 0.087 2672 730 1734 1757 1712 0 0 0 0 0 0 14.64 14.05 13.25

7665 0.51 435.9 2672 729 1747 1707 139.6 8.3 608 7738 0.22 2.42 66.97 1.182 11430 0.097 0.078 2762 2107 1586 1614 1558 0 0 0 0 0 0 14.19 14.12 13.16

8044 0.44 435.9 2760 2106 1604 1531 87.1 13.1 640 8049 0.15 2.45 0.00 0.000 4740 0.257 0.082 2733 725 1566 1602 1531 0 0 0 0 0 0 13.88 14.03 14.04

8079 0.48 435.9 2733 727 1601 1532 83.2 10.3 647 8086 0.00 2.42 0.00 0.000 1158 0.000 0.077 2733 2100 1565 1600 1531 0 0 0 0 0 0 14.18 14.03 14.26

8385 0.55 502.7 2734 2101 1603 1528 57.3 6.9 678 8425 0.00 0.00 35.47 0.366 8614 0.000 0.000 2733 2100 1318 1369 1267 0 0 0 0 0 0 14.59 13.83 13.58

8724 0.74 614.7 2734 2100 1367 1274 38.0 4.8 713 8799 0.22 2.50 65.22 0.304 10916 0.095 0.089 2826 730 858 926 790 0 0 0 0 0 0 14.20 14.02 13.68

8826 0.78 614.7 2826 730 929 795 28.6 10.8 732 8832 0.00 2.40 0.00 0.000 1158 0.000 0.075 2826 2099 860 924 797 0 0 0 0 0 0 14.18 14.04 14.21

9127 end climb: SURFACE_DEPTH_REACHED

state 9127 begin surface coast

9147 end surface coast: CONTROL_FINISHED_OK

state 9147 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	319	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	886.0
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	27	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120917,193602,7520.2876,-15110.6484,30,0.8,30,20.7,0.8,140.0,9,8.0	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.19	MHEAD_RNG_PITCHd_Wd	159.5,67288,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.2	D_GRID	480
GPS2	120917,194748,7520.3472,-15110.7070,6,0.9,7,20.7,0.0,332.7,9,9.6

MODEM_MSG	CACST,6,1,20170912203139.886988,3,72,00,0096,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32	PM_FREEKB_00	47813696
FINISH	0.1,1.011184	_24V_AH	12.28,196.875
SM_CCo	9168,58.25,0.201,0,0,499,703.03	_10V_AH	12.37,0.000
SM_GC	1.31,8.05,0.20,58.25,0.073,0.121,0.201,201,2218,499,-7.39,-0.37,703.03,0,0,0,0,0,0,14.28,14.27,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	394	FG_AHR_10Vo	0.000
MODEM	5,1505248299,74.50000,-149.00000,72.887,105520.5	MEM	323508
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26748,765
IRIDIUM_FIX	7523.72,-15124.05,120917,165234	CAP_FILE_SIZE	106096,0
TT8_MAMPS	0.039697,0.944489	CFSIZE	2097872896,1996488704
HUMID	47.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.8
TCM_TEMP	13.10	CURRENT	0.055,103.27,1
XPDR_PINGS	8	GPS	120917,222403,7518.964,-15110.789,66,0.8,66,20.7,0.5,311.9,10,9.1
CP_FREE	15936159744.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	456	147.92	nil	0	0	0.00
Roll_motor	84	2144	2227.68	nil	0	0	0.00
VBD_pump_during_apogee	999	1502	18434.53	nil	0	0	0.00
VBD_pump_during_surface	58	201	143.92	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	9180	14	1651.50
Iridium_during_xfer	432	171	910.48	NCP	9149	20	2246.99
Transponder_ping	2	420	10.32	PMAR	9121	11	1268.02
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.51
TT8	0	0	0.00
LPSleep	6504	2	185.87
TT8_Active	1067	13	184.40
TT8_Sampling	2045	33	845.96
TT8_CF8	334	38	159.88
TT8_Kalman	0	0	0.00
Analog_circuits	2240	10	277.20
GPS_charging	0	0	0.00
Compass	1096	7	94.96
RAFOS	2217	48	1316.37
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
48	end surface: CONTROL_FINISHED_OK
state	48	begin dive
51	-0.57	-145.9	178	2214	495	476	0.0	0.0	0	144	0.00	0.00	-91.82	0.000	16386	0.000	0.000	175	2213	2155	2082	2229	0	0	0	0	0	0	14.48	28.83	14.52
147	-0.57	-145.9	177	2214	2086	2231	3.9	-5.3	9	201	13.07	2.90	-35.45	0.000	18980	0.457	2.144	2384	796	3965	3950	3980	1	0	0	0	0	0	13.30	12.61	14.02
221	-0.51	-145.9	2384	797	3953	3980	26.9	-27.2	23	227	0.15	2.50	0.00	0.000	3206	0.275	0.083	2409	2199	3969	3954	3984	0	0	0	0	0	0	13.85	14.06	14.16
532	-0.66	-145.9	2409	2201	3957	3981	66.1	-10.0	55	537	0.12	2.53	0.00	0.000	4516	0.132	0.087	2349	3615	3968	3956	3980	0	0	0	0	0	0	14.15	14.04	14.17
597	-0.82	-145.9	2350	3617	3957	3981	73.3	-10.8	68	605	0.00	2.45	0.00	0.000	1158	0.000	0.057	2350	2195	3968	3956	3980	0	0	0	0	0	0	14.24	14.12	14.28
921	-0.94	-145.9	2350	2195	3956	3981	109.8	-10.4	94	922	0.22	0.00	0.00	0.000	4230	0.103	0.000	2263	2195	3968	3957	3980	0	0	0	0	0	0	14.09	14.22	14.18
1221	-0.94	-145.9	2264	2194	3957	3980	157.2	-15.5	104	1226	0.00	2.55	0.00	0.000	260	0.000	0.087	2256	3609	3968	3957	3979	0	0	0	0	0	0	14.42	13.95	14.44
1349	-1.02	-145.9	2253	3611	3957	3981	174.4	-13.1	129	1354	0.00	2.42	0.00	0.000	1158	0.000	0.057	2256	2203	3968	3956	3980	0	0	0	0	0	0	14.15	14.03	14.19
1674	-1.02	-145.9	2256	2203	3957	3981	220.6	-13.8	144	1679	0.00	2.53	0.00	0.000	260	0.000	0.086	2251	3611	3968	3956	3980	0	0	0	0	0	0	14.40	13.95	14.42
1730	-1.12	-145.9	2248	3614	3957	3980	227.7	-11.9	155	1736	0.00	2.45	0.00	0.000	1158	0.000	0.057	2248	2199	3968	3956	3980	0	0	0	0	0	0	13.99	13.87	14.02
2035	-1.15	-145.9	2248	2199	3957	3981	267.6	-12.5	166	2040	0.12	2.53	0.00	0.000	4484	0.145	0.083	2184	3610	3968	3957	3980	0	0	0	0	0	0	14.07	13.95	14.12
2090	-1.11	-145.9	2185	3610	3957	3981	276.6	-16.7	177	2097	0.17	2.45	0.00	0.000	3206	0.252	0.057	2219	2197	3967	3954	3980	0	0	0	0	0	0	13.66	13.84	13.95
2395	-1.11	-145.9	2220	2196	3957	3980	318.9	-13.2	188	2401	0.00	2.53	0.00	0.000	260	0.000	0.085	2211	3610	3966	3956	3976	0	0	0	0	0	0	14.38	13.93	14.40
2518	-1.18	-145.9	2212	3611	3957	3980	334.0	-12.3	212	2523	0.00	2.45	0.00	0.000	1158	0.000	0.057	2210	2192	3967	3956	3979	0	0	0	0	0	0	14.12	14.00	14.18
2849	-1.18	-145.9	2212	2190	3955	3980	377.8	-13.0	228	2854	0.00	2.55	0.00	0.000	260	0.000	0.089	2207	3609	3968	3956	3980	0	0	0	0	0	0	14.40	13.89	14.42
2912	-1.25	-145.9	2209	3611	3955	3981	385.4	-11.3	240	2918	0.10	2.45	0.00	0.000	5254	0.150	0.056	2163	2194	3967	3955	3980	0	0	0	0	0	0	13.97	13.92	14.09
3244	-1.16	-145.9	2164	2194	3956	3980	442.5	-17.4	256	3250	0.17	2.50	0.00	0.000	2436	0.307	0.081	2190	3610	3970	3954	3986	0	0	0	0	0	0	13.55	13.88	13.76
3371	-1.20	-145.9	2190	3612	3955	3981	459.9	-12.6	281	3375	0.00	2.42	0.00	0.000	1158	0.000	0.056	2190	2192	3967	3954	3980	0	0	0	0	0	0	14.23	14.10	14.27
3513	end dive: TARGET_DEPTH_EXCEEDED
state	3513	begin apogee
3519	-0.13	0.0	2191	2061	3955	3980	480.1	-14.0	290	3765	1.35	0.08	242.30	1.378	10246	0.239	0.180	2528	2110	3365	3384	3347	0	0	0	0	0	0	13.73	13.45	12.62
3769	end apogee: CONTROL_FINISHED_OK
state	3769	begin climb
3773	0.57	145.9	2528	2111	3375	3334	493.5	0.0	298	3997	0.75	2.62	211.43	1.339	10756	0.061	0.078	2794	734	2763	2803	2723	0	0	0	0	0	0	13.66	13.14	12.28
4222	0.15	145.9	2794	730	2784	2713	475.5	14.4	381	4230	0.75	2.42	0.00	0.000	5254	0.325	0.074	2637	2095	2746	2784	2709	0	0	0	0	0	0	13.42	13.81	13.82
4527	0.01	174.9	2638	2096	2785	2705	447.9	8.7	392	4573	0.17	2.45	37.67	1.396	12964	0.271	0.083	2602	733	2646	2690	2602	0	0	0	0	0	0	13.84	14.04	13.15
4633	0.04	221.0	2603	732	2687	2588	439.8	7.9	413	4710	0.00	2.40	70.05	1.328	9254	0.000	0.079	2608	2101	2463	2523	2403	0	0	0	0	0	0	14.21	14.07	13.05
5009	0.03	236.9	2602	2102	2504	2383	405.6	9.3	438	5028	0.00	0.00	18.55	1.454	8358	0.000	0.000	2602	2101	2400	2458	2342	0	0	0	0	0	0	14.56	14.06	13.21
5308	0.04	250.0	2603	2100	2439	2325	377.4	9.4	448	5327	0.00	0.00	14.05	1.502	8742	0.000	0.000	2602	2101	2343	2394	2292	0	0	0	0	0	0	14.61	14.13	13.26
5638	0.06	271.7	2602	2102	2386	2282	347.2	9.0	464	5679	0.00	2.47	33.65	1.382	8740	0.000	0.086	2602	726	2250	2301	2200	0	0	0	0	0	0	14.64	14.12	13.25
5741	0.17	307.0	2603	725	2292	2192	338.4	8.4	484	5804	0.12	2.40	56.55	1.301	11430	0.125	0.079	2658	2100	2110	2158	2063	0	0	0	0	0	0	14.21	14.16	13.14
6120	0.12	307.0	2662	2101	2144	2043	290.4	12.6	510	6125	0.15	2.42	0.00	0.000	4740	0.252	0.083	2630	730	2093	2144	2042	0	0	0	0	0	0	13.93	14.15	14.07
6150	0.17	307.0	2630	731	2142	2043	287.0	10.5	516	6155	0.00	2.40	0.00	0.000	1158	0.000	0.077	2630	2099	2091	2141	2042	0	0	0	0	0	0	14.32	14.19	14.37
6480	0.21	332.0	2631	2101	2141	2040	255.8	8.8	532	6518	0.00	0.00	36.67	1.315	8358	0.000	0.000	2630	2101	2016	2068	1965	0	0	0	0	0	0	14.66	14.07	13.26
6810	0.30	370.7	2631	2102	2046	1946	227.9	8.2	543	6886	0.15	2.50	67.35	1.242	10916	0.112	0.087	2698	733	1847	1877	1817	0	0	0	0	0	0	14.16	13.97	13.19
6928	0.30	370.7	2699	732	1864	1813	214.3	12.0	561	6935	0.00	2.40	0.00	0.000	1030	0.000	0.077	2698	2098	1837	1862	1813	0	0	0	0	0	0	14.16	14.04	14.22
7231	0.27	370.7	2699	2099	1861	1805	178.5	11.5	572	7236	0.12	2.40	0.00	0.000	4740	0.224	0.084	2672	732	1832	1860	1805	0	0	0	0	0	0	13.96	14.14	14.07
7257	0.30	370.7	2672	733	1859	1806	175.9	10.6	577	7264	0.00	2.42	0.00	0.000	1158	0.000	0.079	2672	2105	1831	1858	1805	0	0	0	0	0	0	14.27	14.14	14.32
7562	0.36	398.2	2672	2106	1859	1809	148.2	8.7	588	7612	0.00	2.45	43.20	1.251	8868	0.000	0.087	2672	730	1734	1757	1712	0	0	0	0	0	0	14.64	14.05	13.25
7665	0.51	435.9	2672	729	1747	1707	139.6	8.3	608	7738	0.22	2.42	66.97	1.182	11430	0.097	0.078	2762	2107	1586	1614	1558	0	0	0	0	0	0	14.19	14.12	13.16
8044	0.44	435.9	2760	2106	1604	1531	87.1	13.1	640	8049	0.15	2.45	0.00	0.000	4740	0.257	0.082	2733	725	1566	1602	1531	0	0	0	0	0	0	13.88	14.03	14.04
8079	0.48	435.9	2733	727	1601	1532	83.2	10.3	647	8086	0.00	2.42	0.00	0.000	1158	0.000	0.077	2733	2100	1565	1600	1531	0	0	0	0	0	0	14.18	14.03	14.26
8385	0.55	502.7	2734	2101	1603	1528	57.3	6.9	678	8425	0.00	0.00	35.47	0.366	8614	0.000	0.000	2733	2100	1318	1369	1267	0	0	0	0	0	0	14.59	13.83	13.58
8724	0.74	614.7	2734	2100	1367	1274	38.0	4.8	713	8799	0.22	2.50	65.22	0.304	10916	0.095	0.089	2826	730	858	926	790	0	0	0	0	0	0	14.20	14.02	13.68
8826	0.78	614.7	2826	730	929	795	28.6	10.8	732	8832	0.00	2.40	0.00	0.000	1158	0.000	0.075	2826	2099	860	924	797	0	0	0	0	0	0	14.18	14.04	14.21
9127	end climb: SURFACE_DEPTH_REACHED
state	9127	begin surface coast
9147	end surface coast: CONTROL_FINISHED_OK
state	9147	begin surface