Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 337 * 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 337 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 938.0

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 62 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 38 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 938.0 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 62 VBD_MIN 500

DIVE 337 NOCOMM_ACTION 161 R_STBD_OVSHOOT 38 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 140917,221227,7457.1509,-15102.7637,37,0.8,37,20.7,0.0,0.0,10,8.1 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME DVLA

_XMS_NAKs 0 TGT_LATLONG 7444.900,-15040.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 138.1,25185,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.4 D_GRID 480

GPS2 140917,222644,7457.1787,-15102.6143,6,0.8,8,20.7,0.0,93.5,10,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170915000140.454485,3,68,-5,0113,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27 PM_FREEKB_00 47013952

FINISH 0.0,1.021354 _24V_AH 12.24,205.919

SM_CCo 9175,6.53,0.219,0,0,499,702.78 _10V_AH 12.12,0.000

SM_GC 2.03,8.12,0.17,6.53,0.071,0.131,0.219,198,2215,499,-7.39,-0.51,702.78,0,0,0,0,0,0,14.28,14.20,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 171 FG_AHR_10Vo 0.000

MODEM 0,1505433700,75.36600,-145.04601,46.454,67239.7 MEM 323512

RAFOS_FIX 7424.860352,-15335.210938,310817,202059,3,255,0.12 DATA_FILE_SIZE 26721,779

IRIDIUM_FIX 7457.66,-15101.55,140917,221709 CAP_FILE_SIZE 105039,0

TT8_MAMPS 0.040446,0.966959 CFSIZE 2097872896,1991606272

HUMID 46.06 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1446.5

TCM_TEMP 13.20 CURRENT 0.087,189.76,1

XPDR_PINGS 5 GPS 150917,010132,7455.602,-15101.804,22,0.8,22,20.7,0.0,0.0,10,8.8

CP_FREE 15928590336.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 140.50 nil 0 0 0.00

Roll_motor 79 2153 2097.48 nil 0 0 0.00

VBD_pump_during_apogee 1039 1536 19552.17 nil 0 0 0.00

VBD_pump_during_surface 6 218 17.47 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 9189 14 1674.95

Iridium_during_xfer 514 175 1107.88 NCP 9141 20 2237.72

Transponder_ping 1 420 6.43 PMAR 9130 11 1312.41

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.74

TT8 0 0 0.00

LPSleep 6177 2 172.94

TT8_Active 889 13 150.52

TT8_Sampling 2634 33 1067.85

TT8_CF8 353 38 165.92

TT8_Kalman 0 0 0.00

Analog_circuits 2634 10 319.31

GPS_charging 0 0 0.00

Compass 1116 7 94.70

RAFOS 2145 48 1247.88

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

52 -0.57 -145.9 194 2220 523 476 0.0 0.0 0 144 0.00 0.00 -91.05 0.000 16386 0.000 0.000 192 2219 2122 2045 2199 0 0 0 0 0 0 14.50 28.83 14.52

148 -0.57 -145.9 194 2220 2050 2202 3.6 -4.4 9 205 12.85 2.78 -37.15 0.000 18724 0.451 2.153 2376 3589 3964 3951 3978 0 0 0 0 0 0 13.55 12.60 14.06

355 -0.72 -145.9 2377 3590 3956 3978 44.1 -13.2 50 361 0.00 2.33 0.00 0.000 1158 0.000 0.057 2376 2235 3966 3955 3978 0 0 0 0 0 0 14.08 13.96 14.12

661 -0.85 -145.9 2377 2234 3957 3978 79.9 -9.3 81 662 0.22 0.00 0.00 0.000 4262 0.099 0.000 2296 2234 3967 3956 3978 0 0 0 0 0 0 14.18 14.29 14.26

983 -0.90 -145.9 2293 2234 3958 3978 124.8 -13.3 101 988 0.00 2.42 0.00 0.000 388 0.000 0.086 2284 3595 3967 3957 3978 0 0 0 0 0 0 14.60 14.09 14.62

1073 -1.02 -145.9 2285 3597 3958 3978 136.2 -11.9 119 1078 0.00 2.38 0.00 0.000 1158 0.000 0.057 2284 2200 3967 3957 3978 0 0 0 0 0 0 14.23 14.09 14.25

1403 -1.08 -145.9 2284 2200 3958 3979 178.7 -12.5 135 1408 0.15 2.47 0.00 0.000 4484 0.132 0.084 2223 3594 3967 3957 3978 0 0 0 0 0 0 14.22 14.07 14.26

1439 -1.08 -145.9 2223 3595 3957 3979 184.2 -16.6 142 1443 0.00 2.40 0.00 0.000 1030 0.000 0.057 2222 2191 3967 3957 3978 0 0 0 0 0 0 14.28 14.15 14.32

1764 -1.03 -145.9 2223 2189 3959 3978 243.0 -18.0 157 1769 0.00 2.50 0.00 0.000 388 0.000 0.088 2222 3595 3967 3957 3978 0 0 0 0 0 0 14.64 14.01 14.66

1881 -1.08 -145.9 2223 3597 3958 3977 260.9 -14.3 180 1888 0.00 2.42 0.00 0.000 1158 0.000 0.057 2222 2183 3967 3957 3978 0 0 0 0 0 0 14.21 14.10 14.26

2184 -1.08 -145.9 2223 2183 3958 3978 306.2 -13.8 191 2189 0.00 2.53 0.00 0.000 260 0.000 0.089 2222 3600 3967 3956 3978 0 0 0 0 0 0 14.65 14.03 14.66

2264 -1.16 -145.9 2223 3601 3958 3980 316.2 -11.7 207 2269 0.00 2.38 0.00 0.000 1158 0.000 0.057 2222 2204 3967 3957 3977 0 0 0 0 0 0 14.29 14.16 14.33

2574 -1.18 -145.9 2223 2202 3958 3978 356.0 -12.7 219 2579 0.00 2.47 0.00 0.000 388 0.000 0.089 2222 3595 3967 3957 3978 0 0 0 0 0 0 14.65 14.00 14.66

2650 -1.29 -145.9 2222 3594 3958 3978 364.8 -11.0 234 2655 0.17 2.38 0.00 0.000 5254 0.115 0.056 2158 2196 3967 3957 3978 0 0 0 0 0 0 14.12 14.08 14.23

2965 -1.18 -145.9 2158 2196 3959 3979 419.7 -17.7 247 2970 0.15 2.50 0.00 0.000 2436 0.335 0.083 2178 3600 3967 3956 3978 0 0 0 0 0 0 13.59 14.00 13.83

3088 -1.18 -145.9 2179 3601 3956 3978 437.6 -14.0 271 3092 0.00 2.42 0.00 0.000 1030 0.000 0.057 2179 2190 3966 3955 3978 0 0 0 0 0 0 14.23 14.11 14.28

3385 end dive: TARGET_DEPTH_EXCEEDED

state 3385 begin apogee

3391 -0.13 0.0 2179 2062 3956 3978 483.4 -15.0 286 3631 1.42 0.00 236.02 1.394 10246 0.248 0.000 2530 2060 3366 3380 3353 0 0 0 0 0 0 13.73 13.51 12.64

3635 end apogee: CONTROL_FINISHED_OK

state 3635 begin climb

3637 0.57 145.9 2530 2061 3371 3341 497.7 0.0 294 4197 0.75 2.55 216.77 1.337 10756 0.061 0.076 2793 733 2749 2783 2715 0 0 0 0 0 0 13.69 12.86 12.24

4209 0.57 145.9 2792 734 2784 2715 464.5 6.8 297 4215 0.00 2.38 0.00 0.000 1030 0.000 0.075 2794 2087 2748 2783 2713 0 0 0 0 0 0 14.15 14.02 14.19

4526 0.12 145.9 2794 2088 2783 2710 417.7 14.2 310 4531 0.73 2.47 0.00 0.000 4484 0.311 0.075 2630 3514 2745 2782 2709 0 0 0 0 0 0 13.69 14.09 13.93

4756 -0.08 162.1 2629 3516 2780 2709 395.3 9.3 356 4777 0.32 2.35 14.77 1.537 13478 0.278 0.058 2562 2124 2705 2742 2669 0 0 0 0 0 0 13.83 14.20 13.26

5100 -0.00 267.4 2563 2125 2735 2653 376.3 5.1 374 5282 0.00 0.00 177.75 1.276 8486 0.000 0.000 2562 2124 2276 2326 2226 0 0 0 0 0 0 14.66 13.69 12.90

5596 0.15 333.5 2562 2125 2308 2199 344.6 7.0 415 5715 0.20 2.65 108.00 1.251 10916 0.096 0.090 2654 697 1997 2042 1953 0 0 0 0 0 0 14.09 13.77 13.03

5786 0.18 333.5 2654 698 2027 1948 321.3 11.6 454 5791 0.00 2.45 0.00 0.000 1158 0.000 0.076 2654 2103 1986 2027 1946 0 0 0 0 0 0 14.00 13.88 14.04

6101 0.18 333.5 2655 2104 2027 1936 284.5 11.5 467 6102 0.00 0.00 0.00 0.000 6 0.000 0.000 2654 2103 1979 2023 1935 0 0 0 0 0 0 14.44 14.47 14.45

6401 0.19 337.9 2654 2104 2027 1935 253.6 9.8 477 6407 0.00 2.50 0.00 0.000 548 0.000 0.087 2654 698 1980 2027 1934 0 0 0 0 0 0 14.45 14.01 14.48

6492 0.27 375.1 2654 697 2025 1934 245.7 8.3 495 6568 0.00 2.50 68.32 1.254 9382 0.000 0.078 2650 2102 1832 1861 1804 0 0 0 0 0 0 14.00 13.88 13.15

6884 0.34 406.3 2654 2103 1844 1790 211.5 8.6 523 6945 0.12 2.58 52.42 1.255 10916 0.126 0.089 2712 698 1702 1722 1682 0 0 0 0 0 0 14.15 13.92 13.17

7011 0.37 406.3 2713 697 1714 1675 196.9 11.5 548 7016 0.00 2.47 0.00 0.000 1158 0.000 0.077 2712 2098 1693 1714 1673 0 0 0 0 0 0 14.09 14.01 14.12

7336 0.37 406.3 2713 2101 1712 1669 157.1 12.1 563 7341 0.00 2.50 0.00 0.000 516 0.000 0.089 2713 692 1690 1712 1668 0 0 0 0 0 0 14.45 14.05 14.47

7406 0.41 406.3 2713 693 1709 1669 149.1 10.9 577 7412 0.00 2.50 0.00 0.000 1158 0.000 0.076 2712 2104 1688 1709 1668 0 0 0 0 0 0 14.21 14.08 14.26

7727 0.41 406.3 2713 2108 1710 1664 113.6 10.7 591 7732 0.00 2.53 0.00 0.000 516 0.000 0.086 2713 690 1687 1709 1666 0 0 0 0 0 0 14.42 13.88 14.43

7763 0.45 406.3 2712 690 1709 1667 109.8 10.7 598 7767 0.00 2.45 0.00 0.000 1158 0.000 0.076 2713 2101 1687 1708 1666 0 0 0 0 0 0 13.98 13.86 14.02

8068 0.45 412.9 2713 2103 1709 1665 78.5 9.7 625 8069 0.00 0.00 0.00 0.000 38 0.000 0.000 2713 2102 1686 1708 1664 0 0 0 0 0 0 14.40 14.42 14.42

8368 0.55 499.0 2713 2103 1708 1664 56.1 6.0 655 8426 0.12 2.55 49.88 0.360 10660 0.126 0.082 2777 3511 1329 1372 1287 0 0 0 0 0 0 14.20 14.04 13.71

8654 0.57 555.7 2777 3513 1373 1298 32.1 7.4 711 8696 0.00 2.42 33.78 0.289 9382 0.000 0.065 2781 2104 1097 1155 1040 0 0 0 0 0 0 14.26 14.14 13.64

8992 0.75 677.8 2781 2105 1156 1050 13.5 4.4 749 9071 0.12 2.53 73.55 0.233 10916 0.132 0.090 2841 690 596 635 557 0 0 0 0 0 0 14.20 13.91 13.74

9122 0.87 691.6 2843 689 636 552 3.1 9.4 774 9138 0.00 2.50 8.10 0.216 9382 0.000 0.076 2839 2110 540 573 508 0 0 0 0 0 0 14.21 14.07 13.81

9144 end climb: SURFACE_DEPTH_REACHED

state 9144 begin surface coast

9154 end surface coast: CONTROL_FINISHED_OK

state 9154 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	337	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	938.0
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	62	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140917,221227,7457.1509,-15102.7637,37,0.8,37,20.7,0.0,0.0,10,8.1	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	DVLA
_XMS_NAKs	0	TGT_LATLONG	7444.900,-15040.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	138.1,25185,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.4	D_GRID	480
GPS2	140917,222644,7457.1787,-15102.6143,6,0.8,8,20.7,0.0,93.5,10,9.1

MODEM_MSG	CACST,6,1,20170915000140.454485,3,68,-5,0113,0150,250,00,00,04,04,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*27	PM_FREEKB_00	47013952
FINISH	0.0,1.021354	_24V_AH	12.24,205.919
SM_CCo	9175,6.53,0.219,0,0,499,702.78	_10V_AH	12.12,0.000
SM_GC	2.03,8.12,0.17,6.53,0.071,0.131,0.219,198,2215,499,-7.39,-0.51,702.78,0,0,0,0,0,0,14.28,14.20,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	171	FG_AHR_10Vo	0.000
MODEM	0,1505433700,75.36600,-145.04601,46.454,67239.7	MEM	323512
RAFOS_FIX	7424.860352,-15335.210938,310817,202059,3,255,0.12	DATA_FILE_SIZE	26721,779
IRIDIUM_FIX	7457.66,-15101.55,140917,221709	CAP_FILE_SIZE	105039,0
TT8_MAMPS	0.040446,0.966959	CFSIZE	2097872896,1991606272
HUMID	46.06	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1446.5
TCM_TEMP	13.20	CURRENT	0.087,189.76,1
XPDR_PINGS	5	GPS	150917,010132,7455.602,-15101.804,22,0.8,22,20.7,0.0,0.0,10,8.8
CP_FREE	15928590336.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	140.50	nil	0	0	0.00
Roll_motor	79	2153	2097.48	nil	0	0	0.00
VBD_pump_during_apogee	1039	1536	19552.17	nil	0	0	0.00
VBD_pump_during_surface	6	218	17.47	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	9189	14	1674.95
Iridium_during_xfer	514	175	1107.88	NCP	9141	20	2237.72
Transponder_ping	1	420	6.43	PMAR	9130	11	1312.41
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.74
TT8	0	0	0.00
LPSleep	6177	2	172.94
TT8_Active	889	13	150.52
TT8_Sampling	2634	33	1067.85
TT8_CF8	353	38	165.92
TT8_Kalman	0	0	0.00
Analog_circuits	2634	10	319.31
GPS_charging	0	0	0.00
Compass	1116	7	94.70
RAFOS	2145	48	1247.88
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
52	-0.57	-145.9	194	2220	523	476	0.0	0.0	0	144	0.00	0.00	-91.05	0.000	16386	0.000	0.000	192	2219	2122	2045	2199	0	0	0	0	0	0	14.50	28.83	14.52
148	-0.57	-145.9	194	2220	2050	2202	3.6	-4.4	9	205	12.85	2.78	-37.15	0.000	18724	0.451	2.153	2376	3589	3964	3951	3978	0	0	0	0	0	0	13.55	12.60	14.06
355	-0.72	-145.9	2377	3590	3956	3978	44.1	-13.2	50	361	0.00	2.33	0.00	0.000	1158	0.000	0.057	2376	2235	3966	3955	3978	0	0	0	0	0	0	14.08	13.96	14.12
661	-0.85	-145.9	2377	2234	3957	3978	79.9	-9.3	81	662	0.22	0.00	0.00	0.000	4262	0.099	0.000	2296	2234	3967	3956	3978	0	0	0	0	0	0	14.18	14.29	14.26
983	-0.90	-145.9	2293	2234	3958	3978	124.8	-13.3	101	988	0.00	2.42	0.00	0.000	388	0.000	0.086	2284	3595	3967	3957	3978	0	0	0	0	0	0	14.60	14.09	14.62
1073	-1.02	-145.9	2285	3597	3958	3978	136.2	-11.9	119	1078	0.00	2.38	0.00	0.000	1158	0.000	0.057	2284	2200	3967	3957	3978	0	0	0	0	0	0	14.23	14.09	14.25
1403	-1.08	-145.9	2284	2200	3958	3979	178.7	-12.5	135	1408	0.15	2.47	0.00	0.000	4484	0.132	0.084	2223	3594	3967	3957	3978	0	0	0	0	0	0	14.22	14.07	14.26
1439	-1.08	-145.9	2223	3595	3957	3979	184.2	-16.6	142	1443	0.00	2.40	0.00	0.000	1030	0.000	0.057	2222	2191	3967	3957	3978	0	0	0	0	0	0	14.28	14.15	14.32
1764	-1.03	-145.9	2223	2189	3959	3978	243.0	-18.0	157	1769	0.00	2.50	0.00	0.000	388	0.000	0.088	2222	3595	3967	3957	3978	0	0	0	0	0	0	14.64	14.01	14.66
1881	-1.08	-145.9	2223	3597	3958	3977	260.9	-14.3	180	1888	0.00	2.42	0.00	0.000	1158	0.000	0.057	2222	2183	3967	3957	3978	0	0	0	0	0	0	14.21	14.10	14.26
2184	-1.08	-145.9	2223	2183	3958	3978	306.2	-13.8	191	2189	0.00	2.53	0.00	0.000	260	0.000	0.089	2222	3600	3967	3956	3978	0	0	0	0	0	0	14.65	14.03	14.66
2264	-1.16	-145.9	2223	3601	3958	3980	316.2	-11.7	207	2269	0.00	2.38	0.00	0.000	1158	0.000	0.057	2222	2204	3967	3957	3977	0	0	0	0	0	0	14.29	14.16	14.33
2574	-1.18	-145.9	2223	2202	3958	3978	356.0	-12.7	219	2579	0.00	2.47	0.00	0.000	388	0.000	0.089	2222	3595	3967	3957	3978	0	0	0	0	0	0	14.65	14.00	14.66
2650	-1.29	-145.9	2222	3594	3958	3978	364.8	-11.0	234	2655	0.17	2.38	0.00	0.000	5254	0.115	0.056	2158	2196	3967	3957	3978	0	0	0	0	0	0	14.12	14.08	14.23
2965	-1.18	-145.9	2158	2196	3959	3979	419.7	-17.7	247	2970	0.15	2.50	0.00	0.000	2436	0.335	0.083	2178	3600	3967	3956	3978	0	0	0	0	0	0	13.59	14.00	13.83
3088	-1.18	-145.9	2179	3601	3956	3978	437.6	-14.0	271	3092	0.00	2.42	0.00	0.000	1030	0.000	0.057	2179	2190	3966	3955	3978	0	0	0	0	0	0	14.23	14.11	14.28
3385	end dive: TARGET_DEPTH_EXCEEDED
state	3385	begin apogee
3391	-0.13	0.0	2179	2062	3956	3978	483.4	-15.0	286	3631	1.42	0.00	236.02	1.394	10246	0.248	0.000	2530	2060	3366	3380	3353	0	0	0	0	0	0	13.73	13.51	12.64
3635	end apogee: CONTROL_FINISHED_OK
state	3635	begin climb
3637	0.57	145.9	2530	2061	3371	3341	497.7	0.0	294	4197	0.75	2.55	216.77	1.337	10756	0.061	0.076	2793	733	2749	2783	2715	0	0	0	0	0	0	13.69	12.86	12.24
4209	0.57	145.9	2792	734	2784	2715	464.5	6.8	297	4215	0.00	2.38	0.00	0.000	1030	0.000	0.075	2794	2087	2748	2783	2713	0	0	0	0	0	0	14.15	14.02	14.19
4526	0.12	145.9	2794	2088	2783	2710	417.7	14.2	310	4531	0.73	2.47	0.00	0.000	4484	0.311	0.075	2630	3514	2745	2782	2709	0	0	0	0	0	0	13.69	14.09	13.93
4756	-0.08	162.1	2629	3516	2780	2709	395.3	9.3	356	4777	0.32	2.35	14.77	1.537	13478	0.278	0.058	2562	2124	2705	2742	2669	0	0	0	0	0	0	13.83	14.20	13.26
5100	-0.00	267.4	2563	2125	2735	2653	376.3	5.1	374	5282	0.00	0.00	177.75	1.276	8486	0.000	0.000	2562	2124	2276	2326	2226	0	0	0	0	0	0	14.66	13.69	12.90
5596	0.15	333.5	2562	2125	2308	2199	344.6	7.0	415	5715	0.20	2.65	108.00	1.251	10916	0.096	0.090	2654	697	1997	2042	1953	0	0	0	0	0	0	14.09	13.77	13.03
5786	0.18	333.5	2654	698	2027	1948	321.3	11.6	454	5791	0.00	2.45	0.00	0.000	1158	0.000	0.076	2654	2103	1986	2027	1946	0	0	0	0	0	0	14.00	13.88	14.04
6101	0.18	333.5	2655	2104	2027	1936	284.5	11.5	467	6102	0.00	0.00	0.00	0.000	6	0.000	0.000	2654	2103	1979	2023	1935	0	0	0	0	0	0	14.44	14.47	14.45
6401	0.19	337.9	2654	2104	2027	1935	253.6	9.8	477	6407	0.00	2.50	0.00	0.000	548	0.000	0.087	2654	698	1980	2027	1934	0	0	0	0	0	0	14.45	14.01	14.48
6492	0.27	375.1	2654	697	2025	1934	245.7	8.3	495	6568	0.00	2.50	68.32	1.254	9382	0.000	0.078	2650	2102	1832	1861	1804	0	0	0	0	0	0	14.00	13.88	13.15
6884	0.34	406.3	2654	2103	1844	1790	211.5	8.6	523	6945	0.12	2.58	52.42	1.255	10916	0.126	0.089	2712	698	1702	1722	1682	0	0	0	0	0	0	14.15	13.92	13.17
7011	0.37	406.3	2713	697	1714	1675	196.9	11.5	548	7016	0.00	2.47	0.00	0.000	1158	0.000	0.077	2712	2098	1693	1714	1673	0	0	0	0	0	0	14.09	14.01	14.12
7336	0.37	406.3	2713	2101	1712	1669	157.1	12.1	563	7341	0.00	2.50	0.00	0.000	516	0.000	0.089	2713	692	1690	1712	1668	0	0	0	0	0	0	14.45	14.05	14.47
7406	0.41	406.3	2713	693	1709	1669	149.1	10.9	577	7412	0.00	2.50	0.00	0.000	1158	0.000	0.076	2712	2104	1688	1709	1668	0	0	0	0	0	0	14.21	14.08	14.26
7727	0.41	406.3	2713	2108	1710	1664	113.6	10.7	591	7732	0.00	2.53	0.00	0.000	516	0.000	0.086	2713	690	1687	1709	1666	0	0	0	0	0	0	14.42	13.88	14.43
7763	0.45	406.3	2712	690	1709	1667	109.8	10.7	598	7767	0.00	2.45	0.00	0.000	1158	0.000	0.076	2713	2101	1687	1708	1666	0	0	0	0	0	0	13.98	13.86	14.02
8068	0.45	412.9	2713	2103	1709	1665	78.5	9.7	625	8069	0.00	0.00	0.00	0.000	38	0.000	0.000	2713	2102	1686	1708	1664	0	0	0	0	0	0	14.40	14.42	14.42
8368	0.55	499.0	2713	2103	1708	1664	56.1	6.0	655	8426	0.12	2.55	49.88	0.360	10660	0.126	0.082	2777	3511	1329	1372	1287	0	0	0	0	0	0	14.20	14.04	13.71
8654	0.57	555.7	2777	3513	1373	1298	32.1	7.4	711	8696	0.00	2.42	33.78	0.289	9382	0.000	0.065	2781	2104	1097	1155	1040	0	0	0	0	0	0	14.26	14.14	13.64
8992	0.75	677.8	2781	2105	1156	1050	13.5	4.4	749	9071	0.12	2.53	73.55	0.233	10916	0.132	0.090	2841	690	596	635	557	0	0	0	0	0	0	14.20	13.91	13.74
9122	0.87	691.6	2843	689	636	552	3.1	9.4	774	9138	0.00	2.50	8.10	0.216	9382	0.000	0.076	2839	2110	540	573	508	0	0	0	0	0	0	14.21	14.07	13.81
9144	end climb: SURFACE_DEPTH_REACHED
state	9144	begin surface coast
9154	end surface coast: CONTROL_FINISHED_OK
state	9154	begin surface