Glider dive log

CABAGE Aug16 * SG198 * Dive index * Mission links * Dive 63 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 198 ESCAPE_HEADING 180 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 8 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 3

DIVE 63 FIX_MISSING_TIMEOUT 3 R_PORT_OVSHOOT 57 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7545 R_STBD_OVSHOOT 20 XPDR_VALID 2

STOP_T 0 TGT_DEFAULT_LON -15041 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 692.78448 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT -0.44999999

D_TGT 330 N_FILEKB 8 ROLL_ADJ_DBAND 0 DEEPGLIDER 0

D_ABORT 350 FILEMGR 2 VBD_MIN 500 MOTHERBOARD 4

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 100 COMM_SEQ 0 C_VBD 3135 DEVICE2 -1

T_BOOST 4 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 9 N_NOCOMM 6 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 1.75 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 500 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 3 UPLOAD_DIVES_MAX 3 PITCH_VBD_SHIFT 0.00069999998 LOGGERS 3

SURFACE_URGENCY 5 CALL_TRIES 3 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 54

SURFACE_URGENCY_TRY 10 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 87

SURFACE_URGENCY_FORCE 20 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 110 CAPMAXSIZE 100000 UNCOM_BLEED 60 LOGGERDEVICE4 -1

T_MISSION 130 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_ABORT 1440 T_GPS 3 W_ADJ_DBAND 0 COMPASS2_DEVICE 147

T_TURN 225 N_GPS 100440 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE 101

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 350 SIM_W 0

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_PITCH 0

USE_ICE 1 RAFOS_MMODEM 0 MINV_24V 11 SEABIRD_T_G 0.0043050982

ICE_FREEZE_MARGIN 0.1 PITCH_MIN 212 MINV_10V 11 SEABIRD_T_H 0.00061941822

D_OFFGRID 1000 PITCH_MAX 3894 MAXI_24V 0.60000002 SEABIRD_T_I 2.1629137e-05

T_WATCHDOG 10 C_PITCH 2510 MAXI_10V 1 SEABIRD_T_J 2.164825e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.9284992

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1529615

MAX_BUOY 150 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017988096

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PRESSURE_YINT -160.38615 SEABIRD_C_J 0.00021813816

GLIDE_SLOPE 30 PITCH_GAIN 36 PRESSURE_SLOPE 0.00010704049 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 1 SC_PROFILE 3.0

RHO 1.028 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 53552 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MIN 200 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

KALMAN_USE 2 ROLL_MAX 3790 ALTIM_BOTTOM_TURN_MARGIN 0 PM_NDIVE 0.0

HD_A 0.00281 ROLL_DEG 50 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0107 C_ROLL_DIVE 3100 ALTIM_TOP_MIN_OBSTACLE 1 PM_SENDDEPTH 0.0

HD_C 1.91e-06 C_ROLL_CLIMB 2400 ALTIM_PING_DEPTH 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 5

AD7714Ch0Gain 1 D_TGT 330 PITCH_DBAND 0.1 SEABIRD_T_I 2.1629137e-05

AH0_10V 0 ESCAPE_HEADING 180 PITCH_GAIN 36 SEABIRD_T_J 2.164825e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3894 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 0 FG_AHR_10V 0 PITCH_MIN 212 SM_CC 692.78448

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 20 SPEED_FACTOR 1

ALTIM_PING_DELTA 5 FILEMGR 2 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 3 PITCH_W_DBAND 0 STROBE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_W_GAIN 0 SURFACE_URGENCY 5

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 20

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.00281 PM_NDIVE 0.0 SURFACE_URGENCY_TRY 10

ALTIM_TOP_PING_RANGE 0 HD_B 0.0107 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.91e-06 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 7545

CALL_TRIES 3 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LON -15041

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.1 PRESSURE_SLOPE 0.00010704049 T_ABORT 1440

CAPMAXSIZE 100000 ID 198 PRESSURE_YINT -160.38615 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_DIVE 110

CF8_MAXERRORS 20 INT_PRESSURE_YINT -0.44999999 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_GPS 3

COMPASS2_DEVICE 147 LOGGERDEVICE1 54 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE2 87 RAFOS_DEVICE 101 T_MISSION 130

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 2510 LOGGERS 3 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_ROLL_CLIMB 2400 MASS 53552 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 3100 MASS_COMP 0 RHO 1.028 T_WATCHDOG 10

C_VBD 3135 MAXI_10V 1 ROLL_ADJ_DBAND 0 UNCOM_BLEED 60

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX 3

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_BATHY -6

DEVICE1 -1 MINV_10V 11 ROLL_CNV 0.028270001 USE_ICE 1

DEVICE2 -1 MINV_24V 11 ROLL_DEG 50 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MISSION 8 ROLL_MAX 3790 VBD_CNV -0.24529999

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 200 VBD_LP_IGNORE 0

DEVICE6 -1 NOCOMM_ACTION 161 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 63 N_DIVES 0 R_PORT_OVSHOOT 57 VBD_MAXERRORS 1

D_ABORT 350 N_FILEKB 8 R_STBD_OVSHOOT 20 VBD_MIN 500

D_BOOST 100 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 3 N_NOCOMM 6 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 9 N_NOSURFACE 0 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_C_G -9.9284992 W_ADJ_DBAND 0

D_NO_BLEED 50 PHONE_SUPPLY -2 SEABIRD_C_H 1.1529615 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_ADJ_DBAND 1 SEABIRD_C_I -0.0017988096 XPDR_INHIBIT 90

D_PITCH 1.75 PITCH_ADJ_GAIN 0.02 SEABIRD_C_J 0.00021813816 XPDR_VALID 2

D_SAFE 500 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043050982

D_SURF 2 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00061941822

Pre-dive calculations and measurements:

GPS1 050916,031503,7518.6953,-15009.9033,42,0.9,42,21.2,0.0,0.0,9,7.9 SPEED_LIMITS 0.173,0.254

_CALLS 1 TGT_NAME T6

_XMS_NAKs 0 TGT_LATLONG 7430.000,-14900.000

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 0.86 MHEAD_RNG_PITCHd_Wd 133.4,96514,-17.5,-10.000,-21.45,2245

_SM_ANGLEo -65.8 D_GRID 1000

GPS2 050916,032515,7518.6475,-15009.9316,8,0.7,10,21.2,0.0,0.0,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20160905040235.319315,3,43,10,0226,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C SC_FREEKB 3988768

FREEZE -0.06,0.104,-0.122,2,1,0 PM_FREEKB 55595456

FINISH -0.1,1.001647 _24V_AH 12.74,33.469

SM_CCo 6594,0.08,1.248,0,0,501,646.37 _10V_AH 12.51,0.000

SM_GC 0.82,8.02,1.25,0.08,0.077,0.096,1.248,188,3096,501,-7.14,-0.68,646.37,0,0,0,0,0,0,14.21,14.15,14.07 FG_AHR_24Vo 0.000

RAFOS_CLK 290 FG_AHR_10Vo 0.000

MODEM 0,1473048155,75.36600,-145.04601,101.319,146756.7 MEM 311120

RAFOS_FIX 7517.822754,-15010.940430,050916,000051,2,255,4.13 DATA_FILE_SIZE 23419,706

IRIDIUM_FIX 7429.78,-15004.78,050916,000701 CAP_FILE_SIZE 94363,0

TT8_MAMPS 0.040446,0.881573 CFSIZE 2097872896,2075557888

HUMID 55.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0

INTERNAL_PRESSURE 8.29057 SOUNDSPEED 1442.9

TCM_TEMP 12.90 CURRENT 0.196,324.06,1

XPDR_PINGS 5 GPS 050916,051632,7518.600,-15009.396,6,0.8,15,21.2,0.0,0.0,11,7.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 457 130.55 nil 0 0 0.00

Roll_motor 87 2187 2425.02 nil 0 0 0.00

VBD_pump_during_apogee 859 2115 23180.94 nil 0 0 0.00

VBD_pump_during_surface 36 1248 576.98 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 6564 17 1445.80

Iridium_during_xfer 397 188 955.69 PMAR 6533 18 1547.84

Transponder_ping 1 420 6.69 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 11 20 3.04

TT8 0 0 0.00

LPSleep 4176 2 120.70

TT8_Active 983 10 131.90

TT8_Sampling 1789 29 659.46

TT8_CF8 255 34 110.89

TT8_Kalman 0 0 0.00

Analog_circuits 2032 11 279.72

GPS_charging 0 0 0.00

Compass 1012 6 85.40

RAFOS 2216 48 1330.66

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

10 end surface: CONTROL_FINISHED_OK

state 10 begin dive

13 -0.59 -145.9 187 3108 499 521 0.0 0.0 0 136 0.00 0.00 -121.12 0.000 16386 0.000 0.000 186 3107 2429 2387 2472 0 0 0 0 0 0 14.36 28.83 14.38

139 -0.59 -145.9 187 3108 2387 2473 3.5 -5.1 12 186 11.10 3.22 -30.38 0.000 18980 0.457 2.188 2309 1356 3733 3638 3829 0 0 0 0 0 0 14.00 13.34 14.26

412 -0.62 -145.9 2309 1356 3635 3837 55.5 -12.7 66 417 0.00 3.08 0.00 0.000 1158 0.000 0.086 2300 3097 3735 3634 3836 0 0 0 0 0 0 14.33 14.23 14.35

602 -0.67 -145.9 2301 3098 3633 3839 78.5 -11.8 86 607 0.00 2.90 0.00 0.000 644 0.000 0.048 2300 1354 3735 3632 3839 0 0 0 0 0 0 14.47 14.35 14.50

832 -0.76 -145.9 2301 1355 3632 3840 102.2 -9.9 132 837 0.00 3.08 0.00 0.000 1190 0.000 0.087 2297 3100 3736 3633 3839 0 0 0 0 0 0 14.40 14.30 14.42

1022 -0.85 -145.9 2297 3101 3631 3841 119.4 -8.6 143 1027 0.15 2.90 0.00 0.000 4772 0.109 0.045 2214 1349 3735 3630 3841 0 0 0 0 0 0 14.38 14.38 14.42

1102 -0.85 -145.9 2214 1349 3630 3842 129.3 -12.8 159 1108 0.12 3.08 0.00 0.000 3078 0.299 0.086 2230 3101 3735 3629 3842 0 0 0 0 0 0 14.26 14.34 14.42

1303 -0.85 -145.9 2230 3102 3631 3845 153.8 -12.2 172 1308 0.00 2.90 0.00 0.000 516 0.000 0.048 2230 1346 3736 3628 3845 0 0 0 0 0 0 14.57 14.42 14.59

1338 -0.87 -145.9 2231 1346 3628 3845 158.1 -12.0 179 1344 0.00 3.10 0.00 0.000 1158 0.000 0.088 2230 3105 3736 3628 3845 0 0 0 0 0 0 14.45 14.36 14.47

1523 -0.87 -145.9 2230 3106 3630 3846 180.5 -12.1 189 1529 0.00 2.90 0.00 0.000 516 0.000 0.048 2230 1348 3736 3627 3845 0 0 0 0 0 0 14.59 14.44 14.62

1554 -0.89 -145.9 2231 1348 3627 3846 184.2 -12.3 195 1559 0.00 3.08 0.00 0.000 1158 0.000 0.086 2221 3102 3735 3626 3845 0 0 0 0 0 0 14.50 14.40 14.51

1744 -0.89 -145.9 2220 3102 3628 3846 207.3 -12.0 206 1749 0.00 2.90 0.00 0.000 516 0.000 0.048 2221 1341 3736 3626 3846 0 0 0 0 0 0 14.62 14.43 14.64

1778 -0.89 -145.9 2220 1341 3628 3847 211.5 -11.7 213 1786 0.00 3.08 0.00 0.000 1030 0.000 0.086 2214 3101 3736 3626 3846 0 0 0 0 0 0 14.49 14.39 14.51

1964 -0.89 -145.9 2215 3102 3626 3846 233.3 -11.7 223 1969 0.00 2.88 0.00 0.000 516 0.000 0.048 2210 1356 3736 3626 3846 0 0 0 0 0 0 14.62 14.47 14.64

2024 -0.89 -145.9 2214 1356 3627 3847 240.4 -11.8 232 2029 0.00 3.05 0.00 0.000 1030 0.000 0.086 2206 3101 3736 3626 3846 0 0 0 0 0 0 14.49 14.40 14.51

2219 -0.89 -145.9 2207 3103 3626 3846 263.6 -12.0 244 2220 0.00 0.00 0.00 0.000 6 0.000 0.000 2206 3102 3736 3626 3846 0 0 0 0 0 0 14.57 14.59 14.59

2399 -0.89 -145.9 2207 3103 3626 3847 285.6 -12.2 253 2405 0.00 2.90 0.00 0.000 516 0.000 0.047 2206 1349 3735 3625 3846 0 0 0 0 0 0 14.56 14.40 14.57

2430 -0.89 -145.9 2205 1349 3626 3847 289.2 -11.6 259 2435 0.00 3.08 0.00 0.000 1030 0.000 0.086 2200 3100 3735 3625 3846 0 0 0 0 0 0 14.45 14.35 14.47

2620 -0.89 -145.9 2201 3107 3625 3842 310.0 -10.3 270 2625 0.00 2.90 0.00 0.000 516 0.000 0.047 2199 1346 3735 3624 3846 0 0 0 0 0 0 14.54 14.38 14.56

2660 -0.89 -145.9 2199 1347 3625 3847 313.9 -9.4 278 2665 0.00 3.10 0.00 0.000 1062 0.000 0.086 2190 3107 3734 3623 3846 0 0 0 0 0 0 14.44 14.34 14.45

2838 end dive: TARGET_DEPTH_EXCEEDED

state 2838 begin apogee

2844 -0.14 0.0 2193 2381 3625 3847 331.2 -9.7 290 2988 0.98 0.00 135.32 2.116 10246 0.229 0.000 2462 2380 3134 3050 3219 0 0 0 0 1 0 14.27 13.54 12.74

2990 end apogee: CONTROL_FINISHED_OK

state 2990 begin climb

2992 0.59 145.9 2469 2381 3062 3227 334.4 0.0 297 3242 0.73 0.00 244.35 0.993 10758 0.097 0.000 2696 2380 2538 2463 2613 0 0 0 0 0 0 13.56 13.34 12.94

3422 0.52 145.9 2696 2385 2442 2592 297.3 12.3 355 3427 0.00 2.65 0.00 0.000 388 0.000 0.100 2695 3786 2516 2442 2591 0 0 0 0 0 0 13.83 13.66 13.85

3652 0.40 145.9 2696 3787 2442 2586 271.7 10.6 401 3657 0.25 2.30 0.00 0.000 5254 0.264 0.041 2644 2410 2515 2442 2589 0 0 0 0 0 0 13.78 13.90 13.93

3843 0.48 227.7 2645 2411 2443 2589 259.2 6.3 412 3994 0.00 2.70 140.20 1.055 8612 0.000 0.100 2644 3787 2201 2128 2274 0 0 0 0 0 0 14.14 13.47 13.11

4219 0.52 238.1 2645 3788 2114 2261 225.6 9.5 487 4240 0.00 2.33 13.15 1.090 9382 0.000 0.041 2648 2404 2161 2086 2236 0 0 0 0 0 0 13.88 13.83 13.32

4425 0.63 285.2 2648 2405 2072 2224 208.8 7.8 501 4510 0.17 0.00 76.32 1.053 10406 0.101 0.000 2732 2403 1969 1895 2044 0 0 0 0 1 0 13.93 13.62 13.06

4687 0.60 285.2 2733 2404 1895 2044 178.8 11.7 514 4693 0.00 2.58 0.00 0.000 388 0.000 0.099 2732 3787 1969 1895 2043 0 0 0 0 0 0 13.97 13.77 13.98

4733 0.54 285.2 2732 3787 1896 2044 172.5 14.2 523 4738 0.22 2.33 0.00 0.000 5254 0.246 0.041 2688 2403 1969 1894 2044 0 0 0 0 0 0 13.77 13.89 13.91

4929 0.61 309.2 2688 2403 1894 2043 154.3 8.9 535 4970 0.00 0.00 33.05 1.089 8358 0.000 0.000 2688 2405 1871 1797 1946 0 0 0 0 1 0 14.18 13.88 13.33

5149 0.68 328.3 2688 2404 1799 1947 134.3 9.1 546 5190 0.15 0.00 30.17 1.060 10406 0.110 0.000 2752 2402 1793 1723 1864 0 0 0 0 1 0 14.04 13.81 13.35

5368 0.68 328.3 2752 2403 1724 1865 106.8 12.7 557 5369 0.00 0.00 0.00 0.000 6 0.000 0.000 2753 2403 1793 1723 1864 0 0 0 0 0 0 14.21 14.23 14.23

5548 0.68 328.3 2752 2403 1724 1864 84.9 11.7 572 5553 0.00 2.50 0.00 0.000 260 0.000 0.099 2753 3787 1793 1723 1864 0 0 0 0 0 0 14.29 14.10 14.31

5593 0.64 328.3 2753 3788 1724 1864 79.2 12.9 581 5600 0.17 2.30 0.00 0.000 5254 0.251 0.042 2718 2392 1793 1723 1863 0 0 0 0 0 0 14.04 14.16 14.19

5780 0.73 373.9 2718 2391 1724 1864 62.8 7.9 600 5812 0.00 0.00 30.30 0.364 8358 0.000 0.000 2718 2391 1609 1539 1679 0 0 0 0 0 0 14.36 14.20 13.98

5990 0.90 463.8 2718 2392 1557 1695 48.0 5.9 621 6058 0.22 2.60 62.97 0.330 10660 0.088 0.099 2821 3789 1241 1183 1300 0 0 0 0 0 0 14.23 14.09 13.95

6178 0.90 463.8 2825 3789 1183 1320 26.3 12.4 658 6185 0.00 2.28 0.00 0.000 1030 0.000 0.041 2831 2400 1251 1183 1320 0 0 0 0 0 0 14.26 14.21 14.27

6364 0.98 530.3 2831 2401 1185 1321 13.9 7.0 677 6418 0.00 2.97 46.60 0.238 8868 0.000 0.066 2833 670 974 918 1030 0 0 0 0 0 0 14.40 14.14 14.07

6465 1.11 596.3 2834 671 918 1038 7.6 7.0 696 6520 0.10 2.97 47.45 0.213 11430 0.151 0.062 2890 2409 699 662 737 0 0 0 0 0 0 14.20 14.16 14.06

6523 end climb: SURFACE_DEPTH_REACHED

state 6525 begin surface coast

6533 end surface coast: CONTROL_FINISHED_OK

state 6533 begin surface

ID	198	ESCAPE_HEADING	180	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	8	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	3
DIVE	63	FIX_MISSING_TIMEOUT	3	R_PORT_OVSHOOT	57	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7545	R_STBD_OVSHOOT	20	XPDR_VALID	2
STOP_T	0	TGT_DEFAULT_LON	-15041	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	692.78448	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	-0.44999999
D_TGT	330	N_FILEKB	8	ROLL_ADJ_DBAND	0	DEEPGLIDER	0
D_ABORT	350	FILEMGR	2	VBD_MIN	500	MOTHERBOARD	4
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	100	COMM_SEQ	0	C_VBD	3135	DEVICE2	-1
T_BOOST	4	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	9	N_NOCOMM	6	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	1.75	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	500	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	3	UPLOAD_DIVES_MAX	3	PITCH_VBD_SHIFT	0.00069999998	LOGGERS	3
SURFACE_URGENCY	5	CALL_TRIES	3	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	54
SURFACE_URGENCY_TRY	10	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	87
SURFACE_URGENCY_FORCE	20	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	110	CAPMAXSIZE	100000	UNCOM_BLEED	60	LOGGERDEVICE4	-1
T_MISSION	130	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_ABORT	1440	T_GPS	3	W_ADJ_DBAND	0	COMPASS2_DEVICE	147
T_TURN	225	N_GPS	100440	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	101
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	350	SIM_W	0
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_PITCH	0
USE_ICE	1	RAFOS_MMODEM	0	MINV_24V	11	SEABIRD_T_G	0.0043050982
ICE_FREEZE_MARGIN	0.1	PITCH_MIN	212	MINV_10V	11	SEABIRD_T_H	0.00061941822
D_OFFGRID	1000	PITCH_MAX	3894	MAXI_24V	0.60000002	SEABIRD_T_I	2.1629137e-05
T_WATCHDOG	10	C_PITCH	2510	MAXI_10V	1	SEABIRD_T_J	2.164825e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.9284992
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1529615
MAX_BUOY	150	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	-0.0017988096
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-160.38615	SEABIRD_C_J	0.00021813816
GLIDE_SLOPE	30	PITCH_GAIN	36	PRESSURE_SLOPE	0.00010704049	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	1	SC_PROFILE	3.0
RHO	1.028	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	53552	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MIN	200	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
KALMAN_USE	2	ROLL_MAX	3790	ALTIM_BOTTOM_TURN_MARGIN	0	PM_NDIVE	0.0
HD_A	0.00281	ROLL_DEG	50	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0107	C_ROLL_DIVE	3100	ALTIM_TOP_MIN_OBSTACLE	1	PM_SENDDEPTH	0.0
HD_C	1.91e-06	C_ROLL_CLIMB	2400	ALTIM_PING_DEPTH	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	5

GPS1	050916,031503,7518.6953,-15009.9033,42,0.9,42,21.2,0.0,0.0,9,7.9	SPEED_LIMITS	0.173,0.254
_CALLS	1	TGT_NAME	T6
_XMS_NAKs	0	TGT_LATLONG	7430.000,-14900.000
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	0.86	MHEAD_RNG_PITCHd_Wd	133.4,96514,-17.5,-10.000,-21.45,2245
_SM_ANGLEo	-65.8	D_GRID	1000
GPS2	050916,032515,7518.6475,-15009.9316,8,0.7,10,21.2,0.0,0.0,11,9.8

MODEM_MSG	CACST,6,1,20160905040235.319315,3,43,10,0226,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	SC_FREEKB	3988768
FREEZE	-0.06,0.104,-0.122,2,1,0	PM_FREEKB	55595456
FINISH	-0.1,1.001647	_24V_AH	12.74,33.469
SM_CCo	6594,0.08,1.248,0,0,501,646.37	_10V_AH	12.51,0.000
SM_GC	0.82,8.02,1.25,0.08,0.077,0.096,1.248,188,3096,501,-7.14,-0.68,646.37,0,0,0,0,0,0,14.21,14.15,14.07	FG_AHR_24Vo	0.000
RAFOS_CLK	290	FG_AHR_10Vo	0.000
MODEM	0,1473048155,75.36600,-145.04601,101.319,146756.7	MEM	311120
RAFOS_FIX	7517.822754,-15010.940430,050916,000051,2,255,4.13	DATA_FILE_SIZE	23419,706
IRIDIUM_FIX	7429.78,-15004.78,050916,000701	CAP_FILE_SIZE	94363,0
TT8_MAMPS	0.040446,0.881573	CFSIZE	2097872896,2075557888
HUMID	55.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,4,2,0
INTERNAL_PRESSURE	8.29057	SOUNDSPEED	1442.9
TCM_TEMP	12.90	CURRENT	0.196,324.06,1
XPDR_PINGS	5	GPS	050916,051632,7518.600,-15009.396,6,0.8,15,21.2,0.0,0.0,11,7.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	457	130.55	nil	0	0	0.00
Roll_motor	87	2187	2425.02	nil	0	0	0.00
VBD_pump_during_apogee	859	2115	23180.94	nil	0	0	0.00
VBD_pump_during_surface	36	1248	576.98	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	6564	17	1445.80
Iridium_during_xfer	397	188	955.69	PMAR	6533	18	1547.84
Transponder_ping	1	420	6.69	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	11	20	3.04
TT8	0	0	0.00
LPSleep	4176	2	120.70
TT8_Active	983	10	131.90
TT8_Sampling	1789	29	659.46
TT8_CF8	255	34	110.89
TT8_Kalman	0	0	0.00
Analog_circuits	2032	11	279.72
GPS_charging	0	0	0.00
Compass	1012	6	85.40
RAFOS	2216	48	1330.66
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
10	end surface: CONTROL_FINISHED_OK
state	10	begin dive
13	-0.59	-145.9	187	3108	499	521	0.0	0.0	0	136	0.00	0.00	-121.12	0.000	16386	0.000	0.000	186	3107	2429	2387	2472	0	0	0	0	0	0	14.36	28.83	14.38
139	-0.59	-145.9	187	3108	2387	2473	3.5	-5.1	12	186	11.10	3.22	-30.38	0.000	18980	0.457	2.188	2309	1356	3733	3638	3829	0	0	0	0	0	0	14.00	13.34	14.26
412	-0.62	-145.9	2309	1356	3635	3837	55.5	-12.7	66	417	0.00	3.08	0.00	0.000	1158	0.000	0.086	2300	3097	3735	3634	3836	0	0	0	0	0	0	14.33	14.23	14.35
602	-0.67	-145.9	2301	3098	3633	3839	78.5	-11.8	86	607	0.00	2.90	0.00	0.000	644	0.000	0.048	2300	1354	3735	3632	3839	0	0	0	0	0	0	14.47	14.35	14.50
832	-0.76	-145.9	2301	1355	3632	3840	102.2	-9.9	132	837	0.00	3.08	0.00	0.000	1190	0.000	0.087	2297	3100	3736	3633	3839	0	0	0	0	0	0	14.40	14.30	14.42
1022	-0.85	-145.9	2297	3101	3631	3841	119.4	-8.6	143	1027	0.15	2.90	0.00	0.000	4772	0.109	0.045	2214	1349	3735	3630	3841	0	0	0	0	0	0	14.38	14.38	14.42
1102	-0.85	-145.9	2214	1349	3630	3842	129.3	-12.8	159	1108	0.12	3.08	0.00	0.000	3078	0.299	0.086	2230	3101	3735	3629	3842	0	0	0	0	0	0	14.26	14.34	14.42
1303	-0.85	-145.9	2230	3102	3631	3845	153.8	-12.2	172	1308	0.00	2.90	0.00	0.000	516	0.000	0.048	2230	1346	3736	3628	3845	0	0	0	0	0	0	14.57	14.42	14.59
1338	-0.87	-145.9	2231	1346	3628	3845	158.1	-12.0	179	1344	0.00	3.10	0.00	0.000	1158	0.000	0.088	2230	3105	3736	3628	3845	0	0	0	0	0	0	14.45	14.36	14.47
1523	-0.87	-145.9	2230	3106	3630	3846	180.5	-12.1	189	1529	0.00	2.90	0.00	0.000	516	0.000	0.048	2230	1348	3736	3627	3845	0	0	0	0	0	0	14.59	14.44	14.62
1554	-0.89	-145.9	2231	1348	3627	3846	184.2	-12.3	195	1559	0.00	3.08	0.00	0.000	1158	0.000	0.086	2221	3102	3735	3626	3845	0	0	0	0	0	0	14.50	14.40	14.51
1744	-0.89	-145.9	2220	3102	3628	3846	207.3	-12.0	206	1749	0.00	2.90	0.00	0.000	516	0.000	0.048	2221	1341	3736	3626	3846	0	0	0	0	0	0	14.62	14.43	14.64
1778	-0.89	-145.9	2220	1341	3628	3847	211.5	-11.7	213	1786	0.00	3.08	0.00	0.000	1030	0.000	0.086	2214	3101	3736	3626	3846	0	0	0	0	0	0	14.49	14.39	14.51
1964	-0.89	-145.9	2215	3102	3626	3846	233.3	-11.7	223	1969	0.00	2.88	0.00	0.000	516	0.000	0.048	2210	1356	3736	3626	3846	0	0	0	0	0	0	14.62	14.47	14.64
2024	-0.89	-145.9	2214	1356	3627	3847	240.4	-11.8	232	2029	0.00	3.05	0.00	0.000	1030	0.000	0.086	2206	3101	3736	3626	3846	0	0	0	0	0	0	14.49	14.40	14.51
2219	-0.89	-145.9	2207	3103	3626	3846	263.6	-12.0	244	2220	0.00	0.00	0.00	0.000	6	0.000	0.000	2206	3102	3736	3626	3846	0	0	0	0	0	0	14.57	14.59	14.59
2399	-0.89	-145.9	2207	3103	3626	3847	285.6	-12.2	253	2405	0.00	2.90	0.00	0.000	516	0.000	0.047	2206	1349	3735	3625	3846	0	0	0	0	0	0	14.56	14.40	14.57
2430	-0.89	-145.9	2205	1349	3626	3847	289.2	-11.6	259	2435	0.00	3.08	0.00	0.000	1030	0.000	0.086	2200	3100	3735	3625	3846	0	0	0	0	0	0	14.45	14.35	14.47
2620	-0.89	-145.9	2201	3107	3625	3842	310.0	-10.3	270	2625	0.00	2.90	0.00	0.000	516	0.000	0.047	2199	1346	3735	3624	3846	0	0	0	0	0	0	14.54	14.38	14.56
2660	-0.89	-145.9	2199	1347	3625	3847	313.9	-9.4	278	2665	0.00	3.10	0.00	0.000	1062	0.000	0.086	2190	3107	3734	3623	3846	0	0	0	0	0	0	14.44	14.34	14.45
2838	end dive: TARGET_DEPTH_EXCEEDED
state	2838	begin apogee
2844	-0.14	0.0	2193	2381	3625	3847	331.2	-9.7	290	2988	0.98	0.00	135.32	2.116	10246	0.229	0.000	2462	2380	3134	3050	3219	0	0	0	0	1	0	14.27	13.54	12.74
2990	end apogee: CONTROL_FINISHED_OK
state	2990	begin climb
2992	0.59	145.9	2469	2381	3062	3227	334.4	0.0	297	3242	0.73	0.00	244.35	0.993	10758	0.097	0.000	2696	2380	2538	2463	2613	0	0	0	0	0	0	13.56	13.34	12.94
3422	0.52	145.9	2696	2385	2442	2592	297.3	12.3	355	3427	0.00	2.65	0.00	0.000	388	0.000	0.100	2695	3786	2516	2442	2591	0	0	0	0	0	0	13.83	13.66	13.85
3652	0.40	145.9	2696	3787	2442	2586	271.7	10.6	401	3657	0.25	2.30	0.00	0.000	5254	0.264	0.041	2644	2410	2515	2442	2589	0	0	0	0	0	0	13.78	13.90	13.93
3843	0.48	227.7	2645	2411	2443	2589	259.2	6.3	412	3994	0.00	2.70	140.20	1.055	8612	0.000	0.100	2644	3787	2201	2128	2274	0	0	0	0	0	0	14.14	13.47	13.11
4219	0.52	238.1	2645	3788	2114	2261	225.6	9.5	487	4240	0.00	2.33	13.15	1.090	9382	0.000	0.041	2648	2404	2161	2086	2236	0	0	0	0	0	0	13.88	13.83	13.32
4425	0.63	285.2	2648	2405	2072	2224	208.8	7.8	501	4510	0.17	0.00	76.32	1.053	10406	0.101	0.000	2732	2403	1969	1895	2044	0	0	0	0	1	0	13.93	13.62	13.06
4687	0.60	285.2	2733	2404	1895	2044	178.8	11.7	514	4693	0.00	2.58	0.00	0.000	388	0.000	0.099	2732	3787	1969	1895	2043	0	0	0	0	0	0	13.97	13.77	13.98
4733	0.54	285.2	2732	3787	1896	2044	172.5	14.2	523	4738	0.22	2.33	0.00	0.000	5254	0.246	0.041	2688	2403	1969	1894	2044	0	0	0	0	0	0	13.77	13.89	13.91
4929	0.61	309.2	2688	2403	1894	2043	154.3	8.9	535	4970	0.00	0.00	33.05	1.089	8358	0.000	0.000	2688	2405	1871	1797	1946	0	0	0	0	1	0	14.18	13.88	13.33
5149	0.68	328.3	2688	2404	1799	1947	134.3	9.1	546	5190	0.15	0.00	30.17	1.060	10406	0.110	0.000	2752	2402	1793	1723	1864	0	0	0	0	1	0	14.04	13.81	13.35
5368	0.68	328.3	2752	2403	1724	1865	106.8	12.7	557	5369	0.00	0.00	0.00	0.000	6	0.000	0.000	2753	2403	1793	1723	1864	0	0	0	0	0	0	14.21	14.23	14.23
5548	0.68	328.3	2752	2403	1724	1864	84.9	11.7	572	5553	0.00	2.50	0.00	0.000	260	0.000	0.099	2753	3787	1793	1723	1864	0	0	0	0	0	0	14.29	14.10	14.31
5593	0.64	328.3	2753	3788	1724	1864	79.2	12.9	581	5600	0.17	2.30	0.00	0.000	5254	0.251	0.042	2718	2392	1793	1723	1863	0	0	0	0	0	0	14.04	14.16	14.19
5780	0.73	373.9	2718	2391	1724	1864	62.8	7.9	600	5812	0.00	0.00	30.30	0.364	8358	0.000	0.000	2718	2391	1609	1539	1679	0	0	0	0	0	0	14.36	14.20	13.98
5990	0.90	463.8	2718	2392	1557	1695	48.0	5.9	621	6058	0.22	2.60	62.97	0.330	10660	0.088	0.099	2821	3789	1241	1183	1300	0	0	0	0	0	0	14.23	14.09	13.95
6178	0.90	463.8	2825	3789	1183	1320	26.3	12.4	658	6185	0.00	2.28	0.00	0.000	1030	0.000	0.041	2831	2400	1251	1183	1320	0	0	0	0	0	0	14.26	14.21	14.27
6364	0.98	530.3	2831	2401	1185	1321	13.9	7.0	677	6418	0.00	2.97	46.60	0.238	8868	0.000	0.066	2833	670	974	918	1030	0	0	0	0	0	0	14.40	14.14	14.07
6465	1.11	596.3	2834	671	918	1038	7.6	7.0	696	6520	0.10	2.97	47.45	0.213	11430	0.151	0.062	2890	2409	699	662	737	0	0	0	0	0	0	14.20	14.16	14.06
6523	end climb: SURFACE_DEPTH_REACHED
state	6525	begin surface coast
6533	end surface coast: CONTROL_FINISHED_OK
state	6533	begin surface