Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 100 * 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 100 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 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 285.0

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 34 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 285.0 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 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 100 NOCOMM_ACTION 161 R_STBD_OVSHOOT 34 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 180817,073602,7242.8477,-14840.1211,32,0.8,32,21.2,0.0,0.0,10,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.09 MHEAD_RNG_PITCHd_Wd 311.0,66701,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.6 D_GRID 480

GPS2 180817,075318,7242.9224,-14840.3623,7,0.8,9,21.2,0.0,0.0,11,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818082852.268899,3,77,06,0111,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A PM_FREEKB_00 55686720

FINISH 0.1,1.020107 _24V_AH 12.51,90.206

SM_CCo 8975,3.38,0.229,0,0,500,702.78 _10V_AH 12.43,0.000

SM_GC 1.69,8.23,2.62,3.38,0.083,0.076,0.229,203,2202,500,-7.36,-0.65,702.78,0,0,0,0,0,0,14.25,14.16,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 383 FG_AHR_10Vo 0.000

MODEM 0,1503043469,75.36600,-145.04601,215.534,312680.6 MEM 323684

RAFOS_FIX 7243.261230,-14847.468750,180817,080829,3,255,2.98 DATA_FILE_SIZE 26708,799

IRIDIUM_FIX 7243.34,-14847.27,180817,074518 CAP_FILE_SIZE 109866,0

TT8_MAMPS 0.040446,0.886816 CFSIZE 2097872896,2057928704

HUMID 48.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1450.2

TCM_TEMP 13.40 CURRENT 0.038,250.27,1

XPDR_PINGS 7 GPS 180817,102456,7244.114,-14841.943,12,0.8,35,21.2,0.3,15.2,11,9.7

CP_FREE 16002449408.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 453 142.16 nil 0 0 0.00

Roll_motor 88 2149 2386.00 nil 0 0 0.00

VBD_pump_during_apogee 985 1436 17707.64 nil 0 0 0.00

VBD_pump_during_surface 3 228 9.66 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 8981 14 1600.57

Iridium_during_xfer 644 172 1388.65 NCP 8979 20 2246.55

Transponder_ping 1 420 9.19 PMAR 8930 16 1855.69

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.74

TT8 0 0 0.00

LPSleep 6456 2 185.39

TT8_Active 959 13 166.55

TT8_Sampling 2306 33 958.92

TT8_CF8 309 38 148.67

TT8_Kalman 0 0 0.00

Analog_circuits 2368 10 294.40

GPS_charging 0 0 0.00

Compass 1146 7 99.72

RAFOS 2215 48 1321.56

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 204 2218 509 460 0.0 0.0 0 129 0.00 0.00 -81.45 0.000 16386 0.000 0.000 203 2223 2065 1986 2145 0 0 0 0 0 0 14.40 28.83 14.42

132 -0.57 -145.9 203 2219 1987 2146 3.2 -3.7 8 185 12.45 2.80 -35.35 0.000 18724 0.454 2.150 2376 3597 3964 3950 3978 0 0 0 0 0 0 13.67 12.64 14.10

396 -0.61 -145.9 2375 3598 3961 3978 63.4 -15.3 57 402 0.00 2.40 0.00 0.000 1158 0.000 0.054 2376 2195 3968 3959 3978 0 0 0 0 0 0 14.16 14.06 14.19

701 -0.64 -145.9 2376 2193 3962 3978 108.1 -13.0 84 706 0.00 2.50 0.00 0.000 388 0.000 0.086 2367 3601 3969 3961 3978 0 0 0 0 0 0 14.38 14.07 14.39

781 -0.76 -145.9 2367 3602 3962 3978 118.0 -11.3 100 786 0.00 2.40 0.00 0.000 1158 0.000 0.054 2367 2192 3968 3961 3976 0 0 0 0 0 0 14.21 14.12 14.23

1091 -0.84 -145.9 2367 2194 3961 3979 154.2 -11.1 112 1096 0.15 2.50 0.00 0.000 4484 0.126 0.084 2293 3597 3967 3961 3974 0 0 0 0 0 0 14.05 14.04 14.07

1186 -0.84 -145.9 2294 3598 3962 3977 168.4 -15.2 131 1192 0.00 2.38 0.00 0.000 1030 0.000 0.054 2293 2198 3969 3961 3977 0 0 0 0 0 0 14.23 14.12 14.26

1512 -0.79 -145.9 2294 2198 3962 3976 221.2 -15.6 146 1517 0.00 2.47 0.00 0.000 388 0.000 0.086 2285 3600 3968 3961 3975 0 0 0 0 0 0 14.40 14.06 14.42

1667 -0.82 -145.9 2285 3605 3961 3975 243.2 -13.2 177 1672 0.12 2.40 0.00 0.000 3206 0.236 0.056 2310 2191 3968 3961 3975 0 0 0 0 0 0 13.95 14.12 14.16

1993 -0.85 -145.9 2310 2190 3961 3973 280.3 -11.0 192 1997 0.00 2.50 0.00 0.000 388 0.000 0.088 2307 3601 3967 3961 3973 0 0 0 0 0 0 14.40 14.07 14.45

2098 -0.95 -145.9 2307 3602 3961 3973 291.3 -10.2 213 2103 0.00 2.38 0.00 0.000 1158 0.000 0.055 2307 2199 3966 3961 3972 0 0 0 0 0 0 14.23 14.13 14.26

2413 -1.01 -145.9 2308 2198 3962 3970 324.3 -10.2 226 2418 0.15 2.47 0.00 0.000 4484 0.121 0.086 2245 3595 3964 3960 3969 0 0 0 0 0 0 14.16 14.07 14.21

2510 -0.97 -145.9 2244 3595 3961 3968 337.7 -14.4 245 2514 0.00 2.38 0.00 0.000 1158 0.000 0.056 2243 2202 3965 3960 3970 0 0 0 0 0 0 14.16 14.07 14.19

2835 -0.90 -145.9 2242 2203 3961 3968 387.1 -15.0 260 2840 0.15 2.42 0.00 0.000 2436 0.301 0.083 2267 3598 3963 3960 3967 0 0 0 0 0 0 13.79 14.04 13.97

2975 -0.94 -145.9 2268 3600 3960 3968 404.3 -11.6 288 2980 0.00 2.38 0.00 0.000 1158 0.000 0.055 2267 2201 3963 3960 3967 0 0 0 0 0 0 14.21 14.04 14.21

3285 -0.94 -145.9 2268 2199 3961 3965 443.6 -12.6 300 3290 0.00 2.47 0.00 0.000 260 0.000 0.090 2266 3598 3966 3960 3972 0 0 0 0 0 0 14.53 14.14 14.54

3371 -0.99 -145.9 2267 3600 3960 3966 453.7 -11.5 317 3377 0.00 2.38 0.00 0.000 1158 0.000 0.055 2263 2195 3962 3959 3965 0 0 0 0 0 0 14.29 14.18 14.33

3583 end dive: TARGET_DEPTH_EXCEEDED

state 3583 begin apogee

3589 -0.13 0.0 2267 2071 3961 3964 480.6 -12.5 325 3814 1.02 0.00 220.98 1.403 10246 0.241 0.000 2528 2069 3362 3402 3322 0 0 0 0 0 0 13.95 13.46 12.75

3818 end apogee: CONTROL_FINISHED_OK

state 3818 begin climb

3820 0.57 145.9 2529 2069 3398 3313 491.2 0.0 332 4031 0.75 2.62 199.52 1.354 10756 0.065 0.079 2789 714 2763 2825 2702 0 0 0 0 0 0 13.55 13.19 12.51

4111 0.21 145.9 2790 714 2806 2699 483.3 15.7 384 4117 0.62 2.53 0.00 0.000 5254 0.311 0.075 2658 2093 2751 2805 2698 0 0 0 0 0 0 13.24 13.51 13.55

4422 0.07 149.1 2659 2095 2803 2693 451.5 9.9 396 4427 0.20 2.42 0.00 0.000 4772 0.297 0.077 2619 720 2748 2804 2692 0 0 0 0 0 0 13.71 13.93 13.88

4517 0.11 206.0 2619 721 2805 2697 444.1 7.4 415 4613 0.00 2.45 86.85 1.349 9254 0.000 0.077 2619 2107 2518 2591 2446 0 0 0 0 0 0 14.14 14.00 12.95

4933 0.13 229.9 2619 2107 2580 2431 407.8 8.9 448 4970 0.00 2.47 32.72 1.418 8740 0.000 0.082 2619 719 2422 2491 2353 0 0 0 0 0 0 14.34 13.76 13.16

4996 0.20 260.7 2620 719 2480 2350 402.3 8.6 460 5047 0.00 2.45 46.15 1.385 9382 0.000 0.077 2619 2107 2302 2367 2237 0 0 0 0 0 0 13.99 13.89 13.07

5359 0.27 282.7 2618 2104 2350 2218 369.5 9.0 482 5391 0.15 0.00 30.15 1.437 10406 0.116 0.000 2685 2103 2213 2278 2149 0 0 0 0 0 0 14.17 13.98 13.22

5687 0.20 282.7 2685 2104 2261 2134 324.9 13.6 493 5693 0.12 2.42 0.00 0.000 4740 0.257 0.083 2660 720 2196 2261 2132 0 0 0 0 0 0 13.80 14.14 13.99

5780 0.25 282.7 2660 720 2260 2134 314.8 10.4 511 5785 0.00 2.40 0.00 0.000 1158 0.000 0.078 2659 2099 2195 2259 2132 0 0 0 0 0 0 14.32 14.19 14.35

6110 0.25 282.7 2660 2099 2260 2132 278.3 10.9 527 6111 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2099 2194 2258 2131 0 0 0 0 0 0 14.55 14.57 14.57

6410 0.25 282.7 2660 2100 2259 2130 246.9 10.3 537 6411 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2099 2194 2258 2130 0 0 0 0 0 0 14.58 14.60 14.60

6710 0.27 308.2 2660 2099 2259 2130 218.9 8.8 547 6755 0.00 2.45 39.10 1.362 8740 0.000 0.086 2659 709 2104 2162 2047 0 0 0 0 0 0 14.59 14.11 13.40

6807 0.40 347.0 2660 713 2153 2045 210.9 8.2 566 6881 0.15 2.42 67.55 1.271 11430 0.124 0.078 2719 2100 1950 2000 1900 0 0 0 0 0 0 14.16 14.12 13.19

7191 0.37 347.0 2720 2101 1984 1884 164.9 11.5 593 7197 0.00 2.42 0.00 0.000 644 0.000 0.086 2725 720 1931 1982 1881 0 0 0 0 0 0 14.41 14.11 14.43

7212 0.34 347.0 2723 720 1987 1883 162.6 10.6 597 7218 0.15 2.42 0.00 0.000 5254 0.236 0.077 2693 2105 1931 1980 1883 0 0 0 0 0 0 13.98 14.13 14.21

7523 0.41 376.5 2694 2106 1980 1882 134.4 8.6 609 7578 0.00 2.47 48.55 1.278 8868 0.000 0.086 2698 716 1824 1862 1787 0 0 0 0 0 0 14.50 14.01 13.30

7640 0.54 413.2 2699 716 1851 1784 124.6 8.3 632 7710 0.17 2.45 62.62 1.216 11430 0.109 0.078 2771 2105 1677 1713 1642 0 0 0 0 0 0 14.04 14.00 13.18

8015 0.50 413.2 2772 2105 1707 1620 75.2 12.4 673 8021 0.00 2.45 0.00 0.000 644 0.000 0.085 2779 717 1661 1706 1616 0 0 0 0 0 0 14.37 14.00 14.38

8066 0.50 413.2 2779 718 1702 1623 69.1 11.5 683 8071 0.15 2.45 0.00 0.000 5126 0.248 0.079 2748 2107 1660 1701 1619 0 0 0 0 0 0 13.85 14.04 14.10

8376 0.61 504.5 2748 2109 1701 1619 45.4 5.8 715 8429 0.00 2.47 46.53 0.337 8868 0.000 0.083 2753 712 1305 1365 1245 0 0 0 0 0 0 14.48 13.98 13.76

8501 0.84 584.3 2753 711 1366 1251 37.7 6.3 739 8554 0.30 2.45 43.53 0.308 11430 0.086 0.078 2868 2109 979 1058 901 0 0 0 0 0 0 14.19 14.10 13.75

8849 0.92 696.6 2868 2109 1060 903 7.3 4.8 779 8917 0.00 2.47 61.00 0.223 8740 0.000 0.083 2876 727 521 566 477 0 0 0 0 0 0 14.45 14.00 13.92

8930 end climb: SURFACE_DEPTH_REACHED

state 8930 begin surface coast

8952 end surface coast: CONTROL_FINISHED_OK

state 8952 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	100	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	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	285.0
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	34	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,073602,7242.8477,-14840.1211,32,0.8,32,21.2,0.0,0.0,10,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.09	MHEAD_RNG_PITCHd_Wd	311.0,66701,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.6	D_GRID	480
GPS2	180817,075318,7242.9224,-14840.3623,7,0.8,9,21.2,0.0,0.0,11,9.0

MODEM_MSG	CACST,6,1,20170818082852.268899,3,77,06,0111,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A	PM_FREEKB_00	55686720
FINISH	0.1,1.020107	_24V_AH	12.51,90.206
SM_CCo	8975,3.38,0.229,0,0,500,702.78	_10V_AH	12.43,0.000
SM_GC	1.69,8.23,2.62,3.38,0.083,0.076,0.229,203,2202,500,-7.36,-0.65,702.78,0,0,0,0,0,0,14.25,14.16,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	383	FG_AHR_10Vo	0.000
MODEM	0,1503043469,75.36600,-145.04601,215.534,312680.6	MEM	323684
RAFOS_FIX	7243.261230,-14847.468750,180817,080829,3,255,2.98	DATA_FILE_SIZE	26708,799
IRIDIUM_FIX	7243.34,-14847.27,180817,074518	CAP_FILE_SIZE	109866,0
TT8_MAMPS	0.040446,0.886816	CFSIZE	2097872896,2057928704
HUMID	48.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1450.2
TCM_TEMP	13.40	CURRENT	0.038,250.27,1
XPDR_PINGS	7	GPS	180817,102456,7244.114,-14841.943,12,0.8,35,21.2,0.3,15.2,11,9.7
CP_FREE	16002449408.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	453	142.16	nil	0	0	0.00
Roll_motor	88	2149	2386.00	nil	0	0	0.00
VBD_pump_during_apogee	985	1436	17707.64	nil	0	0	0.00
VBD_pump_during_surface	3	228	9.66	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	8981	14	1600.57
Iridium_during_xfer	644	172	1388.65	NCP	8979	20	2246.55
Transponder_ping	1	420	9.19	PMAR	8930	16	1855.69
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.74
TT8	0	0	0.00
LPSleep	6456	2	185.39
TT8_Active	959	13	166.55
TT8_Sampling	2306	33	958.92
TT8_CF8	309	38	148.67
TT8_Kalman	0	0	0.00
Analog_circuits	2368	10	294.40
GPS_charging	0	0	0.00
Compass	1146	7	99.72
RAFOS	2215	48	1321.56
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	204	2218	509	460	0.0	0.0	0	129	0.00	0.00	-81.45	0.000	16386	0.000	0.000	203	2223	2065	1986	2145	0	0	0	0	0	0	14.40	28.83	14.42
132	-0.57	-145.9	203	2219	1987	2146	3.2	-3.7	8	185	12.45	2.80	-35.35	0.000	18724	0.454	2.150	2376	3597	3964	3950	3978	0	0	0	0	0	0	13.67	12.64	14.10
396	-0.61	-145.9	2375	3598	3961	3978	63.4	-15.3	57	402	0.00	2.40	0.00	0.000	1158	0.000	0.054	2376	2195	3968	3959	3978	0	0	0	0	0	0	14.16	14.06	14.19
701	-0.64	-145.9	2376	2193	3962	3978	108.1	-13.0	84	706	0.00	2.50	0.00	0.000	388	0.000	0.086	2367	3601	3969	3961	3978	0	0	0	0	0	0	14.38	14.07	14.39
781	-0.76	-145.9	2367	3602	3962	3978	118.0	-11.3	100	786	0.00	2.40	0.00	0.000	1158	0.000	0.054	2367	2192	3968	3961	3976	0	0	0	0	0	0	14.21	14.12	14.23
1091	-0.84	-145.9	2367	2194	3961	3979	154.2	-11.1	112	1096	0.15	2.50	0.00	0.000	4484	0.126	0.084	2293	3597	3967	3961	3974	0	0	0	0	0	0	14.05	14.04	14.07
1186	-0.84	-145.9	2294	3598	3962	3977	168.4	-15.2	131	1192	0.00	2.38	0.00	0.000	1030	0.000	0.054	2293	2198	3969	3961	3977	0	0	0	0	0	0	14.23	14.12	14.26
1512	-0.79	-145.9	2294	2198	3962	3976	221.2	-15.6	146	1517	0.00	2.47	0.00	0.000	388	0.000	0.086	2285	3600	3968	3961	3975	0	0	0	0	0	0	14.40	14.06	14.42
1667	-0.82	-145.9	2285	3605	3961	3975	243.2	-13.2	177	1672	0.12	2.40	0.00	0.000	3206	0.236	0.056	2310	2191	3968	3961	3975	0	0	0	0	0	0	13.95	14.12	14.16
1993	-0.85	-145.9	2310	2190	3961	3973	280.3	-11.0	192	1997	0.00	2.50	0.00	0.000	388	0.000	0.088	2307	3601	3967	3961	3973	0	0	0	0	0	0	14.40	14.07	14.45
2098	-0.95	-145.9	2307	3602	3961	3973	291.3	-10.2	213	2103	0.00	2.38	0.00	0.000	1158	0.000	0.055	2307	2199	3966	3961	3972	0	0	0	0	0	0	14.23	14.13	14.26
2413	-1.01	-145.9	2308	2198	3962	3970	324.3	-10.2	226	2418	0.15	2.47	0.00	0.000	4484	0.121	0.086	2245	3595	3964	3960	3969	0	0	0	0	0	0	14.16	14.07	14.21
2510	-0.97	-145.9	2244	3595	3961	3968	337.7	-14.4	245	2514	0.00	2.38	0.00	0.000	1158	0.000	0.056	2243	2202	3965	3960	3970	0	0	0	0	0	0	14.16	14.07	14.19
2835	-0.90	-145.9	2242	2203	3961	3968	387.1	-15.0	260	2840	0.15	2.42	0.00	0.000	2436	0.301	0.083	2267	3598	3963	3960	3967	0	0	0	0	0	0	13.79	14.04	13.97
2975	-0.94	-145.9	2268	3600	3960	3968	404.3	-11.6	288	2980	0.00	2.38	0.00	0.000	1158	0.000	0.055	2267	2201	3963	3960	3967	0	0	0	0	0	0	14.21	14.04	14.21
3285	-0.94	-145.9	2268	2199	3961	3965	443.6	-12.6	300	3290	0.00	2.47	0.00	0.000	260	0.000	0.090	2266	3598	3966	3960	3972	0	0	0	0	0	0	14.53	14.14	14.54
3371	-0.99	-145.9	2267	3600	3960	3966	453.7	-11.5	317	3377	0.00	2.38	0.00	0.000	1158	0.000	0.055	2263	2195	3962	3959	3965	0	0	0	0	0	0	14.29	14.18	14.33
3583	end dive: TARGET_DEPTH_EXCEEDED
state	3583	begin apogee
3589	-0.13	0.0	2267	2071	3961	3964	480.6	-12.5	325	3814	1.02	0.00	220.98	1.403	10246	0.241	0.000	2528	2069	3362	3402	3322	0	0	0	0	0	0	13.95	13.46	12.75
3818	end apogee: CONTROL_FINISHED_OK
state	3818	begin climb
3820	0.57	145.9	2529	2069	3398	3313	491.2	0.0	332	4031	0.75	2.62	199.52	1.354	10756	0.065	0.079	2789	714	2763	2825	2702	0	0	0	0	0	0	13.55	13.19	12.51
4111	0.21	145.9	2790	714	2806	2699	483.3	15.7	384	4117	0.62	2.53	0.00	0.000	5254	0.311	0.075	2658	2093	2751	2805	2698	0	0	0	0	0	0	13.24	13.51	13.55
4422	0.07	149.1	2659	2095	2803	2693	451.5	9.9	396	4427	0.20	2.42	0.00	0.000	4772	0.297	0.077	2619	720	2748	2804	2692	0	0	0	0	0	0	13.71	13.93	13.88
4517	0.11	206.0	2619	721	2805	2697	444.1	7.4	415	4613	0.00	2.45	86.85	1.349	9254	0.000	0.077	2619	2107	2518	2591	2446	0	0	0	0	0	0	14.14	14.00	12.95
4933	0.13	229.9	2619	2107	2580	2431	407.8	8.9	448	4970	0.00	2.47	32.72	1.418	8740	0.000	0.082	2619	719	2422	2491	2353	0	0	0	0	0	0	14.34	13.76	13.16
4996	0.20	260.7	2620	719	2480	2350	402.3	8.6	460	5047	0.00	2.45	46.15	1.385	9382	0.000	0.077	2619	2107	2302	2367	2237	0	0	0	0	0	0	13.99	13.89	13.07
5359	0.27	282.7	2618	2104	2350	2218	369.5	9.0	482	5391	0.15	0.00	30.15	1.437	10406	0.116	0.000	2685	2103	2213	2278	2149	0	0	0	0	0	0	14.17	13.98	13.22
5687	0.20	282.7	2685	2104	2261	2134	324.9	13.6	493	5693	0.12	2.42	0.00	0.000	4740	0.257	0.083	2660	720	2196	2261	2132	0	0	0	0	0	0	13.80	14.14	13.99
5780	0.25	282.7	2660	720	2260	2134	314.8	10.4	511	5785	0.00	2.40	0.00	0.000	1158	0.000	0.078	2659	2099	2195	2259	2132	0	0	0	0	0	0	14.32	14.19	14.35
6110	0.25	282.7	2660	2099	2260	2132	278.3	10.9	527	6111	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2099	2194	2258	2131	0	0	0	0	0	0	14.55	14.57	14.57
6410	0.25	282.7	2660	2100	2259	2130	246.9	10.3	537	6411	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2099	2194	2258	2130	0	0	0	0	0	0	14.58	14.60	14.60
6710	0.27	308.2	2660	2099	2259	2130	218.9	8.8	547	6755	0.00	2.45	39.10	1.362	8740	0.000	0.086	2659	709	2104	2162	2047	0	0	0	0	0	0	14.59	14.11	13.40
6807	0.40	347.0	2660	713	2153	2045	210.9	8.2	566	6881	0.15	2.42	67.55	1.271	11430	0.124	0.078	2719	2100	1950	2000	1900	0	0	0	0	0	0	14.16	14.12	13.19
7191	0.37	347.0	2720	2101	1984	1884	164.9	11.5	593	7197	0.00	2.42	0.00	0.000	644	0.000	0.086	2725	720	1931	1982	1881	0	0	0	0	0	0	14.41	14.11	14.43
7212	0.34	347.0	2723	720	1987	1883	162.6	10.6	597	7218	0.15	2.42	0.00	0.000	5254	0.236	0.077	2693	2105	1931	1980	1883	0	0	0	0	0	0	13.98	14.13	14.21
7523	0.41	376.5	2694	2106	1980	1882	134.4	8.6	609	7578	0.00	2.47	48.55	1.278	8868	0.000	0.086	2698	716	1824	1862	1787	0	0	0	0	0	0	14.50	14.01	13.30
7640	0.54	413.2	2699	716	1851	1784	124.6	8.3	632	7710	0.17	2.45	62.62	1.216	11430	0.109	0.078	2771	2105	1677	1713	1642	0	0	0	0	0	0	14.04	14.00	13.18
8015	0.50	413.2	2772	2105	1707	1620	75.2	12.4	673	8021	0.00	2.45	0.00	0.000	644	0.000	0.085	2779	717	1661	1706	1616	0	0	0	0	0	0	14.37	14.00	14.38
8066	0.50	413.2	2779	718	1702	1623	69.1	11.5	683	8071	0.15	2.45	0.00	0.000	5126	0.248	0.079	2748	2107	1660	1701	1619	0	0	0	0	0	0	13.85	14.04	14.10
8376	0.61	504.5	2748	2109	1701	1619	45.4	5.8	715	8429	0.00	2.47	46.53	0.337	8868	0.000	0.083	2753	712	1305	1365	1245	0	0	0	0	0	0	14.48	13.98	13.76
8501	0.84	584.3	2753	711	1366	1251	37.7	6.3	739	8554	0.30	2.45	43.53	0.308	11430	0.086	0.078	2868	2109	979	1058	901	0	0	0	0	0	0	14.19	14.10	13.75
8849	0.92	696.6	2868	2109	1060	903	7.3	4.8	779	8917	0.00	2.47	61.00	0.223	8740	0.000	0.083	2876	727	521	566	477	0	0	0	0	0	0	14.45	14.00	13.92
8930	end climb: SURFACE_DEPTH_REACHED
state	8930	begin surface coast
8952	end surface coast: CONTROL_FINISHED_OK
state	8952	begin surface