Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 101 * 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 101 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 287.0

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 53 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 287.0 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 53 VBD_MIN 500

DIVE 101 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 180817,102456,7244.1138,-14841.9434,12,0.8,35,21.2,0.3,15.2,11,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.10 MHEAD_RNG_PITCHd_Wd 307.7,64409,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.6 D_GRID 480

GPS2 180817,103813,7244.1533,-14841.9014,7,0.8,13,21.2,0.0,0.0,11,7.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818122856.011302,3,264,24,0325,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08 PM_FREEKB_00 55623104

FINISH 0.2,1.020157 _24V_AH 12.50,90.692

SM_CCo 8778,16.62,0.219,0,0,500,703.03 _10V_AH 12.41,0.000

SM_GC 1.86,8.25,2.65,16.62,0.083,0.069,0.219,206,2197,500,-7.37,-0.82,703.03,0,0,0,0,0,0,14.24,14.18,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 184 FG_AHR_10Vo 0.000

MODEM 0,1503057869,75.36600,-145.04601,215.940,313154.3 MEM 323612

RAFOS_FIX 7244.636230,-14842.182617,180817,121256,4,255,0.15 DATA_FILE_SIZE 26702,783

IRIDIUM_FIX 7242.28,-14841.08,180817,102925 CAP_FILE_SIZE 109173,0

TT8_MAMPS 0.039697,0.858354 CFSIZE 2097872896,2057601024

HUMID 46.96 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.76199 INTR 0,3466.16,0x2341ea,2,24

TCM_TEMP 13.30 SOUNDSPEED 1450.5

XPDR_PINGS 9 CURRENT 0.052,230.69,1

CP_FREE 16002285568.000000 GPS 180817,130633,7245.071,-14843.908,23,0.8,24,21.2,0.0,0.0,10,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 147.36 nil 0 0 0.00

Roll_motor 89 2145 2402.47 nil 0 0 0.00

VBD_pump_during_apogee 925 1543 17857.39 nil 0 0 0.00

VBD_pump_during_surface 16 218 45.47 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 8784 14 1598.03

Iridium_during_xfer 462 178 1030.09 NCP 8773 20 2193.25

Transponder_ping 2 420 11.81 PMAR 8733 16 1811.22

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.01

TT8 0 0 0.00

LPSleep 6200 2 177.74

TT8_Active 818 13 141.82

TT8_Sampling 2294 33 952.13

TT8_CF8 298 38 143.17

TT8_Kalman 0 0 0.00

Analog_circuits 2156 10 267.64

GPS_charging 0 0 0.00

Compass 1125 7 97.76

RAFOS 2202 48 1311.69

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 -145.9 201 2205 524 474 0.0 0.0 0 129 0.00 0.00 -81.55 0.000 16386 0.000 0.000 200 2205 2066 1988 2145 0 0 0 0 0 0 14.43 28.83 14.44

132 -0.57 -145.9 201 2205 1991 2146 3.5 -4.7 8 185 12.48 2.75 -34.67 0.000 18724 0.455 2.145 2375 3608 3962 3943 3981 0 0 0 0 0 0 13.71 12.94 14.13

280 -0.57 -145.9 2374 3609 3952 3981 44.8 -19.7 37 286 0.00 2.38 0.00 0.000 1030 0.000 0.058 2374 2221 3964 3948 3981 0 0 0 0 0 0 14.12 14.01 14.14

585 -0.57 -145.9 2376 2219 3955 3981 96.1 -14.3 68 590 0.00 2.45 0.00 0.000 260 0.000 0.086 2365 3609 3967 3954 3980 0 0 0 0 0 0 14.47 14.14 14.49

635 -0.67 -145.9 2366 3610 3955 3981 102.8 -12.6 78 640 0.00 2.40 0.00 0.000 1158 0.000 0.054 2365 2194 3967 3954 3981 0 0 0 0 0 0 14.25 14.14 14.28

946 -0.72 -145.9 2365 2194 3955 3981 141.9 -12.2 90 950 0.00 2.50 0.00 0.000 388 0.000 0.089 2363 3612 3967 3954 3980 0 0 0 0 0 0 14.54 14.20 14.57

1036 -0.87 -145.9 2363 3613 3955 3979 151.4 -9.9 108 1041 0.20 2.38 0.00 0.000 5286 0.105 0.054 2280 2200 3967 3954 3980 0 0 0 0 0 0 14.29 14.26 14.40

1367 -0.79 -145.9 2281 2196 3955 3980 210.1 -17.5 124 1372 0.15 2.47 0.00 0.000 2436 0.273 0.083 2306 3609 3970 3953 3987 0 0 0 0 0 0 13.93 14.18 14.09

1537 -0.88 -145.9 2308 3611 3954 3981 231.7 -11.0 158 1542 0.00 2.38 0.00 0.000 1158 0.000 0.054 2306 2199 3967 3954 3980 0 0 0 0 0 0 14.36 14.26 14.40

1847 -0.91 -145.9 2307 2198 3955 3979 269.0 -11.7 170 1852 0.00 2.47 0.00 0.000 388 0.000 0.089 2305 3610 3966 3953 3979 0 0 0 0 0 0 14.58 14.22 14.63

1942 -1.00 -145.9 2305 3611 3954 3979 279.3 -10.4 189 1947 0.15 2.38 0.00 0.000 5254 0.122 0.056 2250 2198 3966 3953 3979 0 0 0 0 0 0 14.31 14.27 14.39

2267 -0.93 -145.9 2250 2197 3954 3976 328.8 -15.3 204 2272 0.00 2.47 0.00 0.000 388 0.000 0.086 2242 3613 3964 3953 3976 0 0 0 0 0 0 14.60 14.23 14.62

2389 -0.90 -145.9 2242 3613 3953 3975 346.9 -14.4 228 2394 0.20 2.40 0.00 0.000 3206 0.262 0.057 2284 2191 3964 3952 3976 0 0 0 0 0 0 14.00 14.23 14.26

2720 -0.92 -145.9 2284 2191 3953 3976 385.4 -11.4 244 2724 0.00 2.50 0.00 0.000 388 0.000 0.087 2279 3614 3962 3950 3974 0 0 0 0 0 0 14.59 14.21 14.62

2810 -1.01 -145.9 2282 3617 3952 3975 395.3 -10.5 262 2814 0.00 2.38 0.00 0.000 1158 0.000 0.055 2280 2201 3962 3951 3974 0 0 0 0 0 0 14.36 14.25 14.40

3140 -1.03 -145.9 2280 2200 3952 3974 433.0 -11.4 278 3145 0.00 2.47 0.00 0.000 388 0.000 0.089 2280 3609 3961 3950 3973 0 0 0 0 0 0 14.59 14.21 14.62

3220 -1.12 -145.9 2280 3611 3952 3974 441.7 -10.3 294 3225 0.20 2.40 0.00 0.000 5254 0.110 0.056 2205 2193 3961 3951 3972 0 0 0 0 0 0 14.28 14.23 14.32

3438 end dive: TARGET_DEPTH_EXCEEDED

state 3438 begin apogee

3444 -0.13 0.0 2205 2066 3951 3971 480.3 -18.2 303 3659 1.35 0.08 211.55 1.433 10246 0.285 0.181 2529 2113 3365 3391 3339 0 0 0 0 0 0 13.92 13.43 12.78

3663 end apogee: CONTROL_FINISHED_OK

state 3663 begin climb

3665 0.57 145.9 2530 2113 3382 3329 490.5 0.0 310 3875 0.75 2.60 200.68 1.379 10500 0.067 0.073 2782 3504 2762 2812 2713 0 0 0 0 0 0 13.57 13.05 12.50

4102 0.14 145.9 2784 3505 2786 2711 454.8 17.3 356 4107 0.77 2.42 0.00 0.000 5254 0.348 0.057 2633 2118 2748 2786 2711 0 0 0 0 0 0 13.47 13.78 13.81

4413 0.07 169.9 2633 2119 2787 2710 425.8 8.9 368 4448 0.00 2.50 29.00 1.467 8612 0.000 0.080 2633 3498 2667 2711 2624 0 0 0 0 0 0 14.34 13.93 13.17

4663 -0.04 169.9 2634 3498 2701 2617 399.5 10.6 418 4668 0.30 2.38 0.00 0.000 5254 0.253 0.057 2572 2102 2657 2697 2617 0 0 0 0 0 0 13.90 14.13 14.15

4984 0.10 260.4 2573 2101 2701 2614 380.1 5.8 432 5127 0.12 2.53 133.80 1.336 10916 0.132 0.083 2633 691 2298 2351 2245 0 0 0 0 0 0 14.16 13.50 12.96

5177 0.20 282.8 2633 690 2341 2243 362.5 9.0 470 5217 0.00 2.53 31.42 1.388 9382 0.000 0.077 2633 2091 2208 2264 2152 0 0 0 0 0 0 13.83 13.72 12.91

5529 0.25 283.9 2633 2098 2255 2139 327.5 10.0 490 5534 0.00 2.50 0.00 0.000 676 0.000 0.085 2633 691 2198 2258 2139 0 0 0 0 0 0 14.20 13.92 14.21

5564 0.34 288.9 2633 692 2256 2136 323.8 9.8 497 5570 0.17 2.50 1.40 0.431 11430 0.108 0.076 2698 2106 2192 2247 2137 0 0 0 0 0 0 14.01 13.95 13.40

5892 0.25 288.9 2698 2107 2254 2132 277.5 14.3 512 5897 0.12 2.50 0.00 0.000 4740 0.238 0.082 2672 691 2194 2253 2136 0 0 0 0 0 0 13.96 14.07 14.09

5932 0.25 288.9 2673 692 2254 2137 272.2 11.5 520 5937 0.00 2.47 0.00 0.000 1030 0.000 0.078 2673 2101 2195 2254 2136 0 0 0 0 0 0 14.21 14.09 14.23

6252 0.23 288.9 2673 2103 2251 2136 236.1 11.1 534 6257 0.00 2.50 0.00 0.000 644 0.000 0.086 2673 686 2194 2253 2136 0 0 0 0 0 0 14.41 14.06 14.42

6302 0.27 293.4 2670 688 2253 2136 231.0 9.8 544 6318 0.00 2.47 10.43 1.543 9382 0.000 0.078 2673 2098 2171 2224 2118 0 0 0 0 0 0 14.21 14.10 13.31

6645 0.28 317.1 2673 2101 2220 2108 198.9 8.9 562 6686 0.00 0.00 39.92 1.375 8230 0.000 0.000 2672 2101 2073 2127 2019 0 0 0 0 0 0 14.38 13.97 13.30

6973 0.35 351.8 2673 2102 2118 2010 170.2 8.4 573 7039 0.00 2.60 57.67 1.300 8868 0.000 0.086 2673 693 1925 1970 1880 0 0 0 0 0 0 14.31 13.82 13.19

7061 0.48 394.9 2673 694 1965 1880 163.1 8.0 590 7140 0.20 2.53 71.12 1.230 11430 0.104 0.078 2753 2105 1756 1788 1725 0 0 0 0 0 0 13.85 13.81 13.02

7465 0.43 394.9 2753 2106 1780 1707 109.8 12.9 619 7471 0.12 2.47 0.00 0.000 4740 0.243 0.083 2731 693 1743 1779 1708 0 0 0 0 0 0 13.82 13.85 13.95

7528 0.50 394.9 2732 692 1777 1707 103.1 10.0 631 7534 0.00 2.50 0.00 0.000 1158 0.000 0.076 2731 2099 1741 1776 1707 0 0 0 0 0 0 14.09 13.98 14.12

7839 0.55 418.6 2731 2101 1776 1705 72.5 8.9 665 7852 0.00 0.00 11.23 0.424 8358 0.000 0.000 2733 2100 1657 1694 1621 0 0 0 0 0 0 14.44 14.15 13.76

8150 0.70 514.3 2731 2101 1695 1621 49.4 5.6 696 8207 0.22 2.53 48.88 0.350 10916 0.096 0.086 2822 694 1268 1329 1208 0 0 0 0 0 0 14.21 14.04 13.83

8247 0.70 514.3 2822 695 1330 1208 39.8 10.7 712 8253 0.00 2.47 0.00 0.000 1030 0.000 0.077 2821 2109 1266 1327 1206 0 0 0 0 0 0 14.21 14.09 14.26

8552 0.87 670.1 2822 2110 1327 1196 13.2 2.8 743 8637 0.12 2.55 78.75 0.249 10916 0.131 0.084 2887 692 629 691 568 0 0 0 0 0 0 14.22 14.09 13.88

8735 end climb: SURFACE_DEPTH_REACHED

state 8735 begin surface coast

8755 end surface coast: CONTROL_FINISHED_OK

state 8755 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	101	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	287.0
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	53	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,102456,7244.1138,-14841.9434,12,0.8,35,21.2,0.3,15.2,11,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.10	MHEAD_RNG_PITCHd_Wd	307.7,64409,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	180817,103813,7244.1533,-14841.9014,7,0.8,13,21.2,0.0,0.0,11,7.8

MODEM_MSG	CACST,6,1,20170818122856.011302,3,264,24,0325,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*08	PM_FREEKB_00	55623104
FINISH	0.2,1.020157	_24V_AH	12.50,90.692
SM_CCo	8778,16.62,0.219,0,0,500,703.03	_10V_AH	12.41,0.000
SM_GC	1.86,8.25,2.65,16.62,0.083,0.069,0.219,206,2197,500,-7.37,-0.82,703.03,0,0,0,0,0,0,14.24,14.18,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	184	FG_AHR_10Vo	0.000
MODEM	0,1503057869,75.36600,-145.04601,215.940,313154.3	MEM	323612
RAFOS_FIX	7244.636230,-14842.182617,180817,121256,4,255,0.15	DATA_FILE_SIZE	26702,783
IRIDIUM_FIX	7242.28,-14841.08,180817,102925	CAP_FILE_SIZE	109173,0
TT8_MAMPS	0.039697,0.858354	CFSIZE	2097872896,2057601024
HUMID	46.96	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.76199	INTR	0,3466.16,0x2341ea,2,24
TCM_TEMP	13.30	SOUNDSPEED	1450.5
XPDR_PINGS	9	CURRENT	0.052,230.69,1
CP_FREE	16002285568.000000	GPS	180817,130633,7245.071,-14843.908,23,0.8,24,21.2,0.0,0.0,10,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	147.36	nil	0	0	0.00
Roll_motor	89	2145	2402.47	nil	0	0	0.00
VBD_pump_during_apogee	925	1543	17857.39	nil	0	0	0.00
VBD_pump_during_surface	16	218	45.47	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	8784	14	1598.03
Iridium_during_xfer	462	178	1030.09	NCP	8773	20	2193.25
Transponder_ping	2	420	11.81	PMAR	8733	16	1811.22
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.01
TT8	0	0	0.00
LPSleep	6200	2	177.74
TT8_Active	818	13	141.82
TT8_Sampling	2294	33	952.13
TT8_CF8	298	38	143.17
TT8_Kalman	0	0	0.00
Analog_circuits	2156	10	267.64
GPS_charging	0	0	0.00
Compass	1125	7	97.76
RAFOS	2202	48	1311.69
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	201	2205	524	474	0.0	0.0	0	129	0.00	0.00	-81.55	0.000	16386	0.000	0.000	200	2205	2066	1988	2145	0	0	0	0	0	0	14.43	28.83	14.44
132	-0.57	-145.9	201	2205	1991	2146	3.5	-4.7	8	185	12.48	2.75	-34.67	0.000	18724	0.455	2.145	2375	3608	3962	3943	3981	0	0	0	0	0	0	13.71	12.94	14.13
280	-0.57	-145.9	2374	3609	3952	3981	44.8	-19.7	37	286	0.00	2.38	0.00	0.000	1030	0.000	0.058	2374	2221	3964	3948	3981	0	0	0	0	0	0	14.12	14.01	14.14
585	-0.57	-145.9	2376	2219	3955	3981	96.1	-14.3	68	590	0.00	2.45	0.00	0.000	260	0.000	0.086	2365	3609	3967	3954	3980	0	0	0	0	0	0	14.47	14.14	14.49
635	-0.67	-145.9	2366	3610	3955	3981	102.8	-12.6	78	640	0.00	2.40	0.00	0.000	1158	0.000	0.054	2365	2194	3967	3954	3981	0	0	0	0	0	0	14.25	14.14	14.28
946	-0.72	-145.9	2365	2194	3955	3981	141.9	-12.2	90	950	0.00	2.50	0.00	0.000	388	0.000	0.089	2363	3612	3967	3954	3980	0	0	0	0	0	0	14.54	14.20	14.57
1036	-0.87	-145.9	2363	3613	3955	3979	151.4	-9.9	108	1041	0.20	2.38	0.00	0.000	5286	0.105	0.054	2280	2200	3967	3954	3980	0	0	0	0	0	0	14.29	14.26	14.40
1367	-0.79	-145.9	2281	2196	3955	3980	210.1	-17.5	124	1372	0.15	2.47	0.00	0.000	2436	0.273	0.083	2306	3609	3970	3953	3987	0	0	0	0	0	0	13.93	14.18	14.09
1537	-0.88	-145.9	2308	3611	3954	3981	231.7	-11.0	158	1542	0.00	2.38	0.00	0.000	1158	0.000	0.054	2306	2199	3967	3954	3980	0	0	0	0	0	0	14.36	14.26	14.40
1847	-0.91	-145.9	2307	2198	3955	3979	269.0	-11.7	170	1852	0.00	2.47	0.00	0.000	388	0.000	0.089	2305	3610	3966	3953	3979	0	0	0	0	0	0	14.58	14.22	14.63
1942	-1.00	-145.9	2305	3611	3954	3979	279.3	-10.4	189	1947	0.15	2.38	0.00	0.000	5254	0.122	0.056	2250	2198	3966	3953	3979	0	0	0	0	0	0	14.31	14.27	14.39
2267	-0.93	-145.9	2250	2197	3954	3976	328.8	-15.3	204	2272	0.00	2.47	0.00	0.000	388	0.000	0.086	2242	3613	3964	3953	3976	0	0	0	0	0	0	14.60	14.23	14.62
2389	-0.90	-145.9	2242	3613	3953	3975	346.9	-14.4	228	2394	0.20	2.40	0.00	0.000	3206	0.262	0.057	2284	2191	3964	3952	3976	0	0	0	0	0	0	14.00	14.23	14.26
2720	-0.92	-145.9	2284	2191	3953	3976	385.4	-11.4	244	2724	0.00	2.50	0.00	0.000	388	0.000	0.087	2279	3614	3962	3950	3974	0	0	0	0	0	0	14.59	14.21	14.62
2810	-1.01	-145.9	2282	3617	3952	3975	395.3	-10.5	262	2814	0.00	2.38	0.00	0.000	1158	0.000	0.055	2280	2201	3962	3951	3974	0	0	0	0	0	0	14.36	14.25	14.40
3140	-1.03	-145.9	2280	2200	3952	3974	433.0	-11.4	278	3145	0.00	2.47	0.00	0.000	388	0.000	0.089	2280	3609	3961	3950	3973	0	0	0	0	0	0	14.59	14.21	14.62
3220	-1.12	-145.9	2280	3611	3952	3974	441.7	-10.3	294	3225	0.20	2.40	0.00	0.000	5254	0.110	0.056	2205	2193	3961	3951	3972	0	0	0	0	0	0	14.28	14.23	14.32
3438	end dive: TARGET_DEPTH_EXCEEDED
state	3438	begin apogee
3444	-0.13	0.0	2205	2066	3951	3971	480.3	-18.2	303	3659	1.35	0.08	211.55	1.433	10246	0.285	0.181	2529	2113	3365	3391	3339	0	0	0	0	0	0	13.92	13.43	12.78
3663	end apogee: CONTROL_FINISHED_OK
state	3663	begin climb
3665	0.57	145.9	2530	2113	3382	3329	490.5	0.0	310	3875	0.75	2.60	200.68	1.379	10500	0.067	0.073	2782	3504	2762	2812	2713	0	0	0	0	0	0	13.57	13.05	12.50
4102	0.14	145.9	2784	3505	2786	2711	454.8	17.3	356	4107	0.77	2.42	0.00	0.000	5254	0.348	0.057	2633	2118	2748	2786	2711	0	0	0	0	0	0	13.47	13.78	13.81
4413	0.07	169.9	2633	2119	2787	2710	425.8	8.9	368	4448	0.00	2.50	29.00	1.467	8612	0.000	0.080	2633	3498	2667	2711	2624	0	0	0	0	0	0	14.34	13.93	13.17
4663	-0.04	169.9	2634	3498	2701	2617	399.5	10.6	418	4668	0.30	2.38	0.00	0.000	5254	0.253	0.057	2572	2102	2657	2697	2617	0	0	0	0	0	0	13.90	14.13	14.15
4984	0.10	260.4	2573	2101	2701	2614	380.1	5.8	432	5127	0.12	2.53	133.80	1.336	10916	0.132	0.083	2633	691	2298	2351	2245	0	0	0	0	0	0	14.16	13.50	12.96
5177	0.20	282.8	2633	690	2341	2243	362.5	9.0	470	5217	0.00	2.53	31.42	1.388	9382	0.000	0.077	2633	2091	2208	2264	2152	0	0	0	0	0	0	13.83	13.72	12.91
5529	0.25	283.9	2633	2098	2255	2139	327.5	10.0	490	5534	0.00	2.50	0.00	0.000	676	0.000	0.085	2633	691	2198	2258	2139	0	0	0	0	0	0	14.20	13.92	14.21
5564	0.34	288.9	2633	692	2256	2136	323.8	9.8	497	5570	0.17	2.50	1.40	0.431	11430	0.108	0.076	2698	2106	2192	2247	2137	0	0	0	0	0	0	14.01	13.95	13.40
5892	0.25	288.9	2698	2107	2254	2132	277.5	14.3	512	5897	0.12	2.50	0.00	0.000	4740	0.238	0.082	2672	691	2194	2253	2136	0	0	0	0	0	0	13.96	14.07	14.09
5932	0.25	288.9	2673	692	2254	2137	272.2	11.5	520	5937	0.00	2.47	0.00	0.000	1030	0.000	0.078	2673	2101	2195	2254	2136	0	0	0	0	0	0	14.21	14.09	14.23
6252	0.23	288.9	2673	2103	2251	2136	236.1	11.1	534	6257	0.00	2.50	0.00	0.000	644	0.000	0.086	2673	686	2194	2253	2136	0	0	0	0	0	0	14.41	14.06	14.42
6302	0.27	293.4	2670	688	2253	2136	231.0	9.8	544	6318	0.00	2.47	10.43	1.543	9382	0.000	0.078	2673	2098	2171	2224	2118	0	0	0	0	0	0	14.21	14.10	13.31
6645	0.28	317.1	2673	2101	2220	2108	198.9	8.9	562	6686	0.00	0.00	39.92	1.375	8230	0.000	0.000	2672	2101	2073	2127	2019	0	0	0	0	0	0	14.38	13.97	13.30
6973	0.35	351.8	2673	2102	2118	2010	170.2	8.4	573	7039	0.00	2.60	57.67	1.300	8868	0.000	0.086	2673	693	1925	1970	1880	0	0	0	0	0	0	14.31	13.82	13.19
7061	0.48	394.9	2673	694	1965	1880	163.1	8.0	590	7140	0.20	2.53	71.12	1.230	11430	0.104	0.078	2753	2105	1756	1788	1725	0	0	0	0	0	0	13.85	13.81	13.02
7465	0.43	394.9	2753	2106	1780	1707	109.8	12.9	619	7471	0.12	2.47	0.00	0.000	4740	0.243	0.083	2731	693	1743	1779	1708	0	0	0	0	0	0	13.82	13.85	13.95
7528	0.50	394.9	2732	692	1777	1707	103.1	10.0	631	7534	0.00	2.50	0.00	0.000	1158	0.000	0.076	2731	2099	1741	1776	1707	0	0	0	0	0	0	14.09	13.98	14.12
7839	0.55	418.6	2731	2101	1776	1705	72.5	8.9	665	7852	0.00	0.00	11.23	0.424	8358	0.000	0.000	2733	2100	1657	1694	1621	0	0	0	0	0	0	14.44	14.15	13.76
8150	0.70	514.3	2731	2101	1695	1621	49.4	5.6	696	8207	0.22	2.53	48.88	0.350	10916	0.096	0.086	2822	694	1268	1329	1208	0	0	0	0	0	0	14.21	14.04	13.83
8247	0.70	514.3	2822	695	1330	1208	39.8	10.7	712	8253	0.00	2.47	0.00	0.000	1030	0.000	0.077	2821	2109	1266	1327	1206	0	0	0	0	0	0	14.21	14.09	14.26
8552	0.87	670.1	2822	2110	1327	1196	13.2	2.8	743	8637	0.12	2.55	78.75	0.249	10916	0.131	0.084	2887	692	629	691	568	0	0	0	0	0	0	14.22	14.09	13.88
8735	end climb: SURFACE_DEPTH_REACHED
state	8735	begin surface coast
8755	end surface coast: CONTROL_FINISHED_OK
state	8755	begin surface