Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 103 * 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 103 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 292.0

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 26 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 292.0 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 26 VBD_MIN 500

DIVE 103 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 180817,155526,7246.0972,-14845.9199,36,0.7,36,21.1,0.0,0.0,11,8.9 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 1.08 MHEAD_RNG_PITCHd_Wd 313.3,60308,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 180817,160915,7246.0400,-14846.0186,7,0.8,9,21.1,0.0,174.4,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818162852.923164,3,1392,31,0383,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30 PM_FREEKB_00 55504128

FINISH 0.0,1.020170 _24V_AH 12.49,91.604

SM_CCo 9037,23.65,0.218,0,0,500,703.03 _10V_AH 12.14,0.000

SM_GC 1.23,8.20,0.20,23.65,0.083,0.111,0.218,205,2220,500,-7.37,-0.45,703.03,0,0,0,0,0,0,14.25,14.25,13.98 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

MODEM 2,1503072786,73.18300,-149.96500,39.850,57781.8 MEM 323752

RAFOS_FIX 7244.833496,-14848.918945,180817,161602,3,255,3.89 DATA_FILE_SIZE 26729,802

IRIDIUM_FIX 7246.80,-14849.72,180817,160002 CAP_FILE_SIZE 109095,0

TT8_MAMPS 0.040446,1.57665 CFSIZE 2097872896,2056978432

HUMID 47.48 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.76199 SOUNDSPEED 1449.0

TCM_TEMP 13.30 CURRENT 0.055,262.11,1

XPDR_PINGS 15 GPS 180817,184204,7247.110,-14847.549,15,0.8,28,21.1,0.3,246.6,10,10.0

CP_FREE 16001957888.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 453 141.23 nil 0 0 0.00

Roll_motor 88 2147 2376.29 nil 0 0 0.00

VBD_pump_during_apogee 863 1559 16821.05 nil 0 0 0.00

VBD_pump_during_surface 23 218 64.40 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 9043 14 1645.75

Iridium_during_xfer 496 179 1114.61 NCP 9036 20 2257.19

Transponder_ping 3 420 19.67 PMAR 8993 16 1864.33

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.68

TT8 0 0 0.00

LPSleep 6481 2 181.76

TT8_Active 718 13 121.83

TT8_Sampling 2402 33 975.21

TT8_CF8 303 38 142.72

TT8_Kalman 0 0 0.00

Analog_circuits 2155 10 261.62

GPS_charging 0 0 0.00

Compass 1148 7 97.63

RAFOS 1516 48 883.40

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 208 2231 496 483 0.0 0.0 0 136 0.00 0.00 -87.78 0.000 16386 0.000 0.000 207 2230 2168 2095 2241 0 0 0 0 0 0 14.39 28.83 14.41

138 -0.57 -145.9 207 2231 2101 2240 4.7 -7.5 9 190 12.55 2.70 -33.33 0.000 18724 0.454 2.147 2373 3594 3961 3943 3979 1 0 0 0 0 0 13.56 12.89 14.07

270 -0.57 -145.9 2373 3595 3958 3979 38.8 -19.1 33 275 0.00 2.40 0.00 0.000 1030 0.000 0.058 2372 2202 3967 3957 3978 0 0 0 0 0 0 14.04 13.94 14.07

580 -0.57 -145.9 2373 2201 3959 3979 94.7 -14.0 65 585 0.00 2.47 0.00 0.000 260 0.000 0.088 2365 3594 3969 3960 3979 0 0 0 0 0 0 14.33 13.95 14.35

712 -0.68 -145.9 2366 3595 3961 3980 110.5 -11.2 91 718 0.00 2.40 0.00 0.000 1158 0.000 0.054 2365 2193 3969 3960 3979 0 0 0 0 0 0 14.20 14.10 14.23

1033 -0.75 -145.9 2367 2192 3962 3979 149.7 -11.8 105 1038 0.00 2.50 0.00 0.000 388 0.000 0.088 2359 3601 3970 3961 3979 0 0 0 0 0 0 14.39 14.07 14.42

1103 -0.90 -145.9 2359 3603 3965 3979 157.1 -10.1 119 1109 0.22 2.40 0.00 0.000 5254 0.100 0.054 2272 2195 3970 3961 3979 0 0 0 0 0 0 14.16 14.12 14.24

1425 -0.80 -145.9 2271 2194 3961 3981 216.3 -18.2 133 1430 0.17 2.47 0.00 0.000 2436 0.284 0.084 2305 3594 3973 3967 3979 0 0 0 0 0 0 13.87 14.04 14.04

1510 -0.87 -145.9 2305 3594 3962 3979 227.9 -11.8 150 1516 0.00 2.38 0.00 0.000 1158 0.000 0.054 2305 2196 3970 3962 3979 0 0 0 0 0 0 14.14 14.10 14.14

1815 -0.87 -145.9 2305 2195 3961 3976 265.9 -12.0 161 1820 0.00 2.45 0.00 0.000 260 0.000 0.089 2301 3600 3967 3958 3976 0 0 0 0 0 0 14.40 14.04 14.41

1955 -0.97 -145.9 2302 3600 3961 3977 281.2 -10.5 189 1960 0.00 2.38 0.00 0.000 1158 0.000 0.056 2301 2195 3968 3960 3976 0 0 0 0 0 0 14.25 14.14 14.28

2265 -1.01 -145.9 2302 2194 3961 3975 316.2 -11.2 201 2270 0.12 2.45 0.00 0.000 4484 0.138 0.086 2241 3595 3967 3960 3974 0 0 0 0 0 0 14.28 14.19 14.31

2357 -0.98 -145.9 2242 3594 3961 3974 329.6 -15.0 219 2363 0.00 2.35 0.00 0.000 1158 0.000 0.057 2240 2201 3967 3960 3974 0 0 0 0 0 0 14.35 14.24 14.39

2688 -0.90 -145.9 2241 2201 3960 3973 381.6 -15.4 235 2694 0.17 2.45 0.00 0.000 2436 0.295 0.083 2272 3595 3966 3960 3972 0 0 0 0 0 0 13.90 14.17 14.09

2849 -0.96 -145.9 2272 3596 3959 3972 400.7 -11.2 267 2855 0.00 2.35 0.00 0.000 1158 0.000 0.055 2272 2198 3966 3960 3972 0 0 0 0 0 0 14.37 14.26 14.40

3170 -0.96 -145.9 2271 2197 3960 3971 439.5 -12.1 281 3175 0.00 2.45 0.00 0.000 260 0.000 0.088 2266 3594 3965 3960 3970 0 0 0 0 0 0 14.59 14.17 14.60

3270 -1.01 -145.9 2266 3594 3960 3972 451.3 -11.4 301 3275 0.00 2.35 0.00 0.000 1158 0.000 0.055 2265 2195 3964 3959 3970 0 0 0 0 0 0 14.33 14.22 14.35

3528 end dive: TARGET_DEPTH_EXCEEDED

state 3528 begin apogee

3533 -0.13 0.0 2268 2071 3960 3970 483.2 -12.3 313 3744 1.02 0.00 208.02 1.440 10246 0.241 0.000 2529 2068 3365 3397 3334 0 0 0 0 0 0 13.97 13.50 12.78

3748 end apogee: CONTROL_FINISHED_OK

state 3748 begin climb

3751 0.57 145.9 2530 2068 3395 3328 493.4 0.0 320 3961 0.75 2.58 202.30 1.389 10756 0.068 0.079 2787 723 2764 2822 2707 0 0 0 0 0 0 13.58 13.20 12.49

4153 0.22 145.9 2787 723 2807 2706 467.3 15.3 359 4159 0.60 2.47 0.00 0.000 5254 0.319 0.075 2660 2094 2755 2806 2705 0 0 0 0 0 0 13.44 13.70 13.76

4469 0.08 145.9 2660 2096 2807 2702 433.9 10.2 372 4474 0.17 2.40 0.00 0.000 4740 0.298 0.076 2626 723 2753 2806 2701 0 0 0 0 0 0 13.81 14.04 13.99

4544 0.08 186.4 2626 724 2807 2703 427.5 8.1 387 4605 0.00 2.42 54.97 1.418 9382 0.000 0.079 2627 2108 2604 2669 2540 0 0 0 0 0 0 14.20 14.09 13.11

4922 0.05 199.1 2627 2109 2662 2526 392.6 9.4 412 4939 0.00 0.00 16.05 1.560 8358 0.000 0.000 2626 2109 2553 2625 2482 0 0 0 0 0 0 14.40 14.04 13.27

5220 0.04 212.0 2626 2109 2618 2474 364.2 9.4 422 5242 0.12 2.50 17.30 1.551 12964 0.257 0.083 2602 725 2499 2570 2428 0 0 0 0 0 0 14.00 14.10 13.26

5299 0.18 269.2 2603 725 2566 2427 358.2 7.4 437 5393 0.12 2.42 88.40 1.356 11430 0.133 0.079 2660 2109 2267 2331 2203 0 0 0 0 0 0 14.16 14.12 13.06

5703 0.15 269.2 2661 2109 2320 2186 311.5 11.7 468 5708 0.00 2.45 0.00 0.000 644 0.000 0.084 2660 723 2252 2319 2186 0 0 0 0 0 0 14.38 14.09 14.39

5743 0.18 269.2 2661 724 2317 2187 306.9 11.3 476 5748 0.00 2.42 0.00 0.000 1158 0.000 0.078 2661 2112 2252 2316 2188 0 0 0 0 0 0 14.20 14.09 14.23

6063 0.18 269.2 2661 2113 2316 2186 270.8 11.0 490 6064 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2112 2250 2315 2185 0 0 0 0 0 0 14.52 14.53 14.54

6363 0.18 270.9 2661 2113 2316 2185 239.9 9.9 500 6368 0.00 2.42 0.00 0.000 548 0.000 0.085 2660 724 2249 2315 2184 0 0 0 0 0 0 14.56 14.25 14.58

6419 0.25 296.6 2661 724 2318 2185 234.9 8.8 511 6465 0.00 2.38 39.75 1.352 9382 0.000 0.078 2660 2100 2152 2212 2092 0 0 0 0 0 0 14.34 14.21 13.35

6787 0.32 337.1 2661 2100 2207 2084 203.9 8.1 534 6860 0.00 2.58 65.62 1.293 8612 0.000 0.083 2661 3510 1986 2039 1934 0 0 0 0 0 0 14.50 13.88 13.23

6897 0.41 346.1 2661 3512 2032 1934 194.4 9.6 556 6914 0.15 2.40 11.68 1.458 11430 0.116 0.063 2725 2123 1954 2004 1904 0 0 0 0 0 0 14.02 13.99 13.16

7241 0.37 346.1 2728 2123 1992 1894 153.4 11.6 574 7246 0.00 2.53 0.00 0.000 644 0.000 0.088 2729 693 1944 1996 1893 0 0 0 0 0 0 14.42 14.12 14.45

7441 0.37 346.1 2728 692 1992 1894 132.1 10.1 614 7446 0.00 2.47 0.00 0.000 1030 0.000 0.079 2729 2109 1942 1991 1893 0 0 0 0 0 0 14.33 14.21 14.36

7752 0.34 346.1 2729 2112 1991 1892 99.4 10.4 626 7757 0.15 2.50 0.00 0.000 4740 0.235 0.085 2699 687 1940 1990 1891 0 0 0 0 0 0 14.09 14.19 14.32

7845 0.47 401.8 2699 688 1989 1892 92.4 7.4 644 7878 0.10 2.45 27.60 0.490 11430 0.155 0.078 2747 2102 1729 1765 1693 0 0 0 0 0 0 14.19 14.18 13.72

8173 0.51 454.0 2748 2102 1766 1686 61.0 7.6 680 8205 0.00 2.55 27.38 0.387 8484 0.000 0.083 2747 3513 1512 1556 1468 0 0 0 0 0 0 14.49 14.02 13.79

8430 0.63 523.2 2747 3515 1556 1464 41.2 6.8 728 8472 0.00 2.42 35.08 0.327 9382 0.000 0.065 2751 2098 1230 1296 1165 0 0 0 0 0 0 14.18 14.14 13.76

8778 0.85 613.3 2754 2098 1297 1156 20.1 5.8 767 8831 0.28 2.47 45.80 0.269 11172 0.091 0.089 2878 690 860 937 783 0 0 0 0 0 0 14.12 14.05 13.90

8868 0.92 657.9 2876 690 939 784 11.1 7.9 784 8900 0.00 2.45 23.45 0.245 9382 0.000 0.076 2876 2095 679 743 615 0 0 0 0 0 0 14.19 14.07 13.91

8993 end climb: SURFACE_DEPTH_REACHED

state 8993 begin surface coast

9016 end surface coast: CONTROL_FINISHED_OK

state 9016 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	103	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	292.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	38	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,155526,7246.0972,-14845.9199,36,0.7,36,21.1,0.0,0.0,11,8.9	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	1.08	MHEAD_RNG_PITCHd_Wd	313.3,60308,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	180817,160915,7246.0400,-14846.0186,7,0.8,9,21.1,0.0,174.4,11,9.8

MODEM_MSG	CACST,6,1,20170818162852.923164,3,1392,31,0383,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30	PM_FREEKB_00	55504128
FINISH	0.0,1.020170	_24V_AH	12.49,91.604
SM_CCo	9037,23.65,0.218,0,0,500,703.03	_10V_AH	12.14,0.000
SM_GC	1.23,8.20,0.20,23.65,0.083,0.111,0.218,205,2220,500,-7.37,-0.45,703.03,0,0,0,0,0,0,14.25,14.25,13.98	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
MODEM	2,1503072786,73.18300,-149.96500,39.850,57781.8	MEM	323752
RAFOS_FIX	7244.833496,-14848.918945,180817,161602,3,255,3.89	DATA_FILE_SIZE	26729,802
IRIDIUM_FIX	7246.80,-14849.72,180817,160002	CAP_FILE_SIZE	109095,0
TT8_MAMPS	0.040446,1.57665	CFSIZE	2097872896,2056978432
HUMID	47.48	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.76199	SOUNDSPEED	1449.0
TCM_TEMP	13.30	CURRENT	0.055,262.11,1
XPDR_PINGS	15	GPS	180817,184204,7247.110,-14847.549,15,0.8,28,21.1,0.3,246.6,10,10.0
CP_FREE	16001957888.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	453	141.23	nil	0	0	0.00
Roll_motor	88	2147	2376.29	nil	0	0	0.00
VBD_pump_during_apogee	863	1559	16821.05	nil	0	0	0.00
VBD_pump_during_surface	23	218	64.40	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	9043	14	1645.75
Iridium_during_xfer	496	179	1114.61	NCP	9036	20	2257.19
Transponder_ping	3	420	19.67	PMAR	8993	16	1864.33
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.68
TT8	0	0	0.00
LPSleep	6481	2	181.76
TT8_Active	718	13	121.83
TT8_Sampling	2402	33	975.21
TT8_CF8	303	38	142.72
TT8_Kalman	0	0	0.00
Analog_circuits	2155	10	261.62
GPS_charging	0	0	0.00
Compass	1148	7	97.63
RAFOS	1516	48	883.40
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	208	2231	496	483	0.0	0.0	0	136	0.00	0.00	-87.78	0.000	16386	0.000	0.000	207	2230	2168	2095	2241	0	0	0	0	0	0	14.39	28.83	14.41
138	-0.57	-145.9	207	2231	2101	2240	4.7	-7.5	9	190	12.55	2.70	-33.33	0.000	18724	0.454	2.147	2373	3594	3961	3943	3979	1	0	0	0	0	0	13.56	12.89	14.07
270	-0.57	-145.9	2373	3595	3958	3979	38.8	-19.1	33	275	0.00	2.40	0.00	0.000	1030	0.000	0.058	2372	2202	3967	3957	3978	0	0	0	0	0	0	14.04	13.94	14.07
580	-0.57	-145.9	2373	2201	3959	3979	94.7	-14.0	65	585	0.00	2.47	0.00	0.000	260	0.000	0.088	2365	3594	3969	3960	3979	0	0	0	0	0	0	14.33	13.95	14.35
712	-0.68	-145.9	2366	3595	3961	3980	110.5	-11.2	91	718	0.00	2.40	0.00	0.000	1158	0.000	0.054	2365	2193	3969	3960	3979	0	0	0	0	0	0	14.20	14.10	14.23
1033	-0.75	-145.9	2367	2192	3962	3979	149.7	-11.8	105	1038	0.00	2.50	0.00	0.000	388	0.000	0.088	2359	3601	3970	3961	3979	0	0	0	0	0	0	14.39	14.07	14.42
1103	-0.90	-145.9	2359	3603	3965	3979	157.1	-10.1	119	1109	0.22	2.40	0.00	0.000	5254	0.100	0.054	2272	2195	3970	3961	3979	0	0	0	0	0	0	14.16	14.12	14.24
1425	-0.80	-145.9	2271	2194	3961	3981	216.3	-18.2	133	1430	0.17	2.47	0.00	0.000	2436	0.284	0.084	2305	3594	3973	3967	3979	0	0	0	0	0	0	13.87	14.04	14.04
1510	-0.87	-145.9	2305	3594	3962	3979	227.9	-11.8	150	1516	0.00	2.38	0.00	0.000	1158	0.000	0.054	2305	2196	3970	3962	3979	0	0	0	0	0	0	14.14	14.10	14.14
1815	-0.87	-145.9	2305	2195	3961	3976	265.9	-12.0	161	1820	0.00	2.45	0.00	0.000	260	0.000	0.089	2301	3600	3967	3958	3976	0	0	0	0	0	0	14.40	14.04	14.41
1955	-0.97	-145.9	2302	3600	3961	3977	281.2	-10.5	189	1960	0.00	2.38	0.00	0.000	1158	0.000	0.056	2301	2195	3968	3960	3976	0	0	0	0	0	0	14.25	14.14	14.28
2265	-1.01	-145.9	2302	2194	3961	3975	316.2	-11.2	201	2270	0.12	2.45	0.00	0.000	4484	0.138	0.086	2241	3595	3967	3960	3974	0	0	0	0	0	0	14.28	14.19	14.31
2357	-0.98	-145.9	2242	3594	3961	3974	329.6	-15.0	219	2363	0.00	2.35	0.00	0.000	1158	0.000	0.057	2240	2201	3967	3960	3974	0	0	0	0	0	0	14.35	14.24	14.39
2688	-0.90	-145.9	2241	2201	3960	3973	381.6	-15.4	235	2694	0.17	2.45	0.00	0.000	2436	0.295	0.083	2272	3595	3966	3960	3972	0	0	0	0	0	0	13.90	14.17	14.09
2849	-0.96	-145.9	2272	3596	3959	3972	400.7	-11.2	267	2855	0.00	2.35	0.00	0.000	1158	0.000	0.055	2272	2198	3966	3960	3972	0	0	0	0	0	0	14.37	14.26	14.40
3170	-0.96	-145.9	2271	2197	3960	3971	439.5	-12.1	281	3175	0.00	2.45	0.00	0.000	260	0.000	0.088	2266	3594	3965	3960	3970	0	0	0	0	0	0	14.59	14.17	14.60
3270	-1.01	-145.9	2266	3594	3960	3972	451.3	-11.4	301	3275	0.00	2.35	0.00	0.000	1158	0.000	0.055	2265	2195	3964	3959	3970	0	0	0	0	0	0	14.33	14.22	14.35
3528	end dive: TARGET_DEPTH_EXCEEDED
state	3528	begin apogee
3533	-0.13	0.0	2268	2071	3960	3970	483.2	-12.3	313	3744	1.02	0.00	208.02	1.440	10246	0.241	0.000	2529	2068	3365	3397	3334	0	0	0	0	0	0	13.97	13.50	12.78
3748	end apogee: CONTROL_FINISHED_OK
state	3748	begin climb
3751	0.57	145.9	2530	2068	3395	3328	493.4	0.0	320	3961	0.75	2.58	202.30	1.389	10756	0.068	0.079	2787	723	2764	2822	2707	0	0	0	0	0	0	13.58	13.20	12.49
4153	0.22	145.9	2787	723	2807	2706	467.3	15.3	359	4159	0.60	2.47	0.00	0.000	5254	0.319	0.075	2660	2094	2755	2806	2705	0	0	0	0	0	0	13.44	13.70	13.76
4469	0.08	145.9	2660	2096	2807	2702	433.9	10.2	372	4474	0.17	2.40	0.00	0.000	4740	0.298	0.076	2626	723	2753	2806	2701	0	0	0	0	0	0	13.81	14.04	13.99
4544	0.08	186.4	2626	724	2807	2703	427.5	8.1	387	4605	0.00	2.42	54.97	1.418	9382	0.000	0.079	2627	2108	2604	2669	2540	0	0	0	0	0	0	14.20	14.09	13.11
4922	0.05	199.1	2627	2109	2662	2526	392.6	9.4	412	4939	0.00	0.00	16.05	1.560	8358	0.000	0.000	2626	2109	2553	2625	2482	0	0	0	0	0	0	14.40	14.04	13.27
5220	0.04	212.0	2626	2109	2618	2474	364.2	9.4	422	5242	0.12	2.50	17.30	1.551	12964	0.257	0.083	2602	725	2499	2570	2428	0	0	0	0	0	0	14.00	14.10	13.26
5299	0.18	269.2	2603	725	2566	2427	358.2	7.4	437	5393	0.12	2.42	88.40	1.356	11430	0.133	0.079	2660	2109	2267	2331	2203	0	0	0	0	0	0	14.16	14.12	13.06
5703	0.15	269.2	2661	2109	2320	2186	311.5	11.7	468	5708	0.00	2.45	0.00	0.000	644	0.000	0.084	2660	723	2252	2319	2186	0	0	0	0	0	0	14.38	14.09	14.39
5743	0.18	269.2	2661	724	2317	2187	306.9	11.3	476	5748	0.00	2.42	0.00	0.000	1158	0.000	0.078	2661	2112	2252	2316	2188	0	0	0	0	0	0	14.20	14.09	14.23
6063	0.18	269.2	2661	2113	2316	2186	270.8	11.0	490	6064	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2112	2250	2315	2185	0	0	0	0	0	0	14.52	14.53	14.54
6363	0.18	270.9	2661	2113	2316	2185	239.9	9.9	500	6368	0.00	2.42	0.00	0.000	548	0.000	0.085	2660	724	2249	2315	2184	0	0	0	0	0	0	14.56	14.25	14.58
6419	0.25	296.6	2661	724	2318	2185	234.9	8.8	511	6465	0.00	2.38	39.75	1.352	9382	0.000	0.078	2660	2100	2152	2212	2092	0	0	0	0	0	0	14.34	14.21	13.35
6787	0.32	337.1	2661	2100	2207	2084	203.9	8.1	534	6860	0.00	2.58	65.62	1.293	8612	0.000	0.083	2661	3510	1986	2039	1934	0	0	0	0	0	0	14.50	13.88	13.23
6897	0.41	346.1	2661	3512	2032	1934	194.4	9.6	556	6914	0.15	2.40	11.68	1.458	11430	0.116	0.063	2725	2123	1954	2004	1904	0	0	0	0	0	0	14.02	13.99	13.16
7241	0.37	346.1	2728	2123	1992	1894	153.4	11.6	574	7246	0.00	2.53	0.00	0.000	644	0.000	0.088	2729	693	1944	1996	1893	0	0	0	0	0	0	14.42	14.12	14.45
7441	0.37	346.1	2728	692	1992	1894	132.1	10.1	614	7446	0.00	2.47	0.00	0.000	1030	0.000	0.079	2729	2109	1942	1991	1893	0	0	0	0	0	0	14.33	14.21	14.36
7752	0.34	346.1	2729	2112	1991	1892	99.4	10.4	626	7757	0.15	2.50	0.00	0.000	4740	0.235	0.085	2699	687	1940	1990	1891	0	0	0	0	0	0	14.09	14.19	14.32
7845	0.47	401.8	2699	688	1989	1892	92.4	7.4	644	7878	0.10	2.45	27.60	0.490	11430	0.155	0.078	2747	2102	1729	1765	1693	0	0	0	0	0	0	14.19	14.18	13.72
8173	0.51	454.0	2748	2102	1766	1686	61.0	7.6	680	8205	0.00	2.55	27.38	0.387	8484	0.000	0.083	2747	3513	1512	1556	1468	0	0	0	0	0	0	14.49	14.02	13.79
8430	0.63	523.2	2747	3515	1556	1464	41.2	6.8	728	8472	0.00	2.42	35.08	0.327	9382	0.000	0.065	2751	2098	1230	1296	1165	0	0	0	0	0	0	14.18	14.14	13.76
8778	0.85	613.3	2754	2098	1297	1156	20.1	5.8	767	8831	0.28	2.47	45.80	0.269	11172	0.091	0.089	2878	690	860	937	783	0	0	0	0	0	0	14.12	14.05	13.90
8868	0.92	657.9	2876	690	939	784	11.1	7.9	784	8900	0.00	2.45	23.45	0.245	9382	0.000	0.076	2876	2095	679	743	615	0	0	0	0	0	0	14.19	14.07	13.91
8993	end climb: SURFACE_DEPTH_REACHED
state	8993	begin surface coast
9016	end surface coast: CONTROL_FINISHED_OK
state	9016	begin surface