Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 104 * 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 104 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 295.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 32 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 295.0 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 25 VBD_MIN 500

DIVE 104 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 180817,184204,7247.1104,-14847.5488,15,0.8,28,21.1,0.3,246.6,10,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 4 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 309.3,58175,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 180817,190030,7247.1055,-14847.8242,7,0.9,11,21.1,0.0,0.0,9,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818202849.881257,3,72,00,0124,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35 PM_FREEKB_00 55436224

FINISH 0.1,1.020322 _24V_AH 12.46,92.091

SM_CCo 8992,38.40,0.210,0,0,496,703.28 _10V_AH 12.37,0.000

SM_GC 1.29,8.18,0.17,38.40,0.079,0.099,0.210,206,2253,496,-7.37,-0.62,703.28,0,0,0,0,0,0,14.25,14.29,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 249 FG_AHR_10Vo 0.000

MODEM 2,1503087184,73.18300,-149.96500,37.604,54489.4 MEM 323868

RAFOS_FIX 7247.060547,-14853.498047,180817,202059,3,255,0.64 DATA_FILE_SIZE 26743,745

IRIDIUM_FIX 7246.80,-14849.72,180817,185352 CAP_FILE_SIZE 109627,0

TT8_MAMPS 0.040446,0.880075 CFSIZE 2097872896,2056650752

HUMID 47.99 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.76199 SOUNDSPEED 1449.3

TCM_TEMP 13.30 CURRENT 0.059,275.56,1

XPDR_PINGS 11 GPS 180817,213302,7248.313,-14849.844,38,0.8,38,21.1,0.0,0.0,10,9.0

CP_FREE 16001761280.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 142.91 nil 0 0 0.00

Roll_motor 89 2148 2395.70 nil 0 0 0.00

VBD_pump_during_apogee 875 1503 16402.87 nil 0 0 0.00

VBD_pump_during_surface 38 210 100.66 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 8999 14 1627.42

Iridium_during_xfer 654 169 1377.95 NCP 8990 20 2240.31

Transponder_ping 2 420 14.39 PMAR 8948 16 1852.11

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.27

TT8 0 0 0.00

LPSleep 6599 2 188.59

TT8_Active 832 13 143.86

TT8_Sampling 2409 33 996.74

TT8_CF8 315 38 150.93

TT8_Kalman 0 0 0.00

Analog_circuits 2317 10 286.69

GPS_charging 0 0 0.00

Compass 1068 7 92.49

RAFOS 2197 48 1304.49

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 -145.9 205 2222 499 484 0.0 0.0 0 129 0.00 0.00 -80.97 0.000 16386 0.000 0.000 204 2222 2033 1954 2112 0 0 0 0 0 0 14.42 28.83 14.45

132 -0.57 -145.9 204 2223 1956 2114 3.0 -3.4 8 190 12.50 2.70 -38.38 0.000 18724 0.453 2.149 2376 3595 3963 3947 3980 1 0 0 0 0 0 13.54 12.66 14.14

300 -0.57 -145.9 2377 3596 3956 3980 45.0 -19.3 40 305 0.00 2.38 0.00 0.000 1030 0.000 0.057 2377 2200 3967 3955 3980 0 0 0 0 0 0 14.19 14.07 14.22

612 -0.60 -145.9 2376 2200 3959 3981 98.0 -13.7 72 617 0.00 2.47 0.00 0.000 388 0.000 0.086 2369 3600 3969 3959 3980 0 0 0 0 0 0 14.46 14.15 14.50

734 -0.70 -145.9 2370 3602 3959 3981 112.3 -11.1 96 739 0.00 2.38 0.00 0.000 1158 0.000 0.054 2369 2189 3971 3959 3984 0 0 0 0 0 0 14.31 14.21 14.34

1064 -0.77 -145.9 2370 2188 3959 3981 150.9 -11.2 112 1069 0.12 2.47 0.00 0.000 4484 0.142 0.086 2320 3599 3969 3959 3980 0 0 0 0 0 0 14.26 14.16 14.36

1161 -0.83 -145.9 2320 3602 3959 3981 163.5 -13.1 131 1166 0.00 2.35 0.00 0.000 1158 0.000 0.054 2324 2198 3969 3959 3980 0 0 0 0 0 0 14.35 14.24 14.38

1486 -0.83 -145.9 2319 2197 3959 3979 209.5 -13.8 146 1491 0.00 2.47 0.00 0.000 260 0.000 0.090 2321 3601 3968 3959 3978 0 0 0 0 0 0 14.57 14.18 14.59

1541 -0.93 -145.9 2319 3602 3959 3978 216.5 -11.3 157 1548 0.12 2.38 0.00 0.000 5254 0.131 0.055 2265 2196 3968 3959 3977 0 0 0 0 0 0 14.25 14.23 14.29

1847 -0.85 -145.9 2265 2196 3958 3976 266.9 -15.8 168 1852 0.12 2.45 0.00 0.000 2436 0.298 0.084 2284 3601 3965 3959 3971 0 0 0 0 0 0 13.97 14.21 14.15

2067 -0.90 -145.9 2284 3602 3959 3976 293.8 -11.4 212 2072 0.00 2.40 0.00 0.000 1158 0.000 0.056 2283 2195 3966 3959 3974 0 0 0 0 0 0 14.38 14.26 14.40

2387 -0.90 -145.9 2284 2195 3960 3972 332.2 -11.9 226 2393 0.00 2.47 0.00 0.000 260 0.000 0.090 2280 3603 3965 3958 3972 0 0 0 0 0 0 14.59 14.21 14.61

2473 -0.97 -145.9 2280 3605 3959 3973 342.1 -11.2 243 2479 0.00 2.38 0.00 0.000 1158 0.000 0.057 2279 2197 3964 3957 3972 0 0 0 0 0 0 14.34 14.26 14.38

2778 -0.97 -145.9 2280 2197 3959 3971 378.2 -11.7 254 2783 0.00 2.47 0.00 0.000 260 0.000 0.088 2275 3608 3964 3959 3969 0 0 0 0 0 0 14.60 14.21 14.62

2869 -1.04 -145.9 2276 3609 3959 3971 388.6 -10.8 272 2874 0.00 2.38 0.00 0.000 1158 0.000 0.055 2276 2202 3964 3958 3970 0 0 0 0 0 0 14.34 14.23 14.38

3199 -1.04 -145.9 2276 2202 3959 3968 426.8 -11.5 288 3203 0.00 2.45 0.00 0.000 260 0.000 0.088 2269 3599 3963 3958 3968 0 0 0 0 0 0 14.58 14.17 14.59

3289 -1.09 -145.9 2268 3601 3958 3969 437.2 -11.1 306 3295 0.12 2.38 0.00 0.000 5254 0.140 0.056 2220 2196 3962 3957 3968 0 0 0 0 0 0 14.24 14.22 14.35

3557 end dive: TARGET_DEPTH_EXCEEDED

state 3557 begin apogee

3563 -0.13 0.0 2221 2071 3959 3967 480.5 -16.3 320 3774 1.27 0.00 207.23 1.445 10246 0.276 0.000 2528 2069 3364 3408 3321 0 0 0 0 0 0 13.82 13.43 12.73

3778 end apogee: CONTROL_FINISHED_OK

state 3778 begin climb

3780 0.57 145.9 2528 2070 3402 3317 490.4 0.0 327 3990 0.75 2.70 200.23 1.386 10500 0.064 0.073 2780 3500 2764 2826 2702 0 0 0 0 0 0 13.51 13.01 12.46

4137 0.14 145.9 2784 3501 2807 2703 468.0 17.9 357 4142 0.77 2.45 0.00 0.000 5254 0.347 0.057 2633 2125 2755 2807 2703 0 0 0 0 0 0 13.29 13.57 13.62

4469 0.07 172.5 2634 2125 2808 2702 437.3 8.8 373 4508 0.00 2.65 34.22 1.462 8868 0.000 0.082 2644 687 2658 2713 2603 0 0 0 0 0 0 14.16 13.78 13.04

4581 0.05 189.1 2644 688 2709 2603 427.1 9.2 395 4610 0.20 2.50 22.73 1.504 13478 0.253 0.077 2600 2090 2592 2660 2525 0 0 0 0 0 0 13.69 13.86 12.99

4922 0.11 240.8 2601 2091 2658 2515 400.8 7.6 413 5000 0.00 0.00 76.75 1.390 8358 0.000 0.000 2601 2090 2383 2451 2316 0 0 0 0 0 0 14.28 13.72 13.00

5280 0.22 291.9 2601 2091 2437 2304 373.1 7.6 425 5362 0.12 2.62 75.47 1.349 10916 0.133 0.085 2672 688 2172 2237 2107 0 0 0 0 0 0 14.03 13.68 13.02

5397 0.22 291.9 2673 688 2227 2106 359.6 12.6 448 5404 0.00 2.55 0.00 0.000 1030 0.000 0.076 2672 2100 2165 2225 2105 0 0 0 0 0 0 13.84 13.73 13.85

5702 0.19 291.9 2672 2100 2225 2095 321.1 12.6 459 5707 0.00 2.50 0.00 0.000 644 0.000 0.087 2672 696 2160 2224 2096 0 0 0 0 0 0 14.26 13.96 14.28

5746 0.19 291.9 2673 696 2224 2096 315.6 12.7 467 5751 0.00 2.47 0.00 0.000 1030 0.000 0.077 2672 2099 2159 2223 2096 0 0 0 0 0 0 14.13 14.02 14.16

6068 0.17 291.9 2673 2099 2223 2101 276.2 12.0 481 6073 0.12 2.45 0.00 0.000 4740 0.274 0.082 2648 686 2158 2222 2094 0 0 0 0 0 0 13.85 14.09 14.00

6104 0.24 291.9 2648 688 2220 2092 272.2 10.1 488 6110 0.00 2.45 0.00 0.000 1158 0.000 0.077 2648 2113 2155 2215 2095 0 0 0 0 0 0 14.19 14.09 14.23

6432 0.30 309.4 2649 2114 2220 2094 241.1 9.2 503 6462 0.00 2.50 23.45 1.410 8868 0.000 0.083 2653 695 2098 2157 2040 0 0 0 0 0 0 14.52 13.94 13.33

6514 0.42 333.7 2654 696 2153 2041 233.8 8.9 519 6559 0.20 2.45 38.33 1.365 11430 0.109 0.077 2732 2102 2003 2055 1951 0 0 0 0 0 0 14.18 14.13 13.24

6884 0.35 333.7 2732 2103 2046 1942 183.5 13.4 543 6889 0.15 2.47 0.00 0.000 4740 0.236 0.082 2699 687 1993 2046 1941 0 0 0 0 0 0 14.02 14.15 14.15

6954 0.41 338.1 2696 687 2044 1941 176.0 9.8 557 6959 0.00 2.45 0.00 0.000 1190 0.000 0.076 2699 2100 1992 2043 1941 0 0 0 0 0 0 14.31 14.21 14.33

7275 0.42 355.4 2699 2102 2043 1940 145.2 9.2 571 7309 0.00 0.00 33.15 1.337 8486 0.000 0.000 2699 2101 1918 1963 1873 0 0 0 0 0 0 14.54 14.09 13.38

7605 0.48 379.7 2699 2101 1950 1864 115.6 8.9 587 7646 0.10 2.53 35.53 1.305 10916 0.155 0.086 2756 686 1814 1850 1779 0 0 0 0 0 0 14.26 14.00 13.33

7676 0.48 379.7 2757 687 1843 1779 107.2 12.3 601 7681 0.00 2.50 0.00 0.000 1030 0.000 0.078 2756 2101 1810 1842 1779 0 0 0 0 0 0 14.13 14.00 14.17

7986 0.44 379.7 2757 2101 1842 1772 71.7 10.6 630 7992 0.12 2.47 0.00 0.000 4484 0.243 0.080 2728 3512 1807 1842 1773 0 0 0 0 0 0 14.04 14.11 14.16

8002 0.44 379.7 2728 3512 1842 1774 70.2 10.1 633 8008 0.00 2.42 0.00 0.000 1030 0.000 0.064 2729 2101 1807 1841 1773 0 0 0 0 0 0 14.23 14.12 14.26

8307 0.58 500.8 2730 2100 1842 1769 51.1 4.4 664 8376 0.12 2.55 60.33 0.355 10916 0.133 0.089 2793 688 1321 1383 1260 0 0 0 0 0 0 14.23 14.06 13.74

8441 0.68 532.6 2794 688 1381 1257 40.4 8.5 690 8463 0.00 2.47 16.50 0.325 9382 0.000 0.077 2793 2101 1191 1262 1120 0 0 0 0 0 0 14.14 14.02 13.81

8761 0.87 633.3 2794 2101 1263 1112 15.1 5.3 724 8814 0.20 0.00 51.40 0.258 10406 0.110 0.000 2874 2101 782 859 706 0 0 0 0 0 0 14.26 14.13 13.85

8948 end climb: SURFACE_DEPTH_REACHED

state 8948 begin surface coast

8970 end surface coast: CONTROL_FINISHED_OK

state 8970 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	104	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	295.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,184204,7247.1104,-14847.5488,15,0.8,28,21.1,0.3,246.6,10,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	4	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	309.3,58175,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	180817,190030,7247.1055,-14847.8242,7,0.9,11,21.1,0.0,0.0,9,9.3

MODEM_MSG	CACST,6,1,20170818202849.881257,3,72,00,0124,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35	PM_FREEKB_00	55436224
FINISH	0.1,1.020322	_24V_AH	12.46,92.091
SM_CCo	8992,38.40,0.210,0,0,496,703.28	_10V_AH	12.37,0.000
SM_GC	1.29,8.18,0.17,38.40,0.079,0.099,0.210,206,2253,496,-7.37,-0.62,703.28,0,0,0,0,0,0,14.25,14.29,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	249	FG_AHR_10Vo	0.000
MODEM	2,1503087184,73.18300,-149.96500,37.604,54489.4	MEM	323868
RAFOS_FIX	7247.060547,-14853.498047,180817,202059,3,255,0.64	DATA_FILE_SIZE	26743,745
IRIDIUM_FIX	7246.80,-14849.72,180817,185352	CAP_FILE_SIZE	109627,0
TT8_MAMPS	0.040446,0.880075	CFSIZE	2097872896,2056650752
HUMID	47.99	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.76199	SOUNDSPEED	1449.3
TCM_TEMP	13.30	CURRENT	0.059,275.56,1
XPDR_PINGS	11	GPS	180817,213302,7248.313,-14849.844,38,0.8,38,21.1,0.0,0.0,10,9.0
CP_FREE	16001761280.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	142.91	nil	0	0	0.00
Roll_motor	89	2148	2395.70	nil	0	0	0.00
VBD_pump_during_apogee	875	1503	16402.87	nil	0	0	0.00
VBD_pump_during_surface	38	210	100.66	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	8999	14	1627.42
Iridium_during_xfer	654	169	1377.95	NCP	8990	20	2240.31
Transponder_ping	2	420	14.39	PMAR	8948	16	1852.11
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.27
TT8	0	0	0.00
LPSleep	6599	2	188.59
TT8_Active	832	13	143.86
TT8_Sampling	2409	33	996.74
TT8_CF8	315	38	150.93
TT8_Kalman	0	0	0.00
Analog_circuits	2317	10	286.69
GPS_charging	0	0	0.00
Compass	1068	7	92.49
RAFOS	2197	48	1304.49
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	205	2222	499	484	0.0	0.0	0	129	0.00	0.00	-80.97	0.000	16386	0.000	0.000	204	2222	2033	1954	2112	0	0	0	0	0	0	14.42	28.83	14.45
132	-0.57	-145.9	204	2223	1956	2114	3.0	-3.4	8	190	12.50	2.70	-38.38	0.000	18724	0.453	2.149	2376	3595	3963	3947	3980	1	0	0	0	0	0	13.54	12.66	14.14
300	-0.57	-145.9	2377	3596	3956	3980	45.0	-19.3	40	305	0.00	2.38	0.00	0.000	1030	0.000	0.057	2377	2200	3967	3955	3980	0	0	0	0	0	0	14.19	14.07	14.22
612	-0.60	-145.9	2376	2200	3959	3981	98.0	-13.7	72	617	0.00	2.47	0.00	0.000	388	0.000	0.086	2369	3600	3969	3959	3980	0	0	0	0	0	0	14.46	14.15	14.50
734	-0.70	-145.9	2370	3602	3959	3981	112.3	-11.1	96	739	0.00	2.38	0.00	0.000	1158	0.000	0.054	2369	2189	3971	3959	3984	0	0	0	0	0	0	14.31	14.21	14.34
1064	-0.77	-145.9	2370	2188	3959	3981	150.9	-11.2	112	1069	0.12	2.47	0.00	0.000	4484	0.142	0.086	2320	3599	3969	3959	3980	0	0	0	0	0	0	14.26	14.16	14.36
1161	-0.83	-145.9	2320	3602	3959	3981	163.5	-13.1	131	1166	0.00	2.35	0.00	0.000	1158	0.000	0.054	2324	2198	3969	3959	3980	0	0	0	0	0	0	14.35	14.24	14.38
1486	-0.83	-145.9	2319	2197	3959	3979	209.5	-13.8	146	1491	0.00	2.47	0.00	0.000	260	0.000	0.090	2321	3601	3968	3959	3978	0	0	0	0	0	0	14.57	14.18	14.59
1541	-0.93	-145.9	2319	3602	3959	3978	216.5	-11.3	157	1548	0.12	2.38	0.00	0.000	5254	0.131	0.055	2265	2196	3968	3959	3977	0	0	0	0	0	0	14.25	14.23	14.29
1847	-0.85	-145.9	2265	2196	3958	3976	266.9	-15.8	168	1852	0.12	2.45	0.00	0.000	2436	0.298	0.084	2284	3601	3965	3959	3971	0	0	0	0	0	0	13.97	14.21	14.15
2067	-0.90	-145.9	2284	3602	3959	3976	293.8	-11.4	212	2072	0.00	2.40	0.00	0.000	1158	0.000	0.056	2283	2195	3966	3959	3974	0	0	0	0	0	0	14.38	14.26	14.40
2387	-0.90	-145.9	2284	2195	3960	3972	332.2	-11.9	226	2393	0.00	2.47	0.00	0.000	260	0.000	0.090	2280	3603	3965	3958	3972	0	0	0	0	0	0	14.59	14.21	14.61
2473	-0.97	-145.9	2280	3605	3959	3973	342.1	-11.2	243	2479	0.00	2.38	0.00	0.000	1158	0.000	0.057	2279	2197	3964	3957	3972	0	0	0	0	0	0	14.34	14.26	14.38
2778	-0.97	-145.9	2280	2197	3959	3971	378.2	-11.7	254	2783	0.00	2.47	0.00	0.000	260	0.000	0.088	2275	3608	3964	3959	3969	0	0	0	0	0	0	14.60	14.21	14.62
2869	-1.04	-145.9	2276	3609	3959	3971	388.6	-10.8	272	2874	0.00	2.38	0.00	0.000	1158	0.000	0.055	2276	2202	3964	3958	3970	0	0	0	0	0	0	14.34	14.23	14.38
3199	-1.04	-145.9	2276	2202	3959	3968	426.8	-11.5	288	3203	0.00	2.45	0.00	0.000	260	0.000	0.088	2269	3599	3963	3958	3968	0	0	0	0	0	0	14.58	14.17	14.59
3289	-1.09	-145.9	2268	3601	3958	3969	437.2	-11.1	306	3295	0.12	2.38	0.00	0.000	5254	0.140	0.056	2220	2196	3962	3957	3968	0	0	0	0	0	0	14.24	14.22	14.35
3557	end dive: TARGET_DEPTH_EXCEEDED
state	3557	begin apogee
3563	-0.13	0.0	2221	2071	3959	3967	480.5	-16.3	320	3774	1.27	0.00	207.23	1.445	10246	0.276	0.000	2528	2069	3364	3408	3321	0	0	0	0	0	0	13.82	13.43	12.73
3778	end apogee: CONTROL_FINISHED_OK
state	3778	begin climb
3780	0.57	145.9	2528	2070	3402	3317	490.4	0.0	327	3990	0.75	2.70	200.23	1.386	10500	0.064	0.073	2780	3500	2764	2826	2702	0	0	0	0	0	0	13.51	13.01	12.46
4137	0.14	145.9	2784	3501	2807	2703	468.0	17.9	357	4142	0.77	2.45	0.00	0.000	5254	0.347	0.057	2633	2125	2755	2807	2703	0	0	0	0	0	0	13.29	13.57	13.62
4469	0.07	172.5	2634	2125	2808	2702	437.3	8.8	373	4508	0.00	2.65	34.22	1.462	8868	0.000	0.082	2644	687	2658	2713	2603	0	0	0	0	0	0	14.16	13.78	13.04
4581	0.05	189.1	2644	688	2709	2603	427.1	9.2	395	4610	0.20	2.50	22.73	1.504	13478	0.253	0.077	2600	2090	2592	2660	2525	0	0	0	0	0	0	13.69	13.86	12.99
4922	0.11	240.8	2601	2091	2658	2515	400.8	7.6	413	5000	0.00	0.00	76.75	1.390	8358	0.000	0.000	2601	2090	2383	2451	2316	0	0	0	0	0	0	14.28	13.72	13.00
5280	0.22	291.9	2601	2091	2437	2304	373.1	7.6	425	5362	0.12	2.62	75.47	1.349	10916	0.133	0.085	2672	688	2172	2237	2107	0	0	0	0	0	0	14.03	13.68	13.02
5397	0.22	291.9	2673	688	2227	2106	359.6	12.6	448	5404	0.00	2.55	0.00	0.000	1030	0.000	0.076	2672	2100	2165	2225	2105	0	0	0	0	0	0	13.84	13.73	13.85
5702	0.19	291.9	2672	2100	2225	2095	321.1	12.6	459	5707	0.00	2.50	0.00	0.000	644	0.000	0.087	2672	696	2160	2224	2096	0	0	0	0	0	0	14.26	13.96	14.28
5746	0.19	291.9	2673	696	2224	2096	315.6	12.7	467	5751	0.00	2.47	0.00	0.000	1030	0.000	0.077	2672	2099	2159	2223	2096	0	0	0	0	0	0	14.13	14.02	14.16
6068	0.17	291.9	2673	2099	2223	2101	276.2	12.0	481	6073	0.12	2.45	0.00	0.000	4740	0.274	0.082	2648	686	2158	2222	2094	0	0	0	0	0	0	13.85	14.09	14.00
6104	0.24	291.9	2648	688	2220	2092	272.2	10.1	488	6110	0.00	2.45	0.00	0.000	1158	0.000	0.077	2648	2113	2155	2215	2095	0	0	0	0	0	0	14.19	14.09	14.23
6432	0.30	309.4	2649	2114	2220	2094	241.1	9.2	503	6462	0.00	2.50	23.45	1.410	8868	0.000	0.083	2653	695	2098	2157	2040	0	0	0	0	0	0	14.52	13.94	13.33
6514	0.42	333.7	2654	696	2153	2041	233.8	8.9	519	6559	0.20	2.45	38.33	1.365	11430	0.109	0.077	2732	2102	2003	2055	1951	0	0	0	0	0	0	14.18	14.13	13.24
6884	0.35	333.7	2732	2103	2046	1942	183.5	13.4	543	6889	0.15	2.47	0.00	0.000	4740	0.236	0.082	2699	687	1993	2046	1941	0	0	0	0	0	0	14.02	14.15	14.15
6954	0.41	338.1	2696	687	2044	1941	176.0	9.8	557	6959	0.00	2.45	0.00	0.000	1190	0.000	0.076	2699	2100	1992	2043	1941	0	0	0	0	0	0	14.31	14.21	14.33
7275	0.42	355.4	2699	2102	2043	1940	145.2	9.2	571	7309	0.00	0.00	33.15	1.337	8486	0.000	0.000	2699	2101	1918	1963	1873	0	0	0	0	0	0	14.54	14.09	13.38
7605	0.48	379.7	2699	2101	1950	1864	115.6	8.9	587	7646	0.10	2.53	35.53	1.305	10916	0.155	0.086	2756	686	1814	1850	1779	0	0	0	0	0	0	14.26	14.00	13.33
7676	0.48	379.7	2757	687	1843	1779	107.2	12.3	601	7681	0.00	2.50	0.00	0.000	1030	0.000	0.078	2756	2101	1810	1842	1779	0	0	0	0	0	0	14.13	14.00	14.17
7986	0.44	379.7	2757	2101	1842	1772	71.7	10.6	630	7992	0.12	2.47	0.00	0.000	4484	0.243	0.080	2728	3512	1807	1842	1773	0	0	0	0	0	0	14.04	14.11	14.16
8002	0.44	379.7	2728	3512	1842	1774	70.2	10.1	633	8008	0.00	2.42	0.00	0.000	1030	0.000	0.064	2729	2101	1807	1841	1773	0	0	0	0	0	0	14.23	14.12	14.26
8307	0.58	500.8	2730	2100	1842	1769	51.1	4.4	664	8376	0.12	2.55	60.33	0.355	10916	0.133	0.089	2793	688	1321	1383	1260	0	0	0	0	0	0	14.23	14.06	13.74
8441	0.68	532.6	2794	688	1381	1257	40.4	8.5	690	8463	0.00	2.47	16.50	0.325	9382	0.000	0.077	2793	2101	1191	1262	1120	0	0	0	0	0	0	14.14	14.02	13.81
8761	0.87	633.3	2794	2101	1263	1112	15.1	5.3	724	8814	0.20	0.00	51.40	0.258	10406	0.110	0.000	2874	2101	782	859	706	0	0	0	0	0	0	14.26	14.13	13.85
8948	end climb: SURFACE_DEPTH_REACHED
state	8948	begin surface coast
8970	end surface coast: CONTROL_FINISHED_OK
state	8970	begin surface