Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 106 * 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 106 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 300.0

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 30 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 50 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 300.0 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 30 VBD_MIN 500

DIVE 106 NOCOMM_ACTION 161 R_STBD_OVSHOOT 50 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 190817,001504,7249.4658,-14852.0488,21,0.8,30,21.1,0.3,297.9,10,9.5 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 308.6,53107,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 190817,002601,7249.4624,-14852.1973,7,0.7,13,21.1,0.0,0.0,12,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170819000426.183663,3,13,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34 PM_FREEKB_00 55292864

FINISH 0.0,1.009575 _24V_AH 12.12,93.058

SM_CCo 9443,72.38,0.212,0,0,498,702.78 _10V_AH 12.31,0.000

SM_GC 1.27,8.00,0.15,72.38,0.076,0.111,0.212,201,2241,498,-7.36,-0.59,702.78,0,0,0,0,0,0,14.32,14.32,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 403 FG_AHR_10Vo 0.000

MODEM 0,1503101066,75.36600,-145.04601,212.184,307571.2 MEM 323564

RAFOS_FIX 7247.060547,-14853.498047,180817,202059,3,255,0.64 DATA_FILE_SIZE 26772,779

IRIDIUM_FIX 7248.56,-14845.95,180817,213741 CAP_FILE_SIZE 107554,0

TT8_MAMPS 0.039697,0.83888 CFSIZE 2097872896,2056028160

HUMID 48.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0

INTERNAL_PRESSURE 7.76199 SOUNDSPEED 1448.6

TCM_TEMP 13.50 CURRENT 0.064,243.57,1

XPDR_PINGS 12 GPS 190817,030633,7250.575,-14854.235,35,0.8,36,21.1,0.0,0.0,10,8.1

CP_FREE 16001400832.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 460 138.84 nil 0 0 0.00

Roll_motor 83 2138 2170.48 nil 0 0 0.00

VBD_pump_during_apogee 1007 1494 18261.58 nil 0 0 0.00

VBD_pump_during_surface 72 211 185.88 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 9449 14 1648.08

Iridium_during_xfer 383 182 850.37 NCP 9432 20 2286.32

Transponder_ping 3 420 15.27 PMAR 9400 16 1892.46

GUMSTIX_24V 0 0 0.00

GPS 14 22 3.95

TT8 0 0 0.00

LPSleep 6420 2 182.58

TT8_Active 980 13 168.53

TT8_Sampling 2488 33 1024.34

TT8_CF8 300 38 143.05

TT8_Kalman 0 0 0.00

Analog_circuits 2516 10 309.80

GPS_charging 0 0 0.00

Compass 1117 7 96.29

RAFOS 0 0 0.00

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 -145.9 192 2192 517 481 0.0 0.0 0 130 0.00 0.00 -81.62 0.000 16386 0.000 0.000 191 2192 2016 1939 2094 0 0 0 0 0 0 14.26 28.83 14.30

133 -0.57 -145.9 192 2193 1942 2097 3.3 -4.3 8 189 12.85 2.72 -38.15 0.000 18980 0.461 2.139 2384 800 3960 3942 3978 0 0 0 0 0 0 13.61 12.86 14.01

255 -0.57 -145.9 2384 800 3949 3983 35.5 -19.2 32 260 0.00 2.45 0.00 0.000 1030 0.000 0.087 2378 2171 3964 3949 3979 0 0 0 0 0 0 14.00 13.88 14.05

565 -0.57 -145.9 2379 2171 3954 3978 90.8 -14.0 64 569 0.00 2.58 0.00 0.000 260 0.000 0.091 2376 3614 3965 3952 3978 0 0 0 0 0 0 14.33 13.92 14.34

775 -0.70 -145.9 2376 3617 3953 3979 114.0 -10.4 106 780 0.00 2.38 0.00 0.000 1158 0.000 0.054 2376 2193 3965 3953 3978 0 0 0 0 0 0 14.07 13.97 14.12

1105 -0.79 -145.9 2376 2192 3954 3979 149.9 -10.4 122 1110 0.15 2.50 0.00 0.000 4484 0.132 0.086 2305 3612 3965 3953 3978 0 0 0 0 0 0 14.19 14.13 14.24

1197 -0.83 -145.9 2306 3613 3954 3978 162.5 -14.1 140 1202 0.00 2.40 0.00 0.000 1158 0.000 0.055 2306 2189 3965 3953 3978 0 0 0 0 0 0 14.31 14.20 14.33

1527 -0.83 -145.9 2306 2188 3953 3979 212.9 -14.6 156 1532 0.00 2.50 0.00 0.000 260 0.000 0.090 2305 3613 3965 3952 3978 0 0 0 0 0 0 14.54 14.19 14.56

1672 -0.90 -145.9 2306 3614 3954 3979 230.9 -11.6 185 1678 0.00 2.42 0.00 0.000 1158 0.000 0.057 2305 2195 3966 3951 3982 0 0 0 0 0 0 14.32 14.22 14.35

1977 -0.92 -145.9 2305 2194 3954 3978 267.7 -11.7 196 1982 0.00 2.50 0.00 0.000 388 0.000 0.089 2301 3614 3965 3952 3978 0 0 0 0 0 0 14.57 14.20 14.59

2104 -1.01 -145.9 2301 3617 3953 3979 281.1 -9.9 221 2109 0.15 2.40 0.00 0.000 5286 0.122 0.055 2246 2195 3965 3952 3978 0 0 0 0 0 0 14.28 14.26 14.38

2430 -0.93 -145.9 2247 2194 3951 3976 332.4 -15.7 236 2435 0.12 2.50 0.00 0.000 2436 0.309 0.086 2263 3620 3964 3953 3976 0 0 0 0 0 0 13.95 14.16 14.14

2575 -0.93 -145.9 2264 3621 3952 3977 351.5 -12.6 265 2581 0.00 2.40 0.00 0.000 1030 0.000 0.057 2263 2193 3961 3946 3976 0 0 0 0 0 0 14.34 14.21 14.37

2880 -0.91 -145.9 2264 2192 3953 3973 391.4 -12.9 276 2885 0.00 2.50 0.00 0.000 388 0.000 0.088 2256 3614 3962 3951 3974 0 0 0 0 0 0 14.59 14.15 14.61

3000 -0.91 -145.9 2256 3615 3951 3976 406.8 -12.6 300 3006 0.12 2.40 0.00 0.000 3078 0.273 0.055 2278 2190 3962 3950 3975 0 0 0 0 0 0 13.97 14.21 14.23

3331 -0.91 -145.9 2279 2190 3951 3975 444.3 -11.3 316 3336 0.00 2.50 0.00 0.000 260 0.000 0.090 2278 3613 3962 3950 3974 0 0 0 0 0 0 14.60 14.16 14.62

3416 -1.00 -145.9 2278 3614 3952 3975 453.5 -10.2 333 3422 0.00 2.38 0.00 0.000 1158 0.000 0.054 2277 2202 3962 3950 3974 0 0 0 0 0 0 14.30 14.18 14.33

3658 end dive: TARGET_DEPTH_EXCEEDED

state 3658 begin apogee

3664 -0.13 0.0 2284 2056 3952 3974 480.7 -11.1 342 4031 0.98 0.10 358.33 1.307 10246 0.230 0.160 2529 2119 3365 3391 3339 0 0 0 0 1 0 14.00 13.14 12.12

4037 end apogee: CONTROL_FINISHED_OK

state 4037 begin climb

4039 0.57 145.9 2530 2118 3398 3340 500.7 0.0 354 4552 0.75 2.30 208.27 1.398 11012 0.067 0.080 2781 726 2755 2799 2711 0 0 0 0 0 0 13.28 13.13 12.46

4621 0.23 145.9 2782 725 2799 2711 451.6 15.3 369 4627 0.55 2.45 0.00 0.000 5254 0.314 0.076 2662 2101 2753 2798 2708 0 0 0 0 0 0 13.62 13.85 13.95

4937 0.08 147.3 2661 2102 2799 2706 418.9 9.9 382 4942 0.20 2.40 0.00 0.000 4772 0.300 0.077 2622 726 2752 2798 2706 0 0 0 0 0 0 13.84 14.09 14.03

5039 0.11 201.7 2622 727 2799 2708 411.0 7.5 402 5123 0.00 2.40 78.60 1.369 9254 0.000 0.079 2622 2099 2542 2603 2481 0 0 0 0 0 0 14.26 14.14 13.11

5448 0.13 218.4 2623 2101 2592 2460 374.2 9.2 434 5469 0.00 0.00 19.88 1.482 8230 0.000 0.000 2622 2101 2476 2540 2412 0 0 0 0 0 0 14.41 14.04 13.25

5748 0.14 234.4 2623 2101 2532 2401 346.3 9.3 444 5771 0.00 0.00 22.20 1.495 8230 0.000 0.000 2622 2101 2411 2474 2349 0 0 0 0 0 0 14.47 14.08 13.28

6048 0.15 251.5 2623 2101 2464 2341 318.7 9.2 454 6081 0.00 2.42 25.60 1.464 8740 0.000 0.081 2631 723 2335 2390 2280 0 0 0 0 0 0 14.48 13.90 13.31

6133 0.24 268.6 2632 725 2388 2281 311.1 9.2 470 6163 0.00 2.40 25.25 1.442 9382 0.000 0.080 2631 2099 2270 2326 2215 0 0 0 0 0 0 14.21 14.09 13.21

6475 0.29 289.2 2632 2099 2321 2202 279.2 9.0 488 6509 0.15 0.00 31.77 1.411 10406 0.112 0.000 2693 2099 2184 2239 2130 0 0 0 0 0 0 14.26 14.00 13.25

6803 0.23 289.2 2695 2100 2230 2121 237.4 12.5 499 6809 0.12 2.40 0.00 0.000 4740 0.259 0.080 2671 726 2175 2230 2120 0 0 0 0 0 0 14.00 14.18 14.14

6869 0.29 307.6 2672 726 2228 2120 230.9 9.1 512 6904 0.00 2.40 27.58 1.392 9382 0.000 0.080 2671 2105 2106 2159 2054 0 0 0 0 0 0 14.28 14.16 13.31

7226 0.31 329.1 2672 2107 2156 2047 197.7 9.0 533 7265 0.00 2.45 32.70 1.373 8740 0.000 0.085 2672 726 2020 2071 1970 0 0 0 0 0 0 14.49 14.04 13.31

7342 0.43 369.1 2672 727 2065 1971 187.9 8.2 556 7416 0.15 2.42 66.60 1.270 11430 0.126 0.078 2734 2107 1858 1894 1823 0 0 0 0 0 0 14.12 14.08 13.15

7736 0.39 369.1 2734 2108 1888 1812 138.5 12.4 585 7741 0.00 2.45 0.00 0.000 644 0.000 0.085 2739 726 1848 1887 1810 0 0 0 0 0 0 14.41 14.11 14.43

7771 0.39 369.1 2740 727 1883 1811 134.5 11.5 592 7776 0.12 2.42 0.00 0.000 5126 0.244 0.078 2713 2110 1847 1883 1811 0 0 0 0 0 0 13.97 14.13 14.21

8096 0.43 382.1 2713 2112 1884 1809 102.9 9.4 607 8112 0.00 2.50 11.70 1.440 8868 0.000 0.087 2713 727 1805 1841 1770 0 0 0 0 0 0 14.51 14.17 13.35

8157 0.55 411.3 2713 728 1833 1769 97.3 8.7 619 8179 0.15 2.40 15.60 0.505 11430 0.121 0.076 2776 2106 1686 1717 1655 0 0 0 0 0 0 14.22 14.16 13.72

8477 0.51 411.3 2776 2107 1721 1655 59.9 10.1 653 8482 0.12 2.47 0.00 0.000 4484 0.259 0.080 2751 3525 1685 1717 1654 0 0 0 0 0 0 13.95 14.15 14.12

8638 0.58 472.8 2751 3526 1717 1654 47.2 7.2 685 8675 0.00 2.38 32.47 0.344 9382 0.000 0.063 2756 2130 1437 1480 1394 0 0 0 0 0 0 14.31 14.20 13.83

8981 0.74 564.1 2756 2131 1478 1384 26.5 5.8 723 9035 0.17 2.55 48.58 0.278 10916 0.112 0.089 2837 688 1064 1136 992 0 0 0 0 0 0 14.21 14.01 13.91

9095 0.81 569.8 2838 688 1131 991 15.7 9.7 745 9106 0.00 2.50 2.85 0.275 9382 0.000 0.079 2836 2112 1039 1112 967 0 0 0 0 0 0 14.22 14.07 13.86

9373 end climb: SURFACE_DEPTH_REACHED

state 9373 begin surface coast

9423 end surface coast: CONTROL_FINISHED_OK

state 9423 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	106	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	300.0
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	30	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	50	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,001504,7249.4658,-14852.0488,21,0.8,30,21.1,0.3,297.9,10,9.5	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	308.6,53107,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	190817,002601,7249.4624,-14852.1973,7,0.7,13,21.1,0.0,0.0,12,9.2

MODEM_MSG	CACST,6,1,20170819000426.183663,3,13,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34	PM_FREEKB_00	55292864
FINISH	0.0,1.009575	_24V_AH	12.12,93.058
SM_CCo	9443,72.38,0.212,0,0,498,702.78	_10V_AH	12.31,0.000
SM_GC	1.27,8.00,0.15,72.38,0.076,0.111,0.212,201,2241,498,-7.36,-0.59,702.78,0,0,0,0,0,0,14.32,14.32,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	403	FG_AHR_10Vo	0.000
MODEM	0,1503101066,75.36600,-145.04601,212.184,307571.2	MEM	323564
RAFOS_FIX	7247.060547,-14853.498047,180817,202059,3,255,0.64	DATA_FILE_SIZE	26772,779
IRIDIUM_FIX	7248.56,-14845.95,180817,213741	CAP_FILE_SIZE	107554,0
TT8_MAMPS	0.039697,0.83888	CFSIZE	2097872896,2056028160
HUMID	48.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
INTERNAL_PRESSURE	7.76199	SOUNDSPEED	1448.6
TCM_TEMP	13.50	CURRENT	0.064,243.57,1
XPDR_PINGS	12	GPS	190817,030633,7250.575,-14854.235,35,0.8,36,21.1,0.0,0.0,10,8.1
CP_FREE	16001400832.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	460	138.84	nil	0	0	0.00
Roll_motor	83	2138	2170.48	nil	0	0	0.00
VBD_pump_during_apogee	1007	1494	18261.58	nil	0	0	0.00
VBD_pump_during_surface	72	211	185.88	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	9449	14	1648.08
Iridium_during_xfer	383	182	850.37	NCP	9432	20	2286.32
Transponder_ping	3	420	15.27	PMAR	9400	16	1892.46
GUMSTIX_24V	0	0	0.00
GPS	14	22	3.95
TT8	0	0	0.00
LPSleep	6420	2	182.58
TT8_Active	980	13	168.53
TT8_Sampling	2488	33	1024.34
TT8_CF8	300	38	143.05
TT8_Kalman	0	0	0.00
Analog_circuits	2516	10	309.80
GPS_charging	0	0	0.00
Compass	1117	7	96.29
RAFOS	0	0	0.00
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	192	2192	517	481	0.0	0.0	0	130	0.00	0.00	-81.62	0.000	16386	0.000	0.000	191	2192	2016	1939	2094	0	0	0	0	0	0	14.26	28.83	14.30
133	-0.57	-145.9	192	2193	1942	2097	3.3	-4.3	8	189	12.85	2.72	-38.15	0.000	18980	0.461	2.139	2384	800	3960	3942	3978	0	0	0	0	0	0	13.61	12.86	14.01
255	-0.57	-145.9	2384	800	3949	3983	35.5	-19.2	32	260	0.00	2.45	0.00	0.000	1030	0.000	0.087	2378	2171	3964	3949	3979	0	0	0	0	0	0	14.00	13.88	14.05
565	-0.57	-145.9	2379	2171	3954	3978	90.8	-14.0	64	569	0.00	2.58	0.00	0.000	260	0.000	0.091	2376	3614	3965	3952	3978	0	0	0	0	0	0	14.33	13.92	14.34
775	-0.70	-145.9	2376	3617	3953	3979	114.0	-10.4	106	780	0.00	2.38	0.00	0.000	1158	0.000	0.054	2376	2193	3965	3953	3978	0	0	0	0	0	0	14.07	13.97	14.12
1105	-0.79	-145.9	2376	2192	3954	3979	149.9	-10.4	122	1110	0.15	2.50	0.00	0.000	4484	0.132	0.086	2305	3612	3965	3953	3978	0	0	0	0	0	0	14.19	14.13	14.24
1197	-0.83	-145.9	2306	3613	3954	3978	162.5	-14.1	140	1202	0.00	2.40	0.00	0.000	1158	0.000	0.055	2306	2189	3965	3953	3978	0	0	0	0	0	0	14.31	14.20	14.33
1527	-0.83	-145.9	2306	2188	3953	3979	212.9	-14.6	156	1532	0.00	2.50	0.00	0.000	260	0.000	0.090	2305	3613	3965	3952	3978	0	0	0	0	0	0	14.54	14.19	14.56
1672	-0.90	-145.9	2306	3614	3954	3979	230.9	-11.6	185	1678	0.00	2.42	0.00	0.000	1158	0.000	0.057	2305	2195	3966	3951	3982	0	0	0	0	0	0	14.32	14.22	14.35
1977	-0.92	-145.9	2305	2194	3954	3978	267.7	-11.7	196	1982	0.00	2.50	0.00	0.000	388	0.000	0.089	2301	3614	3965	3952	3978	0	0	0	0	0	0	14.57	14.20	14.59
2104	-1.01	-145.9	2301	3617	3953	3979	281.1	-9.9	221	2109	0.15	2.40	0.00	0.000	5286	0.122	0.055	2246	2195	3965	3952	3978	0	0	0	0	0	0	14.28	14.26	14.38
2430	-0.93	-145.9	2247	2194	3951	3976	332.4	-15.7	236	2435	0.12	2.50	0.00	0.000	2436	0.309	0.086	2263	3620	3964	3953	3976	0	0	0	0	0	0	13.95	14.16	14.14
2575	-0.93	-145.9	2264	3621	3952	3977	351.5	-12.6	265	2581	0.00	2.40	0.00	0.000	1030	0.000	0.057	2263	2193	3961	3946	3976	0	0	0	0	0	0	14.34	14.21	14.37
2880	-0.91	-145.9	2264	2192	3953	3973	391.4	-12.9	276	2885	0.00	2.50	0.00	0.000	388	0.000	0.088	2256	3614	3962	3951	3974	0	0	0	0	0	0	14.59	14.15	14.61
3000	-0.91	-145.9	2256	3615	3951	3976	406.8	-12.6	300	3006	0.12	2.40	0.00	0.000	3078	0.273	0.055	2278	2190	3962	3950	3975	0	0	0	0	0	0	13.97	14.21	14.23
3331	-0.91	-145.9	2279	2190	3951	3975	444.3	-11.3	316	3336	0.00	2.50	0.00	0.000	260	0.000	0.090	2278	3613	3962	3950	3974	0	0	0	0	0	0	14.60	14.16	14.62
3416	-1.00	-145.9	2278	3614	3952	3975	453.5	-10.2	333	3422	0.00	2.38	0.00	0.000	1158	0.000	0.054	2277	2202	3962	3950	3974	0	0	0	0	0	0	14.30	14.18	14.33
3658	end dive: TARGET_DEPTH_EXCEEDED
state	3658	begin apogee
3664	-0.13	0.0	2284	2056	3952	3974	480.7	-11.1	342	4031	0.98	0.10	358.33	1.307	10246	0.230	0.160	2529	2119	3365	3391	3339	0	0	0	0	1	0	14.00	13.14	12.12
4037	end apogee: CONTROL_FINISHED_OK
state	4037	begin climb
4039	0.57	145.9	2530	2118	3398	3340	500.7	0.0	354	4552	0.75	2.30	208.27	1.398	11012	0.067	0.080	2781	726	2755	2799	2711	0	0	0	0	0	0	13.28	13.13	12.46
4621	0.23	145.9	2782	725	2799	2711	451.6	15.3	369	4627	0.55	2.45	0.00	0.000	5254	0.314	0.076	2662	2101	2753	2798	2708	0	0	0	0	0	0	13.62	13.85	13.95
4937	0.08	147.3	2661	2102	2799	2706	418.9	9.9	382	4942	0.20	2.40	0.00	0.000	4772	0.300	0.077	2622	726	2752	2798	2706	0	0	0	0	0	0	13.84	14.09	14.03
5039	0.11	201.7	2622	727	2799	2708	411.0	7.5	402	5123	0.00	2.40	78.60	1.369	9254	0.000	0.079	2622	2099	2542	2603	2481	0	0	0	0	0	0	14.26	14.14	13.11
5448	0.13	218.4	2623	2101	2592	2460	374.2	9.2	434	5469	0.00	0.00	19.88	1.482	8230	0.000	0.000	2622	2101	2476	2540	2412	0	0	0	0	0	0	14.41	14.04	13.25
5748	0.14	234.4	2623	2101	2532	2401	346.3	9.3	444	5771	0.00	0.00	22.20	1.495	8230	0.000	0.000	2622	2101	2411	2474	2349	0	0	0	0	0	0	14.47	14.08	13.28
6048	0.15	251.5	2623	2101	2464	2341	318.7	9.2	454	6081	0.00	2.42	25.60	1.464	8740	0.000	0.081	2631	723	2335	2390	2280	0	0	0	0	0	0	14.48	13.90	13.31
6133	0.24	268.6	2632	725	2388	2281	311.1	9.2	470	6163	0.00	2.40	25.25	1.442	9382	0.000	0.080	2631	2099	2270	2326	2215	0	0	0	0	0	0	14.21	14.09	13.21
6475	0.29	289.2	2632	2099	2321	2202	279.2	9.0	488	6509	0.15	0.00	31.77	1.411	10406	0.112	0.000	2693	2099	2184	2239	2130	0	0	0	0	0	0	14.26	14.00	13.25
6803	0.23	289.2	2695	2100	2230	2121	237.4	12.5	499	6809	0.12	2.40	0.00	0.000	4740	0.259	0.080	2671	726	2175	2230	2120	0	0	0	0	0	0	14.00	14.18	14.14
6869	0.29	307.6	2672	726	2228	2120	230.9	9.1	512	6904	0.00	2.40	27.58	1.392	9382	0.000	0.080	2671	2105	2106	2159	2054	0	0	0	0	0	0	14.28	14.16	13.31
7226	0.31	329.1	2672	2107	2156	2047	197.7	9.0	533	7265	0.00	2.45	32.70	1.373	8740	0.000	0.085	2672	726	2020	2071	1970	0	0	0	0	0	0	14.49	14.04	13.31
7342	0.43	369.1	2672	727	2065	1971	187.9	8.2	556	7416	0.15	2.42	66.60	1.270	11430	0.126	0.078	2734	2107	1858	1894	1823	0	0	0	0	0	0	14.12	14.08	13.15
7736	0.39	369.1	2734	2108	1888	1812	138.5	12.4	585	7741	0.00	2.45	0.00	0.000	644	0.000	0.085	2739	726	1848	1887	1810	0	0	0	0	0	0	14.41	14.11	14.43
7771	0.39	369.1	2740	727	1883	1811	134.5	11.5	592	7776	0.12	2.42	0.00	0.000	5126	0.244	0.078	2713	2110	1847	1883	1811	0	0	0	0	0	0	13.97	14.13	14.21
8096	0.43	382.1	2713	2112	1884	1809	102.9	9.4	607	8112	0.00	2.50	11.70	1.440	8868	0.000	0.087	2713	727	1805	1841	1770	0	0	0	0	0	0	14.51	14.17	13.35
8157	0.55	411.3	2713	728	1833	1769	97.3	8.7	619	8179	0.15	2.40	15.60	0.505	11430	0.121	0.076	2776	2106	1686	1717	1655	0	0	0	0	0	0	14.22	14.16	13.72
8477	0.51	411.3	2776	2107	1721	1655	59.9	10.1	653	8482	0.12	2.47	0.00	0.000	4484	0.259	0.080	2751	3525	1685	1717	1654	0	0	0	0	0	0	13.95	14.15	14.12
8638	0.58	472.8	2751	3526	1717	1654	47.2	7.2	685	8675	0.00	2.38	32.47	0.344	9382	0.000	0.063	2756	2130	1437	1480	1394	0	0	0	0	0	0	14.31	14.20	13.83
8981	0.74	564.1	2756	2131	1478	1384	26.5	5.8	723	9035	0.17	2.55	48.58	0.278	10916	0.112	0.089	2837	688	1064	1136	992	0	0	0	0	0	0	14.21	14.01	13.91
9095	0.81	569.8	2838	688	1131	991	15.7	9.7	745	9106	0.00	2.50	2.85	0.275	9382	0.000	0.079	2836	2112	1039	1112	967	0	0	0	0	0	0	14.22	14.07	13.86
9373	end climb: SURFACE_DEPTH_REACHED
state	9373	begin surface coast
9423	end surface coast: CONTROL_FINISHED_OK
state	9423	begin surface