Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 108 * 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 108 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 306.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 57 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 306.0 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 23 VBD_MIN 500

DIVE 108 NOCOMM_ACTION 161 R_STBD_OVSHOOT 57 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 190817,055418,7251.6733,-14856.6465,24,0.7,27,21.1,0.8,217.3,11,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 312.2,48467,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.6 D_GRID 480

GPS2 190817,061022,7251.5591,-14857.0977,9,0.7,33,21.1,0.7,208.6,12,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170819082844.938656,3,844,29,0413,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07 PM_FREEKB_00 55139328

FINISH 0.7,1.020323 _24V_AH 12.49,94.065

SM_CCo 9138,1.88,0.220,0,0,501,702.78 _10V_AH 12.38,0.000

SM_GC 1.57,8.20,2.28,1.88,0.067,0.046,0.220,207,2189,501,-7.37,0.85,702.78,0,0,0,0,0,0,14.11,14.09,13.91 FG_AHR_24Vo 0.000

RAFOS_CLK 127 FG_AHR_10Vo 0.000

MODEM 0,1503129863,75.36600,-145.04601,209.727,304018.2 MEM 323624

RAFOS_FIX 7251.576172,-14902.786133,190817,080821,3,255,0.41 DATA_FILE_SIZE 26653,795

IRIDIUM_FIX 7251.32,-14858.42,190817,055853 CAP_FILE_SIZE 111185,0

TT8_MAMPS 0.093625,0.883071 CFSIZE 2097872896,2055372800

HUMID 43.97 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.76199 SOUNDSPEED 1449.4

TCM_TEMP 13.10 CURRENT 0.081,267.10,1

XPDR_PINGS 20 GPS 190817,084432,7252.720,-14859.296,31,0.8,31,21.1,0.5,284.9,9,9.1

CP_FREE 16001073152.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.50 nil 0 0 0.00

Roll_motor 93 2148 2504.80 nil 0 0 0.00

VBD_pump_during_apogee 1000 1511 18885.10 nil 0 0 0.00

VBD_pump_during_surface 1 220 5.16 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 9143 14 1642.82

Iridium_during_xfer 604 185 1396.90 NCP 9132 20 2281.17

Transponder_ping 5 420 26.23 PMAR 9090 16 1884.78

GUMSTIX_24V 0 0 0.00

GPS 34 22 9.52

TT8 0 0 0.00

LPSleep 6464 2 184.87

TT8_Active 878 13 151.97

TT8_Sampling 2463 33 1019.77

TT8_CF8 311 38 149.17

TT8_Kalman 0 0 0.00

Analog_circuits 2379 10 294.54

GPS_charging 0 0 0.00

Compass 1139 7 98.75

RAFOS 2207 48 1311.49

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 180 2202 497 482 0.0 0.0 0 140 0.00 0.00 -91.93 0.000 16386 0.000 0.000 178 2198 2297 2238 2357 0 0 0 0 0 0 14.40 28.83 14.42

143 -0.57 -145.9 185 2201 2241 2358 4.9 -7.5 9 192 12.73 2.70 -29.45 0.000 18724 0.456 2.149 2375 3570 3963 3947 3979 0 0 0 0 0 0 13.65 12.91 14.10

249 -0.53 -145.9 2376 3572 3952 3979 35.8 -22.3 28 255 0.12 2.35 0.00 0.000 3206 0.273 0.057 2398 2190 3966 3953 3979 0 0 0 0 0 0 13.86 14.09 14.09

552 -0.58 -145.9 2399 2189 3958 3980 88.3 -12.2 59 558 0.00 2.45 0.00 0.000 388 0.000 0.086 2391 3573 3968 3957 3979 0 0 0 0 0 0 14.45 14.12 14.47

708 -0.75 -145.9 2392 3575 3958 3979 104.0 -9.2 90 714 0.17 2.33 0.00 0.000 5286 0.105 0.053 2325 2192 3968 3957 3980 0 0 0 0 0 0 14.25 14.21 14.33

1034 -0.75 -145.9 2325 2190 3958 3979 155.9 -15.4 105 1039 0.00 2.42 0.00 0.000 260 0.000 0.088 2320 3573 3968 3957 3979 0 0 0 0 0 0 14.55 14.17 14.57

1139 -0.81 -145.9 2319 3573 3958 3979 170.2 -12.8 126 1144 0.00 2.30 0.00 0.000 1158 0.000 0.054 2319 2201 3968 3957 3979 0 0 0 0 0 0 14.37 14.29 14.39

1454 -0.81 -145.9 2319 2200 3957 3980 214.2 -13.5 139 1459 0.00 2.42 0.00 0.000 260 0.000 0.090 2319 3580 3968 3957 3979 0 0 0 0 0 0 14.58 14.19 14.59

1571 -0.91 -145.9 2320 3581 3958 3979 227.5 -10.7 162 1577 0.00 2.33 0.00 0.000 1158 0.000 0.054 2319 2201 3968 3957 3979 0 0 0 0 0 0 14.26 14.15 14.30

1875 -0.95 -145.9 2319 2199 3958 3978 261.6 -10.7 173 1880 0.12 2.42 0.00 0.000 4484 0.141 0.086 2252 3580 3966 3956 3977 0 0 0 0 0 0 14.29 14.17 14.35

1972 -0.91 -145.9 2253 3581 3956 3977 275.4 -15.2 192 1977 0.15 2.33 0.00 0.000 3206 0.276 0.057 2281 2196 3967 3956 3978 0 0 0 0 0 0 14.00 14.28 14.27

2298 -0.91 -145.9 2281 2197 3957 3977 318.4 -12.9 207 2303 0.00 2.42 0.00 0.000 260 0.000 0.089 2279 3573 3965 3956 3975 0 0 0 0 0 0 14.60 14.19 14.62

2410 -0.97 -145.9 2280 3574 3956 3976 331.4 -11.3 229 2415 0.00 2.30 0.00 0.000 1158 0.000 0.056 2279 2201 3965 3955 3975 0 0 0 0 0 0 14.30 14.21 14.32

2720 -0.97 -145.9 2280 2200 3956 3974 368.8 -11.8 241 2725 0.00 2.42 0.00 0.000 260 0.000 0.088 2271 3574 3964 3955 3973 0 0 0 0 0 0 14.60 14.23 14.66

2825 -1.02 -145.9 2271 3575 3956 3973 381.0 -11.3 262 2830 0.00 2.30 0.00 0.000 1158 0.000 0.056 2271 2201 3963 3954 3973 0 0 0 0 0 0 14.39 14.27 14.42

3140 -1.02 -145.9 2271 2200 3956 3973 419.7 -12.2 275 3146 0.00 2.42 0.00 0.000 260 0.000 0.087 2266 3581 3963 3955 3972 0 0 0 0 0 0 14.59 14.21 14.59

3246 -1.07 -145.9 2267 3583 3955 3973 432.3 -11.5 296 3251 0.00 2.33 0.00 0.000 1158 0.000 0.056 2267 2196 3963 3954 3972 0 0 0 0 0 0 14.39 14.27 14.42

3561 -1.07 -145.9 2267 2196 3955 3972 471.4 -12.4 309 3566 0.00 2.42 0.00 0.000 260 0.000 0.087 2258 3580 3962 3954 3971 0 0 0 0 0 0 14.60 14.19 14.62

3628 end dive: TARGET_DEPTH_EXCEEDED

state 3628 begin apogee

3637 -0.13 0.0 2258 2102 3955 3972 480.2 -12.2 323 3850 1.08 0.00 210.82 1.437 10246 0.246 0.000 2530 2101 3365 3394 3337 0 0 0 0 0 0 13.99 13.49 12.74

3854 end apogee: CONTROL_FINISHED_OK

state 3854 begin climb

3857 0.57 145.9 2531 2102 3386 3330 491.1 0.0 330 4067 0.73 2.75 202.23 1.382 10756 0.066 0.082 2781 684 2766 2819 2714 0 0 0 0 0 0 13.57 13.19 12.49

4294 0.23 145.9 2781 685 2803 2712 462.5 14.9 376 4299 0.57 2.50 0.00 0.000 5254 0.321 0.076 2658 2072 2756 2802 2711 0 0 0 0 0 0 13.47 13.74 13.79

4605 0.08 152.0 2661 2075 2803 2706 431.3 9.7 388 4610 0.20 2.42 1.23 0.265 12964 0.293 0.077 2621 687 2743 2792 2695 0 0 0 0 0 0 13.79 13.97 13.76

4741 0.12 211.1 2621 687 2796 2710 420.9 7.3 415 4840 0.00 2.47 92.68 1.375 9254 0.000 0.079 2621 2105 2501 2565 2437 0 0 0 0 0 0 14.25 14.13 13.03

5146 0.14 228.2 2622 2105 2560 2421 384.6 9.2 446 5169 0.00 0.00 22.40 1.489 8230 0.000 0.000 2621 2101 2434 2500 2369 0 0 0 0 0 0 14.36 14.00 13.20

5446 0.15 242.4 2622 2104 2491 2358 356.7 9.3 456 5471 0.00 2.50 19.38 1.512 8740 0.000 0.086 2631 690 2374 2434 2315 0 0 0 0 0 0 14.45 14.07 13.28

5516 0.22 259.4 2631 691 2429 2313 350.2 9.2 470 5547 0.00 2.47 25.15 1.470 9382 0.000 0.078 2632 2105 2305 2364 2246 0 0 0 0 0 0 14.21 14.10 13.19

5869 0.26 276.5 2631 2104 2358 2237 316.9 9.2 490 5900 0.10 2.58 25.48 1.457 10916 0.153 0.084 2683 687 2232 2289 2176 0 0 0 0 0 0 14.24 14.03 13.27

5925 0.22 276.5 2684 688 2288 2177 310.1 12.3 501 5932 0.12 2.47 0.00 0.000 5254 0.243 0.078 2657 2099 2230 2285 2175 0 0 0 0 0 0 13.92 14.09 14.17

6231 0.22 276.5 2657 2100 2285 2170 276.9 10.8 512 6235 0.00 2.47 0.00 0.000 516 0.000 0.086 2659 685 2227 2285 2169 0 0 0 0 0 0 14.51 14.16 14.52

6271 0.26 276.5 2660 685 2284 2169 272.7 10.4 520 6276 0.00 2.45 0.00 0.000 1158 0.000 0.077 2664 2099 2225 2283 2168 0 0 0 0 0 0 14.33 14.22 14.37

6593 0.27 292.1 2660 2100 2288 2168 240.8 9.3 534 6623 0.00 2.55 21.48 1.469 8740 0.000 0.086 2659 684 2170 2224 2116 0 0 0 0 0 0 14.47 14.08 13.34

6668 0.36 322.2 2660 685 2223 2117 234.0 8.6 549 6724 0.12 2.50 49.53 1.354 11430 0.135 0.077 2709 2105 2049 2099 1999 0 0 0 0 0 0 14.08 14.04 13.18

7044 0.32 322.2 2709 2106 2091 1989 189.8 11.2 574 7049 0.00 2.50 0.00 0.000 388 0.000 0.082 2709 3517 2038 2089 1988 0 0 0 0 0 0 14.33 14.04 14.36

7069 0.25 322.2 2709 3518 2087 1989 186.7 12.7 579 7077 0.20 2.45 0.00 0.000 5254 0.257 0.063 2664 2098 2038 2089 1988 0 0 0 0 0 0 13.91 14.06 14.12

7375 0.36 377.5 2665 2097 2089 1984 162.5 7.4 590 7475 0.00 2.60 92.47 1.265 8868 0.000 0.087 2664 689 1823 1858 1788 0 0 0 0 0 0 14.40 13.78 13.12

7546 0.56 431.7 2665 689 1850 1788 149.9 7.5 624 7648 0.30 2.53 92.15 1.192 11430 0.086 0.078 2776 2100 1601 1641 1561 0 0 0 0 0 0 13.93 13.86 12.95

7945 0.51 431.7 2777 2104 1640 1544 92.0 14.0 656 7950 0.12 2.53 0.00 0.000 4740 0.269 0.085 2755 695 1590 1639 1542 0 0 0 0 0 0 13.67 13.88 13.83

8016 0.58 431.7 2756 693 1635 1543 83.8 10.2 670 8020 0.00 2.53 0.00 0.000 1158 0.000 0.080 2755 2107 1588 1634 1542 0 0 0 0 0 0 14.02 13.94 14.05

8326 0.66 500.2 2756 2109 1635 1539 55.8 6.8 702 8366 0.12 0.00 33.40 0.373 10662 0.129 0.000 2809 2108 1324 1378 1270 0 0 0 0 0 0 14.12 14.00 13.67

8666 0.68 532.3 2810 2109 1380 1264 25.4 8.5 739 8686 0.00 0.00 16.67 0.295 8230 0.000 0.000 2809 2111 1194 1257 1131 0 0 0 0 0 0 14.32 14.09 13.78

8986 0.94 719.6 2809 2108 1259 1126 10.1 1.4 771 9091 0.20 2.50 95.20 0.232 10660 0.102 0.080 2894 3512 503 530 477 0 0 0 0 0 0 14.12 14.00 13.85

9104 end climb: SURFACE_DEPTH_REACHED

state 9104 begin surface coast

9114 end surface coast: CONTROL_FINISHED_OK

state 9114 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	108	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	306.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	57	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,055418,7251.6733,-14856.6465,24,0.7,27,21.1,0.8,217.3,11,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	312.2,48467,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	190817,061022,7251.5591,-14857.0977,9,0.7,33,21.1,0.7,208.6,12,9.8

MODEM_MSG	CACST,6,1,20170819082844.938656,3,844,29,0413,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*07	PM_FREEKB_00	55139328
FINISH	0.7,1.020323	_24V_AH	12.49,94.065
SM_CCo	9138,1.88,0.220,0,0,501,702.78	_10V_AH	12.38,0.000
SM_GC	1.57,8.20,2.28,1.88,0.067,0.046,0.220,207,2189,501,-7.37,0.85,702.78,0,0,0,0,0,0,14.11,14.09,13.91	FG_AHR_24Vo	0.000
RAFOS_CLK	127	FG_AHR_10Vo	0.000
MODEM	0,1503129863,75.36600,-145.04601,209.727,304018.2	MEM	323624
RAFOS_FIX	7251.576172,-14902.786133,190817,080821,3,255,0.41	DATA_FILE_SIZE	26653,795
IRIDIUM_FIX	7251.32,-14858.42,190817,055853	CAP_FILE_SIZE	111185,0
TT8_MAMPS	0.093625,0.883071	CFSIZE	2097872896,2055372800
HUMID	43.97	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.76199	SOUNDSPEED	1449.4
TCM_TEMP	13.10	CURRENT	0.081,267.10,1
XPDR_PINGS	20	GPS	190817,084432,7252.720,-14859.296,31,0.8,31,21.1,0.5,284.9,9,9.1
CP_FREE	16001073152.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.50	nil	0	0	0.00
Roll_motor	93	2148	2504.80	nil	0	0	0.00
VBD_pump_during_apogee	1000	1511	18885.10	nil	0	0	0.00
VBD_pump_during_surface	1	220	5.16	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	9143	14	1642.82
Iridium_during_xfer	604	185	1396.90	NCP	9132	20	2281.17
Transponder_ping	5	420	26.23	PMAR	9090	16	1884.78
GUMSTIX_24V	0	0	0.00
GPS	34	22	9.52
TT8	0	0	0.00
LPSleep	6464	2	184.87
TT8_Active	878	13	151.97
TT8_Sampling	2463	33	1019.77
TT8_CF8	311	38	149.17
TT8_Kalman	0	0	0.00
Analog_circuits	2379	10	294.54
GPS_charging	0	0	0.00
Compass	1139	7	98.75
RAFOS	2207	48	1311.49
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	180	2202	497	482	0.0	0.0	0	140	0.00	0.00	-91.93	0.000	16386	0.000	0.000	178	2198	2297	2238	2357	0	0	0	0	0	0	14.40	28.83	14.42
143	-0.57	-145.9	185	2201	2241	2358	4.9	-7.5	9	192	12.73	2.70	-29.45	0.000	18724	0.456	2.149	2375	3570	3963	3947	3979	0	0	0	0	0	0	13.65	12.91	14.10
249	-0.53	-145.9	2376	3572	3952	3979	35.8	-22.3	28	255	0.12	2.35	0.00	0.000	3206	0.273	0.057	2398	2190	3966	3953	3979	0	0	0	0	0	0	13.86	14.09	14.09
552	-0.58	-145.9	2399	2189	3958	3980	88.3	-12.2	59	558	0.00	2.45	0.00	0.000	388	0.000	0.086	2391	3573	3968	3957	3979	0	0	0	0	0	0	14.45	14.12	14.47
708	-0.75	-145.9	2392	3575	3958	3979	104.0	-9.2	90	714	0.17	2.33	0.00	0.000	5286	0.105	0.053	2325	2192	3968	3957	3980	0	0	0	0	0	0	14.25	14.21	14.33
1034	-0.75	-145.9	2325	2190	3958	3979	155.9	-15.4	105	1039	0.00	2.42	0.00	0.000	260	0.000	0.088	2320	3573	3968	3957	3979	0	0	0	0	0	0	14.55	14.17	14.57
1139	-0.81	-145.9	2319	3573	3958	3979	170.2	-12.8	126	1144	0.00	2.30	0.00	0.000	1158	0.000	0.054	2319	2201	3968	3957	3979	0	0	0	0	0	0	14.37	14.29	14.39
1454	-0.81	-145.9	2319	2200	3957	3980	214.2	-13.5	139	1459	0.00	2.42	0.00	0.000	260	0.000	0.090	2319	3580	3968	3957	3979	0	0	0	0	0	0	14.58	14.19	14.59
1571	-0.91	-145.9	2320	3581	3958	3979	227.5	-10.7	162	1577	0.00	2.33	0.00	0.000	1158	0.000	0.054	2319	2201	3968	3957	3979	0	0	0	0	0	0	14.26	14.15	14.30
1875	-0.95	-145.9	2319	2199	3958	3978	261.6	-10.7	173	1880	0.12	2.42	0.00	0.000	4484	0.141	0.086	2252	3580	3966	3956	3977	0	0	0	0	0	0	14.29	14.17	14.35
1972	-0.91	-145.9	2253	3581	3956	3977	275.4	-15.2	192	1977	0.15	2.33	0.00	0.000	3206	0.276	0.057	2281	2196	3967	3956	3978	0	0	0	0	0	0	14.00	14.28	14.27
2298	-0.91	-145.9	2281	2197	3957	3977	318.4	-12.9	207	2303	0.00	2.42	0.00	0.000	260	0.000	0.089	2279	3573	3965	3956	3975	0	0	0	0	0	0	14.60	14.19	14.62
2410	-0.97	-145.9	2280	3574	3956	3976	331.4	-11.3	229	2415	0.00	2.30	0.00	0.000	1158	0.000	0.056	2279	2201	3965	3955	3975	0	0	0	0	0	0	14.30	14.21	14.32
2720	-0.97	-145.9	2280	2200	3956	3974	368.8	-11.8	241	2725	0.00	2.42	0.00	0.000	260	0.000	0.088	2271	3574	3964	3955	3973	0	0	0	0	0	0	14.60	14.23	14.66
2825	-1.02	-145.9	2271	3575	3956	3973	381.0	-11.3	262	2830	0.00	2.30	0.00	0.000	1158	0.000	0.056	2271	2201	3963	3954	3973	0	0	0	0	0	0	14.39	14.27	14.42
3140	-1.02	-145.9	2271	2200	3956	3973	419.7	-12.2	275	3146	0.00	2.42	0.00	0.000	260	0.000	0.087	2266	3581	3963	3955	3972	0	0	0	0	0	0	14.59	14.21	14.59
3246	-1.07	-145.9	2267	3583	3955	3973	432.3	-11.5	296	3251	0.00	2.33	0.00	0.000	1158	0.000	0.056	2267	2196	3963	3954	3972	0	0	0	0	0	0	14.39	14.27	14.42
3561	-1.07	-145.9	2267	2196	3955	3972	471.4	-12.4	309	3566	0.00	2.42	0.00	0.000	260	0.000	0.087	2258	3580	3962	3954	3971	0	0	0	0	0	0	14.60	14.19	14.62
3628	end dive: TARGET_DEPTH_EXCEEDED
state	3628	begin apogee
3637	-0.13	0.0	2258	2102	3955	3972	480.2	-12.2	323	3850	1.08	0.00	210.82	1.437	10246	0.246	0.000	2530	2101	3365	3394	3337	0	0	0	0	0	0	13.99	13.49	12.74
3854	end apogee: CONTROL_FINISHED_OK
state	3854	begin climb
3857	0.57	145.9	2531	2102	3386	3330	491.1	0.0	330	4067	0.73	2.75	202.23	1.382	10756	0.066	0.082	2781	684	2766	2819	2714	0	0	0	0	0	0	13.57	13.19	12.49
4294	0.23	145.9	2781	685	2803	2712	462.5	14.9	376	4299	0.57	2.50	0.00	0.000	5254	0.321	0.076	2658	2072	2756	2802	2711	0	0	0	0	0	0	13.47	13.74	13.79
4605	0.08	152.0	2661	2075	2803	2706	431.3	9.7	388	4610	0.20	2.42	1.23	0.265	12964	0.293	0.077	2621	687	2743	2792	2695	0	0	0	0	0	0	13.79	13.97	13.76
4741	0.12	211.1	2621	687	2796	2710	420.9	7.3	415	4840	0.00	2.47	92.68	1.375	9254	0.000	0.079	2621	2105	2501	2565	2437	0	0	0	0	0	0	14.25	14.13	13.03
5146	0.14	228.2	2622	2105	2560	2421	384.6	9.2	446	5169	0.00	0.00	22.40	1.489	8230	0.000	0.000	2621	2101	2434	2500	2369	0	0	0	0	0	0	14.36	14.00	13.20
5446	0.15	242.4	2622	2104	2491	2358	356.7	9.3	456	5471	0.00	2.50	19.38	1.512	8740	0.000	0.086	2631	690	2374	2434	2315	0	0	0	0	0	0	14.45	14.07	13.28
5516	0.22	259.4	2631	691	2429	2313	350.2	9.2	470	5547	0.00	2.47	25.15	1.470	9382	0.000	0.078	2632	2105	2305	2364	2246	0	0	0	0	0	0	14.21	14.10	13.19
5869	0.26	276.5	2631	2104	2358	2237	316.9	9.2	490	5900	0.10	2.58	25.48	1.457	10916	0.153	0.084	2683	687	2232	2289	2176	0	0	0	0	0	0	14.24	14.03	13.27
5925	0.22	276.5	2684	688	2288	2177	310.1	12.3	501	5932	0.12	2.47	0.00	0.000	5254	0.243	0.078	2657	2099	2230	2285	2175	0	0	0	0	0	0	13.92	14.09	14.17
6231	0.22	276.5	2657	2100	2285	2170	276.9	10.8	512	6235	0.00	2.47	0.00	0.000	516	0.000	0.086	2659	685	2227	2285	2169	0	0	0	0	0	0	14.51	14.16	14.52
6271	0.26	276.5	2660	685	2284	2169	272.7	10.4	520	6276	0.00	2.45	0.00	0.000	1158	0.000	0.077	2664	2099	2225	2283	2168	0	0	0	0	0	0	14.33	14.22	14.37
6593	0.27	292.1	2660	2100	2288	2168	240.8	9.3	534	6623	0.00	2.55	21.48	1.469	8740	0.000	0.086	2659	684	2170	2224	2116	0	0	0	0	0	0	14.47	14.08	13.34
6668	0.36	322.2	2660	685	2223	2117	234.0	8.6	549	6724	0.12	2.50	49.53	1.354	11430	0.135	0.077	2709	2105	2049	2099	1999	0	0	0	0	0	0	14.08	14.04	13.18
7044	0.32	322.2	2709	2106	2091	1989	189.8	11.2	574	7049	0.00	2.50	0.00	0.000	388	0.000	0.082	2709	3517	2038	2089	1988	0	0	0	0	0	0	14.33	14.04	14.36
7069	0.25	322.2	2709	3518	2087	1989	186.7	12.7	579	7077	0.20	2.45	0.00	0.000	5254	0.257	0.063	2664	2098	2038	2089	1988	0	0	0	0	0	0	13.91	14.06	14.12
7375	0.36	377.5	2665	2097	2089	1984	162.5	7.4	590	7475	0.00	2.60	92.47	1.265	8868	0.000	0.087	2664	689	1823	1858	1788	0	0	0	0	0	0	14.40	13.78	13.12
7546	0.56	431.7	2665	689	1850	1788	149.9	7.5	624	7648	0.30	2.53	92.15	1.192	11430	0.086	0.078	2776	2100	1601	1641	1561	0	0	0	0	0	0	13.93	13.86	12.95
7945	0.51	431.7	2777	2104	1640	1544	92.0	14.0	656	7950	0.12	2.53	0.00	0.000	4740	0.269	0.085	2755	695	1590	1639	1542	0	0	0	0	0	0	13.67	13.88	13.83
8016	0.58	431.7	2756	693	1635	1543	83.8	10.2	670	8020	0.00	2.53	0.00	0.000	1158	0.000	0.080	2755	2107	1588	1634	1542	0	0	0	0	0	0	14.02	13.94	14.05
8326	0.66	500.2	2756	2109	1635	1539	55.8	6.8	702	8366	0.12	0.00	33.40	0.373	10662	0.129	0.000	2809	2108	1324	1378	1270	0	0	0	0	0	0	14.12	14.00	13.67
8666	0.68	532.3	2810	2109	1380	1264	25.4	8.5	739	8686	0.00	0.00	16.67	0.295	8230	0.000	0.000	2809	2111	1194	1257	1131	0	0	0	0	0	0	14.32	14.09	13.78
8986	0.94	719.6	2809	2108	1259	1126	10.1	1.4	771	9091	0.20	2.50	95.20	0.232	10660	0.102	0.080	2894	3512	503	530	477	0	0	0	0	0	0	14.12	14.00	13.85
9104	end climb: SURFACE_DEPTH_REACHED
state	9104	begin surface coast
9114	end surface coast: CONTROL_FINISHED_OK
state	9114	begin surface