Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 110 * 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 110 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 312.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 312.0 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 22 VBD_MIN 500

DIVE 110 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 190817,113802,7253.8320,-14902.1357,36,0.9,36,21.1,0.0,0.0,9,10.0 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 1.17 MHEAD_RNG_PITCHd_Wd 307.1,43358,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.6 D_GRID 480

GPS2 190817,114919,7253.8931,-14902.4375,8,0.8,9,21.1,0.0,310.2,10,8.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170819122058.336346,3,132,15,0240,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03 PM_FREEKB_00 54989056

FINISH 0.2,1.020331 _24V_AH 12.46,95.053

SM_CCo 9247,9.30,0.220,0,0,499,702.78 _10V_AH 12.35,0.000

SM_GC 2.48,8.25,0.15,9.30,0.071,0.121,0.220,205,2251,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.23,14.24,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 391 FG_AHR_10Vo 0.000

MODEM 0,1503144262,75.36600,-145.04601,208.042,301614.2 MEM 323748

RAFOS_FIX 7252.723633,-14904.208984,190817,121245,3,255,1.69 DATA_FILE_SIZE 26687,771

IRIDIUM_FIX 7255.20,-14907.20,190817,085549 CAP_FILE_SIZE 105968,0

TT8_MAMPS 0.038199,0.835135 CFSIZE 2097872896,2054717440

HUMID 48.18 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,2,0

INTERNAL_PRESSURE 7.76199 INTR 0,5836.95,0x2341ea,1,24

TCM_TEMP 13.20 SOUNDSPEED 1448.8

XPDR_PINGS 6 CURRENT 0.059,266.33,1

CP_FREE 16000712704.000000 GPS 190817,142534,7254.974,-14904.365,34,0.7,37,21.1,0.2,49.6,10,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.21 nil 0 0 0.00

Roll_motor 78 159 155.98 nil 0 0 0.00

VBD_pump_during_apogee 1041 1556 20192.48 nil 0 0 0.00

VBD_pump_during_surface 9 219 25.44 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 9253 14 1690.65

Iridium_during_xfer 402 178 894.92 NCP 9239 20 2302.36

Transponder_ping 1 420 7.85 PMAR 9204 16 1908.19

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.99

TT8 0 0 0.00

LPSleep 6189 2 176.58

TT8_Active 930 13 160.46

TT8_Sampling 2534 33 1046.85

TT8_CF8 300 38 143.47

TT8_Kalman 0 0 0.00

Analog_circuits 2522 10 311.58

GPS_charging 0 0 0.00

Compass 1105 7 95.53

RAFOS 2218 48 1314.83

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 -145.9 187 2194 518 474 0.0 0.0 0 130 0.00 0.00 -81.28 0.000 16386 0.000 0.000 186 2194 2014 1940 2089 0 0 0 0 0 0 14.40 28.83 14.42

133 -0.57 -145.9 187 2195 1942 2091 3.4 -4.3 8 190 12.52 0.00 -37.47 0.000 19238 0.453 0.000 2384 2195 3963 3942 3984 1 0 0 0 0 0 13.52 13.19 14.11

488 -0.57 -145.9 2385 2195 3951 3984 86.6 -14.7 46 493 0.00 2.53 0.00 0.000 260 0.000 0.089 2377 3610 3967 3951 3983 0 0 0 0 0 0 14.45 14.11 14.47

684 -0.71 -145.9 2377 3611 3952 3983 109.6 -10.5 82 688 0.00 2.40 0.00 0.000 1158 0.000 0.055 2377 2195 3967 3951 3983 0 0 0 0 0 0 14.23 14.14 14.25

1014 -0.80 -145.9 2378 2195 3952 3984 146.1 -10.6 98 1019 0.17 2.53 0.00 0.000 4484 0.121 0.086 2302 3619 3970 3950 3990 0 0 0 0 0 0 13.87 14.04 14.04

1089 -0.83 -145.9 2303 3620 3952 3983 157.1 -14.7 113 1094 0.00 2.42 0.00 0.000 1158 0.000 0.056 2302 2189 3966 3951 3982 0 0 0 0 0 0 14.20 14.10 14.23

1404 -0.79 -145.9 2302 2193 3952 3983 208.0 -15.5 126 1409 0.00 2.53 0.00 0.000 388 0.000 0.088 2294 3616 3971 3958 3984 0 0 0 0 0 0 14.41 14.05 14.43

1546 -0.83 -145.9 2295 3617 3952 3983 227.3 -12.9 154 1551 0.00 2.40 0.00 0.000 1158 0.000 0.055 2298 2202 3967 3951 3983 0 0 0 0 0 0 14.24 14.14 14.26

1856 -0.83 -145.9 2293 2201 3952 3983 268.8 -12.6 166 1861 0.00 2.50 0.00 0.000 260 0.000 0.087 2286 3614 3967 3951 3983 0 0 0 0 0 0 14.42 14.08 14.42

1946 -0.89 -145.9 2286 3614 3952 3983 279.7 -11.4 184 1951 0.00 2.40 0.00 0.000 1158 0.000 0.054 2285 2199 3966 3950 3982 0 0 0 0 0 0 14.26 14.13 14.26

2276 -0.89 -145.9 2286 2198 3951 3984 319.9 -11.9 200 2281 0.00 2.53 0.00 0.000 260 0.000 0.089 2280 3619 3966 3950 3983 0 0 0 0 0 0 14.40 14.08 14.45

2393 -0.95 -145.9 2280 3621 3949 3984 332.9 -10.9 223 2399 0.00 2.42 0.00 0.000 1158 0.000 0.055 2280 2193 3969 3948 3990 0 0 0 0 0 0 14.21 14.10 14.23

2696 -0.95 -145.9 2281 2192 3948 3983 369.0 -11.7 234 2701 0.00 2.53 0.00 0.000 260 0.000 0.090 2279 3619 3965 3947 3983 0 0 0 0 0 0 14.42 14.07 14.43

2786 -1.04 -145.9 2280 3614 3948 3985 378.9 -10.3 252 2791 0.00 2.42 0.00 0.000 1158 0.000 0.055 2279 2198 3965 3947 3983 0 0 0 0 0 0 14.23 14.12 14.26

3120 -1.04 -145.9 2279 2197 3948 3983 416.6 -11.4 268 3125 0.00 2.47 0.00 0.000 260 0.000 0.087 2272 3610 3964 3947 3982 0 0 0 0 0 0 14.40 14.04 14.45

3220 -1.10 -145.9 2272 3612 3951 3983 427.8 -10.7 288 3225 0.15 2.38 0.00 0.000 5254 0.122 0.054 2215 2200 3964 3946 3982 0 0 0 0 0 0 14.13 14.11 14.21

3538 end dive: TARGET_DEPTH_EXCEEDED

state 3540 begin apogee

3546 -0.13 0.0 2216 2057 3947 3982 481.6 -17.0 302 3843 1.30 0.10 292.45 1.291 10246 0.276 0.159 2530 2120 3361 3382 3341 0 0 0 0 0 0 13.83 13.31 12.64

3847 end apogee: CONTROL_FINISHED_OK

state 3849 begin climb

3851 0.57 145.9 2531 2120 3378 3334 497.1 0.0 312 4393 0.75 2.33 205.85 1.338 10756 0.063 0.076 2789 720 2747 2786 2708 0 0 0 0 0 0 13.44 13.01 12.46

4621 0.22 145.9 2789 720 2786 2708 414.6 15.3 359 4629 0.60 2.40 0.00 0.000 5254 0.321 0.076 2658 2092 2745 2785 2706 0 0 0 0 0 0 13.74 14.04 14.07

4927 0.08 154.7 2658 2093 2786 2705 384.1 9.6 370 4932 0.17 2.45 1.33 0.230 12964 0.304 0.080 2623 724 2732 2774 2690 0 0 0 0 0 0 13.92 14.19 14.02

4992 0.11 196.3 2623 725 2781 2699 378.9 8.1 383 5072 0.00 2.40 72.88 1.336 9254 0.000 0.080 2623 2103 2559 2612 2506 0 0 0 0 0 0 14.32 14.21 13.17

5378 0.13 220.1 2623 2104 2605 2486 344.9 8.9 410 5415 0.00 2.45 32.42 1.399 8740 0.000 0.081 2631 721 2463 2519 2407 0 0 0 0 0 0 14.44 13.82 13.25

5467 0.19 245.5 2631 723 2507 2402 337.2 8.8 427 5511 0.00 2.42 38.05 1.357 9382 0.000 0.078 2630 2097 2361 2415 2308 0 0 0 0 0 0 14.11 14.04 13.15

5833 0.20 257.0 2631 2101 2403 2291 302.6 9.5 450 5851 0.00 2.45 11.15 1.556 8740 0.000 0.083 2633 733 2313 2367 2260 0 0 0 0 0 0 14.44 14.11 13.28

5876 0.27 271.1 2633 733 2361 2259 298.4 9.4 458 5902 0.10 2.40 20.92 1.423 11430 0.151 0.078 2679 2107 2261 2314 2208 0 0 0 0 0 0 14.13 14.10 13.26

6229 0.21 271.1 2680 2108 2303 2192 256.0 11.8 478 6234 0.00 2.40 0.00 0.000 644 0.000 0.083 2682 727 2246 2302 2190 0 0 0 0 0 0 14.47 14.19 14.48

6274 0.21 271.1 2682 728 2300 2191 250.6 11.3 487 6280 0.15 2.40 0.00 0.000 5126 0.248 0.078 2650 2109 2245 2301 2190 0 0 0 0 0 0 14.04 14.21 14.29

6591 0.26 310.7 2650 2110 2301 2189 222.8 8.2 500 6660 0.00 0.00 67.22 1.298 8870 0.000 0.000 2650 2109 2097 2149 2046 0 0 0 0 0 0 14.56 13.96 13.26

6951 0.37 362.9 2650 2110 2134 2035 195.2 7.6 517 7048 0.12 2.58 91.68 1.229 10916 0.129 0.086 2710 721 1882 1919 1845 0 0 0 0 0 0 14.19 13.81 13.14

7123 0.43 362.9 2709 723 1902 1842 177.0 10.5 551 7129 0.00 2.45 0.00 0.000 1158 0.000 0.076 2709 2106 1870 1901 1840 0 0 0 0 0 0 14.01 13.93 14.08

7434 0.43 362.9 2709 2108 1902 1834 144.6 10.1 563 7440 0.00 2.45 0.00 0.000 516 0.000 0.087 2709 723 1863 1900 1827 0 0 0 0 0 0 14.44 14.14 14.45

7470 0.50 372.1 2709 722 1899 1834 141.0 9.6 570 7482 0.00 2.40 2.80 0.992 9382 0.000 0.075 2712 2098 1849 1882 1817 0 0 0 0 0 0 14.27 14.16 12.87

7799 0.55 395.2 2709 2099 1893 1824 110.6 8.9 585 7859 0.15 2.50 49.58 1.252 10916 0.119 0.086 2782 727 1745 1771 1720 0 0 0 0 0 0 14.21 14.01 13.30

7911 0.51 395.2 2781 727 1765 1719 96.6 12.3 602 7916 0.15 2.42 0.00 0.000 5254 0.266 0.077 2751 2105 1741 1764 1718 0 0 0 0 0 0 13.81 14.04 14.07

8221 0.54 436.5 2750 2106 1765 1711 66.2 8.1 634 8248 0.00 2.53 20.38 0.397 8484 0.000 0.082 2747 3511 1584 1616 1552 0 0 0 0 0 0 14.44 13.99 13.78

8473 0.66 522.9 2751 3513 1617 1558 46.8 6.0 684 8527 0.12 2.38 46.47 0.340 11430 0.124 0.063 2801 2126 1233 1296 1171 0 0 0 0 0 0 14.20 14.17 13.82

8823 0.74 563.7 2804 2127 1290 1174 17.7 8.1 724 8847 0.00 0.00 22.23 0.261 8358 0.000 0.000 2804 2125 1065 1131 999 0 0 0 0 0 0 14.47 14.19 13.92

9143 1.02 730.9 2804 2127 1132 1003 6.8 2.3 756 9212 0.30 0.00 66.10 0.219 10914 0.090 0.000 2917 2125 567 607 527 0 0 0 0 0 0 14.14 28.83 14.21

9212 end climb: SURFACE_DEPTH_REACHED

state 9212 begin surface coast

9225 end surface coast: CONTROL_FINISHED_OK

state 9225 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	110	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	312.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,113802,7253.8320,-14902.1357,36,0.9,36,21.1,0.0,0.0,9,10.0	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	1.17	MHEAD_RNG_PITCHd_Wd	307.1,43358,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.6	D_GRID	480
GPS2	190817,114919,7253.8931,-14902.4375,8,0.8,9,21.1,0.0,310.2,10,8.1

MODEM_MSG	CACST,6,1,20170819122058.336346,3,132,15,0240,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03	PM_FREEKB_00	54989056
FINISH	0.2,1.020331	_24V_AH	12.46,95.053
SM_CCo	9247,9.30,0.220,0,0,499,702.78	_10V_AH	12.35,0.000
SM_GC	2.48,8.25,0.15,9.30,0.071,0.121,0.220,205,2251,499,-7.38,-0.42,702.78,0,0,0,0,0,0,14.23,14.24,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	391	FG_AHR_10Vo	0.000
MODEM	0,1503144262,75.36600,-145.04601,208.042,301614.2	MEM	323748
RAFOS_FIX	7252.723633,-14904.208984,190817,121245,3,255,1.69	DATA_FILE_SIZE	26687,771
IRIDIUM_FIX	7255.20,-14907.20,190817,085549	CAP_FILE_SIZE	105968,0
TT8_MAMPS	0.038199,0.835135	CFSIZE	2097872896,2054717440
HUMID	48.18	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,2,0
INTERNAL_PRESSURE	7.76199	INTR	0,5836.95,0x2341ea,1,24
TCM_TEMP	13.20	SOUNDSPEED	1448.8
XPDR_PINGS	6	CURRENT	0.059,266.33,1
CP_FREE	16000712704.000000	GPS	190817,142534,7254.974,-14904.365,34,0.7,37,21.1,0.2,49.6,10,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.21	nil	0	0	0.00
Roll_motor	78	159	155.98	nil	0	0	0.00
VBD_pump_during_apogee	1041	1556	20192.48	nil	0	0	0.00
VBD_pump_during_surface	9	219	25.44	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	9253	14	1690.65
Iridium_during_xfer	402	178	894.92	NCP	9239	20	2302.36
Transponder_ping	1	420	7.85	PMAR	9204	16	1908.19
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.99
TT8	0	0	0.00
LPSleep	6189	2	176.58
TT8_Active	930	13	160.46
TT8_Sampling	2534	33	1046.85
TT8_CF8	300	38	143.47
TT8_Kalman	0	0	0.00
Analog_circuits	2522	10	311.58
GPS_charging	0	0	0.00
Compass	1105	7	95.53
RAFOS	2218	48	1314.83
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	187	2194	518	474	0.0	0.0	0	130	0.00	0.00	-81.28	0.000	16386	0.000	0.000	186	2194	2014	1940	2089	0	0	0	0	0	0	14.40	28.83	14.42
133	-0.57	-145.9	187	2195	1942	2091	3.4	-4.3	8	190	12.52	0.00	-37.47	0.000	19238	0.453	0.000	2384	2195	3963	3942	3984	1	0	0	0	0	0	13.52	13.19	14.11
488	-0.57	-145.9	2385	2195	3951	3984	86.6	-14.7	46	493	0.00	2.53	0.00	0.000	260	0.000	0.089	2377	3610	3967	3951	3983	0	0	0	0	0	0	14.45	14.11	14.47
684	-0.71	-145.9	2377	3611	3952	3983	109.6	-10.5	82	688	0.00	2.40	0.00	0.000	1158	0.000	0.055	2377	2195	3967	3951	3983	0	0	0	0	0	0	14.23	14.14	14.25
1014	-0.80	-145.9	2378	2195	3952	3984	146.1	-10.6	98	1019	0.17	2.53	0.00	0.000	4484	0.121	0.086	2302	3619	3970	3950	3990	0	0	0	0	0	0	13.87	14.04	14.04
1089	-0.83	-145.9	2303	3620	3952	3983	157.1	-14.7	113	1094	0.00	2.42	0.00	0.000	1158	0.000	0.056	2302	2189	3966	3951	3982	0	0	0	0	0	0	14.20	14.10	14.23
1404	-0.79	-145.9	2302	2193	3952	3983	208.0	-15.5	126	1409	0.00	2.53	0.00	0.000	388	0.000	0.088	2294	3616	3971	3958	3984	0	0	0	0	0	0	14.41	14.05	14.43
1546	-0.83	-145.9	2295	3617	3952	3983	227.3	-12.9	154	1551	0.00	2.40	0.00	0.000	1158	0.000	0.055	2298	2202	3967	3951	3983	0	0	0	0	0	0	14.24	14.14	14.26
1856	-0.83	-145.9	2293	2201	3952	3983	268.8	-12.6	166	1861	0.00	2.50	0.00	0.000	260	0.000	0.087	2286	3614	3967	3951	3983	0	0	0	0	0	0	14.42	14.08	14.42
1946	-0.89	-145.9	2286	3614	3952	3983	279.7	-11.4	184	1951	0.00	2.40	0.00	0.000	1158	0.000	0.054	2285	2199	3966	3950	3982	0	0	0	0	0	0	14.26	14.13	14.26
2276	-0.89	-145.9	2286	2198	3951	3984	319.9	-11.9	200	2281	0.00	2.53	0.00	0.000	260	0.000	0.089	2280	3619	3966	3950	3983	0	0	0	0	0	0	14.40	14.08	14.45
2393	-0.95	-145.9	2280	3621	3949	3984	332.9	-10.9	223	2399	0.00	2.42	0.00	0.000	1158	0.000	0.055	2280	2193	3969	3948	3990	0	0	0	0	0	0	14.21	14.10	14.23
2696	-0.95	-145.9	2281	2192	3948	3983	369.0	-11.7	234	2701	0.00	2.53	0.00	0.000	260	0.000	0.090	2279	3619	3965	3947	3983	0	0	0	0	0	0	14.42	14.07	14.43
2786	-1.04	-145.9	2280	3614	3948	3985	378.9	-10.3	252	2791	0.00	2.42	0.00	0.000	1158	0.000	0.055	2279	2198	3965	3947	3983	0	0	0	0	0	0	14.23	14.12	14.26
3120	-1.04	-145.9	2279	2197	3948	3983	416.6	-11.4	268	3125	0.00	2.47	0.00	0.000	260	0.000	0.087	2272	3610	3964	3947	3982	0	0	0	0	0	0	14.40	14.04	14.45
3220	-1.10	-145.9	2272	3612	3951	3983	427.8	-10.7	288	3225	0.15	2.38	0.00	0.000	5254	0.122	0.054	2215	2200	3964	3946	3982	0	0	0	0	0	0	14.13	14.11	14.21
3538	end dive: TARGET_DEPTH_EXCEEDED
state	3540	begin apogee
3546	-0.13	0.0	2216	2057	3947	3982	481.6	-17.0	302	3843	1.30	0.10	292.45	1.291	10246	0.276	0.159	2530	2120	3361	3382	3341	0	0	0	0	0	0	13.83	13.31	12.64
3847	end apogee: CONTROL_FINISHED_OK
state	3849	begin climb
3851	0.57	145.9	2531	2120	3378	3334	497.1	0.0	312	4393	0.75	2.33	205.85	1.338	10756	0.063	0.076	2789	720	2747	2786	2708	0	0	0	0	0	0	13.44	13.01	12.46
4621	0.22	145.9	2789	720	2786	2708	414.6	15.3	359	4629	0.60	2.40	0.00	0.000	5254	0.321	0.076	2658	2092	2745	2785	2706	0	0	0	0	0	0	13.74	14.04	14.07
4927	0.08	154.7	2658	2093	2786	2705	384.1	9.6	370	4932	0.17	2.45	1.33	0.230	12964	0.304	0.080	2623	724	2732	2774	2690	0	0	0	0	0	0	13.92	14.19	14.02
4992	0.11	196.3	2623	725	2781	2699	378.9	8.1	383	5072	0.00	2.40	72.88	1.336	9254	0.000	0.080	2623	2103	2559	2612	2506	0	0	0	0	0	0	14.32	14.21	13.17
5378	0.13	220.1	2623	2104	2605	2486	344.9	8.9	410	5415	0.00	2.45	32.42	1.399	8740	0.000	0.081	2631	721	2463	2519	2407	0	0	0	0	0	0	14.44	13.82	13.25
5467	0.19	245.5	2631	723	2507	2402	337.2	8.8	427	5511	0.00	2.42	38.05	1.357	9382	0.000	0.078	2630	2097	2361	2415	2308	0	0	0	0	0	0	14.11	14.04	13.15
5833	0.20	257.0	2631	2101	2403	2291	302.6	9.5	450	5851	0.00	2.45	11.15	1.556	8740	0.000	0.083	2633	733	2313	2367	2260	0	0	0	0	0	0	14.44	14.11	13.28
5876	0.27	271.1	2633	733	2361	2259	298.4	9.4	458	5902	0.10	2.40	20.92	1.423	11430	0.151	0.078	2679	2107	2261	2314	2208	0	0	0	0	0	0	14.13	14.10	13.26
6229	0.21	271.1	2680	2108	2303	2192	256.0	11.8	478	6234	0.00	2.40	0.00	0.000	644	0.000	0.083	2682	727	2246	2302	2190	0	0	0	0	0	0	14.47	14.19	14.48
6274	0.21	271.1	2682	728	2300	2191	250.6	11.3	487	6280	0.15	2.40	0.00	0.000	5126	0.248	0.078	2650	2109	2245	2301	2190	0	0	0	0	0	0	14.04	14.21	14.29
6591	0.26	310.7	2650	2110	2301	2189	222.8	8.2	500	6660	0.00	0.00	67.22	1.298	8870	0.000	0.000	2650	2109	2097	2149	2046	0	0	0	0	0	0	14.56	13.96	13.26
6951	0.37	362.9	2650	2110	2134	2035	195.2	7.6	517	7048	0.12	2.58	91.68	1.229	10916	0.129	0.086	2710	721	1882	1919	1845	0	0	0	0	0	0	14.19	13.81	13.14
7123	0.43	362.9	2709	723	1902	1842	177.0	10.5	551	7129	0.00	2.45	0.00	0.000	1158	0.000	0.076	2709	2106	1870	1901	1840	0	0	0	0	0	0	14.01	13.93	14.08
7434	0.43	362.9	2709	2108	1902	1834	144.6	10.1	563	7440	0.00	2.45	0.00	0.000	516	0.000	0.087	2709	723	1863	1900	1827	0	0	0	0	0	0	14.44	14.14	14.45
7470	0.50	372.1	2709	722	1899	1834	141.0	9.6	570	7482	0.00	2.40	2.80	0.992	9382	0.000	0.075	2712	2098	1849	1882	1817	0	0	0	0	0	0	14.27	14.16	12.87
7799	0.55	395.2	2709	2099	1893	1824	110.6	8.9	585	7859	0.15	2.50	49.58	1.252	10916	0.119	0.086	2782	727	1745	1771	1720	0	0	0	0	0	0	14.21	14.01	13.30
7911	0.51	395.2	2781	727	1765	1719	96.6	12.3	602	7916	0.15	2.42	0.00	0.000	5254	0.266	0.077	2751	2105	1741	1764	1718	0	0	0	0	0	0	13.81	14.04	14.07
8221	0.54	436.5	2750	2106	1765	1711	66.2	8.1	634	8248	0.00	2.53	20.38	0.397	8484	0.000	0.082	2747	3511	1584	1616	1552	0	0	0	0	0	0	14.44	13.99	13.78
8473	0.66	522.9	2751	3513	1617	1558	46.8	6.0	684	8527	0.12	2.38	46.47	0.340	11430	0.124	0.063	2801	2126	1233	1296	1171	0	0	0	0	0	0	14.20	14.17	13.82
8823	0.74	563.7	2804	2127	1290	1174	17.7	8.1	724	8847	0.00	0.00	22.23	0.261	8358	0.000	0.000	2804	2125	1065	1131	999	0	0	0	0	0	0	14.47	14.19	13.92
9143	1.02	730.9	2804	2127	1132	1003	6.8	2.3	756	9212	0.30	0.00	66.10	0.219	10914	0.090	0.000	2917	2125	567	607	527	0	0	0	0	0	0	14.14	28.83	14.21
9212	end climb: SURFACE_DEPTH_REACHED
state	9212	begin surface coast
9225	end surface coast: CONTROL_FINISHED_OK
state	9225	begin surface