Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 114 * 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 114 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 323.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 47 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 323.0 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 35 VBD_MIN 500

DIVE 114 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 190817,224932,7258.0444,-14910.9971,26,0.7,26,21.0,0.0,0.0,12,10.0 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.22 MHEAD_RNG_PITCHd_Wd 300.7,34440,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 190817,230842,7258.1348,-14911.3457,7,0.7,7,21.0,0.0,0.0,11,9.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170820002834.969884,3,29,08,0126,0150,250,00,00,01,01,-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 54721792

FINISH 0.2,1.020531 _24V_AH 12.44,97.019

SM_CCo 8986,0.00,0.000,0,0,499,703.03 _10V_AH 12.33,0.000

SM_GC 1.15,8.35,2.67,0.00,0.078,0.067,0.000,204,2213,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.21,14.18,14.29 FG_AHR_24Vo 0.000

RAFOS_CLK 264 FG_AHR_10Vo 0.000

MODEM 3,1503188449,74.30400,-153.94400,142.851,206935.7 MEM 323412

RAFOS_FIX 7257.762695,-14913.257812,200817,000041,2,255,0.27 DATA_FILE_SIZE 26735,760

IRIDIUM_FIX 7303.18,-14825.48,190817,230147 CAP_FILE_SIZE 109884,0

TT8_MAMPS 0.039697,0.970704 CFSIZE 2097872896,2053472256

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.8

TCM_TEMP 13.40 CURRENT 0.032,276.47,1

XPDR_PINGS 12 GPS 200817,014004,7259.276,-14913.559,16,0.7,17,21.0,0.0,0.0,11,9.0

CP_FREE 16000024576.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 144.92 nil 0 0 0.00

Roll_motor 88 215 237.84 nil 0 0 0.00

VBD_pump_during_apogee 966 1534 18458.41 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8932 14 1626.60

Iridium_during_xfer 694 167 1447.95 NCP 8922 20 2219.79

Transponder_ping 3 420 15.67 PMAR 8880 16 1836.85

GUMSTIX_24V 0 0 0.00

GPS 7 22 2.21

TT8 0 0 0.00

LPSleep 6510 2 185.44

TT8_Active 858 13 147.81

TT8_Sampling 2463 33 1015.65

TT8_CF8 316 38 150.75

TT8_Kalman 0 0 0.00

Analog_circuits 2418 10 298.18

GPS_charging 0 0 0.00

Compass 1089 7 94.02

RAFOS 2133 48 1262.39

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 -145.9 198 2187 514 476 0.0 0.0 0 139 0.00 0.00 -91.35 0.000 16386 0.000 0.000 194 2187 2243 2177 2309 0 0 0 0 0 0 14.43 28.83 14.44

142 -0.57 -145.9 197 2188 2181 2310 4.3 -6.0 9 190 12.57 0.00 -30.05 0.000 18982 0.456 0.000 2384 2187 3964 3943 3985 0 0 0 0 0 0 13.68 12.67 14.11

487 -0.57 -145.9 2384 2189 3953 3987 89.4 -14.5 48 492 0.00 2.47 0.00 0.000 260 0.000 0.088 2376 3586 3968 3952 3985 0 0 0 0 0 0 14.47 14.12 14.48

637 -0.69 -145.9 2377 3587 3953 3986 107.3 -11.0 78 642 0.00 2.35 0.00 0.000 1158 0.000 0.054 2373 2200 3968 3952 3985 0 0 0 0 0 0 14.24 14.13 14.27

967 -0.78 -145.9 2377 2199 3953 3985 145.0 -10.9 94 972 0.12 2.45 0.00 0.000 4484 0.137 0.086 2319 3590 3969 3953 3985 0 0 0 0 0 0 14.18 14.14 14.21

1069 -0.85 -145.9 2319 3591 3953 3986 158.2 -12.8 114 1074 0.00 2.35 0.00 0.000 1158 0.000 0.055 2319 2190 3968 3952 3985 0 0 0 0 0 0 14.29 14.21 14.31

1389 -0.85 -145.9 2320 2189 3954 3985 204.1 -13.9 128 1394 0.00 2.45 0.00 0.000 260 0.000 0.090 2319 3582 3968 3952 3985 0 0 0 0 0 0 14.56 14.18 14.58

1501 -0.94 -145.9 2319 3585 3953 3986 217.1 -11.1 150 1506 0.15 2.33 0.00 0.000 5254 0.122 0.055 2259 2202 3968 3952 3985 0 0 0 0 0 0 14.26 14.22 14.35

1812 -0.86 -145.9 2260 2201 3954 3985 269.0 -16.1 162 1817 0.15 2.42 0.00 0.000 2436 0.301 0.084 2283 3587 3968 3952 3985 0 0 0 0 0 0 13.96 14.22 14.14

1992 -0.92 -145.9 2279 3593 3954 3986 291.2 -11.0 198 1997 0.00 2.35 0.00 0.000 1158 0.000 0.056 2283 2195 3968 3952 3984 0 0 0 0 0 0 14.38 14.27 14.41

2322 -0.92 -145.9 2283 2194 3953 3983 331.6 -12.1 214 2327 0.00 2.45 0.00 0.000 260 0.000 0.088 2280 3592 3967 3952 3982 0 0 0 0 0 0 14.60 14.22 14.62

2407 -1.00 -145.9 2280 3594 3952 3984 341.3 -10.8 231 2413 0.00 2.35 0.00 0.000 1158 0.000 0.055 2278 2198 3967 3952 3982 0 0 0 0 0 0 14.35 14.24 14.38

2712 -1.00 -145.9 2281 2193 3953 3982 377.5 -11.9 242 2717 0.00 2.45 0.00 0.000 260 0.000 0.089 2273 3592 3966 3951 3981 0 0 0 0 0 0 14.61 14.19 14.62

2777 -1.07 -145.9 2274 3593 3952 3983 385.1 -10.8 255 2782 0.12 2.35 0.00 0.000 5254 0.135 0.056 2228 2199 3966 3951 3982 0 0 0 0 0 0 14.26 14.25 14.37

3105 -0.98 -145.9 2226 2199 3952 3981 437.2 -16.1 270 3110 0.12 2.45 0.00 0.000 2436 0.305 0.084 2246 3587 3966 3952 3980 0 0 0 0 0 0 13.90 14.10 14.08

3274 -0.98 -145.9 2246 3589 3951 3981 460.7 -13.0 304 3279 0.00 2.35 0.00 0.000 1030 0.000 0.055 2246 2200 3966 3951 3981 0 0 0 0 0 0 14.26 14.15 14.29

3432 end dive: TARGET_DEPTH_EXCEEDED

state 3432 begin apogee

3438 -0.13 0.0 2247 2058 3952 3981 483.0 -14.0 311 3668 1.15 0.00 227.10 1.395 10246 0.252 0.000 2530 2056 3367 3388 3346 0 0 0 0 0 0 13.85 13.37 12.65

3672 end apogee: CONTROL_FINISHED_OK

state 3672 begin climb

3674 0.57 145.9 2531 2056 3380 3334 493.8 0.0 318 3896 0.75 2.72 204.85 1.359 11012 0.065 0.077 2778 3491 2757 2798 2716 0 0 0 0 0 0 13.44 13.12 12.44

4121 0.14 145.9 2778 3491 2786 2716 459.1 17.7 365 4127 0.77 2.40 0.00 0.000 5254 0.351 0.057 2631 2132 2750 2785 2715 0 0 0 0 0 0 13.37 13.66 13.71

4426 0.06 173.5 2632 2138 2783 2715 431.0 8.7 376 4472 0.12 2.65 37.90 1.424 12964 0.298 0.086 2607 691 2649 2692 2607 0 0 0 0 0 0 13.76 13.78 13.03

4502 0.14 221.8 2608 692 2689 2604 424.9 7.8 386 4583 0.00 2.47 72.82 1.353 9382 0.000 0.079 2607 2074 2453 2511 2396 0 0 0 0 0 0 13.95 13.83 12.87

4908 0.20 259.5 2608 2075 2501 2377 391.2 8.3 417 4969 0.12 0.00 57.55 1.353 10406 0.129 0.000 2662 2074 2304 2357 2252 0 0 0 0 0 0 14.00 13.76 13.01

5268 0.16 259.5 2664 2074 2343 2236 347.6 12.2 429 5273 0.12 2.40 0.00 0.000 4740 0.264 0.081 2643 696 2288 2342 2235 0 0 0 0 0 0 13.83 13.97 13.97

5308 0.21 259.5 2643 696 2341 2236 343.2 10.3 437 5313 0.00 2.42 0.00 0.000 1158 0.000 0.078 2643 2098 2288 2341 2235 0 0 0 0 0 0 14.12 14.01 14.16

5630 0.21 259.5 2643 2099 2341 2232 310.1 10.2 451 5636 0.00 2.45 0.00 0.000 516 0.000 0.084 2646 691 2286 2340 2232 0 0 0 0 0 0 14.38 14.05 14.39

5666 0.25 270.7 2646 691 2347 2231 306.6 9.5 458 5678 0.00 2.42 4.07 1.483 9382 0.000 0.078 2646 2107 2268 2319 2218 0 0 0 0 0 0 14.20 14.08 13.09

5995 0.25 274.7 2647 2111 2331 2217 274.1 9.8 473 6014 0.00 2.47 13.18 1.535 8740 0.000 0.086 2646 695 2241 2296 2187 0 0 0 0 0 0 14.53 14.19 13.32

6064 0.33 296.8 2647 696 2292 2187 267.5 9.0 487 6104 0.12 2.45 34.85 1.411 11430 0.132 0.078 2696 2106 2154 2203 2105 0 0 0 0 0 0 14.23 14.19 13.24

6416 0.28 296.8 2697 2107 2197 2094 224.5 11.7 507 6417 0.00 0.00 0.00 0.000 134 0.000 0.000 2696 2106 2144 2195 2094 0 0 0 0 0 0 14.48 14.50 14.50

6714 0.23 296.8 2697 2106 2197 2093 192.1 10.5 517 6720 0.15 2.47 0.00 0.000 4740 0.233 0.083 2666 689 2143 2195 2092 0 0 0 0 0 0 14.07 14.17 14.21

6780 0.36 345.3 2660 689 2194 2096 186.7 7.8 530 6867 0.12 2.45 80.93 1.282 11430 0.135 0.079 2710 2101 1961 2010 1913 0 0 0 0 0 0 14.29 14.25 13.22

7165 0.36 345.3 2710 2100 1996 1897 146.6 10.2 557 7170 0.00 2.47 0.00 0.000 516 0.000 0.087 2712 693 1945 1994 1897 0 0 0 0 0 0 14.43 14.13 14.44

7200 0.40 350.5 2712 693 1993 1898 143.1 9.8 564 7206 0.00 2.45 1.17 0.394 9382 0.000 0.078 2712 2100 1939 1986 1892 0 0 0 0 0 0 14.28 14.16 13.50

7526 0.41 359.7 2713 2102 1991 1893 111.4 9.6 579 7546 0.00 2.47 14.82 1.426 8740 0.000 0.086 2712 696 1894 1936 1853 0 0 0 0 0 0 14.52 14.17 13.38

7586 0.51 390.3 2713 696 1931 1854 106.0 8.6 591 7641 0.00 2.45 48.30 1.255 9382 0.000 0.077 2712 2102 1771 1803 1739 0 0 0 0 0 0 14.27 14.16 13.26

7946 0.63 449.7 2713 2103 1799 1728 76.8 7.3 631 7984 0.17 2.50 31.33 0.433 10660 0.109 0.081 2790 3518 1529 1566 1493 0 0 0 0 0 0 14.17 14.04 13.72

8035 0.57 449.7 2791 3520 1567 1493 65.7 13.8 648 8041 0.00 2.45 0.00 0.000 1158 0.000 0.070 2794 2106 1528 1565 1491 0 0 0 0 0 0 14.21 14.09 14.23

8339 0.61 499.9 2794 2107 1566 1483 40.3 7.7 679 8372 0.00 2.53 26.12 0.330 8740 0.000 0.092 2794 683 1326 1379 1274 0 0 0 0 0 0 14.47 14.06 13.84

8448 0.73 550.3 2791 686 1372 1273 32.1 7.7 700 8480 0.00 2.47 27.65 0.305 9382 0.000 0.077 2794 2102 1117 1180 1054 0 0 0 0 0 0 14.24 14.13 13.84

8786 1.02 712.9 2795 2103 1186 1046 11.1 2.5 737 8880 0.32 2.55 84.25 0.227 10916 0.087 0.088 2924 687 497 522 473 0 0 0 0 0 0 14.22 14.06 13.97

8894 end climb: SURFACE_DEPTH_REACHED

state 8894 begin surface coast

8903 end surface coast: CONTROL_FINISHED_OK

state 8903 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	114	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	323.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,224932,7258.0444,-14910.9971,26,0.7,26,21.0,0.0,0.0,12,10.0	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.22	MHEAD_RNG_PITCHd_Wd	300.7,34440,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	190817,230842,7258.1348,-14911.3457,7,0.7,7,21.0,0.0,0.0,11,9.5

MODEM_MSG	CACST,6,1,20170820002834.969884,3,29,08,0126,0150,250,00,00,01,01,-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	54721792
FINISH	0.2,1.020531	_24V_AH	12.44,97.019
SM_CCo	8986,0.00,0.000,0,0,499,703.03	_10V_AH	12.33,0.000
SM_GC	1.15,8.35,2.67,0.00,0.078,0.067,0.000,204,2213,499,-7.38,-0.51,703.03,0,0,0,0,0,0,14.21,14.18,14.29	FG_AHR_24Vo	0.000
RAFOS_CLK	264	FG_AHR_10Vo	0.000
MODEM	3,1503188449,74.30400,-153.94400,142.851,206935.7	MEM	323412
RAFOS_FIX	7257.762695,-14913.257812,200817,000041,2,255,0.27	DATA_FILE_SIZE	26735,760
IRIDIUM_FIX	7303.18,-14825.48,190817,230147	CAP_FILE_SIZE	109884,0
TT8_MAMPS	0.039697,0.970704	CFSIZE	2097872896,2053472256
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.8
TCM_TEMP	13.40	CURRENT	0.032,276.47,1
XPDR_PINGS	12	GPS	200817,014004,7259.276,-14913.559,16,0.7,17,21.0,0.0,0.0,11,9.0
CP_FREE	16000024576.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	144.92	nil	0	0	0.00
Roll_motor	88	215	237.84	nil	0	0	0.00
VBD_pump_during_apogee	966	1534	18458.41	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8932	14	1626.60
Iridium_during_xfer	694	167	1447.95	NCP	8922	20	2219.79
Transponder_ping	3	420	15.67	PMAR	8880	16	1836.85
GUMSTIX_24V	0	0	0.00
GPS	7	22	2.21
TT8	0	0	0.00
LPSleep	6510	2	185.44
TT8_Active	858	13	147.81
TT8_Sampling	2463	33	1015.65
TT8_CF8	316	38	150.75
TT8_Kalman	0	0	0.00
Analog_circuits	2418	10	298.18
GPS_charging	0	0	0.00
Compass	1089	7	94.02
RAFOS	2133	48	1262.39
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	198	2187	514	476	0.0	0.0	0	139	0.00	0.00	-91.35	0.000	16386	0.000	0.000	194	2187	2243	2177	2309	0	0	0	0	0	0	14.43	28.83	14.44
142	-0.57	-145.9	197	2188	2181	2310	4.3	-6.0	9	190	12.57	0.00	-30.05	0.000	18982	0.456	0.000	2384	2187	3964	3943	3985	0	0	0	0	0	0	13.68	12.67	14.11
487	-0.57	-145.9	2384	2189	3953	3987	89.4	-14.5	48	492	0.00	2.47	0.00	0.000	260	0.000	0.088	2376	3586	3968	3952	3985	0	0	0	0	0	0	14.47	14.12	14.48
637	-0.69	-145.9	2377	3587	3953	3986	107.3	-11.0	78	642	0.00	2.35	0.00	0.000	1158	0.000	0.054	2373	2200	3968	3952	3985	0	0	0	0	0	0	14.24	14.13	14.27
967	-0.78	-145.9	2377	2199	3953	3985	145.0	-10.9	94	972	0.12	2.45	0.00	0.000	4484	0.137	0.086	2319	3590	3969	3953	3985	0	0	0	0	0	0	14.18	14.14	14.21
1069	-0.85	-145.9	2319	3591	3953	3986	158.2	-12.8	114	1074	0.00	2.35	0.00	0.000	1158	0.000	0.055	2319	2190	3968	3952	3985	0	0	0	0	0	0	14.29	14.21	14.31
1389	-0.85	-145.9	2320	2189	3954	3985	204.1	-13.9	128	1394	0.00	2.45	0.00	0.000	260	0.000	0.090	2319	3582	3968	3952	3985	0	0	0	0	0	0	14.56	14.18	14.58
1501	-0.94	-145.9	2319	3585	3953	3986	217.1	-11.1	150	1506	0.15	2.33	0.00	0.000	5254	0.122	0.055	2259	2202	3968	3952	3985	0	0	0	0	0	0	14.26	14.22	14.35
1812	-0.86	-145.9	2260	2201	3954	3985	269.0	-16.1	162	1817	0.15	2.42	0.00	0.000	2436	0.301	0.084	2283	3587	3968	3952	3985	0	0	0	0	0	0	13.96	14.22	14.14
1992	-0.92	-145.9	2279	3593	3954	3986	291.2	-11.0	198	1997	0.00	2.35	0.00	0.000	1158	0.000	0.056	2283	2195	3968	3952	3984	0	0	0	0	0	0	14.38	14.27	14.41
2322	-0.92	-145.9	2283	2194	3953	3983	331.6	-12.1	214	2327	0.00	2.45	0.00	0.000	260	0.000	0.088	2280	3592	3967	3952	3982	0	0	0	0	0	0	14.60	14.22	14.62
2407	-1.00	-145.9	2280	3594	3952	3984	341.3	-10.8	231	2413	0.00	2.35	0.00	0.000	1158	0.000	0.055	2278	2198	3967	3952	3982	0	0	0	0	0	0	14.35	14.24	14.38
2712	-1.00	-145.9	2281	2193	3953	3982	377.5	-11.9	242	2717	0.00	2.45	0.00	0.000	260	0.000	0.089	2273	3592	3966	3951	3981	0	0	0	0	0	0	14.61	14.19	14.62
2777	-1.07	-145.9	2274	3593	3952	3983	385.1	-10.8	255	2782	0.12	2.35	0.00	0.000	5254	0.135	0.056	2228	2199	3966	3951	3982	0	0	0	0	0	0	14.26	14.25	14.37
3105	-0.98	-145.9	2226	2199	3952	3981	437.2	-16.1	270	3110	0.12	2.45	0.00	0.000	2436	0.305	0.084	2246	3587	3966	3952	3980	0	0	0	0	0	0	13.90	14.10	14.08
3274	-0.98	-145.9	2246	3589	3951	3981	460.7	-13.0	304	3279	0.00	2.35	0.00	0.000	1030	0.000	0.055	2246	2200	3966	3951	3981	0	0	0	0	0	0	14.26	14.15	14.29
3432	end dive: TARGET_DEPTH_EXCEEDED
state	3432	begin apogee
3438	-0.13	0.0	2247	2058	3952	3981	483.0	-14.0	311	3668	1.15	0.00	227.10	1.395	10246	0.252	0.000	2530	2056	3367	3388	3346	0	0	0	0	0	0	13.85	13.37	12.65
3672	end apogee: CONTROL_FINISHED_OK
state	3672	begin climb
3674	0.57	145.9	2531	2056	3380	3334	493.8	0.0	318	3896	0.75	2.72	204.85	1.359	11012	0.065	0.077	2778	3491	2757	2798	2716	0	0	0	0	0	0	13.44	13.12	12.44
4121	0.14	145.9	2778	3491	2786	2716	459.1	17.7	365	4127	0.77	2.40	0.00	0.000	5254	0.351	0.057	2631	2132	2750	2785	2715	0	0	0	0	0	0	13.37	13.66	13.71
4426	0.06	173.5	2632	2138	2783	2715	431.0	8.7	376	4472	0.12	2.65	37.90	1.424	12964	0.298	0.086	2607	691	2649	2692	2607	0	0	0	0	0	0	13.76	13.78	13.03
4502	0.14	221.8	2608	692	2689	2604	424.9	7.8	386	4583	0.00	2.47	72.82	1.353	9382	0.000	0.079	2607	2074	2453	2511	2396	0	0	0	0	0	0	13.95	13.83	12.87
4908	0.20	259.5	2608	2075	2501	2377	391.2	8.3	417	4969	0.12	0.00	57.55	1.353	10406	0.129	0.000	2662	2074	2304	2357	2252	0	0	0	0	0	0	14.00	13.76	13.01
5268	0.16	259.5	2664	2074	2343	2236	347.6	12.2	429	5273	0.12	2.40	0.00	0.000	4740	0.264	0.081	2643	696	2288	2342	2235	0	0	0	0	0	0	13.83	13.97	13.97
5308	0.21	259.5	2643	696	2341	2236	343.2	10.3	437	5313	0.00	2.42	0.00	0.000	1158	0.000	0.078	2643	2098	2288	2341	2235	0	0	0	0	0	0	14.12	14.01	14.16
5630	0.21	259.5	2643	2099	2341	2232	310.1	10.2	451	5636	0.00	2.45	0.00	0.000	516	0.000	0.084	2646	691	2286	2340	2232	0	0	0	0	0	0	14.38	14.05	14.39
5666	0.25	270.7	2646	691	2347	2231	306.6	9.5	458	5678	0.00	2.42	4.07	1.483	9382	0.000	0.078	2646	2107	2268	2319	2218	0	0	0	0	0	0	14.20	14.08	13.09
5995	0.25	274.7	2647	2111	2331	2217	274.1	9.8	473	6014	0.00	2.47	13.18	1.535	8740	0.000	0.086	2646	695	2241	2296	2187	0	0	0	0	0	0	14.53	14.19	13.32
6064	0.33	296.8	2647	696	2292	2187	267.5	9.0	487	6104	0.12	2.45	34.85	1.411	11430	0.132	0.078	2696	2106	2154	2203	2105	0	0	0	0	0	0	14.23	14.19	13.24
6416	0.28	296.8	2697	2107	2197	2094	224.5	11.7	507	6417	0.00	0.00	0.00	0.000	134	0.000	0.000	2696	2106	2144	2195	2094	0	0	0	0	0	0	14.48	14.50	14.50
6714	0.23	296.8	2697	2106	2197	2093	192.1	10.5	517	6720	0.15	2.47	0.00	0.000	4740	0.233	0.083	2666	689	2143	2195	2092	0	0	0	0	0	0	14.07	14.17	14.21
6780	0.36	345.3	2660	689	2194	2096	186.7	7.8	530	6867	0.12	2.45	80.93	1.282	11430	0.135	0.079	2710	2101	1961	2010	1913	0	0	0	0	0	0	14.29	14.25	13.22
7165	0.36	345.3	2710	2100	1996	1897	146.6	10.2	557	7170	0.00	2.47	0.00	0.000	516	0.000	0.087	2712	693	1945	1994	1897	0	0	0	0	0	0	14.43	14.13	14.44
7200	0.40	350.5	2712	693	1993	1898	143.1	9.8	564	7206	0.00	2.45	1.17	0.394	9382	0.000	0.078	2712	2100	1939	1986	1892	0	0	0	0	0	0	14.28	14.16	13.50
7526	0.41	359.7	2713	2102	1991	1893	111.4	9.6	579	7546	0.00	2.47	14.82	1.426	8740	0.000	0.086	2712	696	1894	1936	1853	0	0	0	0	0	0	14.52	14.17	13.38
7586	0.51	390.3	2713	696	1931	1854	106.0	8.6	591	7641	0.00	2.45	48.30	1.255	9382	0.000	0.077	2712	2102	1771	1803	1739	0	0	0	0	0	0	14.27	14.16	13.26
7946	0.63	449.7	2713	2103	1799	1728	76.8	7.3	631	7984	0.17	2.50	31.33	0.433	10660	0.109	0.081	2790	3518	1529	1566	1493	0	0	0	0	0	0	14.17	14.04	13.72
8035	0.57	449.7	2791	3520	1567	1493	65.7	13.8	648	8041	0.00	2.45	0.00	0.000	1158	0.000	0.070	2794	2106	1528	1565	1491	0	0	0	0	0	0	14.21	14.09	14.23
8339	0.61	499.9	2794	2107	1566	1483	40.3	7.7	679	8372	0.00	2.53	26.12	0.330	8740	0.000	0.092	2794	683	1326	1379	1274	0	0	0	0	0	0	14.47	14.06	13.84
8448	0.73	550.3	2791	686	1372	1273	32.1	7.7	700	8480	0.00	2.47	27.65	0.305	9382	0.000	0.077	2794	2102	1117	1180	1054	0	0	0	0	0	0	14.24	14.13	13.84
8786	1.02	712.9	2795	2103	1186	1046	11.1	2.5	737	8880	0.32	2.55	84.25	0.227	10916	0.087	0.088	2924	687	497	522	473	0	0	0	0	0	0	14.22	14.06	13.97
8894	end climb: SURFACE_DEPTH_REACHED
state	8894	begin surface coast
8903	end surface coast: CONTROL_FINISHED_OK
state	8903	begin surface