Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 120 * 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 120 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 339.0

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 25 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 339.0 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 120 NOCOMM_ACTION 161 R_STBD_OVSHOOT 25 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 200817,155814,7304.2197,-14925.0225,26,0.7,32,21.0,0.3,85.7,12,9.8 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 287.9,21806,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.6 D_GRID 480

GPS2 200817,161502,7304.2261,-14924.6426,34,0.8,35,21.0,0.0,0.0,11,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170820162828.835631,3,631,28,0478,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09 PM_FREEKB_00 54446272

FINISH 0.2,1.020399 _24V_AH 12.47,99.945

SM_CCo 8879,0.08,1.197,0,0,501,703.03 _10V_AH 12.36,0.000

SM_GC 1.81,8.23,1.77,0.08,0.076,0.080,1.197,204,2207,501,-7.38,-0.59,703.03,0,0,0,0,0,0,14.23,14.19,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 399 FG_AHR_10Vo 0.000

MODEM 3,1503246043,74.30400,-153.94400,136.794,198250.1 MEM 323508

RAFOS_FIX 7303.161133,-14926.141602,200817,161635,2,255,3.74 DATA_FILE_SIZE 23386,732

IRIDIUM_FIX 7304.62,-14931.32,200817,160749 CAP_FILE_SIZE 101039,0

TT8_MAMPS 0.040446,0.850115 CFSIZE 2097872896,2051538944

HUMID 47.44 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.0

TCM_TEMP 13.30 CURRENT 0.051,223.36,1

XPDR_PINGS 14 GPS 200817,184435,7304.928,-14927.705,16,0.9,18,20.9,0.4,170.9,9,9.7

CP_FREE 15999008768.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.89 nil 0 0 0.00

Roll_motor 73 2140 1954.50 nil 0 0 0.00

VBD_pump_during_apogee 998 1438 17923.71 nil 0 0 0.00

VBD_pump_during_surface 0 1197 1.12 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 8884 14 1648.02

Iridium_during_xfer 587 167 1226.96 NCP 8864 20 2210.68

Transponder_ping 3 420 18.33 PMAR 8833 10 1126.26

GUMSTIX_24V 0 0 0.00

GPS 36 22 10.20

TT8 0 0 0.00

LPSleep 6121 2 174.77

TT8_Active 790 13 136.49

TT8_Sampling 2683 33 1109.26

TT8_CF8 302 38 144.70

TT8_Kalman 0 0 0.00

Analog_circuits 2603 10 321.77

GPS_charging 0 0 0.00

Compass 1049 7 90.84

RAFOS 1173 48 695.92

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 -145.9 206 2217 506 479 0.0 0.0 0 126 0.00 0.00 -77.90 0.000 16386 0.000 0.000 205 2217 1909 1835 1984 0 0 0 0 0 0 14.45 28.83 14.49

129 -0.57 -145.9 205 2217 1838 1993 3.1 -3.0 8 192 12.52 2.85 -44.58 0.000 18980 0.453 2.140 2384 792 3964 3947 3981 0 0 0 0 0 0 13.68 12.63 14.12

302 -0.57 -145.9 2384 793 3954 3983 41.2 -17.1 42 307 0.00 2.53 0.00 0.000 1030 0.000 0.090 2380 2198 3967 3954 3981 0 0 0 0 0 0 14.12 13.98 14.15

612 -0.57 -145.9 2381 2199 3957 3981 94.6 -14.1 74 617 0.00 2.53 0.00 0.000 260 0.000 0.093 2376 3612 3969 3956 3982 0 0 0 0 0 0 14.37 13.99 14.39

797 -0.71 -145.9 2376 3616 3957 3983 114.8 -10.2 111 803 0.00 2.42 0.00 0.000 1158 0.000 0.055 2376 2188 3969 3957 3982 0 0 0 0 0 0 14.22 14.12 14.24

1123 -0.81 -145.9 2377 2187 3957 3981 149.6 -10.4 126 1128 0.15 2.53 0.00 0.000 4484 0.125 0.086 2305 3614 3968 3956 3981 0 0 0 0 0 0 14.15 14.06 14.21

1168 -0.84 -145.9 2306 3614 3957 3983 155.8 -14.4 135 1174 0.00 2.40 0.00 0.000 1158 0.000 0.056 2305 2201 3971 3956 3986 0 0 0 0 0 0 14.19 14.12 14.21

1484 -0.84 -145.9 2309 2199 3957 3981 204.1 -15.0 148 1489 0.00 2.45 0.00 0.000 260 0.000 0.087 2297 3614 3969 3956 3982 0 0 0 0 0 0 14.42 14.07 14.44

1586 -0.90 -145.9 2296 3615 3957 3983 217.7 -12.9 168 1591 0.00 2.40 0.00 0.000 1158 0.000 0.057 2297 2201 3969 3956 3982 0 0 0 0 0 0 14.33 14.22 14.35

1906 -0.90 -145.9 2297 2200 3957 3983 261.4 -12.6 182 1911 0.00 2.47 0.00 0.000 260 0.000 0.088 2288 3616 3969 3956 3982 0 0 0 0 0 0 14.59 14.16 14.60

2001 -0.98 -145.9 2288 3617 3957 3982 272.5 -10.5 201 2006 0.00 2.40 0.00 0.000 1158 0.000 0.057 2288 2192 3968 3956 3981 0 0 0 0 0 0 14.37 14.26 14.39

2326 -0.98 -145.9 2288 2190 3957 3984 311.4 -11.8 216 2331 0.00 2.50 0.00 0.000 260 0.000 0.089 2275 3616 3968 3956 3980 0 0 0 0 0 0 14.62 14.21 14.64

2402 -1.07 -145.9 2281 3617 3956 3980 319.9 -11.0 231 2408 0.15 2.40 0.00 0.000 5254 0.129 0.056 2226 2187 3967 3955 3980 0 0 0 0 0 0 14.31 14.29 14.41

2718 -0.97 -145.9 2227 2187 3955 3979 370.5 -16.0 244 2723 0.15 2.50 0.00 0.000 2436 0.301 0.084 2249 3616 3966 3955 3978 0 0 0 0 0 0 13.95 14.22 14.14

2858 -0.97 -145.9 2250 3617 3955 3979 389.0 -12.4 272 2863 0.00 2.38 0.00 0.000 1030 0.000 0.055 2250 2201 3966 3955 3978 0 0 0 0 0 0 14.38 14.28 14.42

3168 -0.94 -145.9 2251 2199 3955 3977 430.7 -13.5 284 3173 0.00 2.47 0.00 0.000 388 0.000 0.088 2242 3615 3965 3954 3977 0 0 0 0 0 0 14.66 14.24 14.66

3283 -0.94 -145.9 2241 3616 3955 3977 446.1 -13.0 307 3290 0.15 2.38 0.00 0.000 3078 0.253 0.057 2272 2199 3966 3956 3977 0 0 0 0 0 0 14.03 14.25 14.21

3586 end dive: TARGET_DEPTH_EXCEEDED

state 3586 begin apogee

3592 -0.13 0.0 2273 2058 3955 3978 480.4 -11.1 318 3809 0.98 0.10 213.35 1.425 10246 0.233 0.161 2528 2122 3362 3387 3338 0 0 0 0 0 0 14.00 13.47 12.74

3813 end apogee: CONTROL_FINISHED_OK

state 3813 begin climb

3817 0.57 145.9 2529 2122 3383 3332 490.6 0.0 325 4358 0.75 2.65 204.45 1.366 10756 0.065 0.079 2790 731 2756 2796 2716 0 0 0 0 0 0 13.59 13.18 12.47

4370 0.57 145.9 2791 732 2796 2717 441.8 9.8 328 4375 0.00 2.40 0.00 0.000 1030 0.000 0.074 2790 2088 2756 2796 2716 0 0 0 0 0 0 13.98 13.88 14.01

4685 0.17 145.9 2791 2090 2797 2715 389.5 16.1 341 4690 0.62 2.47 0.00 0.000 4484 0.321 0.075 2649 3513 2754 2796 2713 0 0 0 0 0 0 13.80 14.13 14.00

4825 0.00 145.9 2649 3513 2793 2712 373.4 10.6 369 4831 0.30 2.33 0.00 0.000 5254 0.282 0.057 2588 2130 2752 2791 2713 0 0 0 0 0 0 13.95 14.22 14.26

5136 0.06 233.5 2589 2129 2794 2712 354.1 6.0 381 5272 0.00 2.60 129.50 1.307 8740 0.000 0.085 2589 691 2410 2468 2352 0 0 0 0 0 0 14.59 13.59 13.05

5319 0.25 291.6 2589 691 2461 2349 342.0 7.3 417 5416 0.22 2.55 87.55 1.287 11430 0.095 0.080 2676 2105 2171 2228 2115 0 0 0 0 0 0 13.89 13.82 12.86

5741 0.21 291.6 2676 2105 2217 2102 288.0 12.9 451 5747 0.00 2.50 0.00 0.000 644 0.000 0.086 2681 694 2161 2220 2102 0 0 0 0 0 0 14.33 13.95 14.35

5807 0.21 291.6 2681 695 2214 2103 280.0 11.6 464 5813 0.15 2.50 0.00 0.000 5126 0.238 0.080 2649 2100 2157 2213 2102 0 0 0 0 0 0 13.91 13.88 14.15

6133 0.25 305.9 2650 2102 2213 2101 248.7 9.3 479 6153 0.00 2.53 16.25 1.439 8868 0.000 0.083 2656 697 2116 2171 2062 0 0 0 0 0 0 14.54 14.14 13.33

6226 0.35 325.5 2656 697 2164 2062 240.3 9.1 497 6261 0.12 2.45 30.98 1.366 11430 0.133 0.078 2711 2103 2039 2090 1989 0 0 0 0 0 0 14.18 14.16 13.25

6586 0.31 325.5 2706 2103 2080 1977 197.5 11.3 519 6587 0.00 0.00 0.00 0.000 134 0.000 0.000 2705 2102 2027 2080 1975 0 0 0 0 0 0 14.51 14.53 14.53

6886 0.29 325.5 2706 2103 2080 1975 165.4 10.5 529 6888 0.12 0.00 0.00 0.000 4230 0.232 0.000 2678 2102 2027 2079 1975 0 0 0 0 0 0 14.16 14.40 14.36

7187 0.37 377.8 2678 2101 2078 1975 141.9 7.6 539 7282 0.00 2.53 90.47 1.244 8868 0.000 0.084 2682 693 1819 1856 1782 0 0 0 0 0 0 14.61 13.76 13.24

7398 0.54 424.8 2682 693 1843 1787 125.4 7.8 581 7483 0.22 2.47 77.40 1.196 11430 0.101 0.079 2769 2099 1629 1664 1595 0 0 0 0 0 0 14.12 14.04 13.10

7788 0.51 424.8 2769 2100 1664 1575 75.5 11.3 621 7789 0.00 0.00 0.00 0.000 134 0.000 0.000 2769 2099 1618 1663 1574 0 0 0 0 0 0 14.38 14.40 14.40

8090 0.55 479.5 2770 2099 1664 1571 48.0 7.5 651 8119 0.00 0.00 26.60 0.346 8230 0.000 0.000 2769 2099 1409 1458 1360 0 0 0 0 0 0 14.47 14.18 13.85

8418 0.69 561.0 2769 2100 1458 1355 25.6 6.2 684 8462 0.10 0.00 42.45 0.286 10406 0.155 0.000 2812 2099 1076 1142 1010 0 0 0 0 0 0 14.26 14.15 13.90

8758 0.92 707.0 2813 2100 1142 1003 7.7 3.3 718 8842 0.17 1.60 79.88 0.219 10915 0.111 0.085 2889 1221 502 525 479 0 0 0 0 0 0 14.23 14.16 13.98

8843 end climb: SURFACE_DEPTH_REACHED

state 8843 begin surface coast

8858 end surface coast: CONTROL_FINISHED_OK

state 8858 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	120	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	339.0
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	25	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,155814,7304.2197,-14925.0225,26,0.7,32,21.0,0.3,85.7,12,9.8	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	287.9,21806,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	200817,161502,7304.2261,-14924.6426,34,0.8,35,21.0,0.0,0.0,11,8.8

MODEM_MSG	CACST,6,1,20170820162828.835631,3,631,28,0478,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09	PM_FREEKB_00	54446272
FINISH	0.2,1.020399	_24V_AH	12.47,99.945
SM_CCo	8879,0.08,1.197,0,0,501,703.03	_10V_AH	12.36,0.000
SM_GC	1.81,8.23,1.77,0.08,0.076,0.080,1.197,204,2207,501,-7.38,-0.59,703.03,0,0,0,0,0,0,14.23,14.19,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	399	FG_AHR_10Vo	0.000
MODEM	3,1503246043,74.30400,-153.94400,136.794,198250.1	MEM	323508
RAFOS_FIX	7303.161133,-14926.141602,200817,161635,2,255,3.74	DATA_FILE_SIZE	23386,732
IRIDIUM_FIX	7304.62,-14931.32,200817,160749	CAP_FILE_SIZE	101039,0
TT8_MAMPS	0.040446,0.850115	CFSIZE	2097872896,2051538944
HUMID	47.44	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.0
TCM_TEMP	13.30	CURRENT	0.051,223.36,1
XPDR_PINGS	14	GPS	200817,184435,7304.928,-14927.705,16,0.9,18,20.9,0.4,170.9,9,9.7
CP_FREE	15999008768.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.89	nil	0	0	0.00
Roll_motor	73	2140	1954.50	nil	0	0	0.00
VBD_pump_during_apogee	998	1438	17923.71	nil	0	0	0.00
VBD_pump_during_surface	0	1197	1.12	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	8884	14	1648.02
Iridium_during_xfer	587	167	1226.96	NCP	8864	20	2210.68
Transponder_ping	3	420	18.33	PMAR	8833	10	1126.26
GUMSTIX_24V	0	0	0.00
GPS	36	22	10.20
TT8	0	0	0.00
LPSleep	6121	2	174.77
TT8_Active	790	13	136.49
TT8_Sampling	2683	33	1109.26
TT8_CF8	302	38	144.70
TT8_Kalman	0	0	0.00
Analog_circuits	2603	10	321.77
GPS_charging	0	0	0.00
Compass	1049	7	90.84
RAFOS	1173	48	695.92
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	206	2217	506	479	0.0	0.0	0	126	0.00	0.00	-77.90	0.000	16386	0.000	0.000	205	2217	1909	1835	1984	0	0	0	0	0	0	14.45	28.83	14.49
129	-0.57	-145.9	205	2217	1838	1993	3.1	-3.0	8	192	12.52	2.85	-44.58	0.000	18980	0.453	2.140	2384	792	3964	3947	3981	0	0	0	0	0	0	13.68	12.63	14.12
302	-0.57	-145.9	2384	793	3954	3983	41.2	-17.1	42	307	0.00	2.53	0.00	0.000	1030	0.000	0.090	2380	2198	3967	3954	3981	0	0	0	0	0	0	14.12	13.98	14.15
612	-0.57	-145.9	2381	2199	3957	3981	94.6	-14.1	74	617	0.00	2.53	0.00	0.000	260	0.000	0.093	2376	3612	3969	3956	3982	0	0	0	0	0	0	14.37	13.99	14.39
797	-0.71	-145.9	2376	3616	3957	3983	114.8	-10.2	111	803	0.00	2.42	0.00	0.000	1158	0.000	0.055	2376	2188	3969	3957	3982	0	0	0	0	0	0	14.22	14.12	14.24
1123	-0.81	-145.9	2377	2187	3957	3981	149.6	-10.4	126	1128	0.15	2.53	0.00	0.000	4484	0.125	0.086	2305	3614	3968	3956	3981	0	0	0	0	0	0	14.15	14.06	14.21
1168	-0.84	-145.9	2306	3614	3957	3983	155.8	-14.4	135	1174	0.00	2.40	0.00	0.000	1158	0.000	0.056	2305	2201	3971	3956	3986	0	0	0	0	0	0	14.19	14.12	14.21
1484	-0.84	-145.9	2309	2199	3957	3981	204.1	-15.0	148	1489	0.00	2.45	0.00	0.000	260	0.000	0.087	2297	3614	3969	3956	3982	0	0	0	0	0	0	14.42	14.07	14.44
1586	-0.90	-145.9	2296	3615	3957	3983	217.7	-12.9	168	1591	0.00	2.40	0.00	0.000	1158	0.000	0.057	2297	2201	3969	3956	3982	0	0	0	0	0	0	14.33	14.22	14.35
1906	-0.90	-145.9	2297	2200	3957	3983	261.4	-12.6	182	1911	0.00	2.47	0.00	0.000	260	0.000	0.088	2288	3616	3969	3956	3982	0	0	0	0	0	0	14.59	14.16	14.60
2001	-0.98	-145.9	2288	3617	3957	3982	272.5	-10.5	201	2006	0.00	2.40	0.00	0.000	1158	0.000	0.057	2288	2192	3968	3956	3981	0	0	0	0	0	0	14.37	14.26	14.39
2326	-0.98	-145.9	2288	2190	3957	3984	311.4	-11.8	216	2331	0.00	2.50	0.00	0.000	260	0.000	0.089	2275	3616	3968	3956	3980	0	0	0	0	0	0	14.62	14.21	14.64
2402	-1.07	-145.9	2281	3617	3956	3980	319.9	-11.0	231	2408	0.15	2.40	0.00	0.000	5254	0.129	0.056	2226	2187	3967	3955	3980	0	0	0	0	0	0	14.31	14.29	14.41
2718	-0.97	-145.9	2227	2187	3955	3979	370.5	-16.0	244	2723	0.15	2.50	0.00	0.000	2436	0.301	0.084	2249	3616	3966	3955	3978	0	0	0	0	0	0	13.95	14.22	14.14
2858	-0.97	-145.9	2250	3617	3955	3979	389.0	-12.4	272	2863	0.00	2.38	0.00	0.000	1030	0.000	0.055	2250	2201	3966	3955	3978	0	0	0	0	0	0	14.38	14.28	14.42
3168	-0.94	-145.9	2251	2199	3955	3977	430.7	-13.5	284	3173	0.00	2.47	0.00	0.000	388	0.000	0.088	2242	3615	3965	3954	3977	0	0	0	0	0	0	14.66	14.24	14.66
3283	-0.94	-145.9	2241	3616	3955	3977	446.1	-13.0	307	3290	0.15	2.38	0.00	0.000	3078	0.253	0.057	2272	2199	3966	3956	3977	0	0	0	0	0	0	14.03	14.25	14.21
3586	end dive: TARGET_DEPTH_EXCEEDED
state	3586	begin apogee
3592	-0.13	0.0	2273	2058	3955	3978	480.4	-11.1	318	3809	0.98	0.10	213.35	1.425	10246	0.233	0.161	2528	2122	3362	3387	3338	0	0	0	0	0	0	14.00	13.47	12.74
3813	end apogee: CONTROL_FINISHED_OK
state	3813	begin climb
3817	0.57	145.9	2529	2122	3383	3332	490.6	0.0	325	4358	0.75	2.65	204.45	1.366	10756	0.065	0.079	2790	731	2756	2796	2716	0	0	0	0	0	0	13.59	13.18	12.47
4370	0.57	145.9	2791	732	2796	2717	441.8	9.8	328	4375	0.00	2.40	0.00	0.000	1030	0.000	0.074	2790	2088	2756	2796	2716	0	0	0	0	0	0	13.98	13.88	14.01
4685	0.17	145.9	2791	2090	2797	2715	389.5	16.1	341	4690	0.62	2.47	0.00	0.000	4484	0.321	0.075	2649	3513	2754	2796	2713	0	0	0	0	0	0	13.80	14.13	14.00
4825	0.00	145.9	2649	3513	2793	2712	373.4	10.6	369	4831	0.30	2.33	0.00	0.000	5254	0.282	0.057	2588	2130	2752	2791	2713	0	0	0	0	0	0	13.95	14.22	14.26
5136	0.06	233.5	2589	2129	2794	2712	354.1	6.0	381	5272	0.00	2.60	129.50	1.307	8740	0.000	0.085	2589	691	2410	2468	2352	0	0	0	0	0	0	14.59	13.59	13.05
5319	0.25	291.6	2589	691	2461	2349	342.0	7.3	417	5416	0.22	2.55	87.55	1.287	11430	0.095	0.080	2676	2105	2171	2228	2115	0	0	0	0	0	0	13.89	13.82	12.86
5741	0.21	291.6	2676	2105	2217	2102	288.0	12.9	451	5747	0.00	2.50	0.00	0.000	644	0.000	0.086	2681	694	2161	2220	2102	0	0	0	0	0	0	14.33	13.95	14.35
5807	0.21	291.6	2681	695	2214	2103	280.0	11.6	464	5813	0.15	2.50	0.00	0.000	5126	0.238	0.080	2649	2100	2157	2213	2102	0	0	0	0	0	0	13.91	13.88	14.15
6133	0.25	305.9	2650	2102	2213	2101	248.7	9.3	479	6153	0.00	2.53	16.25	1.439	8868	0.000	0.083	2656	697	2116	2171	2062	0	0	0	0	0	0	14.54	14.14	13.33
6226	0.35	325.5	2656	697	2164	2062	240.3	9.1	497	6261	0.12	2.45	30.98	1.366	11430	0.133	0.078	2711	2103	2039	2090	1989	0	0	0	0	0	0	14.18	14.16	13.25
6586	0.31	325.5	2706	2103	2080	1977	197.5	11.3	519	6587	0.00	0.00	0.00	0.000	134	0.000	0.000	2705	2102	2027	2080	1975	0	0	0	0	0	0	14.51	14.53	14.53
6886	0.29	325.5	2706	2103	2080	1975	165.4	10.5	529	6888	0.12	0.00	0.00	0.000	4230	0.232	0.000	2678	2102	2027	2079	1975	0	0	0	0	0	0	14.16	14.40	14.36
7187	0.37	377.8	2678	2101	2078	1975	141.9	7.6	539	7282	0.00	2.53	90.47	1.244	8868	0.000	0.084	2682	693	1819	1856	1782	0	0	0	0	0	0	14.61	13.76	13.24
7398	0.54	424.8	2682	693	1843	1787	125.4	7.8	581	7483	0.22	2.47	77.40	1.196	11430	0.101	0.079	2769	2099	1629	1664	1595	0	0	0	0	0	0	14.12	14.04	13.10
7788	0.51	424.8	2769	2100	1664	1575	75.5	11.3	621	7789	0.00	0.00	0.00	0.000	134	0.000	0.000	2769	2099	1618	1663	1574	0	0	0	0	0	0	14.38	14.40	14.40
8090	0.55	479.5	2770	2099	1664	1571	48.0	7.5	651	8119	0.00	0.00	26.60	0.346	8230	0.000	0.000	2769	2099	1409	1458	1360	0	0	0	0	0	0	14.47	14.18	13.85
8418	0.69	561.0	2769	2100	1458	1355	25.6	6.2	684	8462	0.10	0.00	42.45	0.286	10406	0.155	0.000	2812	2099	1076	1142	1010	0	0	0	0	0	0	14.26	14.15	13.90
8758	0.92	707.0	2813	2100	1142	1003	7.7	3.3	718	8842	0.17	1.60	79.88	0.219	10915	0.111	0.085	2889	1221	502	525	479	0	0	0	0	0	0	14.23	14.16	13.98
8843	end climb: SURFACE_DEPTH_REACHED
state	8843	begin surface coast
8858	end surface coast: CONTROL_FINISHED_OK
state	8858	begin surface