Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 125 * 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 125 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 355.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 30 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 355.0 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 24 VBD_MIN 500

DIVE 125 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 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 210817,060417,7307.9971,-14939.7275,17,0.7,19,20.9,0.2,0.0,12,9.6 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 1.27 MHEAD_RNG_PITCHd_Wd 287.4,11383,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.7 D_GRID 480

GPS2 210817,061551,7307.9424,-14939.5957,7,0.8,7,20.9,0.0,0.0,7,0.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170821082820.644121,3,2860,34,0512,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35 PM_FREEKB_00 54301248

FINISH 0.5,1.020430 _24V_AH 12.44,102.374

SM_CCo 8987,31.08,0.217,0,0,498,703.03 _10V_AH 12.34,0.000

SM_GC 1.32,8.20,0.17,31.08,0.079,0.114,0.217,206,2224,498,-7.36,-0.57,703.03,0,0,0,0,0,0,14.26,14.25,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 136 FG_AHR_10Vo 0.000

MODEM 2,1503303151,73.18300,-149.96500,4.823,6983.2 MEM 323560

RAFOS_FIX 7307.903320,-14944.436523,210817,080828,3,255,0.35 DATA_FILE_SIZE 26672,783

IRIDIUM_FIX 7309.83,-14930.18,210817,032640 CAP_FILE_SIZE 109534,0

TT8_MAMPS 0.040446,0.850115 CFSIZE 2097872896,2049933312

HUMID 43.93 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1447.8

TCM_TEMP 13.20 CURRENT 0.042,232.73,1

XPDR_PINGS 12 GPS 210817,084803,7308.748,-14942.680,34,0.8,35,20.9,0.0,0.0,9,7.5

CP_FREE 15998156800.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 147.21 nil 0 0 0.00

Roll_motor 95 2137 2525.99 nil 0 0 0.00

VBD_pump_during_apogee 925 1446 16660.60 nil 0 0 0.00

VBD_pump_during_surface 31 217 83.99 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 8951 14 1620.26

Iridium_during_xfer 427 180 960.75 NCP 8982 20 2234.72

Transponder_ping 3 420 15.67 PMAR 8943 10 1139.21

GUMSTIX_24V 0 0 0.00

GPS 7 22 2.16

TT8 0 0 0.00

LPSleep 6143 2 175.12

TT8_Active 839 13 144.65

TT8_Sampling 2447 33 1009.96

TT8_CF8 296 38 141.74

TT8_Kalman 0 0 0.00

Analog_circuits 2285 10 282.05

GPS_charging 0 0 0.00

Compass 1122 7 96.95

RAFOS 2191 48 1297.77

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 -145.9 199 2210 520 481 0.0 0.0 0 130 0.00 0.00 -81.62 0.000 16386 0.000 0.000 198 2210 2008 1939 2078 0 0 0 0 0 0 14.42 28.83 14.45

133 -0.57 -145.9 199 2211 1941 2082 3.3 -3.7 8 190 12.62 2.75 -38.45 0.000 18980 0.458 2.137 2386 793 3963 3941 3986 0 0 0 0 0 0 13.71 12.59 14.16

296 -0.64 -145.9 2386 793 3948 3987 44.0 -16.2 40 301 0.00 2.50 0.00 0.000 1158 0.000 0.090 2383 2195 3966 3946 3986 0 0 0 0 0 0 14.23 14.09 14.26

606 -0.66 -145.9 2384 2197 3951 3986 96.2 -13.2 72 611 0.00 2.53 0.00 0.000 388 0.000 0.090 2376 3620 3967 3949 3986 0 0 0 0 0 0 14.51 14.14 14.52

786 -0.84 -145.9 2377 3622 3951 3986 115.8 -9.4 108 791 0.22 2.42 0.00 0.000 5286 0.098 0.055 2288 2187 3968 3950 3986 0 0 0 0 0 0 14.25 14.21 14.33

1116 -0.77 -145.9 2289 2187 3950 3986 176.9 -17.7 124 1122 0.15 2.53 0.00 0.000 2436 0.277 0.086 2313 3622 3969 3950 3988 0 0 0 0 0 0 13.93 14.19 14.10

1182 -0.86 -145.9 2314 3624 3950 3987 186.4 -12.4 137 1187 0.00 2.40 0.00 0.000 1158 0.000 0.056 2313 2201 3967 3949 3985 0 0 0 0 0 0 14.38 14.27 14.42

1507 -0.86 -145.9 2315 2201 3950 3987 229.5 -12.8 152 1512 0.00 2.50 0.00 0.000 260 0.000 0.089 2306 3620 3967 3949 3986 0 0 0 0 0 0 14.60 14.21 14.62

1634 -0.97 -145.9 2307 3621 3950 3987 243.7 -10.9 177 1639 0.12 2.40 0.00 0.000 5254 0.135 0.058 2255 2196 3968 3950 3986 0 0 0 0 0 0 14.32 14.28 14.45

1959 -0.91 -145.9 2256 2195 3951 3983 293.6 -15.2 192 1965 0.12 2.50 0.00 0.000 2436 0.304 0.086 2274 3622 3967 3949 3986 0 0 0 0 0 0 14.00 14.24 14.18

2090 -0.98 -145.9 2275 3622 3950 3986 309.3 -11.3 218 2094 0.00 2.40 0.00 0.000 1158 0.000 0.058 2274 2199 3968 3950 3986 0 0 0 0 0 0 14.41 14.29 14.44

2410 -0.98 -145.9 2275 2198 3949 3985 348.8 -12.3 232 2414 0.00 2.47 0.00 0.000 260 0.000 0.089 2267 3614 3967 3950 3985 0 0 0 0 0 0 14.63 14.25 14.65

2510 -1.05 -145.9 2266 3614 3950 3985 360.6 -11.3 252 2515 0.00 2.38 0.00 0.000 1158 0.000 0.057 2267 2199 3967 3949 3985 0 0 0 0 0 0 14.42 14.30 14.45

2830 -1.05 -145.9 2267 2198 3950 3984 399.9 -12.2 266 2835 0.00 2.47 0.00 0.000 260 0.000 0.089 2260 3614 3966 3949 3984 0 0 0 0 0 0 14.64 14.26 14.65

2920 -1.10 -145.9 2259 3614 3949 3984 410.9 -11.7 284 2925 0.12 2.40 0.00 0.000 5254 0.141 0.057 2213 2195 3966 3948 3984 0 0 0 0 0 0 14.28 14.26 14.39

3250 -0.99 -145.9 2213 2194 3949 3984 466.3 -17.0 300 3256 0.17 2.47 0.00 0.000 2436 0.305 0.084 2244 3614 3966 3948 3984 0 0 0 0 0 0 13.94 14.24 14.15

3348 end dive: TARGET_DEPTH_EXCEEDED

state 3350 begin apogee

3358 -0.13 0.0 2245 2093 3948 3984 480.1 -12.6 320 3586 1.12 0.00 224.75 1.409 10246 0.251 0.000 2526 2092 3364 3385 3344 0 0 0 0 0 0 13.99 13.46 12.73

3635 end apogee: CONTROL_FINISHED_OK

state 3635 begin climb

3637 0.57 145.9 2528 2093 3374 3329 491.2 0.0 327 3996 0.75 2.70 207.20 1.369 11012 0.065 0.073 2780 3508 2749 2782 2716 0 0 0 0 0 0 13.66 13.01 12.44

4083 0.13 145.9 2780 3509 2782 2715 459.7 17.7 345 4088 0.77 2.47 0.00 0.000 5254 0.354 0.060 2631 2098 2748 2781 2716 0 0 0 0 0 0 13.43 13.76 13.78

4415 0.05 175.1 2632 2097 2781 2715 429.3 8.7 361 4460 0.12 2.50 39.03 1.430 12964 0.302 0.081 2602 693 2649 2691 2607 0 0 0 0 0 0 13.88 13.68 13.10

4530 0.13 227.1 2603 693 2685 2598 420.4 7.6 384 4616 0.00 2.50 79.45 1.366 9382 0.000 0.078 2602 2108 2433 2492 2374 0 0 0 0 0 0 14.09 13.98 12.98

4927 0.20 260.6 2602 2109 2478 2358 387.7 8.5 413 4978 0.12 0.00 50.35 1.378 10406 0.132 0.000 2660 2108 2307 2365 2249 0 0 0 0 0 0 14.16 13.88 13.13

5256 0.16 260.6 2660 2108 2338 2229 346.9 12.5 424 5262 0.00 2.47 0.00 0.000 644 0.000 0.085 2668 694 2282 2336 2229 0 0 0 0 0 0 14.46 14.12 14.44

5332 0.16 260.6 2669 694 2335 2229 337.6 11.9 439 5337 0.15 2.47 0.00 0.000 5126 0.246 0.080 2636 2109 2281 2334 2229 0 0 0 0 0 0 13.97 14.17 14.23

5647 0.16 260.6 2636 2110 2334 2228 305.3 10.0 452 5653 0.00 2.47 0.00 0.000 516 0.000 0.085 2644 690 2279 2332 2227 0 0 0 0 0 0 14.58 14.24 14.59

5678 0.20 260.6 2644 690 2333 2229 302.2 10.4 458 5683 0.00 2.45 0.00 0.000 1158 0.000 0.079 2644 2101 2280 2333 2227 0 0 0 0 0 0 14.41 14.26 14.42

6008 0.20 260.8 2645 2102 2334 2227 268.7 10.0 474 6013 0.00 2.45 0.00 0.000 548 0.000 0.084 2646 690 2280 2333 2227 0 0 0 0 0 0 14.62 14.28 14.63

6063 0.27 279.9 2646 693 2333 2228 263.5 9.1 485 6093 0.00 2.45 25.17 1.408 9382 0.000 0.078 2646 2108 2224 2277 2172 0 0 0 0 0 0 14.39 14.26 13.38

6399 0.33 323.3 2647 2108 2265 2156 234.4 8.0 502 6484 0.12 2.60 76.65 1.283 10916 0.129 0.084 2706 688 2041 2086 1996 0 0 0 0 0 0 14.19 13.83 13.16

6501 0.29 323.3 2707 687 2079 1994 223.5 10.3 522 6506 0.12 2.53 0.00 0.000 5254 0.226 0.077 2680 2101 2035 2077 1993 0 0 0 0 0 0 13.78 13.88 13.96

6821 0.30 335.5 2680 2102 2078 1981 192.6 9.4 536 6841 0.00 2.55 13.43 1.447 8740 0.000 0.086 2685 691 1993 2040 1946 0 0 0 0 0 0 14.35 14.04 13.26

6891 0.39 358.4 2685 692 2031 1945 186.2 8.9 550 6936 0.00 2.47 38.28 1.314 9382 0.000 0.078 2685 2100 1901 1940 1863 0 0 0 0 0 0 14.14 14.04 13.21

7243 0.46 377.9 2685 2101 1927 1850 153.8 9.1 570 7278 0.12 2.58 29.85 1.328 10916 0.136 0.085 2759 693 1821 1852 1790 0 0 0 0 0 0 14.14 13.92 13.23

7345 0.42 377.9 2756 694 1839 1786 141.0 13.0 590 7350 0.15 2.50 0.00 0.000 5254 0.245 0.079 2724 2105 1815 1837 1793 0 0 0 0 0 0 13.85 13.94 14.07

7666 0.42 377.9 2724 2105 1838 1780 107.0 10.0 604 7671 0.00 2.50 0.00 0.000 516 0.000 0.086 2729 688 1805 1831 1779 0 0 0 0 0 0 14.38 14.07 14.39

7763 0.50 404.5 2729 689 1833 1776 98.1 8.8 623 7781 0.00 2.47 12.93 0.485 9382 0.000 0.076 2730 2104 1714 1741 1687 0 0 0 0 0 0 14.14 14.00 13.62

8077 0.57 453.4 2729 2101 1746 1691 71.8 7.7 656 8109 0.12 2.47 26.75 0.412 10660 0.132 0.079 2794 3507 1515 1549 1482 0 0 0 0 0 0 14.19 13.95 13.69

8334 0.57 511.2 2789 3507 1550 1485 45.0 7.3 707 8372 0.12 2.42 30.98 0.336 13478 0.278 0.063 2770 2101 1279 1333 1226 0 0 0 0 0 0 13.89 14.09 13.74

8670 0.74 596.7 2771 2100 1334 1229 24.4 6.1 744 8720 0.12 2.53 44.60 0.283 10916 0.140 0.089 2825 691 930 1000 861 0 0 0 0 0 0 14.07 13.99 13.73

8740 0.90 646.2 2826 692 1001 861 18.6 7.7 757 8774 0.12 2.50 26.40 0.269 11430 0.133 0.079 2878 2105 727 793 661 0 0 0 0 0 0 14.03 13.99 13.75

8946 end climb: SURFACE_DEPTH_REACHED

state 8946 begin surface coast

8966 end surface coast: CONTROL_FINISHED_OK

state 8967 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	125	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	355.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	30	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,060417,7307.9971,-14939.7275,17,0.7,19,20.9,0.2,0.0,12,9.6	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	1.27	MHEAD_RNG_PITCHd_Wd	287.4,11383,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.7	D_GRID	480
GPS2	210817,061551,7307.9424,-14939.5957,7,0.8,7,20.9,0.0,0.0,7,0.0

MODEM_MSG	CACST,6,1,20170821082820.644121,3,2860,34,0512,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35	PM_FREEKB_00	54301248
FINISH	0.5,1.020430	_24V_AH	12.44,102.374
SM_CCo	8987,31.08,0.217,0,0,498,703.03	_10V_AH	12.34,0.000
SM_GC	1.32,8.20,0.17,31.08,0.079,0.114,0.217,206,2224,498,-7.36,-0.57,703.03,0,0,0,0,0,0,14.26,14.25,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	136	FG_AHR_10Vo	0.000
MODEM	2,1503303151,73.18300,-149.96500,4.823,6983.2	MEM	323560
RAFOS_FIX	7307.903320,-14944.436523,210817,080828,3,255,0.35	DATA_FILE_SIZE	26672,783
IRIDIUM_FIX	7309.83,-14930.18,210817,032640	CAP_FILE_SIZE	109534,0
TT8_MAMPS	0.040446,0.850115	CFSIZE	2097872896,2049933312
HUMID	43.93	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1447.8
TCM_TEMP	13.20	CURRENT	0.042,232.73,1
XPDR_PINGS	12	GPS	210817,084803,7308.748,-14942.680,34,0.8,35,20.9,0.0,0.0,9,7.5
CP_FREE	15998156800.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	147.21	nil	0	0	0.00
Roll_motor	95	2137	2525.99	nil	0	0	0.00
VBD_pump_during_apogee	925	1446	16660.60	nil	0	0	0.00
VBD_pump_during_surface	31	217	83.99	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	8951	14	1620.26
Iridium_during_xfer	427	180	960.75	NCP	8982	20	2234.72
Transponder_ping	3	420	15.67	PMAR	8943	10	1139.21
GUMSTIX_24V	0	0	0.00
GPS	7	22	2.16
TT8	0	0	0.00
LPSleep	6143	2	175.12
TT8_Active	839	13	144.65
TT8_Sampling	2447	33	1009.96
TT8_CF8	296	38	141.74
TT8_Kalman	0	0	0.00
Analog_circuits	2285	10	282.05
GPS_charging	0	0	0.00
Compass	1122	7	96.95
RAFOS	2191	48	1297.77
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	199	2210	520	481	0.0	0.0	0	130	0.00	0.00	-81.62	0.000	16386	0.000	0.000	198	2210	2008	1939	2078	0	0	0	0	0	0	14.42	28.83	14.45
133	-0.57	-145.9	199	2211	1941	2082	3.3	-3.7	8	190	12.62	2.75	-38.45	0.000	18980	0.458	2.137	2386	793	3963	3941	3986	0	0	0	0	0	0	13.71	12.59	14.16
296	-0.64	-145.9	2386	793	3948	3987	44.0	-16.2	40	301	0.00	2.50	0.00	0.000	1158	0.000	0.090	2383	2195	3966	3946	3986	0	0	0	0	0	0	14.23	14.09	14.26
606	-0.66	-145.9	2384	2197	3951	3986	96.2	-13.2	72	611	0.00	2.53	0.00	0.000	388	0.000	0.090	2376	3620	3967	3949	3986	0	0	0	0	0	0	14.51	14.14	14.52
786	-0.84	-145.9	2377	3622	3951	3986	115.8	-9.4	108	791	0.22	2.42	0.00	0.000	5286	0.098	0.055	2288	2187	3968	3950	3986	0	0	0	0	0	0	14.25	14.21	14.33
1116	-0.77	-145.9	2289	2187	3950	3986	176.9	-17.7	124	1122	0.15	2.53	0.00	0.000	2436	0.277	0.086	2313	3622	3969	3950	3988	0	0	0	0	0	0	13.93	14.19	14.10
1182	-0.86	-145.9	2314	3624	3950	3987	186.4	-12.4	137	1187	0.00	2.40	0.00	0.000	1158	0.000	0.056	2313	2201	3967	3949	3985	0	0	0	0	0	0	14.38	14.27	14.42
1507	-0.86	-145.9	2315	2201	3950	3987	229.5	-12.8	152	1512	0.00	2.50	0.00	0.000	260	0.000	0.089	2306	3620	3967	3949	3986	0	0	0	0	0	0	14.60	14.21	14.62
1634	-0.97	-145.9	2307	3621	3950	3987	243.7	-10.9	177	1639	0.12	2.40	0.00	0.000	5254	0.135	0.058	2255	2196	3968	3950	3986	0	0	0	0	0	0	14.32	14.28	14.45
1959	-0.91	-145.9	2256	2195	3951	3983	293.6	-15.2	192	1965	0.12	2.50	0.00	0.000	2436	0.304	0.086	2274	3622	3967	3949	3986	0	0	0	0	0	0	14.00	14.24	14.18
2090	-0.98	-145.9	2275	3622	3950	3986	309.3	-11.3	218	2094	0.00	2.40	0.00	0.000	1158	0.000	0.058	2274	2199	3968	3950	3986	0	0	0	0	0	0	14.41	14.29	14.44
2410	-0.98	-145.9	2275	2198	3949	3985	348.8	-12.3	232	2414	0.00	2.47	0.00	0.000	260	0.000	0.089	2267	3614	3967	3950	3985	0	0	0	0	0	0	14.63	14.25	14.65
2510	-1.05	-145.9	2266	3614	3950	3985	360.6	-11.3	252	2515	0.00	2.38	0.00	0.000	1158	0.000	0.057	2267	2199	3967	3949	3985	0	0	0	0	0	0	14.42	14.30	14.45
2830	-1.05	-145.9	2267	2198	3950	3984	399.9	-12.2	266	2835	0.00	2.47	0.00	0.000	260	0.000	0.089	2260	3614	3966	3949	3984	0	0	0	0	0	0	14.64	14.26	14.65
2920	-1.10	-145.9	2259	3614	3949	3984	410.9	-11.7	284	2925	0.12	2.40	0.00	0.000	5254	0.141	0.057	2213	2195	3966	3948	3984	0	0	0	0	0	0	14.28	14.26	14.39
3250	-0.99	-145.9	2213	2194	3949	3984	466.3	-17.0	300	3256	0.17	2.47	0.00	0.000	2436	0.305	0.084	2244	3614	3966	3948	3984	0	0	0	0	0	0	13.94	14.24	14.15
3348	end dive: TARGET_DEPTH_EXCEEDED
state	3350	begin apogee
3358	-0.13	0.0	2245	2093	3948	3984	480.1	-12.6	320	3586	1.12	0.00	224.75	1.409	10246	0.251	0.000	2526	2092	3364	3385	3344	0	0	0	0	0	0	13.99	13.46	12.73
3635	end apogee: CONTROL_FINISHED_OK
state	3635	begin climb
3637	0.57	145.9	2528	2093	3374	3329	491.2	0.0	327	3996	0.75	2.70	207.20	1.369	11012	0.065	0.073	2780	3508	2749	2782	2716	0	0	0	0	0	0	13.66	13.01	12.44
4083	0.13	145.9	2780	3509	2782	2715	459.7	17.7	345	4088	0.77	2.47	0.00	0.000	5254	0.354	0.060	2631	2098	2748	2781	2716	0	0	0	0	0	0	13.43	13.76	13.78
4415	0.05	175.1	2632	2097	2781	2715	429.3	8.7	361	4460	0.12	2.50	39.03	1.430	12964	0.302	0.081	2602	693	2649	2691	2607	0	0	0	0	0	0	13.88	13.68	13.10
4530	0.13	227.1	2603	693	2685	2598	420.4	7.6	384	4616	0.00	2.50	79.45	1.366	9382	0.000	0.078	2602	2108	2433	2492	2374	0	0	0	0	0	0	14.09	13.98	12.98
4927	0.20	260.6	2602	2109	2478	2358	387.7	8.5	413	4978	0.12	0.00	50.35	1.378	10406	0.132	0.000	2660	2108	2307	2365	2249	0	0	0	0	0	0	14.16	13.88	13.13
5256	0.16	260.6	2660	2108	2338	2229	346.9	12.5	424	5262	0.00	2.47	0.00	0.000	644	0.000	0.085	2668	694	2282	2336	2229	0	0	0	0	0	0	14.46	14.12	14.44
5332	0.16	260.6	2669	694	2335	2229	337.6	11.9	439	5337	0.15	2.47	0.00	0.000	5126	0.246	0.080	2636	2109	2281	2334	2229	0	0	0	0	0	0	13.97	14.17	14.23
5647	0.16	260.6	2636	2110	2334	2228	305.3	10.0	452	5653	0.00	2.47	0.00	0.000	516	0.000	0.085	2644	690	2279	2332	2227	0	0	0	0	0	0	14.58	14.24	14.59
5678	0.20	260.6	2644	690	2333	2229	302.2	10.4	458	5683	0.00	2.45	0.00	0.000	1158	0.000	0.079	2644	2101	2280	2333	2227	0	0	0	0	0	0	14.41	14.26	14.42
6008	0.20	260.8	2645	2102	2334	2227	268.7	10.0	474	6013	0.00	2.45	0.00	0.000	548	0.000	0.084	2646	690	2280	2333	2227	0	0	0	0	0	0	14.62	14.28	14.63
6063	0.27	279.9	2646	693	2333	2228	263.5	9.1	485	6093	0.00	2.45	25.17	1.408	9382	0.000	0.078	2646	2108	2224	2277	2172	0	0	0	0	0	0	14.39	14.26	13.38
6399	0.33	323.3	2647	2108	2265	2156	234.4	8.0	502	6484	0.12	2.60	76.65	1.283	10916	0.129	0.084	2706	688	2041	2086	1996	0	0	0	0	0	0	14.19	13.83	13.16
6501	0.29	323.3	2707	687	2079	1994	223.5	10.3	522	6506	0.12	2.53	0.00	0.000	5254	0.226	0.077	2680	2101	2035	2077	1993	0	0	0	0	0	0	13.78	13.88	13.96
6821	0.30	335.5	2680	2102	2078	1981	192.6	9.4	536	6841	0.00	2.55	13.43	1.447	8740	0.000	0.086	2685	691	1993	2040	1946	0	0	0	0	0	0	14.35	14.04	13.26
6891	0.39	358.4	2685	692	2031	1945	186.2	8.9	550	6936	0.00	2.47	38.28	1.314	9382	0.000	0.078	2685	2100	1901	1940	1863	0	0	0	0	0	0	14.14	14.04	13.21
7243	0.46	377.9	2685	2101	1927	1850	153.8	9.1	570	7278	0.12	2.58	29.85	1.328	10916	0.136	0.085	2759	693	1821	1852	1790	0	0	0	0	0	0	14.14	13.92	13.23
7345	0.42	377.9	2756	694	1839	1786	141.0	13.0	590	7350	0.15	2.50	0.00	0.000	5254	0.245	0.079	2724	2105	1815	1837	1793	0	0	0	0	0	0	13.85	13.94	14.07
7666	0.42	377.9	2724	2105	1838	1780	107.0	10.0	604	7671	0.00	2.50	0.00	0.000	516	0.000	0.086	2729	688	1805	1831	1779	0	0	0	0	0	0	14.38	14.07	14.39
7763	0.50	404.5	2729	689	1833	1776	98.1	8.8	623	7781	0.00	2.47	12.93	0.485	9382	0.000	0.076	2730	2104	1714	1741	1687	0	0	0	0	0	0	14.14	14.00	13.62
8077	0.57	453.4	2729	2101	1746	1691	71.8	7.7	656	8109	0.12	2.47	26.75	0.412	10660	0.132	0.079	2794	3507	1515	1549	1482	0	0	0	0	0	0	14.19	13.95	13.69
8334	0.57	511.2	2789	3507	1550	1485	45.0	7.3	707	8372	0.12	2.42	30.98	0.336	13478	0.278	0.063	2770	2101	1279	1333	1226	0	0	0	0	0	0	13.89	14.09	13.74
8670	0.74	596.7	2771	2100	1334	1229	24.4	6.1	744	8720	0.12	2.53	44.60	0.283	10916	0.140	0.089	2825	691	930	1000	861	0	0	0	0	0	0	14.07	13.99	13.73
8740	0.90	646.2	2826	692	1001	861	18.6	7.7	757	8774	0.12	2.50	26.40	0.269	11430	0.133	0.079	2878	2105	727	793	661	0	0	0	0	0	0	14.03	13.99	13.75
8946	end climb: SURFACE_DEPTH_REACHED
state	8946	begin surface coast
8966	end surface coast: CONTROL_FINISHED_OK
state	8967	begin surface