Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 128 * 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 128 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 364.0

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 23 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 364.0 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 128 NOCOMM_ACTION 161 R_STBD_OVSHOOT 23 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 210817,143520,7310.3862,-14948.9814,37,0.7,38,20.8,0.3,49.7,11,9.3 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.26 MHEAD_RNG_PITCHd_Wd 255.5,5214,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 210817,144951,7310.4385,-14948.7529,8,0.7,9,20.8,0.0,86.8,11,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170821162817.813811,3,33,09,0173,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32 PM_FREEKB_00 54209408

FINISH 0.2,1.020530 _24V_AH 12.43,103.809

SM_CCo 8987,0.95,0.262,0,0,499,703.03 _10V_AH 12.33,0.000

SM_GC 1.87,8.23,2.70,0.95,0.067,0.073,0.262,206,2204,499,-7.37,-0.57,703.03,0,0,0,0,0,0,14.23,14.19,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 226 FG_AHR_10Vo 0.000

MODEM 0,1503331447,75.36600,-145.04601,193.315,279838.5 MEM 323512

RAFOS_FIX 7310.928711,-14949.879883,210817,161620,4,255,0.21 DATA_FILE_SIZE 30050,847

IRIDIUM_FIX 7311.92,-14943.01,210817,143956 CAP_FILE_SIZE 107436,0

TT8_MAMPS 0.040446,0.866593 CFSIZE 2097872896,2048950272

HUMID 46.45 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.8

TCM_TEMP 13.00 CURRENT 0.015,136.35,1

XPDR_PINGS 11 GPS 210817,172120,7310.821,-14951.896,14,0.7,19,20.8,0.0,0.0,12,9.1

CP_FREE 15997665280.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 141.59 nil 0 0 0.00

Roll_motor 85 2139 2264.69 nil 0 0 0.00

VBD_pump_during_apogee 947 1458 17179.74 nil 0 0 0.00

VBD_pump_during_surface 0 261 3.09 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 8993 14 1666.01

Iridium_during_xfer 534 167 1112.50 NCP 8992 20 2235.41

Transponder_ping 2 420 14.36 PMAR 8941 10 1112.03

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.93

TT8 0 0 0.00

LPSleep 6352 2 180.92

TT8_Active 935 13 161.21

TT8_Sampling 2278 33 939.43

TT8_CF8 310 38 148.02

TT8_Kalman 0 0 0.00

Analog_circuits 2248 10 277.19

GPS_charging 0 0 0.00

Compass 1212 7 104.64

RAFOS 2209 48 1307.37

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 -145.9 205 2208 502 482 0.0 0.0 0 130 0.00 0.00 -81.15 0.000 16386 0.000 0.000 204 2207 1968 1895 2042 0 0 0 0 0 0 14.45 28.83 14.47

133 -0.57 -145.9 206 2207 1898 2044 3.1 -3.0 8 196 12.48 2.80 -41.05 0.000 19236 0.455 2.140 2384 793 3964 3948 3980 0 0 0 0 0 0 13.71 12.59 14.14

357 -0.64 -145.9 2385 788 3955 3980 52.2 -16.3 52 361 0.00 2.50 0.00 0.000 1158 0.000 0.088 2380 2196 3967 3954 3980 0 0 0 0 0 0 14.20 14.06 14.23

667 -0.68 -145.9 2381 2197 3955 3980 101.1 -12.5 84 672 0.00 2.53 0.00 0.000 388 0.000 0.093 2381 3615 3967 3955 3980 0 0 0 0 0 0 14.53 14.14 14.54

817 -0.85 -145.9 2377 3617 3956 3980 116.6 -9.7 114 822 0.22 2.40 0.00 0.000 5286 0.100 0.054 2288 2192 3967 3955 3980 0 0 0 0 0 0 14.31 14.24 14.37

1148 -0.79 -145.9 2289 2191 3957 3980 177.3 -18.1 130 1153 0.15 2.50 0.00 0.000 2436 0.280 0.086 2315 3611 3967 3955 3980 0 0 0 0 0 0 13.90 14.15 14.09

1308 -0.89 -145.9 2316 3613 3956 3981 197.8 -11.5 162 1313 0.00 2.38 0.00 0.000 1158 0.000 0.056 2315 2201 3967 3955 3980 0 0 0 0 0 0 14.38 14.23 14.37

1628 -0.92 -145.9 2316 2200 3956 3981 238.6 -12.3 176 1633 0.00 2.47 0.00 0.000 388 0.000 0.090 2307 3612 3967 3955 3980 0 0 0 0 0 0 14.62 14.21 14.63

1718 -1.02 -145.9 2308 3613 3957 3980 248.8 -10.6 194 1724 0.17 2.38 0.00 0.000 5254 0.111 0.056 2243 2195 3967 3955 3980 0 0 0 0 0 0 14.34 14.26 14.42

2049 -0.95 -145.9 2243 2194 3953 3981 302.5 -15.9 210 2054 0.12 2.50 0.00 0.000 2436 0.293 0.085 2268 3620 3968 3955 3981 0 0 0 0 0 0 13.99 14.22 14.16

2174 -0.99 -145.9 2262 3620 3956 3980 319.0 -12.1 235 2180 0.00 2.40 0.00 0.000 1158 0.000 0.057 2262 2199 3967 3954 3980 0 0 0 0 0 0 14.40 14.25 14.41

2500 -0.99 -145.9 2262 2198 3956 3980 361.6 -12.9 250 2505 0.00 2.47 0.00 0.000 260 0.000 0.089 2255 3613 3966 3954 3979 0 0 0 0 0 0 14.63 14.21 14.65

2605 -1.03 -145.9 2255 3613 3955 3979 375.0 -12.3 271 2611 0.00 2.38 0.00 0.000 1158 0.000 0.056 2255 2198 3966 3954 3979 0 0 0 0 0 0 14.42 14.31 14.45

2921 -1.03 -145.9 2255 2197 3954 3980 417.1 -13.3 284 2926 0.00 2.47 0.00 0.000 260 0.000 0.088 2241 3613 3967 3954 3980 0 0 0 0 0 0 14.64 14.21 14.66

3047 -1.05 -145.9 2246 3611 3954 3979 433.7 -12.8 309 3052 0.00 2.38 0.00 0.000 1158 0.000 0.056 2245 2196 3966 3954 3978 0 0 0 0 0 0 14.39 14.28 14.42

3373 -1.02 -145.9 2245 2197 3954 3979 478.4 -13.6 324 3377 0.00 2.50 0.00 0.000 388 0.000 0.088 2237 3621 3966 3954 3978 0 0 0 0 0 0 14.64 14.21 14.66

3385 end dive: TARGET_DEPTH_EXCEEDED

state 3385 begin apogee

3393 -0.13 0.0 2237 2097 3954 3979 480.4 -13.3 327 3611 1.17 0.00 214.65 1.437 10246 0.257 0.000 2527 2095 3364 3386 3343 0 0 0 0 0 0 13.95 13.49 12.74

3615 end apogee: CONTROL_FINISHED_OK

state 3615 begin climb

3617 0.57 145.9 2528 2095 3380 3335 491.1 0.0 334 3832 0.75 2.65 203.50 1.384 11012 0.067 0.082 2781 682 2764 2808 2721 0 0 0 0 0 0 13.56 13.16 12.43

4057 0.22 145.9 2781 684 2797 2719 463.4 15.0 416 4062 0.57 2.55 0.00 0.000 5254 0.324 0.076 2661 2105 2756 2795 2718 0 0 0 0 0 0 13.45 13.75 13.82

4370 0.07 150.9 2662 2103 2797 2714 431.8 9.8 428 4375 0.22 2.50 0.00 0.000 4772 0.287 0.077 2614 689 2752 2795 2710 0 0 0 0 0 0 13.76 13.97 13.93

4600 0.11 209.3 2616 689 2797 2714 414.5 7.3 474 4701 0.00 2.47 92.30 1.372 9254 0.000 0.079 2616 2101 2506 2565 2448 0 0 0 0 0 0 14.20 14.09 13.00

5000 0.12 231.1 2616 2101 2561 2435 380.0 9.0 504 5036 0.00 2.53 29.62 1.459 8740 0.000 0.084 2616 691 2420 2480 2360 0 0 0 0 0 0 14.28 13.91 13.11

5093 0.23 260.8 2616 691 2473 2361 371.9 8.6 522 5142 0.12 2.53 44.53 1.405 11430 0.127 0.079 2670 2107 2302 2356 2249 0 0 0 0 0 0 13.93 13.89 13.01

5453 0.16 260.8 2671 2108 2345 2236 324.9 13.2 544 5458 0.12 2.53 0.00 0.000 4740 0.274 0.082 2647 685 2289 2344 2235 0 0 0 0 0 0 13.86 13.96 14.02

5508 0.19 260.8 2648 685 2343 2235 318.8 10.5 555 5515 0.00 2.50 0.00 0.000 1158 0.000 0.078 2648 2105 2288 2342 2235 0 0 0 0 0 0 14.14 14.04 14.19

5813 0.19 260.8 2645 2106 2343 2234 285.8 10.7 566 5814 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2105 2289 2342 2237 0 0 0 0 0 0 14.41 14.45 14.44

6113 0.20 262.3 2646 2105 2342 2232 255.3 9.9 576 6118 0.00 2.50 0.00 0.000 548 0.000 0.084 2652 689 2286 2341 2232 0 0 0 0 0 0 14.46 14.07 14.50

6183 0.25 287.8 2652 690 2341 2233 248.9 8.8 590 6228 0.00 2.47 40.58 1.379 9382 0.000 0.077 2652 2106 2192 2244 2140 0 0 0 0 0 0 14.28 14.16 13.26

6533 0.31 325.2 2652 2107 2236 2130 218.1 8.3 610 6596 0.00 0.00 61.53 1.316 8358 0.000 0.000 2652 2106 2040 2089 1992 0 0 0 0 0 0 14.38 13.85 13.14

6895 0.42 377.1 2652 2106 2080 1977 189.4 7.6 622 6991 0.17 2.62 86.57 1.250 10916 0.111 0.086 2728 688 1822 1852 1793 0 0 0 0 0 0 14.10 13.75 13.10

7061 0.42 377.1 2729 688 1845 1792 170.0 11.3 655 7067 0.00 2.50 0.00 0.000 1030 0.000 0.076 2729 2100 1817 1843 1791 0 0 0 0 0 0 14.04 13.93 14.07

7377 0.40 377.1 2729 2101 1844 1783 132.4 11.6 668 7382 0.00 2.50 0.00 0.000 644 0.000 0.086 2729 685 1813 1842 1784 0 0 0 0 0 0 14.50 14.13 14.49

7422 0.43 377.1 2729 685 1841 1783 127.4 10.8 677 7427 0.00 2.47 0.00 0.000 1158 0.000 0.079 2729 2103 1811 1840 1783 0 0 0 0 0 0 14.28 14.16 14.32

7728 0.43 385.3 2730 2103 1840 1781 95.8 9.6 691 7731 0.00 0.00 2.58 0.438 8230 0.000 0.000 2729 2102 1792 1820 1764 0 0 0 0 0 0 14.55 14.14 13.67

8027 0.49 461.4 2730 2103 1827 1766 69.5 6.5 721 8070 0.00 0.00 40.25 0.415 8742 0.000 0.000 2729 2103 1483 1520 1446 0 0 0 0 0 0 14.56 14.18 13.78

8368 0.70 580.1 2729 2103 1522 1438 50.9 4.5 759 8437 0.20 2.50 60.70 0.355 10660 0.106 0.083 2809 3517 1003 1080 927 0 0 0 0 0 0 14.25 14.08 13.74

8547 0.79 585.6 2809 3518 1073 927 33.7 9.7 794 8554 0.00 2.45 3.03 0.311 9382 0.000 0.069 2811 2094 978 1054 903 0 0 0 0 0 0 14.16 14.06 13.79

8852 1.04 716.4 2811 2094 1054 903 12.7 4.0 825 8926 0.30 2.50 67.57 0.239 10916 0.089 0.090 2933 681 500 524 476 0 0 0 0 0 0 14.19 14.04 13.88

8955 end climb: SURFACE_DEPTH_REACHED

state 8956 begin surface coast

8964 end surface coast: CONTROL_FINISHED_OK

state 8964 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	128	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	364.0
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	23	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,143520,7310.3862,-14948.9814,37,0.7,38,20.8,0.3,49.7,11,9.3	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.26	MHEAD_RNG_PITCHd_Wd	255.5,5214,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	210817,144951,7310.4385,-14948.7529,8,0.7,9,20.8,0.0,86.8,11,9.3

MODEM_MSG	CACST,6,1,20170821162817.813811,3,33,09,0173,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32	PM_FREEKB_00	54209408
FINISH	0.2,1.020530	_24V_AH	12.43,103.809
SM_CCo	8987,0.95,0.262,0,0,499,703.03	_10V_AH	12.33,0.000
SM_GC	1.87,8.23,2.70,0.95,0.067,0.073,0.262,206,2204,499,-7.37,-0.57,703.03,0,0,0,0,0,0,14.23,14.19,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	226	FG_AHR_10Vo	0.000
MODEM	0,1503331447,75.36600,-145.04601,193.315,279838.5	MEM	323512
RAFOS_FIX	7310.928711,-14949.879883,210817,161620,4,255,0.21	DATA_FILE_SIZE	30050,847
IRIDIUM_FIX	7311.92,-14943.01,210817,143956	CAP_FILE_SIZE	107436,0
TT8_MAMPS	0.040446,0.866593	CFSIZE	2097872896,2048950272
HUMID	46.45	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.8
TCM_TEMP	13.00	CURRENT	0.015,136.35,1
XPDR_PINGS	11	GPS	210817,172120,7310.821,-14951.896,14,0.7,19,20.8,0.0,0.0,12,9.1
CP_FREE	15997665280.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	141.59	nil	0	0	0.00
Roll_motor	85	2139	2264.69	nil	0	0	0.00
VBD_pump_during_apogee	947	1458	17179.74	nil	0	0	0.00
VBD_pump_during_surface	0	261	3.09	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	8993	14	1666.01
Iridium_during_xfer	534	167	1112.50	NCP	8992	20	2235.41
Transponder_ping	2	420	14.36	PMAR	8941	10	1112.03
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.93
TT8	0	0	0.00
LPSleep	6352	2	180.92
TT8_Active	935	13	161.21
TT8_Sampling	2278	33	939.43
TT8_CF8	310	38	148.02
TT8_Kalman	0	0	0.00
Analog_circuits	2248	10	277.19
GPS_charging	0	0	0.00
Compass	1212	7	104.64
RAFOS	2209	48	1307.37
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	205	2208	502	482	0.0	0.0	0	130	0.00	0.00	-81.15	0.000	16386	0.000	0.000	204	2207	1968	1895	2042	0	0	0	0	0	0	14.45	28.83	14.47
133	-0.57	-145.9	206	2207	1898	2044	3.1	-3.0	8	196	12.48	2.80	-41.05	0.000	19236	0.455	2.140	2384	793	3964	3948	3980	0	0	0	0	0	0	13.71	12.59	14.14
357	-0.64	-145.9	2385	788	3955	3980	52.2	-16.3	52	361	0.00	2.50	0.00	0.000	1158	0.000	0.088	2380	2196	3967	3954	3980	0	0	0	0	0	0	14.20	14.06	14.23
667	-0.68	-145.9	2381	2197	3955	3980	101.1	-12.5	84	672	0.00	2.53	0.00	0.000	388	0.000	0.093	2381	3615	3967	3955	3980	0	0	0	0	0	0	14.53	14.14	14.54
817	-0.85	-145.9	2377	3617	3956	3980	116.6	-9.7	114	822	0.22	2.40	0.00	0.000	5286	0.100	0.054	2288	2192	3967	3955	3980	0	0	0	0	0	0	14.31	14.24	14.37
1148	-0.79	-145.9	2289	2191	3957	3980	177.3	-18.1	130	1153	0.15	2.50	0.00	0.000	2436	0.280	0.086	2315	3611	3967	3955	3980	0	0	0	0	0	0	13.90	14.15	14.09
1308	-0.89	-145.9	2316	3613	3956	3981	197.8	-11.5	162	1313	0.00	2.38	0.00	0.000	1158	0.000	0.056	2315	2201	3967	3955	3980	0	0	0	0	0	0	14.38	14.23	14.37
1628	-0.92	-145.9	2316	2200	3956	3981	238.6	-12.3	176	1633	0.00	2.47	0.00	0.000	388	0.000	0.090	2307	3612	3967	3955	3980	0	0	0	0	0	0	14.62	14.21	14.63
1718	-1.02	-145.9	2308	3613	3957	3980	248.8	-10.6	194	1724	0.17	2.38	0.00	0.000	5254	0.111	0.056	2243	2195	3967	3955	3980	0	0	0	0	0	0	14.34	14.26	14.42
2049	-0.95	-145.9	2243	2194	3953	3981	302.5	-15.9	210	2054	0.12	2.50	0.00	0.000	2436	0.293	0.085	2268	3620	3968	3955	3981	0	0	0	0	0	0	13.99	14.22	14.16
2174	-0.99	-145.9	2262	3620	3956	3980	319.0	-12.1	235	2180	0.00	2.40	0.00	0.000	1158	0.000	0.057	2262	2199	3967	3954	3980	0	0	0	0	0	0	14.40	14.25	14.41
2500	-0.99	-145.9	2262	2198	3956	3980	361.6	-12.9	250	2505	0.00	2.47	0.00	0.000	260	0.000	0.089	2255	3613	3966	3954	3979	0	0	0	0	0	0	14.63	14.21	14.65
2605	-1.03	-145.9	2255	3613	3955	3979	375.0	-12.3	271	2611	0.00	2.38	0.00	0.000	1158	0.000	0.056	2255	2198	3966	3954	3979	0	0	0	0	0	0	14.42	14.31	14.45
2921	-1.03	-145.9	2255	2197	3954	3980	417.1	-13.3	284	2926	0.00	2.47	0.00	0.000	260	0.000	0.088	2241	3613	3967	3954	3980	0	0	0	0	0	0	14.64	14.21	14.66
3047	-1.05	-145.9	2246	3611	3954	3979	433.7	-12.8	309	3052	0.00	2.38	0.00	0.000	1158	0.000	0.056	2245	2196	3966	3954	3978	0	0	0	0	0	0	14.39	14.28	14.42
3373	-1.02	-145.9	2245	2197	3954	3979	478.4	-13.6	324	3377	0.00	2.50	0.00	0.000	388	0.000	0.088	2237	3621	3966	3954	3978	0	0	0	0	0	0	14.64	14.21	14.66
3385	end dive: TARGET_DEPTH_EXCEEDED
state	3385	begin apogee
3393	-0.13	0.0	2237	2097	3954	3979	480.4	-13.3	327	3611	1.17	0.00	214.65	1.437	10246	0.257	0.000	2527	2095	3364	3386	3343	0	0	0	0	0	0	13.95	13.49	12.74
3615	end apogee: CONTROL_FINISHED_OK
state	3615	begin climb
3617	0.57	145.9	2528	2095	3380	3335	491.1	0.0	334	3832	0.75	2.65	203.50	1.384	11012	0.067	0.082	2781	682	2764	2808	2721	0	0	0	0	0	0	13.56	13.16	12.43
4057	0.22	145.9	2781	684	2797	2719	463.4	15.0	416	4062	0.57	2.55	0.00	0.000	5254	0.324	0.076	2661	2105	2756	2795	2718	0	0	0	0	0	0	13.45	13.75	13.82
4370	0.07	150.9	2662	2103	2797	2714	431.8	9.8	428	4375	0.22	2.50	0.00	0.000	4772	0.287	0.077	2614	689	2752	2795	2710	0	0	0	0	0	0	13.76	13.97	13.93
4600	0.11	209.3	2616	689	2797	2714	414.5	7.3	474	4701	0.00	2.47	92.30	1.372	9254	0.000	0.079	2616	2101	2506	2565	2448	0	0	0	0	0	0	14.20	14.09	13.00
5000	0.12	231.1	2616	2101	2561	2435	380.0	9.0	504	5036	0.00	2.53	29.62	1.459	8740	0.000	0.084	2616	691	2420	2480	2360	0	0	0	0	0	0	14.28	13.91	13.11
5093	0.23	260.8	2616	691	2473	2361	371.9	8.6	522	5142	0.12	2.53	44.53	1.405	11430	0.127	0.079	2670	2107	2302	2356	2249	0	0	0	0	0	0	13.93	13.89	13.01
5453	0.16	260.8	2671	2108	2345	2236	324.9	13.2	544	5458	0.12	2.53	0.00	0.000	4740	0.274	0.082	2647	685	2289	2344	2235	0	0	0	0	0	0	13.86	13.96	14.02
5508	0.19	260.8	2648	685	2343	2235	318.8	10.5	555	5515	0.00	2.50	0.00	0.000	1158	0.000	0.078	2648	2105	2288	2342	2235	0	0	0	0	0	0	14.14	14.04	14.19
5813	0.19	260.8	2645	2106	2343	2234	285.8	10.7	566	5814	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2105	2289	2342	2237	0	0	0	0	0	0	14.41	14.45	14.44
6113	0.20	262.3	2646	2105	2342	2232	255.3	9.9	576	6118	0.00	2.50	0.00	0.000	548	0.000	0.084	2652	689	2286	2341	2232	0	0	0	0	0	0	14.46	14.07	14.50
6183	0.25	287.8	2652	690	2341	2233	248.9	8.8	590	6228	0.00	2.47	40.58	1.379	9382	0.000	0.077	2652	2106	2192	2244	2140	0	0	0	0	0	0	14.28	14.16	13.26
6533	0.31	325.2	2652	2107	2236	2130	218.1	8.3	610	6596	0.00	0.00	61.53	1.316	8358	0.000	0.000	2652	2106	2040	2089	1992	0	0	0	0	0	0	14.38	13.85	13.14
6895	0.42	377.1	2652	2106	2080	1977	189.4	7.6	622	6991	0.17	2.62	86.57	1.250	10916	0.111	0.086	2728	688	1822	1852	1793	0	0	0	0	0	0	14.10	13.75	13.10
7061	0.42	377.1	2729	688	1845	1792	170.0	11.3	655	7067	0.00	2.50	0.00	0.000	1030	0.000	0.076	2729	2100	1817	1843	1791	0	0	0	0	0	0	14.04	13.93	14.07
7377	0.40	377.1	2729	2101	1844	1783	132.4	11.6	668	7382	0.00	2.50	0.00	0.000	644	0.000	0.086	2729	685	1813	1842	1784	0	0	0	0	0	0	14.50	14.13	14.49
7422	0.43	377.1	2729	685	1841	1783	127.4	10.8	677	7427	0.00	2.47	0.00	0.000	1158	0.000	0.079	2729	2103	1811	1840	1783	0	0	0	0	0	0	14.28	14.16	14.32
7728	0.43	385.3	2730	2103	1840	1781	95.8	9.6	691	7731	0.00	0.00	2.58	0.438	8230	0.000	0.000	2729	2102	1792	1820	1764	0	0	0	0	0	0	14.55	14.14	13.67
8027	0.49	461.4	2730	2103	1827	1766	69.5	6.5	721	8070	0.00	0.00	40.25	0.415	8742	0.000	0.000	2729	2103	1483	1520	1446	0	0	0	0	0	0	14.56	14.18	13.78
8368	0.70	580.1	2729	2103	1522	1438	50.9	4.5	759	8437	0.20	2.50	60.70	0.355	10660	0.106	0.083	2809	3517	1003	1080	927	0	0	0	0	0	0	14.25	14.08	13.74
8547	0.79	585.6	2809	3518	1073	927	33.7	9.7	794	8554	0.00	2.45	3.03	0.311	9382	0.000	0.069	2811	2094	978	1054	903	0	0	0	0	0	0	14.16	14.06	13.79
8852	1.04	716.4	2811	2094	1054	903	12.7	4.0	825	8926	0.30	2.50	67.57	0.239	10916	0.089	0.090	2933	681	500	524	476	0	0	0	0	0	0	14.19	14.04	13.88
8955	end climb: SURFACE_DEPTH_REACHED
state	8956	begin surface coast
8964	end surface coast: CONTROL_FINISHED_OK
state	8964	begin surface