Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 36 * 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 36 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 48

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 116.0

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 20 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 116.0 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 20 VBD_MIN 500

DIVE 36 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 100817,174125,7140.3604,-14726.0332,17,0.8,42,21.4,0.8,136.0,10,6.9 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 327.7,187048,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.6 D_GRID 480

GPS2 100817,180357,7140.1753,-14725.9102,8,0.7,12,21.4,0.5,211.5,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170810203017.509924,3,65,18,0144,0150,250,00,00,00,00,-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 60298368

FINISH 0.2,1.020337 _24V_AH 12.69,59.639

SM_CCo 9245,67.70,0.207,0,0,498,702.78 _10V_AH 12.63,0.000

SM_GC 1.44,8.30,0.17,67.70,0.085,0.117,0.207,204,2219,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.02,14.04,13.83 FG_AHR_24Vo 0.000

RAFOS_CLK 118 FG_AHR_10Vo 0.000

MODEM 2,1502396071,73.18300,-149.96500,124.444,180431.4 MEM 323796

RAFOS_FIX 7144.114746,-14721.083008,100817,202026,3,255,0.94 DATA_FILE_SIZE 26700,756

IRIDIUM_FIX 7144.25,-14723.31,100817,175849 CAP_FILE_SIZE 110385,0

TT8_MAMPS 0.092127,0.833637 CFSIZE 2097872896,2072117248

HUMID 46.53 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1447.0

TCM_TEMP 13.40 CURRENT 0.081,212.34,1

XPDR_PINGS 3 GPS 100817,204104,7141.034,-14726.470,25,0.8,27,21.4,0.3,134.1,9,9.5

CP_FREE 16013328384.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 143.92 nil 0 0 0.00

Roll_motor 85 2147 2321.01 nil 0 0 0.00

VBD_pump_during_apogee 842 1618 17308.02 nil 0 0 0.00

VBD_pump_during_surface 67 206 177.45 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 9249 15 1820.88

Iridium_during_xfer 591 139 1051.18 NCP 9242 111 13018.19

Transponder_ping 0 420 4.00 PMAR 9198 16 1935.49

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.92

TT8 0 0 0.00

LPSleep 6920 2 201.90

TT8_Active 827 13 145.96

TT8_Sampling 2396 33 1011.97

TT8_CF8 530 38 259.45

TT8_Kalman 0 0 0.00

Analog_circuits 2253 10 284.63

GPS_charging 0 0 0.00

Compass 1091 7 96.54

RAFOS 2216 48 1343.43

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 -145.9 167 2224 503 479 0.0 0.0 0 130 0.00 0.00 -81.70 0.000 16386 0.000 0.000 166 2224 2176 2096 2256 0 0 0 0 0 0 14.38 28.83 14.42

133 -0.57 -145.9 167 2225 2100 2251 3.4 -4.3 8 186 12.70 2.80 -33.38 0.000 18980 0.456 2.147 2385 783 3962 3950 3975 1 0 0 0 0 0 13.54 12.78 14.10

251 -0.53 -145.9 2385 784 3956 3977 37.3 -19.0 31 259 0.12 2.50 0.00 0.000 3206 0.314 0.084 2398 2186 3967 3958 3976 0 0 0 0 0 0 13.83 13.97 14.05

556 -0.53 -145.9 2399 2187 3963 3976 84.6 -13.0 62 561 0.00 2.53 0.00 0.000 260 0.000 0.086 2389 3612 3969 3962 3976 0 0 0 0 0 0 14.38 14.04 14.39

721 -0.64 -145.9 2389 3614 3963 3977 103.7 -10.7 95 727 0.00 2.42 0.00 0.000 1158 0.000 0.055 2389 2188 3968 3962 3975 0 0 0 0 0 0 14.12 14.02 14.16

1038 -0.71 -145.9 2390 2188 3963 3977 138.2 -10.5 108 1043 0.12 2.53 0.00 0.000 4484 0.135 0.084 2333 3614 3969 3962 3976 0 0 0 0 0 0 14.09 14.09 14.12

1093 -0.75 -145.9 2333 3615 3963 3977 145.7 -13.5 119 1100 0.00 2.42 0.00 0.000 1158 0.000 0.057 2332 2193 3969 3962 3976 0 0 0 0 0 0 14.23 14.13 14.26

1398 -0.75 -145.9 2333 2191 3959 3973 188.5 -13.4 130 1403 0.00 2.53 0.00 0.000 260 0.000 0.089 2332 3614 3968 3962 3974 0 0 0 0 0 0 14.46 14.10 14.47

1443 -0.81 -145.9 2332 3617 3963 3974 194.2 -11.8 139 1449 0.00 2.40 0.00 0.000 1158 0.000 0.057 2332 2196 3967 3961 3973 0 0 0 0 0 0 14.27 14.16 14.30

1759 -0.84 -145.9 2332 2195 3962 3971 230.5 -11.1 152 1764 0.00 2.50 0.00 0.000 388 0.000 0.090 2332 3610 3964 3958 3970 0 0 0 0 0 0 14.47 14.09 14.49

1876 -0.95 -145.9 2332 3613 3962 3971 242.0 -9.3 175 1884 0.20 2.40 0.00 0.000 5286 0.106 0.057 2258 2201 3964 3958 3970 0 0 0 0 0 0 14.14 14.03 14.23

2180 -0.83 -145.9 2258 2200 3962 3968 290.9 -16.5 186 2185 0.20 2.47 0.00 0.000 2436 0.300 0.082 2294 3614 3963 3961 3966 0 0 0 0 0 0 13.88 14.10 14.09

2277 -0.87 -145.9 2295 3614 3962 3966 303.4 -12.0 205 2282 0.00 2.40 0.00 0.000 1158 0.000 0.057 2294 2199 3963 3961 3966 0 0 0 0 0 0 14.28 14.19 14.32

2602 -0.87 -145.9 2294 2199 3962 3963 344.9 -12.6 220 2607 0.00 2.50 0.00 0.000 260 0.000 0.086 2280 3614 3962 3961 3964 0 0 0 0 0 0 14.50 14.12 14.52

2692 -0.89 -145.9 2285 3616 3961 3964 356.5 -13.1 238 2697 0.00 2.42 0.00 0.000 1158 0.000 0.059 2285 2196 3962 3960 3964 0 0 0 0 0 0 14.26 14.14 14.28

3022 -0.86 -145.9 2284 2197 3961 3962 400.4 -13.3 254 3027 0.00 2.50 0.00 0.000 388 0.000 0.087 2280 3613 3960 3960 3961 0 0 0 0 0 0 14.48 14.10 14.50

3112 -0.86 -145.9 2281 3613 3963 3961 412.2 -13.1 272 3117 0.00 2.40 0.00 0.000 1030 0.000 0.058 2280 2201 3960 3959 3961 0 0 0 0 0 0 14.25 14.14 14.28

3442 -0.83 -145.9 2281 2199 3959 3960 456.1 -13.3 288 3447 0.12 2.50 0.00 0.000 2436 0.309 0.084 2305 3613 3959 3959 3960 0 0 0 0 0 0 13.89 14.09 14.05

3528 -0.92 -145.9 2309 3615 3959 3961 465.5 -10.1 305 3534 0.00 2.42 0.00 0.000 1158 0.000 0.057 2305 2193 3957 3958 3956 0 0 0 0 0 0 14.24 14.13 14.27

3680 end dive: TARGET_DEPTH_EXCEEDED

state 3680 begin apogee

3686 -0.13 0.0 2306 2072 3959 3961 482.5 -11.0 311 3901 0.88 0.05 212.00 1.398 10246 0.235 0.223 2527 2105 3369 3399 3340 0 0 0 0 0 0 13.87 13.45 12.91

3905 end apogee: CONTROL_FINISHED_OK

state 3905 begin climb

3909 0.57 145.9 2528 2106 3395 3322 492.5 0.0 318 4118 0.75 2.62 196.12 1.367 11012 0.067 0.078 2791 726 2759 2814 2704 0 0 0 0 0 0 13.60 13.15 12.69

4345 0.24 145.9 2791 727 2800 2704 456.1 16.3 364 4350 0.62 2.47 0.00 0.000 5254 0.328 0.076 2661 2100 2751 2800 2703 0 0 0 0 0 0 13.47 13.75 13.81

4655 0.12 149.4 2662 2101 2801 2698 424.5 9.8 376 4660 0.15 2.45 0.00 0.000 4772 0.311 0.078 2632 717 2749 2800 2698 0 0 0 0 0 0 13.74 13.95 13.91

4795 0.16 198.5 2635 717 2801 2698 412.9 7.7 404 4876 0.00 2.45 74.65 1.347 9254 0.000 0.081 2635 2100 2550 2618 2483 0 0 0 0 0 0 14.14 14.03 13.17

5197 0.17 212.1 2635 2101 2608 2466 375.5 9.4 434 5212 0.00 0.00 13.90 1.544 8230 0.000 0.000 2635 2100 2502 2573 2431 0 0 0 0 0 0 14.29 14.00 13.34

5497 0.17 220.7 2636 2100 2559 2418 346.7 9.6 444 5507 0.00 0.00 8.95 1.619 8230 0.000 0.000 2635 2104 2466 2536 2396 0 0 0 0 0 0 14.36 14.09 13.35

5797 0.18 232.6 2636 2101 2527 2389 318.3 9.5 454 5815 0.00 0.00 16.85 1.525 8230 0.000 0.000 2636 2100 2417 2484 2351 0 0 0 0 0 0 14.40 14.07 13.38

6097 0.19 244.6 2636 2100 2473 2345 290.2 9.4 464 6115 0.00 0.00 17.25 1.512 8230 0.000 0.000 2635 2100 2368 2429 2307 0 0 0 0 0 0 14.39 14.07 13.40

6397 0.23 260.0 2636 2101 2417 2299 262.0 9.3 474 6422 0.00 2.50 21.27 1.463 8868 0.000 0.084 2644 723 2301 2356 2246 0 0 0 0 0 0 14.40 14.04 13.39

6447 0.31 279.5 2645 724 2355 2246 257.3 9.1 484 6483 0.12 2.42 30.80 1.382 11430 0.129 0.080 2694 2099 2222 2282 2163 0 0 0 0 0 0 14.09 14.04 13.29

6790 0.27 279.5 2694 2100 2273 2155 212.7 13.2 502 6795 0.00 2.45 0.00 0.000 644 0.000 0.084 2699 717 2213 2273 2154 0 0 0 0 0 0 14.31 14.06 14.35

6860 0.27 279.5 2699 718 2270 2154 204.4 11.0 516 6865 0.12 2.42 0.00 0.000 5126 0.233 0.080 2674 2100 2212 2270 2154 0 0 0 0 0 0 13.97 14.09 14.18

7196 0.28 305.1 2674 2100 2270 2152 173.5 8.8 530 7239 0.00 2.55 37.28 1.330 8484 0.000 0.085 2673 3517 2120 2175 2065 0 0 0 0 0 0 14.31 13.88 13.33

7307 0.33 316.9 2669 3517 2166 2065 163.4 9.5 552 7331 0.00 2.42 17.90 1.395 9382 0.000 0.063 2674 2123 2072 2125 2019 0 0 0 0 0 0 14.02 13.93 13.28

7648 0.43 361.7 2671 2123 2118 2009 135.9 7.9 570 7731 0.12 2.65 75.38 1.233 10916 0.134 0.089 2727 689 1885 1926 1844 0 0 0 0 0 0 13.99 13.66 13.19

7831 0.48 361.7 2729 690 1915 1845 116.2 10.1 607 7837 0.00 2.55 0.00 0.000 1158 0.000 0.080 2728 2106 1880 1914 1846 0 0 0 0 0 0 13.94 13.83 13.95

8139 0.49 372.7 2729 2107 1914 1840 85.0 9.5 630 8150 0.00 2.53 4.93 0.441 8740 0.000 0.085 2729 689 1843 1879 1807 0 0 0 0 0 0 14.18 13.85 13.57

8201 0.59 401.6 2732 693 1881 1809 79.6 8.7 642 8223 0.12 2.53 16.12 0.442 11430 0.132 0.080 2780 2109 1728 1757 1699 0 0 0 0 0 0 13.98 13.94 13.60

8521 0.58 423.0 2780 2109 1758 1694 43.0 9.0 676 8534 0.00 0.00 11.77 0.332 8358 0.000 0.000 2780 2109 1640 1673 1607 0 0 0 0 0 0 14.22 13.98 13.70

8830 0.63 495.8 2780 2111 1674 1602 20.4 6.6 707 8877 0.00 2.60 38.95 0.267 8740 0.000 0.087 2781 690 1340 1395 1285 0 0 0 0 0 0 14.23 13.83 13.77

8892 0.82 586.3 2781 690 1391 1286 16.8 5.8 717 8950 0.20 2.53 48.45 0.255 11430 0.118 0.084 2857 2101 970 1053 887 0 0 0 0 0 0 13.97 13.93 13.71

9183 end climb: SURFACE_DEPTH_REACHED

state 9183 begin surface coast

9223 end surface coast: CONTROL_FINISHED_OK

state 9223 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	36	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	48
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	116.0
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	20	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100817,174125,7140.3604,-14726.0332,17,0.8,42,21.4,0.8,136.0,10,6.9	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	327.7,187048,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.6	D_GRID	480
GPS2	100817,180357,7140.1753,-14725.9102,8,0.7,12,21.4,0.5,211.5,11,10.0

MODEM_MSG	CACST,6,1,20170810203017.509924,3,65,18,0144,0150,250,00,00,00,00,-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	60298368
FINISH	0.2,1.020337	_24V_AH	12.69,59.639
SM_CCo	9245,67.70,0.207,0,0,498,702.78	_10V_AH	12.63,0.000
SM_GC	1.44,8.30,0.17,67.70,0.085,0.117,0.207,204,2219,498,-7.37,-0.68,702.78,0,0,0,0,0,0,14.02,14.04,13.83	FG_AHR_24Vo	0.000
RAFOS_CLK	118	FG_AHR_10Vo	0.000
MODEM	2,1502396071,73.18300,-149.96500,124.444,180431.4	MEM	323796
RAFOS_FIX	7144.114746,-14721.083008,100817,202026,3,255,0.94	DATA_FILE_SIZE	26700,756
IRIDIUM_FIX	7144.25,-14723.31,100817,175849	CAP_FILE_SIZE	110385,0
TT8_MAMPS	0.092127,0.833637	CFSIZE	2097872896,2072117248
HUMID	46.53	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1447.0
TCM_TEMP	13.40	CURRENT	0.081,212.34,1
XPDR_PINGS	3	GPS	100817,204104,7141.034,-14726.470,25,0.8,27,21.4,0.3,134.1,9,9.5
CP_FREE	16013328384.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	143.92	nil	0	0	0.00
Roll_motor	85	2147	2321.01	nil	0	0	0.00
VBD_pump_during_apogee	842	1618	17308.02	nil	0	0	0.00
VBD_pump_during_surface	67	206	177.45	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	9249	15	1820.88
Iridium_during_xfer	591	139	1051.18	NCP	9242	111	13018.19
Transponder_ping	0	420	4.00	PMAR	9198	16	1935.49
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.92
TT8	0	0	0.00
LPSleep	6920	2	201.90
TT8_Active	827	13	145.96
TT8_Sampling	2396	33	1011.97
TT8_CF8	530	38	259.45
TT8_Kalman	0	0	0.00
Analog_circuits	2253	10	284.63
GPS_charging	0	0	0.00
Compass	1091	7	96.54
RAFOS	2216	48	1343.43
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	167	2224	503	479	0.0	0.0	0	130	0.00	0.00	-81.70	0.000	16386	0.000	0.000	166	2224	2176	2096	2256	0	0	0	0	0	0	14.38	28.83	14.42
133	-0.57	-145.9	167	2225	2100	2251	3.4	-4.3	8	186	12.70	2.80	-33.38	0.000	18980	0.456	2.147	2385	783	3962	3950	3975	1	0	0	0	0	0	13.54	12.78	14.10
251	-0.53	-145.9	2385	784	3956	3977	37.3	-19.0	31	259	0.12	2.50	0.00	0.000	3206	0.314	0.084	2398	2186	3967	3958	3976	0	0	0	0	0	0	13.83	13.97	14.05
556	-0.53	-145.9	2399	2187	3963	3976	84.6	-13.0	62	561	0.00	2.53	0.00	0.000	260	0.000	0.086	2389	3612	3969	3962	3976	0	0	0	0	0	0	14.38	14.04	14.39
721	-0.64	-145.9	2389	3614	3963	3977	103.7	-10.7	95	727	0.00	2.42	0.00	0.000	1158	0.000	0.055	2389	2188	3968	3962	3975	0	0	0	0	0	0	14.12	14.02	14.16
1038	-0.71	-145.9	2390	2188	3963	3977	138.2	-10.5	108	1043	0.12	2.53	0.00	0.000	4484	0.135	0.084	2333	3614	3969	3962	3976	0	0	0	0	0	0	14.09	14.09	14.12
1093	-0.75	-145.9	2333	3615	3963	3977	145.7	-13.5	119	1100	0.00	2.42	0.00	0.000	1158	0.000	0.057	2332	2193	3969	3962	3976	0	0	0	0	0	0	14.23	14.13	14.26
1398	-0.75	-145.9	2333	2191	3959	3973	188.5	-13.4	130	1403	0.00	2.53	0.00	0.000	260	0.000	0.089	2332	3614	3968	3962	3974	0	0	0	0	0	0	14.46	14.10	14.47
1443	-0.81	-145.9	2332	3617	3963	3974	194.2	-11.8	139	1449	0.00	2.40	0.00	0.000	1158	0.000	0.057	2332	2196	3967	3961	3973	0	0	0	0	0	0	14.27	14.16	14.30
1759	-0.84	-145.9	2332	2195	3962	3971	230.5	-11.1	152	1764	0.00	2.50	0.00	0.000	388	0.000	0.090	2332	3610	3964	3958	3970	0	0	0	0	0	0	14.47	14.09	14.49
1876	-0.95	-145.9	2332	3613	3962	3971	242.0	-9.3	175	1884	0.20	2.40	0.00	0.000	5286	0.106	0.057	2258	2201	3964	3958	3970	0	0	0	0	0	0	14.14	14.03	14.23
2180	-0.83	-145.9	2258	2200	3962	3968	290.9	-16.5	186	2185	0.20	2.47	0.00	0.000	2436	0.300	0.082	2294	3614	3963	3961	3966	0	0	0	0	0	0	13.88	14.10	14.09
2277	-0.87	-145.9	2295	3614	3962	3966	303.4	-12.0	205	2282	0.00	2.40	0.00	0.000	1158	0.000	0.057	2294	2199	3963	3961	3966	0	0	0	0	0	0	14.28	14.19	14.32
2602	-0.87	-145.9	2294	2199	3962	3963	344.9	-12.6	220	2607	0.00	2.50	0.00	0.000	260	0.000	0.086	2280	3614	3962	3961	3964	0	0	0	0	0	0	14.50	14.12	14.52
2692	-0.89	-145.9	2285	3616	3961	3964	356.5	-13.1	238	2697	0.00	2.42	0.00	0.000	1158	0.000	0.059	2285	2196	3962	3960	3964	0	0	0	0	0	0	14.26	14.14	14.28
3022	-0.86	-145.9	2284	2197	3961	3962	400.4	-13.3	254	3027	0.00	2.50	0.00	0.000	388	0.000	0.087	2280	3613	3960	3960	3961	0	0	0	0	0	0	14.48	14.10	14.50
3112	-0.86	-145.9	2281	3613	3963	3961	412.2	-13.1	272	3117	0.00	2.40	0.00	0.000	1030	0.000	0.058	2280	2201	3960	3959	3961	0	0	0	0	0	0	14.25	14.14	14.28
3442	-0.83	-145.9	2281	2199	3959	3960	456.1	-13.3	288	3447	0.12	2.50	0.00	0.000	2436	0.309	0.084	2305	3613	3959	3959	3960	0	0	0	0	0	0	13.89	14.09	14.05
3528	-0.92	-145.9	2309	3615	3959	3961	465.5	-10.1	305	3534	0.00	2.42	0.00	0.000	1158	0.000	0.057	2305	2193	3957	3958	3956	0	0	0	0	0	0	14.24	14.13	14.27
3680	end dive: TARGET_DEPTH_EXCEEDED
state	3680	begin apogee
3686	-0.13	0.0	2306	2072	3959	3961	482.5	-11.0	311	3901	0.88	0.05	212.00	1.398	10246	0.235	0.223	2527	2105	3369	3399	3340	0	0	0	0	0	0	13.87	13.45	12.91
3905	end apogee: CONTROL_FINISHED_OK
state	3905	begin climb
3909	0.57	145.9	2528	2106	3395	3322	492.5	0.0	318	4118	0.75	2.62	196.12	1.367	11012	0.067	0.078	2791	726	2759	2814	2704	0	0	0	0	0	0	13.60	13.15	12.69
4345	0.24	145.9	2791	727	2800	2704	456.1	16.3	364	4350	0.62	2.47	0.00	0.000	5254	0.328	0.076	2661	2100	2751	2800	2703	0	0	0	0	0	0	13.47	13.75	13.81
4655	0.12	149.4	2662	2101	2801	2698	424.5	9.8	376	4660	0.15	2.45	0.00	0.000	4772	0.311	0.078	2632	717	2749	2800	2698	0	0	0	0	0	0	13.74	13.95	13.91
4795	0.16	198.5	2635	717	2801	2698	412.9	7.7	404	4876	0.00	2.45	74.65	1.347	9254	0.000	0.081	2635	2100	2550	2618	2483	0	0	0	0	0	0	14.14	14.03	13.17
5197	0.17	212.1	2635	2101	2608	2466	375.5	9.4	434	5212	0.00	0.00	13.90	1.544	8230	0.000	0.000	2635	2100	2502	2573	2431	0	0	0	0	0	0	14.29	14.00	13.34
5497	0.17	220.7	2636	2100	2559	2418	346.7	9.6	444	5507	0.00	0.00	8.95	1.619	8230	0.000	0.000	2635	2104	2466	2536	2396	0	0	0	0	0	0	14.36	14.09	13.35
5797	0.18	232.6	2636	2101	2527	2389	318.3	9.5	454	5815	0.00	0.00	16.85	1.525	8230	0.000	0.000	2636	2100	2417	2484	2351	0	0	0	0	0	0	14.40	14.07	13.38
6097	0.19	244.6	2636	2100	2473	2345	290.2	9.4	464	6115	0.00	0.00	17.25	1.512	8230	0.000	0.000	2635	2100	2368	2429	2307	0	0	0	0	0	0	14.39	14.07	13.40
6397	0.23	260.0	2636	2101	2417	2299	262.0	9.3	474	6422	0.00	2.50	21.27	1.463	8868	0.000	0.084	2644	723	2301	2356	2246	0	0	0	0	0	0	14.40	14.04	13.39
6447	0.31	279.5	2645	724	2355	2246	257.3	9.1	484	6483	0.12	2.42	30.80	1.382	11430	0.129	0.080	2694	2099	2222	2282	2163	0	0	0	0	0	0	14.09	14.04	13.29
6790	0.27	279.5	2694	2100	2273	2155	212.7	13.2	502	6795	0.00	2.45	0.00	0.000	644	0.000	0.084	2699	717	2213	2273	2154	0	0	0	0	0	0	14.31	14.06	14.35
6860	0.27	279.5	2699	718	2270	2154	204.4	11.0	516	6865	0.12	2.42	0.00	0.000	5126	0.233	0.080	2674	2100	2212	2270	2154	0	0	0	0	0	0	13.97	14.09	14.18
7196	0.28	305.1	2674	2100	2270	2152	173.5	8.8	530	7239	0.00	2.55	37.28	1.330	8484	0.000	0.085	2673	3517	2120	2175	2065	0	0	0	0	0	0	14.31	13.88	13.33
7307	0.33	316.9	2669	3517	2166	2065	163.4	9.5	552	7331	0.00	2.42	17.90	1.395	9382	0.000	0.063	2674	2123	2072	2125	2019	0	0	0	0	0	0	14.02	13.93	13.28
7648	0.43	361.7	2671	2123	2118	2009	135.9	7.9	570	7731	0.12	2.65	75.38	1.233	10916	0.134	0.089	2727	689	1885	1926	1844	0	0	0	0	0	0	13.99	13.66	13.19
7831	0.48	361.7	2729	690	1915	1845	116.2	10.1	607	7837	0.00	2.55	0.00	0.000	1158	0.000	0.080	2728	2106	1880	1914	1846	0	0	0	0	0	0	13.94	13.83	13.95
8139	0.49	372.7	2729	2107	1914	1840	85.0	9.5	630	8150	0.00	2.53	4.93	0.441	8740	0.000	0.085	2729	689	1843	1879	1807	0	0	0	0	0	0	14.18	13.85	13.57
8201	0.59	401.6	2732	693	1881	1809	79.6	8.7	642	8223	0.12	2.53	16.12	0.442	11430	0.132	0.080	2780	2109	1728	1757	1699	0	0	0	0	0	0	13.98	13.94	13.60
8521	0.58	423.0	2780	2109	1758	1694	43.0	9.0	676	8534	0.00	0.00	11.77	0.332	8358	0.000	0.000	2780	2109	1640	1673	1607	0	0	0	0	0	0	14.22	13.98	13.70
8830	0.63	495.8	2780	2111	1674	1602	20.4	6.6	707	8877	0.00	2.60	38.95	0.267	8740	0.000	0.087	2781	690	1340	1395	1285	0	0	0	0	0	0	14.23	13.83	13.77
8892	0.82	586.3	2781	690	1391	1286	16.8	5.8	717	8950	0.20	2.53	48.45	0.255	11430	0.118	0.084	2857	2101	970	1053	887	0	0	0	0	0	0	13.97	13.93	13.71
9183	end climb: SURFACE_DEPTH_REACHED
state	9183	begin surface coast
9223	end surface coast: CONTROL_FINISHED_OK
state	9223	begin surface