Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 40 * 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 40 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 127.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 127.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 35 VBD_MIN 500

DIVE 40 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 110817,061220,7142.9580,-14728.0381,19,0.8,41,21.4,0.0,168.4,10,8.8 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 1.08 MHEAD_RNG_PITCHd_Wd 327.2,181952,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.7 D_GRID 480

GPS2 110817,063958,7142.9404,-14728.0098,5,0.7,13,21.4,0.0,0.0,12,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170811083016.193471,3,26,14,0123,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36 PM_FREEKB_00 60002432

FINISH 0.7,1.020122 _24V_AH 12.69,61.616

SM_CCo 9335,2.03,0.245,0,0,500,702.78 _10V_AH 12.62,0.000

SM_GC 2.14,8.32,2.70,2.03,0.077,0.067,0.245,206,2210,500,-7.37,-0.45,702.78,0,0,0,0,0,0,14.09,14.07,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 215 FG_AHR_10Vo 0.000

MODEM 3,1502439751,74.30400,-153.94400,244.815,355197.1 MEM 323800

RAFOS_FIX 7143.094727,-14732.961914,110817,080823,2,255,0.45 DATA_FILE_SIZE 26718,805

IRIDIUM_FIX 7143.63,-14732.78,110817,063053 CAP_FILE_SIZE 111278,0

TT8_MAMPS 0.039697,1.18492 CFSIZE 2097872896,2071363584

HUMID 49.44 ERRORS 0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.80105 INTR 1,3788.35,0x2341ea,1,24

TCM_TEMP 13.40 SOUNDSPEED 1452.0

XPDR_PINGS 17 CURRENT 0.088,200.35,1

CP_FREE 16012673024.000000 GPS 110817,091804,7143.624,-14728.267,65,0.8,66,21.4,0.5,322.9,9,9.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 450 142.23 nil 0 0 0.00

Roll_motor 79 2128 2150.45 nil 0 0 0.00

VBD_pump_during_apogee 864 1516 16632.85 nil 0 0 0.00

VBD_pump_during_surface 2 244 6.29 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 9341 14 1747.12

Iridium_during_xfer 916 171 1993.42 NCP 9344 20 2371.51

Transponder_ping 4 420 22.65 PMAR 9292 16 1957.04

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.15

TT8 0 0 0.00

LPSleep 6967 2 203.12

TT8_Active 912 13 160.86

TT8_Sampling 2602 33 1098.40

TT8_CF8 530 38 258.78

TT8_Kalman 0 0 0.00

Analog_circuits 2554 10 322.37

GPS_charging 0 0 0.00

Compass 1158 7 102.32

RAFOS 2218 48 1343.58

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

42 end surface: CONTROL_FINISHED_OK

state 42 begin dive

45 -0.57 -145.9 174 2187 514 477 0.0 0.0 0 128 0.00 0.00 -81.00 0.000 16386 0.000 0.000 173 2187 2179 2106 2252 0 0 0 0 0 0 14.32 28.83 14.35

131 -0.57 -145.9 174 2187 2109 2252 3.2 -4.4 8 184 12.60 2.65 -33.42 0.000 18980 0.451 2.128 2391 804 3965 3954 3977 0 0 0 0 0 0 13.69 12.99 14.10

349 -0.57 -145.9 2386 804 3963 3977 52.6 -15.3 51 356 0.00 2.42 0.00 0.000 1030 0.000 0.086 2378 2171 3969 3963 3975 0 0 0 0 0 0 14.12 14.00 14.14

654 -0.57 -145.9 2379 2172 3965 3976 100.8 -14.0 82 660 0.00 2.55 0.00 0.000 260 0.000 0.089 2376 3614 3970 3964 3977 0 0 0 0 0 0 14.38 14.08 14.40

815 -0.67 -145.9 2375 3615 3965 3978 119.8 -11.3 114 823 0.00 2.38 0.00 0.000 1158 0.000 0.055 2376 2208 3971 3965 3977 0 0 0 0 0 0 14.12 14.00 14.15

1138 -0.73 -145.9 2377 2207 3966 3977 157.7 -11.3 128 1143 0.00 2.50 0.00 0.000 388 0.000 0.087 2376 3622 3970 3964 3977 0 0 0 0 0 0 14.45 14.10 14.46

1178 -0.90 -145.9 2376 3622 3965 3978 161.9 -9.9 136 1183 0.28 2.40 0.00 0.000 5286 0.089 0.056 2266 2202 3970 3964 3977 0 0 0 0 0 0 14.23 14.17 14.31

1499 -0.76 -145.9 2266 2201 3965 3975 221.5 -17.9 150 1504 0.25 2.47 0.00 0.000 2436 0.288 0.082 2317 3614 3969 3964 3974 0 0 0 0 0 0 13.90 14.16 14.09

1629 -0.81 -145.9 2317 3614 3965 3974 237.2 -10.8 176 1634 0.00 2.40 0.00 0.000 1158 0.000 0.055 2316 2195 3968 3963 3973 0 0 0 0 0 0 14.30 14.20 14.32

1949 -0.81 -145.9 2315 2194 3964 3970 274.0 -11.4 190 1954 0.00 2.50 0.00 0.000 260 0.000 0.087 2307 3616 3966 3963 3970 0 0 0 0 0 0 14.50 14.16 14.52

2049 -0.89 -145.9 2308 3618 3963 3971 285.4 -10.6 210 2054 0.00 2.40 0.00 0.000 1158 0.000 0.057 2308 2196 3966 3962 3970 0 0 0 0 0 0 14.31 14.20 14.33

2369 -0.89 -145.9 2308 2195 3963 3968 321.9 -11.4 224 2374 0.00 2.50 0.00 0.000 260 0.000 0.087 2301 3617 3965 3962 3968 0 0 0 0 0 0 14.50 14.16 14.52

2434 -0.96 -145.9 2301 3617 3962 3969 329.2 -10.7 237 2439 0.00 2.40 0.00 0.000 1158 0.000 0.058 2301 2201 3964 3960 3968 0 0 0 0 0 0 14.28 14.16 14.31

2759 -0.96 -145.9 2301 2200 3962 3966 365.7 -11.3 252 2764 0.00 2.50 0.00 0.000 260 0.000 0.086 2293 3622 3963 3961 3965 0 0 0 0 0 0 14.51 14.15 14.53

2839 -1.02 -145.9 2294 3622 3962 3965 374.7 -11.0 268 2844 0.12 2.42 0.00 0.000 5254 0.135 0.059 2248 2196 3962 3959 3965 0 0 0 0 0 0 13.87 13.81 14.28

3150 -0.91 -145.9 2249 2195 3961 3964 424.0 -16.1 280 3155 0.15 2.50 0.00 0.000 2436 0.323 0.083 2270 3619 3962 3959 3965 0 0 0 0 0 0 13.85 14.16 14.05

3275 -0.91 -145.9 2271 3621 3959 3965 441.0 -12.8 305 3280 0.00 2.42 0.00 0.000 1030 0.000 0.059 2270 2193 3961 3959 3964 0 0 0 0 0 0 14.28 14.16 14.32

3568 end dive: TARGET_DEPTH_EXCEEDED

state 3568 begin apogee

3574 -0.13 0.0 2271 2068 3959 3964 481.6 -13.8 319 3781 1.02 0.08 198.32 1.447 10246 0.256 0.181 2526 2112 3364 3401 3327 0 0 0 0 0 0 13.91 13.50 12.93

3785 end apogee: CONTROL_FINISHED_OK

state 3785 begin climb

3787 0.57 145.9 2527 2113 3394 3327 491.1 0.0 326 3991 0.75 2.62 190.20 1.388 11012 0.068 0.080 2787 730 2762 2814 2711 0 0 0 0 0 0 13.64 13.26 12.69

4217 0.24 145.9 2786 731 2803 2711 456.6 15.9 405 4222 0.57 2.45 0.00 0.000 5254 0.322 0.076 2666 2095 2756 2803 2709 0 0 0 0 0 0 13.50 13.76 13.81

4542 0.10 145.9 2670 2096 2804 2704 422.4 10.1 420 4547 0.17 2.42 0.00 0.000 4740 0.308 0.077 2634 722 2753 2802 2704 0 0 0 0 0 0 13.74 13.90 13.93

4787 0.14 191.3 2635 724 2803 2705 402.6 7.9 466 4859 0.00 2.45 61.03 1.391 9254 0.000 0.081 2631 2104 2581 2643 2519 0 0 0 0 0 0 14.13 14.05 13.20

5159 0.12 204.4 2634 2104 2642 2509 368.6 9.4 490 5182 0.00 2.50 16.45 1.516 8868 0.000 0.082 2643 720 2527 2591 2463 0 0 0 0 0 0 14.21 13.90 13.26

5302 0.15 221.3 2644 719 2592 2461 355.0 9.2 519 5333 0.00 2.45 23.80 1.464 9382 0.000 0.080 2643 2099 2460 2526 2395 0 0 0 0 0 0 14.01 13.91 13.21

5638 0.15 221.3 2643 2100 2519 2388 321.0 10.2 536 5638 0.00 0.00 0.00 0.000 6 0.000 0.000 2643 2099 2452 2518 2387 0 0 0 0 0 0 14.23 14.26 14.26

5938 0.15 222.8 2644 2100 2514 2386 290.9 9.9 546 5938 0.00 0.00 0.00 0.000 38 0.000 0.000 2643 2099 2451 2517 2385 0 0 0 0 0 0 14.30 14.33 14.32

6238 0.17 239.9 2644 2100 2517 2385 262.7 9.2 556 6268 0.00 0.00 26.35 1.427 8230 0.000 0.000 2643 2099 2384 2444 2325 0 0 0 0 0 0 14.33 13.85 13.35

6568 0.18 256.1 2643 2100 2439 2321 232.2 9.2 567 6599 0.00 0.00 24.08 1.437 8230 0.000 0.000 2643 2099 2317 2373 2261 0 0 0 0 0 0 14.28 13.97 13.31

6898 0.24 288.5 2644 2100 2369 2258 203.3 8.5 578 6952 0.00 0.00 51.72 1.318 8358 0.000 0.000 2642 2099 2188 2243 2134 0 0 0 0 0 0 14.26 13.83 13.24

7228 0.36 344.3 2644 2099 2238 2120 177.7 7.4 589 7325 0.17 2.47 91.10 1.226 10916 0.108 0.084 2713 717 1956 2006 1907 0 0 0 0 0 0 14.00 13.58 13.11

7345 0.36 344.3 2713 721 2000 1903 165.3 10.2 602 7351 0.00 2.50 0.00 0.000 1030 0.000 0.079 2711 2103 1952 1999 1905 0 0 0 0 0 0 13.81 13.74 13.82

7650 0.36 344.3 2713 2101 1997 1897 133.3 10.3 613 7655 0.00 2.45 0.00 0.000 516 0.000 0.086 2713 725 1946 1997 1895 0 0 0 0 0 0 14.26 13.97 14.28

7715 0.44 356.2 2714 724 1994 1895 126.9 9.4 626 7731 0.00 2.42 10.57 1.436 9382 0.000 0.078 2713 2101 1914 1962 1867 0 0 0 0 0 0 14.14 14.03 13.33

8032 0.49 379.5 2713 2102 1942 1862 97.6 8.9 642 8045 0.00 0.00 11.43 0.498 8358 0.000 0.000 2713 2101 1817 1854 1781 0 0 0 0 0 0 14.33 14.07 13.66

8341 0.59 427.2 2714 2102 1858 1780 71.5 7.8 673 8373 0.15 2.47 24.92 0.419 10916 0.121 0.089 2777 719 1621 1656 1586 0 0 0 0 0 0 14.14 14.04 13.74

8418 0.59 427.2 2781 720 1657 1587 62.8 11.6 688 8425 0.00 2.45 0.00 0.000 1030 0.000 0.080 2781 2101 1619 1656 1582 0 0 0 0 0 0 14.16 14.04 14.19

8723 0.62 471.9 2782 2102 1657 1578 32.4 7.9 719 8750 0.00 2.58 22.27 0.314 8484 0.000 0.084 2781 3517 1438 1484 1393 0 0 0 0 0 0 14.38 13.81 13.83

8806 0.69 492.5 2782 3517 1484 1393 25.4 9.0 735 8822 0.00 2.40 10.85 0.296 9382 0.000 0.068 2786 2131 1355 1410 1300 0 0 0 0 0 0 14.19 14.08 13.80

9128 0.97 696.9 2786 2133 1411 1295 13.2 0.6 769 9238 0.30 2.60 101.35 0.246 10916 0.088 0.088 2903 688 521 564 478 0 0 0 0 0 0 14.10 13.97 13.78

9302 end climb: SURFACE_DEPTH_REACHED

state 9302 begin surface coast

9312 end surface coast: CONTROL_FINISHED_OK

state 9312 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	40	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	127.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,061220,7142.9580,-14728.0381,19,0.8,41,21.4,0.0,168.4,10,8.8	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	1.08	MHEAD_RNG_PITCHd_Wd	327.2,181952,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.7	D_GRID	480
GPS2	110817,063958,7142.9404,-14728.0098,5,0.7,13,21.4,0.0,0.0,12,9.7

MODEM_MSG	CACST,6,1,20170811083016.193471,3,26,14,0123,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*36	PM_FREEKB_00	60002432
FINISH	0.7,1.020122	_24V_AH	12.69,61.616
SM_CCo	9335,2.03,0.245,0,0,500,702.78	_10V_AH	12.62,0.000
SM_GC	2.14,8.32,2.70,2.03,0.077,0.067,0.245,206,2210,500,-7.37,-0.45,702.78,0,0,0,0,0,0,14.09,14.07,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	215	FG_AHR_10Vo	0.000
MODEM	3,1502439751,74.30400,-153.94400,244.815,355197.1	MEM	323800
RAFOS_FIX	7143.094727,-14732.961914,110817,080823,2,255,0.45	DATA_FILE_SIZE	26718,805
IRIDIUM_FIX	7143.63,-14732.78,110817,063053	CAP_FILE_SIZE	111278,0
TT8_MAMPS	0.039697,1.18492	CFSIZE	2097872896,2071363584
HUMID	49.44	ERRORS	0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.80105	INTR	1,3788.35,0x2341ea,1,24
TCM_TEMP	13.40	SOUNDSPEED	1452.0
XPDR_PINGS	17	CURRENT	0.088,200.35,1
CP_FREE	16012673024.000000	GPS	110817,091804,7143.624,-14728.267,65,0.8,66,21.4,0.5,322.9,9,9.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	450	142.23	nil	0	0	0.00
Roll_motor	79	2128	2150.45	nil	0	0	0.00
VBD_pump_during_apogee	864	1516	16632.85	nil	0	0	0.00
VBD_pump_during_surface	2	244	6.29	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	9341	14	1747.12
Iridium_during_xfer	916	171	1993.42	NCP	9344	20	2371.51
Transponder_ping	4	420	22.65	PMAR	9292	16	1957.04
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.15
TT8	0	0	0.00
LPSleep	6967	2	203.12
TT8_Active	912	13	160.86
TT8_Sampling	2602	33	1098.40
TT8_CF8	530	38	258.78
TT8_Kalman	0	0	0.00
Analog_circuits	2554	10	322.37
GPS_charging	0	0	0.00
Compass	1158	7	102.32
RAFOS	2218	48	1343.58
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
42	end surface: CONTROL_FINISHED_OK
state	42	begin dive
45	-0.57	-145.9	174	2187	514	477	0.0	0.0	0	128	0.00	0.00	-81.00	0.000	16386	0.000	0.000	173	2187	2179	2106	2252	0	0	0	0	0	0	14.32	28.83	14.35
131	-0.57	-145.9	174	2187	2109	2252	3.2	-4.4	8	184	12.60	2.65	-33.42	0.000	18980	0.451	2.128	2391	804	3965	3954	3977	0	0	0	0	0	0	13.69	12.99	14.10
349	-0.57	-145.9	2386	804	3963	3977	52.6	-15.3	51	356	0.00	2.42	0.00	0.000	1030	0.000	0.086	2378	2171	3969	3963	3975	0	0	0	0	0	0	14.12	14.00	14.14
654	-0.57	-145.9	2379	2172	3965	3976	100.8	-14.0	82	660	0.00	2.55	0.00	0.000	260	0.000	0.089	2376	3614	3970	3964	3977	0	0	0	0	0	0	14.38	14.08	14.40
815	-0.67	-145.9	2375	3615	3965	3978	119.8	-11.3	114	823	0.00	2.38	0.00	0.000	1158	0.000	0.055	2376	2208	3971	3965	3977	0	0	0	0	0	0	14.12	14.00	14.15
1138	-0.73	-145.9	2377	2207	3966	3977	157.7	-11.3	128	1143	0.00	2.50	0.00	0.000	388	0.000	0.087	2376	3622	3970	3964	3977	0	0	0	0	0	0	14.45	14.10	14.46
1178	-0.90	-145.9	2376	3622	3965	3978	161.9	-9.9	136	1183	0.28	2.40	0.00	0.000	5286	0.089	0.056	2266	2202	3970	3964	3977	0	0	0	0	0	0	14.23	14.17	14.31
1499	-0.76	-145.9	2266	2201	3965	3975	221.5	-17.9	150	1504	0.25	2.47	0.00	0.000	2436	0.288	0.082	2317	3614	3969	3964	3974	0	0	0	0	0	0	13.90	14.16	14.09
1629	-0.81	-145.9	2317	3614	3965	3974	237.2	-10.8	176	1634	0.00	2.40	0.00	0.000	1158	0.000	0.055	2316	2195	3968	3963	3973	0	0	0	0	0	0	14.30	14.20	14.32
1949	-0.81	-145.9	2315	2194	3964	3970	274.0	-11.4	190	1954	0.00	2.50	0.00	0.000	260	0.000	0.087	2307	3616	3966	3963	3970	0	0	0	0	0	0	14.50	14.16	14.52
2049	-0.89	-145.9	2308	3618	3963	3971	285.4	-10.6	210	2054	0.00	2.40	0.00	0.000	1158	0.000	0.057	2308	2196	3966	3962	3970	0	0	0	0	0	0	14.31	14.20	14.33
2369	-0.89	-145.9	2308	2195	3963	3968	321.9	-11.4	224	2374	0.00	2.50	0.00	0.000	260	0.000	0.087	2301	3617	3965	3962	3968	0	0	0	0	0	0	14.50	14.16	14.52
2434	-0.96	-145.9	2301	3617	3962	3969	329.2	-10.7	237	2439	0.00	2.40	0.00	0.000	1158	0.000	0.058	2301	2201	3964	3960	3968	0	0	0	0	0	0	14.28	14.16	14.31
2759	-0.96	-145.9	2301	2200	3962	3966	365.7	-11.3	252	2764	0.00	2.50	0.00	0.000	260	0.000	0.086	2293	3622	3963	3961	3965	0	0	0	0	0	0	14.51	14.15	14.53
2839	-1.02	-145.9	2294	3622	3962	3965	374.7	-11.0	268	2844	0.12	2.42	0.00	0.000	5254	0.135	0.059	2248	2196	3962	3959	3965	0	0	0	0	0	0	13.87	13.81	14.28
3150	-0.91	-145.9	2249	2195	3961	3964	424.0	-16.1	280	3155	0.15	2.50	0.00	0.000	2436	0.323	0.083	2270	3619	3962	3959	3965	0	0	0	0	0	0	13.85	14.16	14.05
3275	-0.91	-145.9	2271	3621	3959	3965	441.0	-12.8	305	3280	0.00	2.42	0.00	0.000	1030	0.000	0.059	2270	2193	3961	3959	3964	0	0	0	0	0	0	14.28	14.16	14.32
3568	end dive: TARGET_DEPTH_EXCEEDED
state	3568	begin apogee
3574	-0.13	0.0	2271	2068	3959	3964	481.6	-13.8	319	3781	1.02	0.08	198.32	1.447	10246	0.256	0.181	2526	2112	3364	3401	3327	0	0	0	0	0	0	13.91	13.50	12.93
3785	end apogee: CONTROL_FINISHED_OK
state	3785	begin climb
3787	0.57	145.9	2527	2113	3394	3327	491.1	0.0	326	3991	0.75	2.62	190.20	1.388	11012	0.068	0.080	2787	730	2762	2814	2711	0	0	0	0	0	0	13.64	13.26	12.69
4217	0.24	145.9	2786	731	2803	2711	456.6	15.9	405	4222	0.57	2.45	0.00	0.000	5254	0.322	0.076	2666	2095	2756	2803	2709	0	0	0	0	0	0	13.50	13.76	13.81
4542	0.10	145.9	2670	2096	2804	2704	422.4	10.1	420	4547	0.17	2.42	0.00	0.000	4740	0.308	0.077	2634	722	2753	2802	2704	0	0	0	0	0	0	13.74	13.90	13.93
4787	0.14	191.3	2635	724	2803	2705	402.6	7.9	466	4859	0.00	2.45	61.03	1.391	9254	0.000	0.081	2631	2104	2581	2643	2519	0	0	0	0	0	0	14.13	14.05	13.20
5159	0.12	204.4	2634	2104	2642	2509	368.6	9.4	490	5182	0.00	2.50	16.45	1.516	8868	0.000	0.082	2643	720	2527	2591	2463	0	0	0	0	0	0	14.21	13.90	13.26
5302	0.15	221.3	2644	719	2592	2461	355.0	9.2	519	5333	0.00	2.45	23.80	1.464	9382	0.000	0.080	2643	2099	2460	2526	2395	0	0	0	0	0	0	14.01	13.91	13.21
5638	0.15	221.3	2643	2100	2519	2388	321.0	10.2	536	5638	0.00	0.00	0.00	0.000	6	0.000	0.000	2643	2099	2452	2518	2387	0	0	0	0	0	0	14.23	14.26	14.26
5938	0.15	222.8	2644	2100	2514	2386	290.9	9.9	546	5938	0.00	0.00	0.00	0.000	38	0.000	0.000	2643	2099	2451	2517	2385	0	0	0	0	0	0	14.30	14.33	14.32
6238	0.17	239.9	2644	2100	2517	2385	262.7	9.2	556	6268	0.00	0.00	26.35	1.427	8230	0.000	0.000	2643	2099	2384	2444	2325	0	0	0	0	0	0	14.33	13.85	13.35
6568	0.18	256.1	2643	2100	2439	2321	232.2	9.2	567	6599	0.00	0.00	24.08	1.437	8230	0.000	0.000	2643	2099	2317	2373	2261	0	0	0	0	0	0	14.28	13.97	13.31
6898	0.24	288.5	2644	2100	2369	2258	203.3	8.5	578	6952	0.00	0.00	51.72	1.318	8358	0.000	0.000	2642	2099	2188	2243	2134	0	0	0	0	0	0	14.26	13.83	13.24
7228	0.36	344.3	2644	2099	2238	2120	177.7	7.4	589	7325	0.17	2.47	91.10	1.226	10916	0.108	0.084	2713	717	1956	2006	1907	0	0	0	0	0	0	14.00	13.58	13.11
7345	0.36	344.3	2713	721	2000	1903	165.3	10.2	602	7351	0.00	2.50	0.00	0.000	1030	0.000	0.079	2711	2103	1952	1999	1905	0	0	0	0	0	0	13.81	13.74	13.82
7650	0.36	344.3	2713	2101	1997	1897	133.3	10.3	613	7655	0.00	2.45	0.00	0.000	516	0.000	0.086	2713	725	1946	1997	1895	0	0	0	0	0	0	14.26	13.97	14.28
7715	0.44	356.2	2714	724	1994	1895	126.9	9.4	626	7731	0.00	2.42	10.57	1.436	9382	0.000	0.078	2713	2101	1914	1962	1867	0	0	0	0	0	0	14.14	14.03	13.33
8032	0.49	379.5	2713	2102	1942	1862	97.6	8.9	642	8045	0.00	0.00	11.43	0.498	8358	0.000	0.000	2713	2101	1817	1854	1781	0	0	0	0	0	0	14.33	14.07	13.66
8341	0.59	427.2	2714	2102	1858	1780	71.5	7.8	673	8373	0.15	2.47	24.92	0.419	10916	0.121	0.089	2777	719	1621	1656	1586	0	0	0	0	0	0	14.14	14.04	13.74
8418	0.59	427.2	2781	720	1657	1587	62.8	11.6	688	8425	0.00	2.45	0.00	0.000	1030	0.000	0.080	2781	2101	1619	1656	1582	0	0	0	0	0	0	14.16	14.04	14.19
8723	0.62	471.9	2782	2102	1657	1578	32.4	7.9	719	8750	0.00	2.58	22.27	0.314	8484	0.000	0.084	2781	3517	1438	1484	1393	0	0	0	0	0	0	14.38	13.81	13.83
8806	0.69	492.5	2782	3517	1484	1393	25.4	9.0	735	8822	0.00	2.40	10.85	0.296	9382	0.000	0.068	2786	2131	1355	1410	1300	0	0	0	0	0	0	14.19	14.08	13.80
9128	0.97	696.9	2786	2133	1411	1295	13.2	0.6	769	9238	0.30	2.60	101.35	0.246	10916	0.088	0.088	2903	688	521	564	478	0	0	0	0	0	0	14.10	13.97	13.78
9302	end climb: SURFACE_DEPTH_REACHED
state	9302	begin surface coast
9312	end surface coast: CONTROL_FINISHED_OK
state	9312	begin surface