Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 42 * 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 42 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 131.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 131.0 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 26 VBD_MIN 500

DIVE 42 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 110817,122222,7144.2319,-14728.7139,41,0.8,43,21.4,0.0,0.0,11,8.8 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 1.07 MHEAD_RNG_PITCHd_Wd 329.2,180598,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 110817,132223,7143.7925,-14727.7578,5,0.8,13,21.4,0.5,135.8,12,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170811121430.945044,3,215,23,0151,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03 PM_FREEKB_00 59862912

FINISH 0.1,1.020026 _24V_AH 12.69,62.691

SM_CCo 8861,38.65,0.209,0,0,499,702.78 _10V_AH 12.57,0.000

SM_GC 1.31,8.23,0.15,38.65,0.081,0.103,0.209,207,2217,499,-7.36,-0.76,702.78,0,0,0,0,0,0,14.16,14.19,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 333 FG_AHR_10Vo 0.000

MODEM 2,1502453670,73.18300,-149.96500,123.945,179959.6 MEM 323640

RAFOS_FIX 7143.094727,-14732.961914,110817,080823,2,255,0.45 DATA_FILE_SIZE 26765,738

IRIDIUM_FIX 7147.54,-14740.70,110817,130211 CAP_FILE_SIZE 117086,0

TT8_MAMPS 0.039697,1.14297 CFSIZE 2097872896,2073133056

HUMID 49.40 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.79129 INTR 0,3838.67,0x2341ea,1,24

TCM_TEMP 13.40 SOUNDSPEED 1451.7

XPDR_PINGS 98 CURRENT 0.097,213.80,1

CP_FREE 16012345344.000000 GPS 110817,155230,7144.633,-14728.538,24,0.6,33,21.4,0.0,126.3,12,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 446 143.29 nil 0 0 0.00

Roll_motor 74 2116 2013.28 nil 0 0 0.00

VBD_pump_during_apogee 846 1474 15841.38 nil 0 0 0.00

VBD_pump_during_surface 38 208 102.43 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 8832 14 1645.98

Iridium_during_xfer 2917 204 7561.50 NCP 8869 20 2250.95

Transponder_ping 24 420 130.58 PMAR 8816 16 1850.41

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.13

TT8 0 0 0.00

LPSleep 6707 2 194.75

TT8_Active 883 13 155.09

TT8_Sampling 4322 33 1816.80

TT8_CF8 597 38 290.79

TT8_Kalman 0 0 0.00

Analog_circuits 4504 10 566.23

GPS_charging 0 0 0.00

Compass 1059 7 93.19

RAFOS 0 0 0.00

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

43 end surface: CONTROL_FINISHED_OK

state 43 begin dive

46 -0.57 -145.9 151 2203 507 480 0.0 0.0 0 129 0.00 0.00 -81.45 0.000 16386 0.000 0.000 149 2203 2226 2155 2298 0 0 0 0 0 0 14.18 28.83 14.19

132 -0.57 -145.9 150 2203 2157 2297 3.2 -4.0 8 185 12.70 2.72 -32.55 0.000 18980 0.447 2.117 2385 795 3966 3955 3977 1 0 0 0 0 0 13.51 12.71 14.04

255 -0.53 -145.9 2390 794 3962 3978 36.0 -18.9 32 260 0.15 2.50 0.00 0.000 3206 0.297 0.083 2404 2205 3969 3960 3978 0 0 0 0 0 0 13.69 13.90 13.70

565 -0.56 -145.9 2406 2206 3965 3978 84.5 -12.6 64 570 0.00 2.47 0.00 0.000 388 0.000 0.086 2401 3610 3971 3964 3978 0 0 0 0 0 0 14.38 14.00 14.39

670 -0.69 -145.9 2402 3610 3965 3978 95.9 -10.3 85 677 0.12 2.38 0.00 0.000 5254 0.124 0.051 2347 2196 3971 3965 3978 0 0 0 0 0 0 14.10 14.07 14.17

975 -0.69 -145.9 2347 2197 3962 3978 141.6 -14.4 98 980 0.00 2.50 0.00 0.000 260 0.000 0.085 2345 3618 3970 3964 3977 0 0 0 0 0 0 14.45 14.11 14.47

1066 -0.78 -145.9 2345 3619 3965 3978 152.9 -11.7 116 1070 0.00 2.40 0.00 0.000 1158 0.000 0.053 2346 2194 3971 3964 3978 0 0 0 0 0 0 14.28 14.17 14.30

1396 -0.81 -145.9 2346 2192 3965 3974 194.6 -12.3 132 1400 0.00 2.50 0.00 0.000 388 0.000 0.087 2345 3610 3968 3964 3972 0 0 0 0 0 0 14.50 14.11 14.52

1481 -0.92 -145.9 2346 3612 3965 3974 203.9 -10.2 149 1487 0.20 2.40 0.00 0.000 5254 0.101 0.054 2272 2195 3968 3962 3974 0 0 0 0 0 0 14.11 14.14 14.19

1786 -0.82 -145.9 2267 2193 3965 3971 254.3 -16.5 160 1791 0.17 2.50 0.00 0.000 2436 0.286 0.081 2300 3619 3967 3964 3970 0 0 0 0 0 0 13.91 14.16 14.09

1911 -0.85 -145.9 2300 3621 3963 3971 270.4 -12.0 185 1916 0.00 2.42 0.00 0.000 1158 0.000 0.055 2303 2192 3969 3963 3976 0 0 0 0 0 0 14.26 14.15 14.29

2236 -0.85 -145.9 2301 2192 3964 3966 310.4 -12.2 200 2241 0.00 2.50 0.00 0.000 260 0.000 0.086 2293 3616 3964 3963 3966 0 0 0 0 0 0 14.53 14.19 14.55

2341 -0.89 -145.9 2293 3616 3963 3966 322.9 -11.5 221 2346 0.00 2.40 0.00 0.000 1158 0.000 0.055 2293 2193 3963 3961 3966 0 0 0 0 0 0 14.30 14.19 14.33

2656 -0.89 -145.9 2294 2193 3962 3964 360.8 -12.0 234 2661 0.00 2.50 0.00 0.000 260 0.000 0.086 2287 3617 3962 3961 3964 0 0 0 0 0 0 14.53 14.19 14.58

2731 -0.93 -145.9 2288 3620 3961 3965 369.9 -11.7 249 2736 0.00 2.40 0.00 0.000 1158 0.000 0.056 2287 2196 3962 3960 3964 0 0 0 0 0 0 14.27 14.17 14.30

3046 -0.93 -145.9 2288 2196 3960 3962 409.0 -12.5 262 3051 0.00 2.50 0.00 0.000 260 0.000 0.085 2280 3620 3960 3960 3961 0 0 0 0 0 0 14.54 14.17 14.55

3141 -0.95 -145.9 2280 3621 3959 3962 421.0 -12.1 281 3146 0.00 2.40 0.00 0.000 1158 0.000 0.056 2280 2195 3959 3958 3961 0 0 0 0 0 0 14.28 14.18 14.32

3466 -0.92 -145.9 2281 2194 3959 3961 463.8 -13.2 296 3471 0.00 2.50 0.00 0.000 388 0.000 0.086 2280 3613 3959 3958 3960 0 0 0 0 0 0 14.53 14.17 14.55

3566 -0.95 -145.9 2279 3615 3957 3961 476.7 -12.3 316 3571 0.00 2.40 0.00 0.000 1158 0.000 0.055 2279 2190 3958 3956 3960 0 0 0 0 0 0 14.33 14.21 14.37

3614 end dive: TARGET_DEPTH_EXCEEDED

state 3614 begin apogee

3620 -0.13 0.0 2280 2065 3957 3956 483.1 -12.9 321 3819 1.00 0.08 195.55 1.448 10246 0.247 0.184 2532 2110 3362 3396 3328 0 0 0 0 0 0 13.95 13.52 12.95

3823 end apogee: CONTROL_FINISHED_OK

state 3823 begin climb

3825 0.57 145.9 2533 2110 3395 3322 492.1 0.0 327 4026 0.73 2.65 187.07 1.394 10500 0.066 0.076 2777 3503 2762 2816 2709 0 0 0 0 0 0 13.65 13.27 12.69

4211 0.17 145.9 2778 3505 2799 2710 461.3 17.8 397 4216 0.70 2.40 0.00 0.000 5254 0.343 0.056 2644 2126 2753 2798 2709 0 0 0 0 0 0 13.44 13.75 13.76

4522 0.09 166.3 2644 2126 2800 2706 431.6 9.1 409 4553 0.15 0.00 24.33 1.475 12454 0.294 0.000 2613 2125 2683 2736 2631 0 0 0 0 0 0 13.81 13.94 13.26

4851 0.13 215.6 2613 2125 2731 2627 406.0 7.7 420 4927 0.00 2.58 69.38 1.395 8740 0.000 0.085 2615 695 2482 2543 2421 0 0 0 0 0 0 14.35 13.78 13.19

4977 0.25 260.7 2615 695 2539 2418 396.1 7.9 445 5048 0.15 2.50 63.45 1.369 11430 0.112 0.079 2676 2093 2301 2358 2244 0 0 0 0 0 0 13.92 13.87 13.07

5363 0.20 260.7 2676 2094 2346 2231 347.8 12.7 472 5364 0.00 0.00 0.00 0.000 134 0.000 0.000 2676 2093 2287 2345 2230 0 0 0 0 0 0 14.27 14.28 14.28

5663 0.16 260.7 2676 2093 2344 2228 310.3 12.3 482 5668 0.15 2.47 0.00 0.000 4740 0.265 0.080 2648 693 2285 2343 2228 0 0 0 0 0 0 13.95 14.12 14.11

5694 0.20 260.7 2648 694 2342 2229 307.0 10.0 488 5700 0.00 2.47 0.00 0.000 1158 0.000 0.079 2646 2102 2284 2341 2228 0 0 0 0 0 0 14.23 14.12 14.26

6025 0.20 260.7 2648 2103 2341 2228 273.6 10.1 504 6026 0.00 0.00 0.00 0.000 6 0.000 0.000 2648 2102 2284 2341 2227 0 0 0 0 0 0 14.47 14.49 14.51

6325 0.23 266.6 2649 2102 2341 2227 243.9 9.7 514 6326 0.00 0.00 0.00 0.000 166 0.000 0.000 2648 2102 2283 2340 2227 0 0 0 0 0 0 14.49 14.51 14.54

6625 0.27 282.3 2649 2102 2341 2227 215.4 9.3 524 6661 0.00 2.53 29.38 1.384 8868 0.000 0.084 2651 695 2209 2265 2154 0 0 0 0 0 0 14.51 14.11 13.47

6708 0.39 314.4 2654 697 2260 2154 208.2 8.5 540 6766 0.17 2.47 50.83 1.301 11430 0.111 0.080 2722 2108 2080 2131 2030 0 0 0 0 0 0 14.12 14.08 13.31

7076 0.34 314.4 2721 2109 2122 2020 160.7 12.3 564 7077 0.00 0.00 0.00 0.000 134 0.000 0.000 2722 2108 2070 2121 2019 0 0 0 0 0 0 14.35 14.37 14.36

7377 0.30 314.4 2722 2109 2118 2018 127.1 10.7 574 7378 0.17 0.00 0.00 0.000 4230 0.226 0.000 2682 2108 2068 2120 2017 0 0 0 0 0 0 14.01 14.28 14.28

7677 0.41 378.6 2682 2109 2120 2014 105.0 7.0 584 7789 0.00 2.60 103.35 1.198 8868 0.000 0.087 2683 702 1815 1849 1782 0 0 0 0 0 0 14.47 13.74 13.27

7836 0.62 443.0 2682 703 1842 1783 93.8 7.0 615 7875 0.30 2.50 31.77 0.490 11430 0.088 0.080 2790 2098 1557 1597 1517 0 0 0 0 0 0 13.89 13.83 13.56

8171 0.60 443.0 2791 2099 1598 1507 48.9 11.7 652 8177 0.00 2.50 0.00 0.000 644 0.000 0.086 2790 694 1551 1597 1506 0 0 0 0 0 0 14.28 13.93 14.30

8294 0.67 479.7 2795 694 1591 1506 37.3 8.3 676 8316 0.00 2.50 17.67 0.330 9382 0.000 0.080 2794 2111 1406 1456 1357 0 0 0 0 0 0 14.16 14.06 13.75

8612 0.87 629.9 2794 2111 1457 1351 15.1 3.1 710 8693 0.17 0.00 73.60 0.255 10662 0.113 0.000 2870 2110 794 871 718 0 0 0 0 0 0 14.14 14.10 13.86

8821 end climb: SURFACE_DEPTH_REACHED

state 8821 begin surface coast

8840 end surface coast: CONTROL_FINISHED_OK

state 8840 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	42	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	131.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,122222,7144.2319,-14728.7139,41,0.8,43,21.4,0.0,0.0,11,8.8	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	1.07	MHEAD_RNG_PITCHd_Wd	329.2,180598,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	110817,132223,7143.7925,-14727.7578,5,0.8,13,21.4,0.5,135.8,12,8.8

MODEM_MSG	CACST,6,1,20170811121430.945044,3,215,23,0151,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*03	PM_FREEKB_00	59862912
FINISH	0.1,1.020026	_24V_AH	12.69,62.691
SM_CCo	8861,38.65,0.209,0,0,499,702.78	_10V_AH	12.57,0.000
SM_GC	1.31,8.23,0.15,38.65,0.081,0.103,0.209,207,2217,499,-7.36,-0.76,702.78,0,0,0,0,0,0,14.16,14.19,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	333	FG_AHR_10Vo	0.000
MODEM	2,1502453670,73.18300,-149.96500,123.945,179959.6	MEM	323640
RAFOS_FIX	7143.094727,-14732.961914,110817,080823,2,255,0.45	DATA_FILE_SIZE	26765,738
IRIDIUM_FIX	7147.54,-14740.70,110817,130211	CAP_FILE_SIZE	117086,0
TT8_MAMPS	0.039697,1.14297	CFSIZE	2097872896,2073133056
HUMID	49.40	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.79129	INTR	0,3838.67,0x2341ea,1,24
TCM_TEMP	13.40	SOUNDSPEED	1451.7
XPDR_PINGS	98	CURRENT	0.097,213.80,1
CP_FREE	16012345344.000000	GPS	110817,155230,7144.633,-14728.538,24,0.6,33,21.4,0.0,126.3,12,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	446	143.29	nil	0	0	0.00
Roll_motor	74	2116	2013.28	nil	0	0	0.00
VBD_pump_during_apogee	846	1474	15841.38	nil	0	0	0.00
VBD_pump_during_surface	38	208	102.43	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	8832	14	1645.98
Iridium_during_xfer	2917	204	7561.50	NCP	8869	20	2250.95
Transponder_ping	24	420	130.58	PMAR	8816	16	1850.41
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.13
TT8	0	0	0.00
LPSleep	6707	2	194.75
TT8_Active	883	13	155.09
TT8_Sampling	4322	33	1816.80
TT8_CF8	597	38	290.79
TT8_Kalman	0	0	0.00
Analog_circuits	4504	10	566.23
GPS_charging	0	0	0.00
Compass	1059	7	93.19
RAFOS	0	0	0.00
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
43	end surface: CONTROL_FINISHED_OK
state	43	begin dive
46	-0.57	-145.9	151	2203	507	480	0.0	0.0	0	129	0.00	0.00	-81.45	0.000	16386	0.000	0.000	149	2203	2226	2155	2298	0	0	0	0	0	0	14.18	28.83	14.19
132	-0.57	-145.9	150	2203	2157	2297	3.2	-4.0	8	185	12.70	2.72	-32.55	0.000	18980	0.447	2.117	2385	795	3966	3955	3977	1	0	0	0	0	0	13.51	12.71	14.04
255	-0.53	-145.9	2390	794	3962	3978	36.0	-18.9	32	260	0.15	2.50	0.00	0.000	3206	0.297	0.083	2404	2205	3969	3960	3978	0	0	0	0	0	0	13.69	13.90	13.70
565	-0.56	-145.9	2406	2206	3965	3978	84.5	-12.6	64	570	0.00	2.47	0.00	0.000	388	0.000	0.086	2401	3610	3971	3964	3978	0	0	0	0	0	0	14.38	14.00	14.39
670	-0.69	-145.9	2402	3610	3965	3978	95.9	-10.3	85	677	0.12	2.38	0.00	0.000	5254	0.124	0.051	2347	2196	3971	3965	3978	0	0	0	0	0	0	14.10	14.07	14.17
975	-0.69	-145.9	2347	2197	3962	3978	141.6	-14.4	98	980	0.00	2.50	0.00	0.000	260	0.000	0.085	2345	3618	3970	3964	3977	0	0	0	0	0	0	14.45	14.11	14.47
1066	-0.78	-145.9	2345	3619	3965	3978	152.9	-11.7	116	1070	0.00	2.40	0.00	0.000	1158	0.000	0.053	2346	2194	3971	3964	3978	0	0	0	0	0	0	14.28	14.17	14.30
1396	-0.81	-145.9	2346	2192	3965	3974	194.6	-12.3	132	1400	0.00	2.50	0.00	0.000	388	0.000	0.087	2345	3610	3968	3964	3972	0	0	0	0	0	0	14.50	14.11	14.52
1481	-0.92	-145.9	2346	3612	3965	3974	203.9	-10.2	149	1487	0.20	2.40	0.00	0.000	5254	0.101	0.054	2272	2195	3968	3962	3974	0	0	0	0	0	0	14.11	14.14	14.19
1786	-0.82	-145.9	2267	2193	3965	3971	254.3	-16.5	160	1791	0.17	2.50	0.00	0.000	2436	0.286	0.081	2300	3619	3967	3964	3970	0	0	0	0	0	0	13.91	14.16	14.09
1911	-0.85	-145.9	2300	3621	3963	3971	270.4	-12.0	185	1916	0.00	2.42	0.00	0.000	1158	0.000	0.055	2303	2192	3969	3963	3976	0	0	0	0	0	0	14.26	14.15	14.29
2236	-0.85	-145.9	2301	2192	3964	3966	310.4	-12.2	200	2241	0.00	2.50	0.00	0.000	260	0.000	0.086	2293	3616	3964	3963	3966	0	0	0	0	0	0	14.53	14.19	14.55
2341	-0.89	-145.9	2293	3616	3963	3966	322.9	-11.5	221	2346	0.00	2.40	0.00	0.000	1158	0.000	0.055	2293	2193	3963	3961	3966	0	0	0	0	0	0	14.30	14.19	14.33
2656	-0.89	-145.9	2294	2193	3962	3964	360.8	-12.0	234	2661	0.00	2.50	0.00	0.000	260	0.000	0.086	2287	3617	3962	3961	3964	0	0	0	0	0	0	14.53	14.19	14.58
2731	-0.93	-145.9	2288	3620	3961	3965	369.9	-11.7	249	2736	0.00	2.40	0.00	0.000	1158	0.000	0.056	2287	2196	3962	3960	3964	0	0	0	0	0	0	14.27	14.17	14.30
3046	-0.93	-145.9	2288	2196	3960	3962	409.0	-12.5	262	3051	0.00	2.50	0.00	0.000	260	0.000	0.085	2280	3620	3960	3960	3961	0	0	0	0	0	0	14.54	14.17	14.55
3141	-0.95	-145.9	2280	3621	3959	3962	421.0	-12.1	281	3146	0.00	2.40	0.00	0.000	1158	0.000	0.056	2280	2195	3959	3958	3961	0	0	0	0	0	0	14.28	14.18	14.32
3466	-0.92	-145.9	2281	2194	3959	3961	463.8	-13.2	296	3471	0.00	2.50	0.00	0.000	388	0.000	0.086	2280	3613	3959	3958	3960	0	0	0	0	0	0	14.53	14.17	14.55
3566	-0.95	-145.9	2279	3615	3957	3961	476.7	-12.3	316	3571	0.00	2.40	0.00	0.000	1158	0.000	0.055	2279	2190	3958	3956	3960	0	0	0	0	0	0	14.33	14.21	14.37
3614	end dive: TARGET_DEPTH_EXCEEDED
state	3614	begin apogee
3620	-0.13	0.0	2280	2065	3957	3956	483.1	-12.9	321	3819	1.00	0.08	195.55	1.448	10246	0.247	0.184	2532	2110	3362	3396	3328	0	0	0	0	0	0	13.95	13.52	12.95
3823	end apogee: CONTROL_FINISHED_OK
state	3823	begin climb
3825	0.57	145.9	2533	2110	3395	3322	492.1	0.0	327	4026	0.73	2.65	187.07	1.394	10500	0.066	0.076	2777	3503	2762	2816	2709	0	0	0	0	0	0	13.65	13.27	12.69
4211	0.17	145.9	2778	3505	2799	2710	461.3	17.8	397	4216	0.70	2.40	0.00	0.000	5254	0.343	0.056	2644	2126	2753	2798	2709	0	0	0	0	0	0	13.44	13.75	13.76
4522	0.09	166.3	2644	2126	2800	2706	431.6	9.1	409	4553	0.15	0.00	24.33	1.475	12454	0.294	0.000	2613	2125	2683	2736	2631	0	0	0	0	0	0	13.81	13.94	13.26
4851	0.13	215.6	2613	2125	2731	2627	406.0	7.7	420	4927	0.00	2.58	69.38	1.395	8740	0.000	0.085	2615	695	2482	2543	2421	0	0	0	0	0	0	14.35	13.78	13.19
4977	0.25	260.7	2615	695	2539	2418	396.1	7.9	445	5048	0.15	2.50	63.45	1.369	11430	0.112	0.079	2676	2093	2301	2358	2244	0	0	0	0	0	0	13.92	13.87	13.07
5363	0.20	260.7	2676	2094	2346	2231	347.8	12.7	472	5364	0.00	0.00	0.00	0.000	134	0.000	0.000	2676	2093	2287	2345	2230	0	0	0	0	0	0	14.27	14.28	14.28
5663	0.16	260.7	2676	2093	2344	2228	310.3	12.3	482	5668	0.15	2.47	0.00	0.000	4740	0.265	0.080	2648	693	2285	2343	2228	0	0	0	0	0	0	13.95	14.12	14.11
5694	0.20	260.7	2648	694	2342	2229	307.0	10.0	488	5700	0.00	2.47	0.00	0.000	1158	0.000	0.079	2646	2102	2284	2341	2228	0	0	0	0	0	0	14.23	14.12	14.26
6025	0.20	260.7	2648	2103	2341	2228	273.6	10.1	504	6026	0.00	0.00	0.00	0.000	6	0.000	0.000	2648	2102	2284	2341	2227	0	0	0	0	0	0	14.47	14.49	14.51
6325	0.23	266.6	2649	2102	2341	2227	243.9	9.7	514	6326	0.00	0.00	0.00	0.000	166	0.000	0.000	2648	2102	2283	2340	2227	0	0	0	0	0	0	14.49	14.51	14.54
6625	0.27	282.3	2649	2102	2341	2227	215.4	9.3	524	6661	0.00	2.53	29.38	1.384	8868	0.000	0.084	2651	695	2209	2265	2154	0	0	0	0	0	0	14.51	14.11	13.47
6708	0.39	314.4	2654	697	2260	2154	208.2	8.5	540	6766	0.17	2.47	50.83	1.301	11430	0.111	0.080	2722	2108	2080	2131	2030	0	0	0	0	0	0	14.12	14.08	13.31
7076	0.34	314.4	2721	2109	2122	2020	160.7	12.3	564	7077	0.00	0.00	0.00	0.000	134	0.000	0.000	2722	2108	2070	2121	2019	0	0	0	0	0	0	14.35	14.37	14.36
7377	0.30	314.4	2722	2109	2118	2018	127.1	10.7	574	7378	0.17	0.00	0.00	0.000	4230	0.226	0.000	2682	2108	2068	2120	2017	0	0	0	0	0	0	14.01	14.28	14.28
7677	0.41	378.6	2682	2109	2120	2014	105.0	7.0	584	7789	0.00	2.60	103.35	1.198	8868	0.000	0.087	2683	702	1815	1849	1782	0	0	0	0	0	0	14.47	13.74	13.27
7836	0.62	443.0	2682	703	1842	1783	93.8	7.0	615	7875	0.30	2.50	31.77	0.490	11430	0.088	0.080	2790	2098	1557	1597	1517	0	0	0	0	0	0	13.89	13.83	13.56
8171	0.60	443.0	2791	2099	1598	1507	48.9	11.7	652	8177	0.00	2.50	0.00	0.000	644	0.000	0.086	2790	694	1551	1597	1506	0	0	0	0	0	0	14.28	13.93	14.30
8294	0.67	479.7	2795	694	1591	1506	37.3	8.3	676	8316	0.00	2.50	17.67	0.330	9382	0.000	0.080	2794	2111	1406	1456	1357	0	0	0	0	0	0	14.16	14.06	13.75
8612	0.87	629.9	2794	2111	1457	1351	15.1	3.1	710	8693	0.17	0.00	73.60	0.255	10662	0.113	0.000	2870	2110	794	871	718	0	0	0	0	0	0	14.14	14.10	13.86
8821	end climb: SURFACE_DEPTH_REACHED
state	8821	begin surface coast
8840	end surface coast: CONTROL_FINISHED_OK
state	8840	begin surface