Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 45 * 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 45 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 138.0

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 28 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 138.0 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 28 VBD_MIN 500

DIVE 45 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 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 110817,215930,7145.5864,-14729.3096,54,0.8,58,21.4,0.0,243.0,10,9.9 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 327.3,177437,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.0 D_GRID 480

GPS2 110817,221358,7145.4570,-14729.4414,5,0.8,11,21.4,0.5,150.0,10,9.4

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812003012.004718,3,37,15,0154,0150,250,00,00,00,00,-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 59644224

FINISH 0.1,1.019992 _24V_AH 12.64,64.237

SM_CCo 8907,14.32,0.206,0,0,501,702.78 _10V_AH 12.59,0.000

SM_GC 1.77,8.18,0.17,14.32,0.062,0.114,0.206,203,2229,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.03,14.03,13.84 FG_AHR_24Vo 0.000

RAFOS_CLK 122 FG_AHR_10Vo 0.000

MODEM 0,1502496334,75.36600,-145.04601,280.042,408767.4 MEM 323732

RAFOS_FIX 7145.260742,-14733.255859,120817,000009,4,255,0.30 DATA_FILE_SIZE 26692,743

IRIDIUM_FIX 7147.12,-14734.89,110817,220839 CAP_FILE_SIZE 108432,0

TT8_MAMPS 0.094374,0.892059 CFSIZE 2097872896,2074443776

HUMID 45.66 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1451.7

TCM_TEMP 13.40 CURRENT 0.106,202.72,1

XPDR_PINGS 13 GPS 120817,004451,7146.138,-14730.274,40,0.8,42,21.4,0.3,243.4,10,7.6

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 461 146.79 nil 0 0 0.00

Roll_motor 85 2150 2316.52 nil 0 0 0.00

VBD_pump_during_apogee 882 1478 16499.31 nil 0 0 0.00

VBD_pump_during_surface 14 205 37.26 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 8652 14 1622.37

Iridium_during_xfer 511 177 1146.74 NCP 8903 20 2250.68

Transponder_ping 3 420 17.25 PMAR 8862 16 1858.23

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.56

TT8 0 0 0.00

LPSleep 6448 2 187.56

TT8_Active 774 13 136.17

TT8_Sampling 2319 33 976.65

TT8_CF8 273 38 133.10

TT8_Kalman 0 0 0.00

Analog_circuits 2137 10 269.15

GPS_charging 0 0 0.00

Compass 1066 7 94.01

RAFOS 2155 48 1302.31

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 -145.9 182 2191 507 479 0.0 0.0 0 128 0.00 0.00 -80.88 0.000 16386 0.000 0.000 182 2191 2099 2018 2180 0 0 0 0 0 0 14.38 28.83 14.38

131 -0.57 -145.9 183 2192 2021 2181 3.4 -4.9 8 184 12.77 2.70 -34.25 0.000 18980 0.461 2.150 2384 799 3964 3950 3978 0 0 0 0 0 0 13.71 13.00 14.12

241 -0.52 -145.9 2385 799 3957 3978 34.5 -19.3 29 248 0.15 2.50 0.00 0.000 3206 0.307 0.084 2404 2197 3970 3956 3985 0 0 0 0 0 0 13.80 14.03 14.07

545 -0.56 -145.9 2405 2200 3962 3978 82.5 -12.7 60 549 0.00 2.53 0.00 0.000 388 0.000 0.087 2402 3620 3969 3961 3978 0 0 0 0 0 0 14.37 13.96 14.37

676 -0.69 -145.9 2402 3622 3962 3978 96.4 -10.1 86 681 0.15 2.42 0.00 0.000 5254 0.116 0.054 2342 2201 3969 3961 3978 0 0 0 0 0 0 14.10 14.06 14.18

1007 -0.69 -145.9 2342 2199 3962 3978 146.0 -14.1 100 1011 0.00 2.50 0.00 0.000 260 0.000 0.086 2333 3614 3969 3961 3978 0 0 0 0 0 0 14.45 14.14 14.47

1071 -0.75 -145.9 2333 3616 3962 3978 155.1 -13.1 113 1077 0.00 2.42 0.00 0.000 1158 0.000 0.057 2333 2192 3969 3961 3978 0 0 0 0 0 0 14.27 14.16 14.29

1397 -0.75 -145.9 2333 2191 3960 3977 198.0 -12.5 128 1402 0.00 2.53 0.00 0.000 260 0.000 0.088 2332 3615 3969 3961 3977 0 0 0 0 0 0 14.48 14.11 14.50

1467 -0.85 -145.9 2333 3616 3962 3977 206.0 -10.2 142 1472 0.00 2.40 0.00 0.000 1158 0.000 0.056 2332 2199 3969 3961 3977 0 0 0 0 0 0 14.29 14.19 14.32

1787 -0.89 -145.9 2333 2198 3962 3974 240.8 -10.4 156 1792 0.12 2.50 0.00 0.000 4484 0.141 0.086 2267 3614 3967 3961 3974 0 0 0 0 0 0 14.12 14.10 14.16

1904 -0.84 -145.9 2267 3614 3961 3974 257.5 -14.5 179 1911 0.17 2.40 0.00 0.000 3206 0.272 0.057 2302 2201 3967 3961 3974 0 0 0 0 0 0 13.82 14.14 14.08

2207 -0.84 -145.9 2303 2200 3962 3972 294.5 -11.8 190 2212 0.00 2.47 0.00 0.000 260 0.000 0.086 2293 3614 3966 3960 3972 0 0 0 0 0 0 14.51 14.14 14.53

2252 -0.88 -145.9 2295 3616 3961 3972 300.0 -12.0 199 2258 0.00 2.40 0.00 0.000 1158 0.000 0.059 2295 2201 3965 3960 3971 0 0 0 0 0 0 14.26 14.14 14.28

2569 -0.88 -145.9 2296 2200 3960 3971 339.4 -12.5 212 2573 0.00 2.50 0.00 0.000 260 0.000 0.086 2287 3616 3964 3960 3969 0 0 0 0 0 0 14.52 14.11 14.52

2654 -0.92 -145.9 2287 3618 3960 3970 349.9 -12.0 229 2660 0.00 2.42 0.00 0.000 1158 0.000 0.058 2287 2193 3964 3959 3970 0 0 0 0 0 0 14.26 14.14 14.28

2959 -0.92 -145.9 2287 2193 3960 3970 388.1 -12.4 240 2963 0.00 2.53 0.00 0.000 260 0.000 0.086 2280 3621 3964 3960 3968 0 0 0 0 0 0 14.50 14.09 14.52

3028 -0.94 -145.9 2281 3621 3960 3968 396.9 -12.1 254 3033 0.00 2.42 0.00 0.000 1158 0.000 0.059 2280 2198 3963 3958 3968 0 0 0 0 0 0 14.27 14.19 14.31

3349 -0.92 -145.9 2280 2197 3959 3968 437.8 -12.7 268 3354 0.00 2.50 0.00 0.000 388 0.000 0.087 2279 3614 3962 3958 3967 0 0 0 0 0 0 14.50 14.09 14.52

3439 -0.94 -145.9 2280 3617 3958 3968 448.8 -11.9 286 3444 0.00 2.42 0.00 0.000 1158 0.000 0.058 2279 2195 3962 3958 3967 0 0 0 0 0 0 14.26 14.14 14.28

3707 end dive: TARGET_DEPTH_EXCEEDED

state 3707 begin apogee

3712 -0.13 0.0 2280 2069 3958 3967 482.7 -12.5 300 3920 1.00 0.08 203.00 1.445 10246 0.246 0.188 2530 2114 3362 3394 3330 0 0 0 0 0 0 13.88 13.44 12.87

3924 end apogee: CONTROL_FINISHED_OK

state 3924 begin climb

3927 0.57 145.9 2533 2114 3395 3325 491.7 0.0 307 4133 0.73 2.65 198.27 1.390 10500 0.067 0.074 2777 3506 2762 2815 2709 0 0 0 0 0 0 13.59 13.14 12.64

4365 0.16 145.9 2777 3506 2795 2708 449.9 18.3 353 4370 0.70 2.40 0.00 0.000 5254 0.343 0.058 2642 2129 2751 2794 2708 0 0 0 0 0 0 13.46 13.76 13.80

4676 0.09 165.5 2642 2128 2796 2706 419.9 9.1 365 4707 0.12 2.53 23.02 1.479 12708 0.295 0.083 2613 3508 2684 2732 2637 0 0 0 0 0 0 13.81 13.90 13.24

4867 0.08 187.1 2613 3509 2725 2636 402.8 9.0 403 4902 0.00 2.42 29.38 1.474 9382 0.000 0.060 2616 2102 2601 2656 2547 0 0 0 0 0 0 14.07 13.97 13.20

5219 0.11 228.8 2616 2102 2653 2535 374.1 8.1 423 5288 0.00 2.62 59.72 1.395 8740 0.000 0.089 2616 691 2429 2486 2372 0 0 0 0 0 0 14.34 13.79 13.16

5343 0.26 275.6 2616 692 2481 2373 363.9 7.8 448 5419 0.15 2.53 69.53 1.351 11430 0.116 0.080 2678 2100 2241 2299 2184 0 0 0 0 0 0 13.93 13.88 13.06

5729 0.22 275.6 2679 2100 2289 2168 316.1 12.7 475 5730 0.00 0.00 0.00 0.000 134 0.000 0.000 2678 2100 2227 2288 2167 0 0 0 0 0 0 14.25 14.26 14.26

6029 0.18 275.6 2678 2101 2288 2167 278.6 12.3 485 6034 0.12 2.47 0.00 0.000 4740 0.266 0.082 2657 691 2228 2286 2170 0 0 0 0 0 0 13.85 14.06 14.00

6100 0.27 290.7 2658 691 2285 2166 271.3 9.3 499 6125 0.00 2.47 18.52 1.454 9382 0.000 0.080 2658 2099 2177 2236 2119 0 0 0 0 0 0 14.23 14.12 13.38

6450 0.30 290.7 2658 2100 2232 2112 234.6 10.5 519 6451 0.00 0.00 0.00 0.000 134 0.000 0.000 2658 2099 2171 2230 2113 0 0 0 0 0 0 14.33 14.34 14.35

6750 0.33 296.3 2658 2100 2230 2111 204.4 9.7 529 6760 0.00 2.55 3.35 1.424 8868 0.000 0.086 2659 688 2159 2217 2102 0 0 0 0 0 0 14.33 14.04 12.97

6785 0.44 321.3 2659 690 2213 2106 201.2 8.8 536 6841 0.20 2.47 46.15 1.348 11430 0.107 0.080 2739 2099 2050 2101 1999 0 0 0 0 0 0 14.12 14.07 13.28

7142 0.36 321.3 2739 2099 2095 1993 153.0 12.8 557 7144 0.17 0.00 0.00 0.000 4230 0.239 0.000 2701 2100 2044 2095 1993 0 0 0 0 0 0 13.84 14.11 14.07

7440 0.37 339.0 2700 2101 2095 1990 124.3 9.2 567 7466 0.00 2.53 20.75 1.382 8740 0.000 0.085 2701 687 1981 2032 1931 0 0 0 0 0 0 14.30 13.86 13.33

7528 0.49 375.7 2702 689 2025 1930 117.0 8.3 584 7594 0.12 2.53 58.97 1.243 11430 0.134 0.080 2754 2105 1831 1866 1796 0 0 0 0 0 0 13.93 13.88 13.16

7891 0.47 375.7 2755 2104 1859 1783 74.2 11.3 621 7892 0.00 0.00 0.00 0.000 134 0.000 0.000 2754 2105 1820 1857 1783 0 0 0 0 0 0 14.14 14.16 14.16

8193 0.50 422.2 2755 2105 1858 1780 46.0 7.9 651 8224 0.00 2.58 22.75 0.346 8740 0.000 0.086 2760 695 1638 1671 1605 0 0 0 0 0 0 14.22 13.91 13.66

8306 0.66 496.4 2755 695 1675 1605 38.5 6.6 673 8349 0.12 2.50 37.92 0.316 11430 0.132 0.080 2803 2103 1340 1398 1283 0 0 0 0 0 0 14.00 13.96 13.71

8645 0.89 675.7 2804 2104 1397 1269 13.6 1.7 711 8746 0.17 2.53 90.05 0.246 11172 0.112 0.082 2880 3511 608 666 550 0 0 0 0 0 0 13.94 13.81 13.74

8787 0.94 679.3 2879 3512 667 550 4.5 9.8 737 8793 0.00 2.47 1.33 0.275 9382 0.000 0.070 2888 2103 594 649 539 0 0 0 0 0 0 14.00 13.89 13.70

8819 end climb: SURFACE_DEPTH_REACHED

state 8819 begin surface coast

8839 end surface coast: CONTROL_FINISHED_OK

state 8839 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	45	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	138.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,215930,7145.5864,-14729.3096,54,0.8,58,21.4,0.0,243.0,10,9.9	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	327.3,177437,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.0	D_GRID	480
GPS2	110817,221358,7145.4570,-14729.4414,5,0.8,11,21.4,0.5,150.0,10,9.4

MODEM_MSG	CACST,6,1,20170812003012.004718,3,37,15,0154,0150,250,00,00,00,00,-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	59644224
FINISH	0.1,1.019992	_24V_AH	12.64,64.237
SM_CCo	8907,14.32,0.206,0,0,501,702.78	_10V_AH	12.59,0.000
SM_GC	1.77,8.18,0.17,14.32,0.062,0.114,0.206,203,2229,501,-7.37,-0.74,702.78,0,0,0,0,0,0,14.03,14.03,13.84	FG_AHR_24Vo	0.000
RAFOS_CLK	122	FG_AHR_10Vo	0.000
MODEM	0,1502496334,75.36600,-145.04601,280.042,408767.4	MEM	323732
RAFOS_FIX	7145.260742,-14733.255859,120817,000009,4,255,0.30	DATA_FILE_SIZE	26692,743
IRIDIUM_FIX	7147.12,-14734.89,110817,220839	CAP_FILE_SIZE	108432,0
TT8_MAMPS	0.094374,0.892059	CFSIZE	2097872896,2074443776
HUMID	45.66	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1451.7
TCM_TEMP	13.40	CURRENT	0.106,202.72,1
XPDR_PINGS	13	GPS	120817,004451,7146.138,-14730.274,40,0.8,42,21.4,0.3,243.4,10,7.6
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	461	146.79	nil	0	0	0.00
Roll_motor	85	2150	2316.52	nil	0	0	0.00
VBD_pump_during_apogee	882	1478	16499.31	nil	0	0	0.00
VBD_pump_during_surface	14	205	37.26	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	8652	14	1622.37
Iridium_during_xfer	511	177	1146.74	NCP	8903	20	2250.68
Transponder_ping	3	420	17.25	PMAR	8862	16	1858.23
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.56
TT8	0	0	0.00
LPSleep	6448	2	187.56
TT8_Active	774	13	136.17
TT8_Sampling	2319	33	976.65
TT8_CF8	273	38	133.10
TT8_Kalman	0	0	0.00
Analog_circuits	2137	10	269.15
GPS_charging	0	0	0.00
Compass	1066	7	94.01
RAFOS	2155	48	1302.31
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	182	2191	507	479	0.0	0.0	0	128	0.00	0.00	-80.88	0.000	16386	0.000	0.000	182	2191	2099	2018	2180	0	0	0	0	0	0	14.38	28.83	14.38
131	-0.57	-145.9	183	2192	2021	2181	3.4	-4.9	8	184	12.77	2.70	-34.25	0.000	18980	0.461	2.150	2384	799	3964	3950	3978	0	0	0	0	0	0	13.71	13.00	14.12
241	-0.52	-145.9	2385	799	3957	3978	34.5	-19.3	29	248	0.15	2.50	0.00	0.000	3206	0.307	0.084	2404	2197	3970	3956	3985	0	0	0	0	0	0	13.80	14.03	14.07
545	-0.56	-145.9	2405	2200	3962	3978	82.5	-12.7	60	549	0.00	2.53	0.00	0.000	388	0.000	0.087	2402	3620	3969	3961	3978	0	0	0	0	0	0	14.37	13.96	14.37
676	-0.69	-145.9	2402	3622	3962	3978	96.4	-10.1	86	681	0.15	2.42	0.00	0.000	5254	0.116	0.054	2342	2201	3969	3961	3978	0	0	0	0	0	0	14.10	14.06	14.18
1007	-0.69	-145.9	2342	2199	3962	3978	146.0	-14.1	100	1011	0.00	2.50	0.00	0.000	260	0.000	0.086	2333	3614	3969	3961	3978	0	0	0	0	0	0	14.45	14.14	14.47
1071	-0.75	-145.9	2333	3616	3962	3978	155.1	-13.1	113	1077	0.00	2.42	0.00	0.000	1158	0.000	0.057	2333	2192	3969	3961	3978	0	0	0	0	0	0	14.27	14.16	14.29
1397	-0.75	-145.9	2333	2191	3960	3977	198.0	-12.5	128	1402	0.00	2.53	0.00	0.000	260	0.000	0.088	2332	3615	3969	3961	3977	0	0	0	0	0	0	14.48	14.11	14.50
1467	-0.85	-145.9	2333	3616	3962	3977	206.0	-10.2	142	1472	0.00	2.40	0.00	0.000	1158	0.000	0.056	2332	2199	3969	3961	3977	0	0	0	0	0	0	14.29	14.19	14.32
1787	-0.89	-145.9	2333	2198	3962	3974	240.8	-10.4	156	1792	0.12	2.50	0.00	0.000	4484	0.141	0.086	2267	3614	3967	3961	3974	0	0	0	0	0	0	14.12	14.10	14.16
1904	-0.84	-145.9	2267	3614	3961	3974	257.5	-14.5	179	1911	0.17	2.40	0.00	0.000	3206	0.272	0.057	2302	2201	3967	3961	3974	0	0	0	0	0	0	13.82	14.14	14.08
2207	-0.84	-145.9	2303	2200	3962	3972	294.5	-11.8	190	2212	0.00	2.47	0.00	0.000	260	0.000	0.086	2293	3614	3966	3960	3972	0	0	0	0	0	0	14.51	14.14	14.53
2252	-0.88	-145.9	2295	3616	3961	3972	300.0	-12.0	199	2258	0.00	2.40	0.00	0.000	1158	0.000	0.059	2295	2201	3965	3960	3971	0	0	0	0	0	0	14.26	14.14	14.28
2569	-0.88	-145.9	2296	2200	3960	3971	339.4	-12.5	212	2573	0.00	2.50	0.00	0.000	260	0.000	0.086	2287	3616	3964	3960	3969	0	0	0	0	0	0	14.52	14.11	14.52
2654	-0.92	-145.9	2287	3618	3960	3970	349.9	-12.0	229	2660	0.00	2.42	0.00	0.000	1158	0.000	0.058	2287	2193	3964	3959	3970	0	0	0	0	0	0	14.26	14.14	14.28
2959	-0.92	-145.9	2287	2193	3960	3970	388.1	-12.4	240	2963	0.00	2.53	0.00	0.000	260	0.000	0.086	2280	3621	3964	3960	3968	0	0	0	0	0	0	14.50	14.09	14.52
3028	-0.94	-145.9	2281	3621	3960	3968	396.9	-12.1	254	3033	0.00	2.42	0.00	0.000	1158	0.000	0.059	2280	2198	3963	3958	3968	0	0	0	0	0	0	14.27	14.19	14.31
3349	-0.92	-145.9	2280	2197	3959	3968	437.8	-12.7	268	3354	0.00	2.50	0.00	0.000	388	0.000	0.087	2279	3614	3962	3958	3967	0	0	0	0	0	0	14.50	14.09	14.52
3439	-0.94	-145.9	2280	3617	3958	3968	448.8	-11.9	286	3444	0.00	2.42	0.00	0.000	1158	0.000	0.058	2279	2195	3962	3958	3967	0	0	0	0	0	0	14.26	14.14	14.28
3707	end dive: TARGET_DEPTH_EXCEEDED
state	3707	begin apogee
3712	-0.13	0.0	2280	2069	3958	3967	482.7	-12.5	300	3920	1.00	0.08	203.00	1.445	10246	0.246	0.188	2530	2114	3362	3394	3330	0	0	0	0	0	0	13.88	13.44	12.87
3924	end apogee: CONTROL_FINISHED_OK
state	3924	begin climb
3927	0.57	145.9	2533	2114	3395	3325	491.7	0.0	307	4133	0.73	2.65	198.27	1.390	10500	0.067	0.074	2777	3506	2762	2815	2709	0	0	0	0	0	0	13.59	13.14	12.64
4365	0.16	145.9	2777	3506	2795	2708	449.9	18.3	353	4370	0.70	2.40	0.00	0.000	5254	0.343	0.058	2642	2129	2751	2794	2708	0	0	0	0	0	0	13.46	13.76	13.80
4676	0.09	165.5	2642	2128	2796	2706	419.9	9.1	365	4707	0.12	2.53	23.02	1.479	12708	0.295	0.083	2613	3508	2684	2732	2637	0	0	0	0	0	0	13.81	13.90	13.24
4867	0.08	187.1	2613	3509	2725	2636	402.8	9.0	403	4902	0.00	2.42	29.38	1.474	9382	0.000	0.060	2616	2102	2601	2656	2547	0	0	0	0	0	0	14.07	13.97	13.20
5219	0.11	228.8	2616	2102	2653	2535	374.1	8.1	423	5288	0.00	2.62	59.72	1.395	8740	0.000	0.089	2616	691	2429	2486	2372	0	0	0	0	0	0	14.34	13.79	13.16
5343	0.26	275.6	2616	692	2481	2373	363.9	7.8	448	5419	0.15	2.53	69.53	1.351	11430	0.116	0.080	2678	2100	2241	2299	2184	0	0	0	0	0	0	13.93	13.88	13.06
5729	0.22	275.6	2679	2100	2289	2168	316.1	12.7	475	5730	0.00	0.00	0.00	0.000	134	0.000	0.000	2678	2100	2227	2288	2167	0	0	0	0	0	0	14.25	14.26	14.26
6029	0.18	275.6	2678	2101	2288	2167	278.6	12.3	485	6034	0.12	2.47	0.00	0.000	4740	0.266	0.082	2657	691	2228	2286	2170	0	0	0	0	0	0	13.85	14.06	14.00
6100	0.27	290.7	2658	691	2285	2166	271.3	9.3	499	6125	0.00	2.47	18.52	1.454	9382	0.000	0.080	2658	2099	2177	2236	2119	0	0	0	0	0	0	14.23	14.12	13.38
6450	0.30	290.7	2658	2100	2232	2112	234.6	10.5	519	6451	0.00	0.00	0.00	0.000	134	0.000	0.000	2658	2099	2171	2230	2113	0	0	0	0	0	0	14.33	14.34	14.35
6750	0.33	296.3	2658	2100	2230	2111	204.4	9.7	529	6760	0.00	2.55	3.35	1.424	8868	0.000	0.086	2659	688	2159	2217	2102	0	0	0	0	0	0	14.33	14.04	12.97
6785	0.44	321.3	2659	690	2213	2106	201.2	8.8	536	6841	0.20	2.47	46.15	1.348	11430	0.107	0.080	2739	2099	2050	2101	1999	0	0	0	0	0	0	14.12	14.07	13.28
7142	0.36	321.3	2739	2099	2095	1993	153.0	12.8	557	7144	0.17	0.00	0.00	0.000	4230	0.239	0.000	2701	2100	2044	2095	1993	0	0	0	0	0	0	13.84	14.11	14.07
7440	0.37	339.0	2700	2101	2095	1990	124.3	9.2	567	7466	0.00	2.53	20.75	1.382	8740	0.000	0.085	2701	687	1981	2032	1931	0	0	0	0	0	0	14.30	13.86	13.33
7528	0.49	375.7	2702	689	2025	1930	117.0	8.3	584	7594	0.12	2.53	58.97	1.243	11430	0.134	0.080	2754	2105	1831	1866	1796	0	0	0	0	0	0	13.93	13.88	13.16
7891	0.47	375.7	2755	2104	1859	1783	74.2	11.3	621	7892	0.00	0.00	0.00	0.000	134	0.000	0.000	2754	2105	1820	1857	1783	0	0	0	0	0	0	14.14	14.16	14.16
8193	0.50	422.2	2755	2105	1858	1780	46.0	7.9	651	8224	0.00	2.58	22.75	0.346	8740	0.000	0.086	2760	695	1638	1671	1605	0	0	0	0	0	0	14.22	13.91	13.66
8306	0.66	496.4	2755	695	1675	1605	38.5	6.6	673	8349	0.12	2.50	37.92	0.316	11430	0.132	0.080	2803	2103	1340	1398	1283	0	0	0	0	0	0	14.00	13.96	13.71
8645	0.89	675.7	2804	2104	1397	1269	13.6	1.7	711	8746	0.17	2.53	90.05	0.246	11172	0.112	0.082	2880	3511	608	666	550	0	0	0	0	0	0	13.94	13.81	13.74
8787	0.94	679.3	2879	3512	667	550	4.5	9.8	737	8793	0.00	2.47	1.33	0.275	9382	0.000	0.070	2888	2103	594	649	539	0	0	0	0	0	0	14.00	13.89	13.70
8819	end climb: SURFACE_DEPTH_REACHED
state	8819	begin surface coast
8839	end surface coast: CONTROL_FINISHED_OK
state	8839	begin surface