Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 48 * 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 48 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 145.0

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 18 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 44 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 145.0 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 18 VBD_MIN 500

DIVE 48 NOCOMM_ACTION 161 R_STBD_OVSHOOT 44 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 120817,062502,7147.9087,-14731.2354,17,0.8,32,21.4,0.5,19.8,11,8.4 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.15 MHEAD_RNG_PITCHd_Wd 318.8,173050,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.5 D_GRID 480

GPS2 120817,063537,7147.8701,-14731.0889,6,0.8,12,21.4,0.0,114.8,11,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812083012.858543,3,535,21,0685,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04 PM_FREEKB_00 59435328

FINISH 0.2,1.019996 _24V_AH 12.63,65.615

SM_CCo 9050,0.00,0.000,0,0,494,704.26 _10V_AH 12.57,0.000

SM_GC 1.04,8.05,2.70,0.00,0.068,0.073,0.000,205,2210,494,-7.38,-0.54,704.26,0,0,0,0,0,0,14.14,14.10,14.22 FG_AHR_24Vo 0.000

RAFOS_CLK 190 FG_AHR_10Vo 0.000

MODEM 0,1502524948,75.36600,-145.04601,94.322,136469.2 MEM 323628

RAFOS_FIX 7325.362305,-14308.439453,120817,080823,4,255,37.31 DATA_FILE_SIZE 26668,764

IRIDIUM_FIX 7148.85,-14731.20,120817,034438 CAP_FILE_SIZE 104736,0

TT8_MAMPS 0.038948,0.850864 CFSIZE 2097872896,2073559040

HUMID 49.37 ERRORS 0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.80105 INTR 0,9943.44,0x213afc,7,24

TCM_TEMP 13.90 SOUNDSPEED 1452.1

XPDR_PINGS 10 CURRENT 0.080,175.36,1

CP_FREE 16011264000.000000 GPS 120817,090825,7148.627,-14731.667,20,0.8,40,21.4,0.0,146.0,10,6.3

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 146.71 nil 0 0 0.00

Roll_motor 85 2145 2311.10 nil 0 0 0.00

VBD_pump_during_apogee 907 1451 16639.33 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 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 8995 15 1714.44

Iridium_during_xfer 368 187 871.83 NCP 8987 20 2270.12

Transponder_ping 2 420 13.26 PMAR 8945 16 1875.05

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.56

TT8 0 0 0.00

LPSleep 6430 2 186.73

TT8_Active 819 13 143.86

TT8_Sampling 2176 33 914.90

TT8_CF8 272 38 132.36

TT8_Kalman 0 0 0.00

Analog_circuits 2031 10 255.38

GPS_charging 0 0 0.00

Compass 1095 7 96.36

RAFOS 2196 48 1324.98

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 -145.9 192 2226 508 477 0.0 0.0 0 128 0.00 0.00 -81.25 0.000 16386 0.000 0.000 190 2227 2090 2023 2157 0 0 0 0 0 0 14.31 28.83 14.33

131 -0.57 -145.9 190 2227 2025 2160 3.5 -4.2 8 184 12.52 2.80 -34.50 0.000 18980 0.453 2.146 2386 788 3963 3945 3982 1 0 0 0 0 0 13.59 12.74 14.07

205 -0.39 -145.9 2387 788 3949 3984 27.0 -26.4 22 211 0.32 2.47 0.00 0.000 3206 0.293 0.084 2448 2176 3965 3949 3982 0 0 0 0 0 0 13.80 13.95 14.06

510 -0.49 -145.9 2448 2177 3956 3983 66.8 -10.0 53 514 0.00 2.55 0.00 0.000 388 0.000 0.090 2445 3610 3968 3955 3982 0 0 0 0 0 0 14.37 13.96 14.40

595 -0.73 -145.9 2445 3611 3957 3983 73.8 -7.6 70 601 0.32 2.42 0.00 0.000 5286 0.083 0.051 2327 2182 3969 3956 3982 0 0 0 0 0 0 14.12 14.03 14.22

901 -0.66 -145.9 2328 2182 3957 3983 128.2 -17.6 91 907 0.12 2.55 0.00 0.000 2436 0.301 0.085 2349 3620 3969 3956 3982 0 0 0 0 0 0 13.83 14.09 14.01

978 -0.74 -145.9 2348 3621 3956 3983 139.0 -12.1 106 983 0.00 2.42 0.00 0.000 1158 0.000 0.059 2349 2195 3970 3959 3982 0 0 0 0 0 0 14.26 14.15 14.28

1293 -0.77 -145.9 2350 2196 3956 3983 179.1 -12.3 119 1299 0.00 2.53 0.00 0.000 388 0.000 0.089 2345 3614 3967 3953 3982 0 0 0 0 0 0 14.46 14.11 14.47

1374 -0.92 -145.9 2346 3614 3956 3983 187.9 -9.8 135 1380 0.20 2.40 0.00 0.000 5286 0.106 0.057 2268 2198 3970 3958 3982 0 0 0 0 0 0 14.19 14.16 14.20

1685 -0.81 -145.9 2269 2197 3956 3982 240.7 -16.9 147 1691 0.17 2.50 0.00 0.000 2436 0.290 0.084 2301 3614 3968 3955 3982 0 0 0 0 0 0 13.90 14.12 14.08

1803 -0.86 -145.9 2301 3616 3955 3983 255.4 -11.7 170 1809 0.00 2.40 0.00 0.000 1158 0.000 0.059 2301 2201 3968 3954 3982 0 0 0 0 0 0 14.27 14.16 14.31

2106 -0.86 -145.9 2301 2200 3955 3981 293.4 -12.4 181 2111 0.00 2.47 0.00 0.000 260 0.000 0.086 2293 3612 3966 3953 3980 0 0 0 0 0 0 14.51 14.16 14.51

2166 -0.91 -145.9 2294 3614 3952 3981 300.9 -11.7 193 2171 0.00 2.42 0.00 0.000 1158 0.000 0.059 2293 2189 3966 3953 3980 0 0 0 0 0 0 14.31 14.19 14.35

2496 -0.91 -145.9 2294 2188 3954 3978 342.5 -12.4 209 2501 0.00 2.50 0.00 0.000 260 0.000 0.088 2290 3613 3965 3953 3978 0 0 0 0 0 0 14.54 14.16 14.54

2586 -0.97 -145.9 2294 3614 3953 3979 353.0 -10.9 227 2592 0.00 2.40 0.00 0.000 1158 0.000 0.059 2294 2195 3965 3952 3978 0 0 0 0 0 0 14.32 14.20 14.35

2917 -0.97 -145.9 2293 2196 3953 3978 392.2 -11.8 243 2923 0.00 2.50 0.00 0.000 260 0.000 0.087 2287 3616 3964 3952 3977 0 0 0 0 0 0 14.53 14.12 14.53

2993 -1.03 -145.9 2288 3617 3954 3977 401.1 -11.2 258 2998 0.12 2.42 0.00 0.000 5254 0.136 0.057 2244 2193 3964 3952 3976 0 0 0 0 0 0 14.16 14.15 14.26

3308 -0.92 -145.9 2244 2192 3952 3976 451.4 -16.3 271 3314 0.15 2.50 0.00 0.000 2436 0.318 0.083 2267 3613 3963 3951 3976 0 0 0 0 0 0 13.82 14.13 14.02

3439 -0.92 -145.9 2267 3615 3951 3977 469.1 -12.9 297 3444 0.00 2.42 0.00 0.000 1030 0.000 0.058 2267 2190 3962 3950 3975 0 0 0 0 0 0 14.30 14.19 14.33

3547 end dive: TARGET_DEPTH_EXCEEDED

state 3547 begin apogee

3552 -0.13 0.0 2267 2069 3951 3977 484.0 -13.6 304 3761 1.05 0.08 205.15 1.441 10246 0.253 0.184 2529 2113 3364 3390 3338 0 0 0 0 0 0 13.88 13.43 12.88

3765 end apogee: CONTROL_FINISHED_OK

state 3765 begin climb

3768 0.57 145.9 2529 2115 3383 3330 493.5 0.0 311 3977 0.75 2.62 196.88 1.382 10500 0.067 0.074 2781 3497 2759 2802 2716 0 0 0 0 0 0 13.58 13.13 12.63

4204 0.16 145.9 2782 3497 2787 2715 454.3 18.0 357 4209 0.75 2.40 0.00 0.000 5254 0.344 0.057 2638 2121 2750 2786 2715 0 0 0 0 0 0 13.47 13.76 13.79

4514 0.09 173.6 2639 2120 2787 2715 425.6 8.7 369 4555 0.00 2.47 34.97 1.452 8612 0.000 0.080 2638 3504 2651 2693 2609 0 0 0 0 0 0 14.26 13.72 13.19

4780 0.00 173.6 2639 3504 2687 2607 398.2 10.5 422 4787 0.25 2.42 0.00 0.000 5254 0.256 0.060 2589 2093 2648 2690 2606 0 0 0 0 0 0 13.81 14.04 14.05

5087 0.11 252.1 2590 2093 2687 2604 378.3 6.4 433 5208 0.00 0.00 116.93 1.344 8358 0.000 0.000 2595 2093 2334 2383 2285 0 0 0 0 0 0 14.31 13.66 13.09

5506 0.28 322.8 2589 2094 2373 2273 350.0 6.7 447 5617 0.22 2.65 104.72 1.303 10916 0.094 0.089 2685 696 2044 2091 1997 0 0 0 0 0 0 13.96 13.54 12.97

5664 0.31 322.8 2684 696 2081 1992 330.0 12.9 478 5669 0.00 2.55 0.00 0.000 1158 0.000 0.077 2691 2091 2035 2079 1991 0 0 0 0 0 0 13.73 13.64 13.76

5989 0.31 322.8 2686 2093 2081 1980 286.9 13.1 493 5994 0.00 2.53 0.00 0.000 516 0.000 0.089 2691 694 2030 2080 1980 0 0 0 0 0 0 14.14 13.87 14.20

6019 0.31 322.8 2686 692 2079 1981 283.0 13.0 499 6024 0.00 2.53 0.00 0.000 1030 0.000 0.077 2685 2108 2028 2076 1980 0 0 0 0 0 0 14.00 13.90 14.04

6349 0.31 322.8 2685 2110 2078 1978 240.4 12.7 515 6354 0.00 2.53 0.00 0.000 516 0.000 0.088 2685 694 2027 2077 1977 0 0 0 0 0 0 14.27 13.97 14.28

6399 0.36 322.8 2685 695 2076 1978 234.3 11.6 525 6404 0.00 2.50 0.00 0.000 1158 0.000 0.078 2685 2109 2026 2076 1977 0 0 0 0 0 0 14.12 14.01 14.15

6709 0.36 322.8 2686 2111 2077 1977 198.2 11.2 537 6710 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2110 2029 2075 1984 0 0 0 0 0 0 14.29 14.32 14.32

7009 0.39 336.7 2685 2112 2075 1977 168.5 9.4 547 7029 0.00 2.53 15.52 1.444 8868 0.000 0.085 2685 685 1989 2039 1940 0 0 0 0 0 0 14.32 13.89 13.31

7111 0.52 371.9 2685 686 2032 1939 159.6 8.4 567 7180 0.20 2.50 59.60 1.287 11430 0.107 0.078 2766 2103 1843 1878 1809 0 0 0 0 0 0 14.07 14.00 13.20

7491 0.44 371.9 2765 2103 1872 1801 105.1 14.0 593 7496 0.15 2.47 0.00 0.000 4740 0.272 0.081 2742 692 1837 1873 1801 0 0 0 0 0 0 13.70 13.93 13.85

7531 0.46 371.9 2743 691 1872 1801 100.3 11.1 601 7536 0.00 2.45 0.00 0.000 1158 0.000 0.080 2742 2099 1837 1874 1801 0 0 0 0 0 0 14.07 13.97 14.10

7841 0.47 384.3 2742 2099 1871 1800 68.6 9.4 634 7852 0.00 0.00 5.43 0.406 8742 0.000 0.000 2742 2099 1795 1830 1761 0 0 0 0 0 0 14.33 13.96 13.71

8151 0.56 456.3 2742 2099 1833 1763 42.7 6.7 666 8194 0.00 0.00 38.58 0.330 8870 0.000 0.000 2742 2096 1503 1545 1462 0 0 0 0 0 0 14.37 14.04 13.72

8491 0.77 564.7 2742 2099 1546 1448 22.8 5.0 704 8553 0.28 0.00 57.05 0.273 10662 0.095 0.000 2845 2098 1058 1130 987 0 0 0 0 0 0 14.14 14.11 13.84

8852 0.93 713.2 2846 2099 1133 973 5.6 3.1 741 8929 0.00 2.50 72.53 0.220 8868 0.000 0.086 2849 694 499 536 462 0 0 0 0 0 0 14.38 13.95 13.83

8937 end climb: SURFACE_DEPTH_REACHED

state 8937 begin surface coast

8967 end surface coast: CONTROL_FINISHED_OK

state 8967 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	48	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	145.0
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	18	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,062502,7147.9087,-14731.2354,17,0.8,32,21.4,0.5,19.8,11,8.4	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.15	MHEAD_RNG_PITCHd_Wd	318.8,173050,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.5	D_GRID	480
GPS2	120817,063537,7147.8701,-14731.0889,6,0.8,12,21.4,0.0,114.8,11,9.8

MODEM_MSG	CACST,6,1,20170812083012.858543,3,535,21,0685,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*04	PM_FREEKB_00	59435328
FINISH	0.2,1.019996	_24V_AH	12.63,65.615
SM_CCo	9050,0.00,0.000,0,0,494,704.26	_10V_AH	12.57,0.000
SM_GC	1.04,8.05,2.70,0.00,0.068,0.073,0.000,205,2210,494,-7.38,-0.54,704.26,0,0,0,0,0,0,14.14,14.10,14.22	FG_AHR_24Vo	0.000
RAFOS_CLK	190	FG_AHR_10Vo	0.000
MODEM	0,1502524948,75.36600,-145.04601,94.322,136469.2	MEM	323628
RAFOS_FIX	7325.362305,-14308.439453,120817,080823,4,255,37.31	DATA_FILE_SIZE	26668,764
IRIDIUM_FIX	7148.85,-14731.20,120817,034438	CAP_FILE_SIZE	104736,0
TT8_MAMPS	0.038948,0.850864	CFSIZE	2097872896,2073559040
HUMID	49.37	ERRORS	0,1,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.80105	INTR	0,9943.44,0x213afc,7,24
TCM_TEMP	13.90	SOUNDSPEED	1452.1
XPDR_PINGS	10	CURRENT	0.080,175.36,1
CP_FREE	16011264000.000000	GPS	120817,090825,7148.627,-14731.667,20,0.8,40,21.4,0.0,146.0,10,6.3

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	146.71	nil	0	0	0.00
Roll_motor	85	2145	2311.10	nil	0	0	0.00
VBD_pump_during_apogee	907	1451	16639.33	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	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	8995	15	1714.44
Iridium_during_xfer	368	187	871.83	NCP	8987	20	2270.12
Transponder_ping	2	420	13.26	PMAR	8945	16	1875.05
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.56
TT8	0	0	0.00
LPSleep	6430	2	186.73
TT8_Active	819	13	143.86
TT8_Sampling	2176	33	914.90
TT8_CF8	272	38	132.36
TT8_Kalman	0	0	0.00
Analog_circuits	2031	10	255.38
GPS_charging	0	0	0.00
Compass	1095	7	96.36
RAFOS	2196	48	1324.98
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	192	2226	508	477	0.0	0.0	0	128	0.00	0.00	-81.25	0.000	16386	0.000	0.000	190	2227	2090	2023	2157	0	0	0	0	0	0	14.31	28.83	14.33
131	-0.57	-145.9	190	2227	2025	2160	3.5	-4.2	8	184	12.52	2.80	-34.50	0.000	18980	0.453	2.146	2386	788	3963	3945	3982	1	0	0	0	0	0	13.59	12.74	14.07
205	-0.39	-145.9	2387	788	3949	3984	27.0	-26.4	22	211	0.32	2.47	0.00	0.000	3206	0.293	0.084	2448	2176	3965	3949	3982	0	0	0	0	0	0	13.80	13.95	14.06
510	-0.49	-145.9	2448	2177	3956	3983	66.8	-10.0	53	514	0.00	2.55	0.00	0.000	388	0.000	0.090	2445	3610	3968	3955	3982	0	0	0	0	0	0	14.37	13.96	14.40
595	-0.73	-145.9	2445	3611	3957	3983	73.8	-7.6	70	601	0.32	2.42	0.00	0.000	5286	0.083	0.051	2327	2182	3969	3956	3982	0	0	0	0	0	0	14.12	14.03	14.22
901	-0.66	-145.9	2328	2182	3957	3983	128.2	-17.6	91	907	0.12	2.55	0.00	0.000	2436	0.301	0.085	2349	3620	3969	3956	3982	0	0	0	0	0	0	13.83	14.09	14.01
978	-0.74	-145.9	2348	3621	3956	3983	139.0	-12.1	106	983	0.00	2.42	0.00	0.000	1158	0.000	0.059	2349	2195	3970	3959	3982	0	0	0	0	0	0	14.26	14.15	14.28
1293	-0.77	-145.9	2350	2196	3956	3983	179.1	-12.3	119	1299	0.00	2.53	0.00	0.000	388	0.000	0.089	2345	3614	3967	3953	3982	0	0	0	0	0	0	14.46	14.11	14.47
1374	-0.92	-145.9	2346	3614	3956	3983	187.9	-9.8	135	1380	0.20	2.40	0.00	0.000	5286	0.106	0.057	2268	2198	3970	3958	3982	0	0	0	0	0	0	14.19	14.16	14.20
1685	-0.81	-145.9	2269	2197	3956	3982	240.7	-16.9	147	1691	0.17	2.50	0.00	0.000	2436	0.290	0.084	2301	3614	3968	3955	3982	0	0	0	0	0	0	13.90	14.12	14.08
1803	-0.86	-145.9	2301	3616	3955	3983	255.4	-11.7	170	1809	0.00	2.40	0.00	0.000	1158	0.000	0.059	2301	2201	3968	3954	3982	0	0	0	0	0	0	14.27	14.16	14.31
2106	-0.86	-145.9	2301	2200	3955	3981	293.4	-12.4	181	2111	0.00	2.47	0.00	0.000	260	0.000	0.086	2293	3612	3966	3953	3980	0	0	0	0	0	0	14.51	14.16	14.51
2166	-0.91	-145.9	2294	3614	3952	3981	300.9	-11.7	193	2171	0.00	2.42	0.00	0.000	1158	0.000	0.059	2293	2189	3966	3953	3980	0	0	0	0	0	0	14.31	14.19	14.35
2496	-0.91	-145.9	2294	2188	3954	3978	342.5	-12.4	209	2501	0.00	2.50	0.00	0.000	260	0.000	0.088	2290	3613	3965	3953	3978	0	0	0	0	0	0	14.54	14.16	14.54
2586	-0.97	-145.9	2294	3614	3953	3979	353.0	-10.9	227	2592	0.00	2.40	0.00	0.000	1158	0.000	0.059	2294	2195	3965	3952	3978	0	0	0	0	0	0	14.32	14.20	14.35
2917	-0.97	-145.9	2293	2196	3953	3978	392.2	-11.8	243	2923	0.00	2.50	0.00	0.000	260	0.000	0.087	2287	3616	3964	3952	3977	0	0	0	0	0	0	14.53	14.12	14.53
2993	-1.03	-145.9	2288	3617	3954	3977	401.1	-11.2	258	2998	0.12	2.42	0.00	0.000	5254	0.136	0.057	2244	2193	3964	3952	3976	0	0	0	0	0	0	14.16	14.15	14.26
3308	-0.92	-145.9	2244	2192	3952	3976	451.4	-16.3	271	3314	0.15	2.50	0.00	0.000	2436	0.318	0.083	2267	3613	3963	3951	3976	0	0	0	0	0	0	13.82	14.13	14.02
3439	-0.92	-145.9	2267	3615	3951	3977	469.1	-12.9	297	3444	0.00	2.42	0.00	0.000	1030	0.000	0.058	2267	2190	3962	3950	3975	0	0	0	0	0	0	14.30	14.19	14.33
3547	end dive: TARGET_DEPTH_EXCEEDED
state	3547	begin apogee
3552	-0.13	0.0	2267	2069	3951	3977	484.0	-13.6	304	3761	1.05	0.08	205.15	1.441	10246	0.253	0.184	2529	2113	3364	3390	3338	0	0	0	0	0	0	13.88	13.43	12.88
3765	end apogee: CONTROL_FINISHED_OK
state	3765	begin climb
3768	0.57	145.9	2529	2115	3383	3330	493.5	0.0	311	3977	0.75	2.62	196.88	1.382	10500	0.067	0.074	2781	3497	2759	2802	2716	0	0	0	0	0	0	13.58	13.13	12.63
4204	0.16	145.9	2782	3497	2787	2715	454.3	18.0	357	4209	0.75	2.40	0.00	0.000	5254	0.344	0.057	2638	2121	2750	2786	2715	0	0	0	0	0	0	13.47	13.76	13.79
4514	0.09	173.6	2639	2120	2787	2715	425.6	8.7	369	4555	0.00	2.47	34.97	1.452	8612	0.000	0.080	2638	3504	2651	2693	2609	0	0	0	0	0	0	14.26	13.72	13.19
4780	0.00	173.6	2639	3504	2687	2607	398.2	10.5	422	4787	0.25	2.42	0.00	0.000	5254	0.256	0.060	2589	2093	2648	2690	2606	0	0	0	0	0	0	13.81	14.04	14.05
5087	0.11	252.1	2590	2093	2687	2604	378.3	6.4	433	5208	0.00	0.00	116.93	1.344	8358	0.000	0.000	2595	2093	2334	2383	2285	0	0	0	0	0	0	14.31	13.66	13.09
5506	0.28	322.8	2589	2094	2373	2273	350.0	6.7	447	5617	0.22	2.65	104.72	1.303	10916	0.094	0.089	2685	696	2044	2091	1997	0	0	0	0	0	0	13.96	13.54	12.97
5664	0.31	322.8	2684	696	2081	1992	330.0	12.9	478	5669	0.00	2.55	0.00	0.000	1158	0.000	0.077	2691	2091	2035	2079	1991	0	0	0	0	0	0	13.73	13.64	13.76
5989	0.31	322.8	2686	2093	2081	1980	286.9	13.1	493	5994	0.00	2.53	0.00	0.000	516	0.000	0.089	2691	694	2030	2080	1980	0	0	0	0	0	0	14.14	13.87	14.20
6019	0.31	322.8	2686	692	2079	1981	283.0	13.0	499	6024	0.00	2.53	0.00	0.000	1030	0.000	0.077	2685	2108	2028	2076	1980	0	0	0	0	0	0	14.00	13.90	14.04
6349	0.31	322.8	2685	2110	2078	1978	240.4	12.7	515	6354	0.00	2.53	0.00	0.000	516	0.000	0.088	2685	694	2027	2077	1977	0	0	0	0	0	0	14.27	13.97	14.28
6399	0.36	322.8	2685	695	2076	1978	234.3	11.6	525	6404	0.00	2.50	0.00	0.000	1158	0.000	0.078	2685	2109	2026	2076	1977	0	0	0	0	0	0	14.12	14.01	14.15
6709	0.36	322.8	2686	2111	2077	1977	198.2	11.2	537	6710	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2110	2029	2075	1984	0	0	0	0	0	0	14.29	14.32	14.32
7009	0.39	336.7	2685	2112	2075	1977	168.5	9.4	547	7029	0.00	2.53	15.52	1.444	8868	0.000	0.085	2685	685	1989	2039	1940	0	0	0	0	0	0	14.32	13.89	13.31
7111	0.52	371.9	2685	686	2032	1939	159.6	8.4	567	7180	0.20	2.50	59.60	1.287	11430	0.107	0.078	2766	2103	1843	1878	1809	0	0	0	0	0	0	14.07	14.00	13.20
7491	0.44	371.9	2765	2103	1872	1801	105.1	14.0	593	7496	0.15	2.47	0.00	0.000	4740	0.272	0.081	2742	692	1837	1873	1801	0	0	0	0	0	0	13.70	13.93	13.85
7531	0.46	371.9	2743	691	1872	1801	100.3	11.1	601	7536	0.00	2.45	0.00	0.000	1158	0.000	0.080	2742	2099	1837	1874	1801	0	0	0	0	0	0	14.07	13.97	14.10
7841	0.47	384.3	2742	2099	1871	1800	68.6	9.4	634	7852	0.00	0.00	5.43	0.406	8742	0.000	0.000	2742	2099	1795	1830	1761	0	0	0	0	0	0	14.33	13.96	13.71
8151	0.56	456.3	2742	2099	1833	1763	42.7	6.7	666	8194	0.00	0.00	38.58	0.330	8870	0.000	0.000	2742	2096	1503	1545	1462	0	0	0	0	0	0	14.37	14.04	13.72
8491	0.77	564.7	2742	2099	1546	1448	22.8	5.0	704	8553	0.28	0.00	57.05	0.273	10662	0.095	0.000	2845	2098	1058	1130	987	0	0	0	0	0	0	14.14	14.11	13.84
8852	0.93	713.2	2846	2099	1133	973	5.6	3.1	741	8929	0.00	2.50	72.53	0.220	8868	0.000	0.086	2849	694	499	536	462	0	0	0	0	0	0	14.38	13.95	13.83
8937	end climb: SURFACE_DEPTH_REACHED
state	8937	begin surface coast
8967	end surface coast: CONTROL_FINISHED_OK
state	8967	begin surface