Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 53 * 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 53 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 159.0

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 20 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 159.0 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 53 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 120817,200755,7152.3608,-14734.3838,22,0.8,38,21.4,0.3,190.0,10,7.4 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 1.18 MHEAD_RNG_PITCHd_Wd 302.7,164996,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 120817,202501,7152.2705,-14734.4111,5,0.8,16,21.4,0.0,0.0,10,8.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812203007.217320,3,50,10,0090,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37 PM_FREEKB_00 59088896

FINISH 0.0,1.019729 _24V_AH 12.62,67.909

SM_CCo 9095,69.25,0.212,0,0,498,702.78 _10V_AH 12.55,0.000

SM_GC 1.41,8.18,0.17,69.25,0.081,0.126,0.212,203,2211,498,-7.38,-0.79,702.78,0,0,0,0,0,0,14.20,14.19,13.97 FG_AHR_24Vo 0.000

RAFOS_CLK 384 FG_AHR_10Vo 0.000

MODEM 4,1502569807,75.71700,-151.21500,306.467,444882.5 MEM 323828

RAFOS_FIX 7146.153809,-14802.952148,120817,161616,2,255,3.40 DATA_FILE_SIZE 26719,814

IRIDIUM_FIX 7151.67,-14733.32,120817,201652 CAP_FILE_SIZE 113776,0

TT8_MAMPS 0.038948,0.820904 CFSIZE 2097872896,2072150016

HUMID 50.51 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.80105 INTR 0,3845.76,0x2341ea,1,24

TCM_TEMP 13.60 SOUNDSPEED 1459.3

XPDR_PINGS 23 CURRENT 0.029,141.26,1

CP_FREE 16010379264.000000 GPS 120817,225933,7153.270,-14735.761,27,0.7,28,21.4,0.0,0.0,11,8.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 146.50 nil 0 0 0.00

Roll_motor 89 2138 2406.28 nil 0 0 0.00

VBD_pump_during_apogee 871 1702 18720.35 nil 0 0 0.00

VBD_pump_during_surface 69 211 185.19 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 5279 15 1004.98

Iridium_during_xfer 633 175 1399.73 NCP 9100 20 2296.84

Transponder_ping 5 420 30.48 PMAR 9049 16 1891.24

GUMSTIX_24V 0 0 0.00

GPS 17 22 4.96

TT8 0 0 0.00

LPSleep 6625 2 192.09

TT8_Active 957 13 167.95

TT8_Sampling 2316 33 972.00

TT8_CF8 306 38 148.79

TT8_Kalman 0 0 0.00

Analog_circuits 2347 10 294.62

GPS_charging 0 0 0.00

Compass 1164 7 102.27

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

45 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 202 2187 517 467 0.0 0.0 0 131 0.00 0.00 -81.53 0.000 16386 0.000 0.000 201 2187 2155 2073 2237 0 0 0 0 0 0 14.22 28.83 14.23

134 -0.57 -145.9 202 2187 2076 2237 3.4 -4.4 8 186 12.62 2.80 -32.65 0.000 18724 0.457 2.138 2374 3609 3962 3951 3973 0 0 0 0 0 0 13.62 12.90 14.01

346 -0.54 -145.9 2376 3609 3960 3973 54.3 -18.4 50 351 0.12 2.45 0.00 0.000 3206 0.275 0.057 2398 2187 3969 3960 3979 0 0 0 0 0 0 13.82 13.97 14.06

656 -0.57 -145.9 2399 2187 3963 3973 98.3 -12.1 82 664 0.00 2.50 0.00 0.000 388 0.000 0.084 2393 3609 3967 3961 3973 0 0 0 0 0 0 14.33 14.00 14.36

755 -0.73 -145.9 2394 3609 3963 3973 108.5 -9.7 101 760 0.15 2.38 0.00 0.000 5286 0.112 0.053 2336 2185 3964 3956 3973 0 0 0 0 0 0 14.09 14.04 14.16

1080 -0.70 -145.9 2336 2185 3963 3974 157.8 -14.8 116 1086 0.00 2.47 0.00 0.000 388 0.000 0.084 2332 3610 3967 3962 3973 0 0 0 0 0 0 14.35 14.00 14.37

1178 -0.78 -145.9 2333 3611 3962 3973 170.1 -11.9 135 1183 0.00 2.40 0.00 0.000 1158 0.000 0.055 2332 2196 3967 3962 3973 0 0 0 0 0 0 14.26 14.15 14.28

1503 -0.80 -145.9 2332 2197 3963 3971 210.2 -11.5 150 1508 0.00 2.50 0.00 0.000 388 0.000 0.087 2332 3620 3966 3962 3971 0 0 0 0 0 0 14.51 14.16 14.53

1528 -0.85 -145.9 2333 3620 3962 3971 213.0 -11.3 155 1534 0.00 2.40 0.00 0.000 1158 0.000 0.058 2332 2201 3966 3961 3972 0 0 0 0 0 0 14.32 14.21 14.34

1833 -0.91 -145.9 2332 2200 3962 3970 245.4 -10.5 166 1838 0.12 2.47 0.00 0.000 4484 0.138 0.086 2266 3610 3965 3961 3969 0 0 0 0 0 0 14.28 14.19 14.32

1909 -0.88 -145.9 2267 3613 3960 3970 256.1 -14.3 181 1913 0.00 2.40 0.00 0.000 1158 0.000 0.058 2267 2190 3964 3961 3968 0 0 0 0 0 0 14.34 14.23 14.38

2224 -0.81 -145.9 2267 2190 3961 3967 303.4 -14.8 194 2229 0.20 2.50 0.00 0.000 2436 0.297 0.083 2304 3619 3963 3960 3966 0 0 0 0 0 0 13.88 14.21 14.10

2335 -0.89 -145.9 2304 3621 3960 3967 315.8 -10.2 216 2341 0.00 2.40 0.00 0.000 1158 0.000 0.057 2304 2194 3962 3959 3966 0 0 0 0 0 0 14.35 14.25 14.38

2646 -0.89 -145.9 2305 2194 3961 3964 350.8 -11.3 228 2652 0.00 2.50 0.00 0.000 260 0.000 0.086 2300 3621 3961 3959 3964 0 0 0 0 0 0 14.59 14.21 14.60

2717 -0.97 -145.9 2300 3622 3960 3964 358.8 -10.8 242 2722 0.00 2.40 0.00 0.000 1158 0.000 0.057 2300 2196 3961 3958 3964 0 0 0 0 0 0 14.36 14.26 14.39

3037 -0.97 -145.9 2299 2196 3959 3964 395.7 -11.4 256 3043 0.00 2.47 0.00 0.000 260 0.000 0.086 2294 3609 3960 3958 3962 0 0 0 0 0 0 14.59 14.17 14.61

3103 -1.04 -145.9 2294 3610 3958 3963 403.2 -11.0 269 3108 0.15 2.38 0.00 0.000 5254 0.123 0.058 2239 2199 3960 3957 3963 0 0 0 0 0 0 14.28 14.24 14.37

3428 -0.93 -145.9 2240 2198 3957 3961 456.2 -16.7 284 3434 0.17 2.47 0.00 0.000 2436 0.310 0.082 2267 3613 3958 3956 3961 0 0 0 0 0 0 13.87 14.19 14.07

3551 -0.93 -145.9 2267 3615 3954 3962 473.0 -13.2 308 3556 0.00 2.38 0.00 0.000 1030 0.000 0.057 2267 2201 3958 3955 3961 0 0 0 0 0 0 14.34 14.23 14.39

3609 end dive: TARGET_DEPTH_EXCEEDED

state 3609 begin apogee

3615 -0.13 0.0 2268 2062 3956 3961 481.5 -13.9 315 3826 1.05 0.08 207.52 1.426 10246 0.255 0.181 2531 2109 3364 3395 3334 0 0 0 0 0 0 13.95 13.49 12.90

3830 end apogee: CONTROL_FINISHED_OK

state 3830 begin climb

3832 0.57 145.9 2531 2110 3391 3326 491.7 0.0 322 4040 0.73 2.62 194.23 1.414 10756 0.066 0.078 2782 730 2762 2815 2709 0 0 0 0 0 0 13.61 13.22 12.62

4265 0.25 145.9 2784 730 2803 2708 459.2 15.5 402 4271 0.55 2.45 0.00 0.000 5254 0.317 0.075 2667 2094 2753 2801 2706 0 0 0 0 0 0 13.50 13.74 13.81

4586 0.11 145.9 2667 2095 2801 2703 425.0 10.4 416 4592 0.17 2.42 0.00 0.000 4740 0.307 0.076 2634 722 2751 2801 2702 0 0 0 0 0 0 13.77 13.50 13.95

4737 0.12 193.8 2635 721 2802 2703 412.7 7.8 446 4813 0.00 2.42 67.18 1.415 9382 0.000 0.079 2634 2099 2569 2635 2504 0 0 0 0 0 0 14.16 14.05 13.14

5128 0.10 204.9 2634 2100 2628 2489 376.3 9.5 474 5140 0.00 0.00 11.12 1.634 8358 0.000 0.000 2634 2099 2527 2596 2459 0 0 0 0 0 0 14.34 14.03 13.24

5428 0.10 215.6 2634 2099 2590 2446 347.8 9.5 484 5447 0.00 2.47 11.73 1.599 8740 0.000 0.082 2642 724 2483 2551 2415 0 0 0 0 0 0 14.40 14.09 13.31

5478 0.14 221.6 2643 724 2549 2415 342.9 9.7 494 5490 0.00 2.42 7.05 1.703 9382 0.000 0.080 2645 2098 2462 2530 2395 0 0 0 0 0 0 14.19 14.07 13.21

5788 0.14 221.6 2642 2102 2525 2390 311.9 10.0 506 5788 0.00 0.00 0.00 0.000 6 0.000 0.000 2642 2101 2456 2524 2389 0 0 0 0 0 0 14.42 14.45 14.44

6088 0.15 230.8 2643 2101 2524 2388 282.7 9.6 516 6101 0.00 0.00 12.18 1.636 8230 0.000 0.000 2642 2101 2426 2492 2360 0 0 0 0 0 0 14.48 14.16 13.38

6388 0.16 242.9 2642 2102 2485 2356 254.4 9.4 526 6413 0.00 2.42 18.70 1.585 8740 0.000 0.083 2646 720 2371 2432 2311 0 0 0 0 0 0 14.46 14.08 13.38

6468 0.24 265.3 2647 721 2428 2310 247.0 9.0 542 6509 0.00 2.42 34.28 1.436 9382 0.000 0.080 2646 2105 2281 2338 2224 0 0 0 0 0 0 14.21 14.10 13.27

6810 0.28 288.1 2646 2107 2334 2215 215.8 8.9 560 6853 0.00 2.53 35.85 1.397 8868 0.000 0.082 2642 718 2184 2241 2127 0 0 0 0 0 0 14.35 13.93 13.29

6888 0.42 329.2 2646 717 2237 2129 209.0 8.1 571 6961 0.22 2.45 64.22 1.294 11430 0.098 0.080 2734 2099 2021 2072 1970 0 0 0 0 0 0 14.02 13.97 13.11

7258 0.34 329.2 2734 2100 2062 1959 157.8 13.2 595 7263 0.15 2.45 0.00 0.000 4740 0.239 0.081 2699 719 2009 2061 1958 0 0 0 0 0 0 13.87 14.04 14.00

7355 0.41 345.0 2699 720 2059 1959 148.3 9.3 614 7384 0.00 2.42 21.15 1.425 9382 0.000 0.077 2699 2100 1955 2005 1905 0 0 0 0 0 0 14.16 14.06 13.28

7711 0.47 374.6 2699 2100 2004 1898 114.3 8.6 635 7761 0.00 2.53 44.50 1.327 8868 0.000 0.083 2699 723 1833 1872 1795 0 0 0 0 0 0 14.37 13.92 13.30

7818 0.63 413.1 2699 724 1865 1795 105.2 8.2 656 7885 0.25 2.45 59.53 1.216 11430 0.090 0.078 2791 2102 1677 1714 1640 0 0 0 0 0 0 13.97 13.90 13.19

8181 0.57 413.1 2791 2103 1711 1627 55.3 12.1 699 8186 0.00 2.50 0.00 0.000 388 0.000 0.083 2791 3511 1668 1710 1627 0 0 0 0 0 0 14.25 13.98 14.27

8281 0.49 413.1 2791 3512 1709 1628 43.4 10.3 719 8286 0.25 2.40 0.00 0.000 5254 0.273 0.064 2740 2130 1667 1708 1626 0 0 0 0 0 0 13.82 14.02 14.09

8592 0.67 523.1 2740 2130 1709 1621 27.2 4.9 751 8656 0.15 2.58 56.30 0.285 10916 0.114 0.088 2808 686 1232 1298 1166 0 0 0 0 0 0 14.13 14.00 13.84

8716 0.82 571.3 2808 686 1296 1164 17.2 7.8 775 8749 0.12 2.50 25.58 0.260 11430 0.134 0.079 2863 2100 1034 1110 958 0 0 0 0 0 0 14.09 14.05 13.81

9034 end climb: SURFACE_DEPTH_REACHED

state 9034 begin surface coast

9074 end surface coast: CONTROL_FINISHED_OK

state 9074 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	53	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	159.0
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	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,200755,7152.3608,-14734.3838,22,0.8,38,21.4,0.3,190.0,10,7.4	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	1.18	MHEAD_RNG_PITCHd_Wd	302.7,164996,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	120817,202501,7152.2705,-14734.4111,5,0.8,16,21.4,0.0,0.0,10,8.6

MODEM_MSG	CACST,6,1,20170812203007.217320,3,50,10,0090,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*37	PM_FREEKB_00	59088896
FINISH	0.0,1.019729	_24V_AH	12.62,67.909
SM_CCo	9095,69.25,0.212,0,0,498,702.78	_10V_AH	12.55,0.000
SM_GC	1.41,8.18,0.17,69.25,0.081,0.126,0.212,203,2211,498,-7.38,-0.79,702.78,0,0,0,0,0,0,14.20,14.19,13.97	FG_AHR_24Vo	0.000
RAFOS_CLK	384	FG_AHR_10Vo	0.000
MODEM	4,1502569807,75.71700,-151.21500,306.467,444882.5	MEM	323828
RAFOS_FIX	7146.153809,-14802.952148,120817,161616,2,255,3.40	DATA_FILE_SIZE	26719,814
IRIDIUM_FIX	7151.67,-14733.32,120817,201652	CAP_FILE_SIZE	113776,0
TT8_MAMPS	0.038948,0.820904	CFSIZE	2097872896,2072150016
HUMID	50.51	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.80105	INTR	0,3845.76,0x2341ea,1,24
TCM_TEMP	13.60	SOUNDSPEED	1459.3
XPDR_PINGS	23	CURRENT	0.029,141.26,1
CP_FREE	16010379264.000000	GPS	120817,225933,7153.270,-14735.761,27,0.7,28,21.4,0.0,0.0,11,8.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	146.50	nil	0	0	0.00
Roll_motor	89	2138	2406.28	nil	0	0	0.00
VBD_pump_during_apogee	871	1702	18720.35	nil	0	0	0.00
VBD_pump_during_surface	69	211	185.19	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	5279	15	1004.98
Iridium_during_xfer	633	175	1399.73	NCP	9100	20	2296.84
Transponder_ping	5	420	30.48	PMAR	9049	16	1891.24
GUMSTIX_24V	0	0	0.00
GPS	17	22	4.96
TT8	0	0	0.00
LPSleep	6625	2	192.09
TT8_Active	957	13	167.95
TT8_Sampling	2316	33	972.00
TT8_CF8	306	38	148.79
TT8_Kalman	0	0	0.00
Analog_circuits	2347	10	294.62
GPS_charging	0	0	0.00
Compass	1164	7	102.27
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
45	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	202	2187	517	467	0.0	0.0	0	131	0.00	0.00	-81.53	0.000	16386	0.000	0.000	201	2187	2155	2073	2237	0	0	0	0	0	0	14.22	28.83	14.23
134	-0.57	-145.9	202	2187	2076	2237	3.4	-4.4	8	186	12.62	2.80	-32.65	0.000	18724	0.457	2.138	2374	3609	3962	3951	3973	0	0	0	0	0	0	13.62	12.90	14.01
346	-0.54	-145.9	2376	3609	3960	3973	54.3	-18.4	50	351	0.12	2.45	0.00	0.000	3206	0.275	0.057	2398	2187	3969	3960	3979	0	0	0	0	0	0	13.82	13.97	14.06
656	-0.57	-145.9	2399	2187	3963	3973	98.3	-12.1	82	664	0.00	2.50	0.00	0.000	388	0.000	0.084	2393	3609	3967	3961	3973	0	0	0	0	0	0	14.33	14.00	14.36
755	-0.73	-145.9	2394	3609	3963	3973	108.5	-9.7	101	760	0.15	2.38	0.00	0.000	5286	0.112	0.053	2336	2185	3964	3956	3973	0	0	0	0	0	0	14.09	14.04	14.16
1080	-0.70	-145.9	2336	2185	3963	3974	157.8	-14.8	116	1086	0.00	2.47	0.00	0.000	388	0.000	0.084	2332	3610	3967	3962	3973	0	0	0	0	0	0	14.35	14.00	14.37
1178	-0.78	-145.9	2333	3611	3962	3973	170.1	-11.9	135	1183	0.00	2.40	0.00	0.000	1158	0.000	0.055	2332	2196	3967	3962	3973	0	0	0	0	0	0	14.26	14.15	14.28
1503	-0.80	-145.9	2332	2197	3963	3971	210.2	-11.5	150	1508	0.00	2.50	0.00	0.000	388	0.000	0.087	2332	3620	3966	3962	3971	0	0	0	0	0	0	14.51	14.16	14.53
1528	-0.85	-145.9	2333	3620	3962	3971	213.0	-11.3	155	1534	0.00	2.40	0.00	0.000	1158	0.000	0.058	2332	2201	3966	3961	3972	0	0	0	0	0	0	14.32	14.21	14.34
1833	-0.91	-145.9	2332	2200	3962	3970	245.4	-10.5	166	1838	0.12	2.47	0.00	0.000	4484	0.138	0.086	2266	3610	3965	3961	3969	0	0	0	0	0	0	14.28	14.19	14.32
1909	-0.88	-145.9	2267	3613	3960	3970	256.1	-14.3	181	1913	0.00	2.40	0.00	0.000	1158	0.000	0.058	2267	2190	3964	3961	3968	0	0	0	0	0	0	14.34	14.23	14.38
2224	-0.81	-145.9	2267	2190	3961	3967	303.4	-14.8	194	2229	0.20	2.50	0.00	0.000	2436	0.297	0.083	2304	3619	3963	3960	3966	0	0	0	0	0	0	13.88	14.21	14.10
2335	-0.89	-145.9	2304	3621	3960	3967	315.8	-10.2	216	2341	0.00	2.40	0.00	0.000	1158	0.000	0.057	2304	2194	3962	3959	3966	0	0	0	0	0	0	14.35	14.25	14.38
2646	-0.89	-145.9	2305	2194	3961	3964	350.8	-11.3	228	2652	0.00	2.50	0.00	0.000	260	0.000	0.086	2300	3621	3961	3959	3964	0	0	0	0	0	0	14.59	14.21	14.60
2717	-0.97	-145.9	2300	3622	3960	3964	358.8	-10.8	242	2722	0.00	2.40	0.00	0.000	1158	0.000	0.057	2300	2196	3961	3958	3964	0	0	0	0	0	0	14.36	14.26	14.39
3037	-0.97	-145.9	2299	2196	3959	3964	395.7	-11.4	256	3043	0.00	2.47	0.00	0.000	260	0.000	0.086	2294	3609	3960	3958	3962	0	0	0	0	0	0	14.59	14.17	14.61
3103	-1.04	-145.9	2294	3610	3958	3963	403.2	-11.0	269	3108	0.15	2.38	0.00	0.000	5254	0.123	0.058	2239	2199	3960	3957	3963	0	0	0	0	0	0	14.28	14.24	14.37
3428	-0.93	-145.9	2240	2198	3957	3961	456.2	-16.7	284	3434	0.17	2.47	0.00	0.000	2436	0.310	0.082	2267	3613	3958	3956	3961	0	0	0	0	0	0	13.87	14.19	14.07
3551	-0.93	-145.9	2267	3615	3954	3962	473.0	-13.2	308	3556	0.00	2.38	0.00	0.000	1030	0.000	0.057	2267	2201	3958	3955	3961	0	0	0	0	0	0	14.34	14.23	14.39
3609	end dive: TARGET_DEPTH_EXCEEDED
state	3609	begin apogee
3615	-0.13	0.0	2268	2062	3956	3961	481.5	-13.9	315	3826	1.05	0.08	207.52	1.426	10246	0.255	0.181	2531	2109	3364	3395	3334	0	0	0	0	0	0	13.95	13.49	12.90
3830	end apogee: CONTROL_FINISHED_OK
state	3830	begin climb
3832	0.57	145.9	2531	2110	3391	3326	491.7	0.0	322	4040	0.73	2.62	194.23	1.414	10756	0.066	0.078	2782	730	2762	2815	2709	0	0	0	0	0	0	13.61	13.22	12.62
4265	0.25	145.9	2784	730	2803	2708	459.2	15.5	402	4271	0.55	2.45	0.00	0.000	5254	0.317	0.075	2667	2094	2753	2801	2706	0	0	0	0	0	0	13.50	13.74	13.81
4586	0.11	145.9	2667	2095	2801	2703	425.0	10.4	416	4592	0.17	2.42	0.00	0.000	4740	0.307	0.076	2634	722	2751	2801	2702	0	0	0	0	0	0	13.77	13.50	13.95
4737	0.12	193.8	2635	721	2802	2703	412.7	7.8	446	4813	0.00	2.42	67.18	1.415	9382	0.000	0.079	2634	2099	2569	2635	2504	0	0	0	0	0	0	14.16	14.05	13.14
5128	0.10	204.9	2634	2100	2628	2489	376.3	9.5	474	5140	0.00	0.00	11.12	1.634	8358	0.000	0.000	2634	2099	2527	2596	2459	0	0	0	0	0	0	14.34	14.03	13.24
5428	0.10	215.6	2634	2099	2590	2446	347.8	9.5	484	5447	0.00	2.47	11.73	1.599	8740	0.000	0.082	2642	724	2483	2551	2415	0	0	0	0	0	0	14.40	14.09	13.31
5478	0.14	221.6	2643	724	2549	2415	342.9	9.7	494	5490	0.00	2.42	7.05	1.703	9382	0.000	0.080	2645	2098	2462	2530	2395	0	0	0	0	0	0	14.19	14.07	13.21
5788	0.14	221.6	2642	2102	2525	2390	311.9	10.0	506	5788	0.00	0.00	0.00	0.000	6	0.000	0.000	2642	2101	2456	2524	2389	0	0	0	0	0	0	14.42	14.45	14.44
6088	0.15	230.8	2643	2101	2524	2388	282.7	9.6	516	6101	0.00	0.00	12.18	1.636	8230	0.000	0.000	2642	2101	2426	2492	2360	0	0	0	0	0	0	14.48	14.16	13.38
6388	0.16	242.9	2642	2102	2485	2356	254.4	9.4	526	6413	0.00	2.42	18.70	1.585	8740	0.000	0.083	2646	720	2371	2432	2311	0	0	0	0	0	0	14.46	14.08	13.38
6468	0.24	265.3	2647	721	2428	2310	247.0	9.0	542	6509	0.00	2.42	34.28	1.436	9382	0.000	0.080	2646	2105	2281	2338	2224	0	0	0	0	0	0	14.21	14.10	13.27
6810	0.28	288.1	2646	2107	2334	2215	215.8	8.9	560	6853	0.00	2.53	35.85	1.397	8868	0.000	0.082	2642	718	2184	2241	2127	0	0	0	0	0	0	14.35	13.93	13.29
6888	0.42	329.2	2646	717	2237	2129	209.0	8.1	571	6961	0.22	2.45	64.22	1.294	11430	0.098	0.080	2734	2099	2021	2072	1970	0	0	0	0	0	0	14.02	13.97	13.11
7258	0.34	329.2	2734	2100	2062	1959	157.8	13.2	595	7263	0.15	2.45	0.00	0.000	4740	0.239	0.081	2699	719	2009	2061	1958	0	0	0	0	0	0	13.87	14.04	14.00
7355	0.41	345.0	2699	720	2059	1959	148.3	9.3	614	7384	0.00	2.42	21.15	1.425	9382	0.000	0.077	2699	2100	1955	2005	1905	0	0	0	0	0	0	14.16	14.06	13.28
7711	0.47	374.6	2699	2100	2004	1898	114.3	8.6	635	7761	0.00	2.53	44.50	1.327	8868	0.000	0.083	2699	723	1833	1872	1795	0	0	0	0	0	0	14.37	13.92	13.30
7818	0.63	413.1	2699	724	1865	1795	105.2	8.2	656	7885	0.25	2.45	59.53	1.216	11430	0.090	0.078	2791	2102	1677	1714	1640	0	0	0	0	0	0	13.97	13.90	13.19
8181	0.57	413.1	2791	2103	1711	1627	55.3	12.1	699	8186	0.00	2.50	0.00	0.000	388	0.000	0.083	2791	3511	1668	1710	1627	0	0	0	0	0	0	14.25	13.98	14.27
8281	0.49	413.1	2791	3512	1709	1628	43.4	10.3	719	8286	0.25	2.40	0.00	0.000	5254	0.273	0.064	2740	2130	1667	1708	1626	0	0	0	0	0	0	13.82	14.02	14.09
8592	0.67	523.1	2740	2130	1709	1621	27.2	4.9	751	8656	0.15	2.58	56.30	0.285	10916	0.114	0.088	2808	686	1232	1298	1166	0	0	0	0	0	0	14.13	14.00	13.84
8716	0.82	571.3	2808	686	1296	1164	17.2	7.8	775	8749	0.12	2.50	25.58	0.260	11430	0.134	0.079	2863	2100	1034	1110	958	0	0	0	0	0	0	14.09	14.05	13.81
9034	end climb: SURFACE_DEPTH_REACHED
state	9034	begin surface coast
9074	end surface coast: CONTROL_FINISHED_OK
state	9074	begin surface