Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 60 * 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 60 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 177.0

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 14 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 177.0 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 60 NOCOMM_ACTION 161 R_STBD_OVSHOOT 14 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 130817,154655,7200.3188,-14746.2344,21,0.7,27,21.3,0.5,236.0,11,9.1 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 1.22 MHEAD_RNG_PITCHd_Wd 336.5,148699,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -71.4 D_GRID 480

GPS2 130817,155931,7200.3574,-14746.6270,6,0.7,35,21.3,0.0,296.2,11,4.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813162211.744627,3,1024,30,0453,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C PM_FREEKB_00 58559936

FINISH 0.2,1.020062 _24V_AH 12.61,71.122

SM_CCo 9261,0.00,0.000,0,0,496,703.77 _10V_AH 12.66,0.000

SM_GC 1.10,8.35,0.17,0.00,0.071,0.143,0.000,199,2203,496,-7.39,-0.57,703.77,0,0,0,0,0,0,14.14,14.09,14.21 FG_AHR_24Vo 0.000

RAFOS_CLK 394 FG_AHR_10Vo 0.000

MODEM 0,1502640320,75.36600,-145.04601,266.588,387050.3 MEM 323660

RAFOS_FIX 7158.345215,-14751.309570,130817,161653,3,255,5.35 DATA_FILE_SIZE 26709,799

IRIDIUM_FIX 7205.95,-14924.97,130817,130637 CAP_FILE_SIZE 104660,0

TT8_MAMPS 0.039697,1.01639 CFSIZE 2097872896,2070183936

HUMID 49.52 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1452.0

TCM_TEMP 13.30 CURRENT 0.084,281.20,1

XPDR_PINGS 6 GPS 130817,183553,7201.643,-14747.146,18,0.7,42,21.3,0.5,56.7,11,9.2

CP_FREE 16009166848.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 147.53 nil 0 0 0.00

Roll_motor 79 2144 2152.35 nil 0 0 0.00

VBD_pump_during_apogee 894 1435 16190.13 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 9208 14 1689.44

Iridium_during_xfer 460 181 1052.19 NCP 9208 20 2322.26

Transponder_ping 1 420 7.94 PMAR 9154 16 1914.44

GUMSTIX_24V 0 0 0.00

GPS 36 22 10.43

TT8 0 0 0.00

LPSleep 6664 2 194.90

TT8_Active 859 13 152.07

TT8_Sampling 2227 33 943.13

TT8_CF8 279 38 136.97

TT8_Kalman 0 0 0.00

Analog_circuits 2101 10 265.99

GPS_charging 0 0 0.00

Compass 1155 7 102.42

RAFOS 2097 48 1274.30

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

44 end surface: CONTROL_FINISHED_OK

state 45 begin dive

48 -0.57 -145.9 172 2194 509 464 0.0 0.0 0 126 0.00 0.00 -77.50 0.000 16386 0.000 0.000 170 2194 2033 1961 2105 0 0 0 0 0 0 14.35 28.83 14.36

129 -0.57 -145.9 171 2193 1967 2110 3.6 -4.5 8 185 12.85 2.83 -37.25 0.000 18724 0.457 2.144 2376 3623 3965 3951 3979 0 0 0 0 0 0 13.62 12.74 14.00

413 -0.57 -145.9 2375 3621 3962 3986 63.2 -15.6 64 418 0.00 2.45 0.00 0.000 1030 0.000 0.057 2377 2196 3970 3961 3979 0 0 0 0 0 0 14.09 13.99 14.12

743 -0.57 -145.9 2377 2198 3962 3980 113.2 -13.7 92 748 0.00 2.53 0.00 0.000 260 0.000 0.084 2363 3618 3971 3963 3979 0 0 0 0 0 0 14.29 14.01 14.31

823 -0.67 -145.9 2367 3620 3964 3979 122.8 -11.2 108 828 0.00 2.42 0.00 0.000 1158 0.000 0.057 2366 2199 3969 3964 3975 0 0 0 0 0 0 14.15 14.05 14.18

1133 -0.71 -145.9 2363 2199 3962 3980 161.1 -11.9 120 1138 0.00 2.53 0.00 0.000 388 0.000 0.087 2358 3617 3971 3963 3979 0 0 0 0 0 0 14.33 13.98 14.34

1173 -0.84 -145.9 2358 3619 3964 3980 165.5 -10.5 128 1178 0.15 2.42 0.00 0.000 5254 0.120 0.057 2294 2198 3971 3963 3979 0 0 0 0 0 0 14.09 14.07 14.14

1493 -0.78 -145.9 2295 2197 3964 3978 216.1 -15.3 142 1498 0.12 2.53 0.00 0.000 2436 0.291 0.084 2319 3618 3969 3963 3976 0 0 0 0 0 0 13.85 14.00 14.01

1629 -0.86 -145.9 2320 3620 3959 3976 232.1 -11.0 169 1633 0.00 2.42 0.00 0.000 1158 0.000 0.057 2319 2199 3969 3963 3976 0 0 0 0 0 0 14.15 14.04 14.17

1943 -0.88 -145.9 2319 2198 3964 3973 267.4 -10.9 182 1948 0.00 2.53 0.00 0.000 388 0.000 0.088 2319 3616 3968 3963 3973 0 0 0 0 0 0 14.35 14.01 14.36

2009 -1.00 -145.9 2319 3617 3963 3974 274.1 -9.6 195 2015 0.20 2.45 0.00 0.000 5286 0.106 0.059 2252 2196 3967 3962 3973 0 0 0 0 0 0 14.09 14.04 14.16

2335 -0.89 -145.9 2247 2196 3963 3971 327.3 -16.4 210 2340 0.17 2.47 0.00 0.000 2436 0.304 0.083 2279 3617 3965 3963 3967 0 0 0 0 0 0 13.76 14.00 13.94

2455 -0.89 -145.9 2280 3620 3963 3970 343.1 -12.3 234 2460 0.00 2.45 0.00 0.000 1030 0.000 0.059 2280 2195 3966 3962 3970 0 0 0 0 0 0 14.14 14.04 14.16

2787 -0.86 -145.9 2279 2193 3963 3968 386.7 -13.1 250 2792 0.00 2.53 0.00 0.000 388 0.000 0.086 2270 3623 3964 3962 3967 0 0 0 0 0 0 14.44 14.08 14.46

2877 -0.86 -145.9 2271 3625 3963 3967 398.8 -12.8 268 2882 0.12 2.42 0.00 0.000 3078 0.263 0.059 2294 2201 3964 3962 3966 0 0 0 0 0 0 13.93 14.13 14.16

3208 -0.86 -145.9 2294 2201 3960 3966 437.1 -11.4 284 3212 0.00 2.50 0.00 0.000 260 0.000 0.086 2287 3621 3964 3962 3966 0 0 0 0 0 0 14.50 14.12 14.52

3268 -0.92 -145.9 2287 3621 3963 3966 444.0 -11.2 296 3272 0.00 2.40 0.00 0.000 1158 0.000 0.060 2286 2207 3963 3962 3965 0 0 0 0 0 0 14.31 14.19 14.33

3595 end dive: TARGET_DEPTH_EXCEEDED

state 3595 begin apogee

3601 -0.13 0.0 2287 2061 3962 3965 483.1 -11.9 312 3820 0.95 0.10 215.90 1.405 10246 0.236 0.158 2530 2124 3364 3406 3323 0 0 0 0 0 0 13.93 13.45 12.84

3824 end apogee: CONTROL_FINISHED_OK

state 3824 begin climb

3828 0.57 145.9 2531 2125 3396 3313 493.2 0.0 319 4038 0.75 2.62 197.05 1.347 10756 0.067 0.079 2793 720 2762 2822 2702 0 0 0 0 0 0 13.57 13.22 12.61

4263 0.23 145.9 2794 721 2802 2700 457.7 16.5 400 4269 0.62 2.47 0.00 0.000 5254 0.323 0.076 2662 2098 2749 2801 2698 0 0 0 0 0 0 13.49 13.74 13.81

4580 0.09 145.9 2663 2099 2802 2695 424.5 10.0 413 4585 0.17 2.42 0.00 0.000 4740 0.307 0.077 2630 723 2748 2801 2696 0 0 0 0 0 0 13.77 14.00 13.95

4790 0.12 187.7 2630 723 2801 2697 407.9 8.1 455 4855 0.00 2.42 58.45 1.350 9254 0.000 0.079 2630 2107 2596 2661 2532 0 0 0 0 0 0 14.19 14.07 13.21

5181 0.11 207.2 2630 2108 2650 2509 372.6 9.1 483 5205 0.00 0.00 23.48 1.435 8358 0.000 0.000 2630 2107 2525 2593 2457 0 0 0 0 0 0 14.35 14.01 13.33

5481 0.13 227.5 2630 2108 2577 2434 345.3 9.1 493 5511 0.00 0.00 27.27 1.408 8230 0.000 0.000 2630 2107 2435 2503 2368 0 0 0 0 0 0 14.39 14.00 13.32

5811 0.14 244.9 2631 2107 2492 2357 314.6 9.2 504 5842 0.00 0.00 25.92 1.427 8230 0.000 0.000 2630 2107 2358 2418 2298 0 0 0 0 0 0 14.40 13.86 13.32

6141 0.18 266.6 2630 2107 2414 2290 285.0 9.0 515 6174 0.00 0.00 31.50 1.388 8358 0.000 0.000 2630 2107 2278 2340 2217 0 0 0 0 0 0 14.40 14.01 13.32

6471 0.25 290.0 2630 2108 2331 2202 255.3 8.9 526 6512 0.00 2.53 33.90 1.372 8868 0.000 0.085 2630 723 2177 2238 2116 0 0 0 0 0 0 14.41 13.96 13.30

6547 0.42 326.0 2630 723 2232 2115 248.7 8.3 541 6608 0.28 2.45 54.38 1.307 11430 0.090 0.079 2735 2110 2035 2088 1983 0 0 0 0 0 0 14.04 14.02 13.17

6924 0.33 326.0 2735 2112 2076 1971 191.6 14.6 566 6929 0.17 2.45 0.00 0.000 4740 0.240 0.081 2699 724 2023 2076 1970 0 0 0 0 0 0 13.90 14.00 14.05

6959 0.36 326.0 2700 723 2075 1970 187.4 11.1 573 6964 0.00 2.42 0.00 0.000 1158 0.000 0.078 2699 2103 2022 2074 1970 0 0 0 0 0 0 14.19 14.04 14.20

7284 0.36 326.0 2699 2106 2075 1971 153.0 10.2 588 7290 0.00 2.42 0.00 0.000 516 0.000 0.085 2699 725 2021 2073 1969 0 0 0 0 0 0 14.45 14.09 14.47

7325 0.42 327.2 2699 725 2073 1970 148.9 9.9 596 7331 0.00 2.40 0.00 0.000 1190 0.000 0.079 2699 2103 2020 2072 1969 0 0 0 0 0 0 14.30 14.17 14.33

7646 0.44 357.6 2699 2104 2073 1968 119.8 8.6 610 7693 0.00 0.00 45.38 1.288 8230 0.000 0.000 2699 2103 1909 1953 1865 0 0 0 0 0 0 14.50 14.00 13.38

7978 0.53 409.7 2700 2103 1942 1855 93.1 7.6 627 8011 0.12 2.50 27.10 0.492 10916 0.134 0.085 2768 723 1693 1728 1659 0 0 0 0 0 0 14.12 14.02 13.62

8056 0.53 409.7 2768 724 1729 1660 84.2 11.7 642 8062 0.00 2.42 0.00 0.000 1030 0.000 0.080 2769 2099 1693 1728 1659 0 0 0 0 0 0 14.16 14.04 14.19

8361 0.53 409.7 2769 2100 1729 1652 49.3 10.3 673 8366 0.00 2.42 0.00 0.000 516 0.000 0.086 2768 724 1690 1728 1652 0 0 0 0 0 0 14.38 14.08 14.42

8411 0.59 428.7 2769 725 1727 1652 44.4 9.1 683 8428 0.00 2.42 9.98 0.338 9382 0.000 0.078 2768 2109 1616 1656 1577 0 0 0 0 0 0 14.23 14.09 13.79

8733 0.68 508.3 2769 2109 1656 1574 22.2 6.3 717 8781 0.00 2.45 42.08 0.275 8868 0.000 0.083 2768 724 1288 1349 1227 0 0 0 0 0 0 14.43 13.98 13.81

9006 1.09 707.0 2769 725 1346 1222 14.1 0.8 771 9116 0.52 2.42 102.25 0.247 11430 0.109 0.078 2937 2110 497 534 460 0 0 0 0 0 0 14.07 14.11 13.88

9170 end climb: SURFACE_DEPTH_REACHED

state 9170 begin surface coast

9181 end surface coast: CONTROL_FINISHED_OK

state 9181 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	60	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	177.0
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	14	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,154655,7200.3188,-14746.2344,21,0.7,27,21.3,0.5,236.0,11,9.1	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	1.22	MHEAD_RNG_PITCHd_Wd	336.5,148699,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-71.4	D_GRID	480
GPS2	130817,155931,7200.3574,-14746.6270,6,0.7,35,21.3,0.0,296.2,11,4.3

MODEM_MSG	CACST,6,1,20170813162211.744627,3,1024,30,0453,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	PM_FREEKB_00	58559936
FINISH	0.2,1.020062	_24V_AH	12.61,71.122
SM_CCo	9261,0.00,0.000,0,0,496,703.77	_10V_AH	12.66,0.000
SM_GC	1.10,8.35,0.17,0.00,0.071,0.143,0.000,199,2203,496,-7.39,-0.57,703.77,0,0,0,0,0,0,14.14,14.09,14.21	FG_AHR_24Vo	0.000
RAFOS_CLK	394	FG_AHR_10Vo	0.000
MODEM	0,1502640320,75.36600,-145.04601,266.588,387050.3	MEM	323660
RAFOS_FIX	7158.345215,-14751.309570,130817,161653,3,255,5.35	DATA_FILE_SIZE	26709,799
IRIDIUM_FIX	7205.95,-14924.97,130817,130637	CAP_FILE_SIZE	104660,0
TT8_MAMPS	0.039697,1.01639	CFSIZE	2097872896,2070183936
HUMID	49.52	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1452.0
TCM_TEMP	13.30	CURRENT	0.084,281.20,1
XPDR_PINGS	6	GPS	130817,183553,7201.643,-14747.146,18,0.7,42,21.3,0.5,56.7,11,9.2
CP_FREE	16009166848.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	147.53	nil	0	0	0.00
Roll_motor	79	2144	2152.35	nil	0	0	0.00
VBD_pump_during_apogee	894	1435	16190.13	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	9208	14	1689.44
Iridium_during_xfer	460	181	1052.19	NCP	9208	20	2322.26
Transponder_ping	1	420	7.94	PMAR	9154	16	1914.44
GUMSTIX_24V	0	0	0.00
GPS	36	22	10.43
TT8	0	0	0.00
LPSleep	6664	2	194.90
TT8_Active	859	13	152.07
TT8_Sampling	2227	33	943.13
TT8_CF8	279	38	136.97
TT8_Kalman	0	0	0.00
Analog_circuits	2101	10	265.99
GPS_charging	0	0	0.00
Compass	1155	7	102.42
RAFOS	2097	48	1274.30
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
44	end surface: CONTROL_FINISHED_OK
state	45	begin dive
48	-0.57	-145.9	172	2194	509	464	0.0	0.0	0	126	0.00	0.00	-77.50	0.000	16386	0.000	0.000	170	2194	2033	1961	2105	0	0	0	0	0	0	14.35	28.83	14.36
129	-0.57	-145.9	171	2193	1967	2110	3.6	-4.5	8	185	12.85	2.83	-37.25	0.000	18724	0.457	2.144	2376	3623	3965	3951	3979	0	0	0	0	0	0	13.62	12.74	14.00
413	-0.57	-145.9	2375	3621	3962	3986	63.2	-15.6	64	418	0.00	2.45	0.00	0.000	1030	0.000	0.057	2377	2196	3970	3961	3979	0	0	0	0	0	0	14.09	13.99	14.12
743	-0.57	-145.9	2377	2198	3962	3980	113.2	-13.7	92	748	0.00	2.53	0.00	0.000	260	0.000	0.084	2363	3618	3971	3963	3979	0	0	0	0	0	0	14.29	14.01	14.31
823	-0.67	-145.9	2367	3620	3964	3979	122.8	-11.2	108	828	0.00	2.42	0.00	0.000	1158	0.000	0.057	2366	2199	3969	3964	3975	0	0	0	0	0	0	14.15	14.05	14.18
1133	-0.71	-145.9	2363	2199	3962	3980	161.1	-11.9	120	1138	0.00	2.53	0.00	0.000	388	0.000	0.087	2358	3617	3971	3963	3979	0	0	0	0	0	0	14.33	13.98	14.34
1173	-0.84	-145.9	2358	3619	3964	3980	165.5	-10.5	128	1178	0.15	2.42	0.00	0.000	5254	0.120	0.057	2294	2198	3971	3963	3979	0	0	0	0	0	0	14.09	14.07	14.14
1493	-0.78	-145.9	2295	2197	3964	3978	216.1	-15.3	142	1498	0.12	2.53	0.00	0.000	2436	0.291	0.084	2319	3618	3969	3963	3976	0	0	0	0	0	0	13.85	14.00	14.01
1629	-0.86	-145.9	2320	3620	3959	3976	232.1	-11.0	169	1633	0.00	2.42	0.00	0.000	1158	0.000	0.057	2319	2199	3969	3963	3976	0	0	0	0	0	0	14.15	14.04	14.17
1943	-0.88	-145.9	2319	2198	3964	3973	267.4	-10.9	182	1948	0.00	2.53	0.00	0.000	388	0.000	0.088	2319	3616	3968	3963	3973	0	0	0	0	0	0	14.35	14.01	14.36
2009	-1.00	-145.9	2319	3617	3963	3974	274.1	-9.6	195	2015	0.20	2.45	0.00	0.000	5286	0.106	0.059	2252	2196	3967	3962	3973	0	0	0	0	0	0	14.09	14.04	14.16
2335	-0.89	-145.9	2247	2196	3963	3971	327.3	-16.4	210	2340	0.17	2.47	0.00	0.000	2436	0.304	0.083	2279	3617	3965	3963	3967	0	0	0	0	0	0	13.76	14.00	13.94
2455	-0.89	-145.9	2280	3620	3963	3970	343.1	-12.3	234	2460	0.00	2.45	0.00	0.000	1030	0.000	0.059	2280	2195	3966	3962	3970	0	0	0	0	0	0	14.14	14.04	14.16
2787	-0.86	-145.9	2279	2193	3963	3968	386.7	-13.1	250	2792	0.00	2.53	0.00	0.000	388	0.000	0.086	2270	3623	3964	3962	3967	0	0	0	0	0	0	14.44	14.08	14.46
2877	-0.86	-145.9	2271	3625	3963	3967	398.8	-12.8	268	2882	0.12	2.42	0.00	0.000	3078	0.263	0.059	2294	2201	3964	3962	3966	0	0	0	0	0	0	13.93	14.13	14.16
3208	-0.86	-145.9	2294	2201	3960	3966	437.1	-11.4	284	3212	0.00	2.50	0.00	0.000	260	0.000	0.086	2287	3621	3964	3962	3966	0	0	0	0	0	0	14.50	14.12	14.52
3268	-0.92	-145.9	2287	3621	3963	3966	444.0	-11.2	296	3272	0.00	2.40	0.00	0.000	1158	0.000	0.060	2286	2207	3963	3962	3965	0	0	0	0	0	0	14.31	14.19	14.33
3595	end dive: TARGET_DEPTH_EXCEEDED
state	3595	begin apogee
3601	-0.13	0.0	2287	2061	3962	3965	483.1	-11.9	312	3820	0.95	0.10	215.90	1.405	10246	0.236	0.158	2530	2124	3364	3406	3323	0	0	0	0	0	0	13.93	13.45	12.84
3824	end apogee: CONTROL_FINISHED_OK
state	3824	begin climb
3828	0.57	145.9	2531	2125	3396	3313	493.2	0.0	319	4038	0.75	2.62	197.05	1.347	10756	0.067	0.079	2793	720	2762	2822	2702	0	0	0	0	0	0	13.57	13.22	12.61
4263	0.23	145.9	2794	721	2802	2700	457.7	16.5	400	4269	0.62	2.47	0.00	0.000	5254	0.323	0.076	2662	2098	2749	2801	2698	0	0	0	0	0	0	13.49	13.74	13.81
4580	0.09	145.9	2663	2099	2802	2695	424.5	10.0	413	4585	0.17	2.42	0.00	0.000	4740	0.307	0.077	2630	723	2748	2801	2696	0	0	0	0	0	0	13.77	14.00	13.95
4790	0.12	187.7	2630	723	2801	2697	407.9	8.1	455	4855	0.00	2.42	58.45	1.350	9254	0.000	0.079	2630	2107	2596	2661	2532	0	0	0	0	0	0	14.19	14.07	13.21
5181	0.11	207.2	2630	2108	2650	2509	372.6	9.1	483	5205	0.00	0.00	23.48	1.435	8358	0.000	0.000	2630	2107	2525	2593	2457	0	0	0	0	0	0	14.35	14.01	13.33
5481	0.13	227.5	2630	2108	2577	2434	345.3	9.1	493	5511	0.00	0.00	27.27	1.408	8230	0.000	0.000	2630	2107	2435	2503	2368	0	0	0	0	0	0	14.39	14.00	13.32
5811	0.14	244.9	2631	2107	2492	2357	314.6	9.2	504	5842	0.00	0.00	25.92	1.427	8230	0.000	0.000	2630	2107	2358	2418	2298	0	0	0	0	0	0	14.40	13.86	13.32
6141	0.18	266.6	2630	2107	2414	2290	285.0	9.0	515	6174	0.00	0.00	31.50	1.388	8358	0.000	0.000	2630	2107	2278	2340	2217	0	0	0	0	0	0	14.40	14.01	13.32
6471	0.25	290.0	2630	2108	2331	2202	255.3	8.9	526	6512	0.00	2.53	33.90	1.372	8868	0.000	0.085	2630	723	2177	2238	2116	0	0	0	0	0	0	14.41	13.96	13.30
6547	0.42	326.0	2630	723	2232	2115	248.7	8.3	541	6608	0.28	2.45	54.38	1.307	11430	0.090	0.079	2735	2110	2035	2088	1983	0	0	0	0	0	0	14.04	14.02	13.17
6924	0.33	326.0	2735	2112	2076	1971	191.6	14.6	566	6929	0.17	2.45	0.00	0.000	4740	0.240	0.081	2699	724	2023	2076	1970	0	0	0	0	0	0	13.90	14.00	14.05
6959	0.36	326.0	2700	723	2075	1970	187.4	11.1	573	6964	0.00	2.42	0.00	0.000	1158	0.000	0.078	2699	2103	2022	2074	1970	0	0	0	0	0	0	14.19	14.04	14.20
7284	0.36	326.0	2699	2106	2075	1971	153.0	10.2	588	7290	0.00	2.42	0.00	0.000	516	0.000	0.085	2699	725	2021	2073	1969	0	0	0	0	0	0	14.45	14.09	14.47
7325	0.42	327.2	2699	725	2073	1970	148.9	9.9	596	7331	0.00	2.40	0.00	0.000	1190	0.000	0.079	2699	2103	2020	2072	1969	0	0	0	0	0	0	14.30	14.17	14.33
7646	0.44	357.6	2699	2104	2073	1968	119.8	8.6	610	7693	0.00	0.00	45.38	1.288	8230	0.000	0.000	2699	2103	1909	1953	1865	0	0	0	0	0	0	14.50	14.00	13.38
7978	0.53	409.7	2700	2103	1942	1855	93.1	7.6	627	8011	0.12	2.50	27.10	0.492	10916	0.134	0.085	2768	723	1693	1728	1659	0	0	0	0	0	0	14.12	14.02	13.62
8056	0.53	409.7	2768	724	1729	1660	84.2	11.7	642	8062	0.00	2.42	0.00	0.000	1030	0.000	0.080	2769	2099	1693	1728	1659	0	0	0	0	0	0	14.16	14.04	14.19
8361	0.53	409.7	2769	2100	1729	1652	49.3	10.3	673	8366	0.00	2.42	0.00	0.000	516	0.000	0.086	2768	724	1690	1728	1652	0	0	0	0	0	0	14.38	14.08	14.42
8411	0.59	428.7	2769	725	1727	1652	44.4	9.1	683	8428	0.00	2.42	9.98	0.338	9382	0.000	0.078	2768	2109	1616	1656	1577	0	0	0	0	0	0	14.23	14.09	13.79
8733	0.68	508.3	2769	2109	1656	1574	22.2	6.3	717	8781	0.00	2.45	42.08	0.275	8868	0.000	0.083	2768	724	1288	1349	1227	0	0	0	0	0	0	14.43	13.98	13.81
9006	1.09	707.0	2769	725	1346	1222	14.1	0.8	771	9116	0.52	2.42	102.25	0.247	11430	0.109	0.078	2937	2110	497	534	460	0	0	0	0	0	0	14.07	14.11	13.88
9170	end climb: SURFACE_DEPTH_REACHED
state	9170	begin surface coast
9181	end surface coast: CONTROL_FINISHED_OK
state	9181	begin surface