Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 65 * 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 65 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 189.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 28 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 189.0 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 22 VBD_MIN 500

DIVE 65 NOCOMM_ACTION 161 R_STBD_OVSHOOT 28 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 140817,060718,7206.3184,-14753.5664,15,0.7,24,21.3,1.2,41.0,12,9.5 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 1.28 MHEAD_RNG_PITCHd_Wd 317.4,137178,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.8 D_GRID 480

GPS2 140817,061331,7206.3418,-14753.6104,8,0.7,37,21.3,0.0,65.3,11,8.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814082947.565033,3,96,07,0133,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A PM_FREEKB_00 58177856

FINISH 0.4,1.020104 _24V_AH 12.59,73.479

SM_CCo 8859,0.00,0.000,0,0,493,705.24 _10V_AH 12.63,0.000

SM_GC 1.35,8.25,0.17,0.00,0.071,0.142,0.000,200,2203,493,-7.36,-0.65,705.24,0,0,0,0,0,0,14.07,14.00,14.13 FG_AHR_24Vo 0.000

RAFOS_CLK 121 FG_AHR_10Vo 0.000

MODEM 0,1502697912,75.36600,-145.04601,258.881,374516.8 MEM 323636

RAFOS_FIX 7314.406250,-15445.173828,140817,080852,4,255,34.25 DATA_FILE_SIZE 26755,781

IRIDIUM_FIX 7207.78,-14744.08,140817,032438 CAP_FILE_SIZE 101925,0

TT8_MAMPS 0.084637,0.850115 CFSIZE 2097872896,2068709376

HUMID 45.82 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1451.9

TCM_TEMP 13.60 CURRENT 0.022,270.11,1

XPDR_PINGS 6 GPS 140817,084251,7207.491,-14754.589,20,0.7,25,21.3,0.5,83.1,11,9.6

CP_FREE 16008347648.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 148.80 nil 0 0 0.00

Roll_motor 84 2155 2305.64 nil 0 0 0.00

VBD_pump_during_apogee 921 1476 17128.38 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 8771 14 1653.75

Iridium_during_xfer 131 139 230.59 NCP 8808 20 2217.85

Transponder_ping 1 420 7.93 PMAR 8755 16 1826.99

GUMSTIX_24V 0 0 0.00

GPS 39 22 11.13

TT8 0 0 0.00

LPSleep 6308 2 184.05

TT8_Active 900 13 158.83

TT8_Sampling 1814 33 766.23

TT8_CF8 219 38 107.23

TT8_Kalman 0 0 0.00

Analog_circuits 1780 10 224.91

GPS_charging 0 0 0.00

Compass 1119 7 98.98

RAFOS 2202 48 1334.94

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 -145.9 178 2220 512 477 0.0 0.0 0 129 0.00 0.00 -81.18 0.000 16386 0.000 0.000 174 2220 2049 1980 2118 0 0 0 0 0 0 14.43 28.83 14.45

132 -0.57 -145.9 175 2219 1982 2119 3.0 -2.9 8 186 12.70 2.75 -36.58 0.000 18724 0.459 2.156 2373 3603 3964 3945 3984 0 0 0 0 0 0 13.76 12.74 14.02

411 -0.57 -145.9 2374 3604 3956 3980 64.1 -15.1 63 418 0.00 2.42 0.00 0.000 1030 0.000 0.058 2374 2187 3969 3955 3984 0 0 0 0 0 0 14.21 14.09 14.24

738 -0.57 -145.9 2373 2186 3959 3985 113.5 -14.1 90 743 0.00 2.50 0.00 0.000 260 0.000 0.083 2365 3608 3969 3957 3982 0 0 0 0 0 0 14.45 14.12 14.47

893 -0.67 -145.9 2364 3609 3959 3985 131.9 -11.5 121 898 0.00 2.40 0.00 0.000 1158 0.000 0.057 2365 2193 3968 3953 3984 0 0 0 0 0 0 14.27 14.16 14.29

1218 -0.73 -145.9 2365 2192 3959 3984 171.1 -11.8 136 1219 0.00 0.00 0.00 0.000 134 0.000 0.000 2365 2191 3971 3958 3984 0 0 0 0 0 0 14.51 14.53 14.52

1518 -0.81 -145.9 2365 2191 3959 3984 203.1 -10.2 146 1523 0.15 2.47 0.00 0.000 4484 0.126 0.084 2293 3602 3971 3958 3984 0 0 0 0 0 0 14.21 14.19 14.24

1598 -0.81 -145.9 2293 3604 3958 3985 214.3 -14.2 162 1603 0.00 2.40 0.00 0.000 1030 0.000 0.059 2293 2189 3971 3958 3984 0 0 0 0 0 0 14.26 14.17 14.29

1908 -0.77 -145.9 2293 2189 3958 3984 258.8 -13.9 174 1914 0.15 2.50 0.00 0.000 2436 0.275 0.083 2319 3602 3970 3957 3983 0 0 0 0 0 0 13.97 14.16 14.13

1979 -0.87 -145.9 2320 3603 3958 3983 266.5 -9.8 188 1985 0.00 2.38 0.00 0.000 1190 0.000 0.057 2319 2199 3969 3956 3983 0 0 0 0 0 0 14.34 14.23 14.38

2300 -0.91 -145.9 2319 2199 3957 3983 300.8 -10.6 202 2305 0.00 2.47 0.00 0.000 388 0.000 0.088 2319 3605 3969 3956 3982 0 0 0 0 0 0 14.54 14.16 14.56

2350 -1.03 -145.9 2319 3606 3956 3983 305.8 -9.6 212 2356 0.22 2.40 0.00 0.000 5286 0.100 0.060 2238 2192 3968 3955 3982 0 0 0 0 0 0 14.25 14.20 14.33

2662 -0.91 -145.9 2238 2191 3955 3981 358.1 -17.0 224 2667 0.17 2.47 0.00 0.000 2436 0.310 0.082 2267 3605 3967 3954 3981 0 0 0 0 0 0 13.86 14.16 14.07

2774 -0.91 -145.9 2268 3606 3955 3981 373.6 -13.1 246 2779 0.00 2.38 0.00 0.000 1030 0.000 0.058 2267 2200 3967 3954 3981 0 0 0 0 0 0 14.33 14.22 14.36

3084 -0.86 -145.9 2267 2200 3952 3982 417.8 -14.3 258 3089 0.12 2.47 0.00 0.000 2436 0.317 0.082 2285 3610 3966 3954 3978 0 0 0 0 0 0 13.89 14.16 14.09

3164 -0.91 -145.9 2286 3610 3955 3980 427.8 -11.6 274 3169 0.00 2.38 0.00 0.000 1158 0.000 0.059 2285 2201 3966 3953 3980 0 0 0 0 0 0 14.16 14.11 14.23

3474 -0.91 -145.9 2285 2201 3954 3979 466.0 -12.4 286 3479 0.00 2.47 0.00 0.000 260 0.000 0.085 2280 3610 3965 3953 3978 0 0 0 0 0 0 14.54 14.15 14.56

3545 -0.96 -145.9 2280 3610 3954 3979 474.5 -11.7 300 3550 0.00 2.40 0.00 0.000 1158 0.000 0.059 2280 2194 3966 3953 3979 0 0 0 0 0 0 14.31 14.21 14.35

3593 end dive: TARGET_DEPTH_EXCEEDED

state 3593 begin apogee

3599 -0.13 0.0 2283 2070 3953 3980 480.7 -12.4 305 3816 0.98 0.00 213.85 1.431 10246 0.245 0.000 2528 2069 3365 3392 3339 0 0 0 0 0 0 13.95 13.49 12.83

3820 end apogee: CONTROL_FINISHED_OK

state 3820 begin climb

3822 0.57 145.9 2529 2069 3384 3330 490.9 0.0 312 4031 0.75 2.70 197.38 1.379 10500 0.068 0.075 2781 3504 2763 2811 2716 0 0 0 0 0 0 13.56 13.10 12.59

4256 0.15 145.9 2781 3506 2792 2715 454.7 17.6 393 4263 0.75 2.42 0.00 0.000 5254 0.347 0.058 2637 2120 2752 2790 2715 0 0 0 0 0 0 13.45 13.77 13.78

4573 0.09 179.5 2637 2120 2791 2716 426.1 8.5 406 4623 0.00 2.55 45.78 1.418 8612 0.000 0.082 2638 3504 2628 2675 2581 0 0 0 0 0 0 14.29 13.83 13.13

4709 0.01 179.5 2638 3505 2666 2578 412.7 10.5 433 4715 0.25 2.45 0.00 0.000 5254 0.249 0.060 2589 2097 2621 2665 2577 0 0 0 0 0 0 13.76 13.94 14.00

5025 0.11 253.7 2590 2097 2666 2574 391.4 6.6 446 5140 0.00 2.58 109.50 1.349 8868 0.000 0.086 2589 694 2326 2378 2274 0 0 0 0 0 0 14.38 13.57 13.06

5175 0.33 320.0 2589 689 2375 2273 381.1 6.9 476 5281 0.30 2.55 97.57 1.311 11430 0.087 0.080 2696 2097 2057 2108 2006 0 0 0 0 0 0 13.80 13.76 12.87

5598 0.28 320.0 2696 2098 2095 1991 320.6 14.5 510 5603 0.00 2.53 0.00 0.000 644 0.000 0.086 2699 689 2042 2095 1990 0 0 0 0 0 0 14.19 13.85 14.21

5638 0.28 320.0 2699 689 2093 1990 314.8 14.2 518 5643 0.00 2.50 0.00 0.000 1030 0.000 0.077 2699 2099 2040 2091 1990 0 0 0 0 0 0 14.06 13.92 14.07

5958 0.24 320.0 2698 2104 2092 1988 268.6 14.6 532 5963 0.15 2.50 0.00 0.000 4740 0.234 0.086 2661 691 2039 2091 1988 0 0 0 0 0 0 13.95 14.10 14.12

5993 0.32 320.0 2662 691 2091 1988 264.4 10.9 539 5998 0.00 2.47 0.00 0.000 1158 0.000 0.079 2662 2108 2038 2089 1988 0 0 0 0 0 0 14.25 14.16 14.28

6338 0.35 320.0 2663 2109 2090 1987 229.6 10.3 554 6342 0.00 2.50 0.00 0.000 644 0.000 0.086 2661 689 2038 2089 1988 0 0 0 0 0 0 14.40 14.09 14.41

6373 0.46 332.7 2662 690 2090 1986 224.3 9.4 561 6393 0.20 2.50 13.35 1.476 11430 0.107 0.079 2742 2111 2005 2055 1956 0 0 0 0 0 0 14.14 14.12 13.40

6700 0.37 332.7 2749 2117 2048 1952 176.6 14.3 576 6705 0.15 2.50 0.00 0.000 4740 0.239 0.083 2709 691 2001 2052 1950 0 0 0 0 0 0 13.92 14.07 14.06

6730 0.37 332.7 2710 691 2051 1947 172.8 10.9 582 6735 0.00 2.47 0.00 0.000 1030 0.000 0.079 2709 2096 2000 2050 1950 0 0 0 0 0 0 14.19 14.07 14.21

7060 0.37 332.7 2710 2097 2051 1949 138.0 10.2 598 7061 0.00 0.00 0.00 0.000 6 0.000 0.000 2710 2097 1999 2049 1949 0 0 0 0 0 0 14.36 14.38 14.38

7360 0.38 350.8 2710 2098 2050 1949 109.2 9.2 608 7392 0.00 2.50 24.08 1.371 8740 0.000 0.083 2710 689 1930 1975 1885 0 0 0 0 0 0 14.35 14.02 13.37

7437 0.48 380.2 2710 690 1973 1886 102.4 8.6 623 7489 0.00 2.50 46.30 1.265 9382 0.000 0.078 2709 2108 1814 1850 1779 0 0 0 0 0 0 14.03 13.93 13.21

7794 0.58 424.2 2710 2108 1842 1766 71.7 8.0 664 7827 0.15 2.60 23.42 0.421 10916 0.122 0.086 2781 691 1633 1666 1600 0 0 0 0 0 0 14.01 13.85 13.62

7884 0.58 424.2 2781 692 1666 1601 61.1 12.2 681 7891 0.00 2.53 0.00 0.000 1030 0.000 0.077 2780 2106 1634 1668 1600 0 0 0 0 0 0 14.04 13.93 14.07

8188 0.62 480.0 2782 2104 1669 1592 30.6 7.4 712 8219 0.00 0.00 30.02 0.297 8486 0.000 0.000 2781 2111 1406 1456 1357 0 0 0 0 0 0 14.28 14.04 13.77

8518 0.96 721.8 2781 2107 1457 1348 15.6 -1.2 747 8643 0.30 0.00 120.20 0.251 10918 0.091 0.000 2891 2106 499 537 462 0 0 0 0 0 0 14.03 13.94 13.71

8756 end climb: SURFACE_DEPTH_REACHED

state 8756 begin surface coast

8776 end surface coast: CONTROL_FINISHED_OK

state 8778 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	65	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	189.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	28	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,060718,7206.3184,-14753.5664,15,0.7,24,21.3,1.2,41.0,12,9.5	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	1.28	MHEAD_RNG_PITCHd_Wd	317.4,137178,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.8	D_GRID	480
GPS2	140817,061331,7206.3418,-14753.6104,8,0.7,37,21.3,0.0,65.3,11,8.7

MODEM_MSG	CACST,6,1,20170814082947.565033,3,96,07,0133,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3A	PM_FREEKB_00	58177856
FINISH	0.4,1.020104	_24V_AH	12.59,73.479
SM_CCo	8859,0.00,0.000,0,0,493,705.24	_10V_AH	12.63,0.000
SM_GC	1.35,8.25,0.17,0.00,0.071,0.142,0.000,200,2203,493,-7.36,-0.65,705.24,0,0,0,0,0,0,14.07,14.00,14.13	FG_AHR_24Vo	0.000
RAFOS_CLK	121	FG_AHR_10Vo	0.000
MODEM	0,1502697912,75.36600,-145.04601,258.881,374516.8	MEM	323636
RAFOS_FIX	7314.406250,-15445.173828,140817,080852,4,255,34.25	DATA_FILE_SIZE	26755,781
IRIDIUM_FIX	7207.78,-14744.08,140817,032438	CAP_FILE_SIZE	101925,0
TT8_MAMPS	0.084637,0.850115	CFSIZE	2097872896,2068709376
HUMID	45.82	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1451.9
TCM_TEMP	13.60	CURRENT	0.022,270.11,1
XPDR_PINGS	6	GPS	140817,084251,7207.491,-14754.589,20,0.7,25,21.3,0.5,83.1,11,9.6
CP_FREE	16008347648.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	148.80	nil	0	0	0.00
Roll_motor	84	2155	2305.64	nil	0	0	0.00
VBD_pump_during_apogee	921	1476	17128.38	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	8771	14	1653.75
Iridium_during_xfer	131	139	230.59	NCP	8808	20	2217.85
Transponder_ping	1	420	7.93	PMAR	8755	16	1826.99
GUMSTIX_24V	0	0	0.00
GPS	39	22	11.13
TT8	0	0	0.00
LPSleep	6308	2	184.05
TT8_Active	900	13	158.83
TT8_Sampling	1814	33	766.23
TT8_CF8	219	38	107.23
TT8_Kalman	0	0	0.00
Analog_circuits	1780	10	224.91
GPS_charging	0	0	0.00
Compass	1119	7	98.98
RAFOS	2202	48	1334.94
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	178	2220	512	477	0.0	0.0	0	129	0.00	0.00	-81.18	0.000	16386	0.000	0.000	174	2220	2049	1980	2118	0	0	0	0	0	0	14.43	28.83	14.45
132	-0.57	-145.9	175	2219	1982	2119	3.0	-2.9	8	186	12.70	2.75	-36.58	0.000	18724	0.459	2.156	2373	3603	3964	3945	3984	0	0	0	0	0	0	13.76	12.74	14.02
411	-0.57	-145.9	2374	3604	3956	3980	64.1	-15.1	63	418	0.00	2.42	0.00	0.000	1030	0.000	0.058	2374	2187	3969	3955	3984	0	0	0	0	0	0	14.21	14.09	14.24
738	-0.57	-145.9	2373	2186	3959	3985	113.5	-14.1	90	743	0.00	2.50	0.00	0.000	260	0.000	0.083	2365	3608	3969	3957	3982	0	0	0	0	0	0	14.45	14.12	14.47
893	-0.67	-145.9	2364	3609	3959	3985	131.9	-11.5	121	898	0.00	2.40	0.00	0.000	1158	0.000	0.057	2365	2193	3968	3953	3984	0	0	0	0	0	0	14.27	14.16	14.29
1218	-0.73	-145.9	2365	2192	3959	3984	171.1	-11.8	136	1219	0.00	0.00	0.00	0.000	134	0.000	0.000	2365	2191	3971	3958	3984	0	0	0	0	0	0	14.51	14.53	14.52
1518	-0.81	-145.9	2365	2191	3959	3984	203.1	-10.2	146	1523	0.15	2.47	0.00	0.000	4484	0.126	0.084	2293	3602	3971	3958	3984	0	0	0	0	0	0	14.21	14.19	14.24
1598	-0.81	-145.9	2293	3604	3958	3985	214.3	-14.2	162	1603	0.00	2.40	0.00	0.000	1030	0.000	0.059	2293	2189	3971	3958	3984	0	0	0	0	0	0	14.26	14.17	14.29
1908	-0.77	-145.9	2293	2189	3958	3984	258.8	-13.9	174	1914	0.15	2.50	0.00	0.000	2436	0.275	0.083	2319	3602	3970	3957	3983	0	0	0	0	0	0	13.97	14.16	14.13
1979	-0.87	-145.9	2320	3603	3958	3983	266.5	-9.8	188	1985	0.00	2.38	0.00	0.000	1190	0.000	0.057	2319	2199	3969	3956	3983	0	0	0	0	0	0	14.34	14.23	14.38
2300	-0.91	-145.9	2319	2199	3957	3983	300.8	-10.6	202	2305	0.00	2.47	0.00	0.000	388	0.000	0.088	2319	3605	3969	3956	3982	0	0	0	0	0	0	14.54	14.16	14.56
2350	-1.03	-145.9	2319	3606	3956	3983	305.8	-9.6	212	2356	0.22	2.40	0.00	0.000	5286	0.100	0.060	2238	2192	3968	3955	3982	0	0	0	0	0	0	14.25	14.20	14.33
2662	-0.91	-145.9	2238	2191	3955	3981	358.1	-17.0	224	2667	0.17	2.47	0.00	0.000	2436	0.310	0.082	2267	3605	3967	3954	3981	0	0	0	0	0	0	13.86	14.16	14.07
2774	-0.91	-145.9	2268	3606	3955	3981	373.6	-13.1	246	2779	0.00	2.38	0.00	0.000	1030	0.000	0.058	2267	2200	3967	3954	3981	0	0	0	0	0	0	14.33	14.22	14.36
3084	-0.86	-145.9	2267	2200	3952	3982	417.8	-14.3	258	3089	0.12	2.47	0.00	0.000	2436	0.317	0.082	2285	3610	3966	3954	3978	0	0	0	0	0	0	13.89	14.16	14.09
3164	-0.91	-145.9	2286	3610	3955	3980	427.8	-11.6	274	3169	0.00	2.38	0.00	0.000	1158	0.000	0.059	2285	2201	3966	3953	3980	0	0	0	0	0	0	14.16	14.11	14.23
3474	-0.91	-145.9	2285	2201	3954	3979	466.0	-12.4	286	3479	0.00	2.47	0.00	0.000	260	0.000	0.085	2280	3610	3965	3953	3978	0	0	0	0	0	0	14.54	14.15	14.56
3545	-0.96	-145.9	2280	3610	3954	3979	474.5	-11.7	300	3550	0.00	2.40	0.00	0.000	1158	0.000	0.059	2280	2194	3966	3953	3979	0	0	0	0	0	0	14.31	14.21	14.35
3593	end dive: TARGET_DEPTH_EXCEEDED
state	3593	begin apogee
3599	-0.13	0.0	2283	2070	3953	3980	480.7	-12.4	305	3816	0.98	0.00	213.85	1.431	10246	0.245	0.000	2528	2069	3365	3392	3339	0	0	0	0	0	0	13.95	13.49	12.83
3820	end apogee: CONTROL_FINISHED_OK
state	3820	begin climb
3822	0.57	145.9	2529	2069	3384	3330	490.9	0.0	312	4031	0.75	2.70	197.38	1.379	10500	0.068	0.075	2781	3504	2763	2811	2716	0	0	0	0	0	0	13.56	13.10	12.59
4256	0.15	145.9	2781	3506	2792	2715	454.7	17.6	393	4263	0.75	2.42	0.00	0.000	5254	0.347	0.058	2637	2120	2752	2790	2715	0	0	0	0	0	0	13.45	13.77	13.78
4573	0.09	179.5	2637	2120	2791	2716	426.1	8.5	406	4623	0.00	2.55	45.78	1.418	8612	0.000	0.082	2638	3504	2628	2675	2581	0	0	0	0	0	0	14.29	13.83	13.13
4709	0.01	179.5	2638	3505	2666	2578	412.7	10.5	433	4715	0.25	2.45	0.00	0.000	5254	0.249	0.060	2589	2097	2621	2665	2577	0	0	0	0	0	0	13.76	13.94	14.00
5025	0.11	253.7	2590	2097	2666	2574	391.4	6.6	446	5140	0.00	2.58	109.50	1.349	8868	0.000	0.086	2589	694	2326	2378	2274	0	0	0	0	0	0	14.38	13.57	13.06
5175	0.33	320.0	2589	689	2375	2273	381.1	6.9	476	5281	0.30	2.55	97.57	1.311	11430	0.087	0.080	2696	2097	2057	2108	2006	0	0	0	0	0	0	13.80	13.76	12.87
5598	0.28	320.0	2696	2098	2095	1991	320.6	14.5	510	5603	0.00	2.53	0.00	0.000	644	0.000	0.086	2699	689	2042	2095	1990	0	0	0	0	0	0	14.19	13.85	14.21
5638	0.28	320.0	2699	689	2093	1990	314.8	14.2	518	5643	0.00	2.50	0.00	0.000	1030	0.000	0.077	2699	2099	2040	2091	1990	0	0	0	0	0	0	14.06	13.92	14.07
5958	0.24	320.0	2698	2104	2092	1988	268.6	14.6	532	5963	0.15	2.50	0.00	0.000	4740	0.234	0.086	2661	691	2039	2091	1988	0	0	0	0	0	0	13.95	14.10	14.12
5993	0.32	320.0	2662	691	2091	1988	264.4	10.9	539	5998	0.00	2.47	0.00	0.000	1158	0.000	0.079	2662	2108	2038	2089	1988	0	0	0	0	0	0	14.25	14.16	14.28
6338	0.35	320.0	2663	2109	2090	1987	229.6	10.3	554	6342	0.00	2.50	0.00	0.000	644	0.000	0.086	2661	689	2038	2089	1988	0	0	0	0	0	0	14.40	14.09	14.41
6373	0.46	332.7	2662	690	2090	1986	224.3	9.4	561	6393	0.20	2.50	13.35	1.476	11430	0.107	0.079	2742	2111	2005	2055	1956	0	0	0	0	0	0	14.14	14.12	13.40
6700	0.37	332.7	2749	2117	2048	1952	176.6	14.3	576	6705	0.15	2.50	0.00	0.000	4740	0.239	0.083	2709	691	2001	2052	1950	0	0	0	0	0	0	13.92	14.07	14.06
6730	0.37	332.7	2710	691	2051	1947	172.8	10.9	582	6735	0.00	2.47	0.00	0.000	1030	0.000	0.079	2709	2096	2000	2050	1950	0	0	0	0	0	0	14.19	14.07	14.21
7060	0.37	332.7	2710	2097	2051	1949	138.0	10.2	598	7061	0.00	0.00	0.00	0.000	6	0.000	0.000	2710	2097	1999	2049	1949	0	0	0	0	0	0	14.36	14.38	14.38
7360	0.38	350.8	2710	2098	2050	1949	109.2	9.2	608	7392	0.00	2.50	24.08	1.371	8740	0.000	0.083	2710	689	1930	1975	1885	0	0	0	0	0	0	14.35	14.02	13.37
7437	0.48	380.2	2710	690	1973	1886	102.4	8.6	623	7489	0.00	2.50	46.30	1.265	9382	0.000	0.078	2709	2108	1814	1850	1779	0	0	0	0	0	0	14.03	13.93	13.21
7794	0.58	424.2	2710	2108	1842	1766	71.7	8.0	664	7827	0.15	2.60	23.42	0.421	10916	0.122	0.086	2781	691	1633	1666	1600	0	0	0	0	0	0	14.01	13.85	13.62
7884	0.58	424.2	2781	692	1666	1601	61.1	12.2	681	7891	0.00	2.53	0.00	0.000	1030	0.000	0.077	2780	2106	1634	1668	1600	0	0	0	0	0	0	14.04	13.93	14.07
8188	0.62	480.0	2782	2104	1669	1592	30.6	7.4	712	8219	0.00	0.00	30.02	0.297	8486	0.000	0.000	2781	2111	1406	1456	1357	0	0	0	0	0	0	14.28	14.04	13.77
8518	0.96	721.8	2781	2107	1457	1348	15.6	-1.2	747	8643	0.30	0.00	120.20	0.251	10918	0.091	0.000	2891	2106	499	537	462	0	0	0	0	0	0	14.03	13.94	13.71
8756	end climb: SURFACE_DEPTH_REACHED
state	8756	begin surface coast
8776	end surface coast: CONTROL_FINISHED_OK
state	8778	begin surface