Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 70 * 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 70 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 203.0

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 25 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 203.0 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 25 VBD_MIN 500

DIVE 70 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 140817,200436,7211.7876,-14759.7031,36,0.8,39,21.3,0.6,309.8,10,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.20 MHEAD_RNG_PITCHd_Wd 313.1,126678,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.6 D_GRID 480

GPS2 140817,201910,7211.8540,-14759.7354,8,0.8,10,21.3,0.0,0.0,10,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814202935.701129,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F PM_FREEKB_00 57802880

FINISH 0.1,1.020000 _24V_AH 12.57,75.791

SM_CCo 9076,0.00,0.000,0,0,494,704.75 _10V_AH 12.51,0.000

SM_GC 1.32,8.23,0.17,0.00,0.079,0.124,0.000,201,2212,494,-7.38,-0.65,704.75,0,0,0,0,0,0,14.17,14.15,14.24 FG_AHR_24Vo 0.000

RAFOS_CLK 387 FG_AHR_10Vo 0.000

MODEM 4,1502742575,75.71700,-151.21500,274.951,393422.0 MEM 323600

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 DATA_FILE_SIZE 26717,769

IRIDIUM_FIX 7215.61,-14800.43,140817,200907 CAP_FILE_SIZE 107128,0

TT8_MAMPS 0.038948,0.867342 CFSIZE 2097872896,2067234816

HUMID 48.42 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.77175 INTR 0,3776.27,0x2341ea,1,24

TCM_TEMP 13.40 SOUNDSPEED 1443.6

XPDR_PINGS 12 CURRENT 0.048,249.15,1

CP_FREE 16007495680.000000 GPS 140817,225229,7212.918,-14801.214,40,0.8,43,21.3,0.0,61.0,10,9.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 144.57 nil 0 0 0.00

Roll_motor 89 2145 2405.32 nil 0 0 0.00

VBD_pump_during_apogee 900 1530 17311.29 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 9020 14 1644.03

Iridium_during_xfer 545 177 1217.25 NCP 9012 20 2265.62

Transponder_ping 3 420 15.84 PMAR 8971 16 1866.95

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.19

TT8 0 0 0.00

LPSleep 6552 2 189.36

TT8_Active 722 13 126.21

TT8_Sampling 2386 33 998.51

TT8_CF8 300 38 145.37

TT8_Kalman 0 0 0.00

Analog_circuits 2201 10 275.35

GPS_charging 0 0 0.00

Compass 1105 7 96.80

RAFOS 920 48 552.44

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 44 begin dive

47 -0.57 -145.9 165 2227 515 455 0.0 0.0 0 126 0.00 0.00 -78.25 0.000 16386 0.000 0.000 161 2227 2061 1984 2139 0 0 0 0 0 0 14.36 28.83 14.38

129 -0.57 -145.9 162 2228 1985 2138 3.7 -4.7 8 185 12.68 2.70 -36.53 0.000 18724 0.451 2.146 2376 3582 3965 3950 3981 0 0 0 0 0 0 13.65 12.68 14.04

411 -0.57 -145.9 2376 3579 3960 3980 63.5 -15.3 64 415 0.00 2.38 0.00 0.000 1030 0.000 0.056 2376 2200 3969 3959 3979 0 0 0 0 0 0 14.04 13.95 14.07

742 -0.57 -145.9 2376 2198 3962 3979 113.7 -13.9 92 747 0.00 2.47 0.00 0.000 260 0.000 0.082 2365 3595 3972 3965 3979 0 0 0 0 0 0 14.33 14.02 14.33

879 -0.68 -145.9 2365 3596 3962 3979 129.8 -11.0 119 885 0.00 2.40 0.00 0.000 1158 0.000 0.054 2365 2193 3970 3961 3979 0 0 0 0 0 0 14.17 14.07 14.19

1197 -0.73 -145.9 2365 2192 3960 3978 167.0 -11.2 132 1202 0.00 2.45 0.00 0.000 388 0.000 0.085 2362 3603 3969 3961 3978 0 0 0 0 0 0 14.34 14.07 14.35

1237 -0.86 -145.9 2363 3605 3962 3978 171.6 -10.1 140 1242 0.20 2.40 0.00 0.000 5254 0.102 0.055 2281 2192 3969 3961 3978 0 0 0 0 0 0 14.20 14.12 14.28

1558 -0.77 -145.9 2281 2192 3962 3976 227.8 -16.7 154 1563 0.17 2.45 0.00 0.000 2436 0.280 0.081 2315 3588 3968 3961 3975 0 0 0 0 0 0 13.89 14.14 14.06

1650 -0.85 -145.9 2315 3588 3962 3975 239.2 -11.5 172 1654 0.00 2.35 0.00 0.000 1158 0.000 0.055 2315 2193 3968 3961 3975 0 0 0 0 0 0 14.31 14.21 14.35

1979 -0.85 -145.9 2315 2193 3961 3973 279.4 -11.8 188 1984 0.00 2.45 0.00 0.000 260 0.000 0.085 2307 3594 3966 3961 3971 0 0 0 0 0 0 14.53 14.19 14.55

2070 -0.93 -145.9 2308 3596 3962 3971 289.3 -10.5 206 2075 0.00 2.35 0.00 0.000 1158 0.000 0.054 2307 2199 3966 3961 3971 0 0 0 0 0 0 14.35 14.24 14.38

2400 -0.93 -145.9 2306 2198 3962 3969 327.1 -11.3 222 2405 0.00 2.45 0.00 0.000 260 0.000 0.086 2305 3598 3964 3961 3968 0 0 0 0 0 0 14.55 14.19 14.56

2460 -1.02 -145.9 2307 3598 3962 3969 333.7 -10.4 234 2465 0.17 2.38 0.00 0.000 5254 0.110 0.056 2242 2194 3964 3961 3968 0 0 0 0 0 0 14.31 14.24 14.40

2790 -0.91 -145.9 2242 2193 3962 3965 388.3 -16.9 250 2795 0.17 2.45 0.00 0.000 2436 0.307 0.082 2271 3601 3963 3961 3965 0 0 0 0 0 0 13.91 14.20 14.11

2897 -0.91 -145.9 2271 3600 3962 3966 402.8 -12.7 271 2903 0.00 2.38 0.00 0.000 1030 0.000 0.057 2271 2192 3963 3961 3965 0 0 0 0 0 0 14.35 14.24 14.38

3213 -0.86 -145.9 2271 2191 3961 3965 445.8 -13.5 284 3218 0.12 2.45 0.00 0.000 2436 0.322 0.082 2293 3592 3962 3961 3963 0 0 0 0 0 0 13.97 14.20 14.14

3305 -0.95 -145.9 2293 3594 3962 3964 455.9 -10.1 302 3310 0.00 2.35 0.00 0.000 1158 0.000 0.055 2293 2201 3962 3960 3964 0 0 0 0 0 0 14.21 14.12 14.24

3543 end dive: TARGET_DEPTH_EXCEEDED

state 3543 begin apogee

3548 -0.13 0.0 2294 2069 3962 3961 483.1 -11.3 315 3757 0.93 0.00 203.00 1.447 10246 0.235 0.000 2530 2068 3361 3406 3316 0 0 0 0 0 0 13.95 13.53 12.85

3760 end apogee: CONTROL_FINISHED_OK

state 3760 begin climb

3763 0.57 145.9 2531 2068 3407 3311 492.4 0.0 322 3977 0.73 2.70 196.73 1.392 10500 0.067 0.074 2776 3487 2759 2817 2702 0 0 0 0 0 0 13.60 13.10 12.57

4206 0.16 145.9 2776 3487 2806 2703 453.0 17.7 368 4211 0.70 2.35 0.00 0.000 5254 0.343 0.056 2642 2131 2754 2805 2703 0 0 0 0 0 0 13.46 13.80 13.81

4517 0.08 169.7 2642 2131 2806 2704 423.5 8.9 380 4552 0.12 2.42 29.33 1.512 12708 0.296 0.082 2612 3490 2668 2724 2613 0 0 0 0 0 0 13.86 13.90 13.19

4584 0.05 189.4 2612 3490 2722 2615 417.9 9.1 393 4619 0.00 2.40 27.38 1.530 9382 0.000 0.059 2616 2099 2590 2654 2526 0 0 0 0 0 0 14.04 13.96 13.12

4941 0.08 228.1 2616 2100 2651 2515 388.4 8.2 414 5001 0.00 2.60 54.88 1.408 8740 0.000 0.085 2615 690 2431 2500 2363 0 0 0 0 0 0 14.36 13.83 13.16

5063 0.21 269.2 2616 688 2491 2363 378.3 8.1 438 5132 0.00 2.47 59.85 1.368 9382 0.000 0.078 2616 2077 2264 2330 2198 0 0 0 0 0 0 14.02 13.93 13.04

5452 0.30 303.0 2616 2077 2323 2187 345.0 8.4 466 5508 0.17 2.58 49.28 1.369 10660 0.105 0.082 2692 3510 2125 2185 2066 0 0 0 0 0 0 14.12 13.83 13.16

5525 0.22 303.0 2692 3510 2178 2062 335.5 15.2 480 5530 0.20 2.45 0.00 0.000 5254 0.247 0.062 2655 2103 2119 2177 2062 0 0 0 0 0 0 13.75 13.88 13.95

5845 0.22 303.0 2656 2103 2173 2055 299.7 10.8 494 5850 0.00 2.50 0.00 0.000 516 0.000 0.088 2659 691 2113 2172 2055 0 0 0 0 0 0 14.38 14.07 14.39

5930 0.30 303.0 2660 691 2170 2054 290.8 10.1 511 5938 0.00 2.50 0.00 0.000 1158 0.000 0.080 2660 2107 2112 2169 2055 0 0 0 0 0 0 14.22 14.09 14.26

6236 0.32 303.0 2660 2109 2169 2055 258.4 10.4 522 6236 0.00 0.00 0.00 0.000 134 0.000 0.000 2659 2107 2110 2168 2053 0 0 0 0 0 0 14.49 14.51 14.51

6536 0.35 303.0 2660 2109 2169 2053 227.6 10.1 532 6541 0.12 2.47 0.00 0.000 2692 0.132 0.080 2726 684 2108 2164 2053 0 0 0 0 0 0 14.26 14.19 14.31

6561 0.31 303.0 2725 684 2167 2050 224.4 12.6 537 6568 0.17 2.47 0.00 0.000 5254 0.248 0.078 2685 2103 2110 2167 2053 0 0 0 0 0 0 14.02 14.18 14.26

6866 0.31 303.9 2686 2103 2168 2053 192.2 10.0 548 6867 0.00 0.00 0.00 0.000 38 0.000 0.000 2686 2103 2110 2167 2053 0 0 0 0 0 0 14.53 14.57 14.55

7166 0.33 331.4 2686 2103 2168 2053 164.4 8.7 558 7217 0.00 2.55 42.83 1.331 8740 0.000 0.086 2686 693 2013 2068 1958 0 0 0 0 0 0 14.54 14.03 13.42

7274 0.46 365.7 2686 694 2055 1959 155.2 8.4 579 7339 0.15 2.50 57.30 1.267 11430 0.124 0.079 2749 2106 1871 1910 1833 0 0 0 0 0 0 14.12 14.07 13.23

7649 0.41 365.7 2750 2106 1901 1825 107.2 12.5 604 7650 0.15 0.00 0.00 0.000 4230 0.246 0.000 2718 2105 1862 1901 1824 0 0 0 0 0 0 13.95 14.22 14.19

7951 0.46 387.7 2718 2105 1900 1823 78.9 9.0 628 7966 0.00 2.50 10.85 0.443 8868 0.000 0.083 2726 683 1782 1818 1747 0 0 0 0 0 0 14.42 14.01 13.73

8026 0.57 414.7 2726 684 1819 1749 72.1 8.8 643 8049 0.12 2.50 15.57 0.421 11430 0.131 0.079 2778 2102 1672 1705 1639 0 0 0 0 0 0 14.18 14.12 13.77

8354 0.56 433.9 2779 2103 1706 1636 35.3 9.1 678 8371 0.00 2.53 10.20 0.317 8612 0.000 0.083 2779 3505 1595 1632 1558 0 0 0 0 0 0 14.46 14.08 13.83

8431 0.58 464.4 2780 3506 1633 1559 28.4 8.6 693 8453 0.00 2.42 16.67 0.295 9254 0.000 0.066 2781 2100 1469 1514 1425 0 0 0 0 0 0 14.24 14.14 13.82

8758 0.86 681.6 2782 2100 1515 1418 12.3 -0.0 728 8882 0.20 2.58 114.47 0.243 10916 0.105 0.088 2876 684 584 651 517 0 0 0 0 0 0 14.18 13.97 13.88

8934 0.98 705.2 2877 687 653 515 5.4 8.9 761 8951 0.00 2.50 11.80 0.223 9382 0.000 0.078 2876 2103 496 548 445 0 0 0 0 0 0 14.14 14.03 13.88

8973 end climb: SURFACE_DEPTH_REACHED

state 8974 begin surface coast

8994 end surface coast: CONTROL_FINISHED_OK

state 8994 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	70	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	203.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,200436,7211.7876,-14759.7031,36,0.8,39,21.3,0.6,309.8,10,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.20	MHEAD_RNG_PITCHd_Wd	313.1,126678,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.6	D_GRID	480
GPS2	140817,201910,7211.8540,-14759.7354,8,0.8,10,21.3,0.0,0.0,10,9.7

MODEM_MSG	CACST,6,1,20170814202935.701129,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F	PM_FREEKB_00	57802880
FINISH	0.1,1.020000	_24V_AH	12.57,75.791
SM_CCo	9076,0.00,0.000,0,0,494,704.75	_10V_AH	12.51,0.000
SM_GC	1.32,8.23,0.17,0.00,0.079,0.124,0.000,201,2212,494,-7.38,-0.65,704.75,0,0,0,0,0,0,14.17,14.15,14.24	FG_AHR_24Vo	0.000
RAFOS_CLK	387	FG_AHR_10Vo	0.000
MODEM	4,1502742575,75.71700,-151.21500,274.951,393422.0	MEM	323600
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	DATA_FILE_SIZE	26717,769
IRIDIUM_FIX	7215.61,-14800.43,140817,200907	CAP_FILE_SIZE	107128,0
TT8_MAMPS	0.038948,0.867342	CFSIZE	2097872896,2067234816
HUMID	48.42	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.77175	INTR	0,3776.27,0x2341ea,1,24
TCM_TEMP	13.40	SOUNDSPEED	1443.6
XPDR_PINGS	12	CURRENT	0.048,249.15,1
CP_FREE	16007495680.000000	GPS	140817,225229,7212.918,-14801.214,40,0.8,43,21.3,0.0,61.0,10,9.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	144.57	nil	0	0	0.00
Roll_motor	89	2145	2405.32	nil	0	0	0.00
VBD_pump_during_apogee	900	1530	17311.29	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	9020	14	1644.03
Iridium_during_xfer	545	177	1217.25	NCP	9012	20	2265.62
Transponder_ping	3	420	15.84	PMAR	8971	16	1866.95
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.19
TT8	0	0	0.00
LPSleep	6552	2	189.36
TT8_Active	722	13	126.21
TT8_Sampling	2386	33	998.51
TT8_CF8	300	38	145.37
TT8_Kalman	0	0	0.00
Analog_circuits	2201	10	275.35
GPS_charging	0	0	0.00
Compass	1105	7	96.80
RAFOS	920	48	552.44
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	44	begin dive
47	-0.57	-145.9	165	2227	515	455	0.0	0.0	0	126	0.00	0.00	-78.25	0.000	16386	0.000	0.000	161	2227	2061	1984	2139	0	0	0	0	0	0	14.36	28.83	14.38
129	-0.57	-145.9	162	2228	1985	2138	3.7	-4.7	8	185	12.68	2.70	-36.53	0.000	18724	0.451	2.146	2376	3582	3965	3950	3981	0	0	0	0	0	0	13.65	12.68	14.04
411	-0.57	-145.9	2376	3579	3960	3980	63.5	-15.3	64	415	0.00	2.38	0.00	0.000	1030	0.000	0.056	2376	2200	3969	3959	3979	0	0	0	0	0	0	14.04	13.95	14.07
742	-0.57	-145.9	2376	2198	3962	3979	113.7	-13.9	92	747	0.00	2.47	0.00	0.000	260	0.000	0.082	2365	3595	3972	3965	3979	0	0	0	0	0	0	14.33	14.02	14.33
879	-0.68	-145.9	2365	3596	3962	3979	129.8	-11.0	119	885	0.00	2.40	0.00	0.000	1158	0.000	0.054	2365	2193	3970	3961	3979	0	0	0	0	0	0	14.17	14.07	14.19
1197	-0.73	-145.9	2365	2192	3960	3978	167.0	-11.2	132	1202	0.00	2.45	0.00	0.000	388	0.000	0.085	2362	3603	3969	3961	3978	0	0	0	0	0	0	14.34	14.07	14.35
1237	-0.86	-145.9	2363	3605	3962	3978	171.6	-10.1	140	1242	0.20	2.40	0.00	0.000	5254	0.102	0.055	2281	2192	3969	3961	3978	0	0	0	0	0	0	14.20	14.12	14.28
1558	-0.77	-145.9	2281	2192	3962	3976	227.8	-16.7	154	1563	0.17	2.45	0.00	0.000	2436	0.280	0.081	2315	3588	3968	3961	3975	0	0	0	0	0	0	13.89	14.14	14.06
1650	-0.85	-145.9	2315	3588	3962	3975	239.2	-11.5	172	1654	0.00	2.35	0.00	0.000	1158	0.000	0.055	2315	2193	3968	3961	3975	0	0	0	0	0	0	14.31	14.21	14.35
1979	-0.85	-145.9	2315	2193	3961	3973	279.4	-11.8	188	1984	0.00	2.45	0.00	0.000	260	0.000	0.085	2307	3594	3966	3961	3971	0	0	0	0	0	0	14.53	14.19	14.55
2070	-0.93	-145.9	2308	3596	3962	3971	289.3	-10.5	206	2075	0.00	2.35	0.00	0.000	1158	0.000	0.054	2307	2199	3966	3961	3971	0	0	0	0	0	0	14.35	14.24	14.38
2400	-0.93	-145.9	2306	2198	3962	3969	327.1	-11.3	222	2405	0.00	2.45	0.00	0.000	260	0.000	0.086	2305	3598	3964	3961	3968	0	0	0	0	0	0	14.55	14.19	14.56
2460	-1.02	-145.9	2307	3598	3962	3969	333.7	-10.4	234	2465	0.17	2.38	0.00	0.000	5254	0.110	0.056	2242	2194	3964	3961	3968	0	0	0	0	0	0	14.31	14.24	14.40
2790	-0.91	-145.9	2242	2193	3962	3965	388.3	-16.9	250	2795	0.17	2.45	0.00	0.000	2436	0.307	0.082	2271	3601	3963	3961	3965	0	0	0	0	0	0	13.91	14.20	14.11
2897	-0.91	-145.9	2271	3600	3962	3966	402.8	-12.7	271	2903	0.00	2.38	0.00	0.000	1030	0.000	0.057	2271	2192	3963	3961	3965	0	0	0	0	0	0	14.35	14.24	14.38
3213	-0.86	-145.9	2271	2191	3961	3965	445.8	-13.5	284	3218	0.12	2.45	0.00	0.000	2436	0.322	0.082	2293	3592	3962	3961	3963	0	0	0	0	0	0	13.97	14.20	14.14
3305	-0.95	-145.9	2293	3594	3962	3964	455.9	-10.1	302	3310	0.00	2.35	0.00	0.000	1158	0.000	0.055	2293	2201	3962	3960	3964	0	0	0	0	0	0	14.21	14.12	14.24
3543	end dive: TARGET_DEPTH_EXCEEDED
state	3543	begin apogee
3548	-0.13	0.0	2294	2069	3962	3961	483.1	-11.3	315	3757	0.93	0.00	203.00	1.447	10246	0.235	0.000	2530	2068	3361	3406	3316	0	0	0	0	0	0	13.95	13.53	12.85
3760	end apogee: CONTROL_FINISHED_OK
state	3760	begin climb
3763	0.57	145.9	2531	2068	3407	3311	492.4	0.0	322	3977	0.73	2.70	196.73	1.392	10500	0.067	0.074	2776	3487	2759	2817	2702	0	0	0	0	0	0	13.60	13.10	12.57
4206	0.16	145.9	2776	3487	2806	2703	453.0	17.7	368	4211	0.70	2.35	0.00	0.000	5254	0.343	0.056	2642	2131	2754	2805	2703	0	0	0	0	0	0	13.46	13.80	13.81
4517	0.08	169.7	2642	2131	2806	2704	423.5	8.9	380	4552	0.12	2.42	29.33	1.512	12708	0.296	0.082	2612	3490	2668	2724	2613	0	0	0	0	0	0	13.86	13.90	13.19
4584	0.05	189.4	2612	3490	2722	2615	417.9	9.1	393	4619	0.00	2.40	27.38	1.530	9382	0.000	0.059	2616	2099	2590	2654	2526	0	0	0	0	0	0	14.04	13.96	13.12
4941	0.08	228.1	2616	2100	2651	2515	388.4	8.2	414	5001	0.00	2.60	54.88	1.408	8740	0.000	0.085	2615	690	2431	2500	2363	0	0	0	0	0	0	14.36	13.83	13.16
5063	0.21	269.2	2616	688	2491	2363	378.3	8.1	438	5132	0.00	2.47	59.85	1.368	9382	0.000	0.078	2616	2077	2264	2330	2198	0	0	0	0	0	0	14.02	13.93	13.04
5452	0.30	303.0	2616	2077	2323	2187	345.0	8.4	466	5508	0.17	2.58	49.28	1.369	10660	0.105	0.082	2692	3510	2125	2185	2066	0	0	0	0	0	0	14.12	13.83	13.16
5525	0.22	303.0	2692	3510	2178	2062	335.5	15.2	480	5530	0.20	2.45	0.00	0.000	5254	0.247	0.062	2655	2103	2119	2177	2062	0	0	0	0	0	0	13.75	13.88	13.95
5845	0.22	303.0	2656	2103	2173	2055	299.7	10.8	494	5850	0.00	2.50	0.00	0.000	516	0.000	0.088	2659	691	2113	2172	2055	0	0	0	0	0	0	14.38	14.07	14.39
5930	0.30	303.0	2660	691	2170	2054	290.8	10.1	511	5938	0.00	2.50	0.00	0.000	1158	0.000	0.080	2660	2107	2112	2169	2055	0	0	0	0	0	0	14.22	14.09	14.26
6236	0.32	303.0	2660	2109	2169	2055	258.4	10.4	522	6236	0.00	0.00	0.00	0.000	134	0.000	0.000	2659	2107	2110	2168	2053	0	0	0	0	0	0	14.49	14.51	14.51
6536	0.35	303.0	2660	2109	2169	2053	227.6	10.1	532	6541	0.12	2.47	0.00	0.000	2692	0.132	0.080	2726	684	2108	2164	2053	0	0	0	0	0	0	14.26	14.19	14.31
6561	0.31	303.0	2725	684	2167	2050	224.4	12.6	537	6568	0.17	2.47	0.00	0.000	5254	0.248	0.078	2685	2103	2110	2167	2053	0	0	0	0	0	0	14.02	14.18	14.26
6866	0.31	303.9	2686	2103	2168	2053	192.2	10.0	548	6867	0.00	0.00	0.00	0.000	38	0.000	0.000	2686	2103	2110	2167	2053	0	0	0	0	0	0	14.53	14.57	14.55
7166	0.33	331.4	2686	2103	2168	2053	164.4	8.7	558	7217	0.00	2.55	42.83	1.331	8740	0.000	0.086	2686	693	2013	2068	1958	0	0	0	0	0	0	14.54	14.03	13.42
7274	0.46	365.7	2686	694	2055	1959	155.2	8.4	579	7339	0.15	2.50	57.30	1.267	11430	0.124	0.079	2749	2106	1871	1910	1833	0	0	0	0	0	0	14.12	14.07	13.23
7649	0.41	365.7	2750	2106	1901	1825	107.2	12.5	604	7650	0.15	0.00	0.00	0.000	4230	0.246	0.000	2718	2105	1862	1901	1824	0	0	0	0	0	0	13.95	14.22	14.19
7951	0.46	387.7	2718	2105	1900	1823	78.9	9.0	628	7966	0.00	2.50	10.85	0.443	8868	0.000	0.083	2726	683	1782	1818	1747	0	0	0	0	0	0	14.42	14.01	13.73
8026	0.57	414.7	2726	684	1819	1749	72.1	8.8	643	8049	0.12	2.50	15.57	0.421	11430	0.131	0.079	2778	2102	1672	1705	1639	0	0	0	0	0	0	14.18	14.12	13.77
8354	0.56	433.9	2779	2103	1706	1636	35.3	9.1	678	8371	0.00	2.53	10.20	0.317	8612	0.000	0.083	2779	3505	1595	1632	1558	0	0	0	0	0	0	14.46	14.08	13.83
8431	0.58	464.4	2780	3506	1633	1559	28.4	8.6	693	8453	0.00	2.42	16.67	0.295	9254	0.000	0.066	2781	2100	1469	1514	1425	0	0	0	0	0	0	14.24	14.14	13.82
8758	0.86	681.6	2782	2100	1515	1418	12.3	-0.0	728	8882	0.20	2.58	114.47	0.243	10916	0.105	0.088	2876	684	584	651	517	0	0	0	0	0	0	14.18	13.97	13.88
8934	0.98	705.2	2877	687	653	515	5.4	8.9	761	8951	0.00	2.50	11.80	0.223	9382	0.000	0.078	2876	2103	496	548	445	0	0	0	0	0	0	14.14	14.03	13.88
8973	end climb: SURFACE_DEPTH_REACHED
state	8974	begin surface coast
8994	end surface coast: CONTROL_FINISHED_OK
state	8994	begin surface