Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 86 * 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 86 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 247.0

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 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 247.0 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 86 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 160817,163703,7228.1846,-14822.2236,26,0.8,27,21.2,0.0,290.0,11,8.0 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 1.11 MHEAD_RNG_PITCHd_Wd 323.3,94406,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.9 D_GRID 480

GPS2 160817,164847,7228.2222,-14822.6074,7,0.8,8,21.2,0.0,309.3,10,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170816162134.865929,3,5626,31,1349,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32 PM_FREEKB_00 56642240

FINISH -0.0,1.020305 _24V_AH 12.52,83.317

SM_CCo 8935,0.00,0.000,0,0,488,705.73 _10V_AH 12.44,0.000

SM_GC 0.97,8.27,0.17,0.00,0.080,0.112,0.000,208,2232,488,-7.36,-0.57,705.73,0,0,0,0,0,0,14.19,14.21,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 378 FG_AHR_10Vo 0.000

MODEM 2,1502900012,73.18300,-149.96500,65.670,95245.4 MEM 323712

RAFOS_FIX 7256.990723,-14713.501953,160817,161633,2,255,0.00 DATA_FILE_SIZE 26743,792

IRIDIUM_FIX 7226.88,-14829.16,160817,135326 CAP_FILE_SIZE 102391,0

TT8_MAMPS 0.040446,0.841876 CFSIZE 2097872896,2062319616

HUMID 49.88 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1450.7

TCM_TEMP 13.40 CURRENT 0.069,246.34,1

XPDR_PINGS 19 GPS 160817,191917,7229.210,-14823.869,12,0.8,14,21.2,0.4,43.8,11,8.7

CP_FREE 16004775936.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 145.22 nil 0 0 0.00

Roll_motor 85 2139 2280.42 nil 0 0 0.00

VBD_pump_during_apogee 938 1441 16942.95 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 8882 15 1676.94

Iridium_during_xfer 431 178 963.23 NCP 8875 20 2222.30

Transponder_ping 4 420 24.98 PMAR 8830 16 1830.07

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.51

TT8 0 0 0.00

LPSleep 6303 2 181.14

TT8_Active 807 13 140.34

TT8_Sampling 2259 33 939.81

TT8_CF8 286 38 138.06

TT8_Kalman 0 0 0.00

Analog_circuits 2118 10 263.60

GPS_charging 0 0 0.00

Compass 1134 7 98.80

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

43 end surface: CONTROL_FINISHED_OK

state 44 begin dive

46 -0.57 -145.9 194 2227 512 482 0.0 0.0 0 129 0.00 0.00 -80.90 0.000 16386 0.000 0.000 193 2227 2033 1957 2109 0 0 0 0 0 0 14.24 28.83 14.26

134 -0.57 -145.9 194 2226 1960 2111 3.2 -3.8 8 191 12.60 2.85 -36.38 0.000 18980 0.454 2.140 2386 795 3963 3947 3979 0 0 0 0 0 0 13.66 12.63 14.07

416 -0.60 -145.9 2386 795 3956 3981 60.8 -15.6 64 421 0.00 2.45 0.00 0.000 1158 0.000 0.086 2379 2175 3967 3955 3980 0 0 0 0 0 0 14.16 14.07 14.20

746 -0.63 -145.9 2379 2176 3959 3982 108.5 -13.1 94 751 0.00 2.55 0.00 0.000 388 0.000 0.092 2376 3614 3970 3959 3981 0 0 0 0 0 0 14.45 14.10 14.47

873 -0.78 -145.9 2377 3615 3959 3980 122.3 -10.2 119 879 0.15 2.40 0.00 0.000 5254 0.116 0.054 2317 2195 3969 3958 3980 0 0 0 0 0 0 14.20 14.17 14.30

1199 -0.75 -145.9 2317 2195 3959 3983 174.0 -15.5 134 1204 0.00 2.50 0.00 0.000 388 0.000 0.087 2307 3609 3970 3962 3979 0 0 0 0 0 0 14.52 14.19 14.54

1311 -0.80 -145.9 2307 3611 3958 3980 189.8 -13.2 156 1316 0.00 2.38 0.00 0.000 1158 0.000 0.054 2307 2199 3968 3958 3979 0 0 0 0 0 0 14.34 14.23 14.36

1621 -0.80 -145.9 2307 2198 3959 3980 233.6 -13.4 168 1626 0.00 2.50 0.00 0.000 260 0.000 0.089 2304 3619 3970 3962 3979 0 0 0 0 0 0 14.53 14.17 14.54

1763 -0.87 -145.9 2305 3620 3959 3979 250.3 -11.3 196 1768 0.00 2.40 0.00 0.000 1158 0.000 0.056 2308 2194 3968 3958 3979 0 0 0 0 0 0 14.33 14.21 14.37

2073 -0.87 -145.9 2303 2194 3958 3979 287.7 -11.7 208 2078 0.00 2.50 0.00 0.000 260 0.000 0.090 2296 3613 3967 3957 3978 0 0 0 0 0 0 14.57 14.16 14.57

2158 -0.96 -145.9 2302 3613 3957 3978 297.0 -10.4 225 2164 0.00 2.40 0.00 0.000 1158 0.000 0.054 2301 2189 3966 3955 3977 0 0 0 0 0 0 14.30 14.19 14.33

2463 -0.99 -145.9 2302 2189 3958 3976 331.3 -11.1 236 2468 0.12 2.53 0.00 0.000 4484 0.141 0.086 2240 3616 3966 3956 3976 0 0 0 0 0 0 14.29 14.21 14.34

2565 -0.94 -145.9 2240 3616 3956 3976 346.4 -15.3 256 2571 0.15 2.38 0.00 0.000 3206 0.265 0.057 2269 2202 3965 3955 3976 0 0 0 0 0 0 14.00 14.26 14.27

2886 -0.94 -145.9 2270 2203 3955 3976 389.1 -13.0 270 2891 0.00 2.47 0.00 0.000 260 0.000 0.088 2267 3614 3964 3954 3975 0 0 0 0 0 0 14.57 14.21 14.59

2998 -0.96 -145.9 2267 3614 3955 3975 403.0 -12.4 292 3002 0.00 2.38 0.00 0.000 1158 0.000 0.054 2266 2201 3968 3954 3983 0 0 0 0 0 0 14.33 14.22 14.35

3308 -0.94 -145.9 2267 2200 3955 3975 444.0 -13.2 304 3312 0.00 2.47 0.00 0.000 388 0.000 0.087 2258 3613 3964 3954 3975 0 0 0 0 0 0 14.59 14.09 14.60

3417 -0.94 -145.9 2258 3615 3953 3981 458.7 -12.9 326 3422 0.00 2.40 0.00 0.000 1030 0.000 0.055 2258 2191 3963 3953 3974 0 0 0 0 0 0 14.32 14.21 14.35

3575 end dive: TARGET_DEPTH_EXCEEDED

state 3575 begin apogee

3581 -0.13 0.0 2259 2065 3954 3974 480.7 -13.8 333 3804 1.08 0.08 220.00 1.429 10246 0.248 0.182 2529 2109 3367 3394 3340 0 0 0 0 0 0 13.87 13.43 12.78

3808 end apogee: CONTROL_FINISHED_OK

state 3808 begin climb

3812 0.57 145.9 2530 2110 3385 3330 491.6 0.0 340 4022 0.75 2.70 202.02 1.401 10500 0.067 0.075 2781 3513 2763 2809 2717 0 0 0 0 0 0 13.56 13.21 12.52

4249 0.14 145.9 2781 3514 2784 2714 457.8 17.3 386 4254 0.77 2.42 0.00 0.000 5254 0.347 0.057 2633 2129 2748 2783 2714 0 0 0 0 0 0 13.47 13.77 13.80

4560 0.08 177.0 2633 2128 2785 2710 429.8 8.6 398 4605 0.00 2.55 41.38 1.441 8612 0.000 0.080 2633 3513 2637 2680 2594 0 0 0 0 0 0 14.32 13.85 13.12

4667 -0.00 177.0 2633 3515 2670 2586 419.4 10.6 419 4673 0.25 2.45 0.00 0.000 5254 0.249 0.058 2584 2100 2627 2669 2585 0 0 0 0 0 0 13.76 13.95 14.00

4983 0.11 255.9 2584 2101 2670 2581 398.4 6.4 432 5114 0.00 2.65 125.03 1.336 8868 0.000 0.087 2588 690 2314 2366 2263 0 0 0 0 0 0 14.42 13.65 12.99

5166 0.33 323.4 2585 690 2356 2258 386.3 6.9 468 5277 0.30 2.53 103.15 1.307 11430 0.083 0.079 2696 2094 2043 2093 1993 0 0 0 0 0 0 13.83 13.77 12.81

5590 0.28 323.4 2696 2095 2076 1974 325.6 14.7 502 5594 0.00 2.53 0.00 0.000 644 0.000 0.086 2698 693 2024 2075 1973 0 0 0 0 0 0 14.20 13.92 14.22

5634 0.28 323.4 2699 693 2074 1975 318.9 14.4 511 5639 0.00 2.50 0.00 0.000 1030 0.000 0.076 2699 2107 2023 2073 1974 0 0 0 0 0 0 14.09 13.98 14.12

5950 0.23 323.4 2699 2108 2073 1970 272.9 14.4 524 5955 0.17 2.50 0.00 0.000 4740 0.230 0.085 2659 688 2021 2072 1970 0 0 0 0 0 0 13.90 14.12 14.04

6037 0.33 323.9 2660 689 2071 1971 263.5 10.0 541 6044 0.00 2.47 0.00 0.000 1190 0.000 0.077 2660 2106 2020 2070 1970 0 0 0 0 0 0 14.19 14.11 14.21

6341 0.38 325.5 2660 2108 2069 1971 232.3 9.9 552 6342 0.12 0.00 0.00 0.000 2214 0.133 0.000 2712 2106 2020 2070 1970 0 0 0 0 0 0 14.29 14.40 14.38

6640 0.33 325.5 2709 2109 2071 1971 194.2 12.3 562 6645 0.00 2.47 0.00 0.000 644 0.000 0.086 2713 688 2022 2075 1970 0 0 0 0 0 0 14.55 14.23 14.57

6700 0.33 325.5 2713 689 2068 1971 187.6 10.7 574 6705 0.00 2.45 0.00 0.000 1030 0.000 0.076 2713 2101 2018 2067 1970 0 0 0 0 0 0 14.37 14.25 14.40

7030 0.31 325.5 2713 2103 2066 1970 151.8 10.6 590 7035 0.12 2.45 0.00 0.000 4740 0.233 0.083 2685 692 2017 2066 1969 0 0 0 0 0 0 14.05 14.23 14.16

7111 0.44 367.5 2686 692 2067 1969 144.9 8.1 606 7192 0.12 2.45 73.60 1.256 11430 0.137 0.079 2742 2108 1864 1900 1828 0 0 0 0 0 0 14.29 14.26 13.30

7512 0.40 367.5 2743 2108 1889 1814 98.4 11.3 636 7517 0.12 2.50 0.00 0.000 4740 0.235 0.083 2725 691 1848 1889 1808 0 0 0 0 0 0 13.98 14.02 14.19

7563 0.49 381.3 2731 690 1880 1814 93.4 9.4 646 7574 0.00 2.47 5.85 0.434 9382 0.000 0.079 2725 2099 1809 1843 1776 0 0 0 0 0 0 14.13 14.02 13.66

7873 0.56 431.8 2725 2100 1854 1789 66.2 7.7 678 7906 0.10 2.58 27.60 0.402 10916 0.149 0.086 2781 684 1603 1638 1569 0 0 0 0 0 0 14.21 14.07 13.76

7973 0.59 431.8 2781 685 1643 1572 55.9 10.6 697 7980 0.00 2.50 0.00 0.000 1158 0.000 0.079 2781 2105 1607 1643 1571 0 0 0 0 0 0 14.12 14.02 14.14

8276 0.63 494.0 2781 2106 1643 1569 30.5 7.1 728 8310 0.00 0.00 32.58 0.304 8230 0.000 0.000 2781 2105 1348 1401 1296 0 0 0 0 0 0 14.45 14.18 13.87

8606 0.95 721.4 2781 2105 1404 1298 15.6 -0.5 761 8719 0.30 0.00 107.75 0.259 11174 0.090 0.000 2897 2106 495 531 460 0 0 0 0 0 0 14.20 14.04 13.78

8833 end climb: SURFACE_DEPTH_REACHED

state 8834 begin surface coast

8854 end surface coast: CONTROL_FINISHED_OK

state 8854 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	86	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	247.0
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	44	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,163703,7228.1846,-14822.2236,26,0.8,27,21.2,0.0,290.0,11,8.0	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	1.11	MHEAD_RNG_PITCHd_Wd	323.3,94406,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.9	D_GRID	480
GPS2	160817,164847,7228.2222,-14822.6074,7,0.8,8,21.2,0.0,309.3,10,10.0

MODEM_MSG	CACST,6,1,20170816162134.865929,3,5626,31,1349,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32	PM_FREEKB_00	56642240
FINISH	-0.0,1.020305	_24V_AH	12.52,83.317
SM_CCo	8935,0.00,0.000,0,0,488,705.73	_10V_AH	12.44,0.000
SM_GC	0.97,8.27,0.17,0.00,0.080,0.112,0.000,208,2232,488,-7.36,-0.57,705.73,0,0,0,0,0,0,14.19,14.21,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	378	FG_AHR_10Vo	0.000
MODEM	2,1502900012,73.18300,-149.96500,65.670,95245.4	MEM	323712
RAFOS_FIX	7256.990723,-14713.501953,160817,161633,2,255,0.00	DATA_FILE_SIZE	26743,792
IRIDIUM_FIX	7226.88,-14829.16,160817,135326	CAP_FILE_SIZE	102391,0
TT8_MAMPS	0.040446,0.841876	CFSIZE	2097872896,2062319616
HUMID	49.88	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1450.7
TCM_TEMP	13.40	CURRENT	0.069,246.34,1
XPDR_PINGS	19	GPS	160817,191917,7229.210,-14823.869,12,0.8,14,21.2,0.4,43.8,11,8.7
CP_FREE	16004775936.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	145.22	nil	0	0	0.00
Roll_motor	85	2139	2280.42	nil	0	0	0.00
VBD_pump_during_apogee	938	1441	16942.95	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	8882	15	1676.94
Iridium_during_xfer	431	178	963.23	NCP	8875	20	2222.30
Transponder_ping	4	420	24.98	PMAR	8830	16	1830.07
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.51
TT8	0	0	0.00
LPSleep	6303	2	181.14
TT8_Active	807	13	140.34
TT8_Sampling	2259	33	939.81
TT8_CF8	286	38	138.06
TT8_Kalman	0	0	0.00
Analog_circuits	2118	10	263.60
GPS_charging	0	0	0.00
Compass	1134	7	98.80
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
43	end surface: CONTROL_FINISHED_OK
state	44	begin dive
46	-0.57	-145.9	194	2227	512	482	0.0	0.0	0	129	0.00	0.00	-80.90	0.000	16386	0.000	0.000	193	2227	2033	1957	2109	0	0	0	0	0	0	14.24	28.83	14.26
134	-0.57	-145.9	194	2226	1960	2111	3.2	-3.8	8	191	12.60	2.85	-36.38	0.000	18980	0.454	2.140	2386	795	3963	3947	3979	0	0	0	0	0	0	13.66	12.63	14.07
416	-0.60	-145.9	2386	795	3956	3981	60.8	-15.6	64	421	0.00	2.45	0.00	0.000	1158	0.000	0.086	2379	2175	3967	3955	3980	0	0	0	0	0	0	14.16	14.07	14.20
746	-0.63	-145.9	2379	2176	3959	3982	108.5	-13.1	94	751	0.00	2.55	0.00	0.000	388	0.000	0.092	2376	3614	3970	3959	3981	0	0	0	0	0	0	14.45	14.10	14.47
873	-0.78	-145.9	2377	3615	3959	3980	122.3	-10.2	119	879	0.15	2.40	0.00	0.000	5254	0.116	0.054	2317	2195	3969	3958	3980	0	0	0	0	0	0	14.20	14.17	14.30
1199	-0.75	-145.9	2317	2195	3959	3983	174.0	-15.5	134	1204	0.00	2.50	0.00	0.000	388	0.000	0.087	2307	3609	3970	3962	3979	0	0	0	0	0	0	14.52	14.19	14.54
1311	-0.80	-145.9	2307	3611	3958	3980	189.8	-13.2	156	1316	0.00	2.38	0.00	0.000	1158	0.000	0.054	2307	2199	3968	3958	3979	0	0	0	0	0	0	14.34	14.23	14.36
1621	-0.80	-145.9	2307	2198	3959	3980	233.6	-13.4	168	1626	0.00	2.50	0.00	0.000	260	0.000	0.089	2304	3619	3970	3962	3979	0	0	0	0	0	0	14.53	14.17	14.54
1763	-0.87	-145.9	2305	3620	3959	3979	250.3	-11.3	196	1768	0.00	2.40	0.00	0.000	1158	0.000	0.056	2308	2194	3968	3958	3979	0	0	0	0	0	0	14.33	14.21	14.37
2073	-0.87	-145.9	2303	2194	3958	3979	287.7	-11.7	208	2078	0.00	2.50	0.00	0.000	260	0.000	0.090	2296	3613	3967	3957	3978	0	0	0	0	0	0	14.57	14.16	14.57
2158	-0.96	-145.9	2302	3613	3957	3978	297.0	-10.4	225	2164	0.00	2.40	0.00	0.000	1158	0.000	0.054	2301	2189	3966	3955	3977	0	0	0	0	0	0	14.30	14.19	14.33
2463	-0.99	-145.9	2302	2189	3958	3976	331.3	-11.1	236	2468	0.12	2.53	0.00	0.000	4484	0.141	0.086	2240	3616	3966	3956	3976	0	0	0	0	0	0	14.29	14.21	14.34
2565	-0.94	-145.9	2240	3616	3956	3976	346.4	-15.3	256	2571	0.15	2.38	0.00	0.000	3206	0.265	0.057	2269	2202	3965	3955	3976	0	0	0	0	0	0	14.00	14.26	14.27
2886	-0.94	-145.9	2270	2203	3955	3976	389.1	-13.0	270	2891	0.00	2.47	0.00	0.000	260	0.000	0.088	2267	3614	3964	3954	3975	0	0	0	0	0	0	14.57	14.21	14.59
2998	-0.96	-145.9	2267	3614	3955	3975	403.0	-12.4	292	3002	0.00	2.38	0.00	0.000	1158	0.000	0.054	2266	2201	3968	3954	3983	0	0	0	0	0	0	14.33	14.22	14.35
3308	-0.94	-145.9	2267	2200	3955	3975	444.0	-13.2	304	3312	0.00	2.47	0.00	0.000	388	0.000	0.087	2258	3613	3964	3954	3975	0	0	0	0	0	0	14.59	14.09	14.60
3417	-0.94	-145.9	2258	3615	3953	3981	458.7	-12.9	326	3422	0.00	2.40	0.00	0.000	1030	0.000	0.055	2258	2191	3963	3953	3974	0	0	0	0	0	0	14.32	14.21	14.35
3575	end dive: TARGET_DEPTH_EXCEEDED
state	3575	begin apogee
3581	-0.13	0.0	2259	2065	3954	3974	480.7	-13.8	333	3804	1.08	0.08	220.00	1.429	10246	0.248	0.182	2529	2109	3367	3394	3340	0	0	0	0	0	0	13.87	13.43	12.78
3808	end apogee: CONTROL_FINISHED_OK
state	3808	begin climb
3812	0.57	145.9	2530	2110	3385	3330	491.6	0.0	340	4022	0.75	2.70	202.02	1.401	10500	0.067	0.075	2781	3513	2763	2809	2717	0	0	0	0	0	0	13.56	13.21	12.52
4249	0.14	145.9	2781	3514	2784	2714	457.8	17.3	386	4254	0.77	2.42	0.00	0.000	5254	0.347	0.057	2633	2129	2748	2783	2714	0	0	0	0	0	0	13.47	13.77	13.80
4560	0.08	177.0	2633	2128	2785	2710	429.8	8.6	398	4605	0.00	2.55	41.38	1.441	8612	0.000	0.080	2633	3513	2637	2680	2594	0	0	0	0	0	0	14.32	13.85	13.12
4667	-0.00	177.0	2633	3515	2670	2586	419.4	10.6	419	4673	0.25	2.45	0.00	0.000	5254	0.249	0.058	2584	2100	2627	2669	2585	0	0	0	0	0	0	13.76	13.95	14.00
4983	0.11	255.9	2584	2101	2670	2581	398.4	6.4	432	5114	0.00	2.65	125.03	1.336	8868	0.000	0.087	2588	690	2314	2366	2263	0	0	0	0	0	0	14.42	13.65	12.99
5166	0.33	323.4	2585	690	2356	2258	386.3	6.9	468	5277	0.30	2.53	103.15	1.307	11430	0.083	0.079	2696	2094	2043	2093	1993	0	0	0	0	0	0	13.83	13.77	12.81
5590	0.28	323.4	2696	2095	2076	1974	325.6	14.7	502	5594	0.00	2.53	0.00	0.000	644	0.000	0.086	2698	693	2024	2075	1973	0	0	0	0	0	0	14.20	13.92	14.22
5634	0.28	323.4	2699	693	2074	1975	318.9	14.4	511	5639	0.00	2.50	0.00	0.000	1030	0.000	0.076	2699	2107	2023	2073	1974	0	0	0	0	0	0	14.09	13.98	14.12
5950	0.23	323.4	2699	2108	2073	1970	272.9	14.4	524	5955	0.17	2.50	0.00	0.000	4740	0.230	0.085	2659	688	2021	2072	1970	0	0	0	0	0	0	13.90	14.12	14.04
6037	0.33	323.9	2660	689	2071	1971	263.5	10.0	541	6044	0.00	2.47	0.00	0.000	1190	0.000	0.077	2660	2106	2020	2070	1970	0	0	0	0	0	0	14.19	14.11	14.21
6341	0.38	325.5	2660	2108	2069	1971	232.3	9.9	552	6342	0.12	0.00	0.00	0.000	2214	0.133	0.000	2712	2106	2020	2070	1970	0	0	0	0	0	0	14.29	14.40	14.38
6640	0.33	325.5	2709	2109	2071	1971	194.2	12.3	562	6645	0.00	2.47	0.00	0.000	644	0.000	0.086	2713	688	2022	2075	1970	0	0	0	0	0	0	14.55	14.23	14.57
6700	0.33	325.5	2713	689	2068	1971	187.6	10.7	574	6705	0.00	2.45	0.00	0.000	1030	0.000	0.076	2713	2101	2018	2067	1970	0	0	0	0	0	0	14.37	14.25	14.40
7030	0.31	325.5	2713	2103	2066	1970	151.8	10.6	590	7035	0.12	2.45	0.00	0.000	4740	0.233	0.083	2685	692	2017	2066	1969	0	0	0	0	0	0	14.05	14.23	14.16
7111	0.44	367.5	2686	692	2067	1969	144.9	8.1	606	7192	0.12	2.45	73.60	1.256	11430	0.137	0.079	2742	2108	1864	1900	1828	0	0	0	0	0	0	14.29	14.26	13.30
7512	0.40	367.5	2743	2108	1889	1814	98.4	11.3	636	7517	0.12	2.50	0.00	0.000	4740	0.235	0.083	2725	691	1848	1889	1808	0	0	0	0	0	0	13.98	14.02	14.19
7563	0.49	381.3	2731	690	1880	1814	93.4	9.4	646	7574	0.00	2.47	5.85	0.434	9382	0.000	0.079	2725	2099	1809	1843	1776	0	0	0	0	0	0	14.13	14.02	13.66
7873	0.56	431.8	2725	2100	1854	1789	66.2	7.7	678	7906	0.10	2.58	27.60	0.402	10916	0.149	0.086	2781	684	1603	1638	1569	0	0	0	0	0	0	14.21	14.07	13.76
7973	0.59	431.8	2781	685	1643	1572	55.9	10.6	697	7980	0.00	2.50	0.00	0.000	1158	0.000	0.079	2781	2105	1607	1643	1571	0	0	0	0	0	0	14.12	14.02	14.14
8276	0.63	494.0	2781	2106	1643	1569	30.5	7.1	728	8310	0.00	0.00	32.58	0.304	8230	0.000	0.000	2781	2105	1348	1401	1296	0	0	0	0	0	0	14.45	14.18	13.87
8606	0.95	721.4	2781	2105	1404	1298	15.6	-0.5	761	8719	0.30	0.00	107.75	0.259	11174	0.090	0.000	2897	2106	495	531	460	0	0	0	0	0	0	14.20	14.04	13.78
8833	end climb: SURFACE_DEPTH_REACHED
state	8834	begin surface coast
8854	end surface coast: CONTROL_FINISHED_OK
state	8854	begin surface