Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 87 * 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 87 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 250.0

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 47 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 250.0 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 87 NOCOMM_ACTION 161 R_STBD_OVSHOOT 47 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 160817,191917,7229.2104,-14823.8691,12,0.8,14,21.2,0.4,43.8,11,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 321.2,92254,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 160817,193620,7229.3540,-14823.9551,6,0.7,25,21.2,0.4,330.5,11,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170816202132.904108,3,85,13,0157,0150,250,00,00,01,01,-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 56578432

FINISH -0.0,1.020191 _24V_AH 12.49,83.793

SM_CCo 8905,39.58,0.210,0,0,497,703.28 _10V_AH 12.62,0.000

SM_GC 1.48,8.48,0.17,39.58,0.085,0.109,0.210,197,2227,497,-7.39,-0.68,703.28,0,0,0,0,0,0,14.23,14.25,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 336 FG_AHR_10Vo 0.000

MODEM 0,1502913888,75.36600,-145.04601,234.109,339614.5 MEM 323572

RAFOS_FIX 7227.490234,-14826.990234,160817,202016,3,255,1.74 DATA_FILE_SIZE 26697,813

IRIDIUM_FIX 7229.27,-14825.42,160817,192859 CAP_FILE_SIZE 112232,0

TT8_MAMPS 0.038948,0.832139 CFSIZE 2097872896,2062024704

HUMID 48.85 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1450.6

TCM_TEMP 13.50 CURRENT 0.049,237.96,1

XPDR_PINGS 12 GPS 160817,220720,7230.329,-14824.846,35,0.9,35,21.2,0.0,0.0,9,9.7

CP_FREE 16004612096.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 26 452 147.67 nil 0 0 0.00

Roll_motor 85 2139 2271.62 nil 0 0 0.00

VBD_pump_during_apogee 860 1514 16287.03 nil 0 0 0.00

VBD_pump_during_surface 39 210 103.99 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 8912 15 1677.45

Iridium_during_xfer 613 166 1277.17 NCP 8911 20 2225.97

Transponder_ping 3 420 15.74 PMAR 8860 16 1836.87

GUMSTIX_24V 0 0 0.00

GPS 27 22 7.67

TT8 0 0 0.00

LPSleep 6429 2 187.44

TT8_Active 918 13 161.89

TT8_Sampling 2327 33 982.28

TT8_CF8 307 38 150.07

TT8_Kalman 0 0 0.00

Analog_circuits 2272 10 286.77

GPS_charging 0 0 0.00

Compass 1164 7 102.85

RAFOS 2217 48 1342.97

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 -145.9 204 2233 504 457 0.0 0.0 0 130 0.00 0.00 -81.80 0.000 16386 0.000 0.000 203 2232 2079 1997 2161 0 0 0 0 0 0 14.40 28.83 14.40

133 -0.57 -145.9 204 2234 2001 2162 3.1 -3.5 8 186 12.40 2.85 -36.10 0.000 19236 0.452 2.140 2384 794 3961 3948 3974 0 0 0 0 0 0 13.71 12.68 14.13

412 -0.62 -145.9 2383 794 3961 3975 58.7 -13.5 63 419 0.00 2.45 0.00 0.000 1158 0.000 0.086 2379 2174 3969 3960 3978 0 0 0 0 0 0 14.22 14.09 14.25

727 -0.65 -145.9 2379 2174 3962 3974 104.8 -13.2 93 731 0.00 2.55 0.00 0.000 388 0.000 0.092 2376 3608 3966 3958 3974 0 0 0 0 0 0 14.47 14.13 14.50

882 -0.80 -145.9 2376 3611 3957 3975 121.8 -9.9 124 887 0.17 2.38 0.00 0.000 5286 0.107 0.053 2307 2198 3967 3961 3974 0 0 0 0 0 0 14.22 14.19 14.31

1207 -0.76 -145.9 2307 2197 3962 3975 176.5 -16.6 139 1213 0.00 2.47 0.00 0.000 388 0.000 0.086 2297 3610 3967 3961 3974 0 0 0 0 0 0 14.56 14.19 14.54

1353 -0.78 -145.9 2295 3611 3962 3975 195.5 -14.2 164 1358 0.12 2.40 0.00 0.000 3206 0.238 0.056 2322 2196 3967 3961 3974 0 0 0 0 0 0 13.96 14.13 14.18

1678 -0.81 -145.9 2323 2195 3962 3976 238.5 -11.4 179 1684 0.00 2.53 0.00 0.000 388 0.000 0.088 2320 3617 3966 3961 3971 0 0 0 0 0 0 14.40 14.05 14.42

1764 -0.93 -145.9 2320 3616 3962 3971 247.5 -9.8 196 1770 0.12 2.42 0.00 0.000 5286 0.138 0.055 2271 2191 3967 3961 3974 0 0 0 0 0 0 14.12 14.09 14.20

2069 -0.87 -145.9 2266 2189 3962 3967 292.7 -14.7 207 2075 0.15 2.53 0.00 0.000 2436 0.289 0.084 2290 3614 3965 3961 3969 0 0 0 0 0 0 13.84 14.07 14.02

2200 -0.94 -145.9 2288 3615 3961 3971 307.9 -10.7 233 2205 0.00 2.40 0.00 0.000 1158 0.000 0.053 2290 2199 3964 3960 3969 0 0 0 0 0 0 14.21 14.12 14.25

2520 -0.94 -145.9 2291 2198 3961 3966 345.6 -11.8 247 2526 0.00 2.50 0.00 0.000 260 0.000 0.088 2281 3609 3962 3960 3965 0 0 0 0 0 0 14.39 14.05 14.40

2637 -1.00 -145.9 2282 3611 3960 3967 358.9 -10.9 270 2643 0.00 2.40 0.00 0.000 1158 0.000 0.054 2281 2197 3966 3968 3965 0 0 0 0 0 0 14.17 14.05 14.21

2941 -1.00 -145.9 2282 2197 3961 3964 395.5 -12.0 281 2946 0.00 2.53 0.00 0.000 260 0.000 0.088 2279 3617 3963 3963 3964 0 0 0 0 0 0 14.38 14.04 14.40

3036 -1.07 -145.9 2280 3619 3959 3965 406.4 -10.9 300 3041 0.15 2.42 0.00 0.000 5254 0.121 0.054 2226 2199 3962 3959 3966 0 0 0 0 0 0 13.87 14.06 14.11

3362 -0.96 -145.9 2226 2198 3961 3963 460.0 -16.8 315 3368 0.15 2.50 0.00 0.000 2436 0.309 0.083 2250 3608 3960 3958 3963 0 0 0 0 0 0 13.74 14.02 13.95

3500 end dive: TARGET_DEPTH_EXCEEDED

state 3500 begin apogee

3508 -0.13 0.0 2247 2100 3958 3963 480.1 -13.5 343 3722 1.12 0.00 208.27 1.446 10246 0.259 0.000 2526 2098 3363 3397 3330 0 0 0 0 0 0 13.81 13.38 12.70

3726 end apogee: CONTROL_FINISHED_OK

state 3726 begin climb

3729 0.57 145.9 2527 2099 3395 3323 490.7 0.0 350 3936 0.75 2.62 195.20 1.405 10500 0.063 0.073 2778 3517 2765 2821 2709 0 0 0 0 0 0 13.47 13.06 12.49

4161 0.15 145.9 2778 3519 2802 2711 457.3 16.8 429 4166 0.75 2.50 0.00 0.000 5254 0.344 0.057 2635 2096 2755 2801 2710 0 0 0 0 0 0 13.44 13.74 13.77

4487 0.08 181.2 2635 2097 2802 2708 428.3 8.4 444 4536 0.00 0.00 47.65 1.441 8358 0.000 0.000 2635 2096 2627 2682 2572 0 0 0 0 0 0 14.33 13.85 13.11

4817 0.04 197.1 2635 2096 2675 2558 398.1 9.3 455 4843 0.15 2.55 21.02 1.515 12964 0.282 0.084 2603 691 2557 2620 2494 0 0 0 0 0 0 13.83 13.98 13.21

4900 0.17 256.6 2603 693 2624 2492 391.9 7.3 471 4994 0.00 2.50 88.35 1.374 9382 0.000 0.078 2602 2107 2318 2381 2255 0 0 0 0 0 0 14.14 14.02 13.01

5299 0.29 307.2 2603 2106 2367 2238 361.4 7.7 501 5375 0.22 0.00 74.00 1.354 10406 0.092 0.000 2689 2107 2113 2171 2055 0 0 0 0 0 0 14.14 13.77 13.08

5659 0.24 307.2 2689 2108 2157 2041 311.9 13.9 513 5664 0.12 2.50 0.00 0.000 4740 0.246 0.083 2672 691 2098 2156 2040 0 0 0 0 0 0 13.93 14.05 14.10

5756 0.29 307.2 2673 697 2149 2040 300.6 11.1 532 5761 0.00 2.47 0.00 0.000 1158 0.000 0.077 2672 2106 2096 2152 2040 0 0 0 0 0 0 14.23 14.12 14.27

6081 0.29 307.2 2673 2108 2152 2038 262.2 11.6 547 6087 0.00 2.50 0.00 0.000 516 0.000 0.086 2672 686 2094 2151 2038 0 0 0 0 0 0 14.50 14.18 14.52

6127 0.34 307.2 2672 687 2151 2039 257.0 10.9 556 6132 0.00 2.45 0.00 0.000 1158 0.000 0.078 2672 2101 2094 2150 2038 0 0 0 0 0 0 14.33 14.22 14.37

6442 0.34 307.2 2673 2102 2152 2037 222.6 10.5 569 6443 0.00 0.00 0.00 0.000 6 0.000 0.000 2669 2102 2093 2150 2037 0 0 0 0 0 0 14.54 14.57 14.57

6742 0.37 319.2 2673 2102 2151 2037 193.5 9.4 579 6762 0.00 2.50 13.40 1.505 8868 0.000 0.086 2672 703 2059 2113 2005 0 0 0 0 0 0 14.57 14.21 13.40

6844 0.48 355.8 2673 700 2109 2005 185.0 8.3 599 6913 0.20 2.45 61.80 1.314 11430 0.107 0.078 2755 2111 1911 1954 1869 0 0 0 0 0 0 14.25 14.18 13.26

7223 0.39 355.8 2755 2112 1939 1861 132.3 13.5 625 7228 0.17 2.50 0.00 0.000 4740 0.238 0.083 2713 688 1900 1938 1862 0 0 0 0 0 0 13.97 14.08 14.14

7263 0.45 356.2 2713 689 1937 1863 127.9 10.0 633 7268 0.00 2.47 0.00 0.000 1190 0.000 0.076 2713 2102 1899 1936 1862 0 0 0 0 0 0 14.20 14.08 14.23

7584 0.49 379.0 2713 2104 1936 1861 97.5 8.9 647 7600 0.00 2.47 11.70 0.503 8868 0.000 0.083 2713 694 1817 1852 1783 0 0 0 0 0 0 14.50 13.82 13.69

7656 0.62 417.7 2713 694 1853 1785 91.6 8.2 661 7683 0.20 2.45 22.38 0.483 11430 0.099 0.076 2790 2105 1659 1690 1628 0 0 0 0 0 0 14.22 14.17 13.65

7988 0.56 417.7 2791 2101 1693 1626 49.5 10.3 697 7993 0.00 2.45 0.00 0.000 388 0.000 0.081 2791 3510 1660 1692 1628 0 0 0 0 0 0 14.45 14.12 14.46

8058 0.50 418.6 2792 3516 1694 1626 42.1 10.0 711 8065 0.22 2.42 0.00 0.000 5286 0.272 0.063 2746 2100 1657 1691 1624 0 0 0 0 0 0 13.84 14.17 14.09

8370 0.66 536.0 2746 2100 1693 1620 26.2 4.6 743 8439 0.12 2.55 64.40 0.283 10916 0.126 0.086 2806 688 1175 1244 1106 0 0 0 0 0 0 14.23 13.90 13.84

8505 0.79 576.7 2806 689 1244 1105 16.0 8.1 769 8531 0.00 2.47 22.00 0.256 9382 0.000 0.077 2806 2100 1013 1091 935 0 0 0 0 0 0 14.22 14.09 13.90

8836 1.10 712.0 2806 2101 1091 925 4.1 3.8 805 8869 0.35 0.00 30.73 0.213 10914 0.083 0.000 2942 2100 780 856 704 0 0 0 0 0 0 14.06 28.83 14.10

8870 end climb: SURFACE_DEPTH_REACHED

state 8870 begin surface coast

8884 end surface coast: CONTROL_FINISHED_OK

state 8884 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	87	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	250.0
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	47	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,191917,7229.2104,-14823.8691,12,0.8,14,21.2,0.4,43.8,11,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	321.2,92254,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	160817,193620,7229.3540,-14823.9551,6,0.7,25,21.2,0.4,330.5,11,9.7

MODEM_MSG	CACST,6,1,20170816202132.904108,3,85,13,0157,0150,250,00,00,01,01,-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	56578432
FINISH	-0.0,1.020191	_24V_AH	12.49,83.793
SM_CCo	8905,39.58,0.210,0,0,497,703.28	_10V_AH	12.62,0.000
SM_GC	1.48,8.48,0.17,39.58,0.085,0.109,0.210,197,2227,497,-7.39,-0.68,703.28,0,0,0,0,0,0,14.23,14.25,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	336	FG_AHR_10Vo	0.000
MODEM	0,1502913888,75.36600,-145.04601,234.109,339614.5	MEM	323572
RAFOS_FIX	7227.490234,-14826.990234,160817,202016,3,255,1.74	DATA_FILE_SIZE	26697,813
IRIDIUM_FIX	7229.27,-14825.42,160817,192859	CAP_FILE_SIZE	112232,0
TT8_MAMPS	0.038948,0.832139	CFSIZE	2097872896,2062024704
HUMID	48.85	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1450.6
TCM_TEMP	13.50	CURRENT	0.049,237.96,1
XPDR_PINGS	12	GPS	160817,220720,7230.329,-14824.846,35,0.9,35,21.2,0.0,0.0,9,9.7
CP_FREE	16004612096.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	26	452	147.67	nil	0	0	0.00
Roll_motor	85	2139	2271.62	nil	0	0	0.00
VBD_pump_during_apogee	860	1514	16287.03	nil	0	0	0.00
VBD_pump_during_surface	39	210	103.99	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	8912	15	1677.45
Iridium_during_xfer	613	166	1277.17	NCP	8911	20	2225.97
Transponder_ping	3	420	15.74	PMAR	8860	16	1836.87
GUMSTIX_24V	0	0	0.00
GPS	27	22	7.67
TT8	0	0	0.00
LPSleep	6429	2	187.44
TT8_Active	918	13	161.89
TT8_Sampling	2327	33	982.28
TT8_CF8	307	38	150.07
TT8_Kalman	0	0	0.00
Analog_circuits	2272	10	286.77
GPS_charging	0	0	0.00
Compass	1164	7	102.85
RAFOS	2217	48	1342.97
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	204	2233	504	457	0.0	0.0	0	130	0.00	0.00	-81.80	0.000	16386	0.000	0.000	203	2232	2079	1997	2161	0	0	0	0	0	0	14.40	28.83	14.40
133	-0.57	-145.9	204	2234	2001	2162	3.1	-3.5	8	186	12.40	2.85	-36.10	0.000	19236	0.452	2.140	2384	794	3961	3948	3974	0	0	0	0	0	0	13.71	12.68	14.13
412	-0.62	-145.9	2383	794	3961	3975	58.7	-13.5	63	419	0.00	2.45	0.00	0.000	1158	0.000	0.086	2379	2174	3969	3960	3978	0	0	0	0	0	0	14.22	14.09	14.25
727	-0.65	-145.9	2379	2174	3962	3974	104.8	-13.2	93	731	0.00	2.55	0.00	0.000	388	0.000	0.092	2376	3608	3966	3958	3974	0	0	0	0	0	0	14.47	14.13	14.50
882	-0.80	-145.9	2376	3611	3957	3975	121.8	-9.9	124	887	0.17	2.38	0.00	0.000	5286	0.107	0.053	2307	2198	3967	3961	3974	0	0	0	0	0	0	14.22	14.19	14.31
1207	-0.76	-145.9	2307	2197	3962	3975	176.5	-16.6	139	1213	0.00	2.47	0.00	0.000	388	0.000	0.086	2297	3610	3967	3961	3974	0	0	0	0	0	0	14.56	14.19	14.54
1353	-0.78	-145.9	2295	3611	3962	3975	195.5	-14.2	164	1358	0.12	2.40	0.00	0.000	3206	0.238	0.056	2322	2196	3967	3961	3974	0	0	0	0	0	0	13.96	14.13	14.18
1678	-0.81	-145.9	2323	2195	3962	3976	238.5	-11.4	179	1684	0.00	2.53	0.00	0.000	388	0.000	0.088	2320	3617	3966	3961	3971	0	0	0	0	0	0	14.40	14.05	14.42
1764	-0.93	-145.9	2320	3616	3962	3971	247.5	-9.8	196	1770	0.12	2.42	0.00	0.000	5286	0.138	0.055	2271	2191	3967	3961	3974	0	0	0	0	0	0	14.12	14.09	14.20
2069	-0.87	-145.9	2266	2189	3962	3967	292.7	-14.7	207	2075	0.15	2.53	0.00	0.000	2436	0.289	0.084	2290	3614	3965	3961	3969	0	0	0	0	0	0	13.84	14.07	14.02
2200	-0.94	-145.9	2288	3615	3961	3971	307.9	-10.7	233	2205	0.00	2.40	0.00	0.000	1158	0.000	0.053	2290	2199	3964	3960	3969	0	0	0	0	0	0	14.21	14.12	14.25
2520	-0.94	-145.9	2291	2198	3961	3966	345.6	-11.8	247	2526	0.00	2.50	0.00	0.000	260	0.000	0.088	2281	3609	3962	3960	3965	0	0	0	0	0	0	14.39	14.05	14.40
2637	-1.00	-145.9	2282	3611	3960	3967	358.9	-10.9	270	2643	0.00	2.40	0.00	0.000	1158	0.000	0.054	2281	2197	3966	3968	3965	0	0	0	0	0	0	14.17	14.05	14.21
2941	-1.00	-145.9	2282	2197	3961	3964	395.5	-12.0	281	2946	0.00	2.53	0.00	0.000	260	0.000	0.088	2279	3617	3963	3963	3964	0	0	0	0	0	0	14.38	14.04	14.40
3036	-1.07	-145.9	2280	3619	3959	3965	406.4	-10.9	300	3041	0.15	2.42	0.00	0.000	5254	0.121	0.054	2226	2199	3962	3959	3966	0	0	0	0	0	0	13.87	14.06	14.11
3362	-0.96	-145.9	2226	2198	3961	3963	460.0	-16.8	315	3368	0.15	2.50	0.00	0.000	2436	0.309	0.083	2250	3608	3960	3958	3963	0	0	0	0	0	0	13.74	14.02	13.95
3500	end dive: TARGET_DEPTH_EXCEEDED
state	3500	begin apogee
3508	-0.13	0.0	2247	2100	3958	3963	480.1	-13.5	343	3722	1.12	0.00	208.27	1.446	10246	0.259	0.000	2526	2098	3363	3397	3330	0	0	0	0	0	0	13.81	13.38	12.70
3726	end apogee: CONTROL_FINISHED_OK
state	3726	begin climb
3729	0.57	145.9	2527	2099	3395	3323	490.7	0.0	350	3936	0.75	2.62	195.20	1.405	10500	0.063	0.073	2778	3517	2765	2821	2709	0	0	0	0	0	0	13.47	13.06	12.49
4161	0.15	145.9	2778	3519	2802	2711	457.3	16.8	429	4166	0.75	2.50	0.00	0.000	5254	0.344	0.057	2635	2096	2755	2801	2710	0	0	0	0	0	0	13.44	13.74	13.77
4487	0.08	181.2	2635	2097	2802	2708	428.3	8.4	444	4536	0.00	0.00	47.65	1.441	8358	0.000	0.000	2635	2096	2627	2682	2572	0	0	0	0	0	0	14.33	13.85	13.11
4817	0.04	197.1	2635	2096	2675	2558	398.1	9.3	455	4843	0.15	2.55	21.02	1.515	12964	0.282	0.084	2603	691	2557	2620	2494	0	0	0	0	0	0	13.83	13.98	13.21
4900	0.17	256.6	2603	693	2624	2492	391.9	7.3	471	4994	0.00	2.50	88.35	1.374	9382	0.000	0.078	2602	2107	2318	2381	2255	0	0	0	0	0	0	14.14	14.02	13.01
5299	0.29	307.2	2603	2106	2367	2238	361.4	7.7	501	5375	0.22	0.00	74.00	1.354	10406	0.092	0.000	2689	2107	2113	2171	2055	0	0	0	0	0	0	14.14	13.77	13.08
5659	0.24	307.2	2689	2108	2157	2041	311.9	13.9	513	5664	0.12	2.50	0.00	0.000	4740	0.246	0.083	2672	691	2098	2156	2040	0	0	0	0	0	0	13.93	14.05	14.10
5756	0.29	307.2	2673	697	2149	2040	300.6	11.1	532	5761	0.00	2.47	0.00	0.000	1158	0.000	0.077	2672	2106	2096	2152	2040	0	0	0	0	0	0	14.23	14.12	14.27
6081	0.29	307.2	2673	2108	2152	2038	262.2	11.6	547	6087	0.00	2.50	0.00	0.000	516	0.000	0.086	2672	686	2094	2151	2038	0	0	0	0	0	0	14.50	14.18	14.52
6127	0.34	307.2	2672	687	2151	2039	257.0	10.9	556	6132	0.00	2.45	0.00	0.000	1158	0.000	0.078	2672	2101	2094	2150	2038	0	0	0	0	0	0	14.33	14.22	14.37
6442	0.34	307.2	2673	2102	2152	2037	222.6	10.5	569	6443	0.00	0.00	0.00	0.000	6	0.000	0.000	2669	2102	2093	2150	2037	0	0	0	0	0	0	14.54	14.57	14.57
6742	0.37	319.2	2673	2102	2151	2037	193.5	9.4	579	6762	0.00	2.50	13.40	1.505	8868	0.000	0.086	2672	703	2059	2113	2005	0	0	0	0	0	0	14.57	14.21	13.40
6844	0.48	355.8	2673	700	2109	2005	185.0	8.3	599	6913	0.20	2.45	61.80	1.314	11430	0.107	0.078	2755	2111	1911	1954	1869	0	0	0	0	0	0	14.25	14.18	13.26
7223	0.39	355.8	2755	2112	1939	1861	132.3	13.5	625	7228	0.17	2.50	0.00	0.000	4740	0.238	0.083	2713	688	1900	1938	1862	0	0	0	0	0	0	13.97	14.08	14.14
7263	0.45	356.2	2713	689	1937	1863	127.9	10.0	633	7268	0.00	2.47	0.00	0.000	1190	0.000	0.076	2713	2102	1899	1936	1862	0	0	0	0	0	0	14.20	14.08	14.23
7584	0.49	379.0	2713	2104	1936	1861	97.5	8.9	647	7600	0.00	2.47	11.70	0.503	8868	0.000	0.083	2713	694	1817	1852	1783	0	0	0	0	0	0	14.50	13.82	13.69
7656	0.62	417.7	2713	694	1853	1785	91.6	8.2	661	7683	0.20	2.45	22.38	0.483	11430	0.099	0.076	2790	2105	1659	1690	1628	0	0	0	0	0	0	14.22	14.17	13.65
7988	0.56	417.7	2791	2101	1693	1626	49.5	10.3	697	7993	0.00	2.45	0.00	0.000	388	0.000	0.081	2791	3510	1660	1692	1628	0	0	0	0	0	0	14.45	14.12	14.46
8058	0.50	418.6	2792	3516	1694	1626	42.1	10.0	711	8065	0.22	2.42	0.00	0.000	5286	0.272	0.063	2746	2100	1657	1691	1624	0	0	0	0	0	0	13.84	14.17	14.09
8370	0.66	536.0	2746	2100	1693	1620	26.2	4.6	743	8439	0.12	2.55	64.40	0.283	10916	0.126	0.086	2806	688	1175	1244	1106	0	0	0	0	0	0	14.23	13.90	13.84
8505	0.79	576.7	2806	689	1244	1105	16.0	8.1	769	8531	0.00	2.47	22.00	0.256	9382	0.000	0.077	2806	2100	1013	1091	935	0	0	0	0	0	0	14.22	14.09	13.90
8836	1.10	712.0	2806	2101	1091	925	4.1	3.8	805	8869	0.35	0.00	30.73	0.213	10914	0.083	0.000	2942	2100	780	856	704	0	0	0	0	0	0	14.06	28.83	14.10
8870	end climb: SURFACE_DEPTH_REACHED
state	8870	begin surface coast
8884	end surface coast: CONTROL_FINISHED_OK
state	8884	begin surface