Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 90 * 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 90 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 257.0

FERRY_MAX 45 ROLL_DEG 40 ALTIM_BOTTOM_TURN_MARGIN 0 CP_NDIVE 1.0

KALMAN_USE 2 C_ROLL_DIVE 2200 ALTIM_TOP_TURN_MARGIN 0 PM_RECORDABOVE 2000.0

HD_A 0.0031999999 C_ROLL_CLIMB 2100 ALTIM_TOP_MIN_OBSTACLE 1 PM_PROFILE 3.0

HD_B 0.0103 HEAD_ERRBAND 10 ALTIM_PING_DEPTH 0 PM_XMITPROFILE 0.0

HD_C 1.06e-05 ROLL_CNV 0.028270001 ALTIM_PING_DELTA 10 PM_NDIVE 1.0

HEADING -1 ROLL_TIMEOUT 15 ALTIM_FREQUENCY 13 PM_XMITRAW 0.0

ESCAPE_HEADING 0 R_PORT_OVSHOOT 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 257.0 LOGGERDEVICE4 -1 RAFOS_HIT_WINDOW 3600 T_RSLEEP 3

CP_UPLOADMAX 100000.0 LOGGERS 7 RAFOS_MMODEM 0 T_TURN 225

CP_XMITPROFILE 0.0 LOITER_DBDW 0 RAFOS_PEAK_OFFSET 0 T_TURN_SAMPINT -5

C_PITCH 2580 LOITER_D_NO_PUMP 0 RELAUNCH 1 T_WATCHDOG 10

C_ROLL_CLIMB 2100 LOITER_W_DBAND 0 RHO 1.028 UNCOM_BLEED 20

C_ROLL_DIVE 2200 MASS 55566 ROLL_ADJ_DBAND 0 UPLOAD_DIVES_MAX -1

C_VBD 3365 MASS_COMP 0 ROLL_ADJ_GAIN 0 USE_BATHY 0

DBDW 0 MAXI_10V 1 ROLL_AD_RATE 350 USE_ICE 0

DEEPGLIDER 0 MAXI_24V 0.60000002 ROLL_CNV 0.028270001 VBD_BLEED_AD_RATE 8

DEVICE1 -1 MAX_BUOY 150 ROLL_DEG 40 VBD_CNV -0.24529999

DEVICE2 -1 MINV_10V 11 ROLL_MAX 3787 VBD_DBAND 2

DEVICE3 -1 MINV_24V 11 ROLL_MAXERRORS 1 VBD_LP_IGNORE 0

DEVICE4 -1 MISSION 14 ROLL_MIN 218 VBD_MAX 3960

DEVICE5 -1 MOTHERBOARD 4 ROLL_TIMEOUT 15 VBD_MAXERRORS 1

DEVICE6 -1 NAV_MODE 2 R_PORT_OVSHOOT 28 VBD_MIN 500

DIVE 90 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 170817,034502,7232.0708,-14826.9258,27,0.7,27,21.2,0.0,0.0,12,6.2 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 1.12 MHEAD_RNG_PITCHd_Wd 321.8,87080,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.1 D_GRID 480

GPS2 170817,035529,7232.0620,-14827.3047,7,0.8,9,21.2,0.5,261.1,12,9.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817042912.231646,3,514,27,0331,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F PM_FREEKB_00 56366208

FINISH 0.4,1.020171 _24V_AH 12.66,85.379

SM_CCo 9939,0.00,0.000,0,0,493,704.01 _10V_AH 12.51,0.000

SM_GC 1.02,8.35,0.12,0.00,0.082,0.140,0.000,200,2222,493,-7.38,-0.82,704.01,0,0,0,0,0,0,14.21,14.19,14.29 FG_AHR_24Vo 0.000

RAFOS_CLK 413 FG_AHR_10Vo 0.000

MODEM 0,1502942684,75.36600,-145.04601,230.200,334017.2 MEM 323716

RAFOS_FIX 7231.175781,-14831.150391,170817,040412,4,255,2.07 DATA_FILE_SIZE 30074,865

IRIDIUM_FIX 7231.02,-14821.67,170817,010144 CAP_FILE_SIZE 112848,0

TT8_MAMPS 0.040446,0.895055 CFSIZE 2097872896,2061074432

HUMID 49.25 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1451.5

TCM_TEMP 13.50 CURRENT 0.054,245.69,1

XPDR_PINGS 11 GPS 170817,064302,7233.112,-14828.011,33,0.8,34,21.2,0.0,301.5,10,7.9

CP_FREE 16004055040.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 456 148.31 nil 0 0 0.00

Roll_motor 89 2148 2425.13 nil 0 0 0.00

VBD_pump_during_apogee 1541 1369 26716.46 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 9885 14 1765.03

Iridium_during_xfer 357 177 802.70 NCP 9871 20 2499.34

Transponder_ping 2 420 14.62 PMAR 9836 16 2071.83

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.81

TT8 0 0 0.00

LPSleep 6476 2 187.16

TT8_Active 1156 13 202.14

TT8_Sampling 2647 33 1107.52

TT8_CF8 301 38 145.75

TT8_Kalman 0 0 0.00

Analog_circuits 2812 10 351.81

GPS_charging 0 0 0.00

Compass 1237 7 108.41

RAFOS 2219 48 1332.47

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 -145.9 202 2229 553 458 0.0 0.0 0 129 0.00 0.00 -81.18 0.000 16386 0.000 0.000 201 2229 2075 2016 2135 0 0 0 0 0 0 14.40 28.83 14.42

132 -0.57 -145.9 202 2226 2018 2135 3.5 -4.4 8 195 12.55 2.75 -34.88 0.000 18724 0.457 2.148 2379 3608 3965 3946 3985 0 0 0 0 0 0 13.72 12.94 14.15

422 -0.63 -145.9 2381 3608 3951 3984 64.7 -15.1 62 427 0.00 2.42 0.00 0.000 1158 0.000 0.056 2378 2195 3967 3951 3983 0 0 0 0 0 0 14.14 14.03 14.16

754 -0.67 -145.9 2378 2194 3953 3984 112.5 -12.9 90 758 0.00 2.47 0.00 0.000 388 0.000 0.088 2376 3614 3967 3953 3982 0 0 0 0 0 0 14.33 14.00 14.35

866 -0.83 -145.9 2376 3614 3954 3983 124.3 -9.7 112 871 0.22 2.40 0.00 0.000 5286 0.095 0.053 2286 2195 3967 3953 3982 0 0 0 0 0 0 14.13 14.09 14.21

1176 -0.74 -145.9 2287 2195 3954 3982 183.7 -19.1 124 1181 0.20 2.53 0.00 0.000 2436 0.275 0.084 2325 3617 3967 3953 3982 0 0 0 0 0 0 13.83 14.08 14.02

1306 -0.85 -145.9 2331 3619 3954 3983 200.4 -11.3 150 1311 0.00 2.42 0.00 0.000 1158 0.000 0.055 2325 2198 3967 3952 3983 0 0 0 0 0 0 14.21 14.11 14.23

1626 -0.89 -145.9 2325 2193 3953 3982 239.8 -11.7 164 1631 0.00 2.53 0.00 0.000 388 0.000 0.089 2319 3614 3969 3956 3982 0 0 0 0 0 0 14.38 14.01 14.40

1743 -1.00 -145.9 2320 3616 3954 3983 251.7 -10.1 187 1750 0.20 2.42 0.00 0.000 5254 0.101 0.055 2247 2189 3966 3953 3980 0 0 0 0 0 0 14.13 14.07 14.21

2046 -0.91 -145.9 2248 2190 3953 3979 302.8 -16.8 198 2051 0.12 2.53 0.00 0.000 2436 0.301 0.083 2265 3616 3966 3951 3982 0 0 0 0 0 0 13.84 14.08 14.01

2191 -0.93 -145.9 2265 3618 3952 3976 322.8 -12.9 227 2199 0.00 2.42 0.00 0.000 1158 0.000 0.056 2269 2200 3966 3951 3981 0 0 0 0 0 0 14.15 14.05 14.18

2497 -0.90 -145.9 2266 2197 3952 3977 365.1 -13.6 238 2501 0.00 2.47 0.00 0.000 388 0.000 0.086 2255 3614 3963 3951 3975 0 0 0 0 0 0 14.40 14.04 14.40

2632 -0.90 -145.9 2255 3616 3952 3977 383.2 -13.2 265 2637 0.15 2.40 0.00 0.000 3078 0.257 0.055 2285 2183 3964 3951 3978 0 0 0 0 0 0 13.85 14.06 14.12

2949 -0.90 -145.9 2285 2181 3951 3978 419.4 -11.3 278 2954 0.00 2.53 0.00 0.000 260 0.000 0.087 2280 3610 3963 3951 3976 0 0 0 0 0 0 14.50 14.14 14.50

3061 -0.98 -145.9 2280 3612 3951 3977 431.5 -10.3 300 3065 0.00 2.38 0.00 0.000 1158 0.000 0.055 2280 2200 3963 3950 3976 0 0 0 0 0 0 14.31 14.19 14.33

3371 -0.98 -145.9 2280 2199 3951 3976 467.6 -11.7 312 3376 0.00 2.50 0.00 0.000 260 0.000 0.090 2280 3614 3962 3950 3975 0 0 0 0 0 0 14.55 14.14 14.57

3471 -1.07 -145.9 2280 3616 3951 3975 478.6 -10.6 332 3476 0.15 2.40 0.00 0.000 5254 0.122 0.056 2224 2189 3962 3950 3975 0 0 0 0 0 0 14.26 14.23 14.35

3483 end dive: TARGET_DEPTH_EXCEEDED

state 3483 begin apogee

3489 -0.13 0.0 2225 2067 3951 3975 480.3 -10.7 335 3998 1.25 0.05 502.80 1.140 10246 0.278 0.218 2527 2104 3364 3390 3338 0 0 0 0 0 0 13.91 13.21 12.67

4004 end apogee: CONTROL_FINISHED_OK

state 4004 begin climb

4006 0.57 145.9 2527 2104 3388 3333 508.3 0.0 352 4547 0.73 2.62 424.65 1.086 10756 0.064 0.079 2782 727 2756 2798 2715 0 0 0 0 0 0 13.38 13.12 12.66

4776 0.22 145.9 2782 727 2796 2714 468.3 14.0 399 4784 0.57 2.42 0.00 0.000 5254 0.319 0.075 2660 2099 2753 2795 2712 0 0 0 0 0 0 13.61 13.88 13.93

5081 0.07 162.7 2661 2099 2796 2708 439.3 9.2 410 5114 0.20 2.47 23.00 1.369 12964 0.299 0.081 2612 725 2695 2741 2649 0 0 0 0 0 0 13.85 14.03 13.31

5339 0.11 221.5 2616 724 2737 2639 420.2 7.3 461 5460 0.00 2.40 114.50 1.226 9254 0.000 0.079 2616 2101 2463 2524 2402 0 0 0 0 0 0 14.26 14.15 13.09

5775 0.13 253.7 2616 2101 2507 2379 383.4 8.5 498 5840 0.00 2.53 57.65 1.247 8740 0.000 0.082 2612 720 2324 2382 2266 0 0 0 0 0 0 14.38 13.85 13.21

5887 0.26 289.5 2616 720 2374 2265 374.0 8.3 520 5957 0.15 2.45 61.30 1.247 11430 0.114 0.076 2678 2106 2182 2240 2125 0 0 0 0 0 0 13.99 13.94 13.08

6256 0.21 289.5 2679 2106 2225 2106 326.1 13.0 544 6260 0.00 2.45 0.00 0.000 644 0.000 0.083 2685 714 2164 2224 2104 0 0 0 0 0 0 14.35 14.06 14.35

6301 0.19 289.5 2686 714 2223 2105 320.1 13.0 553 6306 0.17 2.45 0.00 0.000 5254 0.239 0.078 2646 2109 2163 2222 2105 0 0 0 0 0 0 13.93 14.10 14.19

6616 0.19 289.5 2648 2109 2223 2103 287.3 10.2 566 6621 0.00 2.42 0.00 0.000 516 0.000 0.084 2647 721 2162 2222 2103 0 0 0 0 0 0 14.50 14.21 14.52

6651 0.25 294.9 2646 723 2219 2104 283.8 9.8 573 6656 0.00 2.40 0.00 0.000 1190 0.000 0.076 2649 2101 2160 2217 2103 0 0 0 0 0 0 14.23 14.12 14.26

6976 0.29 303.2 2647 2102 2220 2103 252.2 9.6 588 6981 0.00 0.00 4.15 1.313 8358 0.000 0.000 2647 2103 2132 2189 2075 0 0 0 0 0 0 14.55 14.21 13.21

7276 0.36 340.5 2647 2104 2205 2089 225.9 8.3 598 7381 0.12 2.47 98.05 1.200 10916 0.129 0.084 2709 723 1970 2021 1920 0 0 0 0 0 0 14.32 13.88 13.25

7428 0.36 340.5 2710 723 2009 1915 208.4 12.0 628 7433 0.00 2.45 0.00 0.000 1030 0.000 0.076 2709 2107 1962 2008 1916 0 0 0 0 0 0 14.02 13.93 14.06

7759 0.33 340.5 2710 2102 2008 1907 171.1 10.9 644 7763 0.00 2.42 0.00 0.000 644 0.000 0.084 2717 720 1957 2007 1907 0 0 0 0 0 0 14.42 14.12 14.45

7824 0.36 346.1 2709 720 2005 1906 164.6 9.7 657 7829 0.00 2.42 0.00 0.000 1190 0.000 0.076 2709 2106 1955 2004 1907 0 0 0 0 0 0 14.29 14.18 14.30

8149 0.36 352.4 2709 2107 2005 1906 132.2 9.7 672 8154 0.00 0.00 3.90 1.222 8230 0.000 0.000 2709 2106 1924 1969 1879 0 0 0 0 0 0 14.50 14.21 13.09

8449 0.38 380.6 2710 2106 1989 1893 105.4 8.7 682 8533 0.00 2.55 76.15 1.203 8740 0.000 0.083 2712 719 1810 1844 1776 0 0 0 0 0 0 14.53 13.87 13.28

8564 0.50 416.3 2710 719 1835 1773 95.4 8.4 705 8586 0.00 2.45 17.92 0.472 9382 0.000 0.077 2709 2102 1668 1704 1633 0 0 0 0 0 0 14.03 13.93 13.51

8891 0.63 492.2 2709 2103 1713 1641 70.0 6.5 740 8940 0.20 2.50 41.03 0.405 10916 0.103 0.087 2794 729 1359 1415 1304 0 0 0 0 0 0 14.15 14.03 13.72

9039 0.63 492.2 2795 727 1416 1312 53.5 11.0 769 9046 0.00 2.42 0.00 0.000 1030 0.000 0.077 2794 2104 1364 1416 1312 0 0 0 0 0 0 14.19 14.08 14.21

9345 0.67 539.0 2795 2105 1417 1311 26.1 7.8 800 9376 0.00 0.00 26.33 0.288 8230 0.000 0.000 2794 2105 1165 1234 1097 0 0 0 0 0 0 14.45 14.05 13.86

9675 0.99 750.7 2796 2102 1235 1111 15.5 0.2 833 9771 0.30 2.55 89.68 0.252 10660 0.090 0.083 2904 3511 501 545 458 0 0 0 0 0 0 14.20 13.96 13.88

9816 0.99 750.7 2908 3510 543 451 5.6 11.6 860 9822 0.00 2.40 0.00 0.000 1030 0.000 0.068 2913 2129 494 538 450 0 0 0 0 0 0 14.10 14.00 14.13

9849 end climb: SURFACE_DEPTH_REACHED

state 9849 begin surface coast

9859 end surface coast: CONTROL_FINISHED_OK

state 9859 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	90	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	257.0
FERRY_MAX	45	ROLL_DEG	40	ALTIM_BOTTOM_TURN_MARGIN	0	CP_NDIVE	1.0
KALMAN_USE	2	C_ROLL_DIVE	2200	ALTIM_TOP_TURN_MARGIN	0	PM_RECORDABOVE	2000.0
HD_A	0.0031999999	C_ROLL_CLIMB	2100	ALTIM_TOP_MIN_OBSTACLE	1	PM_PROFILE	3.0
HD_B	0.0103	HEAD_ERRBAND	10	ALTIM_PING_DEPTH	0	PM_XMITPROFILE	0.0
HD_C	1.06e-05	ROLL_CNV	0.028270001	ALTIM_PING_DELTA	10	PM_NDIVE	1.0
HEADING	-1	ROLL_TIMEOUT	15	ALTIM_FREQUENCY	13	PM_XMITRAW	0.0
ESCAPE_HEADING	0	R_PORT_OVSHOOT	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,034502,7232.0708,-14826.9258,27,0.7,27,21.2,0.0,0.0,12,6.2	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	1.12	MHEAD_RNG_PITCHd_Wd	321.8,87080,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.1	D_GRID	480
GPS2	170817,035529,7232.0620,-14827.3047,7,0.8,9,21.2,0.5,261.1,12,9.0

MODEM_MSG	CACST,6,1,20170817042912.231646,3,514,27,0331,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*0F	PM_FREEKB_00	56366208
FINISH	0.4,1.020171	_24V_AH	12.66,85.379
SM_CCo	9939,0.00,0.000,0,0,493,704.01	_10V_AH	12.51,0.000
SM_GC	1.02,8.35,0.12,0.00,0.082,0.140,0.000,200,2222,493,-7.38,-0.82,704.01,0,0,0,0,0,0,14.21,14.19,14.29	FG_AHR_24Vo	0.000
RAFOS_CLK	413	FG_AHR_10Vo	0.000
MODEM	0,1502942684,75.36600,-145.04601,230.200,334017.2	MEM	323716
RAFOS_FIX	7231.175781,-14831.150391,170817,040412,4,255,2.07	DATA_FILE_SIZE	30074,865
IRIDIUM_FIX	7231.02,-14821.67,170817,010144	CAP_FILE_SIZE	112848,0
TT8_MAMPS	0.040446,0.895055	CFSIZE	2097872896,2061074432
HUMID	49.25	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1451.5
TCM_TEMP	13.50	CURRENT	0.054,245.69,1
XPDR_PINGS	11	GPS	170817,064302,7233.112,-14828.011,33,0.8,34,21.2,0.0,301.5,10,7.9
CP_FREE	16004055040.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	456	148.31	nil	0	0	0.00
Roll_motor	89	2148	2425.13	nil	0	0	0.00
VBD_pump_during_apogee	1541	1369	26716.46	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	9885	14	1765.03
Iridium_during_xfer	357	177	802.70	NCP	9871	20	2499.34
Transponder_ping	2	420	14.62	PMAR	9836	16	2071.83
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.81
TT8	0	0	0.00
LPSleep	6476	2	187.16
TT8_Active	1156	13	202.14
TT8_Sampling	2647	33	1107.52
TT8_CF8	301	38	145.75
TT8_Kalman	0	0	0.00
Analog_circuits	2812	10	351.81
GPS_charging	0	0	0.00
Compass	1237	7	108.41
RAFOS	2219	48	1332.47
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	202	2229	553	458	0.0	0.0	0	129	0.00	0.00	-81.18	0.000	16386	0.000	0.000	201	2229	2075	2016	2135	0	0	0	0	0	0	14.40	28.83	14.42
132	-0.57	-145.9	202	2226	2018	2135	3.5	-4.4	8	195	12.55	2.75	-34.88	0.000	18724	0.457	2.148	2379	3608	3965	3946	3985	0	0	0	0	0	0	13.72	12.94	14.15
422	-0.63	-145.9	2381	3608	3951	3984	64.7	-15.1	62	427	0.00	2.42	0.00	0.000	1158	0.000	0.056	2378	2195	3967	3951	3983	0	0	0	0	0	0	14.14	14.03	14.16
754	-0.67	-145.9	2378	2194	3953	3984	112.5	-12.9	90	758	0.00	2.47	0.00	0.000	388	0.000	0.088	2376	3614	3967	3953	3982	0	0	0	0	0	0	14.33	14.00	14.35
866	-0.83	-145.9	2376	3614	3954	3983	124.3	-9.7	112	871	0.22	2.40	0.00	0.000	5286	0.095	0.053	2286	2195	3967	3953	3982	0	0	0	0	0	0	14.13	14.09	14.21
1176	-0.74	-145.9	2287	2195	3954	3982	183.7	-19.1	124	1181	0.20	2.53	0.00	0.000	2436	0.275	0.084	2325	3617	3967	3953	3982	0	0	0	0	0	0	13.83	14.08	14.02
1306	-0.85	-145.9	2331	3619	3954	3983	200.4	-11.3	150	1311	0.00	2.42	0.00	0.000	1158	0.000	0.055	2325	2198	3967	3952	3983	0	0	0	0	0	0	14.21	14.11	14.23
1626	-0.89	-145.9	2325	2193	3953	3982	239.8	-11.7	164	1631	0.00	2.53	0.00	0.000	388	0.000	0.089	2319	3614	3969	3956	3982	0	0	0	0	0	0	14.38	14.01	14.40
1743	-1.00	-145.9	2320	3616	3954	3983	251.7	-10.1	187	1750	0.20	2.42	0.00	0.000	5254	0.101	0.055	2247	2189	3966	3953	3980	0	0	0	0	0	0	14.13	14.07	14.21
2046	-0.91	-145.9	2248	2190	3953	3979	302.8	-16.8	198	2051	0.12	2.53	0.00	0.000	2436	0.301	0.083	2265	3616	3966	3951	3982	0	0	0	0	0	0	13.84	14.08	14.01
2191	-0.93	-145.9	2265	3618	3952	3976	322.8	-12.9	227	2199	0.00	2.42	0.00	0.000	1158	0.000	0.056	2269	2200	3966	3951	3981	0	0	0	0	0	0	14.15	14.05	14.18
2497	-0.90	-145.9	2266	2197	3952	3977	365.1	-13.6	238	2501	0.00	2.47	0.00	0.000	388	0.000	0.086	2255	3614	3963	3951	3975	0	0	0	0	0	0	14.40	14.04	14.40
2632	-0.90	-145.9	2255	3616	3952	3977	383.2	-13.2	265	2637	0.15	2.40	0.00	0.000	3078	0.257	0.055	2285	2183	3964	3951	3978	0	0	0	0	0	0	13.85	14.06	14.12
2949	-0.90	-145.9	2285	2181	3951	3978	419.4	-11.3	278	2954	0.00	2.53	0.00	0.000	260	0.000	0.087	2280	3610	3963	3951	3976	0	0	0	0	0	0	14.50	14.14	14.50
3061	-0.98	-145.9	2280	3612	3951	3977	431.5	-10.3	300	3065	0.00	2.38	0.00	0.000	1158	0.000	0.055	2280	2200	3963	3950	3976	0	0	0	0	0	0	14.31	14.19	14.33
3371	-0.98	-145.9	2280	2199	3951	3976	467.6	-11.7	312	3376	0.00	2.50	0.00	0.000	260	0.000	0.090	2280	3614	3962	3950	3975	0	0	0	0	0	0	14.55	14.14	14.57
3471	-1.07	-145.9	2280	3616	3951	3975	478.6	-10.6	332	3476	0.15	2.40	0.00	0.000	5254	0.122	0.056	2224	2189	3962	3950	3975	0	0	0	0	0	0	14.26	14.23	14.35
3483	end dive: TARGET_DEPTH_EXCEEDED
state	3483	begin apogee
3489	-0.13	0.0	2225	2067	3951	3975	480.3	-10.7	335	3998	1.25	0.05	502.80	1.140	10246	0.278	0.218	2527	2104	3364	3390	3338	0	0	0	0	0	0	13.91	13.21	12.67
4004	end apogee: CONTROL_FINISHED_OK
state	4004	begin climb
4006	0.57	145.9	2527	2104	3388	3333	508.3	0.0	352	4547	0.73	2.62	424.65	1.086	10756	0.064	0.079	2782	727	2756	2798	2715	0	0	0	0	0	0	13.38	13.12	12.66
4776	0.22	145.9	2782	727	2796	2714	468.3	14.0	399	4784	0.57	2.42	0.00	0.000	5254	0.319	0.075	2660	2099	2753	2795	2712	0	0	0	0	0	0	13.61	13.88	13.93
5081	0.07	162.7	2661	2099	2796	2708	439.3	9.2	410	5114	0.20	2.47	23.00	1.369	12964	0.299	0.081	2612	725	2695	2741	2649	0	0	0	0	0	0	13.85	14.03	13.31
5339	0.11	221.5	2616	724	2737	2639	420.2	7.3	461	5460	0.00	2.40	114.50	1.226	9254	0.000	0.079	2616	2101	2463	2524	2402	0	0	0	0	0	0	14.26	14.15	13.09
5775	0.13	253.7	2616	2101	2507	2379	383.4	8.5	498	5840	0.00	2.53	57.65	1.247	8740	0.000	0.082	2612	720	2324	2382	2266	0	0	0	0	0	0	14.38	13.85	13.21
5887	0.26	289.5	2616	720	2374	2265	374.0	8.3	520	5957	0.15	2.45	61.30	1.247	11430	0.114	0.076	2678	2106	2182	2240	2125	0	0	0	0	0	0	13.99	13.94	13.08
6256	0.21	289.5	2679	2106	2225	2106	326.1	13.0	544	6260	0.00	2.45	0.00	0.000	644	0.000	0.083	2685	714	2164	2224	2104	0	0	0	0	0	0	14.35	14.06	14.35
6301	0.19	289.5	2686	714	2223	2105	320.1	13.0	553	6306	0.17	2.45	0.00	0.000	5254	0.239	0.078	2646	2109	2163	2222	2105	0	0	0	0	0	0	13.93	14.10	14.19
6616	0.19	289.5	2648	2109	2223	2103	287.3	10.2	566	6621	0.00	2.42	0.00	0.000	516	0.000	0.084	2647	721	2162	2222	2103	0	0	0	0	0	0	14.50	14.21	14.52
6651	0.25	294.9	2646	723	2219	2104	283.8	9.8	573	6656	0.00	2.40	0.00	0.000	1190	0.000	0.076	2649	2101	2160	2217	2103	0	0	0	0	0	0	14.23	14.12	14.26
6976	0.29	303.2	2647	2102	2220	2103	252.2	9.6	588	6981	0.00	0.00	4.15	1.313	8358	0.000	0.000	2647	2103	2132	2189	2075	0	0	0	0	0	0	14.55	14.21	13.21
7276	0.36	340.5	2647	2104	2205	2089	225.9	8.3	598	7381	0.12	2.47	98.05	1.200	10916	0.129	0.084	2709	723	1970	2021	1920	0	0	0	0	0	0	14.32	13.88	13.25
7428	0.36	340.5	2710	723	2009	1915	208.4	12.0	628	7433	0.00	2.45	0.00	0.000	1030	0.000	0.076	2709	2107	1962	2008	1916	0	0	0	0	0	0	14.02	13.93	14.06
7759	0.33	340.5	2710	2102	2008	1907	171.1	10.9	644	7763	0.00	2.42	0.00	0.000	644	0.000	0.084	2717	720	1957	2007	1907	0	0	0	0	0	0	14.42	14.12	14.45
7824	0.36	346.1	2709	720	2005	1906	164.6	9.7	657	7829	0.00	2.42	0.00	0.000	1190	0.000	0.076	2709	2106	1955	2004	1907	0	0	0	0	0	0	14.29	14.18	14.30
8149	0.36	352.4	2709	2107	2005	1906	132.2	9.7	672	8154	0.00	0.00	3.90	1.222	8230	0.000	0.000	2709	2106	1924	1969	1879	0	0	0	0	0	0	14.50	14.21	13.09
8449	0.38	380.6	2710	2106	1989	1893	105.4	8.7	682	8533	0.00	2.55	76.15	1.203	8740	0.000	0.083	2712	719	1810	1844	1776	0	0	0	0	0	0	14.53	13.87	13.28
8564	0.50	416.3	2710	719	1835	1773	95.4	8.4	705	8586	0.00	2.45	17.92	0.472	9382	0.000	0.077	2709	2102	1668	1704	1633	0	0	0	0	0	0	14.03	13.93	13.51
8891	0.63	492.2	2709	2103	1713	1641	70.0	6.5	740	8940	0.20	2.50	41.03	0.405	10916	0.103	0.087	2794	729	1359	1415	1304	0	0	0	0	0	0	14.15	14.03	13.72
9039	0.63	492.2	2795	727	1416	1312	53.5	11.0	769	9046	0.00	2.42	0.00	0.000	1030	0.000	0.077	2794	2104	1364	1416	1312	0	0	0	0	0	0	14.19	14.08	14.21
9345	0.67	539.0	2795	2105	1417	1311	26.1	7.8	800	9376	0.00	0.00	26.33	0.288	8230	0.000	0.000	2794	2105	1165	1234	1097	0	0	0	0	0	0	14.45	14.05	13.86
9675	0.99	750.7	2796	2102	1235	1111	15.5	0.2	833	9771	0.30	2.55	89.68	0.252	10660	0.090	0.083	2904	3511	501	545	458	0	0	0	0	0	0	14.20	13.96	13.88
9816	0.99	750.7	2908	3510	543	451	5.6	11.6	860	9822	0.00	2.40	0.00	0.000	1030	0.000	0.068	2913	2129	494	538	450	0	0	0	0	0	0	14.10	14.00	14.13
9849	end climb: SURFACE_DEPTH_REACHED
state	9849	begin surface coast
9859	end surface coast: CONTROL_FINISHED_OK
state	9859	begin surface