Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 97 * 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 97 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 278.0

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 29 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 22 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 278.0 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 29 VBD_MIN 500

DIVE 97 NOCOMM_ACTION 161 R_STBD_OVSHOOT 22 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 170817,232025,7239.7769,-14834.4922,23,0.8,34,21.2,0.0,237.3,10,9.0 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 1.12 MHEAD_RNG_PITCHd_Wd 308.4,73282,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -79.1 D_GRID 480

GPS2 170817,233456,7239.7578,-14834.4082,7,0.7,15,21.2,0.0,0.0,12,7.6

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818002901.771044,3,204,05,0171,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09 PM_FREEKB_00 55882496

FINISH 0.5,1.020045 _24V_AH 12.50,88.758

SM_CCo 8995,0.00,0.000,0,0,492,704.75 _10V_AH 12.47,0.000

SM_GC 1.05,8.23,2.30,0.00,0.073,0.059,0.000,206,2200,492,-7.38,0.82,704.75,0,0,0,0,0,0,14.21,14.16,14.28 FG_AHR_24Vo 0.000

RAFOS_CLK 336 FG_AHR_10Vo 0.000

MODEM 2,1503015196,73.18300,-149.96500,49.562,71870.2 MEM 323572

RAFOS_FIX 7241.503418,-14833.470703,180817,000012,3,255,1.18 DATA_FILE_SIZE 26692,808

IRIDIUM_FIX 7239.45,-14838.67,170817,232457 CAP_FILE_SIZE 108445,0

TT8_MAMPS 0.038948,0.888314 CFSIZE 2097872896,2058911744

HUMID 48.93 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1450.5

TCM_TEMP 13.50 CURRENT 0.061,234.55,1

XPDR_PINGS 7 GPS 180817,020649,7240.703,-14836.106,29,0.8,39,21.2,0.0,247.8,10,7.0

CP_FREE 16002940928.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.99 nil 0 0 0.00

Roll_motor 89 2145 2403.99 nil 0 0 0.00

VBD_pump_during_apogee 958 1519 18199.20 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 8942 14 1644.99

Iridium_during_xfer 531 168 1118.04 NCP 8940 20 2235.00

Transponder_ping 1 420 9.19 PMAR 8890 16 1846.23

GUMSTIX_24V 0 0 0.00

GPS 16 22 4.70

TT8 0 0 0.00

LPSleep 6377 2 183.71

TT8_Active 973 13 169.64

TT8_Sampling 2230 33 930.08

TT8_CF8 297 38 143.55

TT8_Kalman 0 0 0.00

Analog_circuits 2254 10 281.17

GPS_charging 0 0 0.00

Compass 1157 7 101.03

RAFOS 2133 48 1276.73

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 -145.9 203 2210 510 456 0.0 0.0 0 129 0.00 0.00 -81.53 0.000 16386 0.000 0.000 205 2209 2037 1958 2116 0 0 0 0 0 0 14.41 28.83 14.43

132 -0.57 -145.9 203 2210 1959 2118 3.1 -3.5 8 189 12.45 2.80 -36.95 0.000 18724 0.452 2.146 2377 3603 3964 3946 3982 0 0 0 0 0 0 13.69 12.63 14.11

414 -0.62 -145.9 2377 3605 3955 3983 66.4 -14.6 64 419 0.00 2.38 0.00 0.000 1158 0.000 0.054 2377 2201 3968 3955 3982 0 0 0 0 0 0 14.16 14.07 14.19

746 -0.66 -145.9 2376 2200 3957 3990 112.3 -12.4 92 751 0.00 2.50 0.00 0.000 388 0.000 0.090 2376 3615 3969 3956 3982 0 0 0 0 0 0 14.51 14.17 14.52

901 -0.81 -145.9 2376 3614 3958 3982 128.2 -9.9 123 907 0.20 2.38 0.00 0.000 5286 0.103 0.054 2295 2197 3969 3957 3982 0 0 0 0 0 0 14.26 14.21 14.33

1228 -0.75 -145.9 2295 2197 3957 3983 185.4 -17.6 138 1233 0.15 2.47 0.00 0.000 2436 0.284 0.084 2321 3609 3969 3957 3982 0 0 0 0 0 0 13.87 14.16 14.04

1388 -0.85 -145.9 2321 3610 3957 3983 205.7 -11.4 170 1393 0.00 2.38 0.00 0.000 1158 0.000 0.055 2322 2195 3968 3955 3982 0 0 0 0 0 0 14.35 14.25 14.38

1710 -0.88 -145.9 2320 2195 3957 3983 244.3 -11.7 184 1715 0.00 2.53 0.00 0.000 388 0.000 0.090 2319 3610 3969 3956 3982 0 0 0 0 0 0 14.43 14.07 14.45

1817 -1.00 -145.9 2319 3611 3956 3983 255.5 -9.9 205 1822 0.20 2.40 0.00 0.000 5286 0.101 0.055 2247 2194 3968 3955 3981 0 0 0 0 0 0 14.20 14.16 14.27

2132 -0.91 -145.9 2247 2194 3954 3982 307.0 -16.4 218 2137 0.15 2.50 0.00 0.000 2436 0.299 0.083 2270 3609 3968 3954 3982 0 0 0 0 0 0 13.81 14.06 14.00

2277 -0.95 -145.9 2271 3609 3953 3982 326.2 -12.3 247 2284 0.00 2.40 0.00 0.000 1158 0.000 0.054 2270 2202 3967 3952 3982 0 0 0 0 0 0 14.19 14.12 14.21

2582 -0.95 -145.9 2270 2202 3954 3981 366.4 -12.9 258 2587 0.00 2.50 0.00 0.000 260 0.000 0.088 2267 3608 3966 3952 3980 0 0 0 0 0 0 14.41 14.04 14.42

2687 -0.98 -145.9 2267 3610 3951 3981 379.6 -12.0 279 2693 0.00 2.40 0.00 0.000 1158 0.000 0.055 2267 2200 3969 3958 3980 0 0 0 0 0 0 14.23 14.12 14.27

3003 -0.98 -145.9 2267 2200 3947 3980 420.2 -12.8 292 3008 0.00 2.50 0.00 0.000 260 0.000 0.087 2259 3608 3965 3951 3979 0 0 0 0 0 0 14.41 14.04 14.46

3125 -1.00 -145.9 2259 3613 3951 3980 435.3 -12.2 316 3129 0.00 2.40 0.00 0.000 1158 0.000 0.055 2258 2198 3964 3950 3979 0 0 0 0 0 0 14.19 14.07 14.21

3455 -0.97 -145.9 2259 2196 3951 3976 479.1 -13.2 332 3460 0.00 2.53 0.00 0.000 388 0.000 0.087 2249 3616 3964 3950 3979 0 0 0 0 0 0 14.41 13.98 14.42

3462 end dive: TARGET_DEPTH_EXCEEDED

state 3462 begin apogee

3470 -0.13 0.0 2250 2102 3951 3977 480.4 -13.3 334 3697 1.15 0.00 221.15 1.407 10246 0.263 0.000 2530 2101 3362 3385 3340 0 0 0 0 0 0 13.83 13.39 12.68

3701 end apogee: CONTROL_FINISHED_OK

state 3701 begin climb

3703 0.57 145.9 2530 2102 3377 3332 490.9 0.0 341 3916 0.75 2.70 198.50 1.379 10500 0.063 0.076 2780 3517 2758 2800 2716 0 0 0 0 0 0 13.45 13.14 12.50

4142 0.14 145.9 2782 3517 2782 2715 455.8 17.6 421 4147 0.77 2.50 0.00 0.000 5254 0.347 0.057 2633 2094 2749 2782 2716 0 0 0 0 0 0 13.44 13.72 13.77

4462 0.07 176.0 2633 2094 2782 2715 426.7 8.6 435 4507 0.00 2.50 40.80 1.422 8868 0.000 0.082 2643 691 2643 2684 2602 0 0 0 0 0 0 14.33 13.71 13.13

4548 0.05 189.2 2644 690 2679 2591 419.0 9.4 447 4569 0.20 2.50 16.12 1.519 13478 0.258 0.079 2600 2100 2594 2647 2541 0 0 0 0 0 0 13.74 13.92 13.12

4886 0.12 243.1 2600 2100 2640 2520 393.3 7.5 464 4975 0.00 0.00 83.35 1.360 8358 0.000 0.000 2600 2100 2368 2422 2314 0 0 0 0 0 0 14.40 13.62 13.08

5274 0.23 296.4 2600 2100 2415 2303 363.7 7.5 477 5365 0.15 2.58 84.25 1.324 10916 0.116 0.086 2672 685 2148 2198 2099 0 0 0 0 0 0 14.15 13.63 13.09

5402 0.23 296.4 2673 686 2188 2096 348.4 12.2 497 5407 0.00 2.53 0.00 0.000 1030 0.000 0.077 2672 2098 2140 2187 2094 0 0 0 0 0 0 13.95 13.84 13.97

5727 0.21 296.4 2673 2105 2186 2080 307.4 12.4 512 5732 0.00 2.50 0.00 0.000 644 0.000 0.087 2672 688 2134 2185 2084 0 0 0 0 0 0 14.40 14.11 14.42

5777 0.24 296.4 2673 689 2184 2084 301.3 11.9 522 5782 0.00 2.47 0.00 0.000 1158 0.000 0.079 2672 2105 2133 2183 2083 0 0 0 0 0 0 14.27 14.15 14.28

6087 0.24 296.4 2673 2108 2184 2082 264.7 11.7 534 6088 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2106 2132 2183 2082 0 0 0 0 0 0 14.52 14.54 14.54

6387 0.24 296.4 2673 2105 2183 2081 230.5 10.9 544 6392 0.00 2.47 0.00 0.000 516 0.000 0.086 2672 691 2131 2182 2081 0 0 0 0 0 0 14.57 14.24 14.61

6452 0.30 300.0 2673 690 2182 2081 223.9 9.8 557 6457 0.00 2.45 0.00 0.000 1190 0.000 0.079 2672 2105 2131 2181 2081 0 0 0 0 0 0 14.39 14.27 14.42

6778 0.32 327.2 2673 2106 2181 2082 193.6 8.7 572 6832 0.00 2.55 47.80 1.313 8740 0.000 0.086 2676 693 2024 2070 1978 0 0 0 0 0 0 14.58 14.04 13.35

6903 0.46 375.1 2672 693 2060 1975 183.5 7.8 597 6994 0.17 2.47 84.68 1.224 11430 0.116 0.080 2745 2102 1834 1865 1804 0 0 0 0 0 0 14.04 14.00 13.16

7319 0.41 375.1 2746 2103 1852 1782 129.4 12.9 630 7324 0.12 2.47 0.00 0.000 4740 0.235 0.082 2728 691 1817 1852 1782 0 0 0 0 0 0 14.01 13.97 13.93

7364 0.46 375.1 2729 692 1850 1782 124.4 10.5 639 7370 0.00 2.47 0.00 0.000 1158 0.000 0.078 2728 2107 1815 1849 1781 0 0 0 0 0 0 14.25 14.14 14.28

7671 0.46 376.0 2728 2108 1850 1779 93.0 10.0 655 7676 0.00 2.50 0.00 0.000 548 0.000 0.086 2729 687 1813 1849 1778 0 0 0 0 0 0 14.48 14.14 14.50

7706 0.52 385.9 2727 688 1847 1780 89.4 9.5 662 7718 0.00 2.47 3.25 0.352 9382 0.000 0.077 2729 2108 1793 1824 1763 0 0 0 0 0 0 14.27 14.16 13.71

8023 0.60 442.3 2729 2109 1834 1766 62.4 7.4 695 8058 0.15 0.00 33.03 0.386 10406 0.119 0.000 2791 2108 1561 1594 1528 0 0 0 0 0 0 14.26 14.13 13.76

8353 0.63 488.7 2792 2108 1599 1528 31.6 7.9 728 8385 0.00 2.47 25.60 0.295 8484 0.000 0.080 2791 3513 1371 1418 1324 0 0 0 0 0 0 14.46 14.07 13.87

8411 0.65 511.6 2791 3514 1419 1329 26.9 8.9 739 8428 0.00 2.45 13.68 0.282 9254 0.000 0.065 2794 2096 1277 1330 1224 0 0 0 0 0 0 14.23 14.12 13.88

8726 0.96 744.0 2795 2096 1331 1226 13.9 -0.7 772 8842 0.28 2.58 106.10 0.243 11172 0.088 0.080 2896 3517 497 532 462 0 0 0 0 0 0 14.14 14.01 13.90

8902 end climb: SURFACE_DEPTH_REACHED

state 8902 begin surface coast

8912 end surface coast: CONTROL_FINISHED_OK

state 8912 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	97	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	278.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	22	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,232025,7239.7769,-14834.4922,23,0.8,34,21.2,0.0,237.3,10,9.0	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	1.12	MHEAD_RNG_PITCHd_Wd	308.4,73282,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-79.1	D_GRID	480
GPS2	170817,233456,7239.7578,-14834.4082,7,0.7,15,21.2,0.0,0.0,12,7.6

MODEM_MSG	CACST,6,1,20170818002901.771044,3,204,05,0171,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*09	PM_FREEKB_00	55882496
FINISH	0.5,1.020045	_24V_AH	12.50,88.758
SM_CCo	8995,0.00,0.000,0,0,492,704.75	_10V_AH	12.47,0.000
SM_GC	1.05,8.23,2.30,0.00,0.073,0.059,0.000,206,2200,492,-7.38,0.82,704.75,0,0,0,0,0,0,14.21,14.16,14.28	FG_AHR_24Vo	0.000
RAFOS_CLK	336	FG_AHR_10Vo	0.000
MODEM	2,1503015196,73.18300,-149.96500,49.562,71870.2	MEM	323572
RAFOS_FIX	7241.503418,-14833.470703,180817,000012,3,255,1.18	DATA_FILE_SIZE	26692,808
IRIDIUM_FIX	7239.45,-14838.67,170817,232457	CAP_FILE_SIZE	108445,0
TT8_MAMPS	0.038948,0.888314	CFSIZE	2097872896,2058911744
HUMID	48.93	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1450.5
TCM_TEMP	13.50	CURRENT	0.061,234.55,1
XPDR_PINGS	7	GPS	180817,020649,7240.703,-14836.106,29,0.8,39,21.2,0.0,247.8,10,7.0
CP_FREE	16002940928.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.99	nil	0	0	0.00
Roll_motor	89	2145	2403.99	nil	0	0	0.00
VBD_pump_during_apogee	958	1519	18199.20	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	8942	14	1644.99
Iridium_during_xfer	531	168	1118.04	NCP	8940	20	2235.00
Transponder_ping	1	420	9.19	PMAR	8890	16	1846.23
GUMSTIX_24V	0	0	0.00
GPS	16	22	4.70
TT8	0	0	0.00
LPSleep	6377	2	183.71
TT8_Active	973	13	169.64
TT8_Sampling	2230	33	930.08
TT8_CF8	297	38	143.55
TT8_Kalman	0	0	0.00
Analog_circuits	2254	10	281.17
GPS_charging	0	0	0.00
Compass	1157	7	101.03
RAFOS	2133	48	1276.73
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	203	2210	510	456	0.0	0.0	0	129	0.00	0.00	-81.53	0.000	16386	0.000	0.000	205	2209	2037	1958	2116	0	0	0	0	0	0	14.41	28.83	14.43
132	-0.57	-145.9	203	2210	1959	2118	3.1	-3.5	8	189	12.45	2.80	-36.95	0.000	18724	0.452	2.146	2377	3603	3964	3946	3982	0	0	0	0	0	0	13.69	12.63	14.11
414	-0.62	-145.9	2377	3605	3955	3983	66.4	-14.6	64	419	0.00	2.38	0.00	0.000	1158	0.000	0.054	2377	2201	3968	3955	3982	0	0	0	0	0	0	14.16	14.07	14.19
746	-0.66	-145.9	2376	2200	3957	3990	112.3	-12.4	92	751	0.00	2.50	0.00	0.000	388	0.000	0.090	2376	3615	3969	3956	3982	0	0	0	0	0	0	14.51	14.17	14.52
901	-0.81	-145.9	2376	3614	3958	3982	128.2	-9.9	123	907	0.20	2.38	0.00	0.000	5286	0.103	0.054	2295	2197	3969	3957	3982	0	0	0	0	0	0	14.26	14.21	14.33
1228	-0.75	-145.9	2295	2197	3957	3983	185.4	-17.6	138	1233	0.15	2.47	0.00	0.000	2436	0.284	0.084	2321	3609	3969	3957	3982	0	0	0	0	0	0	13.87	14.16	14.04
1388	-0.85	-145.9	2321	3610	3957	3983	205.7	-11.4	170	1393	0.00	2.38	0.00	0.000	1158	0.000	0.055	2322	2195	3968	3955	3982	0	0	0	0	0	0	14.35	14.25	14.38
1710	-0.88	-145.9	2320	2195	3957	3983	244.3	-11.7	184	1715	0.00	2.53	0.00	0.000	388	0.000	0.090	2319	3610	3969	3956	3982	0	0	0	0	0	0	14.43	14.07	14.45
1817	-1.00	-145.9	2319	3611	3956	3983	255.5	-9.9	205	1822	0.20	2.40	0.00	0.000	5286	0.101	0.055	2247	2194	3968	3955	3981	0	0	0	0	0	0	14.20	14.16	14.27
2132	-0.91	-145.9	2247	2194	3954	3982	307.0	-16.4	218	2137	0.15	2.50	0.00	0.000	2436	0.299	0.083	2270	3609	3968	3954	3982	0	0	0	0	0	0	13.81	14.06	14.00
2277	-0.95	-145.9	2271	3609	3953	3982	326.2	-12.3	247	2284	0.00	2.40	0.00	0.000	1158	0.000	0.054	2270	2202	3967	3952	3982	0	0	0	0	0	0	14.19	14.12	14.21
2582	-0.95	-145.9	2270	2202	3954	3981	366.4	-12.9	258	2587	0.00	2.50	0.00	0.000	260	0.000	0.088	2267	3608	3966	3952	3980	0	0	0	0	0	0	14.41	14.04	14.42
2687	-0.98	-145.9	2267	3610	3951	3981	379.6	-12.0	279	2693	0.00	2.40	0.00	0.000	1158	0.000	0.055	2267	2200	3969	3958	3980	0	0	0	0	0	0	14.23	14.12	14.27
3003	-0.98	-145.9	2267	2200	3947	3980	420.2	-12.8	292	3008	0.00	2.50	0.00	0.000	260	0.000	0.087	2259	3608	3965	3951	3979	0	0	0	0	0	0	14.41	14.04	14.46
3125	-1.00	-145.9	2259	3613	3951	3980	435.3	-12.2	316	3129	0.00	2.40	0.00	0.000	1158	0.000	0.055	2258	2198	3964	3950	3979	0	0	0	0	0	0	14.19	14.07	14.21
3455	-0.97	-145.9	2259	2196	3951	3976	479.1	-13.2	332	3460	0.00	2.53	0.00	0.000	388	0.000	0.087	2249	3616	3964	3950	3979	0	0	0	0	0	0	14.41	13.98	14.42
3462	end dive: TARGET_DEPTH_EXCEEDED
state	3462	begin apogee
3470	-0.13	0.0	2250	2102	3951	3977	480.4	-13.3	334	3697	1.15	0.00	221.15	1.407	10246	0.263	0.000	2530	2101	3362	3385	3340	0	0	0	0	0	0	13.83	13.39	12.68
3701	end apogee: CONTROL_FINISHED_OK
state	3701	begin climb
3703	0.57	145.9	2530	2102	3377	3332	490.9	0.0	341	3916	0.75	2.70	198.50	1.379	10500	0.063	0.076	2780	3517	2758	2800	2716	0	0	0	0	0	0	13.45	13.14	12.50
4142	0.14	145.9	2782	3517	2782	2715	455.8	17.6	421	4147	0.77	2.50	0.00	0.000	5254	0.347	0.057	2633	2094	2749	2782	2716	0	0	0	0	0	0	13.44	13.72	13.77
4462	0.07	176.0	2633	2094	2782	2715	426.7	8.6	435	4507	0.00	2.50	40.80	1.422	8868	0.000	0.082	2643	691	2643	2684	2602	0	0	0	0	0	0	14.33	13.71	13.13
4548	0.05	189.2	2644	690	2679	2591	419.0	9.4	447	4569	0.20	2.50	16.12	1.519	13478	0.258	0.079	2600	2100	2594	2647	2541	0	0	0	0	0	0	13.74	13.92	13.12
4886	0.12	243.1	2600	2100	2640	2520	393.3	7.5	464	4975	0.00	0.00	83.35	1.360	8358	0.000	0.000	2600	2100	2368	2422	2314	0	0	0	0	0	0	14.40	13.62	13.08
5274	0.23	296.4	2600	2100	2415	2303	363.7	7.5	477	5365	0.15	2.58	84.25	1.324	10916	0.116	0.086	2672	685	2148	2198	2099	0	0	0	0	0	0	14.15	13.63	13.09
5402	0.23	296.4	2673	686	2188	2096	348.4	12.2	497	5407	0.00	2.53	0.00	0.000	1030	0.000	0.077	2672	2098	2140	2187	2094	0	0	0	0	0	0	13.95	13.84	13.97
5727	0.21	296.4	2673	2105	2186	2080	307.4	12.4	512	5732	0.00	2.50	0.00	0.000	644	0.000	0.087	2672	688	2134	2185	2084	0	0	0	0	0	0	14.40	14.11	14.42
5777	0.24	296.4	2673	689	2184	2084	301.3	11.9	522	5782	0.00	2.47	0.00	0.000	1158	0.000	0.079	2672	2105	2133	2183	2083	0	0	0	0	0	0	14.27	14.15	14.28
6087	0.24	296.4	2673	2108	2184	2082	264.7	11.7	534	6088	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2106	2132	2183	2082	0	0	0	0	0	0	14.52	14.54	14.54
6387	0.24	296.4	2673	2105	2183	2081	230.5	10.9	544	6392	0.00	2.47	0.00	0.000	516	0.000	0.086	2672	691	2131	2182	2081	0	0	0	0	0	0	14.57	14.24	14.61
6452	0.30	300.0	2673	690	2182	2081	223.9	9.8	557	6457	0.00	2.45	0.00	0.000	1190	0.000	0.079	2672	2105	2131	2181	2081	0	0	0	0	0	0	14.39	14.27	14.42
6778	0.32	327.2	2673	2106	2181	2082	193.6	8.7	572	6832	0.00	2.55	47.80	1.313	8740	0.000	0.086	2676	693	2024	2070	1978	0	0	0	0	0	0	14.58	14.04	13.35
6903	0.46	375.1	2672	693	2060	1975	183.5	7.8	597	6994	0.17	2.47	84.68	1.224	11430	0.116	0.080	2745	2102	1834	1865	1804	0	0	0	0	0	0	14.04	14.00	13.16
7319	0.41	375.1	2746	2103	1852	1782	129.4	12.9	630	7324	0.12	2.47	0.00	0.000	4740	0.235	0.082	2728	691	1817	1852	1782	0	0	0	0	0	0	14.01	13.97	13.93
7364	0.46	375.1	2729	692	1850	1782	124.4	10.5	639	7370	0.00	2.47	0.00	0.000	1158	0.000	0.078	2728	2107	1815	1849	1781	0	0	0	0	0	0	14.25	14.14	14.28
7671	0.46	376.0	2728	2108	1850	1779	93.0	10.0	655	7676	0.00	2.50	0.00	0.000	548	0.000	0.086	2729	687	1813	1849	1778	0	0	0	0	0	0	14.48	14.14	14.50
7706	0.52	385.9	2727	688	1847	1780	89.4	9.5	662	7718	0.00	2.47	3.25	0.352	9382	0.000	0.077	2729	2108	1793	1824	1763	0	0	0	0	0	0	14.27	14.16	13.71
8023	0.60	442.3	2729	2109	1834	1766	62.4	7.4	695	8058	0.15	0.00	33.03	0.386	10406	0.119	0.000	2791	2108	1561	1594	1528	0	0	0	0	0	0	14.26	14.13	13.76
8353	0.63	488.7	2792	2108	1599	1528	31.6	7.9	728	8385	0.00	2.47	25.60	0.295	8484	0.000	0.080	2791	3513	1371	1418	1324	0	0	0	0	0	0	14.46	14.07	13.87
8411	0.65	511.6	2791	3514	1419	1329	26.9	8.9	739	8428	0.00	2.45	13.68	0.282	9254	0.000	0.065	2794	2096	1277	1330	1224	0	0	0	0	0	0	14.23	14.12	13.88
8726	0.96	744.0	2795	2096	1331	1226	13.9	-0.7	772	8842	0.28	2.58	106.10	0.243	11172	0.088	0.080	2896	3517	497	532	462	0	0	0	0	0	0	14.14	14.01	13.90
8902	end climb: SURFACE_DEPTH_REACHED
state	8902	begin surface coast
8912	end surface coast: CONTROL_FINISHED_OK
state	8912	begin surface