Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 98 * 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 98 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 280.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 20 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 280.0 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 24 VBD_MIN 500

DIVE 98 NOCOMM_ACTION 161 R_STBD_OVSHOOT 20 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 180817,020649,7240.7031,-14836.1064,29,0.8,39,21.2,0.0,247.8,10,7.0 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 314.7,71361,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.3 D_GRID 480

GPS2 180817,021730,7240.6475,-14836.2910,6,0.7,8,21.2,0.0,0.0,11,9.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170818042900.549841,3,1323,25,0443,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F PM_FREEKB_00 55815488

FINISH 1.4,1.020086 _24V_AH 12.49,89.248

SM_CCo 9004,0.00,0.000,0,0,492,704.75 _10V_AH 12.37,0.000

SM_GC 0.98,8.40,2.33,0.00,0.107,0.062,0.000,204,2192,492,-7.38,0.57,704.75,0,0,0,0,0,0,14.16,14.13,14.24 FG_AHR_24Vo 0.000

RAFOS_CLK 139 FG_AHR_10Vo 0.000

MODEM 0,1503029074,75.36600,-145.04601,220.787,320245.3 MEM 323896

RAFOS_FIX 7240.064453,-14838.027344,180817,040401,4,255,0.20 DATA_FILE_SIZE 30045,834

IRIDIUM_FIX 7243.63,-14821.18,170817,233009 CAP_FILE_SIZE 109787,0

TT8_MAMPS 0.039697,1.00066 CFSIZE 2097872896,2058584064

HUMID 45.94 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1450.7

TCM_TEMP 13.40 CURRENT 0.073,245.29,1

XPDR_PINGS 9 GPS 180817,044920,7241.625,-14838.218,35,0.9,35,21.2,0.7,263.8,10,9.0

CP_FREE 16002777088.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 142.88 nil 0 0 0.00

Roll_motor 94 2147 2535.20 nil 0 0 0.00

VBD_pump_during_apogee 949 1580 18751.82 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 8949 14 1633.12

Iridium_during_xfer 369 183 846.92 NCP 8938 20 2232.71

Transponder_ping 2 420 11.80 PMAR 8898 16 1843.08

GUMSTIX_24V 0 0 0.00

GPS 9 22 2.77

TT8 0 0 0.00

LPSleep 6268 2 179.12

TT8_Active 804 13 138.94

TT8_Sampling 2281 33 943.62

TT8_CF8 296 38 141.95

TT8_Kalman 0 0 0.00

Analog_circuits 2104 10 260.28

GPS_charging 0 0 0.00

Compass 1193 7 103.36

RAFOS 2215 48 1315.18

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 -145.9 205 2198 508 461 0.0 0.0 0 130 0.00 0.00 -81.70 0.000 16386 0.000 0.000 204 2198 2041 1956 2126 0 0 0 0 0 0 14.40 28.83 14.42

133 -0.57 -145.9 204 2199 1958 2128 3.3 -3.6 8 190 12.48 2.80 -36.67 0.000 18724 0.454 2.147 2376 3611 3964 3951 3978 0 0 0 0 0 0 13.68 12.64 14.10

305 -0.57 -145.9 2376 3607 3959 3979 44.7 -18.6 42 310 0.00 2.40 0.00 0.000 1030 0.000 0.057 2376 2196 3968 3959 3977 0 0 0 0 0 0 14.10 14.00 14.13

617 -0.57 -145.9 2377 2196 3963 3978 96.9 -13.6 74 622 0.00 2.50 0.00 0.000 260 0.000 0.087 2366 3610 3970 3962 3978 0 0 0 0 0 0 14.47 14.12 14.49

797 -0.70 -145.9 2366 3611 3961 3979 118.2 -10.6 110 802 0.00 2.40 0.00 0.000 1158 0.000 0.054 2366 2193 3967 3958 3977 0 0 0 0 0 0 14.30 14.19 14.33

1127 -0.78 -145.9 2365 2193 3962 3979 155.9 -11.0 126 1132 0.12 2.50 0.00 0.000 4484 0.144 0.086 2306 3612 3969 3961 3977 0 0 0 0 0 0 14.28 14.21 14.33

1244 -0.82 -145.9 2306 3613 3963 3978 172.1 -13.7 149 1249 0.00 2.38 0.00 0.000 1158 0.000 0.055 2305 2201 3969 3961 3977 0 0 0 0 0 0 14.31 14.20 14.35

1547 -0.82 -145.9 2306 2200 3962 3978 218.0 -14.4 160 1552 0.00 2.47 0.00 0.000 260 0.000 0.089 2305 3610 3972 3967 3977 0 0 0 0 0 0 14.57 14.22 14.59

1642 -0.88 -145.9 2306 3610 3962 3977 230.4 -12.4 179 1648 0.00 2.38 0.00 0.000 1158 0.000 0.054 2305 2199 3969 3961 3977 0 0 0 0 0 0 14.38 14.27 14.41

1969 -0.90 -145.9 2305 2198 3962 3977 269.2 -11.3 194 1973 0.00 2.47 0.00 0.000 388 0.000 0.088 2299 3611 3969 3961 3977 0 0 0 0 0 0 14.58 14.19 14.59

2080 -0.99 -145.9 2299 3614 3960 3978 281.1 -10.5 216 2085 0.12 2.38 0.00 0.000 5254 0.134 0.054 2251 2193 3968 3960 3977 0 0 0 0 0 0 14.30 14.28 14.39

2391 -0.92 -145.9 2251 2193 3959 3977 329.0 -15.3 228 2396 0.12 2.50 0.00 0.000 2436 0.308 0.085 2269 3610 3967 3958 3977 0 0 0 0 0 0 13.95 14.19 14.12

2513 -0.95 -145.9 2269 3613 3957 3977 344.6 -12.1 252 2518 0.00 2.38 0.00 0.000 1158 0.000 0.056 2267 2198 3966 3956 3977 0 0 0 0 0 0 14.33 14.21 14.36

2843 -0.95 -145.9 2268 2197 3955 3977 388.2 -13.1 268 2848 0.00 2.50 0.00 0.000 260 0.000 0.088 2261 3620 3966 3956 3976 0 0 0 0 0 0 14.59 14.14 14.60

2969 -0.98 -145.9 2260 3621 3955 3977 404.2 -12.5 293 2974 0.00 2.40 0.00 0.000 1158 0.000 0.056 2261 2190 3965 3954 3976 0 0 0 0 0 0 14.38 14.26 14.40

3295 -0.95 -145.9 2260 2189 3956 3975 447.7 -13.2 308 3299 0.00 2.50 0.00 0.000 388 0.000 0.088 2253 3610 3965 3955 3975 0 0 0 0 0 0 14.59 14.16 14.61

3426 -0.95 -145.9 2253 3611 3955 3975 464.6 -12.6 334 3431 0.00 2.38 0.00 0.000 1030 0.000 0.056 2253 2196 3964 3954 3975 0 0 0 0 0 0 14.38 14.26 14.40

3564 end dive: TARGET_DEPTH_EXCEEDED

state 3564 begin apogee

3570 -0.13 0.0 2253 2070 3954 3976 483.7 -13.6 342 3784 1.10 0.00 211.10 1.435 10246 0.256 0.000 2528 2068 3363 3387 3339 0 0 0 0 0 0 13.97 13.50 12.78

3788 end apogee: CONTROL_FINISHED_OK

state 3788 begin climb

3791 0.57 145.9 2529 2069 3381 3335 494.1 0.0 349 4001 0.75 2.72 201.95 1.389 10500 0.066 0.073 2781 3513 2762 2808 2717 0 0 0 0 0 0 13.59 13.05 12.49

4228 0.14 145.9 2782 3513 2787 2716 460.1 17.4 395 4234 0.75 2.42 0.00 0.000 5254 0.344 0.057 2636 2129 2750 2786 2715 0 0 0 0 0 0 13.46 13.78 13.80

4539 0.06 173.3 2636 2129 2786 2716 431.3 8.7 407 4580 0.12 2.47 34.60 1.458 12708 0.299 0.082 2607 3511 2653 2695 2612 0 0 0 0 0 0 13.87 13.92 13.15

4805 0.05 199.3 2607 3512 2688 2607 408.1 8.8 460 4847 0.00 2.42 36.15 1.460 9382 0.000 0.061 2607 2098 2550 2600 2501 0 0 0 0 0 0 14.20 14.02 13.15

5174 0.10 248.4 2607 2100 2596 2486 379.8 7.7 483 5253 0.00 2.53 72.90 1.387 8868 0.000 0.086 2607 692 2346 2394 2298 0 0 0 0 0 0 14.42 13.66 13.12

5290 0.25 289.2 2607 692 2389 2298 370.6 8.1 506 5355 0.17 2.53 59.47 1.360 11430 0.105 0.078 2679 2116 2189 2237 2142 0 0 0 0 0 0 13.59 13.88 12.98

5653 0.22 289.2 2675 2112 2224 2120 324.9 12.6 529 5658 0.00 2.53 0.00 0.000 644 0.000 0.086 2682 693 2171 2223 2119 0 0 0 0 0 0 14.32 13.99 14.33

5708 0.22 289.2 2683 693 2223 2119 317.9 12.7 540 5714 0.00 2.47 0.00 0.000 1030 0.000 0.077 2682 2099 2170 2221 2119 0 0 0 0 0 0 14.18 14.06 14.21

6013 0.17 289.2 2683 2100 2221 2118 278.9 12.6 551 6019 0.17 2.47 0.00 0.000 4740 0.252 0.082 2648 684 2168 2220 2117 0 0 0 0 0 0 13.98 14.16 14.14

6064 0.26 303.0 2648 684 2220 2118 273.7 9.4 561 6086 0.00 2.47 17.23 1.467 9382 0.000 0.077 2647 2103 2129 2181 2078 0 0 0 0 0 0 14.29 14.18 13.32

6393 0.31 311.1 2648 2103 2172 2070 241.9 9.6 573 6407 0.00 2.55 9.95 1.580 8868 0.000 0.085 2649 691 2094 2144 2044 0 0 0 0 0 0 14.40 14.11 13.31

6453 0.44 340.6 2649 692 2140 2044 236.4 8.6 585 6509 0.22 2.47 48.25 1.354 11430 0.098 0.078 2738 2098 1973 2018 1929 0 0 0 0 0 0 14.12 14.07 13.19

6814 0.35 340.6 2738 2099 2013 1918 184.7 13.9 607 6815 0.17 0.00 0.00 0.000 4230 0.233 0.000 2699 2099 1965 2013 1918 0 0 0 0 0 0 13.85 14.09 14.07

7114 0.36 345.6 2699 2100 2013 1916 154.5 9.8 617 7123 0.00 2.55 1.73 0.478 8740 0.000 0.086 2696 691 1957 2006 1909 0 0 0 0 0 0 14.38 14.10 13.52

7211 0.45 367.9 2700 691 2007 1912 145.8 9.0 636 7259 0.00 2.47 43.35 1.324 9382 0.000 0.077 2699 2104 1866 1904 1828 0 0 0 0 0 0 14.21 14.09 13.26

7566 0.52 399.7 2700 2105 1895 1817 114.1 8.5 657 7621 0.12 2.62 49.30 1.263 10916 0.136 0.087 2768 685 1732 1762 1703 0 0 0 0 0 0 14.13 13.81 13.22

7681 0.52 399.7 2769 685 1753 1702 99.8 12.4 680 7687 0.00 2.53 0.00 0.000 1030 0.000 0.079 2768 2099 1726 1751 1701 0 0 0 0 0 0 13.93 13.87 13.95

7986 0.48 399.7 2769 2101 1753 1695 63.7 10.3 711 7992 0.12 2.50 0.00 0.000 4740 0.278 0.081 2746 688 1723 1751 1695 0 0 0 0 0 0 13.85 13.96 14.06

8079 0.58 453.8 2751 687 1751 1696 56.2 7.5 729 8115 0.00 2.53 28.90 0.372 9382 0.000 0.078 2750 2112 1512 1548 1477 0 0 0 0 0 0 14.12 14.01 13.69

8421 0.73 547.5 2750 2115 1548 1470 33.6 5.7 767 8477 0.20 2.50 50.53 0.301 10660 0.101 0.080 2824 3512 1130 1194 1066 0 0 0 0 0 0 14.07 13.95 13.77

8493 0.71 547.5 2826 3513 1196 1066 26.7 10.9 779 8500 0.00 2.45 0.00 0.000 1158 0.000 0.064 2835 2100 1131 1195 1067 0 0 0 0 0 0 14.08 13.99 14.10

8798 0.88 710.7 2835 2101 1196 1056 7.7 2.5 810 8888 0.00 2.50 84.53 0.223 8612 0.000 0.080 2836 3515 494 530 459 0 0 0 0 0 0 14.44 14.03 13.81

8918 end climb: SURFACE_DEPTH_REACHED

state 8918 begin surface coast

8921 end surface coast: CONTROL_FINISHED_OK

state 8921 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	98	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	280.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	20	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	180817,020649,7240.7031,-14836.1064,29,0.8,39,21.2,0.0,247.8,10,7.0	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	314.7,71361,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.3	D_GRID	480
GPS2	180817,021730,7240.6475,-14836.2910,6,0.7,8,21.2,0.0,0.0,11,9.1

MODEM_MSG	CACST,6,1,20170818042900.549841,3,1323,25,0443,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F	PM_FREEKB_00	55815488
FINISH	1.4,1.020086	_24V_AH	12.49,89.248
SM_CCo	9004,0.00,0.000,0,0,492,704.75	_10V_AH	12.37,0.000
SM_GC	0.98,8.40,2.33,0.00,0.107,0.062,0.000,204,2192,492,-7.38,0.57,704.75,0,0,0,0,0,0,14.16,14.13,14.24	FG_AHR_24Vo	0.000
RAFOS_CLK	139	FG_AHR_10Vo	0.000
MODEM	0,1503029074,75.36600,-145.04601,220.787,320245.3	MEM	323896
RAFOS_FIX	7240.064453,-14838.027344,180817,040401,4,255,0.20	DATA_FILE_SIZE	30045,834
IRIDIUM_FIX	7243.63,-14821.18,170817,233009	CAP_FILE_SIZE	109787,0
TT8_MAMPS	0.039697,1.00066	CFSIZE	2097872896,2058584064
HUMID	45.94	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1450.7
TCM_TEMP	13.40	CURRENT	0.073,245.29,1
XPDR_PINGS	9	GPS	180817,044920,7241.625,-14838.218,35,0.9,35,21.2,0.7,263.8,10,9.0
CP_FREE	16002777088.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	142.88	nil	0	0	0.00
Roll_motor	94	2147	2535.20	nil	0	0	0.00
VBD_pump_during_apogee	949	1580	18751.82	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	8949	14	1633.12
Iridium_during_xfer	369	183	846.92	NCP	8938	20	2232.71
Transponder_ping	2	420	11.80	PMAR	8898	16	1843.08
GUMSTIX_24V	0	0	0.00
GPS	9	22	2.77
TT8	0	0	0.00
LPSleep	6268	2	179.12
TT8_Active	804	13	138.94
TT8_Sampling	2281	33	943.62
TT8_CF8	296	38	141.95
TT8_Kalman	0	0	0.00
Analog_circuits	2104	10	260.28
GPS_charging	0	0	0.00
Compass	1193	7	103.36
RAFOS	2215	48	1315.18
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	205	2198	508	461	0.0	0.0	0	130	0.00	0.00	-81.70	0.000	16386	0.000	0.000	204	2198	2041	1956	2126	0	0	0	0	0	0	14.40	28.83	14.42
133	-0.57	-145.9	204	2199	1958	2128	3.3	-3.6	8	190	12.48	2.80	-36.67	0.000	18724	0.454	2.147	2376	3611	3964	3951	3978	0	0	0	0	0	0	13.68	12.64	14.10
305	-0.57	-145.9	2376	3607	3959	3979	44.7	-18.6	42	310	0.00	2.40	0.00	0.000	1030	0.000	0.057	2376	2196	3968	3959	3977	0	0	0	0	0	0	14.10	14.00	14.13
617	-0.57	-145.9	2377	2196	3963	3978	96.9	-13.6	74	622	0.00	2.50	0.00	0.000	260	0.000	0.087	2366	3610	3970	3962	3978	0	0	0	0	0	0	14.47	14.12	14.49
797	-0.70	-145.9	2366	3611	3961	3979	118.2	-10.6	110	802	0.00	2.40	0.00	0.000	1158	0.000	0.054	2366	2193	3967	3958	3977	0	0	0	0	0	0	14.30	14.19	14.33
1127	-0.78	-145.9	2365	2193	3962	3979	155.9	-11.0	126	1132	0.12	2.50	0.00	0.000	4484	0.144	0.086	2306	3612	3969	3961	3977	0	0	0	0	0	0	14.28	14.21	14.33
1244	-0.82	-145.9	2306	3613	3963	3978	172.1	-13.7	149	1249	0.00	2.38	0.00	0.000	1158	0.000	0.055	2305	2201	3969	3961	3977	0	0	0	0	0	0	14.31	14.20	14.35
1547	-0.82	-145.9	2306	2200	3962	3978	218.0	-14.4	160	1552	0.00	2.47	0.00	0.000	260	0.000	0.089	2305	3610	3972	3967	3977	0	0	0	0	0	0	14.57	14.22	14.59
1642	-0.88	-145.9	2306	3610	3962	3977	230.4	-12.4	179	1648	0.00	2.38	0.00	0.000	1158	0.000	0.054	2305	2199	3969	3961	3977	0	0	0	0	0	0	14.38	14.27	14.41
1969	-0.90	-145.9	2305	2198	3962	3977	269.2	-11.3	194	1973	0.00	2.47	0.00	0.000	388	0.000	0.088	2299	3611	3969	3961	3977	0	0	0	0	0	0	14.58	14.19	14.59
2080	-0.99	-145.9	2299	3614	3960	3978	281.1	-10.5	216	2085	0.12	2.38	0.00	0.000	5254	0.134	0.054	2251	2193	3968	3960	3977	0	0	0	0	0	0	14.30	14.28	14.39
2391	-0.92	-145.9	2251	2193	3959	3977	329.0	-15.3	228	2396	0.12	2.50	0.00	0.000	2436	0.308	0.085	2269	3610	3967	3958	3977	0	0	0	0	0	0	13.95	14.19	14.12
2513	-0.95	-145.9	2269	3613	3957	3977	344.6	-12.1	252	2518	0.00	2.38	0.00	0.000	1158	0.000	0.056	2267	2198	3966	3956	3977	0	0	0	0	0	0	14.33	14.21	14.36
2843	-0.95	-145.9	2268	2197	3955	3977	388.2	-13.1	268	2848	0.00	2.50	0.00	0.000	260	0.000	0.088	2261	3620	3966	3956	3976	0	0	0	0	0	0	14.59	14.14	14.60
2969	-0.98	-145.9	2260	3621	3955	3977	404.2	-12.5	293	2974	0.00	2.40	0.00	0.000	1158	0.000	0.056	2261	2190	3965	3954	3976	0	0	0	0	0	0	14.38	14.26	14.40
3295	-0.95	-145.9	2260	2189	3956	3975	447.7	-13.2	308	3299	0.00	2.50	0.00	0.000	388	0.000	0.088	2253	3610	3965	3955	3975	0	0	0	0	0	0	14.59	14.16	14.61
3426	-0.95	-145.9	2253	3611	3955	3975	464.6	-12.6	334	3431	0.00	2.38	0.00	0.000	1030	0.000	0.056	2253	2196	3964	3954	3975	0	0	0	0	0	0	14.38	14.26	14.40
3564	end dive: TARGET_DEPTH_EXCEEDED
state	3564	begin apogee
3570	-0.13	0.0	2253	2070	3954	3976	483.7	-13.6	342	3784	1.10	0.00	211.10	1.435	10246	0.256	0.000	2528	2068	3363	3387	3339	0	0	0	0	0	0	13.97	13.50	12.78
3788	end apogee: CONTROL_FINISHED_OK
state	3788	begin climb
3791	0.57	145.9	2529	2069	3381	3335	494.1	0.0	349	4001	0.75	2.72	201.95	1.389	10500	0.066	0.073	2781	3513	2762	2808	2717	0	0	0	0	0	0	13.59	13.05	12.49
4228	0.14	145.9	2782	3513	2787	2716	460.1	17.4	395	4234	0.75	2.42	0.00	0.000	5254	0.344	0.057	2636	2129	2750	2786	2715	0	0	0	0	0	0	13.46	13.78	13.80
4539	0.06	173.3	2636	2129	2786	2716	431.3	8.7	407	4580	0.12	2.47	34.60	1.458	12708	0.299	0.082	2607	3511	2653	2695	2612	0	0	0	0	0	0	13.87	13.92	13.15
4805	0.05	199.3	2607	3512	2688	2607	408.1	8.8	460	4847	0.00	2.42	36.15	1.460	9382	0.000	0.061	2607	2098	2550	2600	2501	0	0	0	0	0	0	14.20	14.02	13.15
5174	0.10	248.4	2607	2100	2596	2486	379.8	7.7	483	5253	0.00	2.53	72.90	1.387	8868	0.000	0.086	2607	692	2346	2394	2298	0	0	0	0	0	0	14.42	13.66	13.12
5290	0.25	289.2	2607	692	2389	2298	370.6	8.1	506	5355	0.17	2.53	59.47	1.360	11430	0.105	0.078	2679	2116	2189	2237	2142	0	0	0	0	0	0	13.59	13.88	12.98
5653	0.22	289.2	2675	2112	2224	2120	324.9	12.6	529	5658	0.00	2.53	0.00	0.000	644	0.000	0.086	2682	693	2171	2223	2119	0	0	0	0	0	0	14.32	13.99	14.33
5708	0.22	289.2	2683	693	2223	2119	317.9	12.7	540	5714	0.00	2.47	0.00	0.000	1030	0.000	0.077	2682	2099	2170	2221	2119	0	0	0	0	0	0	14.18	14.06	14.21
6013	0.17	289.2	2683	2100	2221	2118	278.9	12.6	551	6019	0.17	2.47	0.00	0.000	4740	0.252	0.082	2648	684	2168	2220	2117	0	0	0	0	0	0	13.98	14.16	14.14
6064	0.26	303.0	2648	684	2220	2118	273.7	9.4	561	6086	0.00	2.47	17.23	1.467	9382	0.000	0.077	2647	2103	2129	2181	2078	0	0	0	0	0	0	14.29	14.18	13.32
6393	0.31	311.1	2648	2103	2172	2070	241.9	9.6	573	6407	0.00	2.55	9.95	1.580	8868	0.000	0.085	2649	691	2094	2144	2044	0	0	0	0	0	0	14.40	14.11	13.31
6453	0.44	340.6	2649	692	2140	2044	236.4	8.6	585	6509	0.22	2.47	48.25	1.354	11430	0.098	0.078	2738	2098	1973	2018	1929	0	0	0	0	0	0	14.12	14.07	13.19
6814	0.35	340.6	2738	2099	2013	1918	184.7	13.9	607	6815	0.17	0.00	0.00	0.000	4230	0.233	0.000	2699	2099	1965	2013	1918	0	0	0	0	0	0	13.85	14.09	14.07
7114	0.36	345.6	2699	2100	2013	1916	154.5	9.8	617	7123	0.00	2.55	1.73	0.478	8740	0.000	0.086	2696	691	1957	2006	1909	0	0	0	0	0	0	14.38	14.10	13.52
7211	0.45	367.9	2700	691	2007	1912	145.8	9.0	636	7259	0.00	2.47	43.35	1.324	9382	0.000	0.077	2699	2104	1866	1904	1828	0	0	0	0	0	0	14.21	14.09	13.26
7566	0.52	399.7	2700	2105	1895	1817	114.1	8.5	657	7621	0.12	2.62	49.30	1.263	10916	0.136	0.087	2768	685	1732	1762	1703	0	0	0	0	0	0	14.13	13.81	13.22
7681	0.52	399.7	2769	685	1753	1702	99.8	12.4	680	7687	0.00	2.53	0.00	0.000	1030	0.000	0.079	2768	2099	1726	1751	1701	0	0	0	0	0	0	13.93	13.87	13.95
7986	0.48	399.7	2769	2101	1753	1695	63.7	10.3	711	7992	0.12	2.50	0.00	0.000	4740	0.278	0.081	2746	688	1723	1751	1695	0	0	0	0	0	0	13.85	13.96	14.06
8079	0.58	453.8	2751	687	1751	1696	56.2	7.5	729	8115	0.00	2.53	28.90	0.372	9382	0.000	0.078	2750	2112	1512	1548	1477	0	0	0	0	0	0	14.12	14.01	13.69
8421	0.73	547.5	2750	2115	1548	1470	33.6	5.7	767	8477	0.20	2.50	50.53	0.301	10660	0.101	0.080	2824	3512	1130	1194	1066	0	0	0	0	0	0	14.07	13.95	13.77
8493	0.71	547.5	2826	3513	1196	1066	26.7	10.9	779	8500	0.00	2.45	0.00	0.000	1158	0.000	0.064	2835	2100	1131	1195	1067	0	0	0	0	0	0	14.08	13.99	14.10
8798	0.88	710.7	2835	2101	1196	1056	7.7	2.5	810	8888	0.00	2.50	84.53	0.223	8612	0.000	0.080	2836	3515	494	530	459	0	0	0	0	0	0	14.44	14.03	13.81
8918	end climb: SURFACE_DEPTH_REACHED
state	8918	begin surface coast
8921	end surface coast: CONTROL_FINISHED_OK
state	8921	begin surface