Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 124 * 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 124 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 351.0

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 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 351.0 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 124 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 210817,032203,7307.3096,-14937.0371,38,0.8,39,20.9,0.0,0.0,11,6.6 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.28 MHEAD_RNG_PITCHd_Wd 287.7,13208,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 480

GPS2 210817,033316,7307.2915,-14936.9424,9,0.8,10,20.9,0.0,0.0,11,9.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170821042823.233098,3,103,20,0158,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02 PM_FREEKB_00 54332864

FINISH 0.3,1.011851 _24V_AH 12.42,101.899

SM_CCo 8952,8.55,0.219,0,0,500,702.78 _10V_AH 12.31,0.000

SM_GC 2.28,8.10,0.17,8.55,0.079,0.125,0.219,198,2209,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.27,14.25,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 333 FG_AHR_10Vo 0.000

MODEM 0,1503288252,75.36600,-145.04601,198.172,287059.1 MEM 323556

RAFOS_FIX 7306.354004,-14939.581055,210817,040426,4,255,0.87 DATA_FILE_SIZE 26760,784

IRIDIUM_FIX 7308.79,-14923.80,210817,004215 CAP_FILE_SIZE 108892,0

TT8_MAMPS 0.039697,0.914529 CFSIZE 2097872896,2050260992

HUMID 46.96 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1447.9

TCM_TEMP 13.10 CURRENT 0.047,209.83,1

XPDR_PINGS 5 GPS 210817,060417,7307.997,-14939.728,17,0.7,19,20.9,0.2,0.0,12,9.6

CP_FREE 15998353408.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 140.58 nil 0 0 0.00

Roll_motor 93 2141 2490.54 nil 0 0 0.00

VBD_pump_during_apogee 1000 1532 19041.10 nil 0 0 0.00

VBD_pump_during_surface 8 218 23.23 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 8962 14 1636.56

Iridium_during_xfer 395 181 891.55 NCP 8937 20 2219.95

Transponder_ping 1 420 6.52 PMAR 8907 10 1110.34

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.98

TT8 0 0 0.00

LPSleep 6062 2 172.38

TT8_Active 889 13 152.98

TT8_Sampling 2401 33 988.45

TT8_CF8 296 38 141.17

TT8_Kalman 0 0 0.00

Analog_circuits 2354 10 289.84

GPS_charging 0 0 0.00

Compass 1123 7 96.84

RAFOS 2204 48 1302.30

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 -145.9 208 2213 508 478 0.0 0.0 0 130 0.00 0.00 -81.15 0.000 16386 0.000 0.000 207 2212 1994 1918 2070 0 0 0 0 0 0 14.45 28.83 14.47

133 -0.57 -145.9 208 2213 1920 2073 3.3 -3.4 8 190 12.52 2.75 -39.22 0.000 19236 0.456 2.141 2386 793 3960 3943 3978 0 0 0 0 0 0 13.69 12.92 14.14

346 -0.63 -145.9 2386 794 3959 3979 51.1 -16.5 50 351 0.00 2.50 0.00 0.000 1158 0.000 0.088 2380 2201 3965 3953 3978 0 0 0 0 0 0 14.18 14.03 14.20

656 -0.66 -145.9 2384 2204 3958 3979 100.3 -12.8 82 661 0.00 2.50 0.00 0.000 388 0.000 0.092 2376 3613 3967 3957 3978 0 0 0 0 0 0 14.52 14.02 14.53

801 -0.79 -145.9 2376 3614 3957 3979 116.2 -10.1 111 809 0.17 2.40 0.00 0.000 5254 0.112 0.054 2309 2196 3967 3957 3978 0 0 0 0 0 0 14.20 14.15 14.26

1106 -0.76 -145.9 2309 2196 3958 3978 166.5 -16.1 122 1111 0.00 2.50 0.00 0.000 388 0.000 0.088 2301 3613 3967 3957 3978 0 0 0 0 0 0 14.59 14.22 14.61

1271 -0.82 -145.9 2301 3614 3957 3979 189.6 -13.2 155 1277 0.00 2.40 0.00 0.000 1158 0.000 0.055 2300 2191 3967 3957 3978 0 0 0 0 0 0 14.40 14.28 14.42

1587 -0.82 -145.9 2301 2190 3959 3978 235.9 -14.2 168 1592 0.00 2.53 0.00 0.000 260 0.000 0.089 2298 3614 3967 3957 3978 0 0 0 0 0 0 14.50 14.14 14.51

1719 -0.89 -145.9 2299 3616 3958 3978 251.5 -10.8 194 1724 0.00 2.40 0.00 0.000 1158 0.000 0.054 2300 2195 3967 3957 3978 0 0 0 0 0 0 14.29 14.19 14.32

2039 -0.92 -145.9 2297 2195 3958 3978 288.6 -11.2 208 2044 0.00 2.53 0.00 0.000 388 0.000 0.089 2294 3618 3966 3957 3976 0 0 0 0 0 0 14.46 14.08 14.47

2094 -1.04 -145.9 2294 3619 3958 3975 294.3 -9.7 219 2102 0.15 2.40 0.00 0.000 5286 0.123 0.056 2239 2202 3969 3963 3976 0 0 0 0 0 0 14.16 14.13 14.24

2399 -0.97 -145.9 2240 2201 3953 3975 340.5 -15.4 230 2404 0.00 2.50 0.00 0.000 388 0.000 0.087 2235 3613 3966 3957 3976 0 0 0 0 0 0 14.44 14.10 14.46

2516 -0.95 -145.9 2236 3614 3957 3970 357.6 -14.1 253 2522 0.15 2.42 0.00 0.000 3206 0.256 0.056 2265 2191 3966 3956 3977 0 0 0 0 0 0 13.76 13.98 14.04

2819 -0.95 -145.9 2265 2191 3957 3975 395.9 -12.4 264 2824 0.00 2.53 0.00 0.000 260 0.000 0.088 2254 3617 3964 3956 3973 0 0 0 0 0 0 14.43 14.09 14.45

2909 -1.00 -145.9 2258 3619 3957 3974 407.0 -11.9 282 2914 0.00 2.42 0.00 0.000 1158 0.000 0.055 2257 2201 3963 3956 3971 0 0 0 0 0 0 14.22 14.11 14.24

3239 -1.00 -145.9 2258 2197 3957 3973 449.5 -12.8 298 3244 0.00 2.53 0.00 0.000 260 0.000 0.090 2249 3615 3964 3956 3973 0 0 0 0 0 0 14.47 14.09 14.46

3356 -1.03 -145.9 2249 3616 3956 3974 463.7 -11.9 321 3362 0.00 2.42 0.00 0.000 1158 0.000 0.055 2249 2194 3964 3956 3973 0 0 0 0 0 0 14.17 14.07 14.20

3507 end dive: TARGET_DEPTH_EXCEEDED

state 3507 begin apogee

3513 -0.13 0.0 2250 2067 3957 3973 483.7 -13.0 327 3751 1.12 0.08 232.48 1.388 10246 0.246 0.181 2531 2113 3361 3393 3329 0 0 0 0 0 0 13.85 13.30 12.63

3755 end apogee: CONTROL_FINISHED_OK

state 3755 begin climb

3757 0.57 145.9 2532 2114 3386 3323 495.7 0.0 335 4159 0.75 2.65 207.02 1.345 10756 0.064 0.077 2790 734 2749 2794 2705 0 0 0 0 0 0 13.44 12.96 12.42

4263 0.21 145.9 2790 735 2794 2704 455.5 15.8 357 4268 0.62 2.42 0.00 0.000 5254 0.314 0.076 2655 2095 2748 2792 2704 0 0 0 0 0 0 13.50 13.76 13.83

4573 0.06 150.0 2656 2096 2794 2700 423.8 9.8 369 4578 0.20 2.40 0.00 0.000 4772 0.298 0.076 2616 727 2746 2792 2700 0 0 0 0 0 0 13.81 14.10 14.01

4649 0.10 202.6 2616 727 2793 2701 417.9 7.6 384 4739 0.00 2.40 85.07 1.327 9254 0.000 0.079 2615 2101 2538 2605 2471 0 0 0 0 0 0 14.27 14.16 13.09

5054 0.12 227.8 2616 2101 2591 2443 382.4 8.8 415 5095 0.00 2.47 34.22 1.385 8740 0.000 0.083 2616 733 2431 2497 2366 0 0 0 0 0 0 14.43 13.97 13.22

5130 0.20 253.6 2616 730 2490 2363 375.6 8.8 430 5176 0.00 2.42 39.40 1.366 9382 0.000 0.077 2616 2110 2331 2397 2265 0 0 0 0 0 0 14.11 14.00 13.09

5477 0.26 277.1 2616 2112 2378 2248 344.7 8.9 449 5517 0.12 2.53 34.55 1.388 10916 0.130 0.084 2682 729 2231 2291 2171 0 0 0 0 0 0 14.21 13.98 13.24

5554 0.22 277.1 2682 729 2280 2167 335.0 13.1 464 5560 0.00 2.40 0.00 0.000 1158 0.000 0.077 2682 2098 2222 2279 2166 0 0 0 0 0 0 14.15 14.04 14.18

5870 0.15 277.1 2682 2100 2278 2160 292.9 13.3 477 5875 0.17 2.40 0.00 0.000 4740 0.261 0.080 2647 723 2217 2278 2157 0 0 0 0 0 0 13.96 14.16 14.14

5935 0.22 288.3 2647 724 2277 2160 286.1 9.5 490 5952 0.00 2.40 11.07 1.532 9382 0.000 0.079 2647 2103 2188 2247 2129 0 0 0 0 0 0 14.31 14.19 13.32

6262 0.25 292.5 2647 2104 2241 2117 253.6 9.8 505 6267 0.00 2.40 0.00 0.000 676 0.000 0.084 2647 725 2183 2250 2117 0 0 0 0 0 0 14.57 14.19 14.60

6312 0.36 309.6 2647 725 2239 2117 248.9 9.2 515 6353 0.15 2.40 33.72 1.380 11430 0.116 0.078 2704 2111 2100 2156 2045 0 0 0 0 0 0 14.06 14.09 13.32

6654 0.30 309.6 2704 2112 2144 2036 207.3 11.7 533 6659 0.00 2.42 0.00 0.000 644 0.000 0.083 2708 722 2089 2143 2035 0 0 0 0 0 0 14.53 14.22 14.54

6689 0.27 309.6 2709 723 2142 2035 203.2 10.9 540 6695 0.15 2.40 0.00 0.000 5254 0.227 0.077 2674 2103 2088 2142 2035 0 0 0 0 0 0 14.10 14.23 14.33

7016 0.33 349.0 2674 2104 2142 2033 175.2 8.2 555 7091 0.00 2.45 69.57 1.278 8868 0.000 0.086 2674 729 1937 1986 1889 0 0 0 0 0 0 14.59 13.69 13.12

7136 0.49 404.5 2674 729 1970 1889 165.9 7.4 569 7241 0.20 2.42 98.62 1.193 11430 0.107 0.078 2754 2100 1714 1747 1682 0 0 0 0 0 0 14.07 14.01 13.05

7558 0.45 404.5 2754 2100 1737 1660 111.8 12.6 603 7563 0.00 2.42 0.00 0.000 644 0.000 0.086 2754 727 1698 1737 1659 0 0 0 0 0 0 14.38 14.07 14.40

7619 0.47 404.5 2756 727 1731 1659 104.9 11.2 615 7623 0.00 2.40 0.00 0.000 1158 0.000 0.077 2755 2099 1694 1730 1659 0 0 0 0 0 0 14.22 14.10 14.26

7928 0.47 404.5 2755 2100 1731 1657 71.0 10.4 647 7933 0.00 2.47 0.00 0.000 260 0.000 0.083 2755 3510 1692 1730 1655 0 0 0 0 0 0 14.52 14.16 14.52

8023 0.50 434.9 2756 3511 1730 1656 61.2 8.6 666 8042 0.00 2.35 14.38 0.378 9254 0.000 0.060 2763 2124 1595 1637 1554 0 0 0 0 0 0 14.23 14.12 13.76

8339 0.60 548.0 2764 2125 1632 1558 42.7 4.8 699 8407 0.00 2.45 62.05 0.328 8612 0.000 0.082 2763 3518 1128 1197 1059 0 0 0 0 0 0 14.54 14.09 13.83

8512 0.79 607.9 2764 3519 1199 1064 31.3 7.2 733 8555 0.22 2.42 33.20 0.293 11430 0.098 0.066 2854 2104 888 962 814 0 0 0 0 0 0 14.13 14.09 13.84

8852 0.92 699.1 2854 2103 964 814 4.7 5.8 771 8899 0.00 0.00 45.15 0.215 8866 0.000 0.000 2854 2103 561 606 517 0 0 0 0 0 0 14.50 28.83 14.52

8900 end climb: SURFACE_DEPTH_REACHED

state 8900 begin surface coast

8932 end surface coast: CONTROL_FINISHED_OK

state 8932 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	124	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	351.0
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	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,032203,7307.3096,-14937.0371,38,0.8,39,20.9,0.0,0.0,11,6.6	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.28	MHEAD_RNG_PITCHd_Wd	287.7,13208,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	480
GPS2	210817,033316,7307.2915,-14936.9424,9,0.8,10,20.9,0.0,0.0,11,9.5

MODEM_MSG	CACST,6,1,20170821042823.233098,3,103,20,0158,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*02	PM_FREEKB_00	54332864
FINISH	0.3,1.011851	_24V_AH	12.42,101.899
SM_CCo	8952,8.55,0.219,0,0,500,702.78	_10V_AH	12.31,0.000
SM_GC	2.28,8.10,0.17,8.55,0.079,0.125,0.219,198,2209,500,-7.38,-0.71,702.78,0,0,0,0,0,0,14.27,14.25,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	333	FG_AHR_10Vo	0.000
MODEM	0,1503288252,75.36600,-145.04601,198.172,287059.1	MEM	323556
RAFOS_FIX	7306.354004,-14939.581055,210817,040426,4,255,0.87	DATA_FILE_SIZE	26760,784
IRIDIUM_FIX	7308.79,-14923.80,210817,004215	CAP_FILE_SIZE	108892,0
TT8_MAMPS	0.039697,0.914529	CFSIZE	2097872896,2050260992
HUMID	46.96	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1447.9
TCM_TEMP	13.10	CURRENT	0.047,209.83,1
XPDR_PINGS	5	GPS	210817,060417,7307.997,-14939.728,17,0.7,19,20.9,0.2,0.0,12,9.6
CP_FREE	15998353408.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	140.58	nil	0	0	0.00
Roll_motor	93	2141	2490.54	nil	0	0	0.00
VBD_pump_during_apogee	1000	1532	19041.10	nil	0	0	0.00
VBD_pump_during_surface	8	218	23.23	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	8962	14	1636.56
Iridium_during_xfer	395	181	891.55	NCP	8937	20	2219.95
Transponder_ping	1	420	6.52	PMAR	8907	10	1110.34
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.98
TT8	0	0	0.00
LPSleep	6062	2	172.38
TT8_Active	889	13	152.98
TT8_Sampling	2401	33	988.45
TT8_CF8	296	38	141.17
TT8_Kalman	0	0	0.00
Analog_circuits	2354	10	289.84
GPS_charging	0	0	0.00
Compass	1123	7	96.84
RAFOS	2204	48	1302.30
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	208	2213	508	478	0.0	0.0	0	130	0.00	0.00	-81.15	0.000	16386	0.000	0.000	207	2212	1994	1918	2070	0	0	0	0	0	0	14.45	28.83	14.47
133	-0.57	-145.9	208	2213	1920	2073	3.3	-3.4	8	190	12.52	2.75	-39.22	0.000	19236	0.456	2.141	2386	793	3960	3943	3978	0	0	0	0	0	0	13.69	12.92	14.14
346	-0.63	-145.9	2386	794	3959	3979	51.1	-16.5	50	351	0.00	2.50	0.00	0.000	1158	0.000	0.088	2380	2201	3965	3953	3978	0	0	0	0	0	0	14.18	14.03	14.20
656	-0.66	-145.9	2384	2204	3958	3979	100.3	-12.8	82	661	0.00	2.50	0.00	0.000	388	0.000	0.092	2376	3613	3967	3957	3978	0	0	0	0	0	0	14.52	14.02	14.53
801	-0.79	-145.9	2376	3614	3957	3979	116.2	-10.1	111	809	0.17	2.40	0.00	0.000	5254	0.112	0.054	2309	2196	3967	3957	3978	0	0	0	0	0	0	14.20	14.15	14.26
1106	-0.76	-145.9	2309	2196	3958	3978	166.5	-16.1	122	1111	0.00	2.50	0.00	0.000	388	0.000	0.088	2301	3613	3967	3957	3978	0	0	0	0	0	0	14.59	14.22	14.61
1271	-0.82	-145.9	2301	3614	3957	3979	189.6	-13.2	155	1277	0.00	2.40	0.00	0.000	1158	0.000	0.055	2300	2191	3967	3957	3978	0	0	0	0	0	0	14.40	14.28	14.42
1587	-0.82	-145.9	2301	2190	3959	3978	235.9	-14.2	168	1592	0.00	2.53	0.00	0.000	260	0.000	0.089	2298	3614	3967	3957	3978	0	0	0	0	0	0	14.50	14.14	14.51
1719	-0.89	-145.9	2299	3616	3958	3978	251.5	-10.8	194	1724	0.00	2.40	0.00	0.000	1158	0.000	0.054	2300	2195	3967	3957	3978	0	0	0	0	0	0	14.29	14.19	14.32
2039	-0.92	-145.9	2297	2195	3958	3978	288.6	-11.2	208	2044	0.00	2.53	0.00	0.000	388	0.000	0.089	2294	3618	3966	3957	3976	0	0	0	0	0	0	14.46	14.08	14.47
2094	-1.04	-145.9	2294	3619	3958	3975	294.3	-9.7	219	2102	0.15	2.40	0.00	0.000	5286	0.123	0.056	2239	2202	3969	3963	3976	0	0	0	0	0	0	14.16	14.13	14.24
2399	-0.97	-145.9	2240	2201	3953	3975	340.5	-15.4	230	2404	0.00	2.50	0.00	0.000	388	0.000	0.087	2235	3613	3966	3957	3976	0	0	0	0	0	0	14.44	14.10	14.46
2516	-0.95	-145.9	2236	3614	3957	3970	357.6	-14.1	253	2522	0.15	2.42	0.00	0.000	3206	0.256	0.056	2265	2191	3966	3956	3977	0	0	0	0	0	0	13.76	13.98	14.04
2819	-0.95	-145.9	2265	2191	3957	3975	395.9	-12.4	264	2824	0.00	2.53	0.00	0.000	260	0.000	0.088	2254	3617	3964	3956	3973	0	0	0	0	0	0	14.43	14.09	14.45
2909	-1.00	-145.9	2258	3619	3957	3974	407.0	-11.9	282	2914	0.00	2.42	0.00	0.000	1158	0.000	0.055	2257	2201	3963	3956	3971	0	0	0	0	0	0	14.22	14.11	14.24
3239	-1.00	-145.9	2258	2197	3957	3973	449.5	-12.8	298	3244	0.00	2.53	0.00	0.000	260	0.000	0.090	2249	3615	3964	3956	3973	0	0	0	0	0	0	14.47	14.09	14.46
3356	-1.03	-145.9	2249	3616	3956	3974	463.7	-11.9	321	3362	0.00	2.42	0.00	0.000	1158	0.000	0.055	2249	2194	3964	3956	3973	0	0	0	0	0	0	14.17	14.07	14.20
3507	end dive: TARGET_DEPTH_EXCEEDED
state	3507	begin apogee
3513	-0.13	0.0	2250	2067	3957	3973	483.7	-13.0	327	3751	1.12	0.08	232.48	1.388	10246	0.246	0.181	2531	2113	3361	3393	3329	0	0	0	0	0	0	13.85	13.30	12.63
3755	end apogee: CONTROL_FINISHED_OK
state	3755	begin climb
3757	0.57	145.9	2532	2114	3386	3323	495.7	0.0	335	4159	0.75	2.65	207.02	1.345	10756	0.064	0.077	2790	734	2749	2794	2705	0	0	0	0	0	0	13.44	12.96	12.42
4263	0.21	145.9	2790	735	2794	2704	455.5	15.8	357	4268	0.62	2.42	0.00	0.000	5254	0.314	0.076	2655	2095	2748	2792	2704	0	0	0	0	0	0	13.50	13.76	13.83
4573	0.06	150.0	2656	2096	2794	2700	423.8	9.8	369	4578	0.20	2.40	0.00	0.000	4772	0.298	0.076	2616	727	2746	2792	2700	0	0	0	0	0	0	13.81	14.10	14.01
4649	0.10	202.6	2616	727	2793	2701	417.9	7.6	384	4739	0.00	2.40	85.07	1.327	9254	0.000	0.079	2615	2101	2538	2605	2471	0	0	0	0	0	0	14.27	14.16	13.09
5054	0.12	227.8	2616	2101	2591	2443	382.4	8.8	415	5095	0.00	2.47	34.22	1.385	8740	0.000	0.083	2616	733	2431	2497	2366	0	0	0	0	0	0	14.43	13.97	13.22
5130	0.20	253.6	2616	730	2490	2363	375.6	8.8	430	5176	0.00	2.42	39.40	1.366	9382	0.000	0.077	2616	2110	2331	2397	2265	0	0	0	0	0	0	14.11	14.00	13.09
5477	0.26	277.1	2616	2112	2378	2248	344.7	8.9	449	5517	0.12	2.53	34.55	1.388	10916	0.130	0.084	2682	729	2231	2291	2171	0	0	0	0	0	0	14.21	13.98	13.24
5554	0.22	277.1	2682	729	2280	2167	335.0	13.1	464	5560	0.00	2.40	0.00	0.000	1158	0.000	0.077	2682	2098	2222	2279	2166	0	0	0	0	0	0	14.15	14.04	14.18
5870	0.15	277.1	2682	2100	2278	2160	292.9	13.3	477	5875	0.17	2.40	0.00	0.000	4740	0.261	0.080	2647	723	2217	2278	2157	0	0	0	0	0	0	13.96	14.16	14.14
5935	0.22	288.3	2647	724	2277	2160	286.1	9.5	490	5952	0.00	2.40	11.07	1.532	9382	0.000	0.079	2647	2103	2188	2247	2129	0	0	0	0	0	0	14.31	14.19	13.32
6262	0.25	292.5	2647	2104	2241	2117	253.6	9.8	505	6267	0.00	2.40	0.00	0.000	676	0.000	0.084	2647	725	2183	2250	2117	0	0	0	0	0	0	14.57	14.19	14.60
6312	0.36	309.6	2647	725	2239	2117	248.9	9.2	515	6353	0.15	2.40	33.72	1.380	11430	0.116	0.078	2704	2111	2100	2156	2045	0	0	0	0	0	0	14.06	14.09	13.32
6654	0.30	309.6	2704	2112	2144	2036	207.3	11.7	533	6659	0.00	2.42	0.00	0.000	644	0.000	0.083	2708	722	2089	2143	2035	0	0	0	0	0	0	14.53	14.22	14.54
6689	0.27	309.6	2709	723	2142	2035	203.2	10.9	540	6695	0.15	2.40	0.00	0.000	5254	0.227	0.077	2674	2103	2088	2142	2035	0	0	0	0	0	0	14.10	14.23	14.33
7016	0.33	349.0	2674	2104	2142	2033	175.2	8.2	555	7091	0.00	2.45	69.57	1.278	8868	0.000	0.086	2674	729	1937	1986	1889	0	0	0	0	0	0	14.59	13.69	13.12
7136	0.49	404.5	2674	729	1970	1889	165.9	7.4	569	7241	0.20	2.42	98.62	1.193	11430	0.107	0.078	2754	2100	1714	1747	1682	0	0	0	0	0	0	14.07	14.01	13.05
7558	0.45	404.5	2754	2100	1737	1660	111.8	12.6	603	7563	0.00	2.42	0.00	0.000	644	0.000	0.086	2754	727	1698	1737	1659	0	0	0	0	0	0	14.38	14.07	14.40
7619	0.47	404.5	2756	727	1731	1659	104.9	11.2	615	7623	0.00	2.40	0.00	0.000	1158	0.000	0.077	2755	2099	1694	1730	1659	0	0	0	0	0	0	14.22	14.10	14.26
7928	0.47	404.5	2755	2100	1731	1657	71.0	10.4	647	7933	0.00	2.47	0.00	0.000	260	0.000	0.083	2755	3510	1692	1730	1655	0	0	0	0	0	0	14.52	14.16	14.52
8023	0.50	434.9	2756	3511	1730	1656	61.2	8.6	666	8042	0.00	2.35	14.38	0.378	9254	0.000	0.060	2763	2124	1595	1637	1554	0	0	0	0	0	0	14.23	14.12	13.76
8339	0.60	548.0	2764	2125	1632	1558	42.7	4.8	699	8407	0.00	2.45	62.05	0.328	8612	0.000	0.082	2763	3518	1128	1197	1059	0	0	0	0	0	0	14.54	14.09	13.83
8512	0.79	607.9	2764	3519	1199	1064	31.3	7.2	733	8555	0.22	2.42	33.20	0.293	11430	0.098	0.066	2854	2104	888	962	814	0	0	0	0	0	0	14.13	14.09	13.84
8852	0.92	699.1	2854	2103	964	814	4.7	5.8	771	8899	0.00	0.00	45.15	0.215	8866	0.000	0.000	2854	2103	561	606	517	0	0	0	0	0	0	14.50	28.83	14.52
8900	end climb: SURFACE_DEPTH_REACHED
state	8900	begin surface coast
8932	end surface coast: CONTROL_FINISHED_OK
state	8932	begin surface