Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 57 * 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 57 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 169.0

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 26 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 19 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 169.0 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 26 VBD_MIN 500

DIVE 57 NOCOMM_ACTION 161 R_STBD_OVSHOOT 19 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 130817,072826,7157.2603,-14742.0488,18,0.8,22,21.4,0.4,111.7,10,8.2 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 1.22 MHEAD_RNG_PITCHd_Wd 322.7,154885,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.4 D_GRID 480

GPS2 130817,074250,7157.2612,-14742.1592,5,0.8,41,21.4,0.0,252.8,10,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813081414.077555,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33 PM_FREEKB_00 58793536

FINISH 0.3,1.019958 _24V_AH 12.61,69.758

SM_CCo 9209,0.00,0.000,0,0,496,703.77 _10V_AH 12.55,0.000

SM_GC 1.37,8.05,0.17,0.00,0.061,0.125,0.000,195,2217,496,-7.39,-0.51,703.77,0,0,0,0,0,0,14.16,14.13,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 361 FG_AHR_10Vo 0.000

MODEM 0,1502611524,75.36600,-145.04601,270.043,391628.9 MEM 323924

RAFOS_FIX 7155.339844,-14750.280273,130817,080849,2,255,3.63 DATA_FILE_SIZE 26686,765

IRIDIUM_FIX 7157.98,-14737.59,130817,073252 CAP_FILE_SIZE 104619,0

TT8_MAMPS 0.038948,0.885318 CFSIZE 2097872896,2071003136

HUMID 50.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1451.8

TCM_TEMP 13.60 CURRENT 0.119,263.91,1

XPDR_PINGS 4 GPS 130817,101803,7158.242,-14743.721,17,0.7,28,21.4,0.6,233.8,11,7.7

CP_FREE 16009658368.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 455 142.20 nil 0 0 0.00

Roll_motor 75 2145 2037.48 nil 0 0 0.00

VBD_pump_during_apogee 986 1527 19011.52 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 9152 14 1645.12

Iridium_during_xfer 505 164 1049.36 NCP 9146 20 2306.62

Transponder_ping 1 420 5.30 PMAR 9102 16 1904.25

GUMSTIX_24V 0 0 0.00

GPS 42 22 12.08

TT8 0 0 0.00

LPSleep 6579 2 190.75

TT8_Active 880 13 154.41

TT8_Sampling 2341 33 982.60

TT8_CF8 283 38 137.45

TT8_Kalman 0 0 0.00

Analog_circuits 2232 10 280.13

GPS_charging 0 0 0.00

Compass 1110 7 97.56

RAFOS 2191 48 1319.86

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 -145.9 183 2213 510 477 0.0 0.0 0 130 0.00 0.00 -81.47 0.000 16386 0.000 0.000 181 2213 2158 2080 2236 0 0 0 0 0 0 14.35 28.83 14.38

133 -0.57 -145.9 182 2214 2082 2239 3.9 -5.4 8 186 12.65 2.78 -31.38 0.000 18724 0.455 2.145 2375 3602 3965 3953 3978 1 0 0 0 0 0 13.51 12.75 14.09

412 -0.57 -145.9 2375 3604 3963 3979 67.3 -16.3 63 419 0.00 2.40 0.00 0.000 1030 0.000 0.054 2375 2200 3970 3962 3978 0 0 0 0 0 0 14.18 14.08 14.23

728 -0.57 -145.9 2375 2202 3973 3979 117.4 -14.0 87 733 0.00 2.50 0.00 0.000 260 0.000 0.083 2365 3620 3972 3967 3978 0 0 0 0 0 0 14.43 14.12 14.45

774 -0.68 -145.9 2365 3622 3964 3979 123.5 -11.8 96 778 0.00 2.42 0.00 0.000 1158 0.000 0.054 2365 2192 3971 3964 3978 0 0 0 0 0 0 14.27 14.15 14.28

1091 -0.73 -145.9 2365 2191 3965 3974 160.2 -11.0 109 1095 0.00 2.53 0.00 0.000 388 0.000 0.086 2362 3616 3971 3964 3979 0 0 0 0 0 0 14.37 14.05 14.38

1246 -0.88 -145.9 2362 3616 3965 3978 175.5 -8.8 140 1251 0.22 2.42 0.00 0.000 5286 0.099 0.054 2270 2196 3971 3964 3978 0 0 0 0 0 0 14.12 14.09 14.19

1571 -0.80 -145.9 2270 2193 3963 3976 228.5 -16.4 155 1577 0.17 2.53 0.00 0.000 2436 0.285 0.083 2316 3614 3970 3964 3977 0 0 0 0 0 0 13.83 14.00 13.98

1702 -0.86 -145.9 2306 3615 3964 3973 244.2 -11.2 181 1707 0.00 2.40 0.00 0.000 1158 0.000 0.055 2306 2201 3969 3963 3976 0 0 0 0 0 0 14.07 14.00 14.12

2022 -0.86 -145.9 2306 2200 3964 3973 282.5 -11.6 195 2027 0.00 2.50 0.00 0.000 260 0.000 0.086 2304 3614 3968 3963 3973 0 0 0 0 0 0 14.35 14.04 14.37

2134 -0.94 -145.9 2305 3614 3963 3973 294.4 -10.5 217 2139 0.00 2.42 0.00 0.000 1158 0.000 0.055 2304 2190 3967 3962 3973 0 0 0 0 0 0 14.18 14.07 14.21

2444 -0.94 -145.9 2304 2190 3963 3971 329.8 -11.4 229 2449 0.00 2.53 0.00 0.000 260 0.000 0.086 2295 3610 3966 3962 3971 0 0 0 0 0 0 14.34 14.00 14.36

2499 -1.02 -145.9 2298 3611 3970 3972 335.9 -10.7 240 2505 0.15 2.42 0.00 0.000 5254 0.121 0.056 2242 2194 3966 3961 3971 0 0 0 0 0 0 14.05 14.04 14.15

2804 -0.92 -145.9 2246 2195 3962 3970 383.9 -16.2 251 2810 0.15 2.53 0.00 0.000 2436 0.314 0.080 2267 3617 3963 3957 3969 0 0 0 0 0 0 13.71 13.99 13.92

2900 -0.92 -145.9 2268 3619 3962 3970 397.4 -13.2 270 2905 0.00 2.42 0.00 0.000 1030 0.000 0.057 2267 2199 3965 3961 3970 0 0 0 0 0 0 14.17 14.05 14.18

3226 -0.87 -145.9 2268 2198 3961 3970 442.8 -13.8 285 3231 0.12 2.47 0.00 0.000 2436 0.330 0.081 2284 3618 3964 3961 3967 0 0 0 0 0 0 13.73 13.98 13.92

3346 -0.93 -145.9 2283 3621 3961 3969 456.9 -10.9 309 3351 0.00 2.40 0.00 0.000 1158 0.000 0.056 2283 2193 3963 3959 3968 0 0 0 0 0 0 14.12 14.01 14.15

3554 end dive: TARGET_DEPTH_EXCEEDED

state 3554 begin apogee

3560 -0.13 0.0 2284 2070 3968 3969 482.3 -12.2 321 3768 0.98 0.05 201.98 1.466 10246 0.239 0.219 2530 2105 3361 3394 3329 0 0 0 0 0 0 13.79 13.38 12.78

3774 end apogee: CONTROL_FINISHED_OK

state 3774 begin climb

3776 0.57 145.9 2531 2107 3393 3326 491.9 0.0 328 3985 0.73 2.65 195.27 1.403 10500 0.065 0.074 2777 3504 2760 2812 2709 0 0 0 0 0 0 13.54 13.12 12.61

3994 0.57 145.9 2778 3505 2808 2709 491.8 0.4 330 3999 0.00 2.47 0.00 0.000 1030 0.000 0.054 2786 2129 2758 2808 2709 0 0 0 0 0 0 13.42 13.34 13.44

4315 0.19 145.9 2787 2128 2802 2707 437.6 16.7 344 4320 0.60 2.55 0.00 0.000 4740 0.315 0.078 2661 691 2754 2801 2708 0 0 0 0 0 0 13.59 13.86 13.78

4545 0.12 161.8 2661 692 2802 2709 414.9 9.3 390 4570 0.15 2.47 17.67 1.524 13478 0.287 0.081 2637 2096 2703 2752 2654 0 0 0 0 0 0 13.81 14.02 13.23

4887 0.11 200.5 2628 2097 2748 2649 386.5 8.2 408 4951 0.00 2.55 56.03 1.421 8868 0.000 0.082 2637 691 2544 2605 2483 0 0 0 0 0 0 14.38 13.85 13.20

5178 0.16 224.4 2636 691 2603 2477 361.1 8.9 466 5219 0.00 2.50 32.95 1.429 9382 0.000 0.080 2636 2112 2445 2507 2383 0 0 0 0 0 0 14.19 14.05 13.21

5518 0.17 242.9 2636 2113 2507 2376 329.6 9.1 484 5547 0.00 0.00 26.90 1.454 8230 0.000 0.000 2636 2112 2376 2441 2311 0 0 0 0 0 0 14.36 13.99 13.28

5846 0.18 256.6 2636 2112 2426 2304 298.6 9.4 495 5871 0.00 2.53 19.08 1.490 8740 0.000 0.083 2644 688 2314 2372 2256 0 0 0 0 0 0 14.40 14.03 13.33

5896 0.23 258.9 2644 689 2368 2257 293.8 9.9 505 5902 0.00 2.50 0.00 0.000 1190 0.000 0.080 2644 2101 2311 2367 2255 0 0 0 0 0 0 14.17 14.04 14.21

6208 0.24 262.5 2644 2103 2367 2252 262.5 9.8 517 6213 0.00 0.00 3.78 1.528 8230 0.000 0.000 2644 2102 2290 2345 2236 0 0 0 0 0 0 14.45 14.14 13.00

6508 0.27 275.0 2645 2102 2356 2240 234.0 9.4 527 6532 0.00 0.00 23.15 1.458 8358 0.000 0.000 2644 2102 2244 2303 2186 0 0 0 0 0 0 14.47 14.10 13.38

6808 0.32 301.2 2645 2102 2298 2180 206.4 8.8 537 6853 0.12 0.00 41.85 1.366 10662 0.125 0.000 2694 2102 2133 2188 2078 0 0 0 0 0 0 14.20 13.98 13.33

7168 0.30 301.2 2695 2102 2182 2069 165.8 10.5 554 7173 0.00 2.47 0.00 0.000 388 0.000 0.084 2689 3510 2126 2181 2071 0 0 0 0 0 0 14.38 14.08 14.40

7238 0.25 301.2 2694 3512 2179 2070 158.1 11.0 568 7244 0.15 2.42 0.00 0.000 5254 0.265 0.061 2664 2097 2124 2179 2069 0 0 0 0 0 0 13.99 14.14 14.21

7559 0.35 361.2 2668 2098 2180 2066 133.4 7.2 582 7662 0.00 0.00 100.93 1.236 8358 0.000 0.000 2668 2097 1893 1937 1849 0 0 0 0 0 0 14.45 13.82 13.23

7949 0.53 444.7 2668 2097 1925 1833 107.1 6.1 595 8099 0.25 2.60 139.77 1.145 10916 0.092 0.089 2774 699 1546 1593 1499 0 0 0 0 0 0 14.01 13.59 13.09

8256 0.58 444.7 2769 699 1582 1494 70.5 10.8 655 8261 0.00 2.53 0.00 0.000 1158 0.000 0.078 2769 2105 1537 1581 1493 0 0 0 0 0 0 13.89 13.78 13.92

8566 0.66 499.8 2769 2107 1582 1487 40.4 7.5 687 8598 0.00 2.53 25.75 0.337 8868 0.000 0.086 2769 691 1327 1385 1269 0 0 0 0 0 0 14.30 13.93 13.73

8695 0.86 561.0 2769 692 1390 1269 30.9 7.2 712 8734 0.28 2.50 31.60 0.308 11430 0.093 0.080 2871 2108 1075 1145 1005 0 0 0 0 0 0 14.00 13.95 13.76

9029 0.96 707.0 2872 2109 1147 1000 6.6 3.3 749 9102 0.00 0.00 70.18 0.224 8486 0.000 0.000 2872 2109 499 533 465 0 0 0 0 0 0 14.37 14.10 13.90

9107 end climb: SURFACE_DEPTH_REACHED

state 9107 begin surface coast

9127 end surface coast: CONTROL_FINISHED_OK

state 9127 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	57	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	169.0
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	26	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	19	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	130817,072826,7157.2603,-14742.0488,18,0.8,22,21.4,0.4,111.7,10,8.2	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	1.22	MHEAD_RNG_PITCHd_Wd	322.7,154885,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.4	D_GRID	480
GPS2	130817,074250,7157.2612,-14742.1592,5,0.8,41,21.4,0.0,252.8,10,9.8

MODEM_MSG	CACST,6,1,20170813081414.077555,3,14,11,0107,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33	PM_FREEKB_00	58793536
FINISH	0.3,1.019958	_24V_AH	12.61,69.758
SM_CCo	9209,0.00,0.000,0,0,496,703.77	_10V_AH	12.55,0.000
SM_GC	1.37,8.05,0.17,0.00,0.061,0.125,0.000,195,2217,496,-7.39,-0.51,703.77,0,0,0,0,0,0,14.16,14.13,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	361	FG_AHR_10Vo	0.000
MODEM	0,1502611524,75.36600,-145.04601,270.043,391628.9	MEM	323924
RAFOS_FIX	7155.339844,-14750.280273,130817,080849,2,255,3.63	DATA_FILE_SIZE	26686,765
IRIDIUM_FIX	7157.98,-14737.59,130817,073252	CAP_FILE_SIZE	104619,0
TT8_MAMPS	0.038948,0.885318	CFSIZE	2097872896,2071003136
HUMID	50.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1451.8
TCM_TEMP	13.60	CURRENT	0.119,263.91,1
XPDR_PINGS	4	GPS	130817,101803,7158.242,-14743.721,17,0.7,28,21.4,0.6,233.8,11,7.7
CP_FREE	16009658368.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	455	142.20	nil	0	0	0.00
Roll_motor	75	2145	2037.48	nil	0	0	0.00
VBD_pump_during_apogee	986	1527	19011.52	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	9152	14	1645.12
Iridium_during_xfer	505	164	1049.36	NCP	9146	20	2306.62
Transponder_ping	1	420	5.30	PMAR	9102	16	1904.25
GUMSTIX_24V	0	0	0.00
GPS	42	22	12.08
TT8	0	0	0.00
LPSleep	6579	2	190.75
TT8_Active	880	13	154.41
TT8_Sampling	2341	33	982.60
TT8_CF8	283	38	137.45
TT8_Kalman	0	0	0.00
Analog_circuits	2232	10	280.13
GPS_charging	0	0	0.00
Compass	1110	7	97.56
RAFOS	2191	48	1319.86
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	183	2213	510	477	0.0	0.0	0	130	0.00	0.00	-81.47	0.000	16386	0.000	0.000	181	2213	2158	2080	2236	0	0	0	0	0	0	14.35	28.83	14.38
133	-0.57	-145.9	182	2214	2082	2239	3.9	-5.4	8	186	12.65	2.78	-31.38	0.000	18724	0.455	2.145	2375	3602	3965	3953	3978	1	0	0	0	0	0	13.51	12.75	14.09
412	-0.57	-145.9	2375	3604	3963	3979	67.3	-16.3	63	419	0.00	2.40	0.00	0.000	1030	0.000	0.054	2375	2200	3970	3962	3978	0	0	0	0	0	0	14.18	14.08	14.23
728	-0.57	-145.9	2375	2202	3973	3979	117.4	-14.0	87	733	0.00	2.50	0.00	0.000	260	0.000	0.083	2365	3620	3972	3967	3978	0	0	0	0	0	0	14.43	14.12	14.45
774	-0.68	-145.9	2365	3622	3964	3979	123.5	-11.8	96	778	0.00	2.42	0.00	0.000	1158	0.000	0.054	2365	2192	3971	3964	3978	0	0	0	0	0	0	14.27	14.15	14.28
1091	-0.73	-145.9	2365	2191	3965	3974	160.2	-11.0	109	1095	0.00	2.53	0.00	0.000	388	0.000	0.086	2362	3616	3971	3964	3979	0	0	0	0	0	0	14.37	14.05	14.38
1246	-0.88	-145.9	2362	3616	3965	3978	175.5	-8.8	140	1251	0.22	2.42	0.00	0.000	5286	0.099	0.054	2270	2196	3971	3964	3978	0	0	0	0	0	0	14.12	14.09	14.19
1571	-0.80	-145.9	2270	2193	3963	3976	228.5	-16.4	155	1577	0.17	2.53	0.00	0.000	2436	0.285	0.083	2316	3614	3970	3964	3977	0	0	0	0	0	0	13.83	14.00	13.98
1702	-0.86	-145.9	2306	3615	3964	3973	244.2	-11.2	181	1707	0.00	2.40	0.00	0.000	1158	0.000	0.055	2306	2201	3969	3963	3976	0	0	0	0	0	0	14.07	14.00	14.12
2022	-0.86	-145.9	2306	2200	3964	3973	282.5	-11.6	195	2027	0.00	2.50	0.00	0.000	260	0.000	0.086	2304	3614	3968	3963	3973	0	0	0	0	0	0	14.35	14.04	14.37
2134	-0.94	-145.9	2305	3614	3963	3973	294.4	-10.5	217	2139	0.00	2.42	0.00	0.000	1158	0.000	0.055	2304	2190	3967	3962	3973	0	0	0	0	0	0	14.18	14.07	14.21
2444	-0.94	-145.9	2304	2190	3963	3971	329.8	-11.4	229	2449	0.00	2.53	0.00	0.000	260	0.000	0.086	2295	3610	3966	3962	3971	0	0	0	0	0	0	14.34	14.00	14.36
2499	-1.02	-145.9	2298	3611	3970	3972	335.9	-10.7	240	2505	0.15	2.42	0.00	0.000	5254	0.121	0.056	2242	2194	3966	3961	3971	0	0	0	0	0	0	14.05	14.04	14.15
2804	-0.92	-145.9	2246	2195	3962	3970	383.9	-16.2	251	2810	0.15	2.53	0.00	0.000	2436	0.314	0.080	2267	3617	3963	3957	3969	0	0	0	0	0	0	13.71	13.99	13.92
2900	-0.92	-145.9	2268	3619	3962	3970	397.4	-13.2	270	2905	0.00	2.42	0.00	0.000	1030	0.000	0.057	2267	2199	3965	3961	3970	0	0	0	0	0	0	14.17	14.05	14.18
3226	-0.87	-145.9	2268	2198	3961	3970	442.8	-13.8	285	3231	0.12	2.47	0.00	0.000	2436	0.330	0.081	2284	3618	3964	3961	3967	0	0	0	0	0	0	13.73	13.98	13.92
3346	-0.93	-145.9	2283	3621	3961	3969	456.9	-10.9	309	3351	0.00	2.40	0.00	0.000	1158	0.000	0.056	2283	2193	3963	3959	3968	0	0	0	0	0	0	14.12	14.01	14.15
3554	end dive: TARGET_DEPTH_EXCEEDED
state	3554	begin apogee
3560	-0.13	0.0	2284	2070	3968	3969	482.3	-12.2	321	3768	0.98	0.05	201.98	1.466	10246	0.239	0.219	2530	2105	3361	3394	3329	0	0	0	0	0	0	13.79	13.38	12.78
3774	end apogee: CONTROL_FINISHED_OK
state	3774	begin climb
3776	0.57	145.9	2531	2107	3393	3326	491.9	0.0	328	3985	0.73	2.65	195.27	1.403	10500	0.065	0.074	2777	3504	2760	2812	2709	0	0	0	0	0	0	13.54	13.12	12.61
3994	0.57	145.9	2778	3505	2808	2709	491.8	0.4	330	3999	0.00	2.47	0.00	0.000	1030	0.000	0.054	2786	2129	2758	2808	2709	0	0	0	0	0	0	13.42	13.34	13.44
4315	0.19	145.9	2787	2128	2802	2707	437.6	16.7	344	4320	0.60	2.55	0.00	0.000	4740	0.315	0.078	2661	691	2754	2801	2708	0	0	0	0	0	0	13.59	13.86	13.78
4545	0.12	161.8	2661	692	2802	2709	414.9	9.3	390	4570	0.15	2.47	17.67	1.524	13478	0.287	0.081	2637	2096	2703	2752	2654	0	0	0	0	0	0	13.81	14.02	13.23
4887	0.11	200.5	2628	2097	2748	2649	386.5	8.2	408	4951	0.00	2.55	56.03	1.421	8868	0.000	0.082	2637	691	2544	2605	2483	0	0	0	0	0	0	14.38	13.85	13.20
5178	0.16	224.4	2636	691	2603	2477	361.1	8.9	466	5219	0.00	2.50	32.95	1.429	9382	0.000	0.080	2636	2112	2445	2507	2383	0	0	0	0	0	0	14.19	14.05	13.21
5518	0.17	242.9	2636	2113	2507	2376	329.6	9.1	484	5547	0.00	0.00	26.90	1.454	8230	0.000	0.000	2636	2112	2376	2441	2311	0	0	0	0	0	0	14.36	13.99	13.28
5846	0.18	256.6	2636	2112	2426	2304	298.6	9.4	495	5871	0.00	2.53	19.08	1.490	8740	0.000	0.083	2644	688	2314	2372	2256	0	0	0	0	0	0	14.40	14.03	13.33
5896	0.23	258.9	2644	689	2368	2257	293.8	9.9	505	5902	0.00	2.50	0.00	0.000	1190	0.000	0.080	2644	2101	2311	2367	2255	0	0	0	0	0	0	14.17	14.04	14.21
6208	0.24	262.5	2644	2103	2367	2252	262.5	9.8	517	6213	0.00	0.00	3.78	1.528	8230	0.000	0.000	2644	2102	2290	2345	2236	0	0	0	0	0	0	14.45	14.14	13.00
6508	0.27	275.0	2645	2102	2356	2240	234.0	9.4	527	6532	0.00	0.00	23.15	1.458	8358	0.000	0.000	2644	2102	2244	2303	2186	0	0	0	0	0	0	14.47	14.10	13.38
6808	0.32	301.2	2645	2102	2298	2180	206.4	8.8	537	6853	0.12	0.00	41.85	1.366	10662	0.125	0.000	2694	2102	2133	2188	2078	0	0	0	0	0	0	14.20	13.98	13.33
7168	0.30	301.2	2695	2102	2182	2069	165.8	10.5	554	7173	0.00	2.47	0.00	0.000	388	0.000	0.084	2689	3510	2126	2181	2071	0	0	0	0	0	0	14.38	14.08	14.40
7238	0.25	301.2	2694	3512	2179	2070	158.1	11.0	568	7244	0.15	2.42	0.00	0.000	5254	0.265	0.061	2664	2097	2124	2179	2069	0	0	0	0	0	0	13.99	14.14	14.21
7559	0.35	361.2	2668	2098	2180	2066	133.4	7.2	582	7662	0.00	0.00	100.93	1.236	8358	0.000	0.000	2668	2097	1893	1937	1849	0	0	0	0	0	0	14.45	13.82	13.23
7949	0.53	444.7	2668	2097	1925	1833	107.1	6.1	595	8099	0.25	2.60	139.77	1.145	10916	0.092	0.089	2774	699	1546	1593	1499	0	0	0	0	0	0	14.01	13.59	13.09
8256	0.58	444.7	2769	699	1582	1494	70.5	10.8	655	8261	0.00	2.53	0.00	0.000	1158	0.000	0.078	2769	2105	1537	1581	1493	0	0	0	0	0	0	13.89	13.78	13.92
8566	0.66	499.8	2769	2107	1582	1487	40.4	7.5	687	8598	0.00	2.53	25.75	0.337	8868	0.000	0.086	2769	691	1327	1385	1269	0	0	0	0	0	0	14.30	13.93	13.73
8695	0.86	561.0	2769	692	1390	1269	30.9	7.2	712	8734	0.28	2.50	31.60	0.308	11430	0.093	0.080	2871	2108	1075	1145	1005	0	0	0	0	0	0	14.00	13.95	13.76
9029	0.96	707.0	2872	2109	1147	1000	6.6	3.3	749	9102	0.00	0.00	70.18	0.224	8486	0.000	0.000	2872	2109	499	533	465	0	0	0	0	0	0	14.37	14.10	13.90
9107	end climb: SURFACE_DEPTH_REACHED
state	9107	begin surface coast
9127	end surface coast: CONTROL_FINISHED_OK
state	9127	begin surface