Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 64 * 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 64 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 186.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 186.0 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 23 VBD_MIN 500

DIVE 64 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 140817,030919,7204.9526,-14752.2207,22,0.7,59,21.3,0.3,328.1,11,5.9 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 326.3,139574,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.6 D_GRID 480

GPS2 140817,032950,7204.9985,-14752.7705,14,0.7,14,21.3,0.8,297.9,11,7.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814042331.859362,3,3,-1,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*14 PM_FREEKB_00 58251840

FINISH 0.6,1.020034 _24V_AH 12.57,73.028

SM_CCo 9272,69.53,0.206,0,0,498,702.78 _10V_AH 12.49,0.000

SM_GC 1.23,8.05,0.20,69.53,0.073,0.119,0.206,204,2217,498,-7.36,-0.42,702.78,0,0,0,0,0,0,14.25,14.22,13.99 FG_AHR_24Vo 0.000

RAFOS_CLK 334 FG_AHR_10Vo 0.000

MODEM 2,1502684043,73.18300,-149.96500,96.366,139820.2 MEM 323628

RAFOS_FIX 7228.703125,-14627.398438,130817,202006,2,255,13.68 DATA_FILE_SIZE 23474,716

IRIDIUM_FIX 7207.12,-14744.08,140817,032150 CAP_FILE_SIZE 107371,0

TT8_MAMPS 0.038199,0.87633 CFSIZE 2097872896,2068938752

HUMID 50.19 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1446.7

TCM_TEMP 13.50 CURRENT 0.056,293.12,1

XPDR_PINGS 10 GPS 140817,060718,7206.318,-14753.566,15,0.7,24,21.3,1.2,41.0,12,9.5

CP_FREE 16008478720.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 456 141.08 nil 0 0 0.00

Roll_motor 74 2139 2000.40 nil 0 0 0.00

VBD_pump_during_apogee 829 1501 15648.93 nil 0 0 0.00

VBD_pump_during_surface 69 205 179.84 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 9279 14 1713.98

Iridium_during_xfer 783 159 1574.69 NCP 9266 20 2329.47

Transponder_ping 2 420 13.20 PMAR 9228 16 1924.84

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.10

TT8 0 0 0.00

LPSleep 6976 2 201.28

TT8_Active 827 13 144.36

TT8_Sampling 2487 33 1039.07

TT8_CF8 301 38 145.74

TT8_Kalman 0 0 0.00

Analog_circuits 2411 10 301.24

GPS_charging 0 0 0.00

Compass 1034 7 90.47

RAFOS 2191 48 1313.55

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 -145.9 140 2223 514 459 0.0 0.0 0 129 0.00 0.00 -81.43 0.000 16386 0.000 0.000 136 2225 2237 2165 2309 0 0 0 0 0 0 14.36 28.83 14.38

132 -0.57 -145.9 137 2226 2170 2310 4.2 -5.6 8 180 12.98 2.67 -29.75 0.000 18724 0.457 2.140 2376 3594 3962 3953 3972 1 0 0 0 0 0 13.50 12.97 14.09

405 -0.57 -145.9 2376 3595 3964 3973 64.4 -14.9 62 410 0.00 2.38 0.00 0.000 1030 0.000 0.055 2375 2197 3967 3963 3972 0 0 0 0 0 0 14.13 14.02 14.16

725 -0.57 -145.9 2376 2197 3965 3973 112.4 -13.6 89 730 0.00 2.42 0.00 0.000 260 0.000 0.081 2365 3588 3969 3964 3975 0 0 0 0 0 0 14.45 14.00 14.47

852 -0.67 -145.9 2366 3590 3965 3972 127.2 -11.4 114 856 0.00 2.35 0.00 0.000 1158 0.000 0.055 2366 2196 3968 3964 3972 0 0 0 0 0 0 14.28 14.18 14.31

1177 -0.72 -145.9 2366 2196 3964 3974 166.7 -11.7 129 1181 0.00 2.45 0.00 0.000 388 0.000 0.085 2361 3589 3967 3964 3971 0 0 0 0 0 0 14.50 14.14 14.52

1237 -0.86 -145.9 2360 3591 3965 3975 173.1 -9.9 141 1242 0.17 2.35 0.00 0.000 5286 0.109 0.054 2291 2201 3968 3964 3972 0 0 0 0 0 0 14.23 14.21 14.31

1567 -0.79 -145.9 2291 2201 3965 3971 226.9 -15.7 157 1572 0.12 2.45 0.00 0.000 2436 0.295 0.080 2310 3595 3966 3964 3969 0 0 0 0 0 0 13.89 14.12 14.04

1622 -0.84 -145.9 2310 3596 3964 3971 234.0 -11.8 168 1628 0.00 2.38 0.00 0.000 1158 0.000 0.059 2310 2196 3966 3963 3970 0 0 0 0 0 0 14.29 14.18 14.32

1927 -0.84 -145.9 2310 2197 3964 3968 271.7 -12.3 179 1933 0.00 2.45 0.00 0.000 260 0.000 0.085 2305 3589 3964 3963 3966 0 0 0 0 0 0 14.42 14.09 14.44

1993 -0.90 -145.9 2306 3590 3964 3967 279.4 -11.4 192 1998 0.00 2.38 0.00 0.000 1158 0.000 0.060 2306 2199 3964 3962 3966 0 0 0 0 0 0 14.22 14.12 14.25

2318 -0.90 -145.9 2305 2198 3963 3964 317.4 -11.6 207 2324 0.00 2.45 0.00 0.000 260 0.000 0.085 2300 3588 3962 3962 3963 0 0 0 0 0 0 14.38 14.01 14.40

2399 -0.99 -145.9 2301 3588 3962 3960 326.5 -10.7 223 2405 0.12 2.38 0.00 0.000 5254 0.132 0.057 2253 2199 3962 3961 3964 0 0 0 0 0 0 14.12 14.09 14.21

2710 -0.89 -145.9 2254 2198 3962 3962 374.5 -15.8 235 2716 0.15 2.47 0.00 0.000 2436 0.314 0.080 2276 3591 3961 3960 3962 0 0 0 0 0 0 13.78 13.45 13.97

2811 -0.89 -145.9 2276 3593 3961 3962 387.9 -12.3 255 2817 0.00 2.40 0.00 0.000 1030 0.000 0.059 2276 2194 3960 3960 3961 0 0 0 0 0 0 14.18 14.07 14.21

3132 -0.86 -145.9 2276 2195 3960 3960 430.4 -13.2 269 3137 0.00 2.47 0.00 0.000 388 0.000 0.084 2266 3587 3960 3960 3960 0 0 0 0 0 0 14.35 13.99 14.36

3207 -0.86 -145.9 2273 3586 3955 3962 440.4 -13.1 284 3212 0.15 2.38 0.00 0.000 3078 0.262 0.057 2297 2200 3959 3959 3960 0 0 0 0 0 0 13.83 14.05 14.11

3522 -0.88 -145.9 2298 2199 3960 3959 475.5 -10.9 297 3527 0.00 2.50 0.00 0.000 388 0.000 0.085 2293 3594 3958 3957 3959 0 0 0 0 0 0 14.33 14.00 14.36

3565 end dive: TARGET_DEPTH_EXCEEDED

state 3565 begin apogee

3573 -0.13 0.0 2294 2098 3959 3960 480.5 -10.7 306 3779 0.93 0.00 201.52 1.450 10246 0.226 0.000 2530 2097 3359 3395 3324 0 0 0 0 0 0 13.83 13.43 12.78

3783 end apogee: CONTROL_FINISHED_OK

state 3783 begin climb

3785 0.57 145.9 2531 2097 3394 3321 490.1 0.0 313 3999 0.73 2.70 194.75 1.396 10756 0.067 0.080 2782 687 2760 2816 2705 0 0 0 0 0 0 13.49 13.08 12.57

4229 0.24 145.9 2783 687 2807 2705 454.9 15.8 359 4236 0.52 2.53 0.00 0.000 5254 0.311 0.076 2664 2089 2754 2806 2703 0 0 0 0 0 0 13.44 13.67 13.74

4543 0.10 145.9 2664 2091 2806 2701 421.7 10.3 371 4549 0.17 2.47 0.00 0.000 4740 0.305 0.077 2632 686 2752 2806 2699 0 0 0 0 0 0 13.71 13.95 13.87

4661 0.13 188.4 2632 688 2806 2700 411.7 8.0 394 4725 0.00 2.50 56.70 1.404 9254 0.000 0.080 2632 2106 2594 2660 2528 0 0 0 0 0 0 14.08 13.95 13.14

5026 0.11 205.1 2633 2107 2657 2517 378.4 9.2 417 5054 0.00 0.00 22.42 1.492 8358 0.000 0.000 2632 2106 2523 2594 2452 0 0 0 0 0 0 14.33 14.00 13.26

5354 0.13 219.7 2632 2107 2590 2447 347.5 9.3 428 5375 0.00 0.00 19.62 1.502 8230 0.000 0.000 2628 2106 2468 2538 2398 0 0 0 0 0 0 14.38 14.06 13.31

5654 0.14 237.2 2632 2106 2529 2390 319.5 9.2 438 5685 0.00 0.00 25.38 1.461 8230 0.000 0.000 2630 2106 2392 2457 2328 0 0 0 0 0 0 14.42 13.88 13.33

5984 0.17 254.1 2633 2107 2451 2323 289.4 9.2 449 6009 0.00 0.00 23.70 1.467 8358 0.000 0.000 2632 2106 2330 2390 2270 0 0 0 0 0 0 14.43 14.07 13.34

6284 0.22 281.5 2632 2107 2381 2260 262.8 8.7 459 6329 0.00 0.00 43.20 1.377 8358 0.000 0.000 2631 2106 2216 2276 2156 0 0 0 0 0 0 14.42 13.97 13.27

6614 0.32 313.9 2631 2106 2268 2142 234.1 8.5 470 6670 0.12 2.55 49.30 1.324 10916 0.131 0.085 2699 688 2080 2135 2026 0 0 0 0 0 0 14.18 13.90 13.26

6716 0.34 313.9 2699 688 2128 2025 222.2 11.9 490 6721 0.00 2.50 0.00 0.000 1158 0.000 0.077 2699 2099 2075 2126 2025 0 0 0 0 0 0 14.07 13.96 14.09

7036 0.34 313.9 2698 2099 2127 2018 185.3 10.9 504 7037 0.00 0.00 0.00 0.000 6 0.000 0.000 2699 2099 2071 2125 2018 0 0 0 0 0 0 14.40 14.43 14.42

7336 0.34 313.9 2699 2099 2126 2016 154.1 10.0 514 7337 0.00 0.00 0.00 0.000 6 0.000 0.000 2698 2099 2070 2125 2016 0 0 0 0 0 0 14.48 14.50 14.50

7636 0.35 335.4 2699 2099 2125 2015 126.4 9.0 524 7672 0.00 2.53 28.55 1.356 8740 0.000 0.084 2698 691 1992 2043 1942 0 0 0 0 0 0 14.52 14.07 13.43

7719 0.47 369.2 2699 691 2038 1942 119.5 8.4 540 7779 0.10 2.47 52.38 1.261 11430 0.159 0.079 2747 2100 1858 1894 1822 0 0 0 0 0 0 14.12 14.10 13.28

8079 0.45 369.2 2746 2103 1889 1811 79.4 10.6 575 8085 0.00 2.50 0.00 0.000 644 0.000 0.084 2754 690 1846 1882 1810 0 0 0 0 0 0 14.33 14.04 14.35

8140 0.48 371.3 2755 690 1880 1810 73.3 9.9 587 8146 0.00 2.50 0.00 0.000 1190 0.000 0.080 2754 2108 1844 1879 1810 0 0 0 0 0 0 14.12 14.01 14.14

8451 0.52 437.8 2755 2109 1880 1808 44.9 6.9 619 8493 0.00 2.50 35.12 0.339 8484 0.000 0.086 2755 3516 1578 1617 1540 0 0 0 0 0 0 14.42 14.07 13.85

8545 0.62 482.1 2755 3520 1617 1542 37.7 8.0 637 8577 0.00 2.45 23.88 0.323 9382 0.000 0.066 2757 2099 1396 1451 1341 0 0 0 0 0 0 14.11 14.01 13.78

8874 0.83 581.5 2757 2100 1453 1335 16.8 5.4 673 8928 0.25 0.00 52.50 0.254 10918 0.096 0.000 2857 2099 994 1073 915 0 0 0 0 0 0 14.12 14.14 13.86

9221 end climb: SURFACE_DEPTH_REACHED

state 9221 begin surface coast

9252 end surface coast: CONTROL_FINISHED_OK

state 9252 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	64	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	186.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,030919,7204.9526,-14752.2207,22,0.7,59,21.3,0.3,328.1,11,5.9	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	326.3,139574,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.6	D_GRID	480
GPS2	140817,032950,7204.9985,-14752.7705,14,0.7,14,21.3,0.8,297.9,11,7.1

MODEM_MSG	CACST,6,1,20170814042331.859362,3,3,-1,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*14	PM_FREEKB_00	58251840
FINISH	0.6,1.020034	_24V_AH	12.57,73.028
SM_CCo	9272,69.53,0.206,0,0,498,702.78	_10V_AH	12.49,0.000
SM_GC	1.23,8.05,0.20,69.53,0.073,0.119,0.206,204,2217,498,-7.36,-0.42,702.78,0,0,0,0,0,0,14.25,14.22,13.99	FG_AHR_24Vo	0.000
RAFOS_CLK	334	FG_AHR_10Vo	0.000
MODEM	2,1502684043,73.18300,-149.96500,96.366,139820.2	MEM	323628
RAFOS_FIX	7228.703125,-14627.398438,130817,202006,2,255,13.68	DATA_FILE_SIZE	23474,716
IRIDIUM_FIX	7207.12,-14744.08,140817,032150	CAP_FILE_SIZE	107371,0
TT8_MAMPS	0.038199,0.87633	CFSIZE	2097872896,2068938752
HUMID	50.19	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,3,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1446.7
TCM_TEMP	13.50	CURRENT	0.056,293.12,1
XPDR_PINGS	10	GPS	140817,060718,7206.318,-14753.566,15,0.7,24,21.3,1.2,41.0,12,9.5
CP_FREE	16008478720.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	456	141.08	nil	0	0	0.00
Roll_motor	74	2139	2000.40	nil	0	0	0.00
VBD_pump_during_apogee	829	1501	15648.93	nil	0	0	0.00
VBD_pump_during_surface	69	205	179.84	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	9279	14	1713.98
Iridium_during_xfer	783	159	1574.69	NCP	9266	20	2329.47
Transponder_ping	2	420	13.20	PMAR	9228	16	1924.84
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.10
TT8	0	0	0.00
LPSleep	6976	2	201.28
TT8_Active	827	13	144.36
TT8_Sampling	2487	33	1039.07
TT8_CF8	301	38	145.74
TT8_Kalman	0	0	0.00
Analog_circuits	2411	10	301.24
GPS_charging	0	0	0.00
Compass	1034	7	90.47
RAFOS	2191	48	1313.55
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	140	2223	514	459	0.0	0.0	0	129	0.00	0.00	-81.43	0.000	16386	0.000	0.000	136	2225	2237	2165	2309	0	0	0	0	0	0	14.36	28.83	14.38
132	-0.57	-145.9	137	2226	2170	2310	4.2	-5.6	8	180	12.98	2.67	-29.75	0.000	18724	0.457	2.140	2376	3594	3962	3953	3972	1	0	0	0	0	0	13.50	12.97	14.09
405	-0.57	-145.9	2376	3595	3964	3973	64.4	-14.9	62	410	0.00	2.38	0.00	0.000	1030	0.000	0.055	2375	2197	3967	3963	3972	0	0	0	0	0	0	14.13	14.02	14.16
725	-0.57	-145.9	2376	2197	3965	3973	112.4	-13.6	89	730	0.00	2.42	0.00	0.000	260	0.000	0.081	2365	3588	3969	3964	3975	0	0	0	0	0	0	14.45	14.00	14.47
852	-0.67	-145.9	2366	3590	3965	3972	127.2	-11.4	114	856	0.00	2.35	0.00	0.000	1158	0.000	0.055	2366	2196	3968	3964	3972	0	0	0	0	0	0	14.28	14.18	14.31
1177	-0.72	-145.9	2366	2196	3964	3974	166.7	-11.7	129	1181	0.00	2.45	0.00	0.000	388	0.000	0.085	2361	3589	3967	3964	3971	0	0	0	0	0	0	14.50	14.14	14.52
1237	-0.86	-145.9	2360	3591	3965	3975	173.1	-9.9	141	1242	0.17	2.35	0.00	0.000	5286	0.109	0.054	2291	2201	3968	3964	3972	0	0	0	0	0	0	14.23	14.21	14.31
1567	-0.79	-145.9	2291	2201	3965	3971	226.9	-15.7	157	1572	0.12	2.45	0.00	0.000	2436	0.295	0.080	2310	3595	3966	3964	3969	0	0	0	0	0	0	13.89	14.12	14.04
1622	-0.84	-145.9	2310	3596	3964	3971	234.0	-11.8	168	1628	0.00	2.38	0.00	0.000	1158	0.000	0.059	2310	2196	3966	3963	3970	0	0	0	0	0	0	14.29	14.18	14.32
1927	-0.84	-145.9	2310	2197	3964	3968	271.7	-12.3	179	1933	0.00	2.45	0.00	0.000	260	0.000	0.085	2305	3589	3964	3963	3966	0	0	0	0	0	0	14.42	14.09	14.44
1993	-0.90	-145.9	2306	3590	3964	3967	279.4	-11.4	192	1998	0.00	2.38	0.00	0.000	1158	0.000	0.060	2306	2199	3964	3962	3966	0	0	0	0	0	0	14.22	14.12	14.25
2318	-0.90	-145.9	2305	2198	3963	3964	317.4	-11.6	207	2324	0.00	2.45	0.00	0.000	260	0.000	0.085	2300	3588	3962	3962	3963	0	0	0	0	0	0	14.38	14.01	14.40
2399	-0.99	-145.9	2301	3588	3962	3960	326.5	-10.7	223	2405	0.12	2.38	0.00	0.000	5254	0.132	0.057	2253	2199	3962	3961	3964	0	0	0	0	0	0	14.12	14.09	14.21
2710	-0.89	-145.9	2254	2198	3962	3962	374.5	-15.8	235	2716	0.15	2.47	0.00	0.000	2436	0.314	0.080	2276	3591	3961	3960	3962	0	0	0	0	0	0	13.78	13.45	13.97
2811	-0.89	-145.9	2276	3593	3961	3962	387.9	-12.3	255	2817	0.00	2.40	0.00	0.000	1030	0.000	0.059	2276	2194	3960	3960	3961	0	0	0	0	0	0	14.18	14.07	14.21
3132	-0.86	-145.9	2276	2195	3960	3960	430.4	-13.2	269	3137	0.00	2.47	0.00	0.000	388	0.000	0.084	2266	3587	3960	3960	3960	0	0	0	0	0	0	14.35	13.99	14.36
3207	-0.86	-145.9	2273	3586	3955	3962	440.4	-13.1	284	3212	0.15	2.38	0.00	0.000	3078	0.262	0.057	2297	2200	3959	3959	3960	0	0	0	0	0	0	13.83	14.05	14.11
3522	-0.88	-145.9	2298	2199	3960	3959	475.5	-10.9	297	3527	0.00	2.50	0.00	0.000	388	0.000	0.085	2293	3594	3958	3957	3959	0	0	0	0	0	0	14.33	14.00	14.36
3565	end dive: TARGET_DEPTH_EXCEEDED
state	3565	begin apogee
3573	-0.13	0.0	2294	2098	3959	3960	480.5	-10.7	306	3779	0.93	0.00	201.52	1.450	10246	0.226	0.000	2530	2097	3359	3395	3324	0	0	0	0	0	0	13.83	13.43	12.78
3783	end apogee: CONTROL_FINISHED_OK
state	3783	begin climb
3785	0.57	145.9	2531	2097	3394	3321	490.1	0.0	313	3999	0.73	2.70	194.75	1.396	10756	0.067	0.080	2782	687	2760	2816	2705	0	0	0	0	0	0	13.49	13.08	12.57
4229	0.24	145.9	2783	687	2807	2705	454.9	15.8	359	4236	0.52	2.53	0.00	0.000	5254	0.311	0.076	2664	2089	2754	2806	2703	0	0	0	0	0	0	13.44	13.67	13.74
4543	0.10	145.9	2664	2091	2806	2701	421.7	10.3	371	4549	0.17	2.47	0.00	0.000	4740	0.305	0.077	2632	686	2752	2806	2699	0	0	0	0	0	0	13.71	13.95	13.87
4661	0.13	188.4	2632	688	2806	2700	411.7	8.0	394	4725	0.00	2.50	56.70	1.404	9254	0.000	0.080	2632	2106	2594	2660	2528	0	0	0	0	0	0	14.08	13.95	13.14
5026	0.11	205.1	2633	2107	2657	2517	378.4	9.2	417	5054	0.00	0.00	22.42	1.492	8358	0.000	0.000	2632	2106	2523	2594	2452	0	0	0	0	0	0	14.33	14.00	13.26
5354	0.13	219.7	2632	2107	2590	2447	347.5	9.3	428	5375	0.00	0.00	19.62	1.502	8230	0.000	0.000	2628	2106	2468	2538	2398	0	0	0	0	0	0	14.38	14.06	13.31
5654	0.14	237.2	2632	2106	2529	2390	319.5	9.2	438	5685	0.00	0.00	25.38	1.461	8230	0.000	0.000	2630	2106	2392	2457	2328	0	0	0	0	0	0	14.42	13.88	13.33
5984	0.17	254.1	2633	2107	2451	2323	289.4	9.2	449	6009	0.00	0.00	23.70	1.467	8358	0.000	0.000	2632	2106	2330	2390	2270	0	0	0	0	0	0	14.43	14.07	13.34
6284	0.22	281.5	2632	2107	2381	2260	262.8	8.7	459	6329	0.00	0.00	43.20	1.377	8358	0.000	0.000	2631	2106	2216	2276	2156	0	0	0	0	0	0	14.42	13.97	13.27
6614	0.32	313.9	2631	2106	2268	2142	234.1	8.5	470	6670	0.12	2.55	49.30	1.324	10916	0.131	0.085	2699	688	2080	2135	2026	0	0	0	0	0	0	14.18	13.90	13.26
6716	0.34	313.9	2699	688	2128	2025	222.2	11.9	490	6721	0.00	2.50	0.00	0.000	1158	0.000	0.077	2699	2099	2075	2126	2025	0	0	0	0	0	0	14.07	13.96	14.09
7036	0.34	313.9	2698	2099	2127	2018	185.3	10.9	504	7037	0.00	0.00	0.00	0.000	6	0.000	0.000	2699	2099	2071	2125	2018	0	0	0	0	0	0	14.40	14.43	14.42
7336	0.34	313.9	2699	2099	2126	2016	154.1	10.0	514	7337	0.00	0.00	0.00	0.000	6	0.000	0.000	2698	2099	2070	2125	2016	0	0	0	0	0	0	14.48	14.50	14.50
7636	0.35	335.4	2699	2099	2125	2015	126.4	9.0	524	7672	0.00	2.53	28.55	1.356	8740	0.000	0.084	2698	691	1992	2043	1942	0	0	0	0	0	0	14.52	14.07	13.43
7719	0.47	369.2	2699	691	2038	1942	119.5	8.4	540	7779	0.10	2.47	52.38	1.261	11430	0.159	0.079	2747	2100	1858	1894	1822	0	0	0	0	0	0	14.12	14.10	13.28
8079	0.45	369.2	2746	2103	1889	1811	79.4	10.6	575	8085	0.00	2.50	0.00	0.000	644	0.000	0.084	2754	690	1846	1882	1810	0	0	0	0	0	0	14.33	14.04	14.35
8140	0.48	371.3	2755	690	1880	1810	73.3	9.9	587	8146	0.00	2.50	0.00	0.000	1190	0.000	0.080	2754	2108	1844	1879	1810	0	0	0	0	0	0	14.12	14.01	14.14
8451	0.52	437.8	2755	2109	1880	1808	44.9	6.9	619	8493	0.00	2.50	35.12	0.339	8484	0.000	0.086	2755	3516	1578	1617	1540	0	0	0	0	0	0	14.42	14.07	13.85
8545	0.62	482.1	2755	3520	1617	1542	37.7	8.0	637	8577	0.00	2.45	23.88	0.323	9382	0.000	0.066	2757	2099	1396	1451	1341	0	0	0	0	0	0	14.11	14.01	13.78
8874	0.83	581.5	2757	2100	1453	1335	16.8	5.4	673	8928	0.25	0.00	52.50	0.254	10918	0.096	0.000	2857	2099	994	1073	915	0	0	0	0	0	0	14.12	14.14	13.86
9221	end climb: SURFACE_DEPTH_REACHED
state	9221	begin surface coast
9252	end surface coast: CONTROL_FINISHED_OK
state	9252	begin surface