Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 75 * 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 75 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 217.0

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 41 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 217.0 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 75 NOCOMM_ACTION 161 R_STBD_OVSHOOT 41 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 150817,095624,7217.5864,-14808.3926,12,0.7,15,21.3,0.0,0.0,11,9.0 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 1.26 MHEAD_RNG_PITCHd_Wd 322.9,115100,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 480

GPS2 150817,101645,7217.5674,-14808.7646,11,0.7,51,21.3,0.0,133.4,11,16.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170815122148.053255,3,232,23,0260,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05 PM_FREEKB_00 57426432

FINISH 0.1,1.020205 _24V_AH 12.57,78.167

SM_CCo 9103,9.65,0.220,0,0,501,703.03 _10V_AH 12.49,0.000

SM_GC 1.98,8.32,0.20,9.65,0.086,0.116,0.220,198,2211,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.18,14.16,13.94 FG_AHR_24Vo 0.000

RAFOS_CLK 141 FG_AHR_10Vo 0.000

MODEM 2,1502799225,73.18300,-149.96500,78.967,114514.9 MEM 323824

RAFOS_FIX 7223.598145,-14745.448242,150817,121246,2,255,2.37 DATA_FILE_SIZE 23445,720

IRIDIUM_FIX 7217.35,-14806.42,150817,100832 CAP_FILE_SIZE 108788,0

TT8_MAMPS 0.038948,0.865095 CFSIZE 2097872896,2065727488

HUMID 45.78 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1451.4

TCM_TEMP 13.50 CURRENT 0.075,249.42,1

XPDR_PINGS 10 GPS 150817,125051,7218.521,-14810.006,51,0.8,52,21.3,0.9,266.2,10,9.4

CP_FREE 16006676480.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 145.05 nil 0 0 0.00

Roll_motor 79 2143 2129.94 nil 0 0 0.00

VBD_pump_during_apogee 897 1547 17454.93 nil 0 0 0.00

VBD_pump_during_surface 9 219 26.63 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 9109 14 1673.42

Iridium_during_xfer 730 167 1539.32 NCP 9100 20 2287.74

Transponder_ping 2 420 13.20 PMAR 9059 16 1886.40

GUMSTIX_24V 0 0 0.00

GPS 53 22 14.89

TT8 0 0 0.00

LPSleep 6739 2 194.46

TT8_Active 830 13 144.83

TT8_Sampling 2475 33 1033.93

TT8_CF8 307 38 148.36

TT8_Kalman 0 0 0.00

Analog_circuits 2368 10 295.77

GPS_charging 0 0 0.00

Compass 1033 7 90.33

RAFOS 2196 48 1316.55

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 -145.9 153 2226 521 468 0.0 0.0 0 129 0.00 0.00 -81.05 0.000 16386 0.000 0.000 150 2226 2133 2057 2209 0 0 0 0 0 0 14.39 28.83 14.40

132 -0.57 -145.9 150 2227 2059 2214 3.8 -5.2 8 182 12.85 2.72 -31.90 0.000 18724 0.457 2.144 2375 3592 3964 3949 3980 1 0 0 0 0 0 13.54 12.72 14.15

272 -0.53 -145.9 2376 3594 3953 3980 44.6 -16.8 35 278 0.15 2.38 0.00 0.000 3206 0.283 0.052 2404 2196 3968 3957 3980 0 0 0 0 0 0 13.87 14.09 14.15

583 -0.57 -145.9 2404 2196 3961 3985 89.9 -12.2 67 589 0.00 2.45 0.00 0.000 388 0.000 0.085 2401 3590 3970 3960 3980 0 0 0 0 0 0 14.45 14.09 14.47

706 -0.72 -145.9 2401 3589 3961 3980 101.9 -9.4 91 712 0.17 2.35 0.00 0.000 5286 0.105 0.052 2335 2193 3970 3960 3980 0 0 0 0 0 0 14.19 14.11 14.28

1037 -0.68 -145.9 2335 2193 3956 3981 154.6 -15.4 107 1043 0.00 2.45 0.00 0.000 388 0.000 0.084 2332 3591 3969 3960 3979 0 0 0 0 0 0 14.51 14.17 14.54

1108 -0.75 -145.9 2332 3592 3961 3980 164.5 -12.7 121 1113 0.00 2.35 0.00 0.000 1158 0.000 0.056 2332 2202 3971 3960 3982 0 0 0 0 0 0 14.36 14.23 14.36

1428 -0.75 -145.9 2333 2201 3961 3979 208.0 -13.0 135 1434 0.00 2.42 0.00 0.000 260 0.000 0.084 2325 3592 3969 3960 3979 0 0 0 0 0 0 14.53 14.21 14.55

1474 -0.83 -145.9 2325 3595 3960 3980 213.7 -12.0 144 1479 0.00 2.35 0.00 0.000 1158 0.000 0.058 2325 2202 3969 3960 3979 0 0 0 0 0 0 14.36 14.20 14.37

1790 -0.85 -145.9 2325 2201 3961 3977 251.5 -11.7 157 1794 0.00 2.42 0.00 0.000 388 0.000 0.086 2320 3589 3968 3960 3977 0 0 0 0 0 0 14.54 14.20 14.57

1864 -0.95 -145.9 2320 3590 3960 3977 259.7 -10.4 172 1870 0.15 2.35 0.00 0.000 5254 0.122 0.055 2259 2194 3968 3959 3978 0 0 0 0 0 0 14.28 14.25 14.37

2180 -0.86 -145.9 2260 2192 3960 3973 310.7 -16.1 185 2185 0.17 2.45 0.00 0.000 2436 0.302 0.082 2289 3594 3967 3960 3974 0 0 0 0 0 0 13.91 14.19 14.10

2277 -0.90 -145.9 2289 3594 3959 3974 322.7 -11.5 204 2282 0.00 2.38 0.00 0.000 1158 0.000 0.059 2289 2189 3966 3958 3974 0 0 0 0 0 0 14.36 14.25 14.38

2602 -0.90 -145.9 2289 2190 3959 3973 362.9 -12.2 219 2607 0.00 2.45 0.00 0.000 260 0.000 0.085 2280 3594 3965 3958 3972 0 0 0 0 0 0 14.57 14.20 14.59

2648 -0.93 -145.9 2280 3595 3957 3973 368.4 -12.1 228 2652 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2192 3964 3956 3972 0 0 0 0 0 0 14.35 14.23 14.38

2963 -0.90 -145.9 2281 2190 3957 3970 408.3 -12.7 241 2968 0.00 2.45 0.00 0.000 388 0.000 0.086 2279 3590 3963 3956 3971 0 0 0 0 0 0 14.57 14.13 14.58

3053 -0.94 -145.9 2280 3592 3956 3971 419.2 -11.7 259 3059 0.00 2.35 0.00 0.000 1158 0.000 0.057 2279 2198 3963 3957 3970 0 0 0 0 0 0 14.32 14.21 14.35

3384 -0.94 -145.9 2279 2197 3956 3971 461.2 -12.6 275 3390 0.00 2.45 0.00 0.000 260 0.000 0.084 2276 3598 3962 3955 3970 0 0 0 0 0 0 14.59 14.19 14.57

3450 -0.98 -145.9 2276 3601 3955 3971 469.3 -11.8 288 3455 0.00 2.38 0.00 0.000 1158 0.000 0.057 2275 2197 3962 3955 3970 0 0 0 0 0 0 14.31 14.19 14.34

3562 end dive: TARGET_DEPTH_EXCEEDED

state 3562 begin apogee

3568 -0.13 0.0 2276 2055 3956 3970 483.8 -12.7 296 3779 1.00 0.00 207.75 1.432 10246 0.247 0.000 2528 2054 3366 3395 3338 0 0 0 0 0 0 13.94 13.52 12.85

3783 end apogee: CONTROL_FINISHED_OK

state 3783 begin climb

3785 0.57 145.9 2529 2054 3390 3330 493.6 0.0 303 3995 0.75 2.75 197.27 1.385 10500 0.066 0.074 2782 3495 2760 2810 2710 0 0 0 0 0 0 13.59 13.10 12.57

4004 0.57 145.9 2781 3497 2806 2710 494.6 -0.2 305 4009 0.00 2.45 0.00 0.000 1030 0.000 0.054 2790 2131 2758 2806 2710 0 0 0 0 0 0 13.40 13.33 13.43

4325 0.19 145.9 2791 2131 2798 2710 440.4 16.8 319 4330 0.62 2.55 0.00 0.000 4740 0.319 0.078 2660 693 2753 2796 2710 0 0 0 0 0 0 13.59 13.86 13.80

4555 0.11 160.9 2660 693 2796 2711 417.5 9.3 365 4577 0.20 2.45 16.67 1.548 13478 0.284 0.080 2618 2082 2708 2754 2663 0 0 0 0 0 0 13.82 14.04 13.21

4899 0.10 205.2 2619 2083 2749 2653 390.1 8.0 383 4968 0.00 2.53 64.38 1.400 8868 0.000 0.080 2627 693 2525 2587 2464 0 0 0 0 0 0 14.42 13.84 13.19

5144 0.18 238.6 2627 693 2582 2458 369.3 8.5 432 5200 0.00 2.47 47.72 1.393 9382 0.000 0.080 2627 2100 2386 2450 2323 0 0 0 0 0 0 14.14 14.03 13.15

5501 0.22 255.7 2628 2099 2445 2319 336.7 9.2 453 5529 0.00 0.00 23.92 1.454 8358 0.000 0.000 2627 2099 2317 2376 2259 0 0 0 0 0 0 14.37 13.81 13.25

5829 0.27 277.1 2627 2100 2373 2253 306.6 9.0 464 5862 0.12 0.00 31.92 1.423 10406 0.130 0.000 2681 2105 2232 2289 2176 0 0 0 0 0 0 14.21 14.00 13.28

6160 0.22 277.1 2682 2100 2282 2167 265.5 12.4 475 6165 0.00 2.47 0.00 0.000 644 0.000 0.085 2685 694 2225 2284 2167 0 0 0 0 0 0 14.35 14.00 14.40

6210 0.22 277.1 2686 693 2281 2167 259.3 11.6 485 6215 0.12 2.47 0.00 0.000 5126 0.239 0.079 2660 2103 2223 2279 2167 0 0 0 0 0 0 13.93 14.07 14.16

6521 0.23 288.5 2660 2105 2280 2166 228.5 9.5 497 6537 0.00 0.00 14.50 1.499 8230 0.000 0.000 2660 2103 2188 2244 2132 0 0 0 0 0 0 14.38 14.09 13.33

6821 0.29 319.5 2660 2104 2239 2125 202.0 8.6 507 6876 0.00 0.00 50.33 1.330 8870 0.000 0.000 2659 2103 2059 2112 2006 0 0 0 0 0 0 14.36 13.76 13.24

7181 0.40 371.3 2660 2102 2104 1998 173.4 7.6 524 7273 0.17 0.00 86.57 1.245 10406 0.106 0.000 2723 2103 1850 1883 1818 0 0 0 0 0 0 14.08 13.75 13.12

7571 0.40 371.3 2724 2104 1873 1804 129.0 11.1 537 7576 0.00 2.53 0.00 0.000 516 0.000 0.086 2734 693 1840 1872 1808 0 0 0 0 0 0 14.27 13.89 14.25

7646 0.46 371.3 2729 693 1870 1804 121.2 10.1 552 7652 0.00 2.50 0.00 0.000 1158 0.000 0.079 2729 2100 1835 1869 1802 0 0 0 0 0 0 14.04 13.95 14.09

7952 0.46 371.3 2729 2100 1869 1800 89.3 10.2 570 7953 0.00 0.00 0.00 0.000 6 0.000 0.000 2729 2100 1834 1868 1800 0 0 0 0 0 0 14.31 14.33 14.33

8254 0.51 403.0 2729 2100 1869 1798 61.7 8.5 600 8275 0.00 2.50 14.57 0.390 8868 0.000 0.085 2729 691 1720 1751 1690 0 0 0 0 0 0 14.32 14.02 13.66

8331 0.65 444.6 2729 692 1753 1692 55.1 8.1 615 8362 0.20 2.50 22.23 0.368 11430 0.101 0.079 2801 2104 1550 1584 1517 0 0 0 0 0 0 14.00 13.93 13.70

8660 0.65 484.5 2801 2105 1584 1513 23.4 8.2 650 8687 0.00 2.55 20.15 0.285 8612 0.000 0.082 2800 3509 1387 1433 1341 0 0 0 0 0 0 14.28 13.88 13.78

8844 0.90 682.5 2801 3511 1433 1339 14.6 0.9 686 8950 0.20 2.42 99.28 0.255 11430 0.097 0.059 2884 2089 579 636 522 0 0 0 0 0 0 14.14 14.09 13.78

9062 end climb: SURFACE_DEPTH_REACHED

state 9063 begin surface coast

9083 end surface coast: CONTROL_FINISHED_OK

state 9083 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	75	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	217.0
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	41	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,095624,7217.5864,-14808.3926,12,0.7,15,21.3,0.0,0.0,11,9.0	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	1.26	MHEAD_RNG_PITCHd_Wd	322.9,115100,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	480
GPS2	150817,101645,7217.5674,-14808.7646,11,0.7,51,21.3,0.0,133.4,11,16.7

MODEM_MSG	CACST,6,1,20170815122148.053255,3,232,23,0260,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*05	PM_FREEKB_00	57426432
FINISH	0.1,1.020205	_24V_AH	12.57,78.167
SM_CCo	9103,9.65,0.220,0,0,501,703.03	_10V_AH	12.49,0.000
SM_GC	1.98,8.32,0.20,9.65,0.086,0.116,0.220,198,2211,501,-7.38,-0.71,703.03,0,0,0,0,0,0,14.18,14.16,13.94	FG_AHR_24Vo	0.000
RAFOS_CLK	141	FG_AHR_10Vo	0.000
MODEM	2,1502799225,73.18300,-149.96500,78.967,114514.9	MEM	323824
RAFOS_FIX	7223.598145,-14745.448242,150817,121246,2,255,2.37	DATA_FILE_SIZE	23445,720
IRIDIUM_FIX	7217.35,-14806.42,150817,100832	CAP_FILE_SIZE	108788,0
TT8_MAMPS	0.038948,0.865095	CFSIZE	2097872896,2065727488
HUMID	45.78	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,2,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1451.4
TCM_TEMP	13.50	CURRENT	0.075,249.42,1
XPDR_PINGS	10	GPS	150817,125051,7218.521,-14810.006,51,0.8,52,21.3,0.9,266.2,10,9.4
CP_FREE	16006676480.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	145.05	nil	0	0	0.00
Roll_motor	79	2143	2129.94	nil	0	0	0.00
VBD_pump_during_apogee	897	1547	17454.93	nil	0	0	0.00
VBD_pump_during_surface	9	219	26.63	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	9109	14	1673.42
Iridium_during_xfer	730	167	1539.32	NCP	9100	20	2287.74
Transponder_ping	2	420	13.20	PMAR	9059	16	1886.40
GUMSTIX_24V	0	0	0.00
GPS	53	22	14.89
TT8	0	0	0.00
LPSleep	6739	2	194.46
TT8_Active	830	13	144.83
TT8_Sampling	2475	33	1033.93
TT8_CF8	307	38	148.36
TT8_Kalman	0	0	0.00
Analog_circuits	2368	10	295.77
GPS_charging	0	0	0.00
Compass	1033	7	90.33
RAFOS	2196	48	1316.55
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	153	2226	521	468	0.0	0.0	0	129	0.00	0.00	-81.05	0.000	16386	0.000	0.000	150	2226	2133	2057	2209	0	0	0	0	0	0	14.39	28.83	14.40
132	-0.57	-145.9	150	2227	2059	2214	3.8	-5.2	8	182	12.85	2.72	-31.90	0.000	18724	0.457	2.144	2375	3592	3964	3949	3980	1	0	0	0	0	0	13.54	12.72	14.15
272	-0.53	-145.9	2376	3594	3953	3980	44.6	-16.8	35	278	0.15	2.38	0.00	0.000	3206	0.283	0.052	2404	2196	3968	3957	3980	0	0	0	0	0	0	13.87	14.09	14.15
583	-0.57	-145.9	2404	2196	3961	3985	89.9	-12.2	67	589	0.00	2.45	0.00	0.000	388	0.000	0.085	2401	3590	3970	3960	3980	0	0	0	0	0	0	14.45	14.09	14.47
706	-0.72	-145.9	2401	3589	3961	3980	101.9	-9.4	91	712	0.17	2.35	0.00	0.000	5286	0.105	0.052	2335	2193	3970	3960	3980	0	0	0	0	0	0	14.19	14.11	14.28
1037	-0.68	-145.9	2335	2193	3956	3981	154.6	-15.4	107	1043	0.00	2.45	0.00	0.000	388	0.000	0.084	2332	3591	3969	3960	3979	0	0	0	0	0	0	14.51	14.17	14.54
1108	-0.75	-145.9	2332	3592	3961	3980	164.5	-12.7	121	1113	0.00	2.35	0.00	0.000	1158	0.000	0.056	2332	2202	3971	3960	3982	0	0	0	0	0	0	14.36	14.23	14.36
1428	-0.75	-145.9	2333	2201	3961	3979	208.0	-13.0	135	1434	0.00	2.42	0.00	0.000	260	0.000	0.084	2325	3592	3969	3960	3979	0	0	0	0	0	0	14.53	14.21	14.55
1474	-0.83	-145.9	2325	3595	3960	3980	213.7	-12.0	144	1479	0.00	2.35	0.00	0.000	1158	0.000	0.058	2325	2202	3969	3960	3979	0	0	0	0	0	0	14.36	14.20	14.37
1790	-0.85	-145.9	2325	2201	3961	3977	251.5	-11.7	157	1794	0.00	2.42	0.00	0.000	388	0.000	0.086	2320	3589	3968	3960	3977	0	0	0	0	0	0	14.54	14.20	14.57
1864	-0.95	-145.9	2320	3590	3960	3977	259.7	-10.4	172	1870	0.15	2.35	0.00	0.000	5254	0.122	0.055	2259	2194	3968	3959	3978	0	0	0	0	0	0	14.28	14.25	14.37
2180	-0.86	-145.9	2260	2192	3960	3973	310.7	-16.1	185	2185	0.17	2.45	0.00	0.000	2436	0.302	0.082	2289	3594	3967	3960	3974	0	0	0	0	0	0	13.91	14.19	14.10
2277	-0.90	-145.9	2289	3594	3959	3974	322.7	-11.5	204	2282	0.00	2.38	0.00	0.000	1158	0.000	0.059	2289	2189	3966	3958	3974	0	0	0	0	0	0	14.36	14.25	14.38
2602	-0.90	-145.9	2289	2190	3959	3973	362.9	-12.2	219	2607	0.00	2.45	0.00	0.000	260	0.000	0.085	2280	3594	3965	3958	3972	0	0	0	0	0	0	14.57	14.20	14.59
2648	-0.93	-145.9	2280	3595	3957	3973	368.4	-12.1	228	2652	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2192	3964	3956	3972	0	0	0	0	0	0	14.35	14.23	14.38
2963	-0.90	-145.9	2281	2190	3957	3970	408.3	-12.7	241	2968	0.00	2.45	0.00	0.000	388	0.000	0.086	2279	3590	3963	3956	3971	0	0	0	0	0	0	14.57	14.13	14.58
3053	-0.94	-145.9	2280	3592	3956	3971	419.2	-11.7	259	3059	0.00	2.35	0.00	0.000	1158	0.000	0.057	2279	2198	3963	3957	3970	0	0	0	0	0	0	14.32	14.21	14.35
3384	-0.94	-145.9	2279	2197	3956	3971	461.2	-12.6	275	3390	0.00	2.45	0.00	0.000	260	0.000	0.084	2276	3598	3962	3955	3970	0	0	0	0	0	0	14.59	14.19	14.57
3450	-0.98	-145.9	2276	3601	3955	3971	469.3	-11.8	288	3455	0.00	2.38	0.00	0.000	1158	0.000	0.057	2275	2197	3962	3955	3970	0	0	0	0	0	0	14.31	14.19	14.34
3562	end dive: TARGET_DEPTH_EXCEEDED
state	3562	begin apogee
3568	-0.13	0.0	2276	2055	3956	3970	483.8	-12.7	296	3779	1.00	0.00	207.75	1.432	10246	0.247	0.000	2528	2054	3366	3395	3338	0	0	0	0	0	0	13.94	13.52	12.85
3783	end apogee: CONTROL_FINISHED_OK
state	3783	begin climb
3785	0.57	145.9	2529	2054	3390	3330	493.6	0.0	303	3995	0.75	2.75	197.27	1.385	10500	0.066	0.074	2782	3495	2760	2810	2710	0	0	0	0	0	0	13.59	13.10	12.57
4004	0.57	145.9	2781	3497	2806	2710	494.6	-0.2	305	4009	0.00	2.45	0.00	0.000	1030	0.000	0.054	2790	2131	2758	2806	2710	0	0	0	0	0	0	13.40	13.33	13.43
4325	0.19	145.9	2791	2131	2798	2710	440.4	16.8	319	4330	0.62	2.55	0.00	0.000	4740	0.319	0.078	2660	693	2753	2796	2710	0	0	0	0	0	0	13.59	13.86	13.80
4555	0.11	160.9	2660	693	2796	2711	417.5	9.3	365	4577	0.20	2.45	16.67	1.548	13478	0.284	0.080	2618	2082	2708	2754	2663	0	0	0	0	0	0	13.82	14.04	13.21
4899	0.10	205.2	2619	2083	2749	2653	390.1	8.0	383	4968	0.00	2.53	64.38	1.400	8868	0.000	0.080	2627	693	2525	2587	2464	0	0	0	0	0	0	14.42	13.84	13.19
5144	0.18	238.6	2627	693	2582	2458	369.3	8.5	432	5200	0.00	2.47	47.72	1.393	9382	0.000	0.080	2627	2100	2386	2450	2323	0	0	0	0	0	0	14.14	14.03	13.15
5501	0.22	255.7	2628	2099	2445	2319	336.7	9.2	453	5529	0.00	0.00	23.92	1.454	8358	0.000	0.000	2627	2099	2317	2376	2259	0	0	0	0	0	0	14.37	13.81	13.25
5829	0.27	277.1	2627	2100	2373	2253	306.6	9.0	464	5862	0.12	0.00	31.92	1.423	10406	0.130	0.000	2681	2105	2232	2289	2176	0	0	0	0	0	0	14.21	14.00	13.28
6160	0.22	277.1	2682	2100	2282	2167	265.5	12.4	475	6165	0.00	2.47	0.00	0.000	644	0.000	0.085	2685	694	2225	2284	2167	0	0	0	0	0	0	14.35	14.00	14.40
6210	0.22	277.1	2686	693	2281	2167	259.3	11.6	485	6215	0.12	2.47	0.00	0.000	5126	0.239	0.079	2660	2103	2223	2279	2167	0	0	0	0	0	0	13.93	14.07	14.16
6521	0.23	288.5	2660	2105	2280	2166	228.5	9.5	497	6537	0.00	0.00	14.50	1.499	8230	0.000	0.000	2660	2103	2188	2244	2132	0	0	0	0	0	0	14.38	14.09	13.33
6821	0.29	319.5	2660	2104	2239	2125	202.0	8.6	507	6876	0.00	0.00	50.33	1.330	8870	0.000	0.000	2659	2103	2059	2112	2006	0	0	0	0	0	0	14.36	13.76	13.24
7181	0.40	371.3	2660	2102	2104	1998	173.4	7.6	524	7273	0.17	0.00	86.57	1.245	10406	0.106	0.000	2723	2103	1850	1883	1818	0	0	0	0	0	0	14.08	13.75	13.12
7571	0.40	371.3	2724	2104	1873	1804	129.0	11.1	537	7576	0.00	2.53	0.00	0.000	516	0.000	0.086	2734	693	1840	1872	1808	0	0	0	0	0	0	14.27	13.89	14.25
7646	0.46	371.3	2729	693	1870	1804	121.2	10.1	552	7652	0.00	2.50	0.00	0.000	1158	0.000	0.079	2729	2100	1835	1869	1802	0	0	0	0	0	0	14.04	13.95	14.09
7952	0.46	371.3	2729	2100	1869	1800	89.3	10.2	570	7953	0.00	0.00	0.00	0.000	6	0.000	0.000	2729	2100	1834	1868	1800	0	0	0	0	0	0	14.31	14.33	14.33
8254	0.51	403.0	2729	2100	1869	1798	61.7	8.5	600	8275	0.00	2.50	14.57	0.390	8868	0.000	0.085	2729	691	1720	1751	1690	0	0	0	0	0	0	14.32	14.02	13.66
8331	0.65	444.6	2729	692	1753	1692	55.1	8.1	615	8362	0.20	2.50	22.23	0.368	11430	0.101	0.079	2801	2104	1550	1584	1517	0	0	0	0	0	0	14.00	13.93	13.70
8660	0.65	484.5	2801	2105	1584	1513	23.4	8.2	650	8687	0.00	2.55	20.15	0.285	8612	0.000	0.082	2800	3509	1387	1433	1341	0	0	0	0	0	0	14.28	13.88	13.78
8844	0.90	682.5	2801	3511	1433	1339	14.6	0.9	686	8950	0.20	2.42	99.28	0.255	11430	0.097	0.059	2884	2089	579	636	522	0	0	0	0	0	0	14.14	14.09	13.78
9062	end climb: SURFACE_DEPTH_REACHED
state	9063	begin surface coast
9083	end surface coast: CONTROL_FINISHED_OK
state	9083	begin surface