Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 50 * 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 50 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 150.0

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 29 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 150.0 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 29 VBD_MIN 500

DIVE 50 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 120817,115049,7149.3560,-14732.4600,18,0.7,22,21.4,0.0,0.0,12,10.0 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 1.17 MHEAD_RNG_PITCHd_Wd 319.7,170304,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 120817,120450,7149.3022,-14732.6660,39,0.8,40,21.4,0.0,0.0,10,7.1

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812122226.583241,3,1703,32,0466,0150,250,00,00,00,00,-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 59299136

FINISH 0.9,1.020002 _24V_AH 12.62,66.521

SM_CCo 9133,12.77,0.222,0,0,501,702.78 _10V_AH 12.69,0.000

SM_GC 2.46,8.32,0.15,12.77,0.079,0.118,0.222,204,2241,501,-7.37,-0.42,702.78,0,0,0,0,0,0,14.13,14.12,13.89 FG_AHR_24Vo 0.000

RAFOS_CLK 391 FG_AHR_10Vo 0.000

MODEM 2,1502540065,73.18300,-149.96500,118.396,171926.3 MEM 323564

RAFOS_FIX 7201.346680,-14622.458984,120817,121225,2,255,56.54 DATA_FILE_SIZE 26731,768

IRIDIUM_FIX 7151.04,-14742.85,120817,115514 CAP_FILE_SIZE 106423,0

TT8_MAMPS 0.041195,0.88382 CFSIZE 2097872896,2072969216

HUMID 49.56 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1452.1

TCM_TEMP 13.40 CURRENT 0.050,192.25,1

XPDR_PINGS 15 GPS 120817,143855,7150.279,-14733.312,17,0.7,20,21.4,0.0,343.9,11,9.6

CP_FREE 16010936320.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 140.36 nil 0 0 0.00

Roll_motor 84 2145 2285.58 nil 0 0 0.00

VBD_pump_during_apogee 860 1647 17891.29 nil 0 0 0.00

VBD_pump_during_surface 12 221 35.77 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 9139 14 1684.11

Iridium_during_xfer 486 172 1057.16 NCP 9137 20 2306.18

Transponder_ping 3 420 19.88 PMAR 9088 16 1900.19

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.97

TT8 0 0 0.00

LPSleep 6679 2 195.80

TT8_Active 851 13 150.92

TT8_Sampling 2184 33 926.80

TT8_CF8 286 38 140.77

TT8_Kalman 0 0 0.00

Analog_circuits 2100 10 266.55

GPS_charging 0 0 0.00

Compass 1100 7 97.78

RAFOS 1782 48 1085.45

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 -145.9 191 2188 520 477 0.0 0.0 0 125 0.00 0.00 -78.05 0.000 16386 0.000 0.000 190 2189 2012 1937 2088 0 0 0 0 0 0 14.33 28.83 14.33

128 -0.57 -145.9 191 2189 1938 2092 3.2 -3.4 8 185 12.55 2.80 -39.10 0.000 18724 0.452 2.146 2375 3610 3961 3949 3974 1 0 0 0 0 0 13.55 12.94 14.05

360 -0.57 -145.9 2376 3611 3960 3974 55.5 -17.6 54 365 0.00 2.42 0.00 0.000 1030 0.000 0.057 2375 2205 3967 3959 3975 0 0 0 0 0 0 14.01 13.91 14.03

670 -0.57 -145.9 2376 2206 3962 3974 104.1 -13.5 84 675 0.00 2.50 0.00 0.000 260 0.000 0.086 2372 3613 3967 3961 3974 0 0 0 0 0 0 14.26 13.87 14.28

720 -0.67 -145.9 2372 3612 3962 3975 110.4 -11.6 94 725 0.00 2.42 0.00 0.000 1158 0.000 0.056 2372 2197 3968 3961 3975 0 0 0 0 0 0 14.00 13.91 14.04

1030 -0.72 -145.9 2372 2198 3968 3975 147.6 -11.6 106 1035 0.00 2.53 0.00 0.000 388 0.000 0.087 2371 3609 3967 3961 3974 0 0 0 0 0 0 14.29 13.46 14.32

1085 -0.86 -145.9 2366 3608 3962 3974 153.8 -10.5 117 1091 0.20 2.42 0.00 0.000 5254 0.102 0.056 2287 2199 3967 3961 3974 0 0 0 0 0 0 13.96 13.93 14.03

1390 -0.78 -145.9 2288 2198 3962 3973 207.3 -17.0 128 1395 0.15 2.53 0.00 0.000 2436 0.291 0.083 2314 3615 3966 3961 3972 0 0 0 0 0 0 13.78 14.00 13.93

1520 -0.84 -145.9 2314 3615 3962 3973 223.5 -11.3 154 1525 0.00 2.42 0.00 0.000 1158 0.000 0.058 2314 2201 3966 3960 3972 0 0 0 0 0 0 14.05 13.97 14.07

1840 -0.84 -145.9 2315 2199 3962 3970 261.4 -11.7 168 1845 0.00 2.53 0.00 0.000 260 0.000 0.087 2307 3614 3965 3961 3970 0 0 0 0 0 0 14.33 14.00 14.35

1896 -0.91 -145.9 2308 3614 3962 3969 267.9 -11.0 179 1904 0.00 2.45 0.00 0.000 1158 0.000 0.058 2308 2196 3963 3961 3966 0 0 0 0 0 0 14.12 14.01 14.13

2201 -0.91 -145.9 2307 2195 3962 3966 302.9 -11.2 190 2206 0.00 2.50 0.00 0.000 260 0.000 0.089 2307 3616 3963 3961 3966 0 0 0 0 0 0 14.32 13.98 14.34

2256 -0.99 -145.9 2307 3619 3961 3967 308.9 -10.3 201 2263 0.15 2.42 0.00 0.000 5254 0.119 0.059 2251 2199 3962 3959 3966 0 0 0 0 0 0 14.10 14.07 14.19

2562 -0.89 -145.9 2252 2198 3961 3964 357.0 -16.2 212 2567 0.15 2.50 0.00 0.000 2436 0.314 0.083 2280 3614 3962 3960 3964 0 0 0 0 0 0 13.83 14.11 14.04

2642 -0.91 -145.9 2280 3615 3960 3965 368.0 -12.9 228 2647 0.00 2.42 0.00 0.000 1158 0.000 0.058 2279 2192 3962 3960 3964 0 0 0 0 0 0 14.26 14.16 14.30

2952 -0.88 -145.9 2280 2190 3961 3965 409.0 -13.2 240 2957 0.00 2.50 0.00 0.000 388 0.000 0.086 2274 3610 3961 3960 3962 0 0 0 0 0 0 14.50 14.14 14.50

3062 -0.88 -145.9 2274 3611 3960 3963 423.4 -12.8 262 3067 0.00 2.40 0.00 0.000 1030 0.000 0.057 2273 2199 3960 3959 3962 0 0 0 0 0 0 14.27 14.16 14.30

3372 -0.84 -145.9 2274 2198 3960 3961 464.7 -13.3 274 3378 0.12 2.47 0.00 0.000 2436 0.328 0.083 2294 3608 3960 3959 3961 0 0 0 0 0 0 13.87 14.14 14.06

3469 -0.92 -145.9 2294 3609 3960 3961 475.5 -10.3 293 3474 0.00 2.40 0.00 0.000 1158 0.000 0.057 2293 2196 3960 3959 3961 0 0 0 0 0 0 14.28 14.19 14.28

3522 end dive: TARGET_DEPTH_EXCEEDED

state 3522 begin apogee

3528 -0.13 0.0 2299 2077 3960 3961 481.7 -11.2 299 3737 0.93 0.00 206.27 1.440 10246 0.233 0.000 2530 2071 3367 3403 3332 0 0 0 0 0 0 13.92 13.51 12.87

3741 end apogee: CONTROL_FINISHED_OK

state 3741 begin climb

3743 0.57 145.9 2531 2071 3396 3322 491.4 0.0 306 3948 0.73 2.53 195.12 1.384 11012 0.070 0.076 2781 722 2766 2826 2706 0 0 0 0 0 0 13.57 13.00 12.62

4173 0.25 145.9 2782 721 2801 2704 458.0 15.5 386 4178 0.55 2.47 0.00 0.000 5254 0.321 0.076 2667 2101 2753 2803 2704 0 0 0 0 0 0 13.49 13.74 13.79

4494 0.11 145.9 2667 2101 2807 2700 424.0 10.3 400 4499 0.17 2.42 0.00 0.000 4740 0.310 0.076 2634 721 2750 2802 2699 0 0 0 0 0 0 13.77 13.99 13.95

4719 0.14 186.5 2634 722 2803 2701 405.1 8.1 445 4780 0.00 2.42 56.67 1.402 9254 0.000 0.080 2634 2101 2603 2666 2541 0 0 0 0 0 0 14.19 14.08 13.21

5097 0.12 195.4 2634 2101 2657 2519 369.5 9.6 470 5107 0.00 0.00 5.93 1.648 8614 0.000 0.000 2634 2101 2570 2639 2501 0 0 0 0 0 0 14.32 14.07 13.21

5427 0.10 206.8 2634 2102 2637 2499 337.8 9.5 486 5447 0.00 0.00 18.48 1.535 8358 0.000 0.000 2632 2101 2521 2591 2452 0 0 0 0 0 0 14.40 14.08 13.34

5727 0.11 222.6 2634 2102 2584 2443 309.6 9.3 496 5750 0.00 0.00 21.65 1.497 8230 0.000 0.000 2634 2101 2458 2526 2391 0 0 0 0 0 0 14.42 14.06 13.35

6027 0.13 241.3 2634 2102 2518 2382 281.8 9.1 506 6059 0.00 2.53 27.92 1.440 8740 0.000 0.083 2642 715 2377 2442 2312 0 0 0 0 0 0 14.40 14.00 13.33

6089 0.20 259.5 2642 716 2431 2317 276.2 9.2 513 6121 0.00 2.45 27.23 1.412 9382 0.000 0.080 2642 2100 2307 2368 2246 0 0 0 0 0 0 14.11 14.00 13.25

6421 0.23 269.8 2643 2101 2359 2235 244.7 9.5 529 6436 0.00 0.00 13.80 1.509 8358 0.000 0.000 2642 2100 2263 2325 2202 0 0 0 0 0 0 14.34 14.04 13.33

6719 0.29 293.8 2642 2100 2321 2194 216.8 8.9 539 6758 0.00 0.00 36.97 1.373 8358 0.000 0.000 2642 2100 2166 2226 2106 0 0 0 0 0 0 14.40 13.97 13.32

7049 0.41 346.7 2642 2101 2218 2098 190.5 7.6 550 7142 0.20 2.58 85.90 1.255 10916 0.105 0.084 2725 717 1947 1997 1898 0 0 0 0 0 0 14.14 13.77 13.19

7197 0.41 346.7 2729 718 1989 1897 172.1 12.4 579 7204 0.00 2.50 0.00 0.000 1030 0.000 0.079 2729 2107 1942 1988 1896 0 0 0 0 0 0 13.95 13.85 13.97

7502 0.38 346.7 2729 2108 1989 1888 134.4 12.0 590 7507 0.00 2.45 0.00 0.000 644 0.000 0.085 2729 723 1937 1987 1888 0 0 0 0 0 0 14.32 14.05 14.34

7557 0.41 346.7 2729 722 1985 1889 128.3 10.7 601 7563 0.00 2.42 0.00 0.000 1158 0.000 0.078 2729 2100 1939 1991 1888 0 0 0 0 0 0 14.18 14.06 14.21

7862 0.41 346.7 2729 2101 1985 1886 96.0 10.1 614 7867 0.00 2.45 0.00 0.000 516 0.000 0.086 2729 716 1934 1983 1886 0 0 0 0 0 0 14.40 14.08 14.42

7887 0.43 346.7 2729 717 1982 1887 93.5 10.1 619 7894 0.00 2.42 0.00 0.000 1158 0.000 0.079 2729 2100 1934 1981 1887 0 0 0 0 0 0 14.24 14.13 14.28

8192 0.46 385.5 2729 2100 1981 1886 65.5 8.2 650 8214 0.00 0.00 18.10 0.405 8230 0.000 0.000 2726 2100 1794 1832 1757 0 0 0 0 0 0 14.41 14.07 13.72

8512 0.59 477.1 2729 2101 1832 1754 42.9 5.8 682 8567 0.12 2.45 46.10 0.334 10916 0.135 0.086 2794 721 1419 1475 1364 0 0 0 0 0 0 14.15 14.04 13.81

8614 0.67 499.3 2794 722 1473 1363 34.3 9.0 701 8631 0.00 2.42 11.52 0.310 9382 0.000 0.079 2794 2099 1327 1390 1265 0 0 0 0 0 0 14.07 13.96 13.80

8927 0.93 676.9 2794 2100 1391 1257 13.0 1.8 734 9024 0.25 2.50 88.68 0.252 10660 0.096 0.081 2892 3514 601 664 539 0 0 0 0 0 0 14.13 13.97 13.81

9090 0.95 676.9 2893 3513 663 538 3.3 10.0 765 9096 0.00 2.42 0.00 0.000 1158 0.000 0.068 2903 2124 599 662 537 0 0 0 0 0 0 14.13 14.02 14.15

9102 end climb: SURFACE_DEPTH_REACHED

state 9102 begin surface coast

9112 end surface coast: CONTROL_FINISHED_OK

state 9112 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	50	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	150.0
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	29	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,115049,7149.3560,-14732.4600,18,0.7,22,21.4,0.0,0.0,12,10.0	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	1.17	MHEAD_RNG_PITCHd_Wd	319.7,170304,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	120817,120450,7149.3022,-14732.6660,39,0.8,40,21.4,0.0,0.0,10,7.1

MODEM_MSG	CACST,6,1,20170812122226.583241,3,1703,32,0466,0150,250,00,00,00,00,-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	59299136
FINISH	0.9,1.020002	_24V_AH	12.62,66.521
SM_CCo	9133,12.77,0.222,0,0,501,702.78	_10V_AH	12.69,0.000
SM_GC	2.46,8.32,0.15,12.77,0.079,0.118,0.222,204,2241,501,-7.37,-0.42,702.78,0,0,0,0,0,0,14.13,14.12,13.89	FG_AHR_24Vo	0.000
RAFOS_CLK	391	FG_AHR_10Vo	0.000
MODEM	2,1502540065,73.18300,-149.96500,118.396,171926.3	MEM	323564
RAFOS_FIX	7201.346680,-14622.458984,120817,121225,2,255,56.54	DATA_FILE_SIZE	26731,768
IRIDIUM_FIX	7151.04,-14742.85,120817,115514	CAP_FILE_SIZE	106423,0
TT8_MAMPS	0.041195,0.88382	CFSIZE	2097872896,2072969216
HUMID	49.56	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1452.1
TCM_TEMP	13.40	CURRENT	0.050,192.25,1
XPDR_PINGS	15	GPS	120817,143855,7150.279,-14733.312,17,0.7,20,21.4,0.0,343.9,11,9.6
CP_FREE	16010936320.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	140.36	nil	0	0	0.00
Roll_motor	84	2145	2285.58	nil	0	0	0.00
VBD_pump_during_apogee	860	1647	17891.29	nil	0	0	0.00
VBD_pump_during_surface	12	221	35.77	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	9139	14	1684.11
Iridium_during_xfer	486	172	1057.16	NCP	9137	20	2306.18
Transponder_ping	3	420	19.88	PMAR	9088	16	1900.19
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.97
TT8	0	0	0.00
LPSleep	6679	2	195.80
TT8_Active	851	13	150.92
TT8_Sampling	2184	33	926.80
TT8_CF8	286	38	140.77
TT8_Kalman	0	0	0.00
Analog_circuits	2100	10	266.55
GPS_charging	0	0	0.00
Compass	1100	7	97.78
RAFOS	1782	48	1085.45
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	191	2188	520	477	0.0	0.0	0	125	0.00	0.00	-78.05	0.000	16386	0.000	0.000	190	2189	2012	1937	2088	0	0	0	0	0	0	14.33	28.83	14.33
128	-0.57	-145.9	191	2189	1938	2092	3.2	-3.4	8	185	12.55	2.80	-39.10	0.000	18724	0.452	2.146	2375	3610	3961	3949	3974	1	0	0	0	0	0	13.55	12.94	14.05
360	-0.57	-145.9	2376	3611	3960	3974	55.5	-17.6	54	365	0.00	2.42	0.00	0.000	1030	0.000	0.057	2375	2205	3967	3959	3975	0	0	0	0	0	0	14.01	13.91	14.03
670	-0.57	-145.9	2376	2206	3962	3974	104.1	-13.5	84	675	0.00	2.50	0.00	0.000	260	0.000	0.086	2372	3613	3967	3961	3974	0	0	0	0	0	0	14.26	13.87	14.28
720	-0.67	-145.9	2372	3612	3962	3975	110.4	-11.6	94	725	0.00	2.42	0.00	0.000	1158	0.000	0.056	2372	2197	3968	3961	3975	0	0	0	0	0	0	14.00	13.91	14.04
1030	-0.72	-145.9	2372	2198	3968	3975	147.6	-11.6	106	1035	0.00	2.53	0.00	0.000	388	0.000	0.087	2371	3609	3967	3961	3974	0	0	0	0	0	0	14.29	13.46	14.32
1085	-0.86	-145.9	2366	3608	3962	3974	153.8	-10.5	117	1091	0.20	2.42	0.00	0.000	5254	0.102	0.056	2287	2199	3967	3961	3974	0	0	0	0	0	0	13.96	13.93	14.03
1390	-0.78	-145.9	2288	2198	3962	3973	207.3	-17.0	128	1395	0.15	2.53	0.00	0.000	2436	0.291	0.083	2314	3615	3966	3961	3972	0	0	0	0	0	0	13.78	14.00	13.93
1520	-0.84	-145.9	2314	3615	3962	3973	223.5	-11.3	154	1525	0.00	2.42	0.00	0.000	1158	0.000	0.058	2314	2201	3966	3960	3972	0	0	0	0	0	0	14.05	13.97	14.07
1840	-0.84	-145.9	2315	2199	3962	3970	261.4	-11.7	168	1845	0.00	2.53	0.00	0.000	260	0.000	0.087	2307	3614	3965	3961	3970	0	0	0	0	0	0	14.33	14.00	14.35
1896	-0.91	-145.9	2308	3614	3962	3969	267.9	-11.0	179	1904	0.00	2.45	0.00	0.000	1158	0.000	0.058	2308	2196	3963	3961	3966	0	0	0	0	0	0	14.12	14.01	14.13
2201	-0.91	-145.9	2307	2195	3962	3966	302.9	-11.2	190	2206	0.00	2.50	0.00	0.000	260	0.000	0.089	2307	3616	3963	3961	3966	0	0	0	0	0	0	14.32	13.98	14.34
2256	-0.99	-145.9	2307	3619	3961	3967	308.9	-10.3	201	2263	0.15	2.42	0.00	0.000	5254	0.119	0.059	2251	2199	3962	3959	3966	0	0	0	0	0	0	14.10	14.07	14.19
2562	-0.89	-145.9	2252	2198	3961	3964	357.0	-16.2	212	2567	0.15	2.50	0.00	0.000	2436	0.314	0.083	2280	3614	3962	3960	3964	0	0	0	0	0	0	13.83	14.11	14.04
2642	-0.91	-145.9	2280	3615	3960	3965	368.0	-12.9	228	2647	0.00	2.42	0.00	0.000	1158	0.000	0.058	2279	2192	3962	3960	3964	0	0	0	0	0	0	14.26	14.16	14.30
2952	-0.88	-145.9	2280	2190	3961	3965	409.0	-13.2	240	2957	0.00	2.50	0.00	0.000	388	0.000	0.086	2274	3610	3961	3960	3962	0	0	0	0	0	0	14.50	14.14	14.50
3062	-0.88	-145.9	2274	3611	3960	3963	423.4	-12.8	262	3067	0.00	2.40	0.00	0.000	1030	0.000	0.057	2273	2199	3960	3959	3962	0	0	0	0	0	0	14.27	14.16	14.30
3372	-0.84	-145.9	2274	2198	3960	3961	464.7	-13.3	274	3378	0.12	2.47	0.00	0.000	2436	0.328	0.083	2294	3608	3960	3959	3961	0	0	0	0	0	0	13.87	14.14	14.06
3469	-0.92	-145.9	2294	3609	3960	3961	475.5	-10.3	293	3474	0.00	2.40	0.00	0.000	1158	0.000	0.057	2293	2196	3960	3959	3961	0	0	0	0	0	0	14.28	14.19	14.28
3522	end dive: TARGET_DEPTH_EXCEEDED
state	3522	begin apogee
3528	-0.13	0.0	2299	2077	3960	3961	481.7	-11.2	299	3737	0.93	0.00	206.27	1.440	10246	0.233	0.000	2530	2071	3367	3403	3332	0	0	0	0	0	0	13.92	13.51	12.87
3741	end apogee: CONTROL_FINISHED_OK
state	3741	begin climb
3743	0.57	145.9	2531	2071	3396	3322	491.4	0.0	306	3948	0.73	2.53	195.12	1.384	11012	0.070	0.076	2781	722	2766	2826	2706	0	0	0	0	0	0	13.57	13.00	12.62
4173	0.25	145.9	2782	721	2801	2704	458.0	15.5	386	4178	0.55	2.47	0.00	0.000	5254	0.321	0.076	2667	2101	2753	2803	2704	0	0	0	0	0	0	13.49	13.74	13.79
4494	0.11	145.9	2667	2101	2807	2700	424.0	10.3	400	4499	0.17	2.42	0.00	0.000	4740	0.310	0.076	2634	721	2750	2802	2699	0	0	0	0	0	0	13.77	13.99	13.95
4719	0.14	186.5	2634	722	2803	2701	405.1	8.1	445	4780	0.00	2.42	56.67	1.402	9254	0.000	0.080	2634	2101	2603	2666	2541	0	0	0	0	0	0	14.19	14.08	13.21
5097	0.12	195.4	2634	2101	2657	2519	369.5	9.6	470	5107	0.00	0.00	5.93	1.648	8614	0.000	0.000	2634	2101	2570	2639	2501	0	0	0	0	0	0	14.32	14.07	13.21
5427	0.10	206.8	2634	2102	2637	2499	337.8	9.5	486	5447	0.00	0.00	18.48	1.535	8358	0.000	0.000	2632	2101	2521	2591	2452	0	0	0	0	0	0	14.40	14.08	13.34
5727	0.11	222.6	2634	2102	2584	2443	309.6	9.3	496	5750	0.00	0.00	21.65	1.497	8230	0.000	0.000	2634	2101	2458	2526	2391	0	0	0	0	0	0	14.42	14.06	13.35
6027	0.13	241.3	2634	2102	2518	2382	281.8	9.1	506	6059	0.00	2.53	27.92	1.440	8740	0.000	0.083	2642	715	2377	2442	2312	0	0	0	0	0	0	14.40	14.00	13.33
6089	0.20	259.5	2642	716	2431	2317	276.2	9.2	513	6121	0.00	2.45	27.23	1.412	9382	0.000	0.080	2642	2100	2307	2368	2246	0	0	0	0	0	0	14.11	14.00	13.25
6421	0.23	269.8	2643	2101	2359	2235	244.7	9.5	529	6436	0.00	0.00	13.80	1.509	8358	0.000	0.000	2642	2100	2263	2325	2202	0	0	0	0	0	0	14.34	14.04	13.33
6719	0.29	293.8	2642	2100	2321	2194	216.8	8.9	539	6758	0.00	0.00	36.97	1.373	8358	0.000	0.000	2642	2100	2166	2226	2106	0	0	0	0	0	0	14.40	13.97	13.32
7049	0.41	346.7	2642	2101	2218	2098	190.5	7.6	550	7142	0.20	2.58	85.90	1.255	10916	0.105	0.084	2725	717	1947	1997	1898	0	0	0	0	0	0	14.14	13.77	13.19
7197	0.41	346.7	2729	718	1989	1897	172.1	12.4	579	7204	0.00	2.50	0.00	0.000	1030	0.000	0.079	2729	2107	1942	1988	1896	0	0	0	0	0	0	13.95	13.85	13.97
7502	0.38	346.7	2729	2108	1989	1888	134.4	12.0	590	7507	0.00	2.45	0.00	0.000	644	0.000	0.085	2729	723	1937	1987	1888	0	0	0	0	0	0	14.32	14.05	14.34
7557	0.41	346.7	2729	722	1985	1889	128.3	10.7	601	7563	0.00	2.42	0.00	0.000	1158	0.000	0.078	2729	2100	1939	1991	1888	0	0	0	0	0	0	14.18	14.06	14.21
7862	0.41	346.7	2729	2101	1985	1886	96.0	10.1	614	7867	0.00	2.45	0.00	0.000	516	0.000	0.086	2729	716	1934	1983	1886	0	0	0	0	0	0	14.40	14.08	14.42
7887	0.43	346.7	2729	717	1982	1887	93.5	10.1	619	7894	0.00	2.42	0.00	0.000	1158	0.000	0.079	2729	2100	1934	1981	1887	0	0	0	0	0	0	14.24	14.13	14.28
8192	0.46	385.5	2729	2100	1981	1886	65.5	8.2	650	8214	0.00	0.00	18.10	0.405	8230	0.000	0.000	2726	2100	1794	1832	1757	0	0	0	0	0	0	14.41	14.07	13.72
8512	0.59	477.1	2729	2101	1832	1754	42.9	5.8	682	8567	0.12	2.45	46.10	0.334	10916	0.135	0.086	2794	721	1419	1475	1364	0	0	0	0	0	0	14.15	14.04	13.81
8614	0.67	499.3	2794	722	1473	1363	34.3	9.0	701	8631	0.00	2.42	11.52	0.310	9382	0.000	0.079	2794	2099	1327	1390	1265	0	0	0	0	0	0	14.07	13.96	13.80
8927	0.93	676.9	2794	2100	1391	1257	13.0	1.8	734	9024	0.25	2.50	88.68	0.252	10660	0.096	0.081	2892	3514	601	664	539	0	0	0	0	0	0	14.13	13.97	13.81
9090	0.95	676.9	2893	3513	663	538	3.3	10.0	765	9096	0.00	2.42	0.00	0.000	1158	0.000	0.068	2903	2124	599	662	537	0	0	0	0	0	0	14.13	14.02	14.15
9102	end climb: SURFACE_DEPTH_REACHED
state	9102	begin surface coast
9112	end surface coast: CONTROL_FINISHED_OK
state	9112	begin surface