Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 93 * 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 93 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 267.0

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 30 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 267.0 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 93 NOCOMM_ACTION 161 R_STBD_OVSHOOT 30 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 170817,121032,7235.3550,-14829.9248,33,0.8,33,21.2,0.5,239.2,10,7.3 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 315.0,81329,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 170817,122122,7235.3140,-14829.9170,7,0.8,8,21.2,0.0,0.0,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817122908.723980,3,19,12,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 56151872

FINISH 1.4,1.020178 _24V_AH 12.51,86.829

SM_CCo 9188,36.58,0.214,0,0,498,702.78 _10V_AH 12.56,0.000

SM_GC 1.40,8.43,0.17,36.58,0.086,0.109,0.214,206,2225,498,-7.36,-0.71,702.78,0,0,0,0,0,0,14.24,14.26,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 395 FG_AHR_10Vo 0.000

MODEM 4,1502972948,75.71700,-151.21500,247.974,359658.7 MEM 323720

RAFOS_FIX 7232.996094,-14830.577148,170817,080809,4,255,0.26 DATA_FILE_SIZE 30044,863

IRIDIUM_FIX 7232.09,-14827.77,170817,093019 CAP_FILE_SIZE 109078,0

TT8_MAMPS 0.038948,0.850864 CFSIZE 2097872896,2060156928

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1451.1

TCM_TEMP 13.40 CURRENT 0.063,231.87,1

XPDR_PINGS 12 GPS 170817,145644,7236.303,-14830.559,17,0.7,22,21.2,0.0,235.7,12,8.4

CP_FREE 16003596288.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 465 149.98 nil 0 0 0.00

Roll_motor 83 2135 2233.11 nil 0 0 0.00

VBD_pump_during_apogee 858 1575 16925.89 nil 0 0 0.00

VBD_pump_during_surface 36 214 98.01 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 9195 14 1676.21

Iridium_during_xfer 381 178 849.96 NCP 9195 20 2300.59

Transponder_ping 3 420 15.76 PMAR 9144 16 1898.10

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.53

TT8 0 0 0.00

LPSleep 6524 2 189.31

TT8_Active 913 13 160.30

TT8_Sampling 2156 33 905.82

TT8_CF8 291 38 141.74

TT8_Kalman 0 0 0.00

Analog_circuits 2056 10 258.26

GPS_charging 0 0 0.00

Compass 1234 7 108.57

RAFOS 0 0 0.00

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 44 begin dive

47 -0.57 -145.9 197 2215 519 464 0.0 0.0 0 129 0.00 0.00 -80.85 0.000 16386 0.000 0.000 195 2215 2054 1972 2137 0 0 0 0 0 0 14.27 28.83 14.29

132 -0.57 -145.9 195 2215 1974 2138 3.7 -5.0 8 185 12.95 2.72 -33.85 0.000 18724 0.465 2.136 2377 3603 3962 3944 3980 0 0 0 0 0 0 13.64 12.86 14.01

410 -0.63 -145.9 2377 3606 3953 3980 65.7 -14.1 63 417 0.00 2.42 0.00 0.000 1158 0.000 0.054 2376 2189 3965 3951 3980 0 0 0 0 0 0 14.05 13.95 14.08

737 -0.68 -145.9 2376 2189 3954 3981 112.1 -12.9 90 741 0.00 2.53 0.00 0.000 388 0.000 0.086 2366 3608 3966 3953 3980 0 0 0 0 0 0 14.36 14.05 14.38

873 -0.81 -145.9 2367 3610 3954 3980 127.1 -10.4 117 879 0.15 2.40 0.00 0.000 5254 0.117 0.054 2307 2199 3967 3954 3980 0 0 0 0 0 0 14.09 14.07 14.17

1189 -0.77 -145.9 2308 2198 3954 3981 178.6 -16.0 130 1194 0.00 2.50 0.00 0.000 388 0.000 0.087 2305 3601 3966 3953 3980 0 0 0 0 0 0 14.38 14.03 14.39

1344 -0.84 -145.9 2306 3602 3955 3981 200.1 -13.0 161 1349 0.00 2.38 0.00 0.000 1158 0.000 0.055 2304 2200 3966 3954 3979 0 0 0 0 0 0 14.20 14.12 14.26

1669 -0.84 -145.9 2305 2199 3954 3980 244.4 -13.0 176 1674 0.00 2.47 0.00 0.000 260 0.000 0.089 2303 3608 3966 3953 3980 0 0 0 0 0 0 14.52 14.19 14.53

1814 -0.93 -145.9 2303 3609 3954 3980 261.0 -10.9 205 1820 0.00 2.38 0.00 0.000 1158 0.000 0.055 2302 2199 3966 3953 3980 0 0 0 0 0 0 14.33 14.22 14.35

2119 -0.96 -145.9 2303 2199 3953 3980 296.3 -11.4 216 2124 0.00 2.47 0.00 0.000 388 0.000 0.090 2301 3602 3965 3952 3978 0 0 0 0 0 0 14.57 14.21 14.58

2210 -1.05 -145.9 2302 3602 3952 3981 305.8 -10.2 234 2215 0.20 2.35 0.00 0.000 5254 0.105 0.057 2229 2201 3964 3951 3978 0 0 0 0 0 0 14.31 14.26 14.38

2540 -0.94 -145.9 2230 2200 3952 3977 361.8 -17.3 250 2545 0.17 2.45 0.00 0.000 2436 0.301 0.084 2260 3603 3964 3950 3978 0 0 0 0 0 0 13.95 14.23 14.14

2700 -0.94 -145.9 2259 3604 3951 3979 383.3 -12.7 282 2705 0.00 2.38 0.00 0.000 1030 0.000 0.057 2260 2195 3964 3950 3978 0 0 0 0 0 0 14.38 14.27 14.41

3021 -0.91 -145.9 2260 2194 3951 3978 427.3 -13.7 296 3025 0.00 2.47 0.00 0.000 388 0.000 0.087 2253 3602 3963 3950 3976 0 0 0 0 0 0 14.59 14.20 14.61

3162 -0.91 -145.9 2254 3605 3950 3976 446.1 -13.0 324 3168 0.15 2.38 0.00 0.000 3078 0.260 0.056 2283 2196 3962 3949 3976 0 0 0 0 0 0 14.02 14.27 14.29

3470 end dive: TARGET_DEPTH_EXCEEDED

state 3470 begin apogee

3476 -0.13 0.0 2284 2069 3950 3976 481.8 -11.3 336 3688 0.95 0.00 208.82 1.449 10246 0.232 0.000 2532 2067 3364 3388 3341 0 0 0 0 0 0 14.00 13.50 12.79

3692 end apogee: CONTROL_FINISHED_OK

state 3692 begin climb

3694 0.57 145.9 2533 2067 3382 3333 492.4 0.0 343 3908 0.73 2.55 199.07 1.398 11012 0.067 0.079 2781 731 2762 2808 2716 0 0 0 0 0 0 13.57 13.18 12.51

4133 0.22 145.9 2782 732 2800 2714 466.1 14.8 424 4138 0.57 2.45 0.00 0.000 5254 0.318 0.076 2660 2098 2755 2799 2711 0 0 0 0 0 0 13.49 13.76 13.81

4448 0.08 152.9 2659 2100 2799 2707 434.4 9.7 437 4455 0.20 2.42 1.23 0.255 12964 0.301 0.076 2620 716 2742 2788 2696 0 0 0 0 0 0 13.82 13.97 13.81

4680 0.09 214.3 2621 713 2799 2710 417.1 7.2 483 4782 0.00 2.42 96.28 1.394 9382 0.000 0.079 2620 2107 2493 2552 2435 0 0 0 0 0 0 14.27 14.14 13.06

5080 0.11 236.8 2621 2103 2542 2416 382.1 9.0 513 5116 0.00 2.45 31.20 1.457 8740 0.000 0.080 2630 726 2395 2455 2336 0 0 0 0 0 0 14.36 13.78 13.18

5203 0.18 261.0 2631 725 2449 2335 371.2 8.9 537 5242 0.00 2.42 34.53 1.437 9382 0.000 0.078 2630 2098 2302 2360 2245 0 0 0 0 0 0 14.13 14.03 13.12

5564 0.22 274.0 2631 2099 2352 2229 337.1 9.4 559 5584 0.00 0.00 18.42 1.500 8358 0.000 0.000 2630 2103 2247 2307 2187 0 0 0 0 0 0 14.40 14.05 13.26

5862 0.26 286.5 2630 2100 2300 2179 308.8 9.4 569 5881 0.12 0.00 17.17 1.518 10406 0.127 0.000 2685 2099 2198 2255 2142 0 0 0 0 0 0 14.19 14.11 13.31

6162 0.21 286.5 2686 2100 2245 2132 270.6 12.7 579 6167 0.15 2.40 0.00 0.000 4740 0.249 0.080 2657 721 2187 2244 2131 0 0 0 0 0 0 13.94 14.18 14.10

6264 0.27 295.8 2658 721 2243 2131 260.5 9.6 599 6279 0.00 2.40 11.12 1.576 9382 0.000 0.078 2657 2110 2161 2217 2106 0 0 0 0 0 0 14.34 14.22 13.34

6585 0.28 308.0 2658 2107 2210 2098 228.4 9.4 613 6606 0.00 0.00 19.88 1.489 8230 0.000 0.000 2657 2107 2108 2161 2056 0 0 0 0 0 0 14.55 14.14 13.37

6885 0.35 343.3 2658 2107 2155 2045 202.4 8.4 623 6947 0.12 2.55 57.97 1.334 10916 0.132 0.085 2709 717 1964 2012 1917 0 0 0 0 0 0 14.28 13.93 13.25

6977 0.35 343.3 2709 718 2004 1916 192.4 10.7 631 6982 0.00 2.45 0.00 0.000 1030 0.000 0.076 2709 2100 1959 2003 1915 0 0 0 0 0 0 14.07 13.97 14.09

7307 0.35 343.3 2707 2102 2003 1907 156.8 10.5 647 7312 0.00 2.42 0.00 0.000 516 0.000 0.084 2709 722 1954 2003 1906 0 0 0 0 0 0 14.44 14.14 14.46

7347 0.39 346.4 2709 723 2003 1907 152.7 9.9 655 7352 0.00 2.40 0.00 0.000 1190 0.000 0.077 2709 2101 1954 2002 1906 0 0 0 0 0 0 14.29 14.18 14.31

7667 0.40 355.5 2709 2104 2002 1905 121.5 9.6 669 7682 0.00 2.40 10.95 1.487 8740 0.000 0.083 2709 724 1916 1962 1870 0 0 0 0 0 0 14.52 14.00 13.39

7708 0.45 368.4 2709 726 1953 1871 117.7 9.4 677 7729 0.00 2.40 16.02 1.421 9382 0.000 0.076 2709 2106 1863 1901 1825 0 0 0 0 0 0 14.29 14.19 13.33

8030 0.51 403.5 2709 2106 1896 1815 89.3 8.4 699 8052 0.12 2.50 17.98 0.475 10916 0.132 0.084 2781 724 1719 1750 1688 0 0 0 0 0 0 14.23 14.09 13.74

8119 0.47 403.5 2781 725 1752 1688 78.7 12.2 716 8126 0.20 2.42 0.00 0.000 5254 0.265 0.076 2736 2106 1718 1751 1685 0 0 0 0 0 0 13.87 14.13 14.12

8423 0.56 462.5 2739 2104 1752 1682 53.6 7.3 747 8460 0.00 2.47 30.52 0.367 8612 0.000 0.082 2739 3511 1477 1521 1434 0 0 0 0 0 0 14.46 14.12 13.83

8527 0.70 521.5 2740 3511 1522 1433 46.0 7.3 767 8564 0.20 2.38 30.23 0.342 11430 0.098 0.064 2817 2132 1237 1298 1177 0 0 0 0 0 0 14.19 14.12 13.83

8870 0.81 618.1 2817 2132 1299 1167 13.6 5.5 805 8925 0.00 2.55 49.15 0.254 8868 0.000 0.083 2821 681 840 919 762 0 0 0 0 0 0 14.45 14.02 13.89

9151 1.09 725.0 2821 682 918 755 2.5 5.1 860 9163 0.35 2.47 8.00 0.223 11426 0.105 0.075 2939 2103 777 853 701 0 0 0 0 0 0 14.17 14.12 14.28

9164 end climb: SURFACE_DEPTH_REACHED

state 9164 begin surface coast

9167 end surface coast: CONTROL_FINISHED_OK

state 9167 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	93	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	267.0
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	30	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,121032,7235.3550,-14829.9248,33,0.8,33,21.2,0.5,239.2,10,7.3	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	315.0,81329,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	170817,122122,7235.3140,-14829.9170,7,0.8,8,21.2,0.0,0.0,10,9.9

MODEM_MSG	CACST,6,1,20170817122908.723980,3,19,12,0100,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	56151872
FINISH	1.4,1.020178	_24V_AH	12.51,86.829
SM_CCo	9188,36.58,0.214,0,0,498,702.78	_10V_AH	12.56,0.000
SM_GC	1.40,8.43,0.17,36.58,0.086,0.109,0.214,206,2225,498,-7.36,-0.71,702.78,0,0,0,0,0,0,14.24,14.26,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	395	FG_AHR_10Vo	0.000
MODEM	4,1502972948,75.71700,-151.21500,247.974,359658.7	MEM	323720
RAFOS_FIX	7232.996094,-14830.577148,170817,080809,4,255,0.26	DATA_FILE_SIZE	30044,863
IRIDIUM_FIX	7232.09,-14827.77,170817,093019	CAP_FILE_SIZE	109078,0
TT8_MAMPS	0.038948,0.850864	CFSIZE	2097872896,2060156928
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1451.1
TCM_TEMP	13.40	CURRENT	0.063,231.87,1
XPDR_PINGS	12	GPS	170817,145644,7236.303,-14830.559,17,0.7,22,21.2,0.0,235.7,12,8.4
CP_FREE	16003596288.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	465	149.98	nil	0	0	0.00
Roll_motor	83	2135	2233.11	nil	0	0	0.00
VBD_pump_during_apogee	858	1575	16925.89	nil	0	0	0.00
VBD_pump_during_surface	36	214	98.01	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	9195	14	1676.21
Iridium_during_xfer	381	178	849.96	NCP	9195	20	2300.59
Transponder_ping	3	420	15.76	PMAR	9144	16	1898.10
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.53
TT8	0	0	0.00
LPSleep	6524	2	189.31
TT8_Active	913	13	160.30
TT8_Sampling	2156	33	905.82
TT8_CF8	291	38	141.74
TT8_Kalman	0	0	0.00
Analog_circuits	2056	10	258.26
GPS_charging	0	0	0.00
Compass	1234	7	108.57
RAFOS	0	0	0.00
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	44	begin dive
47	-0.57	-145.9	197	2215	519	464	0.0	0.0	0	129	0.00	0.00	-80.85	0.000	16386	0.000	0.000	195	2215	2054	1972	2137	0	0	0	0	0	0	14.27	28.83	14.29
132	-0.57	-145.9	195	2215	1974	2138	3.7	-5.0	8	185	12.95	2.72	-33.85	0.000	18724	0.465	2.136	2377	3603	3962	3944	3980	0	0	0	0	0	0	13.64	12.86	14.01
410	-0.63	-145.9	2377	3606	3953	3980	65.7	-14.1	63	417	0.00	2.42	0.00	0.000	1158	0.000	0.054	2376	2189	3965	3951	3980	0	0	0	0	0	0	14.05	13.95	14.08
737	-0.68	-145.9	2376	2189	3954	3981	112.1	-12.9	90	741	0.00	2.53	0.00	0.000	388	0.000	0.086	2366	3608	3966	3953	3980	0	0	0	0	0	0	14.36	14.05	14.38
873	-0.81	-145.9	2367	3610	3954	3980	127.1	-10.4	117	879	0.15	2.40	0.00	0.000	5254	0.117	0.054	2307	2199	3967	3954	3980	0	0	0	0	0	0	14.09	14.07	14.17
1189	-0.77	-145.9	2308	2198	3954	3981	178.6	-16.0	130	1194	0.00	2.50	0.00	0.000	388	0.000	0.087	2305	3601	3966	3953	3980	0	0	0	0	0	0	14.38	14.03	14.39
1344	-0.84	-145.9	2306	3602	3955	3981	200.1	-13.0	161	1349	0.00	2.38	0.00	0.000	1158	0.000	0.055	2304	2200	3966	3954	3979	0	0	0	0	0	0	14.20	14.12	14.26
1669	-0.84	-145.9	2305	2199	3954	3980	244.4	-13.0	176	1674	0.00	2.47	0.00	0.000	260	0.000	0.089	2303	3608	3966	3953	3980	0	0	0	0	0	0	14.52	14.19	14.53
1814	-0.93	-145.9	2303	3609	3954	3980	261.0	-10.9	205	1820	0.00	2.38	0.00	0.000	1158	0.000	0.055	2302	2199	3966	3953	3980	0	0	0	0	0	0	14.33	14.22	14.35
2119	-0.96	-145.9	2303	2199	3953	3980	296.3	-11.4	216	2124	0.00	2.47	0.00	0.000	388	0.000	0.090	2301	3602	3965	3952	3978	0	0	0	0	0	0	14.57	14.21	14.58
2210	-1.05	-145.9	2302	3602	3952	3981	305.8	-10.2	234	2215	0.20	2.35	0.00	0.000	5254	0.105	0.057	2229	2201	3964	3951	3978	0	0	0	0	0	0	14.31	14.26	14.38
2540	-0.94	-145.9	2230	2200	3952	3977	361.8	-17.3	250	2545	0.17	2.45	0.00	0.000	2436	0.301	0.084	2260	3603	3964	3950	3978	0	0	0	0	0	0	13.95	14.23	14.14
2700	-0.94	-145.9	2259	3604	3951	3979	383.3	-12.7	282	2705	0.00	2.38	0.00	0.000	1030	0.000	0.057	2260	2195	3964	3950	3978	0	0	0	0	0	0	14.38	14.27	14.41
3021	-0.91	-145.9	2260	2194	3951	3978	427.3	-13.7	296	3025	0.00	2.47	0.00	0.000	388	0.000	0.087	2253	3602	3963	3950	3976	0	0	0	0	0	0	14.59	14.20	14.61
3162	-0.91	-145.9	2254	3605	3950	3976	446.1	-13.0	324	3168	0.15	2.38	0.00	0.000	3078	0.260	0.056	2283	2196	3962	3949	3976	0	0	0	0	0	0	14.02	14.27	14.29
3470	end dive: TARGET_DEPTH_EXCEEDED
state	3470	begin apogee
3476	-0.13	0.0	2284	2069	3950	3976	481.8	-11.3	336	3688	0.95	0.00	208.82	1.449	10246	0.232	0.000	2532	2067	3364	3388	3341	0	0	0	0	0	0	14.00	13.50	12.79
3692	end apogee: CONTROL_FINISHED_OK
state	3692	begin climb
3694	0.57	145.9	2533	2067	3382	3333	492.4	0.0	343	3908	0.73	2.55	199.07	1.398	11012	0.067	0.079	2781	731	2762	2808	2716	0	0	0	0	0	0	13.57	13.18	12.51
4133	0.22	145.9	2782	732	2800	2714	466.1	14.8	424	4138	0.57	2.45	0.00	0.000	5254	0.318	0.076	2660	2098	2755	2799	2711	0	0	0	0	0	0	13.49	13.76	13.81
4448	0.08	152.9	2659	2100	2799	2707	434.4	9.7	437	4455	0.20	2.42	1.23	0.255	12964	0.301	0.076	2620	716	2742	2788	2696	0	0	0	0	0	0	13.82	13.97	13.81
4680	0.09	214.3	2621	713	2799	2710	417.1	7.2	483	4782	0.00	2.42	96.28	1.394	9382	0.000	0.079	2620	2107	2493	2552	2435	0	0	0	0	0	0	14.27	14.14	13.06
5080	0.11	236.8	2621	2103	2542	2416	382.1	9.0	513	5116	0.00	2.45	31.20	1.457	8740	0.000	0.080	2630	726	2395	2455	2336	0	0	0	0	0	0	14.36	13.78	13.18
5203	0.18	261.0	2631	725	2449	2335	371.2	8.9	537	5242	0.00	2.42	34.53	1.437	9382	0.000	0.078	2630	2098	2302	2360	2245	0	0	0	0	0	0	14.13	14.03	13.12
5564	0.22	274.0	2631	2099	2352	2229	337.1	9.4	559	5584	0.00	0.00	18.42	1.500	8358	0.000	0.000	2630	2103	2247	2307	2187	0	0	0	0	0	0	14.40	14.05	13.26
5862	0.26	286.5	2630	2100	2300	2179	308.8	9.4	569	5881	0.12	0.00	17.17	1.518	10406	0.127	0.000	2685	2099	2198	2255	2142	0	0	0	0	0	0	14.19	14.11	13.31
6162	0.21	286.5	2686	2100	2245	2132	270.6	12.7	579	6167	0.15	2.40	0.00	0.000	4740	0.249	0.080	2657	721	2187	2244	2131	0	0	0	0	0	0	13.94	14.18	14.10
6264	0.27	295.8	2658	721	2243	2131	260.5	9.6	599	6279	0.00	2.40	11.12	1.576	9382	0.000	0.078	2657	2110	2161	2217	2106	0	0	0	0	0	0	14.34	14.22	13.34
6585	0.28	308.0	2658	2107	2210	2098	228.4	9.4	613	6606	0.00	0.00	19.88	1.489	8230	0.000	0.000	2657	2107	2108	2161	2056	0	0	0	0	0	0	14.55	14.14	13.37
6885	0.35	343.3	2658	2107	2155	2045	202.4	8.4	623	6947	0.12	2.55	57.97	1.334	10916	0.132	0.085	2709	717	1964	2012	1917	0	0	0	0	0	0	14.28	13.93	13.25
6977	0.35	343.3	2709	718	2004	1916	192.4	10.7	631	6982	0.00	2.45	0.00	0.000	1030	0.000	0.076	2709	2100	1959	2003	1915	0	0	0	0	0	0	14.07	13.97	14.09
7307	0.35	343.3	2707	2102	2003	1907	156.8	10.5	647	7312	0.00	2.42	0.00	0.000	516	0.000	0.084	2709	722	1954	2003	1906	0	0	0	0	0	0	14.44	14.14	14.46
7347	0.39	346.4	2709	723	2003	1907	152.7	9.9	655	7352	0.00	2.40	0.00	0.000	1190	0.000	0.077	2709	2101	1954	2002	1906	0	0	0	0	0	0	14.29	14.18	14.31
7667	0.40	355.5	2709	2104	2002	1905	121.5	9.6	669	7682	0.00	2.40	10.95	1.487	8740	0.000	0.083	2709	724	1916	1962	1870	0	0	0	0	0	0	14.52	14.00	13.39
7708	0.45	368.4	2709	726	1953	1871	117.7	9.4	677	7729	0.00	2.40	16.02	1.421	9382	0.000	0.076	2709	2106	1863	1901	1825	0	0	0	0	0	0	14.29	14.19	13.33
8030	0.51	403.5	2709	2106	1896	1815	89.3	8.4	699	8052	0.12	2.50	17.98	0.475	10916	0.132	0.084	2781	724	1719	1750	1688	0	0	0	0	0	0	14.23	14.09	13.74
8119	0.47	403.5	2781	725	1752	1688	78.7	12.2	716	8126	0.20	2.42	0.00	0.000	5254	0.265	0.076	2736	2106	1718	1751	1685	0	0	0	0	0	0	13.87	14.13	14.12
8423	0.56	462.5	2739	2104	1752	1682	53.6	7.3	747	8460	0.00	2.47	30.52	0.367	8612	0.000	0.082	2739	3511	1477	1521	1434	0	0	0	0	0	0	14.46	14.12	13.83
8527	0.70	521.5	2740	3511	1522	1433	46.0	7.3	767	8564	0.20	2.38	30.23	0.342	11430	0.098	0.064	2817	2132	1237	1298	1177	0	0	0	0	0	0	14.19	14.12	13.83
8870	0.81	618.1	2817	2132	1299	1167	13.6	5.5	805	8925	0.00	2.55	49.15	0.254	8868	0.000	0.083	2821	681	840	919	762	0	0	0	0	0	0	14.45	14.02	13.89
9151	1.09	725.0	2821	682	918	755	2.5	5.1	860	9163	0.35	2.47	8.00	0.223	11426	0.105	0.075	2939	2103	777	853	701	0	0	0	0	0	0	14.17	14.12	14.28
9164	end climb: SURFACE_DEPTH_REACHED
state	9164	begin surface coast
9167	end surface coast: CONTROL_FINISHED_OK
state	9167	begin surface