Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 94 * 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 94 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 269.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 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 269.0 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 25 VBD_MIN 500

DIVE 94 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 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 170817,145644,7236.3027,-14830.5586,17,0.7,22,21.2,0.0,235.7,12,8.4 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 1.12 MHEAD_RNG_PITCHd_Wd 317.0,79578,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.9 D_GRID 480

GPS2 170817,151627,7236.2573,-14830.9775,7,0.7,14,21.2,0.0,245.6,12,8.5

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817162906.557582,3,18,06,0112,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38 PM_FREEKB_00 56077056

FINISH -0.0,1.010340 _24V_AH 12.49,87.324

SM_CCo 9293,0.00,0.000,0,0,494,704.26 _10V_AH 12.39,0.000

SM_GC 1.10,8.18,0.17,0.00,0.074,0.122,0.000,203,2214,494,-7.37,-0.54,704.26,0,0,0,0,0,0,14.24,14.21,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 297 FG_AHR_10Vo 0.000

MODEM 0,1502985879,75.36600,-145.04601,225.762,327606.4 MEM 323548

RAFOS_FIX 7235.269531,-14837.536133,170817,161641,3,255,1.15 DATA_FILE_SIZE 26715,759

IRIDIUM_FIX 7234.92,-14830.14,170817,150855 CAP_FILE_SIZE 109337,0

TT8_MAMPS 0.039697,0.886816 CFSIZE 2097872896,2059829248

HUMID 49.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1449.5

TCM_TEMP 13.50 CURRENT 0.063,242.97,1

XPDR_PINGS 15 GPS 170817,175302,7237.413,-14832.348,25,0.7,25,21.2,0.0,0.0,12,8.2

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 459 141.84 nil 0 0 0.00

Roll_motor 88 2149 2365.41 nil 0 0 0.00

VBD_pump_during_apogee 919 1476 16953.61 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 9195 14 1665.26

Iridium_during_xfer 725 169 1537.96 NCP 9229 20 2305.40

Transponder_ping 3 420 19.67 PMAR 9189 16 1905.42

GUMSTIX_24V 0 0 0.00

GPS 15 22 4.32

TT8 0 0 0.00

LPSleep 6804 2 194.74

TT8_Active 826 13 143.12

TT8_Sampling 2549 33 1056.25

TT8_CF8 308 38 147.92

TT8_Kalman 0 0 0.00

Analog_circuits 2402 10 297.65

GPS_charging 0 0 0.00

Compass 1088 7 94.38

RAFOS 2192 48 1303.63

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 -145.9 198 2227 503 477 0.0 0.0 0 129 0.00 0.00 -81.30 0.000 16386 0.000 0.000 197 2228 2055 1967 2143 0 0 0 0 0 0 14.40 28.83 14.42

132 -0.57 -145.9 198 2229 1969 2144 3.4 -4.1 8 189 12.65 2.75 -36.25 0.000 18724 0.460 2.150 2377 3598 3965 3954 3977 0 0 0 0 0 0 13.74 12.69 14.16

369 -0.57 -145.9 2377 3600 3961 3976 56.1 -16.7 55 376 0.00 2.38 0.00 0.000 1030 0.000 0.054 2376 2195 3968 3960 3977 0 0 0 0 0 0 14.23 14.12 14.22

684 -0.61 -145.9 2376 2196 3962 3978 104.8 -13.2 85 689 0.00 2.45 0.00 0.000 388 0.000 0.088 2367 3588 3969 3962 3976 0 0 0 0 0 0 14.51 14.13 14.50

799 -0.71 -145.9 2367 3588 3963 3977 118.0 -11.1 108 805 0.00 2.35 0.00 0.000 1158 0.000 0.054 2367 2193 3969 3962 3976 0 0 0 0 0 0 14.31 14.20 14.33

1105 -0.78 -145.9 2367 2193 3962 3977 153.7 -11.2 119 1110 0.12 2.45 0.00 0.000 4484 0.141 0.086 2305 3590 3968 3962 3974 0 0 0 0 0 0 14.28 14.20 14.33

1217 -0.82 -145.9 2306 3591 3962 3977 169.7 -14.5 141 1222 0.00 2.35 0.00 0.000 1158 0.000 0.055 2305 2194 3969 3962 3976 0 0 0 0 0 0 14.39 14.28 14.38

1527 -0.82 -145.9 2306 2193 3963 3977 216.8 -14.4 153 1532 0.00 2.45 0.00 0.000 260 0.000 0.087 2298 3589 3969 3962 3976 0 0 0 0 0 0 14.58 14.21 14.60

1632 -0.88 -145.9 2298 3590 3962 3977 230.7 -12.8 174 1637 0.00 2.35 0.00 0.000 1158 0.000 0.055 2298 2190 3968 3961 3976 0 0 0 0 0 0 14.37 14.26 14.38

1947 -0.88 -145.9 2299 2189 3962 3976 271.0 -12.6 187 1953 0.00 2.45 0.00 0.000 260 0.000 0.088 2293 3588 3968 3961 3976 0 0 0 0 0 0 14.59 14.22 14.61

2053 -0.96 -145.9 2295 3589 3961 3977 283.4 -11.1 208 2058 0.00 2.33 0.00 0.000 1158 0.000 0.055 2293 2199 3968 3960 3976 0 0 0 0 0 0 14.36 14.22 14.38

2368 -0.98 -145.9 2294 2198 3961 3975 320.1 -11.4 221 2373 0.00 2.45 0.00 0.000 388 0.000 0.088 2288 3592 3967 3959 3975 0 0 0 0 0 0 14.59 14.17 14.64

2463 -1.07 -145.9 2288 3594 3964 3976 330.6 -10.6 240 2468 0.17 2.35 0.00 0.000 5254 0.112 0.055 2225 2191 3966 3958 3975 0 0 0 0 0 0 14.26 14.23 14.34

2789 -0.95 -145.9 2225 2194 3957 3976 386.5 -17.5 255 2795 0.17 2.45 0.00 0.000 2436 0.301 0.083 2255 3588 3965 3956 3975 0 0 0 0 0 0 13.84 14.12 14.04

2995 -0.95 -145.9 2256 3590 3956 3976 414.9 -13.2 296 3001 0.00 2.35 0.00 0.000 1030 0.000 0.055 2260 2202 3966 3958 3974 0 0 0 0 0 0 14.21 14.11 14.24

3300 -0.91 -145.9 2257 2201 3957 3974 458.0 -14.2 307 3306 0.12 2.45 0.00 0.000 2436 0.305 0.084 2279 3588 3964 3955 3974 0 0 0 0 0 0 13.84 14.09 14.02

3417 -0.99 -145.9 2280 3588 3956 3977 471.6 -10.9 330 3423 0.00 2.35 0.00 0.000 1158 0.000 0.054 2279 2205 3962 3954 3970 0 0 0 0 0 0 14.21 14.09 14.24

3508 end dive: TARGET_DEPTH_EXCEEDED

state 3508 begin apogee

3514 -0.13 0.0 2280 2060 3956 3974 482.8 -11.8 334 3726 0.95 0.00 208.52 1.455 10246 0.232 0.000 2525 2057 3363 3387 3340 0 0 0 0 0 0 13.89 13.39 12.71

3730 end apogee: CONTROL_FINISHED_OK

state 3730 begin climb

3733 0.57 145.9 2526 2057 3382 3333 493.9 0.0 341 3942 0.75 2.53 201.68 1.397 10756 0.063 0.077 2784 726 2763 2809 2718 0 0 0 0 0 0 13.45 13.02 12.49

3951 0.57 145.9 2785 726 2805 2715 500.4 -2.7 343 3957 0.00 2.55 0.00 0.000 1030 0.000 0.074 2783 2088 2758 2803 2714 0 0 0 0 0 0 13.31 13.22 13.34

4272 0.19 145.9 2785 2088 2797 2708 451.7 15.3 357 4274 0.65 0.00 0.00 0.000 4230 0.327 0.000 2647 2091 2752 2796 2708 0 0 0 0 0 0 13.52 13.89 13.85

4572 0.08 171.1 2647 2088 2797 2706 424.2 8.8 367 4608 0.15 2.45 31.40 1.476 12964 0.300 0.080 2614 725 2664 2711 2618 0 0 0 0 0 0 13.81 13.75 13.14

4703 0.12 225.4 2613 725 2710 2613 414.2 7.5 393 4791 0.00 2.45 78.88 1.390 9254 0.000 0.078 2620 2106 2440 2497 2383 0 0 0 0 0 0 14.05 13.95 12.93

5085 0.16 253.8 2617 2105 2496 2373 381.7 8.7 419 5128 0.00 0.00 41.25 1.423 8358 0.000 0.000 2616 2106 2331 2388 2275 0 0 0 0 0 0 14.20 13.79 13.07

5414 0.23 283.0 2616 2106 2376 2260 352.9 8.7 430 5464 0.12 2.47 43.38 1.406 10916 0.129 0.085 2683 729 2205 2258 2153 0 0 0 0 0 0 14.17 13.87 13.15

5501 0.20 283.0 2683 728 2252 2152 342.2 13.2 447 5509 0.15 2.45 0.00 0.000 5254 0.242 0.077 2652 2107 2200 2251 2150 0 0 0 0 0 0 13.78 13.93 14.03

5805 0.20 283.0 2653 2108 2252 2142 308.4 10.9 458 5810 0.00 2.42 0.00 0.000 516 0.000 0.083 2658 727 2196 2253 2140 0 0 0 0 0 0 14.42 14.12 14.43

5840 0.23 283.0 2659 728 2251 2143 304.5 11.1 465 5845 0.00 2.40 0.00 0.000 1158 0.000 0.076 2659 2104 2196 2250 2142 0 0 0 0 0 0 14.27 14.16 14.30

6165 0.23 283.0 2659 2105 2251 2140 268.3 11.1 480 6170 0.00 2.42 0.00 0.000 516 0.000 0.085 2659 720 2195 2250 2140 0 0 0 0 0 0 14.52 14.21 14.53

6205 0.27 283.0 2659 721 2248 2142 264.1 10.0 488 6210 0.00 2.40 0.00 0.000 1158 0.000 0.077 2660 2106 2194 2248 2140 0 0 0 0 0 0 14.33 14.21 14.40

6525 0.28 289.1 2660 2107 2249 2140 231.5 9.7 502 6526 0.00 0.00 0.00 0.000 38 0.000 0.000 2659 2107 2194 2248 2140 0 0 0 0 0 0 14.55 14.57 14.57

6825 0.30 325.5 2660 2107 2249 2140 205.2 8.3 512 6895 0.00 0.00 68.00 1.315 8742 0.000 0.000 2659 2107 2036 2085 1988 0 0 0 0 0 0 14.57 13.98 13.29

7185 0.40 371.3 2660 2107 2074 1974 176.5 7.9 529 7270 0.12 2.53 76.20 1.259 10916 0.133 0.083 2725 729 1845 1879 1811 0 0 0 0 0 0 14.15 13.79 13.20

7370 0.44 371.3 2725 730 1869 1811 156.6 10.7 566 7375 0.00 2.42 0.00 0.000 1158 0.000 0.078 2725 2098 1839 1868 1810 0 0 0 0 0 0 14.06 13.97 14.12

7695 0.44 371.3 2725 2101 1868 1804 120.5 11.0 581 7700 0.00 2.42 0.00 0.000 516 0.000 0.084 2729 720 1835 1867 1803 0 0 0 0 0 0 14.46 14.16 14.46

7740 0.49 371.3 2730 720 1866 1804 115.7 10.4 590 7745 0.00 2.42 0.00 0.000 1158 0.000 0.077 2729 2108 1834 1865 1803 0 0 0 0 0 0 14.31 14.19 14.34

8048 0.50 379.9 2730 2108 1866 1802 84.5 9.6 612 8058 0.00 2.47 2.35 0.400 8740 0.000 0.084 2729 726 1816 1846 1786 0 0 0 0 0 0 14.49 14.16 13.70

8150 0.60 419.5 2728 726 1852 1790 75.6 8.2 632 8177 0.12 2.40 22.17 0.432 11430 0.130 0.076 2781 2105 1654 1682 1627 0 0 0 0 0 0 14.23 14.19 13.73

8482 0.60 473.0 2781 2105 1682 1623 43.3 7.5 668 8514 0.00 2.50 27.73 0.334 8868 0.000 0.084 2778 726 1433 1475 1391 0 0 0 0 0 0 14.47 14.11 13.79

8649 0.73 539.1 2781 725 1475 1392 31.2 7.0 701 8689 0.12 2.42 34.05 0.304 11430 0.139 0.079 2834 2111 1164 1229 1100 0 0 0 0 0 0 14.17 14.14 13.81

8985 0.92 741.6 2834 2105 1230 1091 12.4 0.7 738 9077 0.12 2.47 83.75 0.246 10916 0.126 0.085 2890 721 497 536 458 0 0 0 0 0 0 14.16 14.06 13.88

9088 1.03 776.5 2890 722 537 459 6.6 8.4 750 9093 0.00 2.42 0.00 0.000 1190 0.000 0.076 2890 2106 497 536 458 0 0 0 0 0 0 14.12 14.01 14.15

9145 end climb: SURFACE_DEPTH_REACHED

state 9145 begin surface coast

9166 end surface coast: CONTROL_FINISHED_OK

state 9166 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	94	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	269.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,145644,7236.3027,-14830.5586,17,0.7,22,21.2,0.0,235.7,12,8.4	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	1.12	MHEAD_RNG_PITCHd_Wd	317.0,79578,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.9	D_GRID	480
GPS2	170817,151627,7236.2573,-14830.9775,7,0.7,14,21.2,0.0,245.6,12,8.5

MODEM_MSG	CACST,6,1,20170817162906.557582,3,18,06,0112,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38	PM_FREEKB_00	56077056
FINISH	-0.0,1.010340	_24V_AH	12.49,87.324
SM_CCo	9293,0.00,0.000,0,0,494,704.26	_10V_AH	12.39,0.000
SM_GC	1.10,8.18,0.17,0.00,0.074,0.122,0.000,203,2214,494,-7.37,-0.54,704.26,0,0,0,0,0,0,14.24,14.21,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	297	FG_AHR_10Vo	0.000
MODEM	0,1502985879,75.36600,-145.04601,225.762,327606.4	MEM	323548
RAFOS_FIX	7235.269531,-14837.536133,170817,161641,3,255,1.15	DATA_FILE_SIZE	26715,759
IRIDIUM_FIX	7234.92,-14830.14,170817,150855	CAP_FILE_SIZE	109337,0
TT8_MAMPS	0.039697,0.886816	CFSIZE	2097872896,2059829248
HUMID	49.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1449.5
TCM_TEMP	13.50	CURRENT	0.063,242.97,1
XPDR_PINGS	15	GPS	170817,175302,7237.413,-14832.348,25,0.7,25,21.2,0.0,0.0,12,8.2
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	459	141.84	nil	0	0	0.00
Roll_motor	88	2149	2365.41	nil	0	0	0.00
VBD_pump_during_apogee	919	1476	16953.61	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	9195	14	1665.26
Iridium_during_xfer	725	169	1537.96	NCP	9229	20	2305.40
Transponder_ping	3	420	19.67	PMAR	9189	16	1905.42
GUMSTIX_24V	0	0	0.00
GPS	15	22	4.32
TT8	0	0	0.00
LPSleep	6804	2	194.74
TT8_Active	826	13	143.12
TT8_Sampling	2549	33	1056.25
TT8_CF8	308	38	147.92
TT8_Kalman	0	0	0.00
Analog_circuits	2402	10	297.65
GPS_charging	0	0	0.00
Compass	1088	7	94.38
RAFOS	2192	48	1303.63
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	198	2227	503	477	0.0	0.0	0	129	0.00	0.00	-81.30	0.000	16386	0.000	0.000	197	2228	2055	1967	2143	0	0	0	0	0	0	14.40	28.83	14.42
132	-0.57	-145.9	198	2229	1969	2144	3.4	-4.1	8	189	12.65	2.75	-36.25	0.000	18724	0.460	2.150	2377	3598	3965	3954	3977	0	0	0	0	0	0	13.74	12.69	14.16
369	-0.57	-145.9	2377	3600	3961	3976	56.1	-16.7	55	376	0.00	2.38	0.00	0.000	1030	0.000	0.054	2376	2195	3968	3960	3977	0	0	0	0	0	0	14.23	14.12	14.22
684	-0.61	-145.9	2376	2196	3962	3978	104.8	-13.2	85	689	0.00	2.45	0.00	0.000	388	0.000	0.088	2367	3588	3969	3962	3976	0	0	0	0	0	0	14.51	14.13	14.50
799	-0.71	-145.9	2367	3588	3963	3977	118.0	-11.1	108	805	0.00	2.35	0.00	0.000	1158	0.000	0.054	2367	2193	3969	3962	3976	0	0	0	0	0	0	14.31	14.20	14.33
1105	-0.78	-145.9	2367	2193	3962	3977	153.7	-11.2	119	1110	0.12	2.45	0.00	0.000	4484	0.141	0.086	2305	3590	3968	3962	3974	0	0	0	0	0	0	14.28	14.20	14.33
1217	-0.82	-145.9	2306	3591	3962	3977	169.7	-14.5	141	1222	0.00	2.35	0.00	0.000	1158	0.000	0.055	2305	2194	3969	3962	3976	0	0	0	0	0	0	14.39	14.28	14.38
1527	-0.82	-145.9	2306	2193	3963	3977	216.8	-14.4	153	1532	0.00	2.45	0.00	0.000	260	0.000	0.087	2298	3589	3969	3962	3976	0	0	0	0	0	0	14.58	14.21	14.60
1632	-0.88	-145.9	2298	3590	3962	3977	230.7	-12.8	174	1637	0.00	2.35	0.00	0.000	1158	0.000	0.055	2298	2190	3968	3961	3976	0	0	0	0	0	0	14.37	14.26	14.38
1947	-0.88	-145.9	2299	2189	3962	3976	271.0	-12.6	187	1953	0.00	2.45	0.00	0.000	260	0.000	0.088	2293	3588	3968	3961	3976	0	0	0	0	0	0	14.59	14.22	14.61
2053	-0.96	-145.9	2295	3589	3961	3977	283.4	-11.1	208	2058	0.00	2.33	0.00	0.000	1158	0.000	0.055	2293	2199	3968	3960	3976	0	0	0	0	0	0	14.36	14.22	14.38
2368	-0.98	-145.9	2294	2198	3961	3975	320.1	-11.4	221	2373	0.00	2.45	0.00	0.000	388	0.000	0.088	2288	3592	3967	3959	3975	0	0	0	0	0	0	14.59	14.17	14.64
2463	-1.07	-145.9	2288	3594	3964	3976	330.6	-10.6	240	2468	0.17	2.35	0.00	0.000	5254	0.112	0.055	2225	2191	3966	3958	3975	0	0	0	0	0	0	14.26	14.23	14.34
2789	-0.95	-145.9	2225	2194	3957	3976	386.5	-17.5	255	2795	0.17	2.45	0.00	0.000	2436	0.301	0.083	2255	3588	3965	3956	3975	0	0	0	0	0	0	13.84	14.12	14.04
2995	-0.95	-145.9	2256	3590	3956	3976	414.9	-13.2	296	3001	0.00	2.35	0.00	0.000	1030	0.000	0.055	2260	2202	3966	3958	3974	0	0	0	0	0	0	14.21	14.11	14.24
3300	-0.91	-145.9	2257	2201	3957	3974	458.0	-14.2	307	3306	0.12	2.45	0.00	0.000	2436	0.305	0.084	2279	3588	3964	3955	3974	0	0	0	0	0	0	13.84	14.09	14.02
3417	-0.99	-145.9	2280	3588	3956	3977	471.6	-10.9	330	3423	0.00	2.35	0.00	0.000	1158	0.000	0.054	2279	2205	3962	3954	3970	0	0	0	0	0	0	14.21	14.09	14.24
3508	end dive: TARGET_DEPTH_EXCEEDED
state	3508	begin apogee
3514	-0.13	0.0	2280	2060	3956	3974	482.8	-11.8	334	3726	0.95	0.00	208.52	1.455	10246	0.232	0.000	2525	2057	3363	3387	3340	0	0	0	0	0	0	13.89	13.39	12.71
3730	end apogee: CONTROL_FINISHED_OK
state	3730	begin climb
3733	0.57	145.9	2526	2057	3382	3333	493.9	0.0	341	3942	0.75	2.53	201.68	1.397	10756	0.063	0.077	2784	726	2763	2809	2718	0	0	0	0	0	0	13.45	13.02	12.49
3951	0.57	145.9	2785	726	2805	2715	500.4	-2.7	343	3957	0.00	2.55	0.00	0.000	1030	0.000	0.074	2783	2088	2758	2803	2714	0	0	0	0	0	0	13.31	13.22	13.34
4272	0.19	145.9	2785	2088	2797	2708	451.7	15.3	357	4274	0.65	0.00	0.00	0.000	4230	0.327	0.000	2647	2091	2752	2796	2708	0	0	0	0	0	0	13.52	13.89	13.85
4572	0.08	171.1	2647	2088	2797	2706	424.2	8.8	367	4608	0.15	2.45	31.40	1.476	12964	0.300	0.080	2614	725	2664	2711	2618	0	0	0	0	0	0	13.81	13.75	13.14
4703	0.12	225.4	2613	725	2710	2613	414.2	7.5	393	4791	0.00	2.45	78.88	1.390	9254	0.000	0.078	2620	2106	2440	2497	2383	0	0	0	0	0	0	14.05	13.95	12.93
5085	0.16	253.8	2617	2105	2496	2373	381.7	8.7	419	5128	0.00	0.00	41.25	1.423	8358	0.000	0.000	2616	2106	2331	2388	2275	0	0	0	0	0	0	14.20	13.79	13.07
5414	0.23	283.0	2616	2106	2376	2260	352.9	8.7	430	5464	0.12	2.47	43.38	1.406	10916	0.129	0.085	2683	729	2205	2258	2153	0	0	0	0	0	0	14.17	13.87	13.15
5501	0.20	283.0	2683	728	2252	2152	342.2	13.2	447	5509	0.15	2.45	0.00	0.000	5254	0.242	0.077	2652	2107	2200	2251	2150	0	0	0	0	0	0	13.78	13.93	14.03
5805	0.20	283.0	2653	2108	2252	2142	308.4	10.9	458	5810	0.00	2.42	0.00	0.000	516	0.000	0.083	2658	727	2196	2253	2140	0	0	0	0	0	0	14.42	14.12	14.43
5840	0.23	283.0	2659	728	2251	2143	304.5	11.1	465	5845	0.00	2.40	0.00	0.000	1158	0.000	0.076	2659	2104	2196	2250	2142	0	0	0	0	0	0	14.27	14.16	14.30
6165	0.23	283.0	2659	2105	2251	2140	268.3	11.1	480	6170	0.00	2.42	0.00	0.000	516	0.000	0.085	2659	720	2195	2250	2140	0	0	0	0	0	0	14.52	14.21	14.53
6205	0.27	283.0	2659	721	2248	2142	264.1	10.0	488	6210	0.00	2.40	0.00	0.000	1158	0.000	0.077	2660	2106	2194	2248	2140	0	0	0	0	0	0	14.33	14.21	14.40
6525	0.28	289.1	2660	2107	2249	2140	231.5	9.7	502	6526	0.00	0.00	0.00	0.000	38	0.000	0.000	2659	2107	2194	2248	2140	0	0	0	0	0	0	14.55	14.57	14.57
6825	0.30	325.5	2660	2107	2249	2140	205.2	8.3	512	6895	0.00	0.00	68.00	1.315	8742	0.000	0.000	2659	2107	2036	2085	1988	0	0	0	0	0	0	14.57	13.98	13.29
7185	0.40	371.3	2660	2107	2074	1974	176.5	7.9	529	7270	0.12	2.53	76.20	1.259	10916	0.133	0.083	2725	729	1845	1879	1811	0	0	0	0	0	0	14.15	13.79	13.20
7370	0.44	371.3	2725	730	1869	1811	156.6	10.7	566	7375	0.00	2.42	0.00	0.000	1158	0.000	0.078	2725	2098	1839	1868	1810	0	0	0	0	0	0	14.06	13.97	14.12
7695	0.44	371.3	2725	2101	1868	1804	120.5	11.0	581	7700	0.00	2.42	0.00	0.000	516	0.000	0.084	2729	720	1835	1867	1803	0	0	0	0	0	0	14.46	14.16	14.46
7740	0.49	371.3	2730	720	1866	1804	115.7	10.4	590	7745	0.00	2.42	0.00	0.000	1158	0.000	0.077	2729	2108	1834	1865	1803	0	0	0	0	0	0	14.31	14.19	14.34
8048	0.50	379.9	2730	2108	1866	1802	84.5	9.6	612	8058	0.00	2.47	2.35	0.400	8740	0.000	0.084	2729	726	1816	1846	1786	0	0	0	0	0	0	14.49	14.16	13.70
8150	0.60	419.5	2728	726	1852	1790	75.6	8.2	632	8177	0.12	2.40	22.17	0.432	11430	0.130	0.076	2781	2105	1654	1682	1627	0	0	0	0	0	0	14.23	14.19	13.73
8482	0.60	473.0	2781	2105	1682	1623	43.3	7.5	668	8514	0.00	2.50	27.73	0.334	8868	0.000	0.084	2778	726	1433	1475	1391	0	0	0	0	0	0	14.47	14.11	13.79
8649	0.73	539.1	2781	725	1475	1392	31.2	7.0	701	8689	0.12	2.42	34.05	0.304	11430	0.139	0.079	2834	2111	1164	1229	1100	0	0	0	0	0	0	14.17	14.14	13.81
8985	0.92	741.6	2834	2105	1230	1091	12.4	0.7	738	9077	0.12	2.47	83.75	0.246	10916	0.126	0.085	2890	721	497	536	458	0	0	0	0	0	0	14.16	14.06	13.88
9088	1.03	776.5	2890	722	537	459	6.6	8.4	750	9093	0.00	2.42	0.00	0.000	1190	0.000	0.076	2890	2106	497	536	458	0	0	0	0	0	0	14.12	14.01	14.15
9145	end climb: SURFACE_DEPTH_REACHED
state	9145	begin surface coast
9166	end surface coast: CONTROL_FINISHED_OK
state	9166	begin surface