Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 47 * 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 47 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 143.0

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 48 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 143.0 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 47 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 120817,032802,7147.0532,-14730.8389,35,0.8,35,21.4,0.5,304.7,10,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.16 MHEAD_RNG_PITCHd_Wd 326.5,174429,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.9 D_GRID 480

GPS2 120817,034943,7147.0654,-14730.8809,5,0.7,10,21.4,0.0,0.0,12,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812043014.388380,3,16,06,0106,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B PM_FREEKB_00 59503168

FINISH 0.2,1.019961 _24V_AH 12.65,65.149

SM_CCo 9140,66.38,0.213,0,0,498,702.78 _10V_AH 12.58,0.000

SM_GC 1.28,8.23,0.17,66.38,0.079,0.109,0.213,204,2225,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.18,14.21,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 361 FG_AHR_10Vo 0.000

MODEM 2,1502511268,73.18300,-149.96500,121.544,176442.5 MEM 323472

RAFOS_FIX 7145.095215,-14748.840820,120817,040421,2,255,5.64 DATA_FILE_SIZE 30081,829

IRIDIUM_FIX 7149.94,-14737.02,120817,034207 CAP_FILE_SIZE 117489,0

TT8_MAMPS 0.039697,0.886067 CFSIZE 2097872896,2073886720

HUMID 50.39 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1446.8

TCM_TEMP 13.50 CURRENT 0.054,189.07,1

XPDR_PINGS 13 GPS 120817,062502,7147.909,-14731.235,17,0.8,32,21.4,0.5,19.8,11,8.4

CP_FREE 16011427840.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 451 148.31 nil 0 0 0.00

Roll_motor 94 2135 2548.56 nil 0 0 0.00

VBD_pump_during_apogee 922 1471 17164.80 nil 0 0 0.00

VBD_pump_during_surface 66 212 178.57 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 1673.35

Iridium_during_xfer 793 182 1827.46 NCP 9148 20 2314.44

Transponder_ping 3 420 17.27 PMAR 9095 16 1909.40

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.28

TT8 0 0 0.00

LPSleep 6714 2 195.11

TT8_Active 885 13 155.61

TT8_Sampling 2611 33 1098.68

TT8_CF8 315 38 153.61

TT8_Kalman 0 0 0.00

Analog_circuits 2548 10 320.60

GPS_charging 0 0 0.00

Compass 1197 7 105.46

RAFOS 2213 48 1336.30

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 -145.9 171 2227 512 475 0.0 0.0 0 129 0.00 0.00 -81.57 0.000 16386 0.000 0.000 170 2226 2167 2090 2244 0 0 0 0 0 0 14.31 28.83 14.33

132 -0.57 -145.9 171 2227 2094 2245 3.4 -4.1 8 182 12.70 2.72 -31.83 0.000 18724 0.451 2.136 2378 3587 3964 3951 3977 1 0 0 0 0 0 13.51 12.71 14.07

262 -0.52 -145.9 2379 3589 3960 3977 41.0 -19.8 32 267 0.15 2.40 0.00 0.000 3206 0.273 0.059 2407 2195 3971 3960 3983 0 0 0 0 0 0 13.84 14.04 14.09

582 -0.57 -145.9 2408 2194 3963 3977 87.4 -12.2 64 587 0.00 2.47 0.00 0.000 388 0.000 0.084 2402 3581 3970 3963 3978 0 0 0 0 0 0 14.29 14.00 14.31

652 -0.72 -145.9 2402 3585 3965 3978 95.2 -10.0 78 658 0.17 2.38 0.00 0.000 5286 0.106 0.053 2336 2192 3970 3963 3977 0 0 0 0 0 0 14.07 14.03 14.14

963 -0.68 -145.9 2336 2191 3964 3977 144.5 -15.5 92 968 0.00 2.47 0.00 0.000 388 0.000 0.085 2332 3584 3970 3963 3977 0 0 0 0 0 0 14.30 13.99 14.33

1043 -0.73 -145.9 2332 3586 3963 3978 155.8 -13.0 108 1048 0.00 2.35 0.00 0.000 1158 0.000 0.054 2332 2202 3970 3963 3977 0 0 0 0 0 0 14.16 14.06 14.18

1353 -0.73 -145.9 2333 2201 3964 3976 197.9 -12.9 120 1358 0.00 2.45 0.00 0.000 260 0.000 0.086 2331 3581 3969 3963 3975 0 0 0 0 0 0 14.32 14.01 14.35

1433 -0.81 -145.9 2332 3583 3963 3976 207.0 -10.7 136 1438 0.00 2.38 0.00 0.000 1158 0.000 0.057 2332 2195 3969 3963 3975 0 0 0 0 0 0 14.15 14.04 14.18

1743 -0.86 -145.9 2332 2194 3964 3972 240.7 -10.7 148 1748 0.00 2.47 0.00 0.000 388 0.000 0.089 2332 3582 3967 3963 3972 0 0 0 0 0 0 14.31 14.01 14.33

1798 -0.97 -145.9 2332 3585 3963 3973 246.3 -9.7 159 1805 0.20 2.38 0.00 0.000 5286 0.103 0.057 2258 2197 3967 3963 3972 0 0 0 0 0 0 14.01 14.00 14.09

2103 -0.87 -145.9 2258 2197 3964 3969 296.1 -16.5 170 2109 0.15 2.45 0.00 0.000 2436 0.309 0.080 2281 3579 3965 3962 3969 0 0 0 0 0 0 13.76 14.01 13.95

2221 -0.87 -145.9 2282 3583 3962 3970 311.7 -12.6 193 2227 0.00 2.40 0.00 0.000 1030 0.000 0.058 2281 2193 3965 3961 3969 0 0 0 0 0 0 14.05 13.95 14.07

2525 -0.83 -145.9 2282 2193 3962 3966 352.9 -13.5 204 2530 0.12 2.47 0.00 0.000 2436 0.301 0.084 2305 3583 3963 3961 3966 0 0 0 0 0 0 13.81 14.00 13.97

2632 -0.92 -145.9 2306 3585 3963 3966 364.6 -10.3 225 2636 0.00 2.38 0.00 0.000 1158 0.000 0.056 2305 2193 3963 3961 3966 0 0 0 0 0 0 14.15 14.04 14.18

2947 -0.95 -145.9 2306 2193 3961 3964 399.7 -10.9 238 2952 0.00 2.45 0.00 0.000 388 0.000 0.087 2305 3588 3962 3961 3964 0 0 0 0 0 0 14.31 13.97 14.33

3019 -1.04 -145.9 2306 3589 3961 3965 407.0 -10.1 252 3024 0.20 2.38 0.00 0.000 5254 0.107 0.057 2235 2191 3962 3960 3964 0 0 0 0 0 0 14.07 13.99 14.15

3341 -0.91 -145.9 2235 2191 3960 3964 460.0 -16.8 266 3347 0.20 2.45 0.00 0.000 2436 0.308 0.080 2269 3585 3961 3959 3963 0 0 0 0 0 0 13.74 14.07 13.95

3477 -0.91 -145.9 2270 3586 3959 3964 478.5 -12.2 293 3482 0.00 2.38 0.00 0.000 1030 0.000 0.057 2269 2190 3960 3958 3963 0 0 0 0 0 0 14.24 14.13 14.27

3490 end dive: TARGET_DEPTH_EXCEEDED

state 3490 begin apogee

3496 -0.13 0.0 2270 2067 3959 3963 480.4 -13.2 296 3776 1.05 0.00 276.15 1.306 10246 0.259 0.000 2528 2067 3364 3398 3331 0 0 0 0 0 0 13.85 13.40 12.81

3779 end apogee: CONTROL_FINISHED_OK

state 3779 begin climb

3782 0.57 145.9 2528 2067 3395 3326 493.3 0.0 305 3987 0.75 2.70 197.70 1.342 10500 0.067 0.075 2778 3486 2761 2818 2704 0 0 0 0 0 0 13.47 13.13 12.65

4212 0.17 145.9 2777 3486 2791 2704 453.8 18.7 395 4218 0.70 2.38 0.00 0.000 5254 0.344 0.058 2643 2128 2744 2786 2703 0 0 0 0 0 0 13.45 13.75 13.78

4545 0.09 163.6 2644 2126 2788 2700 421.6 9.2 411 4570 0.00 2.40 18.17 1.471 8612 0.000 0.079 2643 3483 2690 2738 2643 0 0 0 0 0 0 14.28 13.81 13.27

4795 -0.02 163.6 2643 3485 2724 2637 395.0 10.6 461 4800 0.30 2.38 0.00 0.000 5254 0.258 0.058 2581 2097 2679 2723 2636 0 0 0 0 0 0 13.86 14.07 14.12

5115 0.12 255.3 2582 2098 2725 2635 375.7 5.8 475 5270 0.12 2.55 143.02 1.285 10660 0.135 0.081 2637 3490 2318 2374 2262 0 0 0 0 0 0 14.21 13.64 13.09

5284 0.12 255.3 2636 3490 2365 2261 360.2 10.9 503 5290 0.00 2.45 0.00 0.000 1030 0.000 0.060 2645 2099 2311 2364 2258 0 0 0 0 0 0 13.81 13.72 13.83

5601 0.12 255.3 2646 2099 2362 2248 327.4 10.3 516 5605 0.00 2.50 0.00 0.000 516 0.000 0.089 2647 695 2304 2360 2248 0 0 0 0 0 0 14.28 13.99 14.29

5661 0.19 263.5 2647 694 2360 2248 321.4 9.6 528 5666 0.00 2.42 1.30 0.265 9382 0.000 0.079 2647 2074 2292 2347 2237 0 0 0 0 0 0 14.15 14.04 13.87

5991 0.19 263.5 2647 2080 2365 2246 287.7 10.2 544 5997 0.00 2.60 1.52 0.270 8452 0.000 0.083 2647 3516 2288 2344 2233 0 0 0 0 0 0 14.42 14.10 13.88

6022 0.19 263.5 2646 3517 2346 2241 284.4 10.7 550 6027 0.00 2.42 0.00 0.000 1030 0.000 0.061 2655 2106 2293 2346 2241 0 0 0 0 0 0 14.24 14.13 14.26

6352 0.19 263.5 2655 2101 2353 2243 250.3 10.1 566 6357 0.00 2.47 0.00 0.000 516 0.000 0.087 2660 685 2294 2352 2237 0 0 0 0 0 0 14.47 14.14 14.48

6427 0.26 283.2 2660 685 2351 2244 243.1 9.1 581 6473 0.00 2.50 39.85 1.326 9382 0.000 0.080 2659 2112 2212 2270 2154 0 0 0 0 0 0 14.29 14.18 13.40

6774 0.30 287.2 2660 2107 2254 2140 208.8 9.8 600 6775 0.00 0.00 0.00 0.000 166 0.000 0.000 2659 2107 2197 2254 2140 0 0 0 0 0 0 14.41 14.38 14.38

7072 0.36 320.8 2660 2106 2256 2138 182.7 8.5 610 7138 0.12 2.55 58.97 1.282 10916 0.138 0.086 2717 685 2053 2104 2003 0 0 0 0 0 0 14.18 13.88 13.33

7193 0.36 320.8 2717 686 2096 2004 168.6 11.2 634 7198 0.00 2.53 0.00 0.000 1030 0.000 0.079 2717 2100 2048 2095 2001 0 0 0 0 0 0 14.05 13.95 14.08

7524 0.33 320.8 2718 2101 2096 1996 132.9 10.3 650 7525 0.12 0.00 0.00 0.000 4230 0.239 0.000 2691 2102 2045 2094 1996 0 0 0 0 0 0 13.97 14.21 14.17

7824 0.41 371.4 2692 2102 2095 1992 109.1 7.7 660 7915 0.00 2.62 82.28 1.219 8868 0.000 0.088 2697 685 1849 1890 1808 0 0 0 0 0 0 14.42 13.81 13.28

7975 0.58 416.4 2699 685 1873 1807 97.0 7.9 690 8002 0.22 2.55 22.35 0.501 11430 0.097 0.079 2782 2106 1665 1700 1631 0 0 0 0 0 0 13.95 13.89 13.55

8307 0.54 416.4 2783 2107 1701 1627 54.4 12.3 726 8312 0.00 2.53 0.00 0.000 644 0.000 0.086 2791 687 1663 1700 1627 0 0 0 0 0 0 14.29 14.00 14.31

8357 0.54 416.4 2792 687 1699 1628 48.7 11.2 736 8362 0.15 2.53 0.00 0.000 5126 0.247 0.079 2761 2111 1662 1698 1627 0 0 0 0 0 0 13.88 14.02 14.10

8668 0.65 512.4 2761 2111 1699 1624 26.8 5.6 768 8721 0.00 2.60 47.75 0.295 8868 0.000 0.086 2765 687 1277 1347 1207 0 0 0 0 0 0 14.38 13.96 13.83

8793 0.87 578.9 2766 686 1339 1209 18.7 6.9 792 8836 0.30 2.50 33.30 0.269 11430 0.088 0.079 2877 2101 1002 1080 925 0 0 0 0 0 0 14.11 14.07 13.81

9088 end climb: SURFACE_DEPTH_REACHED

state 9088 begin surface coast

9119 end surface coast: CONTROL_FINISHED_OK

state 9119 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	47	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	143.0
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	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,032802,7147.0532,-14730.8389,35,0.8,35,21.4,0.5,304.7,10,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.16	MHEAD_RNG_PITCHd_Wd	326.5,174429,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.9	D_GRID	480
GPS2	120817,034943,7147.0654,-14730.8809,5,0.7,10,21.4,0.0,0.0,12,9.2

MODEM_MSG	CACST,6,1,20170812043014.388380,3,16,06,0106,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B	PM_FREEKB_00	59503168
FINISH	0.2,1.019961	_24V_AH	12.65,65.149
SM_CCo	9140,66.38,0.213,0,0,498,702.78	_10V_AH	12.58,0.000
SM_GC	1.28,8.23,0.17,66.38,0.079,0.109,0.213,204,2225,498,-7.37,-0.76,702.78,0,0,0,0,0,0,14.18,14.21,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	361	FG_AHR_10Vo	0.000
MODEM	2,1502511268,73.18300,-149.96500,121.544,176442.5	MEM	323472
RAFOS_FIX	7145.095215,-14748.840820,120817,040421,2,255,5.64	DATA_FILE_SIZE	30081,829
IRIDIUM_FIX	7149.94,-14737.02,120817,034207	CAP_FILE_SIZE	117489,0
TT8_MAMPS	0.039697,0.886067	CFSIZE	2097872896,2073886720
HUMID	50.39	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1446.8
TCM_TEMP	13.50	CURRENT	0.054,189.07,1
XPDR_PINGS	13	GPS	120817,062502,7147.909,-14731.235,17,0.8,32,21.4,0.5,19.8,11,8.4
CP_FREE	16011427840.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	451	148.31	nil	0	0	0.00
Roll_motor	94	2135	2548.56	nil	0	0	0.00
VBD_pump_during_apogee	922	1471	17164.80	nil	0	0	0.00
VBD_pump_during_surface	66	212	178.57	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	1673.35
Iridium_during_xfer	793	182	1827.46	NCP	9148	20	2314.44
Transponder_ping	3	420	17.27	PMAR	9095	16	1909.40
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.28
TT8	0	0	0.00
LPSleep	6714	2	195.11
TT8_Active	885	13	155.61
TT8_Sampling	2611	33	1098.68
TT8_CF8	315	38	153.61
TT8_Kalman	0	0	0.00
Analog_circuits	2548	10	320.60
GPS_charging	0	0	0.00
Compass	1197	7	105.46
RAFOS	2213	48	1336.30
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	171	2227	512	475	0.0	0.0	0	129	0.00	0.00	-81.57	0.000	16386	0.000	0.000	170	2226	2167	2090	2244	0	0	0	0	0	0	14.31	28.83	14.33
132	-0.57	-145.9	171	2227	2094	2245	3.4	-4.1	8	182	12.70	2.72	-31.83	0.000	18724	0.451	2.136	2378	3587	3964	3951	3977	1	0	0	0	0	0	13.51	12.71	14.07
262	-0.52	-145.9	2379	3589	3960	3977	41.0	-19.8	32	267	0.15	2.40	0.00	0.000	3206	0.273	0.059	2407	2195	3971	3960	3983	0	0	0	0	0	0	13.84	14.04	14.09
582	-0.57	-145.9	2408	2194	3963	3977	87.4	-12.2	64	587	0.00	2.47	0.00	0.000	388	0.000	0.084	2402	3581	3970	3963	3978	0	0	0	0	0	0	14.29	14.00	14.31
652	-0.72	-145.9	2402	3585	3965	3978	95.2	-10.0	78	658	0.17	2.38	0.00	0.000	5286	0.106	0.053	2336	2192	3970	3963	3977	0	0	0	0	0	0	14.07	14.03	14.14
963	-0.68	-145.9	2336	2191	3964	3977	144.5	-15.5	92	968	0.00	2.47	0.00	0.000	388	0.000	0.085	2332	3584	3970	3963	3977	0	0	0	0	0	0	14.30	13.99	14.33
1043	-0.73	-145.9	2332	3586	3963	3978	155.8	-13.0	108	1048	0.00	2.35	0.00	0.000	1158	0.000	0.054	2332	2202	3970	3963	3977	0	0	0	0	0	0	14.16	14.06	14.18
1353	-0.73	-145.9	2333	2201	3964	3976	197.9	-12.9	120	1358	0.00	2.45	0.00	0.000	260	0.000	0.086	2331	3581	3969	3963	3975	0	0	0	0	0	0	14.32	14.01	14.35
1433	-0.81	-145.9	2332	3583	3963	3976	207.0	-10.7	136	1438	0.00	2.38	0.00	0.000	1158	0.000	0.057	2332	2195	3969	3963	3975	0	0	0	0	0	0	14.15	14.04	14.18
1743	-0.86	-145.9	2332	2194	3964	3972	240.7	-10.7	148	1748	0.00	2.47	0.00	0.000	388	0.000	0.089	2332	3582	3967	3963	3972	0	0	0	0	0	0	14.31	14.01	14.33
1798	-0.97	-145.9	2332	3585	3963	3973	246.3	-9.7	159	1805	0.20	2.38	0.00	0.000	5286	0.103	0.057	2258	2197	3967	3963	3972	0	0	0	0	0	0	14.01	14.00	14.09
2103	-0.87	-145.9	2258	2197	3964	3969	296.1	-16.5	170	2109	0.15	2.45	0.00	0.000	2436	0.309	0.080	2281	3579	3965	3962	3969	0	0	0	0	0	0	13.76	14.01	13.95
2221	-0.87	-145.9	2282	3583	3962	3970	311.7	-12.6	193	2227	0.00	2.40	0.00	0.000	1030	0.000	0.058	2281	2193	3965	3961	3969	0	0	0	0	0	0	14.05	13.95	14.07
2525	-0.83	-145.9	2282	2193	3962	3966	352.9	-13.5	204	2530	0.12	2.47	0.00	0.000	2436	0.301	0.084	2305	3583	3963	3961	3966	0	0	0	0	0	0	13.81	14.00	13.97
2632	-0.92	-145.9	2306	3585	3963	3966	364.6	-10.3	225	2636	0.00	2.38	0.00	0.000	1158	0.000	0.056	2305	2193	3963	3961	3966	0	0	0	0	0	0	14.15	14.04	14.18
2947	-0.95	-145.9	2306	2193	3961	3964	399.7	-10.9	238	2952	0.00	2.45	0.00	0.000	388	0.000	0.087	2305	3588	3962	3961	3964	0	0	0	0	0	0	14.31	13.97	14.33
3019	-1.04	-145.9	2306	3589	3961	3965	407.0	-10.1	252	3024	0.20	2.38	0.00	0.000	5254	0.107	0.057	2235	2191	3962	3960	3964	0	0	0	0	0	0	14.07	13.99	14.15
3341	-0.91	-145.9	2235	2191	3960	3964	460.0	-16.8	266	3347	0.20	2.45	0.00	0.000	2436	0.308	0.080	2269	3585	3961	3959	3963	0	0	0	0	0	0	13.74	14.07	13.95
3477	-0.91	-145.9	2270	3586	3959	3964	478.5	-12.2	293	3482	0.00	2.38	0.00	0.000	1030	0.000	0.057	2269	2190	3960	3958	3963	0	0	0	0	0	0	14.24	14.13	14.27
3490	end dive: TARGET_DEPTH_EXCEEDED
state	3490	begin apogee
3496	-0.13	0.0	2270	2067	3959	3963	480.4	-13.2	296	3776	1.05	0.00	276.15	1.306	10246	0.259	0.000	2528	2067	3364	3398	3331	0	0	0	0	0	0	13.85	13.40	12.81
3779	end apogee: CONTROL_FINISHED_OK
state	3779	begin climb
3782	0.57	145.9	2528	2067	3395	3326	493.3	0.0	305	3987	0.75	2.70	197.70	1.342	10500	0.067	0.075	2778	3486	2761	2818	2704	0	0	0	0	0	0	13.47	13.13	12.65
4212	0.17	145.9	2777	3486	2791	2704	453.8	18.7	395	4218	0.70	2.38	0.00	0.000	5254	0.344	0.058	2643	2128	2744	2786	2703	0	0	0	0	0	0	13.45	13.75	13.78
4545	0.09	163.6	2644	2126	2788	2700	421.6	9.2	411	4570	0.00	2.40	18.17	1.471	8612	0.000	0.079	2643	3483	2690	2738	2643	0	0	0	0	0	0	14.28	13.81	13.27
4795	-0.02	163.6	2643	3485	2724	2637	395.0	10.6	461	4800	0.30	2.38	0.00	0.000	5254	0.258	0.058	2581	2097	2679	2723	2636	0	0	0	0	0	0	13.86	14.07	14.12
5115	0.12	255.3	2582	2098	2725	2635	375.7	5.8	475	5270	0.12	2.55	143.02	1.285	10660	0.135	0.081	2637	3490	2318	2374	2262	0	0	0	0	0	0	14.21	13.64	13.09
5284	0.12	255.3	2636	3490	2365	2261	360.2	10.9	503	5290	0.00	2.45	0.00	0.000	1030	0.000	0.060	2645	2099	2311	2364	2258	0	0	0	0	0	0	13.81	13.72	13.83
5601	0.12	255.3	2646	2099	2362	2248	327.4	10.3	516	5605	0.00	2.50	0.00	0.000	516	0.000	0.089	2647	695	2304	2360	2248	0	0	0	0	0	0	14.28	13.99	14.29
5661	0.19	263.5	2647	694	2360	2248	321.4	9.6	528	5666	0.00	2.42	1.30	0.265	9382	0.000	0.079	2647	2074	2292	2347	2237	0	0	0	0	0	0	14.15	14.04	13.87
5991	0.19	263.5	2647	2080	2365	2246	287.7	10.2	544	5997	0.00	2.60	1.52	0.270	8452	0.000	0.083	2647	3516	2288	2344	2233	0	0	0	0	0	0	14.42	14.10	13.88
6022	0.19	263.5	2646	3517	2346	2241	284.4	10.7	550	6027	0.00	2.42	0.00	0.000	1030	0.000	0.061	2655	2106	2293	2346	2241	0	0	0	0	0	0	14.24	14.13	14.26
6352	0.19	263.5	2655	2101	2353	2243	250.3	10.1	566	6357	0.00	2.47	0.00	0.000	516	0.000	0.087	2660	685	2294	2352	2237	0	0	0	0	0	0	14.47	14.14	14.48
6427	0.26	283.2	2660	685	2351	2244	243.1	9.1	581	6473	0.00	2.50	39.85	1.326	9382	0.000	0.080	2659	2112	2212	2270	2154	0	0	0	0	0	0	14.29	14.18	13.40
6774	0.30	287.2	2660	2107	2254	2140	208.8	9.8	600	6775	0.00	0.00	0.00	0.000	166	0.000	0.000	2659	2107	2197	2254	2140	0	0	0	0	0	0	14.41	14.38	14.38
7072	0.36	320.8	2660	2106	2256	2138	182.7	8.5	610	7138	0.12	2.55	58.97	1.282	10916	0.138	0.086	2717	685	2053	2104	2003	0	0	0	0	0	0	14.18	13.88	13.33
7193	0.36	320.8	2717	686	2096	2004	168.6	11.2	634	7198	0.00	2.53	0.00	0.000	1030	0.000	0.079	2717	2100	2048	2095	2001	0	0	0	0	0	0	14.05	13.95	14.08
7524	0.33	320.8	2718	2101	2096	1996	132.9	10.3	650	7525	0.12	0.00	0.00	0.000	4230	0.239	0.000	2691	2102	2045	2094	1996	0	0	0	0	0	0	13.97	14.21	14.17
7824	0.41	371.4	2692	2102	2095	1992	109.1	7.7	660	7915	0.00	2.62	82.28	1.219	8868	0.000	0.088	2697	685	1849	1890	1808	0	0	0	0	0	0	14.42	13.81	13.28
7975	0.58	416.4	2699	685	1873	1807	97.0	7.9	690	8002	0.22	2.55	22.35	0.501	11430	0.097	0.079	2782	2106	1665	1700	1631	0	0	0	0	0	0	13.95	13.89	13.55
8307	0.54	416.4	2783	2107	1701	1627	54.4	12.3	726	8312	0.00	2.53	0.00	0.000	644	0.000	0.086	2791	687	1663	1700	1627	0	0	0	0	0	0	14.29	14.00	14.31
8357	0.54	416.4	2792	687	1699	1628	48.7	11.2	736	8362	0.15	2.53	0.00	0.000	5126	0.247	0.079	2761	2111	1662	1698	1627	0	0	0	0	0	0	13.88	14.02	14.10
8668	0.65	512.4	2761	2111	1699	1624	26.8	5.6	768	8721	0.00	2.60	47.75	0.295	8868	0.000	0.086	2765	687	1277	1347	1207	0	0	0	0	0	0	14.38	13.96	13.83
8793	0.87	578.9	2766	686	1339	1209	18.7	6.9	792	8836	0.30	2.50	33.30	0.269	11430	0.088	0.079	2877	2101	1002	1080	925	0	0	0	0	0	0	14.11	14.07	13.81
9088	end climb: SURFACE_DEPTH_REACHED
state	9088	begin surface coast
9119	end surface coast: CONTROL_FINISHED_OK
state	9119	begin surface