Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 67 * 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 67 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 194.0

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 24 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 24 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 194.0 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 24 VBD_MIN 500

DIVE 67 NOCOMM_ACTION 161 R_STBD_OVSHOOT 24 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 140817,113432,7208.3101,-14755.2334,31,0.7,31,21.3,0.0,0.0,11,8.2 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 1.26 MHEAD_RNG_PITCHd_Wd 319.1,133614,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -72.6 D_GRID 480

GPS2 140817,114504,7208.2759,-14755.2881,5,0.8,12,21.3,0.0,204.6,11,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814122945.363449,3,14,05,0107,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C PM_FREEKB_00 58029248

FINISH 0.3,1.020038 _24V_AH 12.64,74.413

SM_CCo 8937,36.47,0.211,0,0,500,702.78 _10V_AH 12.52,0.000

SM_GC 1.54,8.05,0.20,36.47,0.070,0.127,0.211,197,2212,500,-7.38,-0.65,702.78,0,0,0,0,0,0,14.21,14.18,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 355 FG_AHR_10Vo 0.000

MODEM 0,1502712311,75.36600,-145.04601,257.139,373205.2 MEM 323532

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 DATA_FILE_SIZE 26707,753

IRIDIUM_FIX 7207.12,-14744.08,140817,085942 CAP_FILE_SIZE 106612,0

TT8_MAMPS 0.038948,0.898051 CFSIZE 2097872896,2068119552

HUMID 50.31 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.80105 SOUNDSPEED 1451.6

TCM_TEMP 13.50 CURRENT 0.066,255.42,1

XPDR_PINGS 11 GPS 140817,141632,7209.272,-14756.969,19,0.7,35,21.3,0.2,56.4,11,6.8

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 141.87 nil 0 0 0.00

Roll_motor 89 2148 2443.02 nil 0 0 0.00

VBD_pump_during_apogee 900 1467 16701.86 nil 0 0 0.00

VBD_pump_during_surface 36 211 97.34 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 8897 14 1638.51

Iridium_during_xfer 361 188 859.79 NCP 8935 20 2258.77

Transponder_ping 2 420 14.60 PMAR 8893 16 1865.85

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.76

TT8 0 0 0.00

LPSleep 6282 2 181.70

TT8_Active 855 13 149.67

TT8_Sampling 2200 33 921.17

TT8_CF8 283 38 137.16

TT8_Kalman 0 0 0.00

Analog_circuits 2055 10 257.39

GPS_charging 0 0 0.00

Compass 1083 7 94.91

RAFOS 2219 48 1333.53

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

45 -0.57 -145.9 167 2206 520 462 0.0 0.0 0 128 0.00 0.00 -80.95 0.000 16386 0.000 0.000 164 2206 2155 2082 2229 0 0 0 0 0 0 14.35 28.83 14.37

131 -0.57 -145.9 165 2206 2085 2230 4.1 -5.9 8 185 12.65 2.80 -31.17 0.000 18724 0.452 2.148 2376 3600 3966 3955 3977 0 0 0 0 0 0 13.72 12.71 13.97

410 -0.57 -145.9 2376 3603 3965 3977 65.6 -14.7 63 416 0.00 2.42 0.00 0.000 1030 0.000 0.059 2376 2190 3971 3965 3977 0 0 0 0 0 0 14.12 14.01 14.15

717 -0.57 -145.9 2376 2189 3967 3977 112.7 -14.1 88 721 0.00 2.50 0.00 0.000 260 0.000 0.082 2365 3610 3971 3966 3977 0 0 0 0 0 0 14.44 14.14 14.46

796 -0.67 -145.9 2365 3611 3967 3978 123.1 -11.5 104 801 0.00 2.40 0.00 0.000 1158 0.000 0.055 2365 2189 3971 3966 3977 0 0 0 0 0 0 14.28 14.18 14.31

1108 -0.71 -145.9 2363 2188 3966 3978 162.2 -12.1 116 1113 0.00 2.53 0.00 0.000 388 0.000 0.084 2356 3616 3971 3966 3977 0 0 0 0 0 0 14.36 14.05 14.38

1163 -0.83 -145.9 2356 3617 3967 3978 168.6 -10.6 127 1170 0.15 2.42 0.00 0.000 5254 0.122 0.055 2295 2195 3971 3966 3977 0 0 0 0 0 0 14.09 14.07 14.19

1468 -0.76 -145.9 2295 2194 3966 3977 218.5 -15.9 138 1473 0.12 2.50 0.00 0.000 2436 0.288 0.083 2319 3609 3971 3965 3977 0 0 0 0 0 0 13.88 14.07 14.03

1575 -0.83 -145.9 2315 3609 3965 3978 231.1 -11.0 159 1580 0.00 2.40 0.00 0.000 1158 0.000 0.054 2319 2198 3970 3964 3977 0 0 0 0 0 0 14.18 14.08 14.20

1890 -0.83 -145.9 2319 2196 3965 3974 267.9 -11.5 172 1895 0.00 2.50 0.00 0.000 260 0.000 0.085 2311 3610 3970 3965 3975 0 0 0 0 0 0 14.37 14.05 14.39

1950 -0.92 -145.9 2311 3610 3965 3974 274.7 -10.9 184 1955 0.00 2.40 0.00 0.000 1158 0.000 0.057 2311 2200 3969 3964 3974 0 0 0 0 0 0 14.20 14.09 14.23

2280 -0.94 -145.9 2310 2199 3965 3972 312.8 -11.3 200 2285 0.00 2.50 0.00 0.000 388 0.000 0.085 2305 3610 3968 3964 3972 0 0 0 0 0 0 14.37 14.03 14.38

2305 -0.98 -145.9 2306 3610 3965 3970 315.6 -11.4 205 2313 0.12 2.42 0.00 0.000 5254 0.135 0.059 2256 2202 3967 3964 3971 0 0 0 0 0 0 14.07 14.03 14.15

2610 -0.90 -145.9 2257 2201 3964 3969 362.9 -15.7 216 2616 0.12 2.50 0.00 0.000 2436 0.323 0.081 2273 3609 3966 3963 3970 0 0 0 0 0 0 13.81 14.05 13.99

2710 -0.90 -145.9 2273 3610 3963 3970 376.8 -13.2 236 2715 0.00 2.42 0.00 0.000 1030 0.000 0.060 2273 2201 3966 3962 3970 0 0 0 0 0 0 14.19 14.08 14.22

3031 -0.85 -145.9 2273 2200 3963 3969 421.4 -14.0 250 3036 0.12 2.50 0.00 0.000 2436 0.317 0.083 2292 3611 3965 3962 3969 0 0 0 0 0 0 13.82 14.04 13.99

3121 -0.93 -145.9 2293 3613 3962 3969 431.9 -10.4 267 3127 0.00 2.42 0.00 0.000 1158 0.000 0.057 2293 2195 3965 3962 3968 0 0 0 0 0 0 14.18 14.04 14.17

3426 -0.93 -145.9 2293 2194 3962 3967 467.5 -11.8 278 3430 0.00 2.47 0.00 0.000 260 0.000 0.084 2285 3615 3963 3961 3966 0 0 0 0 0 0 14.36 14.01 14.38

3506 -1.00 -145.9 2284 3616 3962 3967 476.7 -10.9 294 3511 0.00 2.42 0.00 0.000 1158 0.000 0.057 2285 2198 3964 3961 3967 0 0 0 0 0 0 14.16 14.05 14.19

3544 end dive: TARGET_DEPTH_EXCEEDED

state 3544 begin apogee

3550 -0.13 0.0 2286 2061 3962 3969 481.4 -11.6 297 3768 0.98 0.08 215.23 1.416 10246 0.238 0.180 2531 2105 3362 3391 3333 0 0 0 0 0 0 13.85 13.40 12.78

3772 end apogee: CONTROL_FINISHED_OK

state 3772 begin climb

3776 0.57 145.9 2533 2106 3390 3322 491.7 0.0 304 3986 0.73 2.65 198.68 1.368 10500 0.067 0.074 2777 3498 2759 2815 2704 0 0 0 0 0 0 13.53 13.11 12.64

4213 0.16 145.9 2778 3499 2791 2705 454.7 17.3 350 4218 0.73 2.40 0.00 0.000 5254 0.344 0.057 2637 2123 2747 2791 2704 0 0 0 0 0 0 13.48 13.78 13.81

4524 0.10 174.3 2638 2123 2792 2704 426.1 8.7 362 4565 0.00 2.55 36.58 1.424 8612 0.000 0.081 2638 3509 2650 2702 2598 0 0 0 0 0 0 14.28 13.81 13.19

4790 0.01 174.3 2638 3510 2686 2593 398.8 10.5 415 4796 0.25 2.42 0.00 0.000 5254 0.250 0.058 2590 2095 2638 2685 2591 0 0 0 0 0 0 13.81 14.05 14.10

5095 0.11 247.6 2591 2095 2687 2589 378.1 6.6 426 5217 0.00 0.00 116.43 1.311 8358 0.000 0.000 2592 2094 2349 2405 2293 0 0 0 0 0 0 14.44 13.74 13.11

5515 0.28 320.4 2590 2094 2394 2281 349.9 6.6 440 5636 0.22 2.58 112.10 1.277 10916 0.096 0.089 2685 693 2051 2104 1998 0 0 0 0 0 0 14.11 13.64 13.06

5678 0.30 320.4 2685 693 2092 2000 329.3 12.4 472 5683 0.00 2.53 0.00 0.000 1158 0.000 0.076 2685 2092 2042 2092 1993 0 0 0 0 0 0 13.83 13.74 13.85

5998 0.30 320.4 2686 2093 2090 1983 287.2 13.0 486 5999 0.00 0.00 0.00 0.000 6 0.000 0.000 2685 2093 2036 2089 1983 0 0 0 0 0 0 14.31 14.33 14.33

6298 0.30 320.4 2686 2093 2089 1981 248.2 12.9 496 6303 0.00 2.50 0.00 0.000 516 0.000 0.088 2685 684 2034 2088 1981 0 0 0 0 0 0 14.43 14.12 14.45

6363 0.35 320.4 2686 684 2088 1981 240.5 11.4 509 6369 0.00 2.47 0.00 0.000 1158 0.000 0.077 2685 2105 2033 2086 1981 0 0 0 0 0 0 14.28 14.17 14.32

6689 0.35 320.4 2686 2106 2086 1980 203.3 10.8 524 6694 0.00 2.45 0.00 0.000 260 0.000 0.082 2686 3513 2032 2085 1980 0 0 0 0 0 0 14.51 14.20 14.52

6714 0.35 320.4 2685 3515 2084 1981 200.5 11.9 529 6722 0.00 2.42 0.00 0.000 1030 0.000 0.065 2685 2101 2031 2083 1980 0 0 0 0 0 0 14.34 14.23 14.38

7019 0.36 335.0 2686 2101 2084 1979 170.8 9.3 540 7039 0.00 2.53 12.18 1.467 8740 0.000 0.089 2685 687 1998 2050 1946 0 0 0 0 0 0 14.53 14.21 13.45

7106 0.47 368.1 2685 688 2042 1946 163.5 8.5 557 7172 0.15 2.47 60.75 1.257 11430 0.127 0.079 2751 2104 1863 1901 1826 0 0 0 0 0 0 14.21 14.16 13.33

7469 0.42 368.1 2751 2104 1885 1810 115.2 13.2 580 7471 0.15 0.00 0.00 0.000 4230 0.249 0.000 2726 2104 1847 1884 1810 0 0 0 0 0 0 13.93 14.23 14.19

7771 0.46 380.8 2720 2105 1885 1807 84.8 9.4 600 7783 0.00 2.50 5.05 0.396 8868 0.000 0.085 2723 683 1810 1848 1773 0 0 0 0 0 0 14.43 13.99 13.69

7843 0.57 412.0 2729 683 1853 1781 78.3 8.6 614 7866 0.12 2.50 18.55 0.434 11430 0.132 0.079 2781 2103 1688 1716 1661 0 0 0 0 0 0 14.19 14.14 13.74

8163 0.54 427.3 2781 2105 1724 1657 40.8 9.3 648 8180 0.00 2.55 9.45 0.317 8868 0.000 0.086 2781 692 1621 1657 1586 0 0 0 0 0 0 14.42 14.11 13.83

8252 0.61 469.0 2781 693 1664 1593 33.2 8.1 665 8281 0.00 2.47 23.83 0.297 9382 0.000 0.077 2781 2103 1450 1494 1406 0 0 0 0 0 0 14.21 14.09 13.81

8576 0.81 613.8 2782 2103 1498 1407 14.9 3.3 700 8662 0.15 2.53 77.55 0.246 10660 0.125 0.083 2851 3504 862 946 779 0 0 0 0 0 0 14.14 14.03 13.88

8802 0.89 635.3 2851 3506 946 784 4.6 9.0 744 8824 0.00 2.45 14.20 0.220 9382 0.000 0.067 2856 2092 772 851 693 0 0 0 0 0 0 14.18 14.09 13.83

8840 end climb: SURFACE_DEPTH_REACHED

state 8840 begin surface coast

8870 end surface coast: CONTROL_FINISHED_OK

state 8870 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	67	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	194.0
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	24	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,113432,7208.3101,-14755.2334,31,0.7,31,21.3,0.0,0.0,11,8.2	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	1.26	MHEAD_RNG_PITCHd_Wd	319.1,133614,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-72.6	D_GRID	480
GPS2	140817,114504,7208.2759,-14755.2881,5,0.8,12,21.3,0.0,204.6,11,8.8

MODEM_MSG	CACST,6,1,20170814122945.363449,3,14,05,0107,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3C	PM_FREEKB_00	58029248
FINISH	0.3,1.020038	_24V_AH	12.64,74.413
SM_CCo	8937,36.47,0.211,0,0,500,702.78	_10V_AH	12.52,0.000
SM_GC	1.54,8.05,0.20,36.47,0.070,0.127,0.211,197,2212,500,-7.38,-0.65,702.78,0,0,0,0,0,0,14.21,14.18,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	355	FG_AHR_10Vo	0.000
MODEM	0,1502712311,75.36600,-145.04601,257.139,373205.2	MEM	323532
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	DATA_FILE_SIZE	26707,753
IRIDIUM_FIX	7207.12,-14744.08,140817,085942	CAP_FILE_SIZE	106612,0
TT8_MAMPS	0.038948,0.898051	CFSIZE	2097872896,2068119552
HUMID	50.31	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.80105	SOUNDSPEED	1451.6
TCM_TEMP	13.50	CURRENT	0.066,255.42,1
XPDR_PINGS	11	GPS	140817,141632,7209.272,-14756.969,19,0.7,35,21.3,0.2,56.4,11,6.8
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	141.87	nil	0	0	0.00
Roll_motor	89	2148	2443.02	nil	0	0	0.00
VBD_pump_during_apogee	900	1467	16701.86	nil	0	0	0.00
VBD_pump_during_surface	36	211	97.34	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	8897	14	1638.51
Iridium_during_xfer	361	188	859.79	NCP	8935	20	2258.77
Transponder_ping	2	420	14.60	PMAR	8893	16	1865.85
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.76
TT8	0	0	0.00
LPSleep	6282	2	181.70
TT8_Active	855	13	149.67
TT8_Sampling	2200	33	921.17
TT8_CF8	283	38	137.16
TT8_Kalman	0	0	0.00
Analog_circuits	2055	10	257.39
GPS_charging	0	0	0.00
Compass	1083	7	94.91
RAFOS	2219	48	1333.53
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
45	-0.57	-145.9	167	2206	520	462	0.0	0.0	0	128	0.00	0.00	-80.95	0.000	16386	0.000	0.000	164	2206	2155	2082	2229	0	0	0	0	0	0	14.35	28.83	14.37
131	-0.57	-145.9	165	2206	2085	2230	4.1	-5.9	8	185	12.65	2.80	-31.17	0.000	18724	0.452	2.148	2376	3600	3966	3955	3977	0	0	0	0	0	0	13.72	12.71	13.97
410	-0.57	-145.9	2376	3603	3965	3977	65.6	-14.7	63	416	0.00	2.42	0.00	0.000	1030	0.000	0.059	2376	2190	3971	3965	3977	0	0	0	0	0	0	14.12	14.01	14.15
717	-0.57	-145.9	2376	2189	3967	3977	112.7	-14.1	88	721	0.00	2.50	0.00	0.000	260	0.000	0.082	2365	3610	3971	3966	3977	0	0	0	0	0	0	14.44	14.14	14.46
796	-0.67	-145.9	2365	3611	3967	3978	123.1	-11.5	104	801	0.00	2.40	0.00	0.000	1158	0.000	0.055	2365	2189	3971	3966	3977	0	0	0	0	0	0	14.28	14.18	14.31
1108	-0.71	-145.9	2363	2188	3966	3978	162.2	-12.1	116	1113	0.00	2.53	0.00	0.000	388	0.000	0.084	2356	3616	3971	3966	3977	0	0	0	0	0	0	14.36	14.05	14.38
1163	-0.83	-145.9	2356	3617	3967	3978	168.6	-10.6	127	1170	0.15	2.42	0.00	0.000	5254	0.122	0.055	2295	2195	3971	3966	3977	0	0	0	0	0	0	14.09	14.07	14.19
1468	-0.76	-145.9	2295	2194	3966	3977	218.5	-15.9	138	1473	0.12	2.50	0.00	0.000	2436	0.288	0.083	2319	3609	3971	3965	3977	0	0	0	0	0	0	13.88	14.07	14.03
1575	-0.83	-145.9	2315	3609	3965	3978	231.1	-11.0	159	1580	0.00	2.40	0.00	0.000	1158	0.000	0.054	2319	2198	3970	3964	3977	0	0	0	0	0	0	14.18	14.08	14.20
1890	-0.83	-145.9	2319	2196	3965	3974	267.9	-11.5	172	1895	0.00	2.50	0.00	0.000	260	0.000	0.085	2311	3610	3970	3965	3975	0	0	0	0	0	0	14.37	14.05	14.39
1950	-0.92	-145.9	2311	3610	3965	3974	274.7	-10.9	184	1955	0.00	2.40	0.00	0.000	1158	0.000	0.057	2311	2200	3969	3964	3974	0	0	0	0	0	0	14.20	14.09	14.23
2280	-0.94	-145.9	2310	2199	3965	3972	312.8	-11.3	200	2285	0.00	2.50	0.00	0.000	388	0.000	0.085	2305	3610	3968	3964	3972	0	0	0	0	0	0	14.37	14.03	14.38
2305	-0.98	-145.9	2306	3610	3965	3970	315.6	-11.4	205	2313	0.12	2.42	0.00	0.000	5254	0.135	0.059	2256	2202	3967	3964	3971	0	0	0	0	0	0	14.07	14.03	14.15
2610	-0.90	-145.9	2257	2201	3964	3969	362.9	-15.7	216	2616	0.12	2.50	0.00	0.000	2436	0.323	0.081	2273	3609	3966	3963	3970	0	0	0	0	0	0	13.81	14.05	13.99
2710	-0.90	-145.9	2273	3610	3963	3970	376.8	-13.2	236	2715	0.00	2.42	0.00	0.000	1030	0.000	0.060	2273	2201	3966	3962	3970	0	0	0	0	0	0	14.19	14.08	14.22
3031	-0.85	-145.9	2273	2200	3963	3969	421.4	-14.0	250	3036	0.12	2.50	0.00	0.000	2436	0.317	0.083	2292	3611	3965	3962	3969	0	0	0	0	0	0	13.82	14.04	13.99
3121	-0.93	-145.9	2293	3613	3962	3969	431.9	-10.4	267	3127	0.00	2.42	0.00	0.000	1158	0.000	0.057	2293	2195	3965	3962	3968	0	0	0	0	0	0	14.18	14.04	14.17
3426	-0.93	-145.9	2293	2194	3962	3967	467.5	-11.8	278	3430	0.00	2.47	0.00	0.000	260	0.000	0.084	2285	3615	3963	3961	3966	0	0	0	0	0	0	14.36	14.01	14.38
3506	-1.00	-145.9	2284	3616	3962	3967	476.7	-10.9	294	3511	0.00	2.42	0.00	0.000	1158	0.000	0.057	2285	2198	3964	3961	3967	0	0	0	0	0	0	14.16	14.05	14.19
3544	end dive: TARGET_DEPTH_EXCEEDED
state	3544	begin apogee
3550	-0.13	0.0	2286	2061	3962	3969	481.4	-11.6	297	3768	0.98	0.08	215.23	1.416	10246	0.238	0.180	2531	2105	3362	3391	3333	0	0	0	0	0	0	13.85	13.40	12.78
3772	end apogee: CONTROL_FINISHED_OK
state	3772	begin climb
3776	0.57	145.9	2533	2106	3390	3322	491.7	0.0	304	3986	0.73	2.65	198.68	1.368	10500	0.067	0.074	2777	3498	2759	2815	2704	0	0	0	0	0	0	13.53	13.11	12.64
4213	0.16	145.9	2778	3499	2791	2705	454.7	17.3	350	4218	0.73	2.40	0.00	0.000	5254	0.344	0.057	2637	2123	2747	2791	2704	0	0	0	0	0	0	13.48	13.78	13.81
4524	0.10	174.3	2638	2123	2792	2704	426.1	8.7	362	4565	0.00	2.55	36.58	1.424	8612	0.000	0.081	2638	3509	2650	2702	2598	0	0	0	0	0	0	14.28	13.81	13.19
4790	0.01	174.3	2638	3510	2686	2593	398.8	10.5	415	4796	0.25	2.42	0.00	0.000	5254	0.250	0.058	2590	2095	2638	2685	2591	0	0	0	0	0	0	13.81	14.05	14.10
5095	0.11	247.6	2591	2095	2687	2589	378.1	6.6	426	5217	0.00	0.00	116.43	1.311	8358	0.000	0.000	2592	2094	2349	2405	2293	0	0	0	0	0	0	14.44	13.74	13.11
5515	0.28	320.4	2590	2094	2394	2281	349.9	6.6	440	5636	0.22	2.58	112.10	1.277	10916	0.096	0.089	2685	693	2051	2104	1998	0	0	0	0	0	0	14.11	13.64	13.06
5678	0.30	320.4	2685	693	2092	2000	329.3	12.4	472	5683	0.00	2.53	0.00	0.000	1158	0.000	0.076	2685	2092	2042	2092	1993	0	0	0	0	0	0	13.83	13.74	13.85
5998	0.30	320.4	2686	2093	2090	1983	287.2	13.0	486	5999	0.00	0.00	0.00	0.000	6	0.000	0.000	2685	2093	2036	2089	1983	0	0	0	0	0	0	14.31	14.33	14.33
6298	0.30	320.4	2686	2093	2089	1981	248.2	12.9	496	6303	0.00	2.50	0.00	0.000	516	0.000	0.088	2685	684	2034	2088	1981	0	0	0	0	0	0	14.43	14.12	14.45
6363	0.35	320.4	2686	684	2088	1981	240.5	11.4	509	6369	0.00	2.47	0.00	0.000	1158	0.000	0.077	2685	2105	2033	2086	1981	0	0	0	0	0	0	14.28	14.17	14.32
6689	0.35	320.4	2686	2106	2086	1980	203.3	10.8	524	6694	0.00	2.45	0.00	0.000	260	0.000	0.082	2686	3513	2032	2085	1980	0	0	0	0	0	0	14.51	14.20	14.52
6714	0.35	320.4	2685	3515	2084	1981	200.5	11.9	529	6722	0.00	2.42	0.00	0.000	1030	0.000	0.065	2685	2101	2031	2083	1980	0	0	0	0	0	0	14.34	14.23	14.38
7019	0.36	335.0	2686	2101	2084	1979	170.8	9.3	540	7039	0.00	2.53	12.18	1.467	8740	0.000	0.089	2685	687	1998	2050	1946	0	0	0	0	0	0	14.53	14.21	13.45
7106	0.47	368.1	2685	688	2042	1946	163.5	8.5	557	7172	0.15	2.47	60.75	1.257	11430	0.127	0.079	2751	2104	1863	1901	1826	0	0	0	0	0	0	14.21	14.16	13.33
7469	0.42	368.1	2751	2104	1885	1810	115.2	13.2	580	7471	0.15	0.00	0.00	0.000	4230	0.249	0.000	2726	2104	1847	1884	1810	0	0	0	0	0	0	13.93	14.23	14.19
7771	0.46	380.8	2720	2105	1885	1807	84.8	9.4	600	7783	0.00	2.50	5.05	0.396	8868	0.000	0.085	2723	683	1810	1848	1773	0	0	0	0	0	0	14.43	13.99	13.69
7843	0.57	412.0	2729	683	1853	1781	78.3	8.6	614	7866	0.12	2.50	18.55	0.434	11430	0.132	0.079	2781	2103	1688	1716	1661	0	0	0	0	0	0	14.19	14.14	13.74
8163	0.54	427.3	2781	2105	1724	1657	40.8	9.3	648	8180	0.00	2.55	9.45	0.317	8868	0.000	0.086	2781	692	1621	1657	1586	0	0	0	0	0	0	14.42	14.11	13.83
8252	0.61	469.0	2781	693	1664	1593	33.2	8.1	665	8281	0.00	2.47	23.83	0.297	9382	0.000	0.077	2781	2103	1450	1494	1406	0	0	0	0	0	0	14.21	14.09	13.81
8576	0.81	613.8	2782	2103	1498	1407	14.9	3.3	700	8662	0.15	2.53	77.55	0.246	10660	0.125	0.083	2851	3504	862	946	779	0	0	0	0	0	0	14.14	14.03	13.88
8802	0.89	635.3	2851	3506	946	784	4.6	9.0	744	8824	0.00	2.45	14.20	0.220	9382	0.000	0.067	2856	2092	772	851	693	0	0	0	0	0	0	14.18	14.09	13.83
8840	end climb: SURFACE_DEPTH_REACHED
state	8840	begin surface coast
8870	end surface coast: CONTROL_FINISHED_OK
state	8870	begin surface