Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 68 * 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 68 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 197.0

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 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 197.0 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 68 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 140817,141632,7209.2725,-14756.9688,19,0.7,35,21.3,0.2,56.4,11,6.8 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 1.25 MHEAD_RNG_PITCHd_Wd 323.6,131508,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.4 D_GRID 480

GPS2 140817,142752,7209.2769,-14757.1514,5,0.7,12,21.3,0.6,258.0,12,8.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170814162154.964986,3,160,22,0183,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01 PM_FREEKB_00 57949184

FINISH 0.2,1.020180 _24V_AH 12.58,74.881

SM_CCo 9462,0.00,0.000,0,0,497,703.28 _10V_AH 12.52,0.000

SM_GC 1.26,8.32,0.20,0.00,0.086,0.138,0.000,205,2207,497,-7.37,-0.42,703.28,0,0,0,0,0,0,14.19,14.12,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 190 FG_AHR_10Vo 0.000

MODEM 3,1502727714,74.30400,-153.94400,207.965,301890.5 MEM 323664

RAFOS_FIX 7206.338867,-14803.450195,140817,121243,4,255,3.00 DATA_FILE_SIZE 26700,756

IRIDIUM_FIX 7206.48,-14753.74,140817,113857 CAP_FILE_SIZE 104020,0

TT8_MAMPS 0.038948,0.884569 CFSIZE 2097872896,2067824640

HUMID 48.89 ERRORS 0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0

INTERNAL_PRESSURE 7.81082 SOUNDSPEED 1451.5

TCM_TEMP 13.70 CURRENT 0.066,281.08,1

XPDR_PINGS 7 GPS 140817,170752,7210.481,-14758.698,17,0.8,57,21.3,0.8,245.6,11,11.3

CP_FREE 16007790592.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 449 141.33 nil 0 0 0.00

Roll_motor 79 2147 2146.24 nil 0 0 0.00

VBD_pump_during_apogee 891 1467 16462.46 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 9409 14 1719.14

Iridium_during_xfer 413 179 931.69 NCP 9403 20 2365.79

Transponder_ping 1 420 9.25 PMAR 9358 16 1951.50

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.78

TT8 0 0 0.00

LPSleep 6875 2 198.86

TT8_Active 795 13 139.19

TT8_Sampling 2211 33 926.03

TT8_CF8 277 38 134.19

TT8_Kalman 0 0 0.00

Analog_circuits 2052 10 257.02

GPS_charging 0 0 0.00

Compass 1089 7 95.47

RAFOS 2218 48 1332.93

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 -145.9 165 2214 510 472 0.0 0.0 0 129 0.00 0.00 -81.57 0.000 16386 0.000 0.000 161 2214 2152 2075 2230 0 0 0 0 0 0 14.34 28.83 14.39

132 -0.57 -145.9 161 2214 2081 2231 4.0 -5.2 8 185 12.60 2.75 -32.15 0.000 18724 0.450 2.147 2377 3607 3965 3952 3978 1 0 0 0 0 0 13.51 12.68 14.11

410 -0.57 -145.9 2378 3608 3962 3978 63.7 -14.9 63 417 0.00 2.40 0.00 0.000 1030 0.000 0.057 2377 2200 3970 3962 3978 0 0 0 0 0 0 14.12 14.04 14.14

716 -0.57 -145.9 2378 2199 3965 3979 108.9 -13.8 90 721 0.00 2.47 0.00 0.000 260 0.000 0.086 2375 3601 3971 3964 3978 0 0 0 0 0 0 14.44 14.12 14.46

786 -0.70 -145.9 2377 3603 3965 3978 117.6 -10.7 104 791 0.00 2.42 0.00 0.000 1158 0.000 0.055 2376 2192 3970 3963 3978 0 0 0 0 0 0 14.28 14.18 14.30

1107 -0.77 -145.9 2376 2191 3965 3978 154.9 -11.4 118 1112 0.15 2.47 0.00 0.000 4484 0.131 0.083 2305 3601 3973 3963 3983 0 0 0 0 0 0 13.94 14.13 14.01

1192 -0.77 -145.9 2307 3603 3964 3978 167.8 -15.0 135 1199 0.00 2.38 0.00 0.000 1030 0.000 0.057 2306 2201 3969 3963 3975 0 0 0 0 0 0 14.29 14.19 14.32

1497 -0.72 -145.9 2306 2202 3964 3979 216.2 -15.0 146 1502 0.17 2.47 0.00 0.000 2436 0.280 0.081 2337 3607 3970 3963 3978 0 0 0 0 0 0 13.85 14.13 14.03

1589 -0.85 -145.9 2337 3608 3964 3979 226.0 -9.7 164 1594 0.00 2.38 0.00 0.000 1190 0.000 0.057 2337 2199 3970 3963 3978 0 0 0 0 0 0 14.31 14.20 14.34

1919 -0.91 -145.9 2337 2202 3964 3976 259.3 -9.9 180 1921 0.15 0.00 0.00 0.000 4262 0.128 0.000 2275 2201 3969 3962 3976 0 0 0 0 0 0 14.28 14.39 14.36

2219 -0.86 -145.9 2276 2202 3962 3975 301.8 -14.2 190 2224 0.00 2.45 0.00 0.000 388 0.000 0.086 2266 3600 3967 3961 3974 0 0 0 0 0 0 14.54 14.19 14.54

2350 -0.86 -145.9 2267 3601 3961 3974 319.9 -13.6 216 2356 0.15 2.38 0.00 0.000 3078 0.272 0.058 2297 2195 3966 3959 3974 0 0 0 0 0 0 13.99 14.23 14.26

2671 -0.86 -145.9 2297 2195 3961 3974 358.3 -11.8 230 2675 0.00 2.47 0.00 0.000 260 0.000 0.086 2291 3604 3966 3960 3973 0 0 0 0 0 0 14.54 14.15 14.56

2761 -0.93 -145.9 2292 3605 3961 3973 368.6 -11.0 248 2766 0.00 2.38 0.00 0.000 1158 0.000 0.057 2292 2201 3966 3960 3972 0 0 0 0 0 0 14.31 14.19 14.34

3091 -0.93 -145.9 2293 2200 3961 3971 408.4 -12.1 264 3095 0.00 2.45 0.00 0.000 260 0.000 0.085 2283 3607 3965 3959 3971 0 0 0 0 0 0 14.54 14.15 14.56

3141 -0.97 -145.9 2283 3603 3960 3971 414.5 -11.9 274 3146 0.00 2.38 0.00 0.000 1158 0.000 0.059 2282 2198 3965 3959 3971 0 0 0 0 0 0 14.22 14.15 14.26

3451 -0.97 -145.9 2283 2198 3960 3970 454.1 -12.6 286 3456 0.00 2.47 0.00 0.000 260 0.000 0.086 2280 3607 3964 3959 3970 0 0 0 0 0 0 14.54 14.14 14.55

3521 -1.02 -145.9 2280 3607 3959 3970 462.5 -11.7 300 3526 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2200 3964 3958 3970 0 0 0 0 0 0 14.33 14.21 14.36

3689 end dive: TARGET_DEPTH_EXCEEDED

state 3689 begin apogee

3694 -0.13 0.0 2280 2058 3959 3971 483.7 -12.5 309 3903 0.98 0.08 203.48 1.443 10246 0.241 0.181 2528 2102 3365 3395 3335 0 0 0 0 0 0 13.90 13.45 12.86

3907 end apogee: CONTROL_FINISHED_OK

state 3907 begin climb

3909 0.57 145.9 2529 2103 3394 3334 493.5 0.0 316 4119 0.75 2.67 198.80 1.386 10500 0.067 0.075 2781 3506 2762 2814 2711 0 0 0 0 0 0 13.60 13.10 12.58

4346 0.16 145.9 2782 3506 2798 2711 456.1 17.8 362 4351 0.75 2.40 0.00 0.000 5254 0.342 0.057 2637 2132 2753 2796 2711 0 0 0 0 0 0 13.47 13.78 13.81

4656 0.08 169.7 2638 2132 2797 2711 427.0 8.9 374 4692 0.00 2.45 29.35 1.467 8612 0.000 0.081 2637 3505 2671 2717 2625 0 0 0 0 0 0 14.30 13.91 13.18

4917 -0.01 169.7 2638 3506 2709 2623 399.9 10.5 426 4922 0.28 2.40 0.00 0.000 5254 0.248 0.058 2582 2099 2665 2708 2622 0 0 0 0 0 0 13.88 14.09 14.14

5228 0.12 254.7 2582 2099 2710 2621 380.4 6.1 438 5359 0.12 0.00 128.12 1.333 10662 0.137 0.000 2641 2098 2325 2379 2271 0 0 0 0 0 0 14.21 13.66 13.04

5647 0.12 254.7 2641 2099 2364 2253 338.9 10.1 462 5648 0.00 0.00 0.00 0.000 6 0.000 0.000 2641 2098 2309 2366 2253 0 0 0 0 0 0 14.19 14.21 14.21

5948 0.14 260.8 2641 2098 2366 2252 309.6 9.7 472 5949 0.00 0.00 0.70 0.317 8358 0.000 0.000 2641 2103 2300 2356 2245 0 0 0 0 0 0 14.31 14.12 13.90

6247 0.15 274.4 2640 2099 2360 2249 281.1 9.4 482 6279 0.00 2.50 24.70 1.419 8740 0.000 0.083 2646 685 2241 2295 2187 0 0 0 0 0 0 14.36 13.90 13.33

6324 0.25 295.5 2646 684 2296 2187 274.0 9.0 497 6359 0.00 2.50 30.77 1.390 9382 0.000 0.080 2646 2101 2164 2218 2111 0 0 0 0 0 0 14.07 13.98 13.20

6671 0.32 312.6 2646 2102 2210 2097 241.4 9.2 516 6701 0.12 0.00 26.80 1.396 10406 0.132 0.000 2697 2100 2089 2143 2036 0 0 0 0 0 0 14.11 13.95 13.28

6999 0.29 312.6 2697 2101 2137 2028 202.2 11.5 527 7004 0.00 2.53 0.00 0.000 644 0.000 0.086 2698 686 2081 2135 2028 0 0 0 0 0 0 14.29 13.99 14.31

7049 0.32 312.6 2699 686 2134 2029 197.0 10.1 537 7055 0.00 2.50 0.00 0.000 1158 0.000 0.078 2698 2100 2080 2133 2028 0 0 0 0 0 0 14.07 13.96 14.09

7360 0.32 314.5 2695 2101 2134 2027 165.6 9.9 549 7361 0.00 0.00 0.00 0.000 38 0.000 0.000 2698 2104 2079 2133 2026 0 0 0 0 0 0 14.35 14.37 14.36

7660 0.33 329.2 2699 2101 2133 2026 137.1 9.3 559 7695 0.00 2.50 25.20 1.393 8740 0.000 0.082 2699 691 2019 2069 1969 0 0 0 0 0 0 14.37 13.88 13.34

7730 0.43 361.2 2699 692 2066 1970 130.9 8.5 572 7787 0.00 2.45 52.22 1.278 9382 0.000 0.078 2698 2105 1893 1934 1852 0 0 0 0 0 0 14.12 14.00 13.20

8085 0.51 391.9 2699 2105 1923 1839 100.0 8.6 593 8106 0.15 0.00 15.15 0.513 10406 0.121 0.000 2754 2105 1766 1799 1734 0 0 0 0 0 0 14.02 13.83 13.54

8405 0.48 391.9 2762 2105 1803 1733 62.6 10.4 625 8410 0.00 2.50 0.00 0.000 644 0.000 0.085 2768 691 1766 1801 1732 0 0 0 0 0 0 14.39 14.00 14.39

8471 0.51 394.7 2768 692 1797 1732 56.0 9.9 638 8477 0.00 2.50 0.00 0.000 1190 0.000 0.078 2768 2106 1764 1796 1732 0 0 0 0 0 0 14.18 14.09 14.21

8776 0.55 460.1 2768 2106 1797 1729 29.0 7.0 669 8818 0.00 2.53 34.50 0.303 8740 0.000 0.085 2768 687 1489 1531 1447 0 0 0 0 0 0 14.44 14.08 13.86

8900 0.74 553.9 2769 686 1530 1445 21.2 5.7 693 8953 0.15 2.50 47.28 0.275 11430 0.126 0.079 2829 2108 1104 1178 1031 0 0 0 0 0 0 14.04 14.03 13.85

9249 0.92 729.0 2830 2108 1178 1018 9.8 1.9 733 9333 0.12 2.53 74.80 0.234 10660 0.133 0.081 2889 3509 499 540 458 0 0 0 0 0 0 14.16 13.95 13.92

9350 0.97 729.0 2890 3510 541 459 2.2 10.9 752 9356 0.00 2.45 0.00 0.000 1158 0.000 0.068 2890 2099 501 541 461 0 0 0 0 0 0 14.13 14.02 14.17

9361 end climb: SURFACE_DEPTH_REACHED

state 9361 begin surface coast

9381 end surface coast: CONTROL_FINISHED_OK

state 9381 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	68	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	197.0
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	30	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	140817,141632,7209.2725,-14756.9688,19,0.7,35,21.3,0.2,56.4,11,6.8	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	1.25	MHEAD_RNG_PITCHd_Wd	323.6,131508,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.4	D_GRID	480
GPS2	140817,142752,7209.2769,-14757.1514,5,0.7,12,21.3,0.6,258.0,12,8.8

MODEM_MSG	CACST,6,1,20170814162154.964986,3,160,22,0183,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01	PM_FREEKB_00	57949184
FINISH	0.2,1.020180	_24V_AH	12.58,74.881
SM_CCo	9462,0.00,0.000,0,0,497,703.28	_10V_AH	12.52,0.000
SM_GC	1.26,8.32,0.20,0.00,0.086,0.138,0.000,205,2207,497,-7.37,-0.42,703.28,0,0,0,0,0,0,14.19,14.12,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	190	FG_AHR_10Vo	0.000
MODEM	3,1502727714,74.30400,-153.94400,207.965,301890.5	MEM	323664
RAFOS_FIX	7206.338867,-14803.450195,140817,121243,4,255,3.00	DATA_FILE_SIZE	26700,756
IRIDIUM_FIX	7206.48,-14753.74,140817,113857	CAP_FILE_SIZE	104020,0
TT8_MAMPS	0.038948,0.884569	CFSIZE	2097872896,2067824640
HUMID	48.89	ERRORS	0,0,0,0,0,0,0,0,0,0,0,1,0,0,1,0
INTERNAL_PRESSURE	7.81082	SOUNDSPEED	1451.5
TCM_TEMP	13.70	CURRENT	0.066,281.08,1
XPDR_PINGS	7	GPS	140817,170752,7210.481,-14758.698,17,0.8,57,21.3,0.8,245.6,11,11.3
CP_FREE	16007790592.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	449	141.33	nil	0	0	0.00
Roll_motor	79	2147	2146.24	nil	0	0	0.00
VBD_pump_during_apogee	891	1467	16462.46	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	9409	14	1719.14
Iridium_during_xfer	413	179	931.69	NCP	9403	20	2365.79
Transponder_ping	1	420	9.25	PMAR	9358	16	1951.50
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.78
TT8	0	0	0.00
LPSleep	6875	2	198.86
TT8_Active	795	13	139.19
TT8_Sampling	2211	33	926.03
TT8_CF8	277	38	134.19
TT8_Kalman	0	0	0.00
Analog_circuits	2052	10	257.02
GPS_charging	0	0	0.00
Compass	1089	7	95.47
RAFOS	2218	48	1332.93
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	165	2214	510	472	0.0	0.0	0	129	0.00	0.00	-81.57	0.000	16386	0.000	0.000	161	2214	2152	2075	2230	0	0	0	0	0	0	14.34	28.83	14.39
132	-0.57	-145.9	161	2214	2081	2231	4.0	-5.2	8	185	12.60	2.75	-32.15	0.000	18724	0.450	2.147	2377	3607	3965	3952	3978	1	0	0	0	0	0	13.51	12.68	14.11
410	-0.57	-145.9	2378	3608	3962	3978	63.7	-14.9	63	417	0.00	2.40	0.00	0.000	1030	0.000	0.057	2377	2200	3970	3962	3978	0	0	0	0	0	0	14.12	14.04	14.14
716	-0.57	-145.9	2378	2199	3965	3979	108.9	-13.8	90	721	0.00	2.47	0.00	0.000	260	0.000	0.086	2375	3601	3971	3964	3978	0	0	0	0	0	0	14.44	14.12	14.46
786	-0.70	-145.9	2377	3603	3965	3978	117.6	-10.7	104	791	0.00	2.42	0.00	0.000	1158	0.000	0.055	2376	2192	3970	3963	3978	0	0	0	0	0	0	14.28	14.18	14.30
1107	-0.77	-145.9	2376	2191	3965	3978	154.9	-11.4	118	1112	0.15	2.47	0.00	0.000	4484	0.131	0.083	2305	3601	3973	3963	3983	0	0	0	0	0	0	13.94	14.13	14.01
1192	-0.77	-145.9	2307	3603	3964	3978	167.8	-15.0	135	1199	0.00	2.38	0.00	0.000	1030	0.000	0.057	2306	2201	3969	3963	3975	0	0	0	0	0	0	14.29	14.19	14.32
1497	-0.72	-145.9	2306	2202	3964	3979	216.2	-15.0	146	1502	0.17	2.47	0.00	0.000	2436	0.280	0.081	2337	3607	3970	3963	3978	0	0	0	0	0	0	13.85	14.13	14.03
1589	-0.85	-145.9	2337	3608	3964	3979	226.0	-9.7	164	1594	0.00	2.38	0.00	0.000	1190	0.000	0.057	2337	2199	3970	3963	3978	0	0	0	0	0	0	14.31	14.20	14.34
1919	-0.91	-145.9	2337	2202	3964	3976	259.3	-9.9	180	1921	0.15	0.00	0.00	0.000	4262	0.128	0.000	2275	2201	3969	3962	3976	0	0	0	0	0	0	14.28	14.39	14.36
2219	-0.86	-145.9	2276	2202	3962	3975	301.8	-14.2	190	2224	0.00	2.45	0.00	0.000	388	0.000	0.086	2266	3600	3967	3961	3974	0	0	0	0	0	0	14.54	14.19	14.54
2350	-0.86	-145.9	2267	3601	3961	3974	319.9	-13.6	216	2356	0.15	2.38	0.00	0.000	3078	0.272	0.058	2297	2195	3966	3959	3974	0	0	0	0	0	0	13.99	14.23	14.26
2671	-0.86	-145.9	2297	2195	3961	3974	358.3	-11.8	230	2675	0.00	2.47	0.00	0.000	260	0.000	0.086	2291	3604	3966	3960	3973	0	0	0	0	0	0	14.54	14.15	14.56
2761	-0.93	-145.9	2292	3605	3961	3973	368.6	-11.0	248	2766	0.00	2.38	0.00	0.000	1158	0.000	0.057	2292	2201	3966	3960	3972	0	0	0	0	0	0	14.31	14.19	14.34
3091	-0.93	-145.9	2293	2200	3961	3971	408.4	-12.1	264	3095	0.00	2.45	0.00	0.000	260	0.000	0.085	2283	3607	3965	3959	3971	0	0	0	0	0	0	14.54	14.15	14.56
3141	-0.97	-145.9	2283	3603	3960	3971	414.5	-11.9	274	3146	0.00	2.38	0.00	0.000	1158	0.000	0.059	2282	2198	3965	3959	3971	0	0	0	0	0	0	14.22	14.15	14.26
3451	-0.97	-145.9	2283	2198	3960	3970	454.1	-12.6	286	3456	0.00	2.47	0.00	0.000	260	0.000	0.086	2280	3607	3964	3959	3970	0	0	0	0	0	0	14.54	14.14	14.55
3521	-1.02	-145.9	2280	3607	3959	3970	462.5	-11.7	300	3526	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2200	3964	3958	3970	0	0	0	0	0	0	14.33	14.21	14.36
3689	end dive: TARGET_DEPTH_EXCEEDED
state	3689	begin apogee
3694	-0.13	0.0	2280	2058	3959	3971	483.7	-12.5	309	3903	0.98	0.08	203.48	1.443	10246	0.241	0.181	2528	2102	3365	3395	3335	0	0	0	0	0	0	13.90	13.45	12.86
3907	end apogee: CONTROL_FINISHED_OK
state	3907	begin climb
3909	0.57	145.9	2529	2103	3394	3334	493.5	0.0	316	4119	0.75	2.67	198.80	1.386	10500	0.067	0.075	2781	3506	2762	2814	2711	0	0	0	0	0	0	13.60	13.10	12.58
4346	0.16	145.9	2782	3506	2798	2711	456.1	17.8	362	4351	0.75	2.40	0.00	0.000	5254	0.342	0.057	2637	2132	2753	2796	2711	0	0	0	0	0	0	13.47	13.78	13.81
4656	0.08	169.7	2638	2132	2797	2711	427.0	8.9	374	4692	0.00	2.45	29.35	1.467	8612	0.000	0.081	2637	3505	2671	2717	2625	0	0	0	0	0	0	14.30	13.91	13.18
4917	-0.01	169.7	2638	3506	2709	2623	399.9	10.5	426	4922	0.28	2.40	0.00	0.000	5254	0.248	0.058	2582	2099	2665	2708	2622	0	0	0	0	0	0	13.88	14.09	14.14
5228	0.12	254.7	2582	2099	2710	2621	380.4	6.1	438	5359	0.12	0.00	128.12	1.333	10662	0.137	0.000	2641	2098	2325	2379	2271	0	0	0	0	0	0	14.21	13.66	13.04
5647	0.12	254.7	2641	2099	2364	2253	338.9	10.1	462	5648	0.00	0.00	0.00	0.000	6	0.000	0.000	2641	2098	2309	2366	2253	0	0	0	0	0	0	14.19	14.21	14.21
5948	0.14	260.8	2641	2098	2366	2252	309.6	9.7	472	5949	0.00	0.00	0.70	0.317	8358	0.000	0.000	2641	2103	2300	2356	2245	0	0	0	0	0	0	14.31	14.12	13.90
6247	0.15	274.4	2640	2099	2360	2249	281.1	9.4	482	6279	0.00	2.50	24.70	1.419	8740	0.000	0.083	2646	685	2241	2295	2187	0	0	0	0	0	0	14.36	13.90	13.33
6324	0.25	295.5	2646	684	2296	2187	274.0	9.0	497	6359	0.00	2.50	30.77	1.390	9382	0.000	0.080	2646	2101	2164	2218	2111	0	0	0	0	0	0	14.07	13.98	13.20
6671	0.32	312.6	2646	2102	2210	2097	241.4	9.2	516	6701	0.12	0.00	26.80	1.396	10406	0.132	0.000	2697	2100	2089	2143	2036	0	0	0	0	0	0	14.11	13.95	13.28
6999	0.29	312.6	2697	2101	2137	2028	202.2	11.5	527	7004	0.00	2.53	0.00	0.000	644	0.000	0.086	2698	686	2081	2135	2028	0	0	0	0	0	0	14.29	13.99	14.31
7049	0.32	312.6	2699	686	2134	2029	197.0	10.1	537	7055	0.00	2.50	0.00	0.000	1158	0.000	0.078	2698	2100	2080	2133	2028	0	0	0	0	0	0	14.07	13.96	14.09
7360	0.32	314.5	2695	2101	2134	2027	165.6	9.9	549	7361	0.00	0.00	0.00	0.000	38	0.000	0.000	2698	2104	2079	2133	2026	0	0	0	0	0	0	14.35	14.37	14.36
7660	0.33	329.2	2699	2101	2133	2026	137.1	9.3	559	7695	0.00	2.50	25.20	1.393	8740	0.000	0.082	2699	691	2019	2069	1969	0	0	0	0	0	0	14.37	13.88	13.34
7730	0.43	361.2	2699	692	2066	1970	130.9	8.5	572	7787	0.00	2.45	52.22	1.278	9382	0.000	0.078	2698	2105	1893	1934	1852	0	0	0	0	0	0	14.12	14.00	13.20
8085	0.51	391.9	2699	2105	1923	1839	100.0	8.6	593	8106	0.15	0.00	15.15	0.513	10406	0.121	0.000	2754	2105	1766	1799	1734	0	0	0	0	0	0	14.02	13.83	13.54
8405	0.48	391.9	2762	2105	1803	1733	62.6	10.4	625	8410	0.00	2.50	0.00	0.000	644	0.000	0.085	2768	691	1766	1801	1732	0	0	0	0	0	0	14.39	14.00	14.39
8471	0.51	394.7	2768	692	1797	1732	56.0	9.9	638	8477	0.00	2.50	0.00	0.000	1190	0.000	0.078	2768	2106	1764	1796	1732	0	0	0	0	0	0	14.18	14.09	14.21
8776	0.55	460.1	2768	2106	1797	1729	29.0	7.0	669	8818	0.00	2.53	34.50	0.303	8740	0.000	0.085	2768	687	1489	1531	1447	0	0	0	0	0	0	14.44	14.08	13.86
8900	0.74	553.9	2769	686	1530	1445	21.2	5.7	693	8953	0.15	2.50	47.28	0.275	11430	0.126	0.079	2829	2108	1104	1178	1031	0	0	0	0	0	0	14.04	14.03	13.85
9249	0.92	729.0	2830	2108	1178	1018	9.8	1.9	733	9333	0.12	2.53	74.80	0.234	10660	0.133	0.081	2889	3509	499	540	458	0	0	0	0	0	0	14.16	13.95	13.92
9350	0.97	729.0	2890	3510	541	459	2.2	10.9	752	9356	0.00	2.45	0.00	0.000	1158	0.000	0.068	2890	2099	501	541	461	0	0	0	0	0	0	14.13	14.02	14.17
9361	end climb: SURFACE_DEPTH_REACHED
state	9361	begin surface coast
9381	end surface coast: CONTROL_FINISHED_OK
state	9381	begin surface