Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 77 * 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 77 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 223.0

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 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 223.0 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 77 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 150817,153303,7219.6069,-14812.0684,29,0.7,35,21.3,0.5,275.9,12,8.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.10 MHEAD_RNG_PITCHd_Wd 327.1,110667,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.2 D_GRID 480

GPS2 150817,154856,7219.6694,-14812.7305,59,0.8,62,21.3,1.6,265.4,10,8.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170815162929.899488,3,31,14,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38 PM_FREEKB_00 57279808

FINISH 0.2,1.020261 _24V_AH 12.56,79.088

SM_CCo 8931,0.00,0.000,0,0,493,704.26 _10V_AH 12.49,0.000

SM_GC 1.06,8.25,0.17,0.00,0.074,0.115,0.000,201,2225,493,-7.38,-0.54,704.26,0,0,0,0,0,0,14.17,14.17,14.26 FG_AHR_24Vo 0.000

RAFOS_CLK 365 FG_AHR_10Vo 0.000

MODEM 0,1502813098,75.36600,-145.04601,244.556,354746.2 MEM 323660

RAFOS_FIX 7217.887207,-14818.396484,150817,161603,3,255,2.83 DATA_FILE_SIZE 23381,713

IRIDIUM_FIX 7220.17,-14808.69,150817,153727 CAP_FILE_SIZE 103858,0

TT8_MAMPS 0.040446,0.851613 CFSIZE 2097872896,2065137664

HUMID 48.46 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1450.6

TCM_TEMP 13.30 CURRENT 0.075,272.91,1

XPDR_PINGS 8 GPS 150817,181936,7220.879,-14813.749,28,0.7,32,21.3,1.2,11.6,12,9.3

CP_FREE 16006348800.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 145.35 nil 0 0 0.00

Roll_motor 84 2148 2271.88 nil 0 0 0.00

VBD_pump_during_apogee 951 1602 19143.25 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 8876 14 1577.14

Iridium_during_xfer 572 175 1265.79 NCP 8867 20 2227.39

Transponder_ping 2 420 10.55 PMAR 8825 16 1840.75

GUMSTIX_24V 0 0 0.00

GPS 63 22 17.87

TT8 0 0 0.00

LPSleep 6433 2 185.63

TT8_Active 847 13 147.81

TT8_Sampling 2331 33 973.80

TT8_CF8 286 38 138.56

TT8_Kalman 0 0 0.00

Analog_circuits 2237 10 279.48

GPS_charging 0 0 0.00

Compass 1023 7 89.45

RAFOS 2218 48 1329.74

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 -145.9 157 2212 518 476 0.0 0.0 0 129 0.00 0.00 -81.30 0.000 16386 0.000 0.000 153 2212 2093 2019 2167 0 0 0 0 0 0 14.38 28.83 14.40

132 -0.57 -145.9 154 2212 2026 2168 3.4 -4.3 8 185 12.80 2.80 -34.88 0.000 18724 0.455 2.149 2375 3613 3966 3951 3981 0 0 0 0 0 0 13.71 12.69 14.12

410 -0.57 -145.9 2375 3615 3960 3984 64.4 -15.8 63 417 0.00 2.42 0.00 0.000 1030 0.000 0.060 2373 2201 3970 3960 3981 0 0 0 0 0 0 14.13 14.04 14.15

735 -0.57 -145.9 2375 2199 3962 3988 113.9 -14.1 89 740 0.00 2.50 0.00 0.000 260 0.000 0.083 2365 3609 3972 3961 3984 0 0 0 0 0 0 14.37 13.97 14.38

862 -0.67 -145.9 2365 3610 3962 3978 129.2 -11.6 114 866 0.00 2.40 0.00 0.000 1158 0.000 0.054 2364 2196 3971 3961 3981 0 0 0 0 0 0 14.20 14.10 14.23

1186 -0.71 -145.9 2365 2195 3961 3980 169.3 -11.9 129 1191 0.00 2.50 0.00 0.000 388 0.000 0.086 2363 3607 3970 3961 3980 0 0 0 0 0 0 14.37 14.04 14.38

1256 -0.86 -145.9 2363 3608 3961 3981 176.7 -9.9 143 1262 0.20 2.40 0.00 0.000 5286 0.104 0.054 2283 2197 3970 3960 3980 0 0 0 0 0 0 14.14 14.10 14.21

1578 -0.78 -145.9 2283 2196 3962 3978 232.4 -17.0 157 1583 0.15 2.50 0.00 0.000 2436 0.279 0.082 2309 3609 3969 3961 3978 0 0 0 0 0 0 13.83 14.01 14.00

1663 -0.83 -145.9 2310 3611 3962 3978 243.7 -11.9 174 1669 0.00 2.42 0.00 0.000 1158 0.000 0.056 2309 2201 3972 3961 3984 0 0 0 0 0 0 14.16 14.06 14.19

1968 -0.83 -145.9 2310 2195 3962 3974 281.2 -12.2 185 1973 0.00 2.53 0.00 0.000 260 0.000 0.086 2305 3616 3967 3961 3974 0 0 0 0 0 0 14.38 14.00 14.40

2033 -0.92 -145.9 2305 3617 3961 3971 288.6 -10.6 198 2038 0.00 2.42 0.00 0.000 1158 0.000 0.057 2305 2193 3968 3961 3975 0 0 0 0 0 0 14.14 14.08 14.18

2358 -0.92 -145.9 2305 2196 3961 3973 326.3 -11.6 213 2363 0.00 2.50 0.00 0.000 260 0.000 0.086 2305 3608 3966 3961 3972 0 0 0 0 0 0 14.38 14.04 14.39

2423 -1.02 -145.9 2305 3609 3962 3971 333.2 -10.0 226 2428 0.17 2.40 0.00 0.000 5286 0.112 0.055 2242 2197 3966 3961 3972 0 0 0 0 0 0 14.09 14.06 14.20

2748 -0.92 -145.9 2243 2197 3962 3970 385.3 -16.2 241 2753 0.15 2.50 0.00 0.000 2436 0.310 0.081 2267 3610 3965 3961 3969 0 0 0 0 0 0 13.75 14.04 13.95

2867 -0.92 -145.9 2267 3611 3962 3969 401.3 -12.5 264 2874 0.00 2.42 0.00 0.000 1030 0.000 0.057 2267 2201 3965 3961 3969 0 0 0 0 0 0 14.15 14.07 14.17

3174 -0.87 -145.9 2267 2201 3962 3968 443.2 -13.7 275 3180 0.00 2.45 0.00 0.000 388 0.000 0.083 2258 3608 3963 3961 3966 0 0 0 0 0 0 14.35 14.02 14.38

3255 -0.87 -145.9 2254 3609 3961 3968 454.5 -13.3 291 3261 0.17 2.42 0.00 0.000 3078 0.264 0.058 2298 2196 3963 3960 3967 0 0 0 0 0 0 13.78 14.03 14.03

3504 end dive: TARGET_DEPTH_EXCEEDED

state 3504 begin apogee

3509 -0.13 0.0 2294 2070 3961 3967 482.8 -11.1 301 3729 0.93 0.03 215.70 1.413 10246 0.239 0.307 2530 2098 3365 3409 3321 0 0 0 0 0 0 13.90 13.39 12.77

3732 end apogee: CONTROL_FINISHED_OK

state 3732 begin climb

3737 0.57 145.9 2531 2099 3401 3310 492.5 0.0 308 3946 0.73 2.60 201.50 1.358 10756 0.065 0.078 2781 726 2764 2828 2700 0 0 0 0 0 0 13.54 13.08 12.56

4173 0.25 145.9 2784 726 2804 2699 459.8 15.4 354 4178 0.55 2.47 0.00 0.000 5254 0.315 0.075 2665 2106 2749 2801 2698 0 0 0 0 0 0 13.50 13.76 13.81

4484 0.10 145.9 2665 2108 2802 2693 426.9 10.3 366 4489 0.17 2.42 0.00 0.000 4740 0.303 0.077 2633 724 2747 2802 2693 0 0 0 0 0 0 13.77 14.03 13.95

4581 0.10 179.0 2634 725 2804 2693 418.8 8.5 385 4629 0.00 2.42 43.88 1.395 9382 0.000 0.079 2633 2108 2636 2696 2576 0 0 0 0 0 0 14.20 14.09 13.18

4936 0.07 192.8 2633 2108 2686 2554 386.0 9.4 406 4955 0.00 0.00 17.10 1.522 8358 0.000 0.000 2633 2108 2578 2647 2510 0 0 0 0 0 0 14.38 14.05 13.30

5235 0.05 204.0 2633 2110 2636 2495 357.6 9.5 416 5249 0.15 0.00 12.55 1.603 12454 0.256 0.000 2602 2109 2534 2605 2463 0 0 0 0 0 0 14.00 14.12 13.33

5535 0.14 258.5 2602 2110 2594 2451 334.7 7.5 426 5625 0.00 0.00 83.90 1.351 8358 0.000 0.000 2602 2109 2303 2369 2238 0 0 0 0 0 0 14.48 13.84 13.18

5925 0.29 317.4 2602 2109 2360 2228 305.5 7.3 439 6022 0.20 2.55 87.50 1.296 10916 0.098 0.087 2686 732 2065 2123 2007 0 0 0 0 0 0 14.16 13.74 13.12

6056 0.29 317.4 2687 732 2120 2006 289.3 12.4 465 6063 0.00 2.45 0.00 0.000 1030 0.000 0.077 2686 2100 2060 2114 2006 0 0 0 0 0 0 13.94 13.84 13.97

6378 0.29 317.4 2687 2101 2113 1998 248.8 12.4 479 6382 0.00 2.42 0.00 0.000 516 0.000 0.086 2686 726 2053 2112 1994 0 0 0 0 0 0 14.38 14.09 14.40

6408 0.29 317.4 2687 726 2111 1998 245.2 12.1 485 6414 0.00 2.42 0.00 0.000 1030 0.000 0.079 2686 2106 2053 2109 1998 0 0 0 0 0 0 14.22 14.12 14.27

6739 0.29 317.4 2687 2107 2109 1997 208.1 10.6 501 6744 0.00 2.45 0.00 0.000 516 0.000 0.086 2685 717 2053 2110 1997 0 0 0 0 0 0 14.47 14.16 14.50

6774 0.33 321.1 2686 718 2107 1998 204.6 9.8 508 6779 0.00 2.40 0.00 0.000 1190 0.000 0.079 2686 2102 2051 2106 1997 0 0 0 0 0 0 14.31 14.21 14.35

7100 0.34 336.0 2686 2104 2107 1998 173.3 9.3 523 7131 0.00 2.42 25.25 1.373 8740 0.000 0.084 2686 727 1993 2043 1943 0 0 0 0 0 0 14.52 13.97 13.40

7151 0.43 370.3 2686 727 2039 1936 168.7 8.4 533 7212 0.00 2.40 56.08 1.275 9382 0.000 0.079 2686 2104 1858 1897 1819 0 0 0 0 0 0 14.23 14.14 13.25

7522 0.52 395.6 2686 2102 1887 1804 135.9 8.8 557 7569 0.17 2.53 41.00 1.288 10916 0.112 0.086 2769 729 1753 1789 1717 0 0 0 0 0 0 14.12 13.93 13.29

7611 0.49 395.6 2769 728 1776 1716 124.3 14.1 574 7617 0.00 2.42 0.00 0.000 1158 0.000 0.077 2769 2100 1745 1775 1715 0 0 0 0 0 0 14.07 13.97 14.09

7916 0.44 395.6 2769 2100 1776 1707 83.2 13.3 593 7917 0.20 0.00 0.00 0.000 4230 0.269 0.000 2726 2101 1739 1774 1705 0 0 0 0 0 0 13.88 14.19 14.14

8214 0.54 449.3 2727 2101 1776 1706 57.3 7.5 623 8247 0.00 2.50 28.48 0.375 8868 0.000 0.086 2726 726 1534 1572 1497 0 0 0 0 0 0 14.45 14.11 13.81

8302 0.77 526.0 2727 725 1573 1491 51.0 6.5 639 8351 0.32 2.42 41.88 0.351 11430 0.084 0.077 2848 2101 1219 1286 1153 0 0 0 0 0 0 14.11 14.04 13.78

8647 0.94 735.3 2849 2101 1286 1143 12.7 0.3 678 8752 0.10 2.45 96.20 0.242 10916 0.151 0.084 2901 720 496 535 457 0 0 0 0 0 0 14.18 14.03 13.85

8793 1.01 763.4 2902 720 537 457 5.0 8.7 706 8798 0.00 2.45 0.00 0.000 1190 0.000 0.080 2902 2105 496 535 457 0 0 0 0 0 0 14.16 14.04 14.19

8830 end climb: SURFACE_DEPTH_REACHED

state 8830 begin surface coast

8850 end surface coast: CONTROL_FINISHED_OK

state 8851 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	77	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	223.0
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	24	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	150817,153303,7219.6069,-14812.0684,29,0.7,35,21.3,0.5,275.9,12,8.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.10	MHEAD_RNG_PITCHd_Wd	327.1,110667,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.2	D_GRID	480
GPS2	150817,154856,7219.6694,-14812.7305,59,0.8,62,21.3,1.6,265.4,10,8.7

MODEM_MSG	CACST,6,1,20170815162929.899488,3,31,14,0221,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38	PM_FREEKB_00	57279808
FINISH	0.2,1.020261	_24V_AH	12.56,79.088
SM_CCo	8931,0.00,0.000,0,0,493,704.26	_10V_AH	12.49,0.000
SM_GC	1.06,8.25,0.17,0.00,0.074,0.115,0.000,201,2225,493,-7.38,-0.54,704.26,0,0,0,0,0,0,14.17,14.17,14.26	FG_AHR_24Vo	0.000
RAFOS_CLK	365	FG_AHR_10Vo	0.000
MODEM	0,1502813098,75.36600,-145.04601,244.556,354746.2	MEM	323660
RAFOS_FIX	7217.887207,-14818.396484,150817,161603,3,255,2.83	DATA_FILE_SIZE	23381,713
IRIDIUM_FIX	7220.17,-14808.69,150817,153727	CAP_FILE_SIZE	103858,0
TT8_MAMPS	0.040446,0.851613	CFSIZE	2097872896,2065137664
HUMID	48.46	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1450.6
TCM_TEMP	13.30	CURRENT	0.075,272.91,1
XPDR_PINGS	8	GPS	150817,181936,7220.879,-14813.749,28,0.7,32,21.3,1.2,11.6,12,9.3
CP_FREE	16006348800.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	145.35	nil	0	0	0.00
Roll_motor	84	2148	2271.88	nil	0	0	0.00
VBD_pump_during_apogee	951	1602	19143.25	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	8876	14	1577.14
Iridium_during_xfer	572	175	1265.79	NCP	8867	20	2227.39
Transponder_ping	2	420	10.55	PMAR	8825	16	1840.75
GUMSTIX_24V	0	0	0.00
GPS	63	22	17.87
TT8	0	0	0.00
LPSleep	6433	2	185.63
TT8_Active	847	13	147.81
TT8_Sampling	2331	33	973.80
TT8_CF8	286	38	138.56
TT8_Kalman	0	0	0.00
Analog_circuits	2237	10	279.48
GPS_charging	0	0	0.00
Compass	1023	7	89.45
RAFOS	2218	48	1329.74
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	157	2212	518	476	0.0	0.0	0	129	0.00	0.00	-81.30	0.000	16386	0.000	0.000	153	2212	2093	2019	2167	0	0	0	0	0	0	14.38	28.83	14.40
132	-0.57	-145.9	154	2212	2026	2168	3.4	-4.3	8	185	12.80	2.80	-34.88	0.000	18724	0.455	2.149	2375	3613	3966	3951	3981	0	0	0	0	0	0	13.71	12.69	14.12
410	-0.57	-145.9	2375	3615	3960	3984	64.4	-15.8	63	417	0.00	2.42	0.00	0.000	1030	0.000	0.060	2373	2201	3970	3960	3981	0	0	0	0	0	0	14.13	14.04	14.15
735	-0.57	-145.9	2375	2199	3962	3988	113.9	-14.1	89	740	0.00	2.50	0.00	0.000	260	0.000	0.083	2365	3609	3972	3961	3984	0	0	0	0	0	0	14.37	13.97	14.38
862	-0.67	-145.9	2365	3610	3962	3978	129.2	-11.6	114	866	0.00	2.40	0.00	0.000	1158	0.000	0.054	2364	2196	3971	3961	3981	0	0	0	0	0	0	14.20	14.10	14.23
1186	-0.71	-145.9	2365	2195	3961	3980	169.3	-11.9	129	1191	0.00	2.50	0.00	0.000	388	0.000	0.086	2363	3607	3970	3961	3980	0	0	0	0	0	0	14.37	14.04	14.38
1256	-0.86	-145.9	2363	3608	3961	3981	176.7	-9.9	143	1262	0.20	2.40	0.00	0.000	5286	0.104	0.054	2283	2197	3970	3960	3980	0	0	0	0	0	0	14.14	14.10	14.21
1578	-0.78	-145.9	2283	2196	3962	3978	232.4	-17.0	157	1583	0.15	2.50	0.00	0.000	2436	0.279	0.082	2309	3609	3969	3961	3978	0	0	0	0	0	0	13.83	14.01	14.00
1663	-0.83	-145.9	2310	3611	3962	3978	243.7	-11.9	174	1669	0.00	2.42	0.00	0.000	1158	0.000	0.056	2309	2201	3972	3961	3984	0	0	0	0	0	0	14.16	14.06	14.19
1968	-0.83	-145.9	2310	2195	3962	3974	281.2	-12.2	185	1973	0.00	2.53	0.00	0.000	260	0.000	0.086	2305	3616	3967	3961	3974	0	0	0	0	0	0	14.38	14.00	14.40
2033	-0.92	-145.9	2305	3617	3961	3971	288.6	-10.6	198	2038	0.00	2.42	0.00	0.000	1158	0.000	0.057	2305	2193	3968	3961	3975	0	0	0	0	0	0	14.14	14.08	14.18
2358	-0.92	-145.9	2305	2196	3961	3973	326.3	-11.6	213	2363	0.00	2.50	0.00	0.000	260	0.000	0.086	2305	3608	3966	3961	3972	0	0	0	0	0	0	14.38	14.04	14.39
2423	-1.02	-145.9	2305	3609	3962	3971	333.2	-10.0	226	2428	0.17	2.40	0.00	0.000	5286	0.112	0.055	2242	2197	3966	3961	3972	0	0	0	0	0	0	14.09	14.06	14.20
2748	-0.92	-145.9	2243	2197	3962	3970	385.3	-16.2	241	2753	0.15	2.50	0.00	0.000	2436	0.310	0.081	2267	3610	3965	3961	3969	0	0	0	0	0	0	13.75	14.04	13.95
2867	-0.92	-145.9	2267	3611	3962	3969	401.3	-12.5	264	2874	0.00	2.42	0.00	0.000	1030	0.000	0.057	2267	2201	3965	3961	3969	0	0	0	0	0	0	14.15	14.07	14.17
3174	-0.87	-145.9	2267	2201	3962	3968	443.2	-13.7	275	3180	0.00	2.45	0.00	0.000	388	0.000	0.083	2258	3608	3963	3961	3966	0	0	0	0	0	0	14.35	14.02	14.38
3255	-0.87	-145.9	2254	3609	3961	3968	454.5	-13.3	291	3261	0.17	2.42	0.00	0.000	3078	0.264	0.058	2298	2196	3963	3960	3967	0	0	0	0	0	0	13.78	14.03	14.03
3504	end dive: TARGET_DEPTH_EXCEEDED
state	3504	begin apogee
3509	-0.13	0.0	2294	2070	3961	3967	482.8	-11.1	301	3729	0.93	0.03	215.70	1.413	10246	0.239	0.307	2530	2098	3365	3409	3321	0	0	0	0	0	0	13.90	13.39	12.77
3732	end apogee: CONTROL_FINISHED_OK
state	3732	begin climb
3737	0.57	145.9	2531	2099	3401	3310	492.5	0.0	308	3946	0.73	2.60	201.50	1.358	10756	0.065	0.078	2781	726	2764	2828	2700	0	0	0	0	0	0	13.54	13.08	12.56
4173	0.25	145.9	2784	726	2804	2699	459.8	15.4	354	4178	0.55	2.47	0.00	0.000	5254	0.315	0.075	2665	2106	2749	2801	2698	0	0	0	0	0	0	13.50	13.76	13.81
4484	0.10	145.9	2665	2108	2802	2693	426.9	10.3	366	4489	0.17	2.42	0.00	0.000	4740	0.303	0.077	2633	724	2747	2802	2693	0	0	0	0	0	0	13.77	14.03	13.95
4581	0.10	179.0	2634	725	2804	2693	418.8	8.5	385	4629	0.00	2.42	43.88	1.395	9382	0.000	0.079	2633	2108	2636	2696	2576	0	0	0	0	0	0	14.20	14.09	13.18
4936	0.07	192.8	2633	2108	2686	2554	386.0	9.4	406	4955	0.00	0.00	17.10	1.522	8358	0.000	0.000	2633	2108	2578	2647	2510	0	0	0	0	0	0	14.38	14.05	13.30
5235	0.05	204.0	2633	2110	2636	2495	357.6	9.5	416	5249	0.15	0.00	12.55	1.603	12454	0.256	0.000	2602	2109	2534	2605	2463	0	0	0	0	0	0	14.00	14.12	13.33
5535	0.14	258.5	2602	2110	2594	2451	334.7	7.5	426	5625	0.00	0.00	83.90	1.351	8358	0.000	0.000	2602	2109	2303	2369	2238	0	0	0	0	0	0	14.48	13.84	13.18
5925	0.29	317.4	2602	2109	2360	2228	305.5	7.3	439	6022	0.20	2.55	87.50	1.296	10916	0.098	0.087	2686	732	2065	2123	2007	0	0	0	0	0	0	14.16	13.74	13.12
6056	0.29	317.4	2687	732	2120	2006	289.3	12.4	465	6063	0.00	2.45	0.00	0.000	1030	0.000	0.077	2686	2100	2060	2114	2006	0	0	0	0	0	0	13.94	13.84	13.97
6378	0.29	317.4	2687	2101	2113	1998	248.8	12.4	479	6382	0.00	2.42	0.00	0.000	516	0.000	0.086	2686	726	2053	2112	1994	0	0	0	0	0	0	14.38	14.09	14.40
6408	0.29	317.4	2687	726	2111	1998	245.2	12.1	485	6414	0.00	2.42	0.00	0.000	1030	0.000	0.079	2686	2106	2053	2109	1998	0	0	0	0	0	0	14.22	14.12	14.27
6739	0.29	317.4	2687	2107	2109	1997	208.1	10.6	501	6744	0.00	2.45	0.00	0.000	516	0.000	0.086	2685	717	2053	2110	1997	0	0	0	0	0	0	14.47	14.16	14.50
6774	0.33	321.1	2686	718	2107	1998	204.6	9.8	508	6779	0.00	2.40	0.00	0.000	1190	0.000	0.079	2686	2102	2051	2106	1997	0	0	0	0	0	0	14.31	14.21	14.35
7100	0.34	336.0	2686	2104	2107	1998	173.3	9.3	523	7131	0.00	2.42	25.25	1.373	8740	0.000	0.084	2686	727	1993	2043	1943	0	0	0	0	0	0	14.52	13.97	13.40
7151	0.43	370.3	2686	727	2039	1936	168.7	8.4	533	7212	0.00	2.40	56.08	1.275	9382	0.000	0.079	2686	2104	1858	1897	1819	0	0	0	0	0	0	14.23	14.14	13.25
7522	0.52	395.6	2686	2102	1887	1804	135.9	8.8	557	7569	0.17	2.53	41.00	1.288	10916	0.112	0.086	2769	729	1753	1789	1717	0	0	0	0	0	0	14.12	13.93	13.29
7611	0.49	395.6	2769	728	1776	1716	124.3	14.1	574	7617	0.00	2.42	0.00	0.000	1158	0.000	0.077	2769	2100	1745	1775	1715	0	0	0	0	0	0	14.07	13.97	14.09
7916	0.44	395.6	2769	2100	1776	1707	83.2	13.3	593	7917	0.20	0.00	0.00	0.000	4230	0.269	0.000	2726	2101	1739	1774	1705	0	0	0	0	0	0	13.88	14.19	14.14
8214	0.54	449.3	2727	2101	1776	1706	57.3	7.5	623	8247	0.00	2.50	28.48	0.375	8868	0.000	0.086	2726	726	1534	1572	1497	0	0	0	0	0	0	14.45	14.11	13.81
8302	0.77	526.0	2727	725	1573	1491	51.0	6.5	639	8351	0.32	2.42	41.88	0.351	11430	0.084	0.077	2848	2101	1219	1286	1153	0	0	0	0	0	0	14.11	14.04	13.78
8647	0.94	735.3	2849	2101	1286	1143	12.7	0.3	678	8752	0.10	2.45	96.20	0.242	10916	0.151	0.084	2901	720	496	535	457	0	0	0	0	0	0	14.18	14.03	13.85
8793	1.01	763.4	2902	720	537	457	5.0	8.7	706	8798	0.00	2.45	0.00	0.000	1190	0.000	0.080	2902	2105	496	535	457	0	0	0	0	0	0	14.16	14.04	14.19
8830	end climb: SURFACE_DEPTH_REACHED
state	8830	begin surface coast
8850	end surface coast: CONTROL_FINISHED_OK
state	8851	begin surface