Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 91 * 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 91 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 261.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 43 ALTIM_SENSITIVITY 2 PM_SENDDEPTH 0.0

AD7714Ch0Gain 1 D_OFFGRID 1000 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

AH0_10V 0 D_PITCH 0 PITCH_ADJ_DBAND 1 SEABIRD_C_J 0.00021409935

AH0_24V 350 D_SAFE 0 PITCH_ADJ_GAIN 0.02 SEABIRD_T_G 0.0043055275

ALTIM_BOTTOM_PING_RANGE 0 D_SURF 2 PITCH_AD_RATE 160 SEABIRD_T_H 0.00061896152

ALTIM_BOTTOM_TURN_MARGIN 0 D_TGT 480 PITCH_CNV 0.003125763 SEABIRD_T_I 2.1649632e-05

ALTIM_FREQUENCY 13 ESCAPE_HEADING 0 PITCH_DBAND 0.1 SEABIRD_T_J 2.1628491e-06

ALTIM_PING_DELTA 10 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 38 SIM_PITCH 0

ALTIM_PING_DEPTH 0 FERRY_MAX 45 PITCH_MAX 3950 SIM_W 0

ALTIM_PULSE 3 FG_AHR_10V 0 PITCH_MAXERRORS 1 SM_CC 702.78448

ALTIM_SENSITIVITY 2 FG_AHR_24V 0 PITCH_MIN 208 SPEED_FACTOR 1

ALTIM_TOP_MIN_OBSTACLE 1 FILEMGR 0 PITCH_TIMEOUT 20 STOP_T 0

ALTIM_TOP_PING_RANGE 0 FIX_MISSING_TIMEOUT 0 PITCH_VBD_SHIFT 0.00069999998 STROBE 0

ALTIM_TOP_TURN_MARGIN 0 GLIDE_SLOPE 30 PITCH_W_DBAND 0 SURFACE_URGENCY 0

APOGEE_PITCH -5 GPS_DEVICE 32 PITCH_W_GAIN 0 SURFACE_URGENCY_FORCE 0

CALL_NDIVES 1 HD_A 0.0031999999 PM_MOTORS 0.0 SURFACE_URGENCY_TRY 0

CALL_TRIES 5 HD_B 0.0103 PM_NDIVE 1.0 TCM_PITCH_OFFSET 0

CALL_WAIT 60 HD_C 1.06e-05 PM_PROFILE 3.0 TCM_ROLL_OFFSET 0

CAPMAXSIZE 100000 HEADING -1 PM_RECORDABOVE 2000.0 TGT_AUTO_DEFAULT 0

CAPUPLOAD 0 HEAD_ERRBAND 10 PM_SENDDEPTH 0.0 TGT_DEFAULT_LAT 7100

CF8_MAXERRORS 20 HEAPDBG 0 PM_XMITPROFILE 0.0 TGT_DEFAULT_LON -14430

COMM_SEQ 0 ICE_FREEZE_MARGIN 0.050000001 PM_XMITRAW 0.0 T_ABORT 1440

COMPASS2_DEVICE 150 ID 196 PRESSURE_SLOPE 0.00010687162 T_BOOST 4

COMPASS_DEVICE 97 INT_PRESSURE_SLOPE 0.0097660003 PRESSURE_YINT -162.29706 T_DIVE 160

COMPASS_USE 4 INT_PRESSURE_YINT 0.75 PROTOCOL 9 T_EPIRB 0

COURSE_BIAS 0 KALMAN_USE 2 P_OVSHOOT 0.039999999 T_GPS 5

CP_NDIVE 1.0 LOGGERDEVICE1 54 P_OVSHOOT_WITHG 0 T_LOITER 0

CP_PROFILE 3.0 LOGGERDEVICE2 135 RAFOS_CORR_THRESH 60 T_MISSION 195

CP_RECORDABOVE 1000.0 LOGGERDEVICE3 83 RAFOS_DEVICE 1125 T_NO_W 120

CP_STARTS 261.0 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 22 VBD_MIN 500

DIVE 91 NOCOMM_ACTION 161 R_STBD_OVSHOOT 43 VBD_PUMP_AD_RATE_APOGEE 1

D_ABORT 650 N_DIVES 0 SC_NDIVE 1.0 VBD_PUMP_AD_RATE_SURFACE 1

D_BOOST 100 N_FILEKB 8 SC_PROFILE 3.0 VBD_TIMEOUT 720

D_CALL 0 N_GPS 100440 SC_RECORDABOVE 2000.0 W_ADJ_DBAND 0

D_FINISH 0 N_NOCOMM 1 SC_XMITPROFILE 3.0 XPDR_DEVICE 24

D_FLARE 3 N_NOSURFACE 0 SEABIRD_C_G -9.8804169 XPDR_INHIBIT 90

D_NO_BLEED 50 PHONE_DEVICE 49 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 170817,064302,7233.1118,-14828.0107,33,0.8,34,21.2,0.0,301.5,10,7.9 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 1.13 MHEAD_RNG_PITCHd_Wd 316.4,85073,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.2 D_GRID 480

GPS2 170817,065406,7233.1797,-14828.2812,6,0.8,7,21.2,0.0,0.0,10,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817082910.008086,3,51,17,0182,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30 PM_FREEKB_00 56295488

FINISH -0.0,1.020208 _24V_AH 12.50,85.887

SM_CCo 9004,0.00,0.000,0,0,496,702.78 _10V_AH 12.43,0.000

SM_GC 1.04,8.18,0.17,0.00,0.073,0.125,0.000,200,2219,496,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,14.31 FG_AHR_24Vo 0.000

RAFOS_CLK 229 FG_AHR_10Vo 0.000

MODEM 0,1502957079,75.36600,-145.04601,225.807,327757.7 MEM 323632

RAFOS_FIX 7232.996094,-14830.577148,170817,080809,4,255,0.26 DATA_FILE_SIZE 26708,773

IRIDIUM_FIX 7233.84,-14824.02,170817,034930 CAP_FILE_SIZE 100352,0

TT8_MAMPS 0.040446,0.855358 CFSIZE 2097872896,2060746752

HUMID 49.01 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1450.4

TCM_TEMP 13.40 CURRENT 0.057,252.52,1

XPDR_PINGS 6 GPS 170817,092546,7234.262,-14829.063,16,0.8,17,21.2,0.0,0.0,10,8.3

CP_FREE 16003923968.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 141.67 nil 0 0 0.00

Roll_motor 69 2151 1865.48 nil 0 0 0.00

VBD_pump_during_apogee 988 1451 17938.71 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 8936 14 1618.87

Iridium_during_xfer 387 177 860.56 NCP 8927 20 2231.75

Transponder_ping 1 420 7.88 PMAR 8885 16 1843.42

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.51

TT8 0 0 0.00

LPSleep 6338 2 182.00

TT8_Active 868 13 150.85

TT8_Sampling 2195 33 912.47

TT8_CF8 277 38 133.50

TT8_Kalman 0 0 0.00

Analog_circuits 2110 10 262.34

GPS_charging 0 0 0.00

Compass 1107 7 96.38

RAFOS 2215 48 1321.56

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 -145.9 200 2223 517 455 0.0 0.0 0 129 0.00 0.00 -81.32 0.000 16386 0.000 0.000 198 2224 2061 1978 2145 0 0 0 0 0 0 14.39 28.83 14.41

132 -0.57 -145.9 199 2225 1980 2146 3.6 -4.6 8 185 12.45 2.75 -35.30 0.000 18724 0.453 2.151 2376 3592 3963 3950 3977 0 0 0 0 0 0 13.74 12.67 14.15

410 -0.65 -145.9 2376 3595 3959 3978 62.9 -14.5 63 417 0.00 2.38 0.00 0.000 1158 0.000 0.052 2376 2195 3968 3958 3978 0 0 0 0 0 0 14.17 14.07 14.19

717 -0.69 -145.9 2376 2192 3965 3978 107.9 -12.9 90 722 0.00 2.45 0.00 0.000 388 0.000 0.086 2367 3588 3968 3959 3978 0 0 0 0 0 0 14.50 14.16 14.51

887 -0.83 -145.9 2367 3589 3959 3978 127.1 -10.6 124 892 0.17 2.35 0.00 0.000 5254 0.112 0.052 2293 2195 3968 3960 3977 0 0 0 0 0 0 14.26 14.23 14.33

1198 -0.76 -145.9 2293 2195 3961 3978 182.8 -17.9 136 1203 0.12 2.45 0.00 0.000 2436 0.288 0.086 2319 3586 3965 3959 3972 0 0 0 0 0 0 13.91 14.13 14.06

1323 -0.84 -145.9 2319 3588 3960 3978 199.4 -12.2 161 1328 0.00 2.35 0.00 0.000 1158 0.000 0.054 2319 2193 3968 3959 3977 0 0 0 0 0 0 14.35 14.26 14.39

1648 -0.88 -145.9 2320 2191 3961 3976 240.7 -12.0 176 1653 0.00 2.47 0.00 0.000 388 0.000 0.090 2318 3586 3967 3959 3976 0 0 0 0 0 0 14.55 14.16 14.57

1718 -1.00 -145.9 2318 3589 3961 3976 248.4 -10.4 190 1723 0.20 2.35 0.00 0.000 5254 0.102 0.054 2244 2198 3968 3960 3976 0 0 0 0 0 0 14.30 14.26 14.38

2039 -0.91 -145.9 2246 2197 3959 3973 302.0 -16.8 204 2044 0.15 2.42 0.00 0.000 2436 0.296 0.083 2270 3586 3966 3959 3973 0 0 0 0 0 0 13.94 14.22 14.14

2209 -0.94 -145.9 2267 3588 3962 3974 324.4 -12.5 238 2214 0.00 2.33 0.00 0.000 1158 0.000 0.055 2269 2202 3963 3959 3968 0 0 0 0 0 0 14.33 14.23 14.36

2519 -0.94 -145.9 2270 2202 3960 3972 366.0 -13.3 250 2524 0.00 2.42 0.00 0.000 260 0.000 0.087 2266 3588 3965 3959 3971 0 0 0 0 0 0 14.58 14.21 14.59

2609 -0.98 -145.9 2267 3589 3959 3972 377.4 -12.1 268 2614 0.00 2.35 0.00 0.000 1158 0.000 0.055 2267 2198 3964 3959 3970 0 0 0 0 0 0 14.38 14.27 14.41

2940 -0.98 -145.9 2267 2197 3960 3971 420.8 -13.1 284 2944 0.00 2.45 0.00 0.000 260 0.000 0.087 2258 3596 3964 3959 3969 0 0 0 0 0 0 14.59 14.21 14.60

3090 -1.01 -145.9 2258 3598 3959 3970 440.2 -12.5 314 3094 0.00 2.38 0.00 0.000 1158 0.000 0.055 2258 2190 3964 3959 3969 0 0 0 0 0 0 14.35 14.24 14.38

3387 end dive: TARGET_DEPTH_EXCEEDED

state 3387 begin apogee

3393 -0.13 0.0 2259 2062 3958 3968 481.2 -13.6 329 3603 1.08 0.00 206.57 1.451 10246 0.245 0.000 2531 2062 3366 3401 3331 0 0 0 0 0 0 13.96 13.50 12.80

3607 end apogee: CONTROL_FINISHED_OK

state 3607 begin climb

3609 0.57 145.9 2532 2062 3397 3325 492.4 0.0 336 3835 0.73 2.72 202.10 1.392 10500 0.067 0.073 2775 3491 2756 2809 2704 0 0 0 0 0 0 13.59 13.02 12.50

4033 0.14 145.9 2775 3492 2801 2705 469.6 15.8 373 4040 0.75 2.40 0.00 0.000 5254 0.350 0.057 2633 2128 2752 2800 2704 0 0 0 0 0 0 13.40 13.69 13.72

4367 0.06 189.8 2640 2127 2801 2703 441.7 8.0 389 4432 0.12 2.65 59.67 1.428 12964 0.298 0.083 2611 694 2586 2649 2523 0 0 0 0 0 0 13.77 13.72 13.01

4522 0.13 234.0 2613 695 2646 2520 429.9 8.0 420 4593 0.00 2.47 63.42 1.408 9382 0.000 0.077 2612 2080 2407 2474 2341 0 0 0 0 0 0 13.90 13.81 12.88

4908 0.19 268.9 2613 2080 2465 2330 397.5 8.4 447 4961 0.00 0.00 50.60 1.418 8358 0.000 0.000 2611 2080 2267 2333 2202 0 0 0 0 0 0 14.16 13.76 13.02

5238 0.27 305.7 2612 2081 2322 2189 370.0 8.3 458 5299 0.17 0.00 54.47 1.389 10918 0.104 0.000 2684 2080 2112 2172 2052 0 0 0 0 0 0 14.03 13.59 13.05

5598 0.22 305.7 2684 2081 2164 2046 321.6 13.6 475 5603 0.12 2.47 0.00 0.000 4740 0.262 0.083 2660 688 2104 2163 2046 0 0 0 0 0 0 13.82 14.00 13.96

5696 0.28 305.7 2660 688 2160 2045 310.9 10.5 494 5700 0.00 2.47 0.00 0.000 1158 0.000 0.077 2659 2098 2102 2159 2045 0 0 0 0 0 0 14.16 14.04 14.19

6021 0.28 305.7 2660 2099 2160 2043 274.5 11.0 509 6021 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2099 2100 2159 2042 0 0 0 0 0 0 14.40 14.41 14.40

6321 0.29 309.3 2660 2100 2156 2043 243.7 9.8 519 6326 0.00 2.42 0.00 0.000 548 0.000 0.085 2660 694 2100 2159 2042 0 0 0 0 0 0 14.40 14.06 14.42

6366 0.37 326.1 2660 694 2158 2042 239.5 9.2 528 6402 0.12 2.42 28.45 1.406 11430 0.134 0.077 2710 2107 2031 2085 1978 0 0 0 0 0 0 14.14 14.09 13.28

6712 0.31 326.1 2711 2108 2080 1974 196.4 11.8 547 6717 0.00 2.50 0.00 0.000 644 0.000 0.084 2712 688 2026 2079 1973 0 0 0 0 0 0 14.45 14.09 14.50

6772 0.31 326.1 2713 689 2077 1974 189.9 10.3 559 6777 0.12 2.47 0.00 0.000 5126 0.230 0.077 2685 2107 2024 2076 1973 0 0 0 0 0 0 14.04 14.16 14.26

7102 0.33 350.8 2685 2108 2077 1971 159.6 8.9 575 7145 0.00 0.00 41.67 1.341 8230 0.000 0.000 2685 2107 1934 1984 1885 0 0 0 0 0 0 14.52 14.00 13.31

7433 0.41 390.0 2686 2107 1971 1876 132.0 8.2 586 7504 0.00 2.60 66.78 1.270 8868 0.000 0.086 2685 696 1769 1804 1735 0 0 0 0 0 0 14.44 13.83 13.24

7575 0.57 437.9 2685 696 1797 1735 120.6 7.8 614 7664 0.25 2.50 80.57 1.206 11430 0.092 0.079 2781 2110 1574 1619 1529 0 0 0 0 0 0 14.05 13.98 13.07

7964 0.53 437.9 2781 2110 1617 1510 67.2 13.0 659 7969 0.00 2.53 0.00 0.000 644 0.000 0.087 2781 697 1564 1618 1510 0 0 0 0 0 0 14.29 13.98 14.31

8034 0.53 437.9 2782 696 1613 1509 59.2 10.5 673 8040 0.00 2.50 0.00 0.000 1030 0.000 0.077 2781 2105 1561 1612 1510 0 0 0 0 0 0 14.17 14.08 14.22

8345 0.58 510.5 2781 2106 1613 1507 33.4 6.6 705 8386 0.00 0.00 35.83 0.304 8742 0.000 0.000 2782 2106 1279 1343 1216 0 0 0 0 0 0 14.44 14.03 13.83

8686 0.92 717.1 2782 2106 1344 1213 14.3 0.5 742 8787 0.28 0.00 98.75 0.252 10918 0.093 0.000 2885 2104 497 547 448 0 0 0 0 0 0 14.21 14.14 13.87

8903 end climb: SURFACE_DEPTH_REACHED

state 8903 begin surface coast

8923 end surface coast: CONTROL_FINISHED_OK

state 8923 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	91	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	261.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	43	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,064302,7233.1118,-14828.0107,33,0.8,34,21.2,0.0,301.5,10,7.9	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	1.13	MHEAD_RNG_PITCHd_Wd	316.4,85073,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.2	D_GRID	480
GPS2	170817,065406,7233.1797,-14828.2812,6,0.8,7,21.2,0.0,0.0,10,9.7

MODEM_MSG	CACST,6,1,20170817082910.008086,3,51,17,0182,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*30	PM_FREEKB_00	56295488
FINISH	-0.0,1.020208	_24V_AH	12.50,85.887
SM_CCo	9004,0.00,0.000,0,0,496,702.78	_10V_AH	12.43,0.000
SM_GC	1.04,8.18,0.17,0.00,0.073,0.125,0.000,200,2219,496,-7.38,-0.57,702.78,0,0,0,0,0,0,14.23,14.21,14.31	FG_AHR_24Vo	0.000
RAFOS_CLK	229	FG_AHR_10Vo	0.000
MODEM	0,1502957079,75.36600,-145.04601,225.807,327757.7	MEM	323632
RAFOS_FIX	7232.996094,-14830.577148,170817,080809,4,255,0.26	DATA_FILE_SIZE	26708,773
IRIDIUM_FIX	7233.84,-14824.02,170817,034930	CAP_FILE_SIZE	100352,0
TT8_MAMPS	0.040446,0.855358	CFSIZE	2097872896,2060746752
HUMID	49.01	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1450.4
TCM_TEMP	13.40	CURRENT	0.057,252.52,1
XPDR_PINGS	6	GPS	170817,092546,7234.262,-14829.063,16,0.8,17,21.2,0.0,0.0,10,8.3
CP_FREE	16003923968.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	141.67	nil	0	0	0.00
Roll_motor	69	2151	1865.48	nil	0	0	0.00
VBD_pump_during_apogee	988	1451	17938.71	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	8936	14	1618.87
Iridium_during_xfer	387	177	860.56	NCP	8927	20	2231.75
Transponder_ping	1	420	7.88	PMAR	8885	16	1843.42
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.51
TT8	0	0	0.00
LPSleep	6338	2	182.00
TT8_Active	868	13	150.85
TT8_Sampling	2195	33	912.47
TT8_CF8	277	38	133.50
TT8_Kalman	0	0	0.00
Analog_circuits	2110	10	262.34
GPS_charging	0	0	0.00
Compass	1107	7	96.38
RAFOS	2215	48	1321.56
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	200	2223	517	455	0.0	0.0	0	129	0.00	0.00	-81.32	0.000	16386	0.000	0.000	198	2224	2061	1978	2145	0	0	0	0	0	0	14.39	28.83	14.41
132	-0.57	-145.9	199	2225	1980	2146	3.6	-4.6	8	185	12.45	2.75	-35.30	0.000	18724	0.453	2.151	2376	3592	3963	3950	3977	0	0	0	0	0	0	13.74	12.67	14.15
410	-0.65	-145.9	2376	3595	3959	3978	62.9	-14.5	63	417	0.00	2.38	0.00	0.000	1158	0.000	0.052	2376	2195	3968	3958	3978	0	0	0	0	0	0	14.17	14.07	14.19
717	-0.69	-145.9	2376	2192	3965	3978	107.9	-12.9	90	722	0.00	2.45	0.00	0.000	388	0.000	0.086	2367	3588	3968	3959	3978	0	0	0	0	0	0	14.50	14.16	14.51
887	-0.83	-145.9	2367	3589	3959	3978	127.1	-10.6	124	892	0.17	2.35	0.00	0.000	5254	0.112	0.052	2293	2195	3968	3960	3977	0	0	0	0	0	0	14.26	14.23	14.33
1198	-0.76	-145.9	2293	2195	3961	3978	182.8	-17.9	136	1203	0.12	2.45	0.00	0.000	2436	0.288	0.086	2319	3586	3965	3959	3972	0	0	0	0	0	0	13.91	14.13	14.06
1323	-0.84	-145.9	2319	3588	3960	3978	199.4	-12.2	161	1328	0.00	2.35	0.00	0.000	1158	0.000	0.054	2319	2193	3968	3959	3977	0	0	0	0	0	0	14.35	14.26	14.39
1648	-0.88	-145.9	2320	2191	3961	3976	240.7	-12.0	176	1653	0.00	2.47	0.00	0.000	388	0.000	0.090	2318	3586	3967	3959	3976	0	0	0	0	0	0	14.55	14.16	14.57
1718	-1.00	-145.9	2318	3589	3961	3976	248.4	-10.4	190	1723	0.20	2.35	0.00	0.000	5254	0.102	0.054	2244	2198	3968	3960	3976	0	0	0	0	0	0	14.30	14.26	14.38
2039	-0.91	-145.9	2246	2197	3959	3973	302.0	-16.8	204	2044	0.15	2.42	0.00	0.000	2436	0.296	0.083	2270	3586	3966	3959	3973	0	0	0	0	0	0	13.94	14.22	14.14
2209	-0.94	-145.9	2267	3588	3962	3974	324.4	-12.5	238	2214	0.00	2.33	0.00	0.000	1158	0.000	0.055	2269	2202	3963	3959	3968	0	0	0	0	0	0	14.33	14.23	14.36
2519	-0.94	-145.9	2270	2202	3960	3972	366.0	-13.3	250	2524	0.00	2.42	0.00	0.000	260	0.000	0.087	2266	3588	3965	3959	3971	0	0	0	0	0	0	14.58	14.21	14.59
2609	-0.98	-145.9	2267	3589	3959	3972	377.4	-12.1	268	2614	0.00	2.35	0.00	0.000	1158	0.000	0.055	2267	2198	3964	3959	3970	0	0	0	0	0	0	14.38	14.27	14.41
2940	-0.98	-145.9	2267	2197	3960	3971	420.8	-13.1	284	2944	0.00	2.45	0.00	0.000	260	0.000	0.087	2258	3596	3964	3959	3969	0	0	0	0	0	0	14.59	14.21	14.60
3090	-1.01	-145.9	2258	3598	3959	3970	440.2	-12.5	314	3094	0.00	2.38	0.00	0.000	1158	0.000	0.055	2258	2190	3964	3959	3969	0	0	0	0	0	0	14.35	14.24	14.38
3387	end dive: TARGET_DEPTH_EXCEEDED
state	3387	begin apogee
3393	-0.13	0.0	2259	2062	3958	3968	481.2	-13.6	329	3603	1.08	0.00	206.57	1.451	10246	0.245	0.000	2531	2062	3366	3401	3331	0	0	0	0	0	0	13.96	13.50	12.80
3607	end apogee: CONTROL_FINISHED_OK
state	3607	begin climb
3609	0.57	145.9	2532	2062	3397	3325	492.4	0.0	336	3835	0.73	2.72	202.10	1.392	10500	0.067	0.073	2775	3491	2756	2809	2704	0	0	0	0	0	0	13.59	13.02	12.50
4033	0.14	145.9	2775	3492	2801	2705	469.6	15.8	373	4040	0.75	2.40	0.00	0.000	5254	0.350	0.057	2633	2128	2752	2800	2704	0	0	0	0	0	0	13.40	13.69	13.72
4367	0.06	189.8	2640	2127	2801	2703	441.7	8.0	389	4432	0.12	2.65	59.67	1.428	12964	0.298	0.083	2611	694	2586	2649	2523	0	0	0	0	0	0	13.77	13.72	13.01
4522	0.13	234.0	2613	695	2646	2520	429.9	8.0	420	4593	0.00	2.47	63.42	1.408	9382	0.000	0.077	2612	2080	2407	2474	2341	0	0	0	0	0	0	13.90	13.81	12.88
4908	0.19	268.9	2613	2080	2465	2330	397.5	8.4	447	4961	0.00	0.00	50.60	1.418	8358	0.000	0.000	2611	2080	2267	2333	2202	0	0	0	0	0	0	14.16	13.76	13.02
5238	0.27	305.7	2612	2081	2322	2189	370.0	8.3	458	5299	0.17	0.00	54.47	1.389	10918	0.104	0.000	2684	2080	2112	2172	2052	0	0	0	0	0	0	14.03	13.59	13.05
5598	0.22	305.7	2684	2081	2164	2046	321.6	13.6	475	5603	0.12	2.47	0.00	0.000	4740	0.262	0.083	2660	688	2104	2163	2046	0	0	0	0	0	0	13.82	14.00	13.96
5696	0.28	305.7	2660	688	2160	2045	310.9	10.5	494	5700	0.00	2.47	0.00	0.000	1158	0.000	0.077	2659	2098	2102	2159	2045	0	0	0	0	0	0	14.16	14.04	14.19
6021	0.28	305.7	2660	2099	2160	2043	274.5	11.0	509	6021	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2099	2100	2159	2042	0	0	0	0	0	0	14.40	14.41	14.40
6321	0.29	309.3	2660	2100	2156	2043	243.7	9.8	519	6326	0.00	2.42	0.00	0.000	548	0.000	0.085	2660	694	2100	2159	2042	0	0	0	0	0	0	14.40	14.06	14.42
6366	0.37	326.1	2660	694	2158	2042	239.5	9.2	528	6402	0.12	2.42	28.45	1.406	11430	0.134	0.077	2710	2107	2031	2085	1978	0	0	0	0	0	0	14.14	14.09	13.28
6712	0.31	326.1	2711	2108	2080	1974	196.4	11.8	547	6717	0.00	2.50	0.00	0.000	644	0.000	0.084	2712	688	2026	2079	1973	0	0	0	0	0	0	14.45	14.09	14.50
6772	0.31	326.1	2713	689	2077	1974	189.9	10.3	559	6777	0.12	2.47	0.00	0.000	5126	0.230	0.077	2685	2107	2024	2076	1973	0	0	0	0	0	0	14.04	14.16	14.26
7102	0.33	350.8	2685	2108	2077	1971	159.6	8.9	575	7145	0.00	0.00	41.67	1.341	8230	0.000	0.000	2685	2107	1934	1984	1885	0	0	0	0	0	0	14.52	14.00	13.31
7433	0.41	390.0	2686	2107	1971	1876	132.0	8.2	586	7504	0.00	2.60	66.78	1.270	8868	0.000	0.086	2685	696	1769	1804	1735	0	0	0	0	0	0	14.44	13.83	13.24
7575	0.57	437.9	2685	696	1797	1735	120.6	7.8	614	7664	0.25	2.50	80.57	1.206	11430	0.092	0.079	2781	2110	1574	1619	1529	0	0	0	0	0	0	14.05	13.98	13.07
7964	0.53	437.9	2781	2110	1617	1510	67.2	13.0	659	7969	0.00	2.53	0.00	0.000	644	0.000	0.087	2781	697	1564	1618	1510	0	0	0	0	0	0	14.29	13.98	14.31
8034	0.53	437.9	2782	696	1613	1509	59.2	10.5	673	8040	0.00	2.50	0.00	0.000	1030	0.000	0.077	2781	2105	1561	1612	1510	0	0	0	0	0	0	14.17	14.08	14.22
8345	0.58	510.5	2781	2106	1613	1507	33.4	6.6	705	8386	0.00	0.00	35.83	0.304	8742	0.000	0.000	2782	2106	1279	1343	1216	0	0	0	0	0	0	14.44	14.03	13.83
8686	0.92	717.1	2782	2106	1344	1213	14.3	0.5	742	8787	0.28	0.00	98.75	0.252	10918	0.093	0.000	2885	2104	497	547	448	0	0	0	0	0	0	14.21	14.14	13.87
8903	end climb: SURFACE_DEPTH_REACHED
state	8903	begin surface coast
8923	end surface coast: CONTROL_FINISHED_OK
state	8923	begin surface