Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 96 * 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 96 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 275.0

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 29 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 275.0 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 96 NOCOMM_ACTION 161 R_STBD_OVSHOOT 29 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 170817,203320,7238.6025,-14833.5146,14,0.7,35,21.2,0.3,344.2,11,8.8 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 1.12 MHEAD_RNG_PITCHd_Wd 308.6,75097,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.5 D_GRID 480

GPS2 170817,204715,7238.7300,-14833.4814,7,0.8,8,21.2,0.5,270.2,10,9.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817202856.599474,3,62,05,0108,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31 PM_FREEKB_00 55948224

FINISH -0.0,1.020097 _24V_AH 12.50,88.273

SM_CCo 9074,0.00,0.000,0,0,491,704.99 _10V_AH 12.43,0.000

SM_GC 1.00,8.25,2.67,0.00,0.076,0.073,0.000,204,2206,491,-7.38,-0.40,704.99,0,0,0,0,0,0,14.23,14.16,14.30 FG_AHR_24Vo 0.000

RAFOS_CLK 386 FG_AHR_10Vo 0.000

MODEM 0,1503000272,75.36600,-145.04601,218.873,317417.3 MEM 323760

RAFOS_FIX 7240.355469,-14839.696289,170817,202059,4,255,0.00 DATA_FILE_SIZE 26694,805

IRIDIUM_FIX 7242.28,-14841.08,170817,203751 CAP_FILE_SIZE 105147,0

TT8_MAMPS 0.040446,0.857605 CFSIZE 2097872896,2059206656

HUMID 49.52 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1450.1

TCM_TEMP 13.40 CURRENT 0.032,235.33,1

XPDR_PINGS 13 GPS 170817,232025,7239.777,-14834.492,23,0.8,34,21.2,0.0,237.3,10,9.0

CP_FREE 16003104768.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 145.10 nil 0 0 0.00

Roll_motor 79 2145 2128.30 nil 0 0 0.00

VBD_pump_during_apogee 925 1639 18969.85 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 9019 14 1633.57

Iridium_during_xfer 506 178 1127.51 NCP 9006 20 2251.50

Transponder_ping 3 420 17.06 PMAR 8966 16 1854.62

GUMSTIX_24V 0 0 0.00

GPS 8 22 2.51

TT8 0 0 0.00

LPSleep 6493 2 186.46

TT8_Active 795 13 138.14

TT8_Sampling 2336 33 971.37

TT8_CF8 296 38 142.74

TT8_Kalman 0 0 0.00

Analog_circuits 2185 10 271.66

GPS_charging 0 0 0.00

Compass 1152 7 100.31

RAFOS 0 0 0.00

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 -145.9 197 2213 512 474 0.0 0.0 0 129 0.00 0.00 -81.22 0.000 16386 0.000 0.000 197 2214 2077 1994 2160 0 0 0 0 0 0 14.28 28.83 14.29

132 -0.57 -145.9 199 2215 1997 2162 3.7 -5.0 8 185 12.62 2.75 -34.17 0.000 18724 0.457 2.145 2376 3602 3964 3951 3977 0 0 0 0 0 0 13.67 12.90 14.09

410 -0.62 -145.9 2376 3604 3961 3980 66.2 -14.9 63 417 0.00 2.40 0.00 0.000 1158 0.000 0.055 2375 2199 3969 3960 3979 0 0 0 0 0 0 14.13 14.02 14.16

737 -0.65 -145.9 2376 2197 3962 3979 112.3 -12.9 90 742 0.00 2.47 0.00 0.000 388 0.000 0.087 2367 3601 3970 3962 3979 0 0 0 0 0 0 14.48 14.17 14.50

917 -0.79 -145.9 2368 3603 3963 3979 132.0 -10.1 126 922 0.15 2.38 0.00 0.000 5254 0.120 0.054 2308 2195 3970 3961 3979 0 0 0 0 0 0 14.25 14.22 14.33

1247 -0.75 -145.9 2308 2196 3962 3979 185.6 -15.8 142 1252 0.12 2.47 0.00 0.000 2436 0.288 0.088 2330 3601 3970 3962 3979 0 0 0 0 0 0 13.94 14.17 14.13

1364 -0.86 -145.9 2331 3602 3962 3980 199.5 -10.8 165 1370 0.00 2.38 0.00 0.000 1158 0.000 0.056 2331 2188 3970 3961 3979 0 0 0 0 0 0 14.25 14.14 14.28

1668 -0.91 -145.9 2331 2192 3962 3978 235.1 -11.2 176 1673 0.12 2.47 0.00 0.000 4484 0.140 0.086 2266 3601 3969 3962 3977 0 0 0 0 0 0 14.25 14.18 14.26

1748 -0.91 -145.9 2267 3602 3963 3976 246.5 -14.7 192 1753 0.00 2.35 0.00 0.000 1030 0.000 0.056 2266 2202 3968 3961 3976 0 0 0 0 0 0 14.38 14.27 14.40

2058 -0.86 -145.9 2266 2202 3962 3975 293.0 -14.4 204 2063 0.12 2.45 0.00 0.000 2436 0.316 0.084 2285 3601 3967 3961 3974 0 0 0 0 0 0 13.99 14.19 14.17

2183 -0.92 -145.9 2285 3603 3962 3975 307.8 -11.1 229 2188 0.00 2.38 0.00 0.000 1158 0.000 0.056 2285 2193 3967 3961 3974 0 0 0 0 0 0 14.38 14.28 14.42

2508 -0.92 -145.9 2285 2192 3962 3971 346.6 -11.9 244 2513 0.00 2.47 0.00 0.000 260 0.000 0.090 2280 3604 3966 3961 3971 0 0 0 0 0 0 14.59 14.19 14.61

2608 -0.98 -145.9 2281 3606 3962 3971 358.2 -11.2 264 2613 0.00 2.38 0.00 0.000 1158 0.000 0.055 2280 2193 3966 3961 3971 0 0 0 0 0 0 14.39 14.28 14.42

2928 -0.98 -145.9 2280 2193 3962 3971 396.2 -11.8 278 2933 0.00 2.47 0.00 0.000 260 0.000 0.090 2280 3601 3965 3961 3970 0 0 0 0 0 0 14.64 14.18 14.62

3033 -1.06 -145.9 2280 3603 3962 3970 407.7 -10.4 299 3039 0.12 2.35 0.00 0.000 5254 0.141 0.055 2234 2199 3965 3961 3969 0 0 0 0 0 0 14.25 14.23 14.33

3350 -0.97 -145.9 2234 2198 3962 3969 456.6 -15.7 312 3355 0.12 2.47 0.00 0.000 2436 0.311 0.084 2252 3610 3964 3960 3968 0 0 0 0 0 0 13.95 14.21 14.14

3500 -0.97 -145.9 2252 3613 3961 3969 476.9 -12.9 342 3505 0.00 2.38 0.00 0.000 1030 0.000 0.055 2252 2203 3965 3962 3968 0 0 0 0 0 0 14.38 14.28 14.41

3522 end dive: TARGET_DEPTH_EXCEEDED

state 3522 begin apogee

3528 -0.13 0.0 2253 2063 3962 3968 480.3 -13.8 347 3740 1.12 0.05 207.27 1.445 10246 0.259 0.218 2532 2094 3365 3404 3326 0 0 0 0 0 0 13.97 13.38 12.77

3743 end apogee: CONTROL_FINISHED_OK

state 3743 begin climb

3748 0.57 145.9 2533 2095 3399 3321 490.5 0.0 354 3957 0.73 2.65 200.80 1.392 10500 0.064 0.073 2778 3513 2764 2824 2704 0 0 0 0 0 0 13.59 13.05 12.50

4149 0.14 145.9 2777 3513 2803 2703 463.0 17.4 393 4154 0.75 2.45 0.00 0.000 5254 0.345 0.057 2634 2128 2753 2803 2703 0 0 0 0 0 0 13.43 13.73 13.76

4465 0.07 171.3 2634 2129 2803 2704 433.7 8.8 406 4502 0.12 2.55 32.47 1.457 12964 0.298 0.084 2606 697 2662 2718 2607 0 0 0 0 0 0 13.81 13.74 13.14

4582 0.14 220.7 2607 696 2712 2605 424.6 7.7 429 4659 0.00 2.50 70.57 1.398 9382 0.000 0.079 2606 2103 2465 2536 2395 0 0 0 0 0 0 14.03 13.93 12.99

4979 0.21 251.9 2607 2103 2526 2382 390.9 8.6 458 5026 0.12 0.00 44.78 1.418 10406 0.135 0.000 2664 2102 2338 2402 2275 0 0 0 0 0 0 14.11 13.87 13.13

5309 0.16 251.9 2664 2104 2391 2265 350.5 12.3 469 5314 0.12 2.47 0.00 0.000 4740 0.271 0.082 2644 694 2327 2390 2265 0 0 0 0 0 0 13.95 14.06 14.08

5384 0.21 259.1 2644 695 2390 2265 342.6 9.7 484 5394 0.00 2.47 4.57 1.639 9382 0.000 0.078 2644 2112 2311 2374 2248 0 0 0 0 0 0 14.26 14.14 13.10

5700 0.21 259.1 2643 2113 2375 2251 309.9 10.2 497 5700 0.00 0.00 0.00 0.000 6 0.000 0.000 2644 2112 2312 2374 2250 0 0 0 0 0 0 14.50 14.51 14.52

6000 0.21 259.6 2644 2114 2375 2249 279.7 10.0 507 6005 0.00 2.47 0.00 0.000 548 0.000 0.084 2646 690 2311 2374 2248 0 0 0 0 0 0 14.55 14.22 14.57

6066 0.29 276.9 2646 689 2375 2250 273.5 9.2 520 6106 0.00 2.47 31.62 1.440 9382 0.000 0.078 2646 2106 2233 2295 2171 0 0 0 0 0 0 14.35 14.23 13.37

6423 0.33 296.5 2646 2107 2293 2164 240.3 9.1 541 6458 0.12 0.00 29.80 1.408 10918 0.130 0.000 2703 2106 2153 2211 2095 0 0 0 0 0 0 14.28 14.09 13.33

6785 0.27 296.5 2704 2106 2207 2088 198.0 11.1 563 6791 0.12 2.47 0.00 0.000 4740 0.246 0.083 2674 697 2146 2205 2088 0 0 0 0 0 0 13.97 14.16 14.09

6898 0.35 336.9 2674 696 2203 2089 188.2 8.1 585 6972 0.00 2.45 67.03 1.299 9382 0.000 0.079 2679 2106 1987 2040 1934 0 0 0 0 0 0 14.30 14.19 13.25

7298 0.44 381.4 2674 2107 2032 1925 155.5 7.9 615 7375 0.12 0.00 75.03 1.248 10662 0.138 0.000 2735 2107 1808 1848 1768 0 0 0 0 0 0 14.21 13.88 13.20

7659 0.44 381.4 2735 2107 1836 1758 113.3 11.3 637 7664 0.00 2.50 0.00 0.000 516 0.000 0.086 2742 697 1795 1834 1757 0 0 0 0 0 0 14.38 14.09 14.40

7714 0.47 381.4 2742 698 1832 1758 107.4 10.5 648 7720 0.00 2.47 0.00 0.000 1158 0.000 0.080 2742 2104 1792 1826 1758 0 0 0 0 0 0 14.20 14.10 14.25

8021 0.47 381.4 2742 2104 1832 1757 75.0 10.0 673 8021 0.00 0.00 0.00 0.000 6 0.000 0.000 2742 2105 1793 1831 1756 0 0 0 0 0 0 14.45 14.48 14.48

8321 0.55 456.9 2742 2106 1832 1754 50.4 6.5 703 8364 0.00 2.55 36.95 0.356 8868 0.000 0.083 2742 696 1500 1547 1454 0 0 0 0 0 0 14.48 14.13 13.83

8454 0.73 538.5 2743 695 1544 1454 42.1 6.2 729 8502 0.22 2.47 41.33 0.327 11430 0.098 0.080 2828 2105 1168 1242 1095 0 0 0 0 0 0 14.19 14.11 13.81

8807 0.95 756.3 2829 2105 1242 1085 13.7 -0.1 769 8898 0.15 2.47 83.47 0.250 10916 0.116 0.084 2902 697 494 532 456 0 0 0 0 0 0 14.21 14.04 13.87

8970 end climb: SURFACE_DEPTH_REACHED

state 8971 begin surface coast

8991 end surface coast: CONTROL_FINISHED_OK

state 8991 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	96	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	275.0
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	29	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	170817,203320,7238.6025,-14833.5146,14,0.7,35,21.2,0.3,344.2,11,8.8	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	1.12	MHEAD_RNG_PITCHd_Wd	308.6,75097,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.5	D_GRID	480
GPS2	170817,204715,7238.7300,-14833.4814,7,0.8,8,21.2,0.5,270.2,10,9.7

MODEM_MSG	CACST,6,1,20170817202856.599474,3,62,05,0108,0150,250,00,00,02,02,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*31	PM_FREEKB_00	55948224
FINISH	-0.0,1.020097	_24V_AH	12.50,88.273
SM_CCo	9074,0.00,0.000,0,0,491,704.99	_10V_AH	12.43,0.000
SM_GC	1.00,8.25,2.67,0.00,0.076,0.073,0.000,204,2206,491,-7.38,-0.40,704.99,0,0,0,0,0,0,14.23,14.16,14.30	FG_AHR_24Vo	0.000
RAFOS_CLK	386	FG_AHR_10Vo	0.000
MODEM	0,1503000272,75.36600,-145.04601,218.873,317417.3	MEM	323760
RAFOS_FIX	7240.355469,-14839.696289,170817,202059,4,255,0.00	DATA_FILE_SIZE	26694,805
IRIDIUM_FIX	7242.28,-14841.08,170817,203751	CAP_FILE_SIZE	105147,0
TT8_MAMPS	0.040446,0.857605	CFSIZE	2097872896,2059206656
HUMID	49.52	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1450.1
TCM_TEMP	13.40	CURRENT	0.032,235.33,1
XPDR_PINGS	13	GPS	170817,232025,7239.777,-14834.492,23,0.8,34,21.2,0.0,237.3,10,9.0
CP_FREE	16003104768.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	145.10	nil	0	0	0.00
Roll_motor	79	2145	2128.30	nil	0	0	0.00
VBD_pump_during_apogee	925	1639	18969.85	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	9019	14	1633.57
Iridium_during_xfer	506	178	1127.51	NCP	9006	20	2251.50
Transponder_ping	3	420	17.06	PMAR	8966	16	1854.62
GUMSTIX_24V	0	0	0.00
GPS	8	22	2.51
TT8	0	0	0.00
LPSleep	6493	2	186.46
TT8_Active	795	13	138.14
TT8_Sampling	2336	33	971.37
TT8_CF8	296	38	142.74
TT8_Kalman	0	0	0.00
Analog_circuits	2185	10	271.66
GPS_charging	0	0	0.00
Compass	1152	7	100.31
RAFOS	0	0	0.00
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	197	2213	512	474	0.0	0.0	0	129	0.00	0.00	-81.22	0.000	16386	0.000	0.000	197	2214	2077	1994	2160	0	0	0	0	0	0	14.28	28.83	14.29
132	-0.57	-145.9	199	2215	1997	2162	3.7	-5.0	8	185	12.62	2.75	-34.17	0.000	18724	0.457	2.145	2376	3602	3964	3951	3977	0	0	0	0	0	0	13.67	12.90	14.09
410	-0.62	-145.9	2376	3604	3961	3980	66.2	-14.9	63	417	0.00	2.40	0.00	0.000	1158	0.000	0.055	2375	2199	3969	3960	3979	0	0	0	0	0	0	14.13	14.02	14.16
737	-0.65	-145.9	2376	2197	3962	3979	112.3	-12.9	90	742	0.00	2.47	0.00	0.000	388	0.000	0.087	2367	3601	3970	3962	3979	0	0	0	0	0	0	14.48	14.17	14.50
917	-0.79	-145.9	2368	3603	3963	3979	132.0	-10.1	126	922	0.15	2.38	0.00	0.000	5254	0.120	0.054	2308	2195	3970	3961	3979	0	0	0	0	0	0	14.25	14.22	14.33
1247	-0.75	-145.9	2308	2196	3962	3979	185.6	-15.8	142	1252	0.12	2.47	0.00	0.000	2436	0.288	0.088	2330	3601	3970	3962	3979	0	0	0	0	0	0	13.94	14.17	14.13
1364	-0.86	-145.9	2331	3602	3962	3980	199.5	-10.8	165	1370	0.00	2.38	0.00	0.000	1158	0.000	0.056	2331	2188	3970	3961	3979	0	0	0	0	0	0	14.25	14.14	14.28
1668	-0.91	-145.9	2331	2192	3962	3978	235.1	-11.2	176	1673	0.12	2.47	0.00	0.000	4484	0.140	0.086	2266	3601	3969	3962	3977	0	0	0	0	0	0	14.25	14.18	14.26
1748	-0.91	-145.9	2267	3602	3963	3976	246.5	-14.7	192	1753	0.00	2.35	0.00	0.000	1030	0.000	0.056	2266	2202	3968	3961	3976	0	0	0	0	0	0	14.38	14.27	14.40
2058	-0.86	-145.9	2266	2202	3962	3975	293.0	-14.4	204	2063	0.12	2.45	0.00	0.000	2436	0.316	0.084	2285	3601	3967	3961	3974	0	0	0	0	0	0	13.99	14.19	14.17
2183	-0.92	-145.9	2285	3603	3962	3975	307.8	-11.1	229	2188	0.00	2.38	0.00	0.000	1158	0.000	0.056	2285	2193	3967	3961	3974	0	0	0	0	0	0	14.38	14.28	14.42
2508	-0.92	-145.9	2285	2192	3962	3971	346.6	-11.9	244	2513	0.00	2.47	0.00	0.000	260	0.000	0.090	2280	3604	3966	3961	3971	0	0	0	0	0	0	14.59	14.19	14.61
2608	-0.98	-145.9	2281	3606	3962	3971	358.2	-11.2	264	2613	0.00	2.38	0.00	0.000	1158	0.000	0.055	2280	2193	3966	3961	3971	0	0	0	0	0	0	14.39	14.28	14.42
2928	-0.98	-145.9	2280	2193	3962	3971	396.2	-11.8	278	2933	0.00	2.47	0.00	0.000	260	0.000	0.090	2280	3601	3965	3961	3970	0	0	0	0	0	0	14.64	14.18	14.62
3033	-1.06	-145.9	2280	3603	3962	3970	407.7	-10.4	299	3039	0.12	2.35	0.00	0.000	5254	0.141	0.055	2234	2199	3965	3961	3969	0	0	0	0	0	0	14.25	14.23	14.33
3350	-0.97	-145.9	2234	2198	3962	3969	456.6	-15.7	312	3355	0.12	2.47	0.00	0.000	2436	0.311	0.084	2252	3610	3964	3960	3968	0	0	0	0	0	0	13.95	14.21	14.14
3500	-0.97	-145.9	2252	3613	3961	3969	476.9	-12.9	342	3505	0.00	2.38	0.00	0.000	1030	0.000	0.055	2252	2203	3965	3962	3968	0	0	0	0	0	0	14.38	14.28	14.41
3522	end dive: TARGET_DEPTH_EXCEEDED
state	3522	begin apogee
3528	-0.13	0.0	2253	2063	3962	3968	480.3	-13.8	347	3740	1.12	0.05	207.27	1.445	10246	0.259	0.218	2532	2094	3365	3404	3326	0	0	0	0	0	0	13.97	13.38	12.77
3743	end apogee: CONTROL_FINISHED_OK
state	3743	begin climb
3748	0.57	145.9	2533	2095	3399	3321	490.5	0.0	354	3957	0.73	2.65	200.80	1.392	10500	0.064	0.073	2778	3513	2764	2824	2704	0	0	0	0	0	0	13.59	13.05	12.50
4149	0.14	145.9	2777	3513	2803	2703	463.0	17.4	393	4154	0.75	2.45	0.00	0.000	5254	0.345	0.057	2634	2128	2753	2803	2703	0	0	0	0	0	0	13.43	13.73	13.76
4465	0.07	171.3	2634	2129	2803	2704	433.7	8.8	406	4502	0.12	2.55	32.47	1.457	12964	0.298	0.084	2606	697	2662	2718	2607	0	0	0	0	0	0	13.81	13.74	13.14
4582	0.14	220.7	2607	696	2712	2605	424.6	7.7	429	4659	0.00	2.50	70.57	1.398	9382	0.000	0.079	2606	2103	2465	2536	2395	0	0	0	0	0	0	14.03	13.93	12.99
4979	0.21	251.9	2607	2103	2526	2382	390.9	8.6	458	5026	0.12	0.00	44.78	1.418	10406	0.135	0.000	2664	2102	2338	2402	2275	0	0	0	0	0	0	14.11	13.87	13.13
5309	0.16	251.9	2664	2104	2391	2265	350.5	12.3	469	5314	0.12	2.47	0.00	0.000	4740	0.271	0.082	2644	694	2327	2390	2265	0	0	0	0	0	0	13.95	14.06	14.08
5384	0.21	259.1	2644	695	2390	2265	342.6	9.7	484	5394	0.00	2.47	4.57	1.639	9382	0.000	0.078	2644	2112	2311	2374	2248	0	0	0	0	0	0	14.26	14.14	13.10
5700	0.21	259.1	2643	2113	2375	2251	309.9	10.2	497	5700	0.00	0.00	0.00	0.000	6	0.000	0.000	2644	2112	2312	2374	2250	0	0	0	0	0	0	14.50	14.51	14.52
6000	0.21	259.6	2644	2114	2375	2249	279.7	10.0	507	6005	0.00	2.47	0.00	0.000	548	0.000	0.084	2646	690	2311	2374	2248	0	0	0	0	0	0	14.55	14.22	14.57
6066	0.29	276.9	2646	689	2375	2250	273.5	9.2	520	6106	0.00	2.47	31.62	1.440	9382	0.000	0.078	2646	2106	2233	2295	2171	0	0	0	0	0	0	14.35	14.23	13.37
6423	0.33	296.5	2646	2107	2293	2164	240.3	9.1	541	6458	0.12	0.00	29.80	1.408	10918	0.130	0.000	2703	2106	2153	2211	2095	0	0	0	0	0	0	14.28	14.09	13.33
6785	0.27	296.5	2704	2106	2207	2088	198.0	11.1	563	6791	0.12	2.47	0.00	0.000	4740	0.246	0.083	2674	697	2146	2205	2088	0	0	0	0	0	0	13.97	14.16	14.09
6898	0.35	336.9	2674	696	2203	2089	188.2	8.1	585	6972	0.00	2.45	67.03	1.299	9382	0.000	0.079	2679	2106	1987	2040	1934	0	0	0	0	0	0	14.30	14.19	13.25
7298	0.44	381.4	2674	2107	2032	1925	155.5	7.9	615	7375	0.12	0.00	75.03	1.248	10662	0.138	0.000	2735	2107	1808	1848	1768	0	0	0	0	0	0	14.21	13.88	13.20
7659	0.44	381.4	2735	2107	1836	1758	113.3	11.3	637	7664	0.00	2.50	0.00	0.000	516	0.000	0.086	2742	697	1795	1834	1757	0	0	0	0	0	0	14.38	14.09	14.40
7714	0.47	381.4	2742	698	1832	1758	107.4	10.5	648	7720	0.00	2.47	0.00	0.000	1158	0.000	0.080	2742	2104	1792	1826	1758	0	0	0	0	0	0	14.20	14.10	14.25
8021	0.47	381.4	2742	2104	1832	1757	75.0	10.0	673	8021	0.00	0.00	0.00	0.000	6	0.000	0.000	2742	2105	1793	1831	1756	0	0	0	0	0	0	14.45	14.48	14.48
8321	0.55	456.9	2742	2106	1832	1754	50.4	6.5	703	8364	0.00	2.55	36.95	0.356	8868	0.000	0.083	2742	696	1500	1547	1454	0	0	0	0	0	0	14.48	14.13	13.83
8454	0.73	538.5	2743	695	1544	1454	42.1	6.2	729	8502	0.22	2.47	41.33	0.327	11430	0.098	0.080	2828	2105	1168	1242	1095	0	0	0	0	0	0	14.19	14.11	13.81
8807	0.95	756.3	2829	2105	1242	1085	13.7	-0.1	769	8898	0.15	2.47	83.47	0.250	10916	0.116	0.084	2902	697	494	532	456	0	0	0	0	0	0	14.21	14.04	13.87
8970	end climb: SURFACE_DEPTH_REACHED
state	8971	begin surface coast
8991	end surface coast: CONTROL_FINISHED_OK
state	8991	begin surface