Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 111 * 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 111 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 316.0

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 43 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 316.0 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 43 VBD_MIN 500

DIVE 111 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 190817,142534,7254.9741,-14904.3652,34,0.7,37,21.1,0.2,49.6,10,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 3 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.18 MHEAD_RNG_PITCHd_Wd 303.9,41217,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.0 D_GRID 480

GPS2 190817,144222,7255.0088,-14904.2031,10,0.8,10,21.1,0.0,258.4,10,8.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170819162836.790792,3,1948,32,0505,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E PM_FREEKB_00 54916352

FINISH 0.2,1.020548 _24V_AH 12.47,95.567

SM_CCo 9059,16.73,0.218,0,0,498,702.78 _10V_AH 12.48,0.000

SM_GC 1.56,8.27,0.17,16.73,0.067,0.105,0.218,202,2232,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.26,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 208 FG_AHR_10Vo 0.000

MODEM 2,1503159170,73.18300,-149.96500,23.261,33699.5 MEM 323292

RAFOS_FIX 7256.203125,-14909.283203,190817,161646,3,255,0.60 DATA_FILE_SIZE 30054,852

IRIDIUM_FIX 7254.48,-14917.23,190817,143221 CAP_FILE_SIZE 112801,0

TT8_MAMPS 0.039697,0.872585 CFSIZE 2097872896,2054422528

HUMID 46.41 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1448.9

TCM_TEMP 13.30 CURRENT 0.060,254.08,1

XPDR_PINGS 12 GPS 190817,171533,7256.051,-14906.314,28,0.7,29,21.1,0.0,0.0,12,7.4

CP_FREE 16000548864.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 452 140.38 nil 0 0 0.00

Roll_motor 95 2145 2543.39 nil 0 0 0.00

VBD_pump_during_apogee 978 1481 18084.52 nil 0 0 0.00

VBD_pump_during_surface 16 218 45.47 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 9058 14 1649.91

Iridium_during_xfer 611 168 1283.67 NCP 9060 20 2259.56

Transponder_ping 3 420 15.71 PMAR 9008 16 1866.70

GUMSTIX_24V 0 0 0.00

GPS 13 22 3.79

TT8 0 0 0.00

LPSleep 6403 2 184.61

TT8_Active 1011 13 176.30

TT8_Sampling 2375 33 991.20

TT8_CF8 313 38 151.20

TT8_Kalman 0 0 0.00

Analog_circuits 2411 10 300.91

GPS_charging 0 0 0.00

Compass 1219 7 106.53

RAFOS 2217 48 1328.07

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 -145.9 190 2173 508 487 0.0 0.0 0 129 0.00 0.00 -81.20 0.000 16386 0.000 0.000 189 2173 2038 1957 2120 0 0 0 0 0 0 14.40 28.83 14.44

132 -0.57 -145.9 191 2172 1960 2121 3.3 -4.2 8 190 12.50 2.67 -38.10 0.000 18980 0.452 2.146 2385 805 3966 3954 3979 0 0 0 0 0 0 13.72 12.64 14.16

242 -0.57 -145.9 2385 807 3955 3980 31.6 -20.0 29 247 0.00 2.47 0.00 0.000 1030 0.000 0.089 2378 2198 3970 3962 3979 0 0 0 0 0 0 14.24 14.09 14.22

552 -0.57 -145.9 2378 2200 3960 3980 91.4 -15.2 61 557 0.00 2.53 0.00 0.000 260 0.000 0.092 2376 3614 3969 3959 3979 0 0 0 0 0 0 14.46 14.13 14.49

782 -0.72 -145.9 2376 3614 3961 3979 117.5 -10.2 107 788 0.00 2.38 0.00 0.000 1158 0.000 0.054 2376 2208 3969 3959 3979 0 0 0 0 0 0 14.32 14.21 14.36

1093 -0.81 -145.9 2375 2209 3960 3980 150.8 -10.2 119 1099 0.15 2.47 0.00 0.000 4484 0.132 0.086 2306 3618 3967 3955 3979 0 0 0 0 0 0 14.26 14.15 14.32

1219 -0.86 -145.9 2302 3619 3961 3980 168.0 -13.5 144 1224 0.00 2.38 0.00 0.000 1158 0.000 0.054 2305 2203 3968 3959 3978 0 0 0 0 0 0 14.35 14.23 14.38

1544 -0.86 -145.9 2306 2202 3961 3979 217.6 -14.8 159 1550 0.00 2.47 0.00 0.000 260 0.000 0.089 2299 3614 3969 3959 3979 0 0 0 0 0 0 14.58 14.18 14.59

1630 -0.94 -145.9 2299 3615 3960 3980 229.2 -12.2 176 1636 0.00 2.40 0.00 0.000 1158 0.000 0.058 2299 2198 3969 3959 3979 0 0 0 0 0 0 14.25 14.14 14.27

1935 -0.94 -145.9 2299 2197 3960 3979 268.3 -12.4 187 1941 0.00 2.50 0.00 0.000 260 0.000 0.089 2293 3616 3968 3958 3978 0 0 0 0 0 0 14.60 14.18 14.62

2041 -1.01 -145.9 2294 3619 3960 3984 280.4 -11.3 208 2046 0.12 2.40 0.00 0.000 5254 0.134 0.057 2246 2193 3967 3958 3976 0 0 0 0 0 0 14.00 14.24 13.98

2357 -0.94 -145.9 2247 2192 3959 3977 328.8 -15.2 221 2362 0.12 2.50 0.00 0.000 2436 0.301 0.084 2271 3616 3967 3958 3976 0 0 0 0 0 0 13.94 14.20 14.12

2502 -0.98 -145.9 2265 3617 3957 3977 347.5 -11.9 250 2508 0.00 2.40 0.00 0.000 1158 0.000 0.057 2265 2191 3970 3964 3976 0 0 0 0 0 0 14.35 14.24 14.38

2807 -0.98 -145.9 2265 2192 3958 3976 386.8 -12.8 261 2812 0.00 2.50 0.00 0.000 260 0.000 0.087 2255 3620 3966 3957 3975 0 0 0 0 0 0 14.60 14.23 14.62

2907 -0.98 -145.9 2255 3625 3957 3976 399.7 -12.6 281 2912 0.00 2.40 0.00 0.000 1030 0.000 0.056 2255 2196 3965 3955 3975 0 0 0 0 0 0 14.39 14.28 14.42

3228 -0.95 -145.9 2255 2196 3957 3974 443.3 -13.6 295 3233 0.00 2.47 0.00 0.000 388 0.000 0.088 2246 3616 3965 3956 3974 0 0 0 0 0 0 14.60 14.23 14.66

3365 -0.95 -145.9 2247 3613 3957 3973 461.8 -13.2 322 3370 0.00 2.40 0.00 0.000 1030 0.000 0.056 2246 2189 3964 3955 3974 0 0 0 0 0 0 14.34 14.23 14.37

3497 end dive: TARGET_DEPTH_EXCEEDED

state 3497 begin apogee

3503 -0.13 0.0 2246 2065 3956 3974 481.1 -14.2 329 3722 1.12 0.08 214.68 1.426 10246 0.252 0.182 2526 2112 3364 3391 3337 0 0 0 0 0 0 13.95 13.43 12.74

3725 end apogee: CONTROL_FINISHED_OK

state 3725 begin climb

3728 0.57 145.9 2527 2112 3382 3327 492.0 0.0 336 3941 0.75 2.62 201.27 1.363 10500 0.063 0.075 2781 3506 2760 2811 2710 0 0 0 0 0 0 13.57 13.18 12.47

4146 0.14 145.9 2781 3507 2787 2714 462.8 17.2 412 4151 0.80 2.42 0.00 0.000 5254 0.354 0.057 2630 2124 2750 2788 2713 0 0 0 0 0 0 13.43 13.74 13.77

4461 0.07 182.8 2631 2126 2788 2710 435.0 8.3 425 4522 0.00 2.62 52.25 1.402 8868 0.000 0.084 2640 695 2608 2660 2557 0 0 0 0 0 0 14.34 13.82 13.10

4630 0.06 201.0 2641 690 2657 2552 419.8 9.2 455 4661 0.17 2.50 23.02 1.482 13478 0.253 0.079 2604 2093 2541 2603 2479 0 0 0 0 0 0 13.75 13.92 13.07

4962 0.12 248.1 2605 2093 2598 2464 393.7 7.8 471 5042 0.00 0.00 78.62 1.339 8358 0.000 0.000 2603 2093 2355 2416 2295 0 0 0 0 0 0 14.30 13.75 13.05

5320 0.22 297.0 2604 2094 2397 2280 365.5 7.7 483 5406 0.15 2.60 78.00 1.327 10916 0.115 0.087 2672 695 2147 2201 2093 0 0 0 0 0 0 14.04 13.68 13.02

5431 0.22 297.0 2672 697 2192 2091 352.5 12.1 495 5436 0.00 2.53 0.00 0.000 1030 0.000 0.078 2672 2100 2140 2191 2089 0 0 0 0 0 0 13.83 13.72 13.85

5741 0.19 297.0 2672 2101 2190 2078 313.8 12.5 507 5746 0.00 2.53 0.00 0.000 644 0.000 0.088 2672 690 2133 2188 2078 0 0 0 0 0 0 14.28 13.96 14.31

5776 0.19 297.0 2673 690 2187 2078 309.5 12.3 514 5781 0.00 2.50 0.00 0.000 1030 0.000 0.079 2672 2107 2133 2188 2078 0 0 0 0 0 0 14.15 14.04 14.18

6101 0.19 297.0 2672 2109 2188 2077 269.9 11.9 529 6106 0.00 2.50 0.00 0.000 516 0.000 0.087 2672 695 2130 2187 2074 0 0 0 0 0 0 14.40 14.05 14.41

6156 0.23 297.0 2673 695 2187 2076 263.5 11.1 540 6162 0.00 2.47 0.00 0.000 1158 0.000 0.079 2672 2109 2131 2186 2077 0 0 0 0 0 0 14.21 14.13 14.25

6461 0.23 297.0 2673 2109 2187 2075 230.9 10.3 551 6466 0.00 2.50 0.00 0.000 516 0.000 0.086 2672 691 2130 2186 2075 0 0 0 0 0 0 14.42 14.13 14.45

6487 0.23 304.2 2673 692 2185 2077 228.5 9.7 556 6493 0.00 2.47 0.00 0.000 1062 0.000 0.078 2672 2100 2131 2184 2078 0 0 0 0 0 0 14.23 14.14 14.26

6792 0.25 331.3 2672 2104 2185 2076 200.6 8.7 567 6853 0.00 2.47 54.75 1.294 8740 0.000 0.083 2672 694 2010 2059 1961 0 0 0 0 0 0 14.43 13.78 13.24

6921 0.37 371.4 2672 694 2049 1960 190.0 8.2 591 7001 0.00 2.45 70.70 1.239 9382 0.000 0.079 2672 2105 1847 1883 1812 0 0 0 0 0 0 13.98 13.88 13.06

7312 0.48 412.2 2672 2104 1875 1796 157.5 8.1 619 7388 0.17 2.62 70.40 1.225 10916 0.111 0.087 2755 693 1681 1713 1649 0 0 0 0 0 0 14.09 13.78 13.13

7433 0.48 412.2 2756 693 1699 1646 141.9 13.1 643 7438 0.00 2.53 0.00 0.000 1030 0.000 0.078 2755 2104 1673 1702 1644 0 0 0 0 0 0 13.97 13.85 14.01

7764 0.46 412.2 2756 2106 1703 1635 100.0 12.4 659 7769 0.00 2.50 0.00 0.000 644 0.000 0.086 2755 693 1669 1702 1636 0 0 0 0 0 0 14.42 14.10 14.44

7839 0.48 412.2 2756 693 1701 1635 91.3 10.9 674 7846 0.00 2.47 0.00 0.000 1158 0.000 0.078 2755 2110 1664 1694 1635 0 0 0 0 0 0 14.25 14.13 14.28

8144 0.53 482.3 2756 2110 1700 1633 63.3 6.8 705 8186 0.00 2.47 34.42 0.393 8484 0.000 0.083 2755 3518 1395 1444 1347 0 0 0 0 0 0 14.48 14.09 13.71

8411 0.66 559.5 2756 3518 1445 1352 42.7 6.4 758 8460 0.12 2.42 40.45 0.330 11430 0.128 0.066 2802 2102 1085 1157 1013 0 0 0 0 0 0 14.12 14.09 13.78

8756 0.78 618.2 2803 2103 1149 1015 14.8 7.3 797 8793 0.00 2.50 30.80 0.256 8868 0.000 0.086 2803 676 842 915 769 0 0 0 0 0 0 14.47 14.13 13.92

8994 1.11 742.2 2803 675 917 773 4.1 4.3 844 9028 0.43 2.47 29.33 0.220 11426 0.112 0.075 2938 2102 621 671 571 0 0 0 0 0 0 14.17 14.16 14.27

9029 end climb: SURFACE_DEPTH_REACHED

state 9029 begin surface coast

9036 end surface coast: CONTROL_FINISHED_OK

state 9036 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	111	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	316.0
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	43	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,142534,7254.9741,-14904.3652,34,0.7,37,21.1,0.2,49.6,10,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	3	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.18	MHEAD_RNG_PITCHd_Wd	303.9,41217,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.0	D_GRID	480
GPS2	190817,144222,7255.0088,-14904.2031,10,0.8,10,21.1,0.0,258.4,10,8.2

MODEM_MSG	CACST,6,1,20170819162836.790792,3,1948,32,0505,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3E	PM_FREEKB_00	54916352
FINISH	0.2,1.020548	_24V_AH	12.47,95.567
SM_CCo	9059,16.73,0.218,0,0,498,702.78	_10V_AH	12.48,0.000
SM_GC	1.56,8.27,0.17,16.73,0.067,0.105,0.218,202,2232,498,-7.38,-0.65,702.78,0,0,0,0,0,0,14.26,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	208	FG_AHR_10Vo	0.000
MODEM	2,1503159170,73.18300,-149.96500,23.261,33699.5	MEM	323292
RAFOS_FIX	7256.203125,-14909.283203,190817,161646,3,255,0.60	DATA_FILE_SIZE	30054,852
IRIDIUM_FIX	7254.48,-14917.23,190817,143221	CAP_FILE_SIZE	112801,0
TT8_MAMPS	0.039697,0.872585	CFSIZE	2097872896,2054422528
HUMID	46.41	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1448.9
TCM_TEMP	13.30	CURRENT	0.060,254.08,1
XPDR_PINGS	12	GPS	190817,171533,7256.051,-14906.314,28,0.7,29,21.1,0.0,0.0,12,7.4
CP_FREE	16000548864.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	452	140.38	nil	0	0	0.00
Roll_motor	95	2145	2543.39	nil	0	0	0.00
VBD_pump_during_apogee	978	1481	18084.52	nil	0	0	0.00
VBD_pump_during_surface	16	218	45.47	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	9058	14	1649.91
Iridium_during_xfer	611	168	1283.67	NCP	9060	20	2259.56
Transponder_ping	3	420	15.71	PMAR	9008	16	1866.70
GUMSTIX_24V	0	0	0.00
GPS	13	22	3.79
TT8	0	0	0.00
LPSleep	6403	2	184.61
TT8_Active	1011	13	176.30
TT8_Sampling	2375	33	991.20
TT8_CF8	313	38	151.20
TT8_Kalman	0	0	0.00
Analog_circuits	2411	10	300.91
GPS_charging	0	0	0.00
Compass	1219	7	106.53
RAFOS	2217	48	1328.07
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	190	2173	508	487	0.0	0.0	0	129	0.00	0.00	-81.20	0.000	16386	0.000	0.000	189	2173	2038	1957	2120	0	0	0	0	0	0	14.40	28.83	14.44
132	-0.57	-145.9	191	2172	1960	2121	3.3	-4.2	8	190	12.50	2.67	-38.10	0.000	18980	0.452	2.146	2385	805	3966	3954	3979	0	0	0	0	0	0	13.72	12.64	14.16
242	-0.57	-145.9	2385	807	3955	3980	31.6	-20.0	29	247	0.00	2.47	0.00	0.000	1030	0.000	0.089	2378	2198	3970	3962	3979	0	0	0	0	0	0	14.24	14.09	14.22
552	-0.57	-145.9	2378	2200	3960	3980	91.4	-15.2	61	557	0.00	2.53	0.00	0.000	260	0.000	0.092	2376	3614	3969	3959	3979	0	0	0	0	0	0	14.46	14.13	14.49
782	-0.72	-145.9	2376	3614	3961	3979	117.5	-10.2	107	788	0.00	2.38	0.00	0.000	1158	0.000	0.054	2376	2208	3969	3959	3979	0	0	0	0	0	0	14.32	14.21	14.36
1093	-0.81	-145.9	2375	2209	3960	3980	150.8	-10.2	119	1099	0.15	2.47	0.00	0.000	4484	0.132	0.086	2306	3618	3967	3955	3979	0	0	0	0	0	0	14.26	14.15	14.32
1219	-0.86	-145.9	2302	3619	3961	3980	168.0	-13.5	144	1224	0.00	2.38	0.00	0.000	1158	0.000	0.054	2305	2203	3968	3959	3978	0	0	0	0	0	0	14.35	14.23	14.38
1544	-0.86	-145.9	2306	2202	3961	3979	217.6	-14.8	159	1550	0.00	2.47	0.00	0.000	260	0.000	0.089	2299	3614	3969	3959	3979	0	0	0	0	0	0	14.58	14.18	14.59
1630	-0.94	-145.9	2299	3615	3960	3980	229.2	-12.2	176	1636	0.00	2.40	0.00	0.000	1158	0.000	0.058	2299	2198	3969	3959	3979	0	0	0	0	0	0	14.25	14.14	14.27
1935	-0.94	-145.9	2299	2197	3960	3979	268.3	-12.4	187	1941	0.00	2.50	0.00	0.000	260	0.000	0.089	2293	3616	3968	3958	3978	0	0	0	0	0	0	14.60	14.18	14.62
2041	-1.01	-145.9	2294	3619	3960	3984	280.4	-11.3	208	2046	0.12	2.40	0.00	0.000	5254	0.134	0.057	2246	2193	3967	3958	3976	0	0	0	0	0	0	14.00	14.24	13.98
2357	-0.94	-145.9	2247	2192	3959	3977	328.8	-15.2	221	2362	0.12	2.50	0.00	0.000	2436	0.301	0.084	2271	3616	3967	3958	3976	0	0	0	0	0	0	13.94	14.20	14.12
2502	-0.98	-145.9	2265	3617	3957	3977	347.5	-11.9	250	2508	0.00	2.40	0.00	0.000	1158	0.000	0.057	2265	2191	3970	3964	3976	0	0	0	0	0	0	14.35	14.24	14.38
2807	-0.98	-145.9	2265	2192	3958	3976	386.8	-12.8	261	2812	0.00	2.50	0.00	0.000	260	0.000	0.087	2255	3620	3966	3957	3975	0	0	0	0	0	0	14.60	14.23	14.62
2907	-0.98	-145.9	2255	3625	3957	3976	399.7	-12.6	281	2912	0.00	2.40	0.00	0.000	1030	0.000	0.056	2255	2196	3965	3955	3975	0	0	0	0	0	0	14.39	14.28	14.42
3228	-0.95	-145.9	2255	2196	3957	3974	443.3	-13.6	295	3233	0.00	2.47	0.00	0.000	388	0.000	0.088	2246	3616	3965	3956	3974	0	0	0	0	0	0	14.60	14.23	14.66
3365	-0.95	-145.9	2247	3613	3957	3973	461.8	-13.2	322	3370	0.00	2.40	0.00	0.000	1030	0.000	0.056	2246	2189	3964	3955	3974	0	0	0	0	0	0	14.34	14.23	14.37
3497	end dive: TARGET_DEPTH_EXCEEDED
state	3497	begin apogee
3503	-0.13	0.0	2246	2065	3956	3974	481.1	-14.2	329	3722	1.12	0.08	214.68	1.426	10246	0.252	0.182	2526	2112	3364	3391	3337	0	0	0	0	0	0	13.95	13.43	12.74
3725	end apogee: CONTROL_FINISHED_OK
state	3725	begin climb
3728	0.57	145.9	2527	2112	3382	3327	492.0	0.0	336	3941	0.75	2.62	201.27	1.363	10500	0.063	0.075	2781	3506	2760	2811	2710	0	0	0	0	0	0	13.57	13.18	12.47
4146	0.14	145.9	2781	3507	2787	2714	462.8	17.2	412	4151	0.80	2.42	0.00	0.000	5254	0.354	0.057	2630	2124	2750	2788	2713	0	0	0	0	0	0	13.43	13.74	13.77
4461	0.07	182.8	2631	2126	2788	2710	435.0	8.3	425	4522	0.00	2.62	52.25	1.402	8868	0.000	0.084	2640	695	2608	2660	2557	0	0	0	0	0	0	14.34	13.82	13.10
4630	0.06	201.0	2641	690	2657	2552	419.8	9.2	455	4661	0.17	2.50	23.02	1.482	13478	0.253	0.079	2604	2093	2541	2603	2479	0	0	0	0	0	0	13.75	13.92	13.07
4962	0.12	248.1	2605	2093	2598	2464	393.7	7.8	471	5042	0.00	0.00	78.62	1.339	8358	0.000	0.000	2603	2093	2355	2416	2295	0	0	0	0	0	0	14.30	13.75	13.05
5320	0.22	297.0	2604	2094	2397	2280	365.5	7.7	483	5406	0.15	2.60	78.00	1.327	10916	0.115	0.087	2672	695	2147	2201	2093	0	0	0	0	0	0	14.04	13.68	13.02
5431	0.22	297.0	2672	697	2192	2091	352.5	12.1	495	5436	0.00	2.53	0.00	0.000	1030	0.000	0.078	2672	2100	2140	2191	2089	0	0	0	0	0	0	13.83	13.72	13.85
5741	0.19	297.0	2672	2101	2190	2078	313.8	12.5	507	5746	0.00	2.53	0.00	0.000	644	0.000	0.088	2672	690	2133	2188	2078	0	0	0	0	0	0	14.28	13.96	14.31
5776	0.19	297.0	2673	690	2187	2078	309.5	12.3	514	5781	0.00	2.50	0.00	0.000	1030	0.000	0.079	2672	2107	2133	2188	2078	0	0	0	0	0	0	14.15	14.04	14.18
6101	0.19	297.0	2672	2109	2188	2077	269.9	11.9	529	6106	0.00	2.50	0.00	0.000	516	0.000	0.087	2672	695	2130	2187	2074	0	0	0	0	0	0	14.40	14.05	14.41
6156	0.23	297.0	2673	695	2187	2076	263.5	11.1	540	6162	0.00	2.47	0.00	0.000	1158	0.000	0.079	2672	2109	2131	2186	2077	0	0	0	0	0	0	14.21	14.13	14.25
6461	0.23	297.0	2673	2109	2187	2075	230.9	10.3	551	6466	0.00	2.50	0.00	0.000	516	0.000	0.086	2672	691	2130	2186	2075	0	0	0	0	0	0	14.42	14.13	14.45
6487	0.23	304.2	2673	692	2185	2077	228.5	9.7	556	6493	0.00	2.47	0.00	0.000	1062	0.000	0.078	2672	2100	2131	2184	2078	0	0	0	0	0	0	14.23	14.14	14.26
6792	0.25	331.3	2672	2104	2185	2076	200.6	8.7	567	6853	0.00	2.47	54.75	1.294	8740	0.000	0.083	2672	694	2010	2059	1961	0	0	0	0	0	0	14.43	13.78	13.24
6921	0.37	371.4	2672	694	2049	1960	190.0	8.2	591	7001	0.00	2.45	70.70	1.239	9382	0.000	0.079	2672	2105	1847	1883	1812	0	0	0	0	0	0	13.98	13.88	13.06
7312	0.48	412.2	2672	2104	1875	1796	157.5	8.1	619	7388	0.17	2.62	70.40	1.225	10916	0.111	0.087	2755	693	1681	1713	1649	0	0	0	0	0	0	14.09	13.78	13.13
7433	0.48	412.2	2756	693	1699	1646	141.9	13.1	643	7438	0.00	2.53	0.00	0.000	1030	0.000	0.078	2755	2104	1673	1702	1644	0	0	0	0	0	0	13.97	13.85	14.01
7764	0.46	412.2	2756	2106	1703	1635	100.0	12.4	659	7769	0.00	2.50	0.00	0.000	644	0.000	0.086	2755	693	1669	1702	1636	0	0	0	0	0	0	14.42	14.10	14.44
7839	0.48	412.2	2756	693	1701	1635	91.3	10.9	674	7846	0.00	2.47	0.00	0.000	1158	0.000	0.078	2755	2110	1664	1694	1635	0	0	0	0	0	0	14.25	14.13	14.28
8144	0.53	482.3	2756	2110	1700	1633	63.3	6.8	705	8186	0.00	2.47	34.42	0.393	8484	0.000	0.083	2755	3518	1395	1444	1347	0	0	0	0	0	0	14.48	14.09	13.71
8411	0.66	559.5	2756	3518	1445	1352	42.7	6.4	758	8460	0.12	2.42	40.45	0.330	11430	0.128	0.066	2802	2102	1085	1157	1013	0	0	0	0	0	0	14.12	14.09	13.78
8756	0.78	618.2	2803	2103	1149	1015	14.8	7.3	797	8793	0.00	2.50	30.80	0.256	8868	0.000	0.086	2803	676	842	915	769	0	0	0	0	0	0	14.47	14.13	13.92
8994	1.11	742.2	2803	675	917	773	4.1	4.3	844	9028	0.43	2.47	29.33	0.220	11426	0.112	0.075	2938	2102	621	671	571	0	0	0	0	0	0	14.17	14.16	14.27
9029	end climb: SURFACE_DEPTH_REACHED
state	9029	begin surface coast
9036	end surface coast: CONTROL_FINISHED_OK
state	9036	begin surface