Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 38 * 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 38 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 48

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 122.0

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 23 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 42 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 122.0 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 23 VBD_MIN 500

DIVE 38 NOCOMM_ACTION 161 R_STBD_OVSHOOT 42 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 48 SEABIRD_C_H 1.1388741 XPDR_VALID 2

Pre-dive calculations and measurements:

GPS1 100817,234603,7141.6157,-14727.1162,32,0.7,33,21.4,0.0,128.6,11,7.8 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.14 MHEAD_RNG_PITCHd_Wd 332.6,184928,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -73.7 D_GRID 480

GPS2 110817,002653,7141.3457,-14726.6348,8,0.7,13,21.4,0.0,178.1,11,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170811003021.670502,3,247,23,0449,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01 PM_FREEKB_00 60159040

FINISH 0.5,1.019970 _24V_AH 12.69,60.638

SM_CCo 9141,0.00,0.000,0,0,495,703.03 _10V_AH 12.74,0.000

SM_GC 1.10,8.52,2.33,0.00,0.090,0.057,0.000,199,2189,495,-7.38,0.71,703.03,0,0,0,0,0,0,14.12,14.08,14.19 FG_AHR_24Vo 0.000

RAFOS_CLK 378 FG_AHR_10Vo 0.000

MODEM 4,1502411421,75.71700,-151.21500,320.921,465639.8 MEM 324016

RAFOS_FIX 7144.114746,-14721.083008,100817,202026,3,255,0.94 DATA_FILE_SIZE 26721,762

IRIDIUM_FIX 7143.15,-14717.53,110817,002009 CAP_FILE_SIZE 114964,0

TT8_MAMPS 0.040446,0.914529 CFSIZE 2097872896,2071953408

HUMID 49.17 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1451.4

TCM_TEMP 13.40 CURRENT 0.107,219.29,1

XPDR_PINGS 67 GPS 110817,030104,7142.165,-14727.466,30,0.7,31,21.4,0.0,0.0,11,7.7

CP_FREE 16013033472.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 450 147.81 nil 0 0 0.00

Roll_motor 90 2132 2443.81 nil 0 0 0.00

VBD_pump_during_apogee 922 1419 16612.38 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 9090 14 1710.90

Iridium_during_xfer 1681 172 3672.02 NCP 9088 111 12801.27

Transponder_ping 16 420 89.27 PMAR 9035 16 1903.60

GUMSTIX_24V 0 0 0.00

GPS 14 22 4.23

TT8 0 0 0.00

LPSleep 6840 2 201.32

TT8_Active 877 13 156.20

TT8_Sampling 3243 33 1381.79

TT8_CF8 643 38 317.09

TT8_Kalman 0 0 0.00

Analog_circuits 3333 10 424.64

GPS_charging 0 0 0.00

Compass 1093 7 97.55

RAFOS 456 48 278.85

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 -145.9 148 2226 505 485 0.0 0.0 0 125 0.00 0.00 -77.65 0.000 16386 0.000 0.000 147 2225 2131 2057 2205 0 0 0 0 0 0 14.36 28.83 14.39

128 -0.57 -145.9 146 2230 2061 2206 3.5 -4.9 8 181 12.73 2.85 -34.85 0.000 18980 0.451 2.132 2387 783 3964 3953 3975 0 0 0 0 0 0 13.74 12.83 14.08

336 -0.54 -145.9 2387 782 3960 3975 51.2 -17.5 49 342 0.00 2.50 0.00 0.000 1158 0.000 0.086 2386 2179 3968 3961 3975 0 0 0 0 0 0 14.00 13.90 14.04

641 -0.54 -145.9 2387 2180 3964 3975 97.9 -13.4 80 646 0.00 2.55 0.00 0.000 260 0.000 0.088 2386 3614 3968 3963 3974 0 0 0 0 0 0 14.31 14.00 14.32

786 -0.67 -145.9 2388 3614 3964 3975 114.1 -10.5 109 792 0.00 2.42 0.00 0.000 1158 0.000 0.053 2386 2187 3969 3963 3975 0 0 0 0 0 0 14.12 14.02 14.14

1091 -0.75 -145.9 2387 2191 3963 3976 147.8 -10.7 120 1097 0.12 2.55 0.00 0.000 4484 0.130 0.084 2329 3621 3968 3962 3975 0 0 0 0 0 0 14.16 14.10 14.19

1132 -0.77 -145.9 2330 3622 3963 3976 153.2 -13.7 128 1137 0.00 2.42 0.00 0.000 1158 0.000 0.057 2329 2201 3968 3963 3974 0 0 0 0 0 0 14.21 14.12 14.25

1452 -0.77 -145.9 2329 2201 3962 3975 198.2 -13.1 142 1457 0.00 2.50 0.00 0.000 260 0.000 0.085 2319 3616 3967 3961 3974 0 0 0 0 0 0 14.48 14.12 14.50

1537 -0.84 -145.9 2320 3617 3962 3974 208.6 -10.9 159 1544 0.00 2.40 0.00 0.000 1158 0.000 0.057 2319 2198 3969 3960 3978 0 0 0 0 0 0 14.23 14.13 14.27

1842 -0.84 -145.9 2319 2197 3971 3973 245.2 -11.6 170 1847 0.00 2.53 0.00 0.000 260 0.000 0.089 2319 3617 3966 3960 3972 0 0 0 0 0 0 14.50 14.12 14.52

1979 -0.94 -145.9 2319 3619 3959 3972 259.5 -10.1 197 1984 0.12 2.40 0.00 0.000 5254 0.132 0.057 2267 2201 3965 3959 3971 0 0 0 0 0 0 14.22 14.19 14.30

2295 -0.85 -145.9 2266 2200 3956 3970 307.3 -15.3 210 2300 0.12 2.50 0.00 0.000 2436 0.312 0.082 2285 3620 3962 3956 3969 0 0 0 0 0 0 13.90 14.13 14.07

2370 -0.85 -145.9 2286 3622 3956 3969 317.5 -12.6 225 2375 0.00 2.42 0.00 0.000 1030 0.000 0.060 2285 2198 3962 3955 3969 0 0 0 0 0 0 14.30 14.17 14.33

2685 -0.81 -145.9 2285 2195 3955 3966 359.9 -13.6 238 2690 0.12 2.50 0.00 0.000 2436 0.305 0.084 2307 3617 3960 3955 3966 0 0 0 0 0 0 13.96 14.15 14.11

2765 -0.90 -145.9 2308 3619 3955 3966 369.1 -10.5 254 2770 0.00 2.42 0.00 0.000 1158 0.000 0.058 2307 2195 3960 3954 3966 0 0 0 0 0 0 14.31 14.19 14.33

3075 -0.93 -145.9 2308 2193 3955 3964 404.4 -11.4 266 3080 0.00 2.50 0.00 0.000 388 0.000 0.088 2305 3614 3959 3954 3964 0 0 0 0 0 0 14.53 14.15 14.53

3161 -1.02 -145.9 2306 3616 3954 3965 413.7 -10.4 283 3168 0.17 2.42 0.00 0.000 5254 0.113 0.057 2244 2193 3958 3953 3964 0 0 0 0 0 0 14.11 14.07 14.19

3466 -0.90 -145.9 2244 2193 3953 3964 464.1 -16.9 294 3471 0.17 2.50 0.00 0.000 2436 0.311 0.084 2279 3614 3957 3952 3963 0 0 0 0 0 0 13.85 14.12 14.06

3585 end dive: TARGET_DEPTH_EXCEEDED

state 3585 begin apogee

3593 -0.13 0.0 2281 2096 3952 3963 480.3 -12.5 318 3858 0.98 0.00 259.85 1.323 10246 0.244 0.000 2527 2095 3366 3394 3338 0 0 0 0 0 0 13.93 13.50 12.91

3862 end apogee: CONTROL_FINISHED_OK

state 3862 begin climb

3864 0.57 145.9 2528 2096 3391 3331 495.0 0.0 327 4067 0.75 2.70 191.20 1.369 11012 0.065 0.077 2780 3513 2759 2804 2714 0 0 0 0 0 0 13.57 13.26 12.69

4214 0.16 145.9 2780 3514 2787 2716 471.8 17.6 388 4221 0.73 2.50 0.00 0.000 5254 0.347 0.058 2643 2100 2750 2786 2714 0 0 0 0 0 0 13.40 13.66 13.71

4520 0.09 175.9 2644 2098 2787 2711 443.6 8.6 399 4565 0.12 2.55 38.88 1.420 12964 0.299 0.086 2616 686 2641 2686 2596 0 0 0 0 0 0 13.74 13.75 13.17

4607 0.18 232.6 2616 688 2682 2589 437.2 7.4 416 4696 0.00 2.53 80.25 1.353 9382 0.000 0.080 2615 2101 2411 2470 2352 0 0 0 0 0 0 13.94 13.84 13.01

5001 0.25 267.8 2616 2102 2455 2339 404.7 8.4 445 5052 0.15 0.00 49.10 1.377 10406 0.116 0.000 2679 2101 2273 2324 2222 0 0 0 0 0 0 14.02 13.78 13.16

5331 0.20 267.8 2680 2101 2308 2200 362.4 13.0 456 5337 0.12 2.50 0.00 0.000 4740 0.262 0.085 2659 691 2254 2308 2200 0 0 0 0 0 0 13.88 14.00 14.05

5367 0.24 267.8 2660 691 2306 2199 358.1 11.4 463 5372 0.00 2.50 0.00 0.000 1158 0.000 0.080 2660 2101 2252 2305 2200 0 0 0 0 0 0 14.08 13.80 14.13

5692 0.24 267.8 2660 2103 2305 2198 321.0 11.4 478 5693 0.00 0.00 0.00 0.000 6 0.000 0.000 2659 2102 2251 2305 2197 0 0 0 0 0 0 14.41 14.46 14.43

5992 0.24 267.8 2660 2101 2305 2195 288.0 10.9 488 5998 0.00 2.47 0.00 0.000 516 0.000 0.086 2660 691 2249 2304 2195 0 0 0 0 0 0 14.47 14.16 14.49

6028 0.28 267.8 2660 692 2303 2197 284.1 10.5 495 6033 0.00 2.47 0.00 0.000 1158 0.000 0.080 2660 2106 2248 2302 2195 0 0 0 0 0 0 14.28 14.16 14.35

6353 0.28 267.8 2660 2107 2303 2194 248.9 10.8 510 6354 0.00 0.00 0.00 0.000 6 0.000 0.000 2661 2107 2248 2302 2195 0 0 0 0 0 0 14.50 14.52 14.51

6653 0.28 267.8 2660 2106 2303 2193 217.7 10.1 520 6654 0.00 0.00 0.00 0.000 6 0.000 0.000 2660 2107 2249 2302 2197 0 0 0 0 0 0 14.50 14.52 14.52

6953 0.32 293.0 2660 2108 2302 2195 189.5 8.8 530 6994 0.00 2.53 34.53 1.333 8868 0.000 0.086 2660 695 2167 2216 2118 0 0 0 0 0 0 14.50 14.07 13.49

7066 0.47 341.0 2660 694 2207 2116 180.4 7.8 552 7155 0.22 2.50 82.18 1.230 11430 0.100 0.081 2749 2109 1974 2018 1930 0 0 0 0 0 0 14.10 14.06 13.24

7465 0.39 341.0 2749 2110 2008 1910 126.8 13.0 582 7470 0.15 2.53 0.00 0.000 4740 0.244 0.084 2712 690 1957 2004 1910 0 0 0 0 0 0 13.86 13.99 14.00

7510 0.47 345.0 2714 688 2003 1910 122.1 9.8 591 7515 0.00 2.50 0.00 0.000 1190 0.000 0.079 2713 2106 1956 2002 1910 0 0 0 0 0 0 14.13 14.02 14.16

7816 0.51 369.5 2713 2108 2003 1906 93.5 8.9 607 7830 0.00 0.00 13.00 0.473 8358 0.000 0.000 2713 2107 1857 1895 1819 0 0 0 0 0 0 14.38 14.10 13.69

8126 0.60 421.9 2713 2107 1903 1822 68.1 7.6 638 8159 0.17 2.58 27.80 0.404 10916 0.108 0.086 2794 689 1644 1678 1611 0 0 0 0 0 0 14.16 13.98 13.78

8204 0.60 421.9 2793 694 1681 1612 58.7 12.4 653 8210 0.00 2.47 0.00 0.000 1030 0.000 0.082 2794 2100 1646 1681 1611 0 0 0 0 0 0 14.12 14.05 14.13

8509 0.61 477.6 2794 2102 1682 1610 28.8 7.4 684 8545 0.00 2.55 28.85 0.298 8868 0.000 0.086 2794 693 1416 1462 1370 0 0 0 0 0 0 14.37 14.03 13.81

8607 0.74 528.2 2795 693 1464 1372 21.4 7.7 703 8640 0.00 2.50 26.95 0.274 9382 0.000 0.080 2794 2100 1208 1274 1142 0 0 0 0 0 0 14.17 14.05 13.80

8945 1.04 703.5 2795 2104 1275 1140 9.6 1.9 740 9041 0.35 2.58 89.43 0.229 10660 0.088 0.080 2923 3516 495 530 461 0 0 0 0 0 0 14.11 14.00 13.79

9050 end climb: SURFACE_DEPTH_REACHED

state 9050 begin surface coast

9058 end surface coast: CONTROL_FINISHED_OK

state 9059 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	38	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	48
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	122.0
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	23	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	42	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	100817,234603,7141.6157,-14727.1162,32,0.7,33,21.4,0.0,128.6,11,7.8	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.14	MHEAD_RNG_PITCHd_Wd	332.6,184928,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-73.7	D_GRID	480
GPS2	110817,002653,7141.3457,-14726.6348,8,0.7,13,21.4,0.0,178.1,11,9.3

MODEM_MSG	CACST,6,1,20170811003021.670502,3,247,23,0449,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*01	PM_FREEKB_00	60159040
FINISH	0.5,1.019970	_24V_AH	12.69,60.638
SM_CCo	9141,0.00,0.000,0,0,495,703.03	_10V_AH	12.74,0.000
SM_GC	1.10,8.52,2.33,0.00,0.090,0.057,0.000,199,2189,495,-7.38,0.71,703.03,0,0,0,0,0,0,14.12,14.08,14.19	FG_AHR_24Vo	0.000
RAFOS_CLK	378	FG_AHR_10Vo	0.000
MODEM	4,1502411421,75.71700,-151.21500,320.921,465639.8	MEM	324016
RAFOS_FIX	7144.114746,-14721.083008,100817,202026,3,255,0.94	DATA_FILE_SIZE	26721,762
IRIDIUM_FIX	7143.15,-14717.53,110817,002009	CAP_FILE_SIZE	114964,0
TT8_MAMPS	0.040446,0.914529	CFSIZE	2097872896,2071953408
HUMID	49.17	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1451.4
TCM_TEMP	13.40	CURRENT	0.107,219.29,1
XPDR_PINGS	67	GPS	110817,030104,7142.165,-14727.466,30,0.7,31,21.4,0.0,0.0,11,7.7
CP_FREE	16013033472.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	450	147.81	nil	0	0	0.00
Roll_motor	90	2132	2443.81	nil	0	0	0.00
VBD_pump_during_apogee	922	1419	16612.38	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	9090	14	1710.90
Iridium_during_xfer	1681	172	3672.02	NCP	9088	111	12801.27
Transponder_ping	16	420	89.27	PMAR	9035	16	1903.60
GUMSTIX_24V	0	0	0.00
GPS	14	22	4.23
TT8	0	0	0.00
LPSleep	6840	2	201.32
TT8_Active	877	13	156.20
TT8_Sampling	3243	33	1381.79
TT8_CF8	643	38	317.09
TT8_Kalman	0	0	0.00
Analog_circuits	3333	10	424.64
GPS_charging	0	0	0.00
Compass	1093	7	97.55
RAFOS	456	48	278.85
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	148	2226	505	485	0.0	0.0	0	125	0.00	0.00	-77.65	0.000	16386	0.000	0.000	147	2225	2131	2057	2205	0	0	0	0	0	0	14.36	28.83	14.39
128	-0.57	-145.9	146	2230	2061	2206	3.5	-4.9	8	181	12.73	2.85	-34.85	0.000	18980	0.451	2.132	2387	783	3964	3953	3975	0	0	0	0	0	0	13.74	12.83	14.08
336	-0.54	-145.9	2387	782	3960	3975	51.2	-17.5	49	342	0.00	2.50	0.00	0.000	1158	0.000	0.086	2386	2179	3968	3961	3975	0	0	0	0	0	0	14.00	13.90	14.04
641	-0.54	-145.9	2387	2180	3964	3975	97.9	-13.4	80	646	0.00	2.55	0.00	0.000	260	0.000	0.088	2386	3614	3968	3963	3974	0	0	0	0	0	0	14.31	14.00	14.32
786	-0.67	-145.9	2388	3614	3964	3975	114.1	-10.5	109	792	0.00	2.42	0.00	0.000	1158	0.000	0.053	2386	2187	3969	3963	3975	0	0	0	0	0	0	14.12	14.02	14.14
1091	-0.75	-145.9	2387	2191	3963	3976	147.8	-10.7	120	1097	0.12	2.55	0.00	0.000	4484	0.130	0.084	2329	3621	3968	3962	3975	0	0	0	0	0	0	14.16	14.10	14.19
1132	-0.77	-145.9	2330	3622	3963	3976	153.2	-13.7	128	1137	0.00	2.42	0.00	0.000	1158	0.000	0.057	2329	2201	3968	3963	3974	0	0	0	0	0	0	14.21	14.12	14.25
1452	-0.77	-145.9	2329	2201	3962	3975	198.2	-13.1	142	1457	0.00	2.50	0.00	0.000	260	0.000	0.085	2319	3616	3967	3961	3974	0	0	0	0	0	0	14.48	14.12	14.50
1537	-0.84	-145.9	2320	3617	3962	3974	208.6	-10.9	159	1544	0.00	2.40	0.00	0.000	1158	0.000	0.057	2319	2198	3969	3960	3978	0	0	0	0	0	0	14.23	14.13	14.27
1842	-0.84	-145.9	2319	2197	3971	3973	245.2	-11.6	170	1847	0.00	2.53	0.00	0.000	260	0.000	0.089	2319	3617	3966	3960	3972	0	0	0	0	0	0	14.50	14.12	14.52
1979	-0.94	-145.9	2319	3619	3959	3972	259.5	-10.1	197	1984	0.12	2.40	0.00	0.000	5254	0.132	0.057	2267	2201	3965	3959	3971	0	0	0	0	0	0	14.22	14.19	14.30
2295	-0.85	-145.9	2266	2200	3956	3970	307.3	-15.3	210	2300	0.12	2.50	0.00	0.000	2436	0.312	0.082	2285	3620	3962	3956	3969	0	0	0	0	0	0	13.90	14.13	14.07
2370	-0.85	-145.9	2286	3622	3956	3969	317.5	-12.6	225	2375	0.00	2.42	0.00	0.000	1030	0.000	0.060	2285	2198	3962	3955	3969	0	0	0	0	0	0	14.30	14.17	14.33
2685	-0.81	-145.9	2285	2195	3955	3966	359.9	-13.6	238	2690	0.12	2.50	0.00	0.000	2436	0.305	0.084	2307	3617	3960	3955	3966	0	0	0	0	0	0	13.96	14.15	14.11
2765	-0.90	-145.9	2308	3619	3955	3966	369.1	-10.5	254	2770	0.00	2.42	0.00	0.000	1158	0.000	0.058	2307	2195	3960	3954	3966	0	0	0	0	0	0	14.31	14.19	14.33
3075	-0.93	-145.9	2308	2193	3955	3964	404.4	-11.4	266	3080	0.00	2.50	0.00	0.000	388	0.000	0.088	2305	3614	3959	3954	3964	0	0	0	0	0	0	14.53	14.15	14.53
3161	-1.02	-145.9	2306	3616	3954	3965	413.7	-10.4	283	3168	0.17	2.42	0.00	0.000	5254	0.113	0.057	2244	2193	3958	3953	3964	0	0	0	0	0	0	14.11	14.07	14.19
3466	-0.90	-145.9	2244	2193	3953	3964	464.1	-16.9	294	3471	0.17	2.50	0.00	0.000	2436	0.311	0.084	2279	3614	3957	3952	3963	0	0	0	0	0	0	13.85	14.12	14.06
3585	end dive: TARGET_DEPTH_EXCEEDED
state	3585	begin apogee
3593	-0.13	0.0	2281	2096	3952	3963	480.3	-12.5	318	3858	0.98	0.00	259.85	1.323	10246	0.244	0.000	2527	2095	3366	3394	3338	0	0	0	0	0	0	13.93	13.50	12.91
3862	end apogee: CONTROL_FINISHED_OK
state	3862	begin climb
3864	0.57	145.9	2528	2096	3391	3331	495.0	0.0	327	4067	0.75	2.70	191.20	1.369	11012	0.065	0.077	2780	3513	2759	2804	2714	0	0	0	0	0	0	13.57	13.26	12.69
4214	0.16	145.9	2780	3514	2787	2716	471.8	17.6	388	4221	0.73	2.50	0.00	0.000	5254	0.347	0.058	2643	2100	2750	2786	2714	0	0	0	0	0	0	13.40	13.66	13.71
4520	0.09	175.9	2644	2098	2787	2711	443.6	8.6	399	4565	0.12	2.55	38.88	1.420	12964	0.299	0.086	2616	686	2641	2686	2596	0	0	0	0	0	0	13.74	13.75	13.17
4607	0.18	232.6	2616	688	2682	2589	437.2	7.4	416	4696	0.00	2.53	80.25	1.353	9382	0.000	0.080	2615	2101	2411	2470	2352	0	0	0	0	0	0	13.94	13.84	13.01
5001	0.25	267.8	2616	2102	2455	2339	404.7	8.4	445	5052	0.15	0.00	49.10	1.377	10406	0.116	0.000	2679	2101	2273	2324	2222	0	0	0	0	0	0	14.02	13.78	13.16
5331	0.20	267.8	2680	2101	2308	2200	362.4	13.0	456	5337	0.12	2.50	0.00	0.000	4740	0.262	0.085	2659	691	2254	2308	2200	0	0	0	0	0	0	13.88	14.00	14.05
5367	0.24	267.8	2660	691	2306	2199	358.1	11.4	463	5372	0.00	2.50	0.00	0.000	1158	0.000	0.080	2660	2101	2252	2305	2200	0	0	0	0	0	0	14.08	13.80	14.13
5692	0.24	267.8	2660	2103	2305	2198	321.0	11.4	478	5693	0.00	0.00	0.00	0.000	6	0.000	0.000	2659	2102	2251	2305	2197	0	0	0	0	0	0	14.41	14.46	14.43
5992	0.24	267.8	2660	2101	2305	2195	288.0	10.9	488	5998	0.00	2.47	0.00	0.000	516	0.000	0.086	2660	691	2249	2304	2195	0	0	0	0	0	0	14.47	14.16	14.49
6028	0.28	267.8	2660	692	2303	2197	284.1	10.5	495	6033	0.00	2.47	0.00	0.000	1158	0.000	0.080	2660	2106	2248	2302	2195	0	0	0	0	0	0	14.28	14.16	14.35
6353	0.28	267.8	2660	2107	2303	2194	248.9	10.8	510	6354	0.00	0.00	0.00	0.000	6	0.000	0.000	2661	2107	2248	2302	2195	0	0	0	0	0	0	14.50	14.52	14.51
6653	0.28	267.8	2660	2106	2303	2193	217.7	10.1	520	6654	0.00	0.00	0.00	0.000	6	0.000	0.000	2660	2107	2249	2302	2197	0	0	0	0	0	0	14.50	14.52	14.52
6953	0.32	293.0	2660	2108	2302	2195	189.5	8.8	530	6994	0.00	2.53	34.53	1.333	8868	0.000	0.086	2660	695	2167	2216	2118	0	0	0	0	0	0	14.50	14.07	13.49
7066	0.47	341.0	2660	694	2207	2116	180.4	7.8	552	7155	0.22	2.50	82.18	1.230	11430	0.100	0.081	2749	2109	1974	2018	1930	0	0	0	0	0	0	14.10	14.06	13.24
7465	0.39	341.0	2749	2110	2008	1910	126.8	13.0	582	7470	0.15	2.53	0.00	0.000	4740	0.244	0.084	2712	690	1957	2004	1910	0	0	0	0	0	0	13.86	13.99	14.00
7510	0.47	345.0	2714	688	2003	1910	122.1	9.8	591	7515	0.00	2.50	0.00	0.000	1190	0.000	0.079	2713	2106	1956	2002	1910	0	0	0	0	0	0	14.13	14.02	14.16
7816	0.51	369.5	2713	2108	2003	1906	93.5	8.9	607	7830	0.00	0.00	13.00	0.473	8358	0.000	0.000	2713	2107	1857	1895	1819	0	0	0	0	0	0	14.38	14.10	13.69
8126	0.60	421.9	2713	2107	1903	1822	68.1	7.6	638	8159	0.17	2.58	27.80	0.404	10916	0.108	0.086	2794	689	1644	1678	1611	0	0	0	0	0	0	14.16	13.98	13.78
8204	0.60	421.9	2793	694	1681	1612	58.7	12.4	653	8210	0.00	2.47	0.00	0.000	1030	0.000	0.082	2794	2100	1646	1681	1611	0	0	0	0	0	0	14.12	14.05	14.13
8509	0.61	477.6	2794	2102	1682	1610	28.8	7.4	684	8545	0.00	2.55	28.85	0.298	8868	0.000	0.086	2794	693	1416	1462	1370	0	0	0	0	0	0	14.37	14.03	13.81
8607	0.74	528.2	2795	693	1464	1372	21.4	7.7	703	8640	0.00	2.50	26.95	0.274	9382	0.000	0.080	2794	2100	1208	1274	1142	0	0	0	0	0	0	14.17	14.05	13.80
8945	1.04	703.5	2795	2104	1275	1140	9.6	1.9	740	9041	0.35	2.58	89.43	0.229	10660	0.088	0.080	2923	3516	495	530	461	0	0	0	0	0	0	14.11	14.00	13.79
9050	end climb: SURFACE_DEPTH_REACHED
state	9050	begin surface coast
9058	end surface coast: CONTROL_FINISHED_OK
state	9059	begin surface