Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 88 * 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 88 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 252.0

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 25 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 48 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 252.0 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 25 VBD_MIN 500

DIVE 88 NOCOMM_ACTION 161 R_STBD_OVSHOOT 48 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 160817,220720,7230.3286,-14824.8457,35,0.9,35,21.2,0.0,0.0,9,9.7 SPEED_LIMITS 0.173,0.256

_CALLS 2 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.11 MHEAD_RNG_PITCHd_Wd 316.2,90486,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -77.3 D_GRID 480

GPS2 160817,222038,7230.3511,-14824.7148,7,0.7,10,21.2,0.0,0.0,11,8.7

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170817002913.037051,3,22,13,0110,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D PM_FREEKB_00 56511936

FINISH 0.1,1.020170 _24V_AH 12.52,84.285

SM_CCo 8836,8.68,0.220,0,0,499,702.78 _10V_AH 12.44,0.000

SM_GC 2.20,8.40,2.70,8.68,0.088,0.079,0.220,202,2201,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.11,13.95 FG_AHR_24Vo 0.000

RAFOS_CLK 136 FG_AHR_10Vo 0.000

MODEM 0,1502928284,75.36600,-145.04601,230.759,334737.2 MEM 323680

RAFOS_FIX 7229.806152,-14828.175781,170817,000013,4,255,0.31 DATA_FILE_SIZE 26772,790

IRIDIUM_FIX 7230.34,-14831.51,160817,221150 CAP_FILE_SIZE 106637,0

TT8_MAMPS 0.038948,0.934003 CFSIZE 2097872896,2061697024

HUMID 45.90 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 INTR 0,9849.54,0x213af4,7,24

TCM_TEMP 13.60 SOUNDSPEED 1450.0

XPDR_PINGS 14 CURRENT 0.069,226.01,1

CP_FREE 16004448256.000000 GPS 170817,004941,7231.236,-14825.821,15,0.7,17,21.2,0.0,0.0,11,9.5

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 452 144.59 nil 0 0 0.00

Roll_motor 85 2141 2292.11 nil 0 0 0.00

VBD_pump_during_apogee 946 1540 18265.89 nil 0 0 0.00

VBD_pump_during_surface 8 219 23.85 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 8842 14 1636.95

Iridium_during_xfer 466 172 1004.34 NCP 8831 20 2211.28

Transponder_ping 3 420 18.40 PMAR 8790 16 1825.85

GUMSTIX_24V 0 0 0.00

GPS 10 22 3.07

TT8 0 0 0.00

LPSleep 6253 2 179.70

TT8_Active 814 13 141.48

TT8_Sampling 2294 33 954.44

TT8_CF8 295 38 142.43

TT8_Kalman 0 0 0.00

Analog_circuits 2167 10 269.62

GPS_charging 0 0 0.00

Compass 1132 7 98.63

RAFOS 2132 48 1273.06

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 2229 498 480 0.0 0.0 0 129 0.00 0.00 -81.72 0.000 16386 0.000 0.000 196 2229 2055 1981 2129 0 0 0 0 0 0 14.40 28.83 14.42

132 -0.57 -145.9 197 2229 1984 2132 3.2 -3.8 8 189 12.50 2.85 -36.88 0.000 19236 0.453 2.141 2385 790 3965 3951 3979 0 0 0 0 0 0 13.69 12.66 14.11

369 -0.64 -145.9 2385 790 3961 3980 52.2 -14.2 55 376 0.00 2.47 0.00 0.000 1158 0.000 0.087 2378 2180 3969 3959 3979 0 0 0 0 0 0 14.12 13.99 14.15

676 -0.66 -145.9 2379 2180 3963 3979 98.6 -13.6 86 681 0.00 2.55 0.00 0.000 388 0.000 0.093 2376 3614 3970 3962 3979 0 0 0 0 0 0 14.45 14.12 14.48

891 -0.81 -145.9 2377 3614 3962 3979 121.5 -9.7 129 896 0.20 2.40 0.00 0.000 5286 0.101 0.053 2295 2197 3970 3961 3979 0 0 0 0 0 0 14.22 14.19 14.31

1217 -0.73 -145.9 2296 2192 3963 3979 179.9 -17.7 144 1222 0.17 2.50 0.00 0.000 2436 0.272 0.086 2328 3613 3970 3961 3979 0 0 0 0 0 0 13.89 14.14 14.04

1357 -0.81 -145.9 2328 3613 3962 3980 197.5 -11.8 172 1362 0.00 2.40 0.00 0.000 1158 0.000 0.054 2328 2190 3970 3961 3979 0 0 0 0 0 0 14.35 14.25 14.38

1667 -0.85 -145.9 2328 2190 3962 3978 234.1 -11.0 184 1672 0.00 2.45 0.00 0.000 388 0.000 0.087 2319 3611 3969 3961 3977 0 0 0 0 0 0 14.56 14.15 14.60

1789 -0.95 -145.9 2320 3613 3961 3976 246.4 -10.0 208 1794 0.15 2.40 0.00 0.000 5286 0.119 0.054 2260 2192 3968 3961 3976 0 0 0 0 0 0 14.30 14.21 14.38

2120 -0.88 -145.9 2261 2190 3962 3973 297.3 -15.3 224 2125 0.12 2.50 0.00 0.000 2436 0.304 0.084 2279 3613 3967 3961 3973 0 0 0 0 0 0 13.93 14.17 14.11

2265 -0.92 -145.9 2279 3616 3962 3975 315.4 -11.7 253 2271 0.00 2.40 0.00 0.000 1158 0.000 0.054 2279 2198 3967 3961 3973 0 0 0 0 0 0 14.24 14.14 14.26

2570 -0.92 -145.9 2279 2194 3962 3970 353.7 -12.5 264 2575 0.00 2.50 0.00 0.000 260 0.000 0.088 2270 3616 3965 3961 3970 0 0 0 0 0 0 14.57 14.18 14.59

2701 -0.95 -145.9 2270 3618 3961 3971 369.5 -11.8 290 2707 0.00 2.40 0.00 0.000 1158 0.000 0.054 2270 2189 3965 3961 3970 0 0 0 0 0 0 14.37 14.26 14.40

3022 -0.95 -145.9 2270 2189 3962 3970 410.8 -12.8 304 3026 0.00 2.50 0.00 0.000 260 0.000 0.087 2267 3613 3964 3960 3969 0 0 0 0 0 0 14.57 14.19 14.58

3148 -0.99 -145.9 2267 3614 3961 3970 426.0 -12.0 329 3153 0.00 2.40 0.00 0.000 1158 0.000 0.054 2267 2192 3964 3961 3968 0 0 0 0 0 0 14.35 14.24 14.38

3473 -0.99 -145.9 2267 2190 3962 3967 467.6 -12.7 344 3478 0.00 2.50 0.00 0.000 260 0.000 0.087 2259 3613 3964 3961 3967 0 0 0 0 0 0 14.57 14.14 14.58

3571 end dive: TARGET_DEPTH_EXCEEDED

state 3571 begin apogee

3579 -0.13 0.0 2260 2103 3961 3968 480.4 -12.4 364 3790 1.08 0.00 207.30 1.451 10246 0.250 0.000 2528 2102 3364 3403 3325 0 0 0 0 0 0 13.93 13.50 12.77

3794 end apogee: CONTROL_FINISHED_OK

state 3794 begin climb

3796 0.57 145.9 2529 2103 3398 3320 490.6 0.0 371 4006 0.75 2.65 199.62 1.390 10756 0.063 0.077 2792 691 2763 2823 2704 0 0 0 0 0 0 13.57 13.05 12.52

4016 0.57 145.9 2793 691 2820 2703 492.9 -0.8 373 4021 0.00 2.62 0.00 0.000 1030 0.000 0.074 2792 2101 2761 2819 2703 0 0 0 0 0 0 13.38 13.29 13.40

4336 0.18 145.9 2793 2104 2809 2702 438.9 16.7 387 4341 0.68 2.50 0.00 0.000 4484 0.320 0.074 2644 3514 2755 2809 2701 0 0 0 0 0 0 13.57 13.87 13.81

4386 0.03 145.9 2644 3515 2807 2702 432.5 11.3 397 4391 0.25 2.45 0.00 0.000 5254 0.270 0.058 2597 2097 2753 2806 2701 0 0 0 0 0 0 13.72 13.95 14.00

4697 0.08 216.9 2597 2097 2807 2702 410.8 6.7 409 4802 0.00 2.62 100.75 1.375 8740 0.000 0.086 2602 688 2477 2549 2405 0 0 0 0 0 0 14.41 13.71 13.03

4857 0.23 278.7 2602 689 2539 2403 399.3 7.1 441 4953 0.17 2.55 89.88 1.351 11430 0.106 0.078 2672 2100 2229 2297 2162 0 0 0 0 0 0 13.88 13.83 12.86

5268 0.19 278.7 2672 2101 2282 2144 347.6 12.7 473 5273 0.00 2.53 0.00 0.000 644 0.000 0.088 2672 688 2209 2275 2143 0 0 0 0 0 0 14.27 13.93 14.26

5318 0.19 278.7 2672 687 2280 2143 341.4 12.0 483 5323 0.00 2.50 0.00 0.000 1030 0.000 0.076 2672 2103 2211 2280 2143 0 0 0 0 0 0 14.13 14.00 14.15

5628 0.15 278.7 2672 2104 2279 2142 302.8 12.4 495 5633 0.15 2.47 0.00 0.000 4740 0.264 0.081 2645 690 2209 2278 2141 0 0 0 0 0 0 13.95 14.12 14.10

5668 0.23 278.7 2644 690 2278 2141 298.5 10.0 503 5673 0.00 2.47 0.00 0.000 1158 0.000 0.078 2646 2111 2208 2276 2141 0 0 0 0 0 0 14.28 14.16 14.31

5991 0.27 280.7 2647 2105 2277 2140 266.1 9.9 517 5996 0.00 2.50 0.00 0.000 676 0.000 0.085 2646 688 2208 2276 2140 0 0 0 0 0 0 14.44 14.02 14.46

6021 0.33 280.9 2647 688 2276 2140 262.9 10.0 523 6026 0.12 2.47 0.00 0.000 3238 0.132 0.079 2692 2100 2207 2275 2140 0 0 0 0 0 0 14.10 14.05 14.19

6352 0.27 280.9 2696 2102 2276 2141 221.2 12.0 539 6353 0.00 0.00 0.00 0.000 134 0.000 0.000 2696 2101 2207 2275 2140 0 0 0 0 0 0 14.42 14.45 14.45

6652 0.22 280.9 2696 2104 2276 2141 188.8 10.3 549 6657 0.15 2.50 0.00 0.000 4740 0.236 0.083 2660 684 2207 2275 2140 0 0 0 0 0 0 13.95 14.03 14.09

6749 0.35 343.7 2660 685 2274 2141 181.6 7.1 568 6863 0.10 2.50 104.20 1.261 11430 0.153 0.079 2701 2112 1959 2013 1905 0 0 0 0 0 0 14.14 14.13 13.13

7162 0.36 351.4 2702 2111 2004 1897 140.7 9.6 601 7168 0.00 0.00 4.47 1.541 8230 0.000 0.000 2701 2111 1934 1988 1880 0 0 0 0 0 0 14.28 14.01 13.09

7462 0.41 373.5 2701 2112 1989 1881 113.3 9.0 611 7507 0.00 2.60 36.80 1.314 8868 0.000 0.085 2704 693 1838 1879 1797 0 0 0 0 0 0 14.33 13.94 13.26

7587 0.56 416.3 2705 693 1873 1796 102.8 8.0 636 7665 0.17 2.50 68.05 1.213 11430 0.109 0.077 2774 2100 1668 1707 1629 0 0 0 0 0 0 14.01 13.95 13.09

7962 0.56 416.3 2774 2100 1703 1613 57.3 10.1 681 7963 0.00 0.00 0.00 0.000 6 0.000 0.000 2773 2101 1656 1703 1609 0 0 0 0 0 0 14.21 14.21 14.22

8264 0.62 501.5 2774 2101 1702 1611 34.5 6.1 711 8308 0.00 0.00 42.05 0.307 8486 0.000 0.000 2773 2102 1321 1380 1262 0 0 0 0 0 0 14.28 14.02 13.74

8605 0.95 685.3 2773 2101 1381 1251 14.4 1.5 749 8710 0.32 2.53 93.80 0.252 10916 0.089 0.085 2903 693 567 619 515 0 0 0 0 0 0 14.14 13.98 13.82

8793 end climb: SURFACE_DEPTH_REACHED

state 8793 begin surface coast

8813 end surface coast: CONTROL_FINISHED_OK

state 8813 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	88	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	252.0
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	25	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	48	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	160817,220720,7230.3286,-14824.8457,35,0.9,35,21.2,0.0,0.0,9,9.7	SPEED_LIMITS	0.173,0.256
_CALLS	2	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.11	MHEAD_RNG_PITCHd_Wd	316.2,90486,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-77.3	D_GRID	480
GPS2	160817,222038,7230.3511,-14824.7148,7,0.7,10,21.2,0.0,0.0,11,8.7

MODEM_MSG	CACST,6,1,20170817002913.037051,3,22,13,0110,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3D	PM_FREEKB_00	56511936
FINISH	0.1,1.020170	_24V_AH	12.52,84.285
SM_CCo	8836,8.68,0.220,0,0,499,702.78	_10V_AH	12.44,0.000
SM_GC	2.20,8.40,2.70,8.68,0.088,0.079,0.220,202,2201,499,-7.38,-0.68,702.78,0,0,0,0,0,0,14.17,14.11,13.95	FG_AHR_24Vo	0.000
RAFOS_CLK	136	FG_AHR_10Vo	0.000
MODEM	0,1502928284,75.36600,-145.04601,230.759,334737.2	MEM	323680
RAFOS_FIX	7229.806152,-14828.175781,170817,000013,4,255,0.31	DATA_FILE_SIZE	26772,790
IRIDIUM_FIX	7230.34,-14831.51,160817,221150	CAP_FILE_SIZE	106637,0
TT8_MAMPS	0.038948,0.934003	CFSIZE	2097872896,2061697024
HUMID	45.90	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	INTR	0,9849.54,0x213af4,7,24
TCM_TEMP	13.60	SOUNDSPEED	1450.0
XPDR_PINGS	14	CURRENT	0.069,226.01,1
CP_FREE	16004448256.000000	GPS	170817,004941,7231.236,-14825.821,15,0.7,17,21.2,0.0,0.0,11,9.5

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	452	144.59	nil	0	0	0.00
Roll_motor	85	2141	2292.11	nil	0	0	0.00
VBD_pump_during_apogee	946	1540	18265.89	nil	0	0	0.00
VBD_pump_during_surface	8	219	23.85	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	8842	14	1636.95
Iridium_during_xfer	466	172	1004.34	NCP	8831	20	2211.28
Transponder_ping	3	420	18.40	PMAR	8790	16	1825.85
GUMSTIX_24V	0	0	0.00
GPS	10	22	3.07
TT8	0	0	0.00
LPSleep	6253	2	179.70
TT8_Active	814	13	141.48
TT8_Sampling	2294	33	954.44
TT8_CF8	295	38	142.43
TT8_Kalman	0	0	0.00
Analog_circuits	2167	10	269.62
GPS_charging	0	0	0.00
Compass	1132	7	98.63
RAFOS	2132	48	1273.06
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	2229	498	480	0.0	0.0	0	129	0.00	0.00	-81.72	0.000	16386	0.000	0.000	196	2229	2055	1981	2129	0	0	0	0	0	0	14.40	28.83	14.42
132	-0.57	-145.9	197	2229	1984	2132	3.2	-3.8	8	189	12.50	2.85	-36.88	0.000	19236	0.453	2.141	2385	790	3965	3951	3979	0	0	0	0	0	0	13.69	12.66	14.11
369	-0.64	-145.9	2385	790	3961	3980	52.2	-14.2	55	376	0.00	2.47	0.00	0.000	1158	0.000	0.087	2378	2180	3969	3959	3979	0	0	0	0	0	0	14.12	13.99	14.15
676	-0.66	-145.9	2379	2180	3963	3979	98.6	-13.6	86	681	0.00	2.55	0.00	0.000	388	0.000	0.093	2376	3614	3970	3962	3979	0	0	0	0	0	0	14.45	14.12	14.48
891	-0.81	-145.9	2377	3614	3962	3979	121.5	-9.7	129	896	0.20	2.40	0.00	0.000	5286	0.101	0.053	2295	2197	3970	3961	3979	0	0	0	0	0	0	14.22	14.19	14.31
1217	-0.73	-145.9	2296	2192	3963	3979	179.9	-17.7	144	1222	0.17	2.50	0.00	0.000	2436	0.272	0.086	2328	3613	3970	3961	3979	0	0	0	0	0	0	13.89	14.14	14.04
1357	-0.81	-145.9	2328	3613	3962	3980	197.5	-11.8	172	1362	0.00	2.40	0.00	0.000	1158	0.000	0.054	2328	2190	3970	3961	3979	0	0	0	0	0	0	14.35	14.25	14.38
1667	-0.85	-145.9	2328	2190	3962	3978	234.1	-11.0	184	1672	0.00	2.45	0.00	0.000	388	0.000	0.087	2319	3611	3969	3961	3977	0	0	0	0	0	0	14.56	14.15	14.60
1789	-0.95	-145.9	2320	3613	3961	3976	246.4	-10.0	208	1794	0.15	2.40	0.00	0.000	5286	0.119	0.054	2260	2192	3968	3961	3976	0	0	0	0	0	0	14.30	14.21	14.38
2120	-0.88	-145.9	2261	2190	3962	3973	297.3	-15.3	224	2125	0.12	2.50	0.00	0.000	2436	0.304	0.084	2279	3613	3967	3961	3973	0	0	0	0	0	0	13.93	14.17	14.11
2265	-0.92	-145.9	2279	3616	3962	3975	315.4	-11.7	253	2271	0.00	2.40	0.00	0.000	1158	0.000	0.054	2279	2198	3967	3961	3973	0	0	0	0	0	0	14.24	14.14	14.26
2570	-0.92	-145.9	2279	2194	3962	3970	353.7	-12.5	264	2575	0.00	2.50	0.00	0.000	260	0.000	0.088	2270	3616	3965	3961	3970	0	0	0	0	0	0	14.57	14.18	14.59
2701	-0.95	-145.9	2270	3618	3961	3971	369.5	-11.8	290	2707	0.00	2.40	0.00	0.000	1158	0.000	0.054	2270	2189	3965	3961	3970	0	0	0	0	0	0	14.37	14.26	14.40
3022	-0.95	-145.9	2270	2189	3962	3970	410.8	-12.8	304	3026	0.00	2.50	0.00	0.000	260	0.000	0.087	2267	3613	3964	3960	3969	0	0	0	0	0	0	14.57	14.19	14.58
3148	-0.99	-145.9	2267	3614	3961	3970	426.0	-12.0	329	3153	0.00	2.40	0.00	0.000	1158	0.000	0.054	2267	2192	3964	3961	3968	0	0	0	0	0	0	14.35	14.24	14.38
3473	-0.99	-145.9	2267	2190	3962	3967	467.6	-12.7	344	3478	0.00	2.50	0.00	0.000	260	0.000	0.087	2259	3613	3964	3961	3967	0	0	0	0	0	0	14.57	14.14	14.58
3571	end dive: TARGET_DEPTH_EXCEEDED
state	3571	begin apogee
3579	-0.13	0.0	2260	2103	3961	3968	480.4	-12.4	364	3790	1.08	0.00	207.30	1.451	10246	0.250	0.000	2528	2102	3364	3403	3325	0	0	0	0	0	0	13.93	13.50	12.77
3794	end apogee: CONTROL_FINISHED_OK
state	3794	begin climb
3796	0.57	145.9	2529	2103	3398	3320	490.6	0.0	371	4006	0.75	2.65	199.62	1.390	10756	0.063	0.077	2792	691	2763	2823	2704	0	0	0	0	0	0	13.57	13.05	12.52
4016	0.57	145.9	2793	691	2820	2703	492.9	-0.8	373	4021	0.00	2.62	0.00	0.000	1030	0.000	0.074	2792	2101	2761	2819	2703	0	0	0	0	0	0	13.38	13.29	13.40
4336	0.18	145.9	2793	2104	2809	2702	438.9	16.7	387	4341	0.68	2.50	0.00	0.000	4484	0.320	0.074	2644	3514	2755	2809	2701	0	0	0	0	0	0	13.57	13.87	13.81
4386	0.03	145.9	2644	3515	2807	2702	432.5	11.3	397	4391	0.25	2.45	0.00	0.000	5254	0.270	0.058	2597	2097	2753	2806	2701	0	0	0	0	0	0	13.72	13.95	14.00
4697	0.08	216.9	2597	2097	2807	2702	410.8	6.7	409	4802	0.00	2.62	100.75	1.375	8740	0.000	0.086	2602	688	2477	2549	2405	0	0	0	0	0	0	14.41	13.71	13.03
4857	0.23	278.7	2602	689	2539	2403	399.3	7.1	441	4953	0.17	2.55	89.88	1.351	11430	0.106	0.078	2672	2100	2229	2297	2162	0	0	0	0	0	0	13.88	13.83	12.86
5268	0.19	278.7	2672	2101	2282	2144	347.6	12.7	473	5273	0.00	2.53	0.00	0.000	644	0.000	0.088	2672	688	2209	2275	2143	0	0	0	0	0	0	14.27	13.93	14.26
5318	0.19	278.7	2672	687	2280	2143	341.4	12.0	483	5323	0.00	2.50	0.00	0.000	1030	0.000	0.076	2672	2103	2211	2280	2143	0	0	0	0	0	0	14.13	14.00	14.15
5628	0.15	278.7	2672	2104	2279	2142	302.8	12.4	495	5633	0.15	2.47	0.00	0.000	4740	0.264	0.081	2645	690	2209	2278	2141	0	0	0	0	0	0	13.95	14.12	14.10
5668	0.23	278.7	2644	690	2278	2141	298.5	10.0	503	5673	0.00	2.47	0.00	0.000	1158	0.000	0.078	2646	2111	2208	2276	2141	0	0	0	0	0	0	14.28	14.16	14.31
5991	0.27	280.7	2647	2105	2277	2140	266.1	9.9	517	5996	0.00	2.50	0.00	0.000	676	0.000	0.085	2646	688	2208	2276	2140	0	0	0	0	0	0	14.44	14.02	14.46
6021	0.33	280.9	2647	688	2276	2140	262.9	10.0	523	6026	0.12	2.47	0.00	0.000	3238	0.132	0.079	2692	2100	2207	2275	2140	0	0	0	0	0	0	14.10	14.05	14.19
6352	0.27	280.9	2696	2102	2276	2141	221.2	12.0	539	6353	0.00	0.00	0.00	0.000	134	0.000	0.000	2696	2101	2207	2275	2140	0	0	0	0	0	0	14.42	14.45	14.45
6652	0.22	280.9	2696	2104	2276	2141	188.8	10.3	549	6657	0.15	2.50	0.00	0.000	4740	0.236	0.083	2660	684	2207	2275	2140	0	0	0	0	0	0	13.95	14.03	14.09
6749	0.35	343.7	2660	685	2274	2141	181.6	7.1	568	6863	0.10	2.50	104.20	1.261	11430	0.153	0.079	2701	2112	1959	2013	1905	0	0	0	0	0	0	14.14	14.13	13.13
7162	0.36	351.4	2702	2111	2004	1897	140.7	9.6	601	7168	0.00	0.00	4.47	1.541	8230	0.000	0.000	2701	2111	1934	1988	1880	0	0	0	0	0	0	14.28	14.01	13.09
7462	0.41	373.5	2701	2112	1989	1881	113.3	9.0	611	7507	0.00	2.60	36.80	1.314	8868	0.000	0.085	2704	693	1838	1879	1797	0	0	0	0	0	0	14.33	13.94	13.26
7587	0.56	416.3	2705	693	1873	1796	102.8	8.0	636	7665	0.17	2.50	68.05	1.213	11430	0.109	0.077	2774	2100	1668	1707	1629	0	0	0	0	0	0	14.01	13.95	13.09
7962	0.56	416.3	2774	2100	1703	1613	57.3	10.1	681	7963	0.00	0.00	0.00	0.000	6	0.000	0.000	2773	2101	1656	1703	1609	0	0	0	0	0	0	14.21	14.21	14.22
8264	0.62	501.5	2774	2101	1702	1611	34.5	6.1	711	8308	0.00	0.00	42.05	0.307	8486	0.000	0.000	2773	2102	1321	1380	1262	0	0	0	0	0	0	14.28	14.02	13.74
8605	0.95	685.3	2773	2101	1381	1251	14.4	1.5	749	8710	0.32	2.53	93.80	0.252	10916	0.089	0.085	2903	693	567	619	515	0	0	0	0	0	0	14.14	13.98	13.82
8793	end climb: SURFACE_DEPTH_REACHED
state	8793	begin surface coast
8813	end surface coast: CONTROL_FINISHED_OK
state	8813	begin surface