Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 107 * 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 107 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 304.0

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 28 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 60 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 304.0 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 28 VBD_MIN 500

DIVE 107 NOCOMM_ACTION 161 R_STBD_OVSHOOT 60 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 190817,030633,7250.5752,-14854.2354,35,0.8,36,21.1,0.0,0.0,10,8.1 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.10 MHEAD_RNG_PITCHd_Wd 310.3,50855,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.8 D_GRID 480

GPS2 190817,031722,7250.5391,-14854.3506,7,0.8,11,21.1,0.0,0.0,11,10.0

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170819042843.100630,3,15,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B PM_FREEKB_00 55215232

FINISH 0.1,1.020326 _24V_AH 12.45,93.540

SM_CCo 9288,15.65,0.208,0,0,497,703.28 _10V_AH 12.46,0.000

SM_GC 1.10,8.32,0.12,15.65,0.080,0.129,0.208,199,2236,497,-7.38,-0.74,703.28,0,0,0,0,0,0,14.28,14.25,14.02 FG_AHR_24Vo 0.000

RAFOS_CLK 311 FG_AHR_10Vo 0.000

MODEM 3,1503116671,74.30400,-153.94400,364.353,527793.8 MEM 323520

RAFOS_FIX 7247.060547,-14853.498047,180817,202059,3,255,0.64 DATA_FILE_SIZE 26761,795

IRIDIUM_FIX 7252.02,-14848.41,190817,001934 CAP_FILE_SIZE 107568,0

TT8_MAMPS 0.040446,0.875581 CFSIZE 2097872896,2055700480

HUMID 48.18 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.77175 SOUNDSPEED 1449.6

TCM_TEMP 13.40 CURRENT 0.083,258.92,1

XPDR_PINGS 6 GPS 190817,055418,7251.673,-14856.646,24,0.7,27,21.1,0.8,217.3,11,9.3

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 458 146.62 nil 0 0 0.00

Roll_motor 77 2154 2088.63 nil 0 0 0.00

VBD_pump_during_apogee 908 1519 17186.31 nil 0 0 0.00

VBD_pump_during_surface 15 208 40.54 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 9251 14 1657.94

Iridium_during_xfer 371 183 848.10 NCP 9299 20 2315.45

Transponder_ping 1 420 7.84 PMAR 9246 16 1913.63

GUMSTIX_24V 0 0 0.00

GPS 11 22 3.30

TT8 0 0 0.00

LPSleep 6642 2 191.19

TT8_Active 929 13 161.75

TT8_Sampling 2102 33 876.01

TT8_CF8 298 38 144.14

TT8_Kalman 0 0 0.00

Analog_circuits 2046 10 254.96

GPS_charging 0 0 0.00

Compass 1139 7 99.39

RAFOS 2216 48 1325.35

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 2194 493 487 0.0 0.0 0 129 0.00 0.00 -81.50 0.000 16386 0.000 0.000 189 2193 2025 1952 2098 0 0 0 0 0 0 14.40 28.83 14.43

132 -0.57 -145.9 190 2194 1954 2099 3.4 -4.5 8 189 12.65 2.72 -38.67 0.000 18724 0.458 2.154 2375 3567 3965 3950 3981 0 0 0 0 0 0 13.70 12.63 14.12

241 -0.53 -145.9 2376 3569 3956 3981 32.6 -22.5 29 247 0.15 2.35 0.00 0.000 3206 0.265 0.059 2406 2200 3968 3955 3981 0 0 0 0 0 0 13.90 14.09 14.16

545 -0.59 -145.9 2406 2199 3960 3982 82.7 -12.5 60 549 0.00 2.42 0.00 0.000 388 0.000 0.087 2402 3569 3970 3960 3981 0 0 0 0 0 0 14.47 14.02 14.48

701 -0.77 -145.9 2402 3569 3961 3981 97.9 -9.3 91 708 0.22 2.33 0.00 0.000 5286 0.096 0.053 2319 2191 3968 3960 3977 0 0 0 0 0 0 14.22 14.20 14.31

1025 -0.74 -145.9 2318 2192 3960 3982 151.9 -16.0 104 1029 0.00 2.42 0.00 0.000 388 0.000 0.086 2307 3577 3971 3961 3981 0 0 0 0 0 0 14.55 14.20 14.57

1166 -0.78 -145.9 2308 3576 3961 3981 172.0 -13.6 132 1171 0.00 2.33 0.00 0.000 1158 0.000 0.056 2309 2196 3970 3960 3981 0 0 0 0 0 0 14.37 14.26 14.40

1476 -0.78 -145.9 2308 2192 3961 3982 217.5 -14.0 144 1481 0.00 2.42 0.00 0.000 260 0.000 0.088 2305 3574 3970 3959 3981 0 0 0 0 0 0 14.58 14.22 14.59

1536 -0.85 -145.9 2306 3575 3960 3982 225.2 -12.0 156 1541 0.00 2.33 0.00 0.000 1158 0.000 0.055 2305 2188 3970 3960 3981 0 0 0 0 0 0 14.36 14.25 14.39

1866 -0.88 -145.9 2306 2188 3961 3980 265.9 -11.7 172 1871 0.00 2.42 0.00 0.000 388 0.000 0.088 2305 3571 3970 3960 3980 0 0 0 0 0 0 14.59 14.19 14.61

2008 -0.97 -145.9 2306 3574 3961 3980 280.5 -10.3 200 2013 0.12 2.30 0.00 0.000 5254 0.134 0.054 2255 2193 3969 3959 3980 0 0 0 0 0 0 14.31 14.29 14.40

2319 -0.91 -145.9 2256 2192 3960 3978 325.5 -14.7 212 2324 0.12 2.42 0.00 0.000 2436 0.322 0.083 2273 3574 3967 3956 3978 0 0 0 0 0 0 13.96 14.23 14.15

2436 -0.96 -145.9 2273 3574 3960 3978 339.7 -11.4 235 2443 0.00 2.33 0.00 0.000 1158 0.000 0.055 2272 2189 3968 3959 3977 0 0 0 0 0 0 14.35 14.25 14.38

2739 -0.96 -145.9 2272 2190 3960 3977 376.7 -12.0 246 2744 0.00 2.45 0.00 0.000 260 0.000 0.087 2267 3577 3967 3958 3976 0 0 0 0 0 0 14.45 14.12 14.47

2861 -1.00 -145.9 2267 3579 3959 3977 390.8 -11.5 270 2866 0.00 2.35 0.00 0.000 1158 0.000 0.054 2266 2193 3967 3958 3976 0 0 0 0 0 0 14.26 14.16 14.28

3191 -1.00 -145.9 2267 2192 3957 3975 432.2 -12.6 286 3196 0.00 2.42 0.00 0.000 260 0.000 0.086 2261 3570 3967 3959 3975 0 0 0 0 0 0 14.42 14.09 14.44

3286 -1.03 -145.9 2261 3572 3959 3976 444.2 -12.2 305 3291 0.00 2.35 0.00 0.000 1158 0.000 0.054 2260 2194 3967 3958 3976 0 0 0 0 0 0 14.20 14.09 14.22

3579 end dive: TARGET_DEPTH_EXCEEDED

state 3579 begin apogee

3585 -0.13 0.0 2260 2069 3958 3975 481.9 -12.7 319 3799 1.08 0.00 210.80 1.441 10246 0.246 0.000 2530 2067 3364 3393 3336 0 0 0 0 0 0 13.86 13.36 12.66

3803 end apogee: CONTROL_FINISHED_OK

state 3803 begin climb

3805 0.57 145.9 2531 2067 3388 3330 492.2 0.0 326 4017 0.73 2.53 200.38 1.384 11012 0.067 0.080 2781 724 2765 2817 2714 0 0 0 0 0 0 13.46 13.14 12.45

4117 0.22 145.9 2782 724 2806 2713 482.6 14.9 383 4124 0.57 2.45 0.00 0.000 5254 0.317 0.076 2661 2059 2758 2805 2712 0 0 0 0 0 0 13.22 13.47 13.53

4434 0.07 145.9 2661 2062 2806 2708 449.5 10.1 396 4435 0.22 0.00 0.00 0.000 4230 0.292 0.000 2612 2062 2756 2805 2707 0 0 0 0 0 0 13.64 13.95 13.91

4740 0.06 199.0 2612 2061 2806 2705 426.4 7.6 406 4824 0.00 2.42 74.70 1.395 8868 0.000 0.083 2615 728 2548 2611 2486 0 0 0 0 0 0 14.31 13.74 13.04

4870 0.13 229.2 2616 727 2607 2484 415.4 8.6 432 4921 0.00 2.42 42.38 1.415 9382 0.000 0.078 2615 2104 2427 2491 2363 0 0 0 0 0 0 13.90 13.80 12.91

5219 0.17 248.2 2616 2106 2485 2354 383.5 9.1 452 5250 0.00 0.00 26.58 1.462 8358 0.000 0.000 2621 2105 2349 2410 2289 0 0 0 0 0 0 14.28 13.97 13.11

5549 0.23 267.6 2616 2106 2404 2284 353.2 9.1 463 5582 0.12 2.53 26.88 1.456 10916 0.133 0.086 2683 723 2274 2330 2218 0 0 0 0 0 0 14.21 14.01 13.23

5612 0.18 267.6 2685 721 2323 2217 345.2 13.6 475 5618 0.20 2.45 0.00 0.000 5254 0.254 0.079 2639 2109 2269 2323 2215 0 0 0 0 0 0 13.85 14.02 14.09

5944 0.18 269.0 2640 2109 2324 2210 311.1 9.9 491 5944 0.00 0.00 0.00 0.000 38 0.000 0.000 2639 2109 2266 2322 2210 0 0 0 0 0 0 14.48 14.50 14.50

6244 0.21 279.4 2639 2110 2323 2208 282.0 9.5 501 6269 0.00 2.50 16.98 1.519 8868 0.000 0.085 2646 720 2222 2278 2166 0 0 0 0 0 0 14.56 14.22 13.37

6336 0.31 303.1 2647 719 2275 2166 273.7 8.9 519 6379 0.00 2.42 36.70 1.400 9382 0.000 0.078 2646 2106 2127 2181 2073 0 0 0 0 0 0 14.30 14.19 13.26

6697 0.37 328.9 2647 2107 2177 2068 240.6 8.8 541 6739 0.17 0.00 40.58 1.362 10406 0.110 0.000 2714 2107 2025 2076 1975 0 0 0 0 0 0 14.26 14.01 13.27

7025 0.32 328.9 2714 2107 2066 1965 199.2 12.2 552 7030 0.12 2.42 0.00 0.000 4740 0.239 0.083 2685 728 2015 2066 1964 0 0 0 0 0 0 13.78 14.13 13.96

7160 0.41 352.1 2686 729 2063 1964 186.5 8.9 579 7207 0.00 2.40 36.85 1.343 9382 0.000 0.078 2686 2109 1925 1969 1881 0 0 0 0 0 0 14.33 14.21 13.29

7507 0.48 378.1 2686 2110 1962 1878 155.2 8.8 598 7556 0.12 2.45 43.17 1.315 10916 0.139 0.083 2755 728 1819 1852 1786 0 0 0 0 0 0 14.24 13.83 13.28

7622 0.45 378.1 2756 729 1846 1787 140.8 12.6 621 7628 0.00 2.42 0.00 0.000 1158 0.000 0.078 2755 2104 1815 1844 1787 0 0 0 0 0 0 14.14 14.03 14.16

7927 0.39 378.1 2755 2102 1843 1782 101.7 12.6 632 7928 0.20 0.00 0.00 0.000 4230 0.232 0.000 2709 2105 1816 1844 1788 0 0 0 0 0 0 14.02 14.31 14.26

8227 0.51 444.6 2709 2105 1845 1778 77.3 6.9 660 8269 0.00 2.45 33.28 0.443 8868 0.000 0.085 2708 730 1552 1590 1515 0 0 0 0 0 0 14.50 14.04 13.77

8370 0.68 504.9 2710 729 1588 1510 67.2 7.2 688 8407 0.28 2.40 31.10 0.409 11430 0.091 0.077 2807 2107 1305 1359 1251 0 0 0 0 0 0 14.21 14.12 13.72

8712 0.70 532.6 2808 2107 1360 1238 32.7 8.7 726 8734 0.00 2.50 14.12 0.314 8484 0.000 0.080 2807 3509 1190 1257 1124 0 0 0 0 0 0 14.47 14.04 13.86

8822 0.76 547.4 2808 3509 1258 1123 22.4 9.3 747 8834 0.00 2.38 7.95 0.288 9382 0.000 0.066 2808 2129 1132 1201 1064 0 0 0 0 0 0 14.23 14.12 13.88

9139 1.01 738.1 2808 2130 1202 1060 6.9 1.2 780 9208 0.28 0.00 66.18 0.226 10914 0.089 0.000 2915 2129 608 659 557 0 0 0 0 0 0 14.23 28.83 14.28

9208 end climb: SURFACE_DEPTH_REACHED

state 9208 begin surface coast

9221 end surface coast: CONTROL_FINISHED_OK

state 9221 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	107	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	304.0
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	28	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	60	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	190817,030633,7250.5752,-14854.2354,35,0.8,36,21.1,0.0,0.0,10,8.1	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.10	MHEAD_RNG_PITCHd_Wd	310.3,50855,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.8	D_GRID	480
GPS2	190817,031722,7250.5391,-14854.3506,7,0.8,11,21.1,0.0,0.0,11,10.0

MODEM_MSG	CACST,6,1,20170819042843.100630,3,15,05,0100,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3B	PM_FREEKB_00	55215232
FINISH	0.1,1.020326	_24V_AH	12.45,93.540
SM_CCo	9288,15.65,0.208,0,0,497,703.28	_10V_AH	12.46,0.000
SM_GC	1.10,8.32,0.12,15.65,0.080,0.129,0.208,199,2236,497,-7.38,-0.74,703.28,0,0,0,0,0,0,14.28,14.25,14.02	FG_AHR_24Vo	0.000
RAFOS_CLK	311	FG_AHR_10Vo	0.000
MODEM	3,1503116671,74.30400,-153.94400,364.353,527793.8	MEM	323520
RAFOS_FIX	7247.060547,-14853.498047,180817,202059,3,255,0.64	DATA_FILE_SIZE	26761,795
IRIDIUM_FIX	7252.02,-14848.41,190817,001934	CAP_FILE_SIZE	107568,0
TT8_MAMPS	0.040446,0.875581	CFSIZE	2097872896,2055700480
HUMID	48.18	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.77175	SOUNDSPEED	1449.6
TCM_TEMP	13.40	CURRENT	0.083,258.92,1
XPDR_PINGS	6	GPS	190817,055418,7251.673,-14856.646,24,0.7,27,21.1,0.8,217.3,11,9.3
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	458	146.62	nil	0	0	0.00
Roll_motor	77	2154	2088.63	nil	0	0	0.00
VBD_pump_during_apogee	908	1519	17186.31	nil	0	0	0.00
VBD_pump_during_surface	15	208	40.54	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	9251	14	1657.94
Iridium_during_xfer	371	183	848.10	NCP	9299	20	2315.45
Transponder_ping	1	420	7.84	PMAR	9246	16	1913.63
GUMSTIX_24V	0	0	0.00
GPS	11	22	3.30
TT8	0	0	0.00
LPSleep	6642	2	191.19
TT8_Active	929	13	161.75
TT8_Sampling	2102	33	876.01
TT8_CF8	298	38	144.14
TT8_Kalman	0	0	0.00
Analog_circuits	2046	10	254.96
GPS_charging	0	0	0.00
Compass	1139	7	99.39
RAFOS	2216	48	1325.35
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	2194	493	487	0.0	0.0	0	129	0.00	0.00	-81.50	0.000	16386	0.000	0.000	189	2193	2025	1952	2098	0	0	0	0	0	0	14.40	28.83	14.43
132	-0.57	-145.9	190	2194	1954	2099	3.4	-4.5	8	189	12.65	2.72	-38.67	0.000	18724	0.458	2.154	2375	3567	3965	3950	3981	0	0	0	0	0	0	13.70	12.63	14.12
241	-0.53	-145.9	2376	3569	3956	3981	32.6	-22.5	29	247	0.15	2.35	0.00	0.000	3206	0.265	0.059	2406	2200	3968	3955	3981	0	0	0	0	0	0	13.90	14.09	14.16
545	-0.59	-145.9	2406	2199	3960	3982	82.7	-12.5	60	549	0.00	2.42	0.00	0.000	388	0.000	0.087	2402	3569	3970	3960	3981	0	0	0	0	0	0	14.47	14.02	14.48
701	-0.77	-145.9	2402	3569	3961	3981	97.9	-9.3	91	708	0.22	2.33	0.00	0.000	5286	0.096	0.053	2319	2191	3968	3960	3977	0	0	0	0	0	0	14.22	14.20	14.31
1025	-0.74	-145.9	2318	2192	3960	3982	151.9	-16.0	104	1029	0.00	2.42	0.00	0.000	388	0.000	0.086	2307	3577	3971	3961	3981	0	0	0	0	0	0	14.55	14.20	14.57
1166	-0.78	-145.9	2308	3576	3961	3981	172.0	-13.6	132	1171	0.00	2.33	0.00	0.000	1158	0.000	0.056	2309	2196	3970	3960	3981	0	0	0	0	0	0	14.37	14.26	14.40
1476	-0.78	-145.9	2308	2192	3961	3982	217.5	-14.0	144	1481	0.00	2.42	0.00	0.000	260	0.000	0.088	2305	3574	3970	3959	3981	0	0	0	0	0	0	14.58	14.22	14.59
1536	-0.85	-145.9	2306	3575	3960	3982	225.2	-12.0	156	1541	0.00	2.33	0.00	0.000	1158	0.000	0.055	2305	2188	3970	3960	3981	0	0	0	0	0	0	14.36	14.25	14.39
1866	-0.88	-145.9	2306	2188	3961	3980	265.9	-11.7	172	1871	0.00	2.42	0.00	0.000	388	0.000	0.088	2305	3571	3970	3960	3980	0	0	0	0	0	0	14.59	14.19	14.61
2008	-0.97	-145.9	2306	3574	3961	3980	280.5	-10.3	200	2013	0.12	2.30	0.00	0.000	5254	0.134	0.054	2255	2193	3969	3959	3980	0	0	0	0	0	0	14.31	14.29	14.40
2319	-0.91	-145.9	2256	2192	3960	3978	325.5	-14.7	212	2324	0.12	2.42	0.00	0.000	2436	0.322	0.083	2273	3574	3967	3956	3978	0	0	0	0	0	0	13.96	14.23	14.15
2436	-0.96	-145.9	2273	3574	3960	3978	339.7	-11.4	235	2443	0.00	2.33	0.00	0.000	1158	0.000	0.055	2272	2189	3968	3959	3977	0	0	0	0	0	0	14.35	14.25	14.38
2739	-0.96	-145.9	2272	2190	3960	3977	376.7	-12.0	246	2744	0.00	2.45	0.00	0.000	260	0.000	0.087	2267	3577	3967	3958	3976	0	0	0	0	0	0	14.45	14.12	14.47
2861	-1.00	-145.9	2267	3579	3959	3977	390.8	-11.5	270	2866	0.00	2.35	0.00	0.000	1158	0.000	0.054	2266	2193	3967	3958	3976	0	0	0	0	0	0	14.26	14.16	14.28
3191	-1.00	-145.9	2267	2192	3957	3975	432.2	-12.6	286	3196	0.00	2.42	0.00	0.000	260	0.000	0.086	2261	3570	3967	3959	3975	0	0	0	0	0	0	14.42	14.09	14.44
3286	-1.03	-145.9	2261	3572	3959	3976	444.2	-12.2	305	3291	0.00	2.35	0.00	0.000	1158	0.000	0.054	2260	2194	3967	3958	3976	0	0	0	0	0	0	14.20	14.09	14.22
3579	end dive: TARGET_DEPTH_EXCEEDED
state	3579	begin apogee
3585	-0.13	0.0	2260	2069	3958	3975	481.9	-12.7	319	3799	1.08	0.00	210.80	1.441	10246	0.246	0.000	2530	2067	3364	3393	3336	0	0	0	0	0	0	13.86	13.36	12.66
3803	end apogee: CONTROL_FINISHED_OK
state	3803	begin climb
3805	0.57	145.9	2531	2067	3388	3330	492.2	0.0	326	4017	0.73	2.53	200.38	1.384	11012	0.067	0.080	2781	724	2765	2817	2714	0	0	0	0	0	0	13.46	13.14	12.45
4117	0.22	145.9	2782	724	2806	2713	482.6	14.9	383	4124	0.57	2.45	0.00	0.000	5254	0.317	0.076	2661	2059	2758	2805	2712	0	0	0	0	0	0	13.22	13.47	13.53
4434	0.07	145.9	2661	2062	2806	2708	449.5	10.1	396	4435	0.22	0.00	0.00	0.000	4230	0.292	0.000	2612	2062	2756	2805	2707	0	0	0	0	0	0	13.64	13.95	13.91
4740	0.06	199.0	2612	2061	2806	2705	426.4	7.6	406	4824	0.00	2.42	74.70	1.395	8868	0.000	0.083	2615	728	2548	2611	2486	0	0	0	0	0	0	14.31	13.74	13.04
4870	0.13	229.2	2616	727	2607	2484	415.4	8.6	432	4921	0.00	2.42	42.38	1.415	9382	0.000	0.078	2615	2104	2427	2491	2363	0	0	0	0	0	0	13.90	13.80	12.91
5219	0.17	248.2	2616	2106	2485	2354	383.5	9.1	452	5250	0.00	0.00	26.58	1.462	8358	0.000	0.000	2621	2105	2349	2410	2289	0	0	0	0	0	0	14.28	13.97	13.11
5549	0.23	267.6	2616	2106	2404	2284	353.2	9.1	463	5582	0.12	2.53	26.88	1.456	10916	0.133	0.086	2683	723	2274	2330	2218	0	0	0	0	0	0	14.21	14.01	13.23
5612	0.18	267.6	2685	721	2323	2217	345.2	13.6	475	5618	0.20	2.45	0.00	0.000	5254	0.254	0.079	2639	2109	2269	2323	2215	0	0	0	0	0	0	13.85	14.02	14.09
5944	0.18	269.0	2640	2109	2324	2210	311.1	9.9	491	5944	0.00	0.00	0.00	0.000	38	0.000	0.000	2639	2109	2266	2322	2210	0	0	0	0	0	0	14.48	14.50	14.50
6244	0.21	279.4	2639	2110	2323	2208	282.0	9.5	501	6269	0.00	2.50	16.98	1.519	8868	0.000	0.085	2646	720	2222	2278	2166	0	0	0	0	0	0	14.56	14.22	13.37
6336	0.31	303.1	2647	719	2275	2166	273.7	8.9	519	6379	0.00	2.42	36.70	1.400	9382	0.000	0.078	2646	2106	2127	2181	2073	0	0	0	0	0	0	14.30	14.19	13.26
6697	0.37	328.9	2647	2107	2177	2068	240.6	8.8	541	6739	0.17	0.00	40.58	1.362	10406	0.110	0.000	2714	2107	2025	2076	1975	0	0	0	0	0	0	14.26	14.01	13.27
7025	0.32	328.9	2714	2107	2066	1965	199.2	12.2	552	7030	0.12	2.42	0.00	0.000	4740	0.239	0.083	2685	728	2015	2066	1964	0	0	0	0	0	0	13.78	14.13	13.96
7160	0.41	352.1	2686	729	2063	1964	186.5	8.9	579	7207	0.00	2.40	36.85	1.343	9382	0.000	0.078	2686	2109	1925	1969	1881	0	0	0	0	0	0	14.33	14.21	13.29
7507	0.48	378.1	2686	2110	1962	1878	155.2	8.8	598	7556	0.12	2.45	43.17	1.315	10916	0.139	0.083	2755	728	1819	1852	1786	0	0	0	0	0	0	14.24	13.83	13.28
7622	0.45	378.1	2756	729	1846	1787	140.8	12.6	621	7628	0.00	2.42	0.00	0.000	1158	0.000	0.078	2755	2104	1815	1844	1787	0	0	0	0	0	0	14.14	14.03	14.16
7927	0.39	378.1	2755	2102	1843	1782	101.7	12.6	632	7928	0.20	0.00	0.00	0.000	4230	0.232	0.000	2709	2105	1816	1844	1788	0	0	0	0	0	0	14.02	14.31	14.26
8227	0.51	444.6	2709	2105	1845	1778	77.3	6.9	660	8269	0.00	2.45	33.28	0.443	8868	0.000	0.085	2708	730	1552	1590	1515	0	0	0	0	0	0	14.50	14.04	13.77
8370	0.68	504.9	2710	729	1588	1510	67.2	7.2	688	8407	0.28	2.40	31.10	0.409	11430	0.091	0.077	2807	2107	1305	1359	1251	0	0	0	0	0	0	14.21	14.12	13.72
8712	0.70	532.6	2808	2107	1360	1238	32.7	8.7	726	8734	0.00	2.50	14.12	0.314	8484	0.000	0.080	2807	3509	1190	1257	1124	0	0	0	0	0	0	14.47	14.04	13.86
8822	0.76	547.4	2808	3509	1258	1123	22.4	9.3	747	8834	0.00	2.38	7.95	0.288	9382	0.000	0.066	2808	2129	1132	1201	1064	0	0	0	0	0	0	14.23	14.12	13.88
9139	1.01	738.1	2808	2130	1202	1060	6.9	1.2	780	9208	0.28	0.00	66.18	0.226	10914	0.089	0.000	2915	2129	608	659	557	0	0	0	0	0	0	14.23	28.83	14.28
9208	end climb: SURFACE_DEPTH_REACHED
state	9208	begin surface coast
9221	end surface coast: CONTROL_FINISHED_OK
state	9221	begin surface