Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 115 * 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 115 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 326.0

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 27 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 326.0 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 115 NOCOMM_ACTION 161 R_STBD_OVSHOOT 27 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 200817,014004,7259.2764,-14913.5586,16,0.7,17,21.0,0.0,0.0,11,9.0 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.23 MHEAD_RNG_PITCHd_Wd 294.2,32192,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 200817,020101,7259.3701,-14913.1436,5,0.8,38,21.0,0.0,64.5,10,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170820042834.158633,3,60,17,0153,0150,250,00,00,00,00,-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 54662016

FINISH 0.3,1.020375 _24V_AH 12.46,97.540

SM_CCo 9386,0.00,0.000,0,0,493,704.50 _10V_AH 12.37,0.000

SM_GC 1.14,8.40,0.17,0.00,0.082,0.107,0.000,204,2227,493,-7.38,-0.76,704.50,0,0,0,0,0,0,14.11,14.12,14.17 FG_AHR_24Vo 0.000

RAFOS_CLK 114 FG_AHR_10Vo 0.000

MODEM 0,1503201857,75.36600,-145.04601,203.111,294263.2 MEM 323352

RAFOS_FIX 7258.971191,-14918.901367,200817,040437,4,255,0.39 DATA_FILE_SIZE 30069,842

IRIDIUM_FIX 7302.52,-14918.61,200817,015352 CAP_FILE_SIZE 112928,0

TT8_MAMPS 0.083139,0.90629 CFSIZE 2097872896,2053144576

HUMID 43.93 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1448.8

TCM_TEMP 13.20 CURRENT 0.034,265.65,1

XPDR_PINGS 20 GPS 200817,043903,7300.287,-14915.466,14,0.8,19,21.0,0.4,126.7,11,10.0

CP_FREE 15999795200.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 457 145.21 nil 0 0 0.00

Roll_motor 89 2150 2396.74 nil 0 0 0.00

VBD_pump_during_apogee 1051 1330 17436.68 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 9332 14 1683.22

Iridium_during_xfer 712 159 1419.62 NCP 9322 20 2323.04

Transponder_ping 5 420 26.17 PMAR 9281 16 1917.68

GUMSTIX_24V 0 0 0.00

GPS 41 22 11.48

TT8 0 0 0.00

LPSleep 6769 2 193.45

TT8_Active 923 13 159.67

TT8_Sampling 2638 33 1091.48

TT8_CF8 323 38 154.93

TT8_Kalman 0 0 0.00

Analog_circuits 2562 10 316.97

GPS_charging 0 0 0.00

Compass 1205 7 104.37

RAFOS 2219 48 1317.55

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

44 end surface: CONTROL_FINISHED_OK

state 44 begin dive

47 -0.57 -145.9 205 2216 505 477 0.0 0.0 0 140 0.00 0.00 -91.75 0.000 16386 0.000 0.000 201 2221 2279 2215 2344 0 0 0 0 0 0 14.47 28.83 14.49

143 -0.57 -145.9 202 2216 2219 2346 4.7 -6.8 9 192 12.62 2.88 -29.85 0.000 18980 0.457 2.150 2386 783 3963 3945 3981 0 0 0 0 0 0 13.71 12.66 14.15

237 -0.57 -145.9 2386 784 3950 3982 33.4 -20.2 25 243 0.00 2.53 0.00 0.000 1030 0.000 0.088 2378 2193 3965 3950 3981 0 0 0 0 0 0 14.19 14.07 14.23

544 -0.57 -145.9 2379 2197 3955 3981 92.3 -14.4 56 549 0.00 2.53 0.00 0.000 260 0.000 0.091 2376 3623 3967 3953 3981 0 0 0 0 0 0 14.47 14.14 14.49

724 -0.72 -145.9 2377 3623 3954 3981 112.9 -10.5 92 729 0.00 2.40 0.00 0.000 1158 0.000 0.055 2376 2198 3967 3954 3981 0 0 0 0 0 0 14.28 14.19 14.32

1054 -0.82 -145.9 2376 2197 3954 3982 148.4 -10.4 108 1059 0.17 2.50 0.00 0.000 4484 0.119 0.086 2292 3618 3967 3953 3981 0 0 0 0 0 0 14.26 14.18 14.33

1124 -0.82 -145.9 2292 3620 3954 3982 158.9 -15.7 122 1129 0.00 2.40 0.00 0.000 1030 0.000 0.056 2292 2195 3967 3954 3981 0 0 0 0 0 0 14.28 14.19 14.32

1445 -0.77 -145.9 2292 2194 3954 3982 213.2 -16.5 136 1450 0.12 2.50 0.00 0.000 2436 0.292 0.087 2319 3614 3971 3961 3981 0 0 0 0 0 0 14.00 14.22 14.16

1567 -0.88 -145.9 2319 3616 3954 3981 227.6 -10.8 160 1572 0.00 2.40 0.00 0.000 1158 0.000 0.054 2319 2189 3967 3954 3981 0 0 0 0 0 0 14.38 14.28 14.44

1897 -0.94 -145.9 2318 2189 3954 3982 265.5 -11.0 176 1902 0.12 2.50 0.00 0.000 4484 0.141 0.087 2254 3614 3967 3954 3981 0 0 0 0 0 0 14.33 14.22 14.37

2062 -0.92 -145.9 2253 3617 3954 3982 288.8 -14.3 209 2067 0.12 2.38 0.00 0.000 3206 0.271 0.056 2284 2201 3967 3953 3981 0 0 0 0 0 0 14.03 14.28 14.29

2377 -0.92 -145.9 2278 2199 3953 3982 328.0 -12.2 222 2382 0.00 2.47 0.00 0.000 260 0.000 0.088 2270 3616 3967 3953 3981 0 0 0 0 0 0 14.61 14.23 14.61

2489 -0.96 -145.9 2270 3617 3951 3981 341.1 -11.7 244 2494 0.00 2.38 0.00 0.000 1158 0.000 0.056 2269 2201 3966 3951 3981 0 0 0 0 0 0 14.33 14.24 14.38

2799 -0.96 -145.9 2270 2200 3952 3981 379.7 -12.4 256 2804 0.00 2.50 0.00 0.000 260 0.000 0.090 2266 3623 3965 3951 3980 0 0 0 0 0 0 14.61 14.22 14.62

2904 -1.03 -145.9 2265 3624 3951 3981 392.2 -11.3 277 2909 0.00 2.40 0.00 0.000 1158 0.000 0.057 2266 2198 3965 3951 3979 0 0 0 0 0 0 14.35 14.23 14.38

3219 -1.03 -145.9 2266 2196 3952 3979 431.5 -12.5 290 3224 0.00 2.50 0.00 0.000 260 0.000 0.088 2258 3623 3963 3951 3975 0 0 0 0 0 0 14.61 14.22 14.62

3319 -1.06 -145.9 2257 3625 3951 3980 444.1 -12.1 310 3324 0.00 2.42 0.00 0.000 1158 0.000 0.057 2256 2191 3964 3950 3979 0 0 0 0 0 0 14.38 14.26 14.41

3607 end dive: TARGET_DEPTH_EXCEEDED

state 3607 begin apogee

3613 -0.13 0.0 2257 2063 3949 3978 481.9 -13.1 323 3912 1.08 0.08 295.77 1.283 10246 0.245 0.178 2530 2114 3365 3385 3346 0 0 0 0 0 0 13.99 13.32 12.66

3918 end apogee: CONTROL_FINISHED_OK

state 3918 begin climb

3920 0.57 145.9 2531 2114 3379 3336 497.8 0.0 333 4141 0.75 2.10 206.98 1.330 10500 0.063 0.072 2781 3530 2752 2788 2716 0 0 0 0 0 0 13.47 13.01 12.46

4146 0.57 145.9 2782 3531 2786 2716 501.2 -1.7 336 4151 0.00 2.55 0.00 0.000 1030 0.000 0.056 2791 2126 2749 2784 2715 0 0 0 0 0 0 13.36 13.28 13.38

4461 0.17 145.9 2791 2128 2779 2709 449.3 16.6 349 4467 0.65 2.45 0.00 0.000 4484 0.318 0.073 2647 3503 2743 2778 2709 0 0 0 0 0 0 13.54 13.84 13.76

4692 0.00 145.9 2647 3505 2775 2707 423.4 10.8 395 4698 0.30 2.42 0.00 0.000 5254 0.280 0.060 2588 2093 2740 2773 2707 0 0 0 0 0 0 13.79 14.03 14.09

5003 0.06 224.8 2588 2093 2776 2707 402.8 6.4 407 5134 0.00 2.60 122.62 1.276 8484 0.000 0.080 2588 3498 2441 2493 2389 0 0 0 0 0 0 14.50 13.72 13.02

5276 0.16 261.8 2594 3502 2467 2385 382.2 8.3 461 5338 0.12 2.42 53.90 1.317 11430 0.129 0.061 2644 2099 2292 2337 2248 0 0 0 0 0 0 13.99 13.96 13.02

5636 0.16 261.8 2645 2096 2325 2228 343.6 10.8 483 5642 0.00 2.50 0.00 0.000 516 0.000 0.090 2647 693 2275 2324 2227 0 0 0 0 0 0 14.35 14.07 14.38

5712 0.21 261.8 2647 694 2323 2228 335.8 10.0 498 5717 0.00 2.45 0.00 0.000 1158 0.000 0.078 2647 2092 2274 2322 2227 0 0 0 0 0 0 14.24 14.13 14.26

6027 0.21 261.8 2647 2093 2322 2226 302.5 10.5 511 6028 0.00 0.00 0.00 0.000 6 0.000 0.000 2647 2092 2274 2322 2226 0 0 0 0 0 0 14.53 14.55 14.54

6327 0.21 265.9 2647 2093 2322 2226 272.3 9.8 521 6332 0.00 2.45 0.00 0.000 548 0.000 0.085 2647 688 2273 2321 2225 0 0 0 0 0 0 14.59 14.24 14.59

6387 0.29 294.9 2647 688 2322 2225 266.9 8.7 533 6443 0.00 2.45 49.10 1.293 9382 0.000 0.077 2647 2100 2160 2207 2114 0 0 0 0 0 0 14.36 14.22 13.33

6750 0.34 319.6 2647 2101 2195 2097 233.5 8.9 555 6795 0.12 2.50 37.88 1.298 10916 0.130 0.084 2709 688 2056 2101 2012 0 0 0 0 0 0 14.22 13.91 13.33

6815 0.30 319.6 2708 688 2091 2009 226.1 12.0 568 6820 0.12 2.50 0.00 0.000 5254 0.233 0.079 2682 2108 2048 2090 2007 0 0 0 0 0 0 13.93 14.01 14.12

7142 0.32 336.9 2683 2110 2090 1998 194.9 9.2 583 7172 0.00 2.53 24.20 1.329 8740 0.000 0.085 2684 688 1986 2031 1941 0 0 0 0 0 0 14.39 13.87 13.31

7264 0.41 362.8 2685 689 2019 1937 183.9 8.8 607 7312 0.00 2.47 42.85 1.300 9382 0.000 0.078 2684 2101 1886 1921 1851 0 0 0 0 0 0 14.14 14.03 13.20

7624 0.49 390.5 2684 2102 1907 1834 151.3 8.7 629 7674 0.17 0.00 47.45 1.284 10406 0.110 0.000 2758 2100 1773 1801 1745 0 0 0 0 0 0 14.09 13.90 13.20

7953 0.43 390.5 2759 2101 1787 1728 107.9 13.0 640 7958 0.15 2.53 0.00 0.000 4740 0.252 0.084 2730 680 1756 1786 1727 0 0 0 0 0 0 13.78 14.00 13.95

8083 0.50 410.4 2731 680 1782 1727 95.1 9.1 666 8099 0.00 2.53 9.50 0.457 9382 0.000 0.078 2737 2109 1689 1717 1662 0 0 0 0 0 0 14.16 14.04 13.60

8405 0.59 468.1 2731 2108 1727 1662 68.1 7.3 700 8441 0.12 2.47 32.00 0.399 10660 0.129 0.080 2789 3511 1457 1492 1422 0 0 0 0 0 0 14.10 13.91 13.66

8567 0.59 471.9 2790 3512 1493 1424 50.7 9.8 732 8578 0.00 2.47 2.75 0.296 9254 0.000 0.065 2794 2093 1440 1480 1401 0 0 0 0 0 0 14.16 14.05 13.71

8877 0.64 535.1 2795 2093 1486 1407 27.1 7.1 764 8919 0.00 2.50 35.67 0.281 8740 0.000 0.089 2794 688 1179 1237 1122 0 0 0 0 0 0 14.37 13.91 13.73

9144 0.96 706.8 2795 688 1238 1125 13.2 2.1 817 9245 0.30 2.47 91.25 0.234 11430 0.090 0.078 2900 2098 493 520 466 0 0 0 0 0 0 14.03 14.04 13.79

9287 end climb: SURFACE_DEPTH_REACHED

state 9287 begin surface coast

9305 end surface coast: CONTROL_FINISHED_OK

state 9305 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	115	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	326.0
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	27	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,014004,7259.2764,-14913.5586,16,0.7,17,21.0,0.0,0.0,11,9.0	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.23	MHEAD_RNG_PITCHd_Wd	294.2,32192,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	200817,020101,7259.3701,-14913.1436,5,0.8,38,21.0,0.0,64.5,10,9.9

MODEM_MSG	CACST,6,1,20170820042834.158633,3,60,17,0153,0150,250,00,00,00,00,-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	54662016
FINISH	0.3,1.020375	_24V_AH	12.46,97.540
SM_CCo	9386,0.00,0.000,0,0,493,704.50	_10V_AH	12.37,0.000
SM_GC	1.14,8.40,0.17,0.00,0.082,0.107,0.000,204,2227,493,-7.38,-0.76,704.50,0,0,0,0,0,0,14.11,14.12,14.17	FG_AHR_24Vo	0.000
RAFOS_CLK	114	FG_AHR_10Vo	0.000
MODEM	0,1503201857,75.36600,-145.04601,203.111,294263.2	MEM	323352
RAFOS_FIX	7258.971191,-14918.901367,200817,040437,4,255,0.39	DATA_FILE_SIZE	30069,842
IRIDIUM_FIX	7302.52,-14918.61,200817,015352	CAP_FILE_SIZE	112928,0
TT8_MAMPS	0.083139,0.90629	CFSIZE	2097872896,2053144576
HUMID	43.93	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1448.8
TCM_TEMP	13.20	CURRENT	0.034,265.65,1
XPDR_PINGS	20	GPS	200817,043903,7300.287,-14915.466,14,0.8,19,21.0,0.4,126.7,11,10.0
CP_FREE	15999795200.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	457	145.21	nil	0	0	0.00
Roll_motor	89	2150	2396.74	nil	0	0	0.00
VBD_pump_during_apogee	1051	1330	17436.68	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	9332	14	1683.22
Iridium_during_xfer	712	159	1419.62	NCP	9322	20	2323.04
Transponder_ping	5	420	26.17	PMAR	9281	16	1917.68
GUMSTIX_24V	0	0	0.00
GPS	41	22	11.48
TT8	0	0	0.00
LPSleep	6769	2	193.45
TT8_Active	923	13	159.67
TT8_Sampling	2638	33	1091.48
TT8_CF8	323	38	154.93
TT8_Kalman	0	0	0.00
Analog_circuits	2562	10	316.97
GPS_charging	0	0	0.00
Compass	1205	7	104.37
RAFOS	2219	48	1317.55
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
44	end surface: CONTROL_FINISHED_OK
state	44	begin dive
47	-0.57	-145.9	205	2216	505	477	0.0	0.0	0	140	0.00	0.00	-91.75	0.000	16386	0.000	0.000	201	2221	2279	2215	2344	0	0	0	0	0	0	14.47	28.83	14.49
143	-0.57	-145.9	202	2216	2219	2346	4.7	-6.8	9	192	12.62	2.88	-29.85	0.000	18980	0.457	2.150	2386	783	3963	3945	3981	0	0	0	0	0	0	13.71	12.66	14.15
237	-0.57	-145.9	2386	784	3950	3982	33.4	-20.2	25	243	0.00	2.53	0.00	0.000	1030	0.000	0.088	2378	2193	3965	3950	3981	0	0	0	0	0	0	14.19	14.07	14.23
544	-0.57	-145.9	2379	2197	3955	3981	92.3	-14.4	56	549	0.00	2.53	0.00	0.000	260	0.000	0.091	2376	3623	3967	3953	3981	0	0	0	0	0	0	14.47	14.14	14.49
724	-0.72	-145.9	2377	3623	3954	3981	112.9	-10.5	92	729	0.00	2.40	0.00	0.000	1158	0.000	0.055	2376	2198	3967	3954	3981	0	0	0	0	0	0	14.28	14.19	14.32
1054	-0.82	-145.9	2376	2197	3954	3982	148.4	-10.4	108	1059	0.17	2.50	0.00	0.000	4484	0.119	0.086	2292	3618	3967	3953	3981	0	0	0	0	0	0	14.26	14.18	14.33
1124	-0.82	-145.9	2292	3620	3954	3982	158.9	-15.7	122	1129	0.00	2.40	0.00	0.000	1030	0.000	0.056	2292	2195	3967	3954	3981	0	0	0	0	0	0	14.28	14.19	14.32
1445	-0.77	-145.9	2292	2194	3954	3982	213.2	-16.5	136	1450	0.12	2.50	0.00	0.000	2436	0.292	0.087	2319	3614	3971	3961	3981	0	0	0	0	0	0	14.00	14.22	14.16
1567	-0.88	-145.9	2319	3616	3954	3981	227.6	-10.8	160	1572	0.00	2.40	0.00	0.000	1158	0.000	0.054	2319	2189	3967	3954	3981	0	0	0	0	0	0	14.38	14.28	14.44
1897	-0.94	-145.9	2318	2189	3954	3982	265.5	-11.0	176	1902	0.12	2.50	0.00	0.000	4484	0.141	0.087	2254	3614	3967	3954	3981	0	0	0	0	0	0	14.33	14.22	14.37
2062	-0.92	-145.9	2253	3617	3954	3982	288.8	-14.3	209	2067	0.12	2.38	0.00	0.000	3206	0.271	0.056	2284	2201	3967	3953	3981	0	0	0	0	0	0	14.03	14.28	14.29
2377	-0.92	-145.9	2278	2199	3953	3982	328.0	-12.2	222	2382	0.00	2.47	0.00	0.000	260	0.000	0.088	2270	3616	3967	3953	3981	0	0	0	0	0	0	14.61	14.23	14.61
2489	-0.96	-145.9	2270	3617	3951	3981	341.1	-11.7	244	2494	0.00	2.38	0.00	0.000	1158	0.000	0.056	2269	2201	3966	3951	3981	0	0	0	0	0	0	14.33	14.24	14.38
2799	-0.96	-145.9	2270	2200	3952	3981	379.7	-12.4	256	2804	0.00	2.50	0.00	0.000	260	0.000	0.090	2266	3623	3965	3951	3980	0	0	0	0	0	0	14.61	14.22	14.62
2904	-1.03	-145.9	2265	3624	3951	3981	392.2	-11.3	277	2909	0.00	2.40	0.00	0.000	1158	0.000	0.057	2266	2198	3965	3951	3979	0	0	0	0	0	0	14.35	14.23	14.38
3219	-1.03	-145.9	2266	2196	3952	3979	431.5	-12.5	290	3224	0.00	2.50	0.00	0.000	260	0.000	0.088	2258	3623	3963	3951	3975	0	0	0	0	0	0	14.61	14.22	14.62
3319	-1.06	-145.9	2257	3625	3951	3980	444.1	-12.1	310	3324	0.00	2.42	0.00	0.000	1158	0.000	0.057	2256	2191	3964	3950	3979	0	0	0	0	0	0	14.38	14.26	14.41
3607	end dive: TARGET_DEPTH_EXCEEDED
state	3607	begin apogee
3613	-0.13	0.0	2257	2063	3949	3978	481.9	-13.1	323	3912	1.08	0.08	295.77	1.283	10246	0.245	0.178	2530	2114	3365	3385	3346	0	0	0	0	0	0	13.99	13.32	12.66
3918	end apogee: CONTROL_FINISHED_OK
state	3918	begin climb
3920	0.57	145.9	2531	2114	3379	3336	497.8	0.0	333	4141	0.75	2.10	206.98	1.330	10500	0.063	0.072	2781	3530	2752	2788	2716	0	0	0	0	0	0	13.47	13.01	12.46
4146	0.57	145.9	2782	3531	2786	2716	501.2	-1.7	336	4151	0.00	2.55	0.00	0.000	1030	0.000	0.056	2791	2126	2749	2784	2715	0	0	0	0	0	0	13.36	13.28	13.38
4461	0.17	145.9	2791	2128	2779	2709	449.3	16.6	349	4467	0.65	2.45	0.00	0.000	4484	0.318	0.073	2647	3503	2743	2778	2709	0	0	0	0	0	0	13.54	13.84	13.76
4692	0.00	145.9	2647	3505	2775	2707	423.4	10.8	395	4698	0.30	2.42	0.00	0.000	5254	0.280	0.060	2588	2093	2740	2773	2707	0	0	0	0	0	0	13.79	14.03	14.09
5003	0.06	224.8	2588	2093	2776	2707	402.8	6.4	407	5134	0.00	2.60	122.62	1.276	8484	0.000	0.080	2588	3498	2441	2493	2389	0	0	0	0	0	0	14.50	13.72	13.02
5276	0.16	261.8	2594	3502	2467	2385	382.2	8.3	461	5338	0.12	2.42	53.90	1.317	11430	0.129	0.061	2644	2099	2292	2337	2248	0	0	0	0	0	0	13.99	13.96	13.02
5636	0.16	261.8	2645	2096	2325	2228	343.6	10.8	483	5642	0.00	2.50	0.00	0.000	516	0.000	0.090	2647	693	2275	2324	2227	0	0	0	0	0	0	14.35	14.07	14.38
5712	0.21	261.8	2647	694	2323	2228	335.8	10.0	498	5717	0.00	2.45	0.00	0.000	1158	0.000	0.078	2647	2092	2274	2322	2227	0	0	0	0	0	0	14.24	14.13	14.26
6027	0.21	261.8	2647	2093	2322	2226	302.5	10.5	511	6028	0.00	0.00	0.00	0.000	6	0.000	0.000	2647	2092	2274	2322	2226	0	0	0	0	0	0	14.53	14.55	14.54
6327	0.21	265.9	2647	2093	2322	2226	272.3	9.8	521	6332	0.00	2.45	0.00	0.000	548	0.000	0.085	2647	688	2273	2321	2225	0	0	0	0	0	0	14.59	14.24	14.59
6387	0.29	294.9	2647	688	2322	2225	266.9	8.7	533	6443	0.00	2.45	49.10	1.293	9382	0.000	0.077	2647	2100	2160	2207	2114	0	0	0	0	0	0	14.36	14.22	13.33
6750	0.34	319.6	2647	2101	2195	2097	233.5	8.9	555	6795	0.12	2.50	37.88	1.298	10916	0.130	0.084	2709	688	2056	2101	2012	0	0	0	0	0	0	14.22	13.91	13.33
6815	0.30	319.6	2708	688	2091	2009	226.1	12.0	568	6820	0.12	2.50	0.00	0.000	5254	0.233	0.079	2682	2108	2048	2090	2007	0	0	0	0	0	0	13.93	14.01	14.12
7142	0.32	336.9	2683	2110	2090	1998	194.9	9.2	583	7172	0.00	2.53	24.20	1.329	8740	0.000	0.085	2684	688	1986	2031	1941	0	0	0	0	0	0	14.39	13.87	13.31
7264	0.41	362.8	2685	689	2019	1937	183.9	8.8	607	7312	0.00	2.47	42.85	1.300	9382	0.000	0.078	2684	2101	1886	1921	1851	0	0	0	0	0	0	14.14	14.03	13.20
7624	0.49	390.5	2684	2102	1907	1834	151.3	8.7	629	7674	0.17	0.00	47.45	1.284	10406	0.110	0.000	2758	2100	1773	1801	1745	0	0	0	0	0	0	14.09	13.90	13.20
7953	0.43	390.5	2759	2101	1787	1728	107.9	13.0	640	7958	0.15	2.53	0.00	0.000	4740	0.252	0.084	2730	680	1756	1786	1727	0	0	0	0	0	0	13.78	14.00	13.95
8083	0.50	410.4	2731	680	1782	1727	95.1	9.1	666	8099	0.00	2.53	9.50	0.457	9382	0.000	0.078	2737	2109	1689	1717	1662	0	0	0	0	0	0	14.16	14.04	13.60
8405	0.59	468.1	2731	2108	1727	1662	68.1	7.3	700	8441	0.12	2.47	32.00	0.399	10660	0.129	0.080	2789	3511	1457	1492	1422	0	0	0	0	0	0	14.10	13.91	13.66
8567	0.59	471.9	2790	3512	1493	1424	50.7	9.8	732	8578	0.00	2.47	2.75	0.296	9254	0.000	0.065	2794	2093	1440	1480	1401	0	0	0	0	0	0	14.16	14.05	13.71
8877	0.64	535.1	2795	2093	1486	1407	27.1	7.1	764	8919	0.00	2.50	35.67	0.281	8740	0.000	0.089	2794	688	1179	1237	1122	0	0	0	0	0	0	14.37	13.91	13.73
9144	0.96	706.8	2795	688	1238	1125	13.2	2.1	817	9245	0.30	2.47	91.25	0.234	11430	0.090	0.078	2900	2098	493	520	466	0	0	0	0	0	0	14.03	14.04	13.79
9287	end climb: SURFACE_DEPTH_REACHED
state	9287	begin surface coast
9305	end surface coast: CONTROL_FINISHED_OK
state	9305	begin surface