Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 117 * 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 117 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 332.0

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 38 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 53 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 332.0 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 38 VBD_MIN 500

DIVE 117 NOCOMM_ACTION 161 R_STBD_OVSHOOT 53 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 200817,073018,7301.1841,-14917.7793,18,0.8,19,21.0,0.2,174.4,11,9.3 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 1.26 MHEAD_RNG_PITCHd_Wd 295.5,28237,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.6 D_GRID 480

GPS2 200817,075302,7301.0386,-14917.9248,11,0.9,29,21.0,0.4,176.3,9,8.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170820082833.269819,3,81,19,0130,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35 PM_FREEKB_00 54550976

FINISH 0.1,1.010594 _24V_AH 12.45,98.508

SM_CCo 9213,9.32,0.217,0,0,500,702.78 _10V_AH 12.47,0.000

SM_GC 2.45,8.23,0.17,9.32,0.075,0.102,0.217,205,2246,500,-7.37,-0.54,702.78,0,0,0,0,0,0,14.26,14.28,14.00 FG_AHR_24Vo 0.000

RAFOS_CLK 404 FG_AHR_10Vo 0.000

MODEM 0,1503216256,75.36600,-145.04601,202.416,293244.1 MEM 323536

RAFOS_FIX 7259.857422,-14921.073242,200817,080835,4,255,1.97 DATA_FILE_SIZE 30046,851

IRIDIUM_FIX 7301.80,-14928.71,200817,074700 CAP_FILE_SIZE 116094,0

TT8_MAMPS 0.040446,0.828394 CFSIZE 2097872896,2052423680

HUMID 46.81 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.75222 SOUNDSPEED 1449.8

TCM_TEMP 13.40 CURRENT 0.040,265.24,1

XPDR_PINGS 8 GPS 200817,102835,7302.107,-14919.874,32,0.8,34,21.0,0.0,0.0,11,9.3

CP_FREE 15999500288.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 24 454 138.18 nil 0 0 0.00

Roll_motor 79 2141 2111.34 nil 0 0 0.00

VBD_pump_during_apogee 941 1484 17398.63 nil 0 0 0.00

VBD_pump_during_surface 9 217 25.22 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 9216 14 1643.29

Iridium_during_xfer 820 173 1774.74 NCP 9217 20 2295.03

Transponder_ping 2 420 10.46 PMAR 9168 15 1722.40

GUMSTIX_24V 0 0 0.00

GPS 30 22 8.46

TT8 0 0 0.00

LPSleep 6735 2 194.02

TT8_Active 947 13 165.04

TT8_Sampling 2561 33 1068.15

TT8_CF8 357 38 172.58

TT8_Kalman 0 0 0.00

Analog_circuits 2544 10 317.24

GPS_charging 0 0 0.00

Compass 1217 7 106.31

RAFOS 2217 48 1327.01

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 -145.9 204 2187 500 490 0.0 0.0 0 129 0.00 0.00 -81.05 0.000 16386 0.000 0.000 204 2185 2003 1928 2078 0 0 0 0 0 0 14.47 28.83 14.50

132 -0.57 -145.9 205 2187 1930 2082 3.2 -3.3 8 189 12.48 2.65 -38.75 0.000 18980 0.454 2.141 2386 804 3963 3947 3980 0 0 0 0 0 0 13.69 12.67 14.14

231 -0.55 -145.9 2387 804 3953 3981 32.7 -21.8 27 238 0.00 2.42 0.00 0.000 1158 0.000 0.087 2378 2169 3966 3952 3980 0 0 0 0 0 0 14.21 14.09 14.26

544 -0.58 -145.9 2378 2169 3957 3980 94.0 -14.3 58 549 0.00 2.58 0.00 0.000 388 0.000 0.090 2369 3612 3967 3956 3979 0 0 0 0 0 0 14.38 13.97 14.40

774 -0.71 -145.9 2369 3617 3956 3984 120.6 -10.6 104 779 0.00 2.38 0.00 0.000 1158 0.000 0.054 2369 2212 3968 3956 3980 0 0 0 0 0 0 14.09 14.00 14.12

1085 -0.79 -145.9 2369 2213 3957 3981 155.5 -10.8 116 1090 0.12 2.50 0.00 0.000 4484 0.148 0.086 2309 3620 3968 3956 3980 0 0 0 0 0 0 14.09 14.05 14.15

1191 -0.86 -145.9 2309 3621 3956 3981 169.6 -12.9 137 1196 0.00 2.42 0.00 0.000 1158 0.000 0.056 2309 2193 3968 3956 3980 0 0 0 0 0 0 14.26 14.12 14.26

1506 -0.86 -145.9 2309 2193 3956 3980 216.3 -14.6 150 1511 0.00 2.53 0.00 0.000 260 0.000 0.089 2310 3610 3967 3956 3979 0 0 0 0 0 0 14.40 14.04 14.42

1648 -0.96 -145.9 2306 3613 3956 3981 233.5 -11.2 178 1653 0.10 2.40 0.00 0.000 5254 0.151 0.056 2261 2200 3967 3956 3979 0 0 0 0 0 0 14.12 14.14 14.22

1958 -0.90 -145.9 2261 2198 3956 3978 281.9 -15.3 190 1963 0.00 2.50 0.00 0.000 388 0.000 0.087 2254 3610 3966 3956 3977 0 0 0 0 0 0 14.42 14.07 14.43

2103 -0.90 -145.9 2250 3611 3957 3977 303.4 -14.1 219 2111 0.15 2.42 0.00 0.000 3078 0.256 0.057 2280 2194 3966 3956 3977 0 0 0 0 0 0 13.84 14.08 14.10

2408 -0.90 -145.9 2277 2195 3956 3976 340.7 -12.0 230 2413 0.00 2.53 0.00 0.000 260 0.000 0.088 2272 3620 3965 3956 3975 0 0 0 0 0 0 14.42 14.07 14.44

2484 -0.96 -145.9 2272 3621 3956 3976 349.6 -11.3 245 2488 0.00 2.42 0.00 0.000 1158 0.000 0.056 2272 2192 3965 3956 3975 0 0 0 0 0 0 14.23 14.12 14.26

2798 -0.96 -145.9 2273 2190 3957 3974 388.0 -12.2 258 2804 0.00 2.55 0.00 0.000 260 0.000 0.089 2267 3620 3964 3955 3974 0 0 0 0 0 0 14.42 14.04 14.43

2904 -1.02 -145.9 2269 3620 3957 3974 400.4 -11.3 279 2910 0.00 2.40 0.00 0.000 1158 0.000 0.054 2267 2182 3964 3955 3973 0 0 0 0 0 0 14.21 14.08 14.23

3220 -1.02 -145.9 2267 2180 3957 3971 439.8 -12.5 292 3225 0.00 2.53 0.00 0.000 260 0.000 0.088 2258 3616 3964 3956 3973 0 0 0 0 0 0 14.52 14.14 14.54

3342 -1.07 -145.9 2259 3616 3956 3974 454.5 -11.7 316 3347 0.00 2.38 0.00 0.000 1158 0.000 0.055 2258 2199 3964 3956 3973 0 0 0 0 0 0 14.34 14.23 14.35

3550 end dive: TARGET_DEPTH_EXCEEDED

state 3550 begin apogee

3556 -0.13 0.0 2259 2056 3956 3973 481.5 -12.8 328 3777 1.08 0.10 217.93 1.421 10246 0.237 0.160 2531 2120 3364 3398 3330 0 0 0 0 0 0 13.84 13.42 12.71

3781 end apogee: CONTROL_FINISHED_OK

state 3781 begin climb

3785 0.57 145.9 2533 2120 3394 3323 491.9 0.0 335 4000 0.73 2.65 202.27 1.372 11012 0.066 0.082 2781 733 2765 2822 2708 0 0 0 0 0 0 13.54 13.17 12.45

4225 0.23 145.9 2781 734 2807 2709 464.2 15.1 417 4230 0.57 2.42 0.00 0.000 5254 0.322 0.076 2661 2088 2758 2806 2711 0 0 0 0 0 0 13.45 13.75 13.79

4535 0.07 145.9 2661 2089 2807 2704 431.9 10.0 429 4541 0.20 2.40 0.00 0.000 4740 0.297 0.077 2621 719 2755 2806 2704 0 0 0 0 0 0 13.82 14.07 14.00

4766 0.08 199.1 2621 719 2807 2704 414.1 7.5 475 4847 0.00 2.42 76.03 1.383 9382 0.000 0.080 2621 2107 2554 2623 2486 0 0 0 0 0 0 14.27 14.12 13.11

5167 0.07 216.6 2621 2109 2613 2471 377.6 9.2 505 5198 0.00 2.50 23.17 1.485 8868 0.000 0.083 2630 726 2477 2545 2409 0 0 0 0 0 0 14.42 14.01 13.24

5290 0.12 237.5 2631 726 2542 2408 366.5 9.0 529 5329 0.00 2.40 31.42 1.444 9382 0.000 0.079 2630 2099 2391 2455 2328 0 0 0 0 0 0 14.12 14.01 13.16

5651 0.13 239.8 2631 2099 2449 2322 331.3 9.9 551 5652 0.00 0.00 0.00 0.000 38 0.000 0.000 2630 2099 2388 2448 2328 0 0 0 0 0 0 14.45 14.47 14.47

5950 0.14 253.2 2630 2100 2447 2322 302.4 9.4 561 5980 0.00 2.47 21.40 1.469 8740 0.000 0.083 2630 726 2328 2388 2269 0 0 0 0 0 0 14.55 14.16 13.35

6025 0.23 275.2 2631 727 2386 2269 295.5 9.0 576 6065 0.00 2.40 34.03 1.411 9382 0.000 0.079 2630 2100 2242 2303 2181 0 0 0 0 0 0 14.28 14.16 13.24

6372 0.30 300.7 2631 2100 2300 2169 263.9 8.8 595 6414 0.15 0.00 40.10 1.372 10406 0.116 0.000 2692 2100 2138 2196 2081 0 0 0 0 0 0 14.16 13.99 13.24

6700 0.25 300.7 2692 2099 2187 2072 224.6 11.6 606 6705 0.12 2.40 0.00 0.000 4740 0.248 0.081 2672 727 2129 2187 2071 0 0 0 0 0 0 14.04 14.09 14.22

6781 0.32 322.8 2672 727 2185 2071 217.0 9.0 622 6822 0.00 2.38 33.88 1.366 9382 0.000 0.080 2672 2099 2046 2099 1993 0 0 0 0 0 0 14.33 14.21 13.27

7122 0.37 348.4 2673 2100 2094 1985 186.2 8.8 640 7165 0.00 0.00 41.25 1.327 8358 0.000 0.000 2672 2100 1946 1996 1896 0 0 0 0 0 0 14.52 14.01 13.27

7451 0.46 388.0 2669 2100 1989 1883 158.8 8.2 651 7526 0.15 2.50 67.25 1.261 10916 0.123 0.086 2743 731 1779 1813 1746 0 0 0 0 0 0 14.21 13.88 13.22

7576 0.46 388.0 2742 731 1806 1747 143.7 11.9 676 7582 0.00 2.42 0.00 0.000 1030 0.000 0.077 2743 2100 1775 1805 1745 0 0 0 0 0 0 14.09 13.98 14.12

7902 0.44 388.0 2744 2102 1805 1739 104.6 11.3 691 7903 0.00 0.00 0.00 0.000 134 0.000 0.000 2747 2101 1774 1810 1738 0 0 0 0 0 0 14.47 14.49 14.49

8204 0.46 423.9 2744 2102 1805 1736 75.0 8.3 717 8225 0.00 2.47 17.70 0.428 8740 0.000 0.085 2751 730 1636 1671 1602 0 0 0 0 0 0 14.54 14.16 13.80

8366 0.58 492.9 2752 729 1671 1601 62.3 6.8 749 8409 0.00 2.40 35.85 0.389 9382 0.000 0.080 2751 2100 1354 1408 1301 0 0 0 0 0 0 14.25 14.12 13.78

8706 0.75 583.1 2750 2100 1409 1291 40.6 5.8 787 8760 0.20 2.45 46.12 0.320 10916 0.105 0.088 2838 720 986 1061 911 0 0 0 0 0 0 14.20 14.12 13.81

8812 0.80 583.1 2838 720 1063 911 29.6 10.7 807 8817 0.00 2.42 0.00 0.000 1158 0.000 0.077 2837 2103 986 1061 911 0 0 0 0 0 0 14.23 14.13 14.28

9122 0.98 694.7 2838 2106 1062 905 5.9 4.8 839 9177 0.15 0.00 52.75 0.217 10658 0.119 0.000 2901 2105 574 614 534 0 0 0 0 0 0 14.15 28.83 14.19

9178 end climb: SURFACE_DEPTH_REACHED

state 9178 begin surface coast

9191 end surface coast: CONTROL_FINISHED_OK

state 9191 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	117	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	332.0
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	38	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	53	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	200817,073018,7301.1841,-14917.7793,18,0.8,19,21.0,0.2,174.4,11,9.3	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	1.26	MHEAD_RNG_PITCHd_Wd	295.5,28237,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.6	D_GRID	480
GPS2	200817,075302,7301.0386,-14917.9248,11,0.9,29,21.0,0.4,176.3,9,8.9

MODEM_MSG	CACST,6,1,20170820082833.269819,3,81,19,0130,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*35	PM_FREEKB_00	54550976
FINISH	0.1,1.010594	_24V_AH	12.45,98.508
SM_CCo	9213,9.32,0.217,0,0,500,702.78	_10V_AH	12.47,0.000
SM_GC	2.45,8.23,0.17,9.32,0.075,0.102,0.217,205,2246,500,-7.37,-0.54,702.78,0,0,0,0,0,0,14.26,14.28,14.00	FG_AHR_24Vo	0.000
RAFOS_CLK	404	FG_AHR_10Vo	0.000
MODEM	0,1503216256,75.36600,-145.04601,202.416,293244.1	MEM	323536
RAFOS_FIX	7259.857422,-14921.073242,200817,080835,4,255,1.97	DATA_FILE_SIZE	30046,851
IRIDIUM_FIX	7301.80,-14928.71,200817,074700	CAP_FILE_SIZE	116094,0
TT8_MAMPS	0.040446,0.828394	CFSIZE	2097872896,2052423680
HUMID	46.81	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.75222	SOUNDSPEED	1449.8
TCM_TEMP	13.40	CURRENT	0.040,265.24,1
XPDR_PINGS	8	GPS	200817,102835,7302.107,-14919.874,32,0.8,34,21.0,0.0,0.0,11,9.3
CP_FREE	15999500288.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	24	454	138.18	nil	0	0	0.00
Roll_motor	79	2141	2111.34	nil	0	0	0.00
VBD_pump_during_apogee	941	1484	17398.63	nil	0	0	0.00
VBD_pump_during_surface	9	217	25.22	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	9216	14	1643.29
Iridium_during_xfer	820	173	1774.74	NCP	9217	20	2295.03
Transponder_ping	2	420	10.46	PMAR	9168	15	1722.40
GUMSTIX_24V	0	0	0.00
GPS	30	22	8.46
TT8	0	0	0.00
LPSleep	6735	2	194.02
TT8_Active	947	13	165.04
TT8_Sampling	2561	33	1068.15
TT8_CF8	357	38	172.58
TT8_Kalman	0	0	0.00
Analog_circuits	2544	10	317.24
GPS_charging	0	0	0.00
Compass	1217	7	106.31
RAFOS	2217	48	1327.01
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	204	2187	500	490	0.0	0.0	0	129	0.00	0.00	-81.05	0.000	16386	0.000	0.000	204	2185	2003	1928	2078	0	0	0	0	0	0	14.47	28.83	14.50
132	-0.57	-145.9	205	2187	1930	2082	3.2	-3.3	8	189	12.48	2.65	-38.75	0.000	18980	0.454	2.141	2386	804	3963	3947	3980	0	0	0	0	0	0	13.69	12.67	14.14
231	-0.55	-145.9	2387	804	3953	3981	32.7	-21.8	27	238	0.00	2.42	0.00	0.000	1158	0.000	0.087	2378	2169	3966	3952	3980	0	0	0	0	0	0	14.21	14.09	14.26
544	-0.58	-145.9	2378	2169	3957	3980	94.0	-14.3	58	549	0.00	2.58	0.00	0.000	388	0.000	0.090	2369	3612	3967	3956	3979	0	0	0	0	0	0	14.38	13.97	14.40
774	-0.71	-145.9	2369	3617	3956	3984	120.6	-10.6	104	779	0.00	2.38	0.00	0.000	1158	0.000	0.054	2369	2212	3968	3956	3980	0	0	0	0	0	0	14.09	14.00	14.12
1085	-0.79	-145.9	2369	2213	3957	3981	155.5	-10.8	116	1090	0.12	2.50	0.00	0.000	4484	0.148	0.086	2309	3620	3968	3956	3980	0	0	0	0	0	0	14.09	14.05	14.15
1191	-0.86	-145.9	2309	3621	3956	3981	169.6	-12.9	137	1196	0.00	2.42	0.00	0.000	1158	0.000	0.056	2309	2193	3968	3956	3980	0	0	0	0	0	0	14.26	14.12	14.26
1506	-0.86	-145.9	2309	2193	3956	3980	216.3	-14.6	150	1511	0.00	2.53	0.00	0.000	260	0.000	0.089	2310	3610	3967	3956	3979	0	0	0	0	0	0	14.40	14.04	14.42
1648	-0.96	-145.9	2306	3613	3956	3981	233.5	-11.2	178	1653	0.10	2.40	0.00	0.000	5254	0.151	0.056	2261	2200	3967	3956	3979	0	0	0	0	0	0	14.12	14.14	14.22
1958	-0.90	-145.9	2261	2198	3956	3978	281.9	-15.3	190	1963	0.00	2.50	0.00	0.000	388	0.000	0.087	2254	3610	3966	3956	3977	0	0	0	0	0	0	14.42	14.07	14.43
2103	-0.90	-145.9	2250	3611	3957	3977	303.4	-14.1	219	2111	0.15	2.42	0.00	0.000	3078	0.256	0.057	2280	2194	3966	3956	3977	0	0	0	0	0	0	13.84	14.08	14.10
2408	-0.90	-145.9	2277	2195	3956	3976	340.7	-12.0	230	2413	0.00	2.53	0.00	0.000	260	0.000	0.088	2272	3620	3965	3956	3975	0	0	0	0	0	0	14.42	14.07	14.44
2484	-0.96	-145.9	2272	3621	3956	3976	349.6	-11.3	245	2488	0.00	2.42	0.00	0.000	1158	0.000	0.056	2272	2192	3965	3956	3975	0	0	0	0	0	0	14.23	14.12	14.26
2798	-0.96	-145.9	2273	2190	3957	3974	388.0	-12.2	258	2804	0.00	2.55	0.00	0.000	260	0.000	0.089	2267	3620	3964	3955	3974	0	0	0	0	0	0	14.42	14.04	14.43
2904	-1.02	-145.9	2269	3620	3957	3974	400.4	-11.3	279	2910	0.00	2.40	0.00	0.000	1158	0.000	0.054	2267	2182	3964	3955	3973	0	0	0	0	0	0	14.21	14.08	14.23
3220	-1.02	-145.9	2267	2180	3957	3971	439.8	-12.5	292	3225	0.00	2.53	0.00	0.000	260	0.000	0.088	2258	3616	3964	3956	3973	0	0	0	0	0	0	14.52	14.14	14.54
3342	-1.07	-145.9	2259	3616	3956	3974	454.5	-11.7	316	3347	0.00	2.38	0.00	0.000	1158	0.000	0.055	2258	2199	3964	3956	3973	0	0	0	0	0	0	14.34	14.23	14.35
3550	end dive: TARGET_DEPTH_EXCEEDED
state	3550	begin apogee
3556	-0.13	0.0	2259	2056	3956	3973	481.5	-12.8	328	3777	1.08	0.10	217.93	1.421	10246	0.237	0.160	2531	2120	3364	3398	3330	0	0	0	0	0	0	13.84	13.42	12.71
3781	end apogee: CONTROL_FINISHED_OK
state	3781	begin climb
3785	0.57	145.9	2533	2120	3394	3323	491.9	0.0	335	4000	0.73	2.65	202.27	1.372	11012	0.066	0.082	2781	733	2765	2822	2708	0	0	0	0	0	0	13.54	13.17	12.45
4225	0.23	145.9	2781	734	2807	2709	464.2	15.1	417	4230	0.57	2.42	0.00	0.000	5254	0.322	0.076	2661	2088	2758	2806	2711	0	0	0	0	0	0	13.45	13.75	13.79
4535	0.07	145.9	2661	2089	2807	2704	431.9	10.0	429	4541	0.20	2.40	0.00	0.000	4740	0.297	0.077	2621	719	2755	2806	2704	0	0	0	0	0	0	13.82	14.07	14.00
4766	0.08	199.1	2621	719	2807	2704	414.1	7.5	475	4847	0.00	2.42	76.03	1.383	9382	0.000	0.080	2621	2107	2554	2623	2486	0	0	0	0	0	0	14.27	14.12	13.11
5167	0.07	216.6	2621	2109	2613	2471	377.6	9.2	505	5198	0.00	2.50	23.17	1.485	8868	0.000	0.083	2630	726	2477	2545	2409	0	0	0	0	0	0	14.42	14.01	13.24
5290	0.12	237.5	2631	726	2542	2408	366.5	9.0	529	5329	0.00	2.40	31.42	1.444	9382	0.000	0.079	2630	2099	2391	2455	2328	0	0	0	0	0	0	14.12	14.01	13.16
5651	0.13	239.8	2631	2099	2449	2322	331.3	9.9	551	5652	0.00	0.00	0.00	0.000	38	0.000	0.000	2630	2099	2388	2448	2328	0	0	0	0	0	0	14.45	14.47	14.47
5950	0.14	253.2	2630	2100	2447	2322	302.4	9.4	561	5980	0.00	2.47	21.40	1.469	8740	0.000	0.083	2630	726	2328	2388	2269	0	0	0	0	0	0	14.55	14.16	13.35
6025	0.23	275.2	2631	727	2386	2269	295.5	9.0	576	6065	0.00	2.40	34.03	1.411	9382	0.000	0.079	2630	2100	2242	2303	2181	0	0	0	0	0	0	14.28	14.16	13.24
6372	0.30	300.7	2631	2100	2300	2169	263.9	8.8	595	6414	0.15	0.00	40.10	1.372	10406	0.116	0.000	2692	2100	2138	2196	2081	0	0	0	0	0	0	14.16	13.99	13.24
6700	0.25	300.7	2692	2099	2187	2072	224.6	11.6	606	6705	0.12	2.40	0.00	0.000	4740	0.248	0.081	2672	727	2129	2187	2071	0	0	0	0	0	0	14.04	14.09	14.22
6781	0.32	322.8	2672	727	2185	2071	217.0	9.0	622	6822	0.00	2.38	33.88	1.366	9382	0.000	0.080	2672	2099	2046	2099	1993	0	0	0	0	0	0	14.33	14.21	13.27
7122	0.37	348.4	2673	2100	2094	1985	186.2	8.8	640	7165	0.00	0.00	41.25	1.327	8358	0.000	0.000	2672	2100	1946	1996	1896	0	0	0	0	0	0	14.52	14.01	13.27
7451	0.46	388.0	2669	2100	1989	1883	158.8	8.2	651	7526	0.15	2.50	67.25	1.261	10916	0.123	0.086	2743	731	1779	1813	1746	0	0	0	0	0	0	14.21	13.88	13.22
7576	0.46	388.0	2742	731	1806	1747	143.7	11.9	676	7582	0.00	2.42	0.00	0.000	1030	0.000	0.077	2743	2100	1775	1805	1745	0	0	0	0	0	0	14.09	13.98	14.12
7902	0.44	388.0	2744	2102	1805	1739	104.6	11.3	691	7903	0.00	0.00	0.00	0.000	134	0.000	0.000	2747	2101	1774	1810	1738	0	0	0	0	0	0	14.47	14.49	14.49
8204	0.46	423.9	2744	2102	1805	1736	75.0	8.3	717	8225	0.00	2.47	17.70	0.428	8740	0.000	0.085	2751	730	1636	1671	1602	0	0	0	0	0	0	14.54	14.16	13.80
8366	0.58	492.9	2752	729	1671	1601	62.3	6.8	749	8409	0.00	2.40	35.85	0.389	9382	0.000	0.080	2751	2100	1354	1408	1301	0	0	0	0	0	0	14.25	14.12	13.78
8706	0.75	583.1	2750	2100	1409	1291	40.6	5.8	787	8760	0.20	2.45	46.12	0.320	10916	0.105	0.088	2838	720	986	1061	911	0	0	0	0	0	0	14.20	14.12	13.81
8812	0.80	583.1	2838	720	1063	911	29.6	10.7	807	8817	0.00	2.42	0.00	0.000	1158	0.000	0.077	2837	2103	986	1061	911	0	0	0	0	0	0	14.23	14.13	14.28
9122	0.98	694.7	2838	2106	1062	905	5.9	4.8	839	9177	0.15	0.00	52.75	0.217	10658	0.119	0.000	2901	2105	574	614	534	0	0	0	0	0	0	14.15	28.83	14.19
9178	end climb: SURFACE_DEPTH_REACHED
state	9178	begin surface coast
9191	end surface coast: CONTROL_FINISHED_OK
state	9191	begin surface