Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 127 * 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 127 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 360.0

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 33 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 360.0 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 127 NOCOMM_ACTION 161 R_STBD_OVSHOOT 33 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 210817,114332,7309.5869,-14945.8115,36,0.8,36,20.8,0.0,0.0,10,9.2 SPEED_LIMITS 0.173,0.256

_CALLS 4 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7310.800,-14958.400

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.27 MHEAD_RNG_PITCHd_Wd 270.5,6928,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.0 D_GRID 480

GPS2 210817,120425,7309.6816,-14946.0635,8,0.8,9,20.8,0.0,115.0,10,9.8

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170821122820.172346,3,1863,32,0887,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33 PM_FREEKB_00 54243520

FINISH 0.5,1.020508 _24V_AH 12.45,103.332

SM_CCo 8920,14.73,0.218,0,0,498,703.03 _10V_AH 12.34,0.000

SM_GC 2.28,8.25,2.65,14.73,0.086,0.066,0.218,205,2204,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.26,14.21,14.01 FG_AHR_24Vo 0.000

RAFOS_CLK 392 FG_AHR_10Vo 0.000

MODEM 2,1503317550,73.18300,-149.96500,3.891,5634.7 MEM 323580

RAFOS_FIX 7308.780762,-14947.827148,210817,121227,3,255,2.00 DATA_FILE_SIZE 26732,794

IRIDIUM_FIX 7312.21,-14959.61,210817,115706 CAP_FILE_SIZE 114055,0

TT8_MAMPS 0.038948,0.883071 CFSIZE 2097872896,2049277952

HUMID 46.41 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0

INTERNAL_PRESSURE 7.74246 SOUNDSPEED 1447.6

TCM_TEMP 13.30 CURRENT 0.007,54.79,1

XPDR_PINGS 9 GPS 210817,143520,7310.386,-14948.981,37,0.7,38,20.8,0.3,49.7,11,9.3

CP_FREE 15997829120.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 455 143.66 nil 0 0 0.00

Roll_motor 90 2143 2419.17 nil 0 0 0.00

VBD_pump_during_apogee 961 1564 18730.14 nil 0 0 0.00

VBD_pump_during_surface 14 218 39.97 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 8926 14 1656.60

Iridium_during_xfer 793 156 1548.65 NCP 8910 20 2218.59

Transponder_ping 2 420 11.77 PMAR 8872 10 1107.66

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.93

TT8 0 0 0.00

LPSleep 6281 2 179.06

TT8_Active 799 13 137.77

TT8_Sampling 2788 33 1150.82

TT8_CF8 334 38 159.76

TT8_Kalman 0 0 0.00

Analog_circuits 2682 10 330.99

GPS_charging 0 0 0.00

Compass 1137 7 98.26

RAFOS 1802 48 1067.36

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 -145.9 204 2221 496 489 0.0 0.0 0 126 0.00 0.00 -77.78 0.000 16386 0.000 0.000 204 2225 1916 1843 1990 0 0 0 0 0 0 14.45 28.83 14.46

129 -0.57 -145.9 204 2221 1845 1991 3.1 -3.1 8 192 12.62 2.88 -44.50 0.000 18980 0.455 2.144 2386 790 3965 3950 3980 0 0 0 0 0 0 13.67 12.63 14.07

378 -0.64 -145.9 2386 791 3957 3981 54.3 -16.1 57 384 0.00 2.50 0.00 0.000 1158 0.000 0.090 2383 2184 3970 3960 3980 0 0 0 0 0 0 14.14 13.99 14.17

703 -0.69 -145.9 2383 2185 3959 3981 104.3 -12.6 88 708 0.00 2.55 0.00 0.000 388 0.000 0.091 2376 3613 3972 3958 3986 0 0 0 0 0 0 14.38 14.03 14.40

878 -0.86 -145.9 2377 3614 3955 3985 122.1 -9.4 123 885 0.25 2.40 0.00 0.000 5286 0.094 0.053 2276 2197 3969 3958 3980 0 0 0 0 0 0 14.12 14.09 14.20

1183 -0.77 -145.9 2276 2197 3958 3981 180.1 -19.1 134 1188 0.20 2.53 0.00 0.000 2436 0.276 0.086 2318 3617 3969 3958 3980 0 0 0 0 0 0 13.78 14.04 13.97

1353 -0.86 -145.9 2315 3618 3960 3980 201.9 -11.7 168 1358 0.00 2.42 0.00 0.000 1158 0.000 0.055 2314 2193 3969 3959 3980 0 0 0 0 0 0 14.24 14.14 14.28

1663 -0.90 -145.9 2314 2190 3959 3988 240.7 -11.8 180 1668 0.00 2.53 0.00 0.000 388 0.000 0.089 2307 3614 3968 3957 3980 0 0 0 0 0 0 14.47 14.04 14.45

1718 -1.02 -145.9 2308 3615 3960 3981 246.6 -9.9 191 1726 0.17 2.40 0.00 0.000 5286 0.108 0.055 2245 2199 3967 3958 3976 0 0 0 0 0 0 14.12 14.12 14.20

2023 -0.94 -145.9 2245 2198 3959 3980 295.9 -16.1 202 2029 0.12 2.47 0.00 0.000 2436 0.291 0.086 2264 3614 3968 3957 3980 0 0 0 0 0 0 13.82 14.06 14.00

2201 -0.99 -145.9 2264 3614 3957 3980 318.7 -12.2 237 2207 0.00 2.42 0.00 0.000 1158 0.000 0.054 2264 2194 3967 3956 3978 0 0 0 0 0 0 14.12 14.02 14.16

2504 -0.99 -145.9 2265 2193 3956 3979 358.8 -13.0 248 2509 0.00 2.50 0.00 0.000 260 0.000 0.087 2255 3617 3967 3956 3978 0 0 0 0 0 0 14.59 14.19 14.60

2584 -1.03 -145.9 2256 3618 3956 3979 369.1 -12.5 264 2589 0.00 2.40 0.00 0.000 1158 0.000 0.055 2255 2195 3967 3956 3978 0 0 0 0 0 0 14.35 14.26 14.40

2894 -1.01 -145.9 2255 2195 3957 3978 410.8 -13.4 276 2899 0.00 2.50 0.00 0.000 388 0.000 0.088 2246 3621 3966 3956 3977 0 0 0 0 0 0 14.62 14.19 14.63

3026 -1.03 -145.9 2246 3620 3956 3977 428.3 -13.1 302 3031 0.00 2.40 0.00 0.000 1158 0.000 0.055 2245 2198 3966 3955 3977 0 0 0 0 0 0 14.39 14.25 14.40

3346 -1.00 -145.9 2246 2197 3956 3977 472.8 -13.7 316 3351 0.00 2.50 0.00 0.000 388 0.000 0.088 2239 3622 3966 3955 3977 0 0 0 0 0 0 14.62 14.20 14.64

3399 end dive: TARGET_DEPTH_EXCEEDED

state 3399 begin apogee

3407 -0.13 0.0 2240 2100 3956 3977 480.3 -13.2 327 3627 1.15 0.00 216.30 1.436 10246 0.249 0.000 2529 2099 3363 3387 3340 0 0 0 0 0 0 13.98 13.47 12.71

3631 end apogee: CONTROL_FINISHED_OK

state 3631 begin climb

3633 0.57 145.9 2531 2099 3382 3332 491.3 0.0 334 3998 0.75 2.70 204.05 1.384 10756 0.067 0.076 2791 685 2753 2794 2712 0 0 0 0 0 0 13.56 13.01 12.45

4167 0.21 145.9 2790 686 2793 2717 448.1 15.5 369 4174 0.62 2.53 0.00 0.000 5254 0.312 0.075 2655 2109 2753 2792 2715 0 0 0 0 0 0 13.56 13.85 13.89

4472 0.07 160.9 2655 2112 2792 2713 418.0 9.3 380 4494 0.17 2.58 16.42 1.564 12964 0.306 0.082 2616 687 2705 2747 2663 0 0 0 0 0 0 13.84 14.06 13.21

4539 0.11 213.2 2616 687 2745 2663 412.8 7.6 393 4625 0.00 2.50 78.25 1.392 9254 0.000 0.079 2615 2109 2490 2551 2430 0 0 0 0 0 0 14.14 14.02 13.03

4924 0.12 237.2 2616 2109 2546 2418 379.2 8.9 420 4964 0.00 2.58 33.40 1.440 8740 0.000 0.086 2615 693 2393 2452 2335 0 0 0 0 0 0 14.41 13.88 13.16

4984 0.20 277.4 2616 693 2450 2336 374.1 8.1 427 5052 0.00 2.50 61.47 1.402 9382 0.000 0.078 2616 2109 2233 2292 2174 0 0 0 0 0 0 14.09 13.98 13.01

5377 0.27 305.4 2616 2108 2281 2159 339.4 8.7 455 5424 0.15 2.55 40.60 1.397 10916 0.116 0.085 2686 684 2117 2172 2063 0 0 0 0 0 0 14.19 13.77 13.16

5461 0.25 305.4 2686 685 2159 2064 328.7 13.5 471 5466 0.00 2.50 0.00 0.000 1158 0.000 0.076 2686 2099 2109 2157 2062 0 0 0 0 0 0 14.08 13.98 14.13

5772 0.19 305.4 2687 2100 2159 2055 285.7 13.6 483 5773 0.17 0.00 0.00 0.000 4230 0.242 0.000 2647 2100 2105 2157 2054 0 0 0 0 0 0 14.00 14.31 14.26

6072 0.23 305.4 2648 2101 2157 2051 254.8 10.0 493 6077 0.00 2.47 0.00 0.000 644 0.000 0.087 2647 684 2104 2157 2051 0 0 0 0 0 0 14.58 14.26 14.59

6167 0.34 330.3 2648 684 2157 2051 246.0 8.9 512 6208 0.12 2.45 36.70 1.399 11430 0.132 0.078 2697 2103 2018 2067 1970 0 0 0 0 0 0 14.33 14.28 13.34

6525 0.31 330.3 2697 2104 2058 1960 204.8 10.9 533 6530 0.00 2.47 0.00 0.000 644 0.000 0.085 2699 688 2008 2057 1959 0 0 0 0 0 0 14.53 14.21 14.54

6585 0.31 330.3 2699 688 2057 1960 198.5 10.1 545 6590 0.00 2.45 0.00 0.000 1030 0.000 0.078 2699 2099 2004 2050 1959 0 0 0 0 0 0 14.33 14.21 14.37

6916 0.31 338.0 2699 2100 2055 1959 165.8 9.6 561 6926 0.00 0.00 9.25 1.564 8230 0.000 0.000 2699 2099 1986 2036 1937 0 0 0 0 0 0 14.59 14.23 13.36

7216 0.33 357.5 2701 2105 2031 1929 138.1 9.1 571 7256 0.00 2.53 32.45 1.387 8740 0.000 0.086 2699 694 1904 1945 1864 0 0 0 0 0 0 14.58 14.10 13.35

7271 0.39 379.0 2699 695 1943 1865 133.0 9.0 582 7312 0.00 2.47 36.28 1.323 9382 0.000 0.079 2699 2108 1820 1852 1789 0 0 0 0 0 0 14.23 14.12 13.23

7640 0.48 414.9 2699 2108 1844 1777 101.5 8.3 605 7706 0.12 2.60 57.72 1.242 10916 0.135 0.086 2768 685 1669 1698 1641 0 0 0 0 0 0 14.25 13.89 13.26

7791 0.48 414.9 2768 686 1691 1638 83.7 11.4 635 7797 0.15 2.53 0.00 0.000 5126 0.235 0.080 2736 2102 1664 1690 1638 0 0 0 0 0 0 13.86 14.00 14.09

8102 0.60 499.7 2736 2103 1691 1630 60.1 6.1 667 8151 0.12 2.55 43.70 0.382 10660 0.132 0.082 2793 3518 1327 1379 1276 0 0 0 0 0 0 14.21 14.07 13.79

8371 0.65 526.1 2794 3518 1380 1271 35.2 8.8 720 8393 0.00 2.45 14.38 0.311 9382 0.000 0.067 2794 2091 1220 1282 1158 0 0 0 0 0 0 14.25 14.14 13.86

8698 0.87 676.2 2795 2091 1282 1153 14.3 3.1 755 8784 0.17 2.55 80.68 0.247 10916 0.114 0.090 2876 689 606 656 556 0 0 0 0 0 0 14.25 14.12 13.89

8882 end climb: SURFACE_DEPTH_REACHED

state 8882 begin surface coast

8897 end surface coast: CONTROL_FINISHED_OK

state 8897 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	127	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	360.0
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	33	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	210817,114332,7309.5869,-14945.8115,36,0.8,36,20.8,0.0,0.0,10,9.2	SPEED_LIMITS	0.173,0.256
_CALLS	4	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7310.800,-14958.400
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.27	MHEAD_RNG_PITCHd_Wd	270.5,6928,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.0	D_GRID	480
GPS2	210817,120425,7309.6816,-14946.0635,8,0.8,9,20.8,0.0,115.0,10,9.8

MODEM_MSG	CACST,6,1,20170821122820.172346,3,1863,32,0887,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*33	PM_FREEKB_00	54243520
FINISH	0.5,1.020508	_24V_AH	12.45,103.332
SM_CCo	8920,14.73,0.218,0,0,498,703.03	_10V_AH	12.34,0.000
SM_GC	2.28,8.25,2.65,14.73,0.086,0.066,0.218,205,2204,498,-7.37,-0.65,703.03,0,0,0,0,0,0,14.26,14.21,14.01	FG_AHR_24Vo	0.000
RAFOS_CLK	392	FG_AHR_10Vo	0.000
MODEM	2,1503317550,73.18300,-149.96500,3.891,5634.7	MEM	323580
RAFOS_FIX	7308.780762,-14947.827148,210817,121227,3,255,2.00	DATA_FILE_SIZE	26732,794
IRIDIUM_FIX	7312.21,-14959.61,210817,115706	CAP_FILE_SIZE	114055,0
TT8_MAMPS	0.038948,0.883071	CFSIZE	2097872896,2049277952
HUMID	46.41	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
INTERNAL_PRESSURE	7.74246	SOUNDSPEED	1447.6
TCM_TEMP	13.30	CURRENT	0.007,54.79,1
XPDR_PINGS	9	GPS	210817,143520,7310.386,-14948.981,37,0.7,38,20.8,0.3,49.7,11,9.3
CP_FREE	15997829120.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	455	143.66	nil	0	0	0.00
Roll_motor	90	2143	2419.17	nil	0	0	0.00
VBD_pump_during_apogee	961	1564	18730.14	nil	0	0	0.00
VBD_pump_during_surface	14	218	39.97	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	8926	14	1656.60
Iridium_during_xfer	793	156	1548.65	NCP	8910	20	2218.59
Transponder_ping	2	420	11.77	PMAR	8872	10	1107.66
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.93
TT8	0	0	0.00
LPSleep	6281	2	179.06
TT8_Active	799	13	137.77
TT8_Sampling	2788	33	1150.82
TT8_CF8	334	38	159.76
TT8_Kalman	0	0	0.00
Analog_circuits	2682	10	330.99
GPS_charging	0	0	0.00
Compass	1137	7	98.26
RAFOS	1802	48	1067.36
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	204	2221	496	489	0.0	0.0	0	126	0.00	0.00	-77.78	0.000	16386	0.000	0.000	204	2225	1916	1843	1990	0	0	0	0	0	0	14.45	28.83	14.46
129	-0.57	-145.9	204	2221	1845	1991	3.1	-3.1	8	192	12.62	2.88	-44.50	0.000	18980	0.455	2.144	2386	790	3965	3950	3980	0	0	0	0	0	0	13.67	12.63	14.07
378	-0.64	-145.9	2386	791	3957	3981	54.3	-16.1	57	384	0.00	2.50	0.00	0.000	1158	0.000	0.090	2383	2184	3970	3960	3980	0	0	0	0	0	0	14.14	13.99	14.17
703	-0.69	-145.9	2383	2185	3959	3981	104.3	-12.6	88	708	0.00	2.55	0.00	0.000	388	0.000	0.091	2376	3613	3972	3958	3986	0	0	0	0	0	0	14.38	14.03	14.40
878	-0.86	-145.9	2377	3614	3955	3985	122.1	-9.4	123	885	0.25	2.40	0.00	0.000	5286	0.094	0.053	2276	2197	3969	3958	3980	0	0	0	0	0	0	14.12	14.09	14.20
1183	-0.77	-145.9	2276	2197	3958	3981	180.1	-19.1	134	1188	0.20	2.53	0.00	0.000	2436	0.276	0.086	2318	3617	3969	3958	3980	0	0	0	0	0	0	13.78	14.04	13.97
1353	-0.86	-145.9	2315	3618	3960	3980	201.9	-11.7	168	1358	0.00	2.42	0.00	0.000	1158	0.000	0.055	2314	2193	3969	3959	3980	0	0	0	0	0	0	14.24	14.14	14.28
1663	-0.90	-145.9	2314	2190	3959	3988	240.7	-11.8	180	1668	0.00	2.53	0.00	0.000	388	0.000	0.089	2307	3614	3968	3957	3980	0	0	0	0	0	0	14.47	14.04	14.45
1718	-1.02	-145.9	2308	3615	3960	3981	246.6	-9.9	191	1726	0.17	2.40	0.00	0.000	5286	0.108	0.055	2245	2199	3967	3958	3976	0	0	0	0	0	0	14.12	14.12	14.20
2023	-0.94	-145.9	2245	2198	3959	3980	295.9	-16.1	202	2029	0.12	2.47	0.00	0.000	2436	0.291	0.086	2264	3614	3968	3957	3980	0	0	0	0	0	0	13.82	14.06	14.00
2201	-0.99	-145.9	2264	3614	3957	3980	318.7	-12.2	237	2207	0.00	2.42	0.00	0.000	1158	0.000	0.054	2264	2194	3967	3956	3978	0	0	0	0	0	0	14.12	14.02	14.16
2504	-0.99	-145.9	2265	2193	3956	3979	358.8	-13.0	248	2509	0.00	2.50	0.00	0.000	260	0.000	0.087	2255	3617	3967	3956	3978	0	0	0	0	0	0	14.59	14.19	14.60
2584	-1.03	-145.9	2256	3618	3956	3979	369.1	-12.5	264	2589	0.00	2.40	0.00	0.000	1158	0.000	0.055	2255	2195	3967	3956	3978	0	0	0	0	0	0	14.35	14.26	14.40
2894	-1.01	-145.9	2255	2195	3957	3978	410.8	-13.4	276	2899	0.00	2.50	0.00	0.000	388	0.000	0.088	2246	3621	3966	3956	3977	0	0	0	0	0	0	14.62	14.19	14.63
3026	-1.03	-145.9	2246	3620	3956	3977	428.3	-13.1	302	3031	0.00	2.40	0.00	0.000	1158	0.000	0.055	2245	2198	3966	3955	3977	0	0	0	0	0	0	14.39	14.25	14.40
3346	-1.00	-145.9	2246	2197	3956	3977	472.8	-13.7	316	3351	0.00	2.50	0.00	0.000	388	0.000	0.088	2239	3622	3966	3955	3977	0	0	0	0	0	0	14.62	14.20	14.64
3399	end dive: TARGET_DEPTH_EXCEEDED
state	3399	begin apogee
3407	-0.13	0.0	2240	2100	3956	3977	480.3	-13.2	327	3627	1.15	0.00	216.30	1.436	10246	0.249	0.000	2529	2099	3363	3387	3340	0	0	0	0	0	0	13.98	13.47	12.71
3631	end apogee: CONTROL_FINISHED_OK
state	3631	begin climb
3633	0.57	145.9	2531	2099	3382	3332	491.3	0.0	334	3998	0.75	2.70	204.05	1.384	10756	0.067	0.076	2791	685	2753	2794	2712	0	0	0	0	0	0	13.56	13.01	12.45
4167	0.21	145.9	2790	686	2793	2717	448.1	15.5	369	4174	0.62	2.53	0.00	0.000	5254	0.312	0.075	2655	2109	2753	2792	2715	0	0	0	0	0	0	13.56	13.85	13.89
4472	0.07	160.9	2655	2112	2792	2713	418.0	9.3	380	4494	0.17	2.58	16.42	1.564	12964	0.306	0.082	2616	687	2705	2747	2663	0	0	0	0	0	0	13.84	14.06	13.21
4539	0.11	213.2	2616	687	2745	2663	412.8	7.6	393	4625	0.00	2.50	78.25	1.392	9254	0.000	0.079	2615	2109	2490	2551	2430	0	0	0	0	0	0	14.14	14.02	13.03
4924	0.12	237.2	2616	2109	2546	2418	379.2	8.9	420	4964	0.00	2.58	33.40	1.440	8740	0.000	0.086	2615	693	2393	2452	2335	0	0	0	0	0	0	14.41	13.88	13.16
4984	0.20	277.4	2616	693	2450	2336	374.1	8.1	427	5052	0.00	2.50	61.47	1.402	9382	0.000	0.078	2616	2109	2233	2292	2174	0	0	0	0	0	0	14.09	13.98	13.01
5377	0.27	305.4	2616	2108	2281	2159	339.4	8.7	455	5424	0.15	2.55	40.60	1.397	10916	0.116	0.085	2686	684	2117	2172	2063	0	0	0	0	0	0	14.19	13.77	13.16
5461	0.25	305.4	2686	685	2159	2064	328.7	13.5	471	5466	0.00	2.50	0.00	0.000	1158	0.000	0.076	2686	2099	2109	2157	2062	0	0	0	0	0	0	14.08	13.98	14.13
5772	0.19	305.4	2687	2100	2159	2055	285.7	13.6	483	5773	0.17	0.00	0.00	0.000	4230	0.242	0.000	2647	2100	2105	2157	2054	0	0	0	0	0	0	14.00	14.31	14.26
6072	0.23	305.4	2648	2101	2157	2051	254.8	10.0	493	6077	0.00	2.47	0.00	0.000	644	0.000	0.087	2647	684	2104	2157	2051	0	0	0	0	0	0	14.58	14.26	14.59
6167	0.34	330.3	2648	684	2157	2051	246.0	8.9	512	6208	0.12	2.45	36.70	1.399	11430	0.132	0.078	2697	2103	2018	2067	1970	0	0	0	0	0	0	14.33	14.28	13.34
6525	0.31	330.3	2697	2104	2058	1960	204.8	10.9	533	6530	0.00	2.47	0.00	0.000	644	0.000	0.085	2699	688	2008	2057	1959	0	0	0	0	0	0	14.53	14.21	14.54
6585	0.31	330.3	2699	688	2057	1960	198.5	10.1	545	6590	0.00	2.45	0.00	0.000	1030	0.000	0.078	2699	2099	2004	2050	1959	0	0	0	0	0	0	14.33	14.21	14.37
6916	0.31	338.0	2699	2100	2055	1959	165.8	9.6	561	6926	0.00	0.00	9.25	1.564	8230	0.000	0.000	2699	2099	1986	2036	1937	0	0	0	0	0	0	14.59	14.23	13.36
7216	0.33	357.5	2701	2105	2031	1929	138.1	9.1	571	7256	0.00	2.53	32.45	1.387	8740	0.000	0.086	2699	694	1904	1945	1864	0	0	0	0	0	0	14.58	14.10	13.35
7271	0.39	379.0	2699	695	1943	1865	133.0	9.0	582	7312	0.00	2.47	36.28	1.323	9382	0.000	0.079	2699	2108	1820	1852	1789	0	0	0	0	0	0	14.23	14.12	13.23
7640	0.48	414.9	2699	2108	1844	1777	101.5	8.3	605	7706	0.12	2.60	57.72	1.242	10916	0.135	0.086	2768	685	1669	1698	1641	0	0	0	0	0	0	14.25	13.89	13.26
7791	0.48	414.9	2768	686	1691	1638	83.7	11.4	635	7797	0.15	2.53	0.00	0.000	5126	0.235	0.080	2736	2102	1664	1690	1638	0	0	0	0	0	0	13.86	14.00	14.09
8102	0.60	499.7	2736	2103	1691	1630	60.1	6.1	667	8151	0.12	2.55	43.70	0.382	10660	0.132	0.082	2793	3518	1327	1379	1276	0	0	0	0	0	0	14.21	14.07	13.79
8371	0.65	526.1	2794	3518	1380	1271	35.2	8.8	720	8393	0.00	2.45	14.38	0.311	9382	0.000	0.067	2794	2091	1220	1282	1158	0	0	0	0	0	0	14.25	14.14	13.86
8698	0.87	676.2	2795	2091	1282	1153	14.3	3.1	755	8784	0.17	2.55	80.68	0.247	10916	0.114	0.090	2876	689	606	656	556	0	0	0	0	0	0	14.25	14.12	13.89
8882	end climb: SURFACE_DEPTH_REACHED
state	8882	begin surface coast
8897	end surface coast: CONTROL_FINISHED_OK
state	8897	begin surface