Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 39 * 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 39 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 124.0

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 32 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 16 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 124.0 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 32 VBD_MIN 500

DIVE 39 NOCOMM_ACTION 161 R_STBD_OVSHOOT 16 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 110817,030104,7142.1646,-14727.4658,30,0.7,31,21.4,0.0,0.0,11,7.7 SPEED_LIMITS 0.173,0.256

_CALLS 5 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.12 MHEAD_RNG_PITCHd_Wd 334.9,183517,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -76.5 D_GRID 480

GPS2 110817,033136,7142.0635,-14727.5586,5,0.8,11,21.4,0.0,62.7,10,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170811042231.064803,3,14,05,0087,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F PM_FREEKB_00 60080320

FINISH -0.1,1.008733 _24V_AH 12.67,61.133

SM_CCo 9512,10.88,0.217,0,0,500,702.78 _10V_AH 12.60,0.000

SM_GC 2.23,8.10,0.12,10.88,0.072,0.135,0.217,201,2230,500,-7.39,-0.62,702.78,0,0,0,0,0,0,14.14,14.12,13.93 FG_AHR_24Vo 0.000

RAFOS_CLK 349 FG_AHR_10Vo 0.000

MODEM 2,1502424873,73.18300,-149.96500,126.468,183559.9 MEM 323776

RAFOS_FIX 7141.178711,-14742.912109,110817,040432,2,255,3.23 DATA_FILE_SIZE 26659,738

IRIDIUM_FIX 7143.15,-14717.53,110817,032314 CAP_FILE_SIZE 112208,0

TT8_MAMPS 0.03745,0.893557 CFSIZE 2097872896,2071756800

HUMID 50.78 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.81082 SOUNDSPEED 1450.9

TCM_TEMP 13.60 CURRENT 0.078,210.90,1

XPDR_PINGS 14 GPS 110817,061220,7142.958,-14728.038,19,0.8,41,21.4,0.0,168.4,10,8.8

CP_FREE 0.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 449 134.98 nil 0 0 0.00

Roll_motor 79 2135 2155.36 nil 0 0 0.00

VBD_pump_during_apogee 849 1554 16734.57 nil 0 0 0.00

VBD_pump_during_surface 10 217 29.94 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 9267 14 1746.16

Iridium_during_xfer 1093 179 2491.35 NCP 9507 20 2409.07

Transponder_ping 3 420 18.62 PMAR 9467 16 1991.84

GUMSTIX_24V 0 0 0.00

GPS 12 22 3.55

TT8 0 0 0.00

LPSleep 7160 2 208.40

TT8_Active 782 13 137.69

TT8_Sampling 2877 33 1212.43

TT8_CF8 549 38 267.96

TT8_Kalman 0 0 0.00

Analog_circuits 2698 10 339.97

GPS_charging 0 0 0.00

Compass 1060 7 93.51

RAFOS 2216 48 1340.24

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

42 end surface: CONTROL_FINISHED_OK

state 43 begin dive

45 -0.57 -145.9 165 2189 508 473 0.0 0.0 0 128 0.00 0.00 -80.97 0.000 16386 0.000 0.000 162 2188 2188 2112 2265 0 0 0 0 0 0 14.32 28.83 14.33

131 -0.57 -145.9 163 2189 2114 2266 3.3 -3.9 8 184 12.57 2.72 -32.33 0.000 18980 0.449 2.135 2384 803 3962 3953 3972 0 0 0 0 0 0 13.71 12.78 14.11

364 -0.57 -145.9 2385 803 3962 3973 55.9 -15.2 54 369 0.00 2.50 0.00 0.000 1030 0.000 0.085 2380 2211 3966 3961 3972 0 0 0 0 0 0 14.08 14.01 14.10

684 -0.57 -145.9 2379 2212 3963 3972 104.9 -13.6 85 689 0.00 2.47 0.00 0.000 260 0.000 0.087 2376 3618 3967 3962 3972 0 0 0 0 0 0 14.40 14.03 14.41

811 -0.69 -145.9 2375 3620 3963 3973 119.8 -11.0 110 816 0.00 2.40 0.00 0.000 1158 0.000 0.054 2376 2205 3967 3962 3972 0 0 0 0 0 0 14.21 14.12 14.24

1136 -0.74 -145.9 2376 2205 3963 3970 158.5 -11.3 125 1141 0.12 2.50 0.00 0.000 4484 0.141 0.084 2316 3614 3965 3962 3969 0 0 0 0 0 0 14.16 14.13 14.21

1201 -0.77 -145.9 2320 3616 3963 3977 167.5 -13.5 138 1206 0.00 2.40 0.00 0.000 1158 0.000 0.056 2319 2201 3966 3962 3971 0 0 0 0 0 0 14.28 14.19 14.31

1527 -0.75 -145.9 2319 2199 3963 3968 212.1 -12.8 153 1531 0.00 2.50 0.00 0.000 388 0.000 0.086 2310 3614 3965 3962 3968 0 0 0 0 0 0 14.50 14.15 14.51

1586 -0.75 -145.9 2309 3615 3962 3969 219.8 -12.4 165 1591 0.00 2.40 0.00 0.000 1030 0.000 0.055 2310 2201 3964 3961 3968 0 0 0 0 0 0 14.31 14.20 14.33

1918 -0.75 -145.9 2310 2200 3962 3965 261.2 -12.1 181 1923 0.00 2.50 0.00 0.000 260 0.000 0.086 2305 3608 3963 3962 3964 0 0 0 0 0 0 14.35 14.04 14.38

1968 -0.80 -145.9 2306 3612 3962 3964 267.3 -11.3 191 1974 0.00 2.42 0.00 0.000 1158 0.000 0.058 2305 2194 3963 3962 3964 0 0 0 0 0 0 14.19 14.07 14.21

2279 -0.80 -145.9 2305 2193 3962 3961 304.3 -11.9 203 2285 0.00 2.53 0.00 0.000 260 0.000 0.086 2299 3614 3960 3961 3960 0 0 0 0 0 0 14.34 14.02 14.35

2360 -0.86 -145.9 2301 3616 3961 3961 313.7 -11.1 219 2366 0.00 2.45 0.00 0.000 1158 0.000 0.057 2299 2191 3960 3960 3960 0 0 0 0 0 0 14.14 14.05 14.19

2671 -0.86 -145.9 2299 2190 3960 3960 351.3 -12.1 231 2676 0.00 2.55 0.00 0.000 260 0.000 0.086 2292 3620 3959 3960 3959 0 0 0 0 0 0 14.31 13.97 14.33

2771 -0.92 -145.9 2293 3626 3959 3960 363.0 -11.0 251 2777 0.00 2.45 0.00 0.000 1158 0.000 0.057 2292 2198 3958 3958 3959 0 0 0 0 0 0 14.12 14.02 14.16

3093 -0.92 -145.9 2293 2197 3959 3958 402.6 -12.4 265 3097 0.00 2.53 0.00 0.000 260 0.000 0.086 2287 3613 3958 3958 3958 0 0 0 0 0 0 14.31 13.97 14.33

3172 -0.96 -145.9 2288 3614 3957 3958 412.3 -11.7 281 3177 0.00 2.45 0.00 0.000 1158 0.000 0.058 2288 2194 3958 3957 3959 0 0 0 0 0 0 14.08 13.97 14.11

3483 -0.94 -145.9 2288 2193 3957 3956 451.6 -12.8 293 3487 0.00 2.53 0.00 0.000 388 0.000 0.085 2285 3613 3956 3956 3956 0 0 0 0 0 0 14.30 13.96 14.32

3573 -0.96 -145.9 2280 3615 3963 3957 462.8 -11.9 311 3578 0.00 2.42 0.00 0.000 1158 0.000 0.057 2280 2199 3956 3956 3957 0 0 0 0 0 0 14.09 13.99 14.12

3721 end dive: TARGET_DEPTH_EXCEEDED

state 3721 begin apogee

3727 -0.13 0.0 2281 2061 3956 3956 482.5 -13.2 321 3937 1.00 0.05 201.25 1.435 10246 0.246 0.122 2529 2105 3359 3395 3324 0 0 0 0 0 0 13.75 13.33 12.86

3941 end apogee: CONTROL_FINISHED_OK

state 3941 begin climb

3943 0.57 145.9 2529 2106 3392 3321 492.4 0.0 328 4150 0.73 2.65 195.57 1.377 10756 0.069 0.080 2781 724 2759 2812 2706 0 0 0 0 0 0 13.53 13.13 12.67

4363 0.25 145.9 2781 724 2797 2705 460.9 15.5 370 4368 0.55 2.50 0.00 0.000 5254 0.321 0.077 2667 2105 2750 2796 2704 0 0 0 0 0 0 13.49 13.72 13.78

4693 0.11 145.9 2667 2106 2797 2698 425.8 10.3 386 4698 0.17 2.45 0.00 0.000 4740 0.308 0.079 2634 717 2747 2796 2699 0 0 0 0 0 0 13.76 14.00 13.95

4738 0.14 179.8 2636 717 2797 2698 421.8 8.4 395 4789 0.00 2.45 44.20 1.409 9254 0.000 0.081 2634 2106 2628 2683 2574 0 0 0 0 0 0 14.13 14.02 13.21

5115 0.11 196.5 2634 2106 2678 2557 387.3 9.2 420 5136 0.00 0.00 20.52 1.476 8358 0.000 0.000 2634 2106 2563 2626 2501 0 0 0 0 0 0 14.32 14.00 13.32

5415 0.10 207.5 2641 2107 2619 2489 358.9 9.5 430 5430 0.00 0.00 14.57 1.554 8358 0.000 0.000 2633 2106 2518 2584 2452 0 0 0 0 0 0 14.37 14.06 13.35

5714 0.11 221.8 2633 2106 2576 2444 330.7 9.3 440 5736 0.00 0.00 19.85 1.506 8230 0.000 0.000 2634 2106 2458 2522 2395 0 0 0 0 0 0 14.40 14.07 13.38

6015 0.12 239.7 2634 2107 2514 2386 302.8 9.2 450 6045 0.00 0.00 26.05 1.463 8230 0.000 0.000 2634 2106 2383 2442 2325 0 0 0 0 0 0 14.42 13.88 13.35

6345 0.16 256.9 2634 2106 2435 2321 272.2 9.2 461 6376 0.00 2.45 24.62 1.433 8868 0.000 0.086 2641 726 2312 2367 2258 0 0 0 0 0 0 14.39 14.00 13.37

6401 0.24 265.1 2643 726 2365 2258 267.0 9.6 472 6418 0.00 2.42 10.38 1.536 9382 0.000 0.080 2641 2101 2283 2338 2229 0 0 0 0 0 0 14.11 14.01 13.32

6740 0.29 286.1 2642 2100 2333 2221 235.7 9.0 489 6775 0.00 0.00 33.25 1.387 8358 0.000 0.000 2642 2101 2197 2254 2140 0 0 0 0 0 0 14.37 13.99 13.34

7068 0.38 320.3 2642 2101 2246 2131 207.6 8.4 500 7129 0.15 2.53 52.50 1.308 10916 0.117 0.086 2712 725 2056 2106 2006 0 0 0 0 0 0 14.13 13.85 13.30

7174 0.38 320.3 2713 726 2101 2006 194.6 12.4 521 7180 0.00 2.45 0.00 0.000 1030 0.000 0.079 2712 2103 2050 2095 2005 0 0 0 0 0 0 13.98 13.90 14.03

7490 0.35 320.3 2713 2104 2100 1998 157.4 11.2 534 7491 0.00 0.00 0.00 0.000 134 0.000 0.000 2712 2103 2048 2099 1998 0 0 0 0 0 0 14.35 14.38 14.38

7790 0.35 320.3 2713 2104 2100 1997 125.9 10.3 544 7795 0.00 2.42 0.00 0.000 516 0.000 0.084 2713 723 2047 2098 1997 0 0 0 0 0 0 14.43 14.02 14.45

7871 0.42 349.0 2713 723 2095 1997 118.6 8.7 560 7916 0.00 2.40 41.22 1.288 9382 0.000 0.079 2713 2101 1944 1992 1896 0 0 0 0 0 0 14.28 14.16 13.41

8221 0.47 373.4 2713 2101 1974 1886 87.2 8.9 592 8235 0.00 0.00 11.85 0.465 8358 0.000 0.000 2713 2101 1841 1878 1805 0 0 0 0 0 0 14.35 14.09 13.71

8531 0.59 438.8 2713 2101 1876 1803 62.5 7.0 623 8570 0.15 2.53 33.00 0.390 10916 0.119 0.088 2781 723 1575 1613 1538 0 0 0 0 0 0 14.07 13.98 13.78

8632 0.62 441.7 2781 723 1612 1537 52.5 9.9 642 8639 0.00 2.42 1.35 0.341 9382 0.000 0.080 2781 2099 1563 1602 1525 0 0 0 0 0 0 14.16 14.05 13.73

8935 0.70 509.3 2781 2102 1606 1524 26.1 6.9 673 8977 0.00 2.55 34.25 0.291 8612 0.000 0.085 2781 3507 1289 1345 1234 0 0 0 0 0 0 14.39 13.95 13.84

9029 0.80 542.3 2781 3508 1346 1232 18.9 8.5 691 9051 0.17 2.38 16.83 0.272 11430 0.116 0.067 2850 2135 1151 1221 1082 0 0 0 0 0 0 14.01 14.06 13.84

9347 0.90 680.5 2850 2135 1222 1072 5.3 3.6 725 9418 0.00 0.00 68.40 0.221 8742 0.000 0.000 2848 2134 587 649 526 0 0 0 0 0 0 14.36 14.07 13.85

9425 end climb: SURFACE_DEPTH_REACHED

state 9425 begin surface coast

9445 end surface coast: CONTROL_FINISHED_OK

state 9445 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	39	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	124.0
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	32	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	16	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,030104,7142.1646,-14727.4658,30,0.7,31,21.4,0.0,0.0,11,7.7	SPEED_LIMITS	0.173,0.256
_CALLS	5	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.12	MHEAD_RNG_PITCHd_Wd	334.9,183517,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-76.5	D_GRID	480
GPS2	110817,033136,7142.0635,-14727.5586,5,0.8,11,21.4,0.0,62.7,10,9.2

MODEM_MSG	CACST,6,1,20170811042231.064803,3,14,05,0087,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*3F	PM_FREEKB_00	60080320
FINISH	-0.1,1.008733	_24V_AH	12.67,61.133
SM_CCo	9512,10.88,0.217,0,0,500,702.78	_10V_AH	12.60,0.000
SM_GC	2.23,8.10,0.12,10.88,0.072,0.135,0.217,201,2230,500,-7.39,-0.62,702.78,0,0,0,0,0,0,14.14,14.12,13.93	FG_AHR_24Vo	0.000
RAFOS_CLK	349	FG_AHR_10Vo	0.000
MODEM	2,1502424873,73.18300,-149.96500,126.468,183559.9	MEM	323776
RAFOS_FIX	7141.178711,-14742.912109,110817,040432,2,255,3.23	DATA_FILE_SIZE	26659,738
IRIDIUM_FIX	7143.15,-14717.53,110817,032314	CAP_FILE_SIZE	112208,0
TT8_MAMPS	0.03745,0.893557	CFSIZE	2097872896,2071756800
HUMID	50.78	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.81082	SOUNDSPEED	1450.9
TCM_TEMP	13.60	CURRENT	0.078,210.90,1
XPDR_PINGS	14	GPS	110817,061220,7142.958,-14728.038,19,0.8,41,21.4,0.0,168.4,10,8.8
CP_FREE	0.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	449	134.98	nil	0	0	0.00
Roll_motor	79	2135	2155.36	nil	0	0	0.00
VBD_pump_during_apogee	849	1554	16734.57	nil	0	0	0.00
VBD_pump_during_surface	10	217	29.94	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	9267	14	1746.16
Iridium_during_xfer	1093	179	2491.35	NCP	9507	20	2409.07
Transponder_ping	3	420	18.62	PMAR	9467	16	1991.84
GUMSTIX_24V	0	0	0.00
GPS	12	22	3.55
TT8	0	0	0.00
LPSleep	7160	2	208.40
TT8_Active	782	13	137.69
TT8_Sampling	2877	33	1212.43
TT8_CF8	549	38	267.96
TT8_Kalman	0	0	0.00
Analog_circuits	2698	10	339.97
GPS_charging	0	0	0.00
Compass	1060	7	93.51
RAFOS	2216	48	1340.24
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
42	end surface: CONTROL_FINISHED_OK
state	43	begin dive
45	-0.57	-145.9	165	2189	508	473	0.0	0.0	0	128	0.00	0.00	-80.97	0.000	16386	0.000	0.000	162	2188	2188	2112	2265	0	0	0	0	0	0	14.32	28.83	14.33
131	-0.57	-145.9	163	2189	2114	2266	3.3	-3.9	8	184	12.57	2.72	-32.33	0.000	18980	0.449	2.135	2384	803	3962	3953	3972	0	0	0	0	0	0	13.71	12.78	14.11
364	-0.57	-145.9	2385	803	3962	3973	55.9	-15.2	54	369	0.00	2.50	0.00	0.000	1030	0.000	0.085	2380	2211	3966	3961	3972	0	0	0	0	0	0	14.08	14.01	14.10
684	-0.57	-145.9	2379	2212	3963	3972	104.9	-13.6	85	689	0.00	2.47	0.00	0.000	260	0.000	0.087	2376	3618	3967	3962	3972	0	0	0	0	0	0	14.40	14.03	14.41
811	-0.69	-145.9	2375	3620	3963	3973	119.8	-11.0	110	816	0.00	2.40	0.00	0.000	1158	0.000	0.054	2376	2205	3967	3962	3972	0	0	0	0	0	0	14.21	14.12	14.24
1136	-0.74	-145.9	2376	2205	3963	3970	158.5	-11.3	125	1141	0.12	2.50	0.00	0.000	4484	0.141	0.084	2316	3614	3965	3962	3969	0	0	0	0	0	0	14.16	14.13	14.21
1201	-0.77	-145.9	2320	3616	3963	3977	167.5	-13.5	138	1206	0.00	2.40	0.00	0.000	1158	0.000	0.056	2319	2201	3966	3962	3971	0	0	0	0	0	0	14.28	14.19	14.31
1527	-0.75	-145.9	2319	2199	3963	3968	212.1	-12.8	153	1531	0.00	2.50	0.00	0.000	388	0.000	0.086	2310	3614	3965	3962	3968	0	0	0	0	0	0	14.50	14.15	14.51
1586	-0.75	-145.9	2309	3615	3962	3969	219.8	-12.4	165	1591	0.00	2.40	0.00	0.000	1030	0.000	0.055	2310	2201	3964	3961	3968	0	0	0	0	0	0	14.31	14.20	14.33
1918	-0.75	-145.9	2310	2200	3962	3965	261.2	-12.1	181	1923	0.00	2.50	0.00	0.000	260	0.000	0.086	2305	3608	3963	3962	3964	0	0	0	0	0	0	14.35	14.04	14.38
1968	-0.80	-145.9	2306	3612	3962	3964	267.3	-11.3	191	1974	0.00	2.42	0.00	0.000	1158	0.000	0.058	2305	2194	3963	3962	3964	0	0	0	0	0	0	14.19	14.07	14.21
2279	-0.80	-145.9	2305	2193	3962	3961	304.3	-11.9	203	2285	0.00	2.53	0.00	0.000	260	0.000	0.086	2299	3614	3960	3961	3960	0	0	0	0	0	0	14.34	14.02	14.35
2360	-0.86	-145.9	2301	3616	3961	3961	313.7	-11.1	219	2366	0.00	2.45	0.00	0.000	1158	0.000	0.057	2299	2191	3960	3960	3960	0	0	0	0	0	0	14.14	14.05	14.19
2671	-0.86	-145.9	2299	2190	3960	3960	351.3	-12.1	231	2676	0.00	2.55	0.00	0.000	260	0.000	0.086	2292	3620	3959	3960	3959	0	0	0	0	0	0	14.31	13.97	14.33
2771	-0.92	-145.9	2293	3626	3959	3960	363.0	-11.0	251	2777	0.00	2.45	0.00	0.000	1158	0.000	0.057	2292	2198	3958	3958	3959	0	0	0	0	0	0	14.12	14.02	14.16
3093	-0.92	-145.9	2293	2197	3959	3958	402.6	-12.4	265	3097	0.00	2.53	0.00	0.000	260	0.000	0.086	2287	3613	3958	3958	3958	0	0	0	0	0	0	14.31	13.97	14.33
3172	-0.96	-145.9	2288	3614	3957	3958	412.3	-11.7	281	3177	0.00	2.45	0.00	0.000	1158	0.000	0.058	2288	2194	3958	3957	3959	0	0	0	0	0	0	14.08	13.97	14.11
3483	-0.94	-145.9	2288	2193	3957	3956	451.6	-12.8	293	3487	0.00	2.53	0.00	0.000	388	0.000	0.085	2285	3613	3956	3956	3956	0	0	0	0	0	0	14.30	13.96	14.32
3573	-0.96	-145.9	2280	3615	3963	3957	462.8	-11.9	311	3578	0.00	2.42	0.00	0.000	1158	0.000	0.057	2280	2199	3956	3956	3957	0	0	0	0	0	0	14.09	13.99	14.12
3721	end dive: TARGET_DEPTH_EXCEEDED
state	3721	begin apogee
3727	-0.13	0.0	2281	2061	3956	3956	482.5	-13.2	321	3937	1.00	0.05	201.25	1.435	10246	0.246	0.122	2529	2105	3359	3395	3324	0	0	0	0	0	0	13.75	13.33	12.86
3941	end apogee: CONTROL_FINISHED_OK
state	3941	begin climb
3943	0.57	145.9	2529	2106	3392	3321	492.4	0.0	328	4150	0.73	2.65	195.57	1.377	10756	0.069	0.080	2781	724	2759	2812	2706	0	0	0	0	0	0	13.53	13.13	12.67
4363	0.25	145.9	2781	724	2797	2705	460.9	15.5	370	4368	0.55	2.50	0.00	0.000	5254	0.321	0.077	2667	2105	2750	2796	2704	0	0	0	0	0	0	13.49	13.72	13.78
4693	0.11	145.9	2667	2106	2797	2698	425.8	10.3	386	4698	0.17	2.45	0.00	0.000	4740	0.308	0.079	2634	717	2747	2796	2699	0	0	0	0	0	0	13.76	14.00	13.95
4738	0.14	179.8	2636	717	2797	2698	421.8	8.4	395	4789	0.00	2.45	44.20	1.409	9254	0.000	0.081	2634	2106	2628	2683	2574	0	0	0	0	0	0	14.13	14.02	13.21
5115	0.11	196.5	2634	2106	2678	2557	387.3	9.2	420	5136	0.00	0.00	20.52	1.476	8358	0.000	0.000	2634	2106	2563	2626	2501	0	0	0	0	0	0	14.32	14.00	13.32
5415	0.10	207.5	2641	2107	2619	2489	358.9	9.5	430	5430	0.00	0.00	14.57	1.554	8358	0.000	0.000	2633	2106	2518	2584	2452	0	0	0	0	0	0	14.37	14.06	13.35
5714	0.11	221.8	2633	2106	2576	2444	330.7	9.3	440	5736	0.00	0.00	19.85	1.506	8230	0.000	0.000	2634	2106	2458	2522	2395	0	0	0	0	0	0	14.40	14.07	13.38
6015	0.12	239.7	2634	2107	2514	2386	302.8	9.2	450	6045	0.00	0.00	26.05	1.463	8230	0.000	0.000	2634	2106	2383	2442	2325	0	0	0	0	0	0	14.42	13.88	13.35
6345	0.16	256.9	2634	2106	2435	2321	272.2	9.2	461	6376	0.00	2.45	24.62	1.433	8868	0.000	0.086	2641	726	2312	2367	2258	0	0	0	0	0	0	14.39	14.00	13.37
6401	0.24	265.1	2643	726	2365	2258	267.0	9.6	472	6418	0.00	2.42	10.38	1.536	9382	0.000	0.080	2641	2101	2283	2338	2229	0	0	0	0	0	0	14.11	14.01	13.32
6740	0.29	286.1	2642	2100	2333	2221	235.7	9.0	489	6775	0.00	0.00	33.25	1.387	8358	0.000	0.000	2642	2101	2197	2254	2140	0	0	0	0	0	0	14.37	13.99	13.34
7068	0.38	320.3	2642	2101	2246	2131	207.6	8.4	500	7129	0.15	2.53	52.50	1.308	10916	0.117	0.086	2712	725	2056	2106	2006	0	0	0	0	0	0	14.13	13.85	13.30
7174	0.38	320.3	2713	726	2101	2006	194.6	12.4	521	7180	0.00	2.45	0.00	0.000	1030	0.000	0.079	2712	2103	2050	2095	2005	0	0	0	0	0	0	13.98	13.90	14.03
7490	0.35	320.3	2713	2104	2100	1998	157.4	11.2	534	7491	0.00	0.00	0.00	0.000	134	0.000	0.000	2712	2103	2048	2099	1998	0	0	0	0	0	0	14.35	14.38	14.38
7790	0.35	320.3	2713	2104	2100	1997	125.9	10.3	544	7795	0.00	2.42	0.00	0.000	516	0.000	0.084	2713	723	2047	2098	1997	0	0	0	0	0	0	14.43	14.02	14.45
7871	0.42	349.0	2713	723	2095	1997	118.6	8.7	560	7916	0.00	2.40	41.22	1.288	9382	0.000	0.079	2713	2101	1944	1992	1896	0	0	0	0	0	0	14.28	14.16	13.41
8221	0.47	373.4	2713	2101	1974	1886	87.2	8.9	592	8235	0.00	0.00	11.85	0.465	8358	0.000	0.000	2713	2101	1841	1878	1805	0	0	0	0	0	0	14.35	14.09	13.71
8531	0.59	438.8	2713	2101	1876	1803	62.5	7.0	623	8570	0.15	2.53	33.00	0.390	10916	0.119	0.088	2781	723	1575	1613	1538	0	0	0	0	0	0	14.07	13.98	13.78
8632	0.62	441.7	2781	723	1612	1537	52.5	9.9	642	8639	0.00	2.42	1.35	0.341	9382	0.000	0.080	2781	2099	1563	1602	1525	0	0	0	0	0	0	14.16	14.05	13.73
8935	0.70	509.3	2781	2102	1606	1524	26.1	6.9	673	8977	0.00	2.55	34.25	0.291	8612	0.000	0.085	2781	3507	1289	1345	1234	0	0	0	0	0	0	14.39	13.95	13.84
9029	0.80	542.3	2781	3508	1346	1232	18.9	8.5	691	9051	0.17	2.38	16.83	0.272	11430	0.116	0.067	2850	2135	1151	1221	1082	0	0	0	0	0	0	14.01	14.06	13.84
9347	0.90	680.5	2850	2135	1222	1072	5.3	3.6	725	9418	0.00	0.00	68.40	0.221	8742	0.000	0.000	2848	2134	587	649	526	0	0	0	0	0	0	14.36	14.07	13.85
9425	end climb: SURFACE_DEPTH_REACHED
state	9425	begin surface coast
9445	end surface coast: CONTROL_FINISHED_OK
state	9445	begin surface