Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 44 * 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 44 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 136.0

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 22 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 21 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 136.0 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 22 VBD_MIN 500

DIVE 44 NOCOMM_ACTION 161 R_STBD_OVSHOOT 21 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 110817,192135,7144.9814,-14728.6162,26,1.1,28,21.4,0.5,132.0,7,8.8 SPEED_LIMITS 0.173,0.256

_CALLS 1 TGT_NAME T3

_XMS_NAKs 0 TGT_LATLONG 7311.100,-14957.900

_XMS_TOUTs 0 TGT_RADIUS 2000.000

_SM_DEPTHo 1.08 MHEAD_RNG_PITCHd_Wd 326.2,178525,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -75.1 D_GRID 480

GPS2 110817,192814,7144.9219,-14728.6006,5,1.0,20,21.4,0.4,185.5,8,9.3

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170811202231.364472,3,73,00,0140,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38 PM_FREEKB_00 59716992

FINISH 0.1,1.019992 _24V_AH 12.64,63.767

SM_CCo 8932,5.57,0.220,0,0,499,702.78 _10V_AH 12.56,0.000

SM_GC 1.86,8.32,2.33,5.57,0.080,0.062,0.220,197,2193,499,-7.38,0.71,702.78,0,0,0,0,0,0,14.14,14.09,13.90 FG_AHR_24Vo 0.000

RAFOS_CLK 319 FG_AHR_10Vo 0.000

MODEM 2,1502482470,73.18300,-149.96500,123.056,178658.2 MEM 323764

RAFOS_FIX 7154.283203,-14647.455078,110817,202030,2,255,9.74 DATA_FILE_SIZE 26729,783

IRIDIUM_FIX 7143.63,-14732.78,110817,164906 CAP_FILE_SIZE 102621,0

TT8_MAMPS 0.040446,0.899549 CFSIZE 2097872896,2074705920

HUMID 50.15 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1459.7

TCM_TEMP 13.60 CURRENT 0.110,191.57,1

XPDR_PINGS 10 GPS 110817,215930,7145.586,-14729.310,54,0.8,58,21.4,0.0,243.0,10,9.9

CP_FREE 16011952128.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 459 146.78 nil 0 0 0.00

Roll_motor 84 2161 2318.50 nil 0 0 0.00

VBD_pump_during_apogee 868 1452 15946.97 nil 0 0 0.00

VBD_pump_during_surface 5 220 15.53 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 5040 16 1023.11

Iridium_during_xfer 180 141 322.31 NCP 8935 20 2258.77

Transponder_ping 2 420 13.27 PMAR 8883 16 1862.74

GUMSTIX_24V 0 0 0.00

GPS 21 22 6.05

TT8 0 0 0.00

LPSleep 6414 2 186.10

TT8_Active 768 13 134.90

TT8_Sampling 1944 33 816.84

TT8_CF8 224 38 108.96

TT8_Kalman 0 0 0.00

Analog_circuits 1791 10 225.04

GPS_charging 0 0 0.00

Compass 1120 7 98.50

RAFOS 2217 48 1336.58

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 -145.9 197 2200 510 478 0.0 0.0 0 130 0.00 0.00 -81.55 0.000 16386 0.000 0.000 195 2200 2029 1954 2104 0 0 0 0 0 0 14.40 28.83 14.42

133 -0.57 -145.9 196 2200 1960 2106 3.5 -4.8 8 187 12.52 2.83 -36.22 0.000 18980 0.459 2.161 2386 784 3961 3941 3982 0 0 0 0 0 0 13.73 12.74 14.14

233 -0.50 -145.9 2386 785 3948 3984 33.1 -22.1 27 241 0.17 2.50 0.00 0.000 3206 0.297 0.085 2411 2198 3965 3948 3982 0 0 0 0 0 0 13.86 14.08 14.14

537 -0.54 -145.9 2412 2199 3955 3983 80.0 -12.5 58 541 0.00 2.50 0.00 0.000 388 0.000 0.089 2402 3618 3968 3954 3982 0 0 0 0 0 0 14.49 14.15 14.51

663 -0.68 -145.9 2406 3620 3954 3984 93.7 -10.4 83 671 0.15 2.42 0.00 0.000 5254 0.119 0.057 2345 2194 3968 3954 3982 0 0 0 0 0 0 14.25 14.21 14.33

977 -0.68 -145.9 2346 2192 3955 3982 142.0 -14.7 97 981 0.00 2.47 0.00 0.000 260 0.000 0.086 2336 3613 3969 3957 3982 0 0 0 0 0 0 14.53 14.20 14.57

1027 -0.73 -145.9 2335 3614 3955 3983 149.2 -13.7 107 1033 0.00 2.40 0.00 0.000 1158 0.000 0.057 2336 2194 3968 3954 3982 0 0 0 0 0 0 14.36 14.25 14.38

1338 -0.73 -145.9 2336 2194 3955 3983 192.5 -13.2 119 1343 0.00 2.47 0.00 0.000 260 0.000 0.088 2332 3613 3968 3954 3982 0 0 0 0 0 0 14.57 14.21 14.59

1378 -0.80 -145.9 2333 3614 3955 3982 197.5 -11.8 127 1384 0.00 2.40 0.00 0.000 1158 0.000 0.058 2333 2194 3968 3954 3983 0 0 0 0 0 0 14.38 14.26 14.40

1700 -0.84 -145.9 2333 2193 3955 3983 234.0 -11.0 141 1704 0.00 2.50 0.00 0.000 388 0.000 0.089 2332 3617 3968 3954 3982 0 0 0 0 0 0 14.59 14.22 14.59

1795 -0.93 -145.9 2333 3618 3955 3982 243.3 -9.5 160 1800 0.17 2.40 0.00 0.000 5286 0.116 0.057 2266 2198 3967 3954 3981 0 0 0 0 0 0 14.26 14.21 14.32

2122 -0.85 -145.9 2265 2196 3954 3981 293.6 -15.7 175 2128 0.15 2.50 0.00 0.000 2436 0.297 0.083 2289 3616 3967 3953 3981 0 0 0 0 0 0 13.87 14.05 14.05

2229 -0.88 -145.9 2289 3616 3953 3981 307.4 -12.0 196 2234 0.00 2.42 0.00 0.000 1158 0.000 0.059 2289 2199 3966 3952 3981 0 0 0 0 0 0 14.17 14.08 14.20

2544 -0.88 -145.9 2289 2198 3953 3979 347.3 -12.6 209 2549 0.00 2.53 0.00 0.000 260 0.000 0.086 2280 3616 3966 3953 3979 0 0 0 0 0 0 14.41 14.02 14.42

2624 -0.88 -145.9 2281 3618 3953 3979 357.7 -12.7 225 2629 0.00 2.42 0.00 0.000 1030 0.000 0.060 2280 2197 3965 3952 3979 0 0 0 0 0 0 14.21 14.09 14.23

2934 -0.85 -145.9 2281 2196 3953 3978 399.1 -13.3 237 2939 0.00 2.53 0.00 0.000 388 0.000 0.086 2273 3616 3965 3952 3978 0 0 0 0 0 0 14.39 13.99 14.41

3024 -0.85 -145.9 2273 3617 3951 3979 411.0 -13.0 255 3030 0.12 2.45 0.00 0.000 3078 0.263 0.058 2298 2193 3965 3952 3978 0 0 0 0 0 0 13.83 14.03 14.07

3356 -0.85 -145.9 2298 2193 3953 3977 449.6 -11.6 271 3361 0.00 2.53 0.00 0.000 260 0.000 0.086 2293 3613 3964 3951 3977 0 0 0 0 0 0 14.38 14.03 14.39

3426 -0.93 -145.9 2293 3613 3952 3977 457.8 -10.9 285 3431 0.00 2.42 0.00 0.000 1158 0.000 0.057 2293 2190 3964 3951 3977 0 0 0 0 0 0 14.18 14.07 14.21

3624 end dive: TARGET_DEPTH_EXCEEDED

state 3624 begin apogee

3630 -0.13 0.0 2293 2069 3952 3977 481.2 -11.8 295 3840 0.93 0.08 207.00 1.437 10246 0.236 0.181 2527 2114 3363 3390 3337 0 0 0 0 0 0 13.83 13.40 12.84

3844 end apogee: CONTROL_FINISHED_OK

state 3844 begin climb

3846 0.57 145.9 2528 2114 3386 3330 491.0 0.0 302 4055 0.75 2.65 200.45 1.377 10500 0.067 0.075 2780 3505 2763 2809 2717 0 0 0 0 0 0 13.52 13.11 12.64

4284 0.16 145.9 2781 3506 2789 2716 451.8 18.1 391 4291 0.75 2.42 0.00 0.000 5254 0.345 0.057 2639 2126 2752 2788 2716 0 0 0 0 0 0 13.39 13.68 13.70

4589 0.10 171.3 2637 2126 2789 2716 423.3 8.8 402 4628 0.00 2.47 32.53 1.453 8612 0.000 0.082 2639 3501 2661 2703 2619 0 0 0 0 0 0 14.20 13.83 13.16

4788 0.01 171.3 2639 3505 2695 2616 402.2 10.9 442 4794 0.25 2.42 0.00 0.000 5254 0.259 0.059 2591 2102 2654 2695 2614 0 0 0 0 0 0 13.71 13.89 13.95

5099 0.11 243.1 2592 2102 2696 2612 380.7 6.7 454 5214 0.00 2.62 106.60 1.345 8868 0.000 0.086 2591 692 2366 2416 2317 0 0 0 0 0 0 14.37 13.67 13.09

5250 0.33 306.5 2592 691 2411 2320 370.2 7.1 484 5350 0.30 2.55 92.22 1.315 11430 0.084 0.080 2697 2100 2113 2163 2063 0 0 0 0 0 0 13.82 13.77 12.95

5673 0.28 306.5 2697 2101 2152 2049 309.6 14.4 518 5677 0.00 2.53 0.00 0.000 644 0.000 0.088 2699 689 2101 2154 2048 0 0 0 0 0 0 14.19 13.91 14.21

5707 0.28 306.5 2699 690 2151 2048 304.6 14.3 525 5712 0.00 2.53 0.00 0.000 1030 0.000 0.078 2699 2108 2099 2151 2048 0 0 0 0 0 0 14.07 13.95 14.09

6033 0.23 306.5 2698 2110 2151 2046 259.2 13.7 540 6038 0.15 2.50 0.00 0.000 4740 0.240 0.083 2669 689 2098 2150 2046 0 0 0 0 0 0 13.94 14.08 14.07

6078 0.30 306.5 2670 689 2148 2046 253.8 11.0 549 6083 0.00 2.47 0.00 0.000 1158 0.000 0.080 2670 2099 2096 2148 2045 0 0 0 0 0 0 14.23 14.12 14.26

6393 0.30 306.5 2671 2100 2148 2045 218.5 11.0 562 6394 0.00 0.00 0.00 0.000 6 0.000 0.000 2670 2100 2095 2147 2044 0 0 0 0 0 0 14.45 14.47 14.47

6693 0.33 308.3 2671 2101 2147 2045 188.0 9.9 572 6694 0.00 0.00 0.00 0.000 166 0.000 0.000 2670 2101 2095 2147 2044 0 0 0 0 0 0 14.48 14.50 14.50

6993 0.41 342.2 2670 2101 2148 2044 161.6 8.4 582 7055 0.12 2.50 55.05 1.291 10916 0.139 0.083 2729 693 1965 2012 1919 0 0 0 0 0 0 14.24 13.88 13.40

7120 0.43 342.2 2727 694 2003 1921 147.4 11.0 607 7126 0.00 2.50 0.00 0.000 1158 0.000 0.079 2729 2105 1960 2002 1918 0 0 0 0 0 0 14.11 14.00 14.14

7446 0.41 342.2 2728 2112 2004 1912 110.6 10.8 622 7451 0.00 2.50 0.00 0.000 644 0.000 0.085 2730 693 1957 2003 1912 0 0 0 0 0 0 14.38 14.07 14.40

7496 0.45 343.8 2730 692 2003 1914 105.4 9.9 632 7501 0.00 2.47 0.00 0.000 1190 0.000 0.079 2728 2105 1956 2001 1912 0 0 0 0 0 0 14.23 14.12 14.26

7806 0.46 358.5 2729 2106 2002 1911 75.3 9.3 660 7817 0.00 0.00 7.05 0.428 8230 0.000 0.000 2734 2105 1904 1945 1863 0 0 0 0 0 0 14.40 14.12 13.71

8117 0.55 433.7 2729 2106 1949 1864 50.7 6.5 691 8158 0.00 0.00 39.12 0.359 8614 0.000 0.000 2729 2105 1595 1636 1554 0 0 0 0 0 0 14.42 14.07 13.76

8457 0.77 544.9 2730 2105 1637 1545 31.0 4.9 727 8519 0.30 0.00 55.20 0.301 10918 0.093 0.000 2838 2105 1142 1212 1073 0 0 0 0 0 0 14.12 14.01 13.79

8817 0.94 691.7 2838 2105 1213 1062 6.7 3.2 765 8896 0.12 2.47 73.22 0.225 10660 0.132 0.077 2893 3512 542 585 499 0 0 0 0 0 0 14.06 13.93 13.82

8899 end climb: SURFACE_DEPTH_REACHED

state 8901 begin surface coast

8909 end surface coast: CONTROL_FINISHED_OK

state 8909 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	44	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	136.0
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	22	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	21	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	110817,192135,7144.9814,-14728.6162,26,1.1,28,21.4,0.5,132.0,7,8.8	SPEED_LIMITS	0.173,0.256
_CALLS	1	TGT_NAME	T3
_XMS_NAKs	0	TGT_LATLONG	7311.100,-14957.900
_XMS_TOUTs	0	TGT_RADIUS	2000.000
_SM_DEPTHo	1.08	MHEAD_RNG_PITCHd_Wd	326.2,178525,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-75.1	D_GRID	480
GPS2	110817,192814,7144.9219,-14728.6006,5,1.0,20,21.4,0.4,185.5,8,9.3

MODEM_MSG	CACST,6,1,20170811202231.364472,3,73,00,0140,0150,250,00,00,03,03,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*38	PM_FREEKB_00	59716992
FINISH	0.1,1.019992	_24V_AH	12.64,63.767
SM_CCo	8932,5.57,0.220,0,0,499,702.78	_10V_AH	12.56,0.000
SM_GC	1.86,8.32,2.33,5.57,0.080,0.062,0.220,197,2193,499,-7.38,0.71,702.78,0,0,0,0,0,0,14.14,14.09,13.90	FG_AHR_24Vo	0.000
RAFOS_CLK	319	FG_AHR_10Vo	0.000
MODEM	2,1502482470,73.18300,-149.96500,123.056,178658.2	MEM	323764
RAFOS_FIX	7154.283203,-14647.455078,110817,202030,2,255,9.74	DATA_FILE_SIZE	26729,783
IRIDIUM_FIX	7143.63,-14732.78,110817,164906	CAP_FILE_SIZE	102621,0
TT8_MAMPS	0.040446,0.899549	CFSIZE	2097872896,2074705920
HUMID	50.15	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1459.7
TCM_TEMP	13.60	CURRENT	0.110,191.57,1
XPDR_PINGS	10	GPS	110817,215930,7145.586,-14729.310,54,0.8,58,21.4,0.0,243.0,10,9.9
CP_FREE	16011952128.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	459	146.78	nil	0	0	0.00
Roll_motor	84	2161	2318.50	nil	0	0	0.00
VBD_pump_during_apogee	868	1452	15946.97	nil	0	0	0.00
VBD_pump_during_surface	5	220	15.53	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	5040	16	1023.11
Iridium_during_xfer	180	141	322.31	NCP	8935	20	2258.77
Transponder_ping	2	420	13.27	PMAR	8883	16	1862.74
GUMSTIX_24V	0	0	0.00
GPS	21	22	6.05
TT8	0	0	0.00
LPSleep	6414	2	186.10
TT8_Active	768	13	134.90
TT8_Sampling	1944	33	816.84
TT8_CF8	224	38	108.96
TT8_Kalman	0	0	0.00
Analog_circuits	1791	10	225.04
GPS_charging	0	0	0.00
Compass	1120	7	98.50
RAFOS	2217	48	1336.58
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	197	2200	510	478	0.0	0.0	0	130	0.00	0.00	-81.55	0.000	16386	0.000	0.000	195	2200	2029	1954	2104	0	0	0	0	0	0	14.40	28.83	14.42
133	-0.57	-145.9	196	2200	1960	2106	3.5	-4.8	8	187	12.52	2.83	-36.22	0.000	18980	0.459	2.161	2386	784	3961	3941	3982	0	0	0	0	0	0	13.73	12.74	14.14
233	-0.50	-145.9	2386	785	3948	3984	33.1	-22.1	27	241	0.17	2.50	0.00	0.000	3206	0.297	0.085	2411	2198	3965	3948	3982	0	0	0	0	0	0	13.86	14.08	14.14
537	-0.54	-145.9	2412	2199	3955	3983	80.0	-12.5	58	541	0.00	2.50	0.00	0.000	388	0.000	0.089	2402	3618	3968	3954	3982	0	0	0	0	0	0	14.49	14.15	14.51
663	-0.68	-145.9	2406	3620	3954	3984	93.7	-10.4	83	671	0.15	2.42	0.00	0.000	5254	0.119	0.057	2345	2194	3968	3954	3982	0	0	0	0	0	0	14.25	14.21	14.33
977	-0.68	-145.9	2346	2192	3955	3982	142.0	-14.7	97	981	0.00	2.47	0.00	0.000	260	0.000	0.086	2336	3613	3969	3957	3982	0	0	0	0	0	0	14.53	14.20	14.57
1027	-0.73	-145.9	2335	3614	3955	3983	149.2	-13.7	107	1033	0.00	2.40	0.00	0.000	1158	0.000	0.057	2336	2194	3968	3954	3982	0	0	0	0	0	0	14.36	14.25	14.38
1338	-0.73	-145.9	2336	2194	3955	3983	192.5	-13.2	119	1343	0.00	2.47	0.00	0.000	260	0.000	0.088	2332	3613	3968	3954	3982	0	0	0	0	0	0	14.57	14.21	14.59
1378	-0.80	-145.9	2333	3614	3955	3982	197.5	-11.8	127	1384	0.00	2.40	0.00	0.000	1158	0.000	0.058	2333	2194	3968	3954	3983	0	0	0	0	0	0	14.38	14.26	14.40
1700	-0.84	-145.9	2333	2193	3955	3983	234.0	-11.0	141	1704	0.00	2.50	0.00	0.000	388	0.000	0.089	2332	3617	3968	3954	3982	0	0	0	0	0	0	14.59	14.22	14.59
1795	-0.93	-145.9	2333	3618	3955	3982	243.3	-9.5	160	1800	0.17	2.40	0.00	0.000	5286	0.116	0.057	2266	2198	3967	3954	3981	0	0	0	0	0	0	14.26	14.21	14.32
2122	-0.85	-145.9	2265	2196	3954	3981	293.6	-15.7	175	2128	0.15	2.50	0.00	0.000	2436	0.297	0.083	2289	3616	3967	3953	3981	0	0	0	0	0	0	13.87	14.05	14.05
2229	-0.88	-145.9	2289	3616	3953	3981	307.4	-12.0	196	2234	0.00	2.42	0.00	0.000	1158	0.000	0.059	2289	2199	3966	3952	3981	0	0	0	0	0	0	14.17	14.08	14.20
2544	-0.88	-145.9	2289	2198	3953	3979	347.3	-12.6	209	2549	0.00	2.53	0.00	0.000	260	0.000	0.086	2280	3616	3966	3953	3979	0	0	0	0	0	0	14.41	14.02	14.42
2624	-0.88	-145.9	2281	3618	3953	3979	357.7	-12.7	225	2629	0.00	2.42	0.00	0.000	1030	0.000	0.060	2280	2197	3965	3952	3979	0	0	0	0	0	0	14.21	14.09	14.23
2934	-0.85	-145.9	2281	2196	3953	3978	399.1	-13.3	237	2939	0.00	2.53	0.00	0.000	388	0.000	0.086	2273	3616	3965	3952	3978	0	0	0	0	0	0	14.39	13.99	14.41
3024	-0.85	-145.9	2273	3617	3951	3979	411.0	-13.0	255	3030	0.12	2.45	0.00	0.000	3078	0.263	0.058	2298	2193	3965	3952	3978	0	0	0	0	0	0	13.83	14.03	14.07
3356	-0.85	-145.9	2298	2193	3953	3977	449.6	-11.6	271	3361	0.00	2.53	0.00	0.000	260	0.000	0.086	2293	3613	3964	3951	3977	0	0	0	0	0	0	14.38	14.03	14.39
3426	-0.93	-145.9	2293	3613	3952	3977	457.8	-10.9	285	3431	0.00	2.42	0.00	0.000	1158	0.000	0.057	2293	2190	3964	3951	3977	0	0	0	0	0	0	14.18	14.07	14.21
3624	end dive: TARGET_DEPTH_EXCEEDED
state	3624	begin apogee
3630	-0.13	0.0	2293	2069	3952	3977	481.2	-11.8	295	3840	0.93	0.08	207.00	1.437	10246	0.236	0.181	2527	2114	3363	3390	3337	0	0	0	0	0	0	13.83	13.40	12.84
3844	end apogee: CONTROL_FINISHED_OK
state	3844	begin climb
3846	0.57	145.9	2528	2114	3386	3330	491.0	0.0	302	4055	0.75	2.65	200.45	1.377	10500	0.067	0.075	2780	3505	2763	2809	2717	0	0	0	0	0	0	13.52	13.11	12.64
4284	0.16	145.9	2781	3506	2789	2716	451.8	18.1	391	4291	0.75	2.42	0.00	0.000	5254	0.345	0.057	2639	2126	2752	2788	2716	0	0	0	0	0	0	13.39	13.68	13.70
4589	0.10	171.3	2637	2126	2789	2716	423.3	8.8	402	4628	0.00	2.47	32.53	1.453	8612	0.000	0.082	2639	3501	2661	2703	2619	0	0	0	0	0	0	14.20	13.83	13.16
4788	0.01	171.3	2639	3505	2695	2616	402.2	10.9	442	4794	0.25	2.42	0.00	0.000	5254	0.259	0.059	2591	2102	2654	2695	2614	0	0	0	0	0	0	13.71	13.89	13.95
5099	0.11	243.1	2592	2102	2696	2612	380.7	6.7	454	5214	0.00	2.62	106.60	1.345	8868	0.000	0.086	2591	692	2366	2416	2317	0	0	0	0	0	0	14.37	13.67	13.09
5250	0.33	306.5	2592	691	2411	2320	370.2	7.1	484	5350	0.30	2.55	92.22	1.315	11430	0.084	0.080	2697	2100	2113	2163	2063	0	0	0	0	0	0	13.82	13.77	12.95
5673	0.28	306.5	2697	2101	2152	2049	309.6	14.4	518	5677	0.00	2.53	0.00	0.000	644	0.000	0.088	2699	689	2101	2154	2048	0	0	0	0	0	0	14.19	13.91	14.21
5707	0.28	306.5	2699	690	2151	2048	304.6	14.3	525	5712	0.00	2.53	0.00	0.000	1030	0.000	0.078	2699	2108	2099	2151	2048	0	0	0	0	0	0	14.07	13.95	14.09
6033	0.23	306.5	2698	2110	2151	2046	259.2	13.7	540	6038	0.15	2.50	0.00	0.000	4740	0.240	0.083	2669	689	2098	2150	2046	0	0	0	0	0	0	13.94	14.08	14.07
6078	0.30	306.5	2670	689	2148	2046	253.8	11.0	549	6083	0.00	2.47	0.00	0.000	1158	0.000	0.080	2670	2099	2096	2148	2045	0	0	0	0	0	0	14.23	14.12	14.26
6393	0.30	306.5	2671	2100	2148	2045	218.5	11.0	562	6394	0.00	0.00	0.00	0.000	6	0.000	0.000	2670	2100	2095	2147	2044	0	0	0	0	0	0	14.45	14.47	14.47
6693	0.33	308.3	2671	2101	2147	2045	188.0	9.9	572	6694	0.00	0.00	0.00	0.000	166	0.000	0.000	2670	2101	2095	2147	2044	0	0	0	0	0	0	14.48	14.50	14.50
6993	0.41	342.2	2670	2101	2148	2044	161.6	8.4	582	7055	0.12	2.50	55.05	1.291	10916	0.139	0.083	2729	693	1965	2012	1919	0	0	0	0	0	0	14.24	13.88	13.40
7120	0.43	342.2	2727	694	2003	1921	147.4	11.0	607	7126	0.00	2.50	0.00	0.000	1158	0.000	0.079	2729	2105	1960	2002	1918	0	0	0	0	0	0	14.11	14.00	14.14
7446	0.41	342.2	2728	2112	2004	1912	110.6	10.8	622	7451	0.00	2.50	0.00	0.000	644	0.000	0.085	2730	693	1957	2003	1912	0	0	0	0	0	0	14.38	14.07	14.40
7496	0.45	343.8	2730	692	2003	1914	105.4	9.9	632	7501	0.00	2.47	0.00	0.000	1190	0.000	0.079	2728	2105	1956	2001	1912	0	0	0	0	0	0	14.23	14.12	14.26
7806	0.46	358.5	2729	2106	2002	1911	75.3	9.3	660	7817	0.00	0.00	7.05	0.428	8230	0.000	0.000	2734	2105	1904	1945	1863	0	0	0	0	0	0	14.40	14.12	13.71
8117	0.55	433.7	2729	2106	1949	1864	50.7	6.5	691	8158	0.00	0.00	39.12	0.359	8614	0.000	0.000	2729	2105	1595	1636	1554	0	0	0	0	0	0	14.42	14.07	13.76
8457	0.77	544.9	2730	2105	1637	1545	31.0	4.9	727	8519	0.30	0.00	55.20	0.301	10918	0.093	0.000	2838	2105	1142	1212	1073	0	0	0	0	0	0	14.12	14.01	13.79
8817	0.94	691.7	2838	2105	1213	1062	6.7	3.2	765	8896	0.12	2.47	73.22	0.225	10660	0.132	0.077	2893	3512	542	585	499	0	0	0	0	0	0	14.06	13.93	13.82
8899	end climb: SURFACE_DEPTH_REACHED
state	8901	begin surface coast
8909	end surface coast: CONTROL_FINISHED_OK
state	8909	begin surface