Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 51 * 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 51 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 152.0

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 35 ALTIM_PULSE 3 PM_MOTORS 0.0

ESCAPE_HEADING_DELTA 10 R_STBD_OVSHOOT 56 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 152.0 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 35 VBD_MIN 500

DIVE 51 NOCOMM_ACTION 161 R_STBD_OVSHOOT 56 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 120817,143855,7150.2793,-14733.3125,17,0.7,20,21.4,0.0,343.9,11,9.6 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 1.19 MHEAD_RNG_PITCHd_Wd 318.5,168482,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.1 D_GRID 480

GPS2 120817,145021,7150.2915,-14733.4561,7,0.7,34,21.4,0.0,323.0,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170812163010.260659,3,21,13,0161,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34 PM_FREEKB_00 59228928

FINISH 0.0,1.020073 _24V_AH 12.62,66.978

SM_CCo 9149,0.00,0.000,0,0,493,704.50 _10V_AH 12.56,0.000

SM_GC 1.14,8.45,0.17,0.00,0.080,0.116,0.000,203,2215,493,-7.38,-0.74,704.50,0,0,0,0,0,0,14.13,14.13,14.23 FG_AHR_24Vo 0.000

RAFOS_CLK 230 FG_AHR_10Vo 0.000

MODEM 2,1502554463,73.18300,-149.96500,116.011,168453.8 MEM 323692

RAFOS_FIX 7146.153809,-14802.952148,120817,161616,2,255,3.40 DATA_FILE_SIZE 26686,736

IRIDIUM_FIX 7148.85,-14731.20,120817,115957 CAP_FILE_SIZE 102410,0

TT8_MAMPS 0.040446,0.869589 CFSIZE 2097872896,2072674304

HUMID 49.29 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.78152 SOUNDSPEED 1451.5

TCM_TEMP 13.40 CURRENT 0.024,135.29,1

XPDR_PINGS 11 GPS 120817,172433,7151.482,-14733.764,30,0.8,31,21.4,0.0,0.0,11,8.7

CP_FREE 16010772480.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 454 147.38 nil 0 0 0.00

Roll_motor 79 2148 2154.60 nil 0 0 0.00

VBD_pump_during_apogee 864 1507 16432.39 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 SciCon 8889 15 1691.44

Iridium_during_xfer 395 182 913.03 NCP 9084 20 2292.80

Transponder_ping 2 420 14.58 PMAR 9044 16 1892.59

GUMSTIX_24V 0 0 0.00

GPS 35 22 9.97

TT8 0 0 0.00

LPSleep 6618 2 192.01

TT8_Active 762 13 133.87

TT8_Sampling 2184 33 917.70

TT8_CF8 278 38 135.15

TT8_Kalman 0 0 0.00

Analog_circuits 1984 10 249.20

GPS_charging 0 0 0.00

Compass 1055 7 92.82

RAFOS 2218 48 1337.19

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 42 begin dive

45 -0.57 -145.9 201 2187 515 475 0.0 0.0 0 128 0.00 0.00 -80.95 0.000 16386 0.000 0.000 199 2186 2062 1983 2141 0 0 0 0 0 0 14.32 28.83 14.33

131 -0.57 -145.9 200 2187 1986 2142 3.1 -3.7 8 188 12.55 2.80 -36.25 0.000 18724 0.454 2.149 2376 3573 3959 3940 3978 0 0 0 0 0 0 13.69 12.69 14.10

413 -0.57 -145.9 2377 3573 3956 3979 64.6 -15.5 64 418 0.00 2.35 0.00 0.000 1030 0.000 0.058 2376 2205 3966 3955 3978 0 0 0 0 0 0 14.16 14.05 14.19

745 -0.57 -145.9 2377 2204 3959 3978 113.1 -13.5 92 750 0.00 2.42 0.00 0.000 260 0.000 0.085 2369 3575 3967 3957 3978 0 0 0 0 0 0 14.40 14.01 14.42

876 -0.69 -145.9 2369 3576 3958 3978 128.4 -10.9 118 881 0.00 2.33 0.00 0.000 1158 0.000 0.055 2369 2199 3967 3957 3978 0 0 0 0 0 0 14.25 14.14 14.28

1197 -0.75 -145.9 2369 2199 3958 3977 164.6 -10.9 132 1201 0.00 2.42 0.00 0.000 388 0.000 0.087 2363 3574 3967 3957 3977 0 0 0 0 0 0 14.46 14.14 14.50

1231 -0.87 -145.9 2363 3576 3958 3978 168.4 -10.9 139 1238 0.20 2.35 0.00 0.000 5254 0.104 0.057 2283 2197 3966 3957 3976 0 0 0 0 0 0 14.20 14.16 14.28

1558 -0.79 -145.9 2283 2197 3965 3976 222.6 -16.4 154 1563 0.15 2.42 0.00 0.000 2436 0.284 0.086 2317 3573 3965 3957 3974 0 0 0 0 0 0 13.96 14.07 14.12

1670 -0.88 -145.9 2318 3574 3958 3975 235.3 -10.3 176 1675 0.00 2.33 0.00 0.000 1158 0.000 0.057 2323 2200 3965 3956 3974 0 0 0 0 0 0 14.29 14.19 14.33

1980 -0.91 -145.9 2318 2199 3959 3971 269.2 -10.8 188 1985 0.00 2.45 0.00 0.000 388 0.000 0.090 2317 3579 3964 3957 3971 0 0 0 0 0 0 14.51 13.56 14.52

2065 -1.02 -145.9 2318 3579 3957 3972 278.0 -9.9 205 2072 0.22 2.35 0.00 0.000 5286 0.101 0.058 2239 2194 3964 3957 3971 0 0 0 0 0 0 14.21 14.16 14.29

2370 -0.89 -145.9 2240 2194 3958 3970 330.6 -17.7 216 2375 0.20 2.45 0.00 0.000 2436 0.304 0.083 2275 3582 3963 3957 3969 0 0 0 0 0 0 13.83 13.92 14.02

2495 -0.89 -145.9 2275 3582 3958 3969 347.8 -12.8 241 2500 0.00 2.35 0.00 0.000 1030 0.000 0.058 2276 2198 3963 3957 3969 0 0 0 0 0 0 14.32 14.21 14.35

2821 -0.85 -145.9 2276 2197 3958 3967 391.6 -13.5 256 2826 0.00 2.42 0.00 0.000 388 0.000 0.086 2267 3576 3962 3957 3967 0 0 0 0 0 0 14.53 14.14 14.54

2935 -0.85 -145.9 2268 3576 3959 3966 406.9 -13.1 279 2943 0.15 2.35 0.00 0.000 3078 0.261 0.058 2297 2194 3961 3957 3966 0 0 0 0 0 0 13.93 14.16 14.19

3241 -0.87 -145.9 2298 2193 3958 3965 441.4 -11.2 290 3246 0.00 2.45 0.00 0.000 388 0.000 0.086 2292 3583 3961 3957 3965 0 0 0 0 0 0 14.52 14.12 14.54

3331 -0.95 -145.9 2293 3585 3958 3965 451.5 -10.6 308 3336 0.00 2.38 0.00 0.000 1158 0.000 0.057 2292 2191 3961 3957 3965 0 0 0 0 0 0 14.31 14.20 14.34

3599 end dive: TARGET_DEPTH_EXCEEDED

state 3599 begin apogee

3604 -0.13 0.0 2293 2068 3958 3965 482.7 -11.5 322 3813 0.93 0.00 203.85 1.448 10246 0.233 0.000 2530 2067 3363 3405 3322 0 0 0 0 0 0 13.92 13.51 12.86

3816 end apogee: CONTROL_FINISHED_OK

state 3816 begin climb

3819 0.57 145.9 2532 2067 3403 3319 492.6 0.0 329 4025 0.73 2.67 199.65 1.394 10500 0.065 0.074 2775 3472 2766 2829 2703 0 0 0 0 0 0 13.59 13.09 12.62

4138 0.16 145.9 2776 3472 2808 2702 475.6 17.4 348 4144 0.70 2.40 0.00 0.000 5254 0.340 0.057 2642 2124 2754 2806 2703 0 0 0 0 0 0 13.33 13.55 13.58

4464 0.09 167.7 2644 2123 2806 2701 444.7 9.0 363 4496 0.12 2.65 26.27 1.496 12964 0.303 0.083 2616 693 2679 2734 2625 0 0 0 0 0 0 13.60 13.70 13.08

4543 0.17 218.2 2615 694 2729 2624 438.7 7.7 378 4622 0.00 2.47 72.65 1.408 9382 0.000 0.080 2615 2067 2472 2544 2401 0 0 0 0 0 0 13.88 13.77 12.89

4947 0.23 252.1 2615 2068 2534 2391 404.9 8.4 409 5003 0.12 2.67 47.92 1.416 10660 0.130 0.082 2676 3507 2331 2393 2270 0 0 0 0 0 0 13.90 13.64 13.02

5040 0.14 252.1 2677 3509 2384 2271 393.4 14.0 427 5046 0.25 2.47 0.00 0.000 5254 0.268 0.061 2631 2106 2331 2385 2277 0 0 0 0 0 0 13.56 13.71 13.78

5373 0.18 266.7 2631 2106 2383 2265 361.2 9.3 443 5397 0.00 2.55 19.10 1.507 8868 0.000 0.085 2633 687 2273 2332 2215 0 0 0 0 0 0 14.20 13.73 13.16

5469 0.30 292.3 2633 687 2331 2215 352.5 8.8 462 5513 0.15 2.53 37.70 1.422 11430 0.116 0.079 2691 2105 2173 2231 2116 0 0 0 0 0 0 13.93 13.88 13.09

5825 0.24 292.3 2692 2105 2223 2104 304.1 14.0 483 5826 0.12 0.00 0.00 0.000 4230 0.239 0.000 2667 2105 2162 2222 2103 0 0 0 0 0 0 13.85 14.08 14.05

6123 0.24 292.3 2667 2106 2220 2103 268.5 11.7 493 6128 0.00 2.53 0.00 0.000 516 0.000 0.086 2672 688 2160 2219 2102 0 0 0 0 0 0 14.32 14.02 14.31

6178 0.28 292.3 2672 689 2218 2102 262.1 11.4 504 6184 0.00 2.50 0.00 0.000 1158 0.000 0.081 2672 2102 2159 2217 2102 0 0 0 0 0 0 14.11 14.02 14.16

6483 0.28 292.3 2673 2102 2218 2102 225.8 11.5 515 6484 0.00 0.00 0.00 0.000 6 0.000 0.000 2672 2103 2159 2217 2101 0 0 0 0 0 0 14.32 14.33 14.33

6783 0.28 292.3 2673 2102 2218 2101 194.5 10.2 525 6788 0.00 2.47 0.00 0.000 516 0.000 0.084 2673 684 2158 2216 2101 0 0 0 0 0 0 14.32 14.02 14.34

6865 0.35 309.5 2672 687 2216 2101 186.9 9.2 541 6894 0.00 2.47 23.20 1.412 9382 0.000 0.080 2671 2100 2103 2158 2048 0 0 0 0 0 0 14.23 14.12 13.34

7207 0.41 339.4 2672 2102 2154 2043 156.1 8.6 559 7259 0.12 0.00 51.10 1.314 10406 0.135 0.000 2722 2101 1983 2034 1932 0 0 0 0 0 0 14.15 13.92 13.30

7535 0.38 339.4 2723 2101 2025 1919 119.1 10.7 570 7539 0.00 2.50 0.00 0.000 644 0.000 0.085 2729 684 1971 2023 1919 0 0 0 0 0 0 14.34 14.06 14.40

7595 0.41 339.4 2728 685 2019 1920 112.9 10.1 582 7600 0.00 2.50 0.00 0.000 1158 0.000 0.080 2729 2101 1969 2020 1919 0 0 0 0 0 0 14.20 14.09 14.23

7907 0.41 344.4 2729 2100 2021 1919 80.8 9.8 608 7909 0.00 0.00 1.02 0.363 8230 0.000 0.000 2729 2101 1961 2013 1910 0 0 0 0 0 0 14.40 14.11 13.68

8205 0.45 403.8 2729 2101 2016 1915 56.4 7.3 638 8238 0.00 0.00 31.83 0.380 8230 0.000 0.000 2729 2101 1716 1756 1677 0 0 0 0 0 0 14.41 14.15 13.80

8535 0.63 515.5 2729 2102 1753 1671 36.3 4.8 671 8596 0.17 0.00 55.90 0.311 10406 0.109 0.000 2795 2101 1261 1332 1191 0 0 0 0 0 0 14.18 14.12 13.76

8895 0.92 708.8 2796 2105 1332 1175 12.6 1.1 707 8995 0.22 2.53 93.80 0.250 10916 0.101 0.086 2887 688 494 536 452 0 0 0 0 0 0 14.12 14.00 13.83

9016 1.08 780.5 2888 689 537 453 6.8 6.7 730 9022 0.12 2.50 0.00 0.000 3238 0.139 0.079 2940 2100 493 536 451 0 0 0 0 0 0 14.02 13.97 14.12

9058 end climb: SURFACE_DEPTH_REACHED

state 9058 begin surface coast

9068 end surface coast: CONTROL_FINISHED_OK

state 9068 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	51	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	152.0
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	35	ALTIM_PULSE	3	PM_MOTORS	0.0
ESCAPE_HEADING_DELTA	10	R_STBD_OVSHOOT	56	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,143855,7150.2793,-14733.3125,17,0.7,20,21.4,0.0,343.9,11,9.6	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	1.19	MHEAD_RNG_PITCHd_Wd	318.5,168482,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.1	D_GRID	480
GPS2	120817,145021,7150.2915,-14733.4561,7,0.7,34,21.4,0.0,323.0,11,9.9

MODEM_MSG	CACST,6,1,20170812163010.260659,3,21,13,0161,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34	PM_FREEKB_00	59228928
FINISH	0.0,1.020073	_24V_AH	12.62,66.978
SM_CCo	9149,0.00,0.000,0,0,493,704.50	_10V_AH	12.56,0.000
SM_GC	1.14,8.45,0.17,0.00,0.080,0.116,0.000,203,2215,493,-7.38,-0.74,704.50,0,0,0,0,0,0,14.13,14.13,14.23	FG_AHR_24Vo	0.000
RAFOS_CLK	230	FG_AHR_10Vo	0.000
MODEM	2,1502554463,73.18300,-149.96500,116.011,168453.8	MEM	323692
RAFOS_FIX	7146.153809,-14802.952148,120817,161616,2,255,3.40	DATA_FILE_SIZE	26686,736
IRIDIUM_FIX	7148.85,-14731.20,120817,115957	CAP_FILE_SIZE	102410,0
TT8_MAMPS	0.040446,0.869589	CFSIZE	2097872896,2072674304
HUMID	49.29	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.78152	SOUNDSPEED	1451.5
TCM_TEMP	13.40	CURRENT	0.024,135.29,1
XPDR_PINGS	11	GPS	120817,172433,7151.482,-14733.764,30,0.8,31,21.4,0.0,0.0,11,8.7
CP_FREE	16010772480.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	454	147.38	nil	0	0	0.00
Roll_motor	79	2148	2154.60	nil	0	0	0.00
VBD_pump_during_apogee	864	1507	16432.39	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	SciCon	8889	15	1691.44
Iridium_during_xfer	395	182	913.03	NCP	9084	20	2292.80
Transponder_ping	2	420	14.58	PMAR	9044	16	1892.59
GUMSTIX_24V	0	0	0.00
GPS	35	22	9.97
TT8	0	0	0.00
LPSleep	6618	2	192.01
TT8_Active	762	13	133.87
TT8_Sampling	2184	33	917.70
TT8_CF8	278	38	135.15
TT8_Kalman	0	0	0.00
Analog_circuits	1984	10	249.20
GPS_charging	0	0	0.00
Compass	1055	7	92.82
RAFOS	2218	48	1337.19
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	42	begin dive
45	-0.57	-145.9	201	2187	515	475	0.0	0.0	0	128	0.00	0.00	-80.95	0.000	16386	0.000	0.000	199	2186	2062	1983	2141	0	0	0	0	0	0	14.32	28.83	14.33
131	-0.57	-145.9	200	2187	1986	2142	3.1	-3.7	8	188	12.55	2.80	-36.25	0.000	18724	0.454	2.149	2376	3573	3959	3940	3978	0	0	0	0	0	0	13.69	12.69	14.10
413	-0.57	-145.9	2377	3573	3956	3979	64.6	-15.5	64	418	0.00	2.35	0.00	0.000	1030	0.000	0.058	2376	2205	3966	3955	3978	0	0	0	0	0	0	14.16	14.05	14.19
745	-0.57	-145.9	2377	2204	3959	3978	113.1	-13.5	92	750	0.00	2.42	0.00	0.000	260	0.000	0.085	2369	3575	3967	3957	3978	0	0	0	0	0	0	14.40	14.01	14.42
876	-0.69	-145.9	2369	3576	3958	3978	128.4	-10.9	118	881	0.00	2.33	0.00	0.000	1158	0.000	0.055	2369	2199	3967	3957	3978	0	0	0	0	0	0	14.25	14.14	14.28
1197	-0.75	-145.9	2369	2199	3958	3977	164.6	-10.9	132	1201	0.00	2.42	0.00	0.000	388	0.000	0.087	2363	3574	3967	3957	3977	0	0	0	0	0	0	14.46	14.14	14.50
1231	-0.87	-145.9	2363	3576	3958	3978	168.4	-10.9	139	1238	0.20	2.35	0.00	0.000	5254	0.104	0.057	2283	2197	3966	3957	3976	0	0	0	0	0	0	14.20	14.16	14.28
1558	-0.79	-145.9	2283	2197	3965	3976	222.6	-16.4	154	1563	0.15	2.42	0.00	0.000	2436	0.284	0.086	2317	3573	3965	3957	3974	0	0	0	0	0	0	13.96	14.07	14.12
1670	-0.88	-145.9	2318	3574	3958	3975	235.3	-10.3	176	1675	0.00	2.33	0.00	0.000	1158	0.000	0.057	2323	2200	3965	3956	3974	0	0	0	0	0	0	14.29	14.19	14.33
1980	-0.91	-145.9	2318	2199	3959	3971	269.2	-10.8	188	1985	0.00	2.45	0.00	0.000	388	0.000	0.090	2317	3579	3964	3957	3971	0	0	0	0	0	0	14.51	13.56	14.52
2065	-1.02	-145.9	2318	3579	3957	3972	278.0	-9.9	205	2072	0.22	2.35	0.00	0.000	5286	0.101	0.058	2239	2194	3964	3957	3971	0	0	0	0	0	0	14.21	14.16	14.29
2370	-0.89	-145.9	2240	2194	3958	3970	330.6	-17.7	216	2375	0.20	2.45	0.00	0.000	2436	0.304	0.083	2275	3582	3963	3957	3969	0	0	0	0	0	0	13.83	13.92	14.02
2495	-0.89	-145.9	2275	3582	3958	3969	347.8	-12.8	241	2500	0.00	2.35	0.00	0.000	1030	0.000	0.058	2276	2198	3963	3957	3969	0	0	0	0	0	0	14.32	14.21	14.35
2821	-0.85	-145.9	2276	2197	3958	3967	391.6	-13.5	256	2826	0.00	2.42	0.00	0.000	388	0.000	0.086	2267	3576	3962	3957	3967	0	0	0	0	0	0	14.53	14.14	14.54
2935	-0.85	-145.9	2268	3576	3959	3966	406.9	-13.1	279	2943	0.15	2.35	0.00	0.000	3078	0.261	0.058	2297	2194	3961	3957	3966	0	0	0	0	0	0	13.93	14.16	14.19
3241	-0.87	-145.9	2298	2193	3958	3965	441.4	-11.2	290	3246	0.00	2.45	0.00	0.000	388	0.000	0.086	2292	3583	3961	3957	3965	0	0	0	0	0	0	14.52	14.12	14.54
3331	-0.95	-145.9	2293	3585	3958	3965	451.5	-10.6	308	3336	0.00	2.38	0.00	0.000	1158	0.000	0.057	2292	2191	3961	3957	3965	0	0	0	0	0	0	14.31	14.20	14.34
3599	end dive: TARGET_DEPTH_EXCEEDED
state	3599	begin apogee
3604	-0.13	0.0	2293	2068	3958	3965	482.7	-11.5	322	3813	0.93	0.00	203.85	1.448	10246	0.233	0.000	2530	2067	3363	3405	3322	0	0	0	0	0	0	13.92	13.51	12.86
3816	end apogee: CONTROL_FINISHED_OK
state	3816	begin climb
3819	0.57	145.9	2532	2067	3403	3319	492.6	0.0	329	4025	0.73	2.67	199.65	1.394	10500	0.065	0.074	2775	3472	2766	2829	2703	0	0	0	0	0	0	13.59	13.09	12.62
4138	0.16	145.9	2776	3472	2808	2702	475.6	17.4	348	4144	0.70	2.40	0.00	0.000	5254	0.340	0.057	2642	2124	2754	2806	2703	0	0	0	0	0	0	13.33	13.55	13.58
4464	0.09	167.7	2644	2123	2806	2701	444.7	9.0	363	4496	0.12	2.65	26.27	1.496	12964	0.303	0.083	2616	693	2679	2734	2625	0	0	0	0	0	0	13.60	13.70	13.08
4543	0.17	218.2	2615	694	2729	2624	438.7	7.7	378	4622	0.00	2.47	72.65	1.408	9382	0.000	0.080	2615	2067	2472	2544	2401	0	0	0	0	0	0	13.88	13.77	12.89
4947	0.23	252.1	2615	2068	2534	2391	404.9	8.4	409	5003	0.12	2.67	47.92	1.416	10660	0.130	0.082	2676	3507	2331	2393	2270	0	0	0	0	0	0	13.90	13.64	13.02
5040	0.14	252.1	2677	3509	2384	2271	393.4	14.0	427	5046	0.25	2.47	0.00	0.000	5254	0.268	0.061	2631	2106	2331	2385	2277	0	0	0	0	0	0	13.56	13.71	13.78
5373	0.18	266.7	2631	2106	2383	2265	361.2	9.3	443	5397	0.00	2.55	19.10	1.507	8868	0.000	0.085	2633	687	2273	2332	2215	0	0	0	0	0	0	14.20	13.73	13.16
5469	0.30	292.3	2633	687	2331	2215	352.5	8.8	462	5513	0.15	2.53	37.70	1.422	11430	0.116	0.079	2691	2105	2173	2231	2116	0	0	0	0	0	0	13.93	13.88	13.09
5825	0.24	292.3	2692	2105	2223	2104	304.1	14.0	483	5826	0.12	0.00	0.00	0.000	4230	0.239	0.000	2667	2105	2162	2222	2103	0	0	0	0	0	0	13.85	14.08	14.05
6123	0.24	292.3	2667	2106	2220	2103	268.5	11.7	493	6128	0.00	2.53	0.00	0.000	516	0.000	0.086	2672	688	2160	2219	2102	0	0	0	0	0	0	14.32	14.02	14.31
6178	0.28	292.3	2672	689	2218	2102	262.1	11.4	504	6184	0.00	2.50	0.00	0.000	1158	0.000	0.081	2672	2102	2159	2217	2102	0	0	0	0	0	0	14.11	14.02	14.16
6483	0.28	292.3	2673	2102	2218	2102	225.8	11.5	515	6484	0.00	0.00	0.00	0.000	6	0.000	0.000	2672	2103	2159	2217	2101	0	0	0	0	0	0	14.32	14.33	14.33
6783	0.28	292.3	2673	2102	2218	2101	194.5	10.2	525	6788	0.00	2.47	0.00	0.000	516	0.000	0.084	2673	684	2158	2216	2101	0	0	0	0	0	0	14.32	14.02	14.34
6865	0.35	309.5	2672	687	2216	2101	186.9	9.2	541	6894	0.00	2.47	23.20	1.412	9382	0.000	0.080	2671	2100	2103	2158	2048	0	0	0	0	0	0	14.23	14.12	13.34
7207	0.41	339.4	2672	2102	2154	2043	156.1	8.6	559	7259	0.12	0.00	51.10	1.314	10406	0.135	0.000	2722	2101	1983	2034	1932	0	0	0	0	0	0	14.15	13.92	13.30
7535	0.38	339.4	2723	2101	2025	1919	119.1	10.7	570	7539	0.00	2.50	0.00	0.000	644	0.000	0.085	2729	684	1971	2023	1919	0	0	0	0	0	0	14.34	14.06	14.40
7595	0.41	339.4	2728	685	2019	1920	112.9	10.1	582	7600	0.00	2.50	0.00	0.000	1158	0.000	0.080	2729	2101	1969	2020	1919	0	0	0	0	0	0	14.20	14.09	14.23
7907	0.41	344.4	2729	2100	2021	1919	80.8	9.8	608	7909	0.00	0.00	1.02	0.363	8230	0.000	0.000	2729	2101	1961	2013	1910	0	0	0	0	0	0	14.40	14.11	13.68
8205	0.45	403.8	2729	2101	2016	1915	56.4	7.3	638	8238	0.00	0.00	31.83	0.380	8230	0.000	0.000	2729	2101	1716	1756	1677	0	0	0	0	0	0	14.41	14.15	13.80
8535	0.63	515.5	2729	2102	1753	1671	36.3	4.8	671	8596	0.17	0.00	55.90	0.311	10406	0.109	0.000	2795	2101	1261	1332	1191	0	0	0	0	0	0	14.18	14.12	13.76
8895	0.92	708.8	2796	2105	1332	1175	12.6	1.1	707	8995	0.22	2.53	93.80	0.250	10916	0.101	0.086	2887	688	494	536	452	0	0	0	0	0	0	14.12	14.00	13.83
9016	1.08	780.5	2888	689	537	453	6.8	6.7	730	9022	0.12	2.50	0.00	0.000	3238	0.139	0.079	2940	2100	493	536	451	0	0	0	0	0	0	14.02	13.97	14.12
9058	end climb: SURFACE_DEPTH_REACHED
state	9058	begin surface coast
9068	end surface coast: CONTROL_FINISHED_OK
state	9068	begin surface