Glider dive log

CABAGE Aug17 * SG196 * Dive index * Mission links * Dive 54 * 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 54 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 161.0

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 32 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 161.0 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 54 NOCOMM_ACTION 161 R_STBD_OVSHOOT 32 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 120817,225933,7153.2695,-14735.7607,27,0.7,28,21.4,0.0,0.0,11,8.2 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 1.22 MHEAD_RNG_PITCHd_Wd 309.6,163094,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -78.4 D_GRID 480

GPS2 120817,230835,7153.2026,-14735.9092,6,0.8,10,21.4,0.0,223.2,11,9.9

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20170813002220.639074,3,21,07,0123,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34 PM_FREEKB_00 59013184

FINISH -0.0,1.009635 _24V_AH 12.60,68.337

SM_CCo 9343,55.90,0.215,0,0,502,703.03 _10V_AH 12.53,0.000

SM_GC 0.95,8.18,0.15,55.90,0.073,0.130,0.215,203,2213,502,-7.37,-0.71,703.03,0,0,0,0,0,0,14.21,14.19,13.96 FG_AHR_24Vo 0.000

RAFOS_CLK 283 FG_AHR_10Vo 0.000

MODEM 2,1502583259,73.18300,-149.96500,112.131,163634.6 MEM 323804

RAFOS_FIX 7202.124023,-14620.304688,130817,000019,2,255,11.06 DATA_FILE_SIZE 26715,740

IRIDIUM_FIX 7153.39,-14729.61,120817,202007 CAP_FILE_SIZE 101326,0

TT8_MAMPS 0.038948,0.873334 CFSIZE 2097872896,2071855104

HUMID 50.55 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 7.79129 SOUNDSPEED 1458.7

TCM_TEMP 13.60 CURRENT 0.024,343.37,1

XPDR_PINGS 13 GPS 130817,014656,7154.473,-14737.228,17,0.7,20,21.4,0.2,285.0,12,9.4

CP_FREE 16010149888.000000

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 23 455 136.87 nil 0 0 0.00

Roll_motor 78 2151 2135.19 nil 0 0 0.00

VBD_pump_during_apogee 799 1635 16469.03 nil 0 0 0.00

VBD_pump_during_surface 55 214 151.41 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 5422 15 1032.96

Iridium_during_xfer 299 172 649.44 NCP 9341 20 2353.93

Transponder_ping 3 420 17.20 PMAR 9298 16 1939.61

GUMSTIX_24V 0 0 0.00

GPS 10 22 2.98

TT8 0 0 0.00

LPSleep 6878 2 199.09

TT8_Active 761 13 133.31

TT8_Sampling 2060 33 863.53

TT8_CF8 256 38 124.16

TT8_Kalman 0 0 0.00

Analog_circuits 1883 10 235.97

GPS_charging 0 0 0.00

Compass 1059 7 92.94

RAFOS 2142 48 1288.28

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 -145.9 198 2215 502 479 0.0 0.0 0 130 0.00 0.00 -81.47 0.000 16386 0.000 0.000 198 2215 2103 2034 2173 0 0 0 0 0 0 14.37 28.83 14.42

133 -0.57 -145.9 198 2216 2036 2175 3.5 -4.6 8 186 12.43 2.70 -34.20 0.000 18724 0.456 2.151 2375 3599 3963 3945 3981 0 0 0 0 0 0 13.72 13.00 14.12

411 -0.57 -145.9 2376 3601 3956 3983 64.9 -15.9 63 418 0.00 2.38 0.00 0.000 1030 0.000 0.057 2376 2197 3968 3955 3981 0 0 0 0 0 0 14.28 14.17 14.29

728 -0.57 -145.9 2376 2197 3959 3982 112.7 -13.8 89 733 0.00 2.40 0.00 0.000 260 0.000 0.082 2365 3606 3970 3959 3982 0 0 0 0 0 0 14.52 14.16 14.54

865 -0.67 -145.9 2366 3608 3959 3986 128.9 -11.0 116 870 0.00 2.38 0.00 0.000 1158 0.000 0.054 2366 2195 3969 3958 3981 0 0 0 0 0 0 14.32 14.21 14.33

1180 -0.73 -145.9 2366 2194 3959 3982 165.2 -11.0 129 1181 0.00 0.00 0.00 0.000 134 0.000 0.000 2365 2194 3970 3959 3981 0 0 0 0 0 0 14.58 14.60 14.58

1480 -0.82 -145.9 2366 2195 3959 3982 194.7 -9.3 139 1481 0.15 0.00 0.00 0.000 4262 0.127 0.000 2305 2194 3969 3958 3981 0 0 0 0 0 0 14.30 14.40 14.38

1780 -0.82 -145.9 2305 2195 3958 3982 234.1 -12.8 149 1785 0.00 2.47 0.00 0.000 260 0.000 0.086 2295 3606 3968 3955 3981 0 0 0 0 0 0 14.60 14.21 14.64

1865 -0.87 -145.9 2297 3608 3956 3982 244.9 -12.0 166 1871 0.00 2.35 0.00 0.000 1158 0.000 0.057 2295 2199 3968 3955 3981 0 0 0 0 0 0 14.41 14.30 14.43

2170 -0.87 -145.9 2296 2199 3955 3981 284.0 -12.9 177 2174 0.00 2.45 0.00 0.000 260 0.000 0.086 2287 3601 3967 3954 3980 0 0 0 0 0 0 14.62 14.20 14.64

2225 -0.90 -145.9 2288 3603 3955 3980 291.1 -12.6 188 2231 0.00 2.35 0.00 0.000 1158 0.000 0.057 2288 2201 3967 3954 3980 0 0 0 0 0 0 14.41 14.30 14.44

2530 -0.90 -145.9 2288 2199 3954 3979 331.4 -13.2 199 2536 0.00 2.47 0.00 0.000 260 0.000 0.086 2280 3608 3966 3953 3979 0 0 0 0 0 0 14.63 14.20 14.64

2596 -0.93 -145.9 2281 3608 3953 3976 340.0 -12.5 212 2601 0.00 2.38 0.00 0.000 1158 0.000 0.058 2280 2199 3966 3953 3979 0 0 0 0 0 0 14.40 14.31 14.45

2921 -0.90 -145.9 2281 2195 3954 3978 383.3 -13.2 227 2927 0.00 2.45 0.00 0.000 388 0.000 0.086 2279 3601 3966 3952 3980 0 0 0 0 0 0 14.62 14.24 14.64

2992 -0.93 -145.9 2280 3601 3952 3977 392.4 -12.2 241 2997 0.00 2.38 0.00 0.000 1158 0.000 0.059 2280 2190 3964 3951 3977 0 0 0 0 0 0 14.38 14.26 14.40

3314 -0.91 -145.9 2280 2189 3952 3977 433.4 -12.8 255 3320 0.00 2.47 0.00 0.000 388 0.000 0.086 2276 3601 3963 3951 3976 0 0 0 0 0 0 14.47 14.14 14.49

3400 -0.93 -145.9 2277 3602 3952 3976 444.4 -12.2 272 3406 0.00 2.40 0.00 0.000 1158 0.000 0.057 2276 2196 3964 3951 3977 0 0 0 0 0 0 14.21 14.12 14.25

3702 end dive: TARGET_DEPTH_EXCEEDED

state 3702 begin apogee

3708 -0.13 0.0 2277 2069 3952 3976 483.8 -12.8 283 3916 1.00 0.00 205.40 1.448 10246 0.249 0.000 2527 2066 3363 3391 3336 0 0 0 0 0 0 13.88 13.46 12.83

3920 end apogee: CONTROL_FINISHED_OK

state 3920 begin climb

3922 0.57 145.9 2528 2067 3385 3331 493.2 0.0 290 4132 0.75 2.58 197.95 1.388 10756 0.067 0.080 2779 727 2762 2808 2716 0 0 0 0 0 0 13.51 13.10 12.60

4359 0.24 145.9 2782 727 2799 2715 458.5 15.6 336 4364 0.55 2.47 0.00 0.000 5254 0.320 0.076 2667 2094 2755 2797 2714 0 0 0 0 0 0 13.43 13.67 13.73

4669 0.10 145.9 2668 2095 2798 2708 425.5 10.3 348 4674 0.17 2.45 0.00 0.000 4740 0.301 0.077 2634 715 2753 2798 2708 0 0 0 0 0 0 13.67 13.90 13.84

4781 0.12 193.7 2635 716 2798 2708 416.3 7.8 370 4852 0.00 2.45 65.47 1.399 9382 0.000 0.080 2634 2099 2574 2630 2519 0 0 0 0 0 0 14.05 13.95 13.06

5150 0.10 205.3 2635 2098 2626 2503 381.7 9.5 394 5165 0.00 0.00 13.85 1.559 8358 0.000 0.000 2635 2099 2528 2589 2468 0 0 0 0 0 0 14.19 13.92 13.18

5450 0.10 215.8 2635 2100 2582 2459 353.1 9.5 404 5471 0.00 2.47 12.55 1.598 8740 0.000 0.081 2643 733 2484 2544 2425 0 0 0 0 0 0 14.25 13.95 13.23

5503 0.13 220.8 2644 734 2541 2427 348.2 9.8 414 5514 0.00 2.40 4.15 1.614 9382 0.000 0.079 2643 2115 2465 2521 2409 0 0 0 0 0 0 14.05 13.95 13.05

5813 0.11 220.8 2644 2116 2528 2410 316.9 10.1 426 5813 0.00 0.00 0.00 0.000 134 0.000 0.000 2643 2115 2468 2527 2409 0 0 0 0 0 0 14.35 14.37 14.37

6111 0.11 220.8 2644 2115 2528 2408 286.3 10.3 436 6116 0.00 2.45 0.00 0.000 516 0.000 0.083 2646 714 2468 2527 2409 0 0 0 0 0 0 14.45 14.14 14.47

6166 0.15 226.0 2646 714 2528 2410 280.8 9.8 447 6182 0.00 2.42 10.52 1.636 9382 0.000 0.079 2646 2101 2441 2500 2382 0 0 0 0 0 0 14.28 14.15 13.36

6502 0.15 230.0 2646 2101 2496 2378 247.4 9.8 464 6506 0.00 0.00 2.78 1.223 8230 0.000 0.000 2646 2101 2429 2488 2370 0 0 0 0 0 0 14.47 14.19 12.97

6802 0.17 249.1 2644 2101 2490 2373 219.6 9.1 474 6838 0.00 0.00 34.05 1.453 8486 0.000 0.000 2646 2100 2354 2410 2299 0 0 0 0 0 0 14.48 14.07 13.38

7132 0.19 284.7 2646 2102 2394 2291 191.1 8.4 490 7194 0.00 2.53 57.33 1.323 8740 0.000 0.083 2642 726 2202 2253 2152 0 0 0 0 0 0 14.41 13.89 13.28

7246 0.34 322.5 2647 726 2246 2151 181.7 8.3 512 7316 0.15 2.45 60.97 1.261 11430 0.119 0.080 2707 2105 2042 2091 1994 0 0 0 0 0 0 13.99 13.94 13.16

7614 0.34 322.5 2705 2106 2086 1987 140.2 10.5 536 7619 0.00 2.45 0.00 0.000 516 0.000 0.083 2710 727 2035 2085 1986 0 0 0 0 0 0 14.29 13.98 14.31

7741 0.37 328.0 2713 727 2081 1988 127.5 9.7 561 7746 0.00 2.42 0.00 0.000 1190 0.000 0.079 2712 2102 2033 2081 1986 0 0 0 0 0 0 14.09 13.68 14.14

8066 0.41 373.7 2713 2103 2082 1983 99.1 7.9 576 8098 0.00 2.47 24.70 0.515 8484 0.000 0.083 2712 3511 1840 1877 1803 0 0 0 0 0 0 14.41 14.07 13.71

8193 0.47 399.7 2712 3512 1877 1804 87.9 8.8 601 8211 0.00 2.40 13.52 0.473 9382 0.000 0.063 2712 2123 1735 1770 1700 0 0 0 0 0 0 14.18 14.05 13.67

8508 0.62 466.6 2713 2123 1772 1693 64.7 6.9 634 8547 0.17 2.53 33.58 0.401 10916 0.104 0.086 2794 695 1460 1506 1414 0 0 0 0 0 0 13.81 13.99 13.73

8622 0.66 466.6 2794 700 1503 1413 52.4 10.4 656 8627 0.00 2.47 0.00 0.000 1158 0.000 0.078 2794 2105 1457 1503 1412 0 0 0 0 0 0 14.10 14.00 14.14

8932 0.72 518.6 2794 2106 1504 1403 23.2 7.6 688 8965 0.00 2.53 25.75 0.288 8868 0.000 0.086 2794 691 1248 1310 1187 0 0 0 0 0 0 14.40 14.06 13.83

9027 0.95 591.0 2794 692 1309 1188 16.5 6.7 706 9070 0.28 2.50 36.58 0.265 11430 0.093 0.079 2893 2110 955 1029 881 0 0 0 0 0 0 14.06 14.02 13.83

9293 end climb: SURFACE_DEPTH_REACHED

state 9293 begin surface coast

9323 end surface coast: CONTROL_FINISHED_OK

state 9323 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	54	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	161.0
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	32	ALTIM_SENSITIVITY	2	PM_SENDDEPTH	0.0

GPS1	120817,225933,7153.2695,-14735.7607,27,0.7,28,21.4,0.0,0.0,11,8.2	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	1.22	MHEAD_RNG_PITCHd_Wd	309.6,163094,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-78.4	D_GRID	480
GPS2	120817,230835,7153.2026,-14735.9092,6,0.8,10,21.4,0.0,223.2,11,9.9

MODEM_MSG	CACST,6,1,20170813002220.639074,3,21,07,0123,0150,250,00,00,01,01,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*34	PM_FREEKB_00	59013184
FINISH	-0.0,1.009635	_24V_AH	12.60,68.337
SM_CCo	9343,55.90,0.215,0,0,502,703.03	_10V_AH	12.53,0.000
SM_GC	0.95,8.18,0.15,55.90,0.073,0.130,0.215,203,2213,502,-7.37,-0.71,703.03,0,0,0,0,0,0,14.21,14.19,13.96	FG_AHR_24Vo	0.000
RAFOS_CLK	283	FG_AHR_10Vo	0.000
MODEM	2,1502583259,73.18300,-149.96500,112.131,163634.6	MEM	323804
RAFOS_FIX	7202.124023,-14620.304688,130817,000019,2,255,11.06	DATA_FILE_SIZE	26715,740
IRIDIUM_FIX	7153.39,-14729.61,120817,202007	CAP_FILE_SIZE	101326,0
TT8_MAMPS	0.038948,0.873334	CFSIZE	2097872896,2071855104
HUMID	50.55	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	7.79129	SOUNDSPEED	1458.7
TCM_TEMP	13.60	CURRENT	0.024,343.37,1
XPDR_PINGS	13	GPS	130817,014656,7154.473,-14737.228,17,0.7,20,21.4,0.2,285.0,12,9.4
CP_FREE	16010149888.000000

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	23	455	136.87	nil	0	0	0.00
Roll_motor	78	2151	2135.19	nil	0	0	0.00
VBD_pump_during_apogee	799	1635	16469.03	nil	0	0	0.00
VBD_pump_during_surface	55	214	151.41	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	5422	15	1032.96
Iridium_during_xfer	299	172	649.44	NCP	9341	20	2353.93
Transponder_ping	3	420	17.20	PMAR	9298	16	1939.61
GUMSTIX_24V	0	0	0.00
GPS	10	22	2.98
TT8	0	0	0.00
LPSleep	6878	2	199.09
TT8_Active	761	13	133.31
TT8_Sampling	2060	33	863.53
TT8_CF8	256	38	124.16
TT8_Kalman	0	0	0.00
Analog_circuits	1883	10	235.97
GPS_charging	0	0	0.00
Compass	1059	7	92.94
RAFOS	2142	48	1288.28
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	198	2215	502	479	0.0	0.0	0	130	0.00	0.00	-81.47	0.000	16386	0.000	0.000	198	2215	2103	2034	2173	0	0	0	0	0	0	14.37	28.83	14.42
133	-0.57	-145.9	198	2216	2036	2175	3.5	-4.6	8	186	12.43	2.70	-34.20	0.000	18724	0.456	2.151	2375	3599	3963	3945	3981	0	0	0	0	0	0	13.72	13.00	14.12
411	-0.57	-145.9	2376	3601	3956	3983	64.9	-15.9	63	418	0.00	2.38	0.00	0.000	1030	0.000	0.057	2376	2197	3968	3955	3981	0	0	0	0	0	0	14.28	14.17	14.29
728	-0.57	-145.9	2376	2197	3959	3982	112.7	-13.8	89	733	0.00	2.40	0.00	0.000	260	0.000	0.082	2365	3606	3970	3959	3982	0	0	0	0	0	0	14.52	14.16	14.54
865	-0.67	-145.9	2366	3608	3959	3986	128.9	-11.0	116	870	0.00	2.38	0.00	0.000	1158	0.000	0.054	2366	2195	3969	3958	3981	0	0	0	0	0	0	14.32	14.21	14.33
1180	-0.73	-145.9	2366	2194	3959	3982	165.2	-11.0	129	1181	0.00	0.00	0.00	0.000	134	0.000	0.000	2365	2194	3970	3959	3981	0	0	0	0	0	0	14.58	14.60	14.58
1480	-0.82	-145.9	2366	2195	3959	3982	194.7	-9.3	139	1481	0.15	0.00	0.00	0.000	4262	0.127	0.000	2305	2194	3969	3958	3981	0	0	0	0	0	0	14.30	14.40	14.38
1780	-0.82	-145.9	2305	2195	3958	3982	234.1	-12.8	149	1785	0.00	2.47	0.00	0.000	260	0.000	0.086	2295	3606	3968	3955	3981	0	0	0	0	0	0	14.60	14.21	14.64
1865	-0.87	-145.9	2297	3608	3956	3982	244.9	-12.0	166	1871	0.00	2.35	0.00	0.000	1158	0.000	0.057	2295	2199	3968	3955	3981	0	0	0	0	0	0	14.41	14.30	14.43
2170	-0.87	-145.9	2296	2199	3955	3981	284.0	-12.9	177	2174	0.00	2.45	0.00	0.000	260	0.000	0.086	2287	3601	3967	3954	3980	0	0	0	0	0	0	14.62	14.20	14.64
2225	-0.90	-145.9	2288	3603	3955	3980	291.1	-12.6	188	2231	0.00	2.35	0.00	0.000	1158	0.000	0.057	2288	2201	3967	3954	3980	0	0	0	0	0	0	14.41	14.30	14.44
2530	-0.90	-145.9	2288	2199	3954	3979	331.4	-13.2	199	2536	0.00	2.47	0.00	0.000	260	0.000	0.086	2280	3608	3966	3953	3979	0	0	0	0	0	0	14.63	14.20	14.64
2596	-0.93	-145.9	2281	3608	3953	3976	340.0	-12.5	212	2601	0.00	2.38	0.00	0.000	1158	0.000	0.058	2280	2199	3966	3953	3979	0	0	0	0	0	0	14.40	14.31	14.45
2921	-0.90	-145.9	2281	2195	3954	3978	383.3	-13.2	227	2927	0.00	2.45	0.00	0.000	388	0.000	0.086	2279	3601	3966	3952	3980	0	0	0	0	0	0	14.62	14.24	14.64
2992	-0.93	-145.9	2280	3601	3952	3977	392.4	-12.2	241	2997	0.00	2.38	0.00	0.000	1158	0.000	0.059	2280	2190	3964	3951	3977	0	0	0	0	0	0	14.38	14.26	14.40
3314	-0.91	-145.9	2280	2189	3952	3977	433.4	-12.8	255	3320	0.00	2.47	0.00	0.000	388	0.000	0.086	2276	3601	3963	3951	3976	0	0	0	0	0	0	14.47	14.14	14.49
3400	-0.93	-145.9	2277	3602	3952	3976	444.4	-12.2	272	3406	0.00	2.40	0.00	0.000	1158	0.000	0.057	2276	2196	3964	3951	3977	0	0	0	0	0	0	14.21	14.12	14.25
3702	end dive: TARGET_DEPTH_EXCEEDED
state	3702	begin apogee
3708	-0.13	0.0	2277	2069	3952	3976	483.8	-12.8	283	3916	1.00	0.00	205.40	1.448	10246	0.249	0.000	2527	2066	3363	3391	3336	0	0	0	0	0	0	13.88	13.46	12.83
3920	end apogee: CONTROL_FINISHED_OK
state	3920	begin climb
3922	0.57	145.9	2528	2067	3385	3331	493.2	0.0	290	4132	0.75	2.58	197.95	1.388	10756	0.067	0.080	2779	727	2762	2808	2716	0	0	0	0	0	0	13.51	13.10	12.60
4359	0.24	145.9	2782	727	2799	2715	458.5	15.6	336	4364	0.55	2.47	0.00	0.000	5254	0.320	0.076	2667	2094	2755	2797	2714	0	0	0	0	0	0	13.43	13.67	13.73
4669	0.10	145.9	2668	2095	2798	2708	425.5	10.3	348	4674	0.17	2.45	0.00	0.000	4740	0.301	0.077	2634	715	2753	2798	2708	0	0	0	0	0	0	13.67	13.90	13.84
4781	0.12	193.7	2635	716	2798	2708	416.3	7.8	370	4852	0.00	2.45	65.47	1.399	9382	0.000	0.080	2634	2099	2574	2630	2519	0	0	0	0	0	0	14.05	13.95	13.06
5150	0.10	205.3	2635	2098	2626	2503	381.7	9.5	394	5165	0.00	0.00	13.85	1.559	8358	0.000	0.000	2635	2099	2528	2589	2468	0	0	0	0	0	0	14.19	13.92	13.18
5450	0.10	215.8	2635	2100	2582	2459	353.1	9.5	404	5471	0.00	2.47	12.55	1.598	8740	0.000	0.081	2643	733	2484	2544	2425	0	0	0	0	0	0	14.25	13.95	13.23
5503	0.13	220.8	2644	734	2541	2427	348.2	9.8	414	5514	0.00	2.40	4.15	1.614	9382	0.000	0.079	2643	2115	2465	2521	2409	0	0	0	0	0	0	14.05	13.95	13.05
5813	0.11	220.8	2644	2116	2528	2410	316.9	10.1	426	5813	0.00	0.00	0.00	0.000	134	0.000	0.000	2643	2115	2468	2527	2409	0	0	0	0	0	0	14.35	14.37	14.37
6111	0.11	220.8	2644	2115	2528	2408	286.3	10.3	436	6116	0.00	2.45	0.00	0.000	516	0.000	0.083	2646	714	2468	2527	2409	0	0	0	0	0	0	14.45	14.14	14.47
6166	0.15	226.0	2646	714	2528	2410	280.8	9.8	447	6182	0.00	2.42	10.52	1.636	9382	0.000	0.079	2646	2101	2441	2500	2382	0	0	0	0	0	0	14.28	14.15	13.36
6502	0.15	230.0	2646	2101	2496	2378	247.4	9.8	464	6506	0.00	0.00	2.78	1.223	8230	0.000	0.000	2646	2101	2429	2488	2370	0	0	0	0	0	0	14.47	14.19	12.97
6802	0.17	249.1	2644	2101	2490	2373	219.6	9.1	474	6838	0.00	0.00	34.05	1.453	8486	0.000	0.000	2646	2100	2354	2410	2299	0	0	0	0	0	0	14.48	14.07	13.38
7132	0.19	284.7	2646	2102	2394	2291	191.1	8.4	490	7194	0.00	2.53	57.33	1.323	8740	0.000	0.083	2642	726	2202	2253	2152	0	0	0	0	0	0	14.41	13.89	13.28
7246	0.34	322.5	2647	726	2246	2151	181.7	8.3	512	7316	0.15	2.45	60.97	1.261	11430	0.119	0.080	2707	2105	2042	2091	1994	0	0	0	0	0	0	13.99	13.94	13.16
7614	0.34	322.5	2705	2106	2086	1987	140.2	10.5	536	7619	0.00	2.45	0.00	0.000	516	0.000	0.083	2710	727	2035	2085	1986	0	0	0	0	0	0	14.29	13.98	14.31
7741	0.37	328.0	2713	727	2081	1988	127.5	9.7	561	7746	0.00	2.42	0.00	0.000	1190	0.000	0.079	2712	2102	2033	2081	1986	0	0	0	0	0	0	14.09	13.68	14.14
8066	0.41	373.7	2713	2103	2082	1983	99.1	7.9	576	8098	0.00	2.47	24.70	0.515	8484	0.000	0.083	2712	3511	1840	1877	1803	0	0	0	0	0	0	14.41	14.07	13.71
8193	0.47	399.7	2712	3512	1877	1804	87.9	8.8	601	8211	0.00	2.40	13.52	0.473	9382	0.000	0.063	2712	2123	1735	1770	1700	0	0	0	0	0	0	14.18	14.05	13.67
8508	0.62	466.6	2713	2123	1772	1693	64.7	6.9	634	8547	0.17	2.53	33.58	0.401	10916	0.104	0.086	2794	695	1460	1506	1414	0	0	0	0	0	0	13.81	13.99	13.73
8622	0.66	466.6	2794	700	1503	1413	52.4	10.4	656	8627	0.00	2.47	0.00	0.000	1158	0.000	0.078	2794	2105	1457	1503	1412	0	0	0	0	0	0	14.10	14.00	14.14
8932	0.72	518.6	2794	2106	1504	1403	23.2	7.6	688	8965	0.00	2.53	25.75	0.288	8868	0.000	0.086	2794	691	1248	1310	1187	0	0	0	0	0	0	14.40	14.06	13.83
9027	0.95	591.0	2794	692	1309	1188	16.5	6.7	706	9070	0.28	2.50	36.58	0.265	11430	0.093	0.079	2893	2110	955	1029	881	0	0	0	0	0	0	14.06	14.02	13.83
9293	end climb: SURFACE_DEPTH_REACHED
state	9293	begin surface coast
9323	end surface coast: CONTROL_FINISHED_OK
state	9323	begin surface