Glider dive log

CABAGE Aug16 * SG196 * Dive index * Mission links * Dive 56 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 196 ESCAPE_HEADING 0 ROLL_CNV 0.028270001 ALTIM_FREQUENCY 13

MISSION 10 ESCAPE_HEADING_DELTA 10 ROLL_TIMEOUT 15 ALTIM_PULSE 3

DIVE 56 FIX_MISSING_TIMEOUT 0 R_PORT_OVSHOOT 43 ALTIM_SENSITIVITY 2

N_DIVES 0 TGT_DEFAULT_LAT 7100 R_STBD_OVSHOOT 16 XPDR_VALID 2

STOP_T 0 TGT_DEFAULT_LON -14430 ROLL_AD_RATE 350 XPDR_INHIBIT 90

D_SURF 2 TGT_AUTO_DEFAULT 0 ROLL_MAXERRORS 1 INT_PRESSURE_SLOPE 0.0097660003

D_FLARE 3 SM_CC 692.78448 ROLL_ADJ_GAIN 0 INT_PRESSURE_YINT 0.75

D_TGT 300 N_FILEKB 8 ROLL_ADJ_DBAND 0.050000001 DEEPGLIDER 0

D_ABORT 350 FILEMGR 0 VBD_MIN 500 MOTHERBOARD 4

D_NO_BLEED 50 CALL_NDIVES 1 VBD_MAX 3960 DEVICE1 -1

D_BOOST 100 COMM_SEQ 0 C_VBD 3179 DEVICE2 -1

T_BOOST 4 PROTOCOL 9 VBD_DBAND 2 DEVICE3 -1

D_FINISH 0 N_NOCOMM 1 VBD_CNV -0.24529999 DEVICE4 -1

D_PITCH 0 NOCOMM_ACTION 161 VBD_LP_IGNORE 0 DEVICE5 -1

D_SAFE 0 N_NOSURFACE 0 VBD_TIMEOUT 720 DEVICE6 -1

D_CALL 0 UPLOAD_DIVES_MAX -1 PITCH_VBD_SHIFT 0.00069999998 LOGGERS 3

SURFACE_URGENCY 0 CALL_TRIES 5 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 54

SURFACE_URGENCY_TRY 0 CALL_WAIT 60 VBD_PUMP_AD_RATE_APOGEE 2 LOGGERDEVICE2 87

SURFACE_URGENCY_FORCE 0 CAPUPLOAD 0 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_DIVE 100 CAPMAXSIZE 100000 UNCOM_BLEED 20 LOGGERDEVICE4 -1

T_MISSION 130 HEAPDBG 0 VBD_MAXERRORS 1 COMPASS_DEVICE 97

T_ABORT 1440 T_GPS 5 W_ADJ_DBAND 0 COMPASS2_DEVICE 150

T_TURN 225 N_GPS 100440 DBDW 0 PHONE_DEVICE 49

T_TURN_SAMPINT -5 T_RSLEEP 2 PITCH_W_GAIN 0 GPS_DEVICE 32

T_NO_W 120 STROBE 0 PITCH_W_DBAND 0 RAFOS_DEVICE 101

T_LOITER 0 RAFOS_PEAK_OFFSET 0 CF8_MAXERRORS 20 XPDR_DEVICE 24

T_EPIRB 0 RAFOS_CORR_THRESH 60 AH0_24V 350 SIM_W 0

USE_BATHY -6 RAFOS_HIT_WINDOW 3600 AH0_10V 0 SIM_PITCH 0

USE_ICE 0 RAFOS_MMODEM 0 MINV_24V 11 SEABIRD_T_G 0.0043055275

ICE_FREEZE_MARGIN 0.050000001 PITCH_MIN 208 MINV_10V 11 SEABIRD_T_H 0.00061896152

D_OFFGRID 1000 PITCH_MAX 3950 MAXI_24V 0.60000002 SEABIRD_T_I 2.1649632e-05

T_WATCHDOG 10 C_PITCH 2980 MAXI_10V 1 SEABIRD_T_J 2.1628491e-06

RELAUNCH 1 PITCH_DBAND 0.1 FG_AHR_10V 0 SEABIRD_C_G -9.8804169

APOGEE_PITCH -5 PITCH_CNV 0.003125763 FG_AHR_24V 0 SEABIRD_C_H 1.1388741

MAX_BUOY 150 P_OVSHOOT 0.039999999 PHONE_SUPPLY -2 SEABIRD_C_I -0.0017082796

COURSE_BIAS 0 P_OVSHOOT_WITHG 0 PRESSURE_YINT -162.35156 SEABIRD_C_J 0.00021409935

GLIDE_SLOPE 30 PITCH_GAIN 38 PRESSURE_SLOPE 0.00010687162 SC_RECORDABOVE 2000.0

SPEED_FACTOR 1 PITCH_TIMEOUT 20 AD7714Ch0Gain 1 SC_PROFILE 3.0

RHO 1.028 PITCH_AD_RATE 160 TCM_PITCH_OFFSET 0 SC_XMITPROFILE 3.0

MASS 53599 PITCH_MAXERRORS 1 TCM_ROLL_OFFSET 0 PM_RECORDABOVE 2000.0

MASS_COMP 0 PITCH_ADJ_GAIN 0.02 COMPASS_USE 4 PM_PROFILE 3.0

NAV_MODE 2 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_PING_RANGE 0 PM_XMITPROFILE 3.0

FERRY_MAX 45 ROLL_MIN 218 ALTIM_TOP_PING_RANGE 0 PM_XMITRAW 0.0

KALMAN_USE 2 ROLL_MAX 3787 ALTIM_BOTTOM_TURN_MARGIN 10 PM_NDIVE 0.0

HD_A 0.0031999999 ROLL_DEG 40 ALTIM_TOP_TURN_MARGIN 0 PM_MOTORS 0.0

HD_B 0.0103 C_ROLL_DIVE 3100 ALTIM_TOP_MIN_OBSTACLE 1 PM_SENDDEPTH 0.0

HD_C 1.06e-05 C_ROLL_CLIMB 2200 ALTIM_PING_DEPTH 0

HEADING -1 HEAD_ERRBAND 10 ALTIM_PING_DELTA 20

AD7714Ch0Gain 1 D_TGT 300 PITCH_DBAND 0.1 SEABIRD_T_I 2.1649632e-05

AH0_10V 0 ESCAPE_HEADING 0 PITCH_GAIN 38 SEABIRD_T_J 2.1628491e-06

AH0_24V 350 ESCAPE_HEADING_DELTA 10 PITCH_MAX 3950 SIM_PITCH 0

ALTIM_BOTTOM_PING_RANGE 0 FERRY_MAX 45 PITCH_MAXERRORS 1 SIM_W 0

ALTIM_BOTTOM_TURN_MARGIN 10 FG_AHR_10V 0 PITCH_MIN 208 SM_CC 692.78448

ALTIM_FREQUENCY 13 FG_AHR_24V 0 PITCH_TIMEOUT 20 SPEED_FACTOR 1

ALTIM_PING_DELTA 20 FILEMGR 0 PITCH_VBD_SHIFT 0.00069999998 STOP_T 0

ALTIM_PING_DEPTH 0 FIX_MISSING_TIMEOUT 0 PITCH_W_DBAND 0 STROBE 0

ALTIM_PULSE 3 GLIDE_SLOPE 30 PITCH_W_GAIN 0 SURFACE_URGENCY 0

ALTIM_SENSITIVITY 2 GPS_DEVICE 32 PM_MOTORS 0.0 SURFACE_URGENCY_FORCE 0

ALTIM_TOP_MIN_OBSTACLE 1 HD_A 0.0031999999 PM_NDIVE 0.0 SURFACE_URGENCY_TRY 0

ALTIM_TOP_PING_RANGE 0 HD_B 0.0103 PM_PROFILE 3.0 TCM_PITCH_OFFSET 0

ALTIM_TOP_TURN_MARGIN 0 HD_C 1.06e-05 PM_RECORDABOVE 2000.0 TCM_ROLL_OFFSET 0

APOGEE_PITCH -5 HEADING -1 PM_SENDDEPTH 0.0 TGT_AUTO_DEFAULT 0

CALL_NDIVES 1 HEAD_ERRBAND 10 PM_XMITPROFILE 3.0 TGT_DEFAULT_LAT 7100

CALL_TRIES 5 HEAPDBG 0 PM_XMITRAW 0.0 TGT_DEFAULT_LON -14430

CALL_WAIT 60 ICE_FREEZE_MARGIN 0.050000001 PRESSURE_SLOPE 0.00010687162 T_ABORT 1440

CAPMAXSIZE 100000 ID 196 PRESSURE_YINT -162.35156 T_BOOST 4

CAPUPLOAD 0 INT_PRESSURE_SLOPE 0.0097660003 PROTOCOL 9 T_DIVE 100

CF8_MAXERRORS 20 INT_PRESSURE_YINT 0.75 P_OVSHOOT 0.039999999 T_EPIRB 0

COMM_SEQ 0 KALMAN_USE 2 P_OVSHOOT_WITHG 0 T_GPS 5

COMPASS2_DEVICE 150 LOGGERDEVICE1 54 RAFOS_CORR_THRESH 60 T_LOITER 0

COMPASS_DEVICE 97 LOGGERDEVICE2 87 RAFOS_DEVICE 101 T_MISSION 130

COMPASS_USE 4 LOGGERDEVICE3 -1 RAFOS_HIT_WINDOW 3600 T_NO_W 120

COURSE_BIAS 0 LOGGERDEVICE4 -1 RAFOS_MMODEM 0 T_RSLEEP 2

C_PITCH 2980 LOGGERS 3 RAFOS_PEAK_OFFSET 0 T_TURN 225

C_ROLL_CLIMB 2200 MASS 53599 RELAUNCH 1 T_TURN_SAMPINT -5

C_ROLL_DIVE 3100 MASS_COMP 0 RHO 1.028 T_WATCHDOG 10

C_VBD 3179 MAXI_10V 1 ROLL_ADJ_DBAND 0.050000001 UNCOM_BLEED 20

DBDW 0 MAXI_24V 0.60000002 ROLL_ADJ_GAIN 0 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 MAX_BUOY 150 ROLL_AD_RATE 350 USE_BATHY -6

DEVICE1 -1 MINV_10V 11 ROLL_CNV 0.028270001 USE_ICE 0

DEVICE2 -1 MINV_24V 11 ROLL_DEG 40 VBD_BLEED_AD_RATE 8

DEVICE3 -1 MISSION 10 ROLL_MAX 3787 VBD_CNV -0.24529999

DEVICE4 -1 MOTHERBOARD 4 ROLL_MAXERRORS 1 VBD_DBAND 2

DEVICE5 -1 NAV_MODE 2 ROLL_MIN 218 VBD_LP_IGNORE 0

DEVICE6 -1 NOCOMM_ACTION 161 ROLL_TIMEOUT 15 VBD_MAX 3960

DIVE 56 N_DIVES 0 R_PORT_OVSHOOT 43 VBD_MAXERRORS 1

D_ABORT 350 N_FILEKB 8 R_STBD_OVSHOOT 16 VBD_MIN 500

D_BOOST 100 N_GPS 100440 SC_PROFILE 3.0 VBD_PUMP_AD_RATE_APOGEE 2

D_CALL 0 N_NOCOMM 1 SC_RECORDABOVE 2000.0 VBD_PUMP_AD_RATE_SURFACE 5

D_FINISH 0 N_NOSURFACE 0 SC_XMITPROFILE 3.0 VBD_TIMEOUT 720

D_FLARE 3 PHONE_DEVICE 49 SEABIRD_C_G -9.8804169 W_ADJ_DBAND 0

D_NO_BLEED 50 PHONE_SUPPLY -2 SEABIRD_C_H 1.1388741 XPDR_DEVICE 24

D_OFFGRID 1000 PITCH_ADJ_DBAND 1 SEABIRD_C_I -0.0017082796 XPDR_INHIBIT 90

D_PITCH 0 PITCH_ADJ_GAIN 0.02 SEABIRD_C_J 0.00021409935 XPDR_VALID 2

D_SAFE 0 PITCH_AD_RATE 160 SEABIRD_T_G 0.0043055275

D_SURF 2 PITCH_CNV 0.003125763 SEABIRD_T_H 0.00061896152

Pre-dive calculations and measurements:

GPS1 040916,001434,7319.1064,-15024.7471,32,0.7,32,20.6,0.0,0.0,11,7.0 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 1.15 MHEAD_RNG_PITCHd_Wd 109.0,20697,-17.9,-10.000,-21.31,2227

_SM_ANGLEo -74.4 D_GRID 1000

GPS2 040916,002615,7319.1348,-15024.7510,6,0.7,7,20.6,0.0,326.2,11,9.2

Post-dive calculations and measurements:

MODEM_MSG CACST,6,1,20160904003204.455303,3,5103,37,0663,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32 PM_FREEKB 56140032

FINISH 0.6,1.021171 _24V_AH 12.96,29.951

SM_CCo 5989,0.25,0.539,0,0,499,657.16 _10V_AH 13.00,0.000

SM_GC 1.09,9.73,1.65,0.25,0.084,0.089,0.539,206,3102,499,-8.63,-0.48,657.16,0,0,0,0,0,0,14.14,14.14,14.04 FG_AHR_24Vo 0.000

RAFOS_CLK 257 FG_AHR_10Vo 0.000

MODEM 5,1472949124,74.50000,-149.00000,97.455,141667.2 MEM 311196

RAFOS_FIX 7606.781250,-15446.650391,030916,202003,3,255,236.67 DATA_FILE_SIZE 20102,608

IRIDIUM_FIX 7235.57,-15028.33,030916,194045 CAP_FILE_SIZE 85699,0

TT8_MAMPS 0.041195,1.05759 CFSIZE 2097872896,2079457280

HUMID 57.71 ERRORS 0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0

INTERNAL_PRESSURE 8.6214 INTR 0,16636.29,0x213888,7,24

TCM_TEMP 13.30 SOUNDSPEED 1445.0

XPDR_PINGS 5 CURRENT 0.080,315.61,1

SC_FREEKB 4004580 GPS 040916,020721,7318.923,-15023.385,4,0.8,10,20.6,0.0,0.0,9,7.8

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 25 406 135.69 nil 0 0 0.00

Roll_motor 63 2182 1784.83 nil 0 0 0.00

VBD_pump_during_apogee 807 1302 13625.16 nil 0 0 0.00

VBD_pump_during_surface 43 539 304.40 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 5952 21 1685.16

Iridium_during_xfer 472 179 1095.43 PMAR 5922 18 1436.28

Transponder_ping 1 420 6.80 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 20 2.48

TT8 0 0 0.00

LPSleep 3823 2 114.82

TT8_Active 914 11 139.38

TT8_Sampling 1675 30 663.13

TT8_CF8 269 35 125.15

TT8_Kalman 0 0 0.00

Analog_circuits 1962 10 255.13

GPS_charging 0 0 0.00

Compass 874 6 76.65

RAFOS 0 0 0.00

Transponder 0 5 0.04

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

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

16 -0.57 -145.9 170 3102 534 463 0.0 0.0 0 128 0.00 0.00 -110.55 0.000 16386 0.000 0.000 168 3102 2348 2302 2395 0 0 0 0 0 0 14.20 28.83 14.21

131 -0.57 -145.9 169 3102 2304 2400 3.1 -3.3 11 183 13.05 2.62 -33.33 0.000 19236 0.406 2.183 2784 1709 3775 3755 3795 0 0 0 0 0 0 13.87 13.21 14.09

408 -0.57 -145.9 2785 1710 3762 3795 60.6 -15.8 66 415 0.00 2.53 0.00 0.000 1030 0.000 0.097 2782 3103 3778 3762 3795 0 0 0 0 0 0 14.14 14.05 14.19

598 -0.63 -145.9 2783 3102 3764 3797 85.3 -11.7 85 603 0.00 2.38 0.00 0.000 644 0.000 0.062 2784 1696 3779 3763 3795 0 0 0 0 0 0 14.28 14.11 14.29

790 -0.71 -145.9 2784 1696 3764 3796 105.6 -9.7 123 795 0.00 2.50 0.00 0.000 1190 0.000 0.100 2784 3103 3779 3763 3795 0 0 0 0 0 0 14.21 14.12 14.23

983 -0.81 -145.9 2783 3104 3765 3797 123.4 -8.8 134 989 0.17 2.35 0.00 0.000 4772 0.123 0.060 2715 1706 3779 3764 3795 0 0 0 0 0 0 14.17 14.16 14.21

1039 -0.81 -145.9 2714 1707 3765 3796 130.2 -12.4 145 1045 0.00 2.53 0.00 0.000 1030 0.000 0.103 2719 3100 3779 3763 3795 0 0 0 0 0 0 14.20 14.11 14.21

1224 -0.81 -145.9 2715 3101 3765 3796 153.8 -12.5 155 1225 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 3100 3779 3763 3795 0 0 0 0 0 0 14.42 14.44 14.44

1404 -0.81 -145.9 2715 3101 3763 3796 175.1 -11.6 164 1405 0.00 0.00 0.00 0.000 6 0.000 0.000 2715 3100 3779 3763 3795 0 0 0 0 0 0 14.46 14.48 14.47

1584 -0.84 -145.9 2714 3101 3765 3796 196.1 -11.7 173 1585 0.00 0.00 0.00 0.000 134 0.000 0.000 2714 3100 3779 3763 3795 0 0 0 0 0 0 14.49 14.51 14.51

1764 -0.87 -145.9 2715 3101 3763 3796 215.7 -10.8 182 1765 0.00 0.00 0.00 0.000 134 0.000 0.000 2715 3099 3779 3763 3796 0 0 0 0 0 0 14.52 14.54 14.53

1944 -0.92 -145.9 2716 3101 3763 3795 234.7 -10.2 191 1949 0.00 2.35 0.00 0.000 644 0.000 0.061 2715 1709 3779 3763 3795 0 0 0 0 0 0 14.53 14.33 14.55

1994 -0.96 -145.9 2715 1710 3763 3796 239.8 -10.0 201 2000 0.15 2.50 0.00 0.000 5254 0.131 0.103 2664 3099 3779 3763 3795 0 0 0 0 0 0 14.37 14.33 14.43

2185 -0.93 -145.9 2661 3100 3764 3796 263.3 -12.1 212 2186 0.00 0.00 0.00 0.000 134 0.000 0.000 2660 3099 3783 3764 3802 0 0 0 0 0 0 14.56 14.57 14.57

2365 -0.91 -145.9 2661 3100 3763 3796 283.6 -10.9 221 2366 0.00 0.00 0.00 0.000 134 0.000 0.000 2660 3099 3779 3763 3795 0 0 0 0 0 0 14.57 14.59 14.59

2522 end dive: TARGET_DEPTH_EXCEEDED

state 2522 begin apogee

2529 -0.13 0.0 2660 2197 3765 3795 301.0 -10.7 229 2753 1.00 0.00 219.95 1.294 10246 0.228 0.000 2929 2195 3179 3199 3159 0 0 0 0 0 0 14.32 13.63 13.14

2755 end apogee: CONTROL_FINISHED_OK

state 2755 begin climb

2758 0.57 145.9 2929 2196 3196 3153 308.0 0.0 240 2972 0.70 2.58 205.38 1.213 10756 0.076 0.083 3177 815 2579 2638 2520 0 0 0 0 0 0 13.66 13.40 12.96

3197 0.46 145.9 3178 816 2622 2512 261.7 13.4 327 3204 0.20 2.50 0.00 0.000 5254 0.295 0.078 3136 2211 2569 2627 2511 0 0 0 0 0 0 13.74 13.82 13.89

3382 0.40 145.9 3137 2212 2628 2509 241.1 10.5 337 3387 0.00 2.50 0.00 0.000 644 0.000 0.080 3138 811 2567 2627 2508 0 0 0 0 0 0 14.15 13.94 14.16

3427 0.38 164.4 3143 813 2624 2509 236.8 9.1 346 3458 0.15 2.47 23.08 1.302 13478 0.266 0.080 3106 2207 2502 2563 2442 0 0 0 0 0 0 13.90 13.99 13.40

3645 0.42 212.7 3107 2208 2556 2433 219.5 7.8 362 3724 0.00 0.00 74.72 1.212 8230 0.000 0.000 3107 2207 2307 2356 2259 0 0 0 0 0 0 14.18 13.71 13.24

3903 0.49 257.5 3107 2208 2345 2245 198.4 7.9 375 3978 0.00 2.60 67.62 1.202 8868 0.000 0.082 3108 815 2122 2169 2076 0 0 0 0 0 0 14.11 13.61 13.21

4020 0.59 283.8 3108 815 2160 2072 189.2 8.8 398 4066 0.20 2.50 37.83 1.209 11430 0.112 0.080 3179 2197 2017 2064 1971 0 0 0 0 0 0 13.76 13.74 13.17

4245 0.59 283.8 3179 2198 2055 1952 161.2 12.5 416 4250 0.00 2.60 0.00 0.000 260 0.000 0.097 3178 3607 2003 2055 1951 0 0 0 0 0 0 14.04 13.85 14.06

4290 0.53 283.8 3179 3607 2054 1952 154.7 13.7 425 4295 0.00 2.42 0.00 0.000 1158 0.000 0.057 3185 2212 2002 2054 1951 0 0 0 0 0 0 13.99 13.92 14.01

4485 0.53 283.8 3179 2212 2054 1949 131.8 11.4 437 4490 0.00 2.55 0.00 0.000 516 0.000 0.090 3178 784 2001 2054 1948 0 0 0 0 0 0 14.21 14.01 14.22

4535 0.53 283.8 3179 785 2052 1948 126.2 11.1 447 4540 0.00 2.53 0.00 0.000 1030 0.000 0.084 3178 2206 2000 2052 1948 0 0 0 0 0 0 14.12 14.04 14.14

4725 0.53 283.8 3179 2208 2051 1947 105.8 10.5 458 4726 0.00 0.00 0.00 0.000 6 0.000 0.000 3178 2208 1998 2050 1947 0 0 0 0 0 0 14.29 14.31 14.31

4905 0.54 293.2 3179 2207 2052 1946 87.9 9.6 473 4917 0.00 2.55 2.70 0.328 8740 0.000 0.084 3178 792 1982 2031 1933 0 0 0 0 0 0 14.33 14.14 13.94

4972 0.60 318.2 3179 791 2038 1942 81.9 8.8 486 4994 0.00 2.47 16.80 0.445 9382 0.000 0.082 3178 2202 1879 1918 1840 0 0 0 0 0 0 14.22 14.14 13.93

5181 0.69 385.2 3178 2202 1921 1850 65.4 6.9 509 5223 0.00 0.00 40.65 0.402 8358 0.000 0.000 3178 2202 1607 1642 1572 0 0 0 0 0 0 14.35 14.15 13.93

5401 0.86 479.0 3179 2203 1642 1572 51.0 5.7 531 5465 0.22 2.55 55.12 0.358 10660 0.111 0.094 3265 3612 1224 1289 1159 0 0 0 0 0 0 14.17 14.04 13.92

5519 0.86 479.0 3266 3616 1290 1161 38.4 12.0 554 5526 0.00 2.42 0.00 0.000 1030 0.000 0.054 3273 2194 1224 1289 1160 0 0 0 0 0 0 14.17 14.10 14.19

5705 0.98 554.8 3272 2195 1290 1161 20.5 6.5 573 5758 0.00 2.47 44.85 0.275 8868 0.000 0.089 3272 799 913 996 830 0 0 0 0 0 0 14.33 14.09 14.00

5825 1.11 585.8 3273 799 996 835 11.9 8.6 596 5853 0.20 2.47 18.75 0.247 11430 0.117 0.081 3343 2201 788 872 705 0 0 0 0 0 0 14.14 14.12 14.01

5906 end climb: SURFACE_DEPTH_REACHED

state 5906 begin surface coast

5916 end surface coast: CONTROL_FINISHED_OK

state 5918 begin surface

ID	196	ESCAPE_HEADING	0	ROLL_CNV	0.028270001	ALTIM_FREQUENCY	13
MISSION	10	ESCAPE_HEADING_DELTA	10	ROLL_TIMEOUT	15	ALTIM_PULSE	3
DIVE	56	FIX_MISSING_TIMEOUT	0	R_PORT_OVSHOOT	43	ALTIM_SENSITIVITY	2
N_DIVES	0	TGT_DEFAULT_LAT	7100	R_STBD_OVSHOOT	16	XPDR_VALID	2
STOP_T	0	TGT_DEFAULT_LON	-14430	ROLL_AD_RATE	350	XPDR_INHIBIT	90
D_SURF	2	TGT_AUTO_DEFAULT	0	ROLL_MAXERRORS	1	INT_PRESSURE_SLOPE	0.0097660003
D_FLARE	3	SM_CC	692.78448	ROLL_ADJ_GAIN	0	INT_PRESSURE_YINT	0.75
D_TGT	300	N_FILEKB	8	ROLL_ADJ_DBAND	0.050000001	DEEPGLIDER	0
D_ABORT	350	FILEMGR	0	VBD_MIN	500	MOTHERBOARD	4
D_NO_BLEED	50	CALL_NDIVES	1	VBD_MAX	3960	DEVICE1	-1
D_BOOST	100	COMM_SEQ	0	C_VBD	3179	DEVICE2	-1
T_BOOST	4	PROTOCOL	9	VBD_DBAND	2	DEVICE3	-1
D_FINISH	0	N_NOCOMM	1	VBD_CNV	-0.24529999	DEVICE4	-1
D_PITCH	0	NOCOMM_ACTION	161	VBD_LP_IGNORE	0	DEVICE5	-1
D_SAFE	0	N_NOSURFACE	0	VBD_TIMEOUT	720	DEVICE6	-1
D_CALL	0	UPLOAD_DIVES_MAX	-1	PITCH_VBD_SHIFT	0.00069999998	LOGGERS	3
SURFACE_URGENCY	0	CALL_TRIES	5	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	54
SURFACE_URGENCY_TRY	0	CALL_WAIT	60	VBD_PUMP_AD_RATE_APOGEE	2	LOGGERDEVICE2	87
SURFACE_URGENCY_FORCE	0	CAPUPLOAD	0	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_DIVE	100	CAPMAXSIZE	100000	UNCOM_BLEED	20	LOGGERDEVICE4	-1
T_MISSION	130	HEAPDBG	0	VBD_MAXERRORS	1	COMPASS_DEVICE	97
T_ABORT	1440	T_GPS	5	W_ADJ_DBAND	0	COMPASS2_DEVICE	150
T_TURN	225	N_GPS	100440	DBDW	0	PHONE_DEVICE	49
T_TURN_SAMPINT	-5	T_RSLEEP	2	PITCH_W_GAIN	0	GPS_DEVICE	32
T_NO_W	120	STROBE	0	PITCH_W_DBAND	0	RAFOS_DEVICE	101
T_LOITER	0	RAFOS_PEAK_OFFSET	0	CF8_MAXERRORS	20	XPDR_DEVICE	24
T_EPIRB	0	RAFOS_CORR_THRESH	60	AH0_24V	350	SIM_W	0
USE_BATHY	-6	RAFOS_HIT_WINDOW	3600	AH0_10V	0	SIM_PITCH	0
USE_ICE	0	RAFOS_MMODEM	0	MINV_24V	11	SEABIRD_T_G	0.0043055275
ICE_FREEZE_MARGIN	0.050000001	PITCH_MIN	208	MINV_10V	11	SEABIRD_T_H	0.00061896152
D_OFFGRID	1000	PITCH_MAX	3950	MAXI_24V	0.60000002	SEABIRD_T_I	2.1649632e-05
T_WATCHDOG	10	C_PITCH	2980	MAXI_10V	1	SEABIRD_T_J	2.1628491e-06
RELAUNCH	1	PITCH_DBAND	0.1	FG_AHR_10V	0	SEABIRD_C_G	-9.8804169
APOGEE_PITCH	-5	PITCH_CNV	0.003125763	FG_AHR_24V	0	SEABIRD_C_H	1.1388741
MAX_BUOY	150	P_OVSHOOT	0.039999999	PHONE_SUPPLY	-2	SEABIRD_C_I	-0.0017082796
COURSE_BIAS	0	P_OVSHOOT_WITHG	0	PRESSURE_YINT	-162.35156	SEABIRD_C_J	0.00021409935
GLIDE_SLOPE	30	PITCH_GAIN	38	PRESSURE_SLOPE	0.00010687162	SC_RECORDABOVE	2000.0
SPEED_FACTOR	1	PITCH_TIMEOUT	20	AD7714Ch0Gain	1	SC_PROFILE	3.0
RHO	1.028	PITCH_AD_RATE	160	TCM_PITCH_OFFSET	0	SC_XMITPROFILE	3.0
MASS	53599	PITCH_MAXERRORS	1	TCM_ROLL_OFFSET	0	PM_RECORDABOVE	2000.0
MASS_COMP	0	PITCH_ADJ_GAIN	0.02	COMPASS_USE	4	PM_PROFILE	3.0
NAV_MODE	2	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_PING_RANGE	0	PM_XMITPROFILE	3.0
FERRY_MAX	45	ROLL_MIN	218	ALTIM_TOP_PING_RANGE	0	PM_XMITRAW	0.0
KALMAN_USE	2	ROLL_MAX	3787	ALTIM_BOTTOM_TURN_MARGIN	10	PM_NDIVE	0.0
HD_A	0.0031999999	ROLL_DEG	40	ALTIM_TOP_TURN_MARGIN	0	PM_MOTORS	0.0
HD_B	0.0103	C_ROLL_DIVE	3100	ALTIM_TOP_MIN_OBSTACLE	1	PM_SENDDEPTH	0.0
HD_C	1.06e-05	C_ROLL_CLIMB	2200	ALTIM_PING_DEPTH	0
HEADING	-1	HEAD_ERRBAND	10	ALTIM_PING_DELTA	20

GPS1	040916,001434,7319.1064,-15024.7471,32,0.7,32,20.6,0.0,0.0,11,7.0	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	1.15	MHEAD_RNG_PITCHd_Wd	109.0,20697,-17.9,-10.000,-21.31,2227
_SM_ANGLEo	-74.4	D_GRID	1000
GPS2	040916,002615,7319.1348,-15024.7510,6,0.7,7,20.6,0.0,326.2,11,9.2

MODEM_MSG	CACST,6,1,20160904003204.455303,3,5103,37,0663,0150,250,00,00,00,00,-1,-01,-01,6,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,250,0010*32	PM_FREEKB	56140032
FINISH	0.6,1.021171	_24V_AH	12.96,29.951
SM_CCo	5989,0.25,0.539,0,0,499,657.16	_10V_AH	13.00,0.000
SM_GC	1.09,9.73,1.65,0.25,0.084,0.089,0.539,206,3102,499,-8.63,-0.48,657.16,0,0,0,0,0,0,14.14,14.14,14.04	FG_AHR_24Vo	0.000
RAFOS_CLK	257	FG_AHR_10Vo	0.000
MODEM	5,1472949124,74.50000,-149.00000,97.455,141667.2	MEM	311196
RAFOS_FIX	7606.781250,-15446.650391,030916,202003,3,255,236.67	DATA_FILE_SIZE	20102,608
IRIDIUM_FIX	7235.57,-15028.33,030916,194045	CAP_FILE_SIZE	85699,0
TT8_MAMPS	0.041195,1.05759	CFSIZE	2097872896,2079457280
HUMID	57.71	ERRORS	0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
INTERNAL_PRESSURE	8.6214	INTR	0,16636.29,0x213888,7,24
TCM_TEMP	13.30	SOUNDSPEED	1445.0
XPDR_PINGS	5	CURRENT	0.080,315.61,1
SC_FREEKB	4004580	GPS	040916,020721,7318.923,-15023.385,4,0.8,10,20.6,0.0,0.0,9,7.8

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	25	406	135.69	nil	0	0	0.00
Roll_motor	63	2182	1784.83	nil	0	0	0.00
VBD_pump_during_apogee	807	1302	13625.16	nil	0	0	0.00
VBD_pump_during_surface	43	539	304.40	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	5952	21	1685.16
Iridium_during_xfer	472	179	1095.43	PMAR	5922	18	1436.28
Transponder_ping	1	420	6.80	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	20	2.48
TT8	0	0	0.00
LPSleep	3823	2	114.82
TT8_Active	914	11	139.38
TT8_Sampling	1675	30	663.13
TT8_CF8	269	35	125.15
TT8_Kalman	0	0	0.00
Analog_circuits	1962	10	255.13
GPS_charging	0	0	0.00
Compass	874	6	76.65
RAFOS	0	0	0.00
Transponder	0	5	0.04

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
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
16	-0.57	-145.9	170	3102	534	463	0.0	0.0	0	128	0.00	0.00	-110.55	0.000	16386	0.000	0.000	168	3102	2348	2302	2395	0	0	0	0	0	0	14.20	28.83	14.21
131	-0.57	-145.9	169	3102	2304	2400	3.1	-3.3	11	183	13.05	2.62	-33.33	0.000	19236	0.406	2.183	2784	1709	3775	3755	3795	0	0	0	0	0	0	13.87	13.21	14.09
408	-0.57	-145.9	2785	1710	3762	3795	60.6	-15.8	66	415	0.00	2.53	0.00	0.000	1030	0.000	0.097	2782	3103	3778	3762	3795	0	0	0	0	0	0	14.14	14.05	14.19
598	-0.63	-145.9	2783	3102	3764	3797	85.3	-11.7	85	603	0.00	2.38	0.00	0.000	644	0.000	0.062	2784	1696	3779	3763	3795	0	0	0	0	0	0	14.28	14.11	14.29
790	-0.71	-145.9	2784	1696	3764	3796	105.6	-9.7	123	795	0.00	2.50	0.00	0.000	1190	0.000	0.100	2784	3103	3779	3763	3795	0	0	0	0	0	0	14.21	14.12	14.23
983	-0.81	-145.9	2783	3104	3765	3797	123.4	-8.8	134	989	0.17	2.35	0.00	0.000	4772	0.123	0.060	2715	1706	3779	3764	3795	0	0	0	0	0	0	14.17	14.16	14.21
1039	-0.81	-145.9	2714	1707	3765	3796	130.2	-12.4	145	1045	0.00	2.53	0.00	0.000	1030	0.000	0.103	2719	3100	3779	3763	3795	0	0	0	0	0	0	14.20	14.11	14.21
1224	-0.81	-145.9	2715	3101	3765	3796	153.8	-12.5	155	1225	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	3100	3779	3763	3795	0	0	0	0	0	0	14.42	14.44	14.44
1404	-0.81	-145.9	2715	3101	3763	3796	175.1	-11.6	164	1405	0.00	0.00	0.00	0.000	6	0.000	0.000	2715	3100	3779	3763	3795	0	0	0	0	0	0	14.46	14.48	14.47
1584	-0.84	-145.9	2714	3101	3765	3796	196.1	-11.7	173	1585	0.00	0.00	0.00	0.000	134	0.000	0.000	2714	3100	3779	3763	3795	0	0	0	0	0	0	14.49	14.51	14.51
1764	-0.87	-145.9	2715	3101	3763	3796	215.7	-10.8	182	1765	0.00	0.00	0.00	0.000	134	0.000	0.000	2715	3099	3779	3763	3796	0	0	0	0	0	0	14.52	14.54	14.53
1944	-0.92	-145.9	2716	3101	3763	3795	234.7	-10.2	191	1949	0.00	2.35	0.00	0.000	644	0.000	0.061	2715	1709	3779	3763	3795	0	0	0	0	0	0	14.53	14.33	14.55
1994	-0.96	-145.9	2715	1710	3763	3796	239.8	-10.0	201	2000	0.15	2.50	0.00	0.000	5254	0.131	0.103	2664	3099	3779	3763	3795	0	0	0	0	0	0	14.37	14.33	14.43
2185	-0.93	-145.9	2661	3100	3764	3796	263.3	-12.1	212	2186	0.00	0.00	0.00	0.000	134	0.000	0.000	2660	3099	3783	3764	3802	0	0	0	0	0	0	14.56	14.57	14.57
2365	-0.91	-145.9	2661	3100	3763	3796	283.6	-10.9	221	2366	0.00	0.00	0.00	0.000	134	0.000	0.000	2660	3099	3779	3763	3795	0	0	0	0	0	0	14.57	14.59	14.59
2522	end dive: TARGET_DEPTH_EXCEEDED
state	2522	begin apogee
2529	-0.13	0.0	2660	2197	3765	3795	301.0	-10.7	229	2753	1.00	0.00	219.95	1.294	10246	0.228	0.000	2929	2195	3179	3199	3159	0	0	0	0	0	0	14.32	13.63	13.14
2755	end apogee: CONTROL_FINISHED_OK
state	2755	begin climb
2758	0.57	145.9	2929	2196	3196	3153	308.0	0.0	240	2972	0.70	2.58	205.38	1.213	10756	0.076	0.083	3177	815	2579	2638	2520	0	0	0	0	0	0	13.66	13.40	12.96
3197	0.46	145.9	3178	816	2622	2512	261.7	13.4	327	3204	0.20	2.50	0.00	0.000	5254	0.295	0.078	3136	2211	2569	2627	2511	0	0	0	0	0	0	13.74	13.82	13.89
3382	0.40	145.9	3137	2212	2628	2509	241.1	10.5	337	3387	0.00	2.50	0.00	0.000	644	0.000	0.080	3138	811	2567	2627	2508	0	0	0	0	0	0	14.15	13.94	14.16
3427	0.38	164.4	3143	813	2624	2509	236.8	9.1	346	3458	0.15	2.47	23.08	1.302	13478	0.266	0.080	3106	2207	2502	2563	2442	0	0	0	0	0	0	13.90	13.99	13.40
3645	0.42	212.7	3107	2208	2556	2433	219.5	7.8	362	3724	0.00	0.00	74.72	1.212	8230	0.000	0.000	3107	2207	2307	2356	2259	0	0	0	0	0	0	14.18	13.71	13.24
3903	0.49	257.5	3107	2208	2345	2245	198.4	7.9	375	3978	0.00	2.60	67.62	1.202	8868	0.000	0.082	3108	815	2122	2169	2076	0	0	0	0	0	0	14.11	13.61	13.21
4020	0.59	283.8	3108	815	2160	2072	189.2	8.8	398	4066	0.20	2.50	37.83	1.209	11430	0.112	0.080	3179	2197	2017	2064	1971	0	0	0	0	0	0	13.76	13.74	13.17
4245	0.59	283.8	3179	2198	2055	1952	161.2	12.5	416	4250	0.00	2.60	0.00	0.000	260	0.000	0.097	3178	3607	2003	2055	1951	0	0	0	0	0	0	14.04	13.85	14.06
4290	0.53	283.8	3179	3607	2054	1952	154.7	13.7	425	4295	0.00	2.42	0.00	0.000	1158	0.000	0.057	3185	2212	2002	2054	1951	0	0	0	0	0	0	13.99	13.92	14.01
4485	0.53	283.8	3179	2212	2054	1949	131.8	11.4	437	4490	0.00	2.55	0.00	0.000	516	0.000	0.090	3178	784	2001	2054	1948	0	0	0	0	0	0	14.21	14.01	14.22
4535	0.53	283.8	3179	785	2052	1948	126.2	11.1	447	4540	0.00	2.53	0.00	0.000	1030	0.000	0.084	3178	2206	2000	2052	1948	0	0	0	0	0	0	14.12	14.04	14.14
4725	0.53	283.8	3179	2208	2051	1947	105.8	10.5	458	4726	0.00	0.00	0.00	0.000	6	0.000	0.000	3178	2208	1998	2050	1947	0	0	0	0	0	0	14.29	14.31	14.31
4905	0.54	293.2	3179	2207	2052	1946	87.9	9.6	473	4917	0.00	2.55	2.70	0.328	8740	0.000	0.084	3178	792	1982	2031	1933	0	0	0	0	0	0	14.33	14.14	13.94
4972	0.60	318.2	3179	791	2038	1942	81.9	8.8	486	4994	0.00	2.47	16.80	0.445	9382	0.000	0.082	3178	2202	1879	1918	1840	0	0	0	0	0	0	14.22	14.14	13.93
5181	0.69	385.2	3178	2202	1921	1850	65.4	6.9	509	5223	0.00	0.00	40.65	0.402	8358	0.000	0.000	3178	2202	1607	1642	1572	0	0	0	0	0	0	14.35	14.15	13.93
5401	0.86	479.0	3179	2203	1642	1572	51.0	5.7	531	5465	0.22	2.55	55.12	0.358	10660	0.111	0.094	3265	3612	1224	1289	1159	0	0	0	0	0	0	14.17	14.04	13.92
5519	0.86	479.0	3266	3616	1290	1161	38.4	12.0	554	5526	0.00	2.42	0.00	0.000	1030	0.000	0.054	3273	2194	1224	1289	1160	0	0	0	0	0	0	14.17	14.10	14.19
5705	0.98	554.8	3272	2195	1290	1161	20.5	6.5	573	5758	0.00	2.47	44.85	0.275	8868	0.000	0.089	3272	799	913	996	830	0	0	0	0	0	0	14.33	14.09	14.00
5825	1.11	585.8	3273	799	996	835	11.9	8.6	596	5853	0.20	2.47	18.75	0.247	11430	0.117	0.081	3343	2201	788	872	705	0	0	0	0	0	0	14.14	14.12	14.01
5906	end climb: SURFACE_DEPTH_REACHED
state	5906	begin surface coast
5916	end surface coast: CONTROL_FINISHED_OK
state	5918	begin surface